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| • Previous call tries 1 | • 191.01 of 350.00 AH used of 24V (45.42% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -63.6 deg, depth 0.36 m | • Intended pitch -20.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 300.18 (SM_CC=300) | • surface range 18.2 m at 17.3 m depth, ceiling -0.9 m (m = 1.04, R^2 = 1.00) | |
| • GPS1 time: 28 s | • bottom range 11.2 m at 864.4 m, depth 876 m (990 m grid)(m = -0.86, R^2 = 0.98) | |
| • GPS2 time: 2 s | • Transponder ping count: 0 | |
| • 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 | |||||
| 8 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 8 | begin dive | ||||||||||||||||||||||||||||
| 12 | - | - | - | 125 | done | -1.05 | - | - | 188 | - | - | - | 2809 | - | -107.1 | -108.82 | 0.003 | 3921 | - | - | - | - | - | - | - | - | 14.72 | 12.92 | 14.70 |
| 128 | 2.8 | -2.7 | 4 | 145 | roll | -1.05 | 11.70 | 0.434 | 2422 | 190.9 | 1.98 | 0.079 | 3923 | 562.6 | -107.1 | - | - | 3930 | - | - | - | - | - | - | - | - | 13.74 | 14.33 | 14.31 |
| 349 | 32.8 | -11.4 | 36 | 355 | done | -1.05 | - | - | 2422 | - | 1.95 | 0.047 | 2798 | -576.9 | -107.1 | - | - | 3936 | - | - | - | - | - | - | - | - | 14.48 | 14.44 | 14.50 |
| 715 | 71.1 | -10.4 | 52 | 716 | done | -1.05 | - | - | 2421 | - | - | - | 2797 | - | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.88 | 14.88 | 14.88 |
| 1049 | 106.6 | -10.6 | 64 | 1055 | roll | -1.05 | - | - | 2422 | - | 2.47 | 0.050 | 1400 | -565.6 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.92 | 14.28 | 14.92 |
| 1098 | 111.8 | -10.5 | 71 | 1105 | done | -1.05 | - | - | 2420 | - | 2.55 | 0.065 | 2800 | 549.0 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.33 | 14.25 | 14.39 |
| 1441 | 148.2 | -10.6 | 84 | 1441 | done | -1.05 | - | - | 2420 | - | - | - | 2801 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.92 |
| 1777 | 183.5 | -10.5 | 96 | 1777 | done | -1.05 | - | - | 2420 | - | - | - | 2800 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.92 |
| 2113 | 218.7 | -10.5 | 105 | 2120 | roll | -1.05 | - | - | 2420 | - | 2.47 | 0.050 | 1392 | -570.0 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.81 | 14.33 | 14.81 |
| 2176 | 225.4 | -10.6 | 114 | 2182 | done | -1.05 | - | - | 2420 | - | 2.58 | 0.065 | 2801 | 546.1 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.30 | 14.20 | 14.35 |
| 2562 | 266.1 | -10.6 | 127 | 2563 | done | -1.05 | - | - | 2420 | - | - | - | 2801 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.81 | 14.81 | 14.81 |
| 2897 | 299.5 | -9.8 | 133 | 2904 | roll | -1.05 | - | - | 2420 | - | 2.47 | 0.049 | 1390 | -571.3 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.80 | 14.32 | 14.80 |
| 2939 | 303.6 | -9.8 | 139 | 2945 | done | -1.05 | - | - | 2419 | - | 2.60 | 0.066 | 2811 | 546.5 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.28 | 14.19 | 14.33 |
| 3289 | 338.4 | -10.0 | 147 | 3295 | roll | -1.05 | - | - | 2419 | - | 2.05 | 0.090 | 3910 | 536.1 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.92 | 14.12 | 14.92 |
| 3345 | 344.3 | -10.7 | 155 | 3351 | done | -1.05 | - | - | 2419 | - | 1.95 | 0.047 | 2787 | -575.9 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.43 | 14.40 | 14.46 |
| 3738 | 380.3 | -8.9 | 169 | 3739 | done | -1.05 | - | - | 2419 | - | - | - | 2787 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.79 | 14.79 | 14.79 |
| 4073 | 410.6 | -9.1 | 175 | 4079 | roll | -1.05 | - | - | 2419 | - | 2.45 | 0.047 | 1397 | -567.3 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.92 | 14.23 | 14.92 |
| 4122 | 415.2 | -9.3 | 182 | 4130 | done | -1.05 | - | - | 2417 | - | 2.58 | 0.067 | 2803 | 545.0 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.28 | 14.16 | 14.30 |
| 4466 | 447.2 | -9.3 | 189 | 4466 | done | -1.05 | - | - | 2417 | - | - | - | 2803 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.80 | 14.79 | 14.79 |
| 4802 | 478.6 | -9.5 | 195 | 4807 | roll | -1.05 | - | - | 2417 | - | 2.47 | 0.048 | 1394 | -570.4 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.80 | 14.21 | 14.79 |
| 4850 | 483.3 | -9.4 | 202 | 4857 | done | -1.05 | - | - | 2415 | - | 2.60 | 0.066 | 2810 | 544.6 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.26 | 14.15 | 14.30 |
| 5193 | 514.5 | -9.0 | 209 | 5193 | done | -1.05 | - | - | 2416 | - | - | - | 2810 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.92 |
| 5529 | 543.8 | -8.7 | 215 | 5529 | done | -1.05 | - | - | 2416 | - | - | - | 2810 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.92 |
| 5865 | 572.9 | -8.7 | 221 | 5872 | roll | -1.05 | - | - | 2416 | - | 2.53 | 0.047 | 1395 | -559.3 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.92 | 14.21 | 14.92 |
| 5914 | 577.3 | -8.8 | 228 | 5921 | done | -1.05 | - | - | 2414 | - | 2.60 | 0.067 | 2807 | 543.1 | -107.1 | - | - | 3938 | - | - | - | - | - | - | - | - | 14.23 | 14.14 | 14.28 |
| 6257 | 606.9 | -8.7 | 235 | 6258 | done | -1.05 | - | - | 2414 | - | - | - | 2807 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.91 | 14.91 | 14.91 |
| 6594 | 636.4 | -8.9 | 241 | 6600 | roll | -1.05 | - | - | 2414 | - | 2.53 | 0.048 | 1380 | -564.0 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.78 | 14.22 | 14.78 |
| 6628 | 639.5 | -9.1 | 246 | 6634 | done | -1.05 | - | - | 2414 | - | 2.62 | 0.067 | 2801 | 542.4 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.21 | 14.12 | 14.27 |
| 6985 | 670.8 | -8.7 | 255 | 6994 | roll | -1.05 | - | - | 2412 | - | 2.08 | 0.089 | 3913 | 534.6 | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 14.92 | 14.07 | 14.92 |
| 7014 | 673.5 | -9.0 | 259 | 7020 | done | -1.05 | - | - | 2412 | - | 1.95 | 0.047 | 2795 | -573.3 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.42 | 14.38 | 14.44 |
| 7378 | 704.7 | -8.7 | 269 | 7379 | done | -1.05 | - | - | 2412 | - | - | - | 2795 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.91 | 14.92 | 14.91 |
| 7714 | 732.2 | -8.3 | 275 | 7720 | roll | -1.05 | - | - | 2410 | - | 2.10 | 0.090 | 3913 | 532.4 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.91 | 14.04 | 14.91 |
| 7770 | 737.0 | -9.0 | 283 | 7776 | done | -1.05 | - | - | 2410 | - | 1.95 | 0.047 | 2795 | -573.3 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.37 | 14.33 | 14.40 |
| 8164 | 768.2 | -7.8 | 297 | 8170 | roll | -1.05 | - | - | 2411 | - | 2.45 | 0.048 | 1388 | -574.3 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.89 | 14.28 | 14.89 |
| 8190 | 770.4 | -8.0 | 301 | 8197 | done | -1.05 | - | - | 2410 | - | 2.62 | 0.067 | 2812 | 543.5 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.21 | 14.12 | 14.26 |
| 8554 | 798.7 | -7.6 | 311 | 8560 | roll | -1.05 | - | - | 2410 | - | 2.53 | 0.047 | 1397 | -559.3 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.92 | 14.18 | 14.92 |
| 8589 | 800.9 | -7.6 | 316 | 8595 | done | -1.05 | - | - | 2410 | - | 2.60 | 0.067 | 2800 | 539.6 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.19 | 14.11 | 14.25 |
| 8946 | 827.7 | -7.6 | 325 | 8947 | done | -1.05 | - | - | 2410 | - | - | - | 2800 | - | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.89 | 14.89 | 14.89 |
| 9283 | 854.9 | -8.3 | 331 | 9288 | roll | -1.05 | - | - | 2407 | - | 2.08 | 0.089 | 3908 | 532.7 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.90 | 14.03 | 14.93 |
| 9331 | 859.1 | -8.8 | 338 | 9338 | done | -1.05 | - | - | 2406 | - | 1.95 | 0.047 | 2789 | -573.8 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.37 | 14.33 | 14.38 |
| 9447 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 9447 | begin apogee | ||||||||||||||||||||||||||||
| 9454 | 868.1 | -7.7 | 341 | 9588 | done | -0.23 | 1.12 | 0.229 | 2699 | 261.6 | - | - | 2543 | - | - | 131.00 | 3.095 | 3492 | -3.4 | 0.221 | - | - | - | - | - | - | 13.68 | 13.22 | 11.70 |
| 9589 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9589 | begin climb | ||||||||||||||||||||||||||||
| 9592 | 870.1 | - | 343 | 9734 | done | 1.05 | 1.40 | 0.116 | 3111 | 294.3 | - | - | 2543 | - | 107.1 | 136.60 | 3.096 | 3066 | -3.1 | 0.202 | - | - | - | - | - | - | 13.28 | 12.42 | 10.90 |
| 10067 | 807.0 | 15.4 | 352 | 10072 | roll | 1.05 | - | - | 3110 | - | 2.55 | 0.091 | 3909 | 535.7 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.53 | 14.15 | 14.53 |
| 10101 | 801.2 | 16.7 | 357 | 10108 | done | 1.05 | - | - | 3122 | - | 2.40 | 0.050 | 2553 | -565.0 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.36 | 14.31 | 14.38 |
| 10458 | 748.4 | 14.8 | 366 | 10464 | roll | 1.05 | - | - | 3122 | - | 2.55 | 0.096 | 3909 | 531.8 | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 14.87 | 14.31 | 14.87 |
| 10486 | 744.1 | 15.4 | 370 | 10492 | done | 1.05 | - | - | 3132 | - | 2.40 | 0.051 | 2537 | -571.7 | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 14.53 | 14.49 | 14.56 |
| 10850 | 688.2 | 15.3 | 380 | 10856 | roll | 1.05 | - | - | 3132 | - | 2.55 | 0.091 | 3906 | 536.9 | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 14.91 | 14.32 | 14.91 |
| 10892 | 681.0 | 17.0 | 386 | 10898 | done | 1.05 | - | - | 3143 | - | 2.38 | 0.050 | 2545 | -571.8 | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 14.54 | 14.50 | 14.59 |
| 11242 | 627.7 | 15.3 | 394 | 11248 | roll | 1.05 | - | - | 3153 | - | 2.50 | 0.062 | 1151 | -557.6 | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 14.93 | 14.34 | 14.93 |
| 11284 | 621.5 | 14.7 | 400 | 11290 | done | 1.05 | 0.12 | 0.262 | 3120 | -275.0 | 2.53 | 0.067 | 2551 | 553.4 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.00 | 14.36 | 14.23 |
| 11634 | 572.8 | 13.6 | 408 | 11640 | roll | 1.05 | - | - | 3120 | - | 2.53 | 0.091 | 3910 | 537.2 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.94 | 14.28 | 14.96 |
| 11669 | 567.5 | 15.3 | 413 | 11676 | done | 1.05 | - | - | 3130 | - | 2.38 | 0.050 | 2541 | -575.2 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.54 | 14.50 | 14.57 |
| 12026 | 517.6 | 13.9 | 422 | 12027 | done | 1.05 | - | - | 3130 | - | - | - | 2541 | - | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.95 | 14.94 | 14.94 |
| 12362 | 472.1 | 13.4 | 428 | 12368 | roll | 1.05 | - | - | 3141 | - | 2.50 | 0.060 | 1148 | -557.2 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.95 | 14.30 | 14.95 |
| 12390 | 468.3 | 13.4 | 432 | 12396 | done | 1.05 | - | - | 3139 | - | 2.55 | 0.067 | 2557 | 552.5 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.42 | 14.33 | 14.47 |
| 12754 | 418.1 | 13.8 | 442 | 12760 | roll | 1.05 | - | - | 3141 | - | 2.53 | 0.092 | 3907 | 533.6 | 107.1 | - | - | 3057 | - | - | - | - | - | - | - | - | 14.94 | 14.23 | 14.94 |
| 12796 | 411.7 | 15.6 | 448 | 12803 | done | 1.05 | 0.12 | 0.305 | 3119 | -183.3 | 2.38 | 0.050 | 2549 | -570.6 | 107.1 | - | - | 3058 | - | - | - | - | - | - | - | - | 13.83 | 14.51 | 14.11 |
| 13146 | 367.4 | 12.4 | 456 | 13147 | done | 1.05 | - | - | 3119 | - | - | - | 2545 | - | 107.1 | - | - | 3057 | - | - | - | - | - | - | - | - | 14.93 | 14.93 | 14.93 |
| 13482 | 328.9 | 11.3 | 462 | 13488 | roll | 1.05 | - | - | 3119 | - | 2.55 | 0.091 | 3903 | 532.5 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.94 | 14.21 | 14.94 |
| 13524 | 323.5 | 13.3 | 468 | 13530 | done | 1.05 | - | - | 3129 | - | 2.38 | 0.049 | 2549 | -568.9 | 107.1 | - | - | 3057 | - | - | - | - | - | - | - | - | 14.50 | 14.45 | 14.52 |
| 13875 | 283.3 | 11.3 | 476 | 13880 | roll | 1.05 | - | - | 3140 | - | 2.47 | 0.060 | 1157 | -563.6 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.84 | 14.33 | 14.84 |
| 13951 | 274.8 | 11.2 | 487 | 13957 | done | 1.05 | - | - | 3140 | - | 2.55 | 0.067 | 2556 | 548.6 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.36 | 14.27 | 14.42 |
| 14323 | 231.6 | 11.7 | 498 | 14329 | roll | 1.05 | - | - | 3140 | - | 2.53 | 0.093 | 3914 | 536.8 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.83 | 14.23 | 14.83 |
| 14378 | 224.1 | 13.9 | 506 | 14385 | done | 1.05 | 0.12 | 0.313 | 3118 | -183.3 | 2.42 | 0.050 | 2537 | -569.0 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 13.76 | 14.41 | 14.04 |
| 14742 | 183.7 | 10.9 | 522 | 14748 | roll | 1.05 | - | - | 3118 | - | 2.58 | 0.090 | 3909 | 531.8 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.94 | 14.18 | 14.93 |
| 14770 | 180.2 | 12.2 | 526 | 14776 | done | 1.05 | - | - | 3129 | - | 2.40 | 0.050 | 2546 | -567.9 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.47 | 14.42 | 14.49 |
| 15136 | 138.4 | 11.4 | 542 | 15144 | roll | 1.05 | - | - | 3139 | - | 2.50 | 0.060 | 1136 | -564.0 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.90 | 14.19 | 14.90 |
| 15206 | 130.4 | 11.1 | 552 | 15213 | done | 1.05 | - | - | 3139 | - | 2.60 | 0.067 | 2563 | 548.8 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.26 | 14.16 | 14.31 |
| 15558 | 88.4 | 12.1 | 566 | 15563 | roll | 1.05 | - | - | 3139 | - | 2.50 | 0.093 | 3915 | 540.8 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.90 | 14.23 | 14.90 |
| 15591 | 83.7 | 14.0 | 571 | 15598 | done | 1.05 | 0.12 | 0.308 | 3117 | -183.3 | 2.40 | 0.050 | 2551 | -568.3 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 13.75 | 14.40 | 14.03 |
| 15949 | 43.6 | 11.2 | 586 | 15954 | roll | 1.05 | - | - | 3117 | - | 2.53 | 0.092 | 3911 | 537.5 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.81 | 14.22 | 14.82 |
| 15962 | 41.9 | 11.3 | 588 | 15968 | done | 1.05 | - | - | 3127 | - | 2.40 | 0.050 | 2542 | -570.4 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.45 | 14.40 | 14.48 |
| 16312 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 16312 | begin surface coast | ||||||||||||||||||||||||||||
| 16337 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 16338 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.39 | - | - | - | - | -8.04 | 8.73 | 0.070 | 182 | 20.8 | 0.52 | 0.092 | 2815 | 3432.7 | 300.18 | 148.40 | 0.219 | 2296 | 15.5 | -0.003 | - | - | - | - | - | - | |||