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| • Previous call tries 1 | • 80.67 of 310.00 AH used of 24V (73.98% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -66.7 deg, depth 0.80 m | • Intended pitch -23.0 deg, speed -9.980 cm/s | |
| • VBD pumped to 515.37 (SM_CC=515.36688) | ||
| • GPS1 time: 8 s | • bottom range 35.3 m at 356.3 m, depth 392 m (500 m grid) | |
| • GPS2 time: 7 s | • Transponder ping count: 16 | |
| • 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 | - | - | 54 | - | - | - | 1807 | - | -92.5 | -85.97 | - | 2875 | - | - | - | - | - | - | - | - | 15.06 | - | 15.06 |
| 113 | 3.4 | -7.4 | 15 | 139 | roll | -0.88 | 13.90 | 0.288 | 2469 | 173.7 | 2.38 | 0.077 | 394 | -593.7 | -92.5 | -3.67 | - | 3078 | -55.3 | - | - | - | - | - | - | - | 14.64 | 14.19 | 14.86 |
| 181 | 25.9 | -25.5 | 27 | 189 | done | -0.88 | 0.05 | 0.362 | 2469 | - | 2.30 | 0.035 | 1804 | 613.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.75 | 14.90 | 14.93 |
| 251 | 38.8 | -16.2 | 40 | 258 | roll | -0.88 | - | - | 2461 | - | 2.33 | 0.049 | 3218 | 606.9 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.13 | 14.92 | 15.14 |
| 353 | 54.4 | -15.1 | 59 | 361 | done | -0.88 | 0.03 | 0.464 | 2469 | 266.7 | 2.33 | 0.041 | 1799 | -609.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.81 | 14.95 | 14.98 |
| 425 | 65.6 | -17.2 | 72 | 431 | roll | -0.88 | - | - | 2461 | - | 2.35 | 0.048 | 3220 | 604.7 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.15 | 14.91 | 15.16 |
| 486 | 75.1 | -15.1 | 83 | 493 | done | -0.88 | - | - | 2461 | - | 2.33 | 0.041 | 1805 | -607.3 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.03 | 14.94 | 15.05 |
| 557 | 87.1 | -17.5 | 96 | 564 | roll | -0.88 | - | - | 2461 | - | 2.38 | 0.065 | 404 | -588.7 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.18 | 14.95 | 15.18 |
| 663 | 106.1 | -16.3 | 116 | 670 | done | -0.88 | 0.08 | 0.295 | 2469 | 100.0 | 2.28 | 0.036 | 1812 | 617.5 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.85 | 15.00 | 15.02 |
| 735 | 116.3 | -12.4 | 129 | 741 | roll | -0.88 | - | - | 2469 | - | 2.38 | 0.059 | 402 | -592.4 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.19 | 14.90 | 15.20 |
| 789 | 124.4 | -14.2 | 139 | 797 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.034 | 1821 | 617.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.09 | 15.01 | 15.10 |
| 860 | 134.3 | -13.7 | 152 | 869 | roll | -0.88 | - | - | 2451 | - | 2.28 | 0.050 | 3214 | 611.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.20 | 14.93 | 15.20 |
| 876 | 136.3 | -12.5 | 154 | 884 | done | -0.88 | 0.10 | 0.224 | 2471 | 200.0 | 2.30 | 0.042 | 1811 | -610.0 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.88 | 14.97 | 15.01 |
| 949 | 146.8 | -16.2 | 167 | 955 | roll | -0.88 | - | - | 2471 | - | 2.35 | 0.063 | 408 | -597.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.21 | 14.98 | 15.21 |
| 978 | 151.7 | -17.8 | 172 | 984 | done | -0.88 | - | - | 2464 | - | 2.28 | 0.034 | 1819 | 618.9 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.09 | 15.01 | 15.10 |
| 1048 | 162.2 | -15.8 | 185 | 1055 | roll | -0.88 | - | - | 2454 | - | 2.30 | 0.050 | 3212 | 605.7 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.21 |
| 1113 | 172.2 | -14.6 | 197 | 1120 | done | -0.88 | 0.08 | 0.255 | 2470 | 200.0 | 2.30 | 0.042 | 1807 | -610.9 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.90 | 15.00 | 15.04 |
| 1184 | 182.7 | -13.2 | 210 | 1192 | roll | -0.88 | - | - | 2463 | - | 2.33 | 0.049 | 3215 | 604.3 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.21 | 14.94 | 15.21 |
| 1277 | 195.8 | -14.1 | 227 | 1284 | done | -0.88 | - | - | 2464 | - | 2.30 | 0.043 | 1814 | -609.1 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.09 | 15.01 | 15.11 |
| 1347 | 206.3 | -16.1 | 240 | 1353 | roll | -0.88 | - | - | 2457 | - | 2.33 | 0.050 | 3217 | 602.1 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.23 | 15.00 | 15.23 |
| 1411 | 214.6 | -12.7 | 252 | 1420 | done | -0.88 | 0.08 | 0.261 | 2472 | 187.5 | 2.30 | 0.041 | 1809 | -612.2 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.90 | 15.02 | 15.05 |
| 1482 | 223.9 | -11.9 | 265 | 1489 | roll | -0.88 | - | - | 2464 | - | 2.33 | 0.050 | 3216 | 603.9 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.24 |
| 1582 | 236.4 | -13.6 | 284 | 1588 | done | -0.88 | - | - | 2464 | - | 2.30 | 0.044 | 1812 | -610.4 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.13 |
| 1652 | 245.1 | -13.6 | 297 | 1658 | done | -0.88 | - | - | 2464 | - | - | - | 1812 | - | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.25 | 15.24 | 15.25 |
| 1720 | 254.6 | -13.5 | 310 | 1729 | roll | -0.88 | - | - | 2461 | - | 2.33 | 0.052 | 3211 | 600.4 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.24 |
| 1767 | 260.4 | -12.8 | 318 | 1774 | done | -0.88 | - | - | 2460 | - | 2.30 | 0.044 | 1813 | -607.8 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.12 | 15.03 | 15.14 |
| 1840 | 269.6 | -13.4 | 331 | 1847 | done | -0.88 | 0.03 | 0.513 | 2470 | 333.3 | - | - | 1812 | - | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 14.90 | 15.09 | 15.06 |
| 1909 | 278.8 | -12.9 | 344 | 1916 | roll | -0.88 | - | - | 2461 | - | 2.33 | 0.051 | 3216 | 602.6 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.24 | 15.02 | 15.24 |
| 1952 | 284.7 | -12.6 | 352 | 1962 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.044 | 1813 | -610.0 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.12 | 15.03 | 15.14 |
| 2026 | 294.0 | -13.2 | 365 | 2033 | roll | -0.88 | - | - | 2452 | - | 2.33 | 0.050 | 3214 | 601.3 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.26 | 15.02 | 15.26 |
| 2044 | 296.5 | -12.8 | 368 | 2052 | done | -0.88 | 0.10 | 0.230 | 2472 | 200.0 | 2.30 | 0.044 | 1811 | -610.0 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 14.85 | 14.95 | 15.00 |
| 2115 | 305.2 | -12.3 | 375 | 2121 | roll | -0.88 | - | - | 2472 | - | 2.35 | 0.063 | 405 | -598.3 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.26 | 15.06 | 15.26 |
| 2147 | 308.4 | -12.8 | 376 | 2152 | done | -0.88 | - | - | 2471 | - | 2.28 | 0.037 | 1817 | 619.3 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.14 | 15.05 | 15.15 |
| 2279 | 327.8 | -13.6 | 383 | 2285 | roll | -0.88 | - | - | 2465 | - | 2.30 | 0.054 | 3217 | 608.7 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.28 | 15.04 | 15.28 |
| 2366 | 337.9 | -12.3 | 387 | 2373 | done | -0.88 | - | - | 2465 | - | 2.30 | 0.044 | 1807 | -613.0 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.15 | 15.05 | 15.16 |
| 2510 | 356.3 | -13.6 | 394 | 2512 | done | -0.88 | - | - | 2465 | - | - | - | 1806 | - | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.29 | 15.29 | 15.30 |
| 2625 | 373.6 | -14.2 | 400 | 2626 | done | -0.88 | - | - | 2465 | - | - | - | 1807 | - | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.30 | 15.30 | 15.30 |
| 2703 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2703 | begin apogee | ||||||||||||||||||||||||||||
| 2708 | 383.5 | -12.3 | 404 | 2785 | done | -0.17 | 1.20 | 0.161 | 2700 | 195.8 | - | - | 1807 | - | - | 70.18 | 1.233 | 2699 | -5.3 | 0.290 | - | - | - | - | - | - | 14.96 | 14.62 | 14.21 |
| 2787 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2787 | begin climb | ||||||||||||||||||||||||||||
| 2789 | 386.7 | - | 408 | 2870 | done | 0.88 | 1.50 | 0.075 | 3029 | 219.3 | - | - | 1807 | - | 92.5 | 76.10 | 1.233 | 2322 | -5.0 | 0.271 | - | - | - | - | - | - | 14.71 | 14.52 | 14.04 |
| 2985 | 376.0 | 8.9 | 418 | 3005 | roll | 0.90 | - | - | 3033 | - | 2.42 | 0.066 | 398 | -582.2 | 107.9 | 13.45 | 1.086 | 2257 | -4.8 | 0.292 | - | - | - | - | - | - | 14.99 | 14.62 | 14.19 |
| 3272 | 337.3 | 14.6 | 432 | 3278 | done | 0.90 | - | - | 3033 | - | 2.28 | 0.035 | 1801 | 615.4 | 107.9 | - | - | 2252 | - | - | - | - | - | - | - | - | 15.03 | 14.96 | 15.04 |
| 3410 | 318.7 | 12.9 | 439 | 3415 | roll | 0.90 | - | - | 3033 | - | 2.30 | 0.051 | 3200 | 608.3 | 107.9 | - | - | 2251 | - | - | - | - | - | - | - | - | 15.19 | 14.97 | 15.19 |
| 3447 | 315.7 | 12.9 | 440 | 3454 | done | 0.90 | - | - | 3037 | - | 2.33 | 0.050 | 1796 | -602.6 | 107.9 | - | - | 2250 | - | - | - | - | - | - | - | - | 15.07 | 14.97 | 15.09 |
| 3573 | 298.1 | 12.5 | 447 | 3580 | roll | 0.90 | - | - | 3036 | - | 2.38 | 0.070 | 388 | -591.6 | 107.9 | - | - | 2249 | - | - | - | - | - | - | - | - | 15.23 | 14.98 | 15.24 |
| 3587 | 296.3 | 12.6 | 449 | 3594 | done | 0.90 | - | - | 3036 | - | 2.30 | 0.034 | 1811 | 618.7 | 107.9 | - | - | 2249 | - | - | - | - | - | - | - | - | 15.09 | 15.00 | 15.11 |
| 3657 | 287.2 | 12.8 | 462 | 3663 | roll | 0.90 | - | - | 3037 | - | 2.28 | 0.050 | 3196 | 607.5 | 107.9 | - | - | 2249 | - | - | - | - | - | - | - | - | 15.23 | 15.00 | 15.23 |
| 3771 | 272.4 | 12.9 | 484 | 3778 | done | 0.90 | - | - | 3037 | - | 2.33 | 0.049 | 1796 | -600.9 | 107.9 | - | - | 2248 | - | - | - | - | - | - | - | - | 15.11 | 15.01 | 15.12 |
| 3841 | 263.9 | 12.0 | 497 | 3847 | roll | 0.90 | - | - | 3037 | - | 2.30 | 0.051 | 3191 | 606.5 | 107.9 | - | - | 2248 | - | - | - | - | - | - | - | - | 15.23 | 15.01 | 15.23 |
| 3900 | 256.7 | 11.8 | 508 | 3907 | done | 0.90 | - | - | 3040 | - | 2.33 | 0.049 | 1797 | -598.3 | 107.9 | - | - | 2247 | - | - | - | - | - | - | - | - | 15.10 | 15.01 | 15.12 |
| 3970 | 249.0 | 11.4 | 521 | 3976 | done | 0.90 | - | - | 3040 | - | - | - | 1797 | - | 107.9 | - | - | 2247 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 4038 | 241.3 | 10.9 | 534 | 4045 | roll | 0.90 | - | - | 3039 | - | 2.33 | 0.052 | 3198 | 601.3 | 107.9 | - | - | 2247 | - | - | - | - | - | - | - | - | 15.23 | 15.00 | 15.23 |
| 4474 | 192.1 | 12.7 | 620 | 4481 | done | 0.90 | - | - | 3040 | - | 2.33 | 0.050 | 1799 | -600.4 | 107.9 | - | - | 2245 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.13 |
| 4543 | 184.3 | 10.7 | 633 | 4549 | done | 0.90 | - | - | 3040 | - | - | - | 1799 | - | 107.9 | - | - | 2245 | - | - | - | - | - | - | - | - | 15.22 | 15.22 | 15.22 |
| 4612 | 177.2 | 10.1 | 646 | 4618 | roll | 0.90 | - | - | 3040 | - | 2.33 | 0.051 | 3199 | 600.9 | 107.9 | - | - | 2245 | - | - | - | - | - | - | - | - | 15.22 | 14.96 | 15.23 |
| 4650 | 173.2 | 10.6 | 653 | 4656 | done | 0.90 | - | - | 3044 | - | 2.33 | 0.048 | 1799 | -600.9 | 107.9 | - | - | 2245 | - | - | - | - | - | - | - | - | 15.02 | 14.93 | 15.03 |
| 4720 | 166.8 | 9.4 | 666 | 4734 | roll | 0.91 | - | - | 3044 | - | 2.30 | 0.051 | 3191 | 605.2 | 115.4 | 5.10 | 0.750 | 2228 | -3.3 | 0.130 | - | - | - | - | - | - | 15.21 | 14.94 | 14.43 |
| 4771 | 161.1 | 10.9 | 675 | 4778 | done | 0.91 | - | - | 3047 | - | 2.33 | 0.050 | 1797 | -598.3 | 115.4 | - | - | 2228 | - | - | - | - | - | - | - | - | 15.01 | 14.92 | 15.02 |
| 4841 | 153.4 | 11.7 | 688 | 4848 | roll | 0.91 | - | - | 3047 | - | 2.30 | 0.051 | 3192 | 606.5 | 115.4 | - | - | 2228 | - | - | - | - | - | - | - | - | 15.19 | 14.95 | 15.20 |
| 4866 | 150.1 | 12.4 | 692 | 4872 | done | 0.91 | - | - | 3046 | - | 2.33 | 0.050 | 1800 | -597.4 | 115.4 | - | - | 2227 | - | - | - | - | - | - | - | - | 15.00 | 14.92 | 15.02 |
| 4935 | 141.7 | 12.7 | 705 | 4942 | roll | 0.91 | - | - | 3045 | - | 2.38 | 0.071 | 395 | -590.3 | 115.4 | - | - | 2228 | - | - | - | - | - | - | - | - | 15.19 | 14.88 | 15.19 |
| 5075 | 124.2 | 10.8 | 732 | 5082 | done | 0.91 | - | - | 3047 | - | 2.28 | 0.036 | 1801 | 616.7 | 115.4 | - | - | 2227 | - | - | - | - | - | - | - | - | 15.00 | 14.92 | 15.00 |
| 5145 | 117.6 | 9.4 | 745 | 5158 | roll | 0.92 | - | - | 3054 | - | 2.42 | 0.065 | 394 | -581.4 | 123.6 | 7.80 | 0.851 | 2196 | -4.0 | 0.096 | - | - | - | - | - | - | 15.20 | 14.95 | 14.44 |
| 5307 | 103.6 | 8.5 | 776 | 5332 | done | 0.94 | - | - | 3053 | - | 2.30 | 0.034 | 1807 | 614.3 | 144.1 | 18.15 | 0.939 | 2110 | -4.7 | 0.091 | - | - | - | - | - | - | 15.07 | 15.00 | 14.34 |
| 5396 | 95.3 | 10.8 | 792 | 5403 | roll | 0.94 | - | - | 3057 | - | 2.42 | 0.067 | 394 | -583.9 | 144.1 | - | - | 2110 | - | - | - | - | - | - | - | - | 15.11 | 14.85 | 15.11 |
| 5430 | 91.6 | 12.2 | 798 | 5437 | done | 0.94 | - | - | 3057 | - | 2.28 | 0.035 | 1805 | 618.9 | 144.1 | - | - | 2109 | - | - | - | - | - | - | - | - | 14.94 | 14.87 | 14.94 |
| 5500 | 84.5 | 9.9 | 811 | 5507 | done | 0.95 | - | - | 3057 | - | - | - | 1805 | - | 145.5 | - | - | 2110 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
| 5570 | 76.9 | 12.5 | 824 | 5576 | roll | 0.95 | - | - | 3060 | - | 2.42 | 0.067 | 388 | -585.5 | 145.5 | - | - | 2109 | - | - | - | - | - | - | - | - | 15.15 | 14.85 | 15.15 |
| 5614 | 71.3 | 13.3 | 832 | 5621 | done | 0.95 | - | - | 3060 | - | 2.28 | 0.036 | 1792 | 615.8 | 145.5 | - | - | 2108 | - | - | - | - | - | - | - | - | 15.04 | 14.97 | 15.04 |
| 5684 | 64.0 | 9.0 | 845 | 5702 | done | 0.96 | - | - | 3060 | - | - | - | 1794 | - | 159.4 | 13.32 | 0.840 | 2048 | -4.5 | 0.060 | - | - | - | - | - | - | 15.16 | 14.88 | 14.42 |
| 5765 | 56.6 | 10.7 | 860 | 5772 | roll | 0.96 | - | - | 3060 | - | 2.33 | 0.051 | 3198 | 602.6 | 159.4 | - | - | 2047 | - | - | - | - | - | - | - | - | 15.12 | 14.85 | 15.12 |
| 5849 | 46.8 | 11.8 | 876 | 5856 | done | 0.96 | - | - | 3065 | - | 2.33 | 0.050 | 1800 | -600.0 | 159.4 | - | - | 2047 | - | - | - | - | - | - | - | - | 15.02 | 14.92 | 15.03 |
| 5919 | 38.2 | 12.6 | 889 | 5925 | roll | 0.96 | - | - | 3065 | - | 2.30 | 0.050 | 3199 | 608.3 | 159.4 | - | - | 2047 | - | - | - | - | - | - | - | - | 15.14 | 14.94 | 15.15 |
| 6168 | 21.2 | 7.0 | 938 | 6205 | done | 1.01 | - | - | 3067 | - | 2.33 | 0.050 | 1799 | -600.9 | 200.1 | 25.65 | 0.985 | 1882 | -6.4 | 0.024 | - | - | - | - | - | - | 15.07 | 14.97 | 14.42 |
| 6268 | 15.5 | 3.5 | 956 | 6332 | roll | 1.12 | 0.12 | 0.142 | 3124 | 475.0 | 2.42 | 0.066 | 391 | -581.8 | 290.0 | 55.67 | 0.927 | 1514 | -6.6 | 0.019 | - | - | - | - | - | - | 14.81 | 14.59 | 14.27 |
| 6385 | 3.5 | 15.8 | 977 | 6392 | done | 1.12 | - | - | 3124 | - | 2.33 | 0.036 | 1795 | 602.6 | 290.0 | - | - | 1513 | - | - | - | - | - | - | - | - | 14.86 | 14.78 | 14.87 |
| 6396 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 6396 | begin surface coast | ||||||||||||||||||||||||||||
| 6413 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6413 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.75 | - | - | - | - | -8.17 | 14.00 | 0.041 | 125 | 8.9 | - | - | 1797 | - | 515.37 | 137.62 | 0.786 | 597 | 4.3 | -0.000 | - | - | - | - | - | - | |||