version: 66.12
glider: 203
mission: 8
dive: 11
start: 7 11 115 23 38 20
data:
$ID,203
$MISSION,8
$DIVE,11
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,50
$T_BOOST,4
$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,360
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52079
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0065996498
$HD_B,0.0098683201
$HD_C,1.5339499e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2620
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,77
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22.5
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-62.66111
$PRESSURE_SLOPE,0.0001160131
$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,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-1
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043923887
$SEABIRD_T_H,0.00063351821
$SEABIRD_T_I,2.5271875e-05
$SEABIRD_T_J,3.0515032e-06
$SEABIRD_C_G,-9.7838888
$SEABIRD_C_H,1.1409903
$SEABIRD_C_I,-0.00071586663
$SEABIRD_C_J,0.00012479167
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,110715,233202,5902.7480,-14723.3770,35,1.1,40,18.1,0.5,52.0,8,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-62.7
$GPS2,110715,233807,5902.7725,-14723.4434,52,1.0,52,18.1,0.5,272.1,9,0.0
$SPEED_LIMITS,0.100,0.283
$TGT_NAME,LAUNCH
$TGT_LATLONG,5856.292,-14707.998
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,85.0,19023,-17.8,-10.000,-19.47,2615
$D_GRID,1136
$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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.70,-170.3,201,2799,736,579,0.0,0.0,0,158,0.00,0.00,-62.40,0.000,16386,0.000,0.000,200,2795,2329,2361,2297,0,0,0,0,0,0,26.86,28.83,26.94
$GC,160,-0.70,-170.3,201,2799,2362,2298,3.2,-5.9,10,201,8.43,1.60,-25.95,0.000,18692,0.241,0.062,2366,3859,3534,3602,3467,0,0,0,0,0,0,26.44,25.91,26.67
$GC,427,-0.70,-170.3,2367,3858,3604,3471,51.1,-16.3,62,434,0.00,1.50,0.00,0.000,1030,0.000,0.026,2367,2769,3536,3602,3471,0,0,0,0,0,0,26.86,26.84,26.88
$GC,738,-0.70,-170.3,2367,2772,3604,3472,101.7,-15.4,93,746,0.00,1.95,0.00,0.000,516,0.000,0.026,2367,1419,3537,3602,3473,0,0,0,0,0,0,27.05,26.88,27.10
$GC,799,-0.70,-170.3,2367,1418,3605,3473,110.3,-15.1,98,810,0.08,2.05,0.00,0.000,3078,0.201,0.031,2375,2804,3538,3603,3473,0,0,0,0,0,0,26.75,26.88,26.89
$GC,1105,-0.71,-170.3,2375,2805,3604,3472,152.1,-12.1,129,1113,0.00,2.00,0.00,0.000,516,0.000,0.026,2375,1427,3538,3603,3473,0,0,0,0,0,0,27.11,26.96,27.18
$GC,1157,-0.71,-170.3,2376,1426,3603,3472,158.4,-12.5,134,1165,0.00,2.05,0.00,0.000,1030,0.000,0.031,2375,2807,3537,3603,3472,0,0,0,0,0,0,27.00,26.94,27.02
$GC,1462,-0.71,-170.3,2375,2806,3603,3473,194.8,-11.5,164,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2806,3537,3603,3472,0,0,0,0,0,0,27.17,27.24,27.22
$GC,1763,-0.72,-170.3,2375,2806,3603,3472,230.8,-12.1,194,1776,0.00,2.00,0.00,0.000,516,0.000,0.026,2375,1423,3537,3602,3473,0,0,0,0,0,0,27.20,27.04,27.27
$GC,1795,-0.72,-170.3,2375,1424,3604,3472,234.8,-12.2,197,1802,0.00,2.05,0.00,0.000,1030,0.000,0.033,2374,2809,3537,3602,3472,0,0,0,0,0,0,27.08,27.02,27.10
$GC,2100,-0.73,-170.3,2374,2808,3603,3472,271.5,-11.8,215,2108,0.00,2.00,0.00,0.000,516,0.000,0.026,2375,1431,3537,3602,3473,0,0,0,0,0,0,27.23,27.07,27.29
$GC,2157,-0.73,-170.3,2375,1432,3603,3474,275.2,-11.8,216,2167,0.00,2.03,0.00,0.000,1030,0.000,0.034,2374,2798,3537,3602,3473,0,0,0,0,0,0,27.11,27.03,27.13
$GC,2462,-0.73,-170.3,2374,2799,3602,3473,313.9,-11.7,227,2473,0.00,1.98,0.00,0.000,516,0.000,0.026,2374,1432,3536,3600,3473,0,0,0,0,0,0,27.25,27.10,27.32
$GC,2502,-0.74,-170.3,2374,1432,3601,3473,317.4,-11.7,228,2509,0.00,2.03,0.00,0.000,1030,0.000,0.034,2374,2801,3536,3601,3472,0,0,0,0,0,0,27.13,27.08,27.15
$GC,2819,-0.74,-170.3,2374,2802,3600,3474,356.2,-12.1,239,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2801,3536,3599,3473,0,0,0,0,0,0,27.27,27.35,27.34
$GC,3119,-0.75,-170.3,2374,2801,3598,3472,392.5,-12.3,249,3126,0.00,1.98,0.00,0.000,516,0.000,0.027,2374,1433,3534,3597,3472,0,0,0,0,0,0,27.29,27.13,27.36
$GC,3155,-0.75,-170.3,2374,1434,3598,3474,395.9,-12.4,250,3163,0.00,2.03,0.00,0.000,1030,0.000,0.034,2374,2802,3535,3597,3473,0,0,0,0,0,0,27.17,27.11,27.18
$GC,3477,-0.76,-170.3,2374,2802,3597,3472,435.8,-12.0,261,3485,0.00,1.60,0.00,0.000,260,0.000,0.048,2374,3851,3533,3594,3473,0,0,0,0,0,0,27.31,27.11,27.37
$GC,3624,-0.76,-170.3,2374,3853,3595,3474,450.6,-12.2,265,3635,0.00,1.48,0.00,0.000,1030,0.000,0.028,2374,2813,3533,3594,3472,0,0,0,0,0,0,27.24,27.18,27.24
$GC,3929,-0.76,-170.3,2374,2812,3594,3473,488.8,-11.7,276,3937,0.00,2.00,0.00,0.000,516,0.000,0.027,2374,1416,3532,3592,3473,0,0,0,0,0,0,27.32,27.16,27.39
$GC,4036,-0.77,-170.3,2374,1416,3593,3474,499.1,-11.9,279,4051,0.00,2.05,0.00,0.000,1030,0.000,0.034,2374,2806,3533,3593,3473,0,0,0,0,0,0,27.21,27.15,27.22
$GC,4346,-0.77,-170.3,2375,2808,3592,3474,535.9,-11.0,290,4355,0.00,2.03,0.00,0.000,516,0.000,0.026,2374,1407,3531,3591,3472,0,0,0,0,0,0,27.34,27.16,27.40
$GC,4379,-0.78,-170.3,2372,1401,3593,3472,539.5,-11.0,291,4387,0.00,2.08,0.00,0.000,1030,0.000,0.035,2374,2798,3532,3591,3473,0,0,0,0,0,0,27.21,27.15,27.23
$GC,4706,-0.78,-170.3,2374,2798,3591,3471,575.0,-10.8,302,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2798,3531,3590,3472,0,0,0,0,0,0,27.35,27.42,27.41
$GC,5006,-0.79,-170.3,2373,2799,3589,3474,606.2,-10.2,312,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2798,3530,3589,3472,0,0,0,0,0,0,27.35,27.43,27.42
$GC,5306,-0.79,-170.3,2374,2799,3589,3473,636.6,-10.1,322,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2798,3530,3588,3472,0,0,0,0,0,0,27.36,27.43,27.43
$GC,5607,-0.80,-170.3,2374,2800,3588,3474,664.5,-9.4,332,5614,0.00,2.00,0.00,0.000,516,0.000,0.028,2374,1414,3529,3587,3472,0,0,0,0,0,0,27.36,27.20,27.43
$GC,5669,-0.81,-170.3,2374,1415,3588,3474,670.3,-9.9,334,5676,0.00,2.05,0.00,0.000,1030,0.000,0.034,2374,2802,3529,3586,3472,0,0,0,0,0,0,27.24,27.18,27.27
$GC,5991,-0.81,-170.3,2374,2802,3587,3472,704.2,-10.5,345,5999,0.00,2.00,0.00,0.000,516,0.000,0.028,2374,1421,3528,3585,3472,0,0,0,0,0,0,27.37,27.20,27.43
$GC,6222,-0.81,-170.3,2374,1421,3586,3472,726.8,-10.7,352,6230,0.00,2.05,0.00,0.000,1030,0.000,0.034,2374,2808,3528,3585,3472,0,0,0,0,0,0,27.25,27.20,27.27
$GC,6528,-0.82,-170.3,2374,2806,3585,3474,762.7,-11.1,362,6538,0.00,2.03,0.00,0.000,516,0.000,0.028,2374,1407,3527,3583,3472,0,0,0,0,0,0,27.38,27.20,27.44
$GC,6763,-0.83,-170.3,2374,1408,3584,3474,784.2,-10.0,369,6774,0.00,2.08,0.00,0.000,1030,0.000,0.034,2374,2809,3528,3583,3473,0,0,0,0,0,0,27.26,27.20,27.28
$GC,7068,-0.83,-170.3,2374,2811,3584,3474,815.1,-9.4,380,7076,0.00,2.03,0.00,0.000,516,0.000,0.028,2374,1409,3527,3583,3472,0,0,0,0,0,0,27.39,27.22,27.45
$GC,7165,-0.84,-170.3,2374,1411,3584,3474,823.6,-9.6,383,7172,0.00,2.05,0.00,0.000,1030,0.000,0.035,2374,2801,3527,3583,3472,0,0,0,0,0,0,27.27,27.20,27.28
$GC,7482,-0.84,-170.3,2374,2800,3583,3472,855.3,-9.7,394,7487,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2800,3526,3581,3472,0,0,0,0,0,0,27.39,27.46,27.46
$GC,7782,-0.85,-170.3,2374,2802,3582,3474,886.0,-10.2,404,7793,0.00,1.98,0.00,0.000,516,0.000,0.028,2374,1425,3526,3581,3472,0,0,0,0,0,0,27.39,27.22,27.46
$GC,7893,-0.86,-170.3,2374,1425,3581,3472,895.1,-10.0,407,7908,0.00,2.03,0.00,0.000,1030,0.000,0.035,2374,2802,3526,3581,3472,0,0,0,0,0,0,27.24,27.21,27.27
$GC,8203,-0.86,-170.3,2374,2802,3581,3471,925.6,-9.1,418,8210,0.00,2.00,0.00,0.000,516,0.000,0.028,2374,1424,3526,3580,3472,0,0,0,0,0,0,27.39,27.22,27.46
$GC,8249,-0.87,-170.3,2374,1423,3581,3472,928.1,-9.3,419,8257,0.08,2.05,0.00,0.000,5126,0.133,0.035,2333,2811,3526,3580,3472,0,0,0,0,0,0,27.15,27.21,27.24
$GC,8562,-0.87,-170.3,2330,2811,3579,3472,966.3,-12.2,430,8570,0.00,2.03,0.00,0.000,516,0.000,0.028,2333,1422,3525,3578,3472,0,0,0,0,0,0,27.39,27.22,27.46
$GC,8634,-0.88,-170.3,2332,1424,3580,3474,974.0,-12.2,432,8641,0.00,2.05,0.00,0.000,1030,0.000,0.036,2332,2806,3525,3579,3472,0,0,0,0,0,0,27.27,27.20,27.29
$STATE,8769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8769,begin apogee
$GC,8773,-0.19,0.0,2334,2906,3579,3472,991.6,-12.1,437,8935,0.65,0.00,149.95,1.553,10246,0.129,0.000,2544,2906,2840,2879,2801,0,0,0,0,1,0,27.09,24.49,23.57
$STATE,8936,end apogee,CONTROL_FINISHED_OK
$STATE,8936,begin climb
$GC,8937,0.70,170.3,2544,2907,2892,2802,1000.0,0.0,442,9105,0.82,2.30,150.82,1.081,11012,0.081,0.027,2822,1513,2128,2164,2093,0,0,0,0,0,0,24.79,24.66,24.01
$GC,9245,0.73,324.8,2823,1513,2157,2082,1000.4,3.9,452,9397,0.00,2.15,138.23,1.024,9222,0.000,0.033,2822,2892,1510,1555,1466,0,0,0,0,0,0,25.84,25.78,24.06
$GC,9706,0.74,366.3,2822,2893,1533,1440,967.5,8.4,468,9770,0.08,2.20,51.22,0.828,10756,0.128,0.029,2862,1527,1336,1384,1289,0,0,0,0,0,0,26.09,25.29,24.73
$GC,9819,0.75,379.0,2863,1528,1374,1280,958.5,9.5,471,9834,0.00,2.17,4.07,0.744,9222,0.000,0.033,2864,2904,1299,1351,1247,0,0,0,0,0,0,25.72,25.66,24.86
$GC,10130,0.75,383.4,2862,2906,1364,1249,925.2,9.8,482,10142,0.00,0.00,6.15,0.864,8710,0.000,0.000,2863,2905,1277,1329,1225,0,0,0,0,0,0,26.39,26.00,25.35
$GC,10457,0.76,383.4,2863,2907,1341,1228,890.9,10.8,493,10465,0.00,2.08,0.00,0.000,516,0.000,0.029,2863,1519,1283,1340,1227,0,0,0,0,0,0,26.60,26.44,26.67
$GC,10629,0.77,384.3,2863,1519,1341,1226,875.6,10.0,498,10637,0.00,2.10,0.00,0.000,1030,0.000,0.034,2863,2904,1283,1340,1227,0,0,0,0,0,0,26.59,26.53,26.61
$GC,10934,0.78,384.3,2862,2904,1342,1226,842.2,10.7,508,10942,0.00,2.05,0.00,0.000,516,0.000,0.029,2863,1513,1283,1340,1227,0,0,0,0,0,0,26.84,26.67,26.89
$GC,11042,0.78,384.3,2862,1517,1341,1228,833.2,10.3,511,11055,0.00,2.10,0.00,0.000,1030,0.000,0.034,2863,2905,1283,1340,1227,0,0,0,0,0,0,26.75,26.70,26.77
$GC,11352,0.79,384.3,2863,2905,1342,1226,797.9,10.7,522,11360,0.00,2.05,0.00,0.000,516,0.000,0.028,2863,1509,1283,1340,1227,0,0,0,0,0,0,26.96,26.79,27.03
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$GC,14368,0.89,491.7,2905,2899,913,768,485.8,12.1,623,14376,0.00,2.08,0.00,0.000,516,0.000,0.028,2913,1516,840,912,768,0,0,0,0,0,0,26.56,26.41,26.63
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$STATE,18283,end climb,SURFACE_DEPTH_REACHED
$STATE,18284,begin surface coast
$FINISH,0.4,1.023779
$STATE,18304,end surface coast,CONTROL_FINISHED_OK
$STATE,18304,begin surface
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$IRIDIUM_FIX,5837.82,-14722.42,070508,125957
$TT8_MAMPS,0.161035,0.161035
$HUMID,39.09
$INTERNAL_PRESSURE,8.7557
$TCM_TEMP,17.70
$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,1654118
$PA_UPTIME,18333.13 8772.00
$PA_BOOTCOUNT,313
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$PA_LOG,0.01/0.247/31.498/29.651
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$PA_DATA0,0.14/16.916/117.199/94.329
$PA_ROOT,0.76/0.092/0.121/0.022
$PA_HOME,0.01/0.184/27.046/25.488
$PA_DISK_BANK,1
$24V_AH,23.57,1.993
$10V_AH,10.07,5.559
$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,17.325,147.850,656.200,0.000,0.000,0.000,0.000,228.950,0.000,0.000,53.648,0.000,14052.175,722.074,3808.301,149.898,0.000,2626.029,0.000,2323.963,0.000,0.549,0.000
$DEVICE_MAMPS,240.975,97.155,1552.950,0.000,0.000,0.000,0.000,95.625,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,650.596,0.000,0.000,0.000,0.000,0.000,18758.260,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,136.971,0.000,0.000,0.000
$MEM,187104
$DATA_FILE_SIZE,40100,950
$CAP_FILE_SIZE,182492,0
$CFSIZE,1024393216,995377152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,17,0
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