version: 66.12
glider: 141
mission: 23
dive: 177
start: 9 27 115 8 18 50
data:
$ID,141
$MISSION,23
$DIVE,177
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,360
$T_ABORT,1500
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$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,52033
$MASS_COMP,0
$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,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3800
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,361
$ROLL_MAX,4050
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2475
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,348
$VBD_MAX,3980
$C_VBD,3127
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,9.9999997e-05
$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,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-33.834953
$PRESSURE_SLOPE,0.0001160265
$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,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,133
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543633
$SEABIRD_T_H,0.00062237249
$SEABIRD_T_I,2.1446129e-05
$SEABIRD_T_J,2.055453e-06
$SEABIRD_C_G,-10.134171
$SEABIRD_C_H,1.1439899
$SEABIRD_C_I,-0.0013638148
$SEABIRD_C_J,0.00018835191
$GPS1,270915,081109,720.8205,8513.8467,144,99.0,184,-2.0,1.0,234.5,4,-1.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.28
$_SM_ANGLEo,-72.0
$GPS2,270915,081819,720.6762,8513.7812,45,99.0,85,-2.0,1.1,208.5,4,-1.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,DOG
$TGT_LATLONG,730.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,320.9,30635,-14.9,-10.000,-18.74,2959
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,25,-0.62,-194.6,1,2678,757,878,0.0,0.0,0,125,0.00,0.00,-97.38,0.000,16386,0.000,0.000,1,2678,3530,3598,3463,0,0,0,0,0,0,14.89,28.83,14.92
$GC,130,-0.62,-194.6,1,2678,3597,3464,6.3,-6.1,10,155,12.07,2.35,-5.38,0.000,18948,0.415,0.077,2506,1246,3924,3997,3852,0,0,0,0,0,0,14.35,13.51,14.70
$GC,190,-0.62,-194.6,2506,1246,3997,3854,36.5,-40.3,22,195,0.00,2.28,0.00,0.000,1030,0.000,0.058,2498,2642,3925,3997,3854,0,0,0,0,0,0,14.75,14.65,14.78
$GC,515,-0.62,-194.6,2498,2641,3997,3858,119.2,-16.0,41,522,0.00,2.30,0.00,0.000,260,0.000,0.081,2487,4036,3927,3997,3858,0,0,0,0,0,0,15.03,14.66,15.07
$GC,670,-0.62,-194.6,2487,4036,3997,3860,143.9,-16.2,72,675,0.00,2.20,0.00,0.000,1030,0.000,0.034,2487,2645,3928,3997,3860,0,0,0,0,0,0,14.78,14.73,14.81
$GC,977,-0.62,-194.6,2487,2645,3997,3861,186.9,-13.4,88,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2644,3929,3997,3861,0,0,0,0,0,0,15.09,15.13,15.13
$GC,1277,-0.62,-194.6,2487,2645,3997,3861,222.7,-11.4,103,1283,0.00,2.33,0.00,0.000,260,0.000,0.081,2477,4045,3928,3996,3861,0,0,0,0,0,0,15.11,14.71,15.15
$GC,1339,-0.62,-194.6,2477,4045,3995,3861,229.4,-10.9,115,1345,0.10,2.12,0.00,0.000,3078,0.213,0.033,2508,2645,3928,3995,3861,0,0,0,0,0,0,14.58,14.83,14.72
$GC,1681,-0.62,-194.6,2507,2645,3990,3860,262.0,-9.8,131,1686,0.00,2.17,0.00,0.000,516,0.000,0.054,2508,1259,3925,3990,3861,0,0,0,0,0,0,15.14,14.78,15.16
$GC,1709,-0.62,-194.6,2507,1259,3990,3861,265.3,-10.6,137,1718,0.00,2.25,0.00,0.000,1030,0.000,0.056,2505,2659,3925,3989,3861,0,0,0,0,0,0,14.92,14.81,14.94
$GC,2043,-0.62,-194.6,2505,2658,3982,3861,300.2,-10.7,148,2048,0.00,2.28,0.00,0.000,260,0.000,0.084,2495,4035,3921,3982,3861,0,0,0,0,0,0,15.14,14.73,15.18
$GC,2071,-0.62,-194.6,2494,4034,3982,3861,303.9,-12.5,154,2076,0.00,2.15,0.00,0.000,1030,0.000,0.034,2495,2644,3921,3982,3861,0,0,0,0,0,0,14.95,14.88,14.97
$GC,2406,-0.62,-194.6,2495,2644,3976,3860,342.5,-11.6,165,2412,0.00,2.33,0.00,0.000,260,0.000,0.083,2485,4041,3918,3975,3861,0,0,0,0,0,0,15.15,14.73,15.18
$GC,2436,-0.62,-194.6,2485,4040,3975,3861,346.3,-11.7,171,2442,0.12,2.15,0.00,0.000,3078,0.241,0.034,2515,2649,3918,3975,3861,0,0,0,0,0,0,14.64,14.89,14.85
$GC,2768,-0.62,-194.6,2514,2648,3971,3861,378.3,-9.6,182,2773,0.00,2.22,0.00,0.000,516,0.000,0.057,2515,1249,3915,3970,3860,0,0,0,0,0,0,15.16,14.81,15.19
$GC,2817,-0.62,-194.6,2515,1250,3970,3861,383.0,-9.2,191,2822,0.00,2.25,0.00,0.000,1030,0.000,0.057,2514,2646,3915,3969,3861,0,0,0,0,0,0,14.84,14.78,14.88
$GC,3135,-0.62,-194.6,2514,2646,3966,3859,412.1,-9.3,199,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2646,3913,3966,3860,0,0,0,0,0,0,15.16,15.19,15.19
$GC,3433,-0.62,-194.6,2514,2646,3961,3857,439.3,-9.1,204,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2646,3909,3961,3857,0,0,0,0,0,0,15.16,15.20,15.20
$GC,3733,-0.62,-194.6,2514,2646,3960,3854,465.6,-8.8,209,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2646,3907,3960,3854,0,0,0,0,0,0,15.16,15.21,15.20
$GC,4035,-0.62,-194.6,2514,2646,3957,3853,490.7,-8.4,214,4039,0.00,2.35,0.00,0.000,260,0.000,0.088,2503,4046,3905,3957,3853,0,0,0,0,0,0,15.16,14.73,15.20
$GC,4079,-0.62,-194.6,2503,4046,3957,3852,495.0,-9.8,222,4084,0.00,2.17,0.00,0.000,1030,0.000,0.036,2503,2647,3904,3956,3852,0,0,0,0,0,0,14.95,14.88,14.97
$GC,4405,-0.62,-194.6,2503,2646,3953,3850,524.3,-9.1,231,4410,0.00,2.20,0.00,0.000,516,0.000,0.060,2504,1261,3901,3952,3850,0,0,0,0,0,0,15.17,14.74,15.20
$GC,4459,-0.62,-194.6,2503,1261,3953,3850,529.7,-10.0,242,4464,0.00,2.30,0.00,0.000,1030,0.000,0.061,2501,2645,3900,3951,3850,0,0,0,0,0,0,14.78,14.71,14.82
$GC,4766,-0.62,-194.6,2501,2645,3949,3848,557.4,-9.1,248,4771,0.00,2.33,0.00,0.000,260,0.000,0.090,2491,4037,3898,3949,3848,0,0,0,0,0,0,15.16,14.68,15.20
$GC,4820,-0.62,-194.6,2491,4038,3949,3847,562.8,-9.8,259,4825,0.00,2.22,0.00,0.000,1030,0.000,0.037,2491,2645,3898,3949,3847,0,0,0,0,0,0,14.81,14.76,14.84
$GC,5126,-0.62,-194.6,2491,2645,3948,3847,591.6,-9.4,265,5132,0.00,2.22,0.00,0.000,516,0.000,0.062,2491,1250,3897,3948,3847,0,0,0,0,0,0,15.16,14.72,15.19
$GC,5166,-0.62,-194.6,2490,1250,3948,3847,595.5,-9.2,273,5173,0.00,2.30,0.00,0.000,1030,0.000,0.063,2488,2661,3897,3947,3847,0,0,0,0,0,0,14.90,14.78,14.93
$GC,5488,-0.62,-194.6,2487,2661,3945,3845,625.5,-9.3,282,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2661,3895,3945,3845,0,0,0,0,0,0,15.16,15.19,15.19
$GC,5790,-0.62,-194.6,2488,2661,3942,3845,652.1,-8.8,287,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2660,3893,3942,3844,0,0,0,0,0,0,15.16,15.19,15.19
$GC,6089,-0.62,-194.6,2487,2661,3941,3843,678.0,-8.6,292,6094,0.00,2.28,0.00,0.000,516,0.000,0.063,2488,1254,3892,3941,3843,0,0,0,0,0,0,15.16,14.70,15.19
$GC,6123,-0.62,-194.6,2488,1255,3941,3843,681.0,-9.0,299,6129,0.10,2.28,0.00,0.000,3078,0.213,0.066,2514,2653,3892,3941,3843,0,0,0,0,0,0,14.52,14.71,14.67
$GC,6449,-0.62,-194.6,2514,2653,3939,3842,702.1,-6.4,309,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2653,3890,3939,3842,0,0,0,0,0,0,15.16,15.20,15.19
$GC,7049,-0.62,-194.6,2514,2652,3936,3840,744.3,-7.2,314,7051,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2653,3888,3936,3840,0,0,0,0,0,0,15.16,15.21,15.19
$GC,7650,-0.62,-194.6,2514,2653,3934,3838,788.5,-7.3,319,7655,0.00,2.35,0.00,0.000,260,0.000,0.097,2508,4033,3885,3932,3838,0,0,0,0,0,0,15.16,14.59,15.19
$GC,7690,-0.62,-194.6,2508,4034,3932,3838,791.8,-8.5,327,7695,0.00,2.17,0.00,0.000,1030,0.000,0.042,2508,2654,3884,3932,3837,0,0,0,0,0,0,14.83,14.78,14.88
$GC,8371,-0.62,-194.6,2508,2653,3931,3835,844.1,-7.7,348,8376,0.00,2.30,0.00,0.000,516,0.000,0.068,2507,1246,3882,3930,3835,0,0,0,0,0,0,15.15,14.63,15.19
$GC,8425,-0.62,-194.6,2508,1246,3931,3836,848.5,-7.8,359,8431,0.00,2.33,0.00,0.000,1030,0.000,0.070,2502,2652,3882,3930,3835,0,0,0,0,0,0,14.74,14.66,14.81
$GC,9092,-0.62,-194.6,2501,2652,3928,3834,901.9,-8.0,377,9098,0.00,2.30,0.00,0.000,516,0.000,0.069,2502,1251,3880,3926,3834,0,0,0,0,0,0,15.14,14.62,15.18
$GC,9117,-0.62,-194.6,2502,1251,3927,3834,904.1,-8.4,382,9121,0.00,2.35,0.00,0.000,1030,0.000,0.071,2501,2661,3880,3927,3833,0,0,0,0,0,0,14.84,14.71,14.88
$GC,9817,-0.62,-194.6,2500,2661,3925,3831,961.8,-8.4,406,9818,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2661,3877,3924,3831,0,0,0,0,0,0,15.15,15.19,15.18
$STATE,10174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10174,begin apogee
$GC,10184,-0.20,0.0,2501,2467,3924,3830,993.2,-8.7,409,10335,0.52,0.00,147.75,2.020,10246,0.189,0.000,2651,2467,3125,3053,3198,0,0,0,0,0,0,14.54,14.12,13.34
$STATE,10336,end apogee,CONTROL_FINISHED_OK
$STATE,10336,begin climb
$GC,10341,0.62,194.6,2651,2467,3053,3193,998.6,0.0,410,10507,0.82,2.55,156.20,1.968,10756,0.121,0.083,2922,1078,2329,2241,2417,0,0,0,0,0,0,14.14,13.93,13.21
$GC,10530,0.62,194.6,2922,1078,2243,2411,986.5,12.0,434,10535,0.00,2.50,0.00,0.000,1030,0.000,0.070,2921,2473,2327,2244,2411,0,0,0,0,0,0,14.10,14.06,14.14
$GC,11139,0.62,194.6,2922,2473,2252,2398,906.7,13.3,440,11144,0.00,2.45,0.00,0.000,260,0.000,0.102,2922,3884,2325,2252,2398,0,0,0,0,0,0,14.88,14.48,14.92
$GC,11207,0.62,194.6,2921,3884,2260,2389,895.8,16.1,454,11214,0.00,2.30,0.00,0.000,1030,0.000,0.058,2932,2493,2324,2260,2389,0,0,0,0,0,0,14.71,14.61,14.74
$GC,11860,0.62,194.6,2932,2493,2260,2388,801.5,14.4,469,11865,0.00,2.40,0.00,0.000,516,0.000,0.085,2943,1069,2324,2260,2388,0,0,0,0,0,0,15.01,14.55,15.05
$GC,11914,0.62,194.6,2942,1068,2261,2385,793.7,13.9,480,11920,0.00,2.38,0.00,0.000,1030,0.000,0.073,2943,2476,2322,2260,2385,0,0,0,0,0,0,14.76,14.64,14.81
$GC,12580,0.62,194.6,2942,2476,2260,2384,695.4,14.9,498,12586,0.00,2.42,0.00,0.000,260,0.000,0.103,2943,3884,2321,2260,2383,0,0,0,0,0,0,15.07,14.54,15.10
$GC,12701,0.62,194.6,2942,3885,2265,2379,675.2,17.0,522,12708,0.12,2.30,0.00,0.000,5126,0.269,0.059,2921,2480,2322,2265,2379,0,0,0,0,0,0,14.35,14.66,14.52
$GC,13064,0.62,194.6,2920,2480,2265,2378,626.7,13.2,539,13068,0.00,2.40,0.00,0.000,516,0.000,0.084,2929,1065,2321,2265,2378,0,0,0,0,0,0,15.07,14.62,15.11
$GC,13092,0.62,194.6,2929,1064,2266,2378,622.9,12.2,544,13098,0.00,2.38,0.00,0.000,1030,0.000,0.072,2930,2479,2321,2265,2378,0,0,0,0,0,0,14.81,14.67,14.85
$GC,13429,0.62,194.6,2929,2479,2265,2378,578.0,13.4,556,13435,0.00,2.40,0.00,0.000,260,0.000,0.102,2929,3873,2322,2266,2378,0,0,0,0,0,0,15.09,14.55,15.12
$GC,13490,0.62,194.6,2929,3873,2268,2376,568.7,15.6,568,13496,0.00,2.30,0.00,0.000,1030,0.000,0.058,2939,2467,2322,2268,2376,0,0,0,0,0,0,14.73,14.67,14.78
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$GC,15255,0.62,194.6,2926,3874,2271,2374,343.3,13.4,645,15261,0.00,2.30,0.00,0.000,1030,0.000,0.056,2935,2474,2322,2271,2373,0,0,0,0,0,0,14.83,14.73,14.88
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$GC,16259,0.62,219.2,2918,2476,2274,2374,231.0,9.1,686,16278,0.00,0.00,17.62,1.078,8198,0.000,0.000,2918,2476,2231,2166,2296,0,0,0,0,0,0,15.12,14.81,14.21
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$STATE,18745,end climb,SURFACE_DEPTH_REACHED
$STATE,18745,begin surface coast
$STATE,18774,end surface coast,CONTROL_FINISHED_OK
$STATE,18774,begin surface
$SM_CCo,18857,0.00,0.000,0,0,667,603.44
$SM_GC,3.31,8.10,0.25,0.00,0.057,0.093,0.000,42,2661,667,-8.29,-1.16,603.44,0,0,0,0,0,0,14.67,14.71,14.76
$IRIDIUM_FIX,716.82,8517.07,270915,024938
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.14
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,13.21,57.805
$10V_AH,13.27,0.000
$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,22.225,139.425,569.300,0.000,0.000,0.000,0.000,229.275,0.250,0.000,87.358,626.556,15181.019,597.380,2409.462,470.761,0.000,1757.248,0.000,1311.931,0.000,0.543,0.000
$DEVICE_MAMPS,415.395,102.510,2020.365,0.000,0.000,0.000,0.000,234.855,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1392.747,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260188
$DATA_FILE_SIZE,40118,917
$CAP_FILE_SIZE,80961,0
$CFSIZE,260034560,236118016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,101.604,309.84,1
$GPS,270915,081819,720.676,8513.781,301,99.0,301,-2.0,1.1,208.5,4,-1.0