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| • Previous call tries 1 | • 116.88 of 310.00 AH used of 24V (62.30% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -64.8 deg, depth 0.74 m | • Intended pitch -15.7 deg, speed -10.010 cm/s | |
| • VBD pumped to 515.37 (SM_CC=515.36688) | ||
| • GPS1 time: 7 s | • bottom range 27.3 m at 285.6 m, depth 313 m (1000 m grid) | |
| • GPS2 time: 6 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 | |||||
| 19 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 19 | begin dive | ||||||||||||||||||||||||||||
| 22 | - | - | - | 122 | VBD | -0.76 | - | - | 55 | - | - | - | 1794 | - | -194.6 | -97.12 | - | 2962 | - | - | - | - | - | - | - | - | 14.92 | - | 14.93 |
| 127 | 3.1 | -5.8 | 18 | 157 | roll | -0.76 | 14.55 | 0.301 | 2503 | 168.2 | 2.45 | 0.083 | 402 | -568.2 | -194.6 | -9.57 | - | 3496 | -55.8 | - | - | - | - | - | - | - | 14.42 | 13.52 | 14.69 |
| 186 | 19.8 | -18.6 | 28 | 193 | done | -0.76 | - | - | 2501 | - | 2.38 | 0.039 | 1809 | 591.2 | -194.6 | - | - | 3497 | - | - | - | - | - | - | - | - | 14.84 | 14.74 | 14.85 |
| 257 | 31.6 | -17.2 | 41 | 264 | roll | -0.76 | - | - | 2501 | - | 2.40 | 0.057 | 3217 | 586.7 | -194.6 | - | - | 3497 | - | - | - | - | - | - | - | - | 14.97 | 14.74 | 14.97 |
| 366 | 47.3 | -12.8 | 62 | 373 | done | -0.76 | - | - | 2501 | - | 2.40 | 0.047 | 1805 | -588.3 | -194.6 | - | - | 3497 | - | - | - | - | - | - | - | - | 14.88 | 14.78 | 14.92 |
| 438 | 57.3 | -15.1 | 75 | 444 | roll | -0.76 | - | - | 2504 | - | 2.42 | 0.067 | 402 | -579.8 | -194.6 | - | - | 3497 | - | - | - | - | - | - | - | - | 15.02 | 14.76 | 15.02 |
| 478 | 64.4 | -17.2 | 82 | 486 | done | -0.76 | - | - | 2501 | - | 2.35 | 0.037 | 1815 | 601.3 | -194.6 | - | - | 3497 | - | - | - | - | - | - | - | - | 14.90 | 14.81 | 14.92 |
| 551 | 75.1 | -15.7 | 95 | 557 | roll | -0.76 | - | - | 2501 | - | 2.40 | 0.057 | 3223 | 586.7 | -194.6 | - | - | 3497 | - | - | - | - | - | - | - | - | 15.04 | 14.74 | 15.04 |
| 615 | 84.0 | -12.5 | 107 | 622 | done | -0.76 | - | - | 2501 | - | 2.40 | 0.046 | 1806 | -590.4 | -194.6 | - | - | 3497 | - | - | - | - | - | - | - | - | 14.87 | 14.76 | 14.88 |
| 686 | 93.7 | -13.4 | 120 | 694 | roll | -0.76 | - | - | 2501 | - | 2.42 | 0.066 | 409 | -577.3 | -194.6 | - | - | 3497 | - | - | - | - | - | - | - | - | 15.05 | 14.78 | 15.06 |
| 717 | 98.2 | -12.9 | 125 | 723 | done | -0.76 | - | - | 2501 | - | 2.35 | 0.036 | 1823 | 601.7 | -194.6 | - | - | 3497 | - | - | - | - | - | - | - | - | 14.92 | 14.83 | 14.93 |
| 788 | 106.7 | -12.6 | 138 | 794 | roll | -0.76 | - | - | 2501 | - | 2.35 | 0.055 | 3214 | 591.9 | -194.6 | - | - | 3497 | - | - | - | - | - | - | - | - | 15.05 | 14.80 | 15.06 |
| 883 | 117.3 | -11.3 | 156 | 890 | done | -0.76 | - | - | 2501 | - | 2.38 | 0.045 | 1807 | -591.2 | -194.6 | - | - | 3497 | - | - | - | - | - | - | - | - | 14.93 | 14.83 | 14.95 |
| 953 | 125.3 | -11.2 | 169 | 959 | done | -0.76 | - | - | 2501 | - | - | - | 1806 | - | -194.6 | - | - | 3497 | - | - | - | - | - | - | - | - | 15.07 | 15.07 | 15.07 |
| 1022 | 133.5 | -11.6 | 182 | 1028 | roll | -0.76 | - | - | 2501 | - | 2.40 | 0.054 | 3214 | 586.7 | -194.6 | - | - | 3497 | - | - | - | - | - | - | - | - | 15.07 | 14.81 | 15.07 |
| 1066 | 138.3 | -10.2 | 190 | 1073 | done | -0.76 | - | - | 2501 | - | 2.38 | 0.044 | 1803 | -592.9 | -194.6 | - | - | 3497 | - | - | - | - | - | - | - | - | 14.94 | 14.83 | 14.95 |
| 1138 | 146.6 | -12.5 | 203 | 1144 | done | -0.76 | - | - | 2501 | - | - | - | 1803 | - | -194.6 | - | - | 3496 | - | - | - | - | - | - | - | - | 15.07 | 15.07 | 15.07 |
| 1210 | 155.8 | -12.6 | 216 | 1216 | done | -0.76 | - | - | 2501 | - | - | - | 1803 | - | -194.6 | - | - | 3498 | - | - | - | - | - | - | - | - | 15.08 | 15.08 | 15.08 |
| 1279 | 164.9 | -13.1 | 229 | 1288 | done | -0.76 | - | - | 2501 | - | - | - | 1803 | - | -194.6 | - | - | 3497 | - | - | - | - | - | - | - | - | 15.08 | 15.09 | 15.08 |
| 1352 | 173.9 | -12.8 | 242 | 1358 | done | -0.76 | - | - | 2501 | - | - | - | 1803 | - | -194.6 | - | - | 3497 | - | - | - | - | - | - | - | - | 15.07 | 15.07 | 15.07 |
| 1423 | 183.0 | -12.9 | 255 | 1428 | done | -0.76 | - | - | 2501 | - | - | - | 1803 | - | -194.6 | - | - | 3497 | - | - | - | - | - | - | - | - | 15.06 | 15.07 | 15.07 |
| 1494 | 191.9 | -12.8 | 268 | 1500 | roll | -0.76 | - | - | 2495 | - | 2.40 | 0.053 | 3212 | 587.1 | -194.6 | - | - | 3497 | - | - | - | - | - | - | - | - | 15.08 | 14.72 | 15.08 |
| 1528 | 196.6 | -11.5 | 274 | 1536 | done | -0.76 | 0.08 | 0.241 | 2512 | 212.5 | 2.35 | 0.045 | 1814 | -594.9 | -194.6 | - | - | 3497 | - | - | - | - | - | - | - | - | 14.71 | 14.83 | 14.88 |
| 1599 | 204.5 | -11.0 | 287 | 1608 | done | -0.76 | - | - | 2513 | - | - | - | 1814 | - | -194.6 | - | - | 3496 | - | - | - | - | - | - | - | - | 15.09 | 15.10 | 15.09 |
| 1673 | 213.2 | -12.1 | 300 | 1679 | done | -0.76 | - | - | 2512 | - | - | - | 1814 | - | -194.6 | - | - | 3496 | - | - | - | - | - | - | - | - | 15.08 | 15.09 | 15.09 |
| 1744 | 221.9 | -12.5 | 313 | 1750 | done | -0.76 | - | - | 2513 | - | - | - | 1814 | - | -194.6 | - | - | 3496 | - | - | - | - | - | - | - | - | 15.09 | 15.10 | 15.09 |
| 1815 | 230.5 | -12.1 | 326 | 1821 | done | -0.76 | - | - | 2512 | - | - | - | 1814 | - | -194.6 | - | - | 3496 | - | - | - | - | - | - | - | - | 15.09 | 15.09 | 15.09 |
| 1883 | 239.3 | -12.4 | 339 | 1892 | done | -0.76 | - | - | 2512 | - | - | - | 1814 | - | -194.6 | - | - | 3496 | - | - | - | - | - | - | - | - | 15.10 | 15.11 | 15.11 |
| 1956 | 248.0 | -12.0 | 352 | 1963 | roll | -0.76 | - | - | 2506 | - | 2.38 | 0.054 | 3214 | 588.2 | -194.6 | - | - | 3496 | - | - | - | - | - | - | - | - | 15.10 | 14.84 | 15.10 |
| 1980 | 251.0 | -11.6 | 356 | 1987 | done | -0.76 | - | - | 2505 | - | 2.38 | 0.046 | 1809 | -590.3 | -194.6 | - | - | 3496 | - | - | - | - | - | - | - | - | 14.91 | 14.80 | 14.92 |
| 2053 | 259.2 | -12.3 | 369 | 2059 | done | -0.76 | - | - | 2505 | - | - | - | 1808 | - | -194.6 | - | - | 3495 | - | - | - | - | - | - | - | - | 15.11 | 15.11 | 15.11 |
| 2123 | 268.1 | -12.2 | 382 | 2129 | done | -0.76 | - | - | 2505 | - | - | - | 1809 | - | -194.6 | - | - | 3495 | - | - | - | - | - | - | - | - | 15.11 | 15.11 | 15.11 |
| 2194 | 277.0 | -13.2 | 395 | 2200 | done | -0.76 | - | - | 2505 | - | - | - | 1809 | - | -194.6 | - | - | 3495 | - | - | - | - | - | - | - | - | 15.11 | 15.11 | 15.11 |
| 2270 | 286.7 | -13.9 | 408 | 2276 | done | -0.76 | - | - | 2505 | - | - | - | 1809 | - | -194.6 | - | - | 3494 | - | - | - | - | - | - | - | - | 15.12 | 15.12 | 15.12 |
| 2338 | 296.0 | -13.1 | 421 | 2345 | roll | -0.76 | - | - | 2505 | - | 2.40 | 0.056 | 3215 | 585.8 | -194.6 | - | - | 3494 | - | - | - | - | - | - | - | - | 15.13 | 14.84 | 15.13 |
| 2368 | 299.9 | -13.8 | 426 | 2374 | done | -0.76 | - | - | 2504 | - | 2.38 | 0.046 | 1805 | -592.4 | -194.6 | - | - | 3494 | - | - | - | - | - | - | - | - | 14.97 | 14.86 | 14.98 |
| 2411 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2411 | begin apogee | ||||||||||||||||||||||||||||
| 2416 | 305.1 | -12.1 | 429 | 2573 | done | -0.17 | 1.00 | 0.157 | 2699 | 195.0 | - | - | 1805 | - | - | 150.52 | 1.207 | 2698 | -5.3 | 0.243 | - | - | - | - | - | - | 14.73 | 14.38 | 13.82 |
| 2574 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2574 | begin climb | ||||||||||||||||||||||||||||
| 2577 | 310.7 | - | 437 | 2742 | roll | 0.76 | 1.48 | 0.076 | 3017 | 214.9 | 2.53 | 0.069 | 391 | -558.9 | 194.6 | 154.88 | 1.169 | 1903 | -5.1 | 0.248 | - | - | - | - | - | - | 14.38 | 14.27 | 13.78 |
| 2905 | 290.6 | 14.1 | 461 | 2912 | done | 0.76 | - | - | 3017 | - | 2.38 | 0.035 | 1803 | 593.3 | 194.6 | - | - | 1897 | - | - | - | - | - | - | - | - | 14.72 | 14.62 | 14.73 |
| 2976 | 280.6 | 13.5 | 474 | 2983 | roll | 0.76 | - | - | 3016 | - | 2.35 | 0.049 | 3201 | 594.9 | 194.6 | - | - | 1896 | - | - | - | - | - | - | - | - | 14.90 | 14.69 | 14.91 |
| 3001 | 276.9 | 15.0 | 478 | 3008 | done | 0.76 | - | - | 3016 | - | 2.40 | 0.053 | 1803 | -582.5 | 194.6 | - | - | 1895 | - | - | - | - | - | - | - | - | 14.81 | 14.70 | 14.83 |
| 3072 | 267.2 | 13.6 | 491 | 3078 | done | 0.76 | - | - | 3017 | - | - | - | 1802 | - | 194.6 | - | - | 1895 | - | - | - | - | - | - | - | - | 14.97 | 14.97 | 14.97 |
| 3140 | 257.7 | 13.4 | 504 | 3146 | done | 0.76 | - | - | 3016 | - | - | - | 1802 | - | 194.6 | - | - | 1894 | - | - | - | - | - | - | - | - | 15.00 | 15.00 | 15.00 |
| 3209 | 248.3 | 14.0 | 517 | 3214 | done | 0.76 | - | - | 3017 | - | - | - | 1802 | - | 194.6 | - | - | 1894 | - | - | - | - | - | - | - | - | 15.02 | 15.02 | 15.02 |
| 3277 | 238.4 | 15.0 | 530 | 3284 | roll | 0.76 | - | - | 3016 | - | 2.38 | 0.050 | 3205 | 589.5 | 194.6 | - | - | 1894 | - | - | - | - | - | - | - | - | 15.04 | 14.81 | 15.04 |
| 3307 | 234.2 | 13.6 | 535 | 3314 | done | 0.76 | 0.08 | 0.310 | 3010 | -75.0 | 2.40 | 0.054 | 1799 | -585.8 | 194.6 | - | - | 1894 | - | - | - | - | - | - | - | - | 14.64 | 14.80 | 14.85 |
| 3378 | 225.2 | 12.9 | 548 | 3384 | done | 0.76 | - | - | 3009 | - | - | - | 1799 | - | 194.6 | - | - | 1893 | - | - | - | - | - | - | - | - | 15.05 | 15.05 | 15.06 |
| 3446 | 216.2 | 12.8 | 561 | 3452 | done | 0.76 | - | - | 3010 | - | - | - | 1799 | - | 194.6 | - | - | 1893 | - | - | - | - | - | - | - | - | 15.07 | 15.07 | 15.07 |
| 3515 | 207.5 | 12.9 | 574 | 3521 | done | 0.76 | - | - | 3010 | - | - | - | 1798 | - | 194.6 | - | - | 1893 | - | - | - | - | - | - | - | - | 15.08 | 15.09 | 15.08 |
| 3584 | 198.8 | 13.1 | 587 | 3589 | done | 0.76 | - | - | 3010 | - | - | - | 1798 | - | 194.6 | - | - | 1893 | - | - | - | - | - | - | - | - | 15.09 | 15.08 | 15.08 |
| 3652 | 189.9 | 13.3 | 600 | 3659 | roll | 0.76 | - | - | 3009 | - | 2.38 | 0.050 | 3207 | 592.0 | 194.6 | - | - | 1893 | - | - | - | - | - | - | - | - | 15.08 | 14.83 | 15.09 |
| 3681 | 185.6 | 14.4 | 605 | 3688 | done | 0.76 | - | - | 3016 | - | 2.40 | 0.054 | 1800 | -586.2 | 194.6 | - | - | 1892 | - | - | - | - | - | - | - | - | 14.95 | 14.83 | 14.96 |
| 3752 | 176.2 | 13.6 | 618 | 3758 | done | 0.76 | - | - | 3017 | - | - | - | 1799 | - | 194.6 | - | - | 1892 | - | - | - | - | - | - | - | - | 15.06 | 15.04 | 15.07 |
| 3821 | 166.7 | 13.1 | 631 | 3827 | roll | 0.76 | - | - | 3016 | - | 2.35 | 0.051 | 3199 | 595.7 | 194.6 | - | - | 1892 | - | - | - | - | - | - | - | - | 15.08 | 14.83 | 15.08 |
| 3850 | 162.7 | 14.8 | 636 | 3857 | done | 0.76 | - | - | 3017 | - | 2.40 | 0.054 | 1799 | -583.3 | 194.6 | - | - | 1891 | - | - | - | - | - | - | - | - | 14.95 | 14.83 | 14.96 |
| 3921 | 153.6 | 13.5 | 649 | 3927 | done | 0.76 | - | - | 3017 | - | - | - | 1799 | - | 194.6 | - | - | 1892 | - | - | - | - | - | - | - | - | 15.07 | 15.07 | 15.07 |
| 3989 | 143.6 | 14.4 | 662 | 3995 | done | 0.76 | - | - | 3017 | - | - | - | 1799 | - | 194.6 | - | - | 1891 | - | - | - | - | - | - | - | - | 15.07 | 15.08 | 15.08 |
| 4058 | 133.8 | 14.9 | 675 | 4064 | done | 0.76 | - | - | 3017 | - | - | - | 1799 | - | 194.6 | - | - | 1892 | - | - | - | - | - | - | - | - | 15.08 | 15.09 | 15.07 |
| 4126 | 123.5 | 14.7 | 688 | 4133 | roll | 0.76 | - | - | 3016 | - | 2.38 | 0.051 | 3199 | 588.2 | 194.6 | - | - | 1891 | - | - | - | - | - | - | - | - | 15.08 | 14.83 | 15.08 |
| 4180 | 115.7 | 14.0 | 698 | 4187 | done | 0.76 | - | - | 3018 | - | 2.40 | 0.054 | 1798 | -583.8 | 194.6 | - | - | 1891 | - | - | - | - | - | - | - | - | 14.93 | 14.82 | 14.96 |
| 4250 | 106.8 | 12.2 | 711 | 4257 | roll | 0.76 | - | - | 3017 | - | 2.38 | 0.050 | 3201 | 589.5 | 194.6 | - | - | 1891 | - | - | - | - | - | - | - | - | 15.07 | 14.83 | 15.08 |
| 4361 | 92.2 | 13.7 | 732 | 4368 | done | 0.76 | 0.05 | 0.369 | 3011 | -120.0 | 2.40 | 0.053 | 1798 | -584.6 | 194.6 | - | - | 1890 | - | - | - | - | - | - | - | - | 14.62 | 14.82 | 14.87 |
| 4432 | 83.2 | 12.8 | 745 | 4438 | done | 0.76 | - | - | 3011 | - | - | - | 1798 | - | 194.6 | - | - | 1891 | - | - | - | - | - | - | - | - | 15.07 | 15.08 | 15.08 |
| 4501 | 75.8 | 9.1 | 758 | 4528 | done | 0.80 | - | - | 3011 | - | - | - | 1798 | - | 221.4 | 21.58 | 0.986 | 1795 | -4.4 | 0.062 | - | - | - | - | - | - | 15.07 | 14.67 | 14.29 |
| 4592 | 66.6 | 8.9 | 775 | 4621 | done | 0.83 | - | - | 3011 | - | - | - | 1798 | - | 252.5 | 25.60 | 1.074 | 1670 | -4.9 | 0.055 | - | - | - | - | - | - | 15.00 | 14.68 | 14.12 |
| 4684 | 55.8 | 11.9 | 792 | 4690 | done | 0.83 | - | - | 3011 | - | - | - | 1797 | - | 252.5 | - | - | 1670 | - | - | - | - | - | - | - | - | 14.91 | 14.92 | 14.91 |
| 4753 | 47.9 | 11.5 | 805 | 4759 | done | 0.83 | - | - | 3011 | - | - | - | 1798 | - | 252.5 | - | - | 1669 | - | - | - | - | - | - | - | - | 14.95 | 14.95 | 14.95 |
| 4822 | 39.8 | 11.6 | 818 | 4827 | done | 0.83 | - | - | 3011 | - | - | - | 1798 | - | 252.5 | - | - | 1668 | - | - | - | - | - | - | - | - | 14.97 | 14.97 | 14.97 |
| 4890 | 31.9 | 10.5 | 831 | 4897 | roll | 0.83 | - | - | 3010 | - | 2.40 | 0.051 | 3200 | 584.2 | 252.5 | - | - | 1667 | - | - | - | - | - | - | - | - | 15.00 | 14.76 | 15.00 |
| 4929 | 27.9 | 10.3 | 838 | 4936 | done | 0.83 | - | - | 3010 | - | 2.40 | 0.054 | 1799 | -583.8 | 252.5 | - | - | 1666 | - | - | - | - | - | - | - | - | 14.83 | 14.72 | 14.84 |
| 5000 | 20.8 | 10.5 | 851 | 5006 | done | 0.83 | - | - | 3010 | - | - | - | 1799 | - | 252.5 | - | - | 1666 | - | - | - | - | - | - | - | - | 15.02 | 15.02 | 15.02 |
| 5069 | 13.6 | 9.9 | 864 | 5076 | roll | 0.84 | - | - | 3011 | - | 2.40 | 0.052 | 3204 | 585.4 | 255.9 | - | - | 1666 | - | - | - | - | - | - | - | - | 15.03 | 14.73 | 15.03 |
| 5119 | 8.4 | 11.5 | 873 | 5125 | done | 0.84 | - | - | 3011 | - | 2.42 | 0.056 | 1793 | -583.1 | 255.9 | - | - | 1665 | - | - | - | - | - | - | - | - | 14.81 | 14.69 | 14.83 |
| 5170 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 5171 | begin surface coast | ||||||||||||||||||||||||||||
| 5202 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5202 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.80 | - | - | - | - | -8.21 | 13.70 | 0.050 | 116 | 8.5 | - | - | 1791 | - | 515.37 | 180.95 | 0.838 | 599 | 3.3 | -0.000 | - | - | - | - | - | - | |||