version: 66.04
glider: 144
mission: 15
dive: 97
start: 7 14 109 5 52 1
data:
$ID,144
$MISSION,15
$DIVE,97
$D_SURF,2
$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,600
$T_MISSION,630
$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,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51458
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0037098001
$HD_B,0.012019
$HD_C,3.2039999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-62814.617
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3976
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,2303
$C_ROLL_CLIMB,2303
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2931
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,122.2
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1.9652373
$PRESSURE_SLOPE,0.00011159377
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0043441742
$SEABIRD_T_H,0.00062523223
$SEABIRD_T_I,1.8114715e-05
$SEABIRD_T_J,1.1782754e-06
$SEABIRD_C_G,-10.019677
$SEABIRD_C_H,1.1227477
$SEABIRD_C_I,-0.00077646878
$SEABIRD_C_J,0.00015901824
$GPS1,054555,4953.630,-14430.567,37,1.4,38,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-67.0
$GPS2,055107,4953.637,-14430.620,9,1.0,14,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.110,0.127
$KALMAN_X,-48069.0,-35.4,-40.0,84140.7,-569.7
$KALMAN_Y,58116.1,-69.7,94.0,-69358.0,249.8
$MHEAD_RNG_PITCHd_Wd,300.6,35204,-12.3,-5.500
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,51,0.00,0.00,-32.03,0.000,2,0.000,0.000,101,2302,2592
$GC,53,-0.68,-117.3,3.4,-6.7,3,88,6.95,2.30,-20.60,0.000,4,0.240,0.064,1842,889,3412
$GC,340,-0.51,-117.3,41.1,-13.1,28,347,0.20,2.25,0.00,0.000,6,0.132,0.042,1893,2310,3414
$GC,669,-0.59,-117.3,67.9,-7.9,59,673,0.00,2.25,0.00,0.000,4,0.000,0.047,1893,891,3415
$GC,709,-0.69,-117.3,71.4,-8.2,62,713,0.15,2.22,0.00,0.000,6,0.054,0.041,1808,2307,3415
$GC,1037,-0.43,-117.3,114.9,-13.6,81,1042,0.30,2.25,0.00,0.000,4,0.135,0.047,1904,890,3415
$GC,1087,-0.61,-117.3,119.6,-7.8,83,1091,0.12,2.22,0.00,0.000,6,0.057,0.042,1829,2304,3416
$GC,1403,-0.50,-117.3,151.2,-9.1,98,1407,0.20,2.22,0.00,0.000,4,0.127,0.055,1881,3709,3416
$GC,1441,-0.65,-117.3,154.0,-6.2,99,1445,0.00,2.17,0.00,0.000,6,0.000,0.035,1881,2292,3416
$GC,1770,-0.78,-117.3,173.3,-6.0,110,1775,0.17,2.20,0.00,0.000,4,0.052,0.053,1781,889,3415
$GC,1911,-0.53,-117.3,189.6,-11.4,114,1916,0.38,2.22,0.00,0.000,6,0.132,0.048,1886,2309,3415
$GC,2241,-0.71,-117.3,208.1,-5.4,125,2246,0.15,2.22,0.00,0.000,4,0.054,0.046,1800,893,3415
$GC,2313,-0.55,-117.3,215.4,-10.2,127,2318,0.30,2.20,0.00,0.000,6,0.127,0.042,1886,2303,3415
$GC,2638,-0.74,-117.3,234.2,-5.5,138,2639,0.15,0.00,0.00,0.000,6,0.054,0.000,1800,2303,3415
$GC,2943,-0.58,-117.3,263.8,-9.9,148,2948,0.20,2.20,0.00,0.000,4,0.124,0.054,1867,897,3414
$GC,2982,-0.71,-117.3,266.9,-7.0,149,2987,0.00,2.20,0.00,0.000,6,0.000,0.049,1863,2302,3414
$GC,3313,-0.81,-117.3,285.5,-5.4,160,3317,0.12,2.20,0.00,0.000,4,0.061,0.048,1793,898,3413
$GC,3380,-0.65,-117.3,291.5,-9.3,162,3385,0.25,2.20,0.00,0.000,6,0.126,0.044,1859,2307,3413
$GC,3713,-0.74,-117.3,310.7,-5.6,170,3717,0.00,2.22,0.00,0.000,4,0.000,0.049,1859,892,3413
$GC,3746,-0.85,-117.3,313.2,-7.5,170,3751,0.12,2.22,0.00,0.000,6,0.062,0.044,1782,2313,3413
$GC,4078,-0.64,-117.3,349.9,-11.4,176,4083,0.22,2.22,0.00,0.000,4,0.137,0.049,1855,889,3412
$GC,4128,-0.75,-117.3,354.2,-7.6,176,4132,0.00,2.22,0.00,0.000,6,0.000,0.044,1850,2310,3412
$GC,4438,-0.81,-117.3,374.4,-6.4,181,4442,0.10,2.22,0.00,0.000,4,0.070,0.051,1790,897,3412
$GC,4481,-0.65,-117.3,378.4,-9.6,181,4486,0.25,2.20,0.00,0.000,6,0.128,0.047,1857,2304,3411
$GC,4796,-0.76,-117.3,396.9,-5.7,187,4798,0.10,0.00,0.00,0.000,6,0.072,0.000,1801,2304,3411
$GC,5099,-0.64,-117.3,423.3,-8.9,192,5104,0.20,2.22,0.00,0.000,4,0.126,0.054,1865,897,3410
$GC,5143,-0.80,-117.3,426.4,-6.0,192,5148,0.12,2.22,0.00,0.000,6,0.063,0.047,1793,2314,3411
$GC,5459,-0.66,-117.3,454.1,-9.0,198,5463,0.17,2.25,0.00,0.000,4,0.135,0.053,1851,892,3410
$GC,5491,-0.73,-117.3,456.5,-6.1,198,5495,0.00,2.22,0.00,0.000,6,0.000,0.051,1850,2309,3410
$GC,5818,-0.81,-117.3,474.2,-5.4,204,5823,0.10,2.22,0.00,0.000,4,0.072,0.049,1792,898,3410
$GC,5862,-0.66,-117.3,477.8,-8.6,204,5867,0.25,2.20,0.00,0.000,6,0.125,0.048,1858,2304,3410
$GC,6178,-0.80,-117.3,494.7,-5.3,210,6180,0.12,0.00,0.00,0.000,6,0.063,0.000,1791,2305,3409
$GC,6481,-0.66,-117.3,523.5,-9.6,215,6485,0.17,2.22,0.00,0.000,4,0.129,0.049,1850,888,3409
$GC,6536,-0.77,-117.3,528.0,-7.7,215,6542,0.00,2.25,0.00,0.000,6,0.000,0.048,1850,2298,3409
$GC,6846,-0.87,-117.3,549.6,-7.0,221,6848,0.12,0.00,0.00,0.000,6,0.063,0.000,1780,2298,3409
$GC,7149,-0.68,-117.3,582.1,-10.9,226,7153,0.22,2.22,0.00,0.000,4,0.131,0.056,1851,892,3408
$GC,7198,-0.80,-117.3,586.3,-8.1,226,7203,0.10,2.22,0.00,0.000,6,0.074,0.045,1791,2306,3408
$GC,7508,-0.67,-117.3,615.9,-9.7,231,7510,0.22,0.00,0.00,0.000,6,0.128,0.000,1859,2306,3408
$GC,7811,-0.82,-117.3,634.8,-6.0,236,7813,0.15,0.00,0.00,0.000,6,0.058,0.000,1779,2306,3408
$GC,8114,-0.65,-117.3,662.4,-9.2,241,8119,0.22,2.22,0.00,0.000,4,0.130,0.051,1853,898,3407
$GC,8177,-0.80,-117.3,666.4,-6.1,242,8182,0.08,2.22,0.00,0.000,6,0.090,0.051,1802,2313,3408
$GC,8542,-0.73,-117.3,692.9,-7.3,248,8544,0.15,0.00,0.00,0.000,6,0.133,0.000,1845,2314,3407
$GC,8846,-0.84,-117.3,708.8,-5.1,253,8851,0.10,2.25,0.00,0.000,4,0.077,0.057,1795,897,3407
$GC,8924,-0.74,-117.3,714.9,-8.3,254,8929,0.20,2.22,0.00,0.000,6,0.130,0.051,1845,2314,3407
$GC,9273,-0.85,-117.3,734.6,-5.6,260,9274,0.12,0.00,0.00,0.000,6,0.071,0.000,1790,2314,3407
$GC,9575,-0.73,-117.3,759.9,-8.5,265,9580,0.17,2.25,0.00,0.000,4,0.130,0.056,1847,897,3406
$GC,9625,-0.86,-117.3,763.6,-7.0,265,9630,0.12,2.22,0.00,0.000,6,0.072,0.051,1793,2311,3406
$GC,9936,-0.76,-117.3,789.1,-8.4,270,9938,0.15,0.00,0.00,0.000,6,0.137,0.000,1835,2311,3406
$GC,10238,-0.84,-117.3,807.6,-6.0,275,10242,0.00,2.25,0.00,0.000,4,0.000,0.058,1839,894,3406
$GC,10282,-0.95,-117.3,810.4,-6.4,275,10287,0.15,2.22,0.00,0.000,6,0.071,0.047,1772,2308,3406
$GC,10597,-0.76,-117.3,837.9,-8.9,281,10599,0.22,0.00,0.00,0.000,6,0.141,0.000,1838,2308,3406
$GC,10900,-0.86,-117.3,854.7,-5.4,286,10905,0.10,2.25,0.00,0.000,4,0.087,0.058,1798,893,3406
$GC,10938,-0.78,-117.3,857.7,-7.8,286,10943,0.15,2.22,0.00,0.000,6,0.143,0.047,1830,2306,3406
$GC,11259,-0.84,-117.3,877.2,-6.0,292,11262,0.00,2.22,0.00,0.000,4,0.000,0.054,1830,900,3406
$GC,11292,-0.90,-117.3,879.4,-7.5,292,11296,0.00,2.22,0.00,0.000,6,0.000,0.051,1824,2314,3406
$GC,11625,-0.90,-117.3,900.8,-6.5,298,11629,0.00,2.25,0.00,0.000,4,0.000,0.054,1824,901,3406
$GC,11665,-0.90,-117.3,903.5,-6.6,298,11669,0.00,2.22,0.00,0.000,6,0.000,0.048,1819,2310,3406
$GC,11985,-0.90,-117.3,924.9,-6.7,304,11989,0.00,2.25,0.00,0.000,4,0.000,0.055,1818,899,3406
$GC,12025,-0.90,-117.3,927.8,-6.9,304,12030,0.00,2.22,0.00,0.000,6,0.000,0.048,1809,2309,3405
$GC,12347,-0.90,-117.3,949.0,-6.6,310,12351,0.00,2.25,0.00,0.000,4,0.000,0.056,1809,900,3405
$GC,12387,-0.90,-117.3,951.8,-7.0,310,12391,0.00,2.22,0.00,0.000,6,0.000,0.051,1801,2310,3406
$GC,12714,-0.84,-117.3,972.9,-6.4,316,12718,0.00,2.25,0.00,0.000,4,0.000,0.060,1801,903,3405
$GC,12781,-0.79,-117.3,977.6,-7.2,317,12786,0.15,2.22,0.00,0.000,6,0.147,0.053,1834,2310,3405
$STATE,13077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13077,begin apogee
$GC,13083,-0.22,0.0,992.7,5.1,322,13178,0.38,0.00,92.32,1.343,6,0.123,0.000,1957,2310,2931
$STATE,13178,end apogee,CONTROL_FINISHED_OK
$STATE,13179,begin climb
$GC,13181,0.68,117.3,993.8,0.0,323,13287,0.55,2.53,97.68,1.315,4,0.080,0.060,2149,3711,2450
$GC,13326,0.24,117.3,988.9,8.2,325,13332,0.43,2.30,0.00,0.000,6,0.183,0.045,2051,2316,2446
$GC,13670,0.47,161.3,975.1,4.0,331,13714,0.17,2.50,36.33,1.280,4,0.068,0.064,2134,895,2272
$GC,13813,0.33,161.3,965.9,7.2,333,13818,0.22,2.35,0.00,0.000,6,0.147,0.051,2072,2312,2268
$GC,14168,0.42,176.2,948.1,5.0,339,14187,0.00,2.35,12.98,1.183,4,0.000,0.062,2072,3705,2211
$GC,14216,0.46,176.2,945.1,6.1,339,14220,0.00,2.28,0.00,0.000,6,0.000,0.043,2080,2299,2210
$GC,14531,0.51,176.2,926.5,6.0,345,14533,0.10,0.00,0.00,0.000,6,0.077,0.000,2124,2299,2209
$GC,14834,0.36,176.2,900.5,8.7,350,14839,0.17,2.30,0.00,0.000,4,0.156,0.060,2071,3711,2208
$GC,14861,0.36,176.2,898.2,7.7,350,14865,0.00,2.22,0.00,0.000,6,0.000,0.042,2079,2303,2207
$GC,15199,0.41,176.2,876.5,6.4,356,15200,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2303,2207
$GC,15502,0.48,176.2,858.1,6.0,361,15507,0.08,2.28,0.00,0.000,4,0.094,0.059,2120,3712,2207
$GC,15529,0.35,176.2,856.1,9.0,361,15534,0.20,2.22,0.00,0.000,6,0.166,0.041,2077,2299,2206
$GC,15861,0.44,189.6,838.7,5.1,367,15880,0.00,2.35,11.73,1.131,4,0.000,0.056,2086,886,2157
$GC,15892,0.58,215.6,837.2,4.6,367,15925,0.12,2.28,23.98,1.188,6,0.074,0.045,2141,2306,2051
$GC,16228,0.40,215.6,809.4,8.5,373,16232,0.17,2.30,0.00,0.000,4,0.157,0.057,2088,3713,2045
$GC,16266,0.40,215.6,806.5,6.9,373,16270,0.00,2.25,0.00,0.000,6,0.000,0.041,2097,2302,2044
$GC,16593,0.40,215.6,787.4,5.9,379,16597,0.00,2.30,0.00,0.000,4,0.000,0.056,2097,3712,2043
$GC,16625,0.40,215.6,784.9,6.6,379,16629,0.00,2.22,0.00,0.000,6,0.000,0.040,2106,2302,2043
$GC,16959,0.40,215.6,762.0,7.0,385,16963,0.00,2.30,0.00,0.000,4,0.000,0.055,2106,3717,2042
$GC,16980,0.40,215.6,760.3,7.6,385,16984,0.12,2.22,0.00,0.000,6,0.161,0.039,2085,2301,2042
$GC,17324,0.50,215.6,739.5,6.1,391,17329,0.10,2.25,0.00,0.000,4,0.076,0.058,2147,893,2042
$GC,17345,0.50,215.6,737.8,6.5,391,17349,0.15,2.25,0.00,0.000,6,0.145,0.049,2107,2311,2042
$GC,17688,0.50,215.6,714.6,6.6,397,17692,0.00,2.25,0.00,0.000,4,0.000,0.057,2107,3714,2042
$GC,17744,0.45,215.6,710.5,7.2,397,17748,0.00,2.20,0.00,0.000,6,0.000,0.038,2114,2300,2041
$GC,18054,0.41,215.6,690.2,6.6,402,18056,0.12,0.00,0.00,0.000,6,0.153,0.000,2081,2300,2042
$GC,18357,0.57,241.9,676.0,4.6,407,18382,0.15,0.00,21.83,1.098,6,0.054,0.000,2156,2300,1944
$GC,18661,0.38,241.9,647.5,9.7,412,18665,0.22,2.28,0.00,0.000,4,0.146,0.054,2087,3710,1940
$GC,18699,0.46,241.9,644.4,6.7,412,18703,0.00,2.22,0.00,0.000,6,0.000,0.039,2095,2297,1939
$GC,19020,0.55,241.9,626.3,5.7,418,19022,0.08,0.00,0.00,0.000,6,0.088,0.000,2149,2297,1938
$GC,19323,0.40,241.9,600.1,8.8,423,19328,0.20,2.28,0.00,0.000,4,0.143,0.055,2088,3710,1937
$GC,19345,0.35,241.9,598.2,7.7,423,19349,0.00,2.20,0.00,0.000,6,0.000,0.038,2097,2298,1937
$GC,19682,0.44,241.9,579.2,5.7,429,19686,0.00,2.25,0.00,0.000,4,0.000,0.058,2107,887,1937
$GC,19710,0.56,241.9,577.6,6.2,429,19714,0.00,2.25,0.00,0.000,6,0.000,0.048,2107,2318,1936
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$GC,21433,0.54,241.9,449.4,7.2,458,21434,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2298,1935
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$GC,22405,0.57,243.0,383.2,5.5,474,22409,0.00,2.25,0.00,0.000,4,0.000,0.054,2104,3714,1935
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$GC,23145,0.55,250.1,329.3,7.8,486,23149,0.25,2.22,0.00,0.000,6,0.144,0.043,2115,2302,1910
$GC,23499,0.63,263.4,311.0,5.1,492,23519,0.08,2.30,12.73,0.826,4,0.080,0.054,2166,3713,1856
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$STATE,27727,end climb,SURFACE_DEPTH_REACHED
$STATE,27727,begin surface coast
$FINISH,1.1,1.012264
$STATE,27751,end surface coast,CONTROL_FINISHED_OK
$STATE,27751,begin surface
$SM_CCo,27766,3.17,0.382,0,0,1707,300.00
$SM_GC,2.92,0.00,0.00,3.17,0.000,0.000,0.382,100,2305,1707,-8.74,0.06,300.00
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$TT8_MAMPS,0.028379
$HUMID,1629
$INTERNAL_PRESSURE,7.41239
$TCM_TEMP,16.20
$XPDR_PINGS,81
$24V_AH,23.5,16.948
$10V_AH,10.7,12.685
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$DEVICE_SECS,28.375,251.000,342.200,3.175,0.000,25.109,25.414,140.427,20.250,0.000,0.000,16.369,1740.969,22893.719,502.239,2371.744,567.062,33.375,1704.886,0.000,2352.501,0.000,0.528,0.000
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$SENSOR_SECS,515.145,575.976,745.319,1241.646,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44423,723
$CAP_FILE_SIZE,201867,0
$CFSIZE,260165632,251265024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140709,133634,4956.064,-14434.560,43,4.8,62,18.5