version: 66.07.10.p01
glider: 574
mission: 4
dive: 69
start: 10 5 112 17 17 20
data:
$ID,574
$MISSION,4
$DIVE,69
$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,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,-5626.3105
$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,1913
$C_ROLL_CLIMB,1651
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,41
$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,48
$GPS1,051012,170735,-4304.489,-828.894,41,1.1,42,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-73.1
$GPS2,051012,171625,-4304.416,-828.902,14,1.1,16,-21.4
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.103,-0.211
$KALMAN_X,-25836.3,151.7,-166.2,53897.0,-1890.1
$KALMAN_Y,-13748.8,-33.2,48.7,-9980.0,868.6
$MHEAD_RNG_PITCHd_Wd,175.4,66972,-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,-145.9,0.0,0.0,0,87,0.00,0.00,-60.88,0.000,2,0.000,0.000,68,1921,2842,0,0,0,0,0,0
$GC,89,-0.52,-145.9,3.1,-1.8,10,121,12.60,0.93,-14.18,0.000,4,0.279,0.077,2828,2530,3423,0,0,0,0,0,0
$GC,205,-0.48,-145.9,18.6,-11.7,29,213,0.08,1.00,0.00,0.000,6,0.150,0.059,2853,1920,3424,0,0,0,0,0,0
$GC,285,-0.48,-145.9,26.5,-10.0,42,292,0.00,0.47,0.00,0.000,4,0.000,0.073,2853,1617,3424,0,0,0,0,0,0
$GC,375,-0.48,-145.9,35.6,-10.7,57,380,0.00,0.45,0.00,0.000,6,0.000,0.051,2852,1914,3425,0,0,0,0,0,0
$GC,609,-0.48,-145.9,58.0,-9.5,98,616,0.00,0.70,0.00,0.000,4,0.000,0.065,2852,1485,3425,0,0,0,0,0,0
$GC,684,-0.48,-145.9,65.5,-10.1,111,691,0.00,0.65,0.00,0.000,6,0.000,0.049,2851,1906,3425,0,0,0,0,0,0
$GC,1034,-0.48,-145.9,100.0,-9.5,172,1039,0.00,0.75,0.00,0.000,4,0.000,0.065,2851,1444,3425,0,0,0,0,0,0
$GC,1116,-0.48,-145.9,108.8,-10.1,180,1124,0.00,0.75,0.00,0.000,6,0.000,0.047,2849,1919,3425,0,0,0,0,0,0
$GC,1443,-0.48,-145.9,140.1,-10.0,211,1447,0.00,0.62,0.00,0.000,4,0.000,0.065,2848,1525,3425,0,0,0,0,0,0
$GC,1522,-0.48,-145.9,147.6,-8.7,218,1526,0.00,0.60,0.00,0.000,6,0.000,0.048,2846,1918,3425,0,0,0,0,0,0
$GC,1854,-0.48,-145.9,178.7,-9.7,249,1857,0.00,0.55,0.00,0.000,4,0.000,0.064,2846,1572,3425,0,0,0,0,0,0
$GC,1946,-0.46,-145.9,187.6,-9.6,257,1950,0.05,0.52,0.00,0.000,6,0.159,0.049,2860,1924,3426,0,0,0,0,0,0
$GC,2276,-0.48,-145.9,215.0,-7.7,288,2280,0.00,0.80,0.00,0.000,4,0.000,0.063,2860,1417,3426,0,0,0,0,0,0
$GC,2359,-0.51,-145.9,221.8,-7.6,295,2365,0.00,0.77,0.00,0.000,6,0.000,0.045,2858,1915,3426,0,0,0,0,0,0
$GC,2686,-0.51,-145.9,247.5,-8.0,326,2689,0.00,0.60,0.00,0.000,4,0.000,0.063,2858,1536,3427,0,0,0,0,0,0
$GC,2768,-0.51,-145.9,254.8,-8.6,331,2774,0.00,0.60,0.00,0.000,6,0.000,0.047,2856,1923,3427,0,0,0,0,0,0
$GC,3086,-0.51,-145.9,280.7,-8.1,347,3089,0.00,0.62,0.00,0.000,4,0.000,0.063,2856,1528,3427,0,0,0,0,0,0
$GC,3163,-0.51,-145.9,287.0,-7.1,350,3167,0.00,0.60,0.00,0.000,6,0.000,0.046,2854,1916,3427,0,0,0,0,0,0
$GC,3484,-0.51,-145.9,312.2,-8.2,366,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1916,3428,0,0,0,0,0,0
$GC,3795,-0.51,-145.9,340.1,-9.4,381,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1917,3429,0,0,0,0,0,0
$GC,4102,-0.51,-145.9,368.2,-9.1,396,4106,0.00,1.45,0.00,0.000,4,0.000,0.064,2854,1017,3429,0,0,0,0,0,0
$GC,4196,-0.53,-145.9,376.9,-8.5,400,4201,0.00,1.38,0.00,0.000,6,0.000,0.042,2850,1903,3429,0,0,0,0,0,0
$GC,4524,-0.53,-145.9,408.1,-9.6,416,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1903,3429,0,0,0,0,0,0
$GC,4835,-0.53,-145.9,435.4,-8.8,431,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1903,3430,0,0,0,0,0,0
$GC,5142,-0.53,-145.9,460.9,-8.3,446,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1903,3430,0,0,0,0,0,0
$GC,5454,-0.53,-145.9,488.1,-9.2,461,5457,0.00,0.88,0.00,0.000,4,0.000,0.061,2850,1357,3430,0,0,0,0,0,0
$GC,5546,-0.53,-145.9,496.4,-9.8,465,5549,0.00,0.85,0.00,0.000,6,0.000,0.046,2848,1911,3431,0,0,0,0,0,0
$GC,5864,-0.53,-145.9,522.5,-7.8,476,5868,0.00,1.67,0.00,0.000,4,0.000,0.063,2848,857,3431,0,0,0,0,0,0
$GC,5969,-0.56,-145.9,530.9,-8.0,479,5974,0.00,1.62,0.00,0.000,6,0.000,0.041,2843,1904,3430,0,0,0,0,0,0
$GC,6304,-0.56,-145.9,556.5,-7.8,490,6308,0.00,0.52,0.00,0.000,4,0.000,0.050,2840,2276,3431,0,0,0,0,0,0
$GC,6381,-0.56,-145.9,562.6,-7.9,492,6385,0.00,0.60,0.00,0.000,6,0.000,0.054,2841,1891,3431,0,0,0,0,0,0
$GC,6710,-0.56,-145.9,588.4,-8.0,503,6714,0.00,1.12,0.00,0.000,4,0.000,0.061,2841,1176,3431,0,0,0,0,0,0
$GC,6815,-0.56,-145.9,597.1,-8.1,506,6819,0.00,1.15,0.00,0.000,6,0.000,0.041,2838,1916,3430,0,0,0,0,0,0
$GC,7150,-0.56,-145.9,625.8,-8.7,517,7154,0.00,0.52,0.00,0.000,4,0.000,0.060,2838,1567,3430,0,0,0,0,0,0
$GC,7226,-0.56,-145.9,632.8,-9.1,519,7231,0.00,0.55,0.00,0.000,6,0.000,0.044,2837,1930,3430,0,0,0,0,0,0
$GC,7556,-0.56,-145.9,662.9,-9.3,530,7557,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1930,3429,0,0,0,0,0,0
$GC,7862,-0.56,-145.9,692.6,-9.7,540,7865,0.00,0.85,0.00,0.000,4,0.000,0.057,2836,1385,3429,0,0,0,0,0,0
$GC,7963,-0.56,-145.9,702.2,-9.4,543,7966,0.00,0.80,0.00,0.000,6,0.000,0.042,2834,1912,3429,0,0,0,0,0,0
$GC,8302,-0.56,-145.9,735.3,-10.0,554,8303,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1913,3428,0,0,0,0,0,0
$GC,8609,-0.56,-145.9,765.8,-9.8,564,8612,0.00,0.73,0.00,0.000,4,0.000,0.058,2834,1442,3428,0,0,0,0,0,0
$GC,8713,-0.56,-145.9,776.4,-9.8,567,8718,0.00,0.73,0.00,0.000,6,0.000,0.043,2831,1917,3427,0,0,0,0,0,0
$GC,9048,-0.56,-145.9,808.9,-9.7,578,9052,0.00,0.60,0.00,0.000,4,0.000,0.058,2832,1529,3427,0,0,0,0,0,0
$GC,9125,-0.56,-145.9,816.4,-9.7,580,9129,0.00,0.60,0.00,0.000,6,0.000,0.045,2829,1919,3427,0,0,0,0,0,0
$GC,9454,-0.56,-145.9,847.3,-9.2,591,9455,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1919,3426,0,0,0,0,0,0
$GC,9760,-0.56,-145.9,875.1,-9.1,601,9764,0.00,0.62,0.00,0.000,4,0.000,0.057,2829,1517,3426,0,0,0,0,0,0
$GC,9837,-0.56,-145.9,882.5,-9.6,603,9841,0.00,0.62,0.00,0.000,6,0.000,0.044,2827,1925,3425,0,0,0,0,0,0
$GC,10166,-0.56,-145.9,912.1,-9.3,614,10169,0.00,0.35,0.00,0.000,4,0.000,0.063,2827,1688,3425,0,0,0,0,0,0
$GC,10310,-0.56,-145.9,925.9,-10.0,618,10314,0.00,0.35,0.00,0.000,6,0.000,0.052,2826,1927,3424,0,0,0,0,0,0
$GC,10639,-0.56,-145.9,957.5,-9.7,629,10643,0.00,0.65,0.00,0.000,4,0.000,0.057,2826,1503,3424,0,0,0,0,0,0
$GC,10721,-0.56,-145.9,965.6,-9.7,631,10726,0.00,0.62,0.00,0.000,6,0.000,0.045,2824,1909,3424,0,0,0,0,0,0
$GC,11045,-0.53,-145.9,997.4,-10.0,642,11047,0.05,0.00,0.00,0.000,6,0.234,0.000,2834,1910,3424,0,0,0,0,0,0
$STATE,11079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11079,begin apogee
$GC,11083,-0.19,0.0,1000.3,9.9,643,11210,0.38,0.00,124.20,1.480,6,0.137,0.000,2951,1652,2827,0,0,0,0,0,0
$STATE,11211,end apogee,CONTROL_FINISHED_OK
$STATE,11211,begin climb
$GC,11212,0.52,145.9,1006.4,0.0,647,11348,0.73,1.60,127.82,1.470,4,0.088,0.063,3184,755,2231,0,0,0,0,0,0
$GC,11416,0.35,151.6,1005.0,7.2,654,11427,0.15,1.48,6.10,1.114,6,0.170,0.041,3131,1644,2207,0,0,0,0,0,0
$GC,11751,0.30,248.9,990.1,4.1,665,11843,0.08,0.77,86.57,1.411,4,0.211,0.044,3114,2101,1811,0,0,0,0,0,0
$GC,11906,0.36,319.6,984.0,5.0,669,11975,0.00,0.75,63.70,1.368,6,0.000,0.057,3115,1654,1525,0,0,0,0,0,0
$GC,12311,0.63,356.8,963.9,6.1,683,12351,0.28,0.38,33.75,1.375,4,0.085,0.050,3215,1883,1371,0,0,0,0,0,0
$GC,12361,0.66,356.8,959.8,8.4,684,12365,0.00,0.40,0.00,0.000,6,0.000,0.063,3215,1651,1370,0,0,0,0,0,0
$GC,12679,0.58,356.8,922.0,12.8,695,12682,0.00,1.27,0.00,0.000,4,0.000,0.067,3220,888,1366,0,0,0,0,0,0
$GC,12750,0.51,356.8,911.9,13.5,697,12756,0.12,1.25,0.00,0.000,6,0.158,0.044,3183,1661,1365,0,0,0,0,0,0
$GC,13085,0.51,356.8,872.1,12.2,708,13089,0.00,0.47,0.00,0.000,4,0.000,0.071,3184,1366,1364,0,0,0,0,0,0
$GC,13153,0.51,356.8,863.5,13.8,710,13156,0.00,0.43,0.00,0.000,6,0.000,0.050,3184,1652,1364,0,0,0,0,0,0
$GC,13492,0.51,356.8,821.0,12.3,721,13493,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1652,1364,0,0,0,0,0,0
$GC,13799,0.51,356.8,784.0,11.8,731,13800,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1652,1364,0,0,0,0,0,0
$GC,14105,0.51,356.8,751.2,10.3,741,14108,0.00,0.82,0.00,0.000,4,0.000,0.068,3185,1138,1364,0,0,0,0,0,0
$GC,14172,0.51,356.8,744.7,9.7,743,14175,0.00,0.77,0.00,0.000,6,0.000,0.046,3185,1645,1363,0,0,0,0,0,0
$GC,14512,0.51,356.8,713.3,8.6,754,14513,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1646,1363,0,0,0,0,0,0
$GC,14818,0.51,356.8,686.6,8.8,764,14819,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1646,1363,0,0,0,0,0,0
$GC,15124,0.51,356.8,658.5,9.5,774,15125,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1646,1363,0,0,0,0,0,0
$GC,15430,0.51,356.8,629.3,9.6,784,15431,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1646,1363,0,0,0,0,0,0
$GC,15736,0.51,356.8,599.1,10.1,794,15740,0.00,0.45,0.00,0.000,4,0.000,0.069,3185,1358,1363,0,0,0,0,0,0
$GC,15804,0.51,356.8,592.6,10.5,796,15807,0.00,0.43,0.00,0.000,6,0.000,0.052,3186,1647,1363,0,0,0,0,0,0
$GC,16143,0.51,356.8,561.0,9.1,807,16147,0.00,0.35,0.00,0.000,4,0.000,0.072,3185,1417,1363,0,0,0,0,0,0
$GC,16203,0.51,356.8,555.7,8.9,808,16205,0.00,0.35,0.00,0.000,6,0.000,0.054,3185,1647,1363,0,0,0,0,0,0
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$GC,21968,0.55,364.0,24.8,10.4,1248,21975,0.00,0.32,0.00,0.000,4,0.000,0.071,3193,1430,1343,0,0,0,0,0,0
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$GC,22109,0.55,364.0,12.3,8.2,1271,22116,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1663,1343,0,0,0,0,0,0
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$STATE,22207,end climb,SURFACE_DEPTH_REACHED
$STATE,22207,begin surface coast
$FINISH,1.4,1.026720
$STATE,22238,end surface coast,CONTROL_FINISHED_OK
$STATE,22239,begin surface
$SM_CCo,22313,0.00,0.000,0,0,1342,364.26
$SM_GC,2.60,8.48,0.00,0.00,0.060,0.000,0.000,85,1911,1342,-9.11,-0.06,364.26
$IRIDIUM_FIX,-4244.98,-831.12,051012,101010
$TT8_MAMPS,0.026964
$HUMID,44.68
$INTERNAL_PRESSURE,9.08686
$TCM_TEMP,12.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1000.3,12.1
$24V_AH,23.2,19.415
$10V_AH,10.2,17.471
$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,23.125,52.275,448.950,0.000,0.000,27.339,40.822,347.058,0.500,0.000,18.636,3268.541,14915.518,517.439,3993.619,138.544,33.358,1927.709,0.000,3528.979,0.000,5.484,0.000
$DEVICE_MAMPS,279.225,77.265,1480.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,894.603,1618.242,851.754,122.457,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354596
$DATA_FILE_SIZE,76911,1292
$CAP_FILE_SIZE,189889,0
$CFSIZE,2097086464,2083684352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,051012,233023,-4307.391,-829.018,37,0.9,38,-21.4