version: 66.12
glider: 36
mission: 20
dive: 68
start: 9 18 115 8 44 0
data:
$ID,36
$MISSION,20
$DIVE,68
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,6000
$D_ABORT,6000
$D_NO_BLEED,50
$D_BOOST,0
$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,3750
$T_MISSION,4060
$T_ABORT,4120
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78685
$MASS_COMP,9146
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,107040
$T_GPS_ALMANAC,0
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3959
$C_PITCH,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,20.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,187
$ROLL_MAX,3990
$ROLL_DEG,40
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,75
$R_STBD_OVSHOOT,213
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,321
$VBD_MAX,3926
$C_VBD,2340
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-978.67957
$PRESSURE_SLOPE,0.00091862795
$AD7714Ch0Gain,32
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,4000
$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,1.7
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$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,0.0043996978
$SEABIRD_T_H,0.0006365396
$SEABIRD_T_I,2.6113061e-05
$SEABIRD_T_J,3.2649082e-06
$SEABIRD_C_G,-9.7572823
$SEABIRD_C_H,1.1335733
$SEABIRD_C_I,-0.0016566192
$SEABIRD_C_J,0.00021344022
$GPS1,180915,083115,3552.0308,-6724.2803,33,1.1,73,-15.2,0.7,222.0,8,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-66.2
$GPS2,180915,084334,3551.8770,-6724.4136,13,1.0,53,-15.2,0.5,206.0,9,4.4
$SPEED_LIMITS,0.147,0.196
$TGT_NAME,9020N
$TGT_LATLONG,3639.480,-6744.400
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.151801,0.115288
$KALMAN_X,130328.718750,0.000000,0.000000,-318531.625000,32153.468750
$KALMAN_Y,-67337.539062,0.000000,0.000000,404316.906250,-20093.242188
$MHEAD_RNG_PITCHd_Wd,21.5,93027,-10.9,-5.333,-15.25,4133
$D_GRID,6000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,104,-0.57,-146.6,160,1483,1965,2282,3.2,-2.4,8,167,11.00,1.70,-44.53,0.102,19204,0.251,0.057,2958,314,2846,2743,2950,0,0,0,0,0,0,25.58,25.98,25.75
$GC,493,-0.31,-146.6,2957,313,2742,2950,68.3,-19.2,39,497,0.30,1.77,0.00,0.000,3078,0.159,0.045,3047,1596,2846,2742,2950,0,0,0,0,0,0,25.89,26.52,26.00
$GC,807,-0.23,-146.6,3047,1596,2743,2950,93.3,-6.9,60,808,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1596,2846,2742,2950,0,0,0,0,0,0,26.79,26.82,26.82
$GC,1107,-0.16,-146.6,3047,1596,2742,2950,119.2,-8.1,80,1114,0.12,1.83,0.00,0.000,2564,0.169,0.055,3099,317,2846,2742,2950,0,0,0,0,0,0,26.29,26.39,26.33
$GC,1173,-0.16,-146.6,3099,317,2742,2950,124.4,-7.9,84,1179,0.00,1.75,0.00,0.000,1030,0.000,0.042,3098,1613,2846,2743,2950,0,0,0,0,0,0,26.66,26.65,26.67
$GC,1489,-0.16,-146.6,3098,1613,2741,2950,143.4,-4.2,105,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1613,2846,2742,2950,0,0,0,0,0,0,26.86,26.87,26.87
$GC,1788,-0.16,-146.6,3098,1613,2742,2950,154.7,-4.6,122,1794,0.00,1.92,0.00,0.000,260,0.000,0.052,3098,2970,2846,2742,2950,0,0,0,0,0,0,26.86,26.52,26.88
$GC,1883,-0.16,-146.6,3098,2970,2742,2949,160.1,-5.7,125,1888,0.00,1.83,0.00,0.000,1030,0.000,0.045,3098,1683,2846,2743,2950,0,0,0,0,0,0,26.62,26.60,26.63
$GC,2215,-0.16,-146.6,3098,1682,2742,2950,182.2,-6.9,136,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1682,2846,2742,2950,0,0,0,0,0,0,26.86,26.89,26.89
$GC,2512,-0.16,-146.6,3098,1682,2742,2950,207.4,-9.0,146,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1682,2846,2742,2950,0,0,0,0,0,0,26.86,26.89,26.88
$GC,2813,-0.16,-146.6,3098,1682,2742,2950,231.2,-7.1,156,2818,0.00,1.95,0.00,0.000,516,0.000,0.057,3098,323,2846,2742,2950,0,0,0,0,0,0,26.86,26.47,26.89
$GC,2881,-0.16,-146.6,3098,323,2742,2950,235.4,-6.7,158,2886,0.00,1.75,0.00,0.000,1030,0.000,0.042,3098,1613,2846,2742,2950,0,0,0,0,0,0,26.68,26.67,26.69
$GC,3206,-0.16,-146.6,3098,1613,2742,2950,254.8,-5.5,169,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1613,2846,2742,2950,0,0,0,0,0,0,26.86,26.89,26.88
$GC,3507,-0.16,-146.6,3098,1613,2742,2950,270.7,-5.4,179,3513,0.00,1.92,0.00,0.000,260,0.000,0.052,3094,2970,2846,2742,2950,0,0,0,0,0,0,26.86,26.53,26.88
$GC,3568,-0.16,-146.6,3094,2971,2742,2950,274.3,-5.7,181,3572,0.00,1.75,0.00,0.000,1030,0.000,0.045,3094,1711,2846,2742,2950,0,0,0,0,0,0,26.64,26.60,26.65
$GC,3902,-0.16,-146.6,3094,1695,2742,2949,294.9,-6.8,192,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1695,2846,2742,2950,0,0,0,0,0,0,26.86,26.89,26.88
$GC,4216,-0.21,-146.6,3094,1695,2742,2950,316.1,-6.6,200,4222,0.00,1.98,0.00,0.000,516,0.000,0.057,3094,306,2845,2742,2949,0,0,0,0,0,0,26.86,26.47,26.88
$GC,4330,-0.21,-146.6,3094,306,2742,2949,322.6,-6.8,202,4333,0.00,1.77,0.00,0.000,1030,0.000,0.042,3089,1632,2845,2742,2949,0,0,0,0,0,0,26.69,26.67,26.69
$GC,4669,-0.26,-146.6,3089,1632,2742,2949,345.5,-6.2,210,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1632,2845,2742,2949,0,0,0,0,0,0,26.86,26.89,26.88
$GC,4984,-0.32,-146.6,3089,1632,2742,2949,364.4,-5.9,217,4986,0.08,0.00,0.00,0.000,4102,0.117,0.000,3005,1632,2845,2742,2949,0,0,0,0,0,0,26.67,26.70,26.70
$GC,5299,-0.26,-146.6,3005,1632,2742,2949,392.5,-8.9,224,5301,0.17,0.00,0.00,0.000,2054,0.144,0.000,3067,1633,2845,2742,2949,0,0,0,0,0,0,26.29,26.44,26.39
$GC,5613,-0.26,-146.6,3066,1632,2742,2948,410.3,-5.5,231,5619,0.00,1.88,0.00,0.000,260,0.000,0.050,3060,2960,2845,2742,2949,0,0,0,0,0,0,26.86,26.52,26.88
$GC,5666,-0.26,-146.6,3059,2960,2742,2948,413.0,-5.6,232,5670,0.00,1.75,0.00,0.000,1030,0.000,0.045,3060,1689,2845,2742,2948,0,0,0,0,0,0,26.63,26.60,26.64
$GC,5975,-0.26,-146.6,3060,1684,2742,2947,431.4,-6.1,239,5980,0.00,1.95,0.00,0.000,516,0.000,0.057,3060,325,2844,2742,2947,0,0,0,0,0,0,26.86,26.46,26.87
$GC,6037,-0.26,-146.6,3060,325,2742,2947,434.6,-6.5,240,6041,0.00,1.75,0.00,0.000,1030,0.000,0.042,3058,1616,2844,2742,2947,0,0,0,0,0,0,26.67,26.67,26.68
$GC,6381,-0.26,-146.6,3057,1616,2742,2947,460.0,-7.1,248,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1615,2844,2742,2947,0,0,0,0,0,0,26.86,26.88,26.88
$GC,6696,-0.26,-146.6,3057,1616,2742,2946,480.1,-6.2,255,6701,0.00,1.92,0.00,0.000,260,0.000,0.050,3051,2969,2844,2742,2946,0,0,0,0,0,0,26.86,26.51,26.88
$GC,6763,-0.26,-146.6,3051,2969,2742,2946,483.0,-6.2,256,6768,0.00,1.80,0.00,0.000,1030,0.000,0.045,3051,1700,2844,2742,2946,0,0,0,0,0,0,26.61,26.59,26.62
$GC,7102,-0.26,-146.6,3051,1700,2741,2946,506.1,-6.4,264,7103,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1700,2844,2742,2946,0,0,0,0,0,0,26.86,26.88,26.88
$GC,7417,-0.26,-146.6,3051,1700,2742,2945,527.4,-6.7,271,7422,0.00,1.98,0.00,0.000,516,0.000,0.057,3051,317,2843,2742,2945,0,0,0,0,0,0,26.86,26.46,26.88
$GC,7508,-0.26,-146.6,3051,317,2741,2946,533.6,-6.9,273,7512,0.00,1.75,0.00,0.000,1030,0.000,0.042,3051,1622,2843,2741,2945,0,0,0,0,0,0,26.68,26.66,26.69
$GC,7826,-0.26,-146.6,3051,1622,2738,2945,553.5,-6.1,280,7832,0.00,1.90,0.00,0.000,260,0.000,0.050,3049,2963,2841,2738,2945,0,0,0,0,0,0,26.86,26.51,26.88
$GC,7917,-0.26,-146.6,3049,2962,2738,2945,558.7,-6.1,282,7921,0.00,1.75,0.00,0.000,1030,0.000,0.045,3049,1708,2841,2738,2945,0,0,0,0,0,0,26.63,26.59,26.64
$GC,8235,-0.26,-146.6,3049,1692,2738,2945,578.5,-6.3,289,8239,0.00,2.00,0.00,0.000,516,0.000,0.057,3048,305,2841,2737,2945,0,0,0,0,0,0,26.86,26.46,26.87
$GC,8305,-0.26,-146.6,3049,305,2737,2945,581.9,-6.5,290,8309,0.00,1.77,0.00,0.000,1030,0.000,0.042,3047,1614,2841,2737,2945,0,0,0,0,0,0,26.67,26.66,26.68
$GC,8645,-0.26,-146.6,3047,1614,2737,2945,606.3,-6.7,298,8650,0.00,1.92,0.00,0.000,260,0.000,0.050,3043,2965,2841,2737,2945,0,0,0,0,0,0,26.86,26.49,26.87
$GC,8748,-0.26,-146.6,3042,2965,2738,2943,612.4,-6.6,300,8752,0.00,1.83,0.00,0.000,1030,0.000,0.045,3043,1679,2840,2737,2943,0,0,0,0,0,0,26.60,26.58,26.61
$GC,9097,-0.26,-146.6,3042,1679,2734,2943,633.8,-5.7,308,9103,0.00,1.95,0.00,0.000,516,0.000,0.057,3042,314,2838,2734,2943,0,0,0,0,0,0,26.86,26.46,26.87
$GC,9149,-0.26,-146.6,3042,314,2734,2943,636.4,-5.7,309,9153,0.00,1.77,0.00,0.000,1030,0.000,0.040,3038,1621,2838,2734,2943,0,0,0,0,0,0,26.67,26.66,26.68
$GC,9458,-0.26,-146.6,3038,1622,2734,2944,656.8,-6.6,316,9464,0.00,1.92,0.00,0.000,260,0.000,0.050,3031,2963,2838,2734,2943,0,0,0,0,0,0,26.86,26.50,26.87
$GC,9535,-0.26,-146.6,3030,2962,2735,2943,660.0,-6.8,317,9540,0.10,1.80,0.00,0.000,3078,0.127,0.045,3070,1683,2838,2734,2943,0,0,0,0,0,0,26.31,26.58,26.35
$GC,9864,-0.34,-146.6,3069,1683,2734,2943,685.5,-7.2,325,9869,0.00,1.95,0.00,0.000,516,0.000,0.057,3070,331,2838,2734,2943,0,0,0,0,0,0,26.86,26.44,26.87
$GC,9926,-0.41,-146.6,3070,331,2734,2943,689.3,-7.4,326,9931,0.08,1.75,0.00,0.000,5126,0.079,0.042,2977,1638,2838,2734,2943,0,0,0,0,0,0,26.51,26.65,26.56
$GC,10275,-0.41,-146.6,2976,1638,2733,2943,727.3,-10.7,334,10281,0.10,1.85,0.00,0.000,2308,0.169,0.047,3011,2963,2838,2733,2943,0,0,0,0,0,0,26.36,26.44,26.40
$GC,10352,-0.41,-146.6,3011,2963,2733,2943,731.5,-10.4,335,10356,0.00,1.80,0.00,0.000,1030,0.000,0.045,3011,1701,2838,2733,2943,0,0,0,0,0,0,26.59,26.58,26.60
$GC,10681,-0.41,-146.6,3011,1700,2733,2942,757.9,-6.7,343,10686,0.00,1.98,0.00,0.000,516,0.000,0.057,3011,318,2838,2733,2943,0,0,0,0,0,0,26.86,26.44,26.87
$GC,10743,-0.41,-146.6,3011,319,2733,2943,761.0,-6.6,344,10747,0.00,1.77,0.00,0.000,1030,0.000,0.042,3010,1613,2838,2733,2943,0,0,0,0,0,0,26.66,26.65,26.67
$GC,11087,-0.41,-146.6,3010,1613,2732,2943,784.6,-6.7,352,11093,0.00,1.92,0.00,0.000,260,0.000,0.050,3002,2963,2838,2733,2943,0,0,0,0,0,0,26.85,26.48,26.86
$GC,11179,-0.41,-146.6,3002,2963,2732,2942,791.2,-7.1,354,11182,0.00,1.75,0.00,0.000,1030,0.000,0.047,3002,1712,2837,2733,2942,0,0,0,0,0,0,26.61,26.57,26.63
$GC,11496,-0.41,-146.6,3002,1698,2731,2942,817.7,-8.4,361,11500,0.00,2.00,0.00,0.000,516,0.000,0.057,3002,316,2836,2731,2942,0,0,0,0,0,0,26.84,26.43,26.86
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$GC,68171,-1.48,-146.6,2645,1596,2681,2918,4959.2,-4.6,861,68173,0.10,0.00,0.00,0.000,2054,0.161,0.000,2680,1600,2800,2682,2918,0,0,0,0,0,0,26.24,26.27,26.25
$STATE,68532,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,68532,begin apogee
$GC,68536,-0.24,0.0,2680,1508,2681,2918,4972.2,-3.8,864,68666,1.12,0.00,125.95,4.308,10246,0.094,0.000,3076,1507,2340,2222,2458,0,0,0,0,0,0,24.98,22.11,19.46
$STATE,68667,end apogee,CONTROL_FINISHED_OK
$STATE,68667,begin climb
$GC,68668,0.57,146.6,3076,1507,2221,2458,4972.5,0.0,865,68875,0.75,2.35,197.85,4.343,10756,0.077,0.079,3369,202,1833,1792,1874,0,0,0,0,0,0,22.89,22.23,19.72
$GC,68921,0.57,146.6,3368,202,1789,1873,4935.7,21.9,867,68927,0.12,1.85,0.00,0.000,5126,0.221,0.035,3338,1405,1831,1789,1873,0,0,0,0,0,0,23.77,24.12,23.94
$GC,69252,0.07,146.6,3337,1406,1789,1873,4845.2,24.4,870,69254,0.60,0.00,0.00,0.000,4102,0.211,0.000,3175,1408,1831,1789,1873,0,0,0,0,0,0,25.02,25.37,25.28
$GC,69612,-0.30,146.6,3175,1408,1789,1873,4787.9,17.6,873,69614,0.32,0.00,0.00,0.000,4102,0.184,0.000,3077,1409,1831,1789,1873,0,0,0,0,0,0,25.51,25.81,25.73
$GC,69972,-0.52,146.6,3077,1408,1789,1873,4748.2,11.9,876,69974,0.30,0.00,0.00,0.000,4102,0.159,0.000,2980,1409,1831,1789,1873,0,0,0,0,0,0,25.72,25.98,25.91
$GC,70332,-0.62,146.6,2979,1409,1789,1873,4724.0,7.6,879,70336,0.00,2.00,0.00,0.000,260,0.000,0.047,2980,2761,1832,1789,1875,0,0,0,0,0,0,26.50,26.19,26.51
$GC,70381,-0.71,146.6,2980,2761,1789,1870,4724.0,7.6,879,70386,0.20,1.90,0.00,0.000,5126,0.144,0.047,2919,1478,1829,1789,1870,0,0,0,0,0,0,25.87,26.20,26.02
$GC,70695,-0.71,146.6,2919,1478,1786,1868,4705.4,5.4,882,70696,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1478,1827,1786,1868,0,0,0,0,0,0,26.55,26.58,26.58
$GC,71056,-0.71,146.6,2918,1478,1782,1866,4688.6,4.7,885,71057,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1478,1824,1782,1866,0,0,0,0,0,0,26.59,26.62,26.62
$GC,71415,-0.71,146.6,2918,1478,1782,1866,4672.0,4.6,888,71416,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1478,1823,1781,1866,0,0,0,0,0,0,26.65,26.65,26.65
$GC,71777,-0.66,146.6,2919,1478,1781,1865,4655.2,4.7,891,71778,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1478,1823,1781,1865,0,0,0,0,0,0,26.65,26.67,26.67
$GC,72135,-0.58,146.6,2919,1478,1781,1865,4634.3,5.5,894,72141,0.08,1.88,0.00,0.000,2820,0.127,0.045,2981,2768,1823,1781,1865,0,0,0,0,0,0,26.44,26.32,26.45
$GC,72197,-0.50,146.6,2980,2768,1781,1865,4634.3,5.5,894,72200,0.00,1.92,0.00,0.000,1030,0.000,0.045,2980,1480,1823,1781,1865,0,0,0,0,0,0,26.39,26.34,26.41
$GC,72616,-0.50,146.6,2980,1480,1781,1865,4601.3,6.9,898,72622,0.00,1.90,0.00,0.000,516,0.000,0.060,2985,196,1823,1781,1865,0,0,0,0,0,0,26.68,26.22,26.70
$GC,72716,-0.50,146.6,2985,196,1781,1865,4601.3,6.9,898,72720,0.00,1.67,0.00,0.000,1030,0.000,0.042,2985,1433,1823,1781,1865,0,0,0,0,0,0,26.45,26.44,26.46
$GC,73095,-0.50,146.6,2984,1435,1780,1865,4568.5,6.8,902,73100,0.00,1.98,0.00,0.000,260,0.000,0.047,2985,2775,1823,1781,1865,0,0,0,0,0,0,26.70,26.32,26.71
$GC,73281,-0.50,146.6,2985,2775,1780,1865,4560.3,6.8,903,73285,0.00,1.90,0.00,0.000,1030,0.000,0.047,2987,1482,1822,1780,1865,0,0,0,0,0,0,26.39,26.33,26.42
$GC,73699,-0.50,146.6,2987,1481,1780,1865,4529.3,6.4,907,73705,0.00,1.90,0.00,0.000,516,0.000,0.060,2996,199,1822,1780,1865,0,0,0,0,0,0,26.70,26.22,26.72
$GC,73730,-0.50,146.6,2996,199,1781,1865,4529.3,6.4,907,73735,0.00,1.67,0.00,0.000,1030,0.000,0.042,2996,1437,1822,1780,1865,0,0,0,0,0,0,26.46,26.44,26.47
$GC,74062,-0.50,146.6,2996,1438,1780,1865,4508.3,6.0,910,74067,0.00,1.95,0.00,0.000,260,0.000,0.047,2996,2786,1822,1780,1865,0,0,0,0,0,0,26.70,26.31,26.72
$GC,74137,-0.50,146.6,2996,2785,1780,1865,4508.3,6.0,910,74141,0.00,1.92,0.00,0.000,1030,0.000,0.045,3002,1499,1822,1780,1865,0,0,0,0,0,0,26.39,26.33,26.41
$GC,74541,-0.50,146.6,3001,1498,1781,1865,4479.5,6.0,914,74542,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1499,1822,1780,1865,0,0,0,0,0,0,26.71,26.74,26.73
$GC,74901,-0.50,146.6,3001,1499,1780,1867,4458.4,5.8,917,74902,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1499,1822,1780,1865,0,0,0,0,0,0,26.72,26.74,26.73
$GC,75261,-0.50,146.6,3001,1499,1780,1865,4437.4,5.8,920,75262,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1498,1824,1780,1868,0,0,0,0,0,0,26.72,26.74,26.74
$GC,75621,-0.50,146.6,3001,1498,1780,1865,4416.8,5.7,923,75623,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1499,1822,1780,1865,0,0,0,0,0,0,26.72,26.74,26.74
$GC,75981,-0.50,146.6,3001,1499,1780,1865,4397.0,5.6,926,75982,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1499,1822,1780,1865,0,0,0,0,0,0,26.72,26.74,26.74
$GC,76341,-0.50,146.6,3001,1499,1780,1865,4377.4,5.5,929,76347,0.00,1.85,0.00,0.000,260,0.000,0.047,3001,2763,1822,1780,1865,0,0,0,0,0,0,26.72,26.30,26.74
$GC,76397,-0.50,146.6,3001,2763,1780,1865,4377.4,5.5,929,76401,0.00,1.92,0.00,0.000,1030,0.000,0.045,3007,1490,1822,1780,1865,0,0,0,0,0,0,26.34,26.31,26.36
$GC,76821,-0.50,146.6,3006,1490,1780,1865,4350.0,5.7,933,76822,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1490,1822,1780,1865,0,0,0,0,0,0,26.72,26.75,26.74
$GC,77181,-0.50,146.6,3011,1490,1780,1865,4329.4,5.7,936,77182,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1490,1822,1780,1865,0,0,0,0,0,0,26.72,26.75,26.74
$GC,77541,-0.50,146.6,3007,1490,1780,1865,4308.6,5.8,939,77542,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1490,1822,1780,1865,0,0,0,0,0,0,26.72,26.75,26.74
$GC,77901,-0.50,146.6,3007,1490,1780,1865,4287.2,5.9,942,77907,0.00,1.88,0.00,0.000,260,0.000,0.047,3007,2766,1822,1780,1865,0,0,0,0,0,0,26.73,26.28,26.75
$GC,77957,-0.50,146.6,3007,2766,1780,1865,4287.2,5.9,942,77961,0.00,1.92,0.00,0.000,1030,0.000,0.045,3013,1491,1822,1780,1865,0,0,0,0,0,0,26.32,26.29,26.34
$GC,78381,-0.50,146.6,3012,1491,1780,1865,4258.9,5.9,946,78382,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1491,1823,1781,1865,0,0,0,0,0,0,26.73,26.75,26.74
$GC,78741,-0.50,146.6,3012,1491,1780,1865,4238.1,5.8,949,78742,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1491,1822,1780,1865,0,0,0,0,0,0,26.73,26.75,26.75
$GC,79101,-0.50,146.6,3012,1491,1780,1865,4218.3,5.5,952,79102,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1491,1826,1787,1865,0,0,0,0,0,0,26.73,26.75,26.75
$GC,79461,-0.50,146.6,3012,1491,1780,1865,4199.2,5.3,955,79467,0.00,1.88,0.00,0.000,260,0.000,0.047,3013,2768,1822,1780,1865,0,0,0,0,0,0,26.73,26.27,26.75
$GC,79517,-0.50,146.6,3012,2768,1780,1865,4199.2,5.3,955,79521,0.00,1.92,0.00,0.000,1030,0.000,0.045,3016,1496,1822,1780,1865,0,0,0,0,0,0,26.31,26.28,26.33
$GC,79941,-0.50,146.6,3016,1496,1780,1865,4173.1,5.4,959,79942,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1496,1822,1780,1865,0,0,0,0,0,0,26.73,26.76,26.75
$GC,80301,-0.50,146.6,3015,1496,1780,1865,4153.8,5.3,962,80302,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1496,1822,1780,1865,0,0,0,0,0,0,26.73,26.76,26.75
$GC,80661,-0.50,146.6,3015,1496,1783,1865,4135.0,5.2,965,80662,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1496,1822,1780,1865,0,0,0,0,0,0,26.73,26.76,26.75
$GC,81021,-0.50,146.6,3016,1496,1780,1865,4116.8,5.1,968,81027,0.00,1.88,0.00,0.000,260,0.000,0.047,3016,2772,1822,1780,1865,0,0,0,0,0,0,26.73,26.25,26.75
$GC,81082,-0.50,146.6,3016,2772,1780,1865,4116.8,5.1,968,81087,0.00,1.92,0.00,0.000,1030,0.000,0.045,3021,1498,1822,1780,1865,0,0,0,0,0,0,26.30,26.27,26.32
$GC,81501,-0.50,146.6,3021,1498,1780,1865,4091.9,5.2,972,81502,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1498,1822,1780,1865,0,0,0,0,0,0,26.75,26.76,26.75
$GC,81862,-0.50,146.6,3021,1497,1780,1865,4073.8,5.0,975,81864,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1498,1822,1780,1865,0,0,0,0,0,0,26.73,26.76,26.75
$GC,82221,-0.50,146.6,3021,1498,1780,1865,4055.8,5.0,978,82222,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1498,1822,1780,1865,0,0,0,0,0,0,26.73,26.76,26.75
$GC,82581,-0.50,146.6,3021,1498,1780,1865,4037.9,5.0,981,82582,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1498,1822,1780,1865,0,0,0,0,0,0,26.72,26.76,26.75
$GC,82941,-0.50,146.6,3021,1498,1780,1865,4020.2,4.9,984,82946,0.00,1.85,0.00,0.000,260,0.000,0.047,3021,2762,1822,1780,1865,0,0,0,0,0,0,26.73,26.24,26.76
$GC,82997,-0.50,146.6,3021,2763,1780,1865,4020.2,4.9,984,83002,0.10,1.90,0.00,0.000,5126,0.137,0.045,2991,1501,1822,1780,1865,0,0,0,0,0,0,25.93,26.26,25.98
$GC,83422,-0.50,146.6,2991,1501,1780,1865,3998.5,4.5,988,83423,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1501,1822,1780,1865,0,0,0,0,0,0,26.73,26.76,26.75
$GC,83781,-0.50,146.6,2991,1501,1780,1865,3982.1,4.6,991,83782,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1501,1822,1780,1865,0,0,0,0,0,0,26.73,26.76,26.75
$GC,84142,-0.50,146.6,2991,1501,1780,1865,3966.6,4.4,994,84143,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1501,1823,1781,1865,0,0,0,0,0,0,26.73,26.76,26.75
$GC,84501,-0.44,146.6,2991,1501,1781,1865,3948.2,4.9,997,84506,0.00,1.88,0.00,0.000,260,0.000,0.047,2991,2770,1822,1780,1865,0,0,0,0,0,0,26.73,26.22,26.75
$GC,84654,-0.37,146.6,2991,2770,1780,1865,3941.4,5.3,998,84658,0.08,1.90,0.00,0.000,3078,0.124,0.045,3045,1492,1822,1779,1865,0,0,0,0,0,0,26.15,26.25,26.22
$GC,84977,-0.37,146.6,3045,1492,1780,1869,3920.5,5.8,1001,84984,0.00,1.90,0.00,0.000,260,0.000,0.047,3045,2770,1822,1780,1865,0,0,0,0,0,0,26.73,26.22,26.77
$GC,85200,-0.37,146.6,3045,2770,1780,1865,3913.6,5.9,1002,85205,0.00,1.92,0.00,0.000,1030,0.000,0.045,3049,1491,1822,1780,1865,0,0,0,0,0,0,26.27,26.25,26.29
$GC,85579,-0.37,146.6,3049,1492,1780,1863,3888.2,5.3,1006,85580,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1491,1822,1780,1865,0,0,0,0,0,0,26.73,26.76,26.75
$GC,85940,-0.37,146.6,3049,1491,1780,1865,3869.4,5.2,1009,85941,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1491,1823,1781,1865,0,0,0,0,0,0,26.73,26.75,26.75
$GC,86299,-0.37,146.6,3049,1491,1780,1865,3851.2,5.1,1012,86300,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1491,1822,1780,1865,0,0,0,0,0,0,26.73,26.76,26.77
$GC,86659,-0.37,146.6,3049,1492,1780,1865,3834.1,4.8,1015,86660,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1491,1822,1780,1865,0,0,0,0,0,0,26.73,26.76,26.75
$GC,87019,-0.37,146.6,3049,1491,1780,1865,3817.8,4.6,1018,87020,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1490,1823,1781,1865,0,0,0,0,0,0,26.73,26.76,26.75
$GC,87379,-0.37,146.6,3049,1491,1780,1865,3801.3,4.6,1021,87385,0.00,1.95,0.00,0.000,516,0.000,0.060,3058,199,1822,1780,1865,0,0,0,0,0,0,26.73,26.03,26.75
$GC,87430,-0.37,146.6,3057,199,1780,1865,3801.3,4.6,1021,87435,0.00,1.67,0.00,0.000,1030,0.000,0.042,3058,1435,1822,1780,1865,0,0,0,0,0,0,26.40,26.38,26.41
$GC,87740,-0.37,146.6,3057,1436,1780,1865,3785.4,4.4,1024,87747,0.00,1.92,0.00,0.000,260,0.000,0.047,3058,2767,1822,1780,1865,0,0,0,0,0,0,26.73,26.20,26.75
$GC,87791,-0.37,146.6,3057,2767,1780,1865,3785.4,4.4,1024,87795,0.00,1.92,0.00,0.000,1030,0.000,0.045,3062,1493,1823,1781,1865,0,0,0,0,0,0,26.25,26.23,26.27
$GC,88101,-0.37,146.6,3062,1492,1779,1865,3768.9,4.5,1027,88102,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1493,1822,1780,1865,0,0,0,0,0,0,26.73,26.76,26.75
$GC,88460,-0.37,146.6,3062,1492,1780,1865,3753.1,4.4,1030,88461,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1493,1822,1780,1865,0,0,0,0,0,0,26.73,26.76,26.75
$GC,88820,-0.37,146.6,3062,1493,1780,1865,3736.9,4.5,1033,88822,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1493,1822,1780,1865,0,0,0,0,0,0,26.73,26.76,26.75
$GC,89180,-0.37,146.6,3062,1493,1780,1865,3720.8,4.5,1036,89185,0.00,1.92,0.00,0.000,516,0.000,0.060,3071,200,1822,1780,1865,0,0,0,0,0,0,26.73,26.01,26.75
$GC,89236,-0.37,146.6,3072,200,1780,1865,3720.8,4.5,1036,89241,0.12,1.67,0.00,0.000,5126,0.129,0.042,3029,1426,1822,1780,1865,0,0,0,0,0,0,25.93,26.37,25.96
$GC,89661,-0.37,146.6,3029,1430,1780,1865,3703.0,3.7,1040,89667,0.00,1.92,0.00,0.000,260,0.000,0.047,3029,2761,1822,1780,1865,0,0,0,0,0,0,26.73,26.19,26.75
$GC,89711,-0.37,146.6,3029,2761,1780,1865,3703.0,3.7,1040,89716,0.00,1.90,0.00,0.000,1030,0.000,0.045,3032,1504,1822,1780,1865,0,0,0,0,0,0,26.25,26.22,26.27
$GC,90020,-0.37,146.6,3032,1504,1780,1865,3690.5,3.5,1043,90022,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1504,1822,1780,1865,0,0,0,0,0,0,26.73,26.76,26.75
$GC,90380,-0.37,146.6,3032,1504,1780,1864,3678.3,3.4,1046,90381,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1504,1822,1780,1865,0,0,0,0,0,0,26.73,26.76,26.75
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$GC,150323,0.68,309.2,3378,1590,1261,1259,280.3,7.9,1712,150328,0.00,2.03,0.00,0.000,516,0.000,0.057,3383,200,1260,1261,1259,0,0,0,0,0,0,26.82,26.26,26.84
$GC,150369,0.68,309.2,3382,200,1261,1259,277.9,8.1,1713,150374,0.00,1.80,0.00,0.000,1030,0.000,0.042,3383,1582,1260,1261,1259,0,0,0,0,0,0,26.58,26.58,26.59
$GC,150683,0.68,309.2,3383,1586,1261,1259,255.0,5.7,1724,150685,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,1586,1260,1261,1259,0,0,0,0,0,0,26.82,26.84,26.84
$GC,150984,0.68,309.2,3383,1585,1261,1259,240.2,4.8,1734,150989,0.00,2.00,0.00,0.000,516,0.000,0.057,3383,209,1260,1261,1259,0,0,0,0,0,0,26.82,26.28,26.84
$GC,151047,0.68,309.2,3383,208,1261,1259,236.7,5.4,1736,151052,0.00,1.80,0.00,0.000,1030,0.000,0.040,3383,1586,1260,1261,1259,0,0,0,0,0,0,26.60,26.58,26.60
$GC,151379,0.68,309.2,3383,1590,1261,1259,218.4,5.4,1747,151384,0.00,2.03,0.00,0.000,516,0.000,0.057,3384,197,1260,1261,1259,0,0,0,0,0,0,26.82,26.29,26.84
$GC,151415,0.68,309.2,3384,197,1261,1259,216.7,5.3,1748,151419,0.00,1.80,0.00,0.000,1030,0.000,0.042,3384,1585,1260,1261,1259,0,0,0,0,0,0,26.61,26.58,26.62
$GC,151739,0.68,309.2,3384,1599,1261,1259,197.6,6.1,1759,151745,0.00,2.03,0.00,0.000,516,0.000,0.057,3388,200,1259,1261,1258,0,0,0,0,0,0,26.82,26.29,26.84
$GC,151777,0.68,309.2,3388,200,1261,1259,195.8,6.2,1760,151781,0.00,1.80,0.00,0.000,1030,0.000,0.040,3389,1589,1260,1261,1259,0,0,0,0,0,0,26.60,26.61,26.60
$GC,152102,0.68,309.2,3388,1591,1261,1259,175.4,5.4,1771,152103,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1592,1260,1261,1259,0,0,0,0,0,0,26.82,26.85,26.84
$GC,152401,0.68,309.2,3388,1591,1261,1259,158.4,6.5,1781,152407,0.00,2.03,0.00,0.000,516,0.000,0.057,3389,207,1260,1261,1259,0,0,0,0,0,0,26.83,26.30,26.84
$GC,152477,0.74,309.2,3389,207,1261,1259,154.9,6.1,1783,152481,0.00,1.75,0.00,0.000,1030,0.000,0.042,3389,1494,1260,1261,1259,0,0,0,0,0,0,26.62,26.60,26.63
$GC,152795,0.80,309.2,3389,1591,1261,1259,138.6,4.2,1802,152796,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1592,1260,1261,1259,0,0,0,0,0,0,26.83,26.85,26.85
$GC,153095,0.87,309.2,3389,1592,1261,1259,123.0,5.6,1822,153101,0.05,2.03,0.00,0.000,2564,0.166,0.055,3435,194,1259,1260,1258,0,0,0,0,0,0,26.63,26.32,26.65
$GC,153134,0.87,309.2,3435,195,1261,1259,120.8,6.1,1824,153143,0.00,1.83,0.00,0.000,1030,0.000,0.042,3435,1591,1260,1261,1259,0,0,0,0,0,0,26.61,26.60,26.62
$GC,153444,0.87,309.2,3434,1591,1261,1258,100.4,6.4,1845,153449,0.00,2.03,0.00,0.000,516,0.000,0.057,3439,203,1260,1261,1259,0,0,0,0,0,0,26.84,26.34,26.85
$GC,153495,0.87,309.2,3439,203,1261,1259,96.8,7.0,1848,153500,0.00,1.77,0.00,0.000,1030,0.000,0.042,3439,1596,1260,1261,1259,0,0,0,0,0,0,26.63,26.61,26.65
$GC,153812,0.87,309.2,3439,1595,1261,1259,77.7,7.3,1869,153816,0.00,1.83,0.00,0.000,260,0.000,0.050,3439,2891,1260,1261,1259,0,0,0,0,0,0,26.84,26.44,26.86
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$GC,154179,0.87,309.2,3441,1494,1261,1259,55.9,4.2,1893,154183,0.00,1.88,0.00,0.000,516,0.000,0.060,3451,193,1260,1261,1259,0,0,0,0,0,0,26.84,26.34,26.86
$GC,154230,0.92,309.2,3450,193,1261,1259,53.7,4.3,1896,154236,0.00,1.77,0.00,0.000,1030,0.000,0.042,3451,1597,1260,1261,1259,0,0,0,0,0,0,26.65,26.63,26.66
$GC,154547,0.98,309.2,3450,1600,1261,1259,41.6,4.9,1917,154548,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1600,1260,1261,1259,0,0,0,0,0,0,26.84,26.86,26.86
$GC,154851,1.04,309.2,3450,1601,1261,1259,26.7,3.9,1946,154861,0.00,2.03,0.00,0.000,516,0.000,0.057,3453,199,1260,1261,1259,0,0,0,0,0,0,26.85,26.36,26.87
$GC,154899,1.09,309.2,3452,199,1261,1259,24.7,4.2,1950,154903,0.08,1.80,0.00,0.000,3078,0.129,0.042,3513,1604,1260,1261,1259,0,0,0,0,0,0,26.47,26.64,26.52
$STATE,155211,end climb,SURFACE_DEPTH_REACHED
$STATE,155212,begin surface coast
$FINISH,1.0,1.012748
$STATE,155253,end surface coast,CONTROL_FINISHED_OK
$STATE,155253,begin surface
$SM_CCo,155328,0.00,0.000,0,0,1260,313.73
$SM_GC,2.23,8.32,0.00,0.00,0.052,0.000,0.000,169,1621,1260,-9.13,-2.23,313.73,0,0,0,0,0,0,26.52,26.87,26.55
$IRIDIUM_FIX,3525.66,-6733.01,120708,231456
$TT8_MAMPS,0.023219,0.023219
$HUMID,36.76
$INTERNAL_PRESSURE,9.14169
$TCM_TEMP,24.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,4782.0,219.1
$24V_AH,19.46,38.660
$10V_AH,9.59,24.878
$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,28.850,782.450,525.500,0.000,128.225,22.679,26.139,455.844,20.750,0.000,54.360,8457.658,131313.234,1082.804,14611.754,510.258,0.000,6742.997,0.000,13702.751,0.000,150.811,0.000
$DEVICE_MAMPS,268.164,96.837,4342.767,0.000,101.803,141.530,160.000,223.000,420.000,0.000,37.450,15.960,2.190,15.960,41.430,60.900,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1358.528,6470.310,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329496
$DATA_FILE_SIZE,123458,1985
$CAP_FILE_SIZE,908202,0
$CFSIZE,1024409600,1003618304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,36293.62,0x23577e,0,24
$CURRENT,0.069,177.36,1
$GPS,200915,035445,3604.278,-6721.432,36,1.0,76,-15.3,0.8,173.5,9,4.0