version: 66.04
glider: 144
mission: 15
dive: 66
start: 7 3 109 20 43 38
data:
$ID,144
$MISSION,15
$DIVE,66
$D_SURF,2
$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,600
$T_MISSION,630
$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,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51458
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0037098001
$HD_B,0.012019
$HD_C,3.2039999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-62220.715
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3976
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,2303
$C_ROLL_CLIMB,2303
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2931
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,122.2
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1.9652373
$PRESSURE_SLOPE,0.00011159377
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043441742
$SEABIRD_T_H,0.00062523223
$SEABIRD_T_I,1.8114715e-05
$SEABIRD_T_J,1.1782754e-06
$SEABIRD_C_G,-10.019677
$SEABIRD_C_H,1.1227477
$SEABIRD_C_I,-0.00077646878
$SEABIRD_C_J,0.00015901824
$GPS1,203607,5006.362,-14507.148,30,1.2,30,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-65.7
$GPS2,204244,5006.356,-14507.185,13,1.3,13,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.036,-0.164
$KALMAN_X,-34833.8,23.9,53.2,27209.9,56.0
$KALMAN_Y,11896.0,-225.2,-46.7,715.3,887.1
$MHEAD_RNG_PITCHd_Wd,173.9,23557,-12.3,-5.500
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,61,0.00,0.00,-42.15,0.000,2,0.000,0.000,103,2295,2660
$GC,64,-0.68,-117.3,3.5,-4.7,4,98,6.97,2.35,-18.92,0.000,4,0.249,0.074,1838,3702,3412
$GC,213,-0.53,-117.3,22.2,-12.5,17,218,0.17,2.22,0.00,0.000,6,0.130,0.038,1888,2289,3413
$GC,538,-0.53,-117.3,51.5,-7.7,47,542,0.00,2.20,0.00,0.000,4,0.000,0.051,1888,895,3414
$GC,629,-0.62,-117.3,58.6,-8.4,55,633,0.10,2.22,0.00,0.000,6,0.073,0.045,1832,2302,3415
$GC,952,-0.46,-117.3,94.6,-11.3,79,954,0.22,0.00,0.00,0.000,6,0.129,0.000,1899,2303,3415
$GC,1259,-0.57,-117.3,115.8,-6.7,94,1264,0.10,2.25,0.00,0.000,4,0.070,0.049,1842,892,3415
$GC,1331,-0.50,-117.3,123.1,-10.7,97,1336,0.20,2.22,0.00,0.000,6,0.129,0.046,1897,2303,3415
$GC,1648,-0.66,-117.3,143.7,-6.1,112,1652,0.15,2.22,0.00,0.000,4,0.057,0.049,1820,894,3416
$GC,1687,-0.52,-117.3,147.1,-10.2,114,1692,0.25,2.22,0.00,0.000,6,0.128,0.044,1886,2311,3415
$GC,2006,-0.66,-117.3,166.7,-5.9,125,2011,0.12,2.25,0.00,0.000,4,0.064,0.050,1820,888,3416
$GC,2027,-0.66,-117.3,168.4,-7.6,125,2035,0.12,2.25,0.00,0.000,6,0.128,0.051,1864,2303,3415
$GC,2341,-0.75,-117.3,189.9,-6.7,136,2345,0.10,2.22,0.00,0.000,4,0.076,0.050,1811,894,3415
$GC,2368,-0.67,-117.3,192.3,-9.2,136,2375,0.17,2.22,0.00,0.000,6,0.133,0.051,1853,2308,3415
$GC,2680,-0.67,-117.3,215.1,-7.4,147,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2308,3415
$GC,2987,-0.72,-117.3,238.4,-7.6,157,2991,0.00,2.25,0.00,0.000,4,0.000,0.053,1854,888,3415
$GC,3031,-0.78,-117.3,242.0,-7.8,158,3035,0.00,2.22,0.00,0.000,6,0.000,0.047,1850,2302,3415
$GC,3355,-0.78,-117.3,263.7,-6.5,169,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2303,3414
$GC,3661,-0.82,-117.3,283.4,-6.7,179,3666,0.10,2.25,0.00,0.000,4,0.071,0.052,1795,884,3414
$GC,3739,-0.67,-117.3,290.9,-10.4,181,3744,0.22,2.25,0.00,0.000,6,0.133,0.047,1853,2316,3414
$GC,4092,-0.73,-117.3,312.5,-5.9,190,4096,0.00,2.25,0.00,0.000,4,0.000,0.054,1853,894,3413
$GC,4147,-0.81,-117.3,316.0,-6.0,190,4154,0.08,2.22,0.00,0.000,6,0.061,0.047,1795,2297,3413
$GC,4457,-0.64,-117.3,343.7,-9.2,196,4462,0.20,2.22,0.00,0.000,4,0.134,0.053,1858,893,3413
$GC,4495,-0.75,-117.3,346.7,-6.4,196,4499,0.00,2.22,0.00,0.000,6,0.000,0.047,1850,2310,3413
$GC,4822,-0.81,-117.3,367.9,-6.6,202,4824,0.10,0.00,0.00,0.000,6,0.073,0.000,1791,2310,3412
$GC,5125,-0.64,-117.3,397.5,-9.9,207,5130,0.20,2.25,0.00,0.000,4,0.133,0.055,1856,892,3412
$GC,5180,-0.74,-117.3,401.6,-6.8,207,5187,0.00,2.25,0.00,0.000,6,0.000,0.047,1850,2306,3412
$GC,5490,-0.82,-117.3,421.2,-6.3,213,5495,0.10,2.22,0.00,0.000,4,0.073,0.059,1783,3719,3412
$GC,5513,-0.75,-117.3,423.0,-8.0,213,5518,0.20,2.17,0.00,0.000,6,0.133,0.039,1842,2301,3411
$GC,5851,-0.80,-117.3,447.0,-7.0,219,5854,0.00,2.22,0.00,0.000,4,0.000,0.061,1842,893,3411
$GC,5912,-0.86,-117.3,451.7,-8.0,219,5919,0.10,2.22,0.00,0.000,6,0.074,0.048,1781,2307,3411
$GC,6222,-0.67,-117.3,483.3,-10.5,225,6227,0.22,2.25,0.00,0.000,4,0.135,0.054,1853,889,3411
$GC,6277,-0.78,-117.3,487.8,-7.2,225,6284,0.00,2.22,0.00,0.000,6,0.000,0.047,1850,2306,3410
$GC,6587,-0.86,-117.3,507.8,-6.4,231,6592,0.12,2.25,0.00,0.000,4,0.067,0.058,1786,887,3410
$GC,6627,-0.68,-117.3,511.4,-10.2,231,6632,0.25,2.22,0.00,0.000,6,0.133,0.048,1857,2300,3410
$GC,6949,-0.80,-117.3,529.1,-5.3,237,6950,0.12,0.00,0.00,0.000,6,0.068,0.000,1793,2301,3410
$GC,7251,-0.67,-117.3,554.6,-8.6,242,7253,0.20,0.00,0.00,0.000,6,0.131,0.000,1853,2301,3410
$GC,7554,-0.79,-117.3,571.6,-5.5,247,7559,0.10,2.22,0.00,0.000,4,0.074,0.060,1800,897,3410
$GC,7587,-0.69,-117.3,574.0,-8.5,247,7592,0.20,2.22,0.00,0.000,6,0.135,0.053,1851,2312,3410
$GC,7914,-0.80,-117.3,591.7,-5.3,253,7918,0.10,2.25,0.00,0.000,4,0.078,0.059,1799,895,3409
$GC,7952,-0.69,-117.3,594.6,-8.3,253,7957,0.20,2.22,0.00,0.000,6,0.133,0.051,1852,2306,3409
$GC,8273,-0.81,-117.3,611.5,-5.2,259,8275,0.12,0.00,0.00,0.000,6,0.071,0.000,1793,2306,3409
$GC,8575,-0.69,-117.3,637.0,-8.5,264,8580,0.20,2.25,0.00,0.000,4,0.130,0.057,1858,893,3409
$GC,8608,-0.82,-117.3,639.2,-6.5,264,8613,0.10,2.22,0.00,0.000,6,0.081,0.048,1801,2308,3409
$GC,8934,-0.73,-117.3,666.4,-8.6,270,8936,0.15,0.00,0.00,0.000,6,0.134,0.000,1844,2307,3409
$GC,9237,-0.82,-117.3,687.0,-6.8,275,9241,0.00,2.25,0.00,0.000,4,0.000,0.055,1844,894,3409
$GC,9275,-0.92,-117.3,690.0,-7.1,275,9280,0.12,2.22,0.00,0.000,6,0.074,0.051,1781,2309,3409
$GC,9596,-0.76,-117.3,722.6,-10.5,281,9598,0.20,0.00,0.00,0.000,6,0.140,0.000,1840,2309,3408
$GC,9899,-0.84,-117.3,745.7,-7.5,286,9903,0.10,2.25,0.00,0.000,4,0.086,0.057,1798,889,3408
$GC,9926,-0.78,-117.3,748.3,-10.4,286,9931,0.15,2.22,0.00,0.000,6,0.142,0.050,1830,2301,3408
$GC,10258,-0.83,-117.3,772.6,-7.1,292,10262,0.00,2.25,0.00,0.000,4,0.000,0.062,1830,891,3408
$GC,10302,-0.87,-117.3,776.0,-7.7,292,10305,0.00,2.22,0.00,0.000,6,0.000,0.050,1823,2304,3408
$GC,10622,-0.87,-117.3,798.0,-6.8,298,10626,0.00,2.25,0.00,0.000,4,0.000,0.061,1825,889,3408
$GC,10650,-0.87,-117.3,799.9,-7.2,298,10653,0.00,2.22,0.00,0.000,6,0.000,0.051,1818,2304,3408
$GC,10987,-0.87,-117.3,821.1,-6.2,304,10991,0.00,2.25,0.00,0.000,4,0.000,0.061,1819,894,3408
$GC,11020,-0.87,-117.3,823.2,-6.0,304,11024,0.00,2.22,0.00,0.000,6,0.000,0.052,1809,2303,3408
$GC,11353,-0.83,-117.3,843.1,-6.0,310,11354,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2303,3408
$GC,11655,-0.83,-117.3,861.5,-6.1,315,11659,0.00,2.25,0.00,0.000,4,0.000,0.063,1808,897,3408
$GC,11724,-0.78,-117.3,866.2,-7.2,316,11729,0.12,2.22,0.00,0.000,6,0.148,0.056,1836,2306,3407
$GC,12090,-0.86,-117.3,884.6,-5.0,322,12095,0.10,2.25,0.00,0.000,4,0.090,0.064,1799,899,3407
$GC,12128,-0.79,-117.3,887.3,-6.9,322,12133,0.15,2.22,0.00,0.000,6,0.146,0.057,1833,2308,3407
$GC,12449,-0.86,-117.3,904.5,-5.4,328,12450,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2308,3407
$GC,12752,-0.93,-117.3,921.8,-5.7,333,12757,0.12,2.28,0.00,0.000,4,0.087,0.064,1787,890,3407
$GC,12802,-0.80,-117.3,925.8,-8.4,333,12807,0.17,2.25,0.00,0.000,6,0.150,0.051,1828,2311,3407
$GC,13112,-0.86,-117.3,944.2,-5.8,338,13116,0.00,2.28,0.00,0.000,4,0.000,0.064,1829,890,3407
$GC,13145,-0.90,-117.3,946.3,-6.6,338,13149,0.00,2.22,0.00,0.000,6,0.000,0.057,1823,2306,3407
$GC,13477,-0.90,-117.3,965.5,-5.7,344,13481,0.00,2.25,0.00,0.000,4,0.000,0.060,1823,897,3407
$GC,13504,-0.90,-117.3,967.2,-6.0,344,13508,0.00,2.22,0.00,0.000,6,0.000,0.057,1815,2304,3407
$GC,13842,-0.90,-117.3,986.4,-5.7,350,13846,0.00,2.25,0.00,0.000,4,0.000,0.062,1816,898,3407
$GC,13892,-0.90,-117.3,989.5,-6.7,350,13896,0.00,2.22,0.00,0.000,6,0.000,0.057,1808,2304,3407
$STATE,13902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13902,begin apogee
$GC,13907,-0.22,0.0,990.0,5.9,351,14003,0.45,0.00,92.82,1.349,6,0.137,0.000,1949,2304,2931
$STATE,14003,end apogee,CONTROL_FINISHED_OK
$STATE,14004,begin climb
$GC,14006,0.68,117.3,990.9,0.0,352,14110,0.62,2.47,97.78,1.320,4,0.094,0.062,2152,3709,2451
$GC,14129,0.34,117.3,985.8,8.1,354,14134,0.35,2.35,0.00,0.000,6,0.195,0.051,2076,2310,2448
$GC,14444,0.34,117.3,967.1,5.8,360,14448,0.00,2.38,0.00,0.000,4,0.000,0.067,2085,886,2441
$GC,14472,0.34,117.3,965.5,5.6,360,14476,0.00,2.33,0.00,0.000,6,0.000,0.056,2085,2303,2440
$GC,14803,0.34,117.3,945.8,5.9,366,14807,0.00,2.33,0.00,0.000,4,0.000,0.064,2084,3719,2438
$GC,14848,0.20,117.3,942.7,7.2,366,14853,0.17,2.28,0.00,0.000,6,0.167,0.046,2047,2295,2438
$GC,15164,0.44,127.0,926.8,5.2,372,15178,0.17,2.35,7.00,1.052,4,0.075,0.061,2119,894,2413
$GC,15268,0.31,127.0,920.4,6.6,373,15273,0.20,2.28,0.00,0.000,6,0.156,0.056,2065,2304,2411
$GC,15595,0.40,164.0,906.2,4.3,379,15635,0.08,2.42,32.15,1.263,4,0.090,0.062,2099,3711,2261
$GC,15674,0.27,164.0,901.1,6.7,380,15679,0.20,2.30,0.00,0.000,6,0.166,0.050,2057,2299,2258
$GC,16024,0.58,167.2,883.2,5.4,386,16028,0.17,2.33,0.00,0.000,4,0.078,0.063,2129,3713,2255
$GC,16135,0.31,167.2,874.2,8.9,387,16140,0.28,2.25,0.00,0.000,6,0.174,0.047,2066,2301,2254
$GC,16450,0.46,202.9,860.1,4.3,393,16486,0.12,0.00,33.45,1.234,6,0.073,0.000,2117,2301,2103
$GC,16753,0.38,202.9,838.9,7.2,398,16758,0.15,2.33,0.00,0.000,4,0.149,0.061,2086,889,2096
$GC,16780,0.47,202.9,837.1,5.6,398,16784,0.00,2.30,0.00,0.000,6,0.000,0.048,2086,2315,2096
$GC,17119,0.55,202.9,818.4,5.5,404,17123,0.12,2.28,0.00,0.000,4,0.078,0.059,2140,3711,2095
$GC,17151,0.33,202.9,815.5,8.5,404,17156,0.28,2.22,0.00,0.000,6,0.171,0.047,2075,2299,2094
$GC,17483,0.59,202.9,796.6,5.8,410,17488,0.17,2.28,0.00,0.000,4,0.074,0.061,2147,887,2094
$GC,17556,0.47,202.9,791.2,7.2,411,17560,0.17,2.28,0.00,0.000,6,0.152,0.048,2100,2309,2093
$GC,17909,0.47,202.9,771.3,5.5,417,17913,0.00,2.28,0.00,0.000,4,0.000,0.064,2100,3723,2093
$GC,17954,0.43,202.9,768.4,6.5,417,17958,0.00,2.22,0.00,0.000,6,0.000,0.045,2108,2302,2092
$GC,18269,0.39,202.9,749.6,6.0,423,18271,0.10,0.00,0.00,0.000,6,0.172,0.000,2084,2302,2092
$GC,18573,0.51,222.6,734.9,4.8,428,18596,0.10,2.33,16.50,1.114,4,0.075,0.060,2132,3718,2021
$GC,18625,0.34,222.6,730.9,8.8,428,18629,0.25,2.25,0.00,0.000,6,0.163,0.045,2074,2302,2020
$GC,18935,0.68,222.6,712.2,6.2,433,18939,0.20,2.28,0.00,0.000,4,0.071,0.055,2153,890,2017
$GC,19030,0.56,222.6,704.4,8.5,434,19034,0.15,2.28,0.00,0.000,6,0.150,0.049,2115,2310,2017
$GC,19361,0.56,222.6,678.9,7.7,440,19365,0.00,2.25,0.00,0.000,4,0.000,0.058,2115,3713,2017
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$GC,19795,0.52,222.6,648.7,6.5,447,19796,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2298,2016
$GC,20098,0.58,222.6,630.0,6.1,452,20103,0.10,2.28,0.00,0.000,4,0.069,0.061,2148,3714,2016
$GC,20119,0.49,222.6,628.0,9.8,452,20124,0.20,2.22,0.00,0.000,6,0.166,0.041,2105,2296,2016
$GC,20456,0.49,222.6,607.5,5.8,458,20458,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2296,2016
$GC,20760,0.49,225.8,590.9,5.4,463,20762,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2296,2015
$GC,21063,0.51,239.4,575.7,5.0,468,21082,0.00,2.33,14.43,1.003,4,0.000,0.058,2106,3706,1953
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$GC,22396,0.51,242.6,488.9,7.3,490,22400,0.00,2.30,0.00,0.000,4,0.000,0.062,2122,3724,1937
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$STATE,29157,end climb,SURFACE_DEPTH_REACHED
$STATE,29157,begin surface coast
$FINISH,1.2,1.000233
$STATE,29169,end surface coast,CONTROL_FINISHED_OK
$STATE,29169,begin surface
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$TT8_MAMPS,0.028379
$HUMID,1612
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$TCM_TEMP,15.80
$XPDR_PINGS,91
$24V_AH,23.5,12.752
$10V_AH,10.7,8.784
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$DEVICE_SECS,28.350,261.550,354.075,0.000,0.000,25.622,28.471,221.453,22.750,0.000,0.000,14.880,1775.935,24282.758,536.002,2360.113,675.053,33.373,1748.514,0.000,2358.383,0.000,0.527,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44190,746
$CAP_FILE_SIZE,209904,0
$CFSIZE,260165632,253779968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040709,045207,5003.766,-14507.822,27,1.4,27,18.4