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| • Previous call tries 1 | • 316.88 of 575.00 AH used of 24V (44.89% remains) | |
| • Surface angle -63.7 deg, depth -1.56 m | • Intended pitch -27.4 deg, speed -11.111 cm/s | |
| • VBD pumped to 475.04 (SM_CC=475) | ||
| • GPS1 time: 8 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 | ||||||||||||||||||||||||||||
| 8.51 | - | - | - | 90.32 | VBD | -1.59 | - | - | 170.25 | - | - | - | 2080.50 | - | -74.33 | 81.29 | 0.005 | 2415.12 | - | - | - | - | - | - | - | - | - | - | 14.67 |
| 90.57 | 3.22 | -7.23 | 8 | 126.69 | -1.71 | 14.20 | 0.252 | 1725.62 | 109.5 | 4.11 | 0.147 | 660.50 | -345.5 | -112.94 | 12.35 | 0.006 | 2960.06 | 44.1 | -4.265 | - | - | - | - | - | - | 14.85 | 14.61 | 14.85 | |
| 169.90 | 21.69 | -22.63 | 24 | 175.54 | roll | -1.71 | - | - | 1725.88 | - | 3.60 | 0.050 | 2121.94 | 406.0 | -112.94 | - | - | 2958.53 | - | - | - | - | - | - | - | - | - | 15.35 | - |
| 234.90 | 33.62 | -17.40 | 31 | 240.66 | roll | -1.71 | - | - | 1726.12 | - | 4.20 | 0.140 | 660.81 | -347.9 | -112.94 | - | - | 2960.25 | - | - | - | - | - | - | - | - | - | 15.03 | - |
| 259.91 | 38.21 | -18.35 | 36 | 264.55 | roll | -1.71 | - | - | 1726.31 | - | 3.57 | 0.048 | 2116.25 | 407.7 | -112.94 | - | - | 2959.28 | - | - | - | - | - | - | - | - | - | 15.35 | - |
| 329.92 | 49.59 | -15.82 | 44 | 335.57 | roll | -1.71 | - | - | 1725.62 | - | 3.66 | 0.104 | 3477.06 | 371.8 | -112.94 | - | - | 2959.28 | - | - | - | - | - | - | - | - | - | 15.12 | - |
| 435.38 | 66.00 | -16.18 | 65 | 440.53 | roll | -1.71 | - | - | 1725.88 | - | 3.40 | 0.051 | 2081.31 | -410.5 | -112.94 | - | - | 2960.50 | - | - | - | - | - | - | - | - | - | 15.28 | - |
| 499.99 | 73.76 | -11.51 | 72 | 505.65 | roll | -1.71 | - | - | 1725.69 | - | 4.09 | 0.143 | 660.88 | -347.3 | -112.94 | - | - | 2960.69 | - | - | - | - | - | - | - | - | - | 14.98 | - |
| 568.92 | 83.14 | -13.73 | 86 | 575.67 | roll | -1.71 | - | - | 1726.00 | - | 3.53 | 0.045 | 2122.00 | 413.9 | -112.94 | - | - | 2960.34 | - | - | - | - | - | - | - | - | - | 15.34 | - |
| 635.00 | 90.32 | -10.98 | 93 | 640.60 | roll | -1.71 | - | - | 1725.38 | - | 3.63 | 0.102 | 3475.75 | 372.9 | -112.94 | - | - | 2958.25 | - | - | - | - | - | - | - | - | - | 15.12 | - |
| 723.87 | 101.95 | -12.97 | 111 | 730.64 | roll | -1.71 | - | - | 1726.06 | - | 3.39 | 0.049 | 2079.94 | -411.7 | -112.94 | - | - | 2960.91 | - | - | - | - | - | - | - | - | - | 15.25 | - |
| 790.02 | 109.97 | -12.08 | 118 | 795.69 | roll | -1.71 | - | - | 1726.12 | - | 4.03 | 0.143 | 661.38 | -352.0 | -112.94 | - | - | 2959.25 | - | - | - | - | - | - | - | - | - | 14.96 | - |
| 838.89 | 117.09 | -15.08 | 128 | 845.70 | roll | -1.71 | - | - | 1725.94 | - | 3.52 | 0.043 | 2124.00 | 415.5 | -112.94 | - | - | 2960.69 | - | - | - | - | - | - | - | - | - | 15.34 | - |
| 904.97 | 125.13 | -11.78 | 135 | 910.62 | roll | -1.71 | - | - | 1726.25 | - | 3.61 | 0.100 | 3474.44 | 374.1 | -112.94 | - | - | 2959.12 | - | - | - | - | - | - | - | - | - | 15.11 | - |
| 930.48 | 128.36 | -12.57 | 140 | 935.60 | roll | -1.71 | - | - | 1725.38 | - | 3.37 | 0.047 | 2078.38 | -414.3 | -112.94 | - | - | 2961.00 | - | - | - | - | - | - | - | - | - | 15.29 | - |
| 995.04 | 136.25 | -11.92 | 147 | 1000.71 | roll | -1.71 | - | - | 1726.06 | - | 4.06 | 0.140 | 661.62 | -349.0 | -112.94 | - | - | 2959.56 | - | - | - | - | - | - | - | - | - | 14.96 | - |
| 1020.43 | 139.69 | -12.60 | 152 | 1025.61 | roll | -1.71 | - | - | 1726.06 | - | 3.49 | 0.042 | 2123.31 | 418.8 | -112.94 | - | - | 2960.97 | - | - | - | - | - | - | - | - | - | 15.38 | - |
| 1084.99 | 147.25 | -11.14 | 159 | 1090.64 | roll | -1.71 | - | - | 1725.94 | - | 3.62 | 0.100 | 3475.25 | 373.5 | -112.94 | - | - | 2960.72 | - | - | - | - | - | - | - | - | - | 15.10 | - |
| 1130.00 | 152.15 | -11.90 | 168 | 1134.59 | roll | -1.71 | - | - | 1726.44 | - | 3.38 | 0.048 | 2081.06 | -412.5 | -112.94 | - | - | 2961.25 | - | - | - | - | - | - | - | - | - | 15.27 | - |
| 1260.02 | 166.29 | -11.13 | 182 | 1261.35 | no move | -1.71 | - | - | 1725.88 | - | - | - | 2081.25 | - | -112.94 | - | - | 2961.09 | - | - | - | - | - | - | - | - | - | - | - |
| 1380.02 | 179.70 | -11.05 | 194 | 1381.35 | no move | -1.71 | - | - | 1726.00 | - | - | - | 2080.56 | - | -112.94 | - | - | 2961.41 | - | - | - | - | - | - | - | - | - | - | - |
| 1500.03 | 193.42 | -10.84 | 206 | 1501.36 | no move | -1.71 | - | - | 1725.94 | - | - | - | 2081.25 | - | -112.94 | - | - | 2961.44 | - | - | - | - | - | - | - | - | - | - | - |
| 1620.06 | 207.52 | -12.72 | 218 | 1625.72 | roll | -1.71 | - | - | 1726.12 | - | 3.82 | 0.103 | 3475.62 | 365.0 | -112.94 | - | - | 2960.97 | - | - | - | - | - | - | - | - | - | 15.04 | - |
| 1665.49 | 213.23 | -13.36 | 227 | 1670.66 | roll | -1.71 | - | - | 1725.56 | - | 3.41 | 0.051 | 2081.88 | -408.7 | -112.94 | - | - | 2961.78 | - | - | - | - | - | - | - | - | - | 15.23 | - |
| 1790.06 | 228.01 | -11.09 | 240 | 1795.79 | roll | -1.71 | - | - | 1725.94 | - | 4.11 | 0.144 | 661.12 | -345.7 | -112.94 | - | - | 2959.31 | - | - | - | - | - | - | - | - | - | 14.91 | - |
| 1835.52 | 234.23 | -13.51 | 249 | 1840.69 | roll | -1.71 | - | - | 1726.38 | - | 3.54 | 0.044 | 2122.31 | 412.8 | -112.94 | - | - | 2959.72 | - | - | - | - | - | - | - | - | - | 15.35 | - |
| 1960.08 | 248.05 | -11.08 | 262 | 1965.72 | roll | -1.71 | - | - | 1726.38 | - | 3.68 | 0.103 | 3474.38 | 367.4 | -112.94 | - | - | 2961.62 | - | - | - | - | - | - | - | - | - | 15.04 | - |
| 2015.08 | 254.90 | -14.03 | 273 | 2019.68 | roll | -1.71 | - | - | 1725.88 | - | 3.40 | 0.048 | 2081.00 | -409.8 | -112.94 | - | - | 2962.22 | - | - | - | - | - | - | - | - | - | 15.22 | - |
| 2345.15 | 293.91 | -11.51 | 289 | 2350.78 | roll | -1.71 | - | - | 1726.38 | - | 3.84 | 0.104 | 3476.50 | 363.4 | -112.94 | - | - | 2959.34 | - | - | - | - | - | - | - | - | - | 15.00 | - |
| 2374.00 | 297.93 | -13.40 | 295 | 2379.68 | roll | -1.71 | - | - | 1726.19 | - | 3.40 | 0.050 | 2080.75 | -410.5 | -112.94 | - | - | 2962.81 | - | - | - | - | - | - | - | - | - | 15.18 | - |
| 2700.11 | 335.19 | -11.65 | 310 | 2705.84 | roll | -1.71 | - | - | 1726.00 | - | 4.13 | 0.147 | 663.12 | -343.3 | -112.94 | - | - | 2960.44 | - | - | - | - | - | - | - | - | - | 14.87 | - |
| 2734.02 | 339.21 | -12.22 | 317 | 2739.74 | roll | -1.71 | - | - | 1726.44 | - | 3.55 | 0.045 | 2123.38 | 411.3 | -112.94 | - | - | 2961.25 | - | - | - | - | - | - | - | - | - | 15.30 | - |
| 3055.13 | 375.89 | -11.80 | 331 | 3060.80 | roll | -1.71 | - | - | 1725.50 | - | 3.74 | 0.108 | 3475.19 | 361.4 | -112.94 | - | - | 2960.69 | - | - | - | - | - | - | - | - | - | 14.96 | - |
| 3110.58 | 382.86 | -12.73 | 342 | 3115.74 | roll | -1.71 | - | - | 1725.38 | - | 3.44 | 0.051 | 2082.06 | -405.0 | -112.94 | - | - | 2960.84 | - | - | - | - | - | - | - | - | - | 15.17 | - |
| 3435.15 | 421.69 | -12.01 | 357 | 3440.91 | roll | -1.71 | - | - | 1726.12 | - | 4.18 | 0.151 | 662.06 | -339.7 | -112.94 | - | - | 2959.66 | - | - | - | - | - | - | - | - | - | 14.82 | - |
| 3469.07 | 426.45 | -12.73 | 364 | 3474.78 | roll | -1.71 | - | - | 1725.69 | - | 3.56 | 0.046 | 2123.06 | 410.4 | -112.94 | - | - | 2962.44 | - | - | - | - | - | - | - | - | - | 15.26 | - |
| 3790.18 | 466.60 | -12.07 | 378 | 3795.86 | roll | -1.71 | - | - | 1725.62 | - | 3.75 | 0.110 | 3474.75 | 360.5 | -112.94 | - | - | 2958.88 | - | - | - | - | - | - | - | - | - | 14.93 | - |
| 3839.10 | 472.89 | -10.27 | 388 | 3845.90 | roll | -1.71 | - | - | 1726.12 | - | 3.44 | 0.052 | 2082.94 | -404.6 | -112.94 | - | - | 2960.81 | - | - | - | - | - | - | - | - | - | 15.12 | - |
| 4085 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 4085 | begin apogee | ||||||||||||||||||||||||||||
| 4086.33 | 501.88 | -12.27 | 397 | 4185.35 | -0.25 | 2.90 | 0.158 | 2078.12 | 121.4 | 0.09 | 0.240 | 2084.69 | - | - | 94.46 | 1.636 | 2498.31 | -4.9 | 0.271 | - | - | - | - | - | - | 14.84 | 14.85 | 11.00 | |
| 4188 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 4188 | begin climb | ||||||||||||||||||||||||||||
| 4188.59 | 504.49 | - | 400 | 4297.94 | 1.71 | 3.44 | 0.079 | 2558.56 | 139.7 | - | - | 2084.75 | - | 112.94 | 102.46 | 1.577 | 2038.34 | -4.5 | 0.259 | - | - | - | - | - | - | 15.06 | - | 11.31 | |
| 4595.22 | 469.81 | 9.68 | 424 | 4600.93 | done | 1.75 | - | - | 2558.75 | - | 4.05 | 0.136 | 661.88 | -351.3 | 112.94 | - | - | 2025.88 | - | - | - | - | - | - | - | - | - | 15.15 | - |
| 4704.16 | 456.31 | 13.87 | 446 | 4710.96 | done | 1.75 | - | - | 2558.75 | - | 3.54 | 0.043 | 2127.00 | 413.9 | 112.94 | - | - | 2026.44 | - | - | - | - | - | - | - | - | - | 15.45 | - |
| 5010.26 | 425.55 | 10.51 | 457 | 5016.00 | done | 1.77 | - | - | 2559.00 | - | 4.12 | 0.131 | 662.00 | -355.6 | 112.94 | - | - | 2023.19 | - | - | - | - | - | - | - | - | - | 15.14 | - |
| 5189.18 | 404.24 | 11.31 | 493 | 5194.90 | done | 1.77 | - | - | 2559.62 | - | 3.52 | 0.043 | 2126.69 | 416.1 | 112.94 | - | - | 2023.09 | - | - | - | - | - | - | - | - | - | 15.45 | - |
| 5515.35 | 373.97 | 9.14 | 508 | 5521.02 | done | 1.83 | - | - | 2557.81 | - | 4.14 | 0.129 | 661.31 | -354.0 | 112.94 | - | - | 2022.28 | - | - | - | - | - | - | - | - | - | 15.09 | - |
| 5624.22 | 363.64 | 10.91 | 530 | 5631.03 | done | 1.83 | - | - | 2558.94 | - | 3.51 | 0.042 | 2127.06 | 417.6 | 112.94 | - | - | 2022.16 | - | - | - | - | - | - | - | - | - | 15.44 | - |
| 5930.33 | 339.59 | 7.90 | 541 | 5965.78 | 1.92 | 0.31 | 0.063 | 2617.38 | 188.5 | 4.05 | 0.129 | 659.94 | -362.3 | 144.89 | 27.66 | 1.411 | 1908.97 | -4.1 | 0.177 | - | - | - | - | - | - | 15.59 | 15.21 | 11.44 | |
| 6189.31 | 308.51 | 12.81 | 593 | 6194.98 | roll | 1.92 | - | - | 2618.44 | - | 3.51 | 0.042 | 2125.94 | 417.7 | 144.89 | - | - | 1903.25 | - | - | - | - | - | - | - | - | - | 15.45 | - |
| 6500.37 | 273.69 | 11.10 | 605 | 6506.10 | done | 1.92 | - | - | 2617.75 | - | 4.11 | 0.128 | 661.62 | -356.3 | 144.89 | - | - | 1901.41 | - | - | - | - | - | - | - | - | - | 15.10 | - |
| 6549.28 | 267.72 | 14.03 | 615 | 6556.10 | done | 1.92 | - | - | 2618.62 | - | 3.51 | 0.043 | 2126.56 | 417.4 | 144.89 | - | - | 1901.38 | - | - | - | - | - | - | - | - | - | 15.42 | - |
| 6855.43 | 235.14 | 10.51 | 634 | 6861.13 | done | 1.94 | - | - | 2619.25 | - | 4.14 | 0.127 | 660.75 | -354.1 | 144.89 | - | - | 1899.88 | - | - | - | - | - | - | - | - | - | 15.06 | - |
| 6990.87 | 218.34 | 13.08 | 661 | 6996.06 | done | 1.94 | - | - | 2617.81 | - | 3.51 | 0.041 | 2128.94 | 418.3 | 144.89 | - | - | 1900.19 | - | - | - | - | - | - | - | - | - | 15.44 | - |
| 7115.46 | 207.08 | 9.50 | 674 | 7121.17 | done | 1.99 | - | - | 2619.38 | - | 4.12 | 0.123 | 660.31 | -356.5 | 144.89 | - | - | 1900.09 | - | - | - | - | - | - | - | - | - | 15.04 | - |
| 7280.99 | 187.97 | 9.51 | 707 | 7286.10 | done | 2.04 | - | - | 2617.69 | - | 3.52 | 0.041 | 2126.12 | 416.4 | 144.89 | - | - | 1899.22 | - | - | - | - | - | - | - | - | - | 15.41 | - |
| 7405.52 | 176.65 | 8.62 | 720 | 7437.42 | 2.11 | 0.22 | 0.076 | 2663.44 | 208.0 | 4.02 | 0.124 | 660.56 | -364.6 | 169.71 | 22.47 | 1.235 | 1806.59 | -4.1 | 0.106 | - | - | - | - | - | - | 15.55 | 15.25 | 11.35 | |
| 7499.59 | 165.34 | 12.53 | 739 | 7506.38 | roll | 2.11 | - | - | 2662.62 | - | 3.48 | 0.040 | 2129.00 | 422.0 | 169.71 | - | - | 1805.59 | - | - | - | - | - | - | - | - | - | 15.51 | - |
| 7625.69 | 149.87 | 14.07 | 752 | 7631.40 | roll | 2.11 | - | - | 2663.00 | - | 4.08 | 0.124 | 660.75 | -359.9 | 169.71 | - | - | 1801.75 | - | - | - | - | - | - | - | - | - | 15.21 | - |
| 7641.18 | 148.43 | 14.54 | 755 | 7646.32 | roll | 2.11 | - | - | 2663.62 | - | 3.51 | 0.042 | 2129.62 | 418.5 | 169.71 | - | - | 1801.38 | - | - | - | - | - | - | - | - | - | 15.50 | - |
| 7705.68 | 140.05 | 12.22 | 762 | 7711.35 | roll | 2.11 | - | - | 2662.38 | - | 3.61 | 0.106 | 3475.88 | 372.9 | 169.71 | - | - | 1801.31 | - | - | - | - | - | - | - | - | - | 15.25 | - |
| 7750.70 | 134.19 | 12.87 | 771 | 7755.29 | roll | 2.11 | - | - | 2663.06 | - | 3.39 | 0.049 | 2076.25 | -412.9 | 169.71 | - | - | 1802.66 | - | - | - | - | - | - | - | - | - | 15.40 | - |
| 7820.69 | 125.57 | 11.31 | 779 | 7826.40 | roll | 2.11 | - | - | 2663.12 | - | 3.96 | 0.126 | 660.75 | -357.4 | 169.71 | - | - | 1800.12 | - | - | - | - | - | - | - | - | - | 15.15 | - |
| 8039.70 | 95.95 | 13.65 | 823 | 8046.46 | roll | 2.11 | - | - | 2663.25 | - | 3.54 | 0.043 | 2130.56 | 415.2 | 169.71 | - | - | 1801.44 | - | - | - | - | - | - | - | - | - | 15.41 | - |
| 8105.75 | 89.88 | 9.16 | 830 | 8107.07 | no move | 2.17 | - | - | 2663.12 | - | - | - | 2130.19 | - | 169.71 | - | - | 1801.00 | - | - | - | - | - | - | - | - | - | - | - |
| 8165.76 | 84.69 | 8.62 | 836 | 8201.05 | done | 2.24 | - | - | 2663.94 | - | 3.63 | 0.108 | 3475.62 | 370.6 | 194.54 | 29.70 | 1.114 | 1705.84 | -3.2 | 0.044 | - | - | - | - | - | - | - | 15.21 | 11.46 |
| 8239.65 | 77.08 | 11.71 | 851 | 8246.45 | roll | 2.24 | - | - | 2663.88 | - | 3.41 | 0.049 | 2075.25 | -410.7 | 194.54 | - | - | 1704.31 | - | - | - | - | - | - | - | - | - | 15.42 | - |
| 8305.84 | 70.78 | 9.17 | 858 | 8311.49 | roll back | 2.30 | 0.23 | 0.076 | 2705.94 | 182.9 | 3.79 | 0.102 | 3475.19 | 369.4 | 194.54 | - | - | 1702.38 | - | - | - | - | - | - | - | - | 15.46 | 15.29 | - |
| 8464.74 | 56.43 | 7.25 | 890 | 8515.42 | done | 2.42 | - | - | 2706.12 | - | 3.40 | 0.047 | 2078.00 | -410.9 | 232.99 | 43.95 | 1.095 | 1550.06 | -3.5 | 0.032 | - | - | - | - | - | - | - | 15.40 | 11.59 |
| 8580.79 | 48.40 | 8.04 | 907 | 8622.88 | 2.51 | 0.28 | 0.065 | 2759.00 | 188.9 | 3.95 | 0.127 | 660.69 | -358.8 | 263.56 | 35.57 | 1.054 | 1425.91 | -3.5 | 0.029 | - | - | - | - | - | - | 15.41 | 15.02 | 11.54 | |
| 8685.01 | 35.71 | 12.59 | 928 | 8691.86 | roll | 2.51 | - | - | 2758.56 | - | 3.52 | 0.041 | 2131.38 | 417.8 | 263.56 | - | - | 1424.16 | - | - | - | - | - | - | - | - | - | 15.39 | - |
| 8751.12 | 29.60 | 9.16 | 935 | 8756.75 | roll | 2.57 | - | - | 2759.25 | - | 3.60 | 0.103 | 3472.38 | 372.5 | 263.56 | - | - | 1420.38 | - | - | - | - | - | - | - | - | - | 15.22 | - |
| 8790.04 | 25.31 | 10.50 | 943 | 8796.83 | roll | 2.59 | - | - | 2759.50 | - | 3.41 | 0.047 | 2078.12 | -408.9 | 263.56 | - | - | 1421.09 | - | - | - | - | - | - | - | - | - | 15.36 | - |
| 8856.21 | 19.00 | 9.13 | 950 | 8857.53 | no move | 2.65 | - | - | 2758.94 | - | - | - | 2078.00 | - | 263.56 | - | - | 1420.81 | - | - | - | - | - | - | - | - | - | - | - |
| 8916.15 | 14.84 | 6.93 | 956 | 8968.39 | 2.77 | 0.33 | 0.068 | 2825.25 | 200.9 | 3.90 | 0.124 | 659.44 | -363.7 | 305.14 | 44.74 | 1.032 | 1256.44 | -3.7 | 0.010 | - | - | - | - | - | - | 15.48 | 15.08 | 11.50 | |
| 9007.05 | 6.89 | 11.12 | 974 | 9012.25 | roll | 2.77 | - | - | 2824.25 | - | 3.52 | 0.039 | 2129.81 | 417.7 | 305.14 | - | - | 1254.69 | - | - | - | - | - | - | - | - | - | 15.43 | - |
| 9061 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 9061 | begin surface coast | ||||||||||||||||||||||||||||
| 9081 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9081 | begin surface | ||||||||||||||||||||||||||||
| SM | -0.58 | - | - | - | - | 171.5 | 2.21 | 0.332 | 563.4 | 254.9 | 19.09 | 0.087 | 558.9 | 29.3 | - | 0.10 | 0.132 | 567.9 | 5643.8 | 2.535 | - | - | 11.53 | 15.11 | 15.41 | - | |||