version: 66.11
glider: 167
mission: 14
dive: 147
start: 11 15 112 1 31 17
data:
$ID,167
$MISSION,14
$DIVE,147
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,4
$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,400
$T_MISSION,425
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52251
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-968717.06
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2670
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,75
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-16.305099
$PRESSURE_SLOPE,0.0001158971
$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,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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043364335
$SEABIRD_T_H,0.00062881975
$SEABIRD_T_I,2.1970176e-05
$SEABIRD_T_J,2.0625448e-06
$SEABIRD_C_G,-9.8829851
$SEABIRD_C_H,1.104416
$SEABIRD_C_I,-0.0016111456
$SEABIRD_C_J,0.00020720487
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,151112,012335,2213.036,12350.455,31,1.1,31,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-56.0
$GPS2,151112,013051,2213.030,12350.401,4,1.0,4,-3.4
$SPEED_LIMITS,0.143,0.261
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,153.7,81389,-14.1,-8.250,-17.53
$D_GRID,5033
$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,16,begin dive
$GC,19,-0.42,-171.1,0.0,0.0,0,80,0.00,0.00,-59.00,0.000,2,0.000,0.000,109,2495,2556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.42,-171.1,3.1,-5.3,10,133,9.55,2.20,-28.38,0.000,4,0.221,0.044,2526,1064,3669,0,0,0,0,0,0,25.41,26.15,26.57
$GC,272,-0.39,-171.1,25.0,-14.9,44,280,0.00,2.05,0.00,0.000,6,0.000,0.038,2520,2422,3669,0,0,0,0,0,0,28.83,26.20,28.83
$GC,589,-0.34,-171.1,75.0,-15.9,68,595,0.12,2.03,0.00,0.000,4,0.161,0.035,2558,1064,3669,0,0,0,0,0,0,26.25,26.34,28.83
$GC,622,-0.29,-171.1,78.7,-15.7,69,628,0.00,2.08,0.00,0.000,6,0.000,0.037,2563,2450,3669,0,0,0,0,0,0,28.83,26.35,28.83
$GC,937,-0.32,-171.1,117.6,-11.0,85,942,0.00,2.05,0.00,0.000,4,0.000,0.034,2558,1068,3669,0,0,0,0,0,0,28.83,26.40,28.83
$GC,960,-0.35,-171.1,119.8,-10.4,86,966,0.00,2.08,0.00,0.000,6,0.000,0.036,2558,2463,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1284,-0.40,-171.1,144.0,-5.4,102,1289,0.00,2.05,0.00,0.000,4,0.000,0.030,2558,1053,3670,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1317,-0.45,-171.1,145.5,-5.5,103,1323,0.00,2.05,0.00,0.000,6,0.000,0.031,2558,2449,3670,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1632,-0.50,-171.1,168.4,-8.8,119,1634,0.15,0.00,0.00,0.000,6,0.070,0.000,2462,2448,3670,0,0,0,0,0,0,26.72,28.83,28.83
$GC,1933,-0.46,-171.1,213.6,-16.4,134,1939,0.17,1.98,0.00,0.000,4,0.139,0.043,2518,3757,3671,0,0,0,0,0,0,26.32,26.40,28.83
$GC,1958,-0.42,-171.1,217.4,-15.9,135,1964,0.00,1.85,0.00,0.000,6,0.000,0.018,2517,2397,3670,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2282,-0.44,-171.1,248.4,-8.7,151,2287,0.00,1.90,0.00,0.000,4,0.000,0.027,2518,1060,3670,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2320,-0.46,-171.1,250.5,-8.6,152,2327,0.00,2.05,0.00,0.000,6,0.000,0.033,2518,2451,3670,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2625,-0.49,-171.1,277.7,-9.8,168,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2452,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2929,-0.51,-171.1,305.6,-8.0,183,2934,0.00,1.98,0.00,0.000,4,0.000,0.044,2518,3763,3669,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2967,-0.54,-171.1,307.7,-7.8,184,2974,0.00,1.85,0.00,0.000,6,0.000,0.019,2518,2408,3669,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3272,-0.57,-171.1,331.6,-8.0,200,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2408,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3574,-0.61,-171.1,351.5,-6.3,215,3580,0.12,1.90,0.00,0.000,4,0.078,0.028,2431,1090,3667,0,0,0,0,0,0,26.76,26.42,28.83
$GC,3613,-0.63,-171.1,353.8,-7.0,216,3620,0.15,2.03,0.00,0.000,6,0.145,0.034,2469,2459,3666,0,0,0,0,0,0,26.19,26.49,28.83
$GC,3919,-0.63,-171.1,385.5,-8.2,232,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2459,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4220,-0.63,-171.1,413.3,-10.3,247,4225,0.00,2.00,0.00,0.000,4,0.000,0.035,2469,1092,3664,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4277,-0.63,-171.1,418.1,-10.5,249,4284,0.00,2.03,0.00,0.000,6,0.000,0.036,2469,2452,3664,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4583,-0.63,-171.1,451.8,-9.7,265,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2452,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4885,-0.63,-171.1,480.4,-10.0,280,4890,0.00,1.98,0.00,0.000,4,0.000,0.044,2467,3756,3662,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4911,-0.63,-171.1,482.8,-9.8,281,4918,0.00,1.83,0.00,0.000,6,0.000,0.021,2466,2461,3662,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5230,-0.63,-171.1,513.8,-9.4,297,5236,0.00,2.00,0.00,0.000,4,0.000,0.030,2467,1086,3659,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5288,-0.63,-171.1,517.9,-9.5,299,5295,0.00,2.05,0.00,0.000,6,0.000,0.037,2466,2454,3659,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5594,-0.63,-171.1,544.9,-8.4,315,5599,0.00,2.00,0.00,0.000,4,0.000,0.047,2466,3762,3657,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5638,-0.64,-171.1,548.7,-8.5,317,5643,0.00,1.85,0.00,0.000,6,0.000,0.021,2466,2440,3657,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5962,-0.65,-171.1,575.6,-8.0,333,5967,0.00,1.98,0.00,0.000,4,0.000,0.029,2466,1072,3655,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6046,-0.67,-171.1,582.5,-8.3,337,6052,0.00,2.10,0.00,0.000,6,0.000,0.037,2467,2455,3654,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6381,-0.68,-171.1,609.0,-8.5,352,6386,0.00,2.00,0.00,0.000,4,0.000,0.047,2467,3765,3652,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6453,-0.70,-171.1,614.9,-9.2,354,6459,0.00,1.85,0.00,0.000,6,0.000,0.021,2466,2445,3652,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6779,-0.71,-171.1,649.5,-10.6,365,6784,0.00,1.98,0.00,0.000,4,0.000,0.030,2466,1079,3650,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6888,-0.73,-171.1,659.8,-10.8,368,6894,0.00,2.08,0.00,0.000,6,0.000,0.036,2466,2458,3649,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7210,-0.75,-171.1,688.9,-8.1,379,7216,0.12,2.05,0.00,0.000,4,0.085,0.034,2393,1072,3646,0,0,0,0,0,0,26.71,26.39,28.83
$GC,7244,-0.75,-171.1,692.9,-8.6,380,7250,0.15,2.10,0.00,0.000,6,0.150,0.035,2425,2460,3646,0,0,0,0,0,0,26.04,26.36,28.83
$GC,7580,-0.73,-171.1,729.7,-11.4,391,7585,0.00,2.03,0.00,0.000,4,0.000,0.029,2425,1079,3644,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7633,-0.72,-171.1,733.9,-11.5,392,7639,0.00,2.08,0.00,0.000,6,0.000,0.036,2425,2456,3643,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7947,-0.71,-171.1,772.4,-11.4,403,7953,0.00,2.03,0.00,0.000,4,0.000,0.049,2425,3763,3641,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7971,-0.69,-171.1,772.4,-11.4,403,7977,0.00,1.88,0.00,0.000,6,0.000,0.023,2426,2451,3642,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8287,-0.68,-171.1,809.3,-10.9,414,8293,0.00,2.05,0.00,0.000,4,0.000,0.054,2425,3755,3638,0,0,0,0,0,0,28.83,25.02,28.83
$GC,8316,-0.67,-171.1,809.3,-10.9,414,8323,0.00,1.88,0.00,0.000,6,0.000,0.024,2434,2443,3638,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8624,-0.66,-171.1,846.5,-11.1,425,8625,0.10,0.00,0.00,0.000,6,0.168,0.000,2452,2443,3637,0,0,0,0,0,0,26.53,28.83,28.83
$GC,8923,-0.67,-171.1,871.7,-7.8,435,8929,0.00,2.03,0.00,0.000,4,0.000,0.031,2452,1069,3635,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8982,-0.69,-171.1,874.6,-7.6,436,8989,0.00,2.10,0.00,0.000,6,0.000,0.036,2452,2456,3635,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9289,-0.70,-171.1,899.0,-7.2,447,9295,0.00,2.03,0.00,0.000,4,0.000,0.049,2452,3764,3633,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9363,-0.72,-171.1,903.6,-7.0,449,9368,0.00,1.90,0.00,0.000,6,0.000,0.025,2452,2445,3632,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9688,-0.74,-171.1,924.4,-6.2,460,9694,0.00,2.03,0.00,0.000,4,0.000,0.031,2452,1064,3631,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9747,-0.76,-171.1,927.0,-6.4,461,9754,0.00,2.12,0.00,0.000,6,0.000,0.037,2452,2456,3630,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10055,-0.78,-171.1,951.7,-7.8,472,10060,0.00,2.05,0.00,0.000,4,0.000,0.050,2452,3758,3629,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10098,-0.80,-171.1,954.5,-7.8,473,10104,0.12,1.90,0.00,0.000,6,0.084,0.025,2397,2443,3629,0,0,0,0,0,0,25.39,26.55,28.83
$STATE,10422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10422,begin apogee
$GC,10428,-0.20,0.0,993.1,-11.8,484,10583,0.62,0.00,146.93,1.371,6,0.121,0.000,2598,2279,2965,0,0,0,0,0,0,25.57,28.83,23.15
$STATE,10585,end apogee,CONTROL_FINISHED_OK
$STATE,10585,begin climb
$GC,10587,0.42,171.1,1000.2,0.0,489,10759,0.60,2.50,160.50,1.346,4,0.072,0.047,2804,3702,2262,0,0,0,0,0,0,24.53,23.84,22.61
$GC,10788,0.44,249.7,993.4,5.7,496,10871,0.00,2.20,73.65,1.239,6,0.000,0.026,2811,2334,1942,0,0,0,0,0,0,28.83,24.60,22.62
$GC,11180,0.46,249.7,962.5,8.6,509,11185,0.00,2.22,0.00,0.000,4,0.000,0.038,2812,895,1931,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11263,0.48,249.7,956.8,8.8,511,11268,0.00,2.17,0.00,0.000,6,0.000,0.038,2812,2313,1927,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11579,0.49,249.7,925.5,9.7,522,11584,0.00,2.17,0.00,0.000,4,0.000,0.049,2812,3701,1928,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11616,0.51,249.7,921.5,10.0,523,11622,0.00,2.10,0.00,0.000,6,0.000,0.028,2812,2293,1927,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11947,0.52,249.7,886.9,10.2,534,11953,0.00,2.12,0.00,0.000,4,0.000,0.044,2812,895,1926,0,0,0,0,0,0,28.83,25.30,28.83
$GC,11990,0.54,249.7,883.4,10.0,535,11995,0.00,2.15,0.00,0.000,6,0.000,0.034,2812,2310,1926,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12316,0.56,250.4,854.0,8.2,546,12322,0.12,2.17,0.00,0.000,4,0.083,0.051,2885,3706,1925,0,0,0,0,0,0,26.55,26.17,28.83
$GC,12381,0.55,250.4,845.9,10.2,548,12387,0.15,2.10,0.00,0.000,6,0.148,0.029,2844,2302,1925,0,0,0,0,0,0,26.08,26.42,28.83
$GC,12716,0.55,250.4,815.4,8.5,559,12721,0.00,2.10,0.00,0.000,4,0.000,0.039,2839,902,1925,0,0,0,0,0,0,28.83,26.34,28.83
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$GC,15376,0.64,352.5,588.0,9.0,648,15383,0.00,2.12,0.00,0.000,6,0.000,0.028,2868,2291,1520,0,0,0,0,0,0,28.83,26.19,28.83
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$GC,16924,0.72,425.8,427.7,13.4,725,16926,0.12,0.00,0.00,0.000,6,0.148,0.000,2898,2300,1220,0,0,0,0,0,0,26.22,28.83,28.83
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$STATE,21147,end climb,SURFACE_DEPTH_REACHED
$STATE,21147,begin surface coast
$FINISH,1.0,1.022921
$STATE,21169,end surface coast,CONTROL_FINISHED_OK
$STATE,21169,begin surface
$SM_CCo,21247,0.00,0.000,0,0,686,559.77
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$IRIDIUM_FIX,2209.02,12347.22,141112,191913
$TT8_MAMPS,0.028462,0.028462
$HUMID,50.86
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.80
$XPDR_PINGS,28
$24V_AH,22.6,34.977
$10V_AH,9.7,23.121
$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,20.800,190.600,619.650,0.000,0.000,0.000,0.000,255.000,7.000,0.000,5.842,3101.958,14770.807,790.888,2574.763,436.945,0.000,2342.431,0.000,2242.888,0.000,0.542,0.000
$DEVICE_MAMPS,221.085,67.320,1370.880,0.000,0.000,0.000,0.000,126.990,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21183.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.597,0.000,0.000,0.000
$MEM,329608
$DATA_FILE_SIZE,36720,976
$CAP_FILE_SIZE,240835,0
$CFSIZE,260165632,235044864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.058,222.7,1
$GPS,151112,072635,2209.750,12351.346,28,1.0,28,-3.4