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| • Previous call tries 4 | • 131.24 of 575.00 AH used of 24V (77.18% remains) | |
| • Surface angle -66.5 deg, depth 1.45 m | • Intended pitch -19.8 deg, speed -9.524 cm/s | |
| • VBD pumped to 517.45 (SM_CC=517.58301) | ||
| • GPS1 time: 55 s | ||
| • GPS2 time: 3 s | • Transponder ping count: 27 | |
| • 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 | ||||||||||||||||||||||||||||
| 4.97 | - | - | - | 56.81 | VBD | -0.96 | - | - | 134.88 | - | - | - | 2089.38 | - | -116.79 | 51.28 | 0.005 | 1392.91 | - | - | - | - | - | - | - | - | - | - | 15.23 |
| 57.05 | 3.47 | -5.10 | 5 | 123.78 | -0.96 | 8.11 | 0.397 | 1857.81 | 212.4 | 3.87 | 0.067 | 752.25 | -345.5 | -116.79 | 50.03 | 0.005 | 3137.41 | 34.9 | -3.981 | - | - | - | - | - | - | 15.16 | 15.25 | 15.27 | |
| 260.70 | 74.17 | -26.60 | 46 | 266.71 | roll | -0.96 | - | - | 1843.69 | - | 3.66 | 0.026 | 2064.94 | 358.7 | -116.79 | - | - | 3136.31 | - | - | - | - | - | - | - | - | - | 15.48 | - |
| 566.02 | 135.87 | -18.52 | 77 | 571.54 | roll | -0.96 | - | - | 1857.19 | - | 3.83 | 0.062 | 753.56 | -342.4 | -116.79 | - | - | 3137.19 | - | - | - | - | - | - | - | - | - | 15.67 | - |
| 795.89 | 179.77 | -18.28 | 123 | 801.56 | roll | -0.96 | - | - | 1842.56 | - | 3.63 | 0.025 | 2064.25 | 361.1 | -116.79 | - | - | 3138.53 | - | - | - | - | - | - | - | - | - | 15.75 | - |
| 1106.09 | 232.66 | -16.40 | 155 | 1107.42 | no move | -0.96 | - | - | 1842.06 | - | - | - | 2065.06 | - | -116.79 | - | - | 3135.88 | - | - | - | - | - | - | - | - | - | - | - |
| 1406.03 | 279.35 | -15.52 | 173 | 1411.66 | roll | -0.96 | - | - | 1857.31 | - | 3.81 | 0.063 | 754.75 | -343.9 | -116.79 | - | - | 3137.81 | - | - | - | - | - | - | - | - | - | 15.77 | - |
| 1455.84 | 287.39 | -16.09 | 183 | 1461.64 | roll | -0.96 | - | - | 1841.56 | - | 3.62 | 0.025 | 2064.00 | 361.7 | -116.79 | - | - | 3138.94 | - | - | - | - | - | - | - | - | - | 15.81 | - |
| 1765.98 | 327.29 | -11.60 | 195 | 1771.63 | roll | -0.96 | - | - | 1826.19 | - | 3.54 | 0.059 | 3325.06 | 356.2 | -116.79 | - | - | 3136.81 | - | - | - | - | - | - | - | - | - | 15.81 | - |
| 1900.88 | 342.46 | -11.75 | 222 | 1906.70 | roll | -0.96 | - | - | 1839.88 | - | 3.61 | 0.025 | 2011.75 | -363.8 | -116.79 | - | - | 3136.22 | - | - | - | - | - | - | - | - | - | 15.85 | - |
| 2216.25 | 374.37 | -10.25 | 235 | 2221.73 | roll | -0.96 | - | - | 1825.06 | - | 3.79 | 0.059 | 3323.81 | 346.2 | -116.79 | - | - | 3136.94 | - | - | - | - | - | - | - | - | - | 15.82 | - |
| 2370.95 | 391.44 | -11.07 | 266 | 2376.75 | roll | -0.96 | - | - | 1839.88 | - | 3.62 | 0.025 | 2012.69 | -362.2 | -116.79 | - | - | 3138.62 | - | - | - | - | - | - | - | - | - | 15.78 | - |
| 2696.30 | 423.69 | -9.97 | 281 | 2697.63 | no move | -0.96 | - | - | 1839.12 | - | - | - | 2012.44 | - | -116.79 | - | - | 3135.22 | - | - | - | - | - | - | - | - | - | - | - |
| 2996.40 | 451.52 | -9.19 | 291 | 3001.82 | roll | -0.96 | - | - | 1824.19 | - | 3.78 | 0.059 | 3326.31 | 347.6 | -116.79 | - | - | 3136.69 | - | - | - | - | - | - | - | - | - | 15.90 | - |
| 3041.02 | 456.08 | -10.32 | 300 | 3047.21 | roll | -0.96 | - | - | 1838.44 | - | 3.60 | 0.026 | 2011.12 | -365.3 | -116.79 | - | - | 3136.25 | - | - | - | - | - | - | - | - | - | 15.89 | - |
| 3356.34 | 485.63 | -9.39 | 313 | 3361.85 | roll | -0.96 | - | - | 1823.88 | - | 3.78 | 0.058 | 3326.25 | 347.9 | -116.79 | - | - | 3137.41 | - | - | - | - | - | - | - | - | - | 15.90 | - |
| 3456.12 | 495.88 | -10.35 | 333 | 3461.87 | roll | -0.96 | - | - | 1837.69 | - | 3.61 | 0.026 | 2011.38 | -364.2 | -116.79 | - | - | 3137.00 | - | - | - | - | - | - | - | - | - | 15.89 | - |
| 3506 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 3506 | begin apogee | ||||||||||||||||||||||||||||
| 3508.56 | 500.69 | -9.49 | 338 | 3602.56 | -0.12 | 0.99 | 0.234 | 2112.44 | 277.5 | 0.12 | 0.122 | 2388.62 | 3143.7 | - | 92.08 | 1.882 | 2657.22 | -5.2 | 0.228 | - | - | - | - | - | - | 15.67 | 15.37 | 11.97 | |
| 3604 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 3604 | begin loiter | ||||||||||||||||||||||||||||
| 3896.11 | 497.96 | 2.05 | 346 | 3897.45 | VBD | -0.12 | - | - | 2112.31 | - | - | - | 2365.44 | - | - | - | - | 2649.72 | - | - | - | - | - | - | - | - | - | - | - |
| 4496.14 | 484.31 | 2.20 | 356 | 4497.48 | VBD | -0.12 | - | - | 2112.19 | - | - | - | 2365.38 | - | - | - | - | 2647.62 | - | - | - | - | - | - | - | - | - | - | - |
| 5096.15 | 470.24 | 2.48 | 366 | 5097.49 | VBD | -0.12 | - | - | 2112.25 | - | - | - | 2365.50 | - | - | - | - | 2646.94 | - | - | - | - | - | - | - | - | - | - | - |
| 5696.17 | 455.30 | 2.54 | 376 | 5697.51 | VBD | -0.12 | - | - | 2112.19 | - | - | - | 2365.44 | - | - | - | - | 2646.75 | - | - | - | - | - | - | - | - | - | - | - |
| 6296.19 | 442.06 | 2.06 | 386 | 6297.53 | VBD | -0.12 | - | - | 2112.31 | - | - | - | 2365.31 | - | - | - | - | 2647.41 | - | - | - | - | - | - | - | - | - | - | - |
| 6896.28 | 431.99 | 1.65 | 396 | 6897.62 | VBD | -0.12 | - | - | 2112.38 | - | - | - | 2365.50 | - | - | - | - | 2646.16 | - | - | - | - | - | - | - | - | - | - | - |
| 7496.24 | 420.52 | 1.84 | 406 | 7497.57 | VBD | -0.12 | - | - | 2112.19 | - | - | - | 2365.12 | - | - | - | - | 2645.97 | - | - | - | - | - | - | - | - | - | - | - |
| 8096.27 | 408.11 | 2.21 | 416 | 8097.60 | VBD | -0.12 | - | - | 2112.12 | - | - | - | 2365.06 | - | - | - | - | 2647.16 | - | - | - | - | - | - | - | - | - | - | - |
| 8696.31 | 396.12 | 1.89 | 426 | 8697.65 | VBD | -0.15 | - | - | 2112.12 | - | - | - | 2365.81 | - | -7.34 | - | - | 2646.31 | - | - | - | - | - | - | - | - | - | - | - |
| 9296.34 | 386.90 | 1.46 | 436 | 9297.68 | VBD | -0.18 | - | - | 2111.94 | - | - | - | 2364.69 | - | -13.02 | - | - | 2646.75 | - | - | - | - | - | - | - | - | - | - | - |
| 9896.37 | 380.28 | 1.02 | 446 | 9897.70 | VBD | -0.19 | - | - | 2112.25 | - | - | - | 2365.06 | - | -16.98 | - | - | 2645.88 | - | - | - | - | - | - | - | - | - | - | - |
| 10496.40 | 374.63 | 1.21 | 456 | 10497.74 | VBD | -0.21 | - | - | 2112.12 | - | - | - | 2365.31 | - | -21.69 | - | - | 2646.66 | - | - | - | - | - | - | - | - | - | - | - |
| 11096.43 | 368.29 | 0.92 | 466 | 11097.88 | -0.23 | 0.13 | 0.117 | 2050.31 | -475.5 | - | - | 2364.12 | - | -25.25 | - | - | 2647.12 | - | - | - | - | - | - | - | - | 16.01 | - | - | |
| 11696.45 | 367.96 | 0.44 | 476 | 11697.79 | VBD | -0.23 | - | - | 2051.12 | - | - | - | 2364.69 | - | -26.95 | - | - | 2645.84 | - | - | - | - | - | - | - | - | - | - | - |
| 12296.49 | 366.31 | 0.26 | 486 | 12297.83 | VBD | -0.24 | - | - | 2050.62 | - | - | - | 2363.94 | - | -27.96 | - | - | 2646.06 | - | - | - | - | - | - | - | - | - | - | - |
| 12896.53 | 365.66 | 0.15 | 496 | 12897.87 | VBD | -0.24 | - | - | 2050.38 | - | - | - | 2363.56 | - | -28.56 | - | - | 2646.12 | - | - | - | - | - | - | - | - | - | - | - |
| 13496.55 | 362.74 | 0.45 | 506 | 13497.89 | VBD | -0.25 | - | - | 2050.44 | - | - | - | 2364.44 | - | -30.32 | - | - | 2646.41 | - | - | - | - | - | - | - | - | - | - | - |
| 14096.58 | 364.57 | 0.09 | 516 | 14097.92 | VBD | -0.25 | - | - | 2050.81 | - | - | - | 2364.00 | - | -30.69 | - | - | 2646.00 | - | - | - | - | - | - | - | - | - | - | - |
| 14696.60 | 363.78 | 0.09 | 526 | 14697.94 | VBD | -0.25 | - | - | 2050.62 | - | - | - | 2363.75 | - | -31.05 | - | - | 2645.97 | - | - | - | - | - | - | - | - | - | - | - |
| 15296.62 | 364.13 | -0.08 | 536 | 15297.96 | VBD | -0.25 | - | - | 2050.56 | - | - | - | 2363.62 | - | -31.05 | - | - | 2646.38 | - | - | - | - | - | - | - | - | - | - | - |
| 15896.65 | 363.34 | 0.08 | 546 | 15897.98 | VBD | -0.25 | - | - | 2050.38 | - | - | - | 2364.25 | - | -31.36 | - | - | 2645.25 | - | - | - | - | - | - | - | - | - | - | - |
| 16496.67 | 363.59 | 0.01 | 556 | 16498.01 | VBD | -0.25 | - | - | 2050.56 | - | - | - | 2363.69 | - | -31.40 | - | - | 2646.22 | - | - | - | - | - | - | - | - | - | - | - |
| 17096.68 | 364.26 | - | 566 | 17098.02 | VBD | -0.25 | - | - | 2050.19 | - | - | - | 2363.56 | - | -31.40 | - | - | 2645.28 | - | - | - | - | - | - | - | - | - | - | - |
| 17696.70 | 364.63 | -0.08 | 576 | 17698.04 | VBD | -0.25 | - | - | 2051.00 | - | - | - | 2364.06 | - | -31.40 | - | - | 2645.41 | - | - | - | - | - | - | - | - | - | - | - |
| 18296.73 | 363.76 | - | 586 | 18298.07 | VBD | -0.25 | - | - | 2051.06 | - | - | - | 2364.31 | - | -31.40 | - | - | 2645.19 | - | - | - | - | - | - | - | - | - | - | - |
| 18896.76 | 363.95 | 0.02 | 596 | 18898.10 | VBD | -0.25 | - | - | 2050.31 | - | - | - | 2364.00 | - | -31.46 | - | - | 2645.12 | - | - | - | - | - | - | - | - | - | - | - |
| 19496.78 | 364.39 | 0.02 | 606 | 19498.12 | VBD | -0.25 | - | - | 2051.12 | - | - | - | 2363.75 | - | -31.53 | - | - | 2644.72 | - | - | - | - | - | - | - | - | - | - | - |
| 20096.82 | 362.68 | 0.07 | 616 | 20098.16 | VBD | -0.25 | - | - | 2050.69 | - | - | - | 2363.69 | - | -31.78 | - | - | 2645.16 | - | - | - | - | - | - | - | - | - | - | - |
| 20696.82 | 362.09 | 0.11 | 626 | 20698.16 | VBD | -0.25 | - | - | 2050.69 | - | - | - | 2364.25 | - | -32.19 | - | - | 2646.16 | - | - | - | - | - | - | - | - | - | - | - |
| 21296.84 | 362.82 | 0.08 | 636 | 21298.18 | VBD | -0.26 | - | - | 2050.31 | - | - | - | 2363.25 | - | -32.51 | - | - | 2644.69 | - | - | - | - | - | - | - | - | - | - | - |
| 21896.86 | 362.95 | -0.02 | 646 | 21898.20 | VBD | -0.26 | - | - | 2050.31 | - | - | - | 2363.44 | - | -32.51 | - | - | 2645.06 | - | - | - | - | - | - | - | - | - | - | - |
| 22497.06 | 361.96 | 0.02 | 656 | 22498.39 | VBD | -0.26 | - | - | 2050.50 | - | - | - | 2364.12 | - | -32.58 | - | - | 2645.38 | - | - | - | - | - | - | - | - | - | - | - |
| 23096.90 | 359.91 | 0.26 | 666 | 23098.24 | VBD | -0.26 | - | - | 2051.06 | - | - | - | 2364.25 | - | -33.59 | - | - | 2644.34 | - | - | - | - | - | - | - | - | - | - | - |
| 23696.93 | 361.17 | 0.09 | 676 | 23698.27 | VBD | -0.26 | - | - | 2050.56 | - | - | - | 2364.31 | - | -33.92 | - | - | 2644.81 | - | - | - | - | - | - | - | - | - | - | - |
| 24296.95 | 361.16 | 0.04 | 686 | 24298.29 | VBD | -0.26 | - | - | 2050.62 | - | - | - | 2364.19 | - | -34.08 | - | - | 2644.81 | - | - | - | - | - | - | - | - | - | - | - |
| 24896.96 | 360.87 | -0.06 | 696 | 24898.30 | VBD | -0.26 | - | - | 2050.00 | - | - | - | 2363.75 | - | -34.08 | - | - | 2644.66 | - | - | - | - | - | - | - | - | - | - | - |
| 25197 | end loiter: LOITER_COMPLETE | ||||||||||||||||||||||||||||
| 25197 | begin climb | ||||||||||||||||||||||||||||
| 25197.04 | 360.82 | - | 701 | 25300.17 | 0.96 | 1.34 | 0.180 | 2445.25 | 295.0 | 3.97 | 0.075 | 3734.75 | 345.3 | 116.79 | 95.53 | 1.700 | 2183.12 | -4.8 | 0.169 | - | - | - | - | - | - | 15.90 | 15.53 | 11.90 | |
| 25377.24 | 348.16 | 10.45 | 737 | 25382.85 | roll | 0.96 | - | - | 2461.25 | - | 3.61 | 0.020 | 2413.75 | -365.9 | 116.79 | - | - | 2175.69 | - | - | - | - | - | - | - | - | - | 15.65 | - |
| 25707.36 | 318.93 | 8.06 | 753 | 25712.93 | done | 0.99 | - | - | 2446.75 | - | 3.90 | 0.074 | 3732.81 | 338.2 | 116.79 | - | - | 2171.91 | - | - | - | - | - | - | - | - | - | 15.66 | - |
| 25937.15 | 300.74 | 7.02 | 799 | 25980.13 | 1.17 | 0.19 | 0.108 | 2539.06 | 485.8 | 3.60 | 0.018 | 2381.69 | -375.3 | 162.36 | 37.12 | 1.575 | 1999.09 | -4.7 | 0.146 | - | - | - | - | - | - | 15.61 | 15.68 | 12.01 | |
| 26302.52 | 270.34 | 8.73 | 822 | 26308.03 | done | 1.19 | - | - | 2526.38 | - | 3.95 | 0.072 | 3733.44 | 342.2 | 162.36 | - | - | 1989.22 | - | - | - | - | - | - | - | - | - | 15.61 | - |
| 26472.21 | 253.34 | 10.06 | 856 | 26478.01 | done | 1.19 | - | - | 2539.25 | - | 3.61 | 0.018 | 2413.94 | -365.5 | 162.36 | - | - | 1988.00 | - | - | - | - | - | - | - | - | - | 15.63 | - |
| 26782.49 | 228.44 | 7.55 | 886 | 26788.06 | done | 1.23 | - | - | 2555.38 | - | 3.57 | 0.053 | 1162.19 | -350.6 | 162.36 | - | - | 1988.53 | - | - | - | - | - | - | - | - | - | 15.67 | - |
| 26867.33 | 221.74 | 7.72 | 903 | 26873.21 | done | 1.27 | - | - | 2542.50 | - | 3.69 | 0.030 | 2471.25 | 354.8 | 162.36 | - | - | 1987.19 | - | - | - | - | - | - | - | - | - | 15.67 | - |
| 27172.59 | 200.34 | 6.38 | 934 | 27224.50 | 1.50 | 0.26 | 0.099 | 2628.81 | 332.0 | 3.66 | 0.075 | 3734.75 | 345.2 | 219.66 | 46.12 | 1.506 | 1762.78 | -4.9 | 0.106 | - | - | - | - | - | - | 15.64 | 15.47 | 12.02 | |
| 27307.44 | 186.00 | 12.16 | 961 | 27313.43 | roll | 1.50 | - | - | 2640.94 | - | 3.63 | 0.020 | 2415.12 | -363.5 | 219.66 | - | - | 1760.75 | - | - | - | - | - | - | - | - | - | 15.56 | - |
| 27612.55 | 153.67 | 9.97 | 992 | 27613.89 | VBD | 1.50 | - | - | 2642.62 | - | - | - | 2406.81 | - | 219.66 | - | - | 1753.47 | - | - | - | - | - | - | - | - | - | - | - |
| 27912.70 | 126.31 | 8.54 | 1022 | 27918.25 | done | 1.52 | - | - | 2657.75 | - | 3.59 | 0.058 | 1162.50 | -346.6 | 219.66 | - | - | 1752.84 | - | - | - | - | - | - | - | - | - | 15.69 | - |
| 27977.53 | 120.63 | 8.66 | 1035 | 27983.56 | done | 1.53 | - | - | 2644.81 | - | 3.70 | 0.032 | 2470.94 | 353.6 | 219.66 | - | - | 1753.00 | - | - | - | - | - | - | - | - | - | 15.72 | - |
| 28282.86 | 99.82 | 5.79 | 1066 | 28341.61 | 1.80 | 0.25 | 0.103 | 2755.81 | 444.0 | 3.88 | 0.057 | 1161.12 | -337.6 | 287.74 | 53.24 | 1.400 | 1486.44 | -5.0 | 0.059 | - | - | - | - | - | - | 15.72 | 15.49 | 11.99 | |
| 28418.71 | 87.33 | 10.79 | 1093 | 28424.32 | roll | 1.80 | - | - | 2741.75 | - | 3.73 | 0.033 | 2469.81 | 350.9 | 287.74 | - | - | 1481.88 | - | - | - | - | - | - | - | - | - | 15.62 | - |
| 28728.76 | 65.23 | 3.74 | 1125 | 28811.69 | 2.23 | 0.37 | 0.095 | 2872.94 | 354.6 | - | - | 2470.25 | - | 393.10 | 81.57 | 1.328 | 1057.19 | -5.2 | 0.042 | - | - | - | - | - | - | 15.66 | - | 12.01 | |
| 29113.84 | 42.91 | 3.28 | 1169 | 29208.66 | 2.68 | 0.40 | 0.093 | 3036.31 | 408.4 | 3.92 | 0.057 | 1162.56 | -333.6 | 506.90 | 88.10 | 1.274 | 592.94 | -5.3 | 0.029 | - | - | - | - | - | - | 15.57 | 15.27 | 11.99 | |
| 29285.57 | 28.72 | 12.60 | 1203 | 29291.48 | roll | 2.68 | - | - | 3021.62 | - | 3.79 | 0.034 | 2469.19 | 344.8 | 506.90 | - | - | 588.34 | - | - | - | - | - | - | - | - | - | 15.40 | - |
| 29590.86 | 7.87 | 7.89 | 1234 | 29596.37 | done | 2.71 | - | - | 3005.69 | - | 3.66 | 0.074 | 3732.81 | 345.3 | 506.90 | - | - | 585.38 | - | - | - | - | - | - | - | - | - | 15.61 | - |
| 29625.60 | 4.37 | 9.99 | 1241 | 29631.62 | done | 2.71 | - | - | 3021.25 | - | 3.61 | 0.018 | 2412.38 | -365.8 | 506.90 | - | - | 584.00 | - | - | - | - | - | - | - | - | - | 15.57 | - |
| 29651 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 29651 | begin surface coast | ||||||||||||||||||||||||||||
| 29671 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 29671 | begin surface | ||||||||||||||||||||||||||||
| SM | 2.99 | - | - | - | - | 149.8 | - | 0.011 | 550.6 | - | 8.48 | 0.079 | 747.6 | 88.2 | - | 1.05 | 0.042 | 353.5 | 333.2 | -2.425 | - | - | 30.36 | 15.58 | 15.66 | - | |||