ROAMMIZ Jan22 * SG640 * Dive index * Mission links * Dive 186 * Raw log
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• Previous call tries 1 • 201.45 of 450.00 AH used of 24V (55.23% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.5 deg, depth 1.04 m • Intended pitch -12.6 deg, speed -8.462 cm/s
• No surface pump (final VBD was 190.10, SM_CC=190)
• GPS1 time: 49 s
• GPS2 time: 5 s • Transponder ping count: 1
• 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
6 - - - 86 done -0.47 - - 227 - - - 1814 - -87.6 -76.05 - 3160 - - - - - - - - 14.72 13.37 14.71
89 3.1 -5.9 11 105 roll -0.47 6.30 0.366 2224 317.0 1.23 0.050 1095 -584.6 -87.6 - - 3160 - - - - - - - - 14.26 14.45 14.53
154 14.4 -12.7 22 162 done -0.47 0.05 0.334 2237 260.0 1.20 0.041 1812 597.5 -87.6 - - 3161 - - - - - - - - 14.27 14.45 14.47
348 36.6 -11.4 59 356 roll -0.47 - - 2233 - 1.17 0.054 2512 598.3 -87.6 - - 3161 - - - - - - - - 14.79 14.45 14.79
419 44.5 -11.3 72 428 done -0.47 - - 2233 - 1.17 0.056 1818 -593.2 -87.6 - - 3161 - - - - - - - - 14.54 14.48 14.55
613 66.7 -10.7 109 620 done -0.47 - - 2233 - - - 1818 - -87.6 - - 3161 - - - - - - - - 14.82 14.83 14.83
822 85.1 -8.3 140 823 done -0.47 - - 2234 - - - 1818 - -87.6 - - 3161 - - - - - - - - 14.85 14.86 14.85
1121 110.9 -8.9 155 1125 roll -0.47 - - 2233 - 1.20 0.068 1120 -581.7 -87.6 - - 3162 - - - - - - - - 14.92 14.66 14.92
1243 122.3 -9.3 161 1246 done -0.47 - - 2227 - 1.15 0.040 1824 612.2 -87.6 - - 3162 - - - - - - - - 14.74 14.71 14.76
1564 153.8 -10.0 177 1568 roll -0.47 - - 2222 - 1.12 0.052 2515 617.0 -87.6 - - 3161 - - - - - - - - 14.97 14.72 14.97
1648 162.0 -10.0 181 1653 done -0.47 - - 2222 - 1.17 0.054 1816 -597.4 -87.6 - - 3161 - - - - - - - - 14.85 14.74 14.86
1967 194.9 -10.4 197 1971 roll -0.47 0.05 0.450 2237 300.0 1.20 0.064 1119 -580.8 -87.6 - - 3162 - - - - - - - - 14.58 14.72 14.79
2031 201.2 -10.1 200 2035 done -0.47 - - 2233 - 1.12 0.041 1813 619.6 -87.6 - - 3161 - - - - - - - - 14.81 14.76 14.82
2352 230.6 -8.7 216 2357 roll -0.47 - - 2230 - 1.15 0.051 2521 615.7 -87.6 - - 3161 - - - - - - - - 15.01 14.76 15.01
2416 236.2 -8.9 219 2420 done -0.47 - - 2229 - 1.15 0.054 1823 -607.0 -87.6 - - 3161 - - - - - - - - 14.81 14.76 14.83
2738 264.6 -8.8 235 2739 done -0.47 - - 2228 - - - 1824 - -87.6 - - 3161 - - - - - - - - 15.02 15.02 15.02
3038 289.7 -8.1 250 3039 done -0.47 - - 2229 - - - 1823 - -87.6 - - 3161 - - - - - - - - 15.03 15.04 15.03
3339 313.3 -7.7 265 3342 roll -0.47 - - 2224 - 1.15 0.051 2522 607.8 -87.6 - - 3161 - - - - - - - - 15.04 14.80 15.04
3373 315.0 -7.8 266 3382 done -0.47 - - 2223 - 1.17 0.054 1814 -605.1 -87.6 - - 3161 - - - - - - - - 14.75 14.69 14.78
3681 339.7 -7.6 282 3685 roll -0.47 - - 2223 - 1.20 0.069 1110 -586.7 -87.6 - - 3161 - - - - - - - - 15.04 14.76 15.04
3716 341.5 -7.7 283 3724 done -0.47 0.05 0.317 2237 280.0 1.15 0.041 1821 618.3 -87.6 - - 3162 - - - - - - - - 14.52 14.73 14.67
4024 363.9 -6.9 299 4025 done -0.47 - - 2237 - - - 1821 - -87.6 - - 3161 - - - - - - - - 15.04 15.04 15.04
4324 384.6 -6.9 314 4325 done -0.47 - - 2237 - - - 1821 - -87.6 - - 3161 - - - - - - - - 15.05 15.05 15.05
4625 405.2 -7.0 329 4629 roll -0.47 - - 2237 - 1.23 0.068 1111 -577.2 -87.6 - - 3162 - - - - - - - - 15.05 14.78 15.06
4668 408.4 -7.2 331 4671 done -0.47 - - 2234 - 1.15 0.040 1822 618.3 -87.6 - - 3162 - - - - - - - - 14.86 14.83 14.88
4989 431.3 -7.2 347 4990 done -0.47 - - 2233 - - - 1822 - -87.6 - - 3161 - - - - - - - - 15.06 15.06 15.06
5289 453.2 -7.2 362 5293 roll -0.47 - - 2233 - 1.20 0.067 1118 -586.7 -87.6 - - 3161 - - - - - - - - 15.06 14.78 15.06
5333 456.3 -7.2 364 5337 done -0.47 - - 2228 - 1.12 0.039 1818 625.0 -87.6 - - 3161 - - - - - - - - 14.88 14.83 14.88
5651 479.5 -7.2 380 5652 done -0.47 - - 2228 - - - 1818 - -87.6 - - 3161 - - - - - - - - 15.06 15.05 15.06
5951 501.0 -7.2 395 5953 done -0.47 - - 2228 - - - 1818 - -87.6 - - 3161 - - - - - - - - 15.07 15.07 15.07
6251 522.9 -7.3 410 6252 done -0.47 - - 2228 - - - 1818 - -87.6 - - 3161 - - - - - - - - 15.07 15.07 15.07
6551 544.2 -7.1 425 6555 roll -0.47 - - 2228 - 1.20 0.067 1114 -586.7 -87.6 - - 3161 - - - - - - - - 15.07 14.78 15.07
6605 547.2 -7.2 427 6613 done -0.47 - - 2222 - 1.15 0.040 1819 613.0 -87.6 - - 3161 - - - - - - - - 14.78 14.73 14.80
6913 570.4 -7.2 443 6915 done -0.47 0.03 0.620 2236 466.7 - - 1818 - -87.6 - - 3161 - - - - - - - - 14.66 14.91 14.87
7214 590.0 -6.5 458 7217 roll -0.47 - - 2236 - 1.20 0.067 1116 -585.0 -87.6 - - 3162 - - - - - - - - 15.07 14.78 15.07
7256 592.9 -6.7 460 7260 done -0.47 - - 2232 - 1.15 0.040 1826 617.4 -87.6 - - 3162 - - - - - - - - 14.88 14.83 14.90
7578 614.7 -6.8 476 7579 done -0.47 - - 2231 - - - 1825 - -87.6 - - 3162 - - - - - - - - 15.07 15.07 15.07
7878 635.0 -6.8 491 7881 roll -0.47 - - 2232 - 1.23 0.069 1110 -581.3 -87.6 - - 3162 - - - - - - - - 15.07 14.78 15.07
7927 637.9 -7.0 493 7931 done -0.47 - - 2226 - 1.15 0.040 1819 616.5 -87.6 - - 3163 - - - - - - - - 14.87 14.83 14.89
8240 660.9 -7.2 509 8241 done -0.47 - - 2226 - - - 1819 - -87.6 - - 3163 - - - - - - - - 15.07 15.07 15.07
8540 682.7 -7.4 524 8543 roll -0.47 - - 2226 - 1.20 0.069 1120 -582.5 -87.6 - - 3163 - - - - - - - - 15.07 14.78 15.07
8590 685.9 -7.4 526 8594 done -0.47 0.03 0.414 2231 166.7 1.12 0.041 1813 618.7 -87.6 - - 3163 - - - - - - - - 14.59 14.83 14.74
8902 708.6 -7.2 542 8903 done -0.47 - - 2230 - - - 1812 - -87.6 - - 3163 - - - - - - - - 15.07 15.07 15.07
9203 730.4 -7.4 557 9206 roll -0.47 - - 2231 - 1.20 0.070 1114 -581.7 -87.6 - - 3164 - - - - - - - - 15.07 14.77 15.07
9246 733.7 -7.6 559 9251 done -0.47 - - 2227 - 1.15 0.039 1823 616.5 -87.6 - - 3164 - - - - - - - - 14.88 14.83 14.90
9564 758.4 -7.7 575 9566 done -0.47 - - 2227 - - - 1821 - -87.6 - - 3164 - - - - - - - - 15.07 15.07 15.07
9865 781.3 -7.5 590 9868 roll -0.47 - - 2227 - 1.23 0.071 1110 -578.0 -87.6 - - 3164 - - - - - - - - 15.07 14.78 15.07
9928 786.2 -7.7 593 9931 done -0.47 - - 2221 - 1.15 0.041 1819 616.5 -87.6 - - 3164 - - - - - - - - 14.87 14.83 14.89
10249 810.7 -7.6 609 10251 done -0.47 0.05 0.432 2238 340.0 - - 1819 - -87.6 - - 3164 - - - - - - - - 14.65 14.91 14.86
10549 831.0 -6.6 624 10551 done -0.47 - - 2238 - - - 1819 - -87.6 - - 3164 - - - - - - - - 15.07 15.07 15.07
10851 850.9 -6.6 639 10854 roll -0.47 - - 2237 - 1.23 0.072 1115 -572.4 -87.6 - - 3164 - - - - - - - - 15.07 14.77 15.07
10900 853.9 -6.7 641 10904 done -0.47 - - 2235 - 1.12 0.041 1816 625.9 -87.6 - - 3164 - - - - - - - - 14.88 14.83 14.90
11213 875.6 -6.8 657 11214 done -0.47 - - 2235 - - - 1815 - -87.6 - - 3164 - - - - - - - - 15.07 15.07 15.07
11513 895.7 -6.6 672 11517 roll -0.47 - - 2235 - 1.20 0.071 1117 -581.7 -87.6 - - 3164 - - - - - - - - 15.07 14.78 15.07
11555 898.7 -6.8 674 11560 done -0.47 - - 2229 - 1.12 0.041 1811 619.6 -87.6 - - 3164 - - - - - - - - 14.87 14.83 14.88
11879 920.9 -6.9 690 11883 roll -0.47 - - 2224 - 1.15 0.054 2517 613.9 -87.6 - - 3164 - - - - - - - - 15.07 14.80 15.07
11923 923.9 -6.9 692 11927 done -0.47 - - 2224 - 1.15 0.057 1821 -605.2 -87.6 - - 3164 - - - - - - - - 14.85 14.80 14.88
12241 946.8 -7.2 708 12242 done -0.47 - - 2224 - - - 1822 - -87.6 - - 3164 - - - - - - - - 15.07 15.07 15.07
12541 968.1 -7.1 723 12542 done -0.47 - - 2224 - - - 1821 - -87.6 - - 3164 - - - - - - - - 15.07 15.07 15.07
12841 989.5 -7.0 738 12842 done -0.47 - - 2224 - - - 1822 - -87.6 - - 3164 - - - - - - - - 15.07 15.07 15.07
12859 end dive: TARGET_DEPTH_EXCEEDED
12859 begin apogee
12864 990.9 -7.0 739 12942 done -0.14 0.32 0.238 2342 368.8 - - 1728 - - 73.88 2.554 2798 -5.0 0.364 - - - - - - 14.65 14.10 13.24
12944 end apogee: CONTROL_FINISHED_OK
12944 begin climb
12945 993.4 - 743 13025 done 0.47 0.52 0.179 2539 378.8 - - 1728 - 87.6 73.97 2.464 2439 -4.9 0.370 - - - - - - 14.05 13.79 12.97
13322 966.5 8.2 762 13328 done 0.47 - - 2539 - - - 1728 - 91.6 4.53 1.698 2424 -3.3 0.356 - - - - - - 14.58 14.36 13.42
13621 941.6 8.2 777 13628 done 0.48 - - 2539 - - - 1728 - 95.2 4.65 1.730 2410 -3.0 0.310 - - - - - - 14.75 14.52 13.52
13941 915.1 8.2 793 13949 roll 0.48 - - 2539 - 1.23 0.047 2442 580.5 98.5 4.60 1.721 2395 -3.3 0.328 - - - - - - 14.84 14.62 13.59
13998 910.4 8.3 796 14002 done 0.48 - - 2543 - 1.17 0.061 1757 -585.5 101.0 - - 2396 - - - - - - - - 14.63 14.59 14.66
14319 882.5 8.8 812 14327 roll 0.48 - - 2550 - 1.23 0.070 1029 -591.9 101.0 3.67 1.506 2386 -2.7 0.302 - - - - - - 14.89 14.50 13.64
14377 877.6 9.0 815 14382 done 0.48 - - 2550 - 1.17 0.035 1750 616.2 101.0 - - 2386 - - - - - - - - 14.77 14.70 14.78
14695 848.1 9.3 831 14699 roll 0.48 - - 2550 - 1.12 0.048 2434 610.7 101.0 - - 2387 - - - - - - - - 14.93 14.71 14.93
14744 844.2 9.3 833 14748 done 0.48 - - 2555 - 1.17 0.060 1741 -592.3 101.0 - - 2387 - - - - - - - - 14.76 14.70 14.77
15057 813.3 9.8 849 15058 done 0.48 - - 2555 - - - 1741 - 101.0 - - 2387 - - - - - - - - 14.97 14.97 14.97
15357 783.6 10.0 864 15361 roll 0.48 - - 2555 - 1.15 0.046 2439 607.0 101.0 - - 2387 - - - - - - - - 15.00 14.76 15.00
15386 781.4 10.0 865 15390 done 0.48 0.05 0.316 2542 -260.0 1.17 0.058 1740 -597.4 101.0 - - 2387 - - - - - - - - 14.55 14.75 14.70
15699 751.6 9.2 881 15702 roll 0.48 - - 2547 - 1.20 0.069 1029 -592.5 101.0 - - 2387 - - - - - - - - 15.00 14.74 15.01
15747 747.8 9.2 883 15751 done 0.48 - - 2546 - 1.12 0.035 1746 640.2 101.0 - - 2387 - - - - - - - - 14.83 14.80 14.85
16060 717.8 9.4 899 16063 roll 0.48 - - 2547 - 1.12 0.047 2428 608.9 101.0 - - 2387 - - - - - - - - 15.02 14.79 15.02
16103 713.8 9.4 901 16108 done 0.48 - - 2552 - 1.17 0.055 1739 -588.9 101.0 - - 2387 - - - - - - - - 14.90 14.80 14.92
16422 683.6 9.4 917 16425 roll 0.48 - - 2557 - 1.20 0.071 1029 -591.7 101.0 - - 2386 - - - - - - - - 15.03 14.76 15.03
16464 679.6 9.5 919 16468 done 0.48 - - 2557 - 1.10 0.035 1735 641.8 101.0 - - 2387 - - - - - - - - 14.85 14.82 14.87
16785 648.8 9.6 935 16789 roll 0.48 - - 2557 - 1.12 0.047 2427 617.9 101.0 - - 2387 - - - - - - - - 15.04 14.81 15.04
16827 644.8 9.7 937 16832 done 0.48 0.05 0.307 2544 -260.0 1.15 0.057 1737 -600.0 101.0 - - 2387 - - - - - - - - 14.59 14.78 14.75
17150 616.9 8.6 953 17154 roll 0.48 - - 2548 - 1.20 0.069 1033 -586.7 101.0 - - 2387 - - - - - - - - 15.03 14.78 15.04
17212 611.7 8.5 956 17215 done 0.48 - - 2548 - 1.10 0.034 1735 638.2 101.0 - - 2387 - - - - - - - - 14.86 14.83 14.88
17533 584.4 8.5 972 17537 roll 0.48 - - 2548 - 1.12 0.047 2426 617.0 101.0 - - 2387 - - - - - - - - 15.04 14.81 15.04
17587 580.8 8.5 974 17595 done 0.48 - - 2553 - 1.15 0.057 1746 -591.3 101.0 - - 2387 - - - - - - - - 14.76 14.71 14.78
17895 552.9 8.8 990 17898 roll 0.48 - - 2559 - 1.20 0.072 1036 -591.7 101.0 - - 2387 - - - - - - - - 15.05 14.78 15.05
17949 549.3 8.6 992 17958 done 0.48 - - 2559 - 1.10 0.035 1740 640.0 101.0 - - 2387 - - - - - - - - 14.76 14.69 14.75
18257 521.2 8.7 1008 18261 roll 0.48 - - 2559 - 1.12 0.047 2430 616.1 101.0 - - 2387 - - - - - - - - 15.05 14.81 15.06
18307 517.4 8.8 1010 18311 done 0.48 0.05 0.308 2545 -280.0 1.17 0.058 1731 -597.4 101.0 - - 2387 - - - - - - - - 14.59 14.80 14.76
18620 491.4 8.1 1026 18631 roll 0.49 - - 2550 - 1.17 0.070 1033 -596.6 106.1 6.05 1.674 2364 -3.8 0.211 - - - - - - 15.04 14.77 13.88
18681 486.4 8.3 1029 18691 done 0.49 - - 2550 - 1.10 0.034 1738 640.9 108.8 3.78 1.300 2354 -2.6 0.187 - - - - - - 14.84 14.81 13.88
19000 458.2 8.8 1045 19004 roll 0.49 - - 2550 - 1.15 0.047 2431 602.6 108.8 - - 2354 - - - - - - - - 14.99 14.77 15.00
19055 454.4 8.8 1047 19063 done 0.49 - - 2555 - 1.17 0.057 1741 -589.7 108.8 - - 2354 - - - - - - - - 14.73 14.68 14.74
19363 426.3 8.9 1063 19366 roll 0.49 - - 2561 - 1.20 0.072 1032 -590.8 108.8 - - 2354 - - - - - - - - 15.02 14.75 15.02
19412 422.6 8.9 1065 19416 done 0.49 - - 2561 - 1.10 0.035 1733 637.3 108.8 - - 2354 - - - - - - - - 14.85 14.81 14.86
19726 394.0 9.0 1081 19730 roll 0.49 - - 2560 - 1.12 0.047 2422 615.2 108.8 - - 2355 - - - - - - - - 15.03 14.80 15.03
19775 390.1 8.9 1083 19780 done 0.49 0.05 0.308 2548 -240.0 1.15 0.057 1736 -596.5 108.8 - - 2354 - - - - - - - - 14.59 14.78 14.73
20089 364.1 8.1 1099 20100 roll 0.50 - - 2552 - 1.17 0.069 1039 -595.7 113.7 5.45 1.486 2334 -3.7 0.170 - - - - - - 15.03 14.77 13.92
20141 360.8 8.2 1101 20150 done 0.50 - - 2552 - 1.12 0.036 1745 630.4 117.7 4.97 1.483 2318 -3.2 0.148 - - - - - - 14.74 14.71 13.91
20448 333.2 8.7 1117 20452 roll 0.50 - - 2552 - 1.12 0.047 2424 606.2 117.7 - - 2318 - - - - - - - - 14.99 14.76 14.99
20490 329.6 8.7 1119 20493 done 0.50 - - 2557 - 1.15 0.057 1744 -591.3 117.7 - - 2318 - - - - - - - - 14.79 14.74 14.81
20812 301.1 9.0 1135 20815 roll 0.50 - - 2563 - 1.20 0.072 1037 -589.2 117.7 - - 2318 - - - - - - - - 15.01 14.73 15.01
20856 297.3 9.0 1137 20860 done 0.50 - - 2563 - 1.12 0.036 1745 632.1 117.7 - - 2318 - - - - - - - - 14.85 14.82 14.86
21174 267.5 9.3 1153 21178 roll 0.50 - - 2563 - 1.12 0.048 2430 611.6 117.7 - - 2318 - - - - - - - - 15.02 14.80 15.03
21216 263.6 9.2 1155 21221 done 0.50 0.03 0.401 2558 -166.7 1.17 0.058 1735 -594.0 117.7 - - 2318 - - - - - - - - 14.57 14.77 14.72
21540 235.7 8.4 1171 21544 roll 0.50 - - 2562 - 1.17 0.070 1036 -597.4 118.0 - - 2318 - - - - - - - - 15.03 14.76 15.03
21582 232.0 8.4 1173 21585 done 0.50 - - 2562 - 1.12 0.035 1747 634.8 118.3 - - 2318 - - - - - - - - 14.85 14.82 14.87
21903 204.8 8.4 1189 21904 done 0.51 - - 2562 - - - 1748 - 119.5 - - 2318 - - - - - - - - 15.04 15.04 15.04
22203 180.5 7.9 1204 22214 done 0.52 - - 2562 - - - 1748 - 127.6 8.98 1.607 2277 -4.6 0.097 - - - - - - 15.04 14.77 13.97
22503 155.8 8.3 1219 22507 roll 0.52 - - 2567 - 1.23 0.070 1035 -579.7 129.6 - - 2277 - - - - - - - - 15.00 14.73 15.00
22533 154.0 8.4 1220 22546 done 0.52 - - 2567 - 1.12 0.037 1742 631.2 131.1 4.12 1.216 2263 -3.4 0.081 - - - - - - 14.81 14.78 13.87
22845 124.7 9.3 1236 22849 roll 0.52 - - 2568 - 1.15 0.049 2434 601.7 131.1 - - 2264 - - - - - - - - 15.00 14.76 15.00
22909 118.6 9.8 1239 22915 done 0.52 0.03 0.409 2563 -166.7 1.17 0.057 1739 -594.0 131.1 - - 2264 - - - - - - - - 14.56 14.77 14.71
23227 89.0 9.0 1255 23229 done 0.52 - - 2563 - - - 1740 - 131.1 - - 2264 - - - - - - - - 15.02 15.02 15.02
23528 65.7 7.0 1297 23549 done 0.55 - - 2563 - - - 1740 - 153.7 17.83 1.662 2171 -5.2 0.039 - - - - - - 14.98 14.64 13.89
23733 49.8 7.5 1336 23755 roll 0.57 - - 2567 - 1.25 0.071 1031 -567.2 168.5 13.07 1.515 2108 -4.8 0.030 - - - - - - 14.85 14.47 13.86
23793 45.6 7.1 1346 23815 done 0.59 - - 2567 - 1.15 0.036 1740 616.5 189.0 16.38 1.509 2025 -5.1 0.029 - - - - - - 14.53 14.50 13.77
23998 28.3 9.0 1385 24006 roll 0.59 - - 2567 - 1.17 0.048 2430 589.7 189.0 - - 2028 - - - - - - - - 14.73 14.45 14.74
24083 20.5 9.2 1401 24092 done 0.59 - - 2573 - 1.20 0.058 1741 -574.2 189.0 - - 2028 - - - - - - - - 14.51 14.46 14.54
24264 end climb: SURFACE_DEPTH_REACHED
24264 begin surface coast
24290 end surface coast: CONTROL_FINISHED_OK
24290 begin surface
SM 1.21 - - - - -6.42 5.62 0.105 240 42.7 0.10 0.119 1818 -12600.0 190.10 0.38 0.567 2023 5323.7 -1.161 - - - - - -