version: 66.12
glider: 203
mission: 6
dive: 176
start: 1 15 115 0 5 32
data:
$ID,203
$MISSION,6
$DIVE,176
$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,81
$R_STBD_OVSHOOT,40
$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
$GPS1,140115,235752,1948.9967,-15724.5449,38,0.7,38,9.5,0.5,230.9,12,9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-65.4
$GPS2,150115,000521,1949.0035,-15724.6289,6,0.7,6,9.5,0.0,0.0,12,10.8
$SPEED_LIMITS,0.092,0.264
$TGT_NAME,H7
$TGT_LATLONG,2015.120,-15751.550
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,319.1,67286,-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,-155.7,188,2769,1020,929,0.0,0.0,0,142,0.00,0.00,-43.17,0.000,16386,0.000,0.000,187,2770,2242,2265,2220,0,0,0,0,0,0,26.10,28.83,26.17
$GC,144,-0.90,-155.7,188,2771,2266,2221,3.3,-3.7,4,192,8.88,1.73,-25.95,0.000,18692,0.211,0.060,2497,3849,3245,3309,3181,0,0,0,0,0,0,25.64,24.38,25.94
$GC,450,-0.90,-155.7,2497,3850,3310,3185,65.9,-22.6,48,461,0.00,1.50,0.00,0.000,1030,0.000,0.023,2497,2791,3246,3309,3183,0,0,0,0,0,0,26.10,26.07,26.12
$GC,766,-0.90,-155.7,2497,2791,3311,3185,129.4,-18.7,79,774,0.00,1.67,0.00,0.000,260,0.000,0.043,2489,3852,3247,3309,3186,0,0,0,0,0,0,26.19,26.06,26.25
$GC,972,-0.90,-155.7,2488,3851,3311,3187,167.4,-19.4,99,983,0.10,1.50,0.00,0.000,3078,0.161,0.022,2511,2787,3248,3309,3188,0,0,0,0,0,0,25.94,26.20,26.06
$GC,1278,-0.90,-155.7,2511,2786,3313,3188,214.4,-14.3,130,1285,0.00,1.65,0.00,0.000,260,0.000,0.044,2505,3857,3250,3312,3188,0,0,0,0,0,0,26.19,26.08,26.25
$GC,1374,-0.90,-155.7,2505,3859,3313,3190,228.3,-15.4,139,1386,0.00,1.50,0.00,0.000,1030,0.000,0.023,2505,2788,3250,3312,3189,0,0,0,0,0,0,26.24,26.21,26.25
$GC,1681,-0.90,-155.7,2505,2788,3314,3190,270.3,-12.8,160,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2788,3251,3313,3190,0,0,0,0,0,0,26.21,26.28,26.27
$GC,1981,-0.90,-155.7,2505,2789,3314,3191,309.1,-13.4,170,1988,0.00,1.65,0.00,0.000,260,0.000,0.044,2498,3854,3251,3312,3190,0,0,0,0,0,0,26.22,26.08,26.28
$GC,2006,-0.90,-155.7,2498,3855,3313,3190,309.1,-13.4,170,2018,0.00,1.50,0.00,0.000,1030,0.000,0.024,2498,2797,3251,3312,3190,0,0,0,0,0,0,26.25,26.22,26.27
$GC,2312,-0.90,-155.7,2498,2796,3312,3189,354.6,-13.4,181,2319,0.00,1.62,0.00,0.000,260,0.000,0.045,2491,3849,3250,3311,3189,0,0,0,0,0,0,26.21,26.07,26.27
$GC,2448,-0.90,-155.7,2491,3850,3311,3191,371.7,-14.1,185,2455,0.10,1.50,0.00,0.000,3078,0.157,0.024,2513,2788,3250,3310,3190,0,0,0,0,0,0,25.96,26.21,26.08
$GC,2765,-0.90,-155.7,2513,2788,3307,3191,413.4,-12.0,196,2773,0.00,1.50,0.00,0.000,516,0.000,0.022,2514,1759,3247,3305,3189,0,0,0,0,0,0,26.21,26.17,26.27
$GC,2806,-0.90,-155.7,2513,1758,3306,3189,417.3,-11.9,197,2814,0.00,1.62,0.00,0.000,1030,0.000,0.035,2510,2800,3247,3305,3189,0,0,0,0,0,0,26.15,26.13,26.20
$GC,3129,-0.90,-155.7,2510,2799,3302,3189,456.7,-12.4,208,3136,0.00,1.62,0.00,0.000,260,0.000,0.047,2502,3853,3245,3301,3189,0,0,0,0,0,0,26.20,26.06,26.26
$GC,3260,-0.90,-155.7,2502,3854,3300,3190,473.6,-13.8,212,3266,0.00,1.50,0.00,0.000,1030,0.000,0.024,2502,2797,3244,3299,3189,0,0,0,0,0,0,26.24,26.21,26.25
$GC,3582,-0.90,-155.7,2503,2798,3295,3191,516.0,-12.7,223,3589,0.00,1.52,0.00,0.000,516,0.000,0.023,2502,1758,3241,3294,3189,0,0,0,0,0,0,26.18,26.16,26.25
$GC,3648,-0.90,-155.7,2502,1759,3294,3190,523.8,-12.7,225,3655,0.00,1.62,0.00,0.000,1030,0.000,0.036,2498,2824,3241,3294,3189,0,0,0,0,0,0,26.15,26.08,26.17
$GC,3975,-0.90,-155.7,2498,2825,3289,3190,566.3,-12.4,236,3982,0.00,1.60,0.00,0.000,260,0.000,0.047,2497,3858,3239,3289,3189,0,0,0,0,0,0,26.17,26.02,26.22
$GC,4067,-0.90,-155.7,2497,3853,3289,3189,577.6,-12.3,239,4075,0.00,1.50,0.00,0.000,1030,0.000,0.025,2497,2802,3238,3287,3189,0,0,0,0,0,0,26.20,26.15,26.19
$GC,4399,-0.90,-155.7,2498,2804,3284,3190,615.6,-11.2,250,4409,0.00,1.70,0.00,0.000,260,0.000,0.049,2497,3848,3236,3283,3189,0,0,0,0,0,0,26.17,26.00,26.22
$GC,4467,-0.90,-155.7,2497,3847,3283,3188,623.1,-11.4,252,4476,0.00,1.50,0.00,0.000,1030,0.000,0.025,2497,2802,3235,3282,3188,0,0,0,0,0,0,26.21,26.18,26.22
$GC,4796,-0.90,-155.7,2497,2803,3281,3187,661.5,-11.9,263,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2802,3233,3280,3186,0,0,0,0,0,0,26.17,26.24,26.23
$GC,5095,-0.90,-155.7,2498,2803,3280,3185,697.5,-12.1,273,5102,0.00,1.67,0.00,0.000,260,0.000,0.050,2497,3854,3231,3278,3184,0,0,0,0,0,0,26.15,25.98,26.22
$GC,5166,-0.90,-155.7,2497,3854,3279,3190,705.0,-12.0,275,5173,0.00,1.52,0.00,0.000,1030,0.000,0.026,2497,2828,3230,3277,3183,0,0,0,0,0,0,26.15,26.14,26.17
$GC,5488,-0.90,-155.7,2497,2828,3278,3182,744.6,-11.7,286,5495,0.00,1.55,0.00,0.000,516,0.000,0.024,2497,1753,3229,3276,3183,0,0,0,0,0,0,26.15,26.10,26.21
$GC,5524,-0.90,-155.7,2497,1754,3276,3183,748.1,-11.4,287,5533,0.00,1.65,0.00,0.000,1030,0.000,0.036,2497,2828,3228,3275,3182,0,0,0,0,0,0,26.11,26.04,26.14
$GC,5853,-0.90,-155.7,2497,2828,3274,3181,785.3,-11.0,298,5860,0.00,1.60,0.00,0.000,260,0.000,0.050,2497,3849,3227,3273,3181,0,0,0,0,0,0,26.13,25.95,26.20
$GC,5909,-0.90,-155.7,2497,3849,3273,3181,789.0,-11.2,299,5919,0.00,1.50,0.00,0.000,1030,0.000,0.027,2497,2819,3226,3272,3181,0,0,0,0,0,0,26.17,26.13,26.18
$GC,6215,-0.90,-155.7,2498,2814,3271,3181,824.5,-10.6,310,6222,0.00,1.65,0.00,0.000,260,0.000,0.049,2497,3849,3225,3271,3179,0,0,0,0,0,0,26.15,25.95,26.21
$GC,6256,-0.90,-155.7,2498,3849,3272,3179,828.0,-10.6,311,6263,0.00,1.50,0.00,0.000,1030,0.000,0.027,2497,2818,3225,3270,3180,0,0,0,0,0,0,26.14,26.10,26.15
$GC,6577,-0.90,-155.7,2497,2819,3270,3180,862.9,-10.6,322,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2818,3223,3268,3179,0,0,0,0,0,0,26.11,26.19,26.17
$GC,6878,-0.90,-155.7,2497,2818,3266,3178,896.9,-11.6,332,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2818,3221,3265,3177,0,0,0,0,0,0,26.11,26.18,26.17
$GC,7178,-0.90,-155.7,2497,2818,3266,3176,931.0,-11.4,342,7185,0.00,1.65,0.00,0.000,260,0.000,0.049,2490,3851,3220,3265,3176,0,0,0,0,0,0,26.12,25.91,26.18
$GC,7234,-0.90,-155.7,2490,3851,3266,3175,935.0,-11.6,343,7244,0.10,1.50,0.00,0.000,3078,0.164,0.027,2512,2822,3220,3265,3175,0,0,0,0,0,0,25.82,26.07,25.94
$GC,7539,-0.90,-155.7,2512,2821,3265,3174,970.8,-10.8,354,7544,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2822,3220,3264,3176,0,0,0,0,0,0,26.08,26.15,26.14
$STATE,7748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7748,begin apogee
$GC,7751,-0.19,0.0,2512,2946,3264,3174,992.8,-10.3,361,7896,0.73,0.00,130.80,1.624,10244,0.114,0.000,2740,2947,2607,2645,2569,0,0,0,0,1,0,25.60,24.03,23.03
$STATE,7897,end apogee,CONTROL_FINISHED_OK
$STATE,7897,begin climb
$GC,7898,0.90,155.7,2741,2947,2664,2571,998.1,0.0,365,8047,1.02,1.60,137.23,1.050,10500,0.068,0.051,3099,3850,1972,2012,1933,0,0,0,0,0,0,24.28,24.30,23.40
$GC,8080,1.03,239.2,3097,3851,1999,1919,991.9,5.9,371,8163,0.05,1.40,72.68,1.034,11270,0.067,0.027,3139,2960,1628,1671,1585,0,0,0,0,0,0,24.68,24.74,23.54
$GC,8467,1.03,239.2,3139,2962,1654,1566,934.0,15.8,384,8475,0.00,1.60,0.00,0.000,516,0.000,0.024,3146,1897,1610,1655,1565,0,0,0,0,0,0,25.96,25.97,26.03
$GC,8533,1.03,239.2,3145,1897,1654,1564,924.8,15.4,386,8540,0.00,1.65,0.00,0.000,1030,0.000,0.036,3146,2960,1608,1653,1564,0,0,0,0,0,0,26.06,26.00,26.09
$GC,8860,1.03,239.2,3146,2960,1652,1563,873.7,15.1,397,8866,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2960,1607,1652,1563,0,0,0,0,0,0,26.16,26.24,26.23
$GC,9159,1.03,239.2,3146,2962,1653,1563,830.3,14.4,407,9168,0.00,1.58,0.00,0.000,516,0.000,0.024,3146,1898,1606,1651,1562,0,0,0,0,0,0,26.17,26.19,26.25
$GC,9202,1.03,239.2,3150,1899,1652,1563,825.8,14.2,408,9211,0.00,1.60,0.00,0.000,1030,0.000,0.037,3150,2942,1606,1651,1562,0,0,0,0,0,0,26.20,26.13,26.22
$GC,9526,1.03,239.2,3150,2942,1651,1560,776.7,15.3,419,9533,0.00,1.58,0.00,0.000,516,0.000,0.024,3150,1907,1605,1650,1561,0,0,0,0,0,0,26.17,26.16,26.24
$GC,9557,1.03,239.2,3150,1907,1651,1561,771.9,15.3,420,9566,0.00,1.60,0.00,0.000,1030,0.000,0.036,3150,2949,1605,1650,1561,0,0,0,0,0,0,26.16,26.09,26.20
$GC,9891,1.03,239.2,3150,2950,1650,1562,720.8,15.1,431,9898,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2949,1605,1649,1561,0,0,0,0,0,0,26.15,26.22,26.22
$GC,10190,1.03,239.2,3150,2949,1650,1560,677.2,14.5,441,10196,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2949,1604,1649,1560,0,0,0,0,0,0,26.15,26.22,26.22
$GC,10490,1.03,239.2,3150,2949,1649,1555,633.3,14.3,451,10495,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2949,1604,1648,1560,0,0,0,0,0,0,26.14,26.21,26.20
$GC,10790,1.03,239.2,3150,2948,1649,1560,593.0,13.0,461,10796,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2949,1604,1648,1560,0,0,0,0,0,0,26.13,26.20,26.20
$GC,11090,1.03,239.2,3151,2950,1647,1561,553.9,12.6,471,11095,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2949,1604,1648,1560,0,0,0,0,0,0,26.12,26.20,26.19
$GC,11390,1.03,239.2,3150,2950,1649,1561,515.4,13.4,481,11397,0.00,1.55,0.00,0.000,516,0.000,0.024,3150,1898,1603,1647,1559,0,0,0,0,0,0,26.11,26.08,26.18
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$STATE,15863,end climb,SURFACE_DEPTH_REACHED
$STATE,15863,begin surface coast
$FINISH,1.4,1.013865
$STATE,15880,end surface coast,CONTROL_FINISHED_OK
$STATE,15880,begin surface
$SM_CCo,15895,40.12,0.126,0,0,974,400.08
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$IRIDIUM_FIX,1941.24,-15727.22,140115,235928
$TT8_MAMPS,0.057673,0.057673
$HUMID,38.38
$INTERNAL_PRESSURE,9.1463
$TCM_TEMP,24.80
$XPDR_PINGS,3
$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,15892.27 7683.00
$PA_BOOTCOUNT,256
$PA_DFQS,0/0
$PA_LOG,0.01/0.238/31.498/29.660
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$PA_DATA0,0.92/107.349/117.199/3.897
$PA_ROOT,0.76/0.092/0.121/0.022
$PA_HOME,0.01/0.204/27.046/25.468
$PA_DISK_BANK,1
$24V_AH,23.03,59.725
$10V_AH,10.22,35.622
$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,18.825,90.500,388.475,40.125,0.000,0.000,0.000,295.725,0.750,16401.939,8.012,0.000,12466.573,492.435,3263.656,149.793,0.000,2109.078,0.000,1748.118,0.000,0.555,0.000
$DEVICE_MAMPS,211.140,70.380,1624.095,126.225,0.000,0.000,0.000,94.095,420.000,61.854,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,564.772,0.000,0.000,0.000,0.000,0.000,16401.990,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.378,0.000,0.000,0.000
$MEM,287728
$DATA_FILE_SIZE,36786,835
$CAP_FILE_SIZE,188434,0
$CFSIZE,1024393216,1000816640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
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$CURRENT,0.048,237.96,1
$GPS,150115,043204,1951.057,-15726.104,38,0.8,38,9.5,0.0,0.0,9,8.5