version: 66.07.10.p01
glider: 574
mission: 4
dive: 246
start: 11 20 112 1 11 51
data:
$ID,574
$MISSION,4
$DIVE,246
$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,278
$T_MISSION,300
$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,-6616.6353
$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,55
$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,1
$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,225
$GPS1,201112,010105,-4158.958,-633.703,30,1.0,30,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-72.9
$GPS2,201112,011056,-4158.981,-633.581,59,1.2,60,-22.1
$SPEED_LIMITS,0.208,0.275
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.066,0.267
$KALMAN_X,-344151.2,37.2,53.7,528660.0,452.8
$KALMAN_Y,115010.3,-331.1,-174.0,-17020.0,-3045.9
$MHEAD_RNG_PITCHd_Wd,36.0,80840,-21.2,-11.990
$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,-0.79,-145.9,0.0,0.0,0,81,0.00,0.00,-54.38,0.000,2,0.000,0.000,67,1951,2388,0,0,0,0,0,0
$GC,84,-0.79,-145.9,3.1,-1.8,9,140,12.52,2.38,-36.80,0.000,4,0.273,0.077,2747,518,3422,0,0,0,0,0,0
$GC,202,-0.76,-145.9,13.3,-13.7,28,210,0.08,2.20,0.00,0.000,6,0.176,0.042,2760,1892,3422,0,0,0,0,0,0
$GC,282,-0.76,-145.9,21.2,-10.2,41,289,0.00,0.68,0.00,0.000,4,0.000,0.047,2758,2350,3422,0,0,0,0,0,0
$GC,327,-0.76,-145.9,25.8,-10.0,48,334,0.00,0.68,0.00,0.000,6,0.000,0.050,2759,1913,3423,0,0,0,0,0,0
$GC,407,-0.79,-145.9,34.8,-11.4,61,412,0.00,0.68,0.00,0.000,4,0.000,0.057,2759,1472,3422,0,0,0,0,0,0
$GC,466,-0.81,-145.9,41.1,-11.2,71,471,0.00,0.70,0.00,0.000,6,0.000,0.041,2758,1930,3423,0,0,0,0,0,0
$GC,702,-0.89,-145.9,63.5,-10.3,112,707,0.10,2.17,0.00,0.000,4,0.114,0.051,2707,3309,3422,0,0,0,0,0,0
$GC,789,-0.81,-145.9,74.1,-14.7,127,794,0.15,2.17,0.00,0.000,6,0.169,0.044,2748,1916,3423,0,0,0,0,0,0
$GC,1122,-0.88,-145.9,112.0,-10.7,174,1126,0.00,1.73,0.00,0.000,4,0.000,0.044,2742,3026,3423,0,0,0,0,0,0
$GC,1161,-0.90,-145.9,116.7,-11.8,176,1165,0.03,1.75,0.00,0.000,6,0.112,0.043,2723,1913,3422,0,0,0,0,0,0
$GC,1488,-0.90,-145.9,153.9,-11.4,197,1492,0.00,2.17,0.00,0.000,4,0.000,0.046,2713,3318,3423,0,0,0,0,0,0
$GC,1574,-0.86,-145.9,165.0,-12.6,202,1579,0.08,2.17,0.00,0.000,6,0.193,0.043,2729,1899,3423,0,0,0,0,0,0
$GC,1901,-0.92,-145.9,201.5,-10.4,223,1905,0.00,2.20,0.00,0.000,4,0.000,0.045,2720,3313,3423,0,0,0,0,0,0
$GC,1972,-0.90,-145.9,209.9,-11.9,227,1976,0.00,2.15,0.00,0.000,6,0.000,0.040,2721,1904,3423,0,0,0,0,0,0
$GC,2299,-0.93,-145.9,246.6,-11.1,248,2302,0.00,0.35,0.00,0.000,4,0.000,0.045,2721,2170,3423,0,0,0,0,0,0
$GC,2326,-0.93,-145.9,250.2,-11.0,249,2331,0.00,0.40,0.00,0.000,6,0.000,0.050,2721,1904,3423,0,0,0,0,0,0
$GC,2644,-0.93,-145.9,285.0,-11.2,265,2648,0.00,2.17,0.00,0.000,4,0.000,0.046,2710,3315,3423,0,0,0,0,0,0
$GC,2716,-0.89,-145.9,294.3,-12.3,268,2720,0.00,2.15,0.00,0.000,6,0.000,0.038,2710,1920,3423,0,0,0,0,0,0
$GC,3038,-0.89,-145.9,331.2,-11.4,284,3043,0.05,2.25,0.00,0.000,4,0.239,0.057,2723,509,3423,0,0,0,0,0,0
$GC,3110,-0.83,-145.9,340.6,-13.3,287,3114,0.08,2.15,0.00,0.000,6,0.169,0.031,2737,1914,3424,0,0,0,0,0,0
$GC,3434,-0.90,-145.9,374.1,-10.7,303,3438,0.00,0.62,0.00,0.000,4,0.000,0.043,2735,2355,3423,0,0,0,0,0,0
$GC,3495,-0.96,-145.9,381.2,-11.0,305,3501,0.08,0.68,0.00,0.000,6,0.076,0.044,2699,1901,3423,0,0,0,0,0,0
$GC,3819,-0.94,-145.9,420.0,-12.3,319,3823,0.00,2.17,0.00,0.000,4,0.000,0.044,2688,3316,3423,0,0,0,0,0,0
$GC,3897,-0.87,-145.9,430.8,-13.7,321,3902,0.12,2.15,0.00,0.000,6,0.155,0.037,2727,1920,3423,0,0,0,0,0,0
$GC,4221,-0.91,-145.9,468.0,-11.3,332,4225,0.00,0.68,0.00,0.000,4,0.000,0.040,2725,2383,3423,0,0,0,0,0,0
$GC,4242,-0.91,-145.9,470.7,-11.4,332,4247,0.00,0.73,0.00,0.000,6,0.000,0.041,2725,1907,3423,0,0,0,0,0,0
$GC,4561,-0.95,-145.9,505.5,-11.2,343,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1906,3423,0,0,0,0,0,0
$GC,4868,-1.00,-145.9,538.0,-10.3,353,4872,0.10,1.23,0.00,0.000,4,0.122,0.056,2688,1141,3422,0,0,0,0,0,0
$GC,4928,-0.92,-145.9,545.5,-12.6,354,4934,0.10,1.17,0.00,0.000,6,0.175,0.033,2713,1914,3422,0,0,0,0,0,0
$GC,5241,-0.94,-145.9,579.0,-10.6,365,5245,0.00,2.25,0.00,0.000,4,0.000,0.056,2713,509,3422,0,0,0,0,0,0
$GC,5307,-0.87,-145.9,587.2,-12.2,367,5312,0.08,2.15,0.00,0.000,6,0.173,0.034,2726,1903,3421,0,0,0,0,0,0
$GC,5643,-0.83,-145.9,625.5,-11.7,378,5647,0.08,0.47,0.00,0.000,4,0.220,0.046,2742,2243,3421,0,0,0,0,0,0
$GC,5686,-0.83,-145.9,630.5,-11.0,379,5690,0.00,0.52,0.00,0.000,6,0.000,0.047,2742,1897,3421,0,0,0,0,0,0
$GC,6016,-0.90,-145.9,662.2,-9.5,390,6021,0.05,2.22,0.00,0.000,4,0.176,0.057,2720,512,3421,0,0,0,0,0,0
$GC,6099,-0.85,-145.9,672.2,-12.7,392,6104,0.05,2.17,0.00,0.000,6,0.180,0.035,2726,1914,3420,0,0,0,0,0,0
$GC,6417,-0.79,-145.9,711.0,-12.6,403,6422,0.10,0.93,0.00,0.000,4,0.201,0.044,2747,2524,3420,0,0,0,0,0,0
$GC,6473,-0.84,-145.9,717.7,-11.6,404,6477,0.00,0.93,0.00,0.000,6,0.000,0.043,2749,1924,3420,0,0,0,0,0,0
$GC,6792,-0.94,-145.9,749.8,-10.4,415,6796,0.12,2.17,0.00,0.000,4,0.105,0.047,2694,3314,3419,0,0,0,0,0,0
$GC,6874,-0.90,-145.9,761.0,-13.5,417,6879,0.05,2.17,0.00,0.000,6,0.164,0.037,2715,1912,3419,0,0,0,0,0,0
$GC,7193,-0.85,-145.9,806.4,-14.7,428,7197,0.10,0.50,0.00,0.000,4,0.205,0.055,2740,1581,3418,0,0,0,0,0,0
$GC,7241,-0.85,-145.9,813.8,-14.6,429,7245,0.00,0.52,0.00,0.000,6,0.000,0.043,2739,1929,3418,0,0,0,0,0,0
$GC,7565,-0.85,-145.9,858.1,-13.8,440,7568,0.00,1.38,0.00,0.000,4,0.000,0.053,2739,1073,3418,0,0,0,0,0,0
$GC,7636,-0.85,-145.9,868.4,-13.5,442,7641,0.00,1.33,0.00,0.000,6,0.000,0.037,2733,1915,3417,0,0,0,0,0,0
$GC,7971,-0.85,-145.9,914.1,-13.5,453,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1915,3417,0,0,0,0,0,0
$GC,8277,-0.85,-145.9,952.9,-12.3,463,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1916,3416,0,0,0,0,0,0
$GC,8584,-0.85,-145.9,988.9,-11.5,473,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1916,3416,0,0,0,0,0,0
$STATE,8705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8706,begin apogee
$GC,8710,-0.19,0.0,1002.9,11.4,477,8840,0.75,0.00,126.45,1.525,6,0.152,0.000,2949,1644,2827,0,0,0,0,0,0
$STATE,8841,end apogee,CONTROL_FINISHED_OK
$STATE,8841,begin climb
$GC,8842,0.79,145.9,1009.8,0.0,481,8984,0.95,1.02,133.07,1.486,4,0.073,0.059,3266,1077,2231,0,0,0,0,0,0
$GC,9063,0.59,206.0,1008.7,8.7,488,9125,0.22,0.95,55.92,1.433,6,0.200,0.040,3211,1661,1986,0,0,0,0,0,0
$GC,9431,0.54,274.0,978.4,8.2,500,9497,0.10,0.68,60.97,1.424,4,0.214,0.041,3190,2101,1708,0,0,0,0,0,0
$GC,9552,0.58,336.4,968.4,8.6,503,9614,0.00,0.75,57.30,1.394,6,0.000,0.051,3192,1656,1455,0,0,0,0,0,0
$GC,9921,0.74,405.4,936.2,8.2,515,9991,0.17,2.47,63.47,1.405,4,0.084,0.067,3263,253,1173,0,0,0,0,0,0
$GC,10110,0.74,405.4,911.8,13.5,520,10115,0.00,2.20,0.00,0.000,6,0.000,0.036,3264,1645,1164,0,0,0,0,0,0
$GC,10422,0.74,405.4,871.2,12.8,531,10426,0.00,0.88,0.00,0.000,4,0.000,0.061,3267,1115,1162,0,0,0,0,0,0
$GC,10493,0.74,405.4,861.7,12.8,533,10498,0.00,0.85,0.00,0.000,6,0.000,0.037,3266,1665,1161,0,0,0,0,0,0
$GC,10829,0.74,405.4,817.0,13.2,544,10833,0.00,2.33,0.00,0.000,4,0.000,0.067,3275,242,1161,0,0,0,0,0,0
$GC,10907,0.72,405.4,806.2,13.9,546,10912,0.12,2.15,0.00,0.000,6,0.193,0.038,3247,1639,1159,0,0,0,0,0,0
$GC,11225,0.76,408.7,768.0,11.8,557,11229,0.00,1.27,0.00,0.000,4,0.000,0.060,3251,864,1158,0,0,0,0,0,0
$GC,11285,0.76,408.7,760.5,12.1,558,11291,0.00,1.25,0.00,0.000,6,0.000,0.037,3252,1662,1158,0,0,0,0,0,0
$GC,11599,0.78,411.1,723.5,11.9,569,11603,0.00,1.38,0.00,0.000,4,0.000,0.062,3253,826,1158,0,0,0,0,0,0
$GC,11666,0.78,411.1,715.3,12.8,571,11670,0.00,1.27,0.00,0.000,6,0.000,0.038,3253,1649,1158,0,0,0,0,0,0
$GC,12007,0.80,413.4,675.1,11.9,582,12016,0.00,1.40,5.55,0.929,4,0.000,0.060,3257,786,1141,0,0,0,0,0,0
$GC,12077,0.80,413.4,666.2,12.9,584,12082,0.00,1.35,0.00,0.000,6,0.000,0.037,3257,1655,1141,0,0,0,0,0,0
$GC,12413,0.80,413.4,623.9,12.9,595,12417,0.00,2.28,0.00,0.000,4,0.000,0.065,3264,269,1141,0,0,0,0,0,0
$GC,12479,0.80,413.4,614.9,12.9,597,12483,0.00,2.15,0.00,0.000,6,0.000,0.038,3264,1638,1140,0,0,0,0,0,0
$GC,12814,0.80,413.4,569.7,13.5,608,12818,0.00,0.75,0.00,0.000,4,0.000,0.060,3266,1175,1140,0,0,0,0,0,0
$GC,12882,0.80,413.4,560.6,13.0,610,12885,0.00,0.75,0.00,0.000,6,0.000,0.041,3266,1672,1140,0,0,0,0,0,0
$GC,13222,0.80,413.4,515.7,13.0,621,13226,0.00,2.17,0.00,0.000,4,0.000,0.066,3274,345,1140,0,0,0,0,0,0
$GC,13287,0.80,413.4,506.8,12.8,623,13292,0.00,2.03,0.00,0.000,6,0.000,0.041,3274,1633,1139,0,0,0,0,0,0
$GC,13623,0.80,413.4,461.6,13.9,634,13624,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1634,1139,0,0,0,0,0,0
$GC,13929,0.80,413.4,419.2,14.0,644,13932,0.00,1.27,0.00,0.000,4,0.000,0.061,3280,857,1139,0,0,0,0,0,0
$GC,13989,0.78,413.4,410.5,13.9,645,13996,0.03,1.25,0.00,0.000,6,0.198,0.037,3272,1664,1140,0,0,0,0,0,0
$GC,14315,0.78,413.4,365.9,13.6,660,14318,0.00,1.67,0.00,0.000,4,0.000,0.062,3278,629,1139,0,0,0,0,0,0
$GC,14385,0.78,413.4,356.4,14.2,663,14389,0.03,1.58,0.00,0.000,6,0.201,0.037,3271,1644,1139,0,0,0,0,0,0
$GC,14718,0.78,413.4,314.1,12.5,679,14722,0.00,0.88,0.00,0.000,4,0.000,0.060,3274,1099,1139,0,0,0,0,0,0
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$GC,16686,0.77,414.6,66.9,13.0,828,16693,0.00,0.73,0.00,0.000,4,0.000,0.044,3264,2150,1139,0,0,0,0,0,0
$GC,16729,0.77,414.6,61.4,14.2,835,16733,0.00,0.77,0.00,0.000,6,0.000,0.053,3266,1655,1139,0,0,0,0,0,0
$GC,17081,0.77,414.6,22.0,13.1,896,17088,0.00,2.33,0.00,0.000,4,0.000,0.068,3269,246,1139,0,0,0,0,0,0
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$STATE,17226,end climb,SURFACE_DEPTH_REACHED
$STATE,17226,begin surface coast
$FINISH,1.7,1.014010
$STATE,17257,end surface coast,CONTROL_FINISHED_OK
$STATE,17257,begin surface
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$SM_GC,2.71,8.82,0.00,0.00,0.056,0.000,0.000,85,1956,1139,-9.10,1.19,414.06
$IRIDIUM_FIX,-4143.80,-637.68,191112,202014
$TT8_MAMPS,0.026964
$HUMID,47.48
$INTERNAL_PRESSURE,9.08686
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,22.3,57.873
$10V_AH,10.1,41.157
$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
$DEVICE_SECS,25.425,121.725,502.750,0.000,0.000,24.876,47.214,355.245,0.250,0.000,63.280,2367.934,11653.299,571.450,3133.344,196.839,33.380,1752.386,0.000,2641.159,0.000,2.832,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,597.858,1057.287,602.242,82.284,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354400
$DATA_FILE_SIZE,56962,925
$CAP_FILE_SIZE,172320,0
$CFSIZE,2097086464,2059960320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201112,060200,-4158.258,-632.005,42,1.3,42,-22.1