version: 66.12 revision: CLOWNFISH glider: 626 mission: 2 dive: 396 start: 4 24 118 13 34 29 data: $ID,626 $MISSION,2 $DIVE,396 $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,2600 $PITCH_DBAND,0.0099999998 $PITCH_CNV,0.003125763 $P_OVSHOOT,0.039999999 $P_OVSHOOT_WITHG,0.079999998 $PITCH_GAIN,40 $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,2228 $C_ROLL_CLIMB,2100 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,40 $R_STBD_OVSHOOT,59 $ROLL_AD_RATE,350 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,649 $VBD_MAX,3962 $C_VBD,2280 $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 $GPS1,240418,132100,2154.3726,-15715.8984,27,0.9,27,9.8,0.7,114.0,7,19.4 $_CALLS,2 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.31 $_SM_ANGLEo,-68.7 $GPS2,240418,133347,2154.3411,-15715.9268,7,1.0,7,9.8,1.1,215.4,8,98.6 $SPEED_LIMITS,0.220,0.230 $TGT_NAME,ED $TGT_LATLONG,2211.000,-15811.000 $TGT_RADIUS,900.000 $MHEAD_RNG_PITCHd_Wd,269.9,99358,-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,-0.51,-87.6,184,2251,763,706,0.0,0.0,0,72,0.00,0.00,-54.33,0.000,16386,0.000,0.000,185,2252,2541,2572,2510,0,0,0,0,0,0,14.95,28.83,14.97 $GC,75,-0.51,-87.6,185,2251,2572,2510,3.3,-5.0,7,93,7.50,2.22,-1.67,0.000,19204,0.442,0.067,2421,3624,2639,2680,2598,0,0,0,0,0,0,14.31,13.79,14.69 $GC,102,-0.51,-87.6,2421,3625,2678,2598,15.5,-34.6,10,111,0.00,2.38,0.00,0.000,3078,0.000,0.052,2421,2230,2639,2681,2598,0,0,0,0,0,0,14.64,14.59,14.66 $GC,365,-0.51,-87.6,2420,2229,2680,2597,80.4,-22.1,39,371,0.00,2.30,0.00,0.000,2308,0.000,0.057,2413,3611,2638,2680,2597,0,0,0,0,0,0,15.03,14.69,15.03 $GC,572,-0.51,-87.6,2413,3612,2680,2597,120.3,-18.6,58,578,0.05,2.28,0.00,0.000,3078,0.423,0.045,2431,2210,2638,2680,2597,0,0,0,0,0,0,14.45,14.76,14.72 $GC,827,-0.51,-87.6,2430,2201,2680,2597,167.5,-17.9,83,828,0.00,0.00,0.00,0.000,2054,0.000,0.000,2431,2201,2638,2680,2597,0,0,0,0,0,0,15.11,15.11,15.11 $GC,1096,-0.51,-87.6,2430,2201,2680,2597,212.8,-14.9,104,1101,0.00,2.25,0.00,0.000,2564,0.000,0.057,2430,821,2638,2680,2597,0,0,0,0,0,0,15.15,14.78,15.15 $GC,1152,-0.51,-87.6,2430,821,2680,2596,219.6,-15.2,105,1158,0.00,2.22,0.00,0.000,3078,0.000,0.038,2428,2212,2638,2681,2596,0,0,0,0,0,0,14.92,14.82,14.94 $GC,1420,-0.51,-87.6,2428,2212,2680,2596,263.6,-14.7,112,1426,0.00,2.33,0.00,0.000,2308,0.000,0.064,2428,3632,2638,2681,2596,0,0,0,0,0,0,15.19,14.78,15.19 $GC,1447,-0.51,-87.6,2427,3632,2680,2596,263.6,-14.7,112,1452,0.00,2.28,0.00,0.000,3078,0.000,0.047,2428,2219,2639,2681,2597,0,0,0,0,0,0,14.95,14.84,14.97 $GC,1705,-0.51,-87.6,2428,2219,2680,2596,301.0,-12.8,119,1710,0.00,2.28,0.00,0.000,2564,0.000,0.061,2428,822,2638,2680,2596,0,0,0,0,0,0,15.21,14.82,15.21 $GC,1761,-0.51,-87.6,2428,821,2681,2596,306.8,-12.7,120,1766,0.00,2.28,0.00,0.000,3078,0.000,0.046,2428,2231,2638,2681,2596,0,0,0,0,0,0,14.97,14.85,14.99 $GC,2029,-0.51,-87.6,2427,2233,2680,2596,344.2,-13.1,127,2030,0.00,0.00,0.00,0.000,2054,0.000,0.000,2428,2233,2638,2681,2596,0,0,0,0,0,0,15.21,15.22,15.22 $GC,2269,-0.51,-87.6,2427,2233,2681,2594,375.5,-13.2,133,2274,0.00,2.30,0.00,0.000,2308,0.000,0.064,2428,3633,2636,2680,2593,0,0,0,0,0,0,15.23,14.81,15.23 $GC,2315,-0.51,-87.6,2428,3633,2680,2593,381.1,-13.1,134,2321,0.00,2.25,0.00,0.000,3078,0.000,0.045,2428,2230,2636,2680,2593,0,0,0,0,0,0,14.98,14.87,15.00 $GC,2594,-0.51,-87.6,2427,2229,2680,2590,418.3,-12.9,141,2599,0.00,2.30,0.00,0.000,2564,0.000,0.061,2428,819,2635,2681,2590,0,0,0,0,0,0,15.23,14.83,15.23 $GC,2656,-0.51,-87.6,2427,818,2680,2589,424.1,-12.9,142,2662,0.00,2.28,0.00,0.000,3078,0.000,0.041,2427,2238,2634,2680,2589,0,0,0,0,0,0,14.98,14.88,15.00 $GC,2919,-0.51,-87.6,2427,2239,2680,2586,457.6,-11.6,149,2920,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2238,2633,2680,2586,0,0,0,0,0,0,15.23,15.23,15.23 $GC,3159,-0.51,-87.6,2427,2238,2680,2583,485.3,-11.7,155,3165,0.00,2.35,0.00,0.000,2564,0.000,0.055,2427,813,2631,2680,2582,0,0,0,0,0,0,15.23,14.83,15.23 $GC,3186,-0.51,-87.6,2427,812,2680,2582,485.3,-11.7,155,3191,0.00,2.30,0.00,0.000,3078,0.000,0.048,2427,2228,2631,2680,2582,0,0,0,0,0,0,14.97,14.86,15.00 $GC,3444,-0.51,-87.6,2427,2229,2680,2578,518.4,-11.6,162,3445,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2229,2629,2680,2578,0,0,0,0,0,0,15.23,15.23,15.23 $GC,3684,-0.51,-87.6,2427,2229,2680,2571,544.9,-11.2,168,3689,0.00,2.33,0.00,0.000,2564,0.000,0.060,2427,824,2625,2680,2571,0,0,0,0,0,0,15.23,14.81,15.23 $GC,3711,-0.51,-87.6,2427,824,2680,2571,544.9,-11.2,168,3716,0.00,2.28,0.00,0.000,3078,0.000,0.045,2428,2228,2625,2680,2570,0,0,0,0,0,0,14.97,14.85,14.99 $GC,3968,-0.51,-87.6,2427,2229,2680,2567,577.3,-11.6,175,3973,0.00,2.30,0.00,0.000,2308,0.000,0.057,2427,3637,2623,2680,2567,0,0,0,0,0,0,15.23,14.80,15.23 $GC,4005,-0.51,-87.6,2427,3638,2680,2568,577.3,-11.6,175,4012,0.00,2.28,0.00,0.000,3078,0.000,0.040,2427,2222,2623,2680,2567,0,0,0,0,0,0,14.97,14.86,14.99 $STATE,4169,end dive,TARGET_DEPTH_EXCEEDED $STATE,4169,begin apogee $GC,4174,-0.12,0.0,2427,2068,2680,2563,600.9,-11.8,180,4252,0.35,0.00,68.88,1.694,10246,0.252,0.000,2557,2068,2276,2353,2200,0,0,0,0,0,0,14.50,14.50,13.78 $STATE,4253,end apogee,CONTROL_FINISHED_OK $STATE,4253,begin climb $GC,4255,0.51,87.6,2558,2068,2353,2200,605.3,0.0,182,4337,0.45,2.50,72.18,1.649,10500,0.175,0.049,2746,3517,1917,2007,1827,0,0,0,0,0,0,14.40,14.28,13.62 $GC,4408,0.51,87.6,2746,3517,2006,1825,606.0,-0.2,185,4416,0.00,2.30,0.00,0.000,3078,0.000,0.040,2757,2123,1915,2007,1824,0,0,0,0,0,0,14.56,14.47,14.57 $GC,4654,0.63,188.5,2756,2122,2007,1821,595.8,3.9,192,4745,0.08,2.40,81.47,1.636,10756,0.196,0.056,2856,696,1507,1612,1402,0,0,0,0,0,0,14.64,14.31,13.69 $GC,4771,0.70,244.7,2855,696,1609,1402,589.2,5.7,194,4822,0.10,2.35,43.67,1.730,13318,0.392,0.034,2826,2126,1283,1387,1180,0,0,0,0,0,0,14.16,14.42,13.57 $GC,5100,0.70,244.7,2825,2128,1387,1194,518.6,19.9,203,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2129,1290,1387,1194,0,0,0,0,0,0,14.93,14.94,14.94 $GC,5340,0.70,244.7,2825,2129,1387,1192,470.7,20.0,209,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2129,1289,1387,1192,0,0,0,0,0,0,15.03,15.04,15.04 $GC,5580,0.70,244.7,2825,2130,1387,1189,426.2,18.5,215,5586,0.00,2.38,0.00,0.000,516,0.000,0.057,2835,693,1288,1387,1190,0,0,0,0,0,0,15.09,14.75,15.09 $GC,5597,0.70,244.7,2835,693,1387,1190,426.2,18.5,215,5603,0.00,2.25,0.00,0.000,5126,0.000,0.034,2836,2096,1288,1387,1189,0,0,0,0,0,0,14.89,14.80,14.90 $GC,5865,0.70,244.7,2835,2100,1387,1187,372.9,18.2,222,5871,0.00,2.33,0.00,0.000,4612,0.000,0.056,2846,699,1287,1387,1187,0,0,0,0,0,0,15.13,14.77,15.13 $GC,5892,0.70,244.7,2846,698,1387,1188,372.9,18.2,222,5899,0.08,2.25,0.00,0.000,5126,0.402,0.032,2822,2112,1287,1387,1187,0,0,0,0,0,0,14.40,14.82,14.73 $GC,6152,0.70,244.7,2822,2119,1386,1185,321.0,18.2,229,6157,0.00,2.22,0.00,0.000,260,0.000,0.047,2822,3496,1285,1386,1185,0,0,0,0,0,0,15.15,14.80,15.15 $GC,6235,0.70,244.7,2821,3497,1386,1185,306.1,18.1,231,6240,0.00,2.28,0.00,0.000,5126,0.000,0.046,2831,2105,1286,1387,1185,0,0,0,0,0,0,14.92,14.81,14.93 $GC,6518,0.70,244.7,2831,2104,1387,1184,258.6,16.6,238,6523,0.00,2.30,0.00,0.000,4612,0.000,0.056,2842,693,1285,1387,1184,0,0,0,0,0,0,15.17,14.78,15.17 $GC,6590,0.70,244.7,2842,693,1387,1183,251.5,16.4,239,6595,0.05,2.25,0.00,0.000,5126,0.447,0.032,2827,2110,1285,1387,1183,0,0,0,0,0,0,14.46,14.84,14.74 $GC,6845,0.70,244.7,2826,2116,1386,1182,208.1,14.8,246,6850,0.00,2.35,0.00,0.000,4612,0.000,0.056,2837,693,1284,1386,1182,0,0,0,0,0,0,15.18,14.79,15.18 $GC,6888,0.70,244.7,2837,692,1387,1182,200.5,15.2,247,6893,0.00,2.28,0.00,0.000,5126,0.000,0.032,2837,2104,1284,1387,1182,0,0,0,0,0,0,14.94,14.85,14.95 $GC,7141,0.70,244.7,2837,2107,1386,1182,161.7,13.3,269,7146,0.00,2.35,0.00,0.000,4612,0.000,0.054,2848,693,1284,1387,1182,0,0,0,0,0,0,15.16,14.78,15.16 $GC,7216,0.70,244.7,2847,693,1387,1182,150.8,15.1,276,7223,0.08,2.28,0.00,0.000,5126,0.398,0.031,2824,2120,1284,1386,1182,0,0,0,0,0,0,14.38,14.83,14.71 $GC,7472,0.70,244.7,2823,2126,1386,1182,115.5,13.6,301,7477,0.00,2.20,0.00,0.000,260,0.000,0.047,2823,3502,1284,1387,1182,0,0,0,0,0,0,15.13,14.78,15.14 $GC,7511,0.70,244.7,2823,3503,1386,1182,110.8,13.2,304,7519,0.00,2.35,0.00,0.000,5126,0.000,0.043,2834,2101,1284,1386,1182,0,0,0,0,0,0,14.72,14.66,14.75 $GC,7760,0.70,244.7,2833,2101,1386,1184,79.1,12.7,329,7768,0.00,0.00,0.00,0.000,4102,0.000,0.000,2833,2101,1285,1387,1184,0,0,0,0,0,0,15.12,15.12,15.12 $GC,8009,0.70,244.7,2833,2100,1387,1186,47.7,13.2,354,8014,0.00,2.30,0.00,0.000,4612,0.000,0.057,2844,697,1286,1387,1186,0,0,0,0,0,0,15.11,14.73,15.11 $GC,8140,0.70,244.7,2844,696,1387,1189,32.5,10.5,365,8146,0.05,2.25,0.00,0.000,5126,0.440,0.031,2829,2108,1288,1387,1189,0,0,0,0,0,0,14.42,14.79,14.69 $STATE,8412,end climb,SURFACE_DEPTH_REACHED $STATE,8412,begin surface coast $FINISH,0.3,1.023560 $STATE,8438,end surface coast,CONTROL_FINISHED_OK $STATE,8438,begin surface $SM_CCo,8453,89.62,0.906,1,0,727,380.21 $SM_GC,1.14,6.07,0.15,89.62,0.076,0.094,0.906,184,2245,727,-7.40,-1.47,380.21,0,0,0,0,1,0,14.78,14.76,14.04 $IRIDIUM_FIX,2143.45,-15715.84,240418,133044 $TT8_MAMPS,0.019474,0.325066 $HUMID,44.09 $INTERNAL_PRESSURE,9.46584 $TCM_TEMP,21.90 $XPDR_PINGS,0 $ALTIM_BOTTOM_PING,51.1,6.5 $24V_AH,13.57,91.084 $10V_AH,13.76,0.000 $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,14.850,92.225,266.200,89.625,0.000,53.668,87.528,408.952,0.500,0.000,8.333,1464.925,5315.288,461.566,1933.288,164.752,0.000,1069.234,0.000,1342.039,0.000,5.463,0.000 $DEVICE_MAMPS,446.760,94.095,1730.430,905.760,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,279.560,220.080,391.342,397.211,609.467,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000 $MEM,343144 $DATA_FILE_SIZE,37358,413 $CAP_FILE_SIZE,92111,0 $CFSIZE,2097086464,2054651904 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0 $CURRENT,0.026,82.96,1 $GPS,240418,155801,2154.540,-15716.856,17,0.9,28,9.8,0.5,151.8,9,10.6