ROAMMIZ Jan22 * SG640 * Dive index * Mission links * Dive 328 * Raw log
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• Previous call tries 2 • 245.66 of 450.00 AH used of 24V (45.41% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.8 deg, depth 1.19 m • Intended pitch -12.6 deg, speed -8.462 cm/s
• VBD pumped to 180.05 (SM_CC=180)
• GPS1 time: 192 s
• GPS2 time: 7 s • Transponder ping count: 9
• 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 - - - 82 done -0.47 - - 232 - - - 1814 - -87.6 -71.60 - 3230 - - - - - - - - 14.67 12.89 14.66
85 3.2 -6.5 11 100 roll -0.47 6.40 0.369 2219 310.5 1.17 0.044 2514 598.3 -87.6 - - 3230 - - - - - - - - 13.98 14.32 14.21
323 38.4 -13.4 55 330 done -0.47 0.05 0.301 2237 360.0 1.20 0.054 1812 -585.0 -87.6 - - 3230 - - - - - - - - 14.09 14.38 14.26
520 61.9 -11.7 92 529 roll -0.47 - - 2237 - 1.25 0.070 1113 -559.2 -87.6 - - 3229 - - - - - - - - 14.76 14.20 14.76
567 66.9 -10.1 100 576 done -0.47 - - 2234 - 1.17 0.041 1806 592.3 -87.6 - - 3230 - - - - - - - - 14.30 14.25 14.32
778 88.1 -9.7 128 782 roll -0.47 - - 2229 - 1.20 0.053 2519 594.2 -87.6 - - 3230 - - - - - - - - 14.79 14.44 14.80
913 99.2 -8.6 134 921 done -0.47 - - 2229 - 1.20 0.054 1823 -580.0 -87.6 - - 3230 - - - - - - - - 14.31 14.24 14.33
1221 127.6 -9.1 150 1225 roll -0.47 - - 2229 - 1.25 0.069 1108 -572.0 -87.6 - - 3230 - - - - - - - - 14.85 14.42 14.85
1324 137.1 -9.3 155 1328 done -0.47 0.03 0.423 2232 100.0 1.17 0.041 1816 605.1 -87.6 - - 3230 - - - - - - - - 14.20 14.50 14.33
1646 166.6 -9.0 171 1647 done -0.47 - - 2232 - - - 1815 - -87.6 - - 3229 - - - - - - - - 14.88 14.88 14.88
1946 192.3 -8.3 186 1948 done -0.47 - - 2232 - - - 1815 - -87.6 - - 3229 - - - - - - - - 14.89 14.90 14.89
2246 217.8 -8.6 201 2250 roll -0.47 - - 2232 - 1.23 0.068 1112 -571.5 -87.6 - - 3229 - - - - - - - - 14.90 14.45 14.90
2309 223.3 -8.9 204 2313 done -0.47 - - 2228 - 1.17 0.041 1822 606.8 -87.6 - - 3229 - - - - - - - - 14.59 14.54 14.62
2631 252.3 -8.9 220 2635 roll -0.47 - - 2228 - 1.25 0.067 1108 -571.2 -87.6 - - 3229 - - - - - - - - 14.91 14.45 14.91
2660 254.3 -8.9 221 2664 done -0.47 - - 2223 - 1.17 0.041 1816 605.1 -87.6 - - 3229 - - - - - - - - 14.59 14.54 14.62
2973 284.2 -9.4 237 2977 roll -0.47 0.05 0.441 2237 280.0 1.25 0.063 1109 -565.6 -87.6 - - 3229 - - - - - - - - 14.38 14.46 14.55
3008 286.3 -9.5 238 3015 done -0.47 - - 2234 - 1.20 0.040 1820 592.5 -87.6 - - 3229 - - - - - - - - 14.37 14.33 14.40
3316 314.8 -9.0 254 3317 done -0.47 - - 2232 - - - 1820 - -87.6 - - 3229 - - - - - - - - 14.92 14.92 14.92
3615 341.8 -8.9 269 3620 roll -0.47 - - 2234 - 1.25 0.067 1110 -568.0 -87.6 - - 3229 - - - - - - - - 14.92 14.46 14.92
3660 345.6 -8.9 271 3664 done -0.47 - - 2229 - 1.17 0.041 1821 607.7 -87.6 - - 3228 - - - - - - - - 14.62 14.57 14.63
3978 374.1 -8.8 287 3979 done -0.47 - - 2229 - - - 1821 - -87.6 - - 3229 - - - - - - - - 14.92 14.92 14.92
4278 400.7 -8.8 302 4282 roll -0.47 - - 2229 - 1.25 0.067 1108 -570.4 -87.6 - - 3229 - - - - - - - - 14.92 14.46 14.92
4327 404.4 -8.9 304 4331 done -0.47 - - 2223 - 1.17 0.041 1817 606.0 -87.6 - - 3229 - - - - - - - - 14.59 14.54 14.63
4640 433.3 -9.0 320 4641 done -0.47 - - 2223 - - - 1818 - -87.6 - - 3228 - - - - - - - - 14.92 14.92 14.92
4940 460.2 -9.0 335 4944 roll -0.47 - - 2223 - 1.25 0.067 1106 -569.6 -87.6 - - 3229 - - - - - - - - 14.93 14.46 14.92
4990 464.1 -9.2 337 4994 done -0.47 0.05 0.314 2235 240.0 1.20 0.041 1827 600.8 -87.6 - - 3229 - - - - - - - - 14.17 14.54 14.34
5304 490.6 -8.2 353 5306 done -0.47 - - 2235 - - - 1827 - -87.6 - - 3229 - - - - - - - - 14.92 14.92 14.92
5603 515.0 -8.1 368 5606 roll -0.47 - - 2235 - 1.25 0.067 1114 -570.4 -87.6 - - 3229 - - - - - - - - 14.92 14.45 14.92
5652 518.5 -8.3 370 5656 done -0.47 - - 2232 - 1.17 0.040 1822 605.1 -87.6 - - 3229 - - - - - - - - 14.60 14.55 14.63
5965 545.5 -8.4 386 5966 done -0.47 - - 2231 - - - 1823 - -87.6 - - 3229 - - - - - - - - 14.92 14.92 14.92
6266 570.5 -8.4 401 6270 roll -0.47 - - 2231 - 1.25 0.067 1111 -569.6 -87.6 - - 3229 - - - - - - - - 14.92 14.45 14.92
6311 574.3 -8.5 403 6315 done -0.47 - - 2226 - 1.17 0.040 1820 606.0 -87.6 - - 3229 - - - - - - - - 14.60 14.56 14.64
6628 601.9 -8.6 419 6629 done -0.47 - - 2225 - - - 1821 - -87.6 - - 3229 - - - - - - - - 14.92 14.92 14.92
6928 627.9 -8.6 434 6932 roll -0.47 - - 2225 - 1.25 0.068 1110 -568.8 -87.6 - - 3229 - - - - - - - - 14.94 14.45 14.94
6983 631.6 -8.7 436 6990 done -0.47 0.05 0.317 2238 260.0 1.20 0.041 1820 591.7 -87.6 - - 3229 - - - - - - - - 14.07 14.42 14.29
7290 656.8 -7.8 452 7291 done -0.47 - - 2238 - - - 1820 - -87.6 - - 3230 - - - - - - - - 14.95 14.95 14.95
7589 680.2 -7.8 467 7593 roll -0.47 - - 2238 - 1.25 0.071 1112 -566.4 -87.6 - - 3230 - - - - - - - - 14.95 14.46 14.95
7651 685.2 -8.0 470 7655 done -0.47 - - 2234 - 1.17 0.041 1821 606.0 -87.6 - - 3230 - - - - - - - - 14.62 14.57 14.64
7972 710.5 -7.9 486 7976 roll -0.47 - - 2234 - 1.25 0.070 1111 -568.0 -87.6 - - 3230 - - - - - - - - 14.95 14.46 14.96
8006 712.2 -7.9 487 8013 done -0.47 - - 2229 - 1.20 0.041 1825 595.0 -87.6 - - 3230 - - - - - - - - 14.62 14.57 14.64
8314 738.2 -8.1 503 8315 done -0.47 - - 2228 - - - 1826 - -87.6 - - 3230 - - - - - - - - 14.97 14.96 14.97
8614 762.5 -8.1 518 8617 roll -0.47 - - 2228 - 1.25 0.070 1117 -567.2 -87.6 - - 3230 - - - - - - - - 14.97 14.45 14.97
8678 767.5 -8.4 521 8681 done -0.47 - - 2223 - 1.15 0.042 1813 605.2 -87.6 - - 3230 - - - - - - - - 14.62 14.57 14.65
8995 794.0 -8.3 537 8996 done -0.47 - - 2223 - - - 1813 - -87.6 - - 3230 - - - - - - - - 14.97 14.97 14.98
9295 819.2 -8.4 552 9299 roll -0.47 0.05 0.436 2239 320.0 1.25 0.067 1111 -561.6 -87.6 - - 3230 - - - - - - - - 14.42 14.46 14.59
9350 822.6 -8.3 554 9356 done -0.47 - - 2235 - 1.17 0.041 1810 597.4 -87.6 - - 3230 - - - - - - - - 14.50 14.45 14.52
9657 847.1 -7.6 570 9658 done -0.47 - - 2235 - - - 1811 - -87.6 - - 3231 - - - - - - - - 14.97 14.97 14.97
9957 870.0 -7.6 585 9961 roll -0.47 - - 2234 - 1.23 0.070 1113 -567.5 -87.6 - - 3231 - - - - - - - - 14.98 14.46 14.99
10019 874.8 -7.7 588 10022 done -0.47 - - 2229 - 1.17 0.043 1819 603.4 -87.6 - - 3231 - - - - - - - - 14.62 14.57 14.65
10340 899.5 -7.7 604 10341 done -0.47 - - 2229 - - - 1819 - -87.6 - - 3231 - - - - - - - - 14.98 14.98 14.98
10640 922.3 -7.5 619 10643 roll -0.47 - - 2229 - 1.25 0.070 1111 -566.4 -87.6 - - 3231 - - - - - - - - 14.98 14.46 14.99
10694 925.5 -7.7 621 10700 done -0.47 - - 2224 - 1.17 0.043 1813 600.0 -87.6 - - 3231 - - - - - - - - 14.62 14.57 14.66
11001 950.1 -7.8 637 11002 done -0.47 - - 2224 - - - 1813 - -87.6 - - 3231 - - - - - - - - 14.99 14.99 14.99
11302 973.0 -7.5 652 11305 roll -0.47 - - 2224 - 1.25 0.072 1109 -563.2 -87.6 - - 3231 - - - - - - - - 14.97 14.46 14.97
11363 977.8 -7.7 655 11367 done -0.47 0.05 0.311 2238 280.0 1.17 0.043 1817 605.1 -87.6 - - 3231 - - - - - - - - 14.19 14.57 14.35
11543 end dive: TARGET_DEPTH_EXCEEDED
11544 begin apogee
11549 990.1 -6.7 664 11631 done -0.14 0.30 0.235 2346 360.0 - - 1709 - - 79.57 2.534 2868 -4.6 0.339 - - - - - - 14.28 14.02 13.02
11633 end apogee: CONTROL_FINISHED_OK
11633 begin loiter
11925 993.9 -0.4 683 11934 done -0.14 - - 2346 - - - 1710 - 6.1 6.95 2.059 2844 -3.5 0.317 - - - - - - 14.61 14.39 13.27
12225 994.9 -0.4 698 12234 done -0.13 - - 2346 - - - 1709 - 12.4 7.47 2.117 2818 -3.5 0.311 - - - - - - 14.71 14.49 13.35
12525 992.7 1.1 713 12526 done -0.13 - - 2346 - - - 1709 - 12.4 - - 2818 - - - - - - - - 14.76 14.76 14.76
12825 989.2 1.2 728 12826 done -0.13 - - 2346 - - - 1709 - 12.4 - - 2818 - - - - - - - - 14.81 14.81 14.82
13125 985.9 1.0 743 13126 done -0.13 - - 2346 - - - 1709 - 12.4 - - 2818 - - - - - - - - 14.86 14.86 14.86
13425 983.0 0.9 758 13426 done -0.13 - - 2346 - - - 1709 - 12.4 - - 2818 - - - - - - - - 14.88 14.88 14.88
13725 980.4 0.8 773 13726 done -0.13 - - 2346 - - - 1709 - 12.4 - - 2818 - - - - - - - - 14.90 14.90 14.90
14025 978.3 0.7 788 14026 done -0.13 - - 2346 - - - 1709 - 12.4 - - 2818 - - - - - - - - 14.92 14.92 14.92
14325 976.3 0.6 803 14326 done -0.13 - - 2346 - - - 1709 - 12.4 - - 2818 - - - - - - - - 14.93 14.93 14.93
14625 974.8 0.5 818 14626 done -0.13 - - 2346 - - - 1709 - 12.4 - - 2818 - - - - - - - - 14.94 14.95 14.94
14925 973.5 0.4 833 14926 done -0.13 - - 2346 - - - 1709 - 12.4 - - 2818 - - - - - - - - 14.95 14.95 14.95
15225 972.4 0.4 848 15226 done -0.13 - - 2346 - - - 1709 - 12.4 - - 2818 - - - - - - - - 14.96 14.96 14.96
15525 971.3 0.3 863 15526 done -0.13 - - 2346 - - - 1709 - 12.4 - - 2817 - - - - - - - - 14.96 14.96 14.96
15825 970.6 0.2 878 15826 done -0.13 - - 2346 - - - 1709 - 12.4 - - 2818 - - - - - - - - 14.96 14.97 14.97
16125 969.8 0.2 893 16126 done -0.13 - - 2346 - - - 1709 - 12.4 - - 2818 - - - - - - - - 14.97 14.97 14.97
16425 969.4 0.2 908 16426 done -0.13 - - 2346 - - - 1709 - 12.4 - - 2818 - - - - - - - - 14.97 14.97 14.97
16725 969.1 - 923 16726 done -0.13 - - 2346 - - - 1709 - 12.4 - - 2818 - - - - - - - - 14.97 14.97 14.97
17023 end loiter: LOITER_COMPLETE
17023 begin climb
17025 969.1 - 938 17098 roll 0.47 0.47 0.163 2540 412.8 1.20 0.077 1057 -543.3 87.6 65.18 2.581 2509 -4.7 0.339 - - - - - - 14.43 14.10 13.16
17267 958.3 5.8 950 17309 done 0.52 - - 2540 - 1.12 0.037 1738 608.0 129.2 37.50 2.459 2340 -4.5 0.334 - - - - - - 14.33 14.29 13.12
17627 930.7 8.0 968 17639 roll 0.53 - - 2541 - 1.15 0.045 2435 606.1 136.8 8.60 2.089 2310 -3.5 0.296 - - - - - - 14.64 14.21 13.35
17690 926.1 8.2 970 17702 done 0.53 - - 2546 - 1.17 0.062 1764 -573.5 140.6 5.03 1.736 2295 -3.0 0.303 - - - - - - 14.40 14.33 13.32
18002 898.7 8.6 986 18005 roll 0.53 - - 2552 - 1.30 0.074 1032 -563.1 140.6 - - 2297 - - - - - - - - 14.73 14.39 14.73
18065 893.4 8.5 989 18069 done 0.53 - - 2551 - 1.15 0.036 1740 615.7 140.6 - - 2298 - - - - - - - - 14.55 14.52 14.57
18383 865.2 9.0 1005 18386 roll 0.53 - - 2551 - 1.15 0.048 2432 601.7 140.6 - - 2298 - - - - - - - - 14.83 14.52 14.83
18424 861.3 9.2 1007 18427 done 0.53 - - 2556 - 1.20 0.061 1741 -575.8 140.6 - - 2297 - - - - - - - - 14.57 14.50 14.59
18745 831.1 9.5 1023 18749 roll 0.53 - - 2562 - 1.23 0.073 1036 -573.2 140.6 - - 2298 - - - - - - - - 14.87 14.48 14.87
18799 827.1 9.4 1025 18806 done 0.53 - - 2562 - 1.12 0.036 1735 624.1 140.6 - - 2298 - - - - - - - - 14.63 14.59 14.66
19106 795.8 9.8 1041 19110 roll 0.53 - - 2562 - 1.17 0.048 2436 599.1 140.6 - - 2297 - - - - - - - - 14.89 14.58 14.90
19160 791.7 9.9 1043 19167 done 0.53 - - 2567 - 1.20 0.060 1742 -578.3 140.6 - - 2298 - - - - - - - - 14.62 14.54 14.64
19467 759.8 9.9 1059 19471 roll 0.53 - - 2573 - 1.25 0.073 1025 -573.6 140.6 - - 2298 - - - - - - - - 14.92 14.52 14.92
19528 753.8 9.9 1062 19531 done 0.53 - - 2573 - 1.15 0.035 1738 620.0 140.6 - - 2298 - - - - - - - - 14.66 14.62 14.69
47957 end climb: ABORT_TIME_EXCEEDED
SM 2.26 - - - - -6.43 5.55 0.079 252 45.4 - - 1740 - 180.05 22.15 0.254 2135 96.4 -0.088 - - - - - -