version: 66.10
glider: 169
mission: 6
dive: 213
start: 6 4 112 4 5 12
data:
$ID,169
$MISSION,6
$DIVE,213
$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,380
$T_MISSION,420
$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,200
$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,1
$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,-15728.473
$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,49
$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
$GPS1,040612,035636,2209.580,12308.071,51,1.1,51,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-68.1
$GPS2,040612,040449,2209.696,12308.117,14,1.5,31,-2.9
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,266.8,200849,-13.8,-8.684
$D_GRID,5341
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.58,-194.6,0.0,0.0,0,102,0.00,0.00,-82.07,0.000,2,0.000,0.000,115,2442,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.58,-194.6,3.7,-9.1,14,138,8.00,2.20,-14.23,0.000,4,0.226,0.050,2069,3826,3774,0,0,0,0,0,0,25.19,26.05,26.48
$GC,202,-0.51,-194.6,43.6,-30.9,31,209,0.12,1.98,0.00,0.000,6,0.168,0.024,2109,2478,3775,0,0,0,0,0,0,25.82,26.15,28.83
$GC,394,-0.40,-194.6,104.9,-33.6,68,402,0.12,2.35,0.00,0.000,4,0.184,0.023,2155,1038,3775,0,0,0,0,0,0,25.97,26.23,28.83
$GC,494,-0.43,-194.6,121.2,-9.3,87,501,0.00,2.42,0.00,0.000,6,0.000,0.030,2144,2490,3775,0,0,0,0,0,0,28.83,26.22,28.83
$GC,687,-0.39,-194.6,153.1,-16.4,124,694,0.00,2.03,0.00,0.000,4,0.000,0.040,2134,3830,3775,0,0,0,0,0,0,28.83,26.23,28.83
$GC,712,-0.35,-194.6,157.5,-17.6,128,718,0.00,2.03,0.00,0.000,6,0.000,0.018,2137,2420,3776,0,0,0,0,0,0,28.83,26.41,28.83
$GC,902,-0.33,-194.6,184.0,-11.9,165,910,0.00,2.20,0.00,0.000,4,0.000,0.023,2137,1036,3775,0,0,0,0,0,0,28.83,26.36,28.83
$GC,948,-0.35,-194.6,188.9,-9.3,173,956,0.00,2.42,0.00,0.000,6,0.000,0.030,2133,2493,3776,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1142,-0.33,-194.6,210.6,-10.8,201,1146,0.12,2.00,0.00,0.000,4,0.145,0.038,2166,3830,3776,0,0,0,0,0,0,26.28,26.29,28.83
$GC,1197,-0.37,-194.6,214.6,-6.4,206,1204,0.00,1.95,0.00,0.000,6,0.000,0.018,2166,2416,3776,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1505,-0.45,-194.6,242.2,-10.1,237,1515,0.12,2.20,0.00,0.000,4,0.100,0.037,2100,3837,3776,0,0,0,0,0,0,26.50,26.32,28.83
$GC,1572,-0.52,-194.6,248.0,-8.5,243,1575,0.00,1.92,0.00,0.000,6,0.000,0.018,2101,2436,3776,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1885,-0.54,-194.6,273.8,-8.1,274,1893,0.00,2.12,0.00,0.000,4,0.000,0.038,2093,3821,3775,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1927,-0.55,-194.6,277.5,-8.6,278,1931,0.00,1.73,0.00,0.000,6,0.000,0.019,2093,2544,3775,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2239,-0.52,-194.6,314.9,-12.8,309,2247,0.00,2.45,0.00,0.000,4,0.000,0.024,2095,1039,3773,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2332,-0.53,-194.6,324.0,-8.6,318,2341,0.00,2.65,0.00,0.000,6,0.000,0.031,2084,2598,3773,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2642,-0.51,-194.6,362.6,-11.6,349,2650,0.00,2.60,0.00,0.000,4,0.000,0.024,2085,1050,3771,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2768,-0.52,-194.6,374.2,-8.7,361,2775,0.10,2.55,0.00,0.000,6,0.135,0.034,2108,2553,3771,0,0,0,0,0,0,26.22,26.35,28.83
$GC,3074,-0.52,-194.6,401.5,-8.9,392,3083,0.00,2.47,0.00,0.000,4,0.000,0.025,2108,1041,3768,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3107,-0.53,-194.6,404.1,-8.7,395,3117,0.00,2.47,0.00,0.000,6,0.000,0.032,2104,2531,3768,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3416,-0.53,-194.6,429.0,-7.6,426,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2530,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3718,-0.53,-194.6,451.9,-7.8,456,3728,0.00,2.47,-0.08,0.000,4,0.000,0.034,2104,1036,3789,0,0,0,0,0,0,28.83,26.41,25.56
$GC,3756,-0.54,-194.6,454.4,-7.3,459,3764,0.00,2.53,0.00,0.000,6,0.000,0.032,2099,2534,3789,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4061,-0.54,-194.6,480.2,-8.8,490,4071,0.00,2.47,0.00,0.000,4,0.000,0.024,2099,1028,3787,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4097,-0.55,-194.6,483.1,-8.9,493,4104,0.00,2.53,0.00,0.000,6,0.000,0.034,2099,2529,3787,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4406,-0.55,-194.6,508.6,-8.6,524,4414,0.00,2.45,0.00,0.000,4,0.000,0.024,2099,1033,3784,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4439,-0.56,-194.6,511.4,-8.2,527,4449,0.00,2.47,0.00,0.000,6,0.000,0.034,2098,2511,3784,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4748,-0.57,-194.6,535.3,-7.7,558,4752,0.00,1.98,0.00,0.000,4,0.000,0.046,2090,3827,3781,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4793,-0.58,-194.6,538.6,-8.1,562,4800,0.00,1.95,0.00,0.000,6,0.000,0.021,2090,2451,3781,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5100,-0.58,-194.6,565.9,-9.3,593,5109,0.00,2.28,0.00,0.000,4,0.000,0.027,2090,1042,3779,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5124,-0.58,-194.6,567.9,-8.7,595,5133,0.00,2.50,0.00,0.000,6,0.000,0.036,2085,2518,3778,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5432,-0.57,-194.6,595.2,-8.6,626,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2517,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5733,-0.57,-194.6,619.9,-8.1,644,5738,0.00,2.42,0.00,0.000,4,0.000,0.025,2086,1049,3773,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5766,-0.57,-194.6,621.5,-8.1,645,5773,0.00,2.50,0.00,0.000,6,0.000,0.036,2086,2514,3773,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6074,-0.57,-194.6,648.3,-8.4,661,6079,0.00,2.45,0.00,0.000,4,0.000,0.028,2086,1039,3770,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6096,-0.57,-194.6,650.1,-8.5,662,6100,0.00,2.50,0.00,0.000,6,0.000,0.037,2086,2514,3770,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6409,-0.57,-194.6,675.3,-7.9,678,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2512,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6708,-0.57,-194.6,698.8,-7.7,693,6714,0.00,2.42,0.00,0.000,4,0.000,0.028,2086,1052,3766,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6752,-0.58,-194.6,702.0,-7.9,695,6758,0.00,2.50,0.00,0.000,6,0.000,0.038,2085,2507,3766,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7068,-0.58,-194.6,728.5,-8.2,711,7074,0.00,2.03,0.00,0.000,4,0.000,0.047,2076,3830,3764,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7101,-0.58,-194.6,730.1,-8.2,712,7108,0.00,2.00,0.00,0.000,6,0.000,0.021,2077,2436,3763,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7410,-0.58,-194.6,755.5,-7.8,728,7415,0.00,2.25,0.00,0.000,4,0.000,0.027,2076,1047,3762,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7437,-0.58,-194.6,757.1,-7.7,729,7441,0.00,2.47,0.00,0.000,6,0.000,0.035,2068,2506,3762,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7745,-0.57,-194.6,783.0,-8.3,744,7750,0.00,2.40,0.00,0.000,4,0.000,0.026,2068,1051,3761,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7776,-0.57,-194.6,784.6,-8.3,745,7784,0.10,2.45,0.00,0.000,6,0.135,0.036,2094,2496,3760,0,0,0,0,0,0,26.06,26.17,28.83
$GC,8086,-0.59,-194.6,804.3,-6.2,761,8087,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2494,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8385,-0.60,-194.6,823.7,-6.8,776,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2494,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8684,-0.61,-194.6,845.2,-7.3,791,8685,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2494,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8985,-0.62,-194.6,868.0,-7.7,806,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2494,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9284,-0.64,-194.6,890.7,-7.7,821,9290,0.00,2.40,0.00,0.000,4,0.000,0.028,2094,1046,3753,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9306,-0.65,-194.6,892.3,-7.7,822,9310,0.00,2.47,0.00,0.000,6,0.000,0.037,2092,2496,3753,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9620,-0.67,-194.6,917.1,-7.7,838,9625,0.00,2.05,0.00,0.000,4,0.000,0.049,2085,3809,3752,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9641,-0.68,-194.6,918.6,-7.7,839,9645,0.00,2.03,0.00,0.000,6,0.000,0.021,2085,2418,3751,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9955,-0.69,-194.6,942.7,-7.1,855,9961,0.10,2.22,0.00,0.000,4,0.091,0.027,2018,1041,3750,0,0,0,0,0,0,26.57,26.19,28.83
$GC,9980,-0.70,-194.6,944.5,-7.3,856,9987,0.12,2.47,0.00,0.000,6,0.137,0.037,2047,2492,3750,0,0,0,0,0,0,25.90,26.08,28.83
$GC,10299,-0.68,-194.6,978.4,-10.9,872,10304,0.00,2.38,0.00,0.000,4,0.000,0.028,2051,1053,3749,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10346,-0.67,-194.6,982.9,-10.9,874,10355,0.00,2.42,0.00,0.000,6,0.000,0.037,2042,2478,3749,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,10414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10415,begin apogee
$GC,10421,-0.20,0.0,991.5,-10.8,878,10631,0.47,0.10,204.27,1.125,4,0.104,0.073,2203,2485,2978,0,0,0,0,0,0,25.70,24.59,23.57
$STATE,10632,end apogee,CONTROL_FINISHED_OK
$STATE,10632,begin climb
$GC,10634,0.58,194.6,1001.8,0.0,888,10853,0.70,2.25,209.68,1.136,4,0.049,0.045,2470,3827,2183,0,0,0,0,0,0,24.78,24.75,23.11
$GC,11039,0.50,194.6,928.9,23.9,908,11043,0.15,2.00,0.00,0.000,6,0.186,0.023,2444,2502,2145,0,0,0,0,0,0,25.22,25.60,28.83
$GC,11356,0.45,194.6,869.7,18.8,924,11361,0.00,2.40,0.00,0.000,4,0.000,0.031,2457,1069,2141,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11476,0.42,194.6,849.5,15.5,930,11482,0.12,2.58,0.00,0.000,6,0.137,0.037,2415,2545,2137,0,0,0,0,0,0,25.67,25.98,28.83
$GC,11798,0.38,194.6,803.0,14.3,946,11803,0.00,1.95,0.00,0.000,4,0.000,0.044,2415,3827,2137,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11876,0.34,194.6,790.0,16.1,950,11882,0.15,1.95,0.00,0.000,6,0.164,0.022,2384,2506,2136,0,0,0,0,0,0,25.77,26.19,28.83
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$GC,14032,0.42,298.3,574.3,6.8,1074,14107,0.12,2.58,61.53,1.034,6,0.075,0.032,2446,2549,1767,0,0,0,0,1,0,25.79,25.77,23.90
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$GC,15155,0.38,298.3,424.8,12.6,1186,15164,0.00,1.95,0.00,0.000,4,0.000,0.044,2422,3829,1768,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,18301,end climb,SURFACE_DEPTH_REACHED
$STATE,18301,begin surface coast
$FINISH,-0.3,1.021180
$STATE,18316,end surface coast,CONTROL_FINISHED_OK
$STATE,18316,begin surface
$SM_CCo,18391,0.00,0.000,0,0,510,605.40
$SM_GC,0.48,6.28,0.00,0.00,0.021,0.000,0.000,117,2482,510,-6.62,-0.51,605.40,0,0,0,0,0,0,26.32,28.83,28.83
$IRIDIUM_FIX,2159.71,12307.87,030612,222228
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.65
$INTERNAL_PRESSURE,8.30466
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.1,42.853
$10V_AH,10.2,26.315
$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,18.525,206.400,865.650,0.000,0.000,33.472,22.430,260.573,0.000,0.000,32.622,4054.794,9985.736,961.680,3359.514,483.230,0.000,2656.355,0.000,2854.891,0.000,0.544,0.000
$DEVICE_MAMPS,225.675,87.210,1136.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1106.503,2118.768,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330436
$DATA_FILE_SIZE,103648,1635
$CAP_FILE_SIZE,220037,0
$CFSIZE,260165632,199090176
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,3,2,0,0
$CURRENT,0.289, 42.9,1
$GPS,040612,091236,2211.410,12307.383,24,1.6,24,-2.9