version: 66.12
glider: 203
mission: 8
dive: 19
start: 7 13 115 14 54 0
data:
$ID,203
$MISSION,8
$DIVE,19
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,50
$T_BOOST,4
$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,300
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$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,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52079
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0065996498
$HD_B,0.0098683201
$HD_C,1.5339499e-05
$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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,101
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,150
$AH0_10V,100
$MINV_24V,22.5
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-62.66111
$PRESSURE_SLOPE,0.0001160131
$AD7714Ch0Gain,128
$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,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043923887
$SEABIRD_T_H,0.00063351821
$SEABIRD_T_I,2.5271875e-05
$SEABIRD_T_J,3.0515032e-06
$SEABIRD_C_G,-9.7838888
$SEABIRD_C_H,1.1409903
$SEABIRD_C_I,-0.00071586663
$SEABIRD_C_J,0.00012479167
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,130715,144805,5857.6772,-14708.2148,28,0.9,28,18.1,0.7,238.4,9,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-63.8
$GPS2,130715,145348,5857.6675,-14708.2910,5,0.9,12,18.1,0.0,155.9,9,8.5
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP2
$TGT_LATLONG,5822.084,-14642.424
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,113.1,70528,-18.0,-11.000,-19.55,2718
$D_GRID,2360
$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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.92,-194.6,198,2803,1078,953,0.0,0.0,0,153,0.00,0.00,-50.47,0.000,16386,0.000,0.000,201,2804,2400,2435,2365,0,0,0,0,0,0,26.65,28.83,26.73
$GC,155,-0.92,-194.6,202,2805,2436,2367,3.3,-4.7,7,195,8.32,1.58,-22.27,0.000,18692,0.239,0.059,2328,3853,3635,3702,3568,0,0,0,0,0,0,26.28,26.03,26.49
$GC,239,-0.86,-194.6,2328,3854,3703,3572,27.8,-22.8,21,250,0.12,1.50,0.00,0.000,3078,0.163,0.023,2358,2764,3636,3702,3571,0,0,0,0,0,0,26.43,26.60,26.55
$GC,550,-0.86,-194.6,2358,2765,3703,3576,84.4,-17.4,63,557,0.00,1.92,0.00,0.000,516,0.000,0.024,2358,1428,3638,3702,3574,0,0,0,0,0,0,26.87,26.72,26.94
$GC,643,-0.88,-194.6,2359,1429,3704,3576,99.1,-16.7,71,654,0.00,2.03,0.00,0.000,1030,0.000,0.028,2352,2799,3638,3702,3575,0,0,0,0,0,0,26.79,26.74,26.81
$GC,948,-0.88,-194.6,2352,2801,3703,3577,144.9,-15.1,102,956,0.00,2.00,0.00,0.000,516,0.000,0.024,2352,1429,3638,3702,3575,0,0,0,0,0,0,26.99,26.84,27.05
$GC,995,-0.90,-194.6,2352,1427,3703,3577,151.3,-15.4,106,1007,0.00,2.03,0.00,0.000,1030,0.000,0.028,2344,2802,3638,3702,3575,0,0,0,0,0,0,26.89,26.84,26.90
$GC,1301,-0.90,-194.6,2344,2803,3703,3576,196.8,-14.3,137,1308,0.00,1.55,0.00,0.000,260,0.000,0.042,2337,3858,3639,3703,3575,0,0,0,0,0,0,27.07,26.89,27.13
$GC,1337,-0.90,-194.6,2336,3857,3703,3574,201.7,-14.6,140,1349,0.00,1.48,0.00,0.000,1030,0.000,0.024,2336,2826,3638,3702,3575,0,0,0,0,0,0,27.00,26.95,27.01
$GC,1643,-0.90,-194.6,2336,2826,3703,3574,246.0,-14.0,171,1650,0.00,2.05,0.00,0.000,516,0.000,0.024,2336,1413,3638,3702,3575,0,0,0,0,0,0,27.12,26.96,27.18
$GC,1684,-0.90,-194.6,2336,1403,3704,3577,250.3,-13.9,174,1692,0.10,2.08,0.00,0.000,3078,0.181,0.028,2349,2811,3638,3702,3575,0,0,0,0,0,0,26.84,26.96,26.96
$GC,2001,-0.92,-194.6,2349,2812,3703,3577,293.3,-13.1,185,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2811,3639,3703,3575,0,0,0,0,0,0,27.16,27.24,27.23
$GC,2302,-0.94,-194.6,2349,2810,3702,3575,333.1,-13.2,195,2310,0.00,2.03,0.00,0.000,516,0.000,0.024,2349,1402,3637,3700,3575,0,0,0,0,0,0,27.20,27.04,27.26
$GC,2374,-0.97,-194.6,2349,1403,3701,3577,341.2,-13.0,197,2382,0.00,2.05,0.00,0.000,1030,0.000,0.030,2348,2798,3637,3700,3575,0,0,0,0,0,0,27.07,27.03,27.10
$GC,2691,-1.00,-194.6,2348,2800,3698,3576,383.9,-13.0,208,2698,0.00,2.00,0.00,0.000,516,0.000,0.024,2348,1406,3636,3698,3575,0,0,0,0,0,0,27.23,27.07,27.29
$GC,2753,-1.02,-194.6,2347,1408,3699,3577,391.3,-12.9,210,2760,0.00,2.05,0.00,0.000,1030,0.000,0.029,2339,2808,3636,3698,3575,0,0,0,0,0,0,27.11,27.06,27.13
$GC,3075,-1.04,-194.6,2340,2809,3698,3577,434.4,-13.2,221,3082,0.00,2.03,0.00,0.000,516,0.000,0.024,2339,1398,3635,3696,3575,0,0,0,0,0,0,27.24,27.09,27.31
$GC,3121,-1.06,-194.6,2340,1399,3698,3577,437.9,-13.1,222,3129,0.00,2.05,0.00,0.000,1030,0.000,0.029,2333,2797,3636,3697,3575,0,0,0,0,0,0,27.13,27.08,27.15
$GC,3426,-1.06,-194.6,2333,2796,3696,3574,481.8,-13.7,232,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2797,3635,3695,3575,0,0,0,0,0,0,27.27,27.34,27.33
$GC,3726,-1.08,-194.6,2333,2796,3695,3574,521.0,-12.9,242,3734,0.00,2.00,0.00,0.000,516,0.000,0.024,2333,1404,3634,3693,3575,0,0,0,0,0,0,27.28,27.13,27.34
$GC,3793,-1.10,-194.6,2333,1405,3694,3578,528.6,-13.0,244,3801,0.00,2.05,0.00,0.000,1030,0.000,0.029,2324,2805,3633,3692,3575,0,0,0,0,0,0,27.17,27.11,27.19
$GC,4115,-1.10,-194.6,2324,2807,3693,3576,576.3,-14.8,255,4122,0.00,2.03,0.00,0.000,516,0.000,0.024,2324,1396,3633,3692,3575,0,0,0,0,0,0,27.29,27.14,27.36
$GC,4146,-1.10,-194.6,2324,1397,3693,3577,580.3,-14.9,256,4154,0.00,2.08,0.00,0.000,1030,0.000,0.030,2322,2809,3633,3692,3575,0,0,0,0,0,0,27.18,27.13,27.20
$GC,4473,-1.10,-194.6,2322,2811,3691,3575,629.6,-14.7,267,4481,0.00,2.03,0.00,0.000,516,0.000,0.024,2322,1413,3632,3690,3575,0,0,0,0,0,0,27.30,27.15,27.36
$GC,4520,-1.10,-194.6,2322,1409,3691,3573,634.2,-14.6,268,4527,0.00,2.05,0.00,0.000,1030,0.000,0.031,2320,2804,3632,3690,3575,0,0,0,0,0,0,27.19,27.14,27.21
$GC,4837,-1.10,-194.6,2320,2801,3690,3577,683.4,-14.9,279,4844,0.00,2.00,0.00,0.000,516,0.000,0.024,2319,1408,3632,3689,3575,0,0,0,0,0,0,27.32,27.16,27.39
$GC,4863,-1.10,-194.6,2320,1409,3690,3577,687.4,-14.9,280,4871,0.00,2.05,0.00,0.000,1030,0.000,0.031,2320,2808,3632,3689,3575,0,0,0,0,0,0,27.20,27.15,27.22
$GC,5190,-1.10,-194.6,2319,2808,3689,3575,734.4,-14.2,291,5197,0.00,2.03,0.00,0.000,516,0.000,0.024,2320,1410,3631,3688,3575,0,0,0,0,0,0,27.32,27.17,27.39
$GC,5222,-1.10,-194.6,2320,1402,3689,3574,738.8,-14.1,292,5232,0.00,2.05,0.00,0.000,1030,0.000,0.031,2319,2801,3631,3688,3574,0,0,0,0,0,0,27.21,27.15,27.22
$GC,5551,-1.10,-194.6,2320,2801,3689,3575,784.6,-13.8,303,5559,0.00,2.00,0.00,0.000,516,0.000,0.024,2319,1410,3631,3687,3575,0,0,0,0,0,0,27.33,27.17,27.40
$GC,5593,-1.10,-194.6,2319,1411,3688,3576,788.1,-13.6,304,5600,0.00,2.05,0.00,0.000,1030,0.000,0.031,2320,2807,3631,3687,3575,0,0,0,0,0,0,27.22,27.16,27.23
$GC,5904,-1.12,-194.6,2320,2806,3688,3575,833.0,-13.9,315,5912,0.00,2.03,0.00,0.000,516,0.000,0.024,2320,1407,3630,3686,3575,0,0,0,0,0,0,27.34,27.18,27.41
$GC,5941,-1.13,-194.6,2320,1404,3688,3576,837.3,-13.9,316,5949,0.05,2.08,0.00,0.000,5126,0.178,0.031,2284,2811,3630,3686,3575,0,0,0,0,0,0,27.10,27.17,27.19
$GC,6263,-1.13,-194.6,2283,2811,3686,3574,889.5,-16.1,327,6270,0.00,2.03,0.00,0.000,516,0.000,0.025,2284,1402,3630,3686,3575,0,0,0,0,0,0,27.34,27.18,27.41
$GC,6304,-1.13,-194.6,2284,1404,3685,3577,894.5,-16.0,328,6312,0.00,2.05,0.00,0.000,1030,0.000,0.031,2280,2803,3630,3686,3575,0,0,0,0,0,0,27.23,27.17,27.24
$GC,6627,-1.13,-194.6,2280,2802,3686,3575,947.5,-15.8,339,6634,0.00,2.03,0.00,0.000,516,0.000,0.025,2280,1404,3629,3684,3575,0,0,0,0,0,0,27.35,27.19,27.41
$GC,6658,-1.13,-194.6,2280,1404,3685,3576,952.4,-15.7,340,6666,0.00,2.05,0.00,0.000,1030,0.000,0.031,2280,2800,3629,3684,3575,0,0,0,0,0,0,27.23,27.17,27.25
$STATE,6929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6929,begin apogee
$GC,6933,-0.25,0.0,2281,2576,3684,3575,994.3,-15.3,349,7116,0.85,0.00,173.40,1.586,10246,0.132,0.000,2554,2576,2838,2877,2799,0,0,0,0,1,0,27.06,24.48,23.58
$STATE,7117,end apogee,CONTROL_FINISHED_OK
$STATE,7117,begin climb
$GC,7119,0.92,194.6,2555,2576,2890,2799,1005.9,0.0,355,7303,1.08,2.10,170.48,1.074,10500,0.063,0.038,2931,3846,2036,2075,1998,0,0,0,0,0,0,24.78,24.45,23.97
$GC,7528,0.86,210.3,2932,3845,2062,1978,987.9,10.4,369,7549,0.00,1.80,12.60,0.981,9222,0.000,0.024,2931,2604,1979,2019,1939,0,0,0,0,0,0,25.98,25.95,24.96
$GC,7859,0.83,229.9,2932,2605,2006,1923,954.2,10.3,380,7885,0.00,1.98,17.85,1.005,8452,0.000,0.039,2931,3857,1894,1935,1854,0,0,0,0,0,0,26.41,25.66,25.20
$GC,8109,0.78,229.9,2932,3858,1924,1840,925.4,12.2,388,8117,0.08,1.80,0.00,0.000,5126,0.217,0.024,2919,2596,1880,1923,1838,0,0,0,0,0,0,26.15,26.32,26.29
$GC,8426,0.78,244.6,2919,2597,1923,1839,891.0,10.4,399,8447,0.00,2.00,12.15,0.980,8452,0.000,0.042,2919,3848,1835,1877,1793,0,0,0,0,0,0,26.67,26.20,25.57
$GC,8671,0.75,244.6,2920,3850,1869,1784,862.8,12.0,407,8679,0.00,1.77,0.00,0.000,1030,0.000,0.024,2919,2600,1826,1868,1784,0,0,0,0,0,0,26.55,26.53,26.59
$GC,8998,0.75,268.9,2920,2598,1869,1783,828.2,10.1,418,9033,0.00,2.00,22.90,0.964,8452,0.000,0.041,2919,3844,1729,1770,1688,0,0,0,0,0,0,26.81,26.13,25.52
$GC,9172,0.73,268.9,2919,3845,1764,1678,810.7,11.4,423,9181,0.10,1.77,0.00,0.000,5126,0.202,0.024,2899,2601,1720,1763,1677,0,0,0,0,0,0,26.25,26.43,26.39
$GC,9478,0.76,310.5,2900,2599,1763,1676,779.0,9.4,433,9528,0.00,2.05,39.47,0.895,8452,0.000,0.041,2899,3853,1563,1607,1520,0,0,0,0,0,0,26.74,25.82,25.27
$GC,9637,0.76,310.5,2899,3854,1596,1507,763.0,11.0,438,9647,0.00,1.80,0.00,0.000,1030,0.000,0.024,2903,2601,1550,1596,1505,0,0,0,0,0,0,26.22,26.20,26.25
$GC,9961,0.79,326.1,2903,2600,1595,1504,728.3,10.4,449,9982,0.00,1.95,13.00,0.877,8452,0.000,0.041,2903,3850,1504,1550,1459,0,0,0,0,0,0,26.65,26.19,25.61
$GC,10096,0.79,326.1,2903,3850,1540,1446,714.0,12.0,453,10103,0.00,1.77,0.00,0.000,1030,0.000,0.024,2909,2612,1492,1539,1446,0,0,0,0,0,0,26.46,26.44,26.48
$GC,10413,0.82,326.1,2909,2596,1539,1447,676.7,11.1,464,10420,0.00,1.95,0.00,0.000,260,0.000,0.041,2909,3859,1492,1538,1446,0,0,0,0,0,0,26.77,26.58,26.83
$GC,10494,0.84,326.1,2909,3860,1539,1445,669.7,11.7,466,10504,0.00,1.80,0.00,0.000,1030,0.000,0.024,2917,2586,1491,1538,1445,0,0,0,0,0,0,26.72,26.69,26.72
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$GC,13386,0.99,326.1,2932,2588,1538,1444,318.6,11.5,563,13396,0.08,1.92,0.00,0.000,2308,0.138,0.039,2967,3860,1490,1537,1443,0,0,0,0,0,0,27.07,27.04,27.13
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$STATE,16127,end climb,SURFACE_DEPTH_REACHED
$STATE,16127,begin surface coast
$FINISH,0.3,1.023793
$STATE,16148,end surface coast,CONTROL_FINISHED_OK
$STATE,16149,begin surface
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$IRIDIUM_FIX,5829.55,-14847.87,090508,041616
$TT8_MAMPS,0.16478,0.16478
$HUMID,38.50
$INTERNAL_PRESSURE,8.7929
$TCM_TEMP,17.90
$XPDR_PINGS,0
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,9262.40 4473.25
$PA_BOOTCOUNT,322
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$PA_ROOT,0.76/0.092/0.121/0.022
$PA_HOME,0.01/0.186/27.046/25.486
$PA_DISK_BANK,1
$24V_AH,23.58,3.327
$10V_AH,10.00,11.191
$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,18.075,138.800,591.550,0.000,0.000,0.000,0.000,247.200,0.000,0.000,13.386,0.000,12309.954,619.774,3486.646,134.903,0.000,2397.653,0.000,2092.481,0.000,0.548,0.000
$DEVICE_MAMPS,240.975,58.905,1585.845,0.000,0.000,0.000,0.000,89.505,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,583.530,0.000,0.000,0.000,0.000,0.000,9653.021,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,137.731,0.000,0.000,0.000
$MEM,187172
$DATA_FILE_SIZE,36711,852
$CAP_FILE_SIZE,161917,0
$CFSIZE,1024393216,994590720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
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