ROAMMIZ 19Oct19 * SG640 * Dive index * Mission links * Dive 109 * Raw log
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• Previous call tries 1 • 39.03 of 310.00 AH used of 24V (87.41% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.9 deg, depth 1.51 m • Intended pitch -27.9 deg, speed -11.111 cm/s
• VBD pumped to 190.10 (SM_CC=190)
• GPS1 time: 56 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
8 - - - 74 done -0.92 - - 231 - - - 1904 - -58.4 -60.22 - 2438 - - - - - - - - 14.67 13.90 14.68
76 3.2 -3.4 11 89 roll -0.92 6.28 0.368 2195 312.7 2.40 0.054 3285 575.4 -58.4 - - 2440 - - - - - - - - 14.25 14.46 14.48
228 30.7 -18.2 41 235 done -0.92 0.08 0.355 2217 275.0 2.42 0.047 1876 -582.2 -58.4 - - 2441 - - - - - - - - 14.33 14.48 14.47
264 37.6 -18.6 48 271 roll -0.92 - - 2217 - 2.50 0.064 481 -558.0 -58.4 - - 2441 - - - - - - - - 14.71 14.49 14.71
325 49.4 -19.7 60 332 done -0.92 0.05 0.391 2222 100.0 2.42 0.041 1878 577.3 -58.4 - - 2441 - - - - - - - - 14.37 14.53 14.52
361 56.1 -18.6 67 369 roll -0.92 - - 2210 - 2.42 0.065 3282 580.2 -58.4 - - 2441 - - - - - - - - 14.72 14.54 14.73
388 61.1 -18.2 72 395 done -0.92 0.05 0.389 2219 180.0 2.40 0.047 1881 -583.8 -58.4 - - 2441 - - - - - - - - 14.35 14.55 14.50
424 68.3 -19.2 79 425 done -0.92 - - 2219 - - - 1880 - -58.4 - - 2441 - - - - - - - - 14.74 14.75 14.74
454 73.8 -18.3 85 455 done -0.92 - - 2219 - - - 1880 - -58.4 - - 2441 - - - - - - - - 14.75 14.73 14.75
484 79.4 -18.5 91 485 done -0.92 - - 2219 - - - 1880 - -58.4 - - 2441 - - - - - - - - 14.75 14.76 14.76
514 85.0 -18.7 97 515 done -0.92 - - 2219 - - - 1880 - -58.4 - - 2441 - - - - - - - - 14.76 14.76 14.76
544 90.5 -18.4 103 545 done -0.92 - - 2219 - - - 1880 - -58.4 - - 2441 - - - - - - - - 14.76 14.76 14.76
574 96.0 -18.3 109 575 done -0.92 - - 2219 - - - 1880 - -58.4 - - 2441 - - - - - - - - 14.76 14.80 14.76
609 102.5 -18.9 115 610 done -0.92 - - 2217 - - - 1880 - -58.4 - - 2441 - - - - - - - - 14.77 14.77 14.77
669 113.6 -18.5 121 674 roll -0.92 - - 2219 - 2.50 0.064 476 -561.6 -58.4 - - 2441 - - - - - - - - 14.78 14.60 14.78
739 126.8 -18.7 128 746 done -0.92 0.05 0.399 2223 80.0 2.40 0.041 1876 583.3 -58.4 - - 2441 - - - - - - - - 14.41 14.57 14.56
809 139.5 -18.1 135 816 roll -0.92 - - 2212 - 2.45 0.065 3281 573.5 -58.4 - - 2441 - - - - - - - - 14.80 14.57 14.80
840 145.0 -18.3 138 846 done -0.92 0.03 0.474 2218 200.0 2.40 0.047 1878 -584.6 -58.4 - - 2441 - - - - - - - - 14.42 14.60 14.58
910 157.5 -17.9 145 915 roll -0.92 - - 2217 - 2.50 0.066 475 -561.2 -58.4 - - 2441 - - - - - - - - 14.81 14.59 14.81
954 164.9 -18.5 149 962 done -0.92 0.05 0.401 2221 80.0 2.40 0.041 1875 583.3 -58.4 - - 2441 - - - - - - - - 14.43 14.59 14.58
1020 177.6 -18.1 156 1025 roll -0.92 - - 2209 - 2.45 0.067 3275 571.4 -58.4 - - 2441 - - - - - - - - 14.81 14.59 14.81
1064 185.0 -18.6 160 1072 done -0.92 0.05 0.410 2222 260.0 2.38 0.047 1882 -585.3 -58.4 - - 2441 - - - - - - - - 14.42 14.60 14.59
1130 197.3 -17.6 167 1131 done -0.92 - - 2222 - - - 1881 - -58.4 - - 2441 - - - - - - - - 14.82 14.82 14.82
1190 207.3 -16.5 173 1196 roll -0.92 - - 2222 - 2.50 0.067 477 -561.6 -58.4 - - 2441 - - - - - - - - 14.86 14.62 14.83
1240 216.1 -17.9 178 1246 done -0.92 0.05 0.397 2226 80.0 2.40 0.041 1879 584.2 -58.4 - - 2441 - - - - - - - - 14.46 14.62 14.62
1310 227.6 -16.6 185 1315 roll -0.92 - - 2213 - 2.45 0.064 3282 572.7 -58.4 - - 2441 - - - - - - - - 14.83 14.62 14.83
1330 230.8 -16.7 187 1335 done -0.92 - - 2213 - 2.40 0.048 1881 -583.8 -58.4 - - 2441 - - - - - - - - 14.66 14.62 14.68
1400 242.4 -16.7 194 1406 roll -0.92 0.05 0.494 2225 240.0 2.50 0.066 475 -562.4 -58.4 - - 2441 - - - - - - - - 14.49 14.62 14.69
1440 249.4 -17.7 198 1445 done -0.92 - - 2213 - 2.42 0.043 1884 582.2 -58.4 - - 2441 - - - - - - - - 14.68 14.62 14.70
1510 261.2 -16.8 205 1515 roll -0.92 - - 2203 - 2.45 0.066 3286 572.2 -58.4 - - 2441 - - - - - - - - 14.83 14.62 14.84
1540 266.3 -16.9 208 1546 done -0.92 0.05 0.394 2215 240.0 2.42 0.050 1874 -583.5 -58.4 - - 2441 - - - - - - - - 14.47 14.63 14.63
1610 277.7 -16.4 215 1617 roll -0.92 - - 2215 - 2.50 0.067 468 -562.4 -58.4 - - 2440 - - - - - - - - 14.83 14.62 14.84
1695 291.3 -16.6 223 1703 done -0.92 0.05 0.391 2219 80.0 2.42 0.043 1880 583.5 -58.4 - - 2440 - - - - - - - - 14.48 14.64 14.63
1766 302.8 -15.3 230 1772 roll -0.92 - - 2208 - 2.45 0.067 3282 572.2 -58.4 - - 2440 - - - - - - - - 14.84 14.63 14.84
1831 311.8 -15.0 234 1837 done -0.92 0.05 0.422 2219 220.0 2.40 0.047 1872 -587.5 -58.4 - - 2441 - - - - - - - - 14.46 14.65 14.62
1961 331.1 -14.2 243 1962 done -0.92 - - 2219 - - - 1871 - -58.4 - - 2440 - - - - - - - - 14.84 14.85 14.84
2081 347.7 -13.6 251 2082 done -0.92 - - 2219 - - - 1871 - -58.4 - - 2440 - - - - - - - - 14.85 14.85 14.85
2201 364.2 -13.9 259 2202 done -0.92 - - 2219 - - - 1871 - -58.4 - - 2440 - - - - - - - - 14.85 14.86 14.86
2321 380.7 -13.8 267 2326 roll -0.92 - - 2219 - 2.47 0.065 470 -567.2 -58.4 - - 2439 - - - - - - - - 14.86 14.66 14.86
2416 393.5 -14.2 273 2422 done -0.92 0.05 0.392 2223 80.0 2.40 0.041 1881 587.9 -58.4 - - 2440 - - - - - - - - 14.50 14.68 14.65
2546 411.1 -13.0 282 2552 roll -0.92 - - 2223 - 2.47 0.063 476 -568.8 -58.4 - - 2440 - - - - - - - - 14.86 14.66 14.87
2621 421.1 -13.2 287 2627 done -0.92 - - 2212 - 2.40 0.041 1885 587.1 -58.4 - - 2440 - - - - - - - - 14.72 14.68 14.73
2756 438.3 -12.7 296 2757 done -0.92 0.05 0.505 2224 240.0 - - 1887 - -58.4 - - 2439 - - - - - - - - 14.49 14.73 14.69
2876 452.1 -11.4 304 2877 done -0.92 - - 2224 - - - 1887 - -58.4 - - 2440 - - - - - - - - 14.88 14.88 14.88
2996 465.4 -11.0 312 3002 roll -0.92 - - 2224 - 2.47 0.062 479 -570.0 -58.4 - - 2440 - - - - - - - - 14.88 14.67 14.88
3066 472.8 -12.2 316 3074 done -0.92 - - 2213 - 2.38 0.040 1879 588.2 -58.4 - - 2440 - - - - - - - - 14.73 14.69 14.75
3191 488.3 -11.8 325 3197 roll -0.92 0.05 0.503 2213 - 2.42 0.063 3275 576.9 -58.4 - - 2440 - - - - - - - - 14.51 14.67 14.71
3221 491.7 -11.6 327 3227 done -0.92 0.03 0.469 2219 200.0 2.38 0.045 1869 -590.8 -58.4 - - 2440 - - - - - - - - 14.50 14.69 14.66
3310 end dive: TARGET_DEPTH_EXCEEDED
3310 begin apogee
3313 501.6 -10.9 333 3362 done -0.15 0.73 0.269 2475 350.7 - - 1869 - - 46.35 2.043 2198 -5.2 0.239 - - - - - - 14.56 14.21 13.47
3363 end apogee: CONTROL_FINISHED_OK
3363 begin climb
3364 503.5 - 336 3417 roll 0.92 0.85 0.176 2800 382.4 2.60 0.060 3299 550.0 58.4 46.38 2.131 1953 -5.3 0.232 - - - - - - 14.16 13.83 13.18
3471 495.0 10.2 343 3488 done 0.93 - - 2811 - 2.45 0.044 1906 -568.6 67.2 9.07 1.910 1922 -3.4 0.165 - - - - - - 14.20 14.16 13.32
3606 479.5 11.8 352 3611 roll 0.93 - - 2823 - 2.55 0.062 500 -551.4 67.2 - - 1923 - - - - - - - - 14.47 14.29 14.48
3671 472.0 12.5 356 3677 done 0.93 - - 2824 - 2.42 0.034 1901 578.9 67.2 - - 1924 - - - - - - - - 14.40 14.36 14.41
3801 455.2 12.6 365 3806 roll 0.93 - - 2824 - 2.47 0.063 3290 562.3 67.2 - - 1925 - - - - - - - - 14.61 14.41 14.62
3856 449.3 13.1 368 3863 done 0.93 - - 2834 - 2.40 0.044 1899 -579.6 67.2 - - 1926 - - - - - - - - 14.51 14.47 14.52
3981 431.9 13.1 377 3986 roll 0.93 - - 2846 - 2.50 0.061 496 -561.2 67.2 - - 1926 - - - - - - - - 14.69 14.50 14.69
4001 429.9 13.1 378 4007 done 0.93 0.05 0.360 2831 -300.0 2.40 0.034 1906 587.5 67.2 - - 1925 - - - - - - - - 14.36 14.52 14.50
4131 412.7 12.4 387 4137 roll 0.93 - - 2830 - 2.42 0.060 3292 572.7 67.2 - - 1927 - - - - - - - - 14.73 14.53 14.73
4156 410.7 12.4 388 4163 done 0.93 0.05 0.366 2825 -100.0 2.38 0.042 1900 -584.9 67.2 - - 1926 - - - - - - - - 14.40 14.56 14.54
4281 394.1 12.1 397 4287 roll 0.93 - - 2836 - 2.47 0.060 510 -562.8 67.2 - - 1926 - - - - - - - - 14.76 14.57 14.76
4301 392.3 12.1 398 4307 done 0.93 - - 2836 - 2.35 0.034 1903 592.8 67.2 - - 1925 - - - - - - - - 14.63 14.59 14.67
4431 375.3 12.7 407 4432 done 0.93 - - 2836 - - - 1897 - 67.2 - - 1925 - - - - - - - - 14.79 14.79 14.79
4551 360.2 12.4 415 4552 done 0.93 - - 2836 - - - 1897 - 67.2 - - 1926 - - - - - - - - 14.81 14.81 14.81
4671 345.7 12.1 423 4678 roll 0.93 - - 2837 - 2.42 0.061 3288 574.8 67.2 - - 1926 - - - - - - - - 14.82 14.62 14.83
4726 340.0 12.5 426 4734 done 0.93 0.08 0.341 2822 -187.5 2.35 0.042 1897 -591.9 67.2 - - 1926 - - - - - - - - 14.50 14.65 14.63
4851 324.0 11.9 435 4852 done 0.93 - - 2823 - - - 1897 - 67.2 - - 1926 - - - - - - - - 14.83 14.83 14.83
4971 309.8 11.5 443 4978 roll 0.93 - - 2823 - 2.42 0.059 3288 574.8 67.2 - - 1926 - - - - - - - - 14.83 14.64 14.85
5037 302.5 12.2 447 5042 done 0.93 - - 2833 - 2.33 0.041 1903 -594.4 67.2 - - 1926 - - - - - - - - 14.71 14.66 14.73
5162 287.0 11.7 459 5163 done 0.93 - - 2833 - - - 1903 - 67.2 - - 1923 - - - - - - - - 14.85 14.85 14.85
5222 279.9 11.9 465 5223 done 0.93 - - 2833 - - - 1902 - 67.2 - - 1926 - - - - - - - - 14.85 14.85 14.85
5282 272.7 12.0 471 5287 roll 0.93 - - 2833 - 2.40 0.060 3284 575.8 67.2 - - 1926 - - - - - - - - 14.85 14.65 14.85
5342 265.4 12.2 477 5348 done 0.93 0.05 0.361 2828 -100.0 2.33 0.041 1902 -593.1 67.2 - - 1925 - - - - - - - - 14.51 14.68 14.66
5412 257.3 11.5 484 5413 done 0.93 - - 2828 - - - 1903 - 67.2 - - 1926 - - - - - - - - 14.85 14.85 14.85
5472 250.5 11.3 490 5478 roll 0.93 - - 2839 - 2.47 0.061 495 -570.0 67.2 - - 1926 - - - - - - - - 14.85 14.66 14.86
5507 247.0 11.6 493 5514 done 0.93 0.03 0.451 2831 -266.7 2.35 0.034 1892 594.5 67.2 - - 1925 - - - - - - - - 14.50 14.69 14.65
5572 238.8 11.6 500 5573 done 0.93 - - 2831 - - - 1892 - 67.2 - - 1925 - - - - - - - - 14.85 14.85 14.85
5632 232.1 11.3 506 5633 done 0.93 - - 2831 - - - 1891 - 67.2 - - 1925 - - - - - - - - 14.85 14.85 14.85
5692 225.4 11.1 512 5698 roll 0.93 - - 2831 - 2.42 0.061 3285 576.0 67.7 - - 1926 - - - - - - - - 14.85 14.62 14.85
5777 216.3 11.3 520 5784 done 0.93 0.05 0.366 2824 -140.0 2.33 0.041 1904 -592.7 67.7 - - 1926 - - - - - - - - 14.52 14.68 14.66
5842 209.1 10.3 527 5854 done 0.94 - - 2824 - - - 1904 - 76.0 8.88 1.854 1886 -4.5 0.095 - - - - - - 14.85 14.62 13.81
5912 202.1 10.1 534 5929 roll 0.95 - - 2834 - 2.47 0.061 508 -565.2 86.5 9.50 1.835 1842 -4.6 0.095 - - - - - - 14.77 14.50 13.74
5993 193.9 10.7 542 6005 done 0.96 - - 2836 - 2.35 0.035 1891 588.5 90.9 5.03 1.532 1825 -3.4 0.080 - - - - - - 14.54 14.50 13.68
6063 186.0 11.5 549 6064 done 0.96 - - 2836 - - - 1891 - 90.9 - - 1825 - - - - - - - - 14.71 14.71 14.71
6123 179.2 11.5 555 6123 done 0.96 - - 2836 - - - 1891 - 90.9 - - 1825 - - - - - - - - 14.73 14.73 14.73
6183 172.7 10.7 561 6195 roll 0.96 - - 2846 - 2.47 0.060 497 -564.4 95.2 4.68 1.491 1809 -3.4 0.074 - - - - - - 14.74 14.47 13.74
6234 166.6 11.3 566 6239 done 0.96 - - 2846 - 2.38 0.036 1892 586.1 95.2 - - 1810 - - - - - - - - 14.57 14.52 14.58
6304 159.3 10.3 573 6318 roll 0.97 - - 2847 - 2.50 0.067 3296 561.6 103.1 8.00 1.701 1775 -4.4 0.076 - - - - - - 14.74 14.45 13.74
6341 155.5 11.3 576 6349 done 0.97 0.05 0.366 2842 -100.0 2.38 0.041 1905 -584.5 103.1 - - 1776 - - - - - - - - 14.35 14.50 14.48
6407 147.6 11.2 583 6407 done 0.97 - - 2842 - - - 1904 - 103.1 - - 1776 - - - - - - - - 14.69 14.70 14.70
6467 140.9 11.3 589 6467 done 0.97 - - 2842 - - - 1904 - 103.1 - - 1776 - - - - - - - - 14.73 14.73 14.73
6527 133.9 11.7 595 6532 roll 0.97 - - 2852 - 2.50 0.060 496 -563.2 103.1 - - 1776 - - - - - - - - 14.73 14.54 14.74
6561 130.4 11.7 598 6570 done 0.97 0.05 0.349 2836 -320.0 2.38 0.035 1897 588.7 103.1 - - 1776 - - - - - - - - 14.45 14.57 14.56
6627 122.3 11.5 605 6627 done 0.97 - - 2836 - - - 1897 - 103.1 - - 1777 - - - - - - - - 14.76 14.76 14.76
6687 115.3 11.7 611 6687 done 0.97 - - 2836 - - - 1895 - 103.1 - - 1776 - - - - - - - - 14.77 14.78 14.77
6746 108.5 11.1 617 6747 done 0.97 - - 2836 - - - 1897 - 103.1 - - 1776 - - - - - - - - 14.78 14.79 14.79
6807 101.8 11.3 623 6812 roll 0.97 - - 2836 - 2.45 0.064 3291 569.0 103.1 - - 1776 - - - - - - - - 14.78 14.59 14.79
6847 97.2 11.3 629 6853 done 0.97 - - 2846 - 2.35 0.042 1901 -591.5 103.1 - - 1774 - - - - - - - - 14.66 14.62 14.68
6882 93.6 10.5 636 6896 roll 0.98 - - 2857 - 2.50 0.062 504 -558.8 109.1 6.10 1.587 1752 -3.6 0.040 - - - - - - 14.81 14.54 13.81
6910 90.3 11.3 641 6917 done 0.98 0.05 0.345 2843 -280.0 2.38 0.036 1903 587.8 109.1 - - 1752 - - - - - - - - 14.42 14.57 14.56
6946 86.3 10.9 648 6947 done 0.98 - - 2843 - - - 1903 - 111.1 - - 1752 - - - - - - - - 14.75 14.75 14.75
6976 83.0 11.0 654 6985 roll 0.99 - - 2843 - 2.47 0.064 3301 566.0 112.3 4.20 1.382 1738 -3.3 0.037 - - - - - - 14.75 14.54 13.76
7018 78.4 11.7 662 7025 done 0.99 - - 2852 - 2.40 0.041 1897 -585.0 112.3 - - 1739 - - - - - - - - 14.59 14.54 14.59
7055 74.1 11.9 669 7060 done 0.99 - - 2852 - - - 1897 - 112.3 - - 1739 - - - - - - - - 14.74 14.75 14.75
7089 69.7 12.5 676 7090 done 0.99 - - 2852 - - - 1895 - 112.3 - - 1739 - - - - - - - - 14.76 14.76 14.76
7119 65.8 12.9 682 7126 roll 0.99 - - 2863 - 2.47 0.062 477 -574.1 112.3 - - 1740 - - - - - - - - 14.76 14.57 14.76
7155 61.0 13.1 689 7162 done 0.99 0.08 0.352 2843 -250.0 2.42 0.036 1906 590.5 112.3 - - 1739 - - - - - - - - 14.42 14.58 14.56
7191 56.7 11.4 696 7198 done 0.99 - - 2843 - - - 1907 - 112.3 - - 1739 - - - - - - - - 14.75 14.76 14.76
7227 52.7 11.3 703 7227 done 0.99 - - 2843 - - - 1906 - 112.3 - - 1739 - - - - - - - - 14.76 14.76 14.76
7257 49.2 11.5 709 7263 roll 0.99 - - 2842 - 2.42 0.065 3287 570.7 112.3 - - 1739 - - - - - - - - 14.76 14.57 14.77
7307 43.2 12.1 719 7314 done 0.99 - - 2852 - 2.35 0.041 1898 -591.1 112.3 - - 1739 - - - - - - - - 14.60 14.57 14.61
7343 39.0 11.9 726 7344 done 0.99 - - 2852 - - - 1898 - 112.3 - - 1739 - - - - - - - - 14.79 14.79 14.79
7373 35.5 11.7 732 7374 done 0.99 - - 2852 - - - 1898 - 112.3 - - 1739 - - - - - - - - 14.79 14.79 14.79
7403 31.9 11.7 738 7404 done 0.99 - - 2852 - - - 1897 - 112.3 - - 1739 - - - - - - - - 14.80 14.81 14.81
7433 28.4 11.9 744 7434 done 0.99 - - 2856 - - - 1897 - 112.3 - - 1739 - - - - - - - - 14.80 14.80 14.81
7463 24.8 11.9 750 7470 roll 0.99 - - 2852 - 2.45 0.064 3293 569.8 112.3 - - 1739 - - - - - - - - 14.80 14.57 14.80
7504 19.6 12.6 758 7511 done 0.99 0.05 0.369 2848 -80.0 2.38 0.042 1898 -586.1 112.3 - - 1739 - - - - - - - - 14.45 14.60 14.58
7541 15.3 11.1 765 7547 roll 0.99 - - 2858 - 2.47 0.062 498 -566.8 112.3 - - 1740 - - - - - - - - 14.80 14.60 14.80
7561 13.0 11.1 769 7569 done 0.99 0.05 0.358 2843 -300.0 2.35 0.035 1902 597.4 112.6 - - 1739 - - - - - - - - 14.46 14.62 14.60
7598 9.0 11.0 776 7599 done 0.99 - - 2843 - - - 1905 - 113.8 - - 1739 - - - - - - - - 14.79 14.81 14.80
7628 5.6 11.3 782 7629 done 0.99 - - 2843 - - - 1903 - 113.8 - - 1739 - - - - - - - - 14.80 14.81 14.81
7652 end climb: SURFACE_DEPTH_REACHED
7652 begin surface coast
7677 end surface coast: CONTROL_FINISHED_OK
7677 begin surface
SM 1.09 - - - - -6.83 6.07 0.067 239 39.4 - - 1905 - 190.10 48.15 0.311 1425 29.6 -0.011 - - - - - -