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| • Previous call tries 2 | • 307.30 of 575.00 AH used of 24V (46.56% remains) | |
| • Surface angle -58.7 deg, depth -1.55 m | • Intended pitch -27.4 deg, speed -11.111 cm/s | |
| • VBD pumped to 474.64 (SM_CC=475) | ||
| • GPS1 time: 26 s | ||
| • GPS2 time: 3 s | • Transponder ping count: 10 | |
| • 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 | |||||
| 5 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5 | begin dive | ||||||||||||||||||||||||||||
| 8.42 | - | - | - | 95.40 | VBD | -1.59 | - | - | 169.00 | - | - | - | 2117.31 | - | -74.38 | 86.55 | 0.005 | 2560.97 | - | - | - | - | - | - | - | - | - | - | 14.72 |
| 95.68 | 3.89 | -8.35 | 9 | 127.72 | -1.67 | 14.10 | 0.249 | 1733.25 | 110.9 | 3.64 | 0.114 | 3475.00 | 373.0 | -101.92 | 7.80 | 0.007 | 2915.06 | 45.4 | -4.547 | - | - | - | - | - | - | 14.88 | 14.66 | 14.87 | |
| 176.02 | 23.06 | -21.05 | 25 | 180.54 | roll | -1.67 | - | - | 1733.94 | - | 3.38 | 0.057 | 2082.56 | -412.0 | -101.92 | - | - | 2915.84 | - | - | - | - | - | - | - | - | - | 15.35 | - |
| 245.95 | 36.81 | -19.28 | 33 | 247.28 | no move | -1.67 | - | - | 1733.50 | - | - | - | 2081.69 | - | -101.92 | - | - | 2915.00 | - | - | - | - | - | - | - | - | - | - | - |
| 305.97 | 48.41 | -19.13 | 39 | 311.61 | roll | -1.67 | - | - | 1733.50 | - | 3.68 | 0.106 | 3475.44 | 378.7 | -101.92 | - | - | 2914.47 | - | - | - | - | - | - | - | - | - | 15.18 | - |
| 344.87 | 55.30 | -17.47 | 47 | 351.65 | roll | -1.67 | - | - | 1733.12 | - | 3.35 | 0.053 | 2080.25 | -416.5 | -101.92 | - | - | 2916.25 | - | - | - | - | - | - | - | - | - | 15.32 | - |
| 411.02 | 64.56 | -14.12 | 54 | 416.66 | roll | -1.67 | - | - | 1734.06 | - | 3.99 | 0.147 | 662.00 | -355.5 | -101.92 | - | - | 2913.91 | - | - | - | - | - | - | - | - | - | 15.02 | - |
| 509.89 | 80.68 | -16.12 | 74 | 516.69 | roll | -1.67 | - | - | 1733.38 | - | 3.47 | 0.049 | 2123.00 | 421.0 | -101.92 | - | - | 2915.19 | - | - | - | - | - | - | - | - | - | 15.39 | - |
| 576.09 | 88.82 | -12.60 | 81 | 581.62 | roll | -1.67 | - | - | 1732.56 | - | 3.53 | 0.106 | 3475.00 | 383.0 | -101.92 | - | - | 2915.41 | - | - | - | - | - | - | - | - | - | 15.17 | - |
| 651.45 | 97.82 | -11.90 | 96 | 656.60 | roll | -1.67 | - | - | 1733.88 | - | 3.33 | 0.052 | 2080.06 | -418.9 | -101.92 | - | - | 2913.16 | - | - | - | - | - | - | - | - | - | 15.36 | - |
| 716.05 | 104.50 | -9.79 | 103 | 721.71 | roll | -1.67 | - | - | 1733.88 | - | 3.97 | 0.145 | 659.50 | -357.8 | -101.92 | - | - | 2913.59 | - | - | - | - | - | - | - | - | - | 15.00 | - |
| 791.45 | 113.98 | -13.42 | 118 | 796.64 | roll | -1.67 | - | - | 1733.38 | - | 3.48 | 0.049 | 2124.44 | 421.0 | -101.92 | - | - | 2914.53 | - | - | - | - | - | - | - | - | - | 15.43 | - |
| 856.07 | 121.48 | -11.07 | 125 | 857.40 | no move | -1.67 | - | - | 1733.12 | - | - | - | 2124.25 | - | -101.92 | - | - | 2913.59 | - | - | - | - | - | - | - | - | - | - | - |
| 916.02 | 128.24 | -11.12 | 131 | 920.64 | roll | -1.67 | - | - | 1733.31 | - | 3.55 | 0.106 | 3476.38 | 380.9 | -101.92 | - | - | 2915.50 | - | - | - | - | - | - | - | - | - | 15.15 | - |
| 969.94 | 135.27 | -12.60 | 142 | 976.73 | roll | -1.67 | - | - | 1733.75 | - | 3.35 | 0.053 | 2079.94 | -416.8 | -101.92 | - | - | 2915.53 | - | - | - | - | - | - | - | - | - | 15.33 | - |
| 1036.08 | 142.74 | -11.31 | 149 | 1037.41 | no move | -1.67 | - | - | 1733.62 | - | - | - | 2080.12 | - | -101.92 | - | - | 2915.81 | - | - | - | - | - | - | - | - | - | - | - |
| 1096.04 | 149.94 | -11.49 | 155 | 1097.37 | no move | -1.67 | - | - | 1733.56 | - | - | - | 2079.81 | - | -101.92 | - | - | 2915.34 | - | - | - | - | - | - | - | - | - | - | - |
| 1156.06 | 156.84 | -11.77 | 161 | 1161.76 | roll | -1.67 | - | - | 1733.25 | - | 4.01 | 0.147 | 662.56 | -353.4 | -101.92 | - | - | 2914.50 | - | - | - | - | - | - | - | - | - | 14.96 | - |
| 1181.48 | 159.80 | -12.68 | 166 | 1186.67 | roll | -1.67 | - | - | 1733.56 | - | 3.47 | 0.048 | 2122.62 | 420.8 | -101.92 | - | - | 2913.72 | - | - | - | - | - | - | - | - | - | 15.43 | - |
| 1306.06 | 173.71 | -10.28 | 179 | 1311.68 | roll | -1.67 | - | - | 1732.94 | - | 3.58 | 0.106 | 3474.06 | 377.5 | -101.92 | - | - | 2915.62 | - | - | - | - | - | - | - | - | - | 15.14 | - |
| 1384.97 | 182.94 | -11.03 | 195 | 1391.76 | roll | -1.67 | - | - | 1734.25 | - | 3.37 | 0.053 | 2081.44 | -413.2 | -101.92 | - | - | 2915.44 | - | - | - | - | - | - | - | - | - | 15.32 | - |
| 1511.08 | 196.31 | -10.04 | 208 | 1516.74 | roll | -1.67 | - | - | 1733.25 | - | 3.70 | 0.104 | 3475.81 | 376.9 | -101.92 | - | - | 2914.91 | - | - | - | - | - | - | - | - | - | 15.13 | - |
| 1539.98 | 199.84 | -10.84 | 214 | 1546.77 | roll | -1.67 | - | - | 1733.69 | - | 3.36 | 0.053 | 2080.94 | -415.1 | -101.92 | - | - | 2914.69 | - | - | - | - | - | - | - | - | - | 15.31 | - |
| 1666.09 | 212.86 | -10.68 | 227 | 1671.73 | roll | -1.67 | - | - | 1733.38 | - | 3.69 | 0.104 | 3475.81 | 378.0 | -101.92 | - | - | 2916.16 | - | - | - | - | - | - | - | - | - | 15.12 | - |
| 1721.54 | 218.96 | -11.95 | 238 | 1726.69 | roll | -1.67 | - | - | 1733.56 | - | 3.38 | 0.054 | 2079.75 | -413.0 | -101.92 | - | - | 2914.12 | - | - | - | - | - | - | - | - | - | 15.31 | - |
| 1846.11 | 232.43 | -10.01 | 251 | 1851.81 | roll | -1.67 | - | - | 1732.88 | - | 3.97 | 0.148 | 661.00 | -357.4 | -101.92 | - | - | 2915.25 | - | - | - | - | - | - | - | - | - | 14.94 | - |
| 1871.54 | 236.10 | -10.57 | 256 | 1876.72 | roll | -1.67 | - | - | 1732.56 | - | 3.46 | 0.048 | 2122.69 | 422.5 | -101.92 | - | - | 2915.81 | - | - | - | - | - | - | - | - | - | 15.41 | - |
| 1996.12 | 249.59 | -10.30 | 269 | 1997.44 | no move | -1.67 | - | - | 1733.62 | - | - | - | 2122.81 | - | -101.92 | - | - | 2915.72 | - | - | - | - | - | - | - | - | - | - | - |
| 2126.12 | 262.91 | -10.12 | 274 | 2131.74 | roll | -1.67 | - | - | 1733.00 | - | 3.58 | 0.109 | 3476.75 | 378.2 | -101.92 | - | - | 2915.34 | - | - | - | - | - | - | - | - | - | 15.09 | - |
| 2235.08 | 275.57 | -11.14 | 296 | 2241.85 | roll | -1.67 | - | - | 1733.56 | - | 3.43 | 0.054 | 2081.19 | -406.9 | -101.92 | - | - | 2916.78 | - | - | - | - | - | - | - | - | - | 15.29 | - |
| 2541.16 | 305.70 | -9.63 | 307 | 2542.49 | no move | -1.67 | - | - | 1733.50 | - | - | - | 2080.75 | - | -101.92 | - | - | 2913.88 | - | - | - | - | - | - | - | - | - | - | - |
| 2841.17 | 333.32 | -9.46 | 317 | 2846.83 | roll | -1.67 | - | - | 1733.94 | - | 3.78 | 0.111 | 3475.88 | 369.1 | -101.92 | - | - | 2913.53 | - | - | - | - | - | - | - | - | - | 15.04 | - |
| 2870.08 | 336.36 | -9.32 | 323 | 2875.78 | roll | -1.67 | - | - | 1733.31 | - | 3.40 | 0.055 | 2082.62 | -409.8 | -101.92 | - | - | 2915.72 | - | - | - | - | - | - | - | - | - | 15.26 | - |
| 3196.20 | 372.86 | -11.87 | 338 | 3201.86 | roll | -1.67 | - | - | 1732.94 | - | 3.76 | 0.111 | 3474.19 | 370.1 | -101.92 | - | - | 2913.38 | - | - | - | - | - | - | - | - | - | 15.02 | - |
| 3311.67 | 387.87 | -13.41 | 361 | 3316.84 | roll | -1.67 | - | - | 1732.75 | - | 3.40 | 0.058 | 2080.81 | -409.8 | -101.92 | - | - | 2915.66 | - | - | - | - | - | - | - | - | - | 15.25 | - |
| 3636.25 | 431.22 | -13.51 | 376 | 3641.89 | roll | -1.67 | - | - | 1733.38 | - | 3.78 | 0.112 | 3475.06 | 368.8 | -101.92 | - | - | 2913.53 | - | - | - | - | - | - | - | - | - | 15.01 | - |
| 3710.20 | 442.08 | -15.22 | 391 | 3715.85 | roll | -1.67 | - | - | 1733.38 | - | 3.41 | 0.057 | 2082.50 | -408.4 | -101.92 | - | - | 2915.62 | - | - | - | - | - | - | - | - | - | 15.23 | - |
| 4021.26 | 480.57 | -11.45 | 403 | 4026.91 | roll | -1.67 | - | - | 1733.50 | - | 3.78 | 0.112 | 3475.56 | 368.5 | -101.92 | - | - | 2915.19 | - | - | - | - | - | - | - | - | - | 14.99 | - |
| 4046.75 | 483.24 | -11.24 | 408 | 4051.86 | roll | -1.67 | - | - | 1733.06 | - | 3.40 | 0.058 | 2082.62 | -409.7 | -101.92 | - | - | 2915.72 | - | - | - | - | - | - | - | - | - | 15.23 | - |
| 4251 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 4251 | begin apogee | ||||||||||||||||||||||||||||
| 4252.40 | 502.13 | -9.20 | 419 | 4343.57 | -0.25 | 2.80 | 0.150 | 2079.94 | 123.9 | 0.09 | 0.228 | 2084.62 | - | - | 85.76 | 1.636 | 2498.12 | -4.9 | 0.269 | - | - | - | - | - | - | 14.97 | 14.86 | 10.80 | |
| 4346 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 4346 | begin climb | ||||||||||||||||||||||||||||
| 4346.72 | 502.86 | - | 422 | 4444.72 | 1.67 | 3.40 | 0.078 | 2549.19 | 138.0 | - | - | 2084.06 | - | 101.92 | 93.04 | 1.575 | 2083.19 | -4.5 | 0.257 | - | - | - | - | - | - | 15.14 | - | 11.34 | |
| 4758.01 | 461.97 | 10.56 | 445 | 4763.64 | done | 1.69 | - | - | 2550.31 | - | 4.00 | 0.138 | 660.69 | -355.8 | 101.92 | - | - | 2070.50 | - | - | - | - | - | - | - | - | - | 15.20 | - |
| 4886.86 | 444.92 | 13.20 | 471 | 4892.57 | done | 1.69 | - | - | 2550.38 | - | 3.48 | 0.046 | 2127.38 | 421.5 | 101.92 | - | - | 2069.88 | - | - | - | - | - | - | - | - | - | 15.48 | - |
| 5202.99 | 414.08 | 8.59 | 484 | 5234.63 | done | 1.77 | - | - | 2549.81 | - | 4.07 | 0.135 | 660.88 | -360.3 | 126.98 | 22.15 | 1.438 | 1981.12 | -4.0 | 0.208 | - | - | - | - | - | - | - | 15.19 | 11.49 |
| 5301.90 | 403.60 | 9.83 | 504 | 5307.64 | roll back | 1.80 | 0.17 | 0.076 | 2592.56 | 251.5 | 3.47 | 0.046 | 2126.25 | 422.3 | 126.98 | - | - | 1977.97 | - | - | - | - | - | - | - | - | 15.34 | 15.53 | - |
| 5623.05 | 373.58 | 9.09 | 518 | 5648.14 | done | 1.86 | - | - | 2593.56 | - | 4.05 | 0.134 | 659.62 | -362.1 | 147.15 | 19.71 | 1.391 | 1899.06 | -4.0 | 0.194 | - | - | - | - | - | - | - | 15.19 | 11.69 |
| 5701.97 | 364.69 | 10.30 | 534 | 5707.59 | roll | 1.89 | - | - | 2593.62 | - | 3.48 | 0.045 | 2125.50 | 421.2 | 147.15 | - | - | 1896.69 | - | - | - | - | - | - | - | - | - | 15.51 | - |
| 6013.02 | 331.90 | 10.43 | 546 | 6018.70 | roll | 1.91 | - | - | 2592.25 | - | 4.09 | 0.132 | 661.69 | -357.9 | 147.15 | - | - | 1893.81 | - | - | - | - | - | - | - | - | - | 15.20 | - |
| 6218.47 | 305.03 | 15.00 | 587 | 6223.65 | roll | 1.91 | - | - | 2593.69 | - | 3.49 | 0.046 | 2126.69 | 419.8 | 147.15 | - | - | 1892.91 | - | - | - | - | - | - | - | - | - | 15.51 | - |
| 6543.09 | 266.50 | 11.43 | 602 | 6548.69 | done | 1.91 | - | - | 2593.31 | - | 3.63 | 0.113 | 3474.31 | 371.2 | 147.15 | - | - | 1889.72 | - | - | - | - | - | - | - | - | - | 15.17 | - |
| 6586.95 | 260.66 | 11.62 | 611 | 6592.63 | done | 1.91 | - | - | 2593.62 | - | 3.38 | 0.053 | 2077.38 | -413.3 | 147.15 | - | - | 1890.84 | - | - | - | - | - | - | - | - | - | 15.39 | - |
| 6898.07 | 227.82 | 10.24 | 637 | 6903.76 | done | 1.94 | - | - | 2593.44 | - | 3.95 | 0.132 | 661.69 | -358.4 | 147.15 | - | - | 1890.06 | - | - | - | - | - | - | - | - | - | 15.04 | - |
| 7036.99 | 210.18 | 12.15 | 665 | 7043.80 | done | 1.94 | - | - | 2593.31 | - | 3.48 | 0.046 | 2129.38 | 421.8 | 147.15 | - | - | 1891.19 | - | - | - | - | - | - | - | - | - | 15.44 | - |
| 7163.12 | 197.03 | 10.09 | 678 | 7168.80 | done | 1.97 | - | - | 2593.00 | - | 4.08 | 0.128 | 660.62 | -360.0 | 147.15 | - | - | 1891.06 | - | - | - | - | - | - | - | - | - | 15.05 | - |
| 7262.02 | 185.94 | 11.02 | 698 | 7268.82 | done | 1.97 | - | - | 2594.12 | - | 3.47 | 0.045 | 2130.25 | 423.5 | 147.15 | - | - | 1890.62 | - | - | - | - | - | - | - | - | - | 15.46 | - |
| 7388.14 | 174.18 | 9.28 | 711 | 7393.82 | 2.02 | 0.23 | 0.069 | 2640.62 | 202.2 | 3.57 | 0.111 | 3476.62 | 377.1 | 147.15 | - | - | 1889.38 | - | - | - | - | - | - | - | - | 15.63 | 15.11 | - | |
| 7433.58 | 169.16 | 10.51 | 720 | 7438.71 | done | 2.04 | - | - | 2640.12 | - | 3.39 | 0.051 | 2075.62 | -413.3 | 147.15 | - | - | 1888.84 | - | - | - | - | - | - | - | - | - | 15.37 | - |
| 7558.17 | 156.67 | 10.15 | 733 | 7563.81 | done | 2.07 | - | - | 2640.00 | - | 3.72 | 0.109 | 3473.44 | 375.8 | 147.15 | - | - | 1889.00 | - | - | - | - | - | - | - | - | - | 15.07 | - |
| 7597.05 | 152.25 | 11.48 | 741 | 7603.85 | done | 2.07 | - | - | 2640.50 | - | 3.38 | 0.051 | 2074.94 | -413.8 | 147.15 | - | - | 1890.41 | - | - | - | - | - | - | - | - | - | 15.34 | - |
| 7723.18 | 139.95 | 8.84 | 754 | 7754.89 | done | 2.14 | - | - | 2639.12 | - | 3.84 | 0.129 | 660.75 | -368.3 | 169.77 | 23.57 | 1.187 | 1807.22 | -3.5 | 0.075 | - | - | - | - | - | - | - | 15.21 | 11.38 |
| 7877.11 | 121.16 | 13.70 | 785 | 7883.90 | roll | 2.14 | - | - | 2640.06 | - | 3.45 | 0.043 | 2127.62 | 425.2 | 169.77 | - | - | 1804.59 | - | - | - | - | - | - | - | - | - | 15.52 | - |
| 7943.21 | 114.54 | 9.90 | 792 | 7944.65 | pitch | 2.17 | 0.17 | 0.082 | 2677.69 | 221.4 | - | - | 2128.25 | - | 169.77 | - | - | 1802.81 | - | - | - | - | - | - | - | - | 15.59 | - | - |
| 8003.27 | 109.33 | 8.66 | 798 | 8038.60 | done | 2.24 | - | - | 2677.25 | - | 3.96 | 0.124 | 660.69 | -370.6 | 194.13 | 29.01 | 1.140 | 1708.12 | -3.3 | 0.056 | - | - | - | - | - | - | - | 15.14 | 11.66 |
| 8167.20 | 88.25 | 15.30 | 831 | 8173.95 | roll | 2.24 | - | - | 2677.50 | - | 3.47 | 0.044 | 2128.38 | 423.0 | 194.13 | - | - | 1706.59 | - | - | - | - | - | - | - | - | - | 15.50 | - |
| 8233.24 | 79.87 | 12.74 | 838 | 8237.87 | roll | 2.24 | - | - | 2677.81 | - | 3.56 | 0.109 | 3475.75 | 378.5 | 194.13 | - | - | 1704.88 | - | - | - | - | - | - | - | - | - | 15.26 | - |
| 8463.35 | 58.41 | 7.15 | 884 | 8515.00 | 2.36 | 0.23 | 0.071 | 2719.69 | 182.1 | 3.37 | 0.049 | 2077.00 | -415.1 | 233.56 | 45.29 | 1.101 | 1548.81 | -3.4 | 0.033 | - | - | - | - | - | - | 15.25 | 15.46 | 11.57 | |
| 8574.11 | 49.97 | 8.43 | 900 | 8610.81 | done | 2.44 | - | - | 2719.69 | - | 3.74 | 0.108 | 3474.12 | 373.6 | 260.23 | 31.38 | 1.052 | 1438.41 | -3.5 | 0.030 | - | - | - | - | - | - | - | 15.03 | 11.58 |
| 8802.98 | 26.98 | 9.73 | 946 | 8809.77 | roll | 2.48 | - | - | 2721.25 | - | 3.40 | 0.050 | 2075.88 | -411.2 | 260.23 | - | - | 1435.19 | - | - | - | - | - | - | - | - | - | 15.40 | - |
| 8869.13 | 21.87 | 7.68 | 953 | 8914.63 | 2.59 | 0.31 | 0.062 | 2777.00 | 179.8 | 3.88 | 0.128 | 660.94 | -364.7 | 294.36 | 37.66 | 1.029 | 1299.97 | -3.6 | 0.014 | - | - | - | - | - | - | 15.53 | 15.07 | 11.56 | |
| 8963.04 | 13.39 | 8.91 | 972 | 8994.22 | done | 2.65 | - | - | 2776.88 | - | 3.45 | 0.041 | 2131.81 | 426.3 | 316.30 | 25.06 | 0.982 | 1210.84 | -3.6 | 0.009 | - | - | - | - | - | - | - | 15.46 | 11.57 |
| 9059.09 | 6.80 | 7.22 | 985 | 9105.64 | 2.77 | 0.22 | 0.073 | 2824.06 | 214.5 | 3.55 | 0.106 | 3472.69 | 377.7 | 355.06 | 40.85 | 0.992 | 1052.41 | -3.9 | 0.005 | - | - | - | - | - | - | 15.43 | 15.01 | 11.59 | |
| 9107 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 9108 | begin surface coast | ||||||||||||||||||||||||||||
| 9117 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9117 | begin surface | ||||||||||||||||||||||||||||
| SM | -0.66 | - | - | - | - | 177.8 | - | 2.577 | 565.1 | - | 19.43 | 0.109 | 561.0 | 28.9 | - | 3.34 | 0.048 | 569.1 | 169.3 | 0.238 | - | - | 30.36 | 15.21 | 15.39 | - | |||