version: 66.10
glider: 170
mission: 8
dive: 94
start: 5 6 112 22 49 31
data:
$ID,170
$MISSION,8
$DIVE,94
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51734
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-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,652.74329
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-124294.54
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.012
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2690
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2.25
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3121
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,600
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,146
$AH0_10V,97.5
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.674221
$PRESSURE_SLOPE,0.0001164274
$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,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$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,0.0043607452
$SEABIRD_T_H,0.00062843185
$SEABIRD_T_I,2.3948436e-05
$SEABIRD_T_J,2.5418763e-06
$SEABIRD_C_G,-9.9654589
$SEABIRD_C_H,1.1018275
$SEABIRD_C_I,-0.0017437373
$SEABIRD_C_J,0.00021077196
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,060512,223536,1945.479,12002.876,31,1.0,31,-2.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-73.8
$GPS2,060512,224906,1945.676,12002.750,17,1.1,18,-2.6
$SPEED_LIMITS,0.150,0.298
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,180.6,84728,-13.9,-8.684
$D_GRID,3913
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.46,-194.6,0.0,0.0,0,101,0.00,0.00,-81.32,0.000,2,0.000,0.000,135,2666,2693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.46,-194.6,3.3,-2.7,8,147,10.30,2.08,-23.20,0.000,4,0.246,0.046,2641,1275,3924,0,0,0,0,0,0,25.65,26.27,26.62
$GC,220,-0.38,-194.6,31.1,-18.5,19,226,0.12,2.20,0.00,0.000,6,0.172,0.048,2673,2674,3925,0,0,0,0,0,0,25.99,26.20,28.83
$GC,534,-0.38,-194.6,75.5,-9.7,40,539,0.00,2.08,0.00,0.000,4,0.000,0.031,2674,1286,3927,0,0,0,0,0,0,28.83,26.38,28.83
$GC,585,-0.40,-194.6,79.3,-8.7,42,591,0.00,2.15,0.00,0.000,6,0.000,0.047,2673,2666,3928,0,0,0,0,0,0,28.83,26.29,28.83
$GC,899,-0.46,-194.6,97.7,-6.2,58,906,0.00,2.08,0.00,0.000,4,0.000,0.032,2674,1276,3928,0,0,0,0,0,0,28.83,26.44,28.83
$GC,943,-0.53,-194.6,101.3,-7.4,60,950,0.12,2.15,0.00,0.000,6,0.090,0.047,2599,2652,3928,0,0,0,0,0,0,26.38,26.37,28.83
$GC,1267,-0.50,-194.6,145.8,-16.9,76,1273,0.12,1.65,0.00,0.000,4,0.154,0.054,2640,3703,3928,0,0,0,0,0,0,26.36,26.39,28.83
$GC,1355,-0.54,-194.6,156.5,-12.6,80,1362,0.00,1.50,0.00,0.000,6,0.000,0.031,2641,2664,3928,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1674,-0.59,-194.6,175.7,-2.1,96,1679,0.00,2.03,0.00,0.000,4,0.000,0.032,2641,1286,3926,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1732,-0.65,-194.6,176.9,-2.6,98,1740,0.15,2.15,0.00,0.000,6,0.075,0.047,2555,2668,3926,0,0,0,0,0,0,26.48,26.43,28.83
$GC,2037,-0.58,-194.6,219.2,-15.6,114,2043,0.15,1.62,0.00,0.000,4,0.155,0.057,2604,3700,3924,0,0,0,0,0,0,26.32,26.41,28.83
$GC,2136,-0.58,-194.6,229.3,-11.9,118,2144,0.00,1.52,0.00,0.000,6,0.000,0.030,2605,2641,3924,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2441,-0.58,-194.6,263.8,-10.4,134,2447,0.00,1.95,0.00,0.000,4,0.000,0.032,2604,1308,3920,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2479,-0.60,-194.6,266.0,-10.1,135,2485,0.00,2.12,0.00,0.000,6,0.000,0.046,2604,2677,3920,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2784,-0.62,-194.6,294.8,-8.8,151,2790,0.00,2.05,0.00,0.000,4,0.000,0.031,2605,1298,3918,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2868,-0.65,-194.6,301.7,-8.3,155,2873,0.00,2.12,0.00,0.000,6,0.000,0.045,2604,2665,3917,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3191,-0.67,-194.6,329.3,-9.5,171,3196,0.00,2.03,0.00,0.000,4,0.000,0.031,2605,1302,3915,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3263,-0.70,-194.6,336.1,-10.6,174,3269,0.00,2.08,0.00,0.000,6,0.000,0.047,2604,2641,3914,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3577,-0.73,-194.6,370.8,-9.7,190,3583,0.12,1.98,0.00,0.000,4,0.093,0.029,2526,1298,3912,0,0,0,0,0,0,26.67,26.57,28.83
$GC,3644,-0.71,-194.6,379.5,-12.7,193,3650,0.15,2.08,0.00,0.000,6,0.151,0.047,2569,2629,3911,0,0,0,0,0,0,26.26,26.47,28.83
$GC,3962,-0.69,-194.6,417.0,-10.4,209,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2630,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4263,-0.67,-194.6,448.2,-10.5,224,4268,0.00,1.67,0.00,0.000,4,0.000,0.057,2569,3697,3906,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4349,-0.67,-194.6,456.9,-10.4,228,4355,0.00,1.52,0.00,0.000,6,0.000,0.033,2569,2652,3906,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4667,-0.67,-194.6,494.5,-11.9,244,4672,0.00,2.03,0.00,0.000,4,0.000,0.032,2569,1278,3904,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4719,-0.67,-194.6,499.4,-12.0,246,4725,0.00,2.10,0.00,0.000,6,0.000,0.047,2569,2627,3903,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5032,-0.67,-194.6,534.0,-10.3,262,5038,0.00,2.00,0.00,0.000,4,0.000,0.031,2569,1281,3902,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5058,-0.67,-194.6,536.5,-10.4,263,5064,0.00,2.10,0.00,0.000,6,0.000,0.047,2569,2631,3901,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5376,-0.67,-194.6,568.8,-10.5,279,5381,0.00,2.00,0.00,0.000,4,0.000,0.031,2569,1289,3899,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5432,-0.67,-194.6,573.1,-10.5,281,5439,0.00,2.05,0.00,0.000,6,0.000,0.047,2570,2621,3898,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5758,-0.67,-194.6,606.0,-9.0,297,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2621,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6060,-0.67,-194.6,628.0,-6.5,307,6065,0.00,1.98,0.00,0.000,4,0.000,0.032,2569,1285,3895,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6092,-0.67,-194.6,630.0,-6.3,308,6097,0.00,2.08,0.00,0.000,6,0.000,0.047,2569,2611,3895,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6426,-0.67,-194.6,653.9,-8.7,319,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2611,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6725,-0.67,-194.6,687.6,-11.8,329,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2611,3891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7024,-0.67,-194.6,717.9,-9.3,339,7029,0.00,1.98,0.00,0.000,4,0.000,0.033,2569,1280,3890,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7071,-0.67,-194.6,721.1,-9.3,340,7077,0.00,2.10,0.00,0.000,6,0.000,0.047,2569,2625,3889,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7391,-0.68,-194.6,757.8,-12.1,351,7396,0.00,2.00,0.00,0.000,4,0.000,0.032,2569,1276,3888,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7433,-0.70,-194.6,761.8,-12.1,352,7438,0.00,2.10,0.00,0.000,6,0.000,0.047,2569,2617,3887,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7756,-0.71,-194.6,800.6,-11.3,363,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2617,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8055,-0.71,-194.6,834.7,-11.5,373,8060,0.00,1.98,0.00,0.000,4,0.000,0.034,2569,1290,3885,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8088,-0.71,-194.6,838.4,-11.4,374,8093,0.00,2.08,0.00,0.000,6,0.000,0.047,2569,2607,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8421,-0.73,-194.6,875.5,-10.9,385,8426,0.00,1.98,0.00,0.000,4,0.000,0.034,2569,1281,3884,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8454,-0.74,-194.6,879.0,-10.8,386,8459,0.00,2.08,0.00,0.000,6,0.000,0.047,2569,2600,3883,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8789,-0.76,-194.6,907.3,-7.4,397,8794,0.00,1.98,0.00,0.000,4,0.000,0.034,2569,1287,3882,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8833,-0.78,-194.6,909.6,-7.0,398,8838,0.00,2.05,0.00,0.000,6,0.000,0.047,2569,2594,3882,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9157,-0.80,-194.6,925.4,-3.8,409,9158,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2594,3880,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9456,-0.82,-194.6,937.0,-3.9,419,9461,0.00,1.95,0.00,0.000,4,0.000,0.034,2569,1289,3879,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9493,-0.84,-194.6,938.4,-3.9,420,9500,0.12,2.05,0.00,0.000,6,0.095,0.047,2508,2593,3879,0,0,0,0,0,0,26.39,26.38,28.83
$GC,9825,-0.79,-194.6,963.7,-7.6,431,9830,0.12,1.75,0.00,0.000,4,0.156,0.059,2549,3686,3877,0,0,0,0,0,0,26.41,26.29,28.83
$GC,9903,-0.77,-194.6,967.1,-6.5,433,9908,0.00,1.65,0.00,0.000,6,0.000,0.037,2549,2599,3877,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10221,-0.77,-194.6,979.9,-3.4,444,10226,0.00,1.77,0.00,0.000,4,0.000,0.059,2549,3693,3877,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10257,-0.77,-194.6,980.9,-3.3,445,10263,0.00,1.65,0.00,0.000,6,0.000,0.037,2549,2604,3876,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,10585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10585,begin apogee
$GC,10590,-0.12,0.0,990.3,-2.9,456,10754,0.60,0.00,156.85,1.431,4,0.113,0.000,2753,1937,3120,0,0,0,0,0,0,25.99,28.83,23.52
$STATE,10756,end apogee,CONTROL_FINISHED_OK
$STATE,10756,begin climb
$GC,10758,0.46,194.6,989.0,0.0,461,10946,0.55,2.28,175.48,1.385,4,0.056,0.039,2963,547,2325,0,0,0,0,0,0,24.76,24.75,23.01
$GC,11043,0.43,194.6,957.6,14.3,471,11048,0.00,2.28,0.00,0.000,6,0.000,0.039,2962,1942,2318,0,0,0,0,0,0,28.83,25.10,28.83
$GC,11372,0.40,194.6,916.8,10.5,482,11377,0.12,2.20,0.00,0.000,4,0.156,0.041,2929,549,2313,0,0,0,0,0,0,25.79,25.89,28.83
$GC,11539,0.48,312.2,907.8,5.2,487,11650,0.00,2.15,101.97,1.353,6,0.000,0.038,2929,1945,1846,0,0,0,0,0,0,28.83,26.03,23.71
$GC,11978,0.64,512.7,897.7,2.7,502,12163,0.20,2.45,174.62,1.337,4,0.070,0.051,3032,3342,1028,0,0,0,0,0,0,25.98,24.36,23.42
$GC,12205,0.58,512.7,865.0,17.5,509,12212,0.17,2.25,0.00,0.000,6,0.142,0.032,2988,1957,1026,0,0,0,0,0,0,24.85,24.96,28.83
$GC,12526,0.59,512.7,811.7,16.7,520,12531,0.00,2.22,0.00,0.000,4,0.000,0.043,2996,537,1023,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12589,0.62,512.7,800.8,16.9,522,12594,0.00,2.20,0.00,0.000,6,0.000,0.037,2996,1940,1022,0,0,0,0,0,0,28.83,25.95,28.83
$GC,12923,0.64,512.7,746.6,14.2,533,12928,0.00,2.22,0.00,0.000,4,0.000,0.051,2996,3343,1021,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12959,0.65,512.7,742.1,13.6,534,12966,0.00,2.17,0.00,0.000,6,0.000,0.033,2996,1929,1021,0,0,0,0,0,0,28.83,26.21,28.83
$GC,13289,0.67,512.7,705.9,10.2,545,13294,0.00,2.15,0.00,0.000,4,0.000,0.044,2996,534,1021,0,0,0,0,0,0,28.83,26.24,28.83
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$GC,15683,0.64,535.3,356.9,13.6,650,15689,0.00,2.25,0.00,0.000,4,0.000,0.050,3023,3340,935,0,0,0,0,0,0,28.83,26.32,28.83
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$GC,18216,1.37,1147.4,57.2,-7.2,784,18267,0.25,2.42,38.10,0.704,4,0.063,0.048,3259,3353,460,0,0,0,0,1,0,26.41,25.84,25.20
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$STATE,18417,end climb,SURFACE_DEPTH_REACHED
$STATE,18417,begin surface coast
$FINISH,1.2,1.020320
$STATE,18428,end surface coast,CONTROL_FINISHED_OK
$STATE,18428,begin surface
$SM_CCo,18506,0.00,0.000,0,0,460,652.74
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$IRIDIUM_FIX,2031.77,12007.26,010512,212133
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.29
$INTERNAL_PRESSURE,7.2714
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,23.0,20.387
$10V_AH,9.8,8.680
$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,22.325,171.200,734.950,0.000,0.000,0.000,0.000,201.300,0.000,0.000,19.182,2727.341,12991.073,829.639,2375.244,381.058,0.000,2257.341,0.000,2038.554,0.000,0.541,0.000
$DEVICE_MAMPS,245.565,58.905,1430.550,0.000,0.000,0.000,0.000,58.905,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18463.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.080,0.000,0.000,0.000
$MEM,324440
$DATA_FILE_SIZE,30010,803
$CAP_FILE_SIZE,212750,0
$CFSIZE,260165632,241016832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.041,295.3,1
$GPS,070512,035906,1942.798,12002.613,36,0.9,36,-2.6