version: 66.12 revision: CLOWNFISH glider: 148 mission: 15 dive: 691 start: 6 21 118 3 27 39 data: $ID,148 $MISSION,15 $DIVE,691 $N_DIVES,0 $STOP_T,0 $D_SURF,3 $D_FLARE,3 $D_TGT,500 $D_ABORT,950 $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,650 $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,120 $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,2 $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,2770 $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,1850 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,38 $R_STBD_OVSHOOT,50 $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,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,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 $GPS1,210618,032033,2244.8059,-15754.7295,10,0.9,32,10.1,0.6,221.4,9,4.8 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,0.87 $_SM_ANGLEo,-62.9 $GPS2,210618,032715,2244.7764,-15754.7510,10,1.2,20,10.1,0.3,168.7,8,5.2 $SPEED_LIMITS,0.174,0.235 $TGT_NAME,A8 $TGT_LATLONG,2245.000,-15805.000 $TGT_RADIUS,900.000 $MHEAD_RNG_PITCHd_Wd,269.0,17508,-20.5,-10.040,-23.14,1785 $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,-1.22,-116.8,434,1897,1355,1332,0.0,0.0,0,90,0.00,0.00,-70.97,0.000,16386,0.000,0.000,435,1898,3315,3362,3268,0,0,0,0,0,0,24.56,28.83,24.58 $GC,94,-1.22,-116.8,434,1898,3362,3269,3.3,-7.1,10,116,10.75,2.58,-1.12,0.000,18692,0.169,0.035,2368,3471,3380,3436,3325,0,0,0,0,0,0,24.11,23.42,24.28 $GC,260,-1.22,-116.8,2368,3471,3436,3326,42.1,-17.4,33,265,0.00,2.50,0.00,0.000,1030,0.000,0.017,2368,1880,3381,3436,3326,0,0,0,0,0,0,24.47,24.42,24.49 $GC,515,-1.22,-116.8,2367,1880,3437,3327,83.6,-14.9,58,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1880,3381,3436,3327,0,0,0,0,0,0,24.70,24.72,24.71 $GC,766,-1.22,-116.8,2368,1880,3436,3328,115.6,-13.0,83,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1880,3382,3436,3328,0,0,0,0,0,0,24.73,24.75,24.75 $GC,1014,-1.22,-116.8,2368,1880,3437,3328,150.2,-14.5,108,1019,0.00,2.55,0.00,0.000,260,0.000,0.026,2368,3470,3382,3437,3328,0,0,0,0,0,0,24.76,24.50,24.77 $GC,1068,-1.22,-116.8,2367,3470,3437,3328,158.0,-14.0,113,1073,0.00,2.45,0.00,0.000,1030,0.000,0.016,2368,1894,3383,3437,3329,0,0,0,0,0,0,24.59,24.54,24.60 $GC,1324,-1.22,-116.8,2368,1894,3437,3329,183.7,-9.0,138,1329,0.00,2.53,0.00,0.000,516,0.000,0.034,2368,334,3383,3437,3329,0,0,0,0,0,0,24.78,24.51,24.79 $GC,1423,-1.22,-116.8,2368,334,3437,3329,194.9,-10.9,147,1431,0.00,2.47,0.00,0.000,1030,0.000,0.015,2368,1926,3383,3437,3330,0,0,0,0,0,0,24.62,24.58,24.63 $GC,1669,-1.22,-116.8,2368,1927,3438,3330,222.0,-10.7,157,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1927,3384,3438,3330,0,0,0,0,0,0,24.80,24.82,24.82 $GC,1910,-1.22,-116.8,2368,1927,3438,3330,245.2,-9.6,163,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1927,3384,3439,3330,0,0,0,0,0,0,24.82,24.84,24.84 $GC,2150,-1.22,-116.8,2368,1927,3438,3330,267.3,-9.6,169,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1927,3384,3438,3330,0,0,0,0,0,0,24.83,24.85,24.84 $GC,2389,-1.22,-116.8,2367,1927,3438,3330,294.1,-11.2,175,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1927,3384,3438,3330,0,0,0,0,0,0,24.84,24.86,24.85 $GC,2630,-1.22,-116.8,2368,1928,3438,3328,317.2,-9.2,181,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1927,3383,3438,3328,0,0,0,0,0,0,24.84,24.87,24.87 $GC,2870,-1.22,-116.8,2367,1927,3438,3326,340.0,-9.7,187,2877,0.00,2.65,0.00,0.000,516,0.000,0.039,2368,332,3382,3438,3326,0,0,0,0,0,0,24.85,24.56,24.87 $GC,2939,-1.22,-116.8,2367,332,3438,3326,344.5,-9.8,188,2945,0.00,2.47,0.00,0.000,1030,0.000,0.020,2369,1887,3382,3438,3326,0,0,0,0,0,0,24.68,24.62,24.69 $GC,3199,-1.22,-116.8,2368,1887,3438,3322,370.1,-8.6,195,3204,0.00,2.60,0.00,0.000,516,0.000,0.042,2368,335,3380,3438,3322,0,0,0,0,0,0,24.85,24.56,24.87 $GC,3218,-1.22,-116.8,2367,336,3438,3322,370.1,-8.6,195,3223,0.00,2.50,0.00,0.000,1030,0.000,0.021,2368,1901,3380,3438,3322,0,0,0,0,0,0,24.68,24.62,24.69 $GC,3487,-1.22,-116.8,2368,1901,3438,3319,393.1,-8.4,202,3493,0.00,2.62,0.00,0.000,260,0.000,0.044,2368,3468,3378,3438,3319,0,0,0,0,0,0,24.87,24.56,24.88 $GC,3540,-1.22,-116.8,2368,3469,3439,3318,397.8,-9.2,203,3546,0.00,2.47,0.00,0.000,1030,0.000,0.021,2368,1909,3378,3438,3318,0,0,0,0,0,0,24.68,24.63,24.70 $GC,3815,-1.22,-116.8,2368,1909,3438,3314,427.2,-10.3,210,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1909,3376,3439,3314,0,0,0,0,0,0,24.87,24.89,24.88 $GC,4054,-1.22,-116.8,2368,1909,3438,3311,450.5,-9.4,216,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1909,3374,3438,3311,0,0,0,0,0,0,24.85,24.88,24.87 $GC,4294,-1.22,-116.8,2367,1909,3438,3308,470.3,-7.7,222,4299,0.00,2.67,0.00,0.000,516,0.000,0.053,2368,337,3373,3438,3308,0,0,0,0,0,0,24.86,24.55,24.88 $GC,4363,-1.22,-116.8,2367,337,3438,3308,473.7,-7.6,223,4368,0.00,2.55,0.00,0.000,1030,0.000,0.028,2368,1901,3373,3439,3308,0,0,0,0,0,0,24.68,24.61,24.70 $GC,4621,-1.22,-116.8,2368,1901,3438,3303,494.0,-7.3,230,4627,0.00,2.67,0.00,0.000,516,0.000,0.052,2368,338,3371,3438,3304,0,0,0,0,0,0,24.87,24.55,24.89 $GC,4645,-1.22,-116.8,2368,338,3438,3303,494.0,-7.3,230,4651,0.00,2.55,0.00,0.000,1030,0.000,0.028,2368,1898,3370,3438,3303,0,0,0,0,0,0,24.68,24.61,24.70 $STATE,4707,end dive,TARGET_DEPTH_EXCEEDED $STATE,4707,begin apogee $GC,4714,-0.26,0.0,2368,1897,3438,3302,501.4,-8.2,232,4816,1.38,0.00,98.18,0.863,10246,0.080,0.000,2677,1897,2899,2962,2837,0,0,0,0,0,0,24.54,23.74,23.08 $STATE,4817,end apogee,CONTROL_FINISHED_OK $STATE,4817,begin climb $GC,4820,1.22,116.8,2677,1897,2962,2836,503.2,0.0,234,4927,2.05,0.00,102.85,0.840,10246,0.042,0.000,3163,1897,2422,2485,2359,0,0,0,0,0,0,24.03,23.70,23.08 $GC,5149,1.22,116.8,3163,1898,2484,2346,475.9,10.7,243,5155,0.00,2.67,0.00,0.000,260,0.000,0.064,3163,3423,2415,2485,2346,0,0,0,0,0,0,24.58,24.25,24.60 $GC,5248,1.22,116.8,3163,3423,2481,2345,466.4,11.1,245,5253,0.00,2.58,0.00,0.000,1030,0.000,0.031,3163,1867,2413,2481,2345,0,0,0,0,0,0,24.44,24.35,24.46 $GC,5517,1.25,135.7,3162,1867,2481,2342,440.3,9.0,252,5535,0.00,0.00,16.67,0.776,8198,0.000,0.000,3163,1867,2346,2410,2282,0,0,0,0,0,0,24.68,23.85,23.21 $GC,5757,1.26,144.9,3163,1867,2410,2274,417.3,9.5,258,5771,0.00,2.70,9.35,0.711,8452,0.000,0.046,3163,3425,2307,2369,2245,0,0,0,0,0,0,24.65,23.81,23.34 $GC,5800,1.27,154.2,3162,3425,2368,2246,413.1,9.5,259,5815,0.00,2.62,9.62,0.706,9222,0.000,0.036,3163,1849,2270,2330,2210,0,0,0,0,0,0,24.37,24.29,23.28 $GC,6083,1.27,154.2,3163,1849,2330,2204,383.9,10.2,266,6089,0.00,2.70,0.00,0.000,260,0.000,0.045,3163,3426,2267,2330,2204,0,0,0,0,0,0,24.65,24.33,24.67 $GC,6211,1.27,154.2,3162,3426,2328,2204,370.0,11.1,269,6216,0.00,2.60,0.00,0.000,1030,0.000,0.029,3163,1847,2265,2327,2204,0,0,0,0,0,0,24.49,24.41,24.51 $GC,6489,1.27,154.2,3163,1847,2328,2202,339.4,10.9,276,6495,0.00,2.67,0.00,0.000,260,0.000,0.044,3163,3428,2265,2328,2202,0,0,0,0,0,0,24.71,24.39,24.73 $GC,6518,1.27,154.2,3162,3428,2327,2202,339.4,10.9,276,6523,0.00,2.60,0.00,0.000,1030,0.000,0.028,3163,1846,2264,2327,2202,0,0,0,0,0,0,24.52,24.44,24.54 $GC,6777,1.27,154.2,3163,1846,2327,2201,307.7,10.8,283,6778,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1845,2264,2327,2201,0,0,0,0,0,0,24.74,24.76,24.75 $GC,7016,1.27,154.2,3163,1846,2327,2199,281.8,10.9,289,7023,0.00,2.67,0.00,0.000,260,0.000,0.043,3163,3426,2263,2327,2199,0,0,0,0,0,0,24.75,24.44,24.77 $GC,7062,1.27,154.2,3163,3426,2327,2199,276.7,11.1,290,7069,0.00,2.60,0.00,0.000,1030,0.000,0.027,3163,1841,2263,2327,2199,0,0,0,0,0,0,24.57,24.49,24.59 $GC,7347,1.27,154.2,3163,1841,2327,2198,247.8,10.0,297,7353,0.00,2.67,0.00,0.000,260,0.000,0.043,3163,3430,2262,2327,2198,0,0,0,0,0,0,24.73,24.46,24.76 $GC,7560,1.30,176.6,3163,3430,2325,2198,229.5,8.7,302,7585,0.00,2.58,19.73,0.669,9222,0.000,0.025,3163,1840,2178,2238,2119,0,0,0,0,0,0,24.58,24.52,23.37 $GC,7834,1.33,201.4,3163,1840,2237,2114,206.3,8.6,309,7867,0.05,2.78,22.92,0.646,10500,0.142,0.038,3183,3432,2077,2129,2026,0,0,0,0,0,0,24.44,23.90,23.34 $GC,7955,1.33,201.4,3182,3432,2127,2025,192.5,12.1,315,7961,0.00,2.60,0.00,0.000,1030,0.000,0.025,3183,1838,2075,2127,2024,0,0,0,0,0,0,24.41,24.35,24.43 $GC,8215,1.34,213.7,3182,1838,2127,2021,167.2,9.3,340,8236,0.00,2.70,11.77,0.582,8452,0.000,0.032,3183,3432,2027,2079,1976,0,0,0,0,0,0,24.68,24.04,23.49 $GC,8280,1.34,213.7,3182,3432,2078,1976,159.7,11.2,346,8286,0.00,2.58,0.00,0.000,1030,0.000,0.021,3183,1843,2026,2078,1975,0,0,0,0,0,0,24.41,24.36,24.44 $GC,8536,1.34,213.7,3182,1843,2078,1971,131.9,10.7,371,8542,0.00,2.62,0.00,0.000,260,0.000,0.032,3183,3435,2025,2079,1971,0,0,0,0,0,0,24.68,24.41,24.70 $GC,8685,1.34,213.7,3182,3436,2078,1971,114.9,11.4,385,8691,0.00,2.55,0.00,0.000,1030,0.000,0.019,3183,1842,2025,2078,1972,0,0,0,0,0,0,24.53,24.48,24.55 $GC,8941,1.38,243.5,3182,1842,2078,1971,92.1,8.3,410,8975,0.00,2.72,27.23,0.544,8452,0.000,0.037,3183,3444,1906,1952,1861,0,0,0,0,0,0,24.74,23.96,23.48 $GC,9123,1.38,243.5,3182,3444,1952,1860,75.1,10.2,427,9129,0.00,2.55,0.00,0.000,1030,0.000,0.019,3183,1850,1905,1952,1859,0,0,0,0,0,0,24.46,24.41,24.48 $GC,9381,1.39,249.0,3182,1850,1952,1857,51.1,9.7,452,9394,0.00,2.62,6.38,0.427,8452,0.000,0.029,3183,3444,1884,1932,1836,0,0,0,0,0,0,24.70,24.08,23.77 $GC,9440,1.39,249.0,3182,3444,1932,1836,44.5,11.0,457,9446,0.00,2.55,0.00,0.000,1030,0.000,0.018,3183,1843,1884,1932,1836,0,0,0,0,0,0,24.48,24.43,24.49 $GC,9701,1.43,283.8,3182,1843,1932,1835,21.7,8.0,490,9744,0.08,2.67,32.55,0.477,10500,0.099,0.030,3215,3433,1742,1788,1696,0,0,0,0,0,0,24.49,23.98,23.55 $GC,9822,1.43,283.8,3215,3432,1788,1696,9.8,11.1,509,9829,0.00,2.55,0.00,0.000,1030,0.000,0.018,3215,1843,1741,1787,1696,0,0,0,0,0,0,24.42,24.37,24.44 $STATE,9885,end climb,SURFACE_DEPTH_REACHED $STATE,9885,begin surface coast $FINISH,0.1,1.010581 $STATE,9920,end surface coast,CONTROL_FINISHED_OK $STATE,9920,begin surface $SM_CCo,9943,57.42,0.461,0,0,1349,380.21 $SM_GC,0.75,11.70,0.10,57.42,0.041,0.070,0.461,431,1968,1349,-7.27,-0.79,380.21,0,0,0,0,0,0,24.36,24.47,23.51 $IRIDIUM_FIX,2234.68,-15757.16,210618,004054 $TT8_MAMPS,0.021721,0.343042 $HUMID,56.73 $INTERNAL_PRESSURE,9.25217 $TCM_TEMP,22.60 $XPDR_PINGS,107 $24V_AH,23.08,79.776 $10V_AH,9.72,60.059 $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,26.000,104.125,357.250,57.425,0.000,30.219,48.038,181.438,26.750,0.000,22.977,1750.858,6062.136,560.973,1770.129,262.997,0.000,1248.304,0.000,1490.041,0.000,0.538,0.000 $DEVICE_MAMPS,169.065,70.380,862.920,461.295,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,354.124,295.100,446.287,543.412,643.855,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000 $MEM,342776 $DATA_FILE_SIZE,44000,526 $CAP_FILE_SIZE,100478,0 $CFSIZE,259248128,218791936 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $CURRENT,0.118,221.72,1 $GPS,210618,061543,2244.287,-15756.366,32,1.7,42,10.1,0.5,221.8,8,6.5