version: 66.07.10.p01
glider: 573
mission: 4
dive: 250
start: 11 25 112 23 27 55
data:
$ID,573
$MISSION,4
$DIVE,250
$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,333
$T_MISSION,348
$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,1
$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,-5101.396
$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,32
$R_STBD_OVSHOOT,33
$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,229
$GPS1,251112,231953,-4147.711,-625.391,75,1.2,75,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-68.3
$GPS2,251112,232700,-4147.762,-625.378,16,1.2,17,-22.2
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4200.000,-5000.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,-0.201,0.129
$KALMAN_X,-312806.7,82.5,24.3,607148.1,-960.4
$KALMAN_Y,-204094.9,-58.4,61.6,300413.6,-2616.1
$MHEAD_RNG_PITCHd_Wd,324.9,3598584,-20.1,-10.010
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.92,-121.6,0.0,0.0,0,64,0.00,0.00,-37.03,0.000,2,0.000,0.000,82,1816,2292,0,0,0,0,0,0
$GC,67,-0.92,-121.6,3.1,-1.4,6,128,10.75,2.33,-40.58,0.000,4,0.234,0.069,2725,417,3359,0,0,0,0,0,0
$GC,243,-0.81,-121.6,20.6,-12.2,35,251,0.12,2.25,0.00,0.000,6,0.154,0.043,2753,1818,3361,0,0,0,0,0,0
$GC,324,-0.78,-121.6,29.8,-10.9,48,331,0.05,1.08,0.00,0.000,4,0.236,0.054,2762,2492,3361,0,0,0,0,0,0
$GC,383,-0.78,-121.6,36.5,-10.5,58,390,0.00,1.05,0.00,0.000,6,0.000,0.047,2762,1827,3361,0,0,0,0,0,0
$GC,620,-0.78,-121.6,61.4,-9.8,99,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1827,3361,0,0,0,0,0,0
$GC,964,-0.78,-121.6,98.0,-9.7,160,969,0.00,2.25,0.00,0.000,4,0.000,0.057,2751,3230,3362,0,0,0,0,0,0
$GC,1034,-0.78,-121.6,105.2,-10.4,167,1039,0.08,2.20,0.00,0.000,6,0.184,0.044,2768,1821,3362,0,0,0,0,0,0
$GC,1359,-0.80,-121.6,138.5,-9.9,188,1363,0.00,1.50,0.00,0.000,4,0.000,0.055,2762,2768,3363,0,0,0,0,0,0
$GC,1420,-0.80,-121.6,145.1,-9.9,191,1426,0.00,1.50,0.00,0.000,6,0.000,0.044,2762,1817,3362,0,0,0,0,0,0
$GC,1741,-0.82,-121.6,176.4,-9.6,212,1745,0.00,2.22,0.00,0.000,4,0.000,0.056,2752,3227,3363,0,0,0,0,0,0
$GC,1876,-0.82,-121.6,184.7,-9.8,220,1880,0.00,2.20,0.00,0.000,6,0.000,0.044,2752,1813,3363,0,0,0,0,0,0
$GC,2195,-0.82,-121.6,215.7,-9.7,240,2198,0.00,0.43,0.00,0.000,4,0.000,0.054,2750,2114,3363,0,0,0,0,0,0
$GC,2273,-0.82,-121.6,223.1,-9.6,244,2281,0.00,0.45,0.00,0.000,6,0.000,0.053,2750,1815,3363,0,0,0,0,0,0
$GC,2599,-0.82,-121.6,253.0,-9.4,265,2603,0.00,2.25,0.00,0.000,4,0.000,0.057,2740,3232,3363,0,0,0,0,0,0
$GC,2715,-0.82,-121.6,265.1,-10.1,270,2721,0.03,2.20,0.00,0.000,6,0.180,0.043,2749,1827,3363,0,0,0,0,0,0
$GC,3042,-0.82,-121.6,298.4,-10.4,286,3046,0.00,2.05,0.00,0.000,4,0.000,0.055,2740,3124,3363,0,0,0,0,0,0
$GC,3126,-0.82,-121.6,307.7,-11.3,289,3133,0.03,2.05,0.00,0.000,6,0.182,0.044,2749,1816,3363,0,0,0,0,0,0
$GC,3444,-0.82,-121.6,342.2,-10.8,305,3448,0.00,1.38,0.00,0.000,4,0.000,0.054,2744,2686,3363,0,0,0,0,0,0
$GC,3527,-0.82,-121.6,351.7,-11.3,308,3536,0.00,1.38,0.00,0.000,6,0.000,0.044,2743,1805,3364,0,0,0,0,0,0
$GC,3843,-0.82,-121.6,383.4,-10.0,324,3847,0.00,2.25,0.00,0.000,4,0.000,0.055,2733,3227,3363,0,0,0,0,0,0
$GC,3975,-0.80,-121.6,395.6,-8.7,330,3980,0.10,2.17,0.00,0.000,6,0.171,0.044,2759,1822,3363,0,0,0,0,0,0
$GC,4309,-0.83,-121.6,425.1,-9.0,342,4313,0.00,2.22,0.00,0.000,4,0.000,0.056,2749,3236,3363,0,0,0,0,0,0
$GC,4421,-0.83,-121.6,435.5,-9.3,345,4425,0.00,2.20,0.00,0.000,6,0.000,0.043,2750,1815,3363,0,0,0,0,0,0
$GC,4750,-0.83,-121.6,464.8,-8.9,356,4754,0.00,2.25,0.00,0.000,4,0.000,0.055,2739,3236,3363,0,0,0,0,0,0
$GC,4896,-0.83,-121.6,479.1,-9.7,360,4900,0.00,2.20,0.00,0.000,6,0.000,0.044,2739,1818,3363,0,0,0,0,0,0
$GC,5213,-0.83,-121.6,510.9,-10.1,371,5217,0.00,1.38,0.00,0.000,4,0.000,0.054,2733,2685,3363,0,0,0,0,0,0
$GC,5301,-0.83,-121.6,520.1,-10.6,373,5307,0.05,1.38,0.00,0.000,6,0.156,0.044,2751,1815,3363,0,0,0,0,0,0
$GC,5620,-0.83,-121.6,552.2,-10.2,384,5624,0.00,2.25,0.00,0.000,4,0.000,0.056,2741,3228,3363,0,0,0,0,0,0
$GC,5736,-0.83,-121.6,564.4,-10.2,387,5741,0.00,2.22,0.00,0.000,6,0.000,0.044,2741,1812,3363,0,0,0,0,0,0
$GC,6055,-0.83,-121.6,594.0,-8.7,398,6059,0.00,2.22,0.00,0.000,4,0.000,0.056,2731,3228,3362,0,0,0,0,0,0
$GC,6143,-0.81,-121.6,601.8,-8.2,400,6150,0.10,2.20,0.00,0.000,6,0.168,0.044,2757,1810,3362,0,0,0,0,0,0
$GC,6457,-0.83,-121.6,625.0,-7.1,411,6461,0.00,2.25,0.00,0.000,4,0.000,0.057,2747,3231,3360,0,0,0,0,0,0
$GC,6529,-0.83,-121.6,630.5,-7.4,413,6533,0.00,2.22,0.00,0.000,6,0.000,0.044,2747,1802,3360,0,0,0,0,0,0
$GC,6858,-0.83,-121.6,655.2,-7.7,424,6862,0.00,2.28,0.00,0.000,4,0.000,0.056,2737,3229,3359,0,0,0,0,0,0
$GC,6989,-0.83,-121.6,666.5,-8.8,428,6993,0.05,2.20,0.00,0.000,6,0.213,0.043,2749,1810,3359,0,0,0,0,0,0
$GC,7324,-0.85,-121.6,696.0,-9.2,439,7328,0.00,2.25,0.00,0.000,4,0.000,0.057,2739,3226,3359,0,0,0,0,0,0
$GC,7420,-0.85,-121.6,705.8,-10.1,442,7424,0.00,2.20,0.00,0.000,6,0.000,0.044,2739,1813,3358,0,0,0,0,0,0
$GC,7754,-0.85,-121.6,741.5,-10.8,453,7758,0.00,2.25,0.00,0.000,4,0.000,0.058,2729,3226,3357,0,0,0,0,0,0
$GC,7837,-0.85,-121.6,751.0,-11.2,455,7842,0.03,2.22,0.00,0.000,6,0.184,0.044,2739,1816,3357,0,0,0,0,0,0
$GC,8155,-0.85,-121.6,784.9,-10.5,466,8159,0.00,1.88,0.00,0.000,4,0.000,0.057,2731,3009,3356,0,0,0,0,0,0
$GC,8249,-0.85,-121.6,795.0,-10.1,468,8255,0.00,1.88,0.00,0.000,6,0.000,0.044,2731,1821,3356,0,0,0,0,0,0
$GC,8563,-0.82,-121.6,828.2,-10.8,479,8567,0.10,2.25,0.00,0.000,4,0.190,0.058,2746,3230,3356,0,0,0,0,0,0
$GC,8662,-0.82,-121.6,838.9,-10.9,482,8666,0.00,2.22,0.00,0.000,6,0.000,0.044,2745,1826,3356,0,0,0,0,0,0
$GC,8997,-0.82,-121.6,872.4,-10.1,493,9001,0.00,2.22,0.00,0.000,4,0.000,0.057,2736,3226,3355,0,0,0,0,0,0
$GC,9125,-0.82,-121.6,885.9,-10.4,496,9132,0.05,2.22,0.00,0.000,6,0.154,0.045,2753,1821,3355,0,0,0,0,0,0
$GC,9438,-0.82,-121.6,917.3,-10.3,507,9441,0.00,1.65,0.00,0.000,4,0.000,0.057,2746,2874,3355,0,0,0,0,0,0
$GC,9515,-0.82,-121.6,925.6,-10.5,509,9519,0.00,1.67,0.00,0.000,6,0.000,0.046,2746,1818,3354,0,0,0,0,0,0
$GC,9845,-0.82,-121.6,961.3,-10.7,520,9849,0.00,2.17,0.00,0.000,4,0.000,0.059,2736,3186,3354,0,0,0,0,0,0
$GC,9944,-0.82,-121.6,972.4,-11.2,523,9949,0.05,2.17,0.00,0.000,6,0.151,0.046,2754,1813,3354,0,0,0,0,0,0
$STATE,10216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10216,begin apogee
$GC,10221,-0.23,0.0,1000.5,10.2,532,10325,0.60,0.00,101.20,1.281,6,0.127,0.000,2944,1633,2862,0,0,0,0,0,0
$STATE,10326,end apogee,CONTROL_FINISHED_OK
$STATE,10326,begin climb
$GC,10328,0.92,121.6,1005.2,0.0,535,10440,1.10,2.50,104.45,1.248,4,0.083,0.057,3325,238,2365,0,0,0,0,0,0
$GC,10637,0.86,182.4,992.0,6.7,544,10697,0.10,2.33,53.90,1.224,6,0.174,0.041,3302,1655,2117,0,0,0,0,0,0
$GC,11016,0.87,217.4,962.1,8.1,557,11052,0.00,1.98,31.17,1.203,4,0.000,0.053,3303,2859,1976,0,0,0,0,0,0
$GC,11142,0.87,224.2,950.3,9.6,561,11156,0.00,1.98,7.22,1.005,6,0.000,0.047,3310,1643,1947,0,0,0,0,0,0
$GC,11482,0.90,244.8,919.6,8.9,572,11506,0.00,0.45,19.55,1.153,4,0.000,0.055,3310,1915,1864,0,0,0,0,0,0
$GC,11581,0.94,250.9,910.5,9.7,575,11591,0.00,0.43,6.80,0.944,6,0.000,0.059,3312,1646,1839,0,0,0,0,0,0
$GC,11916,0.98,277.9,881.3,8.5,586,11945,0.08,0.32,25.83,1.161,4,0.121,0.061,3349,1848,1729,0,0,0,0,0,0
$GC,12023,0.98,277.9,869.7,10.6,589,12027,0.00,0.35,0.00,0.000,6,0.000,0.061,3350,1637,1725,0,0,0,0,0,0
$GC,12352,0.98,277.9,831.8,11.9,600,12353,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1637,1723,0,0,0,0,0,0
$GC,12658,0.98,277.9,795.1,11.7,610,12662,0.00,0.75,0.00,0.000,4,0.000,0.054,3351,2116,1721,0,0,0,0,0,0
$GC,12741,0.98,277.9,785.4,11.3,612,12746,0.05,0.75,0.00,0.000,6,0.236,0.051,3343,1644,1721,0,0,0,0,0,0
$GC,13065,1.01,277.9,750.6,10.7,623,13066,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1644,1721,0,0,0,0,0,0
$GC,13371,1.03,277.9,719.1,10.3,633,13372,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,1644,1720,0,0,0,0,0,0
$GC,13677,1.05,277.9,687.8,10.3,643,13678,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1644,1720,0,0,0,0,0,0
$GC,13983,1.08,277.9,654.5,11.2,653,13988,0.08,0.75,0.00,0.000,4,0.129,0.052,3378,2134,1720,0,0,0,0,0,0
$GC,14044,1.05,277.9,646.8,12.8,654,14050,0.08,0.77,0.00,0.000,6,0.207,0.051,3365,1647,1720,0,0,0,0,0,0
$GC,14357,1.05,277.9,608.6,12.2,665,14360,0.00,0.35,0.00,0.000,4,0.000,0.057,3365,1886,1720,0,0,0,0,0,0
$GC,14434,1.05,277.9,599.1,12.7,667,14438,0.00,0.40,0.00,0.000,6,0.000,0.058,3366,1635,1720,0,0,0,0,0,0
$GC,14763,1.05,277.9,559.9,11.6,678,14766,0.00,0.70,0.00,0.000,4,0.000,0.052,3366,2092,1719,0,0,0,0,0,0
$GC,14806,1.05,277.9,554.9,11.0,679,14811,0.00,0.70,0.00,0.000,6,0.000,0.052,3369,1648,1720,0,0,0,0,0,0
$GC,15136,1.05,277.9,518.9,10.8,690,15140,0.00,0.47,0.00,0.000,4,0.000,0.054,3369,1967,1719,0,0,0,0,0,0
$GC,15219,1.05,277.9,510.1,10.8,692,15223,0.00,0.52,0.00,0.000,6,0.000,0.056,3371,1640,1719,0,0,0,0,0,0
$GC,15543,1.05,277.9,476.9,10.1,703,15546,0.00,0.73,0.00,0.000,4,0.000,0.054,3371,2112,1719,0,0,0,0,0,0
$GC,15614,1.05,283.5,469.6,9.7,705,15624,0.05,0.75,4.53,0.666,6,0.241,0.052,3363,1642,1707,0,0,0,0,0,0
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$GC,16025,1.05,307.6,429.5,8.9,718,16048,0.00,1.00,18.65,0.900,6,0.000,0.049,3368,1639,1608,0,0,0,0,0,0
$GC,16368,1.05,310.9,395.3,9.8,730,16377,0.00,0.52,3.88,0.624,4,0.000,0.054,3368,1966,1594,0,0,0,0,0,0
$GC,16427,1.05,318.8,389.3,9.6,732,16439,0.00,0.52,8.88,0.790,6,0.000,0.055,3370,1643,1562,0,0,0,0,0,0
$GC,16764,1.06,339.8,358.8,8.9,749,16788,0.00,1.23,20.27,0.851,4,0.000,0.056,3376,901,1476,0,0,0,0,0,0
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$STATE,19753,end climb,SURFACE_DEPTH_REACHED
$STATE,19754,begin surface coast
$FINISH,1.9,1.026517
$STATE,19767,end surface coast,CONTROL_FINISHED_OK
$STATE,19767,begin surface
$SM_CCo,19843,0.00,0.000,0,0,1430,351.26
$SM_GC,2.82,8.62,0.00,0.00,0.034,0.000,0.000,87,1807,1430,-9.09,-0.34,351.26
$IRIDIUM_FIX,-4132.26,-627.75,251112,111106
$TT8_MAMPS,0.026964
$HUMID,44.68
$INTERNAL_PRESSURE,9.08904
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.2,39.903
$10V_AH,10.2,37.450
$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
$DEVICE_SECS,22.500,127.625,422.025,0.000,0.000,29.608,36.659,234.811,0.000,0.000,18.811,2625.225,13569.088,507.259,3376.079,185.954,33.378,1844.509,0.000,3017.699,0.000,1.008,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,671.168,1085.948,653.774,79.112,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354520
$DATA_FILE_SIZE,60267,1014
$CAP_FILE_SIZE,185992,0
$CFSIZE,2097086464,2061107200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,261112,045953,-4147.122,-627.627,42,0.9,42,-22.2