ROAMMIZ 19Oct19 * SG640 * Dive index * Mission links * Dive 104 * Raw log
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• Previous call tries 2 • 37.89 of 310.00 AH used of 24V (87.78% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.8 deg, depth 1.52 m • Intended pitch -27.9 deg, speed -11.111 cm/s
• VBD pumped to 190.10 (SM_CC=190)
• GPS1 time: 35 s
• GPS2 time: 8 s • Transponder ping count: 0
• Time spent turning 0 s

Statistics * Plot
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 pitrollvbd flags
7 end surface: CONTROL_FINISHED_OK
7 begin dive
9 - - - 77 done -0.92 - - 232 - - - 1896 - -58.4 -62.10 - 2438 - - - - - - - - 14.69 13.89 14.70
78 2.7 -3.1 11 90 roll -0.92 6.30 0.376 2200 312.4 2.42 0.059 3278 571.1 -58.4 - - 2440 - - - - - - - - 14.28 14.45 14.45
189 21.1 -16.7 33 198 done -0.92 0.08 0.347 2224 300.0 2.40 0.044 1884 -580.8 -58.4 - - 2440 - - - - - - - - 14.32 14.48 14.46
227 27.7 -18.1 40 234 roll -0.92 - - 2224 - 2.53 0.066 473 -557.7 -58.4 - - 2439 - - - - - - - - 14.71 14.50 14.70
258 33.5 -18.5 46 265 done -0.92 - - 2214 - 2.40 0.041 1866 580.4 -58.4 - - 2438 - - - - - - - - 14.57 14.53 14.58
293 39.8 -17.6 53 301 roll -0.92 - - 2200 - 2.50 0.068 3278 564.8 -58.4 - - 2439 - - - - - - - - 14.72 14.47 14.72
340 48.2 -17.6 62 347 done -0.92 0.08 0.351 2222 275.0 2.40 0.045 1882 -581.7 -58.4 - - 2440 - - - - - - - - 14.37 14.52 14.52
376 54.5 -17.8 69 377 done -0.92 - - 2222 - - - 1882 - -58.4 - - 2440 - - - - - - - - 14.73 14.74 14.73
406 59.8 -17.9 75 413 roll -0.92 - - 2222 - 2.50 0.064 478 -561.6 -58.4 - - 2440 - - - - - - - - 14.74 14.54 14.74
442 66.5 -18.7 82 449 done -0.92 0.03 0.493 2217 -166.7 2.40 0.041 1875 582.1 -58.4 - - 2440 - - - - - - - - 14.38 14.56 14.54
478 73.0 -17.8 89 479 done -0.92 - - 2218 - - - 1876 - -58.4 - - 2438 - - - - - - - - 14.75 14.75 14.75
508 78.4 -18.0 95 509 done -0.92 - - 2218 - - - 1876 - -58.4 - - 2440 - - - - - - - - 14.76 14.76 14.76
538 83.8 -17.9 101 539 done -0.92 - - 2219 - - - 1876 - -58.4 - - 2440 - - - - - - - - 14.76 14.76 14.76
568 89.1 -17.9 107 569 done -0.92 - - 2219 - - - 1876 - -58.4 - - 2440 - - - - - - - - 14.76 14.77 14.77
598 94.5 -17.9 113 599 done -0.92 - - 2218 - - - 1876 - -58.4 - - 2440 - - - - - - - - 14.77 14.77 14.77
628 100.0 -18.2 119 635 roll -0.92 - - 2218 - 2.47 0.062 482 -564.4 -58.4 - - 2440 - - - - - - - - 14.78 14.57 14.78
669 108.0 -19.5 124 675 done -0.92 0.05 0.401 2222 80.0 2.40 0.042 1877 581.2 -58.4 - - 2439 - - - - - - - - 14.38 14.55 14.52
739 120.5 -17.7 131 740 done -0.92 - - 2222 - - - 1878 - -58.4 - - 2440 - - - - - - - - 14.79 14.80 14.80
799 131.2 -17.8 137 806 roll -0.92 - - 2221 - 2.50 0.062 471 -562.8 -58.4 - - 2440 - - - - - - - - 14.80 14.56 14.81
834 136.8 -18.6 140 842 done -0.92 0.05 0.402 2224 60.0 2.42 0.041 1878 581.4 -58.4 - - 2440 - - - - - - - - 14.40 14.57 14.56
899 149.0 -17.3 147 905 roll -0.92 - - 2213 - 2.47 0.067 3286 570.0 -58.4 - - 2440 - - - - - - - - 14.81 14.57 14.82
934 154.2 -17.2 150 942 done -0.92 0.05 0.402 2220 140.0 2.40 0.047 1882 -585.0 -58.4 - - 2439 - - - - - - - - 14.42 14.58 14.57
999 165.8 -16.3 157 1000 done -0.92 - - 2220 - - - 1882 - -58.4 - - 2440 - - - - - - - - 14.81 14.82 14.82
1059 175.5 -16.0 163 1065 roll -0.92 - - 2217 - 2.50 0.063 471 -564.4 -58.4 - - 2440 - - - - - - - - 14.83 14.59 14.83
1079 178.7 -15.9 165 1085 done -0.92 0.05 0.389 2221 80.0 2.42 0.043 1885 584.3 -58.4 - - 2440 - - - - - - - - 14.44 14.59 14.58
1149 189.7 -15.7 172 1150 done -0.92 - - 2221 - - - 1884 - -58.4 - - 2439 - - - - - - - - 14.83 14.83 14.83
1209 199.3 -16.3 178 1216 roll -0.92 - - 2221 - 2.50 0.063 476 -563.2 -58.4 - - 2440 - - - - - - - - 14.83 14.59 14.84
1304 214.8 -17.4 187 1312 done -0.92 0.05 0.396 2224 60.0 2.40 0.041 1877 583.8 -58.4 - - 2440 - - - - - - - - 14.43 14.61 14.59
1370 226.1 -15.9 194 1375 roll -0.92 - - 2212 - 2.45 0.064 3282 573.5 -58.4 - - 2440 - - - - - - - - 14.84 14.59 14.84
1410 232.7 -16.7 198 1415 done -0.92 0.03 0.483 2218 200.0 2.40 0.047 1873 -587.1 -58.4 - - 2439 - - - - - - - - 14.43 14.60 14.59
1480 244.1 -15.7 205 1485 roll -0.92 - - 2206 - 2.47 0.064 3282 570.4 -58.4 - - 2439 - - - - - - - - 14.83 14.61 14.84
1549 255.1 -15.9 212 1556 done -0.92 0.05 0.388 2209 60.0 2.40 0.046 1873 -587.1 -58.4 - - 2439 - - - - - - - - 14.45 14.61 14.60
1620 266.6 -16.5 219 1621 done -0.92 0.05 0.493 2224 300.0 - - 1872 - -58.4 - - 2439 - - - - - - - - 14.49 14.73 14.70
1680 276.1 -15.7 225 1686 roll -0.92 - - 2224 - 2.45 0.064 464 -574.7 -58.4 - - 2439 - - - - - - - - 14.85 14.64 14.85
1730 284.2 -16.2 230 1737 done -0.92 - - 2213 - 2.42 0.041 1874 582.6 -58.4 - - 2439 - - - - - - - - 14.68 14.64 14.70
1800 295.4 -15.9 237 1802 done -0.92 0.03 0.655 2222 300.0 - - 1876 - -58.4 - - 2439 - - - - - - - - 14.50 14.73 14.71
1861 304.9 -15.8 242 1862 done -0.92 - - 2221 - - - 1876 - -58.4 - - 2439 - - - - - - - - 14.85 14.85 14.85
1981 323.5 -15.5 250 1986 roll -0.92 - - 2221 - 2.42 0.062 476 -578.5 -58.4 - - 2439 - - - - - - - - 14.86 14.66 14.86
2111 342.6 -15.9 258 2118 done -0.92 0.03 0.483 2218 -100.0 2.40 0.040 1882 585.8 -58.4 - - 2438 - - - - - - - - 14.48 14.66 14.64
2235 363.8 -15.6 267 2236 done -0.92 - - 2218 - - - 1882 - -58.4 - - 2438 - - - - - - - - 14.86 14.87 14.87
2355 382.3 -15.6 275 2362 roll -0.92 - - 2218 - 2.47 0.062 480 -567.6 -58.4 - - 2439 - - - - - - - - 14.88 14.64 14.88
2426 392.5 -17.1 279 2433 done -0.92 - - 2207 - 2.38 0.041 1874 585.7 -58.4 - - 2438 - - - - - - - - 14.71 14.66 14.73
2551 413.6 -15.5 288 2552 done -0.92 0.08 0.444 2227 250.0 - - 1876 - -58.4 - - 2439 - - - - - - - - 14.51 14.71 14.69
2671 431.3 -14.5 296 2676 roll -0.92 - - 2226 - 2.47 0.062 473 -568.0 -58.4 - - 2438 - - - - - - - - 14.88 14.67 14.88
2721 437.9 -14.7 299 2726 done -0.92 - - 2216 - 2.40 0.040 1883 587.5 -58.4 - - 2438 - - - - - - - - 14.71 14.67 14.74
2851 456.7 -13.8 308 2857 roll -0.92 - - 2204 - 2.42 0.063 3282 578.1 -58.4 - - 2438 - - - - - - - - 14.88 14.66 14.88
2885 460.7 -13.5 310 2892 done -0.92 0.05 0.390 2216 240.0 2.38 0.044 1878 -589.9 -58.4 - - 2438 - - - - - - - - 14.50 14.66 14.66
3016 478.1 -12.7 319 3022 roll -0.92 - - 2216 - 2.47 0.063 480 -566.0 -58.4 - - 2438 - - - - - - - - 14.88 14.66 14.88
3071 484.1 -13.0 322 3078 done -0.92 0.05 0.385 2221 100.0 2.38 0.040 1880 588.2 -58.4 - - 2438 - - - - - - - - 14.52 14.69 14.66
3195 end dive: TARGET_DEPTH_EXCEEDED
3195 begin apogee
3198 500.3 -11.8 331 3246 done -0.15 0.73 0.278 2474 346.6 - - 1882 - - 45.75 2.025 2199 -5.2 0.240 - - - - - - 14.56 14.26 13.49
3248 end apogee: CONTROL_FINISHED_OK
3248 begin climb
3249 502.7 - 334 3305 roll 0.92 0.88 0.184 2816 388.6 2.58 0.060 497 -536.8 58.4 48.30 2.061 1957 -5.0 0.227 - - - - - - 14.17 13.93 13.21
3344 496.2 8.7 340 3372 done 0.95 - - 2817 - 2.47 0.034 1905 570.0 82.3 20.27 2.014 1859 -4.8 0.221 - - - - - - 14.18 14.13 13.22
3489 476.8 14.0 350 3495 roll 0.95 - - 2817 - 2.50 0.063 3292 554.8 82.3 - - 1861 - - - - - - - - 14.44 14.23 14.44
3549 468.1 14.5 354 3555 done 0.95 - - 2826 - 2.42 0.044 1901 -574.8 82.3 - - 1862 - - - - - - - - 14.35 14.31 14.38
3684 448.1 15.1 363 3690 roll 0.95 - - 2838 - 2.53 0.063 501 -553.4 82.3 - - 1862 - - - - - - - - 14.60 14.38 14.60
3719 443.5 15.3 365 3725 done 0.95 - - 2839 - 2.40 0.034 1899 582.5 82.3 - - 1861 - - - - - - - - 14.48 14.45 14.50
3849 422.6 15.3 374 3855 roll 0.95 - - 2839 - 2.45 0.062 3288 566.9 82.3 - - 1862 - - - - - - - - 14.68 14.47 14.68
3919 413.1 15.8 378 3926 done 0.95 0.05 0.390 2834 -100.0 2.38 0.043 1903 -581.9 82.3 - - 1862 - - - - - - - - 14.35 14.50 14.50
4044 393.5 14.3 387 4050 roll 0.95 - - 2845 - 2.50 0.062 500 -561.2 82.3 - - 1861 - - - - - - - - 14.73 14.53 14.74
4079 389.1 14.5 389 4085 done 0.95 0.03 0.438 2837 -266.7 2.38 0.034 1899 587.8 82.3 - - 1861 - - - - - - - - 14.38 14.55 14.54
4209 369.3 14.6 398 4215 roll 0.95 - - 2837 - 2.45 0.060 3295 569.8 82.3 - - 1861 - - - - - - - - 14.77 14.57 14.77
4254 362.7 14.7 401 4261 done 0.95 0.03 0.469 2839 - 2.38 0.042 1901 -585.7 82.3 - - 1862 - - - - - - - - 14.41 14.59 14.57
4390 344.2 13.6 410 4391 done 0.95 - - 2840 - - - 1900 - 82.3 - - 1862 - - - - - - - - 14.79 14.80 14.80
4510 328.1 13.1 418 4515 roll 0.95 - - 2850 - 2.47 0.063 501 -566.4 82.3 - - 1862 - - - - - - - - 14.81 14.61 14.81
4540 324.2 12.9 420 4546 done 0.95 0.05 0.366 2834 -320.0 2.38 0.035 1904 589.5 82.3 - - 1861 - - - - - - - - 14.47 14.64 14.62
4675 308.2 11.7 429 4681 roll 0.95 - - 2834 - 2.42 0.061 3291 573.1 82.3 - - 1861 - - - - - - - - 14.83 14.62 14.83
4690 306.4 11.7 430 4696 done 0.95 0.05 0.373 2829 -100.0 2.35 0.042 1907 -588.9 82.3 - - 1861 - - - - - - - - 14.49 14.64 14.63
4820 291.7 11.4 441 4826 roll 0.95 - - 2839 - 2.50 0.061 491 -566.4 82.3 - - 1862 - - - - - - - - 14.83 14.64 14.83
4845 289.4 11.2 443 4852 done 0.95 - - 2840 - 2.38 0.035 1896 590.3 82.3 - - 1862 - - - - - - - - 14.69 14.66 14.71
4910 280.9 12.4 450 4911 done 0.95 - - 2840 - - - 1897 - 82.3 - - 1861 - - - - - - - - 14.83 14.84 14.83
4970 273.4 12.5 456 4971 done 0.95 - - 2840 - - - 1897 - 82.3 - - 1861 - - - - - - - - 14.84 14.85 14.84
5030 265.8 12.5 462 5031 done 0.95 - - 2840 - - - 1897 - 82.3 - - 1861 - - - - - - - - 14.84 14.85 14.85
5090 258.4 12.3 468 5096 roll 0.95 - - 2840 - 2.45 0.063 3302 573.5 82.3 - - 1862 - - - - - - - - 14.85 14.64 14.85
5165 249.3 13.1 475 5173 done 0.95 0.05 0.386 2834 -120.0 2.38 0.043 1898 -589.9 82.3 - - 1862 - - - - - - - - 14.50 14.66 14.65
5230 240.4 12.5 482 5231 done 0.95 - - 2835 - - - 1899 - 82.3 - - 1862 - - - - - - - - 14.85 14.85 14.85
5290 233.1 12.1 488 5291 done 0.95 - - 2835 - - - 1899 - 82.3 - - 1862 - - - - - - - - 14.85 14.85 14.85
5350 226.0 11.8 494 5351 done 0.95 - - 2835 - - - 1899 - 82.3 - - 1862 - - - - - - - - 14.85 14.85 14.85
5410 219.1 11.6 500 5411 done 0.95 - - 2835 - - - 1899 - 82.3 - - 1862 - - - - - - - - 14.85 14.86 14.85
5470 212.0 11.9 506 5471 done 0.95 - - 2835 - - - 1899 - 82.3 - - 1862 - - - - - - - - 14.86 14.89 14.86
5530 205.1 11.6 512 5531 done 0.95 - - 2835 - - - 1899 - 82.3 - - 1862 - - - - - - - - 14.86 14.86 14.86
5590 198.2 11.5 518 5597 roll 0.95 - - 2835 - 2.42 0.060 3297 577.7 82.3 - - 1862 - - - - - - - - 14.86 14.66 14.87
5621 194.5 12.0 521 5627 done 0.95 0.05 0.366 2830 -100.0 2.35 0.041 1902 -593.6 82.3 - - 1862 - - - - - - - - 14.52 14.69 14.67
5691 187.1 10.5 528 5703 done 0.96 - - 2830 - - - 1902 - 88.4 6.53 1.665 1834 -4.3 0.089 - - - - - - 14.85 14.49 13.83
5761 179.3 11.4 535 5766 roll 0.96 - - 2841 - 2.47 0.062 502 -566.8 88.4 - - 1836 - - - - - - - - 14.80 14.61 14.81
5806 174.3 12.6 539 5813 done 0.96 - - 2841 - 2.38 0.036 1905 589.5 88.4 - - 1836 - - - - - - - - 14.68 14.64 14.69
5871 165.9 11.8 546 5872 done 0.96 - - 2841 - - - 1905 - 88.4 - - 1836 - - - - - - - - 14.81 14.82 14.81
5931 158.7 12.0 552 5937 roll 0.96 - - 2840 - 2.42 0.064 3295 574.4 88.4 - - 1836 - - - - - - - - 14.83 14.62 14.83
5991 151.6 11.6 558 5998 done 0.96 0.05 0.383 2836 -80.0 2.35 0.042 1902 -592.8 88.4 - - 1836 - - - - - - - - 14.51 14.65 14.63
6062 144.0 10.7 565 6068 done 0.96 - - 2836 - - - 1899 - 92.6 4.93 1.465 1820 -3.2 0.059 - - - - - - 14.83 14.62 13.83
6122 137.7 10.4 571 6134 done 0.97 - - 2836 - - - 1902 - 99.6 6.90 1.583 1789 -4.5 0.073 - - - - - - 14.80 14.43 13.81
6192 130.3 10.7 578 6204 roll 0.97 - - 2847 - 2.50 0.063 496 -562.4 103.3 4.62 1.399 1774 -3.2 0.056 - - - - - - 14.75 14.50 13.78
6233 126.0 10.2 582 6246 done 0.99 - - 2847 - 2.38 0.036 1894 587.4 112.4 8.32 1.582 1738 -4.3 0.064 - - - - - - 14.58 14.52 13.74
6303 117.5 12.3 589 6309 roll 0.99 - - 2847 - 2.47 0.065 3291 565.6 112.4 - - 1738 - - - - - - - - 14.70 14.47 14.70
6338 113.7 12.8 592 6346 done 0.99 0.03 0.467 2851 133.3 2.38 0.041 1904 -582.8 112.4 - - 1738 - - - - - - - - 14.32 14.50 14.47
6403 105.1 12.1 599 6404 done 0.99 - - 2850 - - - 1903 - 112.4 - - 1737 - - - - - - - - 14.73 14.73 14.73
6463 97.9 12.0 606 6470 roll 0.99 - - 2851 - 2.45 0.060 3297 569.0 112.4 - - 1739 - - - - - - - - 14.75 14.52 14.76
6489 94.5 13.5 611 6496 done 0.99 0.05 0.389 2848 -60.0 2.40 0.041 1893 -585.0 112.4 - - 1738 - - - - - - - - 14.40 14.57 14.56
6525 90.0 11.9 618 6526 done 0.99 - - 2848 - - - 1892 - 112.4 - - 1737 - - - - - - - - 14.75 14.76 14.76
6555 86.4 11.9 624 6556 done 0.99 - - 2848 - - - 1892 - 112.4 - - 1738 - - - - - - - - 14.76 14.76 14.76
6585 82.8 12.0 630 6586 done 0.99 - - 2848 - - - 1893 - 112.4 - - 1738 - - - - - - - - 14.76 14.77 14.76
6615 79.1 12.3 636 6621 done 0.99 - - 2848 - - - 1892 - 112.4 - - 1738 - - - - - - - - 14.76 14.77 14.77
6650 74.8 12.3 643 6651 done 0.99 - - 2847 - - - 1892 - 112.4 - - 1738 - - - - - - - - 14.77 14.78 14.77
6680 71.1 12.3 649 6681 done 0.99 - - 2847 - - - 1892 - 112.4 - - 1738 - - - - - - - - 14.77 14.78 14.78
6710 67.4 12.6 655 6711 done 0.99 - - 2848 - - - 1892 - 112.4 - - 1738 - - - - - - - - 14.78 14.78 14.78
6740 63.6 12.7 661 6747 roll 0.99 - - 2857 - 2.47 0.063 495 -565.6 112.4 - - 1738 - - - - - - - - 14.78 14.59 14.78
6776 58.8 13.4 668 6785 done 0.99 0.03 0.441 2849 -266.7 2.38 0.037 1899 589.9 112.4 - - 1737 - - - - - - - - 14.44 14.61 14.59
6814 54.0 13.0 675 6814 done 0.99 - - 2850 - - - 1899 - 112.4 - - 1738 - - - - - - - - 14.80 14.80 14.80
6844 50.0 13.3 681 6850 roll 0.99 - - 2851 - 2.45 0.064 3294 569.4 112.4 - - 1738 - - - - - - - - 14.80 14.57 14.81
6869 46.3 14.9 686 6877 done 0.99 0.05 0.382 2845 -120.0 2.38 0.041 1894 -588.2 112.4 - - 1738 - - - - - - - - 14.45 14.62 14.59
6906 41.4 13.3 693 6907 done 0.99 - - 2846 - - - 1894 - 112.4 - - 1738 - - - - - - - - 14.78 14.79 14.79
6936 37.4 13.4 699 6941 done 0.99 - - 2846 - - - 1894 - 112.4 - - 1736 - - - - - - - - 14.79 14.80 14.80
6971 32.7 13.2 706 6971 done 0.99 - - 2845 - - - 1894 - 112.4 - - 1738 - - - - - - - - 14.79 14.80 14.80
7001 28.9 12.9 712 7001 done 0.99 - - 2846 - - - 1894 - 112.4 - - 1738 - - - - - - - - 14.80 14.80 14.80
7031 25.2 12.3 718 7031 done 0.99 - - 2845 - - - 1894 - 112.4 - - 1736 - - - - - - - - 14.80 14.80 14.79
7061 21.5 12.2 724 7061 done 0.99 - - 2844 - - - 1894 - 112.4 - - 1738 - - - - - - - - 14.80 14.80 14.80
7091 17.9 11.9 730 7098 roll 0.99 - - 2846 - 2.45 0.063 3295 571.8 112.4 - - 1738 - - - - - - - - 14.80 14.60 14.80
7146 11.0 12.8 741 7153 done 0.99 - - 2855 - 2.38 0.041 1892 -589.5 112.4 - - 1738 - - - - - - - - 14.68 14.64 14.69
7182 6.5 12.7 748 7190 roll 0.99 - - 2855 - 2.45 0.060 3294 572.2 112.4 - - 1738 - - - - - - - - 14.81 14.57 14.82
7208 end climb: SURFACE_DEPTH_REACHED
7208 begin surface coast
7213 end surface coast: CONTROL_FINISHED_OK
7213 begin surface
SM 1.06 - - - - -6.85 6.97 0.225 266 38.2 2.42 0.040 1887 -1020.2 190.10 48.20 0.310 1425 29.6 -0.010 - - - - - -