version: 66.07.10.p01
glider: 573
mission: 4
dive: 30
start: 10 1 112 0 25 3
data:
$ID,573
$MISSION,4
$DIVE,30
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1100
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$T_BOOST_BLACKOUT,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,450
$T_MISSION,520
$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,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52752
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-4059.2241
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3022
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,1819
$C_ROLL_CLIMB,1646
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,2862
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$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,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-87.947678
$PRESSURE_SLOPE,0.00011693723
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$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,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,9
$GPS1,011012,001359,-4239.234,-1010.870,67,1.1,67,-21.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-71.5
$GPS2,011012,002442,-4239.115,-1010.857,14,1.6,14,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_WP3
$TGT_LATLONG,-4240.000,-840.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.120,-0.304
$KALMAN_X,-151.7,-151.7,-151.7,138.2,-343.1
$KALMAN_Y,273.5,273.5,273.5,229.1,618.8
$MHEAD_RNG_PITCHd_Wd,112.2,123739,-15.4,-7.407
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.71,-121.6,0.0,0.0,0,75,0.00,0.00,-48.70,0.000,2,0.000,0.000,85,1822,2970,0,0,0,0,0,0
$GC,77,-0.71,-121.6,3.1,-1.9,8,109,11.55,2.25,-10.12,0.000,4,0.265,0.071,2778,3223,3359,0,0,0,0,0,0
$GC,322,-0.60,-121.6,35.7,-13.6,49,327,0.17,2.20,0.00,0.000,6,0.163,0.045,2826,1818,3361,0,0,0,0,0,0
$GC,557,-0.55,-121.6,59.1,-9.7,90,565,0.05,0.50,0.00,0.000,4,0.236,0.057,2836,2141,3360,0,0,0,0,0,0
$GC,716,-0.52,-121.6,74.6,-10.7,117,722,0.03,0.50,0.00,0.000,6,0.179,0.053,2846,1806,3361,0,0,0,0,0,0
$GC,1065,-0.50,-121.6,105.2,-9.6,178,1073,0.03,0.62,0.00,0.000,4,0.292,0.056,2852,2211,3360,0,0,0,0,0,0
$GC,1331,-0.50,-121.6,130.2,-9.9,224,1338,0.00,0.57,0.00,0.000,6,0.000,0.053,2852,1828,3361,0,0,0,0,0,0
$GC,1683,-0.50,-121.6,161.8,-8.0,285,1688,0.00,1.02,0.00,0.000,4,0.000,0.054,2847,2481,3361,0,0,0,0,0,0
$GC,1879,-0.50,-121.6,179.9,-9.8,319,1884,0.00,1.02,0.00,0.000,6,0.000,0.048,2847,1816,3362,0,0,0,0,0,0
$GC,2227,-0.50,-121.6,210.1,-7.9,380,2234,0.00,0.68,0.00,0.000,4,0.000,0.054,2844,2263,3362,0,0,0,0,0,0
$GC,2366,-0.50,-121.6,221.5,-8.3,404,2373,0.03,0.68,0.00,0.000,6,0.168,0.051,2855,1814,3362,0,0,0,0,0,0
$GC,2719,-0.50,-121.6,247.2,-7.2,465,2724,0.00,0.65,0.00,0.000,4,0.000,0.055,2852,2246,3362,0,0,0,0,0,0
$GC,2857,-0.50,-121.6,257.4,-7.3,481,2861,0.00,0.65,0.00,0.000,6,0.000,0.053,2852,1815,3362,0,0,0,0,0,0
$GC,3189,-0.50,-121.6,283.9,-8.5,512,3192,0.00,0.35,0.00,0.000,4,0.000,0.059,2850,2062,3362,0,0,0,0,0,0
$GC,3452,-0.50,-121.6,306.9,-8.4,535,3456,0.00,0.35,0.00,0.000,6,0.000,0.061,2851,1821,3362,0,0,0,0,0,0
$GC,3782,-0.50,-121.6,337.0,-9.4,566,3785,0.00,0.95,0.00,0.000,4,0.000,0.056,2846,2435,3362,0,0,0,0,0,0
$GC,3917,-0.50,-121.6,350.0,-9.3,578,3921,0.00,0.95,0.00,0.000,6,0.000,0.049,2846,1811,3362,0,0,0,0,0,0
$GC,4249,-0.50,-121.6,381.2,-9.1,609,4252,0.00,0.93,0.00,0.000,4,0.000,0.056,2842,2414,3362,0,0,0,0,0,0
$GC,4409,-0.50,-121.6,396.1,-9.5,623,4413,0.03,0.90,0.00,0.000,6,0.183,0.050,2853,1823,3361,0,0,0,0,0,0
$GC,4738,-0.50,-121.6,424.6,-8.3,654,4742,0.00,0.75,0.00,0.000,4,0.000,0.056,2849,2314,3361,0,0,0,0,0,0
$GC,4877,-0.50,-121.6,436.4,-8.8,666,4885,0.00,0.77,0.00,0.000,6,0.000,0.052,2850,1813,3360,0,0,0,0,0,0
$GC,5204,-0.50,-121.6,464.0,-8.9,697,5207,0.00,1.20,0.00,0.000,4,0.000,0.057,2844,2580,3360,0,0,0,0,0,0
$GC,5351,-0.50,-121.6,477.1,-8.8,710,5355,0.03,1.17,0.00,0.000,6,0.177,0.050,2855,1822,3360,0,0,0,0,0,0
$GC,5688,-0.50,-121.6,505.9,-8.4,738,5691,0.00,0.95,0.00,0.000,4,0.000,0.058,2850,2434,3359,0,0,0,0,0,0
$GC,5803,-0.50,-121.6,515.8,-8.7,741,5808,0.00,0.98,0.00,0.000,6,0.000,0.050,2850,1805,3359,0,0,0,0,0,0
$GC,6127,-0.50,-121.6,543.2,-8.5,752,6131,0.00,1.08,0.00,0.000,4,0.000,0.057,2845,2494,3359,0,0,0,0,0,0
$GC,6266,-0.50,-121.6,554.8,-8.3,756,6271,0.05,1.05,0.00,0.000,6,0.214,0.050,2858,1821,3358,0,0,0,0,0,0
$GC,6601,-0.52,-121.6,580.4,-7.8,767,6604,0.00,0.47,0.00,0.000,4,0.000,0.061,2856,2150,3358,0,0,0,0,0,0
$GC,6717,-0.54,-121.6,589.4,-7.8,770,6721,0.00,0.52,0.00,0.000,6,0.000,0.056,2856,1807,3358,0,0,0,0,0,0
$GC,7041,-0.56,-121.6,615.5,-8.4,781,7044,0.00,0.70,0.00,0.000,4,0.000,0.057,2853,2269,3357,0,0,0,0,0,0
$GC,7191,-0.58,-121.6,628.3,-8.5,785,7196,0.05,0.70,0.00,0.000,6,0.172,0.054,2823,1818,3357,0,0,0,0,0,0
$GC,7515,-0.55,-121.6,660.5,-10.1,796,7519,0.08,0.32,0.00,0.000,4,0.209,0.067,2837,2042,3357,0,0,0,0,0,0
$GC,7770,-0.55,-121.6,683.2,-8.5,803,7773,0.00,0.35,0.00,0.000,6,0.000,0.063,2838,1812,3356,0,0,0,0,0,0
$GC,8085,-0.55,-121.6,709.3,-8.4,814,8088,0.00,0.77,0.00,0.000,4,0.000,0.057,2834,2316,3356,0,0,0,0,0,0
$GC,8246,-0.55,-121.6,721.7,-7.3,818,8252,0.00,0.77,0.00,0.000,6,0.000,0.054,2834,1818,3355,0,0,0,0,0,0
$GC,8558,-0.55,-121.6,745.1,-7.7,829,8562,0.00,1.17,0.00,0.000,4,0.000,0.058,2829,2565,3355,0,0,0,0,0,0
$GC,8697,-0.55,-121.6,756.1,-7.6,833,8702,0.00,1.17,0.00,0.000,6,0.000,0.050,2829,1815,3355,0,0,0,0,0,0
$GC,9032,-0.55,-121.6,786.4,-9.4,844,9036,0.00,0.73,0.00,0.000,4,0.000,0.058,2826,2293,3354,0,0,0,0,0,0
$GC,9201,-0.55,-121.6,802.6,-9.5,849,9205,0.03,0.73,0.00,0.000,6,0.168,0.054,2836,1816,3354,0,0,0,0,0,0
$GC,9540,-0.55,-121.6,832.8,-8.6,860,9544,0.00,1.05,0.00,0.000,4,0.000,0.058,2831,2488,3354,0,0,0,0,0,0
$GC,9684,-0.55,-121.6,845.7,-9.4,864,9688,0.00,1.05,0.00,0.000,6,0.000,0.051,2831,1819,3354,0,0,0,0,0,0
$GC,10013,-0.55,-121.6,873.2,-8.2,875,10017,0.00,0.98,0.00,0.000,4,0.000,0.059,2827,2443,3354,0,0,0,0,0,0
$GC,10191,-0.55,-121.6,886.5,-6.5,880,10196,0.05,0.98,0.00,0.000,6,0.220,0.052,2838,1819,3353,0,0,0,0,0,0
$GC,10521,-0.55,-121.6,907.9,-6.6,891,10522,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1819,3353,0,0,0,0,0,0
$GC,10827,-0.55,-121.6,928.0,-6.7,901,10831,0.00,0.90,0.00,0.000,4,0.000,0.059,2835,2398,3353,0,0,0,0,0,0
$GC,10983,-0.55,-121.6,938.9,-7.7,905,10988,0.00,0.90,0.00,0.000,6,0.000,0.052,2835,1819,3352,0,0,0,0,0,0
$GC,11301,-0.55,-121.6,963.4,-7.9,916,11302,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1819,3352,0,0,0,0,0,0
$GC,11608,-0.55,-121.6,988.6,-8.5,926,11611,0.00,1.00,0.00,0.000,4,0.000,0.060,2830,2458,3352,0,0,0,0,0,0
$STATE,11741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11742,begin apogee
$GC,11746,-0.23,0.0,1000.3,8.4,930,11850,0.38,0.00,100.65,1.327,6,0.141,0.000,2949,1648,2862,0,0,0,0,0,0
$STATE,11851,end apogee,CONTROL_FINISHED_OK
$STATE,11851,begin climb
$GC,11852,0.71,121.6,1004.7,0.0,933,11961,0.93,0.00,104.65,1.294,6,0.106,0.000,3244,1648,2366,0,0,0,0,0,0
$GC,12249,0.71,158.0,987.9,5.9,946,12285,0.00,0.50,32.25,1.259,4,0.000,0.057,3244,1944,2217,0,0,0,0,0,0
$GC,12459,0.71,168.9,973.0,7.0,952,12475,0.00,0.47,10.57,1.115,6,0.000,0.061,3246,1650,2173,0,0,0,0,0,0
$GC,12780,0.71,168.9,947.9,8.0,963,12784,0.00,0.35,0.00,0.000,4,0.000,0.061,3246,1886,2170,0,0,0,0,0,0
$GC,12851,0.71,168.9,942.0,7.9,965,12854,0.00,0.40,0.00,0.000,6,0.000,0.063,3248,1643,2170,0,0,0,0,0,0
$GC,13182,0.71,168.9,916.9,7.6,976,13186,0.00,0.45,0.00,0.000,4,0.000,0.060,3248,1943,2168,0,0,0,0,0,0
$GC,13311,0.71,168.9,907.5,7.7,979,13316,0.00,0.45,0.00,0.000,6,0.000,0.062,3249,1650,2168,0,0,0,0,0,0
$GC,13623,0.71,185.2,885.9,6.7,990,13640,0.00,0.00,14.88,1.171,6,0.000,0.000,3250,1650,2107,0,0,0,0,0,0
$GC,13929,0.73,190.0,864.3,7.2,1000,13939,0.00,0.65,5.70,0.928,4,0.000,0.050,3250,2066,2086,0,0,0,0,0,0
$GC,14064,0.76,190.0,854.0,7.9,1004,14068,0.00,0.65,0.00,0.000,6,0.000,0.059,3252,1653,2086,0,0,0,0,0,0
$GC,14404,0.79,190.0,827.8,7.5,1015,14408,0.08,0.38,0.00,0.000,4,0.134,0.064,3288,1896,2086,0,0,0,0,0,0
$GC,14599,0.76,190.0,810.0,9.2,1020,14605,0.08,0.40,0.00,0.000,6,0.190,0.063,3271,1645,2085,0,0,0,0,0,0
$GC,14911,0.76,190.0,784.1,8.2,1031,14913,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1645,2085,0,0,0,0,0,0
$GC,15218,0.76,190.0,759.2,8.2,1041,15219,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1645,2084,0,0,0,0,0,0
$GC,15524,0.76,190.0,733.3,8.5,1051,15527,0.00,0.75,0.00,0.000,4,0.000,0.057,3271,2129,2084,0,0,0,0,0,0
$GC,15680,0.76,191.1,720.8,7.4,1055,15684,0.00,0.77,0.00,0.000,6,0.000,0.057,3274,1644,2084,0,0,0,0,0,0
$GC,15998,0.76,191.9,696.4,7.4,1066,15999,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1644,2084,0,0,0,0,0,0
$GC,16304,0.76,195.4,674.2,7.3,1076,16313,0.00,0.60,5.85,0.879,4,0.000,0.056,3273,2034,2065,0,0,0,0,0,0
$GC,16493,0.76,195.4,659.4,7.9,1081,16497,0.00,0.62,0.00,0.000,6,0.000,0.058,3277,1644,2065,0,0,0,0,0,0
$GC,16811,0.76,195.4,633.8,7.7,1092,16812,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1644,2065,0,0,0,0,0,0
$GC,17117,0.76,212.3,611.9,6.7,1102,17136,0.00,0.00,16.45,1.046,6,0.000,0.000,3276,1643,1996,0,0,0,0,0,0
$GC,17424,0.76,230.0,591.3,6.7,1112,17443,0.00,0.57,16.50,1.024,4,0.000,0.059,3276,1995,1924,0,0,0,0,0,0
$GC,17565,0.76,235.4,581.2,7.2,1116,17576,0.00,0.57,5.88,0.816,6,0.000,0.060,3278,1644,1902,0,0,0,0,0,0
$GC,17889,0.79,235.4,557.2,7.7,1127,17892,0.00,0.32,0.00,0.000,4,0.000,0.065,3278,1858,1900,0,0,0,0,0,0
$GC,18045,0.81,235.4,544.9,8.0,1131,18049,0.00,0.35,0.00,0.000,6,0.000,0.070,3279,1647,1900,0,0,0,0,0,0
$GC,18363,0.83,235.4,519.7,8.0,1142,18364,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1647,1899,0,0,0,0,0,0
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$GC,20717,0.86,235.4,300.8,8.7,1345,20718,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1644,1899,0,0,0,0,0,0
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$GC,23968,0.86,267.8,23.1,6.1,1859,23994,0.03,0.38,18.62,0.653,6,0.184,0.063,3299,1648,1768,0,0,0,0,0,0
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$STATE,24240,end climb,SURFACE_DEPTH_REACHED
$STATE,24240,begin surface coast
$FINISH,1.3,1.026330
$STATE,24253,end surface coast,CONTROL_FINISHED_OK
$STATE,24253,begin surface
$SM_CCo,24328,0.00,0.000,0,0,1759,270.56
$SM_GC,2.15,8.57,0.00,0.00,0.044,0.000,0.000,92,1836,1759,-9.11,0.48,270.56
$IRIDIUM_FIX,-4224.47,-1012.01,011012,000032
$TT8_MAMPS,0.026964
$HUMID,41.80
$INTERNAL_PRESSURE,9.04998
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,23.6,9.591
$10V_AH,10.3,7.628
$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,22.400,60.750,332.000,0.000,0.000,72.125,115.476,281.262,0.000,0.000,16.895,4735.458,13745.021,438.391,5883.744,154.717,0.000,2347.157,0.000,5359.721,0.000,1.007,0.000
$DEVICE_MAMPS,292.230,71.145,1326.510,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1356.639,2632.204,1093.845,252.072,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354752
$DATA_FILE_SIZE,113480,1905
$CAP_FILE_SIZE,236493,0
$CFSIZE,2097086464,2090270720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,011012,071135,-4238.809,-1007.672,32,1.0,32,-21.4