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| • Previous call tries 3 | • 209.81 of 350.00 AH used of 24V (40.05% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -61.6 deg, depth 0.47 m | • Intended pitch -20.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 399.91 (SM_CC=399.91037) | • surface range 12.1 m at 11.8 m depth, ceiling -0.3 m (m = 1.06, R^2 = 1.00) | |
| • GPS1 time: 32 s | • bottom range 16.5 m at 904.6 m, depth 921 m (990 m grid)(m = -1.09, R^2 = 1.00) | |
| • 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 | - | - | - | 144 | done | -1.05 | - | - | 183 | - | - | - | 2811 | - | -107.1 | -126.62 | 0.003 | 3922 | - | - | - | - | - | - | - | - | 14.80 | 12.64 | 14.74 |
| 148 | 2.8 | -4.2 | 13 | 165 | roll | -1.05 | 11.35 | 0.425 | 2425 | 197.5 | 1.92 | 0.080 | 3912 | 573.4 | -107.1 | - | - | 3931 | - | - | - | - | - | - | - | - | 13.86 | 14.36 | 14.38 |
| 200 | 12.5 | -11.6 | 22 | 205 | done | -1.05 | - | - | 2431 | - | 1.88 | 0.044 | 2793 | -595.2 | -107.1 | - | - | 3935 | - | - | - | - | - | - | - | - | 14.59 | 14.53 | 14.62 |
| 511 | 43.5 | -9.9 | 54 | 516 | roll | -1.05 | - | - | 2424 | - | 2.45 | 0.047 | 1394 | -571.0 | -107.1 | - | - | 3938 | - | - | - | - | - | - | - | - | 14.85 | 14.32 | 14.85 |
| 577 | 50.0 | -9.8 | 67 | 583 | done | -1.05 | - | - | 2424 | - | 2.53 | 0.063 | 2804 | 557.3 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.45 | 14.31 | 14.50 |
| 882 | 80.0 | -10.1 | 98 | 887 | roll | -1.05 | - | - | 2424 | - | 2.47 | 0.046 | 1393 | -571.3 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.89 | 14.31 | 14.89 |
| 907 | 82.6 | -10.0 | 103 | 914 | done | -1.05 | - | - | 2424 | - | 2.53 | 0.063 | 2801 | 556.5 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.41 | 14.28 | 14.47 |
| 1213 | 112.1 | -9.8 | 134 | 1213 | done | -1.05 | - | - | 2424 | - | - | - | 2801 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.91 | 14.91 | 14.91 |
| 1513 | 140.6 | -9.4 | 164 | 1518 | roll | -1.05 | - | - | 2424 | - | 2.47 | 0.047 | 1396 | -568.8 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.89 | 14.18 | 14.89 |
| 1543 | 143.5 | -9.6 | 170 | 1549 | done | -1.05 | - | - | 2423 | - | 2.53 | 0.063 | 2805 | 556.9 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.21 | 14.14 | 14.24 |
| 1855 | 173.3 | -9.8 | 202 | 1856 | done | -1.05 | - | - | 2423 | - | - | - | 2805 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 2155 | 202.1 | -9.7 | 232 | 2156 | done | -1.05 | - | - | 2423 | - | - | - | 2805 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 2456 | 229.7 | -9.1 | 262 | 2457 | done | -1.05 | - | - | 2422 | - | - | - | 2805 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.73 | 14.73 | 14.73 |
| 2755 | 257.1 | -9.0 | 292 | 2756 | done | -1.05 | - | - | 2422 | - | - | - | 2805 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.92 |
| 3055 | 284.9 | -9.6 | 322 | 3060 | roll | -1.05 | - | - | 2423 | - | 2.50 | 0.047 | 1396 | -563.6 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.92 | 14.24 | 14.92 |
| 3091 | 288.4 | -9.7 | 329 | 3098 | done | -1.05 | - | - | 2423 | - | 2.55 | 0.063 | 2806 | 552.9 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.34 | 14.19 | 14.40 |
| 3396 | 316.7 | -9.0 | 351 | 3401 | roll | -1.05 | - | - | 2421 | - | 2.05 | 0.086 | 3917 | 542.0 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.90 | 14.10 | 14.90 |
| 3442 | 321.2 | -9.9 | 360 | 3447 | done | -1.05 | - | - | 2421 | - | 1.92 | 0.047 | 2791 | -586.5 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.46 | 14.38 | 14.49 |
| 3761 | 350.3 | -9.1 | 378 | 3762 | done | -1.05 | - | - | 2421 | - | - | - | 2791 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.73 | 14.73 | 14.73 |
| 4058 | 377.7 | -9.1 | 393 | 4059 | done | -1.05 | - | - | 2421 | - | - | - | 2791 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.89 | 14.89 | 14.89 |
| 4358 | 406.0 | -9.8 | 408 | 4363 | roll | -1.05 | - | - | 2421 | - | 2.47 | 0.047 | 1394 | -565.6 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.88 | 14.23 | 14.88 |
| 4393 | 409.6 | -9.9 | 415 | 4400 | done | -1.05 | - | - | 2420 | - | 2.58 | 0.063 | 2812 | 549.6 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.32 | 14.17 | 14.38 |
| 4702 | 438.6 | -9.5 | 431 | 4703 | done | -1.05 | - | - | 2420 | - | - | - | 2812 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.72 | 14.72 | 14.72 |
| 4999 | 466.0 | -8.9 | 446 | 5004 | roll | -1.05 | - | - | 2420 | - | 2.53 | 0.047 | 1392 | -561.3 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.88 | 14.21 | 14.88 |
| 5039 | 469.7 | -8.9 | 454 | 5044 | done | -1.05 | - | - | 2420 | - | 2.58 | 0.064 | 2811 | 550.0 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.31 | 14.16 | 14.38 |
| 5363 | 497.6 | -8.6 | 473 | 5364 | done | -1.05 | - | - | 2420 | - | - | - | 2811 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.85 | 14.85 | 14.85 |
| 5671 | 523.6 | -8.2 | 484 | 5676 | roll | -1.05 | - | - | 2420 | - | 2.50 | 0.046 | 1394 | -566.8 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.72 | 14.21 | 14.72 |
| 5697 | 525.9 | -8.6 | 489 | 5704 | done | -1.05 | - | - | 2420 | - | 2.58 | 0.064 | 2812 | 549.6 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.30 | 14.15 | 14.35 |
| 6062 | 556.5 | -8.6 | 502 | 6067 | roll | -1.05 | - | - | 2420 | - | 2.50 | 0.047 | 1391 | -568.4 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.88 | 14.21 | 14.87 |
| 6123 | 561.9 | -8.8 | 514 | 6128 | done | -1.05 | - | - | 2419 | - | 2.58 | 0.064 | 2806 | 548.4 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.28 | 14.12 | 14.33 |
| 6516 | 595.7 | -8.3 | 532 | 6517 | done | -1.05 | - | - | 2420 | - | - | - | 2806 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.89 | 14.89 | 14.89 |
| 6874 | 623.5 | -7.4 | 544 | 6875 | done | -1.05 | - | - | 2420 | - | - | - | 2807 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.91 | 14.91 | 14.91 |
| 7234 | 650.6 | -7.8 | 556 | 7235 | done | -1.05 | - | - | 2419 | - | - | - | 2806 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.91 | 14.91 |
| 7594 | 677.2 | -7.4 | 568 | 7599 | roll | -1.05 | - | - | 2419 | - | 2.47 | 0.047 | 1401 | -568.8 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.91 | 14.20 | 14.91 |
| 7635 | 680.5 | -8.1 | 576 | 7640 | done | -1.05 | - | - | 2419 | - | 2.58 | 0.065 | 2816 | 548.4 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.28 | 14.14 | 14.33 |
| 8018 | 709.2 | -7.5 | 592 | 8019 | done | -1.05 | - | - | 2419 | - | - | - | 2815 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.88 | 14.88 | 14.88 |
| 8376 | 736.4 | -7.5 | 604 | 8377 | done | -1.05 | - | - | 2419 | - | - | - | 2816 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 8736 | 765.1 | -8.0 | 616 | 8736 | done | -1.05 | - | - | 2419 | - | - | - | 2816 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 9096 | 793.5 | -8.0 | 628 | 9101 | roll | -1.05 | - | - | 2419 | - | 2.50 | 0.045 | 1397 | -567.6 | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 14.88 | 14.19 | 14.90 |
| 9162 | 798.5 | -7.6 | 641 | 9168 | done | -1.05 | - | - | 2419 | - | 2.58 | 0.064 | 2813 | 548.8 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.31 | 14.12 | 14.31 |
| 9551 | 826.2 | -7.1 | 658 | 9552 | done | -1.05 | - | - | 2419 | - | - | - | 2812 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.85 | 14.85 | 14.83 |
| 9909 | 852.9 | -7.5 | 670 | 9909 | done | -1.05 | - | - | 2420 | - | - | - | 2813 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.88 | 14.87 | 14.88 |
| 10269 | 880.2 | -7.6 | 682 | 10270 | done | -1.05 | - | - | 2420 | - | - | - | 2813 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.87 | 14.87 | 14.88 |
| 10631 | 907.0 | -7.4 | 694 | 10636 | roll | -1.05 | - | - | 2420 | - | 2.50 | 0.046 | 1395 | -567.2 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.85 | 14.18 | 14.85 |
| 10677 | 910.2 | -6.8 | 703 | 10682 | done | -1.05 | - | - | 2420 | - | 2.58 | 0.064 | 2810 | 548.4 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.27 | 14.12 | 14.31 |
| 10686 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 10686 | begin apogee | ||||||||||||||||||||||||||||
| 10693 | 911.6 | -9.6 | 705 | 10828 | done | -0.23 | 1.05 | 0.216 | 2697 | 263.8 | - | - | 2544 | - | - | 132.02 | 3.096 | 3494 | -3.4 | 0.230 | - | - | - | - | - | - | 13.73 | 13.21 | 11.84 |
| 10829 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 10829 | begin climb | ||||||||||||||||||||||||||||
| 10832 | 912.3 | - | 709 | 10978 | done | 1.05 | 1.38 | 0.112 | 3107 | 297.1 | - | - | 2544 | - | 107.1 | 137.38 | 3.096 | 3063 | -3.1 | 0.213 | - | - | - | - | - | - | 13.26 | 12.14 | 10.90 |
| 11353 | 843.1 | 15.4 | 751 | 11354 | done | 1.05 | - | - | 3108 | - | - | - | 2545 | - | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.68 | 14.68 | 14.68 |
| 11716 | 790.2 | 14.7 | 763 | 11721 | roll | 1.05 | - | - | 3117 | - | 2.45 | 0.060 | 1157 | -566.5 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.87 | 14.44 | 14.88 |
| 11741 | 785.7 | 16.3 | 768 | 11748 | done | 1.05 | - | - | 3118 | - | 2.47 | 0.063 | 2561 | 568.4 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.60 | 14.47 | 14.64 |
| 12107 | 731.7 | 14.8 | 781 | 12107 | done | 1.05 | - | - | 3118 | - | - | - | 2561 | - | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.93 | 14.93 | 14.93 |
| 12469 | 680.0 | 14.3 | 793 | 12474 | roll | 1.05 | - | - | 3118 | - | 2.45 | 0.088 | 3908 | 549.8 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.91 | 14.38 | 14.92 |
| 12505 | 674.1 | 16.0 | 800 | 12510 | done | 1.05 | - | - | 3129 | - | 2.33 | 0.047 | 2535 | -589.3 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.64 | 14.58 | 14.68 |
| 12893 | 619.6 | 13.7 | 817 | 12898 | roll | 1.05 | - | - | 3139 | - | 2.45 | 0.060 | 1147 | -566.5 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.85 | 14.38 | 14.85 |
| 12940 | 613.0 | 14.0 | 826 | 12946 | done | 1.05 | - | - | 3140 | - | 2.50 | 0.065 | 2556 | 563.6 | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 14.54 | 14.40 | 14.59 |
| 13316 | 555.7 | 15.6 | 841 | 13317 | done | 1.05 | - | - | 3139 | - | - | - | 2557 | - | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.92 |
| 13679 | 498.6 | 15.3 | 853 | 13684 | roll | 1.05 | - | - | 3149 | - | 2.47 | 0.059 | 1160 | -565.6 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.90 | 14.35 | 14.90 |
| 13705 | 494.4 | 14.2 | 858 | 13711 | done | 1.05 | 0.17 | 0.276 | 3110 | -229.4 | 2.50 | 0.063 | 2565 | 562.0 | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 13.94 | 14.31 | 14.35 |
| 14022 | 452.5 | 13.0 | 876 | 14023 | done | 1.05 | - | - | 3110 | - | - | - | 2565 | - | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.92 | 14.93 | 14.92 |
| 14325 | 413.3 | 12.9 | 891 | 14326 | done | 1.05 | - | - | 3110 | - | - | - | 2565 | - | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 14624 | 373.2 | 13.5 | 906 | 14632 | roll | 1.05 | - | - | 3126 | - | 2.53 | 0.059 | 1149 | -559.7 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.90 | 14.23 | 14.90 |
| 14652 | 369.2 | 12.9 | 911 | 14657 | done | 1.05 | - | - | 3121 | - | 2.50 | 0.063 | 2556 | 562.8 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.50 | 14.36 | 14.55 |
| 14968 | 327.7 | 13.1 | 929 | 14969 | done | 1.05 | - | - | 3121 | - | - | - | 2556 | - | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.94 | 14.93 | 14.93 |
| 15269 | 290.2 | 12.3 | 947 | 15274 | roll | 1.05 | - | - | 3131 | - | 2.50 | 0.057 | 1156 | -560.0 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.80 | 14.29 | 14.80 |
| 15315 | 284.6 | 11.8 | 956 | 15322 | done | 1.05 | - | - | 3131 | - | 2.53 | 0.063 | 2561 | 555.3 | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 14.40 | 14.26 | 14.45 |
| 15622 | 245.4 | 13.6 | 987 | 15626 | roll | 1.05 | - | - | 3142 | - | 2.50 | 0.058 | 1154 | -562.8 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.80 | 14.28 | 14.80 |
| 15672 | 238.6 | 12.9 | 997 | 15677 | done | 1.05 | - | - | 3142 | - | 2.50 | 0.064 | 2554 | 560.0 | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 14.47 | 14.33 | 14.52 |
| 15983 | 197.5 | 12.9 | 1029 | 15988 | roll | 1.05 | - | - | 3141 | - | 2.53 | 0.090 | 3919 | 539.5 | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 14.90 | 14.22 | 14.90 |
| 16024 | 191.6 | 14.7 | 1037 | 16029 | done | 1.05 | 0.17 | 0.319 | 3116 | -147.1 | 2.38 | 0.048 | 2533 | -582.4 | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 13.83 | 14.48 | 14.28 |
| 16335 | 154.2 | 11.8 | 1069 | 16342 | roll | 1.05 | - | - | 3127 | - | 2.45 | 0.059 | 1139 | -569.0 | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 14.93 | 14.16 | 14.93 |
| 16403 | 146.6 | 10.9 | 1082 | 16410 | done | 1.05 | - | - | 3126 | - | 2.53 | 0.063 | 2554 | 559.3 | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 14.45 | 14.31 | 14.51 |
| 16708 | 110.9 | 11.6 | 1113 | 16713 | roll | 1.05 | - | - | 3136 | - | 2.50 | 0.058 | 1155 | -559.6 | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 14.92 | 14.26 | 14.92 |
| 16739 | 107.4 | 11.3 | 1119 | 16744 | done | 1.05 | - | - | 3137 | - | 2.53 | 0.063 | 2557 | 554.2 | 107.1 | - | - | 3048 | - | - | - | - | - | - | - | - | 14.45 | 14.30 | 14.50 |
| 17050 | 71.3 | 11.9 | 1151 | 17057 | roll | 1.05 | - | - | 3137 | - | 2.53 | 0.090 | 3913 | 536.0 | 107.1 | - | - | 3048 | - | - | - | - | - | - | - | - | 14.91 | 14.21 | 14.91 |
| 17088 | 66.2 | 13.7 | 1158 | 17096 | done | 1.05 | 0.15 | 0.312 | 3116 | -140.0 | 2.38 | 0.047 | 2541 | -576.5 | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 13.83 | 14.45 | 14.25 |
| 17393 | 32.1 | 11.2 | 1189 | 17402 | roll | 1.05 | - | - | 3127 | - | 2.45 | 0.059 | 1153 | -566.5 | 107.1 | - | - | 3048 | - | - | - | - | - | - | - | - | 14.87 | 14.20 | 14.86 |
| 17428 | 28.2 | 11.2 | 1195 | 17433 | done | 1.05 | - | - | 3127 | - | 2.53 | 0.063 | 2563 | 557.3 | 107.1 | - | - | 3048 | - | - | - | - | - | - | - | - | 14.45 | 14.30 | 14.50 |
| 17656 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 17656 | begin surface coast | ||||||||||||||||||||||||||||
| 17666 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 17666 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.41 | - | - | - | - | -8.03 | 8.60 | 0.059 | 188 | 21.9 | 0.45 | 0.090 | 2809 | 3953.3 | 399.91 | 211.55 | 0.220 | 1898 | 9.0 | -0.002 | - | - | - | - | - | - | |||