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| • Previous call tries 4 | • 130.87 of 575.00 AH used of 24V (77.24% remains) | |
| • Surface angle -66.2 deg, depth 1.59 m | • Intended pitch -19.8 deg, speed -9.524 cm/s | |
| • No surface pump (final VBD was 353.1, SM_CC=517.58301) | ||
| • GPS1 time: 133 s | ||
| • GPS2 time: 5 s, HDOP was 2.1 m | • Transponder ping count: 32 | |
| • 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 | ||||||||||||||||||||||||||||
| 4.98 | - | - | - | 46.61 | VBD | -0.96 | - | - | 137.31 | - | - | - | 2079.31 | - | -116.79 | 41.11 | 0.005 | 1239.38 | - | - | - | - | - | - | - | - | - | - | 15.24 |
| 46.86 | 3.00 | -4.25 | 4 | 123.92 | -0.96 | 7.82 | 0.378 | 1857.88 | 220.0 | 3.85 | 0.062 | 753.19 | -344.4 | -116.79 | 60.01 | 0.005 | 3135.16 | 31.6 | -3.131 | - | - | - | - | - | - | 15.16 | 15.25 | 15.26 | |
| 210.84 | 60.64 | -36.75 | 36 | 216.82 | roll | -0.96 | - | - | 1843.56 | - | 3.68 | 0.027 | 2064.44 | 356.3 | -116.79 | - | - | 3138.41 | - | - | - | - | - | - | - | - | - | 15.41 | - |
| 515.96 | 126.80 | -17.98 | 67 | 521.72 | roll | -0.96 | - | - | 1857.19 | - | 3.86 | 0.063 | 753.44 | -339.6 | -116.79 | - | - | 3137.16 | - | - | - | - | - | - | - | - | - | 15.61 | - |
| 740.92 | 171.23 | -19.46 | 112 | 746.90 | roll | -0.96 | - | - | 1842.75 | - | 3.66 | 0.027 | 2063.88 | 358.0 | -116.79 | - | - | 3137.47 | - | - | - | - | - | - | - | - | - | 15.49 | - |
| 1046.04 | 224.43 | -16.47 | 143 | 1047.38 | no move | -0.96 | - | - | 1842.62 | - | - | - | 2064.88 | - | -116.79 | - | - | 3135.62 | - | - | - | - | - | - | - | - | - | - | - |
| 1366.26 | 273.74 | -14.96 | 165 | 1371.81 | roll | -0.96 | - | - | 1856.56 | - | 3.83 | 0.065 | 753.12 | -342.5 | -116.79 | - | - | 3138.66 | - | - | - | - | - | - | - | - | - | 15.75 | - |
| 1410.99 | 280.63 | -15.31 | 174 | 1416.80 | roll | -0.96 | - | - | 1842.50 | - | 3.63 | 0.027 | 2064.94 | 361.4 | -116.79 | - | - | 3137.50 | - | - | - | - | - | - | - | - | - | 15.79 | - |
| 1726.30 | 321.03 | -11.71 | 187 | 1731.79 | roll | -0.96 | - | - | 1826.75 | - | 3.55 | 0.060 | 3323.56 | 354.5 | -116.79 | - | - | 3136.53 | - | - | - | - | - | - | - | - | - | 15.79 | - |
| 1926.06 | 344.23 | -11.29 | 227 | 1931.87 | roll | -0.96 | - | - | 1840.75 | - | 3.62 | 0.025 | 2011.12 | -362.6 | -116.79 | - | - | 3136.72 | - | - | - | - | - | - | - | - | - | 15.83 | - |
| 2236.19 | 375.61 | -9.93 | 239 | 2237.53 | no move | -0.96 | - | - | 1840.19 | - | - | - | 2010.06 | - | -116.79 | - | - | 3135.47 | - | - | - | - | - | - | - | - | - | - | - |
| 2536.21 | 405.50 | -10.01 | 249 | 2541.93 | roll | -0.96 | - | - | 1825.69 | - | 3.80 | 0.058 | 3325.94 | 346.3 | -116.79 | - | - | 3137.75 | - | - | - | - | - | - | - | - | - | 15.86 | - |
| 2611.15 | 413.70 | -10.93 | 264 | 2616.92 | roll | -0.96 | - | - | 1839.69 | - | 3.62 | 0.025 | 2011.25 | -363.2 | -116.79 | - | - | 3138.00 | - | - | - | - | - | - | - | - | - | 15.86 | - |
| 2926.46 | 444.69 | -9.66 | 277 | 2931.96 | roll | -0.96 | - | - | 1824.44 | - | 3.80 | 0.059 | 3325.44 | 345.8 | -116.79 | - | - | 3138.75 | - | - | - | - | - | - | - | - | - | 15.85 | - |
| 3016.34 | 454.28 | -10.69 | 295 | 3021.96 | roll | -0.96 | - | - | 1838.94 | - | 3.62 | 0.026 | 2012.62 | -362.7 | -116.79 | - | - | 3135.81 | - | - | - | - | - | - | - | - | - | 15.89 | - |
| 3346.50 | 486.66 | -9.80 | 311 | 3352.01 | roll | -0.96 | - | - | 1824.69 | - | 3.79 | 0.059 | 3325.25 | 346.3 | -116.79 | - | - | 3136.34 | - | - | - | - | - | - | - | - | - | 15.86 | - |
| 3401.22 | 492.53 | -10.75 | 322 | 3407.07 | roll | -0.96 | - | - | 1838.75 | - | 3.62 | 0.026 | 2012.12 | -362.7 | -116.79 | - | - | 3136.34 | - | - | - | - | - | - | - | - | - | 15.91 | - |
| 3496 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 3496 | begin apogee | ||||||||||||||||||||||||||||
| 3498.72 | 501.95 | -9.77 | 326 | 3592.74 | -0.12 | 0.97 | 0.223 | 2111.12 | 280.8 | 0.12 | 0.119 | 2404.94 | 3273.5 | - | 92.31 | 1.889 | 2659.19 | -5.2 | 0.227 | - | - | - | - | - | - | 15.74 | 15.35 | 12.03 | |
| 3594 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 3594 | begin loiter | ||||||||||||||||||||||||||||
| 3886.25 | 500.06 | 1.87 | 334 | 3887.58 | VBD | -0.12 | - | - | 2111.94 | - | - | - | 2367.62 | - | - | - | - | 2648.19 | - | - | - | - | - | - | - | - | - | - | - |
| 4486.27 | 486.64 | 2.24 | 344 | 4487.60 | VBD | -0.12 | - | - | 2111.44 | - | - | - | 2368.12 | - | - | - | - | 2646.78 | - | - | - | - | - | - | - | - | - | - | - |
| 5086.29 | 470.57 | 2.80 | 354 | 5087.62 | VBD | -0.12 | - | - | 2110.75 | - | - | - | 2368.06 | - | - | - | - | 2646.91 | - | - | - | - | - | - | - | - | - | - | - |
| 5686.33 | 454.33 | 2.60 | 364 | 5687.67 | VBD | -0.12 | - | - | 2111.62 | - | - | - | 2367.75 | - | - | - | - | 2644.81 | - | - | - | - | - | - | - | - | - | - | - |
| 6286.35 | 439.40 | 2.39 | 374 | 6287.69 | VBD | -0.12 | - | - | 2111.62 | - | - | - | 2367.62 | - | - | - | - | 2646.09 | - | - | - | - | - | - | - | - | - | - | - |
| 6886.38 | 426.25 | 2.19 | 384 | 6887.72 | VBD | -0.12 | - | - | 2111.25 | - | - | - | 2368.12 | - | - | - | - | 2645.91 | - | - | - | - | - | - | - | - | - | - | - |
| 7486.41 | 414.83 | 1.90 | 394 | 7487.74 | VBD | -0.12 | - | - | 2111.31 | - | - | - | 2367.25 | - | - | - | - | 2645.44 | - | - | - | - | - | - | - | - | - | - | - |
| 8086.44 | 401.91 | 2.23 | 404 | 8087.78 | VBD | -0.12 | - | - | 2111.69 | - | - | - | 2368.00 | - | - | - | - | 2644.84 | - | - | - | - | - | - | - | - | - | - | - |
| 8686.48 | 391.64 | 1.48 | 414 | 8687.82 | VBD | -0.15 | - | - | 2111.56 | - | - | - | 2367.38 | - | -5.76 | - | - | 2645.59 | - | - | - | - | - | - | - | - | - | - | - |
| 9286.52 | 381.08 | 1.71 | 424 | 9287.85 | VBD | -0.17 | - | - | 2111.19 | - | - | - | 2367.88 | - | -12.40 | - | - | 2645.94 | - | - | - | - | - | - | - | - | - | - | - |
| 9886.55 | 376.76 | 0.68 | 434 | 9887.88 | VBD | -0.19 | - | - | 2111.62 | - | - | - | 2368.06 | - | -15.06 | - | - | 2645.22 | - | - | - | - | - | - | - | - | - | - | - |
| 10486.59 | 370.61 | 1.02 | 444 | 10487.92 | VBD | -0.20 | - | - | 2111.75 | - | - | - | 2367.81 | - | -19.03 | - | - | 2645.28 | - | - | - | - | - | - | - | - | - | - | - |
| 11086.61 | 367.76 | 0.55 | 454 | 11087.94 | VBD | -0.21 | - | - | 2111.31 | - | - | - | 2367.62 | - | -21.16 | - | - | 2646.44 | - | - | - | - | - | - | - | - | - | - | - |
| 11686.81 | 364.99 | 0.42 | 464 | 11688.15 | VBD | -0.22 | - | - | 2111.94 | - | - | - | 2367.81 | - | -22.81 | - | - | 2645.50 | - | - | - | - | - | - | - | - | - | - | - |
| 12286.66 | 363.89 | 0.31 | 474 | 12288.11 | -0.22 | 0.12 | 0.118 | 2054.00 | -482.8 | - | - | 2366.31 | - | -24.02 | - | - | 2645.28 | - | - | - | - | - | - | - | - | 16.02 | - | - | |
| 12886.69 | 364.91 | 0.15 | 484 | 12888.02 | VBD | -0.22 | - | - | 2053.44 | - | - | - | 2366.56 | - | -24.60 | - | - | 2645.97 | - | - | - | - | - | - | - | - | - | - | - |
| 13486.83 | 363.48 | 0.07 | 494 | 13488.17 | VBD | -0.22 | - | - | 2053.69 | - | - | - | 2366.00 | - | -24.89 | - | - | 2645.19 | - | - | - | - | - | - | - | - | - | - | - |
| 14086.73 | 362.12 | 0.22 | 504 | 14088.06 | VBD | -0.23 | - | - | 2053.56 | - | - | - | 2366.06 | - | -25.75 | - | - | 2645.47 | - | - | - | - | - | - | - | - | - | - | - |
| 14686.75 | 362.06 | 0.15 | 514 | 14688.09 | VBD | -0.23 | - | - | 2054.12 | - | - | - | 2367.38 | - | -26.35 | - | - | 2645.81 | - | - | - | - | - | - | - | - | - | - | - |
| 15286.77 | 362.39 | 0.05 | 524 | 15288.10 | VBD | -0.23 | - | - | 2053.12 | - | - | - | 2366.81 | - | -26.56 | - | - | 2644.62 | - | - | - | - | - | - | - | - | - | - | - |
| 15886.78 | 362.72 | -0.04 | 534 | 15888.12 | VBD | -0.23 | - | - | 2053.56 | - | - | - | 2366.25 | - | -26.56 | - | - | 2644.94 | - | - | - | - | - | - | - | - | - | - | - |
| 16486.81 | 361.72 | 0.03 | 544 | 16488.15 | VBD | -0.23 | - | - | 2053.31 | - | - | - | 2367.06 | - | -26.66 | - | - | 2644.81 | - | - | - | - | - | - | - | - | - | - | - |
| 17086.83 | 361.60 | 0.04 | 554 | 17088.17 | VBD | -0.23 | - | - | 2053.25 | - | - | - | 2366.50 | - | -26.82 | - | - | 2644.53 | - | - | - | - | - | - | - | - | - | - | - |
| 17686.89 | 360.09 | 0.16 | 564 | 17688.23 | VBD | -0.23 | - | - | 2053.69 | - | - | - | 2366.31 | - | -27.44 | - | - | 2644.50 | - | - | - | - | - | - | - | - | - | - | - |
| 18286.87 | 359.55 | 0.11 | 574 | 18288.21 | VBD | -0.24 | - | - | 2053.25 | - | - | - | 2367.12 | - | -27.88 | - | - | 2644.59 | - | - | - | - | - | - | - | - | - | - | - |
| 18886.89 | 360.65 | 0.06 | 584 | 18888.22 | VBD | -0.24 | - | - | 2053.31 | - | - | - | 2366.81 | - | -28.10 | - | - | 2644.72 | - | - | - | - | - | - | - | - | - | - | - |
| 19486.91 | 359.39 | 0.02 | 594 | 19488.25 | VBD | -0.24 | - | - | 2053.56 | - | - | - | 2366.62 | - | -28.19 | - | - | 2644.47 | - | - | - | - | - | - | - | - | - | - | - |
| 20086.92 | 362.00 | -0.35 | 604 | 20088.26 | VBD | -0.24 | - | - | 2053.56 | - | - | - | 2366.75 | - | -28.19 | - | - | 2643.97 | - | - | - | - | - | - | - | - | - | - | - |
| 20686.95 | 359.35 | 0.06 | 614 | 20688.29 | VBD | -0.24 | - | - | 2053.31 | - | - | - | 2366.50 | - | -28.43 | - | - | 2644.03 | - | - | - | - | - | - | - | - | - | - | - |
| 21286.98 | 360.58 | -0.05 | 624 | 21288.32 | VBD | -0.24 | - | - | 2053.62 | - | - | - | 2366.44 | - | -28.43 | - | - | 2643.94 | - | - | - | - | - | - | - | - | - | - | - |
| 21887.00 | 360.94 | 0.05 | 634 | 21888.33 | VBD | -0.24 | - | - | 2053.44 | - | - | - | 2366.25 | - | -28.61 | - | - | 2643.69 | - | - | - | - | - | - | - | - | - | - | - |
| 22487.01 | 361.42 | -0.12 | 644 | 22488.34 | VBD | -0.24 | - | - | 2053.50 | - | - | - | 2366.50 | - | -28.61 | - | - | 2643.72 | - | - | - | - | - | - | - | - | - | - | - |
| 23087.04 | 359.53 | 0.06 | 654 | 23088.38 | VBD | -0.24 | - | - | 2053.44 | - | - | - | 2366.62 | - | -28.85 | - | - | 2644.53 | - | - | - | - | - | - | - | - | - | - | - |
| 23687.06 | 358.31 | 0.26 | 664 | 23688.40 | VBD | -0.24 | - | - | 2053.75 | - | - | - | 2366.75 | - | -29.86 | - | - | 2643.59 | - | - | - | - | - | - | - | - | - | - | - |
| 24287.08 | 357.69 | 0.20 | 674 | 24288.42 | VBD | -0.25 | - | - | 2053.56 | - | - | - | 2366.56 | - | -30.62 | - | - | 2644.00 | - | - | - | - | - | - | - | - | - | - | - |
| 24887.11 | 358.16 | 0.08 | 684 | 24888.45 | VBD | -0.25 | - | - | 2054.12 | - | - | - | 2366.50 | - | -30.93 | - | - | 2645.62 | - | - | - | - | - | - | - | - | - | - | - |
| 25187 | end loiter: LOITER_COMPLETE | ||||||||||||||||||||||||||||
| 25187 | begin climb | ||||||||||||||||||||||||||||
| 25187.17 | 357.59 | - | 689 | 25290.22 | 0.96 | 1.31 | 0.171 | 2475.38 | 321.6 | 3.54 | 0.058 | 1162.00 | -340.3 | 116.79 | 95.67 | 1.698 | 2180.50 | -4.9 | 0.169 | - | - | - | - | - | - | 15.92 | 15.53 | 11.94 | |
| 25332.10 | 349.51 | 8.67 | 718 | 25338.18 | roll | 0.98 | - | - | 2461.50 | - | 3.73 | 0.033 | 2468.62 | 350.3 | 116.79 | - | - | 2176.03 | - | - | - | - | - | - | - | - | - | 15.64 | - |
| 25637.21 | 322.99 | 8.52 | 729 | 25642.91 | done | 1.00 | - | - | 2445.88 | - | 3.64 | 0.076 | 3733.50 | 347.5 | 116.79 | - | - | 2171.03 | - | - | - | - | - | - | - | - | - | 15.70 | - |
| 25792.17 | 308.64 | 8.27 | 760 | 25797.94 | done | 1.03 | - | - | 2461.00 | - | 3.58 | 0.020 | 2407.94 | -370.3 | 116.79 | - | - | 2169.12 | - | - | - | - | - | - | - | - | - | 15.73 | - |
| 26117.42 | 289.87 | 5.32 | 775 | 26184.50 | 1.33 | 0.33 | 0.087 | 2573.12 | 339.8 | 3.94 | 0.075 | 3732.56 | 336.2 | 193.43 | 61.33 | 1.590 | 1869.53 | -4.9 | 0.147 | - | - | - | - | - | - | 15.75 | 15.47 | 12.08 | |
| 26377.23 | 259.25 | 13.23 | 827 | 26383.03 | done | 1.33 | - | - | 2590.75 | - | 3.60 | 0.020 | 2415.00 | -366.0 | 193.43 | - | - | 1861.34 | - | - | - | - | - | - | - | - | - | 15.63 | - |
| 26687.46 | 224.80 | 10.32 | 853 | 26693.05 | done | 1.33 | - | - | 2605.25 | - | 3.56 | 0.054 | 1162.25 | -351.9 | 193.43 | - | - | 1857.16 | - | - | - | - | - | - | - | - | - | 15.72 | - |
| 26737.40 | 219.64 | 10.25 | 863 | 26743.10 | done | 1.33 | - | - | 2591.69 | - | 3.69 | 0.032 | 2471.56 | 354.8 | 193.43 | - | - | 1856.22 | - | - | - | - | - | - | - | - | - | 15.73 | - |
| 27047.46 | 191.13 | 8.76 | 895 | 27053.15 | done | 1.35 | - | - | 2575.50 | - | 3.61 | 0.074 | 3734.38 | 349.8 | 193.43 | - | - | 1856.59 | - | - | - | - | - | - | - | - | - | 15.74 | - |
| 27117.67 | 184.15 | 9.93 | 909 | 27123.22 | done | 1.35 | - | - | 2591.00 | - | 3.57 | 0.019 | 2412.00 | -370.4 | 193.43 | - | - | 1856.03 | - | - | - | - | - | - | - | - | - | 15.78 | - |
| 27427.69 | 159.00 | 7.90 | 941 | 27429.03 | VBD | 1.38 | - | - | 2591.25 | - | - | - | 2408.12 | - | 193.43 | - | - | 1854.00 | - | - | - | - | - | - | - | - | - | - | - |
| 27729.95 | 138.86 | 6.05 | 971 | 27786.36 | 1.63 | 0.25 | 0.097 | 2699.81 | 434.2 | 3.59 | 0.057 | 1162.12 | -347.1 | 256.66 | 49.15 | 1.443 | 1612.50 | -4.9 | 0.078 | - | - | - | - | - | - | 15.71 | 15.53 | 12.06 | |
| 27859.82 | 125.60 | 11.79 | 997 | 27865.47 | roll | 1.63 | - | - | 2685.69 | - | 3.73 | 0.032 | 2470.75 | 350.8 | 256.66 | - | - | 1606.44 | - | - | - | - | - | - | - | - | - | 15.60 | - |
| 28169.98 | 93.34 | 9.74 | 1029 | 28175.53 | done | 1.63 | - | - | 2701.31 | - | 3.83 | 0.054 | 1161.62 | -341.8 | 256.66 | - | - | 1603.62 | - | - | - | - | - | - | - | - | - | 15.64 | - |
| 28284.72 | 83.83 | 7.66 | 1052 | 28290.69 | done | 1.67 | - | - | 2686.62 | - | 3.72 | 0.033 | 2471.25 | 352.1 | 256.66 | - | - | 1601.88 | - | - | - | - | - | - | - | - | - | 15.65 | - |
| 28590.05 | 73.68 | 1.94 | 1083 | 28703.20 | 2.22 | 0.53 | 0.088 | 2892.31 | 388.1 | 3.91 | 0.056 | 1162.25 | -334.8 | 394.90 | 105.86 | 1.347 | 1049.88 | -5.2 | 0.047 | - | - | - | - | - | - | 15.63 | 15.29 | 12.09 | |
| 28890.28 | 47.32 | 6.13 | 1143 | 28944.19 | 2.47 | 0.20 | 0.110 | 2950.00 | 288.5 | 3.77 | 0.033 | 2471.31 | 347.2 | 456.80 | 48.42 | 1.263 | 798.97 | -5.2 | 0.032 | - | - | - | - | - | - | 15.41 | 15.46 | 12.19 | |
| 29246.21 | 29.43 | 2.43 | 1184 | 29303.08 | 2.99 | 0.46 | 0.091 | 3102.69 | 331.9 | 3.67 | 0.071 | 3734.25 | 344.1 | 586.01 | 49.94 | 1.244 | 550.53 | -5.0 | 0.019 | - | - | - | - | - | - | 15.44 | 15.28 | 12.14 | |
| 29526.35 | 6.76 | 13.30 | 1240 | 29531.94 | done | 2.99 | - | - | 3118.81 | - | 3.65 | 0.022 | 2420.81 | -359.8 | 586.01 | - | - | 544.28 | - | - | - | - | - | - | - | - | - | 15.47 | - |
| 29566 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 29566 | begin surface coast | ||||||||||||||||||||||||||||
| 29576 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 29576 | begin surface | ||||||||||||||||||||||||||||
| SM | 1.13 | - | - | - | - | 146.1 | - | - | 542.8 | - | 9.14 | 0.108 | 732.4 | 80.1 | - | 1.09 | 0.045 | 353.1 | 320.6 | -0.823 | - | - | 30.00 | 15.36 | 15.53 | - | |||