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| • Previous call tries 3 | • 259.83 of 350.00 AH used of 24V (25.76% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -63.9 deg, depth 0.65 m | • Intended pitch -20.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 399.91 (SM_CC=399.91037) | • surface range 10.0 m at 9.9 m depth, ceiling -0.1 m (m = 1.06, R^2 = 1.00) | |
| • GPS1 time: 32 s | • bottom range 13.8 m at 894.0 m, depth 908 m (990 m grid)(m = -1.00, R^2 = 1.00) | |
| • GPS2 time: 2 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 | |||||
| 7 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7 | begin dive | ||||||||||||||||||||||||||||
| 11 | - | - | - | 133 | done | -1.05 | - | - | 196 | - | - | - | 2811 | - | -107.1 | -119.57 | 0.003 | 3920 | - | - | - | - | - | - | - | - | 11.95 | 10.81 | 11.94 |
| 137 | 2.3 | -2.5 | 12 | 158 | roll | -1.05 | 16.02 | 0.419 | 2429 | 139.4 | 3.08 | 0.041 | 1387 | -462.3 | -107.1 | - | - | 3932 | - | - | - | - | - | - | - | - | 11.44 | 11.69 | 11.75 |
| 320 | 25.9 | -10.3 | 47 | 327 | done | -1.05 | - | - | 2426 | - | 3.17 | 0.059 | 2809 | 448.6 | -107.1 | - | - | 3938 | - | - | - | - | - | - | - | - | 11.87 | 11.78 | 11.89 |
| 625 | 55.4 | -9.1 | 78 | 630 | roll | -1.05 | - | - | 2424 | - | 2.50 | 0.083 | 3913 | 441.6 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 12.09 | 11.79 | 12.09 |
| 721 | 64.8 | -9.8 | 97 | 729 | done | -1.05 | - | - | 2423 | - | 2.38 | 0.044 | 2790 | -471.8 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 11.94 | 11.88 | 11.95 |
| 1026 | 95.3 | -10.1 | 128 | 1031 | roll | -1.05 | - | - | 2424 | - | 3.00 | 0.045 | 1388 | -467.3 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 12.12 | 11.86 | 12.12 |
| 1113 | 104.1 | -10.1 | 145 | 1120 | done | -1.05 | - | - | 2423 | - | 3.12 | 0.059 | 2803 | 453.5 | -107.1 | - | - | 3942 | - | - | - | - | - | - | - | - | 11.95 | 11.86 | 11.98 |
| 1418 | 136.1 | -10.9 | 176 | 1418 | done | -1.05 | - | - | 2423 | - | - | - | 2803 | - | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 12.14 | 12.15 | 12.14 |
| 1718 | 168.3 | -10.4 | 206 | 1718 | done | -1.05 | - | - | 2424 | - | - | - | 2803 | - | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 12.17 | 12.17 | 12.17 |
| 2018 | 199.8 | -10.5 | 236 | 2018 | done | -1.05 | - | - | 2423 | - | - | - | 2800 | - | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 12.19 | 12.19 | 12.19 |
| 2318 | 230.6 | -10.1 | 266 | 2323 | roll | -1.05 | - | - | 2423 | - | 3.05 | 0.044 | 1392 | -461.6 | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 12.20 | 11.94 | 12.20 |
| 2355 | 234.3 | -9.9 | 273 | 2362 | done | -1.05 | - | - | 2421 | - | 3.12 | 0.060 | 2813 | 455.4 | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 12.02 | 11.93 | 12.05 |
| 2659 | 265.4 | -10.2 | 304 | 2664 | roll | -1.05 | - | - | 2419 | - | 2.45 | 0.083 | 3913 | 449.0 | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 12.20 | 11.90 | 12.20 |
| 2700 | 270.0 | -11.3 | 312 | 2705 | done | -1.05 | - | - | 2418 | - | 2.35 | 0.044 | 2792 | -477.0 | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 12.05 | 12.00 | 12.07 |
| 3022 | 304.3 | -10.4 | 343 | 3027 | roll | -1.05 | - | - | 2418 | - | 2.97 | 0.045 | 1392 | -471.4 | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 12.21 | 11.95 | 12.21 |
| 3053 | 307.6 | -10.7 | 349 | 3059 | done | -1.05 | - | - | 2412 | - | 3.10 | 0.060 | 2804 | 455.5 | -107.1 | - | - | 3942 | - | - | - | - | - | - | - | - | 12.04 | 11.94 | 12.07 |
| 3365 | 341.2 | -11.0 | 366 | 3366 | done | -1.05 | - | - | 2412 | - | - | - | 2804 | - | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 12.22 | 12.22 | 12.22 |
| 3668 | 374.1 | -10.8 | 381 | 3674 | roll | -1.05 | - | - | 2412 | - | 3.03 | 0.044 | 1389 | -467.0 | -107.1 | - | - | 3942 | - | - | - | - | - | - | - | - | 12.21 | 11.97 | 12.21 |
| 3710 | 379.0 | -10.8 | 389 | 3716 | done | -1.05 | - | - | 2409 | - | 3.10 | 0.060 | 2803 | 456.1 | -107.1 | - | - | 3943 | - | - | - | - | - | - | - | - | 12.05 | 11.96 | 12.08 |
| 4032 | 413.6 | -10.8 | 408 | 4033 | done | -1.05 | - | - | 2408 | - | - | - | 2803 | - | -107.1 | - | - | 3942 | - | - | - | - | - | - | - | - | 12.24 | 12.23 | 12.23 |
| 4335 | 445.4 | -10.4 | 423 | 4340 | roll | -1.05 | - | - | 2409 | - | 3.05 | 0.045 | 1384 | -465.2 | -107.1 | - | - | 3942 | - | - | - | - | - | - | - | - | 12.22 | 11.98 | 12.23 |
| 4372 | 449.4 | -10.2 | 430 | 4379 | done | -1.05 | 0.17 | 0.265 | 2429 | 117.6 | 3.12 | 0.060 | 2809 | 456.7 | -107.1 | - | - | 3942 | - | - | - | - | - | - | - | - | 11.78 | 11.97 | 12.04 |
| 4681 | 478.8 | -9.4 | 446 | 4681 | done | -1.05 | - | - | 2429 | - | - | - | 2809 | - | -107.1 | - | - | 3942 | - | - | - | - | - | - | - | - | 12.21 | 12.21 | 12.21 |
| 4977 | 506.1 | -9.0 | 460 | 4977 | done | -1.05 | - | - | 2429 | - | - | - | 2809 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 12.26 | 12.25 | 12.26 |
| 5337 | 539.1 | -9.2 | 472 | 5343 | roll | -1.05 | - | - | 2429 | - | 3.00 | 0.044 | 1394 | -471.7 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 12.26 | 11.92 | 12.26 |
| 5379 | 543.1 | -9.4 | 480 | 5384 | done | -1.05 | - | - | 2428 | - | 3.10 | 0.062 | 2806 | 455.5 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 12.09 | 11.99 | 12.10 |
| 5760 | 576.8 | -8.6 | 496 | 5761 | done | -1.05 | - | - | 2427 | - | - | - | 2806 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 12.26 | 12.26 | 12.27 |
| 6120 | 607.0 | -8.3 | 508 | 6121 | done | -1.05 | - | - | 2428 | - | - | - | 2806 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 12.28 | 12.28 | 12.28 |
| 6480 | 637.3 | -8.5 | 520 | 6481 | done | -1.05 | - | - | 2428 | - | - | - | 2806 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 12.28 | 12.29 | 12.29 |
| 6840 | 667.6 | -8.5 | 532 | 6841 | done | -1.05 | - | - | 2427 | - | - | - | 2806 | - | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 12.30 | 12.29 | 12.30 |
| 7200 | 697.3 | -8.1 | 544 | 7205 | roll | -1.05 | - | - | 2428 | - | 3.00 | 0.044 | 1394 | -470.7 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 12.31 | 12.05 | 12.31 |
| 7256 | 701.9 | -8.0 | 555 | 7263 | done | -1.05 | - | - | 2427 | - | 3.08 | 0.062 | 2802 | 457.1 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 12.09 | 12.00 | 12.11 |
| 7625 | 729.6 | -7.5 | 568 | 7625 | done | -1.05 | - | - | 2427 | - | - | - | 2801 | - | -107.1 | - | - | 3938 | - | - | - | - | - | - | - | - | 12.29 | 12.29 | 12.29 |
| 7982 | 757.3 | -7.5 | 580 | 7987 | roll | -1.05 | - | - | 2428 | - | 3.00 | 0.044 | 1382 | -473.0 | -107.1 | - | - | 3938 | - | - | - | - | - | - | - | - | 12.31 | 12.05 | 12.31 |
| 8043 | 761.7 | -6.9 | 592 | 8049 | done | -1.05 | - | - | 2427 | - | 3.10 | 0.061 | 2801 | 457.7 | -107.1 | - | - | 3938 | - | - | - | - | - | - | - | - | 12.13 | 12.04 | 12.15 |
| 8438 | 790.2 | -7.5 | 610 | 8443 | roll | -1.05 | - | - | 2425 | - | 2.47 | 0.085 | 3913 | 450.2 | -107.1 | - | - | 3938 | - | - | - | - | - | - | - | - | 12.30 | 12.01 | 12.30 |
| 8505 | 795.5 | -8.3 | 623 | 8510 | done | -1.05 | - | - | 2425 | - | 2.33 | 0.044 | 2792 | -481.1 | -107.1 | - | - | 3938 | - | - | - | - | - | - | - | - | 12.16 | 12.11 | 12.17 |
| 8895 | 822.3 | -6.6 | 640 | 8901 | roll | -1.05 | - | - | 2425 | - | 2.47 | 0.085 | 3909 | 452.2 | -107.1 | - | - | 3938 | - | - | - | - | - | - | - | - | 12.30 | 11.98 | 12.30 |
| 8947 | 826.2 | -7.3 | 650 | 8952 | done | -1.05 | - | - | 2424 | - | 2.33 | 0.045 | 2792 | -479.4 | -107.1 | - | - | 3938 | - | - | - | - | - | - | - | - | 12.16 | 12.10 | 12.17 |
| 9322 | 852.8 | -7.2 | 664 | 9322 | done | -1.05 | - | - | 2424 | - | - | - | 2789 | - | -107.1 | - | - | 3938 | - | - | - | - | - | - | - | - | 12.30 | 12.30 | 12.30 |
| 9682 | 877.8 | -6.8 | 676 | 9683 | done | -1.05 | - | - | 2425 | - | - | - | 2789 | - | -107.1 | - | - | 3938 | - | - | - | - | - | - | - | - | 12.28 | 12.28 | 12.28 |
| 9975 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 9975 | begin apogee | ||||||||||||||||||||||||||||
| 9983 | 898.4 | -7.3 | 686 | 10161 | done | -0.23 | 1.23 | 0.204 | 2697 | 221.1 | - | - | 2540 | - | - | 174.75 | 3.101 | 3492 | -2.6 | 0.181 | - | - | - | - | - | - | 11.90 | 11.38 | 10.26 |
| 10162 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 10162 | begin climb | ||||||||||||||||||||||||||||
| 10166 | 900.1 | - | 692 | 10344 | done | 1.05 | 1.65 | 0.110 | 3111 | 250.9 | - | - | 2539 | - | 107.1 | 163.40 | 3.072 | 3064 | -2.6 | 0.188 | - | - | - | - | - | - | 11.42 | 11.32 | 10.24 |
| 10703 | 831.7 | 14.4 | 730 | 10708 | roll | 1.05 | - | - | 3111 | - | 3.17 | 0.084 | 3913 | 433.4 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 11.94 | 11.68 | 11.93 |
| 10789 | 816.9 | 16.8 | 747 | 10795 | done | 1.05 | - | - | 3122 | - | 2.95 | 0.046 | 2544 | -464.1 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 11.82 | 11.77 | 11.84 |
| 11157 | 763.0 | 14.7 | 760 | 11162 | roll | 1.05 | - | - | 3122 | - | 3.15 | 0.086 | 3910 | 433.7 | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 12.02 | 11.72 | 12.02 |
| 11199 | 755.8 | 17.3 | 768 | 11207 | done | 1.05 | - | - | 3132 | - | 2.92 | 0.045 | 2543 | -468.2 | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 11.79 | 11.76 | 11.81 |
| 11583 | 697.1 | 15.1 | 784 | 11584 | done | 1.05 | - | - | 3132 | - | - | - | 2543 | - | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 12.06 | 12.07 | 12.07 |
| 11946 | 644.4 | 14.6 | 796 | 11947 | done | 1.05 | - | - | 3132 | - | - | - | 2543 | - | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 12.07 | 12.07 | 12.07 |
| 12306 | 591.8 | 14.4 | 808 | 12307 | done | 1.05 | - | - | 3132 | - | - | - | 2543 | - | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 12.09 | 12.08 | 12.08 |
| 12666 | 540.6 | 14.0 | 820 | 12671 | roll | 1.05 | - | - | 3132 | - | 3.15 | 0.086 | 3910 | 434.0 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 12.09 | 11.79 | 12.09 |
| 12733 | 529.8 | 15.8 | 833 | 12739 | done | 1.05 | - | - | 3142 | - | 2.92 | 0.045 | 2541 | -468.8 | 107.1 | - | - | 3057 | - | - | - | - | - | - | - | - | 11.94 | 11.88 | 11.96 |
| 13100 | 476.8 | 14.3 | 852 | 13109 | roll | 1.05 | - | - | 3153 | - | 3.05 | 0.058 | 1147 | -457.0 | 107.1 | - | - | 3058 | - | - | - | - | - | - | - | - | 12.10 | 11.77 | 12.10 |
| 13130 | 472.7 | 13.9 | 857 | 13136 | done | 1.05 | 0.22 | 0.268 | 3113 | -181.8 | 3.12 | 0.061 | 2557 | 451.9 | 107.1 | - | - | 3058 | - | - | - | - | - | - | - | - | 11.64 | 11.81 | 11.87 |
| 13447 | 433.0 | 12.2 | 875 | 13453 | roll | 1.05 | - | - | 3113 | - | 3.10 | 0.085 | 3910 | 436.5 | 107.1 | - | - | 3057 | - | - | - | - | - | - | - | - | 12.13 | 11.80 | 12.09 |
| 13514 | 423.8 | 14.0 | 888 | 13519 | done | 1.05 | - | - | 3124 | - | 2.92 | 0.046 | 2541 | -468.8 | 107.1 | - | - | 3058 | - | - | - | - | - | - | - | - | 11.94 | 11.89 | 11.95 |
| 13830 | 385.1 | 11.9 | 906 | 13831 | done | 1.05 | - | - | 3124 | - | - | - | 2541 | - | 107.1 | - | - | 3058 | - | - | - | - | - | - | - | - | 12.09 | 12.09 | 12.09 |
| 14133 | 349.1 | 12.2 | 921 | 14134 | done | 1.05 | - | - | 3124 | - | - | - | 2542 | - | 107.1 | - | - | 3058 | - | - | - | - | - | - | - | - | 12.09 | 12.09 | 12.09 |
| 14434 | 313.2 | 12.1 | 936 | 14439 | roll | 1.05 | - | - | 3135 | - | 3.05 | 0.057 | 1152 | -455.7 | 107.1 | - | - | 3058 | - | - | - | - | - | - | - | - | 12.09 | 11.83 | 12.09 |
| 14465 | 309.0 | 11.7 | 942 | 14470 | done | 1.05 | - | - | 3134 | - | 3.12 | 0.061 | 2563 | 452.2 | 107.1 | - | - | 3058 | - | - | - | - | - | - | - | - | 11.93 | 11.83 | 11.93 |
| 14777 | 269.5 | 12.7 | 970 | 14782 | roll | 1.05 | - | - | 3134 | - | 3.08 | 0.086 | 3907 | 436.4 | 107.1 | - | - | 3058 | - | - | - | - | - | - | - | - | 12.11 | 11.81 | 12.10 |
| 14833 | 261.4 | 14.7 | 981 | 14841 | done | 1.05 | 0.17 | 0.293 | 3117 | -100.0 | 2.92 | 0.047 | 2546 | -466.1 | 107.1 | - | - | 3058 | - | - | - | - | - | - | - | - | 11.62 | 11.87 | 11.86 |
| 15139 | 224.8 | 11.8 | 1012 | 15144 | roll | 1.05 | - | - | 3128 | - | 3.05 | 0.056 | 1152 | -457.0 | 107.1 | - | - | 3058 | - | - | - | - | - | - | - | - | 12.07 | 11.83 | 12.07 |
| 15171 | 221.1 | 11.6 | 1018 | 15176 | done | 1.05 | - | - | 3127 | - | 3.12 | 0.060 | 2556 | 450.0 | 107.1 | - | - | 3058 | - | - | - | - | - | - | - | - | 11.94 | 11.84 | 11.96 |
| 15483 | 184.4 | 11.4 | 1050 | 15489 | roll | 1.05 | - | - | 3127 | - | 3.10 | 0.087 | 3910 | 436.8 | 107.1 | - | - | 3058 | - | - | - | - | - | - | - | - | 12.11 | 11.69 | 12.11 |
| 15541 | 176.9 | 13.4 | 1061 | 15548 | done | 1.05 | - | - | 3138 | - | 2.92 | 0.045 | 2540 | -469.2 | 107.1 | - | - | 3058 | - | - | - | - | - | - | - | - | 11.97 | 11.91 | 11.98 |
| 15845 | 142.0 | 11.2 | 1092 | 15850 | roll | 1.05 | - | - | 3148 | - | 3.05 | 0.057 | 1149 | -456.1 | 107.1 | - | - | 3058 | - | - | - | - | - | - | - | - | 12.11 | 11.83 | 12.11 |
| 15897 | 136.3 | 11.1 | 1102 | 15902 | done | 1.05 | 0.20 | 0.265 | 3113 | -175.0 | 3.12 | 0.061 | 2553 | 450.0 | 107.1 | - | - | 3058 | - | - | - | - | - | - | - | - | 11.67 | 11.85 | 11.90 |
| 16209 | 102.9 | 11.1 | 1134 | 16210 | done | 1.05 | - | - | 3113 | - | - | - | 2553 | - | 107.1 | - | - | 3058 | - | - | - | - | - | - | - | - | 12.11 | 12.11 | 12.11 |
| 16509 | 70.5 | 10.0 | 1164 | 16514 | roll | 1.05 | - | - | 3113 | - | 3.10 | 0.086 | 3915 | 439.4 | 107.1 | - | - | 3057 | - | - | - | - | - | - | - | - | 12.12 | 11.83 | 12.11 |
| 16594 | 61.0 | 12.4 | 1180 | 16599 | done | 1.05 | - | - | 3123 | - | 2.92 | 0.046 | 2545 | -469.2 | 107.1 | - | - | 3058 | - | - | - | - | - | - | - | - | 11.97 | 11.92 | 11.98 |
| 16906 | 27.3 | 10.6 | 1212 | 16911 | roll | 1.05 | - | - | 3134 | - | 3.05 | 0.055 | 1155 | -455.7 | 107.1 | - | - | 3057 | - | - | - | - | - | - | - | - | 12.12 | 11.86 | 12.12 |
| 16962 | 21.3 | 10.4 | 1223 | 16969 | done | 1.05 | - | - | 3134 | - | 3.12 | 0.062 | 2562 | 451.0 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 11.96 | 11.86 | 11.97 |
| 17134 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 17134 | begin surface coast | ||||||||||||||||||||||||||||
| 17144 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 17144 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.67 | - | - | - | - | -8.02 | 10.68 | 0.067 | 201 | 18.8 | 0.57 | 0.086 | 2808 | 3119.3 | 399.91 | 227.90 | 0.194 | 1898 | 8.3 | -0.003 | - | - | - | - | - | - | |||