version: 66.12 revision: CLOWNFISH glider: 626 mission: 2 dive: 214 start: 4 2 118 13 0 5 data: $ID,626 $MISSION,2 $DIVE,214 $N_DIVES,0 $STOP_T,12201818 $D_SURF,3 $D_FLARE,3 $D_TGT,600 $D_ABORT,950 $D_NO_BLEED,60 $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,200 $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,110 $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,380 $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,0 $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,2560 $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,2420 $C_ROLL_CLIMB,2200 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,45 $R_STBD_OVSHOOT,45 $ROLL_AD_RATE,350 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,649 $VBD_MAX,3962 $C_VBD,2210 $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 $GPS1,020418,125455,2227.1372,-15641.9844,17,1.4,17,9.9,0.0,0.0,7,28.3 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.21 $_SM_ANGLEo,-72.2 $GPS2,020418,125937,2227.1470,-15642.0039,15,1.2,15,9.9,0.5,301.1,7,31.8 $SPEED_LIMITS,0.173,0.225 $TGT_NAME,M7 $TGT_LATLONG,2227.000,-15642.000 $TGT_RADIUS,900.000 $MHEAD_RNG_PITCHd_Wd,125.4,272,-27.8,-10.000,-30.00,971 $D_GRID,600 $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,14,end surface,CONTROL_FINISHED_OK $STATE,14,begin dive $GC,16,-0.95,-63.2,193,2424,680,644,0.0,0.0,0,75,0.00,0.00,-56.40,0.000,16390,0.000,0.000,192,2424,2467,2501,2434,0,0,0,0,0,0,14.92,13.71,14.90 $GC,77,-1.00,-107.1,192,2424,2502,2434,2.7,-4.1,7,94,6.70,0.00,-3.53,0.000,18950,0.445,0.000,2230,2424,2647,2695,2600,0,0,0,0,0,0,14.44,14.02,14.73 $GC,349,-1.00,-107.1,2228,2424,2695,2599,106.6,-34.2,38,354,0.00,2.28,0.00,0.000,2308,0.000,0.057,2221,3817,2647,2695,2599,0,0,0,0,0,0,15.04,14.77,15.04 $GC,372,-1.00,-107.1,2221,3815,2695,2600,114.3,-32.6,40,378,0.05,2.28,0.00,0.000,3078,0.503,0.047,2234,2424,2647,2695,2599,0,0,0,0,0,0,14.55,14.80,14.81 $GC,626,-1.00,-107.1,2234,2422,2695,2599,192.0,-28.0,65,631,0.00,2.33,0.00,0.000,2308,0.000,0.063,2225,3823,2647,2695,2599,0,0,0,0,0,0,15.10,14.83,15.10 $GC,709,-1.00,-107.1,2224,3822,2695,2600,216.1,-28.6,70,714,0.00,2.28,0.00,0.000,3078,0.000,0.045,2225,2416,2647,2696,2599,0,0,0,0,0,0,14.96,14.87,14.97 $GC,992,-1.00,-107.1,2224,2415,2699,2599,288.7,-25.0,77,997,0.00,2.33,0.00,0.000,2308,0.000,0.066,2222,3815,2648,2698,2599,0,0,0,0,0,0,15.17,14.89,15.17 $GC,1037,-1.00,-107.1,2221,3815,2698,2599,299.1,-25.3,78,1043,0.00,2.25,0.00,0.000,3078,0.000,0.042,2222,2413,2648,2698,2599,0,0,0,0,0,0,15.02,14.93,15.02 $GC,1315,-1.00,-107.1,2221,2412,2699,2599,366.5,-24.7,85,1320,0.00,2.33,0.00,0.000,2308,0.000,0.062,2217,3821,2648,2697,2599,0,0,0,0,0,0,15.21,14.93,15.21 $GC,1386,-1.00,-107.1,2218,3821,2699,2599,376.8,-24.8,86,1392,0.05,2.25,0.00,0.000,3078,0.480,0.043,2232,2409,2649,2699,2599,0,0,0,0,0,0,14.71,14.96,14.97 $GC,1639,-1.00,-107.1,2231,2407,2699,2599,443.5,-23.3,93,1641,0.00,0.00,0.00,0.000,2054,0.000,0.000,2232,2407,2649,2699,2599,0,0,0,0,0,0,15.22,15.23,15.23 $GC,1879,-1.00,-107.1,2232,2407,2699,2598,498.0,-22.6,99,1884,0.00,2.33,0.00,0.000,2308,0.000,0.061,2223,3817,2648,2699,2598,0,0,0,0,0,0,15.24,14.96,15.25 $GC,1895,-1.00,-107.1,2223,3818,2699,2598,498.0,-22.6,99,1901,0.00,2.22,0.00,0.000,3078,0.000,0.041,2223,2419,2648,2698,2598,0,0,0,0,0,0,15.08,15.00,15.09 $GC,2164,-1.00,-107.1,2222,2419,2699,2595,560.7,-22.2,106,2170,0.00,2.33,0.00,0.000,2308,0.000,0.064,2222,3823,2646,2699,2594,0,0,0,0,0,0,15.25,14.96,15.25 $GC,2207,-1.00,-107.1,2222,3822,2699,2594,570.2,-22.2,107,2213,0.00,2.25,0.00,0.000,3078,0.000,0.042,2222,2419,2646,2699,2594,0,0,0,0,0,0,15.09,15.00,15.09 $STATE,2368,end dive,TARGET_DEPTH_EXCEEDED $STATE,2368,begin apogee $GC,2373,-0.16,0.0,2222,2175,2699,2591,606.0,-21.9,111,2460,0.80,0.00,83.57,1.647,10246,0.335,0.000,2502,2171,2208,2280,2137,0,0,0,0,0,0,14.73,14.47,13.91 $STATE,2461,end apogee,CONTROL_FINISHED_OK $STATE,2461,begin climb $GC,2462,1.00,107.1,2502,2171,2279,2135,613.1,0.0,113,2554,0.95,2.33,83.55,1.740,10756,0.212,0.057,2876,812,1773,1863,1683,0,0,0,0,0,0,14.38,14.14,13.61 $GC,2561,1.00,107.1,2875,811,1862,1684,610.0,6.8,115,2566,0.00,2.33,0.00,0.000,3078,0.000,0.039,2876,2196,1772,1862,1683,0,0,0,0,0,0,14.40,14.33,14.41 $GC,2813,1.00,107.1,2875,2197,1862,1679,563.0,17.5,122,2818,0.00,2.35,0.00,0.000,2308,0.000,0.057,2876,3609,1770,1862,1679,0,0,0,0,0,0,14.95,14.70,14.95 $GC,3025,1.00,107.1,2875,3609,1862,1682,526.9,17.8,127,3030,0.00,2.28,0.00,0.000,5126,0.000,0.047,2886,2218,1772,1862,1682,0,0,0,0,0,0,14.90,14.81,14.90 $GC,3298,1.00,107.1,2886,2218,1861,1679,480.1,16.1,134,3303,0.00,2.33,0.00,0.000,4612,0.000,0.055,2898,790,1770,1861,1679,0,0,0,0,0,0,15.11,14.88,15.12 $GC,3394,1.00,107.1,2897,789,1861,1679,467.6,15.3,136,3401,0.05,2.28,0.00,0.000,5126,0.474,0.039,2883,2204,1770,1861,1679,0,0,0,0,0,0,14.66,14.90,14.90 $GC,3663,1.00,107.1,2882,2205,1860,1675,428.9,13.3,143,3668,0.00,2.25,0.00,0.000,260,0.000,0.050,2883,3603,1767,1861,1674,0,0,0,0,0,0,15.16,14.92,15.17 $GC,3729,1.00,107.1,2882,3605,1859,1675,423.0,13.5,144,3735,0.00,2.28,0.00,0.000,5126,0.000,0.043,2893,2190,1767,1859,1675,0,0,0,0,0,0,15.02,14.93,15.02 $GC,3988,1.00,107.1,2893,2189,1860,1672,384.4,13.8,151,3989,0.00,0.00,0.00,0.000,4102,0.000,0.000,2893,2189,1766,1860,1672,0,0,0,0,0,0,15.19,15.20,15.20 $GC,4227,1.00,107.1,2893,2189,1858,1671,350.8,13.9,157,4228,0.00,0.00,0.00,0.000,4102,0.000,0.000,2893,2189,1764,1858,1671,0,0,0,0,0,0,15.21,15.21,15.21 $GC,4468,1.00,107.1,2893,2189,1857,1670,323.9,10.9,163,4469,0.00,0.00,0.00,0.000,4102,0.000,0.000,2894,2189,1763,1857,1670,0,0,0,0,0,0,15.23,15.23,15.23 $GC,4707,1.00,109.2,2893,2189,1856,1669,299.7,9.8,169,4713,0.00,2.33,0.00,0.000,4356,0.000,0.050,2893,3609,1763,1856,1670,0,0,0,0,0,0,15.23,14.97,15.23 $GC,4854,1.00,109.2,2893,3609,1855,1670,287.3,10.2,172,4861,0.08,2.25,0.00,0.000,5126,0.477,0.042,2881,2197,1762,1855,1670,0,0,0,0,0,0,14.68,14.98,14.97 $GC,5114,1.02,122.4,2881,2198,1854,1667,263.3,8.6,179,5133,0.00,2.25,11.57,1.131,10756,0.000,0.054,2891,790,1707,1796,1618,0,0,0,0,0,0,15.24,14.95,14.43 $GC,5156,1.03,128.0,2891,790,1796,1617,258.9,9.4,180,5169,0.00,2.28,5.53,0.934,13318,0.000,0.036,2892,2212,1685,1774,1596,0,0,0,0,0,0,15.02,14.95,14.38 $GC,5436,1.03,128.0,2891,2212,1773,1595,220.4,13.8,187,5442,0.00,2.25,0.00,0.000,4356,0.000,0.050,2892,3605,1684,1773,1595,0,0,0,0,0,0,15.19,14.93,15.19 $GC,5598,1.03,128.0,2891,3605,1771,1595,198.6,13.4,191,5604,0.00,2.25,0.00,0.000,5126,0.000,0.042,2902,2202,1683,1771,1595,0,0,0,0,0,0,15.03,14.95,15.04 $GC,5852,1.05,144.6,2902,2202,1771,1596,174.3,8.3,216,5876,0.00,2.33,13.73,1.032,12548,0.000,0.049,2902,3605,1614,1700,1529,0,0,0,0,0,0,15.18,14.85,14.40 $GC,6019,1.05,144.6,2902,3605,1700,1529,155.7,13.2,231,6029,0.03,2.33,0.00,0.000,5126,0.544,0.043,2905,2201,1614,1699,1529,0,0,0,0,0,0,14.60,14.84,14.76 $GC,6267,1.05,144.6,2906,2201,1699,1529,122.4,14.0,256,6272,0.00,2.28,0.00,0.000,4612,0.000,0.054,2917,792,1613,1699,1528,0,0,0,0,0,0,15.14,14.89,15.14 $GC,6333,1.05,144.6,2916,791,1699,1528,114.5,11.4,262,6339,0.05,2.25,0.00,0.000,5126,0.482,0.035,2901,2201,1613,1699,1528,0,0,0,0,0,0,14.63,14.91,14.90 $GC,6589,1.07,161.8,2901,2204,1698,1529,90.8,8.2,287,6612,0.00,2.35,13.55,0.911,8708,0.000,0.057,2912,797,1544,1627,1461,0,0,0,0,0,0,15.14,14.80,14.40 $GC,6921,1.07,161.8,2912,797,1627,1462,53.9,12.4,316,6926,0.00,2.25,0.00,0.000,5126,0.000,0.041,2912,2194,1544,1627,1462,0,0,0,0,0,0,14.95,14.88,14.96 $GC,7177,1.07,161.8,2912,2195,1627,1463,24.8,10.6,344,7186,0.00,2.35,0.00,0.000,4356,0.000,0.055,2912,3600,1545,1627,1464,0,0,0,0,0,0,15.09,14.81,15.10 $GC,7342,1.07,161.8,2911,3601,1627,1465,4.4,14.1,371,7351,0.05,2.33,0.00,0.000,5126,0.452,0.044,2906,2202,1546,1627,1466,0,0,0,0,0,0,14.52,14.81,14.72 $STATE,7358,end climb,SURFACE_DEPTH_REACHED $STATE,7358,begin surface coast $FINISH,0.3,1.023899 $STATE,7383,end surface coast,CONTROL_FINISHED_OK $STATE,7383,begin surface $SM_CCo,7397,137.00,0.874,1,0,658,380.45 $SM_GC,1.22,6.18,0.35,137.00,0.069,0.065,0.874,191,2427,658,-7.28,-1.33,380.45,0,0,0,0,1,0,14.86,14.86,14.02 $IRIDIUM_FIX,2216.01,-15642.27,020418,125554 $TT8_MAMPS,0.019474,0.293608 $HUMID,41.02 $INTERNAL_PRESSURE,9.41701 $TCM_TEMP,21.50 $XPDR_PINGS,0 $ALTIM_BOTTOM_PING,58.5,7.1 $24V_AH,13.61,53.775 $10V_AH,13.79,0.000 $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,14.975,78.550,211.500,137.000,0.000,25.423,46.677,105.620,0.750,0.000,17.397,1424.589,4327.616,451.815,1543.996,91.823,0.000,1035.452,0.000,1318.453,0.000,6.986,0.000 $DEVICE_MAMPS,543.915,65.790,1739.610,874.395,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,255.585,206.433,368.882,371.446,569.922,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000 $MEM,343080 $DATA_FILE_SIZE,34016,377 $CAP_FILE_SIZE,81349,0 $CFSIZE,2097086464,2072969216 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0 $CURRENT,0.156,270.04,1 $GPS,020418,150700,2226.592,-15642.210,41,0.7,41,9.9,0.6,190.6,12,152.5