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| • Previous call tries 1 | • 226.79 of 350.00 AH used of 24V (35.20% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -66.1 deg, depth 0.86 m | • Intended pitch -38.4 deg, speed -10.000 cm/s | |
| • surface range 12.8 m at 12.9 m depth, ceiling 0.1 m (m = 1.04, R^2 = 1.00) | ||
| • GPS1 time: 23 s | • bottom range 15.2 m at 868.9 m, depth 884 m (990 m grid)(m = -1.09, R^2 = 1.00) | |
| • GPS2 time: 3 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 | |||||
| 9 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9 | begin dive | ||||||||||||||||||||||||||||
| 13 | - | - | - | 103 | done | -1.78 | - | - | 211 | - | - | - | 2321 | - | -30.0 | -88.62 | 0.002 | 2683 | - | - | - | - | - | - | - | - | 14.96 | 12.86 | 14.97 |
| 107 | 1.4 | -0.9 | 3 | 123 | roll | -1.78 | 10.27 | 0.417 | 2288 | 202.2 | 2.58 | 0.065 | 887 | -555.8 | -30.0 | - | - | 2685 | - | - | - | - | - | - | - | - | 14.12 | 14.54 | 14.38 |
| 258 | 20.1 | -14.7 | 25 | 264 | done | -1.78 | - | - | 2279 | - | 2.53 | 0.063 | 2300 | 558.5 | -30.0 | - | - | 2684 | - | - | - | - | - | - | - | - | 14.68 | 14.54 | 14.72 |
| 606 | 71.6 | -14.5 | 39 | 612 | roll | -1.78 | - | - | 2279 | - | 2.58 | 0.067 | 895 | -544.6 | -30.0 | - | - | 2683 | - | - | - | - | - | - | - | - | 15.08 | 14.31 | 15.10 |
| 776 | 96.6 | -14.8 | 63 | 781 | done | -1.78 | - | - | 2269 | - | 2.53 | 0.061 | 2309 | 558.9 | -30.0 | - | - | 2683 | - | - | - | - | - | - | - | - | 14.59 | 14.45 | 14.64 |
| 1140 | 149.2 | -14.4 | 79 | 1145 | roll | -1.78 | - | - | 2268 | - | 2.55 | 0.065 | 895 | -554.5 | -30.0 | - | - | 2683 | - | - | - | - | - | - | - | - | 15.04 | 14.33 | 15.07 |
| 1193 | 157.2 | -14.2 | 87 | 1200 | done | -1.78 | 0.17 | 0.338 | 2295 | 158.8 | 2.58 | 0.063 | 2303 | 545.7 | -30.0 | - | - | 2683 | - | - | - | - | - | - | - | - | 13.72 | 14.31 | 13.99 |
| 1585 | 208.8 | -13.4 | 103 | 1592 | roll | -1.78 | - | - | 2296 | - | 2.58 | 0.065 | 898 | -544.6 | -30.0 | - | - | 2683 | - | - | - | - | - | - | - | - | 15.07 | 14.21 | 15.09 |
| 1809 | 237.9 | -12.9 | 135 | 1816 | done | -1.78 | - | - | 2292 | - | 2.58 | 0.060 | 2315 | 549.2 | -30.0 | - | - | 2684 | - | - | - | - | - | - | - | - | 14.37 | 14.30 | 14.43 |
| 2205 | 287.4 | -12.8 | 149 | 2206 | done | -1.78 | - | - | 2286 | - | - | - | 2314 | - | -30.0 | - | - | 2683 | - | - | - | - | - | - | - | - | 14.89 | 14.92 | 14.92 |
| 2539 | 329.1 | -12.2 | 155 | 2544 | roll | -1.78 | - | - | 2286 | - | 2.58 | 0.063 | 886 | -553.5 | -30.0 | - | - | 2684 | - | - | - | - | - | - | - | - | 14.88 | 14.26 | 14.90 |
| 2614 | 338.8 | -12.7 | 166 | 2622 | done | -1.78 | - | - | 2275 | - | 2.60 | 0.060 | 2308 | 546.9 | -30.0 | - | - | 2683 | - | - | - | - | - | - | - | - | 14.33 | 14.26 | 14.40 |
| 2986 | 382.1 | -11.4 | 177 | 2993 | roll | -1.78 | - | - | 2276 | - | 2.60 | 0.063 | 896 | -543.1 | -30.0 | - | - | 2684 | - | - | - | - | - | - | - | - | 15.05 | 14.16 | 15.07 |
| 3042 | 388.2 | -10.9 | 185 | 3049 | done | -1.78 | 0.08 | 0.344 | 2291 | 187.5 | 2.60 | 0.061 | 2308 | 543.1 | -30.0 | - | - | 2683 | - | - | - | - | - | - | - | - | 13.72 | 14.24 | 14.16 |
| 3436 | 427.3 | -9.7 | 199 | 3441 | roll | -1.78 | - | - | 2291 | - | 2.58 | 0.063 | 892 | -548.8 | -30.0 | - | - | 2683 | - | - | - | - | - | - | - | - | 15.02 | 14.23 | 15.05 |
| 3531 | 436.9 | -9.7 | 213 | 3538 | done | -1.78 | - | - | 2282 | - | 2.60 | 0.060 | 2309 | 545.0 | -30.0 | - | - | 2684 | - | - | - | - | - | - | - | - | 14.31 | 14.23 | 14.36 |
| 3882 | 470.5 | -9.7 | 221 | 3882 | done | -1.78 | - | - | 2282 | - | - | - | 2309 | - | -30.0 | - | - | 2683 | - | - | - | - | - | - | - | - | 15.04 | 15.07 | 15.07 |
| 4217 | 504.2 | -10.2 | 227 | 4224 | roll | -1.78 | - | - | 2282 | - | 2.62 | 0.063 | 895 | -539.7 | -30.0 | - | - | 2683 | - | - | - | - | - | - | - | - | 15.04 | 14.04 | 15.07 |
| 4343 | 516.8 | -10.1 | 245 | 4350 | done | -1.78 | - | - | 2270 | - | 2.58 | 0.059 | 2310 | 548.4 | -30.0 | - | - | 2683 | - | - | - | - | - | - | - | - | 14.29 | 14.21 | 14.36 |
| 4723 | 554.4 | -9.7 | 257 | 4729 | roll | -1.78 | - | - | 2272 | - | 2.58 | 0.062 | 887 | -551.6 | -30.0 | - | - | 2683 | - | - | - | - | - | - | - | - | 14.85 | 14.22 | 14.88 |
| 4742 | 556.5 | -9.7 | 260 | 4749 | done | -1.78 | 0.15 | 0.332 | 2299 | 180.0 | 2.60 | 0.061 | 2304 | 545.0 | -30.0 | - | - | 2683 | - | - | - | - | - | - | - | - | 13.65 | 14.21 | 13.91 |
| 5114 | 587.3 | -7.9 | 271 | 5120 | roll | -1.79 | - | - | 2283 | - | 2.67 | 0.099 | 3724 | 531.8 | -39.4 | - | - | 2683 | - | - | - | - | - | - | - | - | 15.04 | 14.14 | 15.07 |
| 5155 | 590.8 | -8.5 | 277 | 5163 | done | -1.79 | - | - | 2283 | - | 2.53 | 0.041 | 2281 | -570.4 | -39.4 | - | - | 2684 | - | - | - | - | - | - | - | - | 14.42 | 14.38 | 14.46 |
| 5506 | 618.9 | -8.0 | 285 | 5513 | roll | -1.79 | - | - | 2283 | - | 2.53 | 0.063 | 907 | -543.1 | -39.4 | - | - | 2683 | - | - | - | - | - | - | - | - | 15.02 | 14.11 | 15.05 |
| 5618 | 627.2 | -7.4 | 301 | 5624 | done | -1.81 | - | - | 2273 | - | 2.58 | 0.060 | 2306 | 542.2 | -51.1 | - | - | 2684 | - | - | - | - | - | - | - | - | 14.19 | 14.12 | 14.25 |
| 6010 | 653.7 | -6.5 | 315 | 6016 | roll | -1.83 | - | - | 2273 | - | 2.55 | 0.061 | 901 | -551.0 | -67.0 | - | - | 2683 | - | - | - | - | - | - | - | - | 15.03 | 14.17 | 15.05 |
| 6143 | 662.7 | -6.6 | 334 | 6149 | done | -1.85 | - | - | 2263 | - | 2.58 | 0.060 | 2302 | 543.0 | -82.2 | - | - | 2684 | - | - | - | - | - | - | - | - | 14.26 | 14.19 | 14.33 |
| 6514 | 687.2 | -6.8 | 345 | 6521 | roll | -1.86 | - | - | 2262 | - | 2.58 | 0.061 | 888 | -548.1 | -96.6 | - | - | 2686 | - | - | - | - | - | - | - | - | 15.03 | 14.12 | 15.05 |
| 6646 | 696.8 | -7.4 | 364 | 6653 | done | -1.88 | - | - | 2251 | - | 2.60 | 0.060 | 2301 | 543.5 | -107.1 | - | - | 2684 | - | - | - | - | - | - | - | - | 14.26 | 14.19 | 14.33 |
| 7018 | 722.1 | -6.7 | 375 | 7024 | roll | -1.88 | - | - | 2241 | - | 2.70 | 0.097 | 3705 | 520.0 | -107.1 | - | - | 2684 | - | - | - | - | - | - | - | - | 15.03 | 14.02 | 15.06 |
| 7255 | 738.6 | -6.9 | 409 | 7262 | done | -1.88 | - | - | 2241 | - | 2.45 | 0.037 | 2292 | -576.7 | -107.1 | - | - | 2683 | - | - | - | - | - | - | - | - | 14.42 | 14.39 | 14.45 |
| 7634 | 762.8 | -6.3 | 421 | 7634 | done | -1.88 | - | - | 2241 | - | - | - | 2290 | - | -107.1 | - | - | 2684 | - | - | - | - | - | - | - | - | 15.03 | 15.06 | 15.05 |
| 7970 | 781.7 | -5.6 | 427 | 7976 | roll | -1.88 | - | - | 2241 | - | 2.55 | 0.063 | 913 | -540.0 | -107.1 | - | - | 2684 | - | - | - | - | - | - | - | - | 15.03 | 14.09 | 15.05 |
| 8096 | 788.9 | -5.8 | 445 | 8103 | done | -1.88 | 0.15 | 0.338 | 2261 | 133.3 | 2.58 | 0.057 | 2307 | 540.3 | -107.1 | - | - | 2684 | - | - | - | - | - | - | - | - | 13.59 | 14.19 | 13.88 |
| 8474 | 807.0 | -4.7 | 457 | 8474 | done | -1.88 | - | - | 2261 | - | - | - | 2307 | - | -107.1 | - | - | 2684 | - | - | - | - | - | - | - | - | 15.03 | 15.06 | 15.05 |
| 8810 | 821.8 | -4.3 | 463 | 8816 | roll | -1.88 | - | - | 2261 | - | 2.60 | 0.061 | 910 | -537.3 | -107.1 | - | - | 2685 | - | - | - | - | - | - | - | - | 15.02 | 14.05 | 15.05 |
| 8887 | 825.1 | -3.9 | 474 | 8893 | done | -1.88 | - | - | 2252 | - | 2.53 | 0.056 | 2305 | 551.4 | -107.1 | - | - | 2686 | - | - | - | - | - | - | - | - | 14.42 | 14.29 | 14.48 |
| 9258 | 839.9 | -4.0 | 485 | 9265 | roll | -1.88 | - | - | 2252 | - | 2.58 | 0.060 | 916 | -538.4 | -107.1 | - | - | 2685 | - | - | - | - | - | - | - | - | 15.03 | 14.03 | 15.06 |
| 9461 | 847.4 | -3.9 | 514 | 9467 | done | -1.88 | - | - | 2242 | - | 2.55 | 0.056 | 2304 | 544.3 | -107.1 | - | - | 2685 | - | - | - | - | - | - | - | - | 14.26 | 14.19 | 14.32 |
| 9818 | 861.4 | -3.7 | 523 | 9819 | done | -1.88 | - | - | 2242 | - | - | - | 2305 | - | -107.1 | - | - | 2685 | - | - | - | - | - | - | - | - | 15.03 | 15.06 | 15.05 |
| 10154 | 872.2 | -3.0 | 529 | 10160 | roll | -1.88 | - | - | 2242 | - | 2.60 | 0.060 | 908 | -537.3 | -107.1 | - | - | 2685 | - | - | - | - | - | - | - | - | 15.00 | 14.07 | 15.02 |
| 10210 | 874.1 | -3.3 | 537 | 10217 | done | -1.88 | 0.15 | 0.345 | 2272 | 200.0 | 2.58 | 0.057 | 2309 | 543.0 | -107.1 | - | - | 2685 | - | - | - | - | - | - | - | - | 13.68 | 14.20 | 14.13 |
| 10220 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 10220 | begin apogee | ||||||||||||||||||||||||||||
| 10228 | 875.1 | -4.8 | 539 | 10268 | done | -0.23 | 2.22 | 0.314 | 2791 | 233.8 | 0.08 | 0.184 | 2114 | -2437.5 | - | 36.70 | 2.998 | 2560 | -3.4 | 0.209 | - | - | - | - | - | - | 14.00 | 14.20 | 12.91 |
| 10269 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 10270 | begin climb | ||||||||||||||||||||||||||||
| 10273 | 875.1 | - | 539 | 10418 | done | 1.88 | 2.15 | 0.117 | 3471 | 316.3 | - | - | 2114 | - | 107.1 | 141.50 | 3.092 | 2122 | -3.1 | 0.184 | - | - | - | - | - | - | 14.26 | 12.97 | 11.69 |
| 10728 | 782.0 | 24.3 | 548 | 10734 | roll | 1.88 | - | - | 3482 | - | 2.53 | 0.074 | 736 | -544.7 | 107.1 | - | - | 2110 | - | - | - | - | - | - | - | - | 14.72 | 14.35 | 14.75 |
| 10770 | 771.6 | 24.9 | 554 | 10776 | done | 1.88 | - | - | 3482 | - | 2.42 | 0.056 | 2107 | 566.5 | 107.1 | - | - | 2110 | - | - | - | - | - | - | - | - | 14.62 | 14.50 | 14.66 |
| 11123 | 685.9 | 24.1 | 562 | 11124 | done | 1.88 | - | - | 3482 | - | - | - | 2108 | - | 107.1 | - | - | 2108 | - | - | - | - | - | - | - | - | 15.00 | 15.03 | 15.03 |
| 11456 | 606.6 | 23.5 | 568 | 11462 | roll | 1.88 | - | - | 3492 | - | 2.47 | 0.075 | 738 | -554.7 | 107.1 | - | - | 2106 | - | - | - | - | - | - | - | - | 15.02 | 14.54 | 15.04 |
| 11498 | 596.5 | 24.2 | 574 | 11504 | done | 1.88 | - | - | 3492 | - | 2.40 | 0.056 | 2114 | 573.3 | 107.1 | - | - | 2106 | - | - | - | - | - | - | - | - | 14.76 | 14.63 | 14.81 |
| 11851 | 517.9 | 22.2 | 582 | 11852 | done | 1.88 | - | - | 3492 | - | - | - | 2114 | - | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 15.02 | 15.04 | 15.04 |
| 12184 | 448.0 | 20.7 | 588 | 12190 | roll | 1.88 | - | - | 3502 | - | 2.50 | 0.076 | 741 | -549.2 | 107.1 | - | - | 2104 | - | - | - | - | - | - | - | - | 15.00 | 14.49 | 15.03 |
| 12211 | 442.2 | 20.7 | 592 | 12218 | done | 1.88 | 0.12 | 0.333 | 3475 | -225.0 | 2.42 | 0.055 | 2102 | 562.4 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.02 | 14.52 | 14.28 |
| 12577 | 368.2 | 20.7 | 602 | 12582 | roll | 1.88 | - | - | 3483 | - | 2.50 | 0.081 | 736 | -546.4 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 15.00 | 14.45 | 15.02 |
| 12611 | 360.8 | 21.9 | 607 | 12617 | done | 1.88 | - | - | 3485 | - | 2.45 | 0.058 | 2105 | 558.8 | 107.1 | - | - | 2105 | - | - | - | - | - | - | - | - | 14.57 | 14.49 | 14.63 |
| 12971 | 284.8 | 21.2 | 616 | 12976 | roll | 1.88 | - | - | 3484 | - | 2.62 | 0.096 | 3519 | 539.7 | 107.1 | - | - | 2103 | - | - | - | - | - | - | - | - | 14.97 | 14.43 | 15.00 |
| 12996 | 278.9 | 20.5 | 620 | 13002 | done | 1.88 | - | - | 3495 | - | 2.40 | 0.042 | 2140 | -574.6 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.59 | 14.54 | 14.64 |
| 13363 | 208.4 | 18.9 | 630 | 13369 | roll | 1.88 | - | - | 3504 | - | 2.65 | 0.080 | 690 | -547.2 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.97 | 14.41 | 15.00 |
| 13438 | 193.7 | 18.4 | 641 | 13446 | done | 1.88 | 0.12 | 0.346 | 3478 | -216.7 | 2.55 | 0.057 | 2112 | 557.6 | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 13.88 | 14.38 | 14.16 |
| 13782 | 132.9 | 17.8 | 654 | 13782 | done | 1.88 | - | - | 3478 | - | - | - | 2116 | - | 107.1 | - | - | 2102 | - | - | - | - | - | - | - | - | 14.97 | 15.00 | 14.99 |
| 14119 | 74.1 | 17.9 | 666 | 14124 | roll | 1.88 | - | - | 3485 | - | 2.62 | 0.084 | 697 | -541.6 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 15.07 | 14.36 | 15.09 |
| 14152 | 67.8 | 18.4 | 671 | 14158 | done | 1.88 | - | - | 3485 | - | 2.53 | 0.058 | 2113 | 559.7 | 107.1 | - | - | 2101 | - | - | - | - | - | - | - | - | 14.63 | 14.47 | 14.70 |
| 14509 | 3.0 | 17.9 | 686 | 14510 | done | 1.88 | - | - | 3485 | - | - | - | 2113 | - | 107.1 | - | - | 2100 | - | - | - | - | - | - | - | - | 15.08 | 15.11 | 15.10 |
| 14534 | end climb: FINISH_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 14535 | begin subsurface finish | ||||||||||||||||||||||||||||
| 14542 | - | 16.4 | 687 | 14586 | roll | - | 1.88 | 0.106 | 2865 | -329.8 | 2.65 | 0.105 | 703 | -532.1 | - | -32.90 | 0.004 | 2561 | -14.0 | - | - | - | - | - | - | - | 14.42 | 12.99 | 14.60 |
| 14586 | end subsurface finish: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 14586 | begin surface | ||||||||||||||||||||||||||||