version: 66.12 revision: CLOWNFISH glider: 626 mission: 2 dive: 834 start: 6 4 118 1 55 39 data: $ID,626 $MISSION,2 $DIVE,834 $N_DIVES,0 $STOP_T,12201818 $D_SURF,3 $D_FLARE,3 $D_TGT,200 $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,83 $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,34 $R_STBD_OVSHOOT,57 $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 $GPS1,040618,014807,2235.5078,-15747.9053,6,1.1,6,9.8,1.5,274.4,7,78.6 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.33 $_SM_ANGLEo,-73.2 $GPS2,040618,015454,2235.5046,-15747.9600,6,1.1,6,9.8,2.2,12.3,7,66.0 $SPEED_LIMITS,0.172,0.182 $TGT_NAME,ED5 $TGT_LATLONG,2235.500,-15748.000 $TGT_RADIUS,900.000 $MHEAD_RNG_PITCHd_Wd,270.4,69,-22.2,-8.032,-25.00,1330 $D_GRID,200 $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,14,end surface,CONTROL_FINISHED_OK $STATE,14,begin dive $GC,17,-0.65,-68.1,182,2147,696,604,0.0,0.0,0,74,0.00,0.00,-54.65,0.000,16390,0.000,0.000,182,2147,2494,2520,2469,0,0,0,0,0,0,15.06,13.05,15.00 $GC,78,-0.65,-68.1,182,2147,2520,2469,3.6,-5.8,7,95,7.47,2.35,0.00,0.000,2564,0.438,0.038,2407,695,2493,2520,2466,0,0,0,0,0,0,14.21,14.62,14.64 $GC,211,-0.65,-68.1,2406,695,2520,2458,40.4,-18.2,28,220,0.00,2.38,0.00,0.000,3078,0.000,0.041,2399,2116,2488,2520,2457,0,0,0,0,0,0,14.70,14.66,14.73 $GC,523,-0.65,-68.1,2398,2117,2520,2456,102.6,-17.3,77,529,0.00,2.30,0.00,0.000,2308,0.000,0.057,2390,3535,2488,2520,2456,0,0,0,0,0,0,15.12,14.78,15.12 $GC,722,-0.65,-68.1,2390,3536,2520,2456,132.8,-14.8,95,730,0.05,2.30,0.00,0.000,3078,0.410,0.045,2408,2114,2488,2520,2456,0,0,0,0,0,0,14.53,14.83,14.79 $GC,970,-0.65,-68.1,2407,2113,2520,2456,172.2,-15.1,120,976,0.00,2.25,0.00,0.000,2564,0.000,0.058,2408,720,2488,2520,2456,0,0,0,0,0,0,15.17,14.81,15.17 $GC,998,-0.65,-68.1,2407,720,2520,2456,175.8,-14.5,122,1005,0.00,2.25,0.00,0.000,3078,0.000,0.041,2400,2124,2488,2520,2456,0,0,0,0,0,0,14.95,14.85,14.97 $STATE,1174,end dive,TARGET_DEPTH_EXCEEDED $STATE,1174,begin apogee $GC,1181,-0.13,0.0,2400,1931,2520,2456,200.2,-14.6,140,1235,0.50,0.00,50.90,1.146,10246,0.275,0.000,2581,1931,2214,2290,2139,0,0,0,0,0,0,14.47,14.63,13.88 $STATE,1236,end apogee,CONTROL_FINISHED_OK $STATE,1236,begin climb $GC,1239,0.65,68.1,2581,1931,2290,2141,203.7,0.0,141,1298,0.55,2.28,51.22,1.107,10756,0.158,0.057,2828,556,1937,2029,1846,0,0,0,0,0,0,14.56,14.33,13.82 $GC,1395,0.65,68.1,2828,556,2028,1847,206.7,-2.2,145,1400,0.00,2.25,0.00,0.000,3078,0.000,0.037,2828,1957,1937,2028,1847,0,0,0,0,0,0,14.81,14.73,14.83 $GC,1673,0.84,217.8,2828,1957,2027,1846,215.8,-3.5,152,1794,0.08,2.28,111.20,1.244,11012,0.199,0.048,2916,3348,1326,1430,1222,0,0,0,0,0,0,14.83,14.31,13.77 $GC,1842,0.84,217.8,2916,3349,1430,1227,202.2,8.2,156,1849,0.10,2.28,0.00,0.000,5126,0.395,0.047,2894,1967,1329,1430,1228,0,0,0,0,0,0,14.31,14.64,14.61 $GC,2095,0.84,217.8,2894,1967,1430,1226,161.1,14.2,178,2101,0.00,2.35,0.00,0.000,4612,0.000,0.063,2905,541,1328,1430,1227,0,0,0,0,0,0,15.09,14.76,15.10 $GC,2119,0.84,217.8,2905,540,1430,1227,157.3,14.4,180,2125,0.00,2.25,0.00,0.000,5126,0.000,0.034,2905,1951,1328,1430,1227,0,0,0,0,0,0,14.92,14.84,14.93 $GC,2377,0.84,217.8,2905,1953,1429,1224,122.3,14.0,205,2382,0.00,2.25,0.00,0.000,4356,0.000,0.051,2905,3351,1327,1430,1225,0,0,0,0,0,0,15.14,14.83,15.14 $GC,2433,0.84,217.8,2905,3352,1429,1224,114.0,13.6,210,2439,0.08,2.30,0.00,0.000,5126,0.413,0.047,2891,1943,1326,1429,1224,0,0,0,0,0,0,14.46,14.84,14.78 $GC,2707,0.84,217.8,2891,1943,1429,1222,84.1,10.8,247,2716,0.00,2.35,0.00,0.000,516,0.000,0.061,2902,542,1326,1429,1223,0,0,0,0,0,0,15.13,14.66,15.14 $GC,2732,0.84,217.8,2901,542,1429,1223,81.2,11.3,250,2741,0.00,2.33,0.00,0.000,5126,0.000,0.036,2901,1944,1326,1429,1223,0,0,0,0,0,0,14.76,14.71,14.77 $GC,3028,0.84,217.8,2901,1945,1429,1222,52.9,9.9,299,3037,0.00,2.42,0.00,0.000,4612,0.000,0.060,2912,539,1325,1429,1222,0,0,0,0,0,0,15.12,14.64,15.12 $GC,3190,0.88,252.9,2912,539,1429,1222,37.1,5.3,325,3224,0.00,2.35,28.10,0.814,13318,0.000,0.035,2912,1958,1182,1291,1073,0,0,0,0,0,0,14.73,14.68,14.13 $GC,3512,0.88,252.9,2912,1960,1290,1077,3.1,12.0,377,3521,0.00,2.33,0.00,0.000,4356,0.000,0.052,2912,3348,1183,1290,1077,0,0,0,0,0,0,15.09,14.63,15.09 $STATE,3528,end climb,SURFACE_DEPTH_REACHED $STATE,3528,begin surface coast $FINISH,1.1,1.023230 $STATE,3536,end surface coast,CONTROL_FINISHED_OK $STATE,3536,begin surface $SM_CCo,3555,85.88,0.783,1,0,647,384.13 $SM_CCo,3650,-0.10,0.000,0,0,651,384.13 $SM_CCo,3655,0.22,0.374,0,0,648,384.13 $SM_GC,1.46,6.28,2.05,0.22,0.085,0.049,0.374,179,2115,648,-7.47,0.88,384.13,0,0,0,0,0,0,14.80,14.78,14.56 $IRIDIUM_FIX,2225.34,-15746.34,040618,014954 $TT8_MAMPS,0.019474,0.270389 $HUMID,45.19 $INTERNAL_PRESSURE,9.60256 $TCM_TEMP,23.30 $XPDR_PINGS,0 $ALTIM_BOTTOM_PING,66.1,8.6 $24V_AH,13.05,178.554 $10V_AH,13.72,0.000 $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,15.100,46.175,241.425,86.100,0.000,32.952,45.133,196.202,1.500,0.000,7.312,1115.657,863.375,376.203,1563.134,179.204,0.000,819.132,0.000,1286.991,0.000,14.714,0.000 $DEVICE_MAMPS,437.580,64.260,1243.890,783.360,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,255.635,272.028,485.691,616.177,945.522,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,4.490,35.950,52.430,45.690,0.000,0.000,0.000,0.000,0.000 $MEM,343116 $DATA_FILE_SIZE,33961,380 $CAP_FILE_SIZE,55823,0 $CFSIZE,2097086464,2010677248 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0 $CURRENT,0.116,248.26,1 $GPS,040618,025731,2235.521,-15748.478,19,1.2,19,9.8,0.0,0.0,6,29.0