version: 66.03
glider: 17
mission: 6
dive: 397
start: 10 16 108 8 7 18
data:
$ID,17
$MISSION,6
$DIVE,397
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,480
$T_MISSION,570
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,52301
$NAV_MODE,2
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.00251
$HD_B,0.0080399998
$HD_C,2.6800001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,66
$TGT_DEFAULT_LON,6
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-95963.867
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3362
$C_PITCH,1965
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,153
$ROLL_MAX,3868
$ROLL_DEG,32
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,2010
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,452
$VBD_MAX,3835
$C_VBD,2792
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,6
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-4.9708929
$PRESSURE_SLOPE,9.1642258e-05
$AD7714Ch0Gain,64
$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,20
$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
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043458045
$SEABIRD_T_H,0.00063927198
$SEABIRD_T_I,2.5059786e-05
$SEABIRD_T_J,2.8926322e-06
$SEABIRD_C_G,-8.9986515
$SEABIRD_C_H,1.011379
$SEABIRD_C_I,-0.0019357111
$SEABIRD_C_J,0.00022611961
$GPS1,080108,6657.116,555.273,29,0.8,29,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-48.1
$GPS2,080650,6657.093,555.202,12,1.1,16,-2.1
$SPEED_LIMITS,0.119,0.230
$TGT_NAME,HOLD
$TGT_LATLONG,6700.000,600.000
$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,30.5,6406,-11.9,-6.875
$D_GRID,1256
$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
$STATE,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.12,-116.7,0.0,0.0,0,83,0.00,0.00,-57.80,0.000,6,0.000,0.000,55,2153,3269
$GC,87,-1.12,-116.7,2.3,-0.0,1,99,10.18,0.00,0.00,0.000,6,0.189,0.000,1716,2153,3271
$GC,390,-1.12,-116.7,38.9,-8.3,9,394,0.00,1.98,0.00,0.000,4,0.000,0.051,1715,3232,3274
$GC,583,-1.12,-116.7,55.0,-8.7,13,587,0.00,1.95,0.00,0.000,6,0.000,0.035,1716,2114,3274
$GC,932,-1.12,-116.7,79.1,-6.7,22,935,0.00,1.98,0.00,0.000,4,0.000,0.046,1715,1002,3275
$GC,971,-1.12,-116.7,81.9,-6.9,23,975,0.00,1.95,0.00,0.000,6,0.000,0.033,1715,2108,3276
$GC,1297,-1.12,-116.7,104.5,-7.0,31,1301,0.00,2.10,0.00,0.000,4,0.000,0.053,1715,3249,3276
$GC,1391,-1.12,-116.7,111.4,-7.3,33,1395,0.00,1.95,0.00,0.000,6,0.000,0.035,1715,2133,3276
$GC,1712,-1.12,-116.7,132.3,-6.4,41,1716,0.00,2.05,0.00,0.000,4,0.000,0.051,1715,3250,3277
$GC,1762,-1.12,-116.7,135.8,-6.8,42,1765,0.00,1.95,0.00,0.000,6,0.000,0.035,1715,2134,3277
$GC,2075,-1.12,-116.7,155.6,-6.3,50,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2134,3277
$GC,2400,-1.12,-116.7,175.2,-6.0,58,2404,0.00,2.03,0.00,0.000,4,0.000,0.048,1715,1001,3277
$GC,2429,-1.12,-116.7,177.0,-6.4,58,2433,0.00,2.03,0.00,0.000,6,0.000,0.035,1716,2145,3277
$GC,2760,-1.12,-116.7,197.5,-6.4,66,2764,0.00,2.03,0.00,0.000,4,0.000,0.055,1716,3253,3277
$GC,2787,-1.12,-116.7,199.4,-6.6,66,2791,0.00,1.95,0.00,0.000,6,0.000,0.037,1715,2137,3277
$GC,3120,-1.12,-116.7,221.3,-6.6,74,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2137,3277
$GC,3444,-1.12,-116.7,243.0,-6.6,82,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2137,3277
$GC,3769,-1.12,-116.7,264.9,-6.7,90,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2137,3277
$GC,4094,-1.12,-116.7,286.9,-6.7,98,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2137,3277
$GC,4420,-1.12,-116.7,308.6,-6.7,106,4424,0.00,2.08,0.00,0.000,4,0.000,0.054,1715,3249,3276
$GC,4447,-1.12,-116.7,310.8,-7.3,106,4450,0.00,1.95,0.00,0.000,6,0.000,0.038,1716,2143,3277
$GC,4785,-1.12,-116.7,332.8,-6.6,115,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2143,3276
$GC,5110,-1.12,-116.7,353.5,-6.3,123,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2143,3276
$GC,5436,-1.12,-116.7,373.4,-6.1,131,5439,0.00,2.05,0.00,0.000,4,0.000,0.055,1715,3250,3276
$GC,5480,-1.12,-116.7,376.4,-6.7,132,5483,0.00,1.95,0.00,0.000,6,0.000,0.038,1715,2144,3276
$GC,5799,-1.12,-116.7,395.4,-6.0,140,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2144,3275
$GC,6125,-1.12,-116.7,414.1,-5.7,148,6129,0.00,2.05,0.00,0.000,4,0.000,0.056,1716,3256,3275
$GC,6158,-1.12,-116.7,416.4,-6.6,148,6165,0.00,1.95,0.00,0.000,6,0.000,0.040,1715,2155,3275
$GC,6489,-1.12,-116.7,436.2,-6.2,157,6493,0.00,2.08,0.00,0.000,4,0.000,0.054,1715,996,3275
$GC,6557,-1.12,-116.7,440.9,-7.0,158,6561,0.00,2.05,0.00,0.000,6,0.000,0.038,1715,2155,3274
$GC,6894,-1.12,-116.7,463.4,-6.7,167,6898,0.00,2.05,0.00,0.000,4,0.000,0.060,1715,3254,3274
$GC,6979,-1.12,-116.7,469.6,-7.6,169,6983,0.00,1.95,0.00,0.000,6,0.000,0.040,1716,2153,3274
$GC,7304,-1.12,-116.7,492.3,-7.1,177,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2152,3274
$GC,7629,-1.12,-116.7,514.5,-6.7,185,7633,0.00,2.08,0.00,0.000,4,0.000,0.056,1715,1002,3273
$GC,7689,-1.12,-116.7,518.8,-7.1,186,7693,0.00,2.05,0.00,0.000,6,0.000,0.040,1715,2148,3272
$GC,8038,-1.12,-116.7,538.8,-5.6,195,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2149,3272
$GC,8365,-1.12,-116.7,556.3,-5.3,203,8366,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2149,3272
$GC,8688,-1.12,-116.7,573.6,-5.4,211,8692,0.00,2.08,0.00,0.000,4,0.000,0.065,1715,3256,3271
$GC,8761,-1.12,-116.7,577.9,-6.2,212,8764,0.00,1.98,0.00,0.000,6,0.000,0.042,1715,2149,3271
$GC,9094,-1.12,-116.7,595.5,-5.3,220,9097,0.00,2.10,0.00,0.000,4,0.000,0.061,1715,999,3270
$GC,9143,-1.12,-116.7,598.4,-5.5,221,9147,0.00,2.08,0.00,0.000,6,0.000,0.044,1715,2155,3270
$GC,9457,-1.12,-116.7,615.5,-5.6,229,9458,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2155,3270
$GC,9783,-1.12,-116.7,634.5,-5.9,237,9787,0.00,2.12,0.00,0.000,4,0.000,0.062,1715,997,3269
$GC,9816,-1.12,-116.7,636.7,-6.4,237,9823,0.00,2.10,0.00,0.000,6,0.000,0.045,1715,2153,3269
$GC,10148,-1.12,-116.7,656.2,-6.0,246,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2153,3268
$GC,10473,-1.12,-116.7,675.2,-5.8,254,10477,0.00,2.10,0.00,0.000,4,0.000,0.063,1715,1005,3267
$GC,10507,-1.12,-116.7,677.3,-6.2,254,10513,0.00,2.08,0.00,0.000,6,0.000,0.048,1715,2154,3267
$GC,10839,-1.12,-116.7,694.8,-5.1,263,10840,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2154,3266
$GC,11164,-1.12,-116.7,711.5,-5.2,271,11167,0.00,2.10,0.00,0.000,4,0.000,0.062,1715,1002,3265
$GC,11207,-1.12,-116.7,713.7,-5.5,272,11210,0.00,2.05,0.00,0.000,6,0.000,0.048,1715,2145,3264
$GC,11531,-1.12,-116.7,731.3,-5.4,280,11532,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2145,3263
$GC,11856,-1.12,-116.7,748.7,-5.3,288,11860,0.00,2.08,0.00,0.000,4,0.000,0.063,1715,1007,3263
$GC,11889,-1.12,-116.7,750.6,-5.7,288,11896,0.00,2.05,0.00,0.000,6,0.000,0.048,1715,2148,3263
$GC,12222,-1.12,-116.7,768.6,-5.5,297,12223,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2148,3262
$GC,12546,-1.12,-116.7,787.1,-5.7,305,12550,0.00,2.10,0.00,0.000,4,0.000,0.064,1715,998,3262
$GC,12586,-1.12,-116.7,789.5,-5.8,306,12590,0.00,2.05,0.00,0.000,6,0.000,0.048,1715,2142,3262
$GC,12912,-1.12,-116.7,808.3,-5.8,314,12913,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,2143,3261
$GC,13235,-1.12,-116.7,827.2,-5.8,322,13237,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2143,3260
$GC,13561,-1.12,-116.7,846.1,-5.8,330,13564,0.00,2.10,0.00,0.000,4,0.000,0.064,1715,1004,3259
$GC,13617,-1.12,-116.7,849.5,-6.0,331,13621,0.00,2.05,0.00,0.000,6,0.000,0.048,1715,2139,3259
$GC,13965,-1.12,-116.7,868.7,-5.5,340,13966,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2139,3259
$GC,14290,-1.12,-116.7,886.4,-5.5,348,14294,0.00,2.08,0.00,0.000,4,0.000,0.064,1715,1004,3258
$GC,14323,-1.12,-116.7,888.4,-5.3,348,14330,0.00,2.05,0.00,0.000,6,0.000,0.048,1715,2136,3258
$GC,14656,-1.12,-116.7,906.4,-5.4,357,14657,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2136,3258
$GC,14979,-1.12,-116.7,924.1,-5.4,365,14980,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2136,3258
$GC,15304,-1.12,-116.7,941.7,-5.5,373,15308,0.00,2.08,0.00,0.000,4,0.000,0.064,1715,1003,3257
$GC,15355,-1.12,-116.7,944.6,-5.9,374,15359,0.00,2.05,0.00,0.000,6,0.000,0.048,1715,2131,3257
$GC,15669,-1.12,-116.7,962.8,-5.9,382,15670,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2131,3257
$GC,15993,-1.12,-116.7,982.0,-6.0,390,15995,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2131,3257
$STATE,16153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16153,begin apogee
$GC,16161,-0.42,0.0,991.9,6.1,394,16268,0.77,0.00,103.68,1.446,6,0.097,0.000,1870,1999,2792
$STATE,16268,end apogee,CONTROL_FINISHED_OK
$STATE,16269,begin climb
$GC,16271,1.12,116.7,994.5,0.0,396,16385,1.60,2.22,105.10,1.445,4,0.068,0.068,2209,891,2316
$GC,16464,1.12,116.7,986.0,9.5,400,16468,0.00,2.08,0.00,0.000,6,0.000,0.048,2209,2014,2315
$GC,16815,1.12,116.7,952.9,9.5,409,16819,0.00,2.10,0.00,0.000,4,0.000,0.069,2209,3134,2313
$GC,16858,1.12,116.7,948.3,9.9,410,16862,0.00,2.05,0.00,0.000,6,0.000,0.053,2209,2018,2313
$GC,17183,1.12,116.7,918.1,9.3,418,17187,0.00,2.10,0.00,0.000,4,0.000,0.066,2209,3133,2313
$GC,17200,1.12,116.7,916.5,9.3,418,17204,0.00,2.03,0.00,0.000,6,0.000,0.053,2209,2021,2313
$GC,17543,1.12,116.7,884.8,9.3,427,17547,0.00,2.10,0.00,0.000,4,0.000,0.066,2209,3139,2312
$GC,17587,1.12,116.7,880.4,9.8,428,17590,0.00,2.03,0.00,0.000,6,0.000,0.052,2209,2029,2312
$GC,17913,1.12,116.7,849.6,9.5,436,17914,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2029,2312
$GC,18236,1.12,116.7,819.3,9.3,444,18240,0.00,2.10,0.00,0.000,4,0.000,0.067,2209,3136,2312
$GC,18252,1.12,116.7,817.6,9.3,444,18256,0.00,2.05,0.00,0.000,6,0.000,0.054,2209,2023,2312
$GC,18601,1.12,116.7,786.3,8.9,453,18604,0.00,2.10,0.00,0.000,4,0.000,0.067,2209,3134,2312
$GC,18618,1.12,116.7,784.7,8.9,453,18621,0.00,2.03,0.00,0.000,6,0.000,0.054,2209,2028,2312
$GC,18960,1.12,116.7,754.2,8.9,462,18964,0.00,2.08,0.00,0.000,4,0.000,0.067,2209,3134,2312
$GC,19026,1.12,116.7,747.9,10.4,463,19030,0.00,1.98,0.00,0.000,6,0.000,0.053,2209,2047,2312
$GC,19371,1.12,116.7,717.6,8.8,472,19374,0.00,2.05,0.00,0.000,4,0.000,0.068,2209,3142,2312
$GC,19392,1.12,116.7,715.4,8.6,472,19395,0.00,1.98,0.00,0.000,6,0.000,0.053,2209,2052,2311
$GC,19735,1.12,116.7,685.1,8.7,481,19739,0.00,2.00,0.00,0.000,4,0.000,0.067,2209,3136,2312
$GC,19767,1.12,116.7,682.1,10.0,481,19774,0.00,1.95,0.00,0.000,6,0.000,0.053,2209,2057,2311
$GC,20100,1.12,116.7,654.5,8.3,490,20104,0.00,2.03,0.00,0.000,4,0.000,0.067,2209,3137,2311
$GC,20128,1.12,116.7,651.8,8.6,490,20131,0.00,1.95,0.00,0.000,6,0.000,0.053,2209,2063,2311
$GC,20459,1.12,116.7,624.3,8.3,498,20460,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2063,2311
$GC,20784,1.12,116.7,597.6,8.3,506,20788,0.00,2.00,0.00,0.000,4,0.000,0.066,2209,3138,2311
$GC,20840,1.12,116.7,592.6,10.4,507,20844,0.00,1.95,0.00,0.000,6,0.000,0.052,2209,2060,2311
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$GC,23750,1.12,116.7,354.9,7.4,578,23752,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2083,2312
$GC,24074,1.12,116.7,331.1,7.3,586,24078,0.00,2.20,0.00,0.000,4,0.000,0.061,2209,883,2313
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$GC,25188,1.12,118.3,242.1,6.8,612,25192,0.00,1.85,0.00,0.000,6,0.000,0.041,2209,2093,2315
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$GC,27645,1.14,131.8,43.1,6.3,673,27663,0.00,2.35,12.88,0.688,4,0.000,0.054,2209,888,2253
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$STATE,28251,end climb,SURFACE_DEPTH_REACHED
$STATE,28251,begin surface coast
$FINISH,-0.1,1.026990
$STATE,28293,end surface coast,CONTROL_FINISHED_OK
$STATE,28293,begin surface
$SM_CCo,28313,69.60,0.678,0,0,1772,250.21
$SM_GC,0.89,0.00,0.00,69.60,0.000,0.000,0.678,57,2116,1772,-8.78,-0.40,250.21
$IRIDIUM_FIX,6625.71,551.92,100198,000041
$TT8_MAMPS,0.021476
$HUMID,2106
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,3.50
$XPDR_PINGS,-1
$24V_AH,22.7,53.099
$10V_AH,10.0,45.146
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,22.075,189.775,225.600,69.600,0.000,27.363,37.499,145.314,0.000,0.000,0.000,16.820,1835.698,24554.547,538.875,1168.763,635.212,0.000,1496.668,0.000,1036.554,0.000,0.655
$DEVICE_MAMPS,189.449,70.564,1445.795,678.028,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,657.424,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31677,688
$CAP_FILE_SIZE,163460,0
$CFSIZE,256368640,220004352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129,196.2,1
$GPS,161008,160137,6657.950,557.281,35,1.3,35,-2.1