ROAMMIZ 19Oct19 * SG640 * Dive index * Mission links * Dive 102 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 37.43 of 310.00 AH used of 24V (87.93% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.1 deg, depth 1.44 m • Intended pitch -27.9 deg, speed -11.111 cm/s
• VBD pumped to 190.10 (SM_CC=190)
• GPS1 time: 21 s
• GPS2 time: 8 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 - - - 75 done -0.92 - - 218 - - - 1905 - -58.4 -61.12 - 2439 - - - - - - - - 14.66 13.64 14.67
76 2.6 -2.9 11 88 roll -0.92 6.30 0.366 2203 315.1 2.40 0.056 3284 574.6 -58.4 - - 2441 - - - - - - - - 14.26 14.47 14.43
187 22.4 -18.1 33 195 done -0.92 0.05 0.370 2218 300.0 2.42 0.046 1873 -583.1 -58.4 - - 2440 - - - - - - - - 14.35 14.52 14.50
224 29.3 -18.6 40 224 done -0.92 - - 2218 - - - 1873 - -58.4 - - 2439 - - - - - - - - 14.71 14.71 14.71
254 35.0 -18.9 46 254 done -0.92 - - 2218 - - - 1873 - -58.4 - - 2440 - - - - - - - - 14.71 14.72 14.71
284 40.8 -19.6 52 291 roll -0.92 - - 2218 - 2.50 0.064 475 -559.2 -58.4 - - 2440 - - - - - - - - 14.72 14.48 14.72
339 52.6 -20.9 63 347 done -0.92 0.05 0.397 2223 100.0 2.40 0.041 1863 578.3 -58.4 - - 2441 - - - - - - - - 14.36 14.53 14.52
376 59.2 -18.5 70 376 done -0.92 - - 2222 - - - 1863 - -58.4 - - 2441 - - - - - - - - 14.74 14.75 14.75
406 64.8 -18.4 76 406 done -0.92 - - 2222 - - - 1863 - -58.4 - - 2441 - - - - - - - - 14.75 14.75 14.75
436 70.4 -18.6 82 436 done -0.92 - - 2222 - - - 1863 - -58.4 - - 2441 - - - - - - - - 14.76 14.76 14.76
466 76.1 -19.0 88 466 done -0.92 - - 2222 - - - 1861 - -58.4 - - 2441 - - - - - - - - 14.76 14.76 14.76
496 81.8 -18.7 94 503 roll -0.92 - - 2223 - 2.47 0.062 474 -561.5 -58.4 - - 2441 - - - - - - - - 14.76 14.57 14.77
532 88.7 -19.0 101 539 done -0.92 0.03 0.478 2218 -166.7 2.40 0.041 1876 584.2 -58.4 - - 2441 - - - - - - - - 14.40 14.57 14.56
568 95.2 -17.8 108 569 done -0.92 - - 2218 - - - 1875 - -58.4 - - 2441 - - - - - - - - 14.77 14.77 14.77
598 100.6 -18.3 114 600 done -0.92 - - 2218 - - - 1876 - -58.4 - - 2441 - - - - - - - - 14.77 14.78 14.78
658 112.1 -19.4 120 659 done -0.92 - - 2218 - - - 1875 - -58.4 - - 2441 - - - - - - - - 14.80 14.80 14.80
718 122.8 -17.4 126 719 done -0.92 - - 2218 - - - 1875 - -58.4 - - 2441 - - - - - - - - 14.80 14.80 14.80
778 132.8 -16.8 132 784 roll -0.92 - - 2216 - 2.47 0.061 475 -566.8 -58.4 - - 2441 - - - - - - - - 14.81 14.57 14.81
813 138.2 -17.9 135 821 done -0.92 0.05 0.392 2220 80.0 2.40 0.041 1878 584.6 -58.4 - - 2441 - - - - - - - - 14.45 14.62 14.60
878 149.3 -15.6 142 885 roll -0.92 - - 2209 - 2.47 0.066 3288 570.9 -58.4 - - 2441 - - - - - - - - 14.81 14.57 14.81
919 156.1 -17.3 146 925 done -0.92 0.08 0.355 2222 162.5 2.40 0.045 1876 -588.3 -58.4 - - 2441 - - - - - - - - 14.45 14.58 14.59
989 167.2 -15.6 153 990 done -0.92 - - 2222 - - - 1876 - -58.4 - - 2440 - - - - - - - - 14.83 14.83 14.83
1049 177.0 -16.5 159 1055 roll -0.92 - - 2222 - 2.47 0.065 481 -564.8 -58.4 - - 2441 - - - - - - - - 14.83 14.59 14.83
1149 195.3 -18.6 169 1155 done -0.92 0.03 0.477 2217 -166.7 2.40 0.041 1884 584.6 -58.4 - - 2441 - - - - - - - - 14.42 14.62 14.59
1219 206.7 -16.1 176 1225 roll -0.92 - - 2219 - 2.50 0.063 479 -562.0 -58.4 - - 2440 - - - - - - - - 14.85 14.61 14.85
1289 218.6 -16.4 183 1296 done -0.92 0.05 0.398 2221 - 2.40 0.041 1879 583.3 -58.4 - - 2440 - - - - - - - - 14.45 14.62 14.60
1360 228.6 -14.2 190 1366 roll -0.92 - - 2210 - 2.45 0.066 3280 571.8 -58.4 - - 2440 - - - - - - - - 14.85 14.62 14.85
1445 240.0 -14.5 198 1452 done -0.92 0.05 0.422 2223 260.0 2.38 0.047 1885 -586.1 -58.4 - - 2440 - - - - - - - - 14.46 14.63 14.62
1510 250.2 -14.4 205 1516 roll -0.92 - - 2221 - 2.50 0.065 477 -563.2 -58.4 - - 2440 - - - - - - - - 14.85 14.62 14.85
1646 270.3 -15.5 218 1653 done -0.92 0.05 0.481 2224 60.0 2.35 0.041 1886 599.6 -58.4 - - 2440 - - - - - - - - 14.50 14.67 14.71
1710 280.5 -14.5 225 1716 roll -0.92 - - 2214 - 2.42 0.066 3274 573.6 -58.4 - - 2439 - - - - - - - - 14.85 14.64 14.85
1755 286.2 -14.3 229 1762 done -0.92 0.03 0.483 2219 166.7 2.38 0.045 1876 -587.4 -58.4 - - 2439 - - - - - - - - 14.47 14.65 14.62
1820 296.0 -13.9 236 1826 roll -0.92 - - 2219 - 2.47 0.065 480 -565.2 -58.4 - - 2439 - - - - - - - - 14.85 14.64 14.85
1860 300.5 -14.9 239 1868 done -0.92 0.05 0.398 2224 100.0 2.38 0.041 1872 584.9 -58.4 - - 2439 - - - - - - - - 14.47 14.64 14.63
1985 320.2 -14.9 248 1991 roll -0.92 - - 2213 - 2.47 0.065 3285 572.1 -58.4 - - 2439 - - - - - - - - 14.86 14.64 14.86
2050 329.2 -15.0 252 2057 done -0.92 0.03 0.484 2219 200.0 2.40 0.045 1875 -587.5 -58.4 - - 2439 - - - - - - - - 14.47 14.66 14.63
2181 348.4 -14.2 261 2187 roll -0.92 - - 2219 - 2.47 0.064 478 -565.6 -58.4 - - 2439 - - - - - - - - 14.87 14.69 14.87
2241 357.4 -15.1 265 2247 done -0.92 0.05 0.402 2225 120.0 2.38 0.040 1876 587.4 -58.4 - - 2439 - - - - - - - - 14.51 14.68 14.66
2376 375.9 -13.7 274 2382 roll -0.92 - - 2214 - 2.42 0.063 3294 586.0 -58.4 - - 2439 - - - - - - - - 14.87 14.67 14.87
2416 380.1 -13.8 276 2423 done -0.92 - - 2213 - 2.40 0.044 1879 -589.6 -58.4 - - 2439 - - - - - - - - 14.73 14.68 14.74
2541 398.7 -13.6 285 2547 roll -0.92 0.05 0.499 2226 260.0 2.47 0.064 477 -567.6 -58.4 - - 2439 - - - - - - - - 14.50 14.67 14.69
2651 413.1 -13.5 292 2657 done -0.92 - - 2215 - 2.38 0.039 1879 589.1 -58.4 - - 2439 - - - - - - - - 14.73 14.68 14.74
2781 430.9 -13.1 301 2787 roll -0.92 - - 2204 - 2.42 0.062 3276 577.3 -58.4 - - 2439 - - - - - - - - 14.88 14.67 14.88
2851 439.0 -13.5 305 2859 done -0.92 0.05 0.389 2209 100.0 2.38 0.044 1876 -588.2 -58.4 - - 2439 - - - - - - - - 14.52 14.69 14.67
2976 456.1 -12.4 314 2982 roll -0.92 0.05 0.480 2222 260.0 2.47 0.063 474 -567.6 -58.4 - - 2439 - - - - - - - - 14.51 14.67 14.70
3076 467.3 -12.5 320 3083 done -0.92 - - 2212 - 2.38 0.039 1872 587.4 -58.4 - - 2439 - - - - - - - - 14.74 14.69 14.75
3201 483.0 -11.5 329 3207 roll -0.92 0.05 0.506 2223 220.0 2.45 0.060 483 -566.9 -58.4 - - 2439 - - - - - - - - 14.50 14.68 14.70
3261 490.2 -11.9 333 3267 done -0.92 - - 2212 - 2.40 0.040 1890 586.2 -58.4 - - 2439 - - - - - - - - 14.74 14.69 14.75
3350 end dive: TARGET_DEPTH_EXCEEDED
3350 begin apogee
3353 500.5 -11.3 339 3402 done -0.15 0.75 0.282 2475 350.7 - - 1892 - - 46.20 2.144 2198 -5.2 0.226 - - - - - - 14.57 14.23 13.45
3404 end apogee: CONTROL_FINISHED_OK
3404 begin climb
3405 502.5 - 342 3460 done 0.92 0.90 0.181 2808 370.0 - - 1893 - 58.4 50.03 2.185 1957 -4.8 0.206 - - - - - - 14.16 13.92 13.21
3576 485.5 12.4 354 3582 roll 0.92 - - 2808 - 2.53 0.060 3299 555.7 58.4 - - 1958 - - - - - - - - 14.42 14.23 14.43
3606 481.5 13.0 356 3612 done 0.92 - - 2818 - 2.42 0.042 1905 -576.0 58.4 - - 1957 - - - - - - - - 14.33 14.28 14.35
3741 464.3 12.9 365 3747 roll 0.92 - - 2830 - 2.53 0.061 476 -564.8 58.4 - - 1958 - - - - - - - - 14.57 14.40 14.58
3811 456.4 13.2 369 3819 done 0.92 - - 2830 - 2.45 0.034 1902 582.0 58.4 - - 1958 - - - - - - - - 14.50 14.45 14.51
3936 438.6 13.0 378 3942 roll 0.92 - - 2831 - 2.45 0.061 3291 566.9 58.4 - - 1958 - - - - - - - - 14.68 14.48 14.69
3971 434.4 13.3 380 3978 done 0.92 0.05 0.377 2826 -100.0 2.38 0.042 1903 -583.2 58.4 - - 1957 - - - - - - - - 14.35 14.52 14.50
4102 417.3 12.4 389 4103 done 0.92 - - 2827 - - - 1902 - 58.4 - - 1958 - - - - - - - - 14.72 14.73 14.73
4222 402.2 12.8 397 4223 done 0.92 - - 2826 - - - 1902 - 58.4 - - 1958 - - - - - - - - 14.76 14.76 14.76
4342 387.3 12.2 405 4343 done 0.92 - - 2825 - - - 1902 - 58.4 - - 1958 - - - - - - - - 14.78 14.78 14.78
4462 372.9 11.8 413 4463 done 0.92 - - 2826 - - - 1901 - 58.4 - - 1957 - - - - - - - - 14.80 14.81 14.81
4582 358.6 11.9 421 4587 roll 0.92 - - 2837 - 2.47 0.061 499 -567.6 58.4 - - 1958 - - - - - - - - 14.82 14.63 14.83
4612 355.0 11.9 423 4619 done 0.92 0.05 0.363 2821 -320.0 2.35 0.034 1902 597.0 58.4 - - 1957 - - - - - - - - 14.49 14.64 14.63
4748 339.9 11.0 432 4753 roll 0.92 - - 2821 - 2.42 0.060 3293 574.8 59.2 - - 1958 - - - - - - - - 14.83 14.60 14.84
4793 335.0 11.0 435 4799 done 0.92 - - 2830 - 2.35 0.041 1900 -592.8 60.6 - - 1958 - - - - - - - - 14.66 14.63 14.67
4928 320.6 10.7 444 4936 done 0.93 - - 2830 - - - 1899 - 65.0 6.57 1.786 1933 -3.8 0.127 - - - - - - 14.85 14.62 13.80
5048 308.0 10.6 452 5060 roll 0.93 - - 2830 - 2.42 0.060 3296 577.3 70.3 5.90 1.628 1908 -4.2 0.149 - - - - - - 14.81 14.55 13.81
5139 297.0 12.2 459 5145 done 0.93 0.05 0.373 2826 -80.0 2.38 0.042 1902 -585.7 70.3 - - 1910 - - - - - - - - 14.40 14.57 14.56
5209 289.1 11.2 466 5209 done 0.93 - - 2826 - - - 1902 - 70.3 - - 1910 - - - - - - - - 14.78 14.79 14.78
5269 282.4 11.2 472 5274 roll 0.93 - - 2835 - 2.50 0.061 490 -564.8 70.3 - - 1909 - - - - - - - - 14.79 14.57 14.80
5309 277.9 11.4 476 5314 done 0.93 - - 2837 - 2.38 0.034 1897 591.2 70.3 - - 1910 - - - - - - - - 14.64 14.60 14.66
5379 269.9 11.0 483 5379 done 0.93 - - 2836 - - - 1896 - 71.0 - - 1910 - - - - - - - - 14.81 14.81 14.81
5439 263.5 10.7 489 5451 roll 0.94 - - 2847 - 2.45 0.060 488 -574.7 75.3 5.38 1.523 1889 -3.9 0.125 - - - - - - 14.82 14.59 13.84
5475 260.0 10.9 492 5483 done 0.94 0.05 0.356 2831 -320.0 2.40 0.034 1901 588.8 77.1 - - 1890 - - - - - - - - 14.45 14.59 14.57
5540 252.3 11.0 499 5545 done 0.94 - - 2832 - - - 1901 - 78.1 4.00 1.327 1882 -2.0 0.071 - - - - - - 14.78 14.58 13.79
5600 245.7 11.0 505 5601 done 0.94 - - 2832 - - - 1901 - 79.2 - - 1878 - - - - - - - - 14.77 14.77 14.77
5660 238.9 11.4 511 5661 done 0.94 - - 2832 - - - 1901 - 79.2 - - 1878 - - - - - - - - 14.78 14.79 14.78
5720 232.0 11.4 517 5721 done 0.94 - - 2832 - - - 1901 - 79.2 - - 1878 - - - - - - - - 14.80 14.80 14.80
5780 224.9 11.8 523 5785 roll 0.94 - - 2832 - 2.42 0.063 3287 572.7 79.2 - - 1879 - - - - - - - - 14.81 14.59 14.81
5875 213.7 12.6 532 5882 done 0.94 - - 2842 - 2.35 0.041 1899 -590.6 79.2 - - 1878 - - - - - - - - 14.68 14.65 14.69
5940 206.0 10.7 539 5952 roll 0.95 - - 2854 - 2.42 0.060 498 -578.9 83.1 5.60 1.494 1857 -3.8 0.096 - - - - - - 14.82 14.59 13.84
5976 202.5 11.1 542 5984 done 0.95 0.05 0.356 2837 -340.0 2.38 0.035 1901 589.5 83.4 - - 1857 - - - - - - - - 14.44 14.59 14.57
6041 194.9 10.6 549 6054 roll 0.96 - - 2837 - 2.40 0.063 3294 580.4 88.8 6.10 1.489 1832 -4.1 0.100 - - - - - - 14.78 14.52 13.84
6068 192.7 10.4 551 6081 done 0.97 - - 2846 - 2.38 0.040 1897 -587.0 96.3 7.20 1.516 1803 -4.0 0.095 - - - - - - 14.57 14.54 13.81
6145 183.4 11.5 559 6145 done 0.97 - - 2847 - - - 1897 - 96.3 - - 1804 - - - - - - - - 14.71 14.71 14.71
6205 175.7 12.9 565 6210 roll 0.97 - - 2857 - 2.47 0.061 502 -564.8 96.3 - - 1803 - - - - - - - - 14.73 14.53 14.74
6315 161.1 12.9 576 6321 done 0.97 0.05 0.360 2841 -320.0 2.38 0.036 1900 587.4 96.3 - - 1803 - - - - - - - - 14.42 14.59 14.57
6385 153.1 11.2 583 6390 roll 0.97 - - 2840 - 2.45 0.063 3294 569.0 96.3 - - 1803 - - - - - - - - 14.78 14.57 14.78
6439 147.2 12.2 588 6448 done 0.97 0.03 0.472 2843 100.0 2.38 0.040 1895 -587.8 96.3 - - 1804 - - - - - - - - 14.42 14.60 14.57
6505 139.4 11.0 595 6506 done 0.97 - - 2843 - - - 1895 - 97.1 - - 1804 - - - - - - - - 14.79 14.80 14.80
6565 133.2 10.3 601 6577 done 0.98 - - 2843 - - - 1895 - 105.7 8.62 1.602 1764 -4.6 0.072 - - - - - - 14.80 14.56 13.85
6635 125.5 11.0 608 6641 roll 0.98 - - 2853 - 2.47 0.061 501 -564.4 106.7 - - 1765 - - - - - - - - 14.75 14.55 14.75
6665 122.0 11.4 611 6671 done 0.98 0.03 0.438 2845 -266.7 2.40 0.036 1907 585.8 106.7 - - 1765 - - - - - - - - 14.40 14.57 14.54
6735 114.0 11.5 618 6736 done 0.98 - - 2845 - - - 1906 - 106.7 - - 1765 - - - - - - - - 14.76 14.77 14.76
6795 107.2 11.1 624 6801 roll 0.98 - - 2845 - 2.45 0.064 3298 568.2 106.7 - - 1765 - - - - - - - - 14.78 14.57 14.78
6830 103.6 12.0 627 6837 done 0.98 0.05 0.378 2839 -120.0 2.38 0.041 1898 -588.2 106.7 - - 1765 - - - - - - - - 14.43 14.61 14.55
6895 95.7 11.2 637 6896 done 0.98 - - 2838 - - - 1898 - 106.7 - - 1766 - - - - - - - - 14.78 14.79 14.79
6925 92.3 11.3 643 6926 done 0.98 - - 2839 - - - 1898 - 106.7 - - 1765 - - - - - - - - 14.78 14.79 14.79
6955 88.9 11.2 649 6956 done 0.98 - - 2839 - - - 1898 - 106.7 - - 1766 - - - - - - - - 14.79 14.80 14.80
6985 85.6 11.1 655 6986 done 0.98 - - 2839 - - - 1898 - 106.8 - - 1766 - - - - - - - - 14.79 14.80 14.80
7016 82.3 11.1 661 7021 done 0.98 - - 2839 - - - 1898 - 107.2 - - 1766 - - - - - - - - 14.79 14.80 14.80
7050 78.4 11.0 668 7058 roll 0.98 - - 2838 - 2.45 0.061 3294 569.8 108.1 - - 1765 - - - - - - - - 14.80 14.60 14.80
7082 74.7 11.6 674 7089 done 0.98 - - 2849 - 2.35 0.040 1905 -591.1 108.1 - - 1766 - - - - - - - - 14.64 14.61 14.66
7118 71.0 11.0 681 7125 done 0.98 - - 2849 - - - 1905 - 108.8 4.00 1.239 1752 -3.5 0.037 - - - - - - 14.81 14.61 13.86
7154 66.9 11.1 688 7155 done 0.98 - - 2849 - - - 1905 - 109.3 - - 1753 - - - - - - - - 14.78 14.79 14.79
7184 63.6 11.2 694 7185 done 0.98 - - 2849 - - - 1905 - 109.3 - - 1753 - - - - - - - - 14.79 14.79 14.79
7214 60.2 11.1 700 7215 done 0.98 - - 2849 - - - 1905 - 109.3 - - 1754 - - - - - - - - 14.79 14.80 14.80
7244 56.9 11.0 706 7245 done 0.98 - - 2849 - - - 1905 - 110.4 - - 1753 - - - - - - - - 14.80 14.80 14.80
7274 53.5 11.4 712 7275 done 0.98 - - 2849 - - - 1906 - 110.4 - - 1753 - - - - - - - - 14.80 14.81 14.81
7304 50.0 11.7 718 7305 done 0.98 - - 2849 - - - 1905 - 110.4 - - 1754 - - - - - - - - 14.81 14.81 14.81
7334 46.5 11.6 724 7335 done 0.98 - - 2849 - - - 1905 - 110.4 - - 1754 - - - - - - - - 14.81 14.81 14.81
7364 43.1 11.5 730 7365 done 0.98 - - 2849 - - - 1905 - 110.4 - - 1751 - - - - - - - - 14.81 14.81 14.81
7394 39.7 11.1 736 7395 done 0.98 - - 2849 - - - 1905 - 110.8 - - 1753 - - - - - - - - 14.81 14.81 14.81
7424 36.5 10.6 742 7437 done 0.99 - - 2849 - - - 1905 - 115.6 6.85 1.426 1723 -4.4 0.021 - - - - - - 14.81 14.45 13.91
7466 31.7 11.1 750 7472 roll 0.99 - - 2849 - 2.45 0.062 3294 566.9 116.1 - - 1724 - - - - - - - - 14.76 14.55 14.76
7492 28.5 12.4 755 7499 done 0.99 0.05 0.376 2845 -80.0 2.38 0.041 1899 -586.1 116.1 - - 1724 - - - - - - - - 14.42 14.58 14.57
7528 24.2 12.2 762 7528 done 0.99 - - 2852 - - - 1898 - 116.1 - - 1724 - - - - - - - - 14.77 14.77 14.77
7558 20.5 12.3 768 7564 done 0.99 - - 2845 - - - 1899 - 116.1 - - 1724 - - - - - - - - 14.78 14.78 14.78
7593 16.0 12.5 775 7594 done 0.99 - - 2843 - - - 1899 - 116.1 - - 1724 - - - - - - - - 14.78 14.78 14.78
7623 11.9 13.4 781 7624 done 0.99 - - 2845 - - - 1898 - 116.1 - - 1724 - - - - - - - - 14.78 14.78 14.78
7653 7.8 13.5 787 7654 done 0.99 - - 2844 - - - 1898 - 116.1 - - 1724 - - - - - - - - 14.78 14.79 14.78
7683 3.9 12.7 793 7690 roll 0.99 - - 2845 - 2.45 0.060 3300 572.2 116.1 - - 1724 - - - - - - - - 14.79 14.56 14.79
7692 end climb: SURFACE_DEPTH_REACHED
7692 begin surface coast
7713 end surface coast: CONTROL_FINISHED_OK
7713 begin surface
SM 1.34 - - - - -6.85 6.03 0.051 236 39.1 2.45 0.045 1887 -1007.8 190.10 45.50 0.307 1424 31.3 -0.014 - - - - - -