version: 66.11
glider: 170
mission: 10
dive: 503
start: 2 15 113 1 29 30
data:
$ID,170
$MISSION,10
$DIVE,503
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,20
$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,310
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,15
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,51760
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-143943.8
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,3035
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,25
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2160
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,81
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2853
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,21.5
$MINV_10V,8.8000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.120956
$PRESSURE_SLOPE,0.0001164274
$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,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$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,0.0043559377
$SEABIRD_T_H,0.00062550703
$SEABIRD_T_I,2.3551509e-05
$SEABIRD_T_J,2.509174e-06
$SEABIRD_C_G,-10.138787
$SEABIRD_C_H,1.1450038
$SEABIRD_C_I,-0.0015582878
$SEABIRD_C_J,0.00020114503
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,150213,012205,2147.186,11952.783,37,0.7,37,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-75.2
$GPS2,150213,012900,2147.245,11952.801,17,0.9,17,-3.0
$SPEED_LIMITS,0.177,0.315
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$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,108.9,13063,-15.9,-10.215,-17.97
$D_GRID,2253
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.61,-194.6,0.0,0.0,0,85,0.00,0.00,-61.12,0.000,2,0.000,0.000,131,2465,2096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.61,-194.6,3.2,-1.4,4,160,11.60,1.17,-52.00,0.000,4,0.243,0.049,2830,1640,3646,0,0,0,0,0,0,25.08,26.12,26.58
$GC,223,-0.57,-194.6,16.7,-13.8,13,226,0.00,1.35,0.00,0.000,6,0.000,0.037,2830,2499,3647,0,0,0,0,0,0,28.83,26.03,28.83
$GC,523,-0.57,-194.6,57.9,-13.4,28,527,0.00,1.40,0.00,0.000,4,0.000,0.050,2830,3372,3647,0,0,0,0,0,0,28.83,25.91,28.83
$GC,580,-0.57,-194.6,65.6,-12.8,32,583,0.00,1.40,0.00,0.000,6,0.000,0.021,2830,2389,3646,0,0,0,0,0,0,28.83,26.34,28.83
$GC,884,-0.61,-194.6,99.5,-11.9,47,887,0.00,1.08,0.00,0.000,4,0.000,0.024,2830,1627,3647,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1060,-0.67,-194.6,118.8,-11.4,53,1063,0.00,1.20,0.00,0.000,6,0.000,0.037,2830,2395,3648,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1365,-0.75,-194.6,143.8,-8.0,63,1368,0.12,1.12,0.00,0.000,4,0.083,0.026,2757,1625,3648,0,0,0,0,0,0,26.41,26.26,28.83
$GC,1467,-0.77,-194.6,155.3,-10.8,67,1470,0.00,1.15,0.00,0.000,6,0.000,0.037,2757,2362,3649,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1786,-0.77,-194.6,188.6,-9.7,78,1790,0.10,1.08,0.00,0.000,4,0.159,0.024,2785,1617,3649,0,0,0,0,0,0,26.27,26.28,28.83
$GC,1872,-0.77,-194.6,194.7,-8.4,81,1875,0.00,1.17,0.00,0.000,6,0.000,0.036,2786,2371,3649,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2176,-0.80,-194.6,220.3,-8.6,91,2179,0.00,1.08,0.00,0.000,4,0.000,0.024,2785,1627,3649,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2234,-0.84,-194.6,224.8,-9.2,93,2237,0.00,1.12,0.00,0.000,6,0.000,0.058,2785,2341,3648,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2536,-0.89,-194.6,254.2,-8.6,103,2540,0.12,1.05,0.00,0.000,4,0.093,0.046,2729,1624,3648,0,0,0,0,0,0,26.40,25.20,28.83
$GC,2624,-0.89,-194.6,260.6,-8.4,106,2627,0.00,1.05,0.00,0.000,6,0.000,0.035,2726,2302,3648,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2924,-0.89,-194.6,290.3,-10.1,116,2927,0.00,0.98,0.00,0.000,4,0.000,0.024,2726,1611,3647,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2953,-0.89,-194.6,292.0,-10.4,117,2956,0.00,1.15,0.00,0.000,6,0.000,0.036,2725,2348,3647,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3255,-0.89,-194.6,327.8,-10.9,127,3258,0.00,1.05,0.00,0.000,4,0.000,0.023,2726,1620,3646,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3283,-0.89,-194.6,329.4,-10.7,128,3286,0.00,1.20,0.00,0.000,6,0.000,0.037,2726,2384,3646,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3585,-0.89,-194.6,360.9,-9.8,138,3588,0.00,1.10,0.00,0.000,4,0.000,0.023,2726,1625,3644,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3643,-0.89,-194.6,365.3,-9.8,140,3646,0.00,1.23,0.00,0.000,6,0.000,0.036,2726,2409,3644,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3944,-0.89,-194.6,394.6,-9.3,150,3947,0.00,1.15,0.00,0.000,4,0.000,0.023,2726,1625,3643,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3990,-0.89,-194.6,399.2,-9.7,152,3994,0.00,1.30,0.00,0.000,6,0.000,0.037,2726,2451,3642,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4304,-0.89,-194.6,433.8,-11.5,163,4307,0.00,1.20,0.00,0.000,4,0.000,0.023,2726,1627,3641,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4364,-0.89,-194.6,439.1,-11.8,165,4367,0.00,1.23,0.00,0.000,6,0.000,0.037,2726,2406,3640,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4664,-0.89,-194.6,474.9,-11.1,175,4667,0.00,1.58,0.00,0.000,4,0.000,0.050,2726,3382,3638,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4709,-0.89,-194.6,479.8,-10.9,177,4713,0.00,1.50,0.00,0.000,6,0.000,0.024,2726,2361,3638,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5028,-0.89,-194.6,512.0,-10.0,188,5031,0.00,1.67,0.00,0.000,4,0.000,0.050,2726,3369,3636,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5101,-0.89,-194.6,520.0,-10.5,191,5104,0.00,1.48,0.00,0.000,6,0.000,0.024,2726,2356,3636,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5416,-0.89,-194.6,552.7,-10.4,202,5419,0.00,1.02,0.00,0.000,4,0.000,0.024,2726,1620,3634,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5444,-0.89,-194.6,554.3,-10.3,203,5447,0.00,1.35,0.00,0.000,6,0.000,0.037,2726,2473,3634,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5745,-0.89,-194.6,586.1,-10.1,213,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2473,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6076,-0.89,-194.6,618.0,-9.6,221,6079,0.00,1.25,0.00,0.000,4,0.000,0.024,2726,1622,3631,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6149,-0.89,-194.6,622.4,-9.6,222,6153,0.00,1.30,0.00,0.000,6,0.000,0.037,2726,2444,3631,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6465,-0.89,-194.6,655.6,-9.6,228,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2445,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6766,-0.89,-194.6,684.0,-9.4,233,6769,0.00,1.20,0.00,0.000,4,0.000,0.024,2725,1625,3627,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6810,-0.89,-194.6,688.5,-9.6,234,6813,0.00,1.35,0.00,0.000,6,0.000,0.038,2726,2473,3627,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7155,-0.89,-194.6,720.7,-9.2,240,7158,0.00,1.25,0.00,0.000,4,0.000,0.024,2726,1625,3625,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7246,-0.89,-194.6,725.0,-9.3,241,7249,0.00,1.38,0.00,0.000,6,0.000,0.038,2726,2489,3624,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7545,-0.89,-194.6,758.3,-9.7,246,7548,0.00,1.27,0.00,0.000,4,0.000,0.024,2726,1625,3624,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7604,-0.89,-194.6,762.8,-9.7,247,7607,0.00,1.33,0.00,0.000,6,0.000,0.038,2726,2460,3623,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7937,-0.89,-194.6,796.6,-9.8,253,7940,0.00,1.25,0.00,0.000,4,0.000,0.025,2726,1615,3622,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7964,-0.89,-194.6,796.6,-9.8,253,7967,0.00,1.40,0.00,0.000,6,0.000,0.039,2729,2491,3622,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8265,-0.89,-194.6,829.4,-9.8,258,8268,0.00,1.27,0.00,0.000,4,0.000,0.024,2726,1628,3621,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8341,-0.89,-194.6,833.8,-9.8,259,8344,0.00,1.48,0.00,0.000,6,0.000,0.039,2726,2546,3621,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8655,-0.89,-194.6,867.0,-9.5,265,8658,0.00,1.38,0.00,0.000,4,0.000,0.024,2726,1627,3620,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8746,-0.89,-194.6,871.4,-9.6,266,8749,0.00,1.42,0.00,0.000,6,0.000,0.038,2726,2518,3621,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9045,-0.86,-194.6,907.7,-10.5,271,9049,0.12,1.40,0.00,0.000,4,0.167,0.051,2759,3379,3619,0,0,0,0,0,0,26.12,25.77,28.83
$GC,9104,-0.84,-194.6,912.0,-10.3,272,9107,0.00,1.30,0.00,0.000,6,0.000,0.028,2759,2526,3618,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9437,-0.86,-194.6,942.4,-8.6,278,9438,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2525,3617,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9552,begin apogee
$GC,9559,-0.17,0.0,952.7,-8.4,280,9734,0.65,0.00,169.62,1.466,4,0.102,0.000,2978,2136,2853,0,0,0,0,0,0,25.44,28.83,22.86
$STATE,9736,end apogee,CONTROL_FINISHED_OK
$STATE,9736,begin climb
$GC,9740,0.61,194.6,964.9,0.0,283,9931,0.70,1.55,183.75,1.424,4,0.059,0.046,3235,3038,2059,0,0,0,0,0,0,24.75,24.74,22.29
$GC,9947,0.53,240.2,959.8,8.6,286,9996,0.12,1.40,43.67,1.368,6,0.161,0.024,3209,2182,1873,0,0,0,0,0,0,24.33,24.60,22.48
$GC,10309,0.54,267.6,922.4,9.3,293,10338,0.00,1.42,25.25,1.355,4,0.000,0.034,3214,1282,1761,0,0,0,0,0,0,28.83,25.60,23.72
$GC,10364,0.55,298.6,918.4,9.1,294,10398,0.00,1.40,30.00,1.356,6,0.000,0.036,3214,2162,1635,0,0,0,0,0,0,28.83,25.82,23.55
$GC,10695,0.56,318.9,885.6,9.5,299,10723,0.00,1.42,19.60,1.327,4,0.000,0.046,3214,3033,1551,0,0,0,0,0,0,28.83,25.70,23.82
$GC,10816,0.57,332.2,873.4,9.7,301,10834,0.00,1.35,13.52,1.274,6,0.000,0.025,3214,2145,1498,0,0,0,0,0,0,28.83,26.15,23.89
$GC,11163,0.65,381.3,842.9,8.5,307,11219,0.00,1.35,46.33,1.369,4,0.000,0.033,3215,1298,1297,0,0,0,0,0,0,28.83,25.38,23.59
$GC,11251,0.75,430.6,837.8,8.5,308,11308,0.17,1.50,47.40,1.349,6,0.074,0.035,3298,2236,1096,0,0,0,0,0,0,25.77,25.77,23.47
$GC,11642,0.80,430.6,793.8,10.6,315,11646,0.00,1.45,0.00,0.000,4,0.000,0.031,3298,1295,1092,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11686,0.84,430.6,789.2,10.5,316,11690,0.00,1.65,0.00,0.000,6,0.000,0.036,3298,2337,1092,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12030,0.88,430.6,750.2,11.3,322,12034,0.00,1.62,0.00,0.000,4,0.000,0.030,3298,1286,1091,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12044,0.91,430.6,750.2,11.3,322,12047,0.00,1.48,0.00,0.000,6,0.000,0.036,3298,2219,1091,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12362,0.95,430.6,713.1,11.2,328,12365,0.12,1.27,0.00,0.000,4,0.091,0.044,3369,3034,1091,0,0,0,0,0,0,26.36,26.02,28.83
$GC,12419,0.95,430.6,706.3,11.8,329,12422,0.12,1.10,0.00,0.000,6,0.174,0.027,3341,2309,1091,0,0,0,0,0,0,25.84,26.29,28.83
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$GC,14700,0.97,448.2,397.4,11.2,396,14704,0.12,1.27,0.00,0.000,6,0.090,0.034,3378,2109,1023,0,0,0,0,0,0,26.00,26.06,28.83
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$GC,17744,1.18,528.6,36.5,11.2,515,17747,0.00,1.35,0.00,0.000,4,0.000,0.041,3425,3038,696,0,0,0,0,0,0,28.83,25.98,28.83
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$STATE,18056,end climb,SURFACE_DEPTH_REACHED
$STATE,18056,begin surface coast
$FINISH,1.8,1.010107
$STATE,18077,end surface coast,CONTROL_FINISHED_OK
$STATE,18077,begin surface
$SM_CCo,18158,0.00,0.000,0,0,695,529.36
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$IRIDIUM_FIX,2138.81,11955.34,140213,202043
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.84
$INTERNAL_PRESSURE,9.41015
$TCM_TEMP,22.20
$XPDR_PINGS,2
$SC_FREEKB,3827360
$24V_AH,22.3,110.337
$10V_AH,10.0,53.930
$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,23.700,112.450,670.350,0.000,0.000,0.000,0.000,210.525,0.500,0.000,21.181,1753.206,14159.463,897.458,1273.395,483.669,0.000,1718.876,0.000,1013.443,0.000,0.541,0.000
$DEVICE_MAMPS,242.505,58.140,1465.740,0.000,0.000,0.000,0.000,126.225,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.314,0.000,0.000,0.000
$MEM,325084
$DATA_FILE_SIZE,20110,532
$CAP_FILE_SIZE,167878,0
$CFSIZE,260034560,196280320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.033,320.6,1
$GPS,150213,063329,2147.580,11953.005,40,0.8,40,-3.0