version: 66.03
glider: 144
mission: 13
dive: 173
start: 7 24 108 13 58 15
data:
$ID,144
$MISSION,13
$DIVE,173
$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,-42260.684
$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,41
$R_STBD_OVSHOOT,41
$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,0
$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
$GPS1,135127,5015.658,-14502.874,52,3.4,71,18.5
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,2
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-61.8
$GPS2,135721,5015.686,-14502.816,34,1.5,34,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.158,0.185
$KALMAN_X,-245.1,-55.7,433.7,-5699.9,-1550.8
$KALMAN_Y,132588.7,-8.6,23.3,-104506.1,379.0
$MHEAD_RNG_PITCHd_Wd,301.0,14613,-15.3,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.20,-146.6,0.0,0.0,0,94,0.00,0.00,-71.80,0.000,2,0.000,0.000,492,1891,2770
$GC,96,-1.20,-146.6,3.2,-4.4,7,133,10.50,2.38,-20.73,0.000,4,0.165,0.061,2459,509,3531
$GC,189,-1.06,-146.6,15.3,-14.1,15,196,0.17,2.28,0.00,0.000,6,0.110,0.030,2494,1910,3533
$GC,514,-1.06,-146.6,49.1,-9.4,46,519,0.00,2.40,0.00,0.000,4,0.000,0.046,2494,505,3533
$GC,603,-1.06,-146.6,58.3,-10.7,53,610,0.00,2.30,0.00,0.000,6,0.000,0.034,2494,1900,3534
$GC,925,-1.06,-146.6,88.7,-9.5,80,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1903,3535
$GC,1236,-1.13,-146.6,120.8,-9.9,95,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1903,3535
$GC,1544,-1.23,-146.6,147.7,-8.2,110,1549,0.15,2.40,0.00,0.000,4,0.067,0.051,2450,503,3535
$GC,1627,-1.18,-146.6,156.4,-10.8,113,1632,0.10,2.28,0.00,0.000,6,0.117,0.035,2468,1898,3535
$GC,1939,-1.18,-146.6,183.9,-8.9,123,1943,0.00,2.38,0.00,0.000,4,0.000,0.048,2468,510,3535
$GC,2016,-1.18,-146.6,191.7,-10.1,125,2020,0.00,2.30,0.00,0.000,6,0.000,0.036,2468,1900,3536
$GC,2346,-1.18,-146.6,220.8,-8.9,136,2350,0.00,2.33,0.00,0.000,4,0.000,0.045,2469,3294,3535
$GC,2378,-1.24,-146.6,223.8,-9.5,137,2382,0.00,2.28,0.00,0.000,6,0.000,0.035,2468,1908,3534
$GC,2713,-1.28,-146.6,254.5,-9.3,148,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1908,3534
$GC,3020,-1.33,-146.6,281.6,-8.8,158,3024,0.15,2.40,0.00,0.000,4,0.070,0.049,2424,499,3534
$GC,3091,-1.24,-146.6,289.6,-11.3,160,3096,0.15,2.30,0.00,0.000,6,0.113,0.035,2454,1904,3534
$GC,3448,-1.24,-146.6,322.3,-9.1,168,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1906,3533
$GC,3751,-1.24,-146.6,348.1,-8.4,173,3755,0.00,2.40,0.00,0.000,4,0.000,0.050,2454,501,3533
$GC,3789,-1.24,-146.6,351.7,-9.5,173,3793,0.00,2.28,0.00,0.000,6,0.000,0.030,2454,1903,3533
$GC,4115,-1.24,-146.6,379.9,-8.8,179,4119,0.00,2.40,0.00,0.000,4,0.000,0.049,2454,499,3532
$GC,4152,-1.24,-146.6,383.7,-9.4,179,4157,0.00,2.30,0.00,0.000,6,0.000,0.035,2454,1897,3532
$GC,4479,-1.24,-146.6,412.1,-8.7,185,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1898,3531
$GC,4782,-1.24,-146.6,437.1,-8.2,190,4786,0.00,2.38,0.00,0.000,4,0.000,0.054,2454,501,3531
$GC,4836,-1.24,-146.6,442.1,-8.6,190,4843,0.00,2.30,0.00,0.000,6,0.000,0.031,2454,1898,3531
$GC,5146,-1.24,-146.6,469.1,-8.8,196,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1898,3531
$GC,5449,-1.24,-146.6,496.0,-8.8,201,5453,0.00,2.38,0.00,0.000,4,0.000,0.049,2454,501,3530
$GC,5497,-1.24,-146.6,500.7,-9.5,201,5502,0.00,2.30,0.00,0.000,6,0.000,0.032,2454,1895,3530
$GC,5813,-1.28,-146.6,527.4,-8.5,207,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1897,3530
$GC,6116,-1.32,-146.6,552.2,-8.1,212,6120,0.00,2.38,0.00,0.000,4,0.000,0.051,2454,498,3530
$GC,6183,-1.32,-146.6,558.0,-8.4,213,6187,0.00,2.30,0.00,0.000,6,0.000,0.037,2454,1906,3530
$GC,6548,-1.36,-146.6,586.4,-7.7,219,6550,0.10,0.00,0.00,0.000,6,0.082,0.000,2426,1908,3529
$GC,6850,-1.36,-146.6,613.4,-8.9,224,6854,0.00,2.40,0.00,0.000,4,0.000,0.051,2426,502,3529
$GC,6922,-1.31,-146.6,620.4,-10.0,225,6926,0.00,2.28,0.00,0.000,6,0.000,0.031,2426,1900,3529
$GC,7281,-1.31,-146.6,653.5,-9.2,231,7285,0.00,2.38,0.00,0.000,4,0.000,0.055,2426,502,3529
$GC,7330,-1.26,-146.6,658.5,-10.3,231,7335,0.12,2.30,0.00,0.000,6,0.116,0.032,2451,1894,3528
$GC,7650,-1.26,-146.6,685.5,-8.4,237,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1897,3528
$GC,7953,-1.30,-146.6,710.1,-8.1,242,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1897,3528
$GC,8257,-1.34,-146.6,733.4,-7.7,247,8261,0.00,2.40,0.00,0.000,4,0.000,0.058,2451,495,3528
$GC,8306,-1.34,-146.6,737.4,-7.5,247,8310,0.00,2.30,0.00,0.000,6,0.000,0.034,2451,1901,3527
$GC,8621,-1.40,-146.6,760.8,-7.5,253,8626,0.12,2.40,0.00,0.000,4,0.075,0.054,2418,501,3527
$GC,8648,-1.35,-146.6,763.2,-9.6,253,8652,0.00,2.28,0.00,0.000,6,0.000,0.031,2418,1898,3527
$GC,8985,-1.35,-146.6,791.6,-8.3,259,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1901,3527
$GC,9289,-1.31,-146.6,816.1,-8.0,264,9293,0.12,2.40,0.00,0.000,4,0.118,0.058,2442,502,3527
$GC,9321,-1.31,-146.6,818.6,-7.4,264,9325,0.00,2.30,0.00,0.000,6,0.000,0.033,2442,1907,3526
$GC,9652,-1.31,-146.6,841.1,-6.8,270,9654,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1910,3526
$GC,9956,-1.31,-146.6,861.3,-6.6,275,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1910,3526
$GC,10259,-1.31,-146.6,881.4,-6.6,280,10263,0.00,2.45,0.00,0.000,4,0.000,0.058,2442,496,3526
$GC,10296,-1.31,-146.6,884.3,-8.2,280,10300,0.00,2.30,0.00,0.000,6,0.000,0.032,2442,1899,3526
$GC,10623,-1.31,-146.6,907.8,-7.2,286,10626,0.00,2.42,0.00,0.000,4,0.000,0.060,2442,505,3526
$GC,10655,-1.31,-146.6,910.5,-8.5,286,10659,0.00,2.33,0.00,0.000,6,0.000,0.037,2442,1897,3526
$GC,10993,-1.31,-146.6,936.0,-7.6,292,10994,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1897,3526
$GC,11296,-1.35,-146.6,959.2,-7.7,297,11297,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1897,3526
$GC,11599,-1.39,-146.6,982.8,-7.8,302,11600,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1897,3525
$STATE,11718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11718,begin apogee
$GC,11723,-0.33,0.0,992.0,7.7,304,11853,0.98,0.00,126.20,1.377,6,0.099,0.000,2650,2088,2931
$STATE,11853,end apogee,CONTROL_FINISHED_OK
$STATE,11854,begin climb
$GC,11856,1.20,146.6,995.5,0.0,306,11988,1.48,2.65,123.90,1.345,4,0.068,0.081,2986,3514,2332
$GC,12056,1.02,146.6,982.7,9.7,309,12061,0.17,2.47,0.00,0.000,6,0.120,0.054,2953,2107,2329
$GC,12404,0.93,146.6,953.2,8.5,315,12409,0.12,2.53,0.00,0.000,4,0.121,0.067,2929,684,2326
$GC,12447,0.88,146.6,949.3,9.0,315,12452,0.00,2.40,0.00,0.000,6,0.000,0.047,2930,2106,2326
$GC,12768,0.88,146.6,923.2,8.2,321,12769,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2106,2326
$GC,13071,0.88,146.6,897.8,8.3,326,13072,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2105,2326
$GC,13374,0.88,148.5,873.7,7.9,331,13378,0.00,2.47,0.00,0.000,4,0.000,0.054,2929,678,2325
$GC,13435,0.83,155.8,868.7,7.7,332,13450,0.00,2.38,8.30,1.105,6,0.000,0.034,2930,2114,2295
$GC,13805,0.86,178.5,842.1,7.2,338,13828,0.00,0.00,21.35,1.223,6,0.000,0.000,2929,2115,2203
$GC,14108,0.89,203.3,820.4,7.1,343,14137,0.00,2.55,23.08,1.207,4,0.000,0.057,2930,691,2101
$GC,14159,0.89,204.2,816.4,8.0,343,14163,0.00,2.38,0.00,0.000,6,0.000,0.035,2930,2110,2099
$GC,14474,0.91,218.4,792.9,7.5,349,14491,0.00,0.00,14.38,1.150,6,0.000,0.000,2930,2112,2040
$GC,14778,0.96,221.7,769.1,7.9,354,14787,0.00,2.50,3.92,0.761,4,0.000,0.050,2929,675,2027
$GC,14804,0.96,221.7,766.8,8.3,354,14808,0.00,2.40,0.00,0.000,6,0.000,0.031,2929,2102,2027
$GC,15147,1.00,221.7,739.2,8.1,360,15149,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2105,2026
$GC,15450,1.05,221.7,714.3,8.3,365,15455,0.12,2.45,0.00,0.000,4,0.078,0.051,2961,678,2025
$GC,15499,0.98,221.7,709.1,10.9,365,15504,0.00,2.38,0.00,0.000,6,0.000,0.032,2961,2095,2025
$GC,15814,0.94,221.7,679.4,9.3,371,15816,0.15,0.00,0.00,0.000,6,0.114,0.000,2932,2098,2025
$GC,16117,0.95,232.4,656.2,7.6,376,16138,0.00,2.47,11.07,1.047,4,0.000,0.047,2932,676,1983
$GC,16171,0.95,232.4,651.7,9.1,376,16178,0.00,2.40,0.00,0.000,6,0.000,0.034,2932,2102,1982
$GC,16480,1.00,232.4,626.8,8.1,382,16482,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2105,1981
$GC,16784,1.05,232.4,601.9,8.2,387,16789,0.10,2.45,0.00,0.000,4,0.083,0.051,2958,677,1981
$GC,16833,1.01,232.4,597.3,10.3,387,16837,0.00,2.35,0.00,0.000,6,0.000,0.036,2958,2102,1981
$GC,17147,1.01,232.4,570.6,8.4,393,17148,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2105,1981
$GC,17451,1.01,234.3,546.4,7.9,398,17455,0.00,2.42,0.00,0.000,4,0.000,0.049,2957,683,1980
$GC,17495,0.97,234.3,542.7,8.9,398,17499,0.00,2.35,0.00,0.000,6,0.000,0.031,2958,2108,1980
$GC,17820,0.97,234.3,516.3,8.2,404,17825,0.00,2.45,0.00,0.000,4,0.000,0.050,2958,676,1980
$GC,17847,0.97,234.3,513.8,10.2,404,17851,0.00,2.38,0.00,0.000,6,0.000,0.035,2958,2099,1980
$GC,18185,0.97,234.3,485.7,8.2,410,18186,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2102,1979
$GC,18487,0.97,234.3,460.5,8.3,415,18491,0.00,2.42,0.00,0.000,4,0.000,0.049,2958,679,1980
$GC,18544,0.97,234.3,455.1,8.6,415,18548,0.00,2.35,0.00,0.000,6,0.000,0.034,2958,2108,1980
$GC,18852,0.97,234.3,427.8,8.8,420,18853,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2111,1980
$GC,19155,0.97,234.3,402.3,8.3,425,19159,0.00,2.42,0.00,0.000,4,0.000,0.055,2958,678,1980
$GC,19188,0.98,242.7,399.6,7.7,425,19203,0.00,2.38,10.00,0.893,6,0.000,0.033,2958,2104,1941
$GC,19518,0.98,242.7,371.9,8.5,431,19522,0.00,2.42,0.00,0.000,4,0.000,0.054,2958,682,1939
$GC,19550,0.98,242.7,369.0,8.8,431,19554,0.00,2.35,0.00,0.000,6,0.000,0.038,2958,2097,1939
$GC,19882,0.98,242.7,341.1,8.4,437,19883,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2100,1938
$GC,20185,0.98,243.4,316.7,8.0,442,20189,0.00,2.42,0.00,0.000,4,0.000,0.048,2958,677,1938
$GC,20241,0.98,243.4,311.9,8.7,442,20245,0.00,2.35,0.00,0.000,6,0.000,0.038,2958,2105,1938
$GC,20551,0.98,243.4,287.0,8.1,449,20552,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2108,1938
$GC,20857,0.98,243.4,261.6,8.0,459,20861,0.00,2.42,0.00,0.000,4,0.000,0.050,2958,684,1938
$GC,20905,0.98,243.4,257.2,8.7,460,20909,0.00,2.35,0.00,0.000,6,0.000,0.038,2958,2097,1938
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$GC,21866,1.11,274.9,179.3,9.6,492,21870,0.00,2.40,0.00,0.000,4,0.000,0.051,2958,684,1804
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$GC,22272,1.18,278.1,144.1,9.5,506,22276,0.00,2.35,0.00,0.000,6,0.000,0.037,2985,2106,1803
$GC,22599,1.18,278.1,114.5,8.9,522,22600,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2108,1803
$GC,22908,1.28,327.1,92.7,6.2,537,22958,0.10,2.53,44.05,0.752,4,0.081,0.048,3012,691,1597
$GC,22997,1.28,327.1,85.4,9.5,541,23001,0.00,2.38,0.00,0.000,6,0.000,0.033,3012,2099,1592
$GC,23321,1.28,327.1,54.9,9.6,568,23322,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2102,1588
$GC,23641,1.33,327.1,25.6,8.9,598,23645,0.00,2.42,0.00,0.000,4,0.000,0.049,3012,684,1587
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$STATE,23953,end climb,SURFACE_DEPTH_REACHED
$STATE,23953,begin surface coast
$FINISH,0.8,1.024881
$STATE,23976,end surface coast,CONTROL_FINISHED_OK
$STATE,23976,begin surface
$SM_CCo,23995,58.17,0.675,0,0,1300,400.08
$SM_GC,1.52,0.00,0.00,58.17,0.000,0.000,0.675,494,1873,1300,-10.28,-0.76,400.08
$IRIDIUM_FIX,4956.40,-14457.45,181097,070705
$TT8_MAMPS,0.029146
$HUMID,1803
$INTERNAL_PRESSURE,7.66631
$TCM_TEMP,15.60
$XPDR_PINGS,88
$24V_AH,23.3,34.789
$10V_AH,10.2,17.638
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$DEVICE_SECS,25.625,176.950,415.000,58.175,0.000,30.818,25.618,177.466,22.000,0.000,0.000,34.837,1384.322,20227.955,627.041,1716.297,454.415,33.372,1575.290,0.000,1672.996,0.000,0.459
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,447.349,504.770,647.519,380.897,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37915,629
$CAP_FILE_SIZE,147820,0
$CFSIZE,260165632,247099392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240708,204037,5018.395,-14506.973,41,1.5,53,18.5