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| • Previous call tries 1 | • 237.17 of 310.00 AH used of 24V (23.49% remains) | |
| • Surface angle -68.6 deg, depth 1.34 m | • Intended pitch -19.8 deg, speed -9.798 cm/s | |
| • VBD pumped to 325.31 (SM_CC=325) | ||
| • GPS1 time: 21 s | ||
| • GPS2 time: 2 s | • 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 | |||||
| 20 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 20 | begin dive | ||||||||||||||||||||||||||||
| 22.00 | - | - | - | 81.05 | VBD | -0.77 | - | - | 205.56 | - | - | - | 2485.56 | - | -145.99 | 54.15 | 0.005 | 2576.31 | - | - | - | - | - | - | - | - | - | - | 14.84 |
| 81.49 | 2.00 | -1.26 | 11 | 134.92 | -0.77 | 8.07 | 0.342 | 1986.38 | 220.7 | 2.08 | 0.068 | 3855.88 | 658.8 | -145.99 | 31.61 | 0.005 | 3469.41 | 28.3 | -1.979 | - | - | - | - | - | - | 14.88 | 14.81 | 15.02 | |
| 217.55 | 23.57 | -18.90 | 37 | 224.58 | roll | -0.77 | - | - | 1986.56 | - | 1.80 | 0.017 | 2507.56 | -749.1 | -145.99 | - | - | 3471.12 | - | - | - | - | - | - | - | - | - | 15.72 | - |
| 407.56 | 54.10 | -16.70 | 75 | 415.42 | roll | -0.77 | - | - | 1986.25 | - | 2.62 | 0.024 | 1164.69 | -512.5 | -145.99 | - | - | 3472.41 | - | - | - | - | - | - | - | - | - | 15.64 | - |
| 428.54 | 57.44 | -16.12 | 79 | 436.70 | roll | -0.77 | - | - | 1974.88 | - | 3.01 | 0.046 | 2653.88 | 494.7 | -145.99 | - | - | 3473.28 | - | - | - | - | - | - | - | - | - | 15.59 | - |
| 619.40 | 89.84 | -18.99 | 117 | 626.55 | roll | -0.77 | - | - | 1966.50 | - | 1.77 | 0.064 | 3856.12 | 679.2 | -145.99 | - | - | 3473.31 | - | - | - | - | - | - | - | - | - | 15.61 | - |
| 739.43 | 110.93 | -16.80 | 141 | 746.09 | roll | -0.77 | - | - | 1966.75 | - | 1.78 | 0.015 | 2507.88 | -757.4 | -145.99 | - | - | 3473.94 | - | - | - | - | - | - | - | - | - | 15.77 | - |
| 1049.52 | 163.50 | -16.46 | 173 | 1056.76 | roll | -0.77 | - | - | 1966.31 | - | 2.60 | 0.023 | 1163.25 | -517.2 | -145.99 | - | - | 3474.19 | - | - | - | - | - | - | - | - | - | 15.71 | - |
| 1079.50 | 168.37 | -16.05 | 179 | 1088.13 | roll | -0.77 | - | - | 1955.19 | - | 2.98 | 0.044 | 2656.12 | 501.0 | -145.99 | - | - | 3474.72 | - | - | - | - | - | - | - | - | - | 15.61 | - |
| 1394.55 | 221.77 | -16.82 | 211 | 1396.65 | pitch | -0.77 | 0.16 | 0.252 | 1994.50 | 245.7 | - | - | 2657.62 | - | -145.99 | - | - | 3475.53 | - | - | - | - | - | - | - | - | 15.21 | - | - |
| 1704.59 | 262.92 | -12.45 | 242 | 1711.40 | roll | -0.77 | - | - | 1996.06 | - | 2.85 | 0.025 | 1169.19 | -522.3 | -145.99 | - | - | 3474.88 | - | - | - | - | - | - | - | - | - | 15.79 | - |
| 1734.61 | 266.76 | -12.83 | 248 | 1741.43 | roll | -0.77 | - | - | 1984.94 | - | 2.96 | 0.043 | 2653.56 | 501.5 | -145.99 | - | - | 3474.06 | - | - | - | - | - | - | - | - | - | 15.63 | - |
| 2044.62 | 307.90 | -13.36 | 280 | 2046.37 | no move | -0.77 | - | - | 1984.75 | - | - | - | 2655.88 | - | -145.99 | - | - | 3472.88 | - | - | - | - | - | - | - | - | - | - | - |
| 2354.66 | 347.03 | -12.73 | 311 | 2361.58 | roll | -0.77 | - | - | 1984.88 | - | 2.84 | 0.024 | 1165.38 | -524.8 | -145.99 | - | - | 3474.31 | - | - | - | - | - | - | - | - | - | 15.78 | - |
| 2379.17 | 350.09 | -12.51 | 316 | 2387.17 | roll | -0.77 | - | - | 1973.62 | - | 2.97 | 0.042 | 2654.38 | 501.3 | -145.99 | - | - | 3473.94 | - | - | - | - | - | - | - | - | - | 15.70 | - |
| 2694.70 | 392.15 | -13.13 | 348 | 2700.69 | roll | -0.77 | - | - | 1965.69 | - | 1.75 | 0.065 | 3857.38 | 687.4 | -145.99 | - | - | 3473.75 | - | - | - | - | - | - | - | - | - | 15.73 | - |
| 2744.70 | 398.53 | -12.48 | 358 | 2750.69 | roll | -0.77 | - | - | 1965.75 | - | 1.78 | 0.018 | 2510.94 | -756.4 | -145.99 | - | - | 3473.00 | - | - | - | - | - | - | - | - | - | 15.81 | - |
| 3054.72 | 439.15 | -14.07 | 390 | 3060.96 | roll | -0.77 | - | - | 1956.06 | - | 2.05 | 0.065 | 3854.75 | 655.5 | -145.99 | - | - | 3474.59 | - | - | - | - | - | - | - | - | - | 15.70 | - |
| 3084.73 | 443.58 | -14.97 | 396 | 3090.98 | roll back | -0.77 | 0.14 | 0.220 | 1996.81 | 291.1 | 1.78 | 0.019 | 2504.81 | -758.4 | -145.99 | - | - | 3472.38 | - | - | - | - | - | - | - | - | 15.35 | 15.83 | - |
| 3394.77 | 482.36 | -12.08 | 428 | 3401.01 | roll | -0.77 | - | - | 1989.38 | - | 2.07 | 0.066 | 3853.81 | 651.7 | -145.99 | - | - | 3472.97 | - | - | - | - | - | - | - | - | - | 15.68 | - |
| 3474.79 | 492.38 | -12.52 | 444 | 3480.77 | roll | -0.77 | - | - | 1988.25 | - | 1.77 | 0.018 | 2516.31 | -755.6 | -145.99 | - | - | 3472.06 | - | - | - | - | - | - | - | - | - | 15.93 | - |
| 3784.85 | 535.61 | -13.48 | 476 | 3791.08 | roll | -0.77 | - | - | 1980.19 | - | 2.05 | 0.065 | 3855.38 | 653.2 | -145.99 | - | - | 3471.31 | - | - | - | - | - | - | - | - | - | 15.64 | - |
| 3809.35 | 539.12 | -13.80 | 481 | 3815.88 | roll | -0.77 | - | - | 1979.06 | - | 1.78 | 0.019 | 2503.25 | -759.6 | -145.99 | - | - | 3471.78 | - | - | - | - | - | - | - | - | - | 15.92 | - |
| 4124.92 | 583.59 | -14.54 | 513 | 4131.15 | roll | -0.77 | - | - | 1969.25 | - | 2.05 | 0.066 | 3852.88 | 658.4 | -145.99 | - | - | 3471.47 | - | - | - | - | - | - | - | - | - | 15.67 | - |
| 4159.42 | 588.98 | -15.62 | 520 | 4165.97 | roll | -0.77 | - | - | 1970.50 | - | 1.79 | 0.019 | 2519.31 | -745.0 | -145.99 | - | - | 3470.81 | - | - | - | - | - | - | - | - | - | 15.92 | - |
| 4474.98 | 638.51 | -15.27 | 552 | 4481.20 | roll | -0.77 | - | - | 1961.56 | - | 2.06 | 0.066 | 3853.25 | 647.5 | -145.99 | - | - | 3469.38 | - | - | - | - | - | - | - | - | - | 15.66 | - |
| 4569.51 | 650.82 | -12.59 | 571 | 4576.45 | roll back | -0.77 | 0.12 | 0.210 | 1995.81 | 285.4 | 1.79 | 0.019 | 2511.44 | -749.6 | -145.99 | - | - | 3469.78 | - | - | - | - | - | - | - | - | 15.34 | 15.92 | - |
| 4885.06 | 687.83 | -11.87 | 603 | 4891.79 | roll | -0.77 | - | - | 1997.56 | - | 2.60 | 0.025 | 1164.50 | -518.1 | -145.99 | - | - | 3469.53 | - | - | - | - | - | - | - | - | - | 15.82 | - |
| 4909.57 | 690.78 | -11.38 | 608 | 4917.62 | roll | -0.77 | - | - | 1987.81 | - | 2.98 | 0.043 | 2654.44 | 500.0 | -145.99 | - | - | 3469.12 | - | - | - | - | - | - | - | - | - | 15.65 | - |
| 5225.11 | 729.07 | -12.99 | 640 | 5232.01 | roll | -0.77 | - | - | 1986.06 | - | 2.85 | 0.026 | 1169.00 | -521.2 | -145.99 | - | - | 3467.75 | - | - | - | - | - | - | - | - | - | 15.74 | - |
| 5240 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 5240 | begin apogee | ||||||||||||||||||||||||||||
| 5245.33 | 731.03 | -13.27 | 643 | 5386.33 | -0.17 | 0.74 | 0.185 | 2187.62 | 272.4 | 0.12 | 0.124 | 2228.75 | 8831.2 | - | 129.62 | 1.965 | 2872.06 | -4.6 | 0.299 | - | - | - | - | - | - | 15.16 | 14.89 | 10.40 | |
| 5389 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5389 | begin climb | ||||||||||||||||||||||||||||
| 5390.11 | 735.28 | - | 656 | 5542.37 | 0.77 | 0.94 | 0.106 | 2502.88 | 335.4 | 2.86 | 0.034 | 875.00 | -473.3 | 145.99 | 132.89 | 1.901 | 2280.34 | -4.5 | 0.302 | - | - | - | - | - | - | 15.29 | 14.84 | 11.14 | |
| 5674.66 | 717.20 | 11.32 | 705 | 5682.72 | done | 0.77 | - | - | 2502.81 | - | 3.08 | 0.036 | 2357.25 | 481.2 | 145.99 | - | - | 2273.03 | - | - | - | - | - | - | - | - | - | 15.68 | - |
| 5990.21 | 679.81 | 10.68 | 737 | 5997.27 | done | 0.77 | - | - | 2516.94 | - | 2.98 | 0.030 | 873.50 | -497.9 | 145.99 | - | - | 2268.66 | - | - | - | - | - | - | - | - | - | 15.75 | - |
| 6174.76 | 661.38 | 9.76 | 774 | 6182.82 | done | 0.77 | - | - | 2515.62 | - | 3.07 | 0.034 | 2360.50 | 484.4 | 145.99 | - | - | 2266.84 | - | - | - | - | - | - | - | - | - | 15.79 | - |
| 6490.31 | 629.79 | 9.63 | 806 | 6496.55 | done | 0.77 | - | - | 2514.75 | - | 2.09 | 0.063 | 3768.56 | 673.7 | 145.99 | - | - | 2264.78 | - | - | - | - | - | - | - | - | - | 15.73 | - |
| 6594.83 | 618.12 | 11.37 | 827 | 6602.16 | done | 0.77 | - | - | 2524.44 | - | 2.15 | 0.019 | 2241.56 | -710.2 | 145.99 | - | - | 2265.44 | - | - | - | - | - | - | - | - | - | 15.80 | - |
| 6910.39 | 586.91 | 9.79 | 859 | 6917.12 | 0.77 | 0.17 | 0.217 | 2476.12 | -284.2 | 2.39 | 0.061 | 3769.94 | 639.5 | 145.99 | - | - | 2264.78 | - | - | - | - | - | - | - | - | 15.39 | 15.41 | - | |
| 6964.98 | 581.86 | 9.16 | 870 | 6972.21 | done | 0.78 | - | - | 2485.69 | - | 2.14 | 0.019 | 2240.69 | -714.6 | 145.99 | - | - | 2262.91 | - | - | - | - | - | - | - | - | - | 15.92 | - |
| 7280.54 | 552.97 | 8.98 | 902 | 7287.02 | done | 0.80 | - | - | 2487.12 | - | 2.40 | 0.062 | 3767.69 | 636.2 | 145.99 | - | - | 2262.31 | - | - | - | - | - | - | - | - | - | 15.68 | - |
| 7320.46 | 549.05 | 9.80 | 910 | 7326.80 | done | 0.80 | - | - | 2496.88 | - | 2.15 | 0.019 | 2242.69 | -709.3 | 145.99 | - | - | 2261.25 | - | - | - | - | - | - | - | - | - | 15.89 | - |
| 7630.60 | 523.09 | 8.09 | 942 | 7632.39 | VBD | 0.83 | - | - | 2497.56 | - | - | - | 2219.50 | - | 145.99 | - | - | 2260.06 | - | - | - | - | - | - | - | - | - | - | - |
| 7940.57 | 493.80 | 10.19 | 973 | 7947.05 | done | 0.83 | - | - | 2497.00 | - | 2.40 | 0.062 | 3768.38 | 645.4 | 145.99 | - | - | 2260.38 | - | - | - | - | - | - | - | - | - | 15.63 | - |
| 7975.08 | 489.76 | 11.55 | 980 | 7982.40 | done | 0.83 | - | - | 2506.44 | - | 2.16 | 0.018 | 2245.06 | -705.2 | 145.99 | - | - | 2260.50 | - | - | - | - | - | - | - | - | - | 15.80 | - |
| 8290.62 | 456.42 | 10.47 | 1012 | 8297.19 | done | 0.83 | - | - | 2508.31 | - | 2.40 | 0.062 | 3769.94 | 635.4 | 145.99 | - | - | 2262.88 | - | - | - | - | - | - | - | - | - | 15.66 | - |
| 8320.62 | 453.01 | 10.94 | 1018 | 8327.02 | done | 0.83 | - | - | 2518.00 | - | 2.16 | 0.018 | 2243.69 | -706.6 | 145.99 | - | - | 2260.97 | - | - | - | - | - | - | - | - | - | 15.93 | - |
| 8630.65 | 422.38 | 9.63 | 1050 | 8632.44 | VBD | 0.83 | - | - | 2518.50 | - | - | - | 2219.81 | - | 145.99 | - | - | 2259.62 | - | - | - | - | - | - | - | - | - | - | - |
| 8940.67 | 390.88 | 10.71 | 1081 | 8947.15 | done | 0.83 | - | - | 2518.88 | - | 2.39 | 0.061 | 3767.62 | 647.6 | 145.99 | - | - | 2260.00 | - | - | - | - | - | - | - | - | - | 15.65 | - |
| 9015.18 | 382.30 | 11.61 | 1096 | 9022.54 | done | 0.83 | - | - | 2527.50 | - | 2.15 | 0.018 | 2246.31 | -707.6 | 145.99 | - | - | 2260.06 | - | - | - | - | - | - | - | - | - | 15.80 | - |
| 9330.71 | 349.61 | 10.16 | 1128 | 9337.20 | done | 0.83 | - | - | 2528.75 | - | 2.39 | 0.062 | 3767.50 | 636.5 | 145.99 | - | - | 2258.75 | - | - | - | - | - | - | - | - | - | 15.64 | - |
| 9405.23 | 341.07 | 11.67 | 1143 | 9412.54 | done | 0.83 | - | - | 2538.56 | - | 2.15 | 0.018 | 2246.88 | -707.3 | 145.99 | - | - | 2259.94 | - | - | - | - | - | - | - | - | - | 15.92 | - |
| 9720.76 | 308.72 | 9.95 | 1175 | 9727.88 | 0.83 | 0.15 | 0.220 | 2508.00 | -203.7 | 2.72 | 0.032 | 873.31 | -505.0 | 145.99 | - | - | 2261.56 | - | - | - | - | - | - | - | - | 15.35 | 15.39 | - | |
| 9770.84 | 304.35 | 8.57 | 1185 | 9777.91 | done | 0.86 | - | - | 2508.62 | - | 3.03 | 0.035 | 2360.19 | 490.7 | 145.99 | - | - | 2259.16 | - | - | - | - | - | - | - | - | - | 15.71 | - |
| 10080.90 | 277.60 | 8.66 | 1217 | 10087.78 | done | 0.88 | - | - | 2520.44 | - | 2.96 | 0.031 | 873.69 | -502.2 | 145.99 | - | - | 2261.06 | - | - | - | - | - | - | - | - | - | 15.67 | - |
| 10115.42 | 274.49 | 8.75 | 1224 | 10123.38 | done | 0.90 | - | - | 2519.88 | - | 3.05 | 0.035 | 2358.88 | 486.9 | 145.99 | - | - | 2261.50 | - | - | - | - | - | - | - | - | - | 15.74 | - |
| 10430.88 | 244.37 | 9.89 | 1256 | 10437.19 | done | 0.90 | - | - | 2520.94 | - | 2.10 | 0.066 | 3767.75 | 670.9 | 145.99 | - | - | 2258.75 | - | - | - | - | - | - | - | - | - | 15.60 | - |
| 10495.43 | 237.07 | 11.32 | 1269 | 10502.73 | done | 0.90 | - | - | 2528.56 | - | 2.14 | 0.018 | 2254.00 | -707.4 | 145.99 | - | - | 2260.06 | - | - | - | - | - | - | - | - | - | 15.78 | - |
| 10810.97 | 203.94 | 10.72 | 1301 | 10812.76 | VBD | 0.90 | - | - | 2529.81 | - | - | - | 2230.44 | - | 145.99 | - | - | 2258.16 | - | - | - | - | - | - | - | - | - | - | - |
| 11121.10 | 173.34 | 9.04 | 1332 | 11127.83 | done | 0.91 | - | - | 2540.31 | - | 2.72 | 0.033 | 874.12 | -498.6 | 145.99 | - | - | 2259.69 | - | - | - | - | - | - | - | - | - | 15.69 | - |
| 11161.11 | 169.64 | 9.25 | 1340 | 11168.16 | done | 0.93 | - | - | 2543.50 | - | 3.05 | 0.035 | 2359.81 | 487.1 | 145.99 | - | - | 2259.81 | - | - | - | - | - | - | - | - | - | 15.64 | - |
| 11471.09 | 140.23 | 9.37 | 1372 | 11477.38 | done | 0.93 | - | - | 2543.06 | - | 2.10 | 0.065 | 3769.50 | 671.3 | 145.99 | - | - | 2260.91 | - | - | - | - | - | - | - | - | - | 15.63 | - |
| 11505.61 | 136.59 | 10.38 | 1379 | 11512.97 | done | 0.93 | - | - | 2551.25 | - | 2.14 | 0.018 | 2248.25 | -710.9 | 145.99 | - | - | 2259.44 | - | - | - | - | - | - | - | - | - | 15.82 | - |
| 11821.17 | 106.39 | 9.82 | 1411 | 11827.97 | done | 0.93 | - | - | 2564.69 | - | 2.72 | 0.031 | 872.12 | -505.9 | 145.99 | - | - | 2260.03 | - | - | - | - | - | - | - | - | - | 15.75 | - |
| 11855.67 | 103.04 | 9.60 | 1418 | 11863.79 | done | 0.93 | - | - | 2565.56 | - | 3.05 | 0.034 | 2360.12 | 487.9 | 145.99 | - | - | 2261.00 | - | - | - | - | - | - | - | - | - | 15.73 | - |
| 12166.36 | 74.80 | 8.26 | 1477 | 12173.75 | done | 0.96 | - | - | 2576.44 | - | 2.97 | 0.030 | 871.94 | -501.1 | 145.99 | - | - | 2262.12 | - | - | - | - | - | - | - | - | - | 15.71 | - |
| 12251.61 | 68.65 | 7.11 | 1494 | 12259.08 | done | 1.01 | - | - | 2577.00 | - | 3.06 | 0.033 | 2362.31 | 487.0 | 145.99 | - | - | 2261.66 | - | - | - | - | - | - | - | - | - | 15.70 | - |
| 12441.91 | 55.43 | 6.68 | 1532 | 12504.15 | done | 1.06 | - | - | 2576.81 | - | 2.10 | 0.065 | 3769.62 | 670.1 | 214.36 | 53.76 | 1.120 | 1998.59 | -4.9 | 0.042 | - | - | - | - | - | - | - | 15.22 | 10.62 |
| 12566.93 | 43.57 | 11.41 | 1556 | 12573.92 | roll | 1.06 | - | - | 2586.38 | - | 2.16 | 0.017 | 2247.94 | -704.5 | 214.36 | - | - | 1997.12 | - | - | - | - | - | - | - | - | - | 15.75 | - |
| 12757.00 | 22.49 | 10.93 | 1594 | 12760.88 | no move | 1.06 | - | - | 2587.88 | - | - | - | 2223.56 | - | 214.36 | - | - | 1994.31 | - | - | - | - | - | - | - | - | - | - | - |
| 12942.14 | 4.71 | 8.20 | 1631 | 12949.03 | done | 1.09 | - | - | 2588.38 | - | 2.39 | 0.061 | 3768.00 | 646.2 | 214.36 | - | - | 1993.31 | - | - | - | - | - | - | - | - | - | 15.66 | - |
| 12972 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 12972 | begin surface coast | ||||||||||||||||||||||||||||
| 12997 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 12997 | begin surface | ||||||||||||||||||||||||||||
| SM | 1.53 | - | - | - | - | 213.8 | 82.87 | 1.059 | 1548.8 | 18.7 | 6.76 | 0.057 | 1535.6 | 227.2 | - | 1.63 | 0.017 | 1562.1 | 956.9 | -8.802 | - | - | 11.08 | 15.53 | 15.89 | - | |||