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| • Previous call tries 1 | • 46.55 of 310.00 AH used of 24V (84.98% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -70.7 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: 16 s | • bottom range 35.3 m at 372.1 m, depth 407 m (500 m grid) | |
| • GPS2 time: 7 s | • Transponder ping count: 13 | |
| • 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 | |||||
| 17 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 17 | begin dive | ||||||||||||||||||||||||||||
| 19 | - | - | - | 105 | VBD | -0.88 | - | - | 70 | - | - | - | 1809 | - | -92.5 | -83.80 | - | 2818 | - | - | - | - | - | - | - | - | 14.98 | - | 14.99 |
| 108 | 3.1 | -5.5 | 15 | 134 | roll | -0.88 | 13.85 | 0.294 | 2458 | 172.4 | 2.40 | 0.067 | 3239 | 595.8 | -92.5 | -4.75 | - | 3079 | -54.9 | - | - | - | - | - | - | - | 14.64 | 13.91 | 14.83 |
| 277 | 42.9 | -17.2 | 47 | 284 | done | -0.88 | 0.08 | 0.277 | 2472 | 175.0 | 2.38 | 0.047 | 1807 | -601.7 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.80 | 14.89 | 14.93 |
| 346 | 53.6 | -15.7 | 60 | 353 | roll | -0.88 | - | - | 2473 | - | 2.38 | 0.065 | 403 | -589.9 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.10 | 14.89 | 15.10 |
| 386 | 60.1 | -16.2 | 67 | 392 | done | -0.88 | - | - | 2471 | - | 2.35 | 0.040 | 1834 | 608.9 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.00 | 14.92 | 15.01 |
| 455 | 71.8 | -18.7 | 80 | 461 | roll | -0.88 | - | - | 2471 | - | 2.30 | 0.059 | 3216 | 600.9 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.12 | 14.90 | 15.12 |
| 625 | 97.5 | -14.4 | 113 | 632 | done | -0.88 | - | - | 2471 | - | 2.33 | 0.047 | 1807 | -604.7 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.02 | 14.94 | 15.04 |
| 695 | 107.6 | -14.5 | 126 | 702 | roll | -0.88 | - | - | 2471 | - | 2.35 | 0.056 | 3214 | 598.7 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.16 | 14.93 | 15.16 |
| 896 | 133.8 | -14.1 | 165 | 902 | done | -0.88 | - | - | 2471 | - | 2.33 | 0.047 | 1806 | -604.3 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.07 | 14.98 | 15.08 |
| 967 | 145.0 | -17.0 | 178 | 974 | roll | -0.88 | - | - | 2471 | - | 2.35 | 0.065 | 409 | -594.5 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.18 | 14.97 | 15.18 |
| 986 | 148.4 | -16.4 | 181 | 993 | done | -0.88 | - | - | 2470 | - | 2.30 | 0.039 | 1820 | 613.5 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.07 | 15.00 | 15.08 |
| 1055 | 157.4 | -13.3 | 194 | 1062 | done | -0.88 | - | - | 2470 | - | - | - | 1823 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
| 1124 | 166.3 | -13.3 | 207 | 1130 | done | -0.88 | - | - | 2470 | - | - | - | 1822 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.18 | 15.19 | 15.18 |
| 1191 | 174.8 | -12.9 | 220 | 1197 | done | -0.88 | - | - | 2470 | - | - | - | 1823 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.20 |
| 1260 | 184.0 | -13.3 | 233 | 1266 | done | -0.88 | - | - | 2470 | - | - | - | 1822 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
| 1329 | 193.7 | -13.6 | 246 | 1337 | roll | -0.88 | - | - | 2470 | - | 2.30 | 0.058 | 3214 | 605.2 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.19 | 14.95 | 15.19 |
| 1381 | 200.3 | -12.8 | 255 | 1388 | done | -0.88 | - | - | 2470 | - | 2.30 | 0.047 | 1813 | -609.1 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.09 | 15.00 | 15.09 |
| 1452 | 210.1 | -13.8 | 268 | 1458 | done | -0.88 | - | - | 2470 | - | - | - | 1813 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.20 | 15.21 | 15.21 |
| 1520 | 219.5 | -13.6 | 281 | 1526 | done | -0.88 | - | - | 2470 | - | - | - | 1813 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 1588 | 228.6 | -13.3 | 294 | 1595 | done | -0.88 | - | - | 2470 | - | - | - | 1813 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 1657 | 237.8 | -13.7 | 307 | 1663 | done | -0.88 | - | - | 2470 | - | - | - | 1813 | - | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.21 | 15.22 | 15.21 |
| 1726 | 246.3 | -12.6 | 320 | 1732 | roll | -0.88 | - | - | 2464 | - | 2.35 | 0.057 | 3219 | 598.3 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.23 | 15.01 | 15.22 |
| 1760 | 250.4 | -12.0 | 326 | 1767 | done | -0.88 | - | - | 2464 | - | 2.33 | 0.048 | 1808 | -605.6 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.12 |
| 1830 | 259.4 | -13.3 | 339 | 1836 | done | -0.88 | - | - | 2464 | - | - | - | 1807 | - | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.23 |
| 1900 | 268.5 | -13.1 | 352 | 1906 | roll | -0.88 | - | - | 2461 | - | 2.35 | 0.060 | 3212 | 597.9 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.22 | 15.02 | 15.23 |
| 1939 | 273.8 | -13.4 | 359 | 1946 | done | -0.88 | - | - | 2461 | - | 2.33 | 0.048 | 1805 | -603.9 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.12 |
| 2008 | 282.6 | -12.7 | 372 | 2014 | done | -0.88 | 0.05 | 0.355 | 2470 | 180.0 | - | - | 1804 | - | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 14.90 | 15.07 | 15.04 |
| 2076 | 291.1 | -12.5 | 385 | 2083 | roll | -0.88 | - | - | 2470 | - | 2.38 | 0.058 | 3222 | 595.8 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.23 |
| 2131 | 297.6 | -11.9 | 395 | 2137 | done | -0.88 | - | - | 2470 | - | 2.33 | 0.049 | 1813 | -604.7 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.12 | 15.02 | 15.13 |
| 2214 | 308.1 | -12.7 | 402 | 2221 | roll | -0.88 | - | - | 2464 | - | 2.35 | 0.058 | 3215 | 596.6 | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.25 | 15.00 | 15.25 |
| 2241 | 310.9 | -12.7 | 403 | 2247 | done | -0.88 | - | - | 2464 | - | 2.30 | 0.048 | 1813 | -609.6 | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.14 | 15.04 | 15.14 |
| 2378 | 329.4 | -14.0 | 410 | 2384 | roll | -0.88 | - | - | 2464 | - | 2.35 | 0.060 | 3215 | 596.6 | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.26 | 15.06 | 15.27 |
| 2420 | 334.1 | -12.5 | 412 | 2426 | done | -0.88 | - | - | 2464 | - | 2.33 | 0.050 | 1810 | -603.0 | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.14 | 15.06 | 15.16 |
| 2563 | 352.1 | -14.5 | 419 | 2570 | roll | -0.88 | - | - | 2471 | - | 2.35 | 0.061 | 3213 | 597.0 | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.27 | 15.05 | 15.27 |
| 2615 | 357.0 | -13.5 | 421 | 2621 | done | -0.88 | - | - | 2464 | - | 2.33 | 0.054 | 1814 | -600.4 | -92.5 | - | - | 3072 | - | - | - | - | - | - | - | - | 15.16 | 15.06 | 15.16 |
| 2748 | 375.0 | -13.1 | 428 | 2749 | done | -0.88 | - | - | 2464 | - | - | - | 1814 | - | -92.5 | - | - | 3071 | - | - | - | - | - | - | - | - | 15.28 | 15.29 | 15.28 |
| 2868 | 386.8 | -8.7 | 434 | 2869 | done | -0.88 | - | - | 2464 | - | - | - | 1814 | - | -92.5 | - | - | 3071 | - | - | - | - | - | - | - | - | 15.30 | 15.30 | 15.30 |
| 2947 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2947 | begin apogee | ||||||||||||||||||||||||||||
| 2950 | 398.4 | -14.4 | 438 | 3028 | done | -0.17 | 1.20 | 0.174 | 2698 | 195.0 | - | - | 1814 | - | - | 70.05 | 1.312 | 2700 | -5.3 | 0.284 | - | - | - | - | - | - | 15.00 | 14.54 | 14.12 |
| 3030 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 3030 | begin climb | ||||||||||||||||||||||||||||
| 3032 | 401.9 | - | 442 | 3118 | roll | 0.88 | 1.55 | 0.046 | 3066 | 237.4 | 2.50 | 0.067 | 395 | -567.6 | 92.5 | 77.57 | 1.306 | 2320 | -4.9 | 0.266 | - | - | - | - | - | - | 14.69 | 14.32 | 13.90 |
| 3411 | 369.7 | 11.8 | 461 | 3417 | done | 0.88 | 0.10 | 0.305 | 3049 | -170.0 | 2.33 | 0.039 | 1806 | 605.6 | 92.5 | - | - | 2311 | - | - | - | - | - | - | - | - | 14.75 | 14.89 | 14.92 |
| 3554 | 358.2 | 7.8 | 468 | 3584 | roll | 0.92 | - | - | 3056 | - | 2.45 | 0.071 | 392 | -577.1 | 122.3 | 23.08 | 1.232 | 2198 | -4.9 | 0.251 | - | - | - | - | - | - | 15.14 | 14.77 | 14.21 |
| 3600 | 354.0 | 9.6 | 470 | 3617 | done | 0.92 | - | - | 3055 | - | 2.33 | 0.041 | 1805 | 606.4 | 127.9 | 7.28 | 0.986 | 2175 | -3.2 | 0.200 | - | - | - | - | - | - | 14.89 | 14.82 | 14.28 |
| 3737 | 334.3 | 14.4 | 477 | 3742 | roll | 0.92 | - | - | 3056 | - | 2.33 | 0.057 | 3204 | 600.4 | 127.9 | - | - | 2172 | - | - | - | - | - | - | - | - | 15.07 | 14.87 | 15.08 |
| 3808 | 325.4 | 14.5 | 480 | 3813 | done | 0.92 | - | - | 3064 | - | 2.35 | 0.054 | 1799 | -597.9 | 127.9 | - | - | 2171 | - | - | - | - | - | - | - | - | 14.99 | 14.90 | 15.01 |
| 3940 | 305.5 | 14.1 | 487 | 3941 | done | 0.92 | - | - | 3063 | - | - | - | 1799 | - | 127.9 | - | - | 2170 | - | - | - | - | - | - | - | - | 15.16 | 15.16 | 15.16 |
| 4060 | 289.3 | 13.9 | 502 | 4067 | roll | 0.92 | - | - | 3064 | - | 2.35 | 0.057 | 3201 | 596.6 | 127.9 | - | - | 2169 | - | - | - | - | - | - | - | - | 15.18 | 14.97 | 15.19 |
| 4144 | 277.3 | 13.9 | 518 | 4151 | done | 0.92 | 0.05 | 0.416 | 3063 | - | 2.35 | 0.054 | 1794 | -598.7 | 127.9 | - | - | 2168 | - | - | - | - | - | - | - | - | 14.83 | 14.98 | 15.03 |
| 4213 | 267.6 | 13.8 | 531 | 4218 | done | 0.92 | - | - | 3064 | - | - | - | 1794 | - | 127.9 | - | - | 2169 | - | - | - | - | - | - | - | - | 15.18 | 15.18 | 15.19 |
| 4280 | 258.4 | 13.9 | 544 | 4287 | done | 0.92 | - | - | 3061 | - | - | - | 1794 | - | 127.9 | - | - | 2168 | - | - | - | - | - | - | - | - | 15.20 | 15.20 | 15.20 |
| 4349 | 249.2 | 13.6 | 557 | 4355 | done | 0.92 | - | - | 3063 | - | - | - | 1794 | - | 127.9 | - | - | 2168 | - | - | - | - | - | - | - | - | 15.20 | 15.21 | 15.21 |
| 4416 | 240.1 | 14.1 | 570 | 4421 | done | 0.92 | - | - | 3063 | - | - | - | 1794 | - | 127.9 | - | - | 2167 | - | - | - | - | - | - | - | - | 15.20 | 15.21 | 15.21 |
| 4483 | 230.6 | 13.0 | 583 | 4489 | done | 0.92 | - | - | 3063 | - | - | - | 1794 | - | 127.9 | - | - | 2167 | - | - | - | - | - | - | - | - | 15.20 | 15.20 | 15.20 |
| 4550 | 221.9 | 13.1 | 596 | 4558 | roll | 0.92 | - | - | 3070 | - | 2.38 | 0.074 | 399 | -586.1 | 127.9 | - | - | 2166 | - | - | - | - | - | - | - | - | 15.21 | 14.97 | 15.21 |
| 4580 | 217.7 | 15.3 | 601 | 4587 | done | 0.92 | 0.05 | 0.379 | 3063 | -140.0 | 2.33 | 0.041 | 1811 | 606.0 | 127.9 | - | - | 2166 | - | - | - | - | - | - | - | - | 14.83 | 15.00 | 15.04 |
| 4649 | 208.4 | 13.4 | 614 | 4655 | done | 0.92 | - | - | 3063 | - | - | - | 1812 | - | 127.9 | - | - | 2166 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 4716 | 199.6 | 13.6 | 627 | 4723 | roll | 0.92 | - | - | 3062 | - | 2.30 | 0.056 | 3206 | 606.1 | 127.9 | - | - | 2166 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.21 |
| 4764 | 192.6 | 14.2 | 636 | 4772 | done | 0.92 | - | - | 3069 | - | 2.38 | 0.057 | 1792 | -594.1 | 127.9 | - | - | 2165 | - | - | - | - | - | - | - | - | 15.07 | 14.97 | 15.07 |
| 4835 | 182.8 | 13.6 | 649 | 4841 | roll | 0.92 | - | - | 3074 | - | 2.38 | 0.076 | 399 | -585.3 | 127.9 | - | - | 2165 | - | - | - | - | - | - | - | - | 15.19 | 14.95 | 15.18 |
| 4913 | 171.5 | 14.2 | 664 | 4922 | done | 0.92 | 0.08 | 0.327 | 3061 | -162.5 | 2.30 | 0.041 | 1801 | 609.6 | 127.9 | - | - | 2164 | - | - | - | - | - | - | - | - | 14.82 | 14.96 | 15.00 |
| 4984 | 162.6 | 11.7 | 677 | 4990 | done | 0.92 | - | - | 3061 | - | - | - | 1801 | - | 127.9 | - | - | 2164 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
| 5051 | 154.4 | 13.0 | 690 | 5057 | done | 0.92 | - | - | 3061 | - | - | - | 1801 | - | 127.9 | - | - | 2164 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
| 5118 | 145.5 | 13.1 | 703 | 5125 | roll | 0.92 | - | - | 3069 | - | 2.40 | 0.073 | 394 | -586.2 | 127.9 | - | - | 2164 | - | - | - | - | - | - | - | - | 15.19 | 14.93 | 15.19 |
| 5167 | 139.2 | 14.1 | 712 | 5175 | done | 0.92 | - | - | 3069 | - | 2.30 | 0.042 | 1803 | 612.6 | 127.9 | - | - | 2164 | - | - | - | - | - | - | - | - | 15.08 | 15.01 | 15.09 |
| 5238 | 129.0 | 16.1 | 725 | 5243 | done | 0.92 | - | - | 3069 | - | - | - | 1805 | - | 127.9 | - | - | 2164 | - | - | - | - | - | - | - | - | 15.18 | 15.19 | 15.19 |
| 5304 | 120.6 | 12.2 | 738 | 5311 | roll | 0.92 | - | - | 3069 | - | 2.30 | 0.056 | 3200 | 606.5 | 127.9 | - | - | 2164 | - | - | - | - | - | - | - | - | 15.19 | 14.96 | 15.19 |
| 5614 | 84.6 | 8.3 | 799 | 5638 | done | 0.95 | - | - | 3074 | - | 2.35 | 0.054 | 1795 | -597.9 | 150.9 | 17.17 | 0.968 | 2081 | -4.8 | 0.075 | - | - | - | - | - | - | 15.03 | 14.94 | 14.38 |
| 5700 | 77.3 | 10.1 | 815 | 5707 | roll | 0.95 | - | - | 3074 | - | 2.38 | 0.054 | 3212 | 595.4 | 150.9 | - | - | 2082 | - | - | - | - | - | - | - | - | 15.11 | 14.91 | 15.11 |
| 5775 | 70.7 | 9.0 | 829 | 5794 | done | 0.97 | - | - | 3077 | - | 2.38 | 0.054 | 1801 | -592.9 | 165.1 | 13.32 | 0.893 | 2024 | -4.4 | 0.061 | - | - | - | - | - | - | 14.99 | 14.90 | 14.35 |
| 5855 | 62.7 | 10.5 | 844 | 5863 | roll | 0.97 | - | - | 3077 | - | 2.35 | 0.053 | 3201 | 595.7 | 165.1 | - | - | 2023 | - | - | - | - | - | - | - | - | 15.09 | 14.88 | 15.09 |
| 5899 | 57.0 | 12.4 | 852 | 5907 | done | 0.97 | - | - | 3084 | - | 2.38 | 0.056 | 1799 | -589.1 | 165.1 | - | - | 2023 | - | - | - | - | - | - | - | - | 14.95 | 14.86 | 14.97 |
| 5970 | 49.6 | 10.2 | 865 | 5976 | roll | 0.97 | - | - | 3084 | - | 2.42 | 0.076 | 399 | -578.5 | 165.1 | - | - | 2022 | - | - | - | - | - | - | - | - | 15.10 | 14.88 | 15.11 |
| 5993 | 47.1 | 10.5 | 869 | 6000 | done | 0.97 | - | - | 3082 | - | 2.30 | 0.041 | 1800 | 609.1 | 165.1 | - | - | 2022 | - | - | - | - | - | - | - | - | 14.95 | 14.89 | 14.96 |
| 6061 | 40.1 | 10.9 | 882 | 6068 | roll | 0.97 | - | - | 3084 | - | 2.33 | 0.054 | 3202 | 601.7 | 165.1 | - | - | 2021 | - | - | - | - | - | - | - | - | 15.11 | 14.92 | 15.11 |
| 6160 | 29.0 | 10.6 | 901 | 6167 | done | 0.97 | - | - | 3084 | - | 2.38 | 0.054 | 1788 | -594.1 | 165.1 | - | - | 2022 | - | - | - | - | - | - | - | - | 15.02 | 14.93 | 15.04 |
| 6229 | 22.7 | 10.1 | 914 | 6234 | done | 0.97 | - | - | 3084 | - | - | - | 1788 | - | 165.1 | - | - | 2021 | - | - | - | - | - | - | - | - | 15.13 | 15.14 | 15.14 |
| 6296 | 15.6 | 9.6 | 927 | 6303 | done | 0.98 | - | - | 3084 | - | - | - | 1787 | - | 171.0 | 2.95 | 0.555 | 2002 | -6.4 | 0.032 | - | - | - | - | - | - | 15.14 | 14.94 | 14.38 |
| 6365 | 11.7 | 4.4 | 940 | 6425 | roll | 1.07 | - | - | 3084 | - | 2.38 | 0.052 | 3205 | 595.8 | 248.5 | 51.08 | 0.949 | 1683 | -6.2 | 0.014 | - | - | - | - | - | - | 15.14 | 14.71 | 14.29 |
| 6471 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 6471 | begin surface coast | ||||||||||||||||||||||||||||
| 6492 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6492 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.73 | - | - | - | - | -8.18 | 14.00 | 0.054 | 124 | 8.8 | 2.40 | 0.048 | 1812 | -3620.0 | 515.37 | 176.40 | 0.815 | 597 | 3.4 | -0.000 | - | - | - | - | - | - | |||