version: 66.10
glider: 176
mission: 5
dive: 437
start: 6 13 112 15 47 54
data:
$ID,176
$MISSION,5
$DIVE,437
$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,-3
$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,-8159.603
$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,2650
$C_ROLL_CLIMB,2550
$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
$GPS1,130612,153937,1755.047,12419.530,36,1.0,36,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-72.3
$GPS2,130612,154726,1755.006,12419.598,13,1.3,13,-2.0
$SPEED_LIMITS,0.150,0.264
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,5000.000
$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,276.6,226689,-14.0,-8.684
$D_GRID,4937
$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,-0.56,-170.3,0.0,0.0,0,82,0.00,0.00,-63.00,0.000,2,0.000,0.000,189,2714,2387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.56,-170.3,3.3,-6.8,11,128,8.77,2.20,-24.52,0.000,4,0.233,0.041,2335,1191,3626,0,0,0,0,0,0,25.02,26.32,26.74
$GC,231,-0.56,-170.3,42.6,-22.1,32,238,0.00,2.22,0.00,0.000,6,0.000,0.044,2334,2672,3626,0,0,0,0,0,0,28.83,26.22,28.83
$GC,557,-0.56,-170.3,146.4,-24.1,93,565,0.00,1.62,0.00,0.000,4,0.000,0.050,2325,3768,3625,0,0,0,0,0,0,28.83,26.21,28.83
$GC,638,-0.56,-170.3,163.9,-18.9,105,646,0.05,1.62,0.00,0.000,6,0.220,0.023,2339,2550,3625,0,0,0,0,0,0,26.36,26.55,28.83
$GC,966,-0.56,-170.3,224.1,-17.5,153,975,0.00,1.90,0.00,0.000,4,0.000,0.026,2341,1192,3625,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1020,-0.56,-170.3,231.0,-12.2,158,1027,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2666,3626,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1329,-0.56,-170.3,277.6,-14.4,189,1332,0.00,1.65,0.00,0.000,4,0.000,0.050,2333,3775,3625,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1352,-0.56,-170.3,281.1,-14.9,191,1359,0.00,1.67,0.00,0.000,6,0.000,0.022,2332,2541,3625,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1660,-0.56,-170.3,326.6,-13.4,222,1664,0.00,1.92,0.00,0.000,4,0.000,0.025,2333,1157,3624,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1713,-0.56,-170.3,332.6,-11.2,227,1721,0.00,2.25,0.00,0.000,6,0.000,0.042,2332,2671,3624,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2024,-0.56,-170.3,370.0,-11.4,258,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2671,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2334,-0.56,-170.3,406.1,-12.3,289,2343,0.00,2.08,0.00,0.000,4,0.000,0.025,2332,1193,3619,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2436,-0.56,-170.3,416.8,-9.4,299,2445,0.00,2.22,0.00,0.000,6,0.000,0.043,2331,2671,3618,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2747,-0.56,-170.3,450.8,-11.1,330,2757,0.00,2.12,-0.10,0.000,4,0.000,0.037,2331,1202,3638,0,0,0,0,0,0,28.83,26.37,26.01
$GC,2802,-0.56,-170.3,455.8,-9.3,335,2809,0.00,2.22,0.00,0.000,6,0.000,0.044,2330,2677,3638,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3110,-0.56,-170.3,486.6,-10.5,366,3119,0.00,2.15,0.00,0.000,4,0.000,0.026,2330,1188,3635,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3144,-0.56,-170.3,489.6,-9.7,369,3152,0.00,2.25,0.00,0.000,6,0.000,0.044,2330,2670,3635,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3451,-0.56,-170.3,519.4,-10.0,400,3460,0.00,2.12,0.00,0.000,4,0.000,0.025,2330,1198,3632,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3493,-0.56,-170.3,523.2,-9.0,404,3502,0.00,2.22,0.00,0.000,6,0.000,0.044,2330,2670,3632,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3806,-0.56,-170.3,552.2,-9.4,435,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2670,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4114,-0.56,-170.3,580.4,-9.1,466,4123,0.00,2.12,0.00,0.000,4,0.000,0.025,2330,1195,3625,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4179,-0.56,-170.3,585.6,-7.9,472,4186,0.00,2.25,0.00,0.000,6,0.000,0.045,2330,2673,3624,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4487,-0.56,-170.3,613.1,-8.7,496,4493,0.00,2.12,0.00,0.000,4,0.000,0.025,2330,1195,3622,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4530,-0.56,-170.3,616.5,-8.7,498,4534,0.00,2.25,0.00,0.000,6,0.000,0.045,2330,2670,3622,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4844,-0.56,-170.3,643.0,-8.5,514,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2670,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5141,-0.56,-170.3,669.0,-8.8,529,5147,0.00,2.15,0.00,0.000,4,0.000,0.025,2330,1188,3616,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5211,-0.56,-170.3,674.1,-8.6,532,5220,0.00,2.28,0.00,0.000,6,0.000,0.046,2330,2671,3615,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5525,-0.56,-170.3,701.3,-8.3,548,5526,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2672,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5822,-0.56,-170.3,725.1,-7.9,563,5827,0.00,2.15,0.00,0.000,4,0.000,0.025,2330,1192,3610,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5886,-0.56,-170.3,729.4,-7.2,566,5890,0.00,2.28,0.00,0.000,6,0.000,0.045,2330,2674,3610,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6198,-0.56,-170.3,753.6,-7.9,582,6203,0.00,2.15,0.00,0.000,4,0.000,0.026,2330,1189,3608,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6230,-0.56,-170.3,755.2,-8.0,583,6237,0.00,2.28,0.00,0.000,6,0.000,0.045,2330,2674,3608,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6539,-0.56,-170.3,781.5,-8.7,599,6543,0.00,2.15,0.00,0.000,4,0.000,0.026,2329,1187,3606,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6573,-0.56,-170.3,783.5,-8.7,600,6580,0.00,2.30,0.00,0.000,6,0.000,0.047,2330,2676,3606,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6880,-0.56,-170.3,810.5,-8.3,616,6886,0.00,2.15,0.00,0.000,4,0.000,0.026,2330,1196,3603,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6922,-0.56,-170.3,813.6,-8.1,618,6928,0.00,2.25,0.00,0.000,6,0.000,0.047,2330,2658,3603,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7241,-0.56,-170.3,838.9,-7.7,634,7245,0.00,2.12,0.00,0.000,4,0.000,0.025,2330,1192,3601,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7277,-0.56,-170.3,840.7,-7.9,635,7284,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2669,3601,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7583,-0.56,-170.3,864.3,-7.1,651,7588,0.00,2.15,0.00,0.000,4,0.000,0.026,2330,1192,3600,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7606,-0.56,-170.3,865.8,-7.1,652,7610,0.00,2.28,0.00,0.000,6,0.000,0.047,2330,2666,3600,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7919,-0.56,-170.3,885.4,-5.9,668,7925,0.00,2.12,0.00,0.000,4,0.000,0.025,2330,1197,3598,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7946,-0.56,-170.3,886.6,-5.9,669,7950,0.00,2.28,0.00,0.000,6,0.000,0.047,2330,2669,3598,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8253,-0.56,-170.3,904.6,-5.6,684,8254,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2669,3596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8554,-0.56,-170.3,922.2,-6.1,699,8559,0.00,2.12,0.00,0.000,4,0.000,0.025,2330,1196,3596,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8606,-0.56,-170.3,924.5,-6.0,701,8614,0.00,2.28,0.00,0.000,6,0.000,0.047,2330,2669,3595,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8914,-0.56,-170.3,945.5,-7.0,717,8920,0.00,2.12,0.00,0.000,4,0.000,0.025,2330,1200,3593,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8941,-0.56,-170.3,946.7,-6.9,718,8945,0.00,2.25,0.00,0.000,6,0.000,0.047,2330,2667,3594,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9249,-0.56,-170.3,969.3,-7.3,733,9254,0.00,2.12,0.00,0.000,4,0.000,0.025,2330,1196,3592,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9279,-0.56,-170.3,970.7,-7.3,734,9288,0.00,2.25,0.00,0.000,6,0.000,0.047,2330,2659,3593,0,0,0,0,0,0,28.83,25.92,28.83
$STATE,9526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9526,begin apogee
$GC,9531,-0.17,0.0,990.4,-7.6,747,9692,0.38,0.10,148.73,1.695,6,0.103,0.068,2465,2583,2929,0,0,0,0,0,0,25.84,24.44,22.65
$STATE,9693,end apogee,CONTROL_FINISHED_OK
$STATE,9693,begin climb
$GC,9695,0.56,170.3,998.6,0.0,755,9870,0.65,2.03,163.65,1.656,4,0.049,0.057,2716,3765,2234,0,0,0,0,0,0,25.05,24.07,22.20
$GC,9881,0.56,170.3,991.6,10.1,764,9885,0.15,1.98,0.00,0.000,6,0.191,0.024,2691,2499,2232,0,0,0,0,0,0,24.36,24.71,28.83
$GC,10190,0.56,170.3,948.0,13.7,779,10193,0.00,2.05,0.00,0.000,4,0.000,0.030,2701,1099,2223,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10233,0.56,170.3,942.5,13.6,781,10238,0.05,2.30,0.00,0.000,6,0.216,0.047,2689,2575,2221,0,0,0,0,0,0,26.02,26.10,28.83
$GC,10547,0.56,170.3,899.0,14.1,797,10548,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2576,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10846,0.56,170.3,857.5,13.3,812,10849,0.00,1.83,0.00,0.000,4,0.000,0.055,2689,3765,2218,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10869,0.56,170.3,854.5,13.3,813,10873,0.00,1.85,0.00,0.000,6,0.000,0.024,2697,2493,2218,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11188,0.56,170.3,810.2,13.8,829,11189,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2490,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11487,0.56,170.3,770.9,13.1,844,11492,0.00,2.00,0.00,0.000,4,0.000,0.055,2697,3769,2216,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11519,0.56,170.3,768.2,13.2,845,11527,0.10,1.83,0.00,0.000,6,0.206,0.023,2684,2494,2216,0,0,0,0,0,0,25.97,26.37,28.83
$GC,11828,0.56,170.3,729.2,11.7,861,11833,0.00,1.98,0.00,0.000,4,0.000,0.054,2683,3772,2215,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11886,0.56,170.3,721.3,12.8,864,11890,0.00,1.85,0.00,0.000,6,0.000,0.023,2693,2485,2215,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12204,0.56,170.3,683.4,11.8,880,12209,0.00,2.00,0.00,0.000,4,0.000,0.054,2693,3770,2215,0,0,0,0,0,0,28.83,25.90,28.83
$GC,12225,0.56,170.3,680.8,11.9,881,12230,0.08,1.83,0.00,0.000,6,0.220,0.022,2688,2496,2214,0,0,0,0,0,0,26.08,26.39,28.83
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$GC,14135,0.56,170.3,465.6,10.2,1038,14139,0.00,1.85,0.00,0.000,4,0.000,0.054,2698,3765,2213,0,0,0,0,0,0,28.83,25.84,28.83
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$GC,15251,0.59,196.7,350.0,8.8,1149,15261,0.05,2.25,0.00,0.000,6,0.198,0.043,2696,2576,2122,0,0,0,0,0,0,25.98,26.06,28.83
$GC,15562,0.60,207.8,322.5,8.3,1180,15581,0.08,0.00,11.30,1.178,6,0.123,0.000,2752,2576,2081,0,0,0,0,0,0,26.53,28.83,24.01
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$STATE,18761,end climb,SURFACE_DEPTH_REACHED
$STATE,18761,begin surface coast
$FINISH,0.7,1.021142
$STATE,18809,end surface coast,CONTROL_FINISHED_OK
$STATE,18809,begin surface
$SM_CCo,18884,0.00,0.000,0,0,932,489.86
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$IRIDIUM_FIX,1749.63,12656.27,130612,101037
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.68
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,25.70
$XPDR_PINGS,1
$24V_AH,22.2,92.003
$10V_AH,9.9,56.322
$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,18.325,160.175,523.000,0.000,0.000,31.037,37.914,248.030,0.250,0.000,16.354,4161.032,10621.586,690.522,3419.739,430.998,0.000,2252.587,0.000,2760.411,0.000,0.543,0.000
$DEVICE_MAMPS,232.560,86.445,1695.240,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1132.176,2320.915,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330244
$DATA_FILE_SIZE,123846,1666
$CAP_FILE_SIZE,195636,0
$CFSIZE,260165632,177967104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.179, 88.7,1
$GPS,130612,210337,1755.172,12418.971,29,0.9,29,-2.0