version: 66.11
glider: 615
mission: 5
dive: 206
start: 10 14 115 20 39 38
data:
$ID,615
$MISSION,5
$DIVE,206
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$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,390
$T_ABORT,1440
$T_TURN,225
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54445
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0035031899
$HD_B,0.0146577
$HD_C,4.3681601e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.2002
$TGT_DEFAULT_LON,-12224.4
$TGT_AUTO_DEFAULT,0
$SM_CC,700
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19098.689
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,191
$PITCH_MAX,3898
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,32
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,192
$ROLL_MAX,3824
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,510
$VBD_MAX,3960
$C_VBD,2873
$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,3
$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,350
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,11.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-156.51088
$PRESSURE_SLOPE,0.00013730999
$AD7714Ch0Gain,32
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,166
$DEVICE3,147
$DEVICE4,133
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044134618
$SEABIRD_T_H,0.00064964173
$SEABIRD_T_I,2.6219326e-05
$SEABIRD_T_J,3.1475095e-06
$SEABIRD_C_G,-9.8766012
$SEABIRD_C_H,1.1351171
$SEABIRD_C_I,-0.0017266128
$SEABIRD_C_J,0.00019839592
$GPS1,141015,203151,1759.263,8925.965,35,0.9,35,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.1
$GPS2,141015,203912,1759.294,8925.970,4,0.8,4,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,SW
$TGT_LATLONG,1755.320,8921.600
$TGT_RADIUS,3000.000
$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,217.0,10652,-21.4,-9.167,-25.88,2022
$D_GRID,990
$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,-0.82,-126.5,179,2206,558,482,0.0,0.0,0,63,0.00,0.00,-45.70,0.000,16386,0.000,0.000,178,2207,1832,1833,1831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,178,2207,1833,1831,3.6,-9.0,7,118,10.77,2.35,-30.60,0.000,18948,0.350,0.073,2672,794,3390,3404,3376,0,0,0,0,0,0,14.18,14.32,14.75
$GC,131,-0.82,-126.5,2672,795,3404,3377,24.8,-38.9,17,139,0.08,2.28,0.00,0.000,3078,0.337,0.044,2674,2205,3390,3404,3377,0,0,0,0,0,0,14.29,14.52,28.83
$GC,323,-0.82,-126.5,2674,2205,3404,3377,79.6,-21.2,54,331,0.00,2.33,0.00,0.000,260,0.000,0.057,2666,3597,3390,3404,3377,0,0,0,0,0,0,28.83,14.50,28.83
$GC,383,-0.82,-126.5,2665,3597,3404,3377,91.9,-20.4,65,391,0.00,2.22,0.00,0.000,1030,0.000,0.036,2665,2183,3390,3404,3377,0,0,0,0,0,0,28.83,14.63,28.83
$GC,574,-0.82,-126.5,2665,2181,3404,3379,123.3,-14.6,102,581,0.00,2.28,0.00,0.000,516,0.000,0.051,2665,807,3391,3404,3379,0,0,0,0,0,0,28.83,14.52,28.83
$GC,624,-0.82,-126.5,2665,807,3404,3379,130.2,-13.9,111,631,0.10,2.22,0.00,0.000,3078,0.287,0.038,2675,2218,3392,3405,3379,0,0,0,0,0,0,14.38,14.64,28.83
$GC,814,-0.82,-126.5,2675,2218,3404,3380,157.3,-14.5,148,822,0.00,2.30,0.00,0.000,260,0.000,0.058,2666,3597,3392,3404,3380,0,0,0,0,0,0,28.83,14.54,28.83
$GC,838,-0.82,-126.5,1696,3596,3391,3378,160.8,-15.1,152,845,0.00,2.25,0.00,0.000,1030,0.000,0.035,2666,2197,3392,3404,3380,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1029,-0.82,-126.5,2666,2195,3404,3380,189.1,-15.5,189,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2195,3393,3405,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1224,-0.82,-126.5,2666,2195,3404,3380,218.4,-14.7,215,1233,0.00,2.22,0.00,0.000,516,0.000,0.053,2666,809,3392,3405,3380,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1287,-0.82,-126.5,2666,809,3404,3380,227.6,-13.8,227,1298,0.10,2.20,0.00,0.000,3078,0.276,0.039,2677,2204,3392,3404,3380,0,0,0,0,0,0,14.44,14.68,28.83
$GC,1597,-0.82,-126.5,2677,2204,3404,3378,272.3,-14.7,259,1606,0.00,2.25,0.00,0.000,516,0.000,0.054,2677,807,3390,3404,3377,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1629,-0.82,-126.5,2677,808,3404,3377,277.2,-15.4,265,1639,0.00,2.20,0.00,0.000,1030,0.000,0.041,2669,2197,3390,3404,3377,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1940,-0.82,-126.5,2669,2197,3404,3373,322.8,-14.6,297,1949,0.00,2.25,0.00,0.000,516,0.000,0.056,2669,808,3388,3404,3373,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1972,-0.82,-126.5,2669,807,3404,3373,327.8,-15.1,303,1984,0.10,2.22,0.00,0.000,3078,0.276,0.046,2680,2201,3388,3404,3372,0,0,0,0,0,0,14.46,14.69,28.83
$GC,2292,-0.82,-126.5,2680,2201,3404,3370,373.3,-14.5,328,2298,0.00,2.25,0.00,0.000,516,0.000,0.058,2680,816,3387,3404,3370,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2335,-0.82,-126.5,2681,816,3404,3370,380.0,-14.1,337,2340,0.00,2.25,0.00,0.000,1030,0.000,0.047,2673,2190,3386,3404,3369,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2653,-0.82,-126.5,2673,2191,3404,3364,426.3,-14.8,355,2659,0.00,2.22,0.00,0.000,516,0.000,0.058,2673,818,3384,3404,3364,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2675,-0.82,-126.5,2673,818,3404,3364,430.1,-15.3,360,2680,0.08,2.22,0.00,0.000,3078,0.299,0.047,2676,2201,3384,3404,3364,0,0,0,0,0,0,14.50,14.70,28.83
$GC,2993,-0.82,-126.5,2676,2201,3403,3360,474.4,-13.7,378,2999,0.00,2.25,0.00,0.000,516,0.000,0.060,2677,819,3381,3403,3359,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3036,-0.82,-126.5,2677,818,3403,3359,480.7,-13.5,387,3040,0.00,2.28,0.00,0.000,1030,0.000,0.048,2668,2200,3381,3403,3359,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3343,-0.82,-126.5,2668,2200,3403,3355,523.8,-14.1,402,3347,0.00,2.22,0.00,0.000,516,0.000,0.060,2668,821,3379,3403,3355,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3374,-0.82,-126.5,2668,820,3403,3355,528.2,-14.7,408,3379,0.10,2.22,0.00,0.000,3078,0.274,0.049,2680,2202,3379,3403,3355,0,0,0,0,0,0,14.48,14.71,28.83
$GC,3701,-0.82,-126.5,2679,2203,3402,3352,571.4,-13.1,423,3707,0.00,2.28,0.00,0.000,516,0.000,0.061,2680,810,3377,3403,3351,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3733,-0.82,-126.5,2680,810,3402,3352,575.8,-13.0,430,3738,0.00,2.30,0.00,0.000,1030,0.000,0.049,2672,2205,3377,3403,3352,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4061,-0.82,-126.5,2672,2205,3401,3348,617.9,-12.7,445,4065,0.00,2.25,0.00,0.000,516,0.000,0.062,2672,821,3374,3401,3348,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4095,-0.82,-126.5,2672,820,3401,3348,622.8,-13.1,452,4100,0.05,2.28,0.00,0.000,3078,0.246,0.050,2677,2199,3374,3401,3348,0,0,0,0,0,0,14.42,14.67,28.83
$GC,4423,-0.82,-126.5,2677,2200,3401,3346,662.2,-12.2,467,4427,0.00,2.28,0.00,0.000,516,0.000,0.063,2677,820,3373,3401,3345,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4464,-0.82,-126.5,2677,819,3400,3345,667.3,-11.9,475,4468,0.00,2.22,0.00,0.000,1030,0.000,0.050,2669,2201,3373,3400,3346,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4781,-0.82,-126.5,2669,2200,3399,3344,707.0,-12.8,488,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2201,3371,3399,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5080,-0.82,-126.5,2669,2201,3397,3342,744.8,-12.6,498,5084,0.00,2.28,0.00,0.000,516,0.000,0.063,2669,819,3369,3397,3342,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5119,-0.82,-126.5,2669,819,3397,3342,750.1,-13.1,506,5124,0.10,2.25,0.00,0.000,3078,0.272,0.052,2680,2205,3369,3397,3342,0,0,0,0,0,0,14.48,14.71,28.83
$GC,5437,-0.82,-126.5,2680,2205,3396,3340,787.5,-11.9,519,5443,0.00,2.28,0.00,0.000,516,0.000,0.063,2680,820,3368,3396,3340,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5469,-0.82,-126.5,2680,820,3396,3341,791.8,-12.1,526,5474,0.00,2.28,0.00,0.000,1030,0.000,0.052,2672,2197,3368,3396,3340,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5798,-0.82,-126.5,2672,2197,3395,3338,832.5,-12.6,541,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2197,3366,3395,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6098,-0.82,-126.5,2672,2197,3393,3337,870.1,-12.5,551,6104,0.00,2.28,0.00,0.000,516,0.000,0.063,2673,814,3365,3394,3337,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6145,-0.82,-126.5,2672,814,3393,3337,876.5,-12.6,561,6150,0.08,2.28,0.00,0.000,3078,0.300,0.053,2676,2210,3365,3393,3337,0,0,0,0,0,0,14.48,14.70,28.83
$GC,6458,-0.82,-126.5,2676,2210,3392,3336,913.7,-12.1,573,6464,0.00,2.30,0.00,0.000,516,0.000,0.063,2676,820,3364,3392,3336,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6495,-0.82,-126.5,2676,820,3392,3336,918.5,-11.6,581,6499,0.00,2.25,0.00,0.000,1030,0.000,0.052,2668,2205,3364,3392,3336,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6818,-0.82,-126.5,2668,2204,3391,3336,957.2,-12.2,595,6824,0.00,2.30,0.00,0.000,516,0.000,0.064,2668,817,3363,3391,3335,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6848,-0.82,-126.5,2668,817,3391,3335,961.1,-13.5,601,6854,0.10,2.25,0.00,0.000,3078,0.272,0.053,2679,2201,3363,3391,3335,0,0,0,0,0,0,14.46,14.69,28.83
$STATE,7116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7116,begin apogee
$GC,7120,-0.16,0.0,2679,2202,3390,3334,993.0,-11.8,615,7270,0.70,0.00,144.23,1.798,10246,0.198,0.000,2890,2202,2872,2922,2822,0,0,0,0,0,0,14.42,28.83,13.38
$STATE,7271,end apogee,CONTROL_FINISHED_OK
$STATE,7271,begin climb
$GC,7273,0.82,126.5,2890,2202,2916,2816,997.8,0.0,645,7390,1.00,2.45,108.70,2.163,10500,0.116,0.074,3211,3541,2349,2407,2291,0,0,0,0,0,0,14.07,13.88,13.12
$GC,7415,0.82,126.5,3211,3542,2402,2285,991.4,10.1,669,7422,0.00,2.35,0.00,0.000,1030,0.000,0.046,3220,2156,2343,2402,2285,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7722,0.82,126.5,3221,2155,2401,2283,957.6,11.2,680,7728,0.00,2.42,0.00,0.000,516,0.000,0.074,3232,736,2342,2401,2283,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7800,0.82,126.5,3232,736,2401,2283,948.5,11.6,696,7805,0.00,2.33,0.00,0.000,1030,0.000,0.050,3232,2138,2342,2401,2283,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8113,0.82,126.5,3232,2140,2399,2282,912.4,11.6,708,8114,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2140,2340,2399,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8412,0.82,126.5,3232,2140,2398,2282,879.8,10.7,718,8418,0.00,2.38,0.00,0.000,516,0.000,0.075,3242,738,2340,2398,2282,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8485,0.82,126.5,3242,738,2397,2282,871.6,10.7,733,8489,0.00,2.30,0.00,0.000,1030,0.000,0.051,3242,2141,2339,2397,2281,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8802,0.82,126.5,3242,2141,2396,2281,838.1,10.5,746,8806,0.00,2.35,0.00,0.000,516,0.000,0.073,3253,722,2338,2396,2281,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8867,0.82,126.5,3253,722,2396,2281,830.8,10.7,759,8871,0.00,2.33,0.00,0.000,1030,0.000,0.051,3253,2144,2338,2396,2281,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9190,0.82,126.5,3253,2144,2395,2279,796.3,10.9,773,9196,0.00,2.33,0.00,0.000,516,0.000,0.073,3263,749,2337,2395,2280,0,0,0,0,0,0,28.83,14.53,28.83
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$GC,13158,0.84,140.7,3270,739,2346,2232,395.8,9.8,1029,13166,0.08,2.35,0.00,0.000,5126,0.238,0.047,3249,2142,2288,2345,2231,0,0,0,0,0,0,14.23,14.47,28.83
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$GC,16097,0.99,257.0,3276,2144,2134,2011,126.1,6.2,1402,16154,0.00,2.42,48.47,1.115,8708,0.000,0.063,3286,743,1812,1872,1752,0,0,0,0,0,0,28.83,14.35,13.90
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$STATE,17678,end climb,SURFACE_DEPTH_REACHED
$STATE,17678,begin surface coast
$FINISH,0.3,1.019318
$STATE,17695,end surface coast,CONTROL_FINISHED_OK
$STATE,17695,begin surface
$SM_CCo,17710,1.15,0.181,0,0,508,579.63
$SM_CCo,17714,-0.05,0.000,0,0,511,579.63
$SM_CCo,17717,0.35,0.355,0,0,509,579.63
$SM_GC,2.93,8.98,0.00,0.35,0.055,0.000,0.355,181,2152,509,-8.59,-1.36,579.63,0,0,0,0,0,0,14.59,28.83,14.48
$IRIDIUM_FIX,1754.17,8928.25,100808,040431
$TT8_MAMPS,0.018725,0.018725
$HUMID,46.29
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,13.1,79.145
$10V_AH,12.8,0.000
$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
$DEVICE_SECS,22.925,193.375,553.550,1.500,0.000,25.216,49.605,246.666,0.000,0.000,5.966,3495.698,10394.074,690.488,3378.196,189.592,0.000,2135.840,0.000,2503.509,0.000,0.554,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,939.830,628.270,1644.937,1004.711,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322288
$DATA_FILE_SIZE,140657,1702
$CAP_FILE_SIZE,189099,0
$CFSIZE,2097086464,2060484608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.041,269.3,1
$GPS,151015,013604,1757.844,8924.373,31,0.9,31,-0.9