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| • Previous call tries 3 | • 81.16 of 310.00 AH used of 24V (73.82% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -64.3 deg, depth 0.81 m | • Intended pitch -23.0 deg, speed -9.980 cm/s | |
| • VBD pumped to 515.37 (SM_CC=515.36688) | ||
| • GPS1 time: 17 s | • bottom range 35.2 m at 386.4 m, depth 422 m (500 m grid) | |
| • GPS2 time: 8 s | • Transponder ping count: 27 | |
| • 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 | ||||||||||||||||||||||||||||
| 22 | - | - | - | 109 | VBD | -0.88 | - | - | 53 | - | - | - | 1836 | - | -92.5 | -85.35 | - | 2880 | - | - | - | - | - | - | - | - | 15.10 | - | 15.11 |
| 113 | 3.4 | -7.0 | 15 | 138 | roll | -0.88 | 13.88 | 0.288 | 2462 | 173.6 | 2.42 | 0.083 | 399 | -593.8 | -92.5 | -3.62 | - | 3079 | -55.0 | - | - | - | - | - | - | - | 14.70 | 13.86 | 14.97 |
| 265 | 42.4 | -22.9 | 44 | 274 | done | -0.88 | 0.08 | 0.297 | 2470 | 100.0 | 2.30 | 0.036 | 1810 | 613.5 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.79 | 14.90 | 14.95 |
| 337 | 53.9 | -16.0 | 57 | 344 | roll | -0.88 | - | - | 2462 | - | 2.33 | 0.052 | 3223 | 606.4 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.17 | 14.95 | 15.17 |
| 409 | 65.2 | -15.7 | 70 | 416 | done | -0.88 | - | - | 2461 | - | 2.33 | 0.044 | 1807 | -607.7 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.07 | 14.97 | 15.07 |
| 479 | 77.0 | -16.7 | 83 | 486 | roll | -0.88 | - | - | 2451 | - | 2.35 | 0.051 | 3220 | 601.3 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.18 | 14.94 | 15.19 |
| 545 | 87.1 | -14.3 | 95 | 552 | done | -0.88 | 0.10 | 0.230 | 2470 | 190.0 | 2.33 | 0.043 | 1802 | -608.6 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.82 | 14.91 | 14.96 |
| 615 | 98.3 | -15.1 | 108 | 622 | roll | -0.88 | - | - | 2462 | - | 2.35 | 0.052 | 3217 | 602.1 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.19 | 14.92 | 15.19 |
| 770 | 122.4 | -17.1 | 137 | 776 | done | -0.88 | - | - | 2462 | - | 2.30 | 0.044 | 1811 | -611.3 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.02 | 14.93 | 15.03 |
| 840 | 133.9 | -16.6 | 150 | 846 | roll | -0.88 | - | - | 2462 | - | 2.35 | 0.062 | 408 | -597.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.21 | 14.91 | 15.21 |
| 920 | 148.2 | -17.2 | 165 | 928 | done | -0.88 | 0.10 | 0.265 | 2471 | 90.0 | 2.28 | 0.035 | 1816 | 617.5 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.83 | 14.96 | 15.00 |
| 991 | 160.4 | -17.6 | 178 | 997 | done | -0.88 | - | - | 2471 | - | - | - | 1819 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.21 | 15.22 | 15.21 |
| 1061 | 172.3 | -16.4 | 191 | 1068 | roll | -0.88 | - | - | 2462 | - | 2.30 | 0.051 | 3219 | 608.7 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.22 | 14.97 | 15.22 |
| 1145 | 186.0 | -16.4 | 207 | 1152 | done | -0.88 | - | - | 2462 | - | 2.33 | 0.044 | 1802 | -608.2 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.03 | 14.94 | 15.04 |
| 1216 | 197.5 | -14.9 | 220 | 1223 | roll | -0.88 | - | - | 2467 | - | 2.35 | 0.062 | 400 | -596.6 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.21 | 14.96 | 15.22 |
| 1241 | 202.1 | -17.5 | 224 | 1250 | done | -0.88 | 0.10 | 0.262 | 2479 | 120.0 | 2.28 | 0.036 | 1812 | 619.3 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.89 | 15.02 | 15.05 |
| 1312 | 213.1 | -15.4 | 237 | 1319 | roll | -0.88 | - | - | 2472 | - | 2.35 | 0.060 | 406 | -598.3 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.23 | 15.00 | 15.23 |
| 1351 | 219.1 | -15.7 | 244 | 1359 | done | -0.88 | - | - | 2464 | - | 2.28 | 0.035 | 1820 | 620.2 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.11 | 15.03 | 15.12 |
| 1422 | 228.6 | -12.5 | 257 | 1428 | roll | -0.88 | - | - | 2456 | - | 2.28 | 0.054 | 3212 | 610.5 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.24 | 15.01 | 15.24 |
| 1536 | 241.9 | -11.3 | 279 | 1543 | done | -0.88 | 0.08 | 0.260 | 2471 | 187.5 | 2.30 | 0.042 | 1810 | -609.6 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 14.86 | 15.00 | 15.03 |
| 1606 | 249.6 | -10.8 | 292 | 1614 | roll | -0.88 | - | - | 2463 | - | 2.33 | 0.051 | 3212 | 601.7 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.25 | 14.99 | 15.26 |
| 1641 | 253.5 | -10.7 | 298 | 1647 | done | -0.88 | - | - | 2462 | - | 2.30 | 0.044 | 1805 | -611.7 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.12 | 15.03 | 15.14 |
| 1713 | 261.9 | -12.2 | 311 | 1720 | roll | -0.88 | - | - | 2454 | - | 2.33 | 0.052 | 3211 | 603.4 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.25 | 15.02 | 15.26 |
| 1737 | 264.9 | -12.2 | 315 | 1745 | done | -0.88 | 0.08 | 0.257 | 2466 | 150.0 | 2.33 | 0.043 | 1805 | -603.4 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 14.92 | 15.03 | 15.07 |
| 1808 | 273.9 | -12.7 | 328 | 1815 | done | -0.88 | - | - | 2469 | - | - | - | 1806 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.25 | 15.25 | 15.25 |
| 1880 | 283.9 | -15.0 | 341 | 1887 | roll | -0.88 | - | - | 2467 | - | 2.33 | 0.051 | 3213 | 603.9 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.25 | 15.02 | 15.25 |
| 1896 | 286.2 | -15.6 | 343 | 1902 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.044 | 1814 | -608.3 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.09 | 14.99 | 15.10 |
| 1965 | 296.0 | -13.4 | 356 | 1973 | roll | -0.88 | - | - | 2461 | - | 2.38 | 0.063 | 403 | -592.9 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.25 | 14.95 | 15.26 |
| 1979 | 298.1 | -13.9 | 358 | 1987 | done | -0.88 | 0.08 | 0.291 | 2469 | 100.0 | 2.28 | 0.037 | 1808 | 616.2 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 14.90 | 15.04 | 15.07 |
| 2054 | 308.7 | -14.1 | 363 | 2060 | roll | -0.88 | - | - | 2461 | - | 2.33 | 0.054 | 3224 | 607.7 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.27 | 14.95 | 15.28 |
| 2097 | 314.4 | -13.5 | 365 | 2102 | done | -0.88 | - | - | 2461 | - | 2.33 | 0.045 | 1808 | -607.7 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.14 | 15.04 | 15.14 |
| 2241 | 334.2 | -14.1 | 372 | 2246 | roll | -0.88 | - | - | 2452 | - | 2.33 | 0.053 | 3216 | 604.3 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.28 | 15.05 | 15.28 |
| 2289 | 340.5 | -14.1 | 374 | 2295 | done | -0.88 | 0.10 | 0.228 | 2472 | 200.0 | 2.30 | 0.045 | 1815 | -609.1 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 14.96 | 15.06 | 15.10 |
| 2429 | 360.8 | -14.3 | 381 | 2435 | roll | -0.88 | - | - | 2464 | - | 2.35 | 0.054 | 3225 | 600.0 | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.29 | 15.07 | 15.30 |
| 2483 | 366.9 | -14.0 | 383 | 2488 | done | -0.88 | - | - | 2464 | - | 2.33 | 0.045 | 1801 | -611.2 | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.16 | 15.07 | 15.18 |
| 2621 | 386.4 | -13.9 | 390 | 2626 | roll | -0.88 | - | - | 2461 | - | 2.35 | 0.056 | 3215 | 601.7 | -92.5 | - | - | 3072 | - | - | - | - | - | - | - | - | 15.30 | 15.07 | 15.30 |
| 2647 | 390.3 | -14.1 | 391 | 2652 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.047 | 1811 | -610.4 | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.16 | 15.07 | 15.18 |
| 2784 | 409.3 | -13.5 | 398 | 2790 | roll | -0.88 | 0.03 | 0.513 | 2470 | 300.0 | 2.35 | 0.063 | 408 | -597.0 | -92.5 | - | - | 3072 | - | - | - | - | - | - | - | - | 14.94 | 15.04 | 15.11 |
| 2806 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2806 | begin apogee | ||||||||||||||||||||||||||||
| 2813 | 412.5 | -13.5 | 399 | 2889 | done | -0.17 | 1.20 | 0.166 | 2698 | 190.0 | - | - | 1805 | - | - | 69.95 | 1.268 | 2699 | -5.3 | 0.307 | - | - | - | - | - | - | 14.96 | 14.72 | 14.16 |
| 2890 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2890 | begin climb | ||||||||||||||||||||||||||||
| 2892 | 415.9 | - | 403 | 2977 | roll | 0.88 | 1.52 | 0.075 | 3032 | 219.7 | 2.38 | 0.048 | 3206 | 588.7 | 92.5 | 76.03 | 1.259 | 2322 | -5.0 | 0.290 | - | - | - | - | - | - | 14.71 | 14.41 | 13.97 |
| 2996 | 412.4 | 3.6 | 408 | 3077 | done | 0.99 | 0.10 | 0.164 | 3066 | 340.0 | 2.40 | 0.049 | 1801 | -585.4 | 180.2 | 70.28 | 1.242 | 1961 | -5.1 | 0.302 | - | - | - | - | - | - | 14.60 | 14.61 | 13.97 |
| 3195 | 379.7 | 19.0 | 418 | 3200 | roll | 0.99 | - | - | 3077 | - | 2.42 | 0.070 | 394 | -581.4 | 180.2 | - | - | 1958 | - | - | - | - | - | - | - | - | 14.99 | 14.76 | 14.99 |
| 3227 | 375.5 | 19.3 | 419 | 3232 | done | 0.99 | - | - | 3076 | - | 2.33 | 0.037 | 1812 | 608.6 | 180.2 | - | - | 1956 | - | - | - | - | - | - | - | - | 14.90 | 14.83 | 14.91 |
| 3360 | 346.6 | 19.4 | 426 | 3365 | roll | 0.99 | - | - | 3077 | - | 2.30 | 0.050 | 3209 | 607.4 | 180.2 | - | - | 1954 | - | - | - | - | - | - | - | - | 15.11 | 14.85 | 15.12 |
| 3396 | 342.2 | 19.1 | 427 | 3404 | done | 0.99 | - | - | 3086 | - | 2.35 | 0.051 | 1801 | -599.1 | 180.2 | - | - | 1953 | - | - | - | - | - | - | - | - | 15.01 | 14.91 | 15.02 |
| 3522 | 315.4 | 19.2 | 434 | 3528 | roll | 0.99 | - | - | 3086 | - | 2.33 | 0.050 | 3207 | 603.4 | 180.2 | - | - | 1952 | - | - | - | - | - | - | - | - | 15.19 | 14.97 | 15.19 |
| 3559 | 311.0 | 19.3 | 435 | 3565 | done | 0.99 | - | - | 3090 | - | 2.35 | 0.053 | 1799 | -599.1 | 180.2 | - | - | 1952 | - | - | - | - | - | - | - | - | 15.07 | 14.96 | 15.08 |
| 3686 | 283.3 | 19.6 | 454 | 3693 | roll | 0.99 | - | - | 3090 | - | 2.33 | 0.048 | 3212 | 606.4 | 180.2 | - | - | 1952 | - | - | - | - | - | - | - | - | 15.20 | 14.99 | 15.21 |
| 3700 | 280.5 | 20.4 | 456 | 3707 | done | 0.99 | 0.10 | 0.307 | 3080 | -100.0 | 2.38 | 0.053 | 1792 | -596.6 | 180.2 | - | - | 1952 | - | - | - | - | - | - | - | - | 14.78 | 14.91 | 14.97 |
| 3770 | 267.0 | 20.3 | 469 | 3778 | roll | 0.99 | - | - | 3081 | - | 2.33 | 0.050 | 3202 | 605.2 | 180.2 | - | - | 1950 | - | - | - | - | - | - | - | - | 15.22 | 14.94 | 15.23 |
| 3790 | 262.4 | 21.3 | 472 | 3796 | done | 0.99 | - | - | 3089 | - | 2.35 | 0.052 | 1798 | -597.4 | 180.2 | - | - | 1951 | - | - | - | - | - | - | - | - | 15.02 | 14.92 | 15.04 |
| 3860 | 247.6 | 21.6 | 485 | 3867 | roll | 0.99 | - | - | 3089 | - | 2.33 | 0.050 | 3204 | 603.4 | 180.2 | - | - | 1951 | - | - | - | - | - | - | - | - | 15.21 | 14.93 | 15.22 |
| 3919 | 233.9 | 22.0 | 496 | 3927 | done | 0.99 | 0.05 | 0.393 | 3083 | -120.0 | 2.38 | 0.053 | 1791 | -593.7 | 180.2 | - | - | 1950 | - | - | - | - | - | - | - | - | 14.76 | 14.92 | 14.97 |
| 3989 | 219.9 | 19.8 | 509 | 3997 | roll | 0.99 | - | - | 3082 | - | 2.33 | 0.048 | 3203 | 606.0 | 180.2 | - | - | 1950 | - | - | - | - | - | - | - | - | 15.23 | 14.92 | 15.23 |
| 4061 | 205.6 | 19.6 | 522 | 4067 | done | 0.99 | - | - | 3084 | - | 2.35 | 0.054 | 1802 | -596.2 | 180.2 | - | - | 1950 | - | - | - | - | - | - | - | - | 15.07 | 14.96 | 15.08 |
| 4130 | 193.1 | 16.3 | 535 | 4137 | roll | 0.99 | - | - | 3083 | - | 2.40 | 0.073 | 392 | -587.5 | 180.2 | - | - | 1949 | - | - | - | - | - | - | - | - | 15.21 | 14.92 | 15.22 |
| 4200 | 179.9 | 19.5 | 548 | 4206 | done | 0.99 | - | - | 3084 | - | 2.30 | 0.037 | 1802 | 613.0 | 180.2 | - | - | 1948 | - | - | - | - | - | - | - | - | 15.03 | 14.95 | 15.04 |
| 4270 | 167.7 | 16.0 | 561 | 4277 | roll | 0.99 | - | - | 3085 | - | 2.30 | 0.050 | 3206 | 610.4 | 180.2 | - | - | 1948 | - | - | - | - | - | - | - | - | 15.22 | 14.92 | 15.22 |
| 4329 | 157.1 | 17.0 | 572 | 4337 | done | 0.99 | 0.05 | 0.389 | 3083 | - | 2.35 | 0.054 | 1798 | -599.1 | 180.2 | - | - | 1948 | - | - | - | - | - | - | - | - | 14.75 | 14.92 | 14.97 |
| 4399 | 145.4 | 16.9 | 585 | 4406 | roll | 0.99 | - | - | 3091 | - | 2.38 | 0.070 | 393 | -590.3 | 180.2 | - | - | 1947 | - | - | - | - | - | - | - | - | 15.21 | 14.97 | 15.21 |
| 4470 | 133.7 | 18.0 | 598 | 4477 | done | 0.99 | - | - | 3091 | - | 2.30 | 0.037 | 1803 | 613.0 | 180.2 | - | - | 1947 | - | - | - | - | - | - | - | - | 15.02 | 14.95 | 15.04 |
| 4540 | 121.5 | 17.3 | 611 | 4547 | roll | 0.99 | - | - | 3091 | - | 2.30 | 0.050 | 3206 | 610.0 | 180.2 | - | - | 1947 | - | - | - | - | - | - | - | - | 15.21 | 14.93 | 15.21 |
| 4624 | 105.9 | 18.5 | 627 | 4631 | done | 0.99 | 0.10 | 0.291 | 3082 | -90.0 | 2.35 | 0.049 | 1797 | -599.6 | 180.2 | - | - | 1947 | - | - | - | - | - | - | - | - | 14.78 | 14.92 | 14.97 |
| 4693 | 96.2 | 14.2 | 640 | 4700 | roll | 0.99 | - | - | 3082 | - | 2.35 | 0.050 | 3211 | 601.7 | 180.2 | - | - | 1947 | - | - | - | - | - | - | - | - | 15.21 | 14.98 | 15.20 |
| 4862 | 70.8 | 15.1 | 673 | 4870 | done | 0.99 | - | - | 3084 | - | 2.38 | 0.051 | 1790 | -597.1 | 180.2 | - | - | 1946 | - | - | - | - | - | - | - | - | 15.09 | 14.98 | 15.11 |
| 4934 | 60.4 | 14.3 | 686 | 4940 | roll | 0.99 | - | - | 3084 | - | 2.33 | 0.049 | 3201 | 605.6 | 180.2 | - | - | 1947 | - | - | - | - | - | - | - | - | 15.20 | 14.99 | 15.21 |
| 4947 | 57.8 | 16.7 | 688 | 4954 | done | 0.99 | - | - | 3090 | - | 2.35 | 0.052 | 1799 | -596.6 | 180.2 | - | - | 1946 | - | - | - | - | - | - | - | - | 15.09 | 14.98 | 15.10 |
| 5016 | 46.4 | 16.3 | 701 | 5024 | roll | 0.99 | - | - | 3091 | - | 2.33 | 0.050 | 3202 | 602.1 | 180.2 | - | - | 1946 | - | - | - | - | - | - | - | - | 15.21 | 14.98 | 15.21 |
| 5041 | 42.2 | 16.8 | 705 | 5049 | done | 0.99 | 0.05 | 0.382 | 3083 | -160.0 | 2.35 | 0.052 | 1798 | -597.4 | 180.2 | - | - | 1946 | - | - | - | - | - | - | - | - | 14.77 | 14.95 | 15.01 |
| 5112 | 33.4 | 11.4 | 718 | 5119 | roll | 0.99 | - | - | 3087 | - | 2.38 | 0.070 | 392 | -590.8 | 180.2 | - | - | 1946 | - | - | - | - | - | - | - | - | 15.20 | 14.96 | 15.21 |
| 5201 | 23.9 | 10.3 | 735 | 5208 | done | 0.99 | - | - | 3087 | - | 2.30 | 0.035 | 1812 | 617.4 | 180.2 | - | - | 1946 | - | - | - | - | - | - | - | - | 15.05 | 14.97 | 15.05 |
| 5271 | 17.9 | 6.9 | 748 | 5302 | roll | 1.04 | - | - | 3090 | - | 2.47 | 0.066 | 389 | -576.1 | 223.5 | 24.95 | 0.971 | 1786 | -6.4 | 0.021 | - | - | - | - | - | - | 15.21 | 14.88 | 14.42 |
| 5341 | 13.0 | 8.3 | 760 | 5361 | done | 1.07 | - | - | 3091 | - | 2.30 | 0.035 | 1809 | 617.4 | 247.3 | 14.27 | 0.872 | 1690 | -6.7 | 0.018 | - | - | - | - | - | - | 14.97 | 14.88 | 14.40 |
| 5423 | 3.7 | 13.3 | 775 | 5429 | roll | 1.07 | - | - | 3091 | - | 2.28 | 0.044 | 3193 | 607.0 | 247.3 | - | - | 1687 | - | - | - | - | - | - | - | - | 15.07 | 14.88 | 15.07 |
| 5434 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 5434 | begin surface coast | ||||||||||||||||||||||||||||
| 5451 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5451 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.72 | - | - | - | - | -8.18 | 13.88 | 0.052 | 121 | 8.7 | 2.35 | 0.046 | 1810 | -211.9 | 515.37 | 161.77 | 0.786 | 597 | 3.7 | -0.000 | - | - | - | - | - | - | |||