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| • Previous call tries 3 | • 111.49 of 350.00 AH used of 24V (68.14% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -37.0 deg, depth 0.16 m | • Intended pitch -20.6 deg, speed -10.000 cm/s | |
| • VBD pumped to 300.00 (SM_CC=300) | • surface range 9.1 m at 8.9 m depth, ceiling -0.2 m (m = 1.10, R^2 = 1.00) | |
| • GPS1 time: 23 s | • bottom range 18.4 m at 849.3 m, depth 868 m (990 m grid)(m = -1.04, R^2 = 1.00) | |
| • GPS2 time: 26 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 | |||||
| 7 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7 | begin dive | ||||||||||||||||||||||||||||
| 9 | - | - | - | 112 | done | -1.07 | - | - | 196 | - | - | - | 2506 | - | -107.1 | -100.93 | 0.002 | 3336 | - | - | - | - | - | - | - | - | 14.90 | 12.86 | 14.91 |
| 114 | 0.1 | 0.3 | 3 | 129 | roll | -1.07 | 9.25 | 0.338 | 2351 | 233.0 | 2.58 | 0.090 | 1085 | -550.8 | -107.1 | - | - | 3339 | - | - | - | - | - | - | - | - | 14.28 | 14.52 | 14.47 |
| 357 | 17.7 | -12.9 | 39 | 365 | done | -1.07 | - | - | 2344 | - | 2.72 | 0.112 | 2508 | 523.2 | -107.1 | - | - | 3340 | - | - | - | - | - | - | - | - | 14.64 | 14.45 | 14.69 |
| 724 | 67.9 | -13.3 | 55 | 729 | roll | -1.07 | - | - | 2345 | - | 2.58 | 0.092 | 1081 | -553.1 | -107.1 | - | - | 3341 | - | - | - | - | - | - | - | - | 14.98 | 14.50 | 15.00 |
| 799 | 78.6 | -13.8 | 66 | 807 | done | -1.07 | - | - | 2338 | - | 2.70 | 0.110 | 2507 | 528.1 | -107.1 | - | - | 3341 | - | - | - | - | - | - | - | - | 14.52 | 14.40 | 14.60 |
| 1142 | 128.1 | -14.6 | 79 | 1143 | done | -1.07 | - | - | 2337 | - | - | - | 2507 | - | -107.1 | - | - | 3341 | - | - | - | - | - | - | - | - | 14.99 | 15.03 | 15.01 |
| 1478 | 178.0 | -15.1 | 91 | 1479 | done | -1.07 | - | - | 2338 | - | - | - | 2507 | - | -107.1 | - | - | 3341 | - | - | - | - | - | - | - | - | 15.01 | 15.04 | 15.03 |
| 1813 | 227.0 | -14.5 | 100 | 1814 | done | -1.07 | - | - | 2338 | - | - | - | 2507 | - | -107.1 | - | - | 3341 | - | - | - | - | - | - | - | - | 15.13 | 15.16 | 15.16 |
| 2149 | 275.9 | -14.5 | 106 | 2150 | done | -1.07 | - | - | 2337 | - | - | - | 2507 | - | -107.1 | - | - | 3340 | - | - | - | - | - | - | - | - | 15.12 | 15.15 | 15.15 |
| 2485 | 323.4 | -14.0 | 112 | 2493 | roll | -1.07 | - | - | 2338 | - | 2.62 | 0.091 | 1083 | -543.5 | -107.1 | - | - | 3340 | - | - | - | - | - | - | - | - | 15.13 | 14.51 | 15.15 |
| 2521 | 328.3 | -14.3 | 117 | 2529 | done | -1.07 | - | - | 2329 | - | 2.70 | 0.112 | 2508 | 527.8 | -107.1 | - | - | 3341 | - | - | - | - | - | - | - | - | 14.54 | 14.42 | 14.63 |
| 2877 | 378.2 | -14.0 | 126 | 2878 | done | -1.07 | - | - | 2329 | - | - | - | 2508 | - | -107.1 | - | - | 3341 | - | - | - | - | - | - | - | - | 15.13 | 15.16 | 15.16 |
| 3213 | 423.6 | -13.5 | 132 | 3214 | done | -1.07 | - | - | 2330 | - | - | - | 2507 | - | -107.1 | - | - | 3340 | - | - | - | - | - | - | - | - | 15.14 | 15.16 | 15.16 |
| 3550 | 466.7 | -12.8 | 138 | 3557 | roll | -1.07 | - | - | 2321 | - | 2.42 | 0.144 | 3754 | 515.3 | -107.1 | - | - | 3341 | - | - | - | - | - | - | - | - | 15.12 | 14.33 | 15.15 |
| 3577 | 470.6 | -13.9 | 142 | 3585 | done | -1.07 | 0.17 | 0.305 | 2356 | 205.9 | 2.28 | 0.080 | 2491 | -553.9 | -107.1 | - | - | 3341 | - | - | - | - | - | - | - | - | 14.17 | 14.65 | 14.53 |
| 3941 | 515.9 | -12.5 | 152 | 3942 | done | -1.07 | - | - | 2357 | - | - | - | 2491 | - | -107.1 | - | - | 3341 | - | - | - | - | - | - | - | - | 15.16 | 15.19 | 15.18 |
| 4278 | 557.5 | -12.1 | 158 | 4278 | done | -1.07 | - | - | 2357 | - | - | - | 2491 | - | -107.1 | - | - | 3341 | - | - | - | - | - | - | - | - | 15.14 | 15.16 | 15.16 |
| 4613 | 596.9 | -11.7 | 164 | 4614 | done | -1.07 | - | - | 2356 | - | - | - | 2491 | - | -107.1 | - | - | 3343 | - | - | - | - | - | - | - | - | 15.14 | 15.16 | 15.16 |
| 4949 | 635.7 | -11.5 | 170 | 4957 | roll | -1.07 | - | - | 2357 | - | 2.58 | 0.090 | 1093 | -541.9 | -107.1 | - | - | 3341 | - | - | - | - | - | - | - | - | 15.14 | 14.50 | 15.16 |
| 4991 | 640.6 | -11.8 | 176 | 4999 | done | -1.07 | - | - | 2350 | - | 2.67 | 0.108 | 2501 | 527.3 | -107.1 | - | - | 3341 | - | - | - | - | - | - | - | - | 14.66 | 14.45 | 14.73 |
| 5342 | 681.0 | -11.4 | 184 | 5349 | roll | -1.07 | - | - | 2342 | - | 2.45 | 0.144 | 3753 | 511.0 | -107.1 | - | - | 3342 | - | - | - | - | - | - | - | - | 15.02 | 14.31 | 15.05 |
| 5376 | 685.5 | -13.1 | 189 | 5384 | done | -1.07 | - | - | 2341 | - | 2.28 | 0.080 | 2491 | -553.5 | -107.1 | - | - | 3342 | - | - | - | - | - | - | - | - | 14.76 | 14.64 | 14.81 |
| 5733 | 727.7 | -11.6 | 198 | 5734 | done | -1.07 | - | - | 2339 | - | - | - | 2491 | - | -107.1 | - | - | 3342 | - | - | - | - | - | - | - | - | 15.13 | 15.16 | 15.16 |
| 6070 | 765.0 | -11.1 | 204 | 6077 | roll | -1.07 | - | - | 2341 | - | 2.58 | 0.091 | 1086 | -544.6 | -107.1 | - | - | 3342 | - | - | - | - | - | - | - | - | 15.13 | 14.42 | 15.15 |
| 6106 | 769.1 | -11.7 | 209 | 6113 | done | -1.07 | - | - | 2332 | - | 2.67 | 0.109 | 2500 | 529.6 | -107.1 | - | - | 3342 | - | - | - | - | - | - | - | - | 14.52 | 14.39 | 14.60 |
| 6462 | 810.9 | -11.9 | 218 | 6463 | done | -1.07 | - | - | 2333 | - | - | - | 2500 | - | -107.1 | - | - | 3342 | - | - | - | - | - | - | - | - | 15.02 | 15.05 | 15.04 |
| 6798 | 849.3 | -11.3 | 224 | 6799 | done | -1.07 | - | - | 2333 | - | - | - | 2501 | - | -107.1 | - | - | 3343 | - | - | - | - | - | - | - | - | 15.02 | 15.05 | 15.07 |
| 6909 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 6909 | begin apogee | ||||||||||||||||||||||||||||
| 6913 | 862.1 | -11.3 | 226 | 7034 | done | -0.23 | 1.15 | 0.256 | 2625 | 253.9 | - | - | 2196 | - | - | 117.78 | 3.089 | 2898 | -3.8 | 0.215 | - | - | - | - | - | - | 14.21 | 13.63 | 12.37 |
| 7035 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7035 | begin climb | ||||||||||||||||||||||||||||
| 7036 | 865.2 | - | 228 | 7170 | done | 1.07 | 1.42 | 0.134 | 3040 | 292.3 | - | - | 2196 | - | 107.1 | 130.00 | 3.091 | 2462 | -3.4 | 0.192 | - | - | - | - | - | - | 13.61 | 13.22 | 12.01 |
| 7469 | 814.9 | 13.8 | 250 | 7470 | done | 1.07 | - | - | 3040 | - | - | - | 2196 | - | 107.1 | - | - | 2449 | - | - | - | - | - | - | - | - | 14.59 | 14.62 | 14.62 |
| 7805 | 768.4 | 13.8 | 256 | 7813 | roll | 1.07 | - | - | 3041 | - | 2.75 | 0.124 | 3623 | 518.9 | 107.1 | - | - | 2446 | - | - | - | - | - | - | - | - | 14.92 | 14.47 | 14.94 |
| 7833 | 764.3 | 15.0 | 260 | 7841 | done | 1.07 | - | - | 3051 | - | 2.60 | 0.079 | 2190 | -551.2 | 107.1 | - | - | 2446 | - | - | - | - | - | - | - | - | 14.71 | 14.59 | 14.76 |
| 8197 | 711.5 | 14.8 | 270 | 8205 | roll | 1.07 | - | - | 3062 | - | 2.60 | 0.103 | 786 | -540.0 | 107.1 | - | - | 2443 | - | - | - | - | - | - | - | - | 15.04 | 14.59 | 15.06 |
| 8225 | 707.4 | 14.6 | 274 | 8233 | done | 1.07 | - | - | 3062 | - | 2.62 | 0.094 | 2214 | 545.0 | 107.1 | - | - | 2446 | - | - | - | - | - | - | - | - | 14.76 | 14.61 | 14.83 |
| 8590 | 652.2 | 15.3 | 284 | 8597 | roll | 1.07 | - | - | 3073 | - | 2.62 | 0.102 | 788 | -544.3 | 107.1 | - | - | 2446 | - | - | - | - | - | - | - | - | 15.08 | 14.58 | 15.11 |
| 8617 | 647.9 | 15.0 | 288 | 8625 | done | 1.07 | - | - | 3073 | - | 2.60 | 0.093 | 2204 | 544.6 | 107.1 | - | - | 2445 | - | - | - | - | - | - | - | - | 14.79 | 14.63 | 14.85 |
| 8982 | 593.0 | 15.1 | 298 | 8982 | done | 1.07 | - | - | 3073 | - | - | - | 2204 | - | 107.1 | - | - | 2444 | - | - | - | - | - | - | - | - | 15.09 | 15.12 | 15.11 |
| 9318 | 543.6 | 14.6 | 304 | 9318 | done | 1.07 | - | - | 3072 | - | - | - | 2203 | - | 107.1 | - | - | 2445 | - | - | - | - | - | - | - | - | 15.10 | 15.13 | 15.13 |
| 9654 | 495.9 | 14.1 | 310 | 9654 | done | 1.07 | - | - | 3073 | - | - | - | 2204 | - | 107.1 | - | - | 2445 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
| 9990 | 449.6 | 13.8 | 316 | 9997 | roll | 1.07 | - | - | 3073 | - | 2.67 | 0.125 | 3612 | 527.3 | 107.1 | - | - | 2445 | - | - | - | - | - | - | - | - | 15.15 | 14.53 | 15.18 |
| 10017 | 445.4 | 14.9 | 320 | 10025 | done | 1.07 | 0.20 | 0.300 | 3041 | -160.0 | 2.55 | 0.078 | 2193 | -556.5 | 107.1 | - | - | 2445 | - | - | - | - | - | - | - | - | 14.32 | 14.71 | 14.70 |
| 10381 | 399.9 | 12.4 | 330 | 10389 | roll | 1.07 | - | - | 3050 | - | 2.60 | 0.103 | 788 | -540.4 | 107.1 | - | - | 2445 | - | - | - | - | - | - | - | - | 15.14 | 14.60 | 15.17 |
| 10416 | 395.6 | 12.4 | 335 | 10424 | done | 1.07 | - | - | 3050 | - | 2.60 | 0.093 | 2203 | 544.2 | 107.1 | - | - | 2444 | - | - | - | - | - | - | - | - | 14.80 | 14.62 | 14.86 |
| 10773 | 351.2 | 12.4 | 344 | 10781 | roll | 1.07 | - | - | 3050 | - | 2.72 | 0.129 | 3626 | 523.2 | 107.1 | - | - | 2444 | - | - | - | - | - | - | - | - | 15.14 | 14.52 | 15.17 |
| 10830 | 343.7 | 13.5 | 352 | 10837 | done | 1.07 | - | - | 3061 | - | 2.55 | 0.080 | 2201 | -558.8 | 107.1 | - | - | 2444 | - | - | - | - | - | - | - | - | 14.73 | 14.66 | 14.78 |
| 11224 | 295.5 | 12.2 | 366 | 11224 | done | 1.07 | - | - | 3060 | - | - | - | 2200 | - | 107.1 | - | - | 2444 | - | - | - | - | - | - | - | - | 15.09 | 15.10 | 15.09 |
| 11558 | 256.2 | 11.7 | 372 | 11565 | roll | 1.07 | - | - | 3071 | - | 2.62 | 0.106 | 786 | -539.7 | 107.1 | - | - | 2444 | - | - | - | - | - | - | - | - | 15.07 | 14.52 | 15.09 |
| 11655 | 244.7 | 11.5 | 386 | 11663 | done | 1.07 | - | - | 3071 | - | 2.62 | 0.095 | 2209 | 543.1 | 107.1 | - | - | 2444 | - | - | - | - | - | - | - | - | 14.77 | 14.59 | 14.84 |
| 12006 | 203.7 | 11.8 | 394 | 12007 | done | 1.07 | - | - | 3071 | - | - | - | 2210 | - | 107.1 | - | - | 2444 | - | - | - | - | - | - | - | - | 15.06 | 15.09 | 15.09 |
| 12342 | 164.9 | 11.4 | 405 | 12343 | done | 1.07 | - | - | 3071 | - | - | - | 2209 | - | 107.1 | - | - | 2444 | - | - | - | - | - | - | - | - | 15.06 | 15.09 | 15.09 |
| 12678 | 127.7 | 11.3 | 417 | 12686 | roll | 1.07 | - | - | 3071 | - | 2.67 | 0.126 | 3609 | 524.3 | 107.1 | - | - | 2444 | - | - | - | - | - | - | - | - | 15.06 | 14.45 | 15.09 |
| 12712 | 123.4 | 12.3 | 422 | 12720 | done | 1.07 | 0.17 | 0.304 | 3047 | -141.2 | 2.55 | 0.080 | 2197 | -553.7 | 107.1 | - | - | 2444 | - | - | - | - | - | - | - | - | 14.26 | 14.66 | 14.65 |
| 13070 | 89.7 | 9.5 | 437 | 13078 | roll | 1.08 | - | - | 3046 | - | 2.72 | 0.128 | 3610 | 519.5 | 107.1 | - | - | 2443 | - | - | - | - | - | - | - | - | 15.14 | 14.44 | 15.16 |
| 13132 | 83.2 | 10.4 | 446 | 13140 | done | 1.08 | - | - | 3056 | - | 2.58 | 0.081 | 2189 | -550.8 | 107.1 | - | - | 2443 | - | - | - | - | - | - | - | - | 14.79 | 14.66 | 14.85 |
| 13491 | 49.6 | 9.0 | 461 | 13498 | roll | 1.10 | - | - | 3055 | - | 2.72 | 0.131 | 3618 | 525.4 | 107.1 | - | - | 2443 | - | - | - | - | - | - | - | - | 15.12 | 14.47 | 15.15 |
| 13525 | 46.3 | 9.6 | 466 | 13532 | done | 1.10 | - | - | 3066 | - | 2.60 | 0.082 | 2189 | -549.6 | 107.1 | - | - | 2443 | - | - | - | - | - | - | - | - | 14.81 | 14.64 | 14.84 |
| 13882 | 8.9 | 12.7 | 481 | 13890 | roll | 1.10 | - | - | 3066 | - | 2.75 | 0.126 | 3617 | 519.3 | 107.1 | - | - | 2443 | - | - | - | - | - | - | - | - | 15.04 | 14.42 | 15.07 |
| 13910 | 4.5 | 15.7 | 485 | 13918 | done | 1.10 | - | - | 3078 | - | 2.60 | 0.084 | 2191 | -548.5 | 107.1 | - | - | 2443 | - | - | - | - | - | - | - | - | 14.72 | 14.59 | 14.77 |
| 13936 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 13936 | begin surface coast | ||||||||||||||||||||||||||||
| 13964 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 13964 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.12 | - | - | - | - | -7.75 | 9.18 | 0.131 | 201 | 21.9 | 0.62 | 0.125 | 2509 | 2385.5 | 300.00 | 166.95 | 0.226 | 1673 | 10.0 | -0.001 | - | - | - | - | - | - | |||