version: 66.12
glider: 203
mission: 6
dive: 132
start: 1 5 115 23 47 17
data:
$ID,203
$MISSION,6
$DIVE,132
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,360
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52103
$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,4
$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,20
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2815
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,97
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2608
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,22.5
$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,-63.024231
$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
$GPS1,050115,234134,1844.6107,-15714.2480,23,0.9,23,9.5,0.6,199.8,8,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-66.0
$GPS2,050115,234706,1844.5203,-15714.2988,12,0.9,12,9.5,0.6,202.2,9,7.9
$SPEED_LIMITS,0.092,0.264
$TGT_NAME,H5
$TGT_LATLONG,1847.590,-15702.740
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,31.4,21047,-17.4,-9.167,-19.15,2608
$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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.90,-155.7,189,2789,1020,932,0.0,0.0,0,133,0.00,0.00,-33.70,0.000,16386,0.000,0.000,189,2790,1965,1987,1944,0,0,0,0,0,0,26.13,28.83,26.20
$GC,134,-0.90,-155.7,190,2791,1989,1945,3.2,-3.5,5,186,8.90,1.52,-36.90,0.000,18948,0.212,0.044,2504,1766,3244,3306,3182,0,0,0,0,0,0,25.73,24.55,26.00
$GC,268,-0.90,-155.7,2505,1766,3308,3185,23.5,-23.2,26,274,0.00,1.60,0.00,0.000,1030,0.000,0.032,2499,2800,3245,3308,3183,0,0,0,0,0,0,26.17,26.13,26.19
$GC,579,-0.90,-155.7,2500,2802,3309,3187,98.2,-22.1,68,586,0.00,1.60,0.00,0.000,260,0.000,0.044,2491,3855,3246,3307,3186,0,0,0,0,0,0,26.22,26.13,26.29
$GC,680,-0.90,-155.7,2488,3855,3308,3187,120.5,-21.1,78,687,0.08,1.50,0.00,0.000,3078,0.181,0.023,2506,2827,3247,3308,3186,0,0,0,0,0,0,26.06,26.25,26.17
$GC,991,-0.90,-155.7,2506,2828,3311,3189,178.7,-15.7,109,999,0.00,1.55,0.00,0.000,516,0.000,0.023,2506,1761,3249,3310,3188,0,0,0,0,0,0,26.23,26.25,26.29
$GC,1097,-0.90,-155.7,2506,1761,3312,3188,194.8,-15.9,119,1109,0.00,1.55,0.00,0.000,1030,0.000,0.032,2501,2803,3249,3311,3188,0,0,0,0,0,0,26.27,26.22,26.29
$GC,1403,-0.90,-155.7,2501,2804,3314,3189,240.7,-14.5,150,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2804,3251,3313,3190,0,0,0,0,0,0,26.25,26.32,26.32
$GC,1713,-0.90,-155.7,2501,2804,3314,3192,286.8,-15.1,165,1720,0.00,1.50,0.00,0.000,516,0.000,0.022,2501,1760,3252,3313,3192,0,0,0,0,0,0,26.26,26.27,26.32
$GC,1794,-0.90,-155.7,2501,1762,3314,3193,295.6,-15.0,167,1801,0.00,1.58,0.00,0.000,1030,0.000,0.033,2497,2813,3252,3314,3191,0,0,0,0,0,0,26.28,26.22,26.30
$GC,2106,-0.90,-155.7,2497,2814,3314,3193,340.1,-13.2,178,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2813,3252,3312,3192,0,0,0,0,0,0,26.26,26.32,26.32
$GC,2405,-0.90,-155.7,2497,2813,3313,3191,375.8,-11.6,188,2414,0.00,1.58,0.00,0.000,260,0.000,0.045,2489,3852,3251,3311,3191,0,0,0,0,0,0,26.26,26.19,26.32
$GC,2503,-0.90,-155.7,2489,3853,3311,3193,387.9,-12.8,191,2510,0.03,1.50,0.00,0.000,3078,0.264,0.024,2501,2788,3250,3310,3191,0,0,0,0,0,0,26.12,26.29,26.22
$GC,2830,-0.90,-155.7,2502,2790,3306,3192,427.5,-11.4,202,2837,0.00,1.65,0.00,0.000,260,0.000,0.046,2498,3853,3248,3305,3191,0,0,0,0,0,0,26.26,26.17,26.32
$GC,2912,-0.90,-155.7,2498,3854,3305,3193,435.0,-11.7,204,2918,0.00,1.50,0.00,0.000,1030,0.000,0.024,2498,2794,3247,3303,3191,0,0,0,0,0,0,26.31,26.28,26.32
$GC,3223,-0.90,-155.7,2497,2794,3302,3191,477.3,-13.7,215,3230,0.00,1.65,0.00,0.000,260,0.000,0.046,2490,3856,3245,3300,3191,0,0,0,0,0,0,26.25,26.17,26.32
$GC,3343,-0.90,-155.7,2490,3856,3298,3191,495.3,-14.8,219,3352,0.05,1.50,0.00,0.000,3078,0.142,0.025,2507,2833,3244,3297,3191,0,0,0,0,0,0,26.07,26.28,26.14
$GC,3676,-0.90,-155.7,2507,2833,3290,3191,539.0,-12.8,230,3685,0.00,1.55,0.00,0.000,516,0.000,0.023,2507,1751,3242,3293,3191,0,0,0,0,0,0,26.23,26.22,26.29
$GC,3719,-0.90,-155.7,2507,1753,3294,3192,543.2,-12.7,231,3726,0.00,1.62,0.00,0.000,1030,0.000,0.036,2500,2823,3242,3293,3191,0,0,0,0,0,0,26.27,26.20,26.29
$GC,4040,-0.90,-155.7,2501,2824,3289,3191,583.7,-12.0,242,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2823,3239,3288,3191,0,0,0,0,0,0,26.24,26.32,26.30
$GC,4340,-0.90,-155.7,2506,2823,3284,3190,618.7,-12.0,252,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2824,3237,3283,3191,0,0,0,0,0,0,26.25,26.32,26.31
$GC,4640,-0.90,-155.7,2501,2823,3284,3188,653.3,-11.3,262,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2824,3234,3281,3188,0,0,0,0,0,0,26.22,26.29,26.29
$GC,4940,-0.90,-155.7,2502,2823,3281,3186,686.3,-10.9,272,4947,0.00,1.55,0.00,0.000,516,0.000,0.023,2502,1753,3233,3279,3187,0,0,0,0,0,0,26.23,26.21,26.30
$GC,5002,-0.90,-155.7,2501,1755,3280,3187,693.1,-11.0,274,5009,0.00,1.62,0.00,0.000,1030,0.000,0.035,2498,2818,3233,3279,3188,0,0,0,0,0,0,26.23,26.14,26.23
$GC,5333,-0.90,-155.7,2498,2819,3279,3185,731.5,-11.6,285,5342,0.00,1.62,0.00,0.000,260,0.000,0.049,2497,3859,3230,3277,3184,0,0,0,0,0,0,26.18,26.06,26.24
$GC,5426,-0.90,-155.7,2497,3860,3277,3185,742.6,-11.9,288,5434,0.00,1.52,0.00,0.000,1030,0.000,0.027,2498,2804,3229,3276,3183,0,0,0,0,0,0,26.19,26.16,26.20
$GC,5759,-0.90,-155.7,2494,2804,3275,3182,781.3,-11.7,299,5765,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2804,3227,3273,3182,0,0,0,0,0,0,26.18,26.26,26.25
$GC,6059,-0.90,-155.7,2497,2805,3272,3182,816.9,-11.9,309,6066,0.00,1.65,0.00,0.000,260,0.000,0.050,2497,3847,3226,3271,3182,0,0,0,0,0,0,26.19,26.06,26.25
$GC,6130,-0.90,-155.7,2497,3849,3272,3183,824.3,-11.9,311,6138,0.00,1.50,0.00,0.000,1030,0.000,0.028,2497,2811,3226,3271,3181,0,0,0,0,0,0,26.23,26.20,26.25
$GC,6453,-0.90,-155.7,2497,2812,3271,3182,863.1,-11.4,322,6460,0.00,1.52,0.00,0.000,516,0.000,0.024,2497,1752,3225,3270,3181,0,0,0,0,0,0,26.18,26.18,26.25
$GC,6509,-0.90,-155.7,2497,1754,3270,3182,866.6,-11.4,323,6519,0.00,1.62,0.00,0.000,1030,0.000,0.037,2497,2811,3225,3269,3181,0,0,0,0,0,0,26.18,26.11,26.21
$GC,6814,-0.90,-155.7,2497,2810,3268,3178,903.3,-11.1,334,6822,0.00,1.62,0.00,0.000,260,0.000,0.050,2497,3847,3223,3267,3179,0,0,0,0,0,0,26.18,26.04,26.25
$GC,6851,-0.90,-155.7,2496,3847,3266,3179,907.1,-11.3,335,6857,0.00,1.55,0.00,0.000,1030,0.000,0.027,2497,2815,3222,3266,3179,0,0,0,0,0,0,26.19,26.16,26.20
$GC,7177,-0.90,-155.7,2497,2815,3266,3178,944.5,-11.4,346,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2815,3219,3260,3178,0,0,0,0,0,0,26.17,26.25,26.24
$GC,7476,-0.90,-155.7,2497,2816,3265,3177,979.3,-11.7,356,7485,0.00,1.65,0.00,0.000,260,0.000,0.049,2497,3853,3220,3264,3176,0,0,0,0,0,0,26.15,26.02,26.22
$GC,7564,-0.90,-155.7,2497,3853,3265,3175,986.8,-11.8,358,7575,0.00,1.52,0.00,0.000,1030,0.000,0.028,2497,2806,3219,3263,3176,0,0,0,0,0,0,26.18,26.15,26.20
$STATE,7598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7598,begin apogee
$GC,7601,-0.19,0.0,2498,2947,3265,3178,994.0,-11.9,360,7742,0.77,0.00,128.50,1.513,10244,0.121,0.000,2738,2947,2608,2647,2569,0,0,0,0,1,0,25.82,24.41,23.51
$STATE,7742,end apogee,CONTROL_FINISHED_OK
$STATE,7743,begin climb
$GC,7744,0.90,155.7,2739,2947,2663,2569,1000.6,0.0,364,7891,1.00,1.52,136.20,1.049,10500,0.074,0.050,3083,3840,1972,2011,1933,0,0,0,0,0,0,24.61,24.63,23.44
$GC,7940,1.02,231.7,3088,3840,1997,1916,995.2,6.2,371,8019,0.08,1.40,65.43,1.032,11270,0.057,0.027,3154,2954,1651,1693,1610,0,0,0,0,0,0,24.84,24.85,23.64
$GC,8315,1.02,231.7,3154,2954,1683,1596,939.0,15.3,384,8322,0.00,1.48,0.00,0.000,260,0.000,0.048,3154,3851,1639,1682,1597,0,0,0,0,0,0,25.84,25.82,25.91
$GC,8371,1.02,231.7,3154,3852,1682,1597,933.8,15.7,385,8381,0.00,1.35,0.00,0.000,1030,0.000,0.028,3161,2948,1639,1681,1597,0,0,0,0,0,0,25.98,25.97,25.98
$GC,8676,1.02,231.7,3161,2947,1682,1594,880.7,15.9,396,8682,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2948,1637,1680,1595,0,0,0,0,0,0,26.13,26.20,26.20
$GC,8976,1.02,231.7,3161,2949,1680,1596,833.0,16.3,406,8983,0.00,1.52,0.00,0.000,516,0.000,0.024,3163,1902,1637,1679,1595,0,0,0,0,0,0,26.17,26.20,26.24
$GC,9017,1.02,231.7,3163,1902,1680,1596,828.0,16.1,407,9024,0.00,1.60,0.00,0.000,1030,0.000,0.034,3163,2950,1636,1679,1594,0,0,0,0,0,0,26.17,26.11,26.20
$GC,9338,1.02,231.7,3163,2952,1679,1596,773.8,16.5,418,9343,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2950,1636,1678,1594,0,0,0,0,0,0,26.19,26.26,26.26
$GC,9638,1.02,231.7,3163,2950,1679,1593,725.2,15.8,428,9645,0.00,1.42,0.00,0.000,260,0.000,0.047,3163,3846,1635,1677,1594,0,0,0,0,0,0,26.18,26.13,26.25
$GC,9744,1.02,231.7,3163,3846,1678,1593,709.9,16.6,431,9751,0.00,1.33,0.00,0.000,1030,0.000,0.027,3163,2944,1635,1677,1594,0,0,0,0,0,0,26.25,26.20,26.23
$GC,10060,1.02,231.7,3163,2945,1677,1595,657.5,15.8,442,10068,0.00,1.52,0.00,0.000,516,0.000,0.024,3162,1902,1635,1676,1594,0,0,0,0,0,0,26.17,26.17,26.24
$GC,10097,1.02,231.7,3163,1902,1678,1593,652.5,15.8,443,10104,0.00,1.60,0.00,0.000,1030,0.000,0.035,3163,2949,1635,1677,1594,0,0,0,0,0,0,26.20,26.14,26.23
$GC,10425,1.02,231.7,3160,2949,1678,1593,601.8,15.2,454,10430,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2949,1634,1676,1593,0,0,0,0,0,0,26.16,26.24,26.23
$GC,10723,1.02,231.7,3163,2950,1677,1595,558.3,14.0,464,10728,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2949,1634,1676,1593,0,0,0,0,0,0,26.15,26.24,26.22
$GC,11023,1.02,231.7,3163,2950,1676,1595,517.0,13.7,474,11030,0.00,1.52,0.00,0.000,516,0.000,0.024,3167,1907,1634,1675,1593,0,0,0,0,0,0,26.15,26.15,26.22
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$STATE,15735,end climb,SURFACE_DEPTH_REACHED
$STATE,15735,begin surface coast
$FINISH,1.2,1.023039
$STATE,15755,end surface coast,CONTROL_FINISHED_OK
$STATE,15755,begin surface
$SM_CCo,15769,64.82,0.121,0,0,973,400.08
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$IRIDIUM_FIX,1835.04,-15714.40,050115,194718
$TT8_MAMPS,0.058422,0.058422
$HUMID,35.54
$INTERNAL_PRESSURE,9.23
$TCM_TEMP,25.60
$XPDR_PINGS,2
$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,15791.27 7809.83
$PA_BOOTCOUNT,212
$PA_DFQS,0/0
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$PA_DATA0,0.47/55.302/117.199/55.943
$PA_ROOT,0.76/0.092/0.121/0.022
$PA_HOME,0.01/0.195/27.046/25.477
$PA_DISK_BANK,1
$24V_AH,23.44,41.070
$10V_AH,10.26,32.288
$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,18.875,89.800,330.125,64.825,0.000,0.000,0.000,241.750,0.500,16138.670,12.599,0.000,12400.724,488.933,3139.805,127.108,0.000,2034.492,0.000,1794.431,0.000,0.555,0.000
$DEVICE_MAMPS,263.925,65.790,1513.170,120.870,0.000,0.000,0.000,91.035,420.000,61.661,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,584.714,0.000,0.000,0.000,0.000,0.000,16138.620,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.376,0.000,0.000,0.000
$MEM,287824
$DATA_FILE_SIZE,36741,866
$CAP_FILE_SIZE,187273,0
$CFSIZE,1024393216,1005813760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,3,0
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$CURRENT,0.193,188.64,1
$GPS,060115,041204,1844.778,-15712.747,34,0.7,34,9.5,0.8,205.1,11,7.5