version: 66.10
glider: 169
mission: 5
dive: 399
start: 1 24 112 17 4 42
data:
$ID,169
$MISSION,5
$DIVE,399
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,4
$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,360
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,90
$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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$NOCOMM_ACTION,163
$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,-11381.15
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,240112,165654,2322.204,12225.307,27,1.0,44,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-58.6
$GPS2,240112,170420,2322.217,12225.354,13,1.3,13,-3.2
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2322.217,12237.119
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.228,0.143
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,93.2,20000,-15.4,-9.167
$D_GRID,4803
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.60,-175.2,0.0,0.0,0,97,0.00,0.00,-77.72,0.000,2,0.000,0.000,117,2676,2985,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.60,-175.2,3.4,-7.4,14,130,7.15,2.33,-13.98,0.000,4,0.233,0.041,1818,1171,3697,0,0,0,0,0,0,24.75,26.03,26.53
$GC,269,-0.54,-175.2,67.9,-25.7,46,276,0.00,2.30,0.00,0.000,6,0.000,0.041,1806,2650,3698,0,0,0,0,0,0,28.83,26.01,28.83
$GC,581,-0.45,-175.2,156.6,-24.4,107,587,0.17,0.00,0.00,0.000,6,0.164,0.000,1859,2650,3698,0,0,0,0,0,0,25.92,28.83,28.83
$GC,892,-0.42,-175.2,208.2,-15.1,163,893,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2650,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1194,-0.42,-175.2,245.8,-11.8,193,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2650,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1504,-0.42,-175.2,281.9,-10.7,224,1513,0.00,2.17,0.00,0.000,4,0.000,0.028,1860,1174,3698,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1587,-0.47,-175.2,289.6,-8.2,232,1596,0.00,2.25,0.00,0.000,6,0.000,0.039,1850,2648,3698,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1897,-0.47,-175.2,324.0,-11.1,263,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2647,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2198,-0.47,-175.2,354.1,-8.3,293,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2647,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2508,-0.47,-175.2,380.5,-9.2,324,2517,0.00,2.17,0.00,0.000,4,0.000,0.028,1850,1180,3695,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2532,-0.49,-175.2,382.6,-9.0,326,2539,0.00,2.25,0.00,0.000,6,0.000,0.038,1842,2651,3695,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2839,-0.49,-175.2,415.8,-10.5,357,2848,0.00,2.20,0.00,0.000,4,0.000,0.028,1841,1176,3693,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2892,-0.52,-175.2,420.7,-9.5,362,2900,0.00,2.25,0.00,0.000,6,0.000,0.038,1832,2654,3692,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3202,-0.52,-175.2,453.9,-10.5,393,3210,0.00,2.15,0.00,0.000,4,0.000,0.028,1833,1181,3691,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3244,-0.54,-175.2,458.2,-10.4,397,3253,0.00,2.22,0.00,0.000,6,0.000,0.040,1827,2640,3690,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3555,-0.54,-175.2,490.4,-10.5,428,3558,0.00,1.80,0.00,0.000,4,0.000,0.045,1819,3819,3688,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3627,-0.56,-175.2,497.1,-8.5,435,3631,0.00,1.83,0.00,0.000,6,0.000,0.022,1819,2571,3687,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3938,-0.56,-175.2,529.7,-10.5,466,3946,0.00,2.05,0.00,0.000,4,0.000,0.028,1818,1165,3685,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3959,-0.56,-175.2,532.0,-10.9,468,3968,0.00,2.30,0.00,0.000,6,0.000,0.039,1809,2653,3685,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4270,-0.55,-175.2,568.0,-12.1,499,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2653,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4572,-0.54,-175.2,602.6,-11.0,528,4575,0.00,2.22,0.00,0.000,4,0.000,0.029,1810,1177,3681,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4626,-0.54,-175.2,607.2,-10.6,530,4633,0.12,2.30,0.00,0.000,6,0.127,0.041,1840,2655,3681,0,0,0,0,0,0,25.95,26.09,28.83
$GC,4934,-0.56,-175.2,633.5,-7.9,546,4937,0.00,1.80,0.00,0.000,4,0.000,0.047,1831,3818,3678,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4969,-0.58,-175.2,635.3,-8.0,547,4976,0.00,1.83,0.00,0.000,6,0.000,0.024,1831,2565,3678,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5277,-0.60,-175.2,659.4,-7.2,563,5282,0.00,2.03,0.00,0.000,4,0.000,0.029,1831,1180,3676,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5297,-0.62,-175.2,661.0,-7.2,564,5302,0.00,2.25,0.00,0.000,6,0.000,0.040,1823,2646,3676,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5616,-0.63,-175.2,686.5,-8.3,580,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2646,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5916,-0.64,-175.2,711.0,-8.0,595,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2646,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6217,-0.65,-175.2,735.2,-8.3,610,6222,0.00,2.17,0.00,0.000,4,0.000,0.031,1823,1181,3670,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6269,-0.67,-175.2,738.3,-8.0,612,6275,0.00,2.28,0.00,0.000,6,0.000,0.041,1814,2649,3669,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6578,-0.67,-175.2,766.7,-9.2,628,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2649,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6875,-0.67,-175.2,793.3,-8.8,643,6881,0.00,2.22,0.00,0.000,4,0.000,0.030,1814,1177,3665,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6918,-0.68,-175.2,796.6,-8.4,645,6922,0.00,2.30,0.00,0.000,6,0.000,0.041,1805,2651,3665,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7231,-0.68,-175.2,824.8,-8.9,661,7235,0.00,1.80,0.00,0.000,4,0.000,0.048,1797,3820,3663,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7255,-0.68,-175.2,826.8,-8.7,662,7258,0.00,1.85,0.00,0.000,6,0.000,0.025,1797,2579,3663,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7574,-0.68,-175.2,857.0,-9.7,678,7575,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2577,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7873,-0.68,-175.2,886.7,-10.0,693,7874,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2577,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8172,-0.68,-175.2,917.2,-10.2,708,8178,0.00,2.03,0.00,0.000,4,0.000,0.049,1787,3820,3659,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8215,-0.68,-175.2,921.2,-10.2,710,8218,0.00,1.83,0.00,0.000,6,0.000,0.025,1787,2572,3659,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8534,-0.67,-175.2,955.6,-10.9,726,8537,0.00,2.08,0.00,0.000,4,0.000,0.031,1787,1177,3658,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8588,-0.67,-175.2,959.9,-10.8,728,8595,0.00,2.30,0.00,0.000,6,0.000,0.041,1776,2649,3658,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,8853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8853,begin apogee
$GC,8860,-0.20,0.0,990.4,-11.0,742,9024,0.47,0.17,155.85,1.190,6,0.107,0.069,1939,2537,2972,0,0,0,0,0,0,25.56,24.82,23.22
$STATE,9025,end apogee,CONTROL_FINISHED_OK
$STATE,9025,begin climb
$GC,9027,0.60,175.2,996.4,0.0,750,9207,0.70,2.15,169.95,1.185,4,0.048,0.043,2205,3812,2255,0,0,0,0,0,0,25.08,24.68,23.14
$GC,9243,0.50,175.2,979.6,17.0,761,9248,0.17,2.12,0.00,0.000,6,0.183,0.029,2174,2469,2239,0,0,0,0,0,0,24.94,25.32,28.83
$GC,9553,0.45,175.2,931.4,14.2,776,9558,0.00,2.12,0.00,0.000,4,0.000,0.036,2184,1061,2231,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9571,0.40,175.2,928.6,14.0,777,9578,0.15,2.28,0.00,0.000,6,0.151,0.039,2144,2527,2230,0,0,0,0,0,0,25.65,25.94,28.83
$GC,9891,0.37,175.2,891.9,11.3,793,9896,0.00,2.05,0.00,0.000,4,0.000,0.046,2143,3823,2228,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9946,0.34,175.2,886.4,12.6,795,9954,0.12,2.08,0.00,0.000,6,0.168,0.029,2123,2458,2227,0,0,0,0,0,0,25.78,26.12,28.83
$GC,10251,0.33,175.2,852.7,10.0,811,10257,0.00,2.15,0.00,0.000,4,0.000,0.047,2122,3815,2226,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10275,0.32,175.2,850.5,10.2,812,10279,0.00,2.08,0.00,0.000,6,0.000,0.029,2133,2456,2226,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10587,0.30,175.4,819.6,9.2,828,10592,0.00,2.15,0.00,0.000,4,0.000,0.047,2133,3812,2225,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10620,0.28,175.4,817.5,9.5,829,10627,0.15,2.05,0.00,0.000,6,0.160,0.028,2104,2458,2225,0,0,0,0,0,0,25.75,26.17,28.83
$GC,10928,0.35,223.0,792.8,7.5,845,10973,0.00,2.22,35.15,1.071,4,0.000,0.048,2103,3815,2073,0,0,0,0,1,0,28.83,25.62,23.65
$GC,10990,0.42,264.8,788.1,7.7,848,11046,0.00,2.10,42.95,1.172,6,0.000,0.028,2114,2457,1903,0,0,0,0,1,0,28.83,25.77,23.39
$GC,11347,0.45,269.6,756.6,9.0,866,11367,0.12,2.15,12.15,1.008,4,0.078,0.037,2205,1065,1874,0,0,0,0,0,0,26.20,25.81,24.08
$GC,11398,0.45,269.6,750.7,11.2,868,11403,0.17,2.28,0.00,0.000,6,0.138,0.041,2155,2525,1868,0,0,0,0,0,0,25.54,25.81,28.83
$GC,11708,0.44,269.6,709.8,12.3,883,11709,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2525,1867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12005,0.44,269.6,670.9,13.3,898,12010,0.00,2.00,0.00,0.000,4,0.000,0.046,2155,3812,1866,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12029,0.43,269.6,668.2,13.3,899,12032,0.00,2.08,0.00,0.000,6,0.000,0.028,2166,2454,1864,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12349,0.42,269.6,625.3,12.7,915,12354,0.00,2.12,0.00,0.000,4,0.000,0.045,2166,3812,1864,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12387,0.40,269.6,619.4,13.5,917,12394,0.12,2.08,0.00,0.000,6,0.158,0.028,2143,2453,1864,0,0,0,0,0,0,25.82,26.15,28.83
$GC,12700,0.41,269.6,585.2,10.6,939,12708,0.00,2.08,0.00,0.000,4,0.000,0.035,2154,1057,1864,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12731,0.42,269.6,581.7,10.6,942,12740,0.00,2.25,0.00,0.000,6,0.000,0.039,2154,2523,1864,0,0,0,0,0,0,28.83,26.01,28.83
$GC,13041,0.42,269.6,547.9,10.8,973,13050,0.00,2.03,0.00,0.000,4,0.000,0.046,2154,3813,1863,0,0,0,0,0,0,28.83,25.94,28.83
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$GC,14425,0.62,382.4,419.3,7.0,1111,14489,0.15,2.20,57.70,0.802,4,0.068,0.038,2249,1054,1412,0,0,0,0,0,0,26.23,25.43,24.07
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$GC,14867,0.58,382.4,355.7,14.9,1154,14874,0.00,2.08,0.00,0.000,6,0.000,0.028,2209,2455,1393,0,0,0,0,0,0,28.83,26.01,28.83
$GC,15175,0.57,382.4,311.4,13.6,1185,15184,0.00,2.08,0.00,0.000,4,0.000,0.036,2220,1071,1392,0,0,0,0,0,0,28.83,25.98,28.83
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$STATE,17802,end climb,SURFACE_DEPTH_REACHED
$STATE,17802,begin surface coast
$FINISH,1.2,1.022608
$STATE,17817,end surface coast,CONTROL_FINISHED_OK
$STATE,17817,begin surface
$SM_CCo,17893,0.00,0.000,0,0,1047,473.92
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$IRIDIUM_FIX,2309.79,12210.27,240112,111140
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.03
$INTERNAL_PRESSURE,9.53517
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,23.1,83.644
$10V_AH,9.9,49.806
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,16.200,153.425,610.475,0.000,0.000,27.303,22.520,247.687,0.000,0.000,14.175,3777.071,10252.693,741.846,3138.582,400.034,0.000,2256.167,0.000,2676.783,0.000,0.542,0.000
$DEVICE_MAMPS,233.325,68.850,1190.340,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1093.583,2072.556,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324692
$DATA_FILE_SIZE,106924,1610
$CAP_FILE_SIZE,190502,0
$CFSIZE,260165632,186458112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240112,220431,2322.522,12228.776,69,1.0,69,-3.2