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| • Previous call tries 1 | • 132.70 of 575.00 AH used of 24V (76.92% remains) | |
| • Surface angle -71.6 deg, depth 1.64 m | • Intended pitch -19.8 deg, speed -9.524 cm/s | |
| • No surface pump (final VBD was 351.8, SM_CC=517.58301) | ||
| • GPS1 time: 83 s | ||
| • GPS2 time: 3 s | • Transponder ping count: 37 | |
| • 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 | |||||
| 4 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 4 | begin dive | ||||||||||||||||||||||||||||
| 4.96 | - | - | - | 56.77 | VBD | -0.96 | - | - | 128.62 | - | - | - | 2070.62 | - | -116.79 | 51.26 | 0.005 | 1433.44 | - | - | - | - | - | - | - | - | - | - | 15.28 |
| 57.05 | 4.31 | -6.73 | 5 | 118.92 | -0.96 | 8.05 | 0.394 | 1857.75 | 214.8 | 3.84 | 0.062 | 753.50 | -343.0 | -116.79 | 45.90 | 0.005 | 3196.84 | 38.4 | -5.448 | - | - | - | - | - | - | 15.17 | 15.29 | 15.33 | |
| 320.82 | 90.02 | -23.81 | 58 | 326.73 | roll | -0.96 | - | - | 1843.06 | - | 3.64 | 0.026 | 2065.12 | 360.3 | -116.79 | - | - | 3196.94 | - | - | - | - | - | - | - | - | - | 15.50 | - |
| 625.96 | 149.37 | -18.56 | 89 | 631.73 | roll | -0.96 | - | - | 1857.00 | - | 3.82 | 0.062 | 754.50 | -343.1 | -116.79 | - | - | 3197.47 | - | - | - | - | - | - | - | - | - | 15.72 | - |
| 720.95 | 167.63 | -18.50 | 108 | 726.82 | roll | -0.96 | - | - | 1842.75 | - | 3.63 | 0.025 | 2065.06 | 361.0 | -116.79 | - | - | 3196.81 | - | - | - | - | - | - | - | - | - | 15.63 | - |
| 1026.00 | 220.97 | -16.74 | 139 | 1027.33 | no move | -0.96 | - | - | 1842.25 | - | - | - | 2065.69 | - | -116.79 | - | - | 3196.47 | - | - | - | - | - | - | - | - | - | - | - |
| 1336.10 | 268.84 | -15.28 | 162 | 1337.43 | no move | -0.96 | - | - | 1842.31 | - | - | - | 2065.81 | - | -116.79 | - | - | 3197.16 | - | - | - | - | - | - | - | - | - | - | - |
| 1636.32 | 314.25 | -14.92 | 172 | 1641.76 | roll | -0.96 | - | - | 1826.75 | - | 3.55 | 0.059 | 3325.81 | 354.9 | -116.79 | - | - | 3197.66 | - | - | - | - | - | - | - | - | - | 15.80 | - |
| 1686.00 | 321.77 | -15.26 | 182 | 1691.80 | roll | -0.96 | - | - | 1841.06 | - | 3.61 | 0.026 | 2015.06 | -363.1 | -116.79 | - | - | 3197.44 | - | - | - | - | - | - | - | - | - | 15.84 | - |
| 1996.12 | 358.90 | -10.51 | 194 | 2001.83 | roll | -0.96 | - | - | 1825.69 | - | 3.79 | 0.058 | 3325.31 | 345.7 | -116.79 | - | - | 3197.22 | - | - | - | - | - | - | - | - | - | 15.83 | - |
| 2071.05 | 367.84 | -11.85 | 209 | 2076.83 | roll | -0.96 | - | - | 1839.56 | - | 3.62 | 0.026 | 2012.56 | -362.6 | -116.79 | - | - | 3199.25 | - | - | - | - | - | - | - | - | - | 15.86 | - |
| 2386.37 | 398.97 | -9.47 | 222 | 2391.88 | roll | -0.96 | - | - | 1825.12 | - | 3.79 | 0.059 | 3325.69 | 346.5 | -116.79 | - | - | 3199.53 | - | - | - | - | - | - | - | - | - | 15.83 | - |
| 2441.08 | 404.84 | -10.70 | 233 | 2447.14 | roll | -0.96 | - | - | 1839.00 | - | 3.62 | 0.026 | 2014.12 | -362.3 | -116.79 | - | - | 3198.31 | - | - | - | - | - | - | - | - | - | 15.85 | - |
| 2746.28 | 435.01 | -9.80 | 244 | 2751.91 | roll | -0.96 | - | - | 1824.62 | - | 3.78 | 0.059 | 3325.38 | 346.9 | -116.79 | - | - | 3196.69 | - | - | - | - | - | - | - | - | - | 15.90 | - |
| 2811.12 | 441.84 | -10.57 | 257 | 2816.91 | roll | -0.96 | - | - | 1838.62 | - | 3.61 | 0.026 | 2013.38 | -363.4 | -116.79 | - | - | 3198.22 | - | - | - | - | - | - | - | - | - | 15.90 | - |
| 3136.34 | 471.91 | -9.18 | 272 | 3141.96 | roll | -0.96 | - | - | 1823.88 | - | 3.78 | 0.058 | 3324.25 | 346.8 | -116.79 | - | - | 3196.72 | - | - | - | - | - | - | - | - | - | 15.86 | - |
| 3181.16 | 476.55 | -10.62 | 281 | 3186.95 | roll | -0.96 | - | - | 1837.50 | - | 3.61 | 0.026 | 2013.38 | -363.1 | -116.79 | - | - | 3198.72 | - | - | - | - | - | - | - | - | - | 15.91 | - |
| 3436 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 3436 | begin apogee | ||||||||||||||||||||||||||||
| 3438.88 | 501.30 | -9.72 | 292 | 3532.60 | -0.12 | 0.98 | 0.222 | 2111.44 | 279.5 | 0.10 | 0.139 | 2394.19 | 3808.1 | - | 91.92 | 1.898 | 2718.56 | -5.2 | 0.227 | - | - | - | - | - | - | 15.64 | 15.34 | 11.95 | |
| 3534 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 3534 | begin loiter | ||||||||||||||||||||||||||||
| 3826.20 | 503.15 | 0.44 | 300 | 3827.54 | VBD | -0.12 | - | - | 2112.00 | - | - | - | 2369.56 | - | - | - | - | 2709.50 | - | - | - | - | - | - | - | - | - | - | - |
| 4426.23 | 494.42 | 1.45 | 310 | 4427.56 | VBD | -0.12 | - | - | 2111.88 | - | - | - | 2369.50 | - | - | - | - | 2707.66 | - | - | - | - | - | - | - | - | - | - | - |
| 5026.24 | 484.79 | 1.69 | 320 | 5027.58 | VBD | -0.12 | - | - | 2111.56 | - | - | - | 2369.12 | - | - | - | - | 2707.69 | - | - | - | - | - | - | - | - | - | - | - |
| 5626.27 | 474.08 | 1.85 | 330 | 5627.61 | VBD | -0.12 | - | - | 2112.44 | - | - | - | 2368.69 | - | - | - | - | 2707.31 | - | - | - | - | - | - | - | - | - | - | - |
| 6226.28 | 463.29 | 1.69 | 340 | 6227.62 | VBD | -0.12 | - | - | 2112.06 | - | - | - | 2368.50 | - | - | - | - | 2707.56 | - | - | - | - | - | - | - | - | - | - | - |
| 6826.47 | 454.54 | 1.44 | 350 | 6827.81 | VBD | -0.12 | - | - | 2111.94 | - | - | - | 2369.31 | - | - | - | - | 2708.22 | - | - | - | - | - | - | - | - | - | - | - |
| 7426.33 | 445.64 | 1.53 | 360 | 7427.67 | VBD | -0.12 | - | - | 2111.00 | - | - | - | 2369.31 | - | - | - | - | 2707.38 | - | - | - | - | - | - | - | - | - | - | - |
| 8026.36 | 437.96 | 1.13 | 370 | 8027.70 | VBD | -0.12 | - | - | 2111.62 | - | - | - | 2369.56 | - | - | - | - | 2707.12 | - | - | - | - | - | - | - | - | - | - | - |
| 8626.39 | 432.47 | 0.91 | 380 | 8627.73 | VBD | -0.12 | - | - | 2111.62 | - | - | - | 2369.00 | - | - | - | - | 2707.81 | - | - | - | - | - | - | - | - | - | - | - |
| 9226.42 | 427.77 | 0.83 | 390 | 9227.76 | VBD | -0.12 | - | - | 2112.06 | - | - | - | 2368.69 | - | - | - | - | 2707.19 | - | - | - | - | - | - | - | - | - | - | - |
| 9826.46 | 422.26 | 0.88 | 400 | 9827.80 | VBD | -0.12 | - | - | 2112.12 | - | - | - | 2368.69 | - | - | - | - | 2706.91 | - | - | - | - | - | - | - | - | - | - | - |
| 10426.48 | 417.77 | 0.73 | 410 | 10427.82 | VBD | -0.12 | - | - | 2111.31 | - | - | - | 2368.88 | - | - | - | - | 2707.59 | - | - | - | - | - | - | - | - | - | - | - |
| 11026.52 | 415.42 | 0.46 | 420 | 11027.85 | VBD | -0.12 | - | - | 2111.62 | - | - | - | 2368.88 | - | - | - | - | 2707.97 | - | - | - | - | - | - | - | - | - | - | - |
| 11626.55 | 413.82 | 0.32 | 430 | 11627.88 | VBD | -0.12 | - | - | 2111.31 | - | - | - | 2369.31 | - | - | - | - | 2707.50 | - | - | - | - | - | - | - | - | - | - | - |
| 12226.58 | 411.79 | 0.32 | 440 | 12227.92 | VBD | -0.12 | - | - | 2111.25 | - | - | - | 2368.69 | - | - | - | - | 2706.88 | - | - | - | - | - | - | - | - | - | - | - |
| 12826.61 | 411.94 | 0.19 | 450 | 12827.95 | VBD | -0.12 | - | - | 2111.56 | - | - | - | 2368.81 | - | - | - | - | 2708.31 | - | - | - | - | - | - | - | - | - | - | - |
| 13426.64 | 414.45 | -0.05 | 460 | 13427.98 | VBD | -0.12 | - | - | 2110.88 | - | - | - | 2369.12 | - | - | - | - | 2707.06 | - | - | - | - | - | - | - | - | - | - | - |
| 14026.66 | 414.86 | -0.23 | 470 | 14027.99 | VBD | -0.12 | - | - | 2111.38 | - | - | - | 2368.69 | - | - | - | - | 2707.94 | - | - | - | - | - | - | - | - | - | - | - |
| 14626.68 | 413.98 | -0.11 | 480 | 14628.02 | VBD | -0.12 | - | - | 2111.38 | - | - | - | 2369.19 | - | - | - | - | 2706.75 | - | - | - | - | - | - | - | - | - | - | - |
| 15226.70 | 412.77 | 0.10 | 490 | 15228.04 | VBD | -0.12 | - | - | 2111.00 | - | - | - | 2368.75 | - | - | - | - | 2707.53 | - | - | - | - | - | - | - | - | - | - | - |
| 15826.73 | 413.74 | 0.06 | 500 | 15828.07 | VBD | -0.12 | - | - | 2111.88 | - | - | - | 2369.25 | - | - | - | - | 2707.22 | - | - | - | - | - | - | - | - | - | - | - |
| 16426.75 | 414.57 | -0.04 | 510 | 16428.09 | VBD | -0.12 | - | - | 2112.00 | - | - | - | 2369.00 | - | - | - | - | 2707.53 | - | - | - | - | - | - | - | - | - | - | - |
| 17026.77 | 413.23 | -0.03 | 520 | 17028.11 | VBD | -0.12 | - | - | 2111.44 | - | - | - | 2368.94 | - | - | - | - | 2707.41 | - | - | - | - | - | - | - | - | - | - | - |
| 17626.79 | 413.56 | 0.02 | 530 | 17628.12 | VBD | -0.12 | - | - | 2111.25 | - | - | - | 2368.62 | - | - | - | - | 2707.62 | - | - | - | - | - | - | - | - | - | - | - |
| 18226.83 | 415.21 | -0.05 | 540 | 18228.16 | VBD | -0.12 | - | - | 2112.06 | - | - | - | 2369.12 | - | - | - | - | 2707.84 | - | - | - | - | - | - | - | - | - | - | - |
| 18826.83 | 414.34 | -0.07 | 550 | 18828.17 | VBD | -0.12 | - | - | 2111.12 | - | - | - | 2369.19 | - | - | - | - | 2706.72 | - | - | - | - | - | - | - | - | - | - | - |
| 19426.86 | 414.63 | -0.05 | 560 | 19428.20 | VBD | -0.12 | - | - | 2112.06 | - | - | - | 2369.06 | - | - | - | - | 2707.50 | - | - | - | - | - | - | - | - | - | - | - |
| 20026.88 | 414.12 | 0.06 | 570 | 20028.22 | VBD | -0.12 | - | - | 2111.75 | - | - | - | 2368.94 | - | - | - | - | 2707.16 | - | - | - | - | - | - | - | - | - | - | - |
| 20626.90 | 413.34 | 0.06 | 580 | 20628.24 | VBD | -0.12 | - | - | 2111.62 | - | - | - | 2369.00 | - | - | - | - | 2707.75 | - | - | - | - | - | - | - | - | - | - | - |
| 21226.92 | 413.56 | 0.06 | 590 | 21228.26 | VBD | -0.12 | - | - | 2111.12 | - | - | - | 2369.00 | - | - | - | - | 2707.06 | - | - | - | - | - | - | - | - | - | - | - |
| 21826.95 | 413.78 | 0.01 | 600 | 21828.29 | VBD | -0.12 | - | - | 2111.88 | - | - | - | 2369.31 | - | - | - | - | 2707.50 | - | - | - | - | - | - | - | - | - | - | - |
| 22426.97 | 415.52 | -0.12 | 610 | 22428.30 | VBD | -0.12 | - | - | 2111.44 | - | - | - | 2368.56 | - | - | - | - | 2707.81 | - | - | - | - | - | - | - | - | - | - | - |
| 23027.00 | 414.45 | -0.06 | 620 | 23028.33 | VBD | -0.12 | - | - | 2111.56 | - | - | - | 2369.25 | - | - | - | - | 2707.81 | - | - | - | - | - | - | - | - | - | - | - |
| 23627.03 | 413.62 | 0.02 | 630 | 23628.37 | VBD | -0.12 | - | - | 2111.50 | - | - | - | 2368.75 | - | - | - | - | 2707.31 | - | - | - | - | - | - | - | - | - | - | - |
| 24227.03 | 413.30 | 0.13 | 640 | 24228.37 | VBD | -0.12 | - | - | 2111.81 | - | - | - | 2368.94 | - | - | - | - | 2707.25 | - | - | - | - | - | - | - | - | - | - | - |
| 24827.06 | 414.32 | - | 650 | 24828.40 | VBD | -0.12 | - | - | 2111.69 | - | - | - | 2368.88 | - | - | - | - | 2707.97 | - | - | - | - | - | - | - | - | - | - | - |
| 25127 | end loiter: LOITER_COMPLETE | ||||||||||||||||||||||||||||
| 25127 | begin climb | ||||||||||||||||||||||||||||
| 25127.14 | 415.00 | - | 655 | 25230.11 | 0.96 | 1.08 | 0.137 | 2479.88 | 340.9 | 3.55 | 0.057 | 1160.44 | -340.4 | 116.79 | 95.61 | 1.774 | 2243.62 | -4.9 | 0.187 | - | - | - | - | - | - | 15.94 | 15.50 | 11.91 | |
| 25372.14 | 396.08 | 10.59 | 704 | 25377.96 | done | 0.96 | - | - | 2465.81 | - | 3.72 | 0.032 | 2469.06 | 351.8 | 116.79 | - | - | 2234.06 | - | - | - | - | - | - | - | - | - | 15.63 | - |
| 25697.31 | 363.53 | 9.72 | 719 | 25702.96 | done | 0.96 | - | - | 2449.94 | - | 3.63 | 0.074 | 3734.56 | 348.6 | 116.79 | - | - | 2230.09 | - | - | - | - | - | - | - | - | - | 15.66 | - |
| 25772.20 | 355.45 | 10.91 | 734 | 25777.97 | done | 0.96 | - | - | 2464.88 | - | 3.59 | 0.020 | 2412.31 | -368.3 | 116.79 | - | - | 2229.12 | - | - | - | - | - | - | - | - | - | 15.74 | - |
| 26087.56 | 328.05 | 8.15 | 747 | 26088.90 | VBD | 0.99 | - | - | 2465.25 | - | - | - | 2389.31 | - | 116.79 | - | - | 2226.84 | - | - | - | - | - | - | - | - | - | - | - |
| 26387.47 | 310.54 | 5.17 | 757 | 26451.93 | 1.31 | 0.31 | 0.092 | 2580.75 | 372.6 | - | - | 2386.19 | - | 196.15 | 63.40 | 1.612 | 1917.91 | -4.9 | 0.154 | - | - | - | - | - | - | 15.72 | - | 12.00 | |
| 26747.58 | 272.25 | 11.29 | 769 | 26748.92 | VBD | 1.31 | - | - | 2581.12 | - | - | - | 2386.94 | - | 196.15 | - | - | 1908.41 | - | - | - | - | - | - | - | - | - | - | - |
| 27047.40 | 239.52 | 10.48 | 785 | 27053.11 | done | 1.31 | - | - | 2565.44 | - | 3.89 | 0.073 | 3735.12 | 346.6 | 196.15 | - | - | 1907.78 | - | - | - | - | - | - | - | - | - | 15.69 | - |
| 27122.32 | 230.27 | 12.72 | 800 | 27128.31 | done | 1.31 | - | - | 2581.25 | - | 3.58 | 0.020 | 2413.56 | -369.2 | 196.15 | - | - | 1906.16 | - | - | - | - | - | - | - | - | - | 15.75 | - |
| 27427.67 | 201.96 | 8.38 | 831 | 27433.20 | done | 1.33 | - | - | 2565.12 | - | 3.86 | 0.071 | 3734.50 | 342.2 | 196.15 | - | - | 1907.62 | - | - | - | - | - | - | - | - | - | 15.80 | - |
| 27527.76 | 192.28 | 9.56 | 851 | 27533.20 | done | 1.33 | - | - | 2582.06 | - | 3.58 | 0.018 | 2408.12 | -370.5 | 196.15 | - | - | 1904.44 | - | - | - | - | - | - | - | - | - | 15.75 | - |
| 27837.69 | 167.55 | 7.56 | 883 | 27843.31 | done | 1.37 | - | - | 2567.06 | - | 3.87 | 0.070 | 3734.75 | 342.8 | 196.15 | - | - | 1903.44 | - | - | - | - | - | - | - | - | - | 15.79 | - |
| 27892.51 | 162.85 | 8.65 | 894 | 27898.41 | done | 1.39 | - | - | 2582.44 | - | 3.56 | 0.018 | 2408.75 | -372.5 | 196.15 | - | - | 1903.25 | - | - | - | - | - | - | - | - | - | 15.83 | - |
| 28197.67 | 141.97 | 6.58 | 925 | 28245.40 | 1.60 | 0.24 | 0.099 | 2660.12 | 323.7 | 3.89 | 0.071 | 3736.25 | 341.3 | 249.87 | 41.72 | 1.463 | 1698.88 | -4.9 | 0.078 | - | - | - | - | - | - | 15.80 | 15.61 | 11.88 | |
| 28282.78 | 133.61 | 11.84 | 942 | 28288.34 | roll | 1.60 | - | - | 2673.69 | - | 3.61 | 0.018 | 2410.56 | -367.2 | 249.87 | - | - | 1697.62 | - | - | - | - | - | - | - | - | - | 15.71 | - |
| 28592.76 | 101.82 | 9.29 | 974 | 28594.10 | VBD | 1.60 | - | - | 2674.00 | - | - | - | 2394.25 | - | 249.87 | - | - | 1692.00 | - | - | - | - | - | - | - | - | - | - | - |
| 28892.94 | 79.48 | 6.41 | 1004 | 28938.62 | 1.83 | 0.19 | 0.107 | 2749.00 | 394.7 | - | - | 2388.81 | - | 306.61 | 44.59 | 1.377 | 1469.97 | -5.0 | 0.047 | - | - | - | - | - | - | 15.75 | - | 12.05 | |
| 29242.88 | 63.70 | 2.22 | 1041 | 29350.79 | 2.36 | 0.46 | 0.090 | 2902.56 | 333.8 | 3.96 | 0.069 | 3733.50 | 339.6 | 439.62 | 101.65 | 1.329 | 927.31 | -5.3 | 0.042 | - | - | - | - | - | - | 15.67 | 15.32 | 12.10 | |
| 29437.68 | 47.64 | 13.89 | 1080 | 29443.65 | roll | 2.36 | - | - | 2917.62 | - | 3.66 | 0.018 | 2414.44 | -360.4 | 439.62 | - | - | 922.12 | - | - | - | - | - | - | - | - | - | 15.46 | - |
| 29743.06 | 31.14 | 4.42 | 1111 | 29825.05 | 2.73 | 0.31 | 0.095 | 3049.94 | 426.8 | 3.63 | 0.052 | 1160.56 | -345.4 | 532.59 | 74.15 | 1.254 | 549.44 | -5.0 | 0.021 | - | - | - | - | - | - | 15.59 | 15.33 | 12.02 | |
| 30047.79 | 12.77 | 8.34 | 1172 | 30053.68 | roll | 2.76 | - | - | 3037.12 | - | 3.74 | 0.031 | 2472.25 | 350.7 | 532.59 | - | - | 541.28 | - | - | - | - | - | - | - | - | - | 15.53 | - |
| 30203 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 30203 | begin surface coast | ||||||||||||||||||||||||||||
| 30223 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 30223 | begin surface | ||||||||||||||||||||||||||||
| SM | 5.75 | - | - | - | - | 141.9 | - | - | 539.1 | - | 8.61 | 0.088 | 726.4 | 84.4 | - | 1.30 | 0.033 | 351.8 | 267.7 | -4.768 | - | - | 30.00 | 15.54 | 15.66 | - | |||