version: 66.12
glider: 178
mission: 20
dive: 68
start: 3 14 115 0 0 11
data:
$ID,178
$MISSION,20
$DIVE,68
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51652
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00228724
$HD_B,0.0153901
$HD_C,8.9420502e-07
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$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,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3279
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0018
$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,148
$AH0_10V,95
$MINV_24V,22
$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,-46.597843
$PRESSURE_SLOPE,0.0001161899
$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,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,130315,234806,1223.7141,14529.3584,44,0.9,44,1.9,0.7,152.9,10,6.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-71.2
$GPS2,140315,000000,1223.6542,14529.3555,12,1.0,12,1.9,1.1,74.4,8,7.6
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S4
$TGT_LATLONG,1210.440,14532.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,174.1,25062,-16.5,-10.000,-23.13,2699
$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,93,end surface,CONTROL_FINISHED_OK
$STATE,93,begin dive
$GC,95,-0.68,-175.2,121,2461,1243,1225,0.0,0.0,0,177,0.00,0.00,-75.70,0.000,16386,0.000,0.000,120,2461,3161,3205,3118,0,0,0,0,0,0,26.28,28.83,26.35
$GC,180,-0.68,-175.2,121,2462,3205,3119,3.2,-8.9,10,217,10.48,2.12,-13.10,0.000,19204,0.249,0.061,2546,3770,3965,3998,3932,0,0,0,0,0,0,26.02,25.22,26.27
$GC,417,-0.68,-175.2,2545,3771,3997,3940,87.3,-33.0,41,431,0.00,1.95,0.00,0.000,1030,0.000,0.024,2546,2434,3966,3994,3939,0,0,0,0,0,0,26.42,26.37,26.43
$GC,729,-0.68,-175.2,2548,2432,3995,3942,173.5,-19.0,72,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2431,3968,3995,3941,0,0,0,0,0,0,26.41,26.47,26.46
$GC,1037,-0.68,-175.2,2545,2431,3997,3947,225.5,-16.1,93,1048,0.00,2.03,0.00,0.000,516,0.000,0.030,2548,1068,3971,3996,3946,0,0,0,0,0,0,26.44,26.46,26.50
$GC,1102,-0.68,-175.2,2547,1068,3997,3947,235.3,-16.1,95,1110,0.00,2.12,0.00,0.000,1030,0.000,0.032,2541,2446,3970,3994,3946,0,0,0,0,0,0,26.50,26.44,26.51
$GC,1424,-0.68,-175.2,2541,2446,3995,3948,286.0,-15.0,106,1432,0.00,2.12,0.00,0.000,516,0.000,0.030,2541,1058,3971,3995,3948,0,0,0,0,0,0,26.45,26.46,26.51
$GC,1471,-0.68,-175.2,2541,1058,3995,3948,289.7,-14.5,107,1479,0.00,2.15,0.00,0.000,1030,0.000,0.032,2532,2458,3972,3996,3948,0,0,0,0,0,0,26.51,26.46,26.52
$GC,1777,-0.68,-175.2,2532,2459,3995,3948,330.1,-13.4,117,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2459,3972,3996,3948,0,0,0,0,0,0,26.46,26.53,26.53
$GC,2077,-0.68,-175.2,2531,2459,3995,3945,371.0,-13.2,127,2084,0.00,2.10,0.00,0.000,260,0.000,0.050,2521,3772,3972,3999,3945,0,0,0,0,0,0,26.46,26.44,26.52
$GC,2153,-0.68,-175.2,2521,3772,3995,3943,378.9,-13.5,129,2162,0.15,1.95,0.00,0.000,3078,0.148,0.025,2558,2437,3969,3996,3943,0,0,0,0,0,0,26.36,26.50,26.48
$GC,2459,-0.68,-175.2,2559,2437,3997,3939,411.0,-8.5,139,2467,0.00,2.08,0.00,0.000,516,0.000,0.031,2565,1070,3966,3995,3937,0,0,0,0,0,0,26.46,26.47,26.53
$GC,2532,-0.68,-175.2,2559,1071,3996,3938,415.7,-8.3,141,2539,0.00,2.15,0.00,0.000,1030,0.000,0.033,2556,2451,3965,3995,3936,0,0,0,0,0,0,26.51,26.46,26.52
$GC,2844,-0.68,-175.2,2555,2452,3997,3929,441.4,-7.5,152,2852,0.00,2.10,0.00,0.000,260,0.000,0.050,2546,3772,3961,3995,3928,0,0,0,0,0,0,26.46,26.43,26.51
$GC,2876,-0.68,-175.2,2547,3773,3995,3927,443.5,-7.5,153,2886,0.00,1.95,0.00,0.000,1030,0.000,0.026,2545,2443,3961,3995,3927,0,0,0,0,0,0,26.51,26.49,26.53
$GC,3202,-0.68,-175.2,2546,2444,3995,3920,473.4,-9.8,164,3210,0.00,2.10,0.00,0.000,516,0.000,0.032,2544,1071,3956,3995,3918,0,0,0,0,0,0,26.45,26.46,26.51
$GC,3239,-0.68,-175.2,2545,1074,3995,3920,476.9,-10.0,165,3247,0.00,2.15,0.00,0.000,1030,0.000,0.034,2538,2455,3957,3995,3919,0,0,0,0,0,0,26.51,26.45,26.51
$GC,3562,-0.68,-175.2,2539,2456,3995,3911,515.3,-12.1,176,3569,0.00,2.12,0.00,0.000,516,0.000,0.032,2538,1073,3953,3995,3911,0,0,0,0,0,0,26.44,26.45,26.51
$GC,3589,-0.68,-175.2,2538,1074,3994,3912,518.6,-12.0,177,3599,0.12,2.15,0.00,0.000,3078,0.159,0.034,2559,2445,3952,3995,3910,0,0,0,0,0,0,26.33,26.44,26.46
$GC,3919,-0.68,-175.2,2558,2445,3995,3907,550.7,-9.4,188,3927,0.00,2.12,0.00,0.000,260,0.000,0.052,2552,3769,3949,3993,3906,0,0,0,0,0,0,26.40,26.39,26.46
$GC,3956,-0.68,-175.2,2553,3770,3992,3906,553.8,-9.5,189,3964,0.00,1.98,0.00,0.000,1030,0.000,0.027,2552,2448,3949,3992,3906,0,0,0,0,0,0,26.50,26.46,26.51
$GC,4283,-0.68,-175.2,2557,2446,3993,3904,586.4,-9.4,200,4293,0.00,2.10,0.00,0.000,516,0.000,0.033,2552,1073,3946,3989,3903,0,0,0,0,0,0,26.42,26.43,26.48
$GC,4318,-0.68,-175.2,2553,1073,3989,3905,589.5,-9.3,201,4327,0.00,2.15,0.00,0.000,1030,0.000,0.034,2543,2456,3945,3989,3902,0,0,0,0,0,0,26.48,26.43,26.49
$GC,4648,-0.68,-175.2,2544,2458,3986,3900,616.5,-7.7,212,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2456,3943,3987,3899,0,0,0,0,0,0,26.41,26.49,26.47
$GC,4948,-0.68,-175.2,2544,2457,3983,3897,637.4,-6.7,222,4956,0.00,2.12,0.00,0.000,516,0.000,0.032,2544,1076,3940,3984,3897,0,0,0,0,0,0,26.41,26.43,26.48
$GC,5000,-0.68,-175.2,2544,1077,3983,3896,639.7,-6.7,223,5008,0.00,2.15,0.00,0.000,1030,0.000,0.034,2537,2454,3939,3983,3896,0,0,0,0,0,0,26.46,26.41,26.47
$GC,5306,-0.68,-175.2,2537,2455,3982,3895,664.1,-7.7,233,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2454,3938,3982,3894,0,0,0,0,0,0,26.40,26.47,26.46
$GC,5606,-0.68,-175.2,2536,2454,3982,3892,690.9,-9.4,243,5613,0.00,2.12,0.00,0.000,516,0.000,0.032,2537,1076,3936,3980,3892,0,0,0,0,0,0,26.40,26.41,26.46
$GC,5628,-0.68,-175.2,2541,1077,3979,3892,690.9,-9.4,243,5638,0.00,2.17,0.00,0.000,1030,0.000,0.034,2530,2455,3936,3980,3892,0,0,0,0,0,0,26.44,26.39,26.46
$GC,5933,-0.68,-175.2,2530,2456,3977,3890,724.3,-10.4,254,5941,0.00,2.12,0.00,0.000,260,0.000,0.052,2520,3769,3933,3978,3889,0,0,0,0,0,0,26.40,26.35,26.46
$GC,5975,-0.68,-175.2,2521,3770,3977,3890,727.2,-10.5,255,5983,0.15,1.95,0.00,0.000,3078,0.148,0.025,2557,2446,3933,3977,3889,0,0,0,0,0,0,26.25,26.42,26.39
$GC,6288,-0.68,-175.2,2556,2448,3977,3888,755.9,-8.6,266,6297,0.00,2.12,0.00,0.000,516,0.000,0.032,2560,1073,3931,3976,3887,0,0,0,0,0,0,26.38,26.35,26.44
$GC,6336,-0.68,-175.2,2559,1071,3977,3888,759.0,-8.7,267,6344,0.00,2.15,0.00,0.000,1030,0.000,0.032,2555,2453,3931,3975,3887,0,0,0,0,0,0,26.44,26.38,26.45
$GC,6649,-0.68,-175.2,2556,2453,3974,3886,788.5,-9.0,278,6660,0.00,2.12,0.00,0.000,516,0.000,0.031,2555,1073,3930,3975,3885,0,0,0,0,0,0,26.36,26.37,26.42
$GC,6684,-0.68,-175.2,2555,1075,3976,3886,791.5,-9.0,279,6694,0.00,2.15,0.00,0.000,1030,0.000,0.033,2550,2453,3929,3974,3885,0,0,0,0,0,0,26.41,26.36,26.43
$GC,7009,-0.68,-175.2,2551,2453,3973,3883,821.4,-9.1,290,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2453,3928,3973,3883,0,0,0,0,0,0,26.37,26.44,26.43
$GC,7310,-0.68,-175.2,2551,2453,3971,3882,847.6,-8.6,300,7315,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2453,3926,3971,3881,0,0,0,0,0,0,26.36,26.43,26.42
$GC,7609,-0.68,-175.2,2551,2453,3970,3881,874.1,-8.7,310,7617,0.00,2.12,0.00,0.000,516,0.000,0.032,2550,1077,3925,3970,3881,0,0,0,0,0,0,26.34,26.34,26.41
$GC,7637,-0.68,-175.2,2549,1078,3972,3882,876.5,-8.8,311,7645,0.00,2.17,0.00,0.000,1030,0.000,0.033,2543,2459,3925,3970,3881,0,0,0,0,0,0,26.39,26.34,26.41
$GC,7965,-0.68,-175.2,2543,2454,3971,3881,906.8,-9.2,322,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2454,3924,3969,3880,0,0,0,0,0,0,26.31,26.38,26.39
$GC,8264,-0.68,-175.2,2544,2455,3967,3879,935.4,-9.6,332,8272,0.00,2.12,0.00,0.000,516,0.000,0.031,2543,1078,3922,3967,3878,0,0,0,0,0,0,26.33,26.33,26.41
$GC,8292,-0.68,-175.2,2544,1078,3967,3879,938.1,-9.6,333,8300,0.00,2.17,0.00,0.000,1030,0.000,0.035,2542,2446,3923,3968,3878,0,0,0,0,0,0,26.36,26.29,26.37
$GC,8625,-0.68,-175.2,2541,2447,3967,3877,969.4,-9.4,344,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2446,3921,3966,3876,0,0,0,0,0,0,26.33,26.40,26.39
$STATE,8863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8863,begin apogee
$GC,8867,-0.11,0.0,2543,2109,3965,3875,991.0,-9.0,352,9012,0.65,0.00,136.05,1.304,10246,0.119,0.000,2743,2105,3280,3320,3240,0,0,0,0,0,0,26.17,24.98,24.27
$STATE,9013,end apogee,CONTROL_FINISHED_OK
$STATE,9013,begin climb
$GC,9015,0.68,175.2,2744,2106,3319,3238,997.1,0.0,356,9182,0.68,2.45,154.32,1.295,11012,0.047,0.045,3002,3509,2564,2610,2518,0,0,0,0,0,0,25.23,24.65,23.95
$GC,9271,0.68,175.2,3001,3510,2600,2516,988.9,10.7,365,9279,0.00,2.17,0.00,0.000,1030,0.000,0.024,3012,2118,2557,2600,2515,0,0,0,0,0,0,25.62,25.57,25.62
$GC,9584,0.68,175.2,3013,2118,2597,2511,947.1,12.4,376,9590,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2118,2553,2597,2510,0,0,0,0,0,0,26.12,26.19,26.18
$GC,9884,0.68,175.2,3013,2118,2595,2509,911.1,12.0,386,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2118,2552,2595,2509,0,0,0,0,0,0,26.26,26.34,26.33
$GC,10184,0.68,175.2,3012,2118,2596,2509,873.9,12.6,396,10190,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2118,2551,2594,2508,0,0,0,0,0,0,26.31,26.38,26.37
$GC,10484,0.68,175.2,3013,2118,2592,2509,835.1,13.0,406,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2118,2550,2593,2508,0,0,0,0,0,0,26.31,26.39,26.38
$GC,10784,0.68,175.2,3011,2119,2594,2508,794.5,13.7,416,10790,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2118,2549,2592,2507,0,0,0,0,0,0,26.32,26.40,26.39
$GC,11084,0.68,175.2,3013,2118,2591,2507,754.7,13.2,426,11090,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2118,2549,2591,2507,0,0,0,0,0,0,26.32,26.41,26.39
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$STATE,17829,end climb,SURFACE_DEPTH_REACHED
$STATE,17829,begin surface coast
$FINISH,0.0,1.022104
$STATE,17850,end surface coast,CONTROL_FINISHED_OK
$STATE,17851,begin surface
$SM_CCo,17867,48.50,0.062,0,0,1239,500.17
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$IRIDIUM_FIX,1218.95,14529.60,080108,131906
$TT8_MAMPS,0.05243,0.05243
$HUMID,40.15
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.80
$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,1649996
$PA_UPTIME,17869.95 7751.90
$PA_BOOTCOUNT,285
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$PA_LOG,0.07/0.137/1.969/1.731
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$PA_DATA0,0.91/106.096/117.199/5.150
$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.03/0.052/1.764/1.623
$PA_DISK_BANK,0
$24V_AH,23.95,11.816
$10V_AH,10.25,23.957
$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,20.550,138.775,466.975,48.500,0.000,0.000,0.000,478.025,0.000,18647.770,15.024,0.000,14412.819,566.712,3426.460,209.696,0.000,2489.213,0.000,1767.533,0.000,0.552,0.000
$DEVICE_MAMPS,248.625,61.200,1303.560,61.965,0.000,0.000,0.000,96.390,420.000,64.336,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,546.180,0.000,0.000,0.000,0.000,0.000,18647.830,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,229892
$DATA_FILE_SIZE,33461,801
$CAP_FILE_SIZE,157936,0
$CFSIZE,260034560,252325888
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,18576.09,0x236db2,7,5
$INTR,1,3925.89,0x212970,0,24
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$GPS,140315,045936,1221.055,14529.698,27,1.1,27,1.9,0.9,196.6,7,8.3