version: 66.12
glider: 204
mission: 15
dive: 157
start: 3 30 115 16 49 33
data:
$ID,204
$MISSION,15
$DIVE,157
$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,300
$T_MISSION,330
$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,8
$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,79
$R_STBD_OVSHOOT,41
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,300315,164058,1459.3052,14607.0352,39,0.7,39,1.0,0.0,0.0,11,11.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-67.6
$GPS2,300315,164921,1459.3215,14606.9336,7,0.7,7,1.0,0.9,322.6,11,12.4
$SPEED_LIMITS,0.191,0.291
$TGT_NAME,N7
$TGT_LATLONG,1511.580,14553.100
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,321.9,33566,-17.3,-11.000,-20.71,2428
$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,-0.85,-175.2,179,2609,806,801,0.0,0.0,0,165,0.00,0.00,-61.05,0.000,16386,0.000,0.000,179,2610,2467,2426,2509,0,0,0,0,0,0,26.14,28.83,26.20
$GC,167,-0.85,-175.2,177,2609,2427,2510,3.2,-4.0,6,216,11.93,1.70,-19.55,0.000,18692,0.230,0.059,2984,3690,3556,3529,3584,0,0,0,0,0,0,25.57,24.28,25.91
$GC,402,-0.85,-175.2,2985,3690,3529,3585,72.1,-29.0,36,412,0.00,1.55,0.00,0.000,1030,0.000,0.020,2991,2569,3557,3529,3585,0,0,0,0,0,0,26.23,26.20,26.23
$GC,709,-0.85,-175.2,2993,2569,3530,3585,149.8,-21.5,67,718,0.00,1.75,0.00,0.000,260,0.000,0.044,2984,3701,3558,3531,3585,0,0,0,0,0,0,26.18,26.00,26.24
$GC,836,-0.85,-175.2,2983,3702,3533,3586,175.9,-21.1,79,847,0.00,1.52,0.00,0.000,1030,0.000,0.022,2991,2610,3557,3530,3585,0,0,0,0,0,0,26.22,26.20,26.23
$GC,1142,-0.85,-175.2,2991,2611,3536,3586,229.4,-14.6,98,1153,0.00,2.03,0.00,0.000,516,0.000,0.024,3000,1218,3560,3535,3585,0,0,0,0,0,0,26.21,26.13,26.27
$GC,1191,-0.85,-175.2,3001,1218,3534,3586,233.6,-13.7,99,1200,0.00,2.10,0.00,0.000,1030,0.000,0.032,2991,2596,3559,3533,3586,0,0,0,0,0,0,26.12,26.04,26.15
$GC,1497,-0.85,-175.2,2992,2596,3535,3586,282.0,-14.9,109,1504,0.00,1.67,0.00,0.000,260,0.000,0.042,2983,3697,3561,3536,3586,0,0,0,0,0,0,26.22,26.03,26.28
$GC,1628,-0.85,-175.2,2984,3697,3535,3587,300.0,-14.8,113,1636,0.00,1.52,0.00,0.000,1030,0.000,0.021,2990,2601,3561,3535,3587,0,0,0,0,0,0,26.25,26.22,26.26
$GC,1950,-0.85,-175.2,2990,2601,3535,3585,348.3,-14.2,124,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2600,3560,3535,3586,0,0,0,0,0,0,26.22,26.29,26.28
$GC,2250,-0.85,-175.2,2990,2600,3534,3586,392.1,-14.8,134,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2600,3560,3535,3585,0,0,0,0,0,0,26.22,26.29,26.27
$GC,2550,-0.85,-175.2,2989,2601,3536,3582,429.9,-11.8,144,2558,0.00,2.05,0.00,0.000,516,0.000,0.024,2999,1212,3557,3534,3580,0,0,0,0,0,0,26.21,26.09,26.27
$GC,2616,-0.85,-175.2,2999,1212,3533,3581,436.4,-11.8,146,2624,0.00,2.12,0.00,0.000,1030,0.000,0.031,2990,2604,3556,3532,3581,0,0,0,0,0,0,26.13,26.07,26.16
$GC,2933,-0.85,-175.2,2989,2605,3532,3577,474.0,-11.7,157,2942,0.00,1.67,0.00,0.000,260,0.000,0.044,2982,3693,3553,3530,3576,0,0,0,0,0,0,26.20,26.00,26.25
$GC,2996,-0.85,-175.2,2982,3694,3529,3577,482.1,-12.5,159,3004,0.00,1.55,0.00,0.000,1030,0.000,0.021,2989,2589,3552,3529,3576,0,0,0,0,0,0,26.19,26.15,26.20
$GC,3328,-0.85,-175.2,2988,2589,3527,3574,525.3,-13.0,170,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2589,3549,3526,3573,0,0,0,0,0,0,26.17,26.25,26.23
$GC,3628,-0.85,-175.2,2989,2589,3522,3571,561.0,-11.5,180,3635,0.00,1.73,0.00,0.000,260,0.000,0.043,2981,3694,3546,3523,3570,0,0,0,0,0,0,26.17,25.94,26.23
$GC,3669,-0.85,-175.2,2980,3695,3525,3571,564.7,-11.5,181,3676,0.00,1.55,0.00,0.000,1030,0.000,0.022,2988,2600,3546,3522,3570,0,0,0,0,0,0,26.18,26.15,26.20
$GC,3990,-0.85,-175.2,2989,2601,3518,3568,601.8,-11.1,192,3998,0.00,2.05,0.00,0.000,516,0.000,0.025,2998,1224,3542,3518,3567,0,0,0,0,0,0,26.17,26.04,26.22
$GC,4042,-0.85,-175.2,2999,1225,3517,3567,605.3,-11.1,193,4049,0.00,2.12,0.00,0.000,1030,0.000,0.030,2989,2607,3542,3518,3567,0,0,0,0,0,0,26.08,26.02,26.11
$GC,4347,-0.85,-175.2,2988,2608,3517,3565,641.4,-10.9,203,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2607,3539,3514,3564,0,0,0,0,0,0,26.13,26.21,26.20
$GC,4647,-0.85,-175.2,2990,2608,3512,3562,674.2,-11.1,213,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2607,3536,3512,3561,0,0,0,0,0,0,26.15,26.21,26.20
$GC,4947,-0.85,-175.2,2988,2608,3511,3560,707.1,-11.1,223,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2608,3534,3509,3559,0,0,0,0,0,0,26.15,26.22,26.20
$GC,5247,-0.85,-175.2,2990,2608,3506,3557,738.6,-10.3,233,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2607,3531,3507,3556,0,0,0,0,0,0,26.13,26.20,26.18
$GC,5547,-0.85,-175.2,2988,2608,3507,3555,767.7,-9.3,243,5555,0.00,2.10,0.00,0.000,516,0.000,0.027,2997,1219,3529,3505,3553,0,0,0,0,0,0,26.14,25.97,26.20
$GC,5579,-0.85,-175.2,2997,1220,3506,3555,770.2,-9.1,244,5587,0.00,2.15,0.00,0.000,1030,0.000,0.031,2989,2606,3528,3504,3553,0,0,0,0,0,0,26.02,25.95,26.05
$GC,5902,-0.85,-175.2,2988,2606,3504,3556,800.1,-9.3,255,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2606,3526,3502,3551,0,0,0,0,0,0,26.10,26.17,26.16
$GC,6201,-0.85,-175.2,2988,2607,3502,3551,829.8,-10.1,265,6209,0.00,1.70,0.00,0.000,260,0.000,0.046,2980,3693,3525,3501,3549,0,0,0,0,0,0,26.10,25.82,26.15
$GC,6237,-0.85,-175.2,2979,3694,3502,3550,833.1,-10.1,266,6245,0.00,1.58,0.00,0.000,1030,0.000,0.023,2987,2589,3524,3499,3549,0,0,0,0,0,0,26.09,26.06,26.10
$GC,6564,-0.85,-175.2,2986,2590,3500,3549,866.8,-10.3,277,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2589,3522,3498,3547,0,0,0,0,0,0,26.09,26.15,26.15
$GC,6864,-0.85,-175.2,2988,2589,3496,3546,897.2,-10.3,287,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2589,3521,3497,3546,0,0,0,0,0,0,26.08,26.15,26.14
$GC,7164,-0.85,-175.2,2988,2589,3494,3550,928.6,-10.4,297,7169,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2589,3519,3495,3544,0,0,0,0,0,0,26.08,26.15,26.14
$GC,7464,-0.85,-175.2,2988,2589,3492,3544,960.5,-10.3,307,7471,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2589,3518,3493,3543,0,0,0,0,0,0,26.04,26.11,26.10
$STATE,7763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7763,begin apogee
$GC,7766,-0.17,0.0,2990,2425,3492,3542,992.3,-10.7,317,7919,0.77,0.00,141.73,1.252,10246,0.148,0.000,3208,2423,2833,2807,2860,0,0,0,0,0,0,25.49,24.31,23.69
$STATE,7919,end apogee,CONTROL_FINISHED_OK
$STATE,7919,begin climb
$GC,7921,0.85,175.2,3207,2424,2807,2860,1000.0,0.0,322,8083,1.12,2.28,149.85,1.235,10756,0.129,0.024,3544,1030,2118,2113,2124,0,0,0,0,0,0,24.69,23.87,23.25
$GC,8186,1.00,279.8,3543,1031,2106,2116,994.9,6.6,331,8288,0.17,2.22,89.47,1.228,11270,0.151,0.029,3594,2420,1695,1696,1695,0,0,0,0,0,0,25.20,25.39,23.54
$GC,8603,1.00,279.8,3595,2419,1682,1679,942.5,13.5,345,8611,0.00,2.03,0.00,0.000,260,0.000,0.045,3594,3699,1677,1677,1678,0,0,0,0,0,0,26.06,25.94,26.12
$GC,8666,1.00,279.8,3594,3700,1682,1678,933.3,13.9,347,8673,0.00,1.88,0.00,0.000,1030,0.000,0.023,3604,2410,1679,1682,1677,0,0,0,0,0,0,26.13,26.10,26.15
$GC,8997,1.00,279.8,3603,2407,1682,1676,888.5,13.0,358,9004,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,2407,1677,1680,1675,0,0,0,0,0,0,26.17,26.24,26.23
$GC,9297,1.00,279.8,3603,2407,1681,1675,849.2,13.3,368,9305,0.00,2.05,0.00,0.000,260,0.000,0.044,3604,3693,1676,1679,1674,0,0,0,0,0,0,26.17,26.02,26.23
$GC,9339,1.00,279.8,3605,3693,1679,1675,845.2,13.6,369,9346,0.00,1.85,0.00,0.000,1030,0.000,0.023,3612,2418,1676,1679,1674,0,0,0,0,0,0,26.20,26.17,26.21
$GC,9651,1.00,279.8,3613,2415,1678,1674,797.1,15.2,380,9656,0.00,0.00,0.00,0.000,6,0.000,0.000,3613,2414,1675,1678,1673,0,0,0,0,0,0,26.16,26.24,26.22
$GC,9950,1.00,279.8,3609,2415,1677,1673,750.8,15.0,390,9958,0.00,2.05,0.00,0.000,260,0.000,0.044,3612,3695,1675,1677,1673,0,0,0,0,0,0,26.14,25.93,26.20
$GC,9987,1.00,279.8,3612,3695,1677,1673,745.7,15.1,391,9994,0.00,1.85,0.00,0.000,1030,0.000,0.023,3620,2423,1678,1684,1673,0,0,0,0,0,0,26.15,26.12,26.16
$GC,10308,1.00,279.8,3620,2423,1678,1673,699.3,13.9,402,10316,0.00,2.03,0.00,0.000,260,0.000,0.043,3615,3693,1674,1676,1672,0,0,0,0,0,0,26.11,25.93,26.18
$GC,10344,1.00,279.8,3616,3693,1676,1673,694.7,14.0,403,10353,0.12,1.88,0.00,0.000,5126,0.176,0.023,3595,2409,1674,1677,1672,0,0,0,0,0,0,25.72,26.11,25.91
$GC,10672,1.00,279.8,3595,2406,1676,1672,652.2,12.7,414,10679,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,2405,1673,1676,1671,0,0,0,0,0,0,26.08,26.15,26.14
$GC,10972,1.00,279.8,3594,2406,1677,1673,613.2,13.3,424,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,2405,1673,1675,1672,0,0,0,0,0,0,26.11,26.17,26.17
$GC,11272,1.00,279.8,3594,2406,1676,1672,573.0,13.5,434,11279,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,2405,1673,1674,1672,0,0,0,0,0,0,26.06,26.12,26.12
$GC,11572,1.00,279.8,3594,2406,1674,1673,535.0,12.4,444,11578,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,2405,1673,1674,1672,0,0,0,0,0,0,26.09,26.16,26.15
$GC,11872,1.00,279.8,3596,2406,1674,1672,497.3,12.8,454,11880,0.00,2.08,0.00,0.000,260,0.000,0.044,3594,3694,1675,1674,1677,0,0,0,0,0,0,26.04,25.80,26.09
$GC,11978,1.00,279.8,3593,3695,1676,1672,486.0,12.9,457,11989,0.00,1.88,0.00,0.000,1030,0.000,0.023,3603,2421,1672,1674,1671,0,0,0,0,0,0,26.04,25.96,26.06
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$GC,13773,1.03,297.5,3596,2422,1674,1671,270.5,10.3,517,13795,0.00,2.00,12.95,0.799,8452,0.000,0.046,3596,3691,1620,1623,1618,0,0,0,0,0,0,26.01,25.86,25.03
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$STATE,16197,end climb,SURFACE_DEPTH_REACHED
$STATE,16197,begin surface coast
$FINISH,0.9,1.010610
$STATE,16213,end surface coast,CONTROL_FINISHED_OK
$STATE,16213,begin surface
$SM_CCo,16291,0.00,0.000,0,0,685,528.38
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$IRIDIUM_FIX,1449.83,14605.59,250108,061130
$TT8_MAMPS,0.056175,0.056175
$HUMID,37.00
$INTERNAL_PRESSURE,9.24291
$TCM_TEMP,24.50
$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,1651515
$PA_UPTIME,16245.29 6785.41
$PA_BOOTCOUNT,962
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$PA_LOG,0.07/0.132/1.876/1.649
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$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.05/0.099/1.856/1.662
$PA_DISK_BANK,1
$24V_AH,23.25,53.776
$10V_AH,10.04,35.741
$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
$DEVICE_SECS,24.800,100.150,550.575,0.000,0.000,0.000,0.000,356.000,0.000,16765.240,7.897,0.000,13015.155,565.690,3092.242,112.065,0.000,2226.829,0.000,1588.093,0.000,0.548,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,507.276,0.000,0.000,0.000,0.000,0.000,16765.170,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,229184
$DATA_FILE_SIZE,33451,752
$CAP_FILE_SIZE,137530,0
$CFSIZE,1024393216,1002897408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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$CURRENT,0.097,288.85,1
$GPS,300315,212158,1501.672,14604.443,37,1.0,37,0.9,1.1,207.6,9,12.9