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| • Previous call tries 1 | • 267.87 of 350.00 AH used of 24V (23.46% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -67.5 deg, depth 0.78 m | • Intended pitch -20.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 350.04 (SM_CC=350) | • surface range 15.0 m at 14.4 m depth, ceiling -0.6 m (m = 1.01, R^2 = 1.00) | |
| • GPS1 time: 26 s | • bottom range 10.6 m at 902.1 m, depth 913 m (990 m grid)(m = -0.87, R^2 = 1.00) | |
| • GPS2 time: 2 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 | |||||
| 10 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 10 | begin dive | ||||||||||||||||||||||||||||
| 14 | - | - | - | 118 | done | -1.06 | - | - | 209 | - | - | - | 2307 | - | -107.1 | -102.72 | 0.002 | 3013 | - | - | - | - | - | - | - | - | 14.85 | 12.63 | 14.85 |
| 122 | 1.4 | -1.0 | 3 | 138 | roll | -1.06 | 11.18 | 0.405 | 2526 | 207.2 | 2.60 | 0.070 | 886 | -546.5 | -107.1 | - | - | 3014 | - | - | - | - | - | - | - | - | 14.14 | 14.42 | 14.53 |
| 245 | 23.9 | -15.5 | 21 | 251 | done | -1.06 | - | - | 2517 | - | 2.58 | 0.063 | 2310 | 551.9 | -107.1 | - | - | 3014 | - | - | - | - | - | - | - | - | 14.48 | 14.34 | 14.54 |
| 596 | 76.5 | -14.6 | 35 | 601 | roll | -1.06 | - | - | 2517 | - | 2.62 | 0.068 | 887 | -543.1 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 15.03 | 14.08 | 15.06 |
| 663 | 86.6 | -14.5 | 45 | 670 | done | -1.06 | - | - | 2506 | - | 2.60 | 0.060 | 2313 | 548.5 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.31 | 14.14 | 14.37 |
| 1013 | 136.6 | -14.3 | 59 | 1019 | roll | -1.06 | - | - | 2495 | - | 2.70 | 0.106 | 3711 | 517.8 | -107.1 | - | - | 3014 | - | - | - | - | - | - | - | - | 15.06 | 14.02 | 15.08 |
| 1042 | 140.7 | -14.9 | 63 | 1048 | done | -1.06 | 0.17 | 0.279 | 2530 | 205.9 | 2.50 | 0.042 | 2279 | -572.8 | -107.1 | - | - | 3014 | - | - | - | - | - | - | - | - | 13.63 | 14.31 | 13.99 |
| 1406 | 189.1 | -13.1 | 79 | 1411 | roll | -1.06 | - | - | 2530 | - | 2.53 | 0.065 | 912 | -540.3 | -107.1 | - | - | 3014 | - | - | - | - | - | - | - | - | 14.71 | 13.95 | 14.73 |
| 1461 | 196.8 | -13.9 | 87 | 1467 | done | -1.06 | - | - | 2521 | - | 2.55 | 0.060 | 2304 | 545.9 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.22 | 14.05 | 14.28 |
| 1826 | 246.2 | -13.5 | 97 | 1827 | done | -1.06 | - | - | 2521 | - | - | - | 2304 | - | -107.1 | - | - | 3014 | - | - | - | - | - | - | - | - | 14.71 | 14.74 | 14.73 |
| 2162 | 291.7 | -13.5 | 103 | 2163 | done | -1.06 | - | - | 2522 | - | - | - | 2304 | - | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.71 | 14.74 | 14.73 |
| 2498 | 335.9 | -13.1 | 109 | 2504 | roll | -1.06 | - | - | 2521 | - | 2.62 | 0.065 | 905 | -534.0 | -107.1 | - | - | 3014 | - | - | - | - | - | - | - | - | 14.71 | 13.90 | 14.73 |
| 2533 | 340.6 | -13.8 | 114 | 2538 | done | -1.06 | - | - | 2511 | - | 2.60 | 0.060 | 2313 | 541.5 | -107.1 | - | - | 3014 | - | - | - | - | - | - | - | - | 14.20 | 14.05 | 14.26 |
| 2890 | 387.7 | -13.1 | 123 | 2895 | roll | -1.06 | - | - | 2511 | - | 2.62 | 0.063 | 903 | -538.2 | -107.1 | - | - | 3014 | - | - | - | - | - | - | - | - | 15.04 | 13.94 | 15.07 |
| 2924 | 392.4 | -13.8 | 128 | 2930 | done | -1.06 | - | - | 2501 | - | 2.60 | 0.060 | 2312 | 541.9 | -107.1 | - | - | 3014 | - | - | - | - | - | - | - | - | 14.17 | 14.00 | 14.23 |
| 3281 | 441.1 | -13.6 | 137 | 3288 | roll | -1.06 | - | - | 2500 | - | 2.62 | 0.062 | 906 | -536.6 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 15.04 | 13.94 | 15.07 |
| 3323 | 446.7 | -13.6 | 143 | 3329 | done | -1.06 | 0.17 | 0.285 | 2524 | 141.2 | 2.60 | 0.059 | 2314 | 541.5 | -107.1 | - | - | 3014 | - | - | - | - | - | - | - | - | 13.61 | 14.00 | 13.98 |
| 3674 | 489.3 | -12.2 | 151 | 3679 | roll | -1.06 | - | - | 2515 | - | 2.72 | 0.106 | 3715 | 515.1 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 15.04 | 14.04 | 15.07 |
| 3743 | 498.4 | -13.1 | 161 | 3750 | done | -1.06 | - | - | 2515 | - | 2.53 | 0.041 | 2280 | -567.2 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.23 | 14.13 | 14.28 |
| 4123 | 543.9 | -11.9 | 173 | 4128 | roll | -1.06 | - | - | 2515 | - | 2.58 | 0.064 | 899 | -535.3 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.70 | 13.91 | 14.73 |
| 4191 | 552.5 | -12.3 | 183 | 4197 | done | -1.06 | - | - | 2505 | - | 2.60 | 0.059 | 2307 | 541.5 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.17 | 14.00 | 14.23 |
| 4569 | 600.0 | -12.5 | 195 | 4575 | roll | -1.06 | - | - | 2505 | - | 2.62 | 0.063 | 906 | -534.7 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 15.04 | 13.89 | 15.07 |
| 4611 | 605.4 | -13.0 | 201 | 4618 | done | -1.06 | - | - | 2502 | - | 2.62 | 0.063 | 2298 | 531.3 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.02 | 13.93 | 14.09 |
| 4961 | 649.6 | -12.6 | 209 | 4962 | done | -1.06 | - | - | 2502 | - | - | - | 2298 | - | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 15.04 | 15.07 | 15.07 |
| 5297 | 691.2 | -12.4 | 215 | 5303 | roll | -1.06 | - | - | 2502 | - | 2.60 | 0.062 | 907 | -535.0 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 15.04 | 13.93 | 15.07 |
| 5332 | 695.8 | -13.2 | 220 | 5338 | done | -1.06 | 0.17 | 0.288 | 2527 | 147.1 | 2.60 | 0.060 | 2314 | 541.2 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 13.61 | 14.00 | 13.98 |
| 5690 | 735.9 | -11.1 | 229 | 5691 | done | -1.06 | - | - | 2527 | - | - | - | 2314 | - | -107.1 | - | - | 3014 | - | - | - | - | - | - | - | - | 14.71 | 14.73 | 14.73 |
| 6026 | 772.4 | -10.8 | 235 | 6031 | roll | -1.06 | - | - | 2527 | - | 2.65 | 0.063 | 899 | -534.0 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.70 | 13.92 | 14.72 |
| 6088 | 779.4 | -11.2 | 244 | 6094 | done | -1.06 | - | - | 2518 | - | 2.60 | 0.057 | 2308 | 541.9 | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.16 | 13.99 | 14.22 |
| 6475 | 820.9 | -10.8 | 257 | 6475 | done | -1.06 | - | - | 2518 | - | - | - | 2309 | - | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.70 | 14.73 | 14.72 |
| 6810 | 855.8 | -10.4 | 263 | 6811 | done | -1.06 | - | - | 2518 | - | - | - | 2309 | - | -107.1 | - | - | 3013 | - | - | - | - | - | - | - | - | 14.70 | 14.73 | 14.73 |
| 7146 | 890.3 | -10.4 | 269 | 7147 | done | -1.06 | - | - | 2518 | - | - | - | 2308 | - | -107.1 | - | - | 3014 | - | - | - | - | - | - | - | - | 14.70 | 14.73 | 14.72 |
| 7310 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 7310 | begin apogee | ||||||||||||||||||||||||||||
| 7318 | 907.9 | -10.5 | 272 | 7450 | done | -0.23 | 0.98 | 0.146 | 2801 | 288.8 | 0.10 | 0.151 | 2114 | -1940.0 | - | 128.50 | 3.094 | 2574 | -3.4 | 0.217 | - | - | - | - | - | - | 14.00 | 13.00 | 11.86 |
| 7450 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7450 | begin climb | ||||||||||||||||||||||||||||
| 7454 | 909.1 | - | 274 | 7617 | roll | 1.06 | 1.48 | 0.145 | 3212 | 277.7 | 2.92 | 0.074 | 743 | -469.5 | 107.1 | 150.20 | 3.090 | 2138 | -2.9 | 0.184 | - | - | - | - | - | - | 12.92 | 12.51 | 11.38 |
| 7707 | 893.5 | 9.2 | 314 | 7713 | done | 1.07 | - | - | 3212 | - | 2.67 | 0.049 | 2095 | 506.4 | 107.1 | - | - | 2131 | - | - | - | - | - | - | - | - | 13.02 | 12.90 | 13.05 |
| 8103 | 855.6 | 9.7 | 328 | 8108 | roll | 1.07 | - | - | 3219 | - | 2.90 | 0.098 | 3512 | 488.6 | 107.1 | - | - | 2125 | - | - | - | - | - | - | - | - | 13.62 | 13.23 | 13.64 |
| 8258 | 838.0 | 11.8 | 350 | 8263 | done | 1.07 | - | - | 3222 | - | 2.60 | 0.041 | 2126 | -533.1 | 107.1 | - | - | 2125 | - | - | - | - | - | - | - | - | 13.59 | 13.47 | 13.63 |
| 8605 | 797.0 | 11.7 | 358 | 8611 | roll | 1.07 | - | - | 3223 | - | 2.72 | 0.098 | 3509 | 508.5 | 107.1 | - | - | 2124 | - | - | - | - | - | - | - | - | 14.31 | 13.78 | 14.33 |
| 8640 | 792.4 | 13.0 | 363 | 8646 | done | 1.07 | - | - | 3233 | - | 2.58 | 0.043 | 2087 | -551.2 | 107.1 | - | - | 2123 | - | - | - | - | - | - | - | - | 14.04 | 13.93 | 14.09 |
| 8997 | 749.7 | 11.7 | 372 | 9003 | roll | 1.07 | - | - | 3233 | - | 2.75 | 0.095 | 3515 | 519.3 | 107.1 | - | - | 2122 | - | - | - | - | - | - | - | - | 14.64 | 14.07 | 14.66 |
| 9060 | 741.7 | 13.0 | 381 | 9067 | done | 1.07 | - | - | 3243 | - | 2.55 | 0.043 | 2100 | -554.9 | 107.1 | - | - | 2122 | - | - | - | - | - | - | - | - | 14.37 | 14.20 | 14.41 |
| 9445 | 694.2 | 12.4 | 394 | 9451 | roll | 1.07 | - | - | 3243 | - | 2.70 | 0.097 | 3510 | 522.2 | 107.1 | - | - | 2121 | - | - | - | - | - | - | - | - | 14.80 | 14.23 | 14.83 |
| 9480 | 689.5 | 13.5 | 399 | 9486 | done | 1.07 | 0.15 | 0.244 | 3215 | -186.7 | 2.53 | 0.042 | 2093 | -560.1 | 107.1 | - | - | 2122 | - | - | - | - | - | - | - | - | 13.97 | 14.31 | 14.16 |
| 9837 | 651.2 | 10.5 | 408 | 9843 | roll | 1.07 | - | - | 3215 | - | 2.70 | 0.096 | 3517 | 527.4 | 107.1 | - | - | 2120 | - | - | - | - | - | - | - | - | 14.86 | 14.21 | 14.89 |
| 9872 | 647.2 | 11.5 | 413 | 9880 | done | 1.07 | - | - | 3224 | - | 2.53 | 0.043 | 2089 | -564.4 | 107.1 | - | - | 2120 | - | - | - | - | - | - | - | - | 14.41 | 14.35 | 14.56 |
| 10230 | 610.2 | 10.2 | 422 | 10235 | roll | 1.07 | - | - | 3223 | - | 2.70 | 0.095 | 3515 | 528.1 | 107.1 | - | - | 2120 | - | - | - | - | - | - | - | - | 14.76 | 14.25 | 14.78 |
| 10257 | 607.2 | 11.0 | 426 | 10263 | done | 1.07 | - | - | 3232 | - | 2.47 | 0.043 | 2094 | -575.3 | 107.1 | - | - | 2120 | - | - | - | - | - | - | - | - | 14.45 | 14.33 | 14.50 |
| 10621 | 568.4 | 10.7 | 436 | 10627 | roll | 1.07 | - | - | 3238 | - | 2.70 | 0.096 | 3519 | 527.8 | 107.1 | - | - | 2120 | - | - | - | - | - | - | - | - | 14.89 | 14.23 | 14.92 |
| 10649 | 565.1 | 11.7 | 440 | 10656 | done | 1.07 | - | - | 3244 | - | 2.53 | 0.044 | 2100 | -560.9 | 107.1 | - | - | 2120 | - | - | - | - | - | - | - | - | 14.52 | 14.33 | 14.57 |
| 11014 | 524.1 | 11.2 | 450 | 11019 | roll | 1.07 | - | - | 3244 | - | 2.70 | 0.099 | 3514 | 523.7 | 107.1 | - | - | 2120 | - | - | - | - | - | - | - | - | 14.74 | 14.21 | 14.77 |
| 11062 | 518.2 | 12.2 | 457 | 11070 | done | 1.07 | 0.15 | 0.243 | 3217 | -180.0 | 2.53 | 0.043 | 2098 | -559.7 | 107.1 | - | - | 2120 | - | - | - | - | - | - | - | - | 13.93 | 14.31 | 14.13 |
| 11405 | 483.6 | 10.0 | 464 | 11406 | done | 1.07 | - | - | 3217 | - | - | - | 2098 | - | 107.1 | - | - | 2119 | - | - | - | - | - | - | - | - | 14.89 | 14.92 | 14.91 |
| 11741 | 449.9 | 10.0 | 470 | 11747 | roll | 1.07 | - | - | 3216 | - | 2.70 | 0.097 | 3517 | 525.6 | 107.1 | - | - | 2119 | - | - | - | - | - | - | - | - | 14.88 | 14.18 | 14.90 |
| 11818 | 441.6 | 10.8 | 481 | 11825 | done | 1.07 | - | - | 3225 | - | 2.53 | 0.041 | 2094 | -562.5 | 107.1 | - | - | 2119 | - | - | - | - | - | - | - | - | 14.35 | 14.31 | 14.40 |
| 12189 | 405.2 | 9.9 | 492 | 12195 | roll | 1.07 | - | - | 3224 | - | 2.70 | 0.096 | 3516 | 526.7 | 107.1 | - | - | 2118 | - | - | - | - | - | - | - | - | 14.88 | 14.16 | 14.91 |
| 12224 | 401.5 | 10.5 | 497 | 12231 | done | 1.07 | - | - | 3241 | - | 2.53 | 0.043 | 2073 | -570.4 | 107.1 | - | - | 2118 | - | - | - | - | - | - | - | - | 14.44 | 14.31 | 14.50 |
| 12583 | 365.2 | 10.3 | 506 | 12588 | roll | 1.07 | - | - | 3235 | - | 2.75 | 0.093 | 3520 | 526.2 | 107.1 | - | - | 2118 | - | - | - | - | - | - | - | - | 14.71 | 14.16 | 14.74 |
| 12637 | 359.0 | 11.2 | 514 | 12643 | done | 1.07 | - | - | 3246 | - | 2.50 | 0.042 | 2090 | -572.0 | 107.1 | - | - | 2118 | - | - | - | - | - | - | - | - | 14.45 | 14.35 | 14.50 |
| 13033 | 319.1 | 10.0 | 528 | 13038 | roll | 1.07 | - | - | 3246 | - | 2.72 | 0.096 | 3521 | 526.1 | 107.1 | - | - | 2118 | - | - | - | - | - | - | - | - | 14.71 | 14.15 | 14.73 |
| 13087 | 312.9 | 11.0 | 536 | 13093 | done | 1.07 | 0.20 | 0.268 | 3213 | -165.0 | 2.50 | 0.041 | 2094 | -570.8 | 107.1 | - | - | 2118 | - | - | - | - | - | - | - | - | 13.86 | 14.31 | 14.23 |
| 13482 | 278.5 | 8.8 | 550 | 13483 | done | 1.10 | - | - | 3213 | - | - | - | 2094 | - | 107.1 | - | - | 2117 | - | - | - | - | - | - | - | - | 14.85 | 14.88 | 14.88 |
| 13815 | 249.3 | 8.7 | 556 | 13820 | roll | 1.12 | - | - | 3213 | - | 2.72 | 0.096 | 3516 | 522.8 | 107.1 | - | - | 2117 | - | - | - | - | - | - | - | - | 14.88 | 14.10 | 14.90 |
| 13857 | 245.4 | 9.3 | 562 | 13862 | done | 1.14 | - | - | 3221 | - | 2.50 | 0.041 | 2089 | -570.8 | 107.1 | - | - | 2117 | - | - | - | - | - | - | - | - | 14.43 | 14.33 | 14.48 |
| 14207 | 215.3 | 8.6 | 570 | 14208 | done | 1.16 | - | - | 3221 | - | - | - | 2089 | - | 107.1 | - | - | 2117 | - | - | - | - | - | - | - | - | 14.88 | 14.90 | 14.90 |
| 14543 | 185.9 | 8.9 | 578 | 14550 | roll | 1.18 | - | - | 3221 | - | 2.75 | 0.096 | 3514 | 518.2 | 107.1 | - | - | 2117 | - | - | - | - | - | - | - | - | 14.87 | 14.12 | 14.90 |
| 14612 | 179.3 | 9.7 | 588 | 14618 | done | 1.18 | - | - | 3232 | - | 2.53 | 0.040 | 2075 | -568.8 | 107.1 | - | - | 2116 | - | - | - | - | - | - | - | - | 14.37 | 14.22 | 14.43 |
| 14966 | 148.2 | 8.7 | 602 | 14967 | done | 1.21 | - | - | 3231 | - | - | - | 2075 | - | 107.1 | - | - | 2117 | - | - | - | - | - | - | - | - | 14.84 | 14.87 | 14.87 |
| 15299 | 118.5 | 9.0 | 614 | 15305 | roll | 1.23 | 0.12 | 0.125 | 3274 | 358.3 | 2.80 | 0.097 | 3521 | 516.4 | 107.1 | - | - | 2117 | - | - | - | - | - | - | - | - | 14.46 | 14.09 | 14.50 |
| 15368 | 110.9 | 11.3 | 624 | 15374 | done | 1.23 | - | - | 3286 | - | 2.53 | 0.040 | 2079 | -570.0 | 107.1 | - | - | 2116 | - | - | - | - | - | - | - | - | 14.38 | 14.25 | 14.43 |
| 15719 | 75.2 | 9.8 | 638 | 15724 | roll | 1.23 | - | - | 3286 | - | 2.75 | 0.096 | 3516 | 522.5 | 107.1 | - | - | 2116 | - | - | - | - | - | - | - | - | 14.88 | 14.07 | 14.90 |
| 15775 | 69.0 | 11.3 | 646 | 15780 | done | 1.23 | - | - | 3295 | - | 2.50 | 0.042 | 2092 | -569.6 | 107.1 | - | - | 2116 | - | - | - | - | - | - | - | - | 14.40 | 14.29 | 14.45 |
| 16139 | 30.3 | 10.9 | 662 | 16144 | roll | 1.23 | - | - | 3306 | - | 2.60 | 0.083 | 701 | -535.0 | 107.1 | - | - | 2116 | - | - | - | - | - | - | - | - | 14.88 | 14.07 | 14.91 |
| 16187 | 25.0 | 11.3 | 669 | 16196 | done | 1.23 | 0.20 | 0.270 | 3265 | -205.0 | 2.55 | 0.057 | 2118 | 555.7 | 107.1 | - | - | 2115 | - | - | - | - | - | - | - | - | 13.74 | 14.16 | 14.15 |
| 16446 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 16446 | begin surface coast | ||||||||||||||||||||||||||||
| 16471 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 16471 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.76 | - | - | - | - | -8.25 | 9.25 | 0.071 | 209 | 22.6 | 0.35 | 0.110 | 2301 | -8071.4 | 350.04 | 176.57 | 0.230 | 1145 | 6.5 | -0.002 | - | - | - | - | - | - | |||