version: 66.02
glider: 16
mission: 6
dive: 420
start: 2 3 108 22 23 28
data:
$ID,16
$MISSION,6
$DIVE,420
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,315
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2087300.9
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,293
$ROLL_MAX,3771
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2817
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.08235
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,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,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004349953
$SEABIRD_T_H,0.00063985185
$SEABIRD_T_I,2.4539602e-05
$SEABIRD_T_J,2.5325169e-06
$SEABIRD_C_G,-9.7201281
$SEABIRD_C_H,1.0883496
$SEABIRD_C_I,-0.00044553875
$SEABIRD_C_J,0.00013483063
$GPS1,220937,6211.747,-34.059,58,1.4,59,-4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-56.3
$GPS2,222311,6211.861,-34.025,13,3.0,32,-4.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,6219.498,-37.571
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.202,-0.090
$KALMAN_X,109567.5,-3587.3,-866.2,330188.0,76350.7
$KALMAN_Y,54287.1,-2872.2,-674.1,-29543.7,60742.0
$MHEAD_RNG_PITCHd_Wd,319.9,20000,-11.0,-6.000
$D_GRID,990
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-0.85,-146.6,0.0,0.0,0,91,0.00,0.00,-60.53,0.000,2,0.000,0.000,69,2404,3083
$GC,96,-0.85,-146.6,3.6,-5.0,3,121,12.18,2.65,-7.60,0.000,4,0.172,0.092,2221,3773,3417
$GC,127,-0.85,-146.6,10.9,-18.0,4,133,0.00,2.55,0.00,0.000,6,0.000,0.054,2221,2394,3418
$GC,443,-0.85,-146.6,36.1,-7.2,20,447,0.00,2.67,0.00,0.000,4,0.000,0.073,2221,982,3418
$GC,699,-0.85,-146.6,57.4,-7.5,31,706,0.00,2.62,0.00,0.000,6,0.000,0.060,2221,2406,3419
$GC,1017,-0.85,-146.6,80.7,-8.1,47,1021,0.00,2.70,0.00,0.000,4,0.000,0.069,2221,976,3419
$GC,1106,-0.85,-146.6,87.7,-7.0,51,1111,0.00,2.65,0.00,0.000,6,0.000,0.059,2221,2400,3419
$GC,1427,-0.85,-146.6,110.8,-7.0,67,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,1736,-0.85,-146.6,135.0,-8.0,82,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,2046,-0.85,-146.6,159.2,-7.9,97,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,2354,-0.85,-146.6,183.3,-7.4,112,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,2664,-0.85,-146.6,206.9,-7.3,127,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,2974,-0.85,-146.6,228.9,-7.5,142,2978,0.00,2.67,0.00,0.000,4,0.000,0.072,2221,981,3419
$GC,3013,-0.85,-146.6,231.9,-7.1,144,3017,0.00,2.62,0.00,0.000,6,0.000,0.062,2221,2400,3419
$GC,3339,-0.85,-146.6,253.0,-6.3,160,3343,0.00,2.67,0.00,0.000,4,0.000,0.072,2221,981,3419
$GC,3378,-0.85,-146.6,255.6,-6.5,162,3383,0.00,2.62,0.00,0.000,6,0.000,0.062,2219,2399,3419
$GC,3706,-0.85,-146.6,276.3,-6.4,178,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2399,3419
$GC,4013,-0.85,-146.6,296.3,-6.6,193,4018,0.00,2.67,0.00,0.000,4,0.000,0.072,2221,979,3420
$GC,4059,-0.85,-146.6,299.3,-6.6,195,4063,0.00,2.65,0.00,0.000,6,0.000,0.062,2221,2401,3419
$GC,4380,-0.85,-146.6,321.4,-7.3,211,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3420
$GC,4689,-0.85,-146.6,346.6,-8.6,226,4694,0.00,2.67,0.00,0.000,4,0.000,0.072,2221,982,3420
$GC,4739,-0.85,-146.6,351.5,-9.5,228,4744,0.00,2.65,0.00,0.000,6,0.000,0.062,2221,2405,3420
$GC,5055,-0.85,-146.6,378.8,-8.7,243,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3420
$GC,5364,-0.85,-146.6,405.2,-8.4,258,5368,0.00,2.70,0.00,0.000,4,0.000,0.073,2221,976,3420
$GC,5409,-0.85,-146.6,409.0,-8.5,260,5413,0.00,2.65,0.00,0.000,6,0.000,0.063,2221,2399,3420
$GC,5729,-0.85,-146.6,434.9,-8.2,276,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3419
$GC,6039,-0.85,-146.6,458.3,-7.3,291,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3420
$GC,6349,-0.85,-146.6,481.8,-7.6,306,6353,0.00,2.70,0.00,0.000,4,0.000,0.075,2221,976,3420
$GC,6393,-0.85,-146.6,485.5,-8.0,308,6397,0.00,2.65,0.00,0.000,6,0.000,0.066,2221,2400,3420
$GC,6713,-0.85,-146.6,507.4,-6.6,324,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3420
$GC,7026,-0.85,-146.6,526.1,-6.0,339,7030,0.00,2.70,0.00,0.000,4,0.000,0.077,2221,982,3419
$GC,7054,-0.85,-146.6,528.1,-6.7,340,7059,0.00,2.67,0.00,0.000,6,0.000,0.068,2221,2405,3419
$GC,7370,-0.85,-146.6,547.3,-5.9,355,7371,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3419
$GC,7679,-0.85,-146.6,566.4,-6.2,370,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3418
$GC,7988,-0.85,-146.6,584.5,-6.2,385,7993,0.00,2.72,0.00,0.000,4,0.000,0.079,2221,983,3417
$GC,8050,-0.85,-146.6,588.7,-7.5,388,8054,0.00,2.67,0.00,0.000,6,0.000,0.071,2221,2400,3417
$GC,8377,-0.85,-146.6,608.6,-6.1,404,8378,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2401,3416
$GC,8685,-0.85,-146.6,627.7,-6.3,419,8690,0.00,2.72,0.00,0.000,4,0.000,0.081,2221,984,3415
$GC,8725,-0.85,-146.6,630.4,-7.0,421,8730,0.00,2.70,0.00,0.000,6,0.000,0.072,2221,2407,3415
$GC,9053,-0.85,-146.6,650.4,-6.3,437,9054,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2407,3413
$GC,9361,-0.85,-146.6,670.5,-6.7,452,9365,0.00,2.75,0.00,0.000,4,0.000,0.081,2221,980,3412
$GC,9410,-0.85,-146.6,674.2,-7.6,454,9415,0.00,2.70,0.00,0.000,6,0.000,0.073,2221,2405,3412
$GC,9727,-0.85,-146.6,694.7,-6.6,469,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2405,3411
$GC,10035,-0.85,-146.6,714.7,-6.5,484,10039,0.00,2.75,0.00,0.000,4,0.000,0.081,2221,979,3410
$GC,10084,-0.85,-146.6,718.1,-7.1,486,10089,0.00,2.67,0.00,0.000,6,0.000,0.074,2221,2400,3410
$GC,10401,-0.85,-146.6,738.1,-6.4,501,10402,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2400,3408
$GC,10710,-0.85,-146.6,757.5,-6.3,516,10714,0.00,2.72,0.00,0.000,4,0.000,0.083,2221,986,3407
$GC,10759,-0.85,-146.6,761.1,-6.8,518,10763,0.00,2.70,0.00,0.000,6,0.000,0.075,2221,2404,3408
$GC,11076,-0.85,-146.6,779.5,-5.5,533,11077,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2404,3406
$GC,11384,-0.85,-146.6,797.7,-6.2,548,11388,0.00,2.75,0.00,0.000,4,0.000,0.083,2221,980,3405
$GC,11433,-0.85,-146.6,801.0,-6.7,550,11438,0.00,2.70,0.00,0.000,6,0.000,0.076,2221,2403,3405
$GC,11750,-0.85,-146.6,819.9,-5.7,565,11751,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2403,3404
$STATE,11911,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11911,begin apogee
$GC,11918,-0.31,0.0,829.8,6.2,573,12045,0.60,0.00,123.75,1.249,6,0.119,0.000,2337,2197,2817
$STATE,12046,end apogee,CONTROL_FINISHED_OK
$STATE,12046,begin climb
$GC,12049,0.85,146.6,833.4,0.0,579,12181,1.25,2.83,124.28,1.219,4,0.103,0.084,2585,788,2218
$GC,12209,0.85,146.6,827.7,8.2,587,12215,0.00,2.72,0.00,0.000,6,0.000,0.067,2584,2200,2218
$GC,12525,0.85,146.6,807.6,6.8,603,12529,0.00,2.85,0.00,0.000,4,0.000,0.103,2585,3614,2218
$GC,12603,0.87,164.3,802.6,5.5,606,12625,0.00,2.72,15.98,1.178,6,0.000,0.075,2585,2202,2147
$GC,12934,0.87,164.3,781.5,7.1,622,12935,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2201,2146
$GC,13244,0.87,164.3,762.2,6.0,637,13245,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2202,2144
$GC,13553,0.87,165.8,743.3,6.0,652,13554,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2202,2144
$GC,13862,0.89,187.5,726.1,5.4,667,13885,0.00,0.00,20.90,1.178,6,0.000,0.000,2585,2202,2052
$GC,14192,0.89,187.5,707.2,6.0,683,14193,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2202,2050
$GC,14500,0.89,187.5,688.9,6.1,698,14502,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2202,2050
$GC,14810,0.89,187.5,669.3,6.4,713,14811,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2202,2049
$GC,15120,0.89,187.5,649.8,6.2,728,15121,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2202,2049
$GC,15428,0.89,187.5,630.3,6.3,743,15429,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2202,2048
$GC,15737,0.89,187.5,611.1,6.2,758,15739,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2202,2047
$GC,16048,0.89,187.5,592.4,6.1,773,16049,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2201,2048
$GC,16356,0.89,187.5,573.6,6.1,788,16360,0.00,2.75,0.00,0.000,4,0.000,0.087,2585,786,2047
$GC,16395,0.89,187.5,571.0,7.0,790,16400,0.00,2.67,0.00,0.000,6,0.000,0.066,2585,2201,2047
$GC,16722,0.89,187.5,549.6,6.6,806,16724,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2201,2047
$GC,17031,0.89,187.5,528.5,7.0,821,17032,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2202,2046
$GC,17340,0.89,187.5,507.4,6.6,836,17341,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2202,2047
$GC,17651,0.90,192.8,488.8,5.9,851,17658,0.00,0.00,5.65,0.861,6,0.000,0.000,2585,2201,2029
$GC,17959,0.90,192.8,469.2,6.5,866,17963,0.00,2.72,0.00,0.000,4,0.000,0.077,2585,784,2028
$GC,17991,0.90,192.8,466.9,6.6,867,17997,0.00,2.67,0.00,0.000,6,0.000,0.063,2585,2206,2028
$GC,18308,0.90,192.8,447.2,6.0,883,18309,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2206,2028
$GC,18616,0.93,219.5,430.6,5.3,898,18646,0.12,2.83,22.77,1.025,4,0.081,0.076,2612,784,1922
$GC,18685,0.93,219.5,426.1,7.0,901,18690,0.00,2.67,0.00,0.000,6,0.000,0.061,2612,2206,1921
$GC,19007,0.93,219.5,403.5,7.2,917,19008,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2206,1921
$GC,19316,0.93,219.5,379.6,7.8,932,19320,0.00,2.72,0.00,0.000,4,0.000,0.075,2612,782,1922
$GC,19359,0.93,219.5,375.9,7.7,934,19364,0.00,2.65,0.00,0.000,6,0.000,0.060,2612,2201,1921
$GC,19681,0.93,219.5,351.9,7.7,950,19683,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2201,1921
$GC,19990,0.93,219.5,328.2,7.8,965,19991,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2201,1921
$GC,20299,0.93,219.5,303.7,7.8,980,20300,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2201,1922
$GC,20609,0.93,219.5,281.2,7.3,995,20614,0.00,2.70,0.00,0.000,4,0.000,0.071,2612,778,1922
$GC,20653,0.93,219.5,277.9,7.8,997,20657,0.00,2.62,0.00,0.000,6,0.000,0.055,2612,2206,1922
$GC,20973,0.93,219.5,255.4,7.3,1013,20975,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2206,1923
$GC,21284,0.93,219.5,234.0,6.8,1028,21288,0.00,2.72,0.00,0.000,4,0.000,0.084,2612,3622,1923
$GC,21324,0.93,219.5,231.0,8.5,1030,21328,0.00,2.67,0.00,0.000,6,0.000,0.064,2612,2197,1924
$GC,21650,0.93,219.5,207.8,7.1,1046,21655,0.00,2.67,0.00,0.000,4,0.000,0.073,2612,785,1925
$GC,21696,0.93,219.5,204.4,7.5,1048,21700,0.00,2.60,0.00,0.000,6,0.000,0.054,2612,2203,1925
$GC,22016,0.93,219.5,181.5,6.9,1064,22017,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2203,1926
$GC,22325,0.93,219.5,159.6,7.1,1079,22326,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2203,1927
$GC,22636,0.93,219.5,137.3,7.1,1094,22640,0.00,2.67,0.00,0.000,4,0.000,0.069,2612,785,1927
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$GC,23351,0.93,219.5,85.7,6.9,1129,23355,0.00,2.60,0.00,0.000,6,0.000,0.053,2612,2204,1929
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$GC,23987,0.93,219.5,42.6,7.8,1160,23992,0.00,2.67,0.00,0.000,4,0.000,0.067,2612,779,1930
$GC,24037,0.93,219.5,39.1,6.3,1162,24042,0.00,2.60,0.00,0.000,6,0.000,0.052,2612,2201,1929
$GC,24354,0.97,262.8,20.3,4.8,1177,24393,0.00,0.00,36.75,0.677,6,0.000,0.000,2612,2201,1745
$GC,24705,1.01,294.1,9.1,5.1,1194,24736,0.00,2.72,25.27,0.656,4,0.000,0.071,2612,785,1617
$STATE,24773,end climb,SURFACE_DEPTH_REACHED
$STATE,24773,begin surface coast
$FINISH,0.5,1.027461
$STATE,24790,end surface coast,CONTROL_FINISHED_OK
$STATE,24790,begin surface
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$SM_GC,1.47,0.00,0.00,4.95,0.000,0.000,0.511,71,2400,1593,-10.76,-0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,2082
$TCM_TEMP,19.00
$XPDR_PINGS,96
$ALTIM_BOTTOM_PING,800.3,38.4
$24V_AH,23.2,65.032
$10V_AH,10.1,35.133
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,25.725,156.600,375.350,4.950,0.000,97.808,102.772,325.574,31.000,0.000,0.000,35.247,2109.874,19706.941,527.222,2376.910,911.260,0.000,1672.917,0.000,2309.374,0.000,47.700
$DEVICE_MAMPS,171.808,102.778,1249.443,510.822,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,891.610,826.154,693.189,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59924,1198
$CFSIZE,260165632,235425792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,040208,051907,6213.951,-36.141,79,1.7,79,-5.0