version: 66.08
glider: 141
mission: 15
dive: 78
start: 3 4 111 8 22 3
data:
$ID,141
$MISSION,15
$DIVE,78
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,400
$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,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51684
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,559.0387
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-23513.336
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3900
$C_PITCH,2864
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,256
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2490
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,751
$VBD_MAX,4040
$C_VBD,3030
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-33.184971
$PRESSURE_SLOPE,0.0001160265
$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,2
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$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
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,133
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907749
$SEABIRD_T_H,0.0006300722
$SEABIRD_T_I,2.4342404e-05
$SEABIRD_T_J,2.663412e-06
$SEABIRD_C_G,-9.8752003
$SEABIRD_C_H,1.1299734
$SEABIRD_C_I,-0.00041852854
$SEABIRD_C_J,0.00012689357
$GPS1,040311,043537,6701.318,-5901.488,0,5096.0,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.52
$_SM_ANGLEo,-3.7
$GPS2,040311,043537,6701.318,-5901.488,0,5096.0,0,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$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,126.1,96448,-17.5,-10.000
$D_GRID,1179
$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,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-6.82,0.000,2,0.000,0.000,2889,854,3080,0,0,0,0,0,0
$GC,27,-0.62,-146.0,11.9,-0.0,1,52,0.62,4.97,-13.60,0.000,4,0.100,0.073,2664,3897,3629,0,0,0,0,0,0
$GC,305,-0.52,-146.0,56.7,-16.0,50,313,0.12,2.22,0.00,0.000,6,0.230,0.048,2690,2477,3631,0,0,0,0,0,0
$GC,647,-0.45,-146.0,108.8,-15.2,106,651,0.00,2.20,0.00,0.000,4,0.000,0.066,2691,1077,3630,0,0,0,0,0,0
$GC,675,-0.38,-146.0,113.0,-14.5,108,680,0.17,2.25,0.00,0.000,6,0.228,0.061,2734,2489,3630,0,0,0,0,0,0
$GC,1006,-0.44,-146.0,144.2,-9.1,139,1010,0.00,2.30,0.00,0.000,4,0.000,0.079,2734,3902,3630,0,0,0,0,0,0
$GC,1027,-0.50,-146.0,146.2,-8.7,140,1035,0.00,2.20,0.00,0.000,6,0.000,0.047,2734,2486,3630,0,0,0,0,0,0
$GC,1353,-0.57,-146.0,172.3,-7.3,171,1355,0.17,0.00,0.00,0.000,6,0.119,0.000,2676,2486,3629,0,0,0,0,0,0
$GC,1671,-0.49,-146.0,210.0,-11.5,201,1675,0.00,2.20,0.00,0.000,4,0.000,0.067,2676,1086,3629,0,0,0,0,0,0
$GC,1704,-0.42,-146.0,214.1,-11.8,203,1712,0.17,2.25,0.00,0.000,6,0.217,0.063,2718,2496,3629,0,0,0,0,0,0
$GC,2032,-0.47,-146.0,239.1,-7.8,234,2036,0.00,2.22,0.00,0.000,4,0.000,0.065,2718,1083,3629,0,0,0,0,0,0
$GC,2061,-0.52,-146.0,241.5,-8.3,236,2065,0.00,2.22,0.00,0.000,6,0.000,0.060,2718,2492,3628,0,0,0,0,0,0
$GC,2392,-0.58,-146.0,268.0,-8.3,267,2393,0.12,0.00,0.00,0.000,6,0.130,0.000,2676,2492,3628,0,0,0,0,0,0
$GC,2710,-0.53,-146.0,307.5,-13.3,297,2714,0.00,2.22,0.00,0.000,4,0.000,0.064,2676,1077,3628,0,0,0,0,0,0
$GC,2720,-0.47,-146.0,309.0,-12.9,297,2728,0.12,2.25,0.00,0.000,6,0.230,0.060,2703,2492,3628,0,0,0,0,0,0
$GC,3046,-0.50,-146.0,340.3,-9.1,328,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2492,3628,0,0,0,0,0,0
$GC,3367,-0.53,-146.0,369.8,-9.0,358,3371,0.00,2.28,0.00,0.000,4,0.000,0.076,2703,3900,3628,0,0,0,0,0,0
$GC,3385,-0.57,-146.0,371.7,-9.2,359,3389,0.00,2.17,0.00,0.000,6,0.000,0.046,2703,2490,3628,0,0,0,0,0,0
$GC,3713,-0.60,-146.0,400.1,-8.3,389,3717,0.00,2.20,0.00,0.000,4,0.000,0.062,2703,1087,3628,0,0,0,0,0,0
$GC,3729,-0.64,-146.0,401.9,-8.7,390,3737,0.15,2.22,0.00,0.000,6,0.125,0.060,2654,2490,3628,0,0,0,0,0,0
$GC,4056,-0.55,-146.0,441.2,-12.3,421,4058,0.12,0.00,0.00,0.000,6,0.224,0.000,2681,2490,3628,0,0,0,0,0,0
$GC,4372,-0.55,-146.0,473.2,-10.1,451,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2490,3629,0,0,0,0,0,0
$GC,4693,-0.55,-146.0,505.3,-10.0,481,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2490,3629,0,0,0,0,0,0
$GC,5010,-0.55,-146.0,537.0,-10.1,511,5014,0.00,2.28,0.00,0.000,4,0.000,0.077,2681,3899,3629,0,0,0,0,0,0
$GC,5021,-0.55,-146.0,538.3,-10.2,511,5028,0.00,2.17,0.00,0.000,6,0.000,0.045,2681,2485,3629,0,0,0,0,0,0
$GC,5346,-0.55,-146.0,571.1,-9.9,542,5350,0.00,2.20,0.00,0.000,4,0.000,0.062,2681,1075,3629,0,0,0,0,0,0
$GC,5356,-0.55,-146.0,572.4,-10.2,542,5363,0.00,2.25,0.00,0.000,6,0.000,0.060,2681,2499,3630,0,0,0,0,0,0
$GC,5681,-0.55,-146.0,603.6,-9.6,571,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2498,3630,0,0,0,0,0,0
$GC,5987,-0.55,-146.0,632.7,-9.7,581,5991,0.00,2.20,0.00,0.000,4,0.000,0.060,2681,1084,3630,0,0,0,0,0,0
$GC,5997,-0.55,-146.0,633.9,-9.4,581,6001,0.00,2.22,0.00,0.000,6,0.000,0.059,2681,2491,3630,0,0,0,0,0,0
$GC,6320,-0.55,-146.0,663.2,-8.9,592,6325,0.00,2.25,0.00,0.000,4,0.000,0.076,2681,3905,3630,0,0,0,0,0,0
$GC,6349,-0.55,-146.0,665.9,-9.2,593,6353,0.00,2.17,0.00,0.000,6,0.000,0.045,2681,2489,3630,0,0,0,0,0,0
$GC,6685,-0.55,-146.0,696.1,-9.1,604,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2489,3631,0,0,0,0,0,0
$GC,6991,-0.55,-146.0,724.1,-9.3,614,6995,0.00,2.20,0.00,0.000,4,0.000,0.060,2681,1077,3630,0,0,0,0,0,0
$GC,7023,-0.55,-146.0,727.6,-9.9,615,7027,0.00,2.25,0.00,0.000,6,0.000,0.060,2681,2501,3630,0,0,0,0,0,0
$GC,7353,-0.55,-146.0,758.2,-9.3,626,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2501,3630,0,0,0,0,0,0
$GC,7659,-0.55,-146.0,785.9,-9.0,636,7663,0.00,2.25,0.00,0.000,4,0.000,0.077,2681,3906,3630,0,0,0,0,0,0
$GC,7694,-0.57,-146.0,789.0,-9.2,637,7697,0.00,2.17,0.00,0.000,6,0.000,0.047,2681,2490,3630,0,0,0,0,0,0
$GC,8029,-0.57,-146.0,818.6,-8.9,648,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2490,3631,0,0,0,0,0,0
$GC,8335,-0.57,-146.0,845.1,-8.7,658,8339,0.00,2.17,0.00,0.000,4,0.000,0.060,2681,1080,3631,0,0,0,0,0,0
$GC,8363,-0.57,-146.0,847.6,-9.4,659,8367,0.00,2.20,0.00,0.000,6,0.000,0.060,2681,2490,3631,0,0,0,0,0,0
$GC,8699,-0.57,-146.0,876.4,-8.5,670,8703,0.00,2.28,0.00,0.000,4,0.000,0.077,2682,3904,3631,0,0,0,0,0,0
$GC,8721,-0.57,-146.0,878.5,-9.0,670,8727,0.00,2.15,0.00,0.000,6,0.000,0.046,2681,2489,3631,0,0,0,0,0,0
$GC,9034,-0.59,-146.0,904.6,-8.3,681,9038,0.00,2.17,0.00,0.000,4,0.000,0.061,2681,1077,3631,0,0,0,0,0,0
$GC,9049,-0.59,-146.0,906.0,-8.3,681,9053,0.00,2.22,0.00,0.000,6,0.000,0.060,2681,2490,3631,0,0,0,0,0,0
$GC,9368,-0.62,-146.0,932.2,-8.3,692,9369,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2491,3630,0,0,0,0,0,0
$GC,9675,-0.64,-146.0,958.1,-8.5,702,9679,0.00,2.28,0.00,0.000,4,0.000,0.078,2681,3901,3630,0,0,0,0,0,0
$GC,9696,-0.67,-146.0,960.2,-9.1,702,9703,0.00,2.17,0.00,0.000,6,0.000,0.047,2681,2490,3630,0,0,0,0,0,0
$GC,10009,-0.69,-146.0,988.0,-9.3,713,10014,0.12,2.20,0.00,0.000,4,0.132,0.061,2639,1075,3630,0,0,0,0,0,0
$GC,10020,-0.69,-146.0,989.2,-9.1,713,10024,0.00,2.25,0.00,0.000,6,0.000,0.063,2639,2501,3630,0,0,0,0,0,0
$STATE,10028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10028,begin apogee
$GC,10033,-0.12,0.0,990.5,10.7,713,10166,0.60,0.00,126.65,1.546,6,0.198,0.000,2813,2268,3030,0,0,0,0,0,0
$STATE,10167,end apogee,CONTROL_FINISHED_OK
$STATE,10167,begin climb
$GC,10169,0.62,146.0,995.0,0.0,718,10308,0.77,2.53,130.73,1.510,4,0.128,0.070,3063,885,2433,0,0,0,0,0,0
$GC,10352,0.52,146.0,980.6,12.4,723,10360,0.12,2.42,0.00,0.000,6,0.192,0.056,3036,2272,2428,0,0,0,0,0,0
$GC,10665,0.45,146.0,947.5,10.3,734,10669,0.00,2.40,0.00,0.000,4,0.000,0.073,3036,3691,2424,0,0,0,0,0,0
$GC,10769,0.33,146.0,935.0,13.1,737,10774,0.28,2.33,0.00,0.000,6,0.193,0.057,2975,2290,2423,0,0,0,0,0,0
$GC,11106,0.48,215.3,911.0,6.8,748,11174,0.12,2.50,61.92,1.452,4,0.107,0.068,3037,864,2152,0,0,0,0,0,0
$GC,11203,0.48,215.3,900.6,12.2,751,11207,0.00,2.42,0.00,0.000,6,0.000,0.057,3037,2270,2147,0,0,0,0,0,0
$GC,11539,0.45,215.3,858.5,12.5,762,11543,0.00,2.35,0.00,0.000,4,0.000,0.071,3037,3696,2141,0,0,0,0,0,0
$GC,11639,0.39,215.3,844.3,13.9,765,11644,0.20,2.33,0.00,0.000,6,0.187,0.057,2997,2276,2140,0,0,0,0,0,0
$GC,11969,0.46,230.1,812.4,9.3,776,11983,0.00,0.00,12.80,1.299,6,0.000,0.000,2997,2276,2092,0,0,0,0,0,0
$GC,12303,0.54,244.4,781.4,9.3,787,12323,0.12,2.38,14.32,1.304,4,0.108,0.068,3057,857,2033,0,0,0,0,0,0
$GC,12345,0.52,244.4,776.1,11.6,788,12349,0.00,2.35,0.00,0.000,6,0.000,0.057,3057,2282,2031,0,0,0,0,0,0
$GC,12675,0.45,244.4,727.7,14.9,799,12680,0.17,2.30,0.00,0.000,4,0.182,0.071,3010,3688,2029,0,0,0,0,0,0
$GC,12747,0.48,244.4,718.3,10.7,801,12751,0.00,2.25,0.00,0.000,6,0.000,0.054,3017,2274,2027,0,0,0,0,0,0
$GC,13077,0.51,244.4,681.7,11.1,812,13081,0.00,2.25,0.00,0.000,4,0.000,0.067,3027,865,2027,0,0,0,0,0,0
$GC,13121,0.56,244.4,676.5,10.8,813,13125,0.00,2.25,0.00,0.000,6,0.000,0.054,3028,2284,2026,0,0,0,0,0,0
$GC,13438,0.56,244.4,638.0,12.3,824,13442,0.00,2.25,0.00,0.000,4,0.000,0.069,3027,3694,2026,0,0,0,0,0,0
$GC,13504,0.56,244.4,629.1,12.6,826,13508,0.00,2.25,0.00,0.000,6,0.000,0.054,3038,2265,2026,0,0,0,0,0,0
$GC,13828,0.56,244.4,587.5,12.5,842,13832,0.00,2.25,0.00,0.000,4,0.000,0.067,3047,858,2026,0,0,0,0,0,0
$GC,13873,0.59,244.4,581.8,11.5,846,13877,0.00,2.28,0.00,0.000,6,0.000,0.056,3047,2286,2025,0,0,0,0,0,0
$GC,14199,0.56,244.4,539.0,13.4,876,14203,0.00,2.25,0.00,0.000,4,0.000,0.069,3047,3696,2025,0,0,0,0,0,0
$GC,14272,0.52,244.4,528.5,15.2,882,14277,0.00,2.25,0.00,0.000,6,0.000,0.054,3057,2266,2025,0,0,0,0,0,0
$GC,14598,0.48,244.4,480.7,14.4,912,14602,0.15,2.22,0.00,0.000,4,0.187,0.067,3027,860,2024,0,0,0,0,0,0
$GC,14630,0.52,244.4,476.4,11.5,914,14637,0.00,2.25,0.00,0.000,6,0.000,0.054,3027,2282,2024,0,0,0,0,0,0
$GC,14957,0.54,244.4,439.1,11.4,945,14961,0.00,2.22,0.00,0.000,4,0.000,0.070,3027,3688,2024,0,0,0,0,0,0
$GC,15023,0.54,244.4,430.5,13.0,950,15030,0.00,2.25,0.00,0.000,6,0.000,0.053,3037,2263,2024,0,0,0,0,0,0
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$GC,16113,0.52,244.4,294.4,14.2,1050,16116,0.00,2.22,0.00,0.000,4,0.000,0.066,3065,865,2023,0,0,0,0,0,0
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$GC,18070,0.77,275.5,76.5,9.1,1252,18100,0.15,2.33,20.42,0.972,4,0.103,0.067,3120,3681,1905,0,0,0,0,0,0
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$FREEZE,8.25,-1.725,-1.801,3,55,1
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$STATE,18638,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,18638,begin subsurface finish
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$FINISH2,6.7
$STATE,18687,end subsurface finish,CONTROL_FINISHED_OK
$STATE,18687,begin surface
$RAFOS_CLK,1017
$RAFOS,6,1299242948,12.833333,12.818889,160,73,56,55,51,51,529,209,125,158,135,191
$RAFOS,5,1299242465,12.700000,12.684722,149,62,57,52,51,48,714,190,165,208,98,224
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$RAFOS,3,1299241508,12.433333,12.418889,102,62,56,54,53,53,818,214,165,174,145,186
$RAFOS,2,1299241024,12.300000,12.284445,100,65,61,56,55,53,814,215,187,161,134,146
$RAFOS,1,1299240571,12.166667,12.158611,110,66,64,61,52,50,599,222,204,180,147,160
$RAFOS,0,1299240084,12.033333,12.023334,68,64,55,54,54,51,215,195,177,137,764,147
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$RAFOS,5,1299228071,8.700000,8.686389,110,65,55,54,52,51,683,211,154,168,112,221
$RAFOS,4,1299227585,8.566667,8.551389,159,64,55,53,52,52,595,211,201,188,148,173
$RAFOS,3,1299227103,8.433333,8.417500,68,66,62,57,57,51,201,815,220,161,129,189
$RAFOS,2,1299226628,8.300000,8.285556,60,60,58,55,53,53,187,204,163,125,144,114
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$IRIDIUM_FIX,6641.98,-5738.53,220211,131300
$TT8_MAMPS,0.026215
$HUMID,46.22
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,16.9
$24V_AH,22.5,14.357
$10V_AH,10.2,7.132
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,966.133,1059.668,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150716
$DATA_FILE_SIZE,53237,1357
$CAP_FILE_SIZE,190217,0
$CFSIZE,260165632,246530048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.1
$GPS,040311,123138,6704.288,-5856.071,0,6129.2,0,-38.0