version: 66.11
glider: 124
mission: 14
dive: 423
start: 1 31 113 9 20 37
data:
$ID,124
$MISSION,14
$DIVE,423
$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,-304220.75
$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,32
$R_STBD_OVSHOOT,27
$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
$GPS1,310113,091105,1900.558,12222.327,34,1.0,34,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-56.5
$GPS2,310113,092006,1900.817,12222.156,10,1.2,15,-2.2
$SPEED_LIMITS,0.161,0.278
$TGT_NAME,M6
$TGT_LATLONG,1845.000,12250.480
$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,145.5,57667,-14.2,-9.314,-18.51
$D_GRID,2033
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.69,-194.6,0.0,0.0,0,118,0.00,0.00,-93.65,0.000,2,0.000,0.000,49,2509,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.69,-194.6,3.1,-2.0,16,179,9.27,2.28,-35.10,0.000,4,0.253,0.059,2122,1097,3303,0,0,0,0,0,0,25.28,26.29,26.95
$GC,249,-0.69,-194.6,18.3,-14.3,38,256,0.00,2.20,0.00,0.000,6,0.000,0.044,2122,2498,3299,0,0,0,0,0,0,28.83,26.35,28.83
$GC,559,-0.69,-194.6,66.8,-15.4,68,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2498,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,860,-0.69,-194.6,109.2,-12.7,83,865,0.00,2.20,0.00,0.000,4,0.000,0.044,2122,1079,3303,0,0,0,0,0,0,28.83,26.48,28.83
$GC,933,-0.72,-194.6,115.7,-10.1,86,939,0.00,2.22,0.00,0.000,6,0.000,0.043,2122,2507,3303,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1248,-0.77,-194.6,142.4,-7.8,102,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2506,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1550,-0.82,-194.6,163.5,-6.3,117,1556,0.10,2.20,0.00,0.000,4,0.114,0.041,2079,1091,3303,0,0,0,0,0,0,26.86,26.51,28.83
$GC,1638,-0.85,-194.6,170.9,-8.5,121,1644,0.00,2.20,0.00,0.000,6,0.000,0.043,2079,2505,3303,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1964,-0.88,-194.6,199.3,-8.7,137,1969,0.00,2.20,0.00,0.000,4,0.000,0.045,2079,1081,3303,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2037,-0.91,-194.6,205.0,-8.8,140,2043,0.00,2.22,0.00,0.000,6,0.000,0.044,2079,2505,3303,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2351,-0.95,-194.6,233.2,-8.5,156,2357,0.00,2.20,0.00,0.000,4,0.000,0.045,2079,1091,3303,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2405,-0.98,-194.6,236.9,-8.5,158,2411,0.00,2.22,0.00,0.000,6,0.000,0.044,2079,2511,3303,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2720,-1.02,-194.6,261.0,-6.9,174,2726,0.10,2.22,0.00,0.000,4,0.105,0.044,2026,1086,3301,0,0,0,0,0,0,26.79,26.48,28.83
$GC,2848,-1.02,-194.6,272.9,-9.8,180,2854,0.10,2.22,0.00,0.000,6,0.150,0.044,2052,2505,3301,0,0,0,0,0,0,26.38,26.51,28.83
$GC,3167,-1.05,-194.6,298.3,-8.2,196,3173,0.00,2.22,0.00,0.000,4,0.000,0.046,2052,1091,3299,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3253,-1.08,-194.6,306.1,-9.2,200,3259,0.00,2.22,0.00,0.000,6,0.000,0.045,2052,2508,3298,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3578,-1.11,-194.6,336.3,-9.2,216,3583,0.00,2.22,0.00,0.000,4,0.000,0.047,2052,1093,3296,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3663,-1.14,-194.6,344.0,-9.3,220,3669,0.10,2.22,0.00,0.000,6,0.106,0.046,2010,2507,3295,0,0,0,0,0,0,26.48,26.48,28.83
$GC,3988,-1.14,-194.6,379.9,-11.2,236,3990,0.00,0.00,-0.08,0.000,6,0.000,0.000,2010,2507,3313,0,0,0,0,0,0,28.83,28.83,25.70
$GC,4288,-1.14,-194.6,412.0,-9.8,251,4293,0.00,2.25,0.00,0.000,4,0.000,0.048,2009,1081,3311,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4428,-1.14,-194.6,423.0,-8.7,257,4435,0.00,2.25,0.00,0.000,6,0.000,0.048,2009,2501,3309,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4734,-1.16,-194.6,449.9,-8.8,273,4740,0.00,2.25,0.00,0.000,4,0.000,0.049,2009,1083,3309,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4808,-1.17,-194.6,456.3,-9.7,276,4814,0.00,2.28,0.00,0.000,6,0.000,0.049,2009,2511,3305,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5122,-1.18,-194.6,488.2,-10.1,292,5127,0.00,2.25,0.00,0.000,4,0.000,0.050,2009,1096,3293,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5228,-1.19,-194.6,499.2,-10.7,297,5234,0.00,2.25,0.00,0.000,6,0.000,0.049,2009,2507,3304,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5552,-1.21,-194.6,533.6,-10.8,313,5557,0.00,2.25,0.00,0.000,4,0.000,0.050,2009,1096,3301,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5651,-1.22,-194.6,542.2,-10.2,317,5658,0.00,2.25,0.00,0.000,6,0.000,0.049,2009,2506,3301,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5958,-1.24,-194.6,570.7,-8.7,333,5963,0.00,2.25,0.00,0.000,4,0.000,0.050,2009,1096,3285,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6002,-1.26,-194.6,574.9,-8.9,335,6007,0.00,2.22,0.00,0.000,6,0.000,0.050,2009,2500,3298,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6317,-1.28,-194.6,603.7,-9.4,350,6322,0.00,2.22,0.00,0.000,4,0.000,0.051,2009,1090,3295,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6391,-1.30,-194.6,610.1,-9.7,352,6396,0.00,2.25,0.00,0.000,6,0.000,0.050,2009,2505,3224,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6717,-1.32,-194.6,642.1,-9.4,363,6723,0.00,2.28,0.00,0.000,4,0.000,0.051,2009,1089,3293,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6791,-1.34,-194.6,648.7,-9.6,365,6797,0.10,2.28,0.00,0.000,6,0.106,0.051,1968,2502,3240,0,0,0,0,0,0,26.35,26.34,28.83
$GC,7118,-1.34,-194.6,686.4,-11.5,376,7123,0.00,2.25,0.00,0.000,4,0.000,0.052,1969,1086,3254,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7237,-1.34,-194.6,697.5,-11.4,379,7243,0.00,2.25,0.00,0.000,6,0.000,0.051,1968,2498,3275,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7542,-1.34,-194.6,735.0,-11.2,390,7547,0.00,2.25,0.00,0.000,4,0.000,0.052,1968,1082,3288,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7615,-1.34,-194.6,741.8,-11.2,392,7620,0.00,2.28,0.00,0.000,6,0.000,0.051,1968,2506,3288,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7941,-1.34,-194.6,779.2,-11.5,403,7946,0.00,2.25,0.00,0.000,4,0.000,0.053,1968,1096,3225,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8035,-1.34,-194.6,790.9,-12.2,406,8040,0.00,2.25,0.00,0.000,6,0.000,0.053,1968,2504,3278,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8370,-1.34,-194.6,829.1,-10.9,417,8376,0.00,2.28,0.00,0.000,4,0.000,0.054,1968,1091,3237,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8474,-1.34,-194.6,839.5,-11.0,420,8479,0.00,2.28,0.00,0.000,6,0.000,0.054,1968,2507,3285,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8800,-1.34,-194.6,875.1,-10.6,431,8801,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2507,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9098,-1.34,-194.6,905.2,-9.5,441,9103,0.00,2.30,0.00,0.000,4,0.000,0.054,1968,1086,3282,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9233,-1.34,-194.6,916.7,-9.3,445,9238,0.00,2.30,0.00,0.000,6,0.000,0.054,1967,2499,3282,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9557,-1.34,-194.6,949.4,-10.7,456,9562,0.00,2.28,0.00,0.000,4,0.000,0.054,1968,1096,3280,0,0,0,0,0,0,28.83,26.19,28.83
$STATE,9588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9588,begin apogee
$GC,9596,-0.22,0.0,953.4,-11.2,457,9774,0.77,0.00,162.15,1.236,6,0.105,0.000,2227,1712,2509,0,0,0,0,2,0,25.86,28.83,23.36
$STATE,9775,end apogee,CONTROL_FINISHED_OK
$STATE,9776,begin climb
$GC,9778,0.69,194.6,964.9,0.0,463,9956,0.57,2.35,169.30,1.229,4,0.054,0.054,2441,3105,1683,0,0,0,0,0,0,25.35,24.74,23.00
$GC,10020,0.73,314.9,960.8,5.3,471,10167,0.00,2.33,126.30,1.183,6,0.000,0.050,2441,1705,1199,0,0,0,0,2,0,28.83,25.72,23.44
$GC,10466,0.77,366.4,930.0,7.6,486,10472,0.00,2.30,0.00,0.000,4,0.000,0.060,2441,3103,1095,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10495,0.81,417.9,930.0,7.6,486,10614,0.00,2.28,112.30,1.206,6,0.000,0.053,2441,1689,797,0,0,0,0,0,0,28.83,26.33,23.61
$GC,10926,0.88,454.9,891.5,8.1,501,10928,0.10,0.00,0.00,0.000,6,0.103,0.000,2491,1689,584,0,0,0,0,0,0,26.62,28.83,28.83
$GC,11225,0.88,454.9,855.8,12.6,511,11231,0.10,2.33,0.00,0.000,4,0.135,0.055,2460,3113,578,0,0,0,0,0,0,26.66,26.36,28.83
$GC,11279,0.88,454.9,851.8,12.2,512,11285,0.00,2.28,0.00,0.000,6,0.000,0.052,2460,1697,583,0,0,0,0,0,0,28.83,26.40,28.83
$GC,11596,0.91,454.9,812.5,11.3,523,11602,0.00,2.22,0.00,0.000,4,0.000,0.066,2460,295,566,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11646,0.94,454.9,809.0,10.7,524,11651,0.00,2.22,0.00,0.000,6,0.000,0.047,2460,1692,582,0,0,0,0,0,0,28.83,26.47,28.83
$GC,11966,0.98,454.9,774.9,10.1,535,11972,0.10,2.25,0.00,0.000,4,0.103,0.056,2513,3113,575,0,0,0,0,0,0,26.82,26.34,28.83
$GC,12006,1.00,454.9,770.2,10.8,536,12011,0.00,2.28,0.00,0.000,6,0.000,0.054,2512,1694,579,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12337,0.98,454.9,717.7,15.9,547,12343,0.10,2.33,0.00,0.000,4,0.152,0.057,2483,3114,581,0,0,0,0,0,0,26.70,26.30,28.83
$GC,12382,0.97,454.9,712.1,15.5,548,12388,0.00,2.30,0.00,0.000,6,0.000,0.051,2485,1691,581,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12708,0.97,454.9,668.4,12.8,559,12713,0.00,2.30,0.00,0.000,4,0.000,0.058,2484,3112,581,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12750,0.97,454.9,663.9,12.8,560,12755,0.00,2.30,0.00,0.000,6,0.000,0.052,2485,1691,581,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13076,0.97,454.9,625.8,11.1,571,13077,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1691,581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13384,0.99,454.9,595.2,9.3,582,13389,0.00,2.33,0.00,0.000,4,0.000,0.058,2485,3112,579,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13428,1.00,454.9,590.6,9.9,584,13434,0.00,2.28,0.00,0.000,6,0.000,0.052,2485,1691,580,0,0,0,0,0,0,28.83,26.31,28.83
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$GC,15602,1.12,454.9,331.6,15.4,690,15608,0.15,2.30,0.00,0.000,6,0.128,0.050,2516,1690,579,0,0,0,0,0,0,26.10,26.25,28.83
$GC,15916,1.12,454.9,292.9,11.3,706,15922,0.00,2.20,0.00,0.000,4,0.000,0.060,2523,290,580,0,0,0,0,0,0,28.83,26.11,28.83
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$GC,18205,1.54,660.7,52.5,9.0,818,18211,0.10,2.22,0.00,0.000,6,0.098,0.043,2637,1692,242,0,0,0,0,0,0,26.38,26.39,28.83
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$STATE,18531,end climb,SURFACE_DEPTH_REACHED
$STATE,18531,begin surface coast
$FINISH,1.6,1.014796
$STATE,18555,end surface coast,CONTROL_FINISHED_OK
$STATE,18555,begin surface
$SM_CCo,18637,0.00,0.000,0,0,240,556.34
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$IRIDIUM_FIX,1855.54,12221.10,310113,030325
$TT8_MAMPS,0.028462,0.028462
$HUMID,64.21
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.40
$XPDR_PINGS,4
$SC_FREEKB,3858080
$24V_AH,23.0,85.867
$10V_AH,9.7,46.353
$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
$DEVICE_SECS,19.025,188.875,640.075,0.000,0.000,0.000,0.000,323.025,1.000,0.000,16.526,2893.441,12378.641,824.053,2536.484,534.958,0.000,2383.025,0.000,2165.263,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18570.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.173,0.000,0.000,0.000
$MEM,306768
$DATA_FILE_SIZE,33323,867
$CAP_FILE_SIZE,215728,0
$CFSIZE,260034560,209833984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.296,321.7,1
$GPS,310113,143235,1901.061,12222.738,40,1.2,40,-2.2