version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 87
start: 7 31 116 13 29 31
data:
$ID,542
$MISSION,14
$DIVE,87
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,5
$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,333
$T_MISSION,343
$T_ABORT,720
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53288
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,120
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,3
$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,-40074.07
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3947
$C_PITCH,2573
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,182
$ROLL_MAX,3808
$ROLL_DEG,40
$C_ROLL_DIVE,1978
$C_ROLL_CLIMB,1875
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2700
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8.1999998
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.17088
$PRESSURE_SLOPE,0.00013904
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,134
$DEVICE3,147
$DEVICE4,101
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$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,0.0042912085
$SEABIRD_T_H,0.00061951543
$SEABIRD_T_I,2.2019161e-05
$SEABIRD_T_J,2.2998063e-06
$SEABIRD_C_G,-9.7531137
$SEABIRD_C_H,1.1333146
$SEABIRD_C_I,-0.00071571622
$SEABIRD_C_J,0.00011341914
$GPS1,310716,132333,-4305.018,829.492,45,1.0,45,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.9
$GPS2,310716,132846,-4305.031,829.519,14,1.7,15,-25.0
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,WP6
$TGT_LATLONG,-4305.930,830.000
$TGT_RADIUS,1000.000
$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,188.7,1787,-17.1,-10.010,-20.00,2523
$D_GRID,1000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.60,-97.3,173,1988,1926,1818,0.0,0.0,0,70,0.00,0.00,-48.47,0.000,16390,0.000,0.000,173,1988,3097,3180,3015,0,0,0,0,0,0,28.83,28.83,26.46
$GC,72,-0.60,-97.3,173,1988,3180,3015,3.9,-7.6,8,87,8.60,2.33,0.00,0.000,2564,0.243,0.062,2378,564,3099,3183,3015,0,0,0,0,0,0,25.86,26.08,28.83
$GC,410,-0.60,-97.3,2378,564,3188,3015,58.5,-14.4,74,417,0.00,2.25,0.00,0.000,1030,0.000,0.059,2370,1982,3101,3188,3015,0,0,0,0,0,0,28.83,26.19,28.83
$GC,721,-0.60,-97.3,2369,1983,3189,3015,103.5,-14.1,133,730,0.00,2.25,0.00,0.000,260,0.000,0.066,2359,3396,3102,3189,3015,0,0,0,0,0,0,28.83,26.24,28.83
$GC,814,-0.60,-97.3,2359,3397,3189,3015,116.2,-13.6,142,822,0.00,2.30,0.00,0.000,1030,0.000,0.057,2359,1972,3102,3189,3015,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1122,-0.60,-97.3,2359,1971,3190,3015,159.7,-13.8,173,1126,0.00,2.28,0.00,0.000,260,0.000,0.064,2349,3401,3102,3190,3014,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1170,-0.60,-97.3,2349,3401,3190,3014,166.1,-14.0,177,1178,0.12,2.25,0.00,0.000,3078,0.193,0.057,2377,1970,3102,3190,3014,0,0,0,0,0,0,26.19,26.32,28.83
$GC,1477,-0.60,-97.3,2377,1970,3191,3015,206.7,-13.6,208,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1970,3103,3191,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1777,-0.60,-97.3,2377,1970,3191,3015,244.9,-12.0,238,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1970,3103,3191,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2077,-0.60,-97.3,2376,1970,3192,3015,281.4,-12.5,268,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1970,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2377,-0.60,-97.3,2377,1970,3192,3015,318.3,-12.2,298,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1970,3103,3192,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2677,-0.60,-97.3,2377,1971,3192,3015,353.5,-12.0,328,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1970,3103,3192,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2977,-0.60,-97.3,2377,1970,3192,3015,390.3,-12.3,358,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1970,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3277,-0.60,-97.3,2377,1970,3192,3015,426.4,-11.9,377,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1970,3103,3193,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3578,-0.60,-97.3,2377,1970,3193,3014,463.3,-12.7,392,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1970,3103,3192,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3878,-0.60,-97.3,2377,1970,3193,3014,500.7,-12.2,407,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1970,3104,3193,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4178,-0.60,-97.3,2377,1970,3193,3015,537.2,-12.3,422,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1970,3103,3193,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4477,-0.60,-97.3,2377,1970,3193,3014,571.8,-11.4,437,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1970,3103,3193,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4777,-0.60,-97.3,2377,1970,3193,3014,606.0,-11.3,452,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1970,3103,3193,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5078,-0.60,-97.3,2377,1970,3193,3014,640.7,-11.7,467,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1970,3103,3193,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5377,-0.60,-97.3,2377,1970,3193,3014,676.5,-11.9,482,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1970,3103,3193,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5677,-0.60,-97.3,2377,1970,3192,3014,711.2,-11.8,497,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1970,3103,3193,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5978,-0.60,-97.3,2377,1970,3193,3015,746.6,-11.9,512,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1970,3103,3192,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6278,-0.60,-97.3,2377,1970,3193,3014,779.9,-10.6,527,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1970,3103,3193,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6577,-0.60,-97.3,2377,1970,3193,3014,810.8,-10.1,542,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1970,3103,3193,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6878,-0.60,-97.3,2377,1970,3192,3014,838.9,-8.9,557,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1970,3103,3192,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7178,-0.60,-97.3,2377,1970,3192,3014,865.6,-8.8,572,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1970,3103,3193,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7478,-0.60,-97.3,2377,1970,3192,3012,893.9,-9.6,587,7479,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1970,3102,3192,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7777,-0.60,-97.3,2377,1970,3192,3012,924.7,-10.7,602,7781,0.00,2.28,0.00,0.000,516,0.000,0.078,2377,567,3101,3192,3011,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7813,-0.60,-97.3,2377,567,3192,3011,928.6,-11.0,604,7817,0.00,2.25,0.00,0.000,1030,0.000,0.065,2369,1984,3102,3192,3012,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8129,-0.60,-97.3,2369,1984,3192,3011,963.1,-10.9,620,8133,0.00,2.25,0.00,0.000,260,0.000,0.073,2358,3391,3101,3192,3011,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8187,-0.60,-97.3,2358,3391,3192,3010,969.2,-10.9,623,8192,0.00,2.22,0.00,0.000,1030,0.000,0.064,2358,1976,3101,3192,3010,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,8464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8464,begin apogee
$GC,8468,-0.14,0.0,2358,1869,3192,3010,1000.5,-11.3,637,8560,0.55,0.00,88.45,1.743,10246,0.162,0.000,2522,1869,2699,2787,2612,0,0,0,0,0,0,26.37,28.83,23.60
$STATE,8561,end apogee,CONTROL_FINISHED_OK
$STATE,8561,begin climb
$GC,8562,0.60,97.3,2522,1869,2788,2612,1003.8,0.0,641,8659,0.73,0.00,93.25,1.711,10246,0.105,0.000,2759,1869,2303,2374,2232,0,0,0,0,0,0,24.63,28.83,23.12
$GC,8946,0.60,97.3,2759,1869,2364,2221,969.6,10.7,661,8952,0.00,2.40,0.00,0.000,260,0.000,0.073,2759,3288,2292,2364,2221,0,0,0,0,0,0,28.83,25.38,28.83
$GC,8999,0.60,97.3,2759,3287,2363,2221,965.1,11.0,663,9006,0.00,2.35,0.00,0.000,1030,0.000,0.066,2769,1883,2292,2363,2221,0,0,0,0,0,0,28.83,25.47,28.83
$GC,9306,0.60,97.3,2769,1883,2362,2219,929.4,11.1,679,9312,0.00,2.33,0.00,0.000,260,0.000,0.073,2768,3286,2290,2362,2219,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9354,0.60,97.3,2768,3286,2361,2219,924.7,11.4,681,9358,0.00,2.35,0.00,0.000,1030,0.000,0.067,2779,1865,2290,2361,2219,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9666,0.60,97.3,2778,1865,2360,2218,888.2,11.1,697,9667,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1865,2289,2361,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9966,0.60,97.3,2778,1865,2360,2217,855.6,10.6,712,9967,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1865,2288,2360,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10266,0.60,97.3,2778,1865,2360,2216,822.9,11.3,727,10272,0.00,2.33,0.00,0.000,260,0.000,0.074,2779,3288,2288,2360,2216,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10299,0.60,97.3,2778,3288,2359,2216,820.5,11.3,728,10306,0.00,2.30,0.00,0.000,1030,0.000,0.067,2789,1871,2287,2359,2216,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10606,0.60,97.3,2789,1870,2358,2216,781.6,12.3,744,10607,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1870,2287,2358,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10906,0.60,97.3,2789,1870,2358,2215,745.2,12.0,759,10912,0.00,2.33,0.00,0.000,260,0.000,0.074,2789,3296,2287,2358,2216,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10945,0.60,97.3,2788,3296,2358,2216,740.1,12.5,761,10950,0.12,2.30,0.00,0.000,5126,0.222,0.067,2773,1872,2287,2358,2216,0,0,0,0,0,0,26.11,26.26,28.83
$GC,11262,0.60,97.3,2772,1872,2358,2215,705.5,10.4,777,11267,0.00,2.30,0.00,0.000,260,0.000,0.074,2768,3288,2286,2358,2215,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11306,0.60,97.3,2768,3288,2357,2215,701.6,10.3,779,11310,0.00,2.28,0.00,0.000,1030,0.000,0.066,2777,1875,2286,2357,2215,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11619,0.61,106.7,2777,1875,2357,2215,669.8,9.6,795,11628,0.00,0.00,6.62,1.366,8198,0.000,0.000,2777,1875,2265,2337,2194,0,0,0,0,0,0,28.83,28.83,25.08
$GC,11918,0.61,106.7,2776,1875,2337,2193,639.7,10.3,810,11923,0.00,2.30,0.00,0.000,260,0.000,0.073,2777,3290,2265,2337,2194,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12027,0.61,106.7,2777,3290,2337,2194,629.3,10.8,815,12034,0.00,2.30,0.00,0.000,1030,0.000,0.067,2787,1872,2265,2337,2193,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12335,0.61,106.7,2787,1872,2337,2193,596.4,10.1,831,12336,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1872,2265,2337,2193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12635,0.62,113.0,2787,1872,2337,2193,566.8,9.8,846,12644,0.00,0.00,7.62,1.353,8198,0.000,0.000,2787,1872,2238,2311,2166,0,0,0,0,0,0,28.83,28.83,25.07
$GC,12934,0.62,113.0,2787,1872,2311,2166,535.5,10.7,861,12939,0.00,2.33,0.00,0.000,260,0.000,0.073,2787,3293,2238,2310,2166,0,0,0,0,0,0,28.83,26.17,28.83
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$GC,14290,0.65,137.3,2774,1871,2310,2165,383.7,9.0,938,14320,0.00,0.00,23.48,1.354,8198,0.000,0.000,2775,1871,2140,2214,2067,0,0,0,0,0,0,28.83,28.83,24.82
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$GC,15327,0.65,137.3,2789,1876,2208,2060,268.5,11.1,1041,15331,0.00,2.30,0.00,0.000,260,0.000,0.071,2789,3297,2134,2208,2060,0,0,0,0,0,0,28.83,26.18,28.83
$GC,15434,0.65,137.3,2789,3298,2206,2060,256.1,11.8,1051,15443,0.00,2.30,0.00,0.000,1030,0.000,0.064,2799,1869,2133,2207,2060,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,17626,end climb,SURFACE_DEPTH_REACHED
$STATE,17626,begin surface coast
$FINISH,-0.1,1.013465
$STATE,17653,end surface coast,CONTROL_FINISHED_OK
$STATE,17653,begin surface
$SM_CCo,17727,0.00,0.000,0,0,2117,143.01
$SM_GC,2.39,6.88,0.17,0.00,0.054,0.095,0.000,176,1976,2117,-7.40,-0.74,143.01,0,0,0,0,0,0,26.44,26.39,28.83
$IRIDIUM_FIX,-4250.85,829.51,270509,222221
$TT8_MAMPS,0.021721,0.021721
$HUMID,59.76
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,23.1,13.857
$10V_AH,10.2,8.740
$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
$DEVICE_SECS,17.300,87.575,220.950,0.000,0.000,24.022,38.609,147.461,0.000,0.000,16.438,3462.196,11568.077,381.871,2505.300,144.249,0.000,1485.163,0.000,2177.096,0.000,1.009,0.000
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$SENSOR_SECS,965.723,127.987,356.316,378.944,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353320
$DATA_FILE_SIZE,87049,1355
$CAP_FILE_SIZE,158428,0
$CFSIZE,259252224,252669952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.040,312.7,1
$GPS,310716,183002,-4306.694,830.048,270,1.1,271,-25.1