version: 66.12
glider: 35
mission: 22
dive: 93
start: 4 19 114 18 25 38
data:
$ID,35
$MISSION,22
$DIVE,93
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,4800
$D_ABORT,5000
$D_NO_BLEED,500
$D_BOOST,0
$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,1600
$T_MISSION,1620
$T_ABORT,1650
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,77621
$MASS_COMP,9331
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.308331
$TGT_DEFAULT_LON,-64.599998
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-998371.81
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,237
$PITCH_MAX,3815
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0261427
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,26
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,35
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,275
$VBD_MAX,3970
$C_VBD,2000
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,7
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1038.2812
$PRESSURE_SLOPE,0.00092600001
$AD7714Ch0Gain,32
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,3500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$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,0.0042701932
$SEABIRD_T_H,0.00061695499
$SEABIRD_T_I,2.0597783e-05
$SEABIRD_T_J,1.9668842e-06
$SEABIRD_C_G,-9.6408119
$SEABIRD_C_H,1.1092987
$SEABIRD_C_I,-0.0011480527
$SEABIRD_C_J,0.00016399958
$GPS1,190414,181550,3141.719,-6350.471,38,2.1,58,-15.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-68.6
$GPS2,190414,182513,3141.725,-6350.383,13,1.1,13,-15.6
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,SS08
$TGT_LATLONG,3150.820,-6348.300
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.056,0.238
$KALMAN_X,7705.0,0.0,0.0,51371.0,-2280.6
$KALMAN_Y,1490.5,0.0,0.0,-60010.7,-7153.1
$MHEAD_RNG_PITCHd_Wd,28.8,17161,-19.7,-10.000,-22.22,2235
$D_GRID,4800
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-146.6,238,1789,677,853,0.0,0.0,0,110,0.00,0.00,-91.05,0.000,16386,0.000,0.000,239,1789,2259,2269,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.76,-146.6,238,1789,2269,2249,3.5,-5.0,9,141,10.65,2.15,-9.75,0.000,18692,0.263,0.060,2791,3211,2497,2504,2490,0,0,0,0,0,0,25.03,26.01,25.84
$GC,174,-0.29,-146.6,2791,3211,2502,2487,13.4,-16.5,15,184,0.55,2.10,0.00,0.000,3078,0.214,0.052,2948,1779,2493,2500,2487,0,0,0,0,0,0,25.24,26.14,28.83
$GC,484,-0.14,-146.6,2948,1779,2492,2486,64.0,-15.2,46,493,0.20,2.03,0.00,0.000,2564,0.206,0.062,3005,417,2489,2492,2487,0,0,0,0,0,0,25.77,26.17,28.83
$GC,719,-0.05,-146.6,3005,417,2491,2487,96.7,-13.6,69,727,0.15,2.03,-0.12,0.000,19462,0.191,0.052,3039,1815,2505,2500,2511,0,0,0,0,0,0,25.92,26.32,22.78
$GC,1026,-0.05,-146.6,3039,1815,2500,2511,127.3,-10.0,100,1035,0.00,2.08,0.00,0.000,516,0.000,0.062,3039,422,2505,2500,2511,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1260,-0.05,-146.6,3039,422,2500,2510,151.6,-11.9,122,1267,0.00,2.00,0.00,0.000,1030,0.000,0.052,3031,1808,2505,2499,2511,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1568,-0.05,-146.6,3031,1808,2500,2511,184.5,-10.3,138,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1808,2505,2500,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1867,-0.05,-146.6,3031,1808,2500,2511,215.6,-10.4,153,1872,0.00,2.05,0.00,0.000,516,0.000,0.062,3032,421,2505,2499,2511,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1989,-0.05,-146.6,3031,422,2500,2511,229.1,-11.2,159,1994,0.00,1.98,0.00,0.000,1030,0.000,0.052,3025,1800,2505,2500,2510,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2307,-0.05,-146.6,3025,1800,2500,2511,261.4,-9.6,175,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1800,2505,2500,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2608,-0.05,-146.6,3025,1800,2500,2511,288.7,-9.3,190,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1800,2505,2500,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2927,-0.05,-146.6,3025,1800,2500,2511,318.6,-9.2,203,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1800,2505,2500,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3227,-0.05,-146.6,3025,1800,2500,2511,347.8,-10.0,213,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1800,2505,2500,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3528,-0.05,-146.6,3025,1800,2499,2511,377.5,-10.1,223,3531,0.00,2.05,0.00,0.000,516,0.000,0.065,3025,414,2505,2500,2511,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3592,-0.05,-146.6,3024,414,2500,2511,384.4,-10.8,225,3596,0.00,2.03,0.00,0.000,1030,0.000,0.052,3018,1815,2506,2500,2512,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3914,-0.05,-146.6,3018,1815,2500,2511,420.0,-11.0,236,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1815,2505,2500,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4214,-0.05,-146.6,3018,1815,2500,2511,451.5,-10.3,246,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1815,2505,2500,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4514,-0.05,-146.6,3018,1815,2500,2511,481.5,-9.9,256,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1815,2505,2500,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4814,-0.05,-146.6,3018,1815,2500,2511,508.9,-8.9,266,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1815,2505,2500,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5115,-0.10,-146.6,3018,1815,2500,2512,536.7,-9.6,276,5119,0.00,2.05,0.00,0.000,260,0.000,0.062,3012,3184,2506,2500,2512,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5160,-0.15,-146.6,3012,3185,2499,2511,539.8,-9.7,277,5164,0.00,2.00,0.00,0.000,1030,0.000,0.052,3012,1806,2505,2500,2511,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5477,-0.20,-146.6,3012,1805,2499,2511,570.9,-9.4,288,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1805,2505,2500,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5777,-0.26,-146.6,3012,1805,2499,2511,597.6,-8.8,298,5779,0.10,0.00,0.00,0.000,4102,0.122,0.000,2947,1805,2505,2500,2511,0,0,0,0,0,0,26.48,28.83,28.83
$GC,6076,-0.21,-146.6,2946,1805,2499,2511,634.8,-12.7,308,6083,0.12,2.08,0.00,0.000,2564,0.194,0.062,2983,400,2505,2499,2511,0,0,0,0,0,0,26.14,26.27,28.83
$GC,6139,-0.21,-146.6,2983,400,2497,2511,642.5,-13.0,310,6143,0.00,2.03,0.00,0.000,1030,0.000,0.052,2973,1804,2504,2498,2511,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6461,-0.21,-146.6,2973,1804,2497,2510,681.8,-11.9,321,6465,0.00,2.10,0.00,0.000,260,0.000,0.062,2965,3195,2504,2498,2511,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6515,-0.21,-146.6,2965,3200,2498,2511,685.3,-11.9,322,6522,0.00,2.05,0.00,0.000,1030,0.000,0.052,2965,1799,2504,2498,2511,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6822,-0.21,-146.6,2965,1798,2498,2511,723.7,-11.7,333,6828,0.00,2.05,0.00,0.000,516,0.000,0.065,2965,409,2504,2497,2511,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6890,-0.21,-146.6,2965,409,2496,2511,731.6,-12.6,335,6894,0.00,2.03,0.00,0.000,1030,0.000,0.052,2958,1805,2503,2496,2511,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7207,-0.21,-146.6,2958,1805,2496,2511,771.3,-11.9,346,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1805,2503,2496,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7507,-0.21,-146.6,2958,1805,2496,2510,809.1,-12.7,356,7511,0.00,2.10,0.00,0.000,516,0.000,0.062,2958,410,2503,2496,2510,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7568,-0.21,-146.6,2958,399,2495,2511,817.7,-13.3,358,7573,0.00,2.03,0.00,0.000,1030,0.000,0.052,2953,1804,2502,2494,2511,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7895,-0.21,-146.6,2953,1805,2494,2509,861.9,-13.4,369,7899,0.00,2.08,0.00,0.000,260,0.000,0.062,2944,3191,2501,2494,2509,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7929,-0.21,-146.6,2944,3191,2494,2508,866.4,-13.6,370,7934,0.15,2.05,0.00,0.000,3078,0.171,0.052,2985,1795,2501,2494,2508,0,0,0,0,0,0,26.04,26.38,28.83
$GC,8252,-0.26,-146.6,2985,1795,2493,2508,904.5,-11.6,381,8253,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1795,2500,2493,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8552,-0.32,-146.6,2985,1795,2491,2508,938.6,-10.8,391,8554,0.08,0.00,0.00,0.000,4102,0.142,0.000,2941,1795,2499,2491,2507,0,0,0,0,0,0,26.51,28.83,28.83
$GC,8851,-0.32,-146.6,2940,1795,2489,2507,978.6,-13.3,401,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,1795,2498,2489,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9151,-0.32,-146.6,2940,1795,2488,2506,1018.1,-13.1,409,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,1795,2497,2488,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9451,-0.32,-146.6,2940,1795,2487,2506,1057.3,-12.9,414,9455,0.00,2.08,0.00,0.000,516,0.000,0.065,2941,408,2496,2487,2506,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9521,-0.32,-146.6,2940,404,2485,2506,1066.3,-13.3,415,9525,0.00,2.05,0.00,0.000,1030,0.000,0.052,2932,1804,2495,2485,2506,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9867,-0.32,-146.6,2931,1805,2484,2504,1117.0,-14.4,421,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1805,2493,2483,2504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10167,-0.32,-146.6,2932,1805,2482,2503,1160.0,-14.2,426,10168,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1805,2493,2482,2504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10468,-0.32,-146.6,2931,1805,2481,2502,1201.8,-13.9,431,10473,0.00,2.12,0.00,0.000,260,0.000,0.062,2924,3200,2491,2481,2502,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10510,-0.32,-146.6,2924,3200,2482,2501,1201.8,-13.9,431,10514,0.00,2.05,0.00,0.000,1030,0.000,0.050,2924,1805,2491,2482,2501,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10822,-0.32,-146.6,2924,1804,2480,2501,1253.2,-14.8,437,10826,0.00,2.12,0.00,0.000,516,0.000,0.065,2924,411,2490,2480,2501,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10867,-0.32,-146.6,2924,399,2479,2501,1253.2,-14.8,437,10871,0.00,2.05,0.00,0.000,1030,0.000,0.052,2917,1799,2490,2479,2501,0,0,0,0,0,0,28.83,26.35,28.83
$GC,11184,-0.32,-146.6,2917,1799,2478,2499,1309.7,-15.6,443,11185,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1799,2488,2478,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11483,-0.32,-146.6,2917,1799,2476,2499,1356.0,-15.5,448,11485,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1798,2487,2476,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11784,-0.32,-146.6,2917,1799,2475,2498,1401.1,-14.9,453,11790,0.00,2.15,0.00,0.000,260,0.000,0.062,2914,3202,2486,2475,2497,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11826,-0.32,-146.6,2913,3202,2475,2496,1401.1,-14.9,453,11831,0.12,2.10,0.00,0.000,3078,0.166,0.052,2948,1796,2486,2475,2497,0,0,0,0,0,0,26.07,26.34,28.83
$GC,12139,-0.39,-146.6,2948,1794,2475,2496,1445.0,-12.0,459,12143,0.00,2.17,0.00,0.000,260,0.000,0.062,2944,3184,2485,2475,2496,0,0,0,0,0,0,28.83,26.24,28.83
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$GC,30110,-1.04,-146.6,2699,1795,2456,2481,3742.8,-10.8,757,30116,0.00,2.17,0.00,0.000,260,0.000,0.062,2697,3190,2467,2455,2480,0,0,0,0,0,0,28.83,25.96,28.83
$GC,30152,-1.04,-146.6,2696,3190,2455,2480,3742.8,-10.8,757,30157,0.00,2.12,0.00,0.000,1030,0.000,0.052,2697,1797,2468,2456,2480,0,0,0,0,0,0,28.83,26.12,28.83
$GC,30466,-1.04,-146.6,2696,1797,2456,2481,3781.4,-10.6,763,30468,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1797,2467,2455,2480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30766,-1.04,-146.6,2696,1797,2455,2481,3813.5,-10.7,768,30771,0.00,2.17,0.00,0.000,260,0.000,0.062,2688,3193,2468,2456,2480,0,0,0,0,0,0,28.83,25.96,28.83
$GC,30807,-1.04,-146.6,2687,3193,2456,2480,3813.5,-10.7,768,30811,0.00,2.12,0.00,0.000,1030,0.000,0.052,2688,1799,2468,2456,2481,0,0,0,0,0,0,28.83,26.12,28.83
$GC,31121,-1.04,-146.6,2687,1799,2456,2480,3853.5,-11.3,774,31122,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1799,2467,2455,2480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31419,-1.04,-146.6,2687,1799,2455,2481,3887.2,-11.2,779,31425,0.00,2.22,0.00,0.000,260,0.000,0.062,2681,3201,2467,2455,2480,0,0,0,0,0,0,28.83,25.96,28.83
$GC,31483,-1.04,-146.6,2681,3201,2455,2480,3894.4,-11.2,780,31489,0.10,2.10,0.00,0.000,3078,0.146,0.052,2716,1794,2467,2455,2480,0,0,0,0,0,0,25.75,26.11,28.83
$GC,31841,-1.04,-146.6,2715,1794,2455,2480,3928.7,-9.5,786,31847,0.00,2.20,0.00,0.000,260,0.000,0.062,2715,3191,2467,2455,2480,0,0,0,0,0,0,28.83,25.94,28.83
$GC,31890,-1.04,-146.6,2714,3191,2455,2480,3928.7,-9.5,786,31894,0.00,2.12,0.00,0.000,1030,0.000,0.052,2715,1797,2467,2455,2480,0,0,0,0,0,0,28.83,26.10,28.83
$GC,32198,-1.09,-146.6,2714,1797,2455,2480,3960.5,-8.8,791,32203,0.00,2.17,0.00,0.000,260,0.000,0.062,2714,3190,2467,2455,2480,0,0,0,0,0,0,28.83,25.93,28.83
$GC,32240,-1.14,-146.6,2714,3190,2455,2480,3960.5,-8.8,791,32244,0.00,2.10,0.00,0.000,1030,0.000,0.052,2714,1799,2467,2455,2480,0,0,0,0,0,0,28.83,26.10,28.83
$GC,32554,-1.20,-146.6,2714,1798,2455,2480,3991.8,-8.9,797,32556,0.10,0.00,0.00,0.000,4102,0.122,0.000,2656,1799,2467,2455,2480,0,0,0,0,0,0,26.41,28.83,28.83
$GC,32852,-1.20,-146.6,2656,1798,2455,2480,4025.7,-11.4,802,32858,0.00,2.17,0.00,0.000,260,0.000,0.062,2645,3191,2467,2455,2480,0,0,0,0,0,0,28.83,25.94,28.83
$GC,32906,-1.20,-146.6,2645,3192,2455,2480,4025.7,-11.4,802,32914,0.00,2.10,0.00,0.000,1030,0.000,0.052,2645,1800,2467,2455,2480,0,0,0,0,0,0,28.83,26.10,28.83
$GC,33211,-1.20,-146.6,2645,1800,2455,2480,4066.6,-11.3,808,33212,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1800,2467,2455,2480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33511,-1.20,-146.6,2645,1799,2456,2480,4099.5,-11.0,813,33512,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1800,2467,2455,2480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,33813,-1.20,-146.6,2645,1800,2455,2480,4131.6,-10.6,818,33818,0.00,2.17,0.00,0.000,260,0.000,0.062,2637,3189,2467,2455,2480,0,0,0,0,0,0,28.83,25.93,28.83
$GC,33871,-1.20,-146.6,2636,3189,2455,2480,4137.8,-10.6,819,33875,0.00,2.12,0.00,0.000,1030,0.000,0.055,2636,1793,2467,2455,2480,0,0,0,0,0,0,28.83,26.09,28.83
$GC,34235,-1.20,-146.6,2636,1793,2455,2480,4176.5,-10.6,825,34236,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1793,2467,2455,2480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34532,-1.20,-146.6,2636,1793,2455,2480,4207.4,-10.4,830,34534,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,1793,2467,2455,2480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34832,-1.20,-146.6,2636,1793,2455,2480,4237.9,-10.1,835,34838,0.00,2.20,0.00,0.000,260,0.000,0.062,2629,3191,2467,2455,2480,0,0,0,0,0,0,28.83,25.91,28.83
$GC,34876,-1.20,-146.6,2628,3191,2455,2480,4237.9,-10.1,835,34881,0.15,2.10,0.00,0.000,3078,0.169,0.052,2669,1797,2467,2455,2480,0,0,0,0,0,0,25.67,26.09,28.83
$GC,35189,-1.20,-146.6,2669,1797,2455,2480,4269.8,-8.9,841,35190,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1796,2467,2455,2480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,35489,-1.20,-146.6,2669,1797,2455,2480,4295.7,-8.7,846,35495,0.00,2.20,0.00,0.000,260,0.000,0.062,2659,3193,2467,2455,2480,0,0,0,0,0,0,28.83,25.91,28.83
$GC,35564,-1.20,-146.6,2659,3193,2454,2480,4300.9,-8.6,847,35568,0.00,2.10,0.00,0.000,1030,0.000,0.052,2659,1802,2467,2455,2480,0,0,0,0,0,0,28.83,26.08,28.83
$GC,35909,-1.20,-146.6,2659,1802,2455,2480,4332.8,-9.0,853,35910,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1802,2467,2455,2479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,36206,-1.20,-146.6,2659,1802,2455,2480,4360.0,-9.0,858,36212,0.00,2.20,0.00,0.000,260,0.000,0.062,2650,3193,2467,2455,2480,0,0,0,0,0,0,28.83,25.90,28.83
$GC,36267,-1.20,-146.6,2650,3193,2455,2480,4365.1,-8.9,859,36272,0.00,2.12,0.00,0.000,1030,0.000,0.052,2650,1794,2467,2455,2480,0,0,0,0,0,0,28.83,26.08,28.83
$GC,36627,-1.20,-146.6,2650,1794,2455,2480,4397.6,-8.9,865,36628,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1794,2467,2455,2480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,36927,-1.20,-146.6,2650,1794,2455,2480,4422.9,-8.4,870,36932,0.00,2.20,0.00,0.000,260,0.000,0.062,2645,3188,2467,2455,2480,0,0,0,0,0,0,28.83,25.88,28.83
$GC,36986,-1.20,-146.6,2645,3188,2455,2480,4428.2,-8.5,871,36992,0.00,2.10,0.00,0.000,1030,0.000,0.052,2645,1797,2467,2455,2480,0,0,0,0,0,0,28.83,26.06,28.83
$GC,37347,-1.20,-146.6,2645,1797,2455,2480,4458.7,-8.5,877,37348,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1797,2467,2455,2480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37648,-1.20,-146.6,2645,1797,2454,2480,4483.4,-8.3,882,37654,0.00,2.20,0.00,0.000,260,0.000,0.062,2638,3190,2467,2455,2480,0,0,0,0,0,0,28.83,25.89,28.83
$GC,37715,-1.20,-146.6,2638,3190,2455,2480,4488.7,-8.3,883,37719,0.00,2.12,0.00,0.000,1030,0.000,0.052,2638,1798,2467,2455,2480,0,0,0,0,0,0,28.83,26.07,28.83
$GC,38063,-1.20,-146.6,2638,1798,2455,2480,4517.9,-8.1,889,38064,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1798,2467,2455,2479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38363,-1.20,-146.6,2638,1798,2454,2480,4542.5,-8.1,894,38369,0.00,2.20,0.00,0.000,260,0.000,0.062,2631,3189,2467,2454,2480,0,0,0,0,0,0,28.83,25.87,28.83
$GC,38426,-1.20,-146.6,2631,3189,2455,2480,4547.7,-8.3,895,38433,0.12,2.10,0.00,0.000,3078,0.161,0.052,2672,1796,2467,2455,2480,0,0,0,0,0,0,25.68,26.06,28.83
$GC,38787,-1.26,-146.6,2672,1796,2455,2480,4572.2,-6.8,901,38792,0.00,2.17,0.00,0.000,260,0.000,0.062,2664,3189,2467,2455,2480,0,0,0,0,0,0,28.83,25.88,28.83
$GC,38845,-1.32,-146.6,2663,3188,2455,2480,4576.5,-6.8,902,38852,0.08,2.12,0.00,0.000,5126,0.137,0.052,2623,1796,2467,2455,2480,0,0,0,0,0,0,25.98,26.06,28.83
$GC,39205,-1.32,-146.6,2623,1796,2454,2480,4607.1,-8.5,908,39206,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1796,2467,2455,2479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39505,-1.32,-146.6,2622,1796,2455,2480,4632.8,-8.5,913,39510,0.00,2.20,0.00,0.000,260,0.000,0.062,2617,3190,2467,2455,2480,0,0,0,0,0,0,28.83,25.86,28.83
$GC,39578,-1.32,-146.6,2617,3190,2455,2480,4637.8,-8.4,914,39582,0.00,2.12,0.00,0.000,1030,0.000,0.052,2617,1799,2467,2455,2480,0,0,0,0,0,0,28.83,26.06,28.83
$GC,39920,-1.32,-146.6,2617,1798,2455,2480,4667.6,-8.4,920,39921,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1799,2467,2455,2480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40220,-1.32,-146.6,2617,1798,2454,2480,4692.1,-8.1,925,40226,0.00,2.20,0.00,0.000,260,0.000,0.062,2610,3193,2467,2455,2480,0,0,0,0,0,0,28.83,25.87,28.83
$GC,40299,-1.32,-146.6,2610,3193,2454,2480,4696.9,-8.1,926,40303,0.00,2.12,0.00,0.000,1030,0.000,0.052,2610,1799,2467,2454,2480,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,40513,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,40513,begin apogee
$GC,40519,-0.19,0.0,2606,2296,2455,2480,4716.6,-8.3,930,40671,1.20,0.00,144.48,4.052,10246,0.144,0.000,2985,2297,2000,1955,2046,0,0,0,0,0,0,24.82,28.83,19.40
$STATE,40672,end apogee,CONTROL_FINISHED_OK
$STATE,40672,begin climb
$GC,40674,0.76,146.6,2985,2297,1956,2046,4716.6,0.0,932,40842,0.93,0.00,163.77,3.938,10502,0.072,0.000,3305,2297,1503,1432,1574,0,0,0,0,0,0,22.62,28.83,19.69
$GC,41111,0.42,146.6,3305,2297,1432,1573,4616.6,26.9,940,41117,0.43,2.22,0.00,0.000,4356,0.209,0.065,3179,3693,1502,1432,1573,0,0,0,0,0,0,25.06,25.41,28.83
$GC,41164,0.08,146.6,3179,3693,1432,1572,4616.6,26.9,940,41171,0.40,2.17,0.00,0.000,5126,0.191,0.050,3080,2295,1502,1432,1572,0,0,0,0,0,0,25.29,25.70,28.83
$GC,41470,0.08,146.6,3080,2294,1432,1571,4563.6,12.6,946,41475,0.00,2.15,0.00,0.000,516,0.000,0.062,3090,899,1502,1432,1572,0,0,0,0,0,0,28.83,26.09,28.83
$GC,41523,0.08,146.6,3090,899,1431,1572,4563.6,12.6,946,41530,0.00,2.10,0.00,0.000,1030,0.000,0.055,3089,2296,1502,1432,1572,0,0,0,0,0,0,28.83,26.14,28.83
$GC,41830,0.08,146.6,3089,2296,1432,1572,4518.4,12.6,952,41831,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2296,1502,1432,1572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42130,0.08,146.6,3089,2296,1432,1572,4481.5,12.3,957,42135,0.00,2.15,0.00,0.000,516,0.000,0.060,3100,904,1502,1432,1572,0,0,0,0,0,0,28.83,26.24,28.83
$GC,42168,0.08,146.6,3099,904,1432,1572,4481.5,12.3,957,42172,0.00,2.12,0.00,0.000,1030,0.000,0.055,3099,2304,1502,1432,1572,0,0,0,0,0,0,28.83,26.27,28.83
$GC,42485,0.08,146.6,3099,2304,1432,1572,4437.2,12.5,963,42487,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2304,1502,1432,1572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42785,0.08,146.6,3099,2305,1432,1571,4400.5,12.2,968,42790,0.00,2.15,0.00,0.000,516,0.000,0.060,3110,898,1501,1432,1571,0,0,0,0,0,0,28.83,26.25,28.83
$GC,42846,0.08,146.6,3110,898,1432,1571,4393.4,12.1,969,42852,0.12,2.10,0.00,0.000,5126,0.179,0.055,3077,2300,1502,1432,1572,0,0,0,0,0,0,26.03,26.28,28.83
$GC,43205,0.08,146.6,3076,2300,1432,1571,4354.7,10.6,975,43207,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2300,1501,1432,1571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43505,0.08,146.6,3077,2300,1432,1571,4323.6,10.4,980,43510,0.00,2.12,0.00,0.000,516,0.000,0.062,3087,902,1501,1432,1571,0,0,0,0,0,0,28.83,26.24,28.83
$GC,43553,0.08,146.6,3087,902,1432,1571,4323.6,10.4,980,43557,0.00,2.12,0.00,0.000,1030,0.000,0.055,3087,2305,1501,1432,1571,0,0,0,0,0,0,28.83,26.28,28.83
$GC,43860,0.08,146.6,3087,2305,1432,1571,4286.1,10.6,985,43862,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2305,1501,1432,1571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44160,0.08,146.6,3087,2305,1432,1571,4255.2,10.3,990,44165,0.00,2.17,0.00,0.000,516,0.000,0.060,3097,898,1501,1432,1571,0,0,0,0,0,0,28.83,26.22,28.83
$GC,44208,0.08,146.6,3097,898,1431,1571,4255.2,10.3,990,44212,0.00,2.12,0.00,0.000,1030,0.000,0.055,3097,2300,1501,1431,1571,0,0,0,0,0,0,28.83,26.27,28.83
$GC,44515,0.08,146.6,3097,2300,1431,1571,4217.0,10.8,995,44517,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2300,1501,1432,1571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,44815,0.08,146.6,3097,2300,1432,1571,4185.8,10.4,1000,44820,0.00,2.15,0.00,0.000,516,0.000,0.060,3107,901,1501,1432,1571,0,0,0,0,0,0,28.83,26.21,28.83
$GC,44877,0.08,146.6,3107,901,1431,1571,4179.5,10.4,1001,44881,0.00,2.10,0.00,0.000,1030,0.000,0.055,3107,2299,1501,1432,1570,0,0,0,0,0,0,28.83,26.26,28.83
$GC,45235,0.08,146.6,3107,2299,1432,1570,4142.0,10.4,1007,45237,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2300,1501,1432,1570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45535,0.08,146.6,3107,2299,1432,1571,4111.8,10.0,1012,45540,0.00,2.15,0.00,0.000,516,0.000,0.062,3117,902,1500,1431,1570,0,0,0,0,0,0,28.83,26.20,28.83
$GC,45595,0.08,148.1,3117,901,1431,1570,4106.0,9.9,1013,45601,0.15,2.12,0.00,0.000,5126,0.169,0.055,3076,2310,1500,1431,1570,0,0,0,0,0,0,25.94,26.25,28.83
$GC,45957,0.16,185.8,3076,2310,1430,1570,4075.9,8.3,1019,46000,0.00,0.00,40.95,3.576,8198,0.000,0.000,3076,2310,1370,1286,1454,0,0,0,0,0,0,28.83,28.83,21.54
$GC,46256,0.24,198.9,3076,2310,1286,1453,4048.2,9.4,1024,46278,0.12,2.33,14.90,3.285,10756,0.112,0.072,3151,904,1326,1237,1415,0,0,0,0,0,0,25.86,24.98,22.27
$GC,46330,0.31,200.4,3151,904,1235,1415,4040.9,9.9,1025,46336,0.00,2.20,0.00,0.000,1030,0.000,0.055,3152,2306,1324,1235,1414,0,0,0,0,0,0,28.83,25.46,28.83
$GC,46675,0.31,200.4,3151,2306,1235,1415,3988.7,14.6,1031,46676,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2306,1325,1235,1415,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,50320,0.31,200.4,3171,2299,1235,1415,3524.3,11.9,1092,50326,0.00,2.15,0.00,0.000,516,0.000,0.060,3182,905,1325,1235,1415,0,0,0,0,0,0,28.83,26.19,28.83
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$GC,54685,0.42,234.0,3195,2301,1097,1314,3059.5,10.5,1165,54691,0.00,2.17,0.00,0.000,516,0.000,0.060,3206,896,1206,1097,1315,0,0,0,0,0,0,28.83,26.17,28.83
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$GC,55045,0.42,234.0,3206,2308,1097,1314,3020.3,10.9,1171,55046,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2308,1205,1097,1314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55345,0.42,234.0,3206,2308,1097,1314,2988.0,10.8,1176,55351,0.00,2.17,0.00,0.000,516,0.000,0.060,3216,902,1206,1097,1315,0,0,0,0,0,0,28.83,26.20,28.83
$GC,55384,0.42,234.0,3216,902,1097,1314,2988.0,10.8,1176,55388,0.00,2.10,0.00,0.000,1030,0.000,0.055,3216,2302,1205,1097,1314,0,0,0,0,0,0,28.83,26.25,28.83
$GC,55700,0.42,234.0,3216,2302,1097,1315,2950.3,10.5,1182,55701,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2302,1206,1098,1314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56000,0.42,234.0,3216,2302,1097,1315,2919.4,10.3,1187,56006,0.00,2.17,0.00,0.000,516,0.000,0.060,3227,894,1205,1096,1314,0,0,0,0,0,0,28.83,26.20,28.83
$GC,56053,0.42,234.0,3226,894,1097,1314,2919.4,10.3,1187,56060,0.15,2.12,0.00,0.000,5126,0.164,0.055,3185,2309,1205,1097,1314,0,0,0,0,0,0,25.95,26.24,28.83
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$GC,56756,0.69,297.4,3262,896,903,1137,2854.0,9.6,1199,56772,0.00,2.17,9.80,2.436,9222,0.000,0.055,3262,2302,992,876,1108,0,0,0,0,0,0,28.83,25.61,22.75
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$GC,57681,0.69,297.4,3262,2302,881,1106,2727.7,12.4,1215,57686,0.00,2.15,0.00,0.000,516,0.000,0.062,3273,904,993,881,1106,0,0,0,0,0,0,28.83,26.20,28.83
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$GC,58401,0.69,297.4,3272,2301,881,1106,2641.4,11.9,1227,58406,0.00,2.17,0.00,0.000,516,0.000,0.060,3283,896,993,881,1106,0,0,0,0,0,0,28.83,26.22,28.83
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$GC,59415,0.69,297.4,3293,2304,881,1106,2510.2,13.5,1244,59417,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2304,993,881,1106,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,60671,0.69,297.4,3271,2304,881,1106,2352.0,11.2,1264,60672,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,2304,993,881,1106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60970,0.69,297.4,3271,2304,882,1107,2319.2,11.0,1269,60976,0.00,2.17,0.00,0.000,516,0.000,0.060,3281,895,993,881,1106,0,0,0,0,0,0,28.83,26.18,28.83
$GC,61058,0.69,297.4,3281,895,881,1107,2312.7,10.9,1270,61063,0.00,2.12,0.00,0.000,1030,0.000,0.055,3281,2309,993,881,1106,0,0,0,0,0,0,28.83,26.23,28.83
$GC,61386,0.69,297.4,3281,2309,881,1106,2274.3,10.8,1276,61387,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,2309,993,881,1106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61685,0.69,297.4,3281,2309,882,1106,2242.8,10.5,1281,61691,0.00,2.17,0.00,0.000,516,0.000,0.060,3291,903,993,881,1106,0,0,0,0,0,0,28.83,26.17,28.83
$GC,61745,0.69,297.4,3291,903,881,1107,2236.1,10.5,1282,61751,0.00,2.10,0.00,0.000,1030,0.000,0.055,3292,2304,993,881,1106,0,0,0,0,0,0,28.83,26.22,28.83
$GC,62106,0.69,297.4,3291,2304,882,1107,2196.9,10.9,1288,62107,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2304,993,881,1106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62405,0.69,297.4,3291,2304,882,1107,2164.1,10.9,1293,62411,0.00,2.17,0.00,0.000,516,0.000,0.060,3302,897,994,881,1107,0,0,0,0,0,0,28.83,26.16,28.83
$GC,62453,0.69,297.4,3301,897,881,1107,2164.1,10.9,1293,62457,0.00,2.12,0.00,0.000,1030,0.000,0.055,3301,2301,994,881,1107,0,0,0,0,0,0,28.83,26.21,28.83
$GC,62761,0.69,297.4,3301,2301,882,1106,2124.1,11.4,1298,62762,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2301,994,882,1106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63060,0.69,297.4,3301,2301,882,1107,2090.2,11.2,1303,63066,0.00,2.15,0.00,0.000,516,0.000,0.060,3312,901,994,882,1107,0,0,0,0,0,0,28.83,26.15,28.83
$GC,63113,0.69,297.4,3311,901,881,1107,2090.2,11.2,1303,63121,0.15,2.10,0.00,0.000,5126,0.161,0.055,3270,2300,994,881,1107,0,0,0,0,0,0,25.91,26.20,28.83
$GC,63422,0.78,313.0,3269,2300,881,1107,2055.3,9.3,1309,63440,0.00,0.00,16.35,2.210,8198,0.000,0.000,3270,2301,938,829,1048,0,0,0,0,0,0,28.83,28.83,23.13
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$STATE,79090,end climb,SURFACE_DEPTH_REACHED
$STATE,79090,begin surface coast
$FINISH,0.7,1.025542
$STATE,79111,end surface coast,CONTROL_FINISHED_OK
$STATE,79111,begin surface
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$TT8_MAMPS,0.019474,0.019474
$HUMID,37.51
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,22.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4622.5,119.2
$24V_AH,19.4,60.554
$10V_AH,10.1,14.832
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,56.180,15.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330336
$DATA_FILE_SIZE,110004,1771
$CAP_FILE_SIZE,515753,0
$CFSIZE,260165632,230387712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200414,162636,3151.219,-6348.533,28,1.8,28,-15.6