version: 66.12
glider: 141
mission: 23
dive: 344
start: 11 3 115 8 17 37
data:
$ID,141
$MISSION,23
$DIVE,344
$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,-2
$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,43
$R_STBD_OVSHOOT,58
$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
$GPS1,031115,081045,752.7457,8228.4717,138,99.0,178,-2.2,0.5,233.6,3,-1.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.43
$_SM_ANGLEo,-71.5
$GPS2,031115,081703,752.7519,8228.4111,37,1.7,72,-2.2,0.3,259.5,7,8.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,W1
$TGT_LATLONG,800.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,79.4,278334,-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,-194.6,10,2677,906,1033,0.0,0.0,0,128,0.00,0.00,-97.90,0.000,16386,0.000,0.000,7,2677,3666,3744,3589,0,0,0,0,0,0,14.92,28.83,14.96
$GC,134,-0.62,-194.6,6,2678,3744,3591,5.4,-4.4,10,156,12.32,2.22,-3.47,0.000,18692,0.414,0.085,2501,4025,3923,4004,3843,0,0,0,0,0,0,14.21,13.70,14.64
$GC,377,-0.62,-194.6,2501,4025,4003,3849,86.8,-27.6,59,383,0.00,2.15,0.00,0.000,1030,0.000,0.034,2500,2649,3926,4003,3849,0,0,0,0,0,0,14.81,14.74,14.83
$GC,687,-0.62,-194.6,2500,2648,4003,3853,139.7,-13.5,76,693,0.00,2.20,0.00,0.000,516,0.000,0.051,2501,1252,3928,4003,3853,0,0,0,0,0,0,15.09,14.70,15.12
$GC,732,-0.62,-194.6,2500,1252,4004,3853,145.9,-13.7,85,738,0.00,2.22,0.00,0.000,1030,0.000,0.053,2491,2632,3928,4003,3854,0,0,0,0,0,0,14.84,14.73,14.87
$GC,1049,-0.62,-194.6,2491,2631,4003,3855,186.1,-11.8,103,1054,0.00,2.33,0.00,0.000,260,0.000,0.078,2480,4029,3929,4004,3855,0,0,0,0,0,0,15.11,14.66,15.15
$GC,1201,-0.62,-194.6,2480,4029,4002,3855,205.7,-12.5,133,1209,0.10,2.17,0.00,0.000,3078,0.206,0.031,2510,2631,3929,4003,3855,0,0,0,0,0,0,14.50,14.83,14.63
$GC,1509,-0.62,-194.6,2509,2631,3999,3855,238.8,-10.5,150,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2631,3927,3999,3855,0,0,0,0,0,0,15.13,15.17,15.16
$GC,1814,-0.62,-194.6,2509,2631,3995,3855,266.9,-9.1,159,1819,0.00,2.17,0.00,0.000,516,0.000,0.052,2510,1258,3925,3995,3855,0,0,0,0,0,0,15.13,14.73,15.16
$GC,1853,-0.62,-194.6,2509,1258,3994,3855,270.8,-9.0,167,1858,0.00,2.22,0.00,0.000,1030,0.000,0.054,2505,2644,3924,3993,3855,0,0,0,0,0,0,14.78,14.73,14.83
$GC,2174,-0.62,-194.6,2505,2643,3989,3855,298.2,-8.5,176,2179,0.00,2.30,0.00,0.000,260,0.000,0.082,2494,4029,3921,3988,3855,0,0,0,0,0,0,15.15,14.65,15.19
$GC,2258,-0.62,-194.6,2494,4029,3988,3855,305.8,-9.1,193,2264,0.00,2.12,0.00,0.000,1030,0.000,0.033,2494,2646,3921,3988,3855,0,0,0,0,0,0,14.83,14.79,14.85
$GC,2597,-0.62,-194.6,2494,2646,3981,3855,336.0,-9.2,205,2603,0.00,2.20,0.00,0.000,516,0.000,0.053,2494,1257,3918,3981,3855,0,0,0,0,0,0,15.13,14.70,15.16
$GC,2692,-0.62,-194.6,2494,1257,3981,3855,346.3,-10.8,224,2697,0.00,2.28,0.00,0.000,1030,0.000,0.055,2490,2657,3917,3980,3855,0,0,0,0,0,0,14.85,14.75,14.89
$GC,3018,-0.62,-194.6,2489,2657,3974,3855,381.4,-10.9,234,3023,0.00,2.33,0.00,0.000,260,0.000,0.083,2478,4040,3914,3974,3855,0,0,0,0,0,0,15.15,14.67,15.18
$GC,3041,-0.62,-194.6,2479,4040,3974,3853,384.1,-11.3,238,3046,0.15,2.17,0.00,0.000,3078,0.220,0.034,2516,2642,3914,3974,3854,0,0,0,0,0,0,14.54,14.82,14.76
$GC,3391,-0.62,-194.6,2515,2643,3969,3854,412.9,-8.1,251,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2643,3911,3969,3853,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3686,-0.62,-194.6,2515,2643,3966,3852,435.7,-7.6,256,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2642,3909,3966,3852,0,0,0,0,0,0,15.16,15.19,15.19
$GC,3987,-0.62,-194.6,2515,2643,3962,3850,457.7,-7.2,261,3993,0.00,2.22,0.00,0.000,516,0.000,0.055,2516,1254,3905,3961,3850,0,0,0,0,0,0,15.15,14.66,15.18
$GC,4021,-0.62,-194.6,2515,1255,3961,3850,460.4,-7.8,268,4027,0.00,2.30,0.00,0.000,1030,0.000,0.057,2513,2655,3905,3961,3850,0,0,0,0,0,0,14.83,14.71,14.86
$GC,4347,-0.62,-194.6,2513,2655,3959,3848,484.4,-7.4,278,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2655,3903,3959,3848,0,0,0,0,0,0,15.15,15.19,15.18
$GC,4649,-0.62,-194.6,2513,2655,3957,3847,507.5,-7.6,283,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2655,3902,3957,3847,0,0,0,0,0,0,15.14,15.18,15.17
$GC,4947,-0.62,-194.6,2513,2655,3955,3846,532.8,-8.5,288,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2655,3900,3954,3846,0,0,0,0,0,0,15.15,15.19,15.18
$GC,5248,-0.62,-194.6,2513,2655,3952,3844,560.1,-9.1,293,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2655,3897,3951,3844,0,0,0,0,0,0,15.14,15.19,15.18
$GC,5547,-0.62,-194.6,2513,2655,3950,3843,588.0,-9.3,298,5552,0.00,2.28,0.00,0.000,516,0.000,0.057,2513,1261,3896,3949,3843,0,0,0,0,0,0,15.16,14.69,15.19
$GC,5596,-0.62,-194.6,2513,1260,3949,3843,592.6,-9.5,307,5601,0.00,2.28,0.00,0.000,1030,0.000,0.060,2512,2651,3896,3949,3843,0,0,0,0,0,0,14.67,14.61,14.71
$GC,5916,-0.62,-194.6,2511,2651,3948,3841,619.1,-8.3,315,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2651,3894,3948,3841,0,0,0,0,0,0,15.11,15.15,15.14
$GC,6211,-0.62,-194.6,2511,2651,3947,3839,642.4,-7.7,320,6217,0.00,2.38,0.00,0.000,260,0.000,0.090,2501,4041,3892,3946,3839,0,0,0,0,0,0,15.14,14.50,15.18
$GC,6241,-0.62,-194.6,2501,4040,3946,3838,644.9,-8.2,326,6246,0.00,2.20,0.00,0.000,1030,0.000,0.037,2501,2648,3892,3946,3839,0,0,0,0,0,0,14.83,14.75,14.85
$GC,6579,-0.62,-194.6,2501,2648,3944,3838,669.8,-7.3,337,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2648,3891,3944,3838,0,0,0,0,0,0,15.11,15.15,15.14
$GC,6875,-0.62,-194.6,2501,2648,3942,3837,692.8,-7.7,342,6879,0.00,2.28,0.00,0.000,516,0.000,0.059,2501,1255,3890,3943,3837,0,0,0,0,0,0,15.14,14.64,15.17
$GC,6925,-0.62,-194.6,2501,1255,3942,3837,697.1,-9.0,351,6930,0.00,2.30,0.00,0.000,1030,0.000,0.063,2501,2644,3889,3942,3837,0,0,0,0,0,0,14.62,14.54,14.67
$GC,7240,-0.62,-194.6,2501,2644,3941,3836,722.4,-8.1,357,7246,0.00,2.38,0.00,0.000,260,0.000,0.093,2490,4035,3888,3940,3836,0,0,0,0,0,0,15.14,14.45,15.17
$GC,7284,-0.62,-194.6,2490,4035,3940,3835,726.1,-8.0,366,7289,0.00,2.20,0.00,0.000,1030,0.000,0.038,2490,2651,3887,3940,3835,0,0,0,0,0,0,14.80,14.72,14.83
$GC,7967,-0.62,-194.6,2490,2651,3938,3834,779.4,-7.9,386,7972,0.00,2.30,0.00,0.000,516,0.000,0.063,2490,1254,3886,3938,3834,0,0,0,0,0,0,15.10,14.59,15.14
$GC,8005,-0.62,-194.6,2490,1254,3938,3834,782.9,-7.8,393,8013,0.12,2.35,0.00,0.000,3078,0.230,0.064,2511,2658,3885,3937,3834,0,0,0,0,0,0,14.39,14.59,14.62
$GC,8697,-0.62,-194.6,2511,2658,3936,3831,825.2,-6.0,415,8702,0.00,2.38,0.00,0.000,260,0.000,0.096,2503,4036,3883,3935,3831,0,0,0,0,0,0,15.10,14.39,15.14
$GC,8731,-0.62,-194.6,2502,4036,3935,3831,827.9,-6.8,422,8735,0.00,2.22,0.00,0.000,1030,0.000,0.040,2503,2648,3883,3935,3831,0,0,0,0,0,0,14.77,14.69,14.80
$GC,9425,-0.62,-194.6,2503,2648,3932,3830,879.9,-7.8,444,9430,0.00,2.30,0.00,0.000,516,0.000,0.065,2502,1254,3881,3932,3830,0,0,0,0,0,0,15.09,14.47,15.12
$GC,9514,-0.62,-194.6,2503,1255,3932,3829,887.8,-8.1,462,9519,0.00,2.35,0.00,0.000,1030,0.000,0.067,2498,2649,3881,3932,3830,0,0,0,0,0,0,14.68,14.54,14.73
$GC,10148,-0.62,-194.6,2497,2648,3931,3829,938.2,-7.9,473,10154,0.00,2.40,0.00,0.000,260,0.000,0.098,2487,4032,3879,3930,3829,0,0,0,0,0,0,15.13,14.34,15.16
$GC,10183,-0.62,-194.6,2487,4032,3930,3829,941.2,-9.7,480,10189,0.00,2.22,0.00,0.000,1030,0.000,0.043,2487,2652,3880,3931,3829,0,0,0,0,0,0,14.73,14.64,14.76
$STATE,10744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10744,begin apogee
$GC,10755,-0.20,0.0,2487,2463,3929,3828,991.8,-9.0,501,10916,0.55,0.00,158.20,2.218,10246,0.176,0.000,2645,2463,3126,3061,3191,0,0,0,0,0,0,14.29,14.04,13.04
$STATE,10918,end apogee,CONTROL_FINISHED_OK
$STATE,10918,begin climb
$GC,10922,0.62,194.6,2644,2462,3060,3189,997.8,0.0,502,11093,0.82,0.00,166.05,2.161,11014,0.118,0.000,2909,2463,2332,2241,2423,0,0,0,0,0,0,14.06,13.74,12.80
$GC,11592,0.62,194.6,2908,2463,2248,2403,939.2,10.5,531,11597,0.00,2.50,0.00,0.000,260,0.000,0.094,2909,3883,2325,2248,2403,0,0,0,0,0,0,14.88,14.51,14.91
$GC,11625,0.62,194.6,2908,3882,2253,2395,934.7,13.0,537,11631,0.00,2.30,0.00,0.000,1030,0.000,0.053,2919,2490,2324,2254,2395,0,0,0,0,0,0,14.71,14.62,14.73
$GC,12317,0.62,194.6,2919,2489,2253,2393,848.1,12.7,560,12318,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2490,2323,2253,2393,0,0,0,0,0,0,15.04,15.08,15.07
$GC,12917,0.62,194.6,2919,2490,2254,2392,770.3,12.9,565,12918,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2490,2323,2254,2392,0,0,0,0,0,0,15.08,15.12,15.11
$GC,13516,0.62,194.6,2919,2490,2254,2391,691.5,13.2,570,13522,0.00,2.40,0.00,0.000,260,0.000,0.094,2919,3872,2323,2256,2390,0,0,0,0,0,0,15.11,14.49,15.14
$GC,13540,0.62,194.6,2919,3872,2258,2386,688.0,13.4,575,13545,0.00,2.30,0.00,0.000,1030,0.000,0.053,2929,2466,2321,2258,2385,0,0,0,0,0,0,14.79,14.69,14.83
$GC,13880,0.62,194.6,2929,2466,2259,2385,639.8,14.3,587,13884,0.00,2.38,0.00,0.000,516,0.000,0.077,2940,1064,2321,2258,2385,0,0,0,0,0,0,15.10,14.59,15.14
$GC,13908,0.62,194.6,2940,1063,2260,2384,635.7,13.4,592,13914,0.00,2.38,0.00,0.000,1030,0.000,0.067,2940,2470,2321,2260,2383,0,0,0,0,0,0,14.75,14.62,14.81
$GC,14245,0.62,194.6,2939,2470,2260,2384,588.0,14.1,604,14250,0.00,2.42,0.00,0.000,260,0.000,0.098,2939,3874,2322,2261,2383,0,0,0,0,0,0,15.10,14.46,15.14
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$GC,16240,0.62,194.6,2918,2471,2269,2376,340.5,10.7,725,16245,0.00,2.35,0.00,0.000,516,0.000,0.075,2928,1070,2323,2270,2376,0,0,0,0,0,0,15.11,14.47,15.14
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$GC,16964,0.62,194.6,2938,2465,2271,2375,253.9,12.3,759,16966,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2465,2323,2271,2375,0,0,0,0,0,0,15.11,15.14,15.14
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$STATE,19688,end climb,SURFACE_DEPTH_REACHED
$STATE,19688,begin surface coast
$STATE,19706,end surface coast,CONTROL_FINISHED_OK
$STATE,19706,begin surface
$SM_CCo,19789,0.00,0.000,0,0,752,582.59
$SM_GC,3.57,8.00,0.28,0.00,0.044,0.081,0.000,38,2676,752,-8.29,-0.93,582.59,0,0,0,0,0,0,14.69,14.77,14.78
$IRIDIUM_FIX,747.28,8228.21,031115,023354
$TT8_MAMPS,0.02247,0.02247
$HUMID,48.66
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,12.80,112.233
$10V_AH,12.62,0.000
$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,22.500,148.825,601.750,0.000,0.000,0.000,0.000,188.700,0.000,0.000,74.663,663.135,16124.163,635.663,2131.888,606.059,0.000,1805.688,0.000,1472.608,0.000,0.543,0.000
$DEVICE_MAMPS,413.865,97.920,2217.735,0.000,0.000,0.000,0.000,246.330,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1052.638,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,271732
$DATA_FILE_SIZE,43386,1022
$CAP_FILE_SIZE,163860,0
$CFSIZE,260034560,226131968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,230.06,1
$GPS,031115,135215,752.828,8230.859,205,99.0,245,-2.2,0.4,322.7,5,-1.0