version: 66.12
glider: 178
mission: 18
dive: 95
start: 10 15 114 10 26 55
data:
$ID,178
$MISSION,18
$DIVE,95
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,330
$T_MISSION,370
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51648
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00420903
$HD_B,0.0099256597
$HD_C,8.8912799e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$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_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3046
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0018
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145.11
$AH0_10V,98.019997
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.80373
$PRESSURE_SLOPE,0.0001161899
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,151014,101949,1212.758,14504.162,38,1.0,58,1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.22
$_SM_ANGLEo,-75.9
$GPS2,151014,102644,1212.790,14504.107,12,1.0,32,1.9
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S5
$TGT_LATLONG,1216.500,14421.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,275.6,77589,-18.8,-10.000,-21.60,2227
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,89,end surface,CONTROL_FINISHED_OK
$STATE,89,begin dive
$GC,91,-0.77,-155.7,159,2132,1594,1568,0.0,0.0,0,157,0.00,0.00,-64.03,0.000,16386,0.000,0.000,154,2132,3317,3365,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,159,-0.77,-155.7,159,2132,3366,3271,3.7,-14.8,11,184,10.73,2.17,-5.85,0.000,18948,0.249,0.050,2612,762,3686,3746,3627,0,0,0,0,0,0,25.75,26.15,26.25
$GC,308,-0.66,-155.7,2613,763,3754,3628,63.1,-31.0,35,320,0.20,2.15,0.00,0.000,3078,0.175,0.034,2653,2144,3692,3757,3627,0,0,0,0,0,0,25.89,26.16,28.83
$GC,615,-0.63,-155.7,2653,2145,3759,3629,128.4,-19.2,66,622,0.00,2.15,0.00,0.000,516,0.000,0.036,2653,761,3693,3759,3627,0,0,0,0,0,0,28.83,26.19,28.83
$GC,666,-0.60,-155.7,2652,760,3762,3627,138.1,-20.7,70,678,0.00,2.17,0.00,0.000,1030,0.000,0.031,2647,2158,3693,3760,3627,0,0,0,0,0,0,28.83,26.21,28.83
$GC,972,-0.60,-155.7,2647,2159,3766,3627,182.1,-12.6,101,980,0.00,2.22,0.00,0.000,260,0.000,0.046,2635,3558,3696,3766,3627,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1024,-0.60,-155.7,2636,3559,3766,3629,187.4,-11.3,105,1034,0.15,2.12,0.00,0.000,3078,0.142,0.027,2676,2156,3696,3766,3627,0,0,0,0,0,0,26.07,26.27,28.83
$GC,1350,-0.64,-155.7,2677,2154,3772,3630,217.9,-9.8,126,1360,0.00,2.17,0.00,0.000,516,0.000,0.037,2677,765,3700,3771,3629,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1449,-0.69,-155.7,2677,761,3772,3630,226.8,-10.0,129,1457,0.00,2.15,0.00,0.000,1030,0.000,0.031,2671,2163,3701,3771,3631,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1767,-0.73,-155.7,2671,2164,3770,3632,251.4,-7.4,140,1778,0.12,2.20,0.00,0.000,4356,0.087,0.045,2597,3551,3700,3769,3631,0,0,0,0,0,0,26.25,26.19,28.83
$GC,1798,-0.77,-155.7,2597,3554,3770,3632,255.0,-8.6,141,1807,0.00,2.12,0.00,0.000,1030,0.000,0.028,2597,2150,3699,3769,3630,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2127,-0.77,-155.7,2598,2147,3769,3632,301.0,-12.7,152,2135,0.00,2.17,0.00,0.000,516,0.000,0.037,2597,752,3699,3768,3630,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2174,-0.77,-155.7,2597,753,3768,3631,304.3,-12.2,153,2182,0.12,2.15,0.00,0.000,3078,0.160,0.032,2618,2146,3698,3767,3630,0,0,0,0,0,0,26.06,26.25,28.83
$GC,2480,-0.77,-155.7,2619,2145,3766,3631,336.2,-10.1,163,2488,0.00,2.25,0.00,0.000,260,0.000,0.047,2610,3552,3698,3765,3631,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2557,-0.79,-155.7,2610,3553,3765,3632,342.6,-10.6,165,2565,0.00,2.12,0.00,0.000,1030,0.000,0.028,2610,2147,3697,3764,3631,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2870,-0.79,-155.7,2611,2145,3761,3632,373.6,-8.2,176,2878,0.00,2.17,0.00,0.000,516,0.000,0.039,2610,758,3695,3761,3630,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2917,-0.79,-155.7,2610,758,3759,3631,376.4,-8.3,177,2925,0.00,2.17,0.00,0.000,1030,0.000,0.034,2601,2157,3694,3759,3630,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3229,-0.79,-155.7,2601,2157,3755,3630,407.5,-10.4,188,3237,0.00,2.25,0.00,0.000,260,0.000,0.049,2593,3558,3691,3753,3630,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3292,-0.79,-155.7,2590,3558,3753,3630,414.0,-11.0,190,3299,0.00,2.17,0.00,0.000,1030,0.000,0.030,2590,2142,3691,3752,3630,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3614,-0.79,-155.7,2591,2140,3748,3632,446.7,-9.0,201,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2139,3688,3747,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3914,-0.79,-155.7,2590,2139,3744,3628,476.1,-10.7,211,3922,0.00,2.30,0.00,0.000,260,0.000,0.050,2581,3557,3684,3742,3627,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3956,-0.79,-155.7,2581,3557,3742,3627,479.3,-10.9,212,3964,0.15,2.17,0.00,0.000,3078,0.161,0.031,2620,2151,3684,3741,3627,0,0,0,0,0,0,25.94,26.20,28.83
$GC,4269,-0.82,-155.7,2619,2147,3739,3625,510.2,-9.1,223,4277,0.00,2.20,0.00,0.000,516,0.000,0.041,2618,753,3681,3737,3625,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4301,-0.85,-155.7,2619,753,3738,3626,513.0,-9.2,224,4309,0.00,2.20,0.00,0.000,1030,0.000,0.035,2611,2146,3679,3737,3622,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4624,-0.87,-155.7,2612,2147,3735,3622,542.6,-8.8,235,4633,0.00,2.30,0.00,0.000,260,0.000,0.052,2601,3568,3677,3733,3622,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4658,-0.89,-155.7,2601,3564,3734,3623,545.3,-8.8,236,4666,0.00,2.20,0.00,0.000,1030,0.000,0.031,2601,2149,3677,3733,3621,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4986,-0.89,-155.7,2601,2145,3731,3619,575.4,-9.0,247,4996,0.00,2.30,0.00,0.000,260,0.000,0.052,2592,3560,3673,3729,3618,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5010,-0.89,-155.7,2592,3560,3730,3620,575.4,-9.0,247,5021,0.00,2.20,0.00,0.000,1030,0.000,0.032,2591,2148,3674,3729,3619,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5316,-0.89,-155.7,2592,2145,3727,3617,608.2,-10.1,258,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2145,3672,3727,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5615,-0.89,-155.7,2592,2144,3726,3616,640.9,-11.2,268,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2144,3669,3724,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5915,-0.89,-155.7,2592,2145,3721,3616,675.0,-11.2,278,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2144,3667,3720,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6215,-0.89,-155.7,2592,2145,3720,3614,707.2,-10.8,288,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2144,3665,3719,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6517,-0.89,-155.7,2592,2145,3717,3612,740.7,-11.4,298,6528,0.00,2.20,0.00,0.000,516,0.000,0.043,2591,759,3663,3716,3611,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6547,-0.89,-155.7,2592,760,3717,3612,744.3,-11.5,299,6555,0.00,2.22,0.00,0.000,1030,0.000,0.038,2583,2148,3663,3716,3610,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6874,-0.89,-155.7,2584,2149,3716,3610,781.2,-11.0,310,6882,0.00,2.30,0.00,0.000,260,0.000,0.054,2572,3557,3661,3714,3609,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6897,-0.89,-155.7,2573,3558,3714,3610,781.2,-11.0,310,6905,0.00,2.22,0.00,0.000,1030,0.000,0.033,2572,2140,3661,3713,3609,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7209,-0.89,-155.7,2573,2137,3712,3607,816.4,-9.9,321,7218,0.00,2.20,0.00,0.000,516,0.000,0.043,2571,755,3659,3711,3607,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7242,-0.89,-155.7,2573,756,3712,3608,819.8,-9.8,322,7252,0.00,2.25,0.00,0.000,1030,0.000,0.039,2564,2153,3658,3711,3606,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7572,-0.89,-155.7,2564,2154,3710,3607,852.7,-10.1,333,7580,0.00,2.30,0.00,0.000,260,0.000,0.054,2553,3557,3658,3711,3606,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7609,-0.89,-155.7,2554,3556,3710,3607,855.6,-10.2,334,7617,0.00,2.22,0.00,0.000,1030,0.000,0.034,2553,2143,3657,3709,3606,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7926,-0.89,-155.7,2554,2142,3708,3606,892.6,-11.5,345,7934,0.00,2.25,0.00,0.000,516,0.000,0.044,2553,747,3656,3707,3605,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7978,-0.89,-155.7,2554,748,3708,3605,895.9,-11.5,346,7990,0.15,2.28,0.00,0.000,3078,0.172,0.039,2578,2157,3656,3707,3605,0,0,0,0,0,0,25.76,26.03,28.83
$GC,8283,-0.89,-155.7,2579,2158,3707,3605,930.5,-10.2,357,8292,0.00,2.33,0.00,0.000,260,0.000,0.055,2570,3561,3655,3706,3604,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8316,-0.89,-155.7,2571,3561,3706,3604,933.4,-10.1,358,8324,0.00,2.22,0.00,0.000,1030,0.000,0.034,2570,2152,3654,3705,3603,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8639,-0.89,-155.7,2570,2149,3706,3602,966.1,-9.6,369,8647,0.00,2.25,0.00,0.000,516,0.000,0.044,2570,747,3653,3704,3602,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8671,-0.89,-155.7,2570,746,3705,3602,968.8,-9.7,370,8679,0.00,2.25,0.00,0.000,1030,0.000,0.039,2560,2154,3653,3704,3602,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,8902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8902,begin apogee
$GC,8906,-0.13,0.0,2560,2259,3704,3601,991.1,-9.2,378,9046,0.90,0.00,131.68,1.287,10246,0.140,0.000,2824,2255,3048,3086,3010,0,0,0,0,0,0,25.70,28.83,24.13
$STATE,9047,end apogee,CONTROL_FINISHED_OK
$STATE,9047,begin climb
$GC,9048,0.77,155.7,2825,2261,3085,3009,993.4,0.0,382,9201,0.80,2.47,139.07,1.278,10500,0.045,0.052,3129,3643,2410,2454,2367,0,0,0,0,0,0,25.11,24.49,23.69
$GC,9270,0.69,155.7,3130,3645,2444,2365,967.4,17.3,390,9278,0.20,2.25,0.00,0.000,5126,0.182,0.031,3094,2249,2403,2443,2364,0,0,0,0,0,0,25.08,25.27,28.83
$GC,9592,0.64,155.7,3094,2247,2442,2358,915.6,15.3,401,9601,0.00,2.25,0.00,0.000,516,0.000,0.041,3101,846,2399,2442,2357,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9620,0.60,155.7,3103,846,2442,2357,915.6,15.3,401,9631,0.15,2.25,0.00,0.000,5126,0.185,0.037,3068,2247,2398,2441,2356,0,0,0,0,0,0,25.72,25.96,28.83
$GC,9925,0.58,155.7,3069,2248,2441,2356,869.3,13.6,412,9931,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2247,2397,2440,2355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10226,0.56,155.7,3069,2248,2439,2354,828.8,13.3,422,10233,0.00,2.30,0.00,0.000,260,0.000,0.052,3068,3650,2396,2439,2353,0,0,0,0,0,0,28.83,26.07,28.83
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$GC,13681,0.53,165.8,3074,2236,2409,2329,412.3,12.2,537,13689,0.00,2.22,0.00,0.000,516,0.000,0.042,3078,852,2368,2408,2329,0,0,0,0,0,0,28.83,26.00,28.83
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$STATE,17393,end climb,SURFACE_DEPTH_REACHED
$STATE,17393,begin surface coast
$FINISH,0.3,1.021480
$STATE,17408,end surface coast,CONTROL_FINISHED_OK
$STATE,17408,begin surface
$SM_CCo,17484,0.00,0.000,0,0,1484,382.91
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$IRIDIUM_FIX,1207.91,14503.91,151014,050916
$TT8_MAMPS,0.053928,0.053928
$HUMID,46.85
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,24.60
$XPDR_PINGS,0
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,17436.97 8041.27
$PA_BOOTCOUNT,96
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$PA_LOG,0.04/0.084/1.969/1.785
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$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.03/0.046/1.764/1.629
$24V_AH,23.69,16.907
$10V_AH,10.08,31.495
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.125,170.225,464.475,0.000,0.000,0.000,0.000,285.125,0.000,17933.580,35.025,0.000,13951.714,567.685,3182.310,180.648,0.000,2271.446,0.000,1769.845,0.000,0.552,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,550.644,0.000,0.000,0.000,0.000,0.000,17933.631,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,228520
$DATA_FILE_SIZE,36690,812
$CAP_FILE_SIZE,161935,0
$CFSIZE,260034560,250183680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$CURRENT,0.079,287.36,1
$GPS,151014,151925,1213.258,14500.903,26,1.0,46,1.9