version: 66.11
glider: 189
mission: 7
dive: 307
start: 12 20 112 17 11 41
data:
$ID,189
$MISSION,7
$DIVE,307
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,495
$T_MISSION,525
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,54634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030066001
$HD_B,0.025237
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2434
$TGT_DEFAULT_LON,-3802
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-48040.047
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1600
$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,2320
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-80.603096
$PRESSURE_SLOPE,0.0001182519
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,0.0042969952
$SEABIRD_T_H,0.00061766658
$SEABIRD_T_I,2.0722548e-05
$SEABIRD_T_J,1.9705003e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,201212,170205,2439.246,-3743.926,28,1.0,28,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-62.4
$GPS2,201212,171041,2439.244,-3743.890,20,0.9,20,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.118,0.021
$KALMAN_X,138792.9,-369.0,-62.6,-108025.0,4340.3
$KALMAN_Y,-77412.6,-381.2,418.5,84097.6,-2944.1
$MHEAD_RNG_PITCHd_Wd,294.1,16248,-19.9,-6.667,-29.07
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.26,-97.7,0.0,0.0,0,35,0.00,0.00,-11.65,0.000,2,0.000,0.000,150,2121,1429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.1,0.0,1,105,9.05,2.50,-50.00,0.000,4,0.184,0.049,2592,538,2719,0,0,0,0,0,0,25.49,26.03,26.68
$GC,395,-1.15,-97.7,24.2,-8.4,37,404,0.12,2.47,0.00,0.000,6,0.140,0.024,2622,2182,2720,0,0,0,0,0,0,25.84,26.34,28.83
$GC,705,-1.12,-97.7,45.6,-7.2,68,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2182,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1005,-1.09,-97.7,67.7,-7.5,98,1014,0.00,2.50,0.00,0.000,4,0.000,0.041,2611,3749,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1187,-1.04,-97.7,82.3,-8.3,111,1193,0.20,2.42,0.00,0.000,6,0.135,0.021,2669,2084,2722,0,0,0,0,0,0,25.97,26.50,28.83
$GC,1516,-1.04,-97.7,108.1,-7.9,122,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2084,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1816,-1.06,-97.7,128.9,-6.9,132,1822,0.00,2.65,0.00,0.000,4,0.000,0.040,2658,3747,2723,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2115,-1.06,-97.7,146.3,-5.2,142,2122,0.00,2.45,0.00,0.000,6,0.000,0.021,2658,2095,2723,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2445,-1.06,-97.7,162.7,-5.1,149,2452,0.00,2.62,0.00,0.000,4,0.000,0.039,2646,3752,2723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2745,-1.06,-97.7,179.4,-5.6,154,2752,0.00,2.45,0.00,0.000,6,0.000,0.021,2646,2096,2724,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3105,-1.06,-97.7,196.1,-4.6,160,3113,0.00,2.60,0.00,0.000,4,0.000,0.039,2634,3741,2724,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3405,-1.06,-97.7,214.4,-6.4,165,3413,0.00,2.42,0.00,0.000,6,0.000,0.021,2634,2102,2724,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3765,-1.06,-97.7,244.3,-8.7,171,3772,0.00,2.60,0.00,0.000,4,0.000,0.039,2622,3741,2723,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4065,-1.06,-97.7,270.2,-8.5,176,4072,0.00,2.42,0.00,0.000,6,0.000,0.020,2622,2104,2723,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4425,-1.06,-97.7,290.7,-5.2,182,4433,0.12,2.60,0.00,0.000,4,0.148,0.040,2646,3742,2723,0,0,0,0,0,0,26.44,26.29,28.83
$GC,4725,-1.08,-97.7,307.0,-5.6,187,4732,0.00,2.42,0.00,0.000,6,0.000,0.020,2645,2108,2722,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5085,-1.11,-97.7,333.4,-7.7,193,5093,0.00,2.60,0.00,0.000,4,0.000,0.040,2633,3746,2721,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5384,-1.11,-97.7,359.8,-8.8,198,5392,0.00,2.47,0.00,0.000,6,0.000,0.021,2634,2092,2720,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5746,-1.14,-97.7,387.6,-7.5,204,5752,0.00,2.62,0.00,0.000,4,0.000,0.040,2621,3742,2720,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6045,-1.14,-97.7,405.8,-5.9,209,6052,0.00,2.45,0.00,0.000,6,0.000,0.021,2623,2098,2719,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6405,-1.14,-97.7,424.4,-5.1,215,6412,0.00,2.62,0.00,0.000,4,0.000,0.041,2609,3746,2718,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6704,-1.14,-97.7,444.4,-7.0,220,6712,0.00,2.47,0.00,0.000,6,0.000,0.021,2609,2098,2717,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7065,-1.14,-97.7,476.0,-9.2,226,7073,0.00,2.47,0.00,0.000,4,0.000,0.038,2609,543,2716,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7334,-1.11,-97.7,501.7,-10.7,230,7342,0.15,2.53,0.00,0.000,6,0.150,0.024,2637,2190,2715,0,0,0,0,0,0,26.06,26.47,28.83
$GC,7665,-1.11,-97.7,529.9,-8.3,233,7672,0.00,2.50,0.00,0.000,4,0.000,0.042,2627,3746,2715,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7964,-1.15,-97.7,542.9,-6.2,235,7972,0.00,2.47,0.00,0.000,6,0.000,0.022,2627,2105,2714,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8385,-1.18,-97.7,566.0,-4.8,239,8392,0.00,2.62,0.00,0.000,4,0.000,0.041,2615,3741,2715,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8684,-1.20,-97.7,581.9,-5.8,241,8692,0.00,2.47,0.00,0.000,6,0.000,0.021,2615,2105,2713,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9105,-1.23,-97.7,624.3,-8.8,245,9112,0.00,2.62,0.00,0.000,4,0.000,0.041,2603,3742,2712,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9404,-1.25,-97.7,648.1,-9.7,247,9411,0.00,2.47,0.00,0.000,6,0.000,0.021,2603,2101,2711,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9825,-1.25,-97.7,690.4,-8.8,251,9832,0.00,2.62,0.00,0.000,4,0.000,0.041,2591,3738,2709,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10124,-1.25,-97.7,709.7,-8.2,253,10131,0.00,2.47,0.00,0.000,6,0.000,0.022,2591,2105,2709,0,0,0,0,0,0,28.83,26.49,28.83
$GC,10545,-1.25,-97.7,745.4,-7.4,257,10552,0.00,2.50,0.00,0.000,4,0.000,0.039,2591,548,2707,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10825,-1.25,-97.7,764.4,-7.6,259,10832,0.00,2.47,0.00,0.000,6,0.000,0.025,2580,2183,2707,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11145,-1.25,-97.7,792.9,-7.9,262,11152,0.00,2.53,0.00,0.000,4,0.000,0.043,2568,3753,2706,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11445,-1.25,-97.7,812.9,-8.1,264,11453,0.08,2.47,0.00,0.000,6,0.136,0.023,2593,2103,2705,0,0,0,0,0,0,26.13,26.46,28.83
$GC,11865,-1.25,-97.7,851.4,-8.0,268,11872,0.00,2.65,0.00,0.000,4,0.000,0.043,2582,3749,2704,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12165,-1.25,-97.7,871.8,-8.3,270,12172,0.00,2.47,0.00,0.000,6,0.000,0.023,2582,2107,2703,0,0,0,0,0,0,28.83,26.45,28.83
$GC,12585,-1.25,-97.7,910.8,-8.1,274,12592,0.00,2.62,0.00,0.000,4,0.000,0.042,2571,3744,2702,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12886,-1.25,-97.7,931.3,-8.3,276,12892,0.00,2.47,0.00,0.000,6,0.000,0.024,2570,2109,2700,0,0,0,0,0,0,28.83,26.44,28.83
$GC,13305,-1.25,-97.7,972.5,-8.6,280,13312,0.00,2.47,0.00,0.000,4,0.000,0.041,2571,551,2700,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,13544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13544,begin apogee
$GC,13552,-0.29,0.0,997.0,-9.4,282,13645,1.08,0.10,84.82,1.658,6,0.126,0.089,2901,1588,2320,0,0,0,0,0,0,25.32,24.89,23.20
$STATE,13647,end apogee,CONTROL_FINISHED_OK
$STATE,13647,begin climb
$GC,13649,1.26,97.7,1002.8,0.0,287,13747,1.40,2.15,90.62,1.642,4,0.059,0.048,3416,355,1921,0,0,0,0,0,0,25.22,24.76,23.11
$GC,13914,1.12,114.4,994.6,5.9,301,13935,0.20,2.00,15.30,1.535,6,0.159,0.024,3366,1651,1852,0,0,0,0,0,0,25.64,26.06,23.86
$GC,14347,1.07,133.1,970.2,5.8,313,14366,0.00,0.00,17.45,1.554,6,0.000,0.000,3366,1651,1776,0,0,0,0,0,0,28.83,28.83,24.04
$GC,14706,1.00,133.1,942.9,7.2,316,14714,0.15,2.08,0.00,0.000,4,0.161,0.048,3333,362,1772,0,0,0,0,0,0,26.06,26.16,28.83
$GC,14795,0.93,133.1,942.9,7.2,316,14803,0.12,1.98,0.00,0.000,6,0.156,0.024,3301,1661,1771,0,0,0,0,0,0,26.06,26.39,28.83
$GC,15186,0.93,133.1,903.4,8.2,320,15187,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1661,1771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15545,0.93,133.1,873.5,8.4,323,15553,0.00,2.15,0.00,0.000,4,0.000,0.048,3310,353,1768,0,0,0,0,0,0,28.83,26.25,28.83
$GC,15614,0.93,133.1,873.5,8.4,323,15618,0.00,1.95,0.00,0.000,6,0.000,0.024,3310,1650,1768,0,0,0,0,0,0,28.83,26.52,28.83
$GC,16017,0.93,133.1,838.5,7.4,327,16023,0.00,2.08,0.00,0.000,4,0.000,0.047,3320,362,1767,0,0,0,0,0,0,28.83,26.24,28.83
$GC,16315,0.93,133.1,821.6,7.1,329,16319,0.00,1.95,0.00,0.000,6,0.000,0.025,3320,1656,1767,0,0,0,0,0,0,28.83,26.53,28.83
$GC,16727,0.94,143.5,792.5,6.2,333,16745,0.00,2.15,8.77,1.411,4,0.000,0.048,3330,350,1737,0,0,0,0,0,0,28.83,26.23,24.14
$GC,17036,0.95,153.2,776.9,6.2,335,17054,0.00,1.98,10.62,1.447,6,0.000,0.025,3330,1656,1694,0,0,0,0,0,0,28.83,26.44,24.20
$GC,17447,0.95,155.9,745.5,6.5,339,17454,0.00,2.12,0.00,0.000,4,0.000,0.048,3340,350,1692,0,0,0,0,0,0,28.83,26.15,28.83
$GC,17666,0.96,157.1,737.2,6.6,340,17676,0.12,1.98,4.28,1.144,6,0.151,0.025,3307,1663,1680,0,0,0,0,0,0,26.10,26.45,24.14
$GC,18048,0.96,157.1,703.2,7.1,344,18054,0.00,2.12,0.00,0.000,4,0.000,0.048,3316,355,1679,0,0,0,0,0,0,28.83,26.19,28.83
$GC,18236,0.96,157.1,693.2,7.4,345,18239,0.00,1.95,0.00,0.000,6,0.000,0.025,3316,1649,1679,0,0,0,0,0,0,28.83,26.48,28.83
$GC,18637,0.96,157.1,651.0,9.0,349,18644,0.00,2.10,0.00,0.000,4,0.000,0.048,3326,355,1679,0,0,0,0,0,0,28.83,26.19,28.83
$GC,18867,0.96,157.1,639.5,9.1,350,18875,0.00,1.95,0.00,0.000,6,0.000,0.025,3325,1649,1679,0,0,0,0,0,0,28.83,26.51,28.83
$GC,19237,0.96,157.1,597.8,8.7,354,19245,0.00,2.10,0.00,0.000,4,0.000,0.048,3335,357,1679,0,0,0,0,0,0,28.83,26.17,28.83
$GC,19317,0.96,157.1,597.8,8.7,354,19321,0.00,1.95,0.00,0.000,6,0.000,0.025,3335,1654,1679,0,0,0,0,0,0,28.83,26.51,28.83
$GC,19709,0.96,157.1,564.3,7.1,358,19716,0.00,2.10,0.00,0.000,4,0.000,0.048,3345,351,1679,0,0,0,0,0,0,28.83,26.15,28.83
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$GC,21381,1.14,222.9,425.7,10.9,377,21388,0.00,2.12,0.00,0.000,4,0.000,0.048,3372,352,1404,0,0,0,0,0,0,28.83,26.15,28.83
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$GC,25106,1.29,222.9,46.7,10.3,470,25114,0.12,2.08,0.00,0.000,4,0.158,0.046,3426,356,1403,0,0,0,0,0,0,26.36,26.15,28.83
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$STATE,25522,end climb,SURFACE_DEPTH_REACHED
$STATE,25522,begin surface coast
$FINISH,1.1,1.025637
$STATE,25545,end surface coast,CONTROL_FINISHED_OK
$STATE,25545,begin surface
$SM_CCo,25567,32.60,0.131,0,0,1093,300.00
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$IRIDIUM_FIX,2441.81,-3802.50,201212,090957
$TT8_MAMPS,0.026964,0.026964
$HUMID,62.48
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.00
$XPDR_PINGS,0
$SC_FREEKB,7651968
$TM_FREEKB,5301120
$24V_AH,23.1,57.240
$10V_AH,10.1,48.868
$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,22.050,182.225,295.000,32.600,0.000,28.620,38.915,192.399,0.000,0.000,20.552,2525.996,19932.680,671.493,2497.232,475.866,33.259,1789.343,0.000,2116.359,0.000,0.535,0.000
$DEVICE_MAMPS,184.365,133.875,1657.755,130.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25550.000,2351.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.121,13.431,0.000,0.000
$MEM,344348
$DATA_FILE_SIZE,13403,514
$CAP_FILE_SIZE,189495,0
$CFSIZE,260034560,222814208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211212,001934,2439.719,-3744.456,34,0.8,34,-13.9