ROAMMIZ Jan22 * SG640 * Dive index * Mission links * Dive 170 * Raw log
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• Previous call tries 1 • 196.48 of 450.00 AH used of 24V (56.34% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.6 deg, depth 0.96 m • Intended pitch -12.6 deg, speed -8.462 cm/s
VBD pumped to 190.10 (SM_CC=190)
• GPS1 time: 45 s
• GPS2 time: 10 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
7 - - - 87 done -0.47 - - 231 - - - 1846 - -87.6 -77.05 - 3159 - - - - - - - - 14.76 13.51 14.75
89 2.7 -5.2 11 104 roll -0.47 6.38 0.384 2226 312.7 1.27 0.048 1103 -585.0 -87.6 - - 3159 - - - - - - - - 14.31 14.50 14.57
180 16.3 -12.4 27 187 done -0.47 - - 2221 - 1.15 0.041 1786 593.9 -87.6 - - 3160 - - - - - - - - 14.55 14.51 14.56
374 40.4 -12.5 64 382 roll -0.47 0.05 0.451 2236 300.0 1.20 0.064 1110 -563.3 -87.6 - - 3160 - - - - - - - - 14.44 14.53 14.62
507 56.2 -11.5 89 515 done -0.47 - - 2231 - 1.20 0.043 1823 594.2 -87.6 - - 3160 - - - - - - - - 14.60 14.55 14.62
701 76.4 -9.3 126 708 roll -0.47 - - 2226 - 1.15 0.054 2517 603.5 -87.6 - - 3160 - - - - - - - - 14.85 14.55 14.85
795 83.8 -8.1 136 799 done -0.47 - - 2226 - 1.17 0.055 1812 -602.6 -87.6 - - 3161 - - - - - - - - 14.68 14.64 14.70
1108 111.4 -8.8 152 1112 roll -0.47 - - 2225 - 1.20 0.067 1114 -581.7 -87.6 - - 3161 - - - - - - - - 14.93 14.68 14.94
1192 118.4 -8.5 156 1197 done -0.47 0.03 0.435 2230 166.7 1.17 0.042 1823 606.0 -87.6 - - 3161 - - - - - - - - 14.50 14.73 14.67
1510 146.1 -9.0 172 1514 roll -0.47 - - 2226 - 1.12 0.054 2513 616.1 -87.6 - - 3161 - - - - - - - - 14.98 14.74 14.98
1571 151.6 -9.0 175 1575 done -0.47 - - 2226 - 1.15 0.056 1818 -604.3 -87.6 - - 3161 - - - - - - - - 14.79 14.73 14.81
1893 181.2 -9.2 191 1896 roll -0.47 - - 2226 - 1.20 0.070 1118 -583.3 -87.6 - - 3161 - - - - - - - - 15.01 14.75 15.01
1954 186.8 -9.1 194 1959 done -0.47 0.03 0.440 2230 133.3 1.15 0.041 1826 615.7 -87.6 - - 3161 - - - - - - - - 14.57 14.78 14.72
2277 214.2 -8.6 210 2280 roll -0.47 - - 2226 - 1.12 0.054 2522 621.4 -87.6 - - 3161 - - - - - - - - 15.02 14.77 15.03
2301 216.1 -8.6 211 2305 done -0.47 - - 2226 - 1.15 0.054 1822 -608.7 -87.6 - - 3160 - - - - - - - - 14.84 14.79 14.86
2619 244.2 -8.6 227 2623 roll -0.47 - - 2226 - 1.20 0.069 1117 -587.5 -87.6 - - 3160 - - - - - - - - 15.04 14.77 15.04
2668 248.0 -8.8 229 2673 done -0.47 0.05 0.333 2239 260.0 1.15 0.041 1821 612.2 -87.6 - - 3160 - - - - - - - - 14.61 14.81 14.77
2981 273.8 -7.9 245 2983 done -0.47 - - 2239 - - - 1821 - -87.6 - - 3160 - - - - - - - - 15.04 15.05 15.05
3282 296.9 -7.5 260 3285 roll -0.47 - - 2239 - 1.23 0.069 1117 -572.4 -87.6 - - 3160 - - - - - - - - 15.05 14.79 15.06
3323 300.2 -7.6 262 3327 done -0.47 - - 2235 - 1.15 0.041 1822 613.0 -87.6 - - 3160 - - - - - - - - 14.88 14.83 14.89
3646 324.4 -7.5 278 3647 done -0.47 - - 2236 - - - 1823 - -87.6 - - 3160 - - - - - - - - 15.07 15.07 15.07
3945 347.2 -7.6 293 3946 done -0.47 - - 2235 - - - 1823 - -87.6 - - 3160 - - - - - - - - 15.07 15.07 15.07
4245 369.9 -7.5 308 4249 roll -0.47 - - 2235 - 1.20 0.068 1121 -585.0 -87.6 - - 3160 - - - - - - - - 15.07 14.81 15.08
4287 373.1 -7.6 310 4290 done -0.47 - - 2229 - 1.12 0.041 1812 617.0 -87.6 - - 3160 - - - - - - - - 14.88 14.85 14.90
4609 398.4 -7.8 326 4612 roll -0.47 - - 2225 - 1.15 0.054 2521 616.5 -87.6 - - 3160 - - - - - - - - 15.07 14.83 15.07
4643 400.1 -7.8 327 4650 done -0.47 - - 2224 - 1.15 0.053 1824 -606.1 -87.6 - - 3160 - - - - - - - - 14.80 14.76 14.83
4951 426.0 -8.1 343 4954 roll -0.47 - - 2224 - 1.20 0.070 1118 -588.3 -87.6 - - 3160 - - - - - - - - 15.07 14.81 15.08
4980 427.8 -8.2 344 4985 done -0.47 0.05 0.329 2237 260.0 1.15 0.041 1827 616.5 -87.6 - - 3160 - - - - - - - - 14.64 14.85 14.80
5293 451.9 -7.5 360 5297 roll -0.47 - - 2235 - 1.10 0.052 2508 619.1 -87.6 - - 3160 - - - - - - - - 15.07 14.83 15.07
5323 453.5 -7.5 361 5326 done -0.47 - - 2234 - 1.12 0.056 1823 -611.6 -87.6 - - 3160 - - - - - - - - 14.88 14.83 14.90
5635 478.3 -7.7 377 5636 done -0.47 - - 2234 - - - 1823 - -87.6 - - 3160 - - - - - - - - 15.08 15.08 15.08
5937 501.1 -7.5 392 5938 done -0.47 - - 2234 - - - 1823 - -87.6 - - 3160 - - - - - - - - 15.08 15.09 15.09
6236 523.4 -7.4 407 6237 done -0.47 - - 2234 - - - 1821 - -87.6 - - 3160 - - - - - - - - 15.09 15.09 15.09
6535 545.4 -7.3 422 6536 done -0.47 - - 2234 - - - 1823 - -87.6 - - 3160 - - - - - - - - 15.09 15.09 15.09
6835 567.1 -7.2 437 6836 done -0.47 - - 2234 - - - 1822 - -87.6 - - 3160 - - - - - - - - 15.09 15.09 15.09
7137 588.2 -7.0 452 7138 done -0.47 - - 2234 - - - 1821 - -87.6 - - 3161 - - - - - - - - 15.09 15.09 15.09
7435 609.0 -6.8 467 7437 done -0.47 - - 2234 - - - 1822 - -87.6 - - 3161 - - - - - - - - 15.09 15.09 15.09
7735 629.5 -6.8 482 7736 done -0.47 - - 2234 - - - 1822 - -87.6 - - 3161 - - - - - - - - 15.09 15.09 15.09
8035 649.7 -6.7 497 8036 done -0.47 - - 2233 - - - 1822 - -87.6 - - 3162 - - - - - - - - 15.09 15.10 15.09
8337 669.5 -6.5 512 8338 done -0.47 - - 2234 - - - 1822 - -87.6 - - 3162 - - - - - - - - 15.09 15.09 15.09
8635 689.1 -6.5 527 8637 done -0.47 - - 2235 - - - 1822 - -87.6 - - 3162 - - - - - - - - 15.09 15.09 15.09
8935 708.9 -6.6 542 8936 done -0.47 - - 2234 - - - 1822 - -87.6 - - 3162 - - - - - - - - 15.09 15.09 15.09
9235 729.0 -6.7 557 9236 done -0.47 - - 2234 - - - 1821 - -87.6 - - 3162 - - - - - - - - 15.09 15.10 15.10
9537 748.7 -6.5 572 9538 done -0.47 - - 2234 - - - 1822 - -87.6 - - 3162 - - - - - - - - 15.09 15.10 15.10
9836 768.2 -6.5 587 9837 done -0.47 - - 2234 - - - 1822 - -87.6 - - 3162 - - - - - - - - 15.09 15.10 15.09
10135 787.7 -6.5 602 10139 roll -0.47 - - 2229 - 1.12 0.052 2515 618.7 -87.6 - - 3162 - - - - - - - - 15.10 14.85 15.09
10165 789.2 -6.4 603 10168 done -0.47 - - 2229 - 1.15 0.057 1818 -606.1 -87.6 - - 3162 - - - - - - - - 14.89 14.82 14.92
10477 810.5 -6.7 619 10479 done -0.47 - - 2229 - - - 1818 - -87.6 - - 3162 - - - - - - - - 15.09 15.09 15.09
10777 830.9 -6.8 634 10781 roll -0.47 - - 2224 - 1.12 0.053 2514 621.4 -87.6 - - 3162 - - - - - - - - 15.09 14.84 15.09
10819 833.7 -6.8 636 10822 done -0.47 - - 2223 - 1.15 0.058 1816 -607.0 -87.6 - - 3162 - - - - - - - - 14.88 14.83 14.91
11141 856.2 -7.0 652 11144 roll -0.47 - - 2223 - 1.20 0.073 1115 -584.2 -87.6 - - 3162 - - - - - - - - 15.09 14.82 15.09
11190 859.2 -7.1 654 11195 done -0.47 0.05 0.328 2237 280.0 1.15 0.043 1825 617.4 -87.6 - - 3162 - - - - - - - - 14.64 14.85 14.79
11503 879.3 -6.2 670 11504 done -0.47 - - 2237 - - - 1824 - -87.6 - - 3162 - - - - - - - - 15.08 15.09 15.09
11805 898.0 -6.2 685 11806 done -0.47 - - 2237 - - - 1824 - -87.6 - - 3162 - - - - - - - - 15.09 15.09 15.09
12103 916.5 -6.1 700 12107 roll -0.47 - - 2237 - 1.23 0.073 1115 -576.4 -87.6 - - 3162 - - - - - - - - 15.09 14.81 15.09
12132 917.9 -6.1 701 12136 done -0.47 - - 2234 - 1.12 0.042 1815 625.0 -87.6 - - 3162 - - - - - - - - 14.89 14.85 14.91
12445 937.9 -6.3 717 12446 done -0.47 - - 2234 - - - 1814 - -87.6 - - 3162 - - - - - - - - 15.09 15.09 15.09
12745 956.5 -6.3 732 12746 done -0.47 - - 2234 - - - 1815 - -87.6 - - 3162 - - - - - - - - 15.09 15.09 15.09
13045 975.5 -6.3 747 13046 done -0.47 - - 2234 - - - 1814 - -87.6 - - 3162 - - - - - - - - 15.09 15.09 15.09
13283 end dive: TARGET_DEPTH_EXCEEDED
13283 begin apogee
13288 990.8 -6.4 759 13366 done -0.14 0.30 0.243 2344 366.7 - - 1719 - - 75.60 2.492 2797 -4.8 0.362 - - - - - - 14.70 14.12 13.27
13367 end apogee: CONTROL_FINISHED_OK
13367 begin climb
13369 993.1 - 763 13450 roll 0.47 0.52 0.174 2547 390.4 1.20 0.073 1056 -552.5 87.6 75.50 2.404 2440 -4.7 0.368 - - - - - - 14.05 13.69 13.01
13617 976.7 7.9 775 13630 done 0.48 - - 2547 - 1.12 0.036 1738 608.9 95.6 8.35 2.053 2408 -3.8 0.344 - - - - - - 14.29 14.26 13.32
13931 948.6 9.1 790 13934 roll 0.48 - - 2552 - 1.17 0.074 1065 -575.2 95.6 - - 2406 - - - - - - - - 14.68 14.45 14.68
14113 932.5 8.5 799 14117 done 0.48 - - 2552 - 1.08 0.037 1734 619.4 95.6 - - 2406 - - - - - - - - 14.62 14.58 14.63
14434 903.0 9.2 815 14438 roll 0.48 - - 2553 - 1.15 0.049 2431 606.1 95.6 - - 2407 - - - - - - - - 14.88 14.66 14.88
14508 897.3 9.4 818 14516 done 0.48 - - 2557 - 1.12 0.060 1765 -594.6 95.6 - - 2406 - - - - - - - - 14.65 14.59 14.66
14816 867.8 9.1 834 14820 roll 0.48 - - 2563 - 1.25 0.073 1037 -582.4 95.6 - - 2406 - - - - - - - - 14.93 14.69 14.94
14871 864.0 9.2 836 14880 done 0.48 0.05 0.297 2545 -360.0 1.12 0.036 1745 632.1 95.6 - - 2406 - - - - - - - - 14.50 14.68 14.64
15179 837.7 8.1 852 15190 roll 0.48 - - 2545 - 1.15 0.047 2437 601.7 100.9 5.75 1.840 2386 -3.5 0.299 - - - - - - 14.97 14.74 13.78
15231 834.4 8.2 854 15242 done 0.49 - - 2549 - 1.17 0.059 1744 -592.3 105.6 5.82 1.815 2367 -3.3 0.283 - - - - - - 14.69 14.64 13.69
15561 804.6 8.8 871 15562 done 0.49 - - 2549 - - - 1744 - 105.6 - - 2367 - - - - - - - - 14.92 14.93 14.93
15860 778.5 8.8 886 15864 roll 0.49 - - 2549 - 1.12 0.046 2421 604.5 105.6 - - 2367 - - - - - - - - 14.97 14.76 14.97
15889 776.5 8.9 887 15893 done 0.49 - - 2554 - 1.15 0.057 1741 -591.3 105.6 - - 2367 - - - - - - - - 14.80 14.74 14.81
16202 747.2 9.3 903 16205 roll 0.49 - - 2560 - 1.23 0.072 1023 -583.7 105.6 - - 2367 - - - - - - - - 15.00 14.75 15.00
16235 745.2 9.3 904 16244 done 0.49 0.03 0.375 2550 -333.3 1.12 0.035 1741 641.1 105.6 - - 2367 - - - - - - - - 14.50 14.69 14.66
16543 716.4 8.9 920 16547 roll 0.49 - - 2550 - 1.12 0.047 2431 616.1 105.6 - - 2367 - - - - - - - - 15.01 14.81 15.01
16598 712.5 9.1 922 16606 done 0.49 - - 2555 - 1.17 0.057 1735 -594.9 105.6 - - 2367 - - - - - - - - 14.77 14.72 14.78
16905 682.7 9.4 938 16909 roll 0.49 - - 2560 - 1.20 0.071 1028 -589.2 105.6 - - 2367 - - - - - - - - 15.03 14.77 15.03
16934 680.7 9.4 939 16938 done 0.49 - - 2560 - 1.10 0.036 1728 636.4 105.6 - - 2367 - - - - - - - - 14.86 14.82 14.87
17247 650.3 9.4 955 17250 roll 0.49 - - 2561 - 1.15 0.047 2430 610.4 105.6 - - 2367 - - - - - - - - 15.04 14.82 15.04
17315 644.4 9.5 958 17320 done 0.49 0.05 0.324 2547 -280.0 1.15 0.059 1740 -600.0 105.6 - - 2367 - - - - - - - - 14.62 14.80 14.77
17628 616.9 8.5 974 17632 roll 0.49 - - 2553 - 1.20 0.070 1032 -590.0 105.6 - - 2367 - - - - - - - - 15.04 14.79 15.04
17678 613.2 8.6 976 17682 done 0.49 - - 2553 - 1.12 0.036 1740 632.1 105.6 - - 2367 - - - - - - - - 14.88 14.83 14.90
17991 585.0 8.9 992 17995 roll 0.49 - - 2553 - 1.12 0.048 2431 617.0 105.6 - - 2368 - - - - - - - - 15.04 14.83 15.05
18040 581.1 9.0 994 18045 done 0.49 - - 2559 - 1.15 0.057 1747 -594.8 105.6 - - 2368 - - - - - - - - 14.86 14.81 14.92
18353 551.6 9.2 1010 18357 roll 0.49 - - 2564 - 1.23 0.072 1029 -583.7 105.6 - - 2368 - - - - - - - - 15.05 14.80 15.05
18397 547.8 9.2 1012 18402 done 0.49 0.05 0.385 2547 -340.0 1.15 0.036 1749 626.1 105.6 - - 2368 - - - - - - - - 14.68 14.87 14.88
18715 520.3 8.6 1028 18719 roll 0.49 - - 2547 - 1.10 0.047 2419 609.1 105.6 - - 2368 - - - - - - - - 15.05 14.83 15.06
18777 514.9 8.7 1031 18781 done 0.49 - - 2552 - 1.15 0.059 1736 -593.9 105.6 - - 2368 - - - - - - - - 14.88 14.81 14.89
19099 487.0 8.8 1047 19102 roll 0.49 - - 2558 - 1.20 0.071 1029 -589.2 105.6 - - 2368 - - - - - - - - 15.06 14.81 15.06
19141 483.2 8.8 1049 19145 done 0.49 - - 2558 - 1.12 0.036 1737 632.1 105.6 - - 2368 - - - - - - - - 14.88 14.85 14.90
19462 453.9 9.3 1065 19466 roll 0.49 - - 2558 - 1.12 0.047 2431 619.6 105.6 - - 2368 - - - - - - - - 15.06 14.84 15.06
19517 450.0 9.3 1067 19525 done 0.49 - - 2563 - 1.15 0.057 1746 -595.7 105.6 - - 2368 - - - - - - - - 14.76 14.71 14.78
19825 420.1 9.3 1083 19829 roll 0.49 0.05 0.420 2553 -200.0 1.23 0.067 1032 -580.5 105.6 - - 2368 - - - - - - - - 14.68 14.81 14.88
19867 416.4 8.9 1085 19870 done 0.49 - - 2553 - 1.12 0.037 1740 632.1 105.6 - - 2368 - - - - - - - - 14.89 14.85 14.90
20188 389.1 8.5 1101 20192 roll 0.49 - - 2554 - 1.12 0.048 2433 618.7 105.6 - - 2368 - - - - - - - - 15.07 14.84 15.07
20237 385.5 8.6 1103 20242 done 0.49 - - 2560 - 1.15 0.058 1747 -596.5 105.6 - - 2368 - - - - - - - - 14.88 14.83 14.90
20550 357.9 8.5 1119 20554 roll 0.49 - - 2564 - 1.23 0.073 1026 -586.2 105.6 - - 2368 - - - - - - - - 15.07 14.81 15.07
20595 354.3 8.4 1121 20600 done 0.49 0.05 0.295 2546 -360.0 1.12 0.035 1749 645.5 105.9 - - 2368 - - - - - - - - 14.66 14.86 14.81
20914 329.6 7.7 1137 20934 roll 0.50 - - 2546 - 1.10 0.048 2422 611.8 117.1 10.68 1.689 2319 -4.6 0.169 - - - - - - 15.06 14.73 13.97
20985 324.4 8.0 1140 20998 done 0.51 - - 2550 - 1.15 0.058 1740 -593.0 123.5 6.65 1.489 2293 -3.9 0.161 - - - - - - 14.79 14.74 13.94
21298 297.4 8.5 1156 21302 roll 0.51 - - 2555 - 1.20 0.072 1035 -587.5 123.7 - - 2294 - - - - - - - - 14.97 14.71 14.97
21321 295.6 8.4 1157 21326 done 0.51 - - 2555 - 1.10 0.036 1728 630.0 124.0 - - 2294 - - - - - - - - 14.81 14.77 14.82
21639 268.1 8.5 1173 21643 roll 0.51 - - 2556 - 1.17 0.049 2434 603.4 124.0 - - 2294 - - - - - - - - 15.00 14.77 15.00
21709 262.8 8.5 1176 21713 done 0.51 - - 2561 - 1.17 0.058 1737 -595.7 124.0 - - 2294 - - - - - - - - 14.82 14.76 14.83
22022 235.3 8.6 1192 22025 roll 0.51 - - 2567 - 1.20 0.071 1032 -587.5 124.0 - - 2293 - - - - - - - - 15.02 14.76 15.02
22045 233.4 8.6 1193 22050 done 0.51 - - 2567 - 1.12 0.036 1743 634.8 124.0 - - 2293 - - - - - - - - 14.86 14.82 14.88
22363 204.5 9.0 1209 22367 roll 0.51 - - 2567 - 1.12 0.050 2431 614.3 124.0 - - 2294 - - - - - - - - 15.03 14.81 15.03
22414 200.8 8.9 1211 22418 done 0.51 0.05 0.323 2554 -260.0 1.15 0.059 1742 -599.1 124.0 - - 2294 - - - - - - - - 14.62 14.79 14.76
22726 174.3 8.5 1227 22730 roll 0.51 - - 2559 - 1.20 0.070 1038 -586.7 124.0 - - 2294 - - - - - - - - 15.04 14.79 15.04
22769 170.8 8.5 1229 22775 done 0.51 - - 2559 - 1.12 0.036 1739 625.9 124.0 - - 2294 - - - - - - - - 14.93 14.85 14.94
23088 142.5 8.8 1245 23091 roll 0.51 - - 2559 - 1.12 0.049 2428 615.2 124.0 - - 2294 - - - - - - - - 15.04 14.82 15.05
23142 138.8 8.8 1247 23150 done 0.51 - - 2564 - 1.15 0.058 1747 -592.2 124.0 - - 2294 - - - - - - - - 14.78 14.73 14.80
23450 110.7 8.4 1263 23453 roll 0.51 - - 2570 - 1.23 0.071 1026 -586.2 125.5 - - 2294 - - - - - - - - 15.06 14.79 15.06
23499 107.2 8.3 1265 23514 done 0.52 - - 2570 - 1.12 0.037 1738 635.7 128.3 5.40 1.333 2273 -3.9 0.059 - - - - - - 14.88 14.84 13.99
23813 83.6 6.9 1281 23836 roll 0.55 - - 2570 - 1.12 0.045 2436 623.2 152.3 19.00 1.530 2175 -5.2 0.053 - - - - - - 15.02 14.56 14.00
23894 77.7 7.4 1288 23915 done 0.57 - - 2575 - 1.20 0.059 1738 -581.7 168.6 14.12 1.448 2108 -4.7 0.048 - - - - - - 14.65 14.61 13.92
24098 59.7 9.3 1327 24106 roll 0.57 - - 2580 - 1.23 0.072 1032 -574.0 168.6 - - 2109 - - - - - - - - 14.82 14.51 14.82
24203 49.0 10.1 1347 24211 done 0.57 - - 2581 - 1.15 0.037 1736 612.2 168.6 - - 2109 - - - - - - - - 14.59 14.55 14.61
24394 29.3 10.6 1384 24402 roll 0.57 - - 2580 - 1.15 0.050 2426 600.0 168.6 - - 2109 - - - - - - - - 14.85 14.57 14.85
24465 22.0 10.3 1397 24472 done 0.57 - - 2586 - 1.17 0.060 1741 -585.5 168.6 - - 2108 - - - - - - - - 14.59 14.54 14.62
24655 3.4 9.7 1434 24662 done 0.57 - - 2586 - - - 1741 - 168.6 - - 2109 - - - - - - - - 14.86 14.86 14.86
24667 end climb: SURFACE_DEPTH_REACHED
24668 begin surface coast
24695 end surface coast: CONTROL_FINISHED_OK
24695 begin surface
SM 2.77 - - - - -6.46 5.53 0.072 256 46.3 0.12 0.106 1854 -18733.3 190.10 12.27 0.261 2024 165.0 -0.179 - - - - - -