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| • Previous call tries 3 | • 314.61 of 575.00 AH used of 24V (45.29% remains) | |
| • Surface angle -64.0 deg, depth -1.51 m | • Intended pitch -27.4 deg, speed -11.111 cm/s | |
| • VBD pumped to 475.08 (SM_CC=475) | ||
| • GPS1 time: 4 s | ||
| • GPS2 time: 2 s | • Transponder ping count: 17 | |
| • 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 | ||||||||||||||||||||||||||||
| 8.45 | - | - | - | 95.38 | VBD | -1.59 | - | - | 170.31 | - | - | - | 2116.50 | - | -74.33 | 86.54 | 0.005 | 2563.16 | - | - | - | - | - | - | - | - | - | - | 14.74 |
| 95.66 | 3.87 | -8.15 | 9 | 128.29 | -1.68 | 14.25 | 0.254 | 1732.44 | 109.6 | 4.13 | 0.147 | 660.62 | -352.5 | -103.85 | 7.72 | 0.007 | 2923.50 | 46.7 | -4.502 | - | - | - | - | - | - | 14.82 | 14.67 | 14.88 | |
| 157.01 | 19.50 | -22.10 | 21 | 162.15 | roll | -1.68 | - | - | 1732.19 | - | 3.56 | 0.050 | 2119.88 | 409.9 | -103.85 | - | - | 2921.56 | - | - | - | - | - | - | - | - | - | 15.38 | - |
| 221.51 | 31.38 | -17.62 | 28 | 222.84 | no move | -1.68 | - | - | 1732.38 | - | - | - | 2119.88 | - | -103.85 | - | - | 2921.97 | - | - | - | - | - | - | - | - | - | - | - |
| 281.53 | 40.48 | -15.16 | 34 | 287.17 | roll | -1.68 | - | - | 1732.50 | - | 3.67 | 0.106 | 3474.44 | 369.1 | -103.85 | - | - | 2923.34 | - | - | - | - | - | - | - | - | - | 15.12 | - |
| 310.43 | 45.23 | -15.48 | 40 | 317.24 | roll | -1.68 | - | - | 1731.88 | - | 3.41 | 0.051 | 2078.88 | -409.3 | -103.85 | - | - | 2922.44 | - | - | - | - | - | - | - | - | - | 15.28 | - |
| 376.58 | 53.81 | -13.25 | 47 | 382.25 | roll | -1.68 | - | - | 1731.88 | - | 4.03 | 0.142 | 663.25 | -351.3 | -103.85 | - | - | 2922.28 | - | - | - | - | - | - | - | - | - | 14.98 | - |
| 391.98 | 55.97 | -13.82 | 50 | 397.17 | roll | -1.68 | - | - | 1732.19 | - | 3.51 | 0.044 | 2122.00 | 415.6 | -103.85 | - | - | 2922.47 | - | - | - | - | - | - | - | - | - | 15.38 | - |
| 456.53 | 63.90 | -11.96 | 57 | 462.18 | roll | -1.68 | - | - | 1732.06 | - | 3.63 | 0.101 | 3474.50 | 372.6 | -103.85 | - | - | 2922.50 | - | - | - | - | - | - | - | - | - | 15.12 | - |
| 482.04 | 67.27 | -12.72 | 62 | 487.16 | roll | -1.68 | - | - | 1732.06 | - | 3.38 | 0.048 | 2081.00 | -412.3 | -103.85 | - | - | 2923.59 | - | - | - | - | - | - | - | - | - | 15.31 | - |
| 546.60 | 75.76 | -12.78 | 69 | 552.21 | roll | -1.68 | - | - | 1731.56 | - | 3.76 | 0.099 | 3476.44 | 371.1 | -103.85 | - | - | 2923.62 | - | - | - | - | - | - | - | - | - | 15.12 | - |
| 602.01 | 83.74 | -14.72 | 80 | 607.16 | roll | -1.68 | - | - | 1732.56 | - | 3.39 | 0.049 | 2081.56 | -411.5 | -103.85 | - | - | 2921.94 | - | - | - | - | - | - | - | - | - | 15.30 | - |
| 666.62 | 92.50 | -13.47 | 87 | 672.23 | roll | -1.68 | - | - | 1731.31 | - | 3.74 | 0.097 | 3476.94 | 373.1 | -103.85 | - | - | 2923.06 | - | - | - | - | - | - | - | - | - | 15.12 | - |
| 712.01 | 98.90 | -13.96 | 96 | 717.16 | roll | -1.68 | - | - | 1732.50 | - | 3.38 | 0.047 | 2080.31 | -413.2 | -103.85 | - | - | 2923.28 | - | - | - | - | - | - | - | - | - | 15.29 | - |
| 776.63 | 107.08 | -12.10 | 103 | 782.29 | roll | -1.68 | - | - | 1732.25 | - | 4.03 | 0.142 | 660.69 | -352.3 | -103.85 | - | - | 2923.44 | - | - | - | - | - | - | - | - | - | 14.93 | - |
| 795.54 | 109.60 | -12.24 | 107 | 802.29 | roll | -1.68 | - | - | 1732.62 | - | 3.48 | 0.040 | 2124.44 | 420.6 | -103.85 | - | - | 2923.16 | - | - | - | - | - | - | - | - | - | 15.37 | - |
| 861.63 | 117.72 | -12.19 | 114 | 867.25 | roll | -1.68 | - | - | 1731.69 | - | 3.61 | 0.099 | 3476.25 | 374.5 | -103.85 | - | - | 2923.91 | - | - | - | - | - | - | - | - | - | 15.11 | - |
| 907.03 | 123.50 | -12.66 | 123 | 912.19 | roll | -1.68 | - | - | 1732.12 | - | 3.36 | 0.047 | 2078.62 | -416.0 | -103.85 | - | - | 2922.06 | - | - | - | - | - | - | - | - | - | 15.29 | - |
| 971.64 | 131.15 | -11.39 | 130 | 977.29 | roll | -1.68 | - | - | 1732.31 | - | 3.99 | 0.142 | 660.75 | -355.4 | -103.85 | - | - | 2921.47 | - | - | - | - | - | - | - | - | - | 14.92 | - |
| 1017.04 | 136.97 | -12.58 | 139 | 1022.21 | roll | -1.68 | - | - | 1730.56 | - | 3.48 | 0.042 | 2125.50 | 420.9 | -103.85 | - | - | 2924.75 | - | - | - | - | - | - | - | - | - | 15.38 | - |
| 1081.60 | 144.39 | -11.54 | 146 | 1087.26 | roll | -1.68 | - | - | 1732.38 | - | 3.61 | 0.101 | 3476.62 | 374.3 | -103.85 | - | - | 2921.47 | - | - | - | - | - | - | - | - | - | 15.08 | - |
| 1147.07 | 152.47 | -11.92 | 159 | 1152.21 | roll | -1.68 | - | - | 1730.94 | - | 3.36 | 0.047 | 2080.25 | -415.6 | -103.85 | - | - | 2924.81 | - | - | - | - | - | - | - | - | - | 15.28 | - |
| 1271.63 | 166.44 | -10.61 | 172 | 1272.96 | no move | -1.68 | - | - | 1731.88 | - | - | - | 2080.81 | - | -103.85 | - | - | 2923.28 | - | - | - | - | - | - | - | - | - | - | - |
| 1391.66 | 179.58 | -11.00 | 184 | 1397.31 | roll | -1.68 | - | - | 1732.25 | - | 3.78 | 0.100 | 3475.00 | 368.8 | -103.85 | - | - | 2922.00 | - | - | - | - | - | - | - | - | - | 15.05 | - |
| 1440.56 | 185.45 | -12.28 | 194 | 1447.34 | roll | -1.68 | - | - | 1731.50 | - | 3.39 | 0.050 | 2078.50 | -411.9 | -103.85 | - | - | 2924.38 | - | - | - | - | - | - | - | - | - | 15.24 | - |
| 1566.66 | 198.96 | -10.65 | 207 | 1567.99 | no move | -1.68 | - | - | 1732.38 | - | - | - | 2079.31 | - | -103.85 | - | - | 2923.50 | - | - | - | - | - | - | - | - | - | - | - |
| 1686.67 | 211.65 | -10.89 | 219 | 1692.34 | roll | -1.68 | - | - | 1732.00 | - | 3.78 | 0.100 | 3475.56 | 369.4 | -103.85 | - | - | 2921.75 | - | - | - | - | - | - | - | - | - | 15.04 | - |
| 1715.58 | 215.13 | -11.06 | 225 | 1722.36 | roll | -1.68 | - | - | 1731.06 | - | 3.38 | 0.048 | 2081.88 | -412.3 | -103.85 | - | - | 2924.66 | - | - | - | - | - | - | - | - | - | 15.22 | - |
| 1841.68 | 228.74 | -10.69 | 238 | 1843.01 | no move | -1.68 | - | - | 1732.19 | - | - | - | 2081.94 | - | -103.85 | - | - | 2923.84 | - | - | - | - | - | - | - | - | - | - | - |
| 1961.69 | 241.65 | -10.73 | 250 | 1967.37 | roll | -1.68 | - | - | 1731.12 | - | 3.81 | 0.103 | 3474.75 | 365.6 | -103.85 | - | - | 2923.75 | - | - | - | - | - | - | - | - | - | 15.01 | - |
| 1980.66 | 243.83 | -11.23 | 254 | 1987.40 | roll | -1.68 | - | - | 1732.06 | - | 3.38 | 0.049 | 2080.00 | -412.6 | -103.85 | - | - | 2923.94 | - | - | - | - | - | - | - | - | - | 15.22 | - |
| 2106.70 | 257.60 | -11.13 | 263 | 2108.03 | no move | -1.68 | - | - | 1732.44 | - | - | - | 2079.94 | - | -103.85 | - | - | 2924.09 | - | - | - | - | - | - | - | - | - | - | - |
| 2406.70 | 288.58 | -10.14 | 273 | 2412.39 | roll | -1.68 | - | - | 1732.69 | - | 3.82 | 0.105 | 3476.12 | 365.5 | -103.85 | - | - | 2921.78 | - | - | - | - | - | - | - | - | - | 14.98 | - |
| 2515.65 | 301.26 | -10.76 | 295 | 2522.44 | roll | -1.68 | - | - | 1732.12 | - | 3.42 | 0.052 | 2081.38 | -407.8 | -103.85 | - | - | 2923.41 | - | - | - | - | - | - | - | - | - | 15.18 | - |
| 2821.74 | 331.64 | -9.92 | 306 | 2823.07 | no move | -1.68 | - | - | 1732.00 | - | - | - | 2081.00 | - | -103.85 | - | - | 2921.88 | - | - | - | - | - | - | - | - | - | - | - |
| 3121.74 | 363.00 | -10.28 | 316 | 3127.43 | roll | -1.68 | - | - | 1733.06 | - | 3.86 | 0.108 | 3474.56 | 361.0 | -103.85 | - | - | 2921.84 | - | - | - | - | - | - | - | - | - | 14.94 | - |
| 3160.66 | 367.16 | -9.85 | 324 | 3166.36 | roll | -1.68 | - | - | 1731.75 | - | 3.42 | 0.054 | 2081.31 | -407.4 | -103.85 | - | - | 2924.66 | - | - | - | - | - | - | - | - | - | 15.15 | - |
| 3476.79 | 398.81 | -9.65 | 337 | 3482.44 | roll | -1.68 | - | - | 1730.62 | - | 3.85 | 0.106 | 3474.75 | 361.9 | -103.85 | - | - | 2924.84 | - | - | - | - | - | - | - | - | - | 14.93 | - |
| 3502.22 | 402.09 | -8.26 | 342 | 3507.38 | roll | -1.76 | - | - | 1732.06 | - | 3.42 | 0.051 | 2080.69 | -407.6 | -132.22 | - | - | 2920.88 | - | - | - | - | - | - | - | - | - | 15.18 | - |
| 3826.87 | 436.44 | -10.67 | 357 | 3832.46 | roll | -1.76 | - | - | 1730.94 | - | 3.85 | 0.108 | 3474.75 | 362.1 | -132.22 | - | - | 2923.53 | - | - | - | - | - | - | - | - | - | 14.92 | - |
| 3852.22 | 439.99 | -9.86 | 362 | 3857.39 | roll | -1.76 | - | - | 1732.38 | - | 3.43 | 0.052 | 2081.81 | -406.1 | -132.22 | - | - | 2922.38 | - | - | - | - | - | - | - | - | - | 15.16 | - |
| 4176.81 | 476.12 | -10.42 | 377 | 4182.47 | roll | -1.76 | - | - | 1730.81 | - | 3.88 | 0.110 | 3474.00 | 358.8 | -132.22 | - | - | 2922.47 | - | - | - | - | - | - | - | - | - | 14.88 | - |
| 4225.71 | 481.26 | -11.66 | 387 | 4232.50 | roll | -1.76 | - | - | 1731.25 | - | 3.44 | 0.054 | 2082.75 | -404.4 | -132.22 | - | - | 2923.78 | - | - | - | - | - | - | - | - | - | 15.11 | - |
| 4441 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 4441 | begin apogee | ||||||||||||||||||||||||||||
| 4442.95 | 503.64 | -10.57 | 395 | 4535.16 | -0.25 | 2.88 | 0.154 | 2078.75 | 120.7 | 0.09 | 0.234 | 2083.69 | - | - | 87.71 | 1.636 | 2499.00 | -4.8 | 0.260 | - | - | - | - | - | - | 14.85 | 14.87 | 10.87 | |
| 4538 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 4538 | begin climb | ||||||||||||||||||||||||||||
| 4538.38 | 506.65 | - | 398 | 4663.89 | 1.76 | 3.59 | 0.078 | 2573.81 | 137.9 | - | - | 2084.19 | - | 132.22 | 120.63 | 1.582 | 1960.16 | -4.5 | 0.250 | - | - | - | - | - | - | 15.10 | - | 11.36 | |
| 4951.87 | 464.25 | 12.33 | 412 | 4957.53 | done | 1.76 | - | - | 2574.12 | - | 4.02 | 0.137 | 661.69 | -353.9 | 132.22 | - | - | 1947.75 | - | - | - | - | - | - | - | - | - | 15.16 | - |
| 5175.74 | 432.42 | 11.83 | 457 | 5181.47 | done | 1.76 | - | - | 2574.94 | - | 3.55 | 0.046 | 2125.38 | 412.3 | 132.22 | - | - | 1947.03 | - | - | - | - | - | - | - | - | - | 15.46 | - |
| 5486.85 | 394.63 | 12.27 | 469 | 5492.57 | done | 1.76 | - | - | 2574.00 | - | 4.10 | 0.131 | 661.56 | -357.0 | 132.22 | - | - | 1944.44 | - | - | - | - | - | - | - | - | - | 15.14 | - |
| 5620.78 | 376.48 | 15.45 | 496 | 5626.50 | done | 1.76 | - | - | 2573.81 | - | 3.53 | 0.045 | 2125.12 | 414.6 | 132.22 | - | - | 1945.91 | - | - | - | - | - | - | - | - | - | 15.45 | - |
| 5931.90 | 345.02 | 9.68 | 508 | 5933.23 | VBD | 1.81 | - | - | 2574.56 | - | - | - | 2125.00 | - | 132.22 | - | - | 1943.62 | - | - | - | - | - | - | - | - | - | - | - |
| 6231.90 | 315.58 | 9.75 | 518 | 6237.63 | done | 1.85 | - | - | 2574.69 | - | 4.11 | 0.129 | 660.56 | -356.3 | 132.22 | - | - | 1941.28 | - | - | - | - | - | - | - | - | - | 15.05 | - |
| 6460.83 | 289.59 | 12.12 | 564 | 6467.65 | done | 1.85 | - | - | 2573.75 | - | 3.55 | 0.044 | 2125.75 | 412.7 | 132.22 | - | - | 1942.16 | - | - | - | - | - | - | - | - | - | 15.41 | - |
| 6766.95 | 262.90 | 8.88 | 575 | 6792.05 | 1.92 | 0.19 | 0.078 | 2616.94 | 227.3 | 3.64 | 0.112 | 3474.38 | 370.5 | 154.43 | 18.69 | 1.306 | 1869.34 | -3.9 | 0.137 | - | - | - | - | - | - | 15.60 | 15.25 | 11.38 | |
| 6797.44 | 259.89 | 10.02 | 581 | 6802.53 | roll | 1.95 | - | - | 2615.25 | - | 3.38 | 0.048 | 2075.00 | -414.0 | 154.43 | - | - | 1869.34 | - | - | - | - | - | - | - | - | - | 15.51 | - |
| 7101.95 | 228.41 | 11.21 | 608 | 7107.66 | roll | 1.95 | - | - | 2615.38 | - | 3.94 | 0.130 | 660.88 | -358.9 | 154.43 | - | - | 1866.84 | - | - | - | - | - | - | - | - | - | 15.19 | - |
| 7187.41 | 218.44 | 11.97 | 625 | 7192.60 | roll | 1.95 | - | - | 2616.50 | - | 3.51 | 0.041 | 2128.06 | 418.0 | 154.43 | - | - | 1866.03 | - | - | - | - | - | - | - | - | - | 15.49 | - |
| 7311.99 | 204.73 | 10.67 | 638 | 7317.69 | roll | 1.95 | - | - | 2615.62 | - | 4.07 | 0.124 | 660.62 | -360.6 | 154.43 | - | - | 1864.38 | - | - | - | - | - | - | - | - | - | 15.14 | - |
| 7340.89 | 201.37 | 11.20 | 644 | 7347.69 | roll | 1.95 | - | - | 2617.06 | - | 3.50 | 0.040 | 2129.69 | 419.7 | 154.43 | - | - | 1864.78 | - | - | - | - | - | - | - | - | - | 15.48 | - |
| 7467.00 | 187.56 | 11.36 | 657 | 7472.71 | roll | 1.95 | - | - | 2617.00 | - | 4.07 | 0.125 | 660.44 | -361.0 | 154.43 | - | - | 1864.88 | - | - | - | - | - | - | - | - | - | 15.11 | - |
| 7522.45 | 180.53 | 13.27 | 668 | 7527.62 | roll | 1.95 | - | - | 2616.56 | - | 3.50 | 0.040 | 2128.62 | 419.5 | 154.43 | - | - | 1864.06 | - | - | - | - | - | - | - | - | - | 15.48 | - |
| 7647.04 | 167.00 | 10.83 | 681 | 7648.37 | no move | 1.95 | - | - | 2616.88 | - | - | - | 2129.31 | - | 154.43 | - | - | 1864.72 | - | - | - | - | - | - | - | - | - | - | - |
| 7767.04 | 154.36 | 10.48 | 693 | 7768.37 | no move | 1.97 | - | - | 2616.88 | - | - | - | 2128.50 | - | 154.43 | - | - | 1863.66 | - | - | - | - | - | - | - | - | - | - | - |
| 7887.05 | 142.81 | 9.45 | 705 | 7892.76 | roll | 2.02 | - | - | 2615.44 | - | 4.07 | 0.123 | 660.81 | -360.6 | 154.43 | - | - | 1864.62 | - | - | - | - | - | - | - | - | - | 15.02 | - |
| 7942.51 | 137.55 | 10.05 | 716 | 7947.66 | roll | 2.05 | - | - | 2617.12 | - | 3.49 | 0.040 | 2129.50 | 420.8 | 154.43 | - | - | 1863.56 | - | - | - | - | - | - | - | - | - | 15.45 | - |
| 8007.06 | 132.24 | 8.14 | 723 | 8041.13 | 2.14 | 0.27 | 0.070 | 2668.50 | 190.3 | - | - | 2129.56 | - | 184.02 | 32.79 | 1.180 | 1748.19 | -3.5 | 0.069 | - | - | - | - | - | - | 15.59 | - | 11.43 | |
| 8097.07 | 123.42 | 9.62 | 732 | 8102.77 | roll | 2.18 | - | - | 2669.00 | - | 4.01 | 0.122 | 659.69 | -366.6 | 184.02 | - | - | 1744.59 | - | - | - | - | - | - | - | - | - | 15.24 | - |
| 8272.52 | 101.24 | 12.38 | 767 | 8277.69 | roll | 2.18 | - | - | 2668.31 | - | 3.50 | 0.041 | 2127.94 | 419.5 | 184.02 | - | - | 1744.41 | - | - | - | - | - | - | - | - | - | 15.48 | - |
| 8337.08 | 93.46 | 11.33 | 774 | 8342.80 | roll | 2.18 | - | - | 2667.56 | - | 4.01 | 0.119 | 660.81 | -365.9 | 184.02 | - | - | 1744.16 | - | - | - | - | - | - | - | - | - | 15.16 | - |
| 8382.54 | 88.15 | 12.11 | 783 | 8387.71 | roll | 2.18 | - | - | 2668.50 | - | 3.47 | 0.038 | 2130.69 | 423.6 | 184.02 | - | - | 1743.06 | - | - | - | - | - | - | - | - | - | 15.50 | - |
| 8447.11 | 82.05 | 9.34 | 790 | 8452.82 | roll | 2.24 | - | - | 2669.00 | - | 4.01 | 0.119 | 661.75 | -366.3 | 184.02 | - | - | 1742.19 | - | - | - | - | - | - | - | - | - | 15.15 | - |
| 8672.63 | 61.89 | 8.14 | 835 | 8713.73 | 2.32 | 0.23 | 0.068 | 2715.19 | 200.8 | 3.47 | 0.040 | 2131.38 | 423.5 | 213.57 | 34.24 | 1.101 | 1629.25 | -3.3 | 0.032 | - | - | - | - | - | - | 15.23 | 15.46 | 11.58 | |
| 8772.19 | 57.12 | 4.31 | 849 | 8854.53 | 2.53 | 0.24 | 0.069 | 2764.12 | 203.9 | 3.63 | 0.105 | 3474.50 | 370.0 | 281.28 | 76.32 | 1.084 | 1353.72 | -3.6 | 0.033 | - | - | - | - | - | - | 15.49 | 14.95 | 11.60 | |
| 8886.67 | 46.41 | 12.35 | 872 | 8893.46 | roll | 2.53 | - | - | 2764.44 | - | 3.40 | 0.046 | 2076.50 | -411.2 | 281.28 | - | - | 1350.69 | - | - | - | - | - | - | - | - | - | 15.30 | - |
| 8952.78 | 39.70 | 9.74 | 879 | 8958.46 | roll | 2.57 | - | - | 2764.38 | - | 3.90 | 0.124 | 660.62 | -363.0 | 281.28 | - | - | 1349.00 | - | - | - | - | - | - | - | - | - | 15.14 | - |
| 9181.71 | 19.38 | 6.45 | 925 | 9239.48 | 2.71 | 0.20 | 0.072 | 2809.00 | 223.1 | 3.48 | 0.037 | 2133.81 | 423.3 | 327.67 | 49.87 | 1.028 | 1164.16 | -3.7 | 0.012 | - | - | - | - | - | - | 15.22 | 15.46 | 11.51 | |
| 9298.00 | 8.19 | 11.39 | 942 | 9303.52 | roll | 2.71 | - | - | 2808.62 | - | 4.05 | 0.118 | 660.50 | -363.8 | 327.67 | - | - | 1161.88 | - | - | - | - | - | - | - | - | - | 15.17 | - |
| 9346 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 9346 | begin surface coast | ||||||||||||||||||||||||||||
| 9356 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9356 | begin surface | ||||||||||||||||||||||||||||
| SM | -0.59 | - | - | - | - | 170.2 | - | 0.013 | 563.3 | - | 19.21 | 0.094 | 564.1 | 29.4 | - | 3.47 | 0.039 | 562.4 | 160.9 | 0.249 | - | - | 30.36 | 15.08 | 15.46 | - | |||