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| • Previous call tries 3 | • 149.11 of 350.00 AH used of 24V (57.40% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -2.0 deg, depth 10.29 m | • Intended pitch -17.0 deg, speed -8.333 cm/s | |
| • surface range 18.7 m at 18.0 m depth, ceiling -0.7 m (m = 1.06, R^2 = 1.00) | ||
| • GPS1 time: 0 s, HDOP was 4149.7 m | • bottom range 10.1 m at 749.2 m, depth 759 m (750 m grid)(m = -1.02, R^2 = 1.00) | |
| • GPS2 time: 0 s, HDOP was 4149.7 m | • Transponder ping count: 1 | |
| • 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 | ||||||||||||||||||||||||||||
| 11 | - | - | - | 22 | done | -0.91 | - | - | 2736 | - | - | - | 2804 | - | -107.1 | -9.85 | 0.011 | 3964 | - | - | - | - | - | - | - | - | 14.81 | 12.57 | 14.73 |
| 25 | - | - | - | 31 | roll | -0.91 | 0.93 | 0.106 | 2437 | -321.5 | 2.40 | 0.047 | 1388 | -590.0 | -107.1 | - | - | 3967 | - | - | - | - | - | - | - | - | 14.10 | 14.26 | 14.21 |
| 50 | 12.5 | -6.6 | 4 | 57 | done | -0.91 | - | - | 2437 | - | 2.55 | 0.065 | 2799 | 553.3 | -107.1 | - | - | 3969 | - | - | - | - | - | - | - | - | 14.31 | 14.23 | 14.37 |
| 414 | 53.3 | -11.5 | 20 | 421 | roll | -0.91 | - | - | 2433 | - | 2.45 | 0.048 | 1398 | -571.8 | -107.1 | - | - | 3972 | - | - | - | - | - | - | - | - | 14.91 | 14.24 | 14.91 |
| 449 | 57.5 | -12.2 | 25 | 457 | done | -0.91 | - | - | 2436 | - | 2.55 | 0.068 | 2797 | 548.6 | -107.1 | - | - | 3972 | - | - | - | - | - | - | - | - | 14.28 | 14.19 | 14.33 |
| 806 | 98.8 | -11.0 | 40 | 807 | done | -0.91 | - | - | 2437 | - | - | - | 2798 | - | -107.1 | - | - | 3972 | - | - | - | - | - | - | - | - | 14.89 | 14.85 | 14.84 |
| 1142 | 136.3 | -11.4 | 52 | 1143 | done | -0.91 | - | - | 2436 | - | - | - | 2797 | - | -107.1 | - | - | 3972 | - | - | - | - | - | - | - | - | 14.89 | 14.90 | 14.89 |
| 1478 | 174.3 | -11.1 | 64 | 1479 | done | -0.91 | - | - | 2437 | - | - | - | 2797 | - | -107.1 | - | - | 3973 | - | - | - | - | - | - | - | - | 14.87 | 14.87 | 14.86 |
| 1843 | 215.5 | -11.4 | 75 | 1849 | roll | -0.91 | - | - | 2436 | - | 2.47 | 0.048 | 1394 | -568.0 | -107.1 | - | - | 3973 | - | - | - | - | - | - | - | - | 14.77 | 14.11 | 14.76 |
| 1877 | 219.5 | -11.4 | 80 | 1884 | done | -0.91 | - | - | 2437 | - | 2.58 | 0.067 | 2806 | 547.3 | -107.1 | - | - | 3973 | - | - | - | - | - | - | - | - | 14.26 | 14.17 | 14.31 |
| 2234 | 258.5 | -10.8 | 89 | 2235 | done | -0.91 | - | - | 2436 | - | - | - | 2806 | - | -107.1 | - | - | 3973 | - | - | - | - | - | - | - | - | 14.88 | 14.88 | 14.87 |
| 2570 | 296.0 | -11.2 | 95 | 2577 | roll | -0.91 | - | - | 2436 | - | 2.47 | 0.048 | 1401 | -568.8 | -107.1 | - | - | 3973 | - | - | - | - | - | - | - | - | 14.85 | 14.21 | 14.85 |
| 2606 | 300.0 | -11.2 | 100 | 2612 | done | -0.91 | - | - | 2436 | - | 2.58 | 0.067 | 2804 | 543.8 | -107.1 | - | - | 3973 | - | - | - | - | - | - | - | - | 14.22 | 14.13 | 14.28 |
| 2963 | 339.6 | -11.1 | 109 | 2964 | done | -0.91 | - | - | 2436 | - | - | - | 2805 | - | -107.1 | - | - | 3972 | - | - | - | - | - | - | - | - | 14.74 | 14.73 | 14.74 |
| 3299 | 375.6 | -10.7 | 115 | 3305 | roll | -0.91 | - | - | 2437 | - | 2.50 | 0.048 | 1392 | -565.2 | -107.1 | - | - | 3973 | - | - | - | - | - | - | - | - | 14.74 | 14.16 | 14.73 |
| 3340 | 380.0 | -10.4 | 121 | 3348 | done | -0.91 | - | - | 2437 | - | 2.58 | 0.067 | 2801 | 546.1 | -107.1 | - | - | 3973 | - | - | - | - | - | - | - | - | 14.23 | 14.14 | 14.29 |
| 3690 | 415.9 | -10.2 | 129 | 3691 | done | -0.91 | - | - | 2437 | - | - | - | 2801 | - | -107.1 | - | - | 3973 | - | - | - | - | - | - | - | - | 14.87 | 14.87 | 14.87 |
| 4026 | 449.9 | -10.1 | 135 | 4027 | done | -0.91 | - | - | 2436 | - | - | - | 2801 | - | -107.1 | - | - | 3973 | - | - | - | - | - | - | - | - | 14.88 | 14.88 | 14.89 |
| 4362 | 485.0 | -10.5 | 141 | 4363 | done | -0.91 | - | - | 2436 | - | - | - | 2801 | - | -107.1 | - | - | 3974 | - | - | - | - | - | - | - | - | 14.88 | 14.88 | 14.88 |
| 4698 | 519.5 | -10.2 | 147 | 4705 | roll | -0.91 | - | - | 2437 | - | 2.47 | 0.048 | 1394 | -569.6 | -107.1 | - | - | 3973 | - | - | - | - | - | - | - | - | 14.88 | 14.19 | 14.88 |
| 4733 | 523.1 | -10.2 | 152 | 4740 | done | -0.91 | - | - | 2436 | - | 2.58 | 0.068 | 2800 | 545.0 | -107.1 | - | - | 3973 | - | - | - | - | - | - | - | - | 14.23 | 14.14 | 14.28 |
| 5091 | 560.0 | -10.4 | 161 | 5092 | done | -0.91 | - | - | 2437 | - | - | - | 2800 | - | -107.1 | - | - | 3973 | - | - | - | - | - | - | - | - | 14.75 | 14.75 | 14.76 |
| 5427 | 595.0 | -10.4 | 167 | 5433 | roll | -0.91 | - | - | 2436 | - | 2.47 | 0.048 | 1391 | -570.4 | -107.1 | - | - | 3973 | - | - | - | - | - | - | - | - | 14.75 | 14.17 | 14.75 |
| 5461 | 598.5 | -10.1 | 172 | 5468 | done | -0.91 | - | - | 2436 | - | 2.60 | 0.067 | 2811 | 546.2 | -107.1 | - | - | 3973 | - | - | - | - | - | - | - | - | 14.23 | 14.14 | 14.27 |
| 5818 | 633.7 | -9.8 | 181 | 5819 | done | -0.91 | - | - | 2437 | - | - | - | 2811 | - | -107.1 | - | - | 3973 | - | - | - | - | - | - | - | - | 14.88 | 14.88 | 14.88 |
| 6154 | 668.1 | -10.2 | 187 | 6161 | roll | -0.91 | - | - | 2435 | - | 2.47 | 0.048 | 1398 | -572.1 | -107.1 | - | - | 3973 | - | - | - | - | - | - | - | - | 14.88 | 14.19 | 14.88 |
| 6245 | 676.7 | -9.2 | 200 | 6252 | done | -0.91 | - | - | 2436 | - | 2.60 | 0.069 | 2812 | 543.8 | -107.1 | - | - | 3973 | - | - | - | - | - | - | - | - | 14.21 | 14.12 | 14.26 |
| 6602 | 711.8 | -10.0 | 209 | 6603 | done | -0.91 | - | - | 2436 | - | - | - | 2811 | - | -107.1 | - | - | 3974 | - | - | - | - | - | - | - | - | 14.88 | 14.88 | 14.88 |
| 6938 | 744.1 | -9.4 | 215 | 6945 | roll | -0.91 | - | - | 2436 | - | 2.50 | 0.048 | 1391 | -568.0 | -107.1 | - | - | 3973 | - | - | - | - | - | - | - | - | 14.88 | 14.17 | 14.88 |
| 6992 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 6992 | begin apogee | ||||||||||||||||||||||||||||
| 6999 | 749.9 | -10.2 | 223 | 7116 | done | -0.23 | 0.85 | 0.233 | 2657 | 260.0 | - | - | 2565 | - | - | 114.10 | 3.089 | 3599 | -3.3 | 0.176 | - | - | - | - | - | - | 13.76 | 13.39 | 11.89 |
| 7117 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7117 | begin climb | ||||||||||||||||||||||||||||
| 7119 | 753.2 | - | 225 | 7260 | done | 0.91 | 1.25 | 0.151 | 3014 | 285.6 | - | - | 2565 | - | 107.1 | 132.52 | 3.091 | 3173 | -3.2 | 0.173 | - | - | - | - | - | - | 13.38 | 12.80 | 11.37 |
| 7610 | 720.8 | 7.7 | 255 | 7617 | roll | 0.92 | - | - | 3024 | - | 2.55 | 0.060 | 1154 | -553.3 | 107.1 | - | - | 3162 | - | - | - | - | - | - | - | - | 14.54 | 14.12 | 14.54 |
| 7631 | 719.2 | 7.5 | 258 | 7639 | done | 0.94 | - | - | 3024 | - | 2.55 | 0.066 | 2550 | 547.5 | 107.1 | - | - | 3162 | - | - | - | - | - | - | - | - | 14.26 | 14.19 | 14.30 |
| 8002 | 689.9 | 7.8 | 269 | 8009 | roll | 0.95 | - | - | 3024 | - | 2.53 | 0.093 | 3912 | 538.3 | 107.1 | - | - | 3161 | - | - | - | - | - | - | - | - | 14.80 | 14.24 | 14.80 |
| 8079 | 683.0 | 9.3 | 280 | 8086 | done | 0.95 | - | - | 3032 | - | 2.38 | 0.051 | 2536 | -578.2 | 107.1 | - | - | 3161 | - | - | - | - | - | - | - | - | 14.53 | 14.50 | 14.55 |
| 8450 | 651.4 | 8.4 | 291 | 8451 | done | 0.95 | - | - | 3033 | - | - | - | 2536 | - | 107.1 | - | - | 3160 | - | - | - | - | - | - | - | - | 14.87 | 14.87 | 14.87 |
| 8786 | 623.9 | 8.1 | 297 | 8793 | roll | 0.95 | - | - | 3033 | - | 2.55 | 0.091 | 3912 | 539.6 | 107.1 | - | - | 3160 | - | - | - | - | - | - | - | - | 14.89 | 14.31 | 14.89 |
| 8828 | 620.0 | 9.6 | 303 | 8835 | done | 0.95 | - | - | 3043 | - | 2.38 | 0.051 | 2540 | -576.5 | 107.1 | - | - | 3160 | - | - | - | - | - | - | - | - | 14.55 | 14.51 | 14.58 |
| 9178 | 590.3 | 8.4 | 311 | 9179 | done | 0.95 | - | - | 3042 | - | - | - | 2540 | - | 107.1 | - | - | 3160 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 9514 | 563.3 | 8.0 | 317 | 9521 | roll | 0.95 | - | - | 3043 | - | 2.53 | 0.091 | 3903 | 538.7 | 107.1 | - | - | 3160 | - | - | - | - | - | - | - | - | 14.91 | 14.29 | 14.91 |
| 9563 | 558.8 | 9.5 | 324 | 9571 | done | 0.95 | - | - | 3046 | - | 2.38 | 0.050 | 2526 | -578.6 | 107.1 | - | - | 3161 | - | - | - | - | - | - | - | - | 14.55 | 14.52 | 14.58 |
| 9906 | 530.2 | 8.4 | 331 | 9913 | roll | 0.95 | - | - | 3046 | - | 2.58 | 0.091 | 3910 | 536.4 | 107.1 | - | - | 3159 | - | - | - | - | - | - | - | - | 14.91 | 14.28 | 14.91 |
| 9948 | 526.3 | 9.6 | 337 | 9955 | done | 0.95 | - | - | 3051 | - | 2.38 | 0.050 | 2539 | -576.1 | 107.1 | - | - | 3160 | - | - | - | - | - | - | - | - | 14.54 | 14.50 | 14.57 |
| 10298 | 497.3 | 8.2 | 345 | 10305 | roll | 0.95 | - | - | 3051 | - | 2.55 | 0.090 | 3913 | 538.8 | 107.1 | - | - | 3161 | - | - | - | - | - | - | - | - | 14.91 | 14.26 | 14.91 |
| 10347 | 492.8 | 9.5 | 352 | 10355 | done | 0.95 | - | - | 3052 | - | 2.38 | 0.051 | 2544 | -575.2 | 107.1 | - | - | 3161 | - | - | - | - | - | - | - | - | 14.54 | 14.51 | 14.57 |
| 10691 | 466.6 | 7.4 | 359 | 10697 | roll | 0.96 | - | - | 3051 | - | 2.55 | 0.090 | 3911 | 536.1 | 107.1 | - | - | 3161 | - | - | - | - | - | - | - | - | 14.91 | 14.23 | 14.91 |
| 10725 | 463.7 | 8.4 | 364 | 10732 | done | 0.96 | - | - | 3054 | - | 2.38 | 0.050 | 2544 | -574.4 | 107.1 | - | - | 3161 | - | - | - | - | - | - | - | - | 14.51 | 14.47 | 14.54 |
| 11082 | 437.0 | 7.5 | 373 | 11089 | roll | 0.98 | - | - | 3054 | - | 2.55 | 0.090 | 3913 | 536.9 | 107.1 | - | - | 3161 | - | - | - | - | - | - | - | - | 14.91 | 14.18 | 14.92 |
| 11131 | 432.7 | 8.9 | 380 | 11140 | done | 0.98 | - | - | 3055 | - | 2.38 | 0.051 | 2547 | -573.9 | 107.1 | - | - | 3161 | - | - | - | - | - | - | - | - | 14.52 | 14.48 | 14.54 |
| 11474 | 407.0 | 7.3 | 387 | 11481 | roll | 1.00 | - | - | 3055 | - | 2.55 | 0.090 | 3914 | 536.1 | 107.1 | - | - | 3161 | - | - | - | - | - | - | - | - | 14.94 | 14.22 | 14.91 |
| 11516 | 403.6 | 8.4 | 393 | 11523 | done | 1.00 | - | - | 3055 | - | 2.40 | 0.050 | 2534 | -575.0 | 107.1 | - | - | 3161 | - | - | - | - | - | - | - | - | 14.52 | 14.48 | 14.54 |
| 11866 | 378.4 | 7.2 | 401 | 11867 | done | 1.02 | - | - | 3055 | - | - | - | 2535 | - | 107.1 | - | - | 3162 | - | - | - | - | - | - | - | - | 14.91 | 14.92 | 14.91 |
| 12203 | 354.1 | 7.2 | 407 | 12209 | roll | 1.04 | - | - | 3055 | - | 2.58 | 0.090 | 3913 | 534.1 | 107.1 | - | - | 3162 | - | - | - | - | - | - | - | - | 14.91 | 14.18 | 14.92 |
| 12286 | 347.3 | 8.3 | 419 | 12293 | done | 1.04 | - | - | 3055 | - | 2.38 | 0.051 | 2547 | -573.9 | 107.1 | - | - | 3161 | - | - | - | - | - | - | - | - | 14.48 | 14.44 | 14.51 |
| 12650 | 322.4 | 6.7 | 429 | 12657 | roll | 1.08 | - | - | 3055 | - | 2.55 | 0.090 | 3910 | 534.5 | 107.1 | - | - | 3162 | - | - | - | - | - | - | - | - | 14.91 | 14.19 | 14.91 |
| 12706 | 318.1 | 7.9 | 437 | 12713 | done | 1.08 | - | - | 3055 | - | 2.40 | 0.050 | 2536 | -572.5 | 107.1 | - | - | 3161 | - | - | - | - | - | - | - | - | 14.48 | 14.44 | 14.51 |
| 13101 | 292.6 | 6.4 | 451 | 13106 | roll | 1.12 | - | - | 3055 | - | 2.55 | 0.091 | 3913 | 540.0 | 107.1 | - | - | 3162 | - | - | - | - | - | - | - | - | 14.81 | 14.24 | 14.81 |
| 13147 | 289.0 | 7.6 | 458 | 13157 | done | 1.13 | 0.10 | 0.112 | 3106 | 510.0 | 2.40 | 0.052 | 2535 | -574.2 | 107.1 | - | - | 3162 | - | - | - | - | - | - | - | - | 14.24 | 14.42 | 14.35 |
| 13490 | 261.5 | 8.0 | 465 | 13491 | done | 1.13 | - | - | 3106 | - | - | - | 2535 | - | 107.1 | - | - | 3159 | - | - | - | - | - | - | - | - | 14.89 | 14.88 | 14.88 |
| 13826 | 234.5 | 8.0 | 471 | 13833 | roll | 1.13 | - | - | 3105 | - | 2.58 | 0.093 | 3910 | 532.9 | 107.1 | - | - | 3162 | - | - | - | - | - | - | - | - | 14.89 | 14.15 | 14.88 |
| 13924 | 225.5 | 9.3 | 485 | 13931 | done | 1.13 | - | - | 3116 | - | 2.40 | 0.052 | 2541 | -570.4 | 107.1 | - | - | 3162 | - | - | - | - | - | - | - | - | 14.47 | 14.44 | 14.50 |
| 14275 | 197.3 | 8.0 | 493 | 14281 | roll | 1.13 | - | - | 3116 | - | 2.58 | 0.093 | 3910 | 530.6 | 107.1 | - | - | 3162 | - | - | - | - | - | - | - | - | 14.88 | 14.14 | 14.88 |
| 14338 | 191.3 | 9.8 | 502 | 14345 | done | 1.13 | 0.10 | 0.268 | 3100 | -160.0 | 2.40 | 0.052 | 2542 | -570.0 | 107.1 | - | - | 3162 | - | - | - | - | - | - | - | - | 13.85 | 14.38 | 14.08 |
| 14696 | 163.1 | 7.8 | 517 | 14701 | roll | 1.14 | - | - | 3100 | - | 2.53 | 0.092 | 3909 | 540.3 | 107.1 | - | - | 3162 | - | - | - | - | - | - | - | - | 14.88 | 14.21 | 14.88 |
| 14737 | 159.5 | 8.8 | 523 | 14743 | done | 1.14 | - | - | 3110 | - | 2.40 | 0.051 | 2542 | -569.6 | 107.1 | - | - | 3162 | - | - | - | - | - | - | - | - | 14.42 | 14.37 | 14.45 |
| 15086 | 132.2 | 7.7 | 537 | 15093 | roll | 1.15 | - | - | 3110 | - | 2.58 | 0.091 | 3913 | 531.4 | 107.1 | - | - | 3162 | - | - | - | - | - | - | - | - | 14.90 | 14.13 | 14.89 |
| 15121 | 129.3 | 8.6 | 542 | 15129 | done | 1.15 | - | - | 3121 | - | 2.40 | 0.051 | 2543 | -570.8 | 107.1 | - | - | 3162 | - | - | - | - | - | - | - | - | 14.47 | 14.43 | 14.49 |
| 15480 | 102.6 | 7.7 | 557 | 15485 | roll | 1.16 | - | - | 3131 | - | 2.45 | 0.060 | 1154 | -566.9 | 107.1 | - | - | 3165 | - | - | - | - | - | - | - | - | 14.88 | 14.26 | 14.88 |
| 15513 | 100.0 | 7.6 | 562 | 15521 | done | 1.18 | - | - | 3131 | - | 2.53 | 0.066 | 2551 | 552.2 | 107.1 | - | - | 3162 | - | - | - | - | - | - | - | - | 14.31 | 14.22 | 14.37 |
| 15870 | 69.2 | 8.4 | 577 | 15877 | roll | 1.18 | - | - | 3131 | - | 2.55 | 0.093 | 3913 | 534.1 | 107.1 | - | - | 3162 | - | - | - | - | - | - | - | - | 14.90 | 14.13 | 14.90 |
| 15919 | 64.5 | 9.9 | 584 | 15927 | done | 1.18 | 0.12 | 0.287 | 3108 | -191.7 | 2.40 | 0.052 | 2539 | -572.5 | 107.1 | - | - | 3162 | - | - | - | - | - | - | - | - | 13.74 | 14.42 | 14.01 |
| 16264 | 33.2 | 8.8 | 597 | 16269 | roll | 1.18 | - | - | 3109 | - | 2.55 | 0.090 | 3917 | 540.4 | 107.1 | - | - | 3162 | - | - | - | - | - | - | - | - | 14.88 | 14.19 | 14.88 |
| 16325 | 29.0 | 6.6 | 606 | 16334 | done | 1.21 | - | - | 3120 | - | 2.40 | 0.052 | 2551 | -569.2 | 107.1 | - | - | 3162 | - | - | - | - | - | - | - | - | 14.42 | 14.38 | 14.44 |
| 16596 | end climb: FINISH_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 16596 | begin subsurface finish | ||||||||||||||||||||||||||||
| 16602 | 8.8 | 10.7 | 618 | 16628 | roll | - | 1.45 | 0.226 | 2731 | -268.3 | 2.53 | 0.079 | 1147 | -554.9 | 1.0 | -15.15 | 0.009 | 3603 | -29.1 | 6.288 | - | - | - | - | - | - | 13.78 | 12.45 | 14.02 |
| 16628 | end subsurface finish: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 16628 | begin surface | ||||||||||||||||||||||||||||