version: 66.12
glider: 178
mission: 18
dive: 98
start: 10 16 114 1 55 38
data:
$ID,178
$MISSION,18
$DIVE,98
$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,160
$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,0.0099999998
$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,40
$R_STBD_OVSHOOT,39
$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,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,161014,012726,1213.550,14454.751,67,99.0,87,1.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-74.8
$GPS2,161014,015527,1213.519,14454.466,12,1.0,32,1.8
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S5
$TGT_LATLONG,1216.500,14421.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,274.5,60091,-18.8,-10.000,-21.60,2227
$D_GRID,1000
$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,89,end surface,CONTROL_FINISHED_OK
$STATE,89,begin dive
$GC,91,-0.77,-155.7,163,2152,1628,1621,0.0,0.0,0,157,0.00,0.00,-63.90,0.000,16386,0.000,0.000,162,2151,3374,3424,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,159,-0.77,-155.7,163,2152,3426,3325,4.3,-15.4,11,184,10.60,2.22,-4.85,0.000,18948,0.246,0.047,2612,733,3686,3746,3627,0,0,0,0,0,0,25.78,26.20,26.29
$GC,250,-0.64,-155.7,2613,733,3750,3627,44.3,-33.8,28,261,0.22,2.22,0.00,0.000,3078,0.184,0.035,2659,2153,3688,3749,3627,0,0,0,0,0,0,25.89,26.20,28.83
$GC,560,-0.60,-155.7,2659,2155,3754,3627,114.4,-18.1,60,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2154,3690,3754,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,863,-0.67,-155.7,2660,2158,3760,3628,158.2,-9.4,90,871,0.00,2.22,0.00,0.000,260,0.000,0.047,2659,3557,3693,3759,3627,0,0,0,0,0,0,28.83,26.25,28.83
$GC,960,-0.74,-155.7,2659,3557,3761,3627,166.7,-9.9,99,971,0.00,2.15,0.00,0.000,1030,0.000,0.025,2663,2111,3693,3759,3627,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1286,-0.76,-155.7,2659,2112,3761,3629,203.0,-9.3,130,1294,0.12,2.30,0.00,0.000,4356,0.087,0.044,2579,3560,3694,3761,3627,0,0,0,0,0,0,26.32,26.27,28.83
$GC,1368,-0.76,-155.7,2579,3560,3762,3629,210.8,-11.8,132,1378,0.17,2.10,0.00,0.000,3078,0.161,0.027,2623,2162,3693,3760,3627,0,0,0,0,0,0,26.06,26.35,28.83
$GC,1674,-0.76,-155.7,2624,2159,3762,3627,254.5,-12.3,143,1684,0.00,2.20,0.00,0.000,260,0.000,0.046,2615,3552,3694,3761,3627,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1704,-0.76,-155.7,2616,3554,3762,3628,257.9,-11.8,144,1712,0.00,2.12,0.00,0.000,1030,0.000,0.027,2615,2146,3694,3761,3627,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2031,-0.76,-155.7,2616,2143,3761,3627,290.4,-10.7,155,2039,0.00,2.15,0.00,0.000,516,0.000,0.037,2615,758,3693,3760,3627,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2093,-0.76,-155.7,2615,756,3760,3627,297.4,-11.2,157,2101,0.00,2.17,0.00,0.000,1030,0.000,0.033,2607,2155,3693,3759,3627,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2420,-0.76,-155.7,2608,2155,3755,3626,329.9,-10.3,168,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2155,3690,3754,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2720,-0.76,-155.7,2608,2156,3749,3626,360.4,-9.6,178,2728,0.00,2.17,0.00,0.000,516,0.000,0.037,2607,759,3687,3748,3627,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2787,-0.76,-155.7,2608,760,3746,3628,366.5,-10.0,180,2795,0.00,2.15,0.00,0.000,1030,0.000,0.034,2598,2148,3686,3746,3627,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3110,-0.76,-155.7,2598,2148,3741,3626,403.9,-11.2,191,3117,0.00,2.22,0.00,0.000,260,0.000,0.050,2588,3553,3683,3740,3626,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3227,-0.76,-155.7,2588,3554,3737,3626,417.5,-11.6,195,3235,0.12,2.15,0.00,0.000,3078,0.158,0.030,2619,2144,3681,3737,3625,0,0,0,0,0,0,26.08,26.32,28.83
$GC,3555,-0.79,-155.7,2619,2140,3734,3621,450.7,-10.2,206,3563,0.00,2.20,0.00,0.000,516,0.000,0.040,2619,751,3675,3732,3619,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3587,-0.82,-155.7,2619,752,3734,3621,454.3,-10.4,207,3595,0.00,2.20,0.00,0.000,1030,0.000,0.034,2611,2148,3676,3732,3620,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3915,-0.84,-155.7,2612,2149,3728,3617,489.1,-10.2,218,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2148,3672,3728,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4215,-0.86,-155.7,2612,2148,3724,3614,519.0,-9.9,228,4222,0.00,2.28,0.00,0.000,260,0.000,0.051,2601,3555,3672,3730,3614,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4287,-0.89,-155.7,2601,3555,3721,3614,525.0,-10.2,230,4295,0.00,2.15,0.00,0.000,1030,0.000,0.031,2601,2151,3667,3720,3614,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4599,-0.89,-155.7,2601,2149,3719,3612,558.3,-9.9,241,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2148,3664,3717,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4899,-0.89,-155.7,2602,2149,3715,3609,587.7,-9.4,251,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2148,3660,3714,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5199,-0.89,-155.7,2601,2148,3711,3606,614.5,-8.9,261,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2147,3658,3710,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5499,-0.89,-155.7,2601,2147,3709,3603,641.9,-9.3,271,5507,0.00,2.30,0.00,0.000,260,0.000,0.052,2591,3556,3655,3707,3603,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5536,-0.89,-155.7,2592,3556,3707,3604,644.6,-9.4,272,5544,0.00,2.20,0.00,0.000,1030,0.000,0.032,2591,2142,3654,3705,3604,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5854,-0.89,-155.7,2592,2141,3704,3602,676.0,-9.4,283,5860,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2139,3652,3703,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6154,-0.89,-155.7,2592,2140,3702,3600,705.1,-10.1,293,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2139,3650,3701,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6454,-0.89,-155.7,2592,2140,3700,3598,737.3,-11.0,303,6462,0.00,2.33,0.00,0.000,260,0.000,0.054,2582,3555,3647,3698,3597,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6516,-0.89,-155.7,2582,3555,3699,3597,743.8,-11.0,305,6524,0.00,2.20,0.00,0.000,1030,0.000,0.033,2582,2143,3647,3697,3597,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6838,-0.89,-155.7,2583,2140,3696,3596,778.1,-10.1,316,6846,0.00,2.33,0.00,0.000,260,0.000,0.054,2572,3554,3645,3696,3595,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6870,-0.89,-155.7,2573,3555,3696,3596,780.9,-10.1,317,6878,0.00,2.17,0.00,0.000,1030,0.000,0.033,2572,2154,3645,3695,3595,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7193,-0.89,-155.7,2573,2157,3694,3601,812.2,-9.1,328,7200,0.00,2.25,0.00,0.000,516,0.000,0.042,2572,746,3643,3693,3593,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7224,-0.89,-155.7,2572,746,3695,3593,814.6,-9.0,329,7232,0.00,2.25,0.00,0.000,1030,0.000,0.038,2563,2147,3642,3693,3592,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7547,-0.89,-155.7,2564,2147,3693,3591,839.1,-6.6,340,7555,0.00,2.30,0.00,0.000,260,0.000,0.054,2553,3560,3641,3691,3591,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7559,-0.89,-155.7,2554,3561,3691,3592,839.1,-6.6,340,7567,0.12,2.20,0.00,0.000,3078,0.177,0.034,2580,2144,3641,3691,3591,0,0,0,0,0,0,25.82,26.13,28.83
$GC,7872,-0.89,-155.7,2580,2142,3691,3590,861.5,-7.2,351,7883,0.00,2.22,0.00,0.000,516,0.000,0.044,2580,734,3640,3689,3591,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8067,-0.89,-155.7,2580,735,3689,3592,877.3,-9.0,357,8075,0.00,2.30,0.00,0.000,1030,0.000,0.038,2573,2161,3639,3689,3590,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8380,-0.89,-155.7,2574,2161,3687,3589,912.4,-10.9,368,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2161,3637,3686,3589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8680,-0.89,-155.7,2572,2161,3687,3587,943.4,-9.9,378,8688,0.00,2.30,0.00,0.000,260,0.000,0.055,2563,3558,3637,3686,3588,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8722,-0.89,-155.7,2564,3558,3686,3587,946.8,-9.9,379,8730,0.00,2.22,0.00,0.000,1030,0.000,0.034,2563,2148,3636,3685,3587,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9045,-0.89,-155.7,2564,2146,3685,3586,979.3,-9.6,390,9053,0.00,2.25,0.00,0.000,516,0.000,0.044,2563,754,3635,3684,3586,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9082,-0.89,-155.7,2564,756,3685,3588,982.2,-9.7,391,9090,0.00,2.25,0.00,0.000,1030,0.000,0.038,2556,2154,3635,3684,3586,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,9158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9158,begin apogee
$GC,9162,-0.13,0.0,2556,2260,3685,3587,990.3,-9.5,394,9297,0.93,0.00,127.85,1.277,10246,0.144,0.000,2826,2259,3046,3084,3009,0,0,0,0,0,0,25.70,28.83,24.18
$STATE,9298,end apogee,CONTROL_FINISHED_OK
$STATE,9298,begin climb
$GC,9299,0.77,155.7,2827,2259,3084,3007,992.2,0.0,398,9444,0.82,0.00,139.00,1.266,10246,0.046,0.000,3134,2258,2412,2456,2369,0,0,0,0,0,0,25.14,28.83,23.77
$GC,9729,0.70,155.7,3134,2259,2445,2357,928.5,17.8,413,9739,0.12,2.30,0.00,0.000,4356,0.194,0.051,3104,3650,2399,2442,2356,0,0,0,0,0,0,25.59,25.77,28.83
$GC,9769,0.64,155.7,3104,3652,2443,2358,923.1,17.9,414,9779,0.15,2.22,0.00,0.000,5126,0.187,0.031,3078,2246,2399,2442,2356,0,0,0,0,0,0,25.64,25.91,28.83
$GC,10089,0.61,155.7,3078,2244,2442,2357,875.1,13.7,425,10095,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2243,2398,2441,2355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10390,0.58,155.7,3079,2244,2441,2354,836.1,13.0,435,10398,0.00,2.25,0.00,0.000,516,0.000,0.042,3086,841,2397,2440,2354,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10482,0.55,155.7,3087,842,2440,2353,824.3,13.2,438,10490,0.15,2.25,0.00,0.000,5126,0.178,0.036,3052,2246,2395,2439,2352,0,0,0,0,0,0,25.88,26.11,28.83
$GC,10805,0.55,155.7,3052,2251,2439,2353,783.7,12.5,449,10810,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2250,2395,2439,2351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11104,0.55,155.7,3052,2250,2438,2351,745.5,12.6,459,11110,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2250,2394,2438,2351,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,14001,0.59,180.7,3046,2255,2434,2350,402.0,8.8,555,14030,0.00,2.38,19.88,0.873,8452,0.000,0.053,3046,3654,2308,2347,2270,0,0,0,0,0,0,28.83,25.86,25.14
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$STATE,17772,end climb,SURFACE_DEPTH_REACHED
$STATE,17772,begin surface coast
$FINISH,0.0,1.021323
$STATE,17792,end surface coast,CONTROL_FINISHED_OK
$STATE,17792,begin surface
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$IRIDIUM_FIX,1207.91,14457.77,161014,013437
$TT8_MAMPS,0.054677,0.054677
$HUMID,48.58
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,24.70
$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,17763.73 8213.77
$PA_BOOTCOUNT,99
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$PA_LOG,0.04/0.085/1.969/1.784
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$PA_HOME,0.03/0.046/1.764/1.628
$24V_AH,23.77,18.341
$10V_AH,10.07,31.731
$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
$DEVICE_SECS,22.575,134.425,436.225,1.050,0.000,0.000,0.000,1175.450,0.000,19561.441,34.528,0.000,14438.011,569.397,4225.921,242.945,0.000,3067.034,0.000,1711.819,0.000,0.554,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,568.194,0.000,0.000,0.000,0.000,0.000,19561.500,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,228476
$DATA_FILE_SIZE,36768,837
$CAP_FILE_SIZE,171124,0
$CFSIZE,260034560,249741312
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$CURRENT,0.052,245.90,1
$GPS,161014,065449,1213.672,14451.589,100,0.8,120,1.8