version: 66.09
glider: 181
mission: 6
dive: 516
start: 9 18 111 9 27 18
data:
$ID,181
$MISSION,6
$DIVE,516
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,280
$T_MISSION,320
$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,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-41235.484
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,15
$C_ROLL_DIVE,2610
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,78
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-61.82621
$PRESSURE_SLOPE,0.000116609
$AD7714Ch0Gain,128
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,180911,092037,1849.765,12019.542,40,1.0,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-65.0
$GPS2,180911,092620,1849.788,12019.640,15,1.0,15,-2.0
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W3A
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.301,0.083
$KALMAN_X,52564.6,919.1,-316.9,-15857.0,1961.1
$KALMAN_Y,85264.8,60.9,-427.5,-130774.2,314.7
$MHEAD_RNG_PITCHd_Wd,273.2,39248,-17.4,-11.786
$D_GRID,1818
$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
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.53,-194.6,0.0,0.0,0,81,0.00,0.00,-62.35,0.000,2,0.000,0.000,170,2581,2208,0,0,0,0,0,0
$GC,84,-0.53,-194.6,3.0,-3.3,10,134,8.12,0.70,-32.42,0.000,4,0.221,0.070,2123,2073,3666,0,0,0,0,0,0
$GC,165,-0.53,-194.6,24.6,-31.6,23,171,0.00,0.80,0.00,0.000,6,0.000,0.040,2121,2595,3667,0,0,0,0,0,0
$GC,307,-0.53,-194.6,71.4,-29.7,48,314,0.00,0.80,0.00,0.000,4,0.000,0.040,2116,3133,3666,0,0,0,0,0,0
$GC,456,-0.53,-194.6,102.1,-18.6,74,463,0.00,0.73,0.00,0.000,6,0.000,0.024,2117,2595,3666,0,0,0,0,0,0
$GC,599,-0.53,-194.6,126.5,-15.2,99,605,0.00,0.65,0.00,0.000,4,0.000,0.024,2117,2078,3666,0,0,0,0,0,0
$GC,687,-0.53,-194.6,139.3,-14.3,114,694,0.00,0.80,0.00,0.000,6,0.000,0.035,2112,2618,3667,0,0,0,0,0,0
$GC,829,-0.53,-194.6,159.4,-13.9,139,836,0.00,0.75,0.00,0.000,4,0.000,0.038,2108,3134,3667,0,0,0,0,0,0
$GC,871,-0.53,-194.6,164.7,-12.7,146,877,0.00,0.70,0.00,0.000,6,0.000,0.025,2108,2609,3667,0,0,0,0,0,0
$GC,1015,-0.53,-194.6,180.5,-11.3,171,1022,0.00,0.68,0.00,0.000,4,0.000,0.024,2108,2072,3667,0,0,0,0,0,0
$GC,1090,-0.53,-194.6,189.9,-12.4,184,1096,0.00,0.80,0.00,0.000,6,0.000,0.035,2104,2611,3668,0,0,0,0,0,0
$GC,1230,-0.53,-194.6,207.0,-12.5,204,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2611,3668,0,0,0,0,0,0
$GC,1551,-0.53,-194.6,247.2,-13.9,234,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2611,3667,0,0,0,0,0,0
$GC,1880,-0.53,-194.6,295.2,-14.1,265,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2611,3665,0,0,0,0,0,0
$GC,2207,-0.53,-194.6,338.2,-12.1,296,2210,0.00,0.70,0.00,0.000,4,0.000,0.025,2104,2091,3663,0,0,0,0,0,0
$GC,2265,-0.53,-194.6,344.6,-11.1,301,2269,0.00,0.77,0.00,0.000,6,0.000,0.037,2100,2606,3662,0,0,0,0,0,0
$GC,2596,-0.53,-194.6,376.7,-9.4,332,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2606,3659,0,0,0,0,0,0
$GC,2918,-0.53,-194.6,412.1,-11.2,362,2921,0.00,0.70,0.00,0.000,4,0.000,0.027,2100,2091,3656,0,0,0,0,0,0
$GC,3009,-0.53,-194.6,421.7,-10.1,370,3013,0.08,0.77,0.00,0.000,6,0.129,0.039,2123,2599,3656,0,0,0,0,0,0
$GC,3339,-0.53,-194.6,447.4,-7.7,401,3343,0.00,0.68,0.00,0.000,4,0.000,0.026,2124,2095,3653,0,0,0,0,0,0
$GC,3378,-0.53,-194.6,450.3,-7.2,404,3385,0.00,0.80,0.00,0.000,6,0.000,0.039,2122,2620,3652,0,0,0,0,0,0
$GC,3703,-0.53,-194.6,474.6,-7.3,435,3707,0.00,0.70,0.00,0.000,4,0.000,0.026,2122,2108,3649,0,0,0,0,0,0
$GC,3776,-0.53,-194.6,480.0,-7.3,441,3784,0.00,0.77,0.00,0.000,6,0.000,0.039,2118,2617,3649,0,0,0,0,0,0
$GC,4114,-0.53,-194.6,505.0,-8.0,470,4118,0.00,0.70,0.00,0.000,4,0.000,0.027,2118,2107,3646,0,0,0,0,0,0
$GC,4198,-0.53,-194.6,512.4,-8.0,473,4206,0.00,0.75,0.00,0.000,6,0.000,0.039,2114,2602,3645,0,0,0,0,0,0
$GC,4515,-0.53,-194.6,540.7,-9.4,489,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2602,3644,0,0,0,0,0,0
$GC,4824,-0.53,-194.6,570.5,-9.8,504,4828,0.00,0.68,0.00,0.000,4,0.000,0.028,2114,2103,3641,0,0,0,0,0,0
$GC,4931,-0.53,-194.6,581.4,-10.2,508,4938,0.00,0.77,0.00,0.000,6,0.000,0.041,2112,2606,3639,0,0,0,0,0,0
$GC,5248,-0.53,-194.6,614.9,-10.5,524,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2606,3638,0,0,0,0,0,0
$GC,5556,-0.53,-194.6,646.4,-10.1,539,5560,0.00,0.70,0.00,0.000,4,0.000,0.028,2113,2096,3636,0,0,0,0,0,0
$GC,5720,-0.53,-194.6,664.2,-11.6,546,5724,0.00,0.80,0.00,0.000,6,0.000,0.042,2112,2614,3635,0,0,0,0,0,0
$GC,6048,-0.53,-194.6,700.7,-11.2,562,6052,0.00,0.70,0.00,0.000,4,0.000,0.028,2112,2106,3633,0,0,0,0,0,0
$GC,6112,-0.53,-194.6,707.7,-10.7,564,6119,0.00,0.77,0.00,0.000,6,0.000,0.042,2112,2606,3633,0,0,0,0,0,0
$GC,6428,-0.53,-194.6,739.5,-9.6,580,6432,0.00,0.70,0.00,0.000,4,0.000,0.028,2111,2103,3631,0,0,0,0,0,0
$GC,6523,-0.53,-194.6,749.1,-9.9,584,6527,0.00,0.77,0.00,0.000,6,0.000,0.042,2111,2606,3631,0,0,0,0,0,0
$GC,6852,-0.53,-194.6,779.3,-9.0,600,6856,0.00,0.70,0.00,0.000,4,0.000,0.028,2112,2103,3629,0,0,0,0,0,0
$GC,6920,-0.53,-194.6,785.2,-8.4,603,6924,0.00,0.77,0.00,0.000,6,0.000,0.043,2112,2604,3629,0,0,0,0,0,0
$GC,7254,-0.53,-194.6,812.4,-8.4,619,7258,0.00,0.70,0.00,0.000,4,0.000,0.028,2111,2101,3628,0,0,0,0,0,0
$GC,7304,-0.53,-194.6,817.0,-9.0,621,7308,0.00,0.80,0.00,0.000,6,0.000,0.042,2112,2618,3627,0,0,0,0,0,0
$GC,7632,-0.53,-194.6,845.2,-8.6,637,7635,0.00,0.73,0.00,0.000,4,0.000,0.028,2111,2098,3625,0,0,0,0,0,0
$GC,7774,-0.53,-194.6,857.6,-8.5,643,7778,0.00,0.80,0.00,0.000,6,0.000,0.043,2111,2614,3625,0,0,0,0,0,0
$GC,8101,-0.53,-194.6,886.7,-8.7,659,8104,0.00,0.70,0.00,0.000,4,0.000,0.028,2111,2109,3624,0,0,0,0,0,0
$GC,8226,-0.53,-194.6,898.3,-9.4,664,8230,0.00,0.77,0.00,0.000,6,0.000,0.043,2111,2609,3623,0,0,0,0,0,0
$GC,8548,-0.53,-194.6,928.6,-9.6,680,8552,0.00,0.70,0.00,0.000,4,0.000,0.030,2111,2112,3622,0,0,0,0,0,0
$GC,8656,-0.53,-194.6,938.9,-9.5,684,8663,0.00,0.77,0.00,0.000,6,0.000,0.044,2111,2608,3621,0,0,0,0,0,0
$GC,8972,-0.53,-194.6,967.3,-8.6,700,8976,0.00,0.70,0.00,0.000,4,0.000,0.029,2111,2110,3620,0,0,0,0,0,0
$GC,9074,-0.53,-194.6,975.9,-8.3,704,9078,0.00,0.77,0.00,0.000,6,0.000,0.043,2111,2608,3620,0,0,0,0,0,0
$STATE,9249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9249,begin apogee
$GC,9255,-0.13,0.0,991.6,8.9,713,9412,0.43,0.00,150.95,1.073,6,0.111,0.000,2253,2185,2868,0,0,0,0,0,0
$STATE,9413,end apogee,CONTROL_FINISHED_OK
$STATE,9413,begin climb
$GC,9416,0.53,194.6,1000.1,0.0,720,9579,0.57,0.00,159.85,1.052,6,0.055,0.000,2478,2185,2075,0,0,0,0,0,0
$GC,9878,0.54,203.7,961.9,11.4,743,9888,0.00,0.00,8.70,0.889,6,0.000,0.000,2478,2185,2038,0,0,0,0,0,0
$GC,10188,0.54,206.6,925.4,11.7,758,10194,0.00,0.00,4.15,0.670,6,0.000,0.000,2478,2185,2026,0,0,0,0,0,0
$GC,10495,0.57,231.5,890.6,10.8,773,10519,0.00,0.00,21.27,0.961,6,0.000,0.000,2478,2185,1925,0,0,0,0,0,0
$GC,10826,0.65,290.4,858.0,9.4,789,10878,0.00,0.82,47.42,0.974,4,0.000,0.037,2478,2696,1684,0,0,0,0,0,0
$GC,11014,0.70,332.1,839.7,10.1,797,11052,0.10,0.80,33.70,0.952,6,0.055,0.028,2536,2149,1515,0,0,0,0,0,0
$GC,11374,0.70,332.1,794.1,12.6,815,11375,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2149,1519,0,0,0,0,0,0
$GC,11685,0.71,343.4,757.8,11.3,830,11701,0.00,0.90,12.10,0.847,4,0.000,0.037,2536,2707,1469,0,0,0,0,0,0
$GC,11818,0.73,356.6,741.9,11.2,835,11836,0.00,0.77,12.00,0.816,6,0.000,0.027,2540,2163,1415,0,0,0,0,0,0
$GC,12147,0.78,399.9,707.9,10.0,851,12185,0.00,0.00,35.38,0.876,6,0.000,0.000,2540,2163,1237,0,0,0,0,0,0
$GC,12495,0.81,422.5,671.7,10.9,868,12518,0.00,0.88,19.17,0.826,4,0.000,0.035,2540,2705,1146,0,0,0,0,0,0
$GC,12565,0.81,422.5,662.9,13.5,871,12569,0.00,0.77,0.00,0.000,6,0.000,0.028,2543,2174,1146,0,0,0,0,0,0
$GC,12898,0.81,422.5,620.2,13.4,887,12902,0.00,0.75,0.00,0.000,4,0.000,0.033,2547,1648,1145,0,0,0,0,0,0
$GC,12947,0.81,422.5,613.0,14.6,889,12951,0.00,0.80,0.00,0.000,6,0.000,0.032,2547,2184,1145,0,0,0,0,0,0
$GC,13275,0.81,422.5,564.8,15.2,905,13279,0.00,0.73,0.00,0.000,4,0.000,0.039,2546,2684,1145,0,0,0,0,0,0
$GC,13421,0.81,422.5,540.2,16.9,911,13425,0.00,0.75,0.00,0.000,6,0.000,0.028,2550,2161,1145,0,0,0,0,0,0
$GC,13744,0.81,422.5,491.9,14.7,929,13748,0.00,0.73,0.00,0.000,4,0.000,0.032,2553,1645,1145,0,0,0,0,0,0
$GC,13777,0.81,422.5,486.9,14.3,932,13781,0.00,0.77,0.00,0.000,6,0.000,0.033,2553,2164,1145,0,0,0,0,0,0
$GC,14108,0.81,422.5,441.9,13.1,963,14112,0.00,0.75,0.00,0.000,4,0.000,0.037,2553,2683,1145,0,0,0,0,0,0
$GC,14249,0.81,422.5,423.3,13.0,975,14255,0.00,0.75,0.00,0.000,6,0.000,0.028,2556,2157,1145,0,0,0,0,0,0
$GC,14574,0.81,422.5,383.5,12.5,1006,14578,0.00,0.70,0.00,0.000,4,0.000,0.032,2560,1656,1145,0,0,0,0,0,0
$GC,14609,0.81,422.5,379.1,12.5,1009,14612,0.00,0.75,0.00,0.000,6,0.000,0.031,2560,2164,1145,0,0,0,0,0,0
$GC,14939,0.81,422.5,336.9,12.5,1040,14943,0.00,0.75,0.00,0.000,4,0.000,0.038,2560,2683,1145,0,0,0,0,0,0
$GC,15068,0.81,422.5,318.9,14.2,1051,15075,0.00,0.75,0.00,0.000,6,0.000,0.026,2563,2158,1146,0,0,0,0,0,0
$GC,15394,0.84,445.3,276.7,10.9,1082,15418,0.00,0.75,19.35,0.619,4,0.000,0.032,2566,1655,1052,0,0,0,0,0,0
$GC,15469,0.91,504.3,269.6,9.4,1088,15521,0.00,0.75,45.12,0.595,6,0.000,0.031,2567,2161,814,0,0,0,0,0,0
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$GC,17402,1.21,748.3,42.7,8.1,1371,17410,0.12,0.00,0.00,0.000,6,0.089,0.000,2700,2177,438,0,0,0,0,0,0
$GC,17549,1.33,843.0,31.3,7.9,1396,17555,0.00,0.75,0.00,0.000,4,0.000,0.031,2700,1658,439,0,0,0,0,0,0
$GC,17606,1.41,908.2,25.6,9.1,1406,17614,0.10,0.75,0.00,0.000,6,0.051,0.029,2765,2179,439,0,0,0,0,0,0
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$STATE,17778,end climb,SURFACE_DEPTH_REACHED
$STATE,17778,begin surface coast
$FINISH,0.4,1.020804
$STATE,17802,end surface coast,CONTROL_FINISHED_OK
$STATE,17802,begin surface
$SM_CCo,17878,0.00,0.000,0,0,441,595.59
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$IRIDIUM_FIX,1841.87,12010.96,180911,040444
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.92
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.4,84.561
$10V_AH,9.8,69.028
$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,16.350,56.950,647.125,0.000,0.000,27.748,21.629,141.533,0.000,0.000,18.630,3655.064,10594.826,779.356,2804.300,375.423,33.358,2188.771,0.000,2574.528,0.000,0.539,0.000
$DEVICE_MAMPS,221.085,95.625,1072.530,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,999.876,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322212
$DATA_FILE_SIZE,83492,1440
$CAP_FILE_SIZE,184607,0
$CFSIZE,260165632,203386880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068, 59.4,1
$GPS,180911,142631,1849.697,12017.801,36,1.7,36,-2.0