ROAMMIZ 19Oct19 * SG640 * Dive index * Mission links * Dive 116 * Raw log
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• Previous call tries 1 • 40.70 of 310.00 AH used of 24V (86.87% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.5 deg, depth 1.45 m • Intended pitch -27.9 deg, speed -11.111 cm/s
• VBD pumped to 190.10 (SM_CC=190)
• GPS1 time: 32 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 - - 231 - - - 1904 - -58.4 -61.53 - 2439 - - - - - - - - 14.67 13.62 14.68
75 2.7 -2.8 11 88 roll -0.92 6.20 0.363 2197 317.1 2.40 0.054 3289 577.1 -58.4 - - 2442 - - - - - - - - 14.27 14.49 14.43
227 27.3 -17.6 41 234 done -0.92 0.08 0.343 2220 287.5 2.40 0.047 1887 -584.2 -58.4 - - 2442 - - - - - - - - 14.39 14.53 14.52
263 33.8 -17.6 48 271 roll -0.92 - - 2221 - 2.50 0.062 481 -562.4 -58.4 - - 2442 - - - - - - - - 14.72 14.49 14.73
305 41.4 -18.4 56 313 done -0.92 0.05 0.399 2225 80.0 2.40 0.041 1874 580.4 -58.4 - - 2442 - - - - - - - - 14.36 14.53 14.52
342 47.9 -18.2 63 348 roll -0.92 - - 2214 - 2.47 0.066 3275 567.2 -58.4 - - 2442 - - - - - - - - 14.73 14.53 14.73
367 52.7 -18.3 68 376 done -0.92 0.03 0.457 2218 133.3 2.40 0.047 1881 -580.8 -58.4 - - 2442 - - - - - - - - 14.38 14.57 14.54
404 59.7 -18.8 75 411 roll -0.92 - - 2217 - 2.50 0.064 478 -561.2 -58.4 - - 2442 - - - - - - - - 14.76 14.52 14.76
505 80.2 -21.1 95 512 done -0.92 0.05 0.406 2221 80.0 2.40 0.041 1875 582.1 -58.4 - - 2442 - - - - - - - - 14.40 14.58 14.56
541 87.2 -19.3 102 542 done -0.92 - - 2221 - - - 1874 - -58.4 - - 2442 - - - - - - - - 14.77 14.77 14.77
571 92.7 -18.4 108 572 done -0.92 - - 2221 - - - 1875 - -58.4 - - 2442 - - - - - - - - 14.77 14.77 14.77
601 98.2 -18.3 114 608 roll -0.92 - - 2220 - 2.47 0.061 476 -566.4 -58.4 - - 2441 - - - - - - - - 14.77 14.57 14.78
632 104.1 -18.8 118 639 done -0.92 0.05 0.406 2224 80.0 2.40 0.042 1872 581.7 -58.4 - - 2442 - - - - - - - - 14.42 14.59 14.57
703 117.0 -17.7 125 704 done -0.92 - - 2224 - - - 1873 - -58.4 - - 2442 - - - - - - - - 14.79 14.79 14.79
763 127.4 -17.5 131 764 done -0.92 - - 2224 - - - 1872 - -58.4 - - 2442 - - - - - - - - 14.80 14.81 14.80
823 137.9 -17.4 137 829 roll -0.92 - - 2223 - 2.45 0.062 465 -574.3 -58.4 - - 2442 - - - - - - - - 14.81 14.57 14.81
873 146.7 -18.2 142 879 done -0.92 0.03 0.477 2218 -166.7 2.42 0.041 1880 584.7 -58.4 - - 2442 - - - - - - - - 14.40 14.58 14.56
943 158.6 -17.1 149 944 done -0.92 - - 2218 - - - 1881 - -58.4 - - 2442 - - - - - - - - 14.82 14.83 14.82
1003 168.8 -17.1 155 1004 done -0.92 - - 2218 - - - 1881 - -58.4 - - 2442 - - - - - - - - 14.83 14.83 14.83
1063 178.8 -16.6 161 1064 done -0.92 - - 2218 - - - 1881 - -58.4 - - 2442 - - - - - - - - 14.84 14.83 14.84
1123 188.7 -16.5 167 1129 roll -0.92 - - 2218 - 2.47 0.062 478 -568.0 -58.4 - - 2441 - - - - - - - - 14.84 14.59 14.84
1193 201.0 -17.3 174 1199 done -0.92 0.05 0.395 2220 - 2.40 0.041 1881 584.6 -58.4 - - 2442 - - - - - - - - 14.43 14.60 14.59
1263 211.5 -14.7 181 1269 roll -0.92 - - 2206 - 2.45 0.066 3283 572.2 -58.4 - - 2442 - - - - - - - - 14.85 14.59 14.85
1313 219.5 -16.1 186 1320 done -0.92 0.05 0.418 2217 220.0 2.40 0.046 1870 -588.8 -58.4 - - 2441 - - - - - - - - 14.43 14.61 14.59
1384 230.0 -14.5 193 1390 roll -0.92 - - 2215 - 2.45 0.064 481 -566.9 -58.4 - - 2441 - - - - - - - - 14.84 14.61 14.85
1424 236.1 -15.4 197 1431 done -0.92 0.05 0.383 2219 80.0 2.40 0.044 1880 582.9 -58.4 - - 2442 - - - - - - - - 14.47 14.63 14.62
1494 246.2 -14.5 204 1501 roll -0.92 - - 2206 - 2.45 0.067 3281 571.8 -58.4 - - 2442 - - - - - - - - 14.85 14.62 14.85
1560 255.4 -15.4 210 1567 done -0.92 0.05 0.394 2215 180.0 2.38 0.047 1882 -587.8 -58.4 - - 2442 - - - - - - - - 14.48 14.64 14.63
1625 266.2 -15.1 217 1626 done -0.92 - - 2217 - - - 1883 - -58.4 - - 2442 - - - - - - - - 14.84 14.85 14.85
1685 275.4 -15.6 223 1690 roll -0.92 - - 2206 - 2.45 0.063 3281 570.6 -58.4 - - 2442 - - - - - - - - 14.84 14.64 14.85
1725 281.8 -16.0 227 1731 done -0.92 0.05 0.397 2213 140.0 2.38 0.046 1885 -586.6 -58.4 - - 2441 - - - - - - - - 14.48 14.64 14.63
1795 292.2 -14.7 234 1801 roll -0.92 0.05 0.490 2226 260.0 2.50 0.064 475 -564.0 -58.4 - - 2440 - - - - - - - - 14.50 14.64 14.71
1875 303.4 -14.8 241 1880 done -0.92 - - 2216 - 2.40 0.042 1879 585.0 -58.4 - - 2440 - - - - - - - - 14.69 14.64 14.70
2005 321.8 -13.4 250 2011 roll -0.92 - - 2213 - 2.47 0.061 478 -567.2 -58.4 - - 2440 - - - - - - - - 14.86 14.65 14.86
2085 332.4 -14.3 255 2092 done -0.92 0.05 0.380 2218 100.0 2.40 0.040 1884 585.8 -58.4 - - 2440 - - - - - - - - 14.50 14.64 14.65
2215 349.5 -12.5 264 2221 roll -0.92 - - 2217 - 2.47 0.062 478 -569.2 -58.4 - - 2440 - - - - - - - - 14.85 14.66 14.85
2260 355.8 -13.6 267 2266 done -0.92 0.05 0.389 2221 80.0 2.40 0.041 1883 585.4 -58.4 - - 2440 - - - - - - - - 14.50 14.66 14.65
2396 373.1 -12.7 276 2401 roll -0.92 - - 2207 - 2.40 0.064 3285 584.2 -58.4 - - 2440 - - - - - - - - 14.86 14.66 14.86
2431 377.0 -12.8 278 2436 done -0.92 0.05 0.409 2221 280.0 2.38 0.044 1882 -589.5 -58.4 - - 2440 - - - - - - - - 14.50 14.67 14.64
2560 394.1 -13.1 287 2566 roll -0.92 - - 2219 - 2.47 0.063 478 -568.4 -58.4 - - 2440 - - - - - - - - 14.86 14.66 14.87
2625 402.5 -14.1 291 2632 done -0.92 0.05 0.384 2224 100.0 2.38 0.041 1873 586.1 -58.4 - - 2440 - - - - - - - - 14.50 14.67 14.66
2756 419.4 -12.2 300 2762 roll -0.92 - - 2213 - 2.45 0.064 3281 574.7 -58.4 - - 2440 - - - - - - - - 14.87 14.66 14.87
2801 424.9 -12.2 303 2807 done -0.92 0.03 0.474 2217 133.3 2.38 0.044 1874 -591.2 -58.4 - - 2440 - - - - - - - - 14.50 14.68 14.66
2936 440.9 -11.7 312 2942 roll -0.92 - - 2217 - 2.45 0.063 482 -568.2 -58.4 - - 2440 - - - - - - - - 14.86 14.66 14.87
3021 450.3 -12.6 317 3028 done -0.92 0.05 0.386 2221 80.0 2.38 0.041 1875 585.3 -58.4 - - 2440 - - - - - - - - 14.52 14.68 14.66
3146 466.0 -11.5 326 3147 done -0.92 - - 2221 - - - 1875 - -58.4 - - 2440 - - - - - - - - 14.87 14.87 14.88
3266 479.5 -11.2 334 3267 done -0.92 - - 2221 - - - 1876 - -58.4 - - 2440 - - - - - - - - 14.88 14.88 14.88
3386 492.4 -10.7 342 3393 roll -0.92 - - 2210 - 2.45 0.063 3282 573.9 -58.4 - - 2440 - - - - - - - - 14.88 14.68 14.88
3412 494.1 -10.7 343 3419 done -0.92 0.05 0.398 2224 280.0 2.38 0.044 1876 -590.8 -58.4 - - 2441 - - - - - - - - 14.51 14.69 14.67
3461 end dive: TARGET_DEPTH_EXCEEDED
3461 begin apogee
3464 500.6 -10.8 347 3513 done -0.15 0.70 0.269 2471 352.9 - - 1874 - - 46.55 2.141 2198 -5.2 0.228 - - - - - - 14.57 14.21 13.43
3514 end apogee: CONTROL_FINISHED_OK
3514 begin climb
3515 502.5 - 350 3568 roll 0.92 0.90 0.179 2809 375.6 2.65 0.060 3302 538.9 58.4 47.00 2.159 1958 -5.1 0.222 - - - - - - 14.15 13.90 13.16
3607 495.1 9.6 356 3630 done 0.94 - - 2820 - 2.47 0.041 1896 -569.2 73.6 14.45 2.044 1896 -4.3 0.194 - - - - - - 14.16 14.12 13.24
3759 476.0 13.5 366 3760 done 0.94 - - 2820 - - - 1895 - 73.6 - - 1897 - - - - - - - - 14.46 14.47 14.46
3879 459.6 13.6 374 3880 done 0.94 - - 2820 - - - 1896 - 73.6 - - 1897 - - - - - - - - 14.57 14.57 14.57
3999 442.8 14.1 382 4004 roll 0.94 - - 2820 - 2.45 0.060 3303 574.3 73.6 - - 1897 - - - - - - - - 14.64 14.40 14.64
4034 438.4 14.3 384 4039 done 0.94 - - 2830 - 2.40 0.041 1907 -581.7 73.6 - - 1897 - - - - - - - - 14.47 14.43 14.48
4163 419.7 13.8 393 4164 done 0.94 - - 2829 - - - 1906 - 73.6 - - 1896 - - - - - - - - 14.71 14.71 14.71
4283 403.2 13.5 401 4284 done 0.94 - - 2830 - - - 1907 - 73.6 - - 1897 - - - - - - - - 14.73 14.73 14.74
4403 387.5 12.9 409 4404 done 0.94 - - 2830 - - - 1906 - 73.6 - - 1896 - - - - - - - - 14.76 14.77 14.76
4523 372.3 12.6 417 4530 roll 0.94 - - 2830 - 2.42 0.059 3293 573.1 73.6 - - 1897 - - - - - - - - 14.78 14.54 14.79
4574 366.2 13.4 420 4580 done 0.94 0.05 0.371 2826 -80.0 2.38 0.041 1895 -587.4 73.6 - - 1897 - - - - - - - - 14.42 14.57 14.56
4704 349.6 11.8 429 4710 roll 0.94 - - 2826 - 2.45 0.058 3298 572.7 73.6 - - 1897 - - - - - - - - 14.81 14.58 14.81
4754 344.1 11.9 432 4760 done 0.94 - - 2836 - 2.35 0.039 1902 -594.0 73.6 - - 1897 - - - - - - - - 14.65 14.59 14.66
4884 327.9 12.0 441 4885 done 0.94 - - 2836 - - - 1902 - 73.6 - - 1897 - - - - - - - - 14.83 14.83 14.83
5004 314.4 10.9 449 5011 roll 0.94 - - 2847 - 2.47 0.061 498 -568.4 75.2 - - 1897 - - - - - - - - 14.85 14.62 14.85
5050 309.0 11.8 452 5055 done 0.94 0.05 0.361 2832 -300.0 2.38 0.034 1906 591.6 75.2 - - 1896 - - - - - - - - 14.48 14.63 14.62
5180 295.6 9.9 462 5196 roll 0.95 - - 2832 - 2.40 0.059 3295 578.8 87.7 12.40 1.959 1837 -4.8 0.134 - - - - - - 14.85 14.40 13.74
5220 290.9 11.3 466 5226 done 0.95 - - 2842 - 2.38 0.041 1903 -584.9 87.7 - - 1837 - - - - - - - - 14.57 14.52 14.57
5290 282.3 12.5 473 5291 done 0.95 - - 2842 - - - 1902 - 87.7 - - 1838 - - - - - - - - 14.75 14.74 14.75
5350 274.8 12.4 479 5356 roll 0.95 - - 2853 - 2.50 0.059 492 -564.0 87.7 - - 1838 - - - - - - - - 14.76 14.55 14.76
5375 272.3 12.6 481 5384 done 0.95 0.05 0.360 2838 -300.0 2.38 0.034 1897 590.3 87.7 - - 1838 - - - - - - - - 14.41 14.57 14.54
5440 263.4 12.6 488 5441 done 0.95 - - 2838 - - - 1897 - 87.7 - - 1838 - - - - - - - - 14.78 14.78 14.78
5500 255.9 12.4 494 5501 done 0.95 - - 2838 - - - 1897 - 87.7 - - 1838 - - - - - - - - 14.79 14.80 14.79
5560 248.7 11.9 500 5566 roll 0.95 - - 2837 - 2.42 0.060 3286 574.0 87.7 - - 1837 - - - - - - - - 14.81 14.59 14.81
5615 242.1 13.1 505 5622 done 0.95 0.05 0.378 2831 -120.0 2.35 0.039 1898 -590.6 87.7 - - 1838 - - - - - - - - 14.44 14.61 14.59
5680 233.0 13.0 512 5686 roll 0.95 - - 2831 - 2.42 0.058 3286 573.6 87.7 - - 1838 - - - - - - - - 14.81 14.60 14.82
5720 227.5 13.8 516 5726 done 0.95 - - 2842 - 2.35 0.039 1897 -591.1 87.7 - - 1838 - - - - - - - - 14.66 14.62 14.67
5790 218.5 12.5 523 5791 done 0.95 - - 2842 - - - 1897 - 87.7 - - 1838 - - - - - - - - 14.83 14.83 14.83
5850 211.3 12.0 529 5856 roll 0.95 - - 2842 - 2.42 0.058 3290 575.6 87.7 - - 1838 - - - - - - - - 14.83 14.61 14.83
5890 206.2 12.9 533 5896 done 0.95 0.05 0.376 2838 -80.0 2.35 0.041 1904 -589.8 87.7 - - 1838 - - - - - - - - 14.47 14.63 14.61
5960 197.9 11.5 540 5966 roll 0.95 - - 2849 - 2.47 0.060 498 -569.2 87.7 - - 1838 - - - - - - - - 14.85 14.63 14.84
6015 191.9 12.0 545 6022 done 0.95 0.05 0.366 2833 -320.0 2.35 0.034 1902 597.4 87.7 - - 1838 - - - - - - - - 14.45 14.64 14.62
6080 184.2 10.4 552 6093 roll 0.96 - - 2834 - 2.40 0.059 3300 582.5 94.4 6.53 1.728 1811 -4.1 0.082 - - - - - - 14.84 14.45 13.78
6162 175.2 10.9 560 6167 done 0.97 - - 2843 - 2.38 0.040 1892 -591.6 96.7 - - 1812 - - - - - - - - 14.65 14.61 14.66
6232 167.9 10.5 567 6244 roll 0.97 - - 2855 - 2.47 0.060 500 -563.6 102.8 7.85 1.751 1775 -4.7 0.084 - - - - - - 14.80 14.52 13.77
6273 163.3 10.6 571 6286 done 0.98 0.05 0.362 2839 -320.0 2.38 0.034 1901 588.7 107.4 5.10 1.496 1759 -3.1 0.064 - - - - - - 14.36 14.51 13.69
6344 155.1 11.8 578 6344 done 0.98 - - 2839 - - - 1902 - 107.4 - - 1762 - - - - - - - - 14.71 14.72 14.71
6403 147.8 12.3 584 6409 roll 0.98 - - 2839 - 2.45 0.063 3293 567.8 107.4 - - 1762 - - - - - - - - 14.73 14.49 14.73
6444 142.6 12.8 588 6449 done 0.98 - - 2848 - 2.35 0.041 1906 -590.2 107.4 - - 1763 - - - - - - - - 14.57 14.52 14.58
6513 133.8 12.8 595 6514 done 0.98 - - 2848 - - - 1906 - 107.4 - - 1763 - - - - - - - - 14.77 14.77 14.77
6573 126.3 12.4 601 6574 done 0.98 - - 2849 - - - 1906 - 107.4 - - 1763 - - - - - - - - 14.78 14.78 14.78
6633 119.1 12.0 607 6639 roll 0.98 - - 2849 - 2.42 0.062 3293 573.1 107.4 - - 1763 - - - - - - - - 14.78 14.54 14.79
6673 114.1 12.0 611 6680 done 0.98 0.05 0.374 2845 -80.0 2.38 0.041 1896 -587.0 107.4 - - 1763 - - - - - - - - 14.42 14.59 14.56
6743 106.0 11.6 618 6749 roll 0.98 - - 2852 - 2.47 0.060 491 -568.8 107.4 - - 1763 - - - - - - - - 14.81 14.57 14.81
6794 99.9 11.7 623 6801 done 0.98 0.05 0.358 2838 -280.0 2.40 0.036 1909 590.8 107.4 - - 1763 - - - - - - - - 14.43 14.58 14.57
6830 95.5 11.4 630 6837 roll 0.98 - - 2838 - 2.42 0.062 3290 570.7 107.4 - - 1763 - - - - - - - - 14.81 14.58 14.80
6861 91.5 11.7 636 6868 done 0.98 - - 2848 - 2.35 0.040 1899 -591.9 107.4 - - 1763 - - - - - - - - 14.66 14.63 14.69
6897 87.3 11.8 643 6898 done 0.98 - - 2848 - - - 1898 - 107.4 - - 1763 - - - - - - - - 14.80 14.80 14.80
6927 83.7 12.1 649 6928 done 0.98 - - 2849 - - - 1898 - 107.4 - - 1763 - - - - - - - - 14.81 14.81 14.81
6957 80.1 11.9 655 6958 done 0.98 - - 2848 - - - 1898 - 107.4 - - 1764 - - - - - - - - 14.81 14.81 14.81
6987 76.6 11.7 661 6988 done 0.98 - - 2848 - - - 1897 - 107.4 - - 1763 - - - - - - - - 14.81 14.81 14.81
7018 73.1 11.7 667 7018 done 0.98 - - 2848 - - - 1898 - 107.4 - - 1763 - - - - - - - - 14.81 14.81 14.81
7047 69.5 11.9 673 7048 done 0.98 - - 2848 - - - 1898 - 107.4 - - 1763 - - - - - - - - 14.81 14.81 14.81
7077 65.9 12.0 679 7078 done 0.98 - - 2848 - - - 1898 - 107.4 - - 1764 - - - - - - - - 14.81 14.81 14.81
7107 62.3 12.0 685 7108 done 0.98 - - 2848 - - - 1898 - 107.4 - - 1763 - - - - - - - - 14.81 14.81 14.81
7137 58.6 12.4 691 7138 done 0.98 - - 2848 - - - 1898 - 107.4 - - 1763 - - - - - - - - 14.81 14.81 14.81
7167 54.8 12.7 697 7175 roll 0.98 - - 2848 - 2.42 0.063 3287 574.0 107.4 - - 1763 - - - - - - - - 14.81 14.62 14.81
7208 49.6 13.1 705 7216 done 0.98 0.05 0.373 2844 -80.0 2.35 0.041 1898 -591.1 107.4 - - 1763 - - - - - - - - 14.45 14.60 14.59
7245 45.0 12.3 712 7246 done 0.98 - - 2844 - - - 1899 - 107.4 - - 1763 - - - - - - - - 14.83 14.83 14.83
7275 41.2 11.6 718 7276 done 0.98 - - 2843 - - - 1899 - 107.4 - - 1763 - - - - - - - - 14.83 14.83 14.83
7305 37.7 12.1 724 7306 done 0.98 - - 2843 - - - 1899 - 107.4 - - 1763 - - - - - - - - 14.83 14.83 14.84
7335 34.0 12.2 730 7336 done 0.98 - - 2844 - - - 1899 - 107.4 - - 1763 - - - - - - - - 14.83 14.83 14.83
7365 30.3 12.7 736 7366 done 0.98 - - 2844 - - - 1899 - 107.4 - - 1763 - - - - - - - - 14.83 14.83 14.83
7395 26.4 12.8 742 7396 done 0.98 - - 2844 - - - 1899 - 107.4 - - 1764 - - - - - - - - 14.83 14.83 14.83
7425 22.5 13.3 748 7426 done 0.98 - - 2844 - - - 1899 - 107.4 - - 1763 - - - - - - - - 14.86 14.83 14.83
7455 18.4 13.1 754 7463 roll 0.98 - - 2844 - 2.42 0.061 3284 572.3 107.4 - - 1763 - - - - - - - - 14.83 14.59 14.83
7497 12.7 13.3 762 7505 done 0.98 - - 2854 - 2.35 0.041 1899 -589.4 107.4 - - 1764 - - - - - - - - 14.68 14.64 14.71
7534 8.7 10.9 769 7540 done 0.98 - - 2854 - - - 1897 - 109.3 1.42 0.436 1749 -10.6 0.039 - - - - - - 14.83 14.62 14.45
7569 4.9 11.3 776 7570 done 0.98 - - 2854 - - - 1897 - 109.3 - - 1751 - - - - - - - - 14.83 14.83 14.83
7588 end climb: SURFACE_DEPTH_REACHED
7588 begin surface coast
7608 end surface coast: CONTROL_FINISHED_OK
7608 begin surface
SM 1.39 - - - - -6.85 6.10 0.067 228 37.4 - - 1897 - 190.10 49.75 0.315 1425 28.6 -0.013 - - - - - -