ROAMMIZ 19Oct19 * SG640 * Dive index * Mission links * Dive 106 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 38.34 of 310.00 AH used of 24V (87.63% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.4 deg, depth 1.51 m • Intended pitch -27.9 deg, speed -11.111 cm/s
• VBD pumped to 190.10 (SM_CC=190)
• GPS1 time: 16 s
• GPS2 time: 9 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 - - - 74 done -0.92 - - 232 - - - 1899 - -58.4 -61.12 - 2439 - - - - - - - - 14.68 13.64 14.69
75 2.8 -3.1 11 89 roll -0.92 6.25 0.373 2199 314.7 2.42 0.058 3294 576.4 -58.4 - - 2441 - - - - - - - - 14.28 14.49 14.45
203 24.7 -17.8 36 210 done -0.92 0.08 0.386 2221 275.0 2.40 0.049 1878 -590.0 -58.4 - - 2439 - - - - - - - - 14.35 14.49 14.54
239 31.0 -16.5 43 246 roll -0.92 - - 2221 - 2.50 0.063 478 -560.0 -58.4 - - 2438 - - - - - - - - 14.73 14.50 14.73
270 36.3 -17.6 49 277 done -0.92 0.05 0.399 2226 100.0 2.40 0.041 1873 581.2 -58.4 - - 2436 - - - - - - - - 14.37 14.54 14.52
306 42.3 -16.8 56 314 roll -0.92 - - 2215 - 2.47 0.065 3277 568.4 -58.4 - - 2438 - - - - - - - - 14.73 14.52 14.73
333 46.9 -17.8 61 340 done -0.92 0.03 0.467 2218 100.0 2.40 0.047 1882 -581.2 -58.4 - - 2439 - - - - - - - - 14.34 14.54 14.50
369 53.5 -17.5 68 377 roll -0.92 - - 2219 - 2.53 0.065 470 -558.1 -58.4 - - 2438 - - - - - - - - 14.75 14.52 14.75
426 63.8 -18.5 79 433 done -0.92 0.05 0.411 2223 80.0 2.42 0.042 1877 581.4 -58.4 - - 2440 - - - - - - - - 14.40 14.56 14.55
462 70.3 -17.7 86 463 done -0.92 - - 2223 - - - 1877 - -58.4 - - 2438 - - - - - - - - 14.75 14.76 14.75
492 75.6 -17.6 92 500 roll -0.92 - - 2213 - 2.47 0.066 3285 570.0 -58.4 - - 2438 - - - - - - - - 14.76 14.57 14.77
524 81.5 -18.0 98 531 done -0.92 0.05 0.414 2223 200.0 2.40 0.047 1882 -584.6 -58.4 - - 2439 - - - - - - - - 14.38 14.54 14.54
560 87.6 -17.3 105 567 roll -0.92 - - 2221 - 2.50 0.065 477 -562.0 -58.4 - - 2439 - - - - - - - - 14.77 14.56 14.78
591 92.9 -18.0 111 598 done -0.92 0.05 0.405 2225 80.0 2.42 0.042 1883 581.0 -58.4 - - 2439 - - - - - - - - 14.40 14.58 14.57
627 98.9 -16.2 118 634 roll -0.92 - - 2214 - 2.47 0.067 3287 568.4 -58.4 - - 2439 - - - - - - - - 14.76 14.57 14.76
658 104.0 -16.6 122 664 done -0.92 0.03 0.472 2215 - 2.42 0.049 1876 -583.1 -58.4 - - 2439 - - - - - - - - 14.40 14.59 14.54
728 116.4 -17.2 129 735 roll -0.92 - - 2215 - 2.50 0.066 471 -562.0 -58.4 - - 2438 - - - - - - - - 14.79 14.54 14.79
789 127.3 -18.1 135 796 done -0.92 0.05 0.386 2219 80.0 2.42 0.043 1882 583.1 -58.4 - - 2439 - - - - - - - - 14.41 14.56 14.55
859 139.3 -17.0 142 860 done -0.92 - - 2219 - - - 1881 - -58.4 - - 2439 - - - - - - - - 14.81 14.81 14.81
919 149.3 -16.7 148 920 done -0.92 - - 2219 - - - 1881 - -58.4 - - 2439 - - - - - - - - 14.82 14.82 14.82
979 159.5 -17.0 154 980 done -0.92 - - 2219 - - - 1881 - -58.4 - - 2438 - - - - - - - - 14.82 14.83 14.83
1039 169.8 -16.9 160 1045 roll -0.92 - - 2218 - 2.50 0.062 473 -563.2 -58.4 - - 2439 - - - - - - - - 14.83 14.59 14.83
1109 181.8 -17.4 167 1116 done -0.92 0.05 0.401 2222 80.0 2.42 0.042 1884 583.1 -58.4 - - 2439 - - - - - - - - 14.45 14.62 14.59
1180 193.6 -16.8 174 1186 roll -0.92 - - 2211 - 2.45 0.064 3281 570.2 -58.4 - - 2439 - - - - - - - - 14.83 14.62 14.83
1220 200.1 -16.2 178 1227 done -0.92 0.05 0.420 2223 240.0 2.40 0.046 1879 -584.2 -58.4 - - 2439 - - - - - - - - 14.45 14.64 14.62
1291 210.2 -14.3 185 1297 roll -0.92 - - 2222 - 2.50 0.063 470 -563.6 -58.4 - - 2438 - - - - - - - - 14.83 14.63 14.83
1331 216.3 -15.3 189 1338 done -0.92 0.03 0.471 2219 -100.0 2.42 0.042 1884 584.3 -58.4 - - 2437 - - - - - - - - 14.47 14.65 14.62
1402 225.9 -13.3 196 1408 roll -0.92 - - 2208 - 2.45 0.067 3284 571.4 -58.4 - - 2438 - - - - - - - - 14.83 14.63 14.83
1442 231.3 -13.4 200 1449 done -0.92 0.05 0.421 2219 220.0 2.40 0.046 1878 -585.8 -58.4 - - 2438 - - - - - - - - 14.47 14.64 14.62
1512 240.7 -13.6 207 1519 roll -0.92 - - 2218 - 2.47 0.067 478 -566.8 -58.4 - - 2438 - - - - - - - - 14.83 14.63 14.83
1608 253.9 -14.3 216 1615 done -0.92 0.05 0.400 2223 100.0 2.40 0.042 1881 584.6 -58.4 - - 2438 - - - - - - - - 14.48 14.64 14.63
1673 263.7 -14.1 223 1674 done -0.92 - - 2222 - - - 1882 - -58.4 - - 2438 - - - - - - - - 14.83 14.83 14.83
1733 271.6 -13.1 229 1734 done -0.92 - - 2222 - - - 1882 - -58.4 - - 2438 - - - - - - - - 14.83 14.84 14.84
1793 279.6 -13.5 235 1798 roll -0.92 - - 2222 - 2.47 0.063 457 -576.9 -58.4 - - 2438 - - - - - - - - 14.84 14.61 14.84
1863 288.7 -13.2 242 1870 done -0.92 0.03 0.474 2218 -133.3 2.42 0.041 1878 587.2 -58.4 - - 2437 - - - - - - - - 14.47 14.66 14.64
1933 298.5 -13.7 249 1934 done -0.92 - - 2218 - - - 1878 - -58.4 - - 2437 - - - - - - - - 14.85 14.85 14.85
1998 307.6 -14.0 254 1999 done -0.92 - - 2218 - - - 1878 - -58.4 - - 2437 - - - - - - - - 14.85 14.85 14.85
2118 324.4 -13.9 262 2124 roll -0.92 - - 2206 - 2.45 0.066 3278 571.4 -58.4 - - 2437 - - - - - - - - 14.85 14.60 14.85
2183 332.8 -14.2 266 2189 done -0.92 0.05 0.425 2218 240.0 2.38 0.044 1875 -589.5 -58.4 - - 2437 - - - - - - - - 14.45 14.63 14.60
2313 352.2 -14.3 275 2320 roll -0.92 - - 2218 - 2.47 0.063 474 -567.2 -58.4 - - 2437 - - - - - - - - 14.86 14.62 14.86
2369 358.5 -13.9 278 2376 done -0.92 0.05 0.392 2221 60.0 2.40 0.041 1881 586.2 -58.4 - - 2437 - - - - - - - - 14.47 14.63 14.62
2494 376.4 -13.5 287 2500 roll -0.92 - - 2209 - 2.42 0.063 3277 576.9 -58.4 - - 2437 - - - - - - - - 14.86 14.63 14.87
2534 380.4 -13.4 289 2542 done -0.92 0.05 0.418 2223 280.0 2.38 0.044 1875 -589.1 -58.4 - - 2437 - - - - - - - - 14.46 14.64 14.63
2659 397.9 -12.8 298 2664 roll -0.92 - - 2222 - 2.47 0.063 474 -567.2 -58.4 - - 2437 - - - - - - - - 14.86 14.64 14.87
2714 403.8 -12.9 301 2722 done -0.92 0.03 0.470 2219 -100.0 2.40 0.040 1883 587.1 -58.4 - - 2437 - - - - - - - - 14.45 14.64 14.65
2839 420.3 -12.2 310 2845 roll -0.92 - - 2207 - 2.45 0.065 3286 572.7 -58.4 - - 2437 - - - - - - - - 14.87 14.64 14.87
2894 425.6 -11.9 313 2902 done -0.92 0.05 0.416 2220 260.0 2.38 0.044 1881 -590.3 -58.4 - - 2437 - - - - - - - - 14.45 14.63 14.62
3019 441.4 -11.9 322 3024 roll -0.92 - - 2220 - 2.47 0.063 478 -568.0 -58.4 - - 2437 - - - - - - - - 14.87 14.64 14.87
3124 454.5 -12.3 329 3130 done -0.92 0.05 0.393 2224 80.0 2.40 0.039 1889 587.9 -58.4 - - 2437 - - - - - - - - 14.47 14.64 14.64
3259 470.2 -11.7 338 3260 done -0.92 - - 2224 - - - 1889 - -58.4 - - 2438 - - - - - - - - 14.87 14.87 14.87
3379 484.3 -11.7 346 3384 roll -0.92 - - 2224 - 2.45 0.062 470 -579.2 -58.4 - - 2436 - - - - - - - - 14.87 14.66 14.87
3424 489.7 -12.0 349 3430 done -0.92 0.03 0.467 2220 -133.3 2.40 0.040 1878 586.7 -58.4 - - 2437 - - - - - - - - 14.48 14.64 14.63
3528 end dive: TARGET_DEPTH_EXCEEDED
3528 begin apogee
3531 501.5 -11.1 356 3579 done -0.15 0.73 0.278 2473 346.6 - - 1879 - - 45.97 2.044 2198 -5.2 0.238 - - - - - - 14.54 14.25 13.49
3580 end apogee: CONTROL_FINISHED_OK
3580 begin climb
3582 503.3 - 359 3638 roll 0.92 0.88 0.182 2804 376.1 2.60 0.059 3303 547.7 58.4 50.03 2.137 1958 -4.8 0.211 - - - - - - 14.16 13.81 13.15
3667 497.5 8.3 364 3698 done 0.95 - - 2814 - 2.50 0.042 1893 -564.0 86.6 23.83 2.092 1842 -4.9 0.216 - - - - - - 14.12 14.07 13.16
3822 475.4 14.5 375 3828 roll 0.95 - - 2826 - 2.55 0.062 497 -547.5 86.6 - - 1843 - - - - - - - - 14.42 14.23 14.42
3867 468.6 14.9 378 3873 done 0.95 - - 2826 - 2.45 0.034 1904 574.3 86.6 - - 1843 - - - - - - - - 14.33 14.29 14.34
4002 447.7 15.7 387 4008 roll 0.95 - - 2827 - 2.50 0.063 3303 559.6 86.6 - - 1843 - - - - - - - - 14.58 14.37 14.58
4037 443.0 15.6 389 4043 done 0.95 - - 2837 - 2.42 0.043 1904 -578.1 86.6 - - 1843 - - - - - - - - 14.45 14.40 14.45
4167 421.9 15.7 398 4168 done 0.95 - - 2837 - - - 1903 - 86.6 - - 1843 - - - - - - - - 14.66 14.66 14.66
4287 402.6 16.3 406 4288 done 0.95 - - 2837 - - - 1903 - 86.6 - - 1842 - - - - - - - - 14.71 14.71 14.71
4407 382.9 16.4 414 4414 roll 0.95 - - 2837 - 2.45 0.058 3298 569.4 86.6 - - 1843 - - - - - - - - 14.74 14.54 14.75
4462 375.1 16.8 417 4470 done 0.95 0.05 0.379 2833 -80.0 2.40 0.044 1892 -585.8 86.6 - - 1842 - - - - - - - - 14.40 14.57 14.55
4588 354.6 15.0 426 4588 done 0.95 - - 2832 - - - 1891 - 86.6 - - 1843 - - - - - - - - 14.77 14.78 14.78
4708 337.1 14.5 434 4708 done 0.95 - - 2833 - - - 1891 - 86.6 - - 1843 - - - - - - - - 14.79 14.80 14.79
4828 320.0 14.0 442 4829 done 0.95 - - 2832 - - - 1891 - 86.6 - - 1842 - - - - - - - - 14.81 14.82 14.81
4948 303.8 13.4 450 4954 roll 0.95 - - 2832 - 2.45 0.057 3300 575.1 86.6 - - 1843 - - - - - - - - 14.82 14.63 14.83
4993 298.3 13.6 453 5000 done 0.95 - - 2843 - 2.38 0.041 1898 -589.1 86.6 - - 1843 - - - - - - - - 14.69 14.65 14.70
5058 288.8 13.7 460 5059 done 0.95 - - 2844 - - - 1897 - 86.6 - - 1843 - - - - - - - - 14.83 14.83 14.83
5118 280.6 13.7 466 5119 done 0.95 - - 2843 - - - 1897 - 86.6 - - 1843 - - - - - - - - 14.83 14.83 14.83
5178 272.6 13.0 472 5184 roll 0.95 - - 2854 - 2.47 0.062 494 -568.0 86.6 - - 1843 - - - - - - - - 14.83 14.64 14.83
5223 267.3 13.3 476 5230 done 0.95 0.05 0.357 2838 -320.0 2.38 0.034 1902 591.6 86.6 - - 1843 - - - - - - - - 14.51 14.65 14.64
5288 258.3 12.7 483 5289 done 0.95 - - 2838 - - - 1903 - 86.6 - - 1843 - - - - - - - - 14.84 14.85 14.85
5348 250.6 12.8 489 5349 done 0.95 - - 2837 - - - 1903 - 86.6 - - 1843 - - - - - - - - 14.84 14.85 14.84
5408 243.2 12.4 495 5415 roll 0.95 - - 2837 - 2.40 0.059 3291 578.3 86.6 - - 1843 - - - - - - - - 14.85 14.64 14.85
5438 239.3 12.4 498 5444 done 0.95 0.03 0.461 2839 - 2.35 0.043 1902 -591.1 86.6 - - 1843 - - - - - - - - 14.49 14.67 14.64
5508 231.2 11.7 505 5509 done 0.95 - - 2839 - - - 1902 - 86.6 - - 1843 - - - - - - - - 14.84 14.85 14.85
5568 223.5 13.3 511 5575 roll 0.95 - - 2850 - 2.45 0.060 503 -571.0 86.6 - - 1842 - - - - - - - - 14.85 14.66 14.85
5654 212.2 14.2 519 5661 done 0.95 0.05 0.357 2834 -320.0 2.35 0.035 1902 595.3 86.6 - - 1843 - - - - - - - - 14.51 14.68 14.65
5719 203.4 12.2 526 5720 done 0.95 - - 2834 - - - 1902 - 86.6 - - 1843 - - - - - - - - 14.85 14.85 14.85
5779 196.0 12.4 532 5780 done 0.95 - - 2834 - - - 1903 - 86.6 - - 1843 - - - - - - - - 14.85 14.85 14.85
5839 188.5 12.4 538 5845 roll 0.95 - - 2843 - 2.47 0.060 497 -569.2 86.6 - - 1842 - - - - - - - - 14.85 14.66 14.85
5879 183.3 13.0 542 5886 done 0.95 - - 2844 - 2.38 0.036 1898 588.7 86.6 - - 1843 - - - - - - - - 14.71 14.67 14.72
5949 174.7 12.1 549 5950 done 0.95 - - 2843 - - - 1898 - 86.6 - - 1843 - - - - - - - - 14.85 14.85 14.85
6009 167.5 11.8 555 6015 roll 0.95 - - 2843 - 2.42 0.065 3288 574.4 86.6 - - 1843 - - - - - - - - 14.86 14.66 14.86
6085 158.7 12.5 562 6092 done 0.95 0.05 0.381 2838 -100.0 2.33 0.042 1904 -594.0 86.6 - - 1843 - - - - - - - - 14.52 14.69 14.62
6150 150.4 11.9 569 6150 done 0.95 - - 2838 - - - 1903 - 86.6 - - 1843 - - - - - - - - 14.86 14.86 14.86
6209 143.5 11.3 575 6215 roll 0.95 - - 2849 - 2.45 0.060 503 -571.4 86.6 - - 1843 - - - - - - - - 14.85 14.66 14.86
6269 136.6 11.4 581 6276 done 0.95 0.05 0.360 2833 -320.0 2.35 0.034 1904 596.2 86.6 - - 1843 - - - - - - - - 14.52 14.68 14.66
6339 128.7 11.5 588 6340 done 0.95 - - 2833 - - - 1905 - 86.6 - - 1843 - - - - - - - - 14.85 14.86 14.86
6400 121.9 11.1 594 6406 roll 0.95 - - 2833 - 2.42 0.063 3297 575.2 87.1 - - 1843 - - - - - - - - 14.85 14.62 14.86
6455 116.3 11.0 599 6462 done 0.96 - - 2844 - 2.35 0.041 1901 -594.0 88.7 - - 1843 - - - - - - - - 14.72 14.68 14.73
6520 109.2 10.2 606 6532 done 0.97 - - 2844 - - - 1901 - 98.0 10.15 1.866 1796 -4.6 0.051 - - - - - - 14.86 14.59 13.82
6590 101.5 11.2 613 6590 done 0.97 - - 2844 - - - 1901 - 98.0 - - 1796 - - - - - - - - 14.77 14.77 14.77
6650 94.8 11.1 623 6650 done 0.97 - - 2843 - - - 1901 - 98.3 - - 1796 - - - - - - - - 14.78 14.78 14.78
6680 91.5 11.0 629 6681 done 0.97 - - 2844 - - - 1901 - 99.2 - - 1797 - - - - - - - - 14.78 14.78 14.78
6710 88.1 11.4 635 6715 done 0.97 - - 2844 - - - 1901 - 99.2 - - 1796 - - - - - - - - 14.78 14.78 14.78
6745 84.3 10.6 642 6752 done 0.98 - - 2842 - - - 1901 - 104.4 6.35 1.641 1771 -3.9 0.038 - - - - - - 14.79 14.57 13.79
6781 80.4 11.1 649 6782 done 0.98 - - 2844 - - - 1901 - 104.4 - - 1771 - - - - - - - - 14.75 14.75 14.75
6811 77.0 11.4 655 6812 done 0.98 - - 2844 - - - 1901 - 104.4 - - 1771 - - - - - - - - 14.76 14.76 14.76
6841 73.6 11.1 661 6842 done 0.98 - - 2844 - - - 1901 - 104.4 - - 1771 - - - - - - - - 14.76 14.76 14.76
6871 70.3 11.2 667 6872 done 0.98 - - 2844 - - - 1901 - 104.4 - - 1771 - - - - - - - - 14.76 14.77 14.77
6902 66.7 11.7 673 6907 done 0.98 - - 2844 - - - 1901 - 104.4 - - 1771 - - - - - - - - 14.77 14.78 14.77
6936 62.6 11.5 680 6937 done 0.98 - - 2844 - - - 1901 - 104.4 - - 1771 - - - - - - - - 14.78 14.78 14.78
6966 59.3 11.0 686 6967 done 0.98 - - 2844 - - - 1901 - 105.8 - - 1771 - - - - - - - - 14.78 14.78 14.78
6996 56.1 10.9 692 7004 done 0.98 - - 2844 - - - 1901 - 108.0 4.47 1.457 1754 -3.8 0.027 - - - - - - 14.78 14.57 13.76
7033 51.9 10.8 699 7040 roll 0.98 - - 2855 - 2.50 0.064 501 -560.0 110.7 - - 1755 - - - - - - - - 14.75 14.54 14.75
7069 47.8 11.7 706 7077 done 0.98 0.03 0.439 2848 -233.3 2.38 0.037 1898 587.0 110.7 3.83 1.340 1745 -2.6 0.017 - - - - - - 14.41 14.57 13.74
7106 43.6 11.7 713 7107 done 0.98 - - 2848 - - - 1898 - 110.7 - - 1744 - - - - - - - - 14.73 14.74 14.74
7136 40.0 12.0 719 7137 done 0.98 - - 2848 - - - 1898 - 110.7 - - 1744 - - - - - - - - 14.74 14.75 14.75
7166 36.4 12.0 725 7173 roll 0.98 - - 2848 - 2.47 0.067 3296 566.0 110.7 - - 1744 - - - - - - - - 14.75 14.52 14.75
7197 32.2 13.1 731 7205 done 0.98 0.05 0.373 2844 -80.0 2.38 0.043 1904 -584.9 110.7 - - 1745 - - - - - - - - 14.40 14.57 14.56
7233 27.8 11.9 738 7234 done 0.98 - - 2844 - - - 1904 - 110.7 - - 1745 - - - - - - - - 14.75 14.75 14.75
7263 24.1 12.6 744 7271 roll 0.98 - - 2854 - 2.50 0.062 495 -563.6 110.7 - - 1745 - - - - - - - - 14.76 14.57 14.76
7305 19.3 11.8 752 7313 done 0.98 - - 2854 - 2.40 0.036 1907 588.3 110.7 - - 1745 - - - - - - - - 14.59 14.54 14.61
7342 14.8 12.0 759 7343 done 0.98 - - 2854 - - - 1907 - 110.7 - - 1745 - - - - - - - - 14.78 14.78 14.78
7372 11.3 11.8 765 7378 done 0.98 - - 2854 - - - 1907 - 110.7 - - 1744 - - - - - - - - 14.78 14.78 14.79
7407 7.2 11.1 772 7408 done 0.98 - - 2854 - - - 1907 - 110.7 - - 1745 - - - - - - - - 14.78 14.78 14.78
7437 3.2 13.5 778 7438 done 0.98 - - 2854 - - - 1907 - 110.7 - - 1745 - - - - - - - - 14.78 14.79 14.78
7440 end climb: SURFACE_DEPTH_REACHED
7440 begin surface coast
7461 end surface coast: CONTROL_FINISHED_OK
7461 begin surface
SM 1.24 - - - - -6.88 6.28 0.091 248 39.5 - - 1908 - 190.10 48.35 0.303 1423 29.4 -0.012 - - - - - -