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| • Previous call tries 1 | • 75.94 of 575.00 AH used of 24V (86.79% remains) | |
| • Surface angle -66.6 deg, depth 2.01 m | • Intended pitch -20.2 deg, speed -9.167 cm/s | |
| • VBD pumped to 662.03 (SM_CC=700) | ||
| • GPS1 time: 58 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 | |||||
| 5 | end surface: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 5 | begin dive | ||||||||||||||||||||||||||||
| 7.15 | - | - | - | 49.15 | VBD | -2.09 | - | - | 216.19 | - | - | - | 2615.12 | - | -116.79 | 40.74 | 0.005 | 1217.69 | - | - | - | - | - | - | - | - | - | - | 15.81 |
| 49.40 | 3.31 | -4.54 | 4 | 145.81 | -2.09 | 13.11 | 0.299 | 1789.31 | 120.0 | 3.93 | 0.155 | 1191.69 | -362.2 | -116.79 | 71.00 | 0.005 | 3677.91 | 34.7 | -3.844 | - | - | - | - | - | - | 15.60 | 15.71 | 15.84 | |
| 373.27 | 72.36 | -15.95 | 68 | 379.21 | roll | -2.09 | - | - | 1789.81 | - | 3.51 | 0.060 | 2614.19 | 405.3 | -116.79 | - | - | 3680.38 | - | - | - | - | - | - | - | - | - | 15.89 | - |
| 744.01 | 121.69 | -13.34 | 82 | 750.37 | roll | -2.09 | - | - | 1789.12 | - | 3.88 | 0.149 | 1191.31 | -366.7 | -116.79 | - | - | 3681.97 | - | - | - | - | - | - | - | - | - | 15.85 | - |
| 808.30 | 131.97 | -16.06 | 95 | 814.16 | roll | -2.09 | - | - | 1788.94 | - | 3.46 | 0.058 | 2616.00 | 411.8 | -116.79 | - | - | 3682.69 | - | - | - | - | - | - | - | - | - | 15.92 | - |
| 1189.04 | 182.67 | -13.04 | 111 | 1195.51 | roll | -2.09 | - | - | 1789.31 | - | 3.88 | 0.150 | 1192.31 | -366.9 | -116.79 | - | - | 3681.12 | - | - | - | - | - | - | - | - | - | 15.88 | - |
| 1268.33 | 194.40 | -14.93 | 127 | 1274.93 | roll | -2.09 | - | - | 1789.50 | - | 3.47 | 0.059 | 2616.81 | 410.5 | -116.79 | - | - | 3683.31 | - | - | - | - | - | - | - | - | - | 15.95 | - |
| 1664.08 | 240.32 | -10.63 | 141 | 1670.41 | roll | -2.09 | - | - | 1789.00 | - | 3.89 | 0.152 | 1192.75 | -366.1 | -116.79 | - | - | 3683.34 | - | - | - | - | - | - | - | - | - | 15.90 | - |
| 1843.39 | 260.01 | -10.14 | 177 | 1849.30 | roll | -2.09 | - | - | 1789.50 | - | 3.46 | 0.061 | 2616.38 | 411.5 | -116.79 | - | - | 3683.06 | - | - | - | - | - | - | - | - | - | 16.00 | - |
| 2229.21 | 292.58 | -8.19 | 194 | 2230.77 | no move | -2.09 | - | - | 1788.38 | - | - | - | 2617.06 | - | -116.79 | - | - | 3682.81 | - | - | - | - | - | - | - | - | - | - | - |
| 2619.23 | 324.49 | -8.07 | 207 | 2625.74 | roll | -2.09 | - | - | 1789.69 | - | 3.86 | 0.155 | 1191.75 | -369.3 | -116.79 | - | - | 3681.47 | - | - | - | - | - | - | - | - | - | 16.00 | - |
| 2693.47 | 331.42 | -9.43 | 222 | 2699.56 | roll | -2.09 | - | - | 1789.62 | - | 3.41 | 0.061 | 2617.00 | 418.0 | -116.79 | - | - | 3682.22 | - | - | - | - | - | - | - | - | - | 16.08 | - |
| 3064.26 | 360.73 | -7.80 | 236 | 3070.77 | roll | -2.09 | - | - | 1789.31 | - | 3.84 | 0.156 | 1191.19 | -371.3 | -116.79 | - | - | 3680.38 | - | - | - | - | - | - | - | - | - | 16.03 | - |
| 3103.53 | 364.27 | -8.86 | 244 | 3109.50 | roll | -2.09 | - | - | 1789.12 | - | 3.40 | 0.060 | 2616.75 | 419.3 | -116.79 | - | - | 3681.72 | - | - | - | - | - | - | - | - | - | 16.10 | - |
| 3479.28 | 392.69 | -7.57 | 259 | 3480.84 | no move | -2.09 | - | - | 1788.19 | - | - | - | 2616.44 | - | -116.79 | - | - | 3681.00 | - | - | - | - | - | - | - | - | - | - | - |
| 3869.28 | 422.25 | -7.51 | 272 | 3875.78 | roll | -2.09 | - | - | 1788.75 | - | 3.84 | 0.155 | 1192.44 | -370.8 | -116.79 | - | - | 3680.41 | - | - | - | - | - | - | - | - | - | 16.05 | - |
| 3903.56 | 425.25 | -7.60 | 279 | 3909.51 | roll | -2.09 | - | - | 1789.69 | - | 3.40 | 0.059 | 2618.94 | 419.6 | -116.79 | - | - | 3680.28 | - | - | - | - | - | - | - | - | - | 16.14 | - |
| 4284.30 | 453.61 | -7.34 | 295 | 4285.85 | no move | -2.09 | - | - | 1788.62 | - | - | - | 2618.38 | - | -116.79 | - | - | 3680.69 | - | - | - | - | - | - | - | - | - | - | - |
| 4674.30 | 481.81 | -7.25 | 308 | 4675.86 | no move | -2.09 | - | - | 1789.38 | - | - | - | 2619.19 | - | -116.79 | - | - | 3678.91 | - | - | - | - | - | - | - | - | - | - | - |
| 5064.37 | 509.39 | -6.97 | 321 | 5070.95 | roll | -2.09 | - | - | 1789.69 | - | 3.85 | 0.155 | 1192.88 | -370.5 | -116.79 | - | - | 3678.44 | - | - | - | - | - | - | - | - | - | 16.07 | - |
| 5143.60 | 516.01 | -8.47 | 337 | 5150.28 | roll | -2.09 | - | - | 1789.31 | - | 3.38 | 0.059 | 2617.88 | 421.6 | -116.79 | - | - | 3680.25 | - | - | - | - | - | - | - | - | - | 16.16 | - |
| 5539.35 | 544.12 | -7.09 | 351 | 5540.90 | no move | -2.09 | - | - | 1788.38 | - | - | - | 2616.75 | - | -116.79 | - | - | 3680.12 | - | - | - | - | - | - | - | - | - | - | - |
| 5929.36 | 572.11 | -7.16 | 364 | 5930.92 | no move | -2.09 | - | - | 1789.12 | - | - | - | 2617.62 | - | -116.79 | - | - | 3679.12 | - | - | - | - | - | - | - | - | - | - | - |
| 6319.37 | 599.91 | -7.10 | 377 | 6320.93 | no move | -2.09 | - | - | 1789.62 | - | - | - | 2617.62 | - | -116.79 | - | - | 3679.72 | - | - | - | - | - | - | - | - | - | - | - |
| 6709.38 | 626.69 | -6.77 | 390 | 6715.90 | roll | -2.09 | - | - | 1789.56 | - | 3.82 | 0.156 | 1192.00 | -373.2 | -116.79 | - | - | 3678.88 | - | - | - | - | - | - | - | - | - | 16.09 | - |
| 6738.65 | 628.97 | -6.82 | 396 | 6744.62 | roll | -2.09 | - | - | 1789.50 | - | 3.38 | 0.061 | 2618.62 | 422.1 | -116.79 | - | - | 3680.06 | - | - | - | - | - | - | - | - | - | 16.18 | - |
| 7125.41 | 654.99 | -6.70 | 414 | 7126.96 | no move | -2.09 | - | - | 1788.25 | - | - | - | 2619.06 | - | -116.79 | - | - | 3681.03 | - | - | - | - | - | - | - | - | - | - | - |
| 7515.42 | 680.62 | -6.55 | 427 | 7516.98 | no move | -2.09 | - | - | 1789.31 | - | - | - | 2618.88 | - | -116.79 | - | - | 3679.81 | - | - | - | - | - | - | - | - | - | - | - |
| 7905.43 | 706.30 | -6.57 | 440 | 7911.92 | roll | -2.09 | - | - | 1788.94 | - | 3.84 | 0.156 | 1192.56 | -371.4 | -116.79 | - | - | 3680.38 | - | - | - | - | - | - | - | - | - | 16.06 | - |
| 7934.70 | 708.49 | -6.59 | 446 | 7940.71 | roll | -2.09 | - | - | 1789.62 | - | 3.38 | 0.061 | 2616.44 | 421.3 | -116.79 | - | - | 3679.69 | - | - | - | - | - | - | - | - | - | 16.12 | - |
| 8320.44 | 733.08 | -6.27 | 463 | 8326.86 | roll | -2.09 | - | - | 1788.81 | - | 3.69 | 0.141 | 4007.44 | 377.0 | -116.79 | - | - | 3680.72 | - | - | - | - | - | - | - | - | - | 16.03 | - |
| 8339.72 | 734.40 | -6.25 | 467 | 8346.46 | roll | -2.09 | - | - | 1789.25 | - | 3.45 | 0.070 | 2570.12 | -416.6 | -116.79 | - | - | 3681.22 | - | - | - | - | - | - | - | - | - | 16.08 | - |
| 8735.46 | 759.12 | -6.25 | 481 | 8737.02 | no move | -2.09 | - | - | 1789.00 | - | - | - | 2570.12 | - | -116.79 | - | - | 3681.16 | - | - | - | - | - | - | - | - | - | - | - |
| 9125.46 | 783.74 | -6.36 | 494 | 9131.91 | roll | -2.09 | - | - | 1789.75 | - | 3.80 | 0.134 | 4007.00 | 378.1 | -116.79 | - | - | 3678.97 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 9144.74 | 785.12 | -6.46 | 498 | 9151.47 | roll | -2.09 | - | - | 1789.44 | - | 3.47 | 0.072 | 2571.88 | -413.6 | -116.79 | - | - | 3679.62 | - | - | - | - | - | - | - | - | - | 16.04 | - |
| 9540.47 | 810.42 | -6.38 | 512 | 9542.03 | no move | -2.09 | - | - | 1789.44 | - | - | - | 2571.62 | - | -116.79 | - | - | 3678.97 | - | - | - | - | - | - | - | - | - | - | - |
| 9930.48 | 835.47 | -6.42 | 525 | 9936.98 | roll | -2.09 | - | - | 1789.12 | - | 3.81 | 0.134 | 4009.00 | 377.3 | -116.79 | - | - | 3680.09 | - | - | - | - | - | - | - | - | - | 15.97 | - |
| 9944.75 | 836.45 | -6.44 | 528 | 9950.76 | roll | -2.09 | - | - | 1789.69 | - | 3.49 | 0.072 | 2571.75 | -411.8 | -116.79 | - | - | 3679.84 | - | - | - | - | - | - | - | - | - | 16.02 | - |
| 10315.50 | 860.45 | -6.49 | 542 | 10317.06 | no move | -2.09 | - | - | 1789.56 | - | - | - | 2571.75 | - | -116.79 | - | - | 3679.16 | - | - | - | - | - | - | - | - | - | - | - |
| 10705.51 | 885.78 | -6.45 | 555 | 10711.97 | roll | -2.09 | - | - | 1789.44 | - | 3.79 | 0.135 | 4008.12 | 379.0 | -116.79 | - | - | 3679.72 | - | - | - | - | - | - | - | - | - | 16.03 | - |
| 10739.78 | 888.19 | -6.50 | 562 | 10745.81 | roll | -2.09 | - | - | 1789.44 | - | 3.48 | 0.074 | 2570.75 | -413.0 | -116.79 | - | - | 3680.03 | - | - | - | - | - | - | - | - | - | 16.08 | - |
| 11120.52 | 912.16 | -6.27 | 578 | 11122.09 | no move | -2.09 | - | - | 1788.25 | - | - | - | 2570.88 | - | -116.79 | - | - | 3680.84 | - | - | - | - | - | - | - | - | - | - | - |
| 11510.53 | 936.67 | -6.26 | 591 | 11516.98 | roll | -2.09 | - | - | 1789.31 | - | 3.79 | 0.135 | 4008.00 | 379.2 | -116.79 | - | - | 3680.22 | - | - | - | - | - | - | - | - | - | 16.06 | - |
| 11524.80 | 937.65 | -6.26 | 594 | 11530.81 | roll | -2.09 | - | - | 1789.38 | - | 3.45 | 0.073 | 2573.06 | -415.9 | -116.79 | - | - | 3680.00 | - | - | - | - | - | - | - | - | - | 16.10 | - |
| 11895.54 | 961.13 | -6.35 | 608 | 11897.10 | no move | -2.09 | - | - | 1789.69 | - | - | - | 2572.69 | - | -116.79 | - | - | 3679.50 | - | - | - | - | - | - | - | - | - | - | - |
| 12285.54 | 985.68 | -6.32 | 621 | 12291.98 | roll | -2.09 | - | - | 1789.88 | - | 3.78 | 0.137 | 4008.50 | 379.8 | -116.79 | - | - | 3680.00 | - | - | - | - | - | - | - | - | - | 16.08 | - |
| 12319.81 | 988.05 | -6.34 | 628 | 12325.82 | roll | -2.09 | - | - | 1789.00 | - | 3.44 | 0.074 | 2572.75 | -417.4 | -116.79 | - | - | 3680.25 | - | - | - | - | - | - | - | - | - | 16.14 | - |
| 12370 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 12370 | begin apogee | ||||||||||||||||||||||||||||
| 12371.99 | 991.22 | -6.26 | 633 | 12478.30 | -0.40 | 2.84 | 0.141 | 2199.75 | 144.6 | 0.08 | 0.293 | 2694.12 | 1517.1 | - | 97.75 | 2.191 | 3199.03 | -4.9 | 0.373 | - | - | - | - | - | - | 16.07 | 15.44 | 11.69 | |
| 12488 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 12488 | begin climb | ||||||||||||||||||||||||||||
| 12488.85 | 992.41 | - | 636 | 12609.69 | 2.09 | 3.99 | 0.068 | 2810.38 | 153.0 | 3.66 | 0.125 | 4010.19 | 359.6 | 116.79 | 103.68 | 2.129 | 2722.06 | -4.6 | 0.359 | - | - | - | - | - | - | 15.52 | 15.22 | 11.58 | |
| 12667.13 | 980.63 | 20.63 | 671 | 12673.81 | done | 2.09 | - | - | 2809.75 | - | 3.30 | 0.067 | 2692.81 | -399.2 | 116.79 | - | - | 2716.31 | - | - | - | - | - | - | - | - | - | 15.50 | - |
| 13062.88 | 895.88 | 21.36 | 685 | 13064.43 | VBD | 2.09 | - | - | 2809.94 | - | - | - | 2692.19 | - | 116.79 | - | - | 2706.16 | - | - | - | - | - | - | - | - | - | - | - |
| 13452.89 | 814.34 | 20.77 | 698 | 13459.25 | done | 2.09 | - | - | 2809.38 | - | 3.48 | 0.122 | 4008.25 | 378.2 | 116.79 | - | - | 2704.25 | - | - | - | - | - | - | - | - | - | 15.89 | - |
| 13527.18 | 797.75 | 22.32 | 713 | 13533.17 | done | 2.09 | - | - | 2809.94 | - | 3.21 | 0.066 | 2692.25 | -410.0 | 116.79 | - | - | 2704.16 | - | - | - | - | - | - | - | - | - | 15.96 | - |
| 13897.94 | 723.69 | 19.66 | 727 | 13899.51 | VBD | 2.09 | - | - | 2809.38 | - | - | - | 2691.19 | - | 116.79 | - | - | 2702.16 | - | - | - | - | - | - | - | - | - | - | - |
| 14287.95 | 648.41 | 19.14 | 740 | 14289.51 | VBD | 2.09 | - | - | 2810.00 | - | - | - | 2691.69 | - | 116.79 | - | - | 2702.47 | - | - | - | - | - | - | - | - | - | - | - |
| 14677.96 | 575.46 | 18.59 | 753 | 14684.29 | done | 2.09 | - | - | 2809.94 | - | 3.45 | 0.121 | 4008.88 | 381.8 | 116.79 | - | - | 2700.75 | - | - | - | - | - | - | - | - | - | 16.04 | - |
| 14692.23 | 572.56 | 18.58 | 756 | 14698.12 | done | 2.09 | - | - | 2809.75 | - | 3.18 | 0.064 | 2688.50 | -415.2 | 116.79 | - | - | 2702.88 | - | - | - | - | - | - | - | - | - | 16.09 | - |
| 15062.97 | 504.86 | 18.12 | 770 | 15069.32 | done | 2.09 | - | - | 2809.56 | - | 3.48 | 0.119 | 4010.50 | 379.9 | 116.79 | - | - | 2702.09 | - | - | - | - | - | - | - | - | - | 16.00 | - |
| 15137.26 | 490.48 | 19.41 | 785 | 15143.20 | done | 2.09 | - | - | 2810.00 | - | 3.20 | 0.065 | 2690.88 | -412.4 | 116.79 | - | - | 2702.06 | - | - | - | - | - | - | - | - | - | 16.05 | - |
| 15508.00 | 425.85 | 17.18 | 799 | 15514.53 | done | 2.09 | - | - | 2808.81 | - | 3.82 | 0.138 | 1246.56 | -378.1 | 116.79 | - | - | 2701.44 | - | - | - | - | - | - | - | - | - | 15.99 | - |
| 15587.28 | 410.70 | 19.26 | 815 | 15594.16 | done | 2.09 | - | - | 2809.62 | - | 3.55 | 0.056 | 2737.12 | 419.9 | 116.79 | - | - | 2701.44 | - | - | - | - | - | - | - | - | - | 16.03 | - |
| 15983.12 | 346.04 | 15.73 | 829 | 15984.69 | VBD | 2.09 | - | - | 2809.81 | - | - | - | 2736.88 | - | 116.79 | - | - | 2699.91 | - | - | - | - | - | - | - | - | - | - | - |
| 16373.05 | 290.56 | 13.27 | 842 | 16379.39 | done | 2.09 | - | - | 2810.25 | - | 3.34 | 0.121 | 4009.69 | 381.1 | 116.79 | - | - | 2698.19 | - | - | - | - | - | - | - | - | - | 16.02 | - |
| 16432.32 | 282.65 | 12.92 | 854 | 16438.22 | done | 2.09 | - | - | 2809.62 | - | 3.20 | 0.062 | 2688.00 | -413.0 | 116.79 | - | - | 2700.78 | - | - | - | - | - | - | - | - | - | 16.07 | - |
| 16818.11 | 255.25 | 3.81 | 871 | 16914.12 | 2.49 | 0.58 | 0.104 | 2903.44 | 161.8 | 3.91 | 0.136 | 1246.75 | -368.6 | 218.55 | 85.74 | 1.273 | 2307.91 | -4.6 | 0.154 | - | - | - | - | - | - | 16.07 | 15.68 | 11.63 | |
| 17126.60 | 206.00 | 16.46 | 932 | 17132.70 | done | 2.49 | - | - | 2903.75 | - | 3.60 | 0.055 | 2737.06 | 414.0 | 218.55 | - | - | 2299.03 | - | - | - | - | - | - | - | - | - | 15.87 | - |
| 17512.39 | 168.33 | 8.06 | 949 | 17538.90 | done | 2.58 | - | - | 2904.00 | - | 3.99 | 0.132 | 1246.50 | -373.6 | 239.54 | 18.36 | 1.102 | 2221.09 | -4.2 | 0.109 | - | - | - | - | - | - | - | 15.84 | 11.69 |
| 17671.65 | 151.08 | 11.03 | 981 | 17677.77 | roll | 2.58 | - | - | 2903.25 | - | 3.60 | 0.056 | 2738.12 | 414.3 | 239.54 | - | - | 2216.44 | - | - | - | - | - | - | - | - | - | 15.93 | - |
| 18052.46 | 117.74 | 8.00 | 997 | 18076.46 | 2.67 | 0.25 | 0.117 | 2944.19 | 163.8 | - | - | 2737.44 | - | 261.67 | 21.48 | 1.071 | 2131.69 | -3.9 | 0.073 | - | - | - | - | - | - | 15.97 | - | 11.69 | |
| 18442.46 | 83.53 | 7.07 | 1010 | 18494.40 | 2.83 | 0.21 | 0.110 | 2985.25 | 195.5 | - | - | 2737.12 | - | 301.45 | 48.44 | 1.049 | 1969.53 | -3.3 | 0.045 | - | - | - | - | - | - | 15.96 | - | 11.61 | |
| 18862.47 | 53.46 | 4.00 | 1024 | 19001.51 | 3.22 | 0.57 | 0.086 | 3080.25 | 166.7 | 3.49 | 0.128 | 4007.00 | 363.9 | 399.67 | 128.10 | 1.014 | 1570.19 | -3.1 | 0.028 | - | - | - | - | - | - | 15.91 | 15.52 | 11.66 | |
| 19229.06 | 36.91 | -4.23 | 1096 | 19687.97 | 4.24 | 1.60 | 0.093 | 3324.81 | 152.8 | 3.27 | 0.065 | 2688.31 | -403.3 | 654.04 | 435.97 | 0.941 | 534.62 | -2.4 | 0.016 | - | - | - | - | - | - | 15.76 | 15.79 | 11.57 | |
| 19911 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 19911 | begin surface coast | ||||||||||||||||||||||||||||
| 19931 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 19931 | begin surface | ||||||||||||||||||||||||||||
| SM | 3.95 | - | - | - | - | 220.1 | 11.94 | 0.985 | 501.2 | 5.5 | 21.35 | 0.124 | 397.8 | 18.6 | - | 0.25 | 0.115 | 604.5 | 2404.9 | -8.443 | - | - | 11.67 | 15.64 | 15.72 | - | |||