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| • Previous call tries 1 | • 236.94 of 350.00 AH used of 24V (32.30% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -63.6 deg, depth 0.58 m | • Intended pitch -20.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 399.91 (SM_CC=399.91037) | • surface range 13.0 m at 12.6 m depth, ceiling -0.4 m (m = 1.04, R^2 = 1.00) | |
| • GPS1 time: 22 s | • bottom range 22.9 m at 880.8 m, depth 904 m (990 m grid)(m = -0.93, R^2 = 1.00) | |
| • 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 | |||||
| 6 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6 | begin dive | ||||||||||||||||||||||||||||
| 10 | - | - | - | 135 | done | -1.05 | - | - | 182 | - | - | - | 2822 | - | -107.1 | -123.80 | 0.003 | 3919 | - | - | - | - | - | - | - | - | 14.74 | 12.59 | 14.71 |
| 139 | 1.8 | -1.6 | 12 | 160 | roll | -1.05 | 11.35 | 0.423 | 2432 | 198.2 | 2.42 | 0.044 | 1393 | -590.5 | -107.1 | - | - | 3933 | - | - | - | - | - | - | - | - | 13.88 | 14.36 | 14.37 |
| 286 | 19.5 | -10.2 | 40 | 291 | done | -1.05 | - | - | 2430 | - | 2.50 | 0.063 | 2809 | 566.4 | -107.1 | - | - | 3937 | - | - | - | - | - | - | - | - | 14.40 | 14.26 | 14.45 |
| 597 | 51.9 | -9.6 | 72 | 597 | done | -1.05 | - | - | 2429 | - | - | - | 2809 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.78 | 14.79 | 14.79 |
| 897 | 82.2 | -10.0 | 102 | 897 | done | -1.05 | - | - | 2429 | - | - | - | 2809 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.78 | 14.78 | 14.78 |
| 1197 | 112.6 | -10.4 | 132 | 1197 | done | -1.05 | - | - | 2429 | - | - | - | 2809 | - | -107.1 | - | - | 3942 | - | - | - | - | - | - | - | - | 14.77 | 14.77 | 14.77 |
| 1497 | 142.5 | -9.7 | 162 | 1502 | roll | -1.05 | - | - | 2426 | - | 2.03 | 0.087 | 3910 | 542.4 | -107.1 | - | - | 3945 | - | - | - | - | - | - | - | - | 14.76 | 14.02 | 14.76 |
| 1538 | 146.8 | -10.7 | 170 | 1543 | done | -1.05 | - | - | 2426 | - | 1.88 | 0.045 | 2794 | -593.6 | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 14.35 | 14.28 | 14.38 |
| 1849 | 177.3 | -9.7 | 202 | 1850 | done | -1.05 | - | - | 2426 | - | - | - | 2794 | - | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 14.76 | 14.76 | 14.76 |
| 2149 | 206.3 | -9.8 | 232 | 2154 | roll | -1.05 | - | - | 2425 | - | 2.42 | 0.047 | 1390 | -580.2 | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 14.76 | 14.10 | 14.76 |
| 2190 | 210.5 | -9.9 | 240 | 2195 | done | -1.05 | - | - | 2425 | - | 2.53 | 0.063 | 2801 | 557.7 | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 14.24 | 14.09 | 14.30 |
| 2501 | 240.5 | -10.0 | 272 | 2506 | roll | -1.05 | - | - | 2425 | - | 2.45 | 0.047 | 1393 | -574.7 | -107.1 | - | - | 3942 | - | - | - | - | - | - | - | - | 14.71 | 14.09 | 14.71 |
| 2537 | 244.2 | -10.1 | 279 | 2543 | done | -1.05 | - | - | 2424 | - | 2.53 | 0.063 | 2802 | 556.9 | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 14.23 | 14.09 | 14.29 |
| 2842 | 272.9 | -9.2 | 310 | 2847 | roll | -1.05 | - | - | 2422 | - | 2.03 | 0.086 | 3914 | 547.8 | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 14.77 | 13.99 | 14.77 |
| 2893 | 277.8 | -9.8 | 320 | 2898 | done | -1.05 | - | - | 2422 | - | 1.90 | 0.046 | 2794 | -589.5 | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 14.23 | 14.16 | 14.26 |
| 3205 | 306.4 | -9.4 | 349 | 3211 | roll | -1.05 | - | - | 2422 | - | 2.45 | 0.047 | 1388 | -573.9 | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 14.55 | 14.08 | 14.56 |
| 3268 | 312.5 | -9.6 | 361 | 3274 | done | -1.05 | - | - | 2422 | - | 2.55 | 0.063 | 2807 | 556.5 | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 14.21 | 14.07 | 14.28 |
| 3592 | 343.3 | -9.5 | 380 | 3593 | done | -1.05 | - | - | 2422 | - | - | - | 2806 | - | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 14.73 | 14.73 | 14.73 |
| 3890 | 371.9 | -9.5 | 395 | 3891 | done | -1.05 | - | - | 2422 | - | - | - | 2807 | - | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 14.56 | 14.56 | 14.55 |
| 4190 | 399.7 | -9.1 | 410 | 4191 | done | -1.05 | - | - | 2422 | - | - | - | 2806 | - | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 14.76 | 14.75 | 14.76 |
| 4490 | 426.4 | -8.8 | 425 | 4490 | done | -1.05 | - | - | 2422 | - | - | - | 2806 | - | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 14.74 | 14.74 | 14.74 |
| 4790 | 453.7 | -9.2 | 440 | 4790 | done | -1.05 | - | - | 2422 | - | - | - | 2807 | - | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 14.74 | 14.73 | 14.73 |
| 5091 | 481.2 | -9.2 | 455 | 5092 | done | -1.05 | - | - | 2421 | - | - | - | 2807 | - | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 14.54 | 14.56 | 14.54 |
| 5400 | 509.0 | -8.8 | 469 | 5405 | roll | -1.05 | - | - | 2422 | - | 2.47 | 0.046 | 1392 | -572.9 | -107.1 | - | - | 3942 | - | - | - | - | - | - | - | - | 14.77 | 14.03 | 14.77 |
| 5437 | 512.2 | -8.8 | 476 | 5442 | done | -1.05 | - | - | 2420 | - | 2.55 | 0.063 | 2801 | 552.5 | -107.1 | - | - | 3942 | - | - | - | - | - | - | - | - | 14.16 | 14.02 | 14.21 |
| 5825 | 545.8 | -8.6 | 493 | 5826 | done | -1.05 | - | - | 2420 | - | - | - | 2801 | - | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 14.73 | 14.73 | 14.73 |
| 6183 | 576.6 | -8.4 | 505 | 6183 | done | -1.05 | - | - | 2420 | - | - | - | 2801 | - | -107.1 | - | - | 3942 | - | - | - | - | - | - | - | - | 14.75 | 14.75 | 14.75 |
| 6543 | 606.9 | -8.4 | 517 | 6543 | done | -1.05 | - | - | 2420 | - | - | - | 2800 | - | -107.1 | - | - | 3942 | - | - | - | - | - | - | - | - | 14.76 | 14.75 | 14.75 |
| 6903 | 636.7 | -8.2 | 529 | 6908 | roll | -1.05 | - | - | 2420 | - | 2.47 | 0.046 | 1396 | -568.4 | -107.1 | - | - | 3942 | - | - | - | - | - | - | - | - | 14.75 | 14.02 | 14.75 |
| 6964 | 641.7 | -8.0 | 541 | 6970 | done | -1.05 | - | - | 2420 | - | 2.58 | 0.064 | 2804 | 545.7 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.16 | 14.00 | 14.21 |
| 7360 | 673.6 | -8.3 | 559 | 7361 | done | -1.05 | - | - | 2420 | - | - | - | 2804 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.52 | 14.52 | 14.52 |
| 7717 | 702.4 | -7.8 | 571 | 7718 | done | -1.05 | - | - | 2420 | - | - | - | 2805 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.50 | 14.50 | 14.50 |
| 8080 | 729.5 | -7.5 | 583 | 8085 | roll | -1.05 | - | - | 2420 | - | 2.47 | 0.046 | 1390 | -572.9 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.50 | 14.02 | 14.50 |
| 8116 | 732.6 | -7.7 | 590 | 8121 | done | -1.05 | - | - | 2420 | - | 2.58 | 0.064 | 2815 | 552.3 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.15 | 14.01 | 14.20 |
| 8503 | 762.1 | -7.9 | 607 | 8503 | done | -1.05 | - | - | 2420 | - | - | - | 2815 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.72 | 14.72 | 14.72 |
| 8863 | 789.3 | -7.6 | 619 | 8868 | roll | -1.05 | - | - | 2420 | - | 2.50 | 0.047 | 1388 | -570.8 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.74 | 14.01 | 14.74 |
| 8904 | 792.5 | -7.8 | 627 | 8909 | done | -1.05 | - | - | 2420 | - | 2.58 | 0.064 | 2809 | 550.8 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.15 | 14.01 | 14.20 |
| 9288 | 821.3 | -7.1 | 643 | 9293 | roll | -1.05 | - | - | 2420 | - | 2.47 | 0.046 | 1396 | -572.1 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.71 | 14.03 | 14.71 |
| 9344 | 825.1 | -7.0 | 654 | 9350 | done | -1.05 | - | - | 2420 | - | 2.55 | 0.065 | 2802 | 551.4 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.14 | 14.00 | 14.19 |
| 9713 | 853.8 | -8.9 | 667 | 9718 | roll | -1.05 | - | - | 2419 | - | 2.05 | 0.088 | 3917 | 543.9 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.50 | 13.89 | 14.50 |
| 9749 | 857.2 | -5.6 | 674 | 9754 | done | -1.05 | - | - | 2419 | - | 1.92 | 0.047 | 2790 | -587.0 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.25 | 14.17 | 14.28 |
| 10135 | 882.8 | -5.6 | 691 | 10140 | roll | -1.05 | - | - | 2419 | - | 2.45 | 0.047 | 1390 | -571.4 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.71 | 14.02 | 14.71 |
| 10277 | 891.0 | -6.2 | 719 | 10282 | done | -1.05 | - | - | 2419 | - | 2.58 | 0.063 | 2816 | 552.7 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.15 | 14.01 | 14.19 |
| 10315 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 10315 | begin apogee | ||||||||||||||||||||||||||||
| 10324 | 893.7 | -6.6 | 722 | 10459 | done | -0.23 | 1.08 | 0.223 | 2699 | 259.3 | - | - | 2548 | - | - | 132.48 | 3.095 | 3494 | -3.4 | 0.222 | - | - | - | - | - | - | 13.73 | 13.05 | 11.78 |
| 10460 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 10460 | begin climb | ||||||||||||||||||||||||||||
| 10463 | 894.8 | - | 726 | 10614 | roll | 1.05 | 1.40 | 0.116 | 3109 | 292.9 | 2.97 | 0.088 | 3900 | 455.2 | 107.1 | 139.80 | 3.095 | 3064 | -3.1 | 0.203 | - | - | - | - | - | - | 13.02 | 12.23 | 11.00 |
| 10665 | 871.5 | 18.2 | 764 | 10670 | done | 1.05 | - | - | 3119 | - | 2.65 | 0.047 | 2554 | -507.9 | 107.1 | - | - | 3060 | - | - | - | - | - | - | - | - | 12.72 | 12.66 | 12.74 |
| 11047 | 811.7 | 15.8 | 780 | 11052 | roll | 1.05 | - | - | 3130 | - | 2.60 | 0.061 | 1149 | -540.4 | 107.1 | - | - | 3054 | - | - | - | - | - | - | - | - | 14.06 | 13.57 | 14.06 |
| 11138 | 798.2 | 14.5 | 798 | 11143 | done | 1.05 | - | - | 3130 | - | 2.58 | 0.064 | 2562 | 547.7 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.04 | 13.93 | 14.10 |
| 11529 | 737.9 | 15.5 | 816 | 11530 | done | 1.05 | - | - | 3130 | - | - | - | 2563 | - | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.80 | 14.80 | 14.79 |
| 11892 | 682.4 | 15.0 | 828 | 11897 | roll | 1.05 | - | - | 3141 | - | 2.50 | 0.060 | 1139 | -569.6 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.80 | 14.35 | 14.80 |
| 11913 | 678.9 | 14.7 | 832 | 11918 | done | 1.05 | - | - | 3141 | - | 2.50 | 0.063 | 2567 | 571.2 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.52 | 14.39 | 14.57 |
| 12284 | 622.8 | 15.2 | 846 | 12285 | done | 1.05 | - | - | 3141 | - | - | - | 2567 | - | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.83 | 14.83 | 14.83 |
| 12647 | 568.2 | 15.3 | 858 | 12652 | roll | 1.05 | - | - | 3151 | - | 2.50 | 0.059 | 1145 | -568.8 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.80 | 14.29 | 14.80 |
| 12678 | 563.1 | 15.1 | 864 | 12684 | done | 1.05 | 0.17 | 0.288 | 3114 | -217.6 | 2.50 | 0.063 | 2561 | 566.4 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 13.96 | 14.33 | 14.35 |
| 13071 | 508.9 | 13.8 | 882 | 13076 | roll | 1.05 | - | - | 3113 | - | 2.45 | 0.087 | 3910 | 550.6 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.73 | 14.23 | 14.71 |
| 13097 | 504.8 | 15.3 | 887 | 13103 | done | 1.05 | - | - | 3124 | - | 2.33 | 0.047 | 2529 | -592.7 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.52 | 14.45 | 14.54 |
| 13472 | 452.9 | 13.6 | 906 | 13473 | done | 1.05 | - | - | 3124 | - | - | - | 2529 | - | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.82 | 14.82 | 14.82 |
| 13775 | 412.6 | 13.4 | 921 | 13775 | done | 1.05 | - | - | 3122 | - | - | - | 2528 | - | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.79 | 14.78 | 14.79 |
| 14075 | 372.6 | 13.4 | 936 | 14076 | done | 1.05 | - | - | 3124 | - | - | - | 2529 | - | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.78 | 14.78 | 14.78 |
| 14375 | 333.3 | 13.2 | 951 | 14375 | done | 1.05 | - | - | 3124 | - | - | - | 2528 | - | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.79 | 14.78 | 14.78 |
| 14675 | 295.0 | 12.7 | 967 | 14683 | roll | 1.05 | - | - | 3124 | - | 2.50 | 0.089 | 3905 | 550.8 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.77 | 14.13 | 14.77 |
| 14709 | 289.8 | 14.5 | 973 | 14715 | done | 1.05 | - | - | 3134 | - | 2.30 | 0.047 | 2541 | -593.0 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.48 | 14.41 | 14.50 |
| 15021 | 250.4 | 12.4 | 1005 | 15027 | roll | 1.05 | - | - | 3145 | - | 2.42 | 0.060 | 1156 | -572.3 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.80 | 14.21 | 14.80 |
| 15088 | 242.2 | 12.1 | 1018 | 15095 | done | 1.05 | 0.15 | 0.286 | 3113 | -213.3 | 2.47 | 0.063 | 2553 | 565.6 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 13.88 | 14.26 | 14.28 |
| 15394 | 207.9 | 11.0 | 1049 | 15394 | done | 1.05 | - | - | 3113 | - | - | - | 2553 | - | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.78 | 14.78 | 14.79 |
| 15693 | 173.5 | 11.6 | 1079 | 15698 | roll | 1.05 | - | - | 3124 | - | 2.47 | 0.058 | 1154 | -566.4 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.78 | 14.19 | 14.79 |
| 15734 | 168.9 | 11.1 | 1087 | 15743 | done | 1.05 | - | - | 3124 | - | 2.47 | 0.062 | 2560 | 569.2 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.29 | 14.21 | 14.33 |
| 16049 | 132.5 | 11.4 | 1119 | 16054 | roll | 1.05 | - | - | 3134 | - | 2.47 | 0.058 | 1163 | -565.6 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.81 | 14.16 | 14.81 |
| 16075 | 129.4 | 11.9 | 1124 | 16081 | done | 1.05 | - | - | 3134 | - | 2.47 | 0.063 | 2556 | 564.0 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.35 | 14.21 | 14.40 |
| 16381 | 93.0 | 11.9 | 1155 | 16382 | done | 1.05 | - | - | 3134 | - | - | - | 2555 | - | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.63 | 14.65 | 14.65 |
| 16681 | 58.0 | 11.7 | 1185 | 16687 | roll | 1.05 | - | - | 3144 | - | 2.45 | 0.057 | 1163 | -568.2 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.64 | 14.16 | 14.65 |
| 16781 | 46.8 | 11.8 | 1204 | 16788 | done | 1.05 | 0.15 | 0.288 | 3113 | -206.7 | 2.47 | 0.063 | 2554 | 563.2 | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 13.81 | 14.21 | 14.21 |
| 17084 | 13.7 | 10.7 | 1235 | 17084 | done | 1.05 | - | - | 3112 | - | - | - | 2554 | - | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 14.79 | 14.79 | 14.79 |
| 17203 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 17203 | begin surface coast | ||||||||||||||||||||||||||||
| 17221 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 17222 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.52 | - | - | - | - | -8.04 | 8.75 | 0.070 | 184 | 21.0 | 0.47 | 0.086 | 2816 | 5978.7 | 399.91 | 212.98 | 0.218 | 1899 | 8.9 | -0.002 | - | - | - | - | - | - | |||