ROAMMIZ Jan22 * SG640 * Dive index * Mission links * Dive 249 * Raw log
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• Previous call tries 1 • 220.97 of 450.00 AH used of 24V (50.90% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.9 deg, depth 1.01 m • Intended pitch -12.6 deg, speed -8.462 cm/s
• No surface pump (final VBD was 246.28, SM_CC=190)
• GPS1 time: 57 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 - - - 86 done -0.47 - - 224 - - - 1834 - -87.6 -76.03 - 3119 - - - - - - - - 14.70 13.10 14.69
89 2.8 -4.6 11 105 roll -0.47 6.43 0.372 2224 311.0 1.27 0.064 1108 -571.7 -87.6 - - 3116 - - - - - - - - 14.15 14.35 14.48
143 13.4 -16.4 20 153 done -0.47 0.05 0.330 2237 260.0 1.17 0.036 1821 609.4 -87.6 - - 3116 - - - - - - - - 14.11 14.37 14.29
340 36.8 -12.9 57 348 roll -0.47 - - 2235 - 1.17 0.052 2511 589.7 -87.6 - - 3115 - - - - - - - - 14.77 14.33 14.77
381 42.1 -12.9 64 389 done -0.47 - - 2234 - 1.20 0.058 1822 -574.2 -87.6 - - 3114 - - - - - - - - 14.41 14.33 14.45
578 62.5 -8.6 101 585 done -0.47 - - 2235 - - - 1822 - -87.6 - - 3114 - - - - - - - - 14.80 14.80 14.80
776 80.3 -8.3 138 778 done -0.47 - - 2235 - - - 1822 - -87.6 - - 3114 - - - - - - - - 14.82 14.82 14.82
1077 106.2 -8.6 153 1078 done -0.47 - - 2235 - - - 1822 - -87.6 - - 3114 - - - - - - - - 14.88 14.89 14.88
1377 131.1 -8.2 168 1381 roll -0.47 - - 2234 - 1.25 0.071 1107 -572.0 -87.6 - - 3114 - - - - - - - - 14.92 14.58 14.92
1422 134.9 -8.7 170 1426 done -0.47 - - 2228 - 1.15 0.039 1814 614.8 -87.6 - - 3114 - - - - - - - - 14.69 14.65 14.71
1740 165.5 -9.7 186 1741 done -0.47 - - 2229 - - - 1814 - -87.6 - - 3114 - - - - - - - - 14.95 14.95 14.95
2040 191.7 -8.3 201 2044 roll -0.47 - - 2229 - 1.23 0.069 1108 -574.0 -87.6 - - 3113 - - - - - - - - 14.97 14.62 14.97
2103 197.1 -8.6 204 2108 done -0.47 - - 2223 - 1.17 0.039 1818 606.8 -87.6 - - 3113 - - - - - - - - 14.78 14.73 14.80
2423 224.1 -8.4 220 2424 done -0.47 - - 2223 - - - 1818 - -87.6 - - 3113 - - - - - - - - 14.99 14.99 15.00
2722 249.0 -8.3 235 2727 roll -0.47 - - 2223 - 1.23 0.069 1111 -574.8 -87.6 - - 3113 - - - - - - - - 15.00 14.63 15.00
2767 252.6 -8.4 237 2772 done -0.47 0.05 0.324 2236 260.0 1.15 0.040 1818 614.8 -87.6 - - 3114 - - - - - - - - 14.38 14.71 14.56
3086 277.6 -7.7 253 3087 done -0.47 - - 2236 - - - 1818 - -87.6 - - 3113 - - - - - - - - 14.99 14.99 14.99
3385 299.7 -7.3 268 3389 roll -0.47 - - 2236 - 1.23 0.070 1110 -575.6 -87.6 - - 3113 - - - - - - - - 15.00 14.64 15.01
3455 304.5 -7.6 271 3459 done -0.47 - - 2232 - 1.15 0.040 1815 613.0 -87.6 - - 3112 - - - - - - - - 14.75 14.70 14.77
3768 327.8 -7.2 287 3771 roll -0.47 - - 2231 - 1.23 0.068 1109 -574.0 -87.6 - - 3113 - - - - - - - - 15.00 14.64 15.01
3802 329.5 -7.3 288 3810 done -0.47 - - 2226 - 1.17 0.039 1819 606.8 -87.6 - - 3113 - - - - - - - - 14.59 14.54 14.62
4110 353.3 -7.4 304 4114 roll -0.47 - - 2226 - 1.23 0.068 1111 -575.6 -87.6 - - 3113 - - - - - - - - 15.01 14.64 15.01
4154 356.6 -7.7 306 4159 done -0.47 0.05 0.321 2238 240.0 1.15 0.039 1815 612.2 -87.6 - - 3113 - - - - - - - - 14.40 14.71 14.57
4475 378.4 -6.8 322 4476 done -0.47 - - 2238 - - - 1815 - -87.6 - - 3113 - - - - - - - - 15.00 15.00 15.00
4773 398.9 -7.0 337 4776 roll -0.47 - - 2239 - 1.25 0.070 1107 -566.4 -87.6 - - 3113 - - - - - - - - 15.00 14.64 15.01
4836 403.4 -7.3 340 4840 done -0.47 - - 2235 - 1.17 0.040 1824 612.8 -87.6 - - 3113 - - - - - - - - 14.76 14.71 14.78
5155 426.2 -7.2 356 5158 roll -0.47 - - 2235 - 1.25 0.068 1106 -574.4 -87.6 - - 3112 - - - - - - - - 15.01 14.64 15.02
5189 427.9 -7.2 357 5197 done -0.47 - - 2229 - 1.17 0.039 1815 606.0 -87.6 - - 3113 - - - - - - - - 14.60 14.56 14.62
5497 452.4 -7.7 373 5498 done -0.47 - - 2229 - - - 1815 - -87.6 - - 3113 - - - - - - - - 15.01 15.02 15.02
5797 475.5 -7.7 388 5798 done -0.47 - - 2229 - - - 1815 - -87.6 - - 3113 - - - - - - - - 15.02 15.02 15.02
6098 498.5 -7.8 403 6102 roll -0.47 - - 2229 - 1.23 0.067 1110 -573.2 -87.6 - - 3113 - - - - - - - - 15.02 14.66 15.02
6142 502.0 -7.9 405 6146 done -0.47 - - 2223 - 1.15 0.039 1818 615.7 -87.6 - - 3113 - - - - - - - - 14.78 14.73 14.80
6461 526.5 -7.6 421 6462 done -0.47 - - 2223 - - - 1819 - -87.6 - - 3113 - - - - - - - - 15.02 15.02 15.02
6760 549.2 -7.5 436 6764 roll -0.47 - - 2223 - 1.23 0.068 1113 -574.0 -87.6 - - 3113 - - - - - - - - 15.02 14.64 15.02
6810 552.5 -7.6 438 6814 done -0.47 0.05 0.322 2236 260.0 1.15 0.039 1818 613.0 -87.6 - - 3113 - - - - - - - - 14.38 14.71 14.57
7123 574.8 -7.0 454 7124 done -0.47 - - 2236 - - - 1818 - -87.6 - - 3113 - - - - - - - - 15.02 15.02 15.02
7423 595.2 -6.8 469 7426 roll -0.47 - - 2236 - 1.23 0.070 1113 -573.2 -87.6 - - 3113 - - - - - - - - 15.02 14.64 15.02
7466 598.1 -6.9 471 7470 done -0.47 - - 2232 - 1.15 0.039 1820 614.8 -87.6 - - 3113 - - - - - - - - 14.76 14.73 14.78
7786 620.7 -7.0 487 7790 roll -0.47 - - 2232 - 1.25 0.070 1105 -572.0 -87.6 - - 3114 - - - - - - - - 15.02 14.64 15.02
7831 623.8 -7.1 489 7835 done -0.47 - - 2226 - 1.17 0.039 1818 609.4 -87.6 - - 3114 - - - - - - - - 14.77 14.72 14.78
8149 646.5 -7.1 505 8150 done -0.47 - - 2226 - - - 1817 - -87.6 - - 3114 - - - - - - - - 15.02 15.02 15.02
8449 667.5 -7.0 520 8452 roll -0.47 - - 2226 - 1.25 0.070 1104 -570.4 -87.6 - - 3114 - - - - - - - - 15.02 14.64 15.02
8512 671.9 -7.1 523 8516 done -0.47 0.05 0.317 2239 260.0 1.17 0.041 1818 610.3 -87.6 - - 3114 - - - - - - - - 14.38 14.71 14.56
8835 692.9 -6.5 539 8837 done -0.47 - - 2239 - - - 1818 - -87.6 - - 3114 - - - - - - - - 15.01 15.02 15.02
9135 711.6 -6.0 554 9139 roll -0.47 - - 2239 - 1.25 0.073 1112 -564.8 -87.6 - - 3115 - - - - - - - - 15.02 14.63 15.02
9171 712.9 -6.0 555 9179 done -0.47 - - 2235 - 1.17 0.039 1818 603.4 -87.6 - - 3114 - - - - - - - - 14.59 14.54 14.61
9477 732.3 -6.0 571 9478 done -0.47 - - 2235 - - - 1817 - -87.6 - - 3115 - - - - - - - - 15.02 15.02 15.02
9777 750.2 -6.1 586 9781 roll -0.47 - - 2235 - 1.25 0.071 1106 -568.8 -87.6 - - 3114 - - - - - - - - 15.02 14.64 15.03
9841 754.2 -6.3 589 9846 done -0.47 - - 2229 - 1.17 0.040 1823 612.8 -87.6 - - 3115 - - - - - - - - 14.76 14.71 14.78
10161 774.6 -6.3 605 10163 done -0.47 - - 2229 - - - 1823 - -87.6 - - 3115 - - - - - - - - 15.02 15.02 15.02
10460 793.6 -6.3 620 10464 roll -0.47 - - 2229 - 1.25 0.073 1114 -567.2 -87.6 - - 3115 - - - - - - - - 15.02 14.62 15.02
10510 796.4 -6.5 622 10514 done -0.47 - - 2224 - 1.15 0.041 1813 607.8 -87.6 - - 3115 - - - - - - - - 14.75 14.71 14.78
10823 817.2 -6.6 638 10824 done -0.47 - - 2224 - - - 1812 - -87.6 - - 3115 - - - - - - - - 15.02 15.02 15.02
11124 837.3 -6.8 653 11125 done -0.47 - - 2223 - - - 1812 - -87.6 - - 3115 - - - - - - - - 15.02 15.02 15.02
11423 856.9 -6.5 668 11426 roll -0.47 - - 2223 - 1.23 0.073 1113 -568.3 -87.6 - - 3115 - - - - - - - - 15.02 14.62 15.02
11485 861.1 -6.7 671 11489 done -0.47 0.05 0.327 2237 280.0 1.15 0.041 1815 610.4 -87.6 - - 3115 - - - - - - - - 14.38 14.71 14.54
11808 879.6 -5.8 687 11810 done -0.47 - - 2237 - - - 1814 - -87.6 - - 3115 - - - - - - - - 15.02 15.02 15.02
12107 897.3 -5.8 702 12111 roll -0.47 - - 2237 - 1.25 0.075 1106 -566.4 -87.6 - - 3115 - - - - - - - - 15.02 14.62 15.02
12157 899.9 -6.0 704 12160 done -0.47 - - 2233 - 1.17 0.042 1816 606.8 -87.6 - - 3115 - - - - - - - - 14.74 14.69 14.77
12471 919.7 -6.2 720 12472 done -0.47 - - 2233 - - - 1816 - -87.6 - - 3115 - - - - - - - - 15.02 15.02 15.02
12770 938.1 -6.2 735 12773 roll -0.47 - - 2233 - 1.25 0.073 1107 -567.2 -87.6 - - 3115 - - - - - - - - 15.02 14.62 15.02
12815 940.8 -6.3 737 12818 done -0.47 - - 2227 - 1.17 0.041 1817 606.8 -87.6 - - 3115 - - - - - - - - 14.75 14.70 14.78
13132 961.0 -6.3 753 13133 done -0.47 - - 2227 - - - 1816 - -87.6 - - 3115 - - - - - - - - 15.02 15.02 15.02
13433 980.0 -6.2 768 13437 roll -0.47 - - 2227 - 1.25 0.073 1106 -568.0 -87.6 - - 3115 - - - - - - - - 15.02 14.62 15.02
13488 982.7 -6.2 770 13496 done -0.47 0.03 0.415 2231 133.3 1.17 0.041 1813 604.3 -87.6 - - 3115 - - - - - - - - 14.25 14.53 14.39
13614 end dive: TARGET_DEPTH_EXCEEDED
13614 begin apogee
13619 991.0 -5.8 777 13697 done -0.14 0.30 0.236 2342 370.0 - - 1757 - - 73.50 2.541 2758 -4.9 0.361 - - - - - - 14.45 14.08 13.15
13698 end apogee: CONTROL_FINISHED_OK
13698 begin climb
13699 992.8 - 781 13782 roll 0.47 0.52 0.176 2544 388.5 1.30 0.078 1073 -526.2 87.6 75.18 2.445 2400 -4.8 0.369 - - - - - - 14.02 13.69 12.86
13788 989.6 5.0 785 13792 done 0.47 - - 2544 - 1.20 0.035 1762 574.2 87.6 - - 2400 - - - - - - - - 13.83 13.79 13.83
14101 960.9 9.2 801 14102 done 0.47 - - 2544 - - - 1761 - 87.6 - - 2399 - - - - - - - - 14.58 14.58 14.58
14403 933.6 9.0 816 14404 done 0.47 - - 2544 - - - 1761 - 87.6 - - 2398 - - - - - - - - 14.76 14.76 14.76
14701 906.9 8.9 831 14703 done 0.47 - - 2543 - - - 1761 - 87.6 - - 2398 - - - - - - - - 14.84 14.84 14.84
15002 879.8 9.1 846 15003 done 0.47 - - 2544 - - - 1761 - 87.6 - - 2398 - - - - - - - - 14.90 14.90 14.90
15301 852.3 9.2 861 15302 done 0.47 - - 2543 - - - 1761 - 87.6 - - 2398 - - - - - - - - 14.93 14.93 14.93
15603 825.2 9.0 876 15607 roll 0.47 - - 2549 - 1.20 0.074 1078 -569.2 87.6 - - 2398 - - - - - - - - 14.94 14.60 14.94
15632 823.1 9.0 877 15636 done 0.47 - - 2549 - 1.12 0.037 1773 620.5 87.6 - - 2398 - - - - - - - - 14.73 14.68 14.74
15946 793.9 9.0 893 15950 roll 0.47 - - 2549 - 1.15 0.050 2463 600.0 87.6 - - 2398 - - - - - - - - 14.96 14.67 14.96
15975 791.8 9.1 894 15980 done 0.47 - - 2554 - 1.15 0.059 1782 -592.2 87.6 - - 2398 - - - - - - - - 14.70 14.65 14.73
16288 762.3 9.2 910 16292 roll 0.47 - - 2560 - 1.25 0.073 1064 -574.4 87.6 - - 2398 - - - - - - - - 15.00 14.62 15.00
16353 756.5 9.2 913 16358 done 0.47 0.05 0.288 2541 -380.0 1.17 0.036 1796 625.6 87.6 - - 2398 - - - - - - - - 14.43 14.74 14.59
16674 729.6 8.2 929 16682 done 0.47 - - 2541 - - - 1796 - 91.9 4.62 1.646 2383 -3.2 0.275 - - - - - - 14.97 14.74 13.68
16992 703.3 8.2 945 16998 done 0.48 - - 2541 - - - 1796 - 95.8 4.88 1.660 2368 -3.1 0.248 - - - - - - 14.96 14.73 13.69
17292 678.3 8.2 960 17300 roll 0.48 - - 2546 - 1.30 0.070 1059 -566.9 99.2 4.62 1.594 2353 -3.2 0.264 - - - - - - 14.95 14.71 13.71
17329 675.3 8.2 962 17340 done 0.49 - - 2546 - 1.12 0.036 1757 623.2 103.5 5.45 1.738 2335 -3.3 0.245 - - - - - - 14.72 14.68 13.75
17649 647.1 9.0 978 17653 roll 0.49 - - 2547 - 1.17 0.048 2454 595.7 103.5 - - 2334 - - - - - - - - 14.90 14.64 14.91
17685 645.0 9.2 979 17692 done 0.49 - - 2552 - 1.17 0.058 1775 -580.3 103.5 - - 2335 - - - - - - - - 14.57 14.50 14.57
17991 615.2 9.3 995 17995 roll 0.49 - - 2557 - 1.23 0.073 1067 -575.6 103.5 - - 2334 - - - - - - - - 14.95 14.62 14.95
18040 611.4 9.4 997 18044 done 0.49 - - 2557 - 1.12 0.037 1769 626.8 103.5 - - 2334 - - - - - - - - 14.73 14.69 14.74
18353 581.9 9.2 1013 18354 done 0.49 - - 2558 - - - 1769 - 103.5 - - 2334 - - - - - - - - 14.97 14.97 14.97
18653 554.2 9.2 1028 18657 roll 0.49 - - 2563 - 1.23 0.072 1064 -573.2 103.5 - - 2335 - - - - - - - - 14.98 14.64 14.98
18687 552.2 9.2 1029 18697 done 0.49 0.05 0.288 2544 -380.0 1.15 0.036 1776 619.1 103.5 - - 2334 - - - - - - - - 14.32 14.56 14.47
18995 524.4 8.6 1045 18999 roll 0.49 - - 2544 - 1.12 0.047 2455 606.2 103.5 - - 2335 - - - - - - - - 14.98 14.70 14.99
19025 522.5 8.6 1046 19029 done 0.49 - - 2548 - 1.15 0.057 1774 -592.2 103.5 - - 2335 - - - - - - - - 14.73 14.68 14.76
19337 494.5 8.6 1062 19341 roll 0.49 - - 2554 - 1.25 0.072 1061 -570.4 103.5 - - 2335 - - - - - - - - 15.00 14.65 15.00
19387 490.9 8.5 1064 19390 done 0.49 - - 2554 - 1.12 0.037 1762 625.9 103.5 - - 2335 - - - - - - - - 14.76 14.72 14.78
19699 462.9 8.7 1080 19703 roll 0.49 - - 2554 - 1.15 0.047 2457 604.3 103.5 - - 2335 - - - - - - - - 15.00 14.71 15.00
19749 459.1 9.0 1082 19753 done 0.49 - - 2559 - 1.17 0.060 1768 -588.9 103.5 - - 2335 - - - - - - - - 14.73 14.66 14.76
20062 430.4 9.0 1098 20065 roll 0.49 - - 2564 - 1.23 0.072 1060 -575.6 103.5 - - 2335 - - - - - - - - 15.00 14.65 15.01
20125 424.9 8.9 1101 20129 done 0.49 0.05 0.288 2546 -360.0 1.15 0.037 1777 623.5 103.5 - - 2335 - - - - - - - - 14.43 14.73 14.59
20448 398.3 8.2 1117 20458 roll 0.49 - - 2546 - 1.15 0.048 2466 599.1 107.0 4.32 1.373 2321 -3.2 0.179 - - - - - - 15.00 14.80 13.81
20489 395.0 8.2 1119 20499 done 0.50 - - 2551 - 1.20 0.058 1764 -585.0 110.7 5.00 1.500 2304 -3.4 0.171 - - - - - - 14.75 14.69 13.83
20808 366.8 8.9 1135 20812 roll 0.50 - - 2556 - 1.23 0.073 1062 -570.7 110.7 - - 2304 - - - - - - - - 14.95 14.63 14.96
20844 364.8 8.9 1136 20851 done 0.50 - - 2556 - 1.15 0.036 1763 609.6 110.7 - - 2305 - - - - - - - - 14.59 14.56 14.62
21150 336.9 8.5 1152 21153 roll 0.50 - - 2556 - 1.15 0.049 2457 603.5 110.7 - - 2305 - - - - - - - - 14.97 14.68 14.98
21191 333.3 8.6 1154 21195 done 0.50 - - 2561 - 1.17 0.060 1768 -588.9 110.7 - - 2305 - - - - - - - - 14.72 14.66 14.75
21513 304.9 8.9 1170 21516 roll 0.50 - - 2567 - 1.23 0.073 1062 -574.0 110.7 - - 2305 - - - - - - - - 14.99 14.64 14.98
21558 301.1 9.0 1172 21562 done 0.50 0.05 0.288 2548 -380.0 1.15 0.037 1777 621.7 110.7 - - 2305 - - - - - - - - 14.45 14.72 14.59
21876 274.5 8.1 1188 21887 roll 0.50 - - 2549 - 1.12 0.049 2458 608.0 116.5 5.68 1.436 2283 -3.9 0.141 - - - - - - 14.99 14.76 13.83
21915 271.2 8.1 1190 21927 done 0.51 - - 2554 - 1.17 0.058 1765 -592.3 121.3 5.57 1.465 2262 -3.8 0.133 - - - - - - 14.74 14.69 13.88
22236 244.7 8.1 1206 22247 roll 0.52 - - 2559 - 1.23 0.070 1064 -569.9 127.6 6.55 1.540 2236 -4.0 0.120 - - - - - - 14.94 14.54 13.84
22303 239.9 8.0 1209 22316 done 0.53 - - 2559 - 1.12 0.037 1759 620.5 134.8 7.07 1.536 2208 -4.0 0.118 - - - - - - 14.69 14.66 13.81
22615 212.0 9.1 1225 22619 roll 0.53 - - 2559 - 1.17 0.049 2454 594.0 134.8 - - 2208 - - - - - - - - 14.90 14.64 14.90
22639 210.0 9.2 1226 22643 done 0.53 - - 2564 - 1.15 0.057 1777 -588.7 134.8 - - 2208 - - - - - - - - 14.70 14.64 14.73
22957 179.5 9.9 1242 22961 roll 0.53 - - 2570 - 1.25 0.071 1059 -574.4 134.8 - - 2209 - - - - - - - - 14.94 14.62 14.94
23021 173.3 9.9 1245 23025 done 0.53 - - 2570 - 1.15 0.037 1766 614.8 134.8 - - 2208 - - - - - - - - 14.73 14.69 14.74
23343 139.6 10.5 1261 23344 done 0.53 - - 2570 - - - 1766 - 134.8 - - 2208 - - - - - - - - 14.96 14.96 14.97
23643 110.3 9.1 1276 23646 roll 0.53 - - 2575 - 1.23 0.073 1064 -570.7 134.8 - - 2208 - - - - - - - - 14.98 14.64 14.98
23676 108.5 8.9 1277 23685 done 0.53 0.05 0.276 2557 -360.0 1.15 0.037 1777 620.0 134.8 - - 2208 - - - - - - - - 14.34 14.58 14.50
23985 85.4 6.5 1293 24012 roll 0.56 - - 2562 - 1.27 0.071 1059 -565.4 165.5 23.52 1.639 2083 -5.3 0.053 - - - - - - 14.99 14.60 13.85
24040 81.6 6.7 1296 24067 done 0.60 - - 2562 - 1.15 0.038 1762 611.3 192.0 21.05 1.532 1974 -5.2 0.053 - - - - - - 14.64 14.62 13.80
24373 54.5 7.7 1356 24389 roll 0.61 - - 2562 - 1.20 0.050 2462 583.3 204.3 12.10 1.444 1924 -4.1 0.030 - - - - - - 14.76 14.50 13.72
24503 42.9 10.7 1380 24511 done 0.61 - - 2567 - 1.20 0.060 1775 -572.5 204.3 - - 1926 - - - - - - - - 14.42 14.35 14.45
24694 24.0 10.0 1417 24702 roll 0.61 - - 2572 - 1.25 0.066 1063 -569.6 204.3 - - 1925 - - - - - - - - 14.76 14.38 14.76
24729 21.8 5.8 1423 24764 done 0.66 - - 2573 - 1.17 0.041 1761 596.6 245.9 25.92 1.450 1754 -6.6 0.019 - - - - - - 14.45 14.41 13.71
24882 end climb: SURFACE_DEPTH_REACHED
24882 begin surface coast
24908 end surface coast: CONTROL_FINISHED_OK
24908 begin surface
SM 1.09 - - - - -6.40 5.53 0.073 277 49.8 0.08 0.157 1829 -118012.5 246.28 - - 1756 - - - - - - - -