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| • Previous call tries 3 | • 116.23 of 350.00 AH used of 24V (66.79% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -5.6 deg, depth 11.83 m | • Intended pitch -18.9 deg, speed -9.167 cm/s | |
| • surface range 15.8 m at 15.8 m depth, ceiling 0.0 m (m = 1.04, R^2 = 1.00) | ||
| • GPS1 time: 0 s, HDOP was 4127.3 m | • bottom range 20.0 m at 799.3 m, depth 819 m (990 m grid)(m = -1.02, R^2 = 1.00) | |
| • GPS2 time: 0 s, HDOP was 4127.3 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 | |||||
| 7 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7 | begin dive | ||||||||||||||||||||||||||||
| 9 | - | - | - | 20 | done | -0.99 | - | - | 2805 | - | - | - | 2298 | - | -107.1 | -9.95 | 0.011 | 3221 | - | - | - | - | - | - | - | - | 15.04 | 13.16 | 15.01 |
| 23 | - | - | - | 29 | roll | -0.99 | 0.98 | 0.102 | 2478 | -333.7 | 2.55 | 0.101 | 3717 | 556.5 | -107.1 | - | - | 3221 | - | - | - | - | - | - | - | - | 14.57 | 14.54 | 14.64 |
| 132 | 30.0 | -16.4 | 16 | 139 | done | -0.99 | - | - | 2478 | - | 2.50 | 0.045 | 2294 | -569.2 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.77 | 14.66 | 14.81 |
| 498 | 88.6 | -15.9 | 32 | 503 | roll | -0.99 | - | - | 2478 | - | 2.53 | 0.077 | 886 | -556.5 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 15.00 | 14.47 | 15.02 |
| 551 | 97.7 | -16.2 | 40 | 560 | done | -0.99 | - | - | 2468 | - | 2.60 | 0.067 | 2311 | 548.1 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.71 | 14.55 | 14.76 |
| 917 | 156.4 | -16.1 | 56 | 923 | roll | -0.99 | - | - | 2468 | - | 2.60 | 0.079 | 899 | -543.1 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 15.10 | 14.39 | 15.12 |
| 957 | 163.5 | -17.0 | 62 | 965 | done | -0.99 | - | - | 2457 | - | 2.58 | 0.069 | 2307 | 545.7 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.70 | 14.54 | 14.75 |
| 1310 | 221.7 | -16.5 | 74 | 1315 | roll | -0.99 | - | - | 2457 | - | 2.58 | 0.080 | 892 | -548.4 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.99 | 14.45 | 15.02 |
| 1371 | 232.3 | -16.7 | 83 | 1378 | done | -0.99 | 0.10 | 0.262 | 2471 | 140.0 | 2.55 | 0.067 | 2299 | 551.8 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.15 | 14.47 | 14.34 |
| 1756 | 291.5 | -15.3 | 96 | 1763 | roll | -0.99 | - | - | 2471 | - | 2.60 | 0.077 | 893 | -540.8 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 15.11 | 14.45 | 15.14 |
| 1790 | 296.9 | -15.5 | 101 | 1798 | done | -0.99 | - | - | 2462 | - | 2.60 | 0.067 | 2315 | 546.9 | -107.1 | - | - | 3218 | - | - | - | - | - | - | - | - | 14.69 | 14.54 | 14.74 |
| 2148 | 351.8 | -15.4 | 110 | 2155 | roll | -0.99 | - | - | 2462 | - | 2.65 | 0.078 | 878 | -542.3 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 15.11 | 14.42 | 15.14 |
| 2210 | 361.8 | -15.9 | 119 | 2218 | done | -0.99 | - | - | 2452 | - | 2.62 | 0.067 | 2312 | 547.3 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.69 | 14.53 | 14.73 |
| 2596 | 423.6 | -16.0 | 132 | 2603 | roll | -0.99 | - | - | 2451 | - | 2.65 | 0.079 | 885 | -538.5 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 15.11 | 14.45 | 15.16 |
| 2658 | 433.8 | -16.1 | 141 | 2667 | done | -0.99 | 0.17 | 0.280 | 2477 | 152.9 | 2.60 | 0.069 | 2303 | 545.4 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.15 | 14.52 | 14.46 |
| 3045 | 488.3 | -14.4 | 154 | 3051 | roll | -0.99 | - | - | 2477 | - | 2.60 | 0.078 | 895 | -541.5 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 15.12 | 14.35 | 15.14 |
| 3085 | 494.5 | -14.8 | 160 | 3093 | done | -0.99 | - | - | 2475 | - | 2.60 | 0.070 | 2311 | 544.6 | -107.1 | - | - | 3218 | - | - | - | - | - | - | - | - | 14.67 | 14.51 | 14.72 |
| 3436 | 545.8 | -14.8 | 168 | 3443 | roll | -0.99 | - | - | 2465 | - | 2.65 | 0.102 | 3716 | 530.2 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 15.11 | 14.43 | 15.14 |
| 3463 | 550.0 | -14.9 | 172 | 3471 | done | -0.99 | - | - | 2465 | - | 2.50 | 0.045 | 2293 | -569.2 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.74 | 14.64 | 14.78 |
| 3828 | 601.9 | -14.0 | 182 | 3835 | roll | -0.99 | - | - | 2465 | - | 2.55 | 0.076 | 900 | -546.3 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 15.10 | 14.36 | 15.13 |
| 3897 | 611.5 | -13.6 | 192 | 3905 | done | -0.99 | - | - | 2455 | - | 2.58 | 0.067 | 2309 | 546.1 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.67 | 14.52 | 14.72 |
| 4276 | 663.8 | -13.9 | 204 | 4283 | roll | -0.99 | - | - | 2452 | - | 2.60 | 0.077 | 898 | -542.7 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.97 | 14.35 | 15.00 |
| 4303 | 667.8 | -14.4 | 208 | 4311 | done | -0.99 | 0.17 | 0.288 | 2482 | 176.5 | 2.58 | 0.067 | 2307 | 546.1 | -107.1 | - | - | 3218 | - | - | - | - | - | - | - | - | 14.14 | 14.51 | 14.48 |
| 4669 | 716.2 | -13.3 | 218 | 4675 | roll | -0.99 | - | - | 2472 | - | 2.60 | 0.099 | 3721 | 543.8 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 15.07 | 14.42 | 15.10 |
| 4731 | 725.1 | -14.0 | 227 | 4738 | done | -0.99 | - | - | 2472 | - | 2.50 | 0.043 | 2292 | -571.6 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.72 | 14.63 | 14.76 |
| 5119 | 775.7 | -13.0 | 240 | 5124 | roll | -0.99 | - | - | 2472 | - | 2.53 | 0.076 | 895 | -552.2 | -107.1 | - | - | 3219 | - | - | - | - | - | - | - | - | 14.99 | 14.40 | 14.99 |
| 5178 | 784.5 | -14.3 | 249 | 5187 | done | -0.99 | - | - | 2462 | - | 2.58 | 0.063 | 2307 | 547.3 | -107.1 | - | - | 3220 | - | - | - | - | - | - | - | - | 14.66 | 14.51 | 14.70 |
| 5397 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 5397 | begin apogee | ||||||||||||||||||||||||||||
| 5401 | 814.4 | -13.6 | 259 | 5526 | done | -0.23 | 0.98 | 0.220 | 2724 | 267.3 | 0.10 | 0.156 | 2122 | -1850.0 | - | 121.40 | 3.091 | 2780 | -3.6 | 0.194 | - | - | - | - | - | - | 14.23 | 13.57 | 12.38 |
| 5527 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5527 | begin climb | ||||||||||||||||||||||||||||
| 5529 | 819.4 | - | 261 | 5678 | roll | 0.99 | 1.38 | 0.129 | 3121 | 287.7 | 2.88 | 0.090 | 3506 | 480.6 | 107.1 | 137.15 | 3.071 | 2342 | -3.2 | 0.173 | - | - | - | - | - | - | 13.57 | 13.23 | 12.05 |
| 5774 | 804.8 | 9.7 | 292 | 5782 | done | 0.99 | - | - | 3127 | - | 2.55 | 0.043 | 2135 | -537.6 | 107.1 | - | - | 2334 | - | - | - | - | - | - | - | - | 13.90 | 13.83 | 13.94 |
| 6125 | 772.3 | 9.4 | 300 | 6126 | done | 0.99 | - | - | 3127 | - | - | - | 2136 | - | 107.1 | - | - | 2331 | - | - | - | - | - | - | - | - | 14.66 | 14.69 | 14.69 |
| 6462 | 744.3 | 8.5 | 306 | 6462 | done | 1.01 | - | - | 3127 | - | - | - | 2137 | - | 107.1 | - | - | 2326 | - | - | - | - | - | - | - | - | 14.89 | 14.91 | 14.91 |
| 6797 | 715.9 | 8.4 | 312 | 6798 | done | 1.02 | - | - | 3127 | - | - | - | 2137 | - | 107.1 | - | - | 2326 | - | - | - | - | - | - | - | - | 14.97 | 15.00 | 14.99 |
| 7134 | 690.0 | 7.7 | 318 | 7141 | roll | 1.05 | - | - | 3127 | - | 2.53 | 0.091 | 3498 | 537.9 | 107.1 | - | - | 2325 | - | - | - | - | - | - | - | - | 15.00 | 14.58 | 15.02 |
| 7272 | 677.1 | 9.9 | 338 | 7280 | done | 1.05 | - | - | 3137 | - | 2.45 | 0.044 | 2086 | -576.3 | 107.1 | - | - | 2324 | - | - | - | - | - | - | - | - | 14.83 | 14.73 | 14.87 |
| 7636 | 642.9 | 9.4 | 348 | 7637 | done | 1.05 | - | - | 3137 | - | - | - | 2085 | - | 107.1 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.09 | 15.12 | 15.12 |
| 7972 | 611.3 | 9.5 | 354 | 7980 | roll | 1.05 | - | - | 3137 | - | 2.62 | 0.091 | 3505 | 542.0 | 107.1 | - | - | 2324 | - | - | - | - | - | - | - | - | 15.13 | 14.59 | 15.16 |
| 8022 | 606.0 | 11.0 | 361 | 8030 | done | 1.05 | - | - | 3146 | - | 2.45 | 0.044 | 2092 | -576.7 | 107.1 | - | - | 2323 | - | - | - | - | - | - | - | - | 14.84 | 14.73 | 14.88 |
| 8365 | 570.9 | 10.2 | 368 | 8372 | roll | 1.05 | - | - | 3157 | - | 2.58 | 0.093 | 694 | -541.9 | 107.1 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.04 | 14.53 | 15.06 |
| 8434 | 563.2 | 11.1 | 378 | 8442 | done | 1.05 | - | - | 3157 | - | 2.47 | 0.057 | 2095 | 567.2 | 107.1 | - | - | 2323 | - | - | - | - | - | - | - | - | 14.81 | 14.69 | 14.87 |
| 8813 | 521.6 | 11.2 | 390 | 8821 | roll | 1.05 | - | - | 3157 | - | 2.60 | 0.093 | 3504 | 541.9 | 107.1 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.04 | 14.54 | 15.07 |
| 8910 | 510.0 | 11.8 | 404 | 8918 | done | 1.05 | - | - | 3167 | - | 2.45 | 0.044 | 2096 | -574.7 | 107.1 | - | - | 2323 | - | - | - | - | - | - | - | - | 14.83 | 14.72 | 14.87 |
| 9261 | 472.0 | 10.8 | 412 | 9268 | roll | 1.05 | - | - | 3177 | - | 2.58 | 0.093 | 700 | -541.1 | 107.1 | - | - | 2323 | - | - | - | - | - | - | - | - | 15.04 | 14.50 | 15.07 |
| 9316 | 465.5 | 11.8 | 420 | 9324 | done | 1.05 | 0.17 | 0.265 | 3138 | -229.4 | 2.50 | 0.057 | 2114 | 565.6 | 107.1 | - | - | 2322 | - | - | - | - | - | - | - | - | 14.35 | 14.69 | 14.68 |
| 9711 | 427.5 | 9.6 | 434 | 9716 | roll | 1.05 | - | - | 3138 | - | 2.53 | 0.093 | 3506 | 550.2 | 107.1 | - | - | 2322 | - | - | - | - | - | - | - | - | 15.04 | 14.58 | 15.07 |
| 9814 | 417.3 | 9.7 | 449 | 9822 | done | 1.05 | - | - | 3146 | - | 2.45 | 0.044 | 2091 | -577.6 | 107.1 | - | - | 2322 | - | - | - | - | - | - | - | - | 14.71 | 14.65 | 14.76 |
| 10156 | 387.2 | 8.7 | 456 | 10164 | roll | 1.05 | - | - | 3156 | - | 2.60 | 0.092 | 693 | -537.7 | 107.1 | - | - | 2321 | - | - | - | - | - | - | - | - | 15.12 | 14.53 | 15.15 |
| 10234 | 380.5 | 8.4 | 467 | 10241 | done | 1.07 | - | - | 3156 | - | 2.47 | 0.056 | 2101 | 570.0 | 107.1 | - | - | 2322 | - | - | - | - | - | - | - | - | 14.70 | 14.64 | 14.76 |
| 10605 | 351.1 | 8.0 | 478 | 10613 | roll | 1.09 | - | - | 3156 | - | 2.60 | 0.093 | 3505 | 540.0 | 107.1 | - | - | 2322 | - | - | - | - | - | - | - | - | 15.12 | 14.52 | 15.14 |
| 10632 | 348.5 | 9.1 | 482 | 10640 | done | 1.09 | - | - | 3166 | - | 2.47 | 0.045 | 2090 | -572.9 | 107.1 | - | - | 2321 | - | - | - | - | - | - | - | - | 14.80 | 14.69 | 14.85 |
| 10997 | 318.2 | 8.2 | 492 | 11004 | roll | 1.11 | - | - | 3166 | - | 2.62 | 0.090 | 3507 | 540.8 | 107.1 | - | - | 2321 | - | - | - | - | - | - | - | - | 15.12 | 14.50 | 15.15 |
| 11031 | 315.1 | 8.6 | 497 | 11039 | done | 1.12 | - | - | 3176 | - | 2.47 | 0.045 | 2091 | -573.3 | 107.1 | - | - | 2321 | - | - | - | - | - | - | - | - | 14.79 | 14.68 | 14.84 |
| 11389 | 285.2 | 8.5 | 506 | 11389 | done | 1.13 | - | - | 3176 | - | - | - | 2091 | - | 107.1 | - | - | 2321 | - | - | - | - | - | - | - | - | 15.12 | 15.15 | 15.14 |
| 11725 | 258.1 | 8.0 | 512 | 11732 | roll | 1.16 | - | - | 3176 | - | 2.62 | 0.090 | 3507 | 540.5 | 107.1 | - | - | 2320 | - | - | - | - | - | - | - | - | 15.14 | 14.50 | 15.17 |
| 11787 | 252.8 | 8.5 | 521 | 11796 | done | 1.17 | - | - | 3185 | - | 2.47 | 0.043 | 2088 | -574.5 | 107.1 | - | - | 2321 | - | - | - | - | - | - | - | - | 14.79 | 14.69 | 14.83 |
| 12174 | 223.5 | 7.6 | 534 | 12175 | done | 1.20 | - | - | 3185 | - | - | - | 2088 | - | 107.1 | - | - | 2320 | - | - | - | - | - | - | - | - | 15.14 | 15.17 | 15.16 |
| 12509 | 197.9 | 7.7 | 540 | 12516 | roll | 1.23 | - | - | 3185 | - | 2.62 | 0.089 | 3502 | 539.7 | 107.1 | - | - | 2320 | - | - | - | - | - | - | - | - | 15.13 | 14.51 | 15.16 |
| 12565 | 193.0 | 8.8 | 548 | 12572 | done | 1.23 | - | - | 3194 | - | 2.47 | 0.044 | 2085 | -573.7 | 107.1 | - | - | 2320 | - | - | - | - | - | - | - | - | 14.77 | 14.66 | 14.82 |
| 12930 | 163.0 | 8.4 | 564 | 12936 | roll | 1.25 | - | - | 3195 | - | 2.60 | 0.090 | 3506 | 546.5 | 107.1 | - | - | 2320 | - | - | - | - | - | - | - | - | 15.11 | 14.50 | 15.11 |
| 12956 | 160.5 | 8.7 | 568 | 12965 | done | 1.25 | - | - | 3205 | - | 2.47 | 0.045 | 2087 | -574.5 | 107.1 | - | - | 2320 | - | - | - | - | - | - | - | - | 14.77 | 14.66 | 14.82 |
| 13322 | 129.4 | 8.6 | 584 | 13323 | done | 1.26 | - | - | 3205 | - | - | - | 2087 | - | 107.1 | - | - | 2320 | - | - | - | - | - | - | - | - | 15.11 | 15.14 | 15.14 |
| 13656 | 98.8 | 9.5 | 596 | 13664 | roll | 1.26 | - | - | 3205 | - | 2.67 | 0.090 | 3513 | 534.1 | 107.1 | - | - | 2319 | - | - | - | - | - | - | - | - | 15.11 | 14.50 | 15.14 |
| 13733 | 90.4 | 10.4 | 607 | 13742 | done | 1.26 | - | - | 3215 | - | 2.47 | 0.044 | 2098 | -572.9 | 107.1 | - | - | 2320 | - | - | - | - | - | - | - | - | 14.75 | 14.64 | 14.80 |
| 14078 | 70.2 | 4.6 | 620 | 14135 | roll | 1.36 | - | - | 3225 | - | 2.55 | 0.096 | 693 | -551.0 | 187.3 | 50.80 | 0.425 | 2013 | -6.0 | 0.203 | - | - | - | - | - | - | 15.00 | 14.56 | 14.27 |
| 14202 | 60.2 | 10.0 | 638 | 14214 | done | 1.36 | - | - | 3225 | - | 2.53 | 0.058 | 2102 | 556.9 | 187.3 | - | - | 2005 | - | - | - | - | - | - | - | - | 14.72 | 14.59 | 14.77 |
| 14554 | 19.7 | 11.6 | 652 | 14561 | roll | 1.36 | - | - | 3225 | - | 2.65 | 0.094 | 3513 | 532.5 | 187.3 | - | - | 2002 | - | - | - | - | - | - | - | - | 15.06 | 14.47 | 15.09 |
| 14610 | 11.9 | 14.2 | 660 | 14618 | done | 1.36 | - | - | 3235 | - | 2.50 | 0.046 | 2099 | -565.6 | 187.3 | - | - | 1998 | - | - | - | - | - | - | - | - | 14.71 | 14.59 | 14.76 |
| 14623 | end climb: FINISH_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 14623 | begin subsurface finish | ||||||||||||||||||||||||||||
| 14627 | 9.5 | 15.3 | 662 | 14655 | done | 0.01 | 1.60 | 0.229 | 2809 | -266.2 | - | - | 2100 | - | 6.1 | -23.23 | 0.005 | 2759 | -32.8 | 12.671 | - | - | - | - | - | - | 14.28 | 13.11 | 14.62 |
| 14656 | end subsurface finish: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 14656 | begin surface | ||||||||||||||||||||||||||||