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| • Previous call tries 2 | • 13.09 of 310.00 AH used of 24V (95.78% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -72.4 deg, depth 1.44 m | • Intended pitch -22.4 deg, speed -9.950 cm/s | |
| • VBD pumped to 270.07 (SM_CC=270) | • surface range 999.0 m at 19.5 m depth, ceiling -979.5 m | |
| • GPS1 time: 145 s | • bottom range 6.7 m at 290.2 m, depth 297 m (400 m grid) | |
| • GPS2 time: 60 s | • Transponder ping count: 0 | |
| • 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 | |||||
| 15 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 16 | begin dive | ||||||||||||||||||||||||||||
| 17 | - | - | - | 64 | VBD | -0.86 | - | - | 74 | - | - | - | 1996 | - | -97.3 | -45.08 | - | 3089 | - | - | - | - | - | - | - | - | 15.09 | - | 15.10 |
| 65 | 3.8 | -7.5 | 8 | 88 | roll | -0.86 | 12.30 | 0.301 | 2231 | 175.4 | 2.35 | 0.085 | 3396 | 595.7 | -97.3 | -3.12 | - | 3267 | -57.1 | - | - | - | - | - | - | - | 14.78 | 14.12 | 14.90 |
| 247 | 38.8 | -13.9 | 44 | 254 | done | -0.86 | 0.05 | 0.249 | 2243 | 240.0 | 2.30 | 0.041 | 1986 | -613.0 | -97.3 | - | - | 3267 | - | - | - | - | - | - | - | - | 14.88 | 14.97 | 14.97 |
| 313 | 48.0 | -13.7 | 57 | 319 | done | -0.86 | - | - | 2243 | - | - | - | 1986 | - | -97.3 | - | - | 3267 | - | - | - | - | - | - | - | - | 15.18 | 15.18 | 15.18 |
| 378 | 56.7 | -13.3 | 70 | 385 | roll | -0.86 | - | - | 2237 | - | 2.40 | 0.071 | 3387 | 583.8 | -97.3 | - | - | 3267 | - | - | - | - | - | - | - | - | 15.19 | 14.97 | 15.19 |
| 419 | 61.7 | -12.5 | 78 | 426 | done | -0.86 | - | - | 2237 | - | 2.30 | 0.041 | 1984 | -610.0 | -97.3 | - | - | 3267 | - | - | - | - | - | - | - | - | 15.02 | 14.99 | 15.04 |
| 485 | 69.9 | -12.9 | 91 | 485 | done | -0.86 | - | - | 2237 | - | - | - | 1984 | - | -97.3 | - | - | 3267 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
| 544 | 77.4 | -12.9 | 103 | 551 | roll | -0.86 | - | - | 2230 | - | 2.40 | 0.070 | 3391 | 586.2 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.20 | 14.98 | 15.20 |
| 560 | 79.5 | -13.3 | 106 | 567 | done | -0.86 | 0.05 | 0.245 | 2242 | 240.0 | 2.30 | 0.041 | 1988 | -610.0 | -97.3 | - | - | 3271 | - | - | - | - | - | - | - | - | 14.92 | 15.02 | 15.01 |
| 626 | 88.0 | -12.3 | 119 | 633 | roll | -0.86 | - | - | 2241 | - | 2.40 | 0.071 | 3391 | 584.6 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.21 | 14.99 | 15.20 |
| 667 | 93.1 | -11.3 | 127 | 674 | done | -0.86 | - | - | 2242 | - | 2.30 | 0.041 | 1983 | -612.2 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.04 | 15.02 | 15.05 |
| 734 | 100.3 | -10.8 | 140 | 740 | roll | -0.86 | - | - | 2242 | - | 2.38 | 0.070 | 3397 | 594.1 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.20 | 15.00 | 15.21 |
| 789 | 106.0 | -10.6 | 151 | 796 | done | -0.86 | - | - | 2241 | - | 2.30 | 0.040 | 1986 | -613.5 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.05 | 15.01 | 15.07 |
| 855 | 112.9 | -11.0 | 164 | 862 | roll | -0.86 | - | - | 2239 | - | 2.38 | 0.070 | 3380 | 585.7 | -97.3 | - | - | 3267 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.22 |
| 890 | 116.7 | -10.6 | 171 | 897 | done | -0.86 | - | - | 2239 | - | 2.28 | 0.041 | 1986 | -611.4 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.07 | 15.03 | 15.09 |
| 956 | 123.7 | -11.0 | 184 | 962 | done | -0.86 | - | - | 2239 | - | - | - | 1986 | - | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.21 | 15.22 | 15.22 |
| 1021 | 131.2 | -11.5 | 197 | 1028 | roll | -0.86 | - | - | 2239 | - | 2.35 | 0.070 | 590 | -594.0 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.22 | 15.01 | 15.22 |
| 1042 | 133.8 | -12.4 | 201 | 1049 | done | -0.86 | - | - | 2238 | - | 2.28 | 0.049 | 1983 | 611.0 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.07 | 15.03 | 15.09 |
| 1108 | 141.9 | -12.1 | 214 | 1115 | roll | -0.86 | - | - | 2238 | - | 2.38 | 0.072 | 3387 | 589.9 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.23 | 14.99 | 15.23 |
| 1218 | 154.5 | -11.1 | 236 | 1225 | done | -0.86 | - | - | 2238 | - | 2.28 | 0.040 | 1988 | -613.6 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.07 | 15.02 | 15.09 |
| 1284 | 161.5 | -10.6 | 249 | 1285 | done | -0.86 | - | - | 2238 | - | - | - | 1987 | - | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.23 | 15.24 | 15.23 |
| 1344 | 168.1 | -11.0 | 261 | 1351 | roll | -0.86 | - | - | 2237 | - | 2.40 | 0.070 | 3393 | 585.8 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.23 | 15.00 | 15.24 |
| 1365 | 170.1 | -9.0 | 265 | 1372 | done | -0.86 | - | - | 2237 | - | 2.30 | 0.041 | 1950 | -627.4 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.14 | 15.06 | 15.15 |
| 1431 | 176.6 | -9.9 | 278 | 1432 | done | -0.86 | - | - | 2237 | - | - | - | 1950 | - | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.23 |
| 1491 | 182.5 | -9.8 | 290 | 1497 | done | -0.86 | - | - | 2237 | - | - | - | 1950 | - | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.23 |
| 1556 | 189.0 | -10.1 | 303 | 1563 | roll | -0.86 | - | - | 2235 | - | 2.45 | 0.070 | 3386 | 586.1 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.23 |
| 1617 | 195.1 | -10.0 | 315 | 1623 | done | -0.86 | - | - | 2235 | - | 2.28 | 0.040 | 1987 | -613.6 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.09 | 15.04 | 15.11 |
| 1683 | 201.8 | -9.3 | 328 | 1688 | done | -0.86 | - | - | 2235 | - | - | - | 1987 | - | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.25 | 15.25 | 15.25 |
| 1747 | 208.6 | -9.8 | 341 | 1754 | roll | -0.86 | - | - | 2235 | - | 2.40 | 0.071 | 3393 | 585.8 | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.26 | 15.02 | 15.25 |
| 1778 | 211.4 | -9.4 | 347 | 1785 | done | -0.86 | - | - | 2235 | - | 2.28 | 0.041 | 1991 | -614.9 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.09 | 15.06 | 15.12 |
| 1844 | 217.4 | -9.6 | 360 | 1849 | done | -0.86 | - | - | 2235 | - | - | - | 1991 | - | -97.3 | - | - | 3269 | - | - | - | - | - | - | - | - | 15.26 | 15.26 | 15.25 |
| 1909 | 223.6 | -9.5 | 373 | 1914 | done | -0.86 | - | - | 2235 | - | - | - | 1991 | - | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.25 | 15.26 | 15.26 |
| 1974 | 229.6 | -9.6 | 386 | 1982 | roll | -0.86 | - | - | 2235 | - | 2.38 | 0.071 | 3383 | 584.9 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.26 | 15.02 | 15.26 |
| 2010 | 233.1 | -9.5 | 393 | 2017 | done | -0.86 | - | - | 2235 | - | 2.28 | 0.041 | 1987 | -612.3 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.11 | 15.07 | 15.12 |
| 2076 | 239.2 | -9.4 | 406 | 2082 | done | -0.86 | - | - | 2235 | - | - | - | 1988 | - | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.26 | 15.26 | 15.27 |
| 2142 | 245.5 | -9.6 | 419 | 2148 | roll | -0.86 | - | - | 2235 | - | 2.40 | 0.072 | 3393 | 585.4 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.26 | 15.04 | 15.27 |
| 2182 | 249.3 | -9.3 | 427 | 2189 | done | -0.86 | - | - | 2235 | - | 2.30 | 0.041 | 1984 | -612.6 | -97.3 | - | - | 3268 | - | - | - | - | - | - | - | - | 15.11 | 15.07 | 15.16 |
| 2248 | 255.8 | -9.4 | 440 | 2255 | roll | -0.86 | - | - | 2235 | - | 2.40 | 0.073 | 3388 | 585.0 | -97.3 | - | - | 3267 | - | - | - | - | - | - | - | - | 15.26 | 15.04 | 15.27 |
| 2278 | 258.5 | -8.7 | 446 | 2285 | done | -0.86 | - | - | 2235 | - | 2.30 | 0.041 | 1983 | -610.9 | -97.3 | - | - | 3267 | - | - | - | - | - | - | - | - | 15.11 | 15.07 | 15.13 |
| 2345 | 264.4 | -9.2 | 459 | 2350 | done | -0.86 | - | - | 2234 | - | - | - | 1983 | - | -97.3 | - | - | 3267 | - | - | - | - | - | - | - | - | 15.27 | 15.27 | 15.27 |
| 2409 | 270.9 | -9.9 | 472 | 2416 | roll | -0.86 | - | - | 2235 | - | 2.40 | 0.073 | 3385 | 584.2 | -97.3 | - | - | 3266 | - | - | - | - | - | - | - | - | 15.26 | 15.05 | 15.27 |
| 2450 | 274.7 | -9.9 | 480 | 2457 | done | -0.86 | - | - | 2234 | - | 2.28 | 0.041 | 1992 | -611.0 | -97.3 | - | - | 3267 | - | - | - | - | - | - | - | - | 15.10 | 15.07 | 15.14 |
| 2516 | 281.3 | -10.5 | 493 | 2517 | done | -0.86 | - | - | 2235 | - | - | - | 1992 | - | -97.3 | - | - | 3267 | - | - | - | - | - | - | - | - | 15.26 | 15.27 | 15.26 |
| 2576 | 287.8 | -10.9 | 505 | 2583 | roll | -0.86 | - | - | 2234 | - | 2.40 | 0.073 | 3393 | 583.8 | -97.3 | - | - | 3266 | - | - | - | - | - | - | - | - | 15.27 | 15.04 | 15.27 |
| 2598 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2598 | begin apogee | ||||||||||||||||||||||||||||
| 2603 | 290.2 | -11.2 | 509 | 2685 | done | -0.17 | 1.10 | 0.138 | 2467 | 211.8 | - | - | 1986 | - | - | 74.00 | 1.373 | 2868 | -5.4 | 0.200 | - | - | - | - | - | - | 15.00 | 14.57 | 14.13 |
| 2686 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2686 | begin climb | ||||||||||||||||||||||||||||
| 2687 | 294.8 | - | 524 | 2769 | roll | 0.86 | 1.50 | 0.039 | 2839 | 248.0 | 2.40 | 0.068 | 586 | -583.3 | 97.3 | 74.95 | 1.359 | 2469 | -5.3 | 0.203 | - | - | - | - | - | - | 14.71 | 14.37 | 13.95 |
| 3268 | 288.3 | 3.3 | 605 | 3352 | done | 0.98 | - | - | 2840 | - | 2.30 | 0.047 | 1989 | 610.0 | 194.5 | 75.43 | 1.372 | 2075 | -5.2 | 0.193 | - | - | - | - | - | - | 15.03 | 14.99 | 14.09 |
| 3411 | 275.0 | 13.2 | 632 | 3418 | roll | 0.98 | - | - | 2850 | - | 2.42 | 0.072 | 585 | -580.2 | 194.5 | - | - | 2072 | - | - | - | - | - | - | - | - | 14.90 | 14.69 | 14.90 |
| 3496 | 262.8 | 13.8 | 649 | 3503 | done | 0.98 | - | - | 2850 | - | 2.33 | 0.047 | 1985 | 600.9 | 194.5 | - | - | 2070 | - | - | - | - | - | - | - | - | 14.87 | 14.82 | 14.88 |
| 3563 | 254.4 | 12.2 | 662 | 3569 | roll | 0.98 | - | - | 2850 | - | 2.40 | 0.070 | 3386 | 583.8 | 194.5 | - | - | 2070 | - | - | - | - | - | - | - | - | 15.07 | 14.83 | 15.07 |
| 3588 | 251.3 | 12.5 | 667 | 3595 | done | 0.98 | 0.05 | 0.304 | 2850 | - | 2.33 | 0.046 | 1989 | -599.6 | 194.5 | - | - | 2070 | - | - | - | - | - | - | - | - | 14.77 | 14.88 | 14.88 |
| 3654 | 243.4 | 11.7 | 680 | 3655 | done | 0.98 | - | - | 2850 | - | - | - | 1989 | - | 194.5 | - | - | 2070 | - | - | - | - | - | - | - | - | 15.11 | 15.11 | 15.11 |
| 3714 | 236.2 | 12.0 | 692 | 3721 | roll | 0.98 | - | - | 2849 | - | 2.40 | 0.069 | 3386 | 582.1 | 194.5 | - | - | 2070 | - | - | - | - | - | - | - | - | 15.14 | 14.92 | 15.14 |
| 3745 | 232.3 | 13.0 | 698 | 3752 | done | 0.98 | 0.05 | 0.305 | 2848 | - | 2.33 | 0.046 | 1986 | -600.9 | 194.5 | - | - | 2069 | - | - | - | - | - | - | - | - | 14.83 | 14.95 | 14.95 |
| 3811 | 224.5 | 11.8 | 711 | 3812 | done | 0.98 | - | - | 2848 | - | - | - | 1985 | - | 194.5 | - | - | 2069 | - | - | - | - | - | - | - | - | 15.16 | 15.17 | 15.16 |
| 3871 | 217.5 | 11.6 | 723 | 3878 | roll | 0.98 | - | - | 2858 | - | 2.38 | 0.073 | 589 | -586.6 | 194.5 | - | - | 2068 | - | - | - | - | - | - | - | - | 15.18 | 14.95 | 15.19 |
| 3907 | 213.1 | 13.1 | 730 | 3914 | done | 0.98 | 0.05 | 0.293 | 2848 | -200.0 | 2.30 | 0.047 | 1987 | 607.8 | 194.5 | - | - | 2068 | - | - | - | - | - | - | - | - | 14.88 | 14.99 | 14.99 |
| 3973 | 204.7 | 12.5 | 743 | 3974 | done | 0.98 | - | - | 2850 | - | - | - | 1986 | - | 194.5 | - | - | 2068 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
| 4033 | 197.4 | 11.4 | 755 | 4040 | roll | 0.98 | - | - | 2848 | - | 2.38 | 0.071 | 3393 | 591.2 | 194.5 | - | - | 2068 | - | - | - | - | - | - | - | - | 15.20 | 14.97 | 15.20 |
| 4129 | 184.1 | 14.2 | 774 | 4136 | done | 0.98 | 0.05 | 0.309 | 2847 | - | 2.33 | 0.046 | 1984 | -604.7 | 194.5 | - | - | 2068 | - | - | - | - | - | - | - | - | 14.88 | 15.00 | 15.00 |
| 4195 | 174.7 | 14.0 | 787 | 4196 | done | 0.98 | - | - | 2847 | - | - | - | 1984 | - | 194.5 | - | - | 2067 | - | - | - | - | - | - | - | - | 15.19 | 15.21 | 15.20 |
| 4254 | 166.7 | 12.8 | 799 | 4255 | done | 0.98 | - | - | 2847 | - | - | - | 1984 | - | 194.5 | - | - | 2067 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 4314 | 159.1 | 12.7 | 811 | 4321 | roll | 0.98 | - | - | 2854 | - | 2.35 | 0.073 | 590 | -593.2 | 194.5 | - | - | 2066 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.21 |
| 4345 | 155.1 | 13.4 | 817 | 4352 | done | 0.98 | 0.03 | 0.379 | 2850 | -133.3 | 2.30 | 0.047 | 1990 | 608.7 | 194.5 | - | - | 2067 | - | - | - | - | - | - | - | - | 14.88 | 15.02 | 15.02 |
| 4411 | 147.4 | 10.9 | 830 | 4412 | done | 0.98 | - | - | 2851 | - | - | - | 1990 | - | 194.5 | - | - | 2066 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 4471 | 140.4 | 11.9 | 842 | 4478 | roll | 0.98 | - | - | 2850 | - | 2.35 | 0.070 | 3388 | 594.9 | 194.5 | - | - | 2066 | - | - | - | - | - | - | - | - | 15.21 | 15.04 | 15.21 |
| 4597 | 126.3 | 11.2 | 867 | 4604 | done | 0.98 | 0.05 | 0.309 | 2849 | - | 2.33 | 0.046 | 1979 | -604.7 | 194.5 | - | - | 2066 | - | - | - | - | - | - | - | - | 14.88 | 15.00 | 15.00 |
| 4663 | 120.4 | 8.2 | 880 | 4692 | roll | 1.02 | - | - | 2859 | - | 2.38 | 0.074 | 579 | -588.2 | 220.1 | 20.70 | 1.154 | 1968 | -4.7 | 0.087 | - | - | - | - | - | - | 15.22 | 14.90 | 14.42 |
| 4756 | 110.8 | 10.4 | 898 | 4763 | done | 1.02 | - | - | 2859 | - | 2.33 | 0.047 | 1986 | 603.9 | 220.1 | - | - | 1967 | - | - | - | - | - | - | - | - | 14.99 | 14.94 | 15.00 |
| 4822 | 104.2 | 10.5 | 911 | 4829 | roll | 1.02 | - | - | 2859 | - | 2.40 | 0.072 | 3393 | 586.2 | 220.1 | - | - | 1966 | - | - | - | - | - | - | - | - | 15.14 | 14.90 | 15.15 |
| 5053 | 77.4 | 11.7 | 957 | 5060 | done | 1.02 | 0.05 | 0.307 | 2860 | - | 2.33 | 0.045 | 1979 | -606.9 | 220.1 | - | - | 1965 | - | - | - | - | - | - | - | - | 14.85 | 14.97 | 14.97 |
| 5119 | 70.8 | 9.7 | 970 | 5125 | roll | 1.02 | - | - | 2869 | - | 2.38 | 0.073 | 583 | -586.6 | 223.1 | - | - | 1965 | - | - | - | - | - | - | - | - | 15.20 | 14.97 | 15.20 |
| 5219 | 59.7 | 11.8 | 990 | 5226 | done | 1.02 | 0.03 | 0.372 | 2864 | -166.7 | 2.33 | 0.047 | 1993 | 605.2 | 223.1 | - | - | 1965 | - | - | - | - | - | - | - | - | 14.88 | 15.02 | 15.00 |
| 5286 | 52.8 | 10.1 | 1003 | 5291 | done | 1.02 | - | - | 2864 | - | - | - | 1994 | - | 223.1 | - | - | 1965 | - | - | - | - | - | - | - | - | 15.20 | 15.19 | 15.19 |
| 5350 | 45.9 | 10.8 | 1016 | 5351 | done | 1.02 | - | - | 2864 | - | - | - | 1993 | - | 223.1 | - | - | 1964 | - | - | - | - | - | - | - | - | 15.21 | 15.23 | 15.20 |
| 5410 | 39.5 | 10.4 | 1028 | 5411 | done | 1.02 | - | - | 2864 | - | - | - | 1993 | - | 223.1 | - | - | 1964 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 5470 | 33.1 | 10.8 | 1040 | 5471 | done | 1.02 | - | - | 2864 | - | - | - | 1996 | - | 223.1 | - | - | 1964 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.22 |
| 5530 | 26.4 | 10.9 | 1052 | 5537 | roll | 1.02 | - | - | 2873 | - | 2.40 | 0.070 | 577 | -591.2 | 223.1 | - | - | 1965 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.21 |
| 5750 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 5750 | begin surface coast | ||||||||||||||||||||||||||||
| 5775 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5775 | begin surface | ||||||||||||||||||||||||||||
| SM | 3.42 | - | - | - | - | -7.38 | 12.50 | 0.057 | 148 | 11.8 | 2.33 | 0.050 | 1986 | -1127.0 | 270.07 | 26.52 | 0.123 | 1766 | 66.6 | -0.189 | - | - | - | - | - | - | |||