version: 66.12 revision: CLOWNFISH glider: 626 mission: 2 dive: 766 start: 5 29 118 2 41 17 data: $ID,626 $MISSION,2 $DIVE,766 $N_DIVES,0 $STOP_T,12201818 $D_SURF,3 $D_FLARE,3 $D_TGT,300 $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,125 $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,70 $COURSE_BIAS,0 $GLIDE_SLOPE,25 $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,2622 $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,37 $R_STBD_OVSHOOT,45 $ROLL_AD_RATE,350 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,649 $VBD_MAX,3962 $C_VBD,2215 $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 $GPS1,290518,023254,2245.1511,-15723.0811,42,0.9,42,9.9,1.0,27.6,9,18.0 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.28 $_SM_ANGLEo,-72.2 $GPS2,290518,024032,2245.2588,-15723.0918,8,1.0,8,9.9,1.5,23.5,8,65.0 $SPEED_LIMITS,0.172,0.182 $TGT_NAME,EDB $TGT_LATLONG,2245.000,-15722.300 $TGT_RADIUS,900.000 $MHEAD_RNG_PITCHd_Wd,118.2,1435,-20.9,-8.000,-23.78,1494 $D_GRID,300 $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,14,begin dive $GC,16,-0.62,-68.1,182,2135,700,610,0.0,0.0,0,74,0.00,0.00,-53.97,0.000,16390,0.000,0.000,182,2134,2494,2522,2466,0,0,0,0,0,0,15.02,13.00,14.95 $GC,78,-0.62,-68.1,182,2134,2522,2465,4.1,-7.8,7,95,7.45,2.35,0.00,0.000,2564,0.431,0.041,2420,701,2494,2523,2466,0,0,0,0,0,0,14.25,14.58,14.64 $GC,105,-0.62,-68.1,2420,701,2523,2465,17.1,-36.8,10,114,0.00,2.40,0.00,0.000,3078,0.000,0.041,2413,2120,2494,2523,2465,0,0,0,0,0,0,14.65,14.60,14.67 $GC,404,-0.62,-68.1,2413,2121,2523,2464,79.8,-19.4,59,412,0.00,2.40,0.00,0.000,2308,0.000,0.055,2403,3534,2493,2523,2464,0,0,0,0,0,0,15.06,14.57,15.07 $GC,531,-0.62,-68.1,2402,3535,2523,2465,101.0,-16.1,79,539,0.05,2.30,0.00,0.000,3078,0.415,0.044,2421,2122,2494,2523,2465,0,0,0,0,0,0,14.43,14.75,14.69 $GC,779,-0.62,-68.1,2420,2121,2523,2465,141.3,-16.0,104,788,0.00,0.00,0.00,0.000,2054,0.000,0.000,2421,2121,2493,2523,2464,0,0,0,0,0,0,15.12,15.12,15.12 $GC,1029,-0.62,-68.1,2420,2121,2523,2465,177.9,-14.0,129,1034,0.00,2.33,0.00,0.000,260,0.000,0.057,2414,3537,2493,2523,2464,0,0,0,0,0,0,15.14,14.76,15.15 $GC,1065,-0.62,-68.1,2414,3537,2522,2464,182.9,-13.9,132,1070,0.00,2.30,0.00,0.000,3078,0.000,0.043,2414,2127,2494,2523,2465,0,0,0,0,0,0,14.91,14.81,14.92 $GC,1348,-0.62,-68.1,2414,2127,2523,2465,221.8,-13.6,148,1354,0.00,2.33,0.00,0.000,2308,0.000,0.058,2414,3532,2494,2523,2465,0,0,0,0,0,0,15.19,14.78,15.19 $GC,1401,-0.62,-68.1,2413,3533,2523,2465,227.1,-13.1,149,1407,0.00,2.28,0.00,0.000,3078,0.000,0.041,2413,2119,2494,2523,2465,0,0,0,0,0,0,14.93,14.83,14.95 $GC,1675,-0.62,-68.1,2413,2118,2523,2465,262.1,-12.3,156,1676,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2118,2493,2523,2464,0,0,0,0,0,0,15.20,15.21,15.21 $GC,1915,-0.62,-68.1,2413,2117,2523,2465,293.7,-13.2,162,1921,0.00,2.28,0.00,0.000,2564,0.000,0.060,2413,724,2493,2523,2464,0,0,0,0,0,0,15.21,14.80,15.21 $GC,1949,-0.62,-68.1,2413,723,2523,2464,293.7,-13.2,162,1954,0.00,2.30,0.00,0.000,3078,0.000,0.043,2413,2133,2493,2523,2464,0,0,0,0,0,0,14.95,14.84,14.97 $STATE,2000,end dive,TARGET_DEPTH_EXCEEDED $STATE,2000,begin apogee $GC,2007,-0.13,0.0,2413,1935,2523,2464,304.4,-12.8,164,2065,0.45,0.00,55.17,1.182,10246,0.253,0.000,2580,1936,2214,2289,2140,0,0,0,0,0,0,14.43,14.64,13.94 $STATE,2066,end apogee,CONTROL_FINISHED_OK $STATE,2066,begin climb $GC,2069,0.62,68.1,2580,1935,2284,2138,306.9,0.0,165,2132,0.52,2.35,53.03,1.167,10756,0.146,0.060,2820,556,1931,2021,1842,0,0,0,0,0,0,14.56,14.50,13.83 $GC,2335,0.77,192.7,2819,556,2016,1842,308.0,-0.6,171,2440,0.10,2.28,94.25,1.191,11270,0.162,0.036,2910,1966,1423,1529,1318,0,0,0,0,0,0,14.69,14.75,13.85 $GC,2705,0.77,192.7,2909,1966,1528,1315,258.7,16.4,181,2710,0.08,2.38,0.00,0.000,4612,0.415,0.057,2888,553,1421,1527,1315,0,0,0,0,0,0,14.35,14.68,14.57 $GC,3033,0.77,192.7,2887,553,1526,1314,208.1,16.1,189,3040,0.05,2.25,0.00,0.000,5126,0.443,0.036,2872,1947,1419,1526,1313,0,0,0,0,0,0,14.46,14.83,14.78 $GC,3289,0.77,192.7,2872,1948,1526,1310,176.7,11.2,208,3294,0.00,2.28,0.00,0.000,260,0.000,0.054,2872,3349,1418,1526,1310,0,0,0,0,0,0,15.14,14.79,15.15 $GC,3516,0.77,192.7,2872,3349,1524,1309,149.8,11.7,229,3522,0.00,2.30,0.00,0.000,5126,0.000,0.049,2881,1963,1417,1524,1310,0,0,0,0,0,0,14.91,14.80,14.93 $GC,3772,0.77,192.7,2881,1963,1524,1308,125.8,9.1,254,3777,0.00,2.35,0.00,0.000,4612,0.000,0.062,2893,540,1416,1524,1308,0,0,0,0,0,0,15.14,14.76,15.14 $GC,3873,0.77,192.7,2892,540,1523,1308,114.7,11.6,263,3879,0.05,2.30,0.00,0.000,5126,0.438,0.037,2875,1953,1415,1523,1308,0,0,0,0,0,0,14.43,14.82,14.75 $GC,4144,0.78,194.3,2875,1954,1524,1307,88.8,7.9,298,4153,0.00,2.38,0.00,0.000,4356,0.000,0.054,2875,3349,1415,1523,1307,0,0,0,0,0,0,15.11,14.59,15.11 $GC,4506,0.78,194.3,2875,3349,1521,1307,60.1,8.6,358,4515,0.03,2.40,0.00,0.000,5126,0.478,0.049,2878,1950,1415,1523,1307,0,0,0,0,0,0,14.31,14.57,14.42 $GC,4802,0.78,194.3,2878,1950,1523,1307,35.2,8.5,407,4812,0.00,2.42,0.00,0.000,4356,0.000,0.052,2878,3347,1415,1522,1308,0,0,0,0,0,0,15.07,14.56,15.08 $GC,4870,0.78,194.3,2878,3347,1523,1308,29.5,8.6,417,4879,0.03,2.40,0.00,0.000,5126,0.477,0.047,2879,1946,1415,1523,1308,0,0,0,0,0,0,14.27,14.57,14.40 $GC,5166,0.84,243.7,2880,1946,1523,1308,12.7,4.6,466,5215,0.00,2.38,38.12,0.809,10500,0.000,0.051,2879,3349,1217,1324,1111,0,0,0,0,0,0,15.08,14.59,14.13 $STATE,5280,end climb,SURFACE_DEPTH_REACHED $STATE,5281,begin surface coast $FINISH,0.2,1.023307 $STATE,5314,end surface coast,CONTROL_FINISHED_OK $STATE,5314,begin surface $SM_CCo,5333,97.95,0.778,1,0,646,384.13 $SM_CCo,5440,0.00,0.000,0,0,650,384.13 $SM_CCo,5444,0.40,0.239,0,0,648,384.13 $SM_GC,1.32,6.12,2.05,0.40,0.063,0.045,0.239,179,2117,648,-7.49,1.13,384.13,0,0,0,0,0,0,14.72,14.71,14.50 $IRIDIUM_FIX,2234.68,-15721.55,290518,023440 $TT8_MAMPS,0.019474,0.270389 $HUMID,44.56 $INTERNAL_PRESSURE,9.57326 $TCM_TEMP,23.40 $XPDR_PINGS,0 $ALTIM_BOTTOM_PING,50.3,6.4 $24V_AH,13.00,165.525 $10V_AH,12.52,0.000 $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,14.925,56.075,240.575,98.350,0.000,30.422,41.722,243.496,0.500,0.000,9.314,1508.494,1770.675,406.682,2042.920,204.684,0.000,989.280,0.000,1700.269,0.000,5.464,0.000 $DEVICE_MAMPS,478.125,64.260,1191.105,778.005,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,328.901,635.784,596.546,757.906,1162.935,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000 $MEM,342984 $DATA_FILE_SIZE,43883,488 $CAP_FILE_SIZE,71284,0 $CFSIZE,2097086464,2017984512 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,4 $CURRENT,0.148,350.12,1 $GPS,290518,041248,2245.396,-15722.882,8,1.0,8,9.9,0.6,262.8,8,78.3