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| • Previous call tries 2 | • 52.59 of 310.00 AH used of 24V (83.03% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -68.2 deg, depth 0.90 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 35.2 m at 341.5 m, depth 377 m (500 m grid) | |
| • GPS2 time: 6 s | • Transponder ping count: 73 | |
| • 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 | |||||
| 18 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 18 | begin dive | ||||||||||||||||||||||||||||
| 20 | - | - | - | 109 | VBD | -0.88 | - | - | 90 | - | - | - | 1797 | - | -92.5 | -86.55 | - | 2927 | - | - | - | - | - | - | - | - | 15.26 | - | 15.26 |
| 112 | 3.5 | -7.4 | 15 | 138 | roll | -0.88 | 13.43 | 0.288 | 2458 | 176.3 | 2.30 | 0.070 | 3223 | 620.0 | -92.5 | -2.78 | - | 3079 | -54.7 | - | - | - | - | - | - | - | 14.86 | 14.09 | 15.07 |
| 346 | 51.8 | -17.7 | 60 | 353 | done | -0.88 | 0.08 | 0.272 | 2472 | 175.0 | 2.33 | 0.044 | 1798 | -611.6 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.92 | 15.02 | 15.07 |
| 416 | 65.5 | -19.6 | 73 | 423 | roll | -0.88 | - | - | 2465 | - | 2.33 | 0.049 | 3216 | 608.6 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.25 | 15.04 | 15.25 |
| 440 | 69.7 | -16.3 | 77 | 449 | done | -0.88 | - | - | 2464 | - | 2.28 | 0.042 | 1810 | -616.7 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.09 | 15.01 | 15.10 |
| 512 | 81.3 | -15.0 | 90 | 519 | roll | -0.88 | - | - | 2457 | - | 2.30 | 0.049 | 3212 | 609.6 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.25 | 15.04 | 15.25 |
| 577 | 90.5 | -14.0 | 102 | 585 | done | -0.88 | 0.08 | 0.262 | 2472 | 187.5 | 2.28 | 0.044 | 1814 | -613.2 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.96 | 15.05 | 15.09 |
| 647 | 99.8 | -13.0 | 115 | 655 | roll | -0.88 | - | - | 2473 | - | 2.33 | 0.062 | 409 | -603.0 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.25 | 15.04 | 15.26 |
| 682 | 104.9 | -16.6 | 121 | 689 | done | -0.88 | - | - | 2471 | - | 2.25 | 0.036 | 1811 | 623.1 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.14 | 15.07 | 15.15 |
| 752 | 114.8 | -15.1 | 134 | 760 | roll | -0.88 | - | - | 2469 | - | 2.30 | 0.053 | 3224 | 614.3 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.26 | 15.05 | 15.26 |
| 823 | 126.1 | -14.8 | 147 | 830 | done | -0.88 | - | - | 2469 | - | 2.30 | 0.043 | 1807 | -616.1 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.14 | 15.06 | 15.15 |
| 892 | 137.3 | -15.3 | 160 | 898 | done | -0.88 | - | - | 2469 | - | - | - | 1807 | - | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.25 | 15.26 | 15.26 |
| 961 | 147.6 | -15.4 | 173 | 968 | roll | -0.88 | - | - | 2460 | - | 2.30 | 0.048 | 3215 | 612.2 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.26 | 15.05 | 15.26 |
| 982 | 150.3 | -14.4 | 176 | 989 | done | -0.88 | 0.05 | 0.330 | 2471 | 220.0 | 2.30 | 0.044 | 1804 | -613.5 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 14.94 | 15.06 | 15.09 |
| 1052 | 160.3 | -13.2 | 189 | 1058 | done | -0.88 | - | - | 2470 | - | - | - | 1805 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.23 | 15.25 | 15.25 |
| 1120 | 168.4 | -11.6 | 202 | 1127 | roll | -0.88 | - | - | 2465 | - | 2.33 | 0.050 | 3217 | 606.0 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.25 | 15.03 | 15.25 |
| 1195 | 177.1 | -11.7 | 216 | 1201 | done | -0.88 | - | - | 2465 | - | 2.30 | 0.044 | 1807 | -613.0 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.09 | 15.02 | 15.10 |
| 1264 | 186.3 | -15.2 | 229 | 1271 | roll | -0.88 | - | - | 2464 | - | 2.33 | 0.063 | 409 | -600.0 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.24 | 15.00 | 15.25 |
| 1288 | 190.0 | -15.0 | 233 | 1297 | done | -0.88 | - | - | 2464 | - | 2.25 | 0.037 | 1811 | 623.1 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.14 | 15.07 | 15.16 |
| 1360 | 199.6 | -13.2 | 246 | 1367 | done | -0.88 | - | - | 2464 | - | - | - | 1814 | - | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.25 | 15.25 | 15.25 |
| 1430 | 209.0 | -12.9 | 259 | 1436 | roll | -0.88 | - | - | 2463 | - | 2.30 | 0.054 | 3217 | 610.0 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.27 | 15.01 | 15.26 |
| 1483 | 215.6 | -12.1 | 269 | 1489 | done | -0.88 | - | - | 2464 | - | 2.30 | 0.044 | 1807 | -613.0 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.15 | 15.07 | 15.16 |
| 1553 | 225.2 | -14.5 | 282 | 1561 | roll | -0.88 | - | - | 2458 | - | 2.33 | 0.052 | 3217 | 605.2 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.25 | 15.07 | 15.25 |
| 1598 | 231.9 | -14.0 | 290 | 1606 | done | -0.88 | 0.05 | 0.331 | 2469 | 220.0 | 2.30 | 0.045 | 1809 | -612.2 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 14.95 | 15.07 | 15.11 |
| 1669 | 241.8 | -13.7 | 303 | 1675 | done | -0.88 | - | - | 2469 | - | - | - | 1810 | - | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.28 | 15.28 | 15.28 |
| 1738 | 251.9 | -15.3 | 316 | 1744 | done | -0.88 | - | - | 2470 | - | - | - | 1809 | - | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.28 | 15.28 | 15.28 |
| 1807 | 261.8 | -14.3 | 329 | 1813 | done | -0.88 | - | - | 2470 | - | - | - | 1810 | - | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.28 | 15.28 | 15.28 |
| 1875 | 271.4 | -13.9 | 342 | 1882 | roll | -0.88 | - | - | 2467 | - | 2.33 | 0.054 | 3218 | 604.3 | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.27 | 15.07 | 15.28 |
| 1946 | 280.5 | -11.7 | 355 | 1953 | done | -0.88 | - | - | 2467 | - | 2.30 | 0.046 | 1812 | -611.3 | -92.5 | - | - | 3072 | - | - | - | - | - | - | - | - | 15.16 | 15.08 | 15.18 |
| 2015 | 289.1 | -12.7 | 368 | 2022 | roll | -0.88 | - | - | 2468 | - | 2.30 | 0.055 | 3212 | 608.7 | -92.5 | - | - | 3072 | - | - | - | - | - | - | - | - | 15.28 | 15.07 | 15.28 |
| 2064 | 295.3 | -12.2 | 377 | 2071 | done | -0.88 | - | - | 2467 | - | 2.30 | 0.046 | 1806 | -611.3 | -92.5 | - | - | 3072 | - | - | - | - | - | - | - | - | 15.16 | 15.07 | 15.18 |
| 2145 | 306.0 | -13.7 | 386 | 2146 | done | -0.88 | - | - | 2467 | - | - | - | 1807 | - | -92.5 | - | - | 3071 | - | - | - | - | - | - | - | - | 15.29 | 15.30 | 15.30 |
| 2264 | 322.8 | -14.1 | 392 | 2269 | roll | -0.88 | - | - | 2468 | - | 2.33 | 0.054 | 3215 | 604.3 | -92.5 | - | - | 3071 | - | - | - | - | - | - | - | - | 15.30 | 15.09 | 15.30 |
| 2351 | 335.3 | -14.8 | 396 | 2356 | done | -0.88 | - | - | 2468 | - | 2.28 | 0.047 | 1814 | -614.5 | -92.5 | - | - | 3070 | - | - | - | - | - | - | - | - | 15.19 | 15.10 | 15.22 |
| 2489 | 357.6 | -15.9 | 403 | 2495 | roll | -0.88 | - | - | 2467 | - | 2.30 | 0.056 | 3212 | 607.8 | -92.5 | - | - | 3072 | - | - | - | - | - | - | - | - | 15.32 | 15.10 | 15.33 |
| 2520 | 361.0 | -15.8 | 404 | 2526 | done | -0.88 | - | - | 2467 | - | 2.28 | 0.047 | 1812 | -614.0 | -92.5 | - | - | 3069 | - | - | - | - | - | - | - | - | 15.17 | 15.08 | 15.18 |
| 2552 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2552 | begin apogee | ||||||||||||||||||||||||||||
| 2556 | 367.1 | -14.9 | 406 | 2634 | done | -0.17 | 1.17 | 0.169 | 2698 | 197.4 | - | - | 1812 | - | - | 68.45 | 1.218 | 2700 | -5.4 | 0.284 | - | - | - | - | - | - | 15.02 | 14.75 | 14.20 |
| 2636 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2636 | begin climb | ||||||||||||||||||||||||||||
| 2637 | 370.9 | - | 410 | 2722 | roll | 0.88 | 1.52 | 0.078 | 3033 | 220.4 | 2.45 | 0.068 | 398 | -577.1 | 92.5 | 76.12 | 1.219 | 2321 | -5.0 | 0.265 | - | - | - | - | - | - | 14.73 | 14.52 | 14.04 |
| 2795 | 366.2 | 6.3 | 418 | 2844 | done | 0.94 | - | - | 3033 | - | 2.33 | 0.036 | 1817 | 609.0 | 143.0 | 40.25 | 1.185 | 2118 | -5.0 | 0.272 | - | - | - | - | - | - | 14.85 | 14.76 | 14.07 |
| 2976 | 346.6 | 12.2 | 427 | 2983 | roll | 0.94 | - | - | 3033 | - | 2.30 | 0.050 | 3197 | 600.0 | 143.0 | - | - | 2114 | - | - | - | - | - | - | - | - | 15.04 | 14.85 | 15.04 |
| 3003 | 343.5 | 12.6 | 428 | 3009 | done | 0.94 | - | - | 3037 | - | 2.33 | 0.050 | 1801 | -599.1 | 143.0 | - | - | 2112 | - | - | - | - | - | - | - | - | 14.95 | 14.86 | 14.96 |
| 3141 | 323.1 | 14.9 | 435 | 3146 | roll | 0.94 | - | - | 3037 | - | 2.33 | 0.051 | 3201 | 600.9 | 143.0 | - | - | 2111 | - | - | - | - | - | - | - | - | 15.16 | 14.95 | 15.16 |
| 3247 | 307.7 | 14.9 | 440 | 3252 | done | 0.94 | - | - | 3037 | - | 2.33 | 0.052 | 1799 | -601.7 | 143.0 | - | - | 2109 | - | - | - | - | - | - | - | - | 15.08 | 14.98 | 15.09 |
| 3374 | 288.6 | 14.8 | 457 | 3380 | roll | 0.94 | - | - | 3037 | - | 2.33 | 0.051 | 3203 | 602.6 | 143.0 | - | - | 2108 | - | - | - | - | - | - | - | - | 15.22 | 14.96 | 15.22 |
| 3412 | 283.2 | 14.4 | 464 | 3419 | done | 0.94 | - | - | 3037 | - | 2.33 | 0.051 | 1800 | -602.1 | 143.0 | - | - | 2108 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.12 |
| 3481 | 273.5 | 14.4 | 477 | 3488 | roll | 0.94 | - | - | 3037 | - | 2.30 | 0.052 | 3205 | 610.9 | 143.0 | - | - | 2108 | - | - | - | - | - | - | - | - | 15.22 | 15.02 | 15.23 |
| 3554 | 262.8 | 14.1 | 491 | 3562 | done | 0.94 | - | - | 3037 | - | 2.35 | 0.053 | 1795 | -600.0 | 143.0 | - | - | 2107 | - | - | - | - | - | - | - | - | 15.08 | 14.98 | 15.09 |
| 3625 | 253.1 | 14.0 | 504 | 3630 | done | 0.94 | - | - | 3040 | - | - | - | 1795 | - | 143.0 | - | - | 2107 | - | - | - | - | - | - | - | - | 15.24 | 15.25 | 15.24 |
| 3692 | 244.2 | 13.7 | 517 | 3698 | roll | 0.94 | - | - | 3039 | - | 2.38 | 0.074 | 391 | -589.9 | 143.0 | - | - | 2107 | - | - | - | - | - | - | - | - | 15.25 | 15.02 | 15.25 |
| 3711 | 241.3 | 14.3 | 520 | 3717 | done | 0.94 | - | - | 3039 | - | 2.28 | 0.039 | 1802 | 618.9 | 143.0 | - | - | 2107 | - | - | - | - | - | - | - | - | 15.14 | 15.06 | 15.15 |
| 3779 | 232.0 | 13.1 | 533 | 3786 | roll | 0.94 | - | - | 3040 | - | 2.28 | 0.053 | 3196 | 611.4 | 143.0 | - | - | 2106 | - | - | - | - | - | - | - | - | 15.24 | 15.04 | 15.24 |
| 3832 | 225.0 | 13.9 | 543 | 3839 | done | 0.94 | - | - | 3040 | - | 2.33 | 0.054 | 1799 | -599.6 | 143.0 | - | - | 2106 | - | - | - | - | - | - | - | - | 15.14 | 15.04 | 15.15 |
| 3902 | 215.3 | 13.4 | 556 | 3909 | roll | 0.94 | - | - | 3040 | - | 2.30 | 0.051 | 3199 | 608.7 | 143.0 | - | - | 2105 | - | - | - | - | - | - | - | - | 15.25 | 15.04 | 15.26 |
| 3991 | 201.9 | 14.0 | 573 | 3997 | done | 0.94 | - | - | 3040 | - | 2.33 | 0.053 | 1799 | -600.9 | 143.0 | - | - | 2105 | - | - | - | - | - | - | - | - | 15.13 | 15.04 | 15.15 |
| 4060 | 193.0 | 13.1 | 586 | 4065 | done | 0.94 | - | - | 3040 | - | - | - | 1799 | - | 143.0 | - | - | 2105 | - | - | - | - | - | - | - | - | 15.25 | 15.26 | 15.26 |
| 4128 | 184.4 | 12.7 | 599 | 4135 | roll | 0.94 | - | - | 3040 | - | 2.38 | 0.073 | 392 | -591.2 | 143.0 | - | - | 2104 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.24 |
| 4141 | 182.9 | 11.7 | 601 | 4148 | done | 0.94 | - | - | 3040 | - | 2.28 | 0.038 | 1797 | 616.2 | 143.0 | - | - | 2104 | - | - | - | - | - | - | - | - | 15.14 | 15.07 | 15.15 |
| 4211 | 174.2 | 11.8 | 614 | 4216 | done | 0.94 | - | - | 3040 | - | - | - | 1799 | - | 143.0 | - | - | 2104 | - | - | - | - | - | - | - | - | 15.24 | 15.24 | 15.24 |
| 4278 | 165.4 | 13.6 | 627 | 4285 | roll | 0.94 | - | - | 3040 | - | 2.30 | 0.051 | 3212 | 614.3 | 143.0 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.23 | 15.04 | 15.23 |
| 4432 | 144.4 | 13.3 | 657 | 4438 | done | 0.94 | - | - | 3040 | - | 2.35 | 0.054 | 1800 | -600.9 | 143.0 | - | - | 2105 | - | - | - | - | - | - | - | - | 15.12 | 15.02 | 15.14 |
| 4501 | 135.4 | 13.4 | 670 | 4507 | roll | 0.94 | - | - | 3044 | - | 2.38 | 0.073 | 391 | -592.0 | 143.0 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.23 | 15.01 | 15.24 |
| 4529 | 131.1 | 16.1 | 675 | 4537 | done | 0.94 | - | - | 3044 | - | 2.30 | 0.038 | 1811 | 617.4 | 143.0 | - | - | 2105 | - | - | - | - | - | - | - | - | 15.07 | 15.00 | 15.08 |
| 4600 | 120.2 | 16.4 | 688 | 4606 | done | 0.94 | - | - | 3044 | - | - | - | 1811 | - | 143.0 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 4667 | 108.7 | 17.4 | 701 | 4673 | roll | 0.94 | - | - | 3043 | - | 2.28 | 0.052 | 3204 | 611.0 | 143.0 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.23 |
| 4710 | 101.3 | 16.3 | 709 | 4716 | done | 0.94 | - | - | 3047 | - | 2.35 | 0.053 | 1791 | -601.3 | 143.0 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.09 | 15.00 | 15.11 |
| 4779 | 91.3 | 13.5 | 722 | 4785 | roll | 0.94 | - | - | 3047 | - | 2.33 | 0.052 | 3201 | 605.2 | 143.0 | - | - | 2102 | - | - | - | - | - | - | - | - | 15.23 | 14.97 | 15.23 |
| 4817 | 87.0 | 10.8 | 729 | 4823 | done | 0.94 | - | - | 3047 | - | 2.35 | 0.055 | 1794 | -598.7 | 143.0 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.13 |
| 4886 | 81.5 | 6.0 | 742 | 4934 | done | 1.01 | 0.08 | 0.209 | 3077 | 375.0 | - | - | 1794 | - | 197.7 | 41.12 | 0.947 | 1892 | -5.1 | 0.076 | - | - | - | - | - | - | 14.97 | 14.74 | 14.36 |
| 4995 | 65.2 | 20.1 | 762 | 5002 | roll | 1.01 | - | - | 3077 | - | 2.35 | 0.053 | 3198 | 597.4 | 197.7 | - | - | 1891 | - | - | - | - | - | - | - | - | 15.08 | 14.87 | 15.08 |
| 5014 | 61.4 | 20.3 | 765 | 5020 | done | 1.01 | - | - | 3083 | - | 2.35 | 0.052 | 1798 | -595.7 | 197.7 | - | - | 1890 | - | - | - | - | - | - | - | - | 14.92 | 14.85 | 14.92 |
| 5083 | 49.8 | 14.4 | 778 | 5089 | done | 1.01 | - | - | 3083 | - | - | - | 1798 | - | 197.7 | - | - | 1891 | - | - | - | - | - | - | - | - | 15.10 | 15.11 | 15.11 |
| 5150 | 43.8 | 5.8 | 791 | 5204 | roll | 1.08 | - | - | 3083 | - | 2.40 | 0.048 | 3201 | 584.6 | 256.1 | 46.25 | 0.887 | 1651 | -5.2 | 0.045 | - | - | - | - | - | - | 15.14 | 14.76 | 14.36 |
| 5405 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 5405 | begin surface coast | ||||||||||||||||||||||||||||
| 5428 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5428 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.81 | - | - | - | - | -8.17 | 13.80 | 0.050 | 125 | 9.0 | 2.35 | 0.045 | 1815 | -3695.7 | 515.37 | 159.68 | 0.806 | 598 | 3.7 | -0.000 | - | - | - | - | - | - | |||