version: 66.12
glider: 204
mission: 15
dive: 93
start: 3 18 115 8 31 40
data:
$ID,204
$MISSION,15
$DIVE,93
$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,88
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,180315,081752,1406.3501,14539.5684,38,0.8,38,1.1,0.5,38.2,9,9.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-72.0
$GPS2,180315,083129,1406.4694,14539.4717,6,0.8,6,1.1,0.6,286.1,9,12.5
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N5
$TGT_LATLONG,1411.520,14537.140
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,343.9,10249,-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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.80,-175.2,197,2619,808,807,0.0,0.0,0,159,0.00,0.00,-56.33,0.000,16386,0.000,0.000,196,2618,2337,2296,2379,0,0,0,0,0,0,26.15,28.83,26.22
$GC,161,-0.80,-175.2,197,2618,2299,2379,3.2,-4.1,6,206,11.73,1.67,-23.65,0.000,19204,0.232,0.058,3000,3684,3553,3524,3582,0,0,0,0,0,0,25.80,25.41,26.06
$GC,452,-0.80,-175.2,3000,3686,3525,3584,81.9,-28.4,44,466,0.00,1.52,0.00,0.000,1030,0.000,0.021,3005,2585,3553,3524,3583,0,0,0,0,0,0,26.27,26.25,26.28
$GC,762,-0.80,-175.2,3005,2586,3527,3584,150.5,-20.0,75,769,0.00,2.00,0.00,0.000,516,0.000,0.025,3011,1229,3553,3525,3582,0,0,0,0,0,0,26.26,26.22,26.32
$GC,838,-0.80,-175.2,3011,1230,3527,3584,163.5,-16.5,82,848,0.00,2.08,0.00,0.000,1030,0.000,0.031,3002,2603,3554,3526,3583,0,0,0,0,0,0,26.29,26.22,26.30
$GC,1144,-0.80,-175.2,3002,2604,3530,3584,217.4,-17.5,107,1151,0.00,1.65,0.00,0.000,260,0.000,0.044,2994,3693,3555,3529,3582,0,0,0,0,0,0,26.27,26.20,26.33
$GC,1295,-0.80,-175.2,2994,3694,3530,3585,241.1,-15.4,112,1305,0.00,1.55,0.00,0.000,1030,0.000,0.021,3001,2598,3556,3529,3584,0,0,0,0,0,0,26.33,26.30,26.34
$GC,1628,-0.80,-175.2,3001,2598,3531,3584,292.7,-16.1,123,1638,0.00,1.70,0.00,0.000,260,0.000,0.044,2994,3698,3556,3529,3584,0,0,0,0,0,0,26.29,26.22,26.34
$GC,1666,-0.80,-175.2,2994,3699,3530,3585,298.0,-15.9,124,1675,0.00,1.52,0.00,0.000,1030,0.000,0.021,3001,2607,3556,3529,3584,0,0,0,0,0,0,26.34,26.31,26.34
$GC,1994,-0.80,-175.2,3001,2606,3530,3582,338.4,-10.2,135,2001,0.00,2.05,0.00,0.000,516,0.000,0.024,3010,1208,3555,3529,3582,0,0,0,0,0,0,26.29,26.28,26.36
$GC,2050,-0.80,-175.2,3009,1203,3530,3582,341.1,-9.6,136,2062,0.00,2.10,0.00,0.000,1030,0.000,0.029,3000,2603,3555,3529,3582,0,0,0,0,0,0,26.32,26.26,26.34
$GC,2355,-0.80,-175.2,3001,2604,3530,3579,380.6,-13.5,147,2362,0.00,1.67,0.00,0.000,260,0.000,0.044,2992,3698,3553,3529,3577,0,0,0,0,0,0,26.29,26.22,26.36
$GC,2426,-0.80,-175.2,2993,3699,3529,3578,389.2,-14.0,149,2433,0.00,1.55,0.00,0.000,1030,0.000,0.021,3000,2584,3552,3528,3576,0,0,0,0,0,0,26.35,26.33,26.36
$GC,2747,-0.80,-175.2,2999,2584,3526,3574,431.5,-12.2,160,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2584,3549,3525,3574,0,0,0,0,0,0,26.29,26.36,26.36
$GC,3047,-0.80,-175.2,3000,2585,3523,3572,470.1,-12.4,170,3054,0.00,1.70,0.00,0.000,260,0.000,0.043,2992,3692,3546,3522,3570,0,0,0,0,0,0,26.28,26.20,26.34
$GC,3108,-0.80,-175.2,2992,3692,3523,3569,477.4,-12.1,172,3117,0.00,1.55,0.00,0.000,1030,0.000,0.021,2999,2585,3545,3522,3568,0,0,0,0,0,0,26.34,26.31,26.35
$GC,3441,-0.80,-175.2,2999,2585,3519,3567,516.2,-11.8,183,3450,0.00,1.75,0.00,0.000,260,0.000,0.044,2992,3692,3541,3517,3566,0,0,0,0,0,0,26.28,26.20,26.34
$GC,3544,-0.80,-175.2,2992,3693,3518,3565,527.6,-12.3,186,3551,0.00,1.52,0.00,0.000,1030,0.000,0.021,2999,2597,3540,3516,3564,0,0,0,0,0,0,26.32,26.30,26.33
$GC,3865,-0.80,-175.2,2999,2597,3515,3562,565.3,-10.9,197,3872,0.00,2.03,0.00,0.000,516,0.000,0.026,3009,1230,3537,3513,3561,0,0,0,0,0,0,26.27,26.23,26.33
$GC,3901,-0.80,-175.2,3009,1229,3514,3561,568.2,-10.9,198,3909,0.00,2.08,0.00,0.000,1030,0.000,0.031,3000,2601,3536,3512,3561,0,0,0,0,0,0,26.27,26.22,26.28
$GC,4223,-0.80,-175.2,3000,2601,3509,3559,604.4,-11.1,209,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2601,3533,3508,3558,0,0,0,0,0,0,26.25,26.32,26.31
$GC,4523,-0.80,-175.2,3000,2601,3506,3556,639.3,-11.7,219,4530,0.00,1.67,0.00,0.000,260,0.000,0.044,2992,3693,3530,3505,3555,0,0,0,0,0,0,26.25,26.15,26.31
$GC,4574,-0.80,-175.2,2992,3694,3505,3555,643.1,-11.8,220,4581,0.00,1.52,0.00,0.000,1030,0.000,0.022,2999,2610,3529,3505,3554,0,0,0,0,0,0,26.29,26.27,26.31
$GC,4885,-0.80,-175.2,2999,2609,3503,3552,679.4,-10.6,231,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2610,3527,3502,3552,0,0,0,0,0,0,26.24,26.31,26.29
$GC,5185,-0.80,-175.2,2999,2610,3502,3549,711.1,-10.7,241,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2610,3524,3500,3549,0,0,0,0,0,0,26.22,26.29,26.27
$GC,5485,-0.80,-175.2,2999,2609,3500,3546,742.9,-10.5,251,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2610,3523,3499,3547,0,0,0,0,0,0,26.22,26.29,26.28
$GC,5785,-0.80,-175.2,3005,2611,3504,3545,775.1,-10.9,261,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2610,3519,3496,3543,0,0,0,0,0,0,26.22,26.29,26.28
$GC,6085,-0.80,-175.2,2999,2611,3494,3544,809.7,-11.7,271,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2610,3517,3493,3542,0,0,0,0,0,0,26.22,26.28,26.27
$GC,6385,-0.80,-175.2,2999,2610,3492,3542,844.4,-11.5,281,6390,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2610,3516,3492,3541,0,0,0,0,0,0,26.20,26.27,26.25
$GC,6685,-0.80,-175.2,2999,2609,3491,3539,880.3,-12.0,291,6692,0.00,1.70,0.00,0.000,260,0.000,0.045,2992,3701,3514,3489,3539,0,0,0,0,0,0,26.20,26.06,26.25
$GC,6721,-0.80,-175.2,2992,3701,3491,3538,884.1,-12.1,292,6728,0.00,1.58,0.00,0.000,1030,0.000,0.024,2999,2591,3514,3489,3539,0,0,0,0,0,0,26.21,26.16,26.22
$GC,7047,-0.80,-175.2,2999,2591,3489,3536,923.0,-11.5,303,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2592,3512,3488,3537,0,0,0,0,0,0,26.17,26.25,26.23
$GC,7347,-0.80,-175.2,2999,2593,3486,3537,955.7,-10.8,313,7353,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2591,3510,3485,3536,0,0,0,0,0,0,26.15,26.22,26.21
$GC,7647,-0.80,-175.2,2999,2593,3485,3536,986.2,-10.1,323,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2592,3509,3484,3534,0,0,0,0,0,0,26.16,26.22,26.22
$STATE,7706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7706,begin apogee
$GC,7709,-0.17,0.0,3001,2428,3484,3535,992.3,-10.1,325,7852,0.75,0.00,135.57,1.285,10246,0.155,0.000,3212,2425,2837,2811,2864,0,0,0,0,0,0,25.79,24.82,24.08
$STATE,7853,end apogee,CONTROL_FINISHED_OK
$STATE,7853,begin climb
$GC,7854,0.80,175.2,3213,2426,2810,2863,997.9,0.0,329,8013,1.05,2.25,146.73,1.289,11012,0.138,0.024,3529,1041,2118,2112,2124,0,0,0,0,0,0,24.95,24.00,23.44
$GC,8117,0.96,284.5,3529,1043,2108,2117,994.9,5.8,338,8219,0.20,2.17,92.22,1.280,11270,0.154,0.028,3577,2420,1676,1677,1675,0,0,0,0,0,0,25.15,25.32,23.62
$GC,8523,0.96,284.5,3577,2421,1667,1661,944.0,12.8,352,8531,0.00,2.00,0.00,0.000,260,0.000,0.044,3569,3688,1663,1666,1660,0,0,0,0,0,0,25.89,25.86,25.96
$GC,8550,0.96,284.5,3569,3689,1667,1661,944.0,12.8,352,8560,0.00,1.85,0.00,0.000,1030,0.000,0.021,3577,2406,1663,1666,1660,0,0,0,0,0,0,26.01,25.96,26.02
$GC,8855,0.96,284.5,3577,2404,1666,1658,902.4,12.2,363,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2404,1661,1664,1658,0,0,0,0,0,0,26.13,26.20,26.20
$GC,9155,0.96,284.5,3577,2405,1664,1657,866.3,11.8,373,9163,0.00,2.03,0.00,0.000,260,0.000,0.044,3569,3699,1660,1663,1657,0,0,0,0,0,0,26.17,26.10,26.23
$GC,9221,0.96,284.5,3569,3699,1664,1657,859.1,12.2,375,9229,0.00,1.85,0.00,0.000,1030,0.000,0.024,3578,2420,1660,1663,1657,0,0,0,0,0,0,26.24,26.21,26.25
$GC,9538,0.96,284.5,3578,2422,1664,1657,818.0,12.8,386,9546,0.00,1.98,0.00,0.000,260,0.000,0.043,3570,3690,1659,1663,1656,0,0,0,0,0,0,26.17,26.12,26.25
$GC,9605,0.96,284.5,3571,3691,1666,1657,809.5,13.4,388,9612,0.00,1.85,0.00,0.000,1030,0.000,0.022,3578,2402,1659,1663,1656,0,0,0,0,0,0,26.25,26.22,26.26
$GC,9926,0.96,284.5,3578,2398,1663,1655,768.6,12.2,399,9932,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2399,1658,1662,1655,0,0,0,0,0,0,26.18,26.25,26.25
$GC,10226,0.96,284.5,3579,2400,1662,1656,732.7,12.2,409,10233,0.00,2.03,0.00,0.000,260,0.000,0.043,3570,3690,1660,1662,1658,0,0,0,0,0,0,26.17,26.09,26.24
$GC,10277,0.96,284.5,3571,3691,1662,1656,729.3,12.3,410,10287,0.00,1.83,0.00,0.000,1030,0.000,0.023,3579,2418,1658,1661,1655,0,0,0,0,0,0,26.22,26.19,26.23
$GC,10582,0.96,284.5,3579,2418,1662,1655,689.5,11.8,421,10590,0.00,2.00,0.00,0.000,260,0.000,0.043,3571,3690,1657,1661,1654,0,0,0,0,0,0,26.17,26.06,26.24
$GC,10623,0.96,284.5,3571,3691,1662,1656,686.2,11.8,422,10632,0.00,1.83,0.00,0.000,1030,0.000,0.023,3578,2424,1657,1661,1654,0,0,0,0,0,0,26.21,26.18,26.22
$GC,10936,0.96,284.5,3579,2424,1661,1656,648.4,11.4,433,10944,0.00,2.00,0.00,0.000,260,0.000,0.044,3571,3692,1657,1660,1654,0,0,0,0,0,0,26.15,26.06,26.22
$GC,10983,0.96,284.5,3571,3692,1661,1654,645.2,11.5,434,10990,0.00,1.85,0.00,0.000,1030,0.000,0.023,3579,2411,1658,1661,1655,0,0,0,0,0,0,26.20,26.15,26.20
$GC,11288,0.96,284.5,3579,2407,1661,1655,606.2,12.0,444,11296,0.00,2.03,0.00,0.000,260,0.000,0.044,3571,3690,1656,1659,1654,0,0,0,0,0,0,26.15,26.03,26.20
$GC,11319,0.96,284.5,3571,3691,1661,1656,602.9,12.0,445,11327,0.00,1.85,0.00,0.000,1030,0.000,0.023,3580,2410,1657,1660,1654,0,0,0,0,0,0,26.18,26.16,26.20
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$GC,14187,0.96,288.1,3592,2423,1657,1656,271.4,9.9,540,14195,0.00,2.00,0.00,0.000,260,0.000,0.044,3591,3695,1656,1658,1654,0,0,0,0,0,0,26.09,25.95,26.15
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$STATE,16795,end climb,SURFACE_DEPTH_REACHED
$STATE,16796,begin surface coast
$FINISH,0.8,1.014904
$STATE,16810,end surface coast,CONTROL_FINISHED_OK
$STATE,16810,begin surface
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$IRIDIUM_FIX,1358.61,14540.37,120108,215337
$TT8_MAMPS,0.055426,0.055426
$HUMID,36.13
$INTERNAL_PRESSURE,9.25268
$TCM_TEMP,24.50
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$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,16840.33 7020.82
$PA_BOOTCOUNT,898
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$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.05/0.087/1.856/1.675
$PA_DISK_BANK,0
$24V_AH,23.44,24.721
$10V_AH,10.06,31.337
$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
$DEVICE_SECS,24.125,114.025,543.950,0.000,0.000,0.000,0.000,552.150,0.000,17662.670,6.544,0.000,13571.832,579.611,3439.171,101.591,0.000,2506.698,0.000,1709.485,0.000,0.549,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,529.237,0.000,0.000,0.000,0.000,0.000,17662.682,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,229060
$DATA_FILE_SIZE,33408,785
$CAP_FILE_SIZE,148891,0
$CFSIZE,1024393216,1009057792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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