version: 66.12 revision: CLOWNFISH glider: 148 mission: 15 dive: 37 start: 3 18 118 11 11 35 data: $ID,148 $MISSION,15 $DIVE,37 $N_DIVES,0 $STOP_T,0 $D_SURF,3 $D_FLARE,3 $D_TGT,500 $D_ABORT,700 $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,166 $T_MISSION,350 $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,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,380 $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,1900 $C_ROLL_CLIMB,1950 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,41 $R_STBD_OVSHOOT,47 $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 $GPS1,180318,110503,2210.0376,-15502.4551,32,1.2,36,10.2,0.3,234.4,8,5.4 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,0.92 $_SM_ANGLEo,-60.7 $GPS2,180318,111109,2210.0591,-15502.5020,13,1.4,29,10.2,0.2,208.5,8,5.2 $SPEED_LIMITS,0.174,0.260 $TGT_NAME,T3 $TGT_LATLONG,2159.330,-15539.880 $TGT_RADIUS,900.000 $MHEAD_RNG_PITCHd_Wd,233.6,67192,-18.3,-10.040,-21.09,2227 $D_GRID,500 $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,16,-1.14,-146.0,434,1931,1329,1358,0.0,0.0,0,98,0.00,0.00,-77.93,0.000,16390,0.000,0.000,434,1931,3496,3546,3447,0,0,0,0,0,0,24.64,23.70,24.66 $GC,101,-1.14,-146.0,434,1930,3547,3448,4.2,-10.0,11,117,10.48,2.55,0.00,0.000,2308,0.161,0.029,2382,3475,3498,3548,3448,0,0,0,0,0,0,24.24,24.37,24.38 $GC,290,-1.14,-146.0,2381,3475,3549,3448,43.8,-15.9,37,297,0.00,2.50,0.00,0.000,1030,0.000,0.019,2382,1889,3498,3549,3448,0,0,0,0,0,0,24.55,24.50,24.56 $GC,544,-1.14,-146.0,2381,1888,3549,3448,82.9,-15.1,62,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1888,3498,3549,3448,0,0,0,0,0,0,24.77,24.79,24.78 $GC,784,-1.14,-146.0,2381,1888,3550,3448,120.2,-16.0,86,790,0.00,2.55,0.00,0.000,516,0.000,0.035,2382,314,3499,3550,3448,0,0,0,0,0,0,24.77,24.53,24.79 $GC,823,-1.14,-146.0,2381,314,3550,3448,125.6,-16.5,89,830,0.00,2.47,0.00,0.000,1030,0.000,0.018,2382,1904,3499,3550,3448,0,0,0,0,0,0,24.63,24.58,24.65 $GC,1069,-1.14,-146.0,2381,1905,3551,3448,162.8,-13.4,114,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1905,3499,3551,3448,0,0,0,0,0,0,24.83,24.85,24.85 $GC,1309,-1.14,-146.0,2381,1905,3553,3448,194.4,-12.0,138,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1905,3500,3552,3448,0,0,0,0,0,0,24.86,24.88,24.87 $GC,1560,-1.14,-146.0,2381,1905,3553,3448,222.6,-11.1,148,1566,0.00,2.53,0.00,0.000,260,0.000,0.032,2382,3478,3500,3553,3448,0,0,0,0,0,0,24.85,24.62,24.87 $GC,1592,-1.14,-146.0,2381,3478,3553,3448,222.6,-11.1,148,1598,0.00,2.47,0.00,0.000,1030,0.000,0.019,2382,1886,3500,3553,3448,0,0,0,0,0,0,24.71,24.66,24.72 $GC,1847,-1.14,-146.0,2381,1885,3554,3448,255.3,-11.2,155,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1884,3501,3554,3448,0,0,0,0,0,0,24.88,24.90,24.90 $GC,2086,-1.14,-146.0,2381,1885,3554,3448,281.2,-10.9,161,2092,0.00,2.58,0.00,0.000,260,0.000,0.034,2382,3471,3501,3554,3448,0,0,0,0,0,0,24.89,24.65,24.90 $GC,2113,-1.14,-146.0,2381,3471,3554,3448,281.2,-10.9,161,2119,0.00,2.45,0.00,0.000,1030,0.000,0.021,2382,1903,3501,3554,3448,0,0,0,0,0,0,24.74,24.69,24.75 $GC,2372,-1.14,-146.0,2381,1902,3553,3448,310.3,-9.3,168,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1902,3501,3554,3448,0,0,0,0,0,0,24.90,24.93,24.92 $GC,2611,-1.14,-146.0,2381,1903,3553,3447,334.2,-10.1,174,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1902,3500,3554,3447,0,0,0,0,0,0,24.94,24.96,24.96 $GC,2854,-1.14,-146.0,2381,1902,3553,3445,358.1,-9.8,180,2859,0.00,2.62,0.00,0.000,516,0.000,0.047,2382,330,3499,3553,3445,0,0,0,0,0,0,24.94,24.65,24.95 $GC,2900,-1.14,-146.0,2381,330,3553,3445,362.8,-9.8,181,2905,0.00,2.47,0.00,0.000,1030,0.000,0.023,2382,1893,3499,3553,3445,0,0,0,0,0,0,24.77,24.72,24.79 $GC,3179,-1.14,-146.0,2381,1893,3553,3442,391.0,-10.1,188,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1893,3497,3553,3442,0,0,0,0,0,0,24.93,24.96,24.95 $GC,3418,-1.14,-146.0,2381,1893,3553,3439,414.4,-9.6,194,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1893,3496,3553,3439,0,0,0,0,0,0,24.96,24.99,24.98 $GC,3660,-1.14,-146.0,2381,1893,3553,3436,435.6,-8.9,200,3666,0.00,2.65,0.00,0.000,516,0.000,0.054,2382,329,3494,3553,3436,0,0,0,0,0,0,24.95,24.67,24.97 $GC,3678,-1.14,-146.0,2381,330,3553,3436,435.6,-8.9,200,3683,0.00,2.53,0.00,0.000,1030,0.000,0.028,2382,1894,3494,3553,3436,0,0,0,0,0,0,24.79,24.72,24.80 $GC,3946,-1.14,-146.0,2381,1895,3553,3433,465.3,-10.5,207,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1895,3492,3553,3432,0,0,0,0,0,0,24.94,24.97,24.96 $GC,4185,-1.14,-146.0,2381,1895,3553,3430,489.0,-9.6,213,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1894,3491,3553,3430,0,0,0,0,0,0,24.98,25.00,24.99 $STATE,4346,end dive,TARGET_DEPTH_EXCEEDED $STATE,4346,begin apogee $GC,4350,-0.26,0.0,2381,1963,3553,3428,502.7,-8.6,217,4474,1.27,0.00,119.70,0.882,10246,0.086,0.000,2666,1963,2899,2954,2845,0,0,0,0,0,0,24.65,23.93,23.41 $STATE,4475,end apogee,CONTROL_FINISHED_OK $STATE,4475,begin climb $GC,4477,1.14,146.0,2666,1963,2954,2844,504.5,0.0,220,4610,1.90,2.75,124.65,0.849,10500,0.047,0.061,3114,3516,2302,2349,2255,0,0,0,0,0,0,24.09,23.78,23.39 $GC,4651,1.14,146.0,3113,3516,2346,2253,494.8,7.7,224,4657,0.00,2.58,0.00,0.000,1030,0.000,0.032,3114,1967,2299,2346,2252,0,0,0,0,0,0,24.31,24.23,24.33 $GC,4904,1.14,146.0,3114,1967,2346,2245,456.5,13.4,231,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1967,2295,2346,2245,0,0,0,0,0,0,24.63,24.65,24.65 $GC,5144,1.14,146.0,3113,1967,2346,2241,426.6,12.1,237,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1967,2293,2346,2241,0,0,0,0,0,0,24.68,24.72,24.71 $GC,5384,1.14,146.0,3113,1967,2346,2239,400.9,10.5,243,5389,0.00,2.78,0.00,0.000,516,0.000,0.060,3114,359,2292,2346,2239,0,0,0,0,0,0,24.73,24.43,24.75 $GC,5405,1.14,146.0,3113,359,2345,2239,400.9,10.5,243,5411,0.00,2.60,0.00,0.000,1030,0.000,0.027,3114,1950,2292,2345,2239,0,0,0,0,0,0,24.56,24.49,24.58 $GC,5668,1.17,170.7,3114,1950,2344,2238,374.5,8.9,250,5697,0.00,2.80,20.50,0.782,8708,0.000,0.048,3114,368,2202,2253,2152,0,0,0,0,0,0,24.77,24.07,23.54 $GC,5709,1.20,190.3,3113,368,2252,2151,370.4,9.1,251,5734,0.00,2.62,18.45,0.758,9222,0.000,0.030,3114,1956,2123,2170,2076,0,0,0,0,0,0,24.38,24.31,23.51 $GC,5991,1.20,190.3,3113,1956,2169,2071,337.0,12.0,258,5997,0.00,2.72,0.00,0.000,516,0.000,0.047,3114,360,2119,2169,2070,0,0,0,0,0,0,24.71,24.42,24.72 $GC,6018,1.20,190.3,3113,360,2168,2070,337.0,12.0,258,6023,0.00,2.60,0.00,0.000,1030,0.000,0.032,3114,1955,2119,2169,2070,0,0,0,0,0,0,24.53,24.47,24.56 $GC,6275,1.20,190.3,3113,1955,2169,2069,303.1,11.8,265,6276,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1955,2119,2169,2069,0,0,0,0,0,0,24.76,24.79,24.78 $GC,6515,1.20,190.3,3113,1955,2168,2067,276.8,10.7,271,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1955,2118,2169,2067,0,0,0,0,0,0,24.79,24.82,24.82 $GC,6755,1.20,190.3,3113,1955,2169,2066,251.4,10.9,277,6757,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1955,2117,2169,2066,0,0,0,0,0,0,24.82,24.84,24.84 $GC,6995,1.20,190.3,3113,1955,2169,2065,224.0,11.6,283,7000,0.00,2.67,0.00,0.000,516,0.000,0.044,3114,360,2116,2168,2065,0,0,0,0,0,0,24.84,24.56,24.86 $GC,7016,1.20,190.3,3113,361,2168,2065,224.0,11.6,283,7022,0.00,2.58,0.00,0.000,1030,0.000,0.024,3114,1967,2116,2168,2065,0,0,0,0,0,0,24.67,24.60,24.69 $GC,7270,1.20,190.3,3113,1967,2168,2065,196.6,10.1,292,7276,0.00,2.58,0.00,0.000,260,0.000,0.047,3114,3517,2116,2168,2065,0,0,0,0,0,0,24.86,24.56,24.88 $GC,7337,1.20,190.3,3113,3517,2167,2065,189.3,11.7,298,7344,0.00,2.53,0.00,0.000,1030,0.000,0.026,3114,1938,2115,2166,2065,0,0,0,0,0,0,24.69,24.63,24.71 $GC,7585,1.22,206.3,3113,1938,2166,2065,163.8,9.3,323,7606,0.05,2.65,13.98,0.607,10756,0.132,0.040,3136,372,2058,2105,2011,0,0,0,0,0,0,24.69,24.31,23.84 $GC,7629,1.24,221.5,3135,372,2104,2011,159.6,9.3,327,7652,0.00,2.55,14.95,0.599,9222,0.000,0.022,3136,1962,1994,2038,1951,0,0,0,0,0,0,24.51,24.46,23.70 $GC,7890,1.24,221.5,3136,1962,2037,1948,131.8,10.5,353,7896,0.00,2.65,0.00,0.000,516,0.000,0.044,3136,363,1993,2038,1948,0,0,0,0,0,0,24.77,24.50,24.78 $GC,7914,1.24,221.5,3135,363,2037,1948,129.1,10.9,355,7919,0.00,2.55,0.00,0.000,1030,0.000,0.021,3136,1960,1992,2037,1948,0,0,0,0,0,0,24.60,24.54,24.61 $GC,8167,1.24,221.5,3135,1960,2037,1949,100.0,11.2,380,8173,0.00,2.62,0.00,0.000,516,0.000,0.037,3136,369,1993,2038,1948,0,0,0,0,0,0,24.81,24.55,24.83 $GC,8203,1.24,221.5,3135,369,2037,1948,96.0,11.7,383,8208,0.00,2.53,0.00,0.000,1030,0.000,0.021,3136,1961,1992,2037,1948,0,0,0,0,0,0,24.64,24.59,24.65 $GC,8457,1.24,221.5,3135,1961,2038,1948,67.3,10.7,408,8463,0.00,2.62,0.00,0.000,516,0.000,0.037,3136,362,1992,2037,1948,0,0,0,0,0,0,24.84,24.58,24.86 $GC,8495,1.24,221.5,3135,362,2037,1948,63.2,11.2,411,8502,0.00,2.53,0.00,0.000,1030,0.000,0.021,3136,1955,1993,2038,1948,0,0,0,0,0,0,24.67,24.62,24.68 $GC,8743,1.25,229.1,3135,1955,2038,1948,36.6,9.7,436,8757,0.00,2.60,8.07,0.457,8708,0.000,0.035,3136,368,1964,2006,1922,0,0,0,0,0,0,24.87,24.46,24.05 $GC,8791,1.25,229.1,3135,368,2005,1922,31.5,10.3,440,8797,0.00,2.53,0.00,0.000,1030,0.000,0.020,3136,1960,1964,2006,1922,0,0,0,0,0,0,24.60,24.56,24.62 $GC,9063,1.25,234.2,3135,1960,2006,1922,4.0,9.8,487,9072,0.00,0.00,5.15,0.384,8198,0.000,0.000,3136,1960,1944,1985,1903,0,0,0,0,0,0,24.85,24.48,24.09 $STATE,9077,end climb,SURFACE_DEPTH_REACHED $STATE,9077,begin surface coast $FINISH,0.1,1.010376 $STATE,9105,end surface coast,CONTROL_FINISHED_OK $STATE,9105,begin surface $SM_CCo,9125,81.70,0.494,0,0,1349,380.21 $SM_GC,0.91,11.32,0.10,81.70,0.043,0.073,0.494,430,1863,1349,-7.23,0.79,380.21,0,0,0,0,0,0,24.53,24.63,23.70 $IRIDIUM_FIX,2159.71,-15457.72,180318,082154 $TT8_MAMPS,0.021721,0.280875 $HUMID,49.05 $INTERNAL_PRESSURE,9.22287 $TCM_TEMP,22.40 $XPDR_PINGS,11 $24V_AH,23.39,6.882 $10V_AH,10.40,4.349 $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,25.025,88.175,325.450,81.700,0.000,23.746,40.920,179.164,23.500,0.000,31.634,1515.728,5836.076,534.982,1559.644,138.981,0.000,1098.194,0.000,1234.840,0.000,131.074,0.000 $DEVICE_MAMPS,160.650,104.040,882.045,494.190,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,334.368,276.326,413.652,519.074,622.473,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000 $MEM,343200 $DATA_FILE_SIZE,40613,494 $CAP_FILE_SIZE,97417,0 $CFSIZE,259248128,256548864 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $CURRENT,0.057,281.56,1 $GPS,180318,134621,2209.622,-15503.977,14,1.1,42,10.2,0.4,348.9,9,4.6