version: 66.10
glider: 176
mission: 5
dive: 360
start: 5 26 112 0 25 59
data:
$ID,176
$MISSION,5
$DIVE,360
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$D_BOOST,100
$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,380
$T_MISSION,420
$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,-7
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51719
$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
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-7994.2446
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2514
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2929
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$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,-70.662712
$PRESSURE_SLOPE,0.0001162977
$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,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$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,0.0043285224
$SEABIRD_T_H,0.00062606536
$SEABIRD_T_I,2.5051821e-05
$SEABIRD_T_J,2.9112039e-06
$SEABIRD_C_G,-10.134115
$SEABIRD_C_H,1.1528351
$SEABIRD_C_I,-0.0013358581
$SEABIRD_C_J,0.00019115997
$GPS1,260512,001737,1943.631,12401.205,38,1.0,38,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-77.8
$GPS2,260512,002532,1943.479,12401.177,12,1.6,12,-2.4
$SPEED_LIMITS,0.150,0.264
$TGT_NAME,DOGLEG
$TGT_LATLONG,1930.000,12425.000
$TGT_RADIUS,10000.000
$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,80.8,48506,-14.0,-8.684
$D_GRID,5405
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.56,-170.3,0.0,0.0,0,59,0.00,0.00,-40.53,0.000,2,0.000,0.000,177,2707,2322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.56,-170.3,3.0,-6.0,7,110,8.75,2.30,-28.75,0.000,4,0.230,0.037,2333,1134,3627,0,0,0,0,0,0,25.13,26.31,26.69
$GC,138,-0.56,-170.3,20.5,-27.7,14,145,0.00,2.28,0.00,0.000,6,0.000,0.047,2332,2623,3628,0,0,0,0,0,0,28.83,26.13,28.83
$GC,449,-0.56,-170.3,105.2,-24.0,75,455,0.00,2.12,0.00,0.000,4,0.000,0.025,2332,1136,3627,0,0,0,0,0,0,28.83,26.41,28.83
$GC,564,-0.56,-170.3,125.7,-15.7,97,573,0.08,2.20,0.00,0.000,6,0.190,0.042,2341,2620,3628,0,0,0,0,0,0,26.15,26.29,28.83
$GC,892,-0.56,-170.3,193.2,-18.5,158,899,0.00,2.10,0.00,0.000,4,0.000,0.024,2341,1139,3628,0,0,0,0,0,0,28.83,26.46,28.83
$GC,937,-0.56,-170.3,200.4,-12.6,166,946,0.00,2.25,0.00,0.000,6,0.000,0.042,2335,2632,3628,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1248,-0.56,-170.3,250.9,-16.4,197,1257,0.00,2.10,0.00,0.000,4,0.000,0.026,2335,1148,3628,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1291,-0.56,-170.3,257.0,-14.4,201,1301,0.00,2.20,0.00,0.000,6,0.000,0.043,2332,2625,3628,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1601,-0.56,-170.3,305.9,-15.9,232,1610,0.00,2.10,0.00,0.000,4,0.000,0.025,2333,1146,3627,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1657,-0.56,-170.3,313.8,-14.8,237,1665,0.00,2.22,0.00,0.000,6,0.000,0.043,2331,2626,3627,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1962,-0.56,-170.3,358.4,-13.4,268,1971,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1141,3626,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2005,-0.56,-170.3,363.7,-12.8,272,2014,0.08,2.22,0.00,0.000,6,0.173,0.043,2344,2621,3625,0,0,0,0,0,0,26.17,26.29,28.83
$GC,2314,-0.56,-170.3,396.5,-10.7,303,2323,0.05,2.12,0.00,0.000,4,0.177,0.023,2289,1137,3624,0,0,0,0,0,0,26.65,26.44,28.83
$GC,2399,-0.56,-170.3,407.0,-12.6,311,2408,0.15,2.22,0.00,0.000,6,0.117,0.043,2337,2620,3624,0,0,0,0,0,0,25.99,26.28,28.83
$GC,2707,-0.56,-170.3,443.4,-11.7,342,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2620,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3010,-0.56,-170.3,476.0,-10.3,372,3019,0.00,2.10,0.00,0.000,4,0.000,0.024,2338,1141,3620,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3044,-0.56,-170.3,479.5,-9.9,375,3051,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2628,3620,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3352,-0.56,-170.3,510.9,-10.3,406,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2628,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3654,-0.56,-170.3,538.4,-8.7,436,3663,0.00,2.12,0.00,0.000,4,0.000,0.025,2335,1142,3616,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3706,-0.56,-170.3,542.6,-7.8,441,3716,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2621,3615,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4015,-0.56,-170.3,568.9,-8.9,472,4019,0.00,1.75,0.00,0.000,4,0.000,0.056,2332,3769,3613,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4047,-0.56,-170.3,571.5,-8.5,475,4050,0.00,1.70,0.00,0.000,6,0.000,0.023,2331,2502,3612,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4358,-0.56,-170.3,599.3,-9.0,506,4367,0.00,2.03,0.00,0.000,4,0.000,0.054,2323,3773,3610,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4427,-0.56,-170.3,605.5,-10.1,510,4432,0.08,1.75,0.00,0.000,6,0.168,0.024,2346,2448,3609,0,0,0,0,0,0,26.34,26.58,28.83
$GC,4735,-0.56,-170.3,632.6,-8.7,525,4741,0.08,2.03,0.00,0.000,4,0.126,0.053,2273,3759,3607,0,0,0,0,0,0,26.60,26.07,28.83
$GC,4807,-0.56,-170.3,640.4,-11.9,528,4815,0.22,1.73,0.00,0.000,6,0.126,0.023,2347,2466,3605,0,0,0,0,0,0,26.03,26.57,28.83
$GC,5116,-0.56,-170.3,666.7,-6.9,544,5122,0.08,1.98,0.00,0.000,4,0.128,0.053,2279,3756,3604,0,0,0,0,0,0,26.60,26.04,28.83
$GC,5157,-0.56,-170.3,670.6,-8.1,546,5162,0.15,1.75,0.00,0.000,6,0.112,0.023,2337,2477,3603,0,0,0,0,0,0,26.08,26.56,28.83
$GC,5475,-0.56,-170.3,693.9,-7.2,562,5481,0.00,2.03,0.00,0.000,4,0.000,0.056,2332,3783,3601,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5509,-0.56,-170.3,695.4,-7.3,563,5516,0.00,1.75,0.00,0.000,6,0.000,0.024,2331,2471,3600,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5815,-0.56,-170.3,721.4,-8.2,579,5820,0.00,2.03,0.00,0.000,4,0.000,0.056,2332,3769,3598,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5879,-0.56,-170.3,726.3,-8.2,582,5882,0.00,1.73,0.00,0.000,6,0.000,0.024,2331,2501,3598,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6196,-0.56,-170.3,752.8,-8.4,598,6201,0.00,2.03,0.00,0.000,4,0.000,0.056,2324,3761,3596,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6263,-0.56,-170.3,758.1,-8.7,601,6267,0.03,1.75,0.00,0.000,6,0.151,0.025,2340,2503,3595,0,0,0,0,0,0,26.34,26.53,28.83
$GC,6576,-0.56,-170.3,782.1,-6.8,617,6582,0.00,1.95,0.00,0.000,4,0.000,0.056,2334,3762,3593,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6630,-0.56,-170.3,784.9,-6.7,619,6637,0.00,1.75,0.00,0.000,6,0.000,0.025,2334,2466,3592,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6937,-0.56,-170.3,806.2,-6.8,635,6941,0.00,2.05,0.00,0.000,4,0.000,0.057,2332,3772,3592,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6980,-0.56,-170.3,809.0,-6.7,637,6984,0.00,1.75,0.00,0.000,6,0.000,0.024,2332,2505,3591,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7302,-0.56,-170.3,833.7,-7.9,653,7307,0.00,2.05,0.00,0.000,4,0.000,0.057,2330,3767,3589,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7336,-0.56,-170.3,835.3,-7.9,654,7342,0.00,1.75,0.00,0.000,6,0.000,0.024,2330,2466,3588,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7644,-0.56,-170.3,859.3,-6.8,670,7649,0.00,2.00,0.00,0.000,4,0.000,0.057,2330,3759,3587,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7685,-0.56,-170.3,861.9,-6.5,672,7688,0.00,1.75,0.00,0.000,6,0.000,0.025,2330,2499,3587,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8003,-0.56,-170.3,878.1,-4.3,688,8008,0.00,2.00,0.00,0.000,4,0.000,0.057,2330,3760,3586,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8070,-0.56,-170.3,880.6,-4.1,691,8073,0.00,1.75,0.00,0.000,6,0.000,0.025,2330,2506,3585,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8383,-0.56,-170.3,894.0,-4.7,707,8387,0.00,2.03,0.00,0.000,4,0.000,0.058,2330,3767,3584,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8428,-0.56,-170.3,896.0,-4.7,709,8431,0.00,1.75,0.00,0.000,6,0.000,0.024,2330,2511,3584,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8745,-0.56,-170.3,915.5,-6.7,725,8748,0.00,2.00,0.00,0.000,4,0.000,0.057,2330,3762,3583,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8800,-0.56,-170.3,918.5,-7.1,727,8807,0.00,1.75,0.00,0.000,6,0.000,0.025,2330,2473,3582,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9106,-0.56,-170.3,942.4,-7.7,743,9112,0.00,2.03,0.00,0.000,4,0.000,0.057,2330,3763,3581,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9160,-0.56,-170.3,945.4,-7.6,745,9168,0.00,1.75,0.00,0.000,6,0.000,0.024,2330,2462,3581,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9466,-0.56,-170.3,969.4,-7.6,761,9472,0.00,2.05,0.00,0.000,4,0.000,0.057,2330,3762,3581,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9519,-0.56,-170.3,972.5,-7.4,763,9526,0.00,1.77,0.00,0.000,6,0.000,0.025,2330,2487,3580,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,9764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9764,begin apogee
$GC,9770,-0.17,0.0,991.4,-7.3,776,9922,0.38,0.00,145.68,1.720,6,0.101,0.000,2465,2487,2928,0,0,0,0,0,0,25.89,28.83,22.43
$STATE,9923,end apogee,CONTROL_FINISHED_OK
$STATE,9923,begin climb
$GC,9925,0.56,170.3,997.6,0.0,783,10104,0.62,2.25,165.80,1.672,4,0.048,0.055,2711,3752,2233,0,0,0,0,0,0,24.53,23.72,21.95
$GC,10135,0.56,170.3,986.3,12.8,793,10139,0.15,2.03,0.00,0.000,6,0.194,0.025,2686,2458,2230,0,0,0,0,0,0,24.39,24.74,28.83
$GC,10443,0.56,170.3,943.0,13.3,808,10444,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2454,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10742,0.56,170.3,904.4,12.8,823,10748,0.00,2.05,0.00,0.000,4,0.000,0.055,2686,3770,2220,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10775,0.56,170.3,901.6,13.2,824,10782,0.00,1.92,0.00,0.000,6,0.000,0.025,2696,2447,2220,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11083,0.56,170.3,857.8,13.4,840,11084,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2443,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11382,0.56,170.3,815.3,14.5,855,11388,0.00,2.08,0.00,0.000,4,0.000,0.055,2696,3770,2218,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11404,0.56,170.3,812.1,14.7,856,11409,0.05,1.95,0.00,0.000,6,0.187,0.024,2690,2453,2218,0,0,0,0,0,0,26.06,26.38,28.83
$GC,11723,0.56,170.3,767.0,13.9,872,11728,0.00,2.03,0.00,0.000,4,0.000,0.031,2700,1053,2217,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11795,0.56,170.3,759.2,13.3,875,11802,0.05,2.28,0.00,0.000,6,0.216,0.047,2688,2524,2216,0,0,0,0,0,0,26.06,26.13,28.83
$GC,12103,0.56,170.3,719.7,11.9,891,12108,0.00,1.90,0.00,0.000,4,0.000,0.054,2688,3765,2215,0,0,0,0,0,0,28.83,26.05,28.83
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$GC,14784,0.56,170.3,425.3,10.8,1107,14785,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2515,2212,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,15894,0.60,203.4,314.6,11.6,1217,15903,0.05,1.92,0.00,0.000,6,0.169,0.024,2702,2440,2095,0,0,0,0,0,0,26.03,26.33,28.83
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$STATE,19085,end climb,SURFACE_DEPTH_REACHED
$STATE,19088,begin surface coast
$FINISH,0.6,1.014064
$STATE,19119,end surface coast,CONTROL_FINISHED_OK
$STATE,19119,begin surface
$SM_CCo,19134,1.88,0.187,0,0,1397,375.06
$SM_GC,3.03,6.53,0.12,1.88,0.033,0.093,0.187,196,2654,1397,-7.15,-0.51,375.06,0,0,0,0,0,0,26.31,26.51,25.58
$IRIDIUM_FIX,1936.66,12400.45,250512,191924
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.85
$INTERNAL_PRESSURE,9.45623
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,22.0,75.835
$10V_AH,9.8,45.833
$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,18.575,178.375,426.675,1.875,0.000,29.821,26.118,270.835,0.000,0.000,14.811,4341.402,10731.911,619.925,3450.426,439.801,0.000,2241.016,0.000,2911.947,0.000,0.541,0.000
$DEVICE_MAMPS,230.265,92.565,1719.720,187.425,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1173.934,2245.366,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329728
$DATA_FILE_SIZE,127046,1721
$CAP_FILE_SIZE,203151,0
$CFSIZE,260165632,186765312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.175,220.8,1
$GPS,260512,054625,1942.502,12402.477,56,1.7,56,-2.4