version: 66.12
glider: 204
mission: 15
dive: 64
start: 3 12 115 13 38 20
data:
$ID,204
$MISSION,15
$DIVE,64
$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,86
$R_STBD_OVSHOOT,62
$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
$GPS1,120315,132936,1313.3860,14600.2588,34,0.8,34,1.4,0.0,0.0,11,14.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-68.3
$GPS2,120315,133810,1313.3501,14600.1660,4,0.8,4,1.4,0.5,45.0,10,63.7
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N4
$TGT_LATLONG,1306.840,14616.260
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,100.8,31433,-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,94,-0.80,-175.2,182,2626,814,805,0.0,0.0,0,148,0.00,0.00,-47.97,0.000,16386,0.000,0.000,181,2626,2112,2078,2147,0,0,0,0,0,0,26.77,28.83,26.83
$GC,149,-0.80,-175.2,183,2627,2078,2148,3.1,-5.3,7,212,11.43,2.10,-34.05,0.000,18948,0.233,0.041,3010,1217,3555,3527,3584,0,0,0,0,0,0,26.25,25.25,26.39
$GC,298,-0.80,-175.2,3010,1217,3530,3585,37.3,-26.2,31,309,0.00,2.03,0.00,0.000,1030,0.000,0.033,3001,2578,3556,3528,3585,0,0,0,0,0,0,26.70,26.63,26.72
$GC,614,-0.80,-175.2,3002,2579,3530,3586,124.0,-25.2,66,621,0.00,1.65,0.00,0.000,260,0.000,0.044,2993,3696,3556,3528,3585,0,0,0,0,0,0,27.02,26.76,27.08
$GC,650,-0.80,-175.2,2993,3696,3529,3584,131.7,-24.2,69,662,0.00,1.50,0.00,0.000,1030,0.000,0.021,3000,2575,3557,3529,3585,0,0,0,0,0,0,26.91,26.89,26.93
$GC,956,-0.80,-175.2,3000,2575,3532,3588,195.2,-17.4,100,963,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2574,3559,3531,3587,0,0,0,0,0,0,27.11,27.17,27.17
$GC,1257,-0.80,-175.2,3000,2575,3534,3590,243.4,-15.5,112,1265,0.00,1.92,0.00,0.000,516,0.000,0.027,3007,1230,3561,3533,3589,0,0,0,0,0,0,27.17,26.97,27.22
$GC,1283,-0.80,-175.2,3007,1231,3534,3591,243.4,-15.5,112,1294,0.00,2.00,0.00,0.000,1030,0.000,0.031,2998,2606,3562,3534,3590,0,0,0,0,0,0,27.01,26.95,27.03
$GC,1588,-0.80,-175.2,2998,2606,3535,3590,289.8,-14.2,123,1596,0.00,1.60,0.00,0.000,260,0.000,0.044,2990,3697,3562,3534,3590,0,0,0,0,0,0,27.22,26.96,27.27
$GC,1654,-0.80,-175.2,2996,3697,3535,3590,298.9,-14.4,125,1662,0.00,1.50,0.00,0.000,1030,0.000,0.021,2997,2566,3562,3535,3590,0,0,0,0,0,0,27.11,27.08,27.13
$GC,1981,-0.80,-175.2,2997,2567,3534,3589,346.9,-14.3,136,1988,0.00,1.88,0.00,0.000,516,0.000,0.024,3006,1233,3560,3533,3587,0,0,0,0,0,0,27.24,27.05,27.31
$GC,2042,-0.80,-175.2,3006,1232,3535,3586,354.6,-14.0,138,2050,0.00,2.00,0.00,0.000,1030,0.000,0.031,2999,2605,3559,3533,3586,0,0,0,0,0,0,27.08,27.02,27.10
$GC,2363,-0.80,-175.2,2998,2605,3535,3582,397.1,-12.6,149,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2605,3557,3532,3582,0,0,0,0,0,0,27.27,27.32,27.33
$GC,2663,-0.80,-175.2,2998,2606,3534,3578,431.5,-11.7,159,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2606,3555,3533,3577,0,0,0,0,0,0,27.28,27.36,27.34
$GC,2963,-0.80,-175.2,2998,2605,3529,3575,469.7,-13.1,169,2970,0.00,1.62,0.00,0.000,260,0.000,0.044,2990,3700,3551,3528,3575,0,0,0,0,0,0,27.29,27.03,27.36
$GC,3009,-0.80,-175.2,2989,3700,3529,3574,473.8,-13.0,170,3016,0.00,1.50,0.00,0.000,1030,0.000,0.023,2996,2587,3550,3527,3574,0,0,0,0,0,0,27.18,27.15,27.19
$GC,3325,-0.80,-175.2,2997,2587,3525,3572,512.2,-11.3,181,3333,0.00,1.95,0.00,0.000,516,0.000,0.025,3002,1222,3547,3523,3571,0,0,0,0,0,0,27.30,27.09,27.36
$GC,3356,-0.80,-175.2,3007,1224,3524,3572,515.5,-11.0,182,3364,0.00,2.03,0.00,0.000,1030,0.000,0.031,2997,2610,3547,3523,3571,0,0,0,0,0,0,27.13,27.07,27.15
$GC,3683,-0.80,-175.2,2998,2612,3519,3569,550.0,-10.4,193,3691,0.00,1.62,0.00,0.000,260,0.000,0.046,2989,3684,3543,3519,3567,0,0,0,0,0,0,27.30,27.04,27.36
$GC,3745,-0.80,-175.2,2989,3684,3520,3566,556.9,-10.8,195,3752,0.00,1.50,0.00,0.000,1030,0.000,0.023,2996,2567,3542,3518,3567,0,0,0,0,0,0,27.19,27.16,27.20
$GC,4079,-0.80,-175.2,2996,2566,3517,3563,592.9,-10.9,206,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2567,3539,3515,3563,0,0,0,0,0,0,27.31,27.38,27.37
$GC,4376,-0.80,-175.2,2996,2567,3514,3561,624.8,-10.6,216,4383,0.00,1.70,0.00,0.000,260,0.000,0.044,2989,3701,3536,3512,3561,0,0,0,0,0,0,27.31,27.03,27.37
$GC,4412,-0.80,-175.2,2989,3702,3512,3562,628.2,-10.7,217,4419,0.00,1.50,0.00,0.000,1030,0.000,0.024,2996,2598,3536,3512,3561,0,0,0,0,0,0,27.19,27.15,27.20
$GC,4738,-0.80,-175.2,2996,2597,3511,3559,665.5,-11.3,228,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2596,3533,3509,3558,0,0,0,0,0,0,27.32,27.39,27.38
$GC,5038,-0.80,-175.2,2996,2597,3506,3557,698.8,-10.8,238,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2597,3531,3507,3556,0,0,0,0,0,0,27.32,27.39,27.38
$GC,5338,-0.80,-175.2,2996,2597,3506,3553,729.4,-9.9,248,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2597,3531,3504,3558,0,0,0,0,0,0,27.32,27.39,27.38
$GC,5638,-0.80,-175.2,2996,2597,3503,3551,760.3,-10.7,258,5645,0.00,1.65,0.00,0.000,260,0.000,0.047,2989,3698,3527,3503,3551,0,0,0,0,0,0,27.32,27.01,27.39
$GC,5678,-0.80,-175.2,2989,3698,3503,3551,763.8,-10.8,259,5685,0.00,1.50,0.00,0.000,1030,0.000,0.024,2995,2595,3527,3503,3551,0,0,0,0,0,0,27.19,27.15,27.21
$GC,5999,-0.80,-175.2,2995,2595,3502,3550,799.9,-11.1,270,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2595,3525,3500,3550,0,0,0,0,0,0,27.32,27.39,27.38
$GC,6299,-0.80,-175.2,2995,2594,3500,3548,834.1,-11.5,280,6306,0.00,1.65,0.00,0.000,260,0.000,0.046,2989,3695,3522,3499,3545,0,0,0,0,0,0,27.32,27.01,27.39
$GC,6340,-0.80,-175.2,2988,3695,3500,3547,837.7,-11.6,281,6347,0.00,1.50,0.00,0.000,1030,0.000,0.024,2995,2585,3523,3499,3548,0,0,0,0,0,0,27.20,27.17,27.21
$GC,6661,-0.80,-175.2,2995,2585,3499,3546,876.4,-11.8,292,6666,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2585,3521,3497,3546,0,0,0,0,0,0,27.32,27.39,27.38
$GC,6961,-0.80,-175.2,2996,2586,3496,3545,911.5,-11.5,302,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2585,3520,3496,3544,0,0,0,0,0,0,27.32,27.39,27.39
$GC,7261,-0.80,-175.2,2996,2586,3494,3545,944.1,-10.8,312,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2585,3518,3493,3543,0,0,0,0,0,0,27.32,27.39,27.39
$GC,7561,-0.80,-175.2,2995,2586,3493,3544,975.0,-10.2,322,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2585,3517,3492,3542,0,0,0,0,0,0,27.32,27.39,27.39
$STATE,7740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7740,begin apogee
$GC,7743,-0.17,0.0,2996,2421,3493,3542,993.1,-10.0,328,7885,0.73,0.00,133.45,1.296,10246,0.158,0.000,3211,2419,2839,2814,2865,0,0,0,0,0,0,26.71,25.13,24.40
$STATE,7886,end apogee,CONTROL_FINISHED_OK
$STATE,7886,begin climb
$GC,7887,0.80,175.2,3211,2421,2812,2862,998.3,0.0,332,8048,1.05,2.22,142.45,1.294,10756,0.139,0.028,3529,1050,2115,2110,2121,0,0,0,0,0,0,25.29,24.68,23.94
$GC,8177,0.89,239.9,3529,1050,2107,2113,989.9,7.5,342,8239,0.00,2.12,53.45,1.293,9222,0.000,0.030,3524,2423,1861,1861,1861,0,0,0,0,0,0,25.88,25.82,24.25
$GC,8553,0.89,239.9,3525,2425,1850,1846,951.5,10.3,355,8562,0.12,1.98,0.00,0.000,2308,0.190,0.043,3548,3701,1846,1849,1844,0,0,0,0,0,0,26.10,26.27,26.21
$GC,8615,0.89,239.9,3548,3700,1851,1844,944.1,11.2,357,8623,0.00,1.83,0.00,0.000,1030,0.000,0.024,3557,2421,1846,1849,1844,0,0,0,0,0,0,26.48,26.46,26.50
$GC,8947,0.89,239.9,3556,2418,1848,1842,905.5,11.9,368,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2419,1844,1847,1842,0,0,0,0,0,0,26.84,26.91,26.91
$GC,9247,0.89,239.9,3557,2420,1846,1842,870.9,11.5,378,9255,0.00,1.95,0.00,0.000,260,0.000,0.044,3548,3695,1843,1846,1840,0,0,0,0,0,0,26.96,26.70,27.03
$GC,9283,0.89,239.9,3548,3694,1847,1841,867.8,11.4,379,9291,0.00,1.80,0.00,0.000,1030,0.000,0.023,3557,2404,1843,1846,1841,0,0,0,0,0,0,26.86,26.84,26.88
$GC,9600,0.89,239.9,3557,2401,1846,1842,832.0,10.6,390,9605,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2399,1842,1844,1840,0,0,0,0,0,0,27.05,27.13,27.11
$GC,9900,0.90,243.5,3557,2401,1846,1841,801.4,9.9,400,9908,0.00,1.95,0.00,0.000,260,0.000,0.044,3548,3693,1842,1844,1840,0,0,0,0,0,0,27.10,26.83,27.16
$GC,9971,0.90,243.5,3548,3695,1846,1841,794.9,10.2,402,9978,0.00,1.77,0.00,0.000,1030,0.000,0.023,3557,2423,1841,1843,1839,0,0,0,0,0,0,27.00,26.97,27.01
$GC,10292,0.90,243.5,3557,2406,1845,1838,761.3,10.3,413,10301,0.00,1.95,0.00,0.000,260,0.000,0.044,3548,3694,1841,1844,1839,0,0,0,0,0,0,27.15,26.86,27.22
$GC,10324,0.90,243.5,3548,3694,1846,1839,757.7,10.5,414,10332,0.00,1.77,0.00,0.000,1030,0.000,0.023,3557,2408,1842,1845,1839,0,0,0,0,0,0,27.04,27.01,27.05
$GC,10656,0.90,243.5,3556,2404,1845,1838,721.7,10.9,425,10661,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2404,1840,1843,1838,0,0,0,0,0,0,27.18,27.24,27.24
$GC,10956,0.90,243.5,3557,2406,1843,1839,690.2,10.5,435,10964,0.00,1.95,0.00,0.000,260,0.000,0.044,3548,3698,1840,1843,1838,0,0,0,0,0,0,27.20,26.91,27.26
$GC,11007,0.90,243.5,3548,3696,1844,1842,686.5,10.7,436,11014,0.00,1.77,0.00,0.000,1030,0.000,0.024,3557,2427,1840,1843,1838,0,0,0,0,0,0,27.08,27.05,27.09
$GC,11318,0.90,243.5,3556,2425,1843,1838,649.8,11.2,447,11324,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2425,1840,1842,1838,0,0,0,0,0,0,27.22,27.29,27.28
$GC,11618,0.90,243.5,3557,2426,1844,1839,617.1,10.5,457,11624,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2424,1840,1842,1838,0,0,0,0,0,0,27.24,27.30,27.29
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$STATE,17311,end climb,SURFACE_DEPTH_REACHED
$STATE,17311,begin surface coast
$FINISH,0.7,1.022197
$STATE,17321,end surface coast,CONTROL_FINISHED_OK
$STATE,17321,begin surface
$SM_CCo,17336,2.95,0.148,0,0,798,500.17
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$IRIDIUM_FIX,1307.59,14602.01,070108,025955
$TT8_MAMPS,0.161784,0.161784
$HUMID,36.76
$INTERNAL_PRESSURE,9.22338
$TCM_TEMP,24.40
$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,1651515
$PA_UPTIME,17294.57 7214.60
$PA_BOOTCOUNT,869
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$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.04/0.081/1.856/1.681
$PA_DISK_BANK,0
$24V_AH,23.94,12.453
$10V_AH,9.91,25.940
$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,23.525,92.550,525.450,2.950,0.000,0.000,0.000,374.850,0.250,0.000,5.760,0.000,14131.944,565.491,3064.609,83.887,0.000,2232.354,0.000,1602.105,0.000,0.548,0.000
$DEVICE_MAMPS,232.560,65.790,1295.910,148.410,0.000,0.000,0.000,87.975,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,541.990,0.000,0.000,0.000,0.000,0.000,17863.631,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,139.860,0.000,0.000,0.000
$MEM,228988
$DATA_FILE_SIZE,33501,802
$CAP_FILE_SIZE,140124,0
$CFSIZE,1024393216,1011924992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$CURRENT,0.105,189.12,1
$GPS,120315,182805,1311.726,14602.638,27,0.8,27,1.4,0.5,46.8,10,13.9