ROAMMIZ Jan22 * SG640 * Dive index * Mission links * Dive 21 * Raw log
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• Previous call tries 2 • 152.87 of 310.00 AH used of 24V (50.69% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.9 deg, depth 1.34 m • Intended pitch -18.3 deg, speed -10.000 cm/s
• VBD pumped to 190.10 (SM_CC=190)
• GPS1 time: 44 s
• GPS2 time: 7 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
7 - - - 72 VBD -0.72 - - 233 - - - 1894 - -146.0 -62.33 - 3159 - - - - - - - - 14.73 - 14.74
74 3.6 -5.7 9 98 roll -0.72 5.95 0.364 2188 328.6 2.88 2.299 416 -513.2 -146.0 -11.50 - 3528 -32.1 - - - - - - - 14.38 13.76 14.60
130 15.6 -16.5 18 139 done -0.72 - - 2177 - 2.50 0.057 1836 568.0 -146.0 - - 3529 - - - - - - - - 14.54 14.49 14.57
183 24.0 -17.1 27 190 roll -0.72 - - 2166 - 2.58 0.093 3285 561.6 -146.0 - - 3529 - - - - - - - - 14.71 14.50 14.72
228 31.8 -16.5 35 235 done -0.72 - - 2166 - 2.47 0.074 1863 -575.7 -146.0 - - 3530 - - - - - - - - 14.63 14.52 14.64
358 56.3 -19.0 60 366 roll -0.72 - - 2166 - 2.53 0.098 461 -554.2 -146.0 - - 3530 - - - - - - - - 14.75 14.53 14.76
424 68.0 -15.9 72 432 done -0.72 - - 2156 - 2.45 0.057 1879 578.8 -146.0 - - 3530 - - - - - - - - 14.66 14.56 14.67
741 126.2 -18.5 98 745 roll -0.72 - - 2145 - 2.42 0.090 3279 578.5 -146.0 - - 3530 - - - - - - - - 14.84 14.62 14.84
770 130.2 -18.4 99 775 done -0.72 0.08 0.356 2171 325.0 2.45 0.074 1850 -583.3 -146.0 - - 3530 - - - - - - - - 14.56 14.63 14.71
1083 185.6 -17.3 115 1089 roll -0.72 - - 2171 - 2.50 0.103 456 -557.6 -146.0 - - 3530 - - - - - - - - 14.90 14.67 14.90
1144 195.6 -16.5 118 1150 done -0.72 - - 2162 - 2.42 0.057 1867 583.1 -146.0 - - 3531 - - - - - - - - 14.75 14.69 14.76
1463 251.1 -17.4 134 1469 roll -0.72 - - 2151 - 2.42 0.088 3279 583.5 -146.0 - - 3531 - - - - - - - - 14.94 14.71 14.94
1550 263.6 -15.7 138 1556 done -0.72 0.05 0.404 2169 360.0 2.42 0.073 1876 -579.8 -146.0 - - 3530 - - - - - - - - 14.65 14.72 14.81
1864 314.7 -16.0 154 1870 roll -0.72 - - 2168 - 2.55 0.101 452 -558.4 -146.0 - - 3530 - - - - - - - - 14.97 14.74 14.97
1946 326.9 -15.0 158 1952 done -0.72 - - 2159 - 2.40 0.057 1878 594.2 -146.0 - - 3531 - - - - - - - - 14.87 14.77 14.88
2266 378.9 -16.4 174 2270 roll -0.72 - - 2148 - 2.40 0.089 3278 583.3 -146.0 - - 3530 - - - - - - - - 14.99 14.76 15.00
2320 385.5 -16.2 176 2328 done -0.72 - - 2148 - 2.42 0.076 1875 -579.8 -146.0 - - 3530 - - - - - - - - 14.81 14.75 14.83
2628 439.1 -17.0 192 2636 roll -0.72 0.08 0.377 2172 300.0 2.53 0.098 450 -563.2 -146.0 - - 3530 - - - - - - - - 14.71 14.78 14.85
2701 448.2 -15.6 195 2709 done -0.72 - - 2163 - 2.42 0.056 1870 586.8 -146.0 - - 3530 - - - - - - - - 14.81 14.77 14.84
3008 497.5 -15.9 211 3014 roll -0.72 - - 2152 - 2.40 0.088 3277 586.2 -146.0 - - 3530 - - - - - - - - 15.01 14.79 15.02
3068 506.3 -15.1 214 3075 done -0.72 0.05 0.404 2170 360.0 2.40 0.079 1866 -587.9 -146.0 - - 3530 - - - - - - - - 14.71 14.79 14.87
3389 553.5 -14.8 230 3395 roll -0.72 - - 2170 - 2.50 0.103 459 -562.8 -146.0 - - 3530 - - - - - - - - 15.02 14.79 15.02
3463 562.3 -14.4 233 3472 done -0.72 - - 2161 - 2.40 0.056 1867 586.7 -146.0 - - 3530 - - - - - - - - 14.83 14.79 14.86
3771 610.3 -15.4 249 3775 roll -0.72 - - 2151 - 2.42 0.088 3289 587.6 -146.0 - - 3530 - - - - - - - - 15.03 14.81 15.03
3845 619.1 -14.5 252 3854 done -0.72 0.05 0.301 2171 400.0 2.45 0.077 1873 -578.0 -146.0 - - 3530 - - - - - - - - 14.71 14.78 14.81
4153 664.7 -14.6 268 4160 roll -0.72 - - 2171 - 2.53 0.106 455 -560.5 -146.0 - - 3530 - - - - - - - - 15.03 14.79 15.04
4233 675.9 -14.0 272 4240 done -0.72 - - 2162 - 2.38 0.055 1877 597.5 -146.0 - - 3531 - - - - - - - - 14.92 14.83 14.94
4552 724.4 -15.2 288 4557 roll -0.72 - - 2151 - 2.40 0.089 3282 585.4 -146.0 - - 3531 - - - - - - - - 15.04 14.81 15.04
4601 729.7 -15.0 290 4611 done -0.72 0.05 0.401 2169 360.0 2.40 0.074 1860 -592.5 -146.0 - - 3531 - - - - - - - - 14.73 14.82 14.90
4908 775.1 -14.5 306 4913 roll -0.72 - - 2169 - 2.50 0.105 452 -563.2 -146.0 - - 3531 - - - - - - - - 15.05 14.83 15.05
4993 786.1 -13.5 310 4997 done -0.72 - - 2160 - 2.38 0.056 1878 599.2 -146.0 - - 3531 - - - - - - - - 14.95 14.85 14.96
5305 832.3 -14.9 326 5309 roll -0.72 - - 2149 - 2.38 0.090 3276 587.4 -146.0 - - 3532 - - - - - - - - 15.07 14.83 15.07
5343 837.4 -14.7 328 5348 done -0.72 0.05 0.309 2170 420.0 2.42 0.077 1865 -583.1 -146.0 - - 3532 - - - - - - - - 14.76 14.84 14.86
5662 881.9 -13.9 344 5666 roll -0.72 - - 2169 - 2.50 0.106 459 -562.4 -146.0 - - 3532 - - - - - - - - 15.07 14.84 15.07
5747 892.5 -12.8 348 5752 done -0.72 - - 2160 - 2.35 0.056 1871 600.9 -146.0 - - 3532 - - - - - - - - 14.97 14.86 14.98
6059 938.2 -14.5 364 6063 roll -0.72 - - 2150 - 2.40 0.090 3280 587.1 -146.0 - - 3532 - - - - - - - - 15.08 14.85 15.08
6097 943.2 -14.2 366 6103 done -0.72 0.05 0.304 2170 400.0 2.42 0.077 1871 -582.2 -146.0 - - 3532 - - - - - - - - 14.78 14.85 14.88
6415 984.9 -13.1 382 6419 roll -0.72 - - 2170 - 2.53 0.108 452 -560.9 -146.0 - - 3532 - - - - - - - - 15.08 14.85 15.09
6455 end dive: TARGET_DEPTH_EXCEEDED
6455 begin apogee
6460 990.4 -13.5 384 6583 done -0.15 0.50 0.222 2350 360.0 - - 1803 - - 118.85 2.739 2929 -5.1 0.353 - - - - - - 14.80 13.81 12.94
6584 end apogee: CONTROL_FINISHED_OK
6584 begin climb
6585 995.1 - 390 6709 done 0.72 0.75 0.148 2632 376.0 - - 1804 - 146.0 120.28 2.626 2332 -5.0 0.362 - - - - - - 13.80 13.62 12.76
6996 942.5 15.7 411 7000 roll 0.72 - - 2643 - 2.65 0.104 382 -536.6 146.0 - - 2337 - - - - - - - - 14.48 14.26 14.48
7052 933.5 15.9 414 7056 done 0.72 - - 2643 - 2.45 0.049 1802 579.6 146.0 - - 2338 - - - - - - - - 14.42 14.33 14.44
7368 882.0 16.3 430 7372 roll 0.72 - - 2643 - 2.45 0.081 3206 573.1 146.0 - - 2338 - - - - - - - - 14.70 14.48 14.70
7422 875.1 16.5 432 7430 done 0.72 0.08 0.371 2631 -150.0 2.47 0.081 1796 -570.9 146.0 - - 2338 - - - - - - - - 14.42 14.51 14.58
7729 826.5 15.0 448 7733 roll 0.72 - - 2640 - 2.55 0.098 380 -555.3 146.0 - - 2338 - - - - - - - - 14.81 14.60 14.81
7813 815.0 15.0 452 7818 done 0.72 - - 2640 - 2.42 0.047 1821 595.5 146.0 - - 2338 - - - - - - - - 14.73 14.64 14.74
8126 766.3 15.3 468 8132 roll 0.72 - - 2641 - 2.38 0.080 3207 582.4 146.0 - - 2338 - - - - - - - - 14.90 14.68 14.90
8166 760.1 15.4 470 8172 done 0.72 0.08 0.376 2628 -162.5 2.42 0.078 1796 -583.1 146.0 - - 2338 - - - - - - - - 14.59 14.68 14.76
8487 713.6 14.6 486 8491 roll 0.72 - - 2637 - 2.53 0.096 378 -560.5 146.0 - - 2338 - - - - - - - - 14.93 14.72 14.94
8576 701.5 14.8 490 8581 done 0.72 - - 2637 - 2.38 0.047 1811 602.1 146.0 - - 2338 - - - - - - - - 14.85 14.76 14.86
8884 654.4 14.9 505 8890 roll 0.72 - - 2637 - 2.38 0.080 3205 585.7 146.0 - - 2338 - - - - - - - - 14.97 14.75 14.97
8937 648.3 15.0 507 8945 done 0.72 0.05 0.363 2631 -120.0 2.45 0.076 1794 -575.9 146.0 - - 2338 - - - - - - - - 14.64 14.75 14.85
9244 602.8 14.3 523 9250 roll 0.72 - - 2640 - 2.47 0.096 385 -570.4 146.0 - - 2339 - - - - - - - - 14.99 14.77 14.99
9328 590.8 14.8 527 9333 done 0.72 - - 2640 - 2.38 0.047 1789 589.9 146.0 - - 2339 - - - - - - - - 14.83 14.78 14.85
9646 542.6 15.2 543 9651 roll 0.72 - - 2640 - 2.40 0.079 3205 590.0 146.0 - - 2339 - - - - - - - - 15.00 14.78 15.00
9696 536.1 15.3 545 9701 done 0.72 0.08 0.379 2627 -162.5 2.38 0.074 1800 -590.3 146.0 - - 2339 - - - - - - - - 14.71 14.79 14.86
10009 490.9 14.1 561 10015 roll 0.72 - - 2636 - 2.50 0.095 384 -566.4 146.0 - - 2339 - - - - - - - - 15.01 14.80 15.02
10081 482.3 14.3 564 10089 done 0.72 - - 2637 - 2.38 0.046 1791 591.2 146.0 - - 2339 - - - - - - - - 14.84 14.78 14.85
10389 435.5 14.7 580 10395 roll 0.72 - - 2637 - 2.40 0.080 3205 589.2 146.0 - - 2339 - - - - - - - - 15.02 14.80 15.02
10449 426.5 15.1 583 10455 done 0.72 0.05 0.438 2632 -100.0 2.38 0.073 1801 -589.9 146.0 - - 2339 - - - - - - - - 14.71 14.81 14.88
10769 380.1 14.4 599 10775 roll 0.72 - - 2641 - 2.47 0.094 387 -572.5 146.0 - - 2339 - - - - - - - - 15.02 14.81 15.03
10851 368.3 14.6 603 10857 done 0.72 - - 2641 - 2.35 0.047 1808 604.7 146.0 - - 2339 - - - - - - - - 14.92 14.82 14.94
11171 321.8 14.5 619 11175 roll 0.72 - - 2641 - 2.35 0.080 3201 592.8 146.0 - - 2339 - - - - - - - - 15.04 14.81 15.04
11225 315.6 14.7 621 11234 done 0.72 0.05 0.353 2634 -140.0 2.40 0.073 1804 -582.1 146.0 - - 2339 - - - - - - - - 14.70 14.79 14.82
11533 271.1 13.9 637 11539 roll 0.72 - - 2644 - 2.50 0.094 378 -570.4 146.0 - - 2339 - - - - - - - - 15.04 14.82 15.04
11625 260.0 13.9 641 11634 done 0.72 - - 2644 - 2.40 0.047 1805 594.6 146.0 - - 2339 - - - - - - - - 14.85 14.81 14.88
11933 214.6 14.3 657 11939 roll 0.72 - - 2644 - 2.35 0.080 3198 592.8 146.0 - - 2339 - - - - - - - - 15.04 14.82 15.04
11993 206.0 14.4 660 12000 done 0.72 0.08 0.370 2629 -187.5 2.38 0.073 1791 -591.2 146.0 - - 2339 - - - - - - - - 14.74 14.83 14.90
12314 165.9 12.2 676 12315 done 0.72 - - 2630 - - - 1791 - 146.0 - - 2339 - - - - - - - - 15.04 15.04 15.04
12613 129.0 12.2 691 12617 roll 0.72 - - 2639 - 2.47 0.094 383 -570.0 146.0 - - 2339 - - - - - - - - 15.04 14.83 15.05
12696 118.8 12.4 695 12700 done 0.72 - - 2640 - 2.35 0.048 1801 603.4 146.0 - - 2340 - - - - - - - - 14.95 14.85 14.95
13018 78.2 12.9 711 13026 roll 0.72 - - 2639 - 2.42 0.079 3201 578.5 146.0 - - 2340 - - - - - - - - 15.05 14.80 15.05
13114 66.9 10.8 729 13122 done 0.72 0.08 0.378 2626 -162.5 2.38 0.070 1798 -589.5 146.0 - - 2341 - - - - - - - - 14.73 14.81 14.89
13426 34.8 10.2 790 13434 roll 0.72 - - 2635 - 2.50 0.092 386 -564.8 146.0 - - 2341 - - - - - - - - 14.97 14.76 14.97
13513 25.0 11.5 806 13520 done 0.72 - - 2636 - 2.38 0.045 1797 592.9 146.0 - - 2341 - - - - - - - - 14.86 14.77 14.87
13644 11.1 10.5 831 13651 roll 0.72 - - 2635 - 2.42 0.079 3208 583.1 146.0 - - 2341 - - - - - - - - 14.94 14.72 14.95
13714 3.6 10.2 844 13723 done 0.72 0.05 0.442 2630 -100.0 2.40 0.070 1801 -586.2 146.0 - - 2341 - - - - - - - - 14.62 14.72 14.79
13728 end climb: SURFACE_DEPTH_REACHED
13728 begin surface coast
13760 end surface coast: CONTROL_FINISHED_OK
13760 begin surface
SM 2.07 - - - - -6.50 5.40 0.031 226 41.9 0.12 0.128 1886 -27000.0 190.10 27.58 1.629 2152 78.0 -0.010 - - - - - -