version: 66.03
glider: 120
mission: 9
dive: 173
start: 11 1 108 3 18 47
data:
$ID,120
$MISSION,9
$DIVE,173
$D_SURF,7
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,660
$T_MISSION,675
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51365
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0054608998
$HD_B,0.011315
$HD_C,8.0300997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-21301.312
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3950
$C_PITCH,3317
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,176
$ROLL_MAX,3861
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2876
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-16.122175
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,53
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043782545
$SEABIRD_T_H,0.00063376746
$SEABIRD_T_I,2.0789576e-05
$SEABIRD_T_J,1.6847914e-06
$SEABIRD_C_G,-10.138739
$SEABIRD_C_H,1.1328104
$SEABIRD_C_I,-0.00035406757
$SEABIRD_C_J,0.00012259149
$GPS1,031238,5012.319,-14500.148,31,1.0,31,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-77.6
$GPS2,031751,5012.355,-14500.211,12,1.2,12,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.136,0.114
$KALMAN_X,41859.1,-255.4,-109.7,-53952.5,560.2
$KALMAN_Y,131404.6,26.4,-189.8,-118640.7,1033.8
$MHEAD_RNG_PITCHd_Wd,291.5,21193,-12.0,-5.000
$D_GRID,1001
$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
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,44,0.00,0.00,-22.23,0.000,2,0.000,0.000,143,2411,2162
$GC,47,-0.67,-117.3,3.1,-3.9,2,106,14.10,2.40,-39.17,0.000,4,0.294,0.090,3085,3806,3354
$GC,313,-0.35,-117.3,36.2,-13.7,25,321,0.38,2.33,0.00,0.000,6,0.163,0.056,3196,2393,3356
$GC,639,-0.45,-117.3,59.5,-6.2,56,640,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2393,3357
$GC,957,-0.77,-117.3,76.4,-6.1,86,962,0.35,2.33,0.00,0.000,4,0.084,0.067,3069,984,3358
$GC,1086,-0.52,-117.3,89.4,-11.3,94,1091,0.28,2.30,0.00,0.000,6,0.166,0.062,3145,2400,3359
$GC,1412,-0.52,-117.3,116.2,-8.0,110,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2400,3359
$GC,1721,-0.52,-117.3,141.2,-7.9,125,1725,0.00,2.33,0.00,0.000,4,0.000,0.068,3145,991,3359
$GC,1765,-0.52,-117.3,144.6,-7.7,127,1769,0.00,2.33,0.00,0.000,6,0.000,0.062,3142,2422,3359
$GC,2089,-0.52,-117.3,166.1,-6.4,139,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2422,3359
$GC,2396,-0.52,-117.3,183.8,-5.5,149,2400,0.00,2.38,0.00,0.000,4,0.000,0.069,3142,988,3359
$GC,2428,-0.57,-117.3,185.6,-5.9,150,2432,0.00,2.30,0.00,0.000,6,0.000,0.062,3142,2401,3359
$GC,2763,-0.61,-117.3,203.2,-5.4,161,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2401,3359
$GC,3070,-0.66,-117.3,220.4,-5.5,171,3074,0.12,2.35,0.00,0.000,4,0.087,0.070,3091,986,3358
$GC,3102,-0.57,-117.3,222.8,-7.9,172,3107,0.15,2.33,0.00,0.000,6,0.156,0.063,3129,2411,3359
$GC,3430,-0.57,-117.3,243.5,-6.1,183,3434,0.00,2.35,0.00,0.000,4,0.000,0.071,3129,989,3358
$GC,3474,-0.57,-117.3,246.3,-6.4,184,3478,0.00,2.33,0.00,0.000,6,0.000,0.063,3128,2397,3358
$GC,3798,-0.57,-117.3,265.2,-5.7,195,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2397,3358
$GC,4104,-0.57,-117.3,283.1,-6.1,205,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2397,3358
$GC,4440,-0.57,-117.3,304.1,-6.4,215,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2397,3357
$GC,4743,-0.57,-117.3,324.6,-6.8,220,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2397,3357
$GC,5046,-0.57,-117.3,343.9,-6.4,225,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2397,3357
$GC,5349,-0.57,-117.3,363.9,-6.6,230,5353,0.00,2.33,0.00,0.000,4,0.000,0.072,3129,996,3356
$GC,5377,-0.62,-117.3,365.8,-7.3,230,5380,0.00,2.30,0.00,0.000,6,0.000,0.064,3128,2402,3356
$GC,5714,-0.62,-117.3,387.0,-6.2,236,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2402,3356
$GC,6017,-0.62,-117.3,404.5,-5.7,241,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2402,3355
$GC,6321,-0.66,-117.3,422.4,-5.9,246,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2402,3355
$GC,6623,-0.66,-117.3,440.8,-6.1,251,6627,0.00,2.33,0.00,0.000,4,0.000,0.073,3128,994,3355
$GC,6661,-0.71,-117.3,443.3,-7.0,251,6665,0.12,2.30,0.00,0.000,6,0.091,0.065,3082,2412,3355
$GC,6987,-0.67,-117.3,466.3,-7.1,257,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2412,3355
$GC,7290,-0.62,-117.3,487.4,-6.9,262,7294,0.12,2.33,0.00,0.000,4,0.124,0.072,3118,996,3355
$GC,7316,-0.62,-117.3,489.2,-6.7,262,7320,0.00,2.33,0.00,0.000,6,0.000,0.066,3113,2401,3355
$GC,7653,-0.62,-117.3,508.2,-5.5,268,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3354
$GC,7957,-0.62,-117.3,525.6,-5.8,273,7961,0.00,2.33,0.00,0.000,4,0.000,0.073,3113,987,3354
$GC,7989,-0.62,-117.3,527.7,-6.3,273,7993,0.00,2.35,0.00,0.000,6,0.000,0.065,3113,2406,3354
$GC,8321,-0.62,-117.3,547.2,-5.9,279,8325,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,991,3354
$GC,8347,-0.62,-117.3,548.8,-6.1,279,8351,0.00,2.33,0.00,0.000,6,0.000,0.066,3113,2402,3354
$GC,8685,-0.62,-117.3,567.0,-5.4,285,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3354
$GC,8988,-0.62,-117.3,582.9,-5.2,290,8989,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3354
$GC,9291,-0.62,-117.3,599.0,-5.4,295,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3354
$GC,9594,-0.62,-117.3,615.6,-5.5,300,9595,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3354
$GC,9897,-0.62,-117.3,632.5,-5.5,305,9901,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,992,3353
$GC,9941,-0.62,-117.3,635.1,-6.4,305,9945,0.00,2.30,0.00,0.000,6,0.000,0.066,3113,2401,3353
$GC,10262,-0.62,-117.3,652.4,-5.4,311,10263,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3353
$GC,10565,-0.62,-117.3,668.6,-5.3,316,10566,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3353
$GC,10868,-0.62,-117.3,684.2,-5.1,321,10872,0.00,2.33,0.00,0.000,4,0.000,0.074,3113,990,3353
$GC,10905,-0.62,-117.3,686.2,-5.5,321,10909,0.00,2.30,0.00,0.000,6,0.000,0.067,3113,2400,3353
$GC,11232,-0.62,-117.3,701.8,-4.7,327,11233,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3353
$GC,11535,-0.62,-117.3,716.7,-5.0,332,11539,0.00,2.35,0.00,0.000,4,0.000,0.074,3113,987,3352
$GC,11575,-0.66,-117.3,718.9,-6.1,332,11579,0.00,2.33,0.00,0.000,6,0.000,0.067,3113,2412,3353
$GC,11895,-0.66,-117.3,735.5,-5.2,338,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2412,3353
$GC,12198,-0.71,-117.3,751.7,-5.3,343,12202,0.00,2.38,0.00,0.000,4,0.000,0.075,3113,986,3352
$GC,12241,-0.75,-117.3,754.2,-5.7,343,12246,0.12,2.33,0.00,0.000,6,0.092,0.067,3067,2404,3351
$GC,12562,-0.75,-117.3,774.0,-6.2,349,12566,0.00,2.35,0.00,0.000,4,0.000,0.084,3067,3815,3352
$GC,12611,-0.67,-117.3,777.3,-7.0,349,12616,0.12,2.28,0.00,0.000,6,0.127,0.060,3099,2394,3352
$GC,12926,-0.67,-117.3,794.7,-5.5,355,12927,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2394,3351
$GC,13229,-0.67,-117.3,811.8,-5.7,360,13230,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2394,3352
$GC,13532,-0.67,-117.3,828.6,-5.5,365,13536,0.00,2.33,0.00,0.000,4,0.000,0.077,3100,995,3351
$GC,13572,-0.67,-117.3,830.9,-6.6,365,13576,0.00,2.30,0.00,0.000,6,0.000,0.067,3100,2404,3352
$GC,13892,-0.67,-117.3,848.0,-5.3,371,13893,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3352
$GC,14195,-0.67,-117.3,862.7,-4.9,376,14196,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3351
$GC,14498,-0.67,-117.3,877.6,-4.9,381,14500,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3351
$GC,14801,-0.67,-117.3,893.1,-5.2,386,14802,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3351
$GC,15104,-0.67,-117.3,909.0,-5.2,391,15105,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3351
$GC,15407,-0.67,-117.3,925.0,-5.2,396,15408,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2404,3351
$GC,15710,-0.67,-117.3,941.3,-5.4,401,15715,0.00,2.38,0.00,0.000,4,0.000,0.076,3100,985,3351
$GC,15743,-0.67,-117.3,943.3,-5.5,401,15747,0.00,2.35,0.00,0.000,6,0.000,0.068,3100,2394,3350
$GC,16075,-0.67,-117.3,960.2,-5.0,407,16079,0.00,2.38,0.00,0.000,4,0.000,0.087,3100,3811,3351
$GC,16101,-0.67,-117.3,961.5,-5.7,407,16106,0.00,2.30,0.00,0.000,6,0.000,0.061,3100,2403,3350
$GC,16440,-0.67,-117.3,978.0,-4.8,413,16441,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2403,3350
$STATE,16681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16681,begin apogee
$GC,16686,-0.22,0.0,990.8,5.3,417,16791,0.47,0.00,102.38,1.506,6,0.151,0.000,3242,2192,2876
$STATE,16792,end apogee,CONTROL_FINISHED_OK
$STATE,16792,begin climb
$GC,16794,0.67,117.3,992.9,0.0,418,16905,0.90,0.00,107.62,1.453,6,0.097,0.000,3530,2192,2396
$GC,17228,0.31,117.3,971.7,7.9,426,17230,0.43,0.00,0.00,0.000,6,0.176,0.000,3418,2192,2393
$GC,17531,0.28,129.7,957.3,4.6,431,17545,0.00,0.00,11.70,1.334,6,0.000,0.000,3418,2192,2347
$GC,17833,0.28,129.7,942.0,5.1,436,17835,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2192,2346
$GC,18136,0.28,129.7,926.3,5.3,441,18140,0.00,2.45,0.00,0.000,4,0.000,0.082,3418,3613,2346
$GC,18175,0.18,129.7,923.9,5.7,441,18180,0.17,2.35,0.00,0.000,6,0.180,0.066,3378,2193,2346
$GC,18495,0.30,146.3,909.4,4.5,447,18513,0.12,0.00,15.82,1.384,6,0.094,0.000,3423,2193,2279
$GC,18798,0.30,146.3,891.9,5.8,452,18802,0.00,2.42,0.00,0.000,4,0.000,0.084,3423,3608,2277
$GC,18830,0.23,146.3,889.7,7.3,452,18835,0.12,2.35,0.00,0.000,6,0.178,0.066,3394,2190,2277
$GC,19162,0.30,146.3,871.6,5.4,458,19163,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2190,2277
$GC,19465,0.37,146.3,856.0,5.1,463,19467,0.12,0.00,0.00,0.000,6,0.093,0.000,3440,2190,2277
$GC,19768,0.31,146.3,837.3,6.2,468,19773,0.00,2.42,0.00,0.000,4,0.000,0.084,3440,3614,2277
$GC,19807,0.17,146.3,834.5,7.0,468,19811,0.28,2.33,0.00,0.000,6,0.170,0.067,3375,2197,2277
$GC,20133,0.34,167.5,820.0,4.4,474,20154,0.15,0.00,18.98,1.361,6,0.091,0.000,3430,2197,2192
$GC,20436,0.34,167.5,802.5,5.8,479,20437,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2197,2191
$GC,20739,0.34,167.5,785.1,5.7,484,20740,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2197,2191
$GC,21042,0.38,167.5,768.3,5.5,489,21043,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2197,2191
$GC,21345,0.38,167.5,752.0,5.3,494,21346,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2197,2191
$GC,21648,0.42,167.5,735.1,5.6,499,21649,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2197,2191
$GC,21951,0.42,167.5,717.7,5.8,504,21952,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2197,2190
$GC,22254,0.47,167.5,699.5,6.1,509,22259,0.12,2.42,0.00,0.000,4,0.107,0.084,3479,3608,2191
$GC,22288,0.25,167.5,696.7,8.9,509,22293,0.30,2.30,0.00,0.000,6,0.182,0.067,3400,2201,2190
$GC,22614,0.34,167.5,678.3,5.5,515,22618,0.00,2.35,0.00,0.000,4,0.000,0.081,3408,793,2190
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$GC,28237,0.49,217.9,344.5,5.3,607,28238,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2210,1984
$GC,28540,0.53,217.9,328.6,5.2,612,28545,0.10,2.35,0.00,0.000,4,0.108,0.081,3490,3612,1983
$GC,28572,0.38,217.9,326.3,7.0,612,28577,0.20,2.33,0.00,0.000,6,0.179,0.065,3439,2190,1984
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$GC,31266,0.41,217.9,141.5,5.6,694,31270,0.00,2.35,0.00,0.000,4,0.000,0.080,3477,791,1984
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$GC,32608,0.70,268.2,73.8,4.6,764,32630,0.17,2.47,11.98,0.871,4,0.089,0.078,3549,790,1781
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$STATE,33734,end climb,SURFACE_DEPTH_REACHED
$STATE,33734,begin surface coast
$FINISH,1.6,1.008661
$STATE,33884,end surface coast,CONTROL_FINISHED_OK
$STATE,33885,begin surface
$SM_CCo,33903,24.62,0.835,0,0,1652,300.00
$SM_GC,3.21,0.00,0.00,24.62,0.000,0.000,0.835,140,2403,1652,-9.93,0.08,300.00
$IRIDIUM_FIX,4953.05,-14449.20,250198,181832
$TT8_MAMPS,0.026845
$HUMID,2109
$INTERNAL_PRESSURE,9.08482
$TCM_TEMP,15.40
$XPDR_PINGS,1004
$24V_AH,22.4,36.229
$10V_AH,10.7,23.066
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,30.275,173.975,349.275,24.625,0.000,31.103,35.219,141.746,251.000,0.000,0.000,12.212,1833.633,29115.229,559.762,2240.875,489.093,33.372,1638.166,0.000,2231.860,0.000,0.466
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,678.134,661.657,1503.065,910.825,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50774,884
$CAP_FILE_SIZE,179317,0
$CFSIZE,260165632,245215232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011108,124532,5015.019,-14504.411,40,1.4,40,18.5