version: 66.09
glider: 181
mission: 6
dive: 141
start: 7 7 111 0 29 16
data:
$ID,181
$MISSION,6
$DIVE,141
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,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,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,135
$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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-40689.062
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.82621
$PRESSURE_SLOPE,0.000116609
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,070711,001906,1947.818,11942.212,37,0.9,37,-2.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.5
$GPS2,070711,002850,1947.864,11941.977,14,0.9,14,-2.2
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,HEADING
$TGT_LATLONG,1940.227,11950.086
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,137.2,20000,-15.3,-11.000
$D_GRID,3496
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.52,-219.0,0.0,0.0,0,90,0.00,0.00,-71.45,0.000,2,0.000,0.000,206,2606,2440,0,0,0,0,0,0
$GC,93,-0.52,-219.0,3.3,-3.7,10,132,8.05,1.88,-25.65,0.000,4,0.239,0.055,2135,3789,3769,0,0,0,0,0,0
$GC,186,-0.52,-219.0,46.8,-55.3,25,194,0.00,1.80,0.00,0.000,6,0.000,0.024,2136,2583,3767,0,0,0,0,0,0
$GC,320,-0.52,-219.0,96.9,-32.6,50,328,0.00,1.90,0.00,0.000,4,0.000,0.045,2126,3777,3767,0,0,0,0,0,0
$GC,341,-0.52,-219.0,105.0,-36.4,53,349,0.00,1.70,0.00,0.000,6,0.000,0.024,2126,2629,3768,0,0,0,0,0,0
$GC,475,-0.52,-219.0,145.2,-26.8,78,483,0.00,1.80,0.00,0.000,4,0.000,0.041,2117,3784,3768,0,0,0,0,0,0
$GC,501,-0.52,-219.0,151.0,-22.7,82,510,0.10,1.70,0.00,0.000,6,0.149,0.024,2148,2634,3769,0,0,0,0,0,0
$GC,639,-0.52,-219.0,176.2,-18.7,107,647,0.00,2.12,0.00,0.000,4,0.000,0.028,2148,1203,3769,0,0,0,0,0,0
$GC,696,-0.52,-219.0,187.5,-15.3,117,704,0.00,2.20,0.00,0.000,6,0.000,0.034,2141,2627,3770,0,0,0,0,0,0
$GC,832,-0.52,-219.0,210.5,-19.1,137,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2627,3769,0,0,0,0,0,0
$GC,1151,-0.52,-219.0,270.7,-16.9,167,1155,0.00,2.10,0.00,0.000,4,0.000,0.028,2142,1200,3769,0,0,0,0,0,0
$GC,1181,-0.52,-219.0,275.8,-16.2,169,1185,0.00,2.17,0.00,0.000,6,0.000,0.037,2139,2631,3769,0,0,0,0,0,0
$GC,1506,-0.52,-219.0,323.2,-13.4,199,1510,0.00,1.77,0.00,0.000,4,0.000,0.046,2138,3776,3769,0,0,0,0,0,0
$GC,1598,-0.52,-219.0,333.1,-8.8,207,1601,0.00,1.65,0.00,0.000,6,0.000,0.024,2138,2662,3767,0,0,0,0,0,0
$GC,1929,-0.52,-219.0,377.6,-14.7,238,1932,0.00,2.12,0.00,0.000,4,0.000,0.029,2138,1205,3764,0,0,0,0,0,0
$GC,2002,-0.52,-219.0,387.3,-11.2,244,2006,0.00,2.17,0.00,0.000,6,0.000,0.035,2138,2642,3764,0,0,0,0,0,0
$GC,2327,-0.52,-219.0,432.1,-13.1,274,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2642,3759,0,0,0,0,0,0
$GC,2649,-0.52,-219.0,473.8,-13.6,304,2653,0.00,2.12,0.00,0.000,4,0.000,0.030,2138,1215,3755,0,0,0,0,0,0
$GC,2701,-0.52,-219.0,480.3,-11.3,308,2705,0.00,2.15,0.00,0.000,6,0.000,0.037,2138,2625,3755,0,0,0,0,0,0
$GC,3033,-0.52,-219.0,523.1,-13.7,331,3037,0.00,1.80,0.00,0.000,4,0.000,0.048,2138,3776,3751,0,0,0,0,0,0
$GC,3094,-0.52,-219.0,530.5,-10.8,333,3101,0.00,1.70,0.00,0.000,6,0.000,0.027,2138,2644,3750,0,0,0,0,0,0
$GC,3411,-0.52,-219.0,567.7,-12.0,349,3415,0.00,2.15,0.00,0.000,4,0.000,0.032,2138,1187,3747,0,0,0,0,0,0
$GC,3460,-0.52,-219.0,573.2,-10.7,351,3464,0.00,2.20,0.00,0.000,6,0.000,0.038,2138,2626,3746,0,0,0,0,0,0
$GC,3782,-0.52,-219.0,608.4,-11.2,367,3786,0.00,1.75,0.00,0.000,4,0.000,0.050,2137,3775,3743,0,0,0,0,0,0
$GC,3822,-0.52,-219.0,612.6,-10.3,368,3829,0.00,1.75,0.00,0.000,6,0.000,0.028,2138,2614,3741,0,0,0,0,0,0
$GC,4138,-0.52,-219.0,644.7,-10.6,384,4142,0.00,2.08,0.00,0.000,4,0.000,0.033,2138,1203,3740,0,0,0,0,0,0
$GC,4170,-0.52,-219.0,648.1,-10.3,385,4177,0.00,2.17,0.00,0.000,6,0.000,0.038,2138,2629,3737,0,0,0,0,0,0
$GC,4487,-0.52,-219.0,681.1,-10.5,401,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2631,3736,0,0,0,0,0,0
$GC,4796,-0.52,-219.0,715.0,-11.0,416,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2631,3733,0,0,0,0,0,0
$GC,5105,-0.52,-219.0,748.5,-10.7,431,5109,0.00,2.15,0.00,0.000,4,0.000,0.034,2138,1203,3731,0,0,0,0,0,0
$GC,5156,-0.52,-219.0,753.5,-9.5,433,5160,0.00,2.17,0.00,0.000,6,0.000,0.038,2138,2619,3731,0,0,0,0,0,0
$GC,5478,-0.52,-219.0,785.7,-10.3,449,5481,0.00,2.12,0.00,0.000,4,0.000,0.034,2138,1203,3728,0,0,0,0,0,0
$GC,5505,-0.52,-219.0,788.8,-10.8,450,5510,0.00,2.17,0.00,0.000,6,0.000,0.039,2137,2605,3728,0,0,0,0,0,0
$GC,5822,-0.52,-219.0,820.4,-10.2,465,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2605,3727,0,0,0,0,0,0
$GC,6131,-0.52,-219.0,850.2,-9.4,480,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2605,3722,0,0,0,0,0,0
$GC,6441,-0.52,-219.0,879.8,-9.8,495,6445,0.00,2.12,0.00,0.000,4,0.000,0.035,2138,1197,3723,0,0,0,0,0,0
$GC,6474,-0.52,-219.0,883.4,-9.4,496,6481,0.00,2.17,0.00,0.000,6,0.000,0.041,2137,2601,3723,0,0,0,0,0,0
$GC,6791,-0.52,-219.0,912.6,-9.3,512,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2597,3721,0,0,0,0,0,0
$GC,7099,-0.52,-219.0,938.9,-8.2,527,7103,0.00,2.15,0.00,0.000,4,0.000,0.035,2138,1200,3719,0,0,0,0,0,0
$GC,7123,-0.52,-219.0,940.9,-8.2,528,7127,0.00,2.15,0.00,0.000,6,0.000,0.041,2138,2593,3719,0,0,0,0,0,0
$GC,7450,-0.52,-219.0,965.6,-7.4,544,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2593,3718,0,0,0,0,0,0
$GC,7759,-0.52,-219.0,986.9,-6.7,559,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2593,3716,0,0,0,0,0,0
$STATE,7818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7818,begin apogee
$GC,7825,-0.13,0.0,991.0,6.5,562,7997,0.40,0.00,166.32,1.106,4,0.110,0.000,2275,2113,2869,0,0,0,0,0,0
$STATE,7998,end apogee,CONTROL_FINISHED_OK
$STATE,7998,begin climb
$GC,8000,0.52,219.0,996.7,0.0,570,8184,0.55,0.00,177.23,1.075,6,0.049,0.000,2498,2113,1978,0,0,0,0,0,0
$GC,8493,0.52,219.0,936.8,14.4,594,8497,0.00,2.30,0.00,0.000,4,0.000,0.045,2498,3539,1974,0,0,0,0,0,0
$GC,8565,0.52,219.0,925.6,15.4,597,8569,0.00,2.15,0.00,0.000,6,0.000,0.028,2507,2138,1976,0,0,0,0,0,0
$GC,8892,0.52,219.0,879.3,13.9,613,8896,0.00,2.17,0.00,0.000,4,0.000,0.037,2519,714,1973,0,0,0,0,0,0
$GC,8959,0.52,219.0,870.1,13.3,616,8963,0.00,2.17,0.00,0.000,6,0.000,0.034,2519,2124,1973,0,0,0,0,0,0
$GC,9286,0.52,219.0,823.0,14.6,632,9287,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2125,1972,0,0,0,0,0,0
$GC,9595,0.52,219.0,775.9,15.4,647,9599,0.00,2.17,0.00,0.000,4,0.000,0.037,2528,718,1969,0,0,0,0,0,0
$GC,9639,0.52,219.0,769.0,15.1,649,9643,0.15,2.15,0.00,0.000,6,0.170,0.036,2489,2118,1970,0,0,0,0,0,0
$GC,9960,0.52,219.0,725.4,13.7,665,9964,0.00,2.20,0.00,0.000,4,0.000,0.045,2489,3547,1970,0,0,0,0,0,0
$GC,9992,0.52,219.0,720.5,14.7,666,9999,0.00,2.20,0.00,0.000,6,0.000,0.028,2497,2116,1969,0,0,0,0,0,0
$GC,10309,0.52,219.0,673.8,15.0,682,10313,0.00,2.12,0.00,0.000,4,0.000,0.038,2508,717,1969,0,0,0,0,0,0
$GC,10341,0.52,219.0,668.5,14.6,683,10345,0.00,2.20,0.00,0.000,6,0.000,0.034,2508,2153,1969,0,0,0,0,0,0
$GC,10663,0.52,219.0,619.5,14.9,699,10665,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2153,1969,0,0,0,0,0,0
$GC,10973,0.52,219.0,577.2,13.2,714,10977,0.00,2.12,0.00,0.000,4,0.000,0.045,2508,3539,1968,0,0,0,0,0,0
$GC,11027,0.52,219.0,569.2,14.2,716,11035,0.00,2.17,0.00,0.000,6,0.000,0.029,2518,2120,1969,0,0,0,0,0,0
$GC,11344,0.52,219.0,523.5,14.8,732,11348,0.00,2.12,0.00,0.000,4,0.000,0.039,2528,717,1968,0,0,0,0,0,0
$GC,11412,0.52,219.0,513.5,14.5,735,11417,0.15,2.12,0.00,0.000,6,0.163,0.035,2488,2116,1968,0,0,0,0,0,0
$GC,11734,0.52,219.0,472.1,12.2,760,11738,0.00,2.17,0.00,0.000,4,0.000,0.044,2488,3541,1968,0,0,0,0,0,0
$GC,11764,0.52,219.0,468.5,12.0,762,11768,0.00,2.15,0.00,0.000,6,0.000,0.028,2496,2107,1968,0,0,0,0,0,0
$GC,12089,0.56,248.4,432.7,10.0,792,12116,0.00,2.12,22.05,0.757,4,0.000,0.037,2507,719,1857,0,0,0,0,0,0
$GC,12279,0.65,317.3,414.9,8.7,808,12340,0.00,2.12,52.10,0.735,6,0.000,0.034,2507,2096,1576,0,0,0,0,0,0
$GC,12658,0.65,317.3,375.2,11.3,844,12662,0.00,2.25,0.00,0.000,4,0.000,0.045,2508,3535,1577,0,0,0,0,0,0
$GC,12724,0.65,317.3,366.3,13.3,849,12731,0.00,2.17,0.00,0.000,6,0.000,0.028,2516,2111,1578,0,0,0,0,0,0
$GC,13050,0.65,317.3,319.1,15.3,880,13054,0.00,2.10,0.00,0.000,4,0.000,0.035,2527,719,1578,0,0,0,0,0,0
$GC,13105,0.65,317.3,310.6,14.7,884,13112,0.00,2.17,0.00,0.000,6,0.000,0.032,2528,2109,1578,0,0,0,0,0,0
$GC,13432,0.65,317.3,259.4,14.3,915,13436,0.00,2.20,0.00,0.000,4,0.000,0.044,2526,3536,1578,0,0,0,0,0,0
$GC,13463,0.65,317.3,254.5,14.1,917,13471,0.00,2.15,0.00,0.000,6,0.000,0.028,2542,2108,1578,0,0,0,0,0,0
$GC,13789,0.65,317.3,211.2,13.3,948,13793,0.00,2.22,0.00,0.000,4,0.000,0.044,2537,3543,1578,0,0,0,0,0,0
$GC,13829,0.65,317.3,205.6,14.6,951,13834,0.00,2.12,0.00,0.000,6,0.000,0.027,2547,2126,1579,0,0,0,0,0,0
$GC,14147,0.65,317.3,163.5,11.9,1007,14156,0.00,2.15,0.00,0.000,4,0.000,0.036,2557,716,1579,0,0,0,0,0,0
$GC,14226,0.68,344.9,155.4,10.1,1021,14257,0.00,2.17,21.70,0.590,6,0.000,0.034,2557,2121,1463,0,0,0,0,0,0
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$GC,14715,0.75,400.4,101.6,9.1,1109,14761,0.00,2.12,40.72,0.533,6,0.000,0.032,2578,2088,1235,0,0,0,0,0,0
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$GC,15423,1.08,671.5,31.0,9.8,1229,15431,0.00,2.15,0.00,0.000,4,0.000,0.037,2683,719,440,0,0,0,0,0,0
$GC,15485,1.12,703.1,24.8,9.9,1240,15494,0.00,2.17,0.57,0.078,6,0.000,0.030,2682,2119,441,0,0,0,0,0,0
$GC,15623,1.14,721.4,10.7,10.4,1265,15632,0.00,2.20,0.77,0.085,4,0.000,0.038,2683,3529,442,0,0,0,0,0,0
$GC,15676,1.15,729.8,5.0,10.7,1274,15685,0.00,2.15,1.90,0.072,6,0.000,0.026,2691,2126,443,0,0,0,0,0,0
$STATE,15696,end climb,SURFACE_DEPTH_REACHED
$STATE,15696,begin surface coast
$FINISH,0.1,1.009039
$STATE,15724,end surface coast,CONTROL_FINISHED_OK
$STATE,15724,begin surface
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$IRIDIUM_FIX,1936.66,11937.31,060711,191956
$TT8_MAMPS,0.02996,0.02996
$HUMID,39.64
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.60
$XPDR_PINGS,1
$24V_AH,23.9,22.137
$10V_AH,10.1,22.582
$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
$DEVICE_SECS,15.925,152.600,624.150,0.000,0.000,87.753,38.752,184.928,0.250,0.000,17.401,3043.926,9083.677,659.640,3255.051,331.418,0.000,1986.662,0.000,2168.233,0.000,0.543,0.000
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$SENSOR_SECS,892.252,1326.914,1441.788,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322720
$DATA_FILE_SIZE,87409,1282
$CAP_FILE_SIZE,168992,0
$CFSIZE,260165632,237993984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070711,045336,1947.390,11942.520,21,1.4,21,-2.2