version: 66.06
glider: 108
mission: 14
dive: 351
start: 8 19 110 23 17 10
data:
$ID,108
$MISSION,14
$DIVE,351
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,0
$D_SAFE,500
$D_CALL,0
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51740
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,605.89099
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-183377.83
$T_RSLEEP,60
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3112
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,3058
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-21.817678
$PRESSURE_SLOPE,0.0001161151
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,5
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,64
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043387706
$SEABIRD_T_H,0.00063929392
$SEABIRD_T_I,2.2459495e-05
$SEABIRD_T_J,2.0328812e-06
$SEABIRD_C_G,-10.121161
$SEABIRD_C_H,1.1529624
$SEABIRD_C_I,-0.002153415
$SEABIRD_C_J,0.0002365096
$GPS1,230925,6710.337,-5906.277,41,0.9,41,-38.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-75.8
$GPS2,231650,6710.326,-5906.119,8,2.0,8,-38.4
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,268.6,76106,-18.1,-10.000
$D_GRID,1295
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,22,0.00,0.00,-4.20,0.000,2,0.000,0.000,336,2262,680,0,0,0,0,0,0
$GC,26,-0.78,-146.1,3.1,-0.0,1,180,9.88,2.33,-137.65,0.000,4,0.216,0.071,2939,839,3654,0,0,0,0,0,0
$GC,285,-0.78,-146.1,22.7,-14.0,49,290,0.00,2.35,0.00,0.000,6,0.000,0.064,2931,2251,3659,0,0,0,0,0,0
$GC,628,-0.78,-146.1,59.6,-10.1,110,634,0.00,2.17,0.00,0.000,4,0.000,0.074,2921,3594,3662,0,0,0,0,0,0
$GC,675,-0.78,-146.1,64.8,-12.3,118,680,0.00,2.12,0.00,0.000,6,0.000,0.051,2921,2249,3662,0,0,0,0,0,0
$GC,1023,-0.78,-146.1,102.8,-11.5,178,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2248,3663,0,0,0,0,0,0
$GC,1343,-0.78,-146.1,137.3,-10.9,208,1348,0.00,2.25,0.00,0.000,4,0.000,0.062,2921,839,3663,0,0,0,0,0,0
$GC,1433,-0.78,-146.1,148.2,-11.8,215,1439,0.12,2.33,0.00,0.000,6,0.142,0.066,2949,2247,3662,0,0,0,0,0,0
$GC,1758,-0.78,-146.1,177.1,-8.5,246,1762,0.00,2.17,0.00,0.000,4,0.000,0.078,2941,3599,3662,0,0,0,0,0,0
$GC,1787,-0.78,-146.1,179.8,-9.4,248,1791,0.00,2.15,0.00,0.000,6,0.000,0.054,2940,2243,3662,0,0,0,0,0,0
$GC,2112,-0.78,-146.1,207.1,-7.8,278,2116,0.00,2.25,0.00,0.000,4,0.000,0.064,2940,839,3661,0,0,0,0,0,0
$GC,2191,-0.78,-146.1,213.5,-7.8,284,2196,0.00,2.35,0.00,0.000,6,0.000,0.067,2931,2259,3661,0,0,0,0,0,0
$GC,2516,-0.78,-146.1,239.5,-8.0,315,2520,0.00,2.17,0.00,0.000,4,0.000,0.077,2921,3598,3661,0,0,0,0,0,0
$GC,2572,-0.78,-146.1,244.5,-8.8,319,2577,0.00,2.15,0.00,0.000,6,0.000,0.053,2920,2242,3661,0,0,0,0,0,0
$GC,2897,-0.78,-146.1,273.3,-9.1,350,2899,0.10,0.00,0.00,0.000,6,0.153,0.000,2949,2242,3660,0,0,0,0,0,0
$GC,3215,-0.78,-146.1,294.6,-6.0,380,3219,0.00,2.25,0.00,0.000,4,0.000,0.063,2949,832,3660,0,0,0,0,0,0
$GC,3238,-0.78,-146.1,296.4,-7.6,381,3244,0.00,2.33,0.00,0.000,6,0.000,0.065,2942,2249,3659,0,0,0,0,0,0
$GC,3563,-0.78,-146.1,318.4,-7.0,412,3567,0.00,2.20,0.00,0.000,4,0.000,0.076,2932,3606,3660,0,0,0,0,0,0
$GC,3603,-0.78,-146.1,321.5,-7.6,415,3609,0.00,2.15,0.00,0.000,6,0.000,0.051,2932,2245,3660,0,0,0,0,0,0
$GC,3929,-0.78,-146.1,346.6,-7.7,446,3933,0.00,2.22,0.00,0.000,4,0.000,0.061,2932,844,3659,0,0,0,0,0,0
$GC,3963,-0.78,-146.1,349.3,-8.0,449,3967,0.00,2.30,0.00,0.000,6,0.000,0.064,2923,2252,3659,0,0,0,0,0,0
$GC,4294,-0.78,-146.1,377.6,-8.8,480,4298,0.00,2.15,0.00,0.000,4,0.000,0.074,2913,3596,3660,0,0,0,0,0,0
$GC,4362,-0.78,-146.1,384.2,-9.9,486,4366,0.10,2.12,0.00,0.000,6,0.150,0.051,2941,2247,3660,0,0,0,0,0,0
$GC,4687,-0.78,-146.1,409.1,-7.5,516,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2247,3661,0,0,0,0,0,0
$GC,5006,-0.78,-146.1,431.7,-6.8,546,5009,0.00,2.22,0.00,0.000,4,0.000,0.060,2941,843,3661,0,0,0,0,0,0
$GC,5041,-0.78,-146.1,434.3,-7.7,549,5045,0.00,2.33,0.00,0.000,6,0.000,0.064,2935,2256,3661,0,0,0,0,0,0
$GC,5366,-0.78,-146.1,458.9,-7.7,579,5370,0.00,2.17,0.00,0.000,4,0.000,0.074,2925,3603,3661,0,0,0,0,0,0
$GC,5428,-0.78,-146.1,464.0,-8.5,584,5432,0.00,2.12,0.00,0.000,6,0.000,0.049,2925,2248,3661,0,0,0,0,0,0
$GC,5759,-0.78,-146.1,490.6,-8.3,615,5763,0.00,2.22,0.00,0.000,4,0.000,0.061,2924,846,3661,0,0,0,0,0,0
$GC,5805,-0.78,-146.1,494.5,-8.8,618,5812,0.08,2.28,0.00,0.000,6,0.114,0.064,2943,2247,3661,0,0,0,0,0,0
$GC,6130,-0.78,-146.1,516.2,-6.5,649,6133,0.00,2.20,0.00,0.000,4,0.000,0.074,2935,3608,3662,0,0,0,0,0,0
$GC,6181,-0.78,-146.1,520.1,-7.4,653,6187,0.00,2.12,0.00,0.000,6,0.000,0.049,2935,2251,3662,0,0,0,0,0,0
$GC,6506,-0.78,-146.1,543.6,-7.5,684,6510,0.00,2.28,0.00,0.000,4,0.000,0.061,2935,835,3662,0,0,0,0,0,0
$GC,6536,-0.78,-146.1,546.1,-9.1,686,6540,0.00,2.33,0.00,0.000,6,0.000,0.064,2926,2262,3661,0,0,0,0,0,0
$GC,6861,-0.78,-146.1,571.8,-8.1,716,6865,0.00,2.15,0.00,0.000,4,0.000,0.074,2916,3594,3662,0,0,0,0,0,0
$GC,6913,-0.78,-146.1,576.1,-8.8,720,6919,0.10,2.12,0.00,0.000,6,0.147,0.049,2945,2240,3662,0,0,0,0,0,0
$GC,7238,-0.78,-146.1,598.1,-6.6,751,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2240,3662,0,0,0,0,0,0
$GC,7546,-0.78,-146.1,617.6,-6.3,763,7550,0.00,2.20,0.00,0.000,4,0.000,0.061,2945,847,3662,0,0,0,0,0,0
$GC,7568,-0.78,-146.1,619.1,-6.3,763,7573,0.00,2.33,0.00,0.000,6,0.000,0.064,2938,2259,3661,0,0,0,0,0,0
$GC,7881,-0.78,-146.1,639.3,-6.5,774,7884,0.00,2.17,0.00,0.000,4,0.000,0.074,2929,3605,3662,0,0,0,0,0,0
$GC,7920,-0.78,-146.1,642.1,-7.3,775,7924,0.00,2.12,0.00,0.000,6,0.000,0.048,2929,2249,3662,0,0,0,0,0,0
$GC,8256,-0.78,-146.1,665.0,-6.8,786,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2250,3662,0,0,0,0,0,0
$GC,8562,-0.78,-146.1,685.4,-6.7,796,8566,0.00,2.25,0.00,0.000,4,0.000,0.061,2928,838,3662,0,0,0,0,0,0
$GC,8596,-0.78,-146.1,688.0,-8.3,797,8600,0.00,2.33,0.00,0.000,6,0.000,0.064,2920,2249,3661,0,0,0,0,0,0
$GC,8925,-0.78,-146.1,710.9,-7.0,808,8930,0.10,2.20,0.00,0.000,4,0.155,0.074,2942,3593,3661,0,0,0,0,0,0
$GC,8975,-0.78,-146.1,714.3,-6.5,809,8979,0.00,2.12,0.00,0.000,6,0.000,0.049,2942,2240,3662,0,0,0,0,0,0
$GC,9295,-0.78,-146.1,732.7,-5.8,820,9299,0.00,2.22,0.00,0.000,4,0.000,0.061,2942,844,3661,0,0,0,0,0,0
$GC,9328,-0.78,-146.1,734.9,-6.8,821,9332,0.00,2.33,0.00,0.000,6,0.000,0.064,2933,2250,3661,0,0,0,0,0,0
$GC,9658,-0.78,-146.1,755.3,-6.2,832,9662,0.00,2.20,0.00,0.000,4,0.000,0.074,2923,3595,3661,0,0,0,0,0,0
$GC,9727,-0.78,-146.1,760.0,-7.2,834,9730,0.00,2.12,0.00,0.000,6,0.000,0.049,2923,2244,3661,0,0,0,0,0,0
$GC,10068,-0.78,-146.1,783.6,-6.9,845,10072,0.00,2.25,0.00,0.000,4,0.000,0.061,2923,836,3661,0,0,0,0,0,0
$GC,10097,-0.78,-146.1,785.6,-8.0,846,10102,0.10,2.35,0.00,0.000,6,0.150,0.064,2942,2259,3661,0,0,0,0,0,0
$GC,10434,-0.78,-146.1,805.6,-5.9,857,10438,0.00,2.17,0.00,0.000,4,0.000,0.074,2934,3602,3662,0,0,0,0,0,0
$GC,10485,-0.78,-146.1,809.2,-6.7,858,10488,0.00,2.12,0.00,0.000,6,0.000,0.048,2934,2250,3661,0,0,0,0,0,0
$GC,10810,-0.78,-146.1,830.3,-6.7,869,10814,0.00,2.25,0.00,0.000,4,0.000,0.061,2934,840,3661,0,0,0,0,0,0
$GC,10839,-0.78,-146.1,832.3,-7.2,870,10843,0.00,2.33,0.00,0.000,6,0.000,0.064,2926,2249,3661,0,0,0,0,0,0
$GC,11174,-0.78,-146.1,855.8,-7.0,881,11178,0.00,2.17,0.00,0.000,4,0.000,0.074,2915,3594,3661,0,0,0,0,0,0
$GC,11247,-0.78,-146.1,861.4,-7.3,883,11252,0.10,2.12,0.00,0.000,6,0.146,0.049,2945,2244,3661,0,0,0,0,0,0
$GC,11577,-0.78,-146.1,881.0,-5.8,894,11581,0.00,2.25,0.00,0.000,4,0.000,0.061,2945,835,3661,0,0,0,0,0,0
$GC,11606,-0.78,-146.1,882.7,-6.1,895,11610,0.00,2.35,0.00,0.000,6,0.000,0.064,2939,2259,3661,0,0,0,0,0,0
$GC,11947,-0.78,-146.1,903.3,-5.9,906,11950,0.00,2.17,0.00,0.000,4,0.000,0.074,2929,3602,3661,0,0,0,0,0,0
$GC,12003,-0.78,-146.1,907.2,-6.8,907,12006,0.00,2.12,0.00,0.000,6,0.000,0.048,2929,2250,3661,0,0,0,0,0,0
$GC,12323,-0.78,-146.1,927.6,-6.4,918,12327,0.00,2.28,0.00,0.000,4,0.000,0.061,2929,841,3660,0,0,0,0,0,0
$GC,12363,-0.78,-146.1,930.4,-6.7,919,12367,0.00,2.35,0.00,0.000,6,0.000,0.063,2921,2264,3660,0,0,0,0,0,0
$GC,12688,-0.78,-146.1,952.0,-6.9,930,12692,0.00,2.15,0.00,0.000,4,0.000,0.074,2911,3604,3660,0,0,0,0,0,0
$GC,12750,-0.78,-146.1,956.9,-7.3,931,12756,0.12,2.12,0.00,0.000,6,0.136,0.048,2948,2250,3661,0,0,0,0,0,0
$GC,13063,-0.78,-146.1,975.3,-5.9,942,13064,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2250,3661,0,0,0,0,0,0
$STATE,13213,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13213,begin apogee
$GC,13221,-0.17,0.0,984.0,5.7,947,13352,0.40,0.00,128.02,1.443,6,0.107,0.000,3083,2201,3058,0,0,0,0,0,0
$STATE,13352,end apogee,CONTROL_FINISHED_OK
$STATE,13353,begin climb
$GC,13355,0.78,146.1,988.1,0.0,951,13500,0.60,2.60,135.82,1.366,4,0.061,0.060,3303,800,2462,0,0,0,0,0,0
$GC,13525,0.84,192.8,980.1,7.9,957,13576,0.00,2.55,45.12,1.314,6,0.000,0.061,3303,2196,2271,0,0,0,0,0,0
$GC,13883,0.84,192.8,943.6,10.1,968,13887,0.00,2.33,0.00,0.000,4,0.000,0.072,3303,3599,2268,0,0,0,0,0,0
$GC,13928,0.84,192.8,938.3,12.3,969,13932,0.00,2.28,0.00,0.000,6,0.000,0.049,3313,2197,2266,0,0,0,0,0,0
$GC,14257,0.84,192.8,902.9,10.7,980,14261,0.00,2.28,0.00,0.000,4,0.000,0.060,3324,784,2266,0,0,0,0,0,0
$GC,14319,0.84,192.8,895.9,11.8,982,14324,0.12,2.35,0.00,0.000,6,0.162,0.061,3290,2216,2267,0,0,0,0,0,0
$GC,14660,0.86,211.9,864.3,9.1,993,14681,0.00,2.25,16.17,1.272,4,0.000,0.070,3290,3595,2194,0,0,0,0,0,0
$GC,14732,0.86,211.9,856.5,12.2,995,14736,0.00,2.22,0.00,0.000,6,0.000,0.048,3298,2189,2192,0,0,0,0,0,0
$GC,15062,0.87,214.3,823.5,9.9,1006,15071,0.00,2.28,3.20,0.661,4,0.000,0.059,3308,793,2186,0,0,0,0,0,0
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$FREEZE,4.57,4.510,-1.671,0,1,0
$FREEZE,3.87,4.514,-1.671,0,1,0
$STATE,22931,end climb,SURFACE_DEPTH_REACHED
$STATE,22931,begin surface coast
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$FREEZE,2.74,4.469,-1.673,0,1,0
$FREEZE,2.13,4.501,-1.670,0,1,0
$FREEZE,2.08,4.488,-0.777,0,1,0
$FREEZE,2.18,4.492,-0.573,0,1,0
$FINISH,2.2,1.008358
$STATE,22960,end surface coast,CONTROL_FINISHED_OK
$STATE,22960,begin surface
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$RAFOS_CLK,939
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$RAFOS,5,1282279267,4.700000,4.685278,63,53,44,43,42,39,764,764,150,200,1311,1
$RAFOS,4,1282278781,4.566667,4.550278,119,115,43,43,40,38,657,658,1598,790,1,1842
$RAFOS,3,1282278306,4.433333,4.418334,94,85,45,43,43,43,862,861,1159,61,210,412
$RAFOS,2,1282277821,4.300000,4.283611,91,86,46,43,42,38,838,837,261,982,1225,1800
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$RAFOS,5,1282264862,0.700000,0.683889,74,72,45,44,41,39,792,793,1747,1388,1849,1934
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$RAFOS,0,1282262469,0.033333,0.019167,87,81,43,43,43,41,828,829,311,1661,310,796
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$TT8_MAMPS,0.026845
$HUMID,42.28
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$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.4
$24V_AH,21.9,63.051
$10V_AH,10.1,33.265
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.600,243.025,563.750,96.375,0.000,30.652,34.771,212.209,3.750,0.000,10.439,3042.034,15785.163,842.679,3048.626,822.146,0.000,2491.212,0.000,3006.379,5040.000,27.333,0.000
$DEVICE_MAMPS,215.527,163.371,1443.494,776.971,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1229.097,1229.808,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135652
$DATA_FILE_SIZE,69288,1705
$CAP_FILE_SIZE,235640,0
$CFSIZE,260165632,217931776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.4
$GPS,200810,054401,6709.229,-5913.100,38,1.1,38,-38.4