version: 66.03
glider: 120
mission: 9
dive: 236
start: 11 25 108 1 17 56
data:
$ID,120
$MISSION,9
$DIVE,236
$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,-22656.254
$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,21
$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
$GPS1,011025,5012.464,-14441.356,61,1.2,61,18.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-67.2
$GPS2,011702,5012.445,-14441.234,16,1.2,33,18.6
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.147,0.100
$KALMAN_X,36407.1,-23.5,228.4,-26531.4,-1742.6
$KALMAN_Y,181383.0,-121.7,272.5,-168766.9,808.0
$MHEAD_RNG_PITCHd_Wd,37.1,20810,-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,19,begin dive
$GC,21,-0.67,-117.3,0.0,0.0,0,44,0.00,0.00,-21.50,0.000,2,0.000,0.000,135,2404,2190
$GC,47,-0.67,-117.3,3.1,-2.8,2,115,14.23,2.47,-46.85,0.000,4,0.291,0.082,3095,990,3356
$GC,301,-0.43,-117.3,25.9,-11.8,25,306,0.28,2.33,0.00,0.000,6,0.162,0.064,3172,2399,3357
$GC,627,-0.43,-117.3,52.9,-7.5,55,631,0.00,2.40,0.00,0.000,4,0.000,0.068,3174,988,3358
$GC,648,-0.43,-117.3,54.8,-8.0,56,654,0.00,2.35,0.00,0.000,6,0.000,0.060,3169,2401,3358
$GC,976,-0.50,-117.3,77.3,-5.8,87,982,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2401,3358
$GC,1293,-0.55,-117.3,97.8,-6.2,105,1297,0.00,2.40,0.00,0.000,4,0.000,0.067,3169,984,3359
$GC,1326,-0.60,-117.3,99.9,-6.4,106,1333,0.15,2.33,0.00,0.000,6,0.081,0.061,3112,2411,3359
$GC,1642,-0.60,-117.3,124.1,-7.5,122,1646,0.00,2.42,0.00,0.000,4,0.000,0.067,3112,981,3359
$GC,1682,-0.55,-117.3,127.4,-8.3,124,1686,0.00,2.33,0.00,0.000,6,0.000,0.061,3112,2398,3360
$GC,2019,-0.50,-117.3,153.0,-7.2,140,2024,0.15,2.40,0.00,0.000,4,0.158,0.067,3161,987,3360
$GC,2048,-0.57,-117.3,154.6,-5.6,141,2052,0.00,2.35,0.00,0.000,6,0.000,0.061,3161,2408,3360
$GC,2383,-0.90,-117.3,173.5,-6.5,152,2388,0.38,2.38,0.00,0.000,4,0.089,0.077,3024,3806,3360
$GC,2426,-0.61,-117.3,177.6,-10.0,153,2431,0.35,2.30,0.00,0.000,6,0.172,0.055,3120,2387,3360
$GC,2744,-0.61,-117.3,200.1,-7.4,164,2748,0.00,2.33,0.00,0.000,4,0.000,0.069,3120,992,3360
$GC,2772,-0.61,-117.3,202.3,-8.0,165,2776,0.00,2.30,0.00,0.000,6,0.000,0.061,3114,2411,3360
$GC,3107,-0.61,-117.3,228.1,-7.8,176,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2411,3360
$GC,3414,-0.61,-117.3,250.9,-7.3,186,3418,0.00,2.38,0.00,0.000,4,0.000,0.081,3113,3807,3359
$GC,3451,-0.61,-117.3,253.7,-7.1,187,3456,0.00,2.30,0.00,0.000,6,0.000,0.054,3113,2390,3359
$GC,3781,-0.61,-117.3,275.5,-6.6,198,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2390,3359
$GC,4087,-0.61,-117.3,294.7,-6.0,208,4092,0.00,2.50,0.00,0.000,4,0.000,0.081,3113,3816,3359
$GC,4150,-0.61,-117.3,298.5,-6.5,210,4154,0.00,2.30,0.00,0.000,6,0.000,0.055,3113,2401,3359
$GC,4481,-0.61,-117.3,318.0,-5.9,216,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2401,3358
$GC,4784,-0.61,-117.3,335.7,-5.9,221,4788,0.00,2.38,0.00,0.000,4,0.000,0.071,3113,992,3358
$GC,4810,-0.61,-117.3,337.4,-6.5,221,4814,0.00,2.33,0.00,0.000,6,0.000,0.063,3112,2402,3358
$GC,5149,-0.61,-117.3,357.7,-6.1,227,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2402,3357
$GC,5451,-0.61,-117.3,375.7,-5.9,232,5456,0.00,2.38,0.00,0.000,4,0.000,0.071,3113,990,3357
$GC,5491,-0.61,-117.3,378.0,-5.9,232,5495,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2409,3357
$GC,5811,-0.61,-117.3,395.4,-5.4,238,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2410,3357
$GC,6114,-0.61,-117.3,412.8,-5.8,243,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2409,3357
$GC,6417,-0.61,-117.3,430.9,-6.0,248,6421,0.00,2.40,0.00,0.000,4,0.000,0.071,3113,995,3356
$GC,6443,-0.61,-117.3,432.7,-6.0,248,6447,0.00,2.33,0.00,0.000,6,0.000,0.064,3113,2405,3356
$GC,6781,-0.61,-117.3,451.5,-5.6,254,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2405,3356
$GC,7085,-0.61,-117.3,469.2,-5.9,259,7089,0.00,2.40,0.00,0.000,4,0.000,0.071,3113,989,3356
$GC,7117,-0.65,-117.3,471.4,-5.9,259,7121,0.00,2.30,0.00,0.000,6,0.000,0.064,3113,2399,3356
$GC,7449,-0.65,-117.3,491.7,-6.2,265,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2400,3356
$GC,7752,-0.65,-117.3,511.0,-6.4,270,7756,0.00,2.35,0.00,0.000,4,0.000,0.083,3113,3806,3355
$GC,7780,-0.69,-117.3,512.7,-6.4,270,7784,0.00,2.28,0.00,0.000,6,0.000,0.057,3113,2399,3355
$GC,8112,-0.74,-117.3,532.8,-6.0,276,8113,0.10,0.00,0.00,0.000,6,0.100,0.000,3074,2399,3355
$GC,8414,-0.74,-117.3,551.4,-6.2,281,8415,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2399,3355
$GC,8717,-0.74,-117.3,568.5,-5.6,286,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2399,3355
$GC,9021,-0.74,-117.3,584.9,-5.4,291,9022,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2399,3355
$GC,9323,-0.74,-117.3,602.6,-5.8,296,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2399,3355
$GC,9626,-0.74,-117.3,621.9,-6.4,301,9627,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2399,3355
$GC,9930,-0.74,-117.3,641.7,-6.5,306,9934,0.00,2.40,0.00,0.000,4,0.000,0.074,3074,988,3354
$GC,9956,-0.74,-117.3,643.7,-7.5,306,9961,0.00,2.33,0.00,0.000,6,0.000,0.065,3074,2393,3354
$GC,10295,-0.68,-117.3,668.2,-7.3,312,10296,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2393,3354
$GC,10598,-0.63,-117.3,689.2,-6.8,317,10600,0.15,0.00,0.00,0.000,6,0.154,0.000,3114,2393,3354
$GC,10901,-0.70,-117.3,704.8,-5.1,322,10905,0.00,2.42,0.00,0.000,4,0.000,0.084,3112,3808,3354
$GC,10928,-0.76,-117.3,706.3,-5.5,322,10933,0.12,2.33,0.00,0.000,6,0.090,0.058,3066,2392,3353
$GC,11259,-0.76,-117.3,725.6,-6.0,328,11260,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2392,3353
$GC,11562,-0.76,-117.3,744.3,-6.2,333,11563,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2392,3353
$GC,11865,-0.76,-117.3,764.4,-6.6,338,11867,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2392,3353
$GC,12169,-0.76,-117.3,783.6,-6.3,343,12173,0.00,2.40,0.00,0.000,4,0.000,0.074,3066,988,3353
$GC,12196,-0.76,-117.3,785.5,-7.3,343,12200,0.00,2.33,0.00,0.000,6,0.000,0.066,3066,2405,3353
$GC,12533,-0.71,-117.3,806.9,-6.3,349,12537,0.00,2.35,0.00,0.000,4,0.000,0.084,3060,3808,3353
$GC,12572,-0.62,-117.3,809.7,-7.4,349,12577,0.20,2.30,0.00,0.000,6,0.140,0.058,3115,2391,3352
$GC,12893,-0.77,-117.3,827.4,-5.6,355,12898,0.15,2.38,0.00,0.000,4,0.091,0.074,3056,983,3353
$GC,12976,-0.73,-117.3,833.4,-7.1,356,12980,0.00,2.33,0.00,0.000,6,0.000,0.066,3056,2401,3352
$GC,13326,-0.81,-117.3,858.4,-7.3,362,13330,0.00,2.40,0.00,0.000,4,0.000,0.084,3056,3807,3352
$GC,13455,-0.73,-117.3,868.5,-8.0,364,13459,0.00,2.33,0.00,0.000,6,0.000,0.059,3056,2389,3352
$GC,13821,-0.65,-117.3,896.3,-7.7,370,13823,0.17,0.00,0.00,0.000,6,0.164,0.000,3103,2386,3352
$GC,14124,-0.70,-117.3,915.5,-6.3,375,14126,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2386,3352
$GC,14427,-0.75,-117.3,934.7,-6.3,380,14431,0.00,2.47,0.00,0.000,4,0.000,0.084,3100,3812,3351
$GC,14459,-0.80,-117.3,936.8,-6.9,380,14464,0.12,2.33,0.00,0.000,6,0.091,0.058,3053,2392,3352
$GC,14785,-0.80,-117.3,959.6,-7.0,386,14786,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2392,3351
$GC,15088,-0.80,-117.3,978.8,-6.3,391,15092,0.00,2.45,0.00,0.000,4,0.000,0.084,3053,3806,3352
$GC,15126,-0.73,-117.3,981.3,-6.7,391,15130,0.10,2.30,0.00,0.000,6,0.111,0.059,3079,2400,3352
$STATE,15322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15323,begin apogee
$GC,15328,-0.22,0.0,993.0,5.8,395,15436,0.55,0.00,104.57,1.498,6,0.151,0.000,3244,2194,2876
$STATE,15436,end apogee,CONTROL_FINISHED_OK
$STATE,15436,begin climb
$GC,15439,0.67,117.3,994.6,0.0,396,15555,0.88,2.70,109.75,1.444,4,0.092,0.078,3531,3610,2395
$GC,15608,0.21,117.3,992.0,9.3,399,15614,0.57,2.53,0.00,0.000,6,0.191,0.064,3391,2206,2394
$GC,15930,0.26,120.0,975.5,4.9,405,15934,0.00,2.45,0.00,0.000,4,0.000,0.080,3394,787,2392
$GC,15974,0.35,140.9,973.3,4.4,405,16001,0.12,2.35,21.65,1.391,6,0.089,0.062,3441,2198,2301
$GC,16358,0.30,140.9,949.4,6.3,412,16362,0.00,2.38,0.00,0.000,4,0.000,0.081,3441,3609,2299
$GC,16420,0.16,140.9,944.9,7.0,413,16425,0.30,2.38,0.00,0.000,6,0.168,0.065,3369,2190,2299
$GC,16785,0.35,178.1,929.9,3.9,419,16821,0.20,0.00,33.33,1.427,6,0.086,0.000,3441,2190,2150
$GC,17089,0.35,178.1,911.6,6.2,424,17093,0.00,2.45,0.00,0.000,4,0.000,0.082,3441,3611,2147
$GC,17121,0.26,178.1,909.2,6.3,424,17126,0.17,2.35,0.00,0.000,6,0.167,0.065,3404,2201,2147
$GC,17454,0.36,185.8,893.0,4.8,430,17463,0.00,0.00,8.02,1.231,6,0.000,0.000,3403,2201,2118
$GC,17757,0.46,188.8,878.1,4.9,435,17764,0.20,0.00,4.68,1.003,6,0.082,0.000,3479,2201,2106
$GC,18059,0.35,188.8,853.4,8.3,440,18064,0.15,2.42,0.00,0.000,4,0.156,0.079,3436,788,2105
$GC,18121,0.35,188.8,848.7,8.8,441,18125,0.00,2.33,0.00,0.000,6,0.000,0.064,3436,2205,2105
$GC,18486,0.35,188.8,821.4,7.5,447,18487,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2105
$GC,18789,0.35,188.8,797.9,7.8,452,18790,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2105
$GC,19092,0.35,188.8,774.8,7.6,457,19093,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2104
$GC,19395,0.35,188.8,753.2,7.0,462,19396,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2104
$GC,19698,0.35,188.8,732.3,6.9,467,19699,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2104
$GC,20002,0.35,188.8,711.4,6.9,472,20003,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2104
$GC,20304,0.35,188.8,691.8,6.5,477,20305,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2205,2104
$GC,20607,0.35,188.8,673.8,5.8,482,20611,0.00,2.38,0.00,0.000,4,0.000,0.083,3436,3619,2104
$GC,20634,0.35,188.8,672.2,6.4,482,20638,0.00,2.38,0.00,0.000,6,0.000,0.064,3436,2196,2104
$GC,20972,0.35,188.8,653.7,5.4,488,20973,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2196,2104
$GC,21275,0.35,188.8,637.2,5.4,493,21279,0.00,2.42,0.00,0.000,4,0.000,0.081,3436,785,2104
$GC,21313,0.41,188.8,634.9,6.0,493,21317,0.00,2.30,0.00,0.000,6,0.000,0.064,3436,2200,2104
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$GC,26659,0.50,200.4,308.3,4.7,581,26675,0.00,2.45,11.18,0.998,4,0.000,0.079,3449,3616,2058
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$GC,27025,0.58,221.9,292.5,4.4,589,27050,0.15,2.40,19.33,1.029,4,0.090,0.081,3518,791,1970
$GC,27117,0.46,221.9,285.7,8.9,591,27124,0.17,2.33,0.00,0.000,6,0.161,0.063,3473,2209,1968
$GC,27429,0.46,221.9,264.7,6.8,602,27433,0.00,2.40,0.00,0.000,4,0.000,0.077,3477,791,1967
$GC,27484,0.46,221.9,260.6,6.0,603,27488,0.00,2.33,0.00,0.000,6,0.000,0.062,3476,2210,1968
$GC,27803,0.46,221.9,237.9,7.3,614,27807,0.00,2.42,0.00,0.000,4,0.000,0.078,3476,783,1967
$GC,27841,0.46,221.9,235.0,7.4,615,27845,0.00,2.33,0.00,0.000,6,0.000,0.062,3476,2208,1967
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$STATE,30990,end climb,SURFACE_DEPTH_REACHED
$STATE,30990,begin surface coast
$FINISH,1.5,1.014425
$STATE,31119,end surface coast,CONTROL_FINISHED_OK
$STATE,31119,begin surface
$SM_CCo,31197,0.00,0.000,0,0,1643,302.45
$SM_GC,2.42,9.65,0.00,0.00,0.076,0.000,0.000,147,2401,1643,-9.86,0.06,302.45
$IRIDIUM_FIX,4953.05,-14439.84,180298,161639
$TT8_MAMPS,0.026845
$HUMID,2115
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$TCM_TEMP,15.70
$XPDR_PINGS,955
$24V_AH,22.0,47.801
$10V_AH,10.6,31.475
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$DEVICE_SECS,30.500,223.275,378.175,0.000,0.000,28.082,39.180,190.849,238.750,0.000,0.000,33.698,1741.344,26385.410,557.988,2317.143,583.848,33.377,1707.878,0.000,2269.580,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,616.520,594.435,1356.512,820.610,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47522,798
$CAP_FILE_SIZE,182346,0
$CFSIZE,260165632,240279552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251108,095932,5014.824,-14437.256,64,1.0,64,18.6