version: 66.12
glider: 141
mission: 23
dive: 155
start: 9 22 115 9 17 7
data:
$ID,141
$MISSION,23
$DIVE,155
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,330
$T_MISSION,360
$T_ABORT,1500
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52033
$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,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3800
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,361
$ROLL_MAX,4050
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2475
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,348
$VBD_MAX,3980
$C_VBD,3127
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,9.9999997e-05
$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,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-33.834953
$PRESSURE_SLOPE,0.0001160265
$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,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,133
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543633
$SEABIRD_T_H,0.00062237249
$SEABIRD_T_I,2.1446129e-05
$SEABIRD_T_J,2.055453e-06
$SEABIRD_C_G,-10.134171
$SEABIRD_C_H,1.1439899
$SEABIRD_C_I,-0.0013638148
$SEABIRD_C_J,0.00018835191
$GPS1,220915,091034,715.7422,8547.1465,57,1.5,86,-2.0,0.6,211.8,5,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.33
$_SM_ANGLEo,-71.5
$GPS2,220915,091633,715.6374,8547.1631,9,1.7,31,-2.0,0.9,189.2,8,7.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,DOG
$TGT_LATLONG,730.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,322.0,90592,-14.9,-10.000,-18.74,2959
$D_GRID,1000
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.62,-194.6,20,2670,822,944,0.0,0.0,0,124,0.00,0.00,-96.45,0.000,16386,0.000,0.000,17,2670,3586,3659,3514,0,0,0,0,0,0,14.87,28.83,14.90
$GC,130,-0.62,-194.6,17,2670,3659,3514,6.7,-6.7,10,155,12.20,2.35,-4.50,0.000,18948,0.423,0.069,2507,1222,3924,3998,3851,0,0,0,0,0,0,14.35,13.52,14.70
$GC,289,-0.62,-194.6,2507,1222,3999,3854,64.1,-29.8,42,294,0.00,2.33,0.00,0.000,1030,0.000,0.060,2499,2645,3926,3998,3855,0,0,0,0,0,0,14.77,14.67,14.80
$GC,614,-0.62,-194.6,2498,2645,3999,3859,137.9,-16.8,61,620,0.00,2.35,0.00,0.000,260,0.000,0.082,2488,4045,3929,3999,3859,0,0,0,0,0,0,15.04,14.69,15.08
$GC,708,-0.62,-194.6,2488,4045,3998,3860,152.6,-14.5,80,712,0.00,2.25,0.00,0.000,1030,0.000,0.034,2488,2624,3929,3999,3860,0,0,0,0,0,0,14.79,14.76,14.82
$GC,1014,-0.62,-194.6,2487,2623,3999,3861,187.7,-11.6,96,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2623,3929,3998,3861,0,0,0,0,0,0,15.09,15.14,15.14
$GC,1315,-0.62,-194.6,2488,2623,3998,3861,227.8,-14.2,111,1320,0.00,2.35,0.00,0.000,260,0.000,0.081,2477,4039,3929,3998,3861,0,0,0,0,0,0,15.12,14.74,15.15
$GC,1355,-0.62,-194.6,2477,4039,3998,3861,233.7,-15.0,119,1361,0.10,2.12,0.00,0.000,3078,0.220,0.033,2507,2643,3929,3998,3861,0,0,0,0,0,0,14.60,14.83,14.73
$GC,1676,-0.62,-194.6,2506,2643,3994,3861,271.5,-11.4,132,1681,0.00,2.17,0.00,0.000,516,0.000,0.053,2508,1257,3927,3993,3861,0,0,0,0,0,0,15.14,14.81,15.17
$GC,1694,-0.62,-194.6,2507,1257,3994,3861,273.6,-10.2,136,1701,0.00,2.25,0.00,0.000,1030,0.000,0.055,2506,2660,3927,3993,3861,0,0,0,0,0,0,14.93,14.83,14.96
$GC,2036,-0.62,-194.6,2506,2660,3988,3861,309.1,-10.4,149,2042,0.00,2.28,0.00,0.000,260,0.000,0.084,2496,4033,3924,3987,3861,0,0,0,0,0,0,15.15,14.76,15.19
$GC,2066,-0.62,-194.6,2495,4033,3988,3861,312.5,-11.1,155,2071,0.00,2.12,0.00,0.000,1030,0.000,0.033,2496,2649,3924,3987,3861,0,0,0,0,0,0,14.96,14.90,14.99
$GC,2396,-0.62,-194.6,2495,2649,3981,3861,347.3,-10.6,166,2401,0.00,2.22,0.00,0.000,516,0.000,0.055,2495,1248,3921,3981,3861,0,0,0,0,0,0,15.16,14.83,15.19
$GC,2429,-0.62,-194.6,2495,1248,3981,3861,350.9,-10.8,172,2435,0.00,2.25,0.00,0.000,1030,0.000,0.055,2489,2650,3921,3981,3861,0,0,0,0,0,0,14.94,14.84,14.97
$GC,2761,-0.62,-194.6,2489,2649,3974,3861,384.4,-9.9,183,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2649,3916,3973,3860,0,0,0,0,0,0,15.16,15.20,15.19
$GC,3062,-0.62,-194.6,2489,2649,3971,3861,413.0,-9.5,188,3067,0.00,2.30,0.00,0.000,260,0.000,0.085,2478,4034,3915,3970,3860,0,0,0,0,0,0,15.16,14.73,15.20
$GC,3090,-0.62,-194.6,2478,4033,3970,3860,416.4,-11.4,194,3095,0.15,2.15,0.00,0.000,3078,0.235,0.035,2515,2645,3915,3970,3860,0,0,0,0,0,0,14.65,14.90,14.87
$GC,3426,-0.62,-194.6,2514,2645,3966,3860,445.8,-8.7,205,3432,0.00,2.20,0.00,0.000,516,0.000,0.056,2515,1259,3912,3965,3860,0,0,0,0,0,0,15.17,14.80,15.20
$GC,3456,-0.62,-194.6,2514,1259,3965,3860,448.4,-8.9,211,3463,0.00,2.22,0.00,0.000,1030,0.000,0.057,2514,2645,3912,3965,3859,0,0,0,0,0,0,14.86,14.81,14.90
$GC,3788,-0.62,-194.6,2514,2646,3961,3857,474.3,-7.8,222,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2645,3909,3961,3858,0,0,0,0,0,0,15.17,15.21,15.21
$GC,4090,-0.62,-194.6,2513,2645,3959,3854,498.3,-8.1,227,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2645,3907,3959,3855,0,0,0,0,0,0,15.17,15.21,15.21
$GC,4388,-0.62,-194.6,2514,2645,3957,3854,522.1,-7.9,232,4393,0.00,2.33,0.00,0.000,260,0.000,0.088,2503,4039,3905,3957,3853,0,0,0,0,0,0,15.18,14.72,15.21
$GC,4427,-0.62,-194.6,2503,4039,3957,3853,525.4,-8.3,240,4433,0.00,2.17,0.00,0.000,1030,0.000,0.037,2503,2646,3905,3957,3853,0,0,0,0,0,0,14.96,14.89,14.99
$GC,4748,-0.62,-194.6,2503,2646,3953,3852,552.2,-8.3,249,4754,0.00,2.22,0.00,0.000,516,0.000,0.059,2504,1255,3902,3953,3852,0,0,0,0,0,0,15.18,14.76,15.21
$GC,4788,-0.62,-194.6,2503,1255,3954,3852,555.7,-8.4,257,4795,0.00,2.28,0.00,0.000,1030,0.000,0.060,2500,2651,3902,3952,3852,0,0,0,0,0,0,14.92,14.81,14.96
$GC,5109,-0.62,-194.6,2501,2651,3950,3850,581.6,-8.1,266,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2652,3900,3950,3850,0,0,0,0,0,0,15.17,15.21,15.21
$GC,5410,-0.62,-194.6,2500,2652,3948,3848,606.7,-8.4,271,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2652,3898,3949,3848,0,0,0,0,0,0,15.17,15.21,15.21
$GC,5710,-0.62,-194.6,2500,2651,3947,3847,632.6,-8.7,276,5715,0.00,2.30,0.00,0.000,260,0.000,0.090,2490,4029,3897,3947,3847,0,0,0,0,0,0,15.18,14.69,15.21
$GC,5739,-0.62,-194.6,2490,4029,3947,3846,635.4,-9.8,282,5743,0.00,2.17,0.00,0.000,1030,0.000,0.039,2490,2648,3897,3947,3847,0,0,0,0,0,0,14.95,14.88,14.97
$GC,6075,-0.62,-194.6,2490,2648,3945,3846,666.7,-9.3,293,6081,0.00,2.22,0.00,0.000,516,0.000,0.062,2490,1259,3895,3944,3846,0,0,0,0,0,0,15.16,14.74,15.20
$GC,6136,-0.62,-194.6,2490,1259,3945,3846,672.6,-9.5,305,6142,0.08,2.25,0.00,0.000,3078,0.218,0.064,2508,2639,3895,3944,3846,0,0,0,0,0,0,14.57,14.74,14.71
$GC,6497,-0.62,-194.6,2508,2639,3942,3845,701.2,-7.7,322,6502,0.00,2.40,0.00,0.000,260,0.000,0.095,2500,4046,3893,3941,3845,0,0,0,0,0,0,15.16,14.71,15.20
$GC,6535,-0.62,-194.6,2499,4046,3941,3844,704.6,-8.8,329,6542,0.00,2.20,0.00,0.000,1030,0.000,0.040,2500,2650,3893,3942,3844,0,0,0,0,0,0,14.93,14.85,14.95
$GC,7223,-0.62,-194.6,2499,2650,3939,3843,764.1,-8.7,351,7228,0.00,2.25,0.00,0.000,516,0.000,0.064,2500,1259,3890,3938,3843,0,0,0,0,0,0,15.16,14.71,15.20
$GC,7297,-0.62,-194.6,2500,1259,3938,3843,770.5,-9.0,366,7301,0.00,2.30,0.00,0.000,1030,0.000,0.066,2493,2654,3890,3938,3842,0,0,0,0,0,0,14.89,14.76,14.92
$GC,7946,-0.62,-194.6,2492,2654,3936,3840,825.7,-8.6,380,7952,0.00,2.30,0.00,0.000,516,0.000,0.064,2492,1247,3887,3935,3840,0,0,0,0,0,0,15.16,14.69,15.19
$GC,7975,-0.62,-194.6,2492,1246,3936,3840,828.4,-9.0,386,7980,0.00,2.35,0.00,0.000,1030,0.000,0.067,2487,2660,3888,3936,3840,0,0,0,0,0,0,14.89,14.76,14.92
$GC,8670,-0.62,-194.6,2486,2659,3932,3838,893.7,-9.4,409,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2659,3886,3933,3839,0,0,0,0,0,0,15.16,15.20,15.19
$GC,9270,-0.62,-194.6,2487,2659,3932,3836,948.6,-9.1,414,9274,0.00,2.33,0.00,0.000,516,0.000,0.066,2486,1249,3883,3931,3836,0,0,0,0,0,0,15.16,14.71,15.19
$GC,9293,-0.62,-194.6,2487,1250,3931,3836,950.8,-9.0,418,9298,0.15,2.33,0.00,0.000,3078,0.236,0.069,2514,2650,3883,3931,3836,0,0,0,0,0,0,14.57,14.74,14.80
$STATE,9874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9874,begin apogee
$GC,9884,-0.20,0.0,2515,2462,3928,3836,990.9,-6.8,442,10034,0.45,0.00,147.65,2.013,10246,0.181,0.000,2647,2462,3126,3060,3192,0,0,0,0,0,0,14.60,14.14,13.38
$STATE,10036,end apogee,CONTROL_FINISHED_OK
$STATE,10036,begin climb
$GC,10041,0.62,194.6,2647,2462,3059,3189,994.9,0.0,443,10204,0.82,2.45,153.98,1.980,10756,0.120,0.079,2923,1099,2329,2244,2414,0,0,0,0,0,0,14.14,13.95,13.24
$GC,10258,0.62,194.6,2922,1099,2248,2405,976.0,13.7,495,10264,0.00,2.40,0.00,0.000,1030,0.000,0.070,2923,2470,2326,2248,2405,0,0,0,0,0,0,14.26,14.17,14.28
$GC,10959,0.62,194.6,2922,2471,2256,2393,874.9,14.4,520,10964,0.00,2.45,0.00,0.000,260,0.000,0.102,2923,3881,2324,2256,2392,0,0,0,0,0,0,14.92,14.52,14.96
$GC,11068,0.62,194.6,2922,3882,2263,2384,856.9,16.6,542,11072,0.00,2.30,0.00,0.000,1030,0.000,0.057,2933,2488,2323,2263,2384,0,0,0,0,0,0,14.75,14.66,14.78
$GC,11681,0.62,194.6,2932,2488,2262,2383,762.0,15.5,549,11683,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2488,2322,2262,2383,0,0,0,0,0,0,15.04,15.07,15.07
$GC,12282,0.62,194.6,2933,2488,2262,2382,674.5,14.5,555,12288,0.00,2.42,0.00,0.000,260,0.000,0.097,2933,3889,2322,2262,2383,0,0,0,0,0,0,15.08,14.60,15.11
$GC,12306,0.62,194.6,2933,3889,2265,2379,670.5,15.4,560,12312,0.00,2.33,0.00,0.000,1030,0.000,0.057,2943,2467,2321,2265,2378,0,0,0,0,0,0,14.85,14.75,14.88
$GC,12642,0.62,194.6,2943,2467,2265,2378,620.4,14.9,572,12643,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2467,2321,2265,2378,0,0,0,0,0,0,15.09,15.13,15.12
$GC,12944,0.62,194.6,2943,2467,2265,2378,576.9,14.5,577,12950,0.00,2.45,0.00,0.000,260,0.000,0.097,2943,3885,2321,2265,2378,0,0,0,0,0,0,15.10,14.61,15.13
$GC,12968,0.62,194.6,2943,3884,2268,2376,572.7,14.8,582,12974,0.17,2.33,0.00,0.000,5126,0.298,0.056,2916,2473,2322,2268,2376,0,0,0,0,0,0,14.45,14.76,14.78
$GC,13309,0.62,194.6,2916,2473,2267,2376,529.1,12.7,594,13313,0.00,2.38,0.00,0.000,516,0.000,0.082,2925,1066,2322,2269,2376,0,0,0,0,0,0,15.11,14.67,15.14
$GC,13357,0.62,194.6,2925,1066,2269,2375,522.9,12.5,603,13363,0.00,2.38,0.00,0.000,1030,0.000,0.069,2925,2489,2322,2269,2375,0,0,0,0,0,0,14.85,14.72,14.89
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$GC,15082,0.62,194.6,2914,3879,2273,2372,291.8,12.5,672,15088,0.00,2.30,0.00,0.000,1030,0.000,0.053,2922,2472,2323,2273,2373,0,0,0,0,0,0,14.88,14.78,14.92
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$GC,17428,0.65,493.8,2920,2474,959,1268,62.7,10.0,853,17433,0.00,2.30,0.00,0.000,516,0.000,0.067,2920,1075,1114,960,1268,0,0,0,0,0,0,14.87,14.52,14.90
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$STATE,17998,end climb,SURFACE_DEPTH_REACHED
$STATE,17998,begin surface coast
$STATE,18017,end surface coast,CONTROL_FINISHED_OK
$STATE,18017,begin surface
$SM_CCo,18042,0.43,0.073,0,0,1087,500.17
$SM_GC,4.33,7.95,2.03,0.43,0.046,0.035,0.073,35,2617,1087,-8.31,0.76,500.17,0,0,0,0,0,0,14.72,14.78,14.75
$IRIDIUM_FIX,710.30,8549.75,220915,035333
$TT8_MAMPS,0.023219,0.023219
$HUMID,48.74
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,13.24,50.876
$10V_AH,13.04,0.000
$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,22.375,138.375,504.950,0.425,0.000,0.000,0.000,221.900,0.250,0.000,33.782,623.316,14659.941,546.011,2139.833,438.939,0.000,1686.089,0.000,1345.777,0.000,0.542,0.000
$DEVICE_MAMPS,423.045,101.745,2012.715,72.675,0.000,0.000,0.000,232.560,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1124.517,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260196
$DATA_FILE_SIZE,40146,941
$CAP_FILE_SIZE,77509,0
$CFSIZE,260034560,237113344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.263,167.86,1
$GPS,220915,142145,715.438,8545.688,147,2.0,187,-2.0,1.1,165.0,6,14.2