version: 66.10
glider: 176
mission: 5
dive: 243
start: 5 1 112 6 31 11
data:
$ID,176
$MISSION,5
$DIVE,243
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,500
$D_BOOST,100
$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,440
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51719
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,375
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7752.9502
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2514
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2610
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2929
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.662712
$PRESSURE_SLOPE,0.0001162977
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043285224
$SEABIRD_T_H,0.00062606536
$SEABIRD_T_I,2.5051821e-05
$SEABIRD_T_J,2.9112039e-06
$SEABIRD_C_G,-10.134115
$SEABIRD_C_H,1.1528351
$SEABIRD_C_I,-0.0013358581
$SEABIRD_C_J,0.00019115997
$GPS1,010512,062331,1810.386,12323.151,37,1.4,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-76.7
$GPS2,010512,063044,1810.517,12323.170,12,1.4,12,-2.0
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,262.5,123555,-13.1,-7.500
$D_GRID,4154
$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,-0.51,-146.0,0.0,0.0,0,54,0.00,0.00,-34.72,0.000,2,0.000,0.000,191,2657,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57,-0.51,-146.0,3.2,-7.5,6,105,8.85,2.20,-29.02,0.000,4,0.236,0.038,2350,1138,3526,0,0,0,0,0,0,25.37,26.26,26.58
$GC,193,-0.51,-146.0,35.1,-25.4,28,200,0.00,2.28,0.00,0.000,6,0.000,0.050,2347,2625,3527,0,0,0,0,0,0,28.83,26.13,28.83
$GC,505,-0.51,-146.0,139.9,-33.2,89,512,0.00,2.10,0.00,0.000,4,0.000,0.024,2347,1136,3527,0,0,0,0,0,0,28.83,26.46,28.83
$GC,545,-0.51,-146.0,150.5,-23.7,96,552,0.10,2.25,0.00,0.000,6,0.173,0.044,2361,2633,3527,0,0,0,0,0,0,26.12,26.30,28.83
$GC,857,-0.51,-146.0,215.5,-19.8,150,861,0.08,2.08,0.00,0.000,4,0.132,0.021,2303,1156,3527,0,0,0,0,0,0,26.63,26.51,28.83
$GC,902,-0.51,-146.0,223.5,-19.1,154,909,0.22,2.22,0.00,0.000,6,0.144,0.042,2361,2632,3527,0,0,0,0,0,0,26.03,26.36,28.83
$GC,1209,-0.51,-146.0,274.5,-14.5,185,1218,0.05,2.10,0.00,0.000,4,0.174,0.022,2305,1144,3527,0,0,0,0,0,0,26.69,26.53,28.83
$GC,1302,-0.51,-146.0,290.9,-17.4,194,1311,0.15,2.22,0.00,0.000,6,0.150,0.044,2354,2629,3527,0,0,0,0,0,0,26.13,26.36,28.83
$GC,1611,-0.51,-146.0,337.8,-13.7,225,1615,0.00,2.08,0.00,0.000,4,0.000,0.024,2353,1146,3527,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1696,-0.51,-146.0,347.8,-11.4,233,1703,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2629,3526,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2003,-0.51,-146.0,389.2,-13.2,264,2012,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1148,3525,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2055,-0.51,-146.0,395.2,-11.4,269,2064,0.00,2.22,0.00,0.000,6,0.000,0.044,2348,2629,3525,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2366,-0.51,-146.0,429.1,-11.3,300,2375,0.00,2.08,0.00,0.000,4,0.000,0.024,2348,1153,3522,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2408,-0.51,-146.0,433.5,-10.4,304,2417,0.00,2.22,0.00,0.000,6,0.000,0.044,2345,2628,3522,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2718,-0.51,-146.0,465.8,-10.5,335,2727,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1136,3520,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2752,-0.51,-146.0,469.0,-10.1,338,2759,0.00,2.28,0.00,0.000,6,0.000,0.044,2345,2622,3520,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3060,-0.51,-146.0,500.4,-10.4,369,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2623,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3362,-0.51,-146.0,532.1,-10.5,399,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2623,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3672,-0.51,-146.0,563.3,-9.9,430,3680,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1149,3511,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3733,-0.51,-146.0,568.8,-8.6,436,3742,0.00,2.28,0.00,0.000,6,0.000,0.045,2345,2636,3511,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4043,-0.51,-146.0,595.0,-7.9,467,4053,0.00,2.15,0.00,0.000,4,0.000,0.024,2345,1132,3508,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4088,-0.51,-146.0,598.3,-7.9,471,4096,0.00,2.28,0.00,0.000,6,0.000,0.045,2344,2628,3508,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4397,-0.51,-146.0,622.7,-7.9,488,4402,0.00,2.12,0.00,0.000,4,0.000,0.025,2345,1145,3504,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4423,-0.51,-146.0,624.3,-7.8,489,4427,0.00,2.28,0.00,0.000,6,0.000,0.046,2344,2633,3505,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4731,-0.51,-146.0,650.3,-8.7,504,4737,0.00,2.15,0.00,0.000,4,0.000,0.024,2344,1144,3502,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4784,-0.51,-146.0,653.7,-8.5,506,4791,0.00,2.28,0.00,0.000,6,0.000,0.045,2344,2637,3502,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5090,-0.51,-146.0,682.7,-9.6,522,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2637,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5390,-0.51,-146.0,710.0,-8.7,537,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2638,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5692,-0.51,-146.0,735.8,-8.5,552,5696,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1147,3495,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5726,-0.51,-146.0,737.8,-8.5,553,5733,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2627,3495,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6033,-0.51,-146.0,763.0,-7.7,569,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2628,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6335,-0.51,-146.0,786.7,-7.8,584,6340,0.00,2.12,0.00,0.000,4,0.000,0.025,2344,1152,3491,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6373,-0.51,-146.0,789.9,-8.0,586,6379,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2633,3491,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6694,-0.51,-146.0,814.1,-7.3,602,6699,0.00,2.15,0.00,0.000,4,0.000,0.025,2344,1148,3489,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6735,-0.51,-146.0,816.9,-7.3,604,6740,0.00,2.25,0.00,0.000,6,0.000,0.046,2344,2626,3489,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7054,-0.51,-146.0,839.7,-7.3,620,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2627,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7355,-0.51,-146.0,862.3,-7.5,635,7360,0.00,2.12,0.00,0.000,4,0.000,0.026,2344,1151,3485,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7393,-0.51,-146.0,865.2,-7.4,637,7399,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2627,3485,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7714,-0.51,-146.0,887.8,-7.0,653,7717,0.00,1.77,0.00,0.000,4,0.000,0.059,2343,3767,3484,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7737,-0.51,-146.0,889.2,-6.9,654,7741,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2510,3483,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8059,-0.51,-146.0,910.6,-6.7,670,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2488,3483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8359,-0.51,-146.0,931.3,-7.0,685,8364,0.00,2.00,0.00,0.000,4,0.000,0.057,2343,3772,3481,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8402,-0.51,-146.0,934.3,-7.3,687,8406,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2514,3480,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8718,-0.51,-146.0,959.1,-8.1,703,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2489,3480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9019,-0.51,-146.0,984.4,-8.5,718,9024,0.00,1.98,0.00,0.000,4,0.000,0.057,2343,3764,3478,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9048,-0.51,-146.0,986.0,-8.5,719,9052,0.00,1.73,0.00,0.000,6,0.000,0.025,2343,2512,3478,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,9099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9099,begin apogee
$GC,9104,-0.17,0.0,991.2,-8.4,722,9231,0.35,0.00,121.30,1.731,6,0.105,0.000,2468,2488,2928,0,0,0,0,0,0,25.95,28.83,23.14
$STATE,9234,end apogee,CONTROL_FINISHED_OK
$STATE,9234,begin climb
$GC,9236,0.51,146.0,997.1,0.0,728,9381,0.57,0.00,142.20,1.689,6,0.049,0.000,2701,2487,2332,0,0,0,0,0,0,24.77,28.83,22.40
$GC,9679,0.51,146.0,953.5,14.0,751,9681,0.12,0.00,0.00,0.000,6,0.194,0.000,2671,2487,2322,0,0,0,0,0,0,25.70,28.83,28.83
$GC,9980,0.51,146.0,914.4,12.9,766,9981,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2488,2319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10279,0.51,146.0,876.2,12.3,781,10285,0.00,2.00,0.00,0.000,4,0.000,0.056,2671,3767,2317,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10319,0.51,146.0,870.8,12.8,783,10323,0.00,1.92,0.00,0.000,6,0.000,0.024,2680,2442,2317,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10636,0.51,146.0,838.7,9.4,799,10642,0.00,2.08,0.00,0.000,4,0.000,0.054,2680,3779,2316,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10844,0.51,146.0,811.1,13.8,809,10848,0.10,1.92,0.00,0.000,6,0.213,0.025,2667,2451,2315,0,0,0,0,0,0,25.99,26.37,28.83
$GC,11157,0.51,146.0,775.8,10.7,825,11163,0.05,2.05,0.00,0.000,4,0.181,0.028,2714,1038,2314,0,0,0,0,0,0,26.54,26.34,28.83
$GC,11225,0.51,146.0,768.4,12.0,828,11230,0.17,2.28,0.00,0.000,6,0.177,0.045,2669,2520,2313,0,0,0,0,0,0,25.75,26.20,28.83
$GC,11532,0.51,146.0,734.2,10.3,843,11533,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2520,2313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11831,0.51,146.0,704.4,9.9,858,11835,0.00,1.90,0.00,0.000,4,0.000,0.053,2668,3771,2312,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11860,0.51,146.0,702.7,10.1,859,11868,0.00,1.90,0.00,0.000,6,0.000,0.024,2678,2446,2312,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12168,0.51,146.0,668.5,10.5,875,12172,0.00,2.05,0.00,0.000,4,0.000,0.053,2678,3764,2312,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12203,0.51,146.0,665.8,10.7,876,12210,0.08,1.90,0.00,0.000,6,0.229,0.023,2673,2437,2311,0,0,0,0,0,0,26.15,26.46,28.83
$GC,12511,0.51,146.0,631.9,10.4,892,12512,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2435,2310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12810,0.51,146.0,598.9,10.6,907,12820,0.00,2.05,0.00,0.000,4,0.000,0.031,2683,1048,2310,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12845,0.51,146.0,595.6,10.2,910,12852,0.00,2.25,0.00,0.000,6,0.000,0.045,2683,2519,2310,0,0,0,0,0,0,28.83,26.14,28.83
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$GC,14925,0.52,154.3,404.7,7.9,1117,14934,0.00,2.05,0.00,0.000,4,0.000,0.032,2693,1052,2298,0,0,0,0,0,0,28.83,26.27,28.83
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$GC,16102,0.60,218.2,311.8,6.1,1234,16143,0.05,2.12,35.35,1.244,4,0.182,0.032,2743,1054,2038,0,0,0,0,0,0,26.52,25.70,24.39
$GC,16176,0.60,218.2,305.5,8.8,1241,16186,0.15,2.30,0.00,0.000,6,0.149,0.041,2701,2530,2034,0,0,0,0,0,0,25.55,25.76,28.83
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$STATE,19500,end climb,SURFACE_DEPTH_REACHED
$STATE,19500,begin surface coast
$FINISH,0.7,1.019605
$STATE,19532,end surface coast,CONTROL_FINISHED_OK
$STATE,19532,begin surface
$SM_CCo,19609,0.00,0.000,0,0,951,485.20
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$IRIDIUM_FIX,1800.97,12327.57,010512,000023
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.58
$INTERNAL_PRESSURE,9.54413
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,22.4,49.599
$10V_AH,10.0,31.673
$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,19.525,158.750,470.875,0.000,0.000,30.500,20.271,234.800,0.000,0.000,15.345,4434.075,11034.374,620.627,3478.879,442.724,0.000,2256.357,0.000,2911.569,0.000,0.542,0.000
$DEVICE_MAMPS,236.385,58.905,1731.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1197.197,2380.593,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329420
$DATA_FILE_SIZE,130609,1760
$CAP_FILE_SIZE,201734,0
$CFSIZE,260165632,198828032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.046,307.7,1
$GPS,010512,115907,1810.330,12320.254,37,1.0,37,-2.0