version: 66.07.10.p01
glider: 574
mission: 4
dive: 359
start: 12 13 112 16 10 14
data:
$ID,574
$MISSION,4
$DIVE,359
$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,300
$T_MISSION,325
$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,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,120
$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,-6995.375
$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,24
$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,1950
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,30
$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,338
$GPS1,131212,160122,-4145.317,-530.512,181,1.1,181,-22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-67.7
$GPS2,131212,160953,-4145.269,-530.486,20,1.2,20,-22.3
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,HEADING
$TGT_LATLONG,-4150.668,-517.932
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.143,-0.253
$KALMAN_X,-450768.2,55.4,-146.1,643435.0,-838.8
$KALMAN_Y,54548.8,221.8,-27.0,52814.2,1450.5
$MHEAD_RNG_PITCHd_Wd,142.3,20000,-19.9,-11.111
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.84,-145.9,0.0,0.0,0,95,0.00,0.00,-65.78,0.000,2,0.000,0.000,66,1938,2424,0,0,0,0,0,0
$GC,97,-0.84,-145.9,3.2,-2.1,11,147,12.12,2.33,-30.45,0.000,4,0.260,0.067,2726,3374,3422,0,0,0,0,0,0
$GC,156,-0.76,-145.9,7.6,-10.6,20,164,0.12,2.30,0.00,0.000,6,0.139,0.047,2764,1945,3422,0,0,0,0,0,0
$GC,237,-0.93,-145.9,14.3,-6.7,33,245,0.15,2.30,0.00,0.000,4,0.090,0.053,2697,3356,3422,0,0,0,0,0,0
$GC,301,-0.86,-145.9,20.0,-10.5,43,309,0.10,2.25,0.00,0.000,6,0.152,0.047,2728,1950,3423,0,0,0,0,0,0
$GC,382,-0.88,-145.9,27.5,-9.0,56,389,0.00,1.95,0.00,0.000,4,0.000,0.058,2729,744,3423,0,0,0,0,0,0
$GC,441,-0.88,-145.9,33.5,-9.9,66,448,0.00,1.90,0.00,0.000,6,0.000,0.041,2721,1952,3423,0,0,0,0,0,0
$GC,682,-0.95,-145.9,60.3,-10.2,107,686,0.00,0.90,0.00,0.000,4,0.000,0.047,2716,2545,3423,0,0,0,0,0,0
$GC,730,-1.01,-145.9,65.1,-10.0,115,735,0.05,0.95,0.00,0.000,6,0.081,0.047,2685,1939,3423,0,0,0,0,0,0
$GC,1081,-1.01,-145.9,103.9,-11.1,174,1084,0.00,1.67,0.00,0.000,4,0.000,0.057,2686,877,3423,0,0,0,0,0,0
$GC,1142,-0.98,-145.9,111.6,-11.6,177,1148,0.05,1.67,0.00,0.000,6,0.171,0.039,2693,1947,3424,0,0,0,0,0,0
$GC,1463,-1.00,-145.9,147.3,-11.2,198,1466,0.00,0.62,0.00,0.000,4,0.000,0.048,2691,2383,3424,0,0,0,0,0,0
$GC,1525,-1.04,-145.9,154.7,-10.8,201,1530,0.00,0.68,0.00,0.000,6,0.000,0.047,2691,1942,3424,0,0,0,0,0,0
$GC,1844,-1.07,-145.9,191.3,-11.6,222,1848,0.05,0.65,0.00,0.000,4,0.167,0.045,2661,2369,3425,0,0,0,0,0,0
$GC,1878,-1.03,-145.9,195.4,-12.3,224,1882,0.05,0.62,0.00,0.000,6,0.164,0.047,2676,1952,3424,0,0,0,0,0,0
$GC,2210,-1.03,-145.9,233.3,-11.4,245,2214,0.00,1.62,0.00,0.000,4,0.000,0.057,2676,943,3425,0,0,0,0,0,0
$GC,2265,-1.00,-145.9,240.1,-11.4,248,2270,0.05,1.58,0.00,0.000,6,0.169,0.037,2686,1954,3425,0,0,0,0,0,0
$GC,2599,-1.00,-145.9,275.4,-10.5,266,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1954,3425,0,0,0,0,0,0
$GC,2909,-1.00,-145.9,309.8,-11.2,281,2913,0.00,2.28,0.00,0.000,4,0.000,0.058,2686,551,3425,0,0,0,0,0,0
$GC,3003,-0.97,-145.9,321.3,-11.1,285,3008,0.10,2.17,0.00,0.000,6,0.184,0.038,2701,1962,3425,0,0,0,0,0,0
$GC,3328,-1.03,-145.9,355.6,-11.0,301,3332,0.08,0.40,0.00,0.000,4,0.129,0.050,2667,2250,3425,0,0,0,0,0,0
$GC,3377,-1.03,-145.9,362.0,-11.4,303,3381,0.00,0.47,0.00,0.000,6,0.000,0.050,2667,1939,3425,0,0,0,0,0,0
$GC,3706,-1.03,-145.9,398.7,-11.2,319,3710,0.00,2.22,0.00,0.000,4,0.000,0.057,2667,544,3425,0,0,0,0,0,0
$GC,3774,-0.97,-145.9,407.0,-11.6,322,3779,0.15,2.15,0.00,0.000,6,0.175,0.036,2694,1960,3425,0,0,0,0,0,0
$GC,4110,-1.02,-145.9,440.7,-10.1,333,4114,0.00,1.35,0.00,0.000,4,0.000,0.053,2694,1121,3425,0,0,0,0,0,0
$GC,4165,-1.05,-145.9,446.6,-9.8,334,4169,0.00,1.27,0.00,0.000,6,0.000,0.039,2690,1942,3425,0,0,0,0,0,0
$GC,4484,-1.09,-145.9,478.5,-10.0,345,4489,0.10,1.45,0.00,0.000,4,0.109,0.053,2648,1054,3425,0,0,0,0,0,0
$GC,4534,-0.98,-145.9,484.2,-11.4,346,4538,0.15,1.40,0.00,0.000,6,0.161,0.038,2686,1954,3425,0,0,0,0,0,0
$GC,4859,-1.02,-145.9,516.1,-9.8,357,4862,0.00,1.08,0.00,0.000,4,0.000,0.052,2687,1275,3424,0,0,0,0,0,0
$GC,4931,-1.04,-145.9,523.5,-9.2,359,4935,0.00,1.02,0.00,0.000,6,0.000,0.039,2683,1943,3424,0,0,0,0,0,0
$GC,5267,-1.08,-145.9,557.2,-10.2,370,5271,0.05,0.40,0.00,0.000,4,0.167,0.056,2659,1688,3423,0,0,0,0,0,0
$GC,5350,-1.06,-145.9,566.8,-11.0,372,5354,0.03,0.38,0.00,0.000,6,0.197,0.047,2664,1956,3423,0,0,0,0,0,0
$GC,5673,-1.06,-145.9,603.1,-11.4,383,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1956,3423,0,0,0,0,0,0
$GC,5979,-1.06,-145.9,639.0,-11.8,393,5982,0.00,0.95,0.00,0.000,4,0.000,0.050,2664,1356,3422,0,0,0,0,0,0
$GC,6023,-1.04,-145.9,644.4,-11.6,394,6028,0.03,0.90,0.00,0.000,6,0.192,0.041,2669,1941,3421,0,0,0,0,0,0
$GC,6352,-1.04,-145.9,683.4,-11.9,405,6356,0.00,0.73,0.00,0.000,4,0.000,0.051,2670,1476,3420,0,0,0,0,0,0
$GC,6396,-1.04,-145.9,688.9,-12.1,406,6400,0.00,0.75,0.00,0.000,6,0.000,0.042,2668,1958,3421,0,0,0,0,0,0
$GC,6726,-1.04,-145.9,727.8,-11.8,417,6730,0.00,2.28,0.00,0.000,4,0.000,0.056,2668,546,3420,0,0,0,0,0,0
$GC,6794,-0.98,-145.9,736.0,-12.2,419,6799,0.15,2.15,0.00,0.000,6,0.174,0.037,2695,1953,3419,0,0,0,0,0,0
$GC,7130,-1.06,-145.9,771.5,-10.5,430,7135,0.08,0.55,0.00,0.000,4,0.132,0.053,2665,1605,3419,0,0,0,0,0,0
$GC,7235,-1.06,-145.9,783.9,-11.6,433,7239,0.00,0.55,0.00,0.000,6,0.000,0.044,2662,1965,3419,0,0,0,0,0,0
$GC,7571,-1.06,-145.9,820.8,-11.0,444,7575,0.00,2.25,0.00,0.000,4,0.000,0.054,2662,556,3418,0,0,0,0,0,0
$GC,7643,-0.99,-145.9,829.6,-12.7,446,7648,0.15,2.12,0.00,0.000,6,0.179,0.037,2690,1946,3418,0,0,0,0,0,0
$GC,7967,-1.05,-145.9,864.0,-10.8,457,7970,0.00,1.23,0.00,0.000,4,0.000,0.046,2685,2739,3417,0,0,0,0,0,0
$GC,8016,-1.10,-145.9,869.9,-11.6,458,8021,0.05,1.23,0.00,0.000,6,0.080,0.041,2655,1951,3417,0,0,0,0,0,0
$GC,8340,-1.07,-145.9,908.4,-12.1,469,8344,0.00,1.00,0.00,0.000,4,0.000,0.045,2651,2597,3416,0,0,0,0,0,0
$GC,8389,-1.07,-145.9,914.6,-12.5,470,8394,0.08,1.02,0.00,0.000,6,0.194,0.042,2666,1945,3416,0,0,0,0,0,0
$GC,8713,-1.07,-145.9,950.6,-10.9,481,8717,0.00,1.55,0.00,0.000,4,0.000,0.053,2666,976,3416,0,0,0,0,0,0
$GC,8757,-1.02,-145.9,955.8,-11.7,482,8762,0.05,1.52,0.00,0.000,6,0.170,0.037,2676,1951,3415,0,0,0,0,0,0
$GC,9087,-1.04,-145.9,987.4,-9.5,493,9091,0.00,1.58,0.00,0.000,4,0.000,0.052,2676,980,3415,0,0,0,0,0,0
$GC,9127,-1.00,-145.9,991.5,-9.7,494,9131,0.05,1.52,0.00,0.000,6,0.171,0.038,2685,1952,3415,0,0,0,0,0,0
$STATE,9247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9247,begin apogee
$GC,9253,-0.21,0.0,1002.7,9.1,498,9385,0.85,0.00,129.10,1.499,6,0.138,0.000,2939,1501,2827,0,0,0,0,0,0
$STATE,9386,end apogee,CONTROL_FINISHED_OK
$STATE,9386,begin climb
$GC,9388,0.84,145.9,1010.5,0.0,502,9533,1.02,2.47,136.00,1.476,4,0.071,0.063,3285,178,2231,0,0,0,0,0,0
$GC,9667,0.53,233.1,1008.6,6.7,510,9755,0.40,2.15,79.68,1.432,6,0.215,0.037,3193,1519,1876,0,0,0,0,0,0
$GC,10067,0.54,301.2,978.3,7.6,524,10134,0.00,2.35,61.05,1.429,4,0.000,0.064,3199,169,1598,0,0,0,0,0,0
$GC,10201,0.60,336.7,967.1,9.3,528,10241,0.00,2.10,33.10,1.377,6,0.000,0.037,3200,1498,1453,0,0,0,0,0,0
$GC,10561,0.70,394.7,937.0,8.1,540,10622,0.12,1.17,53.45,1.392,4,0.103,0.063,3251,836,1216,0,0,0,0,0,0
$GC,10638,0.70,416.0,929.1,10.0,542,10664,0.00,1.05,21.38,1.312,6,0.000,0.037,3251,1509,1129,0,0,0,0,0,0
$GC,10995,0.76,433.2,892.2,10.2,554,11014,0.00,0.93,15.80,1.278,4,0.000,0.060,3254,952,1061,0,0,0,0,0,0
$GC,11031,0.81,469.0,888.2,9.3,555,11071,0.00,0.82,35.10,1.349,6,0.000,0.040,3254,1492,913,0,0,0,0,0,0
$GC,11396,0.95,497.1,851.7,9.7,567,11428,0.20,1.02,26.25,1.310,4,0.082,0.064,3332,898,800,0,0,0,0,0,0
$GC,11444,0.87,497.1,845.2,13.5,568,11449,0.12,0.93,0.00,0.000,6,0.178,0.040,3297,1497,798,0,0,0,0,0,0
$GC,11768,0.91,497.1,807.1,11.9,579,11772,0.00,2.17,0.00,0.000,4,0.000,0.067,3306,175,794,0,0,0,0,0,0
$GC,11806,0.91,497.1,802.0,13.7,580,11811,0.00,2.08,0.00,0.000,6,0.000,0.039,3306,1492,792,0,0,0,0,0,0
$GC,12137,0.95,497.1,760.9,12.5,591,12141,0.00,2.20,0.00,0.000,4,0.000,0.070,3313,175,792,0,0,0,0,0,0
$GC,12181,0.91,497.1,755.0,12.6,592,12185,0.00,2.10,0.00,0.000,6,0.000,0.040,3314,1510,790,0,0,0,0,0,0
$GC,12505,0.94,497.1,713.9,12.4,603,12509,0.00,2.17,0.00,0.000,4,0.000,0.047,3313,2905,790,0,0,0,0,0,0
$GC,12514,0.94,497.1,712.5,12.3,603,12519,0.00,2.25,0.00,0.000,6,0.000,0.051,3323,1517,790,0,0,0,0,0,0
$GC,12839,0.96,497.1,672.5,12.2,614,12843,0.00,2.22,0.00,0.000,4,0.000,0.070,3328,164,789,0,0,0,0,0,0
$GC,12902,0.90,497.1,664.4,14.1,616,12906,0.10,2.08,0.00,0.000,6,0.201,0.040,3307,1504,788,0,0,0,0,0,0
$GC,13236,0.95,497.1,625.6,11.5,627,13240,0.00,2.25,0.00,0.000,4,0.000,0.070,3314,157,788,0,0,0,0,0,0
$GC,13302,0.95,497.1,617.1,13.1,629,13307,0.00,2.12,0.00,0.000,6,0.000,0.041,3314,1504,787,0,0,0,0,0,0
$GC,13638,0.95,497.1,575.2,12.9,640,13642,0.00,2.25,0.00,0.000,4,0.000,0.070,3319,158,787,0,0,0,0,0,0
$GC,13693,0.92,497.1,567.9,14.3,641,13698,0.00,2.12,0.00,0.000,6,0.000,0.041,3319,1506,786,0,0,0,0,0,0
$GC,14006,0.94,497.1,526.5,13.4,652,14010,0.00,2.17,0.00,0.000,4,0.000,0.047,3319,2904,786,0,0,0,0,0,0
$GC,14074,0.99,497.1,517.2,12.8,654,14078,0.00,2.22,0.00,0.000,6,0.000,0.050,3328,1496,787,0,0,0,0,0,0
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$GC,14796,0.99,497.1,418.0,13.9,677,14800,0.00,2.00,0.00,0.000,6,0.000,0.051,3341,1494,786,0,0,0,0,0,0
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$GC,15187,0.91,497.1,361.7,15.9,694,15192,0.15,2.08,0.00,0.000,6,0.177,0.040,3310,1498,786,0,0,0,0,0,0
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$STATE,17913,end climb,SURFACE_DEPTH_REACHED
$STATE,17914,begin surface coast
$FINISH,1.6,1.008813
$STATE,17938,end surface coast,CONTROL_FINISHED_OK
$STATE,17938,begin surface
$SM_CCo,18017,0.00,0.000,0,0,785,500.89
$SM_GC,2.69,9.15,0.00,0.00,0.060,0.000,0.000,88,1947,785,-9.10,-0.08,500.89
$IRIDIUM_FIX,-4132.26,-529.43,131212,101059
$TT8_MAMPS,0.026964
$HUMID,49.52
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,21.8,85.812
$10V_AH,10.0,53.357
$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,26.950,151.875,590.900,0.000,0.000,30.322,39.989,302.588,0.250,0.000,21.939,2425.803,12105.593,628.713,3140.320,220.960,0.000,1899.161,0.000,2713.528,0.000,2.832,0.000
$DEVICE_MAMPS,260.100,70.380,1499.400,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,602.933,1043.617,614.525,78.446,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354504
$DATA_FILE_SIZE,57021,933
$CAP_FILE_SIZE,187284,0
$CFSIZE,2097086464,2044887040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131212,211135,-4144.726,-529.719,29,1.3,29,-22.3