version: 66.12
glider: 178
mission: 20
dive: 106
start: 3 22 115 5 49 52
data:
$ID,178
$MISSION,20
$DIVE,106
$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,0.00228724
$HD_B,0.0153901
$HD_C,8.9420502e-07
$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,44
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3279
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,220315,054305,1214.6219,14430.3477,40,0.8,46,1.8,0.9,230.9,9,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.21
$_SM_ANGLEo,-74.8
$GPS2,220315,054941,1214.5265,14430.2900,8,1.1,12,1.8,0.4,215.9,8,7.3
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S5
$TGT_LATLONG,1215.660,14421.540
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,280.8,15975,-16.5,-10.000,-23.13,2699
$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,-0.68,-175.2,127,2460,1245,1225,0.0,0.0,0,191,0.00,0.00,-86.50,0.000,16386,0.000,0.000,132,2460,3529,3579,3480,0,0,0,0,0,0,26.21,28.83,26.28
$GC,193,-0.68,-175.2,126,2461,3578,3486,4.0,-9.7,12,218,10.57,2.10,-6.00,0.000,18692,0.248,0.054,2543,3773,3964,3997,3932,0,0,0,0,0,0,25.77,24.78,26.10
$GC,383,-0.68,-175.2,2544,3774,3995,3940,88.3,-34.5,38,396,0.00,2.03,0.00,0.000,1030,0.000,0.024,2548,2424,3967,3995,3939,0,0,0,0,0,0,26.29,26.24,26.32
$GC,691,-0.68,-175.2,2547,2421,3996,3945,163.1,-16.8,69,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2420,3969,3995,3943,0,0,0,0,0,0,26.33,26.37,26.36
$GC,1002,-0.68,-175.2,2549,2421,3995,3949,215.2,-16.7,94,1009,0.00,2.15,0.00,0.000,260,0.000,0.045,2540,3772,3973,3995,3951,0,0,0,0,0,0,26.33,26.25,26.39
$GC,1059,-0.68,-175.2,2539,3773,3997,3949,222.9,-15.1,96,1066,0.00,1.98,0.00,0.000,1030,0.000,0.025,2544,2459,3972,3996,3948,0,0,0,0,0,0,26.37,26.34,26.41
$GC,1386,-0.68,-175.2,2544,2453,3996,3950,261.7,-12.6,107,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2453,3973,3996,3950,0,0,0,0,0,0,26.32,26.39,26.37
$GC,1686,-0.68,-175.2,2542,2454,3996,3951,297.4,-10.9,117,1696,0.00,2.12,0.00,0.000,516,0.000,0.031,2544,1056,3973,3996,3950,0,0,0,0,0,0,26.34,26.29,26.40
$GC,1721,-0.68,-175.2,2544,1059,3994,3950,300.7,-10.8,118,1732,0.00,2.15,0.00,0.000,1030,0.000,0.032,2537,2447,3972,3995,3950,0,0,0,0,0,0,26.36,26.29,26.38
$GC,2046,-0.68,-175.2,2539,2448,3996,3950,339.4,-12.2,129,2054,0.00,2.12,0.00,0.000,260,0.000,0.047,2524,3770,3972,3995,3949,0,0,0,0,0,0,26.35,26.25,26.40
$GC,2098,-0.68,-175.2,2526,3771,3997,3949,342.8,-12.3,130,2109,0.12,2.00,0.00,0.000,3078,0.153,0.026,2558,2444,3971,3995,3948,0,0,0,0,0,0,26.14,26.35,26.29
$GC,2404,-0.68,-175.2,2558,2445,3995,3945,372.7,-8.3,141,2414,0.00,2.15,0.00,0.000,516,0.000,0.033,2561,1060,3969,3995,3944,0,0,0,0,0,0,26.33,26.29,26.39
$GC,2424,-0.68,-175.2,2560,1060,3997,3944,372.7,-8.3,141,2432,0.00,2.20,0.00,0.000,1030,0.000,0.032,2554,2458,3969,3995,3943,0,0,0,0,0,0,26.34,26.29,26.36
$GC,2729,-0.68,-175.2,2552,2460,3996,3939,405.2,-10.5,151,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2459,3966,3994,3938,0,0,0,0,0,0,26.32,26.39,26.38
$GC,3029,-0.68,-175.2,2553,2460,3996,3932,434.9,-9.9,161,3040,0.00,2.12,0.00,0.000,260,0.000,0.050,2544,3772,3965,3994,3936,0,0,0,0,0,0,26.33,26.22,26.39
$GC,3069,-0.68,-175.2,2544,3772,3996,3931,438.0,-10.0,162,3077,0.00,1.98,0.00,0.000,1030,0.000,0.027,2544,2454,3962,3994,3930,0,0,0,0,0,0,26.37,26.33,26.39
$GC,3387,-0.68,-175.2,2545,2452,3994,3925,463.3,-6.6,173,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2452,3960,3995,3925,0,0,0,0,0,0,26.32,26.39,26.38
$GC,3687,-0.68,-175.2,2542,2453,3996,3920,482.5,-6.9,183,3695,0.00,2.15,0.00,0.000,516,0.000,0.034,2544,1060,3956,3994,3919,0,0,0,0,0,0,26.32,26.26,26.37
$GC,3704,-0.68,-175.2,2544,1061,3995,3919,482.5,-6.9,183,3712,0.00,2.20,0.00,0.000,1030,0.000,0.033,2537,2452,3956,3995,3918,0,0,0,0,0,0,26.32,26.25,26.34
$GC,4009,-0.68,-175.2,2538,2453,3994,3914,512.0,-9.9,193,4018,0.00,2.12,0.00,0.000,260,0.000,0.047,2527,3769,3953,3994,3913,0,0,0,0,0,0,26.31,26.20,26.36
$GC,4047,-0.68,-175.2,2528,3770,3992,3914,515.5,-10.1,194,4055,0.12,2.03,0.00,0.000,3078,0.157,0.028,2557,2441,3953,3994,3913,0,0,0,0,0,0,26.07,26.31,26.22
$GC,4370,-0.68,-175.2,2556,2440,3991,3910,546.2,-9.5,205,4379,0.00,2.15,0.00,0.000,516,0.000,0.034,2560,1066,3950,3992,3909,0,0,0,0,0,0,26.30,26.23,26.36
$GC,4394,-0.68,-175.2,2561,1066,3991,3909,546.2,-9.5,205,4404,0.00,2.20,0.00,0.000,1030,0.000,0.034,2554,2453,3950,3991,3909,0,0,0,0,0,0,26.30,26.23,26.32
$GC,4700,-0.68,-175.2,2553,2454,3992,3907,575.3,-8.3,216,4710,0.00,2.15,0.00,0.000,260,0.000,0.050,2544,3776,3948,3990,3906,0,0,0,0,0,0,26.27,26.17,26.34
$GC,4730,-0.68,-175.2,2545,3777,3989,3907,577.9,-8.3,217,4740,0.00,2.03,0.00,0.000,1030,0.000,0.028,2544,2445,3947,3989,3906,0,0,0,0,0,0,26.33,26.29,26.34
$GC,5060,-0.68,-175.2,2545,2447,3986,3905,602.1,-7.2,228,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2447,3945,3987,3904,0,0,0,0,0,0,26.23,26.29,26.29
$GC,5360,-0.68,-175.2,2545,2447,3986,3903,627.4,-8.8,238,5371,0.00,2.12,0.00,0.000,516,0.000,0.034,2544,1064,3944,3986,3902,0,0,0,0,0,0,26.20,26.22,26.27
$GC,5391,-0.68,-175.2,2545,1064,3985,3903,630.4,-9.0,239,5403,0.00,2.20,0.00,0.000,1030,0.000,0.035,2538,2449,3943,3985,3902,0,0,0,0,0,0,26.22,26.15,26.25
$GC,5723,-0.68,-175.2,2537,2450,3985,3900,663.4,-10.1,250,5734,0.00,2.17,0.00,0.000,260,0.000,0.051,2528,3780,3940,3983,3898,0,0,0,0,0,0,26.25,26.12,26.30
$GC,5749,-0.68,-175.2,2529,3781,3982,3900,663.4,-10.1,250,5760,0.12,2.03,0.00,0.000,3078,0.155,0.028,2558,2446,3941,3982,3900,0,0,0,0,0,0,26.01,26.27,26.15
$GC,6054,-0.68,-175.2,2557,2447,3984,3898,693.0,-8.7,261,6062,0.00,2.15,0.00,0.000,516,0.000,0.033,2560,1066,3939,3982,3897,0,0,0,0,0,0,26.25,26.19,26.30
$GC,6087,-0.68,-175.2,2559,1064,3983,3897,695.8,-8.7,262,6096,0.00,2.20,0.00,0.000,1030,0.000,0.034,2555,2460,3939,3982,3897,0,0,0,0,0,0,26.25,26.18,26.29
$GC,6417,-0.68,-175.2,2556,2461,3980,3896,724.5,-8.6,273,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2460,3938,3980,3896,0,0,0,0,0,0,26.18,26.25,26.24
$GC,6717,-0.68,-175.2,2554,2461,3980,3896,749.7,-8.2,283,6725,0.00,2.17,0.00,0.000,516,0.000,0.033,2555,1076,3936,3979,3894,0,0,0,0,0,0,26.23,26.17,26.29
$GC,6745,-0.68,-175.2,2554,1076,3980,3895,749.7,-8.2,283,6756,0.00,2.17,0.00,0.000,1030,0.000,0.036,2552,2449,3936,3979,3894,0,0,0,0,0,0,26.22,26.13,26.25
$GC,7050,-0.68,-175.2,2551,2450,3978,3894,776.1,-7.6,294,7056,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2449,3935,3977,3893,0,0,0,0,0,0,26.22,26.31,26.29
$GC,7350,-0.68,-175.2,2551,2451,3978,3892,797.3,-7.0,304,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2448,3934,3977,3891,0,0,0,0,0,0,26.25,26.29,26.27
$GC,7650,-0.68,-175.2,2551,2449,3977,3891,818.1,-6.7,314,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2449,3932,3975,3890,0,0,0,0,0,0,26.22,26.29,26.28
$GC,7950,-0.68,-175.2,2552,2449,3974,3890,838.7,-6.9,324,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2449,3931,3974,3888,0,0,0,0,0,0,26.22,26.29,26.28
$GC,8250,-0.68,-175.2,2552,2449,3973,3888,860.5,-7.2,334,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2449,3930,3974,3887,0,0,0,0,0,0,26.22,26.29,26.28
$GC,8550,-0.68,-175.2,2551,2450,3975,3888,883.1,-7.6,344,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2449,3930,3973,3887,0,0,0,0,0,0,26.20,26.27,26.25
$GC,8850,-0.68,-175.2,2551,2450,3977,3887,905.6,-7.6,354,8858,0.00,2.17,0.00,0.000,516,0.000,0.033,2552,1063,3929,3972,3886,0,0,0,0,0,0,26.20,26.10,26.26
$GC,8897,-0.68,-175.2,2551,1064,3973,3887,907.7,-7.6,355,8905,0.00,2.22,0.00,0.000,1030,0.000,0.037,2546,2449,3928,3971,3886,0,0,0,0,0,0,26.16,26.08,26.19
$GC,9210,-0.68,-175.2,2547,2449,3970,3886,935.2,-8.6,366,9216,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2449,3927,3970,3885,0,0,0,0,0,0,26.18,26.25,26.24
$GC,9510,-0.68,-175.2,2544,2450,3972,3885,964.2,-10.0,376,9516,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2449,3927,3970,3884,0,0,0,0,0,0,26.18,26.25,26.24
$STATE,9808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9808,begin apogee
$GC,9812,-0.11,0.0,2546,2108,3971,3884,992.4,-8.9,386,9964,0.62,0.00,138.80,1.309,10246,0.114,0.000,2739,2103,3278,3318,3238,0,0,0,0,0,0,25.84,24.54,23.97
$STATE,9965,end apogee,CONTROL_FINISHED_OK
$STATE,9965,begin climb
$GC,9967,0.68,175.2,2740,2104,3317,3237,1000.4,0.0,391,10137,0.73,2.38,158.18,1.294,11012,0.047,0.037,3022,716,2563,2609,2517,0,0,0,0,0,0,24.99,24.21,23.48
$GC,10322,0.68,175.2,3023,716,2599,2509,976.6,13.8,402,10329,0.00,2.25,0.00,0.000,1030,0.000,0.030,3023,2102,2557,2606,2508,0,0,0,0,0,0,25.70,25.64,25.71
$GC,10644,0.68,175.2,3023,2101,2597,2507,931.4,13.6,413,10650,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2102,2551,2597,2506,0,0,0,0,0,0,26.10,26.17,26.16
$GC,10944,0.68,175.2,3023,2102,2595,2506,893.3,12.1,423,10950,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2102,2549,2594,2505,0,0,0,0,0,0,26.19,26.26,26.25
$GC,11244,0.68,175.2,3023,2099,2593,2501,859.2,11.3,433,11250,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2102,2549,2594,2505,0,0,0,0,0,0,26.22,26.29,26.29
$GC,11544,0.68,175.2,3022,2102,2595,2505,822.7,12.3,443,11552,0.00,2.30,0.00,0.000,260,0.000,0.047,3023,3511,2549,2593,2505,0,0,0,0,0,0,26.19,26.13,26.27
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$STATE,18416,end climb,SURFACE_DEPTH_REACHED
$STATE,18416,begin surface coast
$FINISH,0.2,1.022066
$STATE,18432,end surface coast,CONTROL_FINISHED_OK
$STATE,18432,begin surface
$SM_CCo,18448,34.30,0.064,0,0,1241,500.17
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$IRIDIUM_FIX,1210.12,14429.02,160108,140605
$TT8_MAMPS,0.050932,0.050932
$HUMID,40.90
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.50
$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,1649996
$PA_UPTIME,18437.22 7897.90
$PA_BOOTCOUNT,325
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$PA_DATA0,0.41/47.677/117.199/63.569
$PA_ROOT,1.00/0.121/0.121/0.000
$PA_HOME,0.03/0.060/1.764/1.614
$PA_DISK_BANK,1
$24V_AH,23.48,29.978
$10V_AH,10.30,26.760
$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,20.925,145.225,497.450,34.300,0.000,0.000,0.000,277.225,0.000,18920.410,15.421,0.000,14916.769,615.604,3125.826,204.770,0.000,2326.341,0.000,1683.172,0.000,0.552,0.000
$DEVICE_MAMPS,247.860,53.550,1308.915,64.260,0.000,0.000,0.000,95.625,420.000,64.838,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,549.828,0.000,0.000,0.000,0.000,0.000,18920.561,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,229944
$DATA_FILE_SIZE,36814,807
$CAP_FILE_SIZE,155449,0
$CFSIZE,260034560,249188352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$CURRENT,0.075,194.23,1
$GPS,220315,105854,1214.231,14428.065,37,0.9,37,1.8,0.4,181.7,8,7.2