ROAMMIZ 19Oct19 * SG640 * Dive index * Mission links * Dive 108 * Raw log
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• Previous call tries 1 • 38.80 of 310.00 AH used of 24V (87.48% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.7 deg, depth 1.44 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
7 end surface: CONTROL_FINISHED_OK
7 begin dive
9 - - - 73 done -0.92 - - 225 - - - 1903 - -58.4 -61.03 - 2439 - - - - - - - - 14.66 13.62 14.67
75 2.9 -3.6 11 87 roll -0.92 6.30 0.373 2203 314.0 2.40 0.050 3289 577.5 -58.4 - - 2441 - - - - - - - - 14.25 14.49 14.42
206 25.2 -17.9 37 214 done -0.92 0.08 0.392 2223 250.0 2.38 0.047 1883 -590.8 -58.4 - - 2438 - - - - - - - - 14.38 14.54 14.57
243 32.0 -18.5 44 250 roll -0.92 - - 2223 - 2.50 0.066 481 -560.8 -58.4 - - 2436 - - - - - - - - 14.71 14.52 14.71
318 46.4 -18.8 59 326 done -0.92 0.03 0.471 2219 -133.3 2.40 0.041 1874 580.4 -58.4 - - 2435 - - - - - - - - 14.34 14.51 14.49
355 53.2 -19.0 66 355 done -0.92 - - 2219 - - - 1875 - -58.4 - - 2435 - - - - - - - - 14.75 14.75 14.75
385 58.8 -18.8 72 385 done -0.92 - - 2218 - - - 1875 - -58.4 - - 2434 - - - - - - - - 14.75 14.76 14.76
415 64.5 -18.9 78 415 done -0.92 - - 2219 - - - 1874 - -58.4 - - 2434 - - - - - - - - 14.76 14.76 14.76
445 70.0 -18.2 84 446 done -0.92 - - 2218 - - - 1875 - -58.4 - - 2434 - - - - - - - - 14.76 14.76 14.76
475 75.3 -17.7 90 481 roll -0.92 - - 2218 - 2.50 0.061 473 -560.8 -58.4 - - 2433 - - - - - - - - 14.76 14.54 14.76
520 83.8 -18.5 99 528 done -0.92 0.05 0.401 2222 80.0 2.42 0.041 1880 581.4 -58.4 - - 2432 - - - - - - - - 14.40 14.57 14.57
557 90.1 -17.9 106 563 roll -0.92 - - 2208 - 2.47 0.067 3289 570.4 -58.4 - - 2432 - - - - - - - - 14.76 14.57 14.76
597 97.7 -18.9 114 605 done -0.92 0.08 0.347 2224 200.0 2.40 0.046 1882 -586.2 -58.4 - - 2431 - - - - - - - - 14.43 14.58 14.57
633 104.3 -18.5 119 639 roll -0.92 - - 2224 - 2.50 0.066 478 -561.6 -58.4 - - 2431 - - - - - - - - 14.78 14.53 14.78
688 113.5 -18.5 124 695 done -0.92 - - 2213 - 2.40 0.042 1879 583.8 -58.4 - - 2431 - - - - - - - - 14.61 14.57 14.62
753 126.2 -18.5 131 755 done -0.92 0.05 0.513 2224 220.0 - - 1880 - -58.4 - - 2430 - - - - - - - - 14.47 14.69 14.65
813 137.6 -19.0 137 819 roll -0.92 - - 2219 - 2.50 0.063 471 -563.6 -58.4 - - 2429 - - - - - - - - 14.80 14.57 14.80
873 149.6 -19.9 143 879 done -0.92 0.05 0.394 2222 60.0 2.42 0.042 1883 583.5 -58.4 - - 2429 - - - - - - - - 14.41 14.59 14.57
943 162.6 -18.4 150 949 roll -0.92 - - 2208 - 2.45 0.067 3282 571.0 -58.4 - - 2429 - - - - - - - - 14.81 14.56 14.81
998 171.9 -18.6 155 1006 done -0.92 0.05 0.384 2218 200.0 2.38 0.046 1886 -586.6 -58.4 - - 2429 - - - - - - - - 14.43 14.59 14.57
1063 184.1 -17.1 162 1070 roll -0.92 - - 2218 - 2.50 0.064 478 -563.2 -58.4 - - 2428 - - - - - - - - 14.82 14.57 14.82
1124 195.6 -18.8 168 1131 done -0.92 0.05 0.397 2220 - 2.40 0.042 1876 582.5 -58.4 - - 2429 - - - - - - - - 14.43 14.59 14.58
1195 207.8 -17.1 175 1201 roll -0.92 - - 2205 - 2.47 0.065 3285 570.4 -58.4 - - 2428 - - - - - - - - 14.83 14.59 14.83
1235 214.4 -16.7 179 1242 done -0.92 0.08 0.352 2221 200.0 2.40 0.047 1876 -587.1 -58.4 - - 2429 - - - - - - - - 14.47 14.62 14.60
1305 225.4 -15.9 186 1312 roll -0.92 - - 2221 - 2.47 0.065 483 -564.0 -58.4 - - 2428 - - - - - - - - 14.83 14.62 14.84
1406 242.4 -16.2 196 1412 done -0.92 0.03 0.481 2218 -100.0 2.40 0.041 1883 583.3 -58.4 - - 2428 - - - - - - - - 14.45 14.64 14.62
1476 253.6 -16.1 203 1483 roll -0.92 - - 2216 - 2.50 0.063 475 -563.2 -58.4 - - 2429 - - - - - - - - 14.83 14.63 14.83
1561 266.7 -16.0 211 1569 done -0.92 0.05 0.383 2219 60.0 2.40 0.041 1880 585.4 -58.4 - - 2428 - - - - - - - - 14.48 14.64 14.62
1627 277.0 -14.4 218 1633 roll -0.92 - - 2208 - 2.45 0.065 3279 571.0 -58.4 - - 2428 - - - - - - - - 14.83 14.62 14.83
1667 282.9 -14.6 222 1674 done -0.92 0.08 0.355 2222 175.0 2.38 0.047 1883 -586.6 -58.4 - - 2428 - - - - - - - - 14.48 14.64 14.63
1737 292.8 -13.8 229 1744 roll -0.92 - - 2222 - 2.50 0.063 470 -565.2 -58.4 - - 2428 - - - - - - - - 14.83 14.64 14.83
1807 301.7 -14.8 235 1815 done -0.92 0.03 0.478 2219 -100.0 2.42 0.042 1882 583.5 -58.4 - - 2428 - - - - - - - - 14.47 14.65 14.62
1933 321.0 -14.2 244 1938 roll -0.92 - - 2217 - 2.47 0.061 481 -567.2 -58.4 - - 2428 - - - - - - - - 14.84 14.64 14.85
1972 325.2 -14.0 246 1980 done -0.92 0.05 0.389 2221 80.0 2.40 0.042 1884 584.6 -58.4 - - 2428 - - - - - - - - 14.49 14.66 14.64
2098 342.8 -13.0 255 2104 roll -0.92 - - 2209 - 2.42 0.066 3275 574.8 -58.4 - - 2428 - - - - - - - - 14.85 14.63 14.85
2153 348.8 -13.1 258 2160 done -0.92 0.05 0.389 2217 160.0 2.38 0.044 1877 -587.4 -58.4 - - 2428 - - - - - - - - 14.50 14.67 14.64
2278 365.6 -12.6 267 2285 roll -0.92 - - 2217 - 2.45 0.063 484 -568.6 -58.4 - - 2427 - - - - - - - - 14.86 14.62 14.86
2373 378.0 -13.6 273 2379 done -0.92 0.05 0.389 2221 80.0 2.38 0.040 1884 588.2 -58.4 - - 2427 - - - - - - - - 14.47 14.64 14.62
2503 395.7 -12.9 282 2504 done -0.92 - - 2221 - - - 1879 - -58.4 - - 2427 - - - - - - - - 14.87 14.88 14.88
2623 411.5 -13.1 290 2629 roll -0.92 - - 2223 - 2.47 0.061 472 -569.6 -58.4 - - 2428 - - - - - - - - 14.88 14.63 14.88
2673 417.4 -13.2 293 2679 done -0.92 0.05 0.388 2225 - 2.40 0.040 1879 586.2 -58.4 - - 2428 - - - - - - - - 14.48 14.64 14.63
2803 434.4 -12.6 302 2804 done -0.92 - - 2225 - - - 1879 - -58.4 - - 2427 - - - - - - - - 14.87 14.88 14.88
2923 449.4 -12.4 310 2929 roll -0.92 - - 2225 - 2.47 0.062 473 -569.2 -58.4 - - 2428 - - - - - - - - 14.88 14.63 14.88
2963 453.4 -12.8 312 2970 done -0.92 - - 2213 - 2.38 0.039 1877 589.9 -58.4 - - 2427 - - - - - - - - 14.69 14.65 14.71
3088 471.3 -13.3 321 3094 roll -0.92 - - 2203 - 2.45 0.063 3285 574.7 -58.4 - - 2428 - - - - - - - - 14.88 14.63 14.88
3138 477.4 -13.5 324 3145 done -0.92 0.08 0.348 2223 250.0 2.38 0.044 1881 -589.9 -58.4 - - 2428 - - - - - - - - 14.50 14.65 14.63
3269 495.0 -13.0 333 3275 roll -0.92 - - 2223 - 2.47 0.063 478 -568.0 -58.4 - - 2428 - - - - - - - - 14.88 14.63 14.88
3313 end dive: TARGET_DEPTH_EXCEEDED
3313 begin apogee
3319 501.2 -13.8 336 3365 done -0.15 0.75 0.275 2476 337.3 - - 1903 - - 44.28 2.020 2198 -5.2 0.241 - - - - - - 14.54 14.26 13.50
3366 end apogee: CONTROL_FINISHED_OK
3366 begin climb
3368 504.1 - 339 3425 done 0.92 0.90 0.175 2811 372.2 - - 1903 - 58.4 54.25 2.168 1959 -4.4 0.191 - - - - - - 14.19 13.90 13.14
3540 491.0 10.1 351 3557 roll 0.93 - - 2811 - 2.53 0.061 3325 562.1 68.3 9.25 1.968 1917 -4.5 0.211 - - - - - - 14.41 14.16 13.38
3576 487.7 10.3 353 3588 done 0.94 - - 2822 - 2.50 0.044 1902 -569.2 76.2 7.95 1.887 1886 -3.9 0.188 - - - - - - 14.21 14.18 13.36
3706 471.0 12.8 362 3711 roll 0.94 - - 2833 - 2.55 0.063 498 -550.6 76.2 - - 1885 - - - - - - - - 14.50 14.27 14.50
3726 469.1 12.8 363 3731 done 0.94 - - 2833 - 2.42 0.034 1900 579.3 76.2 - - 1885 - - - - - - - - 14.34 14.30 14.35
3856 451.2 13.4 372 3861 roll 0.94 - - 2834 - 2.47 0.063 3294 564.4 76.2 - - 1885 - - - - - - - - 14.61 14.40 14.61
3936 440.4 14.4 377 3942 done 0.94 0.05 0.371 2830 -80.0 2.40 0.046 1905 -578.8 76.2 - - 1885 - - - - - - - - 14.27 14.42 14.40
4066 422.0 13.8 386 4067 done 0.94 - - 2830 - - - 1905 - 76.2 - - 1885 - - - - - - - - 14.69 14.70 14.70
4186 405.6 13.5 394 4187 done 0.94 - - 2830 - - - 1905 - 76.2 - - 1884 - - - - - - - - 14.73 14.73 14.73
4306 389.3 13.8 402 4307 done 0.94 - - 2830 - - - 1905 - 76.2 - - 1886 - - - - - - - - 14.76 14.76 14.76
4426 373.4 13.2 410 4431 roll 0.94 - - 2841 - 2.50 0.064 495 -564.0 76.2 - - 1886 - - - - - - - - 14.78 14.56 14.78
4471 367.3 13.4 413 4477 done 0.94 - - 2841 - 2.40 0.035 1906 587.9 76.2 - - 1885 - - - - - - - - 14.62 14.57 14.62
4606 348.2 14.5 422 4611 roll 0.94 - - 2841 - 2.42 0.060 3295 574.0 76.2 - - 1885 - - - - - - - - 14.81 14.59 14.81
4686 336.8 15.2 427 4692 done 0.94 0.08 0.355 2828 -162.5 2.38 0.045 1900 -586.1 76.2 - - 1885 - - - - - - - - 14.45 14.59 14.59
4816 318.0 13.9 436 4817 done 0.94 - - 2827 - - - 1900 - 76.2 - - 1885 - - - - - - - - 14.83 14.83 14.83
4936 302.2 12.7 444 4937 done 0.94 - - 2828 - - - 1900 - 76.2 - - 1883 - - - - - - - - 14.83 14.84 14.84
5056 287.2 12.5 455 5062 roll 0.94 - - 2828 - 2.45 0.060 3302 572.2 76.2 - - 1885 - - - - - - - - 14.84 14.61 14.84
5086 283.3 12.9 458 5092 done 0.94 - - 2837 - 2.38 0.042 1901 -588.7 76.2 - - 1885 - - - - - - - - 14.69 14.65 14.70
5156 274.7 12.4 465 5157 done 0.94 - - 2837 - - - 1901 - 76.2 - - 1885 - - - - - - - - 14.85 14.85 14.85
5216 267.2 12.5 471 5217 done 0.94 - - 2837 - - - 1901 - 76.2 - - 1885 - - - - - - - - 14.85 14.85 14.86
5276 260.3 11.4 477 5282 roll 0.94 - - 2848 - 2.47 0.063 500 -567.2 76.2 - - 1885 - - - - - - - - 14.85 14.64 14.86
5316 255.4 12.1 481 5322 done 0.94 0.05 0.366 2833 -300.0 2.38 0.034 1912 593.3 76.2 - - 1885 - - - - - - - - 14.49 14.65 14.64
5386 247.4 11.3 488 5392 roll 0.94 - - 2842 - 2.50 0.060 497 -566.0 76.2 - - 1886 - - - - - - - - 14.86 14.63 14.86
5436 241.7 11.5 493 5443 done 0.94 0.03 0.445 2833 -300.0 2.38 0.036 1902 590.3 76.2 - - 1885 - - - - - - - - 14.48 14.65 14.64
5507 234.1 10.5 500 5519 roll 0.95 - - 2834 - 2.40 0.063 3294 580.0 81.9 5.75 1.689 1863 -3.8 0.099 - - - - - - 14.86 14.62 13.81
5563 228.2 12.0 505 5570 done 0.95 - - 2843 - 2.38 0.043 1901 -585.3 81.9 - - 1864 - - - - - - - - 14.66 14.62 14.68
5628 220.4 11.4 512 5634 roll 0.95 - - 2854 - 2.47 0.062 498 -568.0 81.9 - - 1864 - - - - - - - - 14.81 14.62 14.81
5673 215.5 12.1 516 5681 done 0.95 0.08 0.343 2831 -287.5 2.35 0.034 1896 594.9 81.9 - - 1864 - - - - - - - - 14.48 14.64 14.62
5738 207.6 11.2 523 5744 roll 0.95 - - 2831 - 2.45 0.063 3297 571.8 81.9 - - 1865 - - - - - - - - 14.82 14.62 14.82
5768 204.1 11.4 526 5775 done 0.95 - - 2841 - 2.38 0.043 1898 -587.8 81.9 - - 1864 - - - - - - - - 14.68 14.64 14.70
5838 196.0 11.5 533 5839 done 0.95 - - 2841 - - - 1898 - 81.9 - - 1864 - - - - - - - - 14.80 14.83 14.83
5898 189.1 11.5 539 5899 done 0.95 - - 2841 - - - 1898 - 81.9 - - 1865 - - - - - - - - 14.83 14.83 14.83
5959 182.5 10.9 545 5959 done 0.95 - - 2841 - - - 1898 - 83.9 - - 1865 - - - - - - - - 14.83 14.84 14.84
6019 176.2 10.6 551 6031 roll 0.96 - - 2848 - 2.47 0.062 3291 564.0 89.4 7.60 1.701 1830 -4.6 0.089 - - - - - - 14.84 14.57 13.82
6085 169.6 11.2 557 6093 done 0.96 0.05 0.384 2837 -220.0 2.38 0.042 1898 -585.3 89.4 - - 1831 - - - - - - - - 14.41 14.57 14.55
6150 162.3 10.3 564 6163 roll 0.97 - - 2848 - 2.53 0.063 488 -557.3 97.2 7.68 1.691 1798 -4.3 0.077 - - - - - - 14.79 14.54 13.78
6197 157.6 10.9 568 6204 done 0.97 - - 2848 - 2.40 0.035 1898 587.5 99.1 - - 1799 - - - - - - - - 14.58 14.54 14.59
6262 149.5 11.5 575 6263 done 0.97 - - 2848 - - - 1897 - 99.1 - - 1799 - - - - - - - - 14.75 14.76 14.76
6322 142.5 11.6 581 6328 roll 0.97 - - 2849 - 2.45 0.064 3294 570.2 99.1 - - 1800 - - - - - - - - 14.77 14.56 14.77
6357 138.8 12.4 584 6364 done 0.97 0.05 0.373 2844 -100.0 2.38 0.043 1899 -586.1 99.1 - - 1799 - - - - - - - - 14.43 14.59 14.57
6422 130.9 11.2 591 6423 done 0.97 - - 2844 - - - 1899 - 99.1 - - 1799 - - - - - - - - 14.78 14.79 14.79
6482 124.2 11.2 597 6483 done 0.97 - - 2844 - - - 1899 - 99.1 - - 1799 - - - - - - - - 14.80 14.80 14.80
6542 117.5 11.2 603 6543 done 0.97 - - 2844 - - - 1899 - 99.1 - - 1799 - - - - - - - - 14.81 14.81 14.81
6602 110.7 11.3 609 6603 done 0.97 - - 2843 - - - 1899 - 99.1 - - 1799 - - - - - - - - 14.83 14.83 14.82
6662 103.8 11.5 615 6663 done 0.97 - - 2844 - - - 1899 - 99.1 - - 1799 - - - - - - - - 14.83 14.83 14.83
6722 97.1 11.1 623 6728 done 0.97 - - 2844 - - - 1899 - 99.1 - - 1799 - - - - - - - - 14.83 14.83 14.83
6757 93.1 11.3 630 6758 done 0.97 - - 2844 - - - 1899 - 99.1 - - 1799 - - - - - - - - 14.83 14.83 14.83
6787 89.8 11.2 636 6788 done 0.97 - - 2844 - - - 1899 - 99.1 - - 1799 - - - - - - - - 14.83 14.83 14.83
6817 86.5 10.8 642 6825 done 0.97 - - 2844 - - - 1899 - 102.2 5.38 1.537 1779 -3.7 0.039 - - - - - - 14.83 14.58 13.81
6853 82.4 11.4 649 6854 done 0.97 - - 2844 - - - 1899 - 102.2 - - 1779 - - - - - - - - 14.78 14.78 14.78
6883 78.9 11.5 655 6884 done 0.97 - - 2844 - - - 1899 - 102.2 - - 1780 - - - - - - - - 14.78 14.78 14.78
6913 75.4 11.8 661 6914 done 0.97 - - 2846 - - - 1899 - 102.2 - - 1780 - - - - - - - - 14.78 14.78 14.78
6943 71.9 11.6 667 6944 done 0.97 - - 2844 - - - 1899 - 102.2 - - 1780 - - - - - - - - 14.78 14.79 14.79
6974 68.4 11.8 673 6980 done 0.97 - - 2844 - - - 1899 - 102.2 - - 1780 - - - - - - - - 14.79 14.79 14.79
7009 64.2 11.9 680 7016 roll 0.97 - - 2844 - 2.45 0.062 3291 568.2 102.2 - - 1780 - - - - - - - - 14.78 14.59 14.79
7050 59.0 12.5 688 7057 done 0.97 0.05 0.380 2838 -120.0 2.35 0.042 1903 -590.6 102.2 - - 1780 - - - - - - - - 14.43 14.59 14.58
7086 54.8 11.8 695 7087 done 0.97 - - 2837 - - - 1903 - 102.2 - - 1780 - - - - - - - - 14.81 14.81 14.81
7116 51.3 12.0 701 7117 done 0.97 - - 2837 - - - 1903 - 102.2 - - 1779 - - - - - - - - 14.81 14.81 14.81
7146 47.7 12.0 707 7147 done 0.97 - - 2837 - - - 1903 - 102.2 - - 1780 - - - - - - - - 14.81 14.81 14.81
7176 44.2 11.7 713 7177 done 0.97 - - 2836 - - - 1903 - 102.2 - - 1783 - - - - - - - - 14.80 14.81 14.81
7206 40.7 11.5 719 7207 done 0.97 - - 2837 - - - 1903 - 102.2 - - 1780 - - - - - - - - 14.81 14.82 14.82
7236 37.3 11.4 725 7244 roll 0.97 - - 2848 - 2.50 0.064 498 -562.0 102.2 - - 1780 - - - - - - - - 14.81 14.59 14.82
7283 31.7 11.4 734 7290 done 0.97 - - 2848 - 2.38 0.037 1899 588.7 102.2 - - 1780 - - - - - - - - 14.68 14.64 14.69
7319 27.8 11.1 741 7320 done 0.97 - - 2849 - - - 1899 - 102.6 - - 1780 - - - - - - - - 14.81 14.81 14.81
7349 24.4 11.1 747 7350 done 0.97 - - 2849 - - - 1899 - 103.2 - - 1779 - - - - - - - - 14.81 14.81 14.81
7379 21.0 11.5 753 7380 done 0.97 - - 2849 - - - 1900 - 103.2 - - 1779 - - - - - - - - 14.81 14.81 14.81
7409 17.8 10.4 759 7417 roll 0.98 - - 2849 - 2.47 0.065 3302 567.6 110.0 4.03 0.438 1746 -8.2 0.062 - - - - - - 14.81 14.61 14.40
7446 13.9 11.1 766 7453 done 0.98 0.05 0.373 2844 -100.0 2.40 0.044 1895 -586.2 110.4 - - 1746 - - - - - - - - 14.44 14.59 14.60
7482 10.0 11.5 773 7483 done 0.98 - - 2845 - - - 1895 - 110.4 - - 1747 - - - - - - - - 14.81 14.82 14.81
7512 6.3 12.4 779 7519 roll 0.98 - - 2854 - 2.47 0.062 495 -566.8 110.4 - - 1747 - - - - - - - - 14.82 14.60 14.82
7528 4.2 13.2 782 7535 done 0.98 - - 2854 - 2.40 0.037 1903 586.7 110.4 - - 1747 - - - - - - - - 14.67 14.63 14.68
7537 end climb: SURFACE_DEPTH_REACHED
7537 begin surface coast
7558 end surface coast: CONTROL_FINISHED_OK
7558 begin surface
SM 1.18 - - - - -6.84 6.20 0.083 238 38.4 - - 1905 - 190.10 48.45 0.315 1423 29.4 -0.011 - - - - - -