version: 66.11
glider: 129
mission: 4
dive: 329
start: 1 22 113 9 34 21
data:
$ID,129
$MISSION,4
$DIVE,329
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$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,350
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,90
$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,400
$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,-3131.2241
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,83
$R_STBD_OVSHOOT,82
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,21.5
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,220113,092536,1946.227,12349.760,39,1.1,39,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-66.1
$GPS2,220113,093355,1946.000,12349.825,11,1.4,11,-2.4
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,HEADING
$TGT_LATLONG,1946.000,12401.301
$TGT_RADIUS,1852.000
$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,92.4,20000,-15.3,-9.429,-18.41
$D_GRID,5349
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.58,-184.9,0.0,0.0,0,77,0.00,0.00,-55.28,0.000,2,0.000,0.000,59,1881,1818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.58,-184.9,3.1,-3.5,10,128,8.00,2.05,-33.55,0.000,4,0.243,0.043,1968,527,3164,0,0,0,0,0,0,25.01,26.11,26.54
$GC,156,-0.52,-184.9,15.6,-23.3,23,164,0.12,1.98,0.00,0.000,6,0.172,0.020,1991,1919,3165,0,0,0,0,0,0,25.82,26.23,28.83
$GC,473,-0.47,-184.9,105.4,-25.2,47,478,0.00,2.00,0.00,0.000,4,0.000,0.028,1991,530,3166,0,0,0,0,0,0,28.83,26.26,28.83
$GC,591,-0.44,-184.9,123.5,-16.8,52,599,0.12,2.00,0.00,0.000,6,0.152,0.021,2016,1942,3165,0,0,0,0,0,0,25.99,26.33,28.83
$GC,896,-0.42,-184.9,171.7,-13.5,68,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1943,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1197,-0.42,-184.9,212.1,-12.9,83,1202,0.00,2.05,0.00,0.000,4,0.000,0.027,2015,530,3165,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1316,-0.42,-184.9,225.5,-12.6,88,1322,0.00,1.98,0.00,0.000,6,0.000,0.020,2008,1946,3166,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1620,-0.42,-184.9,263.1,-10.4,104,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1947,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1921,-0.42,-184.9,294.9,-10.7,119,1927,0.00,2.05,0.00,0.000,4,0.000,0.028,2008,528,3165,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1953,-0.42,-184.9,297.6,-10.6,120,1959,0.00,1.98,0.00,0.000,6,0.000,0.020,1999,1926,3164,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2267,-0.42,-184.9,333.3,-10.6,136,2272,0.00,2.00,0.00,0.000,4,0.000,0.028,1999,539,3164,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2313,-0.42,-184.9,338.1,-10.9,138,2319,0.12,1.95,0.00,0.000,6,0.145,0.021,2026,1929,3164,0,0,0,0,0,0,26.05,26.36,28.83
$GC,2632,-0.44,-184.9,364.6,-7.9,154,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,1930,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2935,-0.45,-184.9,387.5,-7.6,169,2940,0.00,2.03,0.00,0.000,4,0.000,0.034,2017,3305,3163,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2967,-0.47,-184.9,389.4,-7.6,170,2973,0.00,1.92,0.00,0.000,6,0.000,0.021,2017,1918,3162,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3282,-0.48,-184.9,414.0,-7.8,186,3287,0.00,2.00,0.00,0.000,4,0.000,0.029,2017,550,3161,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3411,-0.50,-184.9,425.0,-8.9,192,3416,0.00,1.95,0.00,0.000,6,0.000,0.020,2008,1932,3160,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3729,-0.51,-184.9,454.0,-8.7,208,3735,0.00,2.05,0.00,0.000,4,0.000,0.029,2008,534,3158,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3788,-0.52,-184.9,457.9,-8.6,210,3795,0.00,1.98,0.00,0.000,6,0.000,0.021,2000,1924,3158,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4093,-0.52,-184.9,486.8,-9.0,226,4098,0.00,2.03,0.00,0.000,4,0.000,0.034,1989,3306,3156,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4150,-0.52,-184.9,490.6,-8.9,228,4157,0.00,1.95,0.00,0.000,6,0.000,0.021,1990,1917,3155,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4456,-0.52,-184.9,520.7,-9.3,244,4462,0.00,1.98,0.00,0.000,4,0.000,0.029,1990,549,3153,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4523,-0.52,-184.9,527.1,-10.1,247,4529,0.00,1.98,0.00,0.000,6,0.000,0.021,1980,1932,3152,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4842,-0.52,-184.9,556.5,-9.1,263,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1932,3151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5143,-0.52,-184.9,586.8,-10.7,278,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1932,3149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5462,-0.52,-184.9,620.9,-10.3,291,5467,0.00,2.03,0.00,0.000,4,0.000,0.029,1980,549,3147,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5499,-0.52,-184.9,624.3,-10.2,292,5504,0.00,1.95,0.00,0.000,6,0.000,0.021,1971,1928,3147,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5829,-0.52,-184.9,655.2,-9.0,303,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1929,3144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6127,-0.52,-184.9,682.2,-9.0,313,6132,0.00,2.03,0.00,0.000,4,0.000,0.030,1971,546,3143,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6180,-0.52,-184.9,685.2,-8.9,314,6185,0.00,1.98,0.00,0.000,6,0.000,0.022,1963,1921,3142,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6495,-0.52,-184.9,714.1,-8.2,325,6500,0.10,2.05,0.00,0.000,4,0.164,0.034,1981,3313,3141,0,0,0,0,0,0,26.29,26.12,28.83
$GC,6532,-0.52,-184.9,716.9,-8.1,326,6537,0.00,1.95,0.00,0.000,6,0.000,0.021,1981,1930,3140,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6863,-0.52,-184.9,744.0,-8.8,337,6868,0.00,2.03,0.00,0.000,4,0.000,0.031,1981,541,3139,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6950,-0.52,-184.9,750.3,-9.2,339,6957,0.00,2.00,0.00,0.000,6,0.000,0.022,1971,1937,3139,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7257,-0.52,-184.9,784.0,-10.2,350,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1935,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7556,-0.52,-184.9,812.4,-9.2,360,7557,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1938,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7857,-0.52,-184.9,840.2,-9.3,370,7862,0.00,2.08,0.00,0.000,4,0.000,0.031,1971,542,3134,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7914,-0.52,-184.9,843.4,-9.3,371,7920,0.00,2.00,0.00,0.000,6,0.000,0.023,1963,1924,3134,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8220,-0.52,-184.9,874.5,-9.5,382,8225,0.00,2.03,0.00,0.000,4,0.000,0.031,1963,541,3132,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8283,-0.52,-184.9,881.0,-9.9,384,8289,0.15,2.03,0.00,0.000,6,0.142,0.023,1997,1935,3132,0,0,0,0,0,0,25.86,26.27,28.83
$GC,8619,-0.54,-184.9,905.0,-6.9,395,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,1935,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8918,-0.56,-184.9,924.7,-6.4,405,8919,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1935,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9218,-0.58,-184.9,943.6,-6.3,415,9223,0.00,2.08,0.00,0.000,4,0.000,0.032,1998,542,3129,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9286,-0.60,-184.9,948.3,-6.9,417,9291,0.00,2.00,0.00,0.000,6,0.000,0.023,1991,1929,3129,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9616,-0.61,-184.9,971.6,-7.2,428,9617,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1929,3128,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9882,begin apogee
$GC,9888,-0.17,0.0,990.2,-6.8,437,10049,0.32,0.00,154.12,1.413,6,0.116,0.000,2102,1929,2409,0,0,0,0,0,0,25.74,28.83,22.24
$STATE,10051,end apogee,CONTROL_FINISHED_OK
$STATE,10051,begin climb
$GC,10054,0.58,184.9,996.0,0.0,442,10233,0.73,2.38,171.50,1.361,4,0.086,0.032,2346,525,1654,0,0,0,0,0,0,24.19,23.63,21.84
$GC,10297,0.62,264.8,986.1,6.7,450,10375,0.00,2.10,72.78,1.339,6,0.000,0.021,2346,1896,1329,0,0,0,0,0,0,28.83,24.98,22.21
$GC,10699,0.65,303.7,951.2,8.1,464,10741,0.00,2.17,34.67,1.327,4,0.000,0.035,2347,3280,1170,0,0,0,0,0,0,28.83,25.34,23.56
$GC,10795,0.68,333.7,943.5,8.4,467,10828,0.00,2.03,28.15,1.305,6,0.000,0.024,2346,1905,1048,0,0,0,0,0,0,28.83,25.88,23.55
$GC,11152,0.73,379.4,915.6,7.9,479,11200,0.12,2.17,41.50,1.326,4,0.106,0.035,2412,505,862,0,0,0,0,0,0,26.22,25.30,23.56
$GC,11239,0.75,386.8,909.0,9.2,481,11255,0.00,2.05,8.32,1.121,6,0.000,0.021,2413,1920,831,0,0,0,0,0,0,28.83,25.78,23.68
$GC,11578,0.75,386.8,862.9,12.9,493,11583,0.00,2.00,0.00,0.000,4,0.000,0.036,2412,3277,828,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11650,0.75,386.8,854.5,13.0,495,11655,0.00,2.00,0.00,0.000,6,0.000,0.024,2413,1900,826,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11973,0.75,386.8,812.5,12.5,506,11978,0.00,2.08,0.00,0.000,4,0.000,0.034,2423,503,825,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12001,0.75,386.8,812.5,12.5,506,12007,0.00,1.98,0.00,0.000,6,0.000,0.021,2423,1898,825,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12307,0.75,386.8,768.9,13.2,517,12312,0.00,2.03,0.00,0.000,4,0.000,0.035,2423,3273,824,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12400,0.75,386.8,756.2,13.5,520,12405,0.00,2.00,0.00,0.000,6,0.000,0.024,2427,1900,824,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12737,0.75,386.8,713.1,12.7,531,12738,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1900,823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13033,0.75,386.8,675.3,12.4,541,13034,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1901,823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13333,0.75,386.8,638.7,12.0,551,13338,0.00,2.05,0.00,0.000,4,0.000,0.034,2426,3274,823,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13367,0.75,386.8,634.6,12.1,552,13372,0.00,2.00,0.00,0.000,6,0.000,0.024,2426,1901,823,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13691,0.75,386.8,597.6,11.5,563,13692,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1901,824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13992,0.75,386.8,561.5,12.1,578,13993,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1900,823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14291,0.75,386.8,524.9,12.8,593,14296,0.00,2.08,0.00,0.000,4,0.000,0.035,2429,508,823,0,0,0,0,0,0,28.83,26.13,28.83
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$GC,15875,0.84,386.8,348.0,11.5,670,15881,0.00,2.00,0.00,0.000,6,0.000,0.020,2426,1902,824,0,0,0,0,0,0,28.83,26.34,28.83
$GC,16189,0.85,386.8,311.2,10.9,686,16194,0.00,2.05,0.00,0.000,4,0.000,0.033,2426,3287,824,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,19223,end climb,SURFACE_DEPTH_REACHED
$STATE,19223,begin surface coast
$FINISH,1.2,1.022496
$STATE,19234,end surface coast,CONTROL_FINISHED_OK
$STATE,19234,begin surface
$SM_CCo,19310,0.00,0.000,0,0,318,512.92
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$IRIDIUM_FIX,1941.24,12343.31,220113,030353
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.25
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3894016
$24V_AH,21.8,66.601
$10V_AH,9.6,45.687
$FG_AHR_24Vo,120.571
$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,16.400,141.550,602.250,0.000,0.000,0.000,0.000,297.775,0.000,0.000,12.461,2613.579,13661.330,666.169,2421.297,437.478,0.000,2154.181,0.000,2048.980,0.000,0.541,0.000
$DEVICE_MAMPS,243.270,42.840,1412.955,0.000,0.000,0.000,0.000,136.935,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19262.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.035,0.000,0.000,0.000
$MEM,329084
$DATA_FILE_SIZE,33381,879
$CAP_FILE_SIZE,207448,0
$CFSIZE,260034560,218439680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220113,145730,1943.368,12352.634,40,1.3,40,-2.4