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| • Previous call tries 1 | • 192.22 of 350.00 AH used of 24V (45.08% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -66.5 deg, depth 0.42 m | • Intended pitch -20.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 300.18 (SM_CC=300) | • surface range 15.0 m at 14.5 m depth, ceiling -0.5 m (m = 1.07, R^2 = 1.00) | |
| • GPS1 time: 29 s | • bottom range 21.3 m at 863.1 m, depth 884 m (990 m grid)(m = -0.91, R^2 = 1.00) | |
| • GPS2 time: 3 s | • Transponder ping count: 1 | |
| • 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 | |||||
| 9 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9 | begin dive | ||||||||||||||||||||||||||||
| 13 | - | - | - | 126 | done | -1.05 | - | - | 190 | - | - | - | 2809 | - | -107.1 | -108.12 | 0.003 | 3922 | - | - | - | - | - | - | - | - | 14.73 | 12.93 | 14.72 |
| 129 | 3.0 | -2.8 | 4 | 147 | roll | -1.05 | 11.80 | 0.438 | 2432 | 190.0 | 2.47 | 0.044 | 1384 | -576.9 | -107.1 | - | - | 3930 | - | - | - | - | - | - | - | - | 13.77 | 14.38 | 14.31 |
| 168 | 11.2 | -16.3 | 10 | 174 | done | -1.05 | - | - | 2428 | - | 2.58 | 0.064 | 2803 | 550.0 | -107.1 | - | - | 3934 | - | - | - | - | - | - | - | - | 14.38 | 14.30 | 14.43 |
| 518 | 46.6 | -10.4 | 24 | 524 | roll | -1.05 | - | - | 2429 | - | 2.50 | 0.048 | 1394 | -563.6 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.89 | 14.30 | 14.89 |
| 616 | 56.7 | -10.3 | 38 | 622 | done | -1.05 | - | - | 2427 | - | 2.58 | 0.065 | 2808 | 548.1 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.34 | 14.26 | 14.40 |
| 968 | 92.8 | -10.2 | 52 | 973 | roll | -1.05 | - | - | 2427 | - | 2.50 | 0.049 | 1383 | -570.0 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.37 | 14.90 |
| 1022 | 98.5 | -10.1 | 60 | 1028 | done | -1.05 | - | - | 2427 | - | 2.60 | 0.065 | 2809 | 548.5 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.33 | 14.24 | 14.38 |
| 1388 | 133.8 | -9.4 | 76 | 1393 | roll | -1.05 | - | - | 2426 | - | 2.00 | 0.090 | 3910 | 550.5 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.23 | 14.88 |
| 1421 | 137.3 | -10.0 | 81 | 1428 | done | -1.05 | - | - | 2426 | - | 1.92 | 0.047 | 2795 | -580.7 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.49 | 14.45 | 14.51 |
| 1778 | 173.0 | -10.0 | 96 | 1779 | done | -1.05 | - | - | 2426 | - | - | - | 2794 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.92 |
| 2114 | 206.5 | -9.8 | 107 | 2120 | roll | -1.05 | - | - | 2426 | - | 2.47 | 0.048 | 1400 | -564.4 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.92 | 14.26 | 14.92 |
| 2163 | 211.4 | -9.9 | 114 | 2170 | done | -1.05 | - | - | 2425 | - | 2.58 | 0.065 | 2809 | 546.1 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.20 | 14.13 | 14.26 |
| 2507 | 245.0 | -9.8 | 121 | 2513 | roll | -1.05 | - | - | 2425 | - | 2.50 | 0.049 | 1389 | -568.0 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.79 | 14.28 | 14.80 |
| 2541 | 248.4 | -9.6 | 126 | 2547 | done | -1.05 | - | - | 2425 | - | 2.60 | 0.065 | 2809 | 546.2 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.28 | 14.19 | 14.33 |
| 2898 | 282.7 | -9.6 | 135 | 2904 | roll | -1.05 | - | - | 2425 | - | 2.53 | 0.048 | 1392 | -560.1 | -107.1 | - | - | 3942 | - | - | - | - | - | - | - | - | 14.92 | 14.24 | 14.92 |
| 2954 | 288.2 | -9.7 | 143 | 2960 | done | -1.05 | - | - | 2424 | - | 2.60 | 0.066 | 2808 | 544.6 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.26 | 14.17 | 14.32 |
| 3346 | 326.2 | -9.8 | 157 | 3353 | roll | -1.05 | - | - | 2422 | - | 2.08 | 0.089 | 3920 | 534.6 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.92 | 14.09 | 14.92 |
| 3381 | 329.8 | -10.3 | 162 | 3387 | done | -1.05 | - | - | 2422 | - | 1.95 | 0.048 | 2795 | -576.9 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.43 | 14.39 | 14.45 |
| 3739 | 364.5 | -9.7 | 171 | 3740 | done | -1.05 | - | - | 2422 | - | - | - | 2796 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.78 | 14.78 | 14.78 |
| 4075 | 396.3 | -9.4 | 177 | 4081 | roll | -1.05 | - | - | 2422 | - | 2.45 | 0.049 | 1390 | -573.9 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.79 | 14.31 | 14.79 |
| 4109 | 399.8 | -9.9 | 182 | 4115 | done | -1.05 | - | - | 2422 | - | 2.60 | 0.066 | 2806 | 544.6 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.25 | 14.18 | 14.30 |
| 4466 | 433.7 | -9.4 | 191 | 4472 | roll | -1.05 | - | - | 2422 | - | 2.50 | 0.047 | 1398 | -563.2 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.92 | 14.22 | 14.92 |
| 4508 | 437.7 | -9.4 | 197 | 4515 | done | -1.05 | - | - | 2422 | - | 2.60 | 0.066 | 2814 | 544.6 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.15 | 14.06 | 14.21 |
| 4859 | 469.9 | -9.2 | 205 | 4859 | done | -1.05 | - | - | 2422 | - | - | - | 2814 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.78 | 14.78 | 14.78 |
| 5194 | 500.1 | -9.0 | 211 | 5201 | roll | -1.05 | - | - | 2422 | - | 2.53 | 0.047 | 1399 | -559.3 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.89 | 14.20 | 14.90 |
| 5229 | 503.2 | -9.0 | 216 | 5235 | done | -1.05 | - | - | 2420 | - | 2.60 | 0.067 | 2811 | 543.1 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.21 | 14.13 | 14.28 |
| 5587 | 535.5 | -9.1 | 225 | 5587 | done | -1.05 | - | - | 2420 | - | - | - | 2811 | - | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.76 | 14.75 | 14.76 |
| 5922 | 565.1 | -8.7 | 231 | 5922 | done | -1.05 | - | - | 2420 | - | - | - | 2811 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.89 | 14.89 | 14.89 |
| 6258 | 595.0 | -9.0 | 237 | 6266 | roll | -1.05 | - | - | 2420 | - | 2.53 | 0.048 | 1393 | -560.5 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.91 | 14.10 | 14.91 |
| 6307 | 599.2 | -8.7 | 244 | 6315 | done | -1.05 | - | - | 2420 | - | 2.60 | 0.067 | 2804 | 542.7 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.21 | 14.12 | 14.26 |
| 6650 | 627.9 | -8.3 | 251 | 6651 | done | -1.05 | - | - | 2420 | - | - | - | 2803 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 6986 | 655.4 | -8.1 | 257 | 6987 | done | -1.05 | - | - | 2420 | - | - | - | 2804 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 7322 | 682.3 | -7.8 | 263 | 7323 | done | -1.05 | - | - | 2420 | - | - | - | 2804 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 7658 | 708.9 | -7.7 | 269 | 7659 | done | -1.05 | - | - | 2420 | - | - | - | 2804 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 7994 | 735.6 | -8.1 | 275 | 8000 | roll | -1.05 | - | - | 2420 | - | 2.50 | 0.047 | 1400 | -561.6 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.19 | 14.90 |
| 8057 | 741.3 | -8.8 | 284 | 8063 | done | -1.05 | - | - | 2420 | - | 2.60 | 0.067 | 2812 | 543.1 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.20 | 14.11 | 14.26 |
| 8442 | 773.6 | -8.3 | 297 | 8449 | roll | -1.05 | - | - | 2417 | - | 2.05 | 0.090 | 3912 | 536.6 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.03 | 14.90 |
| 8505 | 778.7 | -8.8 | 306 | 8511 | done | -1.05 | - | - | 2417 | - | 1.95 | 0.047 | 2799 | -570.8 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.36 | 14.33 | 14.38 |
| 8890 | 807.3 | -7.4 | 319 | 8896 | roll | -1.05 | - | - | 2417 | - | 2.50 | 0.047 | 1386 | -565.2 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.90 | 14.16 | 14.91 |
| 8961 | 812.9 | -8.1 | 329 | 8967 | done | -1.05 | - | - | 2416 | - | 2.60 | 0.067 | 2818 | 550.8 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.34 | 14.19 | 14.39 |
| 9338 | 840.6 | -7.3 | 341 | 9345 | roll | -1.05 | - | - | 2413 | - | 2.03 | 0.089 | 3902 | 534.0 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.91 | 13.94 | 14.91 |
| 9373 | 843.3 | -8.3 | 346 | 9379 | done | -1.05 | - | - | 2414 | - | 1.95 | 0.048 | 2789 | -570.8 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.35 | 14.31 | 14.38 |
| 9730 | 871.1 | -7.6 | 355 | 9731 | done | -1.05 | - | - | 2413 | - | - | - | 2789 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.92 | 14.90 |
| 9784 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 9784 | begin apogee | ||||||||||||||||||||||||||||
| 9791 | 875.8 | -7.6 | 356 | 9926 | done | -0.23 | 1.10 | 0.223 | 2701 | 261.8 | - | - | 2542 | - | - | 132.05 | 3.095 | 3492 | -3.4 | 0.221 | - | - | - | - | - | - | 13.69 | 13.22 | 11.70 |
| 9927 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9927 | begin climb | ||||||||||||||||||||||||||||
| 9930 | 877.4 | - | 358 | 10075 | roll | 1.05 | 1.40 | 0.114 | 3114 | 295.0 | 2.88 | 0.089 | 3913 | 476.0 | 107.1 | 137.75 | 3.096 | 3066 | -3.1 | 0.202 | - | - | - | - | - | - | 13.29 | 12.24 | 10.90 |
| 10094 | 860.0 | 16.9 | 365 | 10102 | done | 1.05 | - | - | 3125 | - | 2.72 | 0.050 | 2549 | -501.5 | 107.1 | - | - | 3063 | - | - | - | - | - | - | - | - | 12.83 | 12.79 | 12.85 |
| 10459 | 802.6 | 15.7 | 375 | 10465 | roll | 1.05 | - | - | 3135 | - | 2.55 | 0.063 | 1145 | -550.6 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.67 | 14.22 | 14.67 |
| 10493 | 797.1 | 15.0 | 380 | 10500 | done | 1.05 | - | - | 3135 | - | 2.58 | 0.067 | 2553 | 545.7 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.35 | 14.27 | 14.40 |
| 10850 | 741.5 | 15.5 | 389 | 10851 | done | 1.05 | - | - | 3135 | - | - | - | 2552 | - | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 14.88 | 14.88 | 14.88 |
| 11187 | 688.3 | 15.8 | 395 | 11187 | done | 1.05 | - | - | 3136 | - | - | - | 2553 | - | 107.1 | - | - | 3054 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.92 |
| 11522 | 637.7 | 14.9 | 401 | 11523 | done | 1.05 | - | - | 3135 | - | - | - | 2553 | - | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.93 | 14.92 | 14.93 |
| 11859 | 589.6 | 14.2 | 407 | 11865 | roll | 1.05 | - | - | 3135 | - | 2.55 | 0.093 | 3919 | 535.7 | 107.1 | - | - | 3054 | - | - | - | - | - | - | - | - | 14.94 | 14.29 | 14.94 |
| 11886 | 585.3 | 15.2 | 411 | 11893 | done | 1.05 | 0.10 | 0.285 | 3121 | -140.0 | 2.42 | 0.050 | 2531 | -573.6 | 107.1 | - | - | 3054 | - | - | - | - | - | - | - | - | 13.97 | 14.50 | 14.23 |
| 12250 | 537.3 | 13.1 | 421 | 12257 | roll | 1.05 | - | - | 3131 | - | 2.47 | 0.061 | 1149 | -559.5 | 107.1 | - | - | 3054 | - | - | - | - | - | - | - | - | 14.94 | 14.32 | 14.94 |
| 12272 | 534.5 | 13.1 | 424 | 12278 | done | 1.05 | - | - | 3130 | - | 2.53 | 0.067 | 2565 | 559.7 | 107.1 | - | - | 3054 | - | - | - | - | - | - | - | - | 14.46 | 14.33 | 14.52 |
| 12642 | 485.1 | 13.3 | 435 | 12643 | done | 1.05 | - | - | 3130 | - | - | - | 2565 | - | 107.1 | - | - | 3054 | - | - | - | - | - | - | - | - | 14.94 | 14.94 | 14.94 |
| 12979 | 440.9 | 13.2 | 441 | 12979 | done | 1.05 | - | - | 3128 | - | - | - | 2565 | - | 107.1 | - | - | 3054 | - | - | - | - | - | - | - | - | 14.94 | 14.94 | 14.94 |
| 13315 | 397.2 | 13.1 | 447 | 13321 | roll | 1.05 | - | - | 3141 | - | 2.55 | 0.060 | 1152 | -554.1 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.94 | 14.28 | 14.94 |
| 13356 | 391.5 | 13.3 | 453 | 13364 | done | 1.05 | - | - | 3141 | - | 2.55 | 0.067 | 2555 | 550.2 | 107.1 | - | - | 3054 | - | - | - | - | - | - | - | - | 14.39 | 14.30 | 14.45 |
| 13706 | 343.5 | 13.8 | 461 | 13714 | roll | 1.05 | - | - | 3141 | - | 2.53 | 0.092 | 3906 | 534.0 | 107.1 | - | - | 3054 | - | - | - | - | - | - | - | - | 14.93 | 14.20 | 14.94 |
| 13748 | 337.2 | 15.4 | 467 | 13755 | done | 1.05 | 0.15 | 0.297 | 3114 | -180.0 | 2.38 | 0.049 | 2545 | -571.8 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 13.81 | 14.45 | 14.09 |
| 14098 | 293.5 | 12.2 | 475 | 14105 | roll | 1.05 | - | - | 3124 | - | 2.50 | 0.061 | 1155 | -556.0 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.93 | 14.25 | 14.93 |
| 14154 | 286.7 | 11.9 | 483 | 14161 | done | 1.05 | - | - | 3124 | - | 2.55 | 0.065 | 2555 | 549.0 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.36 | 14.27 | 14.41 |
| 14550 | 238.2 | 12.4 | 497 | 14555 | roll | 1.05 | - | - | 3124 | - | 2.53 | 0.092 | 3920 | 539.5 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.83 | 14.26 | 14.83 |
| 14589 | 232.6 | 13.2 | 503 | 14595 | done | 1.05 | - | - | 3134 | - | 2.40 | 0.050 | 2550 | -570.8 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.47 | 14.43 | 14.50 |
| 14939 | 189.9 | 12.1 | 512 | 14945 | roll | 1.05 | - | - | 3146 | - | 2.53 | 0.060 | 1150 | -553.4 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.94 | 14.28 | 14.94 |
| 14981 | 184.7 | 12.0 | 518 | 14987 | done | 1.05 | - | - | 3146 | - | 2.58 | 0.067 | 2562 | 547.3 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.35 | 14.26 | 14.40 |
| 15333 | 140.2 | 12.8 | 532 | 15339 | roll | 1.05 | 0.12 | 0.306 | 3127 | -158.3 | 2.53 | 0.057 | 1146 | -559.7 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 13.94 | 14.28 | 14.16 |
| 15380 | 134.4 | 11.8 | 539 | 15388 | done | 1.05 | - | - | 3126 | - | 2.55 | 0.065 | 2549 | 550.2 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.34 | 14.25 | 14.40 |
| 15723 | 94.1 | 11.4 | 552 | 15730 | roll | 1.05 | - | - | 3127 | - | 2.58 | 0.093 | 3913 | 528.7 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.92 | 14.16 | 14.92 |
| 15758 | 89.6 | 13.1 | 557 | 15765 | done | 1.05 | - | - | 3137 | - | 2.40 | 0.048 | 2547 | -569.2 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.45 | 14.42 | 14.47 |
| 16116 | 47.5 | 11.9 | 572 | 16122 | roll | 1.05 | - | - | 3147 | - | 2.53 | 0.060 | 1155 | -550.2 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.81 | 14.18 | 14.81 |
| 16213 | 36.4 | 11.0 | 586 | 16219 | done | 1.05 | 0.12 | 0.256 | 3113 | -283.3 | 2.55 | 0.067 | 2550 | 547.1 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 13.80 | 14.21 | 14.04 |
| 16560 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 16560 | begin surface coast | ||||||||||||||||||||||||||||
| 16588 | end surface coast: FINISH_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 16588 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.44 | - | - | - | - | -8.04 | 8.70 | 0.072 | 188 | 21.6 | 0.47 | 0.089 | 2808 | -4931.9 | 300.18 | 146.88 | 0.218 | 2295 | 15.6 | -0.003 | - | - | - | - | - | - | |||