version: 66.12
glider: 204
mission: 15
dive: 41
start: 3 8 115 1 27 32
data:
$ID,204
$MISSION,15
$DIVE,41
$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,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,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52154
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,500
$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_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3270
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,29
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,84
$R_STBD_OVSHOOT,53
$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,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00145
$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,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,-71.557899
$PRESSURE_SLOPE,0.0001157966
$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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$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,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,080315,012005,1331.5640,14511.0322,36,0.7,36,1.1,0.6,80.6,10,15.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-69.7
$GPS2,080315,012722,1331.5312,14511.0459,6,0.8,6,1.1,0.0,214.8,10,12.0
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N4
$TGT_LATLONG,1306.840,14616.260
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,73.4,126202,-15.8,-10.000,-19.55,2669
$D_GRID,1030
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,93,-0.80,-175.2,195,2628,808,800,0.0,0.0,0,140,0.00,0.00,-43.20,0.000,16386,0.000,0.000,195,2629,1986,1958,2015,0,0,0,0,0,0,26.83,28.83,26.90
$GC,141,-0.80,-175.2,196,2630,1959,2017,3.0,-6.7,7,205,11.35,2.10,-41.78,0.000,18948,0.233,0.042,3013,1211,3555,3528,3583,0,0,0,0,0,0,26.33,25.37,26.57
$GC,263,-0.80,-175.2,3012,1211,3530,3583,24.7,-27.4,28,269,0.00,2.05,0.00,0.000,1030,0.000,0.035,3004,2586,3555,3528,3583,0,0,0,0,0,0,26.72,26.66,26.75
$GC,568,-0.80,-175.2,3005,2586,3529,3583,113.2,-28.4,67,572,0.00,1.67,0.00,0.000,260,0.000,0.044,2996,3691,3555,3528,3582,0,0,0,0,0,0,27.03,26.79,27.09
$GC,708,-0.80,-175.2,2997,3692,3529,3585,151.1,-21.7,81,712,0.00,1.52,0.00,0.000,1030,0.000,0.021,3003,2591,3556,3528,3584,0,0,0,0,0,0,26.95,26.94,26.96
$GC,1028,-0.80,-175.2,3003,2590,3531,3586,210.7,-16.6,109,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2591,3558,3531,3586,0,0,0,0,0,0,27.15,27.21,27.20
$GC,1328,-0.80,-175.2,3004,2592,3533,3590,256.3,-16.0,119,1333,0.00,1.95,0.00,0.000,516,0.000,0.025,3008,1232,3560,3532,3589,0,0,0,0,0,0,27.20,27.01,27.25
$GC,1408,-0.80,-175.2,3009,1233,3534,3590,265.3,-15.7,121,1413,0.00,2.05,0.00,0.000,1030,0.000,0.031,2999,2603,3560,3532,3589,0,0,0,0,0,0,27.03,26.99,27.04
$GC,1718,-0.80,-175.2,3000,2603,3534,3589,315.6,-15.8,132,1723,0.00,2.00,0.00,0.000,516,0.000,0.026,3008,1232,3560,3532,3589,0,0,0,0,0,0,27.24,27.03,27.29
$GC,1748,-0.80,-175.2,3008,1233,3533,3591,319.8,-15.4,133,1752,0.00,2.05,0.00,0.000,1030,0.000,0.031,2999,2603,3560,3532,3589,0,0,0,0,0,0,27.05,27.02,27.08
$GC,2078,-0.80,-175.2,3000,2603,3533,3587,363.0,-12.1,144,2082,0.00,1.62,0.00,0.000,260,0.000,0.044,2991,3686,3558,3532,3585,0,0,0,0,0,0,27.26,27.02,27.32
$GC,2113,-0.80,-175.2,2992,3687,3533,3587,366.7,-12.1,145,2117,0.00,1.52,0.00,0.000,1030,0.000,0.021,2998,2588,3558,3532,3585,0,0,0,0,0,0,27.16,27.13,27.17
$GC,2438,-0.80,-175.2,2999,2589,3533,3583,409.0,-13.3,156,2443,0.00,1.67,0.00,0.000,260,0.000,0.044,2991,3691,3556,3532,3581,0,0,0,0,0,0,27.28,27.04,27.34
$GC,2463,-0.80,-175.2,2991,3692,3534,3581,409.0,-13.3,156,2470,0.00,1.52,0.00,0.000,1030,0.000,0.021,2998,2592,3555,3531,3580,0,0,0,0,0,0,27.17,27.15,27.19
$GC,2768,-0.80,-175.2,2998,2592,3532,3576,449.0,-11.1,167,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2592,3553,3531,3576,0,0,0,0,0,0,27.29,27.36,27.35
$GC,3068,-0.80,-175.2,2998,2593,3528,3575,480.8,-10.3,177,3072,0.00,1.67,0.00,0.000,260,0.000,0.044,2991,3690,3550,3527,3574,0,0,0,0,0,0,27.30,27.05,27.36
$GC,3138,-0.80,-175.2,2991,3692,3526,3575,487.3,-10.6,179,3143,0.00,1.52,0.00,0.000,1030,0.000,0.022,2998,2599,3549,3526,3573,0,0,0,0,0,0,27.20,27.17,27.21
$GC,3458,-0.80,-175.2,2998,2600,3524,3571,520.7,-9.5,190,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2599,3546,3522,3570,0,0,0,0,0,0,27.31,27.39,27.37
$GC,3758,-0.80,-175.2,2998,2600,3520,3569,550.9,-10.9,200,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2599,3543,3519,3568,0,0,0,0,0,0,27.32,27.39,27.38
$GC,4058,-0.80,-175.2,2998,2599,3517,3564,588.9,-13.1,210,4062,0.00,1.67,0.00,0.000,260,0.000,0.046,2991,3692,3540,3516,3564,0,0,0,0,0,0,27.32,27.07,27.39
$GC,4093,-0.80,-175.2,2991,3692,3517,3563,592.9,-13.1,211,4097,0.00,1.52,0.00,0.000,1030,0.000,0.023,2997,2609,3539,3515,3564,0,0,0,0,0,0,27.21,27.18,27.22
$GC,4418,-0.80,-175.2,2997,2608,3514,3562,635.1,-12.3,222,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2609,3537,3513,3562,0,0,0,0,0,0,27.32,27.40,27.39
$GC,4718,-0.80,-175.2,2997,2609,3511,3559,671.1,-11.9,232,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2609,3534,3510,3559,0,0,0,0,0,0,27.32,27.40,27.39
$GC,5018,-0.80,-175.2,2998,2609,3507,3557,706.4,-11.7,242,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2607,3531,3507,3556,0,0,0,0,0,0,27.32,27.40,27.39
$GC,5318,-0.80,-175.2,2997,2608,3506,3552,740.5,-11.1,252,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2609,3529,3504,3554,0,0,0,0,0,0,27.33,27.41,27.39
$GC,5618,-0.80,-175.2,2997,2608,3504,3552,772.2,-10.6,262,5623,0.00,2.03,0.00,0.000,516,0.000,0.027,3007,1218,3527,3503,3552,0,0,0,0,0,0,27.33,27.12,27.39
$GC,5653,-0.80,-175.2,3007,1218,3504,3551,775.4,-10.6,263,5657,0.00,2.08,0.00,0.000,1030,0.000,0.031,2998,2601,3526,3502,3551,0,0,0,0,0,0,27.14,27.10,27.16
$GC,5978,-0.80,-175.2,2999,2601,3502,3549,812.2,-11.3,274,5982,0.00,1.65,0.00,0.000,260,0.000,0.046,2991,3692,3525,3501,3549,0,0,0,0,0,0,27.34,27.05,27.39
$GC,6023,-0.80,-175.2,2990,3692,3502,3549,815.9,-11.4,275,6027,0.00,1.55,0.00,0.000,1030,0.000,0.024,2997,2595,3525,3501,3549,0,0,0,0,0,0,27.22,27.18,27.22
$GC,6338,-0.80,-175.2,2997,2595,3500,3548,852.4,-11.1,286,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2595,3523,3499,3548,0,0,0,0,0,0,27.33,27.39,27.39
$GC,6638,-0.80,-175.2,2998,2596,3498,3547,885.5,-11.0,296,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2595,3521,3497,3546,0,0,0,0,0,0,27.33,27.41,27.39
$GC,6938,-0.80,-175.2,2997,2596,3497,3545,915.8,-10.0,306,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2595,3520,3496,3544,0,0,0,0,0,0,27.34,27.41,27.39
$GC,7238,-0.80,-175.2,2997,2596,3494,3545,944.8,-9.6,316,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2595,3517,3493,3542,0,0,0,0,0,0,27.34,27.41,27.40
$GC,7538,-0.80,-175.2,2997,2595,3493,3542,973.7,-9.7,326,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2595,3517,3493,3542,0,0,0,0,0,0,27.34,27.41,27.40
$STATE,7717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7717,begin apogee
$GC,7720,-0.17,0.0,2999,2430,3493,3543,991.3,-9.8,332,7857,0.73,0.00,134.18,1.301,10246,0.161,0.000,3211,2428,2838,2813,2864,0,0,0,0,0,0,26.81,25.11,24.39
$STATE,7858,end apogee,CONTROL_FINISHED_OK
$STATE,7858,begin climb
$GC,7859,0.80,175.2,3211,2428,2810,2859,995.7,0.0,336,8008,1.05,2.25,141.75,1.281,10756,0.141,0.031,3528,1027,2119,2116,2123,0,0,0,0,0,0,25.21,24.78,24.06
$GC,8193,0.87,221.3,3528,1028,2109,2111,983.8,8.2,347,8238,0.00,2.17,38.28,1.297,9222,0.000,0.031,3524,2413,1930,1932,1929,0,0,0,0,0,0,26.04,26.01,24.46
$GC,8558,0.87,221.3,3525,2414,1925,1919,944.4,10.6,360,8559,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2412,1921,1924,1918,0,0,0,0,0,0,26.55,26.63,26.62
$GC,8858,0.87,221.3,3524,2413,1924,1917,913.1,10.3,370,8862,0.00,2.00,0.00,0.000,260,0.000,0.045,3514,3693,1919,1921,1917,0,0,0,0,0,0,26.81,26.57,26.88
$GC,8933,0.87,221.3,3515,3693,1924,1918,906.5,10.8,372,8938,0.00,1.88,0.00,0.000,1030,0.000,0.023,3523,2404,1919,1923,1916,0,0,0,0,0,0,26.74,26.71,26.76
$GC,9250,0.87,221.3,3523,2403,1923,1915,872.8,10.1,383,9251,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,2403,1919,1923,1915,0,0,0,0,0,0,26.97,27.04,27.03
$GC,9548,0.88,228.2,3523,2403,1923,1915,843.1,9.7,393,9550,0.00,0.00,0.90,0.246,8198,0.000,0.000,3523,2403,1906,1909,1904,0,0,0,0,0,0,27.04,26.77,26.56
$GC,9848,0.90,248.1,3523,2403,1928,1905,815.3,9.2,403,9874,0.12,2.00,21.85,1.230,10500,0.168,0.044,3545,3694,1820,1823,1818,0,0,0,0,0,0,26.72,26.02,25.44
$GC,9903,0.91,253.8,3545,3695,1819,1817,809.3,9.8,404,9909,0.00,1.88,1.00,0.197,9222,0.000,0.023,3554,2413,1801,1804,1799,0,0,0,0,0,0,26.46,26.44,26.20
$GC,10233,0.91,253.8,3554,2410,1822,1800,773.3,10.7,415,10238,0.00,2.00,0.00,0.000,260,0.000,0.046,3545,3691,1810,1821,1800,0,0,0,0,0,0,26.85,26.62,26.91
$GC,10263,0.91,253.8,3545,3691,1823,1800,769.9,10.8,416,10268,0.00,1.83,0.00,0.000,1030,0.000,0.024,3553,2423,1810,1821,1800,0,0,0,0,0,0,26.74,26.73,26.77
$GC,10593,0.91,253.8,3553,2423,1821,1800,735.8,10.1,427,10594,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2423,1810,1820,1800,0,0,0,0,0,0,26.99,27.06,27.05
$GC,10893,0.93,265.6,3553,2423,1820,1800,706.6,9.5,437,10913,0.00,2.03,13.90,1.183,8452,0.000,0.044,3545,3692,1753,1758,1748,0,0,0,0,0,0,27.06,26.41,25.63
$GC,10943,0.94,274.2,3545,3693,1754,1747,703.5,9.7,438,10955,0.00,1.85,3.75,1.009,9222,0.000,0.023,3553,2423,1725,1732,1718,0,0,0,0,0,0,26.63,26.60,25.18
$GC,11253,0.96,283.7,3554,2424,1746,1725,671.0,9.6,449,11273,0.00,2.03,14.35,1.166,8452,0.000,0.045,3545,3692,1676,1679,1674,0,0,0,0,0,0,26.90,26.22,25.43
$GC,11308,0.97,294.3,3545,3693,1677,1673,668.1,9.6,450,11323,0.00,1.88,9.90,1.149,9222,0.000,0.023,3553,2406,1636,1639,1634,0,0,0,0,0,0,26.46,26.45,25.27
$GC,11643,0.97,294.3,3554,2407,1633,1628,629.2,11.0,462,11648,0.00,2.03,0.00,0.000,260,0.000,0.046,3545,3691,1628,1633,1624,0,0,0,0,0,0,26.75,26.53,26.82
$GC,11673,0.97,294.3,3545,3692,1634,1628,625.5,11.2,463,11678,0.00,1.83,0.00,0.000,1030,0.000,0.024,3553,2427,1629,1633,1626,0,0,0,0,0,0,26.66,26.64,26.67
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$STATE,17193,end climb,SURFACE_DEPTH_REACHED
$STATE,17193,begin surface coast
$FINISH,0.6,1.021322
$STATE,17208,end surface coast,CONTROL_FINISHED_OK
$STATE,17208,begin surface
$SM_CCo,17224,14.23,0.126,0,0,798,500.17
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$IRIDIUM_FIX,1323.10,14511.56,020108,144934
$TT8_MAMPS,0.161035,0.161035
$HUMID,35.35
$INTERNAL_PRESSURE,9.26244
$TCM_TEMP,24.80
$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,1651515
$PA_UPTIME,17193.32 6640.29
$PA_BOOTCOUNT,846
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$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.04/0.077/1.856/1.685
$PA_DISK_BANK,0
$24V_AH,24.06,8.341
$10V_AH,9.97,9.784
$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,23.325,99.775,512.725,14.225,0.000,0.000,0.000,303.225,0.250,0.000,7.966,0.000,14287.956,638.147,2670.443,70.906,0.000,1895.357,0.000,1637.395,0.000,0.549,0.000
$DEVICE_MAMPS,233.325,60.435,1301.265,126.225,0.000,0.000,0.000,81.855,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,548.016,0.000,0.000,0.000,0.000,0.000,17683.420,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,140.945,0.000,0.000,0.000
$MEM,229064
$DATA_FILE_SIZE,33499,812
$CAP_FILE_SIZE,138369,0
$CFSIZE,1024393216,1014169600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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$GPS,080315,061535,1330.547,14512.893,27,0.8,27,1.1,1.1,247.9,10,15.1