version: 66.06
glider: 108
mission: 14
dive: 441
start: 9 9 110 18 23 13
data:
$ID,108
$MISSION,14
$DIVE,441
$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,2
$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,-184770.67
$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,30
$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
$GPS1,181537,6658.315,-5922.795,28,1.3,28,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-72.0
$GPS2,182250,6658.248,-5922.656,13,2.0,13,-38.2
$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,255.8,53326,-18.1,-10.000
$D_GRID,1040
$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,-146.1,0.0,0.0,0,24,0.00,0.00,-5.88,0.000,2,0.000,0.000,338,2272,716,0,0,0,0,0,0
$GC,27,-0.78,-146.1,3.0,-0.0,1,175,9.85,2.20,-127.22,0.000,4,0.211,0.089,2931,3595,3656,0,0,0,0,0,0
$GC,350,-0.78,-146.1,35.3,-11.0,59,356,0.00,2.15,0.00,0.000,6,0.000,0.051,2931,2237,3662,0,0,0,0,0,0
$GC,694,-0.78,-146.1,69.4,-10.5,120,699,0.00,2.22,0.00,0.000,4,0.000,0.060,2931,841,3666,0,0,0,0,0,0
$GC,735,-0.78,-146.1,73.4,-10.5,127,740,0.00,2.33,0.00,0.000,6,0.000,0.064,2923,2250,3665,0,0,0,0,0,0
$GC,1076,-0.78,-146.1,107.3,-9.1,181,1079,0.00,2.20,0.00,0.000,4,0.000,0.077,2912,3598,3666,0,0,0,0,0,0
$GC,1193,-0.78,-146.1,119.4,-10.3,191,1199,0.12,2.12,0.00,0.000,6,0.143,0.052,2947,2251,3666,0,0,0,0,0,0
$GC,1519,-0.78,-146.1,144.5,-7.8,222,1523,0.00,2.25,0.00,0.000,4,0.000,0.062,2948,842,3665,0,0,0,0,0,0
$GC,1541,-0.78,-146.1,146.5,-8.7,223,1547,0.00,2.33,0.00,0.000,6,0.000,0.066,2941,2250,3665,0,0,0,0,0,0
$GC,1868,-0.78,-146.1,174.8,-9.2,254,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2250,3664,0,0,0,0,0,0
$GC,2187,-0.78,-146.1,203.6,-8.8,284,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2250,3664,0,0,0,0,0,0
$GC,2507,-0.78,-146.1,231.2,-8.6,314,2511,0.00,2.20,0.00,0.000,4,0.000,0.079,2931,3595,3663,0,0,0,0,0,0
$GC,2536,-0.78,-146.1,234.1,-9.2,316,2540,0.00,2.15,0.00,0.000,6,0.000,0.054,2931,2240,3663,0,0,0,0,0,0
$GC,2868,-0.78,-146.1,264.0,-9.3,347,2872,0.00,2.25,0.00,0.000,4,0.000,0.064,2931,839,3662,0,0,0,0,0,0
$GC,2908,-0.78,-146.1,267.6,-9.0,350,2912,0.00,2.35,0.00,0.000,6,0.000,0.067,2922,2248,3663,0,0,0,0,0,0
$GC,3234,-0.78,-146.1,296.3,-8.6,380,3238,0.00,2.20,0.00,0.000,4,0.000,0.078,2911,3596,3662,0,0,0,0,0,0
$GC,3301,-0.78,-146.1,302.7,-9.0,385,3308,0.12,2.15,0.00,0.000,6,0.140,0.054,2953,2243,3662,0,0,0,0,0,0
$GC,3627,-0.78,-146.1,324.3,-6.0,416,3631,0.00,2.25,0.00,0.000,4,0.000,0.063,2953,842,3662,0,0,0,0,0,0
$GC,3667,-0.78,-146.1,327.0,-6.4,419,3671,0.00,2.35,0.00,0.000,6,0.000,0.067,2947,2254,3662,0,0,0,0,0,0
$GC,3993,-0.78,-146.1,346.0,-5.9,449,3997,0.00,2.17,0.00,0.000,4,0.000,0.077,2936,3602,3662,0,0,0,0,0,0
$GC,4037,-0.78,-146.1,348.7,-6.0,452,4043,0.00,2.15,0.00,0.000,6,0.000,0.052,2936,2241,3661,0,0,0,0,0,0
$GC,4363,-0.78,-146.1,366.7,-5.5,483,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2240,3662,0,0,0,0,0,0
$GC,4684,-0.78,-146.1,385.9,-6.3,513,4688,0.00,2.25,0.00,0.000,4,0.000,0.062,2937,837,3662,0,0,0,0,0,0
$GC,4720,-0.78,-146.1,388.5,-7.3,515,4725,0.00,2.38,0.00,0.000,6,0.000,0.066,2927,2265,3662,0,0,0,0,0,0
$GC,5045,-0.78,-146.1,412.2,-7.3,546,5049,0.00,2.15,0.00,0.000,4,0.000,0.077,2917,3598,3662,0,0,0,0,0,0
$GC,5079,-0.78,-146.1,415.0,-8.4,548,5085,0.10,2.15,0.00,0.000,6,0.146,0.051,2946,2238,3662,0,0,0,0,0,0
$GC,5404,-0.78,-146.1,435.6,-6.7,579,5408,0.00,2.22,0.00,0.000,4,0.000,0.061,2946,839,3662,0,0,0,0,0,0
$GC,5428,-0.78,-146.1,437.2,-6.9,581,5432,0.00,2.35,0.00,0.000,6,0.000,0.064,2939,2255,3662,0,0,0,0,0,0
$GC,5753,-0.78,-146.1,460.7,-7.5,611,5757,0.00,2.15,0.00,0.000,4,0.000,0.074,2930,3595,3662,0,0,0,0,0,0
$GC,5786,-0.78,-146.1,463.4,-8.0,613,5792,0.00,2.12,0.00,0.000,6,0.000,0.051,2930,2245,3662,0,0,0,0,0,0
$GC,6111,-0.78,-146.1,490.0,-8.1,644,6115,0.00,2.25,0.00,0.000,4,0.000,0.061,2930,837,3662,0,0,0,0,0,0
$GC,6144,-0.78,-146.1,492.9,-8.4,646,6149,0.00,2.35,0.00,0.000,6,0.000,0.064,2920,2254,3662,0,0,0,0,0,0
$GC,6469,-0.78,-146.1,521.0,-8.5,677,6474,0.10,2.20,0.00,0.000,4,0.155,0.075,2941,3595,3662,0,0,0,0,0,0
$GC,6502,-0.78,-146.1,523.9,-8.6,679,6507,0.00,2.12,0.00,0.000,6,0.000,0.051,2941,2248,3662,0,0,0,0,0,0
$GC,6828,-0.78,-146.1,547.5,-7.2,710,6833,0.00,2.22,0.00,0.000,4,0.000,0.061,2941,845,3662,0,0,0,0,0,0
$GC,6855,-0.78,-146.1,549.6,-7.1,712,6861,0.00,2.35,0.00,0.000,6,0.000,0.064,2932,2263,3662,0,0,0,0,0,0
$GC,7181,-0.78,-146.1,571.9,-6.5,743,7185,0.00,2.17,0.00,0.000,4,0.000,0.075,2923,3600,3662,0,0,0,0,0,0
$GC,7210,-0.78,-146.1,573.9,-7.0,745,7213,0.00,2.12,0.00,0.000,6,0.000,0.050,2922,2250,3662,0,0,0,0,0,0
$GC,7535,-0.78,-146.1,595.9,-6.5,775,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2249,3662,0,0,0,0,0,0
$GC,7843,-0.78,-146.1,616.6,-6.7,789,7847,0.00,2.25,0.00,0.000,4,0.000,0.061,2921,844,3662,0,0,0,0,0,0
$GC,7878,-0.78,-146.1,619.0,-7.2,790,7883,0.12,2.35,0.00,0.000,6,0.139,0.064,2949,2260,3662,0,0,0,0,0,0
$GC,8210,-0.78,-146.1,638.0,-5.9,801,8214,0.00,2.15,0.00,0.000,4,0.000,0.074,2941,3597,3662,0,0,0,0,0,0
$GC,8249,-0.78,-146.1,640.6,-7.3,802,8253,0.00,2.12,0.00,0.000,6,0.000,0.049,2941,2241,3662,0,0,0,0,0,0
$GC,8574,-0.78,-146.1,661.0,-6.2,813,8578,0.00,2.22,0.00,0.000,4,0.000,0.061,2941,845,3662,0,0,0,0,0,0
$GC,8596,-0.78,-146.1,662.6,-6.7,813,8600,0.00,2.35,0.00,0.000,6,0.000,0.064,2932,2258,3662,0,0,0,0,0,0
$GC,8909,-0.78,-146.1,682.8,-6.5,823,8913,0.00,2.17,0.00,0.000,4,0.000,0.074,2922,3600,3662,0,0,0,0,0,0
$GC,8949,-0.78,-146.1,685.5,-7.1,824,8953,0.00,2.10,0.00,0.000,6,0.000,0.050,2922,2250,3662,0,0,0,0,0,0
$GC,9284,-0.78,-146.1,709.4,-7.1,835,9288,0.00,2.25,0.00,0.000,4,0.000,0.061,2922,845,3662,0,0,0,0,0,0
$GC,9323,-0.78,-146.1,712.3,-7.5,836,9327,0.12,2.33,0.00,0.000,6,0.137,0.064,2949,2250,3662,0,0,0,0,0,0
$GC,9647,-0.78,-146.1,730.2,-5.4,847,9651,0.00,2.20,0.00,0.000,4,0.000,0.074,2941,3600,3662,0,0,0,0,0,0
$GC,9681,-0.78,-146.1,732.4,-6.2,848,9685,0.00,2.12,0.00,0.000,6,0.000,0.049,2941,2244,3662,0,0,0,0,0,0
$GC,10013,-0.78,-146.1,751.5,-5.7,859,10017,0.00,2.25,0.00,0.000,4,0.000,0.061,2941,840,3661,0,0,0,0,0,0
$GC,10040,-0.78,-146.1,753.4,-6.6,859,10046,0.00,2.35,0.00,0.000,6,0.000,0.064,2932,2254,3662,0,0,0,0,0,0
$GC,10354,-0.78,-146.1,772.6,-6.0,870,10358,0.00,2.17,0.00,0.000,4,0.000,0.074,2922,3602,3662,0,0,0,0,0,0
$GC,10399,-0.78,-146.1,775.6,-6.7,871,10403,0.00,2.12,0.00,0.000,6,0.000,0.049,2922,2250,3661,0,0,0,0,0,0
$GC,10730,-0.78,-146.1,797.0,-6.5,882,10734,0.00,2.25,0.00,0.000,4,0.000,0.061,2922,843,3662,0,0,0,0,0,0
$GC,10763,-0.78,-146.1,799.4,-7.6,883,10768,0.10,2.35,0.00,0.000,6,0.147,0.064,2941,2258,3662,0,0,0,0,0,0
$GC,11094,-0.78,-146.1,818.8,-5.9,894,11098,0.00,2.15,0.00,0.000,4,0.000,0.074,2933,3595,3661,0,0,0,0,0,0
$GC,11133,-0.78,-146.1,821.5,-6.3,895,11136,0.00,2.12,0.00,0.000,6,0.000,0.049,2933,2248,3662,0,0,0,0,0,0
$GC,11458,-0.78,-146.1,842.7,-6.6,906,11462,0.00,2.22,0.00,0.000,4,0.000,0.061,2933,845,3662,0,0,0,0,0,0
$GC,11474,-0.78,-146.1,844.1,-6.7,906,11478,0.00,2.35,0.00,0.000,6,0.000,0.064,2925,2257,3662,0,0,0,0,0,0
$GC,11787,-0.78,-146.1,866.2,-7.1,916,11791,0.00,2.15,0.00,0.000,4,0.000,0.074,2914,3595,3662,0,0,0,0,0,0
$GC,11821,-0.78,-146.1,868.7,-8.4,917,11826,0.10,2.12,0.00,0.000,6,0.144,0.049,2943,2247,3662,0,0,0,0,0,0
$GC,12150,-0.78,-146.1,888.7,-5.9,928,12151,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2246,3662,0,0,0,0,0,0
$GC,12457,-0.78,-146.1,905.4,-5.3,938,12458,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2246,3662,0,0,0,0,0,0
$GC,12763,-0.78,-146.1,921.0,-5.0,948,12767,0.00,2.25,0.00,0.000,4,0.000,0.060,2943,843,3662,0,0,0,0,0,0
$GC,12787,-0.78,-146.1,922.5,-6.0,948,12793,0.00,2.35,0.00,0.000,6,0.000,0.064,2938,2259,3661,0,0,0,0,0,0
$GC,13100,-0.78,-146.1,938.4,-5.1,959,13104,0.00,2.17,0.00,0.000,4,0.000,0.074,2927,3596,3661,0,0,0,0,0,0
$GC,13139,-0.78,-146.1,940.6,-5.9,960,13144,0.00,2.12,0.00,0.000,6,0.000,0.049,2927,2246,3661,0,0,0,0,0,0
$STATE,13215,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13216,begin apogee
$GC,13223,-0.17,0.0,944.7,5.3,963,13357,0.45,0.00,130.85,1.400,6,0.107,0.000,3076,2201,3058,0,0,0,0,0,0
$STATE,13357,end apogee,CONTROL_FINISHED_OK
$STATE,13357,begin climb
$GC,13360,0.78,146.1,947.8,0.0,967,13503,0.60,0.00,138.75,1.329,6,0.061,0.000,3290,2200,2462,0,0,0,0,0,0
$GC,13788,0.81,171.7,917.4,8.8,981,13819,0.00,2.40,23.45,1.268,4,0.000,0.061,3301,801,2358,0,0,0,0,0,0
$GC,13856,0.82,178.6,911.2,9.7,983,13870,0.00,2.40,8.18,1.081,6,0.000,0.063,3300,2201,2329,0,0,0,0,0,0
$GC,14195,0.82,178.6,877.2,10.1,994,14199,0.00,2.30,0.00,0.000,4,0.000,0.074,3300,3600,2329,0,0,0,0,0,0
$GC,14272,0.82,178.6,867.8,12.1,996,14276,0.00,2.22,0.00,0.000,6,0.000,0.050,3310,2199,2327,0,0,0,0,0,0
$GC,14593,0.82,178.6,834.3,10.5,1007,14597,0.00,2.25,0.00,0.000,4,0.000,0.061,3321,794,2327,0,0,0,0,0,0
$GC,14649,0.82,178.6,827.9,10.5,1008,14655,0.12,2.33,0.00,0.000,6,0.157,0.062,3288,2202,2328,0,0,0,0,0,0
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$FREEZE,8.85,5.393,-1.754,0,1,0
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$FREEZE,4.48,5.396,-1.751,0,1,0
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$STATE,22364,end climb,SURFACE_DEPTH_REACHED
$STATE,22364,begin surface coast
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$FREEZE,2.78,5.393,-1.750,0,1,0
$FREEZE,2.27,5.387,-1.749,0,1,0
$FREEZE,2.39,5.387,-1.749,0,1,0
$FREEZE,2.29,5.223,-1.734,0,1,0
$FREEZE,2.45,5.352,-1.750,0,1,0
$FINISH,2.5,1.025217
$STATE,22401,end surface coast,CONTROL_FINISHED_OK
$STATE,22401,begin surface
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$RAFOS_CLK,924
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$RAFOS,2,1284077824,0.300000,0.284444,82,79,44,43,41,39,722,723,345,1865,498,1919
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$RAFOS,0,1284076866,0.033333,0.018333,45,44,44,43,42,41,1664,939,1325,1554,938,1773
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$RAFOS,5,1284064887,20.700001,20.690834,44,42,42,40,40,39,447,298,1855,200,782,659
$RAFOS,4,1284064403,20.566668,20.556389,47,47,47,45,44,44,435,1608,1904,1330,1866,1250
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$RAFOS,2,1284063424,20.299999,20.284445,117,76,41,40,40,39,723,722,210,1669,1355,1888
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$RAFOS,0,1284062467,20.033333,20.018612,99,94,50,42,41,40,753,754,1462,1104,482,1
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$IRIDIUM_FIX,6625.71,-5920.96,041299,111101
$TT8_MAMPS,0.027612
$HUMID,44.32
$INTERNAL_PRESSURE,10.1566
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.0
$24V_AH,21.5,82.508
$10V_AH,10.0,42.331
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_MAMPS,210.925,161.070,1399.775,793.845,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1212.377,1214.989,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135480
$DATA_FILE_SIZE,66112,1680
$CAP_FILE_SIZE,231991,0
$CFSIZE,260165632,209399808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.7
$CURRENT,0.017,135.0,1
$GPS,100910,004030,6655.931,-5927.119,41,1.0,41,-38.1