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| • Previous call tries 2 | • 101.03 of 350.00 AH used of 24V (71.13% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -4.8 deg, depth 12.26 m | • Intended pitch -18.9 deg, speed -9.167 cm/s | |
| • surface range 10.5 m at 10.8 m depth, ceiling 0.3 m (m = 1.08, R^2 = 1.00) | ||
| • GPS1 time: 0 s, HDOP was 3132.5 m | ||
| • GPS2 time: 0 s, HDOP was 3132.5 m | • 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 | ||||||||||||||||||||||||||||
| 8 | begin dive | ||||||||||||||||||||||||||||
| 10 | - | - | - | 22 | done | -0.99 | - | - | 2801 | - | 0.08 | 0.988 | 2308 | - | -107.1 | -10.25 | 0.010 | 3222 | - | - | - | - | - | - | - | - | 15.00 | 13.35 | 14.98 |
| 24 | - | - | - | 30 | roll | -0.99 | 0.95 | 0.082 | 2467 | -351.6 | 2.47 | 0.081 | 899 | -570.4 | -107.1 | - | - | 3222 | - | - | - | - | - | - | - | - | 14.65 | 14.54 | 14.70 |
| 146 | 31.3 | -16.8 | 18 | 154 | done | -0.99 | - | - | 2456 | - | 2.60 | 0.079 | 2306 | 541.2 | -107.1 | - | - | 3222 | - | - | - | - | - | - | - | - | 14.69 | 14.54 | 14.75 |
| 498 | 90.3 | -16.4 | 32 | 505 | roll | -0.99 | - | - | 2456 | - | 2.60 | 0.085 | 902 | -540.0 | -107.1 | - | - | 3221 | - | - | - | - | - | - | - | - | 15.07 | 14.40 | 15.09 |
| 559 | 101.2 | -17.2 | 41 | 569 | done | -0.99 | 0.17 | 0.297 | 2482 | 152.9 | 2.60 | 0.080 | 2306 | 540.0 | -107.1 | - | - | 3221 | - | - | - | - | - | - | - | - | 14.21 | 14.52 | 14.54 |
| 916 | 156.2 | -14.9 | 56 | 924 | roll | -0.99 | - | - | 2468 | - | 2.67 | 0.112 | 3712 | 526.6 | -107.1 | - | - | 3221 | - | - | - | - | - | - | - | - | 15.07 | 14.44 | 15.11 |
| 944 | 160.6 | -15.7 | 60 | 951 | done | -0.99 | - | - | 2473 | - | 2.47 | 0.050 | 2305 | -569.6 | -107.1 | - | - | 3222 | - | - | - | - | - | - | - | - | 14.76 | 14.66 | 14.77 |
| 1336 | 219.1 | -14.7 | 75 | 1337 | done | -0.99 | - | - | 2473 | - | - | - | 2304 | - | -107.1 | - | - | 3221 | - | - | - | - | - | - | - | - | 15.09 | 15.12 | 15.11 |
| 1672 | 269.4 | -15.1 | 81 | 1681 | roll | -0.99 | - | - | 2462 | - | 2.70 | 0.109 | 3717 | 523.3 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.09 | 14.45 | 15.11 |
| 1707 | 275.1 | -16.5 | 86 | 1715 | done | -0.99 | - | - | 2462 | - | 2.50 | 0.049 | 2296 | -568.4 | -107.1 | - | - | 3221 | - | - | - | - | - | - | - | - | 14.77 | 14.66 | 14.80 |
| 2064 | 330.0 | -15.3 | 95 | 2072 | roll | -0.99 | - | - | 2462 | - | 2.58 | 0.080 | 898 | -541.9 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.09 | 14.45 | 15.11 |
| 2114 | 337.5 | -15.2 | 102 | 2122 | done | -0.99 | - | - | 2451 | - | 2.60 | 0.075 | 2308 | 542.3 | -107.1 | - | - | 3224 | - | - | - | - | - | - | - | - | 14.70 | 14.54 | 14.75 |
| 2456 | 389.5 | -15.4 | 109 | 2457 | done | -0.99 | - | - | 2451 | - | - | - | 2308 | - | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.09 | 15.12 | 15.11 |
| 2792 | 440.1 | -15.0 | 115 | 2800 | roll | -0.99 | - | - | 2440 | - | 2.67 | 0.109 | 3719 | 528.5 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.09 | 14.44 | 15.11 |
| 2827 | 445.6 | -16.2 | 120 | 2835 | done | -0.99 | 0.17 | 0.286 | 2477 | 217.6 | 2.53 | 0.049 | 2283 | -567.6 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.21 | 14.66 | 14.54 |
| 3184 | 495.0 | -13.7 | 129 | 3192 | roll | -0.99 | - | - | 2477 | - | 2.55 | 0.077 | 893 | -545.1 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.09 | 14.46 | 15.11 |
| 3212 | 498.9 | -14.2 | 133 | 3220 | done | -0.99 | - | - | 2475 | - | 2.60 | 0.077 | 2304 | 542.7 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.71 | 14.54 | 14.76 |
| 3576 | 547.3 | -13.3 | 143 | 3577 | done | -0.99 | - | - | 2475 | - | - | - | 2304 | - | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.09 | 15.12 | 15.11 |
| 3912 | 592.1 | -13.3 | 149 | 3913 | done | -0.99 | - | - | 2474 | - | - | - | 2304 | - | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.13 | 15.16 | 15.16 |
| 4248 | 636.4 | -13.2 | 155 | 4256 | roll | -0.99 | - | - | 2475 | - | 2.60 | 0.080 | 897 | -541.2 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.11 | 14.45 | 15.13 |
| 4283 | 641.1 | -13.7 | 160 | 4291 | done | -0.99 | - | - | 2466 | - | 2.60 | 0.074 | 2314 | 545.0 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.71 | 14.55 | 14.76 |
| 4640 | 688.1 | -13.1 | 169 | 4641 | done | -0.99 | - | - | 2466 | - | - | - | 2314 | - | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.10 | 15.13 | 15.13 |
| 4976 | 731.8 | -13.0 | 175 | 4984 | roll | -0.99 | - | - | 2465 | - | 2.62 | 0.080 | 895 | -541.6 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.08 | 14.45 | 15.12 |
| 5039 | 740.5 | -14.2 | 184 | 5047 | done | -0.99 | - | - | 2458 | - | 2.60 | 0.074 | 2309 | 543.8 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.70 | 14.54 | 14.76 |
| 5426 | 791.3 | -13.0 | 197 | 5433 | roll | -0.99 | - | - | 2448 | - | 2.60 | 0.108 | 3716 | 541.2 | -107.1 | - | - | 3221 | - | - | - | - | - | - | - | - | 14.97 | 14.45 | 15.01 |
| 5473 | 798.0 | -14.0 | 204 | 5482 | done | -0.99 | 0.15 | 0.281 | 2477 | 193.3 | 2.50 | 0.047 | 2288 | -571.2 | -107.1 | - | - | 3223 | - | - | - | - | - | - | - | - | 14.22 | 14.66 | 14.54 |
| 5816 | 838.6 | -11.7 | 211 | 5817 | done | -0.99 | - | - | 2477 | - | - | - | 2288 | - | -107.1 | - | - | 3221 | - | - | - | - | - | - | - | - | 15.10 | 15.13 | 15.11 |
| 6152 | 877.7 | -11.7 | 217 | 6160 | roll | -0.99 | - | - | 2478 | - | 2.55 | 0.080 | 905 | -542.4 | -107.1 | - | - | 3222 | - | - | - | - | - | - | - | - | 15.10 | 14.45 | 15.12 |
| 6215 | 885.2 | -12.0 | 226 | 6223 | done | -0.99 | - | - | 2476 | - | 2.60 | 0.075 | 2311 | 540.8 | -107.1 | - | - | 3221 | - | - | - | - | - | - | - | - | 14.70 | 14.54 | 14.75 |
| 6601 | 914.2 | -4.1 | 239 | 6602 | done | -0.99 | - | - | 2476 | - | - | - | 2312 | - | -107.1 | - | - | 3221 | - | - | - | - | - | - | - | - | 15.09 | 15.12 | 15.12 |
| 6879 | end dive: NO_VERTICAL_VELOCITY | ||||||||||||||||||||||||||||
| 6879 | begin apogee | ||||||||||||||||||||||||||||
| 6883 | 914.0 | - | 244 | 7009 | done | -0.23 | 0.82 | 0.146 | 2725 | 303.7 | 0.10 | 0.161 | 2122 | -1900.0 | - | 122.35 | 3.092 | 2780 | -3.6 | 0.215 | - | - | - | - | - | - | 14.47 | 13.62 | 12.49 |
| 7010 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7010 | begin climb | ||||||||||||||||||||||||||||
| 7011 | 914.4 | - | 246 | 7156 | roll | 0.99 | 1.35 | 0.145 | 3128 | 298.5 | 2.83 | 0.092 | 737 | -489.4 | 107.1 | 134.93 | 3.094 | 2344 | -3.2 | 0.192 | - | - | - | - | - | - | 13.59 | 13.26 | 12.17 |
| 7174 | 905.2 | 10.1 | 272 | 7182 | done | 0.99 | - | - | 3128 | - | 2.65 | 0.060 | 2093 | 511.7 | 107.1 | - | - | 2341 | - | - | - | - | - | - | - | - | 13.60 | 13.52 | 13.62 |
| 7554 | 867.8 | 9.9 | 284 | 7560 | roll | 0.99 | - | - | 3128 | - | 2.65 | 0.102 | 3508 | 534.0 | 107.1 | - | - | 2331 | - | - | - | - | - | - | - | - | 14.57 | 14.18 | 14.59 |
| 7622 | 859.7 | 11.8 | 294 | 7630 | done | 0.99 | - | - | 3138 | - | 2.47 | 0.049 | 2126 | -559.5 | 107.1 | - | - | 2331 | - | - | - | - | - | - | - | - | 14.52 | 14.39 | 14.54 |
| 8002 | 818.0 | 11.1 | 306 | 8002 | done | 0.99 | - | - | 3134 | - | - | - | 2125 | - | 107.1 | - | - | 2328 | - | - | - | - | - | - | - | - | 14.87 | 14.89 | 14.89 |
| 8337 | 783.0 | 10.1 | 312 | 8338 | done | 0.99 | - | - | 3138 | - | - | - | 2125 | - | 107.1 | - | - | 2327 | - | - | - | - | - | - | - | - | 14.93 | 14.96 | 14.95 |
| 8673 | 749.3 | 10.1 | 318 | 8680 | roll | 0.99 | - | - | 3138 | - | 2.60 | 0.101 | 3514 | 534.2 | 107.1 | - | - | 2326 | - | - | - | - | - | - | - | - | 14.98 | 14.50 | 15.00 |
| 8729 | 743.0 | 11.8 | 326 | 8736 | done | 0.99 | - | - | 3148 | - | 2.50 | 0.050 | 2087 | -570.8 | 107.1 | - | - | 2326 | - | - | - | - | - | - | - | - | 14.80 | 14.69 | 14.87 |
| 9122 | 702.3 | 10.2 | 340 | 9128 | roll | 0.99 | - | - | 3149 | - | 2.65 | 0.100 | 3506 | 535.5 | 107.1 | - | - | 2326 | - | - | - | - | - | - | - | - | 15.00 | 14.51 | 15.03 |
| 9169 | 696.9 | 11.1 | 347 | 9178 | done | 0.99 | 0.17 | 0.266 | 3118 | -182.4 | 2.47 | 0.050 | 2092 | -572.5 | 107.1 | - | - | 2325 | - | - | - | - | - | - | - | - | 14.38 | 14.70 | 14.72 |
| 9513 | 667.5 | 8.4 | 354 | 9514 | done | 1.01 | - | - | 3118 | - | - | - | 2092 | - | 107.1 | - | - | 2325 | - | - | - | - | - | - | - | - | 15.09 | 15.11 | 15.11 |
| 9849 | 638.5 | 8.6 | 360 | 9859 | roll | 1.02 | - | - | 3118 | - | 2.65 | 0.099 | 3517 | 537.7 | 107.1 | - | - | 2325 | - | - | - | - | - | - | - | - | 15.09 | 14.52 | 15.11 |
| 9928 | 630.9 | 9.9 | 371 | 9934 | done | 1.02 | - | - | 3126 | - | 2.45 | 0.048 | 2102 | -577.6 | 107.1 | - | - | 2325 | - | - | - | - | - | - | - | - | 14.70 | 14.64 | 14.74 |
| 10300 | 597.0 | 9.2 | 382 | 10301 | done | 1.02 | - | - | 3126 | - | - | - | 2102 | - | 107.1 | - | - | 2324 | - | - | - | - | - | - | - | - | 15.02 | 15.05 | 15.05 |
| 10635 | 566.3 | 9.1 | 388 | 10641 | roll | 1.02 | - | - | 3126 | - | 2.62 | 0.099 | 3506 | 535.9 | 107.1 | - | - | 2324 | - | - | - | - | - | - | - | - | 15.02 | 14.50 | 15.06 |
| 10683 | 561.4 | 10.2 | 395 | 10691 | done | 1.02 | - | - | 3136 | - | 2.47 | 0.050 | 2092 | -572.5 | 107.1 | - | - | 2324 | - | - | - | - | - | - | - | - | 14.81 | 14.70 | 14.86 |
| 11026 | 529.9 | 9.1 | 402 | 11033 | roll | 1.02 | - | - | 3136 | - | 2.65 | 0.097 | 3506 | 533.6 | 107.1 | - | - | 2322 | - | - | - | - | - | - | - | - | 15.12 | 14.56 | 15.14 |
| 11102 | 521.9 | 10.4 | 413 | 11111 | done | 1.02 | - | - | 3145 | - | 2.47 | 0.047 | 2089 | -573.7 | 107.1 | - | - | 2323 | - | - | - | - | - | - | - | - | 14.81 | 14.71 | 14.86 |
| 11474 | 487.0 | 9.3 | 424 | 11475 | done | 1.02 | - | - | 3146 | - | - | - | 2089 | - | 107.1 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.12 | 15.15 | 15.14 |
| 11810 | 454.5 | 9.7 | 430 | 11817 | roll | 1.02 | - | - | 3146 | - | 2.67 | 0.098 | 3511 | 532.6 | 107.1 | - | - | 2322 | - | - | - | - | - | - | - | - | 15.13 | 14.55 | 15.15 |
| 11894 | 445.5 | 10.6 | 442 | 11901 | done | 1.02 | - | - | 3156 | - | 2.47 | 0.047 | 2095 | -573.3 | 107.1 | - | - | 2322 | - | - | - | - | - | - | - | - | 14.81 | 14.71 | 14.86 |
| 12258 | 409.3 | 10.0 | 452 | 12265 | roll | 1.02 | - | - | 3157 | - | 2.65 | 0.098 | 3507 | 532.8 | 107.1 | - | - | 2322 | - | - | - | - | - | - | - | - | 15.12 | 14.54 | 15.15 |
| 12306 | 404.0 | 11.1 | 459 | 12315 | done | 1.02 | 0.17 | 0.276 | 3129 | -164.7 | 2.47 | 0.048 | 2090 | -573.7 | 107.1 | - | - | 2322 | - | - | - | - | - | - | - | - | 14.33 | 14.70 | 14.66 |
| 12650 | 374.3 | 8.5 | 466 | 12657 | roll | 1.03 | - | - | 3128 | - | 2.65 | 0.097 | 3512 | 536.6 | 107.1 | - | - | 2322 | - | - | - | - | - | - | - | - | 15.12 | 14.50 | 15.15 |
| 12713 | 368.4 | 9.6 | 475 | 12720 | done | 1.03 | - | - | 3138 | - | 2.45 | 0.047 | 2098 | -577.1 | 107.1 | - | - | 2322 | - | - | - | - | - | - | - | - | 14.70 | 14.64 | 14.74 |
| 13098 | 336.9 | 8.0 | 488 | 13099 | done | 1.05 | - | - | 3140 | - | - | - | 2098 | - | 107.1 | - | - | 2321 | - | - | - | - | - | - | - | - | 15.13 | 15.15 | 15.14 |
| 13434 | 309.4 | 8.3 | 494 | 13435 | done | 1.07 | - | - | 3137 | - | - | - | 2098 | - | 107.1 | - | - | 2321 | - | - | - | - | - | - | - | - | 15.12 | 15.16 | 15.15 |
| 13770 | 281.3 | 8.3 | 500 | 13777 | roll | 1.09 | - | - | 3138 | - | 2.62 | 0.099 | 3503 | 536.3 | 107.1 | - | - | 2321 | - | - | - | - | - | - | - | - | 15.13 | 14.50 | 15.16 |
| 13854 | 273.8 | 8.9 | 512 | 13861 | done | 1.09 | - | - | 3148 | - | 2.47 | 0.047 | 2088 | -572.9 | 107.1 | - | - | 2321 | - | - | - | - | - | - | - | - | 14.81 | 14.69 | 14.85 |
| 14218 | 244.8 | 7.7 | 522 | 14225 | roll | 1.12 | - | - | 3148 | - | 2.67 | 0.100 | 3514 | 534.1 | 107.1 | - | - | 2321 | - | - | - | - | - | - | - | - | 15.12 | 14.48 | 15.15 |
| 14274 | 239.6 | 9.5 | 530 | 14282 | done | 1.12 | - | - | 3158 | - | 2.50 | 0.050 | 2088 | -570.4 | 107.1 | - | - | 2321 | - | - | - | - | - | - | - | - | 14.80 | 14.69 | 14.85 |
| 14667 | 206.6 | 8.3 | 544 | 14668 | done | 1.13 | - | - | 3158 | - | - | - | 2088 | - | 107.1 | - | - | 2321 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
| 15002 | 179.6 | 8.1 | 554 | 15009 | roll | 1.16 | - | - | 3158 | - | 2.65 | 0.099 | 3503 | 534.0 | 107.1 | - | - | 2320 | - | - | - | - | - | - | - | - | 15.10 | 14.46 | 15.15 |
| 15058 | 174.6 | 8.9 | 562 | 15065 | done | 1.16 | - | - | 3168 | - | 2.47 | 0.047 | 2087 | -573.3 | 107.1 | - | - | 2320 | - | - | - | - | - | - | - | - | 14.80 | 14.69 | 14.84 |
| 15422 | 145.5 | 8.0 | 578 | 15429 | roll | 1.18 | - | - | 3168 | - | 2.65 | 0.097 | 3507 | 535.8 | 107.1 | - | - | 2321 | - | - | - | - | - | - | - | - | 15.11 | 14.47 | 15.14 |
| 15463 | 141.5 | 9.6 | 584 | 15471 | done | 1.18 | - | - | 3179 | - | 2.47 | 0.048 | 2094 | -572.1 | 107.1 | - | - | 2320 | - | - | - | - | - | - | - | - | 14.79 | 14.68 | 14.84 |
| 15814 | 113.0 | 8.0 | 598 | 15815 | done | 1.20 | - | - | 3178 | - | - | - | 2094 | - | 107.1 | - | - | 2320 | - | - | - | - | - | - | - | - | 15.14 | 15.17 | 15.17 |
| 16150 | 86.3 | 7.1 | 610 | 16172 | done | 1.25 | - | - | 3178 | - | - | - | 2094 | - | 143.9 | 20.60 | 0.491 | 2193 | -6.2 | 0.218 | - | - | - | - | - | - | 15.12 | 14.81 | 14.37 |
| 16486 | 56.7 | 10.2 | 622 | 16493 | roll | 1.25 | - | - | 3179 | - | 2.67 | 0.099 | 3517 | 533.0 | 143.9 | - | - | 2186 | - | - | - | - | - | - | - | - | 15.08 | 14.50 | 15.11 |
| 16542 | 51.0 | 9.7 | 630 | 16549 | done | 1.25 | - | - | 3188 | - | 2.50 | 0.048 | 2093 | -569.6 | 143.9 | - | - | 2186 | - | - | - | - | - | - | - | - | 14.77 | 14.66 | 14.82 |
| 16906 | 17.4 | 11.2 | 646 | 16913 | roll | 1.25 | - | - | 3199 | - | 2.62 | 0.095 | 689 | -535.9 | 143.9 | - | - | 2185 | - | - | - | - | - | - | - | - | 15.09 | 14.49 | 15.11 |
| 16974 | end climb: FINISH_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 16974 | begin subsurface finish | ||||||||||||||||||||||||||||
| 16981 | 9.9 | 12.4 | 656 | 17005 | done | 0.01 | 1.42 | 0.219 | 2804 | -278.2 | - | - | 2104 | - | 8.6 | -16.23 | 0.006 | 2749 | -34.8 | 11.557 | - | - | - | - | - | - | 14.38 | 13.34 | 14.70 |
| 17006 | end subsurface finish: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 17006 | begin surface | ||||||||||||||||||||||||||||