ROAMMIZ 19Oct19 * SG640 * Dive index * Mission links * Dive 113 * Raw log
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• Previous call tries 2 • 40.02 of 310.00 AH used of 24V (87.09% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.1 deg, depth 1.37 m • Intended pitch -27.9 deg, speed -11.111 cm/s
• VBD pumped to 190.10 (SM_CC=190)
• 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
7 end surface: CONTROL_FINISHED_OK
7 begin dive
9 - - - 78 done -0.92 - - 232 - - - 1861 - -58.4 -67.12 - 2439 - - - - - - - - 14.69 13.65 14.70
80 3.1 -3.7 12 93 roll -0.92 6.30 0.379 2201 312.5 2.50 0.051 3312 580.4 -58.4 - - 2439 - - - - - - - - 14.28 14.52 14.47
218 27.1 -17.9 39 225 done -0.92 0.08 0.387 2223 275.0 2.40 0.047 1886 -594.2 -58.4 -0.20 - 2440 - - - - - - - - 14.38 14.56 14.57
254 33.4 -16.4 46 255 done -0.92 - - 2223 - - - 1886 - -58.4 - - 2439 - - - - - - - - 14.71 14.71 14.71
284 38.7 -17.7 52 290 done -0.92 - - 2223 - - - 1886 - -58.4 - - 2438 - - - - - - - - 14.71 14.72 14.72
319 45.0 -18.3 59 320 done -0.92 - - 2223 - - - 1886 - -58.4 - - 2438 - - - - - - - - 14.72 14.73 14.73
349 50.3 -17.6 65 350 done -0.92 - - 2223 - - - 1886 - -58.4 - - 2437 - - - - - - - - 14.73 14.73 14.73
379 55.7 -18.1 71 380 done -0.92 - - 2223 - - - 1886 - -58.4 - - 2436 - - - - - - - - 14.74 14.74 14.74
409 61.1 -18.0 77 417 roll -0.92 - - 2213 - 2.47 0.063 3296 570.9 -58.4 - - 2436 - - - - - - - - 14.74 14.52 14.76
436 65.6 -17.0 82 442 done -0.92 - - 2213 - 2.42 0.044 1884 -583.5 -58.4 - - 2436 - - - - - - - - 14.62 14.57 14.63
471 72.0 -18.2 89 479 roll -0.92 0.05 0.481 2225 240.0 2.50 0.063 477 -562.8 -58.4 - - 2435 - - - - - - - - 14.39 14.55 14.59
518 81.0 -18.5 98 525 done -0.92 - - 2215 - 2.42 0.042 1891 584.3 -58.4 - - 2435 - - - - - - - - 14.58 14.54 14.59
554 87.5 -18.1 105 555 done -0.92 - - 2215 - - - 1892 - -58.4 - - 2435 - - - - - - - - 14.77 14.77 14.77
584 93.0 -18.4 111 585 done -0.92 - - 2214 - - - 1892 - -58.4 - - 2434 - - - - - - - - 14.78 14.77 14.78
614 98.6 -18.7 117 615 done -0.92 - - 2214 - - - 1892 - -58.4 - - 2434 - - - - - - - - 14.78 14.78 14.78
644 104.1 -18.3 121 645 done -0.92 - - 2215 - - - 1892 - -58.4 - - 2434 - - - - - - - - 14.79 14.80 14.79
704 114.7 -17.5 127 705 done -0.92 - - 2214 - - - 1892 - -58.4 - - 2434 - - - - - - - - 14.80 14.80 14.80
764 125.1 -17.4 133 765 done -0.92 - - 2214 - - - 1892 - -58.4 - - 2433 - - - - - - - - 14.81 14.81 14.81
824 135.5 -17.4 139 825 done -0.92 - - 2215 - - - 1892 - -58.4 - - 2433 - - - - - - - - 14.82 14.83 14.83
884 145.7 -17.0 145 885 done -0.92 0.03 0.662 2222 233.3 - - 1893 - -58.4 - - 2433 - - - - - - - - 14.50 14.71 14.68
944 155.3 -16.0 151 950 roll -0.92 - - 2221 - 2.50 0.062 479 -565.6 -58.4 - - 2433 - - - - - - - - 14.83 14.60 14.83
994 163.6 -16.5 156 1001 done -0.92 0.03 0.474 2218 -100.0 2.40 0.043 1878 582.9 -58.4 - - 2433 - - - - - - - - 14.43 14.62 14.59
1065 175.0 -16.4 163 1071 roll -0.92 - - 2218 - 2.47 0.062 479 -566.4 -58.4 - - 2433 - - - - - - - - 14.83 14.60 14.84
1110 181.9 -17.4 167 1117 done -0.92 0.05 0.395 2221 60.0 2.40 0.043 1875 581.7 -58.4 - - 2434 - - - - - - - - 14.45 14.62 14.62
1175 193.2 -15.9 174 1181 roll -0.92 - - 2207 - 2.47 0.066 3284 570.4 -58.4 - - 2433 - - - - - - - - 14.83 14.62 14.84
1220 199.1 -14.8 178 1227 done -0.92 0.05 0.386 2213 120.0 2.40 0.045 1878 -585.8 -58.4 - - 2433 - - - - - - - - 14.48 14.64 14.62
1285 209.9 -15.9 185 1292 roll -0.92 0.05 0.486 2225 240.0 2.47 0.063 481 -565.6 -58.4 - - 2433 - - - - - - - - 14.50 14.64 14.69
1326 216.2 -15.7 189 1332 done -0.92 - - 2215 - 2.40 0.043 1886 585.4 -58.4 - - 2433 - - - - - - - - 14.69 14.64 14.72
1396 227.5 -16.3 196 1397 done -0.92 - - 2215 - - - 1886 - -58.4 - - 2434 - - - - - - - - 14.84 14.84 14.84
1456 237.1 -15.8 202 1462 roll -0.92 - - 2211 - 2.50 0.063 477 -563.6 -58.4 - - 2433 - - - - - - - - 14.85 14.64 14.85
1551 252.3 -16.9 211 1558 done -0.92 0.08 0.350 2224 162.5 2.40 0.041 1882 585.4 -58.4 - - 2433 - - - - - - - - 14.51 14.66 14.65
1616 263.2 -15.2 218 1623 roll -0.92 - - 2221 - 2.47 0.062 479 -568.0 -58.4 - - 2433 - - - - - - - - 14.85 14.64 14.85
1666 271.4 -16.0 223 1672 done -0.92 0.05 0.392 2225 80.0 2.40 0.042 1878 582.9 -58.4 - - 2436 - - - - - - - - 14.48 14.66 14.62
1737 282.1 -15.3 230 1737 done -0.92 - - 2224 - - - 1879 - -58.4 - - 2433 - - - - - - - - 14.85 14.85 14.84
1797 291.7 -16.0 236 1797 done -0.92 - - 2224 - - - 1879 - -58.4 - - 2431 - - - - - - - - 14.85 14.85 14.85
1857 301.2 -15.9 242 1862 roll -0.92 - - 2224 - 2.45 0.062 470 -575.1 -58.4 - - 2433 - - - - - - - - 14.85 14.66 14.85
1932 313.5 -16.4 247 1937 done -0.92 - - 2213 - 2.40 0.041 1878 586.7 -58.4 - - 2432 - - - - - - - - 14.71 14.66 14.73
2067 334.6 -15.3 256 2073 roll -0.92 0.05 0.507 2213 - 2.40 0.066 3282 585.0 -58.4 - - 2432 - - - - - - - - 14.49 14.66 14.70
2127 343.6 -15.0 260 2134 done -0.92 0.03 0.483 2215 - 2.38 0.044 1879 -589.5 -58.4 - - 2432 - - - - - - - - 14.49 14.67 14.64
2263 363.4 -14.4 269 2268 roll -0.92 - - 2215 - 2.47 0.063 474 -568.8 -58.4 - - 2429 - - - - - - - - 14.86 14.64 14.86
2308 370.0 -14.7 272 2314 done -0.92 0.05 0.384 2220 100.0 2.40 0.041 1883 587.1 -58.4 - - 2432 - - - - - - - - 14.47 14.64 14.63
2443 389.4 -14.2 281 2444 done -0.92 - - 2220 - - - 1883 - -58.4 - - 2432 - - - - - - - - 14.87 14.88 14.88
2563 406.5 -14.2 289 2564 done -0.92 - - 2220 - - - 1884 - -58.4 - - 2432 - - - - - - - - 14.88 14.88 14.88
2683 423.0 -13.7 297 2684 done -0.92 - - 2220 - - - 1883 - -58.4 - - 2432 - - - - - - - - 14.89 14.89 14.89
2803 439.4 -13.6 305 2804 done -0.92 - - 2219 - - - 1884 - -58.4 - - 2432 - - - - - - - - 14.88 14.89 14.89
2923 455.3 -13.0 313 2924 done -0.92 - - 2220 - - - 1884 - -58.4 - - 2432 - - - - - - - - 14.89 14.90 14.89
3043 470.2 -12.3 321 3044 done -0.92 - - 2220 - - - 1883 - -58.4 - - 2432 - - - - - - - - 14.89 14.90 14.90
3163 484.9 -12.2 329 3169 roll -0.92 - - 2207 - 2.42 0.064 3278 576.4 -58.4 - - 2430 - - - - - - - - 14.90 14.64 14.90
3218 490.6 -12.6 332 3225 done -0.92 0.05 0.394 2219 240.0 2.38 0.044 1874 -589.9 -58.4 - - 2432 - - - - - - - - 14.50 14.66 14.64
3282 end dive: TARGET_DEPTH_EXCEEDED
3282 begin apogee
3285 500.3 -13.2 337 3333 done -0.15 0.73 0.265 2475 350.7 - - 1873 - - 45.28 2.325 2198 -5.2 0.207 - - - - - - 14.54 14.20 13.39
3334 end apogee: CONTROL_FINISHED_OK
3334 begin climb
3335 502.6 - 340 3397 roll 0.92 0.88 0.175 2805 375.0 2.60 0.063 3300 548.8 58.4 53.65 2.165 1959 -4.5 0.193 - - - - - - 14.14 13.90 13.15
3426 496.7 8.2 346 3458 done 0.95 - - 2815 - 2.47 0.041 1905 -564.8 86.9 24.12 2.138 1842 -4.9 0.210 - - - - - - 14.12 14.08 13.16
3577 478.2 13.4 356 3577 done 0.95 - - 2815 - - - 1905 - 86.9 - - 1842 - - - - - - - - 14.40 14.40 14.40
3696 461.7 13.8 364 3702 roll 0.95 - - 2815 - 2.50 0.060 3302 558.8 86.9 - - 1842 - - - - - - - - 14.53 14.33 14.53
3746 455.4 14.1 367 3752 done 0.95 - - 2826 - 2.45 0.044 1896 -573.9 86.9 - - 1842 - - - - - - - - 14.42 14.38 14.44
3876 437.5 13.3 376 3882 roll 0.95 - - 2826 - 2.50 0.059 3306 564.0 86.9 - - 1842 - - - - - - - - 14.63 14.43 14.64
3906 433.3 13.5 378 3912 done 0.95 - - 2837 - 2.42 0.042 1899 -581.4 86.9 - - 1842 - - - - - - - - 14.51 14.47 14.52
4041 414.7 13.9 387 4042 done 0.95 - - 2837 - - - 1898 - 86.9 - - 1842 - - - - - - - - 14.70 14.71 14.70
4161 398.2 13.9 395 4162 done 0.95 - - 2837 - - - 1898 - 86.9 - - 1842 - - - - - - - - 14.73 14.74 14.74
4281 381.3 13.9 403 4287 roll 0.95 - - 2837 - 2.45 0.058 3300 572.2 86.9 - - 1842 - - - - - - - - 14.76 14.56 14.76
4306 379.1 14.2 404 4313 done 0.95 0.05 0.373 2832 -100.0 2.40 0.042 1893 -586.2 86.9 - - 1842 - - - - - - - - 14.42 14.59 14.57
4431 360.4 13.8 413 4437 roll 0.95 - - 2843 - 2.47 0.061 495 -566.0 86.9 - - 1841 - - - - - - - - 14.78 14.59 14.79
4461 356.3 13.8 415 4468 done 0.95 - - 2843 - 2.38 0.034 1900 590.3 86.9 - - 1841 - - - - - - - - 14.67 14.62 14.67
4597 337.4 14.3 424 4602 roll 0.95 - - 2843 - 2.42 0.060 3293 575.6 86.9 - - 1841 - - - - - - - - 14.81 14.61 14.81
4631 333.1 14.3 426 4638 done 0.95 0.05 0.385 2838 -100.0 2.38 0.042 1898 -586.1 86.9 - - 1841 - - - - - - - - 14.47 14.63 14.62
4762 314.6 13.6 435 4768 roll 0.95 - - 2839 - 2.42 0.058 3297 578.1 86.9 - - 1841 - - - - - - - - 14.83 14.62 14.83
4808 308.4 13.7 438 4813 done 0.95 0.05 0.379 2833 -120.0 2.38 0.041 1893 -589.9 86.9 - - 1841 - - - - - - - - 14.48 14.65 14.63
4932 291.8 13.2 448 4933 done 0.95 - - 2833 - - - 1892 - 86.9 - - 1841 - - - - - - - - 14.83 14.84 14.83
4992 283.9 13.4 454 4993 done 0.95 - - 2833 - - - 1893 - 86.9 - - 1842 - - - - - - - - 14.83 14.85 14.84
5052 275.9 13.3 460 5053 done 0.95 - - 2833 - - - 1892 - 86.9 - - 1841 - - - - - - - - 14.84 14.85 14.85
5112 268.0 13.1 466 5118 roll 0.95 - - 2843 - 2.45 0.063 505 -566.1 86.9 - - 1842 - - - - - - - - 14.84 14.64 14.85
5157 262.6 13.3 470 5165 done 0.95 - - 2843 - 2.35 0.034 1903 594.9 86.9 - - 1841 - - - - - - - - 14.71 14.67 14.73
5222 253.5 12.9 477 5223 done 0.95 - - 2843 - - - 1903 - 86.9 - - 1842 - - - - - - - - 14.85 14.85 14.85
5282 245.9 12.7 483 5288 roll 0.95 - - 2856 - 2.47 0.060 496 -569.6 86.9 - - 1841 - - - - - - - - 14.85 14.66 14.85
5337 239.2 13.5 488 5345 done 0.95 0.05 0.374 2839 -340.0 2.35 0.034 1901 597.9 86.9 - - 1842 - - - - - - - - 14.52 14.68 14.66
5402 230.1 13.0 495 5408 roll 0.95 - - 2839 - 2.42 0.061 3297 576.9 86.9 - - 1842 - - - - - - - - 14.85 14.65 14.85
5502 215.5 14.5 505 5508 done 0.95 0.05 0.402 2833 -120.0 2.35 0.041 1903 -593.2 86.9 - - 1842 - - - - - - - - 14.50 14.69 14.65
5572 206.6 12.4 512 5573 done 0.95 - - 2833 - - - 1903 - 86.9 - - 1842 - - - - - - - - 14.85 14.86 14.86
5632 199.2 12.5 518 5633 done 0.95 - - 2832 - - - 1902 - 86.9 - - 1842 - - - - - - - - 14.86 14.87 14.87
5692 191.3 13.3 524 5693 done 0.95 - - 2834 - - - 1903 - 86.9 - - 1842 - - - - - - - - 14.85 14.86 14.86
5752 183.9 11.9 530 5758 roll 0.95 - - 2833 - 2.40 0.058 3288 577.1 86.9 - - 1843 - - - - - - - - 14.86 14.67 14.87
5797 179.3 11.5 534 5804 done 0.95 - - 2844 - 2.33 0.039 1897 -597.0 86.9 - - 1842 - - - - - - - - 14.73 14.69 14.75
5862 171.6 11.0 541 5863 done 0.95 - - 2843 - - - 1897 - 87.6 - - 1842 - - - - - - - - 14.86 14.87 14.87
5922 165.1 10.8 547 5928 done 0.96 - - 2844 - - - 1897 - 90.5 4.53 1.629 1828 -3.1 0.058 - - - - - - 14.86 14.64 13.80
5982 158.7 10.7 553 5994 roll 0.96 - - 2855 - 2.47 0.062 502 -564.8 94.4 4.68 1.566 1810 -3.8 0.073 - - - - - - 14.83 14.59 13.81
6038 153.0 11.1 558 6046 done 0.96 0.05 0.374 2841 -280.0 2.35 0.034 1898 594.0 94.4 - - 1812 - - - - - - - - 14.43 14.59 14.57
6103 145.3 11.1 565 6104 done 0.96 - - 2841 - - - 1898 - 94.7 - - 1812 - - - - - - - - 14.81 14.81 14.81
6164 138.7 10.9 571 6176 roll 0.97 - - 2841 - 2.42 0.061 3296 577.7 97.2 4.07 1.412 1799 -3.2 0.059 - - - - - - 14.82 14.59 13.67
6199 135.4 10.2 574 6212 done 0.98 - - 2851 - 2.35 0.041 1904 -592.3 106.2 8.23 1.717 1764 -4.3 0.063 - - - - - - 14.62 14.58 13.78
6276 125.8 11.9 582 6277 done 0.98 - - 2851 - - - 1904 - 106.2 - - 1764 - - - - - - - - 14.73 14.73 14.73
6336 118.6 12.0 588 6337 done 0.98 - - 2850 - - - 1904 - 106.2 - - 1764 - - - - - - - - 14.76 14.76 14.76
6396 111.5 11.8 594 6397 done 0.98 - - 2850 - - - 1904 - 106.2 - - 1764 - - - - - - - - 14.76 14.77 14.76
6456 104.3 12.0 600 6461 roll 0.98 - - 2850 - 2.42 0.060 3286 571.1 106.2 - - 1764 - - - - - - - - 14.78 14.58 14.78
6501 98.5 13.2 605 6509 done 0.98 0.05 0.385 2846 -80.0 2.38 0.041 1894 -584.9 106.2 - - 1764 - - - - - - - - 14.44 14.61 14.58
6538 94.0 12.1 612 6539 done 0.98 - - 2846 - - - 1894 - 106.2 - - 1764 - - - - - - - - 14.81 14.78 14.78
6568 90.5 11.8 618 6569 done 0.98 - - 2848 - - - 1894 - 106.2 - - 1764 - - - - - - - - 14.78 14.78 14.78
6598 87.0 11.6 624 6599 done 0.98 - - 2846 - - - 1894 - 106.2 - - 1764 - - - - - - - - 14.78 14.79 14.78
6628 83.5 11.6 630 6629 done 0.98 - - 2846 - - - 1894 - 106.2 - - 1764 - - - - - - - - 14.78 14.79 14.78
6658 80.0 11.5 636 6659 done 0.98 - - 2846 - - - 1894 - 106.2 - - 1764 - - - - - - - - 14.79 14.79 14.79
6688 76.5 11.7 642 6689 done 0.98 - - 2846 - - - 1894 - 106.2 - - 1764 - - - - - - - - 14.79 14.80 14.79
6718 73.0 11.8 648 6719 done 0.98 - - 2846 - - - 1894 - 106.2 - - 1764 - - - - - - - - 14.79 14.79 14.79
6748 69.5 11.7 654 6754 done 0.98 - - 2846 - - - 1894 - 106.2 - - 1764 - - - - - - - - 14.80 14.81 14.80
6783 65.3 11.7 661 6784 done 0.98 - - 2846 - - - 1894 - 106.2 - - 1764 - - - - - - - - 14.79 14.80 14.80
6813 61.8 11.7 667 6814 done 0.98 - - 2846 - - - 1894 - 106.2 - - 1764 - - - - - - - - 14.80 14.81 14.80
6843 58.2 12.1 673 6844 done 0.98 - - 2846 - - - 1894 - 106.2 - - 1764 - - - - - - - - 14.80 14.81 14.80
6873 54.7 11.6 679 6874 done 0.98 - - 2846 - - - 1894 - 106.2 - - 1764 - - - - - - - - 14.81 14.81 14.81
6903 51.2 11.7 685 6904 done 0.98 - - 2846 - - - 1894 - 106.2 - - 1764 - - - - - - - - 14.81 14.81 14.81
6933 47.7 11.5 691 6934 done 0.98 - - 2846 - - - 1894 - 106.2 - - 1764 - - - - - - - - 14.81 14.81 14.81
6963 44.2 11.7 697 6964 done 0.98 - - 2846 - - - 1894 - 106.2 - - 1764 - - - - - - - - 14.81 14.81 14.81
6993 40.6 12.2 703 6994 done 0.98 - - 2844 - - - 1893 - 106.2 - - 1764 - - - - - - - - 14.81 14.81 14.82
7023 36.8 12.5 709 7029 done 0.98 - - 2846 - - - 1894 - 106.2 - - 1764 - - - - - - - - 14.81 14.81 14.81
7059 32.6 12.1 716 7065 roll 0.98 - - 2855 - 2.42 0.063 497 -577.3 106.2 - - 1764 - - - - - - - - 14.82 14.59 14.83
7099 27.7 12.7 724 7106 done 0.98 0.05 0.369 2840 -300.0 2.38 0.034 1902 590.3 106.2 - - 1764 - - - - - - - - 14.45 14.62 14.59
7135 23.0 12.5 731 7136 done 0.98 - - 2840 - - - 1903 - 106.2 - - 1764 - - - - - - - - 14.82 14.83 14.83
7165 19.6 10.8 737 7174 roll 0.98 - - 2840 - 2.40 0.060 3298 581.2 109.1 1.35 0.500 1752 -8.9 0.065 - - - - - - 14.83 14.59 14.40
7213 14.4 10.7 746 7220 done 0.99 - - 2850 - 2.38 0.040 1895 -589.5 112.9 1.80 0.415 1737 -8.3 0.054 - - - - - - 14.69 14.64 14.42
7249 10.5 11.2 753 7250 done 0.99 - - 2850 - - - 1895 - 112.9 - - 1737 - - - - - - - - 14.82 14.82 14.82
7279 6.7 13.0 759 7280 done 0.99 - - 2850 - - - 1894 - 112.9 - - 1737 - - - - - - - - 14.82 14.82 14.82
7308 end climb: SURFACE_DEPTH_REACHED
7308 begin surface coast
7328 end surface coast: CONTROL_FINISHED_OK
7328 begin surface
SM 1.84 - - - - -6.85 6.15 0.076 241 39.2 - - 1894 - 190.10 46.97 0.314 1422 30.3 -0.018 - - - - - -