version: 66.04
glider: 144
mission: 15
dive: 285
start: 9 13 109 17 33 38
data:
$ID,144
$MISSION,15
$DIVE,285
$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,-66686.664
$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,0.02
$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,39
$R_STBD_OVSHOOT,32
$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
$GPS1,172706,5018.122,-14509.733,43,1.3,43,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-64.3
$GPS2,173244,5018.169,-14509.703,12,1.4,12,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.027,-0.166
$KALMAN_X,-30893.1,419.9,215.0,31272.0,-1308.4
$KALMAN_Y,13174.8,-21.1,122.2,-18483.1,245.3
$MHEAD_RNG_PITCHd_Wd,152.2,44820,-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,-117.3,0.0,0.0,0,56,0.00,0.00,-37.10,0.000,2,0.000,0.000,98,2286,2562
$GC,59,-0.68,-117.3,3.1,-4.1,4,94,7.30,2.40,-21.73,0.000,4,0.245,0.062,1838,3706,3413
$GC,191,-0.59,-117.3,20.1,-12.9,15,198,0.12,2.20,0.00,0.000,6,0.133,0.029,1872,2297,3414
$GC,517,-0.59,-117.3,53.3,-8.1,46,519,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,2297,3415
$GC,835,-0.59,-117.3,79.5,-8.9,76,836,0.00,0.00,0.00,0.000,6,0.000,0.000,1872,2297,3415
$GC,1154,-0.59,-117.3,108.0,-8.7,92,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,2296,3416
$GC,1464,-0.62,-117.3,129.9,-6.8,107,1467,0.00,2.22,0.00,0.000,4,0.000,0.048,1872,897,3417
$GC,1555,-0.68,-117.3,136.4,-7.4,111,1559,0.00,2.22,0.00,0.000,6,0.000,0.039,1865,2306,3417
$GC,1880,-0.73,-117.3,158.6,-6.6,125,1885,0.08,2.25,0.00,0.000,4,0.079,0.051,1796,3712,3416
$GC,1901,-0.73,-117.3,160.5,-8.3,125,1909,0.12,2.20,0.00,0.000,6,0.120,0.035,1838,2306,3416
$GC,2214,-0.73,-117.3,184.7,-7.4,136,2218,0.00,2.20,0.00,0.000,4,0.000,0.042,1838,904,3416
$GC,2249,-0.73,-117.3,187.5,-7.8,137,2253,0.00,2.20,0.00,0.000,6,0.000,0.043,1836,2308,3416
$GC,2589,-0.73,-117.3,213.9,-7.7,148,2593,0.00,2.22,0.00,0.000,4,0.000,0.048,1836,898,3415
$GC,2650,-0.73,-117.3,219.0,-8.5,149,2657,0.00,2.22,0.00,0.000,6,0.000,0.043,1836,2305,3415
$GC,2963,-0.73,-117.3,242.5,-7.5,160,2967,0.00,2.25,0.00,0.000,4,0.000,0.049,1824,3718,3414
$GC,2997,-0.73,-117.3,245.4,-8.9,161,3001,0.00,2.17,0.00,0.000,6,0.000,0.037,1825,2302,3414
$GC,3337,-0.73,-117.3,271.1,-7.5,172,3341,0.00,2.25,0.00,0.000,4,0.000,0.050,1825,890,3414
$GC,3382,-0.73,-117.3,274.8,-8.4,173,3386,0.00,2.25,0.00,0.000,6,0.000,0.045,1820,2309,3414
$GC,3705,-0.71,-117.3,299.2,-7.6,184,3707,0.10,0.00,0.00,0.000,6,0.141,0.000,1847,2308,3414
$GC,4039,-0.75,-117.3,319.4,-5.9,190,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2309,3413
$GC,4342,-0.80,-117.3,337.4,-5.9,195,4346,0.00,2.25,0.00,0.000,4,0.000,0.046,1847,896,3413
$GC,4370,-0.85,-117.3,339.3,-6.5,195,4374,0.12,2.25,0.00,0.000,6,0.061,0.043,1775,2312,3412
$GC,4707,-0.75,-117.3,373.5,-10.4,201,4709,0.22,0.00,0.00,0.000,6,0.125,0.000,1843,2312,3411
$GC,5010,-0.79,-117.3,393.2,-6.3,206,5014,0.00,2.25,0.00,0.000,4,0.000,0.048,1842,895,3411
$GC,5044,-0.83,-117.3,395.5,-6.5,206,5048,0.00,2.22,0.00,0.000,6,0.000,0.038,1837,2301,3411
$GC,5376,-0.86,-117.3,416.3,-6.3,212,5378,0.08,0.00,0.00,0.000,6,0.082,0.000,1777,2302,3411
$GC,5680,-0.77,-117.3,443.9,-9.3,217,5684,0.17,2.28,0.00,0.000,4,0.125,0.047,1834,887,3410
$GC,5742,-0.80,-117.3,448.6,-6.6,218,5746,0.00,2.28,0.00,0.000,6,0.000,0.044,1834,2314,3410
$GC,6108,-0.83,-117.3,474.0,-7.1,224,6112,0.00,2.28,0.00,0.000,4,0.000,0.049,1834,895,3409
$GC,6141,-0.86,-117.3,476.8,-8.2,224,6146,0.10,2.25,0.00,0.000,6,0.071,0.040,1773,2309,3409
$GC,6468,-0.77,-117.3,512.3,-11.1,230,6473,0.17,2.28,0.00,0.000,4,0.130,0.054,1821,3712,3409
$GC,6494,-0.77,-117.3,515.0,-9.4,230,6499,0.00,2.22,0.00,0.000,6,0.000,0.034,1821,2306,3409
$GC,6833,-0.77,-117.3,541.5,-7.8,236,6834,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2305,3408
$GC,7135,-0.77,-117.3,564.0,-7.4,241,7139,0.00,2.25,0.00,0.000,4,0.000,0.051,1821,897,3408
$GC,7168,-0.77,-117.3,566.7,-7.7,241,7172,0.00,2.25,0.00,0.000,6,0.000,0.041,1813,2311,3408
$GC,7500,-0.77,-117.3,592.9,-7.9,247,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2311,3408
$GC,7804,-0.77,-117.3,616.3,-7.7,252,7808,0.00,2.28,0.00,0.000,4,0.000,0.051,1812,892,3408
$GC,7842,-0.77,-117.3,619.7,-8.5,252,7847,0.10,2.25,0.00,0.000,6,0.143,0.043,1835,2300,3408
$GC,8169,-0.82,-117.3,639.8,-6.1,258,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2300,3408
$GC,8472,-0.87,-117.3,657.6,-5.9,263,8474,0.10,0.00,0.00,0.000,6,0.068,0.000,1777,2301,3407
$GC,8776,-0.80,-117.3,683.0,-8.5,268,8781,0.17,2.28,0.00,0.000,4,0.127,0.045,1829,892,3407
$GC,8821,-0.84,-117.3,686.3,-6.5,268,8825,0.00,2.25,0.00,0.000,6,0.000,0.042,1823,2303,3407
$GC,9136,-0.86,-117.3,704.5,-5.7,274,9137,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2304,3407
$GC,9440,-0.89,-117.3,721.3,-5.6,279,9444,0.00,2.28,0.00,0.000,4,0.000,0.051,1823,888,3407
$GC,9467,-0.91,-117.3,723.1,-6.2,279,9471,0.00,2.28,0.00,0.000,6,0.000,0.045,1821,2310,3406
$GC,9799,-0.94,-117.3,741.5,-5.5,285,9803,0.10,2.28,0.00,0.000,4,0.071,0.048,1764,894,3406
$GC,9831,-0.85,-117.3,744.1,-8.7,285,9836,0.22,2.28,0.00,0.000,6,0.134,0.042,1819,2312,3406
$GC,10158,-0.87,-117.3,763.5,-5.9,291,10162,0.00,2.30,0.00,0.000,4,0.000,0.050,1819,892,3406
$GC,10190,-0.87,-117.3,765.8,-7.5,291,10194,0.00,2.28,0.00,0.000,6,0.000,0.041,1813,2309,3406
$GC,10523,-0.87,-117.3,787.3,-6.5,297,10524,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2309,3406
$GC,10826,-0.87,-117.3,808.3,-7.0,302,10830,0.00,2.30,0.00,0.000,4,0.000,0.046,1813,889,3406
$GC,10864,-0.87,-117.3,811.3,-7.9,302,10868,0.00,2.28,0.00,0.000,6,0.000,0.048,1809,2309,3406
$GC,11191,-0.87,-117.3,836.0,-7.6,308,11192,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2308,3406
$GC,11494,-0.87,-117.3,858.5,-7.3,313,11498,0.00,2.30,0.00,0.000,4,0.000,0.051,1809,889,3405
$GC,11538,-0.87,-117.3,862.2,-9.1,313,11542,0.00,2.28,0.00,0.000,6,0.000,0.041,1807,2307,3406
$GC,11852,-0.87,-117.3,885.5,-7.4,319,11856,0.00,2.28,0.00,0.000,4,0.000,0.050,1807,895,3405
$GC,11885,-0.87,-117.3,888.2,-7.6,319,11889,0.00,2.28,0.00,0.000,6,0.000,0.042,1805,2313,3405
$GC,12217,-0.87,-117.3,912.1,-7.2,325,12219,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2313,3405
$GC,12521,-0.87,-117.3,933.3,-7.0,330,12525,0.00,2.30,0.00,0.000,4,0.000,0.047,1805,893,3405
$GC,12559,-0.87,-117.3,936.3,-8.0,330,12563,0.00,2.28,0.00,0.000,6,0.000,0.042,1796,2307,3405
$GC,12885,-0.87,-117.3,959.7,-7.2,336,12886,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2307,3405
$GC,13188,-0.87,-117.3,981.2,-7.1,341,13189,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2307,3405
$STATE,13368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13368,begin apogee
$GC,13374,-0.22,0.0,993.8,7.0,344,13472,0.50,0.00,95.50,1.314,6,0.127,0.000,1951,2307,2931
$STATE,13473,end apogee,CONTROL_FINISHED_OK
$STATE,13473,begin climb
$GC,13475,0.68,117.3,995.1,0.0,345,13583,0.57,2.55,101.05,1.288,4,0.076,0.054,2152,3710,2451
$GC,13617,0.48,117.3,991.5,7.2,347,13623,0.25,2.40,0.00,0.000,6,0.173,0.035,2104,2310,2447
$GC,13961,0.46,139.5,974.7,4.8,353,13985,0.00,2.42,18.65,1.199,4,0.000,0.054,2113,892,2361
$GC,14003,0.48,172.8,972.5,4.4,353,14038,0.00,2.35,30.33,1.227,6,0.000,0.040,2114,2309,2226
$GC,14395,0.45,174.0,951.3,5.5,360,14399,0.00,2.33,0.00,0.000,4,0.000,0.053,2113,3719,2218
$GC,14435,0.38,174.0,948.6,6.5,360,14440,0.15,2.30,0.00,0.000,6,0.161,0.035,2085,2290,2218
$GC,14757,0.47,215.9,935.2,4.1,366,14801,0.00,2.40,37.30,1.239,4,0.000,0.054,2094,895,2049
$GC,14824,0.58,239.3,932.2,4.7,367,14853,0.12,2.33,21.85,1.190,6,0.074,0.043,2144,2306,1954
$GC,15186,0.51,239.3,904.5,8.0,373,15191,0.15,2.30,0.00,0.000,4,0.150,0.051,2105,3710,1947
$GC,15225,0.51,239.3,901.4,7.2,373,15229,0.00,2.25,0.00,0.000,6,0.000,0.038,2113,2297,1946
$GC,15545,0.51,239.3,881.5,6.3,379,15549,0.00,2.28,0.00,0.000,4,0.000,0.053,2123,893,1945
$GC,15583,0.55,239.3,878.8,7.1,379,15587,0.00,2.25,0.00,0.000,6,0.000,0.044,2122,2305,1944
$GC,15905,0.55,239.3,855.2,7.4,385,15909,0.00,2.28,0.00,0.000,4,0.000,0.056,2123,3710,1944
$GC,15926,0.55,239.3,853.4,8.4,385,15930,0.00,2.22,0.00,0.000,6,0.000,0.035,2133,2297,1944
$GC,16270,0.51,239.3,824.1,8.5,391,16274,0.00,2.30,0.00,0.000,4,0.000,0.053,2132,3715,1943
$GC,16303,0.46,239.3,820.9,9.4,391,16308,0.17,2.22,0.00,0.000,6,0.145,0.040,2096,2299,1943
$GC,16629,0.53,239.3,799.6,6.4,397,16633,0.00,2.28,0.00,0.000,4,0.000,0.051,2104,891,1943
$GC,16662,0.60,239.3,797.3,6.2,397,16667,0.10,2.25,0.00,0.000,6,0.077,0.041,2154,2303,1942
$GC,16994,0.52,239.3,765.0,9.9,403,16999,0.15,2.28,0.00,0.000,4,0.145,0.055,2114,3712,1942
$GC,17044,0.52,239.3,760.5,7.7,403,17048,0.00,2.22,0.00,0.000,6,0.000,0.035,2123,2300,1942
$GC,17353,0.52,239.3,736.8,7.7,408,17357,0.00,2.30,0.00,0.000,4,0.000,0.051,2123,3717,1942
$GC,17387,0.50,239.3,734.0,8.1,408,17391,0.12,2.22,0.00,0.000,6,0.145,0.037,2101,2299,1942
$GC,17719,0.55,239.3,714.0,5.9,414,17723,0.00,2.28,0.00,0.000,4,0.000,0.049,2110,886,1941
$GC,17746,0.62,239.3,712.2,7.0,414,17751,0.08,2.25,0.00,0.000,6,0.084,0.038,2158,2305,1941
$GC,18078,0.54,239.3,680.5,9.8,420,18083,0.17,2.28,0.00,0.000,4,0.137,0.056,2109,3718,1941
$GC,18133,0.54,239.3,675.7,7.8,420,18140,0.00,2.25,0.00,0.000,6,0.000,0.033,2118,2294,1941
$GC,18443,0.54,239.3,654.6,6.8,426,18444,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2293,1941
$GC,18746,0.56,239.3,634.5,6.6,431,18747,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2293,1941
$GC,19050,0.58,239.3,615.4,6.3,436,19051,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2293,1941
$GC,19352,0.61,239.3,596.3,6.3,441,19354,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2294,1941
$GC,19656,0.64,239.3,577.4,6.2,446,19657,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2293,1941
$GC,19959,0.67,239.3,559.3,5.9,451,19964,0.10,2.28,0.00,0.000,4,0.071,0.048,2183,3706,1941
$GC,19981,0.60,239.3,557.4,8.0,451,19986,0.25,2.20,0.00,0.000,6,0.156,0.033,2126,2294,1941
$GC,20318,0.60,239.3,535.7,6.2,457,20322,0.00,2.25,0.00,0.000,4,0.000,0.049,2134,896,1941
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$GC,20689,0.60,239.3,511.1,6.7,463,20692,0.00,2.25,0.00,0.000,4,0.000,0.055,2134,3709,1940
$GC,20745,0.56,239.3,506.9,8.6,463,20750,0.10,2.22,0.00,0.000,6,0.153,0.034,2120,2293,1940
$GC,21055,0.59,246.2,490.2,5.3,468,21064,0.00,2.25,4.90,0.708,4,0.000,0.048,2129,887,1927
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$GC,27610,0.87,293.9,46.8,5.0,682,27627,0.00,0.00,14.25,0.640,6,0.000,0.000,2188,2295,1731
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$STATE,28306,end climb,SURFACE_DEPTH_REACHED
$STATE,28306,begin surface coast
$FINISH,0.8,1.024627
$STATE,28329,end surface coast,CONTROL_FINISHED_OK
$STATE,28329,begin surface
$SM_CCo,28347,4.18,0.452,0,0,1708,300.00
$SM_GC,2.40,0.00,0.00,4.18,0.000,0.000,0.452,98,2285,1708,-8.75,-0.54,300.00
$IRIDIUM_FIX,5003.11,-14513.18,081298,090949
$TT8_MAMPS,0.029146
$HUMID,1708
$INTERNAL_PRESSURE,7.45146
$TCM_TEMP,16.80
$XPDR_PINGS,85
$24V_AH,22.4,42.525
$10V_AH,10.6,35.535
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$DEVICE_SECS,19.025,253.175,353.575,4.175,0.000,29.265,22.825,158.056,21.250,0.000,0.000,13.612,1711.282,23518.043,504.108,2325.334,623.147,33.372,1694.810,0.000,2313.882,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,526.760,599.408,772.848,1285.551,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44312,749
$CAP_FILE_SIZE,189597,0
$CFSIZE,260165632,236470272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140909,012731,5015.317,-14508.558,40,1.2,40,18.5