version: 66.03
glider: 120
mission: 9
dive: 521
start: 3 13 109 1 56 57
data:
$ID,120
$MISSION,9
$DIVE,521
$D_SURF,7
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,660
$T_MISSION,675
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51365
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0054608998
$HD_B,0.011315
$HD_C,8.0300997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-28928.982
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3950
$C_PITCH,3317
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,176
$ROLL_MAX,3861
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2876
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-16.122175
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$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,10
$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
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,53
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043782545
$SEABIRD_T_H,0.00063376746
$SEABIRD_T_I,2.0789576e-05
$SEABIRD_T_J,1.6847914e-06
$SEABIRD_C_G,-10.138739
$SEABIRD_C_H,1.1328104
$SEABIRD_C_I,-0.00035406757
$SEABIRD_C_J,0.00012259149
$GPS1,014901,5000.748,-14455.502,142,0.9,142,18.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,3.35
$_SM_ANGLEo,-71.2
$GPS2,015602,5000.747,-14455.503,18,1.1,18,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.133,0.118
$KALMAN_X,-36430.5,271.5,13.9,58707.4,-2590.3
$KALMAN_Y,119310.2,-168.3,-90.2,-124099.3,1362.7
$MHEAD_RNG_PITCHd_Wd,29.7,13671,-12.0,-5.000
$D_GRID,1001
$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
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.67,-117.3,0.0,0.0,0,38,0.00,0.00,-11.00,0.000,2,0.000,0.000,137,2407,2016
$GC,42,-0.67,-117.3,3.2,-0.0,1,118,13.85,2.47,-56.47,0.000,4,0.280,0.080,3095,991,3356
$GC,338,-0.51,-117.3,26.9,-10.9,27,345,0.20,2.33,0.00,0.000,6,0.155,0.064,3152,2403,3358
$GC,668,-0.51,-117.3,50.4,-8.1,58,674,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2403,3358
$GC,994,-0.51,-117.3,72.8,-6.6,89,998,0.00,2.38,0.00,0.000,4,0.000,0.069,3152,990,3358
$GC,1027,-0.51,-117.3,75.0,-6.4,91,1034,0.00,2.33,0.00,0.000,6,0.000,0.061,3152,2413,3358
$GC,1356,-0.51,-117.3,97.4,-7.3,111,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2413,3358
$GC,1666,-0.58,-117.3,118.2,-6.2,126,1670,0.00,2.38,0.00,0.000,4,0.000,0.083,3152,3816,3358
$GC,1712,-0.70,-117.3,121.4,-6.9,128,1716,0.17,2.28,0.00,0.000,6,0.076,0.053,3087,2388,3358
$GC,2034,-0.65,-117.3,148.2,-7.8,144,2038,0.00,2.33,0.00,0.000,4,0.000,0.068,3087,989,3358
$GC,2074,-0.60,-117.3,151.5,-8.1,146,2079,0.12,2.33,0.00,0.000,6,0.130,0.061,3120,2407,3358
$GC,2399,-0.60,-117.3,174.0,-6.6,157,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2407,3358
$GC,2704,-0.60,-117.3,194.4,-6.8,167,2709,0.00,2.38,0.00,0.000,4,0.000,0.068,3120,994,3358
$GC,2755,-0.65,-117.3,198.2,-7.3,168,2759,0.00,2.33,0.00,0.000,6,0.000,0.061,3120,2411,3358
$GC,3075,-0.65,-117.3,220.2,-6.9,179,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2411,3358
$GC,3380,-0.65,-117.3,240.3,-6.3,189,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2411,3358
$GC,3687,-0.69,-117.3,258.2,-5.7,199,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2411,3358
$GC,3994,-0.73,-117.3,275.1,-5.4,209,3999,0.12,2.42,0.00,0.000,4,0.082,0.069,3071,985,3358
$GC,4033,-0.68,-117.3,277.7,-6.8,210,4037,0.00,2.35,0.00,0.000,6,0.000,0.061,3071,2411,3358
$GC,4358,-0.60,-117.3,300.7,-7.3,221,4360,0.17,0.00,0.00,0.000,6,0.142,0.000,3120,2411,3358
$GC,4662,-0.65,-117.3,318.4,-5.8,226,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2411,3358
$GC,4965,-0.71,-117.3,337.3,-6.2,231,4969,0.00,2.40,0.00,0.000,4,0.000,0.070,3120,995,3358
$GC,4998,-0.77,-117.3,339.7,-6.9,231,5003,0.15,2.33,0.00,0.000,6,0.078,0.062,3067,2400,3358
$GC,5325,-0.77,-117.3,364.3,-7.7,237,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2400,3358
$GC,5629,-0.77,-117.3,387.1,-7.5,242,5633,0.00,2.40,0.00,0.000,4,0.000,0.070,3067,986,3357
$GC,5657,-0.71,-117.3,389.5,-8.4,242,5661,0.00,2.33,0.00,0.000,6,0.000,0.061,3067,2400,3357
$GC,5989,-0.64,-117.3,415.0,-7.7,248,5994,0.15,2.40,0.00,0.000,4,0.143,0.068,3117,991,3358
$GC,6029,-0.71,-117.3,417.8,-6.9,248,6033,0.00,2.35,0.00,0.000,6,0.000,0.062,3113,2411,3358
$GC,6351,-0.76,-117.3,437.4,-6.2,254,6353,0.12,0.00,0.00,0.000,6,0.085,0.000,3062,2411,3357
$GC,6653,-0.76,-117.3,460.2,-7.6,259,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2411,3357
$GC,6956,-0.76,-117.3,483.7,-7.8,264,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2411,3357
$GC,7259,-0.76,-117.3,507.3,-7.8,269,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2411,3357
$GC,7563,-0.76,-117.3,530.4,-7.6,274,7564,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2411,3357
$GC,7866,-0.76,-117.3,552.8,-7.4,279,7870,0.00,2.38,0.00,0.000,4,0.000,0.082,3061,3818,3357
$GC,7922,-0.71,-117.3,557.3,-8.2,279,7928,0.00,2.28,0.00,0.000,6,0.000,0.056,3061,2400,3357
$GC,8233,-0.71,-117.3,580.1,-7.3,285,8237,0.00,2.38,0.00,0.000,4,0.000,0.071,3064,987,3356
$GC,8268,-0.71,-117.3,582.7,-7.7,285,8273,0.00,2.35,0.00,0.000,6,0.000,0.063,3064,2406,3356
$GC,8596,-0.66,-117.3,605.3,-6.8,291,8601,0.12,2.40,0.00,0.000,4,0.142,0.082,3099,3817,3356
$GC,8635,-0.72,-117.3,607.9,-6.0,291,8639,0.00,2.28,0.00,0.000,6,0.000,0.056,3099,2398,3356
$GC,8958,-0.72,-117.3,625.6,-5.5,297,8962,0.00,2.35,0.00,0.000,4,0.000,0.071,3099,988,3356
$GC,8985,-0.72,-117.3,627.3,-5.5,297,8989,0.00,2.35,0.00,0.000,6,0.000,0.063,3099,2412,3356
$GC,9323,-0.72,-117.3,646.0,-5.6,303,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2412,3356
$GC,9626,-0.72,-117.3,664.7,-6.2,308,9627,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2412,3356
$GC,9929,-0.76,-117.3,683.7,-6.3,313,9930,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2412,3356
$GC,10233,-0.80,-117.3,702.4,-6.1,318,10238,0.12,2.40,0.00,0.000,4,0.089,0.071,3051,995,3355
$GC,10261,-0.80,-117.3,704.4,-7.7,318,10265,0.00,2.33,0.00,0.000,6,0.000,0.064,3051,2404,3355
$GC,10600,-0.73,-117.3,728.7,-7.2,324,10602,0.10,0.00,0.00,0.000,6,0.141,0.000,3078,2403,3355
$GC,10903,-0.73,-117.3,747.8,-6.2,329,10904,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2403,3356
$GC,11205,-0.73,-117.3,766.7,-6.2,334,11206,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2403,3356
$GC,11509,-0.73,-117.3,786.2,-6.4,339,11510,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2403,3355
$GC,11811,-0.73,-117.3,805.2,-6.3,344,11813,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2403,3355
$GC,12115,-0.73,-117.3,824.2,-6.2,349,12116,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2403,3355
$GC,12419,-0.73,-117.3,843.7,-6.4,354,12423,0.00,2.40,0.00,0.000,4,0.000,0.084,3073,3807,3355
$GC,12457,-0.73,-117.3,846.2,-6.4,354,12462,0.00,2.28,0.00,0.000,6,0.000,0.058,3073,2399,3354
$GC,12779,-0.73,-117.3,867.0,-6.4,360,12780,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2400,3354
$GC,13082,-0.73,-117.3,886.5,-6.5,365,13083,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2399,3354
$GC,13386,-0.73,-117.3,905.4,-6.2,370,13390,0.00,2.45,0.00,0.000,4,0.000,0.084,3072,3807,3354
$GC,13419,-0.73,-117.3,907.7,-6.0,370,13423,0.00,2.30,0.00,0.000,6,0.000,0.058,3072,2393,3354
$GC,13745,-0.73,-117.3,926.1,-5.6,376,13747,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2394,3354
$GC,14049,-0.73,-117.3,943.5,-5.8,381,14050,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2394,3354
$GC,14353,-0.73,-117.3,961.1,-5.8,386,14354,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2394,3354
$GC,14655,-0.73,-117.3,979.3,-6.0,391,14659,0.00,2.38,0.00,0.000,4,0.000,0.074,3073,993,3353
$GC,14688,-0.73,-117.3,981.5,-6.2,391,14692,0.00,2.35,0.00,0.000,6,0.000,0.064,3073,2405,3354
$STATE,14832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14832,begin apogee
$GC,14840,-0.22,0.0,990.3,6.1,394,14953,0.57,0.00,108.65,1.483,6,0.142,0.000,3244,2191,2876
$STATE,14954,end apogee,CONTROL_FINISHED_OK
$STATE,14954,begin climb
$GC,14958,0.67,117.3,995.4,0.0,396,15077,0.90,0.00,115.32,1.426,6,0.089,0.000,3535,2191,2397
$GC,15377,0.33,117.3,977.1,7.2,403,15379,0.38,0.00,0.00,0.000,6,0.166,0.000,3430,2191,2394
$GC,15680,0.34,124.9,962.3,4.8,408,15694,0.00,2.42,7.57,1.213,4,0.000,0.078,3438,793,2368
$GC,15741,0.34,124.9,959.1,5.3,408,15747,0.00,2.33,0.00,0.000,6,0.000,0.061,3439,2197,2367
$GC,16051,0.29,124.9,942.4,5.4,414,16052,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2197,2367
$GC,16355,0.24,131.4,927.6,4.8,419,16369,0.15,2.42,7.60,1.223,4,0.170,0.079,3394,796,2341
$GC,16398,0.38,149.0,925.8,4.5,419,16421,0.15,2.30,17.62,1.366,6,0.083,0.061,3452,2204,2268
$GC,16725,0.33,149.0,908.9,5.3,425,16726,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2204,2266
$GC,17027,0.29,150.0,893.7,5.0,430,17029,0.15,0.00,0.00,0.000,6,0.145,0.000,3411,2205,2265
$GC,17330,0.37,171.9,880.3,4.4,435,17354,0.00,0.00,21.40,1.377,6,0.000,0.000,3411,2205,2175
$GC,17635,0.47,176.6,865.7,4.9,440,17646,0.15,2.35,5.93,1.108,4,0.078,0.081,3478,3608,2154
$GC,17675,0.29,176.6,862.8,7.9,440,17680,0.25,2.30,0.00,0.000,6,0.167,0.064,3410,2202,2154
$GC,17997,0.39,183.8,847.2,4.8,446,18007,0.00,0.00,8.25,1.216,6,0.000,0.000,3411,2202,2126
$GC,18300,0.49,183.8,832.0,5.0,451,18305,0.15,2.40,0.00,0.000,4,0.080,0.081,3478,3618,2124
$GC,18334,0.33,183.8,829.3,8.5,451,18339,0.20,2.33,0.00,0.000,6,0.166,0.064,3424,2201,2124
$GC,18662,0.40,183.8,810.7,5.7,457,18663,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2201,2124
$GC,18965,0.46,183.8,792.3,6.1,462,18967,0.12,0.00,0.00,0.000,6,0.084,0.000,3475,2201,2124
$GC,19267,0.46,183.8,768.5,8.1,467,19271,0.00,2.42,0.00,0.000,4,0.000,0.081,3475,3616,2124
$GC,19300,0.32,183.8,765.3,9.0,467,19305,0.20,2.35,0.00,0.000,6,0.163,0.064,3423,2192,2124
$GC,19628,0.40,183.8,742.3,6.8,473,19632,0.00,2.38,0.00,0.000,4,0.000,0.079,3424,789,2124
$GC,19661,0.49,183.8,739.9,6.1,473,19666,0.15,2.30,0.00,0.000,6,0.083,0.061,3483,2201,2124
$GC,19988,0.40,183.8,714.7,7.6,479,19990,0.12,0.00,0.00,0.000,6,0.139,0.000,3449,2202,2123
$GC,20291,0.40,183.8,696.3,6.0,484,20295,0.00,2.42,0.00,0.000,4,0.000,0.078,3449,788,2124
$GC,20355,0.40,183.8,692.7,5.5,485,20359,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2205,2124
$GC,20721,0.40,183.8,671.0,5.9,491,20722,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2204,2123
$GC,21024,0.40,183.8,652.7,6.0,496,21028,0.00,2.42,0.00,0.000,4,0.000,0.078,3449,786,2124
$GC,21060,0.40,183.8,650.5,5.8,496,21064,0.00,2.33,0.00,0.000,6,0.000,0.061,3449,2206,2123
$GC,21387,0.40,183.8,631.2,5.8,502,21391,0.00,2.35,0.00,0.000,4,0.000,0.080,3449,3610,2123
$GC,21426,0.34,183.8,628.7,6.2,502,21430,0.00,2.30,0.00,0.000,6,0.000,0.064,3449,2198,2123
$GC,21748,0.34,183.8,611.8,5.2,508,21752,0.00,2.40,0.00,0.000,4,0.000,0.080,3449,3617,2123
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$GC,25678,0.54,227.7,344.0,7.1,572,25679,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,2199,1940
$GC,25981,0.59,227.7,324.3,6.4,577,25983,0.00,0.00,0.00,0.000,6,0.000,0.000,3485,2199,1940
$GC,26284,0.64,227.7,304.8,6.5,582,26286,0.12,0.00,0.00,0.000,6,0.097,0.000,3540,2199,1939
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$GC,27324,0.52,227.7,224.0,6.0,615,27325,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,2200,1940
$GC,27629,0.61,227.7,206.5,5.6,625,27634,0.15,2.38,0.00,0.000,4,0.081,0.076,3527,789,1940
$GC,27702,0.54,227.7,201.2,6.5,627,27707,0.12,2.30,0.00,0.000,6,0.138,0.061,3494,2202,1940
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$STATE,30744,end climb,SURFACE_DEPTH_REACHED
$STATE,30744,begin surface coast
$FINISH,2.2,1.013488
$STATE,30819,end surface coast,CONTROL_FINISHED_OK
$STATE,30819,begin surface
$SM_CCo,30901,0.00,0.000,0,0,1625,306.62
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$IRIDIUM_FIX,4939.69,-14501.58,060698,161608
$TT8_MAMPS,0.026845
$HUMID,2118
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$TCM_TEMP,15.60
$XPDR_PINGS,924
$24V_AH,21.2,101.953
$10V_AH,10.4,70.174
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,30.825,184.350,397.375,0.000,0.000,27.914,32.902,197.118,231.000,0.000,0.000,18.321,1702.093,26098.990,586.730,2111.509,809.270,33.376,1626.046,0.000,2101.680,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,624.294,598.917,1373.457,834.524,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47560,808
$CAP_FILE_SIZE,174886,0
$CFSIZE,260165632,218202112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130309,103307,5003.746,-14452.144,30,1.3,30,18.5