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| • Previous call tries 3 | • 76.38 of 310.00 AH used of 24V (75.36% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -68.1 deg, depth 0.86 m | • Intended pitch -23.0 deg, speed -9.980 cm/s | |
| • VBD pumped to 515.37 (SM_CC=515.36688) | ||
| • GPS1 time: 9 s | • bottom range 32.3 m at 342.1 m, depth 374 m (500 m grid) | |
| • GPS2 time: 7 s | • Transponder ping count: 18 | |
| • Time spent turning 0 s |
| t(s) | depth(m) | w(cm/s) | num pts | t(s) | GC phase | pitch | roll | VBD | pit | rol | VBD | volts | |||||||||||||||||
| ctl(cm) | t(s) | A | pos(AD) | rate | t(s) | A | pos(AD) | rate | ctl(cc) | t(s) | A | pos(AD) | rate | eff | r | e | r | e | r | e | pit | roll | vbd | flags | |||||
| 19 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 19 | begin dive | ||||||||||||||||||||||||||||
| 21 | - | - | - | 110 | VBD | -0.88 | - | - | 66 | - | - | - | 1818 | - | -92.5 | -86.38 | - | 2911 | - | - | - | - | - | - | - | - | 15.09 | - | 15.11 |
| 113 | 3.7 | -9.3 | 15 | 139 | roll | -0.88 | 13.77 | 0.288 | 2458 | 173.7 | 2.30 | 0.067 | 3214 | 607.0 | -92.5 | -2.97 | - | 3079 | -56.6 | - | - | - | - | - | - | - | 14.69 | 14.20 | 14.90 |
| 296 | 46.9 | -16.3 | 50 | 304 | done | -0.88 | 0.08 | 0.275 | 2472 | 175.0 | 2.33 | 0.044 | 1803 | -605.6 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.81 | 14.93 | 14.97 |
| 367 | 59.5 | -17.5 | 63 | 375 | roll | -0.88 | - | - | 2467 | - | 2.35 | 0.051 | 3206 | 597.0 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.17 | 14.97 | 15.18 |
| 524 | 82.8 | -15.5 | 93 | 531 | done | -0.88 | - | - | 2467 | - | 2.30 | 0.043 | 1810 | -607.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.02 | 14.93 | 15.02 |
| 594 | 94.6 | -17.3 | 106 | 604 | roll | -0.88 | - | - | 2467 | - | 2.35 | 0.061 | 405 | -597.9 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.19 | 14.95 | 15.19 |
| 632 | 101.2 | -17.9 | 112 | 639 | done | -0.88 | 0.08 | 0.291 | 2472 | 62.5 | 2.28 | 0.034 | 1809 | 615.8 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.88 | 15.01 | 15.03 |
| 702 | 113.1 | -15.7 | 125 | 708 | roll | -0.88 | - | - | 2472 | - | 2.38 | 0.060 | 405 | -589.9 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.21 | 14.97 | 15.21 |
| 740 | 119.1 | -15.9 | 132 | 746 | done | -0.88 | - | - | 2468 | - | 2.28 | 0.035 | 1810 | 616.2 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.02 | 14.94 | 15.02 |
| 811 | 130.7 | -18.2 | 145 | 816 | done | -0.88 | - | - | 2468 | - | - | - | 1813 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.20 | 15.21 | 15.21 |
| 881 | 142.0 | -14.1 | 158 | 888 | roll | -0.88 | - | - | 2468 | - | 2.33 | 0.053 | 3223 | 605.2 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.21 | 14.97 | 15.21 |
| 968 | 155.1 | -15.3 | 174 | 975 | done | -0.88 | - | - | 2468 | - | 2.33 | 0.044 | 1804 | -609.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.10 | 15.01 | 15.11 |
| 1039 | 165.5 | -14.2 | 187 | 1045 | done | -0.88 | - | - | 2467 | - | - | - | 1804 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 1108 | 173.2 | -9.7 | 200 | 1115 | roll | -0.88 | - | - | 2468 | - | 2.38 | 0.053 | 3222 | 595.8 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.21 |
| 1158 | 178.4 | -8.5 | 209 | 1164 | done | -0.88 | - | - | 2467 | - | 2.30 | 0.043 | 1814 | -612.2 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.11 |
| 1229 | 184.1 | -8.8 | 222 | 1236 | roll | -0.88 | - | - | 2467 | - | 2.38 | 0.063 | 404 | -592.4 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.21 |
| 1254 | 186.5 | -9.8 | 226 | 1262 | done | -0.88 | 0.05 | 0.346 | 2469 | - | 2.28 | 0.035 | 1818 | 620.2 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.87 | 15.03 | 15.05 |
| 1325 | 193.8 | -11.9 | 239 | 1330 | done | -0.88 | - | - | 2469 | - | - | - | 1821 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.22 | 15.22 | 15.22 |
| 1394 | 204.3 | -15.9 | 252 | 1400 | roll | -0.88 | - | - | 2469 | - | 2.38 | 0.062 | 409 | -593.3 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.23 | 15.00 | 15.23 |
| 1448 | 212.3 | -15.7 | 262 | 1456 | done | -0.88 | - | - | 2464 | - | 2.25 | 0.034 | 1813 | 624.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.11 | 15.04 | 15.13 |
| 1521 | 223.0 | -13.0 | 275 | 1527 | done | -0.88 | - | - | 2463 | - | - | - | 1816 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.24 | 15.24 | 15.24 |
| 1591 | 234.1 | -17.1 | 288 | 1597 | done | -0.88 | - | - | 2463 | - | - | - | 1816 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.23 | 15.24 | 15.24 |
| 1661 | 244.9 | -12.5 | 301 | 1669 | roll | -0.88 | - | - | 2463 | - | 2.35 | 0.056 | 407 | -599.6 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.24 | 15.02 | 15.24 |
| 1699 | 250.3 | -15.1 | 307 | 1706 | done | -0.88 | 0.08 | 0.288 | 2467 | 50.0 | 2.28 | 0.035 | 1818 | 618.9 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 14.91 | 15.04 | 15.07 |
| 1769 | 259.3 | -12.9 | 320 | 1778 | done | -0.88 | - | - | 2469 | - | - | - | 1822 | - | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.24 | 15.24 | 15.24 |
| 1841 | 268.4 | -10.9 | 333 | 1847 | roll | -0.88 | - | - | 2470 | - | 2.38 | 0.063 | 409 | -593.7 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.24 | 15.01 | 15.25 |
| 1876 | 272.8 | -12.3 | 339 | 1883 | done | -0.88 | - | - | 2467 | - | 2.28 | 0.037 | 1809 | 614.0 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.12 | 15.02 | 15.13 |
| 1946 | 281.7 | -12.9 | 352 | 1953 | roll | -0.88 | - | - | 2467 | - | 2.33 | 0.055 | 3220 | 605.6 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.26 | 15.02 | 15.26 |
| 1987 | 286.6 | -12.0 | 359 | 1994 | done | -0.88 | - | - | 2466 | - | 2.33 | 0.044 | 1803 | -608.2 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.13 | 15.04 | 15.14 |
| 2057 | 294.8 | -11.2 | 372 | 2066 | done | -0.88 | - | - | 2467 | - | - | - | 1802 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.25 | 15.25 | 15.26 |
| 2128 | 302.4 | -9.9 | 382 | 2134 | roll | -0.88 | - | - | 2457 | - | 2.35 | 0.054 | 3219 | 603.0 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.27 | 15.03 | 15.27 |
| 2166 | 304.9 | -10.6 | 383 | 2174 | done | -0.88 | 0.08 | 0.259 | 2472 | 187.5 | 2.30 | 0.043 | 1807 | -613.9 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 14.90 | 15.01 | 15.05 |
| 2293 | 318.6 | -9.2 | 390 | 2294 | done | -0.88 | - | - | 2472 | - | - | - | 1807 | - | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.27 | 15.28 | 15.28 |
| 2413 | 332.0 | -11.3 | 396 | 2415 | done | -0.88 | - | - | 2472 | - | - | - | 1807 | - | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.29 | 15.30 | 15.30 |
| 2531 | 347.1 | -12.6 | 402 | 2537 | roll | -0.88 | - | - | 2464 | - | 2.35 | 0.053 | 3226 | 603.8 | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.30 | 15.07 | 15.30 |
| 2577 | 352.6 | -12.9 | 404 | 2583 | done | -0.88 | - | - | 2464 | - | 2.33 | 0.045 | 1809 | -608.2 | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.16 | 15.07 | 15.18 |
| 2673 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2673 | begin apogee | ||||||||||||||||||||||||||||
| 2678 | 366.2 | -14.0 | 409 | 2755 | done | -0.17 | 1.20 | 0.174 | 2697 | 194.2 | - | - | 1808 | - | - | 69.78 | 1.212 | 2699 | -5.4 | 0.284 | - | - | - | - | - | - | 14.94 | 14.62 | 14.22 |
| 2757 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2757 | begin climb | ||||||||||||||||||||||||||||
| 2758 | 369.1 | - | 413 | 2838 | done | 0.88 | 1.55 | 0.077 | 3030 | 214.8 | - | - | 1809 | - | 92.5 | 75.62 | 1.214 | 2323 | -5.0 | 0.265 | - | - | - | - | - | - | 14.73 | 14.51 | 14.00 |
| 2955 | 354.1 | 12.5 | 423 | 2961 | roll | 0.88 | - | - | 3037 | - | 2.42 | 0.065 | 396 | -583.9 | 92.5 | - | - | 2316 | - | - | - | - | - | - | - | - | 14.99 | 14.77 | 14.98 |
| 2993 | 350.3 | 13.6 | 424 | 2999 | done | 0.88 | - | - | 3037 | - | 2.30 | 0.037 | 1809 | 614.3 | 92.5 | - | - | 2316 | - | - | - | - | - | - | - | - | 14.92 | 14.84 | 14.92 |
| 3119 | 329.5 | 14.8 | 431 | 3124 | roll | 0.88 | - | - | 3037 | - | 2.40 | 0.067 | 399 | -587.5 | 92.5 | - | - | 2314 | - | - | - | - | - | - | - | - | 15.13 | 14.89 | 15.13 |
| 3325 | 305.3 | 12.1 | 441 | 3330 | done | 0.88 | - | - | 3037 | - | 2.28 | 0.037 | 1804 | 616.2 | 92.5 | - | - | 2311 | - | - | - | - | - | - | - | - | 15.08 | 14.99 | 15.09 |
| 3454 | 294.0 | 8.1 | 455 | 3484 | roll | 0.91 | - | - | 3040 | - | 2.45 | 0.067 | 396 | -574.7 | 118.9 | 20.95 | 1.104 | 2214 | -4.6 | 0.216 | - | - | - | - | - | - | 15.22 | 14.87 | 14.35 |
| 3566 | 280.7 | 14.2 | 476 | 3573 | done | 0.91 | - | - | 3040 | - | 2.30 | 0.037 | 1808 | 613.9 | 118.9 | - | - | 2212 | - | - | - | - | - | - | - | - | 15.02 | 14.95 | 15.04 |
| 3637 | 271.6 | 13.5 | 489 | 3643 | done | 0.91 | - | - | 3040 | - | - | - | 1809 | - | 118.9 | - | - | 2211 | - | - | - | - | - | - | - | - | 15.15 | 15.15 | 15.15 |
| 3705 | 262.2 | 13.7 | 502 | 3710 | done | 0.91 | - | - | 3040 | - | - | - | 1809 | - | 118.9 | - | - | 2210 | - | - | - | - | - | - | - | - | 15.18 | 15.18 | 15.18 |
| 3772 | 252.9 | 13.8 | 515 | 3779 | roll | 0.91 | - | - | 3040 | - | 2.30 | 0.052 | 3204 | 606.5 | 118.9 | - | - | 2209 | - | - | - | - | - | - | - | - | 15.19 | 14.97 | 15.20 |
| 3807 | 248.1 | 14.0 | 521 | 3813 | done | 0.91 | - | - | 3044 | - | 2.35 | 0.050 | 1795 | -599.6 | 118.9 | - | - | 2209 | - | - | - | - | - | - | - | - | 15.07 | 14.97 | 15.09 |
| 3876 | 239.1 | 13.2 | 534 | 3882 | done | 0.91 | - | - | 3044 | - | - | - | 1795 | - | 118.9 | - | - | 2208 | - | - | - | - | - | - | - | - | 15.20 | 15.20 | 15.20 |
| 3944 | 230.4 | 12.5 | 547 | 3950 | roll | 0.91 | - | - | 3044 | - | 2.33 | 0.050 | 3201 | 603.4 | 118.9 | - | - | 2208 | - | - | - | - | - | - | - | - | 15.21 | 14.96 | 15.21 |
| 3978 | 226.2 | 12.2 | 553 | 3985 | done | 0.91 | - | - | 3044 | - | 2.35 | 0.051 | 1791 | -600.0 | 118.9 | - | - | 2208 | - | - | - | - | - | - | - | - | 15.09 | 14.99 | 15.11 |
| 4048 | 217.5 | 12.6 | 566 | 4054 | done | 0.91 | - | - | 3044 | - | - | - | 1791 | - | 118.9 | - | - | 2207 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 4116 | 209.5 | 11.5 | 579 | 4123 | roll | 0.91 | - | - | 3044 | - | 2.35 | 0.051 | 3203 | 600.9 | 118.9 | - | - | 2207 | - | - | - | - | - | - | - | - | 15.22 | 15.00 | 15.23 |
| 4140 | 206.5 | 12.5 | 583 | 4146 | done | 0.91 | - | - | 3047 | - | 2.35 | 0.051 | 1792 | -600.4 | 118.9 | - | - | 2207 | - | - | - | - | - | - | - | - | 15.10 | 15.00 | 15.11 |
| 4210 | 199.6 | 9.1 | 596 | 4228 | roll | 0.93 | - | - | 3047 | - | 2.42 | 0.072 | 389 | -579.8 | 130.7 | 9.35 | 0.937 | 2168 | -4.2 | 0.156 | - | - | - | - | - | - | 15.22 | 14.92 | 14.45 |
| 4322 | 186.8 | 13.0 | 617 | 4328 | done | 0.93 | - | - | 3047 | - | 2.30 | 0.037 | 1805 | 615.7 | 130.7 | - | - | 2167 | - | - | - | - | - | - | - | - | 15.07 | 15.00 | 15.09 |
| 4391 | 178.1 | 12.0 | 630 | 4397 | roll | 0.93 | - | - | 3050 | - | 2.42 | 0.069 | 391 | -584.3 | 130.7 | - | - | 2167 | - | - | - | - | - | - | - | - | 15.18 | 14.95 | 15.19 |
| 4454 | 169.7 | 13.9 | 642 | 4461 | done | 0.93 | - | - | 3050 | - | 2.30 | 0.037 | 1806 | 615.2 | 130.7 | - | - | 2166 | - | - | - | - | - | - | - | - | 15.04 | 14.97 | 15.06 |
| 4523 | 159.8 | 14.9 | 655 | 4529 | done | 0.93 | - | - | 3050 | - | - | - | 1809 | - | 130.7 | - | - | 2166 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
| 4591 | 148.8 | 16.5 | 668 | 4598 | done | 0.93 | - | - | 3051 | - | - | - | 1809 | - | 130.7 | - | - | 2166 | - | - | - | - | - | - | - | - | 15.20 | 15.20 | 15.20 |
| 4660 | 138.7 | 13.1 | 681 | 4667 | roll | 0.93 | - | - | 3052 | - | 2.45 | 0.067 | 386 | -580.8 | 130.7 | - | - | 2165 | - | - | - | - | - | - | - | - | 15.20 | 14.97 | 15.21 |
| 4679 | 136.0 | 13.6 | 684 | 4687 | done | 0.93 | - | - | 3053 | - | 2.30 | 0.037 | 1798 | 613.9 | 130.7 | - | - | 2165 | - | - | - | - | - | - | - | - | 15.05 | 14.98 | 15.07 |
| 4751 | 128.2 | 9.4 | 697 | 4769 | roll | 0.94 | - | - | 3053 | - | 2.33 | 0.050 | 3198 | 600.9 | 139.3 | 9.25 | 0.868 | 2128 | -4.0 | 0.104 | - | - | - | - | - | - | 15.20 | 14.92 | 14.47 |
| 4908 | 116.2 | 6.8 | 727 | 4950 | done | 0.99 | - | - | 3054 | - | 2.35 | 0.051 | 1789 | -599.6 | 182.8 | 35.12 | 0.959 | 1951 | -5.0 | 0.107 | - | - | - | - | - | - | 15.05 | 14.97 | 14.39 |
| 5011 | 107.9 | 11.2 | 746 | 5018 | roll | 0.99 | - | - | 3054 | - | 2.40 | 0.073 | 394 | -581.2 | 182.8 | - | - | 1948 | - | - | - | - | - | - | - | - | 15.03 | 14.84 | 15.06 |
| 5106 | 91.4 | 17.9 | 764 | 5113 | done | 0.99 | - | - | 3054 | - | 2.30 | 0.036 | 1803 | 612.6 | 182.8 | - | - | 1945 | - | - | - | - | - | - | - | - | 15.00 | 14.92 | 15.00 |
| 5177 | 79.5 | 15.5 | 777 | 5183 | done | 0.99 | - | - | 3053 | - | - | - | 1805 | - | 182.8 | - | - | 1944 | - | - | - | - | - | - | - | - | 15.11 | 15.12 | 15.12 |
| 5244 | 70.6 | 12.1 | 790 | 5251 | roll | 0.99 | - | - | 3054 | - | 2.30 | 0.050 | 3201 | 607.0 | 182.8 | - | - | 1943 | - | - | - | - | - | - | - | - | 15.14 | 14.91 | 15.14 |
| 5520 | 42.8 | 8.5 | 844 | 5544 | done | 1.02 | - | - | 3057 | - | 2.35 | 0.051 | 1796 | -597.9 | 203.2 | 15.18 | 0.827 | 1872 | -4.7 | 0.042 | - | - | - | - | - | - | 15.03 | 14.93 | 14.39 |
| 5607 | 38.5 | 5.2 | 860 | 5667 | roll | 1.10 | 0.12 | 0.149 | 3102 | 375.0 | 2.38 | 0.047 | 3208 | 593.3 | 269.1 | 51.45 | 0.863 | 1600 | -5.3 | 0.041 | - | - | - | - | - | - | 14.88 | 14.65 | 14.28 |
| 5725 | 25.0 | 13.8 | 881 | 5732 | done | 1.10 | - | - | 3111 | - | 2.40 | 0.053 | 1796 | -588.3 | 269.1 | - | - | 1600 | - | - | - | - | - | - | - | - | 14.88 | 14.80 | 14.90 |
| 5794 | 16.1 | 14.0 | 894 | 5800 | done | 1.10 | - | - | 3112 | - | - | - | 1796 | - | 269.1 | - | - | 1600 | - | - | - | - | - | - | - | - | 15.04 | 15.06 | 15.05 |
| 5862 | 5.3 | 16.7 | 907 | 5868 | done | 1.10 | - | - | 3112 | - | - | - | 1796 | - | 269.1 | - | - | 1598 | - | - | - | - | - | - | - | - | 15.08 | 15.09 | 15.09 |
| 5873 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 5873 | begin surface coast | ||||||||||||||||||||||||||||
| 5890 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5890 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.78 | - | - | - | - | -8.18 | 13.90 | 0.042 | 115 | 8.3 | - | - | 1796 | - | 515.37 | 149.85 | 0.793 | 598 | 4.0 | -0.000 | - | - | - | - | - | - | |||