version: 66.12 revision: CLOWNFISH glider: 148 mission: 15 dive: 12 start: 3 15 118 20 43 17 data: $ID,148 $MISSION,15 $DIVE,12 $N_DIVES,0 $STOP_T,0 $D_SURF,3 $D_FLARE,3 $D_TGT,300 $D_ABORT,500 $D_NO_BLEED,80 $D_BOOST,0 $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,100 $T_MISSION,240 $T_ABORT,300 $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,150 $COURSE_BIAS,0 $GLIDE_SLOPE,30 $SPEED_FACTOR,1 $RHO,1.0275 $MASS,52526 $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,410 $N_FILEKB,4 $FILEMGR,0 $CALL_NDIVES,1 $COMM_SEQ,0 $PROTOCOL,0 $N_NOCOMM,1 $NOCOMM_ACTION,259 $N_NOSURFACE,0 $UPLOAD_DIVES_MAX,-1 $CALL_TRIES,5 $CALL_WAIT,60 $CAPUPLOAD,0 $CAPMAXSIZE,400000 $HEAPDBG,0 $T_GPS,15 $N_GPS,100840 $T_RSLEEP,3 $STROBE,0 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,420 $PITCH_MAX,3705 $C_PITCH,2758 $PITCH_DBAND,0.1 $PITCH_CNV,0.003125763 $P_OVSHOOT,0.039999999 $P_OVSHOOT_WITHG,0.079999998 $PITCH_GAIN,19 $PITCH_TIMEOUT,20 $PITCH_AD_RATE,160 $PITCH_MAXERRORS,1 $PITCH_ADJ_GAIN,0 $PITCH_ADJ_DBAND,0 $ROLL_MIN,160 $ROLL_MAX,3840 $ROLL_DEG,45 $C_ROLL_DIVE,1850 $C_ROLL_CLIMB,2050 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,60 $R_STBD_OVSHOOT,46 $ROLL_AD_RATE,250 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,650 $VBD_MAX,3960 $C_VBD,2900 $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,145 $AH0_10V,95 $MINV_24V,19 $MINV_10V,8 $MAXI_24V,3 $MAXI_10V,2 $FG_AHR_10V,0 $FG_AHR_24V,0 $PHONE_SUPPLY,2 $PRESSURE_YINT,-177.13635 $PRESSURE_SLOPE,0.00014082 $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,90 $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,1.01 $DEEPGLIDER,0 $MOTHERBOARD,4 $DEVICE1,2 $DEVICE2,20 $DEVICE3,37 $DEVICE4,51 $DEVICE5,70 $DEVICE6,-1 $LOGGERS,0 $LOGGERDEVICE1,-1 $LOGGERDEVICE2,-1 $LOGGERDEVICE3,-1 $LOGGERDEVICE4,-1 $COMPASS_DEVICE,17 $COMPASS2_DEVICE,-1 $PHONE_DEVICE,48 $GPS_DEVICE,32 $RAFOS_DEVICE,-1 $XPDR_DEVICE,24 $SIM_W,0 $SIM_PITCH,0 $SEABIRD_T_G,0.0044221841 $SEABIRD_T_H,0.00065212161 $SEABIRD_T_I,2.6582115e-05 $SEABIRD_T_J,3.3042504e-06 $SEABIRD_C_G,-9.8996115 $SEABIRD_C_H,1.1410365 $SEABIRD_C_I,-0.0018685539 $SEABIRD_C_J,0.00022855515 $GPS1,150318,203702,2203.5457,-15504.0840,31,1.2,70,10.1,0.5,320.2,8,5.0 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,0.96 $_SM_ANGLEo,-60.6 $GPS2,150318,204251,2203.6047,-15504.1230,15,1.6,31,10.1,0.0,307.9,8,5.0 $SPEED_LIMITS,0.173,0.260 $TGT_NAME,T1 $TGT_LATLONG,2221.880,-15440.590 $TGT_RADIUS,900.000 $MHEAD_RNG_PITCHd_Wd,84.9,52630,-18.3,-10.000,-21.04,2236 $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,15,-1.14,-146.0,420,1827,1212,1227,0.0,0.0,0,97,0.00,0.00,-79.68,0.000,16386,0.000,0.000,421,1827,3372,3427,3318,0,0,0,0,0,0,24.81,28.83,24.83 $GC,100,-1.14,-146.0,420,1827,3427,3318,3.3,-6.3,11,124,10.52,2.58,-2.35,0.000,18692,0.162,0.041,2385,3422,3498,3563,3433,0,0,0,0,0,0,24.40,23.72,24.56 $GC,165,-1.14,-146.0,2384,3422,3563,3434,20.5,-17.5,21,173,0.00,2.47,0.00,0.000,1030,0.000,0.021,2385,1868,3498,3563,3434,0,0,0,0,0,0,24.69,24.63,24.70 $GC,426,-1.14,-146.0,2384,1867,3563,3434,63.2,-16.1,51,431,0.00,2.50,0.00,0.000,260,0.000,0.030,2385,3427,3498,3563,3434,0,0,0,0,0,0,24.94,24.68,24.96 $GC,460,-1.14,-146.0,2384,3427,3563,3434,69.2,-16.8,54,466,0.00,2.47,0.00,0.000,1030,0.000,0.021,2385,1843,3498,3563,3434,0,0,0,0,0,0,24.77,24.71,24.78 $GC,717,-1.14,-146.0,2384,1842,3563,3433,105.5,-13.7,79,722,0.00,2.53,0.00,0.000,260,0.000,0.031,2385,3422,3498,3563,3434,0,0,0,0,0,0,24.98,24.72,25.00 $GC,750,-1.14,-146.0,2384,3422,3563,3434,111.0,-14.6,82,756,0.00,2.45,0.00,0.000,1030,0.000,0.021,2385,1846,3498,3563,3434,0,0,0,0,0,0,24.82,24.77,24.84 $GC,1005,-1.14,-146.0,2385,1845,3563,3434,146.7,-13.2,107,1010,0.00,2.53,0.00,0.000,260,0.000,0.031,2385,3428,3498,3563,3434,0,0,0,0,0,0,25.03,24.77,25.05 $GC,1048,-1.14,-146.0,2384,3427,3563,3435,153.1,-14.1,111,1054,0.00,2.45,0.00,0.000,1030,0.000,0.021,2385,1852,3499,3563,3435,0,0,0,0,0,0,24.86,24.81,24.87 $GC,1302,-1.14,-146.0,2384,1850,3563,3435,187.2,-13.0,136,1308,0.00,2.53,0.00,0.000,260,0.000,0.031,2385,3433,3499,3564,3435,0,0,0,0,0,0,25.07,24.79,25.08 $GC,1381,-1.14,-146.0,2384,3433,3563,3435,197.3,-13.3,143,1388,0.00,2.45,0.00,0.000,1030,0.000,0.021,2385,1849,3499,3563,3435,0,0,0,0,0,0,24.89,24.84,24.90 $GC,1638,-1.14,-146.0,2384,1848,3563,3435,229.5,-12.3,151,1644,0.00,2.53,0.00,0.000,260,0.000,0.032,2385,3431,3499,3563,3435,0,0,0,0,0,0,25.06,24.82,25.08 $GC,1684,-1.14,-146.0,2384,3432,3563,3435,234.7,-12.3,152,1690,0.00,2.47,0.00,0.000,1030,0.000,0.021,2385,1838,3499,3563,3435,0,0,0,0,0,0,24.91,24.86,24.93 $GC,1963,-1.14,-146.0,2384,1837,3563,3435,264.3,-10.6,159,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1837,3499,3563,3435,0,0,0,0,0,0,25.10,25.13,25.13 $GC,2203,-1.14,-146.0,2384,1837,3563,3435,289.6,-10.4,165,2209,0.00,2.58,0.00,0.000,260,0.000,0.038,2385,3420,3499,3563,3435,0,0,0,0,0,0,25.08,24.83,25.10 $GC,2255,-1.14,-146.0,2385,3420,3563,3435,294.0,-10.2,166,2261,0.00,2.47,0.00,0.000,1030,0.000,0.024,2385,1845,3499,3563,3435,0,0,0,0,0,0,24.94,24.87,24.95 $STATE,2327,end dive,TARGET_DEPTH_EXCEEDED $STATE,2327,begin apogee $GC,2332,-0.26,0.0,2385,2069,3563,3434,302.4,-10.3,168,2452,1.25,0.00,115.90,0.695,10246,0.086,0.000,2667,2069,2899,2955,2843,0,0,0,0,0,0,24.78,24.14,23.68 $STATE,2453,end apogee,CONTROL_FINISHED_OK $STATE,2453,begin climb $GC,2454,1.14,146.0,2667,2069,2955,2843,305.3,0.0,171,2579,1.83,0.00,119.20,0.681,10502,0.049,0.000,3107,2069,2303,2350,2256,0,0,0,0,0,0,24.29,24.11,23.67 $GC,2808,1.16,162.6,3106,2068,2349,2247,281.2,9.2,180,2824,0.00,0.00,14.68,0.627,8198,0.000,0.000,3107,2069,2235,2286,2185,0,0,0,0,0,0,24.79,24.25,23.80 $GC,3048,1.16,162.6,3106,2069,2285,2180,256.9,10.1,186,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2069,2232,2285,2180,0,0,0,0,0,0,24.84,24.87,24.87 $GC,3288,1.16,162.6,3106,2069,2285,2178,232.4,10.2,192,3293,0.00,2.70,0.00,0.000,516,0.000,0.049,3107,464,2231,2285,2178,0,0,0,0,0,0,24.91,24.61,24.93 $GC,3364,1.16,162.6,3106,464,2283,2178,228.1,10.1,193,3371,0.00,2.50,0.00,0.000,1030,0.000,0.026,3107,2030,2230,2283,2178,0,0,0,0,0,0,24.75,24.68,24.77 $GC,3613,1.23,218.7,3106,2030,2283,2176,205.0,7.4,200,3670,0.08,2.75,47.15,0.650,10500,0.098,0.049,3139,3623,2007,2050,1964,0,0,0,0,0,0,24.76,24.22,23.75 $GC,3677,1.30,271.9,3138,3623,2050,1964,201.8,7.6,201,3736,0.05,2.55,47.92,0.632,11270,0.142,0.026,3153,2039,1788,1818,1759,0,0,0,0,0,0,24.37,24.43,23.71 $GC,3973,1.30,271.9,3153,2039,1818,1750,157.8,14.8,230,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2039,1784,1818,1750,0,0,0,0,0,0,24.83,24.85,24.85 $GC,4213,1.30,271.9,3153,2039,1818,1747,120.2,15.4,254,4219,0.00,2.55,0.00,0.000,516,0.000,0.040,3154,469,1782,1818,1747,0,0,0,0,0,0,24.91,24.63,24.93 $GC,4259,1.30,271.9,3153,469,1818,1745,113.5,15.7,258,4267,0.00,2.55,0.00,0.000,1030,0.000,0.023,3154,2073,1781,1818,1745,0,0,0,0,0,0,24.74,24.68,24.76 $GC,4508,1.30,271.9,3153,2073,1818,1744,77.4,14.5,283,4513,0.00,2.50,0.00,0.000,260,0.000,0.039,3154,3617,1781,1818,1744,0,0,0,0,0,0,24.96,24.68,24.98 $GC,4555,1.30,271.9,3153,3617,1818,1745,70.6,15.1,287,4564,0.00,2.53,0.00,0.000,1030,0.000,0.023,3154,2041,1781,1818,1745,0,0,0,0,0,0,24.80,24.74,24.82 $GC,4805,1.30,271.9,3153,2041,1818,1744,36.3,13.4,312,4810,0.00,2.55,0.00,0.000,516,0.000,0.038,3154,464,1781,1818,1744,0,0,0,0,0,0,25.01,24.73,25.03 $GC,4881,1.30,271.9,3154,464,1818,1742,25.1,14.4,322,4890,0.00,2.53,0.00,0.000,1030,0.000,0.022,3154,2047,1780,1818,1742,0,0,0,0,0,0,24.82,24.79,24.84 $STATE,5044,end climb,SURFACE_DEPTH_REACHED $STATE,5045,begin surface coast $FINISH,0.1,1.016416 $STATE,5069,end surface coast,CONTROL_FINISHED_OK $STATE,5069,begin surface $SM_CCo,5088,78.47,0.485,0,0,1227,410.13 $SM_GC,0.94,11.52,0.30,78.47,0.052,0.044,0.485,421,1832,1227,-7.27,1.19,410.13,0,0,0,0,0,0,24.74,24.82,23.87 $IRIDIUM_FIX,2152.74,-15503.91,150318,185553 $TT8_MAMPS,0.021721,0.343042 $HUMID,51.14 $INTERNAL_PRESSURE,9.25217 $TCM_TEMP,21.20 $XPDR_PINGS,12 $24V_AH,23.67,4.132 $10V_AH,10.45,2.589 $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,25.250,61.300,344.850,78.475,0.000,30.376,44.334,155.234,13.750,0.000,33.427,1064.768,2621.048,512.334,1242.191,93.163,0.000,962.362,0.000,945.716,0.000,68.053,0.000 $DEVICE_MAMPS,162.180,48.960,695.385,485.010,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,238.559,224.015,316.652,437.457,519.646,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000 $MEM,343044 $DATA_FILE_SIZE,27266,355 $CAP_FILE_SIZE,66171,0 $CFSIZE,259248128,257851392 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $CURRENT,0.197,337.96,1 $GPS,150318,221051,2203.923,-15503.623,10,1.3,50,10.1,0.1,148.9,6,6.0