version: 66.03
glider: 126
mission: 7
dive: 363
start: 5 6 108 14 23 27
data:
$ID,126
$MISSION,7
$DIVE,363
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,100
$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,366
$T_MISSION,439
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0274
$MASS,51702
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019
$HD_B,0.0147
$HD_C,2.9700001e-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,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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_GPS_ALMANAC,0
$T_GPS_CHARGE,-626278.5
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,9.6000004
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,171
$ROLL_MAX,3756
$ROLL_DEG,30
$C_ROLL_DIVE,2368
$C_ROLL_CLIMB,2072
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,587
$VBD_MAX,3926
$C_VBD,2825
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-10.942498
$PRESSURE_SLOPE,0.000116483
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,53
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043487432
$SEABIRD_T_H,0.00064342754
$SEABIRD_T_I,2.4770576e-05
$SEABIRD_T_J,2.5329045e-06
$SEABIRD_C_G,-9.9387798
$SEABIRD_C_H,1.0957668
$SEABIRD_C_I,-0.0017678341
$SEABIRD_C_J,0.00023932544
$GPS1,134537,1255.006,12016.521,35,0.9,41,-0.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.30
$_SM_ANGLEo,-57.9
$GPS2,142233,1255.113,12016.496,15,1.5,15,-0.8
$SPEED_LIMITS,0.156,0.166
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$TGT_RADIUS,1000.000
$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,102.1,48102,-19.0,-9.016
$D_GRID,1847
$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
$STATE,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-2.18,-120.8,0.0,0.0,0,105,0.00,0.00,-75.38,0.000,6,0.000,0.000,414,2365,3320
$GC,108,-2.18,-120.8,0.7,-17.5,11,124,10.20,1.83,0.00,0.000,4,0.163,0.031,2250,1297,3321
$GC,161,-2.02,-120.8,14.9,-16.2,19,169,0.20,1.75,0.00,0.000,6,0.107,0.024,2290,2377,3321
$GC,508,-1.91,-120.8,60.7,-12.0,80,516,0.12,1.80,0.00,0.000,4,0.110,0.029,2314,1309,3321
$GC,564,-1.86,-120.8,66.8,-11.4,89,571,0.00,1.65,0.00,0.000,6,0.000,0.023,2314,2340,3321
$GC,909,-1.86,-120.8,105.6,-11.7,150,917,0.00,1.75,0.00,0.000,4,0.000,0.031,2314,1298,3321
$GC,1007,-1.86,-120.8,116.0,-10.1,167,1014,0.00,1.58,0.00,0.000,6,0.000,0.023,2314,2269,3321
$GC,1348,-1.92,-138.2,146.6,-7.9,228,1355,0.00,1.62,0.00,0.000,4,0.000,0.032,2314,1304,3321
$GC,1428,-1.98,-146.0,152.8,-7.8,242,1437,0.00,1.52,0.00,0.000,6,0.000,0.024,2314,2244,3321
$GC,1771,-2.05,-146.0,178.8,-7.4,303,1778,0.15,1.58,0.00,0.000,4,0.053,0.033,2262,1300,3321
$GC,1865,-2.05,-146.0,186.6,-8.6,319,1872,0.08,1.48,0.00,0.000,6,0.091,0.025,2282,2205,3321
$GC,2211,-2.05,-146.0,214.8,-8.2,380,2217,0.00,1.52,0.00,0.000,4,0.000,0.037,2282,1314,3319
$GC,2275,-2.05,-146.0,219.9,-8.1,391,2281,0.00,1.42,0.00,0.000,6,0.000,0.025,2282,2182,3319
$GC,2620,-2.08,-146.0,247.9,-8.1,452,2627,0.00,1.50,0.00,0.000,4,0.000,0.039,2282,1315,3318
$GC,2717,-2.08,-146.0,255.9,-7.9,463,2723,0.00,1.30,0.00,0.000,6,0.000,0.025,2282,2112,3316
$GC,3045,-2.13,-146.0,282.7,-8.5,494,3049,0.00,1.40,0.00,0.000,4,0.000,0.041,2282,1311,3313
$GC,3104,-2.13,-146.0,287.7,-9.0,499,3108,0.00,1.17,0.00,0.000,6,0.000,0.026,2282,2030,3313
$GC,3440,-2.17,-146.0,314.6,-8.2,530,3444,0.12,1.25,0.00,0.000,4,0.061,0.040,2244,1317,3310
$GC,3542,-2.17,-146.0,323.3,-8.6,539,3545,0.00,1.27,0.00,0.000,6,0.000,0.027,2244,2089,3310
$GC,3875,-2.17,-146.0,352.9,-9.2,570,3879,0.00,1.35,0.00,0.000,4,0.000,0.042,2244,1318,3307
$GC,4000,-2.17,-146.0,364.6,-9.3,581,4003,0.00,1.38,0.00,0.000,6,0.000,0.028,2244,2141,3306
$GC,4333,-2.17,-146.0,392.7,-8.2,612,4337,0.00,1.45,0.00,0.000,4,0.000,0.044,2244,1319,3303
$GC,4392,-2.17,-146.0,397.8,-8.3,617,4396,0.00,1.55,0.00,0.000,6,0.000,0.029,2244,2236,3303
$GC,4727,-2.17,-146.0,424.9,-8.1,648,4730,0.00,1.60,0.00,0.000,4,0.000,0.043,2244,1307,3301
$GC,4829,-2.17,-146.0,433.7,-8.0,657,4833,0.00,1.42,0.00,0.000,6,0.000,0.030,2244,2148,3300
$GC,5163,-2.17,-146.0,462.3,-8.7,688,5166,0.00,1.48,0.00,0.000,4,0.000,0.046,2244,1319,3296
$GC,5220,-2.17,-146.0,467.7,-8.9,693,5224,0.00,1.27,0.00,0.000,6,0.000,0.031,2244,2072,3296
$GC,5554,-2.17,-146.0,496.8,-8.3,724,5557,0.00,1.35,0.00,0.000,4,0.000,0.047,2244,1314,3294
$GC,5594,-2.17,-146.0,500.4,-8.4,727,5601,0.00,1.48,0.00,0.000,6,0.000,0.032,2244,2181,3294
$GC,5911,-2.17,-146.0,525.3,-7.6,743,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2181,3292
$GC,6220,-2.17,-146.0,548.2,-7.4,758,6224,0.00,1.52,0.00,0.000,4,0.000,0.044,2244,1316,3290
$GC,6251,-2.17,-146.0,550.3,-7.2,759,6254,0.00,1.35,0.00,0.000,6,0.000,0.030,2244,2118,3290
$GC,6578,-2.17,-146.0,576.2,-8.3,775,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2119,3287
$GC,6888,-2.17,-146.0,603.3,-8.8,790,6892,0.00,2.22,0.00,0.000,4,0.000,0.049,2244,3399,3285
$GC,7018,-2.17,-146.0,614.7,-9.5,796,7022,0.00,2.10,0.00,0.000,6,0.000,0.032,2244,2149,3285
$GC,7352,-2.17,-146.0,642.2,-8.2,812,7355,0.00,1.48,0.00,0.000,4,0.000,0.053,2244,1316,3284
$GC,7488,-2.17,-146.0,653.1,-7.9,818,7492,0.00,1.33,0.00,0.000,6,0.000,0.031,2244,2099,3283
$GC,7822,-2.17,-146.0,679.8,-8.5,834,7826,0.00,1.40,0.00,0.000,4,0.000,0.046,2244,1312,3281
$GC,7916,-2.17,-146.0,687.5,-8.2,838,7920,0.00,1.45,0.00,0.000,6,0.000,0.030,2244,2172,3281
$GC,8247,-2.17,-146.0,714.2,-8.3,854,8250,0.00,1.52,0.00,0.000,4,0.000,0.047,2244,1313,3280
$GC,8320,-2.17,-146.0,720.5,-8.0,857,8323,0.00,1.60,0.00,0.000,6,0.000,0.031,2244,2269,3279
$GC,8647,-2.17,-146.0,747.1,-8.2,873,8651,0.00,1.67,0.00,0.000,4,0.000,0.048,2244,1308,3278
$GC,8704,-2.17,-146.0,751.7,-8.2,875,8708,0.00,1.48,0.00,0.000,6,0.000,0.031,2244,2178,3277
$GC,9026,-2.17,-146.0,777.4,-8.3,891,9029,0.00,1.52,0.00,0.000,4,0.000,0.048,2244,1321,3276
$GC,9095,-2.17,-146.0,783.0,-8.2,894,9098,0.00,1.60,0.00,0.000,6,0.000,0.032,2244,2273,3276
$GC,9428,-2.17,-146.0,809.8,-8.0,910,9429,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2273,3275
$GC,9737,-2.17,-146.0,833.3,-7.5,925,9741,0.00,1.98,0.00,0.000,4,0.000,0.051,2244,3406,3273
$GC,9863,-2.17,-146.0,843.0,-7.7,930,9867,0.00,2.05,0.00,0.000,6,0.000,0.035,2244,2206,3273
$GC,10185,-2.17,-146.0,868.1,-7.9,946,10188,0.00,2.12,0.00,0.000,4,0.000,0.051,2244,3406,3272
$GC,10332,-2.17,-146.0,880.5,-9.0,952,10336,0.00,2.15,0.00,0.000,6,0.000,0.035,2244,2149,3271
$GC,10649,-2.17,-146.0,907.6,-8.8,967,10653,0.00,2.22,0.00,0.000,4,0.000,0.051,2244,3406,3271
$GC,10797,-2.17,-146.0,920.9,-9.0,973,10804,0.00,2.03,0.00,0.000,6,0.000,0.035,2244,2222,3269
$GC,11113,-2.17,-146.0,949.4,-9.0,989,11117,0.00,2.10,0.00,0.000,4,0.000,0.052,2244,3405,3269
$GC,11187,-2.17,-146.0,956.2,-9.4,992,11190,0.00,1.95,0.00,0.000,6,0.000,0.035,2244,2265,3268
$GC,11514,-2.17,-146.0,983.7,-8.3,1008,11515,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2263,3267
$STATE,11594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11594,begin apogee
$GC,11602,-0.52,0.0,990.4,8.2,1012,11704,1.75,0.00,97.35,1.436,6,0.092,0.000,2614,2072,2825
$STATE,11704,end apogee,CONTROL_FINISHED_OK
$STATE,11704,begin climb
$GC,11707,2.22,146.0,994.5,0.0,1017,11850,2.67,1.95,131.90,1.401,4,0.054,0.050,3220,3105,2228
$GC,11933,2.11,163.6,986.5,7.9,1028,11956,0.15,1.83,16.23,1.295,6,0.106,0.037,3192,2063,2158
$GC,12267,2.06,184.2,959.7,7.7,1044,12292,0.00,1.95,19.80,1.323,4,0.000,0.049,3192,3107,2074
$GC,12334,1.97,184.4,953.8,9.0,1047,12338,0.17,1.75,0.00,0.000,6,0.108,0.035,3158,2105,2072
$GC,12669,1.96,198.3,927.3,8.2,1063,12691,0.00,1.85,13.75,1.288,4,0.000,0.049,3159,3099,2016
$GC,12742,1.91,198.3,920.3,9.9,1066,12746,0.00,1.70,0.00,0.000,6,0.000,0.037,3159,2138,2015
$GC,13070,1.94,213.5,893.0,8.1,1082,13094,0.00,0.00,17.38,1.180,6,0.000,0.000,3159,2138,1954
$GC,13399,1.97,233.0,866.3,7.8,1098,13422,0.00,1.83,18.73,1.307,4,0.000,0.049,3159,3105,1876
$GC,13479,1.99,243.1,859.5,8.4,1101,13494,0.00,1.67,11.35,1.224,6,0.000,0.035,3159,2156,1833
$GC,13816,2.01,254.6,831.3,8.3,1118,13832,0.00,2.15,11.48,1.235,4,0.000,0.061,3159,1024,1786
$GC,13896,2.01,254.6,824.2,9.1,1120,13902,0.00,1.92,0.00,0.000,6,0.000,0.032,3159,2144,1785
$GC,14212,2.02,260.6,797.0,8.6,1136,14225,0.00,2.12,6.97,1.108,4,0.000,0.054,3159,1021,1762
$GC,14260,2.02,260.6,792.3,9.9,1138,14264,0.00,1.92,0.00,0.000,6,0.000,0.033,3159,2140,1762
$GC,14588,2.02,260.6,762.2,9.6,1154,14591,0.00,1.70,0.00,0.000,4,0.000,0.051,3158,3112,1761
$GC,14626,2.02,260.6,758.1,9.9,1155,14633,0.00,1.67,0.00,0.000,6,0.000,0.035,3159,2135,1761
$GC,14942,2.02,260.6,726.3,10.1,1171,14946,0.00,1.73,0.00,0.000,4,0.000,0.049,3159,3108,1760
$GC,14982,2.02,260.6,722.1,9.8,1172,14988,0.00,1.67,0.00,0.000,6,0.000,0.035,3158,2133,1760
$GC,15298,2.06,260.6,691.0,9.9,1188,15299,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2134,1759
$GC,15607,2.10,263.6,662.6,8.8,1203,15617,0.12,1.77,4.03,0.811,4,0.068,0.049,3194,3105,1750
$GC,15663,2.06,263.6,657.2,9.5,1205,15667,0.00,1.60,0.00,0.000,6,0.000,0.034,3194,2170,1750
$GC,15985,2.08,275.7,629.7,8.3,1221,16007,0.00,1.77,12.52,1.154,4,0.000,0.050,3193,3113,1701
$GC,16058,2.03,278.0,623.3,8.9,1224,16062,0.05,1.80,0.00,0.000,6,0.108,0.034,3172,2089,1700
$GC,16385,2.07,278.0,594.8,9.4,1240,16389,0.00,1.90,0.00,0.000,4,0.000,0.058,3171,1024,1700
$GC,16499,2.07,278.6,584.3,9.0,1245,16508,0.00,1.75,4.20,0.808,6,0.000,0.031,3171,2057,1689
$GC,16831,2.12,278.6,553.3,9.3,1261,16835,0.00,1.88,0.00,0.000,4,0.000,0.055,3171,1016,1688
$GC,16945,2.12,281.8,542.7,8.8,1266,16954,0.00,1.60,4.70,0.848,6,0.000,0.031,3171,1965,1675
$GC,17278,2.20,294.3,514.1,8.2,1282,17300,0.15,1.80,12.98,1.081,4,0.064,0.055,3218,1015,1625
$GC,17340,2.19,314.0,508.4,7.8,1284,17368,0.00,1.73,18.85,1.085,6,0.000,0.031,3218,2033,1545
$GC,17684,2.19,314.0,477.2,9.5,1312,17687,0.00,1.83,0.00,0.000,4,0.000,0.054,3218,1021,1543
$GC,17729,2.19,314.0,473.0,9.7,1316,17733,0.00,1.52,0.00,0.000,6,0.000,0.030,3218,1909,1543
$GC,18063,2.19,314.0,441.2,10.0,1347,18066,0.00,1.60,0.00,0.000,4,0.000,0.056,3218,1023,1543
$GC,18086,2.19,314.0,438.6,10.3,1349,18089,0.00,1.67,0.00,0.000,6,0.000,0.030,3218,2016,1543
$GC,18421,2.19,314.0,406.7,9.6,1380,18424,0.00,1.92,0.00,0.000,4,0.000,0.048,3218,3125,1543
$GC,18489,2.19,314.0,399.6,11.1,1386,18493,0.00,2.00,0.00,0.000,6,0.000,0.043,3218,1962,1542
$GC,18822,2.19,314.0,368.7,9.4,1417,18825,0.00,2.03,0.00,0.000,4,0.000,0.045,3218,3114,1542
$GC,18879,2.19,314.0,363.3,9.3,1422,18883,0.00,2.15,0.00,0.000,6,0.000,0.035,3218,1867,1542
$GC,19212,2.20,320.5,333.0,8.6,1453,19225,0.00,2.28,6.97,0.855,4,0.000,0.047,3218,3113,1518
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$GC,20082,2.33,345.0,254.9,9.9,1533,20085,0.00,1.65,0.00,0.000,4,0.000,0.058,3218,1012,1417
$GC,20139,2.33,345.0,249.0,10.0,1538,20146,0.00,1.73,0.00,0.000,6,0.000,0.028,3218,2030,1417
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$GC,21887,2.57,430.1,91.2,7.7,1843,21913,0.00,1.73,18.45,0.726,6,0.000,0.025,3297,2083,1071
$GC,22255,2.68,462.3,62.1,7.0,1907,22287,0.00,1.85,27.52,0.709,4,0.000,0.037,3297,3109,940
$GC,22435,2.77,471.2,46.7,8.5,1938,22449,0.12,1.85,8.73,0.627,6,0.040,0.025,3347,2006,904
$GC,22790,2.82,471.2,13.9,9.1,2000,22797,0.00,1.88,0.00,0.000,4,0.000,0.035,3347,3115,903
$GC,22838,2.82,471.2,9.2,9.2,2008,22845,0.00,2.03,0.00,0.000,6,0.000,0.025,3347,1883,903
$STATE,22916,end climb,SURFACE_DEPTH_REACHED
$STATE,22916,begin surface coast
$FINISH,-0.1,1.020728
$STATE,22939,end surface coast,CONTROL_FINISHED_OK
$STATE,22940,begin surface
$SM_CCo,22964,4.47,0.463,0,0,888,475.15
$SM_GC,-3.00,0.00,0.00,4.47,0.000,0.000,0.463,413,2375,888,-10.66,0.23,475.15
$IRIDIUM_FIX,1252.10,12017.62,310797,141403
$TT8_MAMPS,0.025311
$HUMID,1994
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$TCM_TEMP,23.80
$XPDR_PINGS,415
$24V_AH,22.8,61.176
$10V_AH,10.1,43.077
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,29.025,176.375,547.375,4.475,0.000,138.003,178.061,1467.892,116.250,0.000,0.000,15.531,4133.474,14226.302,708.303,3774.955,2354.464,0.000,2573.836,0.000,3686.911,0.000,91.511
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$SENSOR_SECS,1374.584,466.331,757.678,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110331,2026
$CAP_FILE_SIZE,260392,0
$CFSIZE,260165632,224927744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.047,252.2,1
$GPS,060508,204738,1254.695,12016.893,43,1.7,43,-0.8