version: 66.12
glider: 178
mission: 18
dive: 118
start: 10 20 114 7 53 20
data:
$ID,178
$MISSION,18
$DIVE,118
$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,52
$R_STBD_OVSHOOT,35
$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
$GPS1,201014,074226,1153.642,14424.979,52,1.1,72,1.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.16
$_SM_ANGLEo,-76.0
$GPS2,201014,075309,1153.563,14424.865,9,1.0,29,1.8
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S6
$TGT_LATLONG,1111.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,147.4,80200,-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,-155.7,162,2152,1608,1626,0.0,0.0,0,152,0.00,0.00,-58.53,0.000,16386,0.000,0.000,162,2152,3200,3248,3153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,154,-0.77,-155.7,163,2153,3249,3155,3.3,-13.1,10,179,10.68,2.20,-7.90,0.000,18948,0.246,0.053,2615,750,3685,3749,3621,0,0,0,0,0,0,25.65,26.12,26.25
$GC,348,-0.70,-155.7,2615,751,3755,3626,75.3,-26.8,40,357,0.15,2.20,0.00,0.000,3078,0.168,0.033,2642,2155,3690,3755,3625,0,0,0,0,0,0,25.89,26.14,28.83
$GC,661,-0.70,-155.7,2643,2155,3763,3625,130.9,-13.0,71,670,0.00,2.20,0.00,0.000,516,0.000,0.036,2642,752,3693,3762,3625,0,0,0,0,0,0,28.83,26.17,28.83
$GC,678,-0.70,-155.7,2643,753,3768,3626,132.5,-13.0,72,689,0.00,2.17,0.00,0.000,1030,0.000,0.031,2638,2150,3693,3762,3625,0,0,0,0,0,0,28.83,26.19,28.83
$GC,985,-0.70,-155.7,2639,2152,3768,3627,172.2,-11.6,103,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2151,3696,3767,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1306,-0.73,-155.7,2639,2152,3771,3628,210.6,-11.4,129,1314,0.00,2.20,0.00,0.000,516,0.000,0.035,2638,749,3697,3770,3624,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1358,-0.75,-155.7,2639,750,3771,3628,214.3,-11.4,130,1366,0.00,2.17,0.00,0.000,1030,0.000,0.031,2630,2159,3698,3769,3627,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1663,-0.75,-155.7,2631,2161,3771,3628,249.9,-10.3,140,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2159,3698,3770,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1964,-0.77,-155.7,2631,2159,3770,3627,276.5,-8.8,150,1972,0.00,2.20,0.00,0.000,516,0.000,0.037,2630,752,3697,3767,3628,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2006,-0.80,-155.7,2630,752,3769,3627,279.3,-9.2,151,2014,0.00,2.17,0.00,0.000,1030,0.000,0.031,2621,2145,3698,3769,3627,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2318,-0.80,-155.7,2621,2146,3764,3628,309.9,-8.8,162,2331,0.00,2.25,0.00,0.000,260,0.000,0.047,2611,3557,3694,3762,3627,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2380,-0.82,-155.7,2611,3557,3763,3627,315.6,-9.0,164,2388,0.00,2.15,0.00,0.000,1030,0.000,0.028,2610,2148,3694,3762,3627,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2707,-0.82,-155.7,2611,2144,3757,3628,348.1,-10.1,175,2718,0.00,2.28,0.00,0.000,260,0.000,0.047,2601,3557,3691,3756,3627,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2737,-0.82,-155.7,2601,3557,3757,3627,351.4,-10.1,176,2746,0.00,2.15,0.00,0.000,1030,0.000,0.028,2601,2143,3691,3755,3627,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3070,-0.82,-155.7,2602,2141,3750,3628,384.7,-10.4,187,3078,0.00,2.17,0.00,0.000,516,0.000,0.039,2601,759,3688,3750,3627,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3097,-0.82,-155.7,2607,759,3748,3628,384.7,-10.4,187,3107,0.00,2.20,0.00,0.000,1030,0.000,0.034,2592,2156,3687,3748,3627,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3403,-0.82,-155.7,2593,2158,3744,3627,418.6,-9.9,198,3411,0.00,2.22,0.00,0.000,516,0.000,0.039,2593,754,3684,3743,3626,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3436,-0.82,-155.7,2593,753,3744,3626,422.1,-10.1,199,3443,0.00,2.20,0.00,0.000,1030,0.000,0.034,2584,2148,3684,3743,3626,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3763,-0.82,-155.7,2584,2148,3739,3623,456.3,-10.5,210,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2148,3680,3738,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4062,-0.82,-155.7,2584,2149,3735,3621,489.4,-11.4,220,4071,0.00,2.20,0.00,0.000,516,0.000,0.040,2583,761,3677,3734,3620,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4095,-0.82,-155.7,2588,761,3733,3620,492.8,-11.6,221,4103,0.12,2.20,0.00,0.000,3078,0.164,0.036,2604,2158,3675,3733,3618,0,0,0,0,0,0,25.89,26.11,28.83
$GC,4418,-0.84,-155.7,2605,2160,3730,3618,527.6,-10.3,232,4426,0.00,2.25,0.00,0.000,260,0.000,0.050,2595,3558,3673,3730,3617,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4446,-0.86,-155.7,2596,3559,3730,3618,530.5,-10.3,233,4453,0.00,2.17,0.00,0.000,1030,0.000,0.030,2595,2154,3673,3729,3617,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4778,-0.86,-155.7,2596,2151,3727,3616,563.4,-9.5,244,4786,0.00,2.22,0.00,0.000,516,0.000,0.040,2596,755,3670,3726,3615,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4826,-0.86,-155.7,2596,756,3726,3616,566.8,-9.7,245,4833,0.00,2.22,0.00,0.000,1030,0.000,0.034,2586,2154,3669,3725,3614,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5138,-0.86,-155.7,2586,2155,3724,3614,597.9,-9.3,256,5149,0.00,2.28,0.00,0.000,260,0.000,0.052,2575,3556,3666,3721,3612,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5178,-0.86,-155.7,2576,3556,3722,3612,600.9,-9.5,257,5185,0.00,2.20,0.00,0.000,1030,0.000,0.031,2575,2141,3667,3722,3612,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5495,-0.86,-155.7,2576,2139,3716,3613,635.1,-10.5,268,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2138,3667,3723,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5795,-0.86,-155.7,2576,2138,3718,3609,666.4,-10.5,278,5804,0.00,2.30,0.00,0.000,260,0.000,0.050,2567,3553,3662,3716,3609,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5818,-0.86,-155.7,2568,3553,3716,3610,666.4,-10.5,278,5826,0.00,2.20,0.00,0.000,1030,0.000,0.032,2567,2147,3659,3710,3609,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6130,-0.86,-155.7,2567,2143,3714,3607,702.8,-10.6,289,6138,0.00,2.22,0.00,0.000,516,0.000,0.041,2567,757,3660,3714,3607,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6198,-0.86,-155.7,2567,757,3715,3607,709.8,-11.0,291,6206,0.12,2.22,0.00,0.000,3078,0.174,0.035,2585,2148,3658,3711,3605,0,0,0,0,0,0,25.77,26.03,28.83
$GC,6521,-0.86,-155.7,2587,2149,3712,3605,741.3,-9.5,302,6531,0.00,2.30,0.00,0.000,260,0.000,0.052,2578,3557,3657,3711,3604,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6555,-0.86,-155.7,2577,3558,3705,3606,744.2,-9.6,303,6564,0.00,2.20,0.00,0.000,1030,0.000,0.032,2578,2148,3657,3710,3604,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6878,-0.86,-155.7,2578,2146,3710,3605,775.9,-9.5,314,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2144,3656,3709,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7178,-0.86,-155.7,2578,2143,3708,3602,803.8,-9.2,324,7189,0.00,2.22,0.00,0.000,516,0.000,0.041,2578,749,3654,3707,3602,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7268,-0.86,-155.7,2578,750,3706,3603,812.6,-9.7,327,7278,0.00,2.25,0.00,0.000,1030,0.000,0.037,2570,2150,3653,3706,3601,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7603,-0.86,-155.7,2571,2151,3705,3601,845.1,-9.9,338,7609,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2150,3651,3704,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7903,-0.86,-155.7,2572,2148,3704,3605,873.7,-9.4,348,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2150,3651,3703,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8203,-0.86,-155.7,2571,2150,3703,3597,901.3,-9.2,358,8210,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2150,3650,3702,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8503,-0.86,-155.7,2571,2156,3702,3591,928.5,-9.0,368,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2151,3648,3700,3596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8803,-0.86,-155.7,2571,2156,3701,3591,955.5,-8.9,378,8811,0.00,2.30,0.00,0.000,260,0.000,0.054,2559,3560,3645,3698,3593,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8866,-0.86,-155.7,2561,3561,3699,3596,961.3,-8.9,380,8874,0.12,2.22,0.00,0.000,3078,0.163,0.034,2589,2148,3646,3698,3595,0,0,0,0,0,0,25.72,26.01,28.83
$GC,9199,-0.86,-155.7,2590,2146,3699,3596,987.0,-7.6,391,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2144,3645,3697,3594,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9257,begin apogee
$GC,9261,-0.13,0.0,2588,2264,3698,3595,991.5,-7.7,393,9400,0.77,0.00,131.52,1.279,10246,0.129,0.000,2825,2262,3046,3083,3009,0,0,0,0,0,0,25.63,28.83,24.01
$STATE,9400,end apogee,CONTROL_FINISHED_OK
$STATE,9400,begin climb
$GC,9402,0.77,155.7,2825,2264,3083,3009,994.4,0.0,397,9555,0.82,2.50,140.98,1.260,10500,0.044,0.050,3135,3649,2410,2453,2367,0,0,0,0,0,0,25.01,24.36,23.52
$GC,9610,0.68,155.7,3135,3649,2445,2364,975.3,14.4,404,9618,0.22,2.30,0.00,0.000,5126,0.181,0.030,3092,2245,2403,2443,2364,0,0,0,0,0,0,24.86,25.09,28.83
$GC,9915,0.64,155.7,3093,2242,2443,2356,925.2,14.8,414,9922,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2243,2396,2441,2352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10216,0.60,155.7,3093,2244,2440,2357,880.7,14.9,424,10224,0.00,2.33,0.00,0.000,260,0.000,0.051,3092,3650,2397,2439,2356,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10243,0.56,155.7,3093,3651,2440,2357,880.7,14.9,424,10254,0.20,2.20,0.00,0.000,5126,0.179,0.031,3059,2245,2396,2438,2355,0,0,0,0,0,0,25.73,26.08,28.83
$GC,10548,0.56,155.7,3052,2242,2439,2354,837.4,12.5,435,10555,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2242,2395,2437,2354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10849,0.56,155.7,3053,2243,2437,2355,801.1,12.0,445,10860,0.00,2.22,0.00,0.000,516,0.000,0.041,3060,843,2394,2436,2353,0,0,0,0,0,0,28.83,26.05,28.83
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$STATE,17841,end climb,SURFACE_DEPTH_REACHED
$STATE,17841,begin surface coast
$FINISH,-0.0,1.021323
$STATE,17857,end surface coast,CONTROL_FINISHED_OK
$STATE,17857,begin surface
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$IRIDIUM_FIX,1148.07,14423.64,201014,074424
$TT8_MAMPS,0.05243,0.05243
$HUMID,46.92
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,24.70
$XPDR_PINGS,4
$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,17885.52 7591.85
$PA_BOOTCOUNT,121
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$PA_LOG,0.05/0.091/1.969/1.777
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$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.03/0.051/1.764/1.623
$24V_AH,23.52,27.463
$10V_AH,10.07,33.181
$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
$DEVICE_SECS,22.500,129.950,479.475,0.000,0.000,0.000,0.000,455.850,1.000,18591.791,32.193,0.000,14618.866,556.674,3203.346,183.051,0.000,2333.300,0.000,1619.803,0.000,0.551,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,567.733,0.000,0.000,0.000,0.000,0.000,18591.900,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,228452
$DATA_FILE_SIZE,36799,837
$CAP_FILE_SIZE,151014,0
$CFSIZE,260034560,248102912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$CURRENT,0.089,260.39,1
$GPS,201014,125325,1151.253,14425.464,32,0.9,52,1.8