version: 66.12
glider: 178
mission: 20
dive: 158
start: 4 2 115 10 22 35
data:
$ID,178
$MISSION,20
$DIVE,158
$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,52
$R_STBD_OVSHOOT,41
$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
$GPS1,020415,101554,1138.1711,14338.5898,38,0.9,38,1.7,0.3,296.5,8,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-73.2
$GPS2,020415,102224,1138.2194,14338.4697,9,0.9,14,1.7,0.8,280.4,9,7.2
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S7
$TGT_LATLONG,1142.600,14330.420
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,298.8,16700,-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,-175.2,124,2458,1244,1224,0.0,0.0,0,178,0.00,0.00,-78.88,0.000,16386,0.000,0.000,124,2457,3233,3276,3190,0,0,0,0,0,0,26.20,28.83,26.27
$GC,180,-0.68,-175.2,125,2458,3275,3192,3.7,-13.5,13,210,10.65,2.10,-11.65,0.000,19204,0.246,0.057,2546,3759,3964,3998,3931,0,0,0,0,0,0,25.65,24.51,26.02
$GC,215,-0.68,-175.2,2547,3759,3998,3934,21.9,-47.5,19,223,0.00,2.03,0.00,0.000,1030,0.000,0.024,2550,2434,3966,3997,3935,0,0,0,0,0,0,26.23,26.22,26.25
$GC,527,-0.68,-175.2,2549,2431,3998,3940,119.5,-28.4,58,537,0.00,2.10,0.00,0.000,516,0.000,0.030,2552,1059,3967,3995,3940,0,0,0,0,0,0,26.25,26.17,26.30
$GC,667,-0.68,-175.2,2551,1060,3996,3942,144.8,-14.1,71,678,0.00,2.17,0.00,0.000,1030,0.000,0.031,2546,2451,3968,3995,3941,0,0,0,0,0,0,26.23,26.16,26.26
$GC,983,-0.68,-175.2,2545,2451,3995,3947,207.1,-20.5,101,992,0.00,2.10,0.00,0.000,260,0.000,0.046,2534,3779,3970,3995,3946,0,0,0,0,0,0,26.29,26.10,26.34
$GC,1047,-0.68,-175.2,2535,3780,3996,3948,219.3,-19.7,103,1055,0.00,1.98,0.00,0.000,1030,0.000,0.024,2535,2450,3970,3994,3947,0,0,0,0,0,0,26.30,26.27,26.32
$GC,1381,-0.68,-175.2,2534,2447,3997,3951,272.2,-13.6,114,1390,0.00,2.12,0.00,0.000,516,0.000,0.031,2534,1066,3972,3995,3950,0,0,0,0,0,0,26.29,26.17,26.35
$GC,1409,-0.68,-175.2,2533,1067,3998,3951,272.2,-13.6,114,1420,0.12,2.17,0.00,0.000,3078,0.153,0.031,2557,2456,3972,3995,3950,0,0,0,0,0,0,25.94,26.15,26.09
$GC,1715,-0.68,-175.2,2557,2457,3997,3951,304.6,-8.9,125,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2456,3974,3999,3950,0,0,0,0,0,0,26.30,26.37,26.36
$GC,2015,-0.68,-175.2,2558,2456,3995,3951,331.2,-9.5,135,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2456,3972,3995,3950,0,0,0,0,0,0,26.27,26.34,26.34
$GC,2315,-0.68,-175.2,2556,2457,3997,3954,362.9,-10.4,145,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2455,3970,3995,3946,0,0,0,0,0,0,26.27,26.34,26.34
$GC,2615,-0.68,-175.2,2558,2457,3993,3942,392.0,-9.7,155,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2456,3968,3995,3942,0,0,0,0,0,0,26.26,26.33,26.32
$GC,2914,-0.68,-175.2,2557,2457,3995,3938,421.7,-10.1,165,2923,0.00,2.20,0.00,0.000,516,0.000,0.032,2559,1060,3965,3994,3937,0,0,0,0,0,0,26.24,26.11,26.30
$GC,2937,-0.68,-175.2,2564,1059,3991,3938,421.7,-10.1,165,2945,0.00,2.20,0.00,0.000,1030,0.000,0.033,2553,2447,3965,3994,3937,0,0,0,0,0,0,26.19,26.10,26.21
$GC,3250,-0.68,-175.2,2553,2448,3994,3929,457.9,-10.8,176,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2447,3961,3994,3928,0,0,0,0,0,0,26.22,26.29,26.28
$GC,3549,-0.68,-175.2,2552,2448,3996,3925,490.0,-10.3,186,3557,0.00,2.15,0.00,0.000,260,0.000,0.052,2543,3770,3959,3994,3924,0,0,0,0,0,0,26.23,25.98,26.29
$GC,3571,-0.68,-175.2,2544,3771,3994,3924,490.0,-10.3,186,3582,0.00,2.03,0.00,0.000,1030,0.000,0.026,2543,2446,3959,3994,3924,0,0,0,0,0,0,26.24,26.20,26.25
$GC,3877,-0.68,-175.2,2544,2445,3993,3919,523.2,-9.8,197,3887,0.00,2.15,0.00,0.000,516,0.000,0.034,2543,1063,3956,3994,3918,0,0,0,0,0,0,26.21,26.06,26.27
$GC,3912,-0.68,-175.2,2544,1063,3994,3918,526.1,-9.8,198,3920,0.00,2.22,0.00,0.000,1030,0.000,0.034,2541,2455,3955,3994,3917,0,0,0,0,0,0,26.10,26.04,26.14
$GC,4239,-0.68,-175.2,2542,2456,3994,3911,556.8,-9.0,209,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2455,3955,3995,3915,0,0,0,0,0,0,26.19,26.26,26.25
$GC,4540,-0.68,-175.2,2542,2456,3992,3909,583.3,-8.9,219,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2455,3950,3992,3908,0,0,0,0,0,0,26.19,26.26,26.25
$GC,4839,-0.68,-175.2,2541,2456,3992,3907,609.8,-9.0,229,4848,0.00,2.17,0.00,0.000,516,0.000,0.031,2541,1066,3948,3990,3906,0,0,0,0,0,0,26.21,26.04,26.27
$GC,4862,-0.68,-175.2,2542,1067,3989,3907,609.8,-9.0,229,4872,0.00,2.22,0.00,0.000,1030,0.000,0.036,2536,2453,3948,3990,3906,0,0,0,0,0,0,26.11,26.03,26.14
$GC,5167,-0.68,-175.2,2537,2453,3988,3904,642.1,-10.2,240,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2453,3945,3987,3903,0,0,0,0,0,0,26.16,26.22,26.22
$GC,5467,-0.68,-175.2,2538,2453,3986,3902,673.9,-10.8,250,5475,0.00,2.20,0.00,0.000,516,0.000,0.032,2532,1068,3943,3986,3901,0,0,0,0,0,0,26.14,26.03,26.20
$GC,5490,-0.68,-175.2,2535,1069,3988,3903,673.9,-10.8,250,5497,0.00,2.22,0.00,0.000,1030,0.000,0.035,2532,2453,3944,3986,3902,0,0,0,0,0,0,26.09,26.01,26.13
$GC,5802,-0.68,-175.2,2532,2453,3983,3900,713.5,-12.2,261,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2453,3941,3984,3899,0,0,0,0,0,0,26.18,26.25,26.25
$GC,6102,-0.68,-175.2,2531,2454,3984,3897,748.0,-11.1,271,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2454,3939,3982,3897,0,0,0,0,0,0,26.18,26.25,26.24
$GC,6402,-0.68,-175.2,2532,2453,3981,3897,777.1,-8.8,281,6411,0.00,2.20,0.00,0.000,516,0.000,0.031,2532,1065,3938,3981,3896,0,0,0,0,0,0,26.19,25.99,26.25
$GC,6436,-0.68,-175.2,2531,1065,3983,3897,779.9,-8.6,282,6443,0.00,2.22,0.00,0.000,1030,0.000,0.035,2532,2452,3938,3981,3896,0,0,0,0,0,0,26.06,25.98,26.09
$GC,6763,-0.68,-175.2,2531,2453,3981,3897,803.9,-7.0,293,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2453,3936,3979,3894,0,0,0,0,0,0,26.15,26.22,26.20
$GC,7063,-0.68,-175.2,2532,2453,3977,3893,826.8,-8.1,303,7071,0.00,2.17,0.00,0.000,516,0.000,0.031,2531,1066,3935,3978,3893,0,0,0,0,0,0,26.16,26.03,26.22
$GC,7086,-0.68,-175.2,2532,1067,3977,3893,826.8,-8.1,303,7096,0.12,2.22,0.00,0.000,3078,0.157,0.036,2561,2448,3935,3978,3893,0,0,0,0,0,0,25.77,25.98,25.91
$GC,7391,-0.68,-175.2,2560,2449,3979,3891,850.1,-7.4,314,7397,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2449,3934,3977,3891,0,0,0,0,0,0,26.15,26.22,26.22
$GC,7691,-0.68,-175.2,2562,2450,3976,3889,874.4,-8.3,324,7701,0.00,2.20,0.00,0.000,260,0.000,0.053,2559,3779,3932,3976,3889,0,0,0,0,0,0,26.10,25.89,26.16
$GC,7715,-0.68,-175.2,2559,3780,3977,3890,874.4,-8.3,324,7723,0.00,2.05,0.00,0.000,1030,0.000,0.026,2559,2444,3932,3976,3889,0,0,0,0,0,0,26.15,26.12,26.15
$GC,8028,-0.68,-175.2,2559,2443,3971,3889,901.4,-7.9,335,8034,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2442,3931,3975,3888,0,0,0,0,0,0,26.14,26.21,26.20
$GC,8328,-0.68,-175.2,2559,2442,3973,3888,924.3,-7.6,345,8339,0.00,2.17,0.00,0.000,516,0.000,0.033,2559,1058,3930,3974,3887,0,0,0,0,0,0,26.13,25.98,26.18
$GC,8360,-0.68,-175.2,2558,1059,3975,3888,926.6,-7.6,346,8368,0.00,2.25,0.00,0.000,1030,0.000,0.034,2559,2460,3930,3973,3887,0,0,0,0,0,0,26.04,25.96,26.08
$GC,8693,-0.68,-175.2,2558,2461,3975,3887,953.5,-8.3,357,8702,0.00,2.22,0.00,0.000,516,0.000,0.032,2559,1064,3929,3973,3886,0,0,0,0,0,0,26.14,25.97,26.20
$GC,8727,-0.68,-175.2,2559,1065,3975,3887,956.4,-8.5,358,8735,0.00,2.22,0.00,0.000,1030,0.000,0.034,2559,2453,3929,3973,3886,0,0,0,0,0,0,26.05,25.96,26.08
$GC,9055,-0.68,-175.2,2560,2454,3971,3885,985.3,-9.1,369,9063,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2453,3928,3972,3884,0,0,0,0,0,0,26.03,26.10,26.09
$STATE,9113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9113,begin apogee
$GC,9117,-0.11,0.0,2560,2098,3971,3885,990.6,-9.0,371,9268,0.57,0.00,139.75,1.301,10246,0.109,0.000,2739,2093,3278,3318,3238,0,0,0,0,0,0,25.70,24.50,23.66
$STATE,9269,end apogee,CONTROL_FINISHED_OK
$STATE,9269,begin climb
$GC,9271,0.68,175.2,2738,2094,3319,3238,1001.5,0.0,376,9442,0.73,2.38,158.85,1.290,10756,0.049,0.037,3020,717,2565,2612,2518,0,0,0,0,0,0,24.78,24.15,23.34
$GC,9592,0.68,175.2,3019,717,2605,2511,990.6,11.1,386,9600,0.00,2.22,0.00,0.000,1030,0.000,0.028,3020,2106,2556,2603,2510,0,0,0,0,0,0,25.69,25.63,25.71
$GC,9920,0.68,175.2,3019,2106,2602,2508,951.6,12.2,397,9929,0.00,2.22,0.00,0.000,516,0.000,0.037,3030,723,2553,2599,2507,0,0,0,0,0,0,26.15,26.08,26.21
$GC,9974,0.68,175.2,3030,722,2600,2507,947.3,12.3,398,9982,0.00,2.17,0.00,0.000,1030,0.000,0.028,3030,2101,2553,2600,2506,0,0,0,0,0,0,26.19,26.13,26.22
$GC,10279,0.68,175.2,3030,2102,2598,2507,903.5,13.7,408,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2101,2552,2598,2506,0,0,0,0,0,0,26.13,26.20,26.20
$GC,10579,0.68,175.2,3030,2102,2597,2506,862.8,13.6,418,10589,0.00,2.28,0.00,0.000,260,0.000,0.045,3030,3500,2551,2597,2505,0,0,0,0,0,0,26.22,26.06,26.28
$GC,10668,0.68,175.2,3030,3500,2597,2506,853.4,14.2,420,10681,0.17,2.15,0.00,0.000,5126,0.182,0.025,3000,2114,2550,2596,2505,0,0,0,0,0,0,25.73,26.16,25.98
$GC,10974,0.68,175.2,3001,2114,2595,2506,813.5,11.5,431,10983,0.00,2.22,0.00,0.000,516,0.000,0.036,3008,705,2549,2594,2505,0,0,0,0,0,0,26.19,26.05,26.26
$GC,11017,0.68,175.2,3008,705,2595,2504,809.7,11.4,432,11025,0.00,2.20,0.00,0.000,1030,0.000,0.026,3008,2104,2549,2595,2503,0,0,0,0,0,0,26.17,26.10,26.20
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$STATE,18775,end climb,SURFACE_DEPTH_REACHED
$STATE,18775,begin surface coast
$FINISH,0.2,1.022053
$STATE,18794,end surface coast,CONTROL_FINISHED_OK
$STATE,18794,begin surface
$SM_CCo,18809,46.12,0.062,0,0,1239,500.17
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$IRIDIUM_FIX,1132.66,14335.54,270108,183503
$TT8_MAMPS,0.05243,0.05243
$HUMID,40.03
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.90
$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,18809.99 8155.96
$PA_BOOTCOUNT,377
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$PA_ROOT,1.00/0.121/0.121/0.000
$PA_HOME,0.04/0.071/1.764/1.603
$PA_DISK_BANK,2
$24V_AH,23.34,55.286
$10V_AH,10.16,30.628
$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,20.725,132.850,493.075,46.125,0.000,0.000,0.000,267.525,0.000,19238.240,17.300,0.000,15225.525,643.303,3145.962,215.438,0.000,2318.559,0.000,1700.445,0.000,0.551,0.000
$DEVICE_MAMPS,246.330,57.375,1301.265,61.965,0.000,0.000,0.000,100.980,420.000,65.145,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,587.373,0.000,0.000,0.000,0.000,0.000,19238.352,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,229952
$DATA_FILE_SIZE,36802,864
$CAP_FILE_SIZE,154805,0
$CFSIZE,260034560,244912128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$GPS,020415,153754,1139.175,14337.203,41,0.8,41,1.7,0.6,323.6,9,6.2