version: 66.10
glider: 169
mission: 6
dive: 322
start: 6 27 112 15 58 42
data:
$ID,169
$MISSION,6
$DIVE,322
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$D_BOOST,110
$T_BOOST,4
$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,250
$T_MISSION,290
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,165
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-15946.858
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2250
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2475
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,147.521
$AH0_10V,108.529
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-77.157478
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,270612,154955,2359.764,12249.418,37,1.9,37,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-72.9
$GPS2,270612,155819,2359.954,12249.389,16,1.3,16,-3.3
$SPEED_LIMITS,0.229,0.389
$TGT_NAME,HEADING
$TGT_LATLONG,2349.522,12252.444
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,168.3,20000,-16.2,-13.200
$D_GRID,3238
$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,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-292.0,0.0,0.0,0,116,0.00,0.00,-96.05,0.000,2,0.000,0.000,123,2420,3064,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.76,-292.0,3.6,-9.1,17,150,7.60,2.42,-15.85,0.000,4,0.226,0.037,2006,1010,3963,0,0,0,0,0,0,24.98,26.10,26.53
$GC,300,-0.73,-292.0,61.2,-19.7,51,307,0.00,2.60,0.00,0.000,6,0.000,0.036,1993,2485,3962,0,0,0,0,0,0,28.83,26.11,28.83
$GC,492,-0.65,-292.0,111.1,-25.7,88,499,0.12,2.53,0.00,0.000,4,0.182,0.024,2043,1011,3963,0,0,0,0,0,0,26.04,26.26,28.83
$GC,554,-0.64,-292.0,122.8,-15.4,99,560,0.00,2.58,0.00,0.000,6,0.000,0.033,2030,2481,3963,0,0,0,0,0,0,28.83,26.22,28.83
$GC,744,-0.59,-292.0,161.9,-22.0,136,751,0.10,2.53,0.00,0.000,4,0.171,0.021,2067,995,3963,0,0,0,0,0,0,26.31,26.32,28.83
$GC,765,-0.54,-292.0,166.4,-21.6,139,772,0.00,2.55,0.00,0.000,6,0.000,0.031,2054,2467,3963,0,0,0,0,0,0,28.83,26.27,28.83
$GC,957,-0.51,-292.0,197.5,-16.1,176,963,0.00,2.47,0.00,0.000,4,0.000,0.023,2056,1006,3963,0,0,0,0,0,0,28.83,26.34,28.83
$GC,982,-0.50,-292.0,201.4,-15.4,180,990,0.15,2.58,0.00,0.000,6,0.115,0.030,2095,2478,3963,0,0,0,0,0,0,26.13,26.29,28.83
$GC,1296,-0.51,-292.0,233.9,-9.9,241,1303,0.00,2.50,0.00,0.000,4,0.000,0.022,2094,998,3963,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1326,-0.54,-292.0,237.2,-9.2,246,1333,0.00,2.55,0.00,0.000,6,0.000,0.029,2087,2471,3963,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1639,-0.54,-292.0,270.7,-11.1,307,1646,0.00,2.50,0.00,0.000,4,0.000,0.024,2088,1007,3963,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1669,-0.57,-292.0,274.1,-10.8,312,1676,0.00,2.53,0.00,0.000,6,0.000,0.032,2085,2455,3963,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1982,-0.58,-292.0,306.8,-9.3,373,1989,0.00,2.08,0.00,0.000,4,0.000,0.041,2075,3839,3961,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2019,-0.61,-292.0,310.1,-8.6,379,2025,0.00,2.08,0.00,0.000,6,0.000,0.017,2075,2366,3961,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2332,-0.61,-292.0,337.0,-8.4,440,2339,0.00,2.35,-0.03,0.000,4,0.000,0.050,2064,3835,3969,0,0,0,0,0,0,28.83,26.27,26.36
$GC,2363,-0.63,-292.0,339.8,-8.6,445,2369,0.00,2.08,0.00,0.000,6,0.000,0.019,2064,2384,3969,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2676,-0.64,-292.0,369.5,-10.3,506,2683,0.00,2.28,0.00,0.000,4,0.000,0.024,2064,1010,3967,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2726,-0.68,-292.0,374.2,-8.7,515,2733,0.00,2.50,0.00,0.000,6,0.000,0.029,2057,2454,3967,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3038,-0.68,-292.0,408.1,-11.3,576,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2453,3965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3349,-0.68,-292.0,441.3,-10.4,637,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2453,3962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3661,-0.68,-292.0,473.7,-10.9,698,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2453,3960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3978,-0.68,-292.0,505.4,-9.7,755,3988,0.00,2.05,0.00,0.000,4,0.000,0.041,2047,3831,3957,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4002,-0.69,-292.0,507.8,-10.1,757,4011,0.00,2.10,0.00,0.000,6,0.000,0.018,2047,2371,3957,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4311,-0.69,-292.0,541.7,-10.8,788,4320,0.00,2.22,0.00,0.000,4,0.000,0.024,2047,1017,3955,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4344,-0.70,-292.0,545.1,-10.6,791,4353,0.00,2.45,0.00,0.000,6,0.000,0.031,2039,2436,3954,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4654,-0.70,-292.0,580.2,-11.3,822,4663,0.00,2.12,0.00,0.000,4,0.000,0.043,2028,3828,3951,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4696,-0.70,-292.0,584.8,-11.0,826,4704,0.00,2.10,0.00,0.000,6,0.000,0.018,2028,2386,3951,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5006,-0.68,-292.0,620.5,-11.9,857,5010,0.00,2.28,0.00,0.000,4,0.000,0.025,2028,1010,3949,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5062,-0.70,-292.0,625.8,-9.7,862,5068,0.00,2.45,0.00,0.000,6,0.000,0.031,2020,2430,3948,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5369,-0.68,-292.0,665.4,-13.7,893,5377,0.00,2.10,0.00,0.000,4,0.000,0.042,2009,3819,3945,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5393,-0.67,-292.0,668.6,-14.5,895,5400,0.00,2.10,0.00,0.000,6,0.000,0.020,2013,2381,3946,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5701,-0.65,-292.0,713.5,-14.6,926,5710,0.00,2.25,0.00,0.000,4,0.000,0.026,2013,1018,3944,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5743,-0.65,-292.0,718.9,-13.1,930,5753,0.12,2.42,0.00,0.000,6,0.121,0.032,2051,2419,3943,0,0,0,0,0,0,26.10,26.24,28.83
$GC,6053,-0.66,-292.0,749.3,-9.7,961,6062,0.00,2.15,0.00,0.000,4,0.000,0.044,2040,3827,3942,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6098,-0.68,-292.0,753.3,-9.5,965,6105,0.00,2.12,0.00,0.000,6,0.000,0.019,2040,2371,3941,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6405,-0.68,-292.0,783.3,-9.3,996,6414,0.00,2.33,0.00,0.000,4,0.000,0.044,2029,3816,3938,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6430,-0.68,-292.0,785.4,-9.5,998,6437,0.00,2.10,0.00,0.000,6,0.000,0.019,2030,2376,3938,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6737,-0.68,-292.0,816.2,-9.7,1029,6746,0.00,2.28,0.00,0.000,4,0.000,0.027,2029,998,3936,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6759,-0.68,-292.0,818.3,-9.8,1031,6768,0.00,2.47,0.00,0.000,6,0.000,0.031,2020,2439,3935,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7070,-0.68,-292.0,851.7,-11.5,1062,7071,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2437,3933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7371,-0.67,-292.0,886.7,-12.5,1092,7380,0.00,2.12,0.00,0.000,4,0.000,0.044,2010,3820,3931,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7407,-0.67,-292.0,890.4,-10.9,1095,7414,0.00,2.12,0.00,0.000,6,0.000,0.020,2010,2375,3931,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7713,-0.66,-292.0,927.9,-11.9,1126,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2374,3930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8016,-0.65,-292.0,965.0,-12.6,1156,8025,0.10,2.33,0.00,0.000,4,0.143,0.043,2029,3823,3928,0,0,0,0,0,0,26.39,26.06,28.83
$GC,8059,-0.66,-292.0,969.9,-10.8,1160,8068,0.00,2.10,0.00,0.000,6,0.000,0.020,2029,2381,3927,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,8276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8276,begin apogee
$GC,8283,-0.20,0.0,990.5,-9.3,1182,8509,0.43,0.10,212.88,1.396,4,0.093,0.070,2179,2433,2979,0,0,0,0,1,0,25.91,24.26,22.79
$STATE,8510,end apogee,CONTROL_FINISHED_OK
$STATE,8510,begin climb
$GC,8514,0.76,292.0,1001.8,0.0,1205,8852,0.85,2.55,323.42,1.075,4,0.044,0.024,2500,1018,1777,0,0,0,0,0,0,24.60,24.62,23.24
$GC,8925,0.75,292.0,947.7,16.1,1246,8935,0.00,2.67,0.00,0.000,6,0.000,0.036,2500,2487,1754,0,0,0,0,0,0,28.83,25.45,28.83
$GC,9236,0.69,292.0,873.7,23.9,1277,9244,0.00,2.53,0.00,0.000,4,0.000,0.031,2511,1034,1750,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9267,0.65,292.0,866.8,22.4,1280,9277,0.15,2.70,0.00,0.000,6,0.137,0.036,2462,2527,1748,0,0,0,0,0,0,25.70,26.03,28.83
$GC,9579,0.61,292.0,808.1,18.6,1311,9587,0.00,1.92,0.00,0.000,4,0.000,0.045,2462,3838,1748,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9754,0.57,292.0,773.4,19.7,1328,9762,0.12,1.88,0.00,0.000,6,0.175,0.021,2439,2508,1747,0,0,0,0,0,0,25.89,26.27,28.83
$GC,10061,0.55,292.0,723.6,15.8,1359,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2507,1746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10365,0.54,292.0,678.2,15.7,1389,10374,0.00,2.00,0.00,0.000,4,0.000,0.043,2439,3829,1746,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10410,0.52,292.0,670.7,16.2,1393,10417,0.12,1.85,0.00,0.000,6,0.156,0.021,2416,2508,1745,0,0,0,0,0,0,25.97,26.31,28.83
$GC,10718,0.57,333.2,633.6,11.9,1424,10770,0.00,2.65,41.15,0.907,4,0.000,0.031,2429,1031,1617,0,0,0,0,1,0,28.83,25.70,24.05
$GC,10786,0.59,350.4,625.4,12.7,1430,10826,0.00,2.80,28.92,0.725,6,0.000,0.033,2428,2545,1548,0,0,0,0,1,0,28.83,25.75,23.91
$GC,11134,0.63,384.6,580.3,12.2,1465,11186,0.00,2.85,39.58,0.806,4,0.000,0.029,2442,1027,1413,0,0,0,0,1,0,28.83,25.60,24.14
$GC,11205,0.68,414.6,571.4,12.3,1472,11255,0.00,2.78,38.17,0.793,6,0.000,0.032,2442,2536,1285,0,0,0,0,1,0,28.83,25.68,23.89
$GC,11555,0.79,490.4,530.4,10.9,1507,11657,0.15,2.83,89.95,0.865,4,0.067,0.031,2543,1017,983,0,0,0,0,1,0,26.19,25.19,23.71
$GC,11677,0.75,490.4,503.5,24.5,1519,11688,0.15,2.80,2.97,0.514,6,0.119,0.035,2492,2522,976,0,0,0,0,0,0,25.20,25.41,23.68
$GC,11990,0.73,490.4,446.7,18.5,1579,11998,0.00,2.00,2.12,0.267,4,0.000,0.043,2492,3827,978,0,0,0,0,0,0,28.83,25.94,23.53
$GC,12031,0.71,490.4,439.1,19.0,1586,12038,0.00,1.98,0.00,0.000,6,0.000,0.022,2501,2474,986,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12345,0.70,490.4,379.6,18.3,1647,12352,0.00,2.53,0.00,0.000,4,0.000,0.030,2515,1011,987,0,0,0,0,0,0,28.83,26.10,28.83
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$GC,13596,0.95,695.9,191.0,13.9,1882,13603,0.00,2.50,0.00,0.000,4,0.000,0.030,2568,1023,398,0,0,0,0,0,0,28.83,26.03,28.83
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$GC,14725,1.23,827.7,25.8,13.9,2095,14732,0.00,2.00,0.00,0.000,4,0.000,0.038,2646,3834,389,0,0,0,0,0,0,28.83,26.22,28.83
$GC,14750,1.24,827.7,22.2,14.7,2099,14757,0.00,2.03,0.00,0.000,6,0.000,0.021,2657,2419,388,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,14895,end climb,SURFACE_DEPTH_REACHED
$STATE,14895,begin surface coast
$FINISH,-0.3,1.021281
$STATE,14916,end surface coast,CONTROL_FINISHED_OK
$STATE,14916,begin surface
$SM_CCo,14994,0.00,0.000,0,0,387,635.82
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$IRIDIUM_FIX,2349.77,12249.07,270612,111155
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.07
$INTERNAL_PRESSURE,8.26559
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,22.8,67.227
$10V_AH,9.9,42.241
$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,17.600,173.600,976.475,0.000,0.000,26.127,23.246,290.207,0.000,0.000,16.971,4677.940,5438.017,1076.721,3760.805,506.333,0.000,2925.856,0.000,3283.287,0.000,0.542,0.000
$DEVICE_MAMPS,225.675,69.615,1396.125,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1440.243,1742.065,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324656
$DATA_FILE_SIZE,133491,2131
$CAP_FILE_SIZE,213590,0
$CFSIZE,260165632,184901632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,270612,200936,2400.486,12250.179,32,0.9,32,-3.4