version: 66.03
glider: 144
mission: 13
dive: 47
start: 6 19 108 16 49 12
data:
$ID,144
$MISSION,13
$DIVE,47
$D_SURF,2
$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,412.5
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51458
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0044757999
$HD_B,0.0099689998
$HD_C,1.0513e-05
$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,400
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-27521.73
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,500
$PITCH_MAX,3812
$C_PITCH,2728
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2931
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-2.1256177
$PRESSURE_SLOPE,0.00011159377
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$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,0.0043142079
$SEABIRD_T_H,0.00062953553
$SEABIRD_T_I,2.3274781e-05
$SEABIRD_T_J,2.4096155e-06
$SEABIRD_C_G,-10.012566
$SEABIRD_C_H,1.1222577
$SEABIRD_C_I,-0.0011971687
$SEABIRD_C_J,0.000188736
$GPS1,164307,5018.608,-14511.090,200,1.4,200,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-60.5
$GPS2,164818,5018.575,-14511.108,64,1.4,68,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.015,-0.243
$KALMAN_X,-1418.0,234.5,95.6,-14355.8,-472.8
$KALMAN_Y,31250.4,-80.9,15.9,2257.6,766.7
$MHEAD_RNG_PITCHd_Wd,158.1,45503,-15.3,-8.000
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.20,-146.5,0.0,0.0,0,104,0.00,0.00,-82.30,0.000,2,0.000,0.000,493,1897,2954
$GC,106,-1.20,-146.6,3.4,-4.5,8,140,10.62,2.40,-15.62,0.000,4,0.171,0.064,2461,3296,3532
$GC,380,-1.20,-146.6,37.8,-11.9,32,387,0.00,2.38,0.00,0.000,6,0.000,0.037,2461,1898,3534
$GC,706,-1.15,-146.6,76.3,-11.7,63,710,0.00,2.40,0.00,0.000,4,0.000,0.059,2461,501,3534
$GC,761,-1.10,-146.6,83.2,-12.4,66,768,0.10,2.35,0.00,0.000,6,0.110,0.045,2485,1899,3534
$GC,1076,-1.10,-146.6,112.3,-8.9,82,1080,0.00,2.42,0.00,0.000,4,0.000,0.060,2484,501,3534
$GC,1176,-1.10,-146.6,121.1,-8.5,86,1183,0.00,2.35,0.00,0.000,6,0.000,0.040,2485,1895,3535
$GC,1492,-1.18,-146.6,144.9,-8.0,102,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1895,3535
$GC,1819,-1.26,-146.6,171.9,-8.5,114,1821,0.15,0.00,0.00,0.000,6,0.073,0.000,2447,1896,3535
$GC,2125,-1.26,-146.6,201.9,-9.7,124,2129,0.00,2.42,0.00,0.000,4,0.000,0.060,2447,498,3535
$GC,2167,-1.26,-146.6,206.4,-10.4,125,2172,0.00,2.35,0.00,0.000,6,0.000,0.046,2447,1888,3535
$GC,2491,-1.26,-146.6,237.4,-9.7,136,2495,0.00,2.40,0.00,0.000,4,0.000,0.063,2447,501,3534
$GC,2535,-1.26,-146.6,241.9,-10.1,137,2539,0.00,2.35,0.00,0.000,6,0.000,0.040,2447,1894,3535
$GC,2858,-1.26,-146.6,273.4,-10.0,148,2862,0.00,2.42,0.00,0.000,4,0.000,0.059,2447,498,3534
$GC,2890,-1.26,-146.6,277.0,-10.5,149,2895,0.00,2.38,0.00,0.000,6,0.000,0.041,2447,1903,3534
$GC,3224,-1.26,-146.6,308.6,-9.4,159,3229,0.00,2.42,0.00,0.000,4,0.000,0.063,2447,501,3534
$GC,3318,-1.26,-146.6,318.0,-9.6,160,3323,0.00,2.35,0.00,0.000,6,0.000,0.040,2447,1897,3534
$GC,3656,-1.26,-146.6,348.3,-9.0,166,3660,0.00,2.42,0.00,0.000,4,0.000,0.064,2447,498,3534
$GC,3717,-1.26,-146.6,354.2,-9.8,167,3721,0.00,2.35,0.00,0.000,6,0.000,0.041,2447,1908,3534
$GC,4081,-1.26,-146.6,384.5,-8.3,173,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1910,3533
$GC,4384,-1.26,-146.6,408.6,-7.9,178,4388,0.00,2.45,0.00,0.000,4,0.000,0.065,2447,495,3533
$GC,4451,-1.26,-146.6,414.4,-9.0,179,4455,0.00,2.35,0.00,0.000,6,0.000,0.047,2447,1910,3533
$GC,4809,-1.26,-146.6,444.0,-8.2,185,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1912,3532
$GC,5112,-1.26,-146.6,470.3,-8.7,190,5116,0.00,2.45,0.00,0.000,4,0.000,0.057,2447,497,3532
$GC,5206,-1.26,-146.6,479.3,-9.4,191,5211,0.00,2.38,0.00,0.000,6,0.000,0.048,2447,1901,3532
$GC,5549,-1.26,-146.6,508.2,-8.5,197,5553,0.00,2.42,0.00,0.000,4,0.000,0.061,2447,501,3532
$GC,5598,-1.26,-146.6,512.9,-8.9,197,5603,0.00,2.35,0.00,0.000,6,0.000,0.048,2447,1897,3532
$GC,5919,-1.26,-146.6,539.5,-8.3,203,5923,0.00,2.42,0.00,0.000,4,0.000,0.061,2447,499,3532
$GC,5956,-1.26,-146.6,543.0,-9.0,203,5960,0.00,2.35,0.00,0.000,6,0.000,0.041,2447,1894,3532
$GC,6282,-1.26,-146.6,570.4,-8.4,209,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1896,3531
$GC,6585,-1.26,-146.6,596.0,-8.4,214,6589,0.00,2.42,0.00,0.000,4,0.000,0.063,2447,499,3531
$GC,6640,-1.26,-146.6,601.0,-9.8,214,6644,0.00,2.33,0.00,0.000,6,0.000,0.040,2447,1901,3531
$GC,6949,-1.26,-146.6,625.6,-7.9,219,6953,0.00,2.42,0.00,0.000,4,0.000,0.065,2447,501,3531
$GC,6986,-1.26,-146.6,629.0,-8.9,219,6990,0.00,2.35,0.00,0.000,6,0.000,0.045,2447,1897,3531
$GC,7312,-1.26,-146.6,653.2,-7.3,225,7316,0.00,2.42,0.00,0.000,4,0.000,0.059,2447,498,3531
$GC,7344,-1.26,-146.6,655.6,-7.6,225,7349,0.00,2.38,0.00,0.000,6,0.000,0.043,2447,1902,3531
$GC,7676,-1.26,-146.6,679.1,-7.2,231,7680,0.00,2.42,0.00,0.000,4,0.000,0.059,2447,502,3531
$GC,7714,-1.26,-146.6,682.1,-8.3,231,7719,0.00,2.35,0.00,0.000,6,0.000,0.047,2447,1897,3530
$GC,8042,-1.26,-146.6,707.4,-7.9,237,8046,0.00,2.42,0.00,0.000,4,0.000,0.059,2447,498,3530
$GC,8090,-1.26,-146.6,711.9,-8.8,237,8095,0.00,2.38,0.00,0.000,6,0.000,0.044,2447,1901,3530
$GC,8406,-1.31,-146.6,738.6,-8.6,243,8410,0.00,2.45,0.00,0.000,4,0.000,0.060,2447,492,3530
$GC,8437,-1.31,-146.6,741.9,-10.0,243,8442,0.00,2.38,0.00,0.000,6,0.000,0.045,2447,1894,3530
$GC,8775,-1.36,-146.6,772.6,-9.2,249,8779,0.00,2.42,0.00,0.000,4,0.000,0.066,2447,497,3530
$GC,8824,-1.36,-146.6,777.4,-9.6,249,8829,0.00,2.38,0.00,0.000,6,0.000,0.041,2447,1898,3530
$GC,9139,-1.41,-146.6,805.9,-9.0,255,9144,0.12,2.42,0.00,0.000,4,0.081,0.061,2415,502,3529
$GC,9211,-1.34,-146.6,813.3,-10.6,256,9215,0.00,2.38,0.00,0.000,6,0.000,0.049,2415,1902,3530
$GC,9570,-1.34,-146.6,849.1,-9.9,262,9574,0.00,2.45,0.00,0.000,4,0.000,0.068,2415,501,3529
$GC,9632,-1.28,-146.6,855.5,-10.4,263,9637,0.15,2.35,0.00,0.000,6,0.122,0.044,2445,1900,3529
$GC,9996,-1.33,-146.6,886.2,-8.3,269,10000,0.00,2.45,0.00,0.000,4,0.000,0.065,2445,504,3529
$GC,10044,-1.33,-146.6,890.4,-9.4,269,10049,0.00,2.38,0.00,0.000,6,0.000,0.046,2444,1897,3529
$GC,10360,-1.38,-146.6,913.3,-7.2,275,10364,0.00,2.47,0.00,0.000,4,0.000,0.076,2444,498,3529
$GC,10397,-1.38,-146.6,916.2,-8.2,275,10402,0.00,2.38,0.00,0.000,6,0.000,0.048,2444,1891,3529
$GC,10729,-1.43,-146.6,937.7,-6.4,281,10734,0.12,2.47,0.00,0.000,4,0.081,0.075,2413,504,3529
$GC,10767,-1.37,-146.6,940.7,-8.7,281,10772,0.00,2.38,0.00,0.000,6,0.000,0.051,2413,1897,3528
$GC,11093,-1.37,-146.6,963.8,-7.0,287,11094,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1897,3528
$GC,11396,-1.37,-146.6,985.0,-6.9,292,11400,0.00,2.55,0.00,0.000,4,0.000,0.089,2414,506,3528
$GC,11452,-1.31,-146.6,989.4,-8.5,292,11457,0.15,2.45,0.00,0.000,6,0.123,0.064,2443,1900,3528
$STATE,11516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11516,begin apogee
$GC,11520,-0.33,0.0,993.7,6.7,293,11652,0.98,0.00,127.97,1.355,6,0.100,0.000,2651,2100,2931
$STATE,11652,end apogee,CONTROL_FINISHED_OK
$STATE,11653,begin climb
$GC,11654,1.20,146.6,995.6,0.0,295,11790,1.50,2.72,126.57,1.322,4,0.072,0.095,2988,3508,2332
$GC,11846,1.01,146.6,981.4,11.5,298,11852,0.15,2.53,0.00,0.000,6,0.117,0.064,2956,2115,2328
$GC,12211,0.94,146.6,948.6,8.9,304,12216,0.12,2.55,0.00,0.000,4,0.128,0.078,2933,687,2324
$GC,12238,0.89,146.6,946.2,9.2,304,12242,0.00,2.45,0.00,0.000,6,0.000,0.054,2933,2106,2324
$GC,12575,0.90,156.3,920.4,7.6,310,12585,0.00,0.00,8.73,1.117,6,0.000,0.000,2932,2106,2294
$GC,12878,0.91,164.3,897.0,7.7,315,12892,0.00,2.55,8.70,1.114,4,0.000,0.064,2932,691,2261
$GC,12908,0.91,164.3,894.4,8.2,315,12913,0.00,2.45,0.00,0.000,6,0.000,0.048,2933,2107,2260
$GC,13246,0.91,164.3,866.5,8.3,321,13250,0.00,2.50,0.00,0.000,4,0.000,0.064,2932,684,2258
$GC,13267,0.91,164.3,864.5,9.7,321,13271,0.00,2.42,0.00,0.000,6,0.000,0.048,2932,2116,2258
$GC,13610,0.91,164.3,835.8,8.4,327,13611,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2115,2258
$GC,13912,0.91,164.3,810.0,8.5,332,13917,0.00,2.53,0.00,0.000,4,0.000,0.064,2932,674,2258
$GC,13961,0.91,164.3,805.4,8.7,332,13966,0.00,2.45,0.00,0.000,6,0.000,0.049,2933,2104,2258
$GC,14276,0.91,164.3,778.7,8.5,338,14280,0.00,2.47,0.00,0.000,4,0.000,0.060,2932,681,2258
$GC,14297,0.91,164.3,776.8,9.0,338,14302,0.00,2.40,0.00,0.000,6,0.000,0.048,2932,2107,2258
$GC,14640,0.91,164.3,748.3,8.3,344,14644,0.00,2.47,0.00,0.000,4,0.000,0.057,2932,681,2258
$GC,14660,0.92,171.9,746.5,7.7,344,14675,0.00,2.42,7.90,1.035,6,0.000,0.048,2932,2104,2230
$GC,15001,0.92,171.9,717.6,8.5,350,15005,0.00,2.47,0.00,0.000,4,0.000,0.058,2932,677,2229
$GC,15021,0.92,171.9,715.7,8.7,350,15026,0.00,2.42,0.00,0.000,6,0.000,0.043,2932,2094,2228
$GC,15364,0.92,171.9,686.0,8.7,356,15365,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2094,2228
$GC,15667,0.92,171.9,660.7,8.3,361,15671,0.00,2.45,0.00,0.000,4,0.000,0.062,2932,683,2228
$GC,15699,0.92,171.9,657.8,8.3,361,15704,0.00,2.40,0.00,0.000,6,0.000,0.048,2932,2092,2228
$GC,16037,0.92,171.9,629.8,8.2,367,16038,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2095,2228
$GC,16340,0.92,171.9,605.5,8.1,372,16341,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2094,2228
$GC,16643,0.93,180.4,582.1,7.7,377,16654,0.00,0.00,8.95,0.976,6,0.000,0.000,2932,2095,2195
$GC,16946,0.94,186.9,558.6,7.8,382,16960,0.00,2.55,7.05,0.912,4,0.000,0.057,2932,675,2168
$GC,16971,0.94,186.9,556.4,9.5,382,16976,0.00,2.45,0.00,0.000,6,0.000,0.044,2932,2099,2168
$GC,17315,0.95,193.7,529.8,7.8,388,17324,0.00,0.00,7.68,0.913,6,0.000,0.000,2932,2101,2142
$GC,17618,1.00,199.7,506.2,7.8,393,17632,0.00,2.55,7.10,0.886,4,0.000,0.057,2932,681,2116
$GC,17654,1.01,209.5,503.2,7.6,393,17669,0.00,2.40,10.20,0.928,6,0.000,0.043,2932,2102,2076
$GC,17984,1.09,218.1,477.6,7.7,399,17999,0.15,2.55,8.75,0.903,4,0.076,0.058,2973,681,2041
$GC,18021,1.02,218.1,474.0,10.3,399,18026,0.12,2.42,0.00,0.000,6,0.124,0.043,2950,2104,2040
$GC,18352,1.02,218.1,446.4,8.3,405,18356,0.00,2.45,0.00,0.000,4,0.000,0.059,2950,682,2039
$GC,18377,1.02,218.1,443.9,9.1,405,18382,0.00,2.42,0.00,0.000,6,0.000,0.048,2950,2101,2038
$GC,18715,1.02,218.1,415.4,8.5,411,18719,0.00,2.47,0.00,0.000,4,0.000,0.056,2950,675,2037
$GC,18730,1.02,218.1,414.1,8.6,411,18734,0.00,2.42,0.00,0.000,6,0.000,0.047,2951,2098,2037
$GC,19078,1.02,218.1,385.0,8.4,417,19082,0.00,2.47,0.00,0.000,4,0.000,0.063,2950,674,2037
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$GC,20456,1.06,219.0,272.6,8.2,444,20460,0.00,2.45,0.00,0.000,4,0.000,0.057,2951,678,2037
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$GC,20789,1.12,225.4,246.3,7.8,455,20803,0.00,2.50,7.43,0.768,4,0.000,0.053,2950,3501,2011
$GC,20822,1.16,225.4,243.7,8.3,456,20827,0.12,2.40,0.00,0.000,6,0.079,0.038,2981,2075,2011
$GC,21155,1.16,225.4,213.5,9.0,467,21160,0.00,2.38,0.00,0.000,4,0.000,0.058,2981,695,2010
$GC,21205,1.09,225.4,208.7,9.4,468,21209,0.00,2.38,0.00,0.000,6,0.000,0.044,2980,2104,2010
$GC,21523,1.09,225.4,181.2,8.5,479,21527,0.00,2.40,0.00,0.000,4,0.000,0.057,2981,3506,2009
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$GC,21856,1.11,242.9,155.2,7.4,490,21879,0.00,2.45,16.40,0.772,4,0.000,0.055,2981,697,1938
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$STATE,23858,end climb,SURFACE_DEPTH_REACHED
$STATE,23858,begin surface coast
$FINISH,1.0,1.025479
$STATE,23881,end surface coast,CONTROL_FINISHED_OK
$STATE,23881,begin surface
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$SM_GC,1.63,0.00,0.00,64.75,0.000,0.000,0.581,498,1896,1300,-10.26,-0.11,400.08
$IRIDIUM_FIX,5003.11,-14514.02,130997,101007
$TT8_MAMPS,0.029146
$HUMID,1711
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$TCM_TEMP,15.50
$XPDR_PINGS,122
$24V_AH,23.4,13.810
$10V_AH,10.1,6.753
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$DEVICE_SECS,25.450,248.200,426.725,64.750,0.000,28.569,24.986,114.391,30.500,0.000,0.000,68.721,1460.628,19765.869,728.520,1990.680,368.891,33.363,1826.451,0.000,1910.208,0.000,0.459
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,447.055,509.605,650.309,381.128,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38056,630
$CAP_FILE_SIZE,163702,0
$CFSIZE,260165632,255180800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,7,0
$GPS,190608,164818,5018.575,-14511.108,64,1.4,68,18.5