ROAMMIZ 19Oct19 * SG640 * Dive index * Mission links * Dive 93 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 35.34 of 310.00 AH used of 24V (88.60% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.9 deg, depth 1.36 m • Intended pitch -27.9 deg, speed -11.111 cm/s
• VBD pumped to 190.10 (SM_CC=190)
• GPS1 time: 35 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
7 end surface: CONTROL_FINISHED_OK
7 begin dive
9 - - - 74 done -0.92 - - 231 - - - 1903 - -58.4 -59.88 - 2438 - - - - - - - - 14.67 13.93 14.69
76 2.8 -2.1 11 89 roll -0.92 6.25 0.369 2204 315.7 2.40 0.057 3284 575.4 -58.4 - - 2440 - - - - - - - - 14.26 14.47 14.43
203 23.0 -16.8 36 211 done -0.92 0.05 0.386 2218 280.0 2.40 0.044 1877 -586.2 -58.4 - - 2441 - - - - - - - - 14.33 14.49 14.55
240 30.1 -18.3 43 240 done -0.92 - - 2218 - - - 1877 - -58.4 - - 2441 - - - - - - - - 14.71 14.71 14.71
270 35.7 -18.8 49 271 done -0.92 - - 2216 - - - 1877 - -58.4 - - 2441 - - - - - - - - 14.72 14.72 14.73
300 41.3 -18.7 55 300 done -0.92 - - 2218 - - - 1877 - -58.4 - - 2441 - - - - - - - - 14.73 14.73 14.73
330 46.8 -18.1 61 337 roll -0.92 - - 2219 - 2.50 0.065 478 -559.6 -58.4 - - 2442 - - - - - - - - 14.73 14.52 14.73
366 52.8 -16.9 68 374 done -0.92 0.05 0.408 2223 80.0 2.40 0.041 1871 580.4 -58.4 - - 2441 - - - - - - - - 14.38 14.56 14.54
403 59.0 -16.9 75 403 done -0.92 - - 2223 - - - 1872 - -58.4 - - 2441 - - - - - - - - 14.73 14.73 14.74
433 64.3 -17.6 81 433 done -0.92 - - 2223 - - - 1872 - -58.4 - - 2442 - - - - - - - - 14.74 14.75 14.75
462 69.7 -18.1 87 463 done -0.92 - - 2223 - - - 1872 - -58.4 - - 2442 - - - - - - - - 14.75 14.75 14.75
493 75.1 -18.3 93 500 roll -0.92 - - 2222 - 2.47 0.063 482 -562.8 -58.4 - - 2442 - - - - - - - - 14.76 14.56 14.76
543 85.3 -19.6 103 551 done -0.92 0.03 0.485 2218 -133.3 2.42 0.042 1887 580.6 -58.4 - - 2442 - - - - - - - - 14.37 14.54 14.53
580 91.9 -18.6 110 580 done -0.92 - - 2218 - - - 1888 - -58.4 - - 2442 - - - - - - - - 14.78 14.78 14.78
609 97.4 -18.2 116 610 done -0.92 - - 2218 - - - 1889 - -58.4 - - 2442 - - - - - - - - 14.78 14.78 14.78
645 103.6 -17.1 121 645 done -0.92 - - 2218 - - - 1889 - -58.4 - - 2442 - - - - - - - - 14.78 14.79 14.79
704 114.2 -18.0 127 705 done -0.92 - - 2218 - - - 1888 - -58.4 - - 2442 - - - - - - - - 14.80 14.80 14.80
765 124.8 -17.4 133 765 done -0.92 - - 2218 - - - 1888 - -58.4 - - 2442 - - - - - - - - 14.81 14.82 14.81
824 135.5 -18.0 139 825 done -0.92 - - 2218 - - - 1888 - -58.4 - - 2442 - - - - - - - - 14.81 14.82 14.81
885 145.8 -16.8 145 890 roll -0.92 - - 2204 - 2.42 0.067 3281 575.6 -58.4 - - 2441 - - - - - - - - 14.82 14.59 14.83
965 159.2 -16.6 153 970 done -0.92 0.05 0.405 2215 220.0 2.38 0.045 1881 -588.2 -58.4 - - 2441 - - - - - - - - 14.45 14.62 14.59
1035 170.1 -15.0 160 1040 roll -0.92 - - 2215 - 2.47 0.063 481 -566.8 -58.4 - - 2441 - - - - - - - - 14.83 14.62 14.83
1065 174.6 -14.9 163 1070 done -0.92 0.05 0.391 2219 80.0 2.40 0.041 1883 584.2 -58.4 - - 2441 - - - - - - - - 14.47 14.62 14.62
1134 185.5 -15.5 170 1140 roll -0.92 - - 2218 - 2.47 0.063 483 -566.8 -58.4 - - 2441 - - - - - - - - 14.83 14.62 14.84
1225 198.9 -14.5 179 1230 done -0.92 0.05 0.409 2222 80.0 2.38 0.041 1877 585.7 -58.4 - - 2441 - - - - - - - - 14.46 14.64 14.61
1295 209.6 -15.2 186 1295 done -0.92 - - 2222 - - - 1878 - -58.4 - - 2442 - - - - - - - - 14.84 14.85 14.85
1354 218.3 -14.3 192 1360 roll -0.92 - - 2222 - 2.47 0.062 478 -566.8 -58.4 - - 2441 - - - - - - - - 14.85 14.63 14.85
1405 225.7 -14.5 197 1410 done -0.92 0.03 0.481 2218 -133.3 2.38 0.041 1873 586.1 -58.4 - - 2441 - - - - - - - - 14.46 14.64 14.62
1475 235.5 -13.8 204 1475 done -0.92 - - 2218 - - - 1873 - -58.4 - - 2441 - - - - - - - - 14.85 14.85 14.85
1535 243.3 -13.0 210 1540 roll -0.92 - - 2218 - 2.47 0.062 474 -566.4 -58.4 - - 2440 - - - - - - - - 14.85 14.62 14.85
1594 251.9 -14.6 216 1600 done -0.92 0.05 0.396 2221 60.0 2.40 0.041 1876 584.2 -58.4 - - 2441 - - - - - - - - 14.49 14.64 14.63
1665 262.0 -14.6 223 1665 done -0.92 - - 2221 - - - 1876 - -58.4 - - 2441 - - - - - - - - 14.85 14.88 14.85
1725 270.6 -14.2 229 1730 roll -0.92 - - 2209 - 2.42 0.064 3291 584.7 -58.4 - - 2441 - - - - - - - - 14.86 14.64 14.86
1760 274.7 -13.9 232 1768 done -0.92 0.05 0.400 2219 200.0 2.40 0.046 1878 -588.8 -58.4 - - 2441 - - - - - - - - 14.49 14.65 14.63
1825 284.2 -13.4 239 1830 roll -0.92 - - 2218 - 2.47 0.064 480 -566.0 -58.4 - - 2440 - - - - - - - - 14.85 14.63 14.86
1884 292.4 -13.5 245 1890 done -0.92 0.05 0.392 2221 60.0 2.38 0.041 1877 587.0 -58.4 - - 2440 - - - - - - - - 14.49 14.64 14.64
1959 302.4 -13.4 252 1960 done -0.92 - - 2221 - - - 1877 - -58.4 - - 2441 - - - - - - - - 14.85 14.86 14.86
2079 318.3 -13.0 260 2085 roll -0.92 - - 2221 - 2.45 0.061 483 -569.0 -58.4 - - 2440 - - - - - - - - 14.87 14.65 14.88
2144 326.6 -13.8 264 2151 done -0.92 0.05 0.397 2224 60.0 2.38 0.041 1874 584.5 -58.4 - - 2441 - - - - - - - - 14.49 14.66 14.66
2275 344.3 -12.8 273 2281 roll -0.92 - - 2215 - 2.45 0.064 3273 571.0 -58.4 - - 2441 - - - - - - - - 14.87 14.66 14.88
2320 350.0 -12.7 276 2326 done -0.92 0.03 0.488 2219 133.3 2.35 0.044 1883 -591.5 -58.4 - - 2440 - - - - - - - - 14.50 14.68 14.66
2455 366.6 -12.3 285 2461 roll -0.92 - - 2219 - 2.47 0.063 481 -567.6 -58.4 - - 2440 - - - - - - - - 14.88 14.67 14.88
2505 372.6 -13.0 288 2512 done -0.92 0.05 0.398 2224 100.0 2.38 0.041 1875 585.7 -58.4 - - 2441 - - - - - - - - 14.52 14.69 14.67
2636 388.8 -11.8 297 2637 done -0.92 - - 2224 - - - 1873 - -58.4 - - 2440 - - - - - - - - 14.88 14.88 14.88
2756 402.7 -11.5 305 2757 done -0.92 - - 2224 - - - 1875 - -58.4 - - 2440 - - - - - - - - 14.88 14.89 14.88
2876 415.7 -10.7 313 2877 done -0.92 - - 2224 - - - 1875 - -58.4 - - 2440 - - - - - - - - 14.88 14.89 14.89
2996 428.0 -10.2 321 3002 roll -0.92 - - 2214 - 2.45 0.065 3284 575.1 -58.4 - - 2440 - - - - - - - - 14.90 14.69 14.90
3046 432.7 -10.4 324 3053 done -0.92 - - 2212 - 2.38 0.044 1880 -589.9 -58.4 - - 2440 - - - - - - - - 14.75 14.71 14.78
3176 447.2 -10.8 333 3182 roll -0.92 0.05 0.490 2225 260.0 2.47 0.063 475 -568.8 -58.4 - - 2440 - - - - - - - - 14.53 14.69 14.73
3287 459.1 -11.3 340 3293 done -0.92 - - 2215 - 2.38 0.040 1879 589.9 -58.4 - - 2440 - - - - - - - - 14.74 14.70 14.74
3417 473.7 -10.9 349 3422 roll -0.92 - - 2213 - 2.45 0.061 478 -571.8 -58.4 - - 2440 - - - - - - - - 14.88 14.69 14.88
3471 479.0 -11.7 352 3479 done -0.92 0.05 0.385 2218 100.0 2.38 0.039 1881 589.5 -58.4 - - 2440 - - - - - - - - 14.54 14.70 14.69
3597 493.8 -10.9 361 3598 done -0.92 - - 2217 - - - 1881 - -58.4 - - 2440 - - - - - - - - 14.88 14.88 14.88
3655 end dive: TARGET_DEPTH_EXCEEDED
3656 begin apogee
3658 500.5 -11.2 365 3707 done -0.15 0.73 0.282 2470 346.6 - - 1882 - - 46.55 2.079 2198 -5.2 0.233 - - - - - - 14.57 14.21 13.47
3709 end apogee: CONTROL_FINISHED_OK
3709 begin climb
3710 502.5 - 368 3765 done 0.92 0.90 0.183 2803 370.0 - - 1883 - 58.4 46.72 2.141 1957 -5.2 0.225 - - - - - - 14.17 13.95 13.17
3882 486.9 11.0 380 3888 roll 0.92 - - 2803 - 2.53 0.062 3303 561.3 59.9 - - 1962 - - - - - - - - 14.45 14.27 14.45
3912 483.4 11.5 382 3917 done 0.92 - - 2813 - 2.42 0.043 1905 -577.7 59.9 - - 1963 - - - - - - - - 14.35 14.31 14.38
4047 468.0 11.3 391 4058 roll 0.92 - - 2825 - 2.53 0.063 501 -554.9 59.9 3.70 1.454 1953 -2.7 0.162 - - - - - - 14.59 14.39 13.51
4081 464.5 11.5 393 4087 done 0.92 - - 2826 - 2.40 0.034 1903 584.2 59.9 - - 1953 - - - - - - - - 14.46 14.42 14.47
4212 448.4 11.9 402 4217 roll 0.92 - - 2826 - 2.47 0.063 3301 566.0 59.9 - - 1954 - - - - - - - - 14.66 14.46 14.65
4257 442.8 12.3 405 4263 done 0.92 0.05 0.368 2820 -120.0 2.40 0.044 1902 -582.9 59.9 - - 1954 - - - - - - - - 14.35 14.50 14.48
4392 427.5 11.2 414 4398 roll 0.92 - - 2831 - 2.50 0.063 475 -570.8 59.9 - - 1954 - - - - - - - - 14.72 14.52 14.73
4422 424.1 11.4 416 4428 done 0.92 - - 2831 - 2.42 0.034 1901 589.3 59.9 - - 1954 - - - - - - - - 14.60 14.55 14.59
4557 408.4 11.7 425 4563 roll 0.92 - - 2831 - 2.45 0.062 3298 570.2 59.9 - - 1953 - - - - - - - - 14.76 14.56 14.76
4627 401.1 12.1 429 4635 done 0.92 0.05 0.379 2826 -100.0 2.38 0.043 1903 -586.1 59.9 - - 1954 - - - - - - - - 14.45 14.59 14.57
4752 386.1 11.0 438 4753 done 0.92 - - 2826 - - - 1903 - 60.9 - - 1954 - - - - - - - - 14.80 14.80 14.80
4872 373.1 10.8 446 4879 done 0.93 - - 2826 - - - 1903 - 64.2 5.18 1.672 1936 -3.5 0.144 - - - - - - 14.82 14.60 13.74
4992 359.7 11.1 454 4998 roll 0.93 - - 2826 - 2.42 0.060 3294 574.8 64.6 - - 1935 - - - - - - - - 14.78 14.59 14.80
5032 356.3 11.2 456 5039 done 0.93 - - 2836 - 2.38 0.042 1898 -586.6 64.6 - - 1936 - - - - - - - - 14.66 14.62 14.68
5157 341.4 11.0 465 5158 done 0.93 - - 2836 - - - 1893 - 65.6 - - 1936 - - - - - - - - 14.82 14.83 14.83
5277 327.8 11.3 473 5278 done 0.93 - - 2838 - - - 1897 - 65.6 - - 1936 - - - - - - - - 14.83 14.83 14.83
5397 314.3 11.4 481 5398 done 0.93 - - 2836 - - - 1897 - 65.6 - - 1936 - - - - - - - - 14.84 14.85 14.85
5517 300.7 11.1 489 5524 roll 0.93 - - 2846 - 2.47 0.063 495 -567.6 65.8 - - 1936 - - - - - - - - 14.85 14.66 14.86
5572 294.8 11.9 494 5580 done 0.93 0.08 0.347 2823 -287.5 2.38 0.035 1907 593.3 65.8 - - 1936 - - - - - - - - 14.52 14.68 14.65
5638 287.1 10.8 501 5644 done 0.93 - - 2822 - - - 1907 - 68.5 5.12 1.635 1917 -3.7 0.121 - - - - - - 14.85 14.64 13.81
5698 280.2 11.3 507 5704 roll 0.93 - - 2833 - 2.50 0.060 493 -565.6 68.5 - - 1918 - - - - - - - - 14.81 14.59 14.82
5743 275.7 11.2 511 5750 done 0.93 - - 2834 - 2.38 0.036 1894 588.7 68.5 - - 1918 - - - - - - - - 14.65 14.61 14.66
5808 267.6 11.6 518 5814 roll 0.93 - - 2834 - 2.45 0.065 3291 570.2 68.5 - - 1918 - - - - - - - - 14.83 14.61 14.83
5858 261.4 12.3 523 5864 done 0.93 0.05 0.369 2828 -120.0 2.35 0.041 1902 -591.1 68.5 - - 1918 - - - - - - - - 14.47 14.62 14.60
5928 253.5 11.3 530 5929 done 0.93 - - 2828 - - - 1902 - 68.5 - - 1918 - - - - - - - - 14.84 14.85 14.85
5988 246.8 11.3 536 5989 done 0.93 - - 2828 - - - 1901 - 68.5 - - 1917 - - - - - - - - 14.85 14.85 14.85
6049 240.1 10.9 542 6049 done 0.93 - - 2829 - - - 1902 - 70.6 - - 1918 - - - - - - - - 14.85 14.85 14.85
6108 233.7 10.9 548 6121 roll 0.94 - - 2839 - 2.50 0.063 493 -563.6 72.9 5.20 1.614 1899 -3.7 0.099 - - - - - - 14.85 14.59 13.83
6165 227.9 10.7 553 6177 done 0.94 - - 2839 - 2.40 0.036 1903 587.5 77.3 5.38 1.573 1879 -3.7 0.100 - - - - - - 14.66 14.62 13.76
6241 219.0 10.9 561 6242 done 0.95 - - 2839 - - - 1903 - 79.8 - - 1880 - - - - - - - - 14.77 14.78 14.78
6301 212.4 11.1 567 6307 roll 0.95 0.03 0.622 2835 -133.3 2.45 0.063 3301 570.6 80.2 - - 1881 - - - - - - - - 14.51 14.57 14.64
6331 208.7 12.2 570 6338 done 0.95 0.05 0.364 2824 -220.0 2.38 0.042 1901 -588.2 80.2 - - 1880 - - - - - - - - 14.46 14.61 14.60
6402 200.7 11.1 577 6408 roll 0.95 - - 2841 - 2.47 0.063 500 -567.2 80.2 - - 1880 - - - - - - - - 14.79 14.61 14.80
6437 197.5 10.8 580 6449 done 0.95 - - 2841 - 2.38 0.037 1903 589.5 83.2 5.90 1.615 1857 -3.9 0.089 - - - - - - 14.67 14.63 13.78
6513 189.0 10.8 588 6518 done 0.95 - - 2841 - - - 1903 - 86.0 3.97 1.332 1846 -2.8 0.073 - - - - - - 14.76 14.57 13.78
6573 182.1 11.8 594 6574 done 0.95 - - 2841 - - - 1903 - 86.0 - - 1846 - - - - - - - - 14.76 14.76 14.76
6633 174.9 11.6 600 6634 done 0.95 - - 2841 - - - 1903 - 86.0 - - 1847 - - - - - - - - 14.78 14.78 14.78
6693 167.7 12.1 606 6694 done 0.95 - - 2841 - - - 1903 - 86.0 - - 1846 - - - - - - - - 14.79 14.79 14.79
6753 160.5 11.9 612 6759 roll 0.95 - - 2841 - 2.42 0.065 3288 572.3 86.0 - - 1847 - - - - - - - - 14.80 14.56 14.81
6894 142.5 12.0 626 6900 done 0.95 0.05 0.376 2835 -120.0 2.35 0.041 1900 -590.6 86.0 - - 1847 - - - - - - - - 14.45 14.60 14.59
6964 135.0 10.4 633 6977 done 0.96 - - 2836 - - - 1900 - 93.5 7.68 1.639 1813 -4.4 0.068 - - - - - - 14.83 14.43 13.81
7034 127.3 11.2 640 7039 roll 0.96 - - 2847 - 2.47 0.061 504 -565.2 93.5 - - 1815 - - - - - - - - 14.77 14.55 14.77
7064 123.8 11.7 643 7069 done 0.96 - - 2847 - 2.38 0.037 1900 586.6 93.5 - - 1814 - - - - - - - - 14.62 14.57 14.62
7134 115.8 11.3 650 7135 done 0.96 - - 2847 - - - 1901 - 93.5 - - 1814 - - - - - - - - 14.78 14.79 14.79
7194 109.1 11.2 656 7195 done 0.96 - - 2847 - - - 1901 - 93.5 - - 1814 - - - - - - - - 14.80 14.80 14.80
7254 102.4 11.1 662 7255 done 0.96 - - 2847 - - - 1901 - 93.5 - - 1815 - - - - - - - - 14.81 14.81 14.81
7314 95.5 11.4 671 7321 roll 0.96 - - 2846 - 2.45 0.067 3294 568.6 93.5 - - 1815 - - - - - - - - 14.81 14.59 14.81
7355 90.5 11.6 679 7362 done 0.96 0.05 0.374 2841 -100.0 2.35 0.041 1904 -591.5 93.5 - - 1815 - - - - - - - - 14.49 14.64 14.59
7392 86.5 10.8 686 7399 done 0.97 - - 2840 - - - 1904 - 96.7 3.85 1.295 1802 -3.4 0.042 - - - - - - 14.81 14.58 13.83
7428 82.5 11.2 693 7428 done 0.97 - - 2841 - - - 1903 - 96.7 - - 1803 - - - - - - - - 14.78 14.79 14.79
7458 79.2 11.2 699 7458 done 0.97 - - 2841 - - - 1904 - 96.7 - - 1802 - - - - - - - - 14.79 14.79 14.79
7488 76.0 10.6 705 7496 done 0.97 - - 2841 - - - 1904 - 101.9 5.72 1.484 1781 -3.7 0.035 - - - - - - 14.80 14.58 13.83
7525 72.0 10.7 712 7532 done 0.98 - - 2841 - - - 1904 - 106.4 5.03 1.425 1763 -3.6 0.034 - - - - - - 14.76 14.52 13.79
7561 68.0 11.2 719 7568 roll 0.98 - - 2841 - 2.45 0.062 3297 568.6 106.4 - - 1763 - - - - - - - - 14.71 14.52 14.72
7587 64.9 11.9 724 7594 done 0.98 - - 2851 - 2.38 0.041 1904 -585.3 106.4 - - 1763 - - - - - - - - 14.59 14.55 14.62
7623 61.0 11.3 731 7624 done 0.98 - - 2851 - - - 1904 - 106.4 - - 1764 - - - - - - - - 14.74 14.75 14.75
7653 57.6 11.5 737 7654 done 0.98 - - 2851 - - - 1903 - 106.4 - - 1763 - - - - - - - - 14.75 14.76 14.76
7683 54.1 11.6 743 7684 done 0.98 - - 2851 - - - 1904 - 106.4 - - 1763 - - - - - - - - 14.76 14.76 14.76
7713 50.6 11.7 749 7714 done 0.98 - - 2851 - - - 1903 - 106.4 - - 1763 - - - - - - - - 14.76 14.77 14.77
7743 47.0 11.8 755 7744 done 0.98 - - 2858 - - - 1904 - 106.4 - - 1763 - - - - - - - - 14.77 14.78 14.77
7773 43.4 12.3 761 7774 done 0.98 - - 2851 - - - 1903 - 106.4 - - 1763 - - - - - - - - 14.78 14.78 14.78
7803 39.8 11.9 767 7804 done 0.98 - - 2851 - - - 1903 - 106.4 - - 1763 - - - - - - - - 14.78 14.78 14.78
7833 36.3 11.6 773 7841 roll 0.98 - - 2852 - 2.45 0.064 3298 569.4 106.4 - - 1763 - - - - - - - - 14.78 14.55 14.79
7870 31.9 11.7 780 7877 done 0.98 0.08 0.350 2839 -162.5 2.38 0.043 1902 -586.6 106.4 - - 1763 - - - - - - - - 14.48 14.61 14.59
7906 28.3 9.6 787 7925 done 1.00 - - 2840 - - - 1902 - 121.5 12.32 1.664 1701 -5.0 0.016 - - - - - - 14.78 14.52 13.81
7954 23.4 10.3 796 7962 done 1.01 - - 2840 - - - 1902 - 129.3 5.47 1.395 1669 -5.9 0.018 - - - - - - 14.69 14.45 13.76
7991 18.9 12.3 803 7998 roll 1.01 - - 2850 - 2.50 0.062 503 -559.6 129.3 - - 1670 - - - - - - - - 14.66 14.47 14.66
8006 16.6 14.2 806 8014 done 1.01 - - 2850 - 2.38 0.038 1888 581.9 129.3 - - 1671 - - - - - - - - 14.53 14.49 14.54
8043 11.3 14.3 813 8043 done 1.01 - - 2850 - - - 1889 - 129.3 - - 1671 - - - - - - - - 14.68 14.69 14.69
8073 7.0 14.8 819 8073 done 1.01 - - 2850 - - - 1890 - 129.3 - - 1671 - - - - - - - - 14.69 14.70 14.70
8101 end climb: SURFACE_DEPTH_REACHED
8101 begin surface coast
8116 end surface coast: CONTROL_FINISHED_OK
8117 begin surface
SM 1.23 - - - - -6.83 6.20 0.080 243 39.2 - - 1890 - 190.10 38.40 0.282 1423 37.1 -0.017 - - - - - -