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| • Previous call tries 2 | • 283.54 of 575.00 AH used of 24V (50.69% remains) | |
| • Surface angle -61.2 deg, depth -1.63 m | • Intended pitch -27.4 deg, speed -11.111 cm/s | |
| • VBD pumped to 474.78 (SM_CC=475) | ||
| • GPS1 time: 15 s | • bottom range 7.9 m at 258.3 m, depth 266 m (1000 m grid) | |
| • GPS2 time: 2 s | • Transponder ping count: 7 | |
| • 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 | ||||||||||||||||||||||||||||
| 7.62 | - | - | - | 110.03 | VBD | -1.59 | - | - | 165.31 | - | 0.08 | 0.270 | 2116.00 | - | -74.33 | 98.89 | 0.005 | 2802.41 | - | - | - | - | - | - | - | - | - | 14.31 | 14.61 |
| 110.26 | 5.30 | -10.72 | 10 | 132.61 | roll back | -1.59 | 14.07 | 0.257 | 1753.94 | 112.9 | 4.14 | 0.147 | 661.62 | -351.3 | -74.33 | - | - | 2802.16 | - | - | - | - | - | - | - | - | 14.99 | 15.10 | - |
| 154.74 | 19.36 | -25.55 | 19 | 161.56 | roll | -1.59 | - | - | 1754.31 | - | 3.54 | 0.054 | 2120.25 | 412.0 | -74.33 | - | - | 2801.69 | - | - | - | - | - | - | - | - | - | 15.49 | - |
| 220.89 | 32.51 | -19.87 | 26 | 222.22 | no move | -1.59 | - | - | 1754.31 | - | - | - | 2120.88 | - | -74.33 | - | - | 2802.25 | - | - | - | - | - | - | - | - | - | - | - |
| 280.85 | 44.08 | -19.25 | 32 | 282.17 | no move | -1.59 | - | - | 1754.25 | - | - | - | 2120.94 | - | -74.33 | - | - | 2802.31 | - | - | - | - | - | - | - | - | - | - | - |
| 340.85 | 55.37 | -19.04 | 38 | 342.18 | no move | -1.59 | - | - | 1754.25 | - | - | - | 2121.25 | - | -74.33 | - | - | 2802.38 | - | - | - | - | - | - | - | - | - | - | - |
| 400.86 | 65.82 | -17.77 | 44 | 406.59 | roll | -1.59 | - | - | 1753.62 | - | 4.12 | 0.148 | 663.12 | -353.9 | -74.33 | - | - | 2800.59 | - | - | - | - | - | - | - | - | - | 15.21 | - |
| 416.35 | 68.55 | -17.99 | 47 | 421.62 | roll | -1.59 | - | - | 1754.25 | - | 3.48 | 0.051 | 2123.50 | 419.6 | -74.33 | - | - | 2800.16 | - | - | - | - | - | - | - | - | - | 15.55 | - |
| 480.91 | 78.65 | -14.79 | 54 | 482.24 | no move | -1.59 | - | - | 1754.06 | - | - | - | 2123.25 | - | -74.33 | - | - | 2802.50 | - | - | - | - | - | - | - | - | - | - | - |
| 540.87 | 86.81 | -13.56 | 60 | 546.59 | roll | -1.59 | - | - | 1754.06 | - | 4.07 | 0.147 | 662.69 | -358.9 | -74.33 | - | - | 2803.84 | - | - | - | - | - | - | - | - | - | 15.21 | - |
| 576.31 | 92.02 | -16.49 | 67 | 581.49 | roll | -1.59 | - | - | 1754.00 | - | 3.47 | 0.050 | 2122.31 | 420.6 | -74.33 | - | - | 2801.81 | - | - | - | - | - | - | - | - | - | 15.57 | - |
| 640.93 | 100.84 | -13.09 | 74 | 646.61 | roll | -1.59 | - | - | 1754.12 | - | 4.03 | 0.146 | 661.75 | -362.4 | -74.33 | - | - | 2802.41 | - | - | - | - | - | - | - | - | - | 15.21 | - |
| 676.33 | 105.89 | -14.76 | 81 | 681.50 | roll | -1.59 | - | - | 1754.38 | - | 3.45 | 0.048 | 2124.25 | 423.9 | -74.33 | - | - | 2800.94 | - | - | - | - | - | - | - | - | - | 15.59 | - |
| 740.94 | 113.29 | -10.88 | 88 | 742.27 | no move | -1.59 | - | - | 1754.56 | - | - | - | 2124.06 | - | -74.33 | - | - | 2802.47 | - | - | - | - | - | - | - | - | - | - | - |
| 800.90 | 120.06 | -11.56 | 94 | 806.62 | roll | -1.59 | - | - | 1753.75 | - | 4.08 | 0.148 | 662.00 | -358.3 | -74.33 | - | - | 2802.75 | - | - | - | - | - | - | - | - | - | 15.20 | - |
| 809.81 | 121.31 | -11.85 | 96 | 816.61 | roll | -1.59 | - | - | 1754.31 | - | 3.43 | 0.047 | 2124.56 | 426.4 | -74.33 | - | - | 2803.50 | - | - | - | - | - | - | - | - | - | 15.58 | - |
| 875.95 | 128.38 | -10.71 | 103 | 877.28 | no move | -1.59 | - | - | 1754.25 | - | - | - | 2124.19 | - | -74.33 | - | - | 2802.72 | - | - | - | - | - | - | - | - | - | - | - |
| 935.91 | 134.70 | -10.52 | 109 | 937.24 | no move | -1.59 | - | - | 1754.12 | - | - | - | 2124.00 | - | -74.33 | - | - | 2802.34 | - | - | - | - | - | - | - | - | - | - | - |
| 995.91 | 140.95 | -10.50 | 115 | 1001.63 | roll | -1.59 | - | - | 1753.56 | - | 4.06 | 0.148 | 661.75 | -360.2 | -74.33 | - | - | 2803.06 | - | - | - | - | - | - | - | - | - | 15.20 | - |
| 1024.82 | 144.75 | -12.66 | 121 | 1031.62 | roll | -1.59 | - | - | 1753.81 | - | 3.44 | 0.048 | 2125.62 | 425.5 | -74.33 | - | - | 2803.38 | - | - | - | - | - | - | - | - | - | 15.58 | - |
| 1090.92 | 152.12 | -11.05 | 128 | 1095.57 | roll | -1.59 | - | - | 1754.12 | - | 3.51 | 0.109 | 3476.56 | 384.9 | -74.33 | - | - | 2802.75 | - | - | - | - | - | - | - | - | - | 15.37 | - |
| 1154.85 | 159.60 | -11.35 | 141 | 1161.62 | roll | -1.59 | - | - | 1754.25 | - | 3.32 | 0.053 | 2078.94 | -421.0 | -74.33 | - | - | 2803.56 | - | - | - | - | - | - | - | - | - | 15.53 | - |
| 1280.95 | 172.70 | -10.46 | 154 | 1286.59 | roll | -1.59 | - | - | 1754.31 | - | 3.64 | 0.103 | 3476.00 | 383.8 | -74.33 | - | - | 2801.66 | - | - | - | - | - | - | - | - | - | 15.39 | - |
| 1329.86 | 178.27 | -11.06 | 164 | 1336.65 | roll | -1.59 | - | - | 1753.75 | - | 3.32 | 0.053 | 2081.31 | -420.1 | -74.33 | - | - | 2803.84 | - | - | - | - | - | - | - | - | - | 15.52 | - |
| 1455.97 | 190.68 | -9.16 | 177 | 1457.29 | no move | -1.59 | - | - | 1753.81 | - | - | - | 2080.94 | - | -74.33 | - | - | 2803.25 | - | - | - | - | - | - | - | - | - | - | - |
| 1575.99 | 202.41 | -9.07 | 189 | 1581.67 | roll | -1.65 | - | - | 1753.25 | - | 3.97 | 0.150 | 662.88 | -357.2 | -94.61 | - | - | 2805.31 | - | - | - | - | - | - | - | - | - | 15.19 | - |
| 1624.90 | 208.00 | -11.58 | 199 | 1631.70 | roll | -1.65 | - | - | 1753.56 | - | 3.44 | 0.048 | 2124.31 | 424.8 | -94.61 | - | - | 2805.09 | - | - | - | - | - | - | - | - | - | 15.58 | - |
| 1751.00 | 219.35 | -9.15 | 212 | 1755.62 | roll | -1.65 | - | - | 1754.06 | - | 3.54 | 0.106 | 3475.25 | 381.6 | -94.61 | - | - | 2805.16 | - | - | - | - | - | - | - | - | - | 15.37 | - |
| 1781.06 | 222.28 | -8.65 | 218 | 1786.70 | roll back | -1.73 | 0.32 | 0.064 | 1705.06 | -153.1 | 3.33 | 0.053 | 2078.88 | -419.3 | -119.06 | - | - | 2801.31 | - | - | - | - | - | - | - | - | 15.33 | 15.53 | - |
| 1906.02 | 236.66 | -11.21 | 231 | 1911.71 | roll | -1.73 | - | - | 1705.44 | - | 3.95 | 0.149 | 662.56 | -358.6 | -119.06 | - | - | 2802.78 | - | - | - | - | - | - | - | - | - | 15.18 | - |
| 1951.46 | 242.82 | -13.67 | 240 | 1956.63 | roll | -1.73 | - | - | 1705.12 | - | 3.45 | 0.048 | 2125.69 | 424.1 | -119.06 | - | - | 2801.31 | - | - | - | - | - | - | - | - | - | 15.60 | - |
| 2078.32 | 258.31 | -12.03 | 249 | 2079.65 | no move | -1.73 | - | - | 1705.44 | - | - | - | 2125.62 | - | -119.06 | - | - | 2803.19 | - | - | - | - | - | - | - | - | - | - | - |
| 2376.03 | 295.44 | -12.52 | 259 | 2380.66 | roll | -1.73 | - | - | 1705.44 | - | 3.56 | 0.109 | 3476.00 | 379.3 | -119.06 | - | - | 2803.50 | - | - | - | - | - | - | - | - | - | 15.37 | - |
| 2459.95 | 307.64 | -14.67 | 276 | 2466.74 | roll | -1.73 | - | - | 1705.31 | - | 3.35 | 0.057 | 2081.88 | -416.2 | -119.06 | - | - | 2803.59 | - | - | - | - | - | - | - | - | - | 15.49 | - |
| 2766.05 | 347.21 | -12.87 | 287 | 2771.70 | roll | -1.73 | - | - | 1704.94 | - | 3.68 | 0.107 | 3475.56 | 378.7 | -119.06 | - | - | 2801.34 | - | - | - | - | - | - | - | - | - | 15.35 | - |
| 2964.99 | 375.33 | -12.82 | 327 | 2971.77 | roll | -1.73 | - | - | 1705.31 | - | 3.36 | 0.057 | 2082.00 | -414.8 | -119.06 | - | - | 2803.12 | - | - | - | - | - | - | - | - | - | 15.49 | - |
| 3271.09 | 413.66 | -12.69 | 338 | 3276.75 | roll | -1.73 | - | - | 1705.19 | - | 3.70 | 0.107 | 3475.56 | 376.6 | -119.06 | - | - | 2804.78 | - | - | - | - | - | - | - | - | - | 15.34 | - |
| 3310.00 | 418.18 | -11.17 | 346 | 3315.69 | roll | -1.73 | - | - | 1705.19 | - | 3.37 | 0.056 | 2081.12 | -413.8 | -119.06 | - | - | 2803.00 | - | - | - | - | - | - | - | - | - | 15.48 | - |
| 3626.12 | 454.91 | -11.04 | 359 | 3627.45 | no move | -1.73 | - | - | 1705.12 | - | - | - | 2080.62 | - | -119.06 | - | - | 2803.19 | - | - | - | - | - | - | - | - | - | - | - |
| 3926.10 | 488.23 | -11.30 | 369 | 3931.78 | roll | -1.73 | - | - | 1704.94 | - | 3.73 | 0.112 | 3474.88 | 373.8 | -119.06 | - | - | 2802.66 | - | - | - | - | - | - | - | - | - | 15.31 | - |
| 3985.04 | 495.85 | -11.36 | 381 | 3990.71 | roll | -1.73 | - | - | 1704.44 | - | 3.37 | 0.059 | 2082.25 | -413.2 | -119.06 | - | - | 2804.28 | - | - | - | - | - | - | - | - | - | 15.46 | - |
| 4041 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 4041 | begin apogee | ||||||||||||||||||||||||||||
| 4042.31 | 502.89 | -19.07 | 387 | 4110.85 | -0.25 | 3.06 | 0.160 | 2079.25 | 122.5 | 0.09 | 0.226 | 2083.06 | - | - | 64.18 | 1.624 | 2501.25 | -4.7 | 0.264 | - | - | - | - | - | - | 15.24 | 14.94 | 10.57 | |
| 4114 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 4114 | begin climb | ||||||||||||||||||||||||||||
| 4113.84 | 505.80 | - | 389 | 4227.90 | 1.73 | 3.38 | 0.079 | 2564.88 | 143.7 | - | - | 2083.50 | - | 119.06 | 108.82 | 1.584 | 2013.84 | -4.5 | 0.258 | - | - | - | - | - | - | 15.27 | - | 11.56 | |
| 4551.13 | 463.91 | 10.80 | 409 | 4556.89 | done | 1.73 | - | - | 2564.31 | - | 3.94 | 0.138 | 661.69 | -360.9 | 119.06 | - | - | 2002.53 | - | - | - | - | - | - | - | - | - | 15.28 | - |
| 4595.05 | 457.86 | 16.65 | 418 | 4600.75 | done | 1.73 | - | - | 2564.25 | - | 3.47 | 0.045 | 2126.06 | 422.0 | 119.06 | - | - | 2002.84 | - | - | - | - | - | - | - | - | - | 15.59 | - |
| 4906.15 | 423.89 | 11.43 | 430 | 4911.87 | done | 1.73 | - | - | 2564.19 | - | 4.04 | 0.134 | 661.69 | -362.5 | 119.06 | - | - | 1998.69 | - | - | - | - | - | - | - | - | - | 15.29 | - |
| 5015.07 | 410.08 | 12.10 | 452 | 5021.89 | done | 1.73 | - | - | 2564.31 | - | 3.46 | 0.045 | 2127.56 | 423.7 | 119.06 | - | - | 1999.16 | - | - | - | - | - | - | - | - | - | 15.63 | - |
| 5321.19 | 378.20 | 10.26 | 463 | 5326.89 | done | 1.75 | - | - | 2563.88 | - | 4.05 | 0.133 | 661.50 | -362.0 | 119.06 | - | - | 1997.94 | - | - | - | - | - | - | - | - | - | 15.27 | - |
| 5445.11 | 362.99 | 9.92 | 488 | 5450.81 | done | 1.79 | - | - | 2564.38 | - | 3.47 | 0.044 | 2127.75 | 422.6 | 119.06 | - | - | 1997.94 | - | - | - | - | - | - | - | - | - | 15.63 | - |
| 5766.22 | 334.33 | 8.25 | 502 | 5798.08 | 1.87 | 0.17 | 0.082 | 2609.19 | 263.6 | 4.04 | 0.133 | 660.56 | -363.2 | 147.54 | 24.98 | 1.390 | 1897.66 | -4.0 | 0.174 | - | - | - | - | - | - | 15.69 | 15.15 | 11.00 | |
| 5850.21 | 323.55 | 14.45 | 519 | 5857.01 | roll | 1.87 | - | - | 2608.56 | - | 3.48 | 0.045 | 2126.00 | 421.1 | 147.54 | - | - | 1895.81 | - | - | - | - | - | - | - | - | - | 15.60 | - |
| 6156.32 | 292.69 | 10.17 | 530 | 6161.94 | roll | 1.90 | - | - | 2609.19 | - | 3.60 | 0.112 | 3475.31 | 374.8 | 147.54 | - | - | 1890.12 | - | - | - | - | - | - | - | - | - | 15.39 | - |
| 6195.21 | 287.62 | 12.63 | 538 | 6200.92 | roll | 1.90 | - | - | 2608.50 | - | 3.36 | 0.053 | 2077.62 | -416.0 | 147.54 | - | - | 1892.19 | - | - | - | - | - | - | - | - | - | 15.55 | - |
| 6511.33 | 252.57 | 11.61 | 551 | 6512.65 | no move | 1.90 | - | - | 2608.56 | - | - | - | 2077.44 | - | 147.54 | - | - | 1891.06 | - | - | - | - | - | - | - | - | - | - | - |
| 6811.34 | 219.45 | 10.65 | 579 | 6817.03 | done | 1.90 | - | - | 2609.12 | - | 3.90 | 0.134 | 661.56 | -363.0 | 147.54 | - | - | 1889.06 | - | - | - | - | - | - | - | - | - | 15.26 | - |
| 6926.82 | 204.16 | 14.81 | 602 | 6931.97 | done | 1.90 | - | - | 2609.31 | - | 3.44 | 0.045 | 2129.69 | 426.8 | 147.54 | - | - | 1890.47 | - | - | - | - | - | - | - | - | - | 15.66 | - |
| 7051.39 | 190.73 | 9.93 | 615 | 7057.08 | done | 1.94 | - | - | 2609.12 | - | 4.03 | 0.128 | 660.81 | -364.5 | 147.54 | - | - | 1888.50 | - | - | - | - | - | - | - | - | - | 15.26 | - |
| 7280.31 | 160.51 | 11.56 | 661 | 7287.11 | done | 1.94 | - | - | 2608.88 | - | 3.50 | 0.048 | 2127.31 | 419.0 | 147.54 | - | - | 1889.69 | - | - | - | - | - | - | - | - | - | 15.61 | - |
| 7406.42 | 146.90 | 11.00 | 674 | 7407.75 | VBD | 1.94 | - | - | 2608.12 | - | - | - | 2127.56 | - | 147.54 | - | - | 1888.50 | - | - | - | - | - | - | - | - | - | - | - |
| 7466.42 | 140.16 | 11.39 | 680 | 7467.75 | VBD | 1.94 | - | - | 2609.00 | - | - | - | 2127.44 | - | 147.54 | - | - | 1889.47 | - | - | - | - | - | - | - | - | - | - | - |
| 7526.44 | 134.12 | 10.40 | 686 | 7532.14 | done | 1.96 | - | - | 2609.44 | - | 4.03 | 0.128 | 662.75 | -363.4 | 147.54 | - | - | 1888.34 | - | - | - | - | - | - | - | - | - | 15.24 | - |
| 7661.88 | 118.06 | 12.87 | 713 | 7667.05 | done | 1.96 | - | - | 2608.44 | - | 3.48 | 0.048 | 2129.88 | 421.6 | 147.54 | - | - | 1890.06 | - | - | - | - | - | - | - | - | - | 15.63 | - |
| 7726.45 | 111.79 | 9.70 | 720 | 7727.78 | VBD | 2.00 | - | - | 2609.00 | - | - | - | 2129.38 | - | 147.54 | - | - | 1888.72 | - | - | - | - | - | - | - | - | - | - | - |
| 7786.48 | 106.52 | 8.99 | 726 | 7810.96 | 2.06 | 0.20 | 0.080 | 2654.62 | 228.1 | - | - | 2129.31 | - | 168.67 | 23.25 | 1.137 | 1813.53 | -3.2 | 0.055 | - | - | - | - | - | - | 15.72 | - | 11.12 | |
| 7876.47 | 97.28 | 10.11 | 736 | 7882.08 | roll | 2.09 | - | - | 2653.88 | - | 3.56 | 0.108 | 3473.06 | 377.5 | 168.67 | - | - | 1807.88 | - | - | - | - | - | - | - | - | - | 15.47 | - |
| 7951.96 | 88.95 | 11.12 | 751 | 7957.06 | roll | 2.09 | - | - | 2655.00 | - | 3.36 | 0.052 | 2076.75 | -415.6 | 168.67 | - | - | 1809.56 | - | - | - | - | - | - | - | - | - | 15.60 | - |
| 8016.53 | 83.81 | 7.54 | 758 | 8062.01 | done | 2.20 | - | - | 2655.25 | - | 3.87 | 0.131 | 661.50 | -365.7 | 204.16 | 40.44 | 1.114 | 1666.75 | -3.5 | 0.048 | - | - | - | - | - | - | - | 15.07 | 11.71 |
| 8067.02 | 79.89 | 8.08 | 768 | 8108.01 | 2.29 | 0.26 | 0.067 | 2709.19 | 207.5 | 3.50 | 0.044 | 2131.25 | 419.9 | 234.30 | 35.31 | 1.074 | 1544.38 | -3.5 | 0.046 | - | - | - | - | - | - | 15.38 | 15.50 | 11.72 | |
| 8166.49 | 69.44 | 10.79 | 782 | 8172.10 | roll | 2.29 | - | - | 2708.19 | - | 3.56 | 0.107 | 3475.06 | 377.5 | 234.30 | - | - | 1541.97 | - | - | - | - | - | - | - | - | - | 15.31 | - |
| 8395.43 | 43.25 | 9.60 | 828 | 8402.20 | roll | 2.34 | - | - | 2709.31 | - | 3.38 | 0.053 | 2076.81 | -413.7 | 234.30 | - | - | 1538.53 | - | - | - | - | - | - | - | - | - | 15.50 | - |
| 8461.58 | 39.19 | 5.97 | 835 | 8518.63 | 2.49 | 0.22 | 0.076 | 2756.31 | 213.6 | - | - | 2077.19 | - | 285.48 | 55.86 | 1.053 | 1337.12 | -3.6 | 0.024 | - | - | - | - | - | - | 15.61 | - | 11.35 | |
| 8576.54 | 29.08 | 10.16 | 848 | 8582.22 | roll | 2.52 | - | - | 2756.31 | - | 3.90 | 0.131 | 660.75 | -363.2 | 285.48 | - | - | 1334.38 | - | - | - | - | - | - | - | - | - | 15.26 | - |
| 8621.98 | 23.00 | 14.04 | 857 | 8627.19 | roll | 2.52 | - | - | 2755.69 | - | 3.52 | 0.046 | 2129.06 | 417.1 | 285.48 | - | - | 1332.31 | - | - | - | - | - | - | - | - | - | 15.51 | - |
| 8686.54 | 14.98 | 11.81 | 864 | 8692.25 | roll | 2.52 | - | - | 2754.00 | - | 4.01 | 0.125 | 660.94 | -366.1 | 285.48 | - | - | 1332.69 | - | - | - | - | - | - | - | - | - | 15.25 | - |
| 8732.00 | 8.36 | 15.07 | 873 | 8737.18 | roll | 2.52 | - | - | 2755.69 | - | 3.48 | 0.044 | 2129.44 | 422.0 | 285.48 | - | - | 1332.22 | - | - | - | - | - | - | - | - | - | 15.56 | - |
| 8787 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 8787 | begin surface coast | ||||||||||||||||||||||||||||
| 8797 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 8797 | begin surface | ||||||||||||||||||||||||||||
| SM | -0.76 | - | - | - | - | 171.3 | - | 2.575 | 564.5 | - | 17.82 | 0.081 | 561.2 | 31.5 | - | 0.10 | 0.135 | 567.8 | 5643.2 | 3.247 | - | - | 30.36 | 15.24 | 15.57 | - | |||