version: 66.11
glider: 129
mission: 4
dive: 449
start: 2 17 113 6 19 6
data:
$ID,129
$MISSION,4
$DIVE,449
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$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,350
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-14
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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_GPS_ALMANAC,0
$T_GPS_CHARGE,-3345.322
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,78
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,20
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$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,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,170213,060924,1922.999,12254.839,41,1.1,41,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-57.4
$GPS2,170213,061837,1922.988,12254.959,14,1.5,14,-2.3
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$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,55.8,176386,-15.3,-9.429,-18.41
$D_GRID,4540
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.58,-184.9,0.0,0.0,0,82,0.00,0.00,-58.92,0.000,2,0.000,0.000,43,1908,1815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.58,-184.9,3.2,-4.2,10,135,8.10,0.00,-35.92,0.000,6,0.241,0.000,1963,1907,3163,0,0,0,0,0,0,24.85,28.83,26.52
$GC,456,-0.53,-184.9,94.0,-24.2,48,461,0.00,2.05,0.00,0.000,4,0.000,0.030,1963,518,3164,0,0,0,0,0,0,28.83,26.01,28.83
$GC,533,-0.48,-184.9,107.7,-21.7,51,541,0.17,2.03,0.00,0.000,6,0.148,0.022,2008,1928,3164,0,0,0,0,0,0,25.62,26.14,28.83
$GC,840,-0.46,-184.9,162.2,-14.5,67,845,0.00,2.08,0.00,0.000,4,0.000,0.029,2003,520,3165,0,0,0,0,0,0,28.83,26.02,28.83
$GC,955,-0.44,-184.9,176.3,-13.0,72,961,0.00,2.00,0.00,0.000,6,0.000,0.021,1994,1939,3165,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1270,-0.43,-184.9,217.6,-13.5,88,1275,0.00,2.00,0.00,0.000,4,0.000,0.033,1984,3311,3164,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1303,-0.41,-184.9,220.7,-13.5,89,1309,0.15,1.98,0.00,0.000,6,0.125,0.021,2030,1904,3165,0,0,0,0,0,0,25.83,26.17,28.83
$GC,1617,-0.41,-184.9,252.6,-10.1,105,1623,0.00,2.00,0.00,0.000,4,0.000,0.031,2030,536,3165,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1734,-0.43,-184.9,263.7,-10.7,110,1739,0.00,1.98,0.00,0.000,6,0.000,0.020,2022,1929,3166,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2047,-0.43,-184.9,296.8,-10.2,126,2053,0.00,2.03,0.00,0.000,4,0.000,0.030,2022,548,3163,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2085,-0.43,-184.9,299.2,-10.2,127,2091,0.00,1.98,0.00,0.000,6,0.000,0.021,2013,1938,3163,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2391,-0.43,-184.9,332.0,-10.0,143,2396,0.00,2.03,0.00,0.000,4,0.000,0.033,2002,3319,3162,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2409,-0.43,-184.9,332.0,-10.0,143,2415,0.00,2.00,0.00,0.000,6,0.000,0.022,2002,1920,3162,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2716,-0.43,-184.9,364.1,-9.6,159,2721,0.00,2.03,0.00,0.000,4,0.000,0.031,2002,530,3162,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2875,-0.43,-184.9,379.4,-10.1,166,2883,0.00,2.03,0.00,0.000,6,0.000,0.021,1993,1929,3161,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3181,-0.43,-184.9,413.6,-10.5,182,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1929,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3483,-0.43,-184.9,443.7,-9.7,197,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1929,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3784,-0.43,-184.9,469.4,-8.7,212,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1929,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4084,-0.43,-184.9,494.6,-8.7,227,4089,0.00,2.05,0.00,0.000,4,0.000,0.031,1992,546,3155,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4137,-0.43,-184.9,499.3,-9.4,229,4143,0.12,1.98,0.00,0.000,6,0.140,0.022,2020,1919,3155,0,0,0,0,0,0,25.83,26.17,28.83
$GC,4452,-0.45,-184.9,524.9,-7.8,245,4458,0.00,2.05,0.00,0.000,4,0.000,0.034,2011,3308,3153,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4492,-0.47,-184.9,526.9,-8.0,246,4498,0.00,2.00,0.00,0.000,6,0.000,0.023,2011,1931,3153,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4797,-0.49,-184.9,552.7,-7.6,262,4802,0.00,2.08,0.00,0.000,4,0.000,0.032,2011,532,3150,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4871,-0.51,-184.9,557.7,-7.8,265,4876,0.00,2.03,0.00,0.000,6,0.000,0.022,2003,1943,3150,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5186,-0.52,-184.9,581.2,-7.3,281,5191,0.00,2.03,0.00,0.000,4,0.000,0.034,1993,3303,3147,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5230,-0.54,-184.9,584.7,-7.6,283,5235,0.00,2.00,0.00,0.000,6,0.000,0.022,1993,1923,3147,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5567,-0.55,-184.9,612.9,-8.5,297,5572,0.00,2.05,0.00,0.000,4,0.000,0.032,1993,525,3145,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5706,-0.55,-184.9,625.0,-9.6,301,5712,0.00,2.00,0.00,0.000,6,0.000,0.021,1984,1925,3144,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6028,-0.55,-184.9,656.1,-9.2,312,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1925,3143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6326,-0.55,-184.9,683.1,-8.8,322,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1925,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6626,-0.55,-184.9,709.1,-8.6,332,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1925,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6927,-0.55,-184.9,734.9,-8.6,342,6932,0.00,2.10,0.00,0.000,4,0.000,0.033,1984,532,3138,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6964,-0.55,-184.9,738.1,-8.6,343,6971,0.00,2.03,0.00,0.000,6,0.000,0.023,1975,1932,3137,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7297,-0.55,-184.9,765.4,-7.8,354,7302,0.00,2.05,0.00,0.000,4,0.000,0.035,1965,3312,3135,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7320,-0.55,-184.9,765.4,-7.8,354,7325,0.00,2.05,0.00,0.000,6,0.000,0.024,1965,1908,3135,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7637,-0.55,-184.9,791.0,-7.4,365,7642,0.00,2.03,0.00,0.000,4,0.000,0.034,1965,541,3134,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7731,-0.55,-184.9,798.8,-8.0,368,7736,0.00,2.03,0.00,0.000,6,0.000,0.023,1955,1927,3134,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8068,-0.55,-184.9,827.5,-8.9,379,8073,0.00,2.10,0.00,0.000,4,0.000,0.033,1955,530,3131,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8126,-0.55,-184.9,830.9,-9.1,380,8134,0.12,2.05,0.00,0.000,6,0.154,0.023,1978,1949,3133,0,0,0,0,0,0,25.70,26.08,28.83
$GC,8434,-0.55,-184.9,855.4,-7.5,391,8439,0.00,2.12,0.00,0.000,4,0.000,0.033,1979,535,3130,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8469,-0.55,-184.9,858.4,-7.7,392,8475,0.00,2.03,0.00,0.000,6,0.000,0.023,1971,1928,3131,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8807,-0.55,-184.9,887.2,-8.7,403,8812,0.00,2.12,0.00,0.000,4,0.000,0.032,1970,531,3129,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8861,-0.55,-184.9,890.5,-8.8,404,8866,0.00,2.03,0.00,0.000,6,0.000,0.023,1962,1924,3129,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9174,-0.55,-184.9,921.9,-9.5,415,9179,0.00,2.08,0.00,0.000,4,0.000,0.036,1951,3313,3128,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9208,-0.55,-184.9,925.1,-9.5,416,9213,0.00,2.05,0.00,0.000,6,0.000,0.025,1951,1921,3128,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9545,-0.55,-184.9,958.4,-10.0,427,9551,0.12,2.08,0.00,0.000,4,0.151,0.032,1992,534,3127,0,0,0,0,0,0,26.01,25.75,28.83
$GC,9660,-0.55,-184.9,966.9,-9.0,430,9666,0.00,2.05,0.00,0.000,6,0.000,0.024,1984,1914,3126,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,9942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9942,begin apogee
$GC,9949,-0.17,0.0,990.9,-7.8,440,10111,0.35,0.00,152.95,1.422,6,0.114,0.000,2103,1915,2409,0,0,0,0,0,0,25.42,28.83,22.55
$STATE,10113,end apogee,CONTROL_FINISHED_OK
$STATE,10113,begin climb
$GC,10115,0.58,184.9,997.6,0.0,445,10294,0.73,2.47,169.95,1.372,4,0.086,0.037,2356,518,1654,0,0,0,0,0,0,24.32,23.37,21.68
$GC,10370,0.62,273.7,987.5,6.4,454,10458,0.00,2.10,79.12,1.353,6,0.000,0.022,2356,1895,1292,0,0,0,0,0,0,28.83,25.38,22.75
$GC,10759,0.66,324.8,958.1,7.7,467,10811,0.00,2.17,45.65,1.346,4,0.000,0.034,2356,3300,1084,0,0,0,0,0,0,28.83,25.20,23.36
$GC,10855,0.70,370.7,950.8,7.9,470,10902,0.00,2.10,42.33,1.328,6,0.000,0.028,2365,1903,897,0,0,0,0,0,0,28.83,25.79,23.27
$GC,11211,0.74,416.3,922.2,7.9,482,11261,0.10,2.20,41.70,1.333,4,0.116,0.037,2413,501,710,0,0,0,0,0,0,26.20,25.25,23.44
$GC,11310,0.77,416.3,912.7,9.8,485,11316,0.00,2.10,0.00,0.000,6,0.000,0.024,2413,1897,708,0,0,0,0,0,0,28.83,25.87,28.83
$GC,11642,0.78,416.3,873.1,12.0,496,11648,0.00,2.10,0.00,0.000,4,0.000,0.034,2413,3298,705,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11686,0.79,416.3,868.6,12.0,497,11691,0.00,2.08,0.00,0.000,6,0.000,0.028,2417,1901,705,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12012,0.81,416.3,827.9,12.3,508,12017,0.00,2.10,0.00,0.000,4,0.000,0.038,2427,499,704,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12065,0.82,416.3,823.5,12.2,509,12070,0.00,2.08,0.00,0.000,6,0.000,0.024,2427,1920,704,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12380,0.82,416.3,780.8,12.8,520,12385,0.00,2.05,0.00,0.000,4,0.000,0.034,2427,3289,704,0,0,0,0,0,0,28.83,25.92,28.83
$GC,12453,0.82,416.3,772.3,13.1,522,12459,0.00,2.08,0.00,0.000,6,0.000,0.028,2435,1893,704,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12779,0.82,416.3,728.2,13.1,533,12780,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1893,704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13077,0.82,416.3,690.0,12.6,543,13078,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1893,703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13378,0.82,416.3,648.6,14.1,553,13383,0.00,2.10,0.00,0.000,4,0.000,0.034,2435,3282,703,0,0,0,0,0,0,28.83,25.86,28.83
$GC,13430,0.82,416.3,643.5,14.3,554,13435,0.00,2.08,0.00,0.000,6,0.000,0.028,2442,1894,701,0,0,0,0,0,0,28.83,26.00,28.83
$GC,13754,0.82,416.3,594.3,14.1,566,13759,0.00,2.12,0.00,0.000,4,0.000,0.037,2453,501,703,0,0,0,0,0,0,28.83,25.80,28.83
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$GC,15749,0.94,416.3,361.5,13.4,663,15755,0.00,2.08,0.00,0.000,6,0.000,0.027,2480,1893,703,0,0,0,0,0,0,28.83,25.95,28.83
$GC,16063,0.94,416.3,315.3,14.0,679,16068,0.00,2.10,0.00,0.000,4,0.000,0.037,2482,499,704,0,0,0,0,0,0,28.83,25.72,28.83
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$STATE,18815,end climb,SURFACE_DEPTH_REACHED
$STATE,18815,begin surface coast
$FINISH,1.1,1.009241
$STATE,18831,end surface coast,CONTROL_FINISHED_OK
$STATE,18831,begin surface
$SM_CCo,18910,0.00,0.000,0,0,247,530.58
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$IRIDIUM_FIX,1911.51,12252.62,170213,000036
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.89
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3848032
$24V_AH,21.7,92.584
$10V_AH,9.4,60.325
$FG_AHR_24Vo,120.571
$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,16.900,165.100,629.725,0.000,0.000,0.000,0.000,321.550,0.000,0.000,16.867,2814.997,12838.007,714.912,2517.908,563.982,0.000,2280.494,0.000,2143.623,0.000,0.541,0.000
$DEVICE_MAMPS,240.975,38.250,1422.135,0.000,0.000,0.000,0.000,133.110,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18865.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.234,0.000,0.000,0.000
$MEM,344100
$DATA_FILE_SIZE,30067,854
$CAP_FILE_SIZE,210799,0
$CFSIZE,260034560,206667776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,223.5,1
$GPS,170213,113536,1924.300,12256.478,39,1.0,39,-2.3