version: 66.09
glider: 167
mission: 8
dive: 257
start: 8 5 111 3 21 32
data:
$ID,167
$MISSION,8
$DIVE,257
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$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,340
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,51876
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,400
$N_FILEKB,8
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56710.586
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1875
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,78
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$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,-16.233358
$PRESSURE_SLOPE,0.0001158971
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043379883
$SEABIRD_T_H,0.00063236553
$SEABIRD_T_I,2.4503992e-05
$SEABIRD_T_J,2.6444222e-06
$SEABIRD_C_G,-9.8845854
$SEABIRD_C_H,1.1045586
$SEABIRD_C_I,-0.0015691385
$SEABIRD_C_J,0.00020000842
$GPS1,050811,030437,1924.399,12316.300,42,1.3,43,-2.3
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-61.2
$GPS2,050811,032106,1924.395,12315.935,13,1.5,29,-2.3
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.013,-0.305
$KALMAN_X,-1531.9,-192.4,226.3,5724.7,67.3
$KALMAN_Y,11735.9,46.7,-129.6,-54154.7,2747.8
$MHEAD_RNG_PITCHd_Wd,77.6,145515,-15.3,-9.706
$D_GRID,4776
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.62,-194.6,0.0,0.0,0,108,0.00,0.00,-87.88,0.000,2,0.000,0.000,108,1909,3088,0,0,0,0,0,0
$GC,113,-0.62,-194.6,5.5,-7.6,12,138,9.93,2.10,-8.88,0.000,4,0.228,0.043,2583,3286,3635,0,0,0,0,0,0
$GC,316,-0.62,-194.6,76.8,-24.5,47,324,0.00,2.05,0.00,0.000,6,0.000,0.020,2583,1876,3637,0,0,0,0,0,0
$GC,391,-0.62,-194.6,91.8,-18.2,60,400,0.00,2.03,0.00,0.000,4,0.000,0.028,2582,491,3637,0,0,0,0,0,0
$GC,416,-0.62,-194.6,96.2,-17.0,63,424,0.00,1.95,0.00,0.000,6,0.000,0.019,2575,1844,3637,0,0,0,0,0,0
$GC,492,-0.62,-194.6,110.1,-18.9,76,500,0.00,2.10,0.00,0.000,4,0.000,0.031,2564,3258,3637,0,0,0,0,0,0
$GC,574,-0.62,-194.6,125.5,-20.0,90,582,0.08,1.92,0.00,0.000,6,0.153,0.018,2588,1899,3638,0,0,0,0,0,0
$GC,650,-0.62,-194.6,140.0,-17.5,103,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1898,3638,0,0,0,0,0,0
$GC,726,-0.62,-194.6,152.8,-16.9,116,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1898,3638,0,0,0,0,0,0
$GC,804,-0.62,-194.6,165.8,-17.0,129,812,0.00,2.03,0.00,0.000,4,0.000,0.028,2588,515,3638,0,0,0,0,0,0
$GC,860,-0.62,-194.6,175.3,-16.0,138,869,0.00,2.20,0.00,0.000,6,0.000,0.021,2587,2023,3638,0,0,0,0,0,0
$GC,939,-0.62,-194.6,185.9,-13.1,151,948,0.00,1.83,0.00,0.000,4,0.000,0.033,2587,3257,3638,0,0,0,0,0,0
$GC,975,-0.62,-194.6,190.1,-12.4,156,983,0.00,1.60,0.00,0.000,6,0.000,0.018,2587,2098,3638,0,0,0,0,0,0
$GC,1052,-0.62,-194.6,200.0,-12.5,169,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2097,3638,0,0,0,0,0,0
$GC,1381,-0.62,-194.6,242.6,-13.4,200,1385,0.00,2.28,0.00,0.000,4,0.000,0.028,2587,514,3637,0,0,0,0,0,0
$GC,1489,-0.62,-194.6,258.5,-15.0,209,1494,0.00,2.42,0.00,0.000,6,0.000,0.022,2587,2168,3636,0,0,0,0,0,0
$GC,1819,-0.62,-194.6,308.5,-14.3,240,1824,0.00,1.62,0.00,0.000,4,0.000,0.035,2587,3266,3634,0,0,0,0,0,0
$GC,1858,-0.62,-194.6,313.9,-13.6,243,1866,0.00,1.48,0.00,0.000,6,0.000,0.018,2587,2200,3634,0,0,0,0,0,0
$GC,2185,-0.62,-194.6,343.9,-8.3,274,2189,0.00,2.45,0.00,0.000,4,0.000,0.027,2587,510,3632,0,0,0,0,0,0
$GC,2304,-0.62,-194.6,354.8,-9.5,284,2308,0.00,2.42,0.00,0.000,6,0.000,0.022,2586,2193,3632,0,0,0,0,0,0
$GC,2629,-0.62,-194.6,390.1,-12.2,314,2634,0.00,1.58,0.00,0.000,4,0.000,0.035,2586,3257,3629,0,0,0,0,0,0
$GC,2677,-0.62,-194.6,395.3,-11.6,318,2681,0.00,1.45,0.00,0.000,6,0.000,0.018,2586,2213,3629,0,0,0,0,0,0
$GC,3008,-0.62,-194.6,432.1,-10.1,349,3012,0.00,2.47,0.00,0.000,4,0.000,0.028,2586,511,3627,0,0,0,0,0,0
$GC,3184,-0.62,-194.6,448.3,-8.3,364,3189,0.00,2.40,0.00,0.000,6,0.000,0.022,2587,2141,3625,0,0,0,0,0,0
$GC,3515,-0.62,-194.6,477.2,-9.9,395,3519,0.00,2.40,0.00,0.000,4,0.000,0.027,2586,510,3623,0,0,0,0,0,0
$GC,3545,-0.62,-194.6,480.1,-10.0,397,3549,0.00,2.38,0.00,0.000,6,0.000,0.021,2586,2141,3623,0,0,0,0,0,0
$GC,3882,-0.62,-194.6,512.8,-9.5,422,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2141,3620,0,0,0,0,0,0
$GC,4189,-0.62,-194.6,542.7,-9.8,437,4193,0.00,1.62,0.00,0.000,4,0.000,0.037,2586,3259,3618,0,0,0,0,0,0
$GC,4261,-0.62,-194.6,549.8,-9.1,440,4266,0.00,1.58,0.00,0.000,6,0.000,0.020,2586,2152,3618,0,0,0,0,0,0
$GC,4588,-0.62,-194.6,582.2,-10.4,456,4592,0.00,2.40,0.00,0.000,4,0.000,0.029,2586,515,3615,0,0,0,0,0,0
$GC,4667,-0.62,-194.6,590.9,-11.1,459,4674,0.00,2.30,0.00,0.000,6,0.000,0.023,2586,2079,3614,0,0,0,0,0,0
$GC,4983,-0.62,-194.6,625.3,-10.4,475,4987,0.00,2.33,0.00,0.000,4,0.000,0.028,2586,510,3612,0,0,0,0,0,0
$GC,5056,-0.62,-194.6,633.4,-10.9,478,5060,0.00,2.25,0.00,0.000,6,0.000,0.023,2586,2055,3611,0,0,0,0,0,0
$GC,5373,-0.62,-194.6,663.2,-8.7,493,5376,0.00,1.80,0.00,0.000,4,0.000,0.037,2586,3263,3608,0,0,0,0,0,0
$GC,5442,-0.62,-194.6,668.5,-7.6,496,5445,0.00,1.67,0.00,0.000,6,0.000,0.020,2586,2063,3608,0,0,0,0,0,0
$GC,5775,-0.62,-194.6,689.9,-5.9,512,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2062,3606,0,0,0,0,0,0
$GC,6084,-0.62,-194.6,708.8,-6.3,527,6089,0.00,1.83,0.00,0.000,4,0.000,0.038,2586,3251,3604,0,0,0,0,0,0
$GC,6118,-0.62,-194.6,710.9,-6.5,528,6122,0.00,1.62,0.00,0.000,6,0.000,0.019,2586,2111,3604,0,0,0,0,0,0
$GC,6441,-0.62,-194.6,733.2,-7.5,544,6445,0.00,2.33,0.00,0.000,4,0.000,0.029,2586,515,3601,0,0,0,0,0,0
$GC,6581,-0.62,-194.6,745.3,-8.4,550,6586,0.00,2.22,0.00,0.000,6,0.000,0.023,2585,2044,3600,0,0,0,0,0,0
$GC,6899,-0.62,-194.6,768.1,-6.8,565,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2045,3599,0,0,0,0,0,0
$GC,7207,-0.62,-194.6,787.8,-6.4,580,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2045,3598,0,0,0,0,0,0
$GC,7518,-0.62,-194.6,808.6,-6.9,595,7521,0.00,1.80,0.00,0.000,4,0.000,0.038,2585,3260,3595,0,0,0,0,0,0
$GC,7557,-0.62,-194.6,811.7,-7.0,596,7564,0.00,1.73,0.00,0.000,6,0.000,0.019,2585,2028,3595,0,0,0,0,0,0
$GC,7874,-0.62,-194.6,834.8,-7.5,612,7878,0.00,2.25,0.00,0.000,4,0.000,0.030,2584,520,3593,0,0,0,0,0,0
$GC,7921,-0.62,-194.6,838.4,-7.8,614,7926,0.00,2.25,0.00,0.000,6,0.000,0.025,2584,2026,3593,0,0,0,0,0,0
$GC,8254,-0.62,-194.6,862.9,-7.2,630,8258,0.00,1.85,0.00,0.000,4,0.000,0.040,2584,3254,3592,0,0,0,0,0,0
$GC,8325,-0.62,-194.6,867.6,-6.8,633,8329,0.00,1.65,0.00,0.000,6,0.000,0.020,2584,2062,3591,0,0,0,0,0,0
$GC,8658,-0.62,-194.6,889.8,-6.4,649,8663,0.00,2.30,0.00,0.000,4,0.000,0.029,2584,520,3590,0,0,0,0,0,0
$GC,8691,-0.62,-194.6,892.2,-6.5,650,8695,0.00,2.28,0.00,0.000,6,0.000,0.024,2584,2056,3590,0,0,0,0,0,0
$GC,9009,-0.62,-194.6,911.2,-5.8,665,9010,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2056,3589,0,0,0,0,0,0
$GC,9317,-0.62,-194.6,928.2,-5.5,680,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2056,3588,0,0,0,0,0,0
$GC,9626,-0.62,-194.6,946.1,-6.1,695,9631,0.00,1.83,0.00,0.000,4,0.000,0.041,2584,3248,3586,0,0,0,0,0,0
$GC,9655,-0.62,-194.6,947.9,-6.1,696,9658,0.00,1.67,0.00,0.000,6,0.000,0.019,2584,2041,3586,0,0,0,0,0,0
$GC,9983,-0.62,-194.6,967.7,-6.3,712,9984,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2040,3585,0,0,0,0,0,0
$GC,10294,-0.62,-194.6,987.5,-6.4,727,10298,0.00,2.25,0.00,0.000,4,0.000,0.029,2585,519,3584,0,0,0,0,0,0
$GC,10322,-0.62,-194.6,989.6,-6.5,728,10326,0.00,2.22,0.00,0.000,6,0.000,0.024,2584,2024,3585,0,0,0,0,0,0
$STATE,10347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10347,begin apogee
$GC,10352,-0.20,0.0,991.4,7.0,729,10510,0.43,0.00,152.52,1.407,4,0.120,0.000,2727,2024,2839,0,0,0,0,0,0
$STATE,10510,end apogee,CONTROL_FINISHED_OK
$STATE,10510,begin climb
$GC,10513,0.62,194.6,996.3,0.0,736,10691,0.75,2.12,170.55,1.346,4,0.079,0.031,2995,722,2045,0,0,0,0,0,0
$GC,10854,0.62,194.6,964.3,11.1,752,10858,0.00,2.08,0.00,0.000,6,0.000,0.024,2995,2067,2035,0,0,0,0,0,0
$GC,11188,0.62,194.6,930.1,9.7,768,11192,0.00,2.05,0.00,0.000,4,0.000,0.031,3002,721,2030,0,0,0,0,0,0
$GC,11440,0.62,194.6,904.8,10.4,779,11444,0.00,2.00,0.00,0.000,6,0.000,0.024,3002,2080,2030,0,0,0,0,0,0
$GC,11769,0.62,194.6,867.7,11.7,795,11773,0.00,2.05,0.00,0.000,4,0.000,0.031,3009,714,2028,0,0,0,0,0,0
$GC,11819,0.62,194.6,861.2,12.1,797,11823,0.00,2.00,0.00,0.000,6,0.000,0.024,3009,2056,2028,0,0,0,0,0,0
$GC,12148,0.62,194.6,818.4,13.6,813,12153,0.00,2.17,0.00,0.000,4,0.000,0.039,3008,3468,2027,0,0,0,0,0,0
$GC,12171,0.62,194.6,815.0,13.4,814,12175,0.00,2.08,0.00,0.000,6,0.000,0.022,3018,2051,2027,0,0,0,0,0,0
$GC,12499,0.62,194.6,768.3,14.1,830,12503,0.00,2.03,0.00,0.000,4,0.000,0.034,3026,686,2026,0,0,0,0,0,0
$GC,12579,0.62,194.6,756.9,13.9,833,12583,0.00,2.00,0.00,0.000,6,0.000,0.024,3026,2023,2026,0,0,0,0,0,0
$GC,12900,0.62,194.6,713.4,12.8,849,12904,0.00,2.20,0.00,0.000,4,0.000,0.038,3026,3473,2026,0,0,0,0,0,0
$GC,12964,0.62,194.6,705.2,13.2,852,12969,0.10,2.15,0.00,0.000,6,0.150,0.021,3002,2013,2026,0,0,0,0,0,0
$GC,13299,0.63,202.8,672.1,9.4,868,13306,0.00,0.00,5.15,0.911,6,0.000,0.000,3002,2014,2012,0,0,0,0,0,0
$GC,13606,0.63,204.8,642.1,9.6,883,13611,0.00,2.25,0.00,0.000,4,0.000,0.037,3002,3466,2011,0,0,0,0,0,0
$GC,13690,0.63,204.8,632.5,11.6,886,13697,0.00,2.05,0.00,0.000,6,0.000,0.021,3009,2064,2010,0,0,0,0,0,0
$GC,14007,0.63,204.8,597.4,11.1,902,14012,0.00,2.05,0.00,0.000,4,0.000,0.033,3018,695,2010,0,0,0,0,0,0
$GC,14109,0.63,204.8,585.5,11.7,906,14113,0.00,1.95,0.00,0.000,6,0.000,0.024,3018,2039,2010,0,0,0,0,0,0
$GC,14430,0.63,204.8,550.4,10.4,922,14434,0.00,2.12,0.00,0.000,4,0.000,0.038,3018,3461,2010,0,0,0,0,0,0
$GC,14508,0.63,204.8,541.3,11.5,925,14516,0.00,2.08,0.00,0.000,6,0.000,0.021,3028,2028,2009,0,0,0,0,0,0
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$GC,14909,0.63,204.8,498.7,11.0,944,14917,0.12,2.03,0.00,0.000,6,0.171,0.021,3004,2066,2009,0,0,0,0,0,0
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$GC,17884,0.79,333.0,146.1,14.4,1257,17893,0.00,2.22,0.00,0.000,4,0.000,0.034,3063,3470,1479,0,0,0,0,0,0
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$STATE,19222,end climb,SURFACE_DEPTH_REACHED
$STATE,19222,begin surface coast
$FINISH,0.8,0.997447
$STATE,19253,end surface coast,CONTROL_FINISHED_OK
$STATE,19254,begin surface
$SM_CCo,19332,0.00,0.000,0,0,758,510.22
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$IRIDIUM_FIX,1916.08,12315.42,050811,030320
$TT8_MAMPS,0.027713,0.027713
$HUMID,36.53
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,27.20
$XPDR_PINGS,64
$24V_AH,22.8,46.000
$10V_AH,9.9,42.149
$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,19.675,192.375,587.250,0.000,0.000,55.833,67.002,597.939,16.000,0.000,30.096,3756.782,10966.568,706.858,3897.805,973.895,0.000,2341.729,0.000,3491.426,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,42.840,1406.835,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1005.471,1121.535,1358.394,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329816
$DATA_FILE_SIZE,86854,1478
$CAP_FILE_SIZE,214688,0
$CFSIZE,260165632,117346304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.182,301.4,1
$GPS,050811,084506,1926.056,12316.688,37,1.1,43,-2.3