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| • Previous call tries 3 | • 11.02 of 350.00 AH used of 24V (96.85% remains) | |
| • Surface angle -69.7 deg, depth 1.87 m | • Intended pitch -20.0 deg, speed -11.538 cm/s | |
| • No surface pump (final VBD was 412.1, SM_CC=511.26248) | ||
| • GPS1 time: 74 s | ||
| • GPS2 time: 3 s | ||
| • 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 | |||||
| 9 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9 | begin dive | ||||||||||||||||||||||||||||
| 10.14 | - | - | - | 69.38 | VBD | -1.18 | - | - | 216.56 | - | - | - | 2113.06 | - | -145.99 | 57.26 | 0.005 | 1479.62 | - | - | - | - | - | - | - | - | - | - | 15.42 |
| 69.63 | 3.07 | -2.76 | 11 | 145.33 | -1.18 | 16.25 | 0.297 | 2233.75 | 124.1 | 3.43 | 0.188 | 3405.50 | 376.8 | -145.99 | 50.35 | 0.005 | 3143.00 | 33.0 | -3.458 | - | - | - | - | - | - | 15.34 | 15.35 | 15.46 | |
| 163.59 | 24.52 | -30.19 | 29 | 171.09 | roll back | -0.91 | 0.46 | 0.205 | 2297.69 | 139.0 | 3.28 | 0.112 | 2085.19 | -402.5 | -145.99 | - | - | 3143.16 | - | - | - | - | - | - | - | - | 15.44 | 15.48 | - |
| 349.83 | 52.29 | -12.11 | 66 | 361.24 | roll back | -1.08 | 0.35 | 0.100 | 2247.12 | -144.5 | 3.88 | 0.207 | 638.56 | -372.8 | -145.99 | - | - | 3145.53 | - | - | - | - | - | - | - | - | 15.57 | 15.49 | - |
| 405.15 | 60.96 | -16.27 | 77 | 416.41 | roll back | -0.98 | 0.31 | 0.201 | 2283.38 | 117.0 | 3.63 | 0.112 | 2110.25 | 405.4 | -145.99 | - | - | 3147.88 | - | - | - | - | - | - | - | - | 15.54 | 15.56 | - |
| 595.56 | 84.79 | -12.66 | 115 | 602.92 | roll back | -1.08 | 0.24 | 0.110 | 2246.56 | -153.4 | 3.43 | 0.197 | 3403.06 | 376.9 | -145.99 | - | - | 3146.62 | - | - | - | - | - | - | - | - | 15.63 | 15.57 | - |
| 661.60 | 94.97 | -15.79 | 128 | 672.33 | roll back | -0.99 | 0.29 | 0.201 | 2281.25 | 119.6 | 3.28 | 0.123 | 2087.62 | -401.0 | -145.99 | - | - | 3147.16 | - | - | - | - | - | - | - | - | 15.59 | 15.62 | - |
| 852.06 | 118.38 | -12.06 | 151 | 863.39 | roll back | -1.11 | 0.26 | 0.111 | 2238.25 | -165.4 | 3.90 | 0.222 | 637.94 | -371.7 | -145.99 | - | - | 3146.38 | - | - | - | - | - | - | - | - | 15.68 | 15.61 | - |
| 912.14 | 127.51 | -15.52 | 163 | 919.17 | roll back | -1.01 | 0.28 | 0.211 | 2271.94 | 120.3 | 3.65 | 0.127 | 2109.44 | 403.2 | -145.99 | - | - | 3144.97 | - | - | - | - | - | - | - | - | 15.63 | 15.66 | - |
| 1217.20 | 163.02 | -10.39 | 194 | 1224.63 | roll back | -1.18 | 0.32 | 0.111 | 2220.88 | -159.6 | 3.47 | 0.220 | 3405.12 | 373.4 | -145.99 | - | - | 3145.12 | - | - | - | - | - | - | - | - | 15.72 | 15.66 | - |
| 1276.84 | 171.05 | -13.92 | 206 | 1284.87 | roll back | -1.11 | 0.27 | 0.208 | 2251.62 | 113.9 | 3.31 | 0.144 | 2087.38 | -398.1 | -145.99 | - | - | 3144.94 | - | - | - | - | - | - | - | - | 15.67 | 15.66 | - |
| 1583.41 | 200.87 | -9.56 | 237 | 1590.42 | roll back | -1.29 | 0.35 | 0.110 | 2193.62 | -165.7 | 3.55 | 0.222 | 3405.31 | 371.2 | -145.99 | - | - | 3146.94 | - | - | - | - | - | - | - | - | 15.75 | 15.69 | - |
| 1619.45 | 204.98 | -11.73 | 244 | 1626.74 | roll back | -1.19 | 0.29 | 0.207 | 2232.31 | 133.4 | 3.31 | 0.147 | 2088.12 | -397.9 | -145.99 | - | - | 3145.19 | - | - | - | - | - | - | - | - | 15.70 | 15.65 | - |
| 1924.81 | 232.34 | -9.09 | 275 | 1928.62 | pitch | -1.32 | 0.27 | 0.119 | 2188.31 | -163.0 | - | - | 2089.88 | - | -145.99 | - | - | 3145.97 | - | - | - | - | - | - | - | - | 15.78 | - | - |
| 2224.67 | 265.10 | -10.90 | 305 | 2228.57 | no move | -1.32 | - | - | 2190.25 | - | - | - | 2088.50 | - | -145.99 | - | - | 3143.34 | - | - | - | - | - | - | - | - | - | - | - |
| 2525.06 | 296.94 | -10.10 | 335 | 2528.91 | no move | -1.32 | - | - | 2190.12 | - | - | - | 2088.00 | - | -145.99 | - | - | 3144.53 | - | - | - | - | - | - | - | - | - | - | - |
| 2824.75 | 328.45 | -10.88 | 352 | 2831.90 | roll | -1.32 | - | - | 2189.06 | - | 4.00 | 0.265 | 639.31 | -362.2 | -145.99 | - | - | 3143.25 | - | - | - | - | - | - | - | - | - | 15.76 | - |
| 2889.12 | 336.72 | -12.85 | 365 | 2896.80 | roll back | -1.22 | 0.28 | 0.209 | 2223.25 | 122.1 | 3.73 | 0.164 | 2106.31 | 393.3 | -145.99 | - | - | 3145.47 | - | - | - | - | - | - | - | - | 15.79 | 15.80 | - |
| 3195.64 | 365.55 | -9.33 | 381 | 3198.66 | pitch | -1.37 | 0.29 | 0.114 | 2176.12 | -162.5 | - | - | 2106.50 | - | -145.99 | - | - | 3144.12 | - | - | - | - | - | - | - | - | 15.86 | - | - |
| 3495.99 | 399.79 | -11.54 | 396 | 3505.60 | roll | -1.37 | - | - | 2176.44 | - | 4.06 | 0.265 | 638.62 | -361.5 | -145.99 | - | - | 3145.19 | - | - | - | - | - | - | - | - | - | 15.78 | - |
| 3555.78 | 407.63 | -13.53 | 408 | 3566.02 | roll back | -1.25 | 0.32 | 0.209 | 2215.44 | 121.9 | 3.74 | 0.171 | 2106.50 | 392.5 | -145.99 | - | - | 3148.44 | - | - | - | - | - | - | - | - | 15.81 | 15.82 | - |
| 3875.95 | 439.70 | -9.69 | 427 | 3883.06 | roll back | -1.39 | 0.28 | 0.115 | 2171.25 | -157.8 | 3.58 | 0.259 | 3404.31 | 362.5 | -145.99 | - | - | 3143.91 | - | - | - | - | - | - | - | - | 15.87 | 15.78 | - |
| 3931.82 | 446.60 | -12.87 | 438 | 3939.08 | roll back | -1.28 | 0.31 | 0.208 | 2207.44 | 116.7 | 3.38 | 0.181 | 2089.31 | -389.1 | -145.99 | - | - | 3143.28 | - | - | - | - | - | - | - | - | 15.83 | 15.82 | - |
| 3967 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 3967 | begin apogee | ||||||||||||||||||||||||||||
| 3968.74 | 450.40 | -10.49 | 442 | 4095.82 | -0.25 | 1.76 | 0.180 | 2457.00 | 141.8 | 0.04 | 0.451 | 2181.62 | 2307.7 | - | 122.42 | 2.007 | 2549.69 | -4.8 | 0.185 | - | - | - | - | - | - | 15.83 | 15.13 | 11.83 | |
| 4097 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 4097 | begin climb | ||||||||||||||||||||||||||||
| 4097.66 | 452.92 | - | 448 | 4232.42 | 1.18 | 2.38 | 0.124 | 2807.94 | 147.5 | 3.67 | 0.253 | 3403.50 | 332.9 | 145.99 | 126.36 | 1.900 | 1955.72 | -4.7 | 0.191 | - | - | - | - | - | - | 15.16 | 14.75 | 11.50 | |
| 4284.60 | 430.84 | 18.00 | 484 | 4292.23 | 0.78 | 0.83 | 0.236 | 2704.44 | -124.7 | 3.31 | 0.170 | 2190.94 | -366.3 | 145.99 | - | - | 1946.47 | - | - | - | - | - | - | - | - | 14.97 | 14.98 | - | |
| 4595.67 | 396.69 | 10.58 | 501 | 4621.54 | done | 0.86 | - | - | 2704.62 | - | 4.16 | 0.261 | 739.56 | -348.9 | 163.91 | 15.90 | 1.665 | 1881.34 | -4.1 | 0.166 | - | - | - | - | - | - | - | 15.23 | 11.66 |
| 4629.60 | 392.88 | 10.90 | 508 | 4651.54 | 0.87 | 0.20 | 0.128 | 2735.31 | 153.5 | 3.87 | 0.161 | 2206.69 | 379.1 | 175.77 | 12.87 | 1.575 | 1833.03 | -3.8 | 0.160 | - | - | - | - | - | - | 15.31 | 15.28 | 11.59 | |
| 4956.25 | 350.95 | 13.06 | 528 | 4963.09 | roll | 0.87 | - | - | 2736.25 | - | 3.36 | 0.244 | 3401.19 | 355.5 | 175.77 | - | - | 1823.94 | - | - | - | - | - | - | - | - | - | 15.41 | - |
| 4975.23 | 348.22 | 13.25 | 532 | 4981.67 | roll | 0.80 | - | - | 2735.06 | - | 3.12 | 0.147 | 2187.38 | -389.0 | 175.77 | - | - | 1825.31 | - | - | - | - | - | - | - | - | - | 15.45 | - |
| 5291.32 | 306.91 | 13.17 | 550 | 5295.23 | VBD | 0.80 | - | - | 2735.75 | - | - | - | 2187.94 | - | 175.77 | - | - | 1823.12 | - | - | - | - | - | - | - | - | - | - | - |
| 5591.81 | 268.05 | 12.82 | 577 | 5595.55 | VBD | 0.80 | - | - | 2735.12 | - | - | - | 2188.31 | - | 175.77 | - | - | 1823.22 | - | - | - | - | - | - | - | - | - | - | - |
| 5892.02 | 229.82 | 12.38 | 607 | 5899.26 | done | 0.80 | - | - | 2734.12 | - | 3.28 | 0.209 | 3404.81 | 370.9 | 175.77 | - | - | 1823.16 | - | - | - | - | - | - | - | - | - | 15.60 | - |
| 5931.40 | 224.43 | 13.68 | 615 | 5939.01 | 0.72 | 0.38 | 0.214 | 2687.56 | -122.5 | 3.04 | 0.126 | 2187.12 | -400.6 | 175.77 | - | - | 1824.94 | - | - | - | - | - | - | - | - | 15.61 | 15.64 | - | |
| 6238.25 | 197.88 | 8.26 | 646 | 6295.45 | 0.98 | 0.49 | 0.101 | 2764.56 | 157.1 | - | - | 2186.81 | - | 237.12 | 53.74 | 1.659 | 1584.47 | -4.5 | 0.091 | - | - | - | - | - | - | 15.67 | - | 11.76 | |
| 6588.71 | 158.59 | 9.71 | 681 | 6626.28 | done | 1.10 | - | - | 2764.69 | - | 3.33 | 0.200 | 3406.50 | 366.3 | 271.39 | 30.57 | 1.568 | 1441.16 | -4.7 | 0.081 | - | - | - | - | - | - | - | 15.31 | 11.72 |
| 6748.45 | 141.50 | 9.75 | 713 | 6786.65 | 1.24 | 0.37 | 0.105 | 2828.38 | 172.1 | 3.07 | 0.117 | 2186.19 | -397.5 | 304.89 | 30.70 | 1.533 | 1308.38 | -4.3 | 0.068 | - | - | - | - | - | - | 15.43 | 15.42 | 11.67 | |
| 7084.53 | 100.86 | 12.30 | 750 | 7092.04 | roll | 1.24 | - | - | 2827.56 | - | 3.92 | 0.208 | 736.88 | -369.7 | 304.89 | - | - | 1300.19 | - | - | - | - | - | - | - | - | - | 15.38 | - |
| 7100.73 | 98.76 | 12.58 | 753 | 7111.59 | roll | 1.24 | - | - | 2829.69 | - | 3.67 | 0.111 | 2209.38 | 401.2 | 304.89 | - | - | 1300.59 | - | - | - | - | - | - | - | - | - | 15.45 | - |
| 7291.32 | 76.87 | 10.80 | 791 | 7312.82 | done | 1.26 | - | - | 2827.38 | - | 3.22 | 0.198 | 3404.50 | 371.2 | 318.62 | 13.55 | 1.390 | 1252.12 | -3.6 | 0.034 | - | - | - | - | - | - | - | 15.36 | 11.68 |
| 7336.81 | 71.75 | 11.38 | 800 | 7349.16 | done | 1.26 | - | - | 2829.06 | - | 3.04 | 0.111 | 2185.38 | -401.0 | 321.61 | 5.20 | 0.908 | 1239.56 | -2.4 | 0.033 | - | - | - | - | - | - | - | 15.43 | 11.69 |
| 7527.96 | 52.00 | 10.21 | 838 | 7555.14 | 1.39 | 0.17 | 0.124 | 2860.81 | 186.8 | - | - | 2185.31 | - | 346.42 | 24.25 | 1.456 | 1138.47 | -4.2 | 0.025 | - | - | - | - | - | - | 15.51 | - | 11.65 | |
| 7733.41 | 30.97 | 6.76 | 879 | 7821.70 | 1.67 | 0.41 | 0.105 | 2930.50 | 170.0 | 3.95 | 0.194 | 736.25 | -366.9 | 435.88 | 80.69 | 1.454 | 772.75 | -4.5 | 0.016 | - | - | - | - | - | - | 15.49 | 15.13 | 11.70 | |
| 8040.02 | 11.56 | 4.99 | 940 | 8108.49 | 1.90 | 0.31 | 0.109 | 2986.25 | 179.8 | 3.65 | 0.098 | 2213.69 | 404.8 | 558.37 | 61.08 | 1.407 | 500.88 | -4.5 | 0.006 | - | - | - | - | - | - | 15.41 | 15.39 | 11.64 | |
| 8287.36 | 8.08 | 1.25 | 989 | 8294.34 | 2.39 | 0.74 | 0.098 | 3103.88 | 159.0 | 3.17 | 0.175 | 3403.62 | 375.4 | 750.84 | - | - | 496.41 | - | - | - | - | - | - | - | - | 15.36 | 15.32 | - | |
| 8438 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 8438 | begin surface coast | ||||||||||||||||||||||||||||
| 8468 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 8468 | begin surface | ||||||||||||||||||||||||||||
| SM | 3.48 | - | - | - | - | 221.7 | - | - | 494.0 | - | 18.61 | 0.086 | 575.9 | 30.9 | - | 3.23 | 0.101 | 412.1 | 126.6 | -0.446 | - | - | 30.00 | 15.46 | 15.46 | - | |||