version: 66.12 revision: CLOWNFISH glider: 626 mission: 2 dive: 537 start: 5 11 118 12 46 8 data: $ID,626 $MISSION,2 $DIVE,537 $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,400 $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,2612 $PITCH_DBAND,0.0099999998 $PITCH_CNV,0.003125763 $P_OVSHOOT,0.039999999 $P_OVSHOOT_WITHG,0.079999998 $PITCH_GAIN,39 $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,2126 $C_ROLL_CLIMB,1950 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,35 $R_STBD_OVSHOOT,36 $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 $GPS1,110518,123654,2233.7368,-15747.2529,76,0.8,76,9.8,0.5,279.1,11,18.4 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.27 $_SM_ANGLEo,-72.5 $GPS2,110518,124525,2233.7417,-15747.2061,20,0.8,20,9.8,0.6,107.5,11,17.9 $SPEED_LIMITS,0.220,0.230 $TGT_NAME,ALO $TGT_LATLONG,2245.000,-15800.000 $TGT_RADIUS,900.000 $MHEAD_RNG_PITCHd_Wd,303.0,30202,-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,16,-0.52,-87.6,185,2132,683,631,0.0,0.0,0,75,0.00,0.00,-56.67,0.000,16386,0.000,0.000,185,2130,2588,2618,2558,0,0,0,0,0,0,14.92,28.83,14.93 $GC,78,-0.52,-87.6,185,2131,2617,2558,3.8,-6.5,7,97,7.62,2.35,-0.88,0.000,18692,0.445,0.063,2427,3541,2639,2679,2599,0,0,0,0,0,0,14.19,13.69,14.63 $GC,269,-0.52,-87.6,2426,3543,2679,2599,53.5,-18.0,27,275,0.05,2.35,0.00,0.000,3078,0.434,0.047,2443,2120,2639,2680,2599,0,0,0,0,0,0,14.33,14.66,14.60 $GC,523,-0.52,-87.6,2442,2119,2680,2598,106.6,-20.9,52,529,0.00,2.33,0.00,0.000,2564,0.000,0.061,2443,717,2638,2679,2598,0,0,0,0,0,0,15.04,14.66,15.04 $GC,547,-0.52,-87.6,2443,716,2679,2598,111.9,-20.6,54,553,0.00,2.33,0.00,0.000,3078,0.000,0.041,2442,2139,2638,2679,2597,0,0,0,0,0,0,14.82,14.71,14.83 $GC,804,-0.52,-87.6,2441,2140,2679,2597,158.2,-16.6,79,809,0.00,2.30,0.00,0.000,2308,0.000,0.058,2441,3537,2638,2679,2597,0,0,0,0,0,0,15.07,14.69,15.07 $GC,830,-0.52,-87.6,2441,3538,2679,2597,162.5,-16.1,81,839,0.00,2.38,0.00,0.000,3078,0.000,0.044,2441,2128,2638,2679,2597,0,0,0,0,0,0,14.64,14.59,14.66 $GC,1081,-0.52,-87.6,2441,2128,2680,2598,199.1,-14.6,106,1087,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2128,2639,2680,2598,0,0,0,0,0,0,15.11,15.11,15.11 $GC,1327,-0.52,-87.6,2441,2127,2680,2597,235.5,-14.7,113,1332,0.00,2.33,0.00,0.000,2564,0.000,0.061,2441,716,2639,2681,2597,0,0,0,0,0,0,15.16,14.73,15.16 $GC,1379,-0.52,-87.6,2441,715,2680,2597,241.9,-15.0,114,1385,0.00,2.30,0.00,0.000,3078,0.000,0.043,2441,2131,2639,2681,2597,0,0,0,0,0,0,14.89,14.78,14.91 $GC,1652,-0.52,-87.6,2441,2132,2680,2597,279.1,-13.4,121,1654,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2132,2638,2680,2597,0,0,0,0,0,0,15.19,15.19,15.19 $GC,1892,-0.52,-87.6,2441,2132,2680,2597,309.0,-12.5,127,1897,0.00,2.30,0.00,0.000,2308,0.000,0.057,2441,3540,2639,2681,2597,0,0,0,0,0,0,15.20,14.76,15.20 $GC,1959,-0.52,-87.6,2441,3541,2680,2598,314.2,-12.3,128,1964,0.00,2.30,0.00,0.000,3078,0.000,0.041,2441,2118,2638,2680,2597,0,0,0,0,0,0,14.92,14.81,14.94 $GC,2217,-0.52,-87.6,2441,2117,2680,2596,348.8,-12.4,135,2218,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2117,2638,2680,2596,0,0,0,0,0,0,15.21,15.21,15.21 $GC,2457,-0.52,-87.6,2440,2117,2680,2593,377.7,-12.1,141,2458,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2118,2636,2680,2593,0,0,0,0,0,0,15.21,15.21,15.21 $GC,2697,-0.52,-87.6,2441,2117,2680,2590,406.0,-11.7,147,2698,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2117,2635,2681,2590,0,0,0,0,0,0,15.22,15.22,15.22 $GC,2937,-0.52,-87.6,2440,2117,2680,2587,434.5,-12.1,153,2938,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2117,2634,2681,2587,0,0,0,0,0,0,15.22,15.22,15.22 $GC,3177,-0.52,-87.6,2440,2117,2680,2584,462.0,-11.4,159,3183,0.00,2.40,0.00,0.000,2308,0.000,0.060,2442,3536,2631,2680,2583,0,0,0,0,0,0,15.22,14.74,15.22 $GC,3205,-0.52,-87.6,2441,3538,2680,2583,462.0,-11.4,159,3211,0.00,2.30,0.00,0.000,3078,0.000,0.044,2441,2123,2631,2680,2583,0,0,0,0,0,0,14.92,14.80,14.94 $GC,3463,-0.52,-87.6,2441,2122,2680,2580,492.2,-10.5,166,3469,0.00,2.33,0.00,0.000,2564,0.000,0.059,2441,712,2629,2680,2579,0,0,0,0,0,0,15.21,14.75,15.21 $GC,3490,-0.52,-87.6,2441,712,2680,2579,492.2,-10.5,166,3496,0.00,2.30,0.00,0.000,3078,0.000,0.041,2441,2130,2629,2680,2579,0,0,0,0,0,0,14.92,14.80,14.93 $GC,3748,-0.52,-87.6,2440,2130,2680,2576,522.1,-10.7,173,3754,0.00,2.30,0.00,0.000,2308,0.000,0.054,2441,3533,2628,2680,2576,0,0,0,0,0,0,15.21,14.74,15.22 $GC,3771,-0.52,-87.6,2441,3534,2680,2576,522.1,-10.7,173,3777,0.00,2.28,0.00,0.000,3078,0.000,0.038,2441,2123,2628,2680,2576,0,0,0,0,0,0,14.91,14.80,14.92 $GC,4034,-0.52,-87.6,2441,2122,2680,2572,554.0,-11.3,180,4040,0.00,2.30,0.00,0.000,2564,0.000,0.057,2441,721,2625,2680,2571,0,0,0,0,0,0,15.21,14.74,15.22 $GC,4066,-0.52,-87.6,2441,721,2680,2571,554.0,-11.3,180,4072,0.00,2.30,0.00,0.000,3078,0.000,0.041,2441,2125,2625,2680,2571,0,0,0,0,0,0,14.90,14.78,14.92 $GC,4320,-0.52,-87.6,2440,2127,2680,2569,583.7,-9.9,187,4321,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,2127,2624,2680,2569,0,0,0,0,0,0,15.21,15.21,15.21 $STATE,4518,end dive,TARGET_DEPTH_EXCEEDED $STATE,4518,begin apogee $GC,4524,-0.13,0.0,2441,1942,2680,2565,602.7,-9.5,192,4600,0.35,0.00,71.20,1.687,10246,0.245,0.000,2570,1942,2275,2352,2199,0,0,0,0,0,0,14.30,14.45,13.69 $STATE,4601,end apogee,CONTROL_FINISHED_OK $STATE,4601,begin climb $GC,4603,0.52,87.6,2570,1942,2348,2197,605.8,0.0,194,4681,0.47,0.00,72.75,1.639,10502,0.166,0.000,2768,1941,1917,2009,1826,0,0,0,0,0,0,14.37,14.23,13.54 $GC,4923,0.68,223.6,2768,1942,2006,1816,601.8,2.4,202,5045,0.08,2.45,111.47,1.629,10500,0.192,0.044,2862,3354,1362,1471,1253,0,0,0,0,0,0,14.58,14.22,13.53 $GC,5078,0.71,244.3,2861,3354,1468,1253,591.0,7.2,205,5103,0.10,2.35,18.17,1.502,13318,0.410,0.044,2843,1966,1281,1396,1166,0,0,0,0,0,0,14.07,14.36,13.57 $GC,5366,0.71,244.3,2843,1966,1393,1159,528.5,19.0,213,5372,0.00,2.40,0.00,0.000,4612,0.000,0.063,2853,540,1276,1393,1159,0,0,0,0,0,0,14.93,14.61,14.94 $GC,5418,0.71,244.3,2853,539,1393,1160,519.9,19.1,214,5424,0.00,2.33,0.00,0.000,5126,0.000,0.035,2853,1962,1276,1393,1159,0,0,0,0,0,0,14.76,14.69,14.78 $GC,5693,0.71,244.3,2853,1968,1393,1155,464.8,19.3,221,5698,0.00,2.25,0.00,0.000,4356,0.000,0.044,2853,3355,1274,1393,1155,0,0,0,0,0,0,15.05,14.72,15.05 $GC,5735,0.71,244.3,2853,3355,1392,1156,456.2,19.1,222,5742,0.08,2.35,0.00,0.000,5126,0.412,0.045,2840,1947,1273,1392,1155,0,0,0,0,0,0,14.31,14.71,14.67 $GC,6020,0.71,244.3,2840,1947,1392,1153,406.1,17.5,229,6025,0.00,2.30,0.00,0.000,260,0.000,0.044,2840,3352,1272,1392,1153,0,0,0,0,0,0,15.10,14.75,15.11 $GC,6066,0.71,244.3,2839,3352,1392,1153,398.1,17.6,230,6071,0.00,2.33,0.00,0.000,5126,0.000,0.045,2849,1942,1272,1392,1153,0,0,0,0,0,0,14.85,14.73,14.88 $GC,6344,0.71,244.3,2849,1942,1392,1151,349.1,17.2,237,6349,0.00,2.33,0.00,0.000,4612,0.000,0.059,2860,536,1271,1392,1151,0,0,0,0,0,0,15.14,14.71,15.14 $GC,6376,0.71,244.3,2860,536,1392,1151,349.1,17.2,237,6382,0.05,2.30,0.00,0.000,5126,0.424,0.034,2844,1959,1271,1392,1151,0,0,0,0,0,0,14.40,14.79,14.70 $GC,6630,0.71,244.3,2844,1968,1392,1149,299.1,16.8,244,6635,0.00,2.25,0.00,0.000,4356,0.000,0.044,2844,3354,1270,1392,1149,0,0,0,0,0,0,15.15,14.76,15.15 $GC,6722,0.71,244.3,2845,3355,1392,1150,285.0,16.6,246,6728,0.05,2.33,0.00,0.000,5126,0.440,0.044,2838,1942,1270,1391,1149,0,0,0,0,0,0,14.37,14.75,14.69 $GC,6995,0.71,244.3,2838,1941,1391,1148,240.6,15.1,253,7001,0.00,2.35,0.00,0.000,516,0.000,0.061,2849,538,1269,1391,1148,0,0,0,0,0,0,15.16,14.71,15.17 $GC,7062,0.71,244.3,2849,537,1391,1148,233.5,15.4,254,7068,0.00,2.28,0.00,0.000,5126,0.000,0.034,2848,1948,1269,1391,1148,0,0,0,0,0,0,14.89,14.80,14.90 $GC,7311,0.71,244.3,2848,1955,1391,1147,192.1,15.3,263,7316,0.00,2.38,0.00,0.000,4612,0.000,0.060,2860,538,1269,1391,1147,0,0,0,0,0,0,15.16,14.71,15.16 $GC,7369,0.71,244.3,2859,538,1391,1148,184.3,14.3,268,7375,0.05,2.30,0.00,0.000,5126,0.422,0.034,2843,1957,1269,1391,1147,0,0,0,0,0,0,14.39,14.78,14.68 $GC,7625,0.71,244.3,2843,1963,1391,1147,147.7,13.5,293,7630,0.00,2.28,0.00,0.000,4356,0.000,0.047,2844,3355,1269,1391,1147,0,0,0,0,0,0,15.12,14.72,15.13 $GC,7736,0.71,244.3,2843,3354,1390,1148,131.7,13.9,303,7741,0.00,2.33,0.00,0.000,5126,0.000,0.047,2853,1952,1269,1390,1148,0,0,0,0,0,0,14.83,14.71,14.85 $GC,7991,0.71,244.3,2853,1952,1390,1149,101.4,10.8,328,7999,0.00,0.00,0.00,0.000,4102,0.000,0.000,2853,1952,1269,1391,1148,0,0,0,0,0,0,15.11,15.11,15.11 $GC,8241,0.71,244.3,2853,1952,1390,1150,74.2,10.8,353,8246,0.00,2.33,0.00,0.000,4356,0.000,0.053,2852,3349,1271,1391,1151,0,0,0,0,0,0,15.10,14.68,15.11 $GC,8335,0.71,244.3,2853,3348,1390,1152,62.6,12.1,361,8341,0.08,2.33,0.00,0.000,5126,0.376,0.050,2839,1948,1271,1391,1151,0,0,0,0,0,0,14.27,14.69,14.62 $GC,8591,0.71,244.3,2838,1947,1391,1154,36.0,10.4,386,8597,0.00,2.33,0.00,0.000,260,0.000,0.052,2839,3344,1272,1390,1155,0,0,0,0,0,0,15.08,14.66,15.08 $GC,8728,0.71,244.3,2838,3345,1391,1156,22.1,9.4,404,8736,0.00,2.40,0.00,0.000,5126,0.000,0.050,2848,1962,1273,1391,1156,0,0,0,0,0,0,14.57,14.51,14.60 $STATE,8970,end climb,SURFACE_DEPTH_REACHED $STATE,8970,begin surface coast $FINISH,0.2,1.002928 $STATE,9007,end surface coast,CONTROL_FINISHED_OK $STATE,9008,begin surface $SM_CCo,9023,98.07,0.899,1,0,645,400.08 $SM_GC,1.02,6.22,0.28,98.07,0.092,0.061,0.899,184,2147,645,-7.41,-1.55,400.08,0,0,0,0,1,0,14.73,14.73,13.94 $IRIDIUM_FIX,2223.01,-15746.34,110518,123835 $TT8_MAMPS,0.019474,0.298851 $HUMID,45.31 $INTERNAL_PRESSURE,9.47561 $TCM_TEMP,22.50 $XPDR_PINGS,0 $ALTIM_BOTTOM_PING,51.1,6.4 $24V_AH,13.53,122.679 $10V_AH,13.61,0.000 $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,15.200,93.550,273.600,98.075,0.000,28.065,42.536,289.753,0.500,0.000,21.192,1536.154,5648.981,475.212,1812.504,193.410,0.000,1099.840,0.000,1424.525,0.000,5.461,0.000 $DEVICE_MAMPS,445.230,65.025,1686.825,898.875,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,304.609,317.590,432.371,450.863,691.814,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000 $MEM,343136 $DATA_FILE_SIZE,40666,450 $CAP_FILE_SIZE,92344,0 $CFSIZE,2097086464,2040561664 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,2 $CURRENT,0.039,351.85,1 $GPS,110518,151907,2234.666,-15748.197,15,1.3,15,9.8,0.0,0.0,5,37.3