version: 66.12
glider: 178
mission: 18
dive: 204
start: 11 6 114 13 3 32
data:
$ID,178
$MISSION,18
$DIVE,204
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,300
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51648
$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,350
$N_FILEKB,4
$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,-20
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3046
$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,145.11
$AH0_10V,98.019997
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.80373
$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,48
$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
$GPS1,061114,125614,1245.798,14427.223,40,0.9,60,1.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.42
$_SM_ANGLEo,-75.1
$GPS2,061114,130321,1245.793,14427.099,11,0.9,31,1.6
$SPEED_LIMITS,0.191,0.299
$TGT_NAME,PICKUP
$TGT_LATLONG,1310.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,26.7,46077,-17.3,-11.000,-20.18,2764
$D_GRID,1021
$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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.84,-214.1,151,2147,1033,1026,0.0,0.0,0,180,0.00,0.00,-83.50,0.000,16386,0.000,0.000,151,2147,3235,3282,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,182,-0.84,-214.1,152,2148,3282,3192,3.2,-13.7,14,207,10.65,2.17,-10.60,0.000,18948,0.242,0.048,2601,752,3923,3982,3864,0,0,0,0,0,0,25.49,26.23,26.44
$GC,227,-0.61,-214.1,2601,752,3983,3871,28.5,-49.8,22,237,0.30,2.22,0.00,0.000,3078,0.183,0.040,2667,2153,3925,3982,3869,0,0,0,0,0,0,25.68,26.20,28.83
$GC,543,-0.58,-214.1,2668,2153,3989,3869,94.8,-16.8,60,552,0.00,2.22,0.00,0.000,260,0.000,0.047,2659,3559,3929,3989,3869,0,0,0,0,0,0,28.83,26.17,28.83
$GC,627,-0.58,-214.1,2660,3560,3991,3869,108.1,-14.5,68,634,0.00,2.12,0.00,0.000,1030,0.000,0.026,2660,2143,3929,3990,3869,0,0,0,0,0,0,28.83,26.32,28.83
$GC,939,-0.58,-214.1,2660,2139,3995,3869,156.4,-14.6,99,949,0.00,2.15,0.00,0.000,516,0.000,0.036,2660,746,3931,3993,3869,0,0,0,0,0,0,28.83,26.25,28.83
$GC,973,-0.58,-214.1,2660,746,3995,3869,160.7,-12.7,102,981,0.00,2.20,0.00,0.000,1030,0.000,0.031,2655,2166,3931,3994,3869,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1278,-0.61,-214.1,2655,2167,3999,3869,198.1,-12.2,132,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2166,3933,3997,3869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1600,-0.65,-214.1,2655,2167,4001,3870,228.3,-9.6,144,1611,0.00,2.17,0.00,0.000,260,0.000,0.046,2655,3555,3934,4000,3869,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1711,-0.70,-214.1,2656,3556,4001,3871,236.7,-8.9,147,1719,0.00,2.12,0.00,0.000,1030,0.000,0.026,2655,2133,3934,4000,3868,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2024,-0.75,-214.1,2655,2131,4001,3871,264.9,-8.2,158,2035,0.00,2.25,0.00,0.000,260,0.000,0.045,2655,3553,3935,4000,3870,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2050,-0.80,-214.1,2656,3554,4000,3871,264.9,-8.2,158,2060,0.12,2.10,0.00,0.000,5126,0.089,0.027,2583,2145,3934,4000,3869,0,0,0,0,0,0,26.29,26.38,28.83
$GC,2355,-0.80,-214.1,2583,2144,3999,3869,301.0,-10.4,169,2363,0.00,2.15,0.00,0.000,516,0.000,0.037,2583,760,3933,3997,3869,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2392,-0.80,-214.1,2584,761,3998,3871,303.9,-10.2,170,2400,0.15,2.17,0.00,0.000,3078,0.142,0.032,2613,2153,3933,3997,3870,0,0,0,0,0,0,26.01,26.27,28.83
$GC,2710,-0.82,-214.1,2614,2155,3994,3871,340.6,-11.4,181,2718,0.00,2.25,0.00,0.000,260,0.000,0.047,2605,3560,3930,3991,3869,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2803,-0.86,-214.1,2605,3561,3991,3870,350.7,-11.6,184,2812,0.00,2.12,0.00,0.000,1030,0.000,0.028,2605,2157,3929,3990,3869,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3132,-0.88,-214.1,2605,2153,3985,3869,383.9,-9.6,195,3144,0.00,2.22,0.00,0.000,260,0.000,0.047,2595,3554,3926,3984,3869,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3153,-0.90,-214.1,2595,3555,3984,3870,383.9,-9.6,195,3161,0.00,2.12,0.00,0.000,1030,0.000,0.028,2596,2149,3926,3983,3869,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3459,-0.90,-214.1,2596,2147,3979,3869,416.8,-8.8,205,3468,0.00,2.28,0.00,0.000,260,0.000,0.048,2585,3558,3922,3978,3867,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3478,-0.90,-214.1,2586,3560,3978,3868,416.8,-8.8,205,3486,0.00,2.15,0.00,0.000,1030,0.000,0.029,2585,2146,3922,3978,3867,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3784,-0.90,-214.1,2586,2142,3976,3865,443.4,-8.4,215,3793,0.00,2.28,0.00,0.000,260,0.000,0.049,2576,3555,3919,3974,3865,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3808,-0.90,-214.1,2576,3555,3976,3865,443.4,-8.4,215,3818,0.00,2.15,0.00,0.000,1030,0.000,0.030,2576,2145,3919,3974,3865,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4113,-0.90,-214.1,2576,2144,3970,3864,480.7,-12.2,226,4121,0.00,2.17,0.00,0.000,516,0.000,0.041,2576,757,3916,3970,3863,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4135,-0.90,-214.1,2577,758,3971,3864,480.7,-12.2,226,4145,0.00,2.20,0.00,0.000,1030,0.000,0.034,2573,2146,3916,3970,3862,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4441,-0.90,-214.1,2573,2148,3966,3860,518.5,-11.9,237,4449,0.00,2.28,0.00,0.000,260,0.000,0.050,2563,3559,3912,3965,3860,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4513,-0.90,-214.1,2564,3560,3965,3861,526.3,-12.2,239,4521,0.00,2.15,0.00,0.000,1030,0.000,0.031,2562,2151,3912,3964,3860,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4830,-0.90,-214.1,2563,2147,3966,3855,565.1,-11.6,250,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2147,3909,3963,3855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5131,-0.90,-214.1,2564,2148,3959,3856,601.0,-12.0,260,5140,0.00,2.30,0.00,0.000,260,0.000,0.050,2559,3555,3906,3958,3854,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5160,-0.90,-214.1,2560,3555,3959,3854,604.7,-12.1,261,5168,0.00,2.15,0.00,0.000,1030,0.000,0.031,2559,2154,3906,3958,3854,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5488,-0.90,-214.1,2559,2151,3957,3852,644.5,-11.5,272,5495,0.00,2.22,0.00,0.000,516,0.000,0.041,2559,755,3903,3955,3851,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5530,-0.90,-214.1,2559,756,3951,3853,647.5,-11.2,273,5538,0.00,2.22,0.00,0.000,1030,0.000,0.036,2552,2154,3902,3954,3851,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5842,-0.90,-214.1,2552,2154,3953,3849,683.4,-11.7,284,5850,0.00,2.28,0.00,0.000,260,0.000,0.051,2541,3553,3900,3952,3849,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5870,-0.90,-214.1,2542,3553,3953,3849,686.7,-12.0,285,5878,0.15,2.17,0.00,0.000,3078,0.156,0.031,2578,2142,3903,3952,3855,0,0,0,0,0,0,25.79,26.11,28.83
$GC,6198,-0.90,-214.1,2578,2138,3951,3847,720.3,-9.8,296,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2138,3898,3950,3847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6498,-0.90,-214.1,2578,2138,3949,3845,746.4,-8.4,306,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2138,3895,3946,3845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6798,-0.90,-214.1,2578,2138,3947,3842,771.9,-8.7,316,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2138,3894,3945,3843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7098,-0.90,-214.1,2578,2140,3945,3843,795.8,-8.1,326,7106,0.00,2.33,0.00,0.000,260,0.000,0.053,2570,3556,3892,3944,3841,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7135,-0.90,-214.1,2571,3556,3943,3842,798.3,-8.1,327,7143,0.00,2.17,0.00,0.000,1030,0.000,0.033,2570,2154,3892,3943,3841,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7458,-0.90,-214.1,2570,2151,3943,3840,829.7,-10.0,338,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2151,3890,3941,3840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7758,-0.90,-214.1,2571,2152,3941,3839,859.5,-9.6,348,7766,0.00,2.30,0.00,0.000,260,0.000,0.052,2560,3553,3888,3938,3839,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7785,-0.90,-214.1,2560,3554,3939,3840,862.2,-9.4,349,7793,0.00,2.20,0.00,0.000,1030,0.000,0.033,2560,2141,3888,3938,3839,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8118,-0.90,-214.1,2560,2140,3937,3839,897.8,-10.8,360,8124,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2139,3887,3937,3838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8418,-0.90,-214.1,2560,2138,3936,3837,928.2,-9.7,370,8425,0.00,2.22,0.00,0.000,516,0.000,0.043,2560,749,3886,3935,3837,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8440,-0.90,-214.1,2561,751,3936,3838,928.2,-9.7,370,8451,0.00,2.28,0.00,0.000,1030,0.000,0.039,2559,2152,3885,3934,3837,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8746,-0.90,-214.1,2560,2153,3935,3842,958.4,-9.1,381,8751,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2152,3884,3934,3835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9045,-0.90,-214.1,2561,2153,3934,3835,988.8,-10.9,391,9056,0.00,2.30,0.00,0.000,260,0.000,0.055,2550,3555,3883,3932,3834,0,0,0,0,0,0,28.83,25.78,28.83
$STATE,9074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9074,begin apogee
$GC,9080,-0.13,0.0,2550,2240,3933,3834,992.5,-11.2,392,9272,0.90,0.00,185.45,1.278,10246,0.123,0.000,2822,2235,3046,3085,3007,0,0,0,0,0,0,25.46,28.83,23.15
$STATE,9273,end apogee,CONTROL_FINISHED_OK
$STATE,9273,begin climb
$GC,9275,0.84,214.1,2822,2235,3086,3005,1002.9,0.0,398,9486,0.90,2.60,198.60,1.263,10500,0.044,0.054,3154,3657,2172,2214,2131,0,0,0,0,0,0,24.58,24.18,22.90
$GC,9606,0.76,214.1,3155,3658,2202,2128,968.7,17.6,409,9615,0.20,2.25,0.00,0.000,5126,0.174,0.031,3120,2252,2165,2202,2128,0,0,0,0,0,0,25.34,25.65,28.83
$GC,9912,0.71,214.1,3118,2249,2202,2122,915.0,16.6,419,9922,0.00,2.22,0.00,0.000,516,0.000,0.041,3127,850,2161,2200,2122,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9967,0.67,214.1,3127,850,2201,2121,910.1,16.7,420,9978,0.15,2.22,0.00,0.000,5126,0.171,0.037,3091,2257,2160,2201,2119,0,0,0,0,0,0,25.93,26.22,28.83
$GC,10272,0.65,214.1,3091,2257,2202,2119,856.7,16.2,431,10280,0.00,2.28,0.00,0.000,260,0.000,0.054,3091,3658,2159,2199,2119,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10325,0.62,214.1,3091,3659,2200,2119,851.0,16.5,432,10333,0.00,2.20,0.00,0.000,1030,0.000,0.031,3099,2249,2158,2198,2118,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,16714,end climb,SURFACE_DEPTH_REACHED
$STATE,16714,begin surface coast
$FINISH,0.3,1.021304
$STATE,16734,end surface coast,CONTROL_FINISHED_OK
$STATE,16734,begin surface
$SM_CCo,16813,0.00,0.000,0,0,1439,393.71
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$IRIDIUM_FIX,1241.04,14428.77,061114,081724
$TT8_MAMPS,0.053179,0.053179
$HUMID,50.35
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,24.20
$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,16767.12 7551.58
$PA_BOOTCOUNT,207
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$PA_LOG,0.06/0.120/1.969/1.749
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$PA_HOME,0.04/0.069/1.764/1.605
$PA_DISK_BANK,3
$24V_AH,22.90,66.878
$10V_AH,9.94,39.353
$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,23.100,155.350,535.600,0.000,0.000,0.000,0.000,291.275,0.000,17275.480,34.097,0.000,13273.101,627.957,3099.856,223.945,0.000,2293.347,0.000,1688.719,0.000,0.550,0.000
$DEVICE_MAMPS,241.740,55.080,1278.315,0.000,0.000,0.000,0.000,92.565,420.000,64.749,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,262856
$DATA_FILE_SIZE,36707,802
$CAP_FILE_SIZE,153196,0
$CFSIZE,260034560,241111040
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$INTR,1,1603.39,0x23381e,0,24
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$GPS,061114,174519,1247.477,14427.455,54,1.0,74,1.6