version: 66.12
glider: 204
mission: 15
dive: 66
start: 3 12 115 23 46 29
data:
$ID,204
$MISSION,15
$DIVE,66
$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,330
$T_MISSION,360
$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,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52154
$MASS_COMP,0
$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,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3270
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,29
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,79
$R_STBD_OVSHOOT,46
$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,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00145
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,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,-71.557899
$PRESSURE_SLOPE,0.0001157966
$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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$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,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,120315,233829,1311.3326,14604.3027,37,0.8,37,1.4,1.5,248.1,10,14.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-68.1
$GPS2,120315,234619,1311.2839,14604.2129,3,0.8,4,1.4,0.7,0.0,10,12.8
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N4
$TGT_LATLONG,1306.840,14616.260
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,90.9,23235,-15.8,-10.000,-19.55,2669
$D_GRID,1030
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.80,-175.2,196,2614,806,800,0.0,0.0,0,153,0.00,0.00,-53.17,0.000,16386,0.000,0.000,195,2613,2271,2237,2305,0,0,0,0,0,0,26.79,28.83,26.85
$GC,154,-0.80,-175.2,194,2612,2238,2305,3.6,-6.1,7,205,11.38,2.05,-27.58,0.000,18948,0.232,0.043,3018,1206,3556,3528,3585,0,0,0,0,0,0,26.25,25.20,26.51
$GC,278,-0.80,-175.2,3018,1206,3534,3585,31.0,-24.7,27,292,0.00,2.08,0.00,0.000,1030,0.000,0.034,3009,2600,3557,3529,3585,0,0,0,0,0,0,26.70,26.63,26.71
$GC,598,-0.80,-175.2,3009,2601,3529,3587,117.8,-24.5,64,605,0.00,1.62,0.00,0.000,260,0.000,0.044,3001,3700,3557,3530,3585,0,0,0,0,0,0,27.02,26.75,27.05
$GC,619,-0.80,-175.2,3001,3700,3531,3591,123.7,-24.9,66,626,0.00,1.50,0.00,0.000,1030,0.000,0.021,3004,2584,3557,3529,3585,0,0,0,0,0,0,26.91,26.88,26.92
$GC,930,-0.80,-175.2,3004,2584,3534,3587,189.2,-16.0,97,935,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2585,3560,3532,3588,0,0,0,0,0,0,27.13,27.17,27.17
$GC,1240,-0.80,-175.2,3004,2584,3535,3590,234.9,-14.6,112,1247,0.00,1.92,0.00,0.000,516,0.000,0.026,3011,1227,3562,3534,3591,0,0,0,0,0,0,27.17,26.96,27.22
$GC,1306,-0.80,-175.2,3011,1228,3536,3592,242.5,-14.1,114,1313,0.00,2.03,0.00,0.000,1030,0.000,0.032,3002,2602,3562,3535,3590,0,0,0,0,0,0,27.01,26.94,27.02
$GC,1627,-0.80,-175.2,3002,2600,3536,3590,290.1,-14.0,125,1634,0.00,1.60,0.00,0.000,260,0.000,0.044,2991,3695,3562,3535,3590,0,0,0,0,0,0,27.21,26.95,27.27
$GC,1677,-0.80,-175.2,2993,3695,3535,3589,294.5,-14.0,126,1684,0.00,1.50,0.00,0.000,1030,0.000,0.021,3001,2563,3562,3535,3590,0,0,0,0,0,0,27.10,27.08,27.12
$GC,1988,-0.80,-175.2,3001,2564,3535,3590,339.4,-14.1,137,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2563,3562,3534,3590,0,0,0,0,0,0,27.24,27.32,27.30
$GC,2288,-0.80,-175.2,3001,2564,3535,3586,375.9,-11.3,147,2295,0.00,1.67,0.00,0.000,260,0.000,0.043,2994,3695,3559,3534,3584,0,0,0,0,0,0,27.26,27.00,27.32
$GC,2353,-0.80,-175.2,2994,3695,3536,3584,383.6,-12.0,149,2361,0.00,1.50,0.00,0.000,1030,0.000,0.022,3001,2568,3559,3535,3583,0,0,0,0,0,0,27.15,27.13,27.16
$GC,2679,-0.80,-175.2,3001,2566,3535,3578,422.9,-11.4,160,2687,0.00,1.90,0.00,0.000,516,0.000,0.026,3009,1227,3555,3533,3578,0,0,0,0,0,0,27.27,27.07,27.34
$GC,2720,-0.80,-175.2,3009,1227,3534,3578,425.7,-11.3,161,2728,0.00,2.00,0.00,0.000,1030,0.000,0.030,3001,2605,3557,3533,3582,0,0,0,0,0,0,27.11,27.05,27.13
$GC,3031,-0.80,-175.2,3001,2606,3529,3577,466.9,-13.2,172,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2605,3552,3529,3576,0,0,0,0,0,0,27.29,27.36,27.35
$GC,3331,-0.80,-175.2,3000,2606,3525,3573,505.3,-12.3,182,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2601,3548,3525,3572,0,0,0,0,0,0,27.29,27.36,27.36
$GC,3632,-0.80,-175.2,3001,2606,3523,3571,540.4,-11.5,192,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2605,3546,3522,3570,0,0,0,0,0,0,27.33,27.37,27.36
$GC,3931,-0.80,-175.2,3000,2605,3520,3567,575.6,-11.7,202,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2605,3542,3518,3567,0,0,0,0,0,0,27.31,27.38,27.37
$GC,4231,-0.80,-175.2,3000,2605,3517,3564,609.2,-10.9,212,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2605,3539,3515,3563,0,0,0,0,0,0,27.31,27.39,27.37
$GC,4532,-0.80,-175.2,3000,2604,3514,3561,639.7,-10.0,222,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2605,3537,3513,3562,0,0,0,0,0,0,27.31,27.39,27.38
$GC,4832,-0.80,-175.2,3001,2605,3510,3560,668.2,-9.3,232,4839,0.00,1.98,0.00,0.000,516,0.000,0.027,3009,1227,3534,3510,3559,0,0,0,0,0,0,27.32,27.08,27.38
$GC,4883,-0.80,-175.2,3010,1228,3509,3560,670.6,-9.0,233,4893,0.00,2.03,0.00,0.000,1030,0.000,0.031,3000,2609,3534,3509,3559,0,0,0,0,0,0,27.13,27.06,27.16
$GC,5188,-0.80,-175.2,3000,2608,3508,3556,699.6,-8.8,244,5195,0.00,1.60,0.00,0.000,260,0.000,0.046,2992,3690,3531,3507,3556,0,0,0,0,0,0,27.32,27.01,27.38
$GC,5219,-0.80,-175.2,2992,3691,3508,3557,702.6,-9.0,245,5227,0.00,1.50,0.00,0.000,1030,0.000,0.023,2992,2566,3531,3507,3556,0,0,0,0,0,0,27.20,27.16,27.21
$GC,5551,-0.80,-175.2,2992,2566,3506,3554,735.3,-10.1,256,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2566,3528,3504,3553,0,0,0,0,0,0,27.32,27.39,27.38
$GC,5851,-0.80,-175.2,2993,2567,3503,3553,766.6,-10.6,266,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2566,3527,3503,3552,0,0,0,0,0,0,27.32,27.39,27.38
$GC,6151,-0.80,-175.2,2992,2567,3502,3551,799.6,-11.3,276,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2566,3525,3501,3550,0,0,0,0,0,0,27.32,27.39,27.38
$GC,6451,-0.80,-175.2,2992,2566,3501,3549,836.3,-12.4,286,6458,0.00,1.67,0.00,0.000,260,0.000,0.046,2985,3686,3524,3499,3549,0,0,0,0,0,0,27.32,27.00,27.38
$GC,6482,-0.80,-175.2,2985,3691,3500,3550,840.4,-12.6,287,6490,0.00,1.50,0.00,0.000,1030,0.000,0.024,2991,2575,3524,3499,3549,0,0,0,0,0,0,27.19,27.16,27.20
$GC,6814,-0.80,-175.2,2992,2576,3498,3548,883.0,-13.0,298,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2575,3523,3498,3548,0,0,0,0,0,0,27.32,27.39,27.38
$GC,7114,-0.80,-175.2,2992,2576,3497,3547,920.7,-12.3,308,7121,0.00,1.92,0.00,0.000,516,0.000,0.028,2999,1235,3520,3495,3546,0,0,0,0,0,0,27.32,27.05,27.38
$GC,7145,-0.80,-175.2,2999,1235,3496,3547,923.9,-12.2,309,7153,0.00,2.03,0.00,0.000,1030,0.000,0.033,2990,2604,3521,3496,3546,0,0,0,0,0,0,27.10,27.04,27.13
$GC,7472,-0.80,-175.2,2991,2604,3495,3544,964.6,-12.1,320,7479,0.00,1.67,0.00,0.000,260,0.000,0.047,2982,3699,3519,3494,3544,0,0,0,0,0,0,27.32,26.98,27.38
$GC,7507,-0.80,-175.2,2983,3700,3495,3545,968.5,-12.1,321,7515,0.00,1.52,0.00,0.000,1030,0.000,0.024,2988,2611,3521,3498,3544,0,0,0,0,0,0,27.16,27.15,27.18
$STATE,7712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7713,begin apogee
$GC,7715,-0.17,0.0,2991,2414,3494,3543,993.2,-11.6,328,7857,0.73,0.00,133.93,1.299,10246,0.160,0.000,3208,2412,2839,2813,2865,0,0,0,0,0,0,26.67,25.12,24.38
$STATE,7858,end apogee,CONTROL_FINISHED_OK
$STATE,7858,begin climb
$GC,7859,0.80,175.2,3208,2412,2811,2860,999.7,0.0,332,8012,1.05,2.17,142.50,1.291,10756,0.139,0.027,3526,1047,2118,2114,2123,0,0,0,0,0,0,25.26,24.48,23.92
$GC,8121,1.00,316.5,3526,1048,2108,2114,997.9,4.6,340,8250,0.22,2.15,117.82,1.300,11270,0.149,0.029,3590,2432,1548,1552,1544,0,0,0,0,0,0,25.58,25.71,23.83
$GC,8546,1.00,316.5,3590,2431,1539,1524,941.0,14.3,354,8554,0.00,1.95,0.00,0.000,260,0.000,0.044,3587,3691,1531,1538,1524,0,0,0,0,0,0,26.36,26.13,26.43
$GC,8603,1.00,316.5,3588,3690,1539,1524,932.2,14.8,356,8611,0.00,1.83,0.00,0.000,1030,0.000,0.023,3597,2406,1531,1538,1524,0,0,0,0,0,0,26.36,26.32,26.37
$GC,8935,1.00,316.5,3597,2401,1537,1522,884.6,14.0,367,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,2402,1529,1536,1522,0,0,0,0,0,0,26.78,26.85,26.84
$GC,9235,1.00,316.5,3597,2403,1537,1523,842.8,13.9,377,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,2402,1528,1535,1521,0,0,0,0,0,0,26.92,26.99,26.99
$GC,9535,1.00,316.5,3597,2402,1536,1521,800.5,13.9,387,9543,0.00,1.98,0.00,0.000,260,0.000,0.044,3597,3691,1528,1535,1521,0,0,0,0,0,0,27.01,26.75,27.08
$GC,9582,1.00,316.5,3597,3691,1537,1521,795.9,14.1,388,9589,0.00,1.77,0.00,0.000,1030,0.000,0.024,3606,2416,1528,1535,1521,0,0,0,0,0,0,26.91,26.88,26.93
$GC,9893,1.00,316.5,3606,2413,1533,1522,750.4,13.8,399,9901,0.00,1.98,0.00,0.000,260,0.000,0.045,3602,3692,1526,1532,1521,0,0,0,0,0,0,27.08,26.81,27.15
$GC,9939,1.00,316.5,3602,3692,1535,1521,745.8,14.0,400,9947,0.00,1.77,0.00,0.000,1030,0.000,0.024,3610,2424,1527,1533,1521,0,0,0,0,0,0,26.97,26.94,26.98
$GC,10251,1.00,316.5,3611,2422,1533,1522,699.4,14.5,411,10256,0.00,0.00,0.00,0.000,6,0.000,0.000,3610,2421,1526,1533,1520,0,0,0,0,0,0,27.13,27.20,27.19
$GC,10551,1.00,316.5,3610,2420,1533,1520,655.1,14.9,421,10556,0.00,0.00,0.00,0.000,6,0.000,0.000,3610,2421,1526,1532,1520,0,0,0,0,0,0,27.16,27.23,27.22
$GC,10851,1.00,316.5,3611,2421,1532,1521,607.6,15.8,431,10858,0.00,1.92,0.00,0.000,260,0.000,0.044,3609,3691,1526,1532,1520,0,0,0,0,0,0,27.18,26.89,27.25
$GC,10902,1.00,316.5,3609,3691,1533,1520,603.1,16.0,432,10913,0.00,1.77,0.00,0.000,1030,0.000,0.024,3617,2416,1526,1532,1520,0,0,0,0,0,0,27.07,27.03,27.08
$GC,11207,1.00,316.5,3618,2415,1534,1521,546.9,17.0,443,11212,0.00,0.00,0.00,0.000,6,0.000,0.000,3617,2414,1526,1532,1520,0,0,0,0,0,0,27.20,27.27,27.27
$GC,11507,1.00,316.5,3617,2413,1533,1519,496.0,16.6,453,11514,0.00,1.95,0.00,0.000,260,0.000,0.047,3614,3693,1523,1531,1516,0,0,0,0,0,0,27.22,26.92,27.29
$GC,11558,1.00,316.5,3614,3694,1532,1521,491.6,16.7,454,11570,0.00,1.77,0.00,0.000,1030,0.000,0.024,3621,2419,1526,1531,1521,0,0,0,0,0,0,27.10,27.06,27.12
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$GC,12925,1.00,316.5,3594,3700,1532,1518,306.2,14.1,500,12933,0.00,1.80,0.00,0.000,1030,0.000,0.024,3603,2409,1525,1531,1519,0,0,0,0,0,0,27.13,27.09,27.15
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$GC,14077,1.03,336.1,3621,2421,1531,1517,169.2,9.2,560,14103,0.00,2.08,13.80,0.824,8708,0.000,0.029,3632,1037,1463,1472,1455,0,0,0,0,0,0,27.28,26.72,26.07
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$STATE,15813,end climb,SURFACE_DEPTH_REACHED
$STATE,15813,begin surface coast
$FINISH,0.8,1.022298
$STATE,15828,end surface coast,CONTROL_FINISHED_OK
$STATE,15828,begin surface
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$IRIDIUM_FIX,1305.38,14605.08,070108,130810
$TT8_MAMPS,0.161035,0.161035
$HUMID,35.58
$INTERNAL_PRESSURE,9.22338
$TCM_TEMP,24.70
$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,1651515
$PA_UPTIME,15814.09 6694.45
$PA_BOOTCOUNT,871
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$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.04/0.082/1.856/1.680
$PA_DISK_BANK,0
$24V_AH,23.83,12.801
$10V_AH,9.91,27.422
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,231.795,52.020,1300.500,123.165,0.000,0.000,0.000,87.210,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,520.908,0.000,0.000,0.000,0.000,0.000,16338.960,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,139.693,0.000,0.000,0.000
$MEM,229072
$DATA_FILE_SIZE,33444,773
$CAP_FILE_SIZE,132806,0
$CFSIZE,1024393216,1011728384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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