version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 89
start: 6 15 115 9 26 12
data:
$ID,574
$MISSION,20
$DIVE,89
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53162
$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,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2369644.2
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3888
$C_PITCH,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3880
$ROLL_DEG,40
$C_ROLL_DIVE,2124
$C_ROLL_CLIMB,2097
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,2322
$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,8.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-47.130039
$PRESSURE_SLOPE,0.0001171049
$AD7714Ch0Gain,128
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,134
$DEVICE3,147
$DEVICE4,165
$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,0.0043017557
$SEABIRD_T_H,0.00062339538
$SEABIRD_T_I,2.3377639e-05
$SEABIRD_T_J,2.5612862e-06
$SEABIRD_C_G,-9.9136524
$SEABIRD_C_H,1.1456692
$SEABIRD_C_I,-0.00078246131
$SEABIRD_C_J,0.00012677554
$GPS1,050816,230204,-4650.659,441.744,24,1.3,24,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-68.3
$GPS2,050816,230839,-4650.675,441.865,4,1.4,4,-23.5
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,TARGET
$TGT_LATLONG,-4700.000,340.000
$TGT_RADIUS,500.000
$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,298.4,80025,-16.4,-10.010,-19.35,2733
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.50,-107.1,127,2105,541,433,0.0,0.0,0,85,0.00,0.00,-68.85,0.000,16386,0.000,0.000,127,2105,2234,2231,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.50,-107.1,127,2105,2231,2236,3.1,-3.0,12,124,10.40,2.33,-18.83,0.000,19204,0.243,0.070,2669,3541,2758,2775,2742,0,0,0,0,0,0,25.50,25.72,26.04
$GC,141,-0.50,-107.1,1760,3540,2746,2737,5.9,-9.4,21,147,0.00,2.30,0.00,0.000,1030,0.000,0.054,2669,2121,2758,2775,2742,0,0,0,0,0,0,28.83,25.74,28.83
$GC,189,-0.50,-107.1,2669,2117,2776,2741,14.9,-20.2,30,196,0.00,2.30,0.00,0.000,516,0.000,0.059,2671,713,2758,2776,2741,0,0,0,0,0,0,28.83,25.77,28.83
$GC,212,-0.50,-107.1,2671,713,2776,2741,20.9,-25.2,34,219,0.00,2.30,0.00,0.000,1030,0.000,0.053,2662,2124,2758,2776,2741,0,0,0,0,0,0,28.83,25.79,28.83
$GC,341,-0.50,-107.1,2662,2128,2776,2741,49.6,-20.8,59,348,0.00,2.30,0.00,0.000,260,0.000,0.065,2651,3533,2758,2776,2741,0,0,0,0,0,0,28.83,25.85,28.83
$GC,410,-0.50,-107.1,2652,3534,2775,2742,62.9,-17.9,72,417,0.12,2.28,0.00,0.000,3078,0.184,0.057,2681,2124,2758,2775,2741,0,0,0,0,0,0,25.78,25.89,28.83
$GC,724,-0.50,-107.1,2681,2120,2777,2741,118.7,-16.9,123,728,0.00,2.30,0.00,0.000,260,0.000,0.065,2672,3533,2759,2777,2741,0,0,0,0,0,0,28.83,26.00,28.83
$GC,830,-0.50,-107.1,2672,3533,2776,2742,134.1,-13.6,133,834,0.00,2.28,0.00,0.000,1030,0.000,0.059,2673,2118,2759,2776,2742,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1135,-0.50,-107.1,2672,2115,2777,2741,182.6,-15.5,163,1139,0.00,2.30,0.00,0.000,260,0.000,0.066,2662,3532,2759,2777,2741,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1181,-0.50,-107.1,2662,3532,2776,2741,189.7,-15.6,167,1185,0.00,2.28,0.00,0.000,1030,0.000,0.057,2662,2122,2759,2776,2742,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1486,-0.50,-107.1,2662,2118,2777,2741,240.5,-16.8,197,1490,0.00,2.30,0.00,0.000,260,0.000,0.067,2652,3542,2759,2777,2741,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1532,-0.50,-107.1,2652,3542,2776,2742,248.0,-16.5,201,1537,0.12,2.28,0.00,0.000,3078,0.175,0.058,2681,2118,2759,2776,2742,0,0,0,0,0,0,26.08,26.17,28.83
$GC,1837,-0.50,-107.1,2681,2115,2777,2741,293.6,-14.4,231,1841,0.00,2.33,0.00,0.000,260,0.000,0.067,2673,3546,2759,2777,2741,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1874,-0.50,-107.1,2672,3546,2777,2741,298.8,-14.5,234,1883,0.00,2.28,0.00,0.000,1030,0.000,0.058,2672,2120,2759,2777,2741,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2182,-0.50,-107.1,2672,2117,2777,2741,346.2,-15.7,265,2187,0.00,2.28,0.00,0.000,260,0.000,0.067,2661,3532,2759,2777,2741,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2251,-0.50,-107.1,1824,3531,2750,2737,356.1,-14.6,271,2259,0.00,2.30,0.00,0.000,1030,0.000,0.060,2661,2132,2758,2776,2741,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2559,-0.50,-107.1,2661,2129,2777,2741,407.5,-16.1,300,2564,0.00,2.28,0.00,0.000,260,0.000,0.069,2651,3531,2759,2777,2741,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2618,-0.50,-107.1,2651,3531,2776,2741,416.8,-15.7,303,2623,0.12,2.28,0.00,0.000,3078,0.175,0.063,2680,2117,2758,2776,2741,0,0,0,0,0,0,26.18,26.28,28.83
$GC,2935,-0.50,-107.1,2680,2113,2777,2741,458.8,-12.6,319,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2113,2759,2777,2741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3235,-0.50,-107.1,2680,2113,2777,2741,494.8,-11.7,334,3239,0.00,2.30,0.00,0.000,260,0.000,0.070,2671,3531,2759,2777,2741,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3284,-0.50,-107.1,2671,3531,2777,2741,499.0,-11.7,336,3291,0.00,2.33,0.00,0.000,1030,0.000,0.063,2671,2095,2758,2776,2741,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3591,-0.50,-107.1,2671,2090,2777,2741,538.6,-12.5,352,3597,0.00,2.35,0.00,0.000,260,0.000,0.070,2661,3541,2759,2777,2741,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3664,-0.50,-107.1,2660,3541,2777,2740,546.0,-12.5,355,3672,0.00,2.30,0.00,0.000,1030,0.000,0.065,2660,2120,2758,2776,2741,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3971,-0.50,-107.1,2660,2117,2776,2740,587.7,-12.9,371,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2117,2758,2776,2740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4271,-0.50,-107.1,2661,2117,2776,2740,626.8,-13.1,386,4275,0.00,2.30,0.00,0.000,260,0.000,0.070,2650,3535,2758,2776,2740,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4299,-0.50,-107.1,2650,3535,2776,2740,628.8,-13.1,387,4308,0.12,2.30,0.00,0.000,3078,0.175,0.066,2679,2116,2758,2776,2740,0,0,0,0,0,0,26.27,26.36,28.83
$GC,4606,-0.50,-107.1,2679,2113,2777,2740,665.3,-11.0,403,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2113,2759,2778,2740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4906,-0.50,-107.1,2679,2113,2777,2740,699.7,-11.5,418,4911,0.00,2.30,0.00,0.000,260,0.000,0.073,2670,3529,2758,2777,2739,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4925,-0.50,-107.1,1824,3529,2750,2735,701.4,-11.5,419,4929,0.00,2.30,0.00,0.000,1030,0.000,0.065,2670,2129,2758,2776,2740,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5242,-0.50,-107.1,2669,2125,2777,2739,739.5,-12.0,435,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2125,2758,2777,2739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5542,-0.50,-107.1,2670,2125,2777,2739,775.4,-12.1,450,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2125,2758,2777,2739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5842,-0.50,-107.1,2669,2125,2776,2739,810.0,-11.3,465,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2125,2757,2776,2739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6144,-0.50,-107.1,2670,2125,2776,2739,843.2,-10.9,480,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2125,2757,2776,2739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6442,-0.50,-107.1,2670,2125,2776,2738,875.0,-10.4,495,6446,0.00,2.30,0.00,0.000,516,0.000,0.070,2671,713,2757,2776,2738,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6466,-0.50,-107.1,2671,712,2776,2738,876.8,-10.6,496,6470,0.00,2.33,0.00,0.000,1030,0.000,0.063,2662,2126,2757,2776,2738,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6779,-0.50,-107.1,2661,2126,2776,2738,911.7,-11.1,512,6784,0.00,2.28,0.00,0.000,260,0.000,0.073,2651,3538,2757,2776,2738,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6846,-0.50,-107.1,2650,3538,2775,2737,918.5,-11.2,515,6851,0.12,2.30,0.00,0.000,3078,0.169,0.069,2680,2119,2757,2776,2738,0,0,0,0,0,0,26.34,26.41,28.83
$GC,7158,-0.50,-107.1,2680,2116,2776,2738,951.4,-10.4,531,7162,0.00,2.28,0.00,0.000,516,0.000,0.067,2684,707,2757,2777,2738,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7182,-0.50,-107.1,2684,707,2777,2738,953.1,-10.5,532,7186,0.00,2.30,0.00,0.000,1030,0.000,0.062,2675,2133,2757,2777,2737,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7494,-0.50,-107.1,2675,2133,2777,2737,987.5,-11.0,548,7500,0.00,2.25,0.00,0.000,260,0.000,0.072,2664,3533,2757,2777,2737,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7595,-0.50,-107.1,2664,3533,2775,2737,998.0,-10.4,553,7601,0.00,2.30,0.00,0.000,1030,0.000,0.070,2664,2121,2756,2775,2737,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,7613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7613,begin apogee
$GC,7616,-0.11,0.0,2663,2119,2775,2737,1000.2,-10.3,554,7701,0.47,0.00,82.05,1.306,10246,0.159,0.000,2801,2117,2321,2365,2278,0,0,0,0,0,0,26.32,28.83,23.80
$STATE,7702,end apogee,CONTROL_FINISHED_OK
$STATE,7702,begin climb
$GC,7704,0.50,107.1,2801,2117,2367,2279,1002.6,0.0,558,7803,0.60,0.00,95.60,1.287,10502,0.084,0.000,2999,2117,1884,1954,1815,0,0,0,0,0,0,24.68,28.83,23.39
$GC,8094,0.50,107.1,2999,2117,1952,1815,947.4,16.8,578,8100,0.00,2.35,0.00,0.000,516,0.000,0.050,3010,678,1883,1951,1815,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8117,0.50,107.1,3009,678,1948,1815,944.3,16.6,579,8121,0.00,2.33,0.00,0.000,1030,0.000,0.044,3010,2103,1881,1948,1815,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8434,0.50,107.1,3009,2105,1947,1814,890.1,16.9,595,8438,0.00,2.30,0.00,0.000,516,0.000,0.049,3019,677,1880,1947,1814,0,0,0,0,0,0,28.83,25.73,28.83
$GC,8503,0.50,107.1,3019,676,1944,1815,880.5,17.1,598,8510,0.00,2.33,0.00,0.000,1030,0.000,0.046,3019,2126,1879,1944,1815,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8810,0.50,107.1,3019,2126,1944,1814,825.1,17.8,614,8814,0.00,2.33,0.00,0.000,516,0.000,0.048,3030,672,1879,1944,1815,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8885,0.50,107.1,3030,672,1942,1814,812.1,17.2,618,8890,0.00,2.25,0.00,0.000,1030,0.000,0.042,3030,2100,1878,1942,1814,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9201,0.50,107.1,3030,2100,1942,1814,756.3,17.1,634,9202,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2100,1878,1942,1814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9501,0.50,107.1,3030,2100,1942,1814,705.8,16.4,649,9505,0.00,2.25,0.00,0.000,516,0.000,0.048,3040,676,1878,1942,1814,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9560,0.50,107.1,2208,675,1913,1811,696.3,17.0,652,9565,0.10,2.28,0.00,0.000,5126,0.194,0.043,3014,2088,1876,1939,1814,0,0,0,0,0,0,25.98,26.15,28.83
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$GC,11213,0.50,107.1,3033,2078,1938,1814,456.4,14.2,735,11217,0.00,2.17,0.00,0.000,516,0.000,0.049,3044,688,1876,1938,1814,0,0,0,0,0,0,28.83,26.30,28.83
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$GC,11939,0.50,107.1,3020,2097,1937,1814,366.0,12.8,784,11947,0.00,2.20,0.00,0.000,260,0.000,0.051,3020,3508,1875,1937,1814,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,14562,end climb,SURFACE_DEPTH_REACHED
$STATE,14562,begin surface coast
$FINISH,1.7,1.017283
$STATE,14584,end surface coast,CONTROL_FINISHED_OK
$STATE,14584,begin surface
$SM_CCo,14598,39.60,0.058,0,0,1505,200.16
$SM_GC,2.22,7.60,0.00,39.60,0.036,0.000,0.058,128,2102,1505,-8.41,-0.62,200.16,0,0,0,0,0,0,26.45,28.83,26.37
$IRIDIUM_FIX,-4632.36,356.39,020609,080849
$TT8_MAMPS,0.025466,0.025466
$HUMID,60.39
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,23.4,12.588
$10V_AH,10.3,10.245
$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,20.100,140.900,177.650,39.600,0.000,23.999,18.360,259.280,0.000,0.000,7.970,2934.635,9297.080,436.186,2289.559,100.700,0.000,1476.877,0.000,1934.431,0.000,0.989,0.000
$DEVICE_MAMPS,243.270,72.675,1305.855,58.140,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,54.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353340
$DATA_FILE_SIZE,67020,1119
$CAP_FILE_SIZE,149044,0
$CFSIZE,2097086464,2082734080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.218,106.5,1
$GPS,060816,031734,-4650.776,441.957,217,1.6,218,-23.5