version: 66.03
glider: 144
mission: 13
dive: 131
start: 7 13 108 0 19 8
data:
$ID,144
$MISSION,13
$DIVE,131
$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,412.5
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,0.0044757999
$HD_B,0.0099689998
$HD_C,1.0513e-05
$HEADING,-1
$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
$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,-38569.168
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,500
$PITCH_MAX,3812
$C_PITCH,2728
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$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,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-2.1256177
$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
$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
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043142079
$SEABIRD_T_H,0.00062953553
$SEABIRD_T_I,2.3274781e-05
$SEABIRD_T_J,2.4096155e-06
$SEABIRD_C_G,-10.012566
$SEABIRD_C_H,1.1222577
$SEABIRD_C_I,-0.0011971687
$SEABIRD_C_J,0.000188736
$GPS1,001231,5020.351,-14512.205,117,1.8,117,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-58.8
$GPS2,001814,5020.372,-14512.142,71,1.7,78,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.004,-0.249
$KALMAN_X,6355.3,-9.3,29.8,-23041.5,115.8
$KALMAN_Y,98473.8,-151.4,-224.9,-61314.6,1486.0
$MHEAD_RNG_PITCHd_Wd,162.4,48821,-14.9,-8.000
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.18,-146.6,0.0,0.0,0,94,0.00,0.00,-72.40,0.000,2,0.000,0.000,492,1893,2788
$GC,97,-1.18,-146.6,3.2,-3.8,7,134,10.55,2.40,-21.23,0.000,4,0.166,0.061,2466,3309,3530
$GC,314,-1.18,-146.6,29.2,-11.3,26,318,0.00,2.35,0.00,0.000,6,0.000,0.041,2466,1898,3532
$GC,640,-1.09,-146.6,67.5,-11.5,56,644,0.12,2.40,0.00,0.000,4,0.115,0.056,2490,499,3533
$GC,690,-1.09,-146.6,73.3,-11.4,60,694,0.00,2.33,0.00,0.000,6,0.000,0.035,2490,1904,3534
$GC,1006,-1.09,-146.6,106.0,-10.2,78,1010,0.00,2.38,0.00,0.000,4,0.000,0.045,2490,3303,3534
$GC,1032,-1.14,-146.6,108.8,-10.3,79,1036,0.00,2.35,0.00,0.000,6,0.000,0.038,2490,1891,3534
$GC,1354,-1.22,-146.6,138.3,-8.3,95,1359,0.12,2.40,0.00,0.000,4,0.072,0.055,2456,497,3534
$GC,1402,-1.22,-146.6,143.3,-10.3,97,1407,0.00,2.35,0.00,0.000,6,0.000,0.038,2456,1891,3534
$GC,1742,-1.22,-146.6,173.8,-9.0,110,1746,0.00,2.40,0.00,0.000,4,0.000,0.061,2456,498,3534
$GC,1781,-1.22,-146.6,177.6,-9.9,111,1785,0.00,2.33,0.00,0.000,6,0.000,0.036,2456,1901,3534
$GC,2109,-1.22,-146.6,207.6,-9.2,122,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1904,3534
$GC,2415,-1.22,-146.6,236.9,-9.5,132,2419,0.00,2.42,0.00,0.000,4,0.000,0.054,2456,499,3533
$GC,2464,-1.22,-146.6,241.9,-10.4,133,2468,0.00,2.35,0.00,0.000,6,0.000,0.037,2456,1896,3533
$GC,2781,-1.22,-146.6,271.8,-9.2,144,2786,0.00,2.42,0.00,0.000,4,0.000,0.058,2456,496,3533
$GC,2830,-1.22,-146.6,276.6,-10.0,145,2835,0.00,2.38,0.00,0.000,6,0.000,0.038,2456,1903,3533
$GC,3179,-1.22,-146.6,307.7,-8.8,156,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1906,3532
$GC,3481,-1.22,-146.6,333.3,-8.5,161,3485,0.00,2.42,0.00,0.000,4,0.000,0.061,2456,498,3532
$GC,3525,-1.22,-146.6,337.6,-9.6,161,3529,0.00,2.35,0.00,0.000,6,0.000,0.043,2456,1895,3531
$GC,3851,-1.22,-146.6,366.8,-9.1,167,3855,0.00,2.42,0.00,0.000,4,0.000,0.058,2456,497,3531
$GC,3918,-1.22,-146.6,373.6,-10.5,168,3922,0.00,2.33,0.00,0.000,6,0.000,0.038,2456,1901,3531
$GC,4276,-1.22,-146.6,406.6,-9.1,174,4281,0.00,2.42,0.00,0.000,4,0.000,0.061,2456,499,3531
$GC,4303,-1.22,-146.6,409.2,-9.6,174,4307,0.00,2.35,0.00,0.000,6,0.000,0.043,2456,1898,3531
$GC,4641,-1.22,-146.6,438.2,-8.5,180,4645,0.00,2.42,0.00,0.000,4,0.000,0.061,2456,497,3530
$GC,4689,-1.22,-146.6,442.9,-9.6,180,4694,0.00,2.35,0.00,0.000,6,0.000,0.039,2456,1894,3530
$GC,5004,-1.22,-146.6,469.5,-8.4,186,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1897,3530
$GC,5307,-1.22,-146.6,494.6,-8.3,191,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1897,3529
$GC,5611,-1.22,-146.6,519.5,-8.2,196,5614,0.00,2.40,0.00,0.000,4,0.000,0.055,2456,498,3529
$GC,5678,-1.22,-146.6,525.4,-8.8,197,5682,0.00,2.33,0.00,0.000,6,0.000,0.044,2456,1900,3529
$GC,6042,-1.22,-146.6,554.5,-8.0,203,6046,0.00,2.42,0.00,0.000,4,0.000,0.058,2456,496,3529
$GC,6091,-1.22,-146.6,558.8,-8.7,203,6096,0.00,2.35,0.00,0.000,6,0.000,0.037,2456,1894,3529
$GC,6407,-1.22,-146.6,582.8,-7.6,209,6411,0.00,2.42,0.00,0.000,4,0.000,0.058,2456,492,3528
$GC,6433,-1.22,-146.6,585.2,-9.3,209,6438,0.00,2.38,0.00,0.000,6,0.000,0.039,2456,1900,3529
$GC,6771,-1.22,-146.6,609.7,-7.3,215,6775,0.00,2.42,0.00,0.000,4,0.000,0.054,2456,495,3528
$GC,6814,-1.22,-146.6,613.2,-8.9,215,6818,0.00,2.35,0.00,0.000,6,0.000,0.038,2456,1906,3528
$GC,7135,-1.26,-146.6,636.8,-7.4,221,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1909,3528
$GC,7438,-1.30,-146.6,659.5,-7.5,226,7442,0.00,2.45,0.00,0.000,4,0.000,0.061,2456,492,3528
$GC,7499,-1.30,-146.6,664.7,-8.7,227,7503,0.00,2.35,0.00,0.000,6,0.000,0.038,2456,1904,3528
$GC,7864,-1.34,-146.6,693.3,-7.9,233,7867,0.00,2.42,0.00,0.000,4,0.000,0.063,2456,499,3527
$GC,7924,-1.34,-146.6,698.5,-8.7,233,7930,0.00,2.35,0.00,0.000,6,0.000,0.044,2456,1909,3527
$GC,8234,-1.39,-146.6,722.1,-7.6,239,8239,0.15,2.45,0.00,0.000,4,0.071,0.055,2413,494,3527
$GC,8277,-1.29,-146.6,726.4,-10.3,239,8282,0.15,2.35,0.00,0.000,6,0.116,0.043,2443,1913,3527
$GC,8597,-1.29,-146.6,753.1,-8.3,245,8601,0.00,2.45,0.00,0.000,4,0.000,0.058,2443,498,3527
$GC,8673,-1.29,-146.6,760.2,-9.4,246,8678,0.00,2.35,0.00,0.000,6,0.000,0.039,2443,1897,3527
$GC,9028,-1.29,-146.6,788.7,-8.0,252,9032,0.00,2.42,0.00,0.000,4,0.000,0.064,2443,501,3527
$GC,9065,-1.29,-146.6,792.2,-9.3,252,9070,0.00,2.35,0.00,0.000,6,0.000,0.042,2443,1892,3527
$GC,9391,-1.29,-146.6,818.8,-8.2,258,9392,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1895,3526
$GC,9694,-1.29,-146.6,843.4,-8.1,263,9698,0.00,2.40,0.00,0.000,4,0.000,0.066,2442,501,3526
$GC,9732,-1.29,-146.6,846.7,-9.3,263,9737,0.00,2.35,0.00,0.000,6,0.000,0.038,2443,1892,3526
$GC,10064,-1.29,-146.6,871.7,-7.5,269,10065,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1892,3526
$GC,10367,-1.29,-146.6,894.1,-7.3,274,10368,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1892,3525
$GC,10670,-1.29,-146.6,916.9,-7.4,279,10675,0.00,2.45,0.00,0.000,4,0.000,0.072,2442,503,3525
$GC,10696,-1.29,-146.6,919.0,-8.7,279,10701,0.00,2.35,0.00,0.000,6,0.000,0.046,2443,1887,3525
$GC,11034,-1.29,-146.6,943.5,-7.3,285,11035,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1887,3525
$GC,11337,-1.29,-146.6,964.8,-7.0,290,11341,0.00,2.50,0.00,0.000,4,0.000,0.080,2443,500,3525
$GC,11374,-1.29,-146.6,967.7,-8.0,290,11379,0.00,2.40,0.00,0.000,6,0.000,0.055,2443,1895,3525
$GC,11706,-1.29,-146.6,988.8,-6.3,296,11707,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1895,3524
$STATE,11765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11765,begin apogee
$GC,11770,-0.33,0.0,992.5,6.2,297,11900,0.98,0.00,126.85,1.359,6,0.099,0.000,2650,2096,2931
$STATE,11901,end apogee,CONTROL_FINISHED_OK
$STATE,11901,begin climb
$GC,11903,1.18,146.6,994.1,0.0,299,12037,1.48,2.67,125.07,1.328,4,0.071,0.085,2982,3515,2332
$GC,12109,0.98,146.6,977.5,11.1,302,12114,0.20,2.50,0.00,0.000,6,0.117,0.064,2944,2109,2327
$GC,12458,0.92,146.6,945.2,9.2,308,12462,0.00,2.55,0.00,0.000,4,0.000,0.074,2944,683,2325
$GC,12473,0.84,146.6,943.8,9.0,308,12478,0.17,2.45,0.00,0.000,6,0.114,0.046,2910,2114,2325
$GC,12821,0.84,149.5,916.0,7.9,314,12825,0.00,2.53,0.00,0.000,4,0.000,0.065,2910,685,2325
$GC,12842,0.84,149.5,914.2,8.2,314,12847,0.00,2.42,0.00,0.000,6,0.000,0.042,2910,2101,2325
$GC,13186,0.86,159.1,887.8,7.7,320,13198,0.00,0.00,11.07,1.156,6,0.000,0.000,2910,2101,2282
$GC,13488,0.89,184.2,866.1,7.1,325,13518,0.00,2.53,23.67,1.221,4,0.000,0.058,2910,3501,2180
$GC,13529,0.92,213.9,863.0,7.0,325,13564,0.00,2.42,27.88,1.213,6,0.000,0.040,2910,2083,2059
$GC,13920,1.02,237.5,834.8,7.2,332,13944,0.17,0.00,21.70,1.192,6,0.068,0.000,2954,2083,1962
$GC,14221,1.02,237.5,807.4,9.2,337,14222,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2083,1957
$GC,14524,1.02,237.5,780.1,9.0,342,14525,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2083,1956
$GC,14827,1.02,237.5,752.6,9.1,347,14832,0.00,2.40,0.00,0.000,4,0.000,0.056,2954,695,1955
$GC,14843,0.98,237.5,751.1,9.2,347,14847,0.00,2.38,0.00,0.000,6,0.000,0.042,2954,2104,1955
$GC,15193,0.98,237.5,719.1,9.3,353,15197,0.00,2.45,0.00,0.000,4,0.000,0.058,2954,695,1954
$GC,15208,0.93,237.5,717.3,9.6,353,15213,0.12,2.38,0.00,0.000,6,0.118,0.041,2931,2105,1954
$GC,15556,0.93,237.5,688.5,8.2,359,15560,0.00,2.45,0.00,0.000,4,0.000,0.060,2931,693,1954
$GC,15577,0.93,237.5,686.4,9.4,359,15582,0.00,2.40,0.00,0.000,6,0.000,0.045,2930,2104,1953
$GC,15927,0.93,237.5,657.8,8.2,365,15928,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2106,1953
$GC,16230,0.97,237.5,632.9,8.2,370,16234,0.00,2.45,0.00,0.000,4,0.000,0.054,2931,694,1954
$GC,16250,0.97,237.5,631.0,8.4,370,16254,0.00,2.40,0.00,0.000,6,0.000,0.040,2931,2104,1954
$GC,16593,1.01,237.5,601.8,8.6,376,16594,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2106,1953
$GC,16896,1.06,237.5,576.4,8.4,381,16898,0.12,0.00,0.00,0.000,6,0.076,0.000,2963,2107,1953
$GC,17200,1.02,237.5,547.6,9.6,386,17204,0.00,2.45,0.00,0.000,4,0.000,0.058,2964,691,1953
$GC,17237,0.95,237.5,543.8,9.5,386,17242,0.12,2.38,0.00,0.000,6,0.117,0.039,2938,2105,1953
$GC,17562,0.95,237.5,516.7,8.4,392,17564,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2107,1953
$GC,17866,0.95,237.5,491.4,8.3,397,17870,0.00,2.42,0.00,0.000,4,0.000,0.057,2938,694,1953
$GC,17892,0.95,237.5,488.9,9.6,397,17897,0.00,2.38,0.00,0.000,6,0.000,0.039,2938,2097,1953
$GC,18235,0.95,237.5,460.0,8.5,403,18239,0.00,2.42,0.00,0.000,4,0.000,0.057,2938,694,1952
$GC,18250,0.95,237.5,458.7,8.8,403,18254,0.00,2.40,0.00,0.000,6,0.000,0.041,2938,2111,1952
$GC,18599,0.95,237.5,428.9,8.5,409,18603,0.00,2.45,0.00,0.000,4,0.000,0.056,2938,691,1953
$GC,18619,0.95,237.5,426.9,8.3,409,18624,0.00,2.35,0.00,0.000,6,0.000,0.044,2938,2099,1952
$GC,18962,0.95,237.5,397.4,8.5,415,18963,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2102,1953
$GC,19266,1.00,238.6,373.0,8.0,420,19270,0.00,2.42,0.00,0.000,4,0.000,0.058,2938,693,1952
$GC,19297,1.00,238.6,370.2,8.4,420,19302,0.00,2.38,0.00,0.000,6,0.000,0.039,2938,2110,1952
$GC,19630,1.07,255.9,345.7,7.4,426,19651,0.00,2.50,15.90,0.883,4,0.000,0.054,2938,686,1886
$GC,19667,1.13,273.8,342.8,7.4,426,19690,0.15,2.40,16.85,0.866,6,0.073,0.037,2975,2106,1815
$GC,19991,1.13,273.8,312.1,9.6,432,19995,0.00,2.45,0.00,0.000,4,0.000,0.059,2975,688,1810
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$GC,20326,1.09,273.8,278.1,10.3,441,20331,0.00,2.42,0.00,0.000,4,0.000,0.052,2975,694,1810
$GC,20354,1.09,273.8,274.9,11.0,442,20358,0.00,2.38,0.00,0.000,6,0.000,0.043,2975,2107,1809
$GC,20687,1.09,273.8,241.4,9.9,453,20688,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2107,1809
$GC,20994,1.09,273.8,212.6,9.2,463,20998,0.00,2.45,0.00,0.000,4,0.000,0.057,2975,686,1808
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$GC,22749,1.25,308.2,57.7,6.8,551,22786,0.10,2.53,29.60,0.716,4,0.079,0.052,3003,696,1673
$GC,22803,1.25,308.2,53.3,9.6,556,22807,0.00,2.38,0.00,0.000,6,0.000,0.042,3003,2098,1671
$GC,23128,1.25,309.9,26.2,7.9,586,23129,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2101,1667
$GC,23448,1.32,329.2,2.2,7.3,616,23452,0.00,0.00,2.05,0.161,2,0.000,0.000,3003,2101,1659
$STATE,23452,end climb,SURFACE_DEPTH_REACHED
$STATE,23452,begin surface coast
$FINISH,1.0,1.023661
$STATE,23480,end surface coast,CONTROL_FINISHED_OK
$STATE,23480,begin surface
$SM_CCo,23498,72.78,0.664,0,0,1299,400.08
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$IRIDIUM_FIX,4959.75,-14510.41,061097,171741
$TT8_MAMPS,0.029146
$HUMID,1764
$INTERNAL_PRESSURE,7.65654
$TCM_TEMP,13.90
$XPDR_PINGS,99
$24V_AH,23.4,27.848
$10V_AH,10.2,14.045
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$DEVICE_SECS,25.375,212.475,400.650,72.775,0.000,29.927,24.890,130.597,24.750,0.000,0.000,78.459,1398.866,19637.209,633.073,1843.943,403.672,33.378,1636.725,0.000,1758.008,0.000,0.460
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,439.335,503.291,641.684,376.976,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37964,619
$CAP_FILE_SIZE,151539,0
$CFSIZE,260165632,249823232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130708,065357,5017.845,-14511.849,62,2.9,81,18.5