version: 66.04
glider: 144
mission: 15
dive: 651
start: 1 15 110 18 2 14
data:
$ID,144
$MISSION,15
$DIVE,651
$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,-74808.43
$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,32
$R_STBD_OVSHOOT,33
$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
$GPS1,175436,5005.555,-14429.306,41,1.5,41,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-54.1
$GPS2,180120,5005.569,-14429.219,14,1.6,14,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.041,-0.163
$KALMAN_X,-85424.2,51.7,-32.3,134280.2,1197.2
$KALMAN_Y,35669.8,60.2,103.1,-64371.3,-2082.7
$MHEAD_RNG_PITCHd_Wd,175.4,21418,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.68,-117.3,0.0,0.0,0,62,0.00,0.00,-40.35,0.000,2,0.000,0.000,98,2302,2583
$GC,66,-0.68,-117.3,3.3,-6.2,2,101,7.22,2.35,-21.15,0.000,4,0.234,0.063,1849,894,3413
$GC,148,-0.65,-117.3,14.8,-14.0,5,154,0.00,2.28,0.00,0.000,6,0.000,0.039,1848,2312,3415
$GC,465,-0.62,-117.3,45.6,-8.8,21,469,0.00,2.33,0.00,0.000,4,0.000,0.042,1848,889,3415
$GC,507,-0.62,-117.3,50.2,-11.3,23,511,0.10,2.25,0.00,0.000,6,0.131,0.038,1865,2304,3415
$GC,835,-0.62,-117.3,78.8,-8.6,39,839,0.00,2.28,0.00,0.000,4,0.000,0.041,1865,888,3415
$GC,864,-0.62,-117.3,81.4,-8.7,41,868,0.00,2.25,0.00,0.000,6,0.000,0.037,1863,2307,3414
$GC,1194,-0.62,-117.3,110.1,-7.8,71,1197,0.00,2.28,0.00,0.000,4,0.000,0.041,1863,887,3415
$GC,1234,-0.66,-117.3,113.7,-8.3,74,1241,0.00,2.25,0.00,0.000,6,0.000,0.038,1862,2305,3415
$GC,1564,-0.70,-117.3,136.8,-7.2,105,1568,0.00,2.25,0.00,0.000,4,0.000,0.048,1853,3713,3415
$GC,1615,-0.77,-117.3,140.9,-7.4,109,1622,0.00,2.22,0.00,0.000,6,0.000,0.030,1853,2290,3415
$GC,1954,-0.81,-117.3,166.2,-7.2,128,1959,0.10,2.28,0.00,0.000,4,0.067,0.041,1778,888,3415
$GC,2027,-0.73,-117.3,174.0,-11.3,130,2032,0.25,2.28,0.00,0.000,6,0.115,0.036,1844,2313,3415
$GC,2359,-0.76,-117.3,199.9,-8.0,141,2363,0.00,2.30,0.00,0.000,4,0.000,0.042,1844,889,3415
$GC,2410,-0.82,-117.3,204.4,-8.4,142,2414,0.00,2.28,0.00,0.000,6,0.000,0.037,1838,2313,3415
$GC,2730,-0.85,-117.3,229.4,-7.6,153,2731,0.08,0.00,0.00,0.000,6,0.077,0.000,1767,2313,3415
$GC,3037,-0.74,-117.3,266.2,-12.3,163,3041,0.20,2.33,0.00,0.000,4,0.120,0.047,1833,901,3415
$GC,3110,-0.76,-117.3,273.6,-8.9,165,3114,0.00,2.28,0.00,0.000,6,0.000,0.041,1825,2309,3415
$GC,3435,-0.76,-117.3,301.2,-8.3,176,3439,0.00,2.28,0.00,0.000,4,0.000,0.042,1825,899,3414
$GC,3486,-0.76,-117.3,305.8,-8.6,176,3490,0.00,2.25,0.00,0.000,6,0.000,0.038,1817,2302,3415
$GC,3802,-0.76,-117.3,332.9,-8.6,182,3803,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,2302,3415
$GC,4105,-0.76,-117.3,357.2,-7.9,187,4109,0.00,2.28,0.00,0.000,4,0.000,0.044,1818,895,3415
$GC,4197,-0.76,-117.3,364.6,-8.2,188,4201,0.10,2.25,0.00,0.000,6,0.125,0.039,1836,2309,3415
$GC,4541,-0.80,-117.3,385.6,-6.0,194,4545,0.00,2.30,0.00,0.000,4,0.000,0.047,1836,901,3415
$GC,4592,-0.86,-117.3,389.0,-6.7,194,4597,0.10,2.25,0.00,0.000,6,0.064,0.045,1768,2306,3415
$GC,4903,-0.77,-117.3,418.4,-9.7,199,4908,0.20,2.30,0.00,0.000,4,0.118,0.046,1833,901,3414
$GC,4931,-0.77,-117.3,420.9,-7.4,199,4935,0.00,2.28,0.00,0.000,6,0.000,0.044,1827,2315,3414
$GC,5265,-0.79,-117.3,444.0,-7.1,205,5269,0.00,2.30,0.00,0.000,4,0.000,0.043,1827,889,3413
$GC,5323,-0.83,-117.3,448.7,-8.3,205,5329,0.00,2.28,0.00,0.000,6,0.000,0.038,1821,2303,3413
$GC,5633,-0.83,-117.3,474.1,-8.2,211,5637,0.00,2.28,0.00,0.000,4,0.000,0.046,1821,902,3413
$GC,5657,-0.85,-117.3,476.2,-8.5,211,5661,0.00,2.28,0.00,0.000,6,0.000,0.041,1813,2313,3413
$GC,5995,-0.85,-117.3,503.9,-8.1,217,5999,0.00,2.28,0.00,0.000,4,0.000,0.046,1813,897,3413
$GC,6035,-0.85,-117.3,507.2,-8.2,217,6039,0.00,2.25,0.00,0.000,6,0.000,0.044,1807,2302,3413
$GC,6362,-0.85,-117.3,531.3,-7.3,223,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2302,3413
$GC,6665,-0.85,-117.3,552.1,-6.8,228,6668,0.00,2.28,0.00,0.000,4,0.000,0.044,1807,893,3412
$GC,6727,-0.85,-117.3,556.6,-7.3,228,6733,0.00,2.28,0.00,0.000,6,0.000,0.044,1798,2309,3412
$GC,7038,-0.82,-117.3,578.6,-7.1,234,7043,0.10,2.30,0.00,0.000,4,0.133,0.047,1826,898,3412
$GC,7067,-0.85,-117.3,580.7,-7.2,234,7071,0.00,2.25,0.00,0.000,6,0.000,0.039,1823,2302,3413
$GC,7400,-0.88,-117.3,602.2,-6.6,240,7404,0.00,2.30,0.00,0.000,4,0.000,0.049,1822,892,3412
$GC,7435,-0.91,-117.3,604.6,-6.8,240,7439,0.00,2.30,0.00,0.000,6,0.000,0.042,1821,2314,3412
$GC,7762,-0.94,-117.3,624.8,-6.0,246,7767,0.10,2.30,0.00,0.000,4,0.065,0.048,1755,899,3412
$GC,7802,-0.84,-117.3,628.3,-9.3,246,7807,0.25,2.28,0.00,0.000,6,0.120,0.045,1820,2310,3411
$GC,8130,-0.87,-117.3,646.0,-5.2,252,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2310,3411
$GC,8433,-0.90,-117.3,660.3,-4.7,257,8437,0.00,2.33,0.00,0.000,4,0.000,0.050,1821,889,3411
$GC,8490,-0.94,-117.3,663.2,-5.1,257,8497,0.10,2.30,0.00,0.000,6,0.067,0.042,1755,2313,3411
$GC,8801,-0.85,-117.3,688.2,-8.3,263,8803,0.20,0.00,0.00,0.000,6,0.121,0.000,1816,2313,3411
$GC,9104,-0.87,-117.3,704.0,-5.1,268,9108,0.00,2.30,0.00,0.000,4,0.000,0.047,1816,901,3411
$GC,9155,-0.90,-117.3,707.0,-5.5,268,9159,0.00,2.28,0.00,0.000,6,0.000,0.044,1810,2313,3411
$GC,9465,-0.90,-117.3,726.2,-6.2,273,9469,0.00,2.30,0.00,0.000,4,0.000,0.051,1809,901,3410
$GC,9505,-0.90,-117.3,728.8,-7.1,273,9509,0.00,2.28,0.00,0.000,6,0.000,0.041,1808,2308,3410
$GC,9827,-0.90,-117.3,749.5,-6.5,279,9831,0.00,2.33,0.00,0.000,4,0.000,0.046,1808,893,3410
$GC,9855,-0.90,-117.3,751.4,-6.8,279,9859,0.00,2.28,0.00,0.000,6,0.000,0.043,1800,2311,3410
$GC,10192,-0.90,-117.3,774.6,-6.9,285,10196,0.00,2.33,0.00,0.000,4,0.000,0.048,1799,889,3411
$GC,10233,-0.90,-117.3,777.5,-7.4,285,10237,0.00,2.30,0.00,0.000,6,0.000,0.039,1794,2310,3410
$GC,10555,-0.90,-117.3,800.4,-7.1,291,10559,0.00,2.30,0.00,0.000,4,0.000,0.049,1794,901,3410
$GC,10600,-0.90,-117.3,803.8,-7.7,291,10604,0.00,2.25,0.00,0.000,6,0.000,0.041,1785,2303,3410
$GC,10917,-0.87,-117.3,827.5,-7.6,297,10918,0.10,0.00,0.00,0.000,6,0.137,0.000,1813,2303,3410
$GC,11219,-0.90,-117.3,846.9,-6.4,302,11223,0.00,2.30,0.00,0.000,4,0.000,0.047,1813,891,3410
$GC,11259,-0.94,-117.3,849.6,-7.0,302,11263,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2306,3410
$GC,11581,-0.96,-117.3,870.1,-6.3,308,11585,0.00,2.30,0.00,0.000,4,0.000,0.051,1809,895,3410
$GC,11618,-0.96,-117.3,872.6,-7.0,308,11622,0.00,2.28,0.00,0.000,6,0.000,0.048,1807,2307,3410
$GC,11944,-0.96,-117.3,893.3,-6.3,314,11945,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3410
$GC,12247,-0.96,-117.3,911.8,-6.0,319,12251,0.00,2.33,0.00,0.000,4,0.000,0.054,1808,902,3409
$GC,12312,-0.98,-117.3,915.7,-6.5,320,12316,0.00,2.28,0.00,0.000,6,0.000,0.044,1805,2307,3409
$GC,12679,-0.98,-117.3,935.5,-5.3,326,12680,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2308,3409
$GC,12982,-0.98,-117.3,949.7,-4.6,331,12986,0.00,2.35,0.00,0.000,4,0.000,0.053,1806,891,3409
$GC,13022,-0.98,-117.3,951.7,-5.8,331,13026,0.00,2.30,0.00,0.000,6,0.000,0.045,1796,2309,3409
$GC,13344,-0.98,-117.3,967.9,-5.1,337,13348,0.00,2.33,0.00,0.000,4,0.000,0.054,1796,902,3410
$GC,13373,-0.98,-117.3,969.4,-6.3,337,13377,0.00,2.28,0.00,0.000,6,0.000,0.048,1794,2306,3409
$GC,13711,-0.98,-117.3,988.5,-5.8,343,13712,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2306,3409
$STATE,13768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13768,begin apogee
$GC,13777,-0.22,0.0,992.2,5.8,344,13879,0.50,0.00,99.32,1.284,6,0.112,0.000,1954,2306,2931
$STATE,13880,end apogee,CONTROL_FINISHED_OK
$STATE,13880,begin climb
$GC,13884,0.68,117.3,993.3,0.0,345,13995,0.55,2.55,104.43,1.257,4,0.070,0.058,2149,3715,2450
$GC,14053,0.50,117.3,988.4,7.4,347,14058,0.20,2.38,0.00,0.000,6,0.159,0.039,2111,2308,2446
$GC,14375,0.48,125.8,971.3,5.2,353,14384,0.00,0.00,6.90,0.983,6,0.000,0.000,2111,2308,2418
$GC,14678,0.46,138.9,955.8,5.1,358,14697,0.00,2.35,12.98,1.125,4,0.000,0.053,2110,3712,2363
$GC,14740,0.39,138.9,952.4,6.2,358,14747,0.15,2.28,0.00,0.000,6,0.160,0.035,2082,2291,2361
$GC,15051,0.49,189.0,940.1,3.8,364,15099,0.10,0.00,45.10,1.216,6,0.070,0.000,2133,2290,2160
$GC,15354,0.45,189.0,922.3,6.0,369,15359,0.12,2.38,0.00,0.000,4,0.137,0.051,2099,3719,2153
$GC,15388,0.45,189.0,920.1,5.8,369,15393,0.00,2.28,0.00,0.000,6,0.000,0.038,2107,2305,2153
$GC,15716,0.46,194.9,902.7,5.3,375,15723,0.00,0.00,5.35,0.874,6,0.000,0.000,2106,2305,2136
$GC,16019,0.49,194.9,885.5,5.7,380,16023,0.00,2.30,0.00,0.000,4,0.000,0.051,2106,3714,2135
$GC,16053,0.49,194.9,883.1,7.3,380,16057,0.00,2.22,0.00,0.000,6,0.000,0.033,2117,2301,2134
$GC,16381,0.49,194.9,861.7,6.5,386,16385,0.00,2.30,0.00,0.000,4,0.000,0.054,2117,3714,2134
$GC,16415,0.45,194.9,859.1,7.6,386,16420,0.12,2.25,0.00,0.000,6,0.152,0.040,2096,2293,2134
$GC,16742,0.50,194.9,840.5,5.6,392,16743,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2294,2134
$GC,17046,0.55,197.7,823.9,5.4,397,17051,0.10,2.33,0.00,0.000,4,0.067,0.053,2153,3721,2133
$GC,17074,0.48,197.7,821.6,9.3,397,17079,0.22,2.22,0.00,0.000,6,0.147,0.034,2102,2301,2133
$GC,17407,0.51,197.7,802.8,5.5,403,17409,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2301,2133
$GC,17711,0.55,197.7,785.6,5.7,408,17712,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2301,2132
$GC,18014,0.59,198.4,768.9,5.5,413,18023,0.10,2.33,4.35,0.739,4,0.065,0.051,2159,3713,2122
$GC,18047,0.48,198.4,766.2,8.9,413,18052,0.25,2.25,0.00,0.000,6,0.147,0.036,2103,2304,2121
$GC,18381,0.52,202.9,747.7,5.3,419,18389,0.00,0.00,6.03,0.858,6,0.000,0.000,2103,2304,2103
$GC,18683,0.57,210.8,732.0,5.2,424,18694,0.00,0.00,8.65,0.946,6,0.000,0.000,2103,2304,2071
$GC,18987,0.62,215.0,715.8,5.4,429,18997,0.12,2.33,5.32,0.801,4,0.057,0.048,2174,3721,2053
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$GC,20318,0.60,224.8,640.1,5.2,451,20333,0.00,2.33,10.15,0.929,4,0.000,0.048,2125,3719,2013
$GC,20362,0.60,224.8,637.5,6.4,451,20366,0.00,2.25,0.00,0.000,6,0.000,0.032,2135,2293,2011
$GC,20679,0.60,224.8,619.8,5.6,457,20683,0.00,2.30,0.00,0.000,4,0.000,0.054,2135,3711,2011
$GC,20702,0.57,224.8,618.1,6.8,457,20706,0.00,2.22,0.00,0.000,6,0.000,0.032,2145,2298,2011
$GC,21040,0.53,224.8,596.2,6.4,463,21045,0.12,2.30,0.00,0.000,4,0.141,0.047,2111,3721,2011
$GC,21086,0.53,224.8,593.5,6.4,463,21090,0.00,2.22,0.00,0.000,6,0.000,0.032,2119,2304,2010
$GC,21403,0.59,250.2,578.7,4.6,469,21428,0.00,0.00,23.23,0.969,6,0.000,0.000,2120,2304,1911
$GC,21706,0.67,278.1,564.8,4.6,474,21735,0.08,0.00,26.25,0.954,6,0.075,0.000,2183,2304,1796
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$STATE,29042,end climb,SURFACE_DEPTH_REACHED
$STATE,29042,begin surface coast
$FINISH,1.2,1.017846
$STATE,29064,end surface coast,CONTROL_FINISHED_OK
$STATE,29064,begin surface
$SM_CCo,29144,0.00,0.000,0,0,1672,308.83
$SM_GC,2.14,5.55,0.00,0.00,0.043,0.000,0.000,100,2298,1672,-8.59,-0.14,308.83
$IRIDIUM_FIX,4949.70,-14429.69,110499,090956
$TT8_MAMPS,0.029146
$HUMID,1729
$INTERNAL_PRESSURE,7.36356
$TCM_TEMP,15.60
$XPDR_PINGS,70
$24V_AH,21.8,93.668
$10V_AH,10.4,80.743
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$DEVICE_SECS,19.500,269.000,390.425,0.000,0.000,28.566,33.985,172.253,17.500,0.000,0.000,16.032,1717.058,24117.303,584.086,2207.145,907.656,33.385,1775.027,0.000,2178.900,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,513.291,599.078,754.056,767.285,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44443,729
$CAP_FILE_SIZE,197596,0
$CFSIZE,260165632,207978496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,160110,020907,5001.262,-14429.652,27,1.6,27,18.6