ROAMMIZ 19Oct19 * SG640 * Dive index * Mission links * Dive 96 * Raw log
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• Previous call tries 1 • 36.04 of 310.00 AH used of 24V (88.37% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.6 deg, depth 1.32 m • Intended pitch -27.9 deg, speed -11.111 cm/s
• VBD pumped to 190.10 (SM_CC=190)
• GPS1 time: 42 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 - - 232 - - - 1902 - -58.4 -61.58 - 2439 - - - - - - - - 14.67 13.66 14.69
76 2.4 -1.7 11 89 roll -0.92 6.28 0.375 2206 314.3 2.50 0.043 464 -575.2 -58.4 - - 2441 - - - - - - - - 14.28 14.49 14.45
278 41.1 -19.1 51 285 done -0.92 0.08 0.350 2222 200.0 2.42 0.042 1866 579.3 -58.4 - - 2439 - - - - - - - - 14.40 14.54 14.54
314 47.8 -17.9 58 321 roll -0.92 - - 2210 - 2.50 0.067 3279 565.2 -58.4 - - 2439 - - - - - - - - 14.74 14.50 14.75
340 52.4 -18.2 63 347 done -0.92 0.03 0.464 2219 300.0 2.40 0.046 1878 -583.8 -58.4 - - 2439 - - - - - - - - 14.37 14.54 14.52
376 58.7 -17.7 70 383 roll -0.92 - - 2219 - 2.50 0.065 477 -560.4 -58.4 - - 2439 - - - - - - - - 14.75 14.54 14.75
412 65.3 -18.4 77 419 done -0.92 0.05 0.403 2223 80.0 2.42 0.042 1883 581.0 -58.4 - - 2438 - - - - - - - - 14.40 14.56 14.55
448 72.0 -18.3 84 449 done -0.92 - - 2223 - - - 1884 - -58.4 - - 2439 - - - - - - - - 14.75 14.76 14.75
478 77.4 -17.8 90 479 done -0.92 - - 2223 - - - 1883 - -58.4 - - 2439 - - - - - - - - 14.76 14.76 14.76
508 82.5 -17.0 96 515 roll -0.92 - - 2223 - 2.50 0.062 477 -562.4 -58.4 - - 2439 - - - - - - - - 14.76 14.56 14.76
559 92.2 -18.4 106 567 done -0.92 0.03 0.480 2219 -133.3 2.42 0.043 1883 581.0 -58.4 - - 2439 - - - - - - - - 14.39 14.59 14.54
595 98.4 -17.6 113 602 roll -0.92 - - 2206 - 2.45 0.067 3276 568.6 -58.4 - - 2439 - - - - - - - - 14.78 14.57 14.78
631 103.8 -17.7 117 639 done -0.92 0.05 0.413 2218 240.0 2.40 0.047 1872 -585.0 -58.4 - - 2439 - - - - - - - - 14.42 14.59 14.58
696 116.2 -17.8 124 702 roll -0.92 - - 2217 - 2.47 0.066 477 -564.8 -58.4 - - 2439 - - - - - - - - 14.79 14.58 14.79
761 127.7 -19.0 130 769 done -0.92 0.05 0.403 2220 60.0 2.42 0.044 1883 581.0 -58.4 - - 2439 - - - - - - - - 14.45 14.61 14.60
826 139.4 -16.5 137 827 done -0.92 - - 2219 - - - 1884 - -58.4 - - 2439 - - - - - - - - 14.80 14.81 14.81
886 148.8 -15.6 143 887 done -0.92 - - 2220 - - - 1884 - -58.4 - - 2437 - - - - - - - - 14.81 14.81 14.81
946 158.7 -16.7 149 947 done -0.92 - - 2220 - - - 1884 - -58.4 - - 2439 - - - - - - - - 14.82 14.82 14.82
1006 168.1 -15.1 155 1012 roll -0.92 - - 2220 - 2.50 0.060 469 -566.0 -58.4 - - 2439 - - - - - - - - 14.83 14.63 14.83
1086 181.8 -17.8 163 1092 done -0.92 0.05 0.405 2223 60.0 2.42 0.041 1885 585.1 -58.4 - - 2439 - - - - - - - - 14.48 14.64 14.64
1156 194.3 -17.8 170 1157 done -0.92 - - 2222 - - - 1886 - -58.4 - - 2439 - - - - - - - - 14.83 14.83 14.83
1216 204.2 -16.3 176 1217 done -0.92 - - 2222 - - - 1886 - -58.4 - - 2439 - - - - - - - - 14.83 14.84 14.84
1277 213.5 -15.2 182 1282 roll -0.92 - - 2211 - 2.42 0.067 3283 577.3 -58.4 - - 2438 - - - - - - - - 14.84 14.64 14.84
1351 224.7 -16.2 189 1360 done -0.92 0.05 0.427 2224 260.0 2.40 0.047 1873 -587.5 -58.4 - - 2439 - - - - - - - - 14.48 14.66 14.64
1416 235.5 -15.2 196 1422 roll -0.92 - - 2221 - 2.47 0.064 473 -566.8 -58.4 - - 2438 - - - - - - - - 14.85 14.64 14.85
1461 242.0 -16.2 200 1469 done -0.92 0.03 0.483 2218 -100.0 2.40 0.043 1877 585.0 -58.4 - - 2438 - - - - - - - - 14.47 14.66 14.64
1527 252.9 -15.7 207 1532 roll -0.92 - - 2207 - 2.45 0.067 3281 573.1 -58.4 - - 2438 - - - - - - - - 14.85 14.64 14.85
1586 262.3 -15.5 213 1592 done -0.92 0.05 0.410 2218 220.0 2.38 0.047 1883 -587.4 -58.4 - - 2438 - - - - - - - - 14.48 14.65 14.64
1656 272.5 -14.2 220 1662 roll -0.92 - - 2217 - 2.47 0.063 483 -566.8 -58.4 - - 2438 - - - - - - - - 14.85 14.64 14.85
1696 278.7 -15.7 224 1702 done -0.92 0.05 0.399 2221 80.0 2.38 0.043 1873 584.0 -58.4 - - 2438 - - - - - - - - 14.50 14.66 14.64
1766 289.1 -14.4 231 1772 roll -0.92 - - 2210 - 2.45 0.066 3278 573.5 -58.4 - - 2438 - - - - - - - - 14.85 14.64 14.85
1801 293.4 -14.4 234 1809 done -0.92 0.05 0.396 2218 160.0 2.38 0.046 1881 -587.0 -58.4 - - 2438 - - - - - - - - 14.50 14.66 14.64
1876 305.0 -14.5 241 1882 roll -0.92 - - 2218 - 2.47 0.064 478 -568.0 -58.4 - - 2438 - - - - - - - - 14.85 14.65 14.85
1931 311.8 -14.9 244 1940 done -0.92 0.05 0.403 2222 80.0 2.40 0.041 1889 587.9 -58.4 - - 2438 - - - - - - - - 14.50 14.66 14.65
2056 330.5 -13.4 253 2062 roll -0.92 - - 2222 - 2.47 0.061 480 -570.4 -58.4 - - 2438 - - - - - - - - 14.87 14.66 14.86
2096 334.6 -13.6 255 2104 done -0.92 0.03 0.481 2218 -133.3 2.38 0.041 1872 584.9 -58.4 - - 2438 - - - - - - - - 14.48 14.67 14.64
2221 353.5 -14.1 264 2222 done -0.92 - - 2218 - - - 1872 - -58.4 - - 2438 - - - - - - - - 14.86 14.87 14.86
2341 369.0 -12.7 272 2342 done -0.92 - - 2218 - - - 1872 - -58.4 - - 2438 - - - - - - - - 14.88 14.88 14.88
2461 384.0 -12.4 280 2462 done -0.92 - - 2218 - - - 1872 - -58.4 - - 2438 - - - - - - - - 14.88 14.88 14.88
2581 398.4 -12.0 288 2587 roll -0.92 - - 2218 - 2.45 0.061 477 -569.4 -58.4 - - 2438 - - - - - - - - 14.88 14.69 14.88
2636 404.1 -12.5 291 2644 done -0.92 0.03 0.479 2213 -166.7 2.38 0.039 1877 588.2 -58.4 - - 2438 - - - - - - - - 14.52 14.70 14.67
2761 420.6 -12.0 300 2767 roll -0.92 0.05 0.509 2214 - 2.45 0.064 3286 575.1 -58.4 - - 2438 - - - - - - - - 14.51 14.68 14.71
2791 424.1 -11.9 302 2798 done -0.92 0.05 0.389 2222 160.0 2.38 0.044 1878 -591.6 -58.4 - - 2438 - - - - - - - - 14.52 14.70 14.68
2927 440.0 -12.1 311 2933 roll -0.92 - - 2221 - 2.45 0.063 480 -570.6 -58.4 - - 2438 - - - - - - - - 14.88 14.68 14.88
3012 449.7 -13.0 316 3020 done -0.92 0.03 0.475 2218 -100.0 2.38 0.040 1875 586.1 -58.4 - - 2438 - - - - - - - - 14.52 14.69 14.65
3137 467.4 -13.3 325 3143 roll -0.92 - - 2206 - 2.45 0.063 3284 575.1 -58.4 - - 2438 - - - - - - - - 14.87 14.68 14.88
3222 477.5 -13.5 330 3229 done -0.92 0.05 0.412 2219 260.0 2.38 0.044 1876 -591.6 -58.4 - - 2438 - - - - - - - - 14.52 14.69 14.66
3347 494.8 -12.5 339 3352 roll -0.92 - - 2219 - 2.45 0.063 481 -569.4 -58.4 - - 2438 - - - - - - - - 14.88 14.69 14.88
3391 end dive: TARGET_DEPTH_EXCEEDED
3391 begin apogee
3396 500.7 -12.8 342 3445 done -0.15 0.75 0.281 2470 334.7 - - 1906 - - 45.90 2.264 2198 -5.2 0.216 - - - - - - 14.54 14.21 13.39
3446 end apogee: CONTROL_FINISHED_OK
3446 begin climb
3447 503.5 - 345 3502 done 0.92 0.93 0.185 2804 359.1 - - 1906 - 58.4 52.35 2.209 1959 -4.6 0.195 - - - - - - 14.14 13.88 13.12
3617 489.0 10.7 357 3628 roll 0.92 - - 2808 - 2.47 0.060 3287 559.1 62.2 4.30 1.597 1943 -3.7 0.213 - - - - - - 14.40 14.19 13.35
3652 485.4 11.3 359 3658 done 0.92 - - 2820 - 2.40 0.043 1912 -572.9 62.2 - - 1944 - - - - - - - - 14.31 14.27 14.32
3782 470.0 11.5 368 3783 done 0.92 - - 2820 - - - 1910 - 62.2 - - 1944 - - - - - - - - 14.55 14.56 14.56
3902 455.8 11.9 376 3903 done 0.92 - - 2820 - - - 1910 - 62.2 - - 1944 - - - - - - - - 14.63 14.64 14.64
4022 441.5 11.8 384 4023 done 0.92 - - 2820 - - - 1910 - 62.2 - - 1944 - - - - - - - - 14.68 14.69 14.69
4142 427.3 11.9 392 4143 done 0.92 - - 2820 - - - 1910 - 62.2 - - 1944 - - - - - - - - 14.72 14.73 14.73
4262 413.2 11.5 400 4263 done 0.92 - - 2821 - - - 1910 - 62.2 - - 1944 - - - - - - - - 14.76 14.76 14.76
4382 400.2 10.8 408 4388 done 0.93 - - 2820 - - - 1910 - 65.6 4.43 1.627 1931 -2.9 0.135 - - - - - - 14.78 14.56 13.68
4502 386.7 11.4 416 4503 done 0.93 - - 2820 - - - 1910 - 65.6 - - 1930 - - - - - - - - 14.76 14.77 14.77
4622 372.7 11.6 424 4623 done 0.93 - - 2820 - - - 1910 - 65.6 - - 1930 - - - - - - - - 14.79 14.80 14.80
4742 358.9 11.7 432 4743 done 0.93 - - 2820 - - - 1910 - 65.6 - - 1930 - - - - - - - - 14.81 14.82 14.81
4862 344.7 11.8 440 4863 done 0.93 - - 2820 - - - 1910 - 65.6 - - 1931 - - - - - - - - 14.82 14.83 14.83
4982 330.3 12.1 448 4983 done 0.93 - - 2820 - - - 1910 - 65.6 - - 1930 - - - - - - - - 14.84 14.84 14.84
5102 315.3 12.6 456 5103 done 0.93 - - 2820 - - - 1910 - 65.6 - - 1930 - - - - - - - - 14.85 14.86 14.86
5222 300.4 12.5 464 5223 done 0.93 - - 2820 - - - 1910 - 65.6 - - 1930 - - - - - - - - 14.85 14.86 14.86
5347 285.0 12.4 476 5354 roll 0.93 - - 2820 - 2.42 0.060 3297 573.1 65.6 - - 1930 - - - - - - - - 14.86 14.66 14.86
5378 281.0 12.7 479 5383 done 0.93 - - 2831 - 2.38 0.044 1894 -589.5 65.6 - - 1931 - - - - - - - - 14.73 14.69 14.75
5448 272.0 12.9 486 5448 done 0.93 - - 2831 - - - 1894 - 65.6 - - 1930 - - - - - - - - 14.89 14.87 14.87
5508 264.6 12.2 492 5508 done 0.93 - - 2831 - - - 1894 - 65.6 - - 1930 - - - - - - - - 14.87 14.88 14.87
5568 257.3 12.1 498 5568 done 0.93 - - 2831 - - - 1894 - 65.6 - - 1931 - - - - - - - - 14.87 14.87 14.87
5628 250.2 12.0 504 5628 done 0.93 - - 2831 - - - 1894 - 65.6 - - 1930 - - - - - - - - 14.87 14.87 14.88
5688 243.1 11.7 510 5694 roll 0.93 - - 2831 - 2.42 0.059 3292 577.7 65.6 - - 1931 - - - - - - - - 14.88 14.68 14.88
5743 237.0 11.9 515 5750 done 0.93 0.05 0.371 2827 -80.0 2.35 0.042 1890 -596.6 65.6 - - 1930 - - - - - - - - 14.54 14.69 14.68
5808 229.1 11.4 522 5808 done 0.93 - - 2827 - - - 1889 - 65.6 - - 1930 - - - - - - - - 14.87 14.88 14.88
5868 222.5 10.8 528 5880 roll 0.93 - - 2829 - 2.42 0.057 3295 581.0 68.5 4.18 1.512 1917 -3.1 0.086 - - - - - - 14.87 14.65 13.80
5964 211.9 12.1 537 5971 done 0.93 0.03 0.461 2831 - 2.35 0.042 1903 -592.3 68.5 - - 1917 - - - - - - - - 14.45 14.64 14.60
6029 204.2 11.0 544 6030 done 0.93 - - 2831 - - - 1903 - 69.3 - - 1918 - - - - - - - - 14.85 14.85 14.85
6089 197.5 10.9 550 6094 done 0.93 - - 2831 - - - 1903 - 71.6 3.90 1.429 1907 -2.8 0.073 - - - - - - 14.85 14.65 13.81
6149 191.7 9.6 556 6171 roll 0.95 - - 2831 - 2.47 0.058 3309 569.2 86.8 13.35 1.865 1842 -4.9 0.094 - - - - - - 14.82 14.47 13.79
6220 184.1 10.9 563 6226 done 0.96 - - 2843 - 2.40 0.042 1902 -586.2 89.3 - - 1842 - - - - - - - - 14.59 14.54 14.59
6290 176.3 11.2 570 6296 roll 0.96 - - 2854 - 2.50 0.062 491 -564.4 89.3 - - 1842 - - - - - - - - 14.74 14.54 14.74
6345 170.7 11.0 575 6353 done 0.96 0.05 0.363 2839 -300.0 2.40 0.034 1907 590.0 90.3 4.07 1.366 1830 -2.9 0.069 - - - - - - 14.42 14.57 13.76
6410 163.0 11.0 582 6416 roll 0.96 - - 2848 - 2.50 0.060 501 -562.4 91.2 - - 1830 - - - - - - - - 14.74 14.54 14.75
6500 152.2 12.0 591 6506 done 0.96 0.05 0.356 2833 -300.0 2.38 0.035 1908 591.2 91.2 - - 1830 - - - - - - - - 14.42 14.59 14.57
6570 144.8 10.6 598 6582 done 0.97 - - 2832 - - - 1908 - 96.3 6.40 1.610 1803 -4.2 0.071 - - - - - - 14.78 14.41 13.78
6641 137.2 10.8 605 6646 done 0.97 - - 2832 - - - 1908 - 99.2 3.85 1.296 1793 -2.6 0.051 - - - - - - 14.73 14.54 13.77
6700 131.0 10.5 611 6712 done 0.98 - - 2832 - - - 1908 - 105.3 6.68 1.590 1766 -4.0 0.062 - - - - - - 14.73 14.37 13.74
6770 123.1 11.6 618 6771 done 0.98 - - 2832 - - - 1908 - 105.3 - - 1766 - - - - - - - - 14.71 14.71 14.71
6830 116.1 11.6 624 6831 done 0.98 - - 2832 - - - 1908 - 105.3 - - 1766 - - - - - - - - 14.73 14.73 14.73
6890 108.7 12.4 630 6891 done 0.98 - - 2832 - - - 1908 - 105.3 - - 1766 - - - - - - - - 14.76 14.76 14.76
6950 101.1 12.7 636 6951 done 0.98 - - 2833 - - - 1908 - 105.3 - - 1766 - - - - - - - - 14.77 14.78 14.77
7010 93.5 12.5 647 7017 roll 0.98 - - 2832 - 2.42 0.065 3292 571.9 105.3 - - 1767 - - - - - - - - 14.78 14.57 14.78
7081 84.8 11.8 661 7088 done 0.98 - - 2842 - 2.38 0.044 1897 -586.1 105.3 - - 1767 - - - - - - - - 14.65 14.62 14.66
7117 80.8 11.0 668 7118 done 0.98 - - 2842 - - - 1897 - 106.5 - - 1767 - - - - - - - - 14.78 14.79 14.78
7147 77.5 11.2 674 7148 done 0.98 - - 2842 - - - 1897 - 106.5 - - 1767 - - - - - - - - 14.79 14.80 14.79
7177 73.9 11.9 680 7178 done 0.98 - - 2842 - - - 1897 - 106.5 - - 1767 - - - - - - - - 14.80 14.80 14.80
7207 70.2 12.3 686 7208 done 0.98 - - 2842 - - - 1897 - 106.5 - - 1767 - - - - - - - - 14.80 14.80 14.80
7237 66.3 13.0 692 7238 done 0.98 - - 2842 - - - 1897 - 106.5 - - 1767 - - - - - - - - 14.80 14.80 14.80
7267 62.3 13.6 698 7268 done 0.98 - - 2842 - - - 1897 - 106.5 - - 1766 - - - - - - - - 14.80 14.81 14.81
7297 58.1 13.9 704 7298 done 0.98 - - 2842 - - - 1897 - 106.5 - - 1766 - - - - - - - - 14.81 14.81 14.81
7327 54.0 13.7 710 7328 done 0.98 - - 2842 - - - 1897 - 106.5 - - 1766 - - - - - - - - 14.81 14.81 14.81
7357 50.0 13.2 716 7358 done 0.98 - - 2842 - - - 1897 - 106.5 - - 1766 - - - - - - - - 14.81 14.81 14.81
7387 46.2 12.5 722 7388 done 0.98 - - 2842 - - - 1897 - 106.5 - - 1766 - - - - - - - - 14.81 14.81 14.81
7417 43.0 10.2 728 7432 roll 0.99 - - 2842 - 2.42 0.060 3300 579.8 115.3 8.85 1.648 1726 -4.5 0.022 - - - - - - 14.81 14.42 13.81
7440 40.0 12.9 732 7448 done 0.99 - - 2853 - 2.40 0.044 1897 -584.6 115.3 - - 1727 - - - - - - - - 14.61 14.57 14.62
7477 35.7 11.3 739 7478 done 0.99 - - 2853 - - - 1897 - 115.3 - - 1727 - - - - - - - - 14.74 14.74 14.74
7507 32.4 11.1 745 7508 done 0.99 - - 2853 - - - 1896 - 115.8 - - 1727 - - - - - - - - 14.75 14.75 14.75
7537 29.3 9.8 751 7551 done 1.01 - - 2853 - - - 1897 - 128.8 11.15 1.691 1671 -5.0 0.016 - - - - - - 14.75 14.50 13.80
7580 24.0 13.0 759 7587 roll 1.01 - - 2864 - 2.50 0.061 500 -558.8 128.8 - - 1671 - - - - - - - - 14.68 14.48 14.69
7601 20.9 14.8 763 7608 done 1.01 0.05 0.360 2850 -280.0 2.38 0.036 1894 585.7 128.8 - - 1670 - - - - - - - - 14.35 14.50 14.48
7637 15.7 14.0 770 7638 done 1.01 - - 2850 - - - 1891 - 128.8 - - 1671 - - - - - - - - 14.69 14.69 14.69
7667 11.3 14.7 776 7675 roll 1.01 - - 2850 - 2.47 0.070 3292 567.2 128.8 - - 1671 - - - - - - - - 14.70 14.50 14.70
7709 5.6 13.6 784 7717 done 1.01 - - 2861 - 2.38 0.037 1892 -588.2 128.8 - - 1671 - - - - - - - - 14.56 14.51 14.61
7725 end climb: SURFACE_DEPTH_REACHED
7725 begin surface coast
7740 end surface coast: CONTROL_FINISHED_OK
7740 begin surface
SM 3.54 - - - - -6.84 6.43 0.117 263 40.9 - - 1890 - 190.10 37.65 0.288 1424 37.8 -0.048 - - - - - -