ROAMMIZ Jan22 * SG640 * Dive index * Mission links * Dive 348 * Raw log
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• Previous call tries 1 • 249.62 of 450.00 AH used of 24V (44.53% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.2 deg, depth 1.19 m • Intended pitch -12.6 deg, speed -8.462 cm/s
• No surface pump (final VBD was 208.26, SM_CC=180)
• GPS1 time: 40 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 - - - 95 VBD -0.47 - - 214 - - - 1812 - -87.6 -85.12 - 3183 - - - - - - - - 14.70 - 14.71
98 3.4 -5.8 13 114 roll -0.47 6.43 0.358 2246 316.0 1.35 2.202 1048 -565.9 -87.6 -0.62 - 3198 -24.2 - - - - - - - 13.92 13.36 14.19
245 25.5 -11.3 40 253 done -0.47 - - 2240 - 1.27 0.042 1804 595.3 -87.6 - - 3198 - - - - - - - - 14.36 14.31 14.39
441 46.4 -11.7 77 447 roll -0.47 - - 2235 - 1.23 0.054 2519 581.3 -87.6 - - 3198 - - - - - - - - 14.76 14.42 14.77
517 54.8 -10.7 91 523 done -0.47 - - 2235 - 1.23 0.056 1814 -573.2 -87.6 - - 3197 - - - - - - - - 14.50 14.43 14.53
714 77.9 -12.1 128 722 roll -0.47 - - 2235 - 1.23 0.067 1114 -569.1 -87.6 - - 3198 - - - - - - - - 14.81 14.26 14.81
743 80.8 -11.0 132 747 done -0.47 - - 2229 - 1.17 0.042 1822 605.1 -87.6 - - 3198 - - - - - - - - 14.53 14.48 14.56
1061 115.5 -10.9 148 1063 done -0.47 - - 2229 - - - 1822 - -87.6 - - 3198 - - - - - - - - 14.86 14.86 14.86
1361 147.6 -10.2 163 1366 roll -0.47 - - 2224 - 1.17 0.054 2522 598.3 -87.6 - - 3198 - - - - - - - - 14.90 14.52 14.90
1424 153.7 -9.6 166 1428 done -0.47 - - 2223 - 1.20 0.055 1821 -584.2 -87.6 - - 3198 - - - - - - - - 14.58 14.52 14.61
1746 183.7 -9.0 182 1750 roll -0.47 - - 2223 - 1.23 0.070 1113 -575.6 -87.6 - - 3198 - - - - - - - - 14.92 14.48 14.92
1796 187.5 -9.2 184 1800 done -0.47 0.05 0.321 2236 260.0 1.17 0.042 1824 607.7 -87.6 - - 3197 - - - - - - - - 14.22 14.57 14.39
2109 214.0 -8.3 200 2110 done -0.47 - - 2236 - - - 1825 - -87.6 - - 3198 - - - - - - - - 14.92 14.93 14.93
2409 239.3 -8.5 215 2412 roll -0.47 - - 2236 - 1.25 0.068 1110 -572.0 -87.6 - - 3197 - - - - - - - - 14.94 14.50 14.95
2443 241.3 -8.6 216 2452 done -0.47 - - 2232 - 1.17 0.041 1815 602.6 -87.6 - - 3197 - - - - - - - - 14.43 14.38 14.45
2751 269.5 -8.8 232 2752 done -0.47 - - 2232 - - - 1814 - -87.6 - - 3197 - - - - - - - - 14.95 14.95 14.95
3051 296.0 -8.8 247 3054 roll -0.47 - - 2231 - 1.23 0.067 1110 -572.4 -87.6 - - 3197 - - - - - - - - 14.95 14.50 14.96
3080 297.9 -8.8 248 3083 done -0.47 - - 2226 - 1.17 0.041 1820 606.8 -87.6 - - 3197 - - - - - - - - 14.65 14.58 14.66
3393 326.6 -8.9 264 3394 done -0.47 - - 2226 - - - 1820 - -87.6 - - 3197 - - - - - - - - 14.96 14.96 14.96
3693 353.0 -8.9 279 3696 roll -0.47 - - 2225 - 1.23 0.069 1114 -574.0 -87.6 - - 3197 - - - - - - - - 14.97 14.50 14.97
3737 356.9 -9.0 281 3742 done -0.47 0.05 0.316 2238 260.0 1.15 0.041 1816 610.4 -87.6 - - 3197 - - - - - - - - 14.23 14.59 14.40
4057 382.4 -7.7 297 4058 done -0.47 - - 2238 - - - 1816 - -87.6 - - 3197 - - - - - - - - 15.02 15.03 15.02
4358 405.7 -7.8 312 4359 done -0.47 - - 2238 - - - 1816 - -87.6 - - 3197 - - - - - - - - 15.03 15.04 15.04
4656 429.0 -7.6 327 4660 roll -0.47 - - 2238 - 1.23 0.070 1117 -568.3 -87.6 - - 3197 - - - - - - - - 15.04 14.49 15.04
4711 432.3 -7.8 329 4718 done -0.47 - - 2235 - 1.17 0.041 1817 598.3 -87.6 - - 3197 - - - - - - - - 14.40 14.35 14.42
5018 456.5 -7.4 345 5020 done -0.47 - - 2233 - - - 1818 - -87.6 - - 3197 - - - - - - - - 15.02 15.03 15.03
5319 479.1 -7.6 360 5323 roll -0.47 - - 2235 - 1.23 0.068 1114 -572.4 -87.6 - - 3197 - - - - - - - - 15.04 14.49 15.04
5373 482.5 -7.7 362 5381 done -0.47 - - 2229 - 1.17 0.041 1813 597.4 -87.6 - - 3197 - - - - - - - - 14.39 14.35 14.42
5681 507.1 -7.7 378 5682 done -0.47 - - 2228 - - - 1812 - -87.6 - - 3197 - - - - - - - - 14.95 14.95 14.95
5981 529.9 -7.6 393 5982 done -0.47 - - 2229 - - - 1812 - -87.6 - - 3197 - - - - - - - - 15.04 15.05 15.05
6283 551.8 -7.2 408 6287 roll -0.47 - - 2229 - 1.23 0.067 1109 -571.5 -87.6 - - 3197 - - - - - - - - 15.04 14.48 15.05
6333 555.1 -7.4 410 6336 done -0.47 - - 2223 - 1.17 0.041 1819 606.8 -87.6 - - 3197 - - - - - - - - 14.63 14.57 14.65
6646 579.7 -7.8 426 6647 done -0.47 - - 2223 - - - 1820 - -87.6 - - 3197 - - - - - - - - 15.04 15.04 15.04
6945 603.2 -7.9 441 6949 roll -0.47 - - 2223 - 1.23 0.069 1114 -574.0 -87.6 - - 3197 - - - - - - - - 15.05 14.47 15.05
6999 606.6 -8.1 443 7007 done -0.47 0.05 0.317 2236 260.0 1.17 0.041 1823 606.0 -87.6 - - 3198 - - - - - - - - 14.19 14.57 14.39
7307 629.6 -7.2 459 7310 roll -0.47 - - 2233 - 1.15 0.054 2504 592.2 -87.6 - - 3197 - - - - - - - - 15.07 14.51 15.07
7348 632.5 -7.0 461 7351 done -0.47 - - 2233 - 1.17 0.054 1818 -586.3 -87.6 - - 3198 - - - - - - - - 14.59 14.52 14.62
7669 655.9 -7.4 477 7671 done -0.47 - - 2233 - - - 1818 - -87.6 - - 3198 - - - - - - - - 15.07 15.08 15.07
7969 677.3 -6.9 492 7970 done -0.47 - - 2233 - - - 1818 - -87.6 - - 3199 - - - - - - - - 15.08 15.08 15.08
8269 697.6 -6.9 507 8270 done -0.47 - - 2233 - - - 1818 - -87.6 - - 3199 - - - - - - - - 15.09 15.09 15.09
8569 718.6 -7.1 522 8570 done -0.47 - - 2233 - - - 1818 - -87.6 - - 3199 - - - - - - - - 15.09 15.09 15.09
8869 740.1 -7.3 537 8871 done -0.47 - - 2233 - - - 1818 - -87.6 - - 3199 - - - - - - - - 15.09 15.10 15.09
9169 763.0 -7.7 552 9173 roll -0.47 - - 2227 - 1.17 0.052 2509 590.6 -87.6 - - 3199 - - - - - - - - 15.10 14.56 15.10
9224 766.2 -7.6 554 9230 done -0.47 - - 2227 - 1.20 0.058 1823 -571.7 -87.6 - - 3198 - - - - - - - - 14.48 14.40 14.53
9531 791.0 -7.6 570 9534 roll -0.47 - - 2227 - 1.25 0.073 1110 -570.4 -87.6 - - 3199 - - - - - - - - 15.10 14.47 15.11
9565 792.6 -7.6 571 9572 done -0.47 - - 2222 - 1.17 0.042 1816 603.4 -87.6 - - 3198 - - - - - - - - 14.64 14.59 14.66
9872 817.4 -7.7 587 9874 done -0.47 0.05 0.447 2237 300.0 - - 1817 - -87.6 - - 3198 - - - - - - - - 14.50 14.72 14.65
10172 838.4 -7.0 602 10173 done -0.47 - - 2237 - - - 1817 - -87.6 - - 3199 - - - - - - - - 15.10 15.09 15.10
10472 859.6 -7.1 617 10473 done -0.47 - - 2237 - - - 1817 - -87.6 - - 3199 - - - - - - - - 15.10 15.10 15.10
10772 880.7 -7.2 632 10775 roll -0.47 - - 2237 - 1.25 0.073 1109 -566.4 -87.6 - - 3199 - - - - - - - - 15.11 14.49 15.11
10816 883.8 -7.4 634 10820 done -0.47 - - 2234 - 1.17 0.042 1823 610.3 -87.6 - - 3199 - - - - - - - - 14.65 14.59 14.68
11133 907.7 -7.5 650 11134 done -0.47 - - 2234 - - - 1822 - -87.6 - - 3199 - - - - - - - - 15.10 15.11 15.11
11433 929.7 -7.2 665 11435 done -0.47 - - 2234 - - - 1822 - -87.6 - - 3199 - - - - - - - - 15.11 15.11 15.11
11733 951.1 -6.9 680 11737 roll -0.47 - - 2234 - 1.25 0.072 1112 -568.0 -87.6 - - 3199 - - - - - - - - 15.11 14.48 15.11
11783 954.1 -6.9 682 11786 done -0.47 - - 2229 - 1.17 0.042 1822 606.8 -87.6 - - 3199 - - - - - - - - 14.64 14.59 14.67
12095 976.2 -6.9 698 12098 roll -0.47 - - 2224 - 1.17 0.054 2522 598.3 -87.6 - - 3199 - - - - - - - - 14.99 14.52 14.99
12136 979.2 -7.1 700 12140 done -0.47 - - 2223 - 1.20 0.057 1820 -585.0 -87.6 - - 3199 - - - - - - - - 14.59 14.52 14.64
12295 end dive: TARGET_DEPTH_EXCEEDED
12295 begin apogee
12300 990.7 -7.2 708 12382 done -0.14 0.32 0.237 2339 362.5 - - 1711 - - 78.57 2.533 2838 -4.6 0.349 - - - - - - 14.27 14.04 13.02
12383 end apogee: CONTROL_FINISHED_OK
12383 begin climb
12385 993.2 - 712 12470 done 0.47 0.55 0.171 2546 376.4 - - 1710 - 87.6 81.25 2.487 2480 -4.4 0.342 - - - - - - 13.97 13.57 12.63
12759 969.8 7.3 731 12779 done 0.49 - - 2546 - - - 1710 - 106.1 17.48 2.369 2406 -4.2 0.337 - - - - - - 14.47 14.16 13.12
13078 944.6 7.9 747 13091 roll 0.50 - - 2545 - 1.23 0.047 2439 592.7 114.2 8.93 2.139 2370 -4.0 0.346 - - - - - - 14.66 14.21 13.31
13183 936.7 8.3 751 13186 done 0.50 - - 2551 - 1.17 0.062 1770 -571.8 116.6 - - 2371 - - - - - - - - 14.41 14.35 14.45
13493 908.7 8.9 767 13497 roll 0.50 - - 2557 - 1.30 0.074 1039 -562.3 116.6 - - 2371 - - - - - - - - 14.83 14.41 14.83
13557 903.4 8.8 770 13561 done 0.50 - - 2557 - 1.15 0.037 1751 619.1 116.6 - - 2371 - - - - - - - - 14.56 14.52 14.59
13875 874.1 9.2 786 13878 roll 0.50 - - 2557 - 1.12 0.048 2426 602.7 116.6 - - 2370 - - - - - - - - 14.85 14.54 14.85
13916 870.2 9.2 788 13919 done 0.50 - - 2562 - 1.20 0.060 1739 -572.5 116.6 - - 2370 - - - - - - - - 14.57 14.50 14.60
14237 839.4 9.6 804 14240 roll 0.50 - - 2568 - 1.23 0.073 1030 -576.4 116.6 - - 2370 - - - - - - - - 14.88 14.49 14.89
14278 835.4 9.7 806 14282 done 0.50 0.05 0.288 2549 -380.0 1.15 0.037 1751 627.0 116.6 - - 2371 - - - - - - - - 14.28 14.59 14.41
14601 805.9 9.2 822 14604 roll 0.50 - - 2549 - 1.12 0.047 2423 600.0 116.6 - - 2370 - - - - - - - - 14.91 14.59 14.92
14650 802.0 9.2 824 14653 done 0.50 - - 2554 - 1.17 0.058 1743 -581.2 116.6 - - 2370 - - - - - - - - 14.61 14.55 14.65
14962 772.3 9.3 840 14965 roll 0.50 - - 2559 - 1.25 0.072 1028 -572.0 116.6 - - 2370 - - - - - - - - 14.94 14.52 14.94
15010 768.5 9.4 842 15015 done 0.50 - - 2560 - 1.12 0.036 1728 625.0 116.6 - - 2370 - - - - - - - - 14.66 14.62 14.69
15323 738.8 9.2 858 15326 roll 0.50 - - 2560 - 1.17 0.047 2433 602.6 116.6 - - 2371 - - - - - - - - 15.04 14.60 15.04
15392 733.2 9.0 861 15395 done 0.50 - - 2565 - 1.20 0.058 1739 -578.3 116.6 - - 2371 - - - - - - - - 14.62 14.56 14.66
15704 704.5 8.9 877 15708 roll 0.50 - - 2571 - 1.23 0.071 1031 -575.6 116.6 - - 2371 - - - - - - - - 15.04 14.52 15.04
15748 700.9 8.8 879 15753 done 0.50 0.05 0.288 2552 -380.0 1.12 0.036 1741 633.9 116.6 - - 2370 - - - - - - - - 14.31 14.65 14.45
16067 675.5 7.9 895 16086 roll 0.51 - - 2553 - 1.15 0.047 2425 594.8 124.8 10.10 2.050 2330 -4.0 0.253 - - - - - - 14.97 14.74 13.68
16137 670.4 8.2 898 16149 done 0.52 - - 2557 - 1.17 0.058 1746 -580.3 128.7 5.12 1.651 2313 -3.3 0.262 - - - - - - 14.62 14.57 13.55
16448 643.1 8.6 914 16452 roll 0.52 - - 2563 - 1.25 0.071 1031 -572.0 128.7 - - 2314 - - - - - - - - 14.97 14.50 14.97
16491 639.5 8.6 916 16496 done 0.52 - - 2563 - 1.12 0.036 1735 628.6 128.7 - - 2314 - - - - - - - - 14.66 14.62 14.67
16809 611.9 8.7 932 16813 roll 0.52 - - 2563 - 1.15 0.047 2424 599.1 128.7 - - 2314 - - - - - - - - 14.92 14.59 14.92
16851 608.2 8.8 934 16854 done 0.52 - - 2568 - 1.17 0.057 1746 -579.5 128.7 - - 2313 - - - - - - - - 14.62 14.55 14.64
17172 579.6 8.9 950 17176 roll 0.52 - - 2574 - 1.23 0.070 1036 -577.2 128.7 - - 2314 - - - - - - - - 14.93 14.52 14.93
17234 574.0 8.9 953 17239 done 0.52 0.05 0.282 2555 -380.0 1.12 0.035 1746 633.9 128.7 - - 2314 - - - - - - - - 14.30 14.63 14.45
17559 547.6 8.1 969 17569 roll 0.53 - - 2556 - 1.10 0.041 2422 614.5 134.7 7.00 1.738 2288 -3.7 0.227 - - - - - - 14.93 14.50 13.68
17620 543.0 8.3 971 17633 done 0.53 - - 2560 - 1.17 0.057 1743 -580.3 137.9 4.45 1.448 2275 -2.9 0.213 - - - - - - 14.63 14.57 13.59
17933 515.0 8.8 987 17937 roll 0.53 - - 2565 - 1.25 0.071 1028 -572.0 137.9 - - 2275 - - - - - - - - 14.97 14.50 14.97
17975 511.3 8.8 989 17979 done 0.53 - - 2566 - 1.12 0.036 1730 626.8 137.9 - - 2275 - - - - - - - - 14.64 14.59 14.66
18297 482.4 8.9 1005 18301 roll 0.53 - - 2566 - 1.17 0.047 2431 599.1 137.9 - - 2275 - - - - - - - - 14.91 14.58 14.91
18372 476.7 9.0 1008 18379 done 0.53 - - 2571 - 1.23 0.058 1737 -564.2 137.9 - - 2275 - - - - - - - - 14.41 14.36 14.43
18679 447.2 9.3 1024 18683 roll 0.53 - - 2576 - 1.23 0.071 1028 -576.4 137.9 - - 2275 - - - - - - - - 14.92 14.51 14.92
18723 443.3 9.3 1026 18728 done 0.53 0.05 0.285 2558 -360.0 1.15 0.034 1754 631.3 137.9 - - 2275 - - - - - - - - 14.30 14.64 14.45
19043 416.3 8.4 1042 19046 roll 0.53 - - 2558 - 1.12 0.047 2422 596.4 139.0 - - 2275 - - - - - - - - 14.92 14.59 14.93
19097 412.5 8.5 1044 19105 done 0.53 - - 2562 - 1.20 0.057 1741 -567.5 139.0 - - 2275 - - - - - - - - 14.41 14.35 14.45
19405 385.7 8.3 1060 19415 roll 0.53 - - 2568 - 1.25 0.073 1024 -573.6 141.4 4.55 1.454 2260 -3.3 0.170 - - - - - - 14.93 14.71 13.67
19453 382.3 8.4 1062 19457 done 0.53 - - 2568 - 1.15 0.037 1735 618.3 142.0 - - 2261 - - - - - - - - 14.66 14.63 14.69
19767 353.8 9.0 1078 19771 roll 0.53 - - 2568 - 1.17 0.047 2435 598.3 142.0 - - 2261 - - - - - - - - 14.92 14.58 14.92
19796 351.7 9.1 1079 19800 done 0.53 - - 2573 - 1.20 0.057 1741 -578.3 142.0 - - 2261 - - - - - - - - 14.64 14.56 14.64
20109 321.9 9.3 1095 20112 roll 0.53 - - 2579 - 1.23 0.071 1032 -576.4 142.0 - - 2261 - - - - - - - - 14.97 14.51 14.97
20171 316.0 9.5 1098 20175 done 0.53 0.05 0.295 2562 -340.0 1.15 0.036 1754 627.8 142.0 - - 2261 - - - - - - - - 14.28 14.61 14.42
20494 287.0 9.1 1114 20498 roll 0.53 - - 2561 - 1.12 0.047 2421 595.5 142.0 - - 2261 - - - - - - - - 14.92 14.58 14.93
20523 284.9 9.1 1115 20527 done 0.53 - - 2565 - 1.17 0.058 1738 -583.8 142.0 - - 2261 - - - - - - - - 14.61 14.55 14.64
20836 254.7 9.5 1131 20840 roll 0.53 - - 2571 - 1.23 0.071 1032 -574.0 142.0 - - 2261 - - - - - - - - 14.94 14.50 14.92
20880 250.7 9.5 1133 20885 done 0.53 - - 2571 - 1.12 0.037 1732 625.0 142.0 - - 2261 - - - - - - - - 14.70 14.62 14.69
21199 220.5 9.2 1149 21203 roll 0.53 - - 2571 - 1.17 0.049 2429 595.7 142.0 - - 2261 - - - - - - - - 15.02 14.58 15.02
21283 212.7 9.5 1153 21288 done 0.53 0.03 0.433 2567 -133.3 1.20 0.058 1737 -576.7 142.0 - - 2262 - - - - - - - - 14.26 14.56 14.38
21602 184.4 8.8 1169 21603 done 0.53 - - 2568 - - - 1737 - 142.0 - - 2262 - - - - - - - - 14.93 14.93 14.93
21901 158.9 8.3 1184 21903 done 0.54 - - 2567 - - - 1737 - 143.7 - - 2262 - - - - - - - - 14.94 14.94 14.93
22201 133.5 8.6 1199 22203 done 0.54 - - 2567 - - - 1737 - 143.7 - - 2262 - - - - - - - - 14.94 14.94 14.95
22501 108.4 7.9 1214 22521 roll 0.55 - - 2567 - 1.20 0.047 2439 585.0 151.8 9.73 1.574 2219 -4.4 0.059 - - - - - - 14.94 14.74 13.81
22556 105.1 7.7 1216 22571 done 0.56 - - 2571 - 1.23 0.057 1744 -565.0 163.8 10.80 1.564 2170 -4.5 0.059 - - - - - - 14.50 14.42 13.76
22876 76.9 8.8 1235 22883 roll 0.56 - - 2571 - 1.17 0.048 2430 586.3 163.8 - - 2172 - - - - - - - - 14.84 14.53 14.85
22901 74.7 8.8 1239 22908 done 0.56 - - 2576 - 1.20 0.058 1742 -573.3 163.8 - - 2172 - - - - - - - - 14.57 14.50 14.59
23094 57.7 8.2 1276 23102 done 0.57 - - 2576 - - - 1743 - 167.2 5.07 1.304 2155 -3.4 0.029 - - - - - - 14.85 14.61 13.69
23288 43.6 7.1 1313 23314 roll 0.59 - - 2582 - 1.25 0.075 1028 -572.0 188.6 17.73 1.584 2068 -4.9 0.026 - - - - - - 14.85 14.43 13.75
23352 38.9 7.1 1324 23378 done 0.62 - - 2582 - 1.15 0.037 1741 620.0 209.0 17.10 1.515 1984 -4.9 0.024 - - - - - - 14.41 14.38 13.66
23563 20.3 9.7 1364 23571 roll 0.62 - - 2583 - 1.17 0.047 2432 590.6 209.0 - - 1991 - - - - - - - - 14.72 14.28 14.72
23594 17.4 9.9 1369 23601 done 0.62 - - 2588 - 1.23 0.056 1732 -569.1 209.0 - - 1992 - - - - - - - - 14.47 14.41 14.50
23736 end climb: SURFACE_DEPTH_REACHED
23736 begin surface coast
23758 end surface coast: CONTROL_FINISHED_OK
23758 begin surface
SM 0.98 - - - - -6.42 5.68 0.096 227 40.0 0.12 0.105 1839 6741.7 208.26 - - 1991 - - - - - - - -