version: 66.03
glider: 120
mission: 9
dive: 497
start: 3 3 109 21 53 27
data:
$ID,120
$MISSION,9
$DIVE,497
$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,275
$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,-28455.408
$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,22
$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
$GPS1,214606,4955.563,-14433.855,63,1.0,63,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.69
$_SM_ANGLEo,-75.7
$GPS2,215232,4955.592,-14433.853,15,1.2,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.113,0.137
$KALMAN_X,-25333.6,192.4,-4.9,73451.6,-716.8
$KALMAN_Y,88817.3,-77.9,-453.7,-102888.0,242.9
$MHEAD_RNG_PITCHd_Wd,301.9,29938,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.67,-117.3,0.0,0.0,0,37,0.00,0.00,-10.30,0.000,2,0.000,0.000,136,2411,2003
$GC,41,-0.67,-117.3,3.5,-0.0,1,117,14.05,2.42,-55.30,0.000,4,0.284,0.082,3094,986,3356
$GC,321,-0.51,-117.3,27.2,-11.5,26,326,0.20,2.33,0.00,0.000,6,0.153,0.064,3150,2398,3357
$GC,647,-0.51,-117.3,51.8,-7.0,56,648,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2398,3357
$GC,965,-0.51,-117.3,74.7,-7.2,86,966,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2398,3358
$GC,1278,-0.51,-117.3,97.6,-7.6,105,1282,0.00,2.35,0.00,0.000,4,0.000,0.069,3150,984,3358
$GC,1317,-0.51,-117.3,100.9,-8.6,106,1323,0.00,2.33,0.00,0.000,6,0.000,0.062,3150,2413,3358
$GC,1633,-0.51,-117.3,124.6,-7.3,122,1638,0.00,2.38,0.00,0.000,4,0.000,0.069,3150,989,3357
$GC,1667,-0.51,-117.3,127.4,-7.2,123,1674,0.00,2.30,0.00,0.000,6,0.000,0.062,3150,2400,3358
$GC,1984,-0.59,-117.3,149.8,-7.0,139,1989,0.00,2.38,0.00,0.000,4,0.000,0.081,3141,3816,3358
$GC,2029,-0.68,-117.3,153.1,-7.7,141,2034,0.12,2.25,0.00,0.000,6,0.083,0.054,3093,2395,3357
$GC,2348,-0.68,-117.3,176.9,-7.4,152,2352,0.00,2.30,0.00,0.000,4,0.000,0.069,3094,996,3358
$GC,2399,-0.68,-117.3,180.9,-7.3,153,2403,0.00,2.30,0.00,0.000,6,0.000,0.061,3094,2410,3358
$GC,2713,-0.68,-117.3,204.0,-7.1,163,2716,0.00,2.35,0.00,0.000,4,0.000,0.069,3094,995,3358
$GC,2757,-0.68,-117.3,207.2,-7.3,164,2761,0.00,2.30,0.00,0.000,6,0.000,0.061,3094,2403,3358
$GC,3082,-0.68,-117.3,228.5,-6.6,175,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2402,3358
$GC,3388,-0.68,-117.3,248.1,-6.4,185,3392,0.00,2.33,0.00,0.000,4,0.000,0.069,3094,991,3358
$GC,3415,-0.68,-117.3,249.9,-6.4,185,3422,0.00,2.30,0.00,0.000,6,0.000,0.062,3093,2399,3358
$GC,3729,-0.68,-117.3,271.2,-6.9,196,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2399,3358
$GC,4035,-0.68,-117.3,292.9,-7.3,206,4039,0.00,2.33,0.00,0.000,4,0.000,0.070,3093,989,3358
$GC,4070,-0.68,-117.3,295.4,-7.4,207,4074,0.00,2.33,0.00,0.000,6,0.000,0.061,3094,2409,3358
$GC,4439,-0.68,-117.3,321.7,-7.2,214,4443,0.00,2.35,0.00,0.000,4,0.000,0.070,3094,996,3357
$GC,4490,-0.68,-117.3,325.6,-7.1,214,4494,0.00,2.33,0.00,0.000,6,0.000,0.063,3093,2411,3357
$GC,4801,-0.68,-117.3,347.5,-7.1,219,4805,0.00,2.35,0.00,0.000,4,0.000,0.070,3093,996,3357
$GC,4840,-0.68,-117.3,350.3,-6.9,219,4844,0.00,2.30,0.00,0.000,6,0.000,0.061,3093,2403,3357
$GC,5161,-0.68,-117.3,371.5,-6.5,225,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2402,3358
$GC,5464,-0.68,-117.3,389.8,-6.0,230,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2402,3357
$GC,5767,-0.68,-117.3,406.6,-5.4,235,5771,0.00,2.35,0.00,0.000,4,0.000,0.071,3094,996,3357
$GC,5794,-0.68,-117.3,408.2,-5.5,235,5798,0.00,2.30,0.00,0.000,6,0.000,0.061,3094,2403,3357
$GC,6127,-0.68,-117.3,426.7,-5.5,241,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2402,3357
$GC,6431,-0.68,-117.3,443.8,-5.8,246,6434,0.00,2.38,0.00,0.000,4,0.000,0.071,3093,985,3357
$GC,6487,-0.68,-117.3,447.4,-7.0,246,6491,0.00,2.33,0.00,0.000,6,0.000,0.062,3093,2402,3357
$GC,6797,-0.68,-117.3,466.6,-6.3,251,6801,0.00,2.35,0.00,0.000,4,0.000,0.070,3093,994,3357
$GC,6824,-0.68,-117.3,468.4,-6.9,251,6828,0.00,2.33,0.00,0.000,6,0.000,0.063,3094,2411,3357
$GC,7157,-0.68,-117.3,491.1,-6.9,257,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2411,3357
$GC,7459,-0.68,-117.3,510.7,-6.4,262,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2411,3357
$GC,7762,-0.68,-117.3,527.9,-5.6,267,7766,0.00,2.38,0.00,0.000,4,0.000,0.071,3094,993,3357
$GC,7802,-0.68,-117.3,530.2,-5.8,267,7806,0.00,2.33,0.00,0.000,6,0.000,0.063,3094,2408,3357
$GC,8124,-0.68,-117.3,548.4,-5.7,273,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2408,3357
$GC,8426,-0.68,-117.3,565.8,-5.8,278,8430,0.00,2.38,0.00,0.000,4,0.000,0.071,3094,991,3356
$GC,8470,-0.68,-117.3,568.5,-6.3,278,8474,0.00,2.33,0.00,0.000,6,0.000,0.062,3094,2408,3356
$GC,8785,-0.68,-117.3,588.1,-6.3,284,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2408,3356
$GC,9088,-0.68,-117.3,607.3,-6.3,289,9092,0.00,2.38,0.00,0.000,4,0.000,0.071,3093,994,3356
$GC,9117,-0.68,-117.3,609.1,-6.5,289,9121,0.00,2.33,0.00,0.000,6,0.000,0.064,3094,2407,3356
$GC,9449,-0.68,-117.3,628.3,-5.7,295,9450,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2407,3356
$GC,9752,-0.68,-117.3,645.7,-5.8,300,9753,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2406,3356
$GC,10055,-0.68,-117.3,663.8,-6.0,305,10060,0.00,2.38,0.00,0.000,4,0.000,0.072,3093,994,3355
$GC,10096,-0.73,-117.3,666.5,-6.1,305,10100,0.00,2.33,0.00,0.000,6,0.000,0.064,3093,2401,3356
$GC,10417,-0.73,-117.3,687.3,-6.5,311,10418,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2401,3356
$GC,10720,-0.73,-117.3,706.8,-6.4,316,10721,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2400,3356
$GC,11023,-0.73,-117.3,725.6,-6.2,321,11027,0.00,2.38,0.00,0.000,4,0.000,0.071,3094,990,3355
$GC,11063,-0.79,-117.3,728.1,-6.0,321,11067,0.00,2.33,0.00,0.000,6,0.000,0.063,3093,2402,3355
$GC,11384,-0.79,-117.3,745.8,-5.5,327,11385,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2402,3355
$GC,11687,-0.83,-117.3,761.1,-5.1,332,11692,0.12,2.38,0.00,0.000,4,0.091,0.072,3044,993,3355
$GC,11723,-0.75,-117.3,763.3,-7.2,332,11728,0.12,2.33,0.00,0.000,6,0.153,0.064,3075,2403,3355
$GC,12049,-0.75,-117.3,783.6,-6.2,338,12050,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2403,3355
$GC,12352,-0.75,-117.3,803.0,-6.4,343,12354,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2403,3355
$GC,12656,-0.75,-117.3,822.7,-6.5,348,12657,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2402,3355
$GC,12959,-0.75,-117.3,842.6,-6.6,353,12960,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2403,3355
$GC,13262,-0.75,-117.3,864.3,-7.2,358,13266,0.00,2.38,0.00,0.000,4,0.000,0.073,3076,992,3354
$GC,13313,-0.75,-117.3,868.3,-7.4,358,13317,0.00,2.35,0.00,0.000,6,0.000,0.065,3073,2410,3354
$GC,13623,-0.75,-117.3,891.5,-7.6,363,13624,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2410,3354
$GC,13926,-0.75,-117.3,914.7,-7.7,368,13930,0.00,2.40,0.00,0.000,4,0.000,0.074,3073,994,3354
$GC,13954,-0.75,-117.3,916.7,-7.7,368,13958,0.00,2.33,0.00,0.000,6,0.000,0.064,3073,2398,3354
$GC,14286,-0.75,-117.3,939.6,-6.8,374,14290,0.00,2.38,0.00,0.000,4,0.000,0.074,3072,994,3354
$GC,14324,-0.75,-117.3,942.4,-7.3,374,14328,0.00,2.35,0.00,0.000,6,0.000,0.065,3073,2413,3353
$GC,14646,-0.75,-117.3,962.2,-6.1,380,14650,0.00,2.40,0.00,0.000,4,0.000,0.074,3073,996,3354
$GC,14679,-0.75,-117.3,964.5,-6.9,380,14683,0.00,2.35,0.00,0.000,6,0.000,0.066,3073,2411,3353
$GC,15005,-0.75,-117.3,982.4,-5.4,386,15006,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2411,3354
$STATE,15184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15184,begin apogee
$GC,15192,-0.22,0.0,991.7,5.2,389,15307,0.57,0.00,108.95,1.486,6,0.146,0.000,3243,2198,2875
$STATE,15308,end apogee,CONTROL_FINISHED_OK
$STATE,15308,begin climb
$GC,15311,0.67,117.3,995.2,0.0,391,15433,0.90,2.72,114.62,1.430,4,0.095,0.077,3530,3614,2395
$GC,15487,0.23,117.3,992.0,8.0,393,15494,0.55,2.47,0.00,0.000,6,0.183,0.064,3396,2203,2393
$GC,15798,0.32,138.2,977.6,4.4,399,15819,0.00,0.00,19.30,1.376,6,0.000,0.000,3396,2203,2312
$GC,16101,0.40,143.1,963.1,4.9,404,16114,0.15,2.47,6.32,1.142,4,0.084,0.080,3463,781,2291
$GC,16143,0.31,143.1,960.4,6.3,404,16148,0.17,2.33,0.00,0.000,6,0.157,0.061,3417,2205,2291
$GC,16465,0.31,143.1,943.2,5.3,410,16466,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2205,2290
$GC,16767,0.32,149.9,928.5,4.8,415,16777,0.00,0.00,7.47,1.225,6,0.000,0.000,3417,2205,2265
$GC,17071,0.37,158.6,914.2,4.7,420,17083,0.00,0.00,9.62,1.287,6,0.000,0.000,3417,2204,2229
$GC,17374,0.42,160.6,899.4,4.9,425,17379,0.12,2.42,0.00,0.000,4,0.085,0.078,3465,781,2229
$GC,17414,0.34,160.6,896.9,5.8,425,17419,0.15,2.33,0.00,0.000,6,0.146,0.062,3426,2206,2229
$GC,17735,0.34,160.6,879.3,5.5,431,17739,0.00,2.35,0.00,0.000,4,0.000,0.082,3425,3614,2228
$GC,17786,0.34,160.6,876.0,6.9,431,17790,0.00,2.30,0.00,0.000,6,0.000,0.064,3426,2197,2228
$GC,18096,0.34,160.6,858.6,5.7,436,18097,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2197,2228
$GC,18399,0.34,160.6,841.4,5.7,441,18400,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2197,2228
$GC,18702,0.34,160.6,824.0,5.7,446,18703,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2197,2228
$GC,19005,0.34,160.6,807.2,5.5,451,19006,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2197,2227
$GC,19308,0.34,160.6,789.6,5.8,456,19312,0.00,2.42,0.00,0.000,4,0.000,0.080,3426,3609,2227
$GC,19337,0.34,160.6,787.7,6.8,456,19341,0.00,2.30,0.00,0.000,6,0.000,0.064,3426,2198,2227
$GC,19676,0.38,160.6,767.8,6.0,462,19677,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2198,2227
$GC,19978,0.42,160.6,749.1,6.2,467,19979,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2198,2227
$GC,20282,0.46,160.6,729.6,6.4,472,20287,0.12,2.42,0.00,0.000,4,0.093,0.081,3477,3609,2227
$GC,20332,0.29,160.6,725.3,9.1,472,20337,0.25,2.33,0.00,0.000,6,0.167,0.064,3410,2190,2227
$GC,20643,0.38,160.6,706.8,5.8,477,20647,0.00,2.38,0.00,0.000,4,0.000,0.080,3410,786,2227
$GC,20683,0.49,160.6,704.7,5.2,477,20688,0.20,2.33,0.00,0.000,6,0.081,0.061,3485,2214,2227
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$GC,24831,0.51,216.5,472.2,4.3,546,24857,0.12,0.00,23.98,1.144,6,0.096,0.000,3487,2194,1993
$GC,25133,0.51,216.5,452.5,6.7,551,25137,0.00,2.38,0.00,0.000,4,0.000,0.078,3487,782,1989
$GC,25212,0.51,216.5,446.6,6.3,552,25216,0.00,2.33,0.00,0.000,6,0.000,0.062,3487,2208,1990
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$GC,26780,0.55,216.5,337.1,6.4,578,26785,0.12,2.35,0.00,0.000,4,0.088,0.080,3505,3610,1988
$GC,26848,0.39,216.5,331.1,9.2,579,26853,0.22,2.30,0.00,0.000,6,0.166,0.063,3444,2196,1988
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$GC,29106,0.55,229.0,189.8,4.6,644,29125,0.00,2.42,11.73,0.935,4,0.000,0.079,3480,3611,1940
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$GC,29547,0.61,229.0,166.0,5.4,658,29551,0.00,2.38,0.00,0.000,4,0.000,0.078,3480,3609,1939
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$STATE,31944,end climb,SURFACE_DEPTH_REACHED
$STATE,31945,begin surface coast
$FINISH,2.4,1.013627
$STATE,32063,end surface coast,CONTROL_FINISHED_OK
$STATE,32063,begin surface
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$IRIDIUM_FIX,4933.03,-14433.95,280598,121251
$TT8_MAMPS,0.026078
$HUMID,2105
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$TCM_TEMP,15.50
$XPDR_PINGS,972
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$10V_AH,10.4,66.880
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$DEVICE_SECS,29.675,207.500,392.675,0.000,0.000,22.889,24.902,174.422,243.000,0.000,0.000,15.440,1766.350,27108.918,566.353,2305.750,770.969,33.374,1713.999,0.000,2282.104,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47513,824
$CAP_FILE_SIZE,182750,0
$CFSIZE,260165632,220033024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,065031,4958.458,-14438.417,41,1.3,41,18.5