ROAMMIZ 19Oct19 * SG640 * Dive index * Mission links * Dive 97 * Raw log
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• Previous call tries 1 • 36.27 of 310.00 AH used of 24V (88.30% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.3 deg, depth 1.32 m • Intended pitch -27.9 deg, speed -11.111 cm/s
• VBD pumped to 190.10 (SM_CC=190)
• GPS1 time: 62 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
7 end surface: CONTROL_FINISHED_OK
7 begin dive
9 - - - 69 VBD -0.92 - - 231 - - - 1890 - -58.4 -58.20 - 2425 - - - - - - - - 14.66 - 14.67
71 3.2 -5.4 10 83 roll -0.92 6.25 0.369 2232 320.2 2.70 2.222 429 -541.1 -58.4 -0.47 - 2439 -29.8 - - - - - - - 14.29 13.63 14.47
102 8.8 -15.8 16 110 done -0.92 - - 2221 - 2.50 0.044 1861 572.8 -58.4 - - 2440 - - - - - - - - 14.50 14.45 14.52
139 15.1 -17.2 23 146 roll -0.92 - - 2221 - 2.47 0.058 478 -559.9 -58.4 - - 2438 - - - - - - - - 14.66 14.43 14.66
350 54.5 -17.5 65 357 done -0.92 0.03 0.480 2219 - 2.42 0.042 1883 580.6 -58.4 - - 2441 - - - - - - - - 14.35 14.52 14.51
386 60.6 -17.2 72 394 roll -0.92 - - 2206 - 2.47 0.068 3285 567.6 -58.4 - - 2441 - - - - - - - - 14.73 14.53 14.73
417 66.2 -18.1 78 425 done -0.92 0.08 0.353 2224 225.0 2.40 0.046 1884 -583.8 -58.4 - - 2440 - - - - - - - - 14.40 14.56 14.54
454 72.8 -17.6 85 454 done -0.92 - - 2224 - - - 1884 - -58.4 - - 2440 - - - - - - - - 14.75 14.76 14.75
484 78.0 -17.1 91 485 done -0.92 - - 2224 - - - 1884 - -58.4 - - 2440 - - - - - - - - 14.76 14.76 14.76
514 83.1 -16.9 97 514 done -0.92 - - 2224 - - - 1884 - -58.4 - - 2441 - - - - - - - - 14.76 14.76 14.76
544 88.3 -17.5 103 551 roll -0.92 - - 2224 - 2.50 0.064 478 -562.4 -58.4 - - 2440 - - - - - - - - 14.76 14.52 14.76
574 93.8 -18.1 109 581 done -0.92 - - 2213 - 2.42 0.043 1887 582.2 -58.4 - - 2441 - - - - - - - - 14.61 14.56 14.62
610 100.0 -17.6 116 617 roll -0.92 0.05 0.505 2214 - 2.47 0.068 3286 566.4 -58.4 - - 2440 - - - - - - - - 14.42 14.56 14.63
661 109.0 -17.7 121 667 done -0.92 0.03 0.470 2217 100.0 2.40 0.046 1880 -585.8 -58.4 - - 2441 - - - - - - - - 14.42 14.59 14.57
731 121.7 -18.0 128 736 roll -0.92 - - 2217 - 2.50 0.065 474 -562.4 -58.4 - - 2441 - - - - - - - - 14.79 14.57 14.79
821 138.9 -19.7 137 828 done -0.92 0.05 0.403 2220 60.0 2.42 0.042 1884 582.6 -58.4 - - 2440 - - - - - - - - 14.45 14.61 14.59
891 152.0 -18.0 144 892 done -0.92 - - 2220 - - - 1884 - -58.4 - - 2441 - - - - - - - - 14.79 14.81 14.80
951 161.7 -15.6 150 957 roll -0.92 - - 2220 - 2.50 0.063 477 -562.8 -58.4 - - 2440 - - - - - - - - 14.81 14.61 14.81
1041 176.9 -17.0 159 1048 done -0.92 0.05 0.399 2223 60.0 2.40 0.042 1877 583.3 -58.4 - - 2441 - - - - - - - - 14.46 14.63 14.62
1112 187.8 -15.3 166 1118 roll -0.92 - - 2211 - 2.45 0.067 3281 573.1 -58.4 - - 2441 - - - - - - - - 14.81 14.62 14.81
1177 197.2 -15.5 172 1185 done -0.92 0.03 0.488 2217 200.0 2.38 0.045 1881 -588.2 -58.4 - - 2440 - - - - - - - - 14.45 14.64 14.62
1242 207.9 -15.2 179 1249 roll -0.92 - - 2216 - 2.47 0.064 481 -566.8 -58.4 - - 2440 - - - - - - - - 14.83 14.63 14.83
1303 217.3 -15.5 185 1309 done -0.92 0.05 0.392 2220 80.0 2.40 0.041 1886 585.4 -58.4 - - 2441 - - - - - - - - 14.47 14.64 14.63
1373 227.6 -14.4 192 1374 done -0.92 - - 2220 - - - 1887 - -58.4 - - 2440 - - - - - - - - 14.84 14.84 14.84
1433 236.3 -14.5 198 1439 roll -0.92 - - 2219 - 2.50 0.063 477 -564.0 -58.4 - - 2440 - - - - - - - - 14.84 14.59 14.85
1468 240.9 -15.1 201 1475 done -0.92 0.05 0.397 2222 60.0 2.40 0.042 1880 584.6 -58.4 - - 2440 - - - - - - - - 14.46 14.62 14.61
1533 250.8 -14.3 208 1539 roll -0.92 - - 2209 - 2.45 0.068 3280 571.4 -58.4 - - 2440 - - - - - - - - 14.85 14.63 14.85
1633 266.4 -15.3 218 1640 done -0.92 0.05 0.412 2222 260.0 2.38 0.045 1878 -589.1 -58.4 - - 2440 - - - - - - - - 14.46 14.63 14.62
1704 277.4 -15.5 225 1705 done -0.92 - - 2222 - - - 1878 - -58.4 - - 2440 - - - - - - - - 14.85 14.85 14.85
1764 286.5 -14.8 231 1770 roll -0.92 - - 2222 - 2.47 0.065 477 -567.2 -58.4 - - 2440 - - - - - - - - 14.85 14.62 14.85
1854 300.5 -15.3 240 1861 done -0.92 0.03 0.477 2218 -133.3 2.40 0.041 1886 587.1 -58.4 - - 2440 - - - - - - - - 14.46 14.63 14.62
1990 319.0 -13.6 249 1995 roll -0.92 - - 2218 - 2.50 0.063 474 -564.8 -58.4 - - 2440 - - - - - - - - 14.86 14.64 14.86
2049 327.8 -14.6 253 2055 done -0.92 0.05 0.398 2221 60.0 2.40 0.041 1880 585.8 -58.4 - - 2439 - - - - - - - - 14.49 14.65 14.64
2185 346.0 -13.5 262 2190 roll -0.92 - - 2207 - 2.45 0.066 3281 571.8 -58.4 - - 2440 - - - - - - - - 14.87 14.64 14.87
2274 357.8 -13.0 268 2281 done -0.92 0.05 0.403 2220 260.0 2.38 0.045 1875 -590.8 -58.4 - - 2440 - - - - - - - - 14.50 14.64 14.64
2410 375.0 -12.5 277 2411 done -0.92 - - 2220 - - - 1875 - -58.4 - - 2440 - - - - - - - - 14.88 14.88 14.88
2530 389.3 -11.5 285 2531 done -0.92 - - 2220 - - - 1875 - -58.4 - - 2440 - - - - - - - - 14.89 14.89 14.88
2650 403.6 -11.9 293 2656 roll -0.92 - - 2220 - 2.47 0.063 472 -568.0 -58.4 - - 2440 - - - - - - - - 14.88 14.68 14.89
2685 407.3 -12.1 295 2691 done -0.92 0.05 0.393 2224 80.0 2.40 0.040 1879 586.2 -58.4 - - 2440 - - - - - - - - 14.52 14.69 14.67
2815 422.8 -11.5 304 2822 roll -0.92 - - 2211 - 2.45 0.064 3282 572.7 -58.4 - - 2440 - - - - - - - - 14.88 14.69 14.89
2871 427.9 -11.1 307 2878 done -0.92 0.03 0.470 2218 233.3 2.38 0.045 1879 -589.5 -58.4 - - 2440 - - - - - - - - 14.52 14.69 14.67
2996 442.5 -10.9 316 3002 roll -0.92 - - 2218 - 2.47 0.064 478 -567.2 -58.4 - - 2440 - - - - - - - - 14.88 14.68 14.88
3101 454.3 -11.1 323 3107 done -0.92 0.05 0.392 2223 100.0 2.38 0.039 1882 589.9 -58.4 - - 2440 - - - - - - - - 14.52 14.70 14.68
3236 468.6 -10.8 332 3237 done -0.92 - - 2222 - - - 1882 - -58.4 - - 2439 - - - - - - - - 14.88 14.88 14.88
3356 481.8 -10.9 340 3362 roll -0.92 - - 2222 - 2.42 0.061 476 -581.0 -58.4 - - 2440 - - - - - - - - 14.88 14.70 14.88
3426 488.9 -11.8 344 3433 done -0.92 0.03 0.466 2217 -166.7 2.38 0.039 1878 589.1 -58.4 - - 2440 - - - - - - - - 14.52 14.70 14.67
3520 end dive: TARGET_DEPTH_EXCEEDED
3520 begin apogee
3523 500.4 -10.7 351 3572 done -0.15 0.73 0.276 2473 350.7 - - 1879 - - 46.42 2.222 2198 -5.2 0.219 - - - - - - 14.57 14.20 13.43
3573 end apogee: CONTROL_FINISHED_OK
3573 begin climb
3574 502.3 - 354 3635 roll 0.92 0.90 0.181 2806 370.0 2.62 0.060 3300 542.4 58.4 51.80 2.152 1958 -4.6 0.202 - - - - - - 14.15 13.89 13.16
3654 497.5 7.5 359 3692 done 0.96 - - 2816 - 2.47 0.044 1905 -564.8 94.2 29.00 2.098 1812 -5.0 0.223 - - - - - - 14.08 14.04 13.16
3809 474.5 14.9 370 3815 roll 0.96 - - 2828 - 2.58 0.063 495 -546.5 94.2 - - 1813 - - - - - - - - 14.40 14.21 14.40
3839 470.0 15.1 372 3845 done 0.96 - - 2829 - 2.45 0.035 1902 574.3 94.2 - - 1812 - - - - - - - - 14.30 14.26 14.31
3974 449.2 15.4 381 3980 roll 0.96 - - 2825 - 2.47 0.062 3298 565.2 94.2 - - 1812 - - - - - - - - 14.57 14.36 14.57
4004 444.4 15.8 383 4010 done 0.96 - - 2840 - 2.42 0.045 1902 -576.9 94.2 - - 1812 - - - - - - - - 14.43 14.43 14.45
4139 423.0 15.8 392 4140 done 0.96 - - 2840 - - - 1901 - 94.2 - - 1812 - - - - - - - - 14.66 14.66 14.66
4259 404.1 15.9 400 4265 roll 0.96 - - 2851 - 2.53 0.064 491 -557.3 94.2 - - 1812 - - - - - - - - 14.71 14.50 14.71
4284 401.7 15.8 401 4292 done 0.96 0.05 0.360 2836 -300.0 2.40 0.034 1901 587.5 94.2 - - 1812 - - - - - - - - 14.37 14.52 14.51
4409 381.8 14.6 410 4415 roll 0.96 - - 2836 - 2.45 0.061 3297 569.8 94.2 - - 1812 - - - - - - - - 14.74 14.54 14.75
4464 375.2 14.5 413 4472 done 0.96 - - 2846 - 2.38 0.044 1903 -585.7 94.2 - - 1811 - - - - - - - - 14.59 14.55 14.62
4589 355.4 15.3 422 4590 done 0.96 - - 2845 - - - 1903 - 94.2 - - 1812 - - - - - - - - 14.78 14.78 14.78
4709 337.7 14.7 430 4715 roll 0.96 - - 2845 - 2.42 0.060 3293 574.4 94.2 - - 1812 - - - - - - - - 14.81 14.60 14.81
4784 326.5 14.9 435 4791 done 0.96 0.05 0.385 2840 -100.0 2.38 0.044 1897 -586.6 94.2 - - 1812 - - - - - - - - 14.46 14.62 14.60
4919 306.7 14.9 444 4920 done 0.96 - - 2841 - - - 1896 - 94.2 - - 1812 - - - - - - - - 14.83 14.83 14.83
5045 287.8 14.7 455 5051 roll 0.96 - - 2851 - 2.47 0.063 493 -568.0 94.2 - - 1812 - - - - - - - - 14.84 14.63 14.84
5084 281.6 15.6 459 5091 done 0.96 0.05 0.363 2835 -320.0 2.38 0.034 1900 591.2 94.2 - - 1811 - - - - - - - - 14.50 14.65 14.64
5155 270.7 15.4 466 5161 roll 0.96 - - 2835 - 2.42 0.060 3295 576.4 94.2 - - 1812 - - - - - - - - 14.84 14.64 14.83
5190 266.0 15.5 469 5197 done 0.96 - - 2845 - 2.35 0.041 1902 -592.8 94.2 - - 1811 - - - - - - - - 14.70 14.66 14.72
5255 255.9 14.8 476 5256 done 0.96 - - 2845 - - - 1902 - 94.2 - - 1812 - - - - - - - - 14.84 14.85 14.84
5315 246.9 14.8 482 5316 done 0.96 - - 2845 - - - 1902 - 94.2 - - 1812 - - - - - - - - 14.84 14.85 14.85
5375 238.2 14.5 488 5381 roll 0.96 - - 2844 - 2.42 0.061 3296 576.0 94.2 - - 1809 - - - - - - - - 14.85 14.65 14.85
5445 227.8 14.6 495 5452 done 0.96 0.05 0.385 2841 -60.0 2.38 0.043 1893 -589.5 94.2 - - 1812 - - - - - - - - 14.51 14.67 14.65
5516 217.9 14.1 502 5522 roll 0.96 - - 2850 - 2.45 0.063 499 -569.0 94.2 - - 1812 - - - - - - - - 14.85 14.65 14.85
5551 213.9 13.4 505 5558 done 0.96 0.05 0.365 2835 -300.0 2.35 0.034 1905 598.3 94.2 - - 1811 - - - - - - - - 14.54 14.69 14.66
5616 205.4 11.7 512 5617 done 0.96 - - 2835 - - - 1905 - 94.2 - - 1812 - - - - - - - - 14.85 14.85 14.85
5676 198.3 11.9 518 5683 roll 0.96 - - 2835 - 2.40 0.062 3293 578.3 94.2 - - 1812 - - - - - - - - 14.85 14.66 14.85
5696 195.8 12.1 520 5703 done 0.96 0.03 0.466 2837 - 2.35 0.042 1897 -594.0 94.2 - - 1812 - - - - - - - - 14.50 14.68 14.65
5767 187.3 12.5 527 5774 roll 0.96 - - 2849 - 2.47 0.063 490 -569.6 94.2 - - 1812 - - - - - - - - 14.86 14.62 14.86
5803 183.7 11.8 530 5811 done 0.96 0.03 0.436 2841 -266.7 2.38 0.037 1896 590.8 94.2 - - 1812 - - - - - - - - 14.47 14.64 14.62
5868 175.2 11.7 537 5874 roll 0.96 - - 2842 - 2.42 0.062 3293 577.3 94.2 - - 1812 - - - - - - - - 14.85 14.62 14.86
5883 174.0 11.3 538 5890 done 0.96 0.03 0.468 2843 - 2.35 0.043 1898 -593.6 94.2 - - 1812 - - - - - - - - 14.46 14.64 14.62
5948 166.5 10.5 545 5960 done 0.97 - - 2843 - - - 1897 - 99.9 5.88 1.812 1792 -3.4 0.058 - - - - - - 14.86 14.64 13.83
6018 158.8 11.0 552 6023 roll 0.97 - - 2852 - 2.47 0.062 497 -566.8 100.9 - - 1790 - - - - - - - - 14.81 14.58 14.81
6053 155.1 12.0 555 6060 done 0.97 0.05 0.365 2837 -300.0 2.38 0.037 1902 590.3 100.9 - - 1790 - - - - - - - - 14.44 14.59 14.59
6118 147.0 10.9 562 6123 roll 0.97 - - 2837 - 2.42 0.063 3292 574.4 102.6 - - 1790 - - - - - - - - 14.82 14.59 14.83
6153 143.9 10.3 565 6171 done 0.98 - - 2847 - 2.35 0.041 1901 -591.9 110.5 9.85 1.756 1745 -4.6 0.070 - - - - - - 14.64 14.60 13.81
6228 135.7 10.8 573 6233 roll 0.99 - - 2858 - 2.50 0.060 494 -562.8 113.2 - - 1745 - - - - - - - - 14.74 14.53 14.75
6268 131.0 11.8 577 6274 done 0.99 0.05 0.360 2844 -280.0 2.38 0.036 1896 589.1 113.2 - - 1745 - - - - - - - - 14.40 14.54 14.53
6338 123.1 11.2 584 6339 done 0.99 - - 2843 - - - 1896 - 113.2 - - 1745 - - - - - - - - 14.76 14.77 14.77
6398 116.4 11.1 590 6399 done 0.99 - - 2843 - - - 1896 - 113.2 - - 1745 - - - - - - - - 14.78 14.78 14.78
6458 109.7 11.1 596 6463 roll 0.99 - - 2844 - 2.45 0.064 3295 571.0 113.2 - - 1745 - - - - - - - - 14.79 14.55 14.79
6488 106.2 11.7 599 6493 done 0.99 - - 2853 - 2.35 0.041 1904 -591.9 113.2 - - 1746 - - - - - - - - 14.62 14.59 14.64
6553 98.7 11.7 606 6554 done 0.99 - - 2853 - - - 1903 - 113.2 - - 1745 - - - - - - - - 14.81 14.81 14.81
6583 95.1 11.8 612 6584 done 0.99 - - 2853 - - - 1904 - 113.2 - - 1745 - - - - - - - - 14.81 14.81 14.81
6613 91.7 11.5 618 6620 roll 0.99 - - 2853 - 2.42 0.063 3290 572.7 113.2 - - 1745 - - - - - - - - 14.83 14.57 14.81
6649 87.3 12.0 625 6657 done 0.99 0.05 0.387 2849 -80.0 2.35 0.041 1903 -590.2 113.2 3.42 1.225 1735 -2.9 0.039 - - - - - - 14.46 14.62 13.81
6686 83.1 10.9 632 6687 done 0.99 - - 2849 - - - 1903 - 115.8 - - 1736 - - - - - - - - 14.78 14.78 14.78
6716 79.9 10.9 638 6723 done 0.99 - - 2849 - - - 1903 - 117.6 5.32 1.481 1716 -3.8 0.038 - - - - - - 14.78 14.57 13.82
6752 75.7 11.5 645 6753 done 0.99 - - 2848 - - - 1903 - 117.6 - - 1716 - - - - - - - - 14.76 14.76 14.76
6782 72.2 11.8 651 6783 done 0.99 - - 2849 - - - 1903 - 117.6 - - 1716 - - - - - - - - 14.76 14.76 14.76
6812 68.5 12.2 657 6813 done 0.99 - - 2848 - - - 1903 - 117.6 - - 1716 - - - - - - - - 14.77 14.77 14.77
6842 64.8 12.3 663 6843 done 0.99 - - 2849 - - - 1903 - 117.6 - - 1717 - - - - - - - - 14.78 14.78 14.78
6872 61.1 12.3 669 6879 roll 0.99 - - 2849 - 2.45 0.062 3297 569.0 117.6 - - 1717 - - - - - - - - 14.78 14.54 14.78
6928 53.9 13.2 680 6935 done 0.99 0.05 0.379 2844 -100.0 2.38 0.041 1893 -589.9 117.6 - - 1717 - - - - - - - - 14.42 14.58 14.56
6964 49.2 12.8 687 6965 done 0.99 - - 2844 - - - 1893 - 117.6 - - 1717 - - - - - - - - 14.79 14.80 14.79
6994 45.3 13.1 693 7001 roll 0.99 - - 2844 - 2.47 0.064 3297 568.4 117.6 - - 1717 - - - - - - - - 14.79 14.58 14.79
7025 41.1 13.8 699 7033 done 0.99 - - 2853 - 2.38 0.042 1899 -587.4 117.6 - - 1717 - - - - - - - - 14.66 14.62 14.67
7062 36.3 12.9 706 7067 done 0.99 - - 2853 - - - 1899 - 117.6 - - 1717 - - - - - - - - 14.79 14.79 14.79
7097 31.4 13.9 713 7097 done 0.99 - - 2853 - - - 1899 - 117.6 - - 1717 - - - - - - - - 14.79 14.80 14.80
7127 27.3 13.5 719 7127 done 0.99 - - 2853 - - - 1899 - 117.6 - - 1717 - - - - - - - - 14.79 14.80 14.79
7157 23.4 12.8 725 7157 done 0.99 - - 2853 - - - 1899 - 117.6 - - 1717 - - - - - - - - 14.79 14.80 14.80
7187 19.5 12.9 731 7187 done 0.99 - - 2853 - - - 1899 - 117.6 - - 1717 - - - - - - - - 14.80 14.80 14.80
7217 15.8 12.7 737 7224 roll 0.99 - - 2854 - 2.42 0.060 3291 575.2 117.6 - - 1720 - - - - - - - - 14.80 14.61 14.80
7263 9.5 14.5 746 7270 done 0.99 0.05 0.374 2849 -100.0 2.35 0.041 1898 -592.8 117.6 - - 1717 - - - - - - - - 14.44 14.59 14.58
7299 4.5 13.3 753 7300 done 0.99 - - 2848 - - - 1898 - 117.6 - - 1722 - - - - - - - - 14.81 14.82 14.82
7313 end climb: SURFACE_DEPTH_REACHED
7313 begin surface coast
7333 end surface coast: CONTROL_FINISHED_OK
7333 begin surface
SM 1.01 - - - - -6.85 6.12 0.071 234 38.2 - - 1896 - 190.10 44.25 0.290 1422 32.1 -0.011 - - - - - -