ROAMMIZ Jan22 * SG640 * Dive index * Mission links * Dive 123 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 181.72 of 310.00 AH used of 24V (41.38% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.4 deg, depth 1.24 m • Intended pitch -12.6 deg, speed -8.462 cm/s
VBD pumped to 190.10 (SM_CC=190)
• GPS1 time: 40 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
7 - - - 87 done -0.47 - - 232 - - - 1811 - -87.6 -72.80 - 3157 - - - - - - - - 14.75 13.85 14.74
90 3.5 -5.3 11 106 roll -0.47 6.28 0.370 2224 317.2 1.20 0.044 2543 610.0 -87.6 - - 3160 - - - - - - - - 14.29 14.46 14.52
243 23.8 -11.0 39 250 done -0.47 - - 2223 - 1.23 0.053 1813 -593.5 -87.6 - - 3161 - - - - - - - - 14.54 14.49 14.55
435 44.1 -10.5 76 444 roll -0.47 - - 2223 - 1.23 0.067 1113 -569.1 -87.6 - - 3161 - - - - - - - - 14.79 14.50 14.79
488 49.5 -10.1 85 496 done -0.47 0.05 0.334 2237 280.0 1.20 0.042 1827 595.0 -87.6 - - 3162 - - - - - - - - 14.42 14.54 14.54
682 66.8 -8.2 122 689 roll -0.47 - - 2233 - 1.12 0.055 2508 608.0 -87.6 - - 3161 - - - - - - - - 14.82 14.53 14.82
738 71.5 -8.4 132 747 done -0.47 - - 2233 - 1.15 0.053 1820 -598.3 -87.6 - - 3161 - - - - - - - - 14.60 14.54 14.62
935 89.3 -9.3 155 938 roll -0.47 - - 2233 - 1.23 0.070 1114 -574.0 -87.6 - - 3161 - - - - - - - - 14.86 14.62 14.86
988 93.5 -9.9 157 997 done -0.47 - - 2227 - 1.15 0.040 1819 613.0 -87.6 - - 3161 - - - - - - - - 14.62 14.58 14.64
1296 124.5 -9.8 173 1300 roll -0.47 - - 2227 - 1.23 0.069 1108 -578.0 -87.6 - - 3161 - - - - - - - - 14.92 14.69 14.92
1339 128.7 -10.1 175 1345 done -0.47 0.05 0.424 2238 220.0 1.17 0.041 1824 612.0 -87.6 - - 3161 - - - - - - - - 14.57 14.73 14.76
1659 157.0 -8.2 191 1663 roll -0.47 - - 2235 - 1.12 0.057 2508 610.7 -87.6 - - 3161 - - - - - - - - 14.96 14.74 14.96
1709 160.5 -8.3 193 1712 done -0.47 - - 2235 - 1.12 0.054 1824 -610.7 -87.6 - - 3161 - - - - - - - - 14.80 14.75 14.81
2021 184.9 -7.2 209 2025 roll -0.47 - - 2235 - 1.23 0.070 1108 -582.1 -87.6 - - 3161 - - - - - - - - 15.00 14.75 15.00
2063 188.0 -7.2 211 2067 done -0.47 - - 2229 - 1.15 0.041 1812 612.2 -87.6 - - 3161 - - - - - - - - 14.82 14.78 14.83
2385 211.6 -7.5 227 2389 roll -0.47 - - 2224 - 1.15 0.055 2524 619.1 -87.6 - - 3161 - - - - - - - - 15.01 14.79 15.02
2414 213.2 -7.5 228 2418 done -0.47 - - 2223 - 1.15 0.053 1815 -616.5 -87.6 - - 3161 - - - - - - - - 14.85 14.78 14.85
2726 239.5 -8.6 244 2730 roll -0.47 - - 2223 - 1.20 0.068 1109 -588.3 -87.6 - - 3161 - - - - - - - - 15.02 14.78 15.02
2775 243.1 -8.7 246 2780 done -0.47 0.05 0.327 2237 280.0 1.15 0.041 1824 621.7 -87.6 - - 3161 - - - - - - - - 14.64 14.81 14.78
3088 268.8 -7.9 262 3092 roll -0.47 - - 2234 - 1.10 0.054 2510 623.6 -87.6 - - 3161 - - - - - - - - 15.03 14.81 15.04
3153 273.7 -7.9 265 3157 done -0.47 - - 2234 - 1.12 0.053 1822 -614.3 -87.6 - - 3161 - - - - - - - - 14.86 14.82 14.88
3471 298.9 -7.7 281 3475 roll -0.47 - - 2234 - 1.20 0.070 1117 -587.5 -87.6 - - 3161 - - - - - - - - 15.04 14.81 15.04
3534 304.0 -8.0 284 3538 done -0.47 - - 2229 - 1.12 0.041 1811 619.6 -87.6 - - 3161 - - - - - - - - 14.87 14.83 14.89
3856 329.5 -8.0 300 3860 roll -0.47 - - 2223 - 1.12 0.054 2513 626.8 -87.6 - - 3161 - - - - - - - - 15.05 14.83 15.05
3900 332.8 -7.8 302 3905 done -0.47 - - 2223 - 1.12 0.052 1818 -620.5 -87.6 - - 3161 - - - - - - - - 14.88 14.83 14.90
4218 358.2 -8.0 318 4222 roll -0.47 - - 2223 - 1.20 0.067 1110 -590.0 -87.6 - - 3161 - - - - - - - - 15.05 14.81 15.05
4267 361.7 -8.3 320 4272 done -0.47 0.05 0.321 2237 280.0 1.15 0.041 1820 617.4 -87.6 - - 3161 - - - - - - - - 14.68 14.84 14.82
4581 385.6 -7.5 336 4584 roll -0.47 - - 2234 - 1.10 0.054 2508 625.5 -87.6 - - 3161 - - - - - - - - 15.06 14.83 15.06
4625 388.7 -7.4 338 4629 done -0.47 - - 2234 - 1.10 0.052 1827 -619.1 -87.6 - - 3161 - - - - - - - - 14.89 14.85 14.90
4943 412.5 -7.4 354 4947 roll -0.47 - - 2234 - 1.23 0.070 1108 -584.6 -87.6 - - 3161 - - - - - - - - 15.06 14.82 15.07
5008 417.2 -7.6 357 5012 done -0.47 - - 2228 - 1.15 0.041 1819 618.3 -87.6 - - 3162 - - - - - - - - 14.89 14.85 14.90
5326 441.0 -7.3 373 5330 roll -0.47 - - 2223 - 1.12 0.054 2517 623.2 -87.6 - - 3161 - - - - - - - - 15.07 14.85 15.07
5368 444.0 -7.3 375 5371 done -0.47 - - 2223 - 1.12 0.052 1823 -619.6 -87.6 - - 3161 - - - - - - - - 14.89 14.85 14.90
5689 468.3 -7.5 391 5692 roll -0.47 - - 2223 - 1.20 0.069 1116 -589.2 -87.6 - - 3161 - - - - - - - - 15.07 14.83 15.07
5743 471.5 -7.6 393 5751 done -0.47 0.05 0.317 2237 280.0 1.15 0.041 1824 615.7 -87.6 - - 3162 - - - - - - - - 14.64 14.80 14.77
6051 493.5 -6.7 409 6054 roll -0.47 - - 2234 - 1.10 0.054 2507 620.9 -87.6 - - 3161 - - - - - - - - 15.07 14.84 15.06
6085 495.0 -6.6 410 6093 done -0.47 - - 2234 - 1.12 0.053 1819 -614.3 -87.6 - - 3161 - - - - - - - - 14.83 14.81 14.85
6393 517.8 -7.2 426 6397 roll -0.47 - - 2234 - 1.20 0.069 1115 -586.7 -87.6 - - 3161 - - - - - - - - 15.07 14.83 15.07
6442 520.9 -7.4 428 6446 done -0.47 - - 2228 - 1.12 0.041 1814 624.1 -87.6 - - 3161 - - - - - - - - 14.90 14.85 14.90
6755 544.9 -7.6 444 6759 roll -0.47 - - 2223 - 1.12 0.054 2514 625.0 -87.6 - - 3161 - - - - - - - - 15.07 14.85 15.07
6798 548.1 -7.6 446 6801 done -0.47 - - 2223 - 1.15 0.054 1811 -611.3 -87.6 - - 3162 - - - - - - - - 14.89 14.84 14.90
7119 572.6 -7.7 462 7123 roll -0.47 - - 2223 - 1.17 0.070 1120 -590.6 -87.6 - - 3161 - - - - - - - - 15.07 14.83 15.07
7168 575.9 -7.7 464 7173 done -0.47 0.05 0.317 2237 280.0 1.12 0.042 1815 620.5 -87.6 - - 3162 - - - - - - - - 14.69 14.86 14.83
7481 598.6 -7.1 480 7485 roll -0.47 - - 2234 - 1.12 0.054 2514 624.1 -87.6 - - 3162 - - - - - - - - 15.07 14.85 15.07
7531 601.6 -7.1 482 7534 done -0.47 - - 2234 - 1.12 0.054 1826 -614.3 -87.6 - - 3162 - - - - - - - - 14.89 14.84 14.92
7843 625.0 -7.2 498 7847 roll -0.47 - - 2234 - 1.20 0.072 1123 -585.8 -87.6 - - 3162 - - - - - - - - 15.07 14.83 15.07
7893 628.1 -7.4 500 7897 done -0.47 - - 2228 - 1.12 0.041 1818 620.5 -87.6 - - 3162 - - - - - - - - 14.89 14.86 14.91
8205 651.6 -7.3 516 8207 done -0.47 - - 2229 - - - 1819 - -87.6 - - 3162 - - - - - - - - 15.07 15.08 15.08
8505 673.4 -7.2 531 8507 done -0.47 - - 2229 - - - 1819 - -87.6 - - 3163 - - - - - - - - 15.08 15.08 15.08
8806 694.6 -7.0 546 8807 done -0.47 - - 2229 - - - 1819 - -87.6 - - 3163 - - - - - - - - 15.08 15.08 15.08
9106 715.5 -6.9 561 9109 roll -0.47 - - 2229 - 1.20 0.070 1116 -585.8 -87.6 - - 3163 - - - - - - - - 15.08 14.84 15.09
9147 718.4 -7.0 563 9152 done -0.47 - - 2223 - 1.12 0.041 1811 620.5 -87.6 - - 3163 - - - - - - - - 14.91 14.87 14.92
9470 741.5 -7.2 579 9474 roll -0.47 0.03 0.618 2233 333.3 1.15 0.050 2519 615.7 -87.6 - - 3162 - - - - - - - - 14.72 14.85 14.92
9512 744.3 -7.0 581 9515 done -0.47 - - 2232 - 1.15 0.054 1814 -613.0 -87.6 - - 3163 - - - - - - - - 14.90 14.85 14.92
9833 766.1 -6.8 597 9836 roll -0.47 - - 2232 - 1.17 0.070 1122 -591.5 -87.6 - - 3163 - - - - - - - - 15.08 14.83 15.08
9874 769.1 -6.9 599 9878 done -0.47 - - 2227 - 1.12 0.042 1817 620.5 -87.6 - - 3163 - - - - - - - - 14.90 14.87 14.92
10196 792.4 -7.4 615 10198 done -0.47 - - 2227 - - - 1817 - -87.6 - - 3163 - - - - - - - - 15.08 15.08 15.08
10498 814.8 -7.5 630 10502 roll -0.47 - - 2227 - 1.20 0.070 1115 -585.0 -87.6 - - 3163 - - - - - - - - 15.08 14.83 15.09
10540 818.2 -7.6 632 10544 done -0.47 0.03 0.426 2232 166.7 1.15 0.042 1825 617.4 -87.6 - - 3163 - - - - - - - - 14.66 14.87 14.82
10863 841.5 -7.1 648 10864 done -0.47 - - 2232 - - - 1825 - -87.6 - - 3163 - - - - - - - - 15.08 15.08 15.07
11162 862.2 -6.8 663 11163 done -0.47 - - 2232 - - - 1825 - -87.6 - - 3164 - - - - - - - - 15.08 15.09 15.08
11463 882.2 -6.6 678 11464 done -0.47 - - 2232 - - - 1825 - -87.6 - - 3163 - - - - - - - - 15.09 15.09 15.09
11762 901.8 -6.6 693 11763 done -0.47 - - 2232 - - - 1825 - -87.6 - - 3163 - - - - - - - - 15.09 15.09 15.09
12062 921.6 -6.7 708 12066 roll -0.47 - - 2232 - 1.23 0.073 1111 -580.5 -87.6 - - 3164 - - - - - - - - 15.09 14.83 15.09
12105 924.5 -6.9 710 12110 done -0.47 - - 2229 - 1.15 0.042 1820 616.5 -87.6 - - 3164 - - - - - - - - 14.92 14.88 14.93
12425 946.9 -7.1 726 12429 roll -0.47 - - 2223 - 1.12 0.056 2519 624.1 -87.6 - - 3163 - - - - - - - - 15.09 14.85 15.09
12469 949.9 -7.0 728 12473 done -0.47 - - 2223 - 1.15 0.055 1815 -612.2 -87.6 - - 3164 - - - - - - - - 14.91 14.86 14.92
12787 972.8 -7.1 744 12791 roll -0.47 - - 2223 - 1.20 0.072 1112 -585.8 -87.6 - - 3164 - - - - - - - - 15.09 14.83 15.09
12842 975.9 -7.1 746 12851 done -0.47 0.05 0.307 2238 300.0 1.12 0.042 1819 631.2 -87.6 - - 3163 - - - - - - - - 14.65 14.81 14.78
13048 end dive: TARGET_DEPTH_EXCEEDED
13048 begin apogee
13053 990.5 -6.6 757 13131 done -0.14 0.28 0.230 2343 375.0 - - 1723 - - 72.97 2.606 2797 -5.0 0.362 - - - - - - 14.75 14.08 13.22
13132 end apogee: CONTROL_FINISHED_OK
13132 begin climb
13133 993.0 - 761 13213 roll 0.47 0.52 0.163 2549 396.2 1.25 0.074 1052 -536.8 87.6 72.32 2.501 2439 -5.0 0.373 - - - - - - 14.05 13.81 12.99
13238 988.2 5.4 766 13284 done 0.53 - - 2549 - 1.15 0.036 1730 589.6 135.3 40.22 2.427 2244 -4.8 0.375 - - - - - - 14.02 13.97 12.91
13597 950.9 10.8 784 13601 roll 0.53 - - 2549 - 1.20 0.050 2436 588.3 135.3 - - 2245 - - - - - - - - 14.54 14.34 14.54
13639 946.2 10.9 786 13643 done 0.53 - - 2554 - 1.15 0.058 1769 -580.0 135.3 - - 2245 - - - - - - - - 14.42 14.37 14.42
13961 910.0 11.3 802 13964 roll 0.53 - - 2560 - 1.30 0.072 1025 -572.3 135.3 - - 2245 - - - - - - - - 14.76 14.53 14.76
14030 903.1 11.3 805 14034 done 0.53 - - 2560 - 1.17 0.037 1747 617.1 135.3 - - 2245 - - - - - - - - 14.62 14.59 14.62
14342 866.2 11.5 821 14346 roll 0.53 - - 2560 - 1.15 0.050 2438 600.9 135.3 - - 2245 - - - - - - - - 14.86 14.66 14.87
14384 861.5 11.5 823 14387 done 0.53 - - 2565 - 1.17 0.057 1745 -592.3 135.3 - - 2245 - - - - - - - - 14.71 14.66 14.72
14706 823.7 11.8 839 14709 roll 0.53 - - 2571 - 1.23 0.072 1028 -582.9 135.3 - - 2245 - - - - - - - - 14.93 14.71 14.92
14749 818.7 11.9 841 14754 done 0.53 - - 2571 - 1.17 0.036 1749 616.2 135.3 - - 2245 - - - - - - - - 14.83 14.75 14.83
15068 780.1 12.2 857 15072 roll 0.53 - - 2571 - 1.10 0.050 2426 615.5 135.3 - - 2245 - - - - - - - - 14.97 14.76 14.97
15102 777.4 12.3 858 15110 done 0.53 - - 2576 - 1.17 0.057 1734 -591.5 135.3 - - 2245 - - - - - - - - 14.72 14.67 14.73
15410 737.9 12.3 874 15414 roll 0.53 0.05 0.442 2565 -220.0 1.20 0.066 1031 -585.8 135.3 - - 2245 - - - - - - - - 14.64 14.76 14.83
15444 735.3 12.2 875 15452 done 0.53 - - 2565 - 1.12 0.036 1735 628.6 135.3 - - 2245 - - - - - - - - 14.75 14.71 14.76
15752 698.2 11.5 891 15755 roll 0.53 - - 2566 - 1.12 0.048 2428 618.7 135.3 - - 2245 - - - - - - - - 15.02 14.81 15.02
15793 693.4 11.5 893 15796 done 0.53 - - 2571 - 1.17 0.057 1733 -594.0 135.3 - - 2245 - - - - - - - - 14.83 14.79 14.86
16114 655.6 11.8 909 16118 roll 0.53 - - 2576 - 1.20 0.071 1026 -589.2 135.3 - - 2245 - - - - - - - - 15.03 14.79 15.03
16156 650.6 11.9 911 16161 done 0.53 0.05 0.305 2559 -340.0 1.15 0.036 1751 630.4 135.3 - - 2245 - - - - - - - - 14.66 14.83 14.80
16479 615.8 10.6 927 16483 roll 0.53 - - 2559 - 1.10 0.048 2424 611.8 135.3 - - 2245 - - - - - - - - 15.03 14.83 15.04
16524 611.2 10.6 929 16528 done 0.53 - - 2563 - 1.15 0.056 1734 -600.0 135.3 - - 2245 - - - - - - - - 14.86 14.81 14.88
16842 576.3 10.9 945 16845 roll 0.53 - - 2569 - 1.20 0.070 1025 -590.8 135.3 - - 2245 - - - - - - - - 15.04 14.81 15.05
16883 571.7 11.0 947 16886 done 0.53 - - 2569 - 1.12 0.037 1733 632.1 135.3 - - 2245 - - - - - - - - 14.88 14.85 14.90
17204 535.0 11.4 963 17208 roll 0.53 - - 2569 - 1.15 0.049 2437 612.2 135.3 - - 2245 - - - - - - - - 15.05 14.84 15.05
17258 530.2 11.6 965 17267 done 0.53 0.03 0.444 2567 - 1.15 0.056 1745 -601.7 135.3 - - 2244 - - - - - - - - 14.61 14.78 14.75
17566 494.4 11.2 981 17570 roll 0.53 - - 2570 - 1.20 0.069 1033 -593.3 135.3 - - 2245 - - - - - - - - 15.06 14.82 15.06
17631 487.2 11.2 984 17636 done 0.53 - - 2570 - 1.15 0.035 1747 620.9 135.3 - - 2245 - - - - - - - - 14.95 14.88 14.95
17949 450.6 11.5 1000 17954 roll 0.53 - - 2570 - 1.10 0.048 2429 620.0 135.3 - - 2245 - - - - - - - - 15.06 14.85 15.07
17984 448.0 11.5 1001 17992 done 0.53 0.05 0.353 2559 -220.0 1.15 0.056 1745 -594.8 135.3 - - 2245 - - - - - - - - 14.63 14.78 14.77
18291 413.6 10.7 1017 18295 roll 0.53 - - 2562 - 1.23 0.070 1026 -584.6 135.3 - - 2245 - - - - - - - - 15.06 14.83 15.07
18332 409.2 10.7 1019 18336 done 0.53 - - 2562 - 1.12 0.036 1738 635.7 135.3 - - 2245 - - - - - - - - 14.90 14.86 14.91
18653 374.2 10.9 1035 18657 roll 0.53 - - 2562 - 1.12 0.049 2430 617.9 135.3 - - 2245 - - - - - - - - 15.07 14.85 15.07
18722 367.5 10.9 1038 18727 done 0.53 - - 2567 - 1.15 0.057 1743 -597.4 135.3 - - 2245 - - - - - - - - 14.90 14.84 14.91
19035 331.9 11.3 1054 19039 roll 0.53 - - 2573 - 1.20 0.071 1033 -591.7 135.3 - - 2245 - - - - - - - - 15.07 14.83 15.07
19085 327.1 11.3 1056 19089 done 0.53 - - 2573 - 1.12 0.037 1739 630.4 135.3 - - 2245 - - - - - - - - 14.90 14.86 14.92
19398 290.7 11.3 1072 19399 done 0.53 - - 2573 - - - 1738 - 135.3 - - 2245 - - - - - - - - 15.07 15.07 15.07
19698 257.3 11.2 1087 19702 roll 0.53 - - 2573 - 1.12 0.051 2427 615.2 135.3 - - 2245 - - - - - - - - 15.07 14.86 15.07
19727 254.8 11.3 1088 19732 done 0.53 0.05 0.335 2560 -260.0 1.15 0.057 1737 -600.0 135.3 - - 2245 - - - - - - - - 14.69 14.85 14.83
20039 222.3 9.8 1104 20043 roll 0.53 - - 2563 - 1.20 0.069 1032 -587.5 135.3 - - 2246 - - - - - - - - 15.07 14.84 15.07
20074 220.1 9.8 1105 20082 done 0.53 - - 2563 - 1.12 0.037 1735 627.7 135.3 - - 2246 - - - - - - - - 14.85 14.81 14.87
20382 187.9 10.0 1121 20385 roll 0.53 - - 2564 - 1.15 0.051 2435 608.7 135.3 - - 2246 - - - - - - - - 15.06 14.85 15.07
20424 183.6 10.1 1123 20427 done 0.53 - - 2569 - 1.15 0.057 1745 -600.0 135.3 - - 2246 - - - - - - - - 14.90 14.84 14.92
20745 150.5 10.2 1139 20749 roll 0.53 - - 2575 - 1.23 0.072 1024 -586.2 135.3 - - 2246 - - - - - - - - 15.07 14.83 15.07
20795 146.2 10.1 1141 20800 done 0.53 0.05 0.301 2556 -380.0 1.15 0.037 1749 630.4 135.3 - - 2246 - - - - - - - - 14.71 14.87 14.85
21108 118.4 8.3 1157 21116 roll 0.53 - - 2557 - 1.12 0.049 2430 608.0 138.1 3.67 1.176 2235 -3.0 0.057 - - - - - - 15.06 14.86 14.02
21157 115.3 8.4 1159 21165 done 0.53 - - 2560 - 1.17 0.055 1732 -596.6 139.1 - - 2235 - - - - - - - - 14.82 14.77 14.83
21465 88.6 8.5 1175 21466 done 0.53 - - 2560 - - - 1732 - 139.1 - - 2236 - - - - - - - - 15.04 15.05 15.05
21769 64.1 8.1 1217 21785 roll 0.54 - - 2561 - 1.17 0.047 2430 596.6 145.2 7.57 1.532 2203 -4.4 0.035 - - - - - - 15.02 14.59 13.95
21870 55.1 9.0 1235 21878 done 0.54 - - 2566 - 1.15 0.056 1749 -592.2 145.2 - - 2203 - - - - - - - - 14.72 14.69 14.74
22065 37.2 9.1 1272 22072 roll 0.54 - - 2571 - 1.25 0.073 1031 -574.4 145.2 - - 2203 - - - - - - - - 14.92 14.65 14.93
22131 31.3 8.4 1284 22139 done 0.54 - - 2571 - 1.15 0.038 1742 618.3 146.8 - - 2203 - - - - - - - - 14.71 14.67 14.73
22328 13.9 9.0 1321 22334 done 0.54 - - 2571 - - - 1742 - 146.8 - - 2203 - - - - - - - - 14.91 14.92 14.92
22459 end climb: SURFACE_DEPTH_REACHED
22459 begin surface coast
22495 end surface coast: CONTROL_FINISHED_OK
22495 begin surface
SM 2.26 - - - - -6.42 5.53 0.095 284 51.4 0.10 0.134 1834 -22680.0 190.10 26.70 0.262 2023 75.8 -0.067 - - - - - -