version: 66.10
glider: 169
mission: 6
dive: 41
start: 4 26 112 5 54 25
data:
$ID,169
$MISSION,6
$DIVE,41
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$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,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,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15264.41
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2035
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,147.521
$AH0_10V,108.529
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-77.157478
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$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,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,260412,054525,2303.908,12144.883,41,1.0,41,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-64.8
$GPS2,260412,055401,2304.128,12144.744,10,2.0,15,-3.0
$SPEED_LIMITS,0.159,0.302
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,116.9,236452,-13.6,-9.167
$D_GRID,3401
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.61,-219.0,0.0,0.0,0,99,0.00,0.00,-77.70,0.000,2,0.000,0.000,118,2427,3228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.61,-219.0,4.2,-12.7,13,130,6.95,2.15,-11.23,0.000,4,0.241,0.039,1839,1037,3872,0,0,0,0,0,0,25.62,26.03,26.31
$GC,228,-0.58,-219.0,45.8,-19.2,35,235,0.00,2.40,0.00,0.000,6,0.000,0.039,1828,2523,3874,0,0,0,0,0,0,28.83,26.08,28.83
$GC,425,-0.49,-219.0,104.1,-30.7,72,432,0.12,1.98,0.00,0.000,4,0.177,0.041,1855,3822,3875,0,0,0,0,0,0,26.05,26.20,28.83
$GC,466,-0.42,-219.0,116.5,-28.4,79,473,0.12,2.03,0.00,0.000,6,0.157,0.023,1898,2447,3875,0,0,0,0,0,0,26.06,26.27,28.83
$GC,662,-0.40,-219.0,146.8,-12.8,116,668,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,2446,3876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,855,-0.40,-219.0,171.0,-12.2,153,864,0.00,2.17,0.00,0.000,4,0.000,0.043,1888,3823,3877,0,0,0,0,0,0,28.83,26.33,28.83
$GC,918,-0.41,-219.0,177.5,-9.2,164,924,0.00,2.00,0.00,0.000,6,0.000,0.021,1888,2440,3877,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1114,-0.41,-219.0,197.4,-10.0,201,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2439,3877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1303,-0.41,-219.0,215.4,-9.1,222,1314,0.00,2.20,0.00,0.000,4,0.000,0.044,1877,3818,3877,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1329,-0.41,-219.0,217.8,-9.5,224,1337,0.00,2.03,0.00,0.000,6,0.000,0.023,1877,2454,3877,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1639,-0.41,-219.0,249.0,-9.2,255,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,1877,2453,3876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1941,-0.41,-219.0,277.5,-9.2,285,1950,0.00,2.12,0.00,0.000,4,0.000,0.044,1868,3812,3876,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2006,-0.43,-219.0,283.3,-8.3,291,2014,0.00,1.98,0.00,0.000,6,0.000,0.022,1868,2443,3876,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2314,-0.43,-219.0,314.9,-11.1,322,2318,0.00,2.17,0.00,0.000,4,0.000,0.042,1858,3819,3876,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2349,-0.43,-219.0,318.2,-10.6,325,2356,0.12,2.00,0.00,0.000,6,0.113,0.023,1900,2443,3876,0,0,0,0,0,0,26.46,26.59,28.83
$GC,2657,-0.45,-219.0,337.4,-5.6,356,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,2442,3874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2958,-0.48,-219.0,354.3,-5.8,386,2962,0.00,2.17,0.00,0.000,4,0.000,0.044,1891,3828,3873,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2992,-0.52,-219.0,356.2,-5.8,389,2996,0.00,2.00,0.00,0.000,6,0.000,0.022,1891,2428,3873,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3304,-0.60,-219.0,383.2,-8.0,420,3314,0.12,2.17,0.00,0.000,4,0.111,0.041,1838,3823,3870,0,0,0,0,0,0,26.55,26.56,28.83
$GC,3328,-0.68,-219.0,385.3,-8.3,422,3336,0.00,2.00,0.00,0.000,6,0.000,0.022,1846,2426,3870,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3637,-0.76,-219.0,412.2,-9.4,453,3647,0.15,2.17,0.00,0.000,4,0.112,0.041,1785,3822,3869,0,0,0,0,0,0,26.55,26.56,28.83
$GC,3713,-0.82,-219.0,418.5,-8.3,460,3720,0.00,2.00,0.00,0.000,6,0.000,0.024,1785,2438,3869,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4020,-0.77,-219.0,468.9,-17.7,491,4024,0.00,2.12,0.00,0.000,4,0.000,0.031,1785,1042,3867,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4055,-0.73,-219.0,474.4,-17.3,494,4062,0.00,2.33,0.00,0.000,6,0.000,0.037,1774,2524,3867,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4363,-0.68,-219.0,532.5,-18.3,525,4375,0.12,2.28,0.00,0.000,4,0.147,0.027,1824,1040,3864,0,0,0,0,0,0,26.48,26.60,28.83
$GC,4421,-0.68,-219.0,540.0,-12.5,530,4428,0.00,2.35,0.00,0.000,6,0.000,0.038,1815,2526,3864,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4729,-0.66,-219.0,577.9,-12.0,561,4740,0.00,1.98,0.00,0.000,4,0.000,0.047,1804,3819,3863,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4776,-0.64,-219.0,583.2,-12.3,565,4785,0.00,2.00,0.00,0.000,6,0.000,0.026,1805,2457,3863,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5086,-0.62,-219.0,619.8,-11.8,588,5092,0.10,2.12,0.00,0.000,4,0.147,0.047,1824,3808,3861,0,0,0,0,0,0,26.56,26.55,28.83
$GC,5118,-0.59,-219.0,622.2,-11.8,589,5127,0.00,2.00,0.00,0.000,6,0.000,0.024,1824,2443,3861,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5425,-0.58,-219.0,653.3,-10.1,605,5431,0.00,2.12,0.00,0.000,4,0.000,0.049,1814,3811,3858,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5474,-0.58,-219.0,657.6,-10.3,607,5478,0.12,2.00,0.00,0.000,6,0.118,0.024,1854,2450,3858,0,0,0,0,0,0,26.49,26.63,28.83
$GC,5785,-0.59,-219.0,681.9,-7.3,622,5790,0.00,2.15,0.00,0.000,4,0.000,0.048,1844,3816,3856,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5817,-0.60,-219.0,683.6,-7.2,623,5823,0.00,2.00,0.00,0.000,6,0.000,0.024,1844,2446,3856,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6125,-0.61,-219.0,706.5,-7.2,639,6129,0.00,2.15,0.00,0.000,4,0.000,0.049,1836,3816,3854,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6156,-0.62,-219.0,708.3,-7.2,640,6160,0.00,2.03,0.00,0.000,6,0.000,0.025,1836,2447,3853,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6464,-0.62,-219.0,733.0,-7.8,655,6470,0.00,2.15,0.00,0.000,4,0.000,0.049,1826,3812,3852,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6503,-0.62,-219.0,736.3,-8.0,657,6508,0.00,2.00,0.00,0.000,6,0.000,0.024,1826,2452,3851,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6823,-0.62,-219.0,765.5,-9.3,673,6828,0.00,2.15,0.00,0.000,4,0.000,0.049,1817,3817,3849,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6864,-0.62,-219.0,769.3,-9.4,675,6869,0.00,2.00,0.00,0.000,6,0.000,0.024,1817,2449,3848,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7185,-0.61,-219.0,799.7,-9.3,691,7190,0.00,2.15,0.00,0.000,4,0.000,0.031,1817,1039,3847,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7211,-0.60,-219.0,801.6,-9.3,692,7215,0.00,2.38,0.00,0.000,6,0.000,0.040,1813,2528,3847,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7520,-0.59,-219.0,832.2,-10.0,707,7522,0.12,0.00,0.00,0.000,6,0.141,0.000,1852,2527,3845,0,0,0,0,0,0,26.51,28.83,28.83
$GC,7819,-0.60,-219.0,852.7,-6.9,722,7825,0.00,1.95,0.00,0.000,4,0.000,0.051,1842,3811,3844,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7852,-0.62,-219.0,854.0,-6.7,723,7859,0.00,2.00,0.00,0.000,6,0.000,0.024,1842,2444,3843,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8161,-0.63,-219.0,877.1,-7.2,739,8167,0.00,2.15,0.00,0.000,4,0.000,0.053,1834,3813,3842,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8189,-0.64,-219.0,878.6,-7.3,740,8193,0.00,2.03,0.00,0.000,6,0.000,0.026,1834,2446,3842,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8496,-0.65,-219.0,903.2,-7.7,755,8502,0.00,2.17,0.00,0.000,4,0.000,0.053,1825,3814,3840,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8525,-0.65,-219.0,904.8,-7.7,756,8529,0.00,2.03,0.00,0.000,6,0.000,0.027,1825,2458,3840,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8831,-0.65,-219.0,931.7,-8.9,771,8837,0.00,2.15,0.00,0.000,4,0.000,0.051,1817,3823,3838,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8860,-0.65,-219.0,933.5,-8.9,772,8864,0.00,2.03,0.00,0.000,6,0.000,0.024,1816,2450,3838,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9168,-0.65,-219.0,963.8,-9.5,787,9171,0.00,2.17,0.00,0.000,4,0.000,0.050,1809,3820,3837,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9210,-0.65,-219.0,967.8,-9.4,789,9216,0.00,2.03,0.00,0.000,6,0.000,0.027,1809,2458,3837,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,9448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9448,begin apogee
$GC,9454,-0.20,0.0,990.5,-9.5,801,9751,0.45,0.10,289.27,0.962,6,0.092,0.076,1971,2483,2977,0,0,0,0,0,0,26.42,24.66,24.03
$STATE,9752,end apogee,CONTROL_FINISHED_OK
$STATE,9752,begin climb
$GC,9755,0.61,219.0,1000.5,0.0,816,10000,0.68,2.28,236.15,1.079,4,0.032,0.044,2258,3815,2080,0,0,0,0,0,0,24.85,24.44,23.74
$GC,10077,0.51,219.0,934.8,30.0,832,10082,0.25,2.10,0.00,0.000,6,0.190,0.024,2207,2490,2049,0,0,0,0,0,0,24.97,25.17,28.83
$GC,10385,0.45,219.0,864.7,20.3,847,10390,0.00,2.12,0.00,0.000,4,0.000,0.046,2207,3812,2044,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10473,0.38,219.0,846.2,23.1,851,10478,0.20,2.03,0.00,0.000,6,0.170,0.024,2164,2487,2042,0,0,0,0,0,0,25.68,25.89,28.83
$GC,10782,0.35,219.0,791.5,16.4,866,10783,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2486,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11080,0.31,219.0,741.2,16.5,881,11084,0.00,2.12,0.00,0.000,4,0.000,0.047,2163,3826,2040,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11127,0.27,219.0,733.3,17.7,883,11132,0.17,2.03,0.00,0.000,6,0.151,0.027,2124,2487,2039,0,0,0,0,0,0,26.01,26.21,28.83
$GC,11441,0.26,219.0,692.0,12.6,899,11445,0.00,2.10,0.00,0.000,4,0.000,0.047,2124,3823,2039,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11466,0.25,219.0,688.8,13.0,900,11470,0.00,2.00,0.00,0.000,6,0.000,0.025,2134,2491,2039,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11779,0.24,219.0,647.2,12.8,916,11780,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2489,2039,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,14036,0.42,421.2,330.5,26.4,1118,14045,0.15,2.38,0.00,0.000,4,0.161,0.034,2188,1082,1228,0,0,0,0,0,0,25.69,25.83,28.83
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$GC,16391,1.02,557.3,24.9,11.7,1465,16399,0.17,2.33,0.00,0.000,6,0.080,0.031,2377,2545,684,0,0,0,0,0,0,26.31,26.32,28.83
$GC,16584,1.08,557.3,4.7,12.0,1502,16593,0.00,1.92,0.00,0.000,4,0.000,0.039,2377,3824,684,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,16598,end climb,SURFACE_DEPTH_REACHED
$STATE,16598,begin surface coast
$FINISH,0.9,1.022107
$STATE,16616,end surface coast,CONTROL_FINISHED_OK
$STATE,16616,begin surface
$SM_CCo,16693,0.00,0.000,0,0,684,562.96
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$IRIDIUM_FIX,2255.72,12141.21,260412,000018
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.00
$INTERNAL_PRESSURE,8.26559
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,23.7,7.077
$10V_AH,10.3,4.325
$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,17.125,175.750,873.100,0.000,0.000,26.170,21.122,321.235,0.000,0.000,16.168,3927.882,8787.308,979.326,3076.787,405.598,0.000,2487.929,0.000,2557.918,0.000,0.542,0.000
$DEVICE_MAMPS,240.975,75.735,1079.415,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1020.499,1916.872,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324656
$DATA_FILE_SIZE,93551,1507
$CAP_FILE_SIZE,192538,0
$CFSIZE,260165632,218128384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.381,313.1,1
$GPS,260412,103355,2304.356,12146.826,48,1.1,48,-3.0