ROAMMIZ Jan22 * SG640 * Dive index * Mission links * Dive 323 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 244.16 of 450.00 AH used of 24V (45.74% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.9 deg, depth 1.07 m • Intended pitch -12.6 deg, speed -8.462 cm/s
• No surface pump (final VBD was 206.29, SM_CC=180)
• GPS1 time: 44 s
• GPS2 time: 7 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 - - - 92 VBD -0.47 - - 215 - - - 1800 - -87.6 -82.50 - 3208 - - - - - - - - 14.69 - 14.69
95 3.2 -7.1 13 110 roll -0.47 6.53 0.373 2232 308.9 1.30 2.202 1061 -568.5 -87.6 -0.75 - 3228 -26.7 - - - - - - - 13.93 13.38 14.17
143 14.2 -16.4 21 149 done -0.47 - - 2227 - 1.27 0.044 1810 589.8 -87.6 - - 3228 - - - - - - - - 14.46 14.41 14.48
333 39.0 -12.9 58 341 roll -0.47 - - 2226 - 1.23 0.065 1118 -562.6 -87.6 - - 3227 - - - - - - - - 14.73 14.21 14.73
515 60.4 -11.5 93 522 done -0.47 0.03 0.412 2231 166.7 1.17 0.041 1819 599.1 -87.6 - - 3227 - - - - - - - - 14.17 14.45 14.31
706 78.7 -9.6 130 714 roll -0.47 - - 2228 - 1.20 0.054 2526 589.2 -87.6 - - 3227 - - - - - - - - 14.78 14.25 14.79
744 81.1 -9.6 133 752 done -0.47 - - 2227 - 1.20 0.054 1825 -584.2 -87.6 - - 3227 - - - - - - - - 14.33 14.28 14.33
1052 108.3 -8.9 149 1053 done -0.47 - - 2227 - - - 1825 - -87.6 - - 3228 - - - - - - - - 14.85 14.85 14.85
1353 136.6 -9.5 164 1356 roll -0.47 - - 2227 - 1.23 0.068 1121 -572.4 -87.6 - - 3227 - - - - - - - - 14.88 14.45 14.88
1395 140.8 -9.6 166 1399 done -0.47 - - 2222 - 1.15 0.041 1815 603.5 -87.6 - - 3227 - - - - - - - - 14.59 14.54 14.62
1717 171.8 -9.6 182 1718 done -0.47 0.05 0.438 2237 300.0 - - 1815 - -87.6 - - 3227 - - - - - - - - 14.38 14.66 14.58
2017 197.9 -8.6 197 2018 done -0.47 - - 2237 - - - 1815 - -87.6 - - 3227 - - - - - - - - 14.92 14.92 14.92
2317 223.7 -8.6 212 2320 roll -0.47 - - 2237 - 1.23 0.067 1110 -573.2 -87.6 - - 3226 - - - - - - - - 14.92 14.48 14.92
2358 227.4 -8.7 214 2361 done -0.47 - - 2234 - 1.17 0.041 1822 608.5 -87.6 - - 3226 - - - - - - - - 14.62 14.57 14.64
2680 256.1 -9.0 230 2681 done -0.47 - - 2234 - - - 1821 - -87.6 - - 3226 - - - - - - - - 14.93 14.93 14.93
2980 282.6 -8.7 245 2981 done -0.47 - - 2234 - - - 1821 - -87.6 - - 3226 - - - - - - - - 14.93 14.93 14.94
3279 308.9 -8.8 260 3283 roll -0.47 - - 2234 - 1.23 0.066 1114 -574.8 -87.6 - - 3226 - - - - - - - - 14.94 14.49 14.94
3329 312.6 -8.8 262 3332 done -0.47 - - 2229 - 1.15 0.041 1815 609.6 -87.6 - - 3226 - - - - - - - - 14.63 14.57 14.66
3641 341.0 -8.8 278 3642 done -0.47 - - 2229 - - - 1814 - -87.6 - - 3226 - - - - - - - - 14.95 14.95 14.95
3941 366.8 -8.6 293 3943 done -0.47 - - 2229 - - - 1815 - -87.6 - - 3226 - - - - - - - - 14.95 14.95 14.95
4242 392.1 -8.4 308 4246 roll -0.47 - - 2229 - 1.23 0.067 1110 -573.2 -87.6 - - 3226 - - - - - - - - 14.95 14.49 14.95
4291 395.8 -8.5 310 4295 done -0.47 - - 2223 - 1.17 0.040 1822 608.5 -87.6 - - 3226 - - - - - - - - 14.62 14.58 14.65
4604 422.9 -8.5 326 4605 done -0.47 - - 2223 - - - 1822 - -87.6 - - 3226 - - - - - - - - 14.95 14.95 14.95
4904 448.6 -8.6 341 4907 roll -0.47 - - 2223 - 1.25 0.066 1106 -572.8 -87.6 - - 3226 - - - - - - - - 14.95 14.50 14.95
4947 452.3 -8.8 343 4952 done -0.47 0.05 0.317 2235 240.0 1.17 0.041 1824 613.7 -87.6 - - 3226 - - - - - - - - 14.23 14.61 14.38
5267 478.0 -7.8 359 5268 done -0.47 - - 2235 - - - 1823 - -87.6 - - 3226 - - - - - - - - 14.95 14.95 14.95
5566 501.4 -7.9 374 5570 roll -0.47 - - 2235 - 1.25 0.066 1108 -572.0 -87.6 - - 3226 - - - - - - - - 14.95 14.48 14.95
5601 503.2 -7.9 375 5608 done -0.47 - - 2232 - 1.20 0.040 1821 594.2 -87.6 - - 3226 - - - - - - - - 14.40 14.35 14.43
5909 529.0 -8.1 391 5910 done -0.47 - - 2232 - - - 1821 - -87.6 - - 3226 - - - - - - - - 14.95 14.95 14.95
6209 552.7 -7.9 406 6212 roll -0.47 - - 2232 - 1.23 0.065 1114 -574.8 -87.6 - - 3226 - - - - - - - - 14.95 14.48 14.95
6273 557.8 -8.2 409 6276 done -0.47 - - 2226 - 1.17 0.040 1825 607.7 -87.6 - - 3226 - - - - - - - - 14.62 14.57 14.64
6591 584.3 -8.3 425 6592 done -0.47 - - 2226 - - - 1826 - -87.6 - - 3226 - - - - - - - - 14.95 14.95 14.95
6890 609.4 -8.4 440 6894 roll -0.47 - - 2226 - 1.25 0.067 1111 -572.0 -87.6 - - 3226 - - - - - - - - 14.96 14.48 14.96
6944 613.0 -8.6 442 6952 done -0.47 0.05 0.313 2238 240.0 1.17 0.040 1821 606.8 -87.6 - - 3226 - - - - - - - - 14.11 14.47 14.27
7252 638.2 -7.8 458 7253 done -0.47 - - 2238 - - - 1821 - -87.6 - - 3227 - - - - - - - - 14.97 14.97 14.97
7552 662.0 -8.0 473 7553 done -0.47 - - 2238 - - - 1820 - -87.6 - - 3226 - - - - - - - - 14.97 14.98 14.98
7853 686.4 -8.3 488 7856 roll -0.47 - - 2238 - 1.25 0.069 1113 -565.6 -87.6 - - 3226 - - - - - - - - 14.98 14.49 14.99
7896 690.0 -8.4 490 7900 done -0.47 - - 2235 - 1.15 0.040 1815 610.4 -87.6 - - 3226 - - - - - - - - 14.65 14.61 14.69
8213 717.8 -8.9 506 8215 done -0.47 - - 2235 - - - 1814 - -87.6 - - 3226 - - - - - - - - 14.99 14.99 14.99
8513 745.0 -9.1 521 8515 done -0.47 - - 2235 - - - 1814 - -87.6 - - 3226 - - - - - - - - 15.00 15.00 15.00
8814 772.1 -9.0 536 8817 roll -0.47 - - 2235 - 1.23 0.069 1113 -569.9 -87.6 - - 3227 - - - - - - - - 15.00 14.49 15.00
8854 776.0 -9.2 538 8858 done -0.47 - - 2229 - 1.17 0.041 1825 608.5 -87.6 - - 3226 - - - - - - - - 14.64 14.59 14.67
9175 805.5 -9.2 554 9176 done -0.47 - - 2229 - - - 1825 - -87.6 - - 3226 - - - - - - - - 15.00 15.00 15.00
9475 832.4 -8.9 569 9479 roll -0.47 - - 2229 - 1.25 0.070 1112 -570.4 -87.6 - - 3226 - - - - - - - - 15.00 14.50 15.00
9524 836.2 -9.1 571 9528 done -0.47 - - 2224 - 1.15 0.042 1814 610.4 -87.6 - - 3226 - - - - - - - - 14.65 14.60 14.67
9836 864.5 -8.7 587 9838 done -0.47 - - 2224 - - - 1813 - -87.6 - - 3226 - - - - - - - - 15.00 15.00 15.00
10136 890.6 -8.6 602 10138 done -0.47 - - 2223 - - - 1813 - -87.6 - - 3226 - - - - - - - - 15.00 15.00 15.00
10437 916.0 -8.4 617 10441 roll -0.47 - - 2224 - 1.23 0.071 1113 -569.1 -87.6 - - 3226 - - - - - - - - 15.01 14.48 15.01
10478 919.6 -8.5 619 10482 done -0.47 0.05 0.318 2237 260.0 1.15 0.042 1814 609.6 -87.6 - - 3226 - - - - - - - - 14.22 14.60 14.38
10801 944.3 -7.6 635 10802 done -0.47 - - 2237 - - - 1813 - -87.6 - - 3226 - - - - - - - - 15.00 15.00 15.00
11100 966.8 -7.4 650 11101 done -0.47 - - 2237 - - - 1814 - -87.6 - - 3226 - - - - - - - - 15.01 15.01 15.01
11400 988.6 -7.2 665 11403 roll -0.47 - - 2237 - 1.23 0.073 1114 -569.1 -87.6 - - 3226 - - - - - - - - 15.01 14.48 15.01
11419 end dive: TARGET_DEPTH_EXCEEDED
11419 begin apogee
11425 990.1 -7.2 666 11506 done -0.14 0.30 0.232 2342 350.0 - - 1748 - - 77.97 2.535 2868 -4.6 0.337 - - - - - - 14.32 14.04 13.05
11507 end apogee: CONTROL_FINISHED_OK
11507 begin loiter
11801 996.5 -1.0 685 11821 done -0.12 - - 2342 - - - 1748 - 15.7 15.32 2.339 2804 -4.2 0.335 - - - - - - 14.64 14.32 13.30
12121 993.9 1.4 701 12122 done -0.12 - - 2342 - - - 1748 - 15.7 - - 2805 - - - - - - - - 14.71 14.72 14.72
12421 989.8 1.3 716 12422 done -0.12 - - 2342 - - - 1748 - 15.7 - - 2804 - - - - - - - - 14.81 14.81 14.81
12721 985.8 1.3 731 12722 done -0.12 - - 2342 - - - 1748 - 15.7 - - 2804 - - - - - - - - 14.86 14.86 14.86
13021 982.1 1.3 746 13022 done -0.12 - - 2342 - - - 1747 - 15.7 - - 2804 - - - - - - - - 14.90 14.90 14.90
13321 978.3 1.2 761 13322 done -0.12 - - 2342 - - - 1748 - 15.7 - - 2804 - - - - - - - - 14.92 14.92 14.92
13621 974.9 1.2 776 13622 done -0.12 - - 2342 - - - 1747 - 15.7 - - 2804 - - - - - - - - 14.94 14.95 14.94
13921 971.2 1.2 791 13922 done -0.12 - - 2342 - - - 1748 - 15.7 - - 2804 - - - - - - - - 14.96 14.96 14.96
14221 967.9 1.2 806 14222 done -0.12 - - 2342 - - - 1748 - 15.7 - - 2804 - - - - - - - - 14.97 14.97 14.97
14521 964.2 1.2 821 14522 done -0.12 - - 2342 - - - 1748 - 15.7 - - 2804 - - - - - - - - 14.97 14.97 14.97
14821 960.8 1.1 836 14822 done -0.12 - - 2342 - - - 1748 - 15.7 - - 2804 - - - - - - - - 14.98 14.99 14.99
15121 957.6 1.0 851 15122 done -0.12 - - 2342 - - - 1748 - 15.7 - - 2804 - - - - - - - - 14.99 14.99 14.99
15421 954.8 1.0 866 15422 done -0.12 - - 2342 - - - 1748 - 15.7 - - 2804 - - - - - - - - 15.00 15.00 15.00
15721 952.0 0.8 881 15722 done -0.12 - - 2342 - - - 1748 - 15.7 - - 2803 - - - - - - - - 15.00 15.00 15.00
16021 949.8 0.7 896 16022 done -0.12 - - 2342 - - - 1748 - 15.7 - - 2804 - - - - - - - - 15.00 15.00 15.00
16321 948.1 0.5 911 16322 done -0.12 - - 2342 - - - 1748 - 15.7 - - 2804 - - - - - - - - 15.00 15.00 15.01
16621 946.5 0.5 926 16622 done -0.12 - - 2342 - - - 1748 - 15.7 - - 2804 - - - - - - - - 15.01 15.01 15.01
16899 end loiter: LOITER_COMPLETE
16899 begin climb
16901 945.4 - 940 16967 done 0.47 0.47 0.166 2530 400.0 - - 1748 - 87.6 62.20 2.516 2511 -4.7 0.333 - - - - - - 14.44 14.16 13.22
17261 929.6 5.3 958 17308 roll 0.53 - - 2530 - 1.17 0.047 2438 589.7 136.2 42.95 2.395 2311 -4.7 0.340 - - - - - - 14.67 13.96 13.19
17414 920.5 6.8 965 17445 done 0.56 0.03 0.268 2604 2466.7 1.23 0.060 1747 -561.8 161.9 24.40 2.326 2208 -4.2 0.314 - - - - - - 14.04 14.21 13.05
17763 879.6 11.8 983 17767 roll 0.56 0.10 0.329 2573 -310.0 1.27 0.070 1037 -559.1 161.9 - - 2212 - - - - - - - - 14.13 14.35 14.29
17837 873.3 10.6 986 17844 done 0.56 - - 2573 - 1.15 0.036 1738 609.6 161.9 - - 2212 - - - - - - - - 14.41 14.38 14.44
18145 841.4 10.1 1002 18148 roll 0.56 - - 2573 - 1.15 0.047 2430 601.7 161.9 - - 2212 - - - - - - - - 14.81 14.52 14.81
18174 839.1 10.2 1003 18178 done 0.56 - - 2578 - 1.17 0.060 1746 -584.6 161.9 - - 2212 - - - - - - - - 14.55 14.49 14.59
18486 805.4 10.8 1019 18490 roll 0.56 - - 2584 - 1.25 0.073 1030 -572.8 161.9 - - 2212 - - - - - - - - 14.87 14.48 14.87
18550 798.8 10.9 1022 18554 done 0.56 - - 2584 - 1.15 0.036 1740 617.4 161.9 - - 2212 - - - - - - - - 14.62 14.58 14.64
18867 762.9 11.3 1038 18871 roll 0.56 - - 2585 - 1.15 0.046 2437 606.1 161.9 - - 2212 - - - - - - - - 14.91 14.59 14.91
18896 760.4 11.3 1039 18901 done 0.56 0.05 0.354 2574 -220.0 1.20 0.058 1739 -581.7 161.9 - - 2212 - - - - - - - - 14.22 14.54 14.40
19208 726.9 10.4 1055 19212 roll 0.56 - - 2578 - 1.23 0.070 1029 -577.2 161.9 - - 2212 - - - - - - - - 14.93 14.54 14.93
19249 722.7 10.4 1057 19253 done 0.56 - - 2578 - 1.12 0.034 1736 631.2 161.9 - - 2212 - - - - - - - - 14.68 14.64 14.70
19570 688.0 10.8 1073 19574 roll 0.56 - - 2578 - 1.15 0.047 2434 607.0 161.9 - - 2212 - - - - - - - - 14.95 14.62 14.95
19614 683.5 10.9 1075 19618 done 0.56 - - 2584 - 1.17 0.058 1745 -588.9 161.9 - - 2212 - - - - - - - - 14.64 14.58 14.68
19932 648.5 10.8 1091 19936 roll 0.56 - - 2589 - 1.23 0.072 1036 -576.4 161.9 - - 2212 - - - - - - - - 14.96 14.54 14.97
19981 644.0 10.7 1093 19986 done 0.56 0.05 0.300 2571 -360.0 1.12 0.037 1746 633.9 161.9 - - 2212 - - - - - - - - 14.31 14.65 14.46
20293 612.9 9.5 1109 20297 roll 0.56 - - 2571 - 1.12 0.047 2429 609.8 161.9 - - 2212 - - - - - - - - 14.97 14.63 14.97
20328 610.8 9.6 1110 20335 done 0.56 - - 2573 - 1.17 0.058 1746 -583.8 161.9 - - 2212 - - - - - - - - 14.55 14.50 14.59
20636 579.9 9.9 1126 20639 roll 0.56 - - 2581 - 1.25 0.072 1026 -576.0 161.9 - - 2212 - - - - - - - - 14.97 14.54 14.97
20680 575.9 9.8 1128 20685 done 0.56 - - 2581 - 1.12 0.035 1726 625.0 161.9 - - 2212 - - - - - - - - 14.69 14.65 14.71
20998 544.0 9.9 1144 21001 roll 0.56 - - 2582 - 1.17 0.046 2437 607.7 161.9 - - 2212 - - - - - - - - 14.97 14.61 14.97
21039 539.8 9.9 1146 21043 done 0.56 0.05 0.329 2570 -240.0 1.20 0.057 1737 -583.3 161.9 - - 2212 - - - - - - - - 14.25 14.59 14.42
21363 511.1 8.9 1162 21366 roll 0.56 - - 2573 - 1.23 0.070 1035 -570.7 161.9 - - 2212 - - - - - - - - 14.96 14.53 14.96
21413 507.2 8.9 1164 21416 done 0.56 - - 2574 - 1.12 0.035 1736 625.9 161.9 - - 2212 - - - - - - - - 14.68 14.64 14.70
21726 477.7 9.2 1180 21730 roll 0.56 - - 2573 - 1.15 0.047 2433 606.1 161.9 - - 2212 - - - - - - - - 14.97 14.60 14.96
21760 475.5 9.2 1181 21769 done 0.56 - - 2578 - 1.20 0.058 1744 -574.2 161.9 - - 2212 - - - - - - - - 14.43 14.38 14.46
22068 444.9 9.7 1197 22069 done 0.56 - - 2578 - - - 1744 - 161.9 - - 2213 - - - - - - - - 14.96 14.96 14.96
22368 416.4 9.3 1212 22369 done 0.56 - - 2579 - - - 1744 - 161.9 - - 2212 - - - - - - - - 14.97 14.97 14.96
22669 388.6 9.2 1227 22670 done 0.56 - - 2579 - - - 1743 - 161.9 - - 2212 - - - - - - - - 14.96 14.96 14.97
22968 361.7 9.0 1242 22972 roll 0.56 - - 2579 - 1.15 0.046 2435 601.7 161.9 - - 2212 - - - - - - - - 14.97 14.58 14.97
22998 359.6 9.1 1243 23003 done 0.56 0.05 0.324 2567 -240.0 1.20 0.058 1732 -585.8 161.9 - - 2212 - - - - - - - - 14.22 14.56 14.39
23312 333.0 8.3 1259 23322 roll 0.56 - - 2570 - 1.23 0.071 1025 -574.8 164.6 4.88 1.424 2196 -3.3 0.144 - - - - - - 14.95 14.73 13.70
23353 329.7 8.3 1261 23358 done 0.56 - - 2570 - 1.12 0.034 1732 631.2 167.0 - - 2197 - - - - - - - - 14.70 14.66 14.72
23671 301.6 9.0 1277 23675 roll 0.56 - - 2571 - 1.17 0.047 2433 599.1 167.0 - - 2197 - - - - - - - - 14.94 14.59 14.94
23721 297.8 9.0 1279 23725 done 0.56 - - 2576 - 1.20 0.060 1737 -580.0 167.0 - - 2197 - - - - - - - - 14.62 14.54 14.64
24034 268.5 9.2 1295 24038 roll 0.56 - - 2581 - 1.23 0.072 1032 -573.2 167.0 - - 2197 - - - - - - - - 14.95 14.50 14.95
24078 264.5 9.2 1297 24086 done 0.56 - - 2581 - 1.12 0.035 1738 630.4 167.0 3.60 1.119 2188 -2.5 0.111 - - - - - - 14.69 14.66 13.71
24395 234.0 9.7 1313 24398 roll 0.56 - - 2582 - 1.15 0.049 2431 602.6 167.0 - - 2188 - - - - - - - - 14.93 14.58 14.93
24444 229.8 9.9 1315 24448 done 0.56 0.05 0.324 2570 -240.0 1.20 0.058 1736 -579.2 167.0 - - 2188 - - - - - - - - 14.23 14.54 14.41
24757 200.5 9.2 1331 24760 roll 0.56 - - 2573 - 1.23 0.071 1035 -569.9 167.0 - - 2188 - - - - - - - - 14.93 14.50 14.95
24811 196.6 9.3 1333 24818 done 0.56 - - 2573 - 1.15 0.036 1735 608.7 167.0 - - 2189 - - - - - - - - 14.44 14.40 14.46
25119 166.0 9.3 1349 25122 roll 0.56 - - 2573 - 1.17 0.048 2435 598.3 167.0 - - 2189 - - - - - - - - 14.94 14.57 14.94
25153 163.9 9.4 1350 25162 done 0.56 - - 2579 - 1.20 0.057 1744 -575.8 167.0 - - 2188 - - - - - - - - 14.41 14.34 14.44
25461 132.7 9.7 1366 25465 roll 0.56 - - 2585 - 1.23 0.071 1036 -575.6 167.0 - - 2189 - - - - - - - - 14.95 14.49 14.95
25531 126.8 9.6 1369 25534 done 0.56 - - 2585 - 1.15 0.037 1751 621.7 167.0 - - 2189 - - - - - - - - 14.64 14.59 14.66
25844 99.3 7.5 1385 25863 done 0.58 - - 2585 - - - 1751 - 181.1 12.93 1.558 2128 -4.7 0.057 - - - - - - 14.95 14.45 13.78
26165 73.9 8.1 1410 26174 roll 0.59 - - 2591 - 1.27 0.073 1028 -569.3 186.3 5.78 1.311 2107 -3.6 0.038 - - - - - - 14.88 14.64 13.74
26239 68.4 7.2 1423 26265 done 0.61 - - 2590 - 1.15 0.036 1737 616.5 206.1 16.40 1.535 2027 -4.9 0.041 - - - - - - 14.60 14.57 13.70
26453 51.8 8.7 1463 26459 done 0.61 - - 2591 - - - 1737 - 206.1 - - 2030 - - - - - - - - 14.76 14.76 14.76
26645 33.7 9.4 1500 26653 roll 0.61 - - 2596 - 1.25 0.072 1036 -560.8 206.1 - - 2029 - - - - - - - - 14.79 14.27 14.79
26697 28.9 8.6 1509 26704 done 0.61 - - 2596 - 1.15 0.036 1745 616.5 206.1 - - 2030 - - - - - - - - 14.56 14.52 14.57
26892 8.1 11.2 1546 26900 roll 0.61 - - 2596 - 1.15 0.050 2422 588.7 206.1 - - 2029 - - - - - - - - 14.81 14.32 14.81
26932 end climb: SURFACE_DEPTH_REACHED
26932 begin surface coast
26938 end surface coast: CONTROL_FINISHED_OK
26938 begin surface
SM 0.82 - - - - -6.41 6.00 0.157 221 36.8 1.08 0.058 1808 -2359.3 206.29 - - 2028 - - - - - - - -