ROAMMIZ Jan22 * SG640 * Dive index * Mission links * Dive 20 * Raw log
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• Previous call tries 1 • 152.57 of 310.00 AH used of 24V (50.78% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.0 deg, depth 1.23 m • Intended pitch -18.3 deg, speed -10.000 cm/s
• VBD pumped to 190.10 (SM_CC=190)
• GPS1 time: 109 s
• GPS2 time: 8 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 - - - 82 VBD -0.72 - - 232 - - - 1889 - -146.0 -72.57 - 3262 - - - - - - - - 14.74 - 14.76
84 3.5 -6.9 11 101 done -0.72 5.93 0.362 2188 329.8 - - 1889 - -146.0 -7.97 - 3527 -33.2 - - - - - - - 14.38 13.81 14.60
144 18.3 -19.8 21 151 roll -0.72 - - 2187 - 2.60 0.100 457 -550.8 -146.0 - - 3529 - - - - - - - - 14.75 14.51 14.76
198 28.3 -17.1 31 206 done -0.72 - - 2177 - 2.42 0.059 1857 578.5 -146.0 - - 3529 - - - - - - - - 14.65 14.54 14.66
330 50.5 -18.6 56 337 done -0.72 - - 2177 - - - 1858 - -146.0 - - 3530 - - - - - - - - 14.78 14.78 14.78
640 104.8 -16.8 96 644 roll -0.72 - - 2166 - 2.47 0.090 3280 575.7 -146.0 - - 3530 - - - - - - - - 14.85 14.61 14.85
711 114.4 -15.7 99 715 done -0.72 - - 2166 - 2.42 0.075 1865 -584.7 -146.0 - - 3529 - - - - - - - - 14.74 14.63 14.75
1017 171.6 -18.6 114 1023 roll -0.72 - - 2166 - 2.50 0.099 457 -563.2 -146.0 - - 3530 - - - - - - - - 14.91 14.68 14.91
1057 178.5 -17.8 116 1064 done -0.72 - - 2156 - 2.40 0.059 1873 590.0 -146.0 - - 3530 - - - - - - - - 14.80 14.70 14.81
1378 233.2 -17.1 132 1384 roll -0.72 - - 2145 - 2.42 0.093 3277 580.2 -146.0 - - 3530 - - - - - - - - 14.95 14.71 14.95
1460 246.4 -16.0 136 1467 done -0.72 0.08 0.352 2171 325.0 2.40 0.077 1868 -587.1 -146.0 - - 3530 - - - - - - - - 14.66 14.73 14.80
1780 297.5 -16.0 152 1784 roll -0.72 - - 2171 - 2.53 0.103 453 -559.3 -146.0 - - 3530 - - - - - - - - 14.97 14.73 14.98
1845 306.9 -15.4 155 1849 done -0.72 - - 2162 - 2.40 0.059 1869 590.0 -146.0 - - 3530 - - - - - - - - 14.87 14.76 14.88
2162 358.6 -16.3 171 2166 roll -0.72 - - 2150 - 2.42 0.093 3278 582.2 -146.0 - - 3530 - - - - - - - - 15.02 14.77 15.02
2221 367.1 -15.6 174 2226 done -0.72 0.05 0.412 2167 340.0 2.40 0.075 1857 -592.1 -146.0 - - 3530 - - - - - - - - 14.70 14.78 14.86
2540 415.3 -15.3 190 2545 roll -0.72 - - 2167 - 2.45 0.101 456 -571.8 -146.0 - - 3530 - - - - - - - - 15.04 14.79 15.04
2606 424.4 -15.2 193 2610 done -0.72 - - 2157 - 2.40 0.058 1887 596.2 -146.0 - - 3530 - - - - - - - - 14.92 14.81 14.93
2918 475.7 -16.4 209 2922 roll -0.72 - - 2146 - 2.38 0.092 3278 584.5 -146.0 - - 3529 - - - - - - - - 15.03 14.81 15.04
2982 484.9 -15.3 212 2987 done -0.72 0.08 0.346 2173 337.5 2.40 0.076 1859 -591.2 -146.0 - - 3530 - - - - - - - - 14.75 14.82 14.90
3299 532.9 -15.1 228 3303 roll -0.72 - - 2172 - 2.47 0.103 459 -566.8 -146.0 - - 3530 - - - - - - - - 15.05 14.82 15.05
3363 541.2 -15.0 231 3369 done -0.72 - - 2163 - 2.38 0.058 1874 594.5 -146.0 - - 3530 - - - - - - - - 14.95 14.85 14.96
3676 590.6 -15.6 247 3682 roll -0.72 - - 2152 - 2.40 0.091 3280 585.8 -146.0 - - 3530 - - - - - - - - 15.06 14.83 15.06
3736 599.3 -14.9 250 3742 done -0.72 0.05 0.401 2171 380.0 2.38 0.077 1870 -592.4 -146.0 - - 3530 - - - - - - - - 14.76 14.84 14.92
4057 646.5 -14.9 266 4061 roll -0.72 - - 2170 - 2.50 0.105 460 -564.0 -146.0 - - 3530 - - - - - - - - 15.06 14.83 15.07
4126 655.4 -14.6 269 4130 done -0.72 - - 2162 - 2.40 0.058 1865 585.4 -146.0 - - 3530 - - - - - - - - 14.97 14.85 14.98
4438 704.3 -15.7 285 4442 roll -0.72 - - 2150 - 2.42 0.091 3278 583.9 -146.0 - - 3531 - - - - - - - - 15.07 14.85 15.08
4502 712.6 -14.9 288 4508 done -0.72 0.05 0.409 2168 360.0 2.38 0.077 1869 -592.0 -146.0 - - 3531 - - - - - - - - 14.78 14.85 14.93
4815 760.1 -15.0 304 4821 roll -0.72 - - 2168 - 2.50 0.103 456 -565.2 -146.0 - - 3531 - - - - - - - - 15.07 14.85 15.08
4888 768.7 -14.6 307 4896 done -0.72 - - 2159 - 2.38 0.058 1874 595.8 -146.0 - - 3532 - - - - - - - - 14.97 14.87 14.98
5194 816.3 -15.2 323 5199 roll -0.72 - - 2148 - 2.38 0.090 3276 589.1 -146.0 - - 3532 - - - - - - - - 15.09 14.85 15.09
5239 822.2 -14.8 325 5244 done -0.72 0.05 0.412 2167 380.0 2.38 0.078 1866 -592.4 -146.0 - - 3532 - - - - - - - - 14.78 14.86 14.94
5551 866.7 -14.0 341 5555 roll -0.72 - - 2166 - 2.50 0.106 451 -566.0 -146.0 - - 3532 - - - - - - - - 15.09 14.85 15.09
5615 874.3 -13.5 344 5619 done -0.72 - - 2157 - 2.38 0.058 1873 597.5 -146.0 - - 3532 - - - - - - - - 14.99 14.88 15.00
5927 920.0 -14.5 360 5931 roll -0.72 - - 2146 - 2.38 0.090 3275 589.1 -146.0 - - 3532 - - - - - - - - 15.09 14.86 15.09
5996 928.2 -13.9 363 6001 done -0.72 0.05 0.311 2166 400.0 2.40 0.077 1874 -583.8 -146.0 - - 3533 - - - - - - - - 14.78 14.86 14.90
6308 972.7 -14.3 379 6312 roll -0.72 - - 2166 - 2.50 0.109 458 -566.4 -146.0 - - 3533 - - - - - - - - 15.09 14.86 15.09
6384 983.1 -13.6 383 6388 done -0.72 - - 2157 - 2.38 0.058 1879 597.1 -146.0 - - 3533 - - - - - - - - 14.99 14.89 15.00
6439 end dive: TARGET_DEPTH_EXCEEDED
6439 begin apogee
6443 990.7 -13.4 386 6565 done -0.15 0.52 0.236 2352 375.0 - - 1783 - - 119.05 2.718 2928 -5.1 0.355 - - - - - - 14.80 13.82 12.97
6566 end apogee: CONTROL_FINISHED_OK
6567 begin climb
6568 995.8 - 392 6696 roll 0.72 0.75 0.155 2643 388.0 2.72 0.100 399 -508.8 146.0 119.47 2.604 2332 -5.0 0.365 - - - - - - 13.81 13.50 12.81
6752 981.4 12.0 400 6759 done 0.72 - - 2644 - 2.50 0.049 1799 560.0 146.0 - - 2336 - - - - - - - - 14.04 13.95 14.05
7057 930.4 16.2 416 7062 roll 0.72 - - 2644 - 2.47 0.081 3204 568.8 146.0 - - 2338 - - - - - - - - 14.54 14.33 14.55
7101 924.4 16.5 418 7107 done 0.72 0.08 0.381 2633 -137.5 2.45 0.080 1817 -566.1 146.0 - - 2338 - - - - - - - - 14.28 14.35 14.44
7414 874.6 15.5 434 7421 roll 0.72 - - 2642 - 2.58 0.096 385 -555.0 146.0 - - 2338 - - - - - - - - 14.72 14.52 14.73
7494 862.3 15.4 438 7500 done 0.72 - - 2642 - 2.40 0.047 1802 590.4 146.0 - - 2338 - - - - - - - - 14.66 14.57 14.66
7814 812.1 15.8 454 7819 roll 0.72 - - 2643 - 2.42 0.079 3209 581.4 146.0 - - 2338 - - - - - - - - 14.84 14.62 14.84
7875 802.5 15.9 457 7881 done 0.72 0.08 0.370 2629 -175.0 2.42 0.079 1799 -582.6 146.0 - - 2338 - - - - - - - - 14.56 14.64 14.71
8197 756.4 14.1 473 8202 roll 0.72 - - 2638 - 2.53 0.096 384 -559.3 146.0 - - 2338 - - - - - - - - 14.90 14.69 14.90
8267 748.4 14.2 476 8274 done 0.72 - - 2638 - 2.38 0.048 1806 597.5 146.0 - - 2338 - - - - - - - - 14.82 14.73 14.83
8574 702.8 14.4 492 8580 roll 0.72 - - 2638 - 2.38 0.080 3202 586.6 146.0 - - 2338 - - - - - - - - 14.95 14.73 14.95
8621 696.9 14.5 494 8626 done 0.72 0.05 0.438 2634 -80.0 2.42 0.078 1786 -585.1 146.0 - - 2338 - - - - - - - - 14.64 14.73 14.82
8934 653.0 13.9 510 8938 roll 0.72 - - 2643 - 2.47 0.096 381 -568.8 146.0 - - 2338 - - - - - - - - 14.98 14.77 14.98
9003 644.5 13.8 513 9007 done 0.72 - - 2644 - 2.40 0.048 1822 600.4 146.0 - - 2338 - - - - - - - - 14.89 14.80 14.90
9315 599.9 14.1 529 9319 roll 0.72 - - 2644 - 2.35 0.080 3206 588.9 146.0 - - 2338 - - - - - - - - 15.01 14.78 15.01
9380 591.6 14.7 532 9385 done 0.72 0.08 0.376 2630 -175.0 2.40 0.076 1793 -588.8 146.0 - - 2338 - - - - - - - - 14.71 14.81 14.87
9693 546.8 14.1 548 9699 roll 0.72 - - 2639 - 2.50 0.096 375 -567.2 146.0 - - 2338 - - - - - - - - 15.02 14.81 15.02
9772 535.4 14.3 552 9779 done 0.72 - - 2639 - 2.38 0.048 1810 602.9 146.0 - - 2338 - - - - - - - - 14.93 14.83 14.94
10092 488.4 14.8 568 10096 roll 0.72 - - 2639 - 2.35 0.080 3201 591.9 146.0 - - 2339 - - - - - - - - 15.04 14.83 15.04
10161 479.4 14.7 571 10166 done 0.72 0.05 0.443 2634 -100.0 2.38 0.074 1791 -592.4 146.0 - - 2338 - - - - - - - - 14.73 14.83 14.90
10473 435.2 14.1 587 10477 roll 0.72 - - 2643 - 2.45 0.094 388 -572.7 146.0 - - 2338 - - - - - - - - 15.05 14.84 15.06
10563 424.2 14.4 591 10570 done 0.72 - - 2644 - 2.33 0.047 1800 606.0 146.0 - - 2339 - - - - - - - - 14.96 14.87 14.97
10870 378.3 14.0 607 10875 roll 0.72 - - 2643 - 2.38 0.079 3206 590.8 146.0 - - 2339 - - - - - - - - 15.07 14.85 15.07
10917 372.5 14.2 609 10922 done 0.72 0.08 0.376 2630 -162.5 2.38 0.072 1793 -593.7 146.0 - - 2339 - - - - - - - - 14.76 14.85 14.92
11229 329.6 13.3 625 11233 roll 0.72 - - 2639 - 2.47 0.094 384 -570.4 146.0 - - 2339 - - - - - - - - 15.07 14.85 15.07
11293 321.4 13.5 628 11298 done 0.72 - - 2639 - 2.38 0.047 1824 605.0 146.0 - - 2339 - - - - - - - - 14.97 14.88 14.98
11611 277.3 13.9 644 11618 roll 0.72 - - 2639 - 2.33 0.080 3206 593.1 146.0 - - 2340 - - - - - - - - 15.07 14.85 15.07
11673 268.7 14.3 647 11679 done 0.72 0.05 0.356 2632 -140.0 2.40 0.071 1804 -584.2 146.0 - - 2339 - - - - - - - - 14.75 14.84 14.87
11991 225.6 13.3 663 11998 roll 0.72 - - 2641 - 2.50 0.093 381 -569.2 146.0 - - 2339 - - - - - - - - 15.07 14.85 15.07
12032 220.2 13.3 665 12038 done 0.72 - - 2641 - 2.35 0.047 1804 605.5 146.0 - - 2339 - - - - - - - - 14.97 14.86 14.97
12352 176.8 13.4 681 12358 roll 0.72 - - 2642 - 2.35 0.080 3200 594.0 146.0 - - 2339 - - - - - - - - 15.06 14.84 15.07
12385 174.0 13.4 682 12395 done 0.72 0.05 0.350 2635 -140.0 2.40 0.070 1798 -584.2 146.0 - - 2340 - - - - - - - - 14.73 14.83 14.85
12693 132.7 12.8 698 12697 roll 0.72 - - 2644 - 2.47 0.093 381 -573.7 146.0 - - 2340 - - - - - - - - 15.06 14.85 15.06
12747 127.1 13.1 700 12756 done 0.72 - - 2644 - 2.40 0.048 1805 593.3 146.0 - - 2340 - - - - - - - - 14.88 14.83 14.90
13055 84.3 13.4 716 13062 roll 0.72 - - 2644 - 2.35 0.081 3196 591.9 146.0 - - 2340 - - - - - - - - 15.06 14.84 15.06
13216 65.2 10.8 742 13225 done 0.72 0.08 0.373 2630 -175.0 2.38 0.071 1797 -587.8 146.0 - - 2341 - - - - - - - - 14.73 14.82 14.89
13533 34.2 9.4 803 13555 roll 0.73 - - 2639 - 2.55 0.092 383 -554.5 158.8 11.77 1.824 2280 -5.2 0.019 - - - - - - 14.97 14.61 14.00
13583 29.4 10.0 811 13592 done 0.73 - - 2640 - 2.38 0.047 1788 590.3 158.9 - - 2281 - - - - - - - - 14.76 14.66 14.77
13715 15.3 11.0 836 13723 roll 0.73 - - 2640 - 2.45 0.080 3206 578.8 158.9 - - 2283 - - - - - - - - 14.85 14.64 14.86
13803 6.2 9.6 852 13817 done 0.74 - - 2650 - 2.40 0.067 1801 -585.4 166.7 5.38 1.376 2245 -7.1 0.006 - - - - - - 14.76 14.65 13.96
13838 end climb: SURFACE_DEPTH_REACHED
13838 begin surface coast
13865 end surface coast: CONTROL_FINISHED_OK
13865 begin surface
SM 2.96 - - - - -6.46 5.72 0.095 256 44.5 0.12 0.125 1895 -95191.7 190.10 13.12 1.543 2152 164.0 -0.032 - - - - - -