ROAMMIZ Jan22 * SG640 * Dive index * Mission links * Dive 77 * Raw log
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• Previous call tries 1 • 168.78 of 310.00 AH used of 24V (45.55% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.7 deg, depth 1.18 m • Intended pitch -22.4 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 - - - 75 VBD -0.76 - - 230 - - - 1909 - -97.3 -66.18 - 3246 - - - - - - - - 14.67 - 14.68
78 3.6 -7.2 10 94 roll -0.76 6.00 0.369 2158 321.3 2.55 2.258 3283 538.8 -97.3 -3.03 - 3343 -32.0 - - - - - - - 14.32 13.65 14.55
131 15.9 -17.8 19 139 done -0.76 - - 2157 - 2.40 0.054 1874 -587.1 -97.3 - - 3345 - - - - - - - - 14.56 14.47 14.57
181 25.1 -19.1 28 189 roll -0.76 - - 2158 - 2.50 0.074 460 -565.6 -97.3 - - 3345 - - - - - - - - 14.69 14.47 14.69
206 29.5 -17.5 32 213 done -0.76 - - 2148 - 2.35 0.046 1838 586.4 -97.3 - - 3345 - - - - - - - - 14.58 14.50 14.59
336 52.0 -16.3 57 343 roll -0.76 - - 2137 - 2.53 0.080 3283 571.1 -97.3 - - 3346 - - - - - - - - 14.73 14.51 14.73
395 61.7 -15.0 68 402 done -0.76 - - 2137 - 2.40 0.056 1870 -588.8 -97.3 - - 3346 - - - - - - - - 14.64 14.54 14.65
720 112.3 -16.0 102 726 roll -0.76 - - 2137 - 2.45 0.077 463 -574.3 -97.3 - - 3346 - - - - - - - - 14.83 14.62 14.83
807 124.6 -15.3 106 812 done -0.76 0.05 0.448 2141 80.0 2.35 0.045 1875 600.9 -97.3 - - 3346 - - - - - - - - 14.52 14.65 14.70
1120 172.7 -15.3 122 1126 roll -0.76 - - 2130 - 2.38 0.076 3272 587.0 -97.3 - - 3346 - - - - - - - - 14.91 14.69 14.91
1193 181.6 -14.8 125 1201 done -0.76 - - 2130 - 2.38 0.054 1865 -591.2 -97.3 - - 3346 - - - - - - - - 14.72 14.68 14.74
1501 230.8 -15.7 141 1507 roll -0.76 - - 2130 - 2.42 0.075 458 -581.4 -97.3 - - 3346 - - - - - - - - 14.95 14.73 14.95
1554 237.2 -15.8 143 1563 done -0.76 0.05 0.352 2137 140.0 2.38 0.044 1859 588.7 -97.3 - - 3345 - - - - - - - - 14.60 14.73 14.73
1861 285.4 -15.2 159 1868 roll -0.76 - - 2126 - 2.40 0.075 3279 591.7 -97.3 - - 3346 - - - - - - - - 14.98 14.76 14.98
1929 294.3 -14.9 162 1934 done -0.76 0.05 0.442 2141 300.0 2.33 0.054 1865 -606.9 -97.3 - - 3346 - - - - - - - - 14.65 14.78 14.83
2243 341.5 -14.9 178 2248 roll -0.76 - - 2141 - 2.38 0.073 467 -587.4 -97.3 - - 3346 - - - - - - - - 15.00 14.77 15.00
2311 350.6 -15.1 181 2315 done -0.76 - - 2132 - 2.33 0.044 1877 605.2 -97.3 - - 3346 - - - - - - - - 14.89 14.81 14.90
2619 399.3 -15.7 196 2624 roll -0.76 - - 2121 - 2.33 0.074 3272 598.7 -97.3 - - 3345 - - - - - - - - 15.02 14.79 15.02
2650 402.4 -15.7 197 2658 done -0.76 0.05 0.330 2139 360.0 2.35 0.055 1871 -596.2 -97.3 - - 3346 - - - - - - - - 14.67 14.78 14.79
2957 449.1 -14.7 213 2963 roll -0.76 - - 2139 - 2.42 0.079 466 -580.6 -97.3 - - 3346 - - - - - - - - 15.02 14.81 15.03
3030 458.2 -14.9 216 3038 done -0.76 - - 2129 - 2.38 0.045 1875 592.0 -97.3 - - 3346 - - - - - - - - 14.83 14.78 14.86
3338 505.9 -15.1 232 3344 roll -0.76 - - 2118 - 2.35 0.073 3275 595.7 -97.3 - - 3345 - - - - - - - - 15.04 14.81 15.04
3391 511.8 -14.7 234 3400 done -0.76 0.08 0.291 2145 337.5 2.35 0.055 1870 -597.9 -97.3 - - 3345 - - - - - - - - 14.70 14.78 14.81
3700 556.1 -13.9 250 3705 roll -0.76 - - 2145 - 2.40 0.079 467 -584.6 -97.3 - - 3345 - - - - - - - - 15.04 14.81 15.04
3767 564.5 -14.1 253 3772 done -0.76 - - 2136 - 2.30 0.044 1873 611.3 -97.3 - - 3346 - - - - - - - - 14.93 14.84 14.94
4075 608.4 -14.1 268 4081 roll -0.76 - - 2125 - 2.33 0.074 3270 599.6 -97.3 - - 3345 - - - - - - - - 15.04 14.81 15.05
4147 616.6 -13.7 271 4155 done -0.76 0.05 0.322 2142 340.0 2.35 0.056 1869 -596.2 -97.3 - - 3346 - - - - - - - - 14.70 14.80 14.82
4454 660.0 -13.7 287 4460 roll -0.76 - - 2142 - 2.42 0.080 460 -582.2 -97.3 - - 3346 - - - - - - - - 15.05 14.83 15.06
4516 668.4 -13.8 290 4521 done -0.76 - - 2133 - 2.35 0.044 1866 598.3 -97.3 - - 3345 - - - - - - - - 14.88 14.84 14.89
4835 712.9 -14.0 306 4841 roll -0.76 - - 2122 - 2.38 0.075 3279 593.7 -97.3 - - 3346 - - - - - - - - 15.05 14.83 15.05
4907 721.2 -13.9 309 4916 done -0.76 0.05 0.329 2140 360.0 2.38 0.054 1860 -596.2 -97.3 - - 3346 - - - - - - - - 14.71 14.81 14.82
5215 764.1 -13.5 325 5221 roll -0.76 - - 2140 - 2.40 0.077 463 -582.1 -97.3 - - 3346 - - - - - - - - 15.06 14.83 15.06
5268 769.6 -13.7 327 5276 done -0.76 - - 2130 - 2.35 0.044 1868 597.9 -97.3 - - 3346 - - - - - - - - 14.86 14.82 14.88
5575 813.8 -14.0 343 5581 roll -0.76 - - 2119 - 2.35 0.074 3273 597.9 -97.3 - - 3346 - - - - - - - - 15.06 14.83 15.06
5637 822.1 -13.8 346 5643 done -0.76 0.05 0.321 2138 380.0 2.35 0.056 1870 -597.0 -97.3 - - 3347 - - - - - - - - 14.73 14.83 14.85
5956 864.7 -13.4 362 5962 roll -0.76 - - 2138 - 2.42 0.082 464 -581.0 -97.3 - - 3346 - - - - - - - - 15.06 14.83 15.07
6018 872.9 -13.7 365 6023 done -0.76 - - 2129 - 2.35 0.044 1870 598.3 -97.3 - - 3346 - - - - - - - - 14.89 14.84 14.91
6336 916.7 -13.8 381 6342 roll -0.76 - - 2118 - 2.35 0.074 3273 597.0 -97.3 - - 3346 - - - - - - - - 15.06 14.83 15.06
6397 924.8 -13.7 384 6403 done -0.76 0.08 0.345 2143 312.5 2.30 0.057 1871 -609.6 -97.3 - - 3346 - - - - - - - - 14.75 14.85 14.90
6717 965.1 -12.5 400 6723 roll -0.76 - - 2143 - 2.42 0.083 466 -580.6 -97.3 - - 3346 - - - - - - - - 15.06 14.83 15.07
6784 972.7 -12.8 403 6789 done -0.76 - - 2135 - 2.30 0.044 1874 612.2 -97.3 - - 3346 - - - - - - - - 14.95 14.85 14.96
6916 end dive: TARGET_DEPTH_EXCEEDED
6916 begin apogee
6920 990.4 -12.9 410 7004 done -0.14 0.57 0.254 2342 363.2 - - 1756 - - 79.97 2.632 2943 -5.0 0.360 - - - - - - 14.73 14.00 13.15
7005 end apogee: CONTROL_FINISHED_OK
7005 begin climb
7006 994.1 - 414 7099 roll 0.76 0.77 0.168 2646 394.8 2.60 0.076 397 -522.7 97.3 79.32 2.545 2544 -5.0 0.373 - - - - - - 13.97 13.76 12.93
7143 983.5 10.1 421 7149 done 0.76 - - 2647 - 2.38 0.037 1772 577.7 97.3 - - 2544 - - - - - - - - 14.06 14.01 14.07
7462 941.1 13.4 437 7468 roll 0.76 - - 2647 - 2.45 0.069 3189 578.4 97.3 - - 2543 - - - - - - - - 14.61 14.39 14.62
7544 930.2 13.5 441 7550 done 0.76 0.08 0.338 2634 -162.5 2.40 0.057 1805 -576.7 97.3 - - 2543 - - - - - - - - 14.33 14.44 14.45
7863 890.2 12.5 457 7869 roll 0.76 - - 2644 - 2.53 0.074 371 -566.8 97.3 - - 2543 - - - - - - - - 14.78 14.57 14.79
7950 879.8 13.0 461 7955 done 0.76 - - 2644 - 2.35 0.037 1791 604.3 97.3 - - 2543 - - - - - - - - 14.70 14.60 14.71
8263 838.4 13.0 477 8269 roll 0.76 - - 2644 - 2.35 0.067 3181 591.5 97.3 - - 2543 - - - - - - - - 14.88 14.66 14.88
8343 827.9 13.1 481 8350 done 0.76 0.08 0.383 2631 -162.5 2.35 0.055 1772 -599.6 97.3 - - 2543 - - - - - - - - 14.58 14.69 14.73
8663 789.3 12.0 497 8669 roll 0.76 - - 2641 - 2.42 0.073 373 -578.1 97.3 - - 2542 - - - - - - - - 14.93 14.72 14.94
8731 781.8 12.2 500 8736 done 0.76 - - 2642 - 2.35 0.037 1808 610.6 97.3 - - 2543 - - - - - - - - 14.83 14.74 14.84
9044 741.9 12.6 516 9050 roll 0.76 - - 2642 - 2.30 0.067 3178 595.7 97.3 - - 2543 - - - - - - - - 14.97 14.75 14.97
9105 734.2 12.7 519 9111 done 0.76 0.05 0.445 2636 -120.0 2.33 0.055 1774 -602.6 97.3 - - 2543 - - - - - - - - 14.64 14.77 14.82
9425 695.6 12.0 535 9431 roll 0.76 - - 2647 - 2.42 0.073 369 -580.6 97.3 - - 2543 - - - - - - - - 14.99 14.78 15.00
9485 688.2 12.3 538 9491 done 0.76 - - 2648 - 2.30 0.037 1776 611.7 97.3 - - 2543 - - - - - - - - 14.88 14.79 14.90
9805 649.1 12.2 554 9811 roll 0.76 - - 2647 - 2.38 0.067 3187 592.9 97.3 - - 2542 - - - - - - - - 15.02 14.79 15.02
9885 639.1 12.5 558 9892 done 0.76 0.08 0.387 2634 -162.5 2.33 0.054 1779 -604.3 97.3 - - 2543 - - - - - - - - 14.69 14.81 14.85
10205 602.4 11.4 574 10211 roll 0.76 - - 2644 - 2.42 0.073 372 -581.4 97.3 - - 2543 - - - - - - - - 15.02 14.81 15.02
10272 595.3 11.7 577 10277 done 0.76 - - 2644 - 2.30 0.037 1786 614.8 97.3 - - 2543 - - - - - - - - 14.91 14.82 14.92
10585 558.4 11.6 593 10591 roll 0.76 - - 2645 - 2.33 0.067 3176 596.6 97.3 - - 2543 - - - - - - - - 15.04 14.81 15.04
10658 551.1 11.8 596 10667 done 0.76 0.05 0.359 2638 -140.0 2.35 0.054 1779 -594.5 97.3 - - 2543 - - - - - - - - 14.67 14.80 14.81
10966 515.7 11.0 612 10972 roll 0.76 - - 2648 - 2.40 0.072 373 -585.8 97.3 - - 2543 - - - - - - - - 15.04 14.83 15.04
11028 508.9 11.3 615 11033 done 0.76 0.03 0.425 2639 -300.0 2.33 0.036 1780 603.9 97.3 - - 2543 - - - - - - - - 14.68 14.83 14.82
11346 474.3 10.8 631 11352 roll 0.76 - - 2639 - 2.33 0.066 3178 600.0 97.3 - - 2543 - - - - - - - - 15.04 14.83 15.05
11395 469.8 11.0 633 11399 done 0.76 - - 2649 - 2.30 0.053 1777 -609.1 97.3 - - 2543 - - - - - - - - 14.94 14.85 14.95
11703 435.6 10.8 648 11709 roll 0.76 0.03 0.647 2647 - 2.40 0.072 374 -584.6 97.3 - - 2543 - - - - - - - - 14.72 14.83 14.90
11781 427.1 10.6 652 11787 done 0.76 - - 2649 - 2.28 0.036 1773 613.6 97.3 - - 2543 - - - - - - - - 14.94 14.85 14.95
12102 393.3 10.7 668 12107 roll 0.76 - - 2648 - 2.35 0.067 3185 600.9 97.3 - - 2543 - - - - - - - - 15.06 14.83 15.06
12184 384.6 10.9 672 12190 done 0.76 0.05 0.373 2642 -120.0 2.35 0.052 1777 -599.1 97.3 - - 2543 - - - - - - - - 14.70 14.83 14.84
12502 351.7 10.4 688 12508 roll 0.76 - - 2651 - 2.40 0.072 371 -585.8 97.3 - - 2542 - - - - - - - - 15.06 14.84 15.06
12569 345.3 10.6 691 12575 done 0.76 0.05 0.425 2636 -300.0 2.33 0.036 1803 614.6 97.3 - - 2543 - - - - - - - - 14.73 14.85 14.90
12882 312.9 10.0 707 12888 roll 0.76 - - 2635 - 2.30 0.067 3179 598.3 97.3 - - 2543 - - - - - - - - 15.05 14.83 15.06
12964 304.7 10.1 711 12969 done 0.76 - - 2645 - 2.35 0.053 1775 -597.4 97.3 - - 2543 - - - - - - - - 14.89 14.84 14.91
13283 271.8 10.6 727 13289 roll 0.76 - - 2656 - 2.40 0.073 372 -584.6 97.3 - - 2543 - - - - - - - - 15.06 14.85 15.07
13344 265.2 11.0 730 13350 done 0.76 0.05 0.327 2638 -360.0 2.25 0.036 1772 622.2 97.3 - - 2543 - - - - - - - - 14.73 14.85 14.85
13663 232.3 10.2 746 13669 roll 0.76 - - 2638 - 2.35 0.067 3185 601.3 97.3 - - 2543 - - - - - - - - 15.06 14.84 15.06
13710 227.9 10.7 748 13715 done 0.76 - - 2649 - 2.30 0.051 1777 -612.2 97.3 - - 2543 - - - - - - - - 14.95 14.86 14.96
14023 194.5 10.5 764 14029 roll 0.76 - - 2660 - 2.40 0.073 375 -584.2 97.3 - - 2543 - - - - - - - - 15.07 14.85 15.07
14070 190.2 10.6 766 14076 done 0.76 0.08 0.370 2637 -287.5 2.28 0.036 1783 617.5 97.3 - - 2543 - - - - - - - - 14.74 14.86 14.90
14379 159.9 9.5 781 14390 roll 0.77 - - 2637 - 2.35 0.067 3181 594.9 104.6 6.57 1.665 2516 -4.1 0.075 - - - - - - 15.06 14.79 14.06
14475 150.1 10.4 785 14480 done 0.77 - - 2646 - 2.28 0.052 1784 -612.7 104.6 - - 2516 - - - - - - - - 14.85 14.79 14.86
14793 115.8 11.0 801 14799 roll 0.77 - - 2657 - 2.42 0.073 370 -584.3 104.6 - - 2516 - - - - - - - - 15.02 14.81 15.02
14861 108.9 11.4 804 14866 done 0.77 0.08 0.358 2634 -287.5 2.30 0.036 1784 614.8 104.6 - - 2516 - - - - - - - - 14.71 14.82 14.87
15169 77.4 10.0 822 15176 roll 0.77 - - 2634 - 2.38 0.068 3178 585.7 104.6 - - 2516 - - - - - - - - 15.02 14.81 15.03
15233 70.9 9.7 834 15248 done 0.78 - - 2643 - 2.35 0.051 1763 -602.1 109.4 5.18 1.410 2496 -3.9 0.037 - - - - - - 14.90 14.82 14.04
15551 41.6 8.7 896 15572 roll 0.80 - - 2654 - 2.45 0.070 371 -568.2 127.7 14.30 1.667 2421 -5.2 0.025 - - - - - - 14.93 14.49 13.93
15595 37.7 9.9 903 15602 done 0.80 - - 2655 - 2.35 0.036 1773 596.6 129.4 - - 2421 - - - - - - - - 14.70 14.62 14.71
15725 26.6 8.5 928 15747 roll 0.83 - - 2655 - 2.47 0.068 3183 570.9 151.0 16.08 1.562 2326 -5.9 0.019 - - - - - - 14.82 14.48 13.88
15780 21.5 10.2 937 15787 done 0.83 - - 2666 - 2.40 0.052 1784 -582.9 151.0 - - 2326 - - - - - - - - 14.55 14.50 14.57
15910 8.1 10.4 962 15917 roll 0.83 - - 2677 - 2.50 0.076 370 -565.6 151.0 - - 2326 - - - - - - - - 14.76 14.54 14.76
15953 end climb: SURFACE_DEPTH_REACHED
15953 begin surface coast
15969 end surface coast: CONTROL_FINISHED_OK
15970 begin surface
SM 3.38 - - - - -6.41 5.97 0.125 226 37.9 2.62 0.043 1880 -1042.7 190.10 24.90 1.423 2168 87.1 -0.021 - - - - - -