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| • Previous call tries 2 | • 49.05 of 575.00 AH used of 24V (91.47% remains) | |
| • Surface angle -70.6 deg, depth -4.96 m | • Intended pitch -17.4 deg, speed -9.524 cm/s | |
| • No surface pump (final VBD was 347.1, SM_CC=511.6958) | ||
| • GPS1 time: 150 s | ||
| • GPS2 time: 2 s | • Transponder ping count: 57 | |
| • 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 | |||||
| 3 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 3 | begin dive | ||||||||||||||||||||||||||||
| 4.58 | - | - | - | 77.14 | VBD | -0.92 | - | - | 146.19 | - | - | - | 2347.75 | - | -145.99 | 72.04 | 0.005 | 2031.41 | - | - | - | - | - | - | - | - | - | - | 15.57 |
| 77.37 | 3.23 | -15.87 | 7 | 114.26 | -0.92 | 8.06 | 0.407 | 1839.19 | 210.0 | 3.44 | 0.053 | 3569.88 | 355.3 | -145.99 | 22.32 | 0.006 | 3232.06 | 53.8 | -4.889 | - | - | - | - | - | - | 15.39 | 15.57 | 15.57 | |
| 336.15 | 77.97 | -21.36 | 59 | 342.22 | roll back | -0.59 | 0.40 | 0.259 | 1961.12 | 304.8 | 3.59 | 0.015 | 2231.75 | -372.7 | -145.99 | - | - | 3233.38 | - | - | - | - | - | - | - | - | 15.63 | 15.74 | - |
| 521.40 | 102.09 | -11.69 | 78 | 527.02 | roll | -0.55 | - | - | 1946.94 | - | 3.84 | 0.053 | 3567.00 | 347.7 | -145.99 | - | - | 3233.44 | - | - | - | - | - | - | - | - | - | 15.67 | - |
| 556.45 | 106.38 | -12.20 | 85 | 562.22 | roll back | -0.51 | 0.09 | 0.238 | 1989.50 | 472.9 | 3.57 | 0.013 | 2233.06 | -373.7 | -145.99 | - | - | 3233.38 | - | - | - | - | - | - | - | - | 15.69 | 15.78 | - |
| 741.51 | 125.96 | -10.22 | 104 | 742.85 | no move | -0.51 | - | - | 1989.69 | - | - | - | 2210.56 | - | -145.99 | - | - | 3231.53 | - | - | - | - | - | - | - | - | - | - | - |
| 921.42 | 144.13 | -10.02 | 122 | 922.76 | no move | -0.55 | - | - | 1990.06 | - | - | - | 2209.88 | - | -145.99 | - | - | 3231.50 | - | - | - | - | - | - | - | - | - | - | - |
| 1101.43 | 161.53 | -9.49 | 140 | 1107.38 | roll back | -0.62 | 0.14 | 0.116 | 1918.81 | -508.9 | 3.82 | 0.053 | 3567.50 | 355.4 | -145.99 | - | - | 3233.91 | - | - | - | - | - | - | - | - | 15.82 | 15.79 | - |
| 1131.44 | 164.91 | -10.63 | 146 | 1137.33 | roll back | -0.62 | 0.08 | 0.254 | 1955.69 | 461.0 | 3.56 | 0.014 | 2231.12 | -375.4 | -145.99 | - | - | 3232.53 | - | - | - | - | - | - | - | - | 15.76 | 15.86 | - |
| 1321.58 | 184.34 | -9.77 | 166 | 1322.92 | no move | -0.62 | - | - | 1955.94 | - | - | - | 2207.38 | - | -145.99 | - | - | 3231.41 | - | - | - | - | - | - | - | - | - | - | - |
| 1501.57 | 201.03 | -9.04 | 184 | 1507.38 | roll | -0.67 | - | - | 1941.00 | - | 3.82 | 0.053 | 3568.00 | 356.2 | -145.99 | - | - | 3233.03 | - | - | - | - | - | - | - | - | - | 15.79 | - |
| 1731.53 | 221.07 | -8.58 | 230 | 1737.38 | roll | -0.75 | - | - | 1954.00 | - | 3.55 | 0.013 | 2237.56 | -374.8 | -145.99 | - | - | 3232.12 | - | - | - | - | - | - | - | - | - | 15.92 | - |
| 1921.66 | 234.91 | -7.18 | 250 | 1927.23 | roll back | -0.84 | 0.24 | 0.098 | 1874.94 | -329.4 | 3.47 | 0.046 | 987.62 | -360.2 | -145.99 | - | - | 3232.00 | - | - | - | - | - | - | - | - | 15.90 | 15.82 | - |
| 2041.71 | 246.80 | -10.25 | 274 | 2047.27 | roll back | -0.76 | 0.17 | 0.235 | 1908.81 | 199.2 | 3.62 | 0.021 | 2307.50 | 364.6 | -145.99 | - | - | 3233.28 | - | - | - | - | - | - | - | - | 15.79 | 15.82 | - |
| 2231.66 | 262.06 | -7.87 | 284 | 2232.99 | no move | -0.79 | - | - | 1909.12 | - | - | - | 2308.06 | - | -145.99 | - | - | 3231.44 | - | - | - | - | - | - | - | - | - | - | - |
| 2531.78 | 284.49 | -7.51 | 294 | 2533.11 | no move | -0.84 | - | - | 1909.56 | - | - | - | 2307.75 | - | -145.99 | - | - | 3230.38 | - | - | - | - | - | - | - | - | - | - | - |
| 2831.75 | 306.72 | -7.33 | 304 | 2837.33 | roll back | -0.89 | 0.16 | 0.107 | 1863.44 | -288.2 | 3.74 | 0.045 | 989.31 | -352.5 | -145.99 | - | - | 3231.59 | - | - | - | - | - | - | - | - | 15.94 | 15.95 | - |
| 2861.76 | 309.56 | -7.42 | 310 | 2867.26 | roll | -0.86 | - | - | 1848.75 | - | 3.61 | 0.021 | 2309.12 | 365.6 | -145.99 | - | - | 3231.34 | - | - | - | - | - | - | - | - | - | 15.88 | - |
| 3191.70 | 340.51 | -9.28 | 326 | 3197.37 | roll back | -0.81 | 0.17 | 0.241 | 1910.38 | 362.5 | 3.73 | 0.045 | 988.75 | -354.0 | -145.99 | - | - | 3232.25 | - | - | - | - | - | - | - | - | 15.88 | 15.96 | - |
| 3421.60 | 358.89 | -7.79 | 372 | 3427.36 | roll | -0.84 | - | - | 1896.31 | - | 3.61 | 0.021 | 2308.62 | 365.6 | -145.99 | - | - | 3231.59 | - | - | - | - | - | - | - | - | - | 15.85 | - |
| 3731.86 | 381.27 | -7.05 | 384 | 3737.34 | roll | -0.88 | - | - | 1880.50 | - | 3.48 | 0.056 | 3566.50 | 361.5 | -145.99 | - | - | 3231.72 | - | - | - | - | - | - | - | - | - | 15.98 | - |
| 3956.94 | 399.08 | -8.01 | 429 | 3962.42 | roll | -0.88 | - | - | 1891.50 | - | 3.53 | 0.013 | 2234.81 | -377.2 | -145.99 | - | - | 3231.06 | - | - | - | - | - | - | - | - | - | 16.00 | - |
| 4271.88 | 421.11 | -6.91 | 442 | 4277.54 | roll back | -0.93 | 0.14 | 0.112 | 1817.69 | -527.2 | 3.77 | 0.053 | 3569.25 | 354.0 | -145.99 | - | - | 3230.97 | - | - | - | - | - | - | - | - | 15.97 | 15.99 | - |
| 4302.07 | 423.84 | -7.09 | 448 | 4307.52 | roll back | -0.88 | 0.14 | 0.251 | 1872.31 | 390.1 | 3.53 | 0.014 | 2222.25 | -381.6 | -145.99 | - | - | 3232.72 | - | - | - | - | - | - | - | - | 15.91 | 16.01 | - |
| 4632.10 | 448.90 | -7.44 | 464 | 4637.53 | roll | -0.88 | - | - | 1856.69 | - | 3.81 | 0.054 | 3566.25 | 352.8 | -145.99 | - | - | 3232.16 | - | - | - | - | - | - | - | - | - | 16.00 | - |
| 4646.72 | 450.07 | -7.39 | 467 | 4652.75 | roll | -0.88 | - | - | 1871.25 | - | 3.53 | 0.014 | 2236.25 | -376.8 | -145.99 | - | - | 3231.19 | - | - | - | - | - | - | - | - | - | 16.02 | - |
| 4962.06 | 473.82 | -7.49 | 480 | 4967.80 | roll | -0.88 | - | - | 1855.75 | - | 3.77 | 0.053 | 3568.31 | 353.3 | -145.99 | - | - | 3231.00 | - | - | - | - | - | - | - | - | - | 16.01 | - |
| 4992.05 | 476.28 | -7.55 | 486 | 4997.51 | roll | -0.88 | - | - | 1868.50 | - | 3.53 | 0.014 | 2236.69 | -377.2 | -145.99 | - | - | 3233.16 | - | - | - | - | - | - | - | - | - | 16.03 | - |
| 5321.99 | 500.93 | -7.42 | 502 | 5327.59 | roll | -0.88 | - | - | 1854.12 | - | 3.77 | 0.054 | 3567.31 | 352.9 | -145.99 | - | - | 3231.12 | - | - | - | - | - | - | - | - | - | 16.04 | - |
| 5356.81 | 503.87 | -7.38 | 509 | 5362.84 | roll | -0.88 | - | - | 1867.81 | - | 3.52 | 0.013 | 2236.06 | -378.2 | -145.99 | - | - | 3232.12 | - | - | - | - | - | - | - | - | - | 16.03 | - |
| 5682.12 | 527.70 | -7.30 | 524 | 5687.64 | roll | -0.88 | - | - | 1852.62 | - | 3.76 | 0.052 | 3567.75 | 354.2 | -145.99 | - | - | 3230.91 | - | - | - | - | - | - | - | - | - | 16.04 | - |
| 5696.84 | 528.95 | -7.38 | 527 | 5702.86 | roll | -0.88 | - | - | 1866.31 | - | 3.52 | 0.014 | 2236.25 | -378.3 | -145.99 | - | - | 3232.16 | - | - | - | - | - | - | - | - | - | 16.03 | - |
| 6012.08 | 552.21 | -7.35 | 540 | 6017.94 | roll | -0.88 | - | - | 1852.25 | - | 3.76 | 0.052 | 3568.12 | 354.2 | -145.99 | - | - | 3231.38 | - | - | - | - | - | - | - | - | - | 16.04 | - |
| 6046.89 | 555.09 | -7.40 | 547 | 6052.91 | roll | -0.88 | - | - | 1865.62 | - | 3.52 | 0.013 | 2236.44 | -378.3 | -145.99 | - | - | 3233.12 | - | - | - | - | - | - | - | - | - | 16.04 | - |
| 6372.24 | 579.63 | -7.52 | 562 | 6377.73 | roll | -0.88 | - | - | 1849.94 | - | 3.76 | 0.052 | 3568.06 | 354.2 | -145.99 | - | - | 3231.62 | - | - | - | - | - | - | - | - | - | 16.04 | - |
| 6386.93 | 580.92 | -7.54 | 565 | 6392.95 | roll | -0.88 | - | - | 1863.12 | - | 3.52 | 0.013 | 2234.12 | -379.0 | -145.99 | - | - | 3232.47 | - | - | - | - | - | - | - | - | - | 16.05 | - |
| 6671 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 6672 | begin apogee | ||||||||||||||||||||||||||||
| 6673.30 | 602.20 | -7.42 | 577 | 6784.87 | -0.14 | 0.81 | 0.206 | 2108.38 | 302.8 | 0.22 | 0.075 | 2170.25 | -290.3 | - | 109.79 | 2.037 | 2632.78 | -5.5 | 0.273 | - | - | - | - | - | - | 15.96 | 15.31 | 12.80 | |
| 6785 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6785 | begin climb | ||||||||||||||||||||||||||||
| 6785.99 | 603.61 | - | 580 | 6908.25 | 0.92 | 1.09 | 0.135 | 2466.81 | 328.8 | 3.54 | 0.052 | 961.62 | -341.4 | 145.99 | 115.75 | 1.954 | 2038.53 | -5.1 | 0.268 | - | - | - | - | - | - | 15.35 | 14.98 | 12.50 | |
| 7130.39 | 569.16 | 11.44 | 639 | 7136.20 | done | 0.92 | - | - | 2462.00 | - | 3.71 | 0.020 | 2275.38 | 354.1 | 145.99 | - | - | 2027.31 | - | - | - | - | - | - | - | - | - | 15.45 | - |
| 7445.49 | 533.60 | 11.32 | 652 | 7451.25 | 0.88 | 0.14 | 0.239 | 2406.94 | -393.3 | 3.57 | 0.054 | 3536.06 | 353.1 | 145.99 | - | - | 2025.34 | - | - | - | - | - | - | - | - | 15.55 | 15.63 | - | |
| 7675.22 | 509.99 | 10.14 | 698 | 7681.43 | done | 0.88 | - | - | 2421.75 | - | 3.60 | 0.014 | 2212.00 | -367.8 | 145.99 | - | - | 2022.88 | - | - | - | - | - | - | - | - | - | 15.72 | - |
| 7985.42 | 479.80 | 9.77 | 710 | 7991.34 | done | 0.88 | - | - | 2409.75 | - | 3.80 | 0.052 | 3538.31 | 349.0 | 145.99 | - | - | 2022.06 | - | - | - | - | - | - | - | - | - | 15.79 | - |
| 8055.53 | 472.52 | 10.24 | 724 | 8061.30 | done | 0.88 | - | - | 2422.81 | - | 3.58 | 0.014 | 2213.94 | -369.9 | 145.99 | - | - | 2021.94 | - | - | - | - | - | - | - | - | - | 15.81 | - |
| 8375.47 | 441.22 | 9.82 | 738 | 8376.81 | VBD | 0.88 | - | - | 2423.62 | - | - | - | 2202.81 | - | 145.99 | - | - | 2020.19 | - | - | - | - | - | - | - | - | - | - | - |
| 8675.67 | 411.95 | 9.78 | 748 | 8677.00 | VBD | 0.88 | - | - | 2423.12 | - | - | - | 2202.94 | - | 145.99 | - | - | 2019.81 | - | - | - | - | - | - | - | - | - | - | - |
| 8975.54 | 383.17 | 9.44 | 758 | 8981.41 | done | 0.88 | - | - | 2411.00 | - | 3.77 | 0.051 | 3538.94 | 354.4 | 147.88 | - | - | 2021.44 | - | - | - | - | - | - | - | - | - | 15.91 | - |
| 9030.60 | 377.66 | 10.17 | 769 | 9036.40 | done | 0.88 | - | - | 2426.00 | - | 3.56 | 0.014 | 2213.00 | -372.5 | 147.88 | - | - | 2019.00 | - | - | - | - | - | - | - | - | - | 15.94 | - |
| 9335.52 | 349.20 | 9.31 | 780 | 9336.86 | no move | 0.90 | - | - | 2425.62 | - | - | - | 2204.38 | - | 152.76 | - | - | 2018.53 | - | - | - | - | - | - | - | - | - | - | - |
| 9635.74 | 321.76 | 9.10 | 790 | 9648.38 | VBD | 0.92 | - | - | 2426.56 | - | - | - | 2203.12 | - | 162.29 | 11.86 | 1.486 | 1972.12 | -3.9 | 0.143 | - | - | - | - | - | - | - | - | 12.82 |
| 9935.83 | 294.85 | 8.93 | 800 | 9949.58 | 1.01 | 0.14 | 0.103 | 2488.56 | 442.9 | - | - | 2192.75 | - | 175.51 | 12.85 | 1.462 | 1918.66 | -4.2 | 0.142 | - | - | - | - | - | - | 15.88 | - | 12.77 | |
| 10235.69 | 262.82 | 10.63 | 810 | 10241.49 | roll | 0.98 | - | - | 2486.31 | - | 3.79 | 0.052 | 3539.25 | 355.3 | 175.51 | - | - | 1916.69 | - | - | - | - | - | - | - | - | - | 15.88 | - |
| 10290.72 | 256.38 | 11.67 | 821 | 10296.50 | roll back | 0.90 | 0.25 | 0.224 | 2430.25 | -224.2 | 3.56 | 0.014 | 2210.56 | -373.2 | 175.51 | - | - | 1916.00 | - | - | - | - | - | - | - | - | 15.80 | 15.92 | - |
| 10596.16 | 232.58 | 7.34 | 846 | 10637.17 | 1.14 | 0.25 | 0.088 | 2532.00 | 407.0 | - | - | 2187.75 | - | 224.38 | 39.31 | 1.522 | 1720.78 | -5.0 | 0.128 | - | - | - | - | - | - | 15.84 | - | 12.83 | |
| 10816.24 | 209.28 | 10.48 | 868 | 10817.58 | no move | 1.14 | - | - | 2531.06 | - | - | - | 2187.19 | - | 224.38 | - | - | 1713.06 | - | - | - | - | - | - | - | - | - | - | - |
| 10996.30 | 193.14 | 8.45 | 886 | 11022.22 | done | 1.21 | - | - | 2526.94 | - | 3.86 | 0.054 | 3538.56 | 350.1 | 248.41 | 19.43 | 1.411 | 1622.69 | -4.7 | 0.107 | - | - | - | - | - | - | - | 15.58 | 12.67 |
| 11070.97 | 186.73 | 8.77 | 901 | 11092.15 | done | 1.26 | - | - | 2543.31 | - | 3.61 | 0.014 | 2205.75 | -369.2 | 265.37 | 15.36 | 1.342 | 1554.03 | -4.5 | 0.105 | - | - | - | - | - | - | - | 15.68 | 12.63 |
| 11276.14 | 169.45 | 8.29 | 924 | 11304.59 | 1.40 | 0.16 | 0.100 | 2626.00 | 516.8 | 3.58 | 0.050 | 958.94 | -348.3 | 292.90 | 22.69 | 1.388 | 1440.81 | -5.0 | 0.103 | - | - | - | - | - | - | 15.63 | 15.48 | 12.58 | |
| 11366.49 | 159.80 | 11.07 | 942 | 11372.46 | roll back | 1.37 | 0.12 | 0.241 | 2578.25 | -397.9 | 3.69 | 0.020 | 2283.75 | 359.0 | 292.90 | - | - | 1439.25 | - | - | - | - | - | - | - | - | 15.52 | 15.59 | - |
| 11551.58 | 142.88 | 8.95 | 961 | 11563.87 | VBD | 1.44 | - | - | 2577.19 | - | - | - | 2284.06 | - | 305.82 | 11.83 | 1.268 | 1389.47 | -4.2 | 0.080 | - | - | - | - | - | - | - | - | 12.67 |
| 11741.65 | 126.38 | 8.58 | 980 | 11767.78 | 1.56 | 0.22 | 0.091 | 2680.88 | 471.3 | 3.87 | 0.049 | 959.12 | -342.4 | 326.90 | 18.34 | 1.332 | 1302.62 | -4.7 | 0.076 | - | - | - | - | - | - | 15.63 | 15.52 | 12.52 | |
| 11806.50 | 118.70 | 12.43 | 993 | 11812.53 | roll back | 1.50 | 0.17 | 0.240 | 2621.62 | -348.6 | 3.69 | 0.020 | 2285.12 | 359.3 | 326.90 | - | - | 1300.72 | - | - | - | - | - | - | - | - | 15.52 | 15.58 | - |
| 11991.81 | 100.12 | 9.37 | 1012 | 11997.33 | VBD | 1.54 | - | - | 2619.94 | - | - | - | 2285.44 | - | 330.31 | 4.59 | 0.765 | 1289.31 | -2.5 | 0.055 | - | - | - | - | - | - | - | - | 12.65 |
| 12171.83 | 84.31 | 8.43 | 1030 | 12194.28 | 1.67 | 0.19 | 0.096 | 2696.12 | 400.9 | - | - | 2285.88 | - | 354.77 | 21.12 | 1.321 | 1190.16 | -4.7 | 0.051 | - | - | - | - | - | - | 15.64 | - | 12.58 | |
| 12371.75 | 63.56 | 10.15 | 1050 | 12377.36 | roll | 1.67 | - | - | 2714.12 | - | 3.85 | 0.048 | 960.50 | -344.3 | 354.77 | - | - | 1185.88 | - | - | - | - | - | - | - | - | - | 15.62 | - |
| 12446.62 | 56.14 | 9.80 | 1065 | 12452.87 | roll back | 1.63 | 0.12 | 0.235 | 2664.94 | -409.8 | 3.68 | 0.020 | 2285.88 | 360.2 | 354.77 | - | - | 1184.75 | - | - | - | - | - | - | - | - | 15.58 | 15.64 | - |
| 12631.95 | 43.30 | 6.21 | 1084 | 12695.11 | 1.94 | 0.32 | 0.083 | 2775.38 | 345.1 | 3.57 | 0.055 | 3536.88 | 350.4 | 429.01 | 57.66 | 1.306 | 886.91 | -5.2 | 0.029 | - | - | - | - | - | - | 15.65 | 15.40 | 12.55 | |
| 12807.39 | 26.98 | 8.88 | 1119 | 12825.28 | done | 1.94 | - | - | 2790.69 | - | 3.63 | 0.014 | 2203.00 | -367.5 | 443.36 | 12.94 | 1.154 | 829.03 | -4.5 | 0.018 | - | - | - | - | - | - | - | 15.55 | 12.47 |
| 13002.18 | 16.74 | 3.94 | 1140 | 13064.31 | 2.42 | 0.39 | 0.084 | 2953.25 | 416.8 | 3.61 | 0.052 | 961.19 | -344.0 | 568.47 | 54.57 | 1.246 | 549.56 | -5.1 | 0.012 | - | - | - | - | - | - | 15.58 | 15.34 | 12.57 | |
| 13142.25 | 7.71 | 7.68 | 1168 | 13148.13 | 2.38 | 0.12 | 0.259 | 2905.62 | -396.9 | 3.69 | 0.018 | 2289.38 | 359.9 | 609.67 | - | - | 544.69 | - | - | - | - | - | - | - | - | 15.39 | 15.49 | - | |
| 13222 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 13222 | begin surface coast | ||||||||||||||||||||||||||||
| 13242 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 13242 | begin surface | ||||||||||||||||||||||||||||
| SM | 2.97 | - | - | - | - | 146.9 | - | - | 543.8 | - | 8.64 | 0.129 | 740.4 | 85.7 | - | 0.12 | 0.051 | 347.1 | 2861.8 | -17.033 | - | - | 30.00 | 15.47 | 15.57 | - | |||