version: 66.12 revision: CLOWNFISH glider: 626 mission: 2 dive: 242 start: 4 5 118 9 59 58 data: $ID,626 $MISSION,2 $DIVE,242 $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,49 $R_STBD_OVSHOOT,47 $ROLL_AD_RATE,350 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,649 $VBD_MAX,3962 $C_VBD,2300 $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 $GPS1,050418,095000,2223.6743,-15717.6680,26,0.9,26,9.8,1.1,129.0,8,24.4 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.24 $_SM_ANGLEo,-71.8 $GPS2,050418,095915,2223.5620,-15717.5684,8,1.1,8,9.8,0.7,109.8,8,72.8 $SPEED_LIMITS,0.220,0.230 $TGT_NAME,M10 $TGT_LATLONG,2218.000,-157.000 $TGT_RADIUS,900.000 $MHEAD_RNG_PITCHd_Wd,59.3,15970680,-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,-87.6,185,2392,786,727,0.0,0.0,0,75,0.00,0.00,-57.72,0.000,16390,0.000,0.000,184,2392,2659,2689,2629,0,0,0,0,0,0,14.96,13.63,14.93 $GC,78,-0.56,-87.6,184,2392,2689,2629,3.5,-6.5,7,95,7.22,2.30,0.00,0.000,2564,0.441,0.044,2392,991,2659,2690,2629,0,0,0,0,0,0,14.43,14.66,14.73 $GC,263,-0.56,-87.6,2391,991,2690,2629,59.0,-26.8,28,269,0.00,2.30,0.00,0.000,3078,0.000,0.044,2386,2393,2659,2689,2629,0,0,0,0,0,0,14.87,14.77,14.88 $GC,519,-0.56,-87.6,2386,2393,2691,2629,118.3,-20.4,53,525,0.00,2.30,0.00,0.000,2564,0.000,0.057,2386,1002,2660,2691,2629,0,0,0,0,0,0,15.09,14.82,15.09 $GC,565,-0.56,-87.6,2385,1001,2690,2629,128.2,-21.3,57,570,0.00,2.28,0.00,0.000,3078,0.000,0.044,2386,2400,2659,2690,2629,0,0,0,0,0,0,14.93,14.83,14.95 $GC,819,-0.56,-87.6,2385,2402,2692,2629,179.0,-17.8,82,820,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2402,2660,2692,2629,0,0,0,0,0,0,15.14,15.14,15.14 $GC,1067,-0.56,-87.6,2385,2402,2692,2629,221.3,-16.6,98,1073,0.00,2.30,0.00,0.000,2564,0.000,0.057,2385,1001,2660,2692,2629,0,0,0,0,0,0,15.18,14.90,15.18 $GC,1110,-0.56,-87.6,2386,1001,2692,2629,228.8,-16.8,99,1117,0.00,2.28,0.00,0.000,3078,0.000,0.044,2386,2403,2660,2692,2629,0,0,0,0,0,0,15.01,14.91,15.02 $GC,1395,-0.56,-87.6,2386,2403,2693,2629,273.6,-16.0,106,1396,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2404,2660,2693,2628,0,0,0,0,0,0,15.21,15.22,15.21 $GC,1633,-0.56,-87.6,2386,2403,2693,2629,312.2,-16.4,112,1635,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2403,2661,2693,2629,0,0,0,0,0,0,15.23,15.24,15.24 $GC,1873,-0.56,-87.6,2385,2403,2693,2628,346.6,-14.1,118,1879,0.00,2.28,0.00,0.000,2564,0.000,0.056,2386,1000,2660,2692,2629,0,0,0,0,0,0,15.25,14.97,15.25 $GC,1985,-0.56,-87.6,2385,999,2693,2628,358.6,-14.0,120,1991,0.00,2.25,0.00,0.000,3078,0.000,0.041,2386,2403,2660,2692,2628,0,0,0,0,0,0,15.07,14.97,15.09 $GC,2237,-0.56,-87.6,2386,2404,2692,2626,395.1,-12.3,127,2244,0.00,2.28,0.00,0.000,2564,0.000,0.050,2386,1000,2659,2693,2626,0,0,0,0,0,0,15.26,14.98,15.26 $GC,2259,-0.56,-87.6,2385,1000,2692,2625,395.1,-12.3,127,2265,0.00,2.25,0.00,0.000,3078,0.000,0.041,2386,2405,2659,2693,2625,0,0,0,0,0,0,15.08,14.99,15.09 $GC,2522,-0.56,-87.6,2386,2406,2692,2623,433.0,-13.4,134,2527,0.00,2.30,0.00,0.000,2564,0.000,0.054,2386,991,2657,2692,2622,0,0,0,0,0,0,15.26,14.99,15.26 $GC,2553,-0.56,-87.6,2385,991,2693,2622,433.0,-13.4,134,2559,0.00,2.25,0.00,0.000,3078,0.000,0.039,2386,2401,2657,2692,2622,0,0,0,0,0,0,15.08,14.99,15.10 $GC,2806,-0.56,-87.6,2385,2401,2692,2619,475.1,-14.9,141,2812,0.00,2.28,0.00,0.000,2564,0.000,0.049,2386,995,2655,2692,2619,0,0,0,0,0,0,15.26,14.99,15.27 $GC,2834,-0.56,-87.6,2386,995,2693,2618,475.1,-14.9,141,2839,0.00,2.25,0.00,0.000,3078,0.000,0.039,2386,2400,2655,2693,2618,0,0,0,0,0,0,15.09,14.99,15.10 $GC,3091,-0.56,-87.6,2386,2400,2692,2616,517.0,-14.4,148,3096,0.00,2.28,0.00,0.000,2564,0.000,0.050,2386,996,2653,2692,2615,0,0,0,0,0,0,15.27,14.99,15.28 $GC,3147,-0.56,-87.6,2385,997,2692,2614,523.5,-14.8,149,3153,0.00,2.25,0.00,0.000,3078,0.000,0.040,2386,2400,2653,2692,2614,0,0,0,0,0,0,15.09,14.99,15.10 $GC,3414,-0.56,-87.6,2385,2400,2692,2610,560.7,-12.5,156,3420,0.00,2.28,0.00,0.000,2564,0.000,0.050,2386,998,2651,2692,2610,0,0,0,0,0,0,15.27,14.99,15.27 $GC,3466,-0.56,-87.6,2385,998,2692,2610,566.2,-12.4,157,3472,0.00,2.25,0.00,0.000,3078,0.000,0.040,2386,2400,2651,2693,2609,0,0,0,0,0,0,15.09,14.98,15.09 $STATE,3737,end dive,TARGET_DEPTH_EXCEEDED $STATE,3737,begin apogee $GC,3742,-0.14,0.0,2386,2172,2692,2606,600.7,-12.3,164,3819,0.40,0.00,68.90,1.588,10246,0.271,0.000,2535,2170,2295,2372,2218,0,0,0,0,0,0,14.76,14.57,13.99 $STATE,3820,end apogee,CONTROL_FINISHED_OK $STATE,3820,begin climb $GC,3821,0.56,87.6,2535,2170,2371,2218,604.6,0.0,166,3901,0.50,2.45,69.82,1.567,10500,0.184,0.050,2741,3609,1938,2029,1847,0,0,0,0,0,0,14.49,14.22,13.76 $GC,4024,0.61,128.2,2740,3610,2026,1844,593.5,6.3,171,4065,0.00,2.28,32.88,1.519,11270,0.000,0.040,2751,2222,1773,1879,1667,0,0,0,0,0,0,14.71,14.63,13.91 $GC,4303,0.61,128.2,2751,2222,1878,1664,561.6,12.1,178,4309,0.00,2.35,0.00,0.000,2564,0.000,0.054,2762,794,1771,1878,1664,0,0,0,0,0,0,14.97,14.73,14.98 $GC,4330,0.61,128.2,2762,794,1878,1664,561.6,12.1,178,4336,0.00,2.30,0.00,0.000,3078,0.000,0.034,2762,2222,1771,1878,1664,0,0,0,0,0,0,14.84,14.77,14.85 $GC,4588,0.61,128.2,2762,2222,1878,1660,527.3,11.9,185,4594,0.00,2.35,0.00,0.000,2564,0.000,0.051,2773,799,1768,1878,1659,0,0,0,0,0,0,15.09,14.84,15.09 $GC,4650,0.61,128.2,2772,799,1877,1660,522.4,11.8,186,4656,0.00,2.25,0.00,0.000,1030,0.000,0.034,2773,2208,1768,1877,1659,0,0,0,0,0,0,14.93,14.88,14.95 $GC,4913,0.61,128.2,2773,2210,1877,1657,490.9,10.9,193,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2210,1766,1876,1657,0,0,0,0,0,0,15.14,15.15,15.15 $GC,5153,0.61,128.2,2773,2210,1876,1655,463.8,11.4,199,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2210,1765,1876,1655,0,0,0,0,0,0,15.17,15.18,15.18 $GC,5393,0.61,128.2,2773,2210,1875,1653,438.6,10.5,205,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2210,1764,1875,1653,0,0,0,0,0,0,15.19,15.20,15.20 $GC,5635,0.61,128.2,2773,2209,1874,1652,414.1,10.3,211,5640,0.00,2.25,0.00,0.000,260,0.000,0.052,2773,3602,1763,1874,1653,0,0,0,0,0,0,15.21,14.94,15.21 $GC,5751,0.61,128.2,2773,3602,1873,1653,405.2,10.6,213,5759,0.00,2.25,0.00,0.000,5126,0.000,0.041,2784,2193,1762,1872,1653,0,0,0,0,0,0,15.04,14.95,15.06 $GC,5997,0.61,128.2,2783,2193,1873,1652,377.3,9.7,220,6002,0.00,2.28,0.00,0.000,4356,0.000,0.050,2784,3595,1762,1873,1652,0,0,0,0,0,0,15.23,14.95,15.23 $GC,6203,0.61,128.2,2784,3594,1870,1652,355.5,11.0,225,6209,0.05,2.22,0.00,0.000,5126,0.470,0.042,2779,2202,1761,1870,1652,0,0,0,0,0,0,14.67,14.97,14.97 $GC,6482,0.62,131.0,2778,2202,1870,1651,332.5,7.9,232,6487,0.00,2.25,0.00,0.000,516,0.000,0.052,2789,793,1760,1870,1651,0,0,0,0,0,0,15.22,14.95,15.23 $GC,6653,0.62,131.0,2789,793,1870,1651,317.9,9.0,236,6659,0.00,2.22,0.00,0.000,5126,0.000,0.034,2789,2205,1760,1869,1651,0,0,0,0,0,0,15.05,14.97,15.06 $GC,6925,0.62,131.0,2789,2207,1869,1651,292.3,8.8,243,6931,0.00,2.33,0.00,0.000,4612,0.000,0.052,2799,789,1760,1870,1651,0,0,0,0,0,0,15.23,14.95,15.23 $GC,7092,0.62,131.0,2799,788,1869,1651,278.7,8.3,247,7099,0.08,2.22,0.00,0.000,5126,0.378,0.034,2773,2202,1760,1869,1651,0,0,0,0,0,0,14.68,14.98,14.95 $GC,7372,0.62,136.2,2773,2204,1869,1651,256.5,7.8,254,7381,0.00,2.22,4.65,0.849,10500,0.000,0.047,2773,3590,1743,1853,1633,0,0,0,0,0,0,15.23,14.84,14.36 $GC,7648,0.62,138.1,2773,3590,1852,1637,237.6,7.9,260,7655,0.00,2.22,0.00,0.000,5126,0.000,0.039,2783,2194,1744,1852,1637,0,0,0,0,0,0,15.04,14.96,15.06 $GC,7894,0.69,193.5,2783,2194,1852,1637,220.3,5.7,267,7948,0.00,2.30,45.95,1.117,10756,0.000,0.053,2794,800,1503,1602,1405,0,0,0,0,0,0,15.23,14.74,14.29 $GC,8038,0.69,193.5,2794,800,1599,1405,209.1,8.1,270,8044,0.00,2.22,0.00,0.000,3078,0.000,0.034,2794,2198,1502,1599,1405,0,0,0,0,0,0,14.87,14.80,14.88 $GC,8286,0.69,193.5,2794,2200,1599,1404,174.3,12.4,291,8288,0.00,0.00,0.00,0.000,2054,0.000,0.000,2795,2200,1501,1599,1404,0,0,0,0,0,0,15.08,15.09,15.08 $GC,8530,0.69,193.5,2794,2200,1599,1404,146.5,11.1,315,8536,0.00,0.00,0.00,0.000,2054,0.000,0.000,2794,2200,1501,1599,1404,0,0,0,0,0,0,15.10,15.11,15.11 $GC,8776,0.69,193.5,2794,2200,1599,1404,115.8,11.7,340,8783,0.00,2.28,0.00,0.000,2564,0.000,0.051,2804,799,1501,1599,1404,0,0,0,0,0,0,15.12,14.85,15.12 $GC,9020,0.69,193.5,2804,798,1599,1405,88.7,11.8,362,9028,0.00,2.28,0.00,0.000,5126,0.000,0.033,2805,2198,1502,1599,1405,0,0,0,0,0,0,14.85,14.82,14.88 $GC,9267,0.69,193.5,2804,2198,1599,1406,64.8,10.2,387,9269,0.00,0.00,0.00,0.000,4102,0.000,0.000,2805,2198,1502,1599,1406,0,0,0,0,0,0,15.12,15.12,15.12 $GC,9507,0.69,193.5,2804,2198,1599,1409,42.2,8.3,411,9509,0.00,0.00,0.00,0.000,4102,0.000,0.000,2804,2198,1504,1599,1409,0,0,0,0,0,0,15.11,15.12,15.12 $GC,9763,0.72,216.4,2804,2198,1599,1412,23.5,7.1,443,9788,0.00,2.30,17.17,0.817,10756,0.000,0.048,2815,801,1415,1515,1315,0,0,0,0,0,0,15.10,14.68,14.35 $GC,9914,0.72,216.4,2815,801,1515,1318,8.5,10.5,467,9923,0.00,2.28,0.00,0.000,5126,0.000,0.033,2815,2194,1417,1515,1319,0,0,0,0,0,0,14.79,14.76,14.81 $STATE,9971,end climb,SURFACE_DEPTH_REACHED $STATE,9971,begin surface coast $FINISH,0.3,1.009585 $STATE,10002,end surface coast,CONTROL_FINISHED_OK $STATE,10002,begin surface $SM_CCo,10016,105.43,0.824,1,0,748,380.21 $SM_GC,1.21,6.00,0.28,105.43,0.072,0.064,0.824,184,2409,748,-7.35,-1.70,380.21,0,0,0,0,1,0,14.84,14.83,14.11 $IRIDIUM_FIX,2216.01,-15717.79,050418,095121 $TT8_MAMPS,0.018725,0.323568 $HUMID,41.21 $INTERNAL_PRESSURE,9.44631 $TCM_TEMP,22.40 $XPDR_PINGS,0 $ALTIM_BOTTOM_PING,51.9,7.2 $24V_AH,13.63,59.666 $10V_AH,13.48,0.000 $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,14.250,91.600,239.375,105.425,0.000,28.285,42.989,367.181,0.500,0.000,9.334,1833.547,6109.617,468.896,2149.012,148.591,0.000,1200.488,0.000,1695.962,0.000,6.141,0.000 $DEVICE_MAMPS,470.475,64.260,1588.140,823.905,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,326.295,252.589,449.573,457.315,701.696,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000 $MEM,343160 $DATA_FILE_SIZE,43882,481 $CAP_FILE_SIZE,102189,0 $CFSIZE,2097086464,2070183936 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0 $CURRENT,0.184,189.53,1 $GPS,050418,124942,2222.990,-15716.737,23,1.6,23,9.8,0.5,141.3,6,119.6