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| • Previous call tries 3 | • 195.88 of 350.00 AH used of 24V (44.03% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle 2.9 deg, depth -0.26 m | • Intended pitch -20.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 300.18 (SM_CC=300) | • surface range 14.8 m at 14.5 m depth, ceiling -0.3 m (m = 1.04, R^2 = 1.00) | |
| • GPS1 time: 0 s, HDOP was 3089.5 m | • bottom range 20.7 m at 858.2 m, depth 879 m (990 m grid)(m = -1.08, R^2 = 0.99) | |
| • GPS2 time: 0 s, HDOP was 3089.5 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 | |||||
| 9 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9 | begin dive | ||||||||||||||||||||||||||||
| 12 | - | - | - | 48 | done | -1.05 | - | - | 2774 | - | - | - | 2795 | - | -107.1 | -34.85 | 0.005 | 3919 | - | - | - | - | - | - | - | - | 14.84 | 12.49 | 14.76 |
| 51 | -0.2 | - | 1 | 57 | roll | -1.05 | 1.08 | 0.138 | 2441 | -308.3 | 2.05 | 0.090 | 3911 | 544.4 | -107.1 | - | - | 3923 | - | - | - | - | - | - | - | - | 14.08 | 14.23 | 14.22 |
| 287 | 20.0 | -9.5 | 35 | 293 | done | -1.05 | - | - | 2441 | - | 1.92 | 0.047 | 2799 | -579.2 | -107.1 | - | - | 3931 | - | - | - | - | - | - | - | - | 14.43 | 14.40 | 14.46 |
| 639 | 52.2 | -9.4 | 49 | 645 | roll | -1.05 | - | - | 2441 | - | 2.08 | 0.091 | 3914 | 536.1 | -107.1 | - | - | 3933 | - | - | - | - | - | - | - | - | 14.87 | 14.21 | 14.87 |
| 678 | 56.4 | -10.4 | 55 | 685 | done | -1.05 | - | - | 2441 | - | 1.95 | 0.047 | 2796 | -573.3 | -107.1 | - | - | 3933 | - | - | - | - | - | - | - | - | 14.45 | 14.42 | 14.48 |
| 1032 | 88.1 | -9.0 | 69 | 1033 | done | -1.05 | - | - | 2441 | - | - | - | 2796 | - | -107.1 | - | - | 3934 | - | - | - | - | - | - | - | - | 14.78 | 14.78 | 14.78 |
| 1365 | 118.8 | -9.3 | 81 | 1372 | roll | -1.05 | - | - | 2441 | - | 2.50 | 0.048 | 1388 | -563.2 | -107.1 | - | - | 3934 | - | - | - | - | - | - | - | - | 14.90 | 14.24 | 14.90 |
| 1393 | 121.6 | -9.9 | 85 | 1400 | done | -1.05 | - | - | 2441 | - | 2.58 | 0.065 | 2814 | 552.7 | -107.1 | - | - | 3934 | - | - | - | - | - | - | - | - | 14.42 | 14.28 | 14.48 |
| 1757 | 156.9 | -9.4 | 101 | 1758 | done | -1.05 | - | - | 2441 | - | - | - | 2813 | - | -107.1 | - | - | 3935 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 2093 | 187.9 | -9.2 | 113 | 2100 | roll | -1.05 | - | - | 2441 | - | 2.55 | 0.049 | 1389 | -558.4 | -107.1 | - | - | 3935 | - | - | - | - | - | - | - | - | 14.90 | 14.15 | 14.90 |
| 2135 | 191.7 | -9.0 | 119 | 2141 | done | -1.05 | - | - | 2441 | - | 2.60 | 0.066 | 2803 | 543.8 | -107.1 | - | - | 3935 | - | - | - | - | - | - | - | - | 14.27 | 14.19 | 14.33 |
| 2513 | 224.8 | -8.6 | 129 | 2520 | roll | -1.05 | - | - | 2440 | - | 2.53 | 0.048 | 1393 | -557.3 | -107.1 | - | - | 3935 | - | - | - | - | - | - | - | - | 14.90 | 14.16 | 14.91 |
| 2562 | 229.1 | -8.8 | 136 | 2569 | done | -1.05 | - | - | 2437 | - | 2.60 | 0.066 | 2812 | 545.8 | -107.1 | - | - | 3935 | - | - | - | - | - | - | - | - | 14.28 | 14.19 | 14.33 |
| 2905 | 258.9 | -8.6 | 143 | 2906 | done | -1.05 | - | - | 2441 | - | - | - | 2812 | - | -107.1 | - | - | 3935 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 3241 | 289.5 | -9.1 | 149 | 3241 | done | -1.05 | - | - | 2440 | - | - | - | 2812 | - | -107.1 | - | - | 3935 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 3578 | 319.4 | -8.8 | 155 | 3583 | roll | -1.05 | - | - | 2441 | - | 2.50 | 0.049 | 1394 | -567.2 | -107.1 | - | - | 3935 | - | - | - | - | - | - | - | - | 14.78 | 14.31 | 14.78 |
| 3661 | 326.9 | -8.9 | 167 | 3667 | done | -1.05 | - | - | 2440 | - | 2.60 | 0.067 | 2807 | 543.5 | -107.1 | - | - | 3935 | - | - | - | - | - | - | - | - | 14.26 | 14.16 | 14.31 |
| 4025 | 359.3 | -8.8 | 177 | 4025 | done | -1.05 | - | - | 2440 | - | - | - | 2807 | - | -107.1 | - | - | 3936 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 4361 | 387.3 | -8.2 | 183 | 4362 | done | -1.05 | - | - | 2440 | - | - | - | 2806 | - | -107.1 | - | - | 3936 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 4697 | 413.3 | -7.6 | 189 | 4704 | roll | -1.05 | - | - | 2440 | - | 2.50 | 0.047 | 1388 | -567.2 | -107.1 | - | - | 3936 | - | - | - | - | - | - | - | - | 14.90 | 14.16 | 14.90 |
| 4739 | 416.4 | -7.3 | 195 | 4745 | done | -1.05 | - | - | 2439 | - | 2.60 | 0.066 | 2799 | 542.7 | -107.1 | - | - | 3935 | - | - | - | - | - | - | - | - | 14.23 | 14.14 | 14.28 |
| 5089 | 441.9 | -7.4 | 203 | 5095 | roll | -1.05 | - | - | 2439 | - | 2.08 | 0.089 | 3907 | 532.7 | -107.1 | - | - | 3936 | - | - | - | - | - | - | - | - | 14.90 | 14.07 | 14.90 |
| 5131 | 445.4 | -8.4 | 209 | 5138 | done | -1.05 | - | - | 2439 | - | 1.95 | 0.047 | 2790 | -572.8 | -107.1 | - | - | 3936 | - | - | - | - | - | - | - | - | 14.42 | 14.38 | 14.44 |
| 5481 | 472.1 | -7.6 | 217 | 5482 | done | -1.05 | - | - | 2439 | - | - | - | 2790 | - | -107.1 | - | - | 3936 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 5817 | 497.3 | -7.5 | 223 | 5823 | roll | -1.05 | - | - | 2439 | - | 2.47 | 0.047 | 1398 | -563.6 | -107.1 | - | - | 3937 | - | - | - | - | - | - | - | - | 14.90 | 14.21 | 14.90 |
| 5866 | 501.2 | -7.9 | 230 | 5873 | done | -1.05 | - | - | 2439 | - | 2.60 | 0.067 | 2807 | 541.9 | -107.1 | - | - | 3936 | - | - | - | - | - | - | - | - | 14.23 | 14.13 | 14.28 |
| 6209 | 530.2 | -8.8 | 237 | 6209 | done | -1.05 | - | - | 2438 | - | - | - | 2807 | - | -107.1 | - | - | 3936 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 6545 | 562.3 | -9.6 | 243 | 6551 | roll | -1.05 | - | - | 2439 | - | 2.53 | 0.048 | 1389 | -560.5 | -107.1 | - | - | 3937 | - | - | - | - | - | - | - | - | 14.94 | 14.19 | 14.90 |
| 6615 | 569.1 | -9.8 | 253 | 6622 | done | -1.05 | - | - | 2438 | - | 2.62 | 0.067 | 2810 | 542.4 | -107.1 | - | - | 3937 | - | - | - | - | - | - | - | - | 14.21 | 14.13 | 14.27 |
| 6993 | 605.2 | -9.7 | 265 | 6993 | done | -1.05 | - | - | 2438 | - | - | - | 2810 | - | -107.1 | - | - | 3936 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 7329 | 634.5 | -8.5 | 271 | 7336 | roll | -1.05 | - | - | 2438 | - | 2.55 | 0.048 | 1388 | -557.6 | -107.1 | - | - | 3937 | - | - | - | - | - | - | - | - | 14.90 | 14.19 | 14.90 |
| 7357 | 636.9 | -8.9 | 275 | 7363 | done | -1.05 | - | - | 2438 | - | 2.62 | 0.067 | 2811 | 543.1 | -107.1 | - | - | 3937 | - | - | - | - | - | - | - | - | 14.21 | 14.12 | 14.27 |
| 7721 | 667.7 | -8.4 | 285 | 7721 | done | -1.05 | - | - | 2437 | - | - | - | 2811 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 8057 | 691.8 | -7.0 | 291 | 8058 | done | -1.05 | - | - | 2438 | - | - | - | 2811 | - | -107.1 | - | - | 3937 | - | - | - | - | - | - | - | - | 14.89 | 14.89 | 14.90 |
| 8393 | 713.6 | -6.4 | 297 | 8400 | roll | -1.05 | - | - | 2437 | - | 2.05 | 0.090 | 3912 | 537.1 | -107.1 | - | - | 3937 | - | - | - | - | - | - | - | - | 14.90 | 14.03 | 14.90 |
| 8449 | 717.6 | -7.1 | 305 | 8456 | done | -1.05 | - | - | 2436 | - | 1.95 | 0.048 | 2797 | -571.8 | -107.1 | - | - | 3938 | - | - | - | - | - | - | - | - | 14.36 | 14.33 | 14.39 |
| 8844 | 742.8 | -6.4 | 319 | 8849 | roll | -1.05 | - | - | 2437 | - | 2.47 | 0.048 | 1384 | -572.1 | -107.1 | - | - | 3938 | - | - | - | - | - | - | - | - | 14.76 | 14.28 | 14.76 |
| 8904 | 746.8 | -6.3 | 328 | 8910 | done | -1.05 | - | - | 2436 | - | 2.62 | 0.067 | 2806 | 542.7 | -107.1 | - | - | 3938 | - | - | - | - | - | - | - | - | 14.21 | 14.12 | 14.26 |
| 9289 | 769.2 | -5.7 | 341 | 9290 | done | -1.05 | - | - | 2436 | - | - | - | 2806 | - | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.91 | 14.91 | 14.91 |
| 9626 | 788.7 | -5.9 | 347 | 9631 | roll | -1.05 | - | - | 2433 | - | 2.05 | 0.089 | 3922 | 544.4 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.77 | 14.07 | 14.77 |
| 9660 | 790.7 | -5.8 | 352 | 9666 | done | -1.05 | - | - | 2433 | - | 1.98 | 0.048 | 2799 | -567.2 | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.37 | 14.32 | 14.38 |
| 10017 | 812.8 | -6.2 | 361 | 10024 | roll | -1.05 | - | - | 2433 | - | 2.45 | 0.047 | 1390 | -575.1 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.90 | 14.24 | 14.90 |
| 10094 | 818.9 | -8.8 | 372 | 10100 | done | -1.05 | - | - | 2432 | - | 2.60 | 0.067 | 2799 | 541.9 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.19 | 14.10 | 14.25 |
| 10466 | 847.9 | -8.4 | 383 | 10471 | roll | -1.05 | - | - | 2432 | - | 2.47 | 0.047 | 1389 | -570.9 | -107.1 | - | - | 3942 | - | - | - | - | - | - | - | - | 14.76 | 14.26 | 14.76 |
| 10507 | 851.7 | -9.1 | 389 | 10514 | done | -1.05 | - | - | 2432 | - | 2.60 | 0.066 | 2800 | 542.7 | -107.1 | - | - | 3942 | - | - | - | - | - | - | - | - | 14.11 | 14.02 | 14.16 |
| 10743 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 10743 | begin apogee | ||||||||||||||||||||||||||||
| 10750 | 872.0 | -8.6 | 395 | 10885 | done | -0.23 | 1.02 | 0.230 | 2698 | 260.8 | - | - | 2534 | - | - | 133.12 | 3.095 | 3492 | -3.4 | 0.219 | - | - | - | - | - | - | 13.73 | 13.22 | 11.71 |
| 10886 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 10886 | begin climb | ||||||||||||||||||||||||||||
| 10889 | 872.8 | - | 397 | 11031 | done | 1.05 | 1.40 | 0.109 | 3115 | 297.9 | - | - | 2534 | - | 107.1 | 138.10 | 3.095 | 3065 | -3.1 | 0.201 | - | - | - | - | - | - | 13.31 | 12.40 | 10.90 |
| 11363 | 813.9 | 14.1 | 406 | 11369 | roll | 1.05 | - | - | 3115 | - | 2.58 | 0.090 | 3910 | 533.3 | 107.1 | - | - | 3056 | - | - | - | - | - | - | - | - | 14.54 | 14.16 | 14.54 |
| 11396 | 808.8 | 15.6 | 411 | 11402 | done | 1.05 | - | - | 3126 | - | 2.42 | 0.050 | 2538 | -566.9 | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 14.36 | 14.31 | 14.38 |
| 11754 | 756.7 | 14.9 | 420 | 11759 | roll | 1.05 | - | - | 3136 | - | 2.45 | 0.063 | 1156 | -564.1 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.86 | 14.40 | 14.87 |
| 11781 | 752.7 | 14.3 | 424 | 11787 | done | 1.05 | - | - | 3136 | - | 2.53 | 0.067 | 2551 | 551.4 | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.46 | 14.38 | 14.50 |
| 12145 | 696.2 | 15.3 | 434 | 12152 | roll | 1.05 | - | - | 3136 | - | 2.47 | 0.091 | 3909 | 549.8 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.90 | 14.37 | 14.92 |
| 12180 | 690.5 | 16.3 | 439 | 12186 | done | 1.05 | 0.12 | 0.282 | 3114 | -183.3 | 2.38 | 0.049 | 2545 | -573.1 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.00 | 14.51 | 14.25 |
| 12537 | 642.7 | 13.0 | 448 | 12543 | roll | 1.05 | - | - | 3114 | - | 2.55 | 0.094 | 3906 | 533.7 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.93 | 14.29 | 14.94 |
| 12579 | 636.6 | 15.0 | 454 | 12587 | done | 1.05 | - | - | 3124 | - | 2.38 | 0.048 | 2545 | -571.8 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.57 | 14.48 | 14.56 |
| 12929 | 591.2 | 12.9 | 462 | 12936 | roll | 1.05 | - | - | 3135 | - | 2.50 | 0.060 | 1149 | -558.4 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.95 | 14.33 | 14.95 |
| 12964 | 586.8 | 12.4 | 467 | 12970 | done | 1.05 | - | - | 3135 | - | 2.55 | 0.067 | 2555 | 551.4 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.43 | 14.35 | 14.49 |
| 13321 | 538.5 | 13.7 | 476 | 13327 | roll | 1.05 | - | - | 3145 | - | 2.53 | 0.061 | 1150 | -555.3 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.94 | 14.31 | 14.94 |
| 13343 | 535.6 | 13.8 | 479 | 13349 | done | 1.05 | 0.15 | 0.287 | 3113 | -213.3 | 2.53 | 0.067 | 2568 | 560.5 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.00 | 14.39 | 14.40 |
| 13715 | 486.3 | 13.3 | 490 | 13716 | done | 1.05 | - | - | 3112 | - | - | - | 2567 | - | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.92 |
| 14049 | 441.3 | 13.3 | 496 | 14050 | done | 1.05 | - | - | 3112 | - | - | - | 2567 | - | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.93 | 14.93 | 14.93 |
| 14385 | 398.3 | 12.7 | 502 | 14392 | roll | 1.05 | - | - | 3112 | - | 2.47 | 0.090 | 3913 | 544.9 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.93 | 14.28 | 14.93 |
| 14413 | 394.4 | 14.0 | 506 | 14420 | done | 1.05 | - | - | 3123 | - | 2.40 | 0.049 | 2546 | -569.6 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.51 | 14.45 | 14.53 |
| 14777 | 347.5 | 12.8 | 516 | 14778 | done | 1.05 | - | - | 3123 | - | - | - | 2546 | - | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.93 | 14.93 | 14.94 |
| 15113 | 305.3 | 12.4 | 522 | 15114 | done | 1.05 | - | - | 3123 | - | - | - | 2546 | - | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.94 | 14.94 | 14.94 |
| 15449 | 264.4 | 12.1 | 528 | 15455 | roll | 1.05 | - | - | 3123 | - | 2.58 | 0.091 | 3911 | 529.1 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.94 | 14.18 | 14.94 |
| 15477 | 260.8 | 12.9 | 532 | 15483 | done | 1.05 | - | - | 3133 | - | 2.40 | 0.049 | 2524 | -577.9 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.55 | 14.45 | 14.59 |
| 15841 | 215.6 | 12.4 | 542 | 15848 | roll | 1.05 | - | - | 3144 | - | 2.47 | 0.060 | 1155 | -554.3 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.93 | 14.23 | 14.94 |
| 15883 | 210.7 | 11.6 | 548 | 15889 | done | 1.05 | 0.10 | 0.256 | 3117 | -270.0 | 2.55 | 0.066 | 2548 | 546.3 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 13.88 | 14.25 | 14.11 |
| 16236 | 169.9 | 11.6 | 560 | 16241 | roll | 1.05 | - | - | 3117 | - | 2.53 | 0.090 | 3920 | 542.3 | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 14.83 | 14.16 | 14.83 |
| 16268 | 165.2 | 13.5 | 565 | 16274 | done | 1.05 | - | - | 3127 | - | 2.42 | 0.050 | 2543 | -569.0 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.45 | 14.41 | 14.48 |
| 16627 | 121.8 | 12.0 | 580 | 16632 | roll | 1.05 | - | - | 3127 | - | 2.55 | 0.091 | 3911 | 536.5 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.90 | 14.22 | 14.90 |
| 16667 | 116.1 | 13.9 | 586 | 16674 | done | 1.05 | - | - | 3138 | - | 2.40 | 0.050 | 2546 | -568.8 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.42 | 14.36 | 14.45 |
| 17020 | 74.1 | 11.8 | 600 | 17025 | roll | 1.05 | - | - | 3142 | - | 2.47 | 0.060 | 1153 | -564.0 | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 14.82 | 14.27 | 14.82 |
| 17066 | 68.4 | 11.5 | 607 | 17074 | done | 1.05 | 0.12 | 0.254 | 3114 | -233.3 | 2.58 | 0.066 | 2557 | 544.2 | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 13.75 | 14.14 | 14.00 |
| 17409 | 31.3 | 10.4 | 620 | 17415 | roll | 1.05 | - | - | 3114 | - | 2.55 | 0.090 | 3913 | 531.8 | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 14.92 | 14.14 | 14.92 |
| 17493 | 20.8 | 12.8 | 632 | 17499 | done | 1.05 | - | - | 3124 | - | 2.42 | 0.049 | 2538 | -568.2 | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 14.43 | 14.38 | 14.45 |
| 17686 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 17686 | begin surface coast | ||||||||||||||||||||||||||||
| 17717 | end surface coast: FINISH_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 17717 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.67 | - | - | - | - | -8.04 | 8.85 | 0.082 | 182 | 20.6 | 0.52 | 0.088 | 2816 | 3434.6 | 300.18 | 146.50 | 0.219 | 2295 | 15.7 | -0.005 | - | - | - | - | - | - | |||