version: 66.11
glider: 615
mission: 5
dive: 262
start: 10 26 115 7 9 16
data:
$ID,615
$MISSION,5
$DIVE,262
$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,-19311.279
$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,43
$R_STBD_OVSHOOT,67
$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
$GPS1,261015,065803,1800.313,8932.751,29,0.9,29,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.0
$GPS2,261015,070849,1800.321,8932.632,6,0.8,6,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NE
$TGT_LATLONG,1806.660,8933.540
$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,35.4,11849,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.82,-126.5,163,2237,544,490,0.0,0.0,0,67,0.00,0.00,-50.03,0.000,16386,0.000,0.000,162,2236,1909,1907,1911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.82,-126.5,162,2236,1908,1911,3.3,-7.2,8,122,11.02,2.22,-32.50,0.000,19204,0.353,0.086,2666,3577,3389,3405,3373,0,0,0,0,0,0,14.13,14.49,14.76
$GC,150,-0.82,-126.5,2666,3577,3405,3373,26.7,-42.0,21,157,0.00,2.22,0.00,0.000,1030,0.000,0.041,2666,2193,3389,3405,3373,0,0,0,0,0,0,28.83,14.54,28.83
$GC,341,-0.82,-126.5,2666,2191,3406,3373,82.9,-20.1,58,348,0.00,2.33,0.00,0.000,516,0.000,0.057,2666,803,3388,3405,3372,0,0,0,0,0,0,28.83,14.46,28.83
$GC,391,-0.82,-126.5,2666,803,3406,3373,91.7,-16.9,67,398,0.10,2.20,0.00,0.000,3078,0.296,0.047,2674,2170,3389,3406,3373,0,0,0,0,0,0,14.33,14.58,28.83
$GC,582,-0.82,-126.5,1696,2168,3392,3372,124.7,-15.8,104,589,0.00,2.40,0.00,0.000,260,0.000,0.062,2667,3613,3390,3406,3374,0,0,0,0,0,0,28.83,14.56,28.83
$GC,652,-0.82,-126.5,2667,3613,3406,3375,136.4,-16.6,117,660,0.00,2.25,0.00,0.000,1030,0.000,0.037,2667,2188,3391,3406,3376,0,0,0,0,0,0,28.83,14.66,28.83
$GC,844,-0.82,-126.5,2667,2187,3406,3376,163.6,-13.5,154,851,0.00,2.30,0.00,0.000,516,0.000,0.057,2667,809,3391,3406,3376,0,0,0,0,0,0,28.83,14.50,28.83
$GC,918,-0.82,-126.5,1680,808,3392,3373,173.6,-12.8,168,926,0.08,2.30,0.00,0.000,3078,0.237,0.046,2678,2205,3391,3406,3376,0,0,0,0,0,0,14.34,14.53,28.83
$GC,1111,-0.82,-126.5,2678,2205,3406,3376,199.0,-12.8,205,1118,0.00,2.28,0.00,0.000,516,0.000,0.057,2678,805,3391,3406,3376,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1208,-0.82,-126.5,2678,805,3406,3375,212.4,-14.1,223,1218,0.00,2.25,0.00,0.000,1030,0.000,0.047,2669,2210,3390,3406,3375,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1519,-0.82,-126.5,2670,2210,3405,3373,257.8,-15.3,255,1528,0.00,2.25,0.00,0.000,516,0.000,0.059,2669,815,3389,3406,3372,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1551,-0.82,-126.5,2669,814,3406,3372,262.9,-15.5,261,1562,0.10,2.22,0.00,0.000,3078,0.272,0.048,2681,2203,3389,3406,3372,0,0,0,0,0,0,14.44,14.66,28.83
$GC,1861,-0.82,-126.5,2681,2203,3407,3369,308.5,-14.6,293,1871,0.00,2.28,0.00,0.000,516,0.000,0.061,2681,809,3387,3406,3369,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1896,-0.82,-126.5,2681,808,3405,3369,314.2,-15.1,300,1904,0.00,2.30,0.00,0.000,1030,0.000,0.048,2673,2197,3387,3406,3369,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2206,-0.82,-126.5,2673,2197,3406,3364,360.4,-15.1,328,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2197,3385,3406,3364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2504,-0.82,-126.5,2673,2197,3405,3358,404.1,-14.4,343,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2197,3382,3406,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2804,-0.82,-126.5,2673,2197,3405,3354,447.1,-14.0,358,2810,0.00,2.28,0.00,0.000,516,0.000,0.063,2673,809,3379,3405,3353,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2826,-0.82,-126.5,2673,809,3405,3354,450.6,-14.6,363,2831,0.08,2.25,0.00,0.000,3078,0.298,0.051,2677,2201,3379,3405,3353,0,0,0,0,0,0,14.47,14.68,28.83
$GC,3145,-0.82,-126.5,2676,2201,3405,3351,494.2,-13.8,381,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2201,3378,3405,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3444,-0.82,-126.5,2677,2201,3404,3347,535.7,-13.8,392,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2201,3375,3404,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3744,-0.82,-126.5,2677,2201,3402,3345,577.5,-13.9,402,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2201,3373,3402,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4044,-0.82,-126.5,2676,2201,3400,3344,619.7,-14.0,412,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2201,3372,3401,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4344,-0.82,-126.5,2676,2201,3400,3342,661.4,-13.8,422,4350,0.00,2.33,0.00,0.000,516,0.000,0.069,2677,806,3370,3400,3341,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4392,-0.82,-126.5,2677,806,3399,3341,668.2,-13.3,432,4396,0.00,2.28,0.00,0.000,1030,0.000,0.054,2669,2202,3370,3399,3341,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4704,-0.82,-126.5,2669,2203,3397,3340,710.5,-13.5,444,4710,0.00,2.35,0.00,0.000,260,0.000,0.076,2658,3604,3368,3397,3340,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4727,-0.82,-126.5,2658,3604,3397,3340,713.9,-13.2,449,4734,0.10,2.25,0.00,0.000,3078,0.253,0.044,2679,2208,3368,3397,3339,0,0,0,0,0,0,14.47,14.73,28.83
$GC,5034,-0.82,-126.5,2679,2208,3396,3337,752.6,-12.7,460,5040,0.00,2.35,0.00,0.000,516,0.000,0.070,2679,800,3366,3396,3337,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5126,-0.82,-126.5,1792,800,3383,3335,764.7,-13.0,479,5131,0.00,2.30,0.00,0.000,1030,0.000,0.055,2671,2209,3366,3395,3338,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5454,-0.82,-126.5,2671,2209,3394,3337,806.9,-13.1,494,5460,0.00,2.33,0.00,0.000,516,0.000,0.070,2671,807,3365,3395,3336,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5483,-0.82,-126.5,2670,807,3394,3336,811.0,-13.6,500,5488,0.08,2.30,0.00,0.000,3078,0.307,0.054,2674,2206,3365,3394,3336,0,0,0,0,0,0,14.44,14.66,28.83
$GC,5815,-0.82,-126.5,2675,2207,3393,3336,852.1,-12.3,516,5821,0.00,2.35,0.00,0.000,260,0.000,0.077,2666,3604,3363,3393,3334,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5868,-0.82,-126.5,2666,3603,3393,3335,859.1,-12.6,527,5876,0.00,2.28,0.00,0.000,1030,0.000,0.044,2666,2197,3364,3393,3335,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6175,-0.82,-126.5,2666,2197,3392,3333,897.4,-12.5,538,6181,0.00,2.33,0.00,0.000,516,0.000,0.069,2666,804,3363,3392,3334,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6253,-0.82,-126.5,2665,803,3391,3334,907.2,-12.3,554,6258,0.10,2.30,0.00,0.000,3078,0.284,0.056,2676,2208,3362,3391,3334,0,0,0,0,0,0,14.38,14.64,28.83
$GC,6561,-0.82,-126.5,2675,2208,3390,3333,942.6,-11.6,565,6567,0.00,2.35,0.00,0.000,516,0.000,0.071,2676,803,3361,3390,3333,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6591,-0.82,-126.5,2675,803,3390,3333,946.2,-12.5,571,6597,0.00,2.30,0.00,0.000,1030,0.000,0.055,2668,2208,3361,3389,3333,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6921,-0.82,-126.5,2668,2208,3389,3332,985.2,-11.7,587,6927,0.00,2.35,0.00,0.000,516,0.000,0.070,2668,802,3360,3389,3332,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6951,-0.82,-126.5,2668,802,3389,3332,988.7,-12.4,593,6958,0.10,2.30,0.00,0.000,3078,0.295,0.056,2678,2203,3360,3389,3332,0,0,0,0,0,0,14.36,14.64,28.83
$STATE,6962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6962,begin apogee
$GC,6967,-0.16,0.0,2678,2140,3388,3332,990.5,-11.5,596,7124,0.77,0.00,149.62,2.047,10246,0.264,0.000,2885,2140,2869,2917,2821,0,0,0,0,0,0,14.20,28.83,13.21
$STATE,7125,end apogee,CONTROL_FINISHED_OK
$STATE,7125,begin climb
$GC,7126,0.82,126.5,2885,2140,2914,2817,994.6,0.0,628,7242,1.12,0.00,112.07,2.258,10246,0.199,0.000,3204,2140,2356,2414,2298,0,0,0,0,0,0,13.89,28.83,12.97
$GC,7520,0.82,126.5,3203,2140,2402,2283,961.3,10.7,642,7526,0.00,2.42,0.00,0.000,516,0.000,0.085,3213,746,2343,2403,2283,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7598,0.82,126.5,3213,746,2404,2283,952.8,10.8,658,7602,0.00,2.33,0.00,0.000,1030,0.000,0.056,3213,2140,2343,2403,2283,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7910,0.82,126.5,3213,2140,2402,2282,920.2,10.4,670,7917,0.00,2.40,0.00,0.000,516,0.000,0.084,3222,746,2342,2402,2282,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7953,0.82,126.5,3222,746,2402,2282,915.3,11.1,679,7957,0.00,2.30,0.00,0.000,1030,0.000,0.053,3218,2142,2342,2402,2282,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8270,0.82,126.5,3218,2142,2402,2282,882.5,10.4,692,8276,0.00,2.38,0.00,0.000,516,0.000,0.081,3226,747,2341,2401,2282,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8378,0.82,126.5,3226,748,2400,2281,870.9,10.4,714,8382,0.00,2.30,0.00,0.000,1030,0.000,0.055,3227,2141,2340,2400,2281,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8690,0.82,126.5,3227,2140,2399,2280,839.7,10.0,726,8696,0.00,2.38,0.00,0.000,516,0.000,0.081,3236,746,2339,2398,2280,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8724,0.82,126.5,3236,746,2399,2280,836.2,10.3,733,8728,0.00,2.28,0.00,0.000,1030,0.000,0.052,3232,2142,2339,2399,2280,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9046,0.82,126.5,3233,2142,2398,2279,805.6,9.5,747,9052,0.00,2.35,0.00,0.000,260,0.000,0.073,3232,3543,2337,2397,2278,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9138,0.82,126.5,3232,3543,2396,2279,795.9,10.4,766,9143,0.00,2.33,0.00,0.000,1030,0.000,0.047,3241,2145,2337,2395,2279,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9467,0.82,126.5,3241,2144,2396,2278,763.8,10.1,781,9471,0.00,2.40,0.00,0.000,516,0.000,0.081,3252,740,2336,2395,2278,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9698,0.82,126.5,3252,740,2396,2278,740.2,10.1,827,9702,0.00,2.30,0.00,0.000,1030,0.000,0.051,3248,2145,2336,2395,2278,0,0,0,0,0,0,28.83,14.63,28.83
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$GC,14097,0.85,147.3,3268,729,2339,2224,313.2,9.6,1146,14107,0.05,2.38,1.35,0.168,13318,0.247,0.052,3254,2139,2273,2331,2215,0,0,0,0,0,0,14.16,14.39,14.45
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$GC,15155,0.87,160.2,3259,2136,2270,2153,213.5,9.1,1265,15156,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2136,2211,2270,2153,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,17278,1.41,599.4,3341,3548,1230,1130,35.7,-0.0,1644,17380,0.15,2.35,94.57,0.242,11270,0.121,0.039,3413,2130,509,576,442,0,0,0,0,0,0,14.52,14.50,14.25
$STATE,17533,end climb,SURFACE_DEPTH_REACHED
$STATE,17533,begin surface coast
$FINISH,0.3,1.015893
$STATE,17556,end surface coast,CONTROL_FINISHED_OK
$STATE,17556,begin surface
$SM_CCo,17573,1.27,0.174,0,0,508,579.63
$SM_CCo,17577,0.10,0.942,0,0,509,579.63
$SM_CCo,17580,0.00,0.000,0,0,510,579.63
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$IRIDIUM_FIX,1751.90,8932.79,210808,202019
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.67
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,13.0,97.026
$10V_AH,12.1,0.000
$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
$DEVICE_SECS,23.300,182.150,566.900,1.375,0.000,50.068,40.013,353.246,0.000,0.000,6.728,3385.680,10453.697,693.441,3479.078,203.953,0.000,2106.275,0.000,2488.225,0.000,0.552,0.000
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$SENSOR_SECS,906.536,598.391,1586.996,969.293,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322236
$DATA_FILE_SIZE,137471,1693
$CAP_FILE_SIZE,184746,0
$CFSIZE,2097086464,2051440640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.058,257.7,1
$GPS,261015,120333,1801.658,8933.062,39,0.9,39,-0.9