OKMC Nov12 *
SG124 *
Dive index
* Mission links
version: 66.11
glider: 124
mission: 14
dive: 251
start: 12 23 112 6 48 4
data:
$ID,124
$MISSION,14
$DIVE,251
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$D_ABORT,980
$D_NO_BLEED,500
$D_BOOST,20
$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,340
$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,-13
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51525
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,2.53e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-303952.47
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3900
$C_PITCH,2275
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,183
$ROLL_MAX,3883
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,244
$VBD_MAX,3700
$C_VBD,2509
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,0
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.1999998
$FG_AHR_10V,0
$FG_AHR_24V,69.417763
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-21.889965
$PRESSURE_SLOPE,0.0001157801
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043984288
$SEABIRD_T_H,0.00063808635
$SEABIRD_T_I,2.5525775e-05
$SEABIRD_T_J,3.0944329e-06
$SEABIRD_C_G,-9.6676407
$SEABIRD_C_H,1.1061285
$SEABIRD_C_I,-0.0013205735
$SEABIRD_C_J,0.00018109973
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,231212,063835,1846.935,12233.470,30,1.2,30,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-56.5
$GPS2,231212,064736,1847.157,12233.269,12,1.4,17,-2.1
$SPEED_LIMITS,0.161,0.278
$TGT_NAME,M5
$TGT_LATLONG,1845.000,12242.270
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,146.3,16283,-14.2,-9.314,-18.51
$D_GRID,1874
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.69,-194.6,0.0,0.0,0,115,0.00,0.00,-93.43,0.000,2,0.000,0.000,38,2495,2072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.69,-194.6,3.3,-2.3,16,168,9.18,2.20,-31.58,0.000,4,0.258,0.065,2122,1082,3305,0,0,0,0,0,0,25.72,26.36,26.88
$GC,273,-0.67,-194.6,26.5,-14.2,43,279,0.00,2.22,0.00,0.000,6,0.000,0.043,2123,2505,3306,0,0,0,0,0,0,28.83,26.41,28.83
$GC,586,-0.64,-194.6,79.8,-16.6,65,591,0.00,2.12,0.00,0.000,4,0.000,0.058,2122,3886,3305,0,0,0,0,0,0,28.83,26.43,28.83
$GC,650,-0.62,-194.6,89.8,-16.2,68,656,0.00,2.12,0.00,0.000,6,0.000,0.038,2122,2497,3305,0,0,0,0,0,0,28.83,26.63,28.83
$GC,975,-0.62,-194.6,131.1,-11.9,84,981,0.00,2.12,0.00,0.000,4,0.000,0.045,2122,1091,3305,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1028,-0.63,-194.6,136.2,-11.7,86,1034,0.00,2.20,0.00,0.000,6,0.000,0.043,2122,2507,3305,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1342,-0.67,-194.6,163.9,-7.6,102,1348,0.00,2.12,0.00,0.000,4,0.000,0.057,2122,3888,3306,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1376,-0.70,-194.6,165.5,-7.2,103,1381,0.00,2.12,0.00,0.000,6,0.000,0.038,2122,2490,3306,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1689,-0.76,-194.6,191.1,-8.2,119,1695,0.00,2.10,0.00,0.000,4,0.000,0.044,2122,1095,3306,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1777,-0.81,-194.6,198.2,-8.6,123,1784,0.10,2.17,0.00,0.000,6,0.113,0.042,2078,2504,3306,0,0,0,0,0,0,26.63,26.65,28.83
$GC,2097,-0.83,-194.6,230.5,-9.8,139,2102,0.00,2.10,0.00,0.000,4,0.000,0.057,2078,3875,3306,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2141,-0.86,-194.6,234.6,-9.2,141,2146,0.00,2.10,0.00,0.000,6,0.000,0.037,2078,2483,3305,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2465,-0.90,-194.6,263.2,-8.0,157,2470,0.00,2.10,0.00,0.000,4,0.000,0.045,2078,1093,3304,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2518,-0.93,-194.6,266.7,-8.0,159,2523,0.00,2.20,0.00,0.000,6,0.000,0.042,2078,2508,3304,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2831,-0.96,-194.6,291.2,-7.5,175,2837,0.00,2.20,0.00,0.000,4,0.000,0.044,2078,1092,3302,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2890,-1.00,-194.6,295.0,-8.2,177,2896,0.00,2.20,0.00,0.000,6,0.000,0.042,2078,2507,3301,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3196,-1.04,-194.6,322.1,-8.2,193,3198,0.12,0.00,0.00,0.000,6,0.090,0.000,2020,2506,3299,0,0,0,0,0,0,26.94,28.83,28.83
$GC,3496,-1.04,-194.6,354.5,-10.9,208,3502,0.12,2.17,0.00,0.000,4,0.144,0.044,2062,1100,3298,0,0,0,0,0,0,26.72,26.63,28.83
$GC,3534,-1.04,-194.6,356.9,-10.5,209,3541,0.00,2.20,0.00,0.000,6,0.000,0.044,2062,2505,3297,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3840,-1.08,-194.6,379.5,-6.9,225,3846,0.00,2.22,-0.08,0.000,4,0.000,0.059,2064,1099,3318,0,0,0,0,0,0,28.83,26.61,25.95
$GC,3914,-1.11,-194.6,384.3,-7.4,228,3920,0.12,2.20,0.00,0.000,6,0.092,0.045,2010,2502,3318,0,0,0,0,0,0,26.63,26.62,28.83
$GC,4228,-1.11,-194.6,419.0,-11.5,244,4234,0.10,2.20,0.00,0.000,4,0.156,0.046,2037,1102,3315,0,0,0,0,0,0,26.82,26.60,28.83
$GC,4286,-1.11,-194.6,423.7,-11.3,246,4293,0.00,2.20,0.00,0.000,6,0.000,0.047,2037,2499,3315,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4592,-1.13,-194.6,454.9,-9.4,262,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2500,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4894,-1.15,-194.6,481.6,-8.8,277,4900,0.00,2.22,0.00,0.000,4,0.000,0.050,2037,1096,3311,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4927,-1.18,-194.6,483.9,-9.0,278,4933,0.00,2.20,0.00,0.000,6,0.000,0.048,2036,2504,3311,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5242,-1.20,-194.6,512.6,-9.0,294,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2504,3309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5543,-1.23,-194.6,540.4,-9.1,309,5545,0.12,0.00,0.00,0.000,6,0.099,0.000,1985,2504,3306,0,0,0,0,0,0,26.91,28.83,28.83
$GC,5842,-1.23,-194.6,576.1,-12.0,324,5847,0.10,2.22,0.00,0.000,4,0.152,0.048,2011,1102,3304,0,0,0,0,0,0,26.82,26.53,28.83
$GC,5895,-1.23,-194.6,581.0,-11.5,326,5901,0.00,2.22,0.00,0.000,6,0.000,0.050,2010,2501,3303,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6220,-1.24,-194.6,615.4,-10.1,340,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,2501,3302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6520,-1.25,-194.6,644.0,-9.1,350,6525,0.00,2.22,0.00,0.000,4,0.000,0.051,2011,1103,3300,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6583,-1.27,-194.6,649.9,-9.0,352,6588,0.00,2.25,0.00,0.000,6,0.000,0.051,2011,2508,3299,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6919,-1.28,-194.6,677.8,-8.2,363,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,2508,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7217,-1.30,-194.6,702.2,-7.9,373,7218,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,2508,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7517,-1.32,-194.6,727.0,-8.5,383,7523,0.10,2.25,0.00,0.000,4,0.121,0.050,1971,1103,3293,0,0,0,0,0,0,26.91,26.45,28.83
$GC,7604,-1.32,-194.6,733.8,-9.6,385,7611,0.00,2.25,0.00,0.000,6,0.000,0.052,1970,2502,3292,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7911,-1.32,-194.6,770.5,-11.1,396,7917,0.00,2.25,0.00,0.000,4,0.000,0.054,1970,1100,3291,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7938,-1.32,-194.6,770.5,-11.1,396,7945,0.00,2.28,0.00,0.000,6,0.000,0.053,1970,2508,3291,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8244,-1.32,-194.6,807.2,-10.9,407,8245,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,2508,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8545,-1.32,-194.6,840.1,-10.8,417,8551,0.00,2.20,0.00,0.000,4,0.000,0.067,1970,3891,3287,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8588,-1.32,-194.6,843.8,-10.8,418,8594,0.00,2.20,0.00,0.000,6,0.000,0.047,1970,2505,3287,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8913,-1.32,-194.6,876.7,-9.4,429,8918,0.00,2.22,0.00,0.000,4,0.000,0.053,1970,1078,3286,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8970,-1.32,-194.6,880.0,-9.4,430,8977,0.00,2.30,0.00,0.000,6,0.000,0.053,1970,2505,3286,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9276,-1.32,-194.6,910.3,-8.9,441,9282,0.00,2.28,0.00,0.000,4,0.000,0.055,1970,1090,3284,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9300,-1.32,-194.6,910.3,-8.9,441,9305,0.00,2.28,0.00,0.000,6,0.000,0.053,1970,2501,3284,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9613,-1.32,-194.6,939.0,-8.4,452,9614,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,2501,3283,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9761,begin apogee
$GC,9769,-0.22,0.0,952.4,-8.8,457,9928,0.77,0.00,153.80,1.278,6,0.112,0.000,2226,1687,2509,0,0,0,0,0,0,25.92,28.83,23.84
$STATE,9930,end apogee,CONTROL_FINISHED_OK
$STATE,9930,begin climb
$GC,9932,0.69,194.6,957.7,0.0,462,10109,0.57,2.55,167.55,1.233,4,0.056,0.054,2442,3118,1713,0,0,0,0,0,0,25.16,24.17,23.01
$GC,10218,0.66,196.9,941.1,9.2,472,10224,0.12,2.38,0.00,0.000,6,0.136,0.049,2418,1704,1703,0,0,0,0,0,0,25.30,25.40,28.83
$GC,10552,0.69,276.1,918.0,6.7,483,10621,0.00,0.00,67.55,1.225,6,0.000,0.000,2418,1703,1383,0,0,0,0,0,0,28.83,28.83,24.25
$GC,10914,0.74,345.0,892.5,7.0,495,10981,0.00,2.47,57.45,1.209,4,0.000,0.059,2418,3118,1102,0,0,0,0,0,0,28.83,25.46,24.33
$GC,11020,0.76,401.0,885.4,7.4,498,11074,0.10,2.35,47.70,1.183,6,0.097,0.052,2465,1689,874,0,0,0,0,0,0,25.86,25.84,24.14
$GC,11398,0.76,401.0,841.6,11.7,511,11400,0.10,0.00,0.00,0.000,6,0.135,0.000,2435,1689,867,0,0,0,0,0,0,26.42,28.83,28.83
$GC,11697,0.79,401.0,812.1,9.6,521,11702,0.00,2.33,0.00,0.000,4,0.000,0.060,2435,3117,864,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11745,0.82,401.0,808.6,9.8,522,11751,0.00,2.28,0.00,0.000,6,0.000,0.052,2441,1693,864,0,0,0,0,0,0,28.83,26.45,28.83
$GC,12066,0.84,401.0,774.1,10.1,533,12071,0.00,2.33,0.00,0.000,4,0.000,0.060,2441,3117,863,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12093,0.87,401.0,774.1,10.1,533,12100,0.10,2.30,0.00,0.000,6,0.104,0.054,2488,1692,863,0,0,0,0,0,0,26.51,26.48,28.83
$GC,12401,0.85,401.0,729.7,13.7,544,12407,0.12,2.22,0.00,0.000,4,0.125,0.065,2445,289,862,0,0,0,0,0,0,26.64,26.38,28.83
$GC,12439,0.85,401.0,725.1,13.6,545,12445,0.00,2.28,0.00,0.000,6,0.000,0.050,2447,1714,861,0,0,0,0,0,0,28.83,26.53,28.83
$GC,12770,0.88,401.0,690.0,10.4,556,12771,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1716,861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13068,0.90,401.0,660.1,9.7,566,13070,0.10,0.00,0.00,0.000,6,0.109,0.000,2498,1717,861,0,0,0,0,0,0,26.85,28.83,28.83
$GC,13368,0.89,401.0,618.9,13.8,576,13374,0.12,2.20,0.00,0.000,4,0.128,0.057,2454,3117,860,0,0,0,0,0,0,26.69,26.42,28.83
$GC,13391,0.87,401.0,618.9,13.8,576,13396,0.00,2.25,0.00,0.000,6,0.000,0.052,2455,1700,860,0,0,0,0,0,0,28.83,26.48,28.83
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$GC,16066,0.96,416.6,310.0,11.8,706,16072,0.00,2.22,0.00,0.000,4,0.000,0.060,2484,293,806,0,0,0,0,0,0,28.83,26.32,28.83
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$GC,16453,1.00,416.6,272.4,10.0,725,16458,0.00,2.17,0.00,0.000,4,0.000,0.056,2485,3107,806,0,0,0,0,0,0,28.83,26.35,28.83
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$STATE,19161,end climb,SURFACE_DEPTH_REACHED
$STATE,19161,begin surface coast
$FINISH,1.6,1.021868
$STATE,19182,end surface coast,CONTROL_FINISHED_OK
$STATE,19182,begin surface
$SM_CCo,19261,0.00,0.000,0,0,240,556.83
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$IRIDIUM_FIX,1839.59,12233.86,231212,010136
$TT8_MAMPS,0.027713,0.027713
$HUMID,60.86
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.00
$XPDR_PINGS,13
$SC_FREEKB,3924160
$24V_AH,23.0,49.273
$10V_AH,9.9,30.342
$FG_AHR_24Vo,69.418
$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,19.750,167.525,620.675,0.000,0.000,0.000,0.000,357.000,3.250,0.000,17.995,2777.212,13451.434,792.098,2383.203,390.006,0.000,2289.481,0.000,1965.834,0.000,0.538,0.000
$DEVICE_MAMPS,257.805,67.320,1278.315,0.000,0.000,0.000,0.000,126.990,420.000,0.000,29.960,14.710,2.190,13.960,38.680,47.660,0.000,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19200.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.123,0.000,0.000,0.000
$MEM,306992
$DATA_FILE_SIZE,33290,900
$CAP_FILE_SIZE,215032,0
$CFSIZE,260034560,226279424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.305,334.0,1
$GPS,231212,121035,1847.601,12234.028,40,1.6,51,-2.1