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| • Previous call tries 1 | • 78.70 of 350.00 AH used of 24V (77.51% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -63.7 deg, depth 0.30 m | • Intended pitch -14.8 deg, speed -9.167 cm/s | |
| • VBD pumped to 300.00 (SM_CC=300) | • surface range 10.1 m at 10.6 m depth, ceiling 0.5 m (m = 1.05, R^2 = 0.92) | |
| • GPS1 time: 15 s | • bottom range 45.8 m at 853.8 m, depth 900 m (877 m grid)(m = -1.02, R^2 = 0.99) | |
| • 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 | |||||
| 6 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6 | begin dive | ||||||||||||||||||||||||||||
| 8 | - | - | - | 113 | done | -0.85 | - | - | 199 | - | - | - | 2502 | - | -146.0 | -98.88 | 0.002 | 3312 | - | - | - | - | - | - | - | - | 14.75 | 13.15 | 14.78 |
| 115 | 3.0 | -4.7 | 10 | 132 | roll | -0.85 | 12.40 | 0.479 | 2418 | 179.0 | 2.62 | 0.101 | 1082 | -542.0 | -146.0 | - | - | 3314 | - | - | - | - | - | - | - | - | 14.19 | 14.49 | 14.44 |
| 256 | 28.1 | -13.4 | 38 | 262 | done | -0.85 | - | - | 2412 | - | 2.70 | 0.126 | 2504 | 526.7 | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 14.66 | 14.48 | 14.71 |
| 566 | 68.1 | -12.9 | 70 | 572 | roll | -0.85 | - | - | 2403 | - | 2.42 | 0.155 | 3770 | 523.1 | -146.0 | - | - | 3316 | - | - | - | - | - | - | - | - | 14.97 | 14.52 | 14.99 |
| 616 | 74.9 | -13.4 | 80 | 622 | done | -0.85 | - | - | 2402 | - | 2.35 | 0.097 | 2488 | -545.5 | -146.0 | - | - | 3316 | - | - | - | - | - | - | - | - | 14.70 | 14.63 | 14.75 |
| 926 | 115.3 | -12.6 | 112 | 932 | roll | -0.85 | - | - | 2394 | - | 2.50 | 0.157 | 3755 | 506.8 | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 15.02 | 14.54 | 15.04 |
| 996 | 124.7 | -13.8 | 126 | 1002 | done | -0.85 | 0.10 | 0.273 | 2420 | 260.0 | 2.30 | 0.098 | 2498 | -546.5 | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 14.43 | 14.66 | 14.61 |
| 1307 | 160.7 | -11.2 | 158 | 1307 | done | -0.85 | - | - | 2420 | - | - | - | 2496 | - | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 15.05 | 15.08 | 15.07 |
| 1607 | 195.4 | -11.9 | 188 | 1608 | done | -0.85 | - | - | 2419 | - | - | - | 2495 | - | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 15.07 | 15.10 | 15.09 |
| 1907 | 229.8 | -11.3 | 218 | 1912 | roll | -0.85 | - | - | 2412 | - | 2.45 | 0.159 | 3766 | 518.8 | -146.0 | - | - | 3316 | - | - | - | - | - | - | - | - | 15.08 | 14.59 | 15.11 |
| 1976 | 238.4 | -12.3 | 232 | 1983 | done | -0.85 | - | - | 2412 | - | 2.33 | 0.098 | 2489 | -548.1 | -146.0 | - | - | 3316 | - | - | - | - | - | - | - | - | 14.79 | 14.71 | 14.83 |
| 2288 | 274.0 | -11.3 | 264 | 2288 | done | -0.85 | - | - | 2412 | - | - | - | 2489 | - | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 15.09 | 15.11 | 15.11 |
| 2589 | 307.8 | -11.2 | 291 | 2589 | done | -0.85 | - | - | 2412 | - | - | - | 2489 | - | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 15.05 | 15.08 | 15.08 |
| 2889 | 342.3 | -11.4 | 306 | 2894 | roll | -0.85 | - | - | 2404 | - | 2.45 | 0.158 | 3757 | 517.6 | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 15.07 | 14.62 | 15.09 |
| 2939 | 348.3 | -12.1 | 316 | 2944 | done | -0.85 | - | - | 2404 | - | 2.28 | 0.099 | 2484 | -558.3 | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 14.89 | 14.76 | 14.92 |
| 3250 | 384.3 | -11.5 | 333 | 3256 | roll | -0.85 | - | - | 2395 | - | 2.47 | 0.158 | 3765 | 518.6 | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 15.06 | 14.61 | 15.09 |
| 3310 | 391.8 | -12.5 | 345 | 3317 | done | -0.85 | - | - | 2395 | - | 2.30 | 0.099 | 2503 | -548.7 | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 14.79 | 14.75 | 14.84 |
| 3631 | 430.1 | -11.4 | 364 | 3633 | done | -0.85 | 0.12 | 0.296 | 2420 | 208.3 | - | - | 2503 | - | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 14.53 | 14.88 | 14.80 |
| 3932 | 461.5 | -10.3 | 379 | 3937 | roll | -0.85 | - | - | 2412 | - | 2.42 | 0.158 | 3758 | 518.6 | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 15.11 | 14.61 | 15.13 |
| 3976 | 466.3 | -11.1 | 388 | 3982 | done | -0.85 | - | - | 2412 | - | 2.30 | 0.099 | 2499 | -547.4 | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 14.79 | 14.71 | 14.84 |
| 4291 | 498.6 | -10.2 | 406 | 4292 | done | -0.85 | - | - | 2413 | - | - | - | 2499 | - | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
| 4611 | 531.0 | -10.0 | 417 | 4618 | roll | -0.85 | - | - | 2404 | - | 2.42 | 0.159 | 3755 | 519.0 | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 15.11 | 14.61 | 15.14 |
| 4647 | 534.7 | -10.7 | 424 | 4653 | done | -0.85 | - | - | 2404 | - | 2.30 | 0.099 | 2495 | -547.8 | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 14.79 | 14.71 | 14.83 |
| 5032 | 575.1 | -10.6 | 441 | 5039 | roll | -0.85 | - | - | 2396 | - | 2.45 | 0.158 | 3763 | 517.6 | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 15.11 | 14.59 | 15.14 |
| 5068 | 579.1 | -11.6 | 448 | 5074 | done | -0.85 | - | - | 2395 | - | 2.33 | 0.099 | 2488 | -547.2 | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 14.78 | 14.71 | 14.84 |
| 5453 | 619.8 | -10.4 | 465 | 5454 | done | -0.85 | - | - | 2396 | - | - | - | 2488 | - | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 15.12 | 15.15 | 15.14 |
| 5814 | 657.2 | -10.7 | 477 | 5820 | roll | -0.85 | - | - | 2388 | - | 2.45 | 0.157 | 3758 | 518.4 | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 15.11 | 14.60 | 15.14 |
| 5869 | 663.5 | -11.5 | 488 | 5876 | done | -0.85 | 0.12 | 0.263 | 2420 | 266.7 | 2.30 | 0.096 | 2496 | -548.7 | -146.0 | - | - | 3316 | - | - | - | - | - | - | - | - | 14.44 | 14.71 | 14.63 |
| 6235 | 697.1 | -8.9 | 501 | 6235 | done | -0.85 | - | - | 2420 | - | - | - | 2496 | - | -146.0 | - | - | 3316 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.18 |
| 6594 | 728.4 | -8.7 | 513 | 6600 | roll | -0.85 | - | - | 2419 | - | 2.58 | 0.112 | 1089 | -545.3 | -146.0 | - | - | 3316 | - | - | - | - | - | - | - | - | 15.12 | 14.66 | 15.15 |
| 6620 | 730.8 | -10.1 | 518 | 6627 | done | -0.85 | - | - | 2413 | - | 2.67 | 0.127 | 2516 | 534.5 | -146.0 | - | - | 3315 | - | - | - | - | - | - | - | - | 14.83 | 14.62 | 14.88 |
| 6985 | 763.6 | -8.9 | 531 | 6986 | done | -0.85 | - | - | 2413 | - | - | - | 2516 | - | -146.0 | - | - | 3317 | - | - | - | - | - | - | - | - | 15.12 | 15.15 | 15.14 |
| 7345 | 795.1 | -8.7 | 543 | 7345 | done | -0.85 | - | - | 2413 | - | - | - | 2516 | - | -146.0 | - | - | 3316 | - | - | - | - | - | - | - | - | 15.13 | 15.16 | 15.16 |
| 7705 | 826.8 | -8.7 | 555 | 7710 | roll | -0.85 | - | - | 2405 | - | 2.40 | 0.158 | 3768 | 521.7 | -146.0 | - | - | 3316 | - | - | - | - | - | - | - | - | 15.14 | 14.58 | 15.16 |
| 7745 | 830.5 | -9.6 | 563 | 7750 | done | -0.85 | - | - | 2405 | - | 2.28 | 0.097 | 2494 | -558.8 | -146.0 | - | - | 3316 | - | - | - | - | - | - | - | - | 14.88 | 14.75 | 14.92 |
| 8125 | 864.3 | -8.7 | 579 | 8130 | roll | -0.85 | - | - | 2405 | - | 2.58 | 0.113 | 1083 | -546.9 | -146.0 | - | - | 3317 | - | - | - | - | - | - | - | - | 15.14 | 14.65 | 15.16 |
| 8174 | 869.0 | -9.5 | 589 | 8182 | done | -0.85 | - | - | 2396 | - | 2.70 | 0.127 | 2498 | 524.1 | -146.0 | - | - | 3317 | - | - | - | - | - | - | - | - | 14.88 | 14.58 | 14.92 |
| 8274 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 8274 | begin apogee | ||||||||||||||||||||||||||||
| 8278 | 878.6 | -9.4 | 594 | 8594 | done | -0.23 | 0.85 | 0.236 | 2623 | 267.1 | - | - | 2189 | - | - | 307.25 | 1.674 | 2712 | -2.0 | 0.206 | - | - | - | - | 1 | - | 14.49 | 13.46 | 12.31 |
| 8595 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 8595 | begin climb | ||||||||||||||||||||||||||||
| 8597 | 883.6 | - | 604 | 9132 | roll | 0.85 | 1.23 | 0.148 | 2980 | 290.2 | 2.85 | 0.123 | 785 | -492.6 | 146.0 | 519.97 | 1.333 | 2115 | -1.1 | 0.152 | - | - | - | - | - | - | 13.45 | 13.51 | 13.03 |
| 9187 | 822.6 | 12.7 | 717 | 9195 | done | 0.85 | - | - | 2980 | - | 2.78 | 0.112 | 2205 | 510.8 | 146.0 | - | - | 2108 | - | - | - | - | - | - | - | - | 13.95 | 13.83 | 13.98 |
| 9553 | 775.3 | 12.8 | 730 | 9554 | done | 0.85 | - | - | 2980 | - | - | - | 2205 | - | 146.0 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.69 | 14.73 | 14.72 |
| 9913 | 730.1 | 12.5 | 742 | 9914 | done | 0.85 | - | - | 2980 | - | - | - | 2207 | - | 146.0 | - | - | 2100 | - | - | - | - | - | - | - | - | 14.90 | 14.93 | 14.92 |
| 10273 | 684.8 | 12.4 | 754 | 10274 | done | 0.85 | - | - | 2980 | - | - | - | 2205 | - | 146.0 | - | - | 2099 | - | - | - | - | - | - | - | - | 14.99 | 15.02 | 15.00 |
| 10634 | 639.9 | 12.6 | 766 | 10639 | roll | 0.85 | - | - | 2991 | - | 2.62 | 0.125 | 788 | -540.8 | 146.0 | - | - | 2098 | - | - | - | - | - | - | - | - | 15.03 | 14.70 | 15.06 |
| 10663 | 635.9 | 12.3 | 772 | 10669 | done | 0.85 | - | - | 2990 | - | 2.60 | 0.112 | 2212 | 547.7 | 146.0 | - | - | 2098 | - | - | - | - | - | - | - | - | 14.87 | 14.71 | 14.91 |
| 11054 | 583.9 | 13.4 | 790 | 11055 | done | 0.85 | - | - | 2990 | - | - | - | 2212 | - | 146.0 | - | - | 2098 | - | - | - | - | - | - | - | - | 15.04 | 15.07 | 15.07 |
| 11415 | 536.9 | 13.1 | 802 | 11416 | done | 0.85 | - | - | 2990 | - | - | - | 2212 | - | 146.0 | - | - | 2097 | - | - | - | - | - | - | - | - | 15.07 | 15.09 | 15.09 |
| 11774 | 489.1 | 13.2 | 815 | 11779 | roll | 0.85 | - | - | 3001 | - | 2.62 | 0.125 | 789 | -543.1 | 146.0 | - | - | 2097 | - | - | - | - | - | - | - | - | 15.07 | 14.73 | 15.09 |
| 11793 | 486.4 | 13.4 | 819 | 11799 | done | 0.85 | - | - | 3001 | - | 2.58 | 0.112 | 2208 | 550.0 | 146.0 | - | - | 2097 | - | - | - | - | - | - | - | - | 14.90 | 14.73 | 14.95 |
| 12113 | 441.9 | 13.7 | 838 | 12120 | roll | 0.85 | - | - | 3001 | - | 2.65 | 0.145 | 3613 | 530.2 | 146.0 | - | - | 2097 | - | - | - | - | - | - | - | - | 15.11 | 14.70 | 15.14 |
| 12160 | 435.1 | 14.9 | 847 | 12165 | done | 0.85 | 0.17 | 0.251 | 2971 | -176.5 | 2.53 | 0.099 | 2204 | -556.9 | 146.0 | - | - | 2097 | - | - | - | - | - | - | - | - | 14.61 | 14.78 | 14.88 |
| 12475 | 397.9 | 11.4 | 865 | 12481 | roll | 0.85 | - | - | 2981 | - | 2.62 | 0.129 | 783 | -542.4 | 146.0 | - | - | 2095 | - | - | - | - | - | - | - | - | 15.12 | 14.71 | 15.15 |
| 12515 | 393.1 | 12.0 | 873 | 12522 | done | 0.85 | - | - | 2981 | - | 2.60 | 0.116 | 2206 | 547.3 | 146.0 | - | - | 2097 | - | - | - | - | - | - | - | - | 14.90 | 14.73 | 14.95 |
| 12837 | 355.4 | 11.2 | 892 | 12842 | roll | 0.85 | - | - | 2981 | - | 2.67 | 0.148 | 3613 | 527.0 | 146.0 | - | - | 2097 | - | - | - | - | - | - | - | - | 15.11 | 14.69 | 15.14 |
| 12871 | 351.0 | 12.7 | 899 | 12879 | done | 0.85 | - | - | 2989 | - | 2.60 | 0.100 | 2189 | -547.7 | 146.0 | - | - | 2097 | - | - | - | - | - | - | - | - | 14.94 | 14.73 | 14.97 |
| 13178 | 313.9 | 12.7 | 915 | 13183 | roll | 0.85 | - | - | 3002 | - | 2.60 | 0.129 | 781 | -541.5 | 146.0 | - | - | 2097 | - | - | - | - | - | - | - | - | 15.07 | 14.70 | 15.09 |
| 13202 | 310.6 | 12.6 | 920 | 13208 | done | 0.85 | - | - | 3002 | - | 2.65 | 0.116 | 2201 | 535.8 | 146.0 | - | - | 2096 | - | - | - | - | - | - | - | - | 14.79 | 14.69 | 14.96 |
| 13507 | 271.8 | 12.6 | 948 | 13513 | roll | 0.85 | - | - | 3002 | - | 2.70 | 0.148 | 3620 | 525.6 | 146.0 | - | - | 2099 | - | - | - | - | - | - | - | - | 15.11 | 14.68 | 15.15 |
| 13543 | 267.0 | 14.1 | 955 | 13550 | done | 0.85 | 0.17 | 0.255 | 2973 | -170.6 | 2.58 | 0.102 | 2193 | -553.1 | 146.0 | - | - | 2096 | - | - | - | - | - | - | - | - | 14.58 | 14.76 | 14.87 |
| 13848 | 235.0 | 9.9 | 986 | 13853 | roll | 0.85 | - | - | 2982 | - | 2.62 | 0.130 | 781 | -538.9 | 146.0 | - | - | 2096 | - | - | - | - | - | - | - | - | 15.07 | 14.69 | 15.09 |
| 13892 | 230.4 | 10.1 | 995 | 13900 | done | 0.85 | - | - | 2983 | - | 2.67 | 0.117 | 2213 | 536.3 | 146.0 | - | - | 2096 | - | - | - | - | - | - | - | - | 14.92 | 14.68 | 14.95 |
| 14198 | 200.2 | 9.7 | 1026 | 14203 | roll | 0.85 | - | - | 2982 | - | 2.67 | 0.149 | 3617 | 525.8 | 146.0 | - | - | 2096 | - | - | - | - | - | - | - | - | 15.11 | 14.67 | 15.14 |
| 14238 | 195.7 | 11.3 | 1034 | 14243 | done | 0.85 | - | - | 2993 | - | 2.58 | 0.103 | 2190 | -553.1 | 146.0 | - | - | 2096 | - | - | - | - | - | - | - | - | 14.89 | 14.74 | 14.94 |
| 14548 | 163.9 | 10.4 | 1066 | 14553 | roll | 0.85 | - | - | 3004 | - | 2.62 | 0.131 | 778 | -538.9 | 146.0 | - | - | 2096 | - | - | - | - | - | - | - | - | 15.11 | 14.68 | 15.14 |
| 14588 | 159.5 | 10.8 | 1074 | 14594 | done | 0.85 | - | - | 3004 | - | 2.65 | 0.118 | 2215 | 542.3 | 146.0 | - | - | 2096 | - | - | - | - | - | - | - | - | 14.88 | 14.69 | 14.93 |
| 14898 | 126.2 | 11.0 | 1106 | 14899 | done | 0.85 | - | - | 3004 | - | - | - | 2215 | - | 146.0 | - | - | 2096 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
| 15198 | 93.0 | 11.2 | 1136 | 15199 | done | 0.85 | - | - | 3004 | - | - | - | 2215 | - | 146.0 | - | - | 2096 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
| 15498 | 59.5 | 8.8 | 1166 | 15504 | roll | 0.85 | - | - | 3014 | - | 2.67 | 0.129 | 784 | -536.0 | 146.0 | - | - | 2096 | - | - | - | - | - | - | - | - | 15.11 | 14.66 | 15.14 |
| 15543 | 55.4 | 9.3 | 1175 | 15552 | done | 0.85 | 0.17 | 0.223 | 2972 | -247.1 | 2.65 | 0.117 | 2227 | 544.5 | 146.0 | - | - | 2096 | - | - | - | - | - | - | - | - | 14.59 | 14.67 | 14.85 |
| 15848 | 27.6 | 10.5 | 1206 | 15854 | roll | 0.85 | - | - | 2973 | - | 2.67 | 0.149 | 3621 | 522.1 | 146.0 | - | - | 2095 | - | - | - | - | - | - | - | - | 15.11 | 14.64 | 15.14 |
| 15903 | 21.3 | 11.6 | 1217 | 15911 | done | 0.85 | - | - | 2982 | - | 2.62 | 0.103 | 2196 | -543.9 | 146.0 | - | - | 2096 | - | - | - | - | - | - | - | - | 14.77 | 14.68 | 14.83 |
| 16097 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 16097 | begin surface coast | ||||||||||||||||||||||||||||
| 16107 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 16107 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.39 | - | - | - | - | -7.76 | 8.55 | 0.108 | 199 | 23.3 | 0.62 | 0.141 | 2507 | 2382.3 | 300.00 | 115.50 | 0.229 | 1490 | 12.9 | -0.002 | - | - | - | - | - | - | |||