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| • Previous call tries 1 | • 203.35 of 350.00 AH used of 24V (41.90% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -62.1 deg, depth 0.47 m | • Intended pitch -20.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 400.16 (SM_CC=399.91037) | • surface range 7.8 m at 7.3 m depth, ceiling -0.5 m (m = 1.05, R^2 = 1.00) | |
| • GPS1 time: 45 s | • bottom range 10.2 m at 897.4 m, depth 908 m (990 m grid)(m = -0.91, R^2 = 0.97) | |
| • GPS2 time: 3 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 | |||||
| 8 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 8 | begin dive | ||||||||||||||||||||||||||||
| 12 | - | - | - | 141 | done | -1.05 | - | - | 187 | - | - | - | 2809 | - | -107.1 | -127.28 | 0.003 | 3921 | - | - | - | - | - | - | - | - | 14.74 | 12.55 | 14.73 |
| 145 | 1.3 | -0.9 | 4 | 161 | roll | -1.05 | 11.27 | 0.418 | 2432 | 199.2 | 2.40 | 0.044 | 1402 | -586.2 | -107.1 | - | - | 3929 | - | - | - | - | - | - | - | - | 13.81 | 14.28 | 14.14 |
| 342 | 24.2 | -9.4 | 43 | 350 | done | -1.05 | - | - | 2429 | - | 2.53 | 0.067 | 2798 | 551.8 | -107.1 | - | - | 3938 | - | - | - | - | - | - | - | - | 14.38 | 14.23 | 14.42 |
| 683 | 59.3 | -10.7 | 56 | 688 | roll | -1.05 | - | - | 2425 | - | 2.05 | 0.089 | 3916 | 545.4 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.92 | 14.21 | 14.92 |
| 769 | 68.8 | -11.4 | 73 | 775 | done | -1.05 | - | - | 2426 | - | 1.90 | 0.046 | 2794 | -590.5 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.54 | 14.47 | 14.57 |
| 1125 | 104.9 | -10.2 | 88 | 1126 | done | -1.05 | - | - | 2426 | - | - | - | 2795 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.89 | 14.89 | 14.89 |
| 1458 | 139.7 | -10.5 | 100 | 1459 | done | -1.05 | - | - | 2426 | - | - | - | 2795 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.91 | 14.95 | 14.91 |
| 1794 | 173.0 | -9.4 | 112 | 1799 | roll | -1.05 | - | - | 2425 | - | 2.08 | 0.087 | 3913 | 537.5 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.93 | 14.16 | 14.93 |
| 1844 | 178.1 | -10.2 | 122 | 1849 | done | -1.05 | - | - | 2425 | - | 1.90 | 0.046 | 2797 | -587.4 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.50 | 14.42 | 14.52 |
| 2206 | 212.1 | -9.5 | 137 | 2212 | roll | -1.05 | - | - | 2425 | - | 2.47 | 0.047 | 1392 | -568.8 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.92 | 14.29 | 14.92 |
| 2320 | 222.5 | -9.0 | 159 | 2325 | done | -1.05 | - | - | 2424 | - | 2.55 | 0.064 | 2808 | 555.3 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.38 | 14.23 | 14.44 |
| 2714 | 258.6 | -9.0 | 176 | 2719 | roll | -1.05 | - | - | 2424 | - | 2.03 | 0.087 | 3908 | 541.9 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.92 | 14.14 | 14.92 |
| 2790 | 266.4 | -10.1 | 191 | 2795 | done | -1.05 | - | - | 2423 | - | 1.90 | 0.047 | 2793 | -586.8 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.50 | 14.42 | 14.52 |
| 3162 | 300.9 | -9.2 | 204 | 3162 | done | -1.05 | - | - | 2423 | - | - | - | 2793 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.92 |
| 3498 | 330.7 | -8.8 | 210 | 3503 | roll | -1.05 | - | - | 2424 | - | 2.45 | 0.047 | 1394 | -571.0 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.91 | 14.28 | 14.91 |
| 3606 | 340.3 | -9.1 | 231 | 3612 | done | -1.05 | - | - | 2423 | - | 2.55 | 0.064 | 2803 | 552.5 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.40 | 14.20 | 14.41 |
| 3944 | 372.8 | -9.7 | 238 | 3949 | roll | -1.05 | - | - | 2421 | - | 2.05 | 0.088 | 3914 | 542.0 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.92 | 14.12 | 14.92 |
| 3995 | 378.1 | -10.6 | 248 | 4001 | done | -1.05 | - | - | 2421 | - | 1.92 | 0.047 | 2791 | -584.9 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.47 | 14.40 | 14.50 |
| 4336 | 412.3 | -10.1 | 255 | 4342 | roll | -1.05 | - | - | 2421 | - | 2.45 | 0.047 | 1394 | -570.2 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.92 | 14.26 | 14.92 |
| 4373 | 416.0 | -10.1 | 262 | 4378 | done | -1.05 | - | - | 2420 | - | 2.58 | 0.065 | 2814 | 550.4 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.35 | 14.19 | 14.40 |
| 4729 | 450.2 | -9.5 | 272 | 4734 | roll | -1.05 | - | - | 2420 | - | 2.03 | 0.089 | 3908 | 538.9 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.92 | 14.09 | 14.92 |
| 4770 | 454.2 | -10.0 | 280 | 4775 | done | -1.05 | - | - | 2420 | - | 1.92 | 0.047 | 2793 | -580.7 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.46 | 14.39 | 14.50 |
| 5122 | 486.3 | -9.1 | 289 | 5128 | roll | -1.05 | - | - | 2420 | - | 2.47 | 0.047 | 1379 | -572.5 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.90 | 14.14 | 14.90 |
| 5183 | 492.1 | -9.3 | 301 | 5189 | done | -1.05 | - | - | 2420 | - | 2.62 | 0.065 | 2814 | 547.7 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.33 | 14.18 | 14.39 |
| 5573 | 527.3 | -9.2 | 317 | 5574 | done | -1.05 | - | - | 2420 | - | - | - | 2814 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.88 | 14.88 | 14.85 |
| 5907 | 557.9 | -9.0 | 323 | 5908 | done | -1.05 | - | - | 2420 | - | - | - | 2814 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 6243 | 587.4 | -8.8 | 329 | 6249 | roll | -1.05 | - | - | 2420 | - | 2.53 | 0.046 | 1381 | -566.4 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.23 | 14.90 |
| 6284 | 591.1 | -9.0 | 337 | 6290 | done | -1.05 | - | - | 2420 | - | 2.60 | 0.065 | 2813 | 550.8 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.32 | 14.17 | 14.36 |
| 6637 | 621.7 | -8.7 | 346 | 6638 | done | -1.05 | - | - | 2420 | - | - | - | 2813 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.93 | 14.93 | 14.93 |
| 6973 | 649.6 | -8.3 | 352 | 6974 | done | -1.05 | - | - | 2420 | - | - | - | 2813 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.89 | 14.88 | 14.90 |
| 7309 | 676.8 | -8.1 | 358 | 7314 | roll | -1.05 | - | - | 2420 | - | 2.53 | 0.046 | 1382 | -565.6 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.89 | 14.23 | 14.90 |
| 7345 | 679.7 | -8.0 | 365 | 7351 | done | -1.05 | - | - | 2419 | - | 2.60 | 0.066 | 2814 | 550.8 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.29 | 14.16 | 14.36 |
| 7702 | 706.3 | -7.3 | 375 | 7703 | done | -1.05 | - | - | 2420 | - | - | - | 2814 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 8038 | 732.5 | -8.2 | 381 | 8044 | roll | -1.05 | - | - | 2420 | - | 2.03 | 0.089 | 3913 | 541.4 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.92 | 14.06 | 14.92 |
| 8090 | 737.2 | -9.7 | 391 | 8096 | done | -1.05 | - | - | 2420 | - | 1.95 | 0.047 | 2778 | -582.1 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.46 | 14.35 | 14.45 |
| 8431 | 765.6 | -8.2 | 398 | 8432 | done | -1.05 | - | - | 2420 | - | - | - | 2780 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.88 |
| 8767 | 792.4 | -7.9 | 404 | 8772 | roll | -1.05 | - | - | 2420 | - | 2.42 | 0.046 | 1396 | -571.9 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.90 | 14.21 | 14.90 |
| 8803 | 795.1 | -8.0 | 411 | 8808 | done | -1.05 | - | - | 2420 | - | 2.58 | 0.065 | 2812 | 548.8 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.29 | 14.14 | 14.34 |
| 9160 | 822.4 | -7.7 | 421 | 9161 | done | -1.05 | - | - | 2419 | - | - | - | 2812 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.91 | 14.92 | 14.91 |
| 9496 | 846.4 | -6.9 | 427 | 9497 | done | -1.05 | - | - | 2419 | - | - | - | 2810 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.93 | 14.92 | 14.91 |
| 9832 | 869.4 | -6.8 | 433 | 9838 | roll | -1.05 | - | - | 2420 | - | 2.50 | 0.047 | 1390 | -568.0 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.90 | 14.21 | 14.90 |
| 9889 | 873.1 | -5.5 | 444 | 9894 | done | -1.05 | - | - | 2419 | - | 2.58 | 0.066 | 2805 | 548.4 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.28 | 14.14 | 14.33 |
| 10278 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 10278 | begin apogee | ||||||||||||||||||||||||||||
| 10285 | 901.2 | -6.9 | 461 | 10420 | done | -0.23 | 1.05 | 0.217 | 2696 | 263.8 | - | - | 2537 | - | - | 132.80 | 3.096 | 3492 | -3.4 | 0.227 | - | - | - | - | - | - | 13.69 | 13.19 | 11.75 |
| 10421 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 10421 | begin climb | ||||||||||||||||||||||||||||
| 10424 | 902.6 | - | 463 | 10572 | roll | 1.05 | 1.40 | 0.113 | 3124 | 305.7 | 2.88 | 0.060 | 1159 | -478.5 | 107.1 | 137.65 | 3.096 | 3064 | -3.1 | 0.209 | - | - | - | - | - | - | 13.25 | 12.38 | 10.88 |
| 10593 | 884.8 | 16.3 | 494 | 10598 | done | 1.05 | - | - | 3124 | - | 2.85 | 0.063 | 2553 | 489.1 | 107.1 | - | - | 3060 | - | - | - | - | - | - | - | - | 12.82 | 12.71 | 12.85 |
| 10943 | 832.3 | 15.1 | 502 | 10948 | roll | 1.05 | - | - | 3124 | - | 2.53 | 0.091 | 3912 | 537.2 | 107.1 | - | - | 3054 | - | - | - | - | - | - | - | - | 14.63 | 14.26 | 14.64 |
| 10989 | 823.9 | 17.9 | 511 | 10994 | done | 1.05 | - | - | 3134 | - | 2.35 | 0.050 | 2547 | -580.9 | 107.1 | - | - | 3054 | - | - | - | - | - | - | - | - | 14.52 | 14.45 | 14.54 |
| 11339 | 769.2 | 15.7 | 519 | 11344 | roll | 1.05 | - | - | 3145 | - | 2.47 | 0.062 | 1142 | -568.8 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.83 | 14.42 | 14.83 |
| 11370 | 764.0 | 14.2 | 525 | 11376 | done | 1.05 | 0.15 | 0.285 | 3113 | -213.3 | 2.53 | 0.066 | 2568 | 563.6 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.12 | 14.44 | 14.48 |
| 11734 | 712.4 | 14.2 | 536 | 11735 | done | 1.05 | - | - | 3112 | - | - | - | 2568 | - | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.85 | 14.85 | 14.85 |
| 12070 | 664.0 | 14.3 | 542 | 12071 | done | 1.05 | - | - | 3113 | - | - | - | 2568 | - | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.83 | 14.83 | 14.83 |
| 12406 | 615.5 | 14.7 | 548 | 12411 | roll | 1.05 | - | - | 3112 | - | 2.45 | 0.090 | 3906 | 546.1 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.83 | 14.34 | 14.83 |
| 12437 | 610.3 | 16.9 | 554 | 12442 | done | 1.05 | - | - | 3122 | - | 2.35 | 0.049 | 2536 | -583.0 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.62 | 14.55 | 14.66 |
| 12800 | 556.5 | 14.7 | 565 | 12806 | roll | 1.05 | - | - | 3133 | - | 2.45 | 0.060 | 1151 | -565.3 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.83 | 14.37 | 14.83 |
| 12826 | 552.6 | 14.0 | 570 | 12831 | done | 1.05 | - | - | 3133 | - | 2.50 | 0.066 | 2557 | 562.4 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.53 | 14.39 | 14.58 |
| 13194 | 500.6 | 14.0 | 582 | 13199 | roll | 1.05 | - | - | 3133 | - | 2.50 | 0.091 | 3918 | 544.4 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.83 | 14.31 | 14.83 |
| 13225 | 495.9 | 15.4 | 588 | 13230 | done | 1.05 | - | - | 3144 | - | 2.35 | 0.049 | 2541 | -586.0 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.61 | 14.54 | 14.64 |
| 13590 | 444.3 | 14.3 | 599 | 13595 | roll | 1.05 | 0.12 | 0.309 | 3124 | -166.7 | 2.45 | 0.057 | 1151 | -567.3 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 13.97 | 14.32 | 14.21 |
| 13626 | 439.1 | 12.7 | 606 | 13631 | done | 1.05 | - | - | 3124 | - | 2.50 | 0.064 | 2557 | 562.4 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.52 | 14.38 | 14.57 |
| 13986 | 393.3 | 12.7 | 616 | 13991 | roll | 1.05 | - | - | 3124 | - | 2.50 | 0.090 | 3914 | 542.8 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.83 | 14.28 | 14.83 |
| 14032 | 386.5 | 14.2 | 625 | 14038 | done | 1.05 | - | - | 3135 | - | 2.35 | 0.048 | 2540 | -584.7 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.59 | 14.52 | 14.62 |
| 14380 | 340.2 | 13.4 | 633 | 14386 | roll | 1.05 | - | - | 3145 | - | 2.45 | 0.060 | 1157 | -564.5 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.83 | 14.33 | 14.83 |
| 14397 | 337.9 | 13.0 | 636 | 14402 | done | 1.05 | 0.15 | 0.285 | 3113 | -213.3 | 2.50 | 0.065 | 2559 | 560.8 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 13.93 | 14.35 | 14.33 |
| 14775 | 290.2 | 12.8 | 650 | 14780 | roll | 1.05 | - | - | 3124 | - | 2.50 | 0.059 | 1158 | -560.4 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.82 | 14.31 | 14.83 |
| 14800 | 286.9 | 12.5 | 655 | 14805 | done | 1.05 | - | - | 3124 | - | 2.50 | 0.064 | 2560 | 560.8 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.48 | 14.34 | 14.54 |
| 15170 | 242.3 | 11.9 | 667 | 15171 | done | 1.05 | - | - | 3124 | - | - | - | 2560 | - | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.82 | 14.81 | 14.81 |
| 15504 | 202.8 | 11.7 | 673 | 15505 | done | 1.05 | - | - | 3124 | - | - | - | 2560 | - | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.82 | 14.82 | 14.82 |
| 15842 | 164.8 | 11.3 | 684 | 15847 | roll | 1.05 | - | - | 3134 | - | 2.53 | 0.058 | 1155 | -555.3 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.81 | 14.21 | 14.81 |
| 15898 | 158.1 | 11.4 | 695 | 15904 | done | 1.05 | - | - | 3134 | - | 2.53 | 0.065 | 2558 | 554.5 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.46 | 14.28 | 14.51 |
| 16255 | 114.6 | 12.1 | 711 | 16260 | roll | 1.05 | - | - | 3145 | - | 2.53 | 0.060 | 1156 | -554.2 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.94 | 14.27 | 14.95 |
| 16286 | 110.9 | 11.4 | 717 | 16292 | done | 1.05 | 0.12 | 0.291 | 3120 | -208.3 | 2.53 | 0.065 | 2565 | 556.9 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 13.90 | 14.30 | 14.29 |
| 16644 | 72.8 | 10.7 | 733 | 16645 | done | 1.05 | - | - | 3120 | - | - | - | 2565 | - | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.95 | 14.95 | 14.95 |
| 16981 | 35.6 | 10.6 | 745 | 16986 | roll | 1.05 | - | - | 3120 | - | 2.50 | 0.090 | 3914 | 539.6 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.80 | 14.19 | 14.80 |
| 17012 | 31.9 | 11.4 | 751 | 17017 | done | 1.05 | - | - | 3130 | - | 2.35 | 0.049 | 2548 | -581.3 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.48 | 14.47 | 14.49 |
| 17283 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 17283 | begin surface coast | ||||||||||||||||||||||||||||
| 17310 | end surface coast: FINISH_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 17310 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.40 | - | - | - | - | -8.03 | 8.82 | 0.079 | 191 | 21.7 | 0.50 | 0.089 | 2811 | 3562.0 | 400.16 | 212.45 | 0.217 | 1897 | 8.9 | -0.002 | - | - | - | - | - | - | |||