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| • Previous call tries 4 | • 82.42 of 310.00 AH used of 24V (73.41% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -67.1 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: 20 s | • bottom range 36.5 m at 467.4 m, depth 504 m (500 m grid) | |
| • GPS2 time: 7 s | • Transponder ping count: 21 | |
| • 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 | - | - | - | 109 | VBD | -0.88 | - | - | 52 | - | - | - | 1826 | - | -92.5 | -85.50 | - | 2874 | - | - | - | - | - | - | - | - | 15.07 | - | 15.08 |
| 112 | 3.5 | -8.0 | 15 | 138 | roll | -0.88 | 13.82 | 0.281 | 2458 | 174.1 | 2.28 | 0.063 | 3226 | 614.0 | -92.5 | -3.80 | - | 3080 | -54.2 | - | - | - | - | - | - | - | 14.69 | 13.81 | 14.95 |
| 489 | 78.6 | -14.7 | 88 | 497 | done | -0.88 | 0.05 | 0.318 | 2469 | 220.0 | 2.33 | 0.043 | 1806 | -609.4 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 14.78 | 14.97 | 14.95 |
| 562 | 88.2 | -13.8 | 101 | 568 | done | -0.88 | - | - | 2469 | - | - | - | 1805 | - | -92.5 | - | - | 3083 | - | - | - | - | - | - | - | - | 15.19 | 15.20 | 15.20 |
| 632 | 98.4 | -15.3 | 114 | 638 | roll | -0.88 | - | - | 2461 | - | 2.33 | 0.048 | 3214 | 604.7 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.20 | 14.99 | 15.20 |
| 665 | 103.8 | -15.5 | 120 | 672 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.043 | 1811 | -610.0 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.02 | 14.92 | 15.03 |
| 738 | 114.9 | -16.0 | 133 | 744 | done | -0.88 | - | - | 2461 | - | - | - | 1810 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.20 | 15.21 | 15.21 |
| 807 | 126.7 | -16.2 | 146 | 814 | roll | -0.88 | - | - | 2451 | - | 2.30 | 0.047 | 3215 | 610.9 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.20 | 15.00 | 15.20 |
| 952 | 148.5 | -14.5 | 174 | 959 | done | -0.88 | 0.10 | 0.233 | 2471 | 200.0 | 2.30 | 0.044 | 1813 | -609.6 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.90 | 15.01 | 15.04 |
| 1023 | 159.1 | -15.7 | 187 | 1030 | roll | -0.88 | - | - | 2463 | - | 2.30 | 0.050 | 3213 | 608.7 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.22 | 15.00 | 15.22 |
| 1072 | 166.7 | -15.7 | 196 | 1080 | done | -0.88 | - | - | 2463 | - | 2.30 | 0.040 | 1800 | -614.3 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.10 | 15.02 | 15.11 |
| 1145 | 175.7 | -13.2 | 209 | 1152 | roll | -0.88 | - | - | 2462 | - | 2.33 | 0.063 | 409 | -597.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.21 | 14.93 | 15.22 |
| 1174 | 180.0 | -16.0 | 214 | 1181 | done | -0.88 | 0.10 | 0.262 | 2472 | 100.0 | 2.25 | 0.036 | 1810 | 622.7 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.82 | 15.02 | 14.98 |
| 1244 | 188.4 | -11.2 | 227 | 1250 | done | -0.88 | - | - | 2472 | - | - | - | 1812 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.22 | 15.22 | 15.22 |
| 1314 | 197.8 | -14.7 | 240 | 1320 | done | -0.88 | - | - | 2472 | - | - | - | 1813 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.21 | 15.22 | 15.21 |
| 1384 | 207.1 | -14.0 | 253 | 1390 | done | -0.88 | - | - | 2472 | - | - | - | 1813 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.23 |
| 1454 | 216.9 | -14.2 | 266 | 1460 | roll | -0.88 | - | - | 2464 | - | 2.30 | 0.052 | 3214 | 609.1 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.23 | 15.01 | 15.23 |
| 1521 | 225.3 | -11.4 | 278 | 1527 | done | -0.88 | - | - | 2462 | - | 2.28 | 0.044 | 1823 | -610.1 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.08 | 15.00 | 15.09 |
| 1591 | 233.1 | -11.3 | 291 | 1596 | done | -0.88 | - | - | 2464 | - | - | - | 1823 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.25 | 15.26 | 15.26 |
| 1660 | 241.4 | -12.2 | 304 | 1667 | roll | -0.88 | - | - | 2454 | - | 2.30 | 0.050 | 3214 | 604.8 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.25 | 14.95 | 15.26 |
| 1754 | 252.7 | -11.8 | 322 | 1761 | done | -0.88 | 0.08 | 0.256 | 2470 | 200.0 | 2.30 | 0.043 | 1806 | -612.2 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 14.91 | 15.04 | 15.07 |
| 1824 | 261.2 | -12.7 | 335 | 1831 | roll | -0.88 | - | - | 2470 | - | 2.33 | 0.061 | 409 | -599.6 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.25 | 15.02 | 15.25 |
| 1843 | 263.7 | -13.3 | 338 | 1850 | done | -0.88 | - | - | 2463 | - | 2.28 | 0.037 | 1818 | 618.0 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.13 | 15.04 | 15.14 |
| 1913 | 273.3 | -13.3 | 351 | 1920 | roll | -0.88 | - | - | 2453 | - | 2.30 | 0.054 | 3210 | 605.2 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.25 | 15.02 | 15.25 |
| 2013 | 286.1 | -12.5 | 370 | 2021 | done | -0.88 | 0.08 | 0.256 | 2469 | 200.0 | 2.30 | 0.044 | 1807 | -610.0 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 14.92 | 15.04 | 15.07 |
| 2083 | 295.0 | -12.3 | 383 | 2090 | done | -0.88 | - | - | 2469 | - | - | - | 1807 | - | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.26 | 15.26 | 15.26 |
| 2167 | 304.7 | -11.4 | 393 | 2173 | roll | -0.88 | - | - | 2461 | - | 2.33 | 0.052 | 3214 | 603.9 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.27 | 15.04 | 15.27 |
| 2214 | 309.3 | -10.8 | 395 | 2219 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.046 | 1806 | -612.2 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.14 | 15.04 | 15.15 |
| 2353 | 325.2 | -11.5 | 402 | 2354 | done | -0.88 | - | - | 2461 | - | - | - | 1806 | - | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.28 | 15.28 | 15.28 |
| 2473 | 341.0 | -13.9 | 408 | 2478 | roll | -0.88 | - | - | 2452 | - | 2.33 | 0.054 | 3214 | 604.3 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.30 | 15.06 | 15.30 |
| 2567 | 351.8 | -12.7 | 412 | 2572 | done | -0.88 | 0.10 | 0.230 | 2472 | 200.0 | 2.30 | 0.046 | 1805 | -612.6 | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 14.96 | 15.07 | 15.11 |
| 2701 | 369.2 | -12.2 | 419 | 2702 | done | -0.88 | - | - | 2472 | - | - | - | 1805 | - | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.30 | 15.30 | 15.30 |
| 2820 | 382.8 | -11.2 | 425 | 2826 | roll | -0.88 | - | - | 2465 | - | 2.35 | 0.054 | 3216 | 600.4 | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.31 | 15.02 | 15.32 |
| 2884 | 389.7 | -10.9 | 428 | 2890 | done | -0.88 | - | - | 2464 | - | 2.30 | 0.046 | 1814 | -609.6 | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.17 | 15.07 | 15.18 |
| 3030 | 406.2 | -11.9 | 435 | 3031 | done | -0.88 | - | - | 2463 | - | - | - | 1814 | - | -92.5 | - | - | 3071 | - | - | - | - | - | - | - | - | 15.31 | 15.32 | 15.32 |
| 3148 | 420.7 | -12.4 | 441 | 3149 | done | -0.88 | - | - | 2464 | - | - | - | 1814 | - | -92.5 | - | - | 3071 | - | - | - | - | - | - | - | - | 15.31 | 15.32 | 15.31 |
| 3268 | 437.9 | -14.8 | 447 | 3269 | done | -0.88 | - | - | 2464 | - | - | - | 1814 | - | -92.5 | - | - | 3071 | - | - | - | - | - | - | - | - | 15.31 | 15.32 | 15.32 |
| 3388 | 457.9 | -16.7 | 453 | 3390 | done | -0.88 | - | - | 2464 | - | - | - | 1814 | - | -92.5 | - | - | 3070 | - | - | - | - | - | - | - | - | 15.32 | 15.36 | 15.33 |
| 3507 | 476.0 | -14.5 | 459 | 3512 | roll | -0.88 | - | - | 2454 | - | 2.33 | 0.055 | 3211 | 599.6 | -92.5 | - | - | 3069 | - | - | - | - | - | - | - | - | 15.32 | 15.07 | 15.33 |
| 3630 | 492.0 | -12.7 | 465 | 3636 | done | -0.88 | 0.08 | 0.262 | 2469 | 187.5 | 2.33 | 0.047 | 1811 | -600.9 | -92.5 | - | - | 3068 | - | - | - | - | - | - | - | - | 14.90 | 15.00 | 15.07 |
| 3652 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 3652 | begin apogee | ||||||||||||||||||||||||||||
| 3657 | 495.3 | -12.9 | 466 | 3734 | done | -0.17 | 1.17 | 0.159 | 2702 | 199.1 | - | - | 1812 | - | - | 70.72 | 1.367 | 2700 | -5.2 | 0.335 | - | - | - | - | - | - | 14.96 | 14.69 | 14.16 |
| 3736 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 3736 | begin climb | ||||||||||||||||||||||||||||
| 3738 | 498.4 | - | 470 | 3824 | roll | 0.88 | 1.55 | 0.073 | 3040 | 218.1 | 2.50 | 0.069 | 392 | -568.0 | 92.5 | 77.45 | 1.368 | 2320 | -4.9 | 0.318 | - | - | - | - | - | - | 14.69 | 14.39 | 13.96 |
| 3838 | 494.9 | 3.6 | 475 | 3918 | done | 0.99 | 0.08 | 0.196 | 3066 | 325.0 | 2.38 | 0.037 | 1812 | 596.6 | 180.3 | 71.75 | 1.340 | 1963 | -5.0 | 0.326 | - | - | - | - | - | - | 14.56 | 14.60 | 13.98 |
| 4037 | 459.7 | 19.8 | 485 | 4042 | roll | 0.99 | - | - | 3067 | - | 2.33 | 0.051 | 3206 | 598.3 | 180.3 | - | - | 1956 | - | - | - | - | - | - | - | - | 14.97 | 14.76 | 14.97 |
| 4120 | 443.4 | 19.8 | 489 | 4126 | done | 0.99 | - | - | 3077 | - | 2.38 | 0.054 | 1803 | -589.5 | 180.3 | - | - | 1954 | - | - | - | - | - | - | - | - | 14.92 | 14.83 | 14.94 |
| 4263 | 413.9 | 20.6 | 496 | 4268 | roll | 0.99 | - | - | 3077 | - | 2.42 | 0.076 | 396 | -581.4 | 180.3 | - | - | 1953 | - | - | - | - | - | - | - | - | 15.13 | 14.85 | 15.14 |
| 4285 | 409.2 | 20.6 | 497 | 4290 | done | 0.99 | - | - | 3077 | - | 2.30 | 0.038 | 1802 | 611.3 | 180.3 | - | - | 1951 | - | - | - | - | - | - | - | - | 15.02 | 14.95 | 15.03 |
| 4428 | 380.0 | 20.3 | 504 | 4433 | roll | 0.99 | - | - | 3076 | - | 2.30 | 0.050 | 3209 | 611.7 | 180.3 | - | - | 1951 | - | - | - | - | - | - | - | - | 15.19 | 14.97 | 15.19 |
| 4451 | 375.2 | 20.6 | 505 | 4456 | done | 0.99 | - | - | 3086 | - | 2.38 | 0.054 | 1790 | -596.2 | 180.3 | - | - | 1951 | - | - | - | - | - | - | - | - | 15.07 | 14.97 | 15.08 |
| 4594 | 345.1 | 21.0 | 512 | 4599 | roll | 0.99 | - | - | 3086 | - | 2.35 | 0.049 | 3209 | 603.8 | 180.3 | - | - | 1950 | - | - | - | - | - | - | - | - | 15.23 | 15.00 | 15.23 |
| 4626 | 340.3 | 21.2 | 513 | 4632 | done | 0.99 | 0.08 | 0.342 | 3083 | -37.5 | 2.35 | 0.053 | 1798 | -600.4 | 180.3 | - | - | 1950 | - | - | - | - | - | - | - | - | 14.83 | 15.00 | 15.04 |
| 4759 | 311.1 | 20.5 | 520 | 4765 | roll | 0.99 | - | - | 3083 | - | 2.33 | 0.050 | 3209 | 605.6 | 180.3 | - | - | 1949 | - | - | - | - | - | - | - | - | 15.25 | 15.02 | 15.25 |
| 4816 | 301.9 | 21.1 | 522 | 4824 | done | 0.99 | 0.05 | 0.398 | 3083 | - | 2.35 | 0.053 | 1796 | -601.3 | 180.3 | - | - | 1948 | - | - | - | - | - | - | - | - | 14.83 | 15.01 | 15.07 |
| 4948 | 271.0 | 21.0 | 547 | 4954 | roll | 0.99 | - | - | 3083 | - | 2.33 | 0.050 | 3207 | 605.6 | 180.3 | - | - | 1948 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.24 |
| 5006 | 258.6 | 20.9 | 558 | 5014 | done | 0.99 | - | - | 3090 | - | 2.35 | 0.055 | 1801 | -598.3 | 180.3 | - | - | 1948 | - | - | - | - | - | - | - | - | 15.11 | 15.01 | 15.13 |
| 5078 | 243.7 | 23.1 | 571 | 5083 | done | 0.99 | - | - | 3090 | - | - | - | 1802 | - | 180.3 | - | - | 1948 | - | - | - | - | - | - | - | - | 15.23 | 15.24 | 15.23 |
| 5145 | 228.0 | 21.3 | 584 | 5151 | done | 0.99 | - | - | 3090 | - | - | - | 1801 | - | 180.3 | - | - | 1947 | - | - | - | - | - | - | - | - | 15.23 | 15.24 | 15.23 |
| 5213 | 214.1 | 20.2 | 597 | 5220 | roll | 0.99 | - | - | 3090 | - | 2.33 | 0.050 | 3204 | 602.1 | 180.3 | - | - | 1947 | - | - | - | - | - | - | - | - | 15.23 | 14.97 | 15.24 |
| 5268 | 203.4 | 20.7 | 607 | 5275 | done | 0.99 | 0.10 | 0.298 | 3082 | -80.0 | 2.35 | 0.052 | 1796 | -599.1 | 180.3 | - | - | 1947 | - | - | - | - | - | - | - | - | 14.85 | 15.00 | 15.07 |
| 5338 | 188.9 | 20.8 | 620 | 5344 | roll | 0.99 | - | - | 3081 | - | 2.35 | 0.050 | 3207 | 600.4 | 180.3 | - | - | 1947 | - | - | - | - | - | - | - | - | 15.22 | 14.97 | 15.23 |
| 5377 | 180.7 | 19.6 | 627 | 5384 | done | 0.99 | - | - | 3087 | - | 2.35 | 0.052 | 1799 | -599.1 | 180.3 | - | - | 1946 | - | - | - | - | - | - | - | - | 15.05 | 14.93 | 15.04 |
| 5447 | 167.8 | 19.7 | 640 | 5453 | roll | 0.99 | - | - | 3091 | - | 2.40 | 0.074 | 391 | -586.7 | 180.3 | - | - | 1946 | - | - | - | - | - | - | - | - | 15.21 | 14.89 | 15.22 |
| 5516 | 153.2 | 21.1 | 653 | 5523 | done | 0.99 | - | - | 3091 | - | 2.30 | 0.040 | 1798 | 611.7 | 180.3 | - | - | 1945 | - | - | - | - | - | - | - | - | 15.08 | 15.01 | 15.08 |
| 5586 | 141.0 | 16.1 | 666 | 5594 | roll | 0.99 | 0.05 | 0.371 | 3082 | -180.0 | 2.30 | 0.047 | 3205 | 611.7 | 180.3 | - | - | 1945 | - | - | - | - | - | - | - | - | 14.83 | 14.99 | 15.01 |
| 5658 | 128.8 | 14.3 | 679 | 5665 | done | 0.99 | - | - | 3084 | - | 2.35 | 0.051 | 1799 | -598.3 | 180.3 | - | - | 1945 | - | - | - | - | - | - | - | - | 15.04 | 14.95 | 15.07 |
| 5727 | 118.9 | 14.6 | 692 | 5734 | roll | 0.99 | - | - | 3084 | - | 2.33 | 0.050 | 3204 | 603.0 | 180.3 | - | - | 1947 | - | - | - | - | - | - | - | - | 15.19 | 14.91 | 15.21 |
| 5756 | 114.3 | 14.9 | 697 | 5764 | done | 0.99 | 0.05 | 0.389 | 3083 | - | 2.35 | 0.050 | 1799 | -597.9 | 180.3 | - | - | 1945 | - | - | - | - | - | - | - | - | 14.78 | 14.97 | 15.02 |
| 5826 | 104.7 | 13.9 | 710 | 5833 | done | 0.99 | - | - | 3083 | - | - | - | 1799 | - | 180.3 | - | - | 1945 | - | - | - | - | - | - | - | - | 15.20 | 15.20 | 15.21 |
| 5896 | 93.8 | 15.6 | 723 | 5902 | roll | 0.99 | - | - | 3082 | - | 2.35 | 0.050 | 3214 | 602.1 | 180.3 | - | - | 1945 | - | - | - | - | - | - | - | - | 15.20 | 14.98 | 15.21 |
| 5924 | 88.7 | 16.8 | 728 | 5931 | done | 0.99 | - | - | 3090 | - | 2.38 | 0.051 | 1796 | -595.8 | 180.3 | - | - | 1945 | - | - | - | - | - | - | - | - | 15.08 | 14.97 | 15.09 |
| 5993 | 77.3 | 16.8 | 741 | 5999 | done | 0.99 | - | - | 3090 | - | - | - | 1795 | - | 180.3 | - | - | 1945 | - | - | - | - | - | - | - | - | 15.20 | 15.20 | 15.20 |
| 6061 | 68.1 | 12.8 | 754 | 6068 | done | 0.99 | - | - | 3090 | - | - | - | 1795 | - | 180.3 | - | - | 1945 | - | - | - | - | - | - | - | - | 15.20 | 15.20 | 15.20 |
| 6130 | 59.1 | 13.3 | 767 | 6137 | roll | 0.99 | - | - | 3090 | - | 2.35 | 0.050 | 3213 | 603.4 | 180.3 | - | - | 1945 | - | - | - | - | - | - | - | - | 15.20 | 14.97 | 15.20 |
| 6220 | 50.3 | 6.4 | 784 | 6262 | done | 1.05 | - | - | 3090 | - | 2.38 | 0.051 | 1798 | -594.5 | 229.7 | 35.90 | 0.909 | 1762 | -5.1 | 0.050 | - | - | - | - | - | - | 15.07 | 14.97 | 14.35 |
| 6325 | 39.7 | 9.6 | 803 | 6338 | roll | 1.05 | - | - | 3091 | - | 2.35 | 0.047 | 3210 | 600.9 | 234.7 | 5.70 | 0.647 | 1741 | -3.7 | 0.040 | - | - | - | - | - | - | 15.07 | 14.76 | 14.40 |
| 6441 | 26.1 | 12.2 | 825 | 6447 | done | 1.05 | - | - | 3091 | - | 2.40 | 0.054 | 1795 | -589.6 | 234.7 | - | - | 1741 | - | - | - | - | - | - | - | - | 14.99 | 14.88 | 15.00 |
| 6510 | 18.0 | 11.3 | 838 | 6518 | roll | 1.05 | - | - | 3091 | - | 2.42 | 0.076 | 388 | -581.4 | 234.7 | - | - | 1740 | - | - | - | - | - | - | - | - | 15.11 | 14.88 | 15.11 |
| 6629 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 6629 | begin surface coast | ||||||||||||||||||||||||||||
| 6634 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6634 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.76 | - | - | - | - | -8.18 | 13.90 | 0.054 | 124 | 8.9 | 2.38 | 0.033 | 1827 | -309.7 | 515.37 | 171.93 | 0.801 | 595 | 3.5 | -0.000 | - | - | - | - | - | - | |||