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| • Previous call tries 3 | • 134.21 of 350.00 AH used of 24V (61.65% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -60.9 deg, depth 1.11 m | • Intended pitch -18.6 deg, speed -9.167 cm/s | |
| • VBD pumped to 300.00 (SM_CC=300) | • surface range 14.6 m at 13.9 m depth, ceiling -0.7 m (m = 1.05, R^2 = 1.00) | |
| • GPS1 time: 0 s, HDOP was 4098.7 m | • bottom range 15.3 m at 878.1 m, depth 893 m (990 m grid)(m = -1.02, R^2 = 0.99) | |
| • GPS2 time: 181 s, HDOP was 99.0 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 | - | - | - | 98 | done | -0.98 | - | - | 187 | - | - | - | 2503 | - | -107.1 | -83.68 | 0.002 | 3337 | - | - | - | - | - | - | - | - | 14.95 | 12.63 | 14.97 |
| 100 | 3.0 | -3.0 | 3 | 118 | done | -0.98 | 12.57 | 0.475 | 2378 | 174.3 | - | - | 2503 | - | -107.1 | - | - | 3342 | - | - | - | - | - | - | - | - | 14.09 | 14.52 | 14.36 |
| 462 | 61.3 | -14.4 | 19 | 467 | roll | -0.98 | - | - | 2372 | - | 2.42 | 0.148 | 3749 | 514.9 | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 14.97 | 14.33 | 15.02 |
| 502 | 67.8 | -15.8 | 25 | 509 | done | -0.98 | - | - | 2372 | - | 2.30 | 0.085 | 2494 | -545.7 | -107.1 | - | - | 3343 | - | - | - | - | - | - | - | - | 14.72 | 14.59 | 14.76 |
| 853 | 110.0 | -14.3 | 39 | 859 | roll | -0.98 | - | - | 2372 | - | 2.62 | 0.100 | 1087 | -537.0 | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 15.01 | 14.38 | 15.04 |
| 1021 | 134.8 | -14.2 | 63 | 1027 | done | -0.98 | - | - | 2364 | - | 2.67 | 0.116 | 2502 | 530.0 | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 14.62 | 14.40 | 14.69 |
| 1385 | 189.1 | -14.8 | 79 | 1391 | roll | -0.98 | - | - | 2356 | - | 2.47 | 0.148 | 3751 | 505.7 | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 15.11 | 14.28 | 15.15 |
| 1433 | 196.6 | -15.6 | 86 | 1441 | done | -0.98 | - | - | 2356 | - | 2.30 | 0.086 | 2497 | -545.2 | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 14.73 | 14.60 | 14.78 |
| 1805 | 250.6 | -14.4 | 94 | 1806 | done | -0.98 | - | - | 2356 | - | - | - | 2497 | - | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 15.01 | 15.07 | 15.05 |
| 2141 | 298.2 | -14.0 | 100 | 2141 | done | -0.98 | - | - | 2356 | - | - | - | 2497 | - | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 15.02 | 15.07 | 15.07 |
| 2477 | 344.1 | -13.6 | 106 | 2483 | roll | -0.98 | - | - | 2356 | - | 2.62 | 0.099 | 1088 | -537.8 | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 15.03 | 14.38 | 15.07 |
| 2518 | 349.9 | -14.0 | 112 | 2526 | done | -0.98 | 0.12 | 0.292 | 2377 | 175.0 | 2.72 | 0.116 | 2510 | 522.8 | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 14.06 | 14.35 | 14.28 |
| 2868 | 394.0 | -12.5 | 120 | 2875 | roll | -0.98 | - | - | 2370 | - | 2.47 | 0.147 | 3757 | 504.9 | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 15.14 | 14.28 | 15.19 |
| 2917 | 400.5 | -13.4 | 127 | 2925 | done | -0.98 | - | - | 2370 | - | 2.33 | 0.086 | 2490 | -543.8 | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 14.73 | 14.59 | 14.78 |
| 3260 | 446.3 | -13.7 | 134 | 3267 | roll | -0.98 | - | - | 2370 | - | 2.60 | 0.102 | 1095 | -536.5 | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 15.13 | 14.38 | 15.17 |
| 3295 | 451.3 | -14.3 | 139 | 3302 | done | -0.98 | - | - | 2362 | - | 2.70 | 0.116 | 2498 | 519.6 | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 14.46 | 14.33 | 14.56 |
| 3652 | 499.7 | -13.1 | 148 | 3653 | done | -0.98 | - | - | 2362 | - | - | - | 2498 | - | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 15.12 | 15.19 | 15.17 |
| 3988 | 544.3 | -13.5 | 154 | 3989 | done | -0.98 | - | - | 2362 | - | - | - | 2498 | - | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 15.14 | 15.19 | 15.18 |
| 4324 | 589.6 | -13.5 | 160 | 4325 | done | -0.98 | - | - | 2362 | - | - | - | 2498 | - | -107.1 | - | - | 3343 | - | - | - | - | - | - | - | - | 15.11 | 15.18 | 15.16 |
| 4660 | 634.8 | -13.4 | 166 | 4661 | done | -0.98 | - | - | 2362 | - | - | - | 2497 | - | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 15.12 | 15.20 | 15.19 |
| 4996 | 677.8 | -12.7 | 172 | 4997 | done | -0.98 | - | - | 2362 | - | - | - | 2498 | - | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 15.12 | 15.19 | 15.18 |
| 5332 | 719.1 | -12.1 | 178 | 5333 | done | -0.98 | - | - | 2362 | - | - | - | 2497 | - | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 15.09 | 15.18 | 15.16 |
| 5668 | 758.2 | -11.7 | 184 | 5669 | done | -0.98 | - | - | 2362 | - | - | - | 2498 | - | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 15.11 | 15.18 | 15.16 |
| 6004 | 797.3 | -11.6 | 190 | 6005 | done | -0.98 | - | - | 2362 | - | - | - | 2498 | - | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 15.11 | 15.18 | 15.16 |
| 6340 | 835.2 | -11.3 | 196 | 6347 | roll | -0.98 | - | - | 2362 | - | 2.62 | 0.096 | 1089 | -537.8 | -107.1 | - | - | 3348 | - | - | - | - | - | - | - | - | 15.15 | 14.35 | 15.20 |
| 6368 | 838.4 | -12.3 | 200 | 6376 | done | -0.98 | 0.10 | 0.287 | 2378 | 160.0 | 2.72 | 0.112 | 2512 | 523.2 | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 14.02 | 14.32 | 14.25 |
| 6734 | 878.1 | -11.1 | 210 | 6735 | done | -0.98 | - | - | 2378 | - | - | - | 2512 | - | -107.1 | - | - | 3344 | - | - | - | - | - | - | - | - | 15.03 | 15.07 | 15.07 |
| 6786 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 6786 | begin apogee | ||||||||||||||||||||||||||||
| 6791 | 885.1 | -11.6 | 211 | 6916 | done | -0.23 | 0.95 | 0.246 | 2622 | 256.8 | - | - | 2187 | - | - | 121.93 | 3.093 | 2900 | -3.6 | 0.219 | - | - | - | - | - | - | 14.11 | 13.52 | 12.05 |
| 6917 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6917 | begin climb | ||||||||||||||||||||||||||||
| 6919 | 887.1 | - | 213 | 7062 | roll | 0.98 | 1.38 | 0.132 | 3026 | 292.8 | 2.90 | 0.109 | 788 | -482.4 | 107.1 | 135.27 | 3.096 | 2468 | -3.2 | 0.192 | - | - | - | - | - | - | 13.57 | 13.14 | 11.68 |
| 7125 | 876.6 | 8.1 | 231 | 7131 | done | 1.00 | - | - | 3026 | - | 2.83 | 0.096 | 2205 | 500.7 | 107.1 | - | - | 2458 | - | - | - | - | - | - | - | - | 13.71 | 13.63 | 13.76 |
| 7516 | 840.2 | 9.4 | 245 | 7523 | roll | 1.00 | - | - | 3026 | - | 2.72 | 0.131 | 3612 | 517.3 | 107.1 | - | - | 2450 | - | - | - | - | - | - | - | - | 14.85 | 14.38 | 14.88 |
| 7566 | 834.7 | 11.5 | 252 | 7573 | done | 1.00 | - | - | 3036 | - | 2.58 | 0.086 | 2203 | -546.1 | 107.1 | - | - | 2450 | - | - | - | - | - | - | - | - | 14.58 | 14.50 | 14.62 |
| 7909 | 798.3 | 11.0 | 259 | 7915 | roll | 1.00 | - | - | 3047 | - | 2.65 | 0.113 | 786 | -534.7 | 107.1 | - | - | 2449 | - | - | - | - | - | - | - | - | 14.99 | 14.54 | 15.01 |
| 7936 | 794.7 | 12.6 | 263 | 7943 | done | 1.00 | - | - | 3047 | - | 2.62 | 0.100 | 2209 | 543.1 | 107.1 | - | - | 2448 | - | - | - | - | - | - | - | - | 14.70 | 14.58 | 14.73 |
| 8300 | 750.7 | 12.3 | 273 | 8307 | roll | 1.00 | - | - | 3047 | - | 2.70 | 0.132 | 3619 | 522.2 | 107.1 | - | - | 2447 | - | - | - | - | - | - | - | - | 15.09 | 14.54 | 15.12 |
| 8335 | 746.1 | 13.2 | 278 | 8344 | done | 1.00 | 0.15 | 0.295 | 3021 | -173.3 | 2.60 | 0.089 | 2193 | -548.5 | 107.1 | - | - | 2447 | - | - | - | - | - | - | - | - | 14.32 | 14.69 | 14.52 |
| 8693 | 705.9 | 11.3 | 287 | 8699 | roll | 1.00 | - | - | 3021 | - | 2.75 | 0.135 | 3616 | 517.5 | 107.1 | - | - | 2446 | - | - | - | - | - | - | - | - | 15.06 | 14.52 | 15.09 |
| 8741 | 699.5 | 13.2 | 294 | 8750 | done | 1.00 | - | - | 3030 | - | 2.60 | 0.089 | 2192 | -547.7 | 107.1 | - | - | 2446 | - | - | - | - | - | - | - | - | 14.84 | 14.70 | 14.89 |
| 9084 | 663.0 | 10.4 | 301 | 9085 | done | 1.00 | - | - | 3030 | - | - | - | 2192 | - | 107.1 | - | - | 2446 | - | - | - | - | - | - | - | - | 15.15 | 15.18 | 15.18 |
| 9420 | 627.1 | 10.6 | 307 | 9421 | done | 1.00 | - | - | 3030 | - | - | - | 2191 | - | 107.1 | - | - | 2445 | - | - | - | - | - | - | - | - | 15.16 | 15.19 | 15.19 |
| 9756 | 592.7 | 10.2 | 313 | 9763 | roll | 1.00 | - | - | 3030 | - | 2.75 | 0.134 | 3617 | 518.5 | 107.1 | - | - | 2445 | - | - | - | - | - | - | - | - | 15.18 | 14.52 | 15.21 |
| 9812 | 586.4 | 11.3 | 321 | 9819 | done | 1.00 | - | - | 3040 | - | 2.60 | 0.088 | 2184 | -551.2 | 107.1 | - | - | 2445 | - | - | - | - | - | - | - | - | 14.75 | 14.68 | 14.81 |
| 10204 | 545.8 | 10.4 | 335 | 10211 | roll | 1.00 | - | - | 3050 | - | 2.62 | 0.112 | 781 | -535.5 | 107.1 | - | - | 2445 | - | - | - | - | - | - | - | - | 15.19 | 14.55 | 15.22 |
| 10225 | 543.6 | 10.2 | 338 | 10233 | done | 1.00 | - | - | 3050 | - | 2.65 | 0.100 | 2212 | 540.0 | 107.1 | - | - | 2444 | - | - | - | - | - | - | - | - | 14.81 | 14.62 | 14.82 |
| 10597 | 505.1 | 10.4 | 349 | 10603 | roll | 1.00 | - | - | 3050 | - | 2.70 | 0.134 | 3615 | 519.6 | 107.1 | - | - | 2444 | - | - | - | - | - | - | - | - | 15.09 | 14.49 | 15.12 |
| 10645 | 499.4 | 11.9 | 356 | 10654 | done | 1.00 | 0.15 | 0.298 | 3026 | -160.0 | 2.60 | 0.088 | 2186 | -549.6 | 107.1 | - | - | 2444 | - | - | - | - | - | - | - | - | 14.28 | 14.69 | 14.49 |
| 10988 | 466.6 | 9.2 | 363 | 10989 | done | 1.00 | - | - | 3026 | - | - | - | 2186 | - | 107.1 | - | - | 2443 | - | - | - | - | - | - | - | - | 15.17 | 15.21 | 15.21 |
| 11324 | 437.7 | 8.8 | 369 | 11331 | roll | 1.00 | - | - | 3035 | - | 2.60 | 0.112 | 794 | -535.4 | 107.1 | - | - | 2444 | - | - | - | - | - | - | - | - | 15.17 | 14.52 | 15.20 |
| 11380 | 432.3 | 9.8 | 377 | 11387 | done | 1.00 | - | - | 3035 | - | 2.60 | 0.100 | 2204 | 542.3 | 107.1 | - | - | 2444 | - | - | - | - | - | - | - | - | 14.69 | 14.58 | 14.74 |
| 11772 | 394.2 | 9.6 | 391 | 11779 | roll | 1.00 | - | - | 3035 | - | 2.72 | 0.135 | 3617 | 519.5 | 107.1 | - | - | 2443 | - | - | - | - | - | - | - | - | 15.16 | 14.45 | 15.19 |
| 11870 | 384.0 | 10.5 | 405 | 11877 | done | 1.00 | - | - | 3045 | - | 2.60 | 0.089 | 2193 | -547.7 | 107.1 | - | - | 2444 | - | - | - | - | - | - | - | - | 14.81 | 14.66 | 14.87 |
| 12220 | 350.1 | 9.7 | 413 | 12227 | roll | 1.00 | - | - | 3054 | - | 2.62 | 0.114 | 794 | -534.0 | 107.1 | - | - | 2443 | - | - | - | - | - | - | - | - | 15.14 | 14.50 | 15.19 |
| 12255 | 346.7 | 9.5 | 418 | 12263 | done | 1.00 | 0.12 | 0.244 | 3020 | -283.3 | 2.62 | 0.101 | 2208 | 539.7 | 107.1 | - | - | 2444 | - | - | - | - | - | - | - | - | 14.28 | 14.57 | 14.47 |
| 12612 | 315.9 | 8.7 | 427 | 12619 | roll | 1.00 | - | - | 3020 | - | 2.72 | 0.136 | 3611 | 515.8 | 107.1 | - | - | 2446 | - | - | - | - | - | - | - | - | 15.13 | 14.42 | 15.19 |
| 12647 | 312.4 | 10.0 | 432 | 12654 | done | 1.00 | - | - | 3029 | - | 2.60 | 0.090 | 2191 | -546.2 | 107.1 | - | - | 2443 | - | - | - | - | - | - | - | - | 14.79 | 14.64 | 14.83 |
| 13004 | 280.0 | 9.0 | 441 | 13005 | done | 1.00 | - | - | 3029 | - | - | - | 2192 | - | 107.1 | - | - | 2445 | - | - | - | - | - | - | - | - | 15.11 | 15.19 | 15.18 |
| 13340 | 251.1 | 8.4 | 447 | 13347 | roll | 1.01 | - | - | 3029 | - | 2.75 | 0.135 | 3607 | 514.5 | 107.1 | - | - | 2442 | - | - | - | - | - | - | - | - | 15.09 | 14.41 | 15.16 |
| 13375 | 248.0 | 8.9 | 452 | 13382 | done | 1.01 | - | - | 3040 | - | 2.58 | 0.089 | 2196 | -546.9 | 107.1 | - | - | 2442 | - | - | - | - | - | - | - | - | 14.60 | 14.51 | 14.66 |
| 13732 | 219.5 | 7.8 | 461 | 13739 | roll | 1.04 | - | - | 3050 | - | 2.65 | 0.115 | 789 | -530.9 | 107.1 | - | - | 2442 | - | - | - | - | - | - | - | - | 15.08 | 14.45 | 15.16 |
| 13760 | 217.4 | 7.5 | 465 | 13767 | done | 1.08 | - | - | 3050 | - | 2.62 | 0.102 | 2205 | 540.5 | 107.1 | - | - | 2442 | - | - | - | - | - | - | - | - | 14.60 | 14.49 | 14.68 |
| 14124 | 190.7 | 7.1 | 477 | 14167 | roll | 1.12 | - | - | 3049 | - | 2.75 | 0.138 | 3610 | 510.9 | 142.1 | 35.08 | 2.613 | 2318 | -3.5 | 0.054 | - | - | - | - | - | - | 15.11 | 14.45 | 13.16 |
| 14229 | 181.4 | 10.1 | 492 | 14237 | done | 1.12 | - | - | 3060 | - | 2.62 | 0.090 | 2196 | -539.7 | 142.1 | - | - | 2315 | - | - | - | - | - | - | - | - | 14.64 | 14.51 | 14.66 |
| 14572 | 148.9 | 9.7 | 505 | 14579 | roll | 1.12 | - | - | 3070 | - | 2.65 | 0.116 | 794 | -529.1 | 142.1 | - | - | 2312 | - | - | - | - | - | - | - | - | 15.00 | 14.47 | 15.04 |
| 14628 | 143.2 | 10.1 | 513 | 14635 | done | 1.12 | - | - | 3070 | - | 2.62 | 0.103 | 2204 | 538.2 | 142.1 | - | - | 2311 | - | - | - | - | - | - | - | - | 14.62 | 14.52 | 14.69 |
| 14993 | 106.8 | 10.0 | 529 | 14999 | roll | 1.12 | - | - | 3070 | - | 2.70 | 0.137 | 3614 | 522.2 | 142.1 | - | - | 2311 | - | - | - | - | - | - | - | - | 15.00 | 14.49 | 15.08 |
| 15069 | 98.2 | 11.3 | 540 | 15077 | done | 1.12 | - | - | 3081 | - | 2.60 | 0.090 | 2198 | -544.6 | 142.1 | - | - | 2310 | - | - | - | - | - | - | - | - | 14.78 | 14.63 | 14.84 |
| 15412 | 61.6 | 10.8 | 553 | 15419 | roll | 1.12 | - | - | 3092 | - | 2.65 | 0.117 | 796 | -529.1 | 142.1 | - | - | 2309 | - | - | - | - | - | - | - | - | 15.04 | 14.48 | 15.11 |
| 15461 | 56.2 | 11.2 | 560 | 15469 | done | 1.12 | 0.12 | 0.260 | 3061 | -258.3 | 2.62 | 0.104 | 2210 | 539.7 | 142.1 | - | - | 2310 | - | - | - | - | - | - | - | - | 14.25 | 14.52 | 14.45 |
| 15804 | 21.9 | 9.7 | 573 | 15811 | roll | 1.12 | - | - | 3070 | - | 2.67 | 0.115 | 795 | -530.0 | 142.1 | - | - | 2309 | - | - | - | - | - | - | - | - | 15.04 | 14.49 | 15.14 |
| 15867 | 15.5 | 10.3 | 582 | 15875 | done | 1.12 | - | - | 3070 | - | 2.65 | 0.104 | 2208 | 533.2 | 142.1 | - | - | 2310 | - | - | - | - | - | - | - | - | 14.73 | 14.56 | 14.78 |
| 15998 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 15998 | begin surface coast | ||||||||||||||||||||||||||||
| 16028 | end surface coast: FINISH_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 16028 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.12 | - | - | - | - | -7.75 | 8.48 | 0.070 | 193 | 22.8 | 0.60 | 0.130 | 2514 | 2473.3 | 300.00 | 126.78 | 0.226 | 1676 | 13.2 | -0.001 | - | - | - | - | - | - | |||