ROAMMIZ Dec18 * SG640 * Dive index * Mission links * Dive 178 * Raw log
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• Previous call tries 2 • 38.41 of 310.00 AH used of 24V (87.61% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -60.1 deg, depth 1.08 m • Intended pitch -15.5 deg, speed -8.333 cm/s
• VBD pumped to 220.03 (SM_CC=220)
• GPS1 time: 13 s, HDOP was 2.7 m
• GPS2 time: 21 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
10 - - - 101 VBD -0.64 - - 233 - - - 2080 - -146.0 -88.25 - 3182 - - - - - - - - 14.62 - 14.63
103 3.3 -6.9 18 121 roll -0.64 6.10 0.374 2172 317.9 2.80 2.267 3504 508.6 -146.0 -5.03 - 3315 -26.4 - - - - - - - 14.19 13.34 14.38
212 21.1 -15.6 40 216 done -0.64 0.08 0.385 2197 312.5 2.33 0.041 2113 -597.0 -146.0 - - 3316 - - - - - - - - 14.23 14.42 14.44
337 41.3 -16.0 65 340 roll -0.64 - - 2199 - 2.47 0.063 691 -575.7 -146.0 - - 3316 - - - - - - - - 14.64 14.42 14.64
356 44.6 -16.4 69 360 done -0.64 - - 2187 - 2.47 0.059 2106 572.9 -146.0 - - 3316 - - - - - - - - 14.47 14.40 14.49
481 63.4 -15.7 94 485 roll -0.64 - - 2176 - 2.47 0.083 3500 564.4 -146.0 - - 3316 - - - - - - - - 14.67 14.41 14.68
596 80.3 -14.0 117 600 done -0.64 0.03 0.452 2184 266.7 2.38 0.042 2092 -591.6 -146.0 - - 3315 - - - - - - - - 14.27 14.47 14.40
722 98.5 -15.2 142 725 roll -0.64 - - 2184 - 2.40 0.064 699 -580.4 -146.0 - - 3316 - - - - - - - - 14.71 14.48 14.71
786 107.7 -15.1 147 790 done -0.64 0.03 0.466 2191 233.3 2.42 0.056 2100 578.9 -146.0 - - 3316 - - - - - - - - 14.28 14.47 14.45
1101 152.6 -13.8 163 1105 roll -0.64 - - 2182 - 2.42 0.063 688 -583.5 -146.0 - - 3316 - - - - - - - - 14.77 14.52 14.76
1131 155.4 -13.7 164 1136 done -0.64 0.05 0.365 2188 120.0 2.45 0.057 2105 578.4 -146.0 - - 3316 - - - - - - - - 14.34 14.52 14.49
1441 198.8 -13.6 180 1442 done -0.64 - - 2189 - - - 2105 - -146.0 - - 3316 - - - - - - - - 14.79 14.80 14.79
1741 238.8 -13.3 195 1745 roll -0.64 - - 2189 - 2.45 0.063 698 -574.3 -146.0 - - 3316 - - - - - - - - 14.82 14.56 14.82
1761 241.6 -13.4 196 1765 done -0.64 - - 2179 - 2.40 0.056 2099 583.8 -146.0 - - 3316 - - - - - - - - 14.62 14.57 14.64
2081 285.2 -13.6 212 2085 roll -0.64 - - 2168 - 2.47 0.082 3499 566.8 -146.0 - - 3316 - - - - - - - - 14.83 14.55 14.83
2116 288.0 -13.6 213 2120 done -0.64 0.05 0.365 2185 340.0 2.33 0.042 2111 -595.7 -146.0 - - 3316 - - - - - - - - 14.38 14.59 14.54
2421 329.7 -12.8 229 2425 roll -0.64 - - 2185 - 2.45 0.063 699 -576.3 -146.0 - - 3316 - - - - - - - - 14.84 14.58 14.84
2506 339.9 -12.7 233 2510 done -0.64 0.05 0.365 2192 140.0 2.40 0.055 2102 584.6 -146.0 - - 3316 - - - - - - - - 14.39 14.57 14.55
2600 end dive: TARGET_DEPTH_EXCEEDED
2600 begin apogee
2604 351.8 -11.9 238 2735 done -0.15 0.45 0.270 2353 357.8 - - 2165 - - 127.97 1.584 2714 -4.7 0.192 - - - - - - 14.44 13.93 13.33
2736 end apogee: CONTROL_FINISHED_OK
2736 begin loiter
3021 348.0 3.3 259 3022 done -0.15 - - 2352 - - - 2165 - - - - 2707 - - - - - - - - 14.56 14.57 14.56
3321 337.4 3.6 274 3322 done -0.15 - - 2353 - - - 2165 - - - - 2706 - - - - - - - - 14.70 14.71 14.71
3621 326.8 3.4 289 3622 done -0.15 - - 2353 - - - 2165 - - - - 2705 - - - - - - - - 14.79 14.79 14.79
3921 316.5 3.4 304 3922 done -0.15 - - 2353 - - - 2165 - - - - 2705 - - - - - - - - 14.85 14.85 14.85
4221 306.8 3.1 319 4222 done -0.15 - - 2352 - - - 2165 - - - - 2705 - - - - - - - - 14.90 14.90 14.90
4521 297.3 3.2 334 4522 done -0.15 - - 2352 - - - 2165 - - - - 2705 - - - - - - - - 14.92 14.93 14.93
4821 287.8 3.2 349 4822 done -0.15 - - 2352 - - - 2165 - - - - 2705 - - - - - - - - 14.95 14.96 14.96
5121 278.1 3.3 364 5122 done -0.15 - - 2352 - - - 2165 - - - - 2705 - - - - - - - - 14.97 14.98 14.98
5421 268.2 3.4 379 5422 done -0.15 - - 2353 - - - 2165 - - - - 2705 - - - - - - - - 14.99 15.00 15.00
5721 258.6 3.1 394 5722 done -0.15 - - 2352 - - - 2165 - - - - 2705 - - - - - - - - 15.01 15.01 15.01
6021 249.6 3.0 409 6022 done -0.15 - - 2353 - - - 2165 - - - - 2706 - - - - - - - - 15.02 15.02 15.02
6320 end loiter: LOITER_COMPLETE
6320 begin climb
6321 240.3 - 424 6462 roll 0.64 0.60 0.180 2593 400.0 2.58 0.085 3547 535.7 146.0 131.00 1.414 2118 -4.5 0.140 - - - - - - 14.68 13.99 13.47
6486 229.5 8.5 432 6490 done 0.64 - - 2604 - 2.42 0.041 2159 -573.6 146.0 - - 2115 - - - - - - - - 14.12 14.09 14.16
6801 190.9 12.2 448 6806 roll 0.64 - - 2614 - 2.53 0.067 747 -558.1 146.0 - - 2105 - - - - - - - - 14.59 14.31 14.59
6836 188.5 12.2 449 6840 done 0.64 - - 2615 - 2.40 0.054 2128 575.4 146.0 - - 2104 - - - - - - - - 14.42 14.36 14.43
7141 148.0 12.5 465 7145 roll 0.64 - - 2616 - 2.55 0.083 3554 559.2 146.0 - - 2103 - - - - - - - - 14.69 14.40 14.70
7231 138.1 12.4 469 7235 done 0.64 0.05 0.341 2608 -160.0 2.38 0.043 2148 -590.8 146.0 - - 2103 - - - - - - - - 14.28 14.45 14.43
7541 103.5 11.2 485 7545 roll 0.64 - - 2618 - 2.47 0.067 741 -569.6 146.0 - - 2102 - - - - - - - - 14.78 14.47 14.76
7631 94.0 10.1 497 7636 done 0.64 - - 2618 - 2.42 0.054 2156 584.7 146.0 - - 2100 - - - - - - - - 14.57 14.50 14.57
7757 80.8 10.5 522 7760 roll 0.64 - - 2618 - 2.45 0.086 3559 572.7 146.0 - - 2100 - - - - - - - - 14.77 14.52 14.78
7811 74.7 10.5 533 7816 done 0.64 0.05 0.335 2609 -180.0 2.38 0.043 2148 -592.9 146.0 - - 2100 - - - - - - - - 14.35 14.52 14.50
7937 63.0 9.2 558 7941 roll 0.64 - - 2619 - 2.42 0.067 743 -580.6 146.0 - - 2099 - - - - - - - - 14.78 14.54 14.78
7966 60.3 9.0 564 7971 done 0.64 0.03 0.399 2608 -366.7 2.42 0.054 2156 583.9 146.0 - - 2099 - - - - - - - - 14.37 14.53 14.52
8091 49.0 9.1 589 8096 roll 0.64 - - 2608 - 2.47 0.084 3551 564.8 146.0 - - 2099 - - - - - - - - 14.79 14.49 14.79
8176 41.1 9.5 606 8181 done 0.64 - - 2617 - 2.35 0.043 2152 -595.3 146.0 - - 2099 - - - - - - - - 14.61 14.56 14.62
8302 29.8 9.1 631 8306 roll 0.64 - - 2628 - 2.42 0.067 744 -581.8 146.0 - - 2099 - - - - - - - - 14.80 14.55 14.80
8341 26.7 7.6 639 8360 done 0.66 0.05 0.308 2609 -380.0 2.42 0.057 2150 581.0 166.1 13.30 1.283 2038 -4.6 0.018 - - - - - - 14.38 14.52 13.91
8481 14.0 9.1 667 8485 roll 0.66 - - 2609 - 2.50 0.084 3551 560.4 166.1 - - 2036 - - - - - - - - 14.73 14.43 14.73
8536 8.5 10.2 678 8540 done 0.66 - - 2618 - 2.38 0.044 2143 -591.6 166.1 - - 2036 - - - - - - - - 14.56 14.50 14.57
8585 end climb: SURFACE_DEPTH_REACHED
8585 begin surface coast
8610 end surface coast: CONTROL_FINISHED_OK
8610 begin surface
SM 1.03 - - - - -6.45 5.47 0.062 272 49.7 0.05 0.212 2082 -60880.0 220.03 51.35 0.244 1823 35.5 -0.015 - - - - - -