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| • Previous call tries 4 | • 51.82 of 310.00 AH used of 24V (83.28% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -68.1 deg, depth 0.84 m | • Intended pitch -23.0 deg, speed -9.980 cm/s | |
| • VBD pumped to 515.37 (SM_CC=515.36688) | ||
| • GPS1 time: 8 s | • bottom range 36.8 m at 316.0 m, depth 353 m (500 m grid) | |
| • GPS2 time: 7 s | • Transponder ping count: 28 | |
| • 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 | ||||||||||||||||||||||||||||
| 20 | - | - | - | 107 | VBD | -0.88 | - | - | 71 | - | - | - | 1804 | - | -92.5 | -83.82 | - | 2828 | - | - | - | - | - | - | - | - | 15.06 | - | 15.07 |
| 110 | 3.1 | -4.8 | 15 | 136 | roll | -0.88 | 13.75 | 0.293 | 2467 | 174.3 | 2.42 | 0.085 | 398 | -581.0 | -92.5 | -4.62 | - | 3079 | -54.3 | - | - | - | - | - | - | - | 14.71 | 13.96 | 14.92 |
| 369 | 60.8 | -20.1 | 65 | 377 | done | -0.88 | 0.05 | 0.361 | 2468 | - | 2.30 | 0.038 | 1810 | 613.9 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.83 | 14.98 | 15.01 |
| 439 | 73.2 | -16.6 | 78 | 447 | roll | -0.88 | - | - | 2461 | - | 2.30 | 0.054 | 3218 | 612.2 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.17 | 14.97 | 15.17 |
| 473 | 79.1 | -16.4 | 84 | 479 | done | -0.88 | - | - | 2462 | - | 2.33 | 0.044 | 1798 | -609.4 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.07 | 14.99 | 15.08 |
| 541 | 89.0 | -14.2 | 97 | 548 | roll | -0.88 | - | - | 2454 | - | 2.35 | 0.054 | 3215 | 603.0 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.21 | 14.96 | 15.19 |
| 656 | 104.5 | -13.0 | 119 | 664 | done | -0.88 | 0.08 | 0.267 | 2469 | 187.5 | 2.30 | 0.044 | 1810 | -610.9 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 14.89 | 14.99 | 15.03 |
| 727 | 114.2 | -13.6 | 132 | 732 | done | -0.88 | - | - | 2469 | - | - | - | 1810 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 795 | 123.5 | -14.1 | 145 | 801 | roll | -0.88 | - | - | 2469 | - | 2.35 | 0.063 | 408 | -596.6 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.21 | 14.95 | 15.20 |
| 823 | 128.1 | -16.2 | 150 | 830 | done | -0.88 | - | - | 2464 | - | 2.28 | 0.039 | 1813 | 616.2 | -92.5 | - | - | 3081 | - | - | - | - | - | - | - | - | 15.10 | 15.02 | 15.11 |
| 895 | 138.5 | -15.1 | 163 | 901 | roll | -0.88 | - | - | 2463 | - | 2.30 | 0.056 | 3217 | 610.4 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.21 | 14.97 | 15.21 |
| 960 | 148.2 | -13.6 | 175 | 967 | done | -0.88 | - | - | 2463 | - | 2.30 | 0.046 | 1814 | -610.0 | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.05 | 14.97 | 15.07 |
| 1029 | 158.5 | -14.4 | 188 | 1035 | done | -0.88 | - | - | 2463 | - | - | - | 1814 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 1097 | 168.3 | -14.9 | 201 | 1103 | done | -0.88 | - | - | 2463 | - | - | - | 1814 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.22 |
| 1167 | 178.3 | -14.4 | 214 | 1173 | done | -0.88 | - | - | 2462 | - | - | - | 1814 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.23 |
| 1236 | 188.2 | -14.3 | 227 | 1241 | done | -0.88 | - | - | 2463 | - | - | - | 1814 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.23 |
| 1303 | 198.2 | -14.0 | 240 | 1309 | done | -0.88 | - | - | 2463 | - | - | - | 1814 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 1371 | 207.2 | -13.8 | 253 | 1378 | roll | -0.88 | - | - | 2453 | - | 2.33 | 0.054 | 3218 | 602.6 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.23 | 15.04 | 15.23 |
| 1395 | 210.4 | -13.3 | 257 | 1403 | done | -0.88 | 0.05 | 0.321 | 2468 | 300.0 | 2.30 | 0.046 | 1814 | -610.4 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.90 | 14.98 | 15.04 |
| 1465 | 219.2 | -12.4 | 270 | 1471 | done | -0.88 | - | - | 2468 | - | - | - | 1813 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.24 | 15.25 | 15.25 |
| 1534 | 228.0 | -12.4 | 283 | 1541 | roll | -0.88 | - | - | 2461 | - | 2.35 | 0.055 | 3221 | 599.1 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.25 | 15.04 | 15.26 |
| 1588 | 234.6 | -12.1 | 293 | 1596 | done | -0.88 | - | - | 2461 | - | 2.33 | 0.046 | 1802 | -609.0 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.14 | 15.04 | 15.14 |
| 1657 | 243.2 | -13.0 | 306 | 1664 | roll | -0.88 | - | - | 2461 | - | 2.35 | 0.057 | 3215 | 601.3 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.26 | 15.04 | 15.26 |
| 1687 | 246.7 | -11.0 | 311 | 1694 | done | -0.88 | - | - | 2461 | - | 2.33 | 0.047 | 1807 | -604.3 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.14 | 15.04 | 15.14 |
| 1756 | 255.2 | -13.0 | 324 | 1762 | done | -0.88 | 0.03 | 0.519 | 2469 | 266.7 | - | - | 1807 | - | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 14.93 | 15.11 | 15.09 |
| 1825 | 264.2 | -12.7 | 337 | 1831 | done | -0.88 | - | - | 2469 | - | - | - | 1807 | - | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.26 | 15.27 | 15.26 |
| 1895 | 273.7 | -13.9 | 350 | 1901 | done | -0.88 | - | - | 2469 | - | - | - | 1807 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.26 | 15.27 | 15.27 |
| 1965 | 283.3 | -12.9 | 363 | 1970 | done | -0.88 | - | - | 2469 | - | - | - | 1807 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.26 | 15.27 | 15.26 |
| 2033 | 293.1 | -15.3 | 376 | 2039 | done | -0.88 | - | - | 2468 | - | - | - | 1807 | - | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.26 | 15.26 | 15.26 |
| 2107 | 303.4 | -14.6 | 387 | 2112 | roll | -0.88 | - | - | 2462 | - | 2.35 | 0.057 | 3216 | 599.6 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.28 | 15.06 | 15.28 |
| 2133 | 306.7 | -14.4 | 388 | 2138 | done | -0.88 | - | - | 2462 | - | 2.30 | 0.047 | 1812 | -610.4 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.16 | 15.07 | 15.16 |
| 2270 | 328.6 | -15.8 | 395 | 2271 | done | -0.88 | - | - | 2462 | - | - | - | 1812 | - | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.28 | 15.28 | 15.28 |
| 2369 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2369 | begin apogee | ||||||||||||||||||||||||||||
| 2373 | 343.6 | -14.9 | 400 | 2451 | done | -0.17 | 1.20 | 0.170 | 2697 | 195.8 | - | - | 1812 | - | - | 69.62 | 1.196 | 2700 | -5.4 | 0.271 | - | - | - | - | - | - | 15.00 | 14.62 | 14.21 |
| 2453 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2453 | begin climb | ||||||||||||||||||||||||||||
| 2454 | 347.0 | - | 404 | 2541 | roll | 0.88 | 1.52 | 0.075 | 3032 | 220.4 | 2.40 | 0.051 | 3197 | 577.1 | 92.5 | 75.93 | 1.196 | 2321 | -5.0 | 0.254 | - | - | - | - | - | - | 14.73 | 14.49 | 14.02 |
| 2613 | 339.0 | 8.1 | 412 | 2644 | done | 0.91 | - | - | 3032 | - | 2.35 | 0.050 | 1803 | -593.2 | 119.1 | 22.75 | 1.131 | 2213 | -4.7 | 0.250 | - | - | - | - | - | - | 14.82 | 14.73 | 14.20 |
| 2777 | 320.7 | 11.8 | 420 | 2782 | roll | 0.91 | - | - | 3033 | - | 2.42 | 0.073 | 398 | -580.6 | 119.1 | - | - | 2207 | - | - | - | - | - | - | - | - | 15.03 | 14.82 | 15.04 |
| 2823 | 315.1 | 12.2 | 422 | 2828 | done | 0.91 | - | - | 3033 | - | 2.33 | 0.039 | 1809 | 605.6 | 119.1 | - | - | 2205 | - | - | - | - | - | - | - | - | 14.97 | 14.90 | 14.98 |
| 2950 | 298.0 | 13.2 | 430 | 2957 | done | 0.91 | - | - | 3033 | - | - | - | 1811 | - | 119.1 | - | - | 2204 | - | - | - | - | - | - | - | - | 15.15 | 15.15 | 15.16 |
| 3019 | 289.2 | 13.5 | 443 | 3025 | roll | 0.91 | - | - | 3033 | - | 2.30 | 0.055 | 3207 | 607.0 | 119.1 | - | - | 2203 | - | - | - | - | - | - | - | - | 15.16 | 14.95 | 15.17 |
| 3067 | 282.1 | 14.0 | 452 | 3073 | done | 0.91 | - | - | 3037 | - | 2.35 | 0.052 | 1797 | -600.0 | 119.1 | - | - | 2203 | - | - | - | - | - | - | - | - | 15.06 | 14.97 | 15.07 |
| 3136 | 273.1 | 12.7 | 465 | 3141 | done | 0.91 | - | - | 3037 | - | - | - | 1797 | - | 119.1 | - | - | 2202 | - | - | - | - | - | - | - | - | 15.18 | 15.19 | 15.19 |
| 3203 | 264.4 | 13.4 | 478 | 3210 | done | 0.91 | - | - | 3037 | - | - | - | 1797 | - | 119.1 | - | - | 2202 | - | - | - | - | - | - | - | - | 15.20 | 15.21 | 15.21 |
| 3272 | 255.4 | 13.2 | 491 | 3279 | roll | 0.91 | - | - | 3037 | - | 2.40 | 0.073 | 391 | -585.8 | 119.1 | - | - | 2202 | - | - | - | - | - | - | - | - | 15.21 | 14.95 | 15.22 |
| 3310 | 250.1 | 13.8 | 498 | 3318 | done | 0.91 | - | - | 3037 | - | 2.30 | 0.040 | 1802 | 613.5 | 119.1 | - | - | 2201 | - | - | - | - | - | - | - | - | 15.10 | 15.03 | 15.11 |
| 3380 | 240.9 | 13.2 | 511 | 3386 | done | 0.91 | - | - | 3037 | - | - | - | 1803 | - | 119.1 | - | - | 2201 | - | - | - | - | - | - | - | - | 15.22 | 15.22 | 15.22 |
| 3447 | 231.9 | 12.8 | 524 | 3454 | roll | 0.91 | - | - | 3037 | - | 2.30 | 0.055 | 3204 | 609.1 | 119.1 | - | - | 2200 | - | - | - | - | - | - | - | - | 15.22 | 15.01 | 15.22 |
| 3521 | 222.5 | 12.5 | 538 | 3528 | done | 0.91 | - | - | 3040 | - | 2.35 | 0.053 | 1792 | -600.9 | 119.1 | - | - | 2199 | - | - | - | - | - | - | - | - | 15.07 | 14.97 | 15.08 |
| 3591 | 214.4 | 11.1 | 551 | 3597 | done | 0.91 | - | - | 3040 | - | - | - | 1792 | - | 119.1 | - | - | 2199 | - | - | - | - | - | - | - | - | 15.24 | 15.24 | 15.24 |
| 3658 | 206.7 | 12.0 | 564 | 3664 | done | 0.91 | - | - | 3040 | - | - | - | 1792 | - | 119.1 | - | - | 2199 | - | - | - | - | - | - | - | - | 15.24 | 15.24 | 15.24 |
| 3726 | 199.0 | 10.4 | 577 | 3731 | done | 0.91 | - | - | 3040 | - | - | - | 1792 | - | 119.1 | - | - | 2199 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 3793 | 191.9 | 10.8 | 590 | 3801 | roll | 0.91 | - | - | 3040 | - | 2.35 | 0.054 | 3209 | 603.0 | 119.1 | - | - | 2198 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.24 |
| 3812 | 189.3 | 13.2 | 593 | 3819 | done | 0.91 | - | - | 3040 | - | 2.35 | 0.052 | 1796 | -601.3 | 119.1 | - | - | 2199 | - | - | - | - | - | - | - | - | 15.11 | 15.00 | 15.13 |
| 3881 | 181.9 | 10.6 | 606 | 3888 | done | 0.91 | - | - | 3040 | - | - | - | 1796 | - | 119.1 | - | - | 2198 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.23 |
| 3950 | 174.6 | 10.8 | 619 | 3955 | done | 0.91 | - | - | 3040 | - | - | - | 1796 | - | 119.1 | - | - | 2198 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.23 |
| 4017 | 167.1 | 10.8 | 632 | 4024 | roll | 0.91 | - | - | 3047 | - | 2.38 | 0.073 | 392 | -589.9 | 119.1 | - | - | 2198 | - | - | - | - | - | - | - | - | 15.23 | 14.97 | 15.23 |
| 4041 | 164.5 | 11.3 | 636 | 4047 | done | 0.91 | - | - | 3040 | - | 2.30 | 0.039 | 1817 | 619.6 | 119.1 | - | - | 2197 | - | - | - | - | - | - | - | - | 15.05 | 14.98 | 15.07 |
| 4110 | 157.6 | 10.0 | 649 | 4116 | done | 0.91 | - | - | 3040 | - | - | - | 1818 | - | 119.4 | - | - | 2197 | - | - | - | - | - | - | - | - | 15.21 | 15.22 | 15.22 |
| 4177 | 150.6 | 10.3 | 662 | 4183 | done | 0.91 | - | - | 3040 | - | - | - | 1816 | - | 119.4 | - | - | 2197 | - | - | - | - | - | - | - | - | 15.22 | 15.21 | 15.23 |
| 4245 | 143.9 | 10.0 | 675 | 4251 | done | 0.91 | - | - | 3040 | - | - | - | 1818 | - | 119.5 | - | - | 2197 | - | - | - | - | - | - | - | - | 15.22 | 15.22 | 15.22 |
| 4312 | 136.4 | 11.4 | 688 | 4318 | done | 0.91 | - | - | 3040 | - | - | - | 1818 | - | 119.5 | - | - | 2197 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.23 |
| 4380 | 128.6 | 11.0 | 701 | 4387 | roll | 0.91 | - | - | 3040 | - | 2.25 | 0.054 | 3195 | 612.0 | 119.5 | - | - | 2196 | - | - | - | - | - | - | - | - | 15.21 | 15.02 | 15.22 |
| 4463 | 119.0 | 12.1 | 717 | 4470 | done | 0.91 | - | - | 3044 | - | 2.33 | 0.053 | 1800 | -598.7 | 119.5 | - | - | 2196 | - | - | - | - | - | - | - | - | 15.11 | 15.01 | 15.12 |
| 4532 | 111.4 | 10.4 | 730 | 4540 | roll | 0.91 | - | - | 3044 | - | 2.38 | 0.073 | 391 | -592.0 | 119.5 | - | - | 2195 | - | - | - | - | - | - | - | - | 15.22 | 14.99 | 15.22 |
| 4607 | 103.7 | 10.2 | 744 | 4614 | done | 0.91 | - | - | 3044 | - | 2.28 | 0.039 | 1794 | 615.4 | 119.5 | - | - | 2195 | - | - | - | - | - | - | - | - | 15.08 | 15.01 | 15.09 |
| 4677 | 96.8 | 9.9 | 757 | 4683 | roll | 0.91 | - | - | 3043 | - | 2.30 | 0.054 | 3201 | 611.7 | 120.9 | - | - | 2194 | - | - | - | - | - | - | - | - | 15.22 | 14.98 | 15.22 |
| 4785 | 85.4 | 9.4 | 778 | 4799 | done | 0.92 | - | - | 3044 | - | 2.35 | 0.054 | 1797 | -597.4 | 128.4 | 5.97 | 0.740 | 2174 | -3.4 | 0.068 | - | - | - | - | - | - | 15.09 | 15.01 | 14.48 |
| 4861 | 77.2 | 11.5 | 792 | 4867 | done | 0.92 | - | - | 3044 | - | - | - | 1797 | - | 128.4 | - | - | 2174 | - | - | - | - | - | - | - | - | 15.18 | 15.19 | 15.19 |
| 4929 | 70.4 | 9.5 | 805 | 4942 | roll | 0.93 | - | - | 3044 | - | 2.33 | 0.051 | 3204 | 603.9 | 134.5 | 6.35 | 0.744 | 2150 | -3.8 | 0.063 | - | - | - | - | - | - | 15.20 | 14.88 | 14.48 |
| 5094 | 56.5 | 8.9 | 837 | 5114 | done | 0.95 | - | - | 3046 | - | 2.35 | 0.051 | 1799 | -597.9 | 149.2 | 13.32 | 0.863 | 2089 | -4.6 | 0.053 | - | - | - | - | - | - | 15.08 | 14.98 | 14.43 |
| 5176 | 48.9 | 10.0 | 852 | 5181 | done | 0.95 | - | - | 3047 | - | - | - | 1799 | - | 149.2 | - | - | 2089 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
| 5243 | 42.8 | 8.8 | 865 | 5262 | done | 0.97 | - | - | 3047 | - | - | - | 1799 | - | 166.2 | 14.40 | 0.835 | 2021 | -4.7 | 0.043 | - | - | - | - | - | - | 15.16 | 14.87 | 14.39 |
| 5324 | 34.7 | 10.7 | 880 | 5330 | done | 0.97 | - | - | 3047 | - | - | - | 1797 | - | 166.2 | - | - | 2022 | - | - | - | - | - | - | - | - | 15.11 | 15.11 | 15.11 |
| 5391 | 27.2 | 11.7 | 893 | 5397 | done | 0.97 | - | - | 3047 | - | - | - | 1799 | - | 166.2 | - | - | 2020 | - | - | - | - | - | - | - | - | 15.12 | 15.14 | 15.14 |
| 5459 | 21.7 | 7.0 | 906 | 5496 | roll | 1.02 | 0.08 | 0.205 | 3080 | 412.5 | 2.45 | 0.072 | 392 | -574.3 | 207.4 | 26.98 | 1.001 | 1851 | -6.3 | 0.024 | - | - | - | - | - | - | 14.90 | 14.76 | 14.38 |
| 5548 | 14.1 | 7.5 | 922 | 5579 | done | 1.06 | - | - | 3080 | - | 2.33 | 0.038 | 1808 | 607.7 | 241.5 | 21.12 | 0.909 | 1712 | -6.6 | 0.018 | - | - | - | - | - | - | 14.95 | 14.88 | 14.35 |
| 5641 | 5.3 | 10.5 | 939 | 5648 | roll | 1.06 | - | - | 3080 | - | 2.33 | 0.053 | 3202 | 598.3 | 241.5 | - | - | 1711 | - | - | - | - | - | - | - | - | 15.02 | 14.79 | 15.02 |
| 5663 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 5663 | begin surface coast | ||||||||||||||||||||||||||||
| 5695 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5695 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.84 | - | - | - | - | -8.18 | 13.85 | 0.050 | 123 | 8.9 | 2.38 | 0.047 | 1810 | -209.2 | 515.37 | 171.27 | 0.809 | 597 | 3.5 | -0.000 | - | - | - | - | - | - | |||