ROAMMIZ 19Oct19 * SG640 * Dive index * Mission links * Dive 5 * Raw log
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• Previous call tries 2 • 3.25 of 310.00 AH used of 24V (98.95% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.0 deg, depth 1.59 m • Intended pitch -24.8 deg, speed -9.877 cm/s
• No surface pump (final VBD was 243.82, SM_CC=220)
• GPS1 time: 11 s
• GPS2 time: 6 s • Transponder ping count: 1
• 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
8 - - - 79 VBD -0.85 - - 236 - - - 2039 - -77.9 -69.50 - 2575 - - - - - - - - 14.76 - 14.78
80 3.3 -4.0 12 105 roll -0.85 6.30 0.395 2222 315.2 2.83 2.333 3479 508.8 -77.9 -10.73 - 2869 -27.4 - - - - - - - 14.40 13.76 14.57
138 16.5 -19.8 23 146 done -0.85 - - 2222 - 2.62 0.090 2033 -551.9 -77.9 - - 2871 - - - - - - - - 14.55 14.47 14.58
174 24.2 -23.4 30 182 roll -0.85 - - 2222 - 2.65 0.114 625 -531.3 -77.9 - - 2871 - - - - - - - - 14.74 14.52 14.75
210 33.6 -26.2 37 218 done -0.85 - - 2211 - 2.58 0.095 2030 544.6 -77.9 - - 2871 - - - - - - - - 14.60 14.52 14.62
247 43.4 -27.5 44 248 done -0.85 - - 2211 - - - 2031 - -77.9 - - 2871 - - - - - - - - 14.77 14.77 14.77
277 51.7 -27.6 50 284 roll -0.85 - - 2211 - 2.65 0.111 615 -534.3 -77.9 - - 2871 - - - - - - - - 14.78 14.55 14.78
298 57.8 -30.9 54 306 done -0.85 0.05 0.397 2216 100.0 2.60 0.093 2033 545.4 -77.9 - - 2870 - - - - - - - - 14.42 14.55 14.57
334 67.4 -27.0 61 335 done -0.85 - - 2215 - - - 2034 - -77.9 - - 2871 - - - - - - - - 14.80 14.81 14.81
364 75.5 -27.0 67 371 roll -0.85 - - 2214 - 2.62 0.108 621 -539.3 -77.9 - - 2871 - - - - - - - - 14.81 14.58 14.81
385 81.4 -27.4 71 392 done -0.85 0.05 0.417 2219 100.0 2.58 0.091 2032 546.9 -77.9 - - 2871 - - - - - - - - 14.46 14.58 14.62
421 91.3 -27.6 78 422 done -0.85 - - 2217 - - - 2032 - -77.9 - - 2870 - - - - - - - - 14.81 14.82 14.81
451 99.6 -27.9 84 459 roll -0.85 - - 2218 - 2.60 0.101 621 -542.7 -77.9 - - 2871 - - - - - - - - 14.82 14.60 14.82
467 102.8 -28.7 86 475 done -0.85 0.05 0.408 2222 80.0 2.58 0.090 2037 548.8 -77.9 - - 2870 - - - - - - - - 14.48 14.60 14.63
532 122.3 -27.4 93 538 roll -0.85 - - 2221 - 2.62 0.106 623 -539.7 -77.9 - - 2871 - - - - - - - - 14.84 14.61 14.84
552 127.8 -27.6 95 558 done -0.85 0.03 0.506 2218 -100.0 2.58 0.090 2037 548.1 -77.9 - - 2871 - - - - - - - - 14.47 14.62 14.63
622 147.1 -27.8 102 623 done -0.85 - - 2217 - - - 2038 - -77.9 - - 2871 - - - - - - - - 14.85 14.85 14.85
682 163.5 -27.3 108 688 roll -0.85 - - 2217 - 2.62 0.106 618 -542.0 -77.9 - - 2870 - - - - - - - - 14.86 14.64 14.86
727 174.3 -27.0 112 736 done -0.85 0.05 0.402 2221 80.0 2.58 0.090 2037 550.0 -77.9 - - 2871 - - - - - - - - 14.51 14.64 14.66
792 192.8 -26.7 119 798 roll -0.85 - - 2220 - 2.60 0.100 620 -545.0 -77.9 - - 2870 - - - - - - - - 14.87 14.65 14.87
807 195.5 -27.0 120 815 done -0.85 - - 2207 - 2.55 0.086 2035 554.9 -77.9 - - 2870 - - - - - - - - 14.71 14.65 14.74
872 214.8 -27.6 127 873 done -0.85 0.05 0.507 2219 240.0 - - 2035 - -77.9 - - 2870 - - - - - - - - 14.54 14.76 14.73
932 230.3 -25.7 133 938 roll -0.85 - - 2218 - 2.60 0.103 621 -543.8 -77.9 - - 2870 - - - - - - - - 14.88 14.62 14.88
952 235.8 -26.9 135 959 done -0.85 0.03 0.498 2215 -100.0 2.55 0.088 2031 552.9 -77.9 - - 2870 - - - - - - - - 14.52 14.66 14.67
1022 254.5 -26.9 142 1028 roll -0.85 - - 2213 - 2.60 0.104 619 -543.1 -77.9 - - 2870 - - - - - - - - 14.88 14.66 14.88
1057 262.8 -27.5 145 1065 done -0.85 0.05 0.409 2217 80.0 2.55 0.092 2027 552.2 -77.9 - - 2870 - - - - - - - - 14.53 14.65 14.68
1122 280.1 -25.1 152 1128 roll -0.85 - - 2220 - 2.60 0.105 615 -543.1 -77.9 - - 2871 - - - - - - - - 14.88 14.62 14.88
1147 285.5 -26.0 154 1155 done -0.85 0.05 0.412 2219 - 2.58 0.092 2034 550.0 -77.9 - - 2870 - - - - - - - - 14.53 14.64 14.69
1217 305.0 -26.3 161 1223 roll -0.85 - - 2215 - 2.60 0.103 618 -544.6 -77.9 - - 2871 - - - - - - - - 14.89 14.66 14.90
1247 313.0 -26.3 163 1253 done -0.85 0.05 0.406 2219 80.0 2.58 0.093 2035 549.2 -77.9 - - 2870 - - - - - - - - 14.53 14.65 14.69
1382 348.7 -26.5 172 1388 roll -0.85 - - 2217 - 2.60 0.102 617 -545.4 -77.9 - - 2870 - - - - - - - - 14.90 14.67 14.90
1412 356.9 -27.0 174 1419 done -0.85 0.05 0.402 2221 80.0 2.55 0.090 2029 553.7 -77.9 - - 2870 - - - - - - - - 14.55 14.67 14.69
1548 392.2 -25.7 183 1554 roll -0.85 - - 2219 - 2.60 0.103 617 -543.1 -77.9 - - 2870 - - - - - - - - 14.91 14.65 14.91
1583 399.9 -25.7 185 1589 done -0.85 0.03 0.490 2215 -133.3 2.58 0.090 2034 549.2 -77.9 - - 2870 - - - - - - - - 14.51 14.64 14.66
1592 end dive: TARGET_DEPTH_EXCEEDED
1592 begin apogee
1594 403.4 -25.5 186 1661 done -0.15 0.65 0.283 2444 352.3 - - 2035 - - 64.03 2.121 2547 -5.0 0.181 - - - - - - 14.59 14.11 13.39
1662 end apogee: CONTROL_FINISHED_OK
1662 begin climb
1663 410.5 - 190 1736 roll 0.85 0.88 0.203 2757 355.7 2.80 0.124 3435 500.0 77.9 63.33 2.234 2229 -5.0 0.174 - - - - - - 14.02 13.77 13.03
1999 418.1 -3.9 213 2138 done 1.05 0.12 0.120 2848 758.3 2.53 0.079 2030 -555.3 240.5 128.23 2.121 1565 -5.2 0.192 - - - - - - 14.38 14.38 13.09
2254 389.3 19.4 230 2260 roll 1.05 - - 2849 - 2.75 0.126 3444 514.2 240.5 - - 1562 - - - - - - - - 14.42 14.12 14.42
2374 367.5 17.8 238 2380 done 1.05 0.05 0.392 2845 -80.0 2.58 0.087 2037 -545.3 240.5 - - 1562 - - - - - - - - 14.21 14.31 14.34
2509 342.8 18.7 247 2515 roll 1.05 - - 2854 - 2.65 0.106 627 -532.1 240.5 - - 1560 - - - - - - - - 14.66 14.41 14.67
2564 334.3 18.9 250 2572 done 1.05 0.05 0.387 2839 -300.0 2.60 0.090 2041 543.8 240.5 - - 1559 - - - - - - - - 14.33 14.43 14.47
2689 310.5 17.5 259 2695 roll 1.05 - - 2839 - 2.65 0.123 3445 529.8 240.5 - - 1558 - - - - - - - - 14.74 14.45 14.74
2719 305.2 17.5 261 2726 done 1.05 - - 2849 - 2.55 0.085 2028 -555.7 240.5 - - 1558 - - - - - - - - 14.57 14.50 14.59
2845 283.4 17.8 272 2850 roll 1.05 - - 2861 - 2.62 0.108 622 -536.6 240.5 - - 1559 - - - - - - - - 14.78 14.53 14.78
2889 276.3 17.8 276 2897 done 1.05 0.05 0.387 2845 -320.0 2.58 0.086 2038 548.8 240.5 - - 1558 - - - - - - - - 14.43 14.54 14.57
2954 263.8 17.9 283 2960 roll 1.05 - - 2845 - 2.62 0.119 3439 534.7 240.5 - - 1558 - - - - - - - - 14.80 14.52 14.81
2979 260.1 18.2 285 2987 done 1.05 0.05 0.416 2841 -80.0 2.50 0.083 2033 -562.4 240.5 - - 1557 - - - - - - - - 14.43 14.57 14.59
3044 247.8 17.4 292 3045 done 1.05 - - 2841 - - - 2033 - 240.5 - - 1558 - - - - - - - - 14.81 14.81 14.82
3104 237.3 17.8 298 3110 roll 1.05 - - 2850 - 2.62 0.104 618 -540.1 240.5 - - 1558 - - - - - - - - 14.83 14.59 14.83
3134 231.7 18.3 301 3140 done 1.05 - - 2851 - 2.55 0.084 2035 555.7 240.5 - - 1557 - - - - - - - - 14.64 14.58 14.66
3205 218.6 18.8 308 3210 roll 1.05 - - 2851 - 2.60 0.116 3436 538.8 240.5 - - 1557 - - - - - - - - 14.84 14.57 14.84
3249 210.6 20.2 312 3257 done 1.05 0.08 0.388 2837 -175.0 2.50 0.083 2032 -561.6 240.5 - - 1557 - - - - - - - - 14.48 14.60 14.62
3314 197.9 17.9 319 3320 roll 1.05 - - 2849 - 2.60 0.103 624 -541.5 240.5 - - 1557 - - - - - - - - 14.85 14.59 14.85
3349 192.6 17.7 322 3358 done 1.05 - - 2849 - 2.53 0.084 2033 556.9 240.5 - - 1557 - - - - - - - - 14.67 14.61 14.67
3414 180.2 18.0 329 3420 roll 1.05 - - 2849 - 2.60 0.115 3435 539.2 240.5 - - 1557 - - - - - - - - 14.86 14.55 14.86
3485 168.2 17.1 336 3491 done 1.05 0.08 0.382 2838 -137.5 2.50 0.085 2033 -560.8 240.5 - - 1557 - - - - - - - - 14.50 14.60 14.64
3554 157.3 15.4 343 3560 roll 1.05 - - 2847 - 2.60 0.102 622 -542.7 240.5 - - 1557 - - - - - - - - 14.86 14.61 14.87
3645 142.5 16.6 352 3650 done 1.05 - - 2848 - 2.53 0.081 2033 557.7 240.5 - - 1557 - - - - - - - - 14.69 14.62 14.70
3714 130.4 17.3 359 3720 roll 1.05 - - 2848 - 2.60 0.115 3437 540.0 240.5 - - 1557 - - - - - - - - 14.88 14.59 14.88
3749 125.0 17.8 362 3757 done 1.05 0.05 0.409 2844 -80.0 2.47 0.080 2037 -566.8 240.5 - - 1557 - - - - - - - - 14.50 14.63 14.64
3814 113.3 16.7 369 3820 roll 1.05 - - 2854 - 2.60 0.102 621 -544.6 240.5 - - 1557 - - - - - - - - 14.87 14.62 14.87
3854 106.6 16.7 373 3861 done 1.05 0.05 0.376 2838 -320.0 2.53 0.079 2039 560.5 240.5 - - 1557 - - - - - - - - 14.52 14.64 14.66
3919 96.1 16.0 381 3927 roll 1.05 - - 2838 - 2.58 0.112 3435 541.1 240.5 - - 1557 - - - - - - - - 14.87 14.62 14.88
3950 90.9 16.9 387 3958 done 1.05 - - 2848 - 2.47 0.080 2031 -568.4 240.5 - - 1557 - - - - - - - - 14.73 14.64 14.74
3987 84.8 16.7 394 3994 roll 1.05 - - 2859 - 2.60 0.101 617 -543.8 240.5 - - 1557 - - - - - - - - 14.88 14.65 14.88
4018 79.6 17.1 400 4025 done 1.05 0.08 0.360 2836 -287.5 2.53 0.080 2036 560.9 240.5 - - 1557 - - - - - - - - 14.54 14.66 14.69
4054 73.6 16.2 407 4062 roll 1.05 - - 2836 - 2.58 0.110 3435 542.2 240.5 - - 1557 - - - - - - - - 14.88 14.62 14.88
4081 69.2 17.1 412 4088 done 1.05 - - 2845 - 2.47 0.080 2031 -568.4 240.5 - - 1557 - - - - - - - - 14.72 14.66 14.75
4116 63.5 16.2 419 4124 roll 1.05 - - 2857 - 2.60 0.101 620 -542.7 240.5 - - 1557 - - - - - - - - 14.88 14.65 14.88
4148 58.1 16.6 425 4155 done 1.05 0.05 0.392 2842 -300.0 2.50 0.076 2029 563.6 240.5 - - 1557 - - - - - - - - 14.54 14.66 14.69
4184 52.4 15.9 432 4191 roll 1.05 - - 2842 - 2.58 0.108 3433 544.2 240.5 - - 1557 - - - - - - - - 14.88 14.62 14.88
4215 47.4 16.0 438 4222 done 1.05 0.03 0.485 2845 100.0 2.47 0.080 2034 -566.4 240.5 - - 1557 - - - - - - - - 14.50 14.64 14.69
4251 41.6 15.8 445 4258 roll 1.05 - - 2854 - 2.60 0.101 618 -544.6 240.5 - - 1557 - - - - - - - - 14.88 14.65 14.89
4282 36.7 16.3 451 4290 done 1.05 0.05 0.381 2839 -300.0 2.53 0.076 2039 561.7 240.5 - - 1557 - - - - - - - - 14.54 14.67 14.69
4319 30.8 15.8 458 4326 roll 1.05 - - 2839 - 2.55 0.107 3431 545.9 240.5 - - 1557 - - - - - - - - 14.88 14.64 14.88
4344 26.7 15.6 463 4353 done 1.05 - - 2849 - 2.47 0.080 2031 -566.8 240.5 - - 1558 - - - - - - - - 14.71 14.64 14.72
4381 20.7 16.1 470 4389 roll 1.05 - - 2860 - 2.58 0.103 627 -544.2 240.5 - - 1557 - - - - - - - - 14.88 14.66 14.89
4427 12.7 17.8 479 4436 done 1.05 0.05 0.377 2844 -320.0 2.50 0.076 2035 563.2 240.5 - - 1557 - - - - - - - - 14.55 14.67 14.69
4464 6.5 17.1 486 4471 roll 1.05 - - 2844 - 2.58 0.109 3437 543.4 240.5 - - 1557 - - - - - - - - 14.89 14.63 14.89
4484 end climb: SURFACE_DEPTH_REACHED
4484 begin surface coast
4499 end surface coast: CONTROL_FINISHED_OK
4499 begin surface
SM 1.55 - - - - -6.75 6.10 0.082 281 46.1 2.50 0.074 2023 -933.2 243.82 - - 1556 - - - - - - - -