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| • Previous call tries 1 | • 317.64 of 575.00 AH used of 24V (44.76% remains) | |
| • Surface angle -60.9 deg, depth -1.58 m | • Intended pitch -25.4 deg, speed -11.111 cm/s | |
| • VBD pumped to 474.96 (SM_CC=475) | ||
| • GPS1 time: 3 s | ||
| • GPS2 time: 3 s | • Transponder ping count: 18 | |
| • 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 | ||||||||||||||||||||||||||||
| 8.49 | - | - | - | 90.31 | VBD | -1.53 | - | - | 170.25 | - | - | - | 2081.69 | - | -85.78 | 81.32 | 0.005 | 2422.56 | - | - | - | - | - | - | - | - | - | - | 14.67 |
| 90.56 | 3.27 | -7.33 | 8 | 126.69 | -1.66 | 14.44 | 0.255 | 1737.12 | 108.5 | 3.82 | 0.112 | 3473.62 | 364.4 | -129.14 | 13.65 | 0.006 | 3026.97 | 44.3 | -4.340 | - | - | - | - | - | - | 14.82 | 14.64 | 14.85 | |
| 203.82 | 27.45 | -18.22 | 31 | 210.63 | roll | -1.66 | - | - | 1736.00 | - | 3.44 | 0.054 | 2081.88 | -404.6 | -129.14 | - | - | 3028.00 | - | - | - | - | - | - | - | - | - | 15.27 | - |
| 269.98 | 38.79 | -17.21 | 38 | 271.31 | no move | -1.66 | - | - | 1736.38 | - | - | - | 2082.31 | - | -129.14 | - | - | 3027.19 | - | - | - | - | - | - | - | - | - | - | - |
| 329.94 | 47.60 | -14.66 | 44 | 331.26 | no move | -1.66 | - | - | 1737.19 | - | - | - | 2082.25 | - | -129.14 | - | - | 3027.03 | - | - | - | - | - | - | - | - | - | - | - |
| 389.94 | 55.52 | -13.14 | 50 | 395.60 | roll | -1.66 | - | - | 1736.06 | - | 3.79 | 0.101 | 3476.00 | 367.7 | -129.14 | - | - | 3027.38 | - | - | - | - | - | - | - | - | - | 15.11 | - |
| 458.87 | 65.22 | -13.93 | 64 | 465.65 | roll | -1.66 | - | - | 1736.75 | - | 3.44 | 0.051 | 2079.94 | -405.8 | -129.14 | - | - | 3027.31 | - | - | - | - | - | - | - | - | - | 15.26 | - |
| 525.00 | 73.94 | -13.01 | 71 | 530.66 | roll | -1.66 | - | - | 1736.94 | - | 4.05 | 0.142 | 663.25 | -349.8 | -129.14 | - | - | 3027.75 | - | - | - | - | - | - | - | - | - | 14.97 | - |
| 570.40 | 80.37 | -15.06 | 80 | 575.63 | roll | -1.66 | - | - | 1735.69 | - | 3.49 | 0.041 | 2123.62 | 418.4 | -129.14 | - | - | 3027.94 | - | - | - | - | - | - | - | - | - | 15.37 | - |
| 635.02 | 88.11 | -11.74 | 87 | 640.62 | roll | -1.66 | - | - | 1735.50 | - | 3.61 | 0.100 | 3476.38 | 374.7 | -129.14 | - | - | 3028.41 | - | - | - | - | - | - | - | - | - | 15.11 | - |
| 663.87 | 91.85 | -12.48 | 93 | 670.65 | roll | -1.66 | - | - | 1736.62 | - | 3.36 | 0.045 | 2077.62 | -416.3 | -129.14 | - | - | 3028.47 | - | - | - | - | - | - | - | - | - | 15.28 | - |
| 730.02 | 99.55 | -12.21 | 100 | 731.35 | no move | -1.66 | - | - | 1736.62 | - | - | - | 2078.06 | - | -129.14 | - | - | 3027.41 | - | - | - | - | - | - | - | - | - | - | - |
| 789.98 | 107.16 | -12.78 | 106 | 795.64 | roll | -1.66 | - | - | 1736.38 | - | 3.78 | 0.099 | 3477.38 | 370.2 | -129.14 | - | - | 3027.41 | - | - | - | - | - | - | - | - | - | 15.10 | - |
| 848.90 | 115.14 | -13.78 | 118 | 855.67 | roll | -1.66 | - | - | 1736.31 | - | 3.38 | 0.047 | 2081.31 | -413.0 | -129.14 | - | - | 3027.59 | - | - | - | - | - | - | - | - | - | 15.26 | - |
| 915.04 | 123.38 | -12.25 | 125 | 916.37 | no move | -1.66 | - | - | 1737.25 | - | - | - | 2081.19 | - | -129.14 | - | - | 3028.09 | - | - | - | - | - | - | - | - | - | - | - |
| 975.01 | 130.84 | -12.26 | 131 | 980.66 | roll | -1.66 | - | - | 1736.69 | - | 3.74 | 0.098 | 3475.06 | 372.7 | -129.14 | - | - | 3026.75 | - | - | - | - | - | - | - | - | - | 15.09 | - |
| 1000.04 | 134.35 | -13.82 | 136 | 1004.59 | roll | -1.66 | - | - | 1736.94 | - | 3.37 | 0.047 | 2078.69 | -414.4 | -129.14 | - | - | 3028.72 | - | - | - | - | - | - | - | - | - | 15.27 | - |
| 1070.00 | 143.18 | -12.61 | 144 | 1071.33 | no move | -1.66 | - | - | 1736.62 | - | - | - | 2079.25 | - | -129.14 | - | - | 3027.53 | - | - | - | - | - | - | - | - | - | - | - |
| 1130.04 | 150.53 | -12.19 | 150 | 1131.38 | no move | -1.66 | - | - | 1737.25 | - | - | - | 2079.12 | - | -129.14 | - | - | 3028.00 | - | - | - | - | - | - | - | - | - | - | - |
| 1250.02 | 165.10 | -12.39 | 162 | 1255.79 | roll | -1.66 | - | - | 1736.62 | - | 4.05 | 0.143 | 661.88 | -349.9 | -129.14 | - | - | 3026.47 | - | - | - | - | - | - | - | - | - | 14.92 | - |
| 1265.47 | 166.70 | -12.40 | 165 | 1270.64 | roll | -1.66 | - | - | 1736.31 | - | 3.48 | 0.041 | 2125.38 | 420.5 | -129.14 | - | - | 3026.69 | - | - | - | - | - | - | - | - | - | 15.37 | - |
| 1390.04 | 181.64 | -11.45 | 178 | 1395.67 | roll | -1.66 | - | - | 1736.06 | - | 3.63 | 0.103 | 3475.50 | 371.9 | -129.14 | - | - | 3026.81 | - | - | - | - | - | - | - | - | - | 15.06 | - |
| 1428.94 | 186.09 | -12.32 | 186 | 1435.71 | roll | -1.66 | - | - | 1736.38 | - | 3.38 | 0.048 | 2081.19 | -412.5 | -129.14 | - | - | 3028.66 | - | - | - | - | - | - | - | - | - | 15.23 | - |
| 1555.06 | 199.57 | -10.02 | 199 | 1556.38 | no move | -1.66 | - | - | 1736.56 | - | - | - | 2081.12 | - | -129.14 | - | - | 3026.94 | - | - | - | - | - | - | - | - | - | - | - |
| 1675.05 | 212.47 | -11.04 | 211 | 1676.38 | no move | -1.66 | - | - | 1736.44 | - | - | - | 2080.88 | - | -129.14 | - | - | 3028.03 | - | - | - | - | - | - | - | - | - | - | - |
| 1795.06 | 225.48 | -10.49 | 223 | 1800.74 | roll | -1.66 | - | - | 1736.75 | - | 3.81 | 0.103 | 3476.31 | 366.3 | -129.14 | - | - | 3028.50 | - | - | - | - | - | - | - | - | - | 15.02 | - |
| 1864.03 | 233.82 | -12.08 | 237 | 1870.77 | roll | -1.66 | - | - | 1736.50 | - | 3.41 | 0.050 | 2080.25 | -409.4 | -129.14 | - | - | 3028.25 | - | - | - | - | - | - | - | - | - | 15.20 | - |
| 1990.08 | 248.21 | -11.26 | 250 | 1991.41 | no move | -1.66 | - | - | 1736.75 | - | - | - | 2080.56 | - | -129.14 | - | - | 3027.41 | - | - | - | - | - | - | - | - | - | - | - |
| 2130.10 | 264.17 | -11.60 | 256 | 2135.76 | roll | -1.66 | - | - | 1735.81 | - | 3.82 | 0.102 | 3475.69 | 365.2 | -129.14 | - | - | 3029.00 | - | - | - | - | - | - | - | - | - | 15.00 | - |
| 2164.00 | 268.71 | -13.20 | 263 | 2169.68 | roll | -1.66 | - | - | 1736.44 | - | 3.39 | 0.049 | 2081.50 | -411.3 | -129.14 | - | - | 3027.53 | - | - | - | - | - | - | - | - | - | 15.19 | - |
| 2485.10 | 306.16 | -12.04 | 277 | 2490.77 | roll | -1.66 | - | - | 1735.62 | - | 3.82 | 0.103 | 3475.88 | 365.0 | -129.14 | - | - | 3029.50 | - | - | - | - | - | - | - | - | - | 14.98 | - |
| 2524.01 | 311.05 | -12.29 | 285 | 2529.72 | roll | -1.66 | - | - | 1736.62 | - | 3.41 | 0.049 | 2080.75 | -409.1 | -129.14 | - | - | 3028.69 | - | - | - | - | - | - | - | - | - | 15.17 | - |
| 2840.15 | 350.48 | -12.42 | 298 | 2845.80 | roll | -1.66 | - | - | 1736.88 | - | 3.84 | 0.104 | 3475.75 | 363.3 | -129.14 | - | - | 3028.06 | - | - | - | - | - | - | - | - | - | 14.96 | - |
| 2865.18 | 353.01 | -12.15 | 303 | 2869.74 | roll | -1.66 | - | - | 1736.69 | - | 3.40 | 0.050 | 2081.12 | -410.2 | -129.14 | - | - | 3028.38 | - | - | - | - | - | - | - | - | - | 15.18 | - |
| 3195.20 | 391.58 | -11.33 | 319 | 3200.83 | roll | -1.66 | - | - | 1737.00 | - | 3.85 | 0.106 | 3473.50 | 361.7 | -129.14 | - | - | 3028.06 | - | - | - | - | - | - | - | - | - | 14.94 | - |
| 3250.16 | 398.20 | -13.60 | 330 | 3254.77 | roll | -1.66 | - | - | 1736.19 | - | 3.43 | 0.052 | 2081.25 | -405.9 | -129.14 | - | - | 3028.19 | - | - | - | - | - | - | - | - | - | 15.15 | - |
| 3580.24 | 433.08 | -10.44 | 346 | 3585.86 | roll | -1.66 | - | - | 1735.69 | - | 3.87 | 0.106 | 3474.94 | 360.1 | -129.14 | - | - | 3028.25 | - | - | - | - | - | - | - | - | - | 14.92 | - |
| 3609.09 | 436.71 | -12.08 | 352 | 3614.80 | roll | -1.66 | - | - | 1737.00 | - | 3.41 | 0.052 | 2083.00 | -408.2 | -129.14 | - | - | 3027.34 | - | - | - | - | - | - | - | - | - | 15.12 | - |
| 3935.23 | 474.36 | -11.69 | 367 | 3940.89 | roll | -1.66 | - | - | 1736.56 | - | 3.86 | 0.109 | 3472.38 | 359.9 | -129.14 | - | - | 3025.78 | - | - | - | - | - | - | - | - | - | 14.90 | - |
| 4024.13 | 485.47 | -13.73 | 385 | 4029.82 | roll | -1.66 | - | - | 1736.75 | - | 3.42 | 0.054 | 2083.00 | -406.3 | -129.14 | - | - | 3027.56 | - | - | - | - | - | - | - | - | - | 15.09 | - |
| 4170 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 4170 | begin apogee | ||||||||||||||||||||||||||||
| 4171.36 | 501.76 | -10.92 | 394 | 4283.89 | -0.25 | 2.79 | 0.147 | 2077.69 | 122.2 | 0.09 | 0.222 | 2083.88 | - | - | 108.24 | 1.633 | 2499.38 | -4.9 | 0.270 | - | - | - | - | - | - | 14.88 | 14.80 | 10.93 | |
| 4286 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 4286 | begin climb | ||||||||||||||||||||||||||||
| 4287.12 | 505.12 | - | 397 | 4409.58 | 1.66 | 3.41 | 0.079 | 2548.19 | 138.0 | - | - | 2084.50 | - | 129.14 | 117.38 | 1.578 | 1971.62 | -4.5 | 0.259 | - | - | - | - | - | - | 15.02 | - | 11.30 | |
| 4705.59 | 469.03 | 10.74 | 421 | 4711.23 | done | 1.66 | - | - | 2545.94 | - | 4.00 | 0.138 | 661.62 | -355.7 | 129.14 | - | - | 1962.75 | - | - | - | - | - | - | - | - | - | 15.13 | - |
| 4769.46 | 460.29 | 15.84 | 434 | 4775.15 | done | 1.66 | - | - | 2546.81 | - | 3.50 | 0.042 | 2126.19 | 418.4 | 129.14 | - | - | 1961.19 | - | - | - | - | - | - | - | - | - | 15.42 | - |
| 5090.57 | 426.07 | 10.95 | 448 | 5096.27 | done | 1.66 | - | - | 2548.19 | - | 4.08 | 0.131 | 662.06 | -358.9 | 129.14 | - | - | 1957.88 | - | - | - | - | - | - | - | - | - | 15.14 | - |
| 5296.05 | 402.13 | 11.55 | 489 | 5301.21 | done | 1.66 | - | - | 2546.06 | - | 3.51 | 0.044 | 2124.19 | 416.6 | 129.14 | - | - | 1958.38 | - | - | - | - | - | - | - | - | - | 15.46 | - |
| 5620.66 | 369.62 | 9.72 | 504 | 5626.32 | done | 1.70 | - | - | 2546.44 | - | 4.14 | 0.129 | 662.06 | -353.2 | 129.14 | - | - | 1958.12 | - | - | - | - | - | - | - | - | - | 15.08 | - |
| 5714.52 | 357.79 | 14.42 | 523 | 5720.22 | done | 1.70 | - | - | 2547.69 | - | 3.49 | 0.042 | 2126.38 | 419.6 | 129.14 | - | - | 1956.91 | - | - | - | - | - | - | - | - | - | 15.44 | - |
| 6035.64 | 326.51 | 9.97 | 537 | 6041.35 | done | 1.74 | - | - | 2547.56 | - | 4.14 | 0.130 | 660.88 | -354.0 | 129.14 | - | - | 1954.62 | - | - | - | - | - | - | - | - | - | 15.03 | - |
| 6214.56 | 305.90 | 9.92 | 573 | 6220.29 | done | 1.77 | - | - | 2548.25 | - | 3.52 | 0.042 | 2126.56 | 416.4 | 129.14 | - | - | 1954.84 | - | - | - | - | - | - | - | - | - | 15.38 | - |
| 6540.72 | 278.59 | 7.67 | 588 | 6581.19 | 1.89 | 0.32 | 0.063 | 2609.75 | 192.2 | 4.07 | 0.130 | 660.19 | -360.3 | 168.57 | 33.72 | 1.376 | 1812.19 | -4.2 | 0.154 | - | - | - | - | - | - | 15.58 | 15.18 | 11.39 | |
| 6734.59 | 253.70 | 11.52 | 627 | 6740.30 | roll | 1.89 | - | - | 2609.12 | - | 3.53 | 0.042 | 2127.56 | 415.7 | 168.57 | - | - | 1808.19 | - | - | - | - | - | - | - | - | - | 15.46 | - |
| 7040.73 | 221.73 | 10.01 | 657 | 7046.44 | roll | 1.92 | - | - | 2609.50 | - | 4.14 | 0.126 | 660.75 | -354.3 | 168.57 | - | - | 1804.19 | - | - | - | - | - | - | - | - | - | 15.11 | - |
| 7126.16 | 210.85 | 11.49 | 674 | 7131.35 | roll | 1.92 | - | - | 2609.94 | - | 3.52 | 0.041 | 2127.81 | 416.8 | 168.57 | - | - | 1803.69 | - | - | - | - | - | - | - | - | - | 15.43 | - |
| 7250.74 | 197.47 | 10.58 | 687 | 7256.46 | done | 1.94 | - | - | 2610.19 | - | 4.14 | 0.124 | 660.62 | -354.4 | 168.57 | - | - | 1803.53 | - | - | - | - | - | - | - | - | - | 15.10 | - |
| 7366.23 | 182.48 | 13.96 | 710 | 7371.36 | done | 1.94 | - | - | 2610.31 | - | 3.50 | 0.041 | 2129.62 | 419.7 | 168.57 | - | - | 1802.88 | - | - | - | - | - | - | - | - | - | 15.42 | - |
| 7490.77 | 169.67 | 9.23 | 723 | 7496.48 | done | 1.99 | - | - | 2609.62 | - | 4.11 | 0.123 | 660.69 | -357.4 | 168.57 | - | - | 1804.16 | - | - | - | - | - | - | - | - | - | 15.07 | - |
| 7559.66 | 160.94 | 12.52 | 737 | 7566.48 | done | 1.99 | - | - | 2609.88 | - | 3.49 | 0.040 | 2128.06 | 420.4 | 168.57 | - | - | 1804.34 | - | - | - | - | - | - | - | - | - | 15.42 | - |
| 7685.79 | 148.74 | 9.05 | 750 | 7717.61 | 2.07 | 0.19 | 0.077 | 2651.69 | 220.1 | 4.04 | 0.125 | 661.50 | -363.0 | 192.21 | 22.94 | 1.192 | 1715.16 | -3.9 | 0.087 | - | - | - | - | - | - | 15.55 | 15.24 | 11.54 | |
| 7749.76 | 140.03 | 14.42 | 763 | 7756.55 | roll | 2.07 | - | - | 2651.44 | - | 3.47 | 0.039 | 2129.25 | 423.0 | 192.21 | - | - | 1713.69 | - | - | - | - | - | - | - | - | - | 15.51 | - |
| 7815.83 | 132.57 | 11.44 | 770 | 7821.54 | roll | 2.07 | - | - | 2650.56 | - | 4.06 | 0.122 | 660.88 | -361.7 | 192.21 | - | - | 1712.22 | - | - | - | - | - | - | - | - | - | 15.25 | - |
| 7881.34 | 124.33 | 13.33 | 783 | 7886.61 | roll | 2.07 | - | - | 2651.88 | - | 3.48 | 0.039 | 2128.06 | 421.6 | 192.21 | - | - | 1710.31 | - | - | - | - | - | - | - | - | - | 15.50 | - |
| 7945.86 | 117.73 | 9.85 | 790 | 7951.49 | roll | 2.10 | - | - | 2649.50 | - | 3.61 | 0.104 | 3475.00 | 373.1 | 192.21 | - | - | 1710.56 | - | - | - | - | - | - | - | - | - | 15.23 | - |
| 7954.78 | 116.62 | 9.46 | 792 | 7961.56 | roll | 2.15 | - | - | 2651.88 | - | 3.37 | 0.045 | 2075.69 | -415.2 | 192.21 | - | - | 1710.25 | - | - | - | - | - | - | - | - | - | 15.41 | - |
| 8020.93 | 110.37 | 9.55 | 799 | 8026.56 | roll | 2.20 | - | - | 2651.06 | - | 3.91 | 0.125 | 660.75 | -361.9 | 192.21 | - | - | 1710.50 | - | - | - | - | - | - | - | - | - | 15.17 | - |
| 8076.31 | 103.20 | 13.45 | 810 | 8081.48 | roll | 2.20 | - | - | 2651.56 | - | 3.46 | 0.038 | 2130.12 | 424.7 | 192.21 | - | - | 1709.97 | - | - | - | - | - | - | - | - | - | 15.48 | - |
| 8140.88 | 96.52 | 10.19 | 817 | 8146.56 | roll back | 2.23 | 0.18 | 0.076 | 2691.69 | 222.9 | 3.59 | 0.104 | 3473.75 | 374.3 | 192.21 | - | - | 1709.28 | - | - | - | - | - | - | - | - | 15.56 | 15.19 | - |
| 8235.89 | 86.15 | 11.68 | 836 | 8240.46 | roll | 2.23 | - | - | 2691.25 | - | 3.38 | 0.047 | 2075.62 | -413.6 | 192.21 | - | - | 1709.75 | - | - | - | - | - | - | - | - | - | 15.35 | - |
| 8305.90 | 78.91 | 9.77 | 844 | 8311.59 | roll | 2.27 | - | - | 2690.88 | - | 3.92 | 0.124 | 661.19 | -360.8 | 192.21 | - | - | 1708.25 | - | - | - | - | - | - | - | - | - | 15.09 | - |
| 8534.84 | 55.05 | 8.30 | 890 | 8576.47 | done | 2.36 | - | - | 2691.50 | - | 3.47 | 0.038 | 2131.25 | 423.6 | 224.41 | 36.90 | 1.102 | 1584.94 | -3.3 | 0.030 | - | - | - | - | - | - | - | 15.42 | 11.54 |
| 8640.93 | 47.52 | 6.86 | 905 | 8703.30 | 2.51 | 0.38 | 0.059 | 2759.62 | 179.3 | 3.59 | 0.104 | 3473.88 | 374.0 | 273.12 | 55.65 | 1.075 | 1385.66 | -3.6 | 0.028 | - | - | - | - | - | - | 15.49 | 15.00 | 11.59 | |
| 8925.47 | 20.45 | 7.96 | 962 | 8972.99 | done | 2.62 | - | - | 2759.00 | - | 3.39 | 0.046 | 2077.94 | -411.8 | 309.27 | 39.45 | 1.029 | 1239.84 | -3.7 | 0.013 | - | - | - | - | - | - | - | 15.34 | 11.52 |
| 9031.57 | 11.61 | 9.67 | 977 | 9037.28 | roll back | 2.66 | 0.17 | 0.085 | 2796.88 | 222.8 | 3.72 | 0.098 | 3476.00 | 375.8 | 309.27 | - | - | 1236.69 | - | - | - | - | - | - | - | - | 15.36 | 15.23 | - |
| 9136 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 9136 | begin surface coast | ||||||||||||||||||||||||||||
| 9156 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9156 | begin surface | ||||||||||||||||||||||||||||
| SM | -0.60 | - | - | - | - | 178.8 | 2.22 | 0.336 | 563.8 | 254.0 | 18.93 | 0.087 | 558.4 | 29.5 | - | 3.36 | 0.046 | 569.1 | 168.3 | 0.224 | - | - | 11.62 | 15.08 | 15.41 | - | |||