version: 66.12
glider: 204
mission: 15
dive: 45
start: 3 8 115 19 27 33
data:
$ID,204
$MISSION,15
$DIVE,45
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,50
$T_BOOST,4
$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,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52154
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3270
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,29
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,81
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00145
$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,150
$AH0_10V,97
$MINV_24V,22.5
$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,-71.557899
$PRESSURE_SLOPE,0.0001157966
$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,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$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,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,080315,192205,1328.9594,14518.6064,24,0.9,24,1.2,0.8,230.6,9,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-66.2
$GPS2,080315,192723,1328.9259,14518.5605,7,0.9,7,1.2,0.6,238.3,10,14.1
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N4
$TGT_LATLONG,1306.840,14616.260
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,71.8,111822,-15.8,-10.000,-19.55,2669
$D_GRID,1030
$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,93,-0.80,-175.2,197,2628,633,588,0.0,0.0,0,157,0.00,0.00,-58.38,0.000,16386,0.000,0.000,196,2629,2217,2174,2260,0,0,0,0,0,0,26.81,28.83,26.88
$GC,159,-0.80,-175.2,197,2629,2177,2260,3.2,-5.5,10,207,11.30,2.05,-29.75,0.000,18948,0.233,0.039,3018,1212,3553,3521,3585,0,0,0,0,0,0,26.30,26.02,26.54
$GC,231,-0.80,-175.2,3019,1212,3527,3587,19.3,-29.2,23,239,0.00,2.10,0.00,0.000,1030,0.000,0.034,3010,2586,3556,3526,3586,0,0,0,0,0,0,26.65,26.63,26.68
$GC,543,-0.80,-175.2,3010,2587,3527,3587,106.0,-25.8,65,551,0.00,1.65,0.00,0.000,260,0.000,0.044,3001,3701,3556,3527,3586,0,0,0,0,0,0,27.01,26.74,27.06
$GC,635,-0.80,-175.2,3001,3702,3528,3586,129.6,-25.1,74,645,0.00,1.55,0.00,0.000,1030,0.000,0.022,3005,2588,3556,3527,3586,0,0,0,0,0,0,26.91,26.89,26.93
$GC,949,-0.80,-175.2,3005,2589,3530,3591,196.8,-21.0,105,959,0.00,1.95,0.00,0.000,516,0.000,0.027,3011,1217,3559,3529,3589,0,0,0,0,0,0,27.12,26.91,27.17
$GC,1017,-0.80,-175.2,3010,1217,3532,3590,210.1,-21.2,109,1028,0.00,2.05,0.00,0.000,1030,0.000,0.034,3002,2612,3560,3530,3590,0,0,0,0,0,0,26.96,26.90,26.99
$GC,1343,-0.80,-175.2,3002,2611,3533,3593,262.7,-13.7,120,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2612,3562,3532,3593,0,0,0,0,0,0,27.19,27.25,27.24
$GC,1643,-0.80,-175.2,3002,2613,3534,3595,299.6,-12.5,130,1652,0.00,1.60,0.00,0.000,260,0.000,0.045,2994,3702,3563,3533,3594,0,0,0,0,0,0,27.22,26.96,27.28
$GC,1685,-0.80,-175.2,2994,3704,3534,3595,304.2,-12.8,131,1692,0.00,1.50,0.00,0.000,1030,0.000,0.023,3000,2589,3563,3533,3594,0,0,0,0,0,0,27.11,27.08,27.13
$GC,2006,-0.80,-175.2,3000,2590,3534,3594,350.4,-15.3,142,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2589,3563,3533,3593,0,0,0,0,0,0,27.25,27.32,27.31
$GC,2306,-0.80,-175.2,3001,2590,3534,3591,393.1,-13.7,152,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2588,3561,3533,3589,0,0,0,0,0,0,27.27,27.34,27.33
$GC,2606,-0.80,-175.2,3000,2588,3534,3583,430.0,-12.3,162,2614,0.00,1.65,0.00,0.000,260,0.000,0.045,2993,3703,3557,3532,3583,0,0,0,0,0,0,27.29,27.02,27.34
$GC,2638,-0.80,-175.2,2993,3700,3535,3582,434.0,-12.4,163,2645,0.00,1.50,0.00,0.000,1030,0.000,0.025,3001,2591,3557,3533,3582,0,0,0,0,0,0,27.17,27.14,27.18
$GC,2968,-0.80,-175.2,3000,2590,3533,3576,473.7,-11.5,174,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2591,3554,3532,3577,0,0,0,0,0,0,27.29,27.37,27.36
$GC,3269,-0.80,-175.2,3000,2590,3529,3575,507.9,-11.4,184,3279,0.00,1.65,0.00,0.000,260,0.000,0.046,2995,3699,3550,3526,3574,0,0,0,0,0,0,27.30,27.03,27.37
$GC,3322,-0.80,-175.2,2994,3701,3527,3576,512.1,-11.7,185,3329,0.00,1.52,0.00,0.000,1030,0.000,0.024,3000,2611,3550,3526,3574,0,0,0,0,0,0,27.18,27.15,27.18
$GC,3633,-0.80,-175.2,3000,2611,3525,3571,555.6,-13.4,196,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2612,3547,3523,3571,0,0,0,0,0,0,27.31,27.39,27.37
$GC,3933,-0.80,-175.2,3000,2611,3521,3569,595.0,-13.0,206,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2610,3545,3521,3569,0,0,0,0,0,0,27.32,27.39,27.38
$GC,4233,-0.80,-175.2,3000,2611,3518,3567,630.1,-11.1,216,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2611,3541,3517,3565,0,0,0,0,0,0,27.32,27.39,27.39
$GC,4533,-0.80,-175.2,3001,2612,3515,3565,660.3,-9.6,226,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2611,3538,3514,3563,0,0,0,0,0,0,27.32,27.40,27.39
$GC,4833,-0.80,-175.2,3001,2611,3513,3561,686.4,-8.5,236,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2611,3536,3512,3561,0,0,0,0,0,0,27.32,27.40,27.37
$GC,5133,-0.80,-175.2,3001,2612,3511,3561,711.7,-8.5,246,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2611,3534,3510,3559,0,0,0,0,0,0,27.33,27.40,27.39
$GC,5433,-0.80,-175.2,3000,2611,3509,3557,738.0,-9.0,256,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2611,3532,3508,3557,0,0,0,0,0,0,27.33,27.40,27.39
$GC,5733,-0.80,-175.2,3000,2611,3507,3555,766.8,-9.7,266,5738,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2611,3530,3506,3555,0,0,0,0,0,0,27.33,27.40,27.42
$GC,6033,-0.80,-175.2,3000,2611,3505,3554,796.7,-10.1,276,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2611,3528,3504,3553,0,0,0,0,0,0,27.33,27.40,27.39
$GC,6333,-0.80,-175.2,3001,2612,3503,3552,828.4,-10.6,286,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2611,3527,3503,3551,0,0,0,0,0,0,27.33,27.41,27.39
$GC,6633,-0.80,-175.2,3001,2612,3502,3552,860.1,-10.6,296,6638,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2611,3525,3501,3550,0,0,0,0,0,0,27.33,27.41,27.39
$GC,6933,-0.80,-175.2,3001,2611,3500,3548,890.3,-10.0,306,6938,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2611,3524,3500,3549,0,0,0,0,0,0,27.33,27.41,27.39
$GC,7233,-0.80,-175.2,3000,2611,3499,3548,922.6,-11.1,316,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2610,3526,3505,3548,0,0,0,0,0,0,27.33,27.41,27.39
$GC,7533,-0.80,-175.2,3000,2611,3498,3547,955.4,-10.7,326,7538,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2611,3522,3497,3547,0,0,0,0,0,0,27.33,27.41,27.39
$GC,7833,-0.80,-175.2,3000,2612,3496,3546,987.6,-10.6,336,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2610,3520,3496,3545,0,0,0,0,0,0,27.33,27.41,27.39
$STATE,7862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7862,begin apogee
$GC,7865,-0.17,0.0,3002,2425,3495,3546,990.8,-10.6,337,8008,0.73,0.00,136.40,1.298,10246,0.158,0.000,3214,2422,2839,2814,2864,0,0,0,0,0,0,26.74,25.11,24.39
$STATE,8009,end apogee,CONTROL_FINISHED_OK
$STATE,8009,begin climb
$GC,8010,0.80,175.2,3215,2422,2809,2856,996.7,0.0,341,8168,1.05,2.25,142.98,1.273,10756,0.140,0.029,3532,1040,2113,2110,2117,0,0,0,0,0,0,25.27,24.73,24.01
$GC,8262,0.95,276.8,3533,1042,2105,2109,993.4,6.1,350,8356,0.17,2.15,84.12,1.285,11270,0.169,0.030,3568,2427,1709,1712,1706,0,0,0,0,0,0,25.56,25.70,24.03
$GC,8679,0.95,276.8,3568,2427,1694,1683,943.0,13.1,364,8689,0.00,1.98,0.00,0.000,260,0.000,0.044,3560,3701,1688,1693,1683,0,0,0,0,0,0,26.44,26.20,26.50
$GC,8732,0.95,276.8,3559,3701,1694,1685,938.3,13.4,365,8740,0.00,1.85,0.00,0.000,1030,0.000,0.024,3568,2412,1688,1693,1683,0,0,0,0,0,0,26.40,26.37,26.42
$GC,9038,0.95,276.8,3569,2407,1692,1682,894.1,13.6,375,9049,0.00,2.05,0.00,0.000,516,0.000,0.032,3579,1032,1686,1690,1682,0,0,0,0,0,0,26.78,26.59,26.84
$GC,9068,0.95,276.8,3579,1032,1691,1682,890.0,13.6,376,9076,0.00,2.10,0.00,0.000,1030,0.000,0.031,3565,2435,1685,1690,1681,0,0,0,0,0,0,26.65,26.59,26.67
$GC,9395,0.95,276.8,3569,2434,1690,1683,846.3,13.3,387,9403,0.00,1.92,0.00,0.000,260,0.000,0.045,3560,3694,1684,1689,1680,0,0,0,0,0,0,26.94,26.69,27.01
$GC,9447,0.95,276.8,3560,3695,1690,1681,841.8,13.6,388,9455,0.00,1.80,0.00,0.000,1030,0.000,0.024,3569,2409,1685,1690,1681,0,0,0,0,0,0,26.84,26.82,26.86
$GC,9759,0.95,276.8,3564,2405,1689,1680,797.5,13.3,399,9767,0.00,1.98,0.00,0.000,260,0.000,0.045,3559,3698,1684,1688,1680,0,0,0,0,0,0,27.03,26.77,27.10
$GC,9785,0.95,276.8,3560,3699,1689,1682,797.5,13.3,399,9795,0.00,1.80,0.00,0.000,1030,0.000,0.025,3569,2412,1684,1689,1680,0,0,0,0,0,0,26.92,26.89,26.94
$GC,10090,0.95,276.8,3568,2410,1689,1679,753.8,12.6,410,10099,0.00,2.03,0.00,0.000,516,0.000,0.033,3579,1036,1683,1687,1679,0,0,0,0,0,0,27.09,26.88,27.15
$GC,10117,0.95,276.8,3579,1037,1683,1680,753.8,12.6,410,10128,0.00,2.05,0.00,0.000,1030,0.000,0.031,3570,2420,1682,1686,1679,0,0,0,0,0,0,26.94,26.87,26.96
$GC,10422,0.95,276.8,3570,2420,1688,1679,714.4,11.6,421,10431,0.00,1.92,0.00,0.000,260,0.000,0.047,3560,3701,1682,1686,1679,0,0,0,0,0,0,27.13,26.85,27.20
$GC,10490,0.95,276.8,3560,3702,1687,1681,706.7,12.0,423,10498,0.00,1.80,0.00,0.000,1030,0.000,0.026,3569,2422,1683,1687,1679,0,0,0,0,0,0,27.02,26.98,27.04
$GC,10811,0.95,276.8,3569,2423,1687,1680,670.9,10.5,434,10817,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,2422,1682,1686,1678,0,0,0,0,0,0,27.17,27.24,27.23
$GC,11111,0.96,285.5,3568,2418,1687,1679,641.5,9.7,444,11118,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,2421,1682,1686,1679,0,0,0,0,0,0,27.19,27.27,27.25
$GC,11411,0.99,305.1,3568,2421,1686,1679,613.6,9.2,454,11439,0.00,0.00,21.88,1.103,8198,0.000,0.000,3569,2422,1595,1597,1593,0,0,0,0,0,0,27.21,26.36,25.66
$GC,11713,0.99,305.1,3575,2422,1584,1577,582.1,10.9,464,11718,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,2421,1582,1584,1580,0,0,0,0,0,0,26.89,26.96,26.95
$GC,12013,0.99,305.1,3569,2422,1583,1576,547.0,12.0,474,12020,0.00,1.95,0.00,0.000,260,0.000,0.046,3560,3698,1579,1583,1575,0,0,0,0,0,0,26.99,26.74,27.06
$GC,12074,0.99,305.1,3560,3699,1584,1577,539.6,12.6,476,12085,0.00,1.80,0.00,0.000,1030,0.000,0.026,3569,2422,1579,1583,1575,0,0,0,0,0,0,26.90,26.86,26.91
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$GC,14155,0.99,308.9,3569,2400,1583,1573,296.1,11.9,546,14163,0.00,1.98,0.00,0.000,516,0.000,0.031,3580,1037,1577,1582,1573,0,0,0,0,0,0,27.23,27.01,27.29
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$STATE,17009,end climb,SURFACE_DEPTH_REACHED
$STATE,17009,begin surface coast
$FINISH,0.7,1.008338
$STATE,17024,end surface coast,CONTROL_FINISHED_OK
$STATE,17024,begin surface
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$IRIDIUM_FIX,1320.88,14514.65,030108,084934
$TT8_MAMPS,0.160286,0.160286
$HUMID,35.23
$INTERNAL_PRESSURE,9.25268
$TCM_TEMP,24.80
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$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,17007.03 7209.77
$PA_BOOTCOUNT,850
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$PA_HOME,0.04/0.077/1.856/1.684
$PA_DISK_BANK,0
$24V_AH,24.01,9.075
$10V_AH,9.98,12.532
$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
$DEVICE_SECS,23.400,83.975,512.325,12.000,0.000,0.000,0.000,249.175,0.000,0.000,7.991,0.000,13853.372,597.432,2843.698,71.926,0.000,2072.440,0.000,1551.313,0.000,0.547,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,550.108,0.000,0.000,0.000,0.000,0.000,17414.551,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,139.727,0.000,0.000,0.000
$MEM,229076
$DATA_FILE_SIZE,33377,815
$CAP_FILE_SIZE,131804,0
$CFSIZE,1024393216,1013792768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13891.07,0x236db2,7,5
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$GPS,090315,001235,1328.324,14520.648,32,0.8,32,1.2,0.5,198.5,10,14.4