version: 66.12 revision: CLOWNFISH glider: 626 mission: 2 dive: 785 start: 5 30 118 7 49 35 data: $ID,626 $MISSION,2 $DIVE,785 $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,35 $R_STBD_OVSHOOT,50 $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 $GPS1,300518,074019,2246.9980,-15722.5342,14,1.9,14,9.9,0.6,70.5,4,49.8 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.36 $_SM_ANGLEo,-72.6 $GPS2,300518,074851,2247.1709,-15722.4961,35,2.2,65,9.9,1.0,340.5,4,11.5 $SPEED_LIMITS,0.172,0.182 $TGT_NAME,EDB $TGT_LATLONG,2245.000,-15722.300 $TGT_RADIUS,900.000 $MHEAD_RNG_PITCHd_Wd,198.4,4035,-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,13,begin dive $GC,16,-0.62,-68.1,181,2117,697,608,0.0,0.0,0,74,0.00,0.00,-53.70,0.000,16390,0.000,0.000,180,2114,2495,2522,2469,0,0,0,0,0,0,15.04,12.98,14.95 $GC,78,-0.62,-68.1,180,2114,2522,2469,4.3,-8.5,7,95,7.50,2.30,0.00,0.000,2564,0.435,0.037,2420,693,2495,2522,2469,0,0,0,0,0,0,14.22,14.60,14.64 $GC,181,-0.62,-68.1,2420,692,2522,2468,36.6,-21.5,23,190,0.00,2.40,0.00,0.000,3078,0.000,0.041,2413,2117,2495,2522,2468,0,0,0,0,0,0,14.65,14.60,14.67 $GC,498,-0.62,-68.1,2413,2118,2522,2468,93.2,-16.0,72,507,0.00,2.40,0.00,0.000,2308,0.000,0.062,2411,3523,2495,2522,2468,0,0,0,0,0,0,15.07,14.57,15.07 $GC,595,-0.62,-68.1,2411,3524,2522,2468,107.9,-14.1,83,600,0.00,2.28,0.00,0.000,3078,0.000,0.043,2411,2119,2495,2522,2468,0,0,0,0,0,0,14.88,14.77,14.89 $GC,852,-0.62,-68.1,2410,2119,2522,2468,147.6,-15.8,108,857,0.00,2.28,0.00,0.000,2564,0.000,0.057,2411,723,2495,2522,2468,0,0,0,0,0,0,15.12,14.76,15.13 $GC,910,-0.62,-68.1,2410,722,2522,2468,156.8,-15.0,113,916,0.05,2.28,0.00,0.000,3078,0.416,0.041,2420,2129,2495,2522,2468,0,0,0,0,0,0,14.49,14.81,14.74 $GC,1165,-0.62,-68.1,2420,2130,2522,2468,190.0,-12.6,138,1171,0.00,2.28,0.00,0.000,2308,0.000,0.057,2414,3524,2495,2522,2468,0,0,0,0,0,0,15.15,14.77,15.16 $GC,1223,-0.62,-68.1,2413,3524,2522,2468,197.1,-12.1,143,1229,0.00,2.25,0.00,0.000,3078,0.000,0.041,2414,2125,2495,2523,2468,0,0,0,0,0,0,14.92,14.82,14.93 $GC,1497,-0.62,-68.1,2414,2124,2523,2468,227.8,-11.0,152,1502,0.00,2.28,0.00,0.000,2564,0.000,0.059,2414,725,2495,2523,2468,0,0,0,0,0,0,15.19,14.79,15.19 $GC,1514,-0.62,-68.1,2414,724,2522,2468,227.8,-11.0,152,1520,0.00,2.25,0.00,0.000,3078,0.000,0.041,2414,2126,2495,2522,2468,0,0,0,0,0,0,14.95,14.84,14.96 $GC,1783,-0.62,-68.1,2413,2127,2522,2468,263.6,-12.6,159,1789,0.00,2.30,0.00,0.000,2308,0.000,0.059,2413,3533,2495,2523,2468,0,0,0,0,0,0,15.21,14.79,15.21 $GC,1811,-0.62,-68.1,2413,3534,2523,2468,263.6,-12.6,159,1817,0.00,2.28,0.00,0.000,3078,0.000,0.041,2413,2117,2495,2522,2468,0,0,0,0,0,0,14.95,14.85,14.97 $GC,2070,-0.62,-68.1,2413,2117,2522,2468,298.6,-12.4,166,2075,0.00,2.33,0.00,0.000,2308,0.000,0.056,2413,3524,2495,2523,2468,0,0,0,0,0,0,15.20,14.81,15.21 $STATE,2111,end dive,TARGET_DEPTH_EXCEEDED $STATE,2111,begin apogee $GC,2121,-0.13,0.0,2413,1946,2522,2468,303.8,-12.2,167,2177,0.45,0.00,53.55,1.275,10246,0.254,0.000,2579,1945,2214,2289,2140,0,0,0,0,0,0,14.43,14.62,13.84 $STATE,2178,end apogee,CONTROL_FINISHED_OK $STATE,2178,begin climb $GC,2181,0.62,68.1,2579,1945,2289,2141,306.6,0.0,168,2243,0.52,2.38,53.17,1.258,10756,0.152,0.059,2818,541,1936,2027,1845,0,0,0,0,0,0,14.55,14.47,13.75 $GC,2366,0.62,68.1,2818,542,2024,1845,309.4,-2.1,172,2373,0.00,2.30,0.00,0.000,1030,0.000,0.035,2818,1964,1934,2025,1844,0,0,0,0,0,0,14.77,14.71,14.78 $GC,2612,0.83,240.9,2818,1964,2024,1842,319.1,-3.9,179,2753,0.10,2.45,130.60,1.351,10756,0.160,0.058,2928,542,1232,1336,1128,0,0,0,0,0,0,14.78,14.23,13.66 $GC,2915,0.83,240.9,2929,541,1336,1129,280.9,20.7,186,2921,0.10,2.28,0.00,0.000,5126,0.400,0.035,2895,1945,1232,1335,1129,0,0,0,0,0,0,14.32,14.71,14.64 $GC,3180,0.83,240.9,2895,1948,1335,1125,226.7,18.2,193,3185,0.00,2.38,0.00,0.000,4612,0.000,0.060,2906,534,1230,1336,1125,0,0,0,0,0,0,15.11,14.76,15.11 $GC,3207,0.83,240.9,2906,534,1335,1125,226.7,18.2,193,3213,0.05,2.30,0.00,0.000,5126,0.441,0.036,2890,1961,1230,1335,1125,0,0,0,0,0,0,14.47,14.83,14.74 $GC,3458,0.83,240.9,2889,1965,1336,1122,177.7,15.9,208,3463,0.00,2.25,0.00,0.000,260,0.000,0.050,2889,3351,1228,1335,1122,0,0,0,0,0,0,15.14,14.81,15.14 $GC,3481,0.83,240.9,2889,3352,1335,1122,173.5,16.3,210,3487,0.00,2.30,0.00,0.000,5126,0.000,0.048,2900,1952,1228,1335,1122,0,0,0,0,0,0,14.91,14.81,14.92 $GC,3739,0.83,240.9,2900,1952,1335,1119,132.1,15.8,235,3744,0.00,2.30,0.00,0.000,4356,0.000,0.047,2900,3350,1227,1335,1119,0,0,0,0,0,0,15.13,14.80,15.14 $GC,3765,0.83,240.9,2900,3350,1335,1121,127.8,15.3,237,3771,0.05,2.30,0.00,0.000,5126,0.476,0.047,2895,1948,1228,1335,1121,0,0,0,0,0,0,14.42,14.80,14.72 $GC,4025,0.83,240.9,2895,1948,1335,1121,92.3,13.0,266,4034,0.00,2.40,0.00,0.000,4612,0.000,0.063,2906,549,1228,1335,1121,0,0,0,0,0,0,15.13,14.59,15.12 $GC,4050,0.83,240.9,2906,549,1335,1121,89.3,12.1,269,4059,0.03,2.35,0.00,0.000,5126,0.464,0.037,2897,1949,1228,1335,1121,0,0,0,0,0,0,14.38,14.65,14.49 $GC,4346,0.83,240.9,2897,1950,1335,1119,48.9,12.1,318,4354,0.00,2.38,0.00,0.000,4356,0.000,0.052,2897,3350,1227,1335,1119,0,0,0,0,0,0,15.09,14.59,15.09 $GC,4613,0.83,240.9,2897,3350,1335,1122,18.6,8.2,362,4622,0.03,2.40,0.00,0.000,5126,0.490,0.049,2900,1953,1228,1335,1122,0,0,0,0,0,0,14.31,14.57,14.42 $STATE,4796,end climb,SURFACE_DEPTH_REACHED $STATE,4796,begin surface coast $FINISH,0.3,1.011483 $STATE,4840,end surface coast,CONTROL_FINISHED_OK $STATE,4840,begin surface $SM_CCo,4858,96.38,0.782,1,0,647,384.13 $SM_CCo,4963,-0.10,0.000,0,0,650,384.13 $SM_CCo,4967,0.32,0.319,0,0,648,384.13 $SM_GC,1.34,6.03,0.30,0.32,0.039,0.058,0.319,180,2161,648,-7.47,-1.27,384.13,0,0,0,0,0,0,14.78,14.81,14.61 $IRIDIUM_FIX,2232.34,-15557.74,300518,074214 $TT8_MAMPS,0.018725,0.26964 $HUMID,47.44 $INTERNAL_PRESSURE,9.5342 $TCM_TEMP,22.00 $XPDR_PINGS,0 $ALTIM_BOTTOM_PING,90.8,6.7 $24V_AH,12.98,168.949 $10V_AH,13.79,0.000 $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,14.900,65.550,237.325,96.700,0.000,32.957,57.796,224.791,3.250,0.000,66.388,1238.956,1914.320,404.140,1760.245,192.881,0.000,899.750,0.000,1347.955,0.000,26.013,0.000 $DEVICE_MAMPS,489.600,62.730,1350.990,781.830,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,269.398,387.752,473.685,588.334,902.809,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000 $MEM,342940 $DATA_FILE_SIZE,33928,399 $CAP_FILE_SIZE,66931,0 $CFSIZE,2097086464,2016116736 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,2 $CURRENT,0.190,25.11,1 $GPS,300518,091352,2247.218,-15722.558,50,1.9,50,9.9,0.7,38.5,6,104.6