version: 66.12
glider: 178
mission: 18
dive: 45
start: 10 4 114 19 43 51
data:
$ID,178
$MISSION,18
$DIVE,45
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,370
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51648
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00420903
$HD_B,0.0099256597
$HD_C,8.8912799e-05
$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,350
$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_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3046
$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,145.11
$AH0_10V,98.019997
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.80373
$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,48
$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,20480.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,0.0
$GPS1,041014,193826,1336.396,14506.019,56,0.9,76,1.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.14
$_SM_ANGLEo,-75.9
$GPS2,041014,194339,1336.434,14506.020,10,1.4,30,1.5
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S4
$TGT_LATLONG,1210.000,14532.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,158.1,167100,-17.8,-10.000,-20.71,2479
$D_GRID,998
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.78,-175.2,162,2156,1599,1621,0.0,0.0,0,79,0.00,0.00,-63.40,0.000,16386,0.000,0.000,161,2156,3279,3328,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.78,-175.2,161,2158,3327,3234,3.2,-12.5,10,106,10.30,2.17,-7.82,0.000,18948,0.246,0.051,2612,746,3765,3828,3703,0,0,0,0,0,0,26.13,26.54,26.84
$GC,148,-0.53,-175.2,2612,747,3832,3706,37.6,-42.1,22,155,0.28,2.20,0.00,0.000,3078,0.177,0.037,2695,2138,3768,3832,3705,0,0,0,0,0,0,26.25,26.55,28.83
$GC,455,-0.47,-175.2,2696,2140,3839,3706,106.3,-17.7,57,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2139,3771,3838,3704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,755,-0.47,-175.2,2695,2138,3843,3705,153.5,-12.9,87,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2139,3773,3842,3705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1056,-0.52,-175.2,2695,2140,3847,3706,188.2,-11.0,117,1059,0.00,2.17,0.00,0.000,260,0.000,0.047,2686,3563,3775,3847,3704,0,0,0,0,0,0,28.83,26.89,28.83
$GC,1171,-0.58,-175.2,2686,3564,3850,3706,200.5,-9.8,128,1175,0.00,2.10,0.00,0.000,1030,0.000,0.028,2686,2142,3776,3849,3704,0,0,0,0,0,0,28.83,27.03,28.83
$GC,1500,-0.64,-175.2,2687,2138,3852,3706,230.7,-8.5,139,1504,0.00,2.10,0.00,0.000,516,0.000,0.037,2685,751,3778,3851,3705,0,0,0,0,0,0,28.83,27.02,28.83
$GC,1530,-0.71,-175.2,2687,750,3852,3707,233.0,-8.3,140,1534,0.10,2.15,0.00,0.000,5126,0.054,0.033,2613,2158,3778,3851,3705,0,0,0,0,0,0,27.00,27.03,28.83
$GC,1860,-0.71,-175.2,2613,2158,3853,3707,272.2,-12.3,151,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2158,3779,3851,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2160,-0.71,-175.2,2613,2158,3852,3707,304.8,-10.4,161,2168,0.00,2.15,0.00,0.000,516,0.000,0.039,2613,761,3778,3851,3706,0,0,0,0,0,0,28.83,27.08,28.83
$GC,2202,-0.71,-175.2,2614,761,3852,3707,308.0,-10.1,162,2207,0.10,2.12,0.00,0.000,3078,0.129,0.034,2638,2144,3778,3850,3706,0,0,0,0,0,0,26.88,27.08,28.83
$GC,2523,-0.74,-175.2,2639,2145,3849,3708,335.8,-8.8,173,2526,0.00,2.17,0.00,0.000,260,0.000,0.050,2629,3567,3777,3847,3707,0,0,0,0,0,0,28.83,27.04,28.83
$GC,2628,-0.78,-175.2,2631,3568,3846,3708,344.9,-9.8,176,2631,0.00,2.10,0.00,0.000,1030,0.000,0.031,2630,2151,3776,3847,3706,0,0,0,0,0,0,28.83,27.16,28.83
$GC,2943,-0.81,-175.2,2631,2150,3843,3708,377.8,-9.8,187,2947,0.00,2.17,0.00,0.000,260,0.000,0.050,2622,3557,3773,3841,3706,0,0,0,0,0,0,28.83,27.04,28.83
$GC,2977,-0.85,-175.2,2622,3557,3843,3706,380.8,-9.8,188,2981,0.00,2.10,0.00,0.000,1030,0.000,0.031,2622,2156,3774,3842,3706,0,0,0,0,0,0,28.83,27.17,28.83
$GC,3303,-0.85,-175.2,2621,2151,3836,3706,412.4,-9.5,199,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2152,3770,3834,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3603,-0.88,-175.2,2622,2152,3831,3708,440.8,-9.4,209,3607,0.00,2.15,0.00,0.000,516,0.000,0.042,2622,742,3767,3828,3706,0,0,0,0,0,0,28.83,27.10,28.83
$GC,3642,-0.91,-175.2,2622,742,3829,3705,443.5,-9.3,210,3647,0.08,2.17,0.00,0.000,5126,0.062,0.037,2565,2147,3766,3827,3706,0,0,0,0,0,0,27.06,27.11,28.83
$GC,3963,-0.88,-175.2,2565,2149,3824,3706,482.9,-12.0,221,3966,0.00,2.22,0.00,0.000,260,0.000,0.054,2555,3557,3763,3822,3705,0,0,0,0,0,0,28.83,27.04,28.83
$GC,3997,-0.84,-175.2,2555,3557,3822,3704,486.7,-12.3,222,4001,0.12,2.12,0.00,0.000,3078,0.146,0.033,2593,2148,3763,3821,3705,0,0,0,0,0,0,26.84,27.18,28.83
$GC,4323,-0.84,-175.2,2594,2145,3820,3704,521.2,-10.3,233,4327,0.00,2.15,0.00,0.000,516,0.000,0.043,2593,758,3760,3819,3702,0,0,0,0,0,0,28.83,27.10,28.83
$GC,4377,-0.84,-175.2,2594,759,3818,3703,524.6,-10.6,234,4385,0.00,2.15,0.00,0.000,1030,0.000,0.038,2586,2145,3760,3818,3702,0,0,0,0,0,0,28.83,27.11,28.83
$GC,4683,-0.84,-175.2,2587,2146,3815,3701,560.1,-10.6,245,4686,0.00,2.22,0.00,0.000,260,0.000,0.055,2576,3566,3755,3815,3695,0,0,0,0,0,0,28.83,27.02,28.83
$GC,4747,-0.84,-175.2,2576,3567,3815,3699,566.9,-10.9,247,4751,0.00,2.15,0.00,0.000,1030,0.000,0.033,2575,2152,3756,3814,3699,0,0,0,0,0,0,28.83,27.17,28.83
$GC,5073,-0.84,-175.2,2576,2149,3812,3697,604.3,-11.5,258,5076,0.00,2.17,0.00,0.000,516,0.000,0.044,2576,747,3753,3810,3697,0,0,0,0,0,0,28.83,27.09,28.83
$GC,5137,-0.84,-175.2,2576,748,3811,3698,611.1,-11.3,260,5141,0.00,2.20,0.00,0.000,1030,0.000,0.039,2571,2156,3753,3810,3696,0,0,0,0,0,0,28.83,27.09,28.83
$GC,5463,-0.84,-175.2,2571,2158,3807,3696,646.2,-10.6,271,5466,0.00,2.22,0.00,0.000,260,0.000,0.055,2556,3557,3750,3806,3694,0,0,0,0,0,0,28.83,27.01,28.83
$GC,5527,-0.84,-175.2,2561,3558,3807,3696,653.0,-11.0,273,5532,0.10,2.15,0.00,0.000,3078,0.146,0.034,2592,2141,3749,3806,3693,0,0,0,0,0,0,26.84,27.16,28.83
$GC,5853,-0.84,-175.2,2593,2140,3805,3694,685.1,-9.7,284,5856,0.00,2.15,0.00,0.000,516,0.000,0.044,2592,755,3748,3804,3692,0,0,0,0,0,0,28.83,27.08,28.83
$GC,5878,-0.84,-175.2,2592,754,3804,3693,685.1,-9.7,284,5884,0.00,2.17,0.00,0.000,1030,0.000,0.040,2585,2149,3747,3803,3692,0,0,0,0,0,0,28.83,27.08,28.83
$GC,6182,-0.84,-175.2,2585,2150,3803,3691,720.7,-11.0,295,6186,0.00,2.25,0.00,0.000,260,0.000,0.057,2575,3557,3746,3802,3690,0,0,0,0,0,0,28.83,26.99,28.83
$GC,6247,-0.84,-175.2,2575,3558,3801,3691,727.6,-11.2,297,6251,0.00,2.12,0.00,0.000,1030,0.000,0.034,2575,2158,3745,3800,3690,0,0,0,0,0,0,28.83,27.15,28.83
$GC,6573,-0.84,-175.2,2575,2156,3800,3690,765.1,-11.0,308,6576,0.00,2.17,0.00,0.000,516,0.000,0.045,2575,745,3747,3805,3689,0,0,0,0,0,0,28.83,27.06,28.83
$GC,6652,-0.84,-175.2,2575,746,3799,3689,772.0,-11.2,310,6656,0.00,2.20,0.00,0.000,1030,0.000,0.041,2575,2146,3743,3798,3688,0,0,0,0,0,0,28.83,27.06,28.83
$GC,6963,-0.84,-175.2,2572,2148,3796,3688,807.8,-10.7,321,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2146,3741,3796,3687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7263,-0.84,-175.2,2571,2146,3796,3685,839.2,-10.7,331,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2146,3740,3795,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7562,-0.84,-175.2,2571,2146,3794,3684,870.9,-10.6,341,7567,0.00,2.28,0.00,0.000,260,0.000,0.057,2561,3564,3738,3792,3684,0,0,0,0,0,0,28.83,26.95,28.83
$GC,7602,-0.84,-175.2,2562,3565,3792,3685,874.4,-10.8,342,7607,0.10,2.15,0.00,0.000,3078,0.148,0.035,2591,2152,3737,3791,3684,0,0,0,0,0,0,26.79,27.14,28.83
$GC,7923,-0.84,-175.2,2592,2150,3792,3683,907.6,-10.1,353,7927,0.00,2.25,0.00,0.000,260,0.000,0.057,2583,3561,3736,3790,3682,0,0,0,0,0,0,28.83,26.93,28.83
$GC,7952,-0.84,-175.2,2584,3562,3791,3683,910.6,-10.2,354,7957,0.00,2.17,0.00,0.000,1030,0.000,0.035,2583,2145,3736,3790,3682,0,0,0,0,0,0,28.83,27.13,28.83
$GC,8283,-0.84,-175.2,2584,2143,3791,3682,947.1,-10.9,365,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2142,3735,3790,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8583,-0.84,-175.2,2584,2143,3789,3681,979.7,-10.7,375,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2142,3733,3788,3679,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8701,begin apogee
$GC,8705,-0.13,0.0,2583,2264,3788,3680,992.9,-10.9,379,8856,0.77,0.00,145.45,1.285,10246,0.136,0.000,2824,2262,3045,3086,3005,0,0,0,0,0,0,26.63,28.83,24.34
$STATE,8857,end apogee,CONTROL_FINISHED_OK
$STATE,8857,begin climb
$GC,8858,0.78,175.2,2824,2262,3086,3003,999.8,0.0,384,9018,0.80,0.00,155.43,1.271,10502,0.046,0.000,3131,2262,2331,2373,2289,0,0,0,0,0,0,25.35,28.83,24.07
$GC,9303,0.66,175.2,3131,2262,2363,2277,943.7,16.3,399,9307,0.20,2.28,0.00,0.000,4356,0.185,0.055,3082,3648,2319,2362,2277,0,0,0,0,0,0,26.03,26.20,28.83
$GC,9347,0.55,175.2,3083,3648,2361,2276,939.9,16.1,400,9351,0.12,2.20,0.00,0.000,5126,0.168,0.032,3055,2251,2318,2360,2277,0,0,0,0,0,0,26.08,26.33,28.83
$GC,9658,0.51,175.2,3055,2250,2358,2277,898.9,12.8,411,9659,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2248,2316,2358,2275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9958,0.48,175.2,3055,2249,2358,2274,860.2,13.0,421,9962,0.00,2.28,0.00,0.000,260,0.000,0.056,3054,3654,2315,2357,2274,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10002,0.44,175.2,3055,3654,2357,2274,856.0,13.1,422,10007,0.15,2.17,0.00,0.000,5126,0.159,0.034,3018,2251,2315,2356,2275,0,0,0,0,0,0,26.45,26.75,28.83
$GC,10318,0.44,178.3,3018,2248,2356,2274,822.4,9.9,433,10321,0.00,2.22,0.00,0.000,516,0.000,0.045,3026,843,2314,2355,2274,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10392,0.44,179.4,3026,843,2356,2273,816.5,10.0,435,10396,0.00,2.22,0.00,0.000,1030,0.000,0.039,3026,2252,2313,2354,2273,0,0,0,0,0,0,28.83,26.80,28.83
$GC,10708,0.45,185.0,3027,2253,2355,2274,784.1,9.8,446,10718,0.00,2.20,6.80,0.932,8708,0.000,0.044,3035,849,2292,2332,2252,0,0,0,0,0,0,28.83,26.78,25.81
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$STATE,17548,end climb,SURFACE_DEPTH_REACHED
$STATE,17548,begin surface coast
$FINISH,-0.7,1.021525
$STATE,17575,end surface coast,CONTROL_FINISHED_OK
$STATE,17575,begin surface
$SM_CCo,17590,7.47,0.069,0,0,1619,350.04
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$IRIDIUM_FIX,1329.75,14504.12,041014,153302
$TT8_MAMPS,0.166278,0.166278
$HUMID,48.85
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,24.90
$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,1649996
$PA_UPTIME,17642.35 7325.62
$PA_BOOTCOUNT,64
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$PA_LOG,0.03/0.068/1.969/1.801
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$PA_DATA0,0.04/4.712/117.199/106.533
$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.02/0.035/1.764/1.639
$24V_AH,24.07,5.336
$10V_AH,10.05,3.189
$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,21.875,153.450,438.450,7.475,0.000,0.000,0.000,218.075,0.250,0.000,32.946,0.000,14344.868,576.711,2822.830,156.832,0.000,1845.279,0.000,1834.268,0.000,0.551,0.000
$DEVICE_MAMPS,245.565,80.325,1285.200,68.850,0.000,0.000,0.000,85.680,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,562.344,0.000,0.000,0.000,0.000,0.000,17601.791,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,143.323,0.000,0.000,0.000
$MEM,228584
$DATA_FILE_SIZE,36693,827
$CAP_FILE_SIZE,159524,0
$CFSIZE,260034560,254369792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$GPS,051014,003856,1333.726,14506.944,67,1.6,87,1.5