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| • Previous call tries 4 | • 169.45 of 310.00 AH used of 24V (45.34% remains) | |
| • Surface angle -63.4 deg, depth 1.38 m | • Intended pitch -19.3 deg, speed -10.000 cm/s | |
| • VBD pumped to 325.40 (SM_CC=325) | ||
| • GPS1 time: 63 s | ||
| • GPS2 time: 5 s, HDOP was 2.1 m | • Transponder ping count: 0 | |
| • 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 | |||||
| 17 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 17 | begin dive | ||||||||||||||||||||||||||||
| 18.81 | - | - | - | 77.99 | VBD | -0.67 | - | - | 84.94 | - | - | - | 2654.56 | - | -145.99 | 54.50 | 0.005 | 2674.06 | - | - | - | - | - | - | - | - | - | - | 14.74 |
| 78.42 | 2.37 | -1.78 | 11 | 131.72 | -0.67 | 8.80 | 0.341 | 2033.62 | 221.4 | 2.55 | 0.028 | 1295.19 | -533.1 | -145.99 | 28.29 | 0.006 | 3563.25 | 31.4 | -2.186 | - | - | - | - | - | - | 14.54 | 14.89 | 14.99 | |
| 264.32 | 27.99 | -12.30 | 47 | 272.04 | roll | -0.67 | - | - | 2024.44 | - | 2.90 | 0.045 | 2779.25 | 511.7 | -145.99 | - | - | 3566.03 | - | - | - | - | - | - | - | - | - | 15.58 | - |
| 454.43 | 55.07 | -15.10 | 85 | 459.35 | no move | -0.67 | - | - | 2023.69 | - | - | - | 2779.06 | - | -145.99 | - | - | 3566.22 | - | - | - | - | - | - | - | - | - | - | - |
| 644.45 | 81.82 | -12.10 | 123 | 652.20 | roll | -0.67 | - | - | 2023.38 | - | 2.75 | 0.024 | 1296.81 | -539.0 | -145.99 | - | - | 3566.81 | - | - | - | - | - | - | - | - | - | 15.66 | - |
| 700.63 | 88.16 | -11.09 | 134 | 708.58 | roll | -0.67 | - | - | 2012.38 | - | 2.90 | 0.045 | 2777.44 | 510.6 | -145.99 | - | - | 3565.50 | - | - | - | - | - | - | - | - | - | 15.47 | - |
| 895.96 | 114.15 | -15.14 | 163 | 902.96 | roll | -0.67 | - | - | 2004.38 | - | 1.67 | 0.066 | 3852.50 | 643.7 | -145.99 | - | - | 3566.19 | - | - | - | - | - | - | - | - | - | 15.71 | - |
| 935.98 | 120.92 | -17.16 | 171 | 942.61 | roll | -0.67 | - | - | 2005.56 | - | 1.68 | 0.017 | 2642.94 | -720.0 | -145.99 | - | - | 3566.69 | - | - | - | - | - | - | - | - | - | 15.69 | - |
| 1246.01 | 167.31 | -14.29 | 203 | 1249.27 | no move | -0.67 | - | - | 2005.44 | - | - | - | 2636.38 | - | -145.99 | - | - | 3565.12 | - | - | - | - | - | - | - | - | - | - | - |
| 1556.03 | 210.85 | -13.88 | 234 | 1557.78 | no move | -0.67 | - | - | 2004.88 | - | - | - | 2636.62 | - | -145.99 | - | - | 3565.94 | - | - | - | - | - | - | - | - | - | - | - |
| 1866.06 | 253.21 | -13.59 | 265 | 1872.06 | roll | -0.67 | - | - | 1996.38 | - | 1.95 | 0.066 | 3851.69 | 623.1 | -145.99 | - | - | 3566.34 | - | - | - | - | - | - | - | - | - | 15.69 | - |
| 1930.81 | 262.58 | -14.54 | 278 | 1937.01 | roll back | -0.67 | 0.14 | 0.216 | 2038.56 | 301.3 | 1.66 | 0.018 | 2636.75 | -731.9 | -145.99 | - | - | 3566.06 | - | - | - | - | - | - | - | - | 15.60 | 15.94 | - |
| 2246.12 | 297.73 | -10.82 | 310 | 2247.92 | no move | -0.67 | - | - | 2037.94 | - | - | - | 2629.94 | - | -145.99 | - | - | 3565.56 | - | - | - | - | - | - | - | - | - | - | - |
| 2556.15 | 328.33 | -9.00 | 341 | 2562.84 | roll | -0.67 | - | - | 2037.00 | - | 2.49 | 0.025 | 1294.94 | -536.1 | -145.99 | - | - | 3566.62 | - | - | - | - | - | - | - | - | - | 15.83 | - |
| 2580.90 | 330.58 | -8.99 | 346 | 2588.47 | roll | -0.67 | - | - | 2029.56 | - | 2.86 | 0.044 | 2779.25 | 519.0 | -145.99 | - | - | 3566.22 | - | - | - | - | - | - | - | - | - | 15.86 | - |
| 2896.17 | 360.37 | -10.17 | 378 | 2902.07 | roll | -0.67 | - | - | 2022.38 | - | 1.66 | 0.068 | 3852.25 | 646.4 | -145.99 | - | - | 3565.09 | - | - | - | - | - | - | - | - | - | 15.86 | - |
| 2920.92 | 363.02 | -10.43 | 383 | 2927.01 | roll | -0.67 | - | - | 2021.94 | - | 1.67 | 0.020 | 2633.31 | -729.9 | -145.99 | - | - | 3564.91 | - | - | - | - | - | - | - | - | - | 15.97 | - |
| 3236.21 | 396.77 | -10.90 | 415 | 3242.91 | roll | -0.67 | - | - | 2020.94 | - | 2.47 | 0.025 | 1295.56 | -541.6 | -145.99 | - | - | 3565.03 | - | - | - | - | - | - | - | - | - | 15.97 | - |
| 3256.22 | 398.99 | -10.91 | 419 | 3263.33 | roll | -0.67 | - | - | 2011.81 | - | 2.87 | 0.045 | 2777.94 | 516.5 | -145.99 | - | - | 3564.59 | - | - | - | - | - | - | - | - | - | 15.75 | - |
| 3566.23 | 437.47 | -12.99 | 451 | 3573.24 | roll | -0.67 | - | - | 2010.94 | - | 2.73 | 0.025 | 1298.75 | -541.8 | -145.99 | - | - | 3564.44 | - | - | - | - | - | - | - | - | - | 15.86 | - |
| 3590.99 | 440.66 | -12.87 | 456 | 3598.52 | roll | -0.67 | - | - | 1998.56 | - | 2.88 | 0.045 | 2780.00 | 514.3 | -145.99 | - | - | 3564.56 | - | - | - | - | - | - | - | - | - | 15.78 | - |
| 3906.26 | 483.66 | -13.38 | 488 | 3908.30 | pitch | -0.67 | 0.14 | 0.232 | 2038.12 | 282.6 | - | - | 2780.38 | - | -145.99 | - | - | 3562.19 | - | - | - | - | - | - | - | - | 15.48 | - | - |
| 4216.29 | 516.39 | -10.11 | 519 | 4223.24 | roll | -0.67 | - | - | 2038.25 | - | 2.72 | 0.025 | 1298.25 | -544.9 | -145.99 | - | - | 3561.97 | - | - | - | - | - | - | - | - | - | 15.78 | - |
| 4251.04 | 519.84 | -9.96 | 526 | 4258.58 | roll | -0.67 | - | - | 2027.50 | - | 2.88 | 0.045 | 2776.56 | 513.3 | -145.99 | - | - | 3564.06 | - | - | - | - | - | - | - | - | - | 15.78 | - |
| 4566.33 | 551.68 | -9.77 | 558 | 4573.28 | roll | -0.67 | - | - | 2028.88 | - | 2.73 | 0.025 | 1298.75 | -541.3 | -145.99 | - | - | 3562.19 | - | - | - | - | - | - | - | - | - | 15.83 | - |
| 4611.08 | 555.92 | -9.40 | 567 | 4618.69 | roll | -0.67 | - | - | 2019.38 | - | 2.88 | 0.044 | 2779.75 | 514.2 | -145.99 | - | - | 3561.50 | - | - | - | - | - | - | - | - | - | 15.74 | - |
| 4926.35 | 587.10 | -9.76 | 599 | 4933.33 | roll | -0.67 | - | - | 2016.62 | - | 2.74 | 0.025 | 1297.19 | -541.1 | -145.99 | - | - | 3562.56 | - | - | - | - | - | - | - | - | - | 15.83 | - |
| 4971.11 | 591.40 | -9.52 | 608 | 4978.65 | roll | -0.67 | - | - | 2007.12 | - | 2.89 | 0.044 | 2777.19 | 512.1 | -145.99 | - | - | 3560.81 | - | - | - | - | - | - | - | - | - | 15.76 | - |
| 5286.38 | 624.98 | -10.86 | 640 | 5288.17 | no move | -0.67 | - | - | 2006.81 | - | - | - | 2777.62 | - | -145.99 | - | - | 3559.31 | - | - | - | - | - | - | - | - | - | - | - |
| 5596.41 | 659.82 | -11.12 | 671 | 5603.35 | roll | -0.67 | - | - | 2006.69 | - | 2.72 | 0.025 | 1297.06 | -544.3 | -145.99 | - | - | 3560.28 | - | - | - | - | - | - | - | - | - | 15.84 | - |
| 5626.42 | 663.19 | -11.15 | 677 | 5633.44 | roll | -0.67 | - | - | 1995.50 | - | 2.87 | 0.045 | 2778.38 | 516.1 | -145.99 | - | - | 3559.94 | - | - | - | - | - | - | - | - | - | 15.66 | - |
| 5936.45 | 700.28 | -11.93 | 709 | 5943.64 | roll back | -0.67 | 0.14 | 0.220 | 2037.88 | 302.7 | 2.73 | 0.025 | 1295.56 | -543.2 | -145.99 | - | - | 3559.09 | - | - | - | - | - | - | - | - | 15.58 | 15.61 | - |
| 5976.46 | 704.13 | -9.62 | 717 | 5983.48 | roll | -0.67 | - | - | 2029.38 | - | 2.88 | 0.045 | 2778.38 | 514.9 | -145.99 | - | - | 3559.03 | - | - | - | - | - | - | - | - | - | 15.78 | - |
| 6286.48 | 732.40 | -9.05 | 749 | 6293.44 | roll | -0.67 | - | - | 2030.12 | - | 2.72 | 0.025 | 1295.38 | -545.2 | -145.99 | - | - | 3557.81 | - | - | - | - | - | - | - | - | - | 15.68 | - |
| 6316.49 | 735.15 | -9.07 | 755 | 6323.51 | roll | -0.67 | - | - | 2019.62 | - | 2.87 | 0.044 | 2776.62 | 516.1 | -145.99 | - | - | 3558.16 | - | - | - | - | - | - | - | - | - | 15.72 | - |
| 6476 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 6476 | begin apogee | ||||||||||||||||||||||||||||
| 6478.95 | 750.56 | -9.77 | 772 | 6620.26 | -0.12 | 0.64 | 0.173 | 2210.94 | 298.9 | 0.23 | 0.098 | 2440.75 | -1460.3 | - | 130.11 | 2.002 | 2965.88 | -4.6 | 0.301 | - | - | - | - | - | - | 15.55 | 14.82 | 10.21 | |
| 6622 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6622 | begin climb | ||||||||||||||||||||||||||||
| 6622.88 | 755.03 | - | 785 | 6773.47 | 0.67 | 0.80 | 0.095 | 2488.38 | 346.8 | 3.06 | 0.033 | 953.06 | -486.2 | 145.99 | 132.28 | 1.946 | 2370.97 | -4.5 | 0.307 | - | - | - | - | - | - | 15.22 | 14.73 | 11.26 | |
| 6836.06 | 746.37 | 8.74 | 825 | 6843.19 | roll | 0.70 | - | - | 2486.00 | - | 3.02 | 0.036 | 2431.94 | 489.7 | 145.99 | - | - | 2366.06 | - | - | - | - | - | - | - | - | - | 15.32 | - |
| 7146.00 | 716.14 | 10.03 | 857 | 7147.80 | VBD | 0.70 | - | - | 2487.88 | - | - | - | 2431.75 | - | 145.99 | - | - | 2358.38 | - | - | - | - | - | - | - | - | - | - | - |
| 7456.04 | 683.62 | 10.55 | 888 | 7463.08 | done | 0.70 | - | - | 2498.56 | - | 2.86 | 0.030 | 950.94 | -517.8 | 145.99 | - | - | 2360.22 | - | - | - | - | - | - | - | - | - | 15.79 | - |
| 7520.79 | 676.93 | 10.26 | 901 | 7528.48 | done | 0.70 | - | - | 2500.94 | - | 2.94 | 0.036 | 2435.75 | 505.0 | 145.99 | - | - | 2358.25 | - | - | - | - | - | - | - | - | - | 15.87 | - |
| 7836.07 | 645.30 | 9.53 | 933 | 7842.53 | done | 0.70 | - | - | 2499.38 | - | 2.19 | 0.064 | 3839.81 | 641.1 | 145.99 | - | - | 2356.53 | - | - | - | - | - | - | - | - | - | 15.85 | - |
| 7866.08 | 642.04 | 10.13 | 939 | 7872.59 | done | 0.70 | - | - | 2509.94 | - | 2.20 | 0.019 | 2309.94 | -695.4 | 145.99 | - | - | 2355.50 | - | - | - | - | - | - | - | - | - | 15.93 | - |
| 8176.10 | 610.90 | 10.12 | 971 | 8178.15 | 0.70 | 0.16 | 0.220 | 2465.62 | -277.0 | - | - | 2293.88 | - | 145.99 | - | - | 2354.81 | - | - | - | - | - | - | - | - | 15.50 | - | - | |
| 8486.20 | 586.54 | 7.83 | 1002 | 8492.81 | done | 0.74 | - | - | 2464.94 | - | 2.49 | 0.063 | 3838.44 | 620.3 | 145.99 | - | - | 2354.38 | - | - | - | - | - | - | - | - | - | 15.53 | - |
| 8530.94 | 582.62 | 8.86 | 1011 | 8537.91 | done | 0.76 | - | - | 2473.69 | - | 2.21 | 0.019 | 2326.44 | -684.2 | 145.99 | - | - | 2354.81 | - | - | - | - | - | - | - | - | - | 15.91 | - |
| 8846.23 | 557.94 | 7.51 | 1043 | 8848.20 | 0.81 | 0.09 | 0.073 | 2536.44 | 697.2 | - | - | 2312.44 | - | 145.99 | - | - | 2353.03 | - | - | - | - | - | - | - | - | 15.92 | - | - | |
| 9156.19 | 527.57 | 10.07 | 1074 | 9163.03 | done | 0.81 | - | - | 2547.06 | - | 2.63 | 0.030 | 950.12 | -518.0 | 145.99 | - | - | 2355.16 | - | - | - | - | - | - | - | - | - | 15.94 | - |
| 9196.20 | 523.39 | 10.46 | 1082 | 9203.56 | 0.81 | 0.16 | 0.188 | 2502.06 | -281.2 | 2.93 | 0.036 | 2437.31 | 507.6 | 145.99 | - | - | 2353.28 | - | - | - | - | - | - | - | - | 15.57 | 15.85 | - | |
| 9506.22 | 492.81 | 10.08 | 1114 | 9508.01 | VBD | 0.81 | - | - | 2502.38 | - | - | - | 2437.62 | - | 145.99 | - | - | 2351.72 | - | - | - | - | - | - | - | - | - | - | - |
| 9816.25 | 460.83 | 10.29 | 1145 | 9823.26 | done | 0.81 | - | - | 2512.69 | - | 2.88 | 0.030 | 951.38 | -516.1 | 145.99 | - | - | 2352.75 | - | - | - | - | - | - | - | - | - | 15.93 | - |
| 9846.25 | 457.79 | 10.04 | 1151 | 9853.35 | done | 0.81 | - | - | 2513.44 | - | 2.95 | 0.036 | 2436.19 | 503.3 | 145.99 | - | - | 2352.81 | - | - | - | - | - | - | - | - | - | 15.85 | - |
| 10156.35 | 427.99 | 9.33 | 1183 | 10158.15 | VBD | 0.83 | - | - | 2512.44 | - | - | - | 2436.25 | - | 145.99 | - | - | 2351.81 | - | - | - | - | - | - | - | - | - | - | - |
| 10466.38 | 398.97 | 9.04 | 1214 | 10473.32 | done | 0.85 | - | - | 2523.81 | - | 2.87 | 0.030 | 951.88 | -517.2 | 145.99 | - | - | 2353.75 | - | - | - | - | - | - | - | - | - | 15.64 | - |
| 10541.14 | 392.53 | 8.48 | 1229 | 10548.69 | done | 0.88 | - | - | 2524.44 | - | 2.95 | 0.035 | 2435.94 | 503.1 | 145.99 | - | - | 2352.84 | - | - | - | - | - | - | - | - | - | 15.80 | - |
| 10856.42 | 366.23 | 8.05 | 1261 | 10863.35 | done | 0.92 | - | - | 2535.62 | - | 2.87 | 0.029 | 949.19 | -518.0 | 145.99 | - | - | 2354.72 | - | - | - | - | - | - | - | - | - | 15.72 | - |
| 10911.17 | 361.93 | 7.88 | 1272 | 10918.70 | done | 0.96 | - | - | 2535.50 | - | 2.93 | 0.035 | 2436.38 | 507.6 | 145.99 | - | - | 2354.06 | - | - | - | - | - | - | - | - | - | 15.91 | - |
| 11226.37 | 334.69 | 9.67 | 1304 | 11232.90 | done | 0.96 | - | - | 2536.69 | - | 2.20 | 0.063 | 3841.75 | 638.8 | 145.99 | - | - | 2352.56 | - | - | - | - | - | - | - | - | - | 15.74 | - |
| 11251.27 | 331.96 | 10.25 | 1309 | 11258.17 | done | 0.96 | - | - | 2545.94 | - | 2.21 | 0.019 | 2320.00 | -688.6 | 145.99 | - | - | 2351.78 | - | - | - | - | - | - | - | - | - | 15.82 | - |
| 11566.41 | 299.97 | 10.24 | 1341 | 11568.20 | VBD | 0.96 | - | - | 2547.00 | - | - | - | 2305.44 | - | 145.99 | - | - | 2350.78 | - | - | - | - | - | - | - | - | - | - | - |
| 11876.44 | 268.55 | 9.79 | 1372 | 11883.29 | done | 0.96 | - | - | 2558.62 | - | 2.65 | 0.030 | 950.00 | -511.5 | 145.99 | - | - | 2352.19 | - | - | - | - | - | - | - | - | - | 15.79 | - |
| 11956.45 | 261.03 | 9.57 | 1388 | 11963.56 | done | 0.96 | - | - | 2557.69 | - | 2.92 | 0.036 | 2434.12 | 508.3 | 145.99 | - | - | 2354.00 | - | - | - | - | - | - | - | - | - | 15.79 | - |
| 12266.47 | 230.36 | 10.41 | 1420 | 12273.07 | done | 0.96 | - | - | 2559.38 | - | 2.21 | 0.065 | 3839.69 | 636.0 | 145.99 | - | - | 2352.09 | - | - | - | - | - | - | - | - | - | 15.60 | - |
| 12286.47 | 227.98 | 10.93 | 1424 | 12292.93 | done | 0.96 | - | - | 2567.69 | - | 2.20 | 0.018 | 2306.62 | -696.9 | 145.99 | - | - | 2351.97 | - | - | - | - | - | - | - | - | - | 15.81 | - |
| 12597.30 | 192.87 | 11.03 | 1456 | 12604.89 | done | 0.96 | - | - | 2579.12 | - | 2.63 | 0.029 | 948.81 | -516.3 | 145.99 | - | - | 2352.25 | - | - | - | - | - | - | - | - | - | 14.82 | - |
| 12652.14 | 187.17 | 10.42 | 1467 | 12660.44 | done | 0.96 | - | - | 2579.88 | - | 2.93 | 0.036 | 2435.81 | 507.5 | 145.99 | - | - | 2352.34 | - | - | - | - | - | - | - | - | - | 15.74 | - |
| 12967.42 | 156.40 | 9.77 | 1499 | 12975.19 | done | 0.96 | - | - | 2593.19 | - | 2.87 | 0.028 | 949.88 | -517.7 | 145.99 | - | - | 2352.25 | - | - | - | - | - | - | - | - | - | 15.76 | - |
| 13012.44 | 152.04 | 9.67 | 1508 | 13021.01 | 0.96 | 0.17 | 0.245 | 2546.75 | -273.2 | 2.93 | 0.035 | 2436.69 | 507.4 | 145.99 | - | - | 2353.75 | - | - | - | - | - | - | - | - | 15.30 | 15.72 | - | |
| 13327.83 | 126.85 | 6.29 | 1540 | 13401.58 | 1.06 | 0.12 | 0.067 | 2624.19 | 645.3 | 2.23 | 0.067 | 3839.88 | 629.2 | 225.92 | 62.88 | 1.220 | 2044.88 | -4.9 | 0.090 | - | - | - | - | - | - | 15.63 | 15.16 | 10.45 | |
| 13413.83 | 116.90 | 14.75 | 1556 | 13421.88 | roll back | 1.06 | 0.20 | 0.274 | 2582.94 | -206.2 | 2.24 | 0.017 | 2335.81 | -671.5 | 225.92 | - | - | 2043.47 | - | - | - | - | - | - | - | - | 15.14 | 15.41 | - |
| 13724.12 | 75.66 | 12.50 | 1605 | 13729.09 | VBD | 1.06 | - | - | 2583.12 | - | - | - | 2320.06 | - | 225.92 | - | - | 2038.09 | - | - | - | - | - | - | - | - | - | - | - |
| 13914.15 | 53.82 | 10.21 | 1643 | 13921.95 | done | 1.06 | - | - | 2592.25 | - | 2.68 | 0.029 | 951.38 | -510.7 | 225.92 | - | - | 2038.28 | - | - | - | - | - | - | - | - | - | 15.39 | - |
| 14004.69 | 44.99 | 9.45 | 1661 | 14012.56 | done | 1.07 | - | - | 2595.00 | - | 2.99 | 0.037 | 2431.88 | 495.2 | 225.92 | - | - | 2038.00 | - | - | - | - | - | - | - | - | - | 15.43 | - |
| 14195.10 | 27.80 | 8.72 | 1699 | 14202.51 | done | 1.10 | - | - | 2594.38 | - | 2.25 | 0.066 | 3840.19 | 625.9 | 225.92 | - | - | 2035.81 | - | - | - | - | - | - | - | - | - | 15.48 | - |
| 14215.10 | 25.92 | 9.08 | 1703 | 14222.49 | done | 1.12 | - | - | 2603.69 | - | 2.23 | 0.017 | 2325.44 | -679.3 | 225.92 | - | - | 2036.00 | - | - | - | - | - | - | - | - | - | 15.50 | - |
| 14405.54 | 6.56 | 10.05 | 1741 | 14410.56 | VBD | 1.12 | - | - | 2604.44 | - | - | - | 2311.44 | - | 225.92 | - | - | 2035.88 | - | - | - | - | - | - | - | - | - | - | - |
| 14450 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 14451 | begin surface coast | ||||||||||||||||||||||||||||
| 14471 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 14471 | begin surface | ||||||||||||||||||||||||||||
| SM | 1.41 | - | - | - | - | 221.1 | 73.68 | 1.075 | 1641.5 | 22.3 | 6.80 | 0.057 | 1638.5 | 241.0 | - | 0.74 | 0.058 | 1644.4 | 2222.2 | -5.521 | - | - | 10.93 | 15.63 | 15.77 | - | |||