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| • Previous call tries 5 | • 131.61 of 575.00 AH used of 24V (77.11% remains) | |
| • Surface angle -73.5 deg, depth 1.65 m | • Intended pitch -19.8 deg, speed -9.524 cm/s | |
| • No surface pump (final VBD was 353.4, SM_CC=517.58301) | ||
| • GPS1 time: 70 s | ||
| • GPS2 time: 2 s | • Transponder ping count: 27 | |
| • 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 | ||||||||||||||||||||||||||||
| 4.98 | - | - | - | 56.64 | VBD | -0.96 | - | - | 141.88 | - | - | - | 2099.62 | - | -116.79 | 51.12 | 0.005 | 1422.91 | - | - | - | - | - | - | - | - | - | - | 15.31 |
| 56.93 | 4.43 | -7.19 | 5 | 119.00 | -0.96 | 7.95 | 0.393 | 1858.50 | 215.9 | 3.85 | 0.063 | 753.38 | -349.7 | -116.79 | 45.49 | 0.005 | 3196.12 | 39.0 | -5.678 | - | - | - | - | - | - | 15.17 | 15.30 | 15.28 | |
| 311.23 | 90.13 | -24.14 | 56 | 316.98 | roll | -0.96 | - | - | 1842.94 | - | 3.66 | 0.028 | 2063.81 | 358.0 | -116.79 | - | - | 3198.31 | - | - | - | - | - | - | - | - | - | 15.55 | - |
| 616.17 | 150.96 | -18.57 | 87 | 621.85 | roll | -0.96 | - | - | 1857.44 | - | 3.84 | 0.065 | 753.50 | -341.2 | -116.79 | - | - | 3196.97 | - | - | - | - | - | - | - | - | - | 15.72 | - |
| 781.04 | 182.11 | -18.74 | 120 | 787.15 | roll | -0.96 | - | - | 1842.25 | - | 3.63 | 0.027 | 2062.69 | 360.7 | -116.79 | - | - | 3199.56 | - | - | - | - | - | - | - | - | - | 15.59 | - |
| 1086.42 | 234.13 | -15.78 | 151 | 1087.76 | no move | -0.96 | - | - | 1842.94 | - | - | - | 2063.75 | - | -116.79 | - | - | 3196.75 | - | - | - | - | - | - | - | - | - | - | - |
| 1396.23 | 282.79 | -15.47 | 168 | 1397.56 | no move | -0.96 | - | - | 1843.50 | - | - | - | 2063.81 | - | -116.79 | - | - | 3196.66 | - | - | - | - | - | - | - | - | - | - | - |
| 1696.42 | 325.40 | -13.42 | 178 | 1701.92 | roll | -0.96 | - | - | 1827.00 | - | 3.56 | 0.060 | 3326.00 | 354.5 | -116.79 | - | - | 3197.66 | - | - | - | - | - | - | - | - | - | 15.82 | - |
| 1886.19 | 349.12 | -12.02 | 216 | 1891.99 | roll | -0.96 | - | - | 1840.88 | - | 3.61 | 0.025 | 2012.81 | -363.8 | -116.79 | - | - | 3197.41 | - | - | - | - | - | - | - | - | - | 15.86 | - |
| 2206.35 | 382.75 | -10.70 | 230 | 2212.04 | roll | -0.96 | - | - | 1826.06 | - | 3.78 | 0.059 | 3325.56 | 347.3 | -116.79 | - | - | 3197.84 | - | - | - | - | - | - | - | - | - | 15.83 | - |
| 2296.52 | 393.06 | -11.71 | 248 | 2302.05 | roll | -0.96 | - | - | 1840.62 | - | 3.61 | 0.026 | 2015.19 | -363.0 | -116.79 | - | - | 3197.00 | - | - | - | - | - | - | - | - | - | 15.86 | - |
| 2626.59 | 426.35 | -9.95 | 264 | 2632.10 | roll | -0.96 | - | - | 1825.00 | - | 3.79 | 0.059 | 3326.44 | 346.0 | -116.79 | - | - | 3199.03 | - | - | - | - | - | - | - | - | - | 15.86 | - |
| 2676.33 | 431.80 | -11.03 | 274 | 2682.11 | roll | -0.96 | - | - | 1839.88 | - | 3.62 | 0.026 | 2012.69 | -362.9 | -116.79 | - | - | 3196.84 | - | - | - | - | - | - | - | - | - | 15.89 | - |
| 2986.64 | 461.66 | -9.29 | 286 | 2992.16 | roll | -0.96 | - | - | 1825.06 | - | 3.79 | 0.059 | 3325.06 | 346.3 | -116.79 | - | - | 3197.12 | - | - | - | - | - | - | - | - | - | 15.87 | - |
| 3036.37 | 466.69 | -10.27 | 296 | 3042.17 | roll | -0.96 | - | - | 1839.31 | - | 3.61 | 0.027 | 2013.88 | -363.2 | -116.79 | - | - | 3197.06 | - | - | - | - | - | - | - | - | - | 15.90 | - |
| 3346.71 | 495.98 | -9.37 | 308 | 3348.04 | no move | -0.96 | - | - | 1838.94 | - | - | - | 2012.25 | - | -116.79 | - | - | 3195.66 | - | - | - | - | - | - | - | - | - | - | - |
| 3407 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 3407 | begin apogee | ||||||||||||||||||||||||||||
| 3409.00 | 501.62 | -9.36 | 310 | 3502.73 | -0.12 | 0.97 | 0.226 | 2112.62 | 282.1 | 0.11 | 0.128 | 2387.06 | 3407.4 | - | 91.44 | 1.908 | 2716.53 | -5.2 | 0.226 | - | - | - | - | - | - | 15.70 | 15.37 | 11.96 | |
| 3504 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 3504 | begin loiter | ||||||||||||||||||||||||||||
| 3796.44 | 501.61 | 0.92 | 318 | 3797.78 | VBD | -0.12 | - | - | 2111.75 | - | - | - | 2367.50 | - | - | - | - | 2708.75 | - | - | - | - | - | - | - | - | - | - | - |
| 4396.47 | 490.97 | 1.72 | 328 | 4397.81 | VBD | -0.12 | - | - | 2112.88 | - | - | - | 2367.75 | - | - | - | - | 2707.12 | - | - | - | - | - | - | - | - | - | - | - |
| 4996.50 | 481.15 | 1.60 | 338 | 4997.84 | VBD | -0.12 | - | - | 2112.19 | - | - | - | 2367.88 | - | - | - | - | 2707.25 | - | - | - | - | - | - | - | - | - | - | - |
| 5596.53 | 472.72 | 1.33 | 348 | 5597.87 | VBD | -0.12 | - | - | 2112.56 | - | - | - | 2367.56 | - | - | - | - | 2707.75 | - | - | - | - | - | - | - | - | - | - | - |
| 6196.56 | 464.38 | 1.37 | 358 | 6197.90 | VBD | -0.12 | - | - | 2111.94 | - | - | - | 2367.56 | - | - | - | - | 2706.47 | - | - | - | - | - | - | - | - | - | - | - |
| 6796.59 | 455.49 | 1.60 | 368 | 6797.93 | VBD | -0.12 | - | - | 2112.00 | - | - | - | 2368.12 | - | - | - | - | 2706.09 | - | - | - | - | - | - | - | - | - | - | - |
| 7396.61 | 444.59 | 1.83 | 378 | 7397.95 | VBD | -0.12 | - | - | 2112.25 | - | - | - | 2367.56 | - | - | - | - | 2706.75 | - | - | - | - | - | - | - | - | - | - | - |
| 7996.63 | 434.60 | 1.59 | 388 | 7997.97 | VBD | -0.12 | - | - | 2112.44 | - | - | - | 2367.44 | - | - | - | - | 2706.62 | - | - | - | - | - | - | - | - | - | - | - |
| 8596.66 | 427.26 | 1.14 | 398 | 8598.00 | VBD | -0.12 | - | - | 2112.50 | - | - | - | 2368.19 | - | - | - | - | 2707.28 | - | - | - | - | - | - | - | - | - | - | - |
| 9196.80 | 422.05 | 0.88 | 408 | 9198.14 | VBD | -0.12 | - | - | 2112.31 | - | - | - | 2368.12 | - | - | - | - | 2706.53 | - | - | - | - | - | - | - | - | - | - | - |
| 9796.70 | 416.75 | 0.86 | 418 | 9798.03 | VBD | -0.12 | - | - | 2112.25 | - | - | - | 2367.81 | - | - | - | - | 2706.81 | - | - | - | - | - | - | - | - | - | - | - |
| 10396.72 | 412.34 | 0.75 | 428 | 10398.05 | VBD | -0.12 | - | - | 2111.94 | - | - | - | 2367.75 | - | - | - | - | 2707.19 | - | - | - | - | - | - | - | - | - | - | - |
| 10996.74 | 406.95 | 0.86 | 438 | 10998.08 | VBD | -0.12 | - | - | 2112.25 | - | - | - | 2368.12 | - | - | - | - | 2706.47 | - | - | - | - | - | - | - | - | - | - | - |
| 11596.76 | 405.64 | 0.42 | 448 | 11598.10 | VBD | -0.12 | - | - | 2112.06 | - | - | - | 2367.44 | - | - | - | - | 2707.69 | - | - | - | - | - | - | - | - | - | - | - |
| 12196.78 | 407.21 | 0.24 | 458 | 12198.12 | VBD | -0.12 | - | - | 2112.06 | - | - | - | 2367.69 | - | - | - | - | 2706.94 | - | - | - | - | - | - | - | - | - | - | - |
| 12796.80 | 406.50 | - | 468 | 12798.14 | VBD | -0.12 | - | - | 2112.19 | - | - | - | 2367.75 | - | - | - | - | 2706.41 | - | - | - | - | - | - | - | - | - | - | - |
| 13396.83 | 405.79 | - | 478 | 13398.16 | VBD | -0.12 | - | - | 2112.06 | - | - | - | 2367.50 | - | - | - | - | 2706.41 | - | - | - | - | - | - | - | - | - | - | - |
| 13996.99 | 407.40 | - | 488 | 13998.33 | VBD | -0.12 | - | - | 2112.38 | - | - | - | 2368.00 | - | - | - | - | 2707.62 | - | - | - | - | - | - | - | - | - | - | - |
| 14596.93 | 406.29 | - | 498 | 14598.27 | VBD | -0.12 | - | - | 2112.38 | - | - | - | 2367.50 | - | - | - | - | 2706.91 | - | - | - | - | - | - | - | - | - | - | - |
| 15196.89 | 405.88 | - | 508 | 15198.22 | VBD | -0.12 | - | - | 2112.19 | - | - | - | 2368.12 | - | - | - | - | 2706.03 | - | - | - | - | - | - | - | - | - | - | - |
| 15796.91 | 407.13 | 0.02 | 518 | 15798.24 | VBD | -0.12 | - | - | 2111.88 | - | - | - | 2367.50 | - | - | - | - | 2706.91 | - | - | - | - | - | - | - | - | - | - | - |
| 16396.93 | 408.19 | -0.12 | 528 | 16398.27 | VBD | -0.12 | - | - | 2111.69 | - | - | - | 2368.12 | - | - | - | - | 2707.59 | - | - | - | - | - | - | - | - | - | - | - |
| 16996.95 | 407.70 | -0.09 | 538 | 16998.29 | VBD | -0.12 | - | - | 2112.56 | - | - | - | 2367.75 | - | - | - | - | 2707.25 | - | - | - | - | - | - | - | - | - | - | - |
| 17596.97 | 407.67 | -0.03 | 548 | 17598.31 | VBD | -0.12 | - | - | 2112.62 | - | - | - | 2368.06 | - | - | - | - | 2706.12 | - | - | - | - | - | - | - | - | - | - | - |
| 18197.00 | 408.38 | -0.01 | 558 | 18198.33 | VBD | -0.12 | - | - | 2112.69 | - | - | - | 2367.56 | - | - | - | - | 2706.41 | - | - | - | - | - | - | - | - | - | - | - |
| 18797.02 | 410.01 | -0.14 | 568 | 18798.35 | VBD | -0.12 | - | - | 2112.38 | - | - | - | 2367.44 | - | - | - | - | 2705.84 | - | - | - | - | - | - | - | - | - | - | - |
| 19397.04 | 410.92 | -0.18 | 578 | 19398.38 | VBD | -0.12 | - | - | 2111.94 | - | - | - | 2368.00 | - | - | - | - | 2706.94 | - | - | - | - | - | - | - | - | - | - | - |
| 19997.06 | 411.61 | -0.18 | 588 | 19998.40 | VBD | -0.12 | - | - | 2111.75 | - | - | - | 2367.75 | - | - | - | - | 2706.78 | - | - | - | - | - | - | - | - | - | - | - |
| 20597.08 | 411.56 | -0.08 | 598 | 20598.42 | VBD | -0.12 | - | - | 2111.94 | - | - | - | 2368.00 | - | - | - | - | 2706.59 | - | - | - | - | - | - | - | - | - | - | - |
| 21197.17 | 412.32 | -0.08 | 608 | 21198.51 | VBD | -0.12 | - | - | 2111.94 | - | - | - | 2367.94 | - | - | - | - | 2706.69 | - | - | - | - | - | - | - | - | - | - | - |
| 21797.13 | 411.74 | - | 618 | 21798.47 | VBD | -0.12 | - | - | 2112.31 | - | - | - | 2367.75 | - | - | - | - | 2707.03 | - | - | - | - | - | - | - | - | - | - | - |
| 22397.15 | 410.99 | 0.04 | 628 | 22398.49 | VBD | -0.12 | - | - | 2112.38 | - | - | - | 2367.81 | - | - | - | - | 2706.59 | - | - | - | - | - | - | - | - | - | - | - |
| 22997.17 | 413.34 | -0.05 | 638 | 22998.51 | VBD | -0.12 | - | - | 2111.69 | - | - | - | 2367.38 | - | - | - | - | 2706.75 | - | - | - | - | - | - | - | - | - | - | - |
| 23597.30 | 412.27 | -0.05 | 648 | 23598.63 | VBD | -0.12 | - | - | 2112.00 | - | - | - | 2367.19 | - | - | - | - | 2707.03 | - | - | - | - | - | - | - | - | - | - | - |
| 24197.22 | 409.93 | 0.36 | 658 | 24198.56 | VBD | -0.12 | - | - | 2112.62 | - | - | - | 2367.94 | - | - | - | - | 2706.47 | - | - | - | - | - | - | - | - | - | - | - |
| 24797.26 | 408.29 | 0.33 | 668 | 24798.60 | VBD | -0.12 | - | - | 2112.00 | - | - | - | 2367.94 | - | - | - | - | 2706.59 | - | - | - | - | - | - | - | - | - | - | - |
| 25097 | end loiter: LOITER_COMPLETE | ||||||||||||||||||||||||||||
| 25097 | begin climb | ||||||||||||||||||||||||||||
| 25097.33 | 408.82 | - | 673 | 25200.39 | 0.96 | 1.10 | 0.138 | 2455.38 | 312.2 | 4.03 | 0.075 | 3735.50 | 339.3 | 116.79 | 95.96 | 1.756 | 2243.31 | -4.8 | 0.185 | - | - | - | - | - | - | 15.77 | 15.40 | 11.80 | |
| 25422.36 | 377.34 | 12.26 | 738 | 25428.47 | done | 0.96 | - | - | 2469.94 | - | 3.64 | 0.020 | 2414.00 | -363.0 | 116.79 | - | - | 2234.00 | - | - | - | - | - | - | - | - | - | 15.54 | - |
| 25727.61 | 346.36 | 9.59 | 749 | 25733.24 | done | 0.96 | - | - | 2455.50 | - | 3.92 | 0.073 | 3733.44 | 336.6 | 116.79 | - | - | 2230.78 | - | - | - | - | - | - | - | - | - | 15.58 | - |
| 25787.69 | 339.87 | 11.21 | 761 | 25793.21 | done | 0.96 | - | - | 2470.88 | - | 3.60 | 0.019 | 2414.44 | -366.4 | 116.79 | - | - | 2230.94 | - | - | - | - | - | - | - | - | - | 15.63 | - |
| 26117.72 | 314.21 | 6.75 | 777 | 26164.32 | 1.17 | 0.16 | 0.109 | 2524.06 | 332.4 | 3.90 | 0.074 | 3732.00 | 337.8 | 167.34 | 41.06 | 1.616 | 2036.03 | -4.7 | 0.152 | - | - | - | - | - | - | 15.66 | 15.51 | 11.86 | |
| 26387.83 | 288.23 | 10.46 | 831 | 26393.33 | roll | 1.17 | - | - | 2537.56 | - | 3.59 | 0.019 | 2412.25 | -367.6 | 167.34 | - | - | 2031.88 | - | - | - | - | - | - | - | - | - | 15.61 | - |
| 26717.76 | 259.22 | 8.63 | 847 | 26723.42 | done | 1.18 | - | - | 2523.25 | - | 3.88 | 0.072 | 3733.94 | 340.6 | 167.34 | - | - | 2028.53 | - | - | - | - | - | - | - | - | - | 15.71 | - |
| 26882.63 | 242.91 | 9.52 | 880 | 26888.65 | done | 1.18 | - | - | 2538.88 | - | 3.58 | 0.020 | 2409.44 | -370.0 | 167.34 | - | - | 2027.38 | - | - | - | - | - | - | - | - | - | 15.77 | - |
| 27187.78 | 220.08 | 7.12 | 911 | 27229.58 | 1.36 | 0.14 | 0.115 | 2612.00 | 522.3 | 3.56 | 0.055 | 1161.00 | -350.7 | 211.12 | 35.45 | 1.525 | 1858.19 | -4.8 | 0.113 | - | - | - | - | - | - | 15.76 | 15.58 | 12.06 | |
| 27287.84 | 210.97 | 9.83 | 931 | 27293.51 | roll | 1.36 | - | - | 2596.94 | - | 3.71 | 0.031 | 2471.12 | 353.1 | 211.12 | - | - | 1854.25 | - | - | - | - | - | - | - | - | - | 15.64 | - |
| 27597.85 | 182.23 | 9.09 | 963 | 27603.53 | done | 1.36 | - | - | 2581.25 | - | 3.62 | 0.074 | 3733.75 | 348.8 | 211.12 | - | - | 1851.25 | - | - | - | - | - | - | - | - | - | 15.71 | - |
| 27642.73 | 177.56 | 10.56 | 972 | 27648.79 | done | 1.36 | - | - | 2596.81 | - | 3.59 | 0.021 | 2412.19 | -368.1 | 211.12 | - | - | 1848.88 | - | - | - | - | - | - | - | - | - | 15.74 | - |
| 27948.12 | 151.41 | 8.00 | 1003 | 27949.46 | VBD | 1.39 | - | - | 2597.31 | - | - | - | 2394.38 | - | 211.12 | - | - | 1847.09 | - | - | - | - | - | - | - | - | - | - | - |
| 28248.14 | 129.69 | 6.66 | 1033 | 28295.84 | 1.60 | 0.19 | 0.104 | 2688.81 | 481.6 | 3.59 | 0.058 | 1160.88 | -343.6 | 263.36 | 41.62 | 1.439 | 1644.44 | -4.9 | 0.072 | - | - | - | - | - | - | 15.71 | 15.58 | 11.99 | |
| 28333.04 | 121.79 | 10.53 | 1050 | 28338.63 | roll | 1.60 | - | - | 2672.94 | - | 3.73 | 0.034 | 2467.31 | 350.2 | 263.36 | - | - | 1642.22 | - | - | - | - | - | - | - | - | - | 15.68 | - |
| 28642.95 | 94.30 | 7.27 | 1082 | 28681.46 | 1.76 | 0.12 | 0.119 | 2741.88 | 574.5 | 3.85 | 0.058 | 1160.75 | -339.4 | 304.36 | 32.94 | 1.369 | 1477.81 | -5.0 | 0.057 | - | - | - | - | - | - | 15.69 | 15.52 | 12.12 | |
| 28768.71 | 82.00 | 10.20 | 1107 | 28774.32 | roll | 1.76 | - | - | 2727.75 | - | 3.75 | 0.037 | 2467.75 | 348.5 | 304.36 | - | - | 1473.09 | - | - | - | - | - | - | - | - | - | 15.65 | - |
| 29078.66 | 63.98 | 4.05 | 1139 | 29162.40 | 2.16 | 0.34 | 0.093 | 2869.44 | 416.7 | 3.88 | 0.057 | 1162.12 | -336.5 | 404.07 | 77.49 | 1.338 | 1072.12 | -5.2 | 0.041 | - | - | - | - | - | - | 15.68 | 15.39 | 12.06 | |
| 29284.46 | 47.99 | 6.75 | 1178 | 29331.03 | 2.36 | 0.16 | 0.115 | 2916.75 | 295.7 | 3.76 | 0.033 | 2470.81 | 348.1 | 454.52 | 39.69 | 1.272 | 867.44 | -5.2 | 0.032 | - | - | - | - | - | - | 15.44 | 15.56 | 12.08 | |
| 29634.75 | 31.86 | 2.37 | 1218 | 29703.91 | 2.88 | 0.47 | 0.085 | 3069.00 | 323.9 | 3.68 | 0.071 | 3734.62 | 343.4 | 584.86 | 63.00 | 1.263 | 549.81 | -5.0 | 0.021 | - | - | - | - | - | - | 15.57 | 15.32 | 12.08 | |
| 29751.12 | 28.57 | 3.24 | 1238 | 29756.69 | 3.34 | 0.41 | 0.105 | 3227.62 | 386.9 | 3.64 | 0.020 | 2408.88 | -364.2 | 699.36 | - | - | 547.12 | - | - | - | - | - | - | - | - | 15.42 | 15.46 | - | |
| 29971 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 29971 | begin surface coast | ||||||||||||||||||||||||||||
| 29981 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 29981 | begin surface | ||||||||||||||||||||||||||||
| SM | 4.94 | - | - | - | - | 139.3 | - | - | 542.3 | - | 9.20 | 0.086 | 731.3 | 79.4 | - | 1.04 | 0.042 | 353.4 | 336.3 | -4.043 | - | - | 30.00 | 15.55 | 15.61 | - | |||