ROAMMIZ 19Oct19 * SG640 * Dive index * Mission links * Dive 107 * Raw log
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• Previous call tries 2 • 38.58 of 310.00 AH used of 24V (87.56% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -74.2 deg, depth 1.55 m • Intended pitch -27.9 deg, speed -11.111 cm/s
• VBD pumped to 190.10 (SM_CC=190)
• GPS1 time: 19 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
8 end surface: CONTROL_FINISHED_OK
8 begin dive
9 - - - 75 done -0.92 - - 232 - - - 1908 - -58.4 -61.40 - 2439 - - - - - - - - 14.67 13.63 14.69
76 2.7 -3.1 11 88 roll -0.92 6.32 0.380 2201 311.6 2.38 0.058 3288 579.8 -58.4 - - 2441 - - - - - - - - 14.26 14.48 14.44
203 24.1 -17.7 36 210 done -0.92 0.08 0.393 2221 250.0 2.40 0.045 1870 -590.8 -58.4 - - 2441 - - - - - - - - 14.38 14.53 14.57
239 30.6 -17.5 43 239 done -0.92 - - 2220 - - - 1869 - -58.4 - - 2441 - - - - - - - - 14.71 14.71 14.72
269 35.9 -17.8 49 277 roll -0.92 - - 2220 - 2.50 0.064 469 -560.0 -58.4 - - 2441 - - - - - - - - 14.72 14.47 14.73
316 44.7 -18.4 58 323 done -0.92 0.05 0.404 2225 100.0 2.40 0.041 1863 580.8 -58.4 - - 2442 - - - - - - - - 14.37 14.54 14.62
352 51.1 -17.9 65 358 done -0.92 - - 2225 - - - 1864 - -58.4 - - 2442 - - - - - - - - 14.73 14.73 14.73
387 57.5 -18.3 72 388 done -0.92 - - 2225 - - - 1864 - -58.4 - - 2441 - - - - - - - - 14.74 14.75 14.75
417 63.0 -18.1 78 418 done -0.92 - - 2225 - - - 1863 - -58.4 - - 2442 - - - - - - - - 14.75 14.75 14.75
447 68.3 -17.8 84 454 roll -0.92 - - 2225 - 2.47 0.063 474 -562.3 -58.4 - - 2441 - - - - - - - - 14.75 14.56 14.76
493 76.6 -17.9 93 501 done -0.92 - - 2214 - 2.42 0.042 1879 580.6 -58.4 - - 2442 - - - - - - - - 14.62 14.57 14.64
529 83.3 -17.8 100 531 done -0.92 0.03 0.649 2222 266.7 - - 1881 - -58.4 - - 2441 - - - - - - - - 14.42 14.66 14.63
560 88.7 -18.1 106 565 done -0.92 - - 2221 - - - 1881 - -58.4 - - 2441 - - - - - - - - 14.77 14.78 14.77
594 95.1 -18.5 113 595 done -0.92 - - 2221 - - - 1881 - -58.4 - - 2442 - - - - - - - - 14.78 14.78 14.78
624 100.7 -18.3 119 626 done -0.92 - - 2221 - - - 1881 - -58.4 - - 2442 - - - - - - - - 14.78 14.78 14.78
685 111.4 -18.0 125 685 done -0.92 - - 2221 - - - 1881 - -58.4 - - 2441 - - - - - - - - 14.79 14.81 14.79
744 122.7 -18.9 131 750 roll -0.92 - - 2221 - 2.50 0.063 481 -560.0 -58.4 - - 2442 - - - - - - - - 14.80 14.57 14.81
784 130.4 -19.2 135 791 done -0.92 0.05 0.402 2225 80.0 2.40 0.040 1878 582.1 -58.4 - - 2442 - - - - - - - - 14.40 14.57 14.56
855 142.6 -17.6 142 855 done -0.92 - - 2225 - - - 1876 - -58.4 - - 2442 - - - - - - - - 14.81 14.81 14.81
914 153.1 -17.2 148 921 roll -0.92 - - 2225 - 2.50 0.062 470 -562.4 -58.4 - - 2441 - - - - - - - - 14.82 14.59 14.82
960 159.7 -16.5 152 967 done -0.92 - - 2213 - 2.40 0.041 1875 585.4 -58.4 - - 2442 - - - - - - - - 14.64 14.61 14.66
1025 171.3 -16.8 159 1026 done -0.92 0.05 0.513 2225 240.0 - - 1877 - -58.4 - - 2441 - - - - - - - - 14.46 14.71 14.68
1085 181.3 -16.5 165 1086 done -0.92 - - 2224 - - - 1878 - -58.4 - - 2442 - - - - - - - - 14.83 14.83 14.83
1145 191.2 -16.5 171 1146 done -0.92 - - 2224 - - - 1878 - -58.4 - - 2441 - - - - - - - - 14.84 14.84 14.84
1205 201.1 -16.7 177 1206 done -0.92 - - 2224 - - - 1877 - -58.4 - - 2441 - - - - - - - - 14.83 14.84 14.83
1265 211.2 -16.8 183 1266 done -0.92 - - 2224 - - - 1877 - -58.4 - - 2441 - - - - - - - - 14.86 14.84 14.84
1325 221.4 -16.9 189 1326 done -0.92 - - 2224 - - - 1877 - -58.4 - - 2442 - - - - - - - - 14.85 14.85 14.85
1385 231.1 -16.2 195 1386 done -0.92 - - 2224 - - - 1878 - -58.4 - - 2441 - - - - - - - - 14.85 14.85 14.85
1445 240.3 -15.1 201 1450 roll -0.92 - - 2224 - 2.47 0.061 478 -566.8 -58.4 - - 2441 - - - - - - - - 14.85 14.63 14.85
1505 249.6 -15.5 207 1511 done -0.92 - - 2212 - 2.40 0.040 1887 587.1 -58.4 - - 2441 - - - - - - - - 14.69 14.64 14.69
1575 260.5 -15.8 214 1581 roll -0.92 0.05 0.498 2219 140.0 2.50 0.061 473 -565.6 -58.4 - - 2441 - - - - - - - - 14.50 14.62 14.71
1615 266.7 -14.8 218 1621 done -0.92 0.05 0.396 2223 80.0 2.40 0.041 1876 584.6 -58.4 - - 2441 - - - - - - - - 14.47 14.64 14.62
1685 277.1 -14.9 225 1691 roll -0.92 - - 2212 - 2.47 0.066 3283 569.6 -58.4 - - 2441 - - - - - - - - 14.83 14.62 14.85
1730 283.1 -14.7 229 1737 done -0.92 0.03 0.487 2214 - 2.40 0.046 1877 -585.8 -58.4 - - 2440 - - - - - - - - 14.45 14.64 14.61
1795 293.4 -14.6 236 1801 roll -0.92 - - 2214 - 2.45 0.065 470 -574.3 -58.4 - - 2440 - - - - - - - - 14.85 14.63 14.85
1905 308.7 -14.6 245 1912 done -0.92 0.05 0.379 2219 100.0 2.40 0.041 1875 585.4 -58.4 - - 2440 - - - - - - - - 14.48 14.64 14.62
2036 326.4 -12.7 254 2041 roll -0.92 - - 2207 - 2.45 0.064 3278 572.7 -58.4 - - 2440 - - - - - - - - 14.86 14.64 14.87
2161 341.4 -12.2 262 2166 done -0.92 0.05 0.399 2218 220.0 2.38 0.045 1879 -587.8 -58.4 - - 2440 - - - - - - - - 14.49 14.66 14.64
2291 358.0 -12.2 271 2296 roll -0.92 - - 2217 - 2.47 0.063 477 -567.6 -58.4 - - 2439 - - - - - - - - 14.86 14.65 14.86
2361 365.7 -12.8 275 2368 done -0.92 0.05 0.390 2221 80.0 2.40 0.041 1884 586.2 -58.4 - - 2440 - - - - - - - - 14.50 14.67 14.65
2486 381.9 -11.6 284 2486 done -0.92 - - 2221 - - - 1884 - -58.4 - - 2440 - - - - - - - - 14.87 14.87 14.87
2606 395.7 -11.7 292 2612 roll -0.92 - - 2221 - 2.47 0.062 480 -568.4 -58.4 - - 2440 - - - - - - - - 14.87 14.66 14.88
2651 401.2 -12.1 295 2657 done -0.92 0.03 0.474 2218 -100.0 2.40 0.040 1888 586.7 -58.4 - - 2439 - - - - - - - - 14.50 14.69 14.65
2786 417.0 -11.9 304 2787 done -0.92 - - 2218 - - - 1887 - -58.4 - - 2440 - - - - - - - - 14.88 14.88 14.88
2906 431.0 -11.5 312 2907 done -0.92 - - 2218 - - - 1888 - -58.4 - - 2440 - - - - - - - - 14.88 14.88 14.88
3026 444.8 -11.4 320 3027 done -0.92 - - 2218 - - - 1888 - -58.4 - - 2439 - - - - - - - - 14.88 14.88 14.88
3146 458.3 -11.2 328 3147 done -0.92 - - 2218 - - - 1888 - -58.4 - - 2441 - - - - - - - - 14.88 14.89 14.88
3266 472.0 -11.5 336 3272 roll -0.92 - - 2218 - 2.45 0.062 467 -580.0 -58.4 - - 2440 - - - - - - - - 14.88 14.69 14.89
3371 484.7 -12.1 343 3377 done -0.92 0.05 0.397 2221 60.0 2.40 0.039 1873 585.8 -58.4 - - 2440 - - - - - - - - 14.52 14.69 14.66
3506 499.9 -11.4 352 3512 roll -0.92 - - 2221 - 2.45 0.060 481 -568.2 -58.4 - - 2440 - - - - - - - - 14.88 14.68 14.89
3520 end dive: TARGET_DEPTH_EXCEEDED
3520 begin apogee
3526 501.7 -11.4 353 3574 done -0.15 0.75 0.277 2471 333.3 - - 1906 - - 46.40 2.027 2198 -5.2 0.241 - - - - - - 14.52 14.25 13.49
3576 end apogee: CONTROL_FINISHED_OK
3576 begin climb
3577 504.0 - 356 3629 done 0.92 0.88 0.180 2802 376.1 - - 1906 - 58.4 46.95 2.233 1957 -5.1 0.216 - - - - - - 14.17 13.90 13.16
3747 488.2 11.4 368 3747 done 0.92 - - 2802 - - - 1906 - 58.4 - - 1963 - - - - - - - - 14.42 14.43 14.43
3866 474.3 11.6 376 3867 done 0.92 - - 2802 - - - 1906 - 58.4 - - 1964 - - - - - - - - 14.56 14.56 14.56
3986 460.9 11.2 384 3992 roll 0.92 - - 2814 - 2.53 0.063 498 -556.5 58.4 - - 1964 - - - - - - - - 14.63 14.44 14.64
4006 459.3 11.0 385 4012 done 0.92 - - 2814 - 2.40 0.034 1899 583.8 59.1 - - 1964 - - - - - - - - 14.51 14.47 14.52
4136 443.8 11.6 394 4137 done 0.92 - - 2814 - - - 1900 - 59.1 - - 1964 - - - - - - - - 14.69 14.69 14.69
4256 429.8 11.5 402 4262 roll 0.92 - - 2814 - 2.45 0.063 3294 569.0 59.1 - - 1964 - - - - - - - - 14.73 14.53 14.73
4306 424.4 11.9 405 4312 done 0.92 - - 2825 - 2.38 0.043 1902 -584.9 59.1 - - 1964 - - - - - - - - 14.60 14.55 14.62
4436 407.9 12.4 414 4437 done 0.92 - - 2825 - - - 1901 - 59.1 - - 1964 - - - - - - - - 14.77 14.78 14.78
4556 393.2 12.3 422 4557 done 0.92 - - 2825 - - - 1901 - 59.1 - - 1964 - - - - - - - - 14.79 14.80 14.79
4676 378.8 12.0 430 4682 roll 0.92 - - 2836 - 2.47 0.062 499 -567.6 59.1 - - 1964 - - - - - - - - 14.81 14.62 14.81
4726 373.3 12.3 433 4732 done 0.92 0.05 0.374 2822 -280.0 2.38 0.034 1908 592.0 59.1 - - 1964 - - - - - - - - 14.48 14.65 14.62
4856 356.9 12.0 442 4857 done 0.92 - - 2822 - - - 1908 - 59.1 - - 1964 - - - - - - - - 14.83 14.83 14.83
4976 343.0 11.4 450 4977 done 0.92 - - 2822 - - - 1908 - 59.1 - - 1964 - - - - - - - - 14.83 14.84 14.84
5096 329.3 11.5 458 5097 done 0.92 - - 2822 - - - 1908 - 59.1 - - 1964 - - - - - - - - 14.85 14.85 14.85
5216 316.6 10.2 466 5233 roll 0.93 - - 2822 - 2.38 0.061 3294 582.4 68.3 10.23 1.987 1917 -4.6 0.136 - - - - - - 14.85 14.57 13.76
5302 308.5 10.7 471 5314 done 0.94 - - 2831 - 2.38 0.041 1893 -588.7 72.2 4.82 1.616 1900 -3.5 0.126 - - - - - - 14.59 14.55 13.69
5433 294.0 10.5 482 5444 done 0.94 - - 2831 - - - 1893 - 77.9 5.82 1.710 1878 -3.8 0.121 - - - - - - 14.77 14.54 13.72
5503 286.7 10.6 489 5515 done 0.95 - - 2830 - - - 1893 - 83.5 6.10 1.704 1856 -3.6 0.113 - - - - - - 14.72 14.50 13.69
5573 279.3 10.7 496 5585 roll 0.95 - - 2842 - 2.47 0.063 505 -561.9 87.7 4.97 1.614 1838 -3.6 0.117 - - - - - - 14.73 14.42 13.66
5624 273.3 11.1 501 5630 done 0.95 - - 2840 - 2.38 0.035 1892 582.8 87.8 - - 1838 - - - - - - - - 14.53 14.49 14.53
5694 265.4 11.1 508 5695 done 0.95 - - 2842 - - - 1893 - 87.8 - - 1838 - - - - - - - - 14.71 14.71 14.71
5754 258.3 11.9 514 5755 done 0.95 - - 2842 - - - 1893 - 87.8 - - 1839 - - - - - - - - 14.73 14.73 14.73
5814 251.0 12.1 520 5815 done 0.95 - - 2842 - - - 1893 - 87.8 - - 1838 - - - - - - - - 14.74 14.75 14.75
5874 244.0 11.3 526 5879 roll 0.95 - - 2852 - 2.47 0.062 500 -564.0 87.8 - - 1837 - - - - - - - - 14.76 14.54 14.77
5944 235.5 12.5 533 5950 done 0.95 0.05 0.364 2837 -300.0 2.40 0.035 1909 587.1 87.8 - - 1838 - - - - - - - - 14.42 14.58 14.55
6014 226.9 12.2 540 6015 done 0.95 - - 2837 - - - 1910 - 87.8 - - 1838 - - - - - - - - 14.78 14.79 14.79
6074 219.5 12.1 546 6080 roll 0.95 - - 2846 - 2.50 0.058 499 -564.4 87.8 - - 1838 - - - - - - - - 14.79 14.57 14.80
6094 217.2 11.9 548 6100 done 0.95 0.05 0.346 2830 -320.0 2.38 0.035 1903 589.9 87.8 - - 1838 - - - - - - - - 14.45 14.60 14.57
6164 209.6 10.8 555 6176 roll 0.96 - - 2831 - 2.42 0.063 3289 572.7 91.2 4.30 1.489 1824 -3.3 0.085 - - - - - - 14.80 14.54 13.76
6200 205.8 12.1 558 6208 done 0.96 - - 2842 - 2.35 0.041 1902 -590.2 91.2 - - 1825 - - - - - - - - 14.64 14.59 14.64
6265 197.5 11.8 565 6266 done 0.96 - - 2842 - - - 1902 - 91.2 - - 1825 - - - - - - - - 14.78 14.79 14.78
6325 190.6 11.3 571 6331 roll 0.96 - - 2842 - 2.42 0.061 3290 573.6 91.2 - - 1825 - - - - - - - - 14.79 14.59 14.79
6365 186.2 11.0 575 6371 done 0.96 0.05 0.383 2838 -80.0 2.38 0.044 1895 -586.1 91.8 - - 1825 - - - - - - - - 14.45 14.65 14.60
6435 179.1 10.2 582 6447 done 0.97 - - 2838 - - - 1895 - 101.3 9.48 1.899 1781 -4.6 0.082 - - - - - - 14.80 14.51 13.75
6505 171.6 10.9 589 6506 done 0.97 - - 2838 - - - 1901 - 103.6 - - 1783 - - - - - - - - 14.73 14.73 14.73
6565 164.8 11.4 595 6571 roll 0.97 - - 2853 - 2.47 0.062 500 -567.2 103.6 - - 1784 - - - - - - - - 14.74 14.54 14.75
6595 161.6 10.6 598 6608 done 0.98 - - 2849 - 2.38 0.034 1899 587.8 109.0 7.55 1.737 1752 -4.2 0.073 - - - - - - 14.60 14.57 13.71
6665 154.6 10.1 605 6678 roll 0.99 - - 2849 - 2.50 0.063 3303 561.6 118.8 8.98 1.789 1712 -4.5 0.072 - - - - - - 14.71 14.43 13.69
6737 146.5 11.6 612 6743 done 0.99 0.05 0.371 2845 -80.0 2.40 0.042 1902 -583.8 118.8 - - 1714 - - - - - - - - 14.30 14.45 14.44
6807 138.7 11.1 619 6808 done 0.99 - - 2845 - - - 1903 - 119.2 - - 1714 - - - - - - - - 14.69 14.70 14.69
6867 131.9 11.5 625 6868 done 0.99 - - 2846 - - - 1904 - 119.2 - - 1714 - - - - - - - - 14.71 14.72 14.71
6927 124.7 12.1 631 6933 roll 0.99 - - 2856 - 2.50 0.062 500 -561.6 119.2 - - 1714 - - - - - - - - 14.73 14.51 14.73
6952 122.1 12.5 633 6959 done 0.99 0.03 0.443 2849 -233.3 2.38 0.035 1900 588.2 119.2 - - 1714 - - - - - - - - 14.39 14.57 14.54
7017 113.0 13.0 640 7023 roll 0.99 - - 2850 - 2.45 0.063 3294 569.0 119.2 - - 1714 - - - - - - - - 14.76 14.52 14.76
7047 108.9 13.6 643 7054 done 0.99 0.05 0.375 2844 -120.0 2.38 0.043 1902 -584.9 119.2 - - 1714 - - - - - - - - 14.42 14.58 14.56
7118 100.2 13.0 650 7124 roll 0.99 - - 2854 - 2.50 0.062 493 -563.6 119.2 - - 1714 - - - - - - - - 14.77 14.53 14.78
7158 95.1 12.8 657 7166 done 0.99 - - 2854 - 2.38 0.035 1894 588.7 119.2 - - 1714 - - - - - - - - 14.61 14.57 14.62
7195 90.2 13.0 664 7195 done 0.99 - - 2854 - - - 1895 - 119.2 - - 1714 - - - - - - - - 14.78 14.78 14.78
7225 86.2 13.1 670 7230 done 0.99 - - 2854 - - - 1895 - 119.2 - - 1714 - - - - - - - - 14.78 14.79 14.78
7260 81.5 13.4 677 7268 roll 0.99 - - 2854 - 2.45 0.064 3290 569.4 119.2 - - 1714 - - - - - - - - 14.78 14.58 14.79
7317 74.0 13.0 688 7324 done 0.99 0.05 0.379 2849 -100.0 2.38 0.043 1893 -587.0 119.2 - - 1714 - - - - - - - - 14.45 14.62 14.59
7353 69.8 12.1 695 7354 done 0.99 - - 2849 - - - 1893 - 119.2 - - 1714 - - - - - - - - 14.79 14.80 14.79
7383 66.1 12.3 701 7391 roll 0.99 - - 2859 - 2.47 0.062 498 -564.8 119.2 - - 1714 - - - - - - - - 14.80 14.56 14.80
7420 61.2 13.0 708 7427 done 0.99 0.05 0.354 2844 -300.0 2.38 0.036 1904 590.8 119.2 - - 1714 - - - - - - - - 14.46 14.62 14.59
7456 56.7 12.0 715 7457 done 0.99 - - 2843 - - - 1904 - 119.2 - - 1714 - - - - - - - - 14.78 14.79 14.79
7486 53.1 12.1 721 7487 done 0.99 - - 2844 - - - 1904 - 119.2 - - 1713 - - - - - - - - 14.78 14.80 14.80
7516 49.5 11.9 727 7517 done 0.99 - - 2843 - - - 1904 - 119.2 - - 1713 - - - - - - - - 14.78 14.80 14.80
7546 45.8 12.3 733 7554 roll 0.99 - - 2844 - 2.42 0.064 3289 572.3 119.2 - - 1714 - - - - - - - - 14.79 14.59 14.80
7573 42.5 11.8 738 7580 done 0.99 - - 2853 - 2.35 0.041 1896 -592.8 119.2 - - 1714 - - - - - - - - 14.63 14.58 14.65
7609 38.1 11.9 745 7610 done 0.99 - - 2853 - - - 1896 - 119.2 - - 1715 - - - - - - - - 14.81 14.81 14.81
7639 34.5 11.9 751 7646 roll 0.99 - - 2864 - 2.47 0.063 502 -564.4 119.2 - - 1714 - - - - - - - - 14.81 14.59 14.81
7685 28.7 12.6 760 7692 done 0.99 0.05 0.362 2849 -300.0 2.35 0.037 1890 590.6 119.2 - - 1714 - - - - - - - - 14.47 14.63 14.62
7721 24.3 12.0 767 7727 done 0.99 - - 2849 - - - 1891 - 119.2 - - 1714 - - - - - - - - 14.81 14.81 14.80
7756 19.9 12.8 774 7757 done 0.99 - - 2849 - - - 1890 - 119.2 - - 1714 - - - - - - - - 14.80 14.81 14.81
7786 16.0 13.3 780 7793 roll 0.99 - - 2859 - 2.45 0.060 502 -566.5 119.2 - - 1713 - - - - - - - - 14.81 14.62 14.81
7802 13.8 13.5 783 7809 done 0.99 0.03 0.423 2850 -300.0 2.38 0.038 1901 587.8 119.2 - - 1712 - - - - - - - - 14.47 14.64 14.61
7838 9.7 11.1 790 7844 done 0.99 - - 2850 - - - 1902 - 119.4 - - 1714 - - - - - - - - 14.82 14.82 14.82
7873 5.7 12.0 797 7874 done 0.99 - - 2850 - - - 1901 - 119.4 - - 1713 - - - - - - - - 14.82 14.83 14.83
7897 end climb: SURFACE_DEPTH_REACHED
7897 begin surface coast
7917 end surface coast: CONTROL_FINISHED_OK
7917 begin surface
SM 1.05 - - - - -6.90 6.20 0.080 225 36.3 - - 1902 - 190.10 44.55 0.304 1424 32.0 -0.011 - - - - - -