version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 376
start: 7 16 123 2 37 49
data:
$ID,626
$MISSION,4
$DIVE,376
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,760
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,0
$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,200
$T_MISSION,500
$T_ABORT,450
$T_TURN,500
$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,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54664
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.003548
$HD_B,0.0112
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15809
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,199
$PITCH_MAX,3921
$C_PITCH,2590
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,35
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,183
$ROLL_MAX,3761
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2600
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00041499999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-176.0238
$PRESSURE_SLOPE,0.000140886
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,51
$DEVICE5,70
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044069826
$SEABIRD_T_H,0.00063813623
$SEABIRD_T_I,2.8130115e-05
$SEABIRD_T_J,3.650594e-06
$SEABIRD_C_G,-10.07238
$SEABIRD_C_H,1.1361538
$SEABIRD_C_I,-0.0036773519
$SEABIRD_C_J,0.00034109052
$GPS1,160723,022606,2242.2844,-15815.0723,15,0.8,32,9.8,0.5,315.2,10,8.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-75.3
$GPS2,160723,023651,2242.3403,-15815.1992,9,1.0,20,9.8,0.6,289.5,8,10.0
$SPEED_LIMITS,0.173,0.249
$TGT_NAME,BSE
$TGT_LATLONG,2231.440,-15745.420
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.231089,-0.091394
$KALMAN_X,-3484.762451,-1618.064453,-408.994019,3460.231201,-15.616272
$KALMAN_Y,-740.952881,-370.882172,54.842735,2987.468750,1.330238
$MHEAD_RNG_PITCHd_Wd,98.5,54798,-18.7,-10.000,-21.92,2240
$D_GRID,600
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.59,-146.0,130,2017,673,519,0.0,0.0,0,97,0.00,0.00,-76.50,0.000,16386,0.000,0.000,130,2018,2891,2877,2905,0,0,0,0,0,0,15.15,28.83,15.16
$GC,101,-0.59,-146.0,129,2018,2878,2906,4.4,-9.5,11,116,7.95,0.00,-4.62,0.000,18950,0.469,0.000,2387,2018,3198,3172,3224,0,0,0,0,0,0,14.38,13.65,14.66
$GC,363,-0.59,-146.0,2386,2018,3183,3217,71.6,-16.6,41,369,0.00,2.42,0.00,0.000,2308,0.000,0.065,2378,3446,3199,3182,3217,0,0,0,0,0,0,15.23,14.89,15.23
$GC,402,-0.59,-146.0,2377,3447,3183,3218,77.1,-16.1,44,410,0.05,2.40,0.00,0.000,3078,0.356,0.048,2396,2029,3201,3185,3217,0,0,0,0,0,0,14.69,14.90,14.92
$GC,652,-0.59,-146.0,2395,2026,3187,3215,113.3,-14.6,69,658,0.00,2.33,0.00,0.000,2564,0.000,0.057,2396,639,3200,3186,3214,0,0,0,0,0,0,15.26,14.94,15.26
$GC,691,-0.59,-146.0,2395,638,3187,3214,118.8,-14.6,72,698,0.00,2.42,0.00,0.000,3078,0.000,0.051,2388,2040,3200,3188,3213,0,0,0,0,0,0,14.95,14.88,14.98
$GC,940,-0.59,-146.0,2388,2041,3187,3213,157.1,-15.5,97,946,0.00,2.38,0.00,0.000,2308,0.000,0.064,2377,3461,3200,3188,3212,0,0,0,0,0,0,15.28,14.93,15.28
$GC,1018,-0.59,-146.0,2376,3461,3188,3213,167.0,-11.8,104,1024,0.08,2.33,0.00,0.000,3078,0.300,0.044,2404,2043,3200,3188,3212,0,0,0,0,0,0,14.72,14.97,14.96
$GC,1274,-0.59,-146.0,2404,2040,3186,3212,197.0,-11.5,129,1280,0.00,2.33,0.00,0.000,4612,0.000,0.055,2406,643,3200,3188,3212,0,0,0,0,0,0,15.30,14.95,15.30
$GC,1312,-0.59,-146.0,2406,642,3189,3212,200.9,-11.1,132,1321,0.00,2.42,0.00,0.000,1030,0.000,0.050,2398,2054,3200,3189,3211,0,0,0,0,0,0,14.97,14.91,15.02
$GC,1564,-0.59,-146.0,2398,2054,3189,3210,230.7,-11.6,157,1570,0.00,2.33,0.00,0.000,260,0.000,0.064,2387,3458,3200,3190,3210,0,0,0,0,0,0,15.28,14.93,15.29
$GC,1600,-0.59,-146.0,2387,3458,3189,3210,235.0,-10.8,160,1605,0.00,2.30,0.00,0.000,3078,0.000,0.044,2387,2050,3199,3189,3209,0,0,0,0,0,0,15.11,15.00,15.12
$GC,1856,-0.59,-146.0,2387,2050,3189,3209,264.3,-10.5,185,1862,0.00,2.35,0.00,0.000,2564,0.000,0.057,2387,636,3198,3189,3208,0,0,0,0,0,0,15.30,14.96,15.30
$GC,1920,-0.59,-146.0,2387,636,3189,3208,271.1,-10.0,191,1928,0.08,2.35,0.00,0.000,3078,0.337,0.050,2403,2054,3199,3190,3208,0,0,0,0,0,0,14.68,14.97,14.95
$GC,2176,-0.59,-146.0,2402,2055,3190,3207,292.0,-8.4,216,2182,0.00,2.35,0.00,0.000,260,0.000,0.062,2394,3455,3197,3189,3206,0,0,0,0,0,0,15.30,14.94,15.31
$GC,2217,-0.59,-146.0,2394,3455,3189,3206,294.6,-7.7,219,2225,0.00,2.38,0.00,0.000,3078,0.000,0.042,2394,2057,3197,3189,3206,0,0,0,0,0,0,15.09,14.92,15.11
$GC,2467,-0.59,-146.0,2394,2056,3189,3204,314.7,-8.4,244,2472,0.00,2.40,0.00,0.000,2564,0.000,0.058,2394,633,3196,3189,3204,0,0,0,0,0,0,15.30,14.95,15.30
$GC,2535,-0.59,-146.0,2393,633,3189,3204,321.0,-9.6,250,2542,0.00,2.38,0.00,0.000,3078,0.000,0.050,2383,2049,3196,3189,3203,0,0,0,0,0,0,15.10,14.97,15.12
$GC,2784,-0.59,-146.0,2383,2049,3189,3201,347.6,-11.2,275,2791,0.00,2.38,0.00,0.000,2308,0.000,0.067,2373,3454,3194,3189,3200,0,0,0,0,0,0,15.30,14.92,15.30
$GC,2834,-0.59,-146.0,2372,3454,3189,3200,352.9,-11.3,279,2843,0.05,2.40,0.00,0.000,3078,0.288,0.046,2392,2043,3194,3189,3200,0,0,0,0,0,0,14.63,14.89,14.78
$GC,3082,-0.59,-146.0,2392,2043,3189,3197,381.1,-11.2,304,3087,0.00,2.40,0.00,0.000,2308,0.000,0.062,2384,3457,3192,3189,3196,0,0,0,0,0,0,15.30,14.92,15.30
$GC,3211,-0.59,-146.0,2384,3457,3189,3194,395.3,-10.9,316,3216,0.00,2.33,0.00,0.000,3078,0.000,0.044,2384,2045,3191,3189,3194,0,0,0,0,0,0,15.09,14.97,15.11
$GC,3499,-0.59,-146.0,2383,2045,3189,3190,427.1,-11.1,326,3504,0.00,2.35,0.00,0.000,2564,0.000,0.057,2384,646,3189,3188,3190,0,0,0,0,0,0,15.33,14.95,15.33
$GC,3532,-0.59,-146.0,2383,646,3188,3191,427.1,-11.1,326,3538,0.08,2.38,0.00,0.000,3078,0.328,0.051,2400,2054,3189,3188,3190,0,0,0,0,0,0,14.68,14.97,14.94
$GC,3789,-0.59,-146.0,2400,2056,3187,3188,453.9,-8.4,333,3794,0.00,2.38,0.00,0.000,260,0.000,0.064,2391,3460,3187,3187,3188,0,0,0,0,0,0,15.33,14.94,15.34
$GC,3897,-0.59,-146.0,2391,3460,3187,3186,460.6,-8.1,335,3903,0.00,2.33,0.00,0.000,3078,0.000,0.044,2391,2048,3186,3187,3186,0,0,0,0,0,0,15.11,14.98,15.13
$GC,4159,-0.59,-146.0,2391,2047,3187,3181,482.6,-7.5,342,4164,0.00,2.35,0.00,0.000,2564,0.000,0.058,2391,646,3184,3186,3182,0,0,0,0,0,0,15.34,14.94,15.34
$GC,4207,-0.59,-146.0,2391,646,3185,3183,486.3,-7.5,343,4213,0.05,2.38,0.00,0.000,3078,0.396,0.051,2398,2054,3183,3185,3182,0,0,0,0,0,0,14.68,14.96,14.93
$GC,4487,-0.59,-146.0,2398,2057,3185,3180,506.1,-7.0,350,4492,0.00,2.35,0.00,0.000,260,0.000,0.067,2390,3459,3182,3185,3179,0,0,0,0,0,0,15.33,14.92,15.34
$GC,4532,-0.59,-146.0,2389,3458,3184,3179,509.4,-7.2,351,4538,0.00,2.33,0.00,0.000,3078,0.000,0.044,2390,2051,3181,3184,3179,0,0,0,0,0,0,15.11,14.99,15.13
$GC,4818,-0.59,-146.0,2389,2049,3184,3176,535.1,-9.3,358,4824,0.00,2.40,0.00,0.000,2564,0.000,0.060,2390,637,3179,3183,3176,0,0,0,0,0,0,15.33,14.92,15.33
$GC,4886,-0.59,-146.0,2389,636,3181,3177,539.7,-9.5,359,4892,0.05,2.40,0.00,0.000,3078,0.379,0.052,2397,2057,3179,3182,3176,0,0,0,0,0,0,14.68,14.95,14.92
$GC,5146,-0.59,-146.0,2396,2060,3181,3173,564.3,-8.2,366,5151,0.00,2.38,0.00,0.000,260,0.000,0.069,2388,3462,3177,3181,3173,0,0,0,0,0,0,15.33,14.90,15.34
$GC,5184,-0.59,-146.0,2388,3462,3181,3174,564.3,-8.2,366,5192,0.00,2.40,0.00,0.000,3078,0.000,0.045,2388,2044,3177,3181,3173,0,0,0,0,0,0,15.08,14.91,15.10
$GC,5432,-0.59,-146.0,2388,2043,3181,3170,585.6,-7.3,373,5437,0.00,2.45,0.00,0.000,2308,0.000,0.067,2377,3464,3175,3181,3170,0,0,0,0,0,0,15.33,14.90,15.33
$GC,5500,-0.59,-146.0,2377,3464,3180,3169,589.0,-7.3,374,5506,0.05,2.35,0.00,0.000,3078,0.356,0.046,2395,2051,3174,3179,3169,0,0,0,0,0,0,14.69,14.95,14.91
$STATE,5636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5636,begin apogee
$GC,5644,-0.14,0.0,2395,1704,3180,3168,601.2,-7.4,378,5773,0.40,0.00,125.35,1.770,10246,0.206,0.000,2553,1702,2599,2699,2499,0,0,0,0,0,0,14.67,14.53,13.81
$STATE,5773,end apogee,CONTROL_FINISHED_OK
$STATE,5774,begin climb
$GC,5777,0.59,146.0,2553,1702,2699,2499,608.1,0.0,381,5915,0.55,2.50,127.85,1.736,10500,0.109,0.058,2800,3130,2002,2097,1908,0,0,0,0,0,0,14.53,14.38,13.81
$GC,5965,0.66,300.0,2800,3130,2095,1908,606.0,2.9,386,6103,0.00,2.40,127.68,1.711,13318,0.000,0.057,2811,1738,1375,1468,1282,0,0,0,0,0,0,14.83,14.71,13.85
$GC,6369,0.66,300.0,2810,1738,1467,1275,553.6,13.3,396,6375,0.00,2.47,0.00,0.000,4612,0.000,0.076,2822,309,1371,1467,1275,0,0,0,0,0,0,15.21,14.85,15.21
$GC,6387,0.66,300.0,2822,309,1462,1275,553.6,13.3,396,6393,0.08,2.40,0.00,0.000,5126,0.321,0.051,2796,1724,1368,1462,1275,0,0,0,0,0,0,14.73,14.94,14.97
$GC,6658,0.66,300.0,2795,1727,1462,1274,518.6,11.8,403,6663,0.00,2.35,0.00,0.000,2308,0.000,0.060,2794,3134,1368,1462,1274,0,0,0,0,0,0,15.28,14.97,15.28
$GC,6721,0.66,300.0,2795,3136,1462,1274,513.2,11.8,404,6727,0.00,2.40,0.00,0.000,5126,0.000,0.063,2805,1724,1368,1462,1274,0,0,0,0,0,0,15.10,14.95,15.12
$GC,6985,0.66,300.0,2804,1723,1462,1274,480.3,11.4,411,6991,0.00,2.42,0.00,0.000,4612,0.000,0.076,2816,308,1368,1462,1274,0,0,0,0,0,0,15.32,14.72,15.32
$GC,7013,0.66,300.0,2816,308,1460,1274,480.3,11.4,411,7020,0.05,2.40,0.00,0.000,5126,0.381,0.052,2799,1728,1367,1460,1274,0,0,0,0,0,0,14.74,14.99,15.02
$GC,7277,0.66,300.0,2799,1730,1460,1273,447.9,10.9,418,7282,0.00,2.35,0.00,0.000,260,0.000,0.061,2799,3127,1366,1460,1273,0,0,0,0,0,0,15.31,14.96,15.32
$GC,7330,0.66,300.0,2799,3128,1460,1273,442.4,11.1,419,7335,0.00,2.40,0.00,0.000,5126,0.000,0.063,2807,1720,1366,1460,1273,0,0,0,0,0,0,15.10,14.95,15.13
$GC,7604,0.66,300.0,2807,1719,1460,1273,410.2,11.2,426,7610,0.00,2.38,0.00,0.000,4356,0.000,0.060,2807,3128,1367,1460,1274,0,0,0,0,0,0,15.33,14.95,15.33
$GC,7622,0.66,300.0,2807,3128,1459,1273,410.2,11.2,426,7628,0.05,2.42,0.00,0.000,5126,0.410,0.064,2802,1709,1366,1460,1273,0,0,0,0,0,0,14.68,14.94,14.97
$GC,7875,0.67,321.1,2802,1706,1461,1273,383.8,9.0,443,7901,0.00,2.42,18.15,1.502,8708,0.000,0.076,2810,308,1287,1387,1188,0,0,0,0,0,0,15.28,14.78,14.23
$GC,7961,0.67,328.7,2810,307,1381,1193,375.6,9.7,450,7975,0.00,2.40,7.60,1.334,13318,0.000,0.050,2810,1722,1259,1356,1162,0,0,0,0,0,0,15.01,14.90,14.16
$GC,8215,0.68,349.7,2810,1723,1356,1161,352.3,9.0,475,8239,0.00,2.42,19.50,1.454,8452,0.000,0.061,2810,3129,1172,1273,1071,0,0,0,0,0,0,15.21,14.85,14.19
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$GC,9119,0.68,362.3,2814,1712,1215,1020,256.5,10.1,561,9124,0.00,2.42,0.00,0.000,4612,0.000,0.074,2825,306,1117,1216,1019,0,0,0,0,0,0,15.25,14.89,15.26
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$GC,9557,0.72,441.4,2814,303,1005,819,219.7,8.7,602,9587,0.00,2.42,24.73,1.259,11270,0.000,0.044,2814,1731,799,899,700,0,0,0,0,0,0,14.92,14.81,14.12
$GC,9826,0.72,459.9,2814,1732,897,697,194.1,9.1,629,9850,0.00,2.47,15.95,1.203,10756,0.000,0.072,2823,312,722,819,626,0,0,0,0,0,0,15.17,14.69,14.20
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$STATE,11686,end climb,SURFACE_DEPTH_REACHED
$STATE,11686,begin surface coast
$FINISH,-0.0,1.022952
$STATE,11719,end surface coast,CONTROL_FINISHED_OK
$STATE,11719,begin surface
$SM_CCo,11798,0.00,0.000,0,0,596,491.57
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$IRIDIUM_FIX,2232.34,-15814.95,160723,023021
$TT8_MAMPS,0.021721,0.342293
$HUMID,52.83
$INTERNAL_PRESSURE,8.8867
$TCM_TEMP,20.50
$XPDR_PINGS,4
$24V_AH,13.65,108.457
$10V_AH,13.31,0.000
$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
$DEVICE_SECS,15.975,159.000,547.025,0.000,0.000,50.606,90.659,268.783,1.000,0.000,21.135,2605.817,6062.468,649.965,2720.004,394.005,31.562,1697.840,0.000,2139.763,0.000,0.551,0.000
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$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,568.469,985.001,1014.476,797.823,930.579,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,338628
$DATA_FILE_SIZE,80804,837
$CAP_FILE_SIZE,146645,0
$CFSIZE,1023623168,984662016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,44
$CURRENT,0.392,290.50,1
$GPS,160723,055534,2242.502,-15815.285,26,0.9,29,9.8,0.0,0.0,8,9.2