version: 66.12 revision: CLOWNFISH glider: 626 mission: 2 dive: 238 start: 4 4 118 23 21 18 data: $ID,626 $MISSION,2 $DIVE,238 $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,250 $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,90 $COURSE_BIAS,0 $GLIDE_SLOPE,20 $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,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,2579 $PITCH_DBAND,0.0099999998 $PITCH_CNV,0.003125763 $P_OVSHOOT,0.039999999 $P_OVSHOOT_WITHG,0.079999998 $PITCH_GAIN,35 $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,2400 $C_ROLL_CLIMB,2200 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,34 $R_STBD_OVSHOOT,94 $ROLL_AD_RATE,350 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,649 $VBD_MAX,3962 $C_VBD,2720 $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 $GPS1,040418,231431,2223.2737,-15713.0449,19,1.5,19,9.8,0.5,174.8,7,99.2 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.11 $_SM_ANGLEo,-73.6 $GPS2,040418,232036,2223.2346,-15713.0498,11,1.9,23,9.8,0.0,0.0,5,122.3 $SPEED_LIMITS,0.220,0.230 $TGT_NAME,M9 $TGT_LATLONG,2224.000,-15718.000 $TGT_RADIUS,900.000 $MHEAD_RNG_PITCHd_Wd,295.7,8594,-15.9,-8.000,-19.19,2501 $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,13,end surface,CONTROL_FINISHED_OK $STATE,13,begin dive $GC,15,-0.56,-87.6,185,2437,679,608,0.0,0.0,0,81,0.00,0.00,-63.38,0.000,16386,0.000,0.000,185,2437,2748,2781,2716,0,0,0,0,0,0,15.00,28.83,15.00 $GC,83,-0.56,-87.6,185,2437,2780,2716,4.2,-8.3,8,103,7.12,2.40,-5.12,0.000,18948,0.434,0.064,2394,982,3082,3119,3046,0,0,0,0,0,0,14.47,13.76,14.78 $GC,135,-0.56,-87.6,2393,982,3121,3046,30.0,-44.8,15,143,0.00,2.28,0.00,0.000,3078,0.000,0.038,2386,2338,3083,3121,3046,0,0,0,0,0,0,14.76,14.71,14.78 $GC,381,-0.56,-87.6,2386,2340,3122,3046,104.3,-26.7,40,386,0.00,2.25,0.00,0.000,2564,0.000,0.057,2386,985,3084,3122,3046,0,0,0,0,0,0,15.06,14.81,15.06 $GC,420,-0.56,-87.6,2386,984,3122,3046,113.6,-27.4,43,427,0.00,2.20,0.00,0.000,3078,0.000,0.038,2386,2341,3084,3122,3046,0,0,0,0,0,0,14.91,14.83,14.92 $GC,668,-0.56,-87.6,2385,2341,3125,3046,175.2,-24.1,68,669,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2341,3085,3125,3046,0,0,0,0,0,0,15.11,15.11,15.11 $GC,906,-0.56,-87.6,2385,2340,3128,3046,225.6,-20.5,83,912,0.00,2.22,0.00,0.000,2564,0.000,0.057,2386,988,3087,3128,3046,0,0,0,0,0,0,15.15,14.90,15.16 $GC,983,-0.56,-87.6,2385,988,3129,3046,234.9,-20.6,84,990,0.00,2.17,0.00,0.000,3078,0.000,0.037,2385,2344,3087,3129,3046,0,0,0,0,0,0,15.00,14.91,15.01 $GC,1229,-0.56,-87.6,2385,2344,3130,3046,288.5,-18.8,91,1235,0.00,2.22,0.00,0.000,2564,0.000,0.052,2386,981,3088,3130,3046,0,0,0,0,0,0,15.19,14.93,15.19 $GC,1266,-0.56,-87.6,2385,981,3130,3046,288.5,-18.8,91,1272,0.00,2.17,0.00,0.000,3078,0.000,0.037,2386,2340,3088,3130,3046,0,0,0,0,0,0,15.03,14.95,15.04 $GC,1512,-0.56,-87.6,2385,2341,3130,3046,339.9,-18.1,98,1517,0.00,2.20,0.00,0.000,2564,0.000,0.052,2386,988,3088,3130,3046,0,0,0,0,0,0,15.21,14.95,15.22 $GC,1563,-0.56,-87.6,2385,987,3130,3046,347.9,-18.3,99,1569,0.00,2.17,0.00,0.000,3078,0.000,0.038,2386,2346,3088,3130,3046,0,0,0,0,0,0,15.05,14.96,15.07 $GC,1836,-0.56,-87.6,2385,2346,3130,3046,396.8,-17.2,106,1842,0.00,2.22,0.00,0.000,2564,0.000,0.052,2386,982,3087,3128,3046,0,0,0,0,0,0,15.22,14.97,15.23 $GC,1913,-0.56,-87.6,2385,982,3130,3046,404.9,-17.7,107,1920,0.00,2.17,0.00,0.000,3078,0.000,0.037,2386,2342,3088,3130,3046,0,0,0,0,0,0,15.07,14.97,15.08 $GC,2159,-0.56,-87.6,2385,2342,3130,3045,451.9,-16.6,114,2164,0.00,2.22,0.00,0.000,2564,0.000,0.051,2386,977,3088,3130,3046,0,0,0,0,0,0,15.24,14.98,15.24 $GC,2195,-0.56,-87.6,2385,977,3130,3046,451.9,-16.6,114,2202,0.00,2.20,0.00,0.000,3078,0.000,0.039,2386,2346,3088,3130,3046,0,0,0,0,0,0,15.07,14.98,15.09 $GC,2441,-0.56,-87.6,2385,2347,3130,3045,495.1,-15.1,121,2447,0.00,2.22,0.00,0.000,2564,0.000,0.052,2386,984,3087,3130,3045,0,0,0,0,0,0,15.24,14.98,15.25 $GC,2503,-0.56,-87.6,2385,983,3130,3044,502.2,-15.4,122,2509,0.00,2.17,0.00,0.000,3078,0.000,0.039,2386,2339,3087,3130,3044,0,0,0,0,0,0,15.08,14.99,15.09 $GC,2766,-0.56,-87.6,2385,2339,3130,3040,545.7,-15.5,129,2771,0.00,2.22,0.00,0.000,2564,0.000,0.051,2385,977,3085,3130,3040,0,0,0,0,0,0,15.25,14.99,15.26 $GC,2812,-0.56,-87.6,2385,976,3130,3040,552.4,-15.6,130,2817,0.00,2.20,0.00,0.000,3078,0.000,0.039,2386,2345,3085,3130,3040,0,0,0,0,0,0,15.08,14.99,15.09 $GC,3089,-0.56,-87.6,2385,2345,3130,3037,593.6,-14.4,137,3095,0.00,2.22,0.00,0.000,2564,0.000,0.052,2386,987,3083,3130,3036,0,0,0,0,0,0,15.25,14.99,15.26 $STATE,3131,end dive,TARGET_DEPTH_EXCEEDED $STATE,3131,begin apogee $GC,3137,-0.14,0.0,2386,2155,3130,3035,600.0,-14.3,138,3213,0.38,0.00,70.93,1.616,10246,0.261,0.000,2529,2156,2717,2798,2636,0,0,0,0,0,0,14.81,14.53,13.96 $STATE,3214,end apogee,CONTROL_FINISHED_OK $STATE,3214,begin climb $GC,3216,0.56,87.6,2528,2156,2798,2636,605.0,0.0,140,3294,0.52,2.45,68.88,1.606,10500,0.167,0.053,2746,3592,2362,2446,2278,0,0,0,0,0,0,14.47,14.19,13.73 $GC,3316,0.56,87.6,2745,3592,2445,2278,609.0,-7.5,142,3322,0.00,2.35,0.00,0.000,1030,0.000,0.037,2756,2181,2362,2446,2278,0,0,0,0,0,0,14.50,14.44,14.51 $GC,3579,1.13,547.9,2756,2179,2445,2274,637.6,-10.9,149,3940,0.35,2.45,347.25,1.971,10756,0.079,0.062,2974,803,650,694,606,0,0,0,0,0,0,14.73,14.04,13.41 $GC,4087,1.13,547.9,2974,801,694,603,503.8,50.2,161,4093,0.10,2.30,0.00,0.000,5126,0.418,0.034,2945,2205,648,694,603,0,0,0,0,0,0,14.32,14.53,14.54 $GC,4346,1.13,547.9,2945,2211,694,599,372.1,45.9,168,4347,0.00,0.00,0.00,0.000,4102,0.000,0.000,2945,2211,646,694,599,0,0,0,0,0,0,14.96,14.97,14.97 $GC,4585,1.13,547.9,2945,2211,694,596,265.5,44.1,174,4591,0.00,2.33,0.00,0.000,4612,0.000,0.057,2955,801,645,694,596,0,0,0,0,0,0,15.05,14.81,15.05 $GC,4602,1.13,547.9,2955,800,694,596,265.5,44.1,174,4607,0.00,2.25,0.00,0.000,5126,0.000,0.031,2955,2210,644,693,596,0,0,0,0,0,0,14.92,14.85,14.92 $GC,4849,1.13,547.9,2954,2215,693,593,147.3,43.5,188,4855,0.00,2.20,0.00,0.000,4356,0.000,0.039,2955,3602,643,693,594,0,0,0,0,0,0,15.09,14.88,15.10 $GC,4878,1.13,547.9,2954,3602,692,593,137.7,40.3,190,4887,0.05,2.33,0.00,0.000,5126,0.423,0.048,2949,2215,643,693,594,0,0,0,0,0,0,14.61,14.83,14.79 $GC,5126,1.13,547.9,2948,2214,692,591,40.1,37.8,215,5127,0.00,0.00,0.00,0.000,4102,0.000,0.000,2949,2214,641,692,591,0,0,0,0,0,0,15.09,15.10,15.10 $STATE,5228,end climb,SURFACE_DEPTH_REACHED $STATE,5228,begin surface coast $FINISH,-0.0,1.023647 $STATE,5235,end surface coast,CONTROL_FINISHED_OK $STATE,5235,begin surface $SM_CCo,5309,0.00,0.000,0,0,640,510.22 $SM_GC,1.10,6.35,0.28,0.00,0.082,0.060,0.000,187,2446,640,-7.33,-1.61,510.22,0,0,0,0,0,0,14.89,14.88,14.93 $IRIDIUM_FIX,2213.68,-15712.58,040418,231538 $TT8_MAMPS,0.019474,0.32207 $HUMID,51.41 $INTERNAL_PRESSURE,9.32912 $TCM_TEMP,15.70 $XPDR_PINGS,0 $ALTIM_BOTTOM_PING,52.3,6.4 $24V_AH,13.41,58.888 $10V_AH,13.64,0.000 $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,14.875,63.000,487.050,0.000,0.000,29.225,42.372,176.660,0.500,0.000,24.866,860.802,3134.014,498.946,1132.388,80.621,0.000,976.290,0.000,838.781,0.000,5.453,0.000 $DEVICE_MAMPS,433.755,64.260,1971.405,0.000,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,154.984,112.006,201.895,193.234,296.492,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000 $MEM,343096 $DATA_FILE_SIZE,20682,231 $CAP_FILE_SIZE,59712,0 $CFSIZE,2097086464,2070675456 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0 $CURRENT,0.095,186.39,1 $GPS,050418,005100,2223.332,-15713.977,41,0.8,41,9.8,0.4,78.4,10,16.6