version: 66.12
glider: 179
mission: 13
dive: 114
start: 10 20 114 18 40 38
data:
$ID,179
$MISSION,13
$DIVE,114
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,2.5
$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,360
$T_MISSION,400
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51623
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00267967
$HD_B,0.0102786
$HD_C,3.7969199e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.6903
$TGT_DEFAULT_LON,-118.7761
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,147
$PITCH_MAX,3923
$C_PITCH,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,22
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$ROLL_MIN,165
$ROLL_MAX,3681
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2926
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024600001
$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,140
$AH0_10V,95.099998
$MINV_24V,21
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-37.156891
$PRESSURE_SLOPE,0.0001164844
$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,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$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,0.0043333764
$SEABIRD_T_H,0.0006255582
$SEABIRD_T_I,2.4443518e-05
$SEABIRD_T_J,2.7040428e-06
$SEABIRD_C_G,-10.032231
$SEABIRD_C_H,1.1531334
$SEABIRD_C_I,-0.0012400629
$SEABIRD_C_J,0.00018751388
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,201014,183354,1526.103,14432.481,26,0.9,46,0.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-70.1
$GPS2,201014,184021,1526.105,14432.396,5,0.9,26,0.5
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N3
$TGT_LATLONG,1543.600,14423.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,350.2,35842,-16.7,-9.167,-21.61,2230
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.80,-146.0,121,2261,1202,1103,0.0,0.0,0,155,0.00,0.00,-54.25,0.000,16386,0.000,0.000,120,2261,2393,2440,2346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,157,-0.80,-146.0,120,2261,2440,2347,3.2,-5.4,8,201,11.12,2.28,-27.45,0.000,18692,0.239,0.059,2566,3645,3523,3533,3514,0,0,0,0,0,0,24.75,25.41,25.70
$GC,277,-0.61,-146.0,2566,3645,3534,3517,38.2,-36.2,27,288,0.30,2.15,0.00,0.000,3078,0.146,0.025,2646,2236,3525,3533,3517,0,0,0,0,0,0,25.07,25.60,28.83
$GC,587,-0.57,-146.0,2646,2231,3534,3517,108.4,-18.4,61,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2231,3525,3533,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,888,-0.57,-146.0,2645,2231,3534,3519,156.6,-15.1,91,901,0.00,2.28,0.00,0.000,260,0.000,0.045,2636,3648,3526,3533,3519,0,0,0,0,0,0,28.83,25.44,28.83
$GC,925,-0.57,-146.0,2636,3647,3534,3519,162.0,-15.5,94,936,0.00,2.12,0.00,0.000,1030,0.000,0.025,2636,2250,3526,3534,3519,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1250,-0.57,-146.0,2636,2249,3534,3519,208.7,-12.8,123,1258,0.00,2.28,0.00,0.000,260,0.000,0.045,2627,3654,3526,3533,3519,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1442,-0.57,-146.0,2627,3654,3533,3519,230.1,-12.0,129,1450,0.12,2.08,0.00,0.000,3078,0.133,0.025,2661,2279,3526,3534,3519,0,0,0,0,0,0,25.38,25.61,28.83
$GC,1760,-0.64,-146.0,2661,2279,3534,3519,262.3,-9.9,140,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2279,3526,3533,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2059,-0.71,-146.0,2661,2279,3532,3519,293.6,-10.3,150,2071,0.12,2.20,0.00,0.000,4356,0.080,0.044,2587,3641,3524,3530,3519,0,0,0,0,0,0,25.56,25.39,28.83
$GC,2150,-0.71,-146.0,2587,3641,3529,3519,305.8,-12.7,153,2158,0.00,2.05,0.00,0.000,1030,0.000,0.027,2587,2294,3524,3529,3519,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2477,-0.71,-146.0,2587,2292,3525,3519,346.9,-12.0,164,2483,0.12,0.00,0.00,0.000,2054,0.148,0.000,2619,2287,3522,3525,3519,0,0,0,0,0,0,25.35,28.83,28.83
$GC,2777,-0.74,-146.0,2620,2288,3523,3517,376.1,-9.7,174,2787,0.00,2.22,0.00,0.000,260,0.000,0.047,2610,3648,3520,3523,3517,0,0,0,0,0,0,28.83,25.35,28.83
$GC,2827,-0.78,-146.0,2611,3648,3522,3517,379.4,-10.1,175,2834,0.00,2.08,0.00,0.000,1030,0.000,0.028,2610,2308,3519,3522,3516,0,0,0,0,0,0,28.83,25.55,28.83
$GC,3139,-0.82,-146.0,2610,2305,3519,3513,416.5,-10.9,186,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2305,3516,3519,3513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3439,-0.85,-146.0,2610,2305,3518,3510,447.3,-10.2,196,3446,0.12,0.00,0.00,0.000,4102,0.087,0.000,2554,2304,3514,3518,3510,0,0,0,0,0,0,25.51,28.83,28.83
$GC,3739,-0.85,-146.0,2553,2304,3516,3507,491.0,-15.1,206,3747,0.00,2.28,0.00,0.000,516,0.000,0.038,2553,863,3511,3516,3506,0,0,0,0,0,0,28.83,25.34,28.83
$GC,3765,-0.85,-146.0,2554,864,3515,3507,491.0,-15.1,206,3776,0.00,2.25,0.00,0.000,1030,0.000,0.033,2544,2291,3511,3515,3507,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4071,-0.85,-146.0,2545,2291,3512,3503,543.0,-15.4,217,4079,0.00,2.22,0.00,0.000,260,0.000,0.051,2534,3648,3507,3511,3503,0,0,0,0,0,0,28.83,25.27,28.83
$GC,4148,-0.85,-146.0,2534,3648,3511,3503,552.5,-15.2,219,4156,0.15,2.10,0.00,0.000,3078,0.150,0.030,2572,2302,3507,3511,3504,0,0,0,0,0,0,25.12,25.46,28.83
$GC,4460,-0.85,-146.0,2572,2300,3509,3499,595.3,-12.5,230,4468,0.00,2.28,0.00,0.000,516,0.000,0.041,2572,873,3504,3509,3499,0,0,0,0,0,0,28.83,25.31,28.83
$GC,4487,-0.85,-146.0,2572,873,3509,3499,598.5,-12.3,231,4496,0.00,2.28,0.00,0.000,1030,0.000,0.034,2565,2299,3504,3509,3499,0,0,0,0,0,0,28.83,25.32,28.83
$GC,4820,-0.85,-146.0,2564,2300,3507,3496,638.6,-12.1,242,4830,0.00,2.25,0.00,0.000,260,0.000,0.053,2555,3656,3501,3506,3496,0,0,0,0,0,0,28.83,25.20,28.83
$GC,4899,-0.85,-146.0,2555,3656,3505,3496,646.8,-12.2,244,4906,0.00,2.12,0.00,0.000,1030,0.000,0.032,2554,2314,3500,3506,3495,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5216,-0.85,-146.0,2555,2310,3504,3492,688.9,-13.0,255,5224,0.00,2.25,0.00,0.000,260,0.000,0.054,2545,3653,3498,3504,3492,0,0,0,0,0,0,28.83,25.16,28.83
$GC,5272,-0.85,-146.0,2545,3653,3503,3492,693.1,-13.1,256,5283,0.00,2.10,0.00,0.000,1030,0.000,0.032,2545,2318,3497,3503,3492,0,0,0,0,0,0,28.83,25.42,28.83
$GC,5578,-0.85,-146.0,2545,2313,3501,3489,736.1,-12.8,267,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2313,3495,3501,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5878,-0.85,-146.0,2545,2313,3500,3486,774.1,-12.7,277,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2313,3493,3500,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6178,-0.85,-146.0,2544,2313,3498,3485,811.2,-12.4,287,6186,0.00,2.33,0.00,0.000,516,0.000,0.043,2545,870,3491,3498,3484,0,0,0,0,0,0,28.83,25.18,28.83
$GC,6215,-0.85,-146.0,2545,870,3498,3484,814.7,-12.4,288,6223,0.12,2.30,0.00,0.000,3078,0.158,0.036,2567,2306,3491,3497,3485,0,0,0,0,0,0,25.01,25.25,28.83
$GC,6532,-0.85,-146.0,2566,2306,3495,3482,853.7,-12.0,299,6540,0.00,2.25,0.00,0.000,260,0.000,0.055,2558,3658,3488,3495,3481,0,0,0,0,0,0,28.83,25.08,28.83
$GC,6594,-0.85,-146.0,2558,3658,3495,3481,861.1,-12.3,301,6602,0.00,2.12,0.00,0.000,1030,0.000,0.034,2558,2334,3487,3494,3481,0,0,0,0,0,0,28.83,25.32,28.83
$GC,6922,-0.85,-146.0,2558,2328,3493,3480,903.6,-12.9,312,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2328,3486,3493,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7221,-0.85,-146.0,2558,2328,3493,3478,941.1,-12.3,322,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2328,3485,3492,3478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7522,-0.85,-146.0,2557,2328,3491,3476,977.7,-12.1,332,7530,0.00,2.25,0.00,0.000,260,0.000,0.056,2548,3657,3483,3490,3476,0,0,0,0,0,0,28.83,25.05,28.83
$GC,7564,-0.85,-146.0,2548,3657,3490,3476,981.1,-12.2,333,7571,0.00,2.12,0.00,0.000,1030,0.000,0.034,2548,2328,3483,3490,3476,0,0,0,0,0,0,28.83,25.19,28.83
$STATE,7634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7634,begin apogee
$GC,7638,-0.13,0.0,2548,2010,3491,3475,991.8,-12.4,336,7774,0.82,0.00,129.25,1.105,10244,0.116,0.000,2796,2010,2926,2973,2880,0,0,0,0,0,0,24.75,28.83,22.20
$STATE,7775,end apogee,CONTROL_FINISHED_OK
$STATE,7775,begin climb
$GC,7776,0.80,146.0,2795,2010,2973,2879,997.2,0.0,340,7930,0.88,2.40,141.73,1.091,10756,0.057,0.048,3098,615,2330,2388,2273,0,0,0,0,0,0,23.95,23.93,21.95
$GC,7944,1.02,281.8,3098,615,2386,2269,995.7,2.9,346,8083,0.22,2.33,127.40,1.085,11270,0.061,0.031,3183,2005,1777,1840,1715,0,0,0,0,0,0,24.03,24.03,21.92
$GC,8379,0.89,281.8,3182,2005,1838,1703,917.8,19.3,360,8388,0.17,2.28,0.00,0.000,4356,0.171,0.047,3138,3403,1770,1837,1703,0,0,0,0,0,0,25.13,25.36,28.83
$GC,8472,0.78,281.8,3138,3403,1837,1703,902.2,18.2,363,8482,0.17,2.20,0.00,0.000,5126,0.162,0.034,3101,2019,1770,1837,1703,0,0,0,0,0,0,25.18,25.51,28.83
$GC,8797,0.73,281.8,3101,2020,1837,1701,857.0,13.4,374,8805,0.00,2.30,0.00,0.000,516,0.000,0.050,3110,599,1768,1837,1700,0,0,0,0,0,0,28.83,25.34,28.83
$GC,8824,0.69,281.8,3110,599,1837,1699,857.0,13.4,374,8835,0.15,2.22,0.00,0.000,5126,0.142,0.034,3072,2014,1767,1836,1699,0,0,0,0,0,0,25.20,25.45,28.83
$GC,9130,0.69,281.8,3072,2014,1837,1698,821.2,9.9,385,9138,0.00,2.28,0.00,0.000,260,0.000,0.050,3072,3406,1768,1837,1699,0,0,0,0,0,0,28.83,25.27,28.83
$GC,9192,0.69,281.8,3072,3406,1837,1698,815.0,10.0,387,9200,0.00,2.20,0.00,0.000,1030,0.000,0.034,3078,2023,1767,1837,1698,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9524,0.69,281.8,3078,2023,1837,1698,782.3,10.1,398,9532,0.00,2.33,0.00,0.000,516,0.000,0.051,3088,593,1767,1836,1698,0,0,0,0,0,0,28.83,25.24,28.83
$GC,9581,0.69,281.8,3088,594,1837,1697,778.7,10.4,399,9591,0.00,2.25,0.00,0.000,1030,0.000,0.034,3088,2020,1766,1836,1697,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9886,0.69,281.8,3088,2020,1837,1697,742.5,11.2,410,9894,0.00,2.25,0.00,0.000,260,0.000,0.049,3088,3398,1766,1836,1697,0,0,0,0,0,0,28.83,25.20,28.83
$GC,9953,0.69,281.8,3088,3397,1837,1697,735.6,11.7,412,9961,0.00,2.17,0.00,0.000,1030,0.000,0.033,3096,2033,1766,1836,1697,0,0,0,0,0,0,28.83,25.36,28.83
$GC,10270,0.66,281.8,3096,2033,1836,1697,695.7,12.3,423,10279,0.12,2.35,0.00,0.000,4612,0.175,0.049,3072,596,1766,1836,1697,0,0,0,0,0,0,25.05,25.15,28.83
$GC,10328,0.66,281.8,3072,596,1836,1696,691.8,12.2,424,10338,0.00,2.28,0.00,0.000,1030,0.000,0.034,3072,2033,1766,1836,1696,0,0,0,0,0,0,28.83,25.33,28.83
$GC,10633,0.66,281.8,3072,2033,1836,1696,658.1,10.0,435,10641,0.00,2.25,0.00,0.000,260,0.000,0.050,3072,3404,1766,1836,1696,0,0,0,0,0,0,28.83,25.14,28.83
$GC,10730,0.66,281.8,3072,3404,1836,1696,648.7,10.4,438,10738,0.00,2.22,0.00,0.000,1030,0.000,0.034,3080,2029,1765,1835,1696,0,0,0,0,0,0,28.83,25.22,28.83
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$STATE,17119,end climb,SURFACE_DEPTH_REACHED
$STATE,17119,begin surface coast
$FINISH,1.0,1.008215
$STATE,17135,end surface coast,CONTROL_FINISHED_OK
$STATE,17135,begin surface
$SM_CCo,17210,0.00,0.000,0,0,1193,425.10
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$IRIDIUM_FIX,1514.39,14436.84,201014,133315
$TT8_MAMPS,0.054677,0.054677
$HUMID,50.55
$INTERNAL_PRESSURE,9.38828
$TCM_TEMP,25.90
$XPDR_PINGS,7
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649255
$PA_UPTIME,17164.00 7842.82
$PA_BOOTCOUNT,702
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$PA_LOG,0.07/0.145/1.969/1.723
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$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.05/0.083/1.764/1.591
$PA_DISK_BANK,0
$24V_AH,21.92,43.412
$10V_AH,9.56,32.901
$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,24.075,162.075,529.925,0.000,0.000,0.000,0.000,258.725,1.750,17623.969,33.958,0.000,13581.773,602.361,3237.328,159.442,0.000,2307.721,0.000,1820.636,0.000,0.544,0.000
$DEVICE_MAMPS,238.680,58.905,1105.425,0.000,0.000,0.000,0.000,92.565,420.000,82.707,29.210,0.000,2.190,21.460,48.420,55.910,0.000,10.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,543.309,0.000,0.000,0.000,0.000,0.000,17624.129,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.349,0.000,0.000,0.000
$MEM,230268
$DATA_FILE_SIZE,36811,806
$CAP_FILE_SIZE,160886,0
$CFSIZE,260034560,248070144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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$CURRENT,0.032,254.22,1
$GPS,201014,232843,1528.683,14431.883,37,0.9,57,0.4