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| • Previous call tries 2 | • 77.60 of 575.00 AH used of 24V (86.50% remains) | |
| • Surface angle -59.2 deg, depth 1.87 m | • Intended pitch -17.6 deg, speed -10.000 cm/s | |
| • No surface pump (final VBD was 559.8, SM_CC=699.10498) | ||
| • GPS1 time: 40 s | ||
| • GPS2 time: 4 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 | |||||
| 6 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6 | begin dive | ||||||||||||||||||||||||||||
| 7.39 | - | - | - | 66.79 | VBD | -1.51 | - | - | 193.06 | - | - | - | 1972.25 | - | -145.99 | 54.89 | 0.005 | 1434.50 | - | - | - | - | - | - | - | - | - | - | 15.82 |
| 67.23 | 3.33 | -2.76 | 11 | 162.83 | -1.51 | 8.89 | 0.239 | 1333.06 | 128.2 | 3.66 | 0.129 | 529.81 | -394.1 | -145.99 | 66.94 | 0.005 | 3948.94 | 37.6 | -4.270 | - | - | - | - | - | - | 15.61 | 15.72 | 15.85 | |
| 226.33 | 44.63 | -27.61 | 41 | 232.87 | roll | -1.43 | - | - | 1334.06 | - | 3.45 | 0.044 | 2016.75 | 431.0 | -145.99 | - | - | 3951.75 | - | - | - | - | - | - | - | - | - | 15.80 | - |
| 415.23 | 77.48 | -13.73 | 62 | 417.23 | pitch | -1.41 | 0.18 | 0.168 | 1361.44 | 152.1 | - | - | 2020.38 | - | -145.99 | - | - | 3950.78 | - | - | - | - | - | - | - | - | 15.72 | - | - |
| 785.11 | 119.89 | -12.40 | 99 | 792.39 | roll | -1.41 | - | - | 1362.00 | - | 3.57 | 0.123 | 3464.12 | 404.4 | -145.99 | - | - | 3951.41 | - | - | - | - | - | - | - | - | - | 15.77 | - |
| 921.03 | 137.41 | -12.15 | 126 | 928.13 | roll | -1.39 | - | - | 1361.00 | - | 3.47 | 0.048 | 1970.88 | -430.3 | -145.99 | - | - | 3952.09 | - | - | - | - | - | - | - | - | - | 15.83 | - |
| 1295.92 | 177.87 | -10.77 | 164 | 1303.37 | roll | -1.39 | - | - | 1361.31 | - | 3.69 | 0.118 | 3463.69 | 404.6 | -145.99 | - | - | 3952.00 | - | - | - | - | - | - | - | - | - | 15.78 | - |
| 1456.17 | 196.68 | -11.74 | 196 | 1463.84 | roll | -1.39 | - | - | 1361.75 | - | 3.48 | 0.048 | 1969.31 | -429.4 | -145.99 | - | - | 3952.56 | - | - | - | - | - | - | - | - | - | 15.84 | - |
| 1832.16 | 234.77 | -8.90 | 234 | 1840.31 | roll | -1.40 | - | - | 1361.62 | - | 3.69 | 0.118 | 3464.81 | 405.3 | -145.99 | - | - | 3952.00 | - | - | - | - | - | - | - | - | - | 15.79 | - |
| 1968.82 | 248.51 | -10.13 | 261 | 1976.12 | roll | -1.40 | - | - | 1361.62 | - | 3.48 | 0.049 | 1970.69 | -429.3 | -145.99 | - | - | 3952.00 | - | - | - | - | - | - | - | - | - | 15.86 | - |
| 2354.09 | 275.96 | -6.35 | 276 | 2362.44 | roll | -1.43 | - | - | 1361.19 | - | 3.68 | 0.118 | 3462.62 | 405.4 | -145.99 | - | - | 3951.47 | - | - | - | - | - | - | - | - | - | 15.80 | - |
| 2480.45 | 286.13 | -8.25 | 301 | 2488.41 | roll | -1.45 | - | - | 1361.81 | - | 3.48 | 0.048 | 1968.94 | -429.2 | -145.99 | - | - | 3951.03 | - | - | - | - | - | - | - | - | - | 15.86 | - |
| 2857.10 | 312.56 | -6.80 | 316 | 2865.52 | roll | -1.49 | - | - | 1361.25 | - | 3.70 | 0.118 | 3464.19 | 404.1 | -145.99 | - | - | 3952.72 | - | - | - | - | - | - | - | - | - | 15.80 | - |
| 2998.55 | 322.76 | -7.07 | 344 | 3006.51 | roll back | -1.51 | 0.24 | 0.075 | 1321.88 | -164.0 | 3.49 | 0.049 | 1969.38 | -428.3 | -145.99 | - | - | 3951.50 | - | - | - | - | - | - | - | - | 15.83 | 15.87 | - |
| 3394.32 | 350.06 | -7.05 | 358 | 3402.75 | roll | -1.53 | - | - | 1322.06 | - | 3.70 | 0.118 | 3466.06 | 404.5 | -145.99 | - | - | 3950.03 | - | - | - | - | - | - | - | - | - | 15.86 | - |
| 3525.62 | 361.03 | -8.34 | 384 | 3533.71 | roll | -1.53 | - | - | 1322.06 | - | 3.48 | 0.049 | 1970.62 | -429.7 | -145.99 | - | - | 3950.28 | - | - | - | - | - | - | - | - | - | 15.94 | - |
| 3897.40 | 387.89 | -7.28 | 398 | 3905.76 | roll | -1.54 | - | - | 1321.88 | - | 3.67 | 0.118 | 3458.50 | 405.4 | -145.99 | - | - | 3949.75 | - | - | - | - | - | - | - | - | - | 15.90 | - |
| 4033.64 | 399.35 | -8.44 | 425 | 4041.74 | roll | -1.54 | - | - | 1321.88 | - | 3.45 | 0.048 | 1969.38 | -431.6 | -145.99 | - | - | 3950.44 | - | - | - | - | - | - | - | - | - | 15.97 | - |
| 4429.58 | 428.28 | -7.35 | 439 | 4437.90 | roll | -1.56 | - | - | 1321.81 | - | 3.67 | 0.117 | 3461.06 | 406.5 | -145.99 | - | - | 3949.75 | - | - | - | - | - | - | - | - | - | 15.92 | - |
| 4585.78 | 441.47 | -8.47 | 470 | 4593.87 | roll | -1.56 | - | - | 1321.69 | - | 3.44 | 0.049 | 1969.38 | -433.6 | -145.99 | - | - | 3950.12 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 4962.62 | 468.84 | -7.17 | 485 | 4970.97 | roll | -1.59 | - | - | 1322.00 | - | 3.66 | 0.116 | 3461.62 | 407.7 | -145.99 | - | - | 3948.41 | - | - | - | - | - | - | - | - | - | 15.94 | - |
| 5129.01 | 482.24 | -8.00 | 518 | 5136.94 | roll | -1.60 | - | - | 1321.81 | - | 3.43 | 0.048 | 1971.25 | -434.5 | -145.99 | - | - | 3950.41 | - | - | - | - | - | - | - | - | - | 16.01 | - |
| 5524.77 | 510.15 | -7.10 | 532 | 5533.11 | roll | -1.62 | - | - | 1321.75 | - | 3.65 | 0.115 | 3459.88 | 407.8 | -145.99 | - | - | 3949.16 | - | - | - | - | - | - | - | - | - | 15.96 | - |
| 5676.10 | 522.45 | -8.17 | 562 | 5684.07 | roll | -1.63 | - | - | 1322.12 | - | 3.43 | 0.048 | 1971.50 | -433.9 | -145.99 | - | - | 3948.69 | - | - | - | - | - | - | - | - | - | 16.02 | - |
| 6057.77 | 549.65 | -7.02 | 578 | 6066.12 | roll | -1.66 | - | - | 1322.12 | - | 3.66 | 0.115 | 3463.94 | 407.8 | -145.99 | - | - | 3948.59 | - | - | - | - | - | - | - | - | - | 15.97 | - |
| 6234.90 | 563.59 | -7.88 | 613 | 6243.32 | roll back | -1.67 | 0.20 | 0.084 | 1280.88 | -206.2 | 3.43 | 0.047 | 1968.75 | -435.9 | -145.99 | - | - | 3948.59 | - | - | - | - | - | - | - | - | 16.00 | 16.02 | - |
| 6621.88 | 594.47 | -7.99 | 630 | 6630.39 | roll | -1.67 | - | - | 1280.00 | - | 3.66 | 0.115 | 3464.38 | 408.6 | -145.99 | - | - | 3948.75 | - | - | - | - | - | - | - | - | - | 15.98 | - |
| 6743.31 | 605.60 | -9.24 | 654 | 6751.36 | roll | -1.67 | - | - | 1279.75 | - | 3.43 | 0.047 | 1969.44 | -435.8 | -145.99 | - | - | 3950.16 | - | - | - | - | - | - | - | - | - | 16.02 | - |
| 7124.93 | 636.54 | -8.12 | 670 | 7133.42 | roll | -1.67 | - | - | 1279.81 | - | 3.64 | 0.115 | 3462.69 | 410.2 | -145.99 | - | - | 3948.94 | - | - | - | - | - | - | - | - | - | 15.98 | - |
| 7291.29 | 651.93 | -9.29 | 703 | 7299.39 | roll | -1.67 | - | - | 1279.62 | - | 3.43 | 0.047 | 1969.31 | -435.4 | -145.99 | - | - | 3949.97 | - | - | - | - | - | - | - | - | - | 16.05 | - |
| 7687.07 | 683.81 | -8.03 | 717 | 7695.56 | roll | -1.67 | - | - | 1279.75 | - | 3.65 | 0.115 | 3462.56 | 409.1 | -145.99 | - | - | 3948.97 | - | - | - | - | - | - | - | - | - | 15.94 | - |
| 7843.44 | 698.10 | -9.12 | 748 | 7851.54 | roll | -1.67 | - | - | 1279.81 | - | 3.44 | 0.047 | 1970.62 | -433.7 | -145.99 | - | - | 3950.06 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 8220.09 | 727.67 | -7.69 | 763 | 8228.62 | roll | -1.67 | - | - | 1279.00 | - | 3.66 | 0.115 | 3462.75 | 407.7 | -145.99 | - | - | 3949.19 | - | - | - | - | - | - | - | - | - | 15.89 | - |
| 8361.49 | 739.99 | -8.73 | 791 | 8369.26 | roll | -1.67 | - | - | 1279.56 | - | 3.46 | 0.048 | 1969.00 | -431.7 | -145.99 | - | - | 3949.94 | - | - | - | - | - | - | - | - | - | 15.95 | - |
| 8757.27 | 769.99 | -7.56 | 805 | 8765.78 | roll | -1.67 | - | - | 1279.75 | - | 3.66 | 0.115 | 3461.94 | 407.9 | -145.99 | - | - | 3948.69 | - | - | - | - | - | - | - | - | - | 15.87 | - |
| 8898.76 | 782.28 | -8.73 | 833 | 8906.54 | roll | -1.67 | - | - | 1279.50 | - | 3.45 | 0.048 | 1970.50 | -432.3 | -145.99 | - | - | 3950.00 | - | - | - | - | - | - | - | - | - | 15.95 | - |
| 9294.69 | 812.61 | -7.65 | 847 | 9303.05 | roll | -1.69 | - | - | 1279.50 | - | 3.66 | 0.115 | 3464.00 | 408.1 | -145.99 | - | - | 3949.41 | - | - | - | - | - | - | - | - | - | 15.92 | - |
| 9480.93 | 828.94 | -8.74 | 884 | 9489.03 | roll | -1.69 | - | - | 1279.19 | - | 3.45 | 0.048 | 1969.19 | -433.3 | -145.99 | - | - | 3949.81 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 9647 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 9647 | begin apogee | ||||||||||||||||||||||||||||
| 9649.13 | 841.79 | -7.70 | 892 | 9787.30 | -0.38 | 2.31 | 0.118 | 1612.56 | 144.3 | 0.13 | 0.208 | 1965.88 | -25.5 | - | 122.99 | 2.244 | 3349.53 | -4.9 | 0.313 | - | - | - | - | - | - | 15.90 | 15.25 | 10.91 | |
| 9797 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9797 | begin climb | ||||||||||||||||||||||||||||
| 9797.08 | 842.67 | - | 896 | 9948.28 | 1.51 | 2.96 | 0.055 | 2077.06 | 156.9 | 3.88 | 0.132 | 531.38 | -369.7 | 145.99 | 126.08 | 2.167 | 2753.78 | -4.7 | 0.314 | - | - | - | - | - | - | 15.39 | 15.01 | 11.44 | |
| 10021.23 | 811.46 | 21.33 | 938 | 10029.77 | 1.39 | 0.38 | 0.193 | 2033.12 | -115.6 | 3.52 | 0.043 | 2020.19 | 423.0 | 145.99 | - | - | 2742.81 | - | - | - | - | - | - | - | - | 15.25 | 15.35 | - | |
| 10403.38 | 752.26 | 15.15 | 954 | 10405.34 | VBD | 1.33 | - | - | 2033.06 | - | - | - | 2021.12 | - | 145.99 | - | - | 2738.97 | - | - | - | - | - | - | - | - | - | - | - |
| 10793.38 | 693.82 | 14.93 | 967 | 10801.99 | done | 1.28 | - | - | 2032.62 | - | 3.83 | 0.125 | 529.88 | -389.4 | 145.99 | - | - | 2736.84 | - | - | - | - | - | - | - | - | - | 15.75 | - |
| 10914.93 | 671.80 | 18.50 | 991 | 10923.38 | 1.19 | 0.32 | 0.185 | 1983.94 | -152.1 | 3.41 | 0.045 | 2022.50 | 437.7 | 145.99 | - | - | 2736.62 | - | - | - | - | - | - | - | - | 15.75 | 15.84 | - | |
| 11296.99 | 620.68 | 13.14 | 1007 | 11298.78 | VBD | 1.16 | - | - | 1983.75 | - | - | - | 2022.12 | - | 145.99 | - | - | 2735.19 | - | - | - | - | - | - | - | - | - | - | - |
| 11687.00 | 569.80 | 13.03 | 1020 | 11695.60 | done | 1.14 | - | - | 1983.50 | - | 3.86 | 0.126 | 527.62 | -387.2 | 145.99 | - | - | 2736.78 | - | - | - | - | - | - | - | - | - | 15.87 | - |
| 11768.53 | 557.15 | 15.86 | 1036 | 11776.16 | done | 1.07 | - | - | 1983.94 | - | 3.39 | 0.043 | 2025.06 | 441.7 | 145.99 | - | - | 2735.81 | - | - | - | - | - | - | - | - | - | 15.94 | - |
| 12164.30 | 506.10 | 12.79 | 1050 | 12166.44 | 1.05 | 0.23 | 0.175 | 1946.75 | -161.7 | - | - | 2024.81 | - | 145.99 | - | - | 2736.78 | - | - | - | - | - | - | - | - | 15.86 | - | - | |
| 12554.15 | 462.18 | 11.05 | 1063 | 12562.91 | done | 1.05 | - | - | 1946.62 | - | 3.84 | 0.125 | 529.88 | -389.3 | 145.99 | - | - | 2733.84 | - | - | - | - | - | - | - | - | - | 15.92 | - |
| 12641.61 | 450.58 | 13.57 | 1080 | 12648.85 | done | 1.01 | - | - | 1946.56 | - | 3.39 | 0.043 | 2021.12 | 439.9 | 145.99 | - | - | 2733.66 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 13027.32 | 407.21 | 11.16 | 1097 | 13029.11 | VBD | 1.01 | - | - | 1947.06 | - | - | - | 2020.88 | - | 145.99 | - | - | 2732.78 | - | - | - | - | - | - | - | - | - | - | - |
| 13417.32 | 364.52 | 10.75 | 1110 | 13426.07 | done | 1.01 | - | - | 1946.00 | - | 3.82 | 0.124 | 530.19 | -390.2 | 145.99 | - | - | 2733.06 | - | - | - | - | - | - | - | - | - | 15.94 | - |
| 13498.99 | 354.49 | 12.47 | 1126 | 13506.63 | done | 0.97 | - | - | 1945.75 | - | 3.40 | 0.043 | 2023.81 | 439.3 | 145.99 | - | - | 2733.81 | - | - | - | - | - | - | - | - | - | 16.01 | - |
| 13894.61 | 313.55 | 10.52 | 1140 | 13903.37 | done | 0.97 | - | - | 1946.38 | - | 3.81 | 0.125 | 529.12 | -392.3 | 145.99 | - | - | 2732.09 | - | - | - | - | - | - | - | - | - | 15.96 | - |
| 13956.29 | 305.81 | 12.72 | 1152 | 13964.25 | done | 0.93 | - | - | 1946.12 | - | 3.39 | 0.043 | 2023.56 | 440.8 | 145.99 | - | - | 2734.50 | - | - | - | - | - | - | - | - | - | 16.03 | - |
| 14337.79 | 270.91 | 8.70 | 1168 | 14371.35 | done | 0.97 | - | - | 1945.94 | - | 3.54 | 0.125 | 3463.25 | 406.7 | 174.00 | 22.24 | 1.526 | 2639.16 | -4.3 | 0.130 | - | - | - | - | - | - | - | 15.87 | 10.97 |
| 14409.27 | 263.76 | 10.75 | 1182 | 14417.31 | roll | 0.96 | - | - | 1946.06 | - | 3.44 | 0.047 | 1971.56 | -433.6 | 174.00 | - | - | 2639.34 | - | - | - | - | - | - | - | - | - | 15.94 | - |
| 14798.47 | 237.54 | 4.78 | 1211 | 14899.08 | VBD | 1.11 | - | - | 1946.31 | - | - | - | 1972.56 | - | 286.23 | 90.54 | 1.491 | 2180.75 | -5.1 | 0.138 | - | - | - | - | - | - | - | - | 11.24 |
| 15262.77 | 200.44 | 7.64 | 1258 | 15315.20 | 1.23 | 0.35 | 0.053 | 2014.00 | 193.4 | 3.82 | 0.132 | 531.25 | -377.3 | 337.01 | 40.21 | 1.419 | 1972.03 | -5.2 | 0.125 | - | - | - | - | - | - | 15.72 | 15.49 | 11.27 | |
| 15377.96 | 186.71 | 13.64 | 1280 | 15385.83 | roll | 1.23 | - | - | 2014.56 | - | 3.50 | 0.043 | 2022.25 | 426.0 | 337.01 | - | - | 1969.44 | - | - | - | - | - | - | - | - | - | 15.63 | - |
| 15754.01 | 150.21 | 9.78 | 1318 | 15755.81 | no move | 1.26 | - | - | 2014.25 | - | - | - | 2022.75 | - | 341.69 | - | - | 1962.31 | - | - | - | - | - | - | - | - | - | - | - |
| 16124.05 | 115.67 | 9.01 | 1355 | 16157.75 | done | 1.32 | - | - | 2015.00 | - | 3.93 | 0.128 | 531.38 | -379.5 | 363.06 | 21.33 | 1.335 | 1867.91 | -4.4 | 0.065 | - | - | - | - | - | - | - | 15.64 | 11.27 |
| 16290.68 | 98.40 | 10.02 | 1388 | 16298.40 | roll | 1.34 | - | - | 2014.12 | - | 3.47 | 0.042 | 2022.06 | 429.6 | 363.06 | - | - | 1864.22 | - | - | - | - | - | - | - | - | - | 15.74 | - |
| 16666.55 | 70.57 | 7.63 | 1426 | 16713.67 | 1.46 | 0.25 | 0.062 | 2071.75 | 230.5 | - | - | 2022.50 | - | 414.11 | 42.22 | 1.313 | 1660.97 | -4.8 | 0.044 | - | - | - | - | - | - | 15.78 | - | 11.01 | |
| 17077.35 | 45.78 | 4.08 | 1480 | 17197.65 | 1.68 | 0.23 | 0.068 | 2122.69 | 221.5 | 3.69 | 0.123 | 3462.56 | 390.3 | 541.29 | 102.16 | 1.269 | 1141.22 | -5.1 | 0.031 | - | - | - | - | - | - | 15.74 | 15.35 | 11.05 | |
| 17241.40 | 37.42 | 7.34 | 1511 | 17302.43 | done | 1.81 | - | - | 2122.31 | - | 3.57 | 0.047 | 1973.31 | -417.2 | 598.43 | 48.00 | 1.217 | 909.78 | -4.8 | 0.025 | - | - | - | - | - | - | - | 15.51 | 11.24 |
| 17486.12 | 25.71 | 5.53 | 1559 | 17577.40 | 2.02 | 0.43 | 0.060 | 2201.88 | 185.0 | - | - | 1973.38 | - | 694.50 | 81.19 | 1.207 | 518.28 | -4.8 | 0.018 | - | - | - | - | - | - | 15.59 | - | 11.09 | |
| 17761.10 | 11.90 | 2.99 | 1613 | 17779.33 | 2.32 | 0.38 | 0.069 | 2270.56 | 180.7 | 3.80 | 0.131 | 527.56 | -380.5 | 845.13 | 6.12 | 0.888 | 498.28 | -3.3 | 0.007 | - | - | - | - | - | - | 15.63 | 15.56 | 11.18 | |
| 17923.09 | 5.82 | 4.43 | 1645 | 17931.40 | 2.51 | 0.25 | 0.062 | 2327.69 | 228.5 | 3.48 | 0.041 | 2026.19 | 430.6 | 964.86 | - | - | 495.66 | - | - | - | - | - | - | - | - | 15.70 | 15.71 | - | |
| 18000 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 18000 | begin surface coast | ||||||||||||||||||||||||||||
| 18040 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 18040 | begin surface | ||||||||||||||||||||||||||||
| SM | 2.35 | - | - | - | - | 198.8 | - | - | 494.0 | - | 13.23 | 0.045 | 428.2 | 32.3 | - | 0.12 | 0.138 | 559.8 | 4636.0 | -8.069 | - | - | 30.00 | 15.74 | 15.73 | - | |||