version: 66.12
glider: 203
mission: 8
dive: 164
start: 8 9 115 20 44 16
data:
$ID,203
$MISSION,8
$DIVE,164
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,950
$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,300
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,101
$R_STBD_OVSHOOT,45
$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,21
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,090815,203851,5658.8008,-15059.5137,38,0.9,38,16.5,0.0,0.0,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-65.2
$GPS2,090815,204405,5658.8252,-15059.5332,6,0.9,9,16.5,0.0,0.0,9,9.2
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,33.9,17640,-17.4,-10.556,-19.06,2832
$D_GRID,956
$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,-0.89,-194.6,189,2809,1072,974,0.0,0.0,0,134,0.00,0.00,-37.12,0.000,16386,0.000,0.000,189,2808,2002,2038,1966,0,0,0,0,0,0,26.03,28.83,26.10
$GC,136,-0.89,-194.6,190,2810,2041,1960,3.2,-4.8,6,193,8.73,2.28,-39.15,0.000,18948,0.230,0.036,2342,1342,3636,3709,3563,0,0,0,0,0,0,25.45,24.21,25.79
$GC,419,-0.86,-194.6,2342,1343,3710,3569,60.5,-19.3,53,431,0.10,2.08,0.00,0.000,3078,0.174,0.024,2358,2708,3638,3709,3568,0,0,0,0,0,0,25.79,26.02,25.93
$GC,725,-0.86,-194.6,2358,2709,3710,3574,116.0,-16.9,84,733,0.00,2.08,0.00,0.000,516,0.000,0.022,2358,1329,3640,3709,3572,0,0,0,0,0,0,26.08,26.06,26.14
$GC,762,-0.86,-194.6,2358,1333,3710,3567,122.1,-16.6,87,770,0.00,2.10,0.00,0.000,1030,0.000,0.025,2351,2711,3640,3709,3572,0,0,0,0,0,0,26.09,26.04,26.11
$GC,1074,-0.86,-194.6,2352,2710,3711,3572,169.8,-15.0,118,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2710,3641,3709,3573,0,0,0,0,0,0,26.11,26.17,26.17
$GC,1375,-0.86,-194.6,2352,2712,3710,3574,213.2,-14.4,148,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2710,3641,3709,3573,0,0,0,0,0,0,26.10,26.16,26.15
$GC,1695,-0.86,-194.6,2351,2710,3710,3573,259.6,-14.7,176,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2710,3640,3709,3572,0,0,0,0,0,0,26.09,26.15,26.15
$GC,1994,-0.86,-194.6,2352,2710,3710,3572,301.5,-13.9,186,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2710,3640,3709,3571,0,0,0,0,0,0,26.08,26.15,26.14
$GC,2294,-0.88,-194.6,2352,2712,3708,3574,345.8,-14.9,196,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2710,3640,3707,3573,0,0,0,0,0,0,26.08,26.14,26.12
$GC,2594,-0.90,-194.6,2352,2710,3706,3572,388.3,-14.0,206,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2710,3639,3705,3573,0,0,0,0,0,0,26.08,26.15,26.14
$GC,2894,-0.92,-194.6,2352,2710,3705,3573,430.1,-13.8,216,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2710,3638,3704,3573,0,0,0,0,0,0,26.09,26.15,26.14
$GC,3194,-0.94,-194.6,2352,2710,3703,3572,469.7,-13.0,226,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2710,3637,3702,3573,0,0,0,0,0,0,26.08,26.15,26.14
$GC,3494,-0.96,-194.6,2352,2710,3702,3572,508.2,-12.6,236,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2710,3636,3701,3572,0,0,0,0,0,0,26.09,26.16,26.15
$GC,3794,-0.98,-194.6,2352,2710,3700,3567,545.3,-12.0,246,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2710,3635,3699,3572,0,0,0,0,0,0,26.06,26.13,26.13
$GC,4094,-1.01,-194.6,2352,2712,3696,3574,581.3,-12.3,256,4102,0.00,2.10,0.00,0.000,516,0.000,0.022,2352,1328,3635,3697,3573,0,0,0,0,0,0,26.07,25.99,26.13
$GC,4136,-1.03,-194.6,2352,1329,3699,3574,584.6,-12.3,257,4144,0.00,2.10,0.00,0.000,1030,0.000,0.025,2349,2698,3635,3698,3572,0,0,0,0,0,0,26.05,25.99,26.07
$GC,4448,-1.06,-194.6,2349,2697,3697,3572,624.5,-12.2,268,4454,0.10,0.00,0.00,0.000,4102,0.097,0.000,2285,2698,3634,3696,3573,0,0,0,0,0,0,25.98,26.08,26.05
$GC,4748,-1.03,-194.6,2285,2698,3695,3572,673.6,-17.0,278,4756,0.10,1.80,0.00,0.000,2308,0.171,0.037,2305,3852,3633,3694,3572,0,0,0,0,0,0,25.79,25.93,25.91
$GC,4783,-1.02,-194.6,2305,3851,3696,3573,678.9,-16.9,279,4790,0.00,1.70,0.00,0.000,1030,0.000,0.021,2305,2705,3633,3694,3572,0,0,0,0,0,0,26.08,26.06,26.08
$GC,5114,-1.02,-194.6,2306,2701,3694,3573,729.6,-15.6,290,5124,0.00,2.08,0.00,0.000,516,0.000,0.023,2305,1323,3630,3688,3572,0,0,0,0,0,0,26.08,25.98,26.13
$GC,5164,-1.02,-194.6,2306,1324,3694,3574,734.4,-15.7,291,5171,0.00,2.12,0.00,0.000,1030,0.000,0.025,2305,2709,3633,3694,3572,0,0,0,0,0,0,26.04,25.98,26.06
$GC,5476,-1.02,-194.6,2305,2709,3694,3572,785.8,-15.4,302,5484,0.00,1.77,0.00,0.000,260,0.000,0.040,2305,3849,3632,3692,3573,0,0,0,0,0,0,26.05,25.91,26.10
$GC,5502,-1.02,-194.6,2304,3849,3693,3572,785.8,-15.4,302,5513,0.00,1.67,0.00,0.000,1030,0.000,0.022,2305,2691,3632,3692,3572,0,0,0,0,0,0,26.10,26.07,26.11
$GC,5808,-1.02,-194.6,2306,2692,3692,3574,836.4,-15.2,313,5816,0.00,2.05,0.00,0.000,516,0.000,0.023,2305,1327,3632,3691,3573,0,0,0,0,0,0,26.03,25.98,26.10
$GC,5845,-1.02,-194.6,2304,1327,3692,3573,841.3,-15.3,314,5854,0.00,2.10,0.00,0.000,1030,0.000,0.026,2305,2703,3631,3691,3572,0,0,0,0,0,0,26.03,25.97,26.05
$GC,6168,-1.02,-194.6,2306,2704,3691,3574,891.3,-14.9,325,6175,0.00,1.80,0.00,0.000,260,0.000,0.040,2305,3857,3631,3690,3572,0,0,0,0,0,0,26.04,25.91,26.08
$GC,6229,-1.02,-194.6,2305,3858,3691,3572,900.8,-15.1,327,6237,0.00,1.67,0.00,0.000,1030,0.000,0.022,2304,2693,3631,3690,3573,0,0,0,0,0,0,26.06,26.03,26.08
$GC,6561,-1.02,-194.6,2306,2689,3690,3574,947.8,-14.0,338,6570,0.00,1.83,0.00,0.000,260,0.000,0.040,2305,3845,3631,3689,3573,0,0,0,0,0,0,26.00,25.89,26.05
$STATE,6593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6593,begin apogee
$GC,6598,-0.25,0.0,2306,2797,3690,3574,952.4,-14.3,339,6767,0.80,0.00,162.07,1.085,10246,0.113,0.000,2556,2796,2839,2875,2803,0,0,0,0,0,0,25.63,24.35,23.61
$STATE,6768,end apogee,CONTROL_FINISHED_OK
$STATE,6768,begin climb
$GC,6769,0.89,194.6,2557,2797,2870,2797,959.9,0.0,344,6943,1.12,0.00,165.12,1.063,11014,0.083,0.000,2920,2796,2044,2083,2005,0,0,0,0,0,0,24.49,23.95,23.26
$GC,7225,0.87,226.7,2920,2796,2070,1985,936.9,9.4,360,7259,0.00,0.00,27.00,1.066,8710,0.000,0.000,2919,2796,1913,1955,1872,0,0,0,0,0,0,25.81,25.28,24.51
$GC,7554,0.87,259.6,2920,2797,1942,1856,906.9,9.4,371,7590,0.00,0.00,28.48,1.054,8198,0.000,0.000,2920,2796,1775,1817,1733,0,0,0,0,0,0,26.01,25.42,24.65
$GC,7884,0.88,300.2,2920,2796,1808,1718,875.2,9.1,382,7928,0.00,1.75,35.15,1.031,8452,0.000,0.038,2920,3846,1608,1653,1564,0,0,0,0,0,0,26.02,25.41,24.62
$GC,8037,0.85,300.2,2920,3847,1645,1554,858.7,11.5,387,8044,0.00,1.52,0.00,0.000,1030,0.000,0.022,2925,2783,1598,1644,1553,0,0,0,0,0,0,25.89,25.86,25.90
$GC,8363,0.85,300.2,2925,2783,1645,1549,819.4,11.8,398,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2783,1596,1643,1549,0,0,0,0,0,0,26.07,26.14,26.13
$GC,8663,0.85,300.2,2925,2783,1644,1548,783.9,11.5,408,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2783,1595,1643,1548,0,0,0,0,0,0,26.12,26.19,26.18
$GC,8963,0.85,300.2,2926,2783,1643,1547,750.4,10.9,418,8971,0.00,1.67,0.00,0.000,260,0.000,0.039,2925,3853,1594,1642,1547,0,0,0,0,0,0,26.10,26.03,26.17
$GC,9060,0.85,300.2,2925,3852,1643,1546,739.4,11.8,421,9067,0.00,1.50,0.00,0.000,1030,0.000,0.022,2931,2788,1594,1642,1547,0,0,0,0,0,0,26.15,26.12,26.16
$GC,9386,0.85,300.2,2931,2789,1643,1548,702.4,11.1,432,9392,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2788,1594,1642,1547,0,0,0,0,0,0,26.04,26.12,26.11
$GC,9686,0.85,300.2,2932,2789,1643,1547,670.8,10.8,442,9694,0.00,1.65,0.00,0.000,260,0.000,0.039,2931,3847,1593,1641,1546,0,0,0,0,0,0,26.09,25.98,26.16
$GC,9728,0.85,300.2,2930,3847,1642,1546,667.1,10.9,443,9736,0.00,1.50,0.00,0.000,1030,0.000,0.023,2931,2789,1593,1641,1546,0,0,0,0,0,0,26.13,26.10,26.15
$GC,10050,0.85,300.2,2932,2791,1642,1548,631.8,10.6,454,10056,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2786,1593,1641,1545,0,0,0,0,0,0,26.09,26.16,26.15
$GC,10350,0.85,300.2,2932,2789,1642,1546,596.7,11.9,464,10358,0.00,1.67,0.00,0.000,260,0.000,0.039,2931,3855,1593,1641,1546,0,0,0,0,0,0,26.08,25.98,26.15
$GC,10417,0.85,300.2,2931,3855,1642,1541,588.8,12.4,466,10424,0.00,1.50,0.00,0.000,1030,0.000,0.022,2932,2796,1593,1641,1546,0,0,0,0,0,0,26.13,26.10,26.13
$GC,10744,0.82,300.2,2932,2795,1642,1546,547.3,12.9,477,10752,0.00,1.65,0.00,0.000,260,0.000,0.039,2932,3846,1593,1641,1546,0,0,0,0,0,0,26.07,25.97,26.14
$GC,10931,0.75,300.2,2932,3846,1640,1546,521.2,14.7,483,10938,0.12,1.50,0.00,0.000,5126,0.169,0.023,2902,2787,1593,1640,1546,0,0,0,0,0,0,25.78,26.10,25.96
$GC,11258,0.75,300.2,2903,2788,1641,1547,484.2,10.7,494,11267,0.00,2.05,0.00,0.000,516,0.000,0.023,2910,1423,1593,1640,1546,0,0,0,0,0,0,26.06,26.03,26.13
$GC,11306,0.75,304.3,2910,1423,1641,1546,481.0,10.4,495,11314,0.00,2.12,0.00,0.000,1030,0.000,0.027,2910,2806,1593,1640,1546,0,0,0,0,0,0,26.06,26.01,26.08
$GC,11618,0.76,337.1,2910,2807,1641,1545,447.7,9.4,506,11660,0.00,2.12,32.65,0.777,8708,0.000,0.023,2918,1425,1456,1502,1411,0,0,0,0,0,0,26.06,25.62,24.91
$GC,11759,0.78,361.9,2918,1427,1494,1405,436.0,9.7,510,11790,0.00,2.12,22.33,0.773,9222,0.000,0.026,2918,2802,1363,1410,1317,0,0,0,0,0,0,25.89,25.86,24.87
$GC,12100,0.80,370.3,2918,2804,1395,1300,397.8,10.3,522,12108,0.00,1.65,0.00,0.000,260,0.000,0.039,2918,3845,1346,1394,1298,0,0,0,0,0,0,26.00,25.93,26.06
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$GC,12644,0.80,370.3,2919,2784,1394,1305,331.6,12.4,540,12651,0.00,1.70,0.00,0.000,260,0.000,0.040,2919,3845,1345,1393,1297,0,0,0,0,0,0,26.07,25.97,26.13
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$GC,15483,1.10,455.6,3014,3851,1057,936,20.6,10.6,798,15489,0.00,1.52,0.00,0.000,1030,0.000,0.021,3022,2808,996,1058,935,0,0,0,0,0,0,26.06,26.06,26.08
$STATE,15677,end climb,SURFACE_DEPTH_REACHED
$STATE,15677,begin surface coast
$FINISH,0.9,1.023565
$STATE,15692,end surface coast,CONTROL_FINISHED_OK
$STATE,15692,begin surface
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$IRIDIUM_FIX,5633.07,-15052.51,050608,061517
$TT8_MAMPS,0.05992,0.05992
$HUMID,39.76
$INTERNAL_PRESSURE,8.8022
$TCM_TEMP,17.80
$XPDR_PINGS,1
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,15722.58 7425.28
$PA_BOOTCOUNT,472
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$PA_HOME,0.01/0.216/27.046/25.457
$PA_DISK_BANK,3
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$10V_AH,10.16,37.448
$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,18.900,81.350,559.600,0.000,0.000,0.000,0.000,223.600,0.250,16097.910,10.741,0.000,12387.971,604.663,2946.948,132.064,0.000,2075.100,0.000,1729.424,0.000,0.548,0.000
$DEVICE_MAMPS,229.500,140.760,1084.770,0.000,0.000,0.000,0.000,91.800,420.000,61.904,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,575.911,0.000,0.000,0.000,0.000,0.000,16098.041,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.375,0.000,0.000,0.000
$MEM,142856
$DATA_FILE_SIZE,36711,840
$CAP_FILE_SIZE,134832,0
$CFSIZE,1024393216,980402176
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