version: 66.08
glider: 141
mission: 15
dive: 704
start: 5 28 111 14 20 43
data:
$ID,141
$MISSION,15
$DIVE,704
$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,120
$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,1
$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,-50844.75
$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,19
$R_STBD_OVSHOOT,18
$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
$GPS1,280511,122734,6702.788,-5902.250,0,7115.1,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.40
$_SM_ANGLEo,-3.2
$GPS2,280511,122734,6702.788,-5902.250,0,7115.1,0,-37.6
$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,127.4,96949,-17.5,-10.000
$D_GRID,1198
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.53,0.000,2,0.000,0.000,2903,3689,2909,0,0,0,0,0,0
$GC,27,-0.62,-146.0,10.8,-0.0,1,52,0.65,0.40,-19.33,0.000,4,0.102,0.179,2674,3908,3629,0,0,0,0,0,0
$GC,224,-0.54,-146.0,43.5,-17.6,35,231,0.00,2.33,0.00,0.000,6,0.000,0.063,2675,2488,3631,0,0,0,0,0,0
$GC,568,-0.41,-146.0,107.8,-17.1,92,573,0.20,2.35,0.00,0.000,4,0.218,0.077,2722,1073,3631,0,0,0,0,0,0
$GC,581,-0.29,-146.0,110.2,-17.0,92,589,0.17,2.40,0.00,0.000,6,0.220,0.077,2764,2495,3631,0,0,0,0,0,0
$GC,908,-0.41,-146.0,136.9,-7.8,123,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2495,3630,0,0,0,0,0,0
$GC,1227,-0.54,-146.0,159.0,-6.9,153,1232,0.22,2.40,0.00,0.000,4,0.099,0.080,2682,1076,3630,0,0,0,0,0,0
$GC,1238,-0.65,-146.0,160.1,-7.1,153,1245,0.00,2.38,0.00,0.000,6,0.000,0.080,2683,2489,3630,0,0,0,0,0,0
$GC,1565,-0.58,-146.0,203.0,-13.0,184,1569,0.00,2.42,0.00,0.000,4,0.000,0.096,2683,3900,3629,0,0,0,0,0,0
$GC,1649,-0.58,-146.0,213.4,-11.5,191,1654,0.00,2.33,0.00,0.000,6,0.000,0.067,2683,2492,3628,0,0,0,0,0,0
$GC,1975,-0.54,-146.0,254.2,-12.6,221,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2492,3628,0,0,0,0,0,0
$GC,2297,-0.50,-146.0,292.0,-11.5,251,2301,0.00,2.35,0.00,0.000,4,0.000,0.080,2682,1076,3628,0,0,0,0,0,0
$GC,2329,-0.48,-146.0,295.8,-12.1,253,2333,0.00,2.40,0.00,0.000,6,0.000,0.077,2683,2491,3628,0,0,0,0,0,0
$GC,2654,-0.45,-146.0,330.1,-10.2,283,2659,0.12,2.45,0.00,0.000,4,0.221,0.093,2711,3907,3628,0,0,0,0,0,0
$GC,2688,-0.52,-146.0,333.3,-8.6,285,2695,0.00,2.33,0.00,0.000,6,0.000,0.063,2711,2488,3628,0,0,0,0,0,0
$GC,3014,-0.57,-146.0,360.0,-8.1,316,3018,0.00,2.33,0.00,0.000,4,0.000,0.077,2711,1077,3628,0,0,0,0,0,0
$GC,3036,-0.63,-146.0,362.2,-8.9,317,3044,0.17,2.38,0.00,0.000,6,0.105,0.075,2650,2498,3628,0,0,0,0,0,0
$GC,3362,-0.54,-146.0,404.6,-13.3,348,3367,0.15,2.42,0.00,0.000,4,0.211,0.090,2684,3900,3628,0,0,0,0,0,0
$GC,3418,-0.58,-146.0,411.0,-9.7,352,3425,0.00,2.30,0.00,0.000,6,0.000,0.060,2684,2488,3629,0,0,0,0,0,0
$GC,3744,-0.58,-146.0,443.1,-10.0,383,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2488,3629,0,0,0,0,0,0
$GC,4064,-0.58,-146.0,474.3,-9.7,413,4069,0.00,2.33,0.00,0.000,4,0.000,0.076,2684,1073,3630,0,0,0,0,0,0
$GC,4099,-0.58,-146.0,477.9,-9.9,415,4105,0.00,2.40,0.00,0.000,6,0.000,0.076,2685,2491,3630,0,0,0,0,0,0
$GC,4424,-0.58,-146.0,508.4,-9.1,446,4428,0.00,2.42,0.00,0.000,4,0.000,0.089,2684,3905,3630,0,0,0,0,0,0
$GC,4447,-0.58,-146.0,510.6,-9.6,447,4454,0.00,2.33,0.00,0.000,6,0.000,0.060,2684,2479,3630,0,0,0,0,0,0
$GC,4773,-0.58,-146.0,541.3,-9.6,478,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2479,3630,0,0,0,0,0,0
$GC,5094,-0.58,-146.0,571.3,-9.2,508,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2479,3631,0,0,0,0,0,0
$GC,5442,-0.58,-146.0,603.6,-9.4,539,5446,0.00,2.30,0.00,0.000,4,0.000,0.075,2685,1077,3631,0,0,0,0,0,0
$GC,5464,-0.58,-146.0,606.0,-9.5,539,5471,0.00,2.35,0.00,0.000,6,0.000,0.073,2685,2491,3631,0,0,0,0,0,0
$GC,5777,-0.58,-146.0,635.0,-9.4,550,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2491,3630,0,0,0,0,0,0
$GC,6084,-0.58,-146.0,663.5,-9.3,560,6088,0.00,2.42,0.00,0.000,4,0.000,0.089,2684,3901,3631,0,0,0,0,0,0
$GC,6123,-0.62,-146.0,667.2,-9.6,561,6127,0.00,2.30,0.00,0.000,6,0.000,0.060,2684,2489,3631,0,0,0,0,0,0
$GC,6448,-0.64,-146.0,695.5,-8.6,572,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2489,3631,0,0,0,0,0,0
$GC,6754,-0.66,-146.0,721.3,-8.4,582,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2489,3631,0,0,0,0,0,0
$GC,7062,-0.68,-146.0,746.5,-8.1,592,7064,0.12,0.00,0.00,0.000,6,0.131,0.000,2641,2489,3631,0,0,0,0,0,0
$GC,7368,-0.59,-146.0,780.7,-11.2,602,7369,0.12,0.00,0.00,0.000,6,0.204,0.000,2670,2489,3630,0,0,0,0,0,0
$GC,7673,-0.59,-146.0,808.0,-8.9,612,7675,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2487,3631,0,0,0,0,0,0
$GC,7979,-0.59,-146.0,834.6,-8.7,622,7983,0.00,2.35,0.00,0.000,4,0.000,0.073,2671,1072,3631,0,0,0,0,0,0
$GC,7995,-0.59,-146.0,836.2,-8.9,622,7999,0.00,2.38,0.00,0.000,6,0.000,0.073,2670,2499,3631,0,0,0,0,0,0
$GC,8309,-0.59,-146.0,863.3,-8.8,632,8313,0.00,2.38,0.00,0.000,4,0.000,0.088,2671,3896,3631,0,0,0,0,0,0
$GC,8336,-0.59,-146.0,866.0,-9.4,632,8343,0.00,2.33,0.00,0.000,6,0.000,0.061,2671,2488,3631,0,0,0,0,0,0
$GC,8650,-0.59,-146.0,894.2,-9.1,643,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2488,3631,0,0,0,0,0,0
$GC,8957,-0.59,-146.0,922.4,-9.4,653,8961,0.00,2.35,0.00,0.000,4,0.000,0.076,2670,1074,3631,0,0,0,0,0,0
$GC,8973,-0.59,-146.0,924.2,-9.4,653,8977,0.00,2.35,0.00,0.000,6,0.000,0.073,2671,2489,3630,0,0,0,0,0,0
$GC,9289,-0.59,-146.0,952.6,-8.9,663,9293,0.00,2.38,0.00,0.000,4,0.000,0.089,2671,3897,3631,0,0,0,0,0,0
$GC,9317,-0.59,-146.0,955.5,-8.9,663,9323,0.00,2.30,0.00,0.000,6,0.000,0.060,2671,2488,3631,0,0,0,0,0,0
$GC,9630,-0.59,-146.0,982.7,-8.6,674,9634,0.00,2.33,0.00,0.000,4,0.000,0.076,2671,1074,3631,0,0,0,0,0,0
$GC,9640,-0.59,-146.0,983.7,-8.4,674,9644,0.00,2.38,0.00,0.000,6,0.000,0.073,2671,2497,3631,0,0,0,0,0,0
$STATE,9716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9716,begin apogee
$GC,9724,-0.12,0.0,990.3,8.6,677,9863,0.50,0.00,134.52,1.560,6,0.184,0.000,2813,2269,3029,0,0,0,0,0,0
$STATE,9864,end apogee,CONTROL_FINISHED_OK
$STATE,9864,begin climb
$GC,9867,0.62,146.0,994.4,0.0,681,10024,0.82,2.88,146.68,1.506,4,0.132,0.078,3053,3686,2433,0,0,0,0,0,0
$GC,10197,0.51,146.0,961.9,12.6,691,10203,0.12,2.47,0.00,0.000,6,0.187,0.067,3036,2281,2427,0,0,0,0,0,0
$GC,10511,0.49,147.0,930.1,10.0,701,10515,0.00,2.40,0.00,0.000,4,0.000,0.080,3036,3694,2425,0,0,0,0,0,0
$GC,10648,0.43,147.0,914.5,11.4,705,10653,0.15,2.35,0.00,0.000,6,0.201,0.067,3009,2274,2424,0,0,0,0,0,0
$GC,10978,0.50,183.3,886.6,8.3,716,11018,0.00,2.45,33.55,1.427,4,0.000,0.084,3017,869,2281,0,0,0,0,0,0
$GC,11061,0.61,200.6,879.5,9.2,718,11086,0.12,2.35,17.48,1.353,6,0.105,0.067,3074,2286,2211,0,0,0,0,0,0
$GC,11417,0.54,200.6,833.0,13.3,730,11422,0.12,2.35,0.00,0.000,4,0.187,0.083,3041,3696,2206,0,0,0,0,0,0
$GC,11490,0.51,200.6,823.5,13.4,732,11494,0.00,2.33,0.00,0.000,6,0.000,0.068,3049,2273,2206,0,0,0,0,0,0
$GC,11814,0.51,200.6,786.1,11.4,743,11818,0.00,2.33,0.00,0.000,4,0.000,0.083,3060,864,2205,0,0,0,0,0,0
$GC,11870,0.51,200.6,779.6,12.1,744,11874,0.00,2.35,0.00,0.000,6,0.000,0.069,3060,2285,2204,0,0,0,0,0,0
$GC,12183,0.49,200.6,743.0,11.4,754,12188,0.12,2.35,0.00,0.000,4,0.187,0.083,3028,3691,2204,0,0,0,0,0,0
$GC,12226,0.49,200.6,737.9,10.9,755,12231,0.00,2.35,0.00,0.000,6,0.000,0.068,3036,2267,2204,0,0,0,0,0,0
$GC,12547,0.53,207.7,706.8,9.7,766,12560,0.00,2.42,6.57,1.095,4,0.000,0.083,3046,860,2183,0,0,0,0,0,0
$GC,12606,0.56,207.7,700.8,10.3,767,12612,0.00,2.35,0.00,0.000,6,0.000,0.070,3046,2277,2182,0,0,0,0,0,0
$GC,12919,0.56,207.7,669.1,10.2,778,12923,0.00,2.35,0.00,0.000,4,0.000,0.083,3046,3690,2182,0,0,0,0,0,0
$GC,12970,0.54,207.7,663.2,12.1,779,12974,0.00,2.33,0.00,0.000,6,0.000,0.067,3056,2267,2181,0,0,0,0,0,0
$GC,13288,0.54,207.7,628.8,10.7,790,13292,0.00,2.33,0.00,0.000,4,0.000,0.083,3068,865,2182,0,0,0,0,0,0
$GC,13344,0.54,207.7,622.6,10.8,791,13351,0.12,2.33,0.00,0.000,6,0.181,0.068,3037,2287,2181,0,0,0,0,0,0
$GC,13660,0.59,220.6,592.8,9.4,806,13683,0.00,2.40,13.55,1.217,4,0.000,0.083,3037,3690,2129,0,0,0,0,0,0
$GC,13722,0.59,220.6,586.2,10.9,811,13729,0.00,2.35,0.00,0.000,6,0.000,0.067,3045,2264,2129,0,0,0,0,0,0
$GC,14048,0.61,220.6,553.4,10.1,842,14052,0.00,2.33,0.00,0.000,4,0.000,0.082,3055,860,2128,0,0,0,0,0,0
$GC,14105,0.65,225.9,547.5,9.8,846,14116,0.00,2.35,6.20,1.015,6,0.000,0.067,3055,2285,2108,0,0,0,0,0,0
$GC,14436,0.65,225.9,511.4,10.8,877,14440,0.00,2.35,0.00,0.000,4,0.000,0.082,3055,3693,2108,0,0,0,0,0,0
$GC,14499,0.65,225.9,504.1,11.8,882,14503,0.00,2.33,0.00,0.000,6,0.000,0.067,3066,2275,2107,0,0,0,0,0,0
$GC,14829,0.65,225.9,465.7,11.5,913,14833,0.00,2.33,0.00,0.000,4,0.000,0.081,3077,866,2107,0,0,0,0,0,0
$GC,14886,0.65,225.9,459.1,11.0,917,14893,0.00,2.33,0.00,0.000,6,0.000,0.066,3077,2278,2106,0,0,0,0,0,0
$GC,15212,0.60,225.9,417.2,13.3,948,15216,0.00,2.35,0.00,0.000,4,0.000,0.082,3077,3696,2106,0,0,0,0,0,0
$GC,15299,0.55,225.9,404.9,13.6,955,15304,0.17,2.35,0.00,0.000,6,0.189,0.067,3042,2272,2105,0,0,0,0,0,0
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$GC,16015,0.72,244.0,331.2,9.4,1021,16038,0.12,2.40,13.45,1.075,4,0.103,0.082,3107,3678,2034,0,0,0,0,0,0
$GC,16086,0.62,244.0,320.9,15.9,1027,16091,0.20,2.33,0.00,0.000,6,0.199,0.067,3067,2264,2033,0,0,0,0,0,0
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$GC,16458,0.65,244.0,277.6,11.8,1061,16462,0.00,2.33,0.00,0.000,6,0.000,0.067,3077,2283,2031,0,0,0,0,0,0
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$GC,18287,0.77,292.9,82.8,7.7,1247,18340,0.12,2.38,45.88,0.992,4,0.104,0.080,3137,864,1835,0,0,0,0,0,0
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$GC,18902,0.73,296.8,14.6,12.3,1354,18909,0.17,2.35,0.00,0.000,6,0.190,0.069,3103,2266,1826,0,0,0,0,0,0
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$STATE,18989,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,18989,begin subsurface finish
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$FINISH2,5.9
$STATE,19045,end subsurface finish,CONTROL_FINISHED_OK
$STATE,19045,begin surface
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$RAFOS,5,1306600875,16.700001,16.687500,131,61,59,54,54,52,655,195,208,222,173,149
$RAFOS,4,1306600388,16.566668,16.552221,120,62,57,54,53,52,582,161,205,178,126,219
$RAFOS,3,1306599929,16.433332,16.424723,117,63,58,57,54,54,688,197,216,176,152,162
$RAFOS,2,1306599439,16.299999,16.288610,160,65,56,53,52,47,718,210,228,173,187,151
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$RAFOS,0,1306598462,16.033333,16.017221,115,62,60,58,57,56,870,170,210,196,181,153
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$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.026215
$HUMID,48.42
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.10
$XPDR_PINGS,9
$ALTIM_TOP_PING,20.0,17.9
$24V_AH,20.4,94.702
$10V_AH,9.8,48.840
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150616
$DATA_FILE_SIZE,53292,1377
$CAP_FILE_SIZE,188820,0
$CFSIZE,260165632,207093760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.1
$GPS,280511,162707,6703.234,-5858.523,0,7134.3,0,-37.6