version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 86
start: 12 23 116 16 23 25
data:
$ID,628
$MISSION,3
$DIVE,86
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,970
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,100
$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,320
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.89999998
$RHO,1.0275
$MASS,53567
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,70
$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,4743.1001
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$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,-124321.5
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,152
$PITCH_MAX,3882
$C_PITCH,2800
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.0031260001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,247
$ROLL_MAX,3902
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,734
$VBD_MAX,3960
$C_VBD,2988
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,3
$DBDW,0
$PITCH_W_GAIN,7
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-167.58914
$PRESSURE_SLOPE,0.00014036
$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,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
$DEVICE2,133
$DEVICE3,147
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,0
$LOGGERDEVICE2,0
$LOGGERDEVICE3,0
$LOGGERDEVICE4,0
$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,0.0044104406
$SEABIRD_T_H,0.00064404617
$SEABIRD_T_I,2.5974168e-05
$SEABIRD_T_J,3.1912264e-06
$SEABIRD_C_G,-9.8867512
$SEABIRD_C_H,1.1496466
$SEABIRD_C_I,-0.00071915763
$SEABIRD_C_J,0.00012581857
$GPS1,231216,161531,2331.350,12255.603,35,0.8,35,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-59.8
$GPS2,231216,162302,2331.394,12255.637,9,0.9,9,-3.8
$SPEED_LIMITS,0.158,0.267
$TGT_NAME,N2
$TGT_LATLONG,2330.000,12355.000
$TGT_RADIUS,2000.000
$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,134.9,100855,-15.8,-10.104,-18.78,2952
$D_GRID,2786
$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,-0.78,-194.6,101,2161,1364,1348,0.0,0.0,0,72,0.00,0.00,-55.10,0.000,16386,0.000,0.000,99,2161,3258,3261,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,99,2161,3262,3256,3.7,-8.3,8,97,8.57,2.40,-8.43,0.000,18948,0.477,0.079,2542,734,3783,3741,3826,0,0,0,0,0,0,14.45,14.75,14.93
$GC,144,-0.78,-194.6,1544,734,3736,3827,22.8,-23.7,20,152,0.00,2.30,0.00,0.000,3078,0.000,0.043,2534,2136,3784,3739,3829,0,0,0,0,0,0,28.83,14.76,28.83
$GC,396,-0.78,-194.6,1536,2136,3736,3828,85.8,-24.1,69,405,0.00,2.38,0.00,0.000,2308,0.000,0.064,2523,3570,3784,3739,3829,0,0,0,0,0,0,28.83,14.82,28.83
$GC,442,-0.78,-194.6,2523,3569,3739,3829,96.6,-23.6,77,451,0.03,2.33,0.00,0.000,3078,0.267,0.032,2546,2129,3783,3739,3828,0,0,0,0,0,0,14.66,14.85,28.83
$GC,697,-0.78,-194.6,1536,2126,3736,3828,148.4,-17.9,126,704,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2128,3784,3739,3830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,951,-0.78,-194.6,2546,2127,3739,3830,192.6,-17.3,175,959,0.00,2.38,0.00,0.000,2308,0.000,0.063,2537,3554,3784,3739,3830,0,0,0,0,0,0,28.83,14.88,28.83
$GC,996,-0.78,-194.6,1552,3553,3736,3829,200.0,-16.8,183,1004,0.00,2.25,0.00,0.000,3078,0.000,0.031,2537,2154,3784,3739,3830,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1250,-0.78,-194.6,2537,2153,3739,3831,241.4,-13.6,232,1257,0.00,2.30,0.00,0.000,2564,0.000,0.057,2537,759,3784,3739,3830,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1385,-0.78,-194.6,2537,759,3739,3830,260.4,-14.2,258,1390,0.08,2.20,0.00,0.000,3078,0.399,0.041,2546,2160,3784,3739,3830,0,0,0,0,0,0,14.75,14.94,28.83
$GC,1632,-0.78,-194.6,2546,2160,3739,3830,297.3,-16.0,283,1641,0.00,2.25,0.00,0.000,2564,0.000,0.057,2546,752,3785,3739,3831,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1683,-0.78,-194.6,2546,752,3739,3830,306.0,-15.8,293,1687,0.00,2.20,0.00,0.000,3078,0.000,0.041,2538,2151,3784,3739,3830,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1928,-0.78,-194.6,2538,2152,3739,3830,344.4,-15.8,318,1937,0.00,2.28,0.00,0.000,2308,0.000,0.061,2528,3555,3784,3739,3830,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1979,-0.78,-194.6,2528,3555,3738,3830,352.5,-15.8,328,1984,0.08,2.20,0.00,0.000,3078,0.368,0.030,2548,2138,3784,3739,3830,0,0,0,0,0,0,14.82,15.02,28.83
$GC,2224,-0.78,-194.6,2548,2138,3738,3830,388.1,-14.0,353,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2138,3783,3738,3829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2464,-0.78,-194.6,2548,2138,3736,3830,420.1,-12.9,377,2468,0.00,2.20,0.00,0.000,516,0.000,0.054,2548,762,3783,3737,3830,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2503,-0.78,-194.6,2548,762,3737,3830,425.4,-13.3,385,2510,0.00,2.17,0.00,0.000,3078,0.000,0.039,2541,2154,3783,3737,3830,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2750,-0.78,-194.6,2541,2154,3734,3830,456.9,-11.8,410,2760,0.00,2.28,0.00,0.000,2308,0.000,0.061,2530,3555,3782,3734,3830,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2865,-0.78,-194.6,2530,3555,3734,3830,470.5,-11.4,433,2872,0.08,2.20,0.00,0.000,3078,0.379,0.031,2549,2143,3782,3734,3830,0,0,0,0,0,0,14.85,15.06,28.83
$GC,3112,-0.78,-194.6,2549,2143,3731,3830,495.8,-10.4,458,3116,0.00,2.33,0.00,0.000,260,0.000,0.060,2540,3556,3780,3731,3830,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3156,-0.78,-194.6,2540,3556,3731,3830,500.9,-11.2,467,3164,0.00,2.20,0.00,0.000,3078,0.000,0.031,2540,2152,3780,3731,3830,0,0,0,0,0,0,28.83,15.07,28.83
$GC,3404,-0.78,-194.6,2540,2151,3730,3830,530.0,-12.3,492,3412,0.00,2.25,0.00,0.000,2564,0.000,0.056,2540,759,3779,3729,3830,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3467,-0.78,-194.6,1664,759,3726,3829,537.6,-11.0,505,3475,0.03,2.22,0.00,0.000,3078,0.383,0.040,2543,2147,3779,3728,3830,0,0,0,0,0,0,14.77,15.00,28.83
$GC,3715,-0.78,-194.6,2543,2147,3725,3830,565.5,-11.2,530,3724,0.00,2.28,0.00,0.000,2308,0.000,0.062,2534,3548,3777,3725,3830,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3746,-0.78,-194.6,2534,3548,3725,3830,569.1,-11.5,536,3750,0.00,2.20,0.00,0.000,3078,0.000,0.031,2534,2140,3777,3725,3830,0,0,0,0,0,0,28.83,15.07,28.83
$GC,3991,-0.78,-194.6,2534,2139,3724,3827,599.7,-12.6,561,4000,0.00,2.22,0.00,0.000,2564,0.000,0.057,2534,757,3775,3724,3827,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4065,-0.78,-194.6,2534,757,3724,3827,609.4,-12.5,576,4073,0.10,2.20,0.00,0.000,3078,0.376,0.041,2552,2153,3775,3724,3827,0,0,0,0,0,0,14.86,15.05,28.83
$GC,4312,-0.78,-194.6,2552,2154,3723,3825,634.3,-9.5,589,4316,0.00,2.28,0.00,0.000,260,0.000,0.063,2543,3547,3773,3722,3825,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4387,-0.78,-194.6,2543,3547,3722,3825,641.5,-9.7,604,4392,0.00,2.20,0.00,0.000,3078,0.000,0.032,2543,2147,3773,3722,3825,0,0,0,0,0,0,28.83,15.08,28.83
$GC,4644,-0.78,-194.6,2543,2146,3720,3823,666.3,-9.5,619,4650,0.00,2.25,0.00,0.000,2564,0.000,0.057,2542,753,3772,3721,3823,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4691,-0.78,-194.6,2543,753,3720,3823,671.1,-9.2,629,4696,0.00,2.25,0.00,0.000,3078,0.000,0.042,2537,2144,3771,3720,3822,0,0,0,0,0,0,28.83,15.05,28.83
$GC,4943,-0.78,-194.6,2537,2144,3717,3822,694.9,-9.5,643,4947,0.00,2.25,0.00,0.000,2564,0.000,0.057,2537,748,3769,3717,3822,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4987,-0.78,-194.6,2536,749,3717,3822,699.6,-10.2,652,4992,0.00,2.22,0.00,0.000,3078,0.000,0.044,2536,2148,3769,3717,3822,0,0,0,0,0,0,28.83,15.06,28.83
$GC,5239,-0.78,-194.6,2535,2149,3716,3821,724.9,-10.4,666,5245,0.00,2.30,0.00,0.000,2308,0.000,0.066,2527,3552,3768,3715,3821,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5322,-0.78,-194.6,1664,3552,3711,3820,734.1,-11.0,683,5327,0.05,2.25,0.00,0.000,3078,0.303,0.033,2548,2152,3767,3714,3820,0,0,0,0,0,0,14.84,15.07,28.83
$GC,5579,-0.78,-194.6,2548,2151,3713,3817,760.8,-10.9,698,5584,0.00,2.33,0.00,0.000,260,0.000,0.065,2541,3556,3765,3714,3817,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5598,-0.78,-194.6,1668,3555,3709,3816,763.1,-11.4,702,5603,0.00,2.28,0.00,0.000,3078,0.000,0.034,2540,2150,3764,3712,3817,0,0,0,0,0,0,28.83,15.07,28.83
$GC,5855,-0.78,-194.6,2540,2150,3711,3815,793.5,-11.6,717,5859,0.00,2.28,0.00,0.000,2564,0.000,0.059,2540,748,3763,3711,3815,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5915,-0.78,-194.6,1632,748,3707,3814,800.6,-11.8,729,5920,0.05,2.22,0.00,0.000,3078,0.475,0.044,2545,2153,3762,3710,3814,0,0,0,0,0,0,14.83,15.07,28.83
$GC,6167,-0.78,-194.6,2545,2154,3709,3813,825.7,-9.4,743,6171,0.00,2.30,0.00,0.000,2308,0.000,0.067,2537,3549,3761,3709,3813,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6225,-0.78,-194.6,1688,3548,3705,3812,831.1,-8.5,755,6230,0.00,2.28,0.00,0.000,3078,0.000,0.034,2536,2146,3761,3708,3814,0,0,0,0,0,0,28.83,15.06,28.83
$GC,6483,-0.78,-194.6,2537,2146,3707,3812,853.4,-8.5,770,6484,0.00,0.00,0.00,0.000,2054,0.000,0.000,2536,2146,3759,3707,3812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6723,-0.78,-194.6,2537,2145,3706,3810,874.5,-9.2,782,6727,0.00,2.28,0.00,0.000,2564,0.000,0.060,2536,757,3757,3705,3810,0,0,0,0,0,0,28.83,15.04,28.83
$GC,6782,-0.78,-194.6,1632,757,3701,3809,880.6,-9.8,794,6787,0.00,2.22,0.00,0.000,3078,0.000,0.045,2535,2150,3757,3705,3810,0,0,0,0,0,0,28.83,15.05,28.83
$GC,7033,-0.78,-194.6,2536,2150,3703,3809,905.4,-9.9,808,7038,0.00,2.33,0.00,0.000,2308,0.000,0.070,2531,3555,3756,3703,3809,0,0,0,0,0,0,28.83,15.02,28.83
$GC,7103,-0.78,-194.6,2531,3555,3701,3809,912.3,-9.4,822,7110,0.05,2.25,0.00,0.000,3078,0.448,0.034,2545,2143,3755,3702,3809,0,0,0,0,0,0,14.83,15.07,28.83
$GC,7349,-0.78,-194.6,2545,2142,3703,3807,932.9,-8.0,835,7353,0.00,2.25,0.00,0.000,2564,0.000,0.060,2545,750,3754,3702,3807,0,0,0,0,0,0,28.83,15.01,28.83
$GC,7390,-0.78,-194.6,2545,750,3701,3807,936.5,-8.7,843,7394,0.00,2.25,0.00,0.000,3078,0.000,0.045,2538,2161,3753,3701,3806,0,0,0,0,0,0,28.83,15.04,28.83
$GC,7646,-0.78,-194.6,2538,2162,3700,3806,957.6,-8.1,858,7648,0.00,0.00,0.00,0.000,2054,0.000,0.000,2538,2161,3753,3700,3806,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7805,begin apogee
$GC,7809,-0.17,0.0,2538,1918,3699,3805,970.7,-8.1,866,8087,0.57,0.00,270.05,1.568,10246,0.253,0.000,2744,1917,2983,3023,2944,0,0,0,0,0,0,14.85,28.83,13.71
$STATE,8088,end apogee,CONTROL_FINISHED_OK
$STATE,8088,begin climb
$GC,8089,0.78,194.6,2744,1917,3020,2940,980.4,0.0,880,8308,0.77,2.60,205.80,1.779,11012,0.142,0.065,3049,3339,2179,2214,2144,0,0,0,0,0,0,14.21,14.09,13.57
$GC,8338,0.78,194.6,3049,3340,2207,2132,962.0,13.8,921,8342,0.00,2.33,0.00,0.000,5126,0.000,0.041,3057,1990,2170,2208,2132,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8590,0.78,194.6,3057,1989,2205,2122,929.3,13.2,935,8596,0.00,2.47,0.00,0.000,4612,0.000,0.073,3067,537,2164,2205,2123,0,0,0,0,0,0,28.83,14.64,28.83
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$GC,11467,0.78,194.6,3063,1960,2197,2113,543.8,13.3,1203,11477,0.00,2.28,0.00,0.000,4356,0.000,0.062,3063,3349,2155,2197,2114,0,0,0,0,0,0,28.83,14.97,28.83
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$GC,12777,0.78,194.6,3052,1943,2197,2113,394.5,11.9,1368,12781,0.00,2.30,0.00,0.000,516,0.000,0.067,3061,545,2155,2197,2113,0,0,0,0,0,0,28.83,14.95,28.83
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$STATE,16437,end climb,SURFACE_DEPTH_REACHED
$STATE,16437,begin surface coast
$FINISH,0.5,1.023198
$STATE,16449,end surface coast,CONTROL_FINISHED_OK
$STATE,16449,begin surface
$SM_CCo,16463,38.80,0.157,0,0,1354,400.08
$SM_GC,1.35,7.45,0.25,38.80,0.099,0.064,0.157,146,2197,1354,-8.24,-1.92,400.08,0,0,0,0,0,0,14.77,14.91,14.73
$IRIDIUM_FIX,2321.52,12258.38,201009,050537
$TT8_MAMPS,0.020223,0.020223
$HUMID,38.65
$INTERNAL_PRESSURE,8.07648
$TCM_TEMP,22.80
$XPDR_PINGS,2
$24V_AH,13.6,31.957
$10V_AH,13.3,0.000
$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
$DEVICE_SECS,18.925,192.500,544.050,38.800,0.000,0.000,0.000,347.875,0.500,0.000,10.302,4175.785,7915.409,786.157,3877.979,176.287,0.000,2677.571,0.000,3516.839,0.000,0.552,0.000
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$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,1090.210,2136.040,1584.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322936
$DATA_FILE_SIZE,150431,1983
$CAP_FILE_SIZE,201959,0
$CFSIZE,2097086464,2079457280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.206, 50.4,1
$GPS,231216,205931,2331.133,12258.964,29,0.9,29,-3.8