version: 66.12
glider: 178
mission: 18
dive: 111
start: 10 18 114 20 18 14
data:
$ID,178
$MISSION,18
$DIVE,111
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,3
$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,330
$T_MISSION,370
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51648
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00420903
$HD_B,0.0099256597
$HD_C,8.8912799e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3046
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0018
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145.11
$AH0_10V,98.019997
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.80373
$PRESSURE_SLOPE,0.0001161899
$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,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,99
$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,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,181014,201125,1211.886,14421.440,69,1.0,89,1.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.18
$_SM_ANGLEo,-75.6
$GPS2,181014,201803,1211.875,14421.394,13,1.1,33,1.7
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S6
$TGT_LATLONG,1111.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,146.4,114695,-18.8,-10.000,-21.60,2227
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,89,end surface,CONTROL_FINISHED_OK
$STATE,89,begin dive
$GC,91,-0.77,-155.7,161,2131,1608,1624,0.0,0.0,0,159,0.00,0.00,-65.47,0.000,16386,0.000,0.000,160,2130,3438,3489,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,161,-0.77,-155.7,162,2131,3491,3389,4.8,-19.4,11,179,10.90,0.00,-3.62,0.000,18438,0.251,0.000,2614,2127,3683,3740,3627,0,0,0,0,0,0,25.64,28.83,26.25
$GC,479,-0.71,-155.7,2615,2128,3755,3629,104.5,-17.6,51,488,0.00,2.12,0.00,0.000,516,0.000,0.037,2614,771,3690,3753,3627,0,0,0,0,0,0,28.83,26.16,28.83
$GC,537,-0.67,-155.7,2615,772,3755,3628,112.9,-15.2,56,550,0.17,2.15,0.00,0.000,3078,0.157,0.031,2651,2151,3690,3754,3627,0,0,0,0,0,0,25.90,26.17,28.83
$GC,845,-0.67,-155.7,2651,2152,3761,3628,154.1,-14.8,87,852,0.00,2.22,0.00,0.000,260,0.000,0.045,2642,3553,3694,3761,3627,0,0,0,0,0,0,28.83,26.17,28.83
$GC,926,-0.67,-155.7,2643,3554,3762,3629,165.9,-15.4,94,937,0.00,2.12,0.00,0.000,1030,0.000,0.027,2643,2157,3694,3762,3627,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1242,-0.67,-155.7,2643,2153,3766,3629,203.7,-10.5,124,1250,0.00,2.20,0.00,0.000,260,0.000,0.044,2635,3553,3696,3765,3627,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1304,-0.67,-155.7,2635,3554,3767,3627,208.9,-9.5,126,1311,0.00,2.12,0.00,0.000,1030,0.000,0.027,2635,2143,3696,3766,3627,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1631,-0.70,-155.7,2636,2139,3770,3628,242.6,-10.0,137,1639,0.00,2.12,0.00,0.000,516,0.000,0.037,2635,758,3698,3769,3628,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1673,-0.72,-155.7,2636,758,3772,3629,246.2,-10.2,138,1681,0.00,2.17,0.00,0.000,1030,0.000,0.031,2627,2158,3699,3769,3629,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1995,-0.74,-155.7,2627,2160,3770,3630,283.4,-10.4,149,2003,0.00,2.20,0.00,0.000,516,0.000,0.037,2627,755,3698,3768,3629,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2062,-0.77,-155.7,2627,756,3770,3630,289.1,-10.0,151,2071,0.00,2.17,0.00,0.000,1030,0.000,0.032,2618,2147,3698,3768,3628,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2380,-0.77,-155.7,2619,2148,3766,3633,319.5,-9.3,162,2388,0.00,2.22,0.00,0.000,260,0.000,0.047,2608,3552,3697,3765,3629,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2417,-0.77,-155.7,2608,3554,3765,3630,322.8,-9.5,163,2425,0.00,2.15,0.00,0.000,1030,0.000,0.028,2608,2148,3696,3764,3629,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2740,-0.77,-155.7,2608,2144,3760,3628,355.6,-9.9,174,2748,0.00,2.20,0.00,0.000,516,0.000,0.038,2608,759,3694,3759,3629,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2822,-0.77,-155.7,2608,753,3759,3629,361.8,-10.2,176,2832,0.00,2.20,0.00,0.000,1030,0.000,0.033,2599,2151,3693,3757,3629,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3127,-0.77,-155.7,2600,2152,3752,3629,396.1,-10.2,187,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2151,3689,3751,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3427,-0.77,-155.7,2600,2152,3746,3629,426.6,-10.1,197,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2152,3686,3745,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3727,-0.77,-155.7,2600,2152,3742,3628,454.5,-8.9,207,3736,0.00,2.25,0.00,0.000,260,0.000,0.050,2589,3556,3683,3740,3627,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3751,-0.77,-155.7,2589,3551,3741,3626,454.5,-8.9,207,3759,0.12,2.17,0.00,0.000,3078,0.158,0.030,2619,2142,3683,3740,3626,0,0,0,0,0,0,25.94,26.20,28.83
$GC,4065,-0.80,-155.7,2620,2139,3738,3625,479.1,-7.1,218,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2138,3680,3736,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4364,-0.84,-155.7,2621,2138,3735,3620,500.4,-7.2,228,4372,0.00,2.17,0.00,0.000,516,0.000,0.041,2620,756,3676,3732,3620,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4392,-0.87,-155.7,2621,757,3734,3622,502.5,-7.2,229,4404,0.00,2.20,0.00,0.000,1030,0.000,0.035,2613,2151,3676,3733,3620,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4723,-0.90,-155.7,2613,2150,3730,3622,529.5,-8.4,240,4735,0.00,2.25,0.00,0.000,260,0.000,0.051,2603,3557,3673,3729,3618,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4780,-0.93,-155.7,2603,3557,3729,3618,532.1,-8.4,241,4790,0.00,2.20,0.00,0.000,1030,0.000,0.031,2603,2142,3673,3728,3618,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5085,-0.95,-155.7,2604,2139,3727,3616,563.0,-9.4,252,5092,0.12,0.00,0.00,0.000,4102,0.093,0.000,2552,2139,3670,3725,3616,0,0,0,0,0,0,26.11,28.83,28.83
$GC,5385,-0.95,-155.7,2553,2139,3724,3616,600.7,-12.9,262,5392,0.00,2.20,0.00,0.000,516,0.000,0.041,2553,755,3668,3722,3615,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5416,-0.95,-155.7,2553,754,3723,3615,604.4,-13.2,263,5424,0.00,2.22,0.00,0.000,1030,0.000,0.036,2543,2149,3668,3721,3615,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5739,-0.93,-155.7,2544,2149,3720,3612,649.0,-13.8,274,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2149,3666,3719,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6039,-0.91,-155.7,2544,2149,3717,3611,689.8,-13.5,284,6045,0.15,0.00,0.00,0.000,2054,0.181,0.000,2577,2149,3663,3715,3611,0,0,0,0,0,0,25.77,28.83,28.83
$GC,6339,-0.91,-155.7,2577,2150,3716,3610,722.4,-10.5,294,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2149,3662,3715,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6639,-0.91,-155.7,2578,2150,3714,3608,753.6,-10.4,304,6647,0.00,2.30,0.00,0.000,260,0.000,0.053,2569,3561,3659,3711,3608,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6711,-0.91,-155.7,2570,3561,3712,3607,759.8,-10.5,306,6719,0.00,2.20,0.00,0.000,1030,0.000,0.032,2569,2154,3659,3711,3608,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7023,-0.91,-155.7,2570,2149,3712,3606,795.8,-11.2,317,7035,0.00,2.20,0.00,0.000,516,0.000,0.042,2569,755,3658,3710,3606,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7109,-0.91,-155.7,2570,754,3711,3606,803.0,-11.6,319,7120,0.00,2.25,0.00,0.000,1030,0.000,0.037,2560,2154,3657,3709,3605,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7414,-0.91,-155.7,2560,2154,3709,3611,842.8,-12.3,330,7422,0.00,2.28,0.00,0.000,516,0.000,0.041,2559,752,3656,3708,3605,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7486,-0.91,-155.7,2561,753,3708,3606,850.1,-12.5,332,7494,0.00,2.25,0.00,0.000,1030,0.000,0.037,2552,2149,3655,3707,3604,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7798,-0.91,-155.7,2552,2149,3707,3603,890.8,-12.2,343,7809,0.00,2.30,0.00,0.000,260,0.000,0.053,2542,3558,3653,3705,3602,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7829,-0.91,-155.7,2542,3557,3706,3601,894.5,-12.1,344,7837,0.15,2.22,0.00,0.000,3078,0.168,0.032,2576,2144,3654,3705,3603,0,0,0,0,0,0,25.72,26.05,28.83
$GC,8156,-0.91,-155.7,2577,2140,3707,3601,928.4,-10.0,355,8168,0.00,2.33,0.00,0.000,260,0.000,0.053,2568,3564,3649,3700,3599,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8197,-0.91,-155.7,2569,3565,3705,3601,931.5,-10.1,356,8205,0.00,2.22,0.00,0.000,1030,0.000,0.033,2568,2151,3652,3705,3600,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8514,-0.91,-155.7,2569,2149,3705,3599,965.1,-10.3,367,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2149,3651,3703,3599,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8783,begin apogee
$GC,8787,-0.13,0.0,2569,2268,3701,3601,992.1,-9.8,376,8926,0.85,0.00,132.07,1.271,10246,0.135,0.000,2820,2267,3046,3083,3009,0,0,0,0,0,0,25.65,28.83,24.08
$STATE,8927,end apogee,CONTROL_FINISHED_OK
$STATE,8927,begin climb
$GC,8928,0.77,155.7,2821,2267,3083,3007,995.6,0.0,380,9081,0.82,2.47,139.65,1.254,10500,0.050,0.050,3129,3647,2410,2454,2367,0,0,0,0,0,0,25.06,24.44,23.60
$GC,9116,0.69,155.7,3130,3647,2446,2364,976.2,14.9,387,9127,0.20,2.30,0.00,0.000,5126,0.179,0.030,3094,2246,2403,2444,2363,0,0,0,0,0,0,24.83,25.01,28.83
$GC,9446,0.65,155.7,3095,2244,2442,2358,923.2,15.7,398,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2242,2399,2442,2356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9746,0.61,155.7,3094,2242,2442,2354,875.9,15.6,408,9757,0.00,2.30,0.00,0.000,260,0.000,0.051,3094,3647,2397,2440,2355,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9812,0.56,155.7,3094,3648,2441,2356,865.5,16.4,410,9820,0.20,2.20,0.00,0.000,5126,0.177,0.031,3054,2248,2397,2439,2355,0,0,0,0,0,0,25.76,26.10,28.83
$GC,10134,0.56,155.7,3054,2245,2439,2355,823.9,11.9,421,10143,0.00,2.22,0.00,0.000,516,0.000,0.041,3062,848,2395,2437,2353,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10197,0.56,155.7,3062,847,2438,2351,816.5,11.7,423,10205,0.00,2.22,0.00,0.000,1030,0.000,0.035,3058,2244,2394,2437,2351,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10530,0.56,155.7,3062,2245,2437,2351,776.6,11.9,434,10535,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2245,2393,2436,2351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10830,0.56,155.7,3062,2245,2436,2351,741.4,11.6,444,10837,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2245,2393,2435,2351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11130,0.56,155.7,3063,2246,2435,2351,706.0,11.9,454,11139,0.00,2.30,0.00,0.000,260,0.000,0.050,3062,3649,2392,2434,2350,0,0,0,0,0,0,28.83,25.98,28.83
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$STATE,17635,end climb,SURFACE_DEPTH_REACHED
$STATE,17635,begin surface coast
$FINISH,0.1,1.021256
$STATE,17649,end surface coast,CONTROL_FINISHED_OK
$STATE,17649,begin surface
$SM_CCo,17726,0.00,0.000,0,0,1396,404.50
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$IRIDIUM_FIX,1210.12,14421.07,181014,151609
$TT8_MAMPS,0.053179,0.053179
$HUMID,46.57
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$TCM_TEMP,24.90
$XPDR_PINGS,0
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,17678.72 7698.72
$PA_BOOTCOUNT,114
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$PA_LOG,0.05/0.089/1.969/1.780
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$PA_DATA0,0.60/69.851/117.199/41.394
$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.03/0.049/1.764/1.625
$24V_AH,23.60,24.174
$10V_AH,10.11,32.676
$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
$DEVICE_SECS,23.100,134.100,484.450,0.000,0.000,0.000,0.000,271.075,0.000,18161.371,35.826,0.000,14195.164,571.858,3170.919,169.776,0.000,2216.641,0.000,1730.101,0.000,0.552,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,566.675,0.000,0.000,0.000,0.000,0.000,18161.531,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.324,0.000,0.000,0.000
$MEM,228580
$DATA_FILE_SIZE,36735,837
$CAP_FILE_SIZE,153087,0
$CFSIZE,260034560,248680448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,17777.25,0x236bc6,7,5
$CURRENT,0.060,241.69,1
$GPS,191014,011455,1209.595,14422.389,35,0.9,55,1.8