version: 66.10
glider: 169
mission: 6
dive: 118
start: 5 12 112 11 18 19
data:
$ID,169
$MISSION,6
$DIVE,118
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$D_BOOST,110
$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,420
$T_MISSION,460
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$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,450
$N_FILEKB,4
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15427.589
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2275
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,147.521
$AH0_10V,108.529
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-77.157478
$PRESSURE_SLOPE,0.000115925
$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,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,120512,110954,2334.190,12408.494,39,1.0,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-68.5
$GPS2,120512,111756,2334.319,12408.473,14,1.7,14,-3.4
$SPEED_LIMITS,0.136,0.256
$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,142.0,230702,-13.5,-7.857
$D_GRID,2834
$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,-0.55,-170.3,0.0,0.0,0,108,0.00,0.00,-86.50,0.000,2,0.000,0.000,116,2529,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.55,-170.3,3.3,-8.2,14,139,7.70,2.42,-8.07,0.000,4,0.223,0.038,2100,1034,3677,0,0,0,0,0,0,25.46,26.05,26.36
$GC,291,-0.51,-170.3,53.0,-18.0,47,298,0.00,2.45,0.00,0.000,6,0.000,0.034,2089,2526,3679,0,0,0,0,0,0,28.83,26.10,28.83
$GC,487,-0.43,-170.3,100.2,-24.6,84,495,0.12,2.38,0.00,0.000,4,0.179,0.023,2136,1025,3679,0,0,0,0,0,0,25.99,26.24,28.83
$GC,545,-0.43,-170.3,110.0,-12.4,94,552,0.00,2.40,0.00,0.000,6,0.000,0.032,2125,2504,3680,0,0,0,0,0,0,28.83,26.22,28.83
$GC,739,-0.39,-170.3,142.4,-17.6,131,746,0.00,2.30,0.00,0.000,4,0.000,0.024,2132,1029,3679,0,0,0,0,0,0,28.83,26.32,28.83
$GC,766,-0.36,-170.3,147.0,-17.7,135,774,0.12,2.35,0.00,0.000,6,0.138,0.032,2158,2482,3680,0,0,0,0,0,0,26.11,26.29,28.83
$GC,963,-0.35,-170.3,170.8,-12.3,172,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2481,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1159,-0.34,-170.3,191.1,-9.2,209,1167,0.00,2.28,0.00,0.000,4,0.000,0.023,2158,1026,3679,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1191,-0.35,-170.3,193.9,-8.6,214,1198,0.00,2.35,0.00,0.000,6,0.000,0.031,2150,2489,3679,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1384,-0.34,-170.3,210.7,-9.5,240,1393,0.00,2.03,0.00,0.000,4,0.000,0.041,2140,3825,3679,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1407,-0.33,-170.3,213.1,-9.9,242,1416,0.00,2.03,0.00,0.000,6,0.000,0.018,2140,2416,3679,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1717,-0.32,-170.3,246.7,-10.8,273,1721,0.10,2.10,0.00,0.000,4,0.149,0.024,2178,1052,3679,0,0,0,0,0,0,26.43,26.44,28.83
$GC,1759,-0.34,-170.3,250.2,-7.9,277,1771,0.00,2.30,0.00,0.000,6,0.000,0.031,2176,2492,3679,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2072,-0.36,-170.3,268.5,-6.1,308,2081,0.00,1.98,0.00,0.000,4,0.000,0.040,2167,3814,3679,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2117,-0.40,-170.3,271.0,-5.8,312,2124,0.00,2.03,0.00,0.000,6,0.000,0.018,2167,2398,3679,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2425,-0.48,-170.3,296.7,-9.6,343,2435,0.12,2.22,0.00,0.000,4,0.114,0.038,2114,3817,3677,0,0,0,0,0,0,26.48,26.41,28.83
$GC,2511,-0.55,-170.3,304.5,-8.7,351,2518,0.00,2.00,0.00,0.000,6,0.000,0.020,2116,2428,3677,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2819,-0.57,-170.3,327.6,-6.5,382,2827,0.00,2.15,0.00,0.000,4,0.000,0.040,2107,3815,3676,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2870,-0.57,-170.3,331.1,-6.8,387,2874,0.00,1.77,0.00,0.000,6,0.000,0.020,2108,2548,3676,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3182,-0.55,-170.3,359.8,-9.5,418,3191,0.00,2.33,0.00,0.000,4,0.000,0.024,2108,1046,3675,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3329,-0.55,-170.3,371.1,-7.2,432,3340,0.00,2.50,0.00,0.000,6,0.000,0.032,2097,2578,3675,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3638,-0.53,-170.3,408.3,-13.1,463,3647,0.00,2.45,0.00,0.000,4,0.000,0.024,2097,1040,3674,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3724,-0.53,-170.3,417.9,-10.3,471,3731,0.00,2.47,0.00,0.000,6,0.000,0.032,2086,2563,3673,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4032,-0.50,-170.3,455.2,-11.3,502,4041,0.00,2.42,0.00,0.000,4,0.000,0.027,2086,1039,3672,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4088,-0.49,-170.3,460.4,-9.8,507,4095,0.15,2.42,0.00,0.000,6,0.129,0.034,2121,2535,3672,0,0,0,0,0,0,26.25,26.44,28.83
$GC,4395,-0.49,-170.3,481.6,-6.4,538,4406,0.00,2.33,0.00,0.000,4,0.000,0.024,2121,1041,3670,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4439,-0.50,-170.3,484.4,-6.5,542,4450,0.00,2.38,0.00,0.000,6,0.000,0.032,2112,2525,3670,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4749,-0.50,-170.3,506.8,-7.7,573,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2524,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5051,-0.50,-170.3,528.9,-7.4,603,5061,0.00,2.30,0.00,0.000,4,0.000,0.025,2112,1034,3666,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5109,-0.51,-170.3,532.8,-7.2,608,5116,0.00,2.40,0.00,0.000,6,0.000,0.034,2103,2525,3666,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5416,-0.51,-170.3,558.8,-8.9,639,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2524,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5721,-0.50,-170.3,585.3,-8.7,669,5729,0.00,2.35,0.00,0.000,4,0.000,0.027,2103,1036,3662,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5785,-0.51,-170.3,591.4,-8.9,675,5793,0.00,2.38,0.00,0.000,6,0.000,0.036,2099,2508,3662,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6106,-0.51,-170.3,621.1,-9.3,696,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2507,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6403,-0.51,-170.3,648.1,-8.7,711,6408,0.00,2.03,0.00,0.000,4,0.000,0.045,2089,3819,3658,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6426,-0.51,-170.3,649.9,-8.8,712,6430,0.00,2.03,0.00,0.000,6,0.000,0.021,2091,2437,3657,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6739,-0.50,-170.3,678.5,-8.7,728,6744,0.00,2.17,0.00,0.000,4,0.000,0.028,2091,1047,3655,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6782,-0.50,-170.3,681.8,-8.4,730,6786,0.00,2.38,0.00,0.000,6,0.000,0.035,2084,2507,3655,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7095,-0.49,-170.3,706.5,-7.4,746,7097,0.12,0.00,0.00,0.000,6,0.148,0.000,2121,2506,3653,0,0,0,0,0,0,26.39,28.83,28.83
$GC,7396,-0.50,-170.3,721.0,-4.9,761,7401,0.00,2.30,0.00,0.000,4,0.000,0.028,2122,1048,3651,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7423,-0.52,-170.3,722.0,-5.2,762,7432,0.00,2.38,0.00,0.000,6,0.000,0.036,2113,2508,3651,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7735,-0.53,-170.3,741.2,-6.3,778,7740,0.00,2.00,0.00,0.000,4,0.000,0.044,2103,3813,3649,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7763,-0.54,-170.3,742.5,-6.4,779,7767,0.00,2.03,0.00,0.000,6,0.000,0.021,2104,2425,3648,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8070,-0.54,-170.3,763.7,-6.6,794,8074,0.00,2.15,0.00,0.000,4,0.000,0.028,2104,1042,3647,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8095,-0.54,-170.3,765.3,-6.7,795,8100,0.00,2.38,0.00,0.000,6,0.000,0.035,2099,2506,3647,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8409,-0.54,-170.3,787.1,-6.9,811,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2504,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8708,-0.54,-170.3,806.5,-6.2,826,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2504,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9008,-0.54,-170.3,825.3,-6.3,841,9009,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2504,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9309,-0.54,-170.3,844.9,-6.9,856,9315,0.00,2.33,0.00,0.000,4,0.000,0.029,2099,1051,3640,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9356,-0.55,-170.3,847.7,-6.9,858,9360,0.00,2.38,0.00,0.000,6,0.000,0.037,2099,2489,3640,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9663,-0.55,-170.3,871.9,-8.0,873,9668,0.00,2.05,0.00,0.000,4,0.000,0.046,2089,3818,3638,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9696,-0.55,-170.3,873.6,-8.1,874,9703,0.00,2.05,0.00,0.000,6,0.000,0.021,2091,2423,3638,0,0,0,0,0,0,28.83,26.49,28.83
$GC,10002,-0.55,-170.3,901.3,-8.6,890,10004,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2422,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10303,-0.55,-170.3,926.9,-8.4,905,10309,0.00,2.22,0.00,0.000,4,0.000,0.047,2081,3813,3636,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10335,-0.55,-170.3,928.5,-8.4,906,10342,0.00,2.05,0.00,0.000,6,0.000,0.024,2081,2428,3636,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10643,-0.54,-170.3,956.1,-8.2,922,10645,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2428,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10944,-0.54,-170.3,978.1,-6.8,937,10949,0.00,2.20,0.00,0.000,4,0.000,0.046,2070,3809,3634,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10983,-0.53,-170.3,980.7,-6.6,939,10989,0.08,2.03,0.00,0.000,6,0.103,0.022,2101,2424,3633,0,0,0,0,0,0,26.22,26.46,28.83
$STATE,11180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11180,begin apogee
$GC,11187,-0.20,0.0,990.2,-4.4,949,11357,0.30,0.10,160.85,1.158,4,0.099,0.073,2209,2478,2972,0,0,0,0,0,0,26.14,24.75,23.96
$STATE,11358,end apogee,CONTROL_FINISHED_OK
$STATE,11358,begin climb
$GC,11360,0.55,170.3,992.5,0.0,957,11546,0.68,2.25,175.05,1.153,4,0.041,0.044,2472,3823,2283,0,0,0,0,0,0,24.98,24.94,23.61
$GC,11776,0.46,170.3,898.2,26.9,978,11781,0.22,2.03,0.00,0.000,6,0.190,0.023,2425,2503,2251,0,0,0,0,0,0,25.22,25.65,28.83
$GC,12090,0.41,170.3,841.6,16.5,994,12096,0.00,2.28,0.00,0.000,4,0.000,0.029,2437,1077,2245,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12183,0.37,170.3,829.9,14.5,998,12191,0.15,2.47,0.00,0.000,6,0.156,0.034,2397,2558,2244,0,0,0,0,0,0,25.70,25.96,28.83
$GC,12490,0.34,170.3,788.4,12.9,1014,12495,0.00,1.95,0.00,0.000,4,0.000,0.044,2397,3829,2243,0,0,0,0,0,0,28.83,26.04,28.83
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$GC,15007,0.25,197.5,554.2,9.3,1166,15016,0.00,1.92,0.00,0.000,4,0.000,0.044,2379,3832,2147,0,0,0,0,0,0,28.83,26.03,28.83
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$GC,20215,0.74,404.3,17.8,17.8,1812,20223,0.00,2.33,2.22,0.158,4,0.000,0.028,2547,1062,1328,0,0,0,0,0,0,28.83,26.22,25.81
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$STATE,20315,end climb,SURFACE_DEPTH_REACHED
$STATE,20315,begin surface coast
$FINISH,0.2,1.022759
$STATE,20331,end surface coast,CONTROL_FINISHED_OK
$STATE,20331,begin surface
$SM_CCo,20348,24.25,0.123,0,0,1142,450.13
$SM_GC,0.49,6.00,0.08,24.25,0.024,0.093,0.123,131,2417,1142,-6.62,0.51,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2326.22,12404.23,120512,050538
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.76
$INTERNAL_PRESSURE,8.29489
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.6,23.764
$10V_AH,10.2,13.625
$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,17.275,191.600,566.900,24.250,0.000,30.897,41.876,254.941,0.000,0.000,15.365,4893.703,11035.281,816.558,3587.622,486.775,0.000,2537.539,0.000,3078.100,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,92.565,1158.210,123.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1244.363,2381.804,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330336
$DATA_FILE_SIZE,113736,1833
$CAP_FILE_SIZE,224450,0
$CFSIZE,260165632,210132992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.392,325.6,1
$GPS,120512,165900,2334.028,12409.423,37,1.0,37,-3.4