version: 66.11
glider: 189
mission: 30
dive: 35
start: 1 22 114 22 33 12
data:
$ID,189
$MISSION,30
$DIVE,35
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,0
$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,440
$T_MISSION,480
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,10
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$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,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,57433
$MASS_COMP,4067.7
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030066001
$HD_B,0.0099999998
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4809
$TGT_DEFAULT_LON,-12540
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,5
$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,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-58161.172
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,2486
$PITCH_DBAND,0
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.025006104
$PITCH_GAIN,27
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,40
$C_ROLL_DIVE,2075
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2931
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,7.9000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-81.04335
$PRESSURE_SLOPE,0.0001182519
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,95
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,101
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043091727
$SEABIRD_T_H,0.00062247959
$SEABIRD_T_I,2.1807595e-05
$SEABIRD_T_J,2.0889163e-06
$SEABIRD_C_G,-10.02883
$SEABIRD_C_H,1.1489301
$SEABIRD_C_I,-0.0012180988
$SEABIRD_C_J,0.00017992272
$GPS1,220114,222604,4801.596,-12554.864,40,0.8,40,17.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-70.1
$GPS2,220114,223211,4801.639,-12554.938,19,1.2,20,17.3
$SPEED_LIMITS,0.075,0.234
$TGT_NAME,NITINAT
$TGT_LATLONG,4803.000,-12554.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.107,-0.018
$KALMAN_X,10333.0,-327.3,-78.7,-79497.9,-1637.9
$KALMAN_Y,13221.5,-233.7,-371.6,101176.8,2994.4
$MHEAD_RNG_PITCHd_Wd,82.5,2776,-31.9,-7.500,-34.71,602
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-29.6,141,2027,1942,1848,0.0,0.0,0,40,0.00,0.00,-22.10,0.000,16386,0.000,0.000,142,2028,2527,2557,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-1.18,-29.6,141,2028,2557,2498,2.3,-4.4,2,71,7.20,2.22,-14.98,0.000,18948,0.209,0.057,2108,642,3053,3098,3009,0,0,0,0,0,0,25.77,25.94,26.21
$GC,120,-0.97,-29.6,2107,641,3099,3009,11.9,-17.3,10,130,0.25,2.28,0.00,0.000,3078,0.188,0.031,2173,2099,3054,3099,3009,0,0,0,0,0,0,25.82,25.99,28.83
$GC,430,-0.97,-29.6,2172,2099,3101,3008,62.7,-11.5,41,431,0.00,0.00,0.00,0.000,2054,0.000,0.000,2173,2099,3055,3101,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,740,-0.97,-38.1,2172,2099,3101,3008,84.9,-6.0,68,746,0.00,2.22,-0.28,0.000,18692,0.000,0.054,2164,3506,3092,3140,3045,0,0,0,0,0,0,28.83,26.17,26.28
$GC,1040,-0.97,-38.1,2164,3506,3140,3045,107.9,-8.4,83,1045,0.00,2.25,0.00,0.000,3078,0.000,0.028,2164,2037,3093,3141,3045,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1360,-0.97,-38.1,2164,2037,3142,3045,135.3,-8.7,99,1365,0.00,2.30,0.00,0.000,2308,0.000,0.037,2153,3501,3093,3142,3045,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1619,-0.97,-38.1,2153,3501,3142,3045,156.5,-8.8,110,1623,0.08,2.22,0.00,0.000,3078,0.190,0.028,2173,2040,3093,3142,3045,0,0,0,0,0,0,26.19,26.33,28.83
$GC,1920,-0.97,-44.0,2173,2040,3143,3045,178.9,-6.5,120,1926,0.00,2.20,-0.12,0.000,18948,0.000,0.057,2173,647,3118,3166,3071,0,0,0,0,0,0,28.83,26.33,26.35
$GC,2179,-0.97,-44.0,2173,647,3166,3071,200.3,-9.3,128,2183,0.00,2.25,0.00,0.000,3078,0.000,0.030,2164,2116,3118,3166,3071,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2479,-0.97,-44.0,2164,2115,3166,3071,229.8,-9.7,138,2481,0.00,0.00,0.00,0.000,2054,0.000,0.000,2164,2115,3118,3166,3071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2779,-0.97,-44.0,2164,2114,3166,3071,257.2,-8.3,148,2785,0.00,2.20,0.00,0.000,2308,0.000,0.039,2154,3511,3118,3166,3071,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2857,-0.97,-44.0,2153,3511,3166,3071,262.6,-8.4,150,2862,0.08,2.22,0.00,0.000,3078,0.184,0.028,2174,2043,3118,3166,3071,0,0,0,0,0,0,26.29,26.43,28.83
$GC,3159,-0.97,-44.0,2174,2043,3166,3071,290.5,-8.9,160,3165,0.00,2.20,0.00,0.000,2564,0.000,0.041,2174,642,3118,3166,3071,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3279,-0.97,-44.0,2174,642,3166,3071,302.5,-10.1,164,3285,0.00,2.25,0.00,0.000,3078,0.000,0.030,2166,2110,3118,3166,3071,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3640,-0.97,-44.0,2165,2109,3166,3071,336.7,-9.5,170,3645,0.00,2.20,0.00,0.000,2308,0.000,0.039,2155,3511,3118,3166,3071,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3767,-0.97,-44.0,2155,3511,3166,3071,348.5,-9.6,172,3772,0.08,2.22,0.00,0.000,3078,0.183,0.028,2176,2043,3118,3166,3071,0,0,0,0,0,0,26.34,26.47,28.83
$GC,4110,-1.03,-44.0,2176,2043,3166,3071,382.9,-9.9,178,4116,0.08,2.15,0.00,0.000,4612,0.116,0.041,2140,652,3118,3166,3071,0,0,0,0,0,0,26.48,26.46,28.83
$GC,4207,-1.03,-44.0,2139,651,3166,3071,389.5,-10.0,179,4212,0.10,2.22,0.00,0.000,3078,0.187,0.030,2157,2107,3119,3167,3071,0,0,0,0,0,0,26.34,26.48,28.83
$GC,4520,-1.03,-44.0,2157,2106,3166,3071,423.7,-9.4,185,4522,0.00,0.00,0.00,0.000,4102,0.000,0.000,2157,2106,3118,3166,3071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4820,-1.08,-44.0,2157,2106,3166,3070,452.8,-9.8,190,4827,0.08,2.15,0.00,0.000,4356,0.116,0.039,2109,3494,3118,3166,3070,0,0,0,0,0,0,26.50,26.48,28.83
$GC,4948,-1.08,-44.0,2108,3494,3166,3070,466.0,-10.4,192,4952,0.10,2.20,0.00,0.000,3078,0.171,0.029,2138,2044,3118,3166,3070,0,0,0,0,0,0,26.36,26.50,28.83
$GC,5291,-1.08,-44.0,2137,2044,3166,3070,502.2,-10.3,198,5292,0.00,0.00,0.00,0.000,2054,0.000,0.000,2138,2044,3118,3166,3070,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5591,-1.08,-44.0,2138,2044,3166,3069,532.7,-10.1,203,5596,0.00,2.17,0.00,0.000,2564,0.000,0.042,2138,642,3117,3166,3069,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5718,-1.08,-44.0,2138,642,3166,3069,545.5,-10.5,205,5722,0.00,2.25,0.00,0.000,3078,0.000,0.031,2129,2111,3117,3166,3069,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6061,-1.08,-44.0,2129,2111,3166,3069,582.1,-10.6,211,6063,0.00,0.00,0.00,0.000,2054,0.000,0.000,2129,2111,3117,3166,3069,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6363,-1.08,-44.0,2129,2111,3165,3069,614.1,-10.7,216,6364,0.00,0.00,0.00,0.000,2054,0.000,0.000,2129,2111,3117,3166,3069,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6662,-1.08,-44.0,2129,2111,3165,3068,647.4,-11.0,221,6663,0.00,0.00,0.00,0.000,2054,0.000,0.000,2129,2111,3116,3165,3068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6961,-1.14,-44.0,2129,2111,3166,3068,679.9,-10.8,226,6966,0.00,2.30,0.00,0.000,4612,0.000,0.041,2129,643,3116,3165,3067,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7038,-1.14,-44.0,2129,644,3165,3067,687.1,-11.0,227,7042,0.00,2.25,0.00,0.000,3078,0.000,0.031,2118,2108,3116,3165,3068,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7371,-1.14,-44.0,2118,2109,3165,3067,728.8,-11.9,233,7376,0.00,2.17,0.00,0.000,2308,0.000,0.041,2108,3496,3116,3165,3067,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7581,-1.14,-44.0,2108,3496,3164,3067,751.3,-12.5,236,7587,0.03,2.17,0.00,0.000,3078,0.179,0.030,2116,2053,3116,3165,3067,0,0,0,0,0,0,26.44,26.53,28.83
$GC,7912,-1.19,-44.0,2116,2052,3165,3067,793.8,-11.8,242,7916,0.00,2.17,0.00,0.000,4612,0.000,0.043,2117,653,3115,3165,3066,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7959,-1.24,-44.0,2117,653,3164,3066,793.8,-11.8,242,7963,0.08,2.25,0.00,0.000,5126,0.109,0.031,2067,2113,3115,3164,3066,0,0,0,0,0,0,26.50,26.53,28.83
$GC,8261,-1.24,-44.0,2066,2112,3165,3066,836.5,-12.3,247,8267,0.08,2.28,0.00,0.000,2564,0.190,0.042,2089,649,3115,3164,3066,0,0,0,0,0,0,26.42,26.51,28.83
$GC,8368,-1.24,-44.0,2088,649,3163,3066,843.7,-12.3,248,8372,0.00,2.22,0.00,0.000,3078,0.000,0.031,2079,2103,3115,3164,3066,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8671,-1.24,-44.0,2078,2102,3163,3066,881.5,-10.5,253,8672,0.00,0.00,0.00,0.000,2054,0.000,0.000,2079,2102,3114,3163,3066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8971,-1.24,-44.0,2079,2102,3163,3066,912.6,-10.4,258,8972,0.00,0.00,0.00,0.000,2054,0.000,0.000,2079,2102,3114,3163,3066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9271,-1.24,-44.0,2079,2102,3163,3065,942.9,-10.1,263,9273,0.00,0.00,0.00,0.000,2054,0.000,0.000,2079,2102,3114,3163,3066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9573,-1.24,-44.0,2078,2102,3163,3065,973.9,-10.4,268,9574,0.00,0.00,0.00,0.000,2054,0.000,0.000,2079,2102,3113,3162,3065,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9749,begin apogee
$GC,9755,-0.19,0.0,2078,1917,3162,3064,993.5,-10.7,271,9797,1.05,0.05,36.53,1.631,10246,0.144,0.129,2421,1969,2931,2994,2869,0,0,0,0,0,0,26.40,25.21,24.30
$STATE,9798,end apogee,CONTROL_FINISHED_OK
$STATE,9798,begin climb
$GC,9801,1.18,44.0,2422,1969,2994,2870,993.5,0.0,271,9843,1.25,0.00,38.22,1.600,10246,0.060,0.000,2880,1969,2751,2826,2676,0,0,0,0,0,0,25.32,28.83,23.56
$GC,10111,1.03,44.0,2880,1969,2825,2676,968.5,9.1,277,10117,0.25,2.28,0.00,0.000,4356,0.209,0.037,2814,3381,2751,2826,2676,0,0,0,0,0,0,25.40,25.57,28.83
$GC,10341,0.89,44.0,2813,3381,2825,2676,952.4,9.0,280,10351,0.17,2.28,0.00,0.000,5126,0.195,0.034,2775,1936,2750,2825,2676,0,0,0,0,0,0,25.63,25.80,28.83
$GC,10650,0.89,44.0,2774,1937,2824,2676,923.5,7.7,286,10656,0.00,2.30,0.00,0.000,4612,0.000,0.047,2784,521,2750,2824,2676,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10788,0.83,44.0,2783,520,2824,2676,914.2,7.7,288,10793,0.12,2.30,0.00,0.000,5126,0.192,0.031,2750,1985,2750,2824,2676,0,0,0,0,0,0,25.86,26.01,28.83
$GC,11122,0.83,49.3,2750,1986,2824,2676,890.1,6.6,294,11132,0.00,2.38,5.82,1.293,12804,0.000,0.047,2760,526,2729,2805,2654,0,0,0,0,0,0,28.83,25.92,24.91
$GC,11311,0.83,51.1,2760,526,2804,2654,877.4,7.2,297,11317,0.00,2.28,0.00,0.000,5126,0.000,0.030,2760,1980,2730,2805,2655,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11652,0.83,55.6,2760,1980,2804,2654,852.8,6.7,303,11660,0.00,0.00,6.68,1.326,12294,0.000,0.000,2760,1980,2703,2777,2629,0,0,0,0,0,0,28.83,28.83,24.91
$GC,11952,0.83,55.6,2760,1981,2778,2630,829.2,8.0,308,11957,0.00,2.22,0.00,0.000,4356,0.000,0.039,2760,3375,2704,2779,2630,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12019,0.83,55.6,2760,3375,2778,2630,824.3,7.9,309,12024,0.08,2.28,0.00,0.000,5126,0.218,0.031,2751,1920,2704,2778,2630,0,0,0,0,0,0,25.93,26.08,28.83
$GC,12362,0.83,55.6,2750,1920,2778,2630,795.7,8.2,315,12367,0.00,2.25,0.00,0.000,4612,0.000,0.044,2761,517,2704,2778,2630,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12569,0.83,55.6,2761,517,2778,2630,779.7,8.7,318,12573,0.00,2.28,0.00,0.000,5126,0.000,0.028,2761,1987,2704,2778,2630,0,0,0,0,0,0,28.83,26.21,28.83
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$GC,17745,0.88,59.8,2769,1927,2761,2614,336.5,9.3,403,17750,0.00,2.25,0.00,0.000,4356,0.000,0.037,2769,3375,2688,2762,2614,0,0,0,0,0,0,28.83,26.46,28.83
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$GC,18792,0.93,59.8,2810,522,2762,2616,236.7,9.1,431,18796,0.10,2.22,0.00,0.000,5126,0.182,0.029,2781,1980,2688,2762,2615,0,0,0,0,0,0,26.34,26.50,28.83
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$STATE,21905,end climb,SURFACE_DEPTH_REACHED
$STATE,21905,begin surface coast
$FINISH,0.7,1.003418
$STATE,21966,end surface coast,CONTROL_FINISHED_OK
$STATE,21968,begin surface
$SM_CCo,21987,46.90,0.153,0,0,1910,250.21
$SM_GC,1.48,7.20,2.42,46.90,0.044,0.028,0.153,139,2101,1910,-7.23,-0.62,250.21,0,0,0,0,0,0,26.41,26.43,26.11
$IRIDIUM_FIX,4738.89,-12549.83,220114,161645
$TT8_MAMPS,0.025466,0.025466
$HUMID,48.18
$INTERNAL_PRESSURE,8.45349
$TCM_TEMP,17.60
$XPDR_PINGS,6
$24V_AH,23.6,8.065
$10V_AH,10.1,5.102
$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
$DEVICE_SECS,19.475,170.625,116.925,46.900,0.000,25.102,24.039,197.385,14.000,0.000,21.267,1971.132,17558.412,419.213,2187.377,256.142,33.251,1298.311,0.000,1765.416,0.000,91.604,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,AA4330,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,23.220,36.700,14.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313188
$DATA_FILE_SIZE,47047,650
$CAP_FILE_SIZE,162364,0
$CFSIZE,260165632,253427712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230114,044135,4802.394,-12554.226,40,0.8,40,17.3