ROAMMIZ Jan22 * SG640 * Dive index * Mission links * Dive 152 * Raw log
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• Previous call tries 1 • 190.83 of 450.00 AH used of 24V (57.59% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.3 deg, depth 1.08 m • Intended pitch -12.6 deg, speed -8.462 cm/s
VBD pumped to 190.10 (SM_CC=190)
• GPS1 time: 64 s
• GPS2 time: 9 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 done -0.47 - - 232 - - - 1821 - -87.6 -80.75 - 3160 - - - - - - - - 14.73 13.56 14.72
95 3.0 -5.8 12 109 roll -0.47 6.30 0.375 2223 316.0 1.23 0.052 1101 -585.4 -87.6 - - 3158 - - - - - - - - 14.29 14.47 14.54
195 18.3 -10.4 30 205 done -0.47 0.05 0.329 2237 280.0 1.20 0.050 1809 590.0 -87.6 - - 3159 - - - - - - - - 14.34 14.45 14.48
394 40.6 -10.3 67 401 roll -0.47 - - 2236 - 1.23 0.070 1105 -572.4 -87.6 - - 3159 - - - - - - - - 14.79 14.51 14.80
459 47.3 -10.2 79 466 done -0.47 - - 2232 - 1.20 0.042 1823 598.3 -87.6 - - 3159 - - - - - - - - 14.59 14.54 14.60
655 65.3 -7.2 116 663 roll -0.47 - - 2227 - 1.15 0.054 2521 607.0 -87.6 - - 3159 - - - - - - - - 14.83 14.56 14.83
867 73.0 -2.2 156 874 done -0.47 - - 2226 - 1.17 0.054 1816 -602.6 -87.6 - - 3159 - - - - - - - - 14.62 14.56 14.63
1057 80.2 -4.7 193 1061 roll -0.47 - - 2227 - 1.20 0.066 1115 -584.2 -87.6 - - 3159 - - - - - - - - 14.85 14.63 14.85
1087 81.4 -5.1 194 1092 done -0.47 0.03 0.436 2230 100.0 1.15 0.041 1813 607.0 -87.6 - - 3159 - - - - - - - - 14.45 14.66 14.61
1400 102.0 -7.9 210 1401 done -0.47 - - 2231 - - - 1813 - -87.6 - - 3159 - - - - - - - - 14.91 14.91 14.91
1700 130.0 -9.8 225 1703 roll -0.47 - - 2231 - 1.20 0.069 1116 -580.8 -87.6 - - 3159 - - - - - - - - 14.97 14.73 14.97
1741 134.2 -9.8 227 1745 done -0.47 - - 2227 - 1.15 0.041 1819 611.3 -87.6 - - 3159 - - - - - - - - 14.80 14.76 14.81
2062 167.7 -10.6 243 2064 done -0.47 - - 2227 - - - 1819 - -87.6 - - 3158 - - - - - - - - 15.00 15.00 15.00
2362 201.0 -11.2 258 2366 roll -0.47 - - 2227 - 1.20 0.067 1117 -585.0 -87.6 - - 3158 - - - - - - - - 15.02 14.77 15.02
2406 205.7 -11.4 260 2412 done -0.47 0.05 0.428 2238 220.0 1.17 0.040 1832 611.1 -87.6 - - 3158 - - - - - - - - 14.64 14.83 14.84
2725 239.5 -10.4 276 2728 roll -0.47 - - 2234 - 1.10 0.054 2512 618.2 -87.6 - - 3158 - - - - - - - - 15.02 14.80 15.03
2793 245.7 -10.3 279 2798 done -0.47 - - 2235 - 1.12 0.054 1822 -616.1 -87.6 - - 3159 - - - - - - - - 14.85 14.81 14.87
3107 278.2 -10.0 295 3111 roll -0.47 - - 2235 - 1.20 0.068 1115 -589.2 -87.6 - - 3158 - - - - - - - - 15.04 14.80 15.04
3157 282.5 -10.0 297 3161 done -0.47 - - 2229 - 1.12 0.041 1812 622.3 -87.6 - - 3158 - - - - - - - - 14.87 14.83 14.89
3470 314.0 -9.7 313 3471 done -0.47 - - 2229 - - - 1812 - -87.6 - - 3158 - - - - - - - - 15.05 15.05 15.05
3770 343.7 -9.8 328 3773 roll -0.47 - - 2224 - 1.12 0.051 2514 626.8 -87.6 - - 3158 - - - - - - - - 15.05 14.84 15.06
3799 345.7 -9.8 329 3802 done -0.47 - - 2223 - 1.15 0.054 1812 -610.4 -87.6 - - 3158 - - - - - - - - 14.88 14.82 14.89
4111 376.6 -9.6 345 4112 done -0.47 - - 2223 - - - 1812 - -87.6 - - 3159 - - - - - - - - 15.06 15.07 15.07
4411 403.7 -8.7 360 4415 roll -0.47 - - 2223 - 1.17 0.067 1120 -591.5 -87.6 - - 3158 - - - - - - - - 15.07 14.83 15.07
4441 405.6 -8.6 361 4445 done -0.47 0.05 0.332 2236 260.0 1.12 0.041 1818 623.2 -87.6 - - 3158 - - - - - - - - 14.66 14.86 14.81
4754 430.4 -7.4 377 4755 done -0.47 - - 2236 - - - 1818 - -87.6 - - 3159 - - - - - - - - 15.07 15.07 15.07
5055 450.9 -6.6 392 5059 roll -0.47 - - 2237 - 1.20 0.069 1116 -585.0 -87.6 - - 3158 - - - - - - - - 15.07 14.83 15.07
5099 453.8 -6.7 394 5104 done -0.47 - - 2232 - 1.12 0.040 1812 621.4 -87.6 - - 3158 - - - - - - - - 14.91 14.87 14.93
5417 474.8 -6.3 410 5420 roll -0.47 - - 2227 - 1.15 0.051 2522 617.4 -87.6 - - 3158 - - - - - - - - 15.07 14.86 15.08
5460 477.5 -6.4 412 5465 done -0.47 - - 2227 - 1.15 0.052 1820 -610.4 -87.6 - - 3158 - - - - - - - - 14.90 14.85 14.91
5781 497.5 -6.3 428 5784 roll -0.47 - - 2227 - 1.20 0.070 1118 -585.0 -87.6 - - 3158 - - - - - - - - 15.07 14.83 15.07
5810 499.0 -6.3 429 5814 done -0.47 0.03 0.435 2232 166.7 1.15 0.041 1824 613.9 -87.6 - - 3158 - - - - - - - - 14.65 14.87 14.80
6123 518.1 -6.0 445 6127 roll -0.47 - - 2229 - 1.12 0.053 2520 621.4 -87.6 - - 3158 - - - - - - - - 15.08 14.83 15.08
6157 519.4 -5.9 446 6165 done -0.47 - - 2229 - 1.15 0.054 1822 -607.0 -87.6 - - 3158 - - - - - - - - 14.83 14.78 14.85
6465 538.9 -6.2 462 6466 done -0.47 - - 2229 - - - 1822 - -87.6 - - 3158 - - - - - - - - 15.08 15.08 15.08
6765 558.7 -6.7 477 6768 roll -0.47 - - 2224 - 1.12 0.050 2515 618.7 -87.6 - - 3159 - - - - - - - - 15.08 14.87 15.09
6799 560.1 -6.7 478 6806 done -0.47 - - 2223 - 1.15 0.054 1819 -605.2 -87.6 - - 3159 - - - - - - - - 14.83 14.78 14.85
7107 582.3 -7.0 494 7108 done -0.47 - - 2223 - - - 1819 - -87.6 - - 3159 - - - - - - - - 15.08 15.08 15.09
7406 603.4 -7.1 509 7408 done -0.47 - - 2224 - - - 1819 - -87.6 - - 3159 - - - - - - - - 15.08 15.09 15.09
7707 624.7 -7.0 524 7710 roll -0.47 - - 2218 - 1.12 0.051 2513 619.6 -87.6 - - 3159 - - - - - - - - 15.09 14.85 15.09
7741 626.2 -7.0 525 7749 done -0.47 0.05 0.327 2238 400.0 1.15 0.056 1816 -606.1 -87.6 - - 3160 - - - - - - - - 14.62 14.78 14.76
8049 646.7 -6.3 541 8052 roll -0.47 - - 2237 - 1.20 0.073 1116 -583.3 -87.6 - - 3160 - - - - - - - - 15.09 14.83 15.09
8118 650.8 -6.5 544 8122 done -0.47 - - 2233 - 1.15 0.041 1823 614.8 -87.6 - - 3160 - - - - - - - - 14.90 14.86 14.92
8431 671.4 -6.5 560 8434 roll -0.47 - - 2229 - 1.12 0.051 2518 620.5 -87.6 - - 3160 - - - - - - - - 15.08 14.87 15.09
8465 672.8 -6.5 561 8473 done -0.47 - - 2228 - 1.15 0.055 1824 -603.5 -87.6 - - 3160 - - - - - - - - 14.83 14.78 14.84
8773 694.5 -6.8 577 8777 roll -0.47 - - 2228 - 1.23 0.073 1108 -582.1 -87.6 - - 3160 - - - - - - - - 15.09 14.83 15.09
8823 697.5 -7.1 579 8826 done -0.47 - - 2223 - 1.15 0.042 1816 615.7 -87.6 - - 3160 - - - - - - - - 14.90 14.86 14.92
9135 720.2 -7.1 595 9139 roll -0.47 - - 2217 - 1.12 0.053 2518 626.8 -87.6 - - 3160 - - - - - - - - 15.08 14.85 15.09
9185 723.1 -7.0 597 9189 done -0.47 0.05 0.329 2237 400.0 1.15 0.057 1819 -607.8 -87.6 - - 3160 - - - - - - - - 14.66 14.84 14.82
9497 744.0 -6.5 613 9501 roll -0.47 - - 2237 - 1.20 0.072 1116 -585.8 -87.6 - - 3160 - - - - - - - - 15.07 14.82 15.09
9562 748.2 -6.7 616 9566 done -0.47 - - 2233 - 1.15 0.043 1824 615.7 -87.6 - - 3160 - - - - - - - - 14.90 14.86 14.92
9879 769.7 -6.9 632 9881 done -0.47 - - 2233 - - - 1824 - -87.6 - - 3161 - - - - - - - - 15.08 15.09 15.08
10179 790.3 -6.8 647 10183 roll -0.47 - - 2231 - 1.23 0.072 1111 -579.7 -87.6 - - 3161 - - - - - - - - 15.08 14.82 15.08
10234 793.3 -7.0 649 10242 done -0.47 - - 2227 - 1.15 0.041 1821 617.4 -87.6 - - 3161 - - - - - - - - 14.84 14.78 14.85
10542 816.0 -7.1 665 10543 done -0.47 - - 2227 - - - 1821 - -87.6 - - 3161 - - - - - - - - 15.08 15.09 15.08
10842 837.4 -7.1 680 10843 done -0.47 - - 2227 - - - 1820 - -87.6 - - 3161 - - - - - - - - 15.08 15.09 15.09
11142 858.7 -7.1 695 11146 roll -0.47 - - 2227 - 1.20 0.072 1121 -582.5 -87.6 - - 3161 - - - - - - - - 15.09 14.83 15.09
11184 861.9 -7.2 697 11188 done -0.47 - - 2222 - 1.12 0.043 1814 618.7 -87.6 - - 3161 - - - - - - - - 14.90 14.86 14.92
11506 885.4 -7.3 713 11508 done -0.47 0.05 0.457 2238 320.0 - - 1813 - -87.6 - - 3161 - - - - - - - - 14.70 14.95 14.90
11806 905.3 -6.5 728 11810 roll -0.47 - - 2238 - 1.20 0.071 1120 -577.5 -87.6 - - 3161 - - - - - - - - 15.08 14.83 15.09
11848 908.1 -6.7 730 11851 done -0.47 - - 2235 - 1.15 0.042 1826 613.9 -87.6 - - 3161 - - - - - - - - 14.91 14.86 14.92
12169 929.4 -6.6 746 12171 done -0.47 - - 2234 - - - 1827 - -87.6 - - 3161 - - - - - - - - 15.08 15.09 15.08
12470 949.5 -6.7 761 12473 roll -0.47 - - 2234 - 1.23 0.072 1114 -579.7 -87.6 - - 3161 - - - - - - - - 15.09 14.82 15.09
12512 952.5 -6.9 763 12515 done -0.47 - - 2229 - 1.15 0.043 1821 614.8 -87.6 - - 3161 - - - - - - - - 14.90 14.87 14.92
12834 974.6 -6.9 779 12835 done -0.47 - - 2229 - - - 1821 - -87.6 - - 3161 - - - - - - - - 15.08 15.09 15.09
13073 end dive: TARGET_DEPTH_EXCEEDED
13073 begin apogee
13078 991.0 -6.9 791 13165 done -0.14 0.30 0.238 2340 370.0 - - 1709 - - 84.80 3.068 2798 -4.3 0.272 - - - - - - 14.73 13.72 12.47
13166 end apogee: CONTROL_FINISHED_OK
13167 begin climb
13168 993.8 - 795 13257 roll 0.47 0.55 0.175 2540 363.6 1.30 0.044 2431 555.4 87.6 78.07 2.443 2440 -4.6 0.367 - - - - - - 13.70 13.31 12.68
13284 988.6 5.5 801 13328 done 0.52 - - 2545 - 1.20 0.059 1773 -548.3 132.5 40.10 2.351 2257 -4.6 0.377 - - - - - - 13.70 13.66 12.69
13646 951.4 10.5 819 13650 roll 0.52 - - 2551 - 1.33 0.073 1034 -555.6 132.5 - - 2261 - - - - - - - - 14.45 14.25 14.46
13708 945.0 10.3 822 13712 done 0.52 - - 2551 - 1.17 0.036 1744 606.8 132.5 - - 2261 - - - - - - - - 14.37 14.33 14.38
14030 910.1 11.1 838 14033 roll 0.52 - - 2551 - 1.15 0.048 2432 598.3 132.5 - - 2261 - - - - - - - - 14.74 14.54 14.74
14079 905.5 11.2 840 14082 done 0.52 - - 2556 - 1.17 0.060 1746 -586.3 132.5 - - 2261 - - - - - - - - 14.58 14.54 14.61
14391 870.0 11.2 856 14395 roll 0.52 - - 2562 - 1.25 0.073 1028 -574.4 132.5 - - 2261 - - - - - - - - 14.85 14.62 14.86
14425 867.6 11.1 857 14433 done 0.52 - - 2562 - 1.15 0.037 1739 618.3 132.5 - - 2260 - - - - - - - - 14.64 14.62 14.66
14733 831.4 11.3 873 14736 roll 0.52 - - 2562 - 1.15 0.049 2432 602.6 132.5 - - 2261 - - - - - - - - 14.92 14.72 14.92
14796 824.3 11.4 876 14799 done 0.52 - - 2567 - 1.17 0.060 1744 -588.0 132.5 - - 2260 - - - - - - - - 14.75 14.71 14.77
15117 787.3 11.8 892 15122 roll 0.52 - - 2573 - 1.23 0.072 1025 -584.6 132.5 - - 2261 - - - - - - - - 14.97 14.73 14.97
15141 784.6 11.8 893 15146 done 0.52 0.03 0.379 2564 -300.0 1.12 0.035 1741 639.3 132.5 - - 2260 - - - - - - - - 14.59 14.77 14.72
15460 748.3 11.3 909 15463 roll 0.52 - - 2564 - 1.12 0.047 2428 613.4 132.5 - - 2261 - - - - - - - - 15.00 14.78 15.00
15534 741.1 11.5 912 15541 done 0.52 - - 2567 - 1.17 0.057 1735 -592.3 132.5 - - 2260 - - - - - - - - 14.76 14.72 14.78
15841 704.4 11.5 928 15845 roll 0.52 - - 2567 - 1.12 0.046 2421 612.5 132.5 - - 2260 - - - - - - - - 15.01 14.81 15.02
15870 701.9 11.6 929 15874 done 0.52 - - 2572 - 1.15 0.057 1742 -590.4 132.5 - - 2260 - - - - - - - - 14.84 14.79 14.85
16183 664.7 11.6 945 16186 roll 0.52 - - 2577 - 1.20 0.071 1030 -593.3 132.5 - - 2260 - - - - - - - - 15.02 14.79 15.03
16208 662.2 11.5 946 16212 done 0.52 0.05 0.304 2560 -340.0 1.10 0.036 1734 640.0 132.5 - - 2260 - - - - - - - - 14.66 14.83 14.79
16525 627.6 10.7 962 16529 roll 0.52 - - 2560 - 1.15 0.047 2432 607.0 132.5 - - 2260 - - - - - - - - 15.03 14.83 15.04
16595 620.9 10.8 965 16599 done 0.52 - - 2563 - 1.15 0.057 1742 -600.0 132.5 - - 2260 - - - - - - - - 14.87 14.83 14.88
16908 586.7 10.6 981 16909 done 0.52 - - 2564 - - - 1742 - 132.5 - - 2261 - - - - - - - - 15.04 15.05 15.05
17208 555.0 10.5 996 17211 roll 0.52 - - 2564 - 1.12 0.046 2431 615.2 132.5 - - 2260 - - - - - - - - 15.06 14.84 15.06
17242 552.8 10.5 997 17249 done 0.52 - - 2569 - 1.17 0.059 1735 -594.9 132.5 - - 2261 - - - - - - - - 14.81 14.76 14.83
17549 518.0 10.9 1013 17551 done 0.52 - - 2569 - - - 1736 - 132.5 - - 2260 - - - - - - - - 15.06 15.07 15.07
17849 485.5 10.8 1028 17853 roll 0.52 - - 2569 - 1.12 0.045 2426 616.1 132.5 - - 2261 - - - - - - - - 15.05 14.85 15.07
17911 478.8 10.9 1031 17916 done 0.52 0.03 0.438 2565 -133.3 1.15 0.058 1739 -597.4 132.5 - - 2261 - - - - - - - - 14.64 14.84 14.80
18235 445.4 10.3 1047 18236 done 0.52 - - 2565 - - - 1740 - 132.5 - - 2261 - - - - - - - - 15.06 15.07 15.07
18534 414.0 10.6 1062 18538 roll 0.52 - - 2565 - 1.12 0.046 2429 615.2 132.5 - - 2261 - - - - - - - - 15.07 14.86 15.07
18563 411.7 10.6 1063 18567 done 0.52 - - 2570 - 1.15 0.056 1739 -600.0 132.5 - - 2261 - - - - - - - - 14.90 14.84 14.92
18876 376.8 11.1 1079 18877 done 0.52 - - 2570 - - - 1739 - 132.5 - - 2260 - - - - - - - - 15.07 15.08 15.07
19175 343.8 10.9 1094 19180 roll 0.52 - - 2570 - 1.12 0.047 2427 614.3 132.5 - - 2261 - - - - - - - - 15.08 14.86 15.08
19218 339.2 10.8 1096 19223 done 0.52 0.05 0.334 2557 -260.0 1.15 0.057 1739 -598.3 132.5 - - 2261 - - - - - - - - 14.67 14.85 14.83
19541 307.2 9.9 1112 19544 roll 0.52 - - 2561 - 1.20 0.068 1026 -594.2 132.5 - - 2261 - - - - - - - - 15.07 14.83 15.07
19575 305.1 9.8 1113 19583 done 0.52 - - 2561 - 1.12 0.035 1733 631.2 132.5 - - 2261 - - - - - - - - 14.84 14.81 14.86
19882 272.6 10.2 1129 19885 roll 0.52 - - 2560 - 1.15 0.049 2434 609.6 132.5 - - 2261 - - - - - - - - 15.07 14.86 15.08
19945 266.2 10.4 1132 19948 done 0.52 - - 2566 - 1.17 0.057 1737 -595.7 132.5 - - 2261 - - - - - - - - 14.90 14.85 14.91
20266 233.0 10.1 1148 20270 roll 0.52 - - 2571 - 1.20 0.070 1027 -591.7 132.5 - - 2261 - - - - - - - - 15.08 14.83 15.08
20309 228.7 10.1 1150 20312 done 0.52 - - 2572 - 1.12 0.037 1739 635.7 132.5 - - 2261 - - - - - - - - 14.90 14.88 14.92
20630 196.3 10.1 1166 20634 roll 0.52 - - 2572 - 1.12 0.049 2427 614.3 132.5 - - 2261 - - - - - - - - 15.07 14.85 15.08
20695 190.0 10.2 1169 20699 done 0.52 0.05 0.332 2559 -260.0 1.15 0.059 1743 -594.8 132.5 - - 2261 - - - - - - - - 14.68 14.84 14.82
21012 159.1 9.9 1185 21016 roll 0.52 - - 2563 - 1.23 0.069 1023 -585.4 132.5 - - 2261 - - - - - - - - 15.07 14.83 15.08
21053 155.2 9.8 1187 21057 done 0.52 - - 2563 - 1.12 0.035 1743 642.9 132.5 - - 2261 - - - - - - - - 14.91 14.87 14.92
21374 122.8 10.2 1203 21378 roll 0.52 - - 2564 - 1.10 0.049 2422 617.3 132.5 - - 2261 - - - - - - - - 15.08 14.85 15.08
21416 118.6 10.1 1205 21419 done 0.52 - - 2569 - 1.15 0.058 1737 -595.7 132.5 - - 2262 - - - - - - - - 14.89 14.85 14.91
21737 85.0 11.1 1221 21739 done 0.52 - - 2569 - - - 1737 - 132.5 - - 2261 - - - - - - - - 15.08 15.08 15.08
22043 52.8 9.4 1272 22052 roll 0.52 - - 2568 - 1.15 0.047 2435 607.0 132.5 - - 2262 - - - - - - - - 15.02 14.74 15.03
22080 49.7 8.3 1278 22089 done 0.53 0.03 0.428 2565 -100.0 1.17 0.057 1738 -595.7 135.2 4.57 1.305 2246 -3.5 0.026 - - - - - - 14.54 14.73 13.99
22279 35.3 6.9 1315 22303 roll 0.56 - - 2569 - 1.23 0.069 1031 -574.8 159.9 19.08 1.550 2144 -5.3 0.024 - - - - - - 14.96 14.61 13.95
22387 27.3 8.0 1334 22402 done 0.56 - - 2569 - 1.15 0.038 1738 614.8 167.1 5.88 1.271 2118 -4.4 0.019 - - - - - - 14.61 14.56 13.89
22585 9.6 9.6 1372 22593 roll 0.56 - - 2569 - 1.17 0.047 2432 593.2 167.1 - - 2118 - - - - - - - - 14.82 14.56 14.83
22616 6.4 10.6 1377 22623 done 0.56 - - 2574 - 1.17 0.054 1744 -588.0 167.1 - - 2118 - - - - - - - - 14.59 14.55 14.61
22649 end climb: SURFACE_DEPTH_REACHED
22649 begin surface coast
22675 end surface coast: CONTROL_FINISHED_OK
22676 begin surface
SM 5.05 - - - - -6.43 5.47 0.073 261 47.7 0.10 0.125 1827 -32990.0 190.10 13.73 0.256 2023 147.3 -0.297 - - - - - -