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| • Previous call tries 1 | • 273.66 of 575.00 AH used of 24V (52.41% remains) | |
| • Surface angle -56.1 deg, depth -1.59 m | • Intended pitch -21.0 deg, speed -11.111 cm/s | |
| • VBD pumped to 475.01 (SM_CC=475) | ||
| • GPS1 time: 22 s | ||
| • GPS2 time: 3 s | • Transponder ping count: 5 | |
| • 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 | |||||
| 5 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5 | begin dive | ||||||||||||||||||||||||||||
| 8.16 | - | - | - | 93.80 | VBD | -1.42 | - | - | 170.69 | - | - | - | 2120.62 | - | -124.72 | 85.14 | 0.005 | 2527.81 | - | - | - | - | - | - | - | - | - | - | 14.51 |
| 94.03 | 3.61 | -11.51 | 16 | 127.30 | -1.42 | 14.27 | 0.254 | 1793.94 | 113.8 | 4.25 | 0.156 | 663.81 | -342.8 | -124.72 | 10.40 | 0.007 | 3008.19 | 46.2 | -4.159 | - | - | - | - | - | - | 15.02 | 14.66 | 14.83 | |
| 155.96 | 18.93 | -22.12 | 28 | 161.25 | roll | -1.42 | - | - | 1794.00 | - | 3.54 | 0.051 | 2121.31 | 411.7 | -124.72 | - | - | 3008.44 | - | - | - | - | - | - | - | - | - | 15.55 | - |
| 220.55 | 30.19 | -17.82 | 41 | 226.27 | roll | -1.42 | - | - | 1794.00 | - | 3.62 | 0.105 | 3474.88 | 373.9 | -124.72 | - | - | 3008.09 | - | - | - | - | - | - | - | - | - | 15.39 | - |
| 245.59 | 35.39 | -20.77 | 46 | 251.23 | roll | -1.42 | - | - | 1793.44 | - | 3.39 | 0.056 | 2081.94 | -410.9 | -124.72 | - | - | 3009.19 | - | - | - | - | - | - | - | - | - | 15.50 | - |
| 310.55 | 48.46 | -19.95 | 59 | 314.88 | no move | -1.42 | - | - | 1793.81 | - | - | - | 2082.19 | - | -124.72 | - | - | 3009.25 | - | - | - | - | - | - | - | - | - | - | - |
| 375.57 | 59.67 | -16.14 | 72 | 381.32 | roll | -1.42 | - | - | 1793.75 | - | 3.74 | 0.106 | 3475.56 | 372.6 | -124.72 | - | - | 3007.44 | - | - | - | - | - | - | - | - | - | 15.41 | - |
| 395.57 | 62.94 | -16.15 | 76 | 401.25 | roll | -1.42 | - | - | 1793.94 | - | 3.37 | 0.054 | 2080.12 | -414.1 | -124.72 | - | - | 3009.12 | - | - | - | - | - | - | - | - | - | 15.53 | - |
| 460.58 | 72.91 | -14.63 | 89 | 464.90 | no move | -1.42 | - | - | 1793.44 | - | - | - | 2080.69 | - | -124.72 | - | - | 3008.69 | - | - | - | - | - | - | - | - | - | - | - |
| 525.59 | 81.85 | -13.50 | 102 | 531.82 | roll | -1.42 | - | - | 1793.88 | - | 3.99 | 0.150 | 662.94 | -355.3 | -124.72 | - | - | 3009.09 | - | - | - | - | - | - | - | - | - | 15.27 | - |
| 576.05 | 89.01 | -15.08 | 112 | 581.75 | roll | -1.42 | - | - | 1793.75 | - | 3.47 | 0.045 | 2123.12 | 420.8 | -124.72 | - | - | 3008.12 | - | - | - | - | - | - | - | - | - | 15.63 | - |
| 640.62 | 96.84 | -11.78 | 125 | 646.34 | roll | -1.42 | - | - | 1793.62 | - | 3.58 | 0.104 | 3475.81 | 377.8 | -124.72 | - | - | 3008.06 | - | - | - | - | - | - | - | - | - | 15.43 | - |
| 665.62 | 99.96 | -12.52 | 130 | 671.32 | roll | -1.42 | - | - | 1793.75 | - | 3.33 | 0.051 | 2080.06 | -419.1 | -124.72 | - | - | 3008.34 | - | - | - | - | - | - | - | - | - | 15.57 | - |
| 730.64 | 106.84 | -10.62 | 143 | 736.86 | roll | -1.42 | - | - | 1793.69 | - | 3.96 | 0.147 | 662.75 | -357.9 | -124.72 | - | - | 3008.28 | - | - | - | - | - | - | - | - | - | 15.28 | - |
| 761.08 | 110.05 | -10.61 | 149 | 766.78 | roll | -1.42 | - | - | 1794.25 | - | 3.46 | 0.044 | 2123.06 | 422.1 | -124.72 | - | - | 3008.25 | - | - | - | - | - | - | - | - | - | 15.64 | - |
| 825.65 | 117.58 | -11.70 | 162 | 829.98 | no move | -1.42 | - | - | 1793.38 | - | - | - | 2123.06 | - | -124.72 | - | - | 3008.72 | - | - | - | - | - | - | - | - | - | - | - |
| 890.66 | 124.22 | -10.35 | 175 | 896.38 | roll | -1.42 | - | - | 1793.75 | - | 3.57 | 0.104 | 3475.56 | 378.9 | -124.72 | - | - | 3007.78 | - | - | - | - | - | - | - | - | - | 15.44 | - |
| 915.71 | 127.17 | -12.09 | 180 | 921.35 | roll | -1.42 | - | - | 1793.00 | - | 3.35 | 0.052 | 2080.25 | -416.5 | -124.72 | - | - | 3009.81 | - | - | - | - | - | - | - | - | - | 15.58 | - |
| 980.68 | 134.85 | -11.07 | 193 | 985.00 | no move | -1.42 | - | - | 1793.44 | - | - | - | 2080.62 | - | -124.72 | - | - | 3008.69 | - | - | - | - | - | - | - | - | - | - | - |
| 1045.68 | 142.01 | -11.20 | 206 | 1051.42 | roll | -1.42 | - | - | 1793.62 | - | 3.70 | 0.103 | 3475.81 | 377.1 | -124.72 | - | - | 3007.91 | - | - | - | - | - | - | - | - | - | 15.45 | - |
| 1085.68 | 146.73 | -12.74 | 214 | 1091.38 | roll | -1.42 | - | - | 1793.44 | - | 3.34 | 0.052 | 2079.81 | -418.0 | -124.72 | - | - | 3009.06 | - | - | - | - | - | - | - | - | - | 15.57 | - |
| 1155.70 | 154.97 | -11.52 | 224 | 1161.39 | roll | -1.42 | - | - | 1793.62 | - | 3.97 | 0.148 | 663.75 | -356.7 | -124.72 | - | - | 3006.75 | - | - | - | - | - | - | - | - | - | 15.28 | - |
| 1181.13 | 157.76 | -11.04 | 229 | 1186.31 | roll | -1.42 | - | - | 1793.38 | - | 3.43 | 0.044 | 2124.12 | 425.8 | -124.72 | - | - | 3008.56 | - | - | - | - | - | - | - | - | - | 15.66 | - |
| 1485.72 | 191.24 | -10.72 | 260 | 1491.35 | roll | -1.42 | - | - | 1793.12 | - | 3.57 | 0.109 | 3475.94 | 378.7 | -124.72 | - | - | 3007.56 | - | - | - | - | - | - | - | - | - | 15.43 | - |
| 1590.74 | 204.56 | -13.37 | 281 | 1595.33 | roll | -1.42 | - | - | 1793.75 | - | 3.35 | 0.054 | 2079.75 | -416.8 | -124.72 | - | - | 3007.75 | - | - | - | - | - | - | - | - | - | 15.57 | - |
| 1900.77 | 239.43 | -11.62 | 313 | 1906.42 | roll | -1.42 | - | - | 1794.00 | - | 3.71 | 0.104 | 3475.69 | 376.3 | -124.72 | - | - | 3006.41 | - | - | - | - | - | - | - | - | - | 15.43 | - |
| 1945.79 | 245.26 | -13.13 | 322 | 1950.36 | roll | -1.42 | - | - | 1794.19 | - | 3.35 | 0.055 | 2080.38 | -416.5 | -124.72 | - | - | 3009.56 | - | - | - | - | - | - | - | - | - | 15.57 | - |
| 2265.84 | 280.07 | -10.69 | 337 | 2267.17 | no move | -1.42 | - | - | 1794.00 | - | - | - | 2080.50 | - | -124.72 | - | - | 3008.34 | - | - | - | - | - | - | - | - | - | - | - |
| 2565.78 | 311.53 | -10.20 | 347 | 2571.45 | roll | -1.42 | - | - | 1794.12 | - | 3.76 | 0.110 | 3475.69 | 371.1 | -124.72 | - | - | 3006.81 | - | - | - | - | - | - | - | - | - | 15.42 | - |
| 2634.72 | 318.96 | -10.29 | 361 | 2640.39 | roll | -1.42 | - | - | 1793.31 | - | 3.37 | 0.057 | 2081.88 | -413.6 | -124.72 | - | - | 3009.50 | - | - | - | - | - | - | - | - | - | 15.57 | - |
| 2950.82 | 349.07 | -9.17 | 374 | 2956.47 | roll | -1.42 | - | - | 1793.69 | - | 3.77 | 0.109 | 3475.50 | 369.7 | -124.72 | - | - | 3006.59 | - | - | - | - | - | - | - | - | - | 15.40 | - |
| 2984.72 | 352.83 | -10.76 | 381 | 2990.42 | roll | -1.42 | - | - | 1793.88 | - | 3.38 | 0.056 | 2082.56 | -412.1 | -124.72 | - | - | 3008.12 | - | - | - | - | - | - | - | - | - | 15.57 | - |
| 3305.85 | 380.87 | -8.97 | 395 | 3307.18 | no move | -1.52 | - | - | 1793.56 | - | - | - | 2082.81 | - | -155.72 | - | - | 3008.12 | - | - | - | - | - | - | - | - | - | - | - |
| 3605.84 | 407.77 | -9.09 | 405 | 3611.49 | roll | -1.52 | - | - | 1793.94 | - | 3.79 | 0.111 | 3474.81 | 367.3 | -155.72 | - | - | 3006.09 | - | - | - | - | - | - | - | - | - | 15.39 | - |
| 3634.74 | 410.70 | -10.24 | 411 | 3640.43 | roll | -1.52 | - | - | 1793.44 | - | 3.38 | 0.057 | 2080.88 | -412.4 | -155.72 | - | - | 3008.94 | - | - | - | - | - | - | - | - | - | 15.55 | - |
| 3960.86 | 440.85 | -9.38 | 426 | 3962.19 | no move | -1.52 | - | - | 1794.00 | - | - | - | 2081.06 | - | -155.72 | - | - | 3008.31 | - | - | - | - | - | - | - | - | - | - | - |
| 4260.87 | 469.89 | -9.29 | 436 | 4266.59 | roll | -1.52 | - | - | 1793.56 | - | 4.14 | 0.159 | 662.94 | -342.5 | -155.72 | - | - | 3005.84 | - | - | - | - | - | - | - | - | - | 15.17 | - |
| 4289.76 | 474.70 | -12.56 | 442 | 4295.49 | roll | -1.52 | - | - | 1793.00 | - | 3.51 | 0.051 | 2120.50 | 415.3 | -155.72 | - | - | 3008.75 | - | - | - | - | - | - | - | - | - | 15.60 | - |
| 4555 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 4555 | begin apogee | ||||||||||||||||||||||||||||
| 4557.02 | 500.45 | -9.27 | 455 | 4667.42 | -0.25 | 2.16 | 0.145 | 2079.12 | 132.5 | 0.07 | 0.248 | 2115.62 | -69.7 | - | 107.36 | 1.636 | 2499.41 | -4.7 | 0.253 | - | - | - | - | - | - | 15.39 | 14.79 | 10.28 | |
| 4676 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 4676 | begin climb | ||||||||||||||||||||||||||||
| 4676.45 | 502.31 | - | 458 | 4829.54 | 1.52 | 3.08 | 0.081 | 2514.31 | 141.3 | 4.30 | 0.142 | 662.94 | -337.8 | 155.72 | 141.46 | 1.581 | 1863.88 | -4.5 | 0.249 | - | - | - | - | - | - | 15.16 | 14.69 | 11.51 | |
| 4851.66 | 488.14 | 18.15 | 493 | 4858.48 | roll | 1.52 | - | - | 2514.56 | - | 3.58 | 0.046 | 2124.12 | 408.2 | 155.72 | - | - | 1860.09 | - | - | - | - | - | - | - | - | - | 15.20 | - |
| 5157.77 | 450.67 | 12.45 | 504 | 5163.50 | done | 1.52 | - | - | 2514.19 | - | 4.12 | 0.138 | 661.69 | -355.0 | 155.72 | - | - | 1851.91 | - | - | - | - | - | - | - | - | - | 15.31 | - |
| 5216.69 | 442.69 | 15.72 | 516 | 5222.40 | done | 1.52 | - | - | 2513.62 | - | 3.51 | 0.047 | 2124.12 | 416.6 | 155.72 | - | - | 1852.56 | - | - | - | - | - | - | - | - | - | 15.60 | - |
| 5542.86 | 408.89 | 10.29 | 531 | 5548.50 | done | 1.54 | - | - | 2514.12 | - | 4.09 | 0.137 | 661.62 | -357.6 | 155.72 | - | - | 1850.97 | - | - | - | - | - | - | - | - | - | 15.32 | - |
| 5628.25 | 398.22 | 10.61 | 548 | 5633.41 | done | 1.56 | - | - | 2513.19 | - | 3.49 | 0.048 | 2126.12 | 419.6 | 155.72 | - | - | 1849.72 | - | - | - | - | - | - | - | - | - | 15.67 | - |
| 5952.87 | 365.17 | 10.15 | 563 | 5958.54 | done | 1.59 | - | - | 2513.25 | - | 4.11 | 0.137 | 662.94 | -356.0 | 155.72 | - | - | 1847.97 | - | - | - | - | - | - | - | - | - | 15.31 | - |
| 6038.26 | 353.02 | 12.64 | 580 | 6043.43 | done | 1.59 | - | - | 2513.94 | - | 3.47 | 0.046 | 2126.94 | 421.9 | 155.72 | - | - | 1847.72 | - | - | - | - | - | - | - | - | - | 15.69 | - |
| 6362.88 | 316.98 | 10.81 | 595 | 6368.54 | done | 1.59 | - | - | 2514.44 | - | 4.05 | 0.135 | 662.88 | -361.5 | 155.72 | - | - | 1846.25 | - | - | - | - | - | - | - | - | - | 15.30 | - |
| 6478.29 | 302.95 | 11.32 | 618 | 6483.46 | done | 1.59 | - | - | 2513.62 | - | 3.44 | 0.049 | 2125.94 | 425.3 | 155.72 | - | - | 1847.94 | - | - | - | - | - | - | - | - | - | 15.68 | - |
| 6802.91 | 268.50 | 10.83 | 633 | 6808.56 | done | 1.59 | - | - | 2513.81 | - | 4.06 | 0.135 | 663.00 | -360.3 | 155.72 | - | - | 1846.78 | - | - | - | - | - | - | - | - | - | 15.28 | - |
| 6836.92 | 264.90 | 10.28 | 640 | 6842.46 | done | 1.61 | - | - | 2514.56 | - | 3.47 | 0.046 | 2127.31 | 422.0 | 155.72 | - | - | 1847.56 | - | - | - | - | - | - | - | - | - | 15.66 | - |
| 7147.90 | 235.44 | 8.97 | 663 | 7184.36 | 1.72 | 0.26 | 0.071 | 2568.38 | 207.0 | 4.07 | 0.135 | 662.81 | -359.8 | 191.27 | 30.62 | 1.327 | 1719.19 | -4.2 | 0.130 | - | - | - | - | - | - | 15.71 | 15.13 | 10.58 | |
| 7186.81 | 231.72 | 9.99 | 671 | 7193.59 | roll | 1.75 | - | - | 2567.81 | - | 3.46 | 0.046 | 2127.25 | 423.2 | 191.27 | - | - | 1718.03 | - | - | - | - | - | - | - | - | - | 15.57 | - |
| 7492.93 | 197.31 | 10.04 | 702 | 7498.61 | roll | 1.78 | - | - | 2567.69 | - | 4.08 | 0.131 | 662.62 | -359.0 | 191.27 | - | - | 1712.53 | - | - | - | - | - | - | - | - | - | 15.30 | - |
| 7618.36 | 181.25 | 12.44 | 727 | 7623.54 | roll | 1.78 | - | - | 2567.75 | - | 3.49 | 0.048 | 2127.69 | 419.8 | 191.27 | - | - | 1712.16 | - | - | - | - | - | - | - | - | - | 15.64 | - |
| 7922.97 | 147.11 | 11.65 | 760 | 7929.20 | done | 1.78 | - | - | 2567.38 | - | 4.09 | 0.131 | 662.62 | -358.2 | 191.27 | - | - | 1712.59 | - | - | - | - | - | - | - | - | - | 15.28 | - |
| 8033.42 | 131.66 | 13.78 | 782 | 8039.12 | done | 1.78 | - | - | 2568.00 | - | 3.52 | 0.047 | 2128.00 | 416.3 | 191.27 | - | - | 1712.09 | - | - | - | - | - | - | - | - | - | 15.65 | - |
| 8097.98 | 123.86 | 12.19 | 795 | 8104.14 | done | 1.78 | - | - | 2567.19 | - | 3.62 | 0.108 | 3474.56 | 372.0 | 191.27 | - | - | 1712.62 | - | - | - | - | - | - | - | - | - | 15.39 | - |
| 8132.98 | 119.76 | 11.74 | 802 | 8138.68 | done | 1.78 | - | - | 2568.12 | - | 3.38 | 0.051 | 2076.94 | -413.5 | 191.27 | - | - | 1710.50 | - | - | - | - | - | - | - | - | - | 15.58 | - |
| 8198.00 | 112.35 | 11.93 | 815 | 8204.23 | done | 1.78 | - | - | 2568.50 | - | 3.91 | 0.132 | 662.75 | -361.7 | 191.27 | - | - | 1711.66 | - | - | - | - | - | - | - | - | - | 15.28 | - |
| 8228.43 | 108.46 | 12.96 | 821 | 8234.13 | done | 1.78 | - | - | 2568.06 | - | 3.46 | 0.045 | 2128.50 | 423.6 | 191.27 | - | - | 1710.78 | - | - | - | - | - | - | - | - | - | 15.65 | - |
| 8293.01 | 100.56 | 11.71 | 834 | 8297.33 | VBD | 1.78 | - | - | 2567.62 | - | - | - | 2128.38 | - | 191.27 | - | - | 1711.28 | - | - | - | - | - | - | - | - | - | - | - |
| 8358.01 | 93.24 | 11.18 | 847 | 8364.24 | done | 1.78 | - | - | 2567.62 | - | 4.05 | 0.129 | 662.88 | -361.9 | 191.27 | - | - | 1711.41 | - | - | - | - | - | - | - | - | - | 15.27 | - |
| 8513.49 | 75.78 | 8.26 | 878 | 8573.87 | 1.93 | 0.25 | 0.074 | 2619.00 | 205.5 | 3.47 | 0.046 | 2127.94 | 422.2 | 238.56 | 52.31 | 1.128 | 1527.75 | -3.5 | 0.041 | - | - | - | - | - | - | 15.43 | 15.66 | 11.24 | |
| 8633.05 | 64.43 | 11.42 | 902 | 8639.36 | roll | 1.93 | - | - | 2617.88 | - | 3.61 | 0.107 | 3473.69 | 372.8 | 238.56 | - | - | 1525.41 | - | - | - | - | - | - | - | - | - | 15.38 | - |
| 8673.49 | 59.98 | 10.88 | 910 | 8678.73 | roll | 1.93 | - | - | 2618.88 | - | 3.39 | 0.050 | 2075.88 | -412.3 | 238.56 | - | - | 1524.31 | - | - | - | - | - | - | - | - | - | 15.51 | - |
| 8738.08 | 54.62 | 8.18 | 923 | 8799.93 | done | 2.07 | - | - | 2619.25 | - | 3.81 | 0.106 | 3473.88 | 366.9 | 287.17 | 54.12 | 1.079 | 1329.06 | -3.6 | 0.032 | - | - | - | - | - | - | - | 15.02 | 11.47 |
| 8838.16 | 46.56 | 9.76 | 943 | 8843.93 | roll back | 2.11 | 0.22 | 0.083 | 2663.38 | 200.6 | 3.44 | 0.051 | 2076.81 | -406.1 | 287.17 | - | - | 1327.41 | - | - | - | - | - | - | - | - | 15.26 | 15.42 | - |
| 8903.23 | 40.78 | 9.02 | 956 | 8950.23 | done | 2.22 | - | - | 2663.44 | - | 3.94 | 0.134 | 662.69 | -358.9 | 321.86 | 38.87 | 1.035 | 1188.28 | -3.6 | 0.025 | - | - | - | - | - | - | - | 15.01 | 11.50 |
| 9008.90 | 27.06 | 16.31 | 977 | 9014.19 | roll | 2.22 | - | - | 2663.75 | - | 3.55 | 0.043 | 2127.69 | 412.7 | 321.86 | - | - | 1187.00 | - | - | - | - | - | - | - | - | - | 15.46 | - |
| 9073.48 | 18.90 | 11.56 | 990 | 9079.22 | roll | 2.22 | - | - | 2663.56 | - | 3.67 | 0.107 | 3473.62 | 366.7 | 321.86 | - | - | 1185.56 | - | - | - | - | - | - | - | - | - | 15.33 | - |
| 9113.47 | 13.72 | 12.75 | 998 | 9119.18 | roll | 2.22 | - | - | 2662.88 | - | 3.40 | 0.052 | 2076.81 | -410.8 | 321.86 | - | - | 1185.34 | - | - | - | - | - | - | - | - | - | 15.49 | - |
| 9178.49 | 5.33 | 12.88 | 1011 | 9184.71 | roll | 2.22 | - | - | 2663.56 | - | 3.94 | 0.136 | 661.94 | -359.1 | 321.86 | - | - | 1184.41 | - | - | - | - | - | - | - | - | - | 15.26 | - |
| 9203 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 9203 | begin surface coast | ||||||||||||||||||||||||||||
| 9213 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9213 | begin surface | ||||||||||||||||||||||||||||
| SM | -0.64 | - | - | - | - | 172.8 | - | 0.009 | 563.6 | - | 16.76 | 0.059 | 564.2 | 33.7 | - | 3.47 | 0.045 | 562.9 | 161.1 | 0.234 | - | - | 30.36 | 15.48 | 15.60 | - | |||