version: 66.09
glider: 181
mission: 6
dive: 284
start: 8 3 111 4 14 48
data:
$ID,181
$MISSION,6
$DIVE,284
$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,280
$T_MISSION,320
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-40876.898
$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,45
$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,1
$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,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,4.0
$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
$GPS1,030811,040737,2031.723,12000.348,30,0.9,30,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.6
$GPS2,030811,041420,2031.821,12000.280,12,1.2,12,-2.3
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,WN
$TGT_LATLONG,2036.000,12000.000
$TGT_RADIUS,2000.000
$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,358.7,7754,-15.4,-11.786
$D_GRID,3368
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.56,-243.3,0.0,0.0,0,90,0.00,0.00,-65.50,0.000,2,0.000,0.000,201,2650,2299,0,0,0,0,0,0
$GC,94,-0.56,-243.3,3.2,-3.4,10,142,8.07,2.20,-31.98,0.000,4,0.235,0.037,2133,1180,3862,0,0,0,0,0,0
$GC,186,-0.56,-243.3,35.9,-36.1,25,193,0.00,2.25,0.00,0.000,6,0.000,0.041,2124,2588,3864,0,0,0,0,0,0
$GC,319,-0.56,-243.3,82.7,-36.9,50,327,0.00,1.88,0.00,0.000,4,0.000,0.045,2115,3778,3861,0,0,0,0,0,0
$GC,428,-0.56,-243.3,133.2,-48.2,70,436,0.00,1.83,0.00,0.000,6,0.000,0.023,2115,2551,3862,0,0,0,0,0,0
$GC,562,-0.56,-243.3,175.0,-26.0,95,570,0.00,2.00,0.00,0.000,4,0.000,0.027,2115,1203,3864,0,0,0,0,0,0
$GC,624,-0.56,-243.3,186.4,-14.0,106,632,0.00,2.12,0.00,0.000,6,0.000,0.034,2112,2574,3864,0,0,0,0,0,0
$GC,772,-0.56,-243.3,200.4,-11.1,131,776,0.00,1.83,0.00,0.000,4,0.000,0.042,2103,3782,3864,0,0,0,0,0,0
$GC,844,-0.56,-243.3,208.1,-8.0,137,852,0.12,1.67,0.00,0.000,6,0.138,0.022,2139,2623,3865,0,0,0,0,0,0
$GC,1170,-0.56,-243.3,240.1,-11.6,168,1174,0.00,2.08,0.00,0.000,4,0.000,0.027,2139,1196,3865,0,0,0,0,0,0
$GC,1233,-0.56,-243.3,247.0,-9.9,173,1237,0.00,2.15,0.00,0.000,6,0.000,0.031,2139,2622,3865,0,0,0,0,0,0
$GC,1559,-0.56,-243.3,293.0,-12.4,203,1563,0.00,1.75,0.00,0.000,4,0.000,0.044,2138,3775,3862,0,0,0,0,0,0
$GC,1639,-0.56,-243.3,299.6,-6.9,210,1642,0.00,1.70,0.00,0.000,6,0.000,0.023,2138,2605,3861,0,0,0,0,0,0
$GC,1970,-0.56,-243.3,318.3,-5.3,241,1973,0.00,2.05,0.00,0.000,4,0.000,0.028,2138,1200,3859,0,0,0,0,0,0
$GC,2017,-0.56,-243.3,320.5,-5.2,245,2021,0.00,2.15,0.00,0.000,6,0.000,0.033,2138,2616,3858,0,0,0,0,0,0
$GC,2347,-0.56,-243.3,362.2,-17.6,276,2351,0.00,1.77,0.00,0.000,4,0.000,0.044,2130,3784,3855,0,0,0,0,0,0
$GC,2427,-0.56,-243.3,375.8,-16.9,283,2431,0.00,1.70,0.00,0.000,6,0.000,0.023,2130,2616,3854,0,0,0,0,0,0
$GC,2758,-0.56,-243.3,437.7,-17.5,314,2762,0.00,2.08,0.00,0.000,4,0.000,0.028,2130,1199,3852,0,0,0,0,0,0
$GC,2821,-0.56,-243.3,447.9,-14.8,319,2825,0.00,2.15,0.00,0.000,6,0.000,0.034,2126,2611,3852,0,0,0,0,0,0
$GC,3145,-0.56,-243.3,504.5,-15.6,348,3149,0.00,1.77,0.00,0.000,4,0.000,0.045,2120,3776,3849,0,0,0,0,0,0
$GC,3241,-0.56,-243.3,515.8,-9.7,352,3245,0.00,1.67,0.00,0.000,6,0.000,0.024,2120,2634,3848,0,0,0,0,0,0
$GC,3568,-0.56,-243.3,549.1,-9.6,368,3572,0.00,2.12,0.00,0.000,4,0.000,0.028,2120,1192,3844,0,0,0,0,0,0
$GC,3596,-0.56,-243.3,551.9,-9.1,369,3600,0.00,2.22,0.00,0.000,6,0.000,0.035,2114,2639,3844,0,0,0,0,0,0
$GC,3913,-0.56,-243.3,580.0,-9.0,384,3917,0.00,1.80,0.00,0.000,4,0.000,0.047,2112,3779,3842,0,0,0,0,0,0
$GC,4004,-0.56,-243.3,585.7,-5.6,388,4007,0.00,1.65,0.00,0.000,6,0.000,0.025,2112,2653,3841,0,0,0,0,0,0
$GC,4337,-0.56,-243.3,620.3,-12.0,404,4341,0.00,2.15,0.00,0.000,4,0.000,0.028,2112,1196,3838,0,0,0,0,0,0
$GC,4363,-0.56,-243.3,623.7,-12.0,405,4368,0.00,2.28,0.00,0.000,6,0.000,0.037,2112,2667,3838,0,0,0,0,0,0
$GC,4686,-0.56,-243.3,660.9,-12.0,421,4689,0.00,1.70,0.00,0.000,4,0.000,0.048,2111,3775,3835,0,0,0,0,0,0
$GC,4719,-0.56,-243.3,664.9,-11.4,422,4723,0.00,1.65,0.00,0.000,6,0.000,0.026,2111,2658,3835,0,0,0,0,0,0
$GC,5041,-0.56,-243.3,704.3,-12.7,438,5045,0.00,2.15,0.00,0.000,4,0.000,0.029,2111,1202,3832,0,0,0,0,0,0
$GC,5081,-0.56,-243.3,708.8,-11.1,440,5085,0.00,2.25,0.00,0.000,6,0.000,0.036,2111,2664,3832,0,0,0,0,0,0
$GC,5409,-0.56,-243.3,746.6,-11.6,456,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2665,3830,0,0,0,0,0,0
$GC,5718,-0.56,-243.3,781.8,-11.0,471,5722,0.00,2.20,0.00,0.000,4,0.000,0.030,2111,1203,3829,0,0,0,0,0,0
$GC,5762,-0.56,-243.3,786.4,-10.0,473,5766,0.00,2.25,0.00,0.000,6,0.000,0.037,2111,2660,3829,0,0,0,0,0,0
$GC,6084,-0.56,-243.3,819.6,-10.6,489,6088,0.00,1.73,0.00,0.000,4,0.000,0.049,2111,3776,3826,0,0,0,0,0,0
$GC,6130,-0.56,-243.3,823.9,-9.3,491,6134,0.00,1.65,0.00,0.000,6,0.000,0.026,2111,2659,3826,0,0,0,0,0,0
$GC,6464,-0.56,-243.3,861.4,-12.8,507,6468,0.00,2.17,0.00,0.000,4,0.000,0.030,2110,1196,3824,0,0,0,0,0,0
$GC,6530,-0.56,-243.3,870.0,-11.5,510,6534,0.00,2.25,0.00,0.000,6,0.000,0.037,2111,2656,3824,0,0,0,0,0,0
$GC,6852,-0.56,-243.3,913.1,-13.8,526,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2657,3823,0,0,0,0,0,0
$GC,7162,-0.56,-243.3,952.8,-11.8,541,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2657,3821,0,0,0,0,0,0
$GC,7471,-0.56,-243.3,987.8,-10.9,556,7475,0.00,2.20,0.00,0.000,4,0.000,0.031,2111,1206,3819,0,0,0,0,0,0
$STATE,7490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7490,begin apogee
$GC,7498,-0.13,0.0,990.4,10.6,557,7687,0.47,0.00,183.98,1.086,4,0.106,0.000,2272,2134,2869,0,0,0,0,0,0
$STATE,7688,end apogee,CONTROL_FINISHED_OK
$STATE,7688,begin climb
$GC,7691,0.56,243.3,1000.3,0.0,566,7893,0.60,0.00,196.68,1.060,6,0.051,0.000,2507,2134,1877,0,0,0,0,0,0
$GC,8201,0.56,243.3,942.6,14.4,591,8205,0.00,2.22,0.00,0.000,4,0.000,0.043,2508,3542,1874,0,0,0,0,0,0
$GC,8295,0.56,243.3,927.8,15.6,595,8299,0.00,2.15,0.00,0.000,6,0.000,0.027,2517,2134,1874,0,0,0,0,0,0
$GC,8617,0.56,243.3,880.4,14.5,611,8621,0.00,2.15,0.00,0.000,4,0.000,0.037,2528,723,1873,0,0,0,0,0,0
$GC,8696,0.56,243.3,869.1,14.5,614,8703,0.00,2.15,0.00,0.000,6,0.000,0.033,2528,2119,1873,0,0,0,0,0,0
$GC,9012,0.56,243.3,822.9,14.5,630,9016,0.00,2.20,0.00,0.000,4,0.000,0.043,2528,3540,1872,0,0,0,0,0,0
$GC,9035,0.56,243.3,819.3,14.5,631,9040,0.15,2.15,0.00,0.000,6,0.189,0.026,2502,2112,1871,0,0,0,0,0,0
$GC,9362,0.56,243.3,777.7,12.3,647,9366,0.00,2.12,0.00,0.000,4,0.000,0.037,2511,711,1871,0,0,0,0,0,0
$GC,9402,0.56,243.3,772.6,12.5,649,9406,0.00,2.15,0.00,0.000,6,0.000,0.031,2511,2117,1871,0,0,0,0,0,0
$GC,9729,0.56,243.3,730.8,12.8,665,9733,0.00,2.20,0.00,0.000,4,0.000,0.043,2511,3540,1870,0,0,0,0,0,0
$GC,9784,0.56,243.3,722.7,14.5,667,9791,0.00,2.15,0.00,0.000,6,0.000,0.027,2521,2114,1870,0,0,0,0,0,0
$GC,10100,0.56,243.3,678.3,14.6,683,10104,0.00,2.10,0.00,0.000,4,0.000,0.037,2531,721,1870,0,0,0,0,0,0
$GC,10230,0.56,243.3,659.7,14.2,689,10235,0.12,2.10,0.00,0.000,6,0.161,0.032,2498,2100,1870,0,0,0,0,0,0
$GC,10557,0.56,243.3,617.7,12.9,705,10561,0.00,2.22,0.00,0.000,4,0.000,0.043,2498,3541,1870,0,0,0,0,0,0
$GC,10645,0.56,243.3,604.9,14.1,709,10650,0.00,2.15,0.00,0.000,6,0.000,0.027,2506,2116,1870,0,0,0,0,0,0
$GC,10967,0.58,264.6,565.6,11.1,725,10990,0.00,2.20,16.55,0.802,4,0.000,0.037,2517,721,1790,0,0,0,0,0,0
$GC,11063,0.62,292.7,555.1,10.9,729,11093,0.00,2.12,22.45,0.780,6,0.000,0.032,2517,2107,1675,0,0,0,0,0,0
$GC,11410,0.64,307.9,516.3,11.3,746,11432,0.00,2.30,13.38,0.747,4,0.000,0.043,2517,3534,1613,0,0,0,0,0,0
$GC,11495,0.64,307.9,505.2,13.4,749,11501,0.00,2.17,0.00,0.000,6,0.000,0.027,2527,2111,1612,0,0,0,0,0,0
$GC,11820,0.64,307.9,456.3,17.0,778,11824,0.00,2.12,0.00,0.000,4,0.000,0.035,2537,710,1612,0,0,0,0,0,0
$GC,11853,0.64,307.9,450.2,16.4,780,11859,0.00,2.15,0.00,0.000,6,0.000,0.031,2537,2116,1612,0,0,0,0,0,0
$GC,12178,0.64,307.9,395.1,15.9,811,12182,0.00,2.20,0.00,0.000,4,0.000,0.043,2537,3535,1612,0,0,0,0,0,0
$GC,12246,0.64,307.9,384.0,16.2,816,12252,0.00,2.12,0.00,0.000,6,0.000,0.028,2547,2132,1612,0,0,0,0,0,0
$GC,12571,0.64,307.9,341.0,12.4,847,12575,0.00,2.15,0.00,0.000,4,0.000,0.037,2558,717,1612,0,0,0,0,0,0
$GC,12650,0.64,307.9,330.8,13.6,854,12655,0.12,2.15,0.00,0.000,6,0.158,0.035,2525,2116,1613,0,0,0,0,0,0
$GC,12975,0.64,307.9,282.2,16.9,884,12980,0.00,2.20,0.00,0.000,4,0.000,0.043,2525,3541,1613,0,0,0,0,0,0
$GC,13105,0.64,307.9,261.8,14.5,895,13109,0.00,2.10,0.00,0.000,6,0.000,0.028,2533,2148,1613,0,0,0,0,0,0
$GC,13432,0.81,452.2,231.4,7.1,925,13547,0.15,2.25,104.80,0.601,4,0.087,0.033,2613,723,1023,0,0,0,0,0,0
$GC,13638,0.81,452.2,195.9,21.4,944,13646,0.08,2.25,0.00,0.000,6,0.129,0.032,2587,2133,1030,0,0,0,0,0,0
$GC,13773,0.81,452.2,166.9,20.8,969,13780,0.00,2.25,0.00,0.000,4,0.000,0.043,2587,3539,1029,0,0,0,0,0,0
$GC,13854,0.81,452.2,151.7,17.1,984,13862,0.00,2.15,0.00,0.000,6,0.000,0.028,2595,2162,1029,0,0,0,0,0,0
$GC,13990,0.98,592.1,137.4,7.2,1009,14105,0.12,2.33,102.82,0.529,4,0.087,0.035,2664,723,455,0,0,0,0,0,0
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$GC,14614,1.04,636.7,39.6,10.3,1118,14629,0.00,2.35,5.85,0.431,4,0.000,0.041,2650,3546,440,0,0,0,0,0,0
$GC,14704,1.12,700.6,30.6,9.7,1134,14713,0.00,2.25,0.03,0.201,6,0.000,0.028,2660,2093,440,0,0,0,0,0,0
$GC,14839,1.26,812.5,19.7,8.1,1159,14848,0.17,2.12,0.00,0.000,4,0.066,0.037,2757,729,440,0,0,0,0,0,0
$GC,14887,1.26,812.5,13.5,14.9,1167,14896,0.10,2.10,0.22,0.091,6,0.130,0.031,2724,2087,440,0,0,0,0,0,0
$STATE,14963,end climb,SURFACE_DEPTH_REACHED
$STATE,14964,begin surface coast
$FINISH,0.3,1.009369
$STATE,14987,end surface coast,CONTROL_FINISHED_OK
$STATE,14987,begin surface
$SM_CCo,15065,0.00,0.000,0,0,441,595.59
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$IRIDIUM_FIX,2027.17,12019.53,020811,232315
$TT8_MAMPS,0.025466,0.025466
$HUMID,44.56
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,23.2,45.275
$10V_AH,10.0,43.417
$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,16.975,162.775,646.750,0.000,0.000,24.768,33.344,174.796,0.500,0.000,15.556,2857.559,8709.656,694.731,2855.630,346.088,0.000,1989.780,0.000,2563.660,0.000,0.541,0.000
$DEVICE_MAMPS,234.855,48.960,1085.535,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,823.362,0.000,941.432,0.000,0.000,0.000,804.601,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,100.000,0.000,0.000,0.000
$MEM,322980
$DATA_FILE_SIZE,70268,1185
$CAP_FILE_SIZE,167090,0
$CFSIZE,260165632,224604160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030811,082707,2033.842,11959.428,36,0.9,36,-2.3