version: 66.12
glider: 203
mission: 6
dive: 142
start: 1 8 115 2 1 6
data:
$ID,203
$MISSION,6
$DIVE,142
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,360
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52103
$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,4
$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,20
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2815
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,87
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2608
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$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,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$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,-63.024231
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,080115,015134,1851.2577,-15704.1094,28,0.7,28,9.5,0.0,0.0,11,7.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-66.6
$GPS2,080115,020056,1851.1569,-15704.1592,5,0.7,5,9.5,0.5,286.4,12,55.9
$SPEED_LIMITS,0.092,0.264
$TGT_NAME,H6
$TGT_LATLONG,1921.740,-15701.310
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,355.0,56859,-17.4,-9.167,-19.15,2608
$D_GRID,1020
$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,-0.90,-155.7,170,2818,1020,930,0.0,0.0,0,143,0.00,0.00,-43.58,0.000,16386,0.000,0.000,167,2817,2262,2289,2235,0,0,0,0,0,0,26.08,28.83,26.15
$GC,144,-0.90,-155.7,168,2817,2290,2236,3.4,-4.7,6,188,9.00,1.60,-23.67,0.000,18692,0.213,0.061,2501,3857,3244,3307,3182,0,0,0,0,0,0,25.68,24.51,25.96
$GC,423,-0.90,-155.7,2502,3857,3308,3183,66.7,-25.1,50,432,0.00,1.50,0.00,0.000,1030,0.000,0.023,2501,2790,3245,3307,3183,0,0,0,0,0,0,26.22,26.20,26.22
$GC,736,-0.90,-155.7,2502,2792,3309,3185,140.3,-22.9,81,745,0.00,1.67,0.00,0.000,260,0.000,0.043,2493,3853,3245,3308,3183,0,0,0,0,0,0,26.21,26.14,26.27
$GC,869,-0.90,-155.7,2493,3854,3311,3185,168.1,-19.1,94,877,0.00,1.52,0.00,0.000,1030,0.000,0.022,2493,2798,3246,3308,3184,0,0,0,0,0,0,26.26,26.23,26.27
$GC,1182,-0.90,-155.7,2493,2799,3310,3188,217.6,-16.0,125,1187,0.08,0.00,0.00,0.000,2054,0.189,0.000,2508,2798,3248,3309,3187,0,0,0,0,0,0,26.06,26.20,26.16
$GC,1502,-0.90,-155.7,2508,2799,3312,3188,263.9,-14.2,151,1509,0.00,1.62,0.00,0.000,260,0.000,0.044,2502,3860,3249,3311,3187,0,0,0,0,0,0,26.28,26.16,26.31
$GC,1594,-0.90,-155.7,2502,3856,3313,3187,276.9,-14.1,154,1601,0.00,1.50,0.00,0.000,1030,0.000,0.023,2502,2788,3249,3312,3187,0,0,0,0,0,0,26.29,26.26,26.30
$GC,1926,-0.90,-155.7,2502,2789,3312,3189,320.0,-13.2,165,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2788,3249,3311,3187,0,0,0,0,0,0,26.22,26.30,26.29
$GC,2225,-0.90,-155.7,2502,2789,3310,3188,357.5,-12.0,175,2232,0.00,1.65,0.00,0.000,260,0.000,0.045,2496,3856,3248,3309,3187,0,0,0,0,0,0,26.26,26.16,26.32
$GC,2441,-0.90,-155.7,2497,3856,3306,3187,386.0,-13.9,182,2449,0.00,1.50,0.00,0.000,1030,0.000,0.024,2496,2795,3246,3305,3187,0,0,0,0,0,0,26.30,26.27,26.31
$GC,2770,-0.90,-155.7,2497,2797,3301,3188,430.1,-13.5,193,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2795,3244,3301,3187,0,0,0,0,0,0,26.26,26.34,26.32
$GC,3068,-0.90,-155.7,2496,2796,3296,3188,471.0,-14.1,203,3075,0.00,1.65,0.00,0.000,260,0.000,0.045,2487,3856,3241,3295,3187,0,0,0,0,0,0,26.25,26.17,26.31
$GC,3259,-0.90,-155.7,2488,3856,3294,3186,496.3,-13.7,209,3267,0.10,1.50,0.00,0.000,3078,0.162,0.025,2510,2806,3239,3292,3187,0,0,0,0,0,0,26.01,26.25,26.15
$GC,3581,-0.90,-155.7,2510,2806,3289,3185,535.3,-11.7,220,3588,0.00,1.62,0.00,0.000,260,0.000,0.047,2504,3851,3237,3287,3187,0,0,0,0,0,0,26.23,26.13,26.29
$GC,3643,-0.90,-155.7,2504,3852,3286,3187,542.7,-11.6,222,3650,0.00,1.52,0.00,0.000,1030,0.000,0.026,2505,2792,3236,3286,3186,0,0,0,0,0,0,26.28,26.25,26.29
$GC,3975,-0.90,-155.7,2505,2792,3282,3186,581.4,-11.5,233,3982,0.00,1.65,0.00,0.000,260,0.000,0.047,2498,3850,3233,3281,3186,0,0,0,0,0,0,26.21,26.11,26.29
$GC,4061,-0.90,-155.7,2498,3851,3280,3187,588.7,-11.7,235,4073,0.00,1.50,0.00,0.000,1030,0.000,0.026,2498,2806,3233,3280,3186,0,0,0,0,0,0,26.26,26.22,26.27
$GC,4366,-0.90,-155.7,2498,2807,3279,3184,626.8,-11.6,246,4373,0.00,1.65,0.00,0.000,260,0.000,0.047,2491,3857,3230,3278,3183,0,0,0,0,0,0,26.20,26.10,26.26
$GC,4422,-0.90,-155.7,2491,3858,3279,3184,630.5,-11.8,247,4432,0.10,1.50,0.00,0.000,3078,0.164,0.027,2513,2816,3230,3278,3183,0,0,0,0,0,0,25.99,26.22,26.12
$GC,4728,-0.90,-155.7,2513,2818,3277,3181,666.2,-10.7,258,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2816,3228,3276,3181,0,0,0,0,0,0,26.21,26.28,26.27
$GC,5027,-0.90,-155.7,2513,2818,3273,3181,699.4,-11.3,268,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2816,3225,3271,3180,0,0,0,0,0,0,26.20,26.27,26.26
$GC,5328,-0.90,-155.7,2513,2818,3271,3180,733.7,-11.6,278,5335,0.00,1.62,0.00,0.000,260,0.000,0.048,2510,3850,3224,3270,3179,0,0,0,0,0,0,26.20,26.06,26.27
$GC,5389,-0.90,-155.7,2511,3851,3271,3179,741.1,-11.7,280,5396,0.00,1.50,0.00,0.000,1030,0.000,0.027,2510,2810,3223,3270,3177,0,0,0,0,0,0,26.22,26.20,26.23
$GC,5721,-0.90,-155.7,2511,2810,3267,3175,779.0,-11.3,291,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2811,3221,3267,3176,0,0,0,0,0,0,26.18,26.26,26.25
$GC,6020,-0.90,-155.7,2511,2811,3266,3174,813.5,-11.4,301,6028,0.00,1.65,0.00,0.000,260,0.000,0.048,2506,3854,3219,3265,3174,0,0,0,0,0,0,26.19,26.04,26.25
$GC,6082,-0.90,-155.7,2503,3856,3265,3176,821.1,-11.7,303,6089,0.00,1.50,0.00,0.000,1030,0.000,0.028,2503,2856,3217,3260,3174,0,0,0,0,0,0,26.18,26.17,26.20
$GC,6413,-0.90,-155.7,2503,2857,3264,3174,857.5,-10.5,314,6420,0.00,1.58,0.00,0.000,260,0.000,0.050,2498,3849,3218,3263,3173,0,0,0,0,0,0,26.16,26.02,26.22
$GC,6459,-0.90,-155.7,2498,3850,3264,3173,860.8,-10.4,315,6468,0.00,1.50,0.00,0.000,1030,0.000,0.028,2498,2820,3215,3258,3172,0,0,0,0,0,0,26.18,26.15,26.20
$GC,6777,-0.90,-155.7,2500,2819,3263,3171,894.7,-10.0,326,6785,0.00,1.67,0.00,0.000,260,0.000,0.050,2497,3843,3216,3261,3171,0,0,0,0,0,0,26.14,26.01,26.20
$GC,6824,-0.90,-155.7,2497,3843,3262,3171,898.1,-10.1,327,6831,0.00,1.50,0.00,0.000,1030,0.000,0.028,2497,2816,3216,3261,3171,0,0,0,0,0,0,26.17,26.13,26.18
$GC,7140,-0.90,-155.7,2497,2816,3261,3169,931.6,-10.4,338,7147,0.00,1.55,0.00,0.000,516,0.000,0.024,2497,1746,3215,3260,3170,0,0,0,0,0,0,26.14,26.10,26.20
$GC,7175,-0.90,-155.7,2497,1747,3260,3171,934.3,-10.4,339,7182,0.00,1.73,0.00,0.000,1030,0.000,0.038,2497,2859,3214,3259,3170,0,0,0,0,0,0,26.12,26.06,26.15
$GC,7502,-0.90,-155.7,2497,2861,3265,3170,969.5,-10.7,350,7507,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2859,3213,3258,3168,0,0,0,0,0,0,26.13,26.21,26.20
$STATE,7710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7710,begin apogee
$GC,7714,-0.19,0.0,2498,2953,3257,3169,992.5,-11.0,357,7854,0.77,0.00,127.75,1.688,10244,0.119,0.000,2739,2951,2607,2647,2567,0,0,0,0,1,0,25.76,24.14,23.18
$STATE,7855,end apogee,CONTROL_FINISHED_OK
$STATE,7855,begin climb
$GC,7856,0.90,155.7,2740,2952,2663,2569,997.7,0.0,361,8004,1.02,1.58,136.82,1.044,10500,0.071,0.050,3089,3849,1973,2013,1934,0,0,0,0,0,0,24.37,24.37,23.42
$GC,8227,0.90,155.7,3090,3849,1995,1912,973.9,10.3,374,8238,0.00,1.35,0.00,0.000,1030,0.000,0.027,3096,2953,1953,1994,1913,0,0,0,0,0,0,25.75,25.67,25.76
$GC,8553,0.90,155.7,3097,2955,1994,1913,942.3,9.4,385,8560,0.00,1.58,0.00,0.000,516,0.000,0.024,3104,1901,1952,1993,1911,0,0,0,0,0,0,26.08,26.10,26.15
$GC,8784,0.90,155.7,3103,1902,1992,1912,921.9,9.8,392,8794,0.00,1.62,0.00,0.000,1030,0.000,0.036,3104,2959,1952,1993,1911,0,0,0,0,0,0,26.20,26.10,26.20
$GC,9098,0.90,155.7,3104,2960,1993,1912,886.7,10.7,403,9107,0.00,1.60,0.00,0.000,516,0.000,0.024,3111,1898,1950,1991,1910,0,0,0,0,0,0,26.17,26.18,26.24
$GC,9151,0.90,155.7,3112,1900,1992,1912,883.3,10.7,404,9158,0.00,1.62,0.00,0.000,1030,0.000,0.035,3112,2958,1950,1991,1910,0,0,0,0,0,0,26.20,26.14,26.22
$GC,9462,0.90,155.7,3112,2957,1991,1909,844.9,11.7,415,9469,0.00,1.45,0.00,0.000,260,0.000,0.047,3112,3857,1950,1990,1910,0,0,0,0,0,0,26.19,26.10,26.25
$GC,9558,0.90,155.7,3112,3858,1985,1910,832.8,12.8,418,9565,0.00,1.33,0.00,0.000,1030,0.000,0.028,3118,2966,1949,1989,1910,0,0,0,0,0,0,26.19,26.17,26.20
$GC,9884,0.90,155.7,3119,2966,1990,1909,791.6,12.3,429,9889,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2966,1949,1989,1909,0,0,0,0,0,0,26.15,26.22,26.21
$GC,10184,0.90,155.7,3119,2968,1989,1910,756.1,11.7,439,10190,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2966,1948,1988,1908,0,0,0,0,0,0,26.15,26.22,26.22
$GC,10484,0.90,155.7,3119,2968,1988,1909,722.5,10.9,449,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2967,1951,1994,1908,0,0,0,0,0,0,26.13,26.21,26.20
$GC,10784,0.90,155.7,3119,2966,1988,1907,690.5,10.2,459,10789,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2967,1947,1987,1908,0,0,0,0,0,0,26.13,26.20,26.20
$GC,11084,0.90,155.7,3119,2968,1988,1909,661.3,9.7,469,11089,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2966,1947,1987,1907,0,0,0,0,0,0,26.12,26.20,26.19
$GC,11384,0.90,155.7,3118,2966,1987,1907,633.1,9.3,479,11391,0.00,1.58,0.00,0.000,516,0.000,0.024,3127,1886,1947,1986,1908,0,0,0,0,0,0,26.12,26.10,26.19
$GC,11430,0.90,155.7,3127,1885,1987,1907,630.3,9.1,480,11437,0.00,1.67,0.00,0.000,1030,0.000,0.035,3128,2969,1947,1986,1908,0,0,0,0,0,0,26.13,26.06,26.15
$GC,11746,0.90,155.7,3127,2969,1987,1907,598.2,10.0,491,11755,0.00,1.42,0.00,0.000,260,0.000,0.048,3127,3850,1946,1986,1907,0,0,0,0,0,0,26.11,26.00,26.17
$GC,11804,0.90,155.7,3128,3850,1987,1902,594.8,10.1,492,11814,0.00,1.30,0.00,0.000,1030,0.000,0.028,3134,2976,1946,1985,1908,0,0,0,0,0,0,26.13,26.10,26.14
$GC,12109,0.90,155.7,3135,2978,1987,1909,562.4,9.9,503,12118,0.00,1.42,0.00,0.000,260,0.000,0.048,3134,3850,1946,1985,1907,0,0,0,0,0,0,26.10,26.00,26.17
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$GC,12475,0.90,155.7,3124,2958,1985,1909,521.2,12.0,515,12480,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2957,1946,1985,1907,0,0,0,0,0,0,26.10,26.18,26.17
$GC,12775,0.90,155.7,3122,2958,1985,1909,485.6,12.0,525,12780,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2957,1946,1985,1907,0,0,0,0,0,0,26.08,26.16,26.15
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$GC,14327,0.95,155.7,3136,3855,1986,1908,346.4,9.1,576,14336,0.00,1.27,0.00,0.000,1030,0.000,0.026,3137,2990,1946,1985,1907,0,0,0,0,0,0,26.10,26.08,26.11
$GC,14650,1.03,208.9,3137,2990,1986,1907,321.8,7.1,587,14699,0.00,0.00,42.92,0.644,8198,0.000,0.000,3136,2991,1755,1796,1714,0,0,0,0,0,0,26.06,25.59,25.04
$GC,14980,1.03,208.9,3137,2993,1777,1694,288.6,10.9,598,14987,0.00,1.60,0.00,0.000,516,0.000,0.023,3145,1896,1734,1776,1693,0,0,0,0,0,0,26.01,26.01,26.07
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$STATE,17812,end climb,SURFACE_DEPTH_REACHED
$STATE,17812,begin surface coast
$FINISH,1.3,0.999487
$STATE,17823,end surface coast,CONTROL_FINISHED_OK
$STATE,17823,begin surface
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$HUMID,37.16
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,17837.34 8542.12
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$10V_AH,10.27,33.069
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$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.100,86.000,368.150,44.375,0.000,0.000,0.000,405.975,0.000,18433.949,5.569,0.000,14109.171,481.780,3688.171,147.432,0.000,2343.055,0.000,2090.809,0.000,0.556,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,602.768,0.000,0.000,0.000,0.000,0.000,18434.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.377,0.000,0.000,0.000
$MEM,287664
$DATA_FILE_SIZE,36758,890
$CAP_FILE_SIZE,207950,0
$CFSIZE,1024393216,1004666880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
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