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| • Previous call tries 3 | • 129.99 of 350.00 AH used of 24V (62.86% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -5.6 deg, depth 11.72 m | • Intended pitch -18.9 deg, speed -9.167 cm/s | |
| • surface range 13.5 m at 13.5 m depth, ceiling 0.0 m (m = 1.04, R^2 = 1.00) | ||
| • GPS1 time: 0 s, HDOP was 3135.5 m | • bottom range 15.3 m at 845.1 m, depth 860 m (990 m grid)(m = -0.80, R^2 = 1.00) | |
| • GPS2 time: 0 s, HDOP was 3135.5 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 | |||||
| 8 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 8 | begin dive | ||||||||||||||||||||||||||||
| 10 | - | - | - | 22 | done | -0.99 | - | - | 2803 | - | - | - | 2278 | - | -107.1 | -9.98 | 0.011 | 3220 | - | - | - | - | - | - | - | - | 15.02 | 13.09 | 14.99 |
| 24 | - | - | - | 30 | roll | -0.99 | 0.95 | 0.081 | 2473 | -347.4 | 2.40 | 0.076 | 907 | -571.2 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.54 | 14.45 | 14.61 |
| 259 | 49.6 | -16.4 | 34 | 266 | done | -0.99 | - | - | 2463 | - | 2.55 | 0.070 | 2299 | 545.9 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.62 | 14.45 | 14.66 |
| 609 | 109.8 | -17.5 | 48 | 619 | roll | -0.99 | - | - | 2452 | - | 2.67 | 0.103 | 3722 | 533.0 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.07 | 14.27 | 15.10 |
| 631 | 113.7 | -17.8 | 51 | 639 | done | -0.99 | - | - | 2451 | - | 2.47 | 0.045 | 2310 | -571.7 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.71 | 14.61 | 14.75 |
| 976 | 174.7 | -17.5 | 64 | 981 | roll | -0.99 | - | - | 2441 | - | 2.62 | 0.101 | 3717 | 537.0 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.97 | 14.36 | 15.00 |
| 1191 | 215.4 | -18.8 | 95 | 1201 | done | -0.99 | 0.12 | 0.260 | 2472 | 258.3 | 2.50 | 0.043 | 2293 | -569.6 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.00 | 14.59 | 14.18 |
| 1535 | 271.3 | -16.1 | 102 | 1541 | roll | -0.99 | - | - | 2472 | - | 2.58 | 0.078 | 903 | -538.8 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.96 | 14.24 | 14.99 |
| 1772 | 310.4 | -16.5 | 136 | 1779 | done | -0.99 | - | - | 2463 | - | 2.55 | 0.067 | 2299 | 547.5 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.46 | 14.38 | 14.53 |
| 2150 | 371.9 | -16.5 | 148 | 2157 | roll | -0.99 | - | - | 2452 | - | 2.67 | 0.102 | 3718 | 531.5 | -107.1 | - | - | 3221 | - | - | - | - | - | - | - | - | 15.12 | 14.26 | 15.14 |
| 2311 | 399.1 | -16.5 | 171 | 2320 | done | -0.99 | 0.12 | 0.285 | 2476 | 200.0 | 2.50 | 0.044 | 2296 | -568.8 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.10 | 14.59 | 14.39 |
| 2654 | 450.5 | -14.8 | 178 | 2661 | roll | -0.99 | - | - | 2476 | - | 2.58 | 0.076 | 895 | -543.0 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 15.14 | 14.26 | 15.16 |
| 2892 | 486.3 | -15.3 | 212 | 2899 | done | -0.99 | - | - | 2468 | - | 2.60 | 0.067 | 2309 | 543.8 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.58 | 14.42 | 14.63 |
| 3270 | 542.5 | -14.8 | 224 | 3277 | roll | -0.99 | - | - | 2468 | - | 2.60 | 0.075 | 898 | -542.7 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 15.11 | 14.25 | 15.14 |
| 3508 | 579.3 | -15.5 | 258 | 3515 | done | -0.99 | - | - | 2458 | - | 2.60 | 0.067 | 2311 | 543.5 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.57 | 14.40 | 14.63 |
| 3886 | 637.1 | -15.4 | 270 | 3893 | roll | -0.99 | - | - | 2447 | - | 2.65 | 0.104 | 3711 | 528.3 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 15.14 | 14.23 | 15.16 |
| 4124 | 675.2 | -15.5 | 304 | 4132 | done | -0.99 | 0.15 | 0.272 | 2477 | 200.0 | 2.50 | 0.042 | 2286 | -570.0 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.04 | 14.58 | 14.35 |
| 4504 | 726.9 | -13.5 | 316 | 4509 | roll | -0.99 | - | - | 2478 | - | 2.53 | 0.076 | 896 | -549.4 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.96 | 14.30 | 14.98 |
| 4740 | 759.8 | -13.9 | 350 | 4747 | done | -0.99 | - | - | 2481 | - | 2.60 | 0.067 | 2308 | 543.1 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.57 | 14.40 | 14.62 |
| 5118 | 810.0 | -13.3 | 362 | 5125 | roll | -0.99 | - | - | 2475 | - | 2.60 | 0.073 | 902 | -540.8 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.11 | 14.23 | 15.14 |
| 5356 | 841.9 | -13.2 | 396 | 5363 | done | -0.99 | - | - | 2465 | - | 2.60 | 0.066 | 2325 | 547.3 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.45 | 14.38 | 14.50 |
| 5452 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 5452 | begin apogee | ||||||||||||||||||||||||||||
| 5457 | 854.7 | -12.8 | 403 | 5584 | done | -0.23 | 0.98 | 0.220 | 2724 | 264.3 | 0.10 | 0.149 | 2128 | -1970.0 | - | 124.43 | 3.092 | 2782 | -3.5 | 0.201 | - | - | - | - | - | - | 14.13 | 13.54 | 12.21 |
| 5585 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5585 | begin climb | ||||||||||||||||||||||||||||
| 5588 | 856.7 | - | 405 | 5738 | roll | 0.99 | 1.33 | 0.122 | 3118 | 296.2 | 2.80 | 0.091 | 3499 | 489.6 | 107.1 | 139.80 | 3.071 | 2345 | -3.1 | 0.180 | - | - | - | - | - | - | 13.56 | 12.92 | 11.88 |
| 5870 | 840.5 | 7.7 | 448 | 5876 | done | 1.02 | - | - | 3126 | - | 2.53 | 0.044 | 2127 | -542.3 | 107.1 | - | - | 2338 | - | - | - | - | - | - | - | - | 13.94 | 13.89 | 13.97 |
| 6240 | 810.6 | 8.2 | 459 | 6247 | roll | 1.04 | - | - | 3125 | - | 2.60 | 0.096 | 3500 | 528.1 | 107.1 | - | - | 2329 | - | - | - | - | - | - | - | - | 14.81 | 14.37 | 14.83 |
| 6331 | 802.6 | 7.8 | 472 | 6338 | done | 1.07 | - | - | 3125 | - | 2.47 | 0.045 | 2090 | -570.9 | 107.1 | - | - | 2330 | - | - | - | - | - | - | - | - | 14.59 | 14.54 | 14.64 |
| 6688 | 774.0 | 7.9 | 481 | 6695 | roll | 1.09 | - | - | 3125 | - | 2.62 | 0.093 | 3500 | 538.2 | 107.1 | - | - | 2329 | - | - | - | - | - | - | - | - | 15.01 | 14.52 | 15.02 |
| 6926 | 752.9 | 8.7 | 515 | 6933 | done | 1.09 | - | - | 3125 | - | 2.47 | 0.044 | 2080 | -574.9 | 107.1 | - | - | 2329 | - | - | - | - | - | - | - | - | 14.80 | 14.69 | 14.84 |
| 7305 | 722.9 | 8.3 | 527 | 7312 | roll | 1.11 | - | - | 3125 | - | 2.60 | 0.093 | 3503 | 547.3 | 107.1 | - | - | 2328 | - | - | - | - | - | - | - | - | 15.08 | 14.58 | 15.10 |
| 7535 | 701.9 | 9.4 | 560 | 7542 | done | 1.11 | - | - | 3125 | - | 2.45 | 0.044 | 2096 | -574.3 | 107.1 | - | - | 2327 | - | - | - | - | - | - | - | - | 14.78 | 14.70 | 14.85 |
| 7920 | 671.3 | 7.7 | 573 | 7927 | roll | 1.14 | 0.15 | 0.120 | 3179 | 360.0 | 2.60 | 0.093 | 3500 | 540.0 | 107.1 | - | - | 2327 | - | - | - | - | - | - | - | - | 14.77 | 14.52 | 14.86 |
| 8158 | 645.9 | 10.8 | 607 | 8165 | done | 1.14 | - | - | 3188 | - | 2.45 | 0.044 | 2091 | -575.1 | 107.1 | - | - | 2327 | - | - | - | - | - | - | - | - | 14.82 | 14.71 | 14.87 |
| 8536 | 609.3 | 9.5 | 619 | 8543 | roll | 1.14 | - | - | 3197 | - | 2.58 | 0.091 | 698 | -539.9 | 107.1 | - | - | 2326 | - | - | - | - | - | - | - | - | 15.13 | 14.49 | 15.15 |
| 8732 | 590.8 | 9.2 | 647 | 8739 | done | 1.14 | 0.15 | 0.260 | 3165 | -213.3 | 2.47 | 0.055 | 2098 | 566.8 | 107.1 | - | - | 2326 | - | - | - | - | - | - | - | - | 14.33 | 14.66 | 14.66 |
| 9096 | 559.8 | 8.6 | 657 | 9106 | roll | 1.15 | - | - | 3164 | - | 2.60 | 0.096 | 3505 | 541.2 | 107.1 | - | - | 2325 | - | - | - | - | - | - | - | - | 15.13 | 14.49 | 15.16 |
| 9335 | 536.8 | 9.7 | 691 | 9342 | done | 1.15 | - | - | 3173 | - | 2.45 | 0.043 | 2095 | -575.5 | 107.1 | - | - | 2325 | - | - | - | - | - | - | - | - | 14.80 | 14.69 | 14.84 |
| 9713 | 503.6 | 8.8 | 703 | 9721 | roll | 1.15 | - | - | 3179 | - | 2.58 | 0.093 | 705 | -538.8 | 107.1 | - | - | 2325 | - | - | - | - | - | - | - | - | 15.15 | 14.44 | 15.17 |
| 9888 | 488.3 | 8.6 | 728 | 9895 | done | 1.16 | - | - | 3178 | - | 2.47 | 0.054 | 2103 | 566.0 | 107.1 | - | - | 2324 | - | - | - | - | - | - | - | - | 14.76 | 14.64 | 14.82 |
| 10274 | 454.6 | 8.6 | 741 | 10280 | roll | 1.17 | - | - | 3178 | - | 2.60 | 0.096 | 3500 | 537.3 | 107.1 | - | - | 2324 | - | - | - | - | - | - | - | - | 15.03 | 14.45 | 15.05 |
| 10511 | 432.6 | 9.3 | 775 | 10518 | done | 1.17 | - | - | 3179 | - | 2.47 | 0.044 | 2090 | -570.9 | 107.1 | - | - | 2324 | - | - | - | - | - | - | - | - | 14.69 | 14.58 | 14.73 |
| 10889 | 402.2 | 7.9 | 787 | 10896 | roll | 1.20 | - | - | 3179 | - | 2.60 | 0.093 | 698 | -535.4 | 107.1 | - | - | 2324 | - | - | - | - | - | - | - | - | 15.14 | 14.40 | 15.16 |
| 11085 | 387.7 | 7.4 | 815 | 11092 | done | 1.23 | - | - | 3179 | - | 2.53 | 0.056 | 2114 | 559.7 | 107.1 | - | - | 2324 | - | - | - | - | - | - | - | - | 14.69 | 14.59 | 14.73 |
| 11450 | 360.3 | 7.5 | 825 | 11456 | roll | 1.27 | - | - | 3179 | - | 2.58 | 0.093 | 3503 | 538.4 | 107.1 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.02 | 14.42 | 15.05 |
| 11688 | 339.4 | 8.8 | 859 | 11694 | done | 1.27 | - | - | 3179 | - | 2.45 | 0.044 | 2097 | -573.9 | 107.1 | - | - | 2324 | - | - | - | - | - | - | - | - | 14.62 | 14.54 | 14.66 |
| 12065 | 309.6 | 7.9 | 871 | 12072 | roll | 1.29 | 0.12 | 0.143 | 3220 | 341.7 | 2.65 | 0.093 | 3510 | 533.2 | 107.1 | - | - | 2324 | - | - | - | - | - | - | - | - | 14.73 | 14.42 | 14.81 |
| 12303 | 287.2 | 9.3 | 905 | 12310 | done | 1.29 | - | - | 3230 | - | 2.50 | 0.044 | 2083 | -570.8 | 107.1 | - | - | 2323 | - | - | - | - | - | - | - | - | 14.74 | 14.64 | 14.80 |
| 12682 | 255.4 | 8.4 | 917 | 12688 | roll | 1.31 | - | - | 3230 | - | 2.67 | 0.093 | 3504 | 532.2 | 107.1 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.02 | 14.38 | 15.04 |
| 12919 | 233.9 | 8.8 | 951 | 12926 | done | 1.31 | - | - | 3239 | - | 2.47 | 0.041 | 2088 | -573.3 | 107.1 | - | - | 2323 | - | - | - | - | - | - | - | - | 14.73 | 14.64 | 14.80 |
| 13297 | 204.4 | 7.7 | 963 | 13304 | roll | 1.34 | - | - | 3239 | - | 2.65 | 0.092 | 3503 | 534.0 | 107.1 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.12 | 14.38 | 15.15 |
| 13535 | 183.6 | 8.9 | 997 | 13542 | done | 1.34 | - | - | 3250 | - | 2.47 | 0.042 | 2088 | -572.9 | 107.1 | - | - | 2323 | - | - | - | - | - | - | - | - | 14.73 | 14.62 | 14.78 |
| 13887 | 154.9 | 8.0 | 1011 | 13892 | roll | 1.36 | - | - | 3250 | - | 2.62 | 0.093 | 3506 | 541.2 | 107.1 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.00 | 14.45 | 15.03 |
| 13927 | 151.2 | 8.8 | 1017 | 13934 | done | 1.36 | - | - | 3258 | - | 2.47 | 0.045 | 2095 | -571.3 | 107.1 | - | - | 2323 | - | - | - | - | - | - | - | - | 14.73 | 14.62 | 14.76 |
| 14277 | 122.9 | 8.0 | 1031 | 14284 | roll | 1.38 | - | - | 3271 | - | 2.60 | 0.090 | 701 | -536.2 | 107.1 | - | - | 2322 | - | - | - | - | - | - | - | - | 15.13 | 14.32 | 15.15 |
| 14382 | 114.3 | 8.0 | 1046 | 14391 | done | 1.40 | - | - | 3271 | - | 2.53 | 0.057 | 2110 | 556.9 | 107.1 | - | - | 2322 | - | - | - | - | - | - | - | - | 14.69 | 14.56 | 14.75 |
| 14725 | 85.4 | 8.6 | 1059 | 14732 | roll | 1.42 | - | - | 3270 | - | 2.60 | 0.095 | 3501 | 535.0 | 107.1 | - | - | 2322 | - | - | - | - | - | - | - | - | 15.14 | 14.35 | 15.15 |
| 14963 | 62.7 | 9.8 | 1093 | 14970 | done | 1.42 | - | - | 3281 | - | 2.47 | 0.042 | 2086 | -572.9 | 107.1 | - | - | 2322 | - | - | - | - | - | - | - | - | 14.71 | 14.62 | 14.76 |
| 15315 | 32.0 | 8.3 | 1107 | 15320 | roll | 1.43 | - | - | 3281 | - | 2.62 | 0.092 | 3503 | 540.8 | 107.1 | - | - | 2321 | - | - | - | - | - | - | - | - | 15.10 | 14.42 | 15.12 |
| 15542 | end climb: FINISH_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 15542 | begin subsurface finish | ||||||||||||||||||||||||||||
| 15549 | 9.4 | 10.4 | 1140 | 15574 | done | 0.01 | 1.85 | 0.255 | 2804 | -257.8 | - | - | 2100 | - | 6.4 | -17.98 | 0.012 | 2757 | -24.2 | 3.922 | - | - | - | - | 1 | - | 14.10 | 13.00 | 14.50 |
| 15574 | end subsurface finish: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 15574 | begin surface | ||||||||||||||||||||||||||||