version: 66.12
glider: 204
mission: 15
dive: 119
start: 3 23 115 12 43 28
data:
$ID,204
$MISSION,15
$DIVE,119
$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,82
$R_STBD_OVSHOOT,44
$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
$GPS1,230315,123728,1419.0143,14622.9385,37,0.9,37,1.2,0.4,263.5,10,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-69.4
$GPS2,230315,124317,1419.0656,14622.8984,7,0.8,7,1.2,0.0,317.1,11,12.8
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N6
$TGT_LATLONG,1422.920,14656.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,80.1,60416,-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,-175.2,160,2621,819,795,0.0,0.0,0,145,0.00,0.00,-46.60,0.000,16386,0.000,0.000,161,2622,2066,2037,2096,0,0,0,0,0,0,26.15,28.83,26.20
$GC,147,-0.80,-175.2,161,2623,2038,2096,3.0,-5.2,7,207,11.88,2.15,-39.08,0.000,18948,0.230,0.040,3018,1223,3556,3529,3584,0,0,0,0,0,0,25.69,24.43,25.98
$GC,252,-0.80,-175.2,3018,1224,3531,3586,21.1,-24.5,23,259,0.00,2.15,0.00,0.000,1030,0.000,0.032,3009,2600,3558,3531,3585,0,0,0,0,0,0,26.12,26.08,26.15
$GC,566,-0.80,-175.2,3010,2602,3532,3586,102.3,-24.7,65,575,0.00,1.73,0.00,0.000,260,0.000,0.044,3001,3695,3558,3531,3585,0,0,0,0,0,0,26.15,26.03,26.20
$GC,689,-0.80,-175.2,3001,3695,3532,3585,132.1,-21.3,77,696,0.00,1.58,0.00,0.000,1030,0.000,0.019,3005,2589,3558,3531,3585,0,0,0,0,0,0,26.26,26.25,26.27
$GC,999,-0.80,-175.2,3005,2589,3535,3585,191.3,-19.9,108,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2589,3559,3533,3585,0,0,0,0,0,0,26.28,26.34,26.34
$GC,1319,-0.80,-175.2,3004,2590,3536,3587,248.8,-16.1,122,1326,0.00,2.03,0.00,0.000,516,0.000,0.024,3011,1235,3561,3535,3587,0,0,0,0,0,0,26.30,26.25,26.35
$GC,1410,-0.80,-175.2,3011,1236,3537,3589,262.2,-14.8,125,1417,0.00,2.12,0.00,0.000,1030,0.000,0.032,3003,2606,3561,3536,3587,0,0,0,0,0,0,26.25,26.20,26.27
$GC,1740,-0.80,-175.2,3002,2602,3537,3589,304.5,-13.5,136,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2602,3563,3537,3589,0,0,0,0,0,0,26.29,26.36,26.34
$GC,2040,-0.80,-175.2,2998,2602,3538,3589,341.6,-11.9,146,2046,0.00,1.70,0.00,0.000,260,0.000,0.042,2993,3693,3562,3536,3589,0,0,0,0,0,0,26.31,26.19,26.37
$GC,2080,-0.80,-175.2,2994,3693,3538,3589,345.0,-11.5,147,2087,0.00,1.58,0.00,0.000,1030,0.000,0.019,3001,2591,3562,3536,3589,0,0,0,0,0,0,26.34,26.32,26.36
$GC,2400,-0.80,-175.2,3002,2592,3537,3587,385.8,-12.9,158,2407,0.00,1.73,0.00,0.000,260,0.000,0.043,2994,3689,3560,3536,3585,0,0,0,0,0,0,26.30,26.17,26.36
$GC,2436,-0.80,-175.2,2995,3690,3537,3586,389.7,-12.8,159,2443,0.00,1.58,0.00,0.000,1030,0.000,0.020,3001,2597,3560,3536,3585,0,0,0,0,0,0,26.33,26.31,26.34
$GC,2762,-0.80,-175.2,3001,2599,3536,3583,428.7,-11.0,170,2768,0.00,2.05,0.00,0.000,516,0.000,0.025,3008,1239,3558,3536,3581,0,0,0,0,0,0,26.29,26.22,26.35
$GC,2837,-0.80,-175.2,3006,1238,3535,3581,435.0,-10.8,172,2843,0.00,2.12,0.00,0.000,1030,0.000,0.031,2999,2602,3557,3534,3581,0,0,0,0,0,0,26.24,26.20,26.27
$GC,3152,-0.80,-175.2,2999,2603,3532,3577,470.5,-11.0,183,3158,0.00,1.70,0.00,0.000,260,0.000,0.042,2991,3688,3554,3531,3577,0,0,0,0,0,0,26.28,26.15,26.34
$GC,3212,-0.80,-175.2,2991,3689,3531,3578,477.4,-11.2,185,3218,0.00,1.55,0.00,0.000,1030,0.000,0.021,2995,2609,3553,3531,3576,0,0,0,0,0,0,26.30,26.29,26.32
$GC,3542,-0.80,-175.2,2995,2610,3527,3576,512.1,-10.1,196,3548,0.00,1.73,0.00,0.000,260,0.000,0.043,2988,3694,3550,3527,3574,0,0,0,0,0,0,26.27,26.11,26.34
$GC,3572,-0.80,-175.2,2988,3694,3528,3574,515.3,-10.2,197,3579,0.00,1.60,0.00,0.000,1030,0.000,0.021,2994,2589,3549,3526,3573,0,0,0,0,0,0,26.27,26.26,26.29
$GC,3903,-0.80,-175.2,2994,2589,3525,3570,549.1,-10.5,208,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2589,3547,3523,3571,0,0,0,0,0,0,26.25,26.32,26.30
$GC,4203,-0.80,-175.2,2993,2590,3521,3570,581.1,-10.6,218,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2589,3544,3520,3568,0,0,0,0,0,0,26.26,26.33,26.32
$GC,4503,-0.80,-175.2,2993,2589,3519,3565,613.6,-11.1,228,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2589,3541,3518,3565,0,0,0,0,0,0,26.25,26.32,26.31
$GC,4803,-0.80,-175.2,2994,2590,3516,3564,647.0,-11.2,238,4809,0.00,1.77,0.00,0.000,260,0.000,0.044,2986,3700,3539,3515,3563,0,0,0,0,0,0,26.24,26.07,26.29
$GC,4858,-0.80,-175.2,2987,3700,3515,3564,650.7,-11.4,239,4867,0.00,1.62,0.00,0.000,1030,0.000,0.022,2993,2609,3538,3514,3563,0,0,0,0,0,0,26.25,26.22,26.27
$GC,5163,-0.80,-175.2,2994,2610,3513,3562,686.9,-10.7,250,5170,0.00,2.12,0.00,0.000,516,0.000,0.024,3003,1205,3536,3512,3561,0,0,0,0,0,0,26.23,26.13,26.29
$GC,5198,-0.80,-175.2,3004,1205,3513,3561,690.2,-10.7,251,5205,0.00,2.20,0.00,0.000,1030,0.000,0.029,2995,2605,3536,3511,3561,0,0,0,0,0,0,26.15,26.11,26.19
$GC,5524,-0.80,-175.2,2994,2605,3510,3558,725.1,-10.9,262,5530,0.00,1.73,0.00,0.000,260,0.000,0.044,2986,3694,3533,3509,3558,0,0,0,0,0,0,26.21,26.03,26.27
$GC,5569,-0.80,-175.2,2987,3695,3510,3559,728.6,-11.0,263,5575,0.00,1.62,0.00,0.000,1030,0.000,0.021,2993,2584,3532,3508,3557,0,0,0,0,0,0,26.20,26.19,26.20
$GC,5884,-0.80,-175.2,2993,2585,3509,3555,765.7,-11.4,274,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2585,3531,3507,3555,0,0,0,0,0,0,26.20,26.27,26.26
$GC,6184,-0.80,-175.2,2993,2585,3506,3554,801.4,-12.0,284,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2585,3529,3506,3553,0,0,0,0,0,0,26.20,26.26,26.25
$GC,6484,-0.80,-175.2,2993,2586,3504,3553,837.7,-12.1,294,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2585,3527,3503,3551,0,0,0,0,0,0,26.18,26.25,26.24
$GC,6784,-0.80,-175.2,2993,2585,3503,3550,872.0,-11.0,304,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2585,3525,3501,3550,0,0,0,0,0,0,26.17,26.24,26.23
$GC,7084,-0.80,-175.2,2993,2586,3501,3550,903.0,-10.0,314,7091,0.00,1.77,0.00,0.000,260,0.000,0.043,2986,3690,3524,3500,3549,0,0,0,0,0,0,26.15,25.96,26.22
$GC,7155,-0.80,-175.2,2986,3690,3501,3548,909.2,-10.0,316,7161,0.00,1.60,0.00,0.000,1030,0.000,0.021,2993,2594,3523,3499,3548,0,0,0,0,0,0,26.16,26.14,26.17
$GC,7475,-0.80,-175.2,2993,2591,3499,3548,942.0,-10.0,327,7478,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2589,3522,3498,3547,0,0,0,0,0,0,26.15,26.22,26.21
$GC,7775,-0.80,-175.2,2993,2590,3498,3547,972.2,-10.3,337,7781,0.00,1.77,0.00,0.000,260,0.000,0.044,2986,3693,3521,3497,3545,0,0,0,0,0,0,26.14,25.94,26.20
$GC,7814,-0.80,-175.2,2986,3692,3498,3545,975.3,-10.5,338,7821,0.00,1.62,0.00,0.000,1030,0.000,0.022,2992,2599,3521,3497,3545,0,0,0,0,0,0,26.15,26.13,26.17
$STATE,7954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7954,begin apogee
$GC,7957,-0.17,0.0,2992,2425,3504,3546,991.2,-10.5,343,8114,0.77,0.00,146.73,1.756,10246,0.151,0.000,3214,2424,2839,2813,2866,0,0,0,0,1,0,25.63,24.03,23.10
$STATE,8114,end apogee,CONTROL_FINISHED_OK
$STATE,8114,begin climb
$GC,8116,0.80,175.2,3214,2423,2823,2868,999.5,0.0,348,8277,1.05,2.17,152.23,1.229,10500,0.125,0.042,3513,3694,2121,2116,2127,0,0,0,0,0,0,24.20,24.10,23.33
$GC,8486,0.89,240.3,3513,3695,2113,2117,989.8,7.5,360,8548,0.08,1.95,53.40,1.212,11270,0.124,0.020,3546,2389,1857,1856,1858,0,0,0,0,0,0,25.56,25.78,24.20
$GC,8852,0.89,240.3,3546,2390,1852,1849,952.4,10.3,373,8859,0.00,2.10,0.00,0.000,260,0.000,0.043,3537,3691,1849,1851,1848,0,0,0,0,0,0,26.08,26.01,26.14
$GC,8883,0.89,240.3,3537,3691,1852,1848,949.2,10.3,374,8890,0.00,1.88,0.00,0.000,1030,0.000,0.021,3546,2418,1849,1851,1848,0,0,0,0,0,0,26.15,26.13,26.15
$GC,9214,0.89,240.3,3546,2415,1849,1848,914.6,10.4,385,9220,0.00,2.05,0.00,0.000,260,0.000,0.044,3537,3692,1848,1849,1847,0,0,0,0,0,0,26.21,26.13,26.27
$GC,9264,0.89,240.3,3537,3694,1850,1848,911.2,10.6,386,9271,0.00,1.88,0.00,0.000,1030,0.000,0.021,3545,2412,1848,1850,1847,0,0,0,0,0,0,26.25,26.23,26.26
$GC,9575,0.89,240.3,3545,2409,1849,1845,875.2,11.0,397,9581,0.00,2.08,0.00,0.000,260,0.000,0.044,3537,3696,1846,1847,1846,0,0,0,0,0,0,26.22,26.11,26.29
$GC,9630,0.89,240.3,3538,3696,1848,1851,871.6,11.2,398,9640,0.00,1.88,0.00,0.000,1030,0.000,0.022,3546,2425,1846,1847,1845,0,0,0,0,0,0,26.25,26.24,26.26
$GC,9935,0.89,240.3,3546,2426,1847,1846,835.0,10.8,409,9941,0.00,2.03,0.00,0.000,260,0.000,0.043,3537,3692,1846,1847,1845,0,0,0,0,0,0,26.22,26.10,26.28
$GC,10010,0.89,240.3,3538,3693,1847,1846,828.0,11.2,411,10016,0.00,1.88,0.00,0.000,1030,0.000,0.022,3545,2419,1845,1846,1844,0,0,0,0,0,0,26.25,26.22,26.25
$GC,10325,0.89,240.3,3546,2416,1847,1844,792.1,10.8,422,10331,0.00,2.12,0.00,0.000,516,0.000,0.031,3556,1044,1845,1846,1844,0,0,0,0,0,0,26.20,26.14,26.27
$GC,10355,0.89,240.3,3556,1045,1845,1845,788.8,10.8,423,10362,0.00,2.15,0.00,0.000,1030,0.000,0.028,3547,2418,1844,1845,1844,0,0,0,0,0,0,26.16,26.12,26.19
$GC,10686,0.89,240.3,3547,2418,1846,1844,752.8,10.8,434,10693,0.00,2.03,0.00,0.000,260,0.000,0.044,3537,3689,1844,1845,1844,0,0,0,0,0,0,26.19,26.05,26.25
$GC,10712,0.89,240.3,3533,3690,1846,1844,752.8,10.8,434,10722,0.00,1.88,0.00,0.000,1030,0.000,0.021,3545,2421,1844,1845,1844,0,0,0,0,0,0,26.20,26.18,26.22
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$GC,14021,0.97,292.5,3599,2409,1641,1635,388.1,12.2,545,14027,0.00,2.12,0.00,0.000,516,0.000,0.030,3610,1042,1636,1639,1634,0,0,0,0,0,0,26.15,26.07,26.21
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$STATE,17663,end climb,SURFACE_DEPTH_REACHED
$STATE,17663,begin surface coast
$FINISH,0.9,1.022432
$STATE,17678,end surface coast,CONTROL_FINISHED_OK
$STATE,17678,begin surface
$SM_CCo,17695,14.32,0.119,0,0,798,500.17
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$IRIDIUM_FIX,1411.96,14622.92,180108,020519
$TT8_MAMPS,0.056175,0.056175
$HUMID,36.92
$INTERNAL_PRESSURE,9.25268
$TCM_TEMP,24.50
$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,17664.08 16814.35
$PA_BOOTCOUNT,924
$PA_DFQS,0/0
$PA_LOG,0.07/0.132/1.876/1.649
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$PA_DATA0,0.54/63.037/117.199/48.208
$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.05/0.092/1.856/1.669
$PA_DISK_BANK,1
$24V_AH,23.10,37.120
$10V_AH,10.06,33.194
$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,24.425,132.225,529.725,14.325,0.000,0.000,0.000,261.250,0.000,18057.180,8.512,0.000,14235.819,697.775,3004.143,110.605,0.000,2216.463,0.000,1904.460,0.000,0.548,0.000
$DEVICE_MAMPS,230.265,55.845,1755.675,119.340,0.000,0.000,0.000,88.740,420.000,49.861,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,559.561,0.000,0.000,0.000,0.000,0.000,18057.299,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,229064
$DATA_FILE_SIZE,36723,829
$CAP_FILE_SIZE,153911,0
$CFSIZE,1024393216,1006501888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
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