version: 66.09
glider: 181
mission: 6
dive: 370
start: 8 19 111 16 2 14
data:
$ID,181
$MISSION,6
$DIVE,370
$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,-7
$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,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,-41001.566
$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,46
$R_STBD_OVSHOOT,64
$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,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,190811,155436,2137.768,11958.880,40,0.9,40,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-66.3
$GPS2,190811,160149,2137.757,11958.811,13,1.4,18,-2.6
$SPEED_LIMITS,0.204,0.329
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,182.2,292172,-16.3,-11.786
$D_GRID,2881
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.54,-219.0,0.0,0.0,0,83,0.00,0.00,-64.82,0.000,2,0.000,0.000,204,2634,2286,0,0,0,0,0,0
$GC,86,-0.54,-219.0,3.4,-3.5,10,134,8.05,2.17,-31.58,0.000,4,0.228,0.036,2135,1168,3758,0,0,0,0,0,0
$GC,230,-0.54,-219.0,40.8,-21.1,34,238,0.00,2.20,0.00,0.000,6,0.000,0.035,2126,2574,3758,0,0,0,0,0,0
$GC,371,-0.54,-219.0,79.0,-23.2,59,378,0.00,1.88,0.00,0.000,4,0.000,0.043,2116,3774,3757,0,0,0,0,0,0
$GC,474,-0.54,-219.0,98.4,-16.5,77,480,0.00,1.67,0.00,0.000,6,0.000,0.023,2116,2647,3757,0,0,0,0,0,0
$GC,614,-0.54,-219.0,123.0,-20.2,102,622,0.00,1.77,0.00,0.000,4,0.000,0.041,2109,3776,3757,0,0,0,0,0,0
$GC,662,-0.54,-219.0,132.1,-17.9,110,670,0.10,1.58,0.00,0.000,6,0.131,0.023,2143,2703,3757,0,0,0,0,0,0
$GC,805,-0.54,-219.0,149.6,-12.9,135,812,0.00,2.20,0.00,0.000,4,0.000,0.026,2143,1203,3758,0,0,0,0,0,0
$GC,900,-0.54,-219.0,161.1,-11.6,152,908,0.00,2.22,0.00,0.000,6,0.000,0.031,2140,2656,3758,0,0,0,0,0,0
$GC,1043,-0.54,-219.0,177.4,-11.0,177,1049,0.00,1.73,0.00,0.000,4,0.000,0.041,2132,3780,3758,0,0,0,0,0,0
$GC,1084,-0.54,-219.0,181.8,-10.0,184,1092,0.00,1.65,0.00,0.000,6,0.000,0.024,2131,2664,3758,0,0,0,0,0,0
$GC,1227,-0.54,-219.0,196.3,-10.9,209,1233,0.00,2.15,0.00,0.000,4,0.000,0.028,2131,1197,3758,0,0,0,0,0,0
$GC,1277,-0.54,-219.0,201.7,-9.4,216,1284,0.00,2.22,0.00,0.000,6,0.000,0.033,2126,2663,3758,0,0,0,0,0,0
$GC,1603,-0.54,-219.0,241.8,-13.2,247,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2663,3756,0,0,0,0,0,0
$GC,1922,-0.54,-219.0,284.1,-12.9,277,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2663,3755,0,0,0,0,0,0
$GC,2242,-0.54,-219.0,323.9,-11.6,307,2246,0.00,2.15,0.00,0.000,4,0.000,0.028,2126,1209,3753,0,0,0,0,0,0
$GC,2293,-0.54,-219.0,329.6,-10.3,311,2297,0.00,2.20,0.00,0.000,6,0.000,0.034,2125,2650,3751,0,0,0,0,0,0
$GC,2624,-0.54,-219.0,367.2,-11.3,342,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2650,3750,0,0,0,0,0,0
$GC,2944,-0.54,-219.0,403.8,-10.7,372,2948,0.00,2.15,0.00,0.000,4,0.000,0.030,2125,1209,3747,0,0,0,0,0,0
$GC,2974,-0.54,-219.0,406.9,-10.2,374,2978,0.00,2.17,0.00,0.000,6,0.000,0.035,2126,2636,3747,0,0,0,0,0,0
$GC,3299,-0.54,-219.0,436.7,-8.8,404,3303,0.00,1.75,0.00,0.000,4,0.000,0.046,2124,3783,3744,0,0,0,0,0,0
$GC,3350,-0.54,-219.0,441.0,-8.3,408,3356,0.00,1.70,0.00,0.000,6,0.000,0.025,2124,2653,3744,0,0,0,0,0,0
$GC,3675,-0.54,-219.0,472.6,-10.4,439,3679,0.00,2.12,0.00,0.000,4,0.000,0.030,2124,1212,3741,0,0,0,0,0,0
$GC,3728,-0.54,-219.0,477.4,-9.2,443,3732,0.00,2.20,0.00,0.000,6,0.000,0.036,2125,2652,3740,0,0,0,0,0,0
$GC,4062,-0.54,-219.0,512.1,-11.0,469,4066,0.00,2.17,0.00,0.000,4,0.000,0.031,2124,1203,3738,0,0,0,0,0,0
$GC,4090,-0.54,-219.0,515.6,-11.3,470,4095,0.00,2.20,0.00,0.000,6,0.000,0.037,2125,2634,3738,0,0,0,0,0,0
$GC,4407,-0.54,-219.0,548.4,-10.2,485,4411,0.00,2.15,0.00,0.000,4,0.000,0.031,2124,1202,3736,0,0,0,0,0,0
$GC,4439,-0.54,-219.0,551.8,-9.9,486,4446,0.00,2.20,0.00,0.000,6,0.000,0.037,2124,2627,3736,0,0,0,0,0,0
$GC,4756,-0.54,-219.0,580.3,-8.7,502,4760,0.00,2.12,0.00,0.000,4,0.000,0.032,2124,1214,3732,0,0,0,0,0,0
$GC,4783,-0.54,-219.0,583.0,-8.9,503,4787,0.00,2.15,0.00,0.000,6,0.000,0.038,2124,2609,3732,0,0,0,0,0,0
$GC,5106,-0.54,-219.0,610.2,-8.7,519,5110,0.00,2.12,0.00,0.000,4,0.000,0.033,2124,1210,3730,0,0,0,0,0,0
$GC,5129,-0.54,-219.0,612.4,-8.7,520,5133,0.00,2.15,0.00,0.000,6,0.000,0.038,2125,2603,3730,0,0,0,0,0,0
$GC,5456,-0.54,-219.0,643.3,-10.2,536,5460,0.00,2.10,0.00,0.000,4,0.000,0.032,2124,1210,3728,0,0,0,0,0,0
$GC,5500,-0.54,-219.0,647.7,-10.0,538,5504,0.00,2.15,0.00,0.000,6,0.000,0.037,2124,2601,3729,0,0,0,0,0,0
$GC,5822,-0.54,-219.0,679.6,-10.1,554,5826,0.00,1.83,0.00,0.000,4,0.000,0.049,2124,3780,3726,0,0,0,0,0,0
$GC,5850,-0.54,-219.0,682.5,-10.0,555,5854,0.00,1.75,0.00,0.000,6,0.000,0.028,2124,2590,3725,0,0,0,0,0,0
$GC,6178,-0.54,-219.0,715.2,-10.1,571,6182,0.00,2.08,0.00,0.000,4,0.000,0.033,2124,1207,3723,0,0,0,0,0,0
$GC,6217,-0.54,-219.0,719.1,-9.5,572,6224,0.00,2.17,0.00,0.000,6,0.000,0.037,2124,2584,3723,0,0,0,0,0,0
$GC,6534,-0.54,-219.0,747.7,-9.1,588,6535,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2585,3721,0,0,0,0,0,0
$GC,6842,-0.54,-219.0,774.8,-8.6,603,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2585,3720,0,0,0,0,0,0
$GC,7152,-0.54,-219.0,798.3,-7.0,618,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2585,3718,0,0,0,0,0,0
$GC,7462,-0.54,-219.0,820.4,-7.4,633,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2584,3717,0,0,0,0,0,0
$GC,7770,-0.54,-219.0,843.7,-7.6,648,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2585,3715,0,0,0,0,0,0
$GC,8080,-0.54,-219.0,869.6,-8.4,663,8084,0.00,2.10,0.00,0.000,4,0.000,0.034,2125,1203,3713,0,0,0,0,0,0
$GC,8113,-0.54,-219.0,872.8,-8.8,664,8121,0.00,2.17,0.00,0.000,6,0.000,0.039,2124,2590,3713,0,0,0,0,0,0
$GC,8430,-0.54,-219.0,902.6,-9.8,680,8434,0.00,1.90,0.00,0.000,4,0.000,0.051,2125,3775,3712,0,0,0,0,0,0
$GC,8457,-0.54,-219.0,905.4,-9.8,681,8461,0.00,1.77,0.00,0.000,6,0.000,0.028,2124,2571,3712,0,0,0,0,0,0
$GC,8785,-0.54,-219.0,936.4,-9.6,697,8788,0.00,2.03,0.00,0.000,4,0.000,0.033,2124,1214,3710,0,0,0,0,0,0
$GC,8824,-0.54,-219.0,940.5,-9.6,698,8831,0.00,2.15,0.00,0.000,6,0.000,0.038,2129,2584,3711,0,0,0,0,0,0
$GC,9141,-0.54,-219.0,969.9,-8.9,714,9142,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2584,3710,0,0,0,0,0,0
$STATE,9386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9386,begin apogee
$GC,9393,-0.13,0.0,991.4,8.8,726,9565,0.45,0.00,165.15,1.092,4,0.110,0.000,2275,2125,2869,0,0,0,0,0,0
$STATE,9566,end apogee,CONTROL_FINISHED_OK
$STATE,9566,begin climb
$GC,9568,0.54,219.0,1002.0,0.0,734,9756,0.62,2.28,178.43,1.068,4,0.057,0.040,2508,730,1977,0,0,0,0,0,0
$GC,9868,0.54,222.0,982.1,11.7,748,9878,0.00,2.25,4.07,0.653,6,0.000,0.034,2508,2134,1965,0,0,0,0,0,0
$GC,10196,0.54,222.0,941.2,12.6,764,10200,0.00,2.17,0.00,0.000,4,0.000,0.037,2517,732,1965,0,0,0,0,0,0
$GC,10385,0.54,222.0,916.3,13.2,772,10392,0.00,2.22,0.00,0.000,6,0.000,0.034,2523,2140,1964,0,0,0,0,0,0
$GC,10702,0.54,222.0,873.5,13.8,788,10706,0.00,2.17,0.00,0.000,4,0.000,0.045,2517,3540,1963,0,0,0,0,0,0
$GC,10774,0.54,222.0,862.5,15.0,791,10778,0.12,2.10,0.00,0.000,6,0.184,0.028,2497,2148,1962,0,0,0,0,0,0
$GC,11096,0.54,222.0,822.5,12.2,807,11100,0.00,2.17,0.00,0.000,4,0.000,0.038,2507,713,1962,0,0,0,0,0,0
$GC,11190,0.54,222.0,811.0,11.9,811,11194,0.00,2.17,0.00,0.000,6,0.000,0.033,2506,2133,1962,0,0,0,0,0,0
$GC,11512,0.54,222.0,771.6,11.8,827,11516,0.00,2.17,0.00,0.000,4,0.000,0.044,2507,3537,1962,0,0,0,0,0,0
$GC,11556,0.54,222.0,765.8,12.8,829,11560,0.00,2.12,0.00,0.000,6,0.000,0.028,2516,2129,1961,0,0,0,0,0,0
$GC,11877,0.56,233.3,728.7,11.4,845,11892,0.00,2.17,10.15,0.842,4,0.000,0.037,2527,711,1917,0,0,0,0,0,0
$GC,12001,0.57,246.2,714.8,11.3,849,12018,0.00,2.17,11.62,0.820,6,0.000,0.034,2527,2123,1866,0,0,0,0,0,0
$GC,12335,0.57,246.2,672.4,13.1,866,12339,0.00,2.20,0.00,0.000,4,0.000,0.044,2527,3539,1864,0,0,0,0,0,0
$GC,12399,0.57,246.2,663.0,14.6,869,12404,0.12,2.15,0.00,0.000,6,0.179,0.027,2506,2116,1864,0,0,0,0,0,0
$GC,12728,0.61,274.1,626.9,10.8,885,12757,0.00,2.22,22.73,0.838,4,0.000,0.037,2516,720,1750,0,0,0,0,0,0
$GC,12905,0.62,282.8,606.9,11.5,893,12919,0.00,2.10,7.95,0.708,6,0.000,0.032,2516,2083,1717,0,0,0,0,0,0
$GC,13238,0.63,287.7,569.1,11.6,909,13248,0.00,2.28,5.62,0.660,4,0.000,0.042,2516,3533,1697,0,0,0,0,0,0
$GC,13305,0.63,287.7,560.1,13.4,912,13309,0.00,2.20,0.00,0.000,6,0.000,0.028,2525,2086,1697,0,0,0,0,0,0
$GC,13626,0.63,287.7,516.7,13.9,928,13630,0.00,2.08,0.00,0.000,4,0.000,0.038,2535,720,1699,0,0,0,0,0,0
$GC,13704,0.63,287.7,505.8,13.7,931,13711,0.00,2.10,0.00,0.000,6,0.000,0.033,2535,2091,1700,0,0,0,0,0,0
$GC,14027,0.63,287.7,462.9,12.0,960,14032,0.00,2.25,0.00,0.000,4,0.000,0.044,2535,3541,1702,0,0,0,0,0,0
$GC,14083,0.63,287.7,455.3,13.2,964,14091,0.00,2.22,3.28,0.454,6,0.000,0.027,2545,2074,1696,0,0,0,0,0,0
$GC,14408,0.63,287.7,415.6,12.2,995,14412,0.00,2.28,0.00,0.000,4,0.000,0.041,2551,3537,1695,0,0,0,0,0,0
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$GC,15232,0.85,470.8,333.6,9.1,1070,15298,0.17,2.22,55.33,0.652,4,0.076,0.034,2622,714,949,0,0,0,0,0,0
$GC,15400,0.85,470.8,309.4,15.3,1085,15405,0.00,2.17,0.00,0.000,6,0.000,0.032,2622,2113,948,0,0,0,0,0,0
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$GC,17580,1.29,827.1,14.5,16.4,1404,17587,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2192,437,0,0,0,0,0,0
$STATE,17653,end climb,SURFACE_DEPTH_REACHED
$STATE,17653,begin surface coast
$FINISH,0.3,1.007253
$STATE,17670,end surface coast,CONTROL_FINISHED_OK
$STATE,17670,begin surface
$SM_CCo,17747,0.00,0.000,0,0,437,596.32
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$IRIDIUM_FIX,2124.90,11949.87,190811,101046
$TT8_MAMPS,0.028462,0.028462
$HUMID,45.15
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.1,60.037
$10V_AH,9.8,55.056
$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,17.000,178.575,647.475,0.000,0.000,27.284,38.637,200.006,0.000,0.000,20.692,3411.036,10373.681,738.116,3232.392,407.765,0.000,2203.744,0.000,2500.272,0.000,0.540,0.000
$DEVICE_MAMPS,227.970,51.255,1091.655,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,987.968,1425.278,680.677,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323556
$DATA_FILE_SIZE,97015,1420
$CAP_FILE_SIZE,192712,0
$CFSIZE,260165632,216481792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190811,205906,2136.635,11957.962,26,1.3,26,-2.6