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| • Previous call tries 3 | • 119.24 of 350.00 AH used of 24V (65.93% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -61.0 deg, depth 1.67 m | • Intended pitch -18.9 deg, speed -9.167 cm/s | |
| • VBD pumped to 350.04 (SM_CC=350) | • surface range 9.4 m at 9.1 m depth, ceiling -0.3 m (m = 1.02, R^2 = 1.00) | |
| • GPS1 time: 0 s, HDOP was 4121.0 m | • bottom range 13.1 m at 743.1 m, depth 756 m (990 m grid)(m = -0.91, R^2 = 1.00) | |
| • GPS2 time: 181 s, HDOP was 99.0 m | • 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 | |||||
| 7 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7 | begin dive | ||||||||||||||||||||||||||||
| 10 | - | - | - | 110 | done | -0.99 | - | - | 214 | - | - | - | 2306 | - | -107.1 | -99.10 | 0.002 | 3220 | - | - | - | - | - | - | - | - | 14.99 | 12.78 | 14.99 |
| 112 | 2.1 | -0.7 | 3 | 128 | roll | -0.99 | 10.80 | 0.405 | 2468 | 208.7 | 2.60 | 0.091 | 3717 | 542.7 | -107.1 | - | - | 3221 | - | - | - | - | - | - | - | - | 14.22 | 14.61 | 14.63 |
| 358 | 53.1 | -18.9 | 39 | 364 | done | -0.99 | - | - | 2467 | - | 2.47 | 0.043 | 2292 | -576.9 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.66 | 14.62 | 14.67 |
| 723 | 117.4 | -17.7 | 55 | 728 | roll | -0.99 | - | - | 2467 | - | 2.50 | 0.076 | 893 | -559.6 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.98 | 14.46 | 15.00 |
| 826 | 136.4 | -18.1 | 70 | 834 | done | -0.99 | - | - | 2457 | - | 2.53 | 0.066 | 2290 | 552.2 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.64 | 14.56 | 14.69 |
| 1170 | 198.7 | -17.6 | 83 | 1177 | roll | -0.99 | - | - | 2457 | - | 2.55 | 0.076 | 896 | -546.7 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.09 | 14.46 | 15.11 |
| 1211 | 206.2 | -18.0 | 89 | 1219 | done | -0.99 | 0.15 | 0.298 | 2476 | 126.7 | 2.58 | 0.068 | 2308 | 547.3 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.23 | 14.59 | 14.57 |
| 1561 | 263.3 | -16.2 | 97 | 1570 | roll | -0.99 | - | - | 2476 | - | 2.60 | 0.074 | 892 | -544.6 | -107.1 | - | - | 3221 | - | - | - | - | - | - | - | - | 15.11 | 14.52 | 15.14 |
| 1617 | 272.6 | -16.4 | 105 | 1625 | done | -0.99 | - | - | 2468 | - | 2.58 | 0.067 | 2307 | 548.4 | -107.1 | - | - | 3221 | - | - | - | - | - | - | - | - | 14.74 | 14.59 | 14.79 |
| 2010 | 336.8 | -16.3 | 119 | 2016 | roll | -0.99 | - | - | 2469 | - | 2.58 | 0.075 | 898 | -546.1 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.11 | 14.45 | 15.13 |
| 2072 | 347.1 | -16.2 | 128 | 2079 | done | -0.99 | - | - | 2458 | - | 2.58 | 0.067 | 2312 | 548.1 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.73 | 14.59 | 14.78 |
| 2457 | 407.1 | -15.7 | 141 | 2466 | roll | -0.99 | - | - | 2458 | - | 2.60 | 0.075 | 894 | -545.4 | -107.1 | - | - | 3224 | - | - | - | - | - | - | - | - | 15.11 | 14.51 | 15.14 |
| 2499 | 414.1 | -16.9 | 147 | 2506 | done | -0.99 | 0.15 | 0.303 | 2477 | 126.7 | 2.58 | 0.067 | 2311 | 549.2 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.21 | 14.57 | 14.54 |
| 2849 | 466.8 | -15.3 | 155 | 2856 | roll | -0.99 | - | - | 2468 | - | 2.62 | 0.103 | 3715 | 535.9 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.11 | 14.45 | 15.14 |
| 2884 | 472.6 | -16.8 | 160 | 2891 | done | -0.99 | - | - | 2468 | - | 2.50 | 0.044 | 2282 | -573.2 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.80 | 14.70 | 14.83 |
| 3241 | 528.8 | -15.7 | 169 | 3249 | roll | -0.99 | - | - | 2468 | - | 2.53 | 0.074 | 900 | -546.2 | -107.1 | - | - | 3221 | - | - | - | - | - | - | - | - | 15.12 | 14.50 | 15.14 |
| 3283 | 535.7 | -16.5 | 175 | 3290 | done | -0.99 | - | - | 2457 | - | 2.58 | 0.067 | 2311 | 546.9 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.72 | 14.57 | 14.78 |
| 3633 | 593.7 | -16.6 | 183 | 3642 | roll | -0.99 | - | - | 2457 | - | 2.60 | 0.075 | 899 | -543.1 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.11 | 14.49 | 15.14 |
| 3675 | 601.0 | -17.4 | 189 | 3684 | done | -0.99 | 0.15 | 0.304 | 2476 | 126.7 | 2.58 | 0.067 | 2313 | 548.1 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.19 | 14.57 | 14.53 |
| 4025 | 654.8 | -15.1 | 197 | 4026 | done | -0.99 | - | - | 2476 | - | - | - | 2313 | - | -107.1 | - | - | 3221 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
| 4361 | 703.5 | -14.4 | 203 | 4368 | roll | -0.99 | - | - | 2477 | - | 2.60 | 0.072 | 895 | -545.4 | -107.1 | - | - | 3221 | - | - | - | - | - | - | - | - | 15.11 | 14.49 | 15.14 |
| 4459 | 717.8 | -14.5 | 217 | 4467 | done | -0.99 | - | - | 2474 | - | 2.58 | 0.066 | 2311 | 548.8 | -107.1 | - | - | 3221 | - | - | - | - | - | - | - | - | 14.71 | 14.57 | 14.76 |
| 4695 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 4695 | begin apogee | ||||||||||||||||||||||||||||
| 4700 | 751.3 | -14.0 | 223 | 4824 | done | -0.23 | 0.93 | 0.224 | 2723 | 267.7 | 0.10 | 0.159 | 2118 | -1930.0 | - | 121.43 | 3.078 | 2780 | -3.6 | 0.180 | - | - | - | - | - | - | 14.26 | 13.59 | 12.41 |
| 4825 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 4825 | begin climb | ||||||||||||||||||||||||||||
| 4828 | 758.0 | - | 225 | 4972 | roll | 0.99 | 1.33 | 0.124 | 3124 | 301.5 | 2.80 | 0.085 | 739 | -492.5 | 107.1 | 134.40 | 3.007 | 2343 | -3.3 | 0.167 | - | - | - | - | - | - | 13.60 | 13.22 | 12.05 |
| 5047 | 754.4 | 5.7 | 259 | 5126 | done | 1.07 | - | - | 3124 | - | 2.58 | 0.053 | 2098 | 526.7 | 167.0 | 74.20 | 2.957 | 2099 | -3.3 | 0.171 | - | - | - | - | - | - | 13.84 | 13.75 | 12.08 |
| 5474 | 714.3 | 10.0 | 278 | 5482 | roll | 1.07 | - | - | 3124 | - | 2.67 | 0.093 | 3506 | 527.3 | 167.0 | - | - | 2088 | - | - | - | - | - | - | - | - | 14.56 | 14.22 | 14.58 |
| 5572 | 703.3 | 11.0 | 292 | 5579 | done | 1.07 | - | - | 3125 | - | 2.45 | 0.044 | 2134 | -560.0 | 167.0 | - | - | 2087 | - | - | - | - | - | - | - | - | 14.53 | 14.43 | 14.56 |
| 5922 | 668.4 | 9.9 | 300 | 5929 | roll | 1.07 | - | - | 3125 | - | 2.67 | 0.093 | 689 | -541.2 | 167.0 | - | - | 2085 | - | - | - | - | - | - | - | - | 14.95 | 14.54 | 14.98 |
| 5978 | 662.6 | 10.6 | 308 | 5985 | done | 1.07 | - | - | 3125 | - | 2.53 | 0.056 | 2109 | 561.3 | 167.0 | - | - | 2084 | - | - | - | - | - | - | - | - | 14.77 | 14.66 | 14.81 |
| 6370 | 624.3 | 9.4 | 322 | 6378 | roll | 1.07 | - | - | 3125 | - | 2.60 | 0.095 | 3517 | 541.5 | 167.0 | - | - | 2083 | - | - | - | - | - | - | - | - | 15.05 | 14.64 | 15.08 |
| 6468 | 614.0 | 10.7 | 336 | 6475 | done | 1.07 | - | - | 3125 | - | 2.47 | 0.046 | 2098 | -574.5 | 167.0 | - | - | 2084 | - | - | - | - | - | - | - | - | 14.84 | 14.73 | 14.88 |
| 6818 | 580.3 | 9.6 | 344 | 6819 | done | 1.07 | - | - | 3125 | - | - | - | 2097 | - | 167.0 | - | - | 2083 | - | - | - | - | - | - | - | - | 15.09 | 15.11 | 15.11 |
| 7154 | 547.8 | 9.6 | 350 | 7162 | roll | 1.07 | - | - | 3125 | - | 2.62 | 0.093 | 3514 | 540.8 | 167.0 | - | - | 2082 | - | - | - | - | - | - | - | - | 15.11 | 14.66 | 15.14 |
| 7175 | 545.6 | 9.7 | 353 | 7182 | done | 1.07 | - | - | 3126 | - | 2.47 | 0.047 | 2090 | -576.5 | 167.0 | - | - | 2081 | - | - | - | - | - | - | - | - | 14.87 | 14.76 | 14.91 |
| 7547 | 511.3 | 9.2 | 364 | 7553 | roll | 1.07 | - | - | 3125 | - | 2.62 | 0.093 | 3513 | 543.1 | 167.0 | - | - | 2082 | - | - | - | - | - | - | - | - | 15.06 | 14.62 | 15.09 |
| 7581 | 507.8 | 10.1 | 369 | 7588 | done | 1.07 | - | - | 3125 | - | 2.47 | 0.046 | 2088 | -576.9 | 167.0 | - | - | 2085 | - | - | - | - | - | - | - | - | 14.88 | 14.76 | 14.91 |
| 7938 | 475.2 | 9.1 | 378 | 7946 | roll | 1.07 | - | - | 3125 | - | 2.62 | 0.090 | 3507 | 541.6 | 167.0 | - | - | 2081 | - | - | - | - | - | - | - | - | 15.14 | 14.66 | 15.16 |
| 7959 | 473.1 | 9.1 | 381 | 7966 | done | 1.07 | - | - | 3125 | - | 2.47 | 0.047 | 2085 | -575.7 | 167.0 | - | - | 2082 | - | - | - | - | - | - | - | - | 14.87 | 14.75 | 14.91 |
| 8331 | 441.0 | 8.5 | 392 | 8337 | roll | 1.08 | - | - | 3125 | - | 2.62 | 0.090 | 3507 | 542.7 | 167.0 | - | - | 2081 | - | - | - | - | - | - | - | - | 15.07 | 14.60 | 15.08 |
| 8358 | 438.5 | 8.9 | 396 | 8365 | done | 1.08 | - | - | 3125 | - | 2.47 | 0.045 | 2083 | -576.5 | 167.0 | - | - | 2081 | - | - | - | - | - | - | - | - | 14.86 | 14.76 | 14.91 |
| 8722 | 410.0 | 7.6 | 406 | 8730 | roll | 1.11 | - | - | 3125 | - | 2.62 | 0.091 | 3506 | 543.1 | 167.0 | - | - | 2081 | - | - | - | - | - | - | - | - | 15.14 | 14.61 | 15.16 |
| 8792 | 403.8 | 8.9 | 416 | 8800 | done | 1.11 | - | - | 3125 | - | 2.45 | 0.044 | 2093 | -576.7 | 167.0 | - | - | 2081 | - | - | - | - | - | - | - | - | 14.77 | 14.70 | 14.81 |
| 9170 | 375.8 | 7.4 | 428 | 9177 | roll | 1.15 | 0.15 | 0.125 | 3177 | 346.7 | 2.60 | 0.090 | 3504 | 542.7 | 167.0 | - | - | 2080 | - | - | - | - | - | - | - | - | 14.80 | 14.59 | 14.88 |
| 9205 | 372.3 | 10.4 | 433 | 9212 | done | 1.15 | - | - | 3186 | - | 2.45 | 0.045 | 2095 | -575.1 | 167.0 | - | - | 2081 | - | - | - | - | - | - | - | - | 14.85 | 14.75 | 14.90 |
| 9562 | 332.9 | 11.3 | 442 | 9570 | roll | 1.15 | - | - | 3186 | - | 2.62 | 0.090 | 3509 | 539.7 | 167.0 | - | - | 2080 | - | - | - | - | - | - | - | - | 15.14 | 14.63 | 15.16 |
| 9604 | 327.7 | 12.5 | 448 | 9611 | done | 1.15 | - | - | 3195 | - | 2.47 | 0.044 | 2085 | -576.5 | 167.0 | - | - | 2081 | - | - | - | - | - | - | - | - | 14.85 | 14.76 | 14.90 |
| 9955 | 289.0 | 11.0 | 456 | 9955 | done | 1.15 | - | - | 3195 | - | - | - | 2084 | - | 167.0 | - | - | 2080 | - | - | - | - | - | - | - | - | 15.06 | 15.07 | 15.09 |
| 10291 | 251.2 | 11.5 | 462 | 10291 | done | 1.15 | - | - | 3194 | - | - | - | 2085 | - | 167.0 | - | - | 2080 | - | - | - | - | - | - | - | - | 15.06 | 15.09 | 15.09 |
| 10627 | 214.2 | 10.9 | 468 | 10633 | roll | 1.15 | - | - | 3195 | - | 2.65 | 0.090 | 3516 | 540.0 | 167.0 | - | - | 2080 | - | - | - | - | - | - | - | - | 15.05 | 14.54 | 15.08 |
| 10675 | 208.3 | 12.0 | 475 | 10684 | done | 1.15 | 0.20 | 0.261 | 3158 | -185.0 | 2.47 | 0.044 | 2093 | -576.1 | 167.0 | - | - | 2080 | - | - | - | - | - | - | - | - | 14.36 | 14.76 | 14.69 |
| 11019 | 176.0 | 9.4 | 486 | 11026 | roll | 1.15 | - | - | 3159 | - | 2.58 | 0.092 | 3509 | 548.8 | 167.0 | - | - | 2080 | - | - | - | - | - | - | - | - | 15.11 | 14.59 | 15.13 |
| 11067 | 170.8 | 10.8 | 493 | 11075 | done | 1.15 | - | - | 3166 | - | 2.45 | 0.044 | 2096 | -576.7 | 167.0 | - | - | 2079 | - | - | - | - | - | - | - | - | 14.71 | 14.66 | 14.75 |
| 11412 | 138.3 | 9.2 | 506 | 11418 | roll | 1.15 | - | - | 3166 | - | 2.60 | 0.093 | 3518 | 546.9 | 167.0 | - | - | 2080 | - | - | - | - | - | - | - | - | 15.04 | 14.57 | 15.04 |
| 11445 | 134.8 | 10.3 | 511 | 11452 | done | 1.15 | - | - | 3175 | - | 2.50 | 0.045 | 2089 | -571.6 | 167.0 | - | - | 2080 | - | - | - | - | - | - | - | - | 14.81 | 14.70 | 14.86 |
| 11803 | 100.2 | 9.4 | 526 | 11810 | roll | 1.15 | - | - | 3175 | - | 2.62 | 0.090 | 3507 | 541.2 | 167.0 | - | - | 2080 | - | - | - | - | - | - | - | - | 15.11 | 14.52 | 15.14 |
| 11852 | 95.1 | 10.7 | 533 | 11859 | done | 1.15 | - | - | 3184 | - | 2.45 | 0.044 | 2091 | -578.0 | 167.0 | - | - | 2080 | - | - | - | - | - | - | - | - | 14.71 | 14.64 | 14.76 |
| 12195 | 62.6 | 9.1 | 546 | 12202 | roll | 1.15 | - | - | 3192 | - | 2.58 | 0.093 | 702 | -538.4 | 167.0 | - | - | 2080 | - | - | - | - | - | - | - | - | 15.04 | 14.46 | 15.07 |
| 12243 | 57.8 | 9.9 | 553 | 12251 | done | 1.15 | - | - | 3192 | - | 2.50 | 0.056 | 2113 | 564.4 | 167.0 | - | - | 2079 | - | - | - | - | - | - | - | - | 14.80 | 14.67 | 14.85 |
| 12587 | 23.8 | 9.9 | 566 | 12594 | roll | 1.15 | - | - | 3192 | - | 2.53 | 0.094 | 3505 | 550.2 | 167.0 | - | - | 2079 | - | - | - | - | - | - | - | - | 15.11 | 14.54 | 15.14 |
| 12677 | 13.8 | 11.0 | 579 | 12685 | done | 1.15 | 0.15 | 0.284 | 3171 | -140.0 | 2.47 | 0.044 | 2086 | -574.5 | 167.0 | - | - | 2078 | - | - | - | - | - | - | - | - | 14.29 | 14.69 | 14.64 |
| 12808 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 12808 | begin surface coast | ||||||||||||||||||||||||||||
| 12838 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 12838 | begin surface | ||||||||||||||||||||||||||||
| SM | 1.58 | - | - | - | - | -8.03 | 8.90 | 0.090 | 212 | 23.8 | 0.40 | 0.084 | 2307 | -7047.5 | 350.04 | 117.65 | 0.239 | 1351 | 11.5 | -0.008 | - | - | - | - | - | - | |||