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| • Previous call tries 1 | • 210.20 of 350.00 AH used of 24V (39.94% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -61.0 deg, depth 0.47 m | • Intended pitch -20.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 399.91 (SM_CC=399.91037) | • surface range 6.2 m at 5.8 m depth, ceiling -0.4 m (m = 1.01, R^2 = 1.00) | |
| • GPS1 time: 27 s | • bottom range 12.7 m at 830.1 m, depth 843 m (990 m grid)(m = -0.94, R^2 = 0.99) | |
| • GPS2 time: 4 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 | |||||
| 9 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9 | begin dive | ||||||||||||||||||||||||||||
| 13 | - | - | - | 144 | done | -1.05 | - | - | 188 | - | - | - | 2811 | - | -107.1 | -127.68 | 0.003 | 3922 | - | - | - | - | - | - | - | - | 14.77 | 12.57 | 14.75 |
| 148 | 2.4 | -3.2 | 13 | 166 | roll | -1.05 | 11.43 | 0.426 | 2425 | 195.7 | 1.98 | 0.076 | 3908 | 554.0 | -107.1 | - | - | 3932 | - | - | - | - | - | - | - | - | 13.87 | 14.34 | 14.38 |
| 322 | 25.6 | -11.5 | 47 | 331 | done | -1.05 | - | - | 2425 | - | 1.88 | 0.044 | 2785 | -597.3 | -107.1 | - | - | 3938 | - | - | - | - | - | - | - | - | 14.58 | 14.52 | 14.61 |
| 637 | 58.7 | -10.3 | 79 | 642 | roll | -1.05 | - | - | 2424 | - | 2.40 | 0.047 | 1408 | -573.8 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.36 | 14.90 |
| 682 | 63.5 | -10.4 | 88 | 692 | done | -1.05 | - | - | 2424 | - | 2.50 | 0.063 | 2806 | 559.2 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.36 | 14.26 | 14.42 |
| 989 | 95.9 | -10.4 | 119 | 994 | roll | -1.05 | - | - | 2421 | - | 2.03 | 0.085 | 3918 | 547.8 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.78 | 14.21 | 14.78 |
| 1060 | 104.2 | -11.7 | 133 | 1065 | done | -1.05 | - | - | 2422 | - | 1.90 | 0.045 | 2790 | -593.7 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.53 | 14.47 | 14.56 |
| 1371 | 137.0 | -10.9 | 165 | 1377 | roll | -1.05 | - | - | 2421 | - | 2.42 | 0.047 | 1403 | -573.1 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.86 | 14.29 | 14.85 |
| 1432 | 143.7 | -10.8 | 177 | 1438 | done | -1.05 | - | - | 2420 | - | 2.53 | 0.063 | 2808 | 555.3 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.31 | 14.16 | 14.36 |
| 1744 | 176.1 | -10.2 | 209 | 1745 | done | -1.05 | - | - | 2420 | - | - | - | 2808 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.92 |
| 2044 | 205.6 | -9.6 | 239 | 2045 | done | -1.05 | - | - | 2420 | - | - | - | 2808 | - | -107.1 | - | - | 3942 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.92 |
| 2344 | 234.4 | -9.6 | 269 | 2350 | roll | -1.05 | - | - | 2420 | - | 2.50 | 0.047 | 1396 | -564.8 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.92 | 14.25 | 14.92 |
| 2380 | 237.9 | -9.5 | 276 | 2387 | done | -1.05 | - | - | 2419 | - | 2.55 | 0.063 | 2808 | 553.7 | -107.1 | - | - | 3942 | - | - | - | - | - | - | - | - | 14.35 | 14.21 | 14.42 |
| 2686 | 266.9 | -9.4 | 307 | 2686 | done | -1.05 | - | - | 2420 | - | - | - | 2808 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.94 |
| 2986 | 296.3 | -10.2 | 337 | 2992 | roll | -1.05 | - | - | 2420 | - | 2.50 | 0.047 | 1395 | -565.2 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.71 | 14.24 | 14.73 |
| 3023 | 300.2 | -10.4 | 344 | 3029 | done | -1.05 | - | - | 2420 | - | 2.55 | 0.063 | 2801 | 551.4 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.30 | 14.12 | 14.36 |
| 3331 | 330.1 | -9.7 | 360 | 3332 | done | -1.05 | - | - | 2420 | - | - | - | 2801 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.88 | 14.88 | 14.88 |
| 3628 | 357.2 | -8.7 | 375 | 3629 | done | -1.05 | - | - | 2420 | - | - | - | 2802 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 3929 | 382.9 | -8.6 | 390 | 3934 | roll | -1.05 | - | - | 2420 | - | 2.50 | 0.047 | 1393 | -563.6 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.70 | 14.21 | 14.70 |
| 3964 | 386.1 | -8.5 | 397 | 3971 | done | -1.05 | - | - | 2419 | - | 2.58 | 0.063 | 2809 | 548.8 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.31 | 14.16 | 14.36 |
| 4272 | 411.3 | -8.2 | 413 | 4273 | done | -1.05 | - | - | 2420 | - | - | - | 2809 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.85 | 14.85 | 14.85 |
| 4573 | 434.8 | -7.6 | 428 | 4578 | roll | -1.05 | - | - | 2420 | - | 2.50 | 0.047 | 1403 | -562.4 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.70 | 14.21 | 14.71 |
| 4614 | 438.3 | -7.7 | 436 | 4619 | done | -1.05 | - | - | 2420 | - | 2.55 | 0.064 | 2808 | 551.0 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.31 | 14.15 | 14.35 |
| 4935 | 463.2 | -8.0 | 455 | 4940 | roll | -1.05 | - | - | 2420 | - | 2.03 | 0.088 | 3909 | 542.4 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.88 | 14.06 | 14.88 |
| 4966 | 465.9 | -8.7 | 461 | 4973 | done | -1.05 | - | - | 2420 | - | 1.90 | 0.046 | 2796 | -585.8 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.43 | 14.35 | 14.46 |
| 5282 | 491.9 | -8.5 | 478 | 5282 | done | -1.05 | - | - | 2419 | - | - | - | 2796 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.85 | 14.85 | 14.85 |
| 5588 | 518.7 | -8.8 | 490 | 5593 | roll | -1.05 | - | - | 2420 | - | 2.45 | 0.047 | 1398 | -570.6 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.87 | 14.20 | 14.86 |
| 5634 | 522.8 | -9.0 | 499 | 5639 | done | -1.05 | - | - | 2420 | - | 2.58 | 0.065 | 2813 | 548.4 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.28 | 14.14 | 14.33 |
| 6012 | 555.1 | -8.4 | 514 | 6013 | done | -1.05 | - | - | 2420 | - | - | - | 2812 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.88 | 14.84 | 14.84 |
| 6370 | 583.7 | -7.8 | 526 | 6375 | roll | -1.05 | - | - | 2420 | - | 2.50 | 0.047 | 1396 | -566.4 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.86 | 14.19 | 14.86 |
| 6411 | 586.9 | -7.9 | 534 | 6416 | done | -1.05 | - | - | 2419 | - | 2.58 | 0.065 | 2811 | 548.4 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.28 | 14.13 | 14.33 |
| 6795 | 617.5 | -8.2 | 550 | 6796 | done | -1.05 | - | - | 2420 | - | - | - | 2811 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.71 | 14.71 | 14.71 |
| 7153 | 647.9 | -8.5 | 562 | 7158 | roll | -1.05 | - | - | 2420 | - | 2.50 | 0.046 | 1394 | -566.8 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.71 | 14.19 | 14.71 |
| 7204 | 652.3 | -8.4 | 572 | 7209 | done | -1.05 | - | - | 2420 | - | 2.58 | 0.064 | 2807 | 547.7 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.27 | 14.12 | 14.31 |
| 7575 | 682.6 | -8.0 | 586 | 7576 | done | -1.05 | - | - | 2419 | - | - | - | 2807 | - | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 7935 | 710.5 | -7.6 | 598 | 7936 | done | -1.05 | - | - | 2419 | - | - | - | 2807 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 8295 | 739.0 | -8.6 | 610 | 8300 | roll | -1.05 | - | - | 2420 | - | 2.50 | 0.047 | 1391 | -566.4 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.18 | 14.90 |
| 8366 | 745.2 | -9.0 | 624 | 8371 | done | -1.05 | - | - | 2420 | - | 2.58 | 0.065 | 2806 | 548.4 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.26 | 14.11 | 14.31 |
| 8750 | 774.8 | -7.4 | 640 | 8755 | roll | -1.05 | - | - | 2420 | - | 2.05 | 0.088 | 3916 | 541.5 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.71 | 14.00 | 14.71 |
| 8791 | 778.0 | -7.7 | 648 | 8796 | done | -1.05 | - | - | 2420 | - | 1.92 | 0.047 | 2793 | -584.9 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.38 | 14.31 | 14.41 |
| 9172 | 807.9 | -8.5 | 664 | 9177 | roll | -1.05 | - | - | 2419 | - | 2.47 | 0.046 | 1389 | -568.4 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.92 | 14.16 | 14.92 |
| 9283 | 817.9 | -9.1 | 686 | 9288 | done | -1.05 | - | - | 2419 | - | 2.58 | 0.065 | 2800 | 546.9 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.25 | 14.09 | 14.29 |
| 9441 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 9441 | begin apogee | ||||||||||||||||||||||||||||
| 9448 | 833.4 | -9.5 | 693 | 9583 | done | -0.23 | 1.08 | 0.220 | 2700 | 260.2 | - | - | 2537 | - | - | 131.82 | 3.096 | 3494 | -3.4 | 0.209 | - | - | - | - | - | - | 13.71 | 13.24 | 11.88 |
| 9584 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9584 | begin climb | ||||||||||||||||||||||||||||
| 9587 | 837.3 | - | 697 | 9735 | roll | 1.05 | 1.38 | 0.113 | 3123 | 306.5 | 2.92 | 0.060 | 1159 | -471.9 | 107.1 | 134.75 | 3.080 | 3065 | -3.2 | 0.199 | - | - | - | - | - | - | 13.28 | 12.36 | 10.95 |
| 9791 | 819.3 | 12.7 | 736 | 9796 | done | 1.05 | - | - | 3123 | - | 2.83 | 0.063 | 2558 | 494.3 | 107.1 | - | - | 3060 | - | - | - | - | - | - | - | - | 13.03 | 12.92 | 13.05 |
| 10167 | 768.2 | 14.1 | 751 | 10172 | roll | 1.05 | - | - | 3123 | - | 2.50 | 0.090 | 3921 | 545.2 | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 14.75 | 14.37 | 14.75 |
| 10198 | 763.1 | 15.9 | 757 | 10203 | done | 1.05 | - | - | 3133 | - | 2.35 | 0.050 | 2544 | -586.0 | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 14.58 | 14.52 | 14.60 |
| 10589 | 702.6 | 15.7 | 775 | 10594 | roll | 1.05 | - | - | 3144 | - | 2.45 | 0.061 | 1151 | -568.6 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.90 | 14.43 | 14.90 |
| 10620 | 697.9 | 14.3 | 781 | 10625 | done | 1.05 | 0.15 | 0.280 | 3111 | -220.0 | 2.47 | 0.066 | 2555 | 568.4 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.14 | 14.46 | 14.50 |
| 11012 | 644.4 | 13.8 | 799 | 11017 | roll | 1.05 | - | - | 3121 | - | 2.47 | 0.059 | 1147 | -570.0 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.84 | 14.42 | 14.85 |
| 11043 | 640.0 | 13.5 | 805 | 11048 | done | 1.05 | - | - | 3121 | - | 2.50 | 0.064 | 2556 | 563.6 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.58 | 14.45 | 14.63 |
| 11434 | 582.0 | 15.2 | 823 | 11439 | roll | 1.05 | - | - | 3121 | - | 2.47 | 0.090 | 3913 | 549.4 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.91 | 14.35 | 14.92 |
| 11469 | 576.1 | 17.0 | 830 | 11475 | done | 1.05 | - | - | 3132 | - | 2.33 | 0.047 | 2538 | -590.1 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.64 | 14.57 | 14.66 |
| 11856 | 518.1 | 14.4 | 847 | 11861 | roll | 1.05 | - | - | 3143 | - | 2.45 | 0.060 | 1149 | -566.9 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.92 | 14.37 | 14.92 |
| 11921 | 508.8 | 14.1 | 860 | 11926 | done | 1.05 | - | - | 3143 | - | 2.50 | 0.065 | 2560 | 564.4 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.54 | 14.40 | 14.59 |
| 12287 | 457.2 | 13.9 | 881 | 12288 | done | 1.05 | - | - | 3142 | - | - | - | 2560 | - | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.92 |
| 12590 | 415.5 | 13.7 | 896 | 12591 | done | 1.05 | - | - | 3142 | - | - | - | 2560 | - | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 12890 | 375.6 | 13.0 | 911 | 12890 | done | 1.05 | - | - | 3142 | - | - | - | 2560 | - | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.91 | 14.92 | 14.91 |
| 13190 | 336.9 | 12.6 | 926 | 13195 | roll | 1.05 | - | - | 3152 | - | 2.50 | 0.060 | 1147 | -565.2 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.91 | 14.31 | 14.91 |
| 13217 | 333.3 | 13.0 | 931 | 13223 | done | 1.05 | 0.17 | 0.287 | 3114 | -223.5 | 2.53 | 0.064 | 2564 | 560.1 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 13.92 | 14.35 | 14.33 |
| 13523 | 297.4 | 11.5 | 949 | 13524 | done | 1.05 | - | - | 3114 | - | - | - | 2564 | - | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.89 |
| 13823 | 263.3 | 11.2 | 979 | 13828 | roll | 1.05 | - | - | 3114 | - | 2.47 | 0.089 | 3912 | 545.7 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.90 | 14.26 | 14.90 |
| 13865 | 258.1 | 13.2 | 987 | 13870 | done | 1.05 | - | - | 3124 | - | 2.35 | 0.047 | 2535 | -586.0 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.49 | 14.42 | 14.52 |
| 14176 | 220.6 | 12.3 | 1019 | 14181 | roll | 1.05 | - | - | 3134 | - | 2.45 | 0.059 | 1152 | -564.5 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.93 | 14.28 | 14.93 |
| 14222 | 215.1 | 12.0 | 1028 | 14228 | done | 1.05 | - | - | 3134 | - | 2.50 | 0.064 | 2551 | 559.6 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.47 | 14.32 | 14.52 |
| 14527 | 178.4 | 11.9 | 1059 | 14528 | done | 1.05 | - | - | 3135 | - | - | - | 2551 | - | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.92 | 14.91 | 14.92 |
| 14827 | 143.1 | 11.9 | 1089 | 14832 | roll | 1.05 | - | - | 3146 | - | 2.50 | 0.058 | 1154 | -558.8 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.90 | 14.26 | 14.90 |
| 14868 | 138.4 | 11.5 | 1097 | 14874 | done | 1.05 | 0.10 | 0.256 | 3118 | -280.0 | 2.50 | 0.064 | 2562 | 563.2 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 13.89 | 14.29 | 14.07 |
| 15180 | 103.8 | 10.8 | 1129 | 15185 | roll | 1.05 | - | - | 3118 | - | 2.50 | 0.088 | 3910 | 539.2 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.87 | 14.22 | 14.88 |
| 15231 | 97.6 | 12.3 | 1139 | 15236 | done | 1.05 | - | - | 3128 | - | 2.35 | 0.047 | 2533 | -586.0 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.56 | 14.49 | 14.58 |
| 15542 | 62.8 | 11.4 | 1171 | 15547 | roll | 1.05 | - | - | 3139 | - | 2.45 | 0.060 | 1149 | -564.9 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.89 | 14.25 | 14.88 |
| 15583 | 58.2 | 11.2 | 1179 | 15588 | done | 1.05 | - | - | 3139 | - | 2.53 | 0.065 | 2562 | 558.5 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.45 | 14.31 | 14.50 |
| 15894 | 22.0 | 11.9 | 1211 | 15895 | done | 1.05 | - | - | 3143 | - | - | - | 2563 | - | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.93 | 14.93 | 14.93 |
| 16051 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 16051 | begin surface coast | ||||||||||||||||||||||||||||
| 16061 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 16061 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.45 | - | - | - | - | -8.03 | 8.80 | 0.073 | 190 | 21.6 | 0.45 | 0.091 | 2807 | 6224.4 | 399.91 | 212.90 | 0.222 | 1898 | 8.9 | -0.002 | - | - | - | - | - | - | |||