version: 66.11
glider: 189
mission: 7
dive: 352
start: 1 3 113 9 44 15
data:
$ID,189
$MISSION,7
$DIVE,352
$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,446.44598
$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,-48096.645
$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
$GPS1,030113,092634,2423.626,-3742.249,34,0.8,35,-13.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-57.7
$GPS2,030113,094317,2423.624,-3742.240,18,0.9,18,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,C_NW
$TGT_LATLONG,2434.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.098,0.069
$KALMAN_X,166535.7,-167.9,332.7,-133621.4,1653.9
$KALMAN_Y,-96169.2,121.0,-541.9,74377.9,-1339.8
$MHEAD_RNG_PITCHd_Wd,319.3,38432,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-11.68,0.000,2,0.000,0.000,151,2114,1434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-1.26,-97.7,2.2,0.0,1,104,9.27,2.50,-48.85,0.000,4,0.190,0.053,2591,544,2720,0,0,0,0,0,0,25.34,26.02,26.73
$GC,394,-1.16,-97.7,25.8,-8.1,37,403,0.12,2.47,0.00,0.000,6,0.138,0.024,2621,2189,2721,0,0,0,0,0,0,25.85,26.36,28.83
$GC,704,-1.12,-97.7,52.6,-9.4,68,713,0.00,2.50,0.00,0.000,4,0.000,0.041,2611,3754,2722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,847,-1.07,-97.7,65.8,-9.7,82,854,0.15,2.40,0.00,0.000,6,0.145,0.021,2651,2088,2721,0,0,0,0,0,0,26.03,26.47,28.83
$GC,1174,-1.07,-97.7,92.3,-7.9,101,1181,0.00,2.65,0.00,0.000,4,0.000,0.039,2640,3752,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1474,-1.07,-97.7,115.4,-7.5,111,1482,0.00,2.47,0.00,0.000,6,0.000,0.021,2640,2095,2722,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1805,-1.07,-97.7,140.5,-7.9,122,1811,0.00,2.62,0.00,0.000,4,0.000,0.039,2627,3746,2722,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2104,-1.07,-97.7,158.9,-5.5,130,2111,0.00,2.45,0.00,0.000,6,0.000,0.020,2627,2094,2723,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2465,-1.07,-97.7,180.5,-6.4,136,2471,0.00,2.62,0.00,0.000,4,0.000,0.039,2616,3745,2723,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2764,-1.05,-97.7,200.5,-6.5,141,2772,0.12,2.42,0.00,0.000,6,0.121,0.021,2658,2095,2723,0,0,0,0,0,0,26.09,26.53,28.83
$GC,3125,-1.08,-97.7,211.7,-2.5,147,3131,0.00,2.40,0.00,0.000,4,0.000,0.037,2658,538,2724,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3424,-1.08,-97.7,223.4,-4.2,152,3431,0.00,2.47,0.00,0.000,6,0.000,0.023,2648,2195,2723,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3785,-1.11,-97.7,245.2,-6.4,158,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2195,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4085,-1.14,-97.7,262.6,-5.6,163,4091,0.00,2.47,0.00,0.000,4,0.000,0.041,2636,3746,2722,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4194,-1.17,-97.7,265.7,-5.4,164,4202,0.00,2.45,0.00,0.000,6,0.000,0.021,2636,2094,2723,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4505,-1.19,-97.7,284.4,-5.2,170,4511,0.00,2.65,0.00,0.000,4,0.000,0.040,2623,3783,2721,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4573,-1.19,-97.7,288.1,-5.5,171,4581,0.00,2.53,0.00,0.000,6,0.000,0.021,2623,2091,2721,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4924,-1.19,-97.7,313.8,-7.4,177,4931,0.00,2.65,0.00,0.000,4,0.000,0.040,2611,3749,2721,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5224,-1.19,-97.7,340.0,-8.8,182,5231,0.00,2.47,0.00,0.000,6,0.000,0.021,2611,2095,2720,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5584,-1.19,-97.7,369.1,-7.8,188,5591,0.00,2.65,0.00,0.000,4,0.000,0.040,2599,3755,2719,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5884,-1.19,-97.7,388.1,-6.2,193,5891,0.00,2.45,0.00,0.000,6,0.000,0.021,2599,2102,2719,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6245,-1.19,-97.7,409.6,-6.2,199,6251,0.00,2.62,0.00,0.000,4,0.000,0.040,2587,3747,2718,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6544,-1.17,-97.7,433.2,-8.0,204,6552,0.10,2.45,0.00,0.000,6,0.128,0.021,2620,2095,2717,0,0,0,0,0,0,26.13,26.51,28.83
$GC,6905,-1.19,-97.7,461.4,-7.8,210,6911,0.00,2.65,0.00,0.000,4,0.000,0.041,2610,3744,2716,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7204,-1.19,-97.7,482.4,-6.8,215,7211,0.00,2.47,0.00,0.000,6,0.000,0.021,2609,2094,2716,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7625,-1.19,-97.7,508.5,-6.2,221,7631,0.00,2.62,0.00,0.000,4,0.000,0.041,2598,3739,2715,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7923,-1.19,-97.7,525.4,-6.7,223,7930,0.00,2.47,0.00,0.000,6,0.000,0.021,2598,2091,2714,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8344,-1.19,-97.7,558.7,-6.9,227,8351,0.00,2.65,0.00,0.000,4,0.000,0.041,2586,3744,2714,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8643,-1.19,-97.7,577.8,-7.5,229,8651,0.12,2.47,0.00,0.000,6,0.148,0.021,2618,2093,2715,0,0,0,0,0,0,26.14,26.50,28.83
$GC,9065,-1.22,-97.7,615.7,-7.9,233,9071,0.00,2.65,0.00,0.000,4,0.000,0.042,2607,3745,2711,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9363,-1.25,-97.7,634.6,-7.8,235,9371,0.00,2.47,0.00,0.000,6,0.000,0.021,2606,2099,2710,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9785,-1.27,-97.7,665.8,-6.5,239,9791,0.00,2.62,0.00,0.000,4,0.000,0.041,2600,3746,2709,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10083,-1.30,-97.7,680.0,-6.0,241,10091,0.00,2.47,0.00,0.000,6,0.000,0.021,2594,2102,2708,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10505,-1.30,-97.7,711.4,-6.5,245,10511,0.00,2.65,0.00,0.000,4,0.000,0.042,2583,3749,2707,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10803,-1.30,-97.7,731.0,-7.5,247,10810,0.00,2.50,0.00,0.000,6,0.000,0.021,2583,2093,2706,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11225,-1.30,-97.7,775.4,-9.2,251,11231,0.00,2.65,0.00,0.000,4,0.000,0.041,2571,3739,2705,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11475,-1.30,-97.7,799.4,-9.7,253,11481,0.00,2.45,0.00,0.000,6,0.000,0.022,2571,2106,2704,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11825,-1.30,-97.7,834.2,-9.8,256,11831,0.00,2.60,0.00,0.000,4,0.000,0.042,2559,3738,2703,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12123,-1.30,-97.7,856.7,-9.5,258,12130,0.00,2.47,0.00,0.000,6,0.000,0.023,2559,2098,2702,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12545,-1.30,-97.7,896.9,-8.3,262,12551,0.00,2.65,0.00,0.000,4,0.000,0.042,2547,3737,2700,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12843,-1.30,-97.7,917.5,-8.3,264,12851,0.15,2.47,0.00,0.000,6,0.151,0.023,2585,2098,2699,0,0,0,0,0,0,25.95,26.43,28.83
$GC,13265,-1.30,-97.7,958.7,-8.6,268,13271,0.00,2.65,0.00,0.000,4,0.000,0.044,2575,3745,2699,0,0,0,0,0,0,28.83,26.07,28.83
$GC,13564,-1.32,-97.7,980.6,-9.0,270,13571,0.00,2.47,0.00,0.000,6,0.000,0.023,2574,2111,2698,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,13621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13621,begin apogee
$GC,13630,-0.29,0.0,991.4,-9.0,271,13723,1.02,0.00,85.60,1.655,6,0.128,0.000,2896,1572,2319,0,0,0,0,0,0,25.22,28.83,23.07
$STATE,13725,end apogee,CONTROL_FINISHED_OK
$STATE,13725,begin climb
$GC,13728,1.26,97.7,995.9,0.0,276,13826,1.42,2.10,91.45,1.639,4,0.066,0.047,3412,354,1920,0,0,0,0,0,0,25.24,24.84,23.09
$GC,14116,1.10,97.7,974.5,8.2,290,14123,0.17,1.92,0.00,0.000,6,0.151,0.024,3358,1651,1909,0,0,0,0,0,0,25.76,26.27,28.83
$GC,14456,1.00,97.7,943.8,8.4,293,14458,0.15,0.00,0.00,0.000,6,0.171,0.000,3319,1652,1906,0,0,0,0,0,0,26.08,28.83,28.83
$GC,14815,0.94,97.7,915.3,8.2,296,14822,0.00,2.10,0.00,0.000,4,0.000,0.047,3327,350,1905,0,0,0,0,0,0,28.83,26.22,28.83
$GC,14874,0.89,97.7,915.3,8.2,296,14882,0.15,1.95,0.00,0.000,6,0.155,0.024,3289,1662,1905,0,0,0,0,0,0,26.04,26.49,28.83
$GC,15295,0.93,132.1,890.9,5.1,300,15327,0.00,0.00,29.12,1.576,6,0.000,0.000,3289,1660,1782,0,0,0,0,0,0,28.83,28.83,23.77
$GC,15655,0.98,173.3,873.0,4.7,303,15698,0.00,2.22,38.10,1.587,4,0.000,0.048,3297,356,1613,0,0,0,0,0,0,28.83,25.35,23.63
$GC,15948,1.02,187.9,856.8,6.0,305,15966,0.00,1.92,13.88,1.477,6,0.000,0.025,3297,1642,1552,0,0,0,0,0,0,28.83,26.26,23.97
$GC,16356,1.06,187.9,817.3,8.4,309,16364,0.12,2.08,0.00,0.000,4,0.084,0.047,3369,359,1550,0,0,0,0,0,0,26.43,26.15,28.83
$GC,16645,1.06,187.9,792.9,9.4,311,16649,0.00,1.95,0.00,0.000,6,0.000,0.025,3369,1652,1549,0,0,0,0,0,0,28.83,26.46,28.83
$GC,16947,1.02,187.9,759.9,9.6,314,16949,0.15,0.00,0.00,0.000,6,0.151,0.000,3329,1653,1548,0,0,0,0,0,0,26.22,28.83,28.83
$GC,17307,1.02,187.9,728.3,8.9,317,17314,0.00,2.10,0.00,0.000,4,0.000,0.048,3337,355,1547,0,0,0,0,0,0,28.83,26.21,28.83
$GC,17588,1.02,187.9,706.3,9.0,319,17594,0.00,1.92,0.00,0.000,6,0.000,0.026,3337,1647,1546,0,0,0,0,0,0,28.83,26.51,28.83
$GC,17907,1.02,187.9,674.6,8.9,322,17914,0.00,2.08,0.00,0.000,4,0.000,0.048,3347,356,1546,0,0,0,0,0,0,28.83,26.19,28.83
$GC,18066,1.02,187.9,664.2,8.7,323,18073,0.00,1.95,0.00,0.000,6,0.000,0.025,3347,1658,1545,0,0,0,0,0,0,28.83,26.51,28.83
$GC,18387,1.02,187.9,638.6,7.5,326,18394,0.00,2.12,0.00,0.000,4,0.000,0.048,3356,352,1546,0,0,0,0,0,0,28.83,26.16,28.83
$GC,18629,1.02,187.9,621.9,6.9,328,18634,0.00,1.90,0.00,0.000,6,0.000,0.026,3356,1663,1545,0,0,0,0,0,0,28.83,26.51,28.83
$GC,18987,1.02,187.9,596.4,7.0,331,18994,0.00,2.12,0.00,0.000,4,0.000,0.048,3366,356,1545,0,0,0,0,0,0,28.83,26.13,28.83
$GC,19276,1.02,187.9,577.3,7.5,333,19284,0.15,1.95,0.00,0.000,6,0.147,0.024,3325,1664,1545,0,0,0,0,0,0,26.04,26.51,28.83
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$GC,20547,1.10,187.9,462.0,7.7,347,20554,0.00,2.12,0.00,0.000,4,0.000,0.047,3355,357,1544,0,0,0,0,0,0,28.83,26.08,28.83
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$GC,21567,1.10,187.9,383.1,8.7,364,21574,0.00,2.12,0.00,0.000,4,0.000,0.047,3374,346,1545,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,25886,end climb,SURFACE_DEPTH_REACHED
$STATE,25886,begin surface coast
$FINISH,1.2,1.018617
$STATE,25917,end surface coast,CONTROL_FINISHED_OK
$STATE,25917,begin surface
$SM_CCo,25942,102.20,0.125,0,0,496,446.45
$SM_GC,2.09,8.57,2.80,102.20,0.038,0.024,0.125,152,2202,496,-8.84,-0.48,446.45,0,0,0,0,0,0,26.36,26.42,25.62
$IRIDIUM_FIX,2418.11,-3753.74,030113,090927
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.33
$INTERNAL_PRESSURE,8.98737
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,7634688
$TM_FREEKB,5111584
$24V_AH,23.1,63.567
$10V_AH,9.9,55.004
$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,22.100,190.075,272.100,102.200,0.000,136.791,348.877,0.000,0.000,0.000,19.587,2598.740,20429.148,730.703,2808.489,465.476,33.260,1875.530,0.000,2167.651,0.000,0.535,0.000
$DEVICE_MAMPS,190.485,94.860,1654.695,124.695,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.591,13.471,0.000,0.000
$MEM,344756
$DATA_FILE_SIZE,13404,513
$CAP_FILE_SIZE,191846,0
$CFSIZE,260034560,218587136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030113,165936,2424.958,-3741.966,37,1.0,37,-13.9