version: 66.11
glider: 181
mission: 11
dive: 392
start: 7 16 113 9 5 59
data:
$ID,181
$MISSION,11
$DIVE,392
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,150
$T_BOOST,5
$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,330
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00189915
$HD_B,0.015333
$HD_C,1.4612e-05
$HEADING,210
$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,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-96270.133
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3941
$C_PITCH,2660
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,1.5
$PITCH_ADJ_DBAND,0.0049999999
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,67
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3093
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-160.75446
$PRESSURE_SLOPE,0.000109412
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004364301
$SEABIRD_T_H,0.00062910328
$SEABIRD_T_I,2.4425184e-05
$SEABIRD_T_J,2.6404416e-06
$SEABIRD_C_G,-9.9046793
$SEABIRD_C_H,1.1251128
$SEABIRD_C_I,-0.0019873739
$SEABIRD_C_J,0.00023203803
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,160713,085135,2248.978,12229.722,35,0.9,36,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-71.3
$GPS2,160713,090531,2249.300,12229.783,13,1.3,13,-3.0
$SPEED_LIMITS,0.173,0.227
$TGT_NAME,HEADING
$TGT_LATLONG,2239.948,12223.932
$TGT_RADIUS,1852.000
$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,213.0,20000,-14.5,-10.000,-23.75,2762
$D_GRID,5368
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.15,-194.6,225,2704,977,946,0.0,0.0,0,106,0.00,0.00,-82.40,0.000,16386,0.000,0.000,224,2704,3056,3106,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-1.15,-194.6,224,2704,3107,3008,3.2,-11.9,15,141,9.40,2.30,-15.52,0.000,18948,0.377,0.059,2283,1300,3889,3957,3821,0,0,0,0,0,0,14.21,14.62,14.86
$GC,172,-1.15,-194.6,2283,1300,3958,3823,20.4,-23.8,25,178,0.00,2.33,0.00,0.000,1030,0.000,0.055,2275,2708,3890,3958,3823,0,0,0,0,0,0,28.83,14.54,28.83
$GC,492,-1.15,-194.6,2275,2705,3958,3823,96.9,-21.7,48,497,0.00,1.77,0.00,0.000,260,0.000,0.069,2267,3788,3890,3958,3823,0,0,0,0,0,0,28.83,14.62,28.83
$GC,549,-1.15,-194.6,2267,3788,3958,3823,105.6,-20.2,50,556,0.00,1.67,0.00,0.000,1030,0.000,0.033,2266,2648,3890,3958,3823,0,0,0,0,0,0,28.83,14.77,28.83
$GC,858,-1.15,-194.6,2266,2647,3957,3824,168.4,-20.1,66,863,0.00,1.88,0.00,0.000,260,0.000,0.069,2258,3778,3891,3958,3824,0,0,0,0,0,0,28.83,14.66,28.83
$GC,875,-1.15,-194.6,2258,3778,3958,3824,168.4,-20.1,66,883,0.12,1.65,0.00,0.000,3078,0.275,0.032,2283,2655,3891,3958,3824,0,0,0,0,0,0,14.40,14.81,28.83
$GC,1182,-1.15,-194.6,2284,2655,3958,3823,229.1,-17.9,82,1187,0.00,1.85,0.00,0.000,260,0.000,0.069,2277,3776,3890,3958,3823,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1215,-1.15,-194.6,2277,3777,3958,3824,233.5,-18.0,83,1220,0.00,1.58,0.00,0.000,1030,0.000,0.031,2277,2690,3891,3958,3824,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1528,-1.15,-194.6,2273,2689,3958,3824,292.7,-18.1,99,1533,0.00,1.80,0.00,0.000,260,0.000,0.071,2269,3777,3891,3958,3824,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1552,-1.15,-194.6,2269,3777,3958,3823,296.8,-17.5,100,1557,0.00,1.62,0.00,0.000,1030,0.000,0.032,2269,2691,3891,3958,3824,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1876,-1.15,-194.6,2269,2690,3958,3823,348.8,-15.3,116,1881,0.00,1.83,0.00,0.000,260,0.000,0.073,2261,3785,3890,3958,3823,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1903,-1.15,-194.6,2261,3785,3952,3823,352.7,-15.9,117,1909,0.00,1.58,0.00,0.000,1030,0.000,0.033,2261,2708,3890,3958,3823,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2222,-1.15,-194.6,2261,2707,3958,3821,405.9,-16.9,133,2224,0.12,0.00,0.00,0.000,2054,0.288,0.000,2287,2707,3889,3958,3821,0,0,0,0,0,0,14.49,28.83,28.83
$GC,2523,-1.15,-194.6,2287,2707,3958,3818,452.8,-15.8,148,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2707,3888,3958,3818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2824,-1.15,-194.6,2287,2707,3957,3815,499.7,-15.4,163,2829,0.00,2.12,0.00,0.000,516,0.000,0.038,2287,1350,3886,3957,3816,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2847,-1.15,-194.6,2287,1350,3957,3815,503.6,-15.4,164,2853,0.00,2.22,0.00,0.000,1030,0.000,0.057,2280,2698,3886,3957,3815,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3171,-1.15,-194.6,2280,2699,3954,3812,550.5,-14.1,180,3176,0.00,1.80,0.00,0.000,260,0.000,0.078,2271,3779,3883,3954,3812,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3204,-1.15,-194.6,2271,3779,3953,3812,553.9,-14.1,181,3209,0.00,1.60,0.00,0.000,1030,0.000,0.036,2271,2705,3882,3953,3812,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3517,-1.15,-194.6,2271,2704,3952,3808,602.9,-15.8,197,3522,0.00,2.15,0.00,0.000,516,0.000,0.040,2271,1341,3880,3952,3808,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3595,-1.15,-194.6,2271,1341,3950,3808,613.0,-15.8,199,3600,0.00,2.25,0.00,0.000,1030,0.000,0.060,2261,2698,3878,3950,3807,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3916,-1.15,-194.6,2260,2703,3945,3805,668.2,-15.8,210,3922,0.12,1.83,0.00,0.000,2308,0.304,0.080,2285,3777,3875,3945,3805,0,0,0,0,0,0,14.33,14.60,28.83
$GC,3950,-1.15,-194.6,2286,3777,3945,3804,673.8,-15.6,211,3956,0.00,1.62,0.00,0.000,1030,0.000,0.039,2285,2707,3874,3945,3804,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4287,-1.15,-194.6,2285,2705,3944,3800,722.7,-15.4,222,4292,0.00,2.17,0.00,0.000,516,0.000,0.041,2285,1337,3872,3944,3800,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4320,-1.15,-194.6,2285,1336,3944,3799,728.7,-15.6,223,4326,0.00,2.30,0.00,0.000,1030,0.000,0.063,2275,2704,3871,3944,3799,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4657,-1.15,-194.6,2275,2704,3941,3795,784.3,-16.8,234,4662,0.00,1.85,0.00,0.000,260,0.000,0.088,2267,3784,3868,3941,3796,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4800,-1.15,-194.6,2267,3784,3939,3795,807.0,-18.1,238,4805,0.00,1.65,0.00,0.000,1030,0.000,0.042,2267,2715,3867,3939,3795,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5116,-1.15,-194.6,2267,2715,3937,3790,865.0,-16.9,249,5122,0.00,1.88,0.00,0.000,260,0.000,0.087,2258,3794,3863,3936,3791,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5211,-1.15,-194.6,2259,3794,3933,3790,881.3,-16.8,252,5217,0.12,1.73,0.00,0.000,3078,0.285,0.041,2280,2696,3860,3930,3791,0,0,0,0,0,0,14.28,14.75,28.83
$GC,5546,-1.15,-194.6,2284,2696,3933,3785,930.3,-14.4,263,5551,0.00,1.88,0.00,0.000,260,0.000,0.088,2278,3775,3857,3933,3782,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5574,-1.15,-194.6,2278,3775,3932,3786,930.3,-14.4,263,5580,0.00,1.67,0.00,0.000,1030,0.000,0.042,2278,2697,3858,3932,3785,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5883,-1.15,-194.6,2277,2697,3929,3783,977.6,-14.1,274,5888,0.00,1.90,0.00,0.000,260,0.000,0.091,2269,3782,3856,3929,3783,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5930,-1.15,-194.6,2269,3782,3928,3783,982.9,-14.3,275,5935,0.00,1.70,0.00,0.000,1030,0.000,0.043,2269,2701,3855,3928,3783,0,0,0,0,0,0,28.83,14.74,28.83
$STATE,5976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5976,begin apogee
$GC,5984,-0.23,0.0,2269,2093,3928,3782,992.3,-14.8,277,6167,1.10,0.00,174.80,1.811,10246,0.222,0.000,2577,2092,3087,3131,3044,0,0,0,0,0,0,14.23,28.83,13.39
$STATE,6169,end apogee,CONTROL_FINISHED_OK
$STATE,6169,begin climb
$GC,6173,1.15,194.6,2578,2091,3129,3042,1001.5,0.0,283,6361,1.33,2.40,179.05,1.828,10756,0.088,0.065,3037,728,2295,2321,2269,0,0,0,0,0,0,14.20,14.08,13.31
$GC,6456,1.15,194.6,3038,728,2315,2256,981.1,13.2,292,6462,0.00,2.38,0.00,0.000,1030,0.000,0.063,3038,2103,2285,2315,2256,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6792,1.15,194.6,3038,2103,2314,2247,937.5,13.2,303,6797,0.00,2.45,0.00,0.000,260,0.000,0.094,3038,3509,2280,2314,2247,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6845,1.15,194.6,3037,3509,2313,2246,932.3,13.5,304,6851,0.00,2.25,0.00,0.000,1030,0.000,0.042,3047,2125,2279,2313,2246,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7161,1.15,194.6,3047,2124,2313,2242,888.3,13.1,315,7166,0.00,2.38,0.00,0.000,516,0.000,0.063,3058,700,2278,2314,2242,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7325,1.15,194.6,3058,700,2312,2241,868.2,12.7,320,7330,0.00,2.38,0.00,0.000,1030,0.000,0.060,3058,2112,2277,2313,2241,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7651,1.15,194.6,3058,2112,2313,2238,824.3,13.3,331,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2112,2275,2313,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7949,1.15,194.6,3058,2112,2313,2236,783.0,14.0,341,7955,0.00,2.42,0.00,0.000,260,0.000,0.088,3058,3508,2274,2312,2236,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8008,1.15,194.6,3058,3508,2312,2236,777.4,14.6,342,8015,0.17,2.28,0.00,0.000,5126,0.335,0.040,3032,2094,2274,2312,2236,0,0,0,0,0,0,14.21,14.71,28.83
$GC,8316,1.15,194.6,3033,2095,2312,2234,732.4,13.2,353,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2094,2273,2312,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8613,1.15,194.6,3032,2092,2311,2233,695.2,11.8,363,8619,0.00,2.33,0.00,0.000,516,0.000,0.057,3041,697,2272,2312,2233,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8719,1.15,194.6,3041,697,2306,2232,684.3,11.6,366,8724,0.00,2.35,0.00,0.000,1030,0.000,0.054,3041,2108,2272,2311,2233,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9044,1.22,223.9,3041,2109,2311,2231,651.1,8.9,377,9076,0.00,2.33,25.42,1.453,8708,0.000,0.054,3051,703,2175,2211,2140,0,0,0,0,0,0,28.83,14.71,13.97
$GC,9170,1.27,245.0,3051,703,2207,2131,639.7,9.2,381,9199,0.00,2.35,21.70,1.370,9222,0.000,0.056,3051,2103,2087,2119,2055,0,0,0,0,0,0,28.83,14.58,13.90
$GC,9527,1.27,245.0,3051,2103,2119,2039,601.9,11.6,393,9532,0.00,2.42,0.00,0.000,260,0.000,0.083,3051,3503,2079,2119,2039,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9580,1.27,245.0,3051,3504,2119,2039,596.0,12.4,395,9585,0.00,2.28,0.00,0.000,1030,0.000,0.038,3062,2094,2079,2119,2039,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9894,1.27,245.0,3062,2093,2119,2036,552.0,14.2,411,9899,0.00,2.30,0.00,0.000,516,0.000,0.056,3072,707,2077,2119,2036,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10003,1.27,245.0,2080,706,2076,2025,537.2,14.2,416,10009,0.00,2.33,0.00,0.000,1030,0.000,0.054,3072,2102,2076,2118,2035,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10322,1.27,245.0,3072,2103,2118,2035,496.8,11.4,432,10328,0.00,2.45,0.00,0.000,260,0.000,0.082,3072,3515,2076,2118,2035,0,0,0,0,0,0,28.83,14.52,28.83
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$GC,11139,1.27,245.0,3094,2106,2118,2034,399.7,11.0,472,11144,0.00,2.42,0.00,0.000,260,0.000,0.081,3093,3511,2075,2118,2033,0,0,0,0,0,0,28.83,14.50,28.83
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$GC,11549,1.33,268.2,3074,2090,2118,2033,358.5,9.1,492,11576,0.00,2.42,20.27,1.158,8452,0.000,0.079,3074,3509,1993,2035,1951,0,0,0,0,0,0,28.83,14.71,14.07
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$GC,12041,1.33,268.2,3093,702,2032,1941,304.2,11.8,516,12047,0.00,2.33,0.00,0.000,1030,0.000,0.051,3093,2101,1987,2033,1941,0,0,0,0,0,0,28.83,14.58,28.83
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$STATE,14854,end climb,SURFACE_DEPTH_REACHED
$STATE,14854,begin surface coast
$FINISH,-0.3,1.021518
$STATE,14888,end surface coast,CONTROL_FINISHED_OK
$STATE,14888,begin surface
$SM_CCo,14908,50.28,0.138,0,0,1153,475.15
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$IRIDIUM_FIX,2246.36,12211.23,160713,080855
$TT8_MAMPS,0.018725,0.018725
$HUMID,50.07
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,25.00
$XPDR_PINGS,0
$SC_FREEKB,3779424
$24V_AH,13.3,132.749
$10V_AH,13.0,0.000
$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
$DEVICE_SECS,20.975,146.600,486.075,50.275,0.000,50.707,62.039,375.804,0.000,0.000,16.031,2301.389,9958.908,634.722,2440.261,458.677,0.000,1694.133,0.000,1846.505,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.002,0.000,0.000,0.000
$MEM,323228
$DATA_FILE_SIZE,26740,707
$CAP_FILE_SIZE,192710,0
$CFSIZE,260034560,216473600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160713,131635,2251.081,12229.802,27,1.2,28,-3.0