version: 66.12 revision: CLOWNFISH glider: 148 mission: 15 dive: 711 start: 6 23 118 12 10 10 data: $ID,148 $MISSION,15 $DIVE,711 $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,42 $R_STBD_OVSHOOT,37 $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 $GPS1,230618,120233,2245.3096,-15759.6787,69,0.9,104,10.1,0.5,186.6,8,4.6 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,0.88 $_SM_ANGLEo,-62.7 $GPS2,230618,120945,2245.2710,-15759.7520,36,1.1,50,10.1,0.1,261.4,8,4.7 $SPEED_LIMITS,0.174,0.235 $TGT_NAME,A9 $TGT_LATLONG,2245.390,-15758.740 $TGT_RADIUS,900.000 $MHEAD_RNG_PITCHd_Wd,59.6,1742,-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,13,end surface,CONTROL_FINISHED_OK $STATE,13,begin dive $GC,16,-1.22,-116.8,434,1833,1355,1326,0.0,0.0,0,90,0.00,0.00,-71.03,0.000,16386,0.000,0.000,434,1833,3350,3399,3302,0,0,0,0,0,0,24.58,28.83,24.59 $GC,94,-1.22,-116.8,434,1833,3400,3303,3.8,-8.9,10,116,10.80,2.67,-0.47,0.000,18692,0.171,0.031,2367,3489,3379,3432,3326,0,0,0,0,0,0,24.10,23.41,24.28 $GC,147,-1.22,-116.8,2366,3489,3432,3326,21.3,-18.9,18,155,0.00,2.55,0.00,0.000,1030,0.000,0.018,2367,1884,3379,3432,3327,0,0,0,0,0,0,24.42,24.37,24.44 $GC,408,-1.22,-116.8,2366,1884,3432,3327,66.3,-17.4,47,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1884,3379,3432,3327,0,0,0,0,0,0,24.68,24.70,24.69 $GC,655,-1.22,-116.8,2366,1884,3432,3328,104.9,-15.3,72,661,0.00,2.58,0.00,0.000,260,0.000,0.026,2367,3487,3380,3432,3328,0,0,0,0,0,0,24.72,24.46,24.73 $GC,694,-1.22,-116.8,2366,3487,3433,3328,110.3,-15.7,75,701,0.00,2.47,0.00,0.000,1030,0.000,0.016,2367,1890,3380,3433,3328,0,0,0,0,0,0,24.55,24.50,24.56 $GC,942,-1.22,-116.8,2366,1890,3434,3328,146.2,-14.2,100,947,0.00,2.50,0.00,0.000,516,0.000,0.031,2367,330,3381,3434,3329,0,0,0,0,0,0,24.75,24.49,24.76 $GC,1020,-1.22,-116.8,2366,330,3434,3329,156.8,-14.1,107,1027,0.00,2.47,0.00,0.000,1030,0.000,0.015,2367,1936,3381,3434,3329,0,0,0,0,0,0,24.59,24.55,24.60 $GC,1269,-1.22,-116.8,2366,1935,3436,3329,187.5,-11.4,132,1274,0.00,2.42,0.00,0.000,260,0.000,0.026,2367,3459,3382,3436,3329,0,0,0,0,0,0,24.77,24.52,24.79 $GC,1296,-1.22,-116.8,2366,3459,3436,3329,190.7,-12.0,134,1304,0.00,2.42,0.00,0.000,1030,0.000,0.016,2367,1888,3382,3436,3329,0,0,0,0,0,0,24.60,24.56,24.62 $GC,1573,-1.22,-116.8,2366,1888,3436,3330,221.1,-10.6,147,1578,0.00,2.50,0.00,0.000,516,0.000,0.031,2367,326,3383,3436,3330,0,0,0,0,0,0,24.79,24.53,24.80 $GC,1706,-1.22,-116.8,2366,326,3436,3330,233.4,-10.1,150,1711,0.00,2.45,0.00,0.000,1030,0.000,0.015,2367,1905,3383,3436,3330,0,0,0,0,0,0,24.63,24.58,24.64 $GC,1980,-1.22,-116.8,2366,1904,3436,3330,259.0,-9.1,157,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1904,3383,3436,3330,0,0,0,0,0,0,24.81,24.83,24.83 $GC,2220,-1.22,-116.8,2366,1904,3436,3330,284.0,-10.6,163,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1904,3383,3436,3330,0,0,0,0,0,0,24.82,24.84,24.84 $GC,2460,-1.22,-116.8,2366,1904,3436,3330,308.9,-10.5,169,2465,0.00,2.60,0.00,0.000,516,0.000,0.036,2367,338,3383,3436,3330,0,0,0,0,0,0,24.84,24.55,24.85 $GC,2487,-1.22,-116.8,2366,338,3436,3330,308.9,-10.5,169,2494,0.00,2.45,0.00,0.000,1030,0.000,0.018,2367,1891,3383,3436,3330,0,0,0,0,0,0,24.65,24.60,24.67 $GC,2747,-1.22,-116.8,2366,1891,3436,3327,336.5,-9.0,176,2753,0.00,2.60,0.00,0.000,516,0.000,0.038,2367,336,3382,3436,3328,0,0,0,0,0,0,24.84,24.55,24.86 $GC,2806,-1.22,-116.8,2366,335,3436,3327,340.7,-9.0,177,2812,0.00,2.50,0.00,0.000,1030,0.000,0.019,2367,1912,3381,3436,3327,0,0,0,0,0,0,24.66,24.60,24.68 $GC,3075,-1.22,-116.8,2366,1912,3436,3324,368.3,-9.8,184,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1912,3380,3436,3324,0,0,0,0,0,0,24.84,24.87,24.87 $GC,3316,-1.22,-116.8,2366,1912,3436,3321,392.0,-10.0,190,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1912,3378,3436,3321,0,0,0,0,0,0,24.85,24.88,24.87 $GC,3556,-1.22,-116.8,2366,1912,3436,3318,416.5,-10.2,196,3561,0.00,2.67,0.00,0.000,516,0.000,0.046,2367,342,3377,3436,3318,0,0,0,0,0,0,24.85,24.55,24.87 $GC,3578,-1.22,-116.8,2366,341,3436,3318,416.5,-10.2,196,3584,0.00,2.50,0.00,0.000,1030,0.000,0.023,2367,1898,3377,3436,3318,0,0,0,0,0,0,24.68,24.61,24.69 $GC,3843,-1.22,-116.8,2366,1898,3436,3315,445.5,-10.1,203,3848,0.00,2.65,0.00,0.000,260,0.000,0.044,2367,3475,3375,3436,3314,0,0,0,0,0,0,24.84,24.55,24.86 $GC,3889,-1.22,-116.8,2366,3476,3436,3314,450.1,-10.2,204,3895,0.00,2.50,0.00,0.000,1030,0.000,0.024,2367,1919,3374,3436,3313,0,0,0,0,0,0,24.68,24.61,24.69 $GC,4169,-1.22,-116.8,2366,1919,3436,3311,475.0,-8.6,211,4175,0.00,2.70,0.00,0.000,516,0.000,0.051,2367,324,3373,3436,3310,0,0,0,0,0,0,24.84,24.53,24.87 $GC,4217,-1.22,-116.8,2366,325,3436,3310,479.0,-8.7,212,4223,0.00,2.55,0.00,0.000,1030,0.000,0.028,2367,1893,3373,3436,3310,0,0,0,0,0,0,24.67,24.60,24.68 $STATE,4494,end dive,TARGET_DEPTH_EXCEEDED $STATE,4494,begin apogee $GC,4501,-0.26,0.0,2366,1894,3436,3306,502.3,-8.2,219,4603,1.38,0.00,98.25,0.855,10246,0.075,0.000,2679,1894,2899,2960,2838,0,0,0,0,0,0,24.54,23.72,23.07 $STATE,4604,end apogee,CONTROL_FINISHED_OK $STATE,4604,begin climb $GC,4607,1.22,116.8,2679,1893,2960,2838,503.7,0.0,221,4719,1.95,2.72,101.45,0.835,10500,0.040,0.060,3154,3428,2421,2485,2358,0,0,0,0,0,0,24.06,23.73,23.06 $GC,4836,1.22,116.8,3154,3428,2482,2352,484.2,10.9,227,4841,0.00,2.62,0.00,0.000,1030,0.000,0.031,3154,1860,2417,2482,2352,0,0,0,0,0,0,24.36,24.27,24.37 $GC,5119,1.22,116.8,3154,1860,2482,2345,453.6,10.3,234,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1860,2413,2482,2345,0,0,0,0,0,0,24.64,24.66,24.66 $GC,5360,1.26,147.0,3154,1860,2482,2342,432.3,8.3,240,5392,0.00,0.00,26.48,0.788,8710,0.000,0.000,3154,1860,2299,2359,2239,0,0,0,0,0,0,24.67,23.61,23.15 $GC,5640,1.26,147.0,3154,1860,2358,2231,405.1,10.1,247,5646,0.00,2.70,0.00,0.000,260,0.000,0.046,3154,3432,2294,2358,2231,0,0,0,0,0,0,24.63,24.32,24.65 $GC,5738,1.26,147.0,3154,3432,2355,2231,395.7,10.4,249,5743,0.00,2.62,0.00,0.000,1030,0.000,0.029,3154,1843,2293,2355,2231,0,0,0,0,0,0,24.46,24.39,24.49 $GC,6007,1.26,147.0,3153,1842,2355,2228,364.7,11.5,256,6013,0.00,2.70,0.00,0.000,260,0.000,0.044,3154,3433,2291,2355,2228,0,0,0,0,0,0,24.70,24.38,24.72 $GC,6040,1.26,147.0,3154,3433,2354,2228,364.7,11.5,256,6045,0.00,2.60,0.00,0.000,1030,0.000,0.035,3154,1849,2291,2354,2228,0,0,0,0,0,0,24.49,24.39,24.51 $GC,6293,1.26,147.0,3154,1848,2354,2226,331.5,11.5,263,6298,0.00,2.67,0.00,0.000,260,0.000,0.043,3154,3432,2290,2355,2226,0,0,0,0,0,0,24.72,24.41,24.75 $GC,6366,1.26,147.0,3154,3432,2354,2226,326.4,11.4,264,6372,0.00,2.60,0.00,0.000,1030,0.000,0.028,3154,1842,2290,2354,2226,0,0,0,0,0,0,24.53,24.46,24.56 $GC,6621,1.26,147.0,3154,1842,2353,2225,294.6,10.8,271,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1842,2289,2353,2225,0,0,0,0,0,0,24.75,24.77,24.77 $GC,6860,1.26,147.0,3154,1842,2354,2223,268.7,10.9,277,6866,0.00,2.67,0.00,0.000,260,0.000,0.041,3154,3429,2288,2353,2224,0,0,0,0,0,0,24.72,24.45,24.75 $GC,6929,1.26,147.0,3154,3429,2352,2224,264.0,10.9,278,6935,0.00,2.58,0.00,0.000,1030,0.000,0.027,3155,1846,2288,2352,2224,0,0,0,0,0,0,24.57,24.50,24.59 $GC,7188,1.27,150.2,3154,1847,2353,2223,236.2,9.9,285,7194,0.00,2.65,0.00,0.000,260,0.000,0.040,3155,3436,2287,2352,2223,0,0,0,0,0,0,24.76,24.46,24.77 $GC,7361,1.30,175.2,3154,3436,2351,2223,222.0,8.6,289,7393,0.00,2.58,23.65,0.661,9222,0.000,0.024,3154,1838,2184,2244,2125,0,0,0,0,0,0,24.58,24.52,23.34 $GC,7633,1.34,210.6,3154,1838,2244,2120,200.4,8.0,296,7673,0.08,2.70,32.17,0.642,10756,0.108,0.044,3185,272,2039,2089,1989,0,0,0,0,0,0,24.42,23.68,23.30 $GC,7729,1.34,210.6,3184,272,2085,1989,191.0,10.5,302,7735,0.00,2.60,0.00,0.000,1030,0.000,0.021,3185,1870,2037,2085,1989,0,0,0,0,0,0,24.37,24.32,24.39 $GC,7987,1.34,210.6,3185,1870,2084,1987,162.5,11.1,327,7993,0.00,2.58,0.00,0.000,260,0.000,0.036,3185,3429,2035,2084,1987,0,0,0,0,0,0,24.65,24.37,24.67 $GC,8083,1.34,210.6,3185,3429,2082,1987,150.8,11.9,336,8088,0.00,2.55,0.00,0.000,1030,0.000,0.021,3185,1843,2034,2081,1987,0,0,0,0,0,0,24.49,24.44,24.51 $GC,8337,1.34,210.6,3185,1842,2082,1986,123.6,10.7,361,8342,0.00,2.60,0.00,0.000,516,0.000,0.037,3185,272,2034,2082,1986,0,0,0,0,0,0,24.71,24.43,24.72 $GC,8464,1.34,210.6,3185,272,2081,1985,109.6,11.5,373,8469,0.00,2.53,0.00,0.000,1030,0.000,0.019,3185,1857,2033,2081,1986,0,0,0,0,0,0,24.55,24.50,24.57 $GC,8720,1.36,226.9,3185,1857,2081,1986,84.7,9.1,398,8737,0.00,0.00,14.75,0.514,8454,0.000,0.000,3185,1857,1973,2019,1928,0,0,0,0,0,0,24.75,24.06,23.61 $GC,8983,1.40,259.4,3185,1857,2019,1926,61.2,8.2,424,9019,0.05,0.00,30.62,0.509,10246,0.125,0.000,3209,1858,1841,1885,1797,0,0,0,0,0,0,24.51,23.91,23.49 $GC,9259,1.42,278.7,3209,1857,1885,1792,36.1,8.9,452,9284,0.00,2.62,18.52,0.475,8452,0.000,0.031,3209,3421,1761,1802,1720,0,0,0,0,0,0,24.65,24.01,23.57 $GC,9408,1.42,278.7,3209,3420,1801,1720,20.7,11.5,472,9415,0.00,2.53,0.00,0.000,1030,0.000,0.018,3210,1843,1761,1802,1720,0,0,0,0,0,0,24.45,24.39,24.46 $STATE,9577,end climb,SURFACE_DEPTH_REACHED $STATE,9577,begin surface coast $FINISH,0.0,1.010199 $STATE,9599,end surface coast,CONTROL_FINISHED_OK $STATE,9600,begin surface $SM_CCo,9623,59.97,0.461,0,0,1349,380.21 $SM_GC,0.76,11.45,0.08,59.97,0.033,0.090,0.461,434,1956,1349,-7.25,-1.24,380.21,0,0,0,0,0,0,24.40,24.50,23.51 $IRIDIUM_FIX,2234.68,-15800.20,230618,091413 $TT8_MAMPS,0.021721,0.28462 $HUMID,56.77 $INTERNAL_PRESSURE,9.26193 $TCM_TEMP,22.60 $XPDR_PINGS,90 $24V_AH,23.06,81.755 $10V_AH,9.71,61.548 $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,25.700,103.400,345.900,59.975,0.000,28.661,45.701,181.790,22.500,0.000,53.238,1690.274,5872.740,508.492,1781.816,266.256,0.000,1215.808,0.000,1473.884,0.000,0.539,0.000 $DEVICE_MAMPS,170.595,90.270,855.270,461.295,0.000,66.560,160.000,223.000,420.000,0.000,34.450,14.060,2.190,13.310,41.020,50.010,0.000,11.410,0.000,15.730,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,340.152,287.935,426.060,527.492,622.582,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,23.970,6.740,41.200,42.690,68.910,0.000,0.000,0.000,0.000,0.000 $MEM,342824 $DATA_FILE_SIZE,40638,506 $CAP_FILE_SIZE,96743,0 $CFSIZE,259248128,217710592 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 $CURRENT,0.074,252.67,1 $GPS,230618,145339,2245.677,-15759.169,45,1.8,85,10.1,0.8,258.3,5,7.0