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| • Previous call tries 2 | • 211.72 of 350.00 AH used of 24V (39.51% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -60.0 deg, depth 0.44 m | • Intended pitch -20.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 399.91 (SM_CC=399.91037) | • surface range 10.5 m at 10.2 m depth, ceiling -0.3 m (m = 1.04, R^2 = 1.00) | |
| • GPS1 time: 36 s | • bottom range 10.8 m at 882.8 m, depth 894 m (990 m grid)(m = -0.96, R^2 = 0.94) | |
| • 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 | |||||
| 9 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9 | begin dive | ||||||||||||||||||||||||||||
| 13 | - | - | - | 144 | done | -1.05 | - | - | 187 | - | - | - | 2802 | - | -107.1 | -126.20 | 0.003 | 3922 | - | - | - | - | - | - | - | - | 14.77 | 13.00 | 14.75 |
| 148 | 3.2 | -5.1 | 13 | 164 | roll | -1.05 | 11.45 | 0.433 | 2422 | 195.2 | 1.95 | 0.078 | 3923 | 574.9 | -107.1 | - | - | 3930 | - | - | - | - | - | - | - | - | 13.88 | 14.38 | 14.38 |
| 220 | 16.0 | -11.1 | 26 | 226 | done | -1.05 | - | - | 2422 | - | 1.92 | 0.044 | 2782 | -594.3 | -107.1 | - | - | 3936 | - | - | - | - | - | - | - | - | 14.57 | 14.51 | 14.60 |
| 526 | 46.3 | -9.6 | 57 | 531 | roll | -1.05 | - | - | 2422 | - | 2.40 | 0.047 | 1392 | -579.2 | -107.1 | - | - | 3938 | - | - | - | - | - | - | - | - | 14.77 | 14.34 | 14.76 |
| 602 | 53.8 | -9.7 | 72 | 608 | done | -1.05 | - | - | 2421 | - | 2.53 | 0.063 | 2806 | 558.9 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.36 | 14.22 | 14.40 |
| 907 | 82.5 | -9.4 | 103 | 912 | roll | -1.05 | - | - | 2420 | - | 2.47 | 0.047 | 1401 | -568.8 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.88 | 14.33 | 14.89 |
| 943 | 86.0 | -9.7 | 110 | 949 | done | -1.05 | - | - | 2420 | - | 2.55 | 0.063 | 2811 | 552.9 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.41 | 14.27 | 14.47 |
| 1248 | 115.6 | -9.9 | 141 | 1254 | roll | -1.05 | - | - | 2417 | - | 2.00 | 0.086 | 3913 | 551.0 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.89 | 14.19 | 14.88 |
| 1289 | 120.2 | -11.2 | 149 | 1295 | done | -1.05 | - | - | 2417 | - | 1.90 | 0.046 | 2788 | -592.1 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.51 | 14.45 | 14.54 |
| 1601 | 152.7 | -10.2 | 181 | 1607 | roll | -1.05 | - | - | 2417 | - | 2.42 | 0.047 | 1392 | -576.9 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.88 | 14.28 | 14.88 |
| 1667 | 159.4 | -10.0 | 194 | 1674 | done | -1.05 | - | - | 2412 | - | 2.58 | 0.063 | 2814 | 551.2 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.38 | 14.23 | 14.43 |
| 1972 | 190.4 | -10.2 | 225 | 1973 | done | -1.05 | - | - | 2412 | - | - | - | 2815 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.92 |
| 2272 | 220.5 | -9.7 | 255 | 2277 | roll | -1.05 | - | - | 2412 | - | 2.50 | 0.047 | 1392 | -569.2 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.16 | 14.92 |
| 2338 | 226.8 | -9.4 | 268 | 2344 | done | -1.05 | - | - | 2407 | - | 2.58 | 0.063 | 2813 | 550.8 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.35 | 14.21 | 14.41 |
| 2643 | 254.5 | -9.0 | 299 | 2644 | done | -1.05 | - | - | 2407 | - | - | - | 2812 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.92 |
| 2943 | 282.8 | -9.4 | 329 | 2950 | roll | -1.05 | - | - | 2407 | - | 2.47 | 0.047 | 1402 | -570.9 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.91 | 14.21 | 14.92 |
| 2981 | 286.3 | -9.1 | 336 | 2987 | done | -1.05 | 0.15 | 0.285 | 2432 | 166.7 | 2.55 | 0.063 | 2813 | 553.3 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 13.75 | 14.19 | 14.15 |
| 3286 | 312.2 | -8.7 | 360 | 3291 | roll | -1.05 | - | - | 2432 | - | 2.50 | 0.047 | 1393 | -568.0 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.24 | 14.90 |
| 3337 | 316.6 | -8.7 | 370 | 3342 | done | -1.05 | - | - | 2431 | - | 2.55 | 0.063 | 2804 | 553.3 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.34 | 14.19 | 14.40 |
| 3652 | 343.5 | -8.9 | 387 | 3652 | done | -1.05 | - | - | 2431 | - | - | - | 2804 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.73 | 14.73 | 14.73 |
| 3948 | 370.7 | -9.1 | 402 | 3949 | done | -1.05 | - | - | 2431 | - | - | - | 2804 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.88 | 14.88 | 14.88 |
| 4248 | 398.1 | -9.2 | 417 | 4254 | roll | -1.05 | - | - | 2429 | - | 2.05 | 0.087 | 3916 | 542.4 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.88 | 14.07 | 14.88 |
| 4290 | 402.0 | -9.4 | 425 | 4296 | done | -1.05 | - | - | 2429 | - | 1.92 | 0.047 | 2790 | -586.5 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.44 | 14.37 | 14.47 |
| 4611 | 430.3 | -8.8 | 444 | 4616 | roll | -1.05 | - | - | 2429 | - | 2.45 | 0.047 | 1393 | -570.2 | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 14.87 | 14.22 | 14.86 |
| 4682 | 436.7 | -8.8 | 458 | 4687 | done | -1.05 | - | - | 2428 | - | 2.58 | 0.064 | 2814 | 550.8 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.31 | 14.16 | 14.38 |
| 4995 | 462.9 | -8.1 | 475 | 4996 | done | -1.05 | - | - | 2428 | - | - | - | 2814 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.85 | 14.85 | 14.85 |
| 5294 | 487.4 | -8.4 | 490 | 5299 | roll | -1.05 | - | - | 2429 | - | 2.53 | 0.047 | 1392 | -562.1 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.71 | 14.21 | 14.71 |
| 5340 | 491.5 | -8.7 | 499 | 5345 | done | -1.05 | - | - | 2427 | - | 2.58 | 0.064 | 2812 | 550.4 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.31 | 14.16 | 14.37 |
| 5668 | 518.5 | -8.0 | 514 | 5669 | done | -1.05 | - | - | 2427 | - | - | - | 2812 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.83 | 14.83 | 14.84 |
| 6026 | 546.0 | -7.6 | 526 | 6027 | done | -1.05 | - | - | 2427 | - | - | - | 2812 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.89 | 14.86 | 14.85 |
| 6386 | 573.5 | -7.8 | 538 | 6387 | done | -1.05 | - | - | 2427 | - | - | - | 2812 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.85 | 14.86 | 14.86 |
| 6746 | 600.3 | -7.3 | 550 | 6751 | roll | -1.05 | - | - | 2427 | - | 2.50 | 0.047 | 1392 | -568.0 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.85 | 14.19 | 14.85 |
| 6798 | 604.5 | -8.0 | 560 | 6803 | done | -1.05 | - | - | 2427 | - | 2.58 | 0.064 | 2805 | 547.7 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.28 | 14.13 | 14.33 |
| 7172 | 633.9 | -7.9 | 574 | 7177 | roll | -1.05 | - | - | 2426 | - | 2.05 | 0.087 | 3915 | 541.5 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.70 | 14.02 | 14.71 |
| 7213 | 637.6 | -8.5 | 582 | 7218 | done | -1.05 | - | - | 2426 | - | 1.92 | 0.047 | 2791 | -585.4 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.40 | 14.34 | 14.42 |
| 7597 | 667.3 | -7.8 | 598 | 7602 | roll | -1.05 | - | - | 2426 | - | 2.45 | 0.047 | 1391 | -571.4 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.83 | 14.17 | 14.84 |
| 7657 | 672.4 | -8.1 | 610 | 7662 | done | -1.05 | - | - | 2426 | - | 2.58 | 0.065 | 2805 | 548.1 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.25 | 14.07 | 14.29 |
| 8052 | 701.4 | -7.1 | 628 | 8057 | roll | -1.05 | - | - | 2426 | - | 2.50 | 0.046 | 1387 | -567.2 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.70 | 14.19 | 14.70 |
| 8093 | 704.7 | -7.5 | 636 | 8098 | done | -1.05 | - | - | 2425 | - | 2.58 | 0.064 | 2802 | 548.4 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.28 | 14.12 | 14.33 |
| 8476 | 733.0 | -7.5 | 652 | 8477 | done | -1.05 | - | - | 2425 | - | - | - | 2804 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.84 | 14.84 | 14.84 |
| 8834 | 758.2 | -6.8 | 664 | 8834 | done | -1.05 | - | - | 2425 | - | - | - | 2804 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.87 | 14.87 | 14.87 |
| 9194 | 785.5 | -7.7 | 676 | 9199 | roll | -1.05 | - | - | 2425 | - | 2.50 | 0.046 | 1387 | -566.8 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.87 | 14.16 | 14.87 |
| 9234 | 788.3 | -7.8 | 684 | 9239 | done | -1.05 | - | - | 2425 | - | 2.60 | 0.065 | 2814 | 548.8 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.26 | 14.11 | 14.31 |
| 9618 | 818.5 | -7.6 | 700 | 9619 | done | -1.05 | - | - | 2425 | - | - | - | 2814 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.84 | 14.85 | 14.85 |
| 9976 | 844.8 | -7.1 | 712 | 9981 | roll | -1.05 | - | - | 2424 | - | 2.50 | 0.046 | 1398 | -566.4 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.83 | 14.16 | 14.83 |
| 10027 | 848.1 | -7.2 | 722 | 10032 | done | -1.05 | - | - | 2424 | - | 2.58 | 0.065 | 2811 | 547.7 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.26 | 14.11 | 14.30 |
| 10398 | 874.4 | -7.1 | 736 | 10399 | done | -1.05 | - | - | 2424 | - | - | - | 2812 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.83 | 14.83 | 14.83 |
| 10545 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 10545 | begin apogee | ||||||||||||||||||||||||||||
| 10552 | 884.5 | -6.9 | 741 | 10687 | done | -0.23 | 1.05 | 0.220 | 2699 | 261.9 | - | - | 2541 | - | - | 131.98 | 3.096 | 3491 | -3.4 | 0.224 | - | - | - | - | - | - | 13.74 | 13.18 | 11.80 |
| 10688 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 10688 | begin climb | ||||||||||||||||||||||||||||
| 10691 | 885.9 | - | 745 | 10834 | roll | 1.05 | 1.35 | 0.112 | 3103 | 299.3 | 2.97 | 0.086 | 3911 | 461.3 | 107.1 | 137.10 | 3.094 | 3066 | -3.1 | 0.205 | - | - | - | - | - | - | 13.23 | 12.14 | 10.90 |
| 10853 | 869.3 | 15.4 | 756 | 10858 | done | 1.05 | - | - | 3114 | - | 2.70 | 0.047 | 2548 | -504.8 | 107.1 | - | - | 3063 | - | - | - | - | - | - | - | - | 12.75 | 12.69 | 12.76 |
| 11244 | 808.2 | 16.2 | 774 | 11253 | roll | 1.05 | - | - | 3129 | - | 2.50 | 0.061 | 1134 | -565.6 | 107.1 | - | - | 3054 | - | - | - | - | - | - | - | - | 14.70 | 14.30 | 14.70 |
| 11283 | 801.9 | 15.7 | 781 | 11292 | done | 1.05 | - | - | 3125 | - | 2.53 | 0.064 | 2567 | 566.4 | 107.1 | - | - | 3054 | - | - | - | - | - | - | - | - | 14.43 | 14.35 | 14.45 |
| 11672 | 741.7 | 15.3 | 798 | 11678 | roll | 1.05 | - | - | 3125 | - | 2.45 | 0.090 | 3912 | 549.0 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.90 | 14.41 | 14.90 |
| 11739 | 730.2 | 17.4 | 811 | 11744 | done | 1.05 | - | - | 3135 | - | 2.35 | 0.047 | 2525 | -590.2 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.65 | 14.59 | 14.68 |
| 12126 | 669.5 | 15.4 | 828 | 12127 | done | 1.05 | - | - | 3135 | - | - | - | 2525 | - | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.84 | 14.84 | 14.85 |
| 12488 | 615.2 | 15.4 | 840 | 12489 | done | 1.05 | - | - | 3135 | - | - | - | 2525 | - | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.83 | 14.84 | 14.84 |
| 12849 | 561.8 | 14.8 | 852 | 12854 | roll | 1.05 | - | - | 3135 | - | 2.55 | 0.092 | 3907 | 542.0 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.83 | 14.33 | 14.83 |
| 12869 | 557.9 | 15.4 | 856 | 12875 | done | 1.05 | 0.15 | 0.314 | 3115 | -133.3 | 2.33 | 0.047 | 2540 | -586.7 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.00 | 14.56 | 14.40 |
| 13241 | 507.8 | 13.5 | 870 | 13246 | roll | 1.05 | - | - | 3126 | - | 2.45 | 0.060 | 1155 | -565.3 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.91 | 14.35 | 14.91 |
| 13272 | 503.6 | 13.4 | 876 | 13277 | done | 1.05 | - | - | 3126 | - | 2.50 | 0.063 | 2564 | 563.6 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.51 | 14.39 | 14.57 |
| 13643 | 453.6 | 13.5 | 899 | 13644 | done | 1.05 | - | - | 3125 | - | - | - | 2564 | - | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.92 |
| 13945 | 413.3 | 13.0 | 914 | 13946 | done | 1.05 | - | - | 3126 | - | - | - | 2564 | - | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.91 | 14.90 | 14.90 |
| 14245 | 374.2 | 13.3 | 929 | 14254 | roll | 1.05 | - | - | 3126 | - | 2.45 | 0.090 | 3910 | 549.4 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.89 | 14.24 | 14.88 |
| 14284 | 368.1 | 15.0 | 936 | 14290 | done | 1.05 | - | - | 3136 | - | 2.35 | 0.047 | 2532 | -586.4 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.58 | 14.51 | 14.61 |
| 14589 | 327.5 | 13.0 | 952 | 14590 | done | 1.05 | - | - | 3136 | - | - | - | 2533 | - | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.92 |
| 14890 | 288.9 | 13.0 | 971 | 14895 | roll | 1.05 | - | - | 3146 | - | 2.45 | 0.060 | 1156 | -562.0 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.79 | 14.29 | 14.79 |
| 14936 | 283.0 | 12.8 | 980 | 14946 | done | 1.05 | 0.15 | 0.282 | 3115 | -206.7 | 2.50 | 0.063 | 2555 | 559.6 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 13.87 | 14.26 | 14.30 |
| 15242 | 246.7 | 11.7 | 1011 | 15242 | done | 1.05 | - | - | 3115 | - | - | - | 2555 | - | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.89 | 14.90 | 14.90 |
| 15541 | 210.9 | 11.9 | 1041 | 15546 | roll | 1.05 | - | - | 3115 | - | 2.50 | 0.089 | 3914 | 543.6 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.90 | 14.23 | 14.90 |
| 15567 | 207.6 | 13.3 | 1046 | 15574 | done | 1.05 | - | - | 3125 | - | 2.35 | 0.047 | 2547 | -581.7 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.56 | 14.49 | 14.59 |
| 15872 | 171.0 | 11.6 | 1077 | 15878 | roll | 1.05 | - | - | 3136 | - | 2.45 | 0.058 | 1149 | -570.6 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.90 | 14.26 | 14.90 |
| 15909 | 166.8 | 11.7 | 1084 | 15915 | done | 1.05 | - | - | 3135 | - | 2.53 | 0.064 | 2562 | 558.5 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.45 | 14.31 | 14.51 |
| 16214 | 129.9 | 12.3 | 1115 | 16215 | done | 1.05 | - | - | 3135 | - | - | - | 2562 | - | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.86 | 14.86 | 14.86 |
| 16515 | 94.1 | 11.6 | 1145 | 16521 | roll | 1.05 | - | - | 3146 | - | 2.50 | 0.058 | 1158 | -561.6 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.85 | 14.23 | 14.85 |
| 16556 | 89.2 | 11.6 | 1153 | 16562 | done | 1.05 | 0.15 | 0.284 | 3114 | -213.3 | 2.50 | 0.063 | 2555 | 558.8 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 13.88 | 14.30 | 14.28 |
| 16868 | 55.2 | 11.2 | 1185 | 16868 | done | 1.05 | - | - | 3114 | - | - | - | 2555 | - | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.92 |
| 17168 | 23.7 | 10.0 | 1215 | 17173 | roll | 1.05 | - | - | 3125 | - | 2.50 | 0.058 | 1150 | -562.0 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.92 | 14.28 | 14.92 |
| 17229 | 17.3 | 10.6 | 1227 | 17234 | done | 1.05 | - | - | 3125 | - | 2.53 | 0.063 | 2563 | 558.5 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.43 | 14.28 | 14.49 |
| 17377 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 17377 | begin surface coast | ||||||||||||||||||||||||||||
| 17387 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 17387 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.39 | - | - | - | - | -8.03 | 8.77 | 0.076 | 185 | 21.1 | 0.45 | 0.091 | 2808 | 3951.1 | 399.91 | 213.12 | 0.222 | 1898 | 8.9 | -0.002 | - | - | - | - | - | - | |||