version: 66.07
glider: 543
mission: 9
dive: 373
start: 2 5 114 17 4 22
data:
$ID,543
$MISSION,9
$DIVE,373
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,0
$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,380
$T_MISSION,420
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52459
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4300
$TGT_DEFAULT_LON,-800
$TGT_AUTO_DEFAULT,0
$SM_CC,220
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,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,-13700.087
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,86
$PITCH_MAX,3908
$C_PITCH,1720
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,53
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,3380
$C_ROLL_CLIMB,3285
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,2474
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.00061500003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-59.073162
$PRESSURE_SLOPE,0.00011638312
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,15
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,131
$DEVICE4,118
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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,0.0043512532
$SEABIRD_T_H,0.00062429422
$SEABIRD_T_I,2.2835797e-05
$SEABIRD_T_J,2.3805812e-06
$SEABIRD_C_G,-10.305622
$SEABIRD_C_H,1.1763667
$SEABIRD_C_I,-0.0018977363
$SEABIRD_C_J,0.00023287861
$GPS1,050214,165035,-4300.304,814.537,38,0.9,38,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-64.4
$GPS2,050214,170359,-4300.410,814.737,14,1.6,14,-25.0
$SPEED_LIMITS,0.150,0.228
$TGT_NAME,SAZ
$TGT_LATLONG,-4300.000,750.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.000,0.000
$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,296.3,33513,-17.0,-8.684
$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
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.40,-121.7,0.0,0.0,0,59,0.00,0.00,-41.08,0.000,2,0.000,0.000,50,3383,2519,0,0,0,0,0,0
$GC,62,-0.40,-121.7,3.3,-4.5,5,88,6.38,0.93,-12.30,0.000,4,0.231,0.086,1579,3950,2973,0,0,0,0,0,0
$GC,189,-0.40,-121.7,19.9,-11.5,24,198,0.00,0.85,0.00,0.000,6,0.000,0.034,1580,3385,2976,0,0,0,0,0,0
$GC,247,-0.40,-121.7,27.5,-12.9,33,253,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,3385,2977,0,0,0,0,0,0
$GC,397,-0.40,-121.7,46.5,-13.6,58,403,0.00,0.90,0.00,0.000,4,0.000,0.058,1576,3948,2977,0,0,0,0,0,0
$GC,455,-0.40,-121.7,55.4,-14.9,68,462,0.00,0.85,0.00,0.000,6,0.000,0.034,1575,3379,2977,0,0,0,0,0,0
$GC,807,-0.40,-121.7,96.6,-9.1,129,816,0.00,0.90,0.00,0.000,4,0.000,0.058,1571,3945,2978,0,0,0,0,0,0
$GC,846,-0.40,-121.7,100.7,-10.4,135,849,0.00,0.85,0.00,0.000,6,0.000,0.033,1571,3373,2978,0,0,0,0,0,0
$GC,1176,-0.40,-121.7,132.3,-9.3,166,1180,0.00,2.10,0.00,0.000,4,0.000,0.026,1571,1981,2979,0,0,0,0,0,0
$GC,1203,-0.40,-121.7,134.7,-8.0,168,1213,0.08,2.30,0.00,0.000,6,0.122,0.050,1586,3388,2979,0,0,0,0,0,0
$GC,1529,-0.40,-121.7,159.5,-8.1,199,1532,0.00,0.90,0.00,0.000,4,0.000,0.059,1583,3951,2979,0,0,0,0,0,0
$GC,1612,-0.40,-121.7,166.9,-8.6,206,1620,0.00,0.82,0.00,0.000,6,0.000,0.033,1583,3386,2979,0,0,0,0,0,0
$GC,1941,-0.40,-121.7,193.9,-8.6,237,1944,0.00,2.12,0.00,0.000,4,0.000,0.027,1583,1963,2979,0,0,0,0,0,0
$GC,1961,-0.40,-121.7,196.1,-8.8,238,1969,0.00,2.30,0.00,0.000,6,0.000,0.050,1573,3381,2979,0,0,0,0,0,0
$GC,2290,-0.40,-121.7,227.3,-9.7,269,2293,0.00,0.90,0.00,0.000,4,0.000,0.058,1569,3949,2979,0,0,0,0,0,0
$GC,2383,-0.40,-121.7,236.7,-9.8,277,2387,0.00,0.85,0.00,0.000,6,0.000,0.034,1569,3374,2979,0,0,0,0,0,0
$GC,2714,-0.40,-121.7,269.5,-9.7,308,2717,0.00,0.93,0.00,0.000,4,0.000,0.059,1565,3955,2979,0,0,0,0,0,0
$GC,2798,-0.40,-121.7,278.1,-10.1,315,2805,0.00,0.85,0.00,0.000,6,0.000,0.033,1565,3383,2979,0,0,0,0,0,0
$GC,3123,-0.40,-121.7,311.2,-10.7,346,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,3383,2979,0,0,0,0,0,0
$GC,3443,-0.40,-121.7,345.0,-10.9,376,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,3383,2979,0,0,0,0,0,0
$GC,3761,-0.40,-121.7,378.8,-10.4,406,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,3383,2979,0,0,0,0,0,0
$GC,4086,-0.40,-121.7,412.7,-10.2,431,4090,0.00,0.90,0.00,0.000,4,0.000,0.060,1560,3949,2979,0,0,0,0,0,0
$GC,4115,-0.40,-121.7,415.7,-11.1,432,4118,0.00,0.85,0.00,0.000,6,0.000,0.034,1561,3381,2978,0,0,0,0,0,0
$GC,4442,-0.40,-121.7,447.4,-9.3,448,4446,0.10,0.93,0.00,0.000,4,0.173,0.060,1583,3946,2978,0,0,0,0,0,0
$GC,4479,-0.40,-121.7,450.7,-8.0,449,4487,0.00,0.85,0.00,0.000,6,0.000,0.034,1583,3382,2978,0,0,0,0,0,0
$GC,4796,-0.40,-121.7,471.7,-6.6,465,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,3382,2978,0,0,0,0,0,0
$GC,5106,-0.40,-121.7,491.7,-6.4,480,5109,0.00,0.90,0.00,0.000,4,0.000,0.060,1579,3944,2978,0,0,0,0,0,0
$GC,5129,-0.40,-121.7,493.4,-7.2,481,5133,0.00,0.85,0.00,0.000,6,0.000,0.035,1579,3381,2977,0,0,0,0,0,0
$GC,5462,-0.40,-121.7,516.7,-6.9,497,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,3381,2977,0,0,0,0,0,0
$GC,5772,-0.40,-121.7,540.4,-7.8,512,5776,0.00,0.90,0.00,0.000,4,0.000,0.060,1575,3938,2976,0,0,0,0,0,0
$GC,5878,-0.40,-121.7,550.0,-9.1,516,5885,0.00,0.88,0.00,0.000,6,0.000,0.034,1575,3370,2976,0,0,0,0,0,0
$GC,6196,-0.40,-121.7,578.0,-9.1,532,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,3370,2975,0,0,0,0,0,0
$GC,6503,-0.40,-121.7,605.9,-8.8,547,6507,0.00,0.95,0.00,0.000,4,0.000,0.061,1571,3958,2975,0,0,0,0,0,0
$GC,6537,-0.40,-121.7,609.1,-9.6,548,6541,0.00,0.88,0.00,0.000,6,0.000,0.035,1571,3382,2974,0,0,0,0,0,0
$GC,6859,-0.40,-121.7,637.9,-8.6,564,6863,0.00,0.93,0.00,0.000,4,0.000,0.061,1568,3955,2974,0,0,0,0,0,0
$GC,6892,-0.40,-121.7,641.0,-9.8,565,6896,0.00,0.90,0.00,0.000,6,0.000,0.035,1567,3368,2974,0,0,0,0,0,0
$GC,7216,-0.40,-121.7,667.7,-8.3,581,7219,0.00,0.93,0.00,0.000,4,0.000,0.062,1562,3942,2974,0,0,0,0,0,0
$GC,7271,-0.40,-121.7,672.8,-8.4,583,7275,0.00,0.85,0.00,0.000,6,0.000,0.036,1562,3383,2974,0,0,0,0,0,0
$GC,7593,-0.40,-121.7,699.2,-8.2,599,7596,0.00,0.90,0.00,0.000,4,0.000,0.061,1558,3944,2974,0,0,0,0,0,0
$GC,7710,-0.40,-121.7,709.3,-8.4,604,7715,0.08,0.85,0.00,0.000,6,0.137,0.037,1583,3383,2974,0,0,0,0,0,0
$GC,8038,-0.40,-121.7,729.3,-5.9,620,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,3383,2973,0,0,0,0,0,0
$GC,8349,-0.40,-121.7,747.8,-5.9,635,8350,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,3383,2973,0,0,0,0,0,0
$GC,8656,-0.40,-121.7,766.1,-5.7,650,8657,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,3383,2972,0,0,0,0,0,0
$GC,8966,-0.40,-121.7,784.5,-5.9,665,8967,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,3383,2972,0,0,0,0,0,0
$GC,9275,-0.40,-121.7,803.3,-6.0,680,9279,0.00,0.93,0.00,0.000,4,0.000,0.062,1580,3954,2971,0,0,0,0,0,0
$GC,9308,-0.40,-121.7,805.5,-6.8,681,9312,0.00,0.88,0.00,0.000,6,0.000,0.037,1580,3382,2971,0,0,0,0,0,0
$GC,9632,-0.40,-121.7,824.6,-5.8,697,9635,0.00,0.93,0.00,0.000,4,0.000,0.063,1576,3954,2971,0,0,0,0,0,0
$GC,9693,-0.40,-121.7,828.7,-6.3,699,9700,0.00,0.88,0.00,0.000,6,0.000,0.037,1576,3379,2971,0,0,0,0,0,0
$GC,10009,-0.40,-121.7,847.4,-6.0,715,10013,0.00,0.93,0.00,0.000,4,0.000,0.062,1572,3952,2971,0,0,0,0,0,0
$GC,10036,-0.40,-121.7,849.3,-6.9,716,10040,0.00,0.88,0.00,0.000,6,0.000,0.036,1572,3370,2971,0,0,0,0,0,0
$GC,10366,-0.40,-121.7,869.9,-6.4,732,10370,0.00,0.93,0.00,0.000,4,0.000,0.063,1568,3942,2970,0,0,0,0,0,0
$GC,10434,-0.40,-121.7,874.6,-6.5,735,10438,0.00,0.85,0.00,0.000,6,0.000,0.037,1568,3384,2970,0,0,0,0,0,0
$GC,10768,-0.40,-121.7,895.3,-6.0,751,10769,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,3384,2970,0,0,0,0,0,0
$GC,11076,-0.40,-121.7,913.3,-5.5,766,11080,0.00,0.90,0.00,0.000,4,0.000,0.063,1564,3943,2969,0,0,0,0,0,0
$GC,11122,-0.40,-121.7,915.9,-6.1,768,11126,0.00,0.85,0.00,0.000,6,0.000,0.036,1564,3381,2969,0,0,0,0,0,0
$GC,11456,-0.40,-121.7,934.2,-5.5,784,11459,0.00,0.95,0.00,0.000,4,0.000,0.063,1560,3954,2969,0,0,0,0,0,0
$GC,11511,-0.40,-121.7,937.8,-6.6,786,11515,0.08,0.88,0.00,0.000,6,0.131,0.037,1584,3375,2969,0,0,0,0,0,0
$GC,11833,-0.40,-121.7,951.0,-4.2,802,11837,0.00,0.93,0.00,0.000,4,0.000,0.063,1581,3945,2969,0,0,0,0,0,0
$GC,11894,-0.40,-121.7,954.1,-5.2,804,11902,0.00,0.88,0.00,0.000,6,0.000,0.037,1582,3373,2969,0,0,0,0,0,0
$GC,12213,-0.40,-121.7,968.4,-4.8,820,12216,0.00,0.93,0.00,0.000,4,0.000,0.063,1577,3945,2969,0,0,0,0,0,0
$GC,12274,-0.40,-121.7,972.0,-5.6,822,12281,0.00,0.85,0.00,0.000,6,0.000,0.037,1577,3383,2969,0,0,0,0,0,0
$GC,12590,-0.40,-121.7,988.8,-5.4,838,12594,0.00,0.93,0.00,0.000,4,0.000,0.063,1573,3955,2969,0,0,0,0,0,0
$STATE,12604,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12604,begin apogee
$GC,12610,-0.09,0.0,989.8,5.3,838,12738,0.32,0.00,122.35,1.848,6,0.123,0.000,1681,3274,2473,0,0,0,0,0,0
$STATE,12739,end apogee,CONTROL_FINISHED_OK
$STATE,12739,begin climb
$GC,12741,0.40,121.7,992.3,0.0,845,12877,0.47,2.42,128.35,1.792,4,0.051,0.030,1867,1877,1977,0,0,0,0,0,0
$GC,12937,0.40,121.7,976.8,11.6,854,12941,0.00,2.47,0.00,0.000,6,0.000,0.050,1867,3280,1970,0,0,0,0,0,0
$GC,13259,0.40,121.7,928.0,15.2,870,13263,0.00,1.12,0.00,0.000,4,0.000,0.060,1867,3959,1964,0,0,0,0,0,0
$GC,13286,0.40,121.7,923.5,16.5,871,13290,0.00,1.08,0.00,0.000,6,0.000,0.034,1873,3276,1964,0,0,0,0,0,0
$GC,13615,0.40,121.7,873.9,14.9,887,13616,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,3277,1960,0,0,0,0,0,0
$GC,13923,0.40,121.7,829.9,14.5,902,13925,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,3277,1959,0,0,0,0,0,0
$GC,14232,0.40,121.7,786.8,13.7,917,14236,0.00,1.10,0.00,0.000,4,0.000,0.060,1873,3954,1958,0,0,0,0,0,0
$GC,14300,0.40,121.7,776.7,15.7,920,14304,0.00,1.02,0.00,0.000,6,0.000,0.034,1878,3277,1958,0,0,0,0,0,0
$GC,14633,0.40,121.7,733.5,12.6,936,14634,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,3277,1957,0,0,0,0,0,0
$GC,14942,0.40,121.7,696.5,11.9,951,14946,0.00,2.15,0.00,0.000,4,0.000,0.031,1888,1874,1956,0,0,0,0,0,0
$GC,14962,0.40,121.7,694.0,10.6,952,14968,0.12,2.30,0.00,0.000,6,0.154,0.050,1851,3285,1956,0,0,0,0,0,0
$GC,15292,0.40,121.7,662.0,9.7,968,15296,0.00,1.08,0.00,0.000,4,0.000,0.060,1851,3948,1955,0,0,0,0,0,0
$GC,15383,0.40,121.7,651.7,11.5,972,15387,0.00,1.00,0.00,0.000,6,0.000,0.035,1855,3287,1955,0,0,0,0,0,0
$GC,15716,0.40,121.7,617.6,10.1,988,15720,0.00,2.17,0.00,0.000,4,0.000,0.031,1866,1862,1955,0,0,0,0,0,0
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$GC,17633,0.40,134.4,401.3,11.9,1081,17637,0.00,2.17,0.00,0.000,4,0.000,0.030,1877,1862,1923,0,0,0,0,0,0
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$GC,21336,0.49,272.2,11.4,4.9,1499,21378,0.00,2.20,34.12,0.799,4,0.000,0.028,1867,1874,1359,0,0,0,0,0,0
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$STATE,21422,end climb,SURFACE_DEPTH_REACHED
$STATE,21422,begin surface coast
$FINISH,0.6,1.013384
$STATE,21473,end surface coast,CONTROL_FINISHED_OK
$STATE,21473,begin surface
$SM_CCo,21546,0.00,0.000,0,0,1351,275.22
$SM_GC,1.49,4.88,0.00,0.00,0.045,0.000,0.000,59,3388,1351,-5.07,0.23,275.22
$IRIDIUM_FIX,-4244.98,813.22,050214,161654
$TT8_MAMPS,0.026215
$HUMID,62.24
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,21.7,53.879
$10V_AH,9.7,43.267
$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,12.725,96.725,331.525,0.000,0.000,56.007,121.524,403.375,0.000,0.000,16.781,3730.246,13856.052,446.909,3937.642,362.514,0.000,1850.709,0.000,3194.641,0.000,1.011,0.000
$DEVICE_MAMPS,231.030,85.680,1848.240,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1053.091,2577.780,967.499,461.072,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354388
$DATA_FILE_SIZE,107109,1518
$CAP_FILE_SIZE,192940,0
$CFSIZE,259252224,229834752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050214,230434,-4300.328,812.164,31,1.5,31,-24.9