version: 66.04
glider: 160
mission: 3
dive: 553
start: 7 12 109 14 23 34
data:
$ID,160
$MISSION,3
$DIVE,553
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$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,480
$T_MISSION,540
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51810
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,626.98682
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-18987.23
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2613
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3792
$ROLL_DEG,40
$C_ROLL_DIVE,2180
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,490
$VBD_MAX,3961
$C_VBD,3046
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,146
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.900637
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$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,50
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043896637
$SEABIRD_T_H,0.00063842954
$SEABIRD_T_I,2.5580319e-05
$SEABIRD_T_J,2.7701631e-06
$SEABIRD_C_G,-10.180033
$SEABIRD_C_H,1.1381946
$SEABIRD_C_I,-0.00092952099
$SEABIRD_C_J,0.0001655513
$GPS1,140806,6349.758,148.689,34,1.2,40,-4.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.37
$_SM_ANGLEo,-67.5
$GPS2,142308,6349.751,148.446,13,1.3,13,-4.0
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,OFFSHORE
$TGT_LATLONG,6506.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,334.8,192855,-13.7,-6.875
$D_GRID,1675
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.77,-116.7,0.0,0.0,0,24,0.00,0.00,-6.10,0.000,2,0.000,0.000,129,2187,1990
$GC,28,-0.77,-116.7,3.3,-0.0,1,122,8.25,2.40,-80.07,0.000,4,0.197,0.058,2366,3592,3523
$GC,231,-0.39,-116.7,17.0,-13.7,34,239,0.40,2.25,0.00,0.000,6,0.121,0.031,2491,2170,3523
$GC,579,-0.66,-116.7,36.4,-3.7,95,588,0.22,2.28,0.00,0.000,4,0.054,0.042,2389,761,3525
$GC,647,-0.46,-116.7,41.8,-9.2,106,654,0.17,2.30,0.00,0.000,6,0.114,0.035,2463,2180,3524
$GC,993,-0.63,-116.7,65.2,-6.2,156,997,0.15,2.33,0.00,0.000,4,0.060,0.044,2394,3599,3526
$GC,1077,-0.52,-116.7,72.7,-9.1,159,1086,0.17,2.25,0.00,0.000,6,0.116,0.031,2448,2178,3525
$GC,1394,-0.62,-116.7,93.6,-6.1,175,1399,0.12,2.25,0.00,0.000,4,0.068,0.041,2388,776,3526
$GC,1451,-0.42,-116.7,98.3,-8.6,177,1458,0.28,2.22,0.00,0.000,6,0.116,0.033,2473,2184,3526
$GC,1769,-0.65,-116.7,113.2,-4.6,193,1771,0.20,0.00,0.00,0.000,6,0.052,0.000,2386,2185,3526
$GC,2078,-0.50,-116.7,139.5,-9.1,208,2083,0.20,2.30,0.00,0.000,4,0.115,0.041,2455,777,3526
$GC,2118,-0.63,-116.7,142.7,-7.2,209,2125,0.15,2.22,0.00,0.000,6,0.061,0.033,2389,2181,3526
$GC,2435,-0.50,-116.7,170.7,-9.2,225,2437,0.20,0.00,0.00,0.000,6,0.114,0.000,2452,2181,3526
$GC,2745,-0.64,-116.7,191.0,-6.2,240,2747,0.15,0.00,0.00,0.000,6,0.061,0.000,2383,2181,3525
$GC,3053,-0.49,-116.7,219.2,-9.1,255,3055,0.22,0.00,0.00,0.000,6,0.113,0.000,2455,2181,3526
$GC,3363,-0.65,-116.7,238.2,-5.9,270,3365,0.15,0.00,0.00,0.000,6,0.060,0.000,2388,2181,3525
$GC,3671,-0.53,-116.7,264.6,-8.9,285,3673,0.17,0.00,0.00,0.000,6,0.114,0.000,2443,2182,3525
$GC,3981,-0.64,-116.7,284.3,-6.0,300,3983,0.12,0.00,0.00,0.000,6,0.065,0.000,2382,2182,3525
$GC,4310,-0.51,-116.7,309.8,-7.9,314,4315,0.20,2.30,0.00,0.000,4,0.113,0.041,2451,779,3525
$GC,4361,-0.64,-116.7,313.2,-6.2,315,4366,0.12,2.22,0.00,0.000,6,0.067,0.035,2391,2169,3525
$GC,4675,-0.56,-116.7,339.2,-8.9,325,4680,0.15,2.35,0.00,0.000,4,0.116,0.049,2436,3584,3524
$GC,4720,-0.71,-116.7,342.9,-7.1,326,4725,0.15,2.28,0.00,0.000,6,0.062,0.035,2367,2179,3524
$GC,5039,-0.53,-116.7,375.1,-9.9,337,5044,0.20,2.30,0.00,0.000,4,0.117,0.044,2436,765,3524
$GC,5096,-0.61,-116.7,379.8,-7.6,338,5100,0.00,2.22,0.00,0.000,6,0.000,0.036,2436,2182,3524
$GC,5416,-0.72,-116.7,401.2,-6.6,349,5421,0.15,2.33,0.00,0.000,4,0.064,0.047,2366,3587,3523
$GC,5449,-0.54,-116.7,404.2,-8.9,350,5454,0.22,2.28,0.00,0.000,6,0.116,0.034,2435,2170,3523
$GC,5780,-0.65,-116.7,425.3,-6.3,361,5784,0.00,2.25,0.00,0.000,4,0.000,0.045,2436,774,3522
$GC,5853,-0.71,-116.7,430.4,-6.9,363,5858,0.15,2.25,0.00,0.000,6,0.064,0.035,2370,2182,3522
$GC,6184,-0.56,-116.7,458.1,-8.4,374,6188,0.20,2.38,0.00,0.000,4,0.117,0.048,2437,3593,3521
$GC,6235,-0.73,-116.7,461.3,-5.2,375,6240,0.17,2.30,0.00,0.000,6,0.061,0.035,2362,2179,3521
$GC,6559,-0.53,-116.7,487.6,-8.6,386,6564,0.22,2.33,0.00,0.000,4,0.118,0.046,2439,769,3519
$GC,6705,-0.61,-116.7,498.2,-7.7,390,6708,0.00,2.22,0.00,0.000,6,0.000,0.036,2437,2176,3519
$GC,7032,-0.73,-116.7,522.7,-7.4,396,7037,0.17,2.38,0.00,0.000,4,0.064,0.051,2360,3580,3518
$GC,7061,-0.59,-116.7,525.3,-9.6,396,7066,0.20,2.33,0.00,0.000,6,0.121,0.035,2420,2149,3517
$GC,7399,-0.59,-116.7,549.3,-6.8,402,7403,0.00,2.25,0.00,0.000,4,0.000,0.046,2421,767,3516
$GC,7438,-0.59,-116.7,552.1,-7.4,402,7442,0.00,2.25,0.00,0.000,6,0.000,0.038,2420,2166,3516
$GC,7773,-0.59,-116.7,573.6,-6.4,408,7777,0.00,2.38,0.00,0.000,4,0.000,0.054,2420,3597,3514
$GC,7807,-0.67,-116.7,575.9,-6.6,408,7811,0.00,2.30,0.00,0.000,6,0.000,0.035,2420,2173,3515
$GC,8134,-0.73,-116.7,597.0,-6.5,414,8139,0.12,2.30,0.00,0.000,4,0.072,0.047,2365,770,3514
$GC,8198,-0.52,-116.7,602.6,-9.7,415,8202,0.28,2.22,0.00,0.000,6,0.122,0.038,2448,2162,3513
$GC,8564,-0.71,-116.7,623.0,-5.4,421,8569,0.20,2.38,0.00,0.000,4,0.061,0.051,2360,3592,3512
$GC,8627,-0.54,-116.7,628.0,-8.5,422,8632,0.28,2.33,0.00,0.000,6,0.116,0.038,2444,2153,3512
$GC,8995,-0.71,-116.7,648.9,-5.6,428,8997,0.17,0.00,0.00,0.000,6,0.064,0.000,2373,2154,3511
$GC,9297,-0.57,-116.7,673.4,-8.2,433,9301,0.17,2.28,0.00,0.000,4,0.121,0.048,2428,770,3510
$GC,9343,-0.64,-116.7,676.7,-6.9,433,9347,0.00,2.25,0.00,0.000,6,0.000,0.039,2428,2170,3510
$GC,9665,-0.75,-116.7,696.6,-6.1,439,9669,0.17,2.40,0.00,0.000,4,0.063,0.054,2351,3588,3509
$GC,9710,-0.53,-116.7,700.4,-9.5,439,9715,0.30,2.33,0.00,0.000,6,0.118,0.039,2443,2173,3509
$GC,10038,-0.71,-116.7,718.6,-5.5,445,10042,0.17,2.33,0.00,0.000,4,0.064,0.048,2369,766,3508
$GC,10083,-0.49,-116.7,722.3,-8.2,445,10088,0.28,2.25,0.00,0.000,6,0.125,0.041,2448,2169,3508
$GC,10399,-0.69,-116.7,738.1,-4.9,451,10404,0.17,2.40,0.00,0.000,4,0.062,0.055,2377,3592,3507
$GC,10439,-0.58,-116.7,740.8,-6.9,451,10444,0.17,2.35,0.00,0.000,6,0.123,0.040,2429,2159,3507
$GC,10761,-0.69,-116.7,758.1,-5.4,457,10766,0.12,2.30,0.00,0.000,4,0.072,0.051,2375,770,3507
$GC,10826,-0.53,-116.7,762.8,-8.2,458,10830,0.22,2.28,0.00,0.000,6,0.125,0.040,2442,2183,3506
$GC,11193,-0.71,-116.7,782.0,-5.2,464,11197,0.17,2.35,0.00,0.000,4,0.063,0.051,2366,3597,3505
$GC,11271,-0.59,-116.7,788.0,-7.8,465,11276,0.20,2.30,0.00,0.000,6,0.121,0.036,2427,2175,3505
$GC,11622,-0.70,-116.7,808.7,-6.0,471,11626,0.12,2.28,0.00,0.000,4,0.077,0.048,2375,774,3505
$GC,11672,-0.54,-116.7,812.9,-8.1,471,11677,0.22,2.25,0.00,0.000,6,0.127,0.039,2442,2196,3504
$GC,11995,-0.72,-116.7,830.5,-5.4,477,12000,0.17,2.38,0.00,0.000,4,0.063,0.055,2366,3584,3504
$GC,12034,-0.57,-116.7,833.6,-8.5,477,12039,0.20,2.35,0.00,0.000,6,0.122,0.041,2427,2171,3504
$GC,12357,-0.69,-116.7,852.8,-5.9,483,12362,0.12,2.35,0.00,0.000,4,0.077,0.051,2376,759,3504
$GC,12397,-0.52,-116.7,856.0,-8.1,483,12402,0.22,2.33,0.00,0.000,6,0.126,0.042,2442,2180,3504
$GC,12719,-0.72,-116.7,873.6,-5.3,489,12724,0.17,2.40,0.00,0.000,4,0.062,0.054,2367,3596,3504
$GC,12771,-0.59,-116.7,877.4,-7.7,489,12775,0.17,2.33,0.00,0.000,6,0.123,0.037,2418,2176,3503
$GC,13081,-0.68,-116.7,896.9,-6.2,494,13085,0.00,2.33,0.00,0.000,4,0.000,0.050,2418,765,3504
$GC,13127,-0.68,-116.7,900.0,-6.5,494,13131,0.00,2.33,0.00,0.000,6,0.000,0.041,2419,2195,3503
$GC,13450,-0.76,-116.7,920.3,-6.3,500,13451,0.15,0.00,0.00,0.000,6,0.069,0.000,2353,2196,3503
$GC,13751,-0.57,-116.7,946.7,-8.8,505,13756,0.20,2.40,0.00,0.000,4,0.122,0.052,2421,771,3502
$GC,13791,-0.64,-116.7,949.7,-6.2,505,13795,0.00,2.28,0.00,0.000,6,0.000,0.041,2421,2182,3503
$GC,14120,-0.75,-116.7,970.4,-6.2,511,14124,0.15,2.38,0.00,0.000,4,0.071,0.053,2354,3595,3502
$GC,14159,-0.56,-116.7,973.7,-9.0,511,14164,0.25,2.35,0.00,0.000,6,0.121,0.039,2429,2153,3502
$STATE,14422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14422,begin apogee
$GC,14431,-0.23,0.0,990.4,6.2,516,14532,0.35,0.00,98.90,1.408,6,0.112,0.000,2542,2276,3046
$STATE,14533,end apogee,CONTROL_FINISHED_OK
$STATE,14533,begin climb
$GC,14537,0.77,116.7,992.6,0.0,517,14660,0.95,2.75,111.22,1.381,4,0.073,0.048,2858,3667,2570
$GC,14724,0.42,116.7,989.7,7.2,519,14733,0.43,2.45,0.00,0.000,6,0.134,0.032,2750,2269,2566
$GC,15036,0.72,184.6,976.3,4.2,525,15102,0.25,2.45,59.85,1.379,4,0.055,0.048,2855,862,2292
$GC,15168,0.61,184.6,966.3,8.5,527,15173,0.17,2.25,0.00,0.000,6,0.124,0.035,2804,2257,2286
$GC,15541,0.72,188.5,940.9,6.7,533,15546,0.12,2.38,0.00,0.000,4,0.072,0.054,2857,3686,2284
$GC,15586,0.50,188.5,936.7,10.2,533,15591,0.30,2.28,0.00,0.000,6,0.129,0.033,2773,2254,2284
$GC,15902,0.75,213.3,917.9,5.9,539,15933,0.20,2.33,25.25,1.325,4,0.058,0.050,2865,859,2174
$GC,15985,0.65,213.3,910.6,9.4,540,15990,0.15,2.25,0.00,0.000,6,0.123,0.038,2821,2257,2171
$GC,16335,0.72,213.3,883.1,7.8,546,16339,0.00,2.35,0.00,0.000,4,0.000,0.053,2821,3686,2169
$GC,16392,0.72,213.3,878.3,8.7,546,16398,0.00,2.30,0.00,0.000,6,0.000,0.035,2822,2244,2169
$GC,16702,0.72,213.3,855.0,7.5,552,16703,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2245,2169
$GC,17005,0.79,213.3,832.3,7.5,557,17010,0.12,2.22,0.00,0.000,4,0.070,0.047,2879,863,2169
$GC,17044,0.64,213.3,828.6,9.5,557,17049,0.20,2.20,0.00,0.000,6,0.125,0.035,2819,2264,2168
$GC,17367,0.73,213.3,804.7,7.3,563,17370,0.00,2.33,0.00,0.000,4,0.000,0.054,2819,3683,2168
$GC,17406,0.73,213.3,801.5,8.2,563,17411,0.00,2.28,0.00,0.000,6,0.000,0.035,2822,2257,2168
$GC,17734,0.80,213.3,777.0,7.5,569,17738,0.15,2.28,0.00,0.000,4,0.064,0.048,2890,854,2168
$GC,17792,0.61,213.3,771.5,10.5,569,17797,0.28,2.22,0.00,0.000,6,0.125,0.038,2808,2253,2167
$GC,18103,0.75,213.3,748.4,7.3,574,18108,0.12,2.35,0.00,0.000,4,0.076,0.051,2863,3687,2167
$GC,18142,0.55,213.3,744.6,10.7,574,18147,0.25,2.30,0.00,0.000,6,0.127,0.034,2791,2243,2167
$GC,18465,0.78,225.4,723.8,6.4,580,18482,0.20,2.25,10.70,1.157,4,0.058,0.047,2881,865,2126
$GC,18516,0.64,225.4,719.0,10.1,580,18521,0.20,2.20,0.00,0.000,6,0.120,0.035,2821,2251,2125
$GC,18828,0.74,225.4,697.2,6.9,585,18832,0.00,2.38,0.00,0.000,4,0.000,0.050,2821,3684,2124
$GC,18867,0.74,225.4,694.2,7.4,585,18872,0.00,2.33,0.00,0.000,6,0.000,0.034,2822,2240,2124
$GC,19189,0.86,237.9,673.5,6.4,591,19209,0.20,2.30,12.35,1.146,4,0.059,0.044,2917,861,2074
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$GC,19556,0.81,262.6,650.3,5.9,597,19586,0.20,2.42,22.83,1.174,4,0.061,0.053,2891,3670,1975
$GC,19621,0.60,262.6,644.1,11.2,598,19626,0.28,2.30,0.00,0.000,6,0.122,0.036,2807,2252,1973
$GC,19989,0.83,267.2,619.3,6.7,604,20000,0.20,2.28,5.10,0.913,4,0.061,0.049,2892,864,1956
$GC,20029,0.70,267.2,615.3,10.1,604,20034,0.17,2.20,0.00,0.000,6,0.121,0.035,2839,2253,1955
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$GC,20395,0.80,267.2,581.0,10.9,610,20400,0.00,2.30,0.00,0.000,6,0.000,0.035,2839,2258,1954
$GC,20712,0.89,267.2,551.9,9.2,616,20717,0.17,2.28,0.00,0.000,4,0.061,0.046,2918,852,1954
$GC,20771,0.69,267.2,545.0,13.8,616,20776,0.28,2.22,0.00,0.000,6,0.123,0.035,2834,2252,1953
$GC,21081,0.80,267.2,519.8,7.8,621,21086,0.12,2.38,0.00,0.000,4,0.074,0.049,2888,3681,1953
$GC,21126,0.60,267.2,515.2,10.2,621,21131,0.28,2.33,0.00,0.000,6,0.121,0.035,2807,2242,1953
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$GC,22153,0.75,305.4,421.8,13.7,650,22158,0.17,2.25,0.00,0.000,4,0.135,0.044,2852,856,1791
$GC,22210,0.90,305.4,415.0,10.5,651,22219,0.15,2.17,0.00,0.000,6,0.064,0.036,2920,2245,1790
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$STATE,26376,end climb,SURFACE_DEPTH_REACHED
$STATE,26376,begin surface coast
$FINISH,2.8,1.013384
$STATE,26422,end surface coast,CONTROL_FINISHED_OK
$STATE,26422,begin surface
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$TT8_MAMPS,0.027612
$HUMID,1712
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$TCM_TEMP,19.00
$XPDR_PINGS,1
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$10V_AH,10.3,61.426
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$DEVICE_SECS,37.700,276.625,403.500,231.750,0.000,136.332,375.799,0.000,0.250,0.000,0.000,15.732,2171.390,21032.342,830.293,2447.284,1087.929,0.000,2194.317,0.000,2399.738,0.000,0.534,0.000
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$DATA_FILE_SIZE,47350,924
$CAP_FILE_SIZE,223280,0
$CFSIZE,260165632,208453632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,236.4,1
$GPS,120709,214931,6352.198,144.117,37,1.9,37,-4.0