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| • Previous call tries 2 | • 209.02 of 350.00 AH used of 24V (40.28% remains) | |
| • Previous NAKs 0, Timeouts 0 | ||
| • Surface angle -63.0 deg, depth 0.51 m | • Intended pitch -20.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 399.91 (SM_CC=399.91037) | • surface range 9.3 m at 9.0 m depth, ceiling -0.3 m (m = 1.03, R^2 = 1.00) | |
| • GPS1 time: 35 s | • bottom range 10.5 m at 975.1 m, depth 986 m (990 m grid)(m = -0.92, 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 | ||||||||||||||||||||||||||||
| 12 | - | - | - | 144 | done | -1.05 | - | - | 192 | - | - | - | 2810 | - | -107.1 | -125.80 | 0.003 | 3921 | - | - | - | - | - | - | - | - | 14.78 | 13.00 | 14.77 |
| 148 | 2.9 | -4.3 | 13 | 164 | roll | -1.05 | 11.15 | 0.420 | 2425 | 200.3 | 1.98 | 0.070 | 3934 | 567.7 | -107.1 | - | - | 3931 | - | - | - | - | - | - | - | - | 13.87 | 14.40 | 14.38 |
| 366 | 32.4 | -12.0 | 55 | 371 | done | -1.05 | - | - | 2424 | - | 1.92 | 0.044 | 2785 | -598.4 | -107.1 | - | - | 3937 | - | - | - | - | - | - | - | - | 14.59 | 14.53 | 14.62 |
| 677 | 64.6 | -10.3 | 87 | 677 | done | -1.05 | - | - | 2424 | - | - | - | 2785 | - | -107.1 | - | - | 3939 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 977 | 94.2 | -9.7 | 117 | 977 | done | -1.05 | - | - | 2424 | - | - | - | 2785 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 1278 | 122.8 | -9.6 | 147 | 1279 | done | -1.05 | - | - | 2424 | - | - | - | 2785 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.78 | 14.81 | 14.78 |
| 1577 | 152.0 | -9.8 | 177 | 1582 | roll | -1.05 | - | - | 2424 | - | 2.05 | 0.086 | 3902 | 544.9 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.90 | 14.19 | 14.90 |
| 1619 | 156.3 | -10.7 | 185 | 1625 | done | -1.05 | - | - | 2424 | - | 1.88 | 0.046 | 2795 | -588.8 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.52 | 14.45 | 14.55 |
| 1930 | 187.1 | -9.7 | 217 | 1931 | done | -1.05 | - | - | 2424 | - | - | - | 2795 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.85 | 14.85 | 14.85 |
| 2231 | 215.8 | -10.3 | 247 | 2232 | done | -1.05 | - | - | 2424 | - | - | - | 2795 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.76 | 14.76 | 14.76 |
| 2530 | 246.1 | -9.7 | 277 | 2531 | done | -1.05 | - | - | 2424 | - | - | - | 2796 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.85 | 14.85 | 14.85 |
| 2830 | 275.6 | -9.6 | 307 | 2831 | done | -1.05 | - | - | 2423 | - | - | - | 2795 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.88 | 14.88 | 14.88 |
| 3140 | 304.2 | -9.3 | 336 | 3145 | roll | -1.05 | - | - | 2423 | - | 2.08 | 0.087 | 3910 | 536.1 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.85 | 14.12 | 14.85 |
| 3176 | 307.8 | -10.2 | 343 | 3182 | done | -1.05 | - | - | 2423 | - | 1.90 | 0.045 | 2794 | -587.4 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.48 | 14.41 | 14.51 |
| 3484 | 336.3 | -9.4 | 359 | 3485 | done | -1.05 | - | - | 2424 | - | - | - | 2794 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.88 | 14.89 | 14.89 |
| 3782 | 363.1 | -8.6 | 374 | 3783 | done | -1.05 | - | - | 2424 | - | - | - | 2794 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.73 | 14.75 | 14.76 |
| 4081 | 390.0 | -9.2 | 389 | 4082 | done | -1.05 | - | - | 2424 | - | - | - | 2794 | - | -107.1 | - | - | 3942 | - | - | - | - | - | - | - | - | 14.91 | 14.91 | 14.91 |
| 4381 | 418.4 | -9.5 | 404 | 4382 | done | -1.05 | - | - | 2424 | - | - | - | 2794 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.91 | 14.90 | 14.91 |
| 4681 | 447.0 | -9.5 | 419 | 4686 | roll | -1.05 | - | - | 2424 | - | 2.05 | 0.087 | 3902 | 540.5 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.91 | 14.09 | 14.91 |
| 4717 | 450.6 | -10.0 | 426 | 4723 | done | -1.05 | - | - | 2424 | - | 1.90 | 0.047 | 2791 | -584.7 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.45 | 14.38 | 14.47 |
| 5025 | 478.7 | -9.0 | 442 | 5026 | done | -1.05 | - | - | 2424 | - | - | - | 2792 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.87 | 14.87 | 14.87 |
| 5322 | 505.8 | -8.9 | 456 | 5323 | done | -1.05 | - | - | 2424 | - | - | - | 2792 | - | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.90 | 14.89 | 14.90 |
| 5682 | 536.5 | -8.1 | 468 | 5683 | done | -1.05 | - | - | 2423 | - | - | - | 2791 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.89 | 14.89 | 14.89 |
| 6042 | 566.0 | -8.3 | 480 | 6043 | done | -1.05 | - | - | 2424 | - | - | - | 2792 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.89 |
| 6402 | 596.0 | -8.1 | 492 | 6407 | roll | -1.05 | - | - | 2424 | - | 2.08 | 0.086 | 3910 | 537.5 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.90 | 14.07 | 14.90 |
| 6458 | 600.7 | -8.4 | 503 | 6464 | done | -1.05 | - | - | 2424 | - | 1.92 | 0.044 | 2791 | -582.8 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.42 | 14.34 | 14.44 |
| 6826 | 629.8 | -8.0 | 516 | 6831 | roll | -1.05 | - | - | 2424 | - | 2.45 | 0.045 | 1389 | -572.2 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.73 | 14.21 | 14.73 |
| 6862 | 633.0 | -8.2 | 523 | 6867 | done | -1.05 | - | - | 2423 | - | 2.55 | 0.063 | 2799 | 552.9 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.31 | 14.16 | 14.35 |
| 7250 | 662.5 | -7.4 | 540 | 7251 | done | -1.05 | - | - | 2423 | - | - | - | 2799 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.86 | 14.86 | 14.86 |
| 7608 | 688.4 | -7.1 | 552 | 7609 | done | -1.05 | - | - | 2423 | - | - | - | 2799 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.88 | 14.88 | 14.88 |
| 7968 | 714.3 | -7.3 | 564 | 7968 | done | -1.05 | - | - | 2423 | - | - | - | 2799 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.88 | 14.88 | 14.88 |
| 8328 | 740.8 | -7.2 | 576 | 8333 | roll | -1.05 | - | - | 2421 | - | 2.05 | 0.086 | 3910 | 542.0 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.88 | 13.97 | 14.88 |
| 8353 | 742.8 | -8.1 | 581 | 8360 | done | -1.05 | - | - | 2421 | - | 1.92 | 0.046 | 2786 | -585.4 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.42 | 14.35 | 14.45 |
| 8722 | 770.0 | -7.5 | 594 | 8727 | roll | -1.05 | - | - | 2421 | - | 2.42 | 0.045 | 1398 | -573.6 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.73 | 14.21 | 14.73 |
| 8768 | 773.6 | -5.9 | 603 | 8773 | done | -1.05 | - | - | 2420 | - | 2.58 | 0.064 | 2813 | 548.4 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.28 | 14.13 | 14.33 |
| 9146 | 802.2 | -7.4 | 618 | 9152 | roll | -1.05 | - | - | 2418 | - | 2.05 | 0.087 | 3916 | 538.0 | -107.1 | - | - | 3938 | - | - | - | - | - | - | - | - | 14.86 | 14.02 | 14.86 |
| 9197 | 806.4 | -8.2 | 628 | 9202 | done | -1.05 | - | - | 2419 | - | 1.92 | 0.047 | 2796 | -583.3 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.41 | 14.34 | 14.44 |
| 9571 | 834.2 | -7.4 | 642 | 9576 | roll | -1.05 | - | - | 2419 | - | 2.47 | 0.046 | 1385 | -571.3 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.85 | 14.19 | 14.83 |
| 9617 | 837.6 | -7.5 | 651 | 9623 | done | -1.05 | - | - | 2417 | - | 2.58 | 0.064 | 2809 | 551.9 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.08 | 14.03 | 14.11 |
| 9995 | 866.0 | -7.3 | 666 | 10000 | roll | -1.05 | - | - | 2417 | - | 2.50 | 0.046 | 1391 | -567.2 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.69 | 14.18 | 14.69 |
| 10036 | 868.3 | -7.2 | 674 | 10040 | done | -1.05 | - | - | 2413 | - | 2.58 | 0.064 | 2805 | 548.1 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.23 | 14.12 | 14.31 |
| 10417 | 896.2 | -7.2 | 690 | 10417 | done | -1.05 | - | - | 2414 | - | - | - | 2806 | - | -107.1 | - | - | 3937 | - | - | - | - | - | - | - | - | 14.87 | 14.88 | 14.88 |
| 10779 | 921.5 | -7.0 | 702 | 10780 | done | -1.05 | - | - | 2414 | - | - | - | 2806 | - | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.88 | 14.88 | 14.88 |
| 11136 | 946.9 | -7.1 | 714 | 11141 | roll | -1.05 | - | - | 2414 | - | 2.50 | 0.045 | 1391 | -566.0 | -107.1 | - | - | 3941 | - | - | - | - | - | - | - | - | 14.91 | 14.21 | 14.91 |
| 11187 | 950.6 | -7.3 | 724 | 11192 | done | -1.05 | - | - | 2413 | - | 2.58 | 0.065 | 2804 | 547.7 | -107.1 | - | - | 3940 | - | - | - | - | - | - | - | - | 14.26 | 14.10 | 14.31 |
| 11555 | end dive: BOTTOM_OBSTACLE_DETECTED | ||||||||||||||||||||||||||||
| 11555 | begin apogee | ||||||||||||||||||||||||||||
| 11563 | 977.1 | -7.1 | 738 | 11699 | done | -0.23 | 1.10 | 0.219 | 2701 | 261.8 | - | - | 2535 | - | - | 133.18 | 3.096 | 3491 | -3.4 | 0.245 | - | - | - | - | - | - | 13.71 | 13.18 | 11.76 |
| 11700 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 11700 | begin climb | ||||||||||||||||||||||||||||
| 11703 | 978.8 | - | 742 | 11846 | done | 1.05 | 1.38 | 0.113 | 3111 | 297.1 | - | - | 2536 | - | 107.1 | 139.95 | 3.097 | 3065 | -3.0 | 0.222 | - | - | - | - | - | - | 13.22 | 12.29 | 10.89 |
| 12188 | 912.7 | 15.0 | 764 | 12193 | roll | 1.05 | - | - | 3111 | - | 2.55 | 0.088 | 3909 | 538.4 | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 14.62 | 14.23 | 14.62 |
| 12240 | 904.0 | 16.7 | 774 | 12245 | done | 1.05 | - | - | 3122 | - | 2.35 | 0.049 | 2548 | -579.1 | 107.1 | - | - | 3055 | - | - | - | - | - | - | - | - | 14.52 | 14.46 | 14.54 |
| 12611 | 846.4 | 15.7 | 788 | 12612 | done | 1.05 | - | - | 3121 | - | - | - | 2548 | - | 107.1 | - | - | 3053 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 12973 | 791.4 | 15.3 | 800 | 12974 | done | 1.05 | - | - | 3121 | - | - | - | 2548 | - | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 13333 | 736.6 | 15.3 | 812 | 13334 | done | 1.05 | - | - | 3121 | - | - | - | 2548 | - | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 13693 | 683.2 | 14.6 | 824 | 13698 | roll | 1.05 | - | - | 3122 | - | 2.53 | 0.092 | 3919 | 541.9 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.90 | 14.35 | 14.90 |
| 13719 | 678.9 | 16.0 | 829 | 13726 | done | 1.05 | - | - | 3132 | - | 2.35 | 0.047 | 2536 | -588.5 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.64 | 14.57 | 14.66 |
| 14086 | 626.6 | 13.9 | 842 | 14087 | done | 1.05 | - | - | 3132 | - | - | - | 2536 | - | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.91 | 14.91 | 14.91 |
| 14446 | 576.5 | 14.0 | 854 | 14447 | done | 1.05 | - | - | 3132 | - | - | - | 2536 | - | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.91 |
| 14806 | 525.1 | 14.4 | 866 | 14811 | roll | 1.05 | - | - | 3132 | - | 2.55 | 0.090 | 3917 | 541.6 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.90 | 14.26 | 14.90 |
| 14857 | 516.2 | 17.1 | 876 | 14862 | done | 1.05 | - | - | 3143 | - | 2.35 | 0.047 | 2542 | -585.1 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.60 | 14.54 | 14.64 |
| 15228 | 460.2 | 15.0 | 894 | 15234 | roll | 1.05 | - | - | 3152 | - | 2.47 | 0.060 | 1151 | -563.2 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.92 | 14.33 | 14.92 |
| 15255 | 456.2 | 14.9 | 899 | 15260 | done | 1.05 | 0.17 | 0.282 | 3112 | -235.3 | 2.50 | 0.063 | 2558 | 562.8 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 13.95 | 14.38 | 14.35 |
| 15571 | 413.2 | 13.3 | 917 | 15572 | done | 1.05 | - | - | 3113 | - | - | - | 2557 | - | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.92 | 14.92 | 14.93 |
| 15874 | 375.2 | 12.5 | 932 | 15879 | roll | 1.05 | - | - | 3112 | - | 2.47 | 0.087 | 3912 | 548.6 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.90 | 14.26 | 14.90 |
| 15909 | 369.9 | 14.3 | 939 | 15916 | done | 1.05 | - | - | 3123 | - | 2.35 | 0.047 | 2535 | -586.0 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.59 | 14.52 | 14.62 |
| 16215 | 329.5 | 13.2 | 955 | 16220 | roll | 1.05 | - | - | 3133 | - | 2.45 | 0.059 | 1154 | -563.7 | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.93 | 14.31 | 14.93 |
| 16245 | 325.4 | 13.0 | 961 | 16251 | done | 1.05 | - | - | 3133 | - | 2.50 | 0.063 | 2558 | 561.6 | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.49 | 14.35 | 14.54 |
| 16557 | 283.4 | 12.8 | 984 | 16558 | done | 1.05 | - | - | 3134 | - | - | - | 2558 | - | 107.1 | - | - | 3052 | - | - | - | - | - | - | - | - | 14.91 | 14.90 | 14.91 |
| 16857 | 244.0 | 12.9 | 1014 | 16858 | done | 1.05 | - | - | 3134 | - | - | - | 2558 | - | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 17157 | 205.1 | 12.5 | 1044 | 17158 | done | 1.05 | - | - | 3133 | - | - | - | 2558 | - | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.93 |
| 17457 | 169.0 | 11.9 | 1074 | 17458 | done | 1.05 | - | - | 3134 | - | - | - | 2558 | - | 107.1 | - | - | 3051 | - | - | - | - | - | - | - | - | 14.90 | 14.90 | 14.90 |
| 17757 | 132.7 | 12.0 | 1104 | 17762 | roll | 1.05 | - | - | 3144 | - | 2.50 | 0.057 | 1160 | -559.2 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.90 | 14.28 | 14.90 |
| 17798 | 128.0 | 11.6 | 1112 | 17803 | done | 1.05 | 0.15 | 0.282 | 3111 | -220.0 | 2.53 | 0.063 | 2565 | 555.3 | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 13.90 | 14.32 | 14.31 |
| 18109 | 93.4 | 11.1 | 1144 | 18114 | roll | 1.05 | - | - | 3111 | - | 2.50 | 0.089 | 3917 | 540.8 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.88 | 14.21 | 14.87 |
| 18165 | 86.3 | 13.2 | 1155 | 18171 | done | 1.05 | - | - | 3122 | - | 2.35 | 0.047 | 2547 | -583.0 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.55 | 14.48 | 14.58 |
| 18470 | 50.2 | 11.8 | 1186 | 18475 | roll | 1.05 | - | - | 3132 | - | 2.47 | 0.059 | 1158 | -562.3 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.93 | 14.26 | 14.93 |
| 18545 | 42.1 | 11.2 | 1200 | 18550 | done | 1.05 | - | - | 3132 | - | 2.53 | 0.063 | 2558 | 553.4 | 107.1 | - | - | 3049 | - | - | - | - | - | - | - | - | 14.44 | 14.29 | 14.50 |
| 18856 | 6.7 | 11.3 | 1232 | 18862 | roll | 1.05 | - | - | 3132 | - | 2.53 | 0.090 | 3913 | 535.6 | 107.1 | - | - | 3050 | - | - | - | - | - | - | - | - | 14.90 | 14.20 | 14.90 |
| 18895 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 18895 | begin surface coast | ||||||||||||||||||||||||||||
| 18907 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 18907 | begin surface | ||||||||||||||||||||||||||||
| SM | 0.44 | - | - | - | - | -8.03 | 8.75 | 0.073 | 193 | 22.1 | 1.95 | 0.047 | 2799 | 1302.1 | 399.91 | 210.43 | 0.220 | 1898 | 9.0 | -0.002 | - | - | - | - | - | - | |||