version: 66.12
glider: 36
mission: 20
dive: 74
start: 9 25 115 23 44 33
data:
$ID,36
$MISSION,20
$DIVE,74
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,6000
$D_ABORT,6000
$D_NO_BLEED,50
$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,1250
$T_MISSION,1440
$T_ABORT,1500
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,450
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78685
$MASS_COMP,9146
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,107040
$T_GPS_ALMANAC,0
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3959
$C_PITCH,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,187
$ROLL_MAX,3990
$ROLL_DEG,40
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,192
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2340
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-978.67957
$PRESSURE_SLOPE,0.00091862795
$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,4000
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$DEEPGLIDER,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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043996978
$SEABIRD_T_H,0.0006365396
$SEABIRD_T_I,2.6113061e-05
$SEABIRD_T_J,3.2649082e-06
$SEABIRD_C_G,-9.7572823
$SEABIRD_C_H,1.1335733
$SEABIRD_C_I,-0.0016566192
$SEABIRD_C_J,0.00021344022
$GPS1,250915,233703,3707.5564,-6804.0381,42,1.1,82,-15.3,0.6,91.3,8,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-56.2
$GPS2,250915,234410,3707.5652,-6803.9878,18,0.9,58,-15.3,2.5,11.0,9,4.4
$SPEED_LIMITS,0.440,0.469
$TGT_NAME,9010N
$TGT_LATLONG,3905.220,-6921.240
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.151801,0.115288
$KALMAN_X,130328.718750,0.000000,0.000000,-318531.625000,32153.468750
$KALMAN_Y,-67337.539062,0.000000,0.000000,404316.906250,-20093.242188
$MHEAD_RNG_PITCHd_Wd,350.8,244563,-16.7,-16.000,-18.85,4193
$D_GRID,6000
$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
$STATE,14,begin dive
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$GC,482,-0.73,-439.8,2837,2977,3829,3877,90.7,-30.7,38,491,0.22,1.90,0.00,0.000,3078,0.161,0.047,2909,1659,3853,3829,3877,0,0,0,0,0,0,25.70,26.30,25.81
$GC,807,-0.67,-439.8,2908,1659,3828,3877,156.9,-19.0,59,813,0.00,1.95,0.00,0.000,516,0.000,0.057,2909,312,3852,3828,3876,0,0,0,0,0,0,26.71,26.31,26.72
$GC,854,-0.60,-439.8,2909,312,3828,3876,163.4,-19.5,60,859,0.15,1.80,0.00,0.000,3078,0.156,0.042,2961,1613,3852,3828,3876,0,0,0,0,0,0,25.96,26.53,26.11
$GC,1168,-0.60,-439.8,2961,1613,3828,3876,218.6,-16.5,71,1172,0.00,1.95,0.00,0.000,260,0.000,0.050,2953,2983,3851,3827,3875,0,0,0,0,0,0,26.77,26.43,26.79
$GC,1233,-0.60,-439.8,2953,2982,3828,3875,228.6,-15.9,73,1237,0.00,1.80,0.00,0.000,1030,0.000,0.045,2954,1686,3851,3828,3875,0,0,0,0,0,0,26.54,26.50,26.55
$GC,1566,-0.60,-439.8,2953,1686,3828,3875,281.6,-16.1,84,1570,0.00,2.00,0.00,0.000,516,0.000,0.057,2953,315,3851,3828,3875,0,0,0,0,0,0,26.80,26.39,26.82
$GC,1653,-0.60,-439.8,2954,315,3827,3875,292.3,-16.5,86,1661,0.00,1.80,0.00,0.000,1030,0.000,0.042,2948,1636,3851,3827,3875,0,0,0,0,0,0,26.58,26.58,26.60
$GC,1962,-0.60,-439.8,2947,1636,3831,3874,346.2,-15.9,94,1967,0.00,1.92,0.00,0.000,260,0.000,0.052,2942,2984,3851,3827,3875,0,0,0,0,0,0,26.80,26.46,26.85
$GC,2014,-0.60,-439.8,2942,2984,3827,3874,353.6,-15.9,95,2019,0.00,1.85,0.00,0.000,1030,0.000,0.045,2942,1692,3850,3827,3874,0,0,0,0,0,0,26.55,26.53,26.56
$GC,2323,-0.60,-439.8,2942,1691,3825,3873,405.4,-16.5,102,2329,0.00,1.98,0.00,0.000,516,0.000,0.057,2942,309,3849,3825,3873,0,0,0,0,0,0,26.81,26.41,26.83
$GC,2385,-0.60,-439.8,2942,309,3824,3873,412.8,-16.6,103,2389,0.00,1.80,0.00,0.000,1030,0.000,0.042,2936,1628,3849,3825,3873,0,0,0,0,0,0,26.61,26.60,26.63
$GC,2729,-0.60,-439.8,2935,1628,3824,3872,474.6,-16.8,111,2734,0.00,1.92,0.00,0.000,260,0.000,0.052,2926,2980,3848,3824,3872,0,0,0,0,0,0,26.81,26.48,26.83
$GC,2775,-0.60,-439.8,2925,2980,3824,3872,482.3,-16.8,112,2781,0.00,1.83,0.00,0.000,1030,0.000,0.045,2926,1704,3848,3824,3872,0,0,0,0,0,0,26.55,26.54,26.57
$GC,3090,-0.60,-439.8,2925,1704,3823,3872,537.2,-17.6,119,3095,0.00,1.98,0.00,0.000,516,0.000,0.057,2925,324,3847,3823,3872,0,0,0,0,0,0,26.82,26.43,26.83
$GC,3149,-0.60,-439.8,2925,324,3823,3872,545.5,-17.8,120,3153,0.10,1.75,0.00,0.000,3078,0.176,0.042,2955,1630,3847,3823,3872,0,0,0,0,0,0,26.26,26.62,26.35
$GC,3492,-0.68,-439.8,2954,1630,3822,3871,599.1,-14.5,128,3498,0.00,1.92,0.00,0.000,260,0.000,0.050,2947,2982,3846,3822,3871,0,0,0,0,0,0,26.81,26.48,26.83
$GC,3540,-0.77,-439.8,2947,2982,3822,3871,605.6,-14.5,129,3545,0.08,1.80,0.00,0.000,5126,0.122,0.045,2854,1682,3846,3822,3871,0,0,0,0,0,0,26.44,26.55,26.50
$GC,3854,-0.71,-439.8,2854,1682,3821,3870,675.7,-22.9,136,3861,0.17,1.92,0.00,0.000,2564,0.164,0.055,2918,331,3845,3821,3870,0,0,0,0,0,0,26.13,26.28,26.21
$GC,3922,-0.71,-439.8,2918,331,3821,3870,684.7,-22.4,137,3926,0.00,1.77,0.00,0.000,1030,0.000,0.042,2914,1628,3845,3821,3870,0,0,0,0,0,0,26.63,26.63,26.64
$GC,4260,-0.71,-439.8,2914,1628,3820,3869,745.9,-16.5,145,4266,0.00,1.92,0.00,0.000,260,0.000,0.050,2905,2979,3844,3820,3869,0,0,0,0,0,0,26.81,26.48,26.83
$GC,4313,-0.71,-439.8,2904,2979,3820,3868,753.4,-16.5,146,4317,0.00,1.83,0.00,0.000,1030,0.000,0.045,2904,1707,3844,3820,3868,0,0,0,0,0,0,26.55,26.54,26.57
$GC,4622,-0.71,-439.8,2904,1707,3819,3867,806.2,-17.0,153,4628,0.00,2.00,0.00,0.000,516,0.000,0.057,2904,316,3843,3819,3868,0,0,0,0,0,0,26.81,26.43,26.82
$GC,4700,-0.71,-439.8,2904,316,3818,3868,814.8,-17.5,154,4704,0.00,1.77,0.00,0.000,1030,0.000,0.042,2898,1595,3843,3818,3868,0,0,0,0,0,0,26.65,26.62,26.65
$GC,5028,-0.71,-439.8,2897,1636,3816,3866,879.9,-17.7,162,5032,0.00,1.92,0.00,0.000,260,0.000,0.050,2889,2986,3842,3817,3867,0,0,0,0,0,0,26.80,26.48,26.82
$GC,5076,-0.71,-439.8,2888,2986,3816,3866,888.1,-17.7,163,5083,0.12,1.80,0.00,0.000,3078,0.156,0.047,2935,1691,3841,3816,3866,0,0,0,0,0,0,26.19,26.53,26.25
$GC,5392,-0.80,-439.8,2934,1691,3815,3865,934.4,-14.7,170,5397,0.08,1.98,0.00,0.000,4612,0.124,0.055,2839,321,3840,3815,3866,0,0,0,0,0,0,26.59,26.41,26.60
$GC,5459,-0.86,-439.8,2839,321,3815,3865,944.2,-15.9,171,5464,0.15,1.77,0.00,0.000,3078,0.166,0.042,2880,1638,3839,3814,3865,0,0,0,0,0,0,26.12,26.60,26.27
$GC,5872,-0.86,-439.8,2879,1638,3812,3862,1028.9,-19.0,179,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1638,3837,3812,3862,0,0,0,0,0,0,26.79,26.82,26.82
$GC,6232,-0.86,-439.8,2879,1638,3810,3860,1095.6,-18.5,182,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1638,3835,3810,3861,0,0,0,0,0,0,26.79,26.82,26.81
$GC,6592,-0.86,-439.8,2879,1638,3807,3858,1159.8,-18.0,185,6598,0.00,1.92,0.00,0.000,260,0.000,0.050,2872,2983,3832,3807,3858,0,0,0,0,0,0,26.79,26.45,26.81
$GC,6633,-0.86,-439.8,2871,2983,3808,3857,1159.8,-18.0,185,6638,0.00,1.85,0.00,0.000,1030,0.000,0.045,2871,1705,3832,3807,3857,0,0,0,0,0,0,26.53,26.51,26.54
$GC,6952,-0.86,-439.8,2871,1705,3804,3856,1225.4,-18.1,188,6957,0.00,2.03,0.00,0.000,516,0.000,0.057,2871,316,3830,3804,3856,0,0,0,0,0,0,26.79,26.39,26.80
$GC,7022,-0.86,-439.8,2871,316,3803,3856,1225.4,-18.1,188,7025,0.00,1.83,0.00,0.000,1030,0.000,0.042,2864,1618,3829,3803,3856,0,0,0,0,0,0,26.58,26.58,26.59
$GC,7435,-0.86,-439.8,2863,1618,3801,3854,1313.8,-18.3,192,7441,0.00,1.98,0.00,0.000,260,0.000,0.050,2855,2998,3827,3801,3853,0,0,0,0,0,0,26.77,26.44,26.79
$GC,7507,-0.86,-439.8,2855,2997,3801,3852,1313.8,-18.3,192,7511,0.00,1.90,0.00,0.000,1030,0.000,0.045,2856,1696,3826,3801,3852,0,0,0,0,0,0,26.51,26.49,26.52
$GC,7915,-0.86,-439.8,2855,1695,3797,3850,1399.1,-17.8,196,7921,0.00,2.00,0.00,0.000,516,0.000,0.057,2856,316,3823,3797,3850,0,0,0,0,0,0,26.77,26.35,26.79
$GC,7996,-0.86,-439.8,2855,316,3796,3849,1399.1,-17.8,196,8001,0.00,1.83,0.00,0.000,1030,0.000,0.042,2849,1611,3822,3796,3849,0,0,0,0,0,0,26.57,26.55,26.58
$GC,8396,-0.86,-439.8,2849,1611,3793,3846,1487.0,-18.3,200,8401,0.00,1.98,0.00,0.000,260,0.000,0.050,2839,2972,3820,3793,3847,0,0,0,0,0,0,26.77,26.41,26.79
$GC,8452,-0.86,-439.8,2839,2973,3793,3847,1487.0,-18.3,200,8456,0.12,1.88,0.00,0.000,3078,0.151,0.045,2881,1690,3819,3793,3846,0,0,0,0,0,0,26.15,26.47,26.26
$GC,8876,-0.95,-439.8,2881,1690,3790,3845,1557.8,-14.7,204,8881,0.05,2.03,0.00,0.000,4612,0.154,0.055,2822,317,3817,3790,3845,0,0,0,0,0,0,26.59,26.34,26.60
$GC,8946,-1.03,-439.8,2821,318,3790,3845,1557.8,-14.7,204,8950,0.00,1.83,0.00,0.000,1030,0.000,0.042,2815,1612,3817,3790,3845,0,0,0,0,0,0,26.58,26.54,26.59
$GC,9360,-1.03,-439.8,2814,1613,3788,3843,1654.8,-20.0,208,9366,0.00,1.98,0.00,0.000,260,0.000,0.050,2805,2985,3815,3788,3843,0,0,0,0,0,0,26.77,26.40,26.79
$GC,9406,-1.03,-439.8,2805,2985,3788,3842,1654.8,-20.0,208,9410,0.00,1.90,0.00,0.000,1030,0.000,0.045,2805,1667,3815,3788,3842,0,0,0,0,0,0,26.50,26.45,26.51
$GC,9720,-1.03,-439.8,2805,1667,3787,3840,1726.3,-19.9,211,9726,0.00,2.00,0.00,0.000,516,0.000,0.057,2805,299,3814,3787,3841,0,0,0,0,0,0,26.77,26.33,26.78
$GC,9781,-1.03,-439.8,2804,299,3786,3841,1726.3,-19.9,211,9785,0.00,1.88,0.00,0.000,1030,0.000,0.042,2797,1624,3813,3786,3841,0,0,0,0,0,0,26.54,26.53,26.55
$GC,10200,-1.03,-439.8,2796,1624,3784,3838,1824.9,-20.5,215,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1623,3811,3785,3838,0,0,0,0,0,0,26.76,26.79,26.78
$GC,10560,-1.03,-439.8,2797,1624,3782,3838,1895.0,-19.7,218,10561,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1624,3809,3782,3837,0,0,0,0,0,0,26.77,26.79,26.78
$GC,10920,-1.03,-439.8,2796,1624,3781,3835,1962.4,-18.9,221,10921,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1624,3808,3781,3835,0,0,0,0,0,0,26.76,26.78,26.78
$GC,11280,-1.03,-439.8,2796,1624,3780,3834,2027.5,-18.1,224,11286,0.00,2.00,0.00,0.000,516,0.000,0.057,2797,302,3806,3779,3834,0,0,0,0,0,0,26.76,26.29,26.78
$GC,11316,-1.03,-439.8,2797,301,3779,3834,2027.5,-18.1,224,11320,0.00,1.88,0.00,0.000,1030,0.000,0.042,2789,1621,3806,3779,3834,0,0,0,0,0,0,26.55,26.51,26.56
$GC,11641,-1.03,-439.8,2788,1621,3778,3834,2093.8,-18.4,227,11647,0.00,1.98,0.00,0.000,260,0.000,0.050,2781,2986,3806,3778,3834,0,0,0,0,0,0,26.76,26.36,26.77
$GC,11677,-1.03,-439.8,2779,2985,3778,3834,2093.8,-18.4,227,11682,0.12,1.90,0.00,0.000,3078,0.137,0.045,2823,1691,3806,3778,3834,0,0,0,0,0,0,26.03,26.42,26.09
$GC,12003,-1.10,-439.8,2823,1691,3777,3833,2148.6,-15.8,230,12008,0.00,2.03,0.00,0.000,516,0.000,0.057,2823,320,3805,3777,3833,0,0,0,0,0,0,26.76,26.28,26.77
$GC,12073,-1.17,-439.8,2823,320,3777,3833,2148.6,-15.8,230,12078,0.05,1.85,0.00,0.000,5126,0.094,0.042,2741,1641,3804,3776,3833,0,0,0,0,0,0,26.34,26.49,26.39
$GC,12482,-1.17,-439.8,2741,1640,3776,3831,2244.0,-20.1,234,12484,0.10,0.00,0.00,0.000,2054,0.176,0.000,2772,1640,3804,3776,3832,0,0,0,0,0,0,26.26,26.35,26.32
$GC,12842,-1.17,-439.8,2772,1640,3775,3835,2307.3,-18.2,237,12843,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1641,3806,3775,3837,0,0,0,0,0,0,26.75,26.78,26.77
$GC,13203,-1.17,-439.8,2772,1640,3774,3830,2367.2,-16.7,240,13208,0.00,2.00,0.00,0.000,516,0.000,0.057,2772,319,3802,3774,3830,0,0,0,0,0,0,26.75,26.26,26.77
$GC,13248,-1.17,-439.8,2772,319,3773,3830,2367.2,-16.7,240,13253,0.00,1.83,0.00,0.000,1030,0.000,0.042,2768,1610,3801,3773,3830,0,0,0,0,0,0,26.51,26.50,26.51
$GC,13562,-1.17,-439.8,2768,1610,3772,3829,2427.7,-16.7,243,13566,0.00,2.00,0.00,0.000,260,0.000,0.050,2759,2978,3801,3772,3830,0,0,0,0,0,0,26.75,26.32,26.77
$GC,13606,-1.17,-439.8,2759,2978,3773,3829,2427.7,-16.7,243,13610,0.00,1.88,0.00,0.000,1030,0.000,0.045,2759,1676,3801,3773,3829,0,0,0,0,0,0,26.44,26.39,26.46
$GC,13925,-1.17,-439.8,2759,1676,3771,3828,2487.4,-16.5,246,13930,0.00,2.00,0.00,0.000,516,0.000,0.057,2759,316,3799,3771,3828,0,0,0,0,0,0,26.75,26.24,26.77
$GC,13986,-1.17,-439.8,2759,316,3771,3828,2487.4,-16.5,246,13990,0.00,1.85,0.00,0.000,1030,0.000,0.040,2753,1612,3799,3771,3828,0,0,0,0,0,0,26.50,26.48,26.51
$GC,14405,-1.17,-439.8,2753,1611,3770,3826,2567.0,-16.5,250,14411,0.00,2.00,0.00,0.000,260,0.000,0.050,2745,2984,3798,3770,3826,0,0,0,0,0,0,26.75,26.30,26.77
$GC,14456,-1.17,-439.8,2744,2984,3769,3826,2567.0,-16.5,250,14461,0.00,1.90,0.00,0.000,1030,0.000,0.045,2745,1699,3798,3770,3826,0,0,0,0,0,0,26.41,26.39,26.42
$GC,14765,-1.17,-439.8,2744,1699,3770,3826,2625.3,-16.2,253,14771,0.00,2.05,0.00,0.000,516,0.000,0.057,2745,308,3797,3769,3826,0,0,0,0,0,0,26.74,26.22,26.77
$GC,14826,-1.17,-439.8,2744,308,3769,3826,2625.3,-16.2,253,14831,0.00,1.85,0.00,0.000,1030,0.000,0.042,2743,1613,3797,3769,3826,0,0,0,0,0,0,26.48,26.46,26.48
$GC,15245,-1.17,-439.8,2743,1614,3768,3825,2705.7,-16.7,257,15250,0.00,1.98,0.00,0.000,260,0.000,0.050,2739,2973,3799,3774,3825,0,0,0,0,0,0,26.74,26.28,26.77
$GC,15306,-1.17,-439.8,2739,2973,3769,3825,2705.7,-16.7,257,15311,0.10,1.88,0.00,0.000,3078,0.139,0.045,2773,1694,3796,3769,3824,0,0,0,0,0,0,26.03,26.37,26.08
$GC,15727,-1.26,-439.8,2773,1694,3768,3824,2769.9,-13.3,261,15732,0.00,2.05,0.00,0.000,516,0.000,0.057,2773,318,3796,3768,3824,0,0,0,0,0,0,26.74,26.20,26.77
$GC,15808,-1.36,-439.8,2773,317,3767,3824,2769.9,-13.3,261,15814,0.10,1.80,0.00,0.000,5126,0.099,0.042,2693,1634,3795,3767,3824,0,0,0,0,0,0,26.34,26.46,26.38
$GC,16207,-1.36,-439.8,2692,1634,3767,3823,2854.5,-17.8,265,16208,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1633,3795,3767,3824,0,0,0,0,0,0,26.74,26.77,26.76
$GC,16569,-1.36,-439.8,2692,1633,3767,3823,2921.4,-18.6,268,16570,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1634,3795,3767,3823,0,0,0,0,0,0,26.74,26.77,26.77
$GC,16927,-1.36,-439.8,2692,1634,3766,3823,2986.5,-18.2,271,16928,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1634,3794,3766,3823,0,0,0,0,0,0,26.74,26.77,26.76
$GC,17288,-1.36,-439.8,2691,1634,3766,3823,3049.1,-17.5,274,17289,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1633,3794,3766,3823,0,0,0,0,0,0,26.74,26.77,26.76
$GC,17647,-1.36,-439.8,2692,1634,3765,3822,3111.2,-17.2,277,17652,0.00,2.00,0.00,0.000,516,0.000,0.057,2692,320,3794,3766,3822,0,0,0,0,0,0,26.74,26.17,26.76
$GC,17692,-1.36,-439.8,2692,319,3765,3823,3111.2,-17.2,277,17696,0.00,1.80,0.00,0.000,1030,0.000,0.042,2685,1604,3793,3765,3822,0,0,0,0,0,0,26.48,26.45,26.49
$GC,18010,-1.36,-439.8,2685,1616,3765,3822,3173.5,-17.2,280,18012,0.10,0.00,0.00,0.000,2054,0.174,0.000,2720,1616,3793,3765,3822,0,0,0,0,0,0,26.23,26.31,26.28
$GC,18371,-1.42,-439.8,2717,1616,3765,3822,3223.0,-14.3,283,18373,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1616,3793,3765,3822,0,0,0,0,0,0,26.74,26.77,26.76
$GC,18732,-1.51,-439.8,2717,1616,3765,3821,3271.3,-13.5,286,18733,0.10,0.00,0.00,0.000,4102,0.102,0.000,2634,1616,3793,3765,3821,0,0,0,0,0,0,26.52,26.55,26.53
$GC,19090,-1.51,-439.8,2634,1616,3764,3821,3340.0,-17.8,289,19092,0.10,0.00,0.00,0.000,2054,0.171,0.000,2666,1616,3792,3764,3821,0,0,0,0,0,0,26.24,26.31,26.27
$GC,19450,-1.51,-439.8,2666,1617,3764,3821,3400.5,-17.4,292,19452,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1617,3792,3764,3821,0,0,0,0,0,0,26.74,26.76,26.75
$GC,19811,-1.51,-439.8,2666,1619,3764,3821,3458.8,-16.3,295,19816,0.00,1.95,0.00,0.000,516,0.000,0.057,2666,321,3792,3764,3821,0,0,0,0,0,0,26.74,26.14,26.75
$GC,19851,-1.51,-439.8,2666,321,3764,3821,3458.8,-16.3,295,19856,0.00,1.85,0.00,0.000,1030,0.000,0.042,2662,1613,3792,3764,3821,0,0,0,0,0,0,26.44,26.42,26.45
$GC,20172,-1.51,-439.8,2661,1613,3764,3820,3517.4,-16.2,298,20178,0.00,2.00,0.00,0.000,260,0.000,0.050,2652,2982,3792,3764,3820,0,0,0,0,0,0,26.73,26.22,26.76
$GC,20218,-1.51,-439.8,2652,2982,3764,3820,3517.4,-16.2,298,20222,0.00,1.90,0.00,0.000,1030,0.000,0.045,2652,1678,3792,3764,3820,0,0,0,0,0,0,26.36,26.31,26.38
$GC,20532,-1.51,-439.8,2652,1678,3764,3820,3576.9,-16.3,301,20538,0.00,2.03,0.00,0.000,516,0.000,0.057,2652,315,3792,3764,3820,0,0,0,0,0,0,26.74,26.11,26.75
$GC,20588,-1.51,-439.8,2652,314,3763,3820,3576.9,-16.3,301,20592,0.00,1.85,0.00,0.000,1030,0.000,0.042,2646,1607,3791,3763,3820,0,0,0,0,0,0,26.44,26.42,26.44
$GC,21012,-1.51,-439.8,2645,1608,3763,3820,3656.4,-16.5,305,21013,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1608,3790,3763,3818,0,0,0,0,0,0,26.73,26.76,26.75
$GC,21372,-1.51,-439.8,2645,1608,3763,3820,3713.7,-16.0,308,21378,0.00,2.00,0.00,0.000,260,0.000,0.050,2637,2976,3791,3763,3819,0,0,0,0,0,0,26.73,26.20,26.75
$GC,21413,-1.51,-439.8,2637,2976,3763,3818,3713.7,-16.0,308,21417,0.00,1.90,0.00,0.000,1030,0.000,0.045,2637,1701,3791,3763,3819,0,0,0,0,0,0,26.32,26.29,26.33
$GC,21734,-1.51,-439.8,2636,1701,3767,3819,3770.4,-15.8,311,21739,0.00,2.05,0.00,0.000,516,0.000,0.057,2637,312,3791,3763,3819,0,0,0,0,0,0,26.73,26.09,26.75
$GC,21809,-1.51,-439.8,2636,312,3763,3819,3770.4,-15.8,311,21814,0.10,1.83,0.00,0.000,3078,0.169,0.042,2667,1618,3791,3763,3819,0,0,0,0,0,0,26.00,26.39,26.07
$GC,22214,-1.59,-439.8,2667,1618,3762,3819,3837.4,-13.8,315,22218,0.00,2.00,0.00,0.000,260,0.000,0.050,2659,2978,3791,3763,3819,0,0,0,0,0,0,26.73,26.20,26.74
$GC,22249,-1.68,-439.8,2658,2978,3763,3819,3837.4,-13.8,315,22253,0.08,1.88,0.00,0.000,5126,0.119,0.045,2586,1682,3791,3763,3819,0,0,0,0,0,0,26.19,26.29,26.25
$GC,22573,-1.68,-439.8,2586,1682,3762,3819,3899.2,-16.4,318,22579,0.00,2.03,0.00,0.000,516,0.000,0.057,2586,312,3790,3762,3819,0,0,0,0,0,0,26.72,26.07,26.74
$GC,22658,-1.68,-439.8,2585,311,3762,3819,3899.2,-16.4,318,22663,0.10,1.88,0.00,0.000,3078,0.156,0.042,2612,1617,3790,3762,3819,0,0,0,0,0,0,25.93,26.40,25.96
$GC,23053,-1.68,-439.8,2611,1617,3762,3818,3979.7,-16.6,322,23054,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1617,3790,3762,3818,0,0,0,0,0,0,26.73,26.75,26.74
$GC,23413,-1.68,-439.8,2611,1617,3762,3818,4034.8,-15.4,325,23414,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1618,3790,3762,3818,0,0,0,0,0,0,26.67,26.70,26.70
$GC,23773,-1.68,-439.8,2611,1618,3762,3818,4088.1,-14.9,328,23774,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1618,3789,3761,3818,0,0,0,0,0,0,26.67,26.70,26.70
$GC,24134,-1.73,-439.8,2611,1618,3761,3818,4139.3,-14.3,331,24141,0.00,1.98,0.00,0.000,516,0.000,0.057,2610,314,3789,3761,3817,0,0,0,0,0,0,26.70,26.06,26.71
$GC,24182,-1.79,-439.8,2611,314,3760,3818,4139.3,-14.3,331,24186,0.00,1.80,0.00,0.000,1030,0.000,0.042,2604,1612,3789,3761,3818,0,0,0,0,0,0,26.43,26.39,26.44
$GC,24497,-1.84,-439.8,2604,1612,3761,3816,4192.8,-14.7,334,24504,0.08,2.00,0.00,0.000,4356,0.122,0.047,2522,2974,3786,3758,3815,0,0,0,0,0,0,26.48,26.16,26.48
$GC,24535,-1.90,-439.8,2521,2973,3761,3816,4192.8,-14.7,334,24539,0.00,1.85,0.00,0.000,1030,0.000,0.045,2522,1700,3788,3761,3816,0,0,0,0,0,0,26.32,26.26,26.33
$GC,24860,-1.90,-439.8,2521,1700,3761,3816,4263.2,-18.4,337,24864,0.00,2.08,0.00,0.000,516,0.000,0.057,2522,313,3788,3761,3816,0,0,0,0,0,0,26.67,26.03,26.70
$GC,24934,-1.90,-439.8,2521,313,3760,3816,4263.2,-18.4,337,24938,0.00,1.88,0.00,0.000,1030,0.000,0.042,2514,1618,3788,3760,3816,0,0,0,0,0,0,26.44,26.39,26.44
$GC,25344,-1.90,-439.8,2514,1618,3760,3815,4359.8,-19.9,341,25345,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1618,3788,3760,3816,0,0,0,0,0,0,26.67,26.70,26.69
$GC,25704,-1.90,-439.8,2513,1618,3760,3816,4427.8,-19.1,344,25711,0.00,2.00,0.00,0.000,260,0.000,0.050,2506,2976,3787,3759,3816,0,0,0,0,0,0,26.67,26.15,26.70
$GC,25753,-1.90,-439.8,2506,2976,3760,3815,4427.8,-19.1,344,25757,0.12,1.90,0.00,0.000,3078,0.166,0.047,2545,1701,3787,3760,3815,0,0,0,0,0,0,25.81,26.25,25.89
$GC,26073,-1.90,-439.8,2545,1700,3760,3815,4488.0,-16.8,347,26078,0.00,2.08,0.00,0.000,516,0.000,0.057,2545,316,3788,3760,3816,0,0,0,0,0,0,26.67,26.02,26.70
$GC,26143,-1.90,-439.8,2545,316,3760,3815,4488.0,-16.8,347,26147,0.00,1.85,0.00,0.000,1030,0.000,0.042,2540,1609,3787,3760,3815,0,0,0,0,0,0,26.42,26.38,26.44
$GC,26557,-1.90,-439.8,2539,1609,3760,3815,4564.6,-15.8,351,26564,0.00,2.03,0.00,0.000,260,0.000,0.050,2533,2977,3787,3760,3815,0,0,0,0,0,0,26.68,26.13,26.68
$GC,26619,-1.90,-439.8,2533,2977,3760,3816,4564.6,-15.8,351,26623,0.00,1.90,0.00,0.000,1030,0.000,0.045,2533,1704,3787,3760,3815,0,0,0,0,0,0,26.27,26.25,26.29
$GC,27047,-1.90,-439.8,2533,1704,3760,3815,4637.9,-15.0,355,27051,0.00,2.12,0.00,0.000,516,0.000,0.057,2533,303,3787,3760,3815,0,0,0,0,0,0,26.69,26.00,26.71
$GC,27131,-1.90,-439.8,2533,302,3760,3815,4637.9,-15.0,355,27135,0.00,1.88,0.00,0.000,1030,0.000,0.042,2527,1633,3787,3760,3815,0,0,0,0,0,0,26.39,26.36,26.41
$GC,27532,-1.90,-439.8,2526,1632,3759,3815,4714.3,-15.7,359,27538,0.00,1.98,0.00,0.000,260,0.000,0.050,2518,2974,3787,3760,3815,0,0,0,0,0,0,26.68,26.13,26.70
$GC,27587,-1.90,-439.8,2517,2975,3760,3815,4714.3,-15.7,359,27592,0.00,1.90,0.00,0.000,1030,0.000,0.045,2518,1701,3787,3760,3815,0,0,0,0,0,0,26.26,26.24,26.27
$GC,27901,-1.90,-439.8,2516,1701,3760,3815,4770.5,-15.4,362,27907,0.00,2.08,0.00,0.000,516,0.000,0.057,2518,313,3787,3759,3815,0,0,0,0,0,0,26.69,25.98,26.70
$GC,27972,-1.90,-439.8,2518,309,3759,3815,4770.5,-15.4,362,27976,0.10,1.83,0.00,0.000,3078,0.169,0.042,2541,1620,3787,3759,3815,0,0,0,0,0,0,25.95,26.36,26.01
$GC,28381,-1.90,-439.8,2540,1620,3760,3815,4839.3,-14.1,366,28387,0.00,1.98,0.00,0.000,260,0.000,0.050,2538,2968,3787,3759,3815,0,0,0,0,0,0,26.74,26.10,26.74
$GC,28441,-1.90,-439.8,2538,2969,3760,3815,4839.3,-14.1,366,28446,0.00,1.90,0.00,0.000,1030,0.000,0.045,2538,1699,3787,3760,3815,0,0,0,0,0,0,26.26,26.23,26.27
$STATE,28739,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,28740,begin apogee
$GC,28744,-0.24,0.0,2537,1502,3759,3815,4887.5,-13.4,369,29197,1.60,0.00,448.90,4.204,10246,0.114,0.000,3076,1501,2340,2233,2448,0,0,0,0,0,0,25.24,22.35,19.80
$STATE,29198,end apogee,CONTROL_FINISHED_OK
$STATE,29198,begin climb
$GC,29199,0.95,439.8,3076,1501,2231,2448,4908.2,0.0,372,29779,1.08,2.20,565.22,4.263,10756,0.067,0.077,3484,220,824,800,848,0,0,0,0,0,0,23.09,21.97,19.97
$GC,30013,0.45,439.8,3484,219,782,846,4619.9,46.9,379,30018,0.70,1.70,0.00,0.000,5126,0.221,0.040,3295,1432,814,782,846,0,0,0,0,0,0,25.23,25.60,25.47
$GC,30417,0.12,439.8,3294,1432,780,844,4437.1,37.8,383,30419,0.38,0.00,0.00,0.000,4102,0.194,0.000,3184,1432,812,782,843,0,0,0,0,0,0,25.89,26.17,26.11
$GC,30778,-0.08,439.8,3184,1432,782,843,4351.6,26.0,386,30784,0.10,1.98,0.00,0.000,4356,0.199,0.047,3147,2786,812,782,843,0,0,0,0,0,0,26.11,26.26,26.20
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$GC,40655,0.30,2426.5,3249,188,316,321,2804.2,15.3,468,40659,0.00,1.88,0.00,0.000,1030,0.000,0.042,3249,1533,318,316,321,0,0,0,0,0,0,26.49,26.48,26.51
$GC,40969,0.33,2526.8,3249,1535,316,321,2754.7,13.6,471,40970,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1537,318,315,321,0,0,0,0,0,0,26.72,26.74,26.74
$GC,41330,0.36,2627.2,3249,1536,316,320,2706.3,13.6,474,41335,0.00,1.98,0.00,0.000,516,0.000,0.060,3259,202,318,315,321,0,0,0,0,0,0,26.72,26.27,26.74
$GC,41380,0.39,2727.6,3259,202,315,321,2706.3,13.6,474,41385,0.00,1.80,0.00,0.000,1030,0.000,0.042,3259,1507,318,315,321,0,0,0,0,0,0,26.49,26.48,26.51
$GC,41691,0.42,2820.0,3259,1510,315,319,2656.3,13.7,477,41692,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1510,318,316,321,0,0,0,0,0,0,26.72,26.74,26.74
$GC,42049,0.45,2912.7,3259,1510,315,321,2607.2,13.7,480,42055,0.05,1.95,0.00,0.000,2564,0.156,0.057,3324,193,318,316,321,0,0,0,0,0,0,26.53,26.26,26.55
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$GC,42409,0.47,3005.4,3324,1492,316,320,2537.1,18.3,483,42414,0.00,1.98,0.00,0.000,260,0.000,0.047,3328,2831,317,315,320,0,0,0,0,0,0,26.72,26.34,26.74
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$GC,43493,0.44,3144.6,3277,1491,315,321,2370.4,12.6,492,43497,0.00,1.90,0.00,0.000,516,0.000,0.060,3285,202,318,315,321,0,0,0,0,0,0,26.72,26.25,26.74
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$GC,44217,0.56,3519.0,3285,1508,316,320,2274.7,13.3,498,44222,0.08,1.92,0.00,0.000,2564,0.122,0.057,3372,203,318,316,320,0,0,0,0,0,0,26.51,26.24,26.51
$GC,44253,0.59,3631.3,3372,204,316,321,2274.7,13.3,498,44258,0.12,1.75,0.00,0.000,5126,0.164,0.042,3333,1500,318,315,321,0,0,0,0,0,0,26.02,26.46,26.15
$GC,44573,0.59,3631.3,3333,1501,315,321,2209.2,17.5,501,44578,0.00,1.95,0.00,0.000,260,0.000,0.047,3333,2849,319,316,323,0,0,0,0,0,0,26.72,26.33,26.74
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$GC,45053,0.59,3631.3,3339,1487,322,321,2121.7,18.3,505,45058,0.00,1.90,0.00,0.000,516,0.000,0.057,3350,199,318,315,321,0,0,0,0,0,0,26.72,26.23,26.74
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$GC,45772,0.59,3631.3,3350,1509,316,321,1994.1,17.6,511,45773,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1509,318,315,321,0,0,0,0,0,0,26.72,26.74,26.74
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$GC,46492,0.59,3631.3,3349,1509,315,321,1876.6,16.1,517,46496,0.00,1.95,0.00,0.000,516,0.000,0.057,3360,201,318,315,321,0,0,0,0,0,0,26.72,26.22,26.74
$GC,46537,0.59,3631.3,3359,201,315,321,1876.6,16.1,517,46541,0.00,1.85,0.00,0.000,1030,0.000,0.042,3360,1517,318,315,321,0,0,0,0,0,0,26.49,26.46,26.51
$GC,46855,0.59,3631.3,3359,1549,315,320,1818.7,15.9,520,46860,0.00,2.00,0.00,0.000,516,0.000,0.057,3370,200,318,315,321,0,0,0,0,0,0,26.72,26.22,26.74
$GC,46887,0.59,3631.3,3369,199,315,321,1818.7,15.9,520,46891,0.00,1.83,0.00,0.000,1030,0.000,0.042,3370,1529,318,316,321,0,0,0,0,0,0,26.49,26.46,26.51
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$GC,47570,0.59,3631.3,3370,1533,316,321,1704.7,15.7,526,47576,0.00,1.98,0.00,0.000,516,0.000,0.057,3380,203,318,315,321,0,0,0,0,0,0,26.72,26.21,26.74
$GC,47611,0.59,3631.3,3379,203,315,320,1704.7,15.7,526,47616,0.12,1.83,0.00,0.000,5126,0.134,0.042,3337,1512,318,315,321,0,0,0,0,0,0,26.03,26.46,26.09
$GC,47930,0.63,3758.8,3337,1514,316,319,1660.5,12.9,529,47932,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1514,318,315,321,0,0,0,0,0,0,26.72,26.74,26.74
$GC,48291,0.75,3924.4,3337,1514,315,321,1617.6,12.0,532,48293,0.10,0.00,0.00,0.000,2054,0.099,0.000,3414,1515,317,315,320,0,0,0,0,0,0,26.51,26.55,26.53
$GC,48650,0.75,3924.4,3414,1515,315,321,1551.6,17.0,535,48655,0.00,1.95,0.00,0.000,516,0.000,0.057,3424,196,317,314,321,0,0,0,0,0,0,26.72,26.21,26.74
$GC,48691,0.75,3924.4,3424,196,316,321,1551.6,17.0,535,48696,0.10,1.83,0.00,0.000,5126,0.142,0.042,3390,1511,318,315,321,0,0,0,0,0,0,26.06,26.45,26.11
$GC,49010,0.75,3924.4,3389,1513,316,320,1494.6,16.4,538,49011,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1513,318,315,321,0,0,0,0,0,0,26.72,26.74,26.74
$GC,49370,0.75,3924.4,3389,1512,315,321,1442.3,14.7,541,49371,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1513,318,316,321,0,0,0,0,0,0,26.72,26.74,26.74
$GC,49730,0.77,4008.0,3389,1513,315,321,1392.5,14.0,544,49732,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1513,318,316,321,0,0,0,0,0,0,26.72,26.75,26.74
$GC,50091,0.81,4124.1,3389,1513,316,320,1345.6,13.2,547,50096,0.00,1.95,0.00,0.000,516,0.000,0.057,3397,195,317,315,320,0,0,0,0,0,0,26.72,26.19,26.74
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$STATE,58839,end climb,SURFACE_DEPTH_REACHED
$STATE,58839,begin surface coast
$FINISH,1.5,1.005500
$STATE,58851,end surface coast,CONTROL_FINISHED_OK
$STATE,58851,begin surface
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$TT8_MAMPS,0.023219,0.023219
$HUMID,38.69
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$TCM_TEMP,22.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,4770.5,141.5
$24V_AH,19.80,45.682
$10V_AH,9.27,26.219
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329516
$DATA_FILE_SIZE,50193,766
$CAP_FILE_SIZE,388493,0
$CFSIZE,1024409600,1002962944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,15807.93,0x23577e,0,24
$CURRENT,0.069,103.03,1
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