version: 66.12
glider: 178
mission: 20
dive: 47
start: 3 9 115 16 3 16
data:
$ID,178
$MISSION,20
$DIVE,47
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51652
$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,500
$N_FILEKB,8
$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,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2941
$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,148
$AH0_10V,95
$MINV_24V,22
$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,-46.597843
$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,49
$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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,090315,155636,1315.0833,14512.9268,31,0.8,31,1.6,0.2,253.5,9,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-74.5
$GPS2,090315,160305,1315.0542,14512.8740,11,1.6,15,1.6,0.3,151.7,7,8.2
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S4
$TGT_LATLONG,1210.440,14532.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,152.9,124747,-17.8,-10.000,-20.71,2479
$D_GRID,1020
$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,93,end surface,CONTROL_FINISHED_OK
$STATE,93,begin dive
$GC,95,-0.71,-175.2,125,2453,905,893,0.0,0.0,0,194,0.00,0.00,-93.43,0.000,16386,0.000,0.000,123,2453,3275,3322,3228,0,0,0,0,0,0,26.92,28.83,26.99
$GC,196,-0.71,-175.2,122,2454,3323,3230,3.7,-11.8,16,221,10.05,2.15,-6.50,0.000,18948,0.249,0.047,2548,1049,3661,3729,3593,0,0,0,0,0,0,26.48,25.73,26.73
$GC,325,-0.71,-175.2,2548,1050,3735,3593,52.3,-29.4,40,337,0.00,2.15,0.00,0.000,1030,0.000,0.041,2541,2453,3663,3733,3593,0,0,0,0,0,0,26.88,26.82,26.89
$GC,632,-0.71,-175.2,2541,2454,3733,3593,143.2,-24.7,71,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2453,3663,3734,3593,0,0,0,0,0,0,27.17,27.24,27.23
$GC,942,-0.71,-175.2,2540,2454,3742,3594,198.6,-18.1,102,950,0.00,2.12,0.00,0.000,516,0.000,0.032,2541,1045,3667,3740,3594,0,0,0,0,0,0,27.27,27.07,27.33
$GC,1044,-0.71,-175.2,2542,1043,3740,3596,214.6,-17.2,106,1052,0.00,2.15,0.00,0.000,1030,0.000,0.035,2533,2457,3668,3741,3595,0,0,0,0,0,0,27.13,27.08,27.15
$GC,1367,-0.71,-175.2,2533,2458,3743,3596,260.2,-13.5,117,1374,0.00,2.12,0.00,0.000,516,0.000,0.033,2532,1037,3669,3743,3595,0,0,0,0,0,0,27.34,27.15,27.40
$GC,1419,-0.71,-175.2,2531,1038,3745,3597,263.9,-13.2,118,1429,0.00,2.12,0.00,0.000,1030,0.000,0.036,2523,2451,3669,3743,3596,0,0,0,0,0,0,27.20,27.14,27.22
$GC,1724,-0.71,-175.2,2523,2452,3743,3596,309.3,-12.2,129,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2451,3670,3744,3596,0,0,0,0,0,0,27.38,27.45,27.44
$GC,2024,-0.71,-175.2,2523,2451,3742,3596,343.5,-10.6,139,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2451,3669,3743,3596,0,0,0,0,0,0,27.41,27.48,27.47
$GC,2324,-0.71,-175.2,2522,2452,3740,3597,376.9,-11.3,149,2333,0.00,2.10,0.00,0.000,516,0.000,0.035,2523,1044,3667,3739,3596,0,0,0,0,0,0,27.44,27.24,27.49
$GC,2362,-0.71,-175.2,2524,1044,3738,3596,380.6,-11.1,150,2370,0.15,2.12,0.00,0.000,3078,0.165,0.038,2553,2448,3667,3738,3596,0,0,0,0,0,0,27.10,27.22,27.24
$GC,2685,-0.71,-175.2,2553,2449,3732,3596,413.8,-10.3,161,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2448,3664,3733,3596,0,0,0,0,0,0,27.44,27.52,27.51
$GC,2985,-0.71,-175.2,2552,2449,3730,3594,434.7,-6.2,171,2996,0.00,2.12,0.00,0.000,516,0.000,0.037,2555,1046,3660,3729,3592,0,0,0,0,0,0,27.46,27.26,27.52
$GC,3046,-0.71,-175.2,2554,1047,3731,3593,439.2,-6.7,173,3053,0.00,2.12,0.00,0.000,1030,0.000,0.041,2548,2450,3660,3728,3592,0,0,0,0,0,0,27.32,27.24,27.34
$GC,3373,-0.71,-175.2,2548,2451,3726,3590,468.2,-9.3,184,3383,0.00,2.12,0.00,0.000,516,0.000,0.038,2549,1043,3656,3725,3588,0,0,0,0,0,0,27.47,27.27,27.53
$GC,3509,-0.71,-175.2,2547,1044,3724,3589,479.7,-9.5,188,3518,0.00,2.17,0.00,0.000,1030,0.000,0.040,2540,2458,3655,3722,3588,0,0,0,0,0,0,27.33,27.27,27.35
$GC,3823,-0.71,-175.2,2541,2458,3718,3586,512.5,-10.0,199,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2458,3651,3718,3585,0,0,0,0,0,0,27.48,27.55,27.54
$GC,4123,-0.71,-175.2,2541,2458,3715,3582,538.9,-8.8,209,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2458,3649,3716,3582,0,0,0,0,0,0,27.48,27.56,27.55
$GC,4423,-0.71,-175.2,2541,2458,3712,3580,565.2,-8.7,219,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2458,3645,3712,3578,0,0,0,0,0,0,27.49,27.57,27.55
$GC,4723,-0.71,-175.2,2541,2458,3709,3578,584.8,-6.2,229,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2457,3643,3709,3578,0,0,0,0,0,0,27.49,27.57,27.56
$GC,5023,-0.71,-175.2,2539,2458,3708,3577,611.0,-9.5,239,5031,0.00,2.15,0.00,0.000,516,0.000,0.038,2541,1046,3641,3706,3576,0,0,0,0,0,0,27.50,27.30,27.56
$GC,5065,-0.71,-175.2,2539,1046,3708,3577,613.9,-9.6,240,5073,0.00,2.15,0.00,0.000,1030,0.000,0.039,2531,2460,3640,3706,3575,0,0,0,0,0,0,27.36,27.29,27.38
$GC,5378,-0.71,-175.2,2533,2461,3703,3575,648.8,-10.8,251,5386,0.00,2.12,0.00,0.000,516,0.000,0.037,2531,1053,3638,3703,3573,0,0,0,0,0,0,27.50,27.29,27.56
$GC,5415,-0.71,-175.2,2530,1053,3704,3575,651.6,-10.5,252,5424,0.00,2.15,0.00,0.000,1030,0.000,0.040,2522,2458,3638,3703,3574,0,0,0,0,0,0,27.36,27.29,27.38
$GC,5734,-0.71,-175.2,2521,2459,3703,3572,684.6,-9.8,263,5741,0.00,2.05,0.00,0.000,260,0.000,0.056,2513,3778,3636,3700,3572,0,0,0,0,0,0,27.50,27.26,27.56
$GC,5761,-0.71,-175.2,2513,3778,3700,3572,687.6,-10.1,264,5769,0.15,1.98,0.00,0.000,3078,0.169,0.030,2550,2424,3635,3700,3571,0,0,0,0,0,0,27.15,27.36,27.29
$GC,6089,-0.71,-175.2,2550,2425,3701,3570,717.0,-8.8,275,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2424,3634,3699,3569,0,0,0,0,0,0,27.50,27.57,27.56
$GC,6389,-0.71,-175.2,2549,2425,3699,3569,740.9,-7.7,285,6397,0.00,2.03,0.00,0.000,516,0.000,0.035,2551,1061,3632,3697,3568,0,0,0,0,0,0,27.51,27.30,27.57
$GC,6467,-0.71,-175.2,2551,1061,3696,3568,746.0,-7.8,287,6474,0.00,2.12,0.00,0.000,1030,0.000,0.039,2544,2460,3631,3696,3567,0,0,0,0,0,0,27.36,27.29,27.39
$GC,6779,-0.71,-175.2,2544,2460,3693,3566,769.1,-6.5,298,6785,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2460,3629,3693,3566,0,0,0,0,0,0,27.51,27.58,27.57
$GC,7079,-0.71,-175.2,2544,2466,3692,3567,790.0,-7.1,308,7085,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2460,3629,3693,3565,0,0,0,0,0,0,27.51,27.58,27.57
$GC,7379,-0.71,-175.2,2545,2460,3692,3564,811.3,-7.1,318,7387,0.00,2.10,0.00,0.000,516,0.000,0.037,2544,1061,3627,3691,3564,0,0,0,0,0,0,27.51,27.30,27.57
$GC,7467,-0.71,-175.2,2544,1063,3686,3564,817.8,-7.4,321,7475,0.00,2.12,0.00,0.000,1030,0.000,0.040,2536,2460,3626,3691,3562,0,0,0,0,0,0,27.38,27.29,27.39
$GC,7800,-0.71,-175.2,2535,2460,3691,3563,845.0,-8.4,332,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2460,3626,3690,3562,0,0,0,0,0,0,27.50,27.58,27.57
$GC,8100,-0.71,-175.2,2535,2460,3690,3562,872.3,-9.4,342,8108,0.00,2.10,0.00,0.000,516,0.000,0.037,2536,1062,3624,3688,3561,0,0,0,0,0,0,27.51,27.30,27.57
$GC,8147,-0.71,-175.2,2536,1062,3687,3562,875.1,-9.6,343,8155,0.00,2.12,0.00,0.000,1030,0.000,0.040,2533,2456,3625,3688,3562,0,0,0,0,0,0,27.36,27.29,27.38
$GC,8452,-0.71,-175.2,2531,2458,3689,3562,907.0,-9.6,353,8458,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2457,3624,3687,3561,0,0,0,0,0,0,27.51,27.58,27.57
$GC,8752,-0.71,-175.2,2532,2458,3687,3561,933.2,-8.2,363,8758,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2457,3623,3686,3560,0,0,0,0,0,0,27.51,27.58,27.57
$GC,9052,-0.71,-175.2,2533,2458,3685,3560,955.1,-7.0,373,9063,0.00,2.08,0.00,0.000,516,0.000,0.037,2533,1078,3621,3684,3559,0,0,0,0,0,0,27.51,27.30,27.58
$GC,9128,-0.71,-175.2,2532,1078,3687,3560,959.5,-7.1,375,9135,0.00,2.10,0.00,0.000,1030,0.000,0.040,2524,2458,3621,3684,3559,0,0,0,0,0,0,27.36,27.29,27.38
$GC,9440,-0.71,-175.2,2523,2459,3686,3558,984.6,-8.1,386,9447,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2457,3620,3683,3558,0,0,0,0,0,0,27.51,27.57,27.57
$STATE,9528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9528,begin apogee
$GC,9533,-0.11,0.0,2524,2097,3685,3559,992.2,-8.6,389,9685,0.70,0.00,144.40,1.310,10246,0.135,0.000,2746,2096,2943,2989,2897,0,0,0,0,0,0,27.14,25.17,24.41
$STATE,9686,end apogee,CONTROL_FINISHED_OK
$STATE,9686,begin climb
$GC,9688,0.71,175.2,2747,2096,2987,2896,997.7,0.0,394,9850,0.73,0.00,154.12,1.292,10758,0.050,0.000,3022,2095,2226,2276,2176,0,0,0,0,0,0,25.46,24.87,24.16
$GC,10130,0.71,175.2,3021,2096,2268,2165,941.7,15.9,409,10136,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2096,2214,2265,2164,0,0,0,0,0,0,26.53,26.60,26.60
$GC,10430,0.71,175.2,3022,2096,2263,2163,891.0,17.0,419,10438,0.00,2.25,0.00,0.000,260,0.000,0.050,3023,3507,2212,2263,2162,0,0,0,0,0,0,26.86,26.63,26.93
$GC,10507,0.71,175.2,3022,3508,2261,2163,880.2,17.8,421,10515,0.00,2.12,0.00,0.000,1030,0.000,0.028,3032,2112,2211,2261,2162,0,0,0,0,0,0,26.79,26.74,26.82
$GC,10812,0.71,175.2,3038,2112,2262,2162,818.8,18.7,431,10818,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2112,2211,2261,2161,0,0,0,0,0,0,27.05,27.13,27.12
$GC,11112,0.71,175.2,3031,2113,2261,2161,763.2,18.1,441,11120,0.00,2.17,0.00,0.000,516,0.000,0.041,3043,698,2210,2259,2161,0,0,0,0,0,0,27.14,26.94,27.21
$GC,11140,0.71,175.2,3044,698,2258,2161,758.4,17.9,442,11148,0.12,2.15,0.00,0.000,5126,0.184,0.031,3015,2117,2209,2258,2161,0,0,0,0,0,0,26.79,26.96,26.97
$GC,11473,0.71,175.2,3015,2118,2258,2161,705.4,15.4,453,11482,0.00,2.15,0.00,0.000,260,0.000,0.047,3015,3500,2209,2258,2160,0,0,0,0,0,0,27.21,26.98,27.28
$GC,11536,0.71,175.2,3016,3500,2257,2161,694.8,16.0,455,11544,0.00,2.10,0.00,0.000,1030,0.000,0.029,3023,2092,2209,2258,2160,0,0,0,0,0,0,27.10,27.05,27.12
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$GC,13934,0.71,175.2,3017,2091,2257,2159,357.0,13.1,535,13940,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2090,2206,2255,2158,0,0,0,0,0,0,27.40,27.48,27.47
$GC,14235,0.71,175.2,3016,2091,2254,2159,320.8,11.3,545,14243,0.00,2.22,0.00,0.000,260,0.000,0.047,3016,3501,2206,2254,2158,0,0,0,0,0,0,27.41,27.17,27.48
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$GC,15232,0.83,241.0,3043,3491,2254,2157,202.6,7.3,577,15296,0.00,2.05,51.12,0.773,9222,0.000,0.028,3046,2095,1955,2003,1907,0,0,0,0,0,0,27.31,27.26,25.68
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$STATE,16969,end climb,SURFACE_DEPTH_REACHED
$STATE,16969,begin surface coast
$FINISH,0.2,1.022126
$STATE,16990,end surface coast,CONTROL_FINISHED_OK
$STATE,16990,begin surface
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$IRIDIUM_FIX,1312.02,14507.92,040108,003106
$TT8_MAMPS,0.161035,0.161035
$HUMID,39.01
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.80
$XPDR_PINGS,1
$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,17027.54 7629.39
$PA_BOOTCOUNT,263
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$10V_AH,9.98,11.487
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,141.948,0.000,0.000,0.000
$MEM,229904
$DATA_FILE_SIZE,33440,782
$CAP_FILE_SIZE,139424,0
$CFSIZE,260034560,254021632
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$GPS,090315,204852,1312.134,14514.089,25,1.4,41,1.7,0.3,119.1,10,6.9