version: 66.07
glider: 543
mission: 14
dive: 348
start: 10 11 115 17 28 31
data:
$ID,543
$MISSION,14
$DIVE,348
$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,-25214.158
$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,85
$R_STBD_OVSHOOT,40
$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
$GPS1,111015,171755,-4302.315,826.918,66,2.6,85,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-68.6
$GPS2,111015,172808,-4302.329,827.139,25,2.6,44,-25.0
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT1
$TGT_LATLONG,-4304.000,824.000
$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,258.9,5255,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.43,-116.8,0.0,0.0,0,66,0.00,0.00,-48.25,0.000,2,0.000,0.000,62,3230,1702,0,0,0,0,0,0
$GC,68,-0.43,-116.8,3.1,-1.9,6,94,7.12,1.33,-8.38,0.000,4,0.235,0.050,1758,2312,1978,0,0,0,0,0,0
$GC,126,-0.39,-116.8,10.7,-11.6,14,135,0.00,1.42,0.00,0.000,6,0.000,0.049,1753,3195,1979,0,0,0,0,0,0
$GC,186,-0.32,-116.8,18.0,-13.5,23,195,0.17,1.20,0.00,0.000,4,0.155,0.054,1796,3948,1979,0,0,0,0,0,0
$GC,246,-0.38,-116.8,24.8,-10.3,32,254,0.00,1.02,0.00,0.000,6,0.000,0.031,1797,3236,1981,0,0,0,0,0,0
$GC,400,-0.43,-116.8,36.4,-7.1,57,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3236,1981,0,0,0,0,0,0
$GC,549,-0.48,-116.8,45.4,-5.8,82,555,0.12,0.00,0.00,0.000,6,0.091,0.000,1735,3236,1980,0,0,0,0,0,0
$GC,897,-0.38,-116.8,89.0,-12.5,143,903,0.17,0.00,0.00,0.000,6,0.161,0.000,1782,3235,1980,0,0,0,0,0,0
$GC,1238,-0.38,-116.8,116.7,-7.5,185,1241,0.00,1.12,0.00,0.000,4,0.000,0.056,1778,3953,1980,0,0,0,0,0,0
$GC,1272,-0.38,-116.8,119.7,-8.4,188,1276,0.00,1.08,0.00,0.000,6,0.000,0.031,1778,3207,1981,0,0,0,0,0,0
$GC,1602,-0.38,-116.8,146.9,-8.6,219,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,3206,1980,0,0,0,0,0,0
$GC,1926,-0.38,-116.8,174.3,-8.7,249,1929,0.00,1.27,0.00,0.000,4,0.000,0.025,1778,2292,1980,0,0,0,0,0,0
$GC,1961,-0.42,-116.8,177.2,-7.5,252,1965,0.00,1.48,0.00,0.000,6,0.000,0.049,1772,3211,1980,0,0,0,0,0,0
$GC,2292,-0.42,-116.8,204.3,-8.2,283,2295,0.00,1.15,0.00,0.000,4,0.000,0.056,1766,3948,1980,0,0,0,0,0,0
$GC,2363,-0.42,-116.8,210.1,-8.6,289,2367,0.00,1.08,0.00,0.000,6,0.000,0.031,1766,3199,1980,0,0,0,0,0,0
$GC,2694,-0.42,-116.8,236.5,-8.0,320,2697,0.00,1.27,0.00,0.000,4,0.000,0.026,1767,2289,1980,0,0,0,0,0,0
$GC,2721,-0.44,-116.8,238.8,-7.6,322,2728,0.00,1.48,0.00,0.000,6,0.000,0.050,1760,3209,1980,0,0,0,0,0,0
$GC,3048,-0.44,-116.8,265.7,-8.6,353,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,3209,1980,0,0,0,0,0,0
$GC,3366,-0.44,-116.8,292.8,-8.4,383,3370,0.00,1.17,0.00,0.000,4,0.000,0.057,1755,3948,1980,0,0,0,0,0,0
$GC,3393,-0.41,-116.8,295.6,-9.2,385,3401,0.00,1.08,0.00,0.000,6,0.000,0.030,1755,3199,1980,0,0,0,0,0,0
$GC,3719,-0.39,-116.8,324.2,-8.7,416,3723,0.00,1.17,0.00,0.000,4,0.000,0.056,1749,3948,1980,0,0,0,0,0,0
$GC,3743,-0.36,-116.8,326.3,-9.0,418,3748,0.10,1.05,0.00,0.000,6,0.133,0.031,1782,3218,1980,0,0,0,0,0,0
$GC,4076,-0.40,-116.8,347.3,-5.9,449,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,3218,1980,0,0,0,0,0,0
$GC,4396,-0.44,-116.8,365.9,-5.4,479,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,3218,1980,0,0,0,0,0,0
$GC,4723,-0.49,-116.8,383.9,-5.9,510,4725,0.10,0.00,0.00,0.000,6,0.106,0.000,1729,3218,1980,0,0,0,0,0,0
$GC,5047,-0.41,-116.8,415.6,-10.3,534,5049,0.15,0.00,0.00,0.000,6,0.155,0.000,1769,3218,1980,0,0,0,0,0,0
$GC,5356,-0.43,-116.8,437.7,-6.7,549,5360,0.00,1.30,0.00,0.000,4,0.000,0.027,1769,2301,1980,0,0,0,0,0,0
$GC,5396,-0.47,-116.8,440.6,-7.1,550,5403,0.00,1.48,0.00,0.000,6,0.000,0.050,1764,3214,1980,0,0,0,0,0,0
$GC,5712,-0.47,-116.8,465.2,-7.9,566,5716,0.00,1.15,0.00,0.000,4,0.000,0.057,1759,3950,1980,0,0,0,0,0,0
$GC,5744,-0.47,-116.8,468.1,-8.3,567,5748,0.00,1.08,0.00,0.000,6,0.000,0.031,1759,3202,1980,0,0,0,0,0,0
$GC,6065,-0.47,-116.8,495.8,-8.8,583,6067,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3202,1980,0,0,0,0,0,0
$GC,6375,-0.47,-116.8,523.5,-8.7,598,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3202,1980,0,0,0,0,0,0
$GC,6685,-0.47,-116.8,552.3,-9.5,613,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3202,1980,0,0,0,0,0,0
$GC,6993,-0.47,-116.8,581.1,-9.3,628,6997,0.00,1.20,0.00,0.000,4,0.000,0.058,1754,3955,1980,0,0,0,0,0,0
$GC,7026,-0.45,-116.8,584.5,-10.5,629,7030,0.00,1.08,0.00,0.000,6,0.000,0.031,1753,3215,1980,0,0,0,0,0,0
$GC,7348,-0.45,-116.8,614.6,-9.3,645,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,3216,1980,0,0,0,0,0,0
$GC,7657,-0.45,-116.8,641.5,-8.3,660,7658,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,3216,1980,0,0,0,0,0,0
$GC,7967,-0.45,-116.8,666.5,-7.8,675,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,3216,1980,0,0,0,0,0,0
$GC,8276,-0.45,-116.8,690.6,-8.1,690,8277,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,3216,1980,0,0,0,0,0,0
$GC,8585,-0.45,-116.8,716.2,-8.5,705,8586,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3216,1980,0,0,0,0,0,0
$GC,8895,-0.45,-116.8,741.2,-7.6,720,8899,0.00,1.33,0.00,0.000,4,0.000,0.027,1754,2292,1980,0,0,0,0,0,0
$GC,8934,-0.47,-116.8,744.3,-7.8,721,8940,0.00,1.50,0.00,0.000,6,0.000,0.050,1747,3214,1980,0,0,0,0,0,0
$GC,9250,-0.45,-116.8,769.5,-8.3,737,9254,0.00,1.17,0.00,0.000,4,0.000,0.058,1741,3957,1980,0,0,0,0,0,0
$GC,9296,-0.42,-116.8,773.6,-8.8,739,9300,0.00,1.10,0.00,0.000,6,0.000,0.032,1741,3204,1980,0,0,0,0,0,0
$GC,9629,-0.39,-116.8,801.7,-8.3,755,9631,0.12,0.00,0.00,0.000,6,0.165,0.000,1774,3203,1980,0,0,0,0,0,0
$GC,9939,-0.43,-116.8,820.5,-5.6,770,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,3203,1980,0,0,0,0,0,0
$GC,10248,-0.48,-116.8,839.2,-6.1,785,10249,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,3203,1980,0,0,0,0,0,0
$GC,10558,-0.53,-116.8,858.2,-6.1,800,10562,0.12,1.23,0.00,0.000,4,0.096,0.058,1710,3958,1980,0,0,0,0,0,0
$GC,10641,-0.43,-116.8,867.0,-11.5,803,10648,0.15,1.10,0.00,0.000,6,0.136,0.032,1757,3210,1980,0,0,0,0,0,0
$GC,10958,-0.43,-116.8,888.8,-6.5,819,10959,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3211,1980,0,0,0,0,0,0
$GC,11267,-0.43,-116.8,910.2,-7.1,834,11268,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3211,1980,0,0,0,0,0,0
$GC,11576,-0.45,-116.8,931.0,-6.8,849,11580,0.00,1.17,0.00,0.000,4,0.000,0.060,1753,3947,1980,0,0,0,0,0,0
$GC,11649,-0.45,-116.8,936.5,-6.8,852,11652,0.00,1.08,0.00,0.000,6,0.000,0.032,1753,3209,1980,0,0,0,0,0,0
$GC,11975,-0.45,-116.8,960.8,-7.6,868,11979,0.00,1.20,0.00,0.000,4,0.000,0.059,1748,3960,1979,0,0,0,0,0,0
$GC,12015,-0.45,-116.8,963.9,-7.9,869,12022,0.00,1.10,0.00,0.000,6,0.000,0.031,1748,3206,1979,0,0,0,0,0,0
$GC,12333,-0.45,-116.8,987.2,-7.0,885,12334,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3206,1979,0,0,0,0,0,0
$STATE,12514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12515,begin apogee
$GC,12520,-0.09,0.0,1000.7,7.2,894,12657,0.40,0.00,129.77,1.835,6,0.126,0.000,1870,2911,1500,0,0,0,0,0,0
$STATE,12658,end apogee,CONTROL_FINISHED_OK
$STATE,12658,begin climb
$GC,12660,0.43,116.8,1003.6,0.0,901,12794,0.50,1.42,125.45,1.776,4,0.083,0.027,2042,2048,1021,0,0,0,0,0,0
$GC,12833,0.43,116.8,992.3,8.9,909,12837,0.00,1.52,0.00,0.000,6,0.000,0.046,2042,2922,1019,0,0,0,0,0,0
$GC,13160,0.39,116.8,962.1,9.1,925,13164,0.00,1.42,0.00,0.000,4,0.000,0.057,2042,3803,1015,0,0,0,0,0,0
$GC,13261,0.31,116.8,951.1,10.5,929,13265,0.12,1.33,0.00,0.000,6,0.165,0.029,2012,2907,1015,0,0,0,0,0,0
$GC,13583,0.35,142.8,927.3,7.3,945,13613,0.00,1.50,24.40,1.754,4,0.000,0.057,2012,3800,917,0,0,0,0,0,0
$GC,13663,0.35,142.8,920.4,8.7,948,13670,0.00,1.33,0.00,0.000,6,0.000,0.029,2017,2919,916,0,0,0,0,0,0
$GC,13979,0.37,142.8,893.0,8.8,964,13983,0.00,1.42,0.00,0.000,4,0.000,0.055,2017,3806,914,0,0,0,0,0,0
$GC,14025,0.35,142.8,888.4,10.3,966,14029,0.00,1.30,0.00,0.000,6,0.000,0.030,2024,2922,914,0,0,0,0,0,0
$GC,14358,0.35,142.8,857.4,9.3,982,14361,0.00,1.42,0.00,0.000,4,0.000,0.056,2024,3813,913,0,0,0,0,0,0
$GC,14390,0.33,142.8,853.9,11.5,983,14395,0.00,1.30,0.00,0.000,6,0.000,0.029,2030,2920,913,0,0,0,0,0,0
$GC,14712,0.33,142.8,821.5,10.0,999,14716,0.00,1.27,0.00,0.000,4,0.000,0.031,2037,2056,913,0,0,0,0,0,0
$GC,14739,0.33,142.8,818.6,9.6,1000,14743,0.00,1.40,0.00,0.000,6,0.000,0.047,2037,2935,913,0,0,0,0,0,0
$GC,15067,0.31,142.8,783.4,10.4,1016,15070,0.00,1.38,0.00,0.000,4,0.000,0.056,2037,3805,913,0,0,0,0,0,0
$GC,15105,0.26,142.8,778.7,12.9,1017,15112,0.15,1.27,0.00,0.000,6,0.154,0.030,1997,2926,913,0,0,0,0,0,0
$GC,15421,0.35,169.1,754.4,7.2,1033,15451,0.00,1.40,25.98,1.694,4,0.000,0.054,1997,3801,808,0,0,0,0,0,0
$GC,15474,0.44,192.2,750.2,7.4,1035,15508,0.10,1.30,24.00,1.652,6,0.062,0.030,2053,2941,716,0,0,0,0,0,0
$GC,15816,0.42,192.2,710.4,11.7,1052,15820,0.00,1.33,0.00,0.000,4,0.000,0.032,2059,2057,714,0,0,0,0,0,0
$GC,15848,0.42,192.2,706.8,10.2,1053,15853,0.00,1.38,0.00,0.000,6,0.000,0.047,2059,2916,714,0,0,0,0,0,0
$GC,16171,0.38,192.2,668.0,12.2,1069,16175,0.00,1.40,0.00,0.000,4,0.000,0.057,2059,3798,713,0,0,0,0,0,0
$GC,16220,0.32,192.2,660.7,15.3,1071,16225,0.17,1.30,0.00,0.000,6,0.151,0.029,2012,2907,713,0,0,0,0,0,0
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$GC,17310,0.39,204.5,539.5,12.5,1123,17313,0.00,1.33,0.00,0.000,6,0.000,0.030,2041,2915,665,0,0,0,0,0,0
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$GC,18385,0.36,204.5,418.3,12.9,1174,18393,0.10,1.27,0.00,0.000,6,0.154,0.028,2029,2924,665,0,0,0,0,0,0
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$STATE,22202,end climb,SURFACE_DEPTH_REACHED
$STATE,22202,begin surface coast
$FINISH,1.3,1.013239
$STATE,22215,end surface coast,CONTROL_FINISHED_OK
$STATE,22216,begin surface
$SM_CCo,22290,0.00,0.000,0,0,645,209.73
$SM_GC,2.55,5.65,0.00,0.00,0.061,0.000,0.000,65,3227,645,-5.66,0.51,209.73
$IRIDIUM_FIX,-4244.98,825.73,070808,000048
$TT8_MAMPS,0.027713
$HUMID,63.70
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,21.4,65.370
$10V_AH,9.9,42.395
$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,16.250,102.000,344.650,0.000,0.000,25.155,22.622,385.040,0.000,0.000,47.724,3898.892,14370.239,485.762,3801.776,333.652,0.000,1929.753,0.000,3322.696,0.000,0.545,0.000
$DEVICE_MAMPS,234.855,62.730,1835.235,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1104.585,1135.435,1085.589,96.013,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353940
$DATA_FILE_SIZE,90130,1591
$CAP_FILE_SIZE,208455,0
$CFSIZE,259252224,229351424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111015,234104,-4302.681,825.833,29,0.9,29,-25.0