version: 66.09
glider: 181
mission: 6
dive: 410
start: 8 28 111 3 15 56
data:
$ID,181
$MISSION,6
$DIVE,410
$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,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,-41068.016
$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,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
$GPS1,280811,030937,2042.479,11958.965,32,1.4,32,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-54.4
$GPS2,280811,031531,2042.445,11959.046,8,1.4,13,-2.4
$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,181.9,189735,-16.3,-11.786
$D_GRID,3340
$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,17,-0.54,-219.0,0.0,0.0,0,93,0.00,0.00,-73.50,0.000,2,0.000,0.000,153,2625,2472,0,0,0,0,0,0
$GC,96,-0.54,-219.0,3.2,-3.2,13,139,8.32,1.77,-26.83,0.000,4,0.229,0.054,2133,3776,3760,0,0,0,0,0,0
$GC,263,-0.54,-219.0,57.6,-22.3,42,270,0.00,1.75,0.00,0.000,6,0.000,0.024,2133,2574,3759,0,0,0,0,0,0
$GC,406,-0.54,-219.0,87.8,-18.2,67,413,0.00,1.85,0.00,0.000,4,0.000,0.041,2124,3773,3759,0,0,0,0,0,0
$GC,448,-0.54,-219.0,95.5,-18.1,74,455,0.00,1.65,0.00,0.000,6,0.000,0.024,2125,2637,3758,0,0,0,0,0,0
$GC,593,-0.54,-219.0,126.2,-22.2,99,600,0.00,2.10,0.00,0.000,4,0.000,0.027,2124,1194,3759,0,0,0,0,0,0
$GC,640,-0.54,-219.0,135.7,-17.0,107,648,0.12,2.20,0.00,0.000,6,0.148,0.033,2149,2643,3758,0,0,0,0,0,0
$GC,785,-0.54,-219.0,156.3,-12.7,132,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2643,3759,0,0,0,0,0,0
$GC,929,-0.54,-219.0,172.1,-10.3,157,935,0.00,1.73,0.00,0.000,4,0.000,0.041,2142,3784,3759,0,0,0,0,0,0
$GC,959,-0.54,-219.0,175.4,-10.4,162,966,0.00,1.65,0.00,0.000,6,0.000,0.023,2142,2637,3759,0,0,0,0,0,0
$GC,1103,-0.54,-219.0,191.9,-11.8,187,1110,0.00,2.08,0.00,0.000,4,0.000,0.028,2142,1210,3759,0,0,0,0,0,0
$GC,1157,-0.54,-219.0,197.6,-9.9,196,1164,0.00,2.17,0.00,0.000,6,0.000,0.032,2138,2648,3759,0,0,0,0,0,0
$GC,1299,-0.54,-219.0,213.3,-12.0,211,1303,0.00,2.12,0.00,0.000,4,0.000,0.028,2138,1207,3759,0,0,0,0,0,0
$GC,1331,-0.54,-219.0,217.4,-12.0,213,1338,0.00,2.12,0.00,0.000,6,0.000,0.034,2138,2614,3759,0,0,0,0,0,0
$GC,1657,-0.54,-219.0,261.5,-13.3,244,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2614,3759,0,0,0,0,0,0
$GC,1977,-0.54,-219.0,299.0,-7.7,274,1981,0.00,2.10,0.00,0.000,4,0.000,0.029,2138,1203,3757,0,0,0,0,0,0
$GC,2023,-0.54,-219.0,301.4,-6.1,278,2027,0.00,2.12,0.00,0.000,6,0.000,0.033,2138,2600,3758,0,0,0,0,0,0
$GC,2354,-0.54,-219.0,318.3,-8.0,309,2358,0.00,2.10,0.00,0.000,4,0.000,0.030,2138,1210,3755,0,0,0,0,0,0
$GC,2413,-0.54,-219.0,323.5,-9.1,314,2417,0.00,2.08,0.00,0.000,6,0.000,0.033,2138,2574,3755,0,0,0,0,0,0
$GC,2738,-0.54,-219.0,355.1,-8.3,344,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2574,3753,0,0,0,0,0,0
$GC,3059,-0.54,-219.0,378.0,-7.5,374,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2574,3750,0,0,0,0,0,0
$GC,3389,-0.54,-219.0,405.5,-8.6,405,3392,0.00,2.05,0.00,0.000,4,0.000,0.030,2138,1206,3747,0,0,0,0,0,0
$GC,3428,-0.54,-219.0,409.4,-8.6,408,3434,0.00,2.10,0.00,0.000,6,0.000,0.035,2138,2572,3747,0,0,0,0,0,0
$GC,3753,-0.54,-219.0,439.6,-9.6,439,3757,0.00,1.90,0.00,0.000,4,0.000,0.047,2138,3776,3744,0,0,0,0,0,0
$GC,3792,-0.54,-219.0,443.7,-10.2,442,3799,0.00,1.75,0.00,0.000,6,0.000,0.025,2138,2577,3743,0,0,0,0,0,0
$GC,4117,-0.54,-219.0,472.3,-8.3,473,4121,0.00,2.03,0.00,0.000,4,0.000,0.031,2138,1211,3742,0,0,0,0,0,0
$GC,4191,-0.54,-219.0,478.1,-8.2,479,4197,0.00,2.08,0.00,0.000,6,0.000,0.034,2138,2564,3741,0,0,0,0,0,0
$GC,4519,-0.54,-219.0,502.1,-7.5,509,4522,0.00,1.88,0.00,0.000,4,0.000,0.046,2138,3783,3737,0,0,0,0,0,0
$GC,4689,-0.54,-219.0,516.4,-8.7,516,4693,0.00,1.92,0.00,0.000,6,0.000,0.025,2138,2478,3737,0,0,0,0,0,0
$GC,5011,-0.54,-219.0,544.7,-9.1,532,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2476,3734,0,0,0,0,0,0
$GC,5321,-0.54,-219.0,572.4,-9.1,547,5324,0.00,2.03,0.00,0.000,4,0.000,0.044,2138,3777,3732,0,0,0,0,0,0
$GC,5578,-0.54,-219.0,599.3,-10.7,558,5582,0.00,1.92,0.00,0.000,6,0.000,0.026,2138,2475,3730,0,0,0,0,0,0
$GC,5901,-0.54,-219.0,629.2,-9.7,574,5905,0.00,2.03,0.00,0.000,4,0.000,0.044,2138,3776,3729,0,0,0,0,0,0
$GC,6041,-0.54,-219.0,644.2,-11.5,580,6045,0.00,1.95,0.00,0.000,6,0.000,0.026,2142,2491,3728,0,0,0,0,0,0
$GC,6370,-0.54,-219.0,674.2,-8.6,596,6374,0.00,1.95,0.00,0.000,4,0.000,0.033,2143,1211,3726,0,0,0,0,0,0
$GC,6498,-0.54,-219.0,684.7,-7.9,601,6505,0.00,1.95,0.00,0.000,6,0.000,0.034,2143,2484,3725,0,0,0,0,0,0
$GC,6815,-0.54,-219.0,703.4,-5.5,617,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2484,3723,0,0,0,0,0,0
$GC,7124,-0.54,-219.0,721.3,-6.4,632,7128,0.00,1.95,0.00,0.000,4,0.000,0.031,2143,1214,3722,0,0,0,0,0,0
$GC,7383,-0.54,-219.0,741.9,-8.6,643,7386,0.00,1.92,0.00,0.000,6,0.000,0.034,2144,2471,3721,0,0,0,0,0,0
$GC,7705,-0.54,-219.0,770.7,-9.2,659,7708,0.00,1.95,0.00,0.000,4,0.000,0.032,2143,1206,3720,0,0,0,0,0,0
$GC,7962,-0.54,-219.0,795.9,-9.7,670,7966,0.00,1.95,0.00,0.000,6,0.000,0.034,2143,2454,3719,0,0,0,0,0,0
$GC,8284,-0.54,-219.0,826.4,-10.1,686,8288,0.00,1.92,0.00,0.000,4,0.000,0.032,2143,1205,3717,0,0,0,0,0,0
$GC,8542,-0.54,-219.0,854.8,-11.3,697,8546,0.00,1.88,0.00,0.000,6,0.000,0.034,2143,2408,3716,0,0,0,0,0,0
$GC,8865,-0.54,-219.0,891.4,-11.7,713,8869,0.00,2.15,0.00,0.000,4,0.000,0.047,2143,3776,3715,0,0,0,0,0,0
$GC,9122,-0.54,-219.0,922.6,-11.5,724,9126,0.00,2.05,0.00,0.000,6,0.000,0.027,2143,2410,3714,0,0,0,0,0,0
$GC,9445,-0.54,-219.0,956.2,-10.3,740,9449,0.00,1.83,0.00,0.000,4,0.000,0.034,2143,1212,3712,0,0,0,0,0,0
$STATE,9606,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9606,begin apogee
$GC,9614,-0.13,0.0,972.8,10.0,747,9788,0.35,0.00,167.23,1.067,4,0.067,0.000,2286,2135,2869,0,0,0,0,0,0
$STATE,9789,end apogee,CONTROL_FINISHED_OK
$STATE,9789,begin climb
$GC,9791,0.54,219.0,985.0,0.0,755,9977,0.55,2.28,177.75,1.047,4,0.047,0.037,2505,743,1976,0,0,0,0,0,0
$GC,10035,0.54,219.0,969.6,12.6,767,10039,0.00,2.22,0.00,0.000,6,0.000,0.034,2505,2127,1975,0,0,0,0,0,0
$GC,10361,0.54,219.0,926.1,13.7,783,10366,0.00,2.22,0.00,0.000,4,0.000,0.044,2505,3547,1973,0,0,0,0,0,0
$GC,10417,0.54,219.0,917.4,15.3,785,10424,0.00,2.12,0.00,0.000,6,0.000,0.028,2515,2157,1973,0,0,0,0,0,0
$GC,10734,0.54,219.0,868.4,15.6,801,10738,0.00,2.20,0.00,0.000,4,0.000,0.039,2526,716,1973,0,0,0,0,0,0
$GC,10874,0.54,219.0,846.3,16.0,807,10879,0.12,2.15,0.00,0.000,6,0.165,0.034,2494,2113,1972,0,0,0,0,0,0
$GC,11191,0.54,219.0,803.1,13.3,822,11195,0.00,2.22,0.00,0.000,4,0.000,0.045,2494,3542,1972,0,0,0,0,0,0
$GC,11246,0.54,219.0,795.0,14.6,824,11253,0.00,2.15,0.00,0.000,6,0.000,0.028,2503,2118,1971,0,0,0,0,0,0
$GC,11563,0.55,225.2,756.0,11.6,840,11574,0.00,2.15,6.28,0.768,4,0.000,0.037,2513,723,1950,0,0,0,0,0,0
$GC,11641,0.57,241.6,746.7,11.2,843,11662,0.00,2.12,14.85,0.845,6,0.000,0.034,2513,2111,1882,0,0,0,0,0,0
$GC,11981,0.63,288.3,710.6,10.1,860,12025,0.00,2.30,36.55,0.887,4,0.000,0.044,2513,3532,1693,0,0,0,0,0,0
$GC,12064,0.65,309.6,701.5,11.0,863,12093,0.00,2.20,18.50,0.830,6,0.000,0.028,2522,2112,1605,0,0,0,0,0,0
$GC,12404,0.74,381.7,669.0,9.2,880,12468,0.10,2.20,56.90,0.866,4,0.111,0.035,2574,721,1312,0,0,0,0,0,0
$GC,12485,0.76,396.0,659.0,11.3,883,12505,0.00,2.20,13.10,0.763,6,0.000,0.034,2574,2117,1253,0,0,0,0,0,0
$GC,12824,0.76,396.0,619.1,12.1,900,12828,0.00,2.25,0.00,0.000,4,0.000,0.046,2574,3542,1255,0,0,0,0,0,0
$GC,12912,0.76,396.0,606.2,14.3,904,12916,0.00,2.17,0.00,0.000,6,0.000,0.029,2584,2124,1255,0,0,0,0,0,0
$GC,13241,0.76,396.0,557.6,15.3,920,13245,0.00,2.17,0.00,0.000,4,0.000,0.038,2594,715,1255,0,0,0,0,0,0
$GC,13329,0.76,396.0,543.5,15.1,924,13333,0.00,2.17,0.00,0.000,6,0.000,0.034,2594,2122,1255,0,0,0,0,0,0
$GC,13649,0.76,396.0,489.3,17.5,942,13653,0.00,2.20,0.00,0.000,4,0.000,0.044,2594,3536,1255,0,0,0,0,0,0
$GC,13715,0.76,396.0,476.7,18.3,947,13723,0.15,2.12,0.00,0.000,6,0.172,0.028,2566,2134,1255,0,0,0,0,0,0
$GC,14043,0.76,396.0,431.8,13.2,978,14049,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2134,1255,0,0,0,0,0,0
$GC,14370,0.76,396.0,386.7,14.7,1009,14374,0.00,2.20,0.00,0.000,4,0.000,0.041,2566,3541,1255,0,0,0,0,0,0
$GC,14413,0.76,396.0,379.2,16.3,1012,14420,0.00,2.12,0.00,0.000,6,0.000,0.028,2574,2138,1255,0,0,0,0,0,0
$GC,14739,0.76,396.0,328.9,14.8,1043,14743,0.00,2.15,0.00,0.000,4,0.000,0.037,2585,720,1255,0,0,0,0,0,0
$GC,14760,0.76,396.0,325.7,14.4,1044,14767,0.00,2.22,0.00,0.000,6,0.000,0.034,2585,2175,1256,0,0,0,0,0,0
$GC,15086,0.76,396.0,283.4,13.6,1075,15090,0.00,2.10,0.00,0.000,4,0.000,0.044,2585,3535,1256,0,0,0,0,0,0
$GC,15163,0.76,396.0,270.7,16.2,1081,15170,0.00,2.08,0.00,0.000,6,0.000,0.028,2594,2188,1256,0,0,0,0,0,0
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$GC,16877,0.99,585.5,43.0,9.5,1341,16936,0.00,2.38,49.15,0.453,4,0.000,0.038,2620,730,480,0,0,0,0,0,0
$GC,16985,1.08,657.6,33.3,9.2,1359,17000,0.15,2.35,9.50,0.412,6,0.097,0.027,2672,2267,439,0,0,0,0,0,0
$GC,17137,1.23,778.3,20.1,7.4,1385,17144,0.12,2.40,0.00,0.000,4,0.080,0.034,2752,717,440,0,0,0,0,0,0
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$STATE,17259,end climb,SURFACE_DEPTH_REACHED
$STATE,17259,begin surface coast
$FINISH,0.0,1.013081
$STATE,17283,end surface coast,CONTROL_FINISHED_OK
$STATE,17283,begin surface
$SM_CCo,17359,0.00,0.000,0,0,440,595.83
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$IRIDIUM_FIX,2038.68,12000.13,270811,222214
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.67
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.2,66.817
$10V_AH,9.8,59.449
$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,17.300,170.650,644.625,0.000,0.000,27.452,21.841,156.940,0.000,0.000,17.492,3397.926,10198.874,763.000,2960.655,379.269,0.000,2269.190,0.000,2711.837,0.000,0.540,0.000
$DEVICE_MAMPS,228.735,53.550,1067.175,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,977.666,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323048
$DATA_FILE_SIZE,80277,1410
$CAP_FILE_SIZE,192436,0
$CFSIZE,260165632,212660224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280811,080701,2041.729,12001.163,68,1.8,68,-2.4