ROAMMIZ Jan22 * SG640 * Dive index * Mission links * Dive 204 * Raw log
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• Previous call tries 1 • 206.92 of 450.00 AH used of 24V (54.02% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.4 deg, depth 1.06 m • Intended pitch -12.6 deg, speed -8.462 cm/s
• No surface pump (final VBD was 204.82, SM_CC=190)
• GPS1 time: 62 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
6 - - - 85 done -0.47 - - 219 - - - 1835 - -87.6 -72.32 - 3158 - - - - - - - - 14.75 13.66 14.69
88 3.3 -5.3 11 98 roll -0.47 6.28 0.356 2228 319.9 1.27 0.041 1083 -592.1 -87.6 - - 3156 - - - - - - - - 14.26 14.54 14.54
220 22.3 -9.9 35 229 done -0.47 - - 2221 - 1.20 0.040 1798 595.8 -87.6 - - 3158 - - - - - - - - 14.50 14.45 14.51
418 45.0 -11.4 72 426 roll -0.47 0.05 0.442 2233 240.0 1.23 0.050 2523 589.4 -87.6 - - 3158 - - - - - - - - 14.39 14.49 14.56
559 59.5 -9.6 99 567 done -0.47 - - 2233 - 1.20 0.054 1815 -590.0 -87.6 - - 3159 - - - - - - - - 14.52 14.48 14.56
751 78.5 -9.5 136 758 roll -0.47 - - 2232 - 1.23 0.067 1112 -571.5 -87.6 - - 3159 - - - - - - - - 14.84 14.47 14.84
809 83.0 -10.0 141 817 done -0.47 - - 2227 - 1.17 0.039 1824 608.5 -87.6 - - 3159 - - - - - - - - 14.54 14.51 14.57
1117 113.2 -9.1 157 1121 roll -0.47 - - 2222 - 1.15 0.052 2523 607.8 -87.6 - - 3159 - - - - - - - - 14.91 14.66 14.91
1159 117.0 -9.0 159 1163 done -0.47 - - 2222 - 1.17 0.054 1819 -601.7 -87.6 - - 3159 - - - - - - - - 14.71 14.65 14.73
1481 145.4 -8.7 175 1485 roll -0.47 0.05 0.449 2237 300.0 1.23 0.063 1112 -574.8 -87.6 - - 3158 - - - - - - - - 14.53 14.67 14.75
1535 148.9 -8.5 177 1543 done -0.47 - - 2234 - 1.15 0.040 1813 609.6 -87.6 - - 3158 - - - - - - - - 14.64 14.59 14.67
1843 173.8 -7.8 193 1844 done -0.47 - - 2234 - - - 1813 - -87.6 - - 3159 - - - - - - - - 15.01 15.01 15.01
2143 197.4 -7.9 208 2147 roll -0.47 - - 2234 - 1.20 0.066 1113 -583.3 -87.6 - - 3159 - - - - - - - - 15.00 14.71 15.00
2198 200.8 -8.1 210 2206 done -0.47 - - 2228 - 1.15 0.040 1818 613.0 -87.6 - - 3158 - - - - - - - - 14.71 14.66 14.72
2506 226.5 -8.0 226 2507 done -0.47 - - 2228 - - - 1818 - -87.6 - - 3159 - - - - - - - - 15.02 15.02 15.02
2806 250.1 -7.7 241 2809 roll -0.47 - - 2228 - 1.20 0.065 1118 -583.3 -87.6 - - 3158 - - - - - - - - 15.04 14.73 15.05
2855 253.4 -8.0 243 2859 done -0.47 - - 2222 - 1.12 0.040 1817 624.1 -87.6 - - 3159 - - - - - - - - 14.83 14.78 14.85
3168 278.5 -7.5 259 3172 roll -0.47 0.05 0.451 2238 320.0 1.23 0.061 1109 -575.6 -87.6 - - 3158 - - - - - - - - 14.59 14.74 14.81
3210 281.7 -7.4 261 3213 done -0.47 - - 2234 - 1.17 0.040 1830 616.2 -87.6 - - 3158 - - - - - - - - 14.83 14.78 14.85
3533 303.7 -6.9 277 3536 roll -0.47 - - 2234 - 1.23 0.065 1113 -582.9 -87.6 - - 3158 - - - - - - - - 15.05 14.74 15.06
3575 306.8 -7.0 279 3578 done -0.47 - - 2229 - 1.15 0.040 1819 613.9 -87.6 - - 3158 - - - - - - - - 14.83 14.79 14.85
3896 329.7 -7.1 295 3898 done -0.47 - - 2228 - - - 1819 - -87.6 - - 3158 - - - - - - - - 15.04 15.05 15.04
4197 351.1 -7.2 310 4200 roll -0.47 - - 2228 - 1.20 0.065 1115 -586.7 -87.6 - - 3159 - - - - - - - - 15.05 14.75 15.05
4239 354.3 -7.4 312 4242 done -0.47 - - 2223 - 1.15 0.040 1821 613.9 -87.6 - - 3158 - - - - - - - - 14.84 14.80 14.85
4560 379.1 -7.8 328 4564 roll -0.47 - - 2223 - 1.20 0.066 1120 -584.2 -87.6 - - 3159 - - - - - - - - 15.06 14.75 15.06
4595 380.9 -7.9 329 4603 done -0.47 0.05 0.324 2236 260.0 1.15 0.041 1819 607.8 -87.6 - - 3158 - - - - - - - - 14.45 14.69 14.63
4902 404.1 -7.2 345 4906 roll -0.47 - - 2236 - 1.20 0.068 1120 -582.5 -87.6 - - 3159 - - - - - - - - 15.07 14.75 15.07
4945 407.2 -7.3 347 4949 done -0.47 - - 2232 - 1.15 0.041 1824 612.2 -87.6 - - 3158 - - - - - - - - 14.84 14.80 14.86
5267 430.1 -7.0 363 5271 roll -0.47 - - 2232 - 1.23 0.069 1111 -579.7 -87.6 - - 3158 - - - - - - - - 15.07 14.75 15.08
5316 433.2 -7.2 365 5320 done -0.47 - - 2227 - 1.15 0.040 1817 613.9 -87.6 - - 3158 - - - - - - - - 14.85 14.80 14.86
5629 456.5 -7.3 381 5630 done -0.47 - - 2227 - - - 1816 - -87.6 - - 3158 - - - - - - - - 15.07 15.07 15.07
5929 479.1 -7.6 396 5932 roll -0.47 - - 2226 - 1.20 0.067 1115 -584.2 -87.6 - - 3158 - - - - - - - - 15.08 14.76 15.08
5991 484.0 -7.8 399 5994 done -0.47 - - 2221 - 1.15 0.039 1823 615.7 -87.6 - - 3159 - - - - - - - - 14.85 14.80 14.89
6312 510.3 -8.2 415 6314 done -0.47 0.05 0.436 2237 320.0 - - 1824 - -87.6 - - 3158 - - - - - - - - 14.62 14.89 14.84
6612 532.5 -7.3 430 6616 roll -0.47 - - 2237 - 1.23 0.070 1111 -579.7 -87.6 - - 3159 - - - - - - - - 15.07 14.75 15.07
6682 537.2 -7.4 433 6686 done -0.47 - - 2234 - 1.15 0.040 1820 616.5 -87.6 - - 3159 - - - - - - - - 14.84 14.81 14.87
6995 560.7 -7.5 449 6999 roll -0.47 - - 2233 - 1.20 0.068 1120 -583.3 -87.6 - - 3158 - - - - - - - - 15.08 14.76 15.08
7029 562.4 -7.5 450 7037 done -0.47 - - 2228 - 1.15 0.040 1824 612.2 -87.6 - - 3159 - - - - - - - - 14.73 14.70 14.76
7337 586.9 -7.7 466 7341 roll -0.47 - - 2228 - 1.23 0.070 1112 -578.9 -87.6 - - 3159 - - - - - - - - 15.07 14.75 15.08
7387 590.2 -7.8 468 7391 done -0.47 - - 2222 - 1.15 0.040 1818 613.9 -87.6 - - 3158 - - - - - - - - 14.84 14.81 14.86
7700 615.8 -8.0 484 7702 done -0.47 0.05 0.440 2238 320.0 - - 1818 - -87.6 - - 3159 - - - - - - - - 14.62 14.89 14.84
7999 637.2 -7.1 499 8003 roll -0.47 - - 2238 - 1.23 0.070 1115 -571.5 -87.6 - - 3159 - - - - - - - - 15.06 14.75 15.07
8054 640.3 -7.2 501 8062 done -0.47 - - 2235 - 1.15 0.039 1814 607.8 -87.6 - - 3159 - - - - - - - - 14.73 14.69 14.74
8362 663.4 -7.2 517 8363 done -0.47 - - 2235 - - - 1814 - -87.6 - - 3159 - - - - - - - - 15.06 15.07 15.07
8662 684.8 -7.1 532 8665 roll -0.47 - - 2235 - 1.20 0.069 1118 -580.0 -87.6 - - 3159 - - - - - - - - 15.07 14.75 15.07
8711 687.9 -7.2 534 8715 done -0.47 - - 2229 - 1.15 0.041 1822 612.2 -87.6 - - 3159 - - - - - - - - 14.85 14.81 14.87
9024 711.0 -7.2 550 9025 done -0.47 - - 2230 - - - 1821 - -87.6 - - 3159 - - - - - - - - 15.06 15.07 15.07
9325 732.5 -7.1 565 9329 roll -0.47 - - 2229 - 1.23 0.070 1113 -575.6 -87.6 - - 3159 - - - - - - - - 15.07 14.74 15.07
9390 737.2 -7.5 568 9393 done -0.47 - - 2223 - 1.15 0.041 1819 613.9 -87.6 - - 3159 - - - - - - - - 14.85 14.81 14.86
9708 760.8 -7.5 584 9709 done -0.47 - - 2223 - - - 1818 - -87.6 - - 3159 - - - - - - - - 15.06 15.06 15.07
10008 783.2 -7.6 599 10011 roll -0.47 - - 2223 - 1.23 0.071 1111 -574.8 -87.6 - - 3160 - - - - - - - - 15.07 14.74 15.08
10082 788.1 -8.0 602 10090 done -0.47 0.05 0.321 2237 280.0 1.17 0.041 1822 607.7 -87.6 - - 3159 - - - - - - - - 14.43 14.68 14.62
10390 810.5 -6.9 618 10391 done -0.47 - - 2237 - - - 1822 - -87.6 - - 3160 - - - - - - - - 15.07 15.07 15.07
10690 831.4 -7.0 633 10694 roll -0.47 - - 2237 - 1.23 0.072 1115 -574.8 -87.6 - - 3160 - - - - - - - - 15.07 14.73 15.08
10740 834.5 -7.3 635 10743 done -0.47 - - 2234 - 1.15 0.042 1818 611.3 -87.6 - - 3159 - - - - - - - - 14.84 14.79 14.86
11054 857.3 -7.0 651 11055 done -0.47 - - 2233 - - - 1818 - -87.6 - - 3159 - - - - - - - - 15.06 15.06 15.06
11352 878.1 -6.8 666 11356 roll -0.47 - - 2232 - 1.20 0.070 1122 -580.0 -87.6 - - 3160 - - - - - - - - 15.07 14.73 15.07
11402 881.1 -6.9 668 11406 done -0.47 - - 2228 - 1.15 0.042 1826 612.2 -87.6 - - 3159 - - - - - - - - 14.84 14.80 14.86
11715 903.0 -6.8 684 11716 done -0.47 - - 2227 - - - 1826 - -87.6 - - 3160 - - - - - - - - 15.06 15.06 15.07
12016 923.2 -6.6 699 12020 roll -0.47 - - 2227 - 1.23 0.073 1117 -576.4 -87.6 - - 3159 - - - - - - - - 15.08 14.74 15.08
12080 927.7 -6.9 702 12084 done -0.47 - - 2222 - 1.12 0.042 1810 618.7 -87.6 - - 3159 - - - - - - - - 14.85 14.80 14.85
12400 949.2 -6.7 718 12402 done -0.47 0.05 0.439 2238 320.0 - - 1811 - -87.6 - - 3159 - - - - - - - - 14.60 14.88 14.83
12698 967.2 -6.0 733 12702 roll -0.47 - - 2238 - 1.23 0.071 1111 -569.1 -87.6 - - 3159 - - - - - - - - 15.06 14.73 15.07
12743 969.8 -6.1 735 12747 done -0.47 - - 2235 - 1.17 0.042 1827 612.0 -87.6 - - 3159 - - - - - - - - 14.83 14.79 14.85
13061 987.6 -5.3 751 13062 done -0.47 - - 2234 - - - 1826 - -87.6 - - 3160 - - - - - - - - 15.06 15.06 15.06
13118 end dive: TARGET_DEPTH_EXCEEDED
13118 begin apogee
13123 990.7 -5.2 754 13201 done -0.14 0.30 0.232 2345 370.0 - - 1712 - - 73.15 2.547 2798 -4.9 0.365 - - - - - - 14.59 14.11 13.24
13202 end apogee: CONTROL_FINISHED_OK
13202 begin climb
13204 992.0 - 758 13284 roll 0.47 0.52 0.170 2544 382.7 1.33 0.047 2432 541.4 87.6 73.80 2.471 2440 -4.9 0.369 - - - - - - 14.06 13.81 12.98
13317 985.6 6.8 763 13352 done 0.50 - - 2549 - 1.17 0.060 1776 -560.7 113.5 23.20 2.307 2335 -4.5 0.366 - - - - - - 14.00 13.95 12.95
13650 948.8 10.9 780 13654 roll 0.50 - - 2555 - 1.35 0.073 1031 -551.9 113.5 - - 2336 - - - - - - - - 14.58 14.33 14.59
13694 944.0 11.1 782 13699 done 0.50 - - 2555 - 1.15 0.035 1730 607.8 113.5 - - 2335 - - - - - - - - 14.47 14.43 14.47
14012 908.5 11.1 798 14016 roll 0.50 - - 2555 - 1.17 0.048 2430 598.3 113.5 - - 2336 - - - - - - - - 14.78 14.57 14.79
14106 899.4 11.1 802 14114 done 0.50 - - 2560 - 1.20 0.060 1738 -576.7 113.5 - - 2336 - - - - - - - - 14.54 14.49 14.56
14414 863.4 11.4 818 14415 done 0.50 - - 2560 - - - 1740 - 113.5 - - 2336 - - - - - - - - 14.90 14.91 14.91
14715 829.8 11.1 833 14718 roll 0.50 - - 2560 - 1.15 0.047 2429 599.1 113.5 - - 2336 - - - - - - - - 14.94 14.70 14.95
14779 822.8 11.1 836 14784 done 0.50 0.05 0.305 2546 -280.0 1.20 0.060 1728 -584.2 113.5 - - 2336 - - - - - - - - 14.49 14.70 14.65
15098 790.3 10.0 852 15099 done 0.50 - - 2547 - - - 1728 - 113.5 - - 2336 - - - - - - - - 14.97 14.97 14.97
15398 760.7 10.0 867 15401 roll 0.50 - - 2547 - 1.17 0.045 2429 599.1 113.5 - - 2336 - - - - - - - - 14.99 14.75 14.99
15461 754.6 9.9 870 15466 done 0.50 - - 2550 - 1.20 0.056 1734 -579.2 113.5 - - 2336 - - - - - - - - 14.84 14.77 14.85
15780 722.5 10.0 886 15781 done 0.50 - - 2550 - - - 1734 - 113.5 - - 2335 - - - - - - - - 15.00 15.01 15.01
16080 693.0 9.8 901 16083 roll 0.50 - - 2550 - 1.17 0.046 2432 596.6 113.5 - - 2336 - - - - - - - - 15.03 14.78 15.04
16124 688.9 9.8 903 16128 done 0.50 - - 2555 - 1.17 0.055 1737 -594.0 113.5 - - 2336 - - - - - - - - 14.83 14.78 14.85
16442 657.2 9.9 919 16443 done 0.50 - - 2555 - - - 1737 - 113.5 - - 2336 - - - - - - - - 15.02 15.03 15.02
16742 627.8 9.7 934 16746 roll 0.50 - - 2555 - 1.15 0.045 2432 604.3 113.5 - - 2336 - - - - - - - - 15.03 14.79 15.04
16792 623.7 9.7 936 16795 done 0.50 - - 2561 - 1.17 0.057 1737 -594.0 113.5 - - 2336 - - - - - - - - 14.83 14.76 14.86
17104 592.5 9.7 952 17105 done 0.50 - - 2561 - - - 1738 - 113.5 - - 2336 - - - - - - - - 15.04 15.04 15.05
17404 563.4 9.6 967 17408 roll 0.50 - - 2561 - 1.15 0.045 2433 604.3 113.5 - - 2336 - - - - - - - - 15.04 14.80 15.04
17467 557.3 9.6 970 17471 done 0.50 0.03 0.392 2555 -200.0 1.17 0.057 1737 -594.9 113.5 - - 2336 - - - - - - - - 14.55 14.77 14.70
17789 528.1 9.2 986 17793 roll 0.50 - - 2555 - 1.15 0.045 2431 603.5 113.5 - - 2336 - - - - - - - - 15.04 14.81 15.04
17823 526.0 9.3 987 17831 done 0.50 - - 2559 - 1.17 0.055 1740 -590.6 113.5 - - 2336 - - - - - - - - 14.72 14.66 14.74
18131 495.7 9.5 1003 18133 done 0.50 - - 2559 - - - 1740 - 113.5 - - 2336 - - - - - - - - 15.07 15.07 15.07
18431 467.8 9.3 1018 18435 roll 0.50 - - 2559 - 1.15 0.046 2434 603.5 113.5 - - 2336 - - - - - - - - 15.05 14.79 15.05
18505 462.0 9.4 1021 18513 done 0.50 - - 2564 - 1.17 0.057 1746 -588.0 113.5 - - 2336 - - - - - - - - 14.73 14.68 14.74
18813 432.0 9.4 1037 18814 done 0.50 - - 2564 - - - 1747 - 113.5 - - 2336 - - - - - - - - 15.07 15.07 15.07
19113 403.6 9.6 1052 19117 roll 0.50 - - 2564 - 1.12 0.046 2430 609.8 113.5 - - 2336 - - - - - - - - 15.07 14.80 15.07
19188 397.6 9.6 1055 19196 done 0.50 0.05 0.321 2552 -240.0 1.17 0.058 1739 -590.6 113.5 - - 2336 - - - - - - - - 14.45 14.67 14.62
19495 369.4 8.7 1071 19499 roll 0.50 - - 2555 - 1.23 0.070 1027 -578.9 113.5 - - 2336 - - - - - - - - 15.04 14.76 15.05
19524 367.6 8.7 1072 19528 done 0.50 - - 2556 - 1.12 0.036 1736 633.0 113.5 - - 2336 - - - - - - - - 14.85 14.82 14.87
19837 339.6 8.6 1088 19840 roll 0.50 - - 2556 - 1.15 0.048 2429 602.6 113.5 - - 2337 - - - - - - - - 15.05 14.78 15.05
19911 334.2 8.9 1091 19919 done 0.50 0.03 0.395 2551 -166.7 1.17 0.057 1741 -588.0 113.5 - - 2336 - - - - - - - - 14.46 14.69 14.60
20219 307.5 8.3 1107 20222 roll 0.50 - - 2556 - 1.23 0.070 1026 -581.3 115.5 - - 2336 - - - - - - - - 15.04 14.75 15.05
20248 305.6 8.4 1108 20262 done 0.50 - - 2556 - 1.12 0.035 1743 640.2 117.0 4.50 1.336 2321 -3.3 0.144 - - - - - - 14.85 14.81 13.86
20562 277.7 8.7 1124 20566 roll 0.50 - - 2556 - 1.12 0.048 2429 612.5 117.0 - - 2322 - - - - - - - - 15.02 14.77 15.02
20624 272.2 8.7 1127 20628 done 0.50 - - 2561 - 1.15 0.057 1749 -591.3 117.0 - - 2322 - - - - - - - - 14.81 14.75 14.83
20946 244.3 8.7 1143 20950 roll 0.50 - - 2567 - 1.23 0.072 1030 -584.6 117.0 - - 2322 - - - - - - - - 15.03 14.74 15.04
20980 242.4 8.7 1144 20988 done 0.50 - - 2567 - 1.12 0.035 1736 630.4 117.0 - - 2322 - - - - - - - - 14.70 14.65 14.72
21287 213.3 9.2 1160 21291 roll 0.50 0.05 0.405 2552 -300.0 1.15 0.043 2429 602.6 117.0 - - 2322 - - - - - - - - 14.62 14.78 14.82
21369 206.1 8.8 1164 21373 done 0.50 - - 2555 - 1.17 0.057 1737 -591.5 117.0 - - 2322 - - - - - - - - 14.82 14.76 14.83
21691 176.8 9.1 1180 21692 done 0.50 - - 2555 - - - 1737 - 117.0 - - 2323 - - - - - - - - 15.06 15.06 15.06
21991 149.9 9.1 1195 21995 roll 0.50 - - 2555 - 1.15 0.047 2429 601.7 117.0 - - 2323 - - - - - - - - 15.04 14.78 15.04
22033 146.1 9.1 1197 22037 done 0.50 - - 2561 - 1.17 0.057 1738 -590.6 117.0 - - 2323 - - - - - - - - 14.82 14.77 14.85
22354 117.7 8.8 1213 22358 roll 0.50 - - 2565 - 1.20 0.071 1034 -586.7 117.0 - - 2323 - - - - - - - - 15.04 14.74 15.04
22403 114.1 8.8 1215 22407 done 0.50 - - 2566 - 1.12 0.037 1743 633.0 117.0 - - 2323 - - - - - - - - 14.85 14.81 14.85
22716 87.2 7.9 1231 22728 roll 0.51 - - 2566 - 1.10 0.045 2430 624.5 125.1 8.25 1.460 2286 -4.5 0.051 - - - - - - 15.06 14.62 13.93
22822 78.7 8.2 1237 22832 done 0.52 0.03 0.392 2562 -133.3 1.17 0.060 1742 -588.0 129.3 4.62 1.255 2270 -3.5 0.041 - - - - - - 14.42 14.64 13.98
23015 62.1 8.7 1274 23023 roll 0.52 - - 2566 - 1.23 0.069 1031 -578.0 129.3 - - 2270 - - - - - - - - 14.93 14.56 14.93
23081 56.5 8.2 1286 23090 done 0.52 - - 2565 - 1.12 0.036 1734 627.7 132.9 4.20 1.158 2256 -3.3 0.031 - - - - - - 14.64 14.60 13.80
23274 42.0 6.6 1323 23303 roll 0.56 - - 2566 - 1.15 0.044 2431 606.1 161.5 21.98 1.584 2138 -5.4 0.027 - - - - - - 14.90 14.40 13.83
23382 35.1 5.8 1342 23418 done 0.61 - - 2571 - 1.20 0.058 1742 -574.2 202.1 30.38 1.537 1973 -5.4 0.023 - - - - - - 14.50 14.45 13.71
23602 18.4 8.9 1383 23609 roll 0.61 - - 2577 - 1.25 0.074 1032 -568.0 202.1 - - 1978 - - - - - - - - 14.69 14.37 14.69
23637 15.4 8.3 1389 23645 done 0.61 - - 2577 - 1.15 0.036 1736 612.2 204.3 1.95 0.339 1964 -7.2 0.062 - - - - - - 14.46 14.42 14.28
23749 end climb: SURFACE_DEPTH_REACHED
23750 begin surface coast
23777 end surface coast: CONTROL_FINISHED_OK
23777 begin surface
SM 0.83 - - - - -6.45 5.57 0.086 276 49.5 0.12 0.104 1837 -61541.7 204.82 - - 1964 - - - - - - - -