version: 66.03
glider: 17
mission: 6
dive: 452
start: 10 30 108 19 16 3
data:
$ID,17
$MISSION,6
$DIVE,452
$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,-97507.906
$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,16
$R_STBD_OVSHOOT,41
$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
$GPS1,190727,6727.801,744.514,39,2.4,58,-1.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-46.0
$GPS2,191537,6727.777,744.396,34,1.1,38,-1.0
$SPEED_LIMITS,0.119,0.230
$TGT_NAME,HOLD_N
$TGT_LATLONG,6730.000,800.000
$TGT_RADIUS,4000.000
$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,84.2,11801,-11.9,-6.875
$D_GRID,1570
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.12,-116.7,0.0,0.0,0,84,0.00,0.00,-57.25,0.000,6,0.000,0.000,59,2159,3269
$GC,88,-1.12,-116.7,2.2,-0.0,1,102,9.90,2.15,0.00,0.000,4,0.185,0.050,1714,985,3272
$GC,109,-1.12,-116.7,13.7,-26.6,1,113,0.00,2.03,0.00,0.000,6,0.000,0.035,1714,2121,3273
$GC,448,-1.12,-116.7,40.6,-6.2,10,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2121,3275
$GC,771,-1.12,-116.7,63.3,-7.9,18,772,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2121,3275
$GC,1096,-1.12,-116.7,88.3,-6.7,26,1100,0.00,2.00,0.00,0.000,4,0.000,0.045,1714,996,3276
$GC,1129,-1.12,-116.7,90.9,-7.7,26,1136,0.00,2.03,0.00,0.000,6,0.000,0.035,1714,2132,3276
$GC,1462,-1.12,-116.7,115.5,-7.4,35,1466,0.00,2.08,0.00,0.000,4,0.000,0.053,1714,3251,3277
$GC,1494,-1.12,-116.7,118.1,-7.3,35,1501,0.00,2.00,0.00,0.000,6,0.000,0.035,1713,2114,3277
$GC,1827,-1.12,-116.7,140.0,-6.5,44,1830,0.00,2.00,0.00,0.000,4,0.000,0.047,1713,1002,3277
$GC,1855,-1.12,-116.7,141.9,-7.0,44,1859,0.00,2.00,0.00,0.000,6,0.000,0.035,1714,2132,3277
$GC,2186,-1.12,-116.7,164.0,-6.6,52,2190,0.00,2.08,0.00,0.000,4,0.000,0.054,1713,3251,3277
$GC,2219,-1.12,-116.7,166.4,-7.1,52,2226,0.00,2.00,0.00,0.000,6,0.000,0.036,1714,2115,3277
$GC,2551,-1.12,-116.7,188.6,-6.6,61,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2115,3277
$GC,2878,-1.12,-116.7,209.1,-6.4,69,2882,0.00,2.10,0.00,0.000,4,0.000,0.052,1713,3258,3277
$GC,2922,-1.12,-116.7,212.5,-7.0,70,2926,0.00,2.00,0.00,0.000,6,0.000,0.037,1713,2120,3277
$GC,3241,-1.12,-116.7,234.7,-7.1,78,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2120,3277
$GC,3567,-1.12,-116.7,258.5,-7.3,86,3571,0.00,2.10,0.00,0.000,4,0.000,0.051,1713,3252,3277
$GC,3594,-1.12,-116.7,260.7,-7.7,86,3598,0.00,1.98,0.00,0.000,6,0.000,0.036,1713,2133,3277
$GC,3926,-1.12,-116.7,284.8,-7.3,94,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2133,3277
$GC,4251,-1.12,-116.7,309.3,-7.7,102,4255,0.00,2.03,0.00,0.000,4,0.000,0.048,1714,1005,3277
$GC,4293,-1.12,-116.7,312.4,-8.2,103,4296,0.00,2.03,0.00,0.000,6,0.000,0.035,1714,2138,3277
$GC,4617,-1.12,-116.7,336.7,-7.3,111,4621,0.00,2.08,0.00,0.000,4,0.000,0.056,1713,3255,3277
$GC,4672,-1.12,-116.7,340.7,-7.2,112,4675,0.00,1.98,0.00,0.000,6,0.000,0.037,1713,2136,3277
$GC,5022,-1.12,-116.7,361.9,-5.7,121,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2136,3277
$GC,5346,-1.12,-116.7,378.2,-5.0,129,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2136,3276
$GC,5671,-1.12,-116.7,397.5,-6.3,137,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2136,3276
$GC,5995,-1.12,-116.7,420.7,-7.3,145,5999,0.00,2.12,0.00,0.000,4,0.000,0.056,1713,3249,3276
$GC,6016,-1.12,-116.7,422.4,-7.6,145,6020,0.00,1.98,0.00,0.000,6,0.000,0.040,1713,2140,3276
$GC,6355,-1.12,-116.7,447.0,-7.1,154,6359,0.00,2.05,0.00,0.000,4,0.000,0.054,1713,998,3276
$GC,6427,-1.12,-116.7,452.4,-7.0,155,6431,0.00,2.05,0.00,0.000,6,0.000,0.038,1713,2137,3276
$GC,6765,-1.12,-116.7,472.9,-5.7,164,6769,0.00,2.08,0.00,0.000,4,0.000,0.060,1713,3252,3275
$GC,6822,-1.12,-116.7,476.1,-5.8,165,6825,0.00,2.00,0.00,0.000,6,0.000,0.041,1713,2130,3275
$GC,7171,-1.12,-116.7,493.9,-5.2,174,7174,0.00,2.05,0.00,0.000,4,0.000,0.055,1713,1005,3275
$GC,7215,-1.12,-116.7,496.5,-5.9,175,7219,0.00,2.03,0.00,0.000,6,0.000,0.041,1713,2134,3275
$GC,7536,-1.12,-116.7,515.0,-5.9,183,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2134,3274
$GC,7859,-1.12,-116.7,534.9,-6.1,191,7863,0.00,2.08,0.00,0.000,4,0.000,0.064,1713,3254,3274
$GC,7881,-1.12,-116.7,536.4,-6.3,191,7885,0.00,2.00,0.00,0.000,6,0.000,0.044,1714,2137,3274
$GC,8220,-1.12,-116.7,556.1,-5.9,200,8224,0.00,2.05,0.00,0.000,4,0.000,0.060,1714,1004,3273
$GC,8281,-1.12,-116.7,560.1,-6.3,201,8285,0.00,2.05,0.00,0.000,6,0.000,0.044,1713,2132,3273
$GC,8624,-1.12,-116.7,580.3,-5.8,210,8625,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2132,3272
$GC,8950,-1.12,-116.7,599.1,-5.8,218,8954,0.00,2.10,0.00,0.000,4,0.000,0.061,1713,1004,3271
$GC,8984,-1.12,-116.7,601.3,-6.0,218,8990,0.00,2.05,0.00,0.000,6,0.000,0.046,1714,2129,3271
$GC,9315,-1.12,-116.7,621.2,-6.1,227,9316,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2129,3270
$GC,9641,-1.12,-116.7,640.8,-6.0,235,9644,0.00,2.12,0.00,0.000,4,0.000,0.073,1714,3254,3270
$GC,9675,-1.12,-116.7,643.1,-6.8,235,9682,0.00,2.03,0.00,0.000,6,0.000,0.049,1713,2128,3269
$GC,10007,-1.12,-116.7,662.5,-5.7,244,10011,0.00,2.05,0.00,0.000,4,0.000,0.064,1713,1000,3269
$GC,10051,-1.12,-116.7,665.2,-5.7,245,10055,0.00,2.03,0.00,0.000,6,0.000,0.047,1713,2131,3268
$GC,10372,-1.12,-116.7,682.5,-5.4,253,10376,0.00,2.10,0.00,0.000,4,0.000,0.072,1713,3255,3267
$GC,10399,-1.12,-116.7,684.3,-6.2,253,10403,0.00,2.03,0.00,0.000,6,0.000,0.049,1713,2120,3267
$GC,10731,-1.12,-116.7,702.9,-5.7,261,10732,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2119,3266
$GC,11057,-1.12,-116.7,721.9,-5.9,269,11061,0.00,2.12,0.00,0.000,4,0.000,0.070,1713,3262,3265
$GC,11091,-1.12,-116.7,724.1,-6.7,269,11097,0.00,2.03,0.00,0.000,6,0.000,0.050,1714,2125,3265
$GC,11422,-1.12,-116.7,743.9,-5.9,278,11423,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2124,3264
$GC,11747,-1.12,-116.7,762.8,-5.7,286,11749,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2124,3263
$GC,12073,-1.12,-116.7,781.2,-5.6,294,12077,0.00,2.15,0.00,0.000,4,0.000,0.071,1714,3256,3263
$GC,12106,-1.12,-116.7,783.3,-5.6,294,12113,0.00,2.05,0.00,0.000,6,0.000,0.051,1714,2124,3263
$GC,12438,-1.12,-116.7,802.0,-5.6,303,12439,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2124,3262
$GC,12765,-1.12,-116.7,821.1,-5.9,311,12769,0.00,2.08,0.00,0.000,4,0.000,0.066,1713,1003,3262
$GC,12792,-1.12,-116.7,823.0,-6.4,311,12796,0.00,2.08,0.00,0.000,6,0.000,0.048,1714,2136,3262
$GC,13124,-1.12,-116.7,843.2,-6.1,319,13125,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2137,3261
$GC,13449,-1.12,-116.7,863.2,-6.2,327,13450,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2137,3260
$GC,13776,-1.12,-116.7,882.8,-6.1,335,13777,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2137,3260
$GC,14099,-1.12,-116.7,901.6,-5.7,343,14100,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2137,3259
$GC,14424,-1.12,-116.7,919.7,-5.6,351,14425,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2136,3259
$GC,14749,-1.12,-116.7,937.7,-5.6,359,14753,0.00,2.12,0.00,0.000,4,0.000,0.065,1713,997,3259
$GC,14783,-1.12,-116.7,939.7,-5.8,359,14790,0.00,2.08,0.00,0.000,6,0.000,0.048,1713,2133,3258
$GC,15115,-1.12,-116.7,958.5,-5.6,368,15119,0.00,2.12,0.00,0.000,4,0.000,0.072,1713,3257,3258
$GC,15148,-1.12,-116.7,960.6,-6.2,368,15155,0.00,2.05,0.00,0.000,6,0.000,0.051,1713,2119,3258
$GC,15481,-1.12,-116.7,978.8,-5.4,377,15483,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,2119,3258
$STATE,15721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15721,begin apogee
$GC,15728,-0.42,0.0,991.8,5.3,383,15836,0.80,0.00,104.18,1.423,6,0.098,0.000,1872,1996,2792
$STATE,15836,end apogee,CONTROL_FINISHED_OK
$STATE,15836,begin climb
$GC,15839,1.12,116.7,993.7,0.0,385,15953,1.58,2.20,105.00,1.417,4,0.069,0.068,2206,892,2316
$GC,16057,1.12,116.7,981.3,10.3,390,16061,0.00,2.05,0.00,0.000,6,0.000,0.048,2206,2017,2314
$GC,16381,1.12,116.7,948.6,10.1,398,16385,0.00,2.10,0.00,0.000,4,0.000,0.068,2206,3133,2313
$GC,16422,1.12,116.7,944.5,10.3,399,16426,0.00,2.05,0.00,0.000,6,0.000,0.054,2206,2012,2313
$GC,16746,1.12,116.7,912.1,9.8,407,16750,0.00,2.15,0.00,0.000,4,0.000,0.067,2206,3142,2312
$GC,16779,1.12,116.7,908.7,10.2,407,16786,0.00,2.08,0.00,0.000,6,0.000,0.053,2206,2009,2312
$GC,17111,1.12,116.7,877.3,9.4,416,17114,0.00,2.17,0.00,0.000,4,0.000,0.066,2206,3138,2312
$GC,17152,1.12,116.7,873.5,9.0,417,17156,0.00,2.05,0.00,0.000,6,0.000,0.053,2206,2023,2312
$GC,17476,1.12,116.7,843.5,9.2,425,17480,0.00,2.10,0.00,0.000,4,0.000,0.067,2206,3134,2312
$GC,17520,1.12,116.7,839.2,9.2,426,17524,0.00,2.00,0.00,0.000,6,0.000,0.053,2206,2032,2312
$GC,17841,1.12,116.7,810.8,8.9,434,17845,0.00,2.08,0.00,0.000,4,0.000,0.067,2206,3136,2312
$GC,17907,1.12,116.7,804.4,8.8,435,17911,0.00,2.00,0.00,0.000,6,0.000,0.052,2206,2040,2311
$GC,18250,1.12,116.7,773.6,9.1,444,18251,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2040,2311
$GC,18576,1.12,116.7,744.2,9.1,452,18580,0.00,2.08,0.00,0.000,4,0.000,0.067,2206,3134,2311
$GC,18609,1.12,116.7,740.8,8.5,452,18616,0.00,1.98,0.00,0.000,6,0.000,0.053,2206,2048,2311
$GC,18941,1.12,116.7,710.5,9.2,461,18942,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2048,2311
$GC,19266,1.12,116.7,681.0,9.0,469,19270,0.00,2.05,0.00,0.000,4,0.000,0.067,2206,3138,2311
$GC,19322,1.12,116.7,675.6,8.7,470,19326,0.00,1.98,0.00,0.000,6,0.000,0.054,2206,2047,2311
$GC,19671,1.12,116.7,644.6,8.8,479,19674,0.00,2.05,0.00,0.000,4,0.000,0.067,2206,3134,2311
$GC,19711,1.12,116.7,641.1,9.3,480,19715,0.00,1.98,0.00,0.000,6,0.000,0.053,2206,2049,2311
$GC,20037,1.12,116.7,613.4,8.4,488,20038,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2049,2311
$GC,20360,1.12,116.7,587.5,7.8,496,20364,0.00,2.08,0.00,0.000,4,0.000,0.067,2206,3139,2311
$GC,20410,1.12,116.7,583.3,8.3,497,20414,0.00,1.98,0.00,0.000,6,0.000,0.052,2206,2054,2311
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$GC,22677,1.12,116.7,396.8,8.6,552,22678,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2095,2311
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$GC,24276,1.12,116.7,263.6,7.9,590,24277,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2101,2313
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$GC,26627,1.14,131.7,81.3,6.3,646,26646,0.00,1.80,14.68,0.698,6,0.000,0.036,2206,2100,2254
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$GC,27617,1.14,131.7,2.9,9.8,671,27620,0.00,2.20,0.00,0.000,4,0.000,0.053,2206,881,2255
$STATE,27624,end climb,SURFACE_DEPTH_REACHED
$STATE,27624,begin surface coast
$FINISH,0.6,1.027167
$STATE,27631,end surface coast,CONTROL_FINISHED_OK
$STATE,27631,begin surface
$SM_CCo,27654,71.93,0.647,0,0,1772,250.21
$SM_GC,0.95,0.00,0.00,71.93,0.000,0.000,0.647,55,2146,1772,-8.79,0.45,250.21
$IRIDIUM_FIX,6658.43,740.86,240198,111101
$TT8_MAMPS,0.021476
$HUMID,2112
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,2.60
$XPDR_PINGS,-1
$24V_AH,22.7,58.777
$10V_AH,10.0,48.536
$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,21.800,194.300,223.850,71.925,0.000,30.831,46.916,230.817,0.000,0.000,0.000,38.641,1794.177,23910.279,558.578,1170.738,788.036,0.000,1503.939,0.000,1019.889,0.000,0.653
$DEVICE_MAMPS,184.847,72.865,1422.785,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,637.598,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31715,671
$CAP_FILE_SIZE,160443,0
$CFSIZE,256368640,216989696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108,342.8,1
$GPS,311008,025931,6729.727,751.218,39,1.8,39,-1.0