version: 66.12
glider: 141
mission: 23
dive: 234
start: 10 9 115 9 25 7
data:
$ID,141
$MISSION,23
$DIVE,234
$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,8
$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,38
$R_STBD_OVSHOOT,38
$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,49
$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
$GPS1,091015,091810,752.7414,8436.2754,112,1.4,152,-2.0,0.0,194.5,4,12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.24
$_SM_ANGLEo,-72.4
$GPS2,091015,092433,752.6835,8436.2441,29,1.7,58,-2.0,0.0,142.3,8,9.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,292.6,317190,-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,-194.6,12,2669,1043,1138,0.0,0.0,0,114,0.00,0.00,-86.35,0.000,16386,0.000,0.000,11,2670,3483,3552,3414,0,0,0,0,0,0,14.88,28.83,14.92
$GC,123,-0.62,-194.6,11,2670,3552,3414,6.5,-7.1,9,146,12.00,2.28,-5.65,0.000,18948,0.410,0.060,2505,1227,3924,3998,3850,0,0,0,0,0,0,14.26,13.81,14.52
$GC,227,-0.62,-194.6,2505,1226,3998,3854,49.9,-30.1,30,233,0.00,2.28,0.00,0.000,1030,0.000,0.054,2498,2643,3925,3997,3853,0,0,0,0,0,0,14.65,14.59,14.69
$GC,538,-0.62,-194.6,2497,2644,3997,3857,132.3,-18.4,47,543,0.00,2.33,0.00,0.000,260,0.000,0.079,2486,4046,3927,3997,3857,0,0,0,0,0,0,15.04,14.63,15.07
$GC,728,-0.62,-194.6,2486,4046,3998,3860,162.1,-14.2,85,733,0.12,2.17,0.00,0.000,3078,0.265,0.032,2513,2634,3929,3998,3860,0,0,0,0,0,0,14.50,14.80,14.74
$GC,1043,-0.62,-194.6,2513,2634,3998,3860,198.3,-12.2,102,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2634,3929,3998,3861,0,0,0,0,0,0,15.10,15.14,15.13
$GC,1343,-0.62,-194.6,2513,2633,3997,3861,232.0,-9.9,117,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2634,3929,3997,3861,0,0,0,0,0,0,15.12,15.16,15.15
$GC,1663,-0.62,-194.6,2513,2633,3991,3861,262.2,-9.6,129,1667,0.00,2.38,0.00,0.000,260,0.000,0.080,2505,4043,3926,3991,3861,0,0,0,0,0,0,15.14,14.71,15.17
$GC,1695,-0.62,-194.6,2504,4043,3991,3861,265.8,-11.5,135,1701,0.00,2.17,0.00,0.000,1030,0.000,0.031,2505,2642,3926,3991,3861,0,0,0,0,0,0,14.91,14.85,14.93
$GC,2027,-0.62,-194.6,2504,2642,3987,3861,300.1,-10.3,146,2033,0.00,2.22,0.00,0.000,516,0.000,0.052,2505,1240,3923,3986,3861,0,0,0,0,0,0,15.14,14.76,15.18
$GC,2051,-0.62,-194.6,2504,1240,3987,3861,302.5,-9.4,151,2057,0.00,2.28,0.00,0.000,1030,0.000,0.054,2496,2662,3923,3986,3861,0,0,0,0,0,0,14.88,14.78,14.91
$GC,2391,-0.62,-194.6,2496,2662,3980,3861,334.4,-9.6,163,2397,0.00,2.22,0.00,0.000,516,0.000,0.052,2496,1256,3921,3981,3861,0,0,0,0,0,0,15.12,14.71,15.16
$GC,2415,-0.62,-194.6,2496,1256,3980,3861,337.4,-11.0,168,2421,0.00,2.25,0.00,0.000,1030,0.000,0.054,2488,2657,3920,3980,3861,0,0,0,0,0,0,14.88,14.77,14.91
$GC,2751,-0.62,-194.6,2488,2657,3974,3861,374.8,-11.3,180,2757,0.00,2.30,0.00,0.000,260,0.000,0.083,2477,4040,3917,3974,3860,0,0,0,0,0,0,15.15,14.65,15.19
$GC,2790,-0.62,-194.6,2477,4040,3974,3860,379.5,-11.5,188,2798,0.15,2.15,0.00,0.000,3078,0.233,0.033,2514,2647,3917,3974,3860,0,0,0,0,0,0,14.54,14.84,14.77
$GC,3116,-0.62,-194.6,2514,2647,3969,3859,407.8,-8.6,197,3120,0.00,2.22,0.00,0.000,516,0.000,0.054,2514,1252,3913,3968,3859,0,0,0,0,0,0,15.14,14.76,15.17
$GC,3159,-0.62,-194.6,2514,1252,3969,3860,411.6,-8.0,205,3163,0.00,2.25,0.00,0.000,1030,0.000,0.055,2513,2648,3914,3968,3860,0,0,0,0,0,0,14.87,14.76,14.90
$GC,3488,-0.62,-194.6,2513,2648,3965,3856,435.0,-7.3,214,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2648,3910,3965,3856,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3783,-0.62,-194.6,2513,2649,3961,3854,461.4,-9.0,219,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2648,3907,3961,3854,0,0,0,0,0,0,15.16,15.19,15.19
$GC,4083,-0.62,-194.6,2512,2649,3960,3852,491.0,-9.9,224,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2649,3906,3959,3853,0,0,0,0,0,0,15.16,15.19,15.19
$GC,4383,-0.62,-194.6,2512,2648,3957,3851,518.1,-8.9,229,4387,0.00,2.25,0.00,0.000,516,0.000,0.055,2513,1257,3903,3956,3851,0,0,0,0,0,0,15.16,14.73,15.19
$GC,4411,-0.62,-194.6,2513,1257,3956,3851,520.4,-8.9,234,4417,0.00,2.25,0.00,0.000,1030,0.000,0.057,2508,2648,3904,3957,3851,0,0,0,0,0,0,14.75,14.68,14.79
$GC,4751,-0.62,-194.6,2508,2648,3953,3848,546.3,-7.6,246,4756,0.00,2.33,0.00,0.000,260,0.000,0.086,2497,4030,3900,3953,3848,0,0,0,0,0,0,15.13,14.59,15.16
$GC,4820,-0.62,-194.6,2497,4030,3953,3847,552.7,-8.8,260,4826,0.00,2.17,0.00,0.000,1030,0.000,0.036,2498,2654,3900,3953,3847,0,0,0,0,0,0,14.88,14.81,14.90
$GC,5175,-0.62,-194.6,2497,2654,3950,3847,582.4,-8.4,275,5180,0.00,2.25,0.00,0.000,516,0.000,0.058,2498,1249,3898,3949,3847,0,0,0,0,0,0,15.12,14.64,15.16
$GC,5203,-0.62,-194.6,2497,1249,3950,3847,585.4,-9.5,281,5208,0.00,2.33,0.00,0.000,1030,0.000,0.060,2489,2661,3898,3949,3847,0,0,0,0,0,0,14.83,14.71,14.87
$GC,5541,-0.62,-194.6,2489,2660,3947,3845,616.5,-9.5,292,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2660,3896,3948,3845,0,0,0,0,0,0,15.13,15.16,15.16
$GC,5838,-0.62,-194.6,2489,2661,3946,3844,645.9,-9.8,297,5843,0.00,2.30,0.00,0.000,516,0.000,0.058,2489,1248,3895,3946,3844,0,0,0,0,0,0,15.15,14.68,15.18
$GC,5861,-0.62,-194.6,2489,1248,3946,3844,648.5,-10.9,301,5866,0.15,2.30,0.00,0.000,3078,0.231,0.061,2516,2653,3895,3946,3844,0,0,0,0,0,0,14.48,14.70,14.72
$GC,6210,-0.62,-194.6,2517,2652,3943,3843,678.0,-8.6,314,6216,0.00,2.35,0.00,0.000,260,0.000,0.090,2509,4029,3892,3942,3843,0,0,0,0,0,0,15.12,14.54,15.16
$GC,6254,-0.62,-194.6,2508,4029,3943,3842,682.4,-9.1,323,6260,0.00,2.20,0.00,0.000,1030,0.000,0.038,2509,2645,3892,3942,3842,0,0,0,0,0,0,14.85,14.77,14.88
$GC,6634,-0.62,-194.6,2508,2645,3940,3841,713.4,-8.1,331,6639,0.00,2.25,0.00,0.000,516,0.000,0.061,2508,1253,3891,3941,3841,0,0,0,0,0,0,15.12,14.61,15.15
$GC,6669,-0.62,-194.6,2508,1253,3941,3841,716.4,-8.1,338,6674,0.00,2.28,0.00,0.000,1030,0.000,0.063,2501,2641,3891,3941,3841,0,0,0,0,0,0,14.69,14.62,14.74
$GC,7357,-0.62,-194.6,2501,2641,3937,3838,769.1,-7.6,360,7359,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2641,3887,3937,3838,0,0,0,0,0,0,15.12,15.16,15.15
$GC,7956,-0.62,-194.6,2501,2641,3935,3837,816.9,-8.1,365,7960,0.00,2.42,0.00,0.000,260,0.000,0.095,2490,4045,3885,3935,3836,0,0,0,0,0,0,15.14,14.53,15.16
$GC,7984,-0.62,-194.6,2490,4045,3935,3835,819.5,-8.7,370,7990,0.00,2.22,0.00,0.000,1030,0.000,0.041,2490,2650,3885,3935,3835,0,0,0,0,0,0,14.78,14.73,14.81
$GC,8684,-0.62,-194.6,2490,2650,3932,3834,879.2,-8.6,394,8689,0.00,2.30,0.00,0.000,516,0.000,0.067,2490,1254,3883,3932,3834,0,0,0,0,0,0,15.11,14.52,15.14
$GC,8718,-0.62,-194.6,2490,1255,3932,3834,882.6,-9.4,401,8724,0.15,2.35,0.00,0.000,3078,0.227,0.068,2517,2660,3883,3932,3834,0,0,0,0,0,0,14.42,14.62,14.66
$GC,9411,-0.62,-194.6,2517,2660,3930,3832,932.8,-7.2,423,9417,0.00,2.40,0.00,0.000,260,0.000,0.100,2509,4039,3880,3929,3832,0,0,0,0,0,0,15.12,14.43,15.14
$GC,9455,-0.62,-194.6,2509,4039,3929,3832,936.5,-8.4,432,9462,0.00,2.22,0.00,0.000,1030,0.000,0.043,2509,2654,3880,3929,3831,0,0,0,0,0,0,14.79,14.70,14.82
$GC,10135,-0.62,-194.6,2509,2654,3927,3830,984.8,-7.0,452,10141,0.00,2.33,0.00,0.000,516,0.000,0.069,2509,1252,3878,3926,3830,0,0,0,0,0,0,15.11,14.47,15.14
$GC,10175,-0.62,-194.6,2509,1252,3926,3830,987.9,-7.2,460,10182,0.00,2.35,0.00,0.000,1030,0.000,0.070,2501,2648,3878,3926,3830,0,0,0,0,0,0,14.73,14.59,14.78
$STATE,10202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10202,begin apogee
$GC,10212,-0.20,0.0,2501,2464,3925,3830,990.1,-7.5,466,10366,0.50,0.00,151.27,2.171,10246,0.183,0.000,2645,2464,3126,3058,3195,0,0,0,0,0,0,14.48,14.07,13.22
$STATE,10368,end apogee,CONTROL_FINISHED_OK
$STATE,10368,begin climb
$GC,10373,0.62,194.6,2645,2464,3057,3191,993.9,0.0,467,10542,0.82,2.53,159.02,2.085,10756,0.119,0.079,2922,1088,2329,2237,2422,0,0,0,0,0,0,14.07,13.81,13.02
$GC,10636,0.62,194.6,2921,1088,2246,2410,970.2,12.6,529,10640,0.00,2.42,0.00,0.000,1030,0.000,0.068,2922,2471,2327,2246,2409,0,0,0,0,0,0,14.23,14.12,14.26
$GC,11290,0.62,194.6,2921,2471,2251,2398,885.0,12.9,544,11296,0.00,2.45,0.00,0.000,260,0.000,0.099,2921,3884,2324,2252,2397,0,0,0,0,0,0,14.91,14.45,14.95
$GC,11380,0.62,194.6,2921,3884,2260,2389,872.4,14.6,562,11386,0.00,2.30,0.00,0.000,1030,0.000,0.056,2932,2494,2325,2261,2389,0,0,0,0,0,0,14.70,14.60,14.73
$GC,12010,0.62,194.6,2932,2493,2260,2388,787.6,13.6,573,12015,0.00,2.42,0.00,0.000,516,0.000,0.081,2942,1067,2324,2260,2389,0,0,0,0,0,0,15.02,14.56,15.06
$GC,12044,0.62,194.6,2942,1067,2261,2387,782.7,14.1,579,12050,0.00,2.40,0.00,0.000,1030,0.000,0.070,2943,2482,2324,2261,2387,0,0,0,0,0,0,14.73,14.59,14.78
$GC,12675,0.62,194.6,2942,2482,2260,2386,684.2,15.8,602,12680,0.00,2.42,0.00,0.000,260,0.000,0.099,2942,3877,2323,2261,2385,0,0,0,0,0,0,15.07,14.47,15.10
$GC,12733,0.62,194.6,2942,3877,2265,2380,674.0,17.1,613,12739,0.17,2.38,0.00,0.000,5126,0.292,0.057,2917,2448,2322,2265,2380,0,0,0,0,0,0,14.28,14.63,14.64
$GC,13043,0.62,194.6,2916,2448,2264,2380,631.0,13.8,619,13048,0.00,2.50,0.00,0.000,260,0.000,0.097,2916,3879,2322,2265,2379,0,0,0,0,0,0,15.05,14.47,15.09
$GC,13077,0.62,194.6,2916,3879,2265,2379,625.7,15.0,626,13083,0.00,2.33,0.00,0.000,1030,0.000,0.056,2925,2467,2322,2266,2379,0,0,0,0,0,0,14.77,14.66,14.82
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$GC,15153,0.62,194.6,2933,2471,2270,2376,356.6,13.3,709,15157,0.00,2.38,0.00,0.000,516,0.000,0.077,2944,1066,2323,2270,2376,0,0,0,0,0,0,15.10,14.57,15.14
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$GC,15599,0.62,197.1,2918,3873,2272,2375,308.0,14.4,741,15603,0.00,2.28,0.00,0.000,1030,0.000,0.051,2927,2474,2323,2272,2375,0,0,0,0,0,0,14.78,14.69,14.82
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$STATE,18584,end climb,SURFACE_DEPTH_REACHED
$STATE,18584,begin surface coast
$STATE,18609,end surface coast,CONTROL_FINISHED_OK
$STATE,18609,begin surface
$SM_CCo,18692,0.00,0.000,0,0,682,599.76
$SM_GC,3.51,8.00,0.28,0.00,0.047,0.086,0.000,37,2674,682,-8.30,-0.93,599.76,0,0,0,0,0,0,14.65,14.71,14.74
$IRIDIUM_FIX,749.46,8439.46,091015,035803
$TT8_MAMPS,0.02247,0.02247
$HUMID,47.75
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,13.02,74.653
$10V_AH,12.74,0.000
$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,22.500,154.050,589.300,0.000,0.000,0.000,0.000,211.200,0.000,0.000,60.657,653.600,15122.341,611.399,2085.627,596.619,0.000,1795.251,0.000,1436.532,0.000,0.543,0.000
$DEVICE_MAMPS,410.040,100.215,2171.070,0.000,0.000,0.000,0.000,237.915,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,982.496,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260204
$DATA_FILE_SIZE,43414,1001
$CAP_FILE_SIZE,158243,0
$CFSIZE,260034560,232972288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134,141.53,1
$GPS,091015,144115,752.906,8434.729,192,2.2,232,-2.0,0.3,40.5,5,17.8