version: 66.03
glider: 144
mission: 13
dive: 182
start: 7 27 108 1 53 30
data:
$ID,144
$MISSION,13
$DIVE,182
$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,-42640.082
$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,46
$R_STBD_OVSHOOT,40
$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
$GPS1,014637,5003.564,-14510.343,76,2.0,76,18.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-58.8
$GPS2,015235,5003.551,-14510.340,47,2.3,66,18.4
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.006,-0.243
$KALMAN_X,-523.2,20.1,166.7,-14185.6,-410.2
$KALMAN_Y,143109.7,-68.3,323.5,-137738.5,811.4
$MHEAD_RNG_PITCHd_Wd,163.1,17771,-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,-71.82,0.000,2,0.000,0.000,494,1866,2785
$GC,96,-1.20,-146.6,3.3,-4.1,7,133,10.40,2.45,-20.12,0.000,4,0.161,0.050,2459,3302,3531
$GC,265,-1.11,-146.6,26.4,-14.1,22,270,0.12,2.28,0.00,0.000,6,0.116,0.030,2483,1912,3534
$GC,589,-1.11,-146.6,63.7,-10.6,52,594,0.00,2.40,0.00,0.000,4,0.000,0.054,2483,499,3535
$GC,656,-1.11,-146.6,70.9,-10.3,57,662,0.00,2.30,0.00,0.000,6,0.000,0.030,2483,1899,3536
$GC,984,-1.11,-146.6,101.4,-8.6,78,988,0.00,2.40,0.00,0.000,4,0.000,0.047,2483,497,3536
$GC,1034,-1.11,-146.6,106.2,-9.4,80,1038,0.00,2.30,0.00,0.000,6,0.000,0.028,2483,1907,3537
$GC,1350,-1.17,-146.6,132.9,-8.1,95,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1910,3537
$GC,1678,-1.24,-146.6,160.5,-8.2,109,1683,0.12,2.40,0.00,0.000,4,0.071,0.050,2449,501,3537
$GC,1716,-1.20,-146.6,164.1,-10.2,110,1720,0.00,2.30,0.00,0.000,6,0.000,0.028,2449,1911,3536
$GC,2039,-1.20,-146.6,193.2,-9.0,121,2043,0.00,2.40,0.00,0.000,4,0.000,0.049,2449,500,3536
$GC,2076,-1.20,-146.6,197.1,-9.7,122,2081,0.00,2.30,0.00,0.000,6,0.000,0.032,2449,1899,3536
$GC,2412,-1.20,-146.6,227.1,-9.0,133,2416,0.00,2.40,0.00,0.000,4,0.000,0.048,2449,498,3536
$GC,2461,-1.20,-146.6,232.0,-10.4,134,2465,0.00,2.33,0.00,0.000,6,0.000,0.030,2449,1901,3535
$GC,2779,-1.20,-146.6,260.7,-9.1,145,2783,0.00,2.40,0.00,0.000,4,0.000,0.054,2449,499,3535
$GC,2835,-1.20,-146.6,266.5,-10.2,146,2841,0.00,2.30,0.00,0.000,6,0.000,0.037,2449,1910,3535
$GC,3146,-1.20,-146.6,296.0,-9.3,157,3150,0.00,2.42,0.00,0.000,4,0.000,0.051,2449,494,3534
$GC,3184,-1.20,-146.6,300.1,-10.4,158,3188,0.00,2.33,0.00,0.000,6,0.000,0.029,2449,1901,3534
$GC,3516,-1.20,-146.6,330.9,-9.3,164,3520,0.00,2.40,0.00,0.000,4,0.000,0.054,2449,498,3533
$GC,3548,-1.20,-146.6,334.2,-10.1,164,3552,0.00,2.30,0.00,0.000,6,0.000,0.029,2449,1908,3534
$GC,3879,-1.20,-146.6,364.3,-9.0,170,3883,0.00,2.40,0.00,0.000,4,0.000,0.049,2449,502,3533
$GC,3934,-1.20,-146.6,369.7,-9.9,170,3940,0.00,2.30,0.00,0.000,6,0.000,0.034,2450,1902,3533
$GC,4243,-1.20,-146.6,395.8,-8.4,176,4247,0.00,2.40,0.00,0.000,4,0.000,0.054,2449,499,3532
$GC,4298,-1.20,-146.6,400.7,-8.9,176,4305,0.00,2.30,0.00,0.000,6,0.000,0.034,2449,1911,3532
$GC,4608,-1.20,-146.6,423.5,-7.3,182,4609,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1911,3532
$GC,4911,-1.20,-146.6,444.2,-6.8,187,4915,0.00,2.42,0.00,0.000,4,0.000,0.051,2449,495,3532
$GC,4960,-1.20,-146.6,448.2,-8.2,187,4964,0.00,2.30,0.00,0.000,6,0.000,0.035,2449,1892,3532
$GC,5275,-1.20,-146.6,470.3,-7.0,193,5279,0.00,2.38,0.00,0.000,4,0.000,0.054,2449,499,3531
$GC,5307,-1.20,-146.6,473.1,-8.1,193,5312,0.00,2.30,0.00,0.000,6,0.000,0.028,2449,1897,3531
$GC,5646,-1.20,-146.6,500.3,-8.2,199,5650,0.00,2.38,0.00,0.000,4,0.000,0.048,2449,502,3530
$GC,5718,-1.20,-146.6,507.1,-9.6,200,5722,0.00,2.28,0.00,0.000,6,0.000,0.032,2449,1900,3530
$GC,6077,-1.20,-146.6,539.3,-9.0,206,6081,0.00,2.40,0.00,0.000,4,0.000,0.050,2449,497,3530
$GC,6126,-1.20,-146.6,544.2,-9.8,206,6130,0.00,2.30,0.00,0.000,6,0.000,0.036,2449,1891,3530
$GC,6441,-1.20,-146.6,572.4,-8.9,212,6445,0.00,2.38,0.00,0.000,4,0.000,0.053,2449,502,3530
$GC,6507,-1.20,-146.6,579.0,-10.0,213,6511,0.00,2.28,0.00,0.000,6,0.000,0.029,2449,1901,3530
$GC,6872,-1.20,-146.6,610.9,-8.6,219,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1903,3529
$GC,7175,-1.20,-146.6,636.6,-8.4,224,7179,0.00,2.40,0.00,0.000,4,0.000,0.054,2449,502,3529
$GC,7230,-1.20,-146.6,641.6,-9.5,224,7236,0.00,2.28,0.00,0.000,6,0.000,0.036,2449,1901,3529
$GC,7538,-1.20,-146.6,667.0,-8.1,230,7543,0.00,2.40,0.00,0.000,4,0.000,0.051,2449,501,3529
$GC,7578,-1.20,-146.6,670.3,-9.1,230,7582,0.00,2.28,0.00,0.000,6,0.000,0.036,2449,1901,3529
$GC,7897,-1.20,-146.6,694.7,-7.5,236,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1903,3529
$GC,8201,-1.20,-146.6,716.6,-7.3,241,8205,0.00,2.40,0.00,0.000,4,0.000,0.056,2449,502,3528
$GC,8267,-1.20,-146.6,721.7,-7.7,242,8271,0.00,2.28,0.00,0.000,6,0.000,0.033,2449,1900,3528
$GC,8632,-1.20,-146.6,746.2,-6.6,248,8636,0.00,2.40,0.00,0.000,4,0.000,0.056,2449,502,3528
$GC,8664,-1.20,-146.6,748.6,-7.8,248,8668,0.00,2.28,0.00,0.000,6,0.000,0.035,2449,1905,3528
$GC,8996,-1.24,-146.6,771.1,-6.8,254,8998,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1908,3528
$GC,9299,-1.28,-146.6,792.8,-7.1,259,9304,0.00,2.42,0.00,0.000,4,0.000,0.059,2448,499,3527
$GC,9343,-1.28,-146.6,796.3,-8.3,259,9347,0.00,2.30,0.00,0.000,6,0.000,0.036,2449,1902,3527
$GC,9664,-1.33,-146.6,819.6,-7.2,265,9668,0.00,2.40,0.00,0.000,4,0.000,0.058,2449,503,3527
$GC,9702,-1.33,-146.6,822.7,-8.2,265,9706,0.00,2.30,0.00,0.000,6,0.000,0.030,2449,1894,3527
$GC,10035,-1.38,-146.6,846.4,-7.2,271,10039,0.00,2.40,0.00,0.000,4,0.000,0.057,2449,503,3527
$GC,10061,-1.38,-146.6,848.6,-8.4,271,10065,0.00,2.28,0.00,0.000,6,0.000,0.035,2449,1900,3526
$GC,10399,-1.43,-146.6,874.4,-7.8,277,10401,0.15,0.00,0.00,0.000,6,0.070,0.000,2410,1901,3526
$GC,10703,-1.38,-146.6,902.0,-9.2,282,10708,0.00,2.42,0.00,0.000,4,0.000,0.065,2410,506,3526
$GC,10770,-1.31,-146.6,908.9,-10.5,283,10775,0.15,2.28,0.00,0.000,6,0.115,0.031,2440,1894,3526
$GC,11129,-1.31,-146.6,936.5,-7.5,289,11133,0.00,2.45,0.00,0.000,4,0.000,0.067,2440,499,3526
$GC,11172,-1.31,-146.6,939.9,-8.7,289,11177,0.00,2.35,0.00,0.000,6,0.000,0.038,2439,1892,3526
$GC,11499,-1.31,-146.6,962.6,-6.9,295,11500,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1892,3526
$GC,11802,-1.31,-146.6,983.1,-6.7,300,11806,0.00,2.53,0.00,0.000,4,0.000,0.087,2440,503,3525
$GC,11840,-1.31,-146.6,985.8,-6.7,300,11844,0.00,2.38,0.00,0.000,6,0.000,0.051,2440,1893,3526
$STATE,11921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11921,begin apogee
$GC,11927,-0.33,0.0,991.4,6.7,302,12057,1.00,0.00,126.47,1.377,6,0.097,0.000,2653,2102,2931
$STATE,12057,end apogee,CONTROL_FINISHED_OK
$STATE,12057,begin climb
$GC,12059,1.20,146.6,994.0,0.0,304,12191,1.48,2.60,123.95,1.347,4,0.069,0.074,2986,3508,2332
$GC,12244,1.01,146.6,981.9,9.9,307,12249,0.20,2.45,0.00,0.000,6,0.116,0.052,2948,2113,2329
$GC,12609,0.95,154.1,953.0,7.7,313,12623,0.00,2.60,7.07,1.068,4,0.000,0.064,2948,688,2302
$GC,12640,0.86,154.1,950.2,8.4,313,12645,0.17,2.42,0.00,0.000,6,0.114,0.037,2915,2113,2301
$GC,12977,0.92,199.8,928.7,6.3,319,13026,0.00,2.62,41.62,1.289,4,0.000,0.061,2915,687,2115
$GC,13038,0.98,250.1,924.5,6.2,320,13089,0.12,2.40,44.95,1.281,6,0.077,0.033,2945,2104,1911
$GC,13398,0.98,250.1,894.7,8.4,326,13402,0.00,2.50,0.00,0.000,4,0.000,0.054,2945,681,1903
$GC,13424,0.98,250.1,892.2,9.2,326,13428,0.00,2.40,0.00,0.000,6,0.000,0.032,2946,2100,1902
$GC,13761,0.98,250.1,864.4,8.2,332,13766,0.00,2.47,0.00,0.000,4,0.000,0.051,2946,680,1901
$GC,13788,0.98,250.1,861.9,9.2,332,13793,0.00,2.40,0.00,0.000,6,0.000,0.031,2946,2103,1900
$GC,14126,0.98,250.1,833.4,8.5,338,14130,0.00,2.47,0.00,0.000,4,0.000,0.053,2946,676,1900
$GC,14147,0.98,250.1,831.4,9.2,338,14151,0.00,2.40,0.00,0.000,6,0.000,0.037,2946,2104,1900
$GC,14495,0.98,250.1,800.3,8.9,344,14500,0.00,2.47,0.00,0.000,4,0.000,0.050,2945,674,1899
$GC,14528,0.98,250.1,797.1,9.6,344,14532,0.00,2.40,0.00,0.000,6,0.000,0.035,2945,2105,1899
$GC,14860,0.98,250.1,768.5,8.6,350,14861,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2105,1899
$GC,15162,0.98,250.1,742.9,8.5,355,15166,0.00,2.45,0.00,0.000,4,0.000,0.056,2946,682,1898
$GC,15189,0.98,250.1,740.5,9.2,355,15193,0.00,2.38,0.00,0.000,6,0.000,0.038,2945,2104,1898
$GC,15532,0.98,250.1,710.9,8.7,361,15536,0.00,2.45,0.00,0.000,4,0.000,0.054,2945,683,1899
$GC,15558,0.98,250.1,708.3,9.7,361,15563,0.00,2.35,0.00,0.000,6,0.000,0.035,2945,2111,1898
$GC,15895,0.98,250.1,678.1,9.0,367,15900,0.00,2.45,0.00,0.000,4,0.000,0.050,2945,684,1898
$GC,15933,0.98,250.1,674.3,10.3,367,15937,0.00,2.35,0.00,0.000,6,0.000,0.031,2946,2100,1898
$GC,16260,0.98,250.1,644.0,9.3,373,16264,0.00,2.42,0.00,0.000,4,0.000,0.051,2945,684,1897
$GC,16286,0.98,250.1,641.2,11.5,373,16291,0.00,2.35,0.00,0.000,6,0.000,0.029,2945,2097,1897
$GC,16624,0.98,250.1,609.6,9.4,379,16625,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2099,1897
$GC,16927,0.98,250.1,580.4,9.7,384,16931,0.00,2.42,0.00,0.000,4,0.000,0.051,2945,683,1898
$GC,16953,0.98,250.1,577.6,10.1,384,16957,0.00,2.35,0.00,0.000,6,0.000,0.031,2946,2114,1897
$GC,17290,0.98,250.1,546.4,9.2,390,17294,0.00,2.47,0.00,0.000,4,0.000,0.049,2946,675,1897
$GC,17339,0.98,250.1,541.6,9.1,390,17343,0.00,2.35,0.00,0.000,6,0.000,0.035,2945,2095,1897
$GC,17654,0.98,250.1,514.6,8.5,396,17658,0.00,2.42,0.00,0.000,4,0.000,0.048,2945,681,1897
$GC,17680,0.98,250.1,512.1,8.1,396,17685,0.00,2.33,0.00,0.000,6,0.000,0.033,2946,2100,1897
$GC,18018,0.98,250.1,484.6,8.0,402,18022,0.00,2.42,0.00,0.000,4,0.000,0.048,2946,681,1897
$GC,18050,0.98,250.1,481.8,9.3,402,18054,0.00,2.35,0.00,0.000,6,0.000,0.035,2946,2102,1897
$GC,18383,1.04,262.2,456.5,7.6,408,18394,0.00,0.00,9.65,0.926,6,0.000,0.000,2946,2105,1862
$GC,18685,1.09,270.8,433.4,7.7,413,18699,0.00,2.47,9.38,0.900,4,0.000,0.049,2946,680,1826
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$GC,19418,1.07,272.9,370.4,9.1,425,19422,0.00,2.40,0.00,0.000,4,0.000,0.048,2960,683,1823
$GC,19461,1.07,272.9,366.2,9.8,425,19465,0.00,2.35,0.00,0.000,6,0.000,0.029,2960,2097,1823
$GC,19787,1.07,272.9,337.8,8.7,431,19792,0.00,2.42,0.00,0.000,4,0.000,0.048,2960,674,1823
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$GC,22970,1.23,293.3,69.1,9.0,547,22977,0.00,2.35,0.00,0.000,6,0.000,0.032,2992,2094,1730
$GC,23298,1.30,311.5,42.8,7.3,578,23321,0.00,2.45,16.35,0.709,4,0.000,0.049,2992,679,1660
$GC,23355,1.32,329.9,38.2,7.3,583,23378,0.10,2.35,16.80,0.690,6,0.081,0.028,3018,2107,1585
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$STATE,23831,end climb,SURFACE_DEPTH_REACHED
$STATE,23831,begin surface coast
$FINISH,1.0,1.013411
$STATE,23854,end surface coast,CONTROL_FINISHED_OK
$STATE,23854,begin surface
$SM_CCo,23873,56.60,0.672,0,0,1299,400.08
$SM_GC,1.55,0.00,0.00,56.60,0.000,0.000,0.672,491,1865,1299,-10.29,-0.99,400.08
$IRIDIUM_FIX,712.48,-9412.32,201097,191940
$TT8_MAMPS,0.029146
$HUMID,1807
$INTERNAL_PRESSURE,7.67608
$TCM_TEMP,15.70
$XPDR_PINGS,116
$24V_AH,23.3,36.350
$10V_AH,10.2,18.406
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$DEVICE_SECS,25.125,253.475,418.275,56.600,0.000,24.560,26.794,153.346,29.000,0.000,0.000,67.144,1459.468,19731.711,654.103,1983.904,462.053,33.367,1757.123,0.000,1899.142,0.000,0.459
$DEVICE_MAMPS,161.070,91.273,1376.765,671.892,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,447.404,509.647,649.789,384.414,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38005,630
$CAP_FILE_SIZE,163717,0
$CFSIZE,260165632,246505472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270708,083408,5000.535,-14511.026,59,1.5,72,18.4