ROAMMIZ Jan22 * SG640 * Dive index * Mission links * Dive 252 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 221.92 of 450.00 AH used of 24V (50.69% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.2 deg, depth 1.03 m • Intended pitch -12.6 deg, speed -8.462 cm/s
• VBD pumped to 190.10 (SM_CC=190)
• GPS1 time: 34 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
4 end surface: CONTROL_FINISHED_OK
4 begin dive
7 - - - 99 done -0.47 - - 210 - - - 1782 - -87.6 -86.30 - 3118 - - - - - - - - 14.71 13.52 14.66
102 3.1 -5.4 13 119 roll -0.47 6.40 0.368 2223 314.5 1.20 0.044 2512 608.3 -87.6 - - 3114 - - - - - - - - 14.21 14.41 14.50
126 8.6 -18.8 16 134 done -0.47 - - 2222 - 1.20 0.054 1815 -580.8 -87.6 - - 3114 - - - - - - - - 14.42 14.36 14.44
322 31.0 -10.5 53 330 roll -0.47 0.05 0.444 2236 280.0 1.25 0.065 1116 -559.2 -87.6 - - 3112 - - - - - - - - 14.29 14.38 14.46
363 35.1 -9.3 60 370 done -0.47 - - 2234 - 1.12 0.040 1785 597.3 -87.6 - - 3112 - - - - - - - - 14.43 14.38 14.45
557 57.1 -10.9 97 563 done -0.47 - - 2233 - - - 1785 - -87.6 - - 3112 - - - - - - - - 14.78 14.79 14.78
751 76.8 -10.1 134 760 roll -0.47 - - 2229 - 1.25 0.052 2522 589.6 -87.6 - - 3112 - - - - - - - - 14.81 14.40 14.80
801 81.8 -10.4 140 805 done -0.47 - - 2228 - 1.20 0.056 1815 -589.2 -87.6 - - 3112 - - - - - - - - 14.57 14.51 14.60
1119 116.3 -10.5 156 1120 done -0.47 - - 2228 - - - 1815 - -87.6 - - 3112 - - - - - - - - 14.88 14.88 14.88
1419 145.6 -10.4 171 1423 roll -0.47 - - 2228 - 1.23 0.068 1110 -573.2 -87.6 - - 3112 - - - - - - - - 14.92 14.59 14.92
1483 152.3 -10.8 174 1487 done -0.47 - - 2223 - 1.17 0.040 1822 608.5 -87.6 - - 3112 - - - - - - - - 14.71 14.66 14.73
1802 183.6 -9.1 190 1805 roll -0.47 - - 2218 - 1.15 0.054 2518 605.2 -87.6 - - 3112 - - - - - - - - 14.95 14.64 14.95
1836 185.6 -9.0 191 1845 done -0.47 0.05 0.334 2236 360.0 1.20 0.055 1813 -587.5 -87.6 - - 3112 - - - - - - - - 14.24 14.52 14.42
2144 212.1 -8.3 207 2148 roll -0.47 - - 2236 - 1.20 0.070 1117 -580.0 -87.6 - - 3111 - - - - - - - - 14.96 14.62 14.97
2186 215.7 -8.4 209 2190 done -0.47 - - 2231 - 1.15 0.041 1817 608.7 -87.6 - - 3112 - - - - - - - - 14.72 14.69 14.74
2508 243.0 -8.5 225 2512 roll -0.47 - - 2226 - 1.15 0.053 2516 607.8 -87.6 - - 3112 - - - - - - - - 14.98 14.66 14.98
2542 244.9 -8.4 226 2550 done -0.47 - - 2226 - 1.17 0.056 1826 -589.7 -87.6 - - 3111 - - - - - - - - 14.57 14.50 14.59
2850 272.4 -8.4 242 2854 roll -0.47 - - 2226 - 1.23 0.067 1113 -579.7 -87.6 - - 3111 - - - - - - - - 14.99 14.64 14.99
2912 277.8 -8.6 245 2916 done -0.47 0.03 0.427 2231 166.7 1.15 0.041 1814 609.6 -87.6 - - 3111 - - - - - - - - 14.42 14.71 14.56
3235 302.6 -7.4 261 3236 done -0.47 - - 2230 - - - 1815 - -87.6 - - 3111 - - - - - - - - 14.99 14.99 14.99
3534 324.2 -7.1 276 3535 done -0.47 - - 2230 - - - 1815 - -87.6 - - 3111 - - - - - - - - 15.00 15.00 15.00
3834 345.7 -7.3 291 3835 done -0.47 - - 2230 - - - 1815 - -87.6 - - 3111 - - - - - - - - 15.00 15.00 15.00
4135 367.6 -7.2 306 4139 roll -0.47 - - 2230 - 1.23 0.068 1109 -574.0 -87.6 - - 3111 - - - - - - - - 15.01 14.65 15.01
4177 370.8 -7.2 308 4181 done -0.47 - - 2226 - 1.15 0.040 1814 613.0 -87.6 - - 3111 - - - - - - - - 14.76 14.71 14.78
4499 394.3 -7.4 324 4500 done -0.47 - - 2226 - - - 1815 - -87.6 - - 3111 - - - - - - - - 15.02 15.02 15.02
4799 416.5 -7.5 339 4800 done -0.47 - - 2226 - - - 1815 - -87.6 - - 3111 - - - - - - - - 15.02 15.02 15.02
5099 438.5 -7.2 354 5103 roll -0.47 - - 2226 - 1.23 0.067 1105 -577.2 -87.6 - - 3111 - - - - - - - - 15.02 14.65 15.02
5135 440.1 -7.2 355 5143 done -0.47 0.03 0.419 2230 133.3 1.17 0.040 1815 606.8 -87.6 - - 3111 - - - - - - - - 14.30 14.56 14.47
5441 462.7 -7.0 371 5445 roll -0.47 - - 2227 - 1.17 0.053 2528 609.4 -87.6 - - 3111 - - - - - - - - 15.02 14.67 15.02
5471 464.2 -6.9 372 5474 done -0.47 - - 2227 - 1.20 0.054 1816 -593.3 -87.6 - - 3111 - - - - - - - - 14.74 14.67 14.77
5783 486.5 -7.0 388 5785 done -0.47 - - 2227 - - - 1816 - -87.6 - - 3111 - - - - - - - - 15.02 15.02 15.02
6083 507.5 -6.9 403 6084 done -0.47 - - 2227 - - - 1816 - -87.6 - - 3111 - - - - - - - - 15.04 15.04 15.04
6383 528.2 -6.8 418 6384 done -0.47 - - 2226 - - - 1816 - -87.6 - - 3112 - - - - - - - - 15.04 15.05 15.04
6683 548.0 -6.6 433 6684 done -0.47 - - 2227 - - - 1816 - -87.6 - - 3111 - - - - - - - - 15.02 15.02 15.03
6984 567.8 -6.6 448 6985 done -0.47 - - 2227 - - - 1816 - -87.6 - - 3112 - - - - - - - - 15.02 15.03 15.02
7283 587.8 -6.7 463 7284 done -0.47 - - 2227 - - - 1816 - -87.6 - - 3112 - - - - - - - - 15.03 15.03 15.03
7583 608.0 -6.7 478 7587 roll -0.47 - - 2221 - 1.17 0.051 2523 604.3 -87.6 - - 3112 - - - - - - - - 15.02 14.69 15.02
7633 610.8 -6.8 480 7636 done -0.47 - - 2221 - 1.17 0.055 1824 -597.4 -87.6 - - 3112 - - - - - - - - 14.74 14.67 14.76
7946 633.4 -7.1 496 7947 done -0.47 0.05 0.460 2236 300.0 - - 1823 - -87.6 - - 3112 - - - - - - - - 14.50 14.81 14.73
8246 653.1 -6.6 511 8249 roll -0.47 - - 2232 - 1.15 0.052 2522 607.8 -87.6 - - 3113 - - - - - - - - 15.03 14.68 15.04
8290 655.9 -6.5 513 8294 done -0.47 - - 2232 - 1.17 0.055 1821 -599.1 -87.6 - - 3113 - - - - - - - - 14.75 14.69 14.77
8608 677.5 -6.8 529 8612 roll -0.47 - - 2232 - 1.23 0.070 1112 -576.4 -87.6 - - 3112 - - - - - - - - 15.02 14.64 15.02
8643 679.1 -6.8 530 8651 done -0.47 - - 2226 - 1.17 0.039 1826 610.3 -87.6 - - 3113 - - - - - - - - 14.59 14.55 14.61
8951 701.6 -7.1 546 8952 done -0.47 - - 2226 - - - 1825 - -87.6 - - 3113 - - - - - - - - 15.02 15.02 15.03
9252 722.9 -7.1 561 9256 roll -0.47 - - 2226 - 1.23 0.070 1116 -576.4 -87.6 - - 3113 - - - - - - - - 15.04 14.64 15.05
9294 726.1 -7.2 563 9298 done -0.47 0.05 0.325 2239 260.0 1.15 0.041 1823 614.8 -87.6 - - 3113 - - - - - - - - 14.38 14.71 14.56
9618 747.4 -6.4 579 9619 done -0.47 - - 2239 - - - 1823 - -87.6 - - 3113 - - - - - - - - 15.01 15.02 15.02
9917 766.6 -6.3 594 9918 done -0.47 - - 2239 - - - 1823 - -87.6 - - 3113 - - - - - - - - 15.02 15.02 15.02
10217 785.3 -6.2 609 10220 roll -0.47 - - 2239 - 1.25 0.071 1111 -569.6 -87.6 - - 3114 - - - - - - - - 15.02 14.64 15.03
10266 788.0 -6.4 611 10270 done -0.47 - - 2236 - 1.15 0.041 1815 612.2 -87.6 - - 3113 - - - - - - - - 14.75 14.71 14.78
10579 808.5 -6.4 627 10580 done -0.47 - - 2236 - - - 1814 - -87.6 - - 3114 - - - - - - - - 15.03 15.03 15.03
10879 827.8 -6.4 642 10880 done -0.47 - - 2236 - - - 1815 - -87.6 - - 3114 - - - - - - - - 15.02 15.02 15.03
11179 846.4 -6.2 657 11183 roll -0.47 - - 2236 - 1.23 0.071 1113 -570.7 -87.6 - - 3114 - - - - - - - - 15.03 14.62 15.02
11213 847.8 -6.1 658 11221 done -0.47 - - 2230 - 1.17 0.041 1818 602.6 -87.6 - - 3114 - - - - - - - - 14.59 14.54 14.60
11521 867.7 -6.2 674 11522 done -0.47 - - 2230 - - - 1818 - -87.6 - - 3114 - - - - - - - - 15.02 15.02 15.02
11823 886.2 -6.1 689 11824 done -0.47 - - 2230 - - - 1818 - -87.6 - - 3114 - - - - - - - - 15.02 15.02 15.02
12122 904.7 -6.0 704 12123 done -0.47 - - 2230 - - - 1818 - -87.6 - - 3114 - - - - - - - - 15.03 15.02 15.02
12421 922.6 -5.9 719 12425 roll -0.47 - - 2230 - 1.23 0.070 1115 -571.5 -87.6 - - 3114 - - - - - - - - 15.03 14.62 15.03
12464 925.3 -6.1 721 12468 done -0.47 - - 2224 - 1.17 0.041 1831 612.0 -87.6 - - 3114 - - - - - - - - 14.75 14.70 14.78
12786 945.0 -6.2 737 12787 done -0.47 - - 2224 - - - 1831 - -87.6 - - 3114 - - - - - - - - 15.03 15.03 15.03
13086 963.8 -6.3 752 13087 done -0.47 - - 2224 - - - 1831 - -87.6 - - 3114 - - - - - - - - 15.03 15.03 15.03
13386 982.7 -6.4 767 13390 roll -0.47 - - 2224 - 1.25 0.072 1113 -574.4 -87.6 - - 3114 - - - - - - - - 15.03 14.62 15.04
13436 985.5 -6.5 769 13441 done -0.47 0.05 0.324 2238 280.0 1.15 0.042 1816 611.3 -87.6 - - 3114 - - - - - - - - 14.37 14.69 14.54
13507 end dive: TARGET_DEPTH_EXCEEDED
13507 begin apogee
13512 990.4 -6.1 773 13590 done -0.14 0.30 0.238 2348 366.7 - - 1765 - - 73.12 2.551 2757 -4.9 0.362 - - - - - - 14.46 14.08 13.14
13591 end apogee: CONTROL_FINISHED_OK
13591 begin climb
13592 992.4 - 777 13671 done 0.47 0.52 0.171 2546 380.8 - - 1764 - 87.6 75.70 2.464 2400 -4.7 0.362 - - - - - - 14.02 13.71 12.86
13969 964.3 8.5 796 13973 roll 0.47 - - 2551 - 1.23 0.076 1078 -557.7 87.6 - - 2399 - - - - - - - - 14.55 14.23 14.56
14004 962.5 8.4 797 14011 done 0.47 - - 2551 - 1.15 0.037 1765 597.4 88.3 - - 2399 - - - - - - - - 14.26 14.22 14.27
14311 934.4 8.8 813 14315 roll 0.47 - - 2551 - 1.17 0.048 2459 593.2 88.3 - - 2398 - - - - - - - - 14.77 14.46 14.77
14345 932.5 8.8 814 14354 done 0.47 0.05 0.327 2539 -240.0 1.17 0.062 1780 -580.3 88.3 - - 2398 - - - - - - - - 14.13 14.35 14.29
14653 906.2 8.1 830 14665 roll 0.48 - - 2543 - 1.25 0.073 1065 -572.0 94.5 6.80 2.034 2372 -3.8 0.325 - - - - - - 14.85 14.57 13.60
14735 899.8 8.0 834 14746 done 0.48 - - 2543 - 1.15 0.037 1775 617.4 100.9 6.90 1.946 2347 -3.6 0.320 - - - - - - 14.61 14.57 13.59
15049 872.6 8.7 849 15053 roll 0.48 - - 2543 - 1.15 0.048 2456 592.2 100.9 - - 2346 - - - - - - - - 14.83 14.57 14.84
15094 868.9 8.7 851 15097 done 0.48 - - 2548 - 1.17 0.060 1774 -582.9 100.9 - - 2347 - - - - - - - - 14.62 14.55 14.64
15411 840.5 8.8 867 15415 roll 0.48 - - 2554 - 1.25 0.073 1055 -575.2 100.9 - - 2347 - - - - - - - - 14.90 14.57 14.90
15481 835.0 8.9 870 15485 done 0.48 - - 2554 - 1.15 0.037 1770 621.7 100.9 - - 2347 - - - - - - - - 14.69 14.65 14.71
15794 806.4 8.8 886 15798 roll 0.48 - - 2554 - 1.15 0.047 2462 601.7 100.9 - - 2346 - - - - - - - - 14.93 14.66 14.94
15836 802.6 9.0 888 15840 done 0.48 - - 2559 - 1.17 0.060 1775 -587.2 100.9 - - 2347 - - - - - - - - 14.69 14.64 14.72
16158 773.6 9.0 904 16162 roll 0.48 - - 2565 - 1.23 0.072 1066 -576.4 100.9 - - 2346 - - - - - - - - 14.96 14.62 14.96
16240 766.3 9.0 908 16244 done 0.48 0.05 0.290 2546 -380.0 1.12 0.036 1774 632.1 100.9 - - 2346 - - - - - - - - 14.42 14.69 14.57
16563 739.3 8.4 924 16566 roll 0.48 - - 2546 - 1.12 0.047 2448 601.8 101.5 - - 2346 - - - - - - - - 14.97 14.69 14.97
16597 737.4 8.6 925 16604 done 0.48 - - 2550 - 1.17 0.058 1768 -581.2 101.5 - - 2346 - - - - - - - - 14.58 14.54 14.61
16905 709.0 9.0 941 16908 roll 0.48 - - 2556 - 1.23 0.072 1060 -575.6 101.5 - - 2347 - - - - - - - - 15.01 14.64 15.01
16954 705.2 8.9 943 16958 done 0.48 - - 2556 - 1.12 0.037 1759 624.1 101.5 - - 2347 - - - - - - - - 14.76 14.71 14.78
17269 675.2 9.4 959 17273 roll 0.48 - - 2556 - 1.15 0.047 2453 603.5 101.5 - - 2347 - - - - - - - - 15.00 14.70 15.00
17318 671.1 9.5 961 17322 done 0.48 0.05 0.310 2543 -260.0 1.17 0.058 1762 -590.6 101.5 - - 2347 - - - - - - - - 14.41 14.67 14.58
17631 642.9 8.7 977 17634 roll 0.48 - - 2546 - 1.20 0.069 1064 -581.7 101.5 - - 2346 - - - - - - - - 15.00 14.65 15.00
17692 637.5 8.9 980 17696 done 0.48 - - 2547 - 1.12 0.036 1766 626.8 101.5 - - 2347 - - - - - - - - 14.75 14.72 14.78
18014 608.9 8.9 996 18017 roll 0.48 - - 2546 - 1.15 0.047 2454 598.3 101.5 - - 2347 - - - - - - - - 15.00 14.71 15.00
18048 606.9 8.9 997 18055 done 0.48 - - 2551 - 1.17 0.059 1774 -581.2 101.5 - - 2347 - - - - - - - - 14.59 14.52 14.58
18356 578.3 8.9 1013 18359 roll 0.48 - - 2557 - 1.23 0.072 1061 -579.7 101.5 - - 2347 - - - - - - - - 15.01 14.65 15.01
18420 572.7 8.9 1016 18425 done 0.48 - - 2558 - 1.12 0.035 1768 631.2 101.5 - - 2347 - - - - - - - - 14.81 14.75 14.81
18738 543.8 9.0 1032 18742 roll 0.48 - - 2557 - 1.15 0.047 2462 603.5 101.5 - - 2347 - - - - - - - - 15.03 14.71 15.03
18773 541.8 9.0 1033 18781 done 0.48 0.05 0.304 2544 -260.0 1.17 0.059 1769 -592.3 101.5 - - 2347 - - - - - - - - 14.30 14.54 14.47
19081 516.4 7.4 1049 19102 roll 0.50 - - 2548 - 1.23 0.070 1065 -572.4 118.4 15.05 2.033 2275 -4.8 0.232 - - - - - - 15.01 14.67 13.74
19173 509.6 8.0 1053 19186 done 0.51 - - 2548 - 1.15 0.035 1773 615.7 124.9 6.65 1.681 2248 -4.1 0.235 - - - - - - 14.68 14.64 13.79
19485 480.9 9.0 1069 19486 done 0.51 - - 2548 - - - 1773 - 124.9 - - 2248 - - - - - - - - 14.88 14.88 14.88
19785 454.5 8.8 1084 19789 roll 0.51 - - 2553 - 1.23 0.073 1070 -571.5 124.9 - - 2248 - - - - - - - - 14.92 14.59 14.92
19829 450.7 8.9 1086 19834 done 0.51 - - 2554 - 1.12 0.036 1773 627.7 124.9 - - 2248 - - - - - - - - 14.73 14.69 14.75
20147 421.8 9.1 1102 20151 roll 0.51 - - 2554 - 1.15 0.047 2460 597.4 124.9 - - 2248 - - - - - - - - 14.97 14.67 14.97
20171 419.8 9.1 1103 20176 done 0.51 - - 2559 - 1.15 0.058 1780 -591.3 124.9 - - 2248 - - - - - - - - 14.71 14.65 14.74
20490 389.4 9.5 1119 20493 roll 0.51 - - 2565 - 1.25 0.072 1059 -576.8 124.9 - - 2248 - - - - - - - - 14.97 14.62 14.97
20584 381.6 9.5 1123 20592 done 0.51 - - 2564 - 1.15 0.036 1769 617.4 124.9 - - 2248 - - - - - - - - 14.62 14.56 14.61
20891 350.0 10.0 1139 20893 done 0.51 - - 2565 - - - 1769 - 124.9 - - 2248 - - - - - - - - 14.99 14.99 14.99
21192 320.2 9.9 1154 21193 done 0.51 - - 2565 - - - 1769 - 124.9 - - 2248 - - - - - - - - 15.00 15.00 15.00
21492 291.8 9.2 1169 21496 roll 0.51 - - 2570 - 1.23 0.073 1063 -574.0 124.9 - - 2248 - - - - - - - - 15.00 14.65 15.01
21546 288.0 9.2 1171 21555 done 0.51 0.05 0.280 2552 -360.0 1.15 0.037 1778 621.7 124.9 - - 2248 - - - - - - - - 14.33 14.54 14.49
21854 261.6 8.1 1187 21861 done 0.52 - - 2552 - - - 1778 - 130.0 5.43 1.463 2229 -3.5 0.119 - - - - - - 15.01 14.76 13.82
22154 236.3 8.5 1202 22158 roll 0.52 - - 2557 - 1.25 0.072 1057 -576.8 130.0 - - 2229 - - - - - - - - 14.99 14.64 14.99
22188 234.4 8.6 1203 22196 done 0.52 - - 2557 - 1.15 0.037 1764 614.8 130.0 - - 2229 - - - - - - - - 14.60 14.58 14.63
22496 205.3 9.0 1219 22499 roll 0.52 - - 2562 - 1.23 0.073 1065 -568.3 130.0 - - 2229 - - - - - - - - 15.00 14.64 15.00
22545 201.5 9.0 1221 22549 done 0.52 - - 2563 - 1.15 0.037 1776 618.3 130.0 - - 2228 - - - - - - - - 14.76 14.73 14.78
22858 174.7 8.2 1237 22867 roll 0.52 - - 2562 - 1.15 0.048 2461 595.7 133.4 4.32 1.280 2213 -3.5 0.090 - - - - - - 15.00 14.79 13.83
22897 171.6 8.3 1239 22906 done 0.53 - - 2568 - 1.17 0.059 1772 -588.9 136.2 4.05 1.218 2201 -3.0 0.080 - - - - - - 14.75 14.69 13.88
23216 142.0 9.8 1255 23219 roll 0.53 - - 2573 - 1.23 0.073 1062 -577.2 136.2 - - 2202 - - - - - - - - 14.97 14.64 14.97
23244 139.7 10.1 1256 23249 done 0.53 - - 2573 - 1.15 0.037 1775 620.0 136.2 - - 2202 - - - - - - - - 14.73 14.71 14.77
23557 106.5 9.6 1272 23561 roll 0.53 - - 2579 - 1.25 0.074 1061 -571.2 136.2 - - 2203 - - - - - - - - 14.98 14.64 14.99
23653 98.7 9.4 1276 23662 done 0.53 0.05 0.288 2561 -360.0 1.15 0.037 1775 620.9 136.2 - - 2203 - - - - - - - - 14.33 14.57 14.48
23962 74.2 8.2 1301 23970 done 0.53 - - 2561 - - - 1775 - 139.9 4.57 1.189 2187 -3.5 0.042 - - - - - - 14.97 14.73 13.89
24154 58.6 7.8 1338 24169 roll 0.54 - - 2565 - 1.27 0.071 1053 -568.5 149.8 9.18 1.462 2146 -4.5 0.034 - - - - - - 14.92 14.64 13.86
24252 50.1 7.8 1356 24268 done 0.56 - - 2565 - 1.15 0.037 1766 620.0 159.9 8.95 1.484 2104 -4.7 0.030 - - - - - - 14.53 14.50 13.78
24452 30.3 9.8 1394 24459 roll 0.56 - - 2565 - 1.17 0.048 2454 588.0 159.9 - - 2106 - - - - - - - - 14.81 14.43 14.81
24497 25.8 10.6 1402 24504 done 0.56 - - 2571 - 1.17 0.050 1764 -589.7 159.9 - - 2107 - - - - - - - - 14.46 14.42 14.49
24688 9.4 8.2 1439 24697 roll 0.56 - - 2575 - 1.23 0.073 1068 -565.9 163.6 2.40 0.304 2090 -7.1 0.042 - - - - - - 14.83 14.54 14.28
24720 6.6 8.8 1444 24728 done 0.56 - - 2576 - 1.15 0.035 1777 616.5 163.6 - - 2090 - - - - - - - - 14.49 14.46 14.51
24754 end climb: SURFACE_DEPTH_REACHED
24754 begin surface coast
24787 end surface coast: CONTROL_FINISHED_OK
24787 begin surface
SM 2.24 - - - - -6.42 5.43 0.056 254 46.8 - - 1779 - 190.10 14.80 0.247 1983 134.0 -0.124 - - - - - -