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| • Previous call tries 1 | • 324.44 of 575.00 AH used of 24V (43.57% remains) | |
| • Surface angle -63.5 deg, depth -1.47 m | • Intended pitch -27.4 deg, speed -11.111 cm/s | |
| • VBD pumped to 474.74 (SM_CC=475) | ||
| • GPS1 time: 4 s | ||
| • GPS2 time: 2 s | • Transponder ping count: 21 | |
| • 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 | ||||||||||||||||||||||||||||
| 8.57 | - | - | - | 90.34 | VBD | -1.59 | - | - | 171.50 | - | - | - | 2116.38 | - | -74.33 | 81.22 | 0.005 | 2437.31 | - | - | - | - | - | - | - | - | - | - | 13.22 |
| 90.59 | 3.54 | -7.99 | 8 | 123.76 | -1.68 | 14.48 | 0.255 | 1731.25 | 107.7 | 3.74 | 0.107 | 3475.94 | 363.5 | -105.34 | 10.90 | 0.007 | 2926.81 | 44.9 | -4.096 | - | - | - | - | - | - | 14.79 | 14.57 | 13.31 | |
| 287.45 | 46.98 | -21.14 | 47 | 292.62 | roll | -1.68 | - | - | 1731.12 | - | 3.45 | 0.053 | 2080.69 | -404.4 | -105.34 | - | - | 2927.75 | - | - | - | - | - | - | - | - | - | 15.22 | - |
| 352.06 | 58.27 | -15.92 | 54 | 357.73 | roll | -1.68 | - | - | 1731.25 | - | 4.07 | 0.140 | 661.94 | -348.6 | -105.34 | - | - | 2928.56 | - | - | - | - | - | - | - | - | - | 14.97 | - |
| 367.46 | 60.62 | -15.38 | 57 | 372.64 | roll | -1.68 | - | - | 1730.62 | - | 3.52 | 0.042 | 2124.81 | 415.6 | -105.34 | - | - | 2927.31 | - | - | - | - | - | - | - | - | - | 15.33 | - |
| 432.01 | 69.30 | -13.07 | 64 | 433.34 | no move | -1.68 | - | - | 1731.19 | - | - | - | 2124.88 | - | -105.34 | - | - | 2929.62 | - | - | - | - | - | - | - | - | - | - | - |
| 492.02 | 76.38 | -11.94 | 70 | 497.67 | roll | -1.68 | - | - | 1731.12 | - | 3.65 | 0.098 | 3475.50 | 370.0 | -105.34 | - | - | 2928.41 | - | - | - | - | - | - | - | - | - | 15.08 | - |
| 537.47 | 82.18 | -13.12 | 79 | 542.68 | roll | -1.68 | - | - | 1731.38 | - | 3.38 | 0.045 | 2081.25 | -412.5 | -105.34 | - | - | 2927.81 | - | - | - | - | - | - | - | - | - | 15.25 | - |
| 602.09 | 89.61 | -11.11 | 86 | 607.79 | roll | -1.68 | - | - | 1731.12 | - | 4.03 | 0.139 | 661.75 | -352.2 | -105.34 | - | - | 2929.78 | - | - | - | - | - | - | - | - | - | 14.95 | - |
| 627.48 | 92.91 | -12.35 | 91 | 632.66 | roll | -1.68 | - | - | 1730.88 | - | 3.51 | 0.040 | 2124.75 | 416.8 | -105.34 | - | - | 2928.56 | - | - | - | - | - | - | - | - | - | 15.34 | - |
| 692.04 | 101.07 | -12.20 | 98 | 697.69 | roll | -1.68 | - | - | 1731.25 | - | 3.64 | 0.099 | 3476.44 | 371.3 | -105.34 | - | - | 2928.31 | - | - | - | - | - | - | - | - | - | 15.07 | - |
| 737.49 | 106.93 | -13.21 | 107 | 742.65 | roll | -1.68 | - | - | 1731.00 | - | 3.38 | 0.045 | 2079.88 | -413.2 | -105.34 | - | - | 2927.66 | - | - | - | - | - | - | - | - | - | 15.24 | - |
| 802.11 | 114.59 | -11.51 | 114 | 803.44 | no move | -1.68 | - | - | 1731.06 | - | - | - | 2080.44 | - | -105.34 | - | - | 2929.78 | - | - | - | - | - | - | - | - | - | - | - |
| 862.06 | 121.43 | -10.90 | 120 | 863.39 | no move | -1.68 | - | - | 1731.56 | - | - | - | 2079.81 | - | -105.34 | - | - | 2929.66 | - | - | - | - | - | - | - | - | - | - | - |
| 922.07 | 127.09 | -9.43 | 126 | 923.40 | no move | -1.68 | - | - | 1731.25 | - | - | - | 2079.69 | - | -105.34 | - | - | 2929.88 | - | - | - | - | - | - | - | - | - | - | - |
| 982.07 | 132.69 | -9.62 | 132 | 987.73 | roll | -1.68 | - | - | 1731.06 | - | 3.80 | 0.097 | 3477.19 | 367.8 | -105.34 | - | - | 2929.44 | - | - | - | - | - | - | - | - | - | 15.04 | - |
| 1007.58 | 134.79 | -8.99 | 137 | 1012.71 | done | -1.75 | - | - | 1731.31 | - | 3.40 | 0.046 | 2079.12 | -411.2 | -126.42 | 0.50 | 0.046 | 3017.75 | 176.6 | -93.347 | - | - | - | - | - | - | - | 15.22 | 14.76 |
| 1072.07 | 140.79 | -9.23 | 144 | 1073.40 | no move | -1.75 | - | - | 1730.88 | - | - | - | 2079.81 | - | -126.42 | - | - | 3018.81 | - | - | - | - | - | - | - | - | - | - | - |
| 1132.11 | 147.14 | -10.37 | 150 | 1133.43 | no move | -1.75 | - | - | 1730.88 | - | - | - | 2079.62 | - | -126.42 | - | - | 3019.00 | - | - | - | - | - | - | - | - | - | - | - |
| 1192.09 | 153.72 | -10.73 | 156 | 1197.81 | roll | -1.75 | - | - | 1730.88 | - | 4.07 | 0.141 | 661.81 | -348.4 | -126.42 | - | - | 3017.09 | - | - | - | - | - | - | - | - | - | 14.92 | - |
| 1217.53 | 156.62 | -11.43 | 161 | 1222.78 | roll | -1.75 | - | - | 1730.56 | - | 3.51 | 0.043 | 2124.06 | 416.6 | -126.42 | - | - | 3020.56 | - | - | - | - | - | - | - | - | - | 15.31 | - |
| 1342.11 | 171.74 | -12.04 | 174 | 1347.74 | roll | -1.75 | - | - | 1731.06 | - | 3.64 | 0.100 | 3476.50 | 371.5 | -126.42 | - | - | 3017.41 | - | - | - | - | - | - | - | - | - | 15.02 | - |
| 1421.01 | 183.16 | -14.52 | 190 | 1428.24 | roll | -1.75 | - | - | 1731.25 | - | 3.39 | 0.047 | 2080.19 | -411.9 | -126.42 | - | - | 3019.00 | - | - | - | - | - | - | - | - | - | 15.17 | - |
| 1547.12 | 198.59 | -12.27 | 203 | 1548.45 | no move | -1.75 | - | - | 1731.06 | - | - | - | 2080.00 | - | -126.42 | - | - | 3019.28 | - | - | - | - | - | - | - | - | - | - | - |
| 1667.12 | 213.31 | -11.91 | 215 | 1668.45 | no move | -1.75 | - | - | 1731.25 | - | - | - | 2080.06 | - | -126.42 | - | - | 3019.06 | - | - | - | - | - | - | - | - | - | - | - |
| 1787.14 | 228.01 | -12.06 | 227 | 1792.99 | roll | -1.75 | - | - | 1729.94 | - | 3.83 | 0.101 | 3475.69 | 364.4 | -126.42 | - | - | 3019.94 | - | - | - | - | - | - | - | - | - | 14.97 | - |
| 1822.59 | 232.59 | -13.60 | 234 | 1827.76 | roll | -1.75 | - | - | 1730.88 | - | 3.41 | 0.048 | 2080.81 | -409.1 | -126.42 | - | - | 3021.22 | - | - | - | - | - | - | - | - | - | 15.18 | - |
| 1947.17 | 247.37 | -11.72 | 247 | 1948.50 | no move | -1.75 | - | - | 1731.00 | - | - | - | 2081.19 | - | -126.42 | - | - | 3019.47 | - | - | - | - | - | - | - | - | - | - | - |
| 2067.18 | 260.47 | -10.87 | 253 | 2072.86 | roll | -1.75 | - | - | 1731.25 | - | 3.88 | 0.101 | 3475.06 | 359.2 | -126.42 | - | - | 3018.12 | - | - | - | - | - | - | - | - | - | 14.96 | - |
| 2111.09 | 265.86 | -12.63 | 262 | 2116.79 | roll | -1.75 | - | - | 1731.19 | - | 3.43 | 0.049 | 2080.81 | -406.5 | -126.42 | - | - | 3020.34 | - | - | - | - | - | - | - | - | - | 15.12 | - |
| 2422.20 | 301.84 | -12.03 | 274 | 2427.88 | roll | -1.75 | - | - | 1730.62 | - | 3.85 | 0.102 | 3474.25 | 361.9 | -126.42 | - | - | 3017.59 | - | - | - | - | - | - | - | - | - | 14.94 | - |
| 2456.11 | 306.56 | -15.34 | 281 | 2461.82 | roll | -1.75 | - | - | 1731.06 | - | 3.45 | 0.050 | 2080.88 | -403.9 | -126.42 | - | - | 3019.09 | - | - | - | - | - | - | - | - | - | 15.10 | - |
| 2777.24 | 345.00 | -11.64 | 295 | 2782.90 | roll | -1.75 | - | - | 1731.38 | - | 3.89 | 0.104 | 3473.88 | 358.1 | -126.42 | - | - | 3018.59 | - | - | - | - | - | - | - | - | - | 14.92 | - |
| 2832.68 | 352.03 | -11.79 | 306 | 2837.84 | roll | -1.75 | - | - | 1731.06 | - | 3.44 | 0.050 | 2080.94 | -404.9 | -126.42 | - | - | 3017.72 | - | - | - | - | - | - | - | - | - | 15.11 | - |
| 3157.24 | 389.55 | -11.20 | 321 | 3162.98 | roll | -1.75 | - | - | 1731.31 | - | 4.12 | 0.149 | 662.12 | -344.4 | -126.42 | - | - | 3019.38 | - | - | - | - | - | - | - | - | - | 14.77 | - |
| 3191.20 | 393.95 | -14.23 | 328 | 3196.87 | roll | -1.75 | - | - | 1730.56 | - | 3.56 | 0.043 | 2123.06 | 410.4 | -126.42 | - | - | 3020.59 | - | - | - | - | - | - | - | - | - | 15.21 | - |
| 3512.26 | 428.37 | -11.14 | 342 | 3517.92 | roll | -1.75 | - | - | 1730.56 | - | 3.77 | 0.108 | 3472.00 | 357.8 | -126.42 | - | - | 3020.75 | - | - | - | - | - | - | - | - | - | 14.90 | - |
| 3586.24 | 437.10 | -11.56 | 357 | 3591.91 | roll | -1.75 | - | - | 1731.69 | - | 3.46 | 0.053 | 2082.31 | -401.6 | -126.42 | - | - | 3018.84 | - | - | - | - | - | - | - | - | - | 15.05 | - |
| 3897.28 | 472.18 | -11.32 | 369 | 3902.98 | roll | -1.75 | - | - | 1730.94 | - | 3.92 | 0.107 | 3475.19 | 355.3 | -126.42 | - | - | 3019.38 | - | - | - | - | - | - | - | - | - | 14.87 | - |
| 3991.20 | 483.68 | -12.39 | 388 | 3996.90 | roll | -1.75 | - | - | 1731.38 | - | 3.47 | 0.052 | 2083.31 | -401.1 | -126.42 | - | - | 3019.47 | - | - | - | - | - | - | - | - | - | 15.04 | - |
| 4162 | end dive: TARGET_DEPTH_EXCEEDED | ||||||||||||||||||||||||||||
| 4162 | begin apogee | ||||||||||||||||||||||||||||
| 4163.43 | 503.01 | -11.28 | 397 | 4273.68 | -0.25 | 2.92 | 0.155 | 2079.06 | 119.1 | 0.09 | 0.237 | 2086.12 | 31.2 | - | 106.26 | 1.636 | 2499.22 | -4.9 | 0.272 | - | - | - | - | - | - | 14.79 | 14.72 | 10.96 | |
| 4276 | end apogee: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 4276 | begin climb | ||||||||||||||||||||||||||||
| 4276.96 | 506.04 | - | 400 | 4403.23 | 1.75 | 3.67 | 0.079 | 2568.94 | 133.5 | 4.30 | 0.135 | 660.69 | -331.5 | 126.42 | 115.43 | 1.575 | 1982.44 | -4.5 | 0.259 | - | - | - | - | - | - | 14.93 | 14.37 | 11.24 | |
| 4470.38 | 492.68 | 10.90 | 439 | 4476.10 | roll | 1.75 | - | - | 2568.94 | - | 3.64 | 0.042 | 2123.75 | 401.9 | 126.42 | - | - | 1977.66 | - | - | - | - | - | - | - | - | - | 15.06 | - |
| 4786.49 | 462.84 | 8.82 | 452 | 4807.98 | VBD | 1.82 | - | - | 2569.69 | - | - | - | 2125.12 | - | 149.21 | 20.84 | 1.430 | 1890.28 | -4.2 | 0.245 | - | - | - | - | - | - | - | - | 11.46 |
| 5086.54 | 430.98 | 10.83 | 462 | 5092.22 | roll | 1.82 | - | - | 2568.75 | - | 4.16 | 0.130 | 661.81 | -351.8 | 149.21 | - | - | 1884.12 | - | - | - | - | - | - | - | - | - | 15.14 | - |
| 5150.48 | 422.91 | 13.73 | 475 | 5156.11 | roll | 1.82 | - | - | 2568.75 | - | 3.54 | 0.040 | 2123.88 | 413.0 | 149.21 | - | - | 1885.19 | - | - | - | - | - | - | - | - | - | 15.41 | - |
| 5471.58 | 389.77 | 10.35 | 489 | 5477.23 | done | 1.84 | - | - | 2568.88 | - | 4.20 | 0.130 | 661.50 | -348.2 | 149.21 | - | - | 1881.69 | - | - | - | - | - | - | - | - | - | 15.08 | - |
| 5655.44 | 367.83 | 11.21 | 526 | 5661.16 | done | 1.84 | - | - | 2568.88 | - | 3.55 | 0.042 | 2124.50 | 412.1 | 149.21 | - | - | 1883.59 | - | - | - | - | - | - | - | - | - | 15.38 | - |
| 5977.07 | 336.62 | 9.42 | 540 | 5983.32 | 1.89 | 0.19 | 0.075 | 2608.31 | 207.5 | 4.18 | 0.128 | 660.75 | -350.2 | 149.21 | - | - | 1881.50 | - | - | - | - | - | - | - | - | 15.54 | 15.02 | - | |
| 6140.53 | 316.83 | 11.76 | 573 | 6146.20 | done | 1.89 | - | - | 2608.38 | - | 3.56 | 0.040 | 2126.06 | 411.6 | 149.21 | - | - | 1882.56 | - | - | - | - | - | - | - | - | - | 15.37 | - |
| 6451.59 | 281.57 | 11.86 | 585 | 6452.92 | VBD | 1.89 | - | - | 2608.88 | - | - | - | 2126.81 | - | 149.21 | - | - | 1881.50 | - | - | - | - | - | - | - | - | - | - | - |
| 6751.59 | 246.77 | 11.57 | 595 | 6757.35 | done | 1.89 | - | - | 2608.94 | - | 4.20 | 0.127 | 661.88 | -348.8 | 149.21 | - | - | 1879.50 | - | - | - | - | - | - | - | - | - | 14.95 | - |
| 6920.53 | 224.48 | 12.94 | 629 | 6927.36 | done | 1.89 | - | - | 2608.81 | - | 3.57 | 0.042 | 2126.44 | 410.2 | 149.21 | - | - | 1880.59 | - | - | - | - | - | - | - | - | - | 15.31 | - |
| 7046.65 | 211.67 | 9.84 | 642 | 7047.99 | VBD | 1.93 | - | - | 2609.00 | - | - | - | 2126.75 | - | 149.21 | - | - | 1880.47 | - | - | - | - | - | - | - | - | - | - | - |
| 7166.72 | 199.97 | 9.40 | 654 | 7168.05 | VBD | 1.98 | - | - | 2608.94 | - | - | - | 2126.50 | - | 149.21 | - | - | 1880.38 | - | - | - | - | - | - | - | - | - | - | - |
| 7286.68 | 188.68 | 9.56 | 666 | 7292.40 | done | 2.03 | - | - | 2608.75 | - | 4.21 | 0.124 | 660.69 | -348.2 | 149.21 | - | - | 1879.66 | - | - | - | - | - | - | - | - | - | 14.94 | - |
| 7382.12 | 178.52 | 11.39 | 685 | 7387.31 | done | 2.03 | - | - | 2608.38 | - | 3.54 | 0.039 | 2125.69 | 413.8 | 149.21 | - | - | 1878.06 | - | - | - | - | - | - | - | - | - | 15.34 | - |
| 7506.70 | 167.34 | 8.75 | 698 | 7529.22 | 2.10 | 0.26 | 0.065 | 2659.00 | 194.7 | - | - | 2126.12 | - | 172.74 | 20.92 | 1.228 | 1793.75 | -4.0 | 0.099 | - | - | - | - | - | - | 15.54 | - | 11.32 | |
| 7646.70 | 151.75 | 11.89 | 712 | 7652.43 | roll | 2.10 | - | - | 2659.06 | - | 4.12 | 0.124 | 660.75 | -355.7 | 172.74 | - | - | 1791.38 | - | - | - | - | - | - | - | - | - | 15.21 | - |
| 7795.63 | 130.65 | 13.80 | 742 | 7802.48 | roll | 2.10 | - | - | 2659.19 | - | 3.58 | 0.042 | 2127.44 | 409.7 | 172.74 | - | - | 1792.09 | - | - | - | - | - | - | - | - | - | 15.40 | - |
| 7861.74 | 122.83 | 11.86 | 749 | 7863.07 | no move | 2.10 | - | - | 2659.19 | - | - | - | 2128.06 | - | 172.74 | - | - | 1790.84 | - | - | - | - | - | - | - | - | - | - | - |
| 7921.76 | 116.42 | 10.73 | 755 | 7923.08 | no move | 2.10 | - | - | 2659.00 | - | - | - | 2128.00 | - | 172.74 | - | - | 1790.75 | - | - | - | - | - | - | - | - | - | - | - |
| 7981.77 | 110.37 | 10.30 | 761 | 7987.47 | roll | 2.12 | - | - | 2658.94 | - | 4.16 | 0.121 | 661.56 | -352.5 | 172.74 | - | - | 1789.41 | - | - | - | - | - | - | - | - | - | 15.11 | - |
| 8047.26 | 103.49 | 11.53 | 774 | 8052.39 | roll | 2.12 | - | - | 2658.69 | - | 3.52 | 0.039 | 2128.69 | 416.8 | 172.74 | - | - | 1790.81 | - | - | - | - | - | - | - | - | - | 15.42 | - |
| 8111.76 | 98.00 | 8.59 | 781 | 8143.39 | VBD | 2.20 | - | - | 2658.81 | - | - | - | 2128.31 | - | 197.86 | 30.54 | 1.131 | 1693.47 | -3.2 | 0.050 | - | - | - | - | - | - | - | - | 11.51 |
| 8201.75 | 88.94 | 10.91 | 790 | 8203.08 | no move | 2.20 | - | - | 2658.75 | - | - | - | 2128.44 | - | 197.86 | - | - | 1690.84 | - | - | - | - | - | - | - | - | - | - | - |
| 8261.77 | 81.92 | 11.83 | 796 | 8267.49 | roll | 2.20 | - | - | 2658.81 | - | 4.12 | 0.121 | 660.56 | -356.3 | 197.86 | - | - | 1690.50 | - | - | - | - | - | - | - | - | - | 15.17 | - |
| 8370.77 | 68.42 | 11.64 | 818 | 8377.50 | roll | 2.20 | - | - | 2658.50 | - | 3.54 | 0.039 | 2129.38 | 414.9 | 197.86 | - | - | 1689.25 | - | - | - | - | - | - | - | - | - | 15.42 | - |
| 8436.78 | 62.65 | 8.79 | 825 | 8472.12 | 2.27 | 0.20 | 0.072 | 2700.12 | 208.1 | 3.62 | 0.105 | 3476.06 | 372.0 | 220.99 | 27.82 | 1.086 | 1599.12 | -3.2 | 0.034 | - | - | - | - | - | - | 15.46 | 15.16 | 11.60 | |
| 8516.79 | 56.56 | 7.90 | 841 | 8559.30 | done | 2.36 | - | - | 2700.19 | - | 3.42 | 0.045 | 2080.00 | -408.2 | 252.91 | 37.74 | 1.076 | 1468.38 | -3.5 | 0.033 | - | - | - | - | - | - | - | 15.38 | 11.52 |
| 8622.55 | 48.89 | 7.80 | 856 | 8668.15 | 2.46 | 0.25 | 0.071 | 2745.56 | 181.5 | 4.01 | 0.126 | 660.75 | -353.9 | 285.81 | 37.85 | 1.053 | 1335.28 | -3.5 | 0.029 | - | - | - | - | - | - | 15.35 | 14.96 | 11.43 | |
| 8833.02 | 30.34 | 9.57 | 898 | 8838.14 | roll | 2.51 | - | - | 2745.31 | - | 3.55 | 0.038 | 2129.50 | 413.7 | 285.81 | - | - | 1332.31 | - | - | - | - | - | - | - | - | - | 15.36 | - |
| 8902.58 | 24.68 | 7.52 | 906 | 8943.48 | 2.61 | 0.18 | 0.077 | 2782.06 | 204.2 | - | - | 2129.12 | - | 321.52 | 39.35 | 1.032 | 1189.69 | -3.6 | 0.016 | - | - | - | - | - | - | 15.42 | - | 11.47 | |
| 9002.65 | 15.82 | 9.48 | 919 | 9008.32 | roll | 2.66 | - | - | 2782.38 | - | 4.14 | 0.118 | 660.62 | -354.7 | 321.52 | - | - | 1186.22 | - | - | - | - | - | - | - | - | - | 15.13 | - |
| 9038.03 | 11.65 | 12.48 | 926 | 9043.22 | roll | 2.66 | - | - | 2783.19 | - | 3.53 | 0.037 | 2131.62 | 416.7 | 321.52 | - | - | 1186.22 | - | - | - | - | - | - | - | - | - | 15.36 | - |
| 9102.60 | 4.95 | 10.30 | 933 | 9108.25 | roll | 2.69 | - | - | 2782.44 | - | 3.64 | 0.101 | 3475.62 | 369.2 | 321.52 | - | - | 1186.34 | - | - | - | - | - | - | - | - | - | 15.17 | - |
| 9121.59 | 3.08 | 9.69 | 937 | 9128.30 | roll | 2.73 | - | - | 2782.31 | - | 3.41 | 0.044 | 2075.88 | -410.5 | 321.52 | - | - | 1185.00 | - | - | - | - | - | - | - | - | - | 15.32 | - |
| 9137 | end climb: SURFACE_DEPTH_REACHED | ||||||||||||||||||||||||||||
| 9137 | begin surface coast | ||||||||||||||||||||||||||||
| 9157 | end surface coast: CONTROL_FINISHED_OK | ||||||||||||||||||||||||||||
| 9157 | begin surface | ||||||||||||||||||||||||||||
| SM | -0.40 | - | - | - | - | 171.8 | - | 0.012 | 564.7 | - | 19.14 | 0.083 | 560.2 | 29.3 | - | 0.09 | 0.126 | 569.1 | 6285.4 | 2.039 | - | - | 30.36 | 15.06 | 15.45 | - | |||