version: 66.12 revision: CLOWNFISH glider: 626 mission: 2 dive: 1043 start: 6 27 118 18 58 38 data: $ID,626 $MISSION,2 $DIVE,1043 $N_DIVES,0 $STOP_T,12201818 $D_SURF,3 $D_FLARE,3 $D_TGT,360 $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,120 $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,65 $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,1 $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,2630 $PITCH_DBAND,0.0099999998 $PITCH_CNV,0.003125763 $P_OVSHOOT,0.039999999 $P_OVSHOOT_WITHG,0.079999998 $PITCH_GAIN,37 $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,2200 $C_ROLL_CLIMB,2200 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,42 $R_STBD_OVSHOOT,42 $ROLL_AD_RATE,350 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,649 $VBD_MAX,3962 $C_VBD,2100 $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,0 $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 $GPS1,270618,184854,2245.5120,-15758.6484,54,0.8,54,9.8,0.5,272.4,10,20.3 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.29 $_SM_ANGLEo,-71.8 $GPS2,270618,185755,2245.5371,-15758.6758,19,0.8,19,9.8,0.0,0.0,10,17.3 $SPEED_LIMITS,0.214,0.224 $TGT_NAME,A10 $TGT_LATLONG,2245.785,-15757.885 $TGT_RADIUS,900.000 $MHEAD_RNG_PITCHd_Wd,65.8,1427,-21.5,-10.000,-24.01,1630 $D_GRID,360 $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,-0.66,-63.3,181,2232,707,609,0.0,0.0,0,65,0.00,0.00,-45.80,0.000,16386,0.000,0.000,180,2234,2221,2253,2189,0,0,0,0,0,0,15.00,28.83,15.01 $GC,69,-0.66,-63.3,181,2230,2253,2189,3.6,-8.2,7,86,7.72,2.30,-2.40,0.000,18692,0.445,0.062,2400,3616,2360,2398,2323,0,0,0,0,0,0,13.88,13.12,14.18 $GC,159,-0.66,-63.3,2399,3618,2398,2323,28.1,-19.8,22,167,0.05,2.40,0.00,0.000,3078,0.451,0.042,2415,2197,2360,2398,2323,0,0,0,0,0,0,14.28,14.62,14.56 $GC,419,-0.66,-63.3,2415,2197,2398,2323,79.4,-19.0,48,425,0.00,2.38,0.00,0.000,2308,0.000,0.055,2414,3602,2360,2398,2322,0,0,0,0,0,0,15.08,14.67,15.08 $GC,487,-0.66,-63.3,2413,3602,2398,2323,89.9,-14.2,54,494,0.00,2.33,0.00,0.000,3078,0.000,0.041,2414,2193,2361,2398,2324,0,0,0,0,0,0,14.83,14.71,14.85 $GC,734,-0.66,-63.3,2413,2193,2398,2323,127.9,-14.4,79,739,0.00,2.33,0.00,0.000,2564,0.000,0.057,2413,798,2360,2398,2322,0,0,0,0,0,0,15.14,14.70,15.14 $GC,772,-0.66,-63.3,2413,798,2398,2323,133.1,-15.0,82,779,0.00,2.30,0.00,0.000,3078,0.000,0.042,2413,2196,2360,2398,2323,0,0,0,0,0,0,14.85,14.73,14.87 $GC,1021,-0.66,-63.3,2413,2197,2398,2323,166.1,-13.0,107,1026,0.00,2.35,0.00,0.000,2308,0.000,0.058,2413,3616,2360,2398,2323,0,0,0,0,0,0,15.14,14.70,15.14 $GC,1058,-0.66,-63.3,2413,3616,2398,2323,171.0,-13.4,110,1066,0.00,2.33,0.00,0.000,3078,0.000,0.041,2413,2199,2360,2398,2323,0,0,0,0,0,0,14.85,14.76,14.88 $GC,1308,-0.66,-63.3,2413,2199,2398,2323,198.3,-10.2,135,1313,0.00,2.33,0.00,0.000,2564,0.000,0.057,2413,797,2360,2398,2323,0,0,0,0,0,0,15.14,14.71,15.14 $GC,1381,-0.66,-63.3,2413,796,2398,2323,203.5,-11.2,138,1386,0.00,2.30,0.00,0.000,3078,0.000,0.041,2413,2210,2360,2398,2322,0,0,0,0,0,0,14.88,14.77,14.89 $GC,1635,-0.66,-63.3,2413,2210,2398,2322,233.7,-10.4,145,1636,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2210,2360,2398,2322,0,0,0,0,0,0,15.18,15.17,15.18 $GC,1875,-0.66,-63.3,2413,2211,2398,2322,258.9,-10.6,151,1880,0.00,2.33,0.00,0.000,2308,0.000,0.058,2413,3614,2360,2398,2322,0,0,0,0,0,0,15.18,14.71,15.18 $GC,1938,-0.66,-63.3,2413,3614,2398,2322,263.8,-10.7,152,1944,0.00,2.30,0.00,0.000,3078,0.000,0.037,2413,2196,2360,2398,2322,0,0,0,0,0,0,14.88,14.78,14.90 $GC,2202,-0.66,-63.3,2413,2195,2398,2319,293.4,-10.6,159,2207,0.00,2.33,0.00,0.000,2564,0.000,0.055,2414,793,2358,2398,2318,0,0,0,0,0,0,15.18,14.73,15.18 $GC,2240,-0.66,-63.3,2413,793,2398,2318,293.4,-10.6,159,2247,0.00,2.30,0.00,0.000,3078,0.000,0.038,2413,2206,2357,2398,2317,0,0,0,0,0,0,14.88,14.78,14.90 $GC,2487,-0.66,-63.3,2413,2206,2398,2317,324.5,-10.7,166,2488,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2205,2357,2398,2316,0,0,0,0,0,0,15.17,15.18,15.17 $GC,2726,-0.66,-63.3,2413,2206,2398,2314,348.2,-9.6,172,2728,0.00,0.00,0.00,0.000,2054,0.000,0.000,2413,2206,2356,2398,2314,0,0,0,0,0,0,15.18,15.18,15.18 $STATE,2883,end dive,TARGET_DEPTH_EXCEEDED $STATE,2883,begin apogee $GC,2890,-0.14,0.0,2413,2206,2398,2312,362.5,-9.0,176,2946,0.47,0.00,52.80,1.340,10246,0.264,0.000,2585,2206,2098,2182,2014,0,0,0,0,0,0,14.26,14.46,13.57 $STATE,2947,end apogee,CONTROL_FINISHED_OK $STATE,2947,begin climb $GC,2950,0.66,63.3,2584,2206,2178,2009,364.2,0.0,177,3007,0.60,2.40,50.95,1.313,10500,0.151,0.050,2835,3604,1836,1935,1738,0,0,0,0,0,0,14.47,14.37,13.52 $GC,3080,0.66,63.3,2835,3604,1929,1737,361.6,3.2,180,3086,0.00,2.35,0.00,0.000,5126,0.000,0.040,2846,2195,1832,1928,1736,0,0,0,0,0,0,14.69,14.60,14.71 $GC,3334,0.79,170.6,2845,2194,1928,1734,351.9,3.2,187,3423,0.05,0.00,85.40,1.301,10502,0.284,0.000,2910,2194,1403,1510,1296,0,0,0,0,0,0,14.68,14.36,13.59 $GC,3696,0.79,170.6,2910,2194,1502,1288,302.2,15.8,196,3702,0.08,2.38,0.00,0.000,4612,0.418,0.055,2889,790,1395,1502,1288,0,0,0,0,0,0,14.26,14.58,14.45 $GC,3741,0.79,170.6,2889,789,1502,1288,295.2,15.8,197,3746,0.00,2.33,0.00,0.000,5126,0.000,0.036,2890,2197,1394,1501,1288,0,0,0,0,0,0,14.82,14.73,14.84 $GC,4025,0.79,170.6,2890,2197,1501,1284,254.1,14.1,204,4031,0.00,2.38,0.00,0.000,4612,0.000,0.057,2900,790,1392,1501,1284,0,0,0,0,0,0,15.13,14.71,15.13 $GC,4063,0.79,170.6,2900,790,1501,1284,254.1,14.1,204,4072,0.05,2.33,0.00,0.000,5126,0.446,0.035,2885,2208,1393,1502,1284,0,0,0,0,0,0,14.37,14.78,14.68 $GC,4309,0.79,170.6,2884,2209,1501,1281,217.7,12.6,211,4314,0.00,2.42,0.00,0.000,516,0.000,0.057,2895,787,1391,1501,1282,0,0,0,0,0,0,15.14,14.71,15.15 $GC,4403,0.79,170.6,2895,787,1501,1281,207.3,12.3,213,4408,0.00,2.33,0.00,0.000,5126,0.000,0.036,2895,2204,1391,1501,1281,0,0,0,0,0,0,14.88,14.78,14.89 $GC,4659,0.79,170.6,2895,2205,1501,1279,180.1,10.4,233,4664,0.00,2.38,0.00,0.000,4612,0.000,0.055,2905,797,1390,1501,1279,0,0,0,0,0,0,15.12,14.70,15.13 $GC,5016,0.79,172.6,2905,797,1499,1279,145.3,9.9,268,5023,0.05,2.33,0.00,0.000,5126,0.433,0.037,2889,2205,1389,1499,1279,0,0,0,0,0,0,14.35,14.75,14.62 $GC,5272,0.84,210.8,2889,2206,1498,1278,123.0,7.6,293,5313,0.00,2.35,31.50,1.016,10500,0.000,0.051,2889,3594,1229,1335,1123,0,0,0,0,0,0,15.13,14.61,13.81 $GC,5331,0.86,225.1,2888,3594,1333,1123,118.1,9.1,298,5348,0.00,2.35,11.48,0.927,11270,0.000,0.044,2899,2203,1180,1283,1077,0,0,0,0,0,0,14.78,14.69,13.78 $GC,5587,0.86,225.1,2899,2203,1282,1076,85.3,12.7,324,5593,0.00,2.40,0.00,0.000,2564,0.000,0.060,2910,796,1179,1282,1076,0,0,0,0,0,0,15.07,14.64,15.07 $GC,5762,0.86,225.1,2910,796,1282,1076,63.7,10.8,340,5769,0.00,2.38,0.00,0.000,5126,0.000,0.037,2910,2208,1178,1281,1076,0,0,0,0,0,0,14.78,14.65,14.80 $GC,6013,0.91,269.1,2910,2208,1282,1076,41.2,7.2,365,6059,0.00,2.47,38.92,0.906,10756,0.000,0.059,2921,796,994,1091,898,0,0,0,0,0,0,15.09,14.64,13.86 $GC,6161,0.91,269.1,2921,796,1088,895,23.7,13.3,383,6168,0.00,2.40,0.00,0.000,1030,0.000,0.037,2921,2217,991,1088,894,0,0,0,0,0,0,14.72,14.62,14.75 $STATE,6339,end climb,SURFACE_DEPTH_REACHED $STATE,6339,begin surface coast $FINISH,0.2,1.022845 $STATE,6365,end surface coast,CONTROL_FINISHED_OK $STATE,6365,begin surface $SM_CCo,6383,58.97,0.825,1,0,647,355.92 $SM_CCo,6452,-0.03,0.000,0,0,650,355.92 $SM_CCo,6457,0.60,0.240,0,0,648,355.92 $SM_GC,1.25,6.43,0.00,0.60,0.089,0.000,0.240,178,2228,648,-7.53,0.76,355.92,0,0,0,0,0,0,14.73,15.03,14.46 $IRIDIUM_FIX,2234.68,-15800.20,270618,185059 $TT8_MAMPS,0.018725,0.241927 $HUMID,51.41 $INTERNAL_PRESSURE,9.5049 $TCM_TEMP,22.00 $XPDR_PINGS,0 $24V_AH,13.12,218.449 $10V_AH,13.30,0.000 $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,15.500,70.525,271.050,59.575,0.000,30.890,43.039,291.314,0.000,0.000,20.145,1372.086,3562.841,439.499,1372.410,279.503,0.000,946.916,0.000,1008.572,0.000,0.551,0.000 $DEVICE_MAMPS,451.350,61.965,1340.280,825.435,0.000,31.370,160.000,223.000,420.000,0.000,11.980,10.070,2.190,10.070,30.290,34.790,0.000,10.900,0.000,7.490,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,282.154,264.215,481.574,0.000,309.355,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,4.490,35.950,0.000,45.690,0.000,0.000,0.000,0.000,0.000 $MEM,342976 $DATA_FILE_SIZE,37335,421 $CAP_FILE_SIZE,78347,0 $CFSIZE,2097086464,1985904640 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0 $CURRENT,0.031,209.35,1 $GPS,270618,204713,2245.459,-15758.067,17,1.1,17,9.8,1.0,248.8,7,66.3