ROAMMIZ Jan22 * SG640 * Dive index * Mission links * Dive 236 * Raw log
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• Previous call tries 1 • 216.90 of 450.00 AH used of 24V (51.80% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.0 deg, depth 1.23 m • Intended pitch -12.6 deg, speed -8.462 cm/s
• No surface pump (final VBD was 219.29, SM_CC=190)
• GPS1 time: 70 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 - - - 83 done -0.47 - - 232 - - - 1821 - -87.6 -71.88 - 3160 - - - - - - - - 14.71 13.17 14.71
86 3.0 -4.8 10 101 roll -0.47 6.35 0.373 2224 313.7 1.20 0.039 1088 -610.8 -87.6 - - 3159 - - - - - - - - 14.21 14.41 14.52
239 25.1 -9.5 38 248 done -0.47 0.05 0.325 2237 260.0 1.20 0.044 1808 600.0 -87.6 - - 3161 - - - - - - - - 14.19 14.40 14.37
438 51.3 -14.6 75 445 roll -0.47 - - 2234 - 1.20 0.054 2518 591.7 -87.6 - - 3160 - - - - - - - - 14.80 14.41 14.80
514 60.8 -12.2 89 522 done -0.47 - - 2233 - 1.20 0.054 1819 -582.5 -87.6 - - 3160 - - - - - - - - 14.47 14.42 14.51
726 82.4 -9.3 126 729 roll -0.47 - - 2233 - 1.23 0.068 1107 -578.9 -87.6 - - 3161 - - - - - - - - 14.83 14.52 14.83
822 90.1 -9.2 130 831 done -0.47 - - 2227 - 1.17 0.041 1822 611.1 -87.6 - - 3161 - - - - - - - - 14.50 14.46 14.52
1130 118.8 -8.9 146 1134 roll -0.47 - - 2227 - 1.23 0.067 1109 -579.7 -87.6 - - 3160 - - - - - - - - 14.90 14.60 14.91
1184 122.6 -8.9 148 1193 done -0.47 0.03 0.432 2231 133.3 1.17 0.041 1822 609.4 -87.6 - - 3161 - - - - - - - - 14.27 14.52 14.45
1492 149.4 -8.6 164 1496 roll -0.47 - - 2228 - 1.15 0.053 2517 604.3 -87.6 - - 3161 - - - - - - - - 14.95 14.66 14.95
1543 153.0 -8.7 166 1546 done -0.47 - - 2227 - 1.17 0.054 1820 -595.7 -87.6 - - 3161 - - - - - - - - 14.71 14.66 14.74
1854 182.4 -9.3 182 1858 roll -0.47 - - 2227 - 1.20 0.068 1111 -590.8 -87.6 - - 3161 - - - - - - - - 14.97 14.64 14.97
1904 186.4 -9.5 184 1909 done -0.47 0.03 0.438 2231 133.3 1.15 0.041 1819 615.7 -87.6 - - 3160 - - - - - - - - 14.44 14.70 14.58
2218 215.2 -8.9 200 2219 done -0.47 - - 2231 - - - 1819 - -87.6 - - 3160 - - - - - - - - 14.99 15.00 15.00
2518 241.1 -8.3 215 2519 done -0.47 - - 2231 - - - 1819 - -87.6 - - 3160 - - - - - - - - 15.02 15.02 15.02
2817 266.2 -8.6 230 2821 roll -0.47 - - 2231 - 1.20 0.067 1112 -589.2 -87.6 - - 3160 - - - - - - - - 15.02 14.69 15.03
2879 271.6 -8.7 233 2882 done -0.47 - - 2227 - 1.15 0.041 1823 618.3 -87.6 - - 3160 - - - - - - - - 14.78 14.74 14.81
3200 300.4 -9.2 249 3204 roll -0.47 - - 2223 - 1.15 0.051 2515 601.7 -87.6 - - 3160 - - - - - - - - 15.04 14.71 15.04
3242 304.3 -9.1 251 3246 done -0.47 - - 2222 - 1.17 0.055 1813 -600.0 -87.6 - - 3160 - - - - - - - - 14.77 14.71 14.79
3564 333.8 -9.1 267 3566 done -0.47 0.05 0.474 2237 300.0 - - 1812 - -87.6 - - 3160 - - - - - - - - 14.52 14.83 14.77
3864 358.1 -8.0 282 3868 roll -0.47 - - 2233 - 1.15 0.051 2509 606.1 -87.6 - - 3160 - - - - - - - - 15.03 14.73 15.03
3919 361.5 -7.9 284 3927 done -0.47 - - 2232 - 1.17 0.054 1817 -591.5 -87.6 - - 3160 - - - - - - - - 14.66 14.59 14.67
4227 387.6 -8.1 300 4228 done -0.47 - - 2233 - - - 1817 - -87.6 - - 3160 - - - - - - - - 15.04 15.04 15.04
4527 411.9 -8.1 315 4528 done -0.47 - - 2233 - - - 1817 - -87.6 - - 3160 - - - - - - - - 15.05 15.05 15.05
4827 436.5 -8.2 330 4828 done -0.47 - - 2233 - - - 1817 - -87.6 - - 3160 - - - - - - - - 15.04 15.04 15.04
5127 461.2 -8.2 345 5131 roll -0.47 - - 2229 - 1.15 0.051 2513 605.2 -87.6 - - 3160 - - - - - - - - 15.04 14.73 15.04
5177 464.6 -8.1 347 5180 done -0.47 - - 2228 - 1.17 0.055 1814 -597.4 -87.6 - - 3160 - - - - - - - - 14.78 14.73 14.81
5489 490.9 -8.1 363 5491 done -0.47 - - 2226 - - - 1814 - -87.6 - - 3160 - - - - - - - - 15.04 15.05 15.05
5789 515.1 -8.0 378 5791 done -0.47 - - 2227 - - - 1814 - -87.6 - - 3160 - - - - - - - - 15.05 15.05 15.05
6090 538.4 -7.6 393 6091 done -0.47 - - 2227 - - - 1815 - -87.6 - - 3160 - - - - - - - - 15.05 15.05 15.05
6390 561.1 -7.5 408 6394 roll -0.47 - - 2222 - 1.15 0.051 2515 608.7 -87.6 - - 3160 - - - - - - - - 15.07 14.73 15.07
6426 562.8 -7.6 409 6434 done -0.47 0.03 0.417 2232 333.3 1.17 0.055 1821 -593.2 -87.6 - - 3160 - - - - - - - - 14.35 14.58 14.52
6732 586.6 -7.4 425 6733 done -0.47 - - 2231 - - - 1821 - -87.6 - - 3161 - - - - - - - - 15.05 15.05 15.05
7034 608.6 -7.3 440 7037 roll -0.47 - - 2228 - 1.15 0.052 2518 606.1 -87.6 - - 3161 - - - - - - - - 15.05 14.73 15.05
7068 610.3 -7.3 441 7075 done -0.47 - - 2228 - 1.17 0.055 1825 -592.3 -87.6 - - 3161 - - - - - - - - 14.64 14.57 14.66
7376 634.1 -7.4 457 7377 done -0.47 - - 2228 - - - 1826 - -87.6 - - 3161 - - - - - - - - 15.05 15.05 15.05
7676 655.9 -7.4 472 7680 roll -0.47 - - 2223 - 1.12 0.051 2510 610.7 -87.6 - - 3161 - - - - - - - - 15.05 14.71 15.05
7710 657.5 -7.4 473 7717 done -0.47 - - 2223 - 1.17 0.055 1818 -591.5 -87.6 - - 3161 - - - - - - - - 14.64 14.59 14.66
8018 681.5 -7.6 489 8019 done -0.47 - - 2223 - - - 1818 - -87.6 - - 3161 - - - - - - - - 15.05 15.05 15.05
8318 703.7 -7.3 504 8321 roll -0.47 - - 2217 - 1.15 0.052 2514 605.2 -87.6 - - 3161 - - - - - - - - 15.05 14.73 15.06
8361 706.8 -7.3 506 8366 done -0.47 0.05 0.324 2237 400.0 1.17 0.057 1816 -596.6 -87.6 - - 3161 - - - - - - - - 14.45 14.73 14.62
8682 728.4 -6.7 522 8685 roll -0.47 - - 2237 - 1.20 0.072 1111 -587.5 -87.6 - - 3162 - - - - - - - - 15.04 14.68 15.04
8711 730.0 -6.7 523 8715 done -0.47 - - 2232 - 1.12 0.041 1814 627.7 -87.6 - - 3161 - - - - - - - - 14.80 14.75 14.83
9025 752.1 -6.9 539 9029 roll -0.47 - - 2227 - 1.15 0.053 2515 609.6 -87.6 - - 3162 - - - - - - - - 15.04 14.70 15.05
9080 755.2 -6.9 541 9088 done -0.47 - - 2227 - 1.17 0.058 1826 -588.9 -87.6 - - 3162 - - - - - - - - 14.62 14.56 14.65
9388 778.1 -7.1 557 9392 roll -0.47 - - 2221 - 1.15 0.053 2517 600.9 -87.6 - - 3162 - - - - - - - - 15.04 14.72 15.04
9430 781.1 -7.1 559 9434 done -0.47 0.03 0.410 2231 333.3 1.17 0.058 1823 -593.2 -87.6 - - 3161 - - - - - - - - 14.46 14.71 14.61
9753 803.5 -7.0 575 9754 done -0.47 - - 2231 - - - 1823 - -87.6 - - 3162 - - - - - - - - 15.04 15.04 15.04
10053 824.3 -6.9 590 10056 roll -0.47 - - 2228 - 1.15 0.054 2517 603.5 -87.6 - - 3162 - - - - - - - - 15.05 14.69 15.05
10108 827.2 -6.9 592 10116 done -0.47 - - 2228 - 1.20 0.057 1812 -587.5 -87.6 - - 3162 - - - - - - - - 14.62 14.55 14.64
10416 849.9 -7.1 608 10417 done -0.47 - - 2228 - - - 1813 - -87.6 - - 3162 - - - - - - - - 15.04 15.04 15.05
10716 871.2 -7.0 623 10719 roll -0.47 - - 2223 - 1.17 0.053 2520 604.3 -87.6 - - 3162 - - - - - - - - 15.05 14.71 15.05
10797 877.0 -7.1 627 10801 done -0.47 - - 2222 - 1.17 0.058 1825 -594.0 -87.6 - - 3162 - - - - - - - - 14.76 14.70 14.79
11119 900.5 -7.4 643 11124 roll -0.47 0.03 0.616 2235 433.3 1.23 0.067 1114 -578.0 -87.6 - - 3162 - - - - - - - - 14.58 14.67 14.78
11154 902.2 -7.3 644 11162 done -0.47 - - 2232 - 1.15 0.041 1813 607.8 -87.6 - - 3162 - - - - - - - - 14.63 14.58 14.64
11462 924.0 -6.7 660 11466 roll -0.47 - - 2227 - 1.17 0.054 2522 606.0 -87.6 - - 3162 - - - - - - - - 15.04 14.69 15.04
11497 925.6 -6.7 661 11505 done -0.47 - - 2227 - 1.20 0.058 1821 -584.2 -87.6 - - 3162 - - - - - - - - 14.61 14.54 14.64
11805 947.6 -6.9 677 11806 done -0.47 - - 2227 - - - 1821 - -87.6 - - 3162 - - - - - - - - 15.04 15.04 15.04
12105 967.9 -6.8 692 12108 roll -0.47 - - 2221 - 1.15 0.054 2512 600.9 -87.6 - - 3162 - - - - - - - - 15.04 14.71 15.05
12167 972.0 -6.6 695 12171 done -0.47 0.05 0.304 2241 400.0 1.17 0.059 1817 -594.0 -87.6 - - 3162 - - - - - - - - 14.44 14.69 14.61
12468 end dive: TARGET_DEPTH_EXCEEDED
12468 begin apogee
12473 990.2 -6.0 710 12551 done -0.14 0.28 0.238 2342 360.7 - - 1759 - - 74.93 2.528 2798 -4.9 0.367 - - - - - - 14.52 14.09 13.19
12552 end apogee: CONTROL_FINISHED_OK
12552 begin climb
12554 992.4 - 714 12637 roll 0.47 0.52 0.177 2539 378.8 1.23 0.047 2453 564.2 87.6 75.32 2.444 2440 -4.8 0.372 - - - - - - 14.02 13.61 12.90
12654 988.1 5.1 719 12705 done 0.53 - - 2543 - 1.23 0.059 1782 -545.5 138.8 45.65 2.382 2233 -4.5 0.363 - - - - - - 13.88 13.84 12.71
13013 952.1 10.3 737 13017 roll 0.53 - - 2549 - 1.27 0.073 1064 -565.4 138.8 - - 2237 - - - - - - - - 14.54 14.25 14.54
13077 945.8 10.2 740 13081 done 0.53 - - 2549 - 1.17 0.037 1776 608.5 138.8 - - 2237 - - - - - - - - 14.42 14.38 14.42
13395 912.5 10.3 756 13399 roll 0.53 - - 2555 - 1.25 0.073 1062 -571.2 138.8 - - 2236 - - - - - - - - 14.78 14.49 14.78
13424 910.2 10.5 757 13428 done 0.53 - - 2556 - 1.15 0.037 1772 617.4 138.8 - - 2237 - - - - - - - - 14.59 14.54 14.61
13739 876.0 10.7 773 13742 roll 0.53 - - 2560 - 1.23 0.073 1065 -574.8 138.8 - - 2237 - - - - - - - - 14.88 14.57 14.88
13762 873.5 10.6 774 13766 done 0.53 - - 2560 - 1.15 0.036 1773 615.7 138.8 - - 2237 - - - - - - - - 14.72 14.68 14.73
14082 838.4 10.9 790 14083 done 0.53 - - 2560 - - - 1773 - 138.8 - - 2237 - - - - - - - - 14.92 14.92 14.92
14380 806.2 10.7 805 14381 done 0.53 - - 2560 - - - 1773 - 138.8 - - 2237 - - - - - - - - 14.96 14.96 14.95
14680 774.1 10.8 820 14684 roll 0.53 - - 2566 - 1.25 0.073 1057 -572.8 138.8 - - 2237 - - - - - - - - 14.97 14.65 14.98
14725 769.5 10.9 822 14729 done 0.53 - - 2566 - 1.15 0.037 1769 619.1 138.8 - - 2236 - - - - - - - - 14.76 14.71 14.78
15042 734.3 11.1 838 15043 done 0.53 - - 2566 - - - 1769 - 138.8 - - 2237 - - - - - - - - 15.00 15.00 15.00
15342 701.0 11.1 853 15346 roll 0.53 - - 2571 - 1.23 0.073 1059 -577.2 138.8 - - 2237 - - - - - - - - 15.00 14.68 15.01
15366 698.5 11.1 854 15371 done 0.53 - - 2571 - 1.15 0.036 1773 620.9 138.8 - - 2237 - - - - - - - - 14.83 14.79 14.84
15685 662.0 11.4 870 15689 roll 0.53 - - 2577 - 1.23 0.072 1061 -578.9 138.8 - - 2237 - - - - - - - - 15.01 14.68 15.01
15714 659.4 11.5 871 15719 done 0.53 0.05 0.292 2560 -340.0 1.12 0.037 1775 637.5 138.8 - - 2237 - - - - - - - - 14.49 14.75 14.64
16027 625.4 10.5 887 16030 roll 0.53 - - 2563 - 1.23 0.071 1066 -576.4 138.8 - - 2237 - - - - - - - - 15.02 14.66 15.02
16081 621.0 10.3 889 16089 done 0.53 - - 2564 - 1.10 0.036 1757 628.2 138.8 - - 2237 - - - - - - - - 14.64 14.60 14.67
16389 587.1 10.5 905 16392 roll 0.53 - - 2569 - 1.20 0.072 1060 -580.8 138.8 - - 2237 - - - - - - - - 15.02 14.69 15.02
16423 584.9 10.5 906 16430 done 0.53 - - 2569 - 1.15 0.037 1769 616.5 138.8 - - 2237 - - - - - - - - 14.66 14.62 14.67
16731 550.5 10.6 922 16735 roll 0.53 - - 2575 - 1.23 0.073 1059 -577.2 138.8 - - 2237 - - - - - - - - 15.02 14.69 15.02
16786 545.9 10.8 924 16795 done 0.53 - - 2574 - 1.15 0.037 1772 620.0 138.8 - - 2237 - - - - - - - - 14.66 14.60 14.67
17094 511.3 10.8 940 17098 roll 0.53 - - 2580 - 1.23 0.072 1061 -578.0 138.8 - - 2237 - - - - - - - - 15.02 14.69 15.03
17144 506.6 10.8 942 17148 done 0.53 0.05 0.300 2563 -340.0 1.12 0.037 1773 635.7 138.8 - - 2237 - - - - - - - - 14.48 14.76 14.64
17457 474.2 10.1 958 17460 roll 0.53 - - 2566 - 1.23 0.072 1061 -578.9 138.8 - - 2237 - - - - - - - - 15.03 14.72 15.03
17510 470.1 9.9 960 17518 done 0.53 - - 2567 - 1.12 0.037 1764 627.7 138.8 - - 2237 - - - - - - - - 14.65 14.61 14.68
17818 437.9 10.0 976 17822 roll 0.53 - - 2572 - 1.23 0.073 1055 -576.4 138.8 - - 2237 - - - - - - - - 15.05 14.69 15.06
17867 433.7 10.0 978 17872 done 0.53 - - 2572 - 1.15 0.038 1775 626.1 138.8 - - 2237 - - - - - - - - 14.80 14.76 14.81
18180 401.3 10.2 994 18184 roll 0.53 - - 2578 - 1.23 0.073 1064 -578.0 138.8 - - 2237 - - - - - - - - 15.03 14.68 15.04
18245 394.9 10.1 997 18250 done 0.53 0.05 0.302 2561 -340.0 1.12 0.037 1777 636.6 138.8 - - 2237 - - - - - - - - 14.48 14.78 14.64
18564 363.9 9.7 1013 18568 roll 0.53 - - 2565 - 1.25 0.071 1059 -574.4 138.8 - - 2237 - - - - - - - - 15.02 14.68 15.03
18599 361.7 9.6 1014 18607 done 0.53 - - 2565 - 1.12 0.037 1757 623.2 138.8 - - 2237 - - - - - - - - 14.65 14.59 14.67
18907 330.2 9.8 1030 18910 roll 0.53 - - 2570 - 1.20 0.073 1062 -579.2 138.8 - - 2237 - - - - - - - - 15.04 14.69 15.03
18950 326.1 9.9 1032 18955 done 0.53 - - 2570 - 1.12 0.037 1770 632.1 138.8 - - 2238 - - - - - - - - 14.82 14.77 14.83
19268 294.3 9.7 1048 19272 roll 0.53 - - 2576 - 1.23 0.073 1062 -575.6 138.8 - - 2237 - - - - - - - - 15.04 14.69 15.04
19302 292.2 9.8 1049 19310 done 0.53 0.05 0.298 2559 -340.0 1.15 0.037 1776 620.9 138.8 - - 2237 - - - - - - - - 14.35 14.62 14.51
19610 263.6 8.6 1065 19613 roll 0.53 - - 2562 - 1.25 0.072 1060 -572.8 138.8 - - 2238 - - - - - - - - 15.03 14.68 15.04
19652 259.9 8.6 1067 19656 done 0.53 - - 2563 - 1.12 0.039 1761 625.9 138.8 - - 2238 - - - - - - - - 14.79 14.75 14.81
19974 231.7 9.0 1083 19975 done 0.53 - - 2563 - - - 1762 - 138.8 - - 2237 - - - - - - - - 15.05 15.06 15.06
20274 205.0 8.8 1098 20277 roll 0.53 - - 2569 - 1.20 0.073 1064 -581.7 138.8 - - 2238 - - - - - - - - 15.04 14.69 15.04
20327 201.2 8.8 1100 20336 done 0.53 - - 2569 - 1.15 0.038 1771 614.8 138.8 - - 2238 - - - - - - - - 14.66 14.60 14.68
20635 173.1 8.5 1116 20639 roll 0.53 - - 2574 - 1.23 0.073 1064 -574.8 138.8 - - 2238 - - - - - - - - 15.06 14.69 15.06
20678 169.7 8.5 1118 20684 done 0.53 0.03 0.374 2564 -333.3 1.15 0.037 1778 620.9 138.8 - - 2238 - - - - - - - - 14.54 14.81 14.65
20998 143.6 8.2 1134 21008 roll 0.53 - - 2568 - 1.25 0.069 1059 -575.2 142.8 5.75 1.421 2215 -4.0 0.078 - - - - - - 15.03 14.76 13.85
21047 140.2 8.2 1136 21060 done 0.54 - - 2569 - 1.12 0.039 1759 625.0 146.5 4.72 1.330 2198 -3.6 0.073 - - - - - - 14.78 14.75 13.91
21358 110.5 9.5 1152 21363 roll 0.54 - - 2574 - 1.20 0.073 1065 -578.3 146.5 - - 2199 - - - - - - - - 14.99 14.66 14.99
21403 106.3 9.8 1154 21407 done 0.54 - - 2574 - 1.12 0.038 1770 629.5 146.5 - - 2199 - - - - - - - - 14.77 14.72 14.78
21712 77.4 8.9 1171 21720 roll 0.54 - - 2580 - 1.25 0.073 1058 -569.6 146.5 - - 2199 - - - - - - - - 15.00 14.54 15.00
21793 70.2 8.7 1186 21801 done 0.54 0.05 0.296 2561 -380.0 1.15 0.037 1773 621.7 146.5 - - 2200 - - - - - - - - 14.34 14.58 14.51
21989 55.2 7.2 1223 22012 roll 0.56 - - 2562 - 1.15 0.050 2458 595.7 165.5 15.02 1.654 2122 -5.2 0.033 - - - - - - 14.95 14.58 13.88
22098 48.1 6.3 1242 22127 done 0.60 - - 2565 - 1.20 0.057 1762 -580.0 198.6 25.23 1.568 1988 -5.3 0.031 - - - - - - 14.52 14.47 13.75
22311 30.0 8.7 1282 22318 roll 0.60 - - 2571 - 1.23 0.069 1061 -569.9 198.6 - - 1991 - - - - - - - - 14.73 14.35 14.73
22370 24.0 10.0 1293 22378 done 0.60 - - 2571 - 1.17 0.037 1770 606.0 198.6 - - 1991 - - - - - - - - 14.45 14.41 14.47
22561 4.7 7.2 1330 22576 done 0.63 - - 2571 - - - 1772 - 218.5 11.75 0.288 1903 -7.5 0.024 - - - - - - 14.79 14.57 14.29
22582 end climb: SURFACE_DEPTH_REACHED
22582 begin surface coast
22608 end surface coast: CONTROL_FINISHED_OK
22608 begin surface
SM 1.25 - - - - -6.45 5.55 0.086 215 38.7 - - 1772 - 219.29 - - 1906 - - - - - - - -