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| • Previous call tries 0 | • 71.67 of 575.00 AH used of 24V (87.54% remains) | |
| • Surface angle -29.9 deg, depth 16.82 m | • Intended pitch -18.4 deg, speed -9.167 cm/s | |
| • VBD pumped to 703.34 (SM_CC=703.76068) | ||
| • GPS1 time: 0 s, HDOP was 6255.0 m | ||
| • GPS2 time: 0 s, HDOP was 6255.0 m | ||
| • 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 | ||||||||||||||||||||||||||||
| 6.64 | - | - | - | 11.93 | VBD | -1.45 | - | - | 1805.69 | - | - | - | 2272.06 | - | -116.79 | 3.94 | 0.010 | 1227.53 | - | - | - | - | - | - | - | - | - | - | 15.89 |
| 12.47 | 16.94 | - | 1 | 76.89 | -1.45 | 2.79 | 0.039 | 1333.31 | -169.3 | 3.88 | 0.158 | 3722.88 | 373.9 | -116.79 | 46.42 | 0.005 | 3848.62 | 56.5 | -32.543 | - | - | - | - | - | - | 15.80 | 15.75 | 15.88 | |
| 305.54 | 102.96 | -24.78 | 58 | 314.15 | roll | -1.45 | - | - | 1332.75 | - | 3.62 | 0.072 | 2246.94 | -407.7 | -116.79 | - | - | 3850.91 | - | - | - | - | - | - | - | - | - | 15.80 | - |
| 692.67 | 179.84 | -19.00 | 75 | 701.52 | roll | -1.45 | - | - | 1332.38 | - | 3.94 | 0.157 | 3725.00 | 375.1 | -116.79 | - | - | 3851.19 | - | - | - | - | - | - | - | - | - | 15.79 | - |
| 804.34 | 204.70 | -22.42 | 97 | 812.42 | roll | -1.45 | - | - | 1332.44 | - | 3.62 | 0.071 | 2244.25 | -409.0 | -116.79 | - | - | 3851.00 | - | - | - | - | - | - | - | - | - | 15.84 | - |
| 1200.12 | 273.04 | -16.47 | 111 | 1201.91 | no move | -1.45 | - | - | 1332.25 | - | - | - | 2244.81 | - | -116.79 | - | - | 3850.06 | - | - | - | - | - | - | - | - | - | - | - |
| 1590.12 | 321.80 | -11.54 | 124 | 1599.83 | roll back | -1.45 | 0.21 | 0.178 | 1358.81 | 126.5 | 3.95 | 0.159 | 3722.62 | 374.1 | -116.79 | - | - | 3850.22 | - | - | - | - | - | - | - | - | 15.84 | 15.84 | - |
| 1738.53 | 341.21 | -13.78 | 153 | 1747.61 | roll | -1.45 | - | - | 1358.38 | - | 3.63 | 0.069 | 2244.38 | -407.2 | -116.79 | - | - | 3850.00 | - | - | - | - | - | - | - | - | - | 15.87 | - |
| 2126.22 | 381.29 | -9.76 | 170 | 2135.64 | roll | -1.45 | - | - | 1357.94 | - | 4.10 | 0.184 | 797.75 | -352.8 | -116.79 | - | - | 3780.41 | - | - | - | - | - | - | - | - | - | 15.86 | - |
| 2214.33 | 390.81 | -11.07 | 187 | 2223.38 | roll | -1.45 | - | - | 1358.75 | - | 3.68 | 0.097 | 2271.94 | 400.6 | -116.79 | - | - | 3850.53 | - | - | - | - | - | - | - | - | - | 15.91 | - |
| 2602.10 | 426.89 | -9.03 | 204 | 2611.25 | roll | -1.45 | - | - | 1358.31 | - | 3.87 | 0.173 | 3724.50 | 375.3 | -116.79 | - | - | 3850.69 | - | - | - | - | - | - | - | - | - | 15.91 | - |
| 2649.18 | 431.88 | -10.70 | 213 | 2658.01 | roll | -1.45 | - | - | 1358.38 | - | 3.61 | 0.068 | 2245.69 | -409.6 | -116.79 | - | - | 3850.34 | - | - | - | - | - | - | - | - | - | 15.96 | - |
| 3044.95 | 468.02 | -9.23 | 227 | 3054.24 | roll | -1.45 | - | - | 1358.38 | - | 3.90 | 0.160 | 3723.81 | 379.0 | -116.79 | - | - | 3850.12 | - | - | - | - | - | - | - | - | - | 15.94 | - |
| 3117.27 | 476.10 | -11.42 | 241 | 3126.04 | roll | -1.45 | - | - | 1358.62 | - | 3.59 | 0.068 | 2245.44 | -411.8 | -116.79 | - | - | 3850.72 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 3489.69 | 511.07 | -9.32 | 255 | 3499.12 | roll | -1.45 | - | - | 1358.44 | - | 3.90 | 0.160 | 3724.31 | 379.2 | -116.79 | - | - | 3851.88 | - | - | - | - | - | - | - | - | - | 15.97 | - |
| 3537.07 | 516.24 | -11.03 | 264 | 3545.98 | roll | -1.45 | - | - | 1358.81 | - | 3.59 | 0.067 | 2244.88 | -412.1 | -116.79 | - | - | 3850.88 | - | - | - | - | - | - | - | - | - | 16.01 | - |
| 3932.96 | 552.55 | -9.04 | 278 | 3934.88 | no move | -1.45 | - | - | 1358.50 | - | - | - | 2244.19 | - | -116.79 | - | - | 3851.03 | - | - | - | - | - | - | - | - | - | - | - |
| 4322.98 | 586.97 | -8.72 | 291 | 4332.28 | roll | -1.45 | - | - | 1358.81 | - | 3.88 | 0.159 | 3725.00 | 381.7 | -116.79 | - | - | 3852.78 | - | - | - | - | - | - | - | - | - | 16.00 | - |
| 4375.25 | 592.41 | -10.56 | 301 | 4383.94 | roll | -1.45 | - | - | 1358.94 | - | 3.58 | 0.067 | 2244.50 | -413.5 | -116.79 | - | - | 3853.06 | - | - | - | - | - | - | - | - | - | 16.05 | - |
| 4771.15 | 626.59 | -8.51 | 315 | 4773.06 | no move | -1.45 | - | - | 1358.81 | - | - | - | 2244.25 | - | -116.79 | - | - | 3853.22 | - | - | - | - | - | - | - | - | - | - | - |
| 5161.14 | 658.97 | -8.33 | 328 | 5170.46 | roll | -1.45 | - | - | 1358.31 | - | 3.87 | 0.160 | 3724.06 | 382.4 | -116.79 | - | - | 3854.56 | - | - | - | - | - | - | - | - | - | 16.03 | - |
| 5223.41 | 665.17 | -10.05 | 340 | 5232.30 | roll | -1.45 | - | - | 1358.88 | - | 3.55 | 0.066 | 2243.62 | -417.0 | -116.79 | - | - | 3854.03 | - | - | - | - | - | - | - | - | - | 16.08 | - |
| 5606.05 | 697.14 | -8.35 | 356 | 5607.97 | no move | -1.45 | - | - | 1358.25 | - | - | - | 2243.38 | - | -116.79 | - | - | 3854.97 | - | - | - | - | - | - | - | - | - | - | - |
| 5996.06 | 730.40 | -8.56 | 369 | 6005.39 | roll | -1.45 | - | - | 1358.62 | - | 3.89 | 0.162 | 3725.00 | 380.9 | -116.79 | - | - | 3855.53 | - | - | - | - | - | - | - | - | - | 16.04 | - |
| 6078.36 | 738.69 | -10.15 | 385 | 6086.92 | roll | -1.45 | - | - | 1358.12 | - | 3.57 | 0.067 | 2245.81 | -414.3 | -116.79 | - | - | 3856.91 | - | - | - | - | - | - | - | - | - | 16.09 | - |
| 6484.99 | 771.96 | -8.28 | 399 | 6486.91 | no move | -1.45 | - | - | 1358.75 | - | - | - | 2245.38 | - | -116.79 | - | - | 3857.59 | - | - | - | - | - | - | - | - | - | - | - |
| 6864.26 | 803.31 | -7.94 | 412 | 6873.58 | roll | -1.45 | - | - | 1358.50 | - | 3.90 | 0.159 | 3723.88 | 379.1 | -116.79 | - | - | 3857.56 | - | - | - | - | - | - | - | - | - | 16.00 | - |
| 6911.52 | 807.80 | -9.34 | 421 | 6920.42 | roll | -1.45 | - | - | 1358.06 | - | 3.55 | 0.067 | 2242.44 | -417.3 | -116.79 | - | - | 3814.22 | - | - | - | - | - | - | - | - | - | 16.04 | - |
| 7307.41 | 838.59 | -7.66 | 435 | 7309.34 | no move | -1.45 | - | - | 1358.50 | - | - | - | 2243.75 | - | -116.79 | - | - | 3858.69 | - | - | - | - | - | - | - | - | - | - | - |
| 7697.42 | 868.31 | -7.67 | 448 | 7706.75 | roll | -1.45 | - | - | 1358.56 | - | 3.90 | 0.159 | 3724.69 | 379.7 | -116.79 | - | - | 3860.00 | - | - | - | - | - | - | - | - | - | 15.95 | - |
| 7774.71 | 875.53 | -9.51 | 463 | 7783.60 | roll | -1.45 | - | - | 1358.75 | - | 3.58 | 0.069 | 2245.25 | -413.3 | -116.79 | - | - | 3859.53 | - | - | - | - | - | - | - | - | - | 16.01 | - |
| 8170.58 | 906.82 | -7.91 | 477 | 8172.50 | no move | -1.45 | - | - | 1358.62 | - | - | - | 2245.62 | - | -116.79 | - | - | 3860.81 | - | - | - | - | - | - | - | - | - | - | - |
| 8560.60 | 938.11 | -8.04 | 490 | 8569.94 | roll | -1.45 | - | - | 1358.75 | - | 3.87 | 0.160 | 3725.00 | 382.3 | -116.79 | - | - | 3861.97 | - | - | - | - | - | - | - | - | - | 16.01 | - |
| 8632.91 | 945.10 | -9.79 | 504 | 8641.70 | roll | -1.45 | - | - | 1358.06 | - | 3.49 | 0.068 | 2244.56 | -424.2 | -116.79 | - | - | 3863.53 | - | - | - | - | - | - | - | - | - | 16.05 | - |
| 9005.44 | 975.21 | -8.01 | 518 | 9007.36 | no move | -1.45 | - | - | 1358.69 | - | - | - | 2244.25 | - | -116.79 | - | - | 3863.75 | - | - | - | - | - | - | - | - | - | - | - |
| 9215 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 9215 | begin apogee | ||||||||||||||||||||||||||||
| 9217.17 | 992.10 | -8.06 | 525 | 9342.93 | -0.36 | 1.81 | 0.130 | 1625.06 | 147.2 | 0.05 | 0.476 | 2248.31 | 81.2 | - | 109.89 | 2.441 | 3366.91 | -4.5 | 0.313 | - | - | - | - | - | - | 16.06 | 15.28 | 11.68 | |
| 9352 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9352 | begin climb | ||||||||||||||||||||||||||||
| 9352.66 | 993.54 | - | 528 | 9481.49 | 1.45 | 2.91 | 0.072 | 2067.38 | 152.0 | - | - | 2248.00 | - | 116.79 | 110.04 | 2.395 | 2889.62 | -4.3 | 0.306 | - | - | - | - | - | - | 15.40 | - | 11.75 | |
| 9845.14 | 935.65 | 14.31 | 545 | 9847.05 | VBD | 1.45 | - | - | 2066.94 | - | - | - | 2248.06 | - | 116.79 | - | - | 2878.12 | - | - | - | - | - | - | - | - | - | - | - |
| 10235.15 | 881.20 | 13.85 | 558 | 10244.60 | done | 1.45 | - | - | 2067.00 | - | 3.89 | 0.166 | 3701.12 | 373.5 | 116.79 | - | - | 2877.56 | - | - | - | - | - | - | - | - | - | 15.72 | - |
| 10332.55 | 865.49 | 16.30 | 577 | 10341.56 | done | 1.45 | - | - | 2067.00 | - | 3.62 | 0.072 | 2225.44 | -407.6 | 116.79 | - | - | 2875.91 | - | - | - | - | - | - | - | - | - | 15.78 | - |
| 10710.21 | 813.78 | 13.56 | 592 | 10712.12 | VBD | 1.45 | - | - | 2067.25 | - | - | - | 2225.94 | - | 116.79 | - | - | 2875.22 | - | - | - | - | - | - | - | - | - | - | - |
| 11100.22 | 761.09 | 13.47 | 605 | 11109.75 | done | 1.45 | - | - | 2066.81 | - | 3.95 | 0.166 | 3700.81 | 373.4 | 116.79 | - | - | 2875.34 | - | - | - | - | - | - | - | - | - | 15.88 | - |
| 11227.75 | 740.75 | 16.08 | 630 | 11236.65 | done | 1.45 | - | - | 2066.69 | - | 3.58 | 0.072 | 2225.50 | -412.1 | 116.79 | - | - | 2876.75 | - | - | - | - | - | - | - | - | - | 15.93 | - |
| 11605.30 | 689.86 | 13.27 | 645 | 11614.83 | done | 1.45 | - | - | 2067.06 | - | 3.89 | 0.163 | 3701.50 | 379.4 | 116.79 | - | - | 2874.72 | - | - | - | - | - | - | - | - | - | 15.92 | - |
| 11663.58 | 681.05 | 15.50 | 656 | 11672.69 | done | 1.45 | - | - | 2065.00 | - | 3.57 | 0.071 | 2225.69 | -413.4 | 116.79 | - | - | 2847.47 | - | - | - | - | - | - | - | - | - | 15.97 | - |
| 12051.33 | 630.90 | 12.63 | 673 | 12060.75 | done | 1.45 | - | - | 2067.19 | - | 3.88 | 0.163 | 3702.38 | 380.6 | 116.79 | - | - | 2878.31 | - | - | - | - | - | - | - | - | - | 15.95 | - |
| 12118.74 | 620.90 | 15.06 | 686 | 12127.64 | done | 1.45 | - | - | 2067.12 | - | 3.57 | 0.071 | 2225.00 | -413.8 | 116.79 | - | - | 2875.53 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 12496.29 | 573.86 | 12.26 | 701 | 12498.21 | VBD | 1.45 | - | - | 2066.88 | - | - | - | 2225.00 | - | 116.79 | - | - | 2874.56 | - | - | - | - | - | - | - | - | - | - | - |
| 12879.30 | 528.22 | 11.86 | 715 | 12891.74 | done | 1.45 | - | - | 2067.00 | - | 3.97 | 0.161 | 3702.81 | 372.2 | 116.79 | - | - | 2877.09 | - | - | - | - | - | - | - | - | - | 15.15 | - |
| 12901.00 | 525.24 | 12.00 | 719 | 12914.47 | done | 1.45 | - | - | 2066.81 | - | 3.50 | 0.069 | 2223.56 | -422.6 | 116.79 | - | - | 2876.44 | - | - | - | - | - | - | - | - | - | 15.39 | - |
| 13301.77 | 477.90 | 11.67 | 734 | 13311.23 | done | 1.45 | - | - | 2067.19 | - | 3.88 | 0.160 | 3702.88 | 381.3 | 116.79 | - | - | 2879.56 | - | - | - | - | - | - | - | - | - | 15.87 | - |
| 13379.22 | 467.19 | 14.11 | 749 | 13388.16 | done | 1.45 | - | - | 2067.56 | - | 3.57 | 0.069 | 2224.38 | -414.1 | 116.79 | - | - | 2875.06 | - | - | - | - | - | - | - | - | - | 15.92 | - |
| 13775.00 | 420.30 | 11.60 | 763 | 13784.55 | done | 1.45 | - | - | 2067.94 | - | 3.91 | 0.159 | 3701.94 | 377.9 | 116.79 | - | - | 2877.38 | - | - | - | - | - | - | - | - | - | 15.89 | - |
| 13937.54 | 398.16 | 13.85 | 795 | 13946.48 | done | 1.45 | - | - | 2068.06 | - | 3.56 | 0.069 | 2224.81 | -414.9 | 116.79 | - | - | 2877.06 | - | - | - | - | - | - | - | - | - | 15.93 | - |
| 14310.14 | 357.09 | 10.74 | 809 | 14319.70 | done | 1.45 | - | - | 2067.75 | - | 3.94 | 0.171 | 774.25 | -368.2 | 116.79 | - | - | 2877.22 | - | - | - | - | - | - | - | - | - | 15.89 | - |
| 14407.70 | 345.73 | 12.18 | 828 | 14416.69 | done | 1.45 | - | - | 2067.56 | - | 3.62 | 0.089 | 2253.25 | 408.6 | 116.79 | - | - | 2876.47 | - | - | - | - | - | - | - | - | - | 15.93 | - |
| 14785.43 | 312.55 | 8.24 | 843 | 14814.60 | done | 1.47 | - | - | 2067.25 | - | 3.85 | 0.166 | 3703.00 | 376.6 | 134.22 | 16.59 | 1.569 | 2818.59 | -3.5 | 0.118 | - | - | - | - | - | - | - | 15.79 | 11.60 |
| 14848.33 | 306.15 | 11.01 | 855 | 14857.45 | roll | 1.47 | - | - | 2067.81 | - | 3.59 | 0.068 | 2222.94 | -412.3 | 134.22 | - | - | 2821.28 | - | - | - | - | - | - | - | - | - | 15.85 | - |
| 15236.20 | 279.65 | 5.27 | 872 | 15326.05 | done | 1.56 | - | - | 2067.38 | - | 4.12 | 0.172 | 775.88 | -351.2 | 207.44 | 71.89 | 1.602 | 2519.41 | -4.2 | 0.125 | - | - | - | - | - | - | - | 15.50 | 11.54 |
| 15554.18 | 253.51 | 8.16 | 934 | 15584.00 | done | 1.59 | - | - | 2067.69 | - | 3.65 | 0.088 | 2250.62 | 404.0 | 226.36 | 18.95 | 1.481 | 2444.03 | -4.0 | 0.116 | - | - | - | - | - | - | - | 15.67 | 11.66 |
| 15967.76 | 222.32 | 7.61 | 956 | 16009.72 | 1.62 | 0.22 | 0.074 | 2118.31 | 230.1 | 4.01 | 0.168 | 775.62 | -367.8 | 255.67 | 28.91 | 1.497 | 2326.00 | -4.1 | 0.103 | - | - | - | - | - | - | 15.77 | 15.56 | 11.56 | |
| 16238.54 | 191.47 | 11.46 | 1009 | 16247.77 | roll | 1.62 | - | - | 2119.12 | - | 3.64 | 0.092 | 2251.94 | 405.6 | 255.67 | - | - | 2318.56 | - | - | - | - | - | - | - | - | - | 15.70 | - |
| 16626.51 | 156.40 | 8.49 | 1026 | 16650.27 | done | 1.64 | - | - | 2119.75 | - | 3.88 | 0.171 | 3701.25 | 373.5 | 268.44 | 13.41 | 1.380 | 2272.12 | -3.5 | 0.067 | - | - | - | - | - | - | - | 15.70 | 11.67 |
| 16719.02 | 147.67 | 9.93 | 1044 | 16728.16 | roll | 1.64 | - | - | 2119.12 | - | 3.60 | 0.070 | 2224.31 | -410.3 | 268.44 | - | - | 2269.44 | - | - | - | - | - | - | - | - | - | 15.77 | - |
| 17106.97 | 116.17 | 7.96 | 1061 | 17137.75 | VBD | 1.67 | - | - | 2117.94 | - | - | - | 2224.69 | - | 291.13 | 24.94 | 1.419 | 2155.88 | -4.6 | 0.063 | - | - | - | - | - | - | - | - | 11.68 |
| 17526.93 | 80.57 | 7.65 | 1075 | 17577.62 | done | 1.70 | - | - | 2119.62 | - | 3.98 | 0.165 | 3702.62 | 371.3 | 319.58 | 36.42 | 1.397 | 2063.69 | -2.5 | 0.025 | - | - | - | - | - | - | - | 15.65 | 11.73 |
| 17805.69 | 59.34 | 6.43 | 1130 | 17885.03 | done | 1.76 | - | - | 2119.75 | - | 3.53 | 0.068 | 2224.56 | -418.7 | 371.04 | 64.92 | 1.380 | 1854.91 | -3.2 | 0.024 | - | - | - | - | - | - | - | 15.78 | 11.58 |
| 18258.78 | 46.32 | 1.81 | 1159 | 18439.64 | 1.93 | 0.36 | 0.064 | 2191.19 | 198.4 | 4.08 | 0.160 | 3701.50 | 362.0 | 509.06 | 156.38 | 1.349 | 1292.56 | -3.6 | 0.021 | - | - | - | - | - | - | 15.77 | 15.24 | 11.58 | |
| 18667.73 | 34.86 | 2.15 | 1237 | 18856.55 | done | 2.10 | - | - | 2191.06 | - | 3.58 | 0.065 | 2224.94 | -412.4 | 640.73 | 164.32 | 1.308 | 749.16 | -3.3 | 0.015 | - | - | - | - | - | - | - | 15.60 | 11.54 |
| 19220.29 | 16.54 | 3.42 | 1308 | 19316.04 | 2.23 | 0.37 | 0.083 | 2254.19 | 170.6 | 4.05 | 0.159 | 3701.50 | 364.6 | 748.61 | 76.85 | 1.306 | 501.00 | -3.2 | 0.007 | - | - | - | - | - | - | 15.66 | 15.34 | 11.60 | |
| 19544.13 | 11.37 | 0.36 | 1371 | 19554.20 | 2.43 | 0.28 | 0.095 | 2301.19 | 167.9 | 3.65 | 0.065 | 2223.12 | -405.0 | 913.97 | - | - | 499.38 | - | - | - | - | - | - | - | - | 15.61 | 15.61 | - | |
| 19717 | end climb: NO_VERTICAL_VELOCITY | ||||||||||||||||||||||||||||
| 19717 | begin subsurface finish | ||||||||||||||||||||||||||||
| 20064.29 | 11.75 | -0.15 | 1389 | 20069.05 | 0.66 | 1.88 | 0.133 | 2035.94 | -141.1 | - | - | 2251.56 | - | 532.74 | - | - | 500.84 | - | - | - | - | - | - | - | - | 15.79 | - | - | |
| 20069 | end subsurface finish: NO_VERTICAL_VELOCITY | ||||||||||||||||||||||||||||
| 20069 | begin surface | ||||||||||||||||||||||||||||