version: 66.12 revision: CLOWNFISH glider: 626 mission: 2 dive: 292 start: 4 11 118 15 9 43 data: $ID,626 $MISSION,2 $DIVE,292 $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,2589 $PITCH_DBAND,0.0099999998 $PITCH_CNV,0.003125763 $P_OVSHOOT,0.039999999 $P_OVSHOOT_WITHG,0.079999998 $PITCH_GAIN,38 $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,2220 $C_ROLL_CLIMB,2200 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,45 $R_STBD_OVSHOOT,55 $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 $GPS1,110418,150100,2219.9358,-15649.3652,55,1.0,55,9.9,0.0,0.0,9,19.2 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.33 $_SM_ANGLEo,-68.8 $GPS2,110418,150901,2219.9756,-15649.4424,9,1.2,9,9.9,0.9,271.8,6,59.7 $SPEED_LIMITS,0.220,0.230 $TGT_NAME,E3 $TGT_LATLONG,2218.000,-15639.000 $TGT_RADIUS,900.000 $MHEAD_RNG_PITCHd_Wd,114.0,18263,-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,-0.53,-87.6,185,2213,780,726,0.0,0.0,0,75,0.00,0.00,-57.47,0.000,16386,0.000,0.000,185,2212,2654,2689,2619,0,0,0,0,0,0,14.95,28.83,14.95 $GC,78,-0.53,-87.6,185,2212,2688,2619,3.4,-5.3,7,95,7.35,2.30,0.00,0.000,2564,0.440,0.040,2413,808,2652,2689,2615,0,0,0,0,0,0,14.38,14.62,14.70 $GC,204,-0.53,-87.6,2413,808,2689,2608,45.4,-24.8,22,213,0.00,2.33,-0.10,0.000,19462,0.000,0.037,2413,2204,2659,2700,2619,0,0,0,0,0,0,14.71,14.66,14.55 $GC,452,-0.53,-87.6,2413,2205,2702,2619,104.3,-20.4,47,458,0.00,2.35,0.00,0.000,2308,0.000,0.058,2405,3632,2660,2701,2619,0,0,0,0,0,0,15.06,14.75,15.06 $GC,524,-0.53,-87.6,2404,3633,2702,2619,117.2,-18.0,53,531,0.00,2.30,0.00,0.000,3078,0.000,0.049,2405,2228,2660,2702,2618,0,0,0,0,0,0,14.89,14.79,14.90 $GC,770,-0.53,-87.6,2404,2227,2703,2619,161.6,-17.5,78,775,0.00,2.33,0.00,0.000,2564,0.000,0.063,2405,813,2661,2703,2619,0,0,0,0,0,0,15.11,14.80,15.11 $GC,829,-0.53,-87.6,2404,812,2703,2618,170.7,-16.9,83,836,0.05,2.30,0.00,0.000,3078,0.457,0.044,2417,2222,2661,2703,2619,0,0,0,0,0,0,14.54,14.83,14.82 $GC,1094,-0.53,-87.6,2417,2224,2704,2619,215.2,-17.6,104,1100,0.00,2.30,0.00,0.000,2308,0.000,0.061,2414,3628,2661,2704,2619,0,0,0,0,0,0,15.16,14.81,15.16 $GC,1236,-0.53,-87.6,2414,3628,2704,2619,233.2,-15.4,107,1242,0.00,2.28,0.00,0.000,3078,0.000,0.044,2414,2216,2661,2704,2619,0,0,0,0,0,0,14.97,14.88,14.99 $GC,1499,-0.53,-87.6,2414,2215,2705,2619,275.9,-14.9,114,1505,0.00,2.30,0.00,0.000,2564,0.000,0.063,2414,809,2662,2705,2619,0,0,0,0,0,0,15.20,14.88,15.20 $GC,1527,-0.53,-87.6,2413,809,2705,2619,275.9,-14.9,114,1532,0.00,2.28,0.00,0.000,3078,0.000,0.046,2414,2219,2662,2705,2619,0,0,0,0,0,0,15.00,14.90,15.02 $GC,1784,-0.53,-87.6,2413,2220,2705,2619,315.5,-13.3,121,1790,0.00,2.30,0.00,0.000,2308,0.000,0.064,2414,3624,2661,2705,2618,0,0,0,0,0,0,15.22,14.87,15.22 $GC,1811,-0.53,-87.6,2413,3624,2705,2619,315.5,-13.3,121,1816,0.00,2.28,0.00,0.000,3078,0.000,0.045,2414,2212,2661,2705,2618,0,0,0,0,0,0,15.02,14.92,15.03 $GC,2068,-0.53,-87.6,2413,2211,2705,2618,350.7,-12.2,128,2069,0.00,0.00,0.00,0.000,2054,0.000,0.000,2414,2211,2661,2705,2618,0,0,0,0,0,0,15.23,15.23,15.24 $GC,2308,-0.53,-87.6,2413,2211,2705,2618,381.6,-12.9,134,2313,0.00,2.30,0.00,0.000,2564,0.000,0.063,2414,817,2661,2705,2618,0,0,0,0,0,0,15.24,14.91,15.24 $GC,2334,-0.53,-87.6,2414,816,2705,2618,381.6,-12.9,134,2340,0.00,2.25,0.00,0.000,3078,0.000,0.041,2414,2225,2661,2704,2618,0,0,0,0,0,0,15.04,14.95,15.06 $GC,2594,-0.53,-87.6,2413,2226,2705,2616,419.3,-13.1,141,2600,0.00,2.28,0.00,0.000,2308,0.000,0.055,2414,3627,2660,2705,2616,0,0,0,0,0,0,15.24,14.90,15.25 $GC,2611,-0.53,-87.6,2413,3627,2705,2616,419.3,-13.1,141,2616,0.00,2.25,0.00,0.000,3078,0.000,0.037,2414,2211,2660,2704,2616,0,0,0,0,0,0,15.05,14.95,15.06 $GC,2878,-0.53,-87.6,2413,2209,2704,2613,457.6,-13.3,148,2883,0.00,2.28,0.00,0.000,2564,0.000,0.059,2413,812,2658,2705,2612,0,0,0,0,0,0,15.25,14.92,15.25 $GC,2926,-0.53,-87.6,2413,811,2705,2612,463.5,-13.5,149,2931,0.00,2.28,0.00,0.000,3078,0.000,0.041,2414,2228,2658,2705,2612,0,0,0,0,0,0,15.04,14.95,15.06 $GC,3203,-0.53,-87.6,2413,2229,2705,2608,499.5,-12.3,156,3209,0.00,2.28,0.00,0.000,2308,0.000,0.056,2413,3627,2656,2705,2608,0,0,0,0,0,0,15.25,14.90,15.26 $GC,3225,-0.53,-87.6,2413,3627,2705,2608,499.5,-12.3,156,3231,0.00,2.25,0.00,0.000,3078,0.000,0.037,2414,2213,2656,2704,2608,0,0,0,0,0,0,15.04,14.95,15.06 $GC,3488,-0.53,-87.6,2413,2212,2704,2605,532.1,-11.1,163,3493,0.00,2.28,0.00,0.000,2564,0.000,0.057,2414,812,2655,2705,2605,0,0,0,0,0,0,15.25,14.92,15.26 $GC,3539,-0.53,-87.6,2413,812,2705,2605,537.0,-11.1,164,3545,0.00,2.28,0.00,0.000,3078,0.000,0.040,2414,2228,2655,2705,2605,0,0,0,0,0,0,15.04,14.95,15.06 $GC,3812,-0.53,-87.6,2413,2229,2704,2601,568.1,-10.9,171,3818,0.00,2.33,0.00,0.000,2564,0.000,0.056,2414,817,2653,2705,2601,0,0,0,0,0,0,15.24,14.91,15.25 $GC,3836,-0.53,-87.6,2413,816,2705,2600,568.1,-10.9,171,3842,0.00,2.28,0.00,0.000,3078,0.000,0.040,2413,2230,2652,2704,2600,0,0,0,0,0,0,15.04,14.95,15.06 $STATE,4097,end dive,TARGET_DEPTH_EXCEEDED $STATE,4097,begin apogee $GC,4102,-0.13,0.0,2413,2231,2704,2597,601.7,-11.9,178,4173,0.35,0.00,68.32,1.677,10246,0.272,0.000,2543,2231,2299,2377,2222,0,0,0,0,0,0,14.65,14.53,13.90 $STATE,4174,end apogee,CONTROL_FINISHED_OK $STATE,4174,begin climb $GC,4176,0.53,87.6,2543,2231,2374,2223,604.5,0.0,179,4254,0.47,2.35,69.85,1.759,10500,0.181,0.049,2739,3615,1943,2029,1857,0,0,0,0,0,0,14.44,14.28,13.62 $GC,4281,0.53,87.6,2739,3615,2029,1859,606.6,-0.1,182,4286,0.00,2.35,0.00,0.000,3078,0.000,0.037,2750,2197,1944,2029,1859,0,0,0,0,0,0,14.50,14.42,14.51 $GC,4544,0.66,194.2,2749,2197,2029,1856,597.3,3.6,189,4642,0.08,2.45,88.57,2.293,10756,0.199,0.057,2845,800,1510,1612,1409,0,0,0,0,0,0,14.65,14.19,13.40 $GC,4718,0.66,194.2,2845,800,1610,1409,575.9,13.5,193,4724,0.12,2.33,0.00,0.000,5126,0.400,0.033,2806,2217,1510,1611,1409,0,0,0,0,0,0,14.23,14.49,14.49 $GC,4987,0.66,194.2,2805,2220,1610,1405,527.7,16.5,200,4992,0.00,2.38,0.00,0.000,4612,0.000,0.055,2816,798,1507,1610,1405,0,0,0,0,0,0,14.97,14.70,14.97 $GC,5018,0.66,194.2,2816,798,1611,1406,527.7,16.5,200,5024,0.05,2.25,0.00,0.000,5126,0.453,0.032,2800,2205,1508,1611,1405,0,0,0,0,0,0,14.47,14.75,14.72 $GC,5271,0.66,194.2,2800,2210,1611,1402,480.9,16.0,207,5277,0.00,2.33,0.00,0.000,516,0.000,0.054,2811,793,1506,1611,1402,0,0,0,0,0,0,15.07,14.78,15.07 $GC,5354,0.66,194.2,2811,793,1610,1402,467.1,16.3,209,5359,0.00,2.25,0.00,0.000,5126,0.000,0.033,2811,2197,1506,1611,1402,0,0,0,0,0,0,14.91,14.83,14.92 $GC,5638,0.66,194.2,2811,2201,1610,1399,424.2,15.2,216,5643,0.00,2.33,0.00,0.000,4612,0.000,0.054,2822,794,1504,1610,1398,0,0,0,0,0,0,15.13,14.83,15.13 $GC,5709,0.66,194.2,2821,793,1610,1399,417.3,15.4,217,5716,0.05,2.25,0.00,0.000,5126,0.449,0.033,2805,2207,1504,1610,1398,0,0,0,0,0,0,14.55,14.88,14.83 $GC,5963,0.66,194.2,2805,2212,1610,1396,373.8,15.3,224,5968,0.00,2.25,0.00,0.000,4356,0.000,0.047,2804,3595,1503,1610,1396,0,0,0,0,0,0,15.16,14.87,15.16 $GC,5979,0.66,194.2,2805,3596,1610,1397,373.8,15.3,224,5984,0.00,2.25,0.00,0.000,5126,0.000,0.041,2815,2200,1503,1610,1396,0,0,0,0,0,0,14.97,14.88,14.98 $GC,6247,0.66,194.2,2815,2199,1610,1395,326.7,16.7,231,6252,0.00,2.30,0.00,0.000,4612,0.000,0.055,2826,790,1502,1610,1395,0,0,0,0,0,0,15.18,14.88,15.18 $GC,6308,0.66,194.2,2826,790,1610,1395,319.0,17.3,232,6314,0.08,2.25,0.00,0.000,5126,0.413,0.032,2802,2204,1502,1610,1395,0,0,0,0,0,0,14.54,14.91,14.85 $GC,6571,0.66,194.2,2802,2208,1610,1394,273.9,15.9,239,6573,0.00,0.00,0.00,0.000,4102,0.000,0.000,2802,2208,1502,1610,1394,0,0,0,0,0,0,15.19,15.20,15.20 $GC,6812,0.66,194.2,2802,2208,1610,1393,240.4,13.6,245,6817,0.00,2.33,0.00,0.000,516,0.000,0.054,2812,791,1501,1610,1393,0,0,0,0,0,0,15.20,14.89,15.21 $GC,6888,0.66,194.2,2812,790,1610,1393,234.6,13.4,246,6896,0.00,2.22,0.00,0.000,5126,0.000,0.032,2812,2198,1501,1610,1393,0,0,0,0,0,0,15.01,14.92,15.02 $GC,7134,0.66,194.2,2812,2202,1610,1393,202.4,10.7,253,7140,0.00,2.30,0.00,0.000,4612,0.000,0.051,2823,795,1501,1610,1393,0,0,0,0,0,0,15.21,14.90,15.21 $GC,7199,0.66,194.2,2823,794,1610,1393,195.6,10.4,256,7204,0.08,2.22,0.00,0.000,5126,0.402,0.031,2798,2202,1501,1610,1393,0,0,0,0,0,0,14.56,14.93,14.89 $GC,7454,0.66,194.2,2797,2205,1610,1392,164.1,14.2,281,7460,0.00,2.25,0.00,0.000,260,0.000,0.047,2798,3593,1501,1610,1393,0,0,0,0,0,0,15.18,14.88,15.19 $GC,7660,0.66,194.2,2797,3595,1609,1394,136.9,12.3,300,7665,0.00,2.28,0.00,0.000,5126,0.000,0.044,2807,2193,1501,1609,1394,0,0,0,0,0,0,14.97,14.89,14.99 $GC,7916,0.66,194.2,2807,2192,1609,1395,111.5,10.5,325,7922,0.00,0.00,0.00,0.000,4102,0.000,0.000,2808,2192,1502,1610,1394,0,0,0,0,0,0,15.15,15.15,15.16 $GC,8163,0.66,194.2,2807,2192,1609,1396,88.9,8.5,350,8168,0.00,2.30,0.00,0.000,4356,0.000,0.045,2807,3603,1503,1610,1396,0,0,0,0,0,0,15.15,14.85,15.15 $GC,8319,0.66,194.2,2808,3603,1609,1397,73.6,9.3,364,8325,0.05,2.28,0.00,0.000,5126,0.466,0.038,2803,2190,1503,1609,1397,0,0,0,0,0,0,14.51,14.86,14.81 $GC,8574,0.66,194.2,2802,2189,1610,1399,49.5,9.9,389,8575,0.00,0.00,0.00,0.000,4102,0.000,0.000,2803,2189,1504,1610,1399,0,0,0,0,0,0,15.12,15.12,15.12 $GC,8815,0.75,268.5,2802,2188,1609,1402,32.0,4.9,413,8878,0.00,2.33,56.45,0.913,10756,0.000,0.054,2813,799,1203,1317,1090,0,0,0,0,0,0,15.11,14.65,14.22 $STATE,9039,end climb,SURFACE_DEPTH_REACHED $STATE,9039,begin surface coast $FINISH,0.5,1.023823 $STATE,9059,end surface coast,CONTROL_FINISHED_OK $STATE,9059,begin surface $SM_CCo,9075,65.85,0.112,0,0,748,380.21 $SM_GC,1.43,5.97,2.33,65.85,0.063,0.030,0.112,187,2220,748,-7.35,-1.55,380.21,0,0,0,0,0,0,14.73,14.73,14.62 $IRIDIUM_FIX,2211.35,-15648.39,110418,150232 $TT8_MAMPS,0.018725,0.266644 $HUMID,42.47 $INTERNAL_PRESSURE,9.43654 $TCM_TEMP,21.90 $XPDR_PINGS,0 $ALTIM_BOTTOM_PING,50.8,7.2 $24V_AH,13.40,69.459 $10V_AH,13.67,0.000 $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,14.700,110.050,283.200,65.850,0.000,36.518,44.173,280.639,0.500,0.000,10.127,1618.861,5561.929,454.396,1874.178,139.696,0.000,1125.528,0.000,1486.307,0.000,5.464,0.000 $DEVICE_MAMPS,465.885,64.260,2293.470,111.690,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,304.353,241.021,432.188,429.409,658.861,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000 $MEM,343088 $DATA_FILE_SIZE,40629,449 $CAP_FILE_SIZE,96928,0 $CFSIZE,2097086464,2065170432 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0 $CURRENT,0.167,320.46,1 $GPS,110418,174256,2219.951,-15649.158,18,1.3,18,9.9,1.6,284.5,5,169.7