version: 66.03
glider: 120
mission: 9
dive: 234
start: 11 24 108 6 57 8
data:
$ID,120
$MISSION,9
$DIVE,234
$D_SURF,7
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,660
$T_MISSION,675
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51365
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0054608998
$HD_B,0.011315
$HD_C,8.0300997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-22589.738
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3950
$C_PITCH,3317
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,176
$ROLL_MAX,3861
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2876
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-16.122175
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,53
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043782545
$SEABIRD_T_H,0.00063376746
$SEABIRD_T_I,2.0789576e-05
$SEABIRD_T_J,1.6847914e-06
$SEABIRD_C_G,-10.138739
$SEABIRD_C_H,1.1328104
$SEABIRD_C_I,-0.00035406757
$SEABIRD_C_J,0.00012259149
$GPS1,065008,5007.381,-14449.593,61,1.5,61,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-71.8
$GPS2,065614,5007.423,-14449.487,16,1.4,33,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.162,0.074
$KALMAN_X,38079.2,419.0,194.4,-38426.3,-2613.0
$KALMAN_Y,179806.4,-269.9,-179.3,-175888.1,1157.2
$MHEAD_RNG_PITCHd_Wd,47.0,34242,-12.0,-5.000
$D_GRID,1001
$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
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,55,0.00,0.00,-32.12,0.000,2,0.000,0.000,138,2405,2446
$GC,58,-0.67,-117.3,3.6,-4.8,3,105,13.98,2.50,-25.62,0.000,4,0.286,0.095,3096,3823,3356
$GC,314,-0.45,-117.3,34.2,-15.1,26,319,0.28,2.35,0.00,0.000,6,0.163,0.058,3173,2394,3358
$GC,640,-0.45,-117.3,58.8,-7.4,56,641,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2393,3359
$GC,958,-0.50,-117.3,79.4,-6.6,86,962,0.00,2.47,0.00,0.000,4,0.000,0.077,3169,3809,3360
$GC,1020,-0.62,-117.3,83.6,-6.6,89,1025,0.15,2.30,0.00,0.000,6,0.079,0.054,3110,2397,3360
$GC,1347,-0.55,-117.3,111.2,-8.6,105,1351,0.00,2.38,0.00,0.000,4,0.000,0.068,3110,989,3360
$GC,1441,-0.47,-117.3,119.9,-9.1,109,1446,0.20,2.33,0.00,0.000,6,0.155,0.061,3165,2414,3361
$GC,1757,-0.55,-117.3,140.5,-6.3,124,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2414,3361
$GC,2075,-0.82,-117.3,161.5,-6.7,137,2080,0.30,2.42,0.00,0.000,4,0.084,0.069,3054,994,3361
$GC,2244,-0.63,-117.3,176.7,-9.7,142,2249,0.20,2.30,0.00,0.000,6,0.165,0.063,3109,2401,3360
$GC,2573,-0.58,-117.3,201.6,-7.7,153,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2401,3361
$GC,2879,-0.54,-117.3,223.6,-6.9,163,2881,0.12,0.00,0.00,0.000,6,0.173,0.000,3142,2401,3360
$GC,3185,-0.60,-117.3,239.7,-5.2,173,3189,0.00,2.40,0.00,0.000,4,0.000,0.071,3142,992,3360
$GC,3213,-0.68,-117.3,241.0,-4.9,174,3218,0.12,2.33,0.00,0.000,6,0.088,0.063,3095,2408,3360
$GC,3548,-0.68,-117.3,261.0,-6.1,185,3552,0.00,2.40,0.00,0.000,4,0.000,0.081,3095,3818,3360
$GC,3576,-0.63,-117.3,262.9,-7.0,186,3581,0.00,2.30,0.00,0.000,6,0.000,0.056,3095,2402,3360
$GC,3911,-0.63,-117.3,284.2,-6.3,197,3915,0.00,2.38,0.00,0.000,4,0.000,0.071,3094,987,3360
$GC,3939,-0.63,-117.3,286.0,-6.4,198,3943,0.00,2.33,0.00,0.000,6,0.000,0.064,3095,2411,3360
$GC,4303,-0.58,-117.3,309.7,-6.6,208,4308,0.12,2.42,0.00,0.000,4,0.156,0.071,3131,989,3359
$GC,4341,-0.63,-117.3,312.2,-5.8,208,4345,0.00,2.30,0.00,0.000,6,0.000,0.063,3128,2403,3359
$GC,4668,-0.67,-117.3,331.7,-6.0,214,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2403,3359
$GC,4971,-0.72,-117.3,349.4,-5.8,219,4973,0.12,0.00,0.00,0.000,6,0.091,0.000,3078,2404,3358
$GC,5274,-0.68,-117.3,370.1,-6.8,224,5278,0.00,2.40,0.00,0.000,4,0.000,0.071,3078,989,3358
$GC,5314,-0.59,-117.3,373.0,-7.8,224,5319,0.17,2.30,0.00,0.000,6,0.154,0.064,3124,2400,3358
$GC,5635,-0.64,-117.3,390.7,-5.4,230,5636,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2401,3358
$GC,5937,-0.68,-117.3,408.5,-5.9,235,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2400,3358
$GC,6240,-0.73,-117.3,427.3,-6.2,240,6242,0.12,0.00,0.00,0.000,6,0.090,0.000,3076,2401,3358
$GC,6543,-0.73,-117.3,449.1,-7.2,245,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2400,3358
$GC,6846,-0.73,-117.3,469.4,-6.7,250,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2400,3358
$GC,7149,-0.73,-117.3,489.5,-6.6,255,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2400,3358
$GC,7453,-0.73,-117.3,510.3,-6.9,260,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2400,3358
$GC,7755,-0.73,-117.3,531.0,-6.8,265,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2401,3358
$GC,8059,-0.73,-117.3,551.8,-6.9,270,8063,0.00,2.42,0.00,0.000,4,0.000,0.072,3076,984,3357
$GC,8092,-0.68,-117.3,554.3,-7.6,270,8096,0.00,2.33,0.00,0.000,6,0.000,0.065,3076,2401,3357
$GC,8418,-0.60,-117.3,579.3,-7.7,276,8420,0.15,0.00,0.00,0.000,6,0.157,0.000,3116,2401,3357
$GC,8721,-0.65,-117.3,598.9,-6.5,281,8722,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2401,3357
$GC,9024,-0.70,-117.3,617.9,-6.2,286,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2400,3357
$GC,9327,-0.76,-117.3,634.2,-5.3,291,9329,0.15,0.00,0.00,0.000,6,0.085,0.000,3058,2401,3356
$GC,9630,-0.70,-117.3,651.8,-5.8,296,9632,0.12,0.00,0.00,0.000,6,0.114,0.000,3093,2400,3356
$GC,9934,-0.70,-117.3,666.9,-4.9,301,9935,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2401,3357
$GC,10236,-0.70,-117.3,681.2,-4.8,306,10240,0.00,2.40,0.00,0.000,4,0.000,0.074,3093,992,3356
$GC,10269,-0.70,-117.3,682.8,-5.4,306,10273,0.00,2.35,0.00,0.000,6,0.000,0.067,3093,2401,3356
$GC,10601,-0.70,-117.3,698.3,-4.7,312,10602,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2401,3356
$GC,10904,-0.70,-117.3,714.0,-5.2,317,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2400,3356
$GC,11207,-0.70,-117.3,730.2,-5.4,322,11209,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2400,3355
$GC,11510,-0.70,-117.3,747.2,-5.6,327,11512,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2401,3356
$GC,11813,-0.70,-117.3,764.9,-5.9,332,11814,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2401,3355
$GC,12117,-0.70,-117.3,783.6,-6.2,337,12118,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2401,3355
$GC,12419,-0.70,-117.3,802.5,-6.3,342,12421,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2401,3355
$GC,12723,-0.70,-117.3,823.0,-6.8,347,12727,0.00,2.42,0.00,0.000,4,0.000,0.074,3093,986,3355
$GC,12761,-0.70,-117.3,825.8,-7.0,347,12765,0.00,2.35,0.00,0.000,6,0.000,0.067,3093,2408,3355
$GC,13087,-0.70,-117.3,847.5,-6.6,353,13088,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2408,3354
$GC,13390,-0.70,-117.3,866.6,-6.2,358,13392,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2408,3355
$GC,13693,-0.70,-117.3,883.2,-5.4,363,13694,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2408,3355
$GC,13997,-0.70,-117.3,897.6,-4.7,368,13998,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2408,3355
$GC,14300,-0.70,-117.3,911.8,-4.6,373,14304,0.00,2.45,0.00,0.000,4,0.000,0.075,3093,993,3354
$GC,14332,-0.70,-117.3,913.5,-5.4,373,14336,0.00,2.35,0.00,0.000,6,0.000,0.068,3093,2395,3354
$GC,14665,-0.70,-117.3,929.9,-5.0,379,14666,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2395,3354
$GC,14967,-0.70,-117.3,946.3,-5.4,384,14972,0.00,2.40,0.00,0.000,4,0.000,0.087,3093,3808,3354
$GC,15000,-0.75,-117.3,948.4,-5.8,384,15004,0.00,2.33,0.00,0.000,6,0.000,0.060,3093,2393,3354
$GC,15332,-0.75,-117.3,967.0,-5.7,390,15333,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2393,3354
$GC,15635,-0.75,-117.3,983.7,-5.5,395,15636,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2393,3354
$STATE,15754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15754,begin apogee
$GC,15760,-0.22,0.0,990.4,5.5,397,15868,0.50,0.00,105.03,1.499,6,0.143,0.000,3245,2201,2876
$STATE,15869,end apogee,CONTROL_FINISHED_OK
$STATE,15869,begin climb
$GC,15871,0.67,117.3,992.3,0.0,398,15984,0.85,0.00,110.50,1.445,6,0.091,0.000,3526,2201,2397
$GC,16240,0.34,117.3,975.5,7.8,405,16243,0.38,0.00,0.00,0.000,6,0.178,0.000,3428,2201,2393
$GC,16544,0.29,117.3,958.9,5.4,410,16545,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2201,2393
$GC,16846,0.23,117.3,942.8,5.2,415,16848,0.12,0.00,0.00,0.000,6,0.185,0.000,3397,2201,2392
$GC,17150,0.26,136.8,929.4,4.4,420,17174,0.00,2.55,17.58,1.388,4,0.000,0.082,3397,3601,2318
$GC,17208,0.26,136.8,926.4,6.2,420,17215,0.00,2.42,0.00,0.000,6,0.000,0.064,3397,2202,2317
$GC,17519,0.32,136.8,911.0,5.0,426,17520,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2202,2317
$GC,17821,0.39,136.8,895.6,5.1,431,17826,0.15,2.47,0.00,0.000,4,0.090,0.082,3462,3617,2316
$GC,17853,0.19,136.8,893.3,7.8,431,17858,0.30,2.38,0.00,0.000,6,0.173,0.066,3382,2196,2317
$GC,18180,0.32,153.5,878.3,4.5,437,18198,0.12,0.00,16.02,1.367,6,0.093,0.000,3428,2196,2249
$GC,18482,0.32,153.5,863.0,5.1,442,18486,0.00,2.45,0.00,0.000,4,0.000,0.083,3428,3613,2248
$GC,18515,0.26,153.5,860.9,6.0,442,18520,0.12,2.35,0.00,0.000,6,0.168,0.066,3405,2195,2248
$GC,18848,0.35,177.9,846.1,4.3,448,18872,0.00,0.00,22.50,1.376,6,0.000,0.000,3405,2195,2149
$GC,19151,0.45,186.9,831.9,4.7,453,19166,0.15,2.50,9.48,1.248,4,0.089,0.083,3466,3615,2113
$GC,19218,0.27,186.9,827.0,8.2,454,19223,0.28,2.40,0.00,0.000,6,0.168,0.065,3403,2193,2112
$GC,19578,0.37,186.9,808.5,5.0,460,19582,0.00,2.40,0.00,0.000,4,0.000,0.081,3408,791,2111
$GC,19610,0.48,186.9,806.6,5.3,460,19615,0.20,2.33,0.00,0.000,6,0.085,0.064,3481,2206,2111
$GC,19936,0.36,186.9,782.0,7.7,466,19941,0.15,2.35,0.00,0.000,4,0.156,0.081,3435,3610,2111
$GC,19969,0.31,186.9,779.5,6.1,466,19973,0.00,2.35,0.00,0.000,6,0.000,0.065,3435,2192,2111
$GC,20294,0.31,186.9,760.3,5.9,472,20295,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2192,2111
$GC,20597,0.31,186.9,741.1,6.4,477,20598,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2192,2111
$GC,20901,0.31,186.9,721.2,6.5,482,20905,0.00,2.47,0.00,0.000,4,0.000,0.081,3435,3608,2111
$GC,20944,0.26,186.9,718.0,6.8,482,20949,0.12,2.35,0.00,0.000,6,0.176,0.064,3405,2195,2111
$GC,21259,0.37,186.9,700.5,5.6,488,21260,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2195,2111
$GC,21562,0.49,186.9,684.7,5.1,493,21567,0.17,2.47,0.00,0.000,4,0.087,0.082,3477,3616,2111
$GC,21600,0.29,186.9,681.7,8.9,493,21605,0.25,2.38,0.00,0.000,6,0.173,0.066,3410,2191,2111
$GC,21921,0.39,186.9,664.1,5.5,499,21922,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2191,2111
$GC,22224,0.49,186.9,648.7,5.0,504,22229,0.15,2.45,0.00,0.000,4,0.088,0.081,3475,3617,2111
$GC,22256,0.32,186.9,646.4,7.9,504,22261,0.20,2.35,0.00,0.000,6,0.171,0.066,3423,2200,2111
$GC,22582,0.38,186.9,628.4,5.4,510,22583,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2200,2111
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$GC,29076,0.48,221.5,219.5,4.3,638,29099,0.15,0.00,20.55,0.992,6,0.089,0.000,3481,2196,1972
$GC,29382,0.53,221.5,202.0,5.7,648,29386,0.00,2.45,0.00,0.000,4,0.000,0.081,3481,3618,1968
$GC,29425,0.47,221.5,198.7,7.6,649,29430,0.00,2.38,0.00,0.000,6,0.000,0.063,3489,2200,1968
$GC,29743,0.47,221.5,177.3,6.6,660,29745,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2200,1968
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$GC,30401,0.47,221.5,129.7,6.6,685,30405,0.00,2.33,0.00,0.000,6,0.000,0.062,3489,2199,1968
$GC,30722,0.48,225.7,112.8,4.9,701,30732,0.00,2.38,4.65,0.719,4,0.000,0.077,3489,789,1954
$GC,30812,0.54,225.7,107.7,6.0,705,30816,0.00,2.30,0.00,0.000,6,0.000,0.061,3489,2204,1954
$GC,31139,0.60,225.7,89.4,5.6,721,31143,0.00,2.33,0.00,0.000,4,0.000,0.080,3489,3608,1954
$GC,31166,0.60,225.7,87.7,5.5,722,31170,0.00,2.33,0.00,0.000,6,0.000,0.062,3489,2203,1954
$GC,31494,0.68,237.6,71.7,4.7,746,31516,0.15,2.50,11.93,0.874,4,0.090,0.079,3558,3608,1904
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$GC,32093,0.62,237.6,35.9,6.2,801,32098,0.15,2.42,0.00,0.000,4,0.085,0.075,3530,780,1902
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$STATE,32583,end climb,SURFACE_DEPTH_REACHED
$STATE,32583,begin surface coast
$FINISH,1.5,1.024645
$STATE,32798,end surface coast,CONTROL_FINISHED_OK
$STATE,32798,begin surface
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$IRIDIUM_FIX,4946.36,-14458.55,170298,222220
$TT8_MAMPS,0.026845
$HUMID,2091
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$TCM_TEMP,15.30
$XPDR_PINGS,979
$24V_AH,22.2,47.420
$10V_AH,10.6,31.211
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$DEVICE_SECS,31.700,172.125,329.625,49.000,0.000,29.679,26.159,174.957,244.750,0.000,0.000,33.599,1808.866,28062.873,571.113,2244.090,540.742,33.378,1621.881,0.000,2199.344,0.000,0.465
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50678,866
$CAP_FILE_SIZE,179106,0
$CFSIZE,260165632,240427008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241108,160639,5009.772,-14444.914,67,1.2,67,18.6