version: 66.12
glider: 204
mission: 15
dive: 169
start: 4 2 115 0 18 53
data:
$ID,204
$MISSION,15
$DIVE,169
$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,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,-4
$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,8
$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,77
$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,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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,020415,001104,1454.3701,14545.5264,25,1.1,25,0.9,0.5,287.4,7,16.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-68.3
$GPS2,020415,001836,1454.3469,14545.5088,7,1.0,7,0.9,0.6,214.5,8,18.5
$SPEED_LIMITS,0.191,0.291
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,211.4,156443,-17.3,-11.000,-20.71,2428
$D_GRID,1334
$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,-0.85,-175.2,190,2617,801,804,0.0,0.0,0,146,0.00,0.00,-50.38,0.000,16386,0.000,0.000,188,2617,2162,2135,2189,0,0,0,0,0,0,26.16,28.83,26.22
$GC,148,-0.85,-175.2,188,2618,2137,2190,3.4,-6.0,8,201,11.73,2.15,-32.92,0.000,18948,0.227,0.041,2994,1212,3556,3529,3584,0,0,0,0,0,0,25.52,24.22,25.72
$GC,333,-0.85,-175.2,2993,1213,3528,3585,42.9,-24.0,43,343,0.00,2.12,0.00,0.000,1030,0.000,0.034,2984,2599,3557,3531,3584,0,0,0,0,0,0,26.10,26.03,26.13
$GC,648,-0.85,-175.2,2984,2599,3532,3585,123.3,-24.6,77,657,0.00,1.67,0.00,0.000,260,0.000,0.041,2976,3697,3558,3531,3585,0,0,0,0,0,0,26.15,26.03,26.20
$GC,671,-0.85,-175.2,2975,3698,3532,3586,129.0,-24.0,79,678,0.00,1.55,0.00,0.000,1030,0.000,0.021,2983,2581,3557,3531,3584,0,0,0,0,0,0,26.20,26.17,26.21
$GC,982,-0.85,-175.2,2982,2582,3536,3586,194.3,-20.6,110,989,0.00,1.75,0.00,0.000,260,0.000,0.042,2975,3691,3559,3534,3585,0,0,0,0,0,0,26.20,26.04,26.26
$GC,1148,-0.85,-175.2,2976,3692,3534,3588,225.1,-20.2,117,1158,0.00,1.52,0.00,0.000,1030,0.000,0.021,2982,2590,3560,3534,3587,0,0,0,0,0,0,26.23,26.20,26.24
$GC,1467,-0.85,-175.2,2981,2590,3538,3587,282.3,-17.1,128,1475,0.00,2.03,0.00,0.000,516,0.000,0.023,2993,1215,3561,3536,3587,0,0,0,0,0,0,26.22,26.14,26.27
$GC,1504,-0.85,-175.2,2994,1214,3536,3588,287.8,-16.9,129,1512,0.00,2.12,0.00,0.000,1030,0.000,0.031,2984,2603,3561,3536,3587,0,0,0,0,0,0,26.15,26.09,26.18
$GC,1831,-0.85,-175.2,2985,2603,3536,3588,337.0,-13.8,140,1843,0.00,2.05,0.00,0.000,516,0.000,0.023,2992,1205,3561,3536,3587,0,0,0,0,0,0,26.13,26.04,26.19
$GC,1862,-0.85,-175.2,2993,1205,3536,3588,341.6,-14.2,141,1870,0.00,2.12,0.00,0.000,1030,0.000,0.030,2984,2605,3561,3535,3587,0,0,0,0,0,0,26.13,26.07,26.16
$GC,2189,-0.85,-175.2,2985,2605,3535,3586,388.2,-12.9,152,2198,0.00,1.73,0.00,0.000,260,0.000,0.044,2976,3696,3560,3536,3585,0,0,0,0,0,0,26.20,26.00,26.25
$GC,2266,-0.85,-175.2,2975,3696,3535,3585,396.0,-12.5,154,2273,0.00,1.52,0.00,0.000,1030,0.000,0.021,2983,2602,3560,3535,3585,0,0,0,0,0,0,26.23,26.20,26.25
$GC,2582,-0.85,-175.2,2982,2603,3537,3583,436.1,-12.2,165,2591,0.00,1.73,0.00,0.000,260,0.000,0.043,2976,3684,3558,3535,3582,0,0,0,0,0,0,26.20,26.01,26.27
$GC,2605,-0.85,-175.2,2976,3688,3535,3582,436.1,-12.2,165,2613,0.00,1.52,0.00,0.000,1030,0.000,0.021,2983,2599,3558,3535,3581,0,0,0,0,0,0,26.20,26.16,26.21
$GC,2917,-0.85,-175.2,2981,2600,3534,3579,481.3,-13.1,176,2926,0.00,1.75,0.00,0.000,260,0.000,0.043,2976,3693,3555,3532,3578,0,0,0,0,0,0,26.19,25.95,26.25
$GC,2944,-0.85,-175.2,2976,3693,3532,3578,481.3,-13.1,176,2954,0.00,1.55,0.00,0.000,1030,0.000,0.021,2982,2589,3555,3532,3578,0,0,0,0,0,0,26.16,26.13,26.17
$GC,3250,-0.85,-175.2,2983,2590,3528,3576,520.6,-11.1,187,3258,0.00,2.03,0.00,0.000,516,0.000,0.024,2993,1215,3551,3528,3575,0,0,0,0,0,0,26.22,26.06,26.27
$GC,3276,-0.85,-175.2,2992,1214,3529,3576,520.6,-11.1,187,3287,0.00,2.12,0.00,0.000,1030,0.000,0.031,2984,2602,3551,3528,3575,0,0,0,0,0,0,26.10,26.04,26.13
$GC,3582,-0.85,-175.2,2983,2602,3526,3573,558.1,-11.8,198,3590,0.00,1.70,0.00,0.000,260,0.000,0.043,2975,3702,3547,3524,3571,0,0,0,0,0,0,26.15,25.94,26.21
$GC,3623,-0.85,-175.2,2974,3703,3525,3572,561.8,-11.8,199,3631,0.00,1.58,0.00,0.000,1030,0.000,0.023,2982,2592,3547,3524,3571,0,0,0,0,0,0,26.17,26.15,26.19
$GC,3946,-0.85,-175.2,2981,2592,3523,3569,597.9,-10.8,210,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2591,3544,3521,3568,0,0,0,0,0,0,26.17,26.23,26.21
$GC,4245,-0.85,-175.2,2981,2591,3519,3565,631.1,-10.9,220,4253,0.00,1.73,0.00,0.000,260,0.000,0.044,2975,3691,3540,3517,3564,0,0,0,0,0,0,26.16,25.89,26.22
$GC,4272,-0.85,-175.2,2974,3692,3519,3565,631.1,-10.9,220,4282,0.00,1.55,0.00,0.000,1030,0.000,0.022,2982,2595,3540,3517,3564,0,0,0,0,0,0,26.17,26.15,26.19
$GC,4577,-0.85,-175.2,2981,2596,3516,3563,668.0,-11.4,231,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2595,3538,3514,3563,0,0,0,0,0,0,26.15,26.21,26.20
$GC,4877,-0.85,-175.2,2981,2596,3512,3562,700.4,-10.9,241,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2595,3535,3511,3560,0,0,0,0,0,0,26.13,26.20,26.19
$GC,5177,-0.85,-175.2,2982,2595,3509,3559,737.3,-13.4,251,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2595,3533,3509,3558,0,0,0,0,0,0,26.13,26.20,26.19
$GC,5478,-0.85,-175.2,2983,2595,3507,3555,776.0,-12.3,261,5484,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2595,3530,3507,3554,0,0,0,0,0,0,26.08,26.15,26.14
$GC,5777,-0.85,-175.2,2983,2595,3505,3552,810.3,-11.2,271,5785,0.00,1.73,0.00,0.000,260,0.000,0.044,2975,3689,3528,3505,3552,0,0,0,0,0,0,26.10,25.82,26.16
$GC,5804,-0.85,-175.2,2974,3689,3506,3552,810.3,-11.2,271,5814,0.00,1.55,0.00,0.000,1030,0.000,0.023,2982,2602,3528,3505,3551,0,0,0,0,0,0,26.09,26.06,26.11
$GC,6111,-0.85,-175.2,2981,2602,3504,3552,847.2,-10.8,282,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2602,3526,3502,3551,0,0,0,0,0,0,26.06,26.13,26.12
$GC,6409,-0.85,-175.2,2981,2603,3502,3550,877.9,-10.6,292,6417,0.00,2.08,0.00,0.000,516,0.000,0.025,2993,1218,3525,3501,3549,0,0,0,0,0,0,26.08,25.94,26.14
$GC,6446,-0.85,-175.2,2999,1219,3501,3550,880.6,-10.7,293,6454,0.00,2.15,0.00,0.000,1030,0.000,0.031,2983,2602,3525,3501,3549,0,0,0,0,0,0,25.97,25.90,26.01
$GC,6763,-0.85,-175.2,2984,2603,3499,3548,915.6,-10.5,304,6771,0.00,1.75,0.00,0.000,260,0.000,0.044,2975,3692,3523,3499,3547,0,0,0,0,0,0,26.04,25.82,26.10
$GC,6820,-0.85,-175.2,2974,3693,3500,3548,918.8,-10.2,305,6830,0.00,1.58,0.00,0.000,1030,0.000,0.023,2982,2589,3523,3499,3547,0,0,0,0,0,0,26.06,26.03,26.07
$GC,7125,-0.85,-175.2,2981,2589,3499,3546,951.0,-9.5,316,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2589,3521,3497,3545,0,0,0,0,0,0,26.08,26.14,26.14
$GC,7425,-0.85,-175.2,2981,2589,3497,3545,984.3,-11.8,326,7433,0.00,1.75,0.00,0.000,260,0.000,0.044,2975,3696,3519,3495,3544,0,0,0,0,0,0,26.06,25.79,26.11
$GC,7476,-0.85,-175.2,2973,3696,3495,3544,987.9,-11.7,327,7485,0.00,1.62,0.00,0.000,1030,0.000,0.022,2981,2592,3519,3495,3543,0,0,0,0,0,0,25.98,25.96,25.98
$STATE,7487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7487,begin apogee
$GC,7491,-0.17,0.0,2982,2427,3497,3544,991.7,-11.7,328,7643,0.80,0.00,141.20,1.256,10246,0.147,0.000,3210,2426,2834,2808,2861,0,0,0,0,0,0,25.42,24.27,23.65
$STATE,7644,end apogee,CONTROL_FINISHED_OK
$STATE,7644,begin climb
$GC,7645,0.85,175.2,3209,2427,2809,2867,998.6,0.0,333,7806,1.10,2.17,149.23,1.198,11012,0.127,0.042,3521,3698,2123,2121,2125,0,0,0,0,0,0,24.69,24.12,23.26
$GC,7926,0.94,237.5,3521,3699,2113,2116,990.4,8.4,342,7988,0.15,1.90,52.90,1.194,11270,0.151,0.022,3569,2420,1869,1867,1871,0,0,0,0,0,0,25.28,25.56,23.90
$GC,8292,0.96,252.5,3570,2422,1856,1854,949.5,10.4,355,8314,0.00,2.08,12.68,1.161,8452,0.000,0.044,3561,3700,1804,1806,1803,0,0,0,0,0,0,26.10,25.75,24.74
$GC,8372,0.99,272.7,3560,3701,1805,1800,943.3,10.1,357,8399,0.00,1.88,18.25,1.169,9222,0.000,0.023,3569,2405,1724,1726,1722,0,0,0,0,0,0,26.07,26.05,24.59
$GC,8714,1.02,295.3,3569,2406,1716,1711,907.2,10.0,369,8750,0.00,2.10,19.95,1.167,8452,0.000,0.042,3561,3692,1629,1631,1627,0,0,0,0,0,0,26.16,25.69,24.71
$GC,8779,1.02,295.3,3561,3693,1629,1624,899.6,11.1,371,8789,0.00,1.85,0.00,0.000,1030,0.000,0.022,3569,2422,1625,1628,1623,0,0,0,0,0,0,25.96,25.94,25.97
$GC,9109,1.02,295.3,3570,2422,1625,1619,858.0,13.1,382,9117,0.00,2.03,0.00,0.000,260,0.000,0.043,3561,3703,1622,1626,1619,0,0,0,0,0,0,26.14,25.98,26.20
$GC,9141,1.02,295.3,3560,3703,1628,1619,854.2,13.3,383,9148,0.00,1.88,0.00,0.000,1030,0.000,0.023,3569,2411,1621,1625,1618,0,0,0,0,0,0,26.17,26.15,26.19
$GC,9462,1.02,295.3,3569,2407,1626,1618,812.7,12.3,394,9470,0.00,2.05,0.00,0.000,260,0.000,0.044,3561,3702,1621,1625,1617,0,0,0,0,0,0,26.17,26.01,26.23
$GC,9529,1.02,295.3,3560,3703,1626,1618,805.3,12.6,396,9536,0.00,1.88,0.00,0.000,1030,0.000,0.024,3570,2415,1621,1625,1617,0,0,0,0,0,0,26.21,26.18,26.22
$GC,9850,1.02,295.3,3570,2411,1623,1617,763.6,12.9,407,9858,0.00,2.10,0.00,0.000,516,0.000,0.031,3580,1034,1620,1623,1617,0,0,0,0,0,0,26.16,26.04,26.22
$GC,9872,1.02,295.3,3579,1035,1624,1618,763.6,12.9,407,9882,0.00,2.15,0.00,0.000,1030,0.000,0.028,3571,2432,1619,1622,1616,0,0,0,0,0,0,26.10,26.04,26.14
$GC,10177,1.02,295.3,3571,2433,1623,1617,726.5,11.4,418,10184,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,2432,1620,1623,1617,0,0,0,0,0,0,26.14,26.20,26.20
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$STATE,16172,end climb,SURFACE_DEPTH_REACHED
$STATE,16172,begin surface coast
$FINISH,0.9,1.019843
$STATE,16187,end surface coast,CONTROL_FINISHED_OK
$STATE,16187,begin surface
$SM_CCo,16205,21.83,0.116,0,0,797,500.17
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$IRIDIUM_FIX,1445.37,14545.80,270108,134058
$TT8_MAMPS,0.053928,0.053928
$HUMID,36.45
$INTERNAL_PRESSURE,9.26244
$TCM_TEMP,24.60
$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,1651515
$PA_UPTIME,16183.45 6977.25
$PA_BOOTCOUNT,974
$PA_DFQS,0/0
$PA_LOG,0.07/0.132/1.876/1.649
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$PA_DATA0,0.21/24.843/117.199/86.402
$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.05/0.102/1.856/1.660
$PA_DISK_BANK,2
$24V_AH,23.26,59.321
$10V_AH,10.01,36.584
$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,24.250,137.800,516.075,21.825,0.000,0.000,0.000,300.950,0.000,16678.381,14.769,0.000,12841.887,636.818,3070.915,125.793,0.000,2298.458,0.000,1661.880,0.000,0.548,0.000
$DEVICE_MAMPS,227.205,52.020,1256.130,115.515,0.000,0.000,0.000,87.210,420.000,63.220,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,523.471,0.000,0.000,0.000,0.000,0.000,16678.410,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,237896
$DATA_FILE_SIZE,33394,778
$CAP_FILE_SIZE,148745,0
$CFSIZE,1024393216,1001717760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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$CURRENT,0.083,203.14,1
$GPS,020415,045008,1451.600,14543.812,29,1.0,29,0.9,0.9,263.5,8,21.2