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| • Previous call tries 1 | • 112.98 of 310.00 AH used of 24V (63.56% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -63.4 deg, depth 0.76 m | • Intended pitch -23.0 deg, speed -10.010 cm/s | |
| • VBD pumped to 515.37 (SM_CC=515.36688) | ||
| • GPS1 time: 7 s | • bottom range 33.3 m at 316.2 m, depth 350 m (1000 m grid) | |
| • GPS2 time: 7 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 | |||||
| 20 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 20 | begin dive | ||||||||||||||||||||||||||||
| 23 | - | - | - | 118 | VBD | -0.88 | - | - | 54 | - | - | - | 1808 | - | -92.5 | -92.60 | - | 2966 | - | - | - | - | - | - | - | - | 14.99 | - | 15.00 |
| 123 | 3.4 | -6.8 | 17 | 148 | roll | -0.88 | 14.10 | 0.293 | 2459 | 170.6 | 2.33 | 0.065 | 3213 | 603.0 | -92.5 | -2.05 | - | 3080 | -55.6 | - | - | - | - | - | - | - | 14.53 | 13.66 | 14.77 |
| 302 | 41.6 | -15.7 | 51 | 309 | done | -0.88 | 0.05 | 0.327 | 2467 | 160.0 | 2.40 | 0.047 | 1798 | -589.6 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.69 | 14.85 | 14.88 |
| 372 | 52.2 | -14.7 | 64 | 378 | roll | -0.88 | - | - | 2460 | - | 2.40 | 0.054 | 3213 | 589.6 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.12 | 14.86 | 15.09 |
| 421 | 58.7 | -12.1 | 73 | 428 | done | -0.88 | 0.05 | 0.325 | 2469 | 180.0 | 2.38 | 0.048 | 1805 | -591.6 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.68 | 14.83 | 14.87 |
| 491 | 67.5 | -11.9 | 86 | 497 | roll | -0.88 | - | - | 2460 | - | 2.38 | 0.051 | 3213 | 591.6 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.10 | 14.83 | 15.10 |
| 561 | 75.6 | -11.9 | 99 | 567 | done | -0.88 | - | - | 2460 | - | 2.35 | 0.047 | 1810 | -597.0 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.95 | 14.84 | 14.95 |
| 632 | 83.7 | -12.0 | 112 | 637 | done | -0.88 | - | - | 2460 | - | - | - | 1809 | - | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.12 | 15.13 | 15.13 |
| 701 | 92.3 | -11.8 | 125 | 707 | done | -0.88 | - | - | 2460 | - | - | - | 1810 | - | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.13 | 15.12 | 15.13 |
| 771 | 100.6 | -12.1 | 138 | 778 | roll | -0.88 | - | - | 2460 | - | 2.40 | 0.065 | 403 | -586.2 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.13 | 14.84 | 15.14 |
| 851 | 111.3 | -13.4 | 153 | 858 | done | -0.88 | 0.08 | 0.291 | 2468 | 100.0 | 2.30 | 0.037 | 1802 | 608.3 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 14.71 | 14.88 | 14.90 |
| 921 | 120.4 | -13.8 | 166 | 927 | done | -0.88 | - | - | 2468 | - | - | - | 1805 | - | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
| 992 | 130.5 | -14.8 | 179 | 998 | done | -0.88 | - | - | 2468 | - | - | - | 1805 | - | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
| 1064 | 141.2 | -14.9 | 192 | 1070 | roll | -0.88 | - | - | 2459 | - | 2.35 | 0.053 | 3217 | 600.9 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.14 | 14.90 | 15.14 |
| 1098 | 147.3 | -16.3 | 198 | 1106 | done | -0.88 | 0.05 | 0.319 | 2469 | 200.0 | 2.35 | 0.046 | 1804 | -601.3 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.75 | 14.91 | 14.95 |
| 1169 | 158.4 | -15.3 | 211 | 1175 | roll | -0.88 | - | - | 2469 | - | 2.38 | 0.065 | 409 | -586.1 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.14 | 14.89 | 15.15 |
| 1198 | 162.9 | -17.2 | 216 | 1204 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.037 | 1816 | 611.7 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.02 | 14.93 | 15.03 |
| 1267 | 174.3 | -16.6 | 229 | 1274 | roll | -0.88 | - | - | 2461 | - | 2.42 | 0.063 | 402 | -584.3 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.15 | 14.89 | 15.15 |
| 1317 | 183.2 | -18.3 | 238 | 1325 | done | -0.88 | 0.08 | 0.289 | 2468 | 87.5 | 2.33 | 0.037 | 1808 | 603.4 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 14.76 | 14.93 | 14.97 |
| 1389 | 195.5 | -17.0 | 251 | 1395 | done | -0.88 | - | - | 2468 | - | - | - | 1811 | - | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.14 | 15.15 | 15.14 |
| 1459 | 206.1 | -15.6 | 264 | 1465 | roll | -0.88 | - | - | 2469 | - | 2.40 | 0.063 | 403 | -586.7 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.15 | 14.90 | 15.16 |
| 1503 | 213.8 | -16.6 | 272 | 1512 | done | -0.88 | - | - | 2460 | - | 2.33 | 0.037 | 1826 | 610.7 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.03 | 14.94 | 15.04 |
| 1575 | 225.4 | -15.2 | 285 | 1582 | roll | -0.88 | - | - | 2460 | - | 2.42 | 0.063 | 403 | -588.0 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.15 | 14.90 | 15.16 |
| 1625 | 233.7 | -16.5 | 294 | 1632 | done | -0.88 | 0.08 | 0.290 | 2468 | 100.0 | 2.33 | 0.037 | 1811 | 604.3 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 14.76 | 14.94 | 14.95 |
| 1696 | 244.6 | -14.7 | 307 | 1704 | done | -0.88 | - | - | 2468 | - | - | - | 1813 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.17 | 15.17 | 15.17 |
| 1769 | 255.2 | -15.6 | 320 | 1776 | roll | -0.88 | - | - | 2468 | - | 2.40 | 0.064 | 408 | -585.4 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.18 | 14.91 | 15.19 |
| 1823 | 264.5 | -16.8 | 330 | 1831 | done | -0.88 | - | - | 2460 | - | 2.33 | 0.038 | 1820 | 606.0 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.04 | 14.95 | 15.05 |
| 1896 | 274.9 | -14.5 | 343 | 1906 | roll | -0.88 | - | - | 2460 | - | 2.42 | 0.064 | 402 | -586.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.17 | 14.91 | 15.18 |
| 1949 | 283.7 | -15.8 | 352 | 1956 | done | -0.88 | 0.08 | 0.295 | 2468 | 100.0 | 2.30 | 0.037 | 1815 | 614.3 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.77 | 14.96 | 14.97 |
| 2020 | 294.2 | -14.3 | 365 | 2025 | done | -0.88 | - | - | 2468 | - | - | - | 1817 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
| 2104 | 306.3 | -14.1 | 375 | 2109 | roll | -0.88 | - | - | 2468 | - | 2.40 | 0.063 | 409 | -586.7 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.19 | 14.93 | 15.20 |
| 2127 | 309.9 | -14.2 | 376 | 2132 | done | -0.88 | - | - | 2460 | - | 2.30 | 0.037 | 1816 | 611.7 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.06 | 14.97 | 15.07 |
| 2271 | 330.4 | -14.2 | 383 | 2276 | roll | -0.88 | - | - | 2460 | - | 2.42 | 0.066 | 405 | -583.1 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.21 | 14.89 | 15.21 |
| 2308 | 334.1 | -14.6 | 384 | 2316 | done | -0.88 | 0.08 | 0.288 | 2468 | 100.0 | 2.30 | 0.038 | 1810 | 610.9 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 14.80 | 14.97 | 14.99 |
| 2332 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2332 | begin apogee | ||||||||||||||||||||||||||||
| 2338 | 340.0 | -14.7 | 386 | 2415 | done | -0.17 | 1.20 | 0.170 | 2700 | 193.3 | - | - | 1813 | - | - | 71.65 | 1.354 | 2701 | -5.3 | 0.237 | - | - | - | - | - | - | 14.82 | 14.61 | 14.02 |
| 2416 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2416 | begin climb | ||||||||||||||||||||||||||||
| 2419 | 343.7 | - | 390 | 2504 | roll | 0.88 | 1.55 | 0.087 | 3028 | 211.6 | 2.53 | 0.067 | 399 | -558.9 | 92.5 | 76.68 | 1.349 | 2323 | -4.9 | 0.226 | - | - | - | - | - | - | 14.59 | 14.30 | 13.88 |
| 2552 | 340.6 | 3.7 | 396 | 2632 | done | 0.99 | 0.12 | 0.130 | 3070 | 350.0 | 2.35 | 0.036 | 1813 | 601.7 | 179.1 | 70.35 | 1.321 | 1968 | -5.0 | 0.234 | - | - | - | - | - | - | 14.60 | 14.60 | 13.89 |
| 2762 | 309.7 | 15.9 | 407 | 2767 | roll | 0.99 | - | - | 3074 | - | 2.47 | 0.070 | 394 | -574.5 | 179.1 | - | - | 1963 | - | - | - | - | - | - | - | - | 14.94 | 14.69 | 14.94 |
| 2845 | 296.9 | 14.5 | 414 | 2851 | done | 0.99 | - | - | 3074 | - | 2.33 | 0.037 | 1803 | 604.7 | 179.1 | - | - | 1959 | - | - | - | - | - | - | - | - | 14.88 | 14.81 | 14.90 |
| 2915 | 286.6 | 14.8 | 427 | 2922 | roll | 0.99 | - | - | 3080 | - | 2.45 | 0.070 | 395 | -574.7 | 179.1 | - | - | 1958 | - | - | - | - | - | - | - | - | 15.04 | 14.74 | 15.04 |
| 2940 | 282.2 | 17.2 | 431 | 2946 | done | 0.99 | - | - | 3080 | - | 2.33 | 0.036 | 1810 | 607.3 | 179.1 | - | - | 1958 | - | - | - | - | - | - | - | - | 14.93 | 14.86 | 14.95 |
| 3010 | 271.9 | 14.5 | 444 | 3016 | roll | 0.99 | - | - | 3084 | - | 2.45 | 0.072 | 396 | -577.1 | 179.1 | - | - | 1957 | - | - | - | - | - | - | - | - | 15.07 | 14.83 | 15.07 |
| 3080 | 261.1 | 15.6 | 457 | 3087 | done | 0.99 | - | - | 3084 | - | 2.33 | 0.037 | 1809 | 606.4 | 179.1 | - | - | 1956 | - | - | - | - | - | - | - | - | 14.98 | 14.90 | 14.99 |
| 3151 | 250.4 | 14.7 | 470 | 3157 | done | 0.99 | - | - | 3084 | - | - | - | 1812 | - | 179.1 | - | - | 1955 | - | - | - | - | - | - | - | - | 15.11 | 15.11 | 15.11 |
| 3220 | 240.3 | 14.1 | 483 | 3226 | roll | 0.99 | - | - | 3090 | - | 2.42 | 0.070 | 400 | -583.5 | 179.1 | - | - | 1956 | - | - | - | - | - | - | - | - | 15.12 | 14.87 | 15.11 |
| 3290 | 229.7 | 16.1 | 496 | 3297 | done | 0.99 | 0.05 | 0.343 | 3082 | -160.0 | 2.30 | 0.037 | 1808 | 612.2 | 179.1 | - | - | 1956 | - | - | - | - | - | - | - | - | 14.73 | 14.94 | 14.95 |
| 3360 | 218.9 | 15.0 | 509 | 3367 | roll | 0.99 | - | - | 3090 | - | 2.42 | 0.070 | 398 | -582.6 | 179.1 | - | - | 1955 | - | - | - | - | - | - | - | - | 15.14 | 14.88 | 15.14 |
| 3414 | 210.4 | 16.4 | 519 | 3422 | done | 0.99 | 0.03 | 0.473 | 3086 | -133.3 | 2.30 | 0.037 | 1806 | 612.2 | 179.1 | - | - | 1954 | - | - | - | - | - | - | - | - | 14.76 | 14.94 | 14.97 |
| 3485 | 199.2 | 15.8 | 532 | 3492 | roll | 0.99 | - | - | 3094 | - | 2.42 | 0.070 | 399 | -581.4 | 179.1 | - | - | 1954 | - | - | - | - | - | - | - | - | 15.15 | 14.79 | 15.15 |
| 3561 | 185.6 | 18.5 | 546 | 3568 | done | 0.99 | 0.08 | 0.291 | 3080 | -175.0 | 2.30 | 0.037 | 1799 | 608.7 | 179.1 | - | - | 1953 | - | - | - | - | - | - | - | - | 14.71 | 14.86 | 14.93 |
| 3633 | 173.3 | 16.5 | 559 | 3638 | done | 0.99 | - | - | 3080 | - | - | - | 1802 | - | 179.1 | - | - | 1953 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
| 3701 | 161.6 | 16.5 | 572 | 3708 | roll | 0.99 | - | - | 3080 | - | 2.33 | 0.050 | 3197 | 598.7 | 179.1 | - | - | 1952 | - | - | - | - | - | - | - | - | 15.14 | 14.87 | 15.15 |
| 3726 | 157.5 | 16.8 | 576 | 3732 | done | 0.99 | - | - | 3087 | - | 2.35 | 0.051 | 1803 | -593.2 | 179.1 | - | - | 1952 | - | - | - | - | - | - | - | - | 14.93 | 14.82 | 14.95 |
| 3796 | 146.4 | 16.3 | 589 | 3803 | roll | 0.99 | - | - | 3095 | - | 2.42 | 0.070 | 387 | -585.1 | 179.1 | - | - | 1952 | - | - | - | - | - | - | - | - | 15.15 | 14.84 | 15.15 |
| 3835 | 139.5 | 16.7 | 596 | 3842 | done | 0.99 | 0.08 | 0.293 | 3083 | -150.0 | 2.33 | 0.037 | 1803 | 607.7 | 179.1 | - | - | 1952 | - | - | - | - | - | - | - | - | 14.66 | 14.83 | 14.87 |
| 3907 | 129.5 | 13.6 | 609 | 3912 | done | 0.99 | - | - | 3082 | - | - | - | 1806 | - | 179.1 | - | - | 1952 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
| 3975 | 120.0 | 13.6 | 622 | 3981 | roll | 0.99 | - | - | 3091 | - | 2.42 | 0.070 | 395 | -583.1 | 179.1 | - | - | 1952 | - | - | - | - | - | - | - | - | 15.14 | 14.88 | 15.15 |
| 4045 | 110.0 | 14.3 | 635 | 4053 | done | 0.99 | 0.05 | 0.339 | 3083 | -160.0 | 2.30 | 0.037 | 1802 | 611.7 | 179.1 | - | - | 1952 | - | - | - | - | - | - | - | - | 14.64 | 14.83 | 14.86 |
| 4116 | 100.4 | 12.3 | 648 | 4122 | done | 0.99 | - | - | 3082 | - | - | - | 1802 | - | 179.1 | - | - | 1952 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
| 4184 | 91.5 | 13.8 | 661 | 4190 | done | 0.99 | - | - | 3082 | - | - | - | 1802 | - | 179.1 | - | - | 1952 | - | - | - | - | - | - | - | - | 15.14 | 15.15 | 15.14 |
| 4253 | 81.9 | 13.8 | 674 | 4259 | done | 0.99 | - | - | 3079 | - | - | - | 1803 | - | 179.1 | - | - | 1952 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
| 4321 | 71.8 | 15.1 | 687 | 4327 | done | 0.99 | - | - | 3082 | - | - | - | 1802 | - | 179.1 | - | - | 1952 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
| 4390 | 61.9 | 14.2 | 700 | 4395 | done | 0.99 | - | - | 3082 | - | - | - | 1802 | - | 179.1 | - | - | 1949 | - | - | - | - | - | - | - | - | 15.14 | 15.15 | 15.14 |
| 4458 | 53.3 | 12.4 | 713 | 4465 | roll | 0.99 | - | - | 3082 | - | 2.33 | 0.052 | 3204 | 601.7 | 179.1 | - | - | 1951 | - | - | - | - | - | - | - | - | 15.14 | 14.90 | 15.12 |
| 4497 | 48.3 | 12.6 | 720 | 4504 | done | 0.99 | - | - | 3089 | - | 2.38 | 0.051 | 1795 | -592.0 | 179.1 | - | - | 1951 | - | - | - | - | - | - | - | - | 15.01 | 14.90 | 15.02 |
| 4569 | 41.8 | 8.9 | 733 | 4587 | roll | 1.01 | - | - | 3097 | - | 2.38 | 0.070 | 396 | -587.8 | 194.5 | 10.98 | 0.945 | 1904 | -4.3 | 0.034 | - | - | - | - | - | - | 15.13 | 14.83 | 14.33 |
| 4605 | 38.4 | 8.9 | 739 | 4624 | done | 1.03 | - | - | 3097 | - | 2.30 | 0.039 | 1795 | 608.3 | 209.6 | 13.57 | 0.955 | 1845 | -4.3 | 0.031 | - | - | - | - | - | - | 14.89 | 14.81 | 14.31 |
| 4687 | 29.1 | 11.8 | 754 | 4694 | roll | 1.03 | - | - | 3107 | - | 2.45 | 0.071 | 392 | -572.7 | 209.6 | - | - | 1841 | - | - | - | - | - | - | - | - | 15.05 | 14.81 | 15.05 |
| 4712 | 26.2 | 12.2 | 758 | 4719 | done | 1.03 | 0.08 | 0.286 | 3093 | -175.0 | 2.35 | 0.037 | 1802 | 600.0 | 209.6 | - | - | 1840 | - | - | - | - | - | - | - | - | 14.66 | 14.83 | 14.84 |
| 4784 | 17.6 | 11.0 | 771 | 4790 | roll | 1.03 | - | - | 3093 | - | 2.33 | 0.050 | 3198 | 599.1 | 209.6 | - | - | 1839 | - | - | - | - | - | - | - | - | 15.07 | 14.85 | 15.07 |
| 4941 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 4942 | begin surface coast | ||||||||||||||||||||||||||||
| 4973 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 4973 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.76 | - | - | - | - | -8.21 | 13.93 | 0.043 | 109 | 7.8 | 2.38 | 0.047 | 1811 | -1069.3 | 515.37 | 191.27 | 0.793 | 597 | 3.1 | -0.000 | - | - | - | - | - | - | |||