ROAMMIZ 19Oct19 * SG640 * Dive index * Mission links * Dive 72 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 27.87 of 310.00 AH used of 24V (91.01% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.5 deg, depth 1.26 m • Intended pitch -25.3 deg, speed -10.101 cm/s
• VBD pumped to 200.16 (SM_CC=200)
• GPS1 time: 47 s • bottom range 7.6 m at 722.8 m, depth 730 m (1000 m grid)
• GPS2 time: 9 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 - - - 81 done -0.86 - - 232 - - - 1897 - -77.9 -70.22 - 2618 - - - - - - - - 14.66 13.71 14.66
83 3.3 -6.1 12 96 roll -0.86 6.30 0.372 2234 317.8 2.45 0.047 494 -572.7 -77.9 - - 2617 - - - - - - - - 14.31 14.47 14.48
264 47.3 -23.9 48 272 done -0.86 0.05 0.384 2241 140.0 2.42 0.046 1885 574.8 -77.9 - - 2595 - - - - - - - - 14.38 14.50 14.52
301 55.3 -22.5 55 301 done -0.86 - - 2240 - - - 1885 - -77.9 - - 2594 - - - - - - - - 14.73 14.73 14.73
331 61.8 -21.8 61 339 roll -0.86 - - 2230 - 2.53 0.068 3310 563.2 -77.9 - - 2592 - - - - - - - - 14.74 14.54 14.74
352 66.5 -22.3 65 361 done -0.86 0.03 0.457 2238 266.7 2.42 0.045 1899 -583.1 -77.9 - - 2591 - - - - - - - - 14.40 14.57 14.54
389 74.6 -21.2 72 390 done -0.86 - - 2238 - - - 1898 - -77.9 - - 2591 - - - - - - - - 14.75 14.76 14.76
420 81.0 -21.7 78 426 roll -0.86 - - 2238 - 2.50 0.065 501 -558.8 -77.9 - - 2592 - - - - - - - - 14.76 14.53 14.76
450 87.7 -22.6 84 457 done -0.86 0.05 0.386 2242 80.0 2.42 0.044 1903 579.3 -77.9 - - 2590 - - - - - - - - 14.42 14.56 14.57
486 95.2 -21.1 91 487 done -0.86 - - 2242 - - - 1902 - -77.9 - - 2590 - - - - - - - - 14.76 14.76 14.76
521 102.6 -21.1 97 522 done -0.86 - - 2242 - - - 1903 - -77.9 - - 2590 - - - - - - - - 14.76 14.77 14.77
581 115.3 -21.0 103 582 done -0.86 - - 2242 - - - 1903 - -77.9 - - 2589 - - - - - - - - 14.80 14.78 14.78
641 127.4 -20.1 109 648 roll -0.86 - - 2242 - 2.50 0.062 498 -562.0 -77.9 - - 2589 - - - - - - - - 14.78 14.59 14.79
681 135.7 -20.9 113 688 done -0.86 0.03 0.480 2239 -100.0 2.42 0.043 1907 582.2 -77.9 - - 2589 - - - - - - - - 14.44 14.61 14.59
752 150.1 -20.5 120 753 done -0.86 - - 2239 - - - 1907 - -77.9 - - 2588 - - - - - - - - 14.79 14.80 14.80
812 162.6 -21.1 126 813 done -0.86 - - 2239 - - - 1907 - -77.9 - - 2588 - - - - - - - - 14.80 14.81 14.80
872 175.4 -21.2 132 873 done -0.86 - - 2239 - - - 1907 - -77.9 - - 2588 - - - - - - - - 14.81 14.81 14.81
932 187.3 -19.6 138 938 roll -0.86 - - 2239 - 2.53 0.065 494 -558.5 -77.9 - - 2588 - - - - - - - - 14.81 14.61 14.82
1027 205.3 -19.4 147 1034 done -0.86 0.05 0.384 2242 60.0 2.42 0.043 1899 580.6 -77.9 - - 2588 - - - - - - - - 14.49 14.64 14.63
1092 218.6 -18.7 154 1093 done -0.86 - - 2242 - - - 1900 - -77.9 - - 2588 - - - - - - - - 14.82 14.82 14.82
1152 229.6 -18.5 160 1153 done -0.86 - - 2242 - - - 1900 - -77.9 - - 2588 - - - - - - - - 14.82 14.83 14.83
1212 240.4 -18.0 166 1213 done -0.86 - - 2242 - - - 1900 - -77.9 - - 2588 - - - - - - - - 14.83 14.83 14.83
1272 251.2 -17.9 172 1273 done -0.86 - - 2242 - - - 1900 - -77.9 - - 2586 - - - - - - - - 14.83 14.83 14.83
1332 261.5 -17.0 178 1338 roll -0.86 - - 2242 - 2.50 0.063 490 -564.0 -77.9 - - 2591 - - - - - - - - 14.83 14.63 14.83
1447 281.6 -18.8 189 1454 done -0.86 - - 2230 - 2.42 0.042 1903 583.9 -77.9 - - 2587 - - - - - - - - 14.71 14.66 14.72
1512 294.0 -17.7 196 1518 roll -0.86 0.05 0.477 2232 - 2.45 0.069 3297 569.0 -77.9 - - 2587 - - - - - - - - 14.52 14.64 14.69
1542 299.3 -17.8 199 1549 done -0.86 0.03 0.469 2238 200.0 2.38 0.046 1902 -586.1 -77.9 - - 2586 - - - - - - - - 14.49 14.66 14.64
1613 311.5 -17.2 204 1618 roll -0.86 - - 2238 - 2.47 0.067 503 -566.4 -77.9 - - 2587 - - - - - - - - 14.85 14.65 14.85
1663 319.6 -17.8 207 1669 done -0.86 0.05 0.389 2243 100.0 2.40 0.043 1906 584.6 -77.9 - - 2586 - - - - - - - - 14.51 14.66 14.65
1793 341.7 -16.2 216 1794 done -0.86 - - 2242 - - - 1907 - -77.9 - - 2586 - - - - - - - - 14.86 14.86 14.86
1913 361.6 -16.8 224 1919 roll -0.86 - - 2242 - 2.50 0.063 493 -565.6 -77.9 - - 2586 - - - - - - - - 14.86 14.63 14.86
2003 377.4 -17.3 230 2010 done -0.86 - - 2231 - 2.40 0.042 1901 586.7 -77.9 - - 2586 - - - - - - - - 14.72 14.68 14.73
2138 399.8 -16.2 239 2139 done -0.86 0.05 0.478 2245 280.0 - - 1902 - -77.9 - - 2586 - - - - - - - - 14.54 14.76 14.73
2258 418.0 -15.2 247 2264 roll -0.86 - - 2243 - 2.47 0.062 499 -568.0 -77.9 - - 2586 - - - - - - - - 14.87 14.64 14.88
2318 427.6 -16.0 251 2324 done -0.86 - - 2233 - 2.40 0.042 1906 586.2 -77.9 - - 2585 - - - - - - - - 14.69 14.66 14.71
2453 448.2 -15.1 260 2454 done -0.86 - - 2234 - - - 1907 - -77.9 - - 2586 - - - - - - - - 14.88 14.88 14.88
2573 466.5 -15.3 268 2579 roll -0.86 - - 2233 - 2.47 0.062 504 -568.0 -77.9 - - 2586 - - - - - - - - 14.88 14.65 14.89
2643 476.1 -15.9 272 2652 done -0.86 0.05 0.383 2239 120.0 2.38 0.041 1900 586.6 -77.9 - - 2586 - - - - - - - - 14.54 14.69 14.67
2768 496.7 -14.8 281 2769 done -0.86 - - 2239 - - - 1901 - -77.9 - - 2586 - - - - - - - - 14.88 14.88 14.88
2888 514.5 -14.5 289 2889 done -0.86 - - 2239 - - - 1900 - -77.9 - - 2586 - - - - - - - - 14.88 14.89 14.88
3008 532.3 -15.0 297 3009 done -0.86 - - 2239 - - - 1901 - -77.9 - - 2586 - - - - - - - - 14.89 14.89 14.90
3128 550.0 -14.7 305 3134 roll -0.86 - - 2238 - 2.47 0.061 497 -568.4 -77.9 - - 2587 - - - - - - - - 14.89 14.65 14.89
3163 554.9 -15.9 307 3170 done -0.86 0.05 0.375 2242 80.0 2.38 0.040 1897 588.2 -77.9 - - 2587 - - - - - - - - 14.56 14.70 14.68
3294 574.5 -14.4 316 3294 done -0.86 - - 2242 - - - 1897 - -77.9 - - 2587 - - - - - - - - 14.89 14.89 14.89
3414 591.7 -14.1 324 3419 roll -0.86 - - 2242 - 2.45 0.061 502 -569.4 -77.9 - - 2587 - - - - - - - - 14.89 14.66 14.89
3484 600.7 -15.2 328 3490 done -0.86 - - 2231 - 2.38 0.041 1900 587.4 -77.9 - - 2587 - - - - - - - - 14.71 14.67 14.73
3735 640.7 -15.7 341 3740 roll -0.86 0.05 0.478 2243 240.0 2.42 0.060 498 -579.3 -77.9 - - 2587 - - - - - - - - 14.57 14.69 14.76
3809 650.2 -15.8 344 3816 done -0.86 - - 2232 - 2.38 0.040 1897 587.8 -77.9 - - 2587 - - - - - - - - 14.71 14.66 14.73
4054 689.4 -15.5 357 4055 done -0.86 - - 2232 - - - 1896 - -77.9 - - 2590 - - - - - - - - 14.90 14.90 14.90
4255 end dive: BOTTOM_OBSTACLE_DETECTED
4255 begin apogee
4259 722.8 -17.0 367 4319 done -0.15 0.70 0.277 2478 351.4 - - 1975 - - 57.97 2.512 2299 -5.0 0.272 - - - - - - 14.59 14.04 13.26
4320 end apogee: CONTROL_FINISHED_OK
4320 begin climb
4321 727.5 - 370 4400 roll 0.86 0.85 0.174 2799 377.6 2.55 0.060 3333 532.5 77.9 71.95 2.351 1980 -4.4 0.258 - - - - - - 14.00 13.78 13.02
4460 719.2 7.9 377 4491 done 0.89 - - 2809 - 2.45 0.041 1950 -564.5 102.9 23.85 2.281 1878 -4.3 0.254 - - - - - - 14.09 14.05 13.07
4740 681.1 14.6 391 4745 roll 0.89 - - 2820 - 2.55 0.061 544 -551.4 102.9 - - 1877 - - - - - - - - 14.50 14.31 14.51
4825 669.4 14.7 395 4831 done 0.89 - - 2820 - 2.38 0.034 1923 579.4 102.9 - - 1876 - - - - - - - - 14.41 14.37 14.42
5080 629.1 15.5 408 5085 roll 0.89 - - 2820 - 2.50 0.062 3343 568.0 102.9 - - 1877 - - - - - - - - 14.69 14.47 14.69
5155 620.0 15.2 411 5163 done 0.89 0.05 0.386 2815 -100.0 2.40 0.044 1946 -582.1 102.9 - - 1877 - - - - - - - - 14.37 14.51 14.50
5400 580.8 15.8 426 5406 roll 0.89 - - 2824 - 2.47 0.061 550 -565.2 102.9 - - 1877 - - - - - - - - 14.76 14.57 14.77
5470 571.5 15.5 430 5477 done 0.89 - - 2825 - 2.38 0.035 1951 588.7 102.9 - - 1876 - - - - - - - - 14.62 14.58 14.63
5595 550.1 16.0 439 5601 roll 0.89 - - 2825 - 2.45 0.061 3353 572.2 102.9 - - 1877 - - - - - - - - 14.80 14.58 14.80
5670 537.9 16.2 444 5676 done 0.89 0.05 0.385 2819 -120.0 2.38 0.042 1953 -588.2 102.9 - - 1877 - - - - - - - - 14.46 14.61 14.59
5805 517.6 14.8 453 5811 roll 0.89 - - 2829 - 2.47 0.060 550 -568.0 102.9 - - 1877 - - - - - - - - 14.82 14.61 14.82
5850 510.8 15.0 456 5856 done 0.89 - - 2829 - 2.38 0.035 1953 589.5 102.9 - - 1877 - - - - - - - - 14.66 14.63 14.69
5985 491.2 14.4 465 5992 roll 0.89 0.05 0.465 2816 -260.0 2.42 0.061 3343 574.4 102.9 - - 1877 - - - - - - - - 14.50 14.64 14.67
6050 482.4 14.5 469 6056 done 0.89 - - 2826 - 2.35 0.041 1953 -591.5 102.9 - - 1877 - - - - - - - - 14.70 14.66 14.71
6181 464.5 13.0 478 6186 roll 0.89 - - 2838 - 2.47 0.060 548 -568.8 102.9 - - 1877 - - - - - - - - 14.86 14.64 14.85
6230 458.3 13.6 481 6237 done 0.89 0.08 0.347 2813 -312.5 2.38 0.035 1949 588.7 102.9 - - 1876 - - - - - - - - 14.52 14.66 14.66
6361 441.0 13.0 490 6361 done 0.89 - - 2813 - - - 1950 - 102.9 - - 1877 - - - - - - - - 14.85 14.85 14.85
6481 425.6 12.8 498 6481 done 0.89 - - 2814 - - - 1950 - 102.9 - - 1877 - - - - - - - - 14.86 14.87 14.87
6601 410.3 12.7 506 6601 done 0.89 - - 2814 - - - 1950 - 102.9 - - 1877 - - - - - - - - 14.87 14.88 14.88
6721 394.8 13.1 514 6726 roll 0.89 - - 2813 - 2.42 0.062 3340 574.4 102.9 - - 1877 - - - - - - - - 14.88 14.67 14.88
6841 378.4 13.4 522 6846 done 0.89 - - 2823 - 2.35 0.041 1950 -591.5 102.9 - - 1877 - - - - - - - - 14.74 14.69 14.75
6976 360.8 13.1 531 6976 done 0.89 - - 2823 - - - 1950 - 102.9 - - 1877 - - - - - - - - 14.88 14.89 14.88
7096 345.7 12.5 539 7096 done 0.89 - - 2823 - - - 1949 - 102.9 - - 1877 - - - - - - - - 14.88 14.89 14.89
7216 330.6 12.5 547 7221 roll 0.89 - - 2834 - 2.45 0.060 554 -569.4 102.9 - - 1877 - - - - - - - - 14.89 14.68 14.89
7265 324.8 12.7 550 7272 done 0.89 0.05 0.377 2818 -320.0 2.35 0.036 1945 591.9 102.9 - - 1877 - - - - - - - - 14.56 14.71 14.70
7396 308.3 12.5 559 7397 done 0.89 - - 2818 - - - 1944 - 102.9 - - 1877 - - - - - - - - 14.89 14.89 14.89
7521 292.6 12.4 569 7527 roll 0.89 - - 2818 - 2.42 0.062 3345 578.9 102.9 - - 1877 - - - - - - - - 14.89 14.69 14.90
7571 286.0 13.1 574 7577 done 0.89 0.03 0.493 2819 - 2.35 0.041 1952 -592.8 102.9 - - 1877 - - - - - - - - 14.54 14.71 14.69
7641 277.2 12.8 581 7647 roll 0.89 - - 2829 - 2.45 0.060 555 -570.2 102.9 - - 1877 - - - - - - - - 14.89 14.69 14.89
7711 268.1 13.1 588 7718 done 0.89 0.05 0.395 2814 -300.0 2.35 0.036 1948 592.8 102.9 - - 1877 - - - - - - - - 14.55 14.72 14.70
7782 259.2 12.6 595 7783 done 0.89 - - 2814 - - - 1949 - 102.9 - - 1877 - - - - - - - - 14.88 14.89 14.88
7842 251.4 12.8 601 7848 roll 0.89 - - 2823 - 2.45 0.057 552 -570.2 102.9 - - 1877 - - - - - - - - 14.88 14.70 14.88
7882 246.3 12.9 605 7888 done 0.89 - - 2823 - 2.35 0.036 1949 594.5 102.9 - - 1877 - - - - - - - - 14.75 14.71 14.77
7952 236.7 13.9 612 7953 done 0.89 - - 2825 - - - 1950 - 102.9 - - 1877 - - - - - - - - 14.88 14.88 14.88
8012 228.4 13.8 618 8013 done 0.89 - - 2823 - - - 1950 - 102.9 - - 1877 - - - - - - - - 14.88 14.89 14.89
8072 219.9 14.3 624 8078 roll 0.89 - - 2823 - 2.42 0.066 3346 576.9 102.9 - - 1877 - - - - - - - - 14.88 14.69 14.88
8182 203.9 14.3 635 8189 done 0.89 0.05 0.389 2817 -120.0 2.35 0.040 1946 -595.7 102.9 - - 1876 - - - - - - - - 14.56 14.71 14.69
8252 194.4 13.4 642 8253 done 0.89 - - 2818 - - - 1946 - 102.9 - - 1878 - - - - - - - - 14.88 14.88 14.88
8312 186.7 12.7 648 8313 done 0.89 - - 2818 - - - 1946 - 102.9 - - 1878 - - - - - - - - 14.88 14.88 14.88
8372 179.8 11.4 654 8373 done 0.89 - - 2818 - - - 1946 - 102.9 - - 1878 - - - - - - - - 14.88 14.88 14.88
8432 172.8 11.6 660 8433 done 0.89 - - 2818 - - - 1946 - 102.9 - - 1878 - - - - - - - - 14.89 14.89 14.90
8492 166.2 11.0 666 8499 roll 0.89 - - 2827 - 2.45 0.059 550 -569.8 102.9 - - 1878 - - - - - - - - 14.88 14.70 14.89
8567 158.7 10.6 673 8575 done 0.89 0.05 0.372 2812 -300.0 2.35 0.035 1955 597.9 102.9 - - 1878 - - - - - - - - 14.57 14.71 14.70
8633 151.7 9.7 680 8645 roll 0.90 - - 2812 - 2.38 0.064 3345 584.0 107.5 5.30 1.836 1858 -3.8 0.059 - - - - - - 14.88 14.62 13.91
8679 147.8 9.4 684 8691 done 0.91 - - 2821 - 2.35 0.039 1950 -593.6 115.4 7.57 1.625 1826 -4.2 0.072 - - - - - - 14.66 14.63 13.90
8755 139.4 10.3 692 8762 roll 0.91 - - 2832 - 2.47 0.059 553 -565.6 115.4 - - 1826 - - - - - - - - 14.77 14.59 14.78
8800 135.0 10.9 696 8808 done 0.91 0.05 0.356 2816 -320.0 2.35 0.035 1949 594.0 115.4 - - 1826 - - - - - - - - 14.47 14.62 14.59
8866 127.8 9.9 703 8866 done 0.91 - - 2816 - - - 1949 - 117.2 - - 1826 - - - - - - - - 14.79 14.81 14.80
8926 122.1 9.5 709 8938 roll 0.92 - - 2825 - 2.50 0.058 547 -560.8 123.9 7.95 1.587 1790 -4.5 0.066 - - - - - - 14.81 14.53 13.81
8972 117.9 10.2 713 8979 done 0.92 - - 2825 - 2.38 0.036 1947 588.2 123.9 - - 1791 - - - - - - - - 14.62 14.57 14.62
9037 110.4 10.8 720 9043 roll 0.92 - - 2825 - 2.45 0.066 3344 570.2 123.9 - - 1791 - - - - - - - - 14.76 14.57 14.76
9072 106.9 11.6 723 9080 done 0.92 0.05 0.383 2821 -80.0 2.38 0.041 1949 -586.1 123.9 - - 1793 - - - - - - - - 14.44 14.59 14.59
9137 99.2 10.8 730 9144 roll 0.92 - - 2830 - 2.47 0.059 548 -567.2 123.9 - - 1792 - - - - - - - - 14.77 14.59 14.78
9188 93.7 11.4 740 9195 done 0.92 - - 2830 - 2.38 0.036 1946 587.4 123.9 - - 1792 - - - - - - - - 14.62 14.57 14.64
9224 89.7 11.2 747 9225 done 0.92 - - 2830 - - - 1946 - 123.9 - - 1792 - - - - - - - - 14.81 14.81 14.81
9254 86.2 11.6 753 9255 done 0.92 - - 2830 - - - 1946 - 123.9 - - 1792 - - - - - - - - 14.80 14.81 14.80
9284 82.7 12.0 759 9285 done 0.92 - - 2830 - - - 1946 - 123.9 - - 1792 - - - - - - - - 14.81 14.81 14.81
9314 79.1 12.0 765 9321 roll 0.92 - - 2830 - 2.45 0.065 3344 570.6 123.9 - - 1792 - - - - - - - - 14.81 14.59 14.81
9360 73.2 12.6 774 9367 done 0.92 0.05 0.380 2825 -100.0 2.38 0.040 1944 -588.2 123.9 - - 1792 - - - - - - - - 14.47 14.62 14.60
9396 68.9 11.3 781 9397 done 0.92 - - 2825 - - - 1944 - 123.9 - - 1792 - - - - - - - - 14.80 14.82 14.81
9426 65.6 10.9 787 9427 done 0.92 - - 2825 - - - 1944 - 123.9 - - 1792 - - - - - - - - 14.81 14.81 14.81
9456 62.3 11.5 793 9457 done 0.92 - - 2825 - - - 1944 - 123.9 - - 1792 - - - - - - - - 14.81 14.81 14.81
9486 58.7 12.0 799 9487 done 0.92 - - 2825 - - - 1944 - 123.9 - - 1791 - - - - - - - - 14.81 14.81 14.82
9516 55.0 12.1 805 9517 done 0.92 - - 2825 - - - 1944 - 123.9 - - 1792 - - - - - - - - 14.81 14.82 14.81
9546 51.4 12.2 811 9547 done 0.92 - - 2825 - - - 1945 - 123.9 - - 1791 - - - - - - - - 14.81 14.82 14.81
9576 48.2 10.7 817 9583 roll 0.92 - - 2825 - 2.45 0.063 3346 571.8 123.9 - - 1792 - - - - - - - - 14.81 14.63 14.81
9642 40.6 11.5 830 9650 done 0.92 0.05 0.369 2820 -100.0 2.38 0.040 1943 -589.5 123.9 - - 1792 - - - - - - - - 14.50 14.65 14.64
9678 36.9 10.5 837 9679 done 0.92 - - 2818 - - - 1944 - 123.9 - - 1792 - - - - - - - - 14.82 14.83 14.83
9708 33.6 11.0 843 9709 done 0.92 - - 2819 - - - 1943 - 123.9 - - 1792 - - - - - - - - 14.83 14.83 14.83
9738 30.1 11.8 849 9739 done 0.92 - - 2818 - - - 1943 - 123.9 - - 1792 - - - - - - - - 14.83 14.83 14.83
9768 26.6 12.2 855 9769 done 0.92 - - 2818 - - - 1943 - 123.9 - - 1791 - - - - - - - - 14.83 14.83 14.83
9798 22.8 12.3 861 9799 done 0.92 - - 2818 - - - 1943 - 123.9 - - 1791 - - - - - - - - 14.83 14.83 14.83
9828 19.2 11.9 867 9829 done 0.92 - - 2818 - - - 1943 - 123.9 - - 1792 - - - - - - - - 14.83 14.83 14.83
9858 15.6 11.8 873 9865 roll 0.92 - - 2829 - 2.45 0.061 556 -566.1 123.9 - - 1792 - - - - - - - - 14.83 14.60 14.83
9919 9.0 10.2 885 9926 done 0.92 - - 2829 - 2.35 0.038 1941 589.4 123.9 - - 1791 - - - - - - - - 14.68 14.64 14.70
9955 4.8 12.4 892 9956 done 0.92 - - 2829 - - - 1943 - 123.9 - - 1791 - - - - - - - - 14.83 14.84 14.83
9969 end climb: SURFACE_DEPTH_REACHED
9969 begin surface coast
9989 end surface coast: CONTROL_FINISHED_OK
9989 begin surface
SM 1.67 - - - - -6.86 6.00 0.057 217 36.2 - - 1943 - 200.16 47.22 0.269 1481 31.4 -0.020 - - - - - -