ROAMMIZ Jan22 * SG640 * Dive index * Mission links * Dive 24 * Raw log
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• Previous call tries 2 • 153.77 of 310.00 AH used of 24V (50.40% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.0 deg, depth 1.28 m • Intended pitch -18.3 deg, speed -10.000 cm/s
VBD pumped to 190.10 (SM_CC=190)
• GPS1 time: 45 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
6 - - - 84 VBD -0.72 - - 233 - - - 1885 - -146.0 -74.70 - 3355 - - - - - - - - 14.71 - 14.73
86 4.0 -8.0 11 104 roll -0.72 6.00 0.370 2191 326.3 2.83 2.289 412 -520.5 -146.0 -5.05 - 3528 -34.3 - - - - - - - 14.38 13.74 14.59
147 19.3 -18.0 21 155 done -0.72 - - 2180 - 2.50 0.054 1856 577.6 -146.0 - - 3530 - - - - - - - - 14.60 14.50 14.61
197 27.7 -17.4 30 205 roll -0.72 - - 2168 - 2.53 0.091 3284 564.4 -146.0 - - 3530 - - - - - - - - 14.71 14.49 14.71
263 38.3 -14.5 42 270 done -0.72 - - 2168 - 2.45 0.071 1871 -576.7 -146.0 - - 3530 - - - - - - - - 14.62 14.52 14.63
394 60.9 -17.3 67 401 roll -0.72 - - 2168 - 2.55 0.097 454 -555.7 -146.0 - - 3530 - - - - - - - - 14.75 14.52 14.76
469 73.6 -15.4 81 477 done -0.72 - - 2158 - 2.45 0.054 1880 582.0 -146.0 - - 3530 - - - - - - - - 14.66 14.57 14.68
789 130.7 -18.2 102 795 roll -0.72 - - 2147 - 2.42 0.087 3282 579.3 -146.0 - - 3530 - - - - - - - - 14.85 14.63 14.85
851 140.9 -17.4 105 857 done -0.72 0.05 0.311 2164 340.0 2.45 0.070 1866 -578.0 -146.0 - - 3530 - - - - - - - - 14.56 14.64 14.66
1170 194.7 -16.4 121 1176 roll -0.72 - - 2164 - 2.47 0.096 454 -571.7 -146.0 - - 3530 - - - - - - - - 14.90 14.68 14.91
1218 201.4 -16.5 123 1223 done -0.72 - - 2154 - 2.40 0.054 1880 594.2 -146.0 - - 3530 - - - - - - - - 14.81 14.71 14.82
1531 254.9 -16.8 139 1536 roll -0.72 - - 2143 - 2.40 0.086 3282 584.2 -146.0 - - 3530 - - - - - - - - 14.95 14.72 14.95
1573 261.6 -16.4 141 1578 done -0.72 0.08 0.348 2170 337.5 2.40 0.071 1867 -589.6 -146.0 - - 3530 - - - - - - - - 14.66 14.73 14.81
1896 312.4 -15.9 157 1903 roll -0.72 - - 2169 - 2.50 0.096 454 -565.2 -146.0 - - 3530 - - - - - - - - 14.97 14.74 14.97
1978 324.2 -14.8 161 1984 done -0.72 - - 2160 - 2.40 0.052 1864 587.5 -146.0 - - 3530 - - - - - - - - 14.81 14.76 14.83
2296 374.9 -15.9 177 2302 roll -0.72 - - 2149 - 2.42 0.085 3284 586.8 -146.0 - - 3528 - - - - - - - - 14.98 14.76 14.99
2349 381.0 -15.5 179 2358 done -0.72 0.05 0.304 2168 380.0 2.42 0.072 1874 -582.6 -146.0 - - 3530 - - - - - - - - 14.67 14.75 14.78
2657 428.7 -15.3 195 2663 roll -0.72 - - 2168 - 2.50 0.096 456 -567.2 -146.0 - - 3530 - - - - - - - - 15.00 14.78 15.00
2731 437.6 -14.9 198 2740 done -0.72 - - 2158 - 2.40 0.052 1872 590.0 -146.0 - - 3530 - - - - - - - - 14.83 14.77 14.84
3039 486.5 -15.5 214 3043 roll -0.72 - - 2148 - 2.40 0.084 3282 587.5 -146.0 - - 3530 - - - - - - - - 15.01 14.79 15.02
3093 492.7 -15.1 216 3102 done -0.72 0.05 0.306 2167 380.0 2.42 0.070 1871 -583.1 -146.0 - - 3530 - - - - - - - - 14.69 14.77 14.79
3401 538.6 -14.6 232 3408 roll -0.72 - - 2167 - 2.50 0.099 447 -569.6 -146.0 - - 3530 - - - - - - - - 15.02 14.79 15.02
3473 547.1 -14.3 235 3482 done -0.72 - - 2157 - 2.40 0.051 1865 590.8 -146.0 - - 3530 - - - - - - - - 14.84 14.78 14.85
3781 595.3 -15.4 251 3787 roll -0.72 - - 2147 - 2.40 0.084 3279 589.2 -146.0 - - 3530 - - - - - - - - 15.03 14.81 15.03
3841 603.9 -14.4 254 3848 done -0.72 0.08 0.343 2174 337.5 2.38 0.072 1866 -593.7 -146.0 - - 3530 - - - - - - - - 14.74 14.81 14.88
4162 648.3 -14.1 270 4168 roll -0.72 - - 2174 - 2.47 0.100 459 -569.6 -146.0 - - 3530 - - - - - - - - 15.03 14.81 15.04
4236 656.6 -13.8 273 4245 done -0.72 - - 2165 - 2.40 0.052 1873 589.2 -146.0 - - 3530 - - - - - - - - 14.85 14.79 14.88
4543 703.0 -14.9 289 4547 roll -0.72 - - 2154 - 2.38 0.085 3274 588.7 -146.0 - - 3531 - - - - - - - - 15.04 14.81 15.04
4592 708.9 -14.7 291 4596 done -0.72 - - 2154 - 2.40 0.073 1848 -594.2 -146.0 - - 3531 - - - - - - - - 14.93 14.82 14.94
4904 758.4 -15.8 307 4911 roll -0.72 - - 2154 - 2.45 0.102 453 -569.4 -146.0 - - 3531 - - - - - - - - 15.05 14.82 15.05
4953 764.5 -15.7 309 4958 done -0.72 0.08 0.369 2169 187.5 2.35 0.054 1872 603.8 -146.0 - - 3531 - - - - - - - - 14.76 14.85 14.90
5260 809.1 -14.2 324 5266 roll -0.72 - - 2159 - 2.40 0.085 3281 587.1 -146.0 - - 3532 - - - - - - - - 15.06 14.84 15.06
5301 814.6 -14.0 326 5306 done -0.72 - - 2159 - 2.42 0.073 1865 -585.1 -146.0 - - 3532 - - - - - - - - 14.90 14.83 14.91
5619 861.1 -14.7 342 5623 roll -0.72 - - 2159 - 2.47 0.100 454 -571.3 -146.0 - - 3532 - - - - - - - - 15.07 14.84 15.07
5693 869.6 -14.2 345 5701 done -0.72 0.05 0.330 2179 400.0 2.40 0.053 1871 590.4 -146.0 - - 3532 - - - - - - - - 14.77 14.86 14.92
6000 911.8 -13.6 361 6005 roll -0.72 - - 2170 - 2.40 0.086 3284 588.8 -146.0 - - 3532 - - - - - - - - 15.07 14.85 15.07
6056 918.9 -13.0 364 6061 done -0.72 - - 2169 - 2.38 0.073 1871 -593.7 -146.0 - - 3532 - - - - - - - - 14.96 14.85 14.97
6372 962.8 -14.2 380 6377 roll -0.72 - - 2170 - 2.50 0.101 454 -566.8 -146.0 - - 3532 - - - - - - - - 15.07 14.85 15.08
6448 971.2 -14.0 383 6455 done -0.72 - - 2159 - 2.35 0.052 1873 603.8 -146.0 - - 3532 - - - - - - - - 14.97 14.88 14.98
6572 end dive: TARGET_DEPTH_EXCEEDED
6572 begin apogee
6576 991.0 -14.9 390 6699 done -0.15 0.52 0.233 2355 376.9 - - 1775 - - 119.25 2.738 2928 -5.1 0.352 - - - - - - 14.79 13.81 12.93
6700 end apogee: CONTROL_FINISHED_OK
6700 begin climb
6701 996.7 - 396 6829 roll 0.72 0.75 0.152 2645 386.7 2.67 0.093 402 -514.2 146.0 119.47 2.617 2331 -5.0 0.365 - - - - - - 13.80 13.47 12.78
6891 980.0 12.9 405 6896 done 0.72 - - 2645 - 2.47 0.044 1803 567.2 146.0 - - 2334 - - - - - - - - 14.04 13.95 14.05
7212 929.9 15.7 421 7217 roll 0.72 - - 2645 - 2.45 0.076 3202 571.0 146.0 - - 2335 - - - - - - - - 14.55 14.33 14.55
7262 924.2 15.9 423 7270 done 0.72 0.08 0.383 2634 -137.5 2.42 0.074 1820 -571.1 146.0 - - 2335 - - - - - - - - 14.28 14.37 14.44
7569 876.3 15.0 439 7575 roll 0.72 - - 2643 - 2.58 0.091 381 -557.8 146.0 - - 2335 - - - - - - - - 14.73 14.51 14.73
7649 864.2 15.1 443 7655 done 0.72 - - 2644 - 2.40 0.044 1807 594.2 146.0 - - 2335 - - - - - - - - 14.66 14.57 14.66
7968 814.3 15.6 459 7973 roll 0.72 - - 2643 - 2.40 0.077 3207 583.3 146.0 - - 2335 - - - - - - - - 14.84 14.62 14.84
8022 807.9 15.7 461 8031 done 0.72 0.05 0.350 2637 -120.0 2.47 0.074 1797 -570.9 146.0 - - 2335 - - - - - - - - 14.52 14.63 14.64
8330 760.3 14.9 477 8336 roll 0.72 - - 2646 - 2.50 0.090 376 -568.4 146.0 - - 2335 - - - - - - - - 14.90 14.69 14.90
8402 751.3 15.0 480 8410 done 0.72 0.05 0.431 2632 -280.0 2.42 0.045 1829 600.4 146.0 - - 2336 - - - - - - - - 14.60 14.72 14.77
8710 704.7 14.4 496 8714 roll 0.72 - - 2632 - 2.35 0.076 3207 586.4 146.0 - - 2336 - - - - - - - - 14.95 14.73 14.95
8754 699.3 14.6 498 8758 done 0.72 - - 2641 - 2.40 0.072 1792 -589.6 146.0 - - 2336 - - - - - - - - 14.85 14.74 14.86
9066 652.6 14.7 514 9071 roll 0.72 - - 2652 - 2.47 0.092 381 -571.3 146.0 - - 2336 - - - - - - - - 14.97 14.76 14.97
9120 646.3 14.9 516 9130 done 0.72 0.05 0.346 2636 -320.0 2.40 0.044 1803 592.5 146.0 - - 2336 - - - - - - - - 14.64 14.76 14.76
9429 600.0 14.4 532 9435 roll 0.72 - - 2636 - 2.38 0.075 3204 588.7 146.0 - - 2336 - - - - - - - - 14.99 14.77 15.00
9481 594.0 14.7 534 9489 done 0.72 - - 2645 - 2.42 0.070 1794 -582.6 146.0 - - 2336 - - - - - - - - 14.82 14.76 14.83
9788 546.9 14.8 550 9795 roll 0.72 0.05 0.469 2641 -80.0 2.47 0.089 388 -569.2 146.0 - - 2336 - - - - - - - - 14.69 14.79 14.86
9850 538.2 14.7 553 9855 done 0.72 - - 2641 - 2.38 0.044 1806 595.8 146.0 - - 2337 - - - - - - - - 14.85 14.80 14.87
10169 492.3 14.3 569 10175 roll 0.72 - - 2642 - 2.35 0.076 3198 592.3 146.0 - - 2337 - - - - - - - - 15.02 14.80 15.02
10202 489.4 14.4 570 10212 done 0.72 0.05 0.356 2635 -140.0 2.40 0.069 1798 -583.3 146.0 - - 2337 - - - - - - - - 14.68 14.77 14.80
10509 445.2 13.8 586 10514 roll 0.72 - - 2645 - 2.45 0.089 390 -574.7 146.0 - - 2337 - - - - - - - - 15.02 14.81 15.02
10579 436.4 14.2 589 10584 done 0.72 0.03 0.428 2636 -300.0 2.35 0.044 1800 600.0 146.0 - - 2337 - - - - - - - - 14.68 14.81 14.89
10892 392.2 13.8 605 10899 roll 0.72 - - 2636 - 2.35 0.074 3194 593.2 146.0 - - 2337 - - - - - - - - 15.03 14.81 15.03
10944 386.6 13.9 607 10953 done 0.72 - - 2644 - 2.38 0.067 1806 -583.2 146.0 - - 2337 - - - - - - - - 14.86 14.79 14.87
11252 341.4 14.4 623 11258 roll 0.72 - - 2655 - 2.47 0.091 388 -574.1 146.0 - - 2337 - - - - - - - - 15.03 14.82 15.04
11334 329.8 14.5 627 11339 done 0.72 0.08 0.310 2630 -312.5 2.35 0.044 1797 599.6 146.0 - - 2337 - - - - - - - - 14.73 14.81 14.85
11653 286.5 13.4 643 11659 roll 0.72 - - 2629 - 2.35 0.075 3192 593.6 146.0 - - 2337 - - - - - - - - 15.03 14.81 15.04
11706 281.0 13.5 645 11715 done 0.72 - - 2638 - 2.38 0.068 1804 -583.2 146.0 - - 2337 - - - - - - - - 14.87 14.80 14.88
12013 237.2 13.8 661 12018 roll 0.72 - - 2650 - 2.47 0.090 385 -574.5 146.0 - - 2337 - - - - - - - - 15.04 14.83 15.04
12088 228.5 14.0 664 12097 done 0.72 0.05 0.340 2633 -340.0 2.35 0.044 1790 597.9 146.0 - - 2337 - - - - - - - - 14.71 14.81 14.83
12396 186.9 12.8 680 12402 roll 0.72 - - 2633 - 2.38 0.076 3202 593.3 146.0 - - 2337 - - - - - - - - 15.04 14.83 15.04
12443 181.8 12.7 682 12448 done 0.72 - - 2642 - 2.35 0.067 1797 -597.9 146.0 - - 2337 - - - - - - - - 14.94 14.83 14.95
12751 141.8 12.8 697 12757 roll 0.72 - - 2653 - 2.42 0.090 392 -580.6 146.0 - - 2338 - - - - - - - - 15.05 14.83 15.05
12814 133.7 13.2 700 12820 done 0.72 0.05 0.333 2636 -340.0 2.35 0.046 1797 597.9 146.0 - - 2338 - - - - - - - - 14.73 14.83 14.85
13133 96.2 10.9 716 13134 done 0.72 - - 2635 - - - 1797 - 146.0 - - 2338 - - - - - - - - 15.04 15.05 15.04
13434 64.2 10.1 752 13443 roll 0.72 - - 2636 - 2.40 0.077 3202 585.4 146.0 - - 2338 - - - - - - - - 15.02 14.80 15.02
13519 55.3 10.6 768 13528 done 0.72 - - 2645 - 2.38 0.067 1798 -589.9 146.0 - - 2338 - - - - - - - - 14.90 14.79 14.91
13833 19.8 11.4 829 13841 roll 0.72 - - 2655 - 2.53 0.090 391 -556.1 146.0 - - 2338 - - - - - - - - 14.95 14.71 14.95
13913 10.0 11.2 844 13922 done 0.72 0.08 0.359 2632 -287.5 2.35 0.045 1793 596.6 146.0 - - 2338 - - - - - - - - 14.65 14.75 14.80
13965 4.5 11.0 853 13972 done 0.72 - - 2632 - - - 1794 - 146.0 - - 2339 - - - - - - - - 14.93 14.94 14.94
13977 end climb: SURFACE_DEPTH_REACHED
13977 begin surface coast
14005 end surface coast: CONTROL_FINISHED_OK
14005 begin surface
SM 2.77 - - - - -6.45 5.57 0.078 254 45.6 0.12 0.116 1888 15683.3 190.10 27.55 1.672 2152 78.1 -0.013 - - - - - -