version: 66.12
glider: 203
mission: 8
dive: 153
start: 8 7 115 21 28 16
data:
$ID,203
$MISSION,8
$DIVE,153
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,950
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,50
$T_BOOST,4
$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,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52079
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0065996498
$HD_B,0.0098683201
$HD_C,1.5339499e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,202
$PITCH_MAX,3901
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,105
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,21
$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,-62.66111
$PRESSURE_SLOPE,0.0001160131
$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,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-1
$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,0.0043923887
$SEABIRD_T_H,0.00063351821
$SEABIRD_T_I,2.5271875e-05
$SEABIRD_T_J,3.0515032e-06
$SEABIRD_C_G,-9.7838888
$SEABIRD_C_H,1.1409903
$SEABIRD_C_I,-0.00071586663
$SEABIRD_C_J,0.00012479167
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,070815,211104,5643.4121,-15122.4209,24,1.0,25,16.3,0.0,89.4,8,9.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-62.9
$GPS2,070815,212805,5643.3242,-15122.1533,6,1.0,12,16.3,0.6,86.8,8,9.1
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,11.7,54258,-17.4,-10.556,-19.06,2832
$D_GRID,1059
$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,88,end surface,CONTROL_FINISHED_OK
$STATE,89,begin dive
$GC,90,-0.89,-194.6,192,2807,1135,1036,0.0,0.0,0,131,0.00,0.00,-38.15,0.000,16386,0.000,0.000,192,2806,2116,2160,2072,0,0,0,0,0,0,26.02,28.83,26.09
$GC,132,-0.89,-194.6,193,2806,2162,2074,3.4,-5.5,6,186,8.52,2.25,-35.67,0.000,18948,0.225,0.034,2340,1337,3637,3709,3565,0,0,0,0,0,0,25.50,24.28,25.82
$GC,410,-0.86,-194.6,2340,1339,3710,3570,57.6,-18.3,56,425,0.08,2.05,0.00,0.000,3078,0.132,0.024,2358,2707,3635,3703,3568,0,0,0,0,0,0,25.79,25.99,25.89
$GC,720,-0.86,-194.6,2359,2708,3710,3573,110.7,-18.4,87,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2707,3640,3709,3571,0,0,0,0,0,0,26.10,26.16,26.15
$GC,1021,-0.88,-194.6,2358,2709,3710,3573,162.0,-16.4,117,1029,0.00,2.08,0.00,0.000,516,0.000,0.022,2359,1346,3638,3709,3567,0,0,0,0,0,0,26.10,26.05,26.16
$GC,1058,-0.88,-194.6,2359,1336,3710,3571,167.1,-15.6,120,1069,0.00,2.08,0.00,0.000,1030,0.000,0.025,2352,2706,3640,3709,3571,0,0,0,0,0,0,26.13,26.08,26.15
$GC,1363,-0.88,-194.6,2352,2708,3710,3571,214.4,-14.7,151,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2706,3643,3709,3577,0,0,0,0,0,0,26.12,26.19,26.18
$GC,1664,-0.89,-194.6,2352,2707,3708,3573,260.1,-15.2,177,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2706,3639,3706,3572,0,0,0,0,0,0,26.07,26.14,26.13
$GC,1963,-0.91,-194.6,2352,2706,3706,3571,305.5,-15.1,187,1971,0.00,2.05,0.00,0.000,516,0.000,0.022,2352,1340,3637,3704,3571,0,0,0,0,0,0,26.10,26.06,26.15
$GC,1995,-0.94,-194.6,2352,1340,3705,3571,309.5,-15.0,188,2003,0.00,2.08,0.00,0.000,1030,0.000,0.025,2348,2703,3637,3704,3571,0,0,0,0,0,0,26.11,26.06,26.12
$GC,2317,-0.96,-194.6,2348,2705,3703,3572,354.8,-13.3,199,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2704,3637,3702,3572,0,0,0,0,0,0,26.10,26.17,26.15
$GC,2617,-0.98,-194.6,2348,2704,3701,3571,393.1,-12.9,209,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2704,3636,3700,3572,0,0,0,0,0,0,26.08,26.13,26.13
$GC,2917,-1.00,-194.6,2348,2704,3699,3571,431.9,-13.1,219,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2704,3633,3697,3570,0,0,0,0,0,0,26.09,26.16,26.15
$GC,3217,-1.02,-194.6,2348,2705,3696,3572,469.9,-12.7,229,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2704,3633,3695,3571,0,0,0,0,0,0,26.11,26.18,26.17
$GC,3517,-1.04,-194.6,2348,2704,3695,3571,505.9,-12.1,239,3524,0.00,1.77,0.00,0.000,260,0.000,0.037,2339,3853,3632,3693,3571,0,0,0,0,0,0,26.08,25.99,26.15
$GC,3549,-1.06,-194.6,2339,3856,3695,3572,509.8,-12.1,240,3556,0.00,1.65,0.00,0.000,1030,0.000,0.021,2339,2702,3632,3693,3571,0,0,0,0,0,0,26.12,26.10,26.13
$GC,3880,-1.08,-194.6,2339,2698,3692,3573,550.4,-12.0,251,3891,0.08,2.03,0.00,0.000,4612,0.122,0.021,2283,1330,3631,3691,3571,0,0,0,0,0,0,25.95,26.03,26.03
$GC,3925,-1.08,-194.6,2283,1330,3692,3571,554.5,-12.3,252,3933,0.00,2.10,0.00,0.000,1030,0.000,0.025,2279,2702,3630,3690,3571,0,0,0,0,0,0,26.10,26.05,26.12
$GC,4237,-1.05,-194.6,2280,2703,3690,3572,604.4,-15.2,263,4245,0.10,2.10,0.00,0.000,2564,0.177,0.021,2301,1330,3630,3689,3571,0,0,0,0,0,0,25.84,26.01,25.95
$GC,4309,-1.05,-194.6,2301,1331,3689,3572,612.7,-14.9,265,4316,0.00,2.10,0.00,0.000,1030,0.000,0.026,2295,2703,3630,3689,3571,0,0,0,0,0,0,26.10,26.04,26.12
$GC,4626,-1.05,-194.6,2295,2704,3688,3573,662.9,-15.5,276,4633,0.00,1.80,0.00,0.000,260,0.000,0.040,2293,3852,3629,3687,3571,0,0,0,0,0,0,26.08,25.97,26.14
$GC,4687,-1.05,-194.6,2293,3853,3688,3573,672.9,-15.7,278,4694,0.00,1.65,0.00,0.000,1030,0.000,0.022,2293,2700,3629,3688,3571,0,0,0,0,0,0,26.11,26.08,26.13
$GC,5022,-1.05,-194.6,2293,2695,3687,3571,725.1,-16.0,289,5029,0.00,1.80,0.00,0.000,260,0.000,0.038,2293,3843,3628,3686,3571,0,0,0,0,0,0,26.08,25.96,26.13
$GC,5067,-1.05,-194.6,2294,3846,3686,3571,730.8,-15.9,290,5074,0.00,1.65,0.00,0.000,1030,0.000,0.022,2293,2696,3628,3686,3571,0,0,0,0,0,0,26.13,26.10,26.14
$GC,5384,-1.05,-194.6,2293,2691,3685,3573,783.3,-15.7,301,5392,0.00,2.05,0.00,0.000,516,0.000,0.023,2293,1330,3627,3684,3571,0,0,0,0,0,0,26.08,26.01,26.13
$GC,5416,-1.05,-194.6,2293,1329,3685,3573,788.0,-15.3,302,5424,0.00,2.12,0.00,0.000,1030,0.000,0.026,2293,2712,3627,3684,3571,0,0,0,0,0,0,26.05,26.00,26.07
$GC,5743,-1.05,-194.6,2293,2714,3683,3572,837.6,-14.9,313,5748,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2713,3626,3682,3571,0,0,0,0,0,0,26.06,26.13,26.13
$GC,6043,-1.05,-194.6,2292,2713,3682,3571,881.4,-13.3,323,6050,0.00,1.75,0.00,0.000,260,0.000,0.039,2293,3845,3626,3681,3571,0,0,0,0,0,0,26.08,25.95,26.15
$GC,6094,-1.05,-194.6,2293,3844,3682,3570,886.3,-13.5,324,6102,0.00,1.70,0.00,0.000,1030,0.000,0.021,2292,2693,3626,3681,3571,0,0,0,0,0,0,26.09,26.07,26.10
$GC,6406,-1.05,-194.6,2292,2699,3682,3574,934.7,-14.2,335,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2693,3625,3680,3571,0,0,0,0,0,0,26.07,26.15,26.13
$STATE,6525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6525,begin apogee
$GC,6529,-0.25,0.0,2294,2811,3681,3573,952.6,-14.9,339,6717,0.85,0.00,174.75,1.471,10246,0.116,0.000,2558,2810,2840,2878,2803,0,0,0,0,1,0,25.69,23.71,22.80
$STATE,6717,end apogee,CONTROL_FINISHED_OK
$STATE,6717,begin climb
$GC,6719,0.89,194.6,2559,2811,2889,2805,964.8,0.0,345,6904,1.05,2.35,170.35,1.059,11012,0.046,0.021,2932,1423,2037,2075,1999,0,0,0,0,0,0,23.99,23.95,23.25
$GC,7023,0.86,290.1,2932,1424,2071,1993,961.8,7.1,355,7115,0.00,2.17,80.90,1.060,9222,0.000,0.025,2932,2796,1654,1698,1611,0,0,0,0,0,0,25.28,25.23,23.68
$GC,7429,0.86,302.0,2932,2797,1686,1595,917.9,10.1,369,7446,0.00,1.65,9.48,1.029,8452,0.000,0.037,2932,3853,1606,1652,1560,0,0,0,0,0,0,25.90,25.42,24.82
$GC,7485,0.84,311.7,2932,3853,1648,1555,914.6,10.2,370,7503,0.00,1.52,10.52,1.027,9222,0.000,0.022,2932,2784,1567,1613,1521,0,0,0,0,0,0,25.90,25.88,24.74
$GC,7818,0.85,372.6,2932,2783,1604,1511,881.9,8.3,382,7883,0.00,1.73,54.92,1.025,8452,0.000,0.037,2932,3848,1311,1357,1265,0,0,0,0,0,0,26.06,25.20,24.45
$GC,7944,0.81,372.6,2932,3848,1354,1258,867.1,11.8,386,7951,0.00,1.50,0.00,0.000,1030,0.000,0.022,2932,2803,1304,1352,1257,0,0,0,0,0,0,25.70,25.67,25.71
$GC,8276,0.81,372.6,2932,2801,1350,1254,821.4,13.0,397,8284,0.00,2.10,0.00,0.000,516,0.000,0.025,2932,1438,1302,1350,1254,0,0,0,0,0,0,26.07,26.06,26.14
$GC,8308,0.81,372.6,2932,1428,1350,1254,817.4,12.4,398,8316,0.00,2.12,0.00,0.000,1030,0.000,0.026,2932,2808,1301,1349,1254,0,0,0,0,0,0,26.11,26.06,26.13
$GC,8635,0.81,372.6,2932,2810,1349,1253,769.8,15.2,409,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2809,1300,1349,1252,0,0,0,0,0,0,26.13,26.20,26.20
$GC,8935,0.81,372.6,2932,2811,1350,1253,724.2,15.1,419,8944,0.00,2.10,0.00,0.000,516,0.000,0.024,2932,1428,1300,1348,1252,0,0,0,0,0,0,26.13,26.12,26.20
$GC,8962,0.81,372.6,2932,1429,1349,1254,724.2,15.1,419,8973,0.00,2.10,0.00,0.000,1030,0.000,0.026,2932,2803,1300,1348,1252,0,0,0,0,0,0,26.17,26.13,26.19
$GC,9268,0.81,372.6,2932,2805,1348,1253,677.2,13.7,430,9276,0.00,1.62,0.00,0.000,260,0.000,0.039,2932,3854,1299,1348,1251,0,0,0,0,0,0,26.13,26.06,26.20
$GC,9335,0.81,372.6,2932,3855,1349,1250,668.2,14.0,432,9342,0.00,1.50,0.00,0.000,1030,0.000,0.022,2932,2786,1299,1347,1251,0,0,0,0,0,0,26.20,26.16,26.21
$GC,9661,0.81,372.6,2932,2787,1347,1247,625.7,12.7,443,9669,0.00,1.67,0.00,0.000,260,0.000,0.039,2932,3857,1298,1347,1250,0,0,0,0,0,0,26.13,26.06,26.19
$GC,9733,0.81,372.6,2932,3857,1349,1250,617.1,13.2,445,9740,0.00,1.50,0.00,0.000,1030,0.000,0.021,2932,2789,1299,1348,1250,0,0,0,0,0,0,26.17,26.15,26.18
$GC,10054,0.81,372.6,2932,2790,1349,1252,575.8,12.0,456,10062,0.00,2.03,0.00,0.000,516,0.000,0.024,2932,1438,1298,1347,1250,0,0,0,0,0,0,26.12,26.10,26.18
$GC,10086,0.81,372.6,2932,1438,1349,1249,572.1,11.9,457,10094,0.00,2.10,0.00,0.000,1030,0.000,0.026,2932,2811,1298,1347,1250,0,0,0,0,0,0,26.14,26.08,26.16
$GC,10413,0.81,372.6,2932,2812,1348,1259,532.7,12.1,468,10423,0.00,1.65,0.00,0.000,260,0.000,0.039,2932,3846,1298,1347,1250,0,0,0,0,0,0,26.08,26.03,26.15
$GC,10567,0.81,372.6,2931,3848,1349,1251,512.2,13.5,473,10574,0.00,1.50,0.00,0.000,1030,0.000,0.022,2932,2784,1298,1347,1249,0,0,0,0,0,0,26.15,26.13,26.17
$GC,10899,0.83,372.6,2932,2780,1348,1249,471.4,12.5,484,10908,0.00,1.73,0.00,0.000,260,0.000,0.038,2932,3850,1298,1347,1250,0,0,0,0,0,0,26.11,26.02,26.17
$GC,10947,0.83,372.6,2932,3852,1348,1251,466.8,12.8,485,10955,0.00,1.50,0.00,0.000,1030,0.000,0.022,2932,2785,1298,1347,1249,0,0,0,0,0,0,26.16,26.13,26.17
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$GC,11991,0.86,372.6,2945,2804,1348,1251,334.7,13.1,520,11996,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2803,1298,1347,1249,0,0,0,0,0,0,26.09,26.16,26.15
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$STATE,14815,end climb,SURFACE_DEPTH_REACHED
$STATE,14815,begin surface coast
$FINISH,1.3,1.023574
$STATE,14820,end surface coast,CONTROL_FINISHED_OK
$STATE,14820,begin surface
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$IRIDIUM_FIX,5617.48,-15431.02,030608,104621
$TT8_MAMPS,0.059171,0.059171
$HUMID,38.97
$INTERNAL_PRESSURE,8.8208
$TCM_TEMP,17.80
$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,1654118
$PA_UPTIME,14853.22 7154.44
$PA_BOOTCOUNT,460
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$PA_LOG,0.01/0.268/31.498/29.630
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$PA_HOME,0.01/0.213/27.046/25.459
$PA_DISK_BANK,3
$24V_AH,22.80,54.963
$10V_AH,10.22,36.684
$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,18.325,101.275,547.300,0.000,0.000,0.000,0.000,682.625,0.250,15917.171,13.933,0.000,11901.415,599.286,3256.689,149.017,0.000,2500.440,0.000,1619.992,0.000,0.548,0.000
$DEVICE_MAMPS,224.910,71.145,1471.095,0.000,0.000,0.000,0.000,87.210,420.000,61.725,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,549.990,0.000,0.000,0.000,0.000,0.000,15917.330,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.374,0.000,0.000,0.000
$MEM,143372
$DATA_FILE_SIZE,33489,803
$CAP_FILE_SIZE,138562,0
$CFSIZE,1024393216,981450752
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,16677.50,0x236db2,7,5
$INTR,1,4691.60,0x212970,0,24
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$GPS,080815,013729,5645.314,-15120.024,36,0.9,38,16.4,0.3,178.2,9,9.1