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| • Previous call tries 5 | • 48.92 of 310.00 AH used of 24V (84.22% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -64.9 deg, depth 0.76 m | • Intended pitch -23.0 deg, speed -9.980 cm/s | |
| • VBD pumped to 515.37 (SM_CC=515.36688) | ||
| • GPS1 time: 7 s | • bottom range 35.0 m at 335.6 m, depth 371 m (500 m grid) | |
| • GPS2 time: 6 s | • Transponder ping count: 15 | |
| • 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 | ||||||||||||||||||||||||||||
| 18 | begin dive | ||||||||||||||||||||||||||||
| 19 | - | - | - | 113 | VBD | -0.88 | - | - | 54 | - | - | - | 1812 | - | -92.5 | -91.22 | - | 3067 | - | - | - | - | - | - | - | - | 15.14 | - | 15.15 |
| 115 | 4.2 | -10.5 | 16 | 135 | roll | -0.88 | 13.90 | 0.301 | 2468 | 173.7 | 2.40 | 0.053 | 389 | -592.9 | -92.5 | - | - | 3067 | - | - | - | - | - | - | - | - | 14.78 | 14.90 | 14.96 |
| 403 | 57.0 | -9.5 | 72 | 409 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.036 | 1816 | 620.4 | -92.5 | - | - | 3068 | - | - | - | - | - | - | - | - | 15.08 | 15.00 | 15.09 |
| 472 | 64.0 | -10.8 | 85 | 478 | roll | -0.88 | - | - | 2454 | - | 2.28 | 0.054 | 3210 | 611.4 | -92.5 | - | - | 3068 | - | - | - | - | - | - | - | - | 15.19 | 14.99 | 15.19 |
| 521 | 70.2 | -13.5 | 94 | 529 | done | -0.88 | 0.08 | 0.278 | 2469 | 187.5 | 2.30 | 0.044 | 1804 | -611.3 | -92.5 | - | - | 3068 | - | - | - | - | - | - | - | - | 14.90 | 14.98 | 15.04 |
| 591 | 80.7 | -16.0 | 107 | 597 | done | -0.88 | - | - | 2469 | - | - | - | 1804 | - | -92.5 | - | - | 3068 | - | - | - | - | - | - | - | - | 15.20 | 15.21 | 15.21 |
| 658 | 92.3 | -17.0 | 120 | 664 | done | -0.88 | - | - | 2469 | - | - | - | 1804 | - | -92.5 | - | - | 3068 | - | - | - | - | - | - | - | - | 15.20 | 15.20 | 15.19 |
| 726 | 103.4 | -16.1 | 133 | 733 | roll | -0.88 | - | - | 2464 | - | 2.35 | 0.053 | 3216 | 600.9 | -92.5 | - | - | 3066 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.21 |
| 816 | 116.9 | -14.9 | 150 | 823 | done | -0.88 | - | - | 2464 | - | 2.30 | 0.043 | 1807 | -612.6 | -92.5 | - | - | 3067 | - | - | - | - | - | - | - | - | 15.10 | 15.02 | 15.11 |
| 888 | 128.5 | -15.9 | 163 | 894 | roll | -0.88 | - | - | 2461 | - | 2.33 | 0.053 | 3215 | 604.3 | -92.5 | - | - | 3067 | - | - | - | - | - | - | - | - | 15.21 | 15.02 | 15.21 |
| 936 | 136.5 | -17.8 | 172 | 943 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.045 | 1810 | -610.9 | -92.5 | - | - | 3067 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.11 |
| 1007 | 147.4 | -16.4 | 185 | 1013 | done | -0.88 | - | - | 2464 | - | - | - | 1810 | - | -92.5 | - | - | 3068 | - | - | - | - | - | - | - | - | 15.21 | 15.22 | 15.22 |
| 1076 | 157.0 | -14.5 | 198 | 1084 | roll | -0.88 | 0.03 | 0.518 | 2464 | - | 2.30 | 0.052 | 3212 | 609.6 | -92.5 | - | - | 3067 | - | - | - | - | - | - | - | - | 14.88 | 15.01 | 15.02 |
| 1121 | 163.8 | -14.7 | 206 | 1129 | done | -0.88 | - | - | 2464 | - | 2.30 | 0.047 | 1813 | -608.3 | -92.5 | - | - | 3067 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.12 |
| 1191 | 173.3 | -14.4 | 219 | 1197 | done | -0.88 | - | - | 2464 | - | - | - | 1813 | - | -92.5 | - | - | 3066 | - | - | - | - | - | - | - | - | 15.23 | 15.22 | 15.23 |
| 1258 | 182.6 | -13.1 | 232 | 1265 | roll | -0.88 | - | - | 2464 | - | 2.35 | 0.063 | 405 | -599.1 | -92.5 | - | - | 3067 | - | - | - | - | - | - | - | - | 15.21 | 15.01 | 15.22 |
| 1281 | 186.1 | -15.3 | 236 | 1288 | done | -0.88 | - | - | 2464 | - | 2.28 | 0.038 | 1810 | 616.2 | -92.5 | - | - | 3067 | - | - | - | - | - | - | - | - | 15.11 | 15.03 | 15.12 |
| 1351 | 194.7 | -12.0 | 249 | 1357 | done | -0.88 | - | - | 2464 | - | - | - | 1813 | - | -92.5 | - | - | 3066 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 1420 | 202.7 | -12.1 | 262 | 1426 | done | -0.88 | - | - | 2463 | - | - | - | 1813 | - | -92.5 | - | - | 3066 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.23 |
| 1488 | 211.0 | -12.0 | 275 | 1495 | roll | -0.88 | - | - | 2464 | - | 2.30 | 0.056 | 3215 | 609.6 | -92.5 | - | - | 3066 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.23 |
| 1547 | 217.7 | -10.9 | 286 | 1554 | done | -0.88 | - | - | 2470 | - | 2.33 | 0.045 | 1801 | -606.9 | -92.5 | - | - | 3066 | - | - | - | - | - | - | - | - | 15.13 | 15.04 | 15.14 |
| 1617 | 225.9 | -11.7 | 299 | 1622 | done | -0.88 | - | - | 2464 | - | - | - | 1801 | - | -92.5 | - | - | 3065 | - | - | - | - | - | - | - | - | 15.25 | 15.26 | 15.25 |
| 1685 | 235.1 | -13.9 | 312 | 1692 | roll | -0.88 | - | - | 2457 | - | 2.35 | 0.054 | 3215 | 601.7 | -92.5 | - | - | 3065 | - | - | - | - | - | - | - | - | 15.25 | 15.02 | 15.26 |
| 1719 | 239.7 | -12.9 | 318 | 1728 | done | -0.88 | 0.08 | 0.278 | 2472 | 187.5 | 2.30 | 0.048 | 1814 | -609.1 | -92.5 | - | - | 3065 | - | - | - | - | - | - | - | - | 14.95 | 15.04 | 15.09 |
| 1790 | 249.0 | -12.6 | 331 | 1797 | roll | -0.88 | - | - | 2473 | - | 2.35 | 0.065 | 407 | -598.7 | -92.5 | - | - | 3064 | - | - | - | - | - | - | - | - | 15.25 | 15.03 | 15.25 |
| 1819 | 252.9 | -13.6 | 336 | 1826 | done | -0.88 | - | - | 2471 | - | 2.28 | 0.040 | 1809 | 614.9 | -92.5 | - | - | 3064 | - | - | - | - | - | - | - | - | 15.14 | 15.06 | 15.14 |
| 1888 | 261.8 | -13.2 | 349 | 1894 | done | -0.88 | - | - | 2471 | - | - | - | 1812 | - | -92.5 | - | - | 3064 | - | - | - | - | - | - | - | - | 15.24 | 15.25 | 15.25 |
| 1956 | 270.9 | -13.6 | 362 | 1963 | roll | -0.88 | - | - | 2471 | - | 2.33 | 0.056 | 3224 | 606.0 | -92.5 | - | - | 3063 | - | - | - | - | - | - | - | - | 15.26 | 15.02 | 15.26 |
| 1994 | 276.0 | -12.1 | 369 | 2001 | done | -0.88 | - | - | 2471 | - | 2.33 | 0.047 | 1807 | -608.2 | -92.5 | - | - | 3063 | - | - | - | - | - | - | - | - | 15.09 | 15.01 | 15.10 |
| 2063 | 285.9 | -14.1 | 382 | 2069 | done | -0.88 | - | - | 2471 | - | - | - | 1807 | - | -92.5 | - | - | 3063 | - | - | - | - | - | - | - | - | 15.26 | 15.26 | 15.26 |
| 2135 | 295.7 | -13.9 | 395 | 2141 | done | -0.88 | - | - | 2471 | - | - | - | 1807 | - | -92.5 | - | - | 3063 | - | - | - | - | - | - | - | - | 15.26 | 15.27 | 15.26 |
| 2209 | 305.7 | -13.4 | 403 | 2210 | done | -0.88 | - | - | 2471 | - | - | - | 1807 | - | -92.5 | - | - | 3063 | - | - | - | - | - | - | - | - | 15.27 | 15.27 | 15.27 |
| 2328 | 321.6 | -13.5 | 409 | 2333 | roll | -0.88 | - | - | 2464 | - | 2.35 | 0.057 | 3223 | 602.6 | -92.5 | - | - | 3062 | - | - | - | - | - | - | - | - | 15.28 | 15.07 | 15.28 |
| 2400 | 330.1 | -13.6 | 412 | 2405 | done | -0.88 | - | - | 2464 | - | 2.30 | 0.047 | 1813 | -613.0 | -92.5 | - | - | 3062 | - | - | - | - | - | - | - | - | 15.18 | 15.09 | 15.19 |
| 2533 | 350.1 | -14.4 | 419 | 2534 | done | -0.88 | - | - | 2464 | - | - | - | 1813 | - | -92.5 | - | - | 3061 | - | - | - | - | - | - | - | - | 15.30 | 15.30 | 15.30 |
| 2611 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2611 | begin apogee | ||||||||||||||||||||||||||||
| 2615 | 360.9 | -13.6 | 423 | 2686 | done | -0.17 | 1.20 | 0.175 | 2697 | 194.2 | - | - | 1813 | - | - | 67.12 | 1.224 | 2701 | -5.4 | 0.276 | - | - | - | - | - | - | 14.96 | 14.72 | 14.25 |
| 2688 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2688 | begin climb | ||||||||||||||||||||||||||||
| 2689 | 363.4 | - | 426 | 2773 | done | 0.88 | 1.52 | 0.075 | 3031 | 219.7 | - | - | 1813 | - | 92.5 | 77.05 | 1.222 | 2321 | -4.9 | 0.256 | - | - | - | - | - | - | 14.71 | 14.50 | 14.03 |
| 2893 | 351.0 | 10.1 | 437 | 2898 | roll | 0.88 | - | - | 3031 | - | 2.35 | 0.053 | 3213 | 595.7 | 92.5 | - | - | 2314 | - | - | - | - | - | - | - | - | 14.97 | 14.78 | 14.98 |
| 2919 | 348.5 | 10.6 | 438 | 2924 | done | 0.88 | - | - | 3031 | - | 2.38 | 0.051 | 1797 | -595.0 | 92.5 | - | - | 2313 | - | - | - | - | - | - | - | - | 14.88 | 14.81 | 14.90 |
| 3056 | 334.9 | 9.5 | 445 | 3063 | done | 0.89 | - | - | 3033 | - | - | - | 1797 | - | 99.2 | 5.35 | 0.832 | 2295 | -3.4 | 0.237 | - | - | - | - | - | - | 15.11 | 14.90 | 14.38 |
| 3176 | 323.2 | 9.6 | 451 | 3191 | roll | 0.89 | - | - | 3033 | - | 2.45 | 0.073 | 389 | -574.7 | 104.1 | 5.50 | 0.846 | 2273 | -4.0 | 0.267 | - | - | - | - | - | - | 15.15 | 14.90 | 14.38 |
| 3227 | 318.7 | 10.2 | 453 | 3233 | done | 0.89 | - | - | 3033 | - | 2.30 | 0.040 | 1807 | 616.5 | 104.1 | - | - | 2273 | - | - | - | - | - | - | - | - | 15.03 | 14.96 | 15.04 |
| 3360 | 303.0 | 11.2 | 460 | 3366 | roll | 0.89 | - | - | 3033 | - | 2.30 | 0.056 | 3200 | 605.7 | 104.1 | - | - | 2272 | - | - | - | - | - | - | - | - | 15.18 | 14.98 | 15.19 |
| 3428 | 295.1 | 11.6 | 467 | 3434 | done | 0.89 | - | - | 3033 | - | 2.33 | 0.052 | 1800 | -600.9 | 104.1 | - | - | 2272 | - | - | - | - | - | - | - | - | 15.09 | 14.97 | 15.09 |
| 3496 | 287.8 | 10.1 | 480 | 3502 | done | 0.89 | - | - | 3034 | - | - | - | 1800 | - | 104.1 | - | - | 2272 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 3564 | 281.1 | 9.7 | 493 | 3570 | done | 0.90 | - | - | 3033 | - | - | - | 1800 | - | 107.3 | - | - | 2271 | - | - | - | - | - | - | - | - | 15.21 | 15.22 | 15.22 |
| 3631 | 274.3 | 9.8 | 506 | 3639 | done | 0.90 | - | - | 3033 | - | - | - | 1800 | - | 110.4 | 6.00 | 0.868 | 2249 | -3.7 | 0.203 | - | - | - | - | - | - | 15.21 | 14.96 | 14.42 |
| 3702 | 267.4 | 10.1 | 519 | 3708 | roll | 0.90 | - | - | 3040 | - | 2.40 | 0.074 | 392 | -586.7 | 110.4 | - | - | 2248 | - | - | - | - | - | - | - | - | 15.20 | 14.97 | 15.20 |
| 3735 | 263.7 | 11.0 | 525 | 3742 | done | 0.90 | - | - | 3033 | - | 2.30 | 0.039 | 1808 | 615.7 | 110.4 | - | - | 2248 | - | - | - | - | - | - | - | - | 15.04 | 14.97 | 15.04 |
| 3804 | 255.9 | 11.8 | 538 | 3811 | done | 0.90 | - | - | 3032 | - | - | - | 1809 | - | 110.4 | - | - | 2248 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 3873 | 248.0 | 11.7 | 551 | 3879 | done | 0.90 | - | - | 3034 | - | - | - | 1809 | - | 110.4 | - | - | 2248 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.23 |
| 3941 | 239.9 | 10.8 | 564 | 3946 | done | 0.90 | - | - | 3033 | - | - | - | 1809 | - | 110.4 | - | - | 2248 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.22 |
| 4008 | 232.9 | 10.5 | 577 | 4014 | done | 0.90 | - | - | 3033 | - | - | - | 1809 | - | 110.4 | - | - | 2248 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.22 |
| 4075 | 225.7 | 11.0 | 590 | 4081 | done | 0.90 | - | - | 3033 | - | - | - | 1809 | - | 110.4 | - | - | 2251 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 4144 | 218.7 | 9.8 | 603 | 4151 | roll | 0.91 | - | - | 3033 | - | 2.30 | 0.057 | 3202 | 605.7 | 113.1 | - | - | 2246 | - | - | - | - | - | - | - | - | 15.24 | 14.97 | 15.24 |
| 4213 | 211.0 | 11.1 | 616 | 4220 | done | 0.91 | - | - | 3033 | - | 2.35 | 0.053 | 1797 | -597.9 | 113.1 | - | - | 2246 | - | - | - | - | - | - | - | - | 15.12 | 15.03 | 15.13 |
| 4283 | 204.1 | 9.6 | 629 | 4295 | done | 0.91 | - | - | 3033 | - | - | - | 1796 | - | 117.8 | 7.00 | 0.881 | 2218 | -4.0 | 0.162 | - | - | - | - | - | - | 15.23 | 15.01 | 14.46 |
| 4358 | 196.5 | 10.5 | 643 | 4364 | done | 0.91 | - | - | 3033 | - | - | - | 1797 | - | 117.8 | - | - | 2218 | - | - | - | - | - | - | - | - | 15.20 | 15.20 | 15.20 |
| 4426 | 188.5 | 12.3 | 656 | 4432 | roll | 0.91 | - | - | 3033 | - | 2.40 | 0.074 | 390 | -586.2 | 117.8 | - | - | 2218 | - | - | - | - | - | - | - | - | 15.20 | 14.97 | 15.21 |
| 4499 | 179.2 | 13.0 | 670 | 4507 | done | 0.91 | - | - | 3033 | - | 2.30 | 0.041 | 1801 | 613.5 | 117.8 | - | - | 2218 | - | - | - | - | - | - | - | - | 15.04 | 14.97 | 15.05 |
| 4570 | 171.3 | 11.8 | 683 | 4576 | done | 0.91 | - | - | 3033 | - | - | - | 1802 | - | 117.8 | - | - | 2218 | - | - | - | - | - | - | - | - | 15.20 | 15.21 | 15.21 |
| 4637 | 164.2 | 10.9 | 696 | 4642 | done | 0.91 | - | - | 3033 | - | - | - | 1801 | - | 117.8 | - | - | 2218 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 4704 | 156.5 | 11.0 | 709 | 4711 | roll | 0.91 | - | - | 3036 | - | 2.40 | 0.072 | 395 | -585.8 | 117.8 | - | - | 2217 | - | - | - | - | - | - | - | - | 15.20 | 14.94 | 15.21 |
| 4738 | 152.7 | 13.1 | 715 | 4745 | done | 0.91 | - | - | 3037 | - | 2.30 | 0.040 | 1811 | 615.7 | 117.8 | - | - | 2217 | - | - | - | - | - | - | - | - | 15.10 | 15.02 | 15.11 |
| 4807 | 144.1 | 12.7 | 728 | 4814 | roll | 0.91 | - | - | 3037 | - | 2.45 | 0.073 | 390 | -580.0 | 117.8 | - | - | 2216 | - | - | - | - | - | - | - | - | 15.20 | 14.98 | 15.21 |
| 4841 | 138.9 | 14.6 | 734 | 4848 | done | 0.91 | - | - | 3037 | - | 2.30 | 0.040 | 1802 | 613.9 | 117.8 | - | - | 2216 | - | - | - | - | - | - | - | - | 15.07 | 15.00 | 15.08 |
| 4911 | 129.4 | 13.5 | 747 | 4916 | done | 0.91 | - | - | 3037 | - | - | - | 1802 | - | 117.8 | - | - | 2216 | - | - | - | - | - | - | - | - | 15.20 | 15.21 | 15.21 |
| 4977 | 120.7 | 12.8 | 760 | 4984 | roll | 0.91 | - | - | 3037 | - | 2.30 | 0.055 | 3199 | 607.4 | 117.8 | - | - | 2216 | - | - | - | - | - | - | - | - | 15.21 | 15.00 | 15.21 |
| 5051 | 110.8 | 13.5 | 774 | 5058 | done | 0.91 | - | - | 3040 | - | 2.33 | 0.052 | 1800 | -600.4 | 117.8 | - | - | 2216 | - | - | - | - | - | - | - | - | 15.07 | 14.97 | 15.08 |
| 5121 | 102.2 | 12.2 | 787 | 5127 | done | 0.91 | - | - | 3040 | - | - | - | 1799 | - | 117.8 | - | - | 2216 | - | - | - | - | - | - | - | - | 15.20 | 15.21 | 15.20 |
| 5188 | 94.4 | 11.0 | 800 | 5194 | roll | 0.91 | - | - | 3040 | - | 2.35 | 0.057 | 3210 | 600.4 | 117.8 | - | - | 2215 | - | - | - | - | - | - | - | - | 15.21 | 15.02 | 15.21 |
| 5552 | 62.4 | 6.5 | 872 | 5599 | done | 0.97 | - | - | 3040 | - | 2.35 | 0.053 | 1800 | -600.0 | 166.5 | 38.85 | 0.942 | 2018 | -5.1 | 0.059 | - | - | - | - | - | - | 15.10 | 15.00 | 14.34 |
| 5660 | 49.8 | 12.7 | 892 | 5667 | roll | 0.97 | - | - | 3040 | - | 2.42 | 0.075 | 395 | -580.6 | 166.5 | - | - | 2017 | - | - | - | - | - | - | - | - | 15.05 | 14.82 | 15.05 |
| 5874 | 28.8 | 8.0 | 934 | 5906 | done | 1.01 | 0.10 | 0.176 | 3070 | 300.0 | 2.30 | 0.039 | 1805 | 613.0 | 194.5 | 22.23 | 0.858 | 1904 | -5.1 | 0.030 | - | - | - | - | - | - | 14.88 | 14.95 | 14.39 |
| 5968 | 21.9 | 4.4 | 951 | 6027 | done | 1.10 | 0.08 | 0.197 | 3106 | 450.0 | - | - | 1806 | - | 271.6 | 51.50 | 1.011 | 1589 | -6.1 | 0.023 | - | - | - | - | - | - | 14.85 | 14.56 | 14.22 |
| 6089 | 11.6 | 10.5 | 973 | 6095 | roll | 1.10 | - | - | 3118 | - | 2.42 | 0.069 | 392 | -584.3 | 271.6 | - | - | 1589 | - | - | - | - | - | - | - | - | 14.92 | 14.73 | 14.93 |
| 6107 | 9.3 | 12.5 | 976 | 6113 | done | 1.10 | - | - | 3118 | - | 2.33 | 0.040 | 1797 | 603.0 | 271.6 | - | - | 1588 | - | - | - | - | - | - | - | - | 14.85 | 14.78 | 14.87 |
| 6148 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 6148 | begin surface coast | ||||||||||||||||||||||||||||
| 6170 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6171 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.69 | - | - | - | - | -8.18 | 14.07 | 0.052 | 126 | 9.0 | - | - | 1799 | - | 515.37 | 156.38 | 0.807 | 599 | 3.8 | -0.000 | - | - | - | - | - | - | |||