version: 66.11
glider: 129
mission: 4
dive: 132
start: 12 5 112 13 39 55
data:
$ID,129
$MISSION,4
$DIVE,132
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$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,380
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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_GPS_ALMANAC,0
$T_GPS_CHARGE,-2813.6519
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,91
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,051212,133023,1952.583,12341.038,40,1.6,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-65.4
$GPS2,051212,133930,1952.415,12341.070,17,1.6,34,-2.4
$SPEED_LIMITS,0.150,0.269
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$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,17.4,79530,-14.6,-8.684,-17.90
$D_GRID,5273
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.56,-175.2,0.0,0.0,0,86,0.00,0.00,-65.10,0.000,2,0.000,0.000,54,1877,1863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.56,-175.2,3.2,-5.1,11,132,7.80,0.00,-30.90,0.000,6,0.247,0.000,1975,1869,3125,0,0,0,0,0,0,25.50,28.83,26.34
$GC,441,-0.50,-175.2,90.6,-24.5,47,446,0.00,1.98,0.00,0.000,4,0.000,0.030,1975,517,3125,0,0,0,0,0,0,28.83,26.24,28.83
$GC,544,-0.46,-175.2,111.4,-19.4,52,550,0.15,2.00,0.00,0.000,6,0.150,0.022,2008,1911,3126,0,0,0,0,0,0,26.03,26.32,28.83
$GC,868,-0.46,-175.2,157.0,-12.3,68,873,0.00,2.03,0.00,0.000,4,0.000,0.031,2008,523,3125,0,0,0,0,0,0,28.83,26.36,28.83
$GC,925,-0.45,-175.2,162.3,-12.1,70,932,0.00,2.00,0.00,0.000,6,0.000,0.022,2001,1930,3127,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1232,-0.44,-175.2,200.5,-11.6,86,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1930,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1532,-0.44,-175.2,232.4,-11.0,101,1537,0.00,2.03,0.00,0.000,4,0.000,0.031,2001,527,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1568,-0.44,-175.2,234.9,-10.9,102,1575,0.00,2.00,0.00,0.000,6,0.000,0.022,1992,1937,3126,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1874,-0.44,-175.2,270.2,-11.3,118,1879,0.00,2.03,0.00,0.000,4,0.000,0.037,1988,3314,3124,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1905,-0.44,-175.2,272.5,-11.0,119,1912,0.10,1.95,0.00,0.000,6,0.145,0.023,2017,1907,3125,0,0,0,0,0,0,26.30,26.50,28.83
$GC,2220,-0.46,-175.2,297.8,-7.1,135,2226,0.00,1.95,0.00,0.000,4,0.000,0.032,2017,539,3124,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2267,-0.48,-175.2,301.3,-7.5,137,2273,0.00,1.95,0.00,0.000,6,0.000,0.022,2009,1940,3123,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2586,-0.49,-175.2,326.7,-8.4,153,2592,0.00,2.05,0.00,0.000,4,0.000,0.031,2009,536,3123,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2679,-0.51,-175.2,334.1,-8.8,157,2684,0.00,1.95,0.00,0.000,6,0.000,0.022,2002,1931,3123,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2992,-0.52,-175.2,360.2,-7.9,173,2998,0.00,2.03,0.00,0.000,4,0.000,0.036,1992,3313,3122,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3035,-0.53,-175.2,363.7,-7.8,175,3041,0.00,1.92,0.00,0.000,6,0.000,0.023,1992,1933,3124,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3359,-0.55,-175.2,388.8,-7.6,191,3364,0.00,2.03,0.00,0.000,4,0.000,0.032,1992,535,3120,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3466,-0.55,-175.2,397.5,-8.5,196,3472,0.00,1.95,0.00,0.000,6,0.000,0.023,1988,1926,3120,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3785,-0.56,-175.2,423.6,-8.1,212,3790,0.00,2.03,0.00,0.000,4,0.000,0.037,1988,3313,3117,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3849,-0.58,-175.2,428.8,-7.9,215,3854,0.00,1.95,0.00,0.000,6,0.000,0.024,1988,1923,3117,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4172,-0.59,-175.2,456.2,-8.2,231,4179,0.00,2.03,-0.08,0.000,4,0.000,0.046,1988,538,3144,0,0,0,0,0,0,28.83,26.45,25.74
$GC,4360,-0.60,-175.2,471.6,-8.1,240,4365,0.00,1.95,0.00,0.000,6,0.000,0.023,1980,1926,3144,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4679,-0.61,-175.2,494.9,-6.9,256,4684,0.00,2.03,0.00,0.000,4,0.000,0.037,1969,3306,3143,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4726,-0.63,-175.2,497.8,-6.8,258,4732,0.00,1.95,0.00,0.000,6,0.000,0.024,1969,1918,3145,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5045,-0.63,-175.2,523.8,-8.5,274,5050,0.00,2.00,0.00,0.000,4,0.000,0.034,1969,534,3142,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5088,-0.64,-175.2,527.7,-8.7,276,5094,0.00,1.95,0.00,0.000,6,0.000,0.024,1961,1922,3142,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5412,-0.64,-175.2,555.2,-8.5,292,5417,0.00,2.03,0.00,0.000,4,0.000,0.038,1950,3306,3139,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5428,-0.64,-175.2,555.2,-8.5,292,5436,0.00,2.00,0.00,0.000,6,0.000,0.025,1950,1890,3139,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5734,-0.64,-175.2,583.9,-9.2,308,5740,0.00,1.98,0.00,0.000,4,0.000,0.034,1950,534,3138,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5821,-0.64,-175.2,592.1,-9.9,312,5826,0.00,2.00,0.00,0.000,6,0.000,0.024,1941,1935,3137,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6129,-0.63,-175.2,621.2,-9.4,324,6134,0.00,2.05,0.00,0.000,4,0.000,0.034,1941,534,3135,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6195,-0.62,-175.2,627.4,-9.6,326,6202,0.00,2.03,0.00,0.000,6,0.000,0.025,1931,1950,3135,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6524,-0.61,-175.2,657.4,-8.9,337,6530,0.12,2.08,0.00,0.000,4,0.155,0.033,1972,540,3133,0,0,0,0,0,0,26.30,26.41,28.83
$GC,6572,-0.61,-175.2,660.0,-8.6,338,6578,0.00,1.98,0.00,0.000,6,0.000,0.024,1964,1931,3133,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6892,-0.61,-175.2,682.1,-6.6,349,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1931,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7191,-0.62,-175.2,702.7,-7.2,359,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1931,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7492,-0.63,-175.2,726.3,-8.1,369,7497,0.00,2.05,0.00,0.000,4,0.000,0.035,1964,540,3128,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7544,-0.64,-175.2,729.5,-8.3,370,7549,0.00,1.98,0.00,0.000,6,0.000,0.025,1955,1924,3128,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7857,-0.64,-175.2,759.2,-8.9,381,7862,0.00,2.05,0.00,0.000,4,0.000,0.039,1945,3313,3126,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7878,-0.64,-175.2,759.2,-8.9,381,7883,0.00,2.00,0.00,0.000,6,0.000,0.027,1945,1928,3126,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8191,-0.64,-175.2,790.2,-9.3,392,8196,0.00,2.05,0.00,0.000,4,0.000,0.037,1945,535,3125,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8289,-0.64,-175.2,799.8,-10.2,395,8294,0.00,2.00,0.00,0.000,6,0.000,0.026,1935,1935,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8616,-0.64,-175.2,832.3,-9.6,406,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,1935,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8916,-0.64,-175.2,861.0,-9.5,416,8917,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,1935,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9216,-0.64,-175.2,889.8,-9.4,426,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,1935,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9517,-0.64,-175.2,915.9,-8.5,436,9522,0.00,2.08,0.00,0.000,4,0.000,0.037,1935,537,3121,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9553,-0.64,-175.2,918.7,-8.6,437,9558,0.00,2.03,0.00,0.000,6,0.000,0.026,1926,1932,3120,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9882,-0.63,-175.2,948.1,-9.1,448,9884,0.10,0.00,0.00,0.000,6,0.168,0.000,1951,1933,3119,0,0,0,0,0,0,26.39,28.83,28.83
$GC,10182,-0.64,-175.2,970.3,-7.3,458,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,1933,3118,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10479,begin apogee
$GC,10484,-0.17,0.0,991.6,-7.1,468,10636,0.45,0.00,144.15,1.412,6,0.118,0.000,2105,1935,2410,0,0,0,0,0,0,25.89,28.83,23.51
$STATE,10637,end apogee,CONTROL_FINISHED_OK
$STATE,10637,begin climb
$GC,10639,0.56,175.2,997.2,0.0,473,10806,0.65,2.33,154.95,1.364,4,0.065,0.037,2341,3279,1693,0,0,0,0,0,0,24.62,23.62,22.65
$GC,10899,0.53,175.2,982.0,10.3,481,10905,0.00,2.12,0.00,0.000,6,0.000,0.028,2350,1914,1688,0,0,0,0,0,0,28.83,24.79,28.83
$GC,11206,0.51,175.2,946.6,10.6,492,11207,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1914,1685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11504,0.49,175.2,915.8,10.2,502,11510,0.12,2.12,0.00,0.000,4,0.179,0.037,2312,3297,1683,0,0,0,0,0,0,25.82,26.01,28.83
$GC,11609,0.48,175.2,906.8,9.7,505,11615,0.00,2.08,0.00,0.000,6,0.000,0.029,2320,1881,1682,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11933,0.47,175.2,874.5,10.1,516,11939,0.00,2.05,0.00,0.000,4,0.000,0.039,2331,502,1681,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11967,0.46,175.2,870.7,10.4,517,11972,0.00,2.05,0.00,0.000,6,0.000,0.025,2331,1920,1680,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12301,0.45,175.2,832.7,11.6,528,12306,0.00,2.05,0.00,0.000,4,0.000,0.039,2331,3284,1680,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12454,0.44,175.2,813.1,12.9,533,12460,0.15,2.05,0.00,0.000,6,0.172,0.029,2302,1893,1680,0,0,0,0,0,0,25.94,26.33,28.83
$GC,12788,0.44,175.2,780.1,9.4,544,12789,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,1893,1681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13087,0.44,187.6,754.3,8.3,554,13101,0.00,2.10,9.10,1.138,4,0.000,0.037,2301,3283,1644,0,0,0,0,0,0,28.83,26.17,25.08
$GC,13152,0.44,195.5,748.8,8.4,556,13168,0.00,2.03,8.70,1.113,6,0.000,0.028,2310,1893,1611,0,0,0,0,0,0,28.83,26.20,24.91
$GC,13481,0.46,235.0,723.3,7.4,567,13518,0.00,0.00,35.22,1.239,6,0.000,0.000,2309,1893,1448,0,0,0,0,0,0,28.83,28.83,24.37
$GC,13812,0.49,282.2,698.9,7.1,578,13859,0.00,2.25,40.65,1.216,4,0.000,0.039,2310,3286,1257,0,0,0,0,0,0,28.83,25.10,24.17
$GC,13946,0.51,312.3,689.6,7.7,582,13980,0.00,2.10,26.80,1.177,6,0.000,0.028,2318,1900,1135,0,0,0,0,0,0,28.83,25.66,24.19
$GC,14293,0.53,339.1,662.4,7.8,594,14324,0.00,0.00,23.52,1.161,6,0.000,0.000,2317,1900,1025,0,0,0,0,0,0,28.83,28.83,24.45
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$GC,16119,0.64,339.1,487.8,14.6,672,16126,0.12,2.00,0.00,0.000,6,0.177,0.028,2370,1894,1018,0,0,0,0,0,0,26.07,26.39,28.83
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$GC,16887,0.64,339.1,395.8,12.4,710,16893,0.00,1.98,0.00,0.000,6,0.000,0.028,2381,1902,1016,0,0,0,0,0,0,28.83,26.42,28.83
$GC,17191,0.64,339.1,357.3,12.3,726,17192,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1902,1016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17493,0.64,339.1,322.4,11.4,741,17494,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1902,1016,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,18093,0.64,339.1,254.1,11.6,771,18099,0.00,2.08,0.00,0.000,4,0.000,0.035,2381,3282,1016,0,0,0,0,0,0,28.83,26.36,28.83
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$GC,18478,0.64,339.1,210.9,10.8,790,18479,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1886,1017,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,19661,0.76,471.5,100.2,7.0,848,19712,0.00,2.05,42.00,0.721,6,0.000,0.024,2376,1897,486,0,0,0,0,0,0,28.83,25.77,24.59
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$GC,20199,0.81,506.4,32.9,25.3,878,20207,0.75,2.03,0.00,0.000,6,0.167,0.023,2422,1907,342,0,0,0,0,0,0,25.55,25.96,28.83
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$STATE,20545,end climb,SURFACE_DEPTH_REACHED
$STATE,20545,begin surface coast
$FINISH,0.6,1.022654
$STATE,20561,end surface coast,CONTROL_FINISHED_OK
$STATE,20562,begin surface
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$HUMID,47.99
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$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3969600
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$10V_AH,10.1,19.239
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
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$MEM,328984
$DATA_FILE_SIZE,33435,944
$CAP_FILE_SIZE,229345,0
$CFSIZE,260034560,239013888
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,2,0,0,0,0
$CURRENT,0.173,182.7,1
$GPS,051212,192506,1953.417,12341.199,36,1.1,36,-2.4