version: 66.07.10.p01
glider: 574
mission: 4
dive: 34
start: 9 26 112 1 38 35
data:
$ID,574
$MISSION,4
$DIVE,34
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,3
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$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,-5514.1362
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,92
$PITCH_MAX,3858
$C_PITCH,3013
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1628
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,396
$VBD_MAX,3960
$C_VBD,2827
$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,-61.017719
$PRESSURE_SLOPE,0.00011710486
$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,1000
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.812
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$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,0.0043508084
$SEABIRD_T_H,0.00062732975
$SEABIRD_T_I,2.3669163e-05
$SEABIRD_T_J,2.5502761e-06
$SEABIRD_C_G,-9.9075203
$SEABIRD_C_H,1.1452845
$SEABIRD_C_I,-0.00093430834
$SEABIRD_C_J,0.0001541152
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,13
$GPS1,260912,012529,-4325.317,-907.837,63,0.9,64,-21.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-75.5
$GPS2,260912,013814,-4325.321,-907.858,21,0.9,22,-21.2
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_574_WP1
$TGT_LATLONG,-4320.000,-800.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.251,0.135
$KALMAN_X,-2989.6,-846.1,-190.4,3225.8,-754.4
$KALMAN_Y,-1789.4,-454.4,-75.8,857.9,-522.0
$MHEAD_RNG_PITCHd_Wd,105.0,91941,-13.9,-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,23,-0.52,-145.9,0.0,0.0,0,75,0.00,0.00,-49.10,0.000,2,0.000,0.000,67,1904,2843,0,0,0,0,0,0
$GC,77,-0.52,-145.9,3.0,-1.7,8,109,12.38,0.75,-14.90,0.000,4,0.273,0.089,2831,2409,3422,0,0,0,0,0,0
$GC,211,-0.45,-145.9,19.2,-10.8,30,219,0.10,0.80,0.00,0.000,6,0.145,0.054,2862,1907,3423,0,0,0,0,0,0
$GC,291,-0.45,-145.9,27.1,-9.8,43,297,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1907,3424,0,0,0,0,0,0
$GC,367,-0.45,-145.9,34.7,-9.7,56,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1907,3424,0,0,0,0,0,0
$GC,604,-0.45,-145.9,55.0,-8.4,97,609,0.00,0.65,0.00,0.000,4,0.000,0.060,2862,1488,3424,0,0,0,0,0,0
$GC,666,-0.45,-145.9,61.4,-9.8,108,673,0.00,0.62,0.00,0.000,6,0.000,0.046,2861,1896,3424,0,0,0,0,0,0
$GC,1018,-0.45,-145.9,94.8,-9.3,169,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1897,3424,0,0,0,0,0,0
$GC,1367,-0.45,-145.9,128.4,-9.8,230,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1897,3424,0,0,0,0,0,0
$GC,1718,-0.45,-145.9,160.4,-7.8,291,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1897,3424,0,0,0,0,0,0
$GC,2067,-0.45,-145.9,192.4,-8.0,352,2074,0.00,0.30,0.00,0.000,4,0.000,0.064,2861,1691,3424,0,0,0,0,0,0
$GC,2145,-0.45,-145.9,199.0,-8.5,365,2150,0.00,0.30,0.00,0.000,6,0.000,0.054,2861,1907,3424,0,0,0,0,0,0
$GC,2493,-0.45,-145.9,230.5,-8.8,426,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1907,3424,0,0,0,0,0,0
$GC,2843,-0.45,-145.9,260.6,-8.5,487,2847,0.00,0.82,0.00,0.000,4,0.000,0.057,2860,1380,3424,0,0,0,0,0,0
$GC,2931,-0.45,-145.9,268.4,-8.4,503,2936,0.00,0.77,0.00,0.000,6,0.000,0.041,2858,1893,3424,0,0,0,0,0,0
$GC,3270,-0.45,-145.9,298.1,-8.9,564,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1893,3425,0,0,0,0,0,0
$GC,3616,-0.45,-145.9,327.0,-8.6,625,3620,0.00,0.55,0.00,0.000,4,0.000,0.050,2856,2281,3425,0,0,0,0,0,0
$GC,3684,-0.45,-145.9,332.5,-7.9,637,3688,0.00,0.57,0.00,0.000,6,0.000,0.050,2856,1894,3425,0,0,0,0,0,0
$GC,4024,-0.45,-145.9,363.1,-8.8,698,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1894,3426,0,0,0,0,0,0
$GC,4366,-0.45,-145.9,394.3,-9.7,759,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1894,3426,0,0,0,0,0,0
$GC,4709,-0.45,-145.9,428.4,-10.1,820,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1894,3426,0,0,0,0,0,0
$GC,5053,-0.45,-145.9,461.3,-8.9,881,5057,0.00,0.32,0.00,0.000,4,0.000,0.067,2856,1659,3426,0,0,0,0,0,0
$GC,5115,-0.45,-145.9,467.0,-9.1,892,5121,0.00,0.35,0.00,0.000,6,0.000,0.050,2854,1913,3426,0,0,0,0,0,0
$GC,5457,-0.45,-145.9,498.9,-9.8,953,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1912,3426,0,0,0,0,0,0
$GC,5799,-0.45,-145.9,530.6,-8.4,1014,5804,0.00,0.30,0.00,0.000,4,0.000,0.063,2854,1712,3426,0,0,0,0,0,0
$GC,5876,-0.45,-145.9,537.3,-8.7,1028,5880,0.00,0.28,0.00,0.000,6,0.000,0.053,2853,1908,3425,0,0,0,0,0,0
$GC,6217,-0.45,-145.9,567.8,-8.9,1089,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1908,3425,0,0,0,0,0,0
$GC,6559,-0.45,-145.9,597.5,-8.8,1150,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1908,3424,0,0,0,0,0,0
$GC,6901,-0.45,-145.9,627.2,-8.8,1211,6905,0.00,0.55,0.00,0.000,4,0.000,0.057,2853,1558,3423,0,0,0,0,0,0
$GC,6967,-0.45,-145.9,632.8,-8.6,1223,6972,0.00,0.50,0.00,0.000,6,0.000,0.046,2852,1892,3423,0,0,0,0,0,0
$GC,7309,-0.45,-145.9,659.8,-7.6,1284,7314,0.03,0.00,0.00,0.000,6,0.282,0.000,2861,1891,3423,0,0,0,0,0,0
$GC,7654,-0.49,-145.9,681.6,-5.7,1345,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1892,3422,0,0,0,0,0,0
$GC,7996,-0.53,-145.9,702.9,-6.4,1406,8001,0.05,0.38,0.00,0.000,4,0.175,0.054,2838,2164,3422,0,0,0,0,0,0
$GC,8068,-0.53,-145.9,708.4,-7.7,1419,8073,0.00,0.40,0.00,0.000,6,0.000,0.055,2838,1897,3421,0,0,0,0,0,0
$GC,8411,-0.51,-145.9,736.4,-8.5,1480,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1897,3421,0,0,0,0,0,0
$GC,8752,-0.51,-145.9,768.2,-9.8,1541,8757,0.00,0.43,0.00,0.000,4,0.000,0.063,2838,1610,3421,0,0,0,0,0,0
$GC,8831,-0.51,-145.9,775.9,-9.9,1555,8835,0.00,0.43,0.00,0.000,6,0.000,0.047,2836,1903,3421,0,0,0,0,0,0
$GC,9172,-0.51,-145.9,809.7,-9.8,1616,9176,0.00,0.32,0.00,0.000,4,0.000,0.063,2836,1690,3420,0,0,0,0,0,0
$GC,9237,-0.51,-145.9,816.0,-9.8,1628,9242,0.00,0.32,0.00,0.000,6,0.000,0.053,2836,1916,3419,0,0,0,0,0,0
$GC,9579,-0.51,-145.9,849.6,-9.7,1689,9583,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1916,3419,0,0,0,0,0,0
$GC,9922,-0.51,-145.9,884.3,-10.1,1750,9926,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1916,3419,0,0,0,0,0,0
$GC,10263,-0.51,-145.9,918.3,-10.3,1811,10267,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1916,3419,0,0,0,0,0,0
$GC,10605,-0.51,-145.9,950.3,-8.7,1872,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1916,3418,0,0,0,0,0,0
$GC,10947,-0.51,-145.9,979.4,-8.4,1933,10951,0.00,0.30,0.00,0.000,4,0.000,0.063,2836,1707,3418,0,0,0,0,0,0
$GC,11018,-0.51,-145.9,985.4,-8.5,1946,11023,0.00,0.28,0.00,0.000,6,0.000,0.056,2836,1897,3418,0,0,0,0,0,0
$STATE,11191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11191,begin apogee
$GC,11195,-0.19,0.0,1000.4,8.6,1977,11321,0.32,0.00,120.90,1.399,6,0.142,0.000,2941,1628,2827,0,0,0,0,0,0
$STATE,11322,end apogee,CONTROL_FINISHED_OK
$STATE,11322,begin climb
$GC,11323,0.52,145.9,1006.2,0.0,2002,11460,0.73,2.53,126.62,1.388,4,0.103,0.067,3171,228,2231,0,0,0,0,0,0
$GC,11572,0.38,145.9,998.3,7.8,2049,11578,0.12,2.28,0.00,0.000,6,0.181,0.037,3143,1632,2227,0,0,0,0,0,0
$GC,11917,0.31,196.9,977.4,5.7,2110,11967,0.12,1.10,44.33,1.327,4,0.192,0.043,3112,2308,2024,0,0,0,0,0,0
$GC,12046,0.31,242.5,970.1,5.8,2134,12092,0.00,1.10,41.42,1.353,6,0.000,0.050,3115,1637,1837,0,0,0,0,0,0
$GC,12430,0.38,274.2,946.3,6.3,2203,12461,0.05,0.00,28.45,1.366,6,0.164,0.000,3139,1637,1708,0,0,0,0,0,0
$GC,12799,0.41,277.1,920.0,7.3,2269,12803,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1637,1703,0,0,0,0,0,0
$GC,13142,0.45,306.0,897.4,6.4,2330,13176,0.00,0.57,28.90,1.268,4,0.000,0.063,3140,1293,1579,0,0,0,0,0,0
$GC,13221,0.51,327.0,892.3,6.7,2345,13247,0.08,0.52,19.98,1.248,6,0.071,0.044,3177,1642,1493,0,0,0,0,0,0
$GC,13585,0.51,327.0,858.4,9.6,2410,13589,0.00,1.02,0.00,0.000,4,0.000,0.062,3179,1011,1487,0,0,0,0,0,0
$GC,13668,0.51,327.0,850.5,9.5,2425,13672,0.00,0.95,0.00,0.000,6,0.000,0.039,3179,1628,1487,0,0,0,0,0,0
$GC,14010,0.51,327.0,818.1,9.5,2486,14015,0.00,1.17,0.00,0.000,4,0.000,0.062,3180,909,1486,0,0,0,0,0,0
$GC,14093,0.51,327.0,810.0,9.7,2501,14098,0.00,1.12,0.00,0.000,6,0.000,0.037,3180,1629,1485,0,0,0,0,0,0
$GC,14436,0.51,327.0,775.2,10.5,2562,14442,0.00,1.12,0.00,0.000,4,0.000,0.062,3181,941,1485,0,0,0,0,0,0
$GC,14514,0.51,327.0,767.1,10.6,2576,14519,0.00,1.08,0.00,0.000,6,0.000,0.038,3181,1633,1485,0,0,0,0,0,0
$GC,14856,0.51,327.0,728.9,11.6,2637,14862,0.00,0.98,0.00,0.000,4,0.000,0.062,3183,1042,1484,0,0,0,0,0,0
$GC,14939,0.51,327.0,719.4,11.5,2652,14945,0.00,0.90,0.00,0.000,6,0.000,0.040,3183,1631,1484,0,0,0,0,0,0
$GC,15283,0.51,327.0,680.2,11.0,2713,15287,0.00,0.85,0.00,0.000,4,0.000,0.063,3183,1099,1484,0,0,0,0,0,0
$GC,15367,0.51,327.0,671.0,11.0,2728,15371,0.00,0.80,0.00,0.000,6,0.000,0.042,3183,1632,1484,0,0,0,0,0,0
$GC,15708,0.51,327.0,633.4,10.8,2789,15713,0.00,0.80,0.00,0.000,4,0.000,0.062,3184,1138,1484,0,0,0,0,0,0
$GC,15780,0.51,327.0,625.6,10.5,2802,15785,0.00,0.75,0.00,0.000,6,0.000,0.041,3184,1631,1484,0,0,0,0,0,0
$GC,16123,0.49,327.0,587.0,11.5,2863,16128,0.00,0.60,0.00,0.000,4,0.000,0.064,3185,1247,1483,0,0,0,0,0,0
$GC,16195,0.49,327.0,579.2,10.4,2876,16200,0.00,0.57,0.00,0.000,6,0.000,0.044,3184,1631,1484,0,0,0,0,0,0
$GC,16537,0.49,327.0,546.3,8.7,2937,16543,0.00,0.77,0.00,0.000,4,0.000,0.062,3185,1149,1484,0,0,0,0,0,0
$GC,16615,0.49,327.0,539.5,8.5,2951,16619,0.00,0.73,0.00,0.000,6,0.000,0.041,3184,1630,1484,0,0,0,0,0,0
$GC,16957,0.49,327.0,508.8,9.4,3012,16963,0.00,0.82,0.00,0.000,4,0.000,0.062,3184,1116,1483,0,0,0,0,0,0
$GC,17030,0.49,327.0,502.0,9.5,3025,17034,0.00,0.75,0.00,0.000,6,0.000,0.041,3184,1627,1483,0,0,0,0,0,0
$GC,17370,0.49,327.0,469.6,9.1,3086,17376,0.00,0.93,0.00,0.000,4,0.000,0.063,3185,1057,1484,0,0,0,0,0,0
$GC,17449,0.49,327.0,462.5,9.3,3100,17454,0.00,0.85,0.00,0.000,6,0.000,0.041,3184,1626,1483,0,0,0,0,0,0
$GC,17792,0.49,327.0,431.8,8.9,3161,17796,0.00,0.70,0.00,0.000,4,0.000,0.063,3185,1183,1483,0,0,0,0,0,0
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$GC,19023,0.49,327.0,325.4,7.5,3379,19027,0.00,0.75,0.00,0.000,4,0.000,0.064,3185,1160,1483,0,0,0,0,0,0
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$GC,22406,0.63,413.2,15.1,9.7,3970,22412,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1639,1135,0,0,0,0,0,0
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$STATE,22516,end climb,SURFACE_DEPTH_REACHED
$STATE,22516,begin surface coast
$FINISH,1.3,1.007946
$STATE,22547,end surface coast,CONTROL_FINISHED_OK
$STATE,22547,begin surface
$SM_CCo,22623,0.00,0.000,0,0,1130,416.02
$SM_GC,2.22,8.62,0.00,0.00,0.057,0.000,0.000,95,1899,1130,-9.08,-0.03,416.02
$IRIDIUM_FIX,-4308.55,-910.68,250912,111137
$TT8_MAMPS,0.026964
$HUMID,44.13
$INTERNAL_PRESSURE,9.07709
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.5,12.148
$10V_AH,10.2,10.504
$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,22.750,52.300,481.750,0.000,0.000,25.610,44.125,540.803,0.250,0.000,24.683,6541.788,7904.148,554.220,8155.550,191.403,0.000,3382.037,0.000,7424.935,0.000,2.834,0.000
$DEVICE_MAMPS,282.285,88.740,1399.185,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1457.530,2768.065,1120.650,236.111,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354760
$DATA_FILE_SIZE,223359,3993
$CAP_FILE_SIZE,307708,0
$CFSIZE,2097086464,2089058304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,260912,075635,-4325.361,-904.427,24,1.2,25,-21.2