version: 66.12
glider: 203
mission: 6
dive: 138
start: 1 7 115 6 11 36
data:
$ID,203
$MISSION,6
$DIVE,138
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,50
$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,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52103
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0065996498
$HD_B,0.0098683201
$HD_C,1.5339499e-05
$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,400
$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_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2815
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,103
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2608
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,22.5
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-63.024231
$PRESSURE_SLOPE,0.0001160131
$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,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043923887
$SEABIRD_T_H,0.00063351821
$SEABIRD_T_I,2.5271875e-05
$SEABIRD_T_J,3.0515032e-06
$SEABIRD_C_G,-9.7838888
$SEABIRD_C_H,1.1409903
$SEABIRD_C_I,-0.00071586663
$SEABIRD_C_J,0.00012479167
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,070115,055734,1846.6672,-15705.9619,26,0.9,26,9.5,0.6,234.8,8,14.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-63.6
$GPS2,070115,061125,1846.5551,-15706.1602,9,0.9,9,9.5,0.8,222.0,8,13.7
$SPEED_LIMITS,0.092,0.264
$TGT_NAME,H5
$TGT_LATLONG,1847.590,-15702.740
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,34.1,6296,-17.4,-9.167,-19.15,2608
$D_GRID,1020
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.90,-155.7,187,2785,1017,924,0.0,0.0,0,136,0.00,0.00,-36.08,0.000,16386,0.000,0.000,187,2784,2028,2052,2004,0,0,0,0,0,0,26.13,28.83,26.20
$GC,138,-0.90,-155.7,188,2784,2053,2004,3.0,-2.9,5,188,8.80,1.48,-32.95,0.000,18948,0.208,0.045,2498,1776,3245,3306,3184,0,0,0,0,0,0,25.71,24.55,25.86
$GC,242,-0.90,-155.7,2498,1776,3308,3183,18.4,-21.3,20,261,0.00,1.55,0.00,0.000,1030,0.000,0.034,2493,2813,3245,3308,3183,0,0,0,0,0,0,26.15,26.10,26.18
$GC,567,-0.90,-155.7,2494,2814,3309,3185,98.6,-24.6,63,576,0.08,1.58,0.00,0.000,2308,0.202,0.041,2502,3854,3245,3308,3183,0,0,0,0,0,0,25.99,26.15,26.12
$GC,650,-0.90,-155.7,2502,3854,3309,3183,117.9,-22.3,71,657,0.00,1.50,0.00,0.000,1030,0.000,0.023,2499,2787,3245,3308,3182,0,0,0,0,0,0,26.27,26.25,26.29
$GC,961,-0.90,-155.7,2502,2788,3311,3184,179.1,-19.0,102,968,0.00,1.62,0.00,0.000,260,0.000,0.043,2493,3851,3246,3309,3183,0,0,0,0,0,0,26.25,26.16,26.31
$GC,1157,-0.90,-155.7,2493,3852,3310,3188,214.1,-15.9,121,1167,0.00,1.50,0.00,0.000,1030,0.000,0.023,2493,2783,3248,3310,3186,0,0,0,0,0,0,26.31,26.28,26.32
$GC,1482,-0.90,-155.7,2493,2783,3310,3188,264.0,-14.2,148,1491,0.08,1.65,0.00,0.000,2308,0.190,0.041,2502,3857,3250,3312,3188,0,0,0,0,0,0,26.08,26.20,26.20
$GC,1530,-0.90,-155.7,2503,3858,3311,3189,268.4,-13.8,149,1537,0.00,1.50,0.00,0.000,1030,0.000,0.023,2502,2796,3248,3310,3187,0,0,0,0,0,0,26.32,26.29,26.33
$GC,1846,-0.90,-155.7,2503,2795,3311,3187,309.4,-11.6,160,1854,0.00,1.50,0.00,0.000,516,0.000,0.021,2501,1757,3248,3310,3187,0,0,0,0,0,0,26.27,26.28,26.34
$GC,1953,-0.90,-155.7,2502,1758,3312,3188,320.0,-11.5,163,1960,0.00,1.60,0.00,0.000,1030,0.000,0.034,2498,2823,3249,3310,3188,0,0,0,0,0,0,26.28,26.22,26.30
$GC,2269,-0.90,-155.7,2498,2824,3307,3188,360.9,-12.4,174,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2822,3246,3306,3187,0,0,0,0,0,0,26.27,26.34,26.34
$GC,2569,-0.90,-155.7,2498,2822,3303,3187,400.1,-13.7,184,2576,0.00,1.58,0.00,0.000,260,0.000,0.046,2490,3852,3244,3301,3187,0,0,0,0,0,0,26.27,26.17,26.34
$GC,2645,-0.90,-155.7,2491,3853,3300,3189,408.7,-14.1,186,2653,0.10,1.50,0.00,0.000,3078,0.158,0.024,2513,2794,3243,3299,3187,0,0,0,0,0,0,26.06,26.29,26.19
$GC,2962,-0.90,-155.7,2513,2792,3296,3188,447.2,-11.2,197,2969,0.00,1.65,0.00,0.000,260,0.000,0.047,2510,3854,3241,3295,3187,0,0,0,0,0,0,26.27,26.17,26.33
$GC,3044,-0.90,-155.7,2509,3856,3293,3188,454.3,-11.4,199,3051,0.00,1.50,0.00,0.000,1030,0.000,0.025,2509,2803,3240,3293,3187,0,0,0,0,0,0,26.30,26.27,26.32
$GC,3355,-0.90,-155.7,2509,2803,3289,3187,491.8,-11.3,210,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2803,3237,3287,3187,0,0,0,0,0,0,26.26,26.33,26.32
$GC,3655,-0.90,-155.7,2509,2806,3284,3189,527.1,-11.9,220,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2803,3234,3282,3186,0,0,0,0,0,0,26.25,26.33,26.32
$GC,3955,-0.90,-155.7,2508,2803,3282,3184,563.8,-12.3,230,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2803,3232,3280,3184,0,0,0,0,0,0,26.25,26.32,26.32
$GC,4255,-0.90,-155.7,2508,2803,3278,3181,599.4,-11.7,240,4263,0.00,1.65,0.00,0.000,260,0.000,0.048,2501,3853,3230,3278,3182,0,0,0,0,0,0,26.24,26.13,26.29
$GC,4322,-0.90,-155.7,2500,3853,3277,3182,607.0,-11.8,242,4329,0.00,1.50,0.00,0.000,1030,0.000,0.027,2501,2812,3229,3277,3181,0,0,0,0,0,0,26.27,26.23,26.28
$GC,4649,-0.90,-155.7,2501,2812,3275,3180,644.9,-11.5,253,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2813,3226,3273,3180,0,0,0,0,0,0,26.22,26.30,26.32
$GC,4949,-0.90,-155.7,2501,2813,3272,3181,680.2,-11.7,263,4956,0.00,1.65,0.00,0.000,260,0.000,0.049,2497,3856,3225,3271,3179,0,0,0,0,0,0,26.24,26.09,26.30
$GC,5030,-0.90,-155.7,2497,3856,3272,3177,687.4,-11.6,265,5037,0.00,1.50,0.00,0.000,1030,0.000,0.028,2497,2821,3224,3270,3178,0,0,0,0,0,0,26.23,26.20,26.25
$GC,5341,-0.90,-155.7,2497,2821,3269,3176,723.4,-10.6,276,5348,0.00,1.58,0.00,0.000,516,0.000,0.024,2497,1758,3223,3271,3176,0,0,0,0,0,0,26.22,26.20,26.29
$GC,5382,-0.90,-155.7,2497,1758,3267,3175,726.9,-10.7,277,5389,0.00,1.73,0.00,0.000,1030,0.000,0.039,2492,2846,3221,3267,3175,0,0,0,0,0,0,26.17,26.14,26.25
$GC,5703,-0.90,-155.7,2496,2848,3266,3175,763.7,-11.3,288,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2847,3219,3265,3174,0,0,0,0,0,0,26.20,26.27,26.26
$GC,6003,-0.90,-155.7,2497,2848,3265,3173,796.4,-11.3,298,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2847,3217,3263,3172,0,0,0,0,0,0,26.15,26.24,26.22
$GC,6303,-0.90,-155.7,2497,2846,3263,3170,831.7,-12.3,308,6313,0.00,1.58,0.00,0.000,260,0.000,0.050,2497,3852,3216,3262,3171,0,0,0,0,0,0,26.17,26.05,26.24
$GC,6367,-0.90,-155.7,2497,3853,3262,3170,839.8,-12.5,310,6376,0.00,1.50,0.00,0.000,1030,0.000,0.028,2497,2819,3215,3261,3170,0,0,0,0,0,0,26.20,26.17,26.22
$GC,6700,-0.90,-155.7,2497,2821,3261,3170,882.9,-12.8,321,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2820,3214,3260,3169,0,0,0,0,0,0,26.16,26.24,26.22
$GC,7000,-0.90,-155.7,2496,2820,3259,3168,920.0,-12.3,331,7007,0.00,1.65,0.00,0.000,260,0.000,0.050,2502,3854,3213,3258,3168,0,0,0,0,0,0,26.15,26.01,26.22
$GC,7046,-0.90,-155.7,2497,3854,3259,3167,923.7,-12.1,332,7053,0.00,1.50,0.00,0.000,1030,0.000,0.028,2497,2826,3212,3258,3167,0,0,0,0,0,0,26.19,26.16,26.21
$GC,7362,-0.90,-155.7,2497,2826,3257,3166,960.8,-11.0,343,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2827,3211,3256,3167,0,0,0,0,0,0,26.14,26.21,26.20
$STATE,7631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7631,begin apogee
$GC,7634,-0.19,0.0,2498,2950,3255,3174,991.3,-11.5,352,7773,0.77,0.00,126.35,1.492,10244,0.119,0.000,2739,2950,2607,2648,2567,0,0,0,0,1,0,25.79,24.46,23.57
$STATE,7774,end apogee,CONTROL_FINISHED_OK
$STATE,7774,begin climb
$GC,7775,0.90,155.7,2739,2950,2661,2568,997.2,0.0,356,7924,1.00,1.58,135.45,1.048,10500,0.072,0.051,3087,3856,1967,2007,1928,0,0,0,0,0,0,24.67,24.68,23.48
$GC,7953,1.08,273.9,3087,3857,1998,1920,993.2,4.5,362,8065,0.10,1.42,102.40,1.028,11270,0.051,0.027,3159,2958,1491,1535,1447,0,0,0,0,0,0,24.73,24.72,23.48
$GC,8386,1.08,273.9,3159,2959,1514,1424,920.1,17.9,377,8393,0.00,1.58,0.00,0.000,516,0.000,0.024,3163,1894,1468,1514,1423,0,0,0,0,0,0,25.89,25.91,25.96
$GC,8442,1.08,273.9,3163,1895,1514,1423,914.3,18.0,378,8453,0.00,1.62,0.00,0.000,1030,0.000,0.035,3162,2948,1468,1513,1423,0,0,0,0,0,0,26.01,25.96,26.03
$GC,8747,1.08,273.9,3164,2947,1512,1420,857.8,17.2,389,8755,0.00,1.55,0.00,0.000,516,0.000,0.024,3163,1898,1466,1512,1421,0,0,0,0,0,0,26.14,26.13,26.21
$GC,8779,1.08,273.9,3163,1897,1513,1421,852.5,17.3,390,8786,0.00,1.60,0.00,0.000,1030,0.000,0.034,3163,2943,1466,1511,1421,0,0,0,0,0,0,26.17,26.10,26.20
$GC,9111,1.08,273.9,3163,2944,1510,1421,792.5,17.8,401,9119,0.00,1.45,0.00,0.000,260,0.000,0.047,3163,3847,1465,1510,1420,0,0,0,0,0,0,26.18,26.10,26.25
$GC,9143,1.08,273.9,3163,3847,1510,1419,786.2,18.0,402,9150,0.00,1.38,0.00,0.000,1030,0.000,0.028,3166,2918,1464,1508,1420,0,0,0,0,0,0,26.21,26.20,26.23
$GC,9475,1.08,273.9,3167,2918,1509,1421,725.3,18.4,413,9482,0.00,1.52,0.00,0.000,516,0.000,0.024,3174,1895,1463,1508,1419,0,0,0,0,0,0,26.18,26.19,26.25
$GC,9521,1.08,273.9,3175,1897,1509,1420,719.5,18.5,414,9530,0.00,1.60,0.00,0.000,1030,0.000,0.034,3173,2942,1463,1508,1419,0,0,0,0,0,0,26.20,26.14,26.22
$GC,9839,1.08,273.9,3173,2942,1509,1418,656.6,18.5,425,9844,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2942,1463,1508,1419,0,0,0,0,0,0,26.17,26.25,26.24
$GC,10139,1.08,273.9,3175,2942,1508,1418,601.2,18.2,435,10144,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2942,1463,1508,1418,0,0,0,0,0,0,26.19,26.26,26.25
$GC,10439,1.08,273.9,3175,2942,1508,1418,549.3,17.2,445,10446,0.00,1.52,0.00,0.000,516,0.000,0.024,3182,1907,1462,1508,1417,0,0,0,0,0,0,26.17,26.15,26.25
$GC,10505,1.08,273.9,3182,1909,1509,1419,539.0,16.9,447,10512,0.00,1.58,0.00,0.000,1030,0.000,0.036,3182,2937,1463,1508,1418,0,0,0,0,0,0,26.18,26.12,26.21
$GC,10832,1.08,273.9,3182,2937,1508,1418,484.1,16.2,458,10837,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2937,1460,1507,1414,0,0,0,0,0,0,26.14,26.22,26.21
$GC,11131,1.08,273.9,3182,2938,1508,1420,436.2,16.0,468,11136,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2937,1462,1507,1418,0,0,0,0,0,0,26.15,26.21,26.21
$GC,11431,1.08,273.9,3182,2937,1508,1418,386.6,16.3,478,11439,0.00,1.52,0.00,0.000,516,0.000,0.024,3190,1898,1462,1507,1418,0,0,0,0,0,0,26.13,26.14,26.20
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$STATE,14495,end climb,SURFACE_DEPTH_REACHED
$STATE,14495,begin surface coast
$FINISH,1.3,1.023246
$STATE,14510,end surface coast,CONTROL_FINISHED_OK
$STATE,14510,begin surface
$SM_CCo,14525,49.05,0.126,0,0,977,400.08
$SM_GC,2.51,7.85,0.15,49.05,0.035,0.060,0.126,204,2800,977,-8.09,2.35,400.08,0,0,0,0,0,0,26.15,26.19,25.84
$IRIDIUM_FIX,1837.32,-15704.24,070115,060133
$TT8_MAMPS,0.058422,0.058422
$HUMID,37.47
$INTERNAL_PRESSURE,9.1556
$TCM_TEMP,25.10
$XPDR_PINGS,2
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,14531.23 7054.17
$PA_BOOTCOUNT,218
$PA_DFQS,0/0
$PA_LOG,0.01/0.221/31.498/29.677
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$PA_DATA0,0.61/71.055/117.199/40.190
$PA_ROOT,0.76/0.092/0.121/0.022
$PA_HOME,0.01/0.196/27.046/25.476
$PA_DISK_BANK,1
$24V_AH,23.48,43.599
$10V_AH,10.23,32.749
$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,18.875,74.050,364.200,49.050,0.000,0.000,0.000,613.175,0.500,15422.591,9.561,0.000,11595.444,461.462,3208.583,123.921,0.000,2256.978,0.000,1586.843,0.000,0.556,0.000
$DEVICE_MAMPS,208.080,71.145,1491.750,126.225,0.000,0.000,0.000,85.680,420.000,61.695,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,520.147,0.000,0.000,0.000,0.000,0.000,15422.650,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.378,0.000,0.000,0.000
$MEM,287684
$DATA_FILE_SIZE,33482,769
$CAP_FILE_SIZE,169542,0
$CFSIZE,1024393216,1005158400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$INTR,0,18469.93,0x236db2,7,5
$CURRENT,0.148,197.47,1
$GPS,070115,101528,1847.195,-15704.681,40,0.8,40,9.5,0.9,201.3,9,6.9