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| • Previous call tries 1 | • 111.92 of 575.00 AH used of 24V (80.54% remains) | |
| • Surface angle -65.7 deg, depth 1.28 m | • Intended pitch -18.4 deg, speed -9.167 cm/s | |
| • No surface pump (final VBD was 472.4, SM_CC=703.76068) | ||
| • GPS1 time: 50 s | ||
| • GPS2 time: 2 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 | |||||
| 5 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5 | begin dive | ||||||||||||||||||||||||||||
| 6.91 | - | - | - | 61.83 | VBD | -1.47 | - | - | 189.31 | - | - | - | 2244.50 | - | -116.79 | 49.68 | 0.005 | 1619.88 | - | - | - | - | - | - | - | - | - | - | 15.71 |
| 62.36 | 3.50 | -5.75 | 5 | 142.54 | -1.47 | 9.40 | 0.258 | 1353.94 | 123.9 | 4.09 | 0.153 | 3724.50 | 361.9 | -116.79 | 49.24 | 0.005 | 3848.03 | 45.3 | -5.400 | - | - | - | - | - | - | 15.56 | 15.63 | 15.76 | |
| 155.35 | 32.81 | -36.32 | 21 | 163.44 | roll | -1.47 | - | - | 1353.88 | - | 3.68 | 0.067 | 2246.06 | -401.8 | -116.79 | - | - | 3850.88 | - | - | - | - | - | - | - | - | - | 15.69 | - |
| 551.12 | 116.71 | -18.47 | 35 | 560.66 | roll | -1.47 | - | - | 1353.75 | - | 4.05 | 0.149 | 3723.19 | 364.7 | -116.79 | - | - | 3851.38 | - | - | - | - | - | - | - | - | - | 15.76 | - |
| 789.41 | 164.48 | -20.25 | 82 | 798.43 | roll | -1.47 | - | - | 1354.06 | - | 3.62 | 0.066 | 2246.44 | -407.9 | -116.79 | - | - | 3850.34 | - | - | - | - | - | - | - | - | - | 15.85 | - |
| 1177.02 | 230.25 | -16.27 | 99 | 1186.42 | roll | -1.47 | - | - | 1354.06 | - | 4.05 | 0.152 | 3723.44 | 364.7 | -116.79 | - | - | 3851.38 | - | - | - | - | - | - | - | - | - | 15.85 | - |
| 1415.14 | 272.94 | -17.41 | 146 | 1424.17 | roll | -1.47 | - | - | 1354.25 | - | 3.66 | 0.067 | 2245.62 | -403.8 | -116.79 | - | - | 3850.72 | - | - | - | - | - | - | - | - | - | 15.92 | - |
| 1802.77 | 319.53 | -10.44 | 163 | 1812.16 | roll | -1.47 | - | - | 1353.88 | - | 4.01 | 0.177 | 796.06 | -361.5 | -116.79 | - | - | 3850.88 | - | - | - | - | - | - | - | - | - | 15.89 | - |
| 1890.86 | 329.45 | -11.34 | 180 | 1899.88 | roll | -1.47 | - | - | 1354.44 | - | 3.67 | 0.090 | 2272.94 | 402.4 | -116.79 | - | - | 3851.97 | - | - | - | - | - | - | - | - | - | 15.95 | - |
| 2278.48 | 370.74 | -10.50 | 197 | 2287.78 | roll | -1.47 | - | - | 1354.44 | - | 3.95 | 0.164 | 3723.69 | 367.3 | -116.79 | - | - | 3850.94 | - | - | - | - | - | - | - | - | - | 15.92 | - |
| 2355.73 | 379.75 | -11.83 | 212 | 2364.87 | roll | -1.47 | - | - | 1354.44 | - | 3.62 | 0.065 | 2244.50 | -408.6 | -116.79 | - | - | 3851.38 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 2751.51 | 417.34 | -9.70 | 226 | 2761.03 | roll | -1.47 | - | - | 1355.00 | - | 3.99 | 0.155 | 3724.56 | 370.9 | -116.79 | - | - | 3850.78 | - | - | - | - | - | - | - | - | - | 15.95 | - |
| 2823.99 | 425.55 | -11.48 | 240 | 2832.88 | roll | -1.47 | - | - | 1355.12 | - | 3.59 | 0.065 | 2244.25 | -412.3 | -116.79 | - | - | 3850.75 | - | - | - | - | - | - | - | - | - | 16.01 | - |
| 3196.62 | 459.76 | -8.99 | 254 | 3206.04 | roll | -1.47 | - | - | 1354.56 | - | 3.99 | 0.155 | 3723.31 | 370.7 | -116.79 | - | - | 3850.38 | - | - | - | - | - | - | - | - | - | 15.95 | - |
| 3249.00 | 465.36 | -10.86 | 264 | 3257.57 | roll | -1.47 | - | - | 1355.25 | - | 3.58 | 0.065 | 2244.31 | -413.1 | -116.79 | - | - | 3851.22 | - | - | - | - | - | - | - | - | - | 16.01 | - |
| 3644.88 | 501.49 | -9.02 | 278 | 3654.30 | roll | -1.47 | - | - | 1355.12 | - | 3.99 | 0.154 | 3723.38 | 370.7 | -116.79 | - | - | 3850.78 | - | - | - | - | - | - | - | - | - | 15.96 | - |
| 3707.27 | 508.15 | -10.77 | 290 | 3716.18 | roll | -1.47 | - | - | 1355.06 | - | 3.58 | 0.063 | 2243.62 | -413.3 | -116.79 | - | - | 3851.38 | - | - | - | - | - | - | - | - | - | 16.03 | - |
| 4089.92 | 542.20 | -8.82 | 306 | 4091.83 | no move | -1.47 | - | - | 1355.12 | - | - | - | 2243.69 | - | -116.79 | - | - | 3851.84 | - | - | - | - | - | - | - | - | - | - | - |
| 4479.94 | 577.35 | -9.06 | 319 | 4489.37 | roll | -1.47 | - | - | 1355.19 | - | 3.97 | 0.153 | 3723.06 | 372.6 | -116.79 | - | - | 3852.56 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 4542.33 | 584.05 | -10.86 | 331 | 4551.21 | roll | -1.47 | - | - | 1355.12 | - | 3.54 | 0.062 | 2244.31 | -417.7 | -116.79 | - | - | 3854.16 | - | - | - | - | - | - | - | - | - | 16.06 | - |
| 4924.96 | 618.94 | -9.09 | 347 | 4934.40 | roll | -1.47 | - | - | 1354.94 | - | 3.96 | 0.151 | 3725.75 | 374.1 | -116.79 | - | - | 3853.56 | - | - | - | - | - | - | - | - | - | 16.00 | - |
| 5002.36 | 627.27 | -10.87 | 362 | 5016.40 | roll | -1.47 | - | - | 1355.06 | - | 3.56 | 0.062 | 2243.50 | -416.4 | -116.79 | - | - | 3853.81 | - | - | - | - | - | - | - | - | - | 14.99 | - |
| 5380.13 | 660.61 | -8.71 | 376 | 5382.04 | no move | -1.47 | - | - | 1355.12 | - | - | - | 2243.12 | - | -116.79 | - | - | 3854.88 | - | - | - | - | - | - | - | - | - | - | - |
| 5770.14 | 695.13 | -8.89 | 389 | 5779.57 | roll | -1.47 | - | - | 1354.88 | - | 3.97 | 0.152 | 3724.06 | 373.0 | -116.79 | - | - | 3855.59 | - | - | - | - | - | - | - | - | - | 16.01 | - |
| 5860.21 | 703.31 | -10.62 | 404 | 5868.58 | roll | -1.47 | - | - | 1355.19 | - | 3.57 | 0.062 | 2244.12 | -414.5 | -116.79 | - | - | 3856.16 | - | - | - | - | - | - | - | - | - | 16.05 | - |
| 6254.46 | 739.61 | -8.86 | 418 | 6256.38 | no move | -1.47 | - | - | 1354.81 | - | - | - | 2245.00 | - | -116.79 | - | - | 3857.78 | - | - | - | - | - | - | - | - | - | - | - |
| 6644.46 | 774.33 | -8.85 | 431 | 6654.03 | roll | -1.47 | - | - | 1354.69 | - | 4.00 | 0.151 | 3724.94 | 370.0 | -116.79 | - | - | 3859.34 | - | - | - | - | - | - | - | - | - | 15.92 | - |
| 6722.00 | 782.44 | -10.56 | 446 | 6730.90 | roll | -1.47 | - | - | 1355.00 | - | 3.58 | 0.062 | 2243.94 | -413.7 | -116.79 | - | - | 3858.31 | - | - | - | - | - | - | - | - | - | 15.98 | - |
| 7117.88 | 817.02 | -8.65 | 460 | 7127.31 | roll | -1.47 | - | - | 1354.75 | - | 4.00 | 0.153 | 3723.00 | 369.8 | -116.79 | - | - | 3861.03 | - | - | - | - | - | - | - | - | - | 15.88 | - |
| 7170.26 | 822.38 | -10.37 | 470 | 7178.83 | roll | -1.47 | - | - | 1354.94 | - | 3.59 | 0.062 | 2244.38 | -411.9 | -116.79 | - | - | 3861.16 | - | - | - | - | - | - | - | - | - | 15.94 | - |
| 7566.15 | 854.80 | -7.92 | 484 | 7575.69 | roll | -1.47 | - | - | 1354.25 | - | 4.01 | 0.154 | 3725.12 | 369.3 | -116.79 | - | - | 3862.69 | - | - | - | - | - | - | - | - | - | 15.88 | - |
| 7624.43 | 860.28 | -9.64 | 495 | 7633.56 | roll | -1.47 | - | - | 1354.38 | - | 3.60 | 0.062 | 2242.75 | -411.8 | -116.79 | - | - | 3862.12 | - | - | - | - | - | - | - | - | - | 15.94 | - |
| 8012.31 | 891.26 | -7.90 | 512 | 8014.22 | no move | -1.47 | - | - | 1354.94 | - | - | - | 2243.12 | - | -116.79 | - | - | 3863.31 | - | - | - | - | - | - | - | - | - | - | - |
| 8402.31 | 922.40 | -8.03 | 525 | 8411.84 | roll | -1.47 | - | - | 1355.00 | - | 4.01 | 0.156 | 3722.75 | 369.0 | -116.79 | - | - | 3865.16 | - | - | - | - | - | - | - | - | - | 15.85 | - |
| 8484.79 | 930.31 | -9.82 | 541 | 8493.36 | roll | -1.47 | - | - | 1354.94 | - | 3.57 | 0.063 | 2243.62 | -414.3 | -116.79 | - | - | 3866.06 | - | - | - | - | - | - | - | - | - | 15.91 | - |
| 8880.66 | 961.93 | -7.97 | 555 | 8890.09 | roll | -1.47 | - | - | 1355.06 | - | 3.98 | 0.157 | 3723.06 | 371.7 | -116.79 | - | - | 3866.94 | - | - | - | - | - | - | - | - | - | 15.89 | - |
| 8928.05 | 966.42 | -9.42 | 564 | 8936.96 | roll | -1.47 | - | - | 1355.00 | - | 3.58 | 0.064 | 2242.62 | -413.5 | -116.79 | - | - | 3866.56 | - | - | - | - | - | - | - | - | - | 15.96 | - |
| 9234 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 9234 | begin apogee | ||||||||||||||||||||||||||||
| 9235.66 | 991.10 | -8.05 | 575 | 9362.59 | -0.36 | 1.85 | 0.127 | 1623.81 | 145.3 | 0.05 | 0.422 | 2249.06 | 128.8 | - | 111.57 | 2.440 | 3366.22 | -4.5 | 0.311 | - | - | - | - | - | - | 15.95 | 15.25 | 11.24 | |
| 9372 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9372 | begin climb | ||||||||||||||||||||||||||||
| 9372.47 | 992.32 | - | 578 | 9500.25 | 1.47 | 2.93 | 0.067 | 2068.69 | 151.8 | - | - | 2248.56 | - | 116.79 | 108.55 | 2.391 | 2889.25 | -4.4 | 0.311 | - | - | - | - | - | - | 15.37 | - | 11.59 | |
| 9863.90 | 934.46 | 14.22 | 595 | 9873.52 | done | 1.47 | - | - | 2070.25 | - | 4.01 | 0.161 | 3704.12 | 363.0 | 116.79 | - | - | 2876.78 | - | - | - | - | - | - | - | - | - | 15.52 | - |
| 9906.48 | 927.40 | 16.74 | 603 | 9915.50 | done | 1.47 | - | - | 2069.81 | - | 3.65 | 0.068 | 2226.75 | -404.8 | 116.79 | - | - | 2875.97 | - | - | - | - | - | - | - | - | - | 15.62 | - |
| 10279.14 | 874.36 | 14.18 | 617 | 10288.76 | done | 1.47 | - | - | 2070.50 | - | 4.01 | 0.161 | 3702.81 | 368.1 | 116.79 | - | - | 2875.69 | - | - | - | - | - | - | - | - | - | 15.71 | - |
| 10346.73 | 863.16 | 16.94 | 630 | 10355.64 | done | 1.47 | - | - | 2070.62 | - | 3.60 | 0.068 | 2225.38 | -410.4 | 116.79 | - | - | 2872.91 | - | - | - | - | - | - | - | - | - | 15.78 | - |
| 10724.28 | 810.55 | 13.72 | 645 | 10726.20 | VBD | 1.47 | - | - | 2069.94 | - | - | - | 2225.56 | - | 116.79 | - | - | 2871.66 | - | - | - | - | - | - | - | - | - | - | - |
| 11114.29 | 757.66 | 13.46 | 658 | 11123.83 | done | 1.47 | - | - | 2070.12 | - | 4.00 | 0.160 | 3702.94 | 369.3 | 116.79 | - | - | 2872.38 | - | - | - | - | - | - | - | - | - | 15.85 | - |
| 11226.80 | 739.78 | 16.17 | 680 | 11235.37 | done | 1.47 | - | - | 2071.12 | - | 3.58 | 0.068 | 2225.19 | -412.8 | 116.79 | - | - | 2871.91 | - | - | - | - | - | - | - | - | - | 15.92 | - |
| 11622.58 | 686.60 | 13.35 | 694 | 11624.50 | VBD | 1.47 | - | - | 2070.75 | - | - | - | 2225.81 | - | 116.79 | - | - | 2870.06 | - | - | - | - | - | - | - | - | - | - | - |
| 12012.59 | 634.88 | 13.19 | 707 | 12022.11 | done | 1.47 | - | - | 2068.62 | - | 3.96 | 0.157 | 3701.69 | 372.7 | 116.79 | - | - | 2870.31 | - | - | - | - | - | - | - | - | - | 15.92 | - |
| 12120.11 | 618.28 | 15.65 | 728 | 12129.03 | done | 1.47 | - | - | 2071.50 | - | 3.54 | 0.067 | 2224.44 | -417.3 | 116.79 | - | - | 2870.94 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 12515.90 | 567.84 | 12.58 | 742 | 12525.42 | done | 1.47 | - | - | 2070.75 | - | 3.93 | 0.156 | 3700.88 | 375.7 | 116.79 | - | - | 2869.12 | - | - | - | - | - | - | - | - | - | 15.95 | - |
| 12578.39 | 558.72 | 14.78 | 754 | 12587.28 | done | 1.47 | - | - | 2071.56 | - | 3.53 | 0.066 | 2224.56 | -418.2 | 116.79 | - | - | 2869.03 | - | - | - | - | - | - | - | - | - | 16.01 | - |
| 12961.05 | 512.87 | 11.79 | 770 | 12962.97 | VBD | 1.47 | - | - | 2070.94 | - | - | - | 2224.38 | - | 116.79 | - | - | 2869.00 | - | - | - | - | - | - | - | - | - | - | - |
| 13350.95 | 467.22 | 11.74 | 783 | 13360.49 | done | 1.47 | - | - | 2070.94 | - | 3.94 | 0.155 | 3702.81 | 375.2 | 116.79 | - | - | 2868.34 | - | - | - | - | - | - | - | - | - | 15.92 | - |
| 13433.47 | 455.66 | 14.31 | 799 | 13442.04 | done | 1.47 | - | - | 2071.19 | - | 3.54 | 0.066 | 2223.88 | -417.8 | 116.79 | - | - | 2869.78 | - | - | - | - | - | - | - | - | - | 15.97 | - |
| 13829.25 | 409.11 | 11.63 | 813 | 13838.77 | done | 1.47 | - | - | 2071.44 | - | 3.92 | 0.154 | 3703.12 | 377.4 | 116.79 | - | - | 2867.91 | - | - | - | - | - | - | - | - | - | 15.90 | - |
| 13871.73 | 403.35 | 13.76 | 821 | 13880.66 | done | 1.47 | - | - | 2071.19 | - | 3.53 | 0.065 | 2221.88 | -419.6 | 116.79 | - | - | 2868.22 | - | - | - | - | - | - | - | - | - | 15.96 | - |
| 14244.30 | 360.50 | 11.16 | 835 | 14253.84 | done | 1.47 | - | - | 2069.69 | - | 3.94 | 0.154 | 3704.12 | 376.2 | 116.79 | - | - | 2869.75 | - | - | - | - | - | - | - | - | - | 15.87 | - |
| 14351.81 | 346.79 | 13.03 | 856 | 14360.71 | done | 1.47 | - | - | 2071.50 | - | 3.52 | 0.066 | 2223.31 | -420.7 | 116.79 | - | - | 2867.81 | - | - | - | - | - | - | - | - | - | 15.96 | - |
| 14747.68 | 308.80 | 8.96 | 870 | 14749.59 | no move | 1.47 | - | - | 2071.38 | - | - | - | 2223.62 | - | 120.60 | - | - | 2868.09 | - | - | - | - | - | - | - | - | - | - | - |
| 15137.68 | 282.98 | 5.74 | 883 | 15215.22 | done | 1.55 | - | - | 2071.00 | - | 3.92 | 0.169 | 773.31 | -370.0 | 184.94 | 61.58 | 1.612 | 2610.28 | -4.2 | 0.125 | - | - | - | - | - | - | - | 15.67 | 11.25 |
| 15218.40 | 278.80 | 5.55 | 891 | 15297.99 | 1.63 | 0.22 | 0.084 | 2122.75 | 235.2 | 3.64 | 0.078 | 2253.06 | 406.5 | 252.80 | 63.47 | 1.554 | 2336.78 | -4.3 | 0.132 | - | - | - | - | - | - | 15.74 | 15.74 | 11.42 | |
| 15671.63 | 229.73 | 11.21 | 920 | 15681.17 | done | 1.63 | - | - | 2121.94 | - | 4.00 | 0.164 | 775.88 | -369.3 | 252.80 | - | - | 2311.88 | - | - | - | - | - | - | - | - | - | 15.69 | - |
| 15814.17 | 211.63 | 12.50 | 948 | 15822.85 | done | 1.63 | - | - | 2124.12 | - | 3.63 | 0.084 | 2252.56 | 406.8 | 252.80 | - | - | 2323.38 | - | - | - | - | - | - | - | - | - | 15.77 | - |
| 16209.95 | 172.79 | 9.27 | 962 | 16211.87 | VBD | 1.63 | - | - | 2123.56 | - | - | - | 2251.94 | - | 252.80 | - | - | 2321.12 | - | - | - | - | - | - | - | - | - | - | - |
| 16600.05 | 138.36 | 8.98 | 975 | 16609.60 | roll | 1.64 | - | - | 2123.06 | - | 3.96 | 0.165 | 774.50 | -373.1 | 256.32 | - | - | 2321.16 | - | - | - | - | - | - | - | - | - | 15.85 | - |
| 16718.35 | 126.56 | 9.69 | 998 | 16727.50 | roll | 1.64 | - | - | 2124.75 | - | 3.59 | 0.083 | 2253.69 | 412.0 | 256.32 | - | - | 2320.28 | - | - | - | - | - | - | - | - | - | 15.92 | - |
| 17106.24 | 97.21 | 7.26 | 1015 | 17168.58 | done | 1.68 | - | - | 2123.69 | - | 3.92 | 0.163 | 3703.44 | 369.8 | 292.08 | 48.06 | 1.415 | 2177.09 | -3.0 | 0.035 | - | - | - | - | - | - | - | 15.70 | 11.38 |
| 17396.68 | 72.59 | 7.89 | 1072 | 17439.80 | done | 1.71 | - | - | 2124.38 | - | 3.60 | 0.067 | 2224.44 | -410.8 | 316.09 | 31.34 | 1.370 | 2077.12 | -3.2 | 0.029 | - | - | - | - | - | - | - | 15.81 | 11.38 |
| 17803.54 | 49.62 | 4.63 | 1092 | 17932.11 | done | 1.82 | - | - | 2124.75 | - | 4.11 | 0.156 | 3701.75 | 359.4 | 401.21 | 108.74 | 1.360 | 1731.00 | -3.2 | 0.020 | - | - | - | - | - | - | - | 15.38 | 11.36 |
| 18065.20 | 37.71 | 3.84 | 1142 | 18216.64 | 1.94 | 0.34 | 0.066 | 2195.31 | 207.5 | 3.62 | 0.064 | 2224.56 | -408.1 | 501.19 | 129.41 | 1.306 | 1324.94 | -3.1 | 0.015 | - | - | - | - | - | - | 15.62 | 15.60 | 11.37 | |
| 18580.38 | 17.39 | 2.61 | 1204 | 18780.65 | done | 2.09 | - | - | 2193.12 | - | 4.14 | 0.152 | 3700.25 | 356.4 | 624.28 | 172.37 | 1.289 | 823.88 | -2.9 | 0.007 | - | - | - | - | - | - | - | 15.22 | 11.44 |
| 19009.53 | 15.82 | -0.04 | 1286 | 19139.46 | 2.30 | 0.46 | 0.071 | 2272.44 | 172.4 | 3.63 | 0.062 | 2223.81 | -406.7 | 797.12 | 110.14 | 1.274 | 497.50 | -3.0 | 0.006 | - | - | - | - | - | - | 15.60 | 15.58 | 11.45 | |
| 19373 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 19373 | begin surface coast | ||||||||||||||||||||||||||||
| 19412 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 19412 | begin surface | ||||||||||||||||||||||||||||
| SM | 1.85 | - | - | - | - | 192.8 | 0.25 | 0.100 | 499.7 | 1558.2 | 13.20 | 0.042 | 527.1 | 39.9 | - | 0.11 | 0.174 | 472.4 | 4261.5 | -4.631 | - | - | 15.53 | 15.59 | 15.57 | - | |||