version: 66.11
glider: 615
mission: 5
dive: 305
start: 11 4 115 10 17 4
data:
$ID,615
$MISSION,5
$DIVE,305
$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,-19367.453
$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,38
$R_STBD_OVSHOOT,62
$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,10.5
$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
$GPS1,041115,095902,1759.859,8926.957,116,0.9,120,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-72.8
$GPS2,041115,101637,1759.764,8926.991,5,0.8,5,-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,237.1,12570,-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,-126.5,186,2232,547,494,0.0,0.0,0,57,0.00,0.00,-39.40,0.000,16386,0.000,0.000,187,2232,1621,1619,1623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.82,-126.5,186,2232,1619,1623,3.2,-6.9,6,118,10.85,2.28,-38.05,0.000,18692,0.348,0.077,2667,3583,3390,3405,3376,0,0,0,0,0,0,14.14,14.40,14.78
$GC,201,-0.82,-126.5,1664,3582,3391,3373,49.2,-37.0,31,207,0.00,2.20,0.00,0.000,1030,0.000,0.037,2667,2185,3390,3405,3376,0,0,0,0,0,0,28.83,14.61,28.83
$GC,391,-0.82,-126.5,1672,2182,3391,3374,95.3,-19.3,68,399,0.00,2.28,0.00,0.000,516,0.000,0.054,2667,810,3391,3405,3377,0,0,0,0,0,0,28.83,14.49,28.83
$GC,482,-0.82,-126.5,2667,810,3405,3376,111.1,-16.5,85,490,0.10,2.17,0.00,0.000,3078,0.285,0.041,2677,2187,3390,3405,3376,0,0,0,0,0,0,14.39,14.64,28.83
$GC,674,-0.82,-126.5,2677,2187,3405,3377,140.0,-15.2,122,681,0.00,2.35,0.00,0.000,260,0.000,0.058,2667,3610,3391,3405,3377,0,0,0,0,0,0,28.83,14.60,28.83
$GC,745,-0.82,-126.5,2668,3610,3405,3377,150.4,-15.5,135,751,0.00,2.20,0.00,0.000,1030,0.000,0.035,2667,2195,3391,3405,3377,0,0,0,0,0,0,28.83,14.71,28.83
$GC,935,-0.82,-126.5,2667,2195,3405,3377,177.0,-15.5,172,942,0.00,2.35,0.00,0.000,260,0.000,0.058,2656,3618,3390,3405,3376,0,0,0,0,0,0,28.83,14.61,28.83
$GC,985,-0.82,-126.5,2657,3618,3405,3377,184.5,-15.1,181,994,0.10,2.22,0.00,0.000,3078,0.261,0.034,2678,2189,3391,3405,3377,0,0,0,0,0,0,14.47,14.73,28.83
$GC,1176,-0.82,-126.5,2678,2188,3405,3376,212.3,-14.6,210,1185,0.00,2.30,0.00,0.000,260,0.000,0.061,2669,3599,3390,3405,3376,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1197,-0.82,-126.5,2669,3600,3405,3376,215.3,-13.7,214,1201,0.00,2.17,0.00,0.000,1030,0.000,0.036,2669,2205,3390,3405,3376,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1503,-0.82,-126.5,2669,2204,3405,3372,261.0,-15.0,245,1513,0.00,2.22,0.00,0.000,516,0.000,0.061,2669,823,3389,3405,3373,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1557,-0.82,-126.5,2669,822,3405,3372,269.1,-15.2,255,1568,0.10,2.20,0.00,0.000,3078,0.285,0.049,2680,2196,3387,3403,3372,0,0,0,0,0,0,14.46,14.69,28.83
$GC,1867,-0.82,-126.5,2680,2196,3405,3369,312.7,-13.9,287,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2196,3387,3405,3369,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2178,-0.82,-126.5,2680,2197,3404,3363,356.4,-14.2,316,2184,0.00,2.25,0.00,0.000,516,0.000,0.064,2680,813,3384,3405,3363,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2225,-0.82,-126.5,2680,814,3404,3363,363.7,-14.2,326,2229,0.00,2.22,0.00,0.000,1030,0.000,0.050,2672,2198,3383,3404,3362,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2532,-0.82,-126.5,2672,2199,3404,3356,407.9,-14.5,342,2536,0.00,2.25,0.00,0.000,516,0.000,0.063,2672,818,3380,3404,3356,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2566,-0.82,-126.5,2672,818,3403,3356,413.4,-14.8,349,2575,0.05,2.30,0.00,0.000,3078,0.233,0.050,2676,2199,3380,3404,3356,0,0,0,0,0,0,14.32,14.53,28.83
$GC,2874,-0.82,-126.5,2676,2198,3403,3352,456.8,-14.3,365,2880,0.00,2.25,0.00,0.000,516,0.000,0.065,2677,820,3378,3404,3352,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2907,-0.82,-126.5,2677,820,3403,3352,462.1,-15.1,372,2914,0.00,2.30,0.00,0.000,1030,0.000,0.051,2669,2197,3377,3403,3351,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3234,-0.82,-126.5,2669,2197,3402,3347,509.3,-14.2,388,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2197,3374,3402,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3534,-0.82,-126.5,2669,2197,3400,3345,551.0,-13.7,398,3540,0.00,2.28,0.00,0.000,516,0.000,0.066,2669,812,3372,3400,3345,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3602,-0.82,-126.5,2669,812,3400,3345,560.4,-13.0,412,3607,0.10,2.25,0.00,0.000,3078,0.275,0.053,2680,2203,3372,3400,3345,0,0,0,0,0,0,14.47,14.70,28.83
$GC,3920,-0.82,-126.5,2680,2203,3398,3342,600.2,-12.6,425,3926,0.00,2.30,0.00,0.000,516,0.000,0.067,2680,814,3370,3398,3342,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3958,-0.82,-126.5,2680,814,3397,3342,605.7,-13.9,433,3962,0.00,2.25,0.00,0.000,1030,0.000,0.053,2673,2199,3369,3397,3342,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4275,-0.82,-126.5,2672,2199,3396,3341,648.4,-13.5,446,4281,0.00,2.28,0.00,0.000,516,0.000,0.067,2673,819,3368,3396,3340,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4313,-0.82,-126.5,2673,819,3396,3340,653.9,-13.6,454,4318,0.08,2.25,0.00,0.000,3078,0.301,0.054,2677,2204,3367,3395,3339,0,0,0,0,0,0,14.50,14.69,28.83
$GC,4631,-0.82,-126.5,2677,2204,3394,3337,694.9,-13.0,467,4637,0.00,2.30,0.00,0.000,516,0.000,0.069,2677,813,3365,3394,3337,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4674,-0.82,-126.5,2676,813,3394,3337,701.1,-13.0,476,4678,0.00,2.25,0.00,0.000,1030,0.000,0.054,2670,2198,3365,3394,3337,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4986,-0.82,-126.5,2670,2199,3393,3336,742.7,-13.3,488,4992,0.00,2.30,0.00,0.000,516,0.000,0.068,2669,814,3364,3393,3336,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5009,-0.82,-126.5,2669,814,3392,3336,746.2,-13.8,493,5017,0.10,2.28,0.00,0.000,3078,0.274,0.054,2680,2207,3364,3392,3336,0,0,0,0,0,0,14.45,14.68,28.83
$GC,5316,-0.82,-126.5,2680,2208,3390,3335,784.5,-12.3,504,5322,0.00,2.33,0.00,0.000,516,0.000,0.070,2680,813,3362,3390,3335,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5376,-0.82,-126.5,2680,813,3390,3335,792.0,-12.2,516,5382,0.00,2.28,0.00,0.000,1030,0.000,0.055,2674,2209,3362,3389,3335,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5706,-0.82,-126.5,2673,2209,3389,3334,833.4,-12.7,532,5712,0.00,2.30,0.00,0.000,516,0.000,0.068,2673,820,3361,3389,3334,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5744,-0.82,-126.5,2673,820,3389,3334,838.8,-13.3,540,5748,0.00,2.25,0.00,0.000,1030,0.000,0.055,2664,2199,3361,3388,3334,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6061,-0.82,-126.5,2664,2199,3388,3332,880.2,-13.3,553,6068,0.08,2.30,0.00,0.000,2564,0.324,0.067,2676,821,3360,3388,3332,0,0,0,0,0,0,14.61,14.58,28.83
$GC,6084,-0.82,-126.5,2677,821,3388,3332,883.7,-13.6,558,6092,0.00,2.33,0.00,0.000,1030,0.000,0.054,2669,2194,3360,3388,3332,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6391,-0.82,-126.5,2669,2195,3386,3332,923.8,-13.1,569,6392,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2195,3359,3386,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6692,-0.82,-126.5,2669,2195,3385,3330,963.0,-13.0,579,6698,0.00,2.28,0.00,0.000,516,0.000,0.070,2669,817,3357,3385,3329,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6759,-0.82,-126.5,2669,817,3384,3329,972.0,-12.9,593,6763,0.00,2.28,0.00,0.000,1030,0.000,0.057,2666,2202,3357,3385,3329,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,6925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6925,begin apogee
$GC,6929,-0.16,0.0,2666,2203,3384,3329,992.8,-12.6,601,7047,0.88,0.00,106.90,2.334,10246,0.285,0.000,2886,2205,2865,2913,2818,0,0,0,0,0,0,14.02,28.83,13.06
$STATE,7049,end apogee,CONTROL_FINISHED_OK
$STATE,7049,begin climb
$GC,7051,0.82,126.5,2886,2204,2912,2817,997.3,0.0,625,7175,1.15,2.40,113.47,2.443,10500,0.228,0.070,3201,3545,2349,2411,2288,0,0,0,0,0,0,13.97,13.83,12.93
$GC,7191,0.86,157.5,3201,3546,2405,2286,991.8,7.6,654,7229,0.08,2.42,28.62,2.154,11270,0.275,0.050,3216,2155,2221,2285,2158,0,0,0,0,0,0,13.86,13.98,12.96
$GC,7529,0.86,157.5,3216,2155,2278,2153,951.7,12.3,671,7535,0.00,2.42,0.00,0.000,516,0.000,0.085,3221,739,2215,2277,2153,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7686,0.86,157.5,3221,739,2277,2152,931.9,11.5,703,7690,0.00,2.33,0.00,0.000,1030,0.000,0.054,3217,2145,2214,2277,2152,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8009,0.86,157.5,3217,2145,2276,2151,893.5,11.9,717,8015,0.00,2.38,0.00,0.000,516,0.000,0.083,3221,746,2213,2276,2151,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8086,0.86,157.5,3221,746,2276,2151,883.8,11.8,733,8090,0.00,2.30,0.00,0.000,1030,0.000,0.054,3220,2143,2213,2276,2151,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8394,0.86,157.5,3220,2143,2275,2150,847.2,12.0,744,8400,0.00,2.40,0.00,0.000,516,0.000,0.083,3227,737,2213,2275,2151,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8471,0.86,157.5,3227,738,2275,2151,837.6,12.0,760,8476,0.00,2.30,0.00,0.000,1030,0.000,0.056,3227,2139,2212,2274,2150,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8779,0.86,157.5,3227,2139,2274,2149,801.2,12.0,771,8785,0.00,2.38,0.00,0.000,516,0.000,0.084,3235,739,2211,2274,2149,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8883,0.86,157.5,3235,739,2274,2150,788.3,12.2,792,8887,0.00,2.28,0.00,0.000,1030,0.000,0.054,3230,2140,2211,2274,2149,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9200,0.86,157.5,3231,2140,2273,2148,751.3,11.5,805,9206,0.00,2.38,0.00,0.000,516,0.000,0.081,3238,737,2210,2273,2148,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9298,0.86,157.5,3238,737,2274,2148,739.7,11.3,825,9302,0.00,2.30,0.00,0.000,1030,0.000,0.054,3235,2141,2210,2272,2148,0,0,0,0,0,0,28.83,14.65,28.83
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$GC,14421,0.91,195.8,3272,738,2124,1997,175.3,9.5,1291,14428,0.00,2.30,0.00,0.000,1030,0.000,0.050,3272,2139,2060,2123,1997,0,0,0,0,0,0,28.83,14.51,28.83
$GC,14616,0.91,195.8,3272,2139,2123,1995,155.9,9.3,1328,14624,0.00,2.42,0.00,0.000,260,0.000,0.072,3272,3544,2058,2122,1995,0,0,0,0,0,0,28.83,14.45,28.83
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$GC,15019,0.96,233.8,3282,2139,2082,1947,119.9,7.8,1403,15046,0.00,2.45,21.60,1.146,8708,0.000,0.075,3293,732,1910,1977,1843,0,0,0,0,0,0,28.83,14.50,13.84
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$STATE,16383,end climb,SURFACE_DEPTH_REACHED
$STATE,16383,begin surface coast
$FINISH,0.2,1.018734
$STATE,16409,end surface coast,CONTROL_FINISHED_OK
$STATE,16409,begin surface
$SM_CCo,16426,1.20,0.200,0,0,509,579.63
$SM_CCo,16430,-0.03,0.000,0,0,510,579.63
$SM_CCo,16433,0.38,0.337,0,0,509,579.63
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$IRIDIUM_FIX,1749.63,8928.27,300808,232337
$TT8_MAMPS,0.018725,0.018725
$HUMID,49.44
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,12.9,111.832
$10V_AH,11.0,0.000
$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
$DEVICE_SECS,23.350,194.600,520.925,1.575,0.000,56.569,72.831,701.323,0.000,0.000,6.706,3276.988,9540.443,648.041,3748.292,262.332,0.000,2050.694,0.000,2427.991,0.000,0.554,0.000
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$SENSOR_SECS,868.613,584.018,1475.281,901.341,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322220
$DATA_FILE_SIZE,134029,1654
$CAP_FILE_SIZE,187515,0
$CFSIZE,2097086464,2044362752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052, 40.1,1
$GPS,041115,145257,1759.213,8925.660,81,1.1,82,-0.9