version: 66.09
glider: 181
mission: 6
dive: 792
start: 11 10 111 16 44 3
data:
$ID,181
$MISSION,6
$DIVE,792
$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,320
$T_MISSION,350
$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,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,-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,1
$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,-41864.113
$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,2375
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,42
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,15
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,101111,163654,2137.521,12029.875,40,1.2,40,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-57.9
$GPS2,101111,164338,2137.553,12029.906,9,1.7,9,-2.6
$SPEED_LIMITS,0.179,0.314
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.206,0.235
$KALMAN_X,28223.1,-227.3,-456.5,-48601.6,-2485.5
$KALMAN_Y,68902.1,-606.5,-201.3,102840.5,390.9
$MHEAD_RNG_PITCHd_Wd,287.6,53260,-14.3,-10.312
$D_GRID,1117
$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,-0.61,-219.0,0.0,0.0,0,86,0.00,0.00,-67.45,0.000,2,0.000,0.000,134,2513,2308,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.0,-2.6,12,138,8.48,0.85,-35.53,0.000,4,0.221,0.073,2170,3035,3763,0,0,0,0,0,0
$GC,271,-0.46,-219.0,38.5,-21.2,43,278,0.17,0.80,0.00,0.000,6,0.142,0.025,2222,2466,3764,0,0,0,0,0,0
$GC,619,-0.38,-219.0,91.4,-16.4,104,625,0.00,0.85,0.00,0.000,4,0.000,0.036,2219,3019,3762,0,0,0,0,0,0
$GC,689,-0.31,-219.0,103.4,-17.4,116,696,0.15,0.73,0.00,0.000,6,0.117,0.024,2269,2493,3762,0,0,0,0,0,0
$GC,1039,-0.45,-219.0,137.6,-7.3,177,1046,0.12,0.70,0.00,0.000,4,0.081,0.026,2215,1972,3762,0,0,0,0,0,0
$GC,1302,-0.61,-219.0,162.6,-11.0,223,1310,0.08,0.80,0.00,0.000,6,0.057,0.032,2166,2511,3763,0,0,0,0,0,0
$GC,1658,-0.62,-219.0,201.1,-9.2,284,1661,0.00,0.73,0.00,0.000,4,0.000,0.024,2166,1969,3763,0,0,0,0,0,0
$GC,1766,-0.62,-219.0,211.0,-9.3,293,1773,0.00,0.77,0.00,0.000,6,0.000,0.032,2166,2493,3763,0,0,0,0,0,0
$GC,2092,-0.65,-219.0,246.5,-10.7,324,2096,0.00,0.70,0.00,0.000,4,0.000,0.024,2165,1969,3763,0,0,0,0,0,0
$GC,2219,-0.65,-219.0,258.1,-8.6,335,2223,0.00,0.77,0.00,0.000,6,0.000,0.034,2165,2488,3763,0,0,0,0,0,0
$GC,2551,-0.69,-219.0,281.7,-7.1,366,2554,0.00,0.68,0.00,0.000,4,0.000,0.025,2166,1977,3762,0,0,0,0,0,0
$GC,2647,-0.72,-219.0,290.0,-9.0,374,2654,0.00,0.77,0.00,0.000,6,0.000,0.033,2165,2495,3761,0,0,0,0,0,0
$GC,2974,-0.78,-219.0,325.9,-11.6,405,2979,0.12,0.82,0.00,0.000,4,0.076,0.038,2091,3035,3759,0,0,0,0,0,0
$GC,3034,-0.66,-219.0,334.2,-15.4,410,3038,0.20,0.75,0.00,0.000,6,0.129,0.025,2153,2500,3758,0,0,0,0,0,0
$GC,3368,-0.71,-219.0,366.6,-8.8,441,3372,0.00,0.82,0.00,0.000,4,0.000,0.038,2152,3025,3756,0,0,0,0,0,0
$GC,3415,-0.74,-219.0,370.9,-8.5,445,3419,0.00,0.73,0.00,0.000,6,0.000,0.026,2152,2513,3756,0,0,0,0,0,0
$GC,3747,-0.80,-219.0,395.7,-7.2,476,3751,0.00,0.80,0.00,0.000,4,0.000,0.039,2151,3027,3754,0,0,0,0,0,0
$GC,3798,-0.85,-219.0,399.3,-6.7,480,3806,0.12,0.75,0.00,0.000,6,0.041,0.026,2077,2500,3752,0,0,0,0,0,0
$GC,4124,-0.74,-219.0,430.7,-12.4,511,4128,0.20,0.85,0.00,0.000,4,0.140,0.035,2131,3031,3750,0,0,0,0,0,0
$GC,4193,-0.69,-219.0,438.8,-11.1,517,4197,0.00,0.77,0.00,0.000,6,0.000,0.026,2131,2494,3749,0,0,0,0,0,0
$GC,4524,-0.71,-219.0,477.1,-11.8,548,4528,0.00,0.70,0.00,0.000,4,0.000,0.028,2131,1972,3747,0,0,0,0,0,0
$GC,4626,-0.71,-219.0,489.4,-11.2,557,4630,0.00,0.80,0.00,0.000,6,0.000,0.036,2127,2495,3747,0,0,0,0,0,0
$GC,4954,-0.73,-219.0,521.1,-8.8,577,4958,0.00,0.73,0.00,0.000,4,0.000,0.028,2127,1973,3743,0,0,0,0,0,0
$GC,5027,-0.73,-219.0,527.9,-8.6,580,5031,0.00,0.82,0.00,0.000,6,0.000,0.035,2125,2507,3743,0,0,0,0,0,0
$GC,5356,-0.73,-219.0,556.7,-9.4,596,5360,0.00,0.77,0.00,0.000,4,0.000,0.040,2121,3019,3740,0,0,0,0,0,0
$GC,5457,-0.68,-219.0,567.9,-11.7,600,5461,0.08,0.75,0.00,0.000,6,0.135,0.026,2147,2500,3738,0,0,0,0,0,0
$GC,5782,-0.74,-219.0,598.5,-9.4,616,5785,0.00,0.75,0.00,0.000,4,0.000,0.029,2147,1966,3736,0,0,0,0,0,0
$GC,5879,-0.79,-219.0,607.3,-8.3,620,5883,0.00,0.82,0.00,0.000,6,0.000,0.037,2145,2500,3735,0,0,0,0,0,0
$GC,6207,-0.84,-219.0,630.0,-6.0,636,6211,0.12,0.75,0.00,0.000,4,0.081,0.029,2080,1978,3733,0,0,0,0,0,0
$GC,6287,-0.76,-219.0,636.8,-9.1,639,6292,0.15,0.80,0.00,0.000,6,0.129,0.038,2123,2491,3732,0,0,0,0,0,0
$GC,6611,-0.78,-219.0,659.8,-6.7,655,6615,0.00,0.73,0.00,0.000,4,0.000,0.029,2124,1975,3730,0,0,0,0,0,0
$GC,6682,-0.79,-219.0,664.6,-6.8,658,6686,0.00,0.82,0.00,0.000,6,0.000,0.037,2124,2505,3729,0,0,0,0,0,0
$GC,7016,-0.82,-219.0,690.1,-8.4,674,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2506,3728,0,0,0,0,0,0
$GC,7326,-0.84,-219.0,721.5,-10.5,689,7330,0.00,0.75,0.00,0.000,4,0.000,0.028,2124,1975,3725,0,0,0,0,0,0
$GC,7418,-0.81,-219.0,731.4,-10.3,693,7422,0.00,0.82,0.00,0.000,6,0.000,0.037,2121,2504,3725,0,0,0,0,0,0
$GC,7753,-0.83,-219.0,764.7,-9.4,709,7757,0.00,0.80,0.00,0.000,4,0.000,0.042,2117,3026,3723,0,0,0,0,0,0
$GC,7848,-0.83,-219.0,774.6,-10.6,713,7852,0.00,0.77,0.00,0.000,6,0.000,0.028,2117,2502,3722,0,0,0,0,0,0
$GC,8177,-0.86,-219.0,804.3,-9.4,729,8180,0.00,0.85,0.00,0.000,4,0.000,0.044,2113,3023,3721,0,0,0,0,0,0
$GC,8248,-0.82,-219.0,810.6,-9.3,732,8252,0.00,0.77,0.00,0.000,6,0.000,0.027,2113,2490,3720,0,0,0,0,0,0
$GC,8581,-0.77,-219.0,849.0,-13.1,748,8585,0.00,0.70,0.00,0.000,4,0.000,0.028,2113,1973,3719,0,0,0,0,0,0
$GC,8609,-0.71,-219.0,853.6,-15.4,749,8614,0.08,0.82,0.00,0.000,6,0.132,0.040,2136,2498,3719,0,0,0,0,0,0
$GC,8939,-0.70,-219.0,886.7,-9.3,765,8943,0.00,0.82,0.00,0.000,4,0.000,0.044,2134,3027,3717,0,0,0,0,0,0
$GC,9010,-0.67,-219.0,893.8,-10.0,768,9014,0.00,0.77,0.00,0.000,6,0.000,0.028,2134,2496,3716,0,0,0,0,0,0
$GC,9344,-0.64,-219.0,926.3,-9.8,784,9348,0.12,0.88,0.00,0.000,4,0.151,0.042,2166,3029,3715,0,0,0,0,0,0
$GC,9429,-0.68,-219.0,931.7,-6.4,787,9435,0.00,0.77,0.00,0.000,6,0.000,0.028,2166,2501,3715,0,0,0,0,0,0
$GC,9747,-0.78,-219.0,957.2,-8.5,803,9749,0.12,0.00,0.00,0.000,6,0.093,0.000,2103,2500,3713,0,0,0,0,0,0
$GC,10055,-0.80,-219.0,985.0,-9.1,818,10058,0.00,0.88,0.00,0.000,4,0.000,0.043,2099,3034,3712,0,0,0,0,0,0
$STATE,10102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10102,begin apogee
$GC,10112,-0.19,0.0,990.4,10.2,820,10288,0.68,0.00,171.25,1.059,6,0.121,0.000,2308,2097,2869,0,0,0,0,0,0
$STATE,10289,end apogee,CONTROL_FINISHED_OK
$STATE,10289,begin climb
$GC,10294,0.61,219.0,1004.2,0.0,828,10491,0.77,0.82,190.98,1.037,4,0.047,0.026,2588,1597,1976,0,0,0,0,0,0
$GC,10600,0.50,223.0,988.8,10.2,842,10610,0.17,0.88,5.38,0.712,6,0.144,0.028,2542,2113,1959,0,0,0,0,0,0
$GC,10931,0.52,291.2,961.9,8.1,858,10995,0.00,0.88,57.53,1.007,4,0.000,0.035,2543,2624,1680,0,0,0,0,0,0
$GC,11120,0.52,328.0,944.6,9.1,866,11156,0.00,0.80,31.75,0.969,6,0.000,0.028,2544,2110,1531,0,0,0,0,0,0
$GC,11485,0.50,337.2,908.3,10.0,884,11497,0.00,0.00,10.23,0.863,6,0.000,0.000,2545,2108,1493,0,0,0,0,0,0
$GC,11794,0.50,337.2,873.3,10.9,899,11798,0.00,0.80,0.00,0.000,4,0.000,0.034,2548,1566,1495,0,0,0,0,0,0
$GC,11879,0.47,337.2,864.1,10.8,902,11885,0.00,0.82,0.00,0.000,6,0.000,0.030,2549,2107,1495,0,0,0,0,0,0
$GC,12196,0.51,385.9,832.9,8.8,918,12239,0.00,0.88,40.03,0.943,4,0.000,0.031,2551,1570,1295,0,0,0,0,0,0
$GC,12358,0.56,431.3,818.6,8.9,925,12399,0.00,0.80,36.78,0.926,6,0.000,0.028,2551,2101,1111,0,0,0,0,0,0
$GC,12728,0.74,518.8,791.0,7.5,943,12805,0.17,0.82,71.03,0.922,4,0.075,0.037,2631,2614,753,0,0,0,0,0,0
$GC,12861,0.69,518.8,776.0,12.6,949,12866,0.10,0.80,0.00,0.000,6,0.139,0.028,2603,2096,755,0,0,0,0,0,0
$GC,13194,0.69,518.8,738.3,11.7,965,13198,0.00,0.77,0.00,0.000,4,0.000,0.035,2605,1570,761,0,0,0,0,0,0
$GC,13262,0.67,518.8,729.5,12.8,968,13266,0.00,0.80,0.00,0.000,6,0.000,0.029,2605,2097,761,0,0,0,0,0,0
$GC,13597,0.70,518.8,687.2,12.3,984,13601,0.00,0.77,0.00,0.000,4,0.000,0.033,2608,1579,762,0,0,0,0,0,0
$GC,13608,0.74,518.8,685.4,12.5,984,13620,0.00,0.80,3.85,0.537,6,0.000,0.029,2608,2108,753,0,0,0,0,0,0
$GC,13933,0.80,518.8,646.1,12.1,1000,13936,0.00,0.75,0.00,0.000,4,0.000,0.037,2607,2615,753,0,0,0,0,0,0
$GC,13983,0.82,518.8,639.2,12.4,1002,13987,0.00,0.77,0.00,0.000,6,0.000,0.031,2610,2102,753,0,0,0,0,0,0
$GC,14312,0.86,518.8,600.7,11.5,1018,14317,0.12,0.80,0.00,0.000,4,0.093,0.037,2670,1579,752,0,0,0,0,0,0
$GC,14329,0.89,518.8,598.6,11.2,1018,14335,0.00,0.80,0.00,0.000,6,0.000,0.029,2670,2104,752,0,0,0,0,0,0
$GC,14647,0.87,518.8,558.1,13.1,1034,14651,0.00,0.77,0.00,0.000,4,0.000,0.035,2670,2627,752,0,0,0,0,0,0
$GC,14710,0.79,518.8,548.4,16.1,1036,14717,0.12,0.80,0.00,0.000,6,0.134,0.030,2634,2098,752,0,0,0,0,0,0
$GC,15026,0.77,518.8,508.7,12.5,1052,15030,0.00,0.77,0.00,0.000,4,0.000,0.037,2637,1575,752,0,0,0,0,0,0
$GC,15131,0.75,518.8,495.3,12.6,1058,15134,0.00,0.80,0.00,0.000,6,0.000,0.028,2636,2111,752,0,0,0,0,0,0
$GC,15462,0.77,518.8,457.3,11.1,1089,15463,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2112,752,0,0,0,0,0,0
$GC,15786,0.81,518.8,418.5,13.1,1119,15789,0.00,0.80,0.00,0.000,4,0.000,0.033,2640,1580,752,0,0,0,0,0,0
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$GC,18687,1.14,639.2,70.9,12.0,1480,18694,0.00,0.80,0.00,0.000,4,0.000,0.033,2731,1577,440,0,0,0,0,0,0
$GC,18822,1.19,658.0,59.1,9.7,1503,18829,0.00,0.77,0.10,0.109,6,0.000,0.031,2731,2094,441,0,0,0,0,0,0
$GC,19172,1.17,658.0,20.0,13.2,1564,19179,0.00,0.82,2.72,0.230,4,0.000,0.033,2731,2639,440,0,0,0,0,0,0
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$STATE,19301,end climb,SURFACE_DEPTH_REACHED
$STATE,19302,begin surface coast
$FINISH,0.6,1.009192
$STATE,19327,end surface coast,CONTROL_FINISHED_OK
$STATE,19327,begin surface
$SM_CCo,19405,0.00,0.000,0,0,441,595.59
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$IRIDIUM_FIX,2129.53,12038.75,101111,111142
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.51
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.80
$XPDR_PINGS,20
$24V_AH,21.9,132.318
$10V_AH,8.8,93.526
$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,19.700,69.075,685.325,0.000,0.000,27.418,18.410,188.472,5.000,0.000,12.390,3878.615,11489.485,718.853,3166.517,538.014,0.000,2318.395,0.000,2910.641,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,72.675,1058.760,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1102.083,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321644
$DATA_FILE_SIZE,93487,1590
$CAP_FILE_SIZE,212951,0
$CFSIZE,260165632,179990528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101111,220837,2137.612,12031.154,29,1.2,29,-2.6