version: 66.12 revision: CLOWNFISH glider: 626 mission: 2 dive: 169 start: 3 29 118 1 0 7 data: $ID,626 $MISSION,2 $DIVE,169 $N_DIVES,0 $STOP_T,12201818 $D_SURF,3 $D_FLARE,3 $D_TGT,500 $D_ABORT,950 $D_NO_BLEED,100 $D_BOOST,5 $T_BOOST,0 $D_FINISH,0 $D_PITCH,0 $D_SAFE,0 $D_CALL,0 $SURFACE_URGENCY,0 $SURFACE_URGENCY_TRY,0 $SURFACE_URGENCY_FORCE,0 $T_DIVE,166 $T_MISSION,680 $T_ABORT,720 $T_TURN,500 $T_TURN_SAMPINT,5 $T_NO_W,120 $T_LOITER,0 $T_EPIRB,0 $USE_BATHY,0 $USE_ICE,0 $ICE_FREEZE_MARGIN,0.30000001 $D_OFFGRID,100 $T_WATCHDOG,10 $RELAUNCH,0 $APOGEE_PITCH,-5 $MAX_BUOY,120 $COURSE_BIAS,0 $GLIDE_SLOPE,30 $SPEED_FACTOR,1 $RHO,1.0275 $MASS,54699 $MASS_COMP,0 $NAV_MODE,2 $FERRY_MAX,45 $KALMAN_USE,2 $HD_A,0.0038360001 $HD_B,0.0101 $HD_C,9.8500004e-06 $HEADING,-1 $ESCAPE_HEADING,270 $ESCAPE_HEADING_DELTA,10 $FIX_MISSING_TIMEOUT,0 $TGT_DEFAULT_LAT,2141 $TGT_DEFAULT_LON,-15810 $TGT_AUTO_DEFAULT,0 $SM_CC,390 $N_FILEKB,4 $FILEMGR,0 $CALL_NDIVES,1 $COMM_SEQ,0 $PROTOCOL,9 $N_NOCOMM,2 $NOCOMM_ACTION,259 $N_NOSURFACE,0 $UPLOAD_DIVES_MAX,-1 $CALL_TRIES,5 $CALL_WAIT,60 $CAPUPLOAD,1 $CAPMAXSIZE,400000 $HEAPDBG,0 $T_GPS,15 $N_GPS,30 $T_RSLEEP,3 $STROBE,0 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,211 $PITCH_MAX,3943 $C_PITCH,2570 $PITCH_DBAND,0.0099999998 $PITCH_CNV,0.003125763 $P_OVSHOOT,0.039999999 $P_OVSHOOT_WITHG,0.079999998 $PITCH_GAIN,32 $PITCH_TIMEOUT,17 $PITCH_AD_RATE,175 $PITCH_MAXERRORS,1 $PITCH_ADJ_GAIN,0 $PITCH_ADJ_DBAND,0 $ROLL_MIN,286 $ROLL_MAX,3922 $ROLL_DEG,40 $C_ROLL_DIVE,2303 $C_ROLL_CLIMB,2720 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,61 $R_STBD_OVSHOOT,40 $ROLL_AD_RATE,350 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,649 $VBD_MAX,3962 $C_VBD,2320 $VBD_DBAND,2 $VBD_CNV,-0.245296 $VBD_LP_IGNORE,0 $VBD_TIMEOUT,720 $PITCH_VBD_SHIFT,0.0012300001 $VBD_PUMP_AD_RATE_SURFACE,5 $VBD_PUMP_AD_RATE_APOGEE,4 $VBD_BLEED_AD_RATE,8 $UNCOM_BLEED,60 $VBD_MAXERRORS,1 $W_ADJ_DBAND,0 $DBDW,0 $PITCH_W_GAIN,0 $PITCH_W_DBAND,0 $CF8_MAXERRORS,20 $AH0_24V,310 $AH0_10V,0 $MINV_24V,11.5 $MINV_10V,10 $MAXI_24V,3 $MAXI_10V,2 $FG_AHR_10V,0 $FG_AHR_24V,0 $PHONE_SUPPLY,2 $PRESSURE_YINT,-177.38618 $PRESSURE_SLOPE,0.000140886 $AD7714Ch0Gain,32 $TCM_PITCH_OFFSET,0 $TCM_ROLL_OFFSET,0 $COMPASS_USE,0 $ALTIM_BOTTOM_PING_RANGE,0 $ALTIM_TOP_PING_RANGE,0 $ALTIM_BOTTOM_TURN_MARGIN,0 $ALTIM_TOP_TURN_MARGIN,0 $ALTIM_TOP_MIN_OBSTACLE,1 $ALTIM_PING_DEPTH,50 $ALTIM_PING_DELTA,5 $ALTIM_FREQUENCY,13 $ALTIM_PULSE,3 $ALTIM_SENSITIVITY,2 $XPDR_VALID,2 $XPDR_INHIBIT,90 $INT_PRESSURE_SLOPE,0.0097655999 $INT_PRESSURE_YINT,2.21 $DEEPGLIDER,0 $MOTHERBOARD,4 $DEVICE1,2 $DEVICE2,20 $DEVICE3,37 $DEVICE4,67 $DEVICE5,54 $DEVICE6,-1 $LOGGERS,1 $LOGGERDEVICE1,-1 $LOGGERDEVICE2,-1 $LOGGERDEVICE3,-1 $LOGGERDEVICE4,-1 $COMPASS_DEVICE,17 $COMPASS2_DEVICE,-1 $PHONE_DEVICE,49 $GPS_DEVICE,32 $RAFOS_DEVICE,-1 $XPDR_DEVICE,24 $SIM_W,0 $SIM_PITCH,0 $SEABIRD_T_G,0.0044050994 $SEABIRD_T_H,0.00064172823 $SEABIRD_T_I,2.5755839e-05 $SEABIRD_T_J,3.1466591e-06 $SEABIRD_C_G,-9.6491127 $SEABIRD_C_H,1.0791453 $SEABIRD_C_I,-0.0026383207 $SEABIRD_C_J,0.00025441265 $GPS1,290318,005507,2221.3396,-15611.4199,17,1.1,17,9.9,0.0,0.0,7,28.0 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.25 $_SM_ANGLEo,-74.4 $GPS2,290318,005943,2221.3625,-15611.4189,15,1.0,15,9.9,0.7,313.2,8,24.4 $SPEED_LIMITS,0.174,0.235 $TGT_NAME,M5 $TGT_LATLONG,2224.200,-15605.200 $TGT_RADIUS,900.000 $MHEAD_RNG_PITCHd_Wd,95.1,11875,-20.5,-10.040,-23.14,1785 $D_GRID,500 $GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts $STATE,13,end surface,CONTROL_FINISHED_OK $STATE,13,begin dive $GC,15,-0.79,-116.8,186,2275,782,755,0.0,0.0,0,72,0.00,0.00,-55.03,0.000,16386,0.000,0.000,186,2275,2609,2631,2587,0,0,0,0,0,0,15.02,28.83,15.03 $GC,75,-0.79,-116.8,187,2276,2631,2587,3.7,-7.3,7,92,6.90,2.22,-3.25,0.000,19204,0.444,0.070,2309,902,2799,2828,2770,0,0,0,0,0,0,14.52,14.07,14.82 $GC,238,-0.79,-116.8,2309,902,2827,2770,65.9,-34.8,25,244,0.00,2.30,0.00,0.000,3078,0.000,0.050,2304,2297,2798,2827,2770,0,0,0,0,0,0,14.90,14.81,14.92 $GC,491,-0.79,-116.8,2304,2297,2829,2770,149.0,-29.1,50,496,0.00,2.30,0.00,0.000,2308,0.000,0.054,2293,3724,2798,2828,2769,0,0,0,0,0,0,15.11,14.86,15.11 $GC,551,-0.79,-116.8,2293,3724,2828,2770,165.3,-30.1,55,558,0.08,2.25,0.00,0.000,3078,0.415,0.046,2317,2328,2799,2828,2770,0,0,0,0,0,0,14.68,14.88,14.90 $GC,807,-0.79,-116.8,2316,2326,2830,2770,229.4,-23.7,72,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2326,2800,2830,2770,0,0,0,0,0,0,15.17,15.17,15.17 $GC,1046,-0.79,-116.8,2316,2325,2832,2770,280.9,-21.1,78,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2325,2801,2832,2770,0,0,0,0,0,0,15.21,15.21,15.21 $GC,1287,-0.79,-116.8,2316,2326,2833,2770,332.7,-21.4,84,1292,0.00,2.30,0.00,0.000,516,0.000,0.063,2317,896,2801,2833,2770,0,0,0,0,0,0,15.23,14.97,15.23 $GC,1338,-0.79,-116.8,2316,895,2833,2770,342.2,-21.5,85,1344,0.00,2.30,0.00,0.000,1030,0.000,0.052,2317,2309,2801,2832,2770,0,0,0,0,0,0,15.07,14.98,15.08 $GC,1610,-0.79,-116.8,2316,2309,2834,2770,398.9,-19.9,92,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2309,2801,2833,2770,0,0,0,0,0,0,15.24,15.25,15.25 $GC,1850,-0.79,-116.8,2316,2310,2833,2769,446.1,-19.1,98,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2310,2801,2833,2770,0,0,0,0,0,0,15.26,15.26,15.26 $GC,2090,-0.79,-116.8,2316,2309,2833,2767,492.5,-19.8,104,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2309,2800,2833,2767,0,0,0,0,0,0,15.26,15.27,15.27 $STATE,2129,end dive,TARGET_DEPTH_EXCEEDED $STATE,2130,begin apogee $GC,2134,-0.16,0.0,2317,2737,2832,2767,500.6,-20.1,105,2227,0.55,0.00,90.03,1.643,10246,0.310,0.000,2516,2737,2319,2398,2240,0,0,0,0,0,0,14.83,14.45,13.84 $STATE,2228,end apogee,CONTROL_FINISHED_OK $STATE,2228,begin climb $GC,2230,0.79,116.8,2516,2737,2398,2240,507.1,0.0,107,2334,0.73,2.03,95.22,2.209,10500,0.194,0.055,2803,3901,1843,1941,1745,0,0,0,0,0,0,14.36,14.19,13.50 $GC,2385,0.79,116.8,2802,3902,1939,1745,502.3,4.6,111,2390,0.00,1.95,0.00,0.000,3078,0.000,0.038,2812,2718,1842,1940,1744,0,0,0,0,0,0,14.53,14.45,14.54 $GC,2657,0.79,116.8,2812,2718,1939,1740,470.2,11.2,118,2662,0.00,2.30,0.00,0.000,2564,0.000,0.053,2822,1309,1839,1939,1740,0,0,0,0,0,0,15.00,14.76,15.00 $GC,2673,0.79,116.8,2822,1309,1939,1739,470.2,11.2,118,2678,0.00,2.30,0.00,0.000,1030,0.000,0.046,2822,2712,1839,1939,1739,0,0,0,0,0,0,14.85,14.77,14.86 $GC,2941,0.79,116.8,2822,2713,1939,1736,436.4,11.9,125,2946,0.00,2.33,0.00,0.000,516,0.000,0.054,2833,1305,1837,1939,1736,0,0,0,0,0,0,15.10,14.86,15.10 $GC,3117,0.79,116.8,2833,1305,1938,1734,418.9,10.7,129,3123,0.00,2.30,0.00,0.000,5126,0.000,0.045,2833,2723,1836,1939,1734,0,0,0,0,0,0,14.99,14.90,15.00 $GC,3385,0.80,129.2,2833,2723,1938,1732,391.1,9.3,136,3396,0.00,0.00,9.85,1.277,12294,0.000,0.000,2833,2723,1792,1896,1688,0,0,0,0,0,0,15.18,14.89,14.33 $GC,3625,0.80,129.2,2833,2721,1892,1686,363.3,12.3,142,3626,0.00,0.00,0.00,0.000,4102,0.000,0.000,2834,2723,1788,1892,1685,0,0,0,0,0,0,15.16,15.16,15.16 $GC,3864,0.80,129.2,2833,2723,1891,1684,334.2,12.0,148,3870,0.00,2.33,0.00,0.000,4612,0.000,0.053,2844,1308,1788,1892,1684,0,0,0,0,0,0,15.20,14.95,15.20 $GC,3931,0.80,129.2,2843,1308,1891,1684,329.6,11.6,149,3937,0.05,2.30,0.00,0.000,5126,0.483,0.044,2829,2732,1786,1889,1684,0,0,0,0,0,0,14.73,14.96,14.98 $GC,4190,0.81,140.8,2829,2732,1891,1681,302.6,9.4,156,4209,0.00,2.38,9.43,1.142,8708,0.000,0.052,2839,1308,1743,1848,1638,0,0,0,0,0,0,15.21,14.92,14.40 $GC,4380,0.81,140.8,2839,1308,1844,1637,286.4,10.1,160,4385,0.00,2.30,0.00,0.000,5126,0.000,0.045,2839,2729,1741,1845,1637,0,0,0,0,0,0,15.03,14.95,15.04 $GC,4632,0.81,140.8,2839,2728,1844,1636,257.2,10.2,167,4633,0.00,0.00,0.00,0.000,4102,0.000,0.000,2840,2728,1740,1844,1636,0,0,0,0,0,0,15.21,15.21,15.21 $GC,4873,0.83,151.8,2839,2729,1844,1635,234.2,9.4,173,4887,0.00,2.33,8.98,1.042,12804,0.000,0.050,2850,1305,1698,1802,1595,0,0,0,0,0,0,15.23,14.85,14.42 $GC,5213,0.83,151.8,2850,1304,1801,1595,200.5,10.0,181,5219,0.00,2.30,0.00,0.000,5126,0.000,0.044,2850,2730,1697,1800,1595,0,0,0,0,0,0,15.05,14.96,15.06 $GC,5468,0.85,167.4,2850,2730,1799,1594,175.2,9.1,205,5490,0.00,2.35,12.60,1.008,12804,0.000,0.052,2861,1314,1633,1736,1530,0,0,0,0,0,0,15.19,14.87,14.42 $GC,5653,0.85,167.4,2860,1314,1735,1531,155.5,11.4,222,5662,0.05,2.33,0.00,0.000,5126,0.395,0.044,2845,2716,1633,1735,1531,0,0,0,0,0,0,14.66,14.87,14.83 $GC,5901,0.85,167.4,2843,2717,1734,1530,132.1,10.1,247,5907,0.00,2.33,0.00,0.000,4612,0.000,0.050,2854,1299,1632,1734,1530,0,0,0,0,0,0,15.15,14.91,15.16 $GC,6277,0.93,233.0,2854,1299,1734,1530,102.3,6.3,282,6334,0.00,2.30,48.12,0.956,11270,0.000,0.043,2855,2721,1369,1455,1283,0,0,0,0,0,0,15.01,14.92,14.29 $GC,6575,0.93,233.0,2854,2723,1454,1283,57.3,17.7,311,6581,0.00,2.35,0.00,0.000,2564,0.000,0.054,2865,1305,1368,1454,1283,0,0,0,0,0,0,15.04,14.80,15.04 $GC,6637,0.93,233.0,2865,1305,1455,1283,46.7,17.2,316,6646,0.00,2.35,0.00,0.000,1030,0.000,0.044,2866,2712,1369,1455,1283,0,0,0,0,0,0,14.80,14.76,14.82 $STATE,6893,end climb,SURFACE_DEPTH_REACHED $STATE,6893,begin surface coast $FINISH,0.2,1.023289 $STATE,6919,end surface coast,CONTROL_FINISHED_OK $STATE,6919,begin surface $SM_CCo,6932,94.40,0.114,0,0,729,390.02 $SM_GC,1.10,6.25,0.68,94.40,0.101,0.056,0.114,186,2279,729,-7.31,0.90,390.02,0,0,0,0,0,0,14.88,14.85,14.75 $IRIDIUM_FIX,2211.35,-15611.96,290318,005605 $TT8_MAMPS,0.018725,0.322819 $HUMID,41.57 $INTERNAL_PRESSURE,9.42678 $TCM_TEMP,21.20 $XPDR_PINGS,0 $ALTIM_BOTTOM_PING,52.2,6.4 $24V_AH,13.50,45.462 $10V_AH,13.55,0.000 $FG_AHR_24Vo,0.000 $FG_AHR_10Vo,0.000 $DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2 $DEVICE_SECS,14.600,56.125,274.225,94.400,0.000,30.800,45.958,99.194,0.500,0.000,16.220,1324.522,4036.094,425.491,1461.958,71.254,0.000,977.089,0.000,1238.759,0.000,6.004,0.000 $DEVICE_MAMPS,482.715,69.615,2209.320,113.985,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,241.283,193.757,352.774,332.795,510.645,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000 $MEM,343000 $DATA_FILE_SIZE,33824,357 $CAP_FILE_SIZE,71798,0 $CFSIZE,2097086464,2077392896 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0 $CURRENT,0.167,307.69,1 $GPS,290318,025811,2221.512,-15611.313,22,1.8,22,9.9,0.0,0.0,5,41.9