ROAMMIZ 19Oct19 * SG640 * Dive index * Mission links * Dive 98 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 36.49 of 310.00 AH used of 24V (88.23% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.5 deg, depth 1.34 m • Intended pitch -27.9 deg, speed -11.111 cm/s
• VBD pumped to 190.10 (SM_CC=190)
• GPS1 time: 16 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 - - - 76 done -0.92 - - 232 - - - 1895 - -58.4 -61.78 - 2438 - - - - - - - - 14.68 13.90 14.69
78 2.9 -3.5 11 90 roll -0.92 6.25 0.371 2197 314.4 2.42 0.055 3289 576.0 -58.4 - - 2436 - - - - - - - - 14.28 14.44 14.45
184 21.3 -16.9 32 191 done -0.92 0.08 0.353 2218 262.5 2.42 0.045 1881 -581.8 -58.4 - - 2441 - - - - - - - - 14.33 14.47 14.47
220 27.5 -17.0 39 221 done -0.92 - - 2220 - - - 1882 - -58.4 - - 2441 - - - - - - - - 14.71 14.71 14.71
250 32.8 -17.9 45 258 roll -0.92 - - 2220 - 2.50 0.063 480 -560.8 -58.4 - - 2441 - - - - - - - - 14.72 14.50 14.72
282 38.5 -18.9 51 289 done -0.92 0.05 0.401 2224 80.0 2.40 0.041 1877 582.1 -58.4 - - 2441 - - - - - - - - 14.37 14.54 14.52
318 44.9 -17.4 58 324 done -0.92 - - 2224 - - - 1879 - -58.4 - - 2440 - - - - - - - - 14.72 14.73 14.72
353 51.1 -18.2 65 354 done -0.92 - - 2224 - - - 1880 - -58.4 - - 2441 - - - - - - - - 14.73 14.73 14.72
383 56.6 -18.1 71 384 done -0.92 - - 2223 - - - 1879 - -58.4 - - 2441 - - - - - - - - 14.73 14.73 14.73
413 62.0 -17.5 77 421 roll -0.92 - - 2214 - 2.47 0.065 3288 570.4 -58.4 - - 2441 - - - - - - - - 14.73 14.55 14.74
449 68.5 -16.6 84 457 done -0.92 0.03 0.466 2219 166.7 2.40 0.047 1883 -585.4 -58.4 - - 2440 - - - - - - - - 14.38 14.54 14.52
486 74.2 -16.7 91 486 done -0.92 - - 2219 - - - 1884 - -58.4 - - 2441 - - - - - - - - 14.76 14.76 14.76
516 79.4 -17.3 97 523 roll -0.92 - - 2207 - 2.45 0.062 3278 569.0 -58.4 - - 2441 - - - - - - - - 14.76 14.57 14.76
542 84.0 -17.2 102 549 done -0.92 0.05 0.409 2219 240.0 2.40 0.047 1878 -583.3 -58.4 - - 2441 - - - - - - - - 14.40 14.58 14.57
578 90.2 -17.3 109 586 roll -0.92 - - 2219 - 2.50 0.065 472 -562.4 -58.4 - - 2441 - - - - - - - - 14.76 14.53 14.77
615 97.1 -18.5 116 622 done -0.92 0.05 0.406 2223 80.0 2.42 0.042 1881 582.2 -58.4 - - 2441 - - - - - - - - 14.40 14.57 14.56
656 104.1 -16.8 122 662 roll -0.92 - - 2212 - 2.45 0.067 3277 569.8 -58.4 - - 2441 - - - - - - - - 14.78 14.57 14.78
691 109.3 -17.2 125 699 done -0.92 0.03 0.483 2218 200.0 2.40 0.047 1875 -584.2 -58.4 - - 2441 - - - - - - - - 14.41 14.59 14.57
756 121.4 -17.3 132 762 roll -0.92 - - 2218 - 2.47 0.063 478 -565.6 -58.4 - - 2441 - - - - - - - - 14.80 14.59 14.80
806 130.3 -17.9 137 812 done -0.92 0.05 0.407 2221 60.0 2.40 0.042 1881 584.6 -58.4 - - 2441 - - - - - - - - 14.45 14.61 14.60
876 142.7 -17.5 144 877 done -0.92 - - 2221 - - - 1881 - -58.4 - - 2441 - - - - - - - - 14.81 14.81 14.81
936 153.1 -17.4 150 937 done -0.92 - - 2221 - - - 1881 - -58.4 - - 2439 - - - - - - - - 14.82 14.82 14.82
996 163.5 -17.2 156 1002 roll -0.92 - - 2221 - 2.47 0.063 477 -568.4 -58.4 - - 2442 - - - - - - - - 14.83 14.62 14.83
1071 176.8 -19.0 163 1079 done -0.92 0.05 0.406 2224 60.0 2.40 0.041 1879 584.2 -58.4 - - 2441 - - - - - - - - 14.47 14.64 14.62
1136 187.8 -15.0 170 1137 done -0.92 - - 2223 - - - 1881 - -58.4 - - 2441 - - - - - - - - 14.83 14.83 14.83
1196 197.4 -16.0 176 1202 roll -0.92 - - 2223 - 2.50 0.064 470 -564.4 -58.4 - - 2441 - - - - - - - - 14.84 14.64 14.84
1286 211.9 -15.5 185 1292 done -0.92 0.03 0.482 2218 -166.7 2.42 0.041 1882 583.5 -58.4 - - 2441 - - - - - - - - 14.47 14.66 14.64
1356 222.1 -15.0 192 1362 roll -0.92 - - 2206 - 2.45 0.064 3284 572.2 -58.4 - - 2440 - - - - - - - - 14.85 14.64 14.85
1381 225.1 -15.2 194 1389 done -0.92 0.05 0.393 2215 180.0 2.40 0.047 1873 -587.9 -58.4 - - 2440 - - - - - - - - 14.49 14.65 14.64
1446 235.3 -14.8 201 1447 done -0.92 - - 2216 - - - 1873 - -58.4 - - 2440 - - - - - - - - 14.84 14.85 14.85
1506 244.2 -14.8 207 1512 roll -0.92 - - 2216 - 2.47 0.064 476 -565.6 -58.4 - - 2440 - - - - - - - - 14.85 14.65 14.85
1556 251.9 -15.5 212 1562 done -0.92 0.05 0.396 2220 80.0 2.40 0.041 1881 585.4 -58.4 - - 2440 - - - - - - - - 14.51 14.66 14.64
1626 262.0 -14.1 219 1632 roll -0.92 - - 2217 - 2.47 0.063 480 -567.2 -58.4 - - 2440 - - - - - - - - 14.85 14.64 14.85
1686 270.5 -14.3 225 1692 done -0.92 0.05 0.406 2223 120.0 2.40 0.042 1883 584.6 -58.4 - - 2440 - - - - - - - - 14.50 14.66 14.65
1756 280.4 -14.0 232 1762 roll -0.92 - - 2211 - 2.42 0.067 3278 576.4 -58.4 - - 2440 - - - - - - - - 14.85 14.64 14.85
1801 286.2 -14.7 236 1809 done -0.92 0.03 0.494 2217 200.0 2.38 0.047 1882 -586.6 -58.4 - - 2440 - - - - - - - - 14.47 14.66 14.64
1866 296.3 -14.3 243 1872 roll -0.92 - - 2218 - 2.47 0.065 483 -566.4 -58.4 - - 2440 - - - - - - - - 14.85 14.65 14.85
1936 305.6 -15.5 248 1943 done -0.92 0.05 0.404 2221 60.0 2.38 0.041 1875 584.9 -58.4 - - 2440 - - - - - - - - 14.50 14.66 14.66
2061 325.5 -14.3 257 2067 roll -0.92 - - 2221 - 2.47 0.062 475 -566.8 -58.4 - - 2440 - - - - - - - - 14.86 14.66 14.86
2126 334.6 -15.1 261 2132 done -0.92 0.05 0.403 2225 80.0 2.40 0.041 1881 585.8 -58.4 - - 2440 - - - - - - - - 14.50 14.66 14.66
2256 353.7 -13.6 270 2262 roll -0.92 - - 2213 - 2.45 0.065 3284 572.7 -58.4 - - 2440 - - - - - - - - 14.86 14.66 14.87
2316 361.8 -13.6 274 2322 done -0.92 0.03 0.478 2220 233.3 2.38 0.046 1882 -589.1 -58.4 - - 2439 - - - - - - - - 14.50 14.68 14.66
2451 379.6 -13.2 283 2457 roll -0.92 - - 2218 - 2.42 0.063 477 -580.6 -58.4 - - 2439 - - - - - - - - 14.87 14.68 14.88
2496 385.7 -13.5 286 2502 done -0.92 0.05 0.397 2222 80.0 2.38 0.041 1877 588.2 -58.4 - - 2439 - - - - - - - - 14.52 14.69 14.66
2631 402.9 -12.8 295 2637 roll -0.92 - - 2222 - 2.47 0.062 474 -568.0 -58.4 - - 2439 - - - - - - - - 14.88 14.67 14.88
2676 409.1 -13.5 298 2682 done -0.92 0.03 0.480 2218 -133.3 2.40 0.041 1883 587.1 -58.4 - - 2439 - - - - - - - - 14.50 14.69 14.66
2812 426.9 -13.2 307 2812 done -0.92 - - 2218 - - - 1884 - -58.4 - - 2439 - - - - - - - - 14.88 14.88 14.88
2932 442.3 -12.7 315 2932 done -0.92 - - 2219 - - - 1884 - -58.4 - - 2439 - - - - - - - - 14.88 14.88 14.88
3052 457.1 -12.3 323 3058 roll -0.92 - - 2207 - 2.40 0.064 3293 587.1 -58.4 - - 2439 - - - - - - - - 14.88 14.69 14.88
3131 466.2 -12.2 328 3138 done -0.92 0.05 0.418 2219 240.0 2.40 0.044 1870 -592.9 -58.4 - - 2439 - - - - - - - - 14.52 14.69 14.67
3262 482.4 -12.1 337 3268 roll -0.92 - - 2219 - 2.45 0.063 480 -567.3 -58.4 - - 2439 - - - - - - - - 14.89 14.68 14.89
3312 488.1 -12.6 340 3319 done -0.92 0.05 0.394 2224 100.0 2.38 0.040 1876 586.6 -58.4 - - 2439 - - - - - - - - 14.54 14.70 14.68
3411 end dive: TARGET_DEPTH_EXCEEDED
3412 begin apogee
3415 500.3 -11.4 347 3463 done -0.15 0.73 0.278 2478 347.9 - - 1877 - - 46.40 2.232 2198 -5.2 0.218 - - - - - - 14.57 14.20 13.41
3464 end apogee: CONTROL_FINISHED_OK
3465 begin climb
3466 502.3 - 350 3523 roll 0.92 0.90 0.180 2810 368.9 2.58 0.059 3297 550.4 58.4 46.22 2.173 1959 -5.2 0.223 - - - - - - 14.14 13.81 13.16
3537 497.5 7.7 355 3574 done 0.96 - - 2821 - 2.42 0.042 1902 -576.4 92.1 28.65 2.150 1820 -4.9 0.210 - - - - - - 14.14 14.07 13.12
3703 474.5 15.2 366 3708 roll 0.96 - - 2832 - 2.53 0.062 494 -556.5 92.1 - - 1826 - - - - - - - - 14.40 14.23 14.41
3722 472.2 15.3 367 3728 done 0.96 - - 2834 - 2.45 0.034 1902 574.7 92.1 - - 1826 - - - - - - - - 14.31 14.27 14.31
3853 450.7 16.0 376 3858 roll 0.96 - - 2834 - 2.47 0.062 3292 562.8 92.1 - - 1827 - - - - - - - - 14.55 14.37 14.56
3922 441.0 16.2 380 3930 done 0.96 - - 2845 - 2.40 0.044 1898 -580.8 92.1 - - 1828 - - - - - - - - 14.47 14.42 14.48
4048 418.9 16.6 389 4048 done 0.96 - - 2845 - - - 1898 - 92.1 - - 1828 - - - - - - - - 14.66 14.66 14.66
4167 399.3 16.2 397 4174 roll 0.96 - - 2845 - 2.47 0.059 3303 568.8 92.1 - - 1828 - - - - - - - - 14.70 14.51 14.70
4203 394.3 16.1 399 4209 done 0.96 0.05 0.387 2841 -80.0 2.40 0.044 1902 -583.8 92.1 - - 1829 - - - - - - - - 14.38 14.54 14.52
4333 373.3 15.4 408 4338 roll 0.96 - - 2851 - 2.50 0.062 493 -563.6 92.1 - - 1829 - - - - - - - - 14.73 14.54 14.74
4363 368.7 15.3 410 4369 done 0.96 0.05 0.365 2835 -320.0 2.40 0.034 1905 588.3 92.1 - - 1829 - - - - - - - - 14.42 14.57 14.55
4498 349.3 14.2 419 4503 roll 0.96 - - 2835 - 2.42 0.060 3297 575.2 92.1 - - 1829 - - - - - - - - 14.77 14.57 14.77
4543 342.9 14.3 422 4549 done 0.96 - - 2846 - 2.38 0.043 1899 -587.4 92.1 - - 1829 - - - - - - - - 14.64 14.60 14.66
4678 323.9 14.1 431 4679 done 0.96 - - 2845 - - - 1899 - 92.1 - - 1828 - - - - - - - - 14.79 14.80 14.80
4798 307.2 13.8 439 4799 done 0.96 - - 2846 - - - 1899 - 92.1 - - 1829 - - - - - - - - 14.81 14.81 14.81
4918 290.8 13.7 449 4924 roll 0.96 - - 2857 - 2.47 0.063 495 -568.4 92.1 - - 1829 - - - - - - - - 14.82 14.63 14.83
4973 283.9 13.8 454 4980 done 0.96 0.05 0.375 2841 -320.0 2.35 0.034 1895 595.7 92.1 - - 1828 - - - - - - - - 14.50 14.66 14.64
5038 275.1 12.6 461 5044 roll 0.96 - - 2841 - 2.42 0.060 3293 577.7 92.1 - - 1828 - - - - - - - - 14.83 14.63 14.83
5058 272.5 12.4 463 5064 done 0.96 0.05 0.389 2835 -120.0 2.38 0.042 1894 -587.8 92.1 - - 1829 - - - - - - - - 14.49 14.65 14.64
5128 264.4 11.6 470 5129 done 0.96 - - 2835 - - - 1894 - 92.1 - - 1829 - - - - - - - - 14.83 14.84 14.83
5188 257.2 12.0 476 5189 done 0.96 - - 2835 - - - 1894 - 92.1 - - 1829 - - - - - - - - 14.84 14.85 14.84
5248 250.2 11.8 482 5249 done 0.96 - - 2835 - - - 1894 - 92.1 - - 1829 - - - - - - - - 14.84 14.85 14.85
5308 242.8 12.5 488 5309 done 0.96 - - 2835 - - - 1894 - 92.1 - - 1829 - - - - - - - - 14.85 14.85 14.85
5368 235.1 12.8 494 5369 done 0.96 - - 2835 - - - 1894 - 92.1 - - 1829 - - - - - - - - 14.85 14.85 14.85
5428 227.6 12.4 500 5435 roll 0.96 - - 2835 - 2.45 0.060 3298 573.1 92.1 - - 1829 - - - - - - - - 14.85 14.66 14.85
5459 223.6 12.7 503 5470 done 0.96 - - 2845 - 2.38 0.042 1892 -590.8 92.1 2.90 1.294 1822 -2.4 0.078 - - - - - - 14.69 14.64 13.62
5529 213.9 14.0 510 5534 roll 0.96 - - 2857 - 2.45 0.062 500 -568.2 92.1 - - 1823 - - - - - - - - 14.84 14.60 14.84
5559 209.6 14.3 513 5566 done 0.96 0.08 0.333 2833 -300.0 2.35 0.035 1897 594.5 92.1 - - 1823 - - - - - - - - 14.48 14.63 14.62
5629 200.7 12.3 520 5636 roll 0.96 - - 2833 - 2.42 0.062 3288 574.8 92.1 - - 1823 - - - - - - - - 14.84 14.61 14.85
5665 196.8 12.4 523 5672 done 0.96 - - 2842 - 2.35 0.041 1898 -591.5 92.1 - - 1824 - - - - - - - - 14.67 14.63 14.69
5730 187.8 12.8 530 5735 roll 0.96 - - 2854 - 2.45 0.062 503 -569.4 92.1 - - 1824 - - - - - - - - 14.85 14.64 14.85
5815 177.1 13.6 538 5822 done 0.96 0.05 0.353 2837 -340.0 2.35 0.035 1895 592.3 92.1 - - 1824 - - - - - - - - 14.49 14.63 14.62
5880 168.9 11.5 545 5885 roll 0.96 - - 2837 - 2.42 0.063 3285 574.4 92.1 - - 1824 - - - - - - - - 14.85 14.63 14.85
5920 164.1 11.8 549 5925 done 0.96 - - 2847 - 2.35 0.040 1891 -593.2 92.1 - - 1824 - - - - - - - - 14.68 14.64 14.69
5990 156.4 10.9 556 5995 done 0.96 - - 2847 - - - 1891 - 94.5 4.18 1.561 1812 -2.9 0.054 - - - - - - 14.85 14.64 13.81
6050 150.0 10.6 562 6062 roll 0.97 - - 2847 - 2.42 0.062 3301 582.6 99.2 5.35 1.584 1792 -3.7 0.066 - - - - - - 14.82 14.57 13.81
6091 145.0 12.4 566 6098 done 0.97 0.05 0.375 2842 -100.0 2.38 0.041 1903 -587.4 99.2 - - 1793 - - - - - - - - 14.45 14.60 14.58
6161 136.7 11.7 573 6162 done 0.97 - - 2842 - - - 1903 - 99.2 - - 1793 - - - - - - - - 14.79 14.79 14.79
6221 129.9 11.3 579 6222 done 0.97 - - 2842 - - - 1903 - 99.2 - - 1793 - - - - - - - - 14.80 14.81 14.81
6282 123.3 11.0 585 6288 roll 0.97 - - 2842 - 2.40 0.060 3300 582.1 100.3 - - 1793 - - - - - - - - 14.81 14.62 14.81
6317 119.9 11.4 588 6324 done 0.97 0.03 0.464 2844 - 2.38 0.041 1898 -589.1 100.3 - - 1793 - - - - - - - - 14.45 14.64 14.61
6382 112.6 10.3 595 6394 done 0.98 - - 2844 - - - 1896 - 108.6 8.73 1.693 1754 -4.5 0.056 - - - - - - 14.82 14.57 13.83
6452 104.9 11.3 602 6453 done 0.98 - - 2842 - - - 1898 - 108.6 - - 1754 - - - - - - - - 14.75 14.76 14.76
6512 98.0 11.6 609 6512 done 0.98 - - 2842 - - - 1897 - 108.6 - - 1755 - - - - - - - - 14.76 14.77 14.77
6542 94.5 11.7 615 6547 done 0.98 - - 2844 - - - 1898 - 108.6 - - 1755 - - - - - - - - 14.77 14.77 14.77
6577 90.4 11.8 622 6577 done 0.98 - - 2844 - - - 1898 - 108.6 - - 1757 - - - - - - - - 14.78 14.78 14.78
6607 86.8 11.8 628 6614 roll 0.98 - - 2844 - 2.45 0.062 3294 569.8 108.6 - - 1755 - - - - - - - - 14.78 14.57 14.78
6647 81.8 12.3 636 6655 done 0.98 - - 2854 - 2.38 0.041 1895 -587.8 108.6 - - 1755 - - - - - - - - 14.65 14.62 14.67
6683 77.6 11.7 643 6684 done 0.98 - - 2854 - - - 1895 - 108.6 - - 1755 - - - - - - - - 14.78 14.79 14.78
6713 74.1 11.5 649 6714 done 0.98 - - 2854 - - - 1895 - 108.6 - - 1755 - - - - - - - - 14.78 14.79 14.79
6743 70.6 11.7 655 6744 done 0.98 - - 2853 - - - 1895 - 108.6 - - 1755 - - - - - - - - 14.80 14.80 14.80
6773 67.1 11.5 661 6774 done 0.98 - - 2853 - - - 1895 - 108.6 - - 1755 - - - - - - - - 14.80 14.80 14.80
6803 63.6 11.8 667 6810 roll 0.98 - - 2865 - 2.47 0.063 498 -565.6 108.6 - - 1755 - - - - - - - - 14.80 14.61 14.80
6834 59.9 12.7 673 6842 done 0.98 0.08 0.344 2842 -287.5 2.38 0.037 1897 587.8 108.6 - - 1754 - - - - - - - - 14.45 14.59 14.57
6872 55.5 11.3 680 6872 done 0.98 - - 2842 - - - 1897 - 108.6 - - 1755 - - - - - - - - 14.80 14.81 14.81
6901 51.9 11.8 686 6908 roll 0.98 - - 2842 - 2.45 0.063 3294 570.2 108.6 - - 1755 - - - - - - - - 14.81 14.60 14.81
6937 47.3 12.9 693 6945 done 0.98 - - 2851 - 2.38 0.041 1895 -587.8 108.6 - - 1754 - - - - - - - - 14.67 14.63 14.69
6974 43.0 12.2 700 6975 done 0.98 - - 2852 - - - 1895 - 108.6 - - 1755 - - - - - - - - 14.81 14.81 14.81
7004 39.5 11.8 706 7005 done 0.98 - - 2851 - - - 1896 - 108.6 - - 1754 - - - - - - - - 14.81 14.81 14.81
7034 35.9 12.1 712 7035 done 0.98 - - 2851 - - - 1895 - 108.6 - - 1754 - - - - - - - - 14.81 14.82 14.81
7064 32.2 12.2 718 7065 done 0.98 - - 2851 - - - 1895 - 108.6 - - 1754 - - - - - - - - 14.81 14.81 14.81
7094 28.6 12.0 724 7095 done 0.98 - - 2851 - - - 1895 - 108.6 - - 1754 - - - - - - - - 14.81 14.82 14.81
7124 25.1 12.0 730 7125 done 0.98 - - 2851 - - - 1895 - 108.6 - - 1754 - - - - - - - - 14.81 14.82 14.82
7154 21.4 12.3 736 7155 done 0.98 - - 2851 - - - 1895 - 108.6 - - 1754 - - - - - - - - 14.82 14.82 14.82
7184 17.7 12.2 742 7190 done 0.98 - - 2852 - - - 1895 - 108.6 - - 1754 - - - - - - - - 14.82 14.82 14.82
7219 13.3 12.5 749 7227 roll 0.98 - - 2862 - 2.47 0.063 501 -564.4 108.6 - - 1754 - - - - - - - - 14.82 14.57 14.82
7251 9.1 13.0 755 7258 done 0.98 0.05 0.358 2847 -300.0 2.38 0.038 1901 588.2 108.6 - - 1754 - - - - - - - - 14.50 14.64 14.63
7287 4.7 11.6 762 7294 roll 0.98 - - 2846 - 2.45 0.064 3299 570.6 108.6 - - 1753 - - - - - - - - 14.82 14.62 14.82
7302 end climb: SURFACE_DEPTH_REACHED
7302 begin surface coast
7317 end surface coast: CONTROL_FINISHED_OK
7317 begin surface
SM 1.53 - - - - -6.85 6.20 0.081 236 38.1 2.45 0.047 1887 -1007.8 190.10 50.78 0.285 1424 28.0 -0.015 - - - - - -