version: 66.03
glider: 144
mission: 13
dive: 180
start: 7 26 108 12 30 2
data:
$ID,144
$MISSION,13
$DIVE,180
$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,-42516.887
$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,43
$R_STBD_OVSHOOT,45
$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,0
$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
$GPS1,121957,5008.696,-14509.905,63,4.2,82,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-57.4
$GPS2,122907,5008.758,-14509.893,28,1.8,45,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.002,-0.243
$KALMAN_X,-769.0,-58.0,197.3,-13357.7,-362.8
$KALMAN_Y,140803.7,-0.7,214.8,-125747.6,1303.6
$MHEAD_RNG_PITCHd_Wd,162.1,27421,-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,20,-1.20,-146.6,0.0,0.0,0,94,0.00,0.00,-71.60,0.000,2,0.000,0.000,490,1870,2781
$GC,96,-1.20,-146.6,3.3,-4.4,7,133,10.40,2.42,-19.48,0.000,4,0.160,0.057,2461,3289,3531
$GC,207,-1.11,-146.6,18.1,-12.2,17,212,0.12,2.28,0.00,0.000,6,0.118,0.035,2485,1904,3533
$GC,532,-1.11,-146.6,53.9,-9.8,47,536,0.00,2.38,0.00,0.000,4,0.000,0.054,2485,501,3534
$GC,609,-1.11,-146.6,62.8,-11.3,53,616,0.00,2.30,0.00,0.000,6,0.000,0.031,2485,1902,3535
$GC,940,-1.11,-146.6,98.8,-10.5,77,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1905,3535
$GC,1249,-1.15,-146.6,129.1,-10.1,92,1253,0.00,2.40,0.00,0.000,4,0.000,0.048,2485,497,3536
$GC,1292,-1.21,-146.6,133.9,-10.7,94,1296,0.00,2.28,0.00,0.000,6,0.000,0.028,2485,1903,3536
$GC,1628,-1.28,-146.6,163.1,-8.1,108,1633,0.15,2.40,0.00,0.000,4,0.066,0.054,2440,496,3536
$GC,1705,-1.23,-146.6,170.7,-9.9,110,1710,0.10,2.28,0.00,0.000,6,0.115,0.028,2458,1903,3536
$GC,2022,-1.23,-146.6,197.6,-8.5,121,2027,0.00,2.40,0.00,0.000,4,0.000,0.052,2458,496,3536
$GC,2055,-1.23,-146.6,200.7,-9.5,122,2059,0.00,2.30,0.00,0.000,6,0.000,0.030,2459,1897,3535
$GC,2390,-1.23,-146.6,229.8,-8.5,133,2394,0.00,2.38,0.00,0.000,4,0.000,0.048,2459,502,3535
$GC,2427,-1.23,-146.6,233.4,-9.2,134,2431,0.00,2.30,0.00,0.000,6,0.000,0.035,2459,1899,3535
$GC,2756,-1.23,-146.6,260.9,-8.1,145,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1902,3534
$GC,3063,-1.23,-146.6,285.4,-7.7,155,3067,0.00,2.40,0.00,0.000,4,0.000,0.051,2458,494,3534
$GC,3118,-1.23,-146.6,290.3,-8.3,156,3125,0.00,2.30,0.00,0.000,6,0.000,0.036,2459,1898,3534
$GC,3429,-1.23,-146.6,314.1,-7.7,164,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1898,3533
$GC,3732,-1.23,-146.6,337.8,-7.9,169,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1898,3533
$GC,4035,-1.23,-146.6,362.8,-8.3,174,4039,0.00,2.38,0.00,0.000,4,0.000,0.050,2459,501,3532
$GC,4083,-1.23,-146.6,367.4,-9.4,174,4088,0.00,2.30,0.00,0.000,6,0.000,0.035,2459,1901,3532
$GC,4398,-1.23,-146.6,393.6,-8.2,180,4403,0.00,2.40,0.00,0.000,4,0.000,0.055,2459,493,3531
$GC,4442,-1.23,-146.6,397.7,-9.2,180,4446,0.00,2.30,0.00,0.000,6,0.000,0.035,2459,1896,3531
$GC,4763,-1.27,-146.6,424.5,-8.4,186,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1899,3531
$GC,5066,-1.31,-146.6,450.3,-8.5,191,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1898,3530
$GC,5369,-1.36,-146.6,476.1,-8.5,196,5374,0.12,2.38,0.00,0.000,4,0.073,0.049,2425,501,3530
$GC,5408,-1.29,-146.6,480.0,-10.5,196,5412,0.10,2.28,0.00,0.000,6,0.123,0.031,2445,1908,3530
$GC,5728,-1.29,-146.6,509.0,-8.9,202,5732,0.00,2.40,0.00,0.000,4,0.000,0.053,2444,498,3530
$GC,5773,-1.29,-146.6,513.4,-9.3,202,5777,0.00,2.28,0.00,0.000,6,0.000,0.030,2444,1903,3529
$GC,6087,-1.29,-146.6,540.5,-8.5,208,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1905,3529
$GC,6391,-1.29,-146.6,565.3,-8.2,213,6395,0.00,2.40,0.00,0.000,4,0.000,0.051,2445,501,3529
$GC,6467,-1.29,-146.6,572.1,-8.8,214,6472,0.00,2.30,0.00,0.000,6,0.000,0.032,2444,1902,3529
$GC,6822,-1.29,-146.6,601.3,-8.2,220,6826,0.00,2.38,0.00,0.000,4,0.000,0.054,2444,503,3528
$GC,6889,-1.29,-146.6,607.4,-9.5,221,6893,0.00,2.28,0.00,0.000,6,0.000,0.036,2444,1904,3528
$GC,7253,-1.29,-146.6,638.1,-8.3,227,7257,0.00,2.40,0.00,0.000,4,0.000,0.058,2444,499,3528
$GC,7296,-1.29,-146.6,641.9,-8.6,227,7300,0.00,2.30,0.00,0.000,6,0.000,0.031,2444,1899,3528
$GC,7617,-1.29,-146.6,667.0,-7.8,233,7621,0.00,2.38,0.00,0.000,4,0.000,0.051,2444,503,3528
$GC,7649,-1.29,-146.6,669.9,-8.7,233,7653,0.00,2.28,0.00,0.000,6,0.000,0.035,2445,1905,3527
$GC,7981,-1.29,-146.6,694.5,-7.4,239,7985,0.00,2.40,0.00,0.000,4,0.000,0.058,2444,504,3527
$GC,8012,-1.29,-146.6,697.4,-8.5,239,8017,0.00,2.30,0.00,0.000,6,0.000,0.030,2444,1898,3527
$GC,8345,-1.29,-146.6,721.4,-7.3,245,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1900,3527
$GC,8648,-1.29,-146.6,743.0,-7.2,250,8652,0.00,2.40,0.00,0.000,4,0.000,0.051,2444,499,3526
$GC,8692,-1.29,-146.6,746.6,-7.9,250,8696,0.00,2.28,0.00,0.000,6,0.000,0.030,2444,1900,3526
$GC,9006,-1.29,-146.6,769.9,-7.4,256,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1902,3526
$GC,9310,-1.29,-146.6,793.3,-7.8,261,9314,0.00,2.40,0.00,0.000,4,0.000,0.055,2444,503,3526
$GC,9348,-1.29,-146.6,796.6,-8.4,261,9352,0.00,2.28,0.00,0.000,6,0.000,0.035,2444,1901,3525
$GC,9674,-1.29,-146.6,821.7,-7.7,267,9678,0.00,2.38,0.00,0.000,4,0.000,0.054,2444,504,3526
$GC,9717,-1.29,-146.6,825.6,-8.8,267,9721,0.00,2.30,0.00,0.000,6,0.000,0.034,2444,1897,3525
$GC,10044,-1.29,-146.6,850.3,-7.5,273,10048,0.00,2.40,0.00,0.000,4,0.000,0.058,2444,498,3525
$GC,10076,-1.29,-146.6,853.0,-7.9,273,10080,0.00,2.30,0.00,0.000,6,0.000,0.030,2444,1908,3525
$GC,10408,-1.29,-146.6,876.4,-6.9,279,10412,0.00,2.42,0.00,0.000,4,0.000,0.058,2444,505,3525
$GC,10457,-1.29,-146.6,880.3,-7.4,279,10461,0.00,2.28,0.00,0.000,6,0.000,0.036,2444,1900,3525
$GC,10766,-1.29,-146.6,900.9,-6.6,284,10767,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1900,3525
$GC,11070,-1.33,-146.6,921.1,-6.7,289,11074,0.00,2.45,0.00,0.000,4,0.000,0.067,2444,502,3524
$GC,11096,-1.33,-146.6,923.2,-7.8,289,11101,0.00,2.30,0.00,0.000,6,0.000,0.035,2444,1896,3524
$GC,11435,-1.38,-146.6,946.8,-7.1,295,11436,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1896,3524
$GC,11737,-1.42,-146.6,968.1,-7.0,300,11739,0.12,0.00,0.00,0.000,6,0.075,0.000,2410,1897,3524
$STATE,12038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12038,begin apogee
$GC,12043,-0.33,0.0,993.5,8.5,305,12173,1.12,0.00,126.00,1.377,6,0.100,0.000,2650,2088,2931
$STATE,12173,end apogee,CONTROL_FINISHED_OK
$STATE,12174,begin climb
$GC,12176,1.20,146.6,996.7,0.0,307,12309,1.48,2.65,124.97,1.347,4,0.069,0.084,2985,3511,2332
$GC,12388,1.02,146.6,982.8,10.0,310,12393,0.17,2.45,0.00,0.000,6,0.119,0.061,2953,2117,2328
$GC,12725,0.95,146.6,955.0,8.1,316,12730,0.00,2.55,0.00,0.000,4,0.000,0.067,2952,680,2325
$GC,12752,0.84,146.6,952.6,8.7,316,12758,0.20,2.42,0.00,0.000,6,0.114,0.045,2914,2107,2325
$GC,13084,0.89,185.8,930.5,6.6,322,13121,0.00,0.00,34.95,1.289,6,0.000,0.000,2914,2107,2173
$GC,13387,1.00,226.9,910.6,6.5,327,13432,0.15,2.58,37.35,1.276,4,0.071,0.057,2956,682,2005
$GC,13449,0.94,226.9,905.4,8.9,328,13454,0.12,2.40,0.00,0.000,6,0.117,0.038,2933,2111,2003
$GC,13814,0.96,238.3,877.7,7.6,334,13827,0.00,0.00,10.77,1.151,6,0.000,0.000,2933,2111,1959
$GC,14118,1.02,252.3,854.8,7.5,339,14143,0.00,2.53,15.65,1.055,4,0.000,0.050,2932,677,1901
$GC,14170,1.02,252.3,850.5,8.5,339,14177,0.00,2.40,0.00,0.000,6,0.000,0.036,2932,2101,1900
$GC,14481,1.08,260.5,826.8,7.7,345,14495,0.15,2.50,8.88,1.095,4,0.071,0.051,2975,680,1867
$GC,14512,1.00,260.5,823.7,9.4,345,14516,0.15,2.38,0.00,0.000,6,0.114,0.035,2947,2107,1866
$GC,14848,1.00,260.5,793.8,8.8,351,14852,0.00,2.47,0.00,0.000,4,0.000,0.054,2947,676,1865
$GC,14886,1.00,260.5,789.9,9.7,351,14890,0.00,2.35,0.00,0.000,6,0.000,0.036,2947,2099,1865
$GC,15212,1.00,260.5,760.5,9.1,357,15213,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2099,1864
$GC,15515,1.00,260.5,733.6,8.8,362,15519,0.00,2.42,0.00,0.000,4,0.000,0.048,2947,682,1864
$GC,15547,1.00,260.5,730.3,10.8,362,15551,0.00,2.35,0.00,0.000,6,0.000,0.031,2947,2097,1863
$GC,15879,1.00,260.5,701.4,8.7,368,15883,0.00,2.42,0.00,0.000,4,0.000,0.050,2947,680,1863
$GC,15905,1.00,260.5,698.9,9.9,368,15909,0.00,2.35,0.00,0.000,6,0.000,0.031,2947,2091,1863
$GC,16242,1.00,260.5,668.9,8.9,374,16244,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2094,1863
$GC,16545,1.00,260.5,641.6,9.0,379,16550,0.00,2.42,0.00,0.000,4,0.000,0.051,2947,678,1863
$GC,16600,1.00,260.5,635.9,11.0,379,16607,0.00,2.35,0.00,0.000,6,0.000,0.032,2947,2106,1863
$GC,16909,1.00,260.5,606.9,9.4,385,16914,0.00,2.45,0.00,0.000,4,0.000,0.048,2947,676,1863
$GC,16959,1.00,260.5,602.0,9.3,385,16963,0.00,2.38,0.00,0.000,6,0.000,0.030,2947,2101,1862
$GC,17273,1.00,260.5,573.1,9.2,391,17277,0.00,2.42,0.00,0.000,4,0.000,0.046,2947,677,1862
$GC,17306,1.00,260.5,569.8,9.5,391,17310,0.00,2.35,0.00,0.000,6,0.000,0.034,2947,2107,1862
$GC,17643,1.00,260.5,538.8,9.2,397,17647,0.00,2.45,0.00,0.000,4,0.000,0.053,2947,676,1862
$GC,17686,1.00,260.5,534.5,9.6,397,17690,0.00,2.38,0.00,0.000,6,0.000,0.037,2947,2103,1862
$GC,18007,1.00,260.5,505.4,9.1,403,18011,0.00,2.42,0.00,0.000,4,0.000,0.048,2947,682,1862
$GC,18038,1.00,260.5,502.3,9.4,403,18043,0.00,2.35,0.00,0.000,6,0.000,0.035,2947,2098,1862
$GC,18370,1.00,260.5,473.6,8.6,409,18374,0.00,2.42,0.00,0.000,4,0.000,0.051,2947,678,1862
$GC,18397,1.00,260.5,471.1,9.6,409,18402,0.00,2.35,0.00,0.000,6,0.000,0.033,2947,2098,1862
$GC,18735,1.05,260.5,443.1,8.2,415,18739,0.00,2.40,0.00,0.000,4,0.000,0.050,2947,680,1862
$GC,18761,1.05,260.5,440.7,8.3,415,18765,0.00,2.35,0.00,0.000,6,0.000,0.036,2947,2100,1862
$GC,19105,1.11,267.4,413.7,7.7,421,19118,0.00,2.45,6.80,0.836,4,0.000,0.052,2947,677,1839
$GC,19147,1.11,267.4,410.2,8.0,421,19151,0.00,2.35,0.00,0.000,6,0.000,0.035,2947,2101,1838
$GC,19473,1.19,291.6,386.8,7.1,427,19503,0.15,2.50,22.77,0.937,4,0.071,0.047,2991,691,1741
$GC,19531,1.12,291.6,381.4,9.4,427,19537,0.00,2.35,0.00,0.000,6,0.000,0.033,2991,2103,1740
$GC,19841,1.07,291.6,351.0,9.9,433,19845,0.15,2.45,0.00,0.000,4,0.109,0.047,2957,676,1737
$GC,19867,1.07,291.6,348.4,10.0,433,19871,0.00,2.38,0.00,0.000,6,0.000,0.033,2957,2098,1737
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$GC,20917,1.16,291.6,248.6,10.2,458,20921,0.00,2.35,0.00,0.000,6,0.000,0.030,2984,2109,1736
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$GC,22890,1.36,327.0,66.8,6.7,546,22926,0.15,2.53,30.50,0.734,4,0.071,0.052,3027,677,1597
$GC,22956,1.31,327.0,60.9,9.6,552,22960,0.00,2.35,0.00,0.000,6,0.000,0.035,3026,2099,1593
$GC,23282,1.27,327.0,31.8,8.6,582,23284,0.12,0.00,0.00,0.000,6,0.114,0.000,3003,2102,1591
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$STATE,23699,end climb,SURFACE_DEPTH_REACHED
$STATE,23700,begin surface coast
$FINISH,1.0,1.025168
$STATE,23722,end surface coast,CONTROL_FINISHED_OK
$STATE,23722,begin surface
$SM_CCo,23742,40.62,0.637,2,0,1300,400.08
$SM_GC,1.64,0.00,0.00,40.62,0.000,0.000,0.637,493,1857,1300,-10.28,-1.22,400.08
$IRIDIUM_FIX,4949.70,-14510.65,201097,121221
$TT8_MAMPS,0.029146
$HUMID,1814
$INTERNAL_PRESSURE,7.66631
$TCM_TEMP,15.60
$XPDR_PINGS,108
$24V_AH,23.3,36.001
$10V_AH,10.2,18.232
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$DEVICE_SECS,26.250,229.325,439.575,40.625,0.000,56.428,175.237,123.846,27.000,0.000,0.000,47.024,1413.490,19830.002,660.667,1821.507,619.055,33.375,1690.685,0.000,1770.517,0.000,0.459
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,442.667,506.693,645.964,381.026,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38044,623
$CAP_FILE_SIZE,158766,0
$CFSIZE,260165632,246640640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$GPS,260708,190816,5005.715,-14510.029,45,6.3,64,18.5