version: 67.00
glider: 249
mission: 6
dive: 707
start: 10 20 121 4 10 29
data:
$ID,249
$MISSION,6
$DIVE,707
$N_DIVES,0
$STOP_T,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1000
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$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,390
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,85
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72946
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0025118899
$HD_B,0.018861501
$HD_C,5.7000002e-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,558.0575
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,4
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3000
$C_PITCH,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,18
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$ROLL_MIN,215
$ROLL_MAX,3825
$ROLL_DEG,60
$C_ROLL_DIVE,2320
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,10
$ROLL_CNV,0.054949999
$ROLL_TIMEOUT,25
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2775
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,550
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,67.489105
$FG_AHR_24V,184.2305
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.5
$PRESSURE_SLOPE,0.0014504
$COMPASS_USE,16388
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$XPDR_INT,-1
$XPDR_REP,-1
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-3
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,120
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,56
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0043000001
$SEABIRD_T_H,0.00063999998
$SEABIRD_T_I,2.4999999e-05
$SEABIRD_T_J,4.3e-06
$SEABIRD_C_G,-10
$SEABIRD_C_H,1
$SEABIRD_C_I,-0.0020000001
$SEABIRD_C_J,0.00019999999
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,201021,035409,4748.192,-12514.930,31,0.8,32,15.9
$_CALLS,5
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-64.9
$GPS2,201021,041016,4748.145,-12514.878,2,0.7,4,15.9
$SPEED_LIMITS,0.147,0.157
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,238.8,159937,-21.3,-8.462,-28.39
$D_GRID,587
$IRON,1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,2,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
$GC,5.41,16386,-82.73,-1.35,0.00,1031.8,1012.6,1051.1,180.7,2367.2,0.00,0.00,0,77.13,70.57,0.00,0.00,0.005,0.000,0.000,2831.78,3009.75,2653.81,180.81,2367.25,0,0,0,15.01,30.00,30.00
$GC,78.24,18983,-82.73,-1.35,-60.00,2830.5,3007.7,2653.4,180.8,2367.0,3.97,-6.23,13,107.56,5.76,14.65,2.77,0.008,0.246,0.064,3110.94,3317.56,2904.31,2003.44,1208.44,0,0,0,15.33,15.54,15.24
$GC,234.63,1028,-82.73,-1.35,0.00,3112.8,3319.3,2906.2,2003.2,1208.5,32.90,-15.12,44,240.20,0.00,0.00,2.64,0.000,0.000,0.028,3112.84,3318.75,2906.94,2003.50,2350.19,0,0,0,30.00,30.00,15.86
$GC,425.06,516,-82.73,-1.35,-60.00,3112.5,3318.6,2906.4,2003.6,2350.4,56.09,-11.84,82,430.43,0.00,0.00,2.71,0.000,0.000,0.058,3113.31,3318.94,2907.69,2003.69,1208.38,0,0,0,30.00,30.00,15.89
$GC,464.81,1028,-82.73,-1.35,0.00,3112.6,3318.6,2906.6,2003.4,1208.1,61.29,-13.24,90,470.24,0.00,0.00,2.63,0.000,0.000,0.027,3112.62,3318.56,2906.69,2003.44,2355.56,0,0,0,30.00,30.00,15.90
$GC,655.12,516,-82.73,-1.35,-60.00,3112.8,3318.4,2907.1,2003.6,2355.0,84.52,-11.88,128,660.29,0.00,0.00,2.71,0.000,0.000,0.057,3113.44,3318.50,2908.38,2002.38,1206.75,0,0,0,30.00,30.00,15.92
$GC,774.74,1028,-82.73,-1.35,0.00,3113.3,3318.8,2907.8,2003.6,1207.1,96.37,-9.38,152,780.29,0.00,0.00,2.62,0.000,0.000,0.027,3113.56,3318.31,2908.81,2001.81,2354.31,0,0,0,30.00,30.00,15.93
$GC,964.78,516,-82.73,-1.35,-60.00,3113.2,3318.2,2908.2,2003.4,2354.9,112.92,-8.50,190,970.35,0.00,0.00,2.71,0.000,0.000,0.058,3114.75,3320.38,2909.12,2003.06,1207.06,0,0,0,30.00,30.00,15.94
$GC,1094.83,1028,-82.73,-1.35,0.00,3113.6,3318.6,2908.5,2002.9,1207.5,125.57,-9.72,216,1100.38,0.00,0.00,2.62,0.000,0.000,0.027,3113.69,3319.38,2908.00,2003.50,2353.38,0,0,0,30.00,30.00,15.95
$GC,1404.94,260,-82.73,-1.35,60.00,3113.5,3318.7,2908.3,2003.2,2353.3,151.45,-8.43,278,1410.48,0.00,0.00,2.69,0.000,0.000,0.085,3113.16,3318.19,2908.12,2003.56,3426.19,0,0,0,30.00,30.00,15.94
$GC,1605.01,1028,-82.73,-1.35,0.00,3113.2,3317.6,2908.9,2003.6,3426.1,169.75,-9.44,318,1610.54,0.00,0.00,2.54,0.000,0.000,0.020,3113.91,3317.75,2910.06,2003.38,2243.75,0,0,0,30.00,30.00,15.97
$GC,1915.23,0,-82.73,-1.35,0.00,3113.4,3317.8,2908.9,2003.3,2241.6,195.00,-7.79,380,1916.56,0.00,0.00,0.00,0.000,0.000,0.000,3112.44,3317.75,2907.12,2003.19,2241.88,0,0,0,30.00,30.00,30.00
$GC,2220.24,516,-82.73,-1.35,-60.00,3113.2,3318.1,2908.4,2002.9,2242.1,219.21,-8.11,441,2225.36,0.00,0.00,2.44,0.000,0.000,0.064,3113.25,3317.81,2908.69,2003.38,1207.12,0,0,0,30.00,30.00,15.98
$GC,2285.26,1028,-82.73,-1.35,0.00,3113.6,3317.6,2909.7,2003.2,1207.2,224.84,-8.73,454,2290.80,0.00,0.00,2.61,0.000,0.000,0.027,3113.44,3317.75,2909.12,2002.31,2354.62,0,0,0,30.00,30.00,15.99
$GC,2595.37,516,-82.73,-1.35,-60.00,3113.1,3317.1,2909.1,2003.4,2354.7,250.43,-8.26,516,2600.93,0.00,0.00,2.71,0.000,0.000,0.060,3113.94,3317.94,2909.94,2001.69,1207.06,0,0,0,30.00,30.00,15.99
$GC,2660.38,1028,-82.73,-1.35,0.00,3113.0,3317.5,2908.6,2003.4,1207.0,256.12,-8.82,529,2665.94,0.00,0.00,2.61,0.000,0.000,0.028,3113.06,3317.44,2908.69,2003.38,2353.25,0,0,0,30.00,30.00,16.00
$GC,2970.45,260,-82.73,-1.35,60.00,3112.6,3316.4,2908.8,2003.6,2353.1,281.16,-7.82,591,2976.00,0.00,0.00,2.70,0.000,0.000,0.087,3112.84,3316.94,2908.75,2002.31,3428.88,0,0,0,30.00,30.00,15.95
$GC,3040.46,1028,-82.73,-1.35,0.00,3112.5,3316.4,2908.5,2003.4,3429.7,287.40,-9.13,605,3046.00,0.00,0.00,2.55,0.000,0.000,0.021,3112.84,3316.38,2909.31,2003.19,2243.69,0,0,0,30.00,30.00,16.00
$GC,3354.24,0,-82.73,-1.35,0.00,3112.2,3315.6,2908.9,2002.8,2241.6,313.37,-8.40,650,3365.31,0.00,0.00,0.00,0.000,0.000,0.000,3112.16,3315.69,2908.62,2003.56,2241.69,0,0,0,30.00,30.00,30.00
$GC,3667.64,260,-82.73,-1.35,60.00,3112.0,3314.8,2909.2,2003.2,2241.8,338.97,-8.17,679,3672.32,0.00,0.00,2.97,0.000,0.000,0.082,3112.50,3315.56,2909.44,2003.06,3425.19,0,0,0,30.00,30.00,15.96
$GC,3769.13,1028,-82.73,-1.35,0.00,3112.1,3315.2,2909.1,2003.2,3425.1,347.91,-8.91,693,3784.05,0.00,0.00,2.53,0.000,0.000,0.021,3111.75,3314.62,2908.88,2003.00,2244.25,0,0,0,30.00,30.00,16.01
$GC,4095.33,516,-82.73,-1.35,-60.00,3111.9,3314.4,2909.5,2003.6,2244.2,375.14,-8.17,723,4099.91,0.00,0.00,2.44,0.000,0.000,0.066,3112.88,3316.62,2909.12,2003.19,1207.06,0,0,0,30.00,30.00,15.99
$GC,4164.32,1028,-82.73,-1.35,0.00,3111.4,3314.1,2908.7,2003.5,1207.3,380.91,-8.34,732,4168.95,0.00,0.00,2.61,0.000,0.000,0.028,3112.12,3314.12,2910.12,2001.19,2352.56,0,0,0,30.00,30.00,16.02
$GC,4476.01,0,-82.73,-1.35,0.00,3111.4,3313.6,2909.2,2003.4,2353.0,404.81,-7.64,761,4487.08,0.00,0.00,0.00,0.000,0.000,0.000,3111.41,3313.94,2908.88,2003.69,2353.19,0,0,0,30.00,30.00,30.00
$GC,4788.74,516,-82.73,-1.35,-60.00,3110.7,3312.2,2909.1,2003.7,2352.9,430.05,-8.14,790,4793.37,0.00,0.00,2.70,0.000,0.000,0.061,3109.91,3311.81,2908.00,2003.06,1207.12,0,0,0,30.00,30.00,15.99
$GC,4906.72,1028,-82.73,-1.35,0.00,3110.6,3312.2,2909.0,2003.2,1207.4,440.29,-8.78,806,4921.48,0.00,0.00,2.61,0.000,0.000,0.029,3112.91,3314.19,2911.62,2002.81,2352.38,0,0,0,30.00,30.00,16.03
$GC,5222.87,260,-82.73,-1.35,60.00,3110.3,3311.6,2909.1,2003.7,2352.6,465.61,-7.67,835,5227.50,0.00,0.00,2.70,0.000,0.000,0.089,3110.50,3310.56,2910.44,2003.12,3426.88,0,0,0,30.00,30.00,15.94
$GC,5292.89,1028,-82.73,-1.35,0.00,3109.6,3310.7,2908.4,2003.4,3426.1,471.45,-8.41,845,5307.81,0.00,0.00,2.54,0.000,0.000,0.021,3111.50,3312.25,2910.75,2003.19,2243.75,0,0,0,30.00,30.00,16.02
$GC,5609.42,516,-82.73,-1.35,-60.00,3109.5,3310.1,2908.8,2003.1,2244.1,495.67,-7.39,874,5614.20,0.00,0.00,2.45,0.000,0.000,0.066,3109.72,3309.38,2910.06,2003.06,1208.38,0,0,0,30.00,30.00,15.98
$GC,5778.33,1028,-82.73,-1.35,0.00,3109.2,3309.9,2908.6,2003.2,1208.1,507.14,-6.61,898,5783.71,0.00,0.00,2.62,0.000,0.000,0.029,3109.50,3310.38,2908.62,2003.50,2352.50,0,0,0,30.00,30.00,16.03
$GC,6097.58,32,-82.73,-1.35,0.00,3109.0,3309.2,2908.7,2003.4,2351.6,524.77,-4.83,920,6098.91,0.00,0.00,0.00,0.000,0.000,0.000,3107.97,3308.38,2907.56,2003.12,2352.44,0,0,0,30.00,30.00,30.00
$GC,6412.57,260,-82.73,-1.35,60.00,3108.7,3308.4,2908.9,2003.4,2352.1,547.58,-7.90,941,6416.55,0.00,0.00,2.71,0.000,0.000,0.090,3109.81,3309.62,2910.00,2001.00,3425.88,0,0,0,30.00,30.00,15.93
$GC,6518.34,1028,-82.73,-1.35,0.00,3108.7,3308.4,2909.0,2003.1,3424.8,554.50,-6.95,957,6533.26,0.00,0.00,2.53,0.000,0.000,0.021,3110.34,3310.25,2910.44,2003.69,2245.38,0,0,0,30.00,30.00,16.02
$GC,6847.74,260,-82.73,-1.35,60.00,3108.5,3308.2,2908.8,2003.0,2245.3,576.05,-6.81,979,6852.41,0.00,0.00,2.99,0.000,0.000,0.085,3107.88,3307.31,2908.44,2002.50,3427.75,0,0,0,30.00,30.00,15.93
$GC,6886.29,1028,-82.73,-1.35,0.00,3108.1,3307.1,2909.0,2003.4,3427.4,578.82,-7.16,985,6891.82,0.00,0.00,2.54,0.000,0.000,0.021,3108.22,3307.62,2908.81,2003.06,2246.00,0,0,0,30.00,30.00,16.02
$STATE,7025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7025,begin apogee
$GC,7027.65,10243,0.00,-0.28,0.00,3108.0,3307.2,2908.8,2003.8,2181.2,587.80,-6.40,995,7103.01,60.81,1.83,0.16,1.889,0.137,0.150,2774.47,2907.56,2641.38,2263.88,2289.75,0,0,0,10.72,15.87,15.59
$STATE,7104,end apogee,CONTROL_FINISHED_OK
$STATE,7104,begin climb
$GC,7105.20,10243,82.73,1.35,0.00,2773.9,2907.0,2640.9,2263.7,2290.1,589.36,0.00,1000,7179.34,63.51,2.63,0.00,1.821,0.087,0.000,2437.09,2519.69,2354.50,2662.12,2290.25,0,0,0,12.27,15.69,30.00
$GC,7491.69,8742,123.02,1.43,-60.00,2432.3,2519.4,2345.1,2662.2,2290.2,567.49,6.30,1026,7535.48,32.70,0.00,2.86,1.744,0.000,0.074,2272.81,2339.19,2206.44,2661.12,1129.50,0,0,0,11.69,30.00,15.51
$GC,7662.08,1028,123.02,1.43,0.00,2268.7,2339.1,2198.2,2661.8,1130.1,554.59,8.03,1051,7667.63,0.00,0.00,2.66,0.000,0.000,0.028,2270.03,2340.94,2199.12,2662.25,2273.88,0,0,0,30.00,30.00,15.73
$GC,7981.50,324,123.02,1.46,60.00,2267.5,2338.7,2196.4,2662.5,2273.6,532.17,6.74,1073,7986.15,0.00,0.00,2.73,0.000,0.000,0.089,2267.25,2339.06,2195.44,2661.62,3345.62,0,0,0,30.00,30.00,15.80
$GC,8144.49,3141,123.02,1.48,0.00,2267.3,2338.8,2195.8,2662.3,3345.9,520.64,7.46,1097,8150.06,0.00,0.16,2.58,0.000,0.089,0.023,2266.88,2338.44,2195.31,2701.75,2184.25,0,0,0,30.00,15.77,15.86
$GC,8459.63,580,123.02,1.52,-60.00,2266.0,2338.4,2193.5,2702.2,2184.1,498.58,6.75,1119,8464.25,0.00,0.00,2.55,0.000,0.000,0.075,2265.31,2337.56,2193.06,2701.62,1129.25,0,0,0,30.00,30.00,15.89
$GC,8576.86,1092,123.02,1.53,0.00,2265.7,2338.8,2192.6,2701.9,1129.7,489.91,7.60,1135,8591.78,0.00,0.00,2.63,0.000,0.000,0.028,2266.16,2339.25,2193.06,2702.69,2272.38,0,0,0,30.00,30.00,15.93
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$GC,10987.88,8226,166.02,1.80,0.00,2263.7,2339.1,2188.2,2743.3,2275.1,316.20,6.16,1378,11032.27,33.20,0.00,0.00,1.544,0.000,0.000,2097.59,2147.75,2047.44,2743.69,2274.75,0,0,0,11.05,30.00,30.00
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$GC,12322.60,1028,166.02,1.83,0.00,2090.4,2146.3,2034.5,2787.6,1129.8,200.03,10.00,1621,12328.15,0.00,0.00,2.61,0.000,0.000,0.029,2092.12,2148.81,2035.44,2787.31,2272.62,0,0,0,30.00,30.00,15.95
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$GC,13242.77,8742,210.17,1.93,-60.00,2090.4,2147.0,2033.8,2787.4,2273.1,125.80,6.10,1805,13283.72,34.28,0.00,2.77,1.307,0.000,0.071,1917.03,1955.50,1878.56,2786.25,1129.69,0,0,0,11.23,30.00,15.74
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$STATE,14874,end climb,SURFACE_DEPTH_REACHED
$STATE,14874,begin surface coast
$FINISH,0.2,1.024169
$STATE,14919,end surface coast,CONTROL_FINISHED_OK
$STATE,14919,begin surface
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$SM_GC,0.41,116.87,16.92,0.36,1.133,0.043,0.058,500.7,417.6,583.7,179.5,2355.1,0,0,0,11.64,15.71,15.76
$SUPER,19,71,254,1,0,0
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$TCM_TEMP,267.32
$XPDR_PINGS,0,13.0,10.5
$HUMID,50.03
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$24V_AH,14.77,238.123
$10V_AH,14.88,0.000
$FG_AHR_24Vo,184.451
$FG_AHR_10Vo,67.534
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,558.685,37.105,149.430,519.937,0.000,13.712,10041.939,5857.868,1372.225,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1888.704,245.752,216.888,110.769,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
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$SENSOR_MAMPS,20.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM0,60876,1,0,0
$MEM1,65508,1,0,0
$MEM2,971232,35,75496,57
$DATA_FILE_SIZE,96247,2140
$CAP_FILE_SIZE,343182,1
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$SDFILEDIR,2884,1
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$CURRENT,0.039,106.7,1
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$IMPLIED_C_VBD,2816,23.557526,1249
$GPS,201021,082201,4747.759,-12516.014,18,1.1,19,15.9