version: 66.11
glider: 129
mission: 4
dive: 330
start: 1 22 113 15 6 3
data:
$ID,129
$MISSION,4
$DIVE,330
$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,-3132.5796
$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,80
$R_STBD_OVSHOOT,83
$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
$GPS1,220113,145730,1943.368,12352.634,40,1.3,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-61.8
$GPS2,220113,150537,1943.179,12352.677,15,1.3,15,-2.4
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,HEADING
$TGT_LATLONG,1943.179,12404.148
$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,5403
$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,20,-0.58,-184.9,0.0,0.0,0,84,0.00,0.00,-61.12,0.000,2,0.000,0.000,58,1913,1784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.58,-184.9,3.1,-3.2,11,140,7.78,2.12,-34.88,0.000,4,0.234,0.046,1954,3310,3164,0,0,0,0,0,0,24.92,26.08,26.55
$GC,163,-0.52,-184.9,15.8,-24.3,24,171,0.12,1.98,0.00,0.000,6,0.168,0.021,1986,1910,3164,0,0,0,0,0,0,25.84,26.25,28.83
$GC,490,-0.46,-184.9,109.1,-24.4,49,495,0.00,1.98,0.00,0.000,4,0.000,0.028,1986,534,3164,0,0,0,0,0,0,28.83,26.26,28.83
$GC,698,-0.43,-184.9,151.7,-18.9,59,704,0.15,1.98,0.00,0.000,6,0.151,0.021,2019,1918,3165,0,0,0,0,0,0,25.94,26.34,28.83
$GC,1017,-0.42,-184.9,200.1,-13.1,75,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1918,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1318,-0.42,-184.9,235.4,-11.1,90,1323,0.00,2.00,0.00,0.000,4,0.000,0.028,2019,541,3166,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1425,-0.42,-184.9,247.7,-11.5,95,1430,0.00,1.98,0.00,0.000,6,0.000,0.020,2011,1946,3165,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1742,-0.42,-184.9,285.1,-11.5,111,1748,0.00,2.03,0.00,0.000,4,0.000,0.028,2011,541,3164,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1810,-0.42,-184.9,292.6,-11.8,114,1815,0.00,1.95,0.00,0.000,6,0.000,0.020,2001,1926,3164,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2127,-0.42,-184.9,333.6,-12.5,130,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1926,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2429,-0.42,-184.9,367.4,-10.2,145,2435,0.00,2.00,0.00,0.000,4,0.000,0.028,2001,546,3163,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2467,-0.42,-184.9,370.0,-10.2,146,2474,0.12,1.95,0.00,0.000,6,0.142,0.021,2029,1924,3163,0,0,0,0,0,0,26.07,26.37,28.83
$GC,2773,-0.44,-184.9,395.4,-7.5,162,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,1924,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3075,-0.45,-184.9,418.5,-8.1,177,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,1924,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3375,-0.47,-184.9,440.6,-7.1,192,3381,0.00,2.03,0.00,0.000,4,0.000,0.029,2029,539,3159,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3423,-0.49,-184.9,444.5,-7.6,194,3429,0.00,1.98,0.00,0.000,6,0.000,0.021,2022,1935,3158,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3743,-0.51,-184.9,471.9,-8.7,210,3748,0.00,2.03,0.00,0.000,4,0.000,0.029,2022,545,3156,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3781,-0.53,-184.9,473.9,-8.6,211,3787,0.00,1.98,0.00,0.000,6,0.000,0.021,2014,1935,3157,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4087,-0.54,-184.9,500.3,-7.6,227,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,1935,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4388,-0.56,-184.9,521.8,-7.0,242,4394,0.10,2.00,0.00,0.000,4,0.109,0.032,1953,3302,3153,0,0,0,0,0,0,26.46,26.20,28.83
$GC,4433,-0.56,-184.9,526.1,-8.2,244,4438,0.00,1.92,0.00,0.000,6,0.000,0.021,1953,1911,3153,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4756,-0.55,-184.9,562.7,-10.9,260,4762,0.12,1.95,0.00,0.000,4,0.152,0.027,1994,553,3149,0,0,0,0,0,0,26.17,26.25,28.83
$GC,4881,-0.55,-184.9,574.1,-8.9,266,4887,0.00,1.98,0.00,0.000,6,0.000,0.021,1986,1929,3150,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5205,-0.55,-184.9,601.5,-8.6,282,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,1929,3148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5505,-0.55,-184.9,628.4,-9.1,292,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1929,3145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5805,-0.55,-184.9,655.3,-8.7,302,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1929,3144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6105,-0.55,-184.9,680.8,-8.6,312,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1929,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6405,-0.55,-184.9,705.8,-8.2,322,6406,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1929,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6705,-0.55,-184.9,729.5,-7.9,332,6711,0.00,2.03,0.00,0.000,4,0.000,0.031,1986,559,3139,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6778,-0.55,-184.9,735.1,-8.4,334,6783,0.00,1.98,0.00,0.000,6,0.000,0.022,1976,1934,3138,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7103,-0.55,-184.9,764.9,-9.1,345,7109,0.00,2.05,0.00,0.000,4,0.000,0.035,1966,3312,3136,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7137,-0.55,-184.9,768.1,-9.0,346,7142,0.00,1.95,0.00,0.000,6,0.000,0.021,1966,1936,3136,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7471,-0.55,-184.9,798.4,-8.6,357,7477,0.00,2.05,0.00,0.000,4,0.000,0.031,1967,537,3134,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7535,-0.55,-184.9,804.3,-8.8,359,7541,0.00,2.03,0.00,0.000,6,0.000,0.022,1956,1925,3134,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7871,-0.55,-184.9,832.1,-8.0,370,7872,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1925,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8169,-0.55,-184.9,855.6,-7.8,380,8175,0.00,2.03,0.00,0.000,4,0.000,0.031,1956,538,3131,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8233,-0.55,-184.9,861.0,-8.1,382,8239,0.08,2.03,0.00,0.000,6,0.106,0.023,1986,1919,3131,0,0,0,0,0,0,25.87,26.29,28.83
$GC,8568,-0.56,-184.9,884.9,-7.2,393,8573,0.00,2.05,0.00,0.000,4,0.000,0.031,1986,538,3129,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8636,-0.57,-184.9,890.1,-7.8,395,8641,0.00,2.00,0.00,0.000,6,0.000,0.023,1979,1928,3129,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8966,-0.57,-184.9,918.0,-8.4,406,8967,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1929,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9264,-0.58,-184.9,943.6,-8.7,416,9265,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1929,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9565,-0.59,-184.9,969.5,-8.7,426,9571,0.00,2.08,0.00,0.000,4,0.000,0.032,1979,535,3126,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9663,-0.59,-184.9,978.3,-9.2,429,9668,0.00,2.03,0.00,0.000,6,0.000,0.023,1970,1932,3126,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,9808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9809,begin apogee
$GC,9815,-0.17,0.0,991.8,-8.7,434,9976,0.40,0.00,153.75,1.412,6,0.118,0.000,2104,1932,2409,0,0,0,0,0,0,25.60,28.83,22.27
$STATE,9977,end apogee,CONTROL_FINISHED_OK
$STATE,9978,begin climb
$GC,9980,0.58,184.9,998.7,0.0,439,10160,0.73,2.40,170.88,1.360,4,0.086,0.033,2355,521,1655,0,0,0,0,0,0,24.22,23.65,21.86
$GC,10212,0.62,278.1,990.5,6.2,447,10307,0.00,2.10,85.65,1.336,6,0.000,0.021,2355,1900,1274,0,0,0,0,0,0,28.83,24.86,22.08
$GC,10626,0.65,300.2,954.7,8.7,461,10655,0.00,2.17,19.77,1.285,4,0.000,0.035,2355,3289,1184,0,0,0,0,0,0,28.83,25.61,23.72
$GC,10729,0.67,300.2,945.6,9.6,464,10734,0.00,2.03,0.00,0.000,6,0.000,0.024,2362,1908,1181,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11054,0.68,300.2,911.3,10.4,475,11059,0.00,2.08,0.00,0.000,4,0.000,0.034,2362,3299,1180,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11092,0.70,300.2,907.4,10.8,476,11097,0.00,2.03,0.00,0.000,6,0.000,0.024,2363,1891,1178,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11422,0.72,300.2,870.2,11.2,487,11427,0.00,2.03,0.00,0.000,4,0.000,0.035,2362,511,1178,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11445,0.73,300.2,870.2,11.2,487,11450,0.00,2.00,0.00,0.000,6,0.000,0.021,2362,1919,1178,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11760,0.75,300.2,833.6,10.4,498,11766,0.12,2.03,0.00,0.000,4,0.106,0.033,2419,3278,1177,0,0,0,0,0,0,26.32,26.17,28.83
$GC,11813,0.76,300.2,828.9,11.0,499,11819,0.00,2.00,0.00,0.000,6,0.000,0.024,2426,1899,1177,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12127,0.76,300.2,783.2,13.4,510,12129,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1899,1177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12426,0.76,300.2,744.3,12.8,520,12431,0.00,2.08,0.00,0.000,4,0.000,0.034,2426,3275,1176,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12484,0.76,300.2,740.0,12.9,521,12491,0.00,2.03,0.00,0.000,6,0.000,0.024,2426,1872,1176,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12789,0.76,300.2,697.5,12.8,532,12790,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1872,1176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13090,0.76,300.2,661.0,11.7,542,13095,0.00,2.15,0.00,0.000,4,0.000,0.034,2426,3285,1176,0,0,0,0,0,0,28.83,26.12,28.83
$GC,13137,0.76,300.2,656.9,11.8,543,13142,0.00,2.00,0.00,0.000,6,0.000,0.024,2426,1895,1175,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13455,0.76,300.2,618.8,11.3,554,13460,0.00,2.10,0.00,0.000,4,0.000,0.034,2426,3285,1175,0,0,0,0,0,0,28.83,26.11,28.83
$GC,13522,0.76,300.2,611.3,11.6,556,13528,0.00,2.03,0.00,0.000,6,0.000,0.024,2433,1886,1176,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13840,0.76,300.2,573.2,11.7,570,13845,0.00,2.10,0.00,0.000,4,0.000,0.034,2433,3281,1175,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13874,0.76,300.2,570.5,11.7,571,13880,0.12,1.98,0.00,0.000,6,0.168,0.024,2408,1899,1175,0,0,0,0,0,0,25.87,26.28,28.83
$GC,14188,0.76,300.2,538.7,9.7,587,14189,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,1899,1175,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,16600,0.80,303.8,285.7,9.3,706,16605,0.00,2.05,0.00,0.000,4,0.000,0.033,2413,495,1176,0,0,0,0,0,0,28.83,26.09,28.83
$GC,16638,0.82,310.1,283.6,9.2,707,16653,0.00,2.00,8.90,0.806,6,0.000,0.020,2413,1896,1144,0,0,0,0,0,0,28.83,26.32,23.96
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$STATE,19552,end climb,SURFACE_DEPTH_REACHED
$STATE,19552,begin surface coast
$FINISH,1.1,1.022509
$STATE,19571,end surface coast,CONTROL_FINISHED_OK
$STATE,19571,begin surface
$SM_CCo,19647,0.00,0.000,0,0,305,516.11
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$IRIDIUM_FIX,1938.95,12353.47,220113,090952
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.05
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,3893632
$24V_AH,21.9,66.814
$10V_AH,9.7,45.818
$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,16.550,145.625,612.925,0.000,0.000,0.000,0.000,284.450,0.000,0.000,15.865,2676.327,13857.176,680.839,2464.017,448.380,0.000,2188.091,0.000,2101.989,0.000,0.540,0.000
$DEVICE_MAMPS,234.090,45.900,1412.190,0.000,0.000,0.000,0.000,140.760,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19599.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.904,0.000,0.000,0.000
$MEM,329060
$DATA_FILE_SIZE,33366,893
$CAP_FILE_SIZE,211793,0
$CFSIZE,260034560,218333184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220113,203453,1940.883,12355.347,25,1.0,43,-2.4