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| • Previous call tries 2 | • 202.66 of 350.00 AH used of 24V (42.10% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -60.7 deg, depth 0.46 m | • Intended pitch -30.0 deg, speed -10.000 cm/s | |
| • VBD pumped to 399.91 (SM_CC=399.91037) | • surface range 12.4 m at 12.2 m depth, ceiling -0.2 m (m = 1.04, R^2 = 1.00) | |
| • GPS1 time: 36 s | • bottom range 10.9 m at 872.1 m, depth 883 m (990 m grid)(m = -0.99, R^2 = 0.99) | |
| • GPS2 time: 4 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 | |||||
| 9 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9 | begin dive | ||||||||||||||||||||||||||||
| 13 | - | - | - | 128 | done | -1.42 | - | - | 188 | - | - | - | 2813 | - | -47.5 | -114.40 | 0.003 | 3682 | - | - | - | - | - | - | - | - | 14.75 | 12.53 | 14.73 |
| 132 | 1.2 | -0.8 | 4 | 148 | roll | -1.42 | 10.73 | 0.418 | 2321 | 198.8 | 2.45 | 0.044 | 1398 | -577.6 | -47.5 | - | - | 3694 | - | - | - | - | - | - | - | - | 13.85 | 14.34 | 14.35 |
| 353 | 23.6 | -9.7 | 48 | 360 | done | -1.42 | - | - | 2316 | - | 2.53 | 0.060 | 2812 | 558.9 | -47.5 | - | - | 3699 | - | - | - | - | - | - | - | - | 14.47 | 14.33 | 14.52 |
| 695 | 60.0 | -10.5 | 61 | 695 | done | -1.42 | - | - | 2316 | - | - | - | 2812 | - | -47.5 | - | - | 3701 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.92 |
| 1031 | 94.1 | -10.1 | 73 | 1040 | roll | -1.42 | - | - | 2316 | - | 2.45 | 0.047 | 1401 | -575.9 | -47.5 | - | - | 3701 | - | - | - | - | - | - | - | - | 14.90 | 14.30 | 14.90 |
| 1090 | 99.6 | -8.9 | 84 | 1095 | done | -1.42 | - | - | 2311 | - | 2.53 | 0.060 | 2804 | 554.5 | -47.5 | - | - | 3701 | - | - | - | - | - | - | - | - | 14.44 | 14.31 | 14.50 |
| 1450 | 134.5 | -9.9 | 100 | 1455 | roll | -1.42 | - | - | 2302 | - | 2.03 | 0.081 | 3920 | 549.8 | -47.5 | - | - | 3701 | - | - | - | - | - | - | - | - | 14.79 | 14.21 | 14.79 |
| 1491 | 139.3 | -11.3 | 108 | 1496 | done | -1.42 | - | - | 2302 | - | 1.90 | 0.044 | 2792 | -593.7 | -47.5 | - | - | 3702 | - | - | - | - | - | - | - | - | 14.52 | 14.46 | 14.55 |
| 1841 | 174.7 | -10.4 | 122 | 1847 | roll | -1.42 | - | - | 2293 | - | 2.05 | 0.080 | 3913 | 546.8 | -47.5 | - | - | 3701 | - | - | - | - | - | - | - | - | 14.88 | 14.19 | 14.88 |
| 1883 | 179.7 | -11.2 | 130 | 1888 | done | -1.42 | - | - | 2293 | - | 1.90 | 0.043 | 2785 | -593.7 | -47.5 | - | - | 3702 | - | - | - | - | - | - | - | - | 14.42 | 14.38 | 14.45 |
| 2260 | 218.7 | -10.5 | 142 | 2261 | done | -1.42 | - | - | 2294 | - | - | - | 2785 | - | -47.5 | - | - | 3701 | - | - | - | - | - | - | - | - | 14.87 | 14.87 | 14.87 |
| 2594 | 253.5 | -10.2 | 148 | 2594 | done | -1.42 | - | - | 2293 | - | - | - | 2785 | - | -47.5 | - | - | 3701 | - | - | - | - | - | - | - | - | 14.95 | 14.94 | 14.94 |
| 2930 | 287.2 | -9.9 | 154 | 2930 | done | -1.42 | - | - | 2293 | - | - | - | 2785 | - | -47.5 | - | - | 3702 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.91 |
| 3266 | 320.8 | -9.8 | 160 | 3271 | roll | -1.42 | - | - | 2293 | - | 2.42 | 0.046 | 1404 | -570.7 | -47.5 | - | - | 3702 | - | - | - | - | - | - | - | - | 14.92 | 14.27 | 14.92 |
| 3311 | 325.1 | -9.4 | 169 | 3317 | done | -1.42 | 0.17 | 0.330 | 2317 | 141.2 | 2.53 | 0.060 | 2812 | 556.5 | -47.5 | - | - | 3702 | - | - | - | - | - | - | - | - | 13.59 | 14.25 | 14.09 |
| 3659 | 354.2 | -8.3 | 177 | 3665 | roll | -1.42 | - | - | 2317 | - | 2.50 | 0.046 | 1395 | -566.8 | -47.5 | - | - | 3701 | - | - | - | - | - | - | - | - | 14.91 | 14.26 | 14.92 |
| 3741 | 360.5 | -7.7 | 193 | 3747 | done | -1.44 | - | - | 2311 | - | 2.58 | 0.061 | 2815 | 550.4 | -64.2 | -0.30 | 0.304 | 3770 | -230.0 | 61.337 | - | - | - | - | - | - | 14.36 | 14.22 | 14.42 |
| 4112 | 394.8 | -9.5 | 205 | 4118 | roll | -1.44 | - | - | 2304 | - | 2.03 | 0.083 | 3920 | 544.3 | -64.2 | - | - | 3774 | - | - | - | - | - | - | - | - | 14.76 | 14.13 | 14.76 |
| 4244 | 408.5 | -9.9 | 231 | 4249 | done | -1.44 | - | - | 2304 | - | 1.92 | 0.046 | 2790 | -588.5 | -64.2 | - | - | 3774 | - | - | - | - | - | - | - | - | 14.47 | 14.40 | 14.50 |
| 4615 | 444.0 | -9.5 | 244 | 4616 | done | -1.44 | - | - | 2304 | - | - | - | 2790 | - | -64.2 | - | - | 3774 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 4951 | 477.0 | -9.9 | 250 | 4956 | roll | -1.44 | - | - | 2304 | - | 2.42 | 0.046 | 1401 | -574.0 | -64.2 | - | - | 3774 | - | - | - | - | - | - | - | - | 14.90 | 14.25 | 14.90 |
| 5017 | 483.4 | -9.4 | 263 | 5022 | done | -1.44 | - | - | 2293 | - | 2.53 | 0.060 | 2806 | 555.3 | -64.2 | - | - | 3774 | - | - | - | - | - | - | - | - | 14.35 | 14.21 | 14.40 |
| 5401 | 519.0 | -9.4 | 278 | 5406 | roll | -1.44 | - | - | 2293 | - | 2.47 | 0.045 | 1396 | -570.9 | -64.2 | - | - | 3774 | - | - | - | - | - | - | - | - | 14.91 | 14.24 | 14.90 |
| 5446 | 523.2 | -8.9 | 287 | 5451 | done | -1.44 | - | - | 2288 | - | 2.55 | 0.062 | 2811 | 554.9 | -64.2 | - | - | 3774 | - | - | - | - | - | - | - | - | 14.34 | 14.19 | 14.38 |
| 5793 | 556.7 | -9.7 | 295 | 5798 | roll | -1.44 | - | - | 2282 | - | 2.00 | 0.083 | 3910 | 549.5 | -64.2 | - | - | 3775 | - | - | - | - | - | - | - | - | 14.90 | 14.12 | 14.90 |
| 5839 | 561.4 | -10.4 | 304 | 5843 | done | -1.44 | - | - | 2282 | - | 1.90 | 0.044 | 2792 | -588.4 | -64.2 | - | - | 3774 | - | - | - | - | - | - | - | - | 14.46 | 14.39 | 14.49 |
| 6185 | 593.2 | -9.1 | 312 | 6186 | done | -1.44 | 0.12 | 0.334 | 2306 | 200.0 | - | - | 2792 | - | -64.2 | - | - | 3774 | - | - | - | - | - | - | - | - | 13.83 | 14.26 | 14.15 |
| 6521 | 623.4 | -9.0 | 318 | 6522 | done | -1.44 | - | - | 2306 | - | - | - | 2792 | - | -64.2 | - | - | 3775 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.94 |
| 6857 | 652.6 | -8.6 | 324 | 6858 | done | -1.44 | - | - | 2306 | - | - | - | 2791 | - | -64.2 | - | - | 3775 | - | - | - | - | - | - | - | - | 14.93 | 14.93 | 14.93 |
| 7193 | 680.3 | -8.2 | 330 | 7194 | done | -1.44 | - | - | 2306 | - | - | - | 2792 | - | -64.2 | - | - | 3775 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 7529 | 707.0 | -8.0 | 336 | 7530 | done | -1.46 | - | - | 2306 | - | - | - | 2792 | - | -78.6 | - | - | 3775 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 7866 | 732.4 | -7.6 | 342 | 7870 | roll | -1.48 | - | - | 2306 | - | 2.42 | 0.045 | 1402 | -574.4 | -95.8 | - | - | 3776 | - | - | - | - | - | - | - | - | 14.90 | 14.24 | 14.90 |
| 7911 | 736.2 | -8.1 | 351 | 7916 | done | -1.48 | - | - | 2296 | - | 2.53 | 0.061 | 2802 | 553.4 | -95.8 | - | - | 3776 | - | - | - | - | - | - | - | - | 14.32 | 14.18 | 14.36 |
| 8258 | 763.1 | -7.8 | 359 | 8263 | roll | -1.49 | - | - | 2291 | - | 2.03 | 0.082 | 3912 | 546.8 | -107.1 | - | - | 3776 | - | - | - | - | - | - | - | - | 14.93 | 14.09 | 14.93 |
| 8284 | 765.2 | -8.7 | 364 | 8289 | done | -1.49 | - | - | 2291 | - | 1.90 | 0.044 | 2799 | -585.8 | -107.1 | - | - | 3776 | - | - | - | - | - | - | - | - | 14.45 | 14.35 | 14.47 |
| 8651 | 795.2 | -8.3 | 376 | 8656 | roll | -1.49 | - | - | 2285 | - | 2.05 | 0.083 | 3912 | 542.9 | -107.1 | - | - | 3776 | - | - | - | - | - | - | - | - | 14.90 | 14.09 | 14.90 |
| 8747 | 803.6 | -9.0 | 395 | 8752 | done | -1.49 | - | - | 2285 | - | 1.92 | 0.044 | 2785 | -587.0 | -107.1 | - | - | 3776 | - | - | - | - | - | - | - | - | 14.43 | 14.35 | 14.45 |
| 9098 | 831.8 | -7.8 | 404 | 9103 | roll | -1.49 | - | - | 2276 | - | 2.08 | 0.081 | 3914 | 542.8 | -107.1 | - | - | 3776 | - | - | - | - | - | - | - | - | 14.92 | 14.08 | 14.92 |
| 9164 | 837.2 | -8.4 | 417 | 9170 | done | -1.49 | - | - | 2276 | - | 1.95 | 0.044 | 2783 | -580.0 | -107.1 | - | - | 3776 | - | - | - | - | - | - | - | - | 14.41 | 14.34 | 14.44 |
| 9550 | 866.0 | -7.4 | 432 | 9555 | roll | -1.49 | - | - | 2276 | - | 2.42 | 0.044 | 1393 | -574.4 | -107.1 | - | - | 3776 | - | - | - | - | - | - | - | - | 14.73 | 14.22 | 14.73 |
| 9655 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 9655 | begin apogee | ||||||||||||||||||||||||||||
| 9664 | 873.7 | -7.7 | 453 | 9751 | done | -0.23 | 1.73 | 0.277 | 2694 | 241.6 | - | - | 2567 | - | - | 83.80 | 3.075 | 3493 | -3.4 | 0.216 | - | - | - | - | - | - | 13.74 | 13.62 | 12.19 |
| 9752 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9752 | begin climb | ||||||||||||||||||||||||||||
| 9755 | 875.0 | - | 454 | 9903 | roll | 1.49 | 1.85 | 0.116 | 3270 | 311.4 | 2.95 | 0.063 | 1156 | -478.3 | 107.1 | 131.02 | 3.093 | 3063 | -3.3 | 0.209 | - | - | - | - | - | - | 13.72 | 12.66 | 11.17 |
| 9914 | 852.6 | 18.9 | 481 | 9920 | done | 1.49 | - | - | 3269 | - | 2.80 | 0.065 | 2544 | 495.7 | 107.1 | - | - | 3062 | - | - | - | - | - | - | - | - | 13.01 | 12.91 | 13.03 |
| 10288 | 770.2 | 22.0 | 494 | 10293 | roll | 1.49 | - | - | 3270 | - | 2.53 | 0.092 | 3914 | 541.5 | 107.1 | - | - | 3054 | - | - | - | - | - | - | - | - | 14.69 | 14.29 | 14.69 |
| 10313 | 764.3 | 22.8 | 499 | 10319 | done | 1.49 | - | - | 3280 | - | 2.38 | 0.052 | 2538 | -578.2 | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 14.54 | 14.47 | 14.57 |
| 10682 | 683.8 | 21.6 | 511 | 10683 | done | 1.49 | - | - | 3280 | - | - | - | 2538 | - | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.83 | 14.83 | 14.83 |
| 11018 | 612.3 | 21.3 | 517 | 11024 | roll | 1.49 | - | - | 3291 | - | 2.47 | 0.064 | 1144 | -564.4 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.85 | 14.41 | 14.85 |
| 11070 | 601.5 | 20.3 | 527 | 11076 | done | 1.49 | 0.17 | 0.332 | 3257 | -200.0 | 2.53 | 0.067 | 2566 | 562.1 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 13.92 | 14.43 | 14.41 |
| 11414 | 535.4 | 19.3 | 534 | 11415 | done | 1.49 | - | - | 3257 | - | - | - | 2566 | - | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.85 | 14.85 | 14.85 |
| 11748 | 469.2 | 19.8 | 540 | 11753 | roll | 1.49 | - | - | 3267 | - | 2.53 | 0.064 | 1145 | -561.7 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.85 | 14.35 | 14.85 |
| 11780 | 463.0 | 18.9 | 546 | 11785 | done | 1.49 | - | - | 3267 | - | 2.50 | 0.067 | 2552 | 562.8 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.55 | 14.41 | 14.60 |
| 12145 | 389.8 | 20.2 | 557 | 12151 | roll | 1.49 | - | - | 3277 | - | 2.50 | 0.062 | 1148 | -561.6 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.84 | 14.35 | 14.84 |
| 12206 | 377.1 | 19.3 | 569 | 12213 | done | 1.49 | - | - | 3277 | - | 2.50 | 0.068 | 2559 | 564.4 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.42 | 14.34 | 14.47 |
| 12596 | 300.7 | 19.4 | 585 | 12602 | roll | 1.49 | - | - | 3277 | - | 2.50 | 0.090 | 3919 | 544.0 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.83 | 14.30 | 14.83 |
| 12618 | 295.9 | 20.8 | 589 | 12625 | done | 1.49 | 0.12 | 0.356 | 3260 | -141.7 | 2.35 | 0.051 | 2538 | -587.7 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 13.74 | 14.46 | 14.07 |
| 12994 | 227.3 | 18.0 | 602 | 12999 | roll | 1.49 | - | - | 3270 | - | 2.47 | 0.063 | 1152 | -561.1 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.84 | 14.31 | 14.83 |
| 13040 | 219.1 | 17.0 | 611 | 13045 | done | 1.49 | - | - | 3270 | - | 2.53 | 0.067 | 2566 | 558.9 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.50 | 14.35 | 14.55 |
| 13388 | 159.6 | 17.5 | 623 | 13389 | done | 1.49 | - | - | 3270 | - | - | - | 2567 | - | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.82 | 14.82 | 14.82 |
| 13726 | 101.8 | 17.2 | 635 | 13727 | done | 1.49 | - | - | 3270 | - | - | - | 2567 | - | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.83 | 14.83 | 14.83 |
| 14060 | 45.1 | 16.0 | 647 | 14065 | roll | 1.49 | - | - | 3270 | - | 2.50 | 0.091 | 3909 | 536.8 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.82 | 14.25 | 14.82 |
| 14138 | 31.6 | 18.0 | 662 | 14143 | done | 1.49 | - | - | 3280 | - | 2.38 | 0.050 | 2537 | -576.5 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.57 | 14.49 | 14.59 |
| 14331 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 14331 | begin surface coast | ||||||||||||||||||||||||||||
| 14357 | end surface coast: FINISH_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 14357 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.50 | - | - | - | - | -8.04 | 9.20 | 0.073 | 184 | 20.0 | 0.50 | 0.085 | 2803 | 3546.0 | 399.91 | 206.23 | 0.223 | 1899 | 9.2 | -0.002 | - | - | - | - | - | - | |||