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| • Previous call tries 1 | • 67.44 of 350.00 AH used of 24V (80.73% remains) | |
| • Surface angle -72.2 deg, depth 1.86 m | • Intended pitch -17.6 deg, speed -10.000 cm/s | |
| • VBD pumped to 570.32 (SM_CC=570.32251) | ||
| • GPS1 time: 20 s | ||
| • GPS2 time: 4 s | ||
| • 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 | ||||||||||||||||||||||||||||
| 10 | begin dive | ||||||||||||||||||||||||||||
| 10.59 | - | - | - | 95.04 | VBD | -0.88 | - | - | 199.00 | - | - | - | 2022.06 | - | -145.99 | 82.30 | 0.005 | 1925.88 | - | - | - | - | - | - | - | - | - | - | 15.40 |
| 95.29 | 3.08 | -1.68 | 16 | 177.28 | -0.88 | 19.82 | 0.301 | 2422.88 | 112.2 | 3.73 | 0.134 | 584.62 | -385.4 | -145.99 | 50.76 | 0.005 | 3422.53 | 29.5 | -3.081 | - | - | - | - | - | - | 15.30 | 15.42 | 15.45 | |
| 320.58 | 44.76 | -18.68 | 60 | 328.01 | roll | -0.80 | - | - | 2422.81 | - | 3.49 | 0.054 | 2069.44 | 425.4 | -145.99 | - | - | 3425.41 | - | - | - | - | - | - | - | - | - | 15.60 | - |
| 506.94 | 71.36 | -11.88 | 97 | 514.23 | roll | -0.80 | - | - | 2424.94 | - | 3.24 | 0.134 | 3350.44 | 395.4 | -145.99 | - | - | 3423.47 | - | - | - | - | - | - | - | - | - | 15.52 | - |
| 733.12 | 94.35 | -10.27 | 142 | 739.55 | roll | -0.87 | - | - | 2423.75 | - | 3.11 | 0.046 | 2020.44 | -427.7 | -145.99 | - | - | 3426.69 | - | - | - | - | - | - | - | - | - | 15.70 | - |
| 918.61 | 111.16 | -8.88 | 167 | 921.50 | no move | -0.93 | - | - | 2424.69 | - | - | - | 2019.44 | - | -145.99 | - | - | 3424.78 | - | - | - | - | - | - | - | - | - | - | - |
| 1219.12 | 137.83 | -8.10 | 197 | 1226.65 | roll back | -1.02 | 0.31 | 0.095 | 2382.19 | -137.1 | 3.64 | 0.124 | 583.88 | -394.4 | -145.99 | - | - | 3424.91 | - | - | - | - | - | - | - | - | 15.72 | 15.68 | - |
| 1285.43 | 145.20 | -11.76 | 210 | 1292.42 | roll back | -0.95 | 0.28 | 0.204 | 2409.50 | 97.5 | 3.44 | 0.044 | 2075.06 | 433.5 | -145.99 | - | - | 3426.41 | - | - | - | - | - | - | - | - | 15.68 | 15.73 | - |
| 1590.02 | 170.56 | -7.82 | 241 | 1597.45 | roll | -1.03 | - | - | 2410.31 | - | 3.77 | 0.118 | 584.75 | -395.3 | -145.99 | - | - | 3425.50 | - | - | - | - | - | - | - | - | - | 15.61 | - |
| 1659.63 | 176.75 | -9.09 | 255 | 1667.67 | roll | -1.03 | - | - | 2410.12 | - | 3.44 | 0.043 | 2077.62 | 434.0 | -145.99 | - | - | 3425.69 | - | - | - | - | - | - | - | - | - | 15.72 | - |
| 1965.77 | 200.48 | -7.45 | 286 | 1973.33 | roll back | -1.14 | 0.41 | 0.096 | 2345.25 | -158.2 | 3.76 | 0.118 | 583.56 | -397.4 | -145.99 | - | - | 3426.94 | - | - | - | - | - | - | - | - | 15.74 | 15.71 | - |
| 2022.37 | 206.70 | -11.98 | 297 | 2029.63 | roll back | -1.03 | 0.39 | 0.209 | 2389.06 | 112.3 | 3.45 | 0.048 | 2075.38 | 432.4 | -145.99 | - | - | 3424.88 | - | - | - | - | - | - | - | - | 15.69 | 15.76 | - |
| 2327.20 | 232.95 | -8.28 | 328 | 2331.10 | no move | -1.10 | - | - | 2389.50 | - | - | - | 2076.06 | - | -145.99 | - | - | 3424.12 | - | - | - | - | - | - | - | - | - | - | - |
| 2628.00 | 258.19 | -8.72 | 358 | 2639.98 | roll back | -1.18 | 0.33 | 0.099 | 2337.75 | -156.8 | 3.76 | 0.122 | 584.31 | -396.7 | -145.99 | - | - | 3425.53 | - | - | - | - | - | - | - | - | 15.75 | 15.73 | - |
| 2692.14 | 266.17 | -12.83 | 371 | 2700.28 | roll back | -1.07 | 0.38 | 0.207 | 2380.25 | 111.8 | 3.45 | 0.050 | 2075.69 | 432.3 | -145.99 | - | - | 3425.19 | - | - | - | - | - | - | - | - | 15.71 | 15.77 | - |
| 2998.40 | 294.57 | -9.07 | 402 | 3002.30 | no move | -1.14 | - | - | 2380.38 | - | - | - | 2075.38 | - | -145.99 | - | - | 3423.84 | - | - | - | - | - | - | - | - | - | - | - |
| 3299.03 | 321.56 | -8.90 | 420 | 3309.06 | roll back | -1.21 | 0.31 | 0.099 | 2331.62 | -157.3 | 3.76 | 0.122 | 584.06 | -396.6 | -145.99 | - | - | 3424.12 | - | - | - | - | - | - | - | - | 15.79 | 15.75 | - |
| 3372.51 | 330.48 | -12.54 | 435 | 3380.66 | roll back | -1.09 | 0.38 | 0.205 | 2372.56 | 107.7 | 3.43 | 0.050 | 2074.25 | 434.5 | -145.99 | - | - | 3425.03 | - | - | - | - | - | - | - | - | 15.74 | 15.82 | - |
| 3678.79 | 357.41 | -8.54 | 451 | 3682.63 | no move | -1.16 | - | - | 2373.75 | - | - | - | 2074.31 | - | -145.99 | - | - | 3424.28 | - | - | - | - | - | - | - | - | - | - | - |
| 3979.37 | 382.96 | -8.49 | 466 | 3989.34 | roll back | -1.22 | 0.28 | 0.100 | 2329.44 | -158.2 | 3.74 | 0.121 | 583.81 | -398.5 | -145.99 | - | - | 3425.78 | - | - | - | - | - | - | - | - | 15.86 | 15.82 | - |
| 4059.38 | 392.02 | -11.67 | 482 | 4066.65 | roll back | -1.11 | 0.38 | 0.206 | 2369.94 | 106.6 | 3.42 | 0.049 | 2074.12 | 435.8 | -145.99 | - | - | 3424.31 | - | - | - | - | - | - | - | - | 15.82 | 15.89 | - |
| 4374.97 | 419.12 | -8.39 | 500 | 4378.87 | no move | -1.17 | - | - | 2371.06 | - | - | - | 2074.94 | - | -145.99 | - | - | 3423.56 | - | - | - | - | - | - | - | - | - | - | - |
| 4675.68 | 443.13 | -7.74 | 515 | 4685.58 | roll back | -1.23 | 0.28 | 0.100 | 2323.88 | -168.5 | 3.72 | 0.120 | 583.81 | -400.8 | -145.99 | - | - | 3424.34 | - | - | - | - | - | - | - | - | 15.89 | 15.87 | - |
| 4739.06 | 450.45 | -11.54 | 528 | 4746.65 | roll back | -1.11 | 0.40 | 0.203 | 2369.44 | 113.9 | 3.42 | 0.049 | 2075.81 | 436.3 | -145.99 | - | - | 3424.12 | - | - | - | - | - | - | - | - | 15.85 | 15.92 | - |
| 5050.81 | 475.39 | -7.67 | 545 | 5054.62 | no move | -1.18 | - | - | 2369.38 | - | - | - | 2077.31 | - | -145.99 | - | - | 3423.47 | - | - | - | - | - | - | - | - | - | - | - |
| 5350.96 | 498.55 | -7.79 | 560 | 5361.35 | roll back | -1.24 | 0.28 | 0.099 | 2326.31 | -153.8 | 3.72 | 0.121 | 583.69 | -401.5 | -145.99 | - | - | 3425.62 | - | - | - | - | - | - | - | - | 15.91 | 15.90 | - |
| 5404.90 | 504.89 | -11.92 | 571 | 5412.98 | roll back | -1.12 | 0.38 | 0.204 | 2366.25 | 105.1 | 3.41 | 0.050 | 2076.88 | 437.9 | -145.99 | - | - | 3424.84 | - | - | - | - | - | - | - | - | 15.86 | 15.92 | - |
| 5710.99 | 529.43 | -7.63 | 587 | 5714.46 | no move | -1.12 | - | - | 2366.31 | - | - | - | 2076.75 | - | -145.99 | - | - | 3423.91 | - | - | - | - | - | - | - | - | - | - | - |
| 6010.97 | 552.02 | -7.60 | 602 | 6018.43 | roll | -1.12 | - | - | 2365.06 | - | 3.73 | 0.121 | 584.62 | -400.0 | -145.99 | - | - | 3424.91 | - | - | - | - | - | - | - | - | - | 15.91 | - |
| 6087.16 | 558.55 | -8.73 | 617 | 6094.08 | roll | -1.12 | - | - | 2366.00 | - | 3.38 | 0.048 | 2078.06 | 441.8 | -145.99 | - | - | 3425.16 | - | - | - | - | - | - | - | - | - | 15.88 | - |
| 6402.40 | 581.28 | -7.16 | 635 | 6409.80 | roll | -1.19 | - | - | 2366.00 | - | 3.73 | 0.120 | 583.19 | -400.8 | -145.99 | - | - | 3423.59 | - | - | - | - | - | - | - | - | - | 15.92 | - |
| 6441.95 | 584.65 | -8.32 | 643 | 6448.42 | roll | -1.19 | - | - | 2366.75 | - | 3.40 | 0.047 | 2073.44 | 438.3 | -145.99 | - | - | 3426.28 | - | - | - | - | - | - | - | - | - | 15.98 | - |
| 6659 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 6659 | begin apogee | ||||||||||||||||||||||||||||
| 6659.98 | 600.74 | -7.56 | 656 | 6791.57 | -0.20 | 1.63 | 0.173 | 2590.69 | 137.4 | 0.12 | 0.192 | 1992.25 | -676.6 | - | 126.75 | 1.866 | 2824.56 | -4.7 | 0.259 | - | - | - | - | - | - | 15.92 | 15.26 | 11.84 | |
| 6794 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6794 | begin climb | ||||||||||||||||||||||||||||
| 6794.13 | 601.94 | - | 662 | 6930.77 | 0.88 | 1.90 | 0.112 | 2855.62 | 139.4 | - | - | 1994.31 | - | 145.99 | 132.60 | 1.779 | 2230.59 | -4.5 | 0.257 | - | - | - | - | - | - | 15.25 | - | 11.67 | |
| 7239.01 | 544.20 | 15.14 | 691 | 7246.60 | 0.67 | 0.56 | 0.197 | 2795.50 | -107.4 | 3.68 | 0.120 | 569.31 | -387.2 | 145.99 | - | - | 2212.88 | - | - | - | - | - | - | - | - | 15.36 | 15.37 | - | |
| 7338.76 | 529.22 | 14.82 | 711 | 7345.32 | 0.48 | 0.34 | 0.190 | 2751.62 | -129.1 | 3.30 | 0.046 | 1978.56 | 427.0 | 145.99 | - | - | 2209.84 | - | - | - | - | - | - | - | - | 15.41 | 15.46 | - | |
| 7655.65 | 498.93 | 9.23 | 729 | 7663.06 | done | 0.48 | - | - | 2749.75 | - | 3.61 | 0.121 | 569.38 | -390.4 | 145.99 | - | - | 2206.53 | - | - | - | - | - | - | - | - | - | 15.48 | - |
| 7705.21 | 493.31 | 11.31 | 739 | 7712.82 | done | 0.48 | - | - | 2750.56 | - | 3.27 | 0.045 | 1980.88 | 431.7 | 145.99 | - | - | 2207.53 | - | - | - | - | - | - | - | - | - | 15.63 | - |
| 8011.80 | 464.74 | 9.34 | 755 | 8018.74 | done | 0.48 | - | - | 2750.62 | - | 3.59 | 0.119 | 569.00 | -393.3 | 145.99 | - | - | 2206.69 | - | - | - | - | - | - | - | - | - | 15.66 | - |
| 8060.92 | 459.27 | 11.11 | 765 | 8068.48 | done | 0.48 | - | - | 2750.81 | - | 3.24 | 0.044 | 1981.94 | 436.1 | 145.99 | - | - | 2205.84 | - | - | - | - | - | - | - | - | - | 15.73 | - |
| 8367.72 | 431.01 | 8.85 | 781 | 8374.60 | done | 0.48 | - | - | 2749.75 | - | 3.56 | 0.118 | 570.38 | -396.5 | 145.99 | - | - | 2207.75 | - | - | - | - | - | - | - | - | - | 15.73 | - |
| 8411.74 | 426.26 | 10.59 | 790 | 8418.20 | done | 0.48 | - | - | 2750.62 | - | 3.22 | 0.044 | 1982.38 | 438.5 | 145.99 | - | - | 2205.56 | - | - | - | - | - | - | - | - | - | 15.78 | - |
| 8722.84 | 399.11 | 8.59 | 807 | 8730.29 | done | 0.48 | - | - | 2749.88 | - | 3.53 | 0.117 | 570.31 | -400.0 | 145.99 | - | - | 2203.66 | - | - | - | - | - | - | - | - | - | 15.77 | - |
| 8758.99 | 395.45 | 10.25 | 814 | 8765.91 | done | 0.48 | - | - | 2750.38 | - | 3.20 | 0.043 | 1983.69 | 441.7 | 145.99 | - | - | 2201.97 | - | - | - | - | - | - | - | - | - | 15.82 | - |
| 9074.62 | 367.48 | 8.87 | 832 | 9081.65 | done | 0.48 | - | - | 2752.12 | - | 3.53 | 0.118 | 569.00 | -400.8 | 145.99 | - | - | 2202.28 | - | - | - | - | - | - | - | - | - | 15.81 | - |
| 9118.79 | 362.78 | 10.59 | 841 | 9126.25 | done | 0.48 | - | - | 2751.88 | - | 3.20 | 0.044 | 1982.00 | 441.6 | 145.99 | - | - | 2202.50 | - | - | - | - | - | - | - | - | - | 15.85 | - |
| 9425.63 | 336.24 | 8.54 | 857 | 9432.65 | done | 0.48 | - | - | 2751.19 | - | 3.51 | 0.117 | 568.81 | -402.6 | 145.99 | - | - | 2203.44 | - | - | - | - | - | - | - | - | - | 15.84 | - |
| 9461.60 | 332.86 | 8.91 | 864 | 9468.25 | done | 0.48 | - | - | 2749.94 | - | 3.19 | 0.043 | 1981.50 | 442.8 | 145.99 | - | - | 2202.47 | - | - | - | - | - | - | - | - | - | 15.90 | - |
| 9776.47 | 305.57 | 8.50 | 882 | 9783.91 | done | 0.48 | - | - | 2750.06 | - | 3.48 | 0.117 | 569.62 | -405.7 | 145.99 | - | - | 2201.75 | - | - | - | - | - | - | - | - | - | 15.86 | - |
| 9826.05 | 300.45 | 10.61 | 892 | 9833.58 | done | 0.48 | - | - | 2751.12 | - | 3.18 | 0.040 | 1983.75 | 444.7 | 145.99 | - | - | 2204.25 | - | - | - | - | - | - | - | - | - | 15.90 | - |
| 10132.63 | 273.89 | 8.63 | 923 | 10139.63 | done | 0.48 | - | - | 2751.00 | - | 3.49 | 0.117 | 569.25 | -405.3 | 145.99 | - | - | 2201.88 | - | - | - | - | - | - | - | - | - | 15.87 | - |
| 10198.36 | 267.19 | 10.55 | 936 | 10204.24 | done | 0.48 | - | - | 2751.25 | - | 3.19 | 0.044 | 1982.94 | 443.2 | 145.99 | - | - | 2201.88 | - | - | - | - | - | - | - | - | - | 15.93 | - |
| 10503.64 | 242.27 | 8.00 | 967 | 10549.05 | done | 0.53 | - | - | 2750.19 | - | 3.53 | 0.118 | 568.56 | -400.7 | 189.03 | 36.42 | 1.410 | 2053.56 | -4.1 | 0.119 | - | - | - | - | - | - | - | 15.72 | 11.82 |
| 10586.83 | 234.83 | 9.75 | 984 | 10594.36 | roll | 0.53 | - | - | 2750.50 | - | 3.21 | 0.040 | 1983.00 | 440.6 | 189.03 | - | - | 2048.50 | - | - | - | - | - | - | - | - | - | 15.79 | - |
| 10892.96 | 208.69 | 8.46 | 1015 | 10900.49 | 0.61 | 0.31 | 0.097 | 2795.19 | 144.2 | 3.52 | 0.118 | 569.00 | -401.7 | 189.03 | - | - | 2044.31 | - | - | - | - | - | - | - | - | 15.81 | 15.79 | - | |
| 10922.65 | 205.10 | 11.65 | 1021 | 10930.27 | 0.53 | 0.32 | 0.188 | 2761.50 | -105.3 | 3.21 | 0.040 | 1982.50 | 440.3 | 189.03 | - | - | 2043.66 | - | - | - | - | - | - | - | - | 15.78 | 15.84 | - | |
| 11229.51 | 179.83 | 7.85 | 1052 | 11281.22 | 0.65 | 0.30 | 0.101 | 2805.00 | 145.0 | 3.58 | 0.119 | 569.06 | -394.8 | 235.21 | 42.08 | 1.328 | 1862.97 | -4.3 | 0.099 | - | - | - | - | - | - | 15.83 | 15.63 | 11.76 | |
| 11309.46 | 170.83 | 13.41 | 1068 | 11316.93 | roll back | 0.57 | 0.31 | 0.188 | 2772.81 | -103.8 | 3.22 | 0.039 | 1979.50 | 438.0 | 235.21 | - | - | 1858.59 | - | - | - | - | - | - | - | - | 15.62 | 15.71 | - |
| 11614.51 | 142.24 | 7.97 | 1099 | 11661.85 | 0.74 | 0.37 | 0.095 | 2824.81 | 140.5 | 3.57 | 0.119 | 569.12 | -395.1 | 278.79 | 39.49 | 1.276 | 1687.03 | -4.3 | 0.082 | - | - | - | - | - | - | 15.74 | 15.56 | 11.95 | |
| 11714.00 | 131.02 | 13.14 | 1119 | 11721.55 | roll | 0.74 | - | - | 2824.12 | - | 3.26 | 0.043 | 1981.31 | 433.2 | 278.79 | - | - | 1682.94 | - | - | - | - | - | - | - | - | - | 15.63 | - |
| 12020.88 | 100.95 | 9.10 | 1150 | 12027.57 | done | 0.74 | - | - | 2825.12 | - | 3.55 | 0.118 | 568.81 | -397.9 | 278.79 | - | - | 1677.44 | - | - | - | - | - | - | - | - | - | 15.67 | - |
| 12096.56 | 93.31 | 9.86 | 1165 | 12103.85 | done | 0.74 | - | - | 2824.81 | - | 3.21 | 0.039 | 1980.88 | 439.9 | 278.79 | - | - | 1677.44 | - | - | - | - | - | - | - | - | - | 15.63 | - |
| 12282.86 | 79.96 | 6.78 | 1202 | 12380.54 | 0.90 | 0.20 | 0.113 | 2865.25 | 202.2 | 3.63 | 0.119 | 570.81 | -388.4 | 347.98 | 90.75 | 1.204 | 1406.41 | -3.0 | 0.034 | - | - | - | - | - | - | 15.73 | 15.40 | 11.85 | |
| 12414.50 | 68.55 | 9.32 | 1228 | 12421.23 | roll | 0.90 | - | - | 2864.88 | - | 3.27 | 0.038 | 1981.75 | 431.5 | 347.98 | - | - | 1400.78 | - | - | - | - | - | - | - | - | - | 15.49 | - |
| 12599.49 | 53.85 | 7.28 | 1265 | 12687.08 | 1.09 | 0.25 | 0.104 | 2908.31 | 173.7 | - | - | 1982.94 | - | 406.49 | 81.82 | 1.145 | 1167.81 | -2.8 | 0.023 | - | - | - | - | - | - | 15.57 | - | 11.67 | |
| 12866.09 | 38.54 | 5.55 | 1318 | 13020.58 | 1.34 | 0.38 | 0.096 | 2969.44 | 160.9 | 3.72 | 0.122 | 570.19 | -379.8 | 502.10 | 143.39 | 1.095 | 778.28 | -2.7 | 0.016 | - | - | - | - | - | - | 15.46 | 15.12 | 11.68 | |
| 13109.56 | 16.75 | 10.80 | 1366 | 13120.02 | roll | 1.34 | - | - | 2969.44 | - | 3.31 | 0.038 | 1980.06 | 425.9 | 502.10 | - | - | 774.91 | - | - | - | - | - | - | - | - | - | 15.32 | - |
| 13270 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 13270 | begin surface coast | ||||||||||||||||||||||||||||
| 13289 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 13290 | begin surface | ||||||||||||||||||||||||||||
| SM | 1.94 | - | - | - | - | 201.2 | - | 0.009 | 500.0 | - | 18.91 | 0.066 | 494.4 | 26.1 | - | 0.17 | 0.082 | 505.6 | 2954.6 | -7.145 | - | - | 30.36 | 15.45 | 15.49 | - | |||