version: 66.04
glider: 144
mission: 15
dive: 486
start: 11 21 109 7 27 48
data:
$ID,144
$MISSION,15
$DIVE,486
$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,-71285.062
$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,35
$R_STBD_OVSHOOT,34
$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
$GPS1,071900,4958.638,-14438.496,53,1.7,59,18.5
$_CALLS,1
$_XMS_NAKs,25
$_XMS_TOUTs,1
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-53.0
$GPS2,072653,4958.643,-14438.509,13,1.6,22,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.093,0.140
$KALMAN_X,-94198.7,-156.9,-288.6,132541.8,-859.2
$KALMAN_Y,20044.9,-231.2,130.3,-61310.4,-304.0
$MHEAD_RNG_PITCHd_Wd,307.8,22040,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.68,-117.3,0.0,0.0,0,60,0.00,0.00,-41.62,0.000,2,0.000,0.000,97,2289,2643
$GC,64,-0.68,-117.3,3.5,-4.8,4,98,7.18,2.30,-19.83,0.000,4,0.233,0.062,1849,891,3411
$GC,145,-0.68,-117.3,12.7,-12.2,11,149,0.00,2.28,0.00,0.000,6,0.000,0.041,1849,2297,3412
$GC,474,-0.65,-117.3,47.6,-11.5,41,478,0.00,2.28,0.00,0.000,4,0.000,0.043,1849,888,3413
$GC,526,-0.63,-117.3,53.8,-11.0,45,531,0.10,2.25,0.00,0.000,6,0.134,0.039,1866,2307,3413
$GC,854,-0.63,-117.3,82.3,-8.3,74,855,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2307,3413
$GC,1160,-0.66,-117.3,105.9,-7.3,89,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,2307,3414
$GC,1470,-0.72,-117.3,126.0,-6.4,104,1475,0.10,2.28,0.00,0.000,4,0.064,0.041,1793,886,3414
$GC,1637,-0.64,-117.3,144.8,-11.8,111,1644,0.25,2.25,0.00,0.000,6,0.111,0.038,1859,2311,3414
$GC,1951,-0.69,-117.3,165.8,-6.2,123,1955,0.00,2.28,0.00,0.000,4,0.000,0.041,1859,888,3413
$GC,1990,-0.76,-117.3,168.3,-6.8,124,1994,0.00,2.22,0.00,0.000,6,0.000,0.038,1853,2313,3414
$GC,2326,-0.81,-117.3,189.2,-6.5,135,2331,0.10,2.25,0.00,0.000,4,0.064,0.048,1764,3711,3413
$GC,2348,-0.77,-117.3,191.2,-8.3,135,2355,0.22,2.20,0.00,0.000,6,0.122,0.031,1831,2294,3414
$GC,2662,-0.77,-117.3,215.8,-8.0,146,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2294,3414
$GC,2968,-0.77,-117.3,239.7,-7.7,156,2972,0.00,2.22,0.00,0.000,4,0.000,0.044,1831,894,3414
$GC,3037,-0.80,-117.3,245.2,-8.0,158,3041,0.00,2.22,0.00,0.000,6,0.000,0.038,1824,2308,3413
$GC,3373,-0.80,-117.3,270.6,-7.4,169,3377,0.00,2.28,0.00,0.000,4,0.000,0.049,1814,3715,3413
$GC,3402,-0.80,-117.3,272.9,-7.8,170,3406,0.00,2.20,0.00,0.000,6,0.000,0.031,1814,2297,3413
$GC,3737,-0.80,-117.3,299.2,-7.9,181,3741,0.00,2.22,0.00,0.000,4,0.000,0.044,1813,898,3412
$GC,3810,-0.80,-117.3,305.7,-9.1,183,3815,0.08,2.22,0.00,0.000,6,0.137,0.042,1827,2301,3412
$GC,4171,-0.80,-117.3,332.1,-7.4,189,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2301,3412
$GC,4474,-0.80,-117.3,354.3,-7.3,194,4478,0.00,2.25,0.00,0.000,4,0.000,0.046,1827,897,3412
$GC,4524,-0.82,-117.3,358.4,-8.2,194,4528,0.00,2.22,0.00,0.000,6,0.000,0.040,1821,2301,3411
$GC,4835,-0.82,-117.3,383.2,-8.0,199,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2302,3411
$GC,5138,-0.82,-117.3,407.6,-8.1,204,5142,0.00,2.28,0.00,0.000,4,0.000,0.044,1821,892,3411
$GC,5182,-0.82,-117.3,411.6,-8.7,204,5186,0.00,2.25,0.00,0.000,6,0.000,0.044,1812,2304,3411
$GC,5498,-0.82,-117.3,439.2,-8.7,210,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2304,3411
$GC,5802,-0.82,-117.3,462.9,-7.7,215,5806,0.00,2.28,0.00,0.000,4,0.000,0.052,1813,894,3411
$GC,5858,-0.82,-117.3,467.4,-7.8,215,5864,0.00,2.25,0.00,0.000,6,0.000,0.041,1807,2303,3411
$GC,6168,-0.82,-117.3,490.6,-7.5,221,6172,0.00,2.25,0.00,0.000,4,0.000,0.048,1806,901,3410
$GC,6209,-0.82,-117.3,493.7,-8.1,221,6214,0.10,2.25,0.00,0.000,6,0.124,0.040,1826,2310,3410
$GC,6537,-0.86,-117.3,514.3,-6.2,227,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2310,3410
$GC,6839,-0.89,-117.3,533.2,-6.2,232,6840,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2311,3410
$GC,7142,-0.92,-117.3,550.4,-5.7,237,7144,0.10,0.00,0.00,0.000,6,0.065,0.000,1763,2311,3409
$GC,7446,-0.84,-117.3,576.8,-8.8,242,7450,0.20,2.33,0.00,0.000,4,0.121,0.046,1830,896,3409
$GC,7502,-0.89,-117.3,580.5,-5.6,242,7509,0.00,2.25,0.00,0.000,6,0.000,0.042,1823,2301,3409
$GC,7813,-0.92,-117.3,596.0,-5.0,248,7815,0.10,0.00,0.00,0.000,6,0.067,0.000,1750,2301,3409
$GC,8116,-0.82,-117.3,623.2,-9.3,253,8121,0.22,2.30,0.00,0.000,4,0.123,0.050,1825,892,3409
$GC,8167,-0.86,-117.3,626.8,-6.3,253,8171,0.00,2.28,0.00,0.000,6,0.000,0.040,1823,2310,3409
$GC,8478,-0.90,-117.3,644.2,-5.6,258,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2311,3408
$GC,8780,-0.93,-117.3,662.6,-6.1,263,8782,0.10,0.00,0.00,0.000,6,0.064,0.000,1754,2311,3409
$GC,9084,-0.84,-117.3,692.6,-10.2,268,9089,0.17,2.30,0.00,0.000,4,0.127,0.045,1813,901,3408
$GC,9157,-0.86,-117.3,699.0,-8.5,269,9161,0.00,2.25,0.00,0.000,6,0.000,0.041,1809,2304,3408
$GC,9512,-0.86,-117.3,725.0,-7.3,275,9513,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2304,3408
$GC,9815,-0.86,-117.3,747.4,-7.4,280,9819,0.00,2.28,0.00,0.000,4,0.000,0.052,1809,892,3408
$GC,9849,-0.86,-117.3,750.1,-8.0,280,9853,0.00,2.28,0.00,0.000,6,0.000,0.044,1806,2310,3408
$GC,10181,-0.86,-117.3,773.9,-7.1,286,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2310,3407
$GC,10484,-0.86,-117.3,794.2,-6.7,291,10485,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2310,3407
$GC,10787,-0.86,-117.3,814.1,-6.5,296,10791,0.00,2.30,0.00,0.000,4,0.000,0.048,1806,892,3407
$GC,10827,-0.86,-117.3,817.0,-7.2,296,10831,0.00,2.28,0.00,0.000,6,0.000,0.042,1798,2308,3407
$GC,11148,-0.86,-117.3,838.0,-6.5,302,11149,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2308,3407
$GC,11451,-0.86,-117.3,857.2,-6.3,307,11455,0.00,2.30,0.00,0.000,4,0.000,0.051,1797,901,3407
$GC,11484,-0.86,-117.3,859.6,-7.0,307,11488,0.00,2.25,0.00,0.000,6,0.000,0.042,1794,2300,3406
$GC,11811,-0.86,-117.3,881.6,-6.7,313,11812,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2300,3407
$GC,12115,-0.86,-117.3,900.9,-6.3,318,12116,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2300,3406
$GC,12417,-0.86,-117.3,919.7,-6.2,323,12421,0.00,2.30,0.00,0.000,4,0.000,0.048,1794,895,3407
$GC,12484,-0.86,-117.3,924.5,-7.6,324,12488,0.00,2.28,0.00,0.000,6,0.000,0.043,1793,2307,3406
$GC,12850,-0.86,-117.3,949.0,-6.9,330,12851,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2307,3406
$GC,13153,-0.86,-117.3,970.8,-7.2,335,13157,0.00,2.30,0.00,0.000,4,0.000,0.049,1793,902,3406
$GC,13197,-0.86,-117.3,974.2,-7.9,335,13202,0.12,2.28,0.00,0.000,6,0.128,0.045,1819,2310,3406
$STATE,13510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13510,begin apogee
$GC,13518,-0.22,0.0,993.6,6.1,341,13619,0.40,0.00,98.80,1.295,6,0.107,0.000,1952,2310,2931
$STATE,13620,end apogee,CONTROL_FINISHED_OK
$STATE,13620,begin climb
$GC,13623,0.68,117.3,995.4,0.0,342,13734,0.60,2.53,104.40,1.267,4,0.070,0.051,2157,3711,2450
$GC,13781,0.48,117.3,992.9,6.9,345,13786,0.25,2.38,0.00,0.000,6,0.170,0.034,2108,2312,2445
$GC,14120,0.48,143.5,977.0,4.6,351,14144,0.00,0.00,22.48,1.205,6,0.000,0.000,2108,2312,2345
$GC,14423,0.48,148.1,960.9,5.3,356,14430,0.00,0.00,4.93,0.862,6,0.000,0.000,2108,2312,2327
$GC,14726,0.48,148.1,944.1,5.6,361,14727,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2312,2324
$GC,15028,0.48,148.1,926.8,5.7,366,15029,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2312,2324
$GC,15331,0.48,148.1,909.1,5.9,371,15335,0.00,2.30,0.00,0.000,4,0.000,0.053,2117,895,2323
$GC,15359,0.48,148.1,907.3,5.9,371,15363,0.00,2.28,0.00,0.000,6,0.000,0.044,2117,2314,2323
$GC,15692,0.45,148.1,886.4,6.4,377,15696,0.00,2.28,0.00,0.000,4,0.000,0.052,2118,3707,2322
$GC,15737,0.38,148.1,883.1,7.2,377,15742,0.17,2.25,0.00,0.000,6,0.150,0.034,2082,2295,2321
$GC,16053,0.45,173.0,868.1,4.7,383,16078,0.00,0.00,22.62,1.165,6,0.000,0.000,2082,2296,2225
$GC,16357,0.58,173.0,850.7,5.9,388,16362,0.15,2.35,0.00,0.000,4,0.060,0.050,2150,3711,2221
$GC,16525,0.46,173.0,836.1,8.9,390,16530,0.22,2.28,0.00,0.000,6,0.148,0.035,2098,2299,2220
$GC,16853,0.49,177.1,818.0,5.4,396,16859,0.00,0.00,4.35,0.766,6,0.000,0.000,2098,2299,2209
$GC,17156,0.52,178.9,801.5,5.4,401,17157,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2299,2208
$GC,17459,0.56,186.4,785.4,5.2,406,17471,0.08,0.00,9.93,1.014,6,0.079,0.000,2151,2299,2171
$GC,17762,0.48,186.4,763.9,7.2,411,17767,0.17,2.33,0.00,0.000,4,0.140,0.049,2102,3709,2169
$GC,17790,0.48,186.4,762.1,6.1,411,17794,0.00,2.22,0.00,0.000,6,0.000,0.032,2110,2300,2168
$GC,18129,0.50,205.8,745.5,4.8,417,18149,0.00,0.00,18.48,1.071,6,0.000,0.000,2110,2300,2092
$GC,18432,0.56,229.0,731.0,4.7,422,18466,0.00,2.38,23.27,0.995,4,0.000,0.048,2111,3699,1997
$GC,18491,0.58,229.0,727.8,5.7,422,18498,0.00,2.25,0.00,0.000,6,0.000,0.033,2120,2304,1996
$GC,18802,0.61,233.5,711.2,5.3,428,18812,0.00,2.33,5.25,0.798,4,0.000,0.046,2130,886,1979
$GC,18841,0.65,233.5,708.9,5.9,428,18845,0.00,2.30,0.00,0.000,6,0.000,0.041,2130,2313,1977
$GC,19162,0.65,233.5,689.0,6.2,434,19166,0.00,2.28,0.00,0.000,4,0.000,0.049,2130,3710,1976
$GC,19196,0.62,233.5,686.5,7.2,434,19200,0.00,2.25,0.00,0.000,6,0.000,0.033,2140,2295,1976
$GC,19524,0.60,233.5,663.7,7.0,440,19525,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2295,1975
$GC,19827,0.57,233.5,641.7,7.2,445,19831,0.00,2.33,0.00,0.000,4,0.000,0.048,2140,3718,1975
$GC,19872,0.52,233.5,637.9,8.3,445,19877,0.15,2.25,0.00,0.000,6,0.137,0.033,2109,2298,1975
$GC,20188,0.57,233.5,619.6,5.8,451,20192,0.00,2.25,0.00,0.000,4,0.000,0.047,2118,896,1975
$GC,20222,0.64,233.5,617.4,6.9,451,20226,0.00,2.22,0.00,0.000,6,0.000,0.037,2118,2306,1974
$GC,20556,0.68,233.5,596.1,6.5,457,20561,0.10,2.25,0.00,0.000,4,0.067,0.048,2194,3708,1974
$GC,20596,0.51,233.5,591.8,11.8,457,20600,0.35,2.22,0.00,0.000,6,0.150,0.034,2106,2294,1974
$GC,20917,0.57,233.5,571.7,6.0,463,20921,0.00,2.25,0.00,0.000,4,0.000,0.052,2114,899,1974
$GC,20941,0.65,239.1,570.3,5.3,463,20952,0.10,2.22,5.95,0.784,6,0.069,0.038,2187,2303,1956
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$GC,21714,0.55,239.1,509.4,5.7,476,21718,0.00,2.28,0.00,0.000,4,0.000,0.047,2136,890,1954
$GC,21743,0.58,239.1,507.6,5.7,476,21747,0.00,2.25,0.00,0.000,6,0.000,0.038,2136,2310,1953
$GC,22075,0.58,239.1,487.4,6.0,482,22076,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2310,1953
$GC,22379,0.58,242.0,470.8,5.4,487,22388,0.00,2.30,4.07,0.611,4,0.000,0.048,2136,3705,1944
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$GC,23840,0.62,243.2,381.3,6.2,510,23843,0.00,2.25,0.00,0.000,4,0.000,0.046,2132,889,1943
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$GC,25346,0.71,243.2,276.5,5.9,539,25350,0.00,2.25,0.00,0.000,6,0.000,0.037,2138,2314,1942
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$STATE,29902,end climb,SURFACE_DEPTH_REACHED
$STATE,29902,begin surface coast
$FINISH,1.3,1.013102
$STATE,29928,end surface coast,CONTROL_FINISHED_OK
$STATE,29928,begin surface
$SM_CCo,29945,25.45,0.610,0,0,1707,300.00
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$IRIDIUM_FIX,4936.36,-14436.67,140299,232352
$TT8_MAMPS,0.028379
$HUMID,1696
$INTERNAL_PRESSURE,7.39286
$TCM_TEMP,16.00
$XPDR_PINGS,86
$24V_AH,21.9,70.821
$10V_AH,10.5,61.106
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$DEVICE_SECS,18.625,235.125,351.075,25.450,0.000,27.409,26.517,262.478,21.500,0.000,0.000,23.869,1748.288,24896.799,543.824,2371.284,875.727,33.381,1719.837,0.000,2353.728,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,547.818,623.692,800.652,1330.393,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44185,775
$CAP_FILE_SIZE,191970,0
$CFSIZE,260165632,220827648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211109,154837,5001.394,-14442.121,34,1.1,34,18.5