version: 66.07
glider: 543
mission: 14
dive: 308
start: 10 2 115 0 24 56
data:
$ID,543
$MISSION,14
$DIVE,308
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,5
$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,390
$T_MISSION,420
$T_ABORT,1440
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,53008
$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,200
$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,-25097.094
$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,1905
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,55
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,25
$C_ROLL_DIVE,3209
$C_ROLL_CLIMB,2924
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,84
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,1500
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.001
$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,-55.053406
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,117
$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,0.00012677554
$GPS1,021015,001558,-4256.371,836.026,46,0.9,46,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-75.5
$GPS2,021015,002434,-4256.414,836.151,27,1.0,27,-25.1
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT4
$TGT_LATLONG,-4304.000,836.000
$TGT_RADIUS,1000.000
$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,205.9,14050,-17.1,-8.547
$D_GRID,1000
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.43,-116.8,0.0,0.0,0,75,0.00,0.00,-56.38,0.000,6,0.000,0.000,62,3226,1978,0,0,0,0,0,0
$GC,78,-0.43,-116.8,3.6,-2.6,7,95,7.32,1.15,0.00,0.000,4,0.243,0.041,1757,3959,1980,0,0,0,0,0,0
$GC,233,-0.36,-116.8,29.0,-11.4,32,242,0.00,1.08,0.00,0.000,6,0.000,0.031,1757,3230,1983,0,0,0,0,0,0
$GC,383,-0.29,-116.8,46.2,-11.2,57,392,0.17,1.35,0.00,0.000,4,0.160,0.028,1805,2298,1983,0,0,0,0,0,0
$GC,423,-0.32,-116.8,49.6,-8.4,63,431,0.00,1.48,0.00,0.000,6,0.000,0.051,1800,3208,1983,0,0,0,0,0,0
$GC,777,-0.37,-116.8,73.3,-6.1,124,783,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3208,1984,0,0,0,0,0,0
$GC,1126,-0.42,-116.8,94.4,-5.9,185,1133,0.00,1.17,0.00,0.000,4,0.000,0.058,1795,3952,1984,0,0,0,0,0,0
$GC,1186,-0.46,-116.8,98.0,-6.6,195,1195,0.08,1.08,0.00,0.000,6,0.057,0.033,1740,3218,1983,0,0,0,0,0,0
$GC,1521,-0.36,-116.8,134.2,-11.0,228,1523,0.17,0.00,0.00,0.000,6,0.158,0.000,1787,3217,1983,0,0,0,0,0,0
$GC,1840,-0.39,-116.8,153.3,-5.9,258,1844,0.00,1.17,0.00,0.000,4,0.000,0.057,1783,3957,1984,0,0,0,0,0,0
$GC,1958,-0.41,-116.8,161.6,-7.7,268,1967,0.00,1.10,0.00,0.000,6,0.000,0.031,1783,3196,1983,0,0,0,0,0,0
$GC,2284,-0.43,-116.8,183.6,-6.0,299,2288,0.00,1.20,0.00,0.000,4,0.000,0.057,1778,3954,1983,0,0,0,0,0,0
$GC,2309,-0.43,-116.8,184.9,-5.4,301,2313,0.00,1.08,0.00,0.000,6,0.000,0.031,1778,3214,1984,0,0,0,0,0,0
$GC,2640,-0.43,-116.8,207.4,-8.6,332,2643,0.00,1.30,0.00,0.000,4,0.000,0.027,1778,2294,1983,0,0,0,0,0,0
$GC,2679,-0.47,-116.8,210.7,-7.8,335,2685,0.00,1.48,0.00,0.000,6,0.000,0.050,1772,3211,1983,0,0,0,0,0,0
$GC,3004,-0.47,-116.8,239.3,-8.3,366,3007,0.00,1.17,0.00,0.000,4,0.000,0.057,1766,3957,1983,0,0,0,0,0,0
$GC,3060,-0.47,-116.8,244.1,-8.7,371,3064,0.00,1.08,0.00,0.000,6,0.000,0.031,1767,3214,1984,0,0,0,0,0,0
$GC,3390,-0.47,-116.8,271.9,-8.7,402,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,3214,1984,0,0,0,0,0,0
$GC,3710,-0.47,-116.8,299.7,-8.5,432,3714,0.00,1.17,0.00,0.000,4,0.000,0.057,1762,3953,1984,0,0,0,0,0,0
$GC,3791,-0.44,-116.8,307.0,-9.3,439,3794,0.00,1.08,0.00,0.000,6,0.000,0.031,1761,3214,1984,0,0,0,0,0,0
$GC,4122,-0.42,-116.8,335.5,-9.0,470,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,3212,1984,0,0,0,0,0,0
$GC,4442,-0.41,-116.8,365.6,-9.2,500,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,3212,1983,0,0,0,0,0,0
$GC,4761,-0.39,-116.8,394.9,-9.0,530,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,3213,1984,0,0,0,0,0,0
$GC,5070,-0.39,-116.8,421.4,-8.3,548,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,3213,1983,0,0,0,0,0,0
$GC,5379,-0.39,-116.8,446.7,-8.0,563,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3212,1984,0,0,0,0,0,0
$GC,5689,-0.39,-116.8,471.6,-7.9,578,5690,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,3212,1983,0,0,0,0,0,0
$GC,5998,-0.39,-116.8,497.4,-8.3,593,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,3213,1983,0,0,0,0,0,0
$GC,6307,-0.39,-116.8,522.7,-8.1,608,6310,0.00,1.17,0.00,0.000,4,0.000,0.059,1756,3945,1983,0,0,0,0,0,0
$GC,6376,-0.37,-116.8,528.5,-8.5,611,6380,0.00,1.08,0.00,0.000,6,0.000,0.032,1756,3215,1983,0,0,0,0,0,0
$GC,6709,-0.35,-116.8,555.4,-7.9,627,6711,0.12,0.00,0.00,0.000,6,0.163,0.000,1789,3213,1984,0,0,0,0,0,0
$GC,7019,-0.41,-116.8,572.4,-5.3,642,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,3213,1983,0,0,0,0,0,0
$GC,7328,-0.46,-116.8,589.8,-5.8,657,7329,0.10,0.00,0.00,0.000,6,0.107,0.000,1739,3214,1983,0,0,0,0,0,0
$GC,7637,-0.41,-116.8,618.0,-9.3,672,7641,0.12,1.20,0.00,0.000,4,0.162,0.058,1767,3951,1983,0,0,0,0,0,0
$GC,7719,-0.41,-116.8,624.5,-7.5,675,7727,0.00,1.10,0.00,0.000,6,0.000,0.031,1767,3203,1983,0,0,0,0,0,0
$GC,8036,-0.41,-116.8,648.4,-7.8,691,8037,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,3203,1983,0,0,0,0,0,0
$GC,8345,-0.41,-116.8,673.2,-8.2,706,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,3202,1983,0,0,0,0,0,0
$GC,8654,-0.41,-116.8,698.8,-8.3,721,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,3202,1983,0,0,0,0,0,0
$GC,8964,-0.41,-116.8,724.0,-7.7,736,8965,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,3202,1984,0,0,0,0,0,0
$GC,9273,-0.43,-116.8,747.8,-7.6,751,9277,0.00,1.20,0.00,0.000,4,0.000,0.059,1762,3950,1983,0,0,0,0,0,0
$GC,9334,-0.43,-116.8,753.0,-8.3,753,9341,0.00,1.10,0.00,0.000,6,0.000,0.031,1762,3203,1983,0,0,0,0,0,0
$GC,9651,-0.43,-116.8,776.9,-7.6,769,9652,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3203,1983,0,0,0,0,0,0
$GC,9960,-0.43,-116.8,800.1,-7.6,784,9963,0.00,1.20,0.00,0.000,4,0.000,0.059,1756,3951,1983,0,0,0,0,0,0
$GC,9998,-0.43,-116.8,803.2,-8.4,785,10005,0.00,1.08,0.00,0.000,6,0.000,0.032,1756,3218,1983,0,0,0,0,0,0
$GC,10315,-0.43,-116.8,828.0,-7.6,801,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,3218,1983,0,0,0,0,0,0
$GC,10623,-0.43,-116.8,851.9,-7.9,816,10624,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,3219,1983,0,0,0,0,0,0
$GC,10933,-0.43,-116.8,875.8,-7.6,831,10934,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,3219,1983,0,0,0,0,0,0
$GC,11242,-0.43,-116.8,897.8,-6.7,846,11246,0.00,1.17,0.00,0.000,4,0.000,0.059,1751,3948,1983,0,0,0,0,0,0
$GC,11297,-0.43,-116.8,902.0,-7.8,848,11301,0.00,1.08,0.00,0.000,6,0.000,0.032,1751,3216,1983,0,0,0,0,0,0
$GC,11619,-0.43,-116.8,924.9,-7.1,864,11621,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,3216,1983,0,0,0,0,0,0
$GC,11928,-0.43,-116.8,947.4,-7.4,879,11932,0.00,1.17,0.00,0.000,4,0.000,0.059,1746,3948,1983,0,0,0,0,0,0
$GC,11990,-0.42,-116.8,952.6,-8.2,881,11996,0.00,1.10,0.00,0.000,6,0.000,0.033,1745,3201,1983,0,0,0,0,0,0
$GC,12306,-0.40,-116.8,977.3,-7.8,897,12307,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3202,1983,0,0,0,0,0,0
$STATE,12592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12592,begin apogee
$GC,12597,-0.09,0.0,1000.0,7.8,911,12738,0.43,0.00,132.95,1.870,6,0.131,0.000,1874,2917,1500,0,0,0,0,1,0
$STATE,12739,end apogee,CONTROL_FINISHED_OK
$STATE,12739,begin climb
$GC,12741,0.43,116.8,1003.8,0.0,918,12875,0.50,1.50,126.62,1.810,4,0.086,0.031,2044,2050,1023,0,0,0,0,0,0
$GC,12943,0.41,116.8,990.3,9.5,927,12946,0.00,1.50,0.00,0.000,6,0.000,0.047,2044,2918,1021,0,0,0,0,0,0
$GC,13264,0.36,116.8,957.7,10.1,943,13268,0.00,1.45,0.00,0.000,4,0.000,0.058,2044,3811,1018,0,0,0,0,0,0
$GC,13325,0.25,116.8,950.3,12.1,945,13332,0.20,1.35,0.00,0.000,6,0.173,0.028,1993,2905,1018,0,0,0,0,0,0
$GC,13642,0.32,150.9,928.2,6.9,961,13684,0.00,1.58,33.08,1.816,4,0.000,0.057,1993,3817,883,0,0,0,0,0,0
$GC,13756,0.34,150.9,918.7,8.9,966,13760,0.00,1.35,0.00,0.000,6,0.000,0.028,1998,2922,882,0,0,0,0,0,0
$GC,14084,0.40,167.3,892.7,7.7,982,14107,0.10,1.50,16.85,1.747,4,0.115,0.057,2041,3807,817,0,0,0,0,0,0
$GC,14177,0.33,167.3,882.0,13.3,986,14181,0.10,1.33,0.00,0.000,6,0.165,0.028,2019,2921,817,0,0,0,0,0,0
$GC,14509,0.33,167.3,851.3,8.5,1002,14513,0.00,1.42,0.00,0.000,4,0.000,0.057,2018,3800,815,0,0,0,0,0,0
$GC,14537,0.33,167.3,848.4,8.9,1003,14541,0.00,1.30,0.00,0.000,6,0.000,0.029,2024,2925,815,0,0,0,0,0,0
$GC,14864,0.33,167.3,818.4,9.3,1019,14867,0.00,1.45,0.00,0.000,4,0.000,0.057,2024,3807,815,0,0,0,0,0,0
$GC,14913,0.30,167.3,813.0,11.0,1021,14917,0.00,1.30,0.00,0.000,6,0.000,0.030,2030,2924,815,0,0,0,0,0,0
$GC,15241,0.30,167.3,778.3,10.5,1037,15244,0.00,1.45,0.00,0.000,4,0.000,0.057,2030,3805,814,0,0,0,0,0,0
$GC,15301,0.26,167.3,770.9,12.0,1039,15309,0.15,1.30,0.00,0.000,6,0.155,0.029,1991,2924,814,0,0,0,0,0,0
$GC,15619,0.36,199.4,747.6,7.0,1055,15659,0.00,1.52,31.73,1.733,4,0.000,0.058,1991,3812,687,0,0,0,0,0,0
$GC,15676,0.46,218.6,743.2,7.6,1057,15706,0.12,1.35,20.92,1.667,6,0.062,0.029,2055,2935,607,0,0,0,0,0,0
$GC,16012,0.44,218.6,702.5,12.6,1074,16016,0.00,1.35,0.00,0.000,4,0.000,0.034,2062,2050,606,0,0,0,0,0,0
$GC,16035,0.44,218.6,699.7,11.9,1075,16039,0.00,1.40,0.00,0.000,6,0.000,0.048,2062,2923,605,0,0,0,0,0,0
$GC,16368,0.41,218.6,655.1,13.4,1091,16372,0.00,1.40,0.00,0.000,4,0.000,0.057,2062,3803,604,0,0,0,0,0,0
$GC,16401,0.34,218.6,650.2,15.4,1092,16406,0.15,1.30,0.00,0.000,6,0.158,0.029,2023,2911,605,0,0,0,0,0,0
$GC,16723,0.39,218.6,615.7,10.9,1108,16726,0.00,1.45,0.00,0.000,4,0.000,0.056,2023,3810,605,0,0,0,0,0,0
$GC,16768,0.39,218.6,610.0,12.6,1110,16772,0.00,1.30,0.00,0.000,6,0.000,0.029,2028,2920,604,0,0,0,0,0,0
$GC,17101,0.42,218.6,573.6,10.2,1126,17105,0.00,1.27,0.00,0.000,4,0.000,0.033,2035,2058,604,0,0,0,0,0,0
$GC,17128,0.47,218.6,570.7,9.6,1127,17132,0.00,1.38,0.00,0.000,6,0.000,0.048,2035,2921,604,0,0,0,0,0,0
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$GC,18167,0.52,218.6,456.8,11.6,1177,18171,0.00,1.42,0.00,0.000,4,0.000,0.059,2048,3803,604,0,0,0,0,0,0
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$GC,18544,0.48,218.6,409.7,12.1,1195,18545,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2929,603,0,0,0,0,0,0
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$STATE,22128,end climb,SURFACE_DEPTH_REACHED
$STATE,22128,begin surface coast
$FINISH,1.1,1.016806
$STATE,22154,end surface coast,CONTROL_FINISHED_OK
$STATE,22154,begin surface
$SM_CCo,22228,0.00,0.000,0,0,507,243.58
$SM_GC,2.43,5.28,0.00,0.00,0.034,0.000,0.000,62,3233,507,-5.65,0.59,243.58
$IRIDIUM_FIX,-4236.17,833.59,280708,090935
$TT8_MAMPS,0.027713
$HUMID,63.38
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,21.4,58.038
$10V_AH,10.1,37.186
$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,15.725,88.775,387.250,0.000,0.000,25.155,44.865,299.983,0.000,0.000,29.752,3898.679,14276.617,507.392,3763.452,291.933,0.000,1942.907,0.000,3361.602,0.000,0.545,0.000
$DEVICE_MAMPS,242.505,58.905,1869.660,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1108.879,1123.792,1135.115,109.026,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,90189,1599
$CAP_FILE_SIZE,202101,0
$CFSIZE,259252224,233005056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,021015,063637,-4258.172,837.009,39,1.2,39,-25.1