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| • Previous call tries 3 | • 209.46 of 350.00 AH used of 24V (40.16% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -61.4 deg, depth 0.48 m | • Intended pitch -20.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 399.91 (SM_CC=399.91037) | • surface range 12.6 m at 12.3 m depth, ceiling -0.3 m (m = 1.08, R^2 = 1.00) | |
| • GPS1 time: 22 s | • bottom range 10.9 m at 929.4 m, depth 940 m (990 m grid)(m = -0.86, R^2 = 0.97) | |
| • 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 | - | - | - | 144 | done | -1.05 | - | - | 192 | - | - | - | 2799 | - | -107.1 | -127.68 | 0.003 | 3922 | - | - | - | - | - | - | - | - | 14.77 | 12.55 | 14.75 |
| 148 | 2.5 | -3.4 | 13 | 166 | roll | -1.05 | 11.27 | 0.421 | 2421 | 197.8 | 2.03 | 0.075 | 3910 | 547.3 | -107.1 | - | - | 3932 | - | - | - | - | - | - | - | - | 13.86 | 14.36 | 14.38 |
| 393 | 32.8 | -10.2 | 61 | 399 | done | -1.05 | - | - | 2422 | - | 1.90 | 0.045 | 2790 | -589.5 | -107.1 | - | - | 3938 | - | - | - | - | - | - | - | - | 14.49 | 14.42 | 14.51 |
| 705 | 64.5 | -10.3 | 93 | 705 | done | -1.05 | - | - | 2421 | - | - | - | 2790 | - | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.91 | 14.92 | 14.91 |
| 1005 | 95.5 | -10.3 | 123 | 1005 | done | -1.05 | - | - | 2422 | - | - | - | 2788 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.92 | 14.92 |
| 1305 | 126.7 | -10.3 | 153 | 1310 | roll | -1.05 | - | - | 2422 | - | 2.42 | 0.047 | 1396 | -575.2 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.91 | 14.30 | 14.92 |
| 1331 | 129.5 | -10.6 | 158 | 1338 | done | -1.05 | - | - | 2420 | - | 2.53 | 0.063 | 2804 | 556.5 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.40 | 14.26 | 14.48 |
| 1637 | 161.0 | -10.2 | 189 | 1637 | done | -1.05 | - | - | 2420 | - | - | - | 2804 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.91 | 14.91 | 14.91 |
| 1936 | 192.8 | -10.8 | 219 | 1937 | done | -1.05 | - | - | 2420 | - | - | - | 2804 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.90 | 14.91 | 14.91 |
| 2236 | 225.3 | -10.9 | 249 | 2237 | done | -1.05 | - | - | 2420 | - | - | - | 2802 | - | -107.1 | - | - | 3942 | - | - | - | - | - | - | - | - | 14.90 | 14.91 | 14.90 |
| 2537 | 256.9 | -10.2 | 279 | 2542 | roll | -1.05 | - | - | 2420 | - | 2.50 | 0.047 | 1388 | -565.6 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.90 | 14.22 | 14.90 |
| 2568 | 260.2 | -10.7 | 285 | 2574 | done | -1.05 | - | - | 2420 | - | 2.55 | 0.063 | 2802 | 554.5 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.35 | 14.21 | 14.42 |
| 2879 | 294.0 | -11.1 | 317 | 2885 | roll | -1.05 | - | - | 2417 | - | 2.05 | 0.086 | 3917 | 543.9 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.88 | 14.12 | 14.90 |
| 2917 | 298.2 | -11.9 | 324 | 2923 | done | -1.05 | - | - | 2418 | - | 1.92 | 0.046 | 2789 | -587.5 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.46 | 14.40 | 14.50 |
| 3221 | 330.0 | -10.0 | 341 | 3222 | done | -1.05 | - | - | 2418 | - | - | - | 2789 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.89 | 14.89 | 14.89 |
| 3521 | 359.2 | -9.6 | 356 | 3522 | done | -1.05 | - | - | 2418 | - | - | - | 2788 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.85 | 14.85 | 14.85 |
| 3821 | 387.4 | -9.3 | 371 | 3822 | done | -1.05 | - | - | 2418 | - | - | - | 2788 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.89 | 14.89 | 14.88 |
| 4122 | 416.3 | -9.9 | 386 | 4127 | roll | -1.05 | - | - | 2417 | - | 2.45 | 0.046 | 1395 | -568.6 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.73 | 14.23 | 14.73 |
| 4152 | 419.5 | -9.8 | 392 | 4157 | done | -1.05 | - | - | 2413 | - | 2.55 | 0.063 | 2802 | 551.8 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.32 | 14.17 | 14.38 |
| 4466 | 450.1 | -10.0 | 409 | 4472 | roll | -1.05 | - | - | 2413 | - | 2.05 | 0.087 | 3912 | 541.5 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.85 | 14.07 | 14.85 |
| 4508 | 454.7 | -10.4 | 417 | 4514 | done | -1.05 | - | - | 2413 | - | 1.92 | 0.046 | 2786 | -586.5 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.44 | 14.38 | 14.47 |
| 4829 | 484.9 | -9.2 | 436 | 4834 | roll | -1.05 | - | - | 2413 | - | 2.45 | 0.047 | 1391 | -569.4 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.91 | 14.22 | 14.91 |
| 4865 | 488.2 | -9.1 | 443 | 4871 | done | -1.05 | - | - | 2412 | - | 2.58 | 0.064 | 2808 | 549.2 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.30 | 14.15 | 14.35 |
| 5194 | 517.0 | -8.8 | 457 | 5199 | roll | -1.05 | - | - | 2409 | - | 2.05 | 0.087 | 3919 | 542.0 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.73 | 14.05 | 14.73 |
| 5235 | 521.2 | -9.7 | 465 | 5241 | done | -1.05 | - | - | 2409 | - | 1.92 | 0.047 | 2799 | -583.3 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.43 | 14.35 | 14.47 |
| 5620 | 554.4 | -8.6 | 481 | 5626 | roll | -1.05 | - | - | 2409 | - | 2.47 | 0.047 | 1386 | -572.1 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.72 | 14.21 | 14.71 |
| 5661 | 558.3 | -8.6 | 489 | 5667 | done | -1.05 | - | - | 2409 | - | 2.60 | 0.065 | 2810 | 547.7 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.29 | 14.14 | 14.34 |
| 6046 | 591.9 | -8.9 | 505 | 6046 | done | -1.05 | - | - | 2409 | - | - | - | 2810 | - | -107.1 | - | - | 3938 | - | - | - | - | - | - | - | - | 14.88 | 14.89 | 14.89 |
| 6404 | 622.3 | -8.3 | 517 | 6404 | done | -1.05 | - | - | 2409 | - | - | - | 2810 | - | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.90 | 14.91 | 14.91 |
| 6764 | 651.9 | -8.0 | 529 | 6769 | roll | -1.05 | - | - | 2409 | - | 2.50 | 0.046 | 1391 | -567.6 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.20 | 14.91 |
| 6810 | 655.7 | -8.0 | 538 | 6816 | done | -1.05 | 0.15 | 0.278 | 2432 | 153.3 | 2.58 | 0.063 | 2808 | 549.2 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 13.67 | 14.14 | 14.02 |
| 7187 | 682.3 | -7.1 | 553 | 7187 | done | -1.05 | - | - | 2432 | - | - | - | 2808 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.88 | 14.88 | 14.89 |
| 7547 | 708.0 | -7.3 | 565 | 7552 | roll | -1.05 | - | - | 2432 | - | 2.50 | 0.047 | 1389 | -567.6 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.89 | 14.19 | 14.89 |
| 7593 | 711.4 | -7.3 | 574 | 7598 | done | -1.05 | - | - | 2431 | - | 2.60 | 0.064 | 2815 | 548.5 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.26 | 14.12 | 14.31 |
| 7972 | 738.2 | -7.1 | 589 | 7978 | roll | -1.05 | - | - | 2432 | - | 2.53 | 0.047 | 1389 | -563.6 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.71 | 14.09 | 14.72 |
| 8004 | 740.8 | -7.5 | 595 | 8009 | done | -1.05 | - | - | 2430 | - | 2.58 | 0.064 | 2807 | 549.6 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.27 | 14.12 | 14.32 |
| 8398 | 768.5 | -7.1 | 613 | 8398 | done | -1.05 | - | - | 2427 | - | - | - | 2807 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.85 | 14.85 | 14.85 |
| 8756 | 794.1 | -7.2 | 625 | 8762 | roll | -1.05 | - | - | 2430 | - | 2.53 | 0.047 | 1390 | -560.1 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.88 | 14.17 | 14.88 |
| 8822 | 798.8 | -7.3 | 638 | 8828 | done | -1.05 | - | - | 2429 | - | 2.60 | 0.065 | 2816 | 548.5 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.26 | 14.10 | 14.30 |
| 9211 | 826.7 | -7.4 | 655 | 9212 | done | -1.05 | - | - | 2429 | - | - | - | 2816 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.85 | 14.86 | 14.86 |
| 9568 | 852.1 | -6.9 | 667 | 9574 | roll | -1.05 | - | - | 2429 | - | 2.53 | 0.046 | 1396 | -561.3 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.88 | 14.16 | 14.88 |
| 9619 | 855.8 | -7.0 | 677 | 9626 | done | -1.05 | - | - | 2429 | - | 2.60 | 0.065 | 2813 | 545.0 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.24 | 14.09 | 14.29 |
| 9995 | 880.8 | -6.6 | 691 | 9996 | done | -1.05 | - | - | 2429 | - | - | - | 2813 | - | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.67 | 14.68 | 14.68 |
| 10355 | 904.5 | -6.6 | 703 | 10360 | roll | -1.05 | - | - | 2429 | - | 2.50 | 0.045 | 1394 | -567.6 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.67 | 14.15 | 14.67 |
| 10411 | 908.2 | -6.8 | 714 | 10417 | done | -1.05 | - | - | 2429 | - | 2.58 | 0.065 | 2808 | 548.1 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.23 | 14.09 | 14.28 |
| 10743 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 10743 | begin apogee | ||||||||||||||||||||||||||||
| 10750 | 931.3 | -6.8 | 726 | 10886 | done | -0.23 | 1.02 | 0.221 | 2697 | 262.7 | - | - | 2541 | - | - | 132.93 | 3.096 | 3492 | -3.4 | 0.233 | - | - | - | - | - | - | 13.71 | 12.83 | 11.81 |
| 10887 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 10887 | begin climb | ||||||||||||||||||||||||||||
| 10890 | 932.4 | - | 730 | 11034 | done | 1.05 | 1.42 | 0.119 | 3117 | 295.8 | - | - | 2541 | - | 107.1 | 137.62 | 3.096 | 3064 | -3.1 | 0.216 | - | - | - | - | - | - | 13.22 | 12.31 | 10.91 |
| 11378 | 868.2 | 14.6 | 762 | 11383 | roll | 1.05 | - | - | 3128 | - | 2.47 | 0.059 | 1158 | -559.9 | 107.1 | - | - | 3054 | - | - | - | - | - | - | - | - | 14.59 | 14.25 | 14.60 |
| 11404 | 863.8 | 14.2 | 767 | 11410 | done | 1.05 | - | - | 3128 | - | 2.50 | 0.063 | 2558 | 560.0 | 107.1 | - | - | 3054 | - | - | - | - | - | - | - | - | 14.45 | 14.32 | 14.47 |
| 11769 | 808.6 | 14.7 | 780 | 11770 | done | 1.05 | - | - | 3128 | - | - | - | 2557 | - | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 12131 | 755.2 | 14.4 | 792 | 12136 | roll | 1.05 | - | - | 3138 | - | 2.47 | 0.059 | 1157 | -566.8 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.90 | 14.44 | 14.90 |
| 12188 | 746.8 | 14.2 | 803 | 12194 | done | 1.05 | - | - | 3139 | - | 2.50 | 0.064 | 2564 | 562.8 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.59 | 14.46 | 14.64 |
| 12556 | 692.0 | 15.3 | 816 | 12557 | done | 1.05 | - | - | 3138 | - | - | - | 2564 | - | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.84 | 14.84 | 14.83 |
| 12915 | 637.1 | 15.4 | 828 | 12916 | done | 1.05 | - | - | 3138 | - | - | - | 2563 | - | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.85 | 14.84 | 14.84 |
| 13275 | 583.3 | 14.7 | 840 | 13280 | roll | 1.05 | - | - | 3147 | - | 2.50 | 0.060 | 1158 | -562.0 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.82 | 14.37 | 14.83 |
| 13326 | 575.4 | 14.6 | 850 | 13331 | done | 1.05 | 0.15 | 0.285 | 3116 | -206.7 | 2.47 | 0.064 | 2553 | 564.8 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.02 | 14.40 | 14.40 |
| 13697 | 523.3 | 14.0 | 864 | 13698 | done | 1.05 | - | - | 3116 | - | - | - | 2553 | - | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.92 |
| 14057 | 474.8 | 13.7 | 879 | 14058 | done | 1.05 | - | - | 3116 | - | - | - | 2553 | - | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.92 |
| 14360 | 434.6 | 13.2 | 894 | 14366 | roll | 1.05 | - | - | 3127 | - | 2.47 | 0.058 | 1149 | -568.4 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.90 | 14.31 | 14.90 |
| 14402 | 428.8 | 13.1 | 902 | 14407 | done | 1.05 | - | - | 3124 | - | 2.50 | 0.063 | 2557 | 563.2 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.52 | 14.37 | 14.57 |
| 14722 | 386.7 | 13.3 | 921 | 14728 | roll | 1.05 | - | - | 3138 | - | 2.50 | 0.058 | 1150 | -562.8 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.93 | 14.31 | 14.93 |
| 14759 | 381.9 | 13.0 | 928 | 14765 | done | 1.05 | - | - | 3138 | - | 2.50 | 0.063 | 2555 | 562.0 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.50 | 14.35 | 14.54 |
| 15064 | 342.5 | 12.7 | 944 | 15065 | done | 1.05 | - | - | 3136 | - | - | - | 2554 | - | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.94 | 14.95 | 14.95 |
| 15366 | 304.4 | 12.8 | 959 | 15371 | roll | 1.05 | - | - | 3137 | - | 2.47 | 0.089 | 3907 | 547.8 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.92 | 14.25 | 14.92 |
| 15397 | 299.7 | 15.0 | 965 | 15403 | done | 1.05 | 0.15 | 0.325 | 3117 | -133.3 | 2.35 | 0.047 | 2532 | -585.1 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 13.86 | 14.50 | 14.30 |
| 15709 | 262.4 | 11.7 | 997 | 15710 | done | 1.05 | - | - | 3117 | - | - | - | 2533 | - | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.91 | 14.91 | 14.91 |
| 16009 | 227.8 | 11.6 | 1027 | 16014 | roll | 1.05 | - | - | 3128 | - | 2.45 | 0.059 | 1154 | -562.9 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.91 | 14.28 | 14.90 |
| 16035 | 224.9 | 11.2 | 1032 | 16042 | done | 1.05 | - | - | 3128 | - | 2.53 | 0.063 | 2557 | 554.5 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.46 | 14.32 | 14.52 |
| 16340 | 190.3 | 11.2 | 1063 | 16341 | done | 1.05 | - | - | 3128 | - | - | - | 2558 | - | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.91 | 14.89 | 14.91 |
| 16640 | 155.9 | 11.4 | 1093 | 16641 | done | 1.05 | - | - | 3128 | - | - | - | 2557 | - | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.91 | 14.91 | 14.91 |
| 16940 | 122.5 | 11.2 | 1123 | 16941 | done | 1.05 | - | - | 3127 | - | - | - | 2558 | - | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.91 | 14.91 | 14.90 |
| 17240 | 89.5 | 11.0 | 1153 | 17246 | roll | 1.05 | - | - | 3138 | - | 2.50 | 0.059 | 1158 | -560.0 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.90 | 14.26 | 14.90 |
| 17277 | 85.5 | 10.7 | 1160 | 17284 | done | 1.05 | - | - | 3138 | - | 2.50 | 0.063 | 2554 | 558.4 | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 14.44 | 14.30 | 14.49 |
| 17583 | 51.9 | 11.2 | 1191 | 17583 | done | 1.05 | - | - | 3139 | - | - | - | 2554 | - | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 14.78 | 14.78 | 14.78 |
| 17883 | 18.6 | 11.2 | 1221 | 17888 | roll | 1.05 | - | - | 3147 | - | 2.50 | 0.060 | 1157 | -558.8 | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 14.78 | 14.15 | 14.78 |
| 17989 | 5.6 | 11.7 | 1242 | 17996 | done | 1.05 | 0.15 | 0.282 | 3115 | -213.3 | 2.50 | 0.063 | 2551 | 557.6 | 107.1 | - | - | 3048 | - | - | - | - | - | - | - | - | 13.85 | 14.28 | 14.26 |
| 18021 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 18021 | begin surface coast | ||||||||||||||||||||||||||||
| 18032 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 18032 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.48 | - | - | - | - | -8.04 | 8.90 | 0.089 | 183 | 20.6 | 0.47 | 0.089 | 2810 | -4927.7 | 399.91 | 210.48 | 0.220 | 1897 | 9.0 | -0.002 | - | - | - | - | - | - | |||