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| • Previous call tries 5 | • 53.32 of 310.00 AH used of 24V (82.80% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -65.9 deg, depth 0.88 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 33.6 m at 366.0 m, depth 400 m (500 m grid) | |
| • GPS2 time: 6 s | • Transponder ping count: 26 | |
| • 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 | - | - | - | 108 | VBD | -0.88 | - | - | 53 | - | - | - | 1802 | - | -92.5 | -85.43 | - | 2923 | - | - | - | - | - | - | - | - | 15.10 | - | 15.11 |
| 111 | 3.5 | -7.6 | 15 | 137 | roll | -0.88 | 13.77 | 0.288 | 2458 | 174.7 | 2.33 | 0.063 | 3219 | 608.2 | -92.5 | -2.80 | - | 3079 | -55.7 | - | - | - | - | - | - | - | 14.76 | 13.97 | 14.97 |
| 149 | 16.8 | -28.3 | 21 | 157 | done | -0.88 | 0.08 | 0.282 | 2475 | 212.5 | 2.33 | 0.044 | 1804 | -607.3 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.78 | 14.89 | 14.92 |
| 220 | 30.2 | -22.8 | 34 | 225 | done | -0.88 | - | - | 2472 | - | - | - | 1805 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.14 | 15.14 | 15.14 |
| 286 | 41.9 | -14.7 | 47 | 293 | roll | -0.88 | - | - | 2472 | - | 2.35 | 0.062 | 401 | -597.4 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.16 | 14.95 | 15.16 |
| 366 | 54.3 | -16.1 | 62 | 374 | done | -0.88 | - | - | 2465 | - | 2.30 | 0.037 | 1817 | 615.7 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.07 | 14.99 | 15.08 |
| 435 | 67.2 | -18.6 | 75 | 441 | done | -0.88 | - | - | 2465 | - | - | - | 1819 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
| 503 | 78.5 | -16.7 | 88 | 510 | roll | -0.88 | - | - | 2454 | - | 2.30 | 0.055 | 3219 | 608.7 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.19 | 15.00 | 15.19 |
| 568 | 90.2 | -18.8 | 100 | 575 | done | -0.88 | 0.08 | 0.269 | 2470 | 200.0 | 2.30 | 0.044 | 1810 | -612.6 | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 14.90 | 15.00 | 15.04 |
| 638 | 102.6 | -17.1 | 113 | 644 | done | -0.88 | - | - | 2469 | - | - | - | 1808 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.20 | 15.20 | 15.20 |
| 708 | 114.5 | -17.0 | 126 | 714 | done | -0.88 | - | - | 2469 | - | - | - | 1809 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 778 | 124.5 | -14.0 | 139 | 785 | done | -0.88 | - | - | 2469 | - | - | - | 1809 | - | -92.5 | - | - | 3080 | - | - | - | - | - | - | - | - | 15.21 | 15.21 | 15.21 |
| 848 | 134.6 | -14.2 | 152 | 854 | done | -0.88 | - | - | 2469 | - | - | - | 1809 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.21 | 15.22 | 15.21 |
| 917 | 143.5 | -13.0 | 165 | 924 | done | -0.88 | - | - | 2470 | - | - | - | 1810 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.22 | 15.22 | 15.22 |
| 986 | 152.4 | -13.0 | 178 | 992 | done | -0.88 | - | - | 2470 | - | - | - | 1809 | - | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.23 |
| 1055 | 162.4 | -15.6 | 191 | 1061 | done | -0.88 | - | - | 2469 | - | - | - | 1809 | - | -92.5 | - | - | 3079 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.23 |
| 1125 | 172.8 | -14.9 | 204 | 1131 | roll | -0.88 | - | - | 2461 | - | 2.33 | 0.054 | 3214 | 603.0 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.23 | 15.00 | 15.23 |
| 1193 | 183.5 | -15.0 | 217 | 1200 | done | -0.88 | - | - | 2462 | - | 2.30 | 0.045 | 1813 | -609.1 | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.12 | 15.03 | 15.13 |
| 1263 | 194.8 | -16.8 | 230 | 1272 | done | -0.88 | - | - | 2461 | - | - | - | 1812 | - | -92.5 | - | - | 3078 | - | - | - | - | - | - | - | - | 15.22 | 15.23 | 15.23 |
| 1334 | 206.3 | -15.0 | 243 | 1340 | done | -0.88 | - | - | 2462 | - | - | - | 1812 | - | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.24 | 15.24 | 15.24 |
| 1403 | 216.0 | -14.5 | 256 | 1410 | roll | -0.88 | - | - | 2453 | - | 2.33 | 0.054 | 3216 | 602.6 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.25 | 14.97 | 15.25 |
| 1481 | 228.7 | -15.4 | 271 | 1489 | done | -0.88 | 0.08 | 0.265 | 2469 | 200.0 | 2.30 | 0.046 | 1810 | -611.3 | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 14.95 | 15.04 | 15.09 |
| 1551 | 238.4 | -14.9 | 284 | 1557 | done | -0.88 | - | - | 2469 | - | - | - | 1811 | - | -92.5 | - | - | 3077 | - | - | - | - | - | - | - | - | 15.26 | 15.26 | 15.26 |
| 1621 | 247.8 | -14.4 | 297 | 1628 | roll | -0.88 | - | - | 2462 | - | 2.33 | 0.056 | 3214 | 602.1 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.25 | 15.04 | 15.26 |
| 1641 | 250.7 | -14.1 | 300 | 1647 | done | -0.88 | - | - | 2463 | - | 2.30 | 0.047 | 1812 | -609.6 | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.14 | 15.05 | 15.13 |
| 1710 | 261.0 | -14.8 | 313 | 1716 | done | -0.88 | - | - | 2463 | - | - | - | 1811 | - | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.25 | 15.25 | 15.25 |
| 1780 | 271.7 | -16.3 | 326 | 1785 | done | -0.88 | - | - | 2463 | - | - | - | 1811 | - | -92.5 | - | - | 3076 | - | - | - | - | - | - | - | - | 15.26 | 15.26 | 15.26 |
| 1848 | 282.9 | -16.2 | 339 | 1854 | roll | -0.88 | - | - | 2461 | - | 2.35 | 0.057 | 3213 | 596.6 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.28 | 15.07 | 15.26 |
| 1901 | 291.4 | -15.8 | 349 | 1908 | done | -0.88 | - | - | 2461 | - | 2.30 | 0.047 | 1812 | -609.1 | -92.5 | - | - | 3075 | - | - | - | - | - | - | - | - | 15.14 | 15.06 | 15.16 |
| 1981 | 304.0 | -16.1 | 361 | 1982 | done | -0.88 | - | - | 2461 | - | - | - | 1813 | - | -92.5 | - | - | 3074 | - | - | - | - | - | - | - | - | 15.27 | 15.28 | 15.28 |
| 2100 | 323.1 | -15.6 | 367 | 2107 | roll | -0.88 | - | - | 2454 | - | 2.30 | 0.059 | 3212 | 608.3 | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.30 | 15.07 | 15.30 |
| 2125 | 326.7 | -15.5 | 368 | 2131 | done | -0.88 | 0.08 | 0.270 | 2469 | 187.5 | 2.30 | 0.047 | 1810 | -609.6 | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 14.98 | 15.08 | 15.14 |
| 2269 | 347.4 | -13.9 | 375 | 2270 | done | -0.88 | - | - | 2469 | - | - | - | 1809 | - | -92.5 | - | - | 3073 | - | - | - | - | - | - | - | - | 15.30 | 15.29 | 15.30 |
| 2387 | 363.2 | -12.9 | 381 | 2393 | roll | -0.88 | - | - | 2464 | - | 2.35 | 0.059 | 3222 | 601.3 | -92.5 | - | - | 3072 | - | - | - | - | - | - | - | - | 15.31 | 15.09 | 15.31 |
| 2535 | 383.1 | -14.2 | 388 | 2541 | done | -0.88 | - | - | 2464 | - | 2.30 | 0.048 | 1813 | -612.6 | -92.5 | - | - | 3071 | - | - | - | - | - | - | - | - | 15.19 | 15.09 | 15.20 |
| 2591 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 2591 | begin apogee | ||||||||||||||||||||||||||||
| 2595 | 390.7 | -12.9 | 391 | 2673 | done | -0.17 | 1.20 | 0.173 | 2699 | 195.8 | - | - | 1812 | - | - | 69.35 | 1.246 | 2700 | -5.3 | 0.295 | - | - | - | - | - | - | 15.00 | 14.73 | 14.17 |
| 2675 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 2675 | begin climb | ||||||||||||||||||||||||||||
| 2676 | 392.6 | - | 395 | 2762 | roll | 0.88 | 1.55 | 0.075 | 3040 | 220.0 | 2.50 | 0.067 | 396 | -566.4 | 92.5 | 76.20 | 1.248 | 2321 | -5.0 | 0.275 | - | - | - | - | - | - | 14.73 | 14.48 | 13.98 |
| 2809 | 386.4 | 6.1 | 401 | 2860 | done | 0.95 | - | - | 3040 | - | 2.33 | 0.037 | 1810 | 606.9 | 146.7 | 44.83 | 1.214 | 2101 | -4.9 | 0.274 | - | - | - | - | - | - | 14.77 | 14.70 | 14.04 |
| 2997 | 358.3 | 13.8 | 411 | 3003 | roll | 0.95 | - | - | 3040 | - | 2.30 | 0.054 | 3194 | 601.7 | 146.7 | - | - | 2093 | - | - | - | - | - | - | - | - | 15.00 | 14.81 | 15.00 |
| 3139 | 338.2 | 14.1 | 418 | 3145 | done | 0.95 | - | - | 3043 | - | 2.33 | 0.050 | 1802 | -597.4 | 146.7 | - | - | 2090 | - | - | - | - | - | - | - | - | 15.00 | 14.90 | 15.02 |
| 3282 | 319.3 | 13.3 | 425 | 3284 | done | 0.95 | - | - | 3044 | - | - | - | 1802 | - | 146.7 | - | - | 2089 | - | - | - | - | - | - | - | - | 15.19 | 15.19 | 15.19 |
| 3402 | 303.3 | 13.3 | 431 | 3408 | roll | 0.95 | - | - | 3043 | - | 2.30 | 0.052 | 3197 | 606.5 | 146.7 | - | - | 2088 | - | - | - | - | - | - | - | - | 15.22 | 15.00 | 15.22 |
| 3454 | 296.8 | 12.2 | 435 | 3461 | done | 0.95 | - | - | 3047 | - | 2.33 | 0.052 | 1800 | -599.6 | 146.7 | - | - | 2088 | - | - | - | - | - | - | - | - | 15.10 | 15.01 | 15.12 |
| 3523 | 288.8 | 11.8 | 448 | 3530 | roll | 0.95 | - | - | 3047 | - | 2.30 | 0.052 | 3201 | 609.1 | 146.7 | - | - | 2088 | - | - | - | - | - | - | - | - | 15.23 | 15.02 | 15.23 |
| 3536 | 287.1 | 12.0 | 450 | 3543 | done | 0.95 | - | - | 3047 | - | 2.33 | 0.053 | 1801 | -600.9 | 146.7 | - | - | 2086 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.12 |
| 3605 | 279.4 | 10.7 | 463 | 3611 | done | 0.95 | - | - | 3047 | - | - | - | 1801 | - | 146.7 | - | - | 2087 | - | - | - | - | - | - | - | - | 15.22 | 15.22 | 15.22 |
| 3672 | 271.4 | 11.8 | 476 | 3679 | roll | 0.95 | - | - | 3046 | - | 2.30 | 0.053 | 3196 | 606.5 | 146.7 | - | - | 2087 | - | - | - | - | - | - | - | - | 15.23 | 14.97 | 15.24 |
| 3706 | 267.1 | 12.4 | 482 | 3713 | done | 0.95 | - | - | 3047 | - | 2.33 | 0.054 | 1798 | -600.0 | 146.7 | - | - | 2087 | - | - | - | - | - | - | - | - | 15.11 | 15.02 | 15.13 |
| 3774 | 258.6 | 11.8 | 495 | 3780 | done | 0.95 | - | - | 3047 | - | - | - | 1799 | - | 146.7 | - | - | 2087 | - | - | - | - | - | - | - | - | 15.23 | 15.23 | 15.23 |
| 3842 | 250.8 | 11.2 | 508 | 3849 | roll | 0.95 | - | - | 3047 | - | 2.30 | 0.053 | 3194 | 606.5 | 146.7 | - | - | 2086 | - | - | - | - | - | - | - | - | 15.24 | 15.00 | 15.25 |
| 3890 | 245.4 | 11.9 | 517 | 3897 | done | 0.95 | - | - | 3046 | - | 2.33 | 0.054 | 1800 | -598.3 | 146.7 | - | - | 2086 | - | - | - | - | - | - | - | - | 15.12 | 15.03 | 15.14 |
| 3960 | 237.0 | 11.6 | 530 | 3966 | roll | 0.95 | - | - | 3047 | - | 2.30 | 0.053 | 3195 | 606.5 | 146.7 | - | - | 2085 | - | - | - | - | - | - | - | - | 15.25 | 15.03 | 15.25 |
| 4048 | 222.8 | 16.4 | 547 | 4054 | done | 0.95 | - | - | 3047 | - | 2.33 | 0.054 | 1799 | -599.1 | 146.7 | - | - | 2085 | - | - | - | - | - | - | - | - | 15.14 | 15.04 | 15.15 |
| 4117 | 211.4 | 16.7 | 560 | 4122 | done | 0.95 | - | - | 3047 | - | - | - | 1797 | - | 146.7 | - | - | 2085 | - | - | - | - | - | - | - | - | 15.24 | 15.25 | 15.24 |
| 4184 | 200.4 | 14.7 | 573 | 4192 | roll | 0.95 | - | - | 3047 | - | 2.30 | 0.052 | 3196 | 608.3 | 146.7 | - | - | 2084 | - | - | - | - | - | - | - | - | 15.25 | 15.04 | 15.25 |
| 4214 | 196.6 | 13.9 | 578 | 4220 | done | 0.95 | - | - | 3050 | - | 2.33 | 0.052 | 1798 | -600.0 | 146.7 | - | - | 2084 | - | - | - | - | - | - | - | - | 15.13 | 15.03 | 15.14 |
| 4283 | 186.6 | 14.0 | 591 | 4289 | roll | 0.95 | - | - | 3050 | - | 2.33 | 0.053 | 3205 | 603.9 | 146.7 | - | - | 2084 | - | - | - | - | - | - | - | - | 15.23 | 15.03 | 15.24 |
| 4306 | 183.0 | 15.0 | 595 | 4312 | done | 0.95 | - | - | 3050 | - | 2.35 | 0.054 | 1795 | -600.0 | 146.7 | - | - | 2084 | - | - | - | - | - | - | - | - | 15.12 | 15.02 | 15.14 |
| 4375 | 172.3 | 16.6 | 608 | 4381 | roll | 0.95 | - | - | 3050 | - | 2.33 | 0.053 | 3202 | 603.9 | 146.7 | - | - | 2084 | - | - | - | - | - | - | - | - | 15.23 | 15.03 | 15.23 |
| 4409 | 166.0 | 18.2 | 614 | 4415 | done | 0.95 | - | - | 3054 | - | 2.35 | 0.054 | 1795 | -598.7 | 146.7 | - | - | 2084 | - | - | - | - | - | - | - | - | 15.12 | 15.02 | 15.13 |
| 4477 | 153.6 | 18.1 | 627 | 4484 | roll | 0.95 | - | - | 3053 | - | 2.40 | 0.075 | 391 | -585.0 | 146.7 | - | - | 2083 | - | - | - | - | - | - | - | - | 15.22 | 14.97 | 15.23 |
| 4496 | 150.1 | 17.9 | 630 | 4503 | done | 0.95 | - | - | 3054 | - | 2.28 | 0.039 | 1795 | 615.8 | 146.7 | - | - | 2083 | - | - | - | - | - | - | - | - | 15.06 | 14.98 | 15.07 |
| 4565 | 137.3 | 18.5 | 643 | 4571 | done | 0.95 | - | - | 3054 | - | - | - | 1798 | - | 146.7 | - | - | 2083 | - | - | - | - | - | - | - | - | 15.22 | 15.22 | 15.22 |
| 4633 | 125.8 | 14.7 | 656 | 4639 | roll | 0.95 | - | - | 3053 | - | 2.30 | 0.052 | 3201 | 610.0 | 146.7 | - | - | 2083 | - | - | - | - | - | - | - | - | 15.23 | 15.00 | 15.23 |
| 4696 | 116.1 | 15.1 | 668 | 4703 | done | 0.95 | - | - | 3054 | - | 2.35 | 0.054 | 1791 | -600.0 | 146.7 | - | - | 2083 | - | - | - | - | - | - | - | - | 15.05 | 14.95 | 15.06 |
| 4765 | 107.5 | 12.3 | 681 | 4772 | done | 0.95 | - | - | 3054 | - | - | - | 1790 | - | 146.7 | - | - | 2087 | - | - | - | - | - | - | - | - | 15.21 | 15.22 | 15.22 |
| 4834 | 99.1 | 12.3 | 694 | 4840 | done | 0.95 | - | - | 3054 | - | - | - | 1791 | - | 146.7 | - | - | 2083 | - | - | - | - | - | - | - | - | 15.22 | 15.22 | 15.23 |
| 4902 | 91.4 | 10.7 | 707 | 4909 | roll | 0.95 | - | - | 3054 | - | 2.35 | 0.054 | 3200 | 599.6 | 146.7 | - | - | 2083 | - | - | - | - | - | - | - | - | 15.21 | 14.99 | 15.22 |
| 4961 | 85.2 | 10.5 | 718 | 4968 | done | 0.95 | - | - | 3054 | - | 2.35 | 0.053 | 1789 | -600.4 | 146.7 | - | - | 2082 | - | - | - | - | - | - | - | - | 15.04 | 14.95 | 15.05 |
| 5030 | 78.8 | 9.5 | 731 | 5037 | roll | 0.95 | - | - | 3054 | - | 2.35 | 0.054 | 3204 | 602.1 | 153.2 | - | - | 2082 | - | - | - | - | - | - | - | - | 15.21 | 15.02 | 15.21 |
| 5089 | 71.9 | 11.9 | 742 | 5096 | done | 0.95 | - | - | 3057 | - | 2.35 | 0.053 | 1801 | -597.0 | 153.2 | - | - | 2081 | - | - | - | - | - | - | - | - | 15.10 | 15.01 | 15.11 |
| 5158 | 64.6 | 8.6 | 755 | 5183 | roll | 0.98 | - | - | 3057 | - | 2.45 | 0.073 | 397 | -573.1 | 172.3 | 19.15 | 0.918 | 1994 | -4.5 | 0.056 | - | - | - | - | - | - | 15.21 | 14.89 | 14.53 |
| 5445 | 32.0 | 9.8 | 811 | 5452 | done | 0.98 | - | - | 3056 | - | 2.28 | 0.038 | 1802 | 616.2 | 174.8 | - | - | 1986 | - | - | - | - | - | - | - | - | 15.07 | 14.99 | 15.09 |
| 5515 | 27.0 | 6.9 | 824 | 5557 | roll | 1.03 | 0.05 | 0.277 | 3080 | 480.0 | 2.35 | 0.054 | 3194 | 592.3 | 217.6 | 32.25 | 0.993 | 1810 | -5.5 | 0.026 | - | - | - | - | - | - | 14.90 | 14.80 | 14.36 |
| 5708 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 5708 | begin surface coast | ||||||||||||||||||||||||||||
| 5744 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5744 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.79 | - | - | - | - | -8.17 | 13.85 | 0.056 | 123 | 8.8 | 2.35 | 0.051 | 1814 | -3696.2 | 515.37 | 184.73 | 0.802 | 599 | 3.2 | -0.000 | - | - | - | - | - | - | |||