version: 66.12
glider: 187
mission: 4
dive: 680
start: 12 8 114 13 32 38
data:
$ID,187
$MISSION,4
$DIVE,680
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,450
$T_MISSION,510
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53474
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0027000001
$HD_B,0.0098999999
$HD_C,2.1999999e-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,8
$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,-1595300
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3700
$C_PITCH,3325
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2858
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-63.106686
$PRESSURE_SLOPE,0.0001138132
$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,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$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,0.0043206038
$SEABIRD_T_H,0.00062367303
$SEABIRD_T_I,2.3110064e-05
$SEABIRD_T_J,2.4313138e-06
$SEABIRD_C_G,-10.199382
$SEABIRD_C_H,1.1587334
$SEABIRD_C_I,-0.0027609179
$SEABIRD_C_J,0.00029025986
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,081214,132253,4754.591,-12523.801,59,1.1,59,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-68.3
$GPS2,081214,133207,4754.664,-12523.801,16,1.6,16,18.8
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,166.4,158154,-14.0,-7.333,-18.81,2445
$D_GRID,780
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,29,-0.59,-116.8,383,2388,1456,1200,0.0,0.0,0,93,0.00,0.00,-59.40,0.000,16386,0.000,0.000,383,2388,2839,2899,2779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.59,-116.8,383,2388,2899,2781,3.2,-2.1,6,134,13.20,2.60,-10.12,0.000,18692,0.388,0.108,3121,3821,3336,3380,3293,0,0,0,0,0,0,13.62,14.07,14.48
$GC,154,-0.59,-116.8,3122,3821,3381,3294,15.5,-18.2,12,163,0.00,2.50,0.00,0.000,1030,0.000,0.062,3121,2387,3337,3380,3294,0,0,0,0,0,0,28.83,14.09,28.83
$GC,404,-0.59,-116.8,3121,2383,3381,3295,50.6,-14.5,37,414,0.00,2.62,0.00,0.000,260,0.000,0.087,3121,3821,3338,3381,3295,0,0,0,0,0,0,28.83,13.95,28.83
$GC,526,-0.59,-116.8,3121,3820,3381,3295,66.1,-11.5,49,535,0.00,2.47,0.00,0.000,1030,0.000,0.060,3121,2406,3338,3381,3295,0,0,0,0,0,0,28.83,14.05,28.83
$GC,776,-0.59,-116.8,3121,2402,3382,3296,93.5,-10.1,74,784,0.00,2.55,0.00,0.000,260,0.000,0.084,3121,3811,3339,3382,3296,0,0,0,0,0,0,28.83,13.87,28.83
$GC,923,-0.59,-116.8,3121,3812,3382,3296,109.2,-11.2,88,931,0.00,2.50,0.00,0.000,1030,0.000,0.060,3127,2388,3339,3382,3297,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1172,-0.59,-116.8,3121,2383,3382,3297,133.5,-9.1,113,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2383,3339,3382,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1423,-0.59,-116.8,3121,2380,3382,3297,156.6,-9.5,138,1432,0.00,2.60,0.00,0.000,260,0.000,0.086,3121,3816,3343,3389,3297,0,0,0,0,0,0,28.83,13.92,28.83
$GC,1503,-0.59,-116.8,3121,3811,3382,3297,164.9,-10.5,146,1512,0.00,2.47,0.00,0.000,1030,0.000,0.060,3121,2402,3340,3383,3297,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1753,-0.59,-116.8,3121,2400,3382,3297,189.2,-9.1,171,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2400,3339,3382,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2004,-0.59,-116.8,3121,2400,3381,3297,211.7,-9.0,196,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2400,3339,3382,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2253,-0.59,-116.8,3121,2400,3382,3297,233.4,-8.4,221,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2400,3339,3382,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2503,-0.59,-116.8,3121,2400,3382,3297,255.4,-8.7,242,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2400,3339,3382,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2804,-0.59,-116.8,3121,2400,3382,3296,280.1,-8.0,252,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2400,3339,3382,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3104,-0.59,-116.8,3122,2400,3382,3296,303.3,-7.9,262,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2401,3339,3382,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3404,-0.59,-116.8,3121,2400,3382,3301,325.4,-7.1,272,3411,0.00,2.53,0.00,0.000,516,0.000,0.074,3122,989,3338,3382,3295,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3452,-0.59,-116.8,3121,991,3381,3294,329.3,-7.9,277,3462,0.00,2.55,0.00,0.000,1030,0.000,0.073,3124,2405,3338,3383,3294,0,0,0,0,0,0,28.83,13.93,28.83
$GC,3763,-0.59,-116.8,3121,2404,3382,3294,353.0,-8.0,288,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2406,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4065,-0.59,-116.8,3117,2404,3382,3293,376.8,-7.7,298,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2405,3337,3382,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4363,-0.59,-116.8,3122,2404,3383,3292,397.8,-6.7,308,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2409,3337,3382,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4665,-0.59,-116.8,3121,2405,3382,3292,417.9,-6.9,318,4672,0.00,2.58,0.00,0.000,260,0.000,0.090,3121,3807,3339,3387,3291,0,0,0,0,0,0,28.83,13.84,28.83
$GC,4783,-0.59,-116.8,3119,3811,3382,3291,427.0,-7.6,330,4791,0.00,2.53,0.00,0.000,1030,0.000,0.064,3122,2401,3340,3388,3292,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5118,-0.59,-116.8,3122,2400,3383,3289,450.7,-7.2,343,5125,0.00,2.55,0.00,0.000,516,0.000,0.075,3123,991,3335,3382,3289,0,0,0,0,0,0,28.83,13.89,28.83
$GC,5186,-0.59,-116.8,3118,991,3382,3289,456.0,-7.3,350,5193,0.00,2.58,0.00,0.000,1030,0.000,0.075,3121,2403,3334,3382,3287,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5510,-0.59,-116.8,3122,2403,3382,3288,477.7,-6.9,362,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2402,3334,3381,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5808,-0.59,-116.8,3121,2403,3382,3286,500.5,-7.6,372,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2403,3334,3382,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6107,-0.59,-116.8,3121,2403,3382,3287,523.3,-7.5,382,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2403,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6407,-0.59,-116.8,3122,2408,3382,3286,544.6,-6.8,392,6415,0.00,2.60,0.00,0.000,260,0.000,0.093,3121,3809,3334,3382,3286,0,0,0,0,0,0,28.83,13.78,28.83
$GC,6467,-0.59,-116.8,3121,3807,3387,3286,548.7,-7.0,398,6474,0.00,2.53,0.00,0.000,1030,0.000,0.066,3121,2395,3337,3388,3287,0,0,0,0,0,0,28.83,13.94,28.83
$GC,6801,-0.59,-116.8,3122,2393,3381,3285,569.5,-6.2,411,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2393,3331,3377,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7096,-0.59,-116.8,3121,2393,3381,3285,587.1,-6.0,421,7104,0.00,2.55,0.00,0.000,516,0.000,0.079,3122,1003,3333,3381,3285,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7146,-0.59,-116.8,3121,997,3382,3284,590.4,-7.1,426,7154,0.00,2.58,0.00,0.000,1030,0.000,0.076,3121,2403,3333,3381,3285,0,0,0,0,0,0,28.83,13.75,28.83
$GC,7461,-0.59,-116.8,3120,2403,3381,3284,610.5,-6.6,437,7470,0.00,2.62,0.00,0.000,260,0.000,0.093,3121,3821,3332,3380,3284,0,0,0,0,0,0,28.83,13.74,28.83
$GC,7540,-0.59,-116.8,3121,3821,3380,3283,616.1,-6.5,445,7549,0.00,2.55,0.00,0.000,1030,0.000,0.068,3121,2402,3330,3381,3280,0,0,0,0,0,0,28.83,13.90,28.83
$GC,7855,-0.59,-116.8,3121,2402,3380,3283,634.8,-6.1,456,7858,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2402,3334,3386,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8151,-0.59,-116.8,3121,2402,3379,3283,655.1,-6.8,466,8159,0.00,2.58,0.00,0.000,516,0.000,0.077,3121,989,3330,3379,3282,0,0,0,0,0,0,28.83,13.79,28.83
$GC,8190,-0.59,-116.8,3121,990,3380,3282,657.8,-6.8,470,8198,0.00,2.60,0.00,0.000,1030,0.000,0.076,3121,2406,3333,3379,3288,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8516,-0.59,-116.8,3121,2406,3380,3282,678.6,-6.8,482,8519,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2406,3331,3380,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8810,-0.59,-116.8,3122,2406,3380,3282,699.1,-7.1,492,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2406,3330,3379,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9112,-0.59,-116.8,3121,2406,3379,3281,719.6,-6.2,502,9116,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2406,3330,3379,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9411,-0.59,-116.8,3121,2403,3378,3281,735.2,-4.9,512,9414,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2406,3330,3379,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9712,-0.59,-116.8,3121,2406,3378,3280,755.4,-7.3,522,9715,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2406,3329,3379,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10010,-0.59,-116.8,3121,2406,3378,3279,775.4,-6.4,532,10014,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2406,3328,3378,3279,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10096,begin apogee
$GC,10108,-0.25,0.0,3121,2325,3378,3279,781.0,-6.2,535,10219,0.40,0.00,103.88,1.645,10246,0.168,0.000,3236,2325,2857,2929,2785,0,0,0,0,0,0,13.62,28.83,12.86
$STATE,10222,end apogee,CONTROL_FINISHED_OK
$STATE,10223,begin climb
$GC,10227,0.59,116.8,3236,2325,2929,2784,784.5,0.0,539,10343,0.88,0.00,107.70,1.620,10246,0.116,0.000,3524,2325,2382,2508,2257,0,0,0,0,0,0,13.93,28.83,12.78
$GC,10641,0.61,116.8,3518,2325,2506,2254,762.6,6.4,553,10650,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2325,2381,2506,2257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10945,0.65,116.8,3518,2325,2506,2252,746.0,5.4,563,10954,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2325,2380,2505,2255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11246,0.67,116.8,3518,2325,2506,2250,728.5,6.4,573,11256,0.00,2.62,0.00,0.000,260,0.000,0.093,3518,3746,2378,2506,2250,0,0,0,0,0,0,28.83,14.00,28.83
$GC,11346,0.67,116.8,3518,3746,2506,2249,720.2,8.2,583,11356,0.00,2.53,0.00,0.000,1030,0.000,0.071,3519,2334,2378,2506,2250,0,0,0,0,0,0,28.83,14.08,28.83
$GC,11667,0.67,116.8,3519,2336,2506,2246,697.2,7.2,595,11676,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2334,2380,2506,2254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11971,0.67,116.8,3515,2334,2507,2247,674.1,7.7,605,11981,0.00,2.58,0.00,0.000,516,0.000,0.084,3520,919,2376,2506,2247,0,0,0,0,0,0,28.83,13.95,28.83
$GC,12064,0.67,116.8,3519,920,2510,2248,666.9,7.8,614,12074,0.00,2.55,0.00,0.000,1030,0.000,0.077,3519,2332,2379,2506,2253,0,0,0,0,0,0,28.83,13.99,28.83
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$GC,18002,0.81,116.8,3563,2319,2503,2245,230.9,5.6,907,18013,0.00,2.58,0.00,0.000,516,0.000,0.082,3563,919,2371,2497,2245,0,0,0,0,0,0,28.83,13.78,28.83
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$STATE,20684,end climb,SURFACE_DEPTH_REACHED
$STATE,20684,begin surface coast
$FINISH,1.3,1.024260
$STATE,20728,end surface coast,CONTROL_FINISHED_OK
$STATE,20728,begin surface
$SM_CCo,20758,41.12,0.092,0,0,1328,375.06
$SM_GC,2.58,9.77,2.42,41.12,0.094,0.067,0.092,393,2399,1328,-9.11,0.71,375.06,0,0,0,0,0,0,14.09,14.08,14.07
$IRIDIUM_FIX,4732.49,-12525.55,081214,080833
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.63
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3720416
$PM_FREEKB,42196256
$24V_AH,12.8,168.017
$10V_AH,13.1,0.000
$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,24.475,153.800,339.625,41.125,0.000,0.000,0.000,268.750,0.000,0.000,21.263,2821.900,14513.451,641.508,2439.478,920.785,0.000,2192.536,0.000,1818.786,0.000,0.535,0.000
$DEVICE_MAMPS,387.855,130.815,1644.750,91.800,0.000,0.000,0.000,175.950,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20748.000,10347.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.898,4.093,0.000,0.000
$MEM,290840
$DATA_FILE_SIZE,43266,1176
$CAP_FILE_SIZE,221943,0
$CFSIZE,260034560,188272640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,17259.80,0x2378ba,7,5
$CURRENT,0.060,296.6,1
$GPS,081214,192235,4752.899,-12525.019,141,1.6,141,18.8