ROAMMIZ Jan22 * SG640 * Dive index * Mission links * Dive 149 * Raw log
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• Previous call tries 1 • 189.87 of 450.00 AH used of 24V (57.81% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.8 deg, depth 1.35 m • Intended pitch -12.6 deg, speed -8.462 cm/s
• No surface pump (final VBD was 194.03, SM_CC=190)
• GPS1 time: 45 s
• GPS2 time: 6 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
4 end surface: CONTROL_FINISHED_OK
4 begin dive
7 - - - 87 done -0.47 - - 215 - - - 1833 - -87.6 -73.10 - 3157 - - - - - - - - 14.69 13.79 14.67
89 2.7 -3.9 11 100 roll -0.47 6.32 0.366 2225 318.0 1.27 0.045 1082 -591.3 -87.6 - - 3157 - - - - - - - - 14.26 14.48 14.52
295 28.7 -14.2 49 303 done -0.47 0.05 0.327 2238 260.0 1.20 0.045 1793 592.5 -87.6 - - 3158 - - - - - - - - 14.34 14.50 14.49
491 54.4 -12.7 86 499 roll -0.47 - - 2235 - 1.23 0.055 2520 591.1 -87.6 - - 3158 - - - - - - - - 14.78 14.52 14.78
561 62.2 -10.3 99 570 done -0.47 - - 2234 - 1.17 0.053 1819 -599.1 -87.6 - - 3158 - - - - - - - - 14.57 14.52 14.59
757 82.1 -9.3 133 760 roll -0.47 - - 2234 - 1.23 0.068 1109 -577.2 -87.6 - - 3159 - - - - - - - - 14.83 14.59 14.83
851 89.6 -9.3 137 859 done -0.47 - - 2228 - 1.17 0.041 1826 612.8 -87.6 - - 3158 - - - - - - - - 14.64 14.58 14.64
1159 114.9 -7.6 153 1163 roll -0.47 - - 2223 - 1.12 0.054 2518 617.9 -87.6 - - 3158 - - - - - - - - 14.92 14.69 14.92
1214 118.2 -7.6 155 1223 done -0.47 - - 2223 - 1.15 0.054 1825 -602.6 -87.6 - - 3158 - - - - - - - - 14.70 14.64 14.71
1522 144.6 -8.6 171 1523 done -0.47 - - 2223 - - - 1825 - -87.6 - - 3159 - - - - - - - - 14.97 14.97 14.97
1822 170.3 -8.3 186 1825 roll -0.47 - - 2223 - 1.20 0.070 1121 -586.7 -87.6 - - 3158 - - - - - - - - 14.99 14.75 15.00
1863 173.9 -8.5 188 1867 done -0.47 0.05 0.330 2236 260.0 1.12 0.042 1813 617.9 -87.6 - - 3158 - - - - - - - - 14.59 14.78 14.74
2186 198.6 -7.7 204 2189 roll -0.47 - - 2233 - 1.15 0.054 2519 613.9 -87.6 - - 3158 - - - - - - - - 14.99 14.78 14.99
2229 201.8 -7.7 206 2233 done -0.47 - - 2232 - 1.15 0.052 1818 -609.6 -87.6 - - 3158 - - - - - - - - 14.84 14.79 14.86
2548 227.2 -7.9 222 2549 done -0.47 - - 2232 - - - 1818 - -87.6 - - 3158 - - - - - - - - 15.02 15.02 15.02
2847 249.8 -7.3 237 2848 done -0.47 - - 2232 - - - 1818 - -87.6 - - 3158 - - - - - - - - 15.04 15.04 15.04
3147 271.7 -7.4 252 3148 done -0.47 - - 2232 - - - 1818 - -87.6 - - 3158 - - - - - - - - 15.04 15.04 15.04
3447 294.1 -7.3 267 3448 done -0.47 - - 2232 - - - 1818 - -87.6 - - 3158 - - - - - - - - 15.05 15.06 15.05
3748 315.7 -7.1 282 3751 roll -0.47 - - 2227 - 1.12 0.051 2513 620.5 -87.6 - - 3158 - - - - - - - - 15.06 14.85 15.06
3792 318.6 -7.1 284 3796 done -0.47 - - 2227 - 1.12 0.053 1820 -618.7 -87.6 - - 3158 - - - - - - - - 14.89 14.83 14.90
4110 342.6 -7.7 300 4111 done -0.47 - - 2227 - - - 1820 - -87.6 - - 3158 - - - - - - - - 15.06 15.06 15.06
4410 366.1 -7.9 315 4414 roll -0.47 - - 2227 - 1.20 0.068 1111 -590.8 -87.6 - - 3157 - - - - - - - - 15.05 14.82 15.05
4474 371.1 -8.0 318 4479 done -0.47 0.03 0.430 2231 133.3 1.12 0.040 1814 627.7 -87.6 - - 3158 - - - - - - - - 14.64 14.85 14.79
4792 395.7 -7.6 334 4796 roll -0.47 - - 2228 - 1.15 0.053 2525 618.3 -87.6 - - 3158 - - - - - - - - 15.07 14.84 15.07
4835 398.9 -7.6 336 4838 done -0.47 - - 2228 - 1.15 0.054 1824 -609.6 -87.6 - - 3158 - - - - - - - - 14.88 14.83 14.90
5157 423.4 -7.4 352 5160 roll -0.47 - - 2228 - 1.20 0.069 1117 -589.2 -87.6 - - 3158 - - - - - - - - 15.07 14.83 15.07
5201 426.7 -7.7 354 5206 done -0.47 - - 2222 - 1.12 0.040 1813 621.4 -87.6 - - 3158 - - - - - - - - 14.90 14.86 14.92
5520 451.0 -7.6 370 5525 roll -0.47 0.05 0.447 2236 280.0 1.15 0.048 2518 613.0 -87.6 - - 3158 - - - - - - - - 14.69 14.85 14.88
5550 452.6 -7.4 371 5554 done -0.47 - - 2235 - 1.15 0.053 1819 -607.8 -87.6 - - 3158 - - - - - - - - 14.88 14.83 14.90
5863 474.5 -6.8 387 5866 roll -0.47 - - 2235 - 1.20 0.067 1112 -589.2 -87.6 - - 3158 - - - - - - - - 15.07 14.82 15.07
5912 477.4 -7.0 389 5916 done -0.47 - - 2229 - 1.12 0.040 1815 627.7 -87.6 - - 3158 - - - - - - - - 14.88 14.85 14.91
6225 499.0 -6.8 405 6228 roll -0.47 - - 2224 - 1.12 0.052 2519 628.6 -87.6 - - 3158 - - - - - - - - 15.07 14.85 15.07
6268 501.7 -6.7 407 6272 done -0.47 - - 2224 - 1.15 0.052 1816 -611.3 -87.6 - - 3157 - - - - - - - - 14.88 14.84 14.91
6587 523.0 -6.7 423 6590 roll -0.47 - - 2224 - 1.17 0.067 1120 -594.9 -87.6 - - 3158 - - - - - - - - 15.07 14.83 15.07
6621 524.5 -6.7 424 6631 done -0.47 0.05 0.332 2238 280.0 1.12 0.041 1815 620.5 -87.6 - - 3158 - - - - - - - - 14.62 14.78 14.75
6929 544.7 -6.5 440 6933 roll -0.47 - - 2234 - 1.12 0.052 2512 622.3 -87.6 - - 3158 - - - - - - - - 15.05 14.85 15.05
6979 547.4 -6.5 442 6983 done -0.47 - - 2234 - 1.12 0.052 1824 -614.3 -87.6 - - 3158 - - - - - - - - 14.88 14.83 14.90
7292 568.4 -6.6 458 7295 roll -0.47 - - 2234 - 1.20 0.070 1118 -588.3 -87.6 - - 3158 - - - - - - - - 15.07 14.81 15.07
7341 571.3 -6.8 460 7344 done -0.47 - - 2228 - 1.12 0.041 1816 623.2 -87.6 - - 3158 - - - - - - - - 14.89 14.85 14.91
7653 593.9 -7.0 476 7655 done -0.47 - - 2228 - - - 1815 - -87.6 - - 3158 - - - - - - - - 15.07 15.08 15.08
7954 614.9 -6.9 491 7955 done -0.47 - - 2228 - - - 1815 - -87.6 - - 3158 - - - - - - - - 15.08 15.08 15.08
8253 636.2 -7.2 506 8255 done -0.47 - - 2228 - - - 1815 - -87.6 - - 3159 - - - - - - - - 15.08 15.08 15.08
8553 657.9 -7.1 521 8555 done -0.47 - - 2227 - - - 1815 - -87.6 - - 3159 - - - - - - - - 15.08 15.09 15.09
8853 679.3 -7.3 536 8857 roll -0.47 - - 2228 - 1.20 0.067 1116 -582.5 -87.6 - - 3159 - - - - - - - - 15.09 14.83 15.09
8895 682.4 -7.4 538 8899 done -0.47 - - 2222 - 1.12 0.041 1811 620.5 -87.6 - - 3159 - - - - - - - - 14.90 14.85 14.92
9217 706.9 -7.7 554 9221 roll -0.47 0.03 0.604 2233 366.7 1.17 0.048 2524 609.4 -87.6 - - 3159 - - - - - - - - 14.70 14.86 14.90
9247 708.6 -7.6 555 9251 done -0.47 - - 2232 - 1.15 0.054 1823 -609.6 -87.6 - - 3160 - - - - - - - - 14.89 14.84 14.91
9560 733.6 -7.9 571 9561 done -0.47 - - 2232 - - - 1822 - -87.6 - - 3159 - - - - - - - - 15.08 15.09 15.09
9860 757.2 -7.8 586 9861 done -0.47 - - 2232 - - - 1823 - -87.6 - - 3160 - - - - - - - - 15.09 15.09 15.09
10160 780.5 -7.6 601 10161 done -0.47 - - 2232 - - - 1822 - -87.6 - - 3160 - - - - - - - - 15.09 15.09 15.09
10460 804.0 -7.9 616 10464 roll -0.47 - - 2227 - 1.15 0.052 2523 609.6 -87.6 - - 3160 - - - - - - - - 15.09 14.86 15.09
10510 807.3 -7.8 618 10514 done -0.47 - - 2227 - 1.17 0.056 1817 -603.4 -87.6 - - 3160 - - - - - - - - 14.90 14.83 14.91
10823 832.3 -7.7 634 10827 roll -0.47 - - 2227 - 1.20 0.071 1113 -586.7 -87.6 - - 3160 - - - - - - - - 15.09 14.83 15.08
10865 835.6 -7.7 636 10870 done -0.47 0.03 0.437 2232 166.7 1.15 0.042 1822 616.5 -87.6 - - 3160 - - - - - - - - 14.64 14.85 14.80
11188 858.8 -7.1 652 11189 done -0.47 - - 2232 - - - 1822 - -87.6 - - 3160 - - - - - - - - 15.07 15.08 15.08
11488 880.2 -7.1 667 11489 done -0.47 - - 2232 - - - 1822 - -87.6 - - 3160 - - - - - - - - 15.09 15.08 15.09
11788 901.4 -7.1 682 11791 roll -0.47 - - 2232 - 1.23 0.073 1111 -578.0 -87.6 - - 3160 - - - - - - - - 15.09 14.82 15.09
11817 903.0 -7.1 683 11821 done -0.47 - - 2227 - 1.15 0.042 1821 617.4 -87.6 - - 3160 - - - - - - - - 14.90 14.87 14.92
12130 926.6 -7.3 699 12131 done -0.47 - - 2228 - - - 1821 - -87.6 - - 3160 - - - - - - - - 15.09 15.09 15.09
12430 948.2 -7.1 714 12433 roll -0.47 - - 2227 - 1.20 0.072 1119 -585.0 -87.6 - - 3160 - - - - - - - - 15.09 14.83 15.09
12479 951.3 -7.4 716 12483 done -0.47 - - 2222 - 1.12 0.043 1812 618.7 -87.6 - - 3160 - - - - - - - - 14.90 14.86 14.92
12792 974.3 -7.2 732 12796 roll -0.47 0.05 0.456 2236 280.0 1.17 0.050 2523 607.7 -87.6 - - 3160 - - - - - - - - 14.69 14.85 14.89
12837 977.2 -6.9 734 12841 done -0.47 - - 2235 - 1.17 0.057 1814 -606.0 -87.6 - - 3160 - - - - - - - - 14.89 14.84 14.90
13032 end dive: TARGET_DEPTH_EXCEEDED
13033 begin apogee
13037 990.4 -6.6 744 13115 done -0.14 0.30 0.232 2347 373.3 - - 1723 - - 72.35 2.609 2796 -5.0 0.362 - - - - - - 14.72 14.09 13.23
13116 end apogee: CONTROL_FINISHED_OK
13116 begin climb
13118 992.9 - 748 13198 roll 0.47 0.52 0.169 2546 382.7 1.30 0.047 2436 548.5 87.6 71.93 2.510 2440 -4.9 0.371 - - - - - - 14.06 13.83 13.00
13222 987.8 5.5 753 13264 done 0.52 - - 2552 - 1.20 0.059 1769 -555.8 132.9 38.17 2.390 2258 -4.8 0.374 - - - - - - 14.00 13.96 12.93
13561 951.9 11.1 770 13566 roll 0.52 - - 2558 - 1.33 0.073 1025 -559.4 132.9 - - 2262 - - - - - - - - 14.54 14.31 14.54
13626 944.7 11.6 773 13630 done 0.52 - - 2557 - 1.17 0.035 1744 614.5 132.9 - - 2262 - - - - - - - - 14.45 14.40 14.46
13944 906.9 11.7 789 13947 roll 0.52 - - 2557 - 1.15 0.047 2428 594.8 132.9 - - 2262 - - - - - - - - 14.77 14.57 14.77
14005 899.7 11.9 792 14008 done 0.52 - - 2562 - 1.20 0.060 1734 -578.3 132.9 - - 2262 - - - - - - - - 14.62 14.57 14.64
14326 861.5 12.1 808 14329 roll 0.52 - - 2568 - 1.20 0.070 1032 -585.0 132.9 - - 2262 - - - - - - - - 14.88 14.64 14.88
14349 858.9 12.2 809 14353 done 0.52 - - 2568 - 1.15 0.034 1742 617.4 132.9 - - 2262 - - - - - - - - 14.78 14.71 14.78
14668 819.6 12.2 825 14671 roll 0.52 - - 2568 - 1.12 0.048 2425 609.8 132.9 - - 2262 - - - - - - - - 14.94 14.73 14.94
14712 814.5 12.1 827 14717 done 0.52 0.05 0.341 2557 -220.0 1.20 0.057 1732 -577.5 132.9 - - 2262 - - - - - - - - 14.56 14.73 14.70
15030 778.0 11.3 843 15034 roll 0.52 - - 2560 - 1.20 0.069 1030 -585.0 132.9 - - 2261 - - - - - - - - 14.97 14.73 14.97
15072 773.2 11.4 845 15076 done 0.52 - - 2560 - 1.12 0.036 1739 633.0 132.9 - - 2261 - - - - - - - - 14.81 14.77 14.82
15394 737.2 11.0 861 15397 roll 0.52 - - 2561 - 1.12 0.048 2425 612.5 132.9 - - 2262 - - - - - - - - 14.99 14.79 15.00
15455 730.3 11.2 864 15459 done 0.52 - - 2565 - 1.15 0.057 1747 -589.6 132.9 - - 2261 - - - - - - - - 14.82 14.76 14.83
15776 694.6 11.2 880 15780 roll 0.52 - - 2571 - 1.23 0.071 1024 -587.8 132.9 - - 2262 - - - - - - - - 15.02 14.77 15.02
15825 689.9 11.1 882 15830 done 0.52 - - 2571 - 1.12 0.036 1740 639.3 132.9 - - 2262 - - - - - - - - 14.86 14.82 14.87
16138 653.4 11.5 898 16142 roll 0.52 - - 2571 - 1.12 0.047 2427 613.4 132.9 - - 2262 - - - - - - - - 15.03 14.81 15.03
16182 648.6 11.7 900 16187 done 0.52 0.05 0.425 2561 -200.0 1.20 0.057 1730 -580.8 132.9 - - 2262 - - - - - - - - 14.64 14.82 14.85
16501 613.8 10.8 916 16505 roll 0.52 - - 2565 - 1.17 0.068 1031 -597.4 132.9 - - 2262 - - - - - - - - 15.04 14.79 15.04
16530 611.5 10.8 917 16534 done 0.52 - - 2565 - 1.12 0.036 1745 637.5 132.9 - - 2262 - - - - - - - - 14.87 14.81 14.89
16843 575.6 11.3 933 16846 roll 0.52 - - 2565 - 1.12 0.047 2434 615.2 132.9 - - 2262 - - - - - - - - 15.04 14.83 15.04
16876 573.2 11.3 934 16884 done 0.52 - - 2570 - 1.17 0.056 1741 -592.3 132.9 - - 2262 - - - - - - - - 14.76 14.72 14.78
17184 536.4 11.5 950 17187 roll 0.52 - - 2576 - 1.20 0.070 1028 -594.2 132.9 - - 2262 - - - - - - - - 15.04 14.81 15.05
17218 534.0 11.5 951 17226 done 0.52 0.05 0.308 2558 -360.0 1.12 0.035 1747 642.0 132.9 - - 2262 - - - - - - - - 14.61 14.81 14.73
17526 500.2 10.5 967 17529 roll 0.52 - - 2558 - 1.10 0.047 2416 608.2 132.9 - - 2262 - - - - - - - - 15.05 14.85 15.06
17570 495.8 10.6 969 17575 done 0.52 - - 2563 - 1.17 0.056 1731 -585.5 132.9 - - 2262 - - - - - - - - 14.94 14.85 14.95
17888 461.1 11.0 985 17892 roll 0.52 - - 2568 - 1.17 0.070 1033 -596.6 132.9 - - 2262 - - - - - - - - 15.06 14.81 15.06
17922 458.7 11.0 986 17930 done 0.52 - - 2568 - 1.10 0.036 1729 632.7 132.9 - - 2262 - - - - - - - - 14.78 14.75 14.79
18230 422.2 11.5 1002 18234 roll 0.52 - - 2569 - 1.15 0.048 2431 610.4 132.9 - - 2262 - - - - - - - - 15.07 14.84 15.07
18294 415.0 11.6 1005 18299 done 0.52 - - 2574 - 1.17 0.056 1735 -594.9 132.9 - - 2262 - - - - - - - - 14.89 14.83 14.90
18612 377.0 11.9 1021 18614 done 0.52 0.05 0.447 2560 -280.0 - - 1736 - 132.9 - - 2262 - - - - - - - - 14.69 14.92 14.89
18912 343.6 11.2 1036 18913 done 0.52 - - 2560 - - - 1736 - 132.9 - - 2262 - - - - - - - - 15.04 15.04 15.04
19212 309.8 11.3 1051 19216 roll 0.52 - - 2560 - 1.15 0.048 2428 601.7 132.9 - - 2262 - - - - - - - - 15.07 14.85 15.07
19266 305.0 11.3 1053 19274 done 0.52 - - 2565 - 1.15 0.057 1742 -596.5 132.9 - - 2262 - - - - - - - - 14.78 14.74 14.80
19574 268.6 11.4 1069 19578 roll 0.52 - - 2570 - 1.20 0.070 1029 -594.2 132.9 - - 2262 - - - - - - - - 15.07 14.83 15.07
19624 263.9 11.3 1071 19627 done 0.52 - - 2570 - 1.12 0.037 1741 635.7 132.9 - - 2263 - - - - - - - - 14.90 14.86 14.91
19936 228.0 11.1 1087 19939 roll 0.52 - - 2571 - 1.12 0.049 2430 615.2 132.9 - - 2262 - - - - - - - - 15.07 14.85 15.07
19977 223.4 11.2 1089 19981 done 0.52 0.05 0.343 2558 -260.0 1.17 0.057 1731 -597.4 132.9 - - 2263 - - - - - - - - 14.65 14.83 14.81
20300 191.6 9.6 1105 20304 roll 0.52 - - 2563 - 1.17 0.070 1036 -594.0 132.9 - - 2263 - - - - - - - - 15.07 14.82 15.07
20344 187.6 9.5 1107 20349 done 0.52 - - 2563 - 1.12 0.037 1743 631.2 132.9 - - 2263 - - - - - - - - 14.96 14.88 14.97
20662 157.5 9.3 1123 20667 roll 0.52 - - 2563 - 1.12 0.050 2430 613.4 132.9 - - 2263 - - - - - - - - 15.07 14.85 15.07
20725 151.8 9.2 1126 20729 done 0.52 - - 2568 - 1.15 0.058 1747 -593.9 132.9 - - 2263 - - - - - - - - 14.88 14.84 14.91
21047 121.0 9.9 1142 21050 roll 0.52 - - 2574 - 1.20 0.072 1034 -594.2 132.9 - - 2263 - - - - - - - - 15.07 14.82 15.07
21130 112.8 10.1 1146 21136 done 0.52 0.05 0.296 2555 -380.0 1.10 0.037 1740 641.8 132.9 - - 2263 - - - - - - - - 14.69 14.88 14.82
21449 79.9 10.9 1162 21457 roll 0.52 - - 2555 - 1.12 0.049 2424 610.7 132.9 - - 2263 - - - - - - - - 15.07 14.78 15.07
21511 73.0 11.3 1173 21519 done 0.52 - - 2560 - 1.15 0.057 1742 -593.0 132.9 - - 2263 - - - - - - - - 14.81 14.76 14.82
21705 51.2 10.1 1210 21712 roll 0.52 - - 2565 - 1.23 0.070 1029 -579.7 132.9 - - 2263 - - - - - - - - 15.02 14.70 15.02
21730 48.6 10.4 1214 21737 done 0.52 - - 2565 - 1.12 0.037 1733 628.6 132.9 - - 2264 - - - - - - - - 14.77 14.74 14.78
21924 30.4 7.8 1251 21941 roll 0.54 - - 2566 - 1.20 0.050 2445 593.3 143.7 10.23 1.543 2212 -5.1 0.019 - - - - - - 14.98 14.71 13.99
21995 25.8 5.2 1263 22033 done 0.60 - - 2571 - 1.20 0.057 1747 -581.7 194.5 34.17 1.579 2006 -6.0 0.019 - - - - - - 14.66 14.62 13.83
22223 5.1 13.3 1304 22232 roll 0.60 - - 2577 - 1.25 0.078 1034 -570.4 194.5 - - 2010 - - - - - - - - 14.73 14.46 14.73
22243 end climb: SURFACE_DEPTH_REACHED
22243 begin surface coast
22269 end surface coast: CONTROL_FINISHED_OK
22269 begin surface
SM 1.48 - - - - -6.42 5.57 0.091 244 43.8 1.33 0.035 1815 -563.2 194.03 - - 2009 - - - - - - - -