version: 66.12
glider: 178
mission: 20
dive: 131
start: 3 27 115 15 11 23
data:
$ID,178
$MISSION,20
$DIVE,131
$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,50
$R_STBD_OVSHOOT,43
$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
$GPS1,270315,150436,1116.2567,14431.3604,29,0.9,29,2.0,1.3,345.8,9,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.11
$_SM_ANGLEo,-76.7
$GPS2,270315,151112,1116.2554,14431.2783,8,0.9,13,2.0,0.3,306.6,9,7.5
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S6
$TGT_LATLONG,1111.160,14432.700
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,145.8,9784,-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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.68,-175.2,121,2466,1243,1227,0.0,0.0,0,185,0.00,0.00,-84.20,0.000,16386,0.000,0.000,121,2466,3442,3493,3392,0,0,0,0,0,0,26.18,28.83,26.25
$GC,187,-0.68,-175.2,121,2467,3495,3393,3.6,-11.6,12,214,10.75,2.20,-7.68,0.000,18948,0.248,0.039,2555,1033,3964,3999,3929,0,0,0,0,0,0,25.67,25.42,26.03
$GC,300,-0.68,-175.2,2555,1034,3995,3936,48.8,-25.4,29,319,0.00,2.22,0.00,0.000,1030,0.000,0.032,2547,2449,3965,3997,3934,0,0,0,0,0,0,26.20,26.13,26.22
$GC,614,-0.68,-175.2,2548,2450,3997,3940,133.4,-23.8,60,629,0.00,2.15,0.00,0.000,516,0.000,0.028,2547,1039,3967,3995,3940,0,0,0,0,0,0,26.22,26.20,26.28
$GC,663,-0.68,-175.2,2547,1040,3995,3941,143.1,-21.6,64,675,0.00,2.22,0.00,0.000,1030,0.000,0.032,2540,2458,3968,3996,3941,0,0,0,0,0,0,26.24,26.17,26.27
$GC,972,-0.68,-175.2,2539,2459,3997,3946,201.5,-17.7,95,982,0.00,2.10,0.00,0.000,260,0.000,0.046,2529,3775,3971,3996,3946,0,0,0,0,0,0,26.29,26.15,26.35
$GC,1016,-0.68,-175.2,2529,3776,3997,3947,207.1,-17.7,96,1026,0.00,2.00,0.00,0.000,1030,0.000,0.022,2530,2409,3970,3995,3946,0,0,0,0,0,0,26.33,26.27,26.34
$GC,1330,-0.68,-175.2,2529,2406,3997,3950,256.5,-13.3,107,1338,0.00,2.03,0.00,0.000,516,0.000,0.029,2530,1069,3970,3995,3945,0,0,0,0,0,0,26.30,26.24,26.36
$GC,1388,-0.68,-175.2,2529,1070,3997,3951,263.6,-12.9,109,1396,0.15,2.15,0.00,0.000,3078,0.147,0.031,2560,2453,3973,3997,3949,0,0,0,0,0,0,26.01,26.22,26.17
$GC,1715,-0.68,-175.2,2561,2454,3995,3950,291.2,-9.5,120,1725,0.00,2.08,0.00,0.000,260,0.000,0.047,2553,3765,3972,3996,3949,0,0,0,0,0,0,26.23,26.10,26.29
$GC,1770,-0.68,-175.2,2554,3765,3997,3950,294.6,-10.1,121,1782,0.00,1.95,0.00,0.000,1030,0.000,0.024,2553,2456,3972,3996,3949,0,0,0,0,0,0,26.31,26.28,26.32
$GC,2075,-0.68,-175.2,2554,2456,3995,3947,332.8,-11.3,132,2087,0.00,2.10,0.00,0.000,516,0.000,0.031,2553,1072,3970,3994,3947,0,0,0,0,0,0,26.29,26.22,26.33
$GC,2136,-0.68,-175.2,2554,1073,3995,3947,338.9,-10.5,134,2144,0.00,2.15,0.00,0.000,1030,0.000,0.032,2543,2449,3971,3996,3946,0,0,0,0,0,0,26.27,26.20,26.30
$GC,2464,-0.68,-175.2,2542,2450,3998,3943,368.9,-9.6,145,2475,0.00,2.12,0.00,0.000,516,0.000,0.030,2544,1074,3968,3995,3942,0,0,0,0,0,0,26.26,26.22,26.32
$GC,2514,-0.68,-175.2,2542,1074,3997,3942,371.7,-9.4,146,2522,0.00,2.17,0.00,0.000,1030,0.000,0.032,2535,2456,3970,3995,3946,0,0,0,0,0,0,26.27,26.20,26.29
$GC,2827,-0.68,-175.2,2535,2456,3996,3937,404.6,-10.7,157,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2456,3965,3994,3936,0,0,0,0,0,0,26.28,26.34,26.34
$GC,3128,-0.68,-175.2,2536,2458,3995,3931,438.3,-11.5,167,3138,0.00,2.12,0.00,0.000,516,0.000,0.031,2536,1081,3962,3994,3930,0,0,0,0,0,0,26.26,26.19,26.32
$GC,3167,-0.68,-175.2,2536,1082,3994,3929,441.7,-11.4,168,3177,0.12,2.15,0.00,0.000,3078,0.154,0.032,2556,2448,3961,3994,3929,0,0,0,0,0,0,25.96,26.17,26.12
$GC,3487,-0.68,-175.2,2557,2449,3994,3925,474.4,-10.1,179,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2444,3959,3994,3924,0,0,0,0,0,0,26.27,26.34,26.33
$GC,3787,-0.68,-175.2,2557,2449,3994,3919,503.8,-9.4,189,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2448,3956,3994,3918,0,0,0,0,0,0,26.27,26.33,26.32
$GC,4087,-0.68,-175.2,2557,2449,3994,3914,527.4,-7.3,199,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2448,3954,3995,3914,0,0,0,0,0,0,26.26,26.32,26.32
$GC,4387,-0.68,-175.2,2557,2449,3994,3910,548.2,-7.0,209,4395,0.00,2.17,0.00,0.000,516,0.000,0.031,2557,1068,3951,3994,3909,0,0,0,0,0,0,26.25,26.14,26.31
$GC,4415,-0.68,-175.2,2556,1068,3995,3910,550.3,-7.1,210,4425,0.00,2.20,0.00,0.000,1030,0.000,0.034,2551,2452,3951,3993,3909,0,0,0,0,0,0,26.20,26.13,26.23
$GC,4745,-0.68,-175.2,2552,2453,3991,3907,574.4,-7.2,221,4753,0.00,2.17,0.00,0.000,516,0.000,0.031,2551,1068,3949,3992,3906,0,0,0,0,0,0,26.22,26.13,26.29
$GC,4772,-0.68,-175.2,2550,1069,3993,3907,576.4,-7.3,222,4780,0.00,2.20,0.00,0.000,1030,0.000,0.034,2543,2452,3948,3991,3906,0,0,0,0,0,0,26.19,26.12,26.22
$GC,5105,-0.68,-175.2,2544,2453,3989,3904,601.2,-7.5,233,5114,0.00,2.15,0.00,0.000,516,0.000,0.031,2543,1074,3946,3989,3904,0,0,0,0,0,0,26.22,26.12,26.28
$GC,5134,-0.68,-175.2,2542,1075,3990,3905,601.2,-7.5,233,5144,0.00,2.20,0.00,0.000,1030,0.000,0.033,2536,2456,3946,3989,3904,0,0,0,0,0,0,26.18,26.11,26.21
$GC,5439,-0.68,-175.2,2535,2457,3988,3903,630.1,-8.8,244,5447,0.00,2.12,0.00,0.000,260,0.000,0.050,2526,3771,3944,3987,3902,0,0,0,0,0,0,26.22,26.03,26.28
$GC,5477,-0.68,-175.2,2527,3771,3986,3902,633.1,-8.8,245,5485,0.12,2.00,0.00,0.000,3078,0.155,0.025,2555,2453,3944,3986,3902,0,0,0,0,0,0,25.91,26.22,26.05
$GC,5800,-0.68,-175.2,2557,2454,3986,3900,658.6,-7.9,256,5807,0.00,2.15,0.00,0.000,516,0.000,0.031,2557,1072,3942,3985,3900,0,0,0,0,0,0,26.22,26.10,26.27
$GC,5827,-0.68,-175.2,2556,1073,3987,3901,658.6,-7.9,256,5837,0.00,2.20,0.00,0.000,1030,0.000,0.033,2551,2455,3942,3985,3900,0,0,0,0,0,0,26.16,26.08,26.20
$GC,6132,-0.68,-175.2,2552,2455,3983,3898,683.9,-7.4,267,6143,0.00,2.15,0.00,0.000,516,0.000,0.031,2550,1066,3940,3983,3897,0,0,0,0,0,0,26.19,26.09,26.25
$GC,6163,-0.68,-175.2,2552,1065,3983,3897,686.2,-7.3,268,6171,0.00,2.22,0.00,0.000,1030,0.000,0.033,2542,2453,3939,3982,3897,0,0,0,0,0,0,26.16,26.08,26.19
$GC,6490,-0.68,-175.2,2543,2454,3981,3897,707.7,-6.3,279,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2453,3939,3982,3896,0,0,0,0,0,0,26.09,26.16,26.15
$GC,6790,-0.68,-175.2,2543,2454,3981,3895,726.8,-6.4,289,6800,0.00,2.17,0.00,0.000,516,0.000,0.031,2542,1073,3938,3981,3895,0,0,0,0,0,0,26.18,26.07,26.25
$GC,6844,-0.68,-175.2,2546,1074,3982,3895,728.8,-6.3,290,6852,0.00,2.17,0.00,0.000,1030,0.000,0.033,2537,2449,3937,3980,3895,0,0,0,0,0,0,26.14,26.06,26.17
$GC,7150,-0.68,-175.2,2537,2449,3979,3894,751.7,-7.5,300,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2449,3936,3979,3893,0,0,0,0,0,0,26.16,26.22,26.22
$GC,7449,-0.68,-175.2,2536,2449,3979,3893,776.2,-8.3,310,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2449,3935,3978,3892,0,0,0,0,0,0,26.20,26.27,26.27
$GC,7749,-0.68,-175.2,2537,2449,3977,3891,803.2,-9.3,320,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2449,3937,3984,3890,0,0,0,0,0,0,26.17,26.25,26.23
$GC,8050,-0.68,-175.2,2532,2450,3978,3890,831.8,-9.6,330,8062,0.00,2.12,0.00,0.000,516,0.000,0.031,2537,1077,3932,3976,3889,0,0,0,0,0,0,26.17,26.06,26.22
$GC,8082,-0.68,-175.2,2537,1077,3976,3890,834.8,-9.6,331,8090,0.00,2.20,0.00,0.000,1030,0.000,0.034,2530,2449,3932,3976,3889,0,0,0,0,0,0,26.07,25.99,26.10
$GC,8410,-0.68,-175.2,2531,2449,3974,3889,863.4,-8.3,342,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2449,3931,3975,3888,0,0,0,0,0,0,26.06,26.13,26.12
$GC,8709,-0.68,-175.2,2529,2450,3975,3888,887.8,-7.9,352,8720,0.00,2.15,0.00,0.000,516,0.000,0.031,2530,1066,3930,3974,3887,0,0,0,0,0,0,26.15,26.03,26.21
$GC,8740,-0.68,-175.2,2531,1067,3974,3888,890.2,-7.9,353,8749,0.15,2.22,0.00,0.000,3078,0.149,0.035,2560,2451,3930,3974,3887,0,0,0,0,0,0,25.78,26.01,25.94
$GC,9074,-0.68,-175.2,2561,2451,3973,3886,912.0,-6.9,364,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2451,3930,3974,3886,0,0,0,0,0,0,26.14,26.21,26.20
$GC,9373,-0.68,-175.2,2561,2452,3973,3887,935.5,-8.0,374,9381,0.00,2.20,0.00,0.000,516,0.000,0.031,2561,1064,3929,3973,3885,0,0,0,0,0,0,26.13,26.03,26.19
$GC,9420,-0.68,-175.2,2560,1066,3975,3886,937.7,-8.0,375,9428,0.00,2.22,0.00,0.000,1030,0.000,0.034,2560,2451,3928,3972,3884,0,0,0,0,0,0,26.08,26.00,26.11
$GC,9726,-0.68,-175.2,2560,2451,3972,3884,962.3,-7.4,385,9732,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2450,3927,3972,3883,0,0,0,0,0,0,26.13,26.19,26.18
$GC,10026,-0.68,-175.2,2559,2451,3973,3883,983.9,-7.2,395,10032,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2450,3927,3971,3883,0,0,0,0,0,0,26.14,26.21,26.20
$STATE,10114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10114,begin apogee
$GC,10118,-0.11,0.0,2559,2109,3972,3883,990.2,-6.9,398,10269,0.60,0.00,138.05,1.314,10246,0.109,0.000,2746,2105,3279,3319,3239,0,0,0,0,0,0,25.74,24.58,23.80
$STATE,10270,end apogee,CONTROL_FINISHED_OK
$STATE,10270,begin climb
$GC,10272,0.68,175.2,2747,2105,3317,3238,997.1,0.0,403,10442,0.70,2.50,157.62,1.299,11012,0.047,0.044,3010,3497,2563,2610,2517,0,0,0,0,0,0,24.86,24.18,23.40
$GC,10592,0.68,175.2,3011,3497,2599,2514,980.5,14.0,413,10602,0.00,2.17,0.00,0.000,1030,0.000,0.024,3021,2111,2556,2599,2514,0,0,0,0,0,0,25.63,25.58,25.64
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$STATE,18999,end climb,SURFACE_DEPTH_REACHED
$STATE,18999,begin surface coast
$FINISH,-0.1,1.022013
$STATE,19014,end surface coast,CONTROL_FINISHED_OK
$STATE,19014,begin surface
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$IRIDIUM_FIX,1112.86,14349.14,210108,232310
$TT8_MAMPS,0.05243,0.05243
$HUMID,41.57
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.40
$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,19036.15 8321.01
$PA_BOOTCOUNT,350
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$PA_LOG,0.08/0.160/1.969/1.708
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$PA_ROOT,1.00/0.121/0.121/0.000
$PA_HOME,0.04/0.065/1.764/1.609
$PA_DISK_BANK,1
$24V_AH,23.40,42.257
$10V_AH,10.17,28.597
$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,21.075,148.550,471.475,50.525,0.000,0.000,0.000,275.025,0.250,19478.842,16.395,0.000,15295.975,617.747,3333.374,215.017,0.000,2387.146,0.000,1789.026,0.000,0.551,0.000
$DEVICE_MAMPS,247.860,49.725,1314.270,65.025,0.000,0.000,0.000,95.625,420.000,64.910,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,570.185,0.000,0.000,0.000,0.000,0.000,19478.990,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,229996
$DATA_FILE_SIZE,36773,836
$CAP_FILE_SIZE,163037,0
$CFSIZE,260034560,247136256
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$CURRENT,0.076,129.18,1
$GPS,270315,203029,1114.051,14433.119,42,1.1,42,2.0,0.6,336.5,7,8.8