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| • Previous call tries 5 | • 130.51 of 575.00 AH used of 24V (77.30% remains) | |
| • Surface angle -70.0 deg, depth 1.74 m | • Intended pitch -19.8 deg, speed -9.524 cm/s | |
| • No surface pump (final VBD was 352.9, SM_CC=517.58301) | ||
| • GPS1 time: 205 s | ||
| • GPS2 time: 4 s | • Transponder ping count: 37 | |
| • 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 | |||||
| 4 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 4 | begin dive | ||||||||||||||||||||||||||||
| 4.99 | - | - | - | 36.44 | VBD | -0.96 | - | - | 134.00 | - | - | - | 2135.62 | - | -116.79 | 30.90 | 0.006 | 1089.88 | - | - | - | - | - | - | - | - | - | - | 15.29 |
| 36.69 | 3.30 | -6.72 | 3 | 112.33 | -0.96 | 8.03 | 0.397 | 1858.00 | 214.7 | 3.97 | 0.064 | 752.69 | -348.3 | -116.79 | 60.03 | 0.005 | 3137.53 | 34.1 | -3.714 | - | - | - | - | - | - | 15.20 | 15.32 | 15.32 | |
| 114.19 | 26.04 | -42.41 | 16 | 120.12 | roll | -0.96 | - | - | 1843.75 | - | 3.67 | 0.026 | 2061.62 | 356.7 | -116.79 | - | - | 3138.44 | - | - | - | - | - | - | - | - | - | 15.54 | - |
| 419.54 | 110.04 | -18.93 | 47 | 425.11 | roll | -0.96 | - | - | 1857.94 | - | 3.83 | 0.065 | 753.31 | -341.6 | -116.79 | - | - | 3140.00 | - | - | - | - | - | - | - | - | - | 15.72 | - |
| 634.33 | 153.39 | -19.94 | 90 | 640.42 | roll | -0.96 | - | - | 1842.44 | - | 3.63 | 0.027 | 2063.75 | 361.0 | -116.79 | - | - | 3140.31 | - | - | - | - | - | - | - | - | - | 15.72 | - |
| 940.69 | 208.84 | -17.37 | 121 | 946.29 | roll | -0.96 | - | - | 1857.62 | - | 3.83 | 0.064 | 754.81 | -341.8 | -116.79 | - | - | 3137.78 | - | - | - | - | - | - | - | - | - | 15.52 | - |
| 975.46 | 215.10 | -18.02 | 128 | 981.54 | roll | -0.96 | - | - | 1842.75 | - | 3.63 | 0.025 | 2063.38 | 360.5 | -116.79 | - | - | 3140.41 | - | - | - | - | - | - | - | - | - | 15.69 | - |
| 1280.72 | 264.56 | -15.65 | 153 | 1282.06 | no move | -0.96 | - | - | 1843.00 | - | - | - | 2065.56 | - | -116.79 | - | - | 3137.94 | - | - | - | - | - | - | - | - | - | - | - |
| 1580.72 | 307.01 | -13.20 | 163 | 1586.29 | roll | -0.96 | - | - | 1826.56 | - | 3.58 | 0.061 | 3324.69 | 351.7 | -116.79 | - | - | 3138.19 | - | - | - | - | - | - | - | - | - | 15.72 | - |
| 1700.87 | 322.39 | -12.86 | 187 | 1706.35 | roll | -0.96 | - | - | 1840.62 | - | 3.64 | 0.026 | 2012.81 | -360.4 | -116.79 | - | - | 3137.72 | - | - | - | - | - | - | - | - | - | 15.60 | - |
| 2030.79 | 355.82 | -9.95 | 203 | 2036.40 | roll | -0.96 | - | - | 1826.19 | - | 3.83 | 0.060 | 3327.31 | 343.2 | -116.79 | - | - | 3140.44 | - | - | - | - | - | - | - | - | - | 15.70 | - |
| 2105.60 | 364.05 | -11.09 | 218 | 2111.42 | roll | -0.96 | - | - | 1840.12 | - | 3.65 | 0.026 | 2013.62 | -359.9 | -116.79 | - | - | 3138.38 | - | - | - | - | - | - | - | - | - | 15.64 | - |
| 2420.75 | 395.92 | -10.04 | 231 | 2426.44 | roll | -0.96 | - | - | 1825.31 | - | 3.83 | 0.060 | 3325.00 | 342.4 | -116.79 | - | - | 3138.84 | - | - | - | - | - | - | - | - | - | 15.57 | - |
| 2535.64 | 408.46 | -10.86 | 254 | 2541.55 | roll | -0.96 | - | - | 1839.25 | - | 3.64 | 0.026 | 2013.88 | -360.2 | -116.79 | - | - | 3137.47 | - | - | - | - | - | - | - | - | - | 15.72 | - |
| 2840.92 | 437.66 | -9.71 | 265 | 2846.50 | roll | -0.96 | - | - | 1823.88 | - | 3.83 | 0.058 | 3323.38 | 341.9 | -116.79 | - | - | 3139.88 | - | - | - | - | - | - | - | - | - | 15.70 | - |
| 2896.07 | 443.54 | -10.71 | 276 | 2901.67 | roll | -0.96 | - | - | 1838.00 | - | 3.64 | 0.027 | 2013.38 | -359.9 | -116.79 | - | - | 3139.97 | - | - | - | - | - | - | - | - | - | 15.79 | - |
| 3200.86 | 473.20 | -9.60 | 287 | 3206.54 | roll | -0.96 | - | - | 1823.88 | - | 3.81 | 0.058 | 3324.62 | 344.2 | -116.79 | - | - | 3140.03 | - | - | - | - | - | - | - | - | - | 15.78 | - |
| 3250.72 | 478.30 | -10.25 | 297 | 3256.51 | roll | -0.96 | - | - | 1837.56 | - | 3.63 | 0.028 | 2014.31 | -361.0 | -116.79 | - | - | 3138.09 | - | - | - | - | - | - | - | - | - | 15.83 | - |
| 3501 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 3501 | begin apogee | ||||||||||||||||||||||||||||
| 3503.45 | 501.39 | -9.18 | 307 | 3598.18 | -0.12 | 0.99 | 0.228 | 2112.06 | 277.3 | 0.12 | 0.123 | 2393.00 | 3155.8 | - | 92.77 | 1.893 | 2661.28 | -5.1 | 0.225 | - | - | - | - | - | - | 15.64 | 15.31 | 11.94 | |
| 3600 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 3600 | begin loiter | ||||||||||||||||||||||||||||
| 3890.76 | 497.44 | 2.39 | 315 | 3892.09 | VBD | -0.12 | - | - | 2112.31 | - | - | - | 2371.94 | - | - | - | - | 2647.91 | - | - | - | - | - | - | - | - | - | - | - |
| 4490.78 | 480.53 | 2.74 | 325 | 4492.12 | VBD | -0.12 | - | - | 2112.75 | - | - | - | 2371.56 | - | - | - | - | 2646.78 | - | - | - | - | - | - | - | - | - | - | - |
| 5090.81 | 465.85 | 2.35 | 335 | 5092.14 | VBD | -0.12 | - | - | 2112.38 | - | - | - | 2371.00 | - | - | - | - | 2645.72 | - | - | - | - | - | - | - | - | - | - | - |
| 5690.83 | 454.14 | 1.89 | 345 | 5692.17 | VBD | -0.12 | - | - | 2112.38 | - | - | - | 2371.81 | - | - | - | - | 2646.03 | - | - | - | - | - | - | - | - | - | - | - |
| 6290.86 | 443.71 | 1.68 | 355 | 6292.19 | VBD | -0.12 | - | - | 2112.62 | - | - | - | 2371.56 | - | - | - | - | 2646.19 | - | - | - | - | - | - | - | - | - | - | - |
| 6890.87 | 432.11 | 2.07 | 365 | 6892.20 | VBD | -0.12 | - | - | 2112.38 | - | - | - | 2371.56 | - | - | - | - | 2646.69 | - | - | - | - | - | - | - | - | - | - | - |
| 7490.89 | 417.62 | 2.47 | 375 | 7492.23 | VBD | -0.12 | - | - | 2112.56 | - | - | - | 2371.25 | - | - | - | - | 2646.16 | - | - | - | - | - | - | - | - | - | - | - |
| 8090.91 | 404.78 | 1.93 | 385 | 8092.25 | VBD | -0.12 | - | - | 2112.25 | - | - | - | 2370.94 | - | - | - | - | 2645.66 | - | - | - | - | - | - | - | - | - | - | - |
| 8690.95 | 394.75 | 1.70 | 395 | 8692.29 | VBD | -0.15 | - | - | 2112.94 | - | - | - | 2371.50 | - | -6.62 | - | - | 2645.66 | - | - | - | - | - | - | - | - | - | - | - |
| 9290.97 | 384.49 | 1.60 | 405 | 9292.30 | VBD | -0.18 | - | - | 2113.00 | - | - | - | 2371.38 | - | -12.86 | - | - | 2645.62 | - | - | - | - | - | - | - | - | - | - | - |
| 9890.99 | 376.34 | 1.40 | 415 | 9892.33 | VBD | -0.20 | - | - | 2112.31 | - | - | - | 2371.62 | - | -18.30 | - | - | 2646.09 | - | - | - | - | - | - | - | - | - | - | - |
| 10491.01 | 368.03 | 1.17 | 425 | 10492.35 | VBD | -0.22 | - | - | 2112.56 | - | - | - | 2371.75 | - | -22.84 | - | - | 2646.75 | - | - | - | - | - | - | - | - | - | - | - |
| 11091.03 | 363.98 | 0.66 | 435 | 11092.48 | -0.23 | 0.13 | 0.118 | 2051.75 | -467.8 | - | - | 2368.25 | - | -25.42 | - | - | 2645.06 | - | - | - | - | - | - | - | - | 16.02 | - | - | |
| 11691.05 | 358.63 | 0.89 | 445 | 11692.39 | VBD | -0.24 | - | - | 2051.75 | - | - | - | 2367.94 | - | -28.88 | - | - | 2646.00 | - | - | - | - | - | - | - | - | - | - | - |
| 12291.08 | 358.51 | 0.38 | 455 | 12292.42 | VBD | -0.25 | - | - | 2051.56 | - | - | - | 2367.44 | - | -30.35 | - | - | 2644.72 | - | - | - | - | - | - | - | - | - | - | - |
| 12891.10 | 356.92 | 0.26 | 465 | 12892.43 | VBD | -0.25 | - | - | 2051.69 | - | - | - | 2367.94 | - | -31.35 | - | - | 2645.66 | - | - | - | - | - | - | - | - | - | - | - |
| 13491.12 | 357.11 | 0.07 | 475 | 13492.46 | VBD | -0.25 | - | - | 2052.19 | - | - | - | 2368.00 | - | -31.63 | - | - | 2644.91 | - | - | - | - | - | - | - | - | - | - | - |
| 14091.15 | 355.93 | 0.15 | 485 | 14092.49 | VBD | -0.25 | - | - | 2051.44 | - | - | - | 2368.00 | - | -32.20 | - | - | 2645.22 | - | - | - | - | - | - | - | - | - | - | - |
| 14691.17 | 358.00 | -0.06 | 495 | 14692.51 | VBD | -0.25 | - | - | 2051.88 | - | - | - | 2367.00 | - | -32.20 | - | - | 2645.12 | - | - | - | - | - | - | - | - | - | - | - |
| 15291.21 | 358.03 | -0.06 | 505 | 15292.55 | VBD | -0.25 | - | - | 2051.44 | - | - | - | 2367.62 | - | -32.20 | - | - | 2645.22 | - | - | - | - | - | - | - | - | - | - | - |
| 15891.23 | 356.85 | -0.05 | 515 | 15892.57 | VBD | -0.25 | - | - | 2051.38 | - | - | - | 2368.12 | - | -32.20 | - | - | 2645.09 | - | - | - | - | - | - | - | - | - | - | - |
| 16491.53 | 356.23 | 0.11 | 525 | 16492.87 | VBD | -0.26 | - | - | 2051.56 | - | - | - | 2367.94 | - | -32.63 | - | - | 2644.69 | - | - | - | - | - | - | - | - | - | - | - |
| 17091.29 | 354.81 | 0.17 | 535 | 17092.63 | VBD | -0.26 | - | - | 2051.94 | - | - | - | 2367.25 | - | -33.31 | - | - | 2645.06 | - | - | - | - | - | - | - | - | - | - | - |
| 17691.33 | 355.43 | 0.08 | 545 | 17692.67 | VBD | -0.26 | - | - | 2051.88 | - | - | - | 2367.69 | - | -33.61 | - | - | 2644.69 | - | - | - | - | - | - | - | - | - | - | - |
| 18291.38 | 356.34 | -0.01 | 555 | 18292.72 | VBD | -0.26 | - | - | 2052.00 | - | - | - | 2367.75 | - | -33.61 | - | - | 2644.81 | - | - | - | - | - | - | - | - | - | - | - |
| 18891.38 | 356.84 | -0.12 | 565 | 18892.72 | VBD | -0.26 | - | - | 2051.31 | - | - | - | 2367.88 | - | -33.61 | - | - | 2644.53 | - | - | - | - | - | - | - | - | - | - | - |
| 19491.41 | 356.99 | -0.08 | 575 | 19492.74 | VBD | -0.26 | - | - | 2052.38 | - | - | - | 2367.44 | - | -33.61 | - | - | 2645.00 | - | - | - | - | - | - | - | - | - | - | - |
| 20091.45 | 355.26 | 0.07 | 585 | 20092.79 | VBD | -0.26 | - | - | 2052.00 | - | - | - | 2368.50 | - | -33.90 | - | - | 2644.31 | - | - | - | - | - | - | - | - | - | - | - |
| 20691.47 | 356.10 | 0.05 | 595 | 20692.81 | VBD | -0.26 | - | - | 2051.88 | - | - | - | 2368.38 | - | -34.08 | - | - | 2644.19 | - | - | - | - | - | - | - | - | - | - | - |
| 21291.63 | 356.76 | - | 605 | 21292.97 | VBD | -0.26 | - | - | 2051.94 | - | - | - | 2367.38 | - | -34.08 | - | - | 2644.00 | - | - | - | - | - | - | - | - | - | - | - |
| 21891.51 | 355.16 | 0.02 | 615 | 21892.85 | VBD | -0.26 | - | - | 2052.00 | - | - | - | 2367.88 | - | -34.15 | - | - | 2644.34 | - | - | - | - | - | - | - | - | - | - | - |
| 22491.62 | 353.71 | 0.25 | 625 | 22492.96 | VBD | -0.27 | - | - | 2051.50 | - | - | - | 2367.56 | - | -35.12 | - | - | 2644.56 | - | - | - | - | - | - | - | - | - | - | - |
| 23091.56 | 354.41 | 0.12 | 635 | 23092.89 | VBD | -0.27 | - | - | 2051.88 | - | - | - | 2367.69 | - | -35.60 | - | - | 2643.97 | - | - | - | - | - | - | - | - | - | - | - |
| 23691.58 | 354.82 | 0.02 | 645 | 23692.92 | VBD | -0.27 | - | - | 2051.50 | - | - | - | 2368.38 | - | -35.67 | - | - | 2644.12 | - | - | - | - | - | - | - | - | - | - | - |
| 24291.59 | 355.13 | -0.09 | 655 | 24292.93 | VBD | -0.27 | - | - | 2052.12 | - | - | - | 2367.31 | - | -35.67 | - | - | 2644.22 | - | - | - | - | - | - | - | - | - | - | - |
| 24891.61 | 356.51 | -0.12 | 665 | 24892.95 | VBD | -0.27 | - | - | 2052.12 | - | - | - | 2368.25 | - | -35.67 | - | - | 2644.31 | - | - | - | - | - | - | - | - | - | - | - |
| 25192 | end loiter: LOITER_COMPLETE | ||||||||||||||||||||||||||||
| 25192 | begin climb | ||||||||||||||||||||||||||||
| 25191.70 | 355.76 | - | 670 | 25294.82 | 0.96 | 1.33 | 0.177 | 2446.62 | 296.6 | 3.97 | 0.076 | 3733.75 | 344.0 | 116.79 | 95.10 | 1.704 | 2182.47 | -4.9 | 0.167 | - | - | - | - | - | - | 15.91 | 15.52 | 11.98 | |
| 25361.70 | 344.27 | 10.58 | 704 | 25367.50 | roll | 0.96 | - | - | 2461.94 | - | 3.62 | 0.022 | 2413.56 | -364.7 | 116.79 | - | - | 2176.69 | - | - | - | - | - | - | - | - | - | 15.64 | - |
| 25671.93 | 316.17 | 8.50 | 716 | 25677.58 | done | 0.98 | - | - | 2447.25 | - | 3.89 | 0.075 | 3732.00 | 338.9 | 116.79 | - | - | 2173.62 | - | - | - | - | - | - | - | - | - | 15.72 | - |
| 25901.80 | 296.71 | 7.26 | 762 | 25943.33 | 1.15 | 0.17 | 0.117 | 2530.88 | 491.9 | 3.58 | 0.020 | 2389.06 | -375.1 | 158.12 | 33.83 | 1.571 | 2013.19 | -4.7 | 0.148 | - | - | - | - | - | - | 15.67 | 15.76 | 12.05 | |
| 26242.06 | 268.38 | 8.13 | 780 | 26247.64 | done | 1.18 | - | - | 2517.06 | - | 3.89 | 0.072 | 3733.44 | 345.6 | 158.12 | - | - | 2008.03 | - | - | - | - | - | - | - | - | - | 15.72 | - |
| 26401.85 | 252.77 | 9.82 | 812 | 26407.63 | done | 1.18 | - | - | 2531.69 | - | 3.59 | 0.022 | 2411.75 | -368.2 | 158.12 | - | - | 2004.78 | - | - | - | - | - | - | - | - | - | 15.74 | - |
| 26712.15 | 228.91 | 6.94 | 843 | 26755.87 | 1.37 | 0.17 | 0.109 | 2614.06 | 484.5 | 3.58 | 0.058 | 1160.75 | -349.4 | 205.21 | 38.22 | 1.523 | 1821.41 | -4.8 | 0.119 | - | - | - | - | - | - | 15.75 | 15.54 | 12.08 | |
| 26782.74 | 222.57 | 9.57 | 857 | 26788.83 | roll | 1.37 | - | - | 2600.44 | - | 3.71 | 0.030 | 2470.25 | 353.0 | 205.21 | - | - | 1819.09 | - | - | - | - | - | - | - | - | - | 15.66 | - |
| 27088.10 | 191.40 | 9.46 | 888 | 27089.44 | VBD | 1.37 | - | - | 2600.31 | - | - | - | 2469.88 | - | 205.21 | - | - | 1813.91 | - | - | - | - | - | - | - | - | - | - | - |
| 27387.99 | 165.10 | 8.32 | 918 | 27389.33 | VBD | 1.39 | - | - | 2600.44 | - | - | - | 2470.25 | - | 205.21 | - | - | 1812.22 | - | - | - | - | - | - | - | - | - | - | - |
| 27688.11 | 141.51 | 7.25 | 948 | 27729.26 | 1.55 | 0.15 | 0.111 | 2675.50 | 500.4 | 3.83 | 0.058 | 1160.94 | -341.9 | 246.55 | 33.31 | 1.434 | 1654.91 | -4.7 | 0.077 | - | - | - | - | - | - | 15.77 | 15.59 | 12.05 | |
| 27822.88 | 128.01 | 10.65 | 975 | 27828.84 | roll | 1.55 | - | - | 2661.19 | - | 3.71 | 0.032 | 2470.00 | 352.8 | 246.55 | - | - | 1648.88 | - | - | - | - | - | - | - | - | - | 15.71 | - |
| 28128.15 | 98.77 | 8.83 | 1006 | 28133.74 | done | 1.57 | - | - | 2675.94 | - | 3.82 | 0.056 | 1160.62 | -342.8 | 246.55 | - | - | 1646.16 | - | - | - | - | - | - | - | - | - | 15.75 | - |
| 28218.24 | 90.57 | 9.31 | 1024 | 28223.76 | done | 1.57 | - | - | 2660.75 | - | 3.70 | 0.032 | 2472.56 | 354.6 | 246.55 | - | - | 1645.78 | - | - | - | - | - | - | - | - | - | 15.75 | - |
| 28528.30 | 76.29 | 2.50 | 1056 | 28633.39 | 2.08 | 0.46 | 0.087 | 2844.31 | 399.0 | 3.91 | 0.058 | 1160.88 | -335.5 | 374.49 | 98.22 | 1.362 | 1131.75 | -5.2 | 0.048 | - | - | - | - | - | - | 15.76 | 15.39 | 12.07 | |
| 28725.38 | 59.58 | 10.16 | 1095 | 28731.11 | roll | 2.08 | - | - | 2831.50 | - | 3.75 | 0.032 | 2470.25 | 349.2 | 374.49 | - | - | 1126.91 | - | - | - | - | - | - | - | - | - | 15.52 | - |
| 29035.47 | 44.35 | 2.66 | 1127 | 29138.51 | 2.58 | 0.44 | 0.086 | 3005.12 | 394.6 | 3.92 | 0.059 | 1163.25 | -333.4 | 499.56 | 96.28 | 1.285 | 622.84 | -5.2 | 0.030 | - | - | - | - | - | - | 15.59 | 15.28 | 12.07 | |
| 29165.73 | 35.77 | 10.62 | 1153 | 29171.21 | roll | 2.58 | - | - | 2991.19 | - | 3.78 | 0.031 | 2469.06 | 345.5 | 499.56 | - | - | 619.53 | - | - | - | - | - | - | - | - | - | 15.41 | - |
| 29476.72 | 18.11 | 4.54 | 1185 | 29498.85 | 2.94 | 0.31 | 0.093 | 3087.88 | 311.9 | 3.65 | 0.072 | 3734.81 | 346.8 | 590.43 | 16.38 | 1.165 | 550.84 | -4.2 | 0.011 | - | - | - | - | - | - | 15.52 | 15.41 | 12.11 | |
| 29546.45 | 11.79 | 10.59 | 1199 | 29552.48 | done | 2.94 | - | - | 3103.81 | - | 3.63 | 0.020 | 2414.50 | -363.7 | 590.43 | - | - | 548.06 | - | - | - | - | - | - | - | - | - | 15.46 | - |
| 29632 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 29632 | begin surface coast | ||||||||||||||||||||||||||||
| 29642 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 29642 | begin surface | ||||||||||||||||||||||||||||
| SM | 1.44 | - | - | - | - | 146.6 | - | - | 546.2 | - | 8.88 | 0.092 | 739.6 | 83.3 | - | 1.06 | 0.038 | 352.9 | 329.5 | -1.276 | - | - | 30.00 | 15.47 | 15.57 | - | |||