version: 66.10
glider: 169
mission: 6
dive: 85
start: 5 5 112 4 11 37
data:
$ID,169
$MISSION,6
$DIVE,85
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$D_BOOST,110
$T_BOOST,4
$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,360
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$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,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$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,-15386.073
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2275
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,147.521
$AH0_10V,108.529
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-77.157478
$PRESSURE_SLOPE,0.000115925
$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,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,050512,040337,2319.931,12314.144,27,1.3,27,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-71.9
$GPS2,050512,041113,2319.983,12314.104,12,1.4,17,-3.2
$SPEED_LIMITS,0.159,0.302
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,99.5,88825,-13.6,-9.167
$D_GRID,3657
$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,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.61,-219.0,0.0,0.0,0,107,0.00,0.00,-87.25,0.000,2,0.000,0.000,118,2429,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.61,-219.0,3.6,-9.6,15,139,7.57,2.25,-11.43,0.000,4,0.226,0.038,2080,1026,3874,0,0,0,0,0,0,25.58,26.08,26.38
$GC,250,-0.57,-219.0,55.1,-19.4,40,257,0.00,2.45,0.00,0.000,6,0.000,0.034,2067,2528,3877,0,0,0,0,0,0,28.83,26.13,28.83
$GC,450,-0.48,-219.0,111.2,-32.4,77,458,0.15,2.38,0.00,0.000,4,0.189,0.023,2121,1028,3877,0,0,0,0,0,0,25.96,26.26,28.83
$GC,532,-0.48,-219.0,128.3,-14.1,92,539,0.00,2.35,0.00,0.000,6,0.000,0.031,2109,2494,3877,0,0,0,0,0,0,28.83,26.27,28.83
$GC,731,-0.43,-219.0,165.9,-20.0,129,738,0.00,2.03,0.00,0.000,4,0.000,0.039,2099,3825,3877,0,0,0,0,0,0,28.83,26.31,28.83
$GC,768,-0.39,-219.0,172.9,-19.4,135,775,0.15,2.08,0.00,0.000,6,0.119,0.020,2152,2421,3877,0,0,0,0,0,0,26.20,26.39,28.83
$GC,965,-0.39,-219.0,191.0,-8.0,172,971,0.00,2.12,0.00,0.000,4,0.000,0.025,2152,1040,3877,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1000,-0.42,-219.0,193.6,-7.2,178,1009,0.00,2.33,0.00,0.000,6,0.000,0.030,2150,2498,3877,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1197,-0.44,-219.0,206.6,-7.0,206,1201,0.00,2.00,0.00,0.000,4,0.000,0.041,2141,3821,3877,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1240,-0.46,-219.0,209.8,-7.4,210,1252,0.00,2.05,0.00,0.000,6,0.000,0.018,2141,2405,3877,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1550,-0.47,-219.0,236.0,-8.7,241,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2406,3877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1852,-0.48,-219.0,260.4,-8.0,271,1863,0.00,2.22,0.00,0.000,4,0.000,0.041,2131,3817,3877,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1896,-0.50,-219.0,264.0,-7.8,275,1907,0.00,2.03,0.00,0.000,6,0.000,0.019,2132,2420,3877,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2207,-0.50,-219.0,293.0,-9.7,306,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2420,3877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2509,-0.50,-219.0,322.0,-9.8,336,2517,0.00,2.12,0.00,0.000,4,0.000,0.025,2132,1037,3877,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2541,-0.51,-219.0,325.0,-8.6,339,2552,0.00,2.35,0.00,0.000,6,0.000,0.031,2130,2507,3877,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2851,-0.52,-219.0,350.6,-8.3,370,2860,0.00,2.03,0.00,0.000,4,0.000,0.044,2121,3816,3876,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2886,-0.54,-219.0,353.2,-8.3,373,2893,0.00,2.03,0.00,0.000,6,0.000,0.021,2120,2426,3875,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3195,-0.54,-219.0,382.0,-9.0,404,3199,0.00,2.12,0.00,0.000,4,0.000,0.026,2121,1040,3874,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3241,-0.55,-219.0,385.6,-8.5,408,3247,0.00,2.30,0.00,0.000,6,0.000,0.031,2113,2499,3874,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3548,-0.55,-219.0,416.1,-10.1,439,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2498,3873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3851,-0.55,-219.0,443.1,-8.0,469,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2498,3872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4160,-0.55,-219.0,470.2,-9.3,500,4169,0.00,2.25,0.00,0.000,4,0.000,0.025,2113,1038,3871,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4193,-0.56,-219.0,473.3,-8.9,503,4202,0.00,2.30,0.00,0.000,6,0.000,0.033,2111,2483,3870,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4504,-0.57,-219.0,500.3,-8.4,534,4513,0.00,2.05,0.00,0.000,4,0.000,0.043,2101,3824,3869,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4549,-0.58,-219.0,503.9,-8.4,538,4558,0.00,2.08,0.00,0.000,6,0.000,0.020,2101,2403,3868,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4857,-0.58,-219.0,531.1,-8.6,569,4866,0.00,2.10,0.00,0.000,4,0.000,0.028,2101,1039,3867,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4900,-0.60,-219.0,534.7,-8.4,573,4909,0.00,2.33,0.00,0.000,6,0.000,0.033,2099,2490,3867,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5210,-0.60,-219.0,560.7,-9.0,604,5218,0.00,2.03,0.00,0.000,4,0.000,0.044,2089,3818,3865,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5252,-0.61,-219.0,564.6,-9.5,608,5261,0.00,2.08,0.00,0.000,6,0.000,0.021,2089,2412,3864,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5563,-0.61,-219.0,594.9,-9.9,639,5572,0.00,2.08,0.00,0.000,4,0.000,0.026,2089,1036,3862,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5587,-0.61,-219.0,597.2,-10.0,641,5594,0.00,2.33,0.00,0.000,6,0.000,0.034,2085,2493,3862,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5906,-0.60,-219.0,627.8,-9.8,659,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2493,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6204,-0.60,-219.0,658.7,-10.2,674,6210,0.00,2.28,0.00,0.000,4,0.000,0.028,2086,1032,3860,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6247,-0.60,-219.0,662.5,-9.8,676,6252,0.00,2.33,0.00,0.000,6,0.000,0.036,2085,2486,3859,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6569,-0.60,-219.0,690.1,-8.2,692,6574,0.00,2.03,0.00,0.000,4,0.000,0.047,2075,3809,3857,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6615,-0.60,-219.0,693.5,-8.3,694,6619,0.00,2.05,0.00,0.000,6,0.000,0.022,2076,2424,3856,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6923,-0.60,-219.0,723.1,-9.9,709,6928,0.00,2.10,0.00,0.000,4,0.000,0.029,2076,1046,3855,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6955,-0.60,-219.0,725.0,-10.0,710,6962,0.00,2.33,0.00,0.000,6,0.000,0.037,2067,2492,3854,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7262,-0.59,-219.0,758.4,-10.5,726,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2491,3852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7562,-0.58,-219.0,790.7,-11.0,741,7563,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2491,3850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7864,-0.57,-219.0,823.0,-10.7,756,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2491,3849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8162,-0.56,-219.0,853.6,-9.8,771,8163,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2491,3847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8463,-0.55,-219.0,883.5,-9.9,786,8464,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2491,3846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8762,-0.55,-219.0,911.8,-9.3,801,8768,0.10,2.10,0.00,0.000,4,0.156,0.045,2085,3825,3844,0,0,0,0,0,0,26.48,26.40,28.83
$GC,8784,-0.55,-219.0,913.6,-9.4,802,8788,0.00,2.08,0.00,0.000,6,0.000,0.023,2085,2430,3844,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9104,-0.56,-219.0,937.9,-7.6,818,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2429,3842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9404,-0.56,-219.0,960.8,-7.5,833,9409,0.00,2.25,0.00,0.000,4,0.000,0.047,2076,3818,3840,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9431,-0.57,-219.0,962.3,-7.5,834,9435,0.00,2.08,0.00,0.000,6,0.000,0.024,2076,2425,3840,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9738,-0.57,-219.0,988.7,-9.1,849,9743,0.00,2.15,0.00,0.000,4,0.000,0.031,2076,1044,3839,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,9755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9755,begin apogee
$GC,9763,-0.20,0.0,990.7,-9.2,850,9980,0.40,0.08,209.62,1.143,4,0.090,0.092,2212,2482,2973,0,0,0,0,0,0,26.27,24.65,23.96
$STATE,9981,end apogee,CONTROL_FINISHED_OK
$STATE,9981,begin climb
$GC,9983,0.61,219.0,1002.3,0.0,861,10221,0.65,2.38,227.68,1.121,4,0.031,0.029,2492,1054,2081,0,0,0,0,0,0,24.90,24.88,23.67
$GC,10308,0.56,219.0,957.4,18.4,877,10315,0.12,2.55,0.00,0.000,6,0.175,0.037,2461,2538,2050,0,0,0,0,0,0,24.98,25.15,28.83
$GC,10629,0.49,219.0,888.6,21.8,893,10634,0.00,2.38,0.00,0.000,4,0.000,0.029,2473,1070,2045,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10656,0.43,219.0,883.7,21.9,894,10661,0.20,2.53,0.00,0.000,6,0.161,0.038,2418,2566,2044,0,0,0,0,0,0,25.62,25.84,28.83
$GC,10966,0.39,219.0,829.9,16.9,909,10970,0.00,1.95,0.00,0.000,4,0.000,0.047,2418,3820,2043,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11122,0.35,219.0,803.0,18.1,916,11131,0.15,1.85,0.00,0.000,6,0.180,0.022,2388,2550,2041,0,0,0,0,0,0,25.86,26.17,28.83
$GC,11430,0.33,219.0,757.3,14.2,932,11435,0.00,1.95,0.00,0.000,4,0.000,0.045,2388,3813,2041,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11470,0.31,219.0,751.0,14.8,934,11475,0.00,1.85,0.00,0.000,6,0.000,0.022,2397,2559,2040,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11791,0.29,219.0,706.9,12.7,950,11796,0.00,1.98,0.00,0.000,4,0.000,0.045,2398,3826,2040,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11812,0.26,219.0,704.1,12.9,951,11817,0.17,1.83,0.00,0.000,6,0.158,0.023,2357,2570,2040,0,0,0,0,0,0,26.01,26.32,28.83
$GC,12125,0.28,231.0,675.3,8.8,967,12130,0.00,2.40,0.00,0.000,4,0.000,0.034,2370,1074,2039,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12179,0.31,250.6,671.9,8.6,969,12225,0.00,2.53,38.78,0.838,6,0.000,0.035,2370,2595,1953,0,0,0,0,0,0,28.83,26.29,25.09
$GC,12527,0.31,250.6,637.0,9.4,987,12532,0.00,2.53,0.00,0.000,4,0.000,0.031,2382,1071,1933,0,0,0,0,0,0,28.83,26.04,28.83
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$GC,14049,0.47,347.0,493.5,8.3,1119,14090,0.12,2.62,34.12,0.812,4,0.073,0.031,2476,1075,1555,0,0,1,0,0,0,26.01,25.46,24.77
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$GC,15164,0.51,411.2,351.7,7.4,1229,15234,0.10,2.55,62.10,0.736,4,0.092,0.028,2482,1078,1289,0,0,0,0,0,0,26.37,25.49,24.87
$GC,15249,0.47,411.2,338.8,18.5,1237,15258,0.15,2.53,0.00,0.000,6,0.123,0.034,2431,2567,1277,0,0,0,0,0,0,25.45,25.57,28.83
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$STATE,17619,end climb,SURFACE_DEPTH_REACHED
$STATE,17620,begin surface coast
$FINISH,0.5,1.022230
$STATE,17636,end surface coast,CONTROL_FINISHED_OK
$STATE,17637,begin surface
$SM_CCo,17716,0.00,0.000,0,0,820,529.60
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$IRIDIUM_FIX,2309.79,12308.22,040512,232321
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.55
$INTERNAL_PRESSURE,8.25583
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,23.7,17.197
$10V_AH,10.3,9.394
$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,17.175,180.800,782.050,0.000,0.000,26.936,20.964,254.435,0.000,0.000,18.322,4187.032,9435.021,921.237,3164.781,431.121,0.000,2506.468,0.000,2696.549,0.000,0.542,0.000
$DEVICE_MAMPS,225.675,91.800,1142.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1077.441,2074.818,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330336
$DATA_FILE_SIZE,100205,1591
$CAP_FILE_SIZE,199225,0
$CFSIZE,260165632,213753856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.260,300.4,1
$GPS,050512,090801,2320.783,12316.967,39,1.3,39,-3.2