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| • Previous call tries 4 | • 18.22 of 350.00 AH used of 24V (94.79% remains) | |
| • Surface angle -42.3 deg, depth 2.28 m | • Intended pitch -27.1 deg, speed -9.167 cm/s | |
| • VBD pumped to 400.03 (SM_CC=400) | ||
| • GPS1 time: 18 s | ||
| • GPS2 time: 34 s | • Transponder ping count: 852 | |
| • 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 | |||||
| 7 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 7 | begin dive | ||||||||||||||||||||||||||||
| 7.57 | - | - | - | 96.20 | VBD | -0.61 | - | - | 118.19 | - | - | - | 2596.25 | - | -55.90 | 84.77 | 0.005 | 2995.59 | - | - | - | - | - | - | - | - | - | - | 15.51 |
| 96.44 | 3.35 | -1.30 | 9 | 127.87 | -0.69 | 8.18 | 0.503 | 1597.62 | 180.9 | 2.21 | 0.041 | 1241.19 | -613.1 | -127.16 | 14.32 | 0.007 | 3397.97 | 28.1 | -2.299 | - | - | - | - | - | - | 15.51 | 15.70 | 15.52 | |
| 229.72 | 20.67 | -15.35 | 36 | 236.41 | roll | -0.69 | - | - | 1587.62 | - | 2.56 | 0.066 | 2722.88 | 578.8 | -127.16 | - | - | 3399.81 | - | - | - | - | - | - | - | - | - | 15.81 | - |
| 415.04 | 48.98 | -15.54 | 55 | 420.79 | roll | -0.69 | - | - | 1578.56 | - | 2.05 | 0.069 | 3965.00 | 605.9 | -127.16 | - | - | 3399.34 | - | - | - | - | - | - | - | - | - | 15.84 | - |
| 505.10 | 63.14 | -15.29 | 73 | 510.82 | roll | -0.69 | - | - | 1578.44 | - | 2.11 | 0.031 | 2646.50 | -624.9 | -127.16 | - | - | 3400.56 | - | - | - | - | - | - | - | - | - | 15.87 | - |
| 695.21 | 92.85 | -15.89 | 93 | 700.87 | roll | -0.69 | - | - | 1570.06 | - | 2.25 | 0.069 | 3966.00 | 586.4 | -127.16 | - | - | 3399.56 | - | - | - | - | - | - | - | - | - | 15.86 | - |
| 729.64 | 98.65 | -16.93 | 100 | 736.38 | roll | -0.69 | - | - | 1569.44 | - | 2.12 | 0.034 | 2648.69 | -621.4 | -127.16 | - | - | 3401.31 | - | - | - | - | - | - | - | - | - | 15.88 | - |
| 915.24 | 130.15 | -17.31 | 119 | 920.90 | roll | -0.69 | - | - | 1560.94 | - | 2.24 | 0.069 | 3964.44 | 587.4 | -127.16 | - | - | 3400.25 | - | - | - | - | - | - | - | - | - | 15.89 | - |
| 1035.28 | 151.23 | -17.45 | 143 | 1041.03 | roll back | -0.69 | 0.15 | 0.327 | 1597.56 | 244.1 | 2.11 | 0.031 | 2638.38 | -628.5 | -127.16 | - | - | 3400.41 | - | - | - | - | - | - | - | - | 15.79 | 15.90 | - |
| 1225.16 | 179.99 | -15.14 | 163 | 1228.03 | no move | -0.69 | - | - | 1597.00 | - | - | - | 2607.69 | - | -127.16 | - | - | 3400.16 | - | - | - | - | - | - | - | - | - | - | - |
| 1405.29 | 206.81 | -14.93 | 181 | 1408.17 | no move | -0.69 | - | - | 1597.50 | - | - | - | 2608.88 | - | -127.16 | - | - | 3397.97 | - | - | - | - | - | - | - | - | - | - | - |
| 1585.34 | 233.49 | -14.85 | 199 | 1591.00 | roll | -0.69 | - | - | 1588.81 | - | 2.25 | 0.067 | 3964.88 | 602.7 | -127.16 | - | - | 3400.25 | - | - | - | - | - | - | - | - | - | 15.92 | - |
| 1609.77 | 237.29 | -15.20 | 204 | 1616.46 | roll | -0.69 | - | - | 1589.06 | - | 2.12 | 0.036 | 2648.00 | -621.2 | -127.16 | - | - | 3399.50 | - | - | - | - | - | - | - | - | - | 15.92 | - |
| 1795.21 | 265.15 | -15.06 | 218 | 1801.01 | roll | -0.69 | - | - | 1578.81 | - | 2.23 | 0.070 | 3964.69 | 590.4 | -127.16 | - | - | 3401.25 | - | - | - | - | - | - | - | - | - | 15.94 | - |
| 1864.81 | 276.21 | -15.43 | 232 | 1871.02 | roll | -0.69 | - | - | 1580.19 | - | 2.11 | 0.031 | 2643.81 | -626.0 | -127.16 | - | - | 3398.50 | - | - | - | - | - | - | - | - | - | 15.94 | - |
| 2175.25 | 324.68 | -15.30 | 249 | 2181.06 | roll | -0.69 | - | - | 1571.25 | - | 2.25 | 0.071 | 3965.00 | 587.2 | -127.16 | - | - | 3399.12 | - | - | - | - | - | - | - | - | - | 15.95 | - |
| 2224.84 | 332.59 | -15.63 | 259 | 2231.05 | roll | -0.69 | - | - | 1571.00 | - | 2.12 | 0.036 | 2650.75 | -619.9 | -127.16 | - | - | 3399.59 | - | - | - | - | - | - | - | - | - | 15.95 | - |
| 2535.25 | 382.17 | -16.07 | 276 | 2541.09 | roll | -0.69 | - | - | 1561.75 | - | 2.22 | 0.068 | 3967.31 | 593.0 | -127.16 | - | - | 3400.03 | - | - | - | - | - | - | - | - | - | 15.96 | - |
| 2619.88 | 396.57 | -16.86 | 293 | 2626.21 | roll back | -0.69 | 0.14 | 0.301 | 1597.25 | 253.6 | 2.11 | 0.030 | 2640.06 | -629.0 | -127.16 | - | - | 3400.53 | - | - | - | - | - | - | - | - | 15.88 | 15.97 | - |
| 2935.51 | 442.44 | -14.19 | 311 | 2941.13 | roll | -0.69 | - | - | 1590.12 | - | 2.24 | 0.069 | 3966.88 | 592.3 | -127.16 | - | - | 3398.94 | - | - | - | - | - | - | - | - | - | 15.97 | - |
| 2959.90 | 446.09 | -14.03 | 316 | 2966.12 | roll | -0.69 | - | - | 1589.75 | - | 2.11 | 0.034 | 2646.19 | -625.9 | -127.16 | - | - | 3399.22 | - | - | - | - | - | - | - | - | - | 15.96 | - |
| 3275.39 | 491.25 | -14.58 | 334 | 3281.25 | roll | -0.69 | - | - | 1579.88 | - | 2.24 | 0.071 | 3967.12 | 589.7 | -127.16 | - | - | 3398.66 | - | - | - | - | - | - | - | - | - | 15.96 | - |
| 3329.99 | 499.49 | -14.64 | 345 | 3336.57 | roll | -0.69 | - | - | 1580.12 | - | 2.11 | 0.031 | 2643.00 | -627.5 | -127.16 | - | - | 3399.44 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 3635.40 | 544.89 | -15.02 | 361 | 3638.60 | no move | -0.69 | - | - | 1579.00 | - | - | - | 2609.44 | - | -127.16 | - | - | 3399.78 | - | - | - | - | - | - | - | - | - | - | - |
| 3935.44 | 589.82 | -14.89 | 376 | 3941.30 | roll | -0.69 | - | - | 1571.19 | - | 2.24 | 0.071 | 3964.38 | 604.9 | -127.16 | - | - | 3398.53 | - | - | - | - | - | - | - | - | - | 15.98 | - |
| 4065.04 | 609.91 | -15.14 | 402 | 4071.25 | roll | -0.69 | - | - | 1570.69 | - | 2.11 | 0.036 | 2649.44 | -623.2 | -127.16 | - | - | 3399.38 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 4375.62 | 656.78 | -15.04 | 419 | 4381.29 | roll | -0.69 | - | - | 1560.62 | - | 2.22 | 0.069 | 3963.88 | 592.1 | -127.16 | - | - | 3398.50 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 4425.08 | 664.91 | -15.93 | 429 | 4431.43 | roll back | -0.69 | 0.14 | 0.287 | 1598.56 | 271.0 | 2.10 | 0.030 | 2639.25 | -630.8 | -127.16 | - | - | 3398.53 | - | - | - | - | - | - | - | - | 15.91 | 16.00 | - |
| 4735.65 | 705.32 | -13.07 | 446 | 4741.34 | roll | -0.69 | - | - | 1589.56 | - | 2.24 | 0.068 | 3965.06 | 591.9 | -127.16 | - | - | 3397.56 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 4765.11 | 709.42 | -13.69 | 452 | 4771.33 | roll | -0.69 | - | - | 1589.31 | - | 2.11 | 0.035 | 2645.50 | -625.4 | -127.16 | - | - | 3398.41 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 5075.54 | 750.02 | -13.13 | 469 | 5078.42 | no move | -0.69 | - | - | 1589.75 | - | - | - | 2611.75 | - | -127.16 | - | - | 3395.62 | - | - | - | - | - | - | - | - | - | - | - |
| 5375.72 | 789.49 | -13.33 | 484 | 5381.40 | roll | -0.69 | - | - | 1579.56 | - | 2.24 | 0.071 | 3967.38 | 605.2 | -127.16 | - | - | 3396.72 | - | - | - | - | - | - | - | - | - | 15.98 | - |
| 5415.75 | 794.99 | -13.95 | 492 | 5421.40 | roll | -0.69 | - | - | 1579.94 | - | 2.11 | 0.031 | 2641.94 | -628.2 | -127.16 | - | - | 3397.00 | - | - | - | - | - | - | - | - | - | 16.00 | - |
| 5735.74 | 840.94 | -14.52 | 511 | 5741.44 | roll | -0.69 | - | - | 1569.44 | - | 2.26 | 0.073 | 3964.88 | 585.4 | -127.16 | - | - | 3395.78 | - | - | - | - | - | - | - | - | - | 15.97 | - |
| 5800.23 | 850.46 | -14.30 | 524 | 5806.44 | roll | -0.69 | - | - | 1569.31 | - | 2.12 | 0.034 | 2645.44 | -622.4 | -127.16 | - | - | 3397.62 | - | - | - | - | - | - | - | - | - | 16.00 | - |
| 6115.71 | 897.29 | -14.83 | 542 | 6121.48 | roll | -0.69 | - | - | 1559.69 | - | 2.24 | 0.071 | 3962.19 | 587.8 | -127.16 | - | - | 3395.12 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 6150.26 | 902.64 | -15.42 | 549 | 6157.07 | roll back | -0.69 | 0.14 | 0.285 | 1598.56 | 277.6 | 2.11 | 0.037 | 2644.12 | -624.7 | -127.16 | - | - | 3395.50 | - | - | - | - | - | - | - | - | 15.90 | 15.99 | - |
| 6455.68 | 942.23 | -12.91 | 565 | 6458.56 | no move | -0.69 | - | - | 1598.06 | - | - | - | 2612.62 | - | -127.16 | - | - | 3394.03 | - | - | - | - | - | - | - | - | - | - | - |
| 6755.77 | 978.83 | -11.91 | 580 | 6761.53 | roll | -0.69 | - | - | 1589.50 | - | 2.25 | 0.073 | 3965.12 | 601.1 | -127.16 | - | - | 3395.31 | - | - | - | - | - | - | - | - | - | 15.98 | - |
| 6805.32 | 985.11 | -12.61 | 590 | 6811.54 | roll | -0.69 | - | - | 1589.25 | - | 2.12 | 0.036 | 2645.81 | -622.3 | -127.16 | - | - | 3394.41 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 6856 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 6856 | begin apogee | ||||||||||||||||||||||||||||
| 6857.68 | 991.15 | -12.17 | 594 | 6975.20 | -0.10 | 0.70 | 0.271 | 1788.25 | 284.3 | 0.17 | 0.138 | 2236.44 | -2408.1 | - | 112.36 | 2.332 | 2876.44 | -4.6 | 0.335 | - | - | - | - | - | - | 15.83 | 15.00 | 12.74 | |
| 6977 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 6977 | begin climb | ||||||||||||||||||||||||||||
| 6977.44 | 993.41 | - | 599 | 7109.42 | 0.69 | 0.77 | 0.115 | 2060.88 | 354.1 | 2.63 | 0.052 | 757.56 | -562.3 | 127.16 | 107.20 | 2.278 | 2360.88 | -4.8 | 0.359 | - | - | - | - | - | - | 15.19 | 14.89 | 12.28 | |
| 7256.12 | 961.45 | 13.80 | 652 | 7274.15 | done | 0.69 | - | - | 2051.38 | - | 2.56 | 0.063 | 2223.50 | 572.6 | 127.16 | - | - | 2346.53 | - | - | - | - | - | - | - | - | - | 15.53 | - |
| 7576.34 | 909.94 | 16.11 | 669 | 7594.36 | done | 0.69 | - | - | 2061.94 | - | 2.47 | 0.049 | 753.06 | -595.3 | 127.16 | - | - | 2341.97 | - | - | - | - | - | - | - | - | - | 15.68 | - |
| 7716.03 | 889.23 | 14.06 | 695 | 7734.08 | done | 0.69 | - | - | 2052.62 | - | 2.52 | 0.066 | 2224.00 | 583.7 | 127.16 | - | - | 2339.00 | - | - | - | - | - | - | - | - | - | 15.56 | - |
| 8046.17 | 835.20 | 16.47 | 714 | 8064.18 | done | 0.69 | - | - | 2047.69 | - | 2.33 | 0.070 | 3644.44 | 609.6 | 127.16 | - | - | 2336.12 | - | - | - | - | - | - | - | - | - | 15.64 | - |
| 8245.83 | 801.17 | 16.74 | 752 | 8263.85 | done | 0.69 | - | - | 2058.31 | - | 2.41 | 0.039 | 2158.00 | -616.8 | 127.16 | - | - | 2332.44 | - | - | - | - | - | - | - | - | - | 15.95 | - |
| 8576.23 | 748.93 | 15.58 | 771 | 8594.21 | done | 0.69 | - | - | 2068.94 | - | 2.25 | 0.044 | 748.75 | -626.3 | 127.16 | - | - | 2333.44 | - | - | - | - | - | - | - | - | - | 15.98 | - |
| 8721.32 | 729.07 | 13.45 | 798 | 8739.34 | done | 0.69 | - | - | 2059.69 | - | 2.48 | 0.060 | 2225.88 | 595.6 | 127.16 | - | - | 2333.78 | - | - | - | - | - | - | - | - | - | 15.72 | - |
| 9046.39 | 679.09 | 15.75 | 816 | 9063.83 | VBD | 0.69 | - | - | 2060.00 | - | - | - | 2225.81 | - | 127.16 | - | - | 2330.28 | - | - | - | - | - | - | - | - | - | - | - |
| 9346.55 | 632.31 | 15.05 | 831 | 9364.52 | done | 0.69 | - | - | 2056.25 | - | 2.30 | 0.063 | 3644.25 | 616.7 | 127.16 | - | - | 2332.41 | - | - | - | - | - | - | - | - | - | 15.91 | - |
| 9371.72 | 628.12 | 15.53 | 834 | 9391.97 | done | 0.69 | - | - | 2067.06 | - | 2.39 | 0.039 | 2154.31 | -623.4 | 127.16 | - | - | 2330.16 | - | - | - | - | - | - | - | - | - | 15.73 | - |
| 9699.19 | 578.77 | 14.42 | 852 | 9716.63 | VBD | 0.69 | - | - | 2066.38 | - | - | - | 2151.12 | - | 127.16 | - | - | 2328.88 | - | - | - | - | - | - | - | - | - | - | - |
| 9999.25 | 533.88 | 15.31 | 867 | 10017.27 | done | 0.69 | - | - | 2060.69 | - | 2.47 | 0.060 | 3645.25 | 604.9 | 127.16 | - | - | 2331.16 | - | - | - | - | - | - | - | - | - | 16.04 | - |
| 10024.41 | 529.61 | 15.99 | 870 | 10044.66 | done | 0.69 | - | - | 2073.38 | - | 2.38 | 0.039 | 2160.31 | -623.9 | 127.16 | - | - | 2328.41 | - | - | - | - | - | - | - | - | - | 15.75 | - |
| 10351.77 | 475.61 | 16.71 | 888 | 10369.79 | done | 0.69 | - | - | 2061.12 | - | 2.49 | 0.062 | 3644.38 | 596.0 | 127.16 | - | - | 2330.59 | - | - | - | - | - | - | - | - | - | 15.71 | - |
| 10551.47 | 441.46 | 16.79 | 926 | 10569.47 | done | 0.69 | - | - | 2072.62 | - | 2.38 | 0.037 | 2152.38 | -626.9 | 127.16 | - | - | 2327.66 | - | - | - | - | - | - | - | - | - | 15.78 | - |
| 10881.58 | 387.63 | 16.31 | 945 | 10899.56 | done | 0.69 | - | - | 2082.38 | - | 2.22 | 0.045 | 745.88 | -633.6 | 127.16 | - | - | 2331.72 | - | - | - | - | - | - | - | - | - | 15.74 | - |
| 11016.22 | 367.63 | 14.24 | 970 | 11034.30 | 0.69 | 0.15 | 0.314 | 2035.31 | -313.8 | 2.46 | 0.057 | 2226.81 | 602.0 | 127.16 | - | - | 2328.81 | - | - | - | - | - | - | - | - | 15.94 | 15.76 | - | |
| 11322.26 | 327.42 | 12.83 | 986 | 11340.24 | done | 0.69 | - | - | 2034.56 | - | 2.30 | 0.067 | 3644.50 | 616.4 | 127.16 | - | - | 2330.00 | - | - | - | - | - | - | - | - | - | 15.70 | - |
| 11361.90 | 321.86 | 14.06 | 992 | 11379.89 | done | 0.69 | - | - | 2045.75 | - | 2.38 | 0.039 | 2153.56 | -626.4 | 127.16 | - | - | 2329.75 | - | - | - | - | - | - | - | - | - | 15.76 | - |
| 11667.98 | 281.27 | 13.23 | 1008 | 11686.13 | done | 0.69 | - | - | 2043.12 | - | 2.49 | 0.065 | 3641.69 | 597.6 | 127.16 | - | - | 2331.97 | - | - | - | - | - | - | - | - | - | 16.04 | - |
| 11697.76 | 276.96 | 13.62 | 1012 | 11715.76 | done | 0.69 | - | - | 2056.50 | - | 2.39 | 0.038 | 2160.19 | -619.9 | 127.16 | - | - | 2327.34 | - | - | - | - | - | - | - | - | - | 15.78 | - |
| 12017.99 | 232.33 | 13.99 | 1035 | 12036.00 | done | 0.69 | - | - | 2053.06 | - | 2.49 | 0.063 | 3643.62 | 595.8 | 127.16 | - | - | 2329.94 | - | - | - | - | - | - | - | - | - | 15.76 | - |
| 12093.21 | 220.65 | 15.49 | 1048 | 12111.20 | done | 0.69 | - | - | 2065.56 | - | 2.39 | 0.038 | 2152.56 | -623.9 | 127.16 | - | - | 2328.47 | - | - | - | - | - | - | - | - | - | 15.71 | - |
| 12283.41 | 192.41 | 14.64 | 1067 | 12301.42 | done | 0.69 | - | - | 2059.00 | - | 2.49 | 0.062 | 3643.06 | 598.6 | 127.16 | - | - | 2330.12 | - | - | - | - | - | - | - | - | - | 16.03 | - |
| 12478.57 | 161.92 | 15.52 | 1104 | 12496.57 | done | 0.69 | - | - | 2071.12 | - | 2.39 | 0.035 | 2153.94 | -623.1 | 127.16 | - | - | 2327.75 | - | - | - | - | - | - | - | - | - | 16.03 | - |
| 12668.67 | 133.70 | 14.96 | 1123 | 12686.65 | done | 0.69 | - | - | 2082.56 | - | 2.22 | 0.044 | 745.75 | -634.3 | 127.16 | - | - | 2327.72 | - | - | - | - | - | - | - | - | - | 15.70 | - |
| 12808.32 | 115.11 | 12.90 | 1149 | 12826.39 | 0.69 | 0.17 | 0.292 | 2033.88 | -286.4 | 2.47 | 0.058 | 2226.56 | 599.5 | 127.16 | - | - | 2329.59 | - | - | - | - | - | - | - | - | 15.92 | 15.67 | - | |
| 13008.66 | 90.31 | 12.58 | 1169 | 13026.65 | done | 0.69 | - | - | 2033.25 | - | 2.30 | 0.067 | 3643.75 | 616.2 | 127.16 | - | - | 2330.22 | - | - | - | - | - | - | - | - | - | 15.68 | - |
| 13198.33 | 64.23 | 13.44 | 1205 | 13216.31 | done | 0.69 | - | - | 2045.12 | - | 2.40 | 0.039 | 2156.19 | -619.8 | 127.16 | - | - | 2328.09 | - | - | - | - | - | - | - | - | - | 15.66 | - |
| 13398.41 | 38.08 | 13.21 | 1225 | 13416.38 | done | 0.69 | - | - | 2056.06 | - | 2.23 | 0.045 | 747.62 | -631.6 | 127.16 | - | - | 2328.12 | - | - | - | - | - | - | - | - | - | 15.67 | - |
| 13548.05 | 19.47 | 13.89 | 1253 | 13566.07 | done | 0.69 | - | - | 2047.31 | - | 2.48 | 0.059 | 2226.50 | 596.3 | 127.16 | - | - | 2328.88 | - | - | - | - | - | - | - | - | - | 15.67 | - |
| 13688 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 13688 | begin surface coast | ||||||||||||||||||||||||||||
| 13708 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 13708 | begin surface | ||||||||||||||||||||||||||||
| SM | 2.43 | - | - | - | - | 129.9 | - | 2.846 | 1249.2 | - | 5.09 | 0.047 | 1307.2 | 256.8 | - | 0.78 | 0.065 | 1191.2 | 1524.0 | -5.823 | - | - | 30.36 | 15.97 | 15.97 | - | |||