version: 66.10
glider: 169
mission: 5
dive: 445
start: 2 3 112 10 4 49
data:
$ID,169
$MISSION,5
$DIVE,445
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$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,360
$T_MISSION,400
$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,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$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,-12468.898
$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,2010
$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,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$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,0
$ROLL_ADJ_DBAND,0
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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
$DEVICE3,35
$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
$GPS1,030212,095625,2343.773,12351.315,70,0.9,70,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-65.0
$GPS2,030212,100425,2343.722,12351.322,14,1.5,31,-3.4
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,13.5,13191,-15.4,-9.167
$D_GRID,3210
$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,-0.60,-175.2,0.0,0.0,0,101,0.00,0.00,-81.85,0.000,2,0.000,0.000,118,2681,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.60,-175.2,3.8,-8.1,14,132,7.47,1.80,-10.62,0.000,4,0.246,0.054,1798,3823,3696,0,0,0,0,0,0,24.69,26.00,26.54
$GC,180,-0.48,-175.2,36.5,-39.5,27,187,0.17,1.80,0.00,0.000,6,0.155,0.021,1853,2575,3696,0,0,0,0,0,0,25.66,26.18,28.83
$GC,493,-0.39,-175.2,116.1,-25.9,88,500,0.00,2.08,0.00,0.000,4,0.000,0.027,1863,1169,3696,0,0,0,0,0,0,28.83,26.17,28.83
$GC,609,-0.41,-175.2,134.7,-10.3,110,616,0.00,2.30,0.00,0.000,6,0.000,0.037,1853,2651,3696,0,0,0,0,0,0,28.83,26.10,28.83
$GC,920,-0.36,-175.2,196.2,-19.0,171,927,0.12,2.25,0.00,0.000,4,0.164,0.028,1903,1172,3696,0,0,0,0,0,0,26.16,26.19,28.83
$GC,986,-0.42,-175.2,203.2,-7.2,179,995,0.00,2.30,0.00,0.000,6,0.000,0.037,1893,2649,3696,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1297,-0.55,-175.2,229.9,-9.5,210,1307,0.15,2.20,0.00,0.000,4,0.107,0.024,1842,1162,3696,0,0,0,0,0,0,26.31,26.26,28.83
$GC,1432,-0.67,-175.2,240.1,-7.4,223,1441,0.10,2.28,0.00,0.000,6,0.067,0.035,1792,2651,3697,0,0,0,0,0,0,26.08,26.16,28.83
$GC,1741,-0.59,-175.2,298.8,-22.5,254,1745,0.00,2.20,0.00,0.000,4,0.000,0.027,1792,1178,3696,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1777,-0.51,-175.2,305.4,-21.9,257,1785,0.20,2.30,0.00,0.000,6,0.127,0.037,1842,2651,3696,0,0,0,0,0,0,25.83,26.13,28.83
$GC,2083,-0.49,-175.2,345.8,-12.3,288,2092,0.00,2.22,0.00,0.000,4,0.000,0.028,1842,1176,3696,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2125,-0.49,-175.2,350.3,-10.6,292,2134,0.00,2.28,0.00,0.000,6,0.000,0.038,1833,2650,3696,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2436,-0.46,-175.2,386.0,-11.7,323,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2650,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2738,-0.45,-175.2,420.7,-13.1,353,2748,0.12,2.22,0.00,0.000,4,0.151,0.025,1875,1168,3694,0,0,0,0,0,0,26.22,26.22,28.83
$GC,2811,-0.52,-175.2,428.0,-8.6,360,2820,0.00,2.30,0.00,0.000,6,0.000,0.036,1868,2650,3694,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3122,-0.64,-175.2,459.3,-10.0,391,3131,0.15,1.80,0.00,0.000,4,0.083,0.040,1804,3814,3693,0,0,0,0,0,0,26.39,26.10,28.83
$GC,3196,-0.74,-175.2,466.0,-8.8,398,3206,0.12,1.77,0.00,0.000,6,0.104,0.023,1751,2565,3692,0,0,0,0,0,0,26.20,26.38,28.83
$GC,3505,-0.66,-175.2,522.2,-19.9,429,3514,0.12,2.05,0.00,0.000,4,0.161,0.027,1800,1181,3691,0,0,0,0,0,0,26.16,26.21,28.83
$GC,3634,-0.68,-175.2,535.9,-8.1,441,3641,0.00,2.30,0.00,0.000,6,0.000,0.039,1790,2649,3691,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3939,-0.65,-175.2,574.1,-13.5,472,3948,0.00,2.20,0.00,0.000,4,0.000,0.027,1789,1173,3688,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3972,-0.63,-175.2,578.1,-12.8,475,3981,0.00,2.25,0.00,0.000,6,0.000,0.038,1779,2642,3689,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4292,-0.59,-175.2,625.3,-15.2,499,4298,0.12,2.17,0.00,0.000,4,0.153,0.025,1821,1178,3686,0,0,0,0,0,0,26.17,26.20,28.83
$GC,4319,-0.56,-175.2,628.2,-15.1,500,4323,0.00,2.28,0.00,0.000,6,0.000,0.039,1813,2648,3685,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4628,-0.56,-175.2,664.4,-11.9,515,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2648,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4926,-0.56,-175.2,700.3,-11.7,530,4931,0.00,2.25,0.00,0.000,4,0.000,0.028,1813,1164,3681,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4975,-0.57,-175.2,704.4,-10.9,532,4979,0.00,2.33,0.00,0.000,6,0.000,0.039,1812,2649,3680,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5282,-0.57,-175.2,733.3,-8.3,547,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2649,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5581,-0.57,-175.2,754.3,-6.7,562,5587,0.00,2.22,0.00,0.000,4,0.000,0.028,1812,1178,3675,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5631,-0.58,-175.2,756.7,-6.4,564,5640,0.00,2.30,0.00,0.000,6,0.000,0.040,1812,2648,3675,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5942,-0.58,-175.2,778.2,-7.1,580,5945,0.00,1.77,0.00,0.000,4,0.000,0.046,1804,3815,3673,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5966,-0.58,-175.2,779.8,-7.4,581,5969,0.00,1.77,0.00,0.000,6,0.000,0.024,1804,2569,3672,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6279,-0.58,-175.2,806.9,-8.9,597,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2568,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6578,-0.58,-175.2,833.8,-9.1,612,6584,0.00,2.00,0.00,0.000,4,0.000,0.047,1794,3815,3668,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6612,-0.58,-175.2,835.6,-9.0,613,6618,0.00,1.80,0.00,0.000,6,0.000,0.025,1794,2575,3668,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6918,-0.57,-175.2,867.0,-9.9,629,6924,0.10,2.12,0.00,0.000,4,0.151,0.029,1823,1173,3665,0,0,0,0,0,0,26.32,26.06,28.83
$GC,6951,-0.57,-175.2,868.9,-9.8,630,6958,0.00,2.33,0.00,0.000,6,0.000,0.041,1819,2647,3666,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7261,-0.59,-175.2,893.4,-8.1,646,7267,0.00,2.20,0.00,0.000,4,0.000,0.029,1818,1182,3664,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7290,-0.61,-175.2,895.2,-8.0,647,7301,0.00,2.33,0.00,0.000,6,0.000,0.041,1813,2649,3664,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7602,-0.62,-175.2,920.9,-8.0,663,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2649,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7901,-0.63,-175.2,943.7,-7.7,678,7907,0.00,2.20,0.00,0.000,4,0.000,0.029,1812,1182,3661,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7942,-0.65,-175.2,946.8,-7.7,680,7947,0.00,2.33,0.00,0.000,6,0.000,0.041,1813,2652,3661,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8257,-0.66,-175.2,972.0,-8.4,696,8262,0.00,2.25,0.00,0.000,4,0.000,0.031,1813,1180,3660,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8288,-0.67,-175.2,973.8,-8.5,697,8295,0.00,2.33,0.00,0.000,6,0.000,0.042,1813,2647,3659,0,0,0,0,0,0,28.83,25.88,28.83
$STATE,8474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8474,begin apogee
$GC,8481,-0.20,0.0,991.4,-9.1,707,8645,0.38,0.17,156.98,1.185,6,0.100,0.066,1944,2536,2977,0,0,0,0,0,0,25.75,24.89,23.24
$STATE,8646,end apogee,CONTROL_FINISHED_OK
$STATE,8646,begin climb
$GC,8648,0.60,175.2,1001.0,0.0,715,8834,0.70,2.47,169.65,1.190,4,0.050,0.037,2223,1056,2247,0,0,0,0,0,0,25.13,24.90,23.29
$GC,8865,0.51,175.2,989.0,14.3,726,8870,0.17,2.33,0.00,0.000,6,0.160,0.039,2176,2522,2237,0,0,0,0,0,0,25.14,25.44,28.83
$GC,9174,0.45,175.2,945.8,13.7,741,9179,0.00,2.03,0.00,0.000,4,0.000,0.046,2176,3817,2231,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9245,0.39,175.2,936.3,15.3,744,9253,0.17,2.05,0.00,0.000,6,0.173,0.027,2141,2461,2230,0,0,0,0,0,0,25.57,26.08,28.83
$GC,9553,0.36,175.2,900.6,10.8,760,9559,0.00,2.12,0.00,0.000,4,0.000,0.046,2141,3812,2228,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9596,0.33,175.2,895.5,11.7,762,9601,0.12,2.03,0.00,0.000,6,0.169,0.027,2120,2458,2227,0,0,0,0,0,0,25.77,26.13,28.83
$GC,9910,0.34,187.5,866.4,8.7,778,9922,0.00,2.20,7.43,0.958,4,0.000,0.037,2130,1061,2212,0,0,0,0,0,0,28.83,25.96,24.09
$GC,9970,0.36,204.4,861.7,8.6,780,9999,0.00,2.25,18.40,0.896,6,0.000,0.037,2130,2526,2144,0,0,0,0,1,0,28.83,25.99,24.15
$GC,10301,0.35,204.4,829.3,10.2,796,10307,0.00,2.03,0.00,0.000,4,0.000,0.045,2130,3816,2143,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10383,0.34,204.4,819.7,12.0,800,10387,0.00,2.05,0.00,0.000,6,0.000,0.027,2140,2456,2143,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10701,0.32,204.4,782.7,11.6,816,10707,0.00,2.17,0.00,0.000,4,0.000,0.045,2141,3816,2143,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10749,0.30,204.4,777.4,12.2,818,10754,0.15,2.03,0.00,0.000,6,0.159,0.027,2112,2461,2143,0,0,0,0,0,0,25.71,26.14,28.83
$GC,11058,0.31,204.4,746.8,9.4,833,11063,0.00,2.12,0.00,0.000,4,0.000,0.045,2112,3810,2142,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11089,0.32,204.4,744.7,9.7,834,11096,0.00,2.05,0.00,0.000,6,0.000,0.027,2122,2455,2142,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11397,0.32,204.4,710.6,10.3,850,11403,0.00,2.10,0.00,0.000,4,0.000,0.034,2133,1058,2141,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11471,0.33,204.4,704.7,10.0,853,11477,0.00,2.28,0.00,0.000,6,0.000,0.039,2133,2526,2141,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11778,0.33,204.4,671.9,9.7,869,11781,0.00,2.05,0.00,0.000,4,0.000,0.046,2133,3813,2141,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11807,0.33,204.4,669.7,9.6,870,11811,0.00,2.03,0.00,0.000,6,0.000,0.027,2143,2458,2140,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12115,0.37,244.5,642.0,7.8,885,12173,0.00,2.25,47.80,0.910,4,0.000,0.036,2154,1061,1969,0,0,0,0,0,0,28.83,25.57,23.91
$GC,12190,0.40,277.2,637.3,8.0,888,12229,0.00,2.33,33.08,0.925,6,0.000,0.038,2154,2528,1848,0,0,0,0,0,0,28.83,25.65,23.77
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$GC,14385,0.57,416.2,384.8,14.3,1083,14391,0.00,2.08,0.00,0.000,6,0.000,0.027,2204,2456,1253,0,0,0,0,0,0,28.83,25.98,28.83
$GC,14691,0.57,416.2,342.3,13.1,1114,14692,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2454,1253,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,17112,0.75,440.0,14.9,12.9,1482,17119,0.00,2.10,0.00,0.000,4,0.000,0.031,2265,1042,1165,0,0,0,0,0,0,28.83,26.11,28.83
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$STATE,17200,end climb,SURFACE_DEPTH_REACHED
$STATE,17200,begin surface coast
$FINISH,0.2,0.999581
$STATE,17221,end surface coast,CONTROL_FINISHED_OK
$STATE,17222,begin surface
$SM_CCo,17299,0.00,0.000,0,0,1165,444.97
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$IRIDIUM_FIX,2333.28,12348.58,030212,040459
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.27
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,23.2,92.650
$10V_AH,9.9,55.208
$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,17.000,176.975,584.050,0.000,0.000,28.780,42.048,245.623,0.000,0.000,32.737,3787.062,9726.432,732.403,3105.160,400.554,0.000,2231.753,0.000,2605.072,0.000,0.542,0.000
$DEVICE_MAMPS,246.330,66.555,1189.575,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1020.372,1935.131,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330432
$DATA_FILE_SIZE,100449,1502
$CAP_FILE_SIZE,193332,0
$CFSIZE,260165632,180994048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.265,179.5,1
$GPS,030212,145407,2344.406,12351.785,31,1.5,31,-3.4