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| • Previous call tries 1 | • 182.75 of 310.00 AH used of 24V (41.05% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -58.6 deg, depth 0.51 m | • Intended pitch -11.4 deg, speed -9.950 cm/s | |
| • No surface pump (final VBD was 546.03, SM_CC=542.59473) | • surface range 17.8 m at 19.0 m depth, ceiling 1.2 m | |
| • GPS1 time: 30 s | • bottom range 31.9 m at 240.2 m, depth 272 m (1000 m grid) | |
| • GPS2 time: 18 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 | - | - | - | 123 | VBD | -0.84 | - | - | 72 | - | - | - | 1984 | - | -340.6 | -97.82 | - | 3172 | - | - | - | - | - | - | - | - | 14.96 | - | 14.97 |
| 128 | 3.4 | -9.6 | 18 | 163 | roll | -0.84 | 12.82 | 0.303 | 2210 | 166.8 | 2.55 | 0.095 | 3386 | 549.8 | -340.6 | -12.80 | - | 3964 | -61.9 | - | - | - | - | - | - | - | 14.27 | 12.97 | 14.64 |
| 303 | 36.6 | -13.7 | 51 | 310 | done | -0.84 | - | - | 2210 | - | 2.30 | 0.039 | 2014 | -596.5 | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 14.86 | 14.75 | 14.88 |
| 374 | 46.3 | -12.7 | 64 | 381 | roll | -0.84 | - | - | 2210 | - | 2.45 | 0.072 | 3393 | 562.9 | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 15.04 | 14.47 | 15.04 |
| 449 | 55.8 | -12.3 | 78 | 456 | done | -0.84 | - | - | 2210 | - | 2.33 | 0.039 | 2005 | -595.7 | -340.6 | - | - | 3965 | - | - | - | - | - | - | - | - | 14.68 | 14.55 | 14.69 |
| 520 | 64.4 | -12.2 | 91 | 527 | roll | -0.84 | - | - | 2210 | - | 2.47 | 0.073 | 3392 | 561.5 | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 15.06 | 14.59 | 15.06 |
| 564 | 69.4 | -11.0 | 99 | 571 | done | -0.84 | - | - | 2210 | - | 2.30 | 0.038 | 2018 | -597.4 | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 14.70 | 14.58 | 14.72 |
| 635 | 77.2 | -10.8 | 112 | 642 | roll | -0.84 | - | - | 2210 | - | 2.47 | 0.071 | 3403 | 560.7 | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 15.07 | 14.59 | 15.07 |
| 702 | 83.7 | -9.3 | 124 | 708 | done | -0.84 | - | - | 2210 | - | 2.33 | 0.037 | 2010 | -597.9 | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 14.89 | 14.79 | 14.90 |
| 774 | 91.6 | -11.5 | 137 | 781 | roll | -0.84 | - | - | 2210 | - | 2.45 | 0.071 | 3397 | 566.1 | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 15.07 | 14.49 | 15.06 |
| 889 | 103.3 | -10.9 | 159 | 896 | done | -0.84 | - | - | 2210 | - | 2.30 | 0.037 | 2017 | -600.0 | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 14.69 | 14.61 | 14.70 |
| 961 | 111.5 | -11.1 | 172 | 967 | roll | -0.84 | - | - | 2210 | - | 2.45 | 0.071 | 3393 | 561.6 | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 15.08 | 14.69 | 15.08 |
| 1000 | 116.2 | -11.6 | 179 | 1007 | done | -0.84 | - | - | 2210 | - | 2.33 | 0.037 | 2006 | -595.3 | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 14.80 | 14.67 | 14.81 |
| 1070 | 124.4 | -12.0 | 192 | 1076 | done | -0.84 | - | - | 2209 | - | - | - | 2005 | - | -340.6 | - | - | 3965 | - | - | - | - | - | - | - | - | 15.09 | 15.10 | 15.09 |
| 1140 | 133.0 | -11.5 | 205 | 1147 | roll | -0.84 | - | - | 2209 | - | 2.47 | 0.071 | 3396 | 563.2 | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 15.08 | 14.60 | 15.08 |
| 1212 | 141.1 | -11.4 | 218 | 1219 | done | -0.84 | - | - | 2210 | - | 2.30 | 0.036 | 2006 | -604.3 | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 14.90 | 14.81 | 14.92 |
| 1283 | 149.4 | -12.0 | 231 | 1293 | roll | -0.84 | - | - | 2210 | - | 2.40 | 0.070 | 613 | -580.4 | -340.6 | - | - | 3965 | - | - | - | - | - | - | - | - | 15.06 | 14.68 | 15.07 |
| 1300 | 151.7 | -12.4 | 233 | 1307 | done | -0.84 | - | - | 2210 | - | 2.30 | 0.044 | 2000 | 603.0 | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 14.81 | 14.70 | 14.83 |
| 1371 | 159.7 | -11.0 | 246 | 1379 | roll | -0.84 | - | - | 2209 | - | 2.47 | 0.074 | 3410 | 570.9 | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 15.08 | 14.67 | 15.08 |
| 1421 | 165.3 | -10.5 | 255 | 1428 | done | -0.84 | - | - | 2210 | - | 2.33 | 0.036 | 2010 | -600.9 | -340.6 | - | - | 3965 | - | - | - | - | - | - | - | - | 14.90 | 14.80 | 14.92 |
| 1492 | 172.5 | -10.3 | 268 | 1499 | roll | -0.84 | - | - | 2209 | - | 2.42 | 0.069 | 606 | -580.2 | -340.6 | - | - | 3965 | - | - | - | - | - | - | - | - | 15.09 | 14.70 | 15.08 |
| 1512 | 174.8 | -10.8 | 271 | 1518 | done | -0.84 | - | - | 2210 | - | 2.33 | 0.043 | 2013 | 603.9 | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 14.90 | 14.79 | 14.91 |
| 1582 | 181.7 | -10.0 | 284 | 1589 | roll | -0.84 | - | - | 2209 | - | 2.45 | 0.074 | 3410 | 570.2 | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 15.08 | 14.69 | 15.08 |
| 1653 | 188.9 | -10.1 | 297 | 1660 | done | -0.84 | - | - | 2209 | - | 2.33 | 0.036 | 2012 | -600.0 | -340.6 | - | - | 3966 | - | - | - | - | - | - | - | - | 14.90 | 14.80 | 14.90 |
| 1724 | 196.6 | -10.5 | 310 | 1730 | done | -0.84 | - | - | 2209 | - | - | - | 2012 | - | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 15.07 | 15.08 | 15.08 |
| 1792 | 203.7 | -10.7 | 323 | 1799 | roll | -0.84 | - | - | 2209 | - | 2.50 | 0.073 | 3414 | 560.8 | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 15.09 | 14.68 | 15.09 |
| 1841 | 208.8 | -10.0 | 332 | 1848 | done | -0.84 | - | - | 2210 | - | 2.35 | 0.037 | 2008 | -598.3 | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 14.90 | 14.80 | 14.92 |
| 1914 | 216.0 | -10.4 | 345 | 1920 | done | -0.84 | - | - | 2209 | - | - | - | 2007 | - | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 15.10 | 15.09 | 15.10 |
| 1984 | 223.4 | -10.0 | 358 | 1990 | roll | -0.84 | - | - | 2209 | - | 2.50 | 0.073 | 3412 | 562.0 | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 15.11 | 14.68 | 15.11 |
| 2058 | 230.1 | -9.5 | 371 | 2065 | done | -0.84 | - | - | 2209 | - | 2.33 | 0.037 | 2011 | -601.3 | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 14.92 | 14.83 | 14.95 |
| 2130 | 237.9 | -10.4 | 384 | 2136 | done | -0.84 | - | - | 2209 | - | - | - | 2011 | - | -340.6 | - | - | 3964 | - | - | - | - | - | - | - | - | 15.11 | 15.11 | 15.11 |
| 2202 | 245.0 | -10.4 | 397 | 2209 | roll | -0.84 | - | - | 2209 | - | 2.53 | 0.075 | 3417 | 555.7 | -340.6 | - | - | 3963 | - | - | - | - | - | - | - | - | 15.10 | 14.68 | 15.10 |
| 2269 | 251.2 | -8.6 | 409 | 2275 | done | -0.84 | - | - | 2209 | - | 2.35 | 0.038 | 2007 | -600.0 | -340.6 | - | - | 3963 | - | - | - | - | - | - | - | - | 14.79 | 14.80 | 14.79 |
| 2331 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2333 | begin apogee | ||||||||||||||||||||||||||||
| 2339 | 257.3 | -9.5 | 421 | 2566 | done | -0.19 | 1.08 | 0.143 | 2426 | 200.9 | - | - | 1943 | - | - | 215.50 | 1.250 | 2811 | -5.3 | 0.208 | - | - | - | - | - | - | 14.50 | 14.16 | 13.59 |
| 2568 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2568 | begin climb | ||||||||||||||||||||||||||||
| 2571 | 264.3 | - | 462 | 2850 | roll | 0.84 | 1.55 | 0.074 | 2759 | 214.8 | 2.58 | 0.070 | 3358 | 548.4 | 340.6 | 269.15 | 1.226 | 1423 | -5.2 | 0.210 | - | - | - | - | - | - | 14.42 | 14.38 | 13.61 |
| 2939 | 237.6 | 10.6 | 528 | 2946 | done | 0.84 | - | - | 2760 | - | 2.35 | 0.044 | 1983 | -585.1 | 340.6 | - | - | 1422 | - | - | - | - | - | - | - | - | 14.71 | 14.62 | 14.73 |
| 3011 | 230.2 | 9.9 | 541 | 3024 | roll | 0.85 | - | - | 2760 | - | 2.53 | 0.080 | 555 | -564.4 | 345.7 | 5.55 | 0.923 | 1402 | -3.6 | 0.170 | - | - | - | - | - | - | 14.93 | 14.32 | 13.66 |
| 3031 | 228.0 | 9.7 | 544 | 3050 | done | 0.87 | - | - | 2760 | - | 2.35 | 0.041 | 1974 | 603.8 | 360.1 | 13.68 | 1.105 | 1346 | -4.1 | 0.160 | - | - | - | - | - | - | 14.81 | 14.71 | 13.76 |
| 3114 | 219.7 | 10.2 | 559 | 3120 | roll | 0.87 | - | - | 2760 | - | 2.45 | 0.070 | 3359 | 565.3 | 360.1 | - | - | 1344 | - | - | - | - | - | - | - | - | 14.94 | 14.63 | 14.94 |
| 3138 | 217.0 | 11.1 | 563 | 3145 | done | 0.87 | - | - | 2760 | - | 2.40 | 0.044 | 1954 | -585.4 | 360.1 | - | - | 1344 | - | - | - | - | - | - | - | - | 14.80 | 14.69 | 14.82 |
| 3209 | 209.7 | 10.5 | 576 | 3216 | roll | 0.87 | - | - | 2760 | - | 2.45 | 0.082 | 564 | -567.3 | 360.1 | - | - | 1344 | - | - | - | - | - | - | - | - | 14.98 | 14.64 | 14.98 |
| 3223 | 208.1 | 10.4 | 578 | 3229 | done | 0.87 | - | - | 2760 | - | 2.33 | 0.041 | 1966 | 601.7 | 360.1 | - | - | 1344 | - | - | - | - | - | - | - | - | 14.85 | 14.75 | 14.86 |
| 3294 | 200.7 | 10.7 | 591 | 3300 | roll | 0.87 | - | - | 2761 | - | 2.45 | 0.069 | 3355 | 566.9 | 360.1 | - | - | 1343 | - | - | - | - | - | - | - | - | 15.02 | 14.69 | 15.02 |
| 3323 | 197.1 | 11.5 | 596 | 3330 | done | 0.87 | - | - | 2760 | - | 2.38 | 0.044 | 1956 | -587.8 | 360.1 | - | - | 1343 | - | - | - | - | - | - | - | - | 14.86 | 14.73 | 14.87 |
| 3394 | 189.8 | 10.3 | 609 | 3400 | roll | 0.87 | - | - | 2760 | - | 2.47 | 0.082 | 562 | -564.4 | 360.1 | - | - | 1343 | - | - | - | - | - | - | - | - | 15.01 | 14.67 | 15.02 |
| 3413 | 187.8 | 10.0 | 612 | 3420 | done | 0.87 | - | - | 2760 | - | 2.33 | 0.039 | 1968 | 603.4 | 360.1 | - | - | 1343 | - | - | - | - | - | - | - | - | 14.88 | 14.78 | 14.89 |
| 3484 | 181.2 | 8.9 | 625 | 3536 | roll | 0.93 | - | - | 2760 | - | 2.50 | 0.068 | 3357 | 555.6 | 411.1 | 44.60 | 1.188 | 1135 | -4.7 | 0.135 | - | - | - | - | - | - | 15.02 | 14.56 | 13.78 |
| 3565 | 174.2 | 8.5 | 639 | 3640 | done | 1.02 | 0.17 | 0.101 | 2828 | 400.0 | 2.38 | 0.043 | 1959 | -587.4 | 487.1 | 66.07 | 1.175 | 826 | -4.7 | 0.131 | - | - | - | - | - | - | 14.66 | 14.63 | 13.66 |
| 3703 | 157.2 | 11.8 | 664 | 3710 | roll | 1.02 | 0.03 | 0.475 | 2823 | -166.7 | 2.50 | 0.082 | 562 | -558.8 | 487.1 | - | - | 823 | - | - | - | - | - | - | - | - | 14.51 | 14.51 | 14.54 |
| 3769 | 150.4 | 9.5 | 676 | 3799 | done | 1.05 | - | - | 2822 | - | 2.33 | 0.038 | 1964 | 601.7 | 510.8 | 22.08 | 1.119 | 727 | -4.3 | 0.111 | - | - | - | - | - | - | 14.77 | 14.67 | 13.75 |
| 3862 | 141.2 | 9.7 | 693 | 3880 | roll | 1.07 | - | - | 2822 | - | 2.47 | 0.067 | 3362 | 566.0 | 522.3 | 11.35 | 1.050 | 681 | -4.1 | 0.103 | - | - | - | - | - | - | 14.89 | 14.28 | 13.71 |
| 3893 | 138.3 | 9.3 | 698 | 3922 | done | 1.11 | - | - | 2824 | - | 2.40 | 0.044 | 1956 | -585.8 | 557.2 | 20.23 | 1.075 | 598 | -4.1 | 0.100 | - | - | - | - | - | - | 14.74 | 14.63 | 13.75 |
| 3986 | 130.1 | 8.1 | 715 | 3993 | roll | 1.22 | 0.15 | 0.115 | 2886 | 413.3 | 2.47 | 0.083 | 563 | -564.0 | 651.5 | - | - | 595 | - | - | - | - | - | - | - | - | 14.63 | 14.43 | 14.68 |
| 4000 | 128.9 | 8.5 | 717 | 4007 | done | 1.31 | - | - | 2888 | - | 2.33 | 0.040 | 1962 | 600.4 | 723.6 | - | - | 595 | - | - | - | - | - | - | - | - | 14.77 | 14.67 | 14.78 |
| 4071 | 120.0 | 12.4 | 730 | 4078 | roll | 1.31 | - | - | 2888 | - | 2.45 | 0.068 | 3360 | 570.6 | 723.6 | - | - | 593 | - | - | - | - | - | - | - | - | 14.95 | 14.52 | 14.95 |
| 4095 | 116.5 | 13.4 | 734 | 4102 | done | 1.31 | - | - | 2888 | - | 2.38 | 0.047 | 1958 | -589.1 | 723.6 | - | - | 593 | - | - | - | - | - | - | - | - | 14.76 | 14.69 | 14.76 |
| 4167 | 108.1 | 12.3 | 747 | 4173 | roll | 1.31 | - | - | 2889 | - | 2.47 | 0.085 | 560 | -566.0 | 723.6 | - | - | 593 | - | - | - | - | - | - | - | - | 14.99 | 14.56 | 14.99 |
| 4180 | 106.1 | 12.9 | 749 | 4187 | done | 1.31 | - | - | 2889 | - | 2.33 | 0.038 | 1970 | 605.2 | 723.6 | - | - | 592 | - | - | - | - | - | - | - | - | 14.84 | 14.75 | 14.85 |
| 4252 | 98.1 | 11.4 | 762 | 4258 | roll | 1.31 | - | - | 2890 | - | 2.42 | 0.067 | 3363 | 575.6 | 723.6 | - | - | 591 | - | - | - | - | - | - | - | - | 15.01 | 14.57 | 15.01 |
| 4271 | 95.5 | 12.2 | 765 | 4278 | done | 1.31 | - | - | 2889 | - | 2.38 | 0.047 | 1961 | -589.1 | 723.6 | - | - | 591 | - | - | - | - | - | - | - | - | 14.68 | 14.55 | 14.69 |
| 4342 | 88.2 | 10.5 | 778 | 4349 | roll | 1.31 | - | - | 2889 | - | 2.47 | 0.086 | 564 | -565.6 | 723.6 | - | - | 592 | - | - | - | - | - | - | - | - | 15.02 | 14.57 | 15.03 |
| 4361 | 85.5 | 12.4 | 781 | 4368 | done | 1.31 | - | - | 2889 | - | 2.33 | 0.038 | 1973 | 604.7 | 723.6 | - | - | 589 | - | - | - | - | - | - | - | - | 14.73 | 14.63 | 14.74 |
| 4433 | 78.0 | 11.7 | 794 | 4439 | roll | 1.31 | - | - | 2889 | - | 2.42 | 0.068 | 3365 | 575.2 | 723.6 | - | - | 589 | - | - | - | - | - | - | - | - | 15.03 | 14.67 | 15.03 |
| 4457 | 74.9 | 11.6 | 798 | 4463 | done | 1.31 | - | - | 2889 | - | 2.38 | 0.047 | 1963 | -589.1 | 723.6 | - | - | 589 | - | - | - | - | - | - | - | - | 14.79 | 14.66 | 14.81 |
| 4528 | 68.5 | 9.6 | 811 | 4535 | roll | 1.33 | - | - | 2890 | - | 2.47 | 0.086 | 564 | -566.4 | 739.7 | - | - | 589 | - | - | - | - | - | - | - | - | 15.04 | 14.64 | 15.04 |
| 4557 | 65.4 | 10.7 | 816 | 4564 | done | 1.33 | - | - | 2889 | - | 2.35 | 0.038 | 1965 | 596.2 | 739.7 | - | - | 588 | - | - | - | - | - | - | - | - | 14.81 | 14.71 | 14.82 |
| 4629 | 58.9 | 9.3 | 829 | 4636 | roll | 1.37 | 0.08 | 0.187 | 2936 | 587.5 | 2.42 | 0.064 | 3362 | 577.3 | 774.0 | - | - | 588 | - | - | - | - | - | - | - | - | 14.62 | 14.68 | 14.66 |
| 4659 | 55.5 | 12.2 | 834 | 4665 | done | 1.37 | - | - | 2936 | - | 2.38 | 0.046 | 1956 | -590.8 | 774.0 | - | - | 588 | - | - | - | - | - | - | - | - | 14.87 | 14.73 | 14.89 |
| 4729 | 46.5 | 14.7 | 847 | 4735 | done | 1.37 | - | - | 2936 | - | - | - | 1955 | - | 774.0 | - | - | 588 | - | - | - | - | - | - | - | - | 15.02 | 15.02 | 15.02 |
| 4798 | 36.2 | 13.8 | 860 | 4805 | roll | 1.37 | - | - | 2936 | - | 2.47 | 0.063 | 3363 | 570.0 | 774.0 | - | - | 587 | - | - | - | - | - | - | - | - | 15.05 | 14.69 | 15.05 |
| 4843 | 30.2 | 13.5 | 868 | 4849 | done | 1.37 | - | - | 2936 | - | 2.38 | 0.044 | 1963 | -588.2 | 774.0 | - | - | 587 | - | - | - | - | - | - | - | - | 14.86 | 14.73 | 14.88 |
| 4914 | 20.9 | 13.0 | 881 | 4920 | roll | 1.37 | - | - | 2936 | - | 2.45 | 0.062 | 3363 | 571.4 | 774.0 | - | - | 587 | - | - | - | - | - | - | - | - | 15.03 | 14.69 | 15.04 |
| 4938 | 17.6 | 12.9 | 885 | 4945 | done | 1.37 | - | - | 2937 | - | 2.38 | 0.045 | 1964 | -587.8 | 774.0 | - | - | 588 | - | - | - | - | - | - | - | - | 14.88 | 14.74 | 14.90 |
| 5009 | 8.7 | 14.5 | 898 | 5016 | roll | 1.37 | - | - | 2943 | - | 2.50 | 0.086 | 557 | -562.8 | 774.0 | - | - | 587 | - | - | - | - | - | - | - | - | 15.03 | 14.64 | 15.03 |
| 5023 | 6.9 | 12.2 | 900 | 5029 | done | 1.37 | - | - | 2937 | - | 2.35 | 0.035 | 1970 | 601.3 | 774.0 | - | - | 585 | - | - | - | - | - | - | - | - | 14.85 | 14.71 | 14.90 |
| 5054 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 5054 | begin surface coast | ||||||||||||||||||||||||||||
| 5078 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5078 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.43 | - | - | - | - | -7.26 | 13.07 | 0.052 | 148 | 11.3 | - | - | 1973 | - | 546.03 | - | - | 586 | - | - | - | - | - | - | - | - | |||