version: 66.02
glider: 16
mission: 6
dive: 386
start: 1 26 108 15 13 59
data:
$ID,16
$MISSION,6
$DIVE,386
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,-2086367.1
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,293
$ROLL_MAX,3771
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2817
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.08235
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,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,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004349953
$SEABIRD_T_H,0.00063985185
$SEABIRD_T_I,2.4539602e-05
$SEABIRD_T_J,2.5325169e-06
$SEABIRD_C_G,-9.7201281
$SEABIRD_C_H,1.0883496
$SEABIRD_C_I,-0.00044553875
$SEABIRD_C_J,0.00013483063
$GPS1,150522,6206.646,-306.774,40,3.4,59,-6.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-57.3
$GPS2,151307,6206.707,-306.790,14,1.8,30,-6.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.201,-0.093
$KALMAN_X,-1123.5,843.5,898.8,315041.6,-6361.4
$KALMAN_Y,-19643.5,-465.3,42.5,72851.4,2605.8
$MHEAD_RNG_PITCHd_Wd,155.3,133376,-11.0,-6.000
$D_GRID,990
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,86,0.00,0.00,-60.70,0.000,2,0.000,0.000,69,2410,3088
$GC,90,-0.85,-146.6,4.1,-5.3,3,115,12.27,2.65,-7.53,0.000,4,0.174,0.094,2222,3771,3418
$GC,368,-0.85,-146.6,31.2,-11.9,15,374,0.00,2.58,0.00,0.000,6,0.000,0.061,2222,2398,3419
$GC,686,-0.85,-146.6,58.0,-9.7,31,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2399,3420
$GC,993,-0.85,-146.6,86.2,-6.7,46,997,0.00,2.70,0.00,0.000,4,0.000,0.077,2222,982,3420
$GC,1059,-0.85,-146.6,91.8,-8.3,49,1063,0.00,2.65,0.00,0.000,6,0.000,0.063,2222,2405,3420
$GC,1382,-0.85,-146.6,117.9,-7.8,65,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3420
$GC,1689,-0.85,-146.6,143.5,-8.1,80,1694,0.00,2.72,0.00,0.000,4,0.000,0.076,2223,976,3420
$GC,1744,-0.85,-146.6,147.9,-7.6,82,1751,0.00,2.65,0.00,0.000,6,0.000,0.063,2222,2407,3421
$GC,2061,-0.85,-146.6,171.4,-7.3,98,2065,0.00,2.65,0.00,0.000,4,0.000,0.084,2222,3774,3420
$GC,2116,-0.85,-146.6,175.7,-7.9,100,2122,0.00,2.58,0.00,0.000,6,0.000,0.061,2222,2398,3421
$GC,2431,-0.85,-146.6,195.5,-7.0,116,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2398,3420
$GC,2742,-0.85,-146.6,218.4,-7.6,131,2746,0.00,2.70,0.00,0.000,4,0.000,0.078,2222,982,3422
$GC,2828,-0.85,-146.6,225.2,-8.1,135,2833,0.00,2.65,0.00,0.000,6,0.000,0.065,2222,2401,3422
$GC,3155,-0.85,-146.6,253.4,-8.5,151,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3422
$GC,3465,-0.85,-146.6,279.3,-8.3,166,3469,0.00,2.67,0.00,0.000,4,0.000,0.089,2222,3769,3422
$GC,3587,-0.85,-146.6,290.2,-8.7,171,3593,0.00,2.60,0.00,0.000,6,0.000,0.067,2222,2394,3422
$GC,3902,-0.85,-146.6,314.2,-7.4,187,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2394,3422
$GC,4212,-0.85,-146.6,334.5,-6.3,202,4217,0.00,2.72,0.00,0.000,4,0.000,0.083,2222,980,3423
$GC,4257,-0.85,-146.6,337.5,-6.6,204,4261,0.00,2.65,0.00,0.000,6,0.000,0.067,2222,2398,3422
$GC,4577,-0.85,-146.6,356.8,-6.2,220,4582,0.00,2.70,0.00,0.000,4,0.000,0.094,2222,3768,3422
$GC,4644,-0.85,-146.6,361.3,-6.9,223,4648,0.00,2.58,0.00,0.000,6,0.000,0.069,2222,2401,3422
$GC,4964,-0.85,-146.6,381.4,-6.2,239,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3422
$GC,5275,-0.85,-146.6,400.3,-6.0,254,5280,0.00,2.75,0.00,0.000,4,0.000,0.088,2222,984,3422
$GC,5332,-0.85,-146.6,404.0,-7.1,256,5337,0.00,2.70,0.00,0.000,6,0.000,0.071,2222,2406,3422
$GC,5648,-0.85,-146.6,425.2,-7.2,272,5652,0.00,2.72,0.00,0.000,4,0.000,0.097,2222,3772,3422
$GC,5703,-0.85,-146.6,429.6,-8.0,274,5709,0.00,2.62,0.00,0.000,6,0.000,0.071,2222,2395,3422
$GC,6019,-0.85,-146.6,452.3,-7.2,290,6023,0.00,2.75,0.00,0.000,4,0.000,0.087,2222,981,3422
$GC,6085,-0.85,-146.6,457.5,-8.2,293,6089,0.00,2.67,0.00,0.000,6,0.000,0.072,2222,2401,3422
$GC,6406,-0.85,-146.6,481.0,-7.5,309,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3421
$GC,6714,-0.85,-146.6,503.3,-6.8,324,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3419
$GC,7024,-0.85,-146.6,523.8,-6.6,339,7028,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,985,3418
$GC,7086,-0.85,-146.6,528.1,-6.6,342,7091,0.00,2.70,0.00,0.000,6,0.000,0.072,2222,2411,3418
$GC,7412,-0.85,-146.6,548.9,-6.2,358,7413,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2411,3417
$GC,7721,-0.85,-146.6,568.1,-6.2,373,7726,0.00,2.78,0.00,0.000,4,0.000,0.085,2222,983,3416
$GC,7772,-0.85,-146.6,571.4,-6.5,375,7776,0.00,2.70,0.00,0.000,6,0.000,0.073,2222,2404,3416
$GC,8087,-0.85,-146.6,591.3,-6.5,390,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3415
$GC,8396,-0.85,-146.6,610.9,-6.5,405,8401,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,985,3414
$GC,8441,-0.85,-146.6,613.9,-6.9,407,8445,0.00,2.70,0.00,0.000,6,0.000,0.072,2222,2405,3415
$GC,8761,-0.85,-146.6,634.8,-6.7,423,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2405,3413
$GC,9070,-0.85,-146.6,655.6,-7.0,438,9075,0.00,2.78,0.00,0.000,4,0.000,0.086,2222,979,3412
$GC,9149,-0.85,-146.6,661.5,-7.9,441,9155,0.00,2.70,0.00,0.000,6,0.000,0.072,2222,2399,3412
$GC,9464,-0.85,-146.6,684.1,-7.3,457,9465,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3411
$GC,9773,-0.85,-146.6,707.1,-7.6,472,9777,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,984,3410
$GC,9846,-0.85,-146.6,712.7,-8.1,475,9850,0.00,2.70,0.00,0.000,6,0.000,0.073,2223,2401,3410
$GC,10161,-0.85,-146.6,735.2,-7.1,490,10162,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2402,3409
$GC,10470,-0.85,-146.6,756.7,-6.8,505,10475,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,979,3409
$GC,10532,-0.85,-146.6,761.0,-6.8,508,10537,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2399,3409
$GC,10858,-0.85,-146.6,782.0,-6.3,524,10860,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2399,3408
$GC,11168,-0.85,-146.6,802.0,-6.6,539,11173,0.00,2.75,0.00,0.000,4,0.000,0.086,2222,982,3407
$GC,11225,-0.85,-146.6,805.7,-6.6,541,11231,0.00,2.70,0.00,0.000,6,0.000,0.074,2222,2399,3407
$GC,11541,-0.85,-146.6,825.7,-6.4,557,11542,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2399,3407
$GC,11851,-0.85,-146.6,843.7,-5.7,572,11855,0.00,2.72,0.00,0.000,4,0.000,0.085,2222,985,3406
$GC,11917,-0.85,-146.6,847.8,-7.2,575,11921,0.00,2.67,0.00,0.000,6,0.000,0.073,2222,2401,3406
$GC,12238,-0.85,-146.6,865.9,-5.6,591,12239,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2401,3406
$GC,12548,-0.85,-146.6,882.9,-5.4,606,12552,0.00,2.75,0.00,0.000,4,0.000,0.085,2222,983,3405
$GC,12603,-0.85,-146.6,886.3,-5.6,608,12609,0.00,2.70,0.00,0.000,6,0.000,0.071,2222,2404,3405
$GC,12919,-0.85,-146.6,902.6,-5.2,624,12920,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2407,3404
$GC,13229,-0.85,-146.6,919.0,-5.4,639,13233,0.00,2.72,0.00,0.000,4,0.000,0.080,2222,985,3404
$GC,13279,-0.85,-146.6,921.9,-6.0,641,13283,0.00,2.65,0.00,0.000,6,0.000,0.067,2222,2400,3404
$GC,13595,-0.85,-146.6,939.2,-5.5,656,13597,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2400,3404
$GC,13904,-0.85,-146.6,956.1,-5.5,671,13908,0.00,2.72,0.00,0.000,4,0.000,0.079,2222,981,3404
$GC,13971,-0.85,-146.6,960.1,-6.0,674,13975,0.00,2.67,0.00,0.000,6,0.000,0.066,2222,2404,3404
$GC,14292,-0.85,-146.6,977.8,-5.6,690,14293,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2404,3404
$STATE,14516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14516,begin apogee
$GC,14522,-0.31,0.0,990.1,5.3,701,14659,0.60,0.00,128.45,1.338,6,0.117,0.000,2339,2186,2817
$STATE,14660,end apogee,CONTROL_FINISHED_OK
$STATE,14660,begin climb
$GC,14662,0.85,146.6,994.2,0.0,708,14793,1.25,0.00,126.57,1.325,6,0.088,0.000,2588,2186,2219
$GC,15088,0.85,146.6,970.3,6.6,729,15093,0.00,2.78,0.00,0.000,4,0.000,0.082,2588,3609,2217
$GC,15109,0.85,146.6,968.9,6.4,730,15114,0.00,2.62,0.00,0.000,6,0.000,0.061,2588,2205,2217
$GC,15431,0.85,146.6,948.5,6.4,746,15436,0.00,2.75,0.00,0.000,4,0.000,0.083,2589,791,2217
$GC,15464,0.85,146.6,946.1,6.7,747,15471,0.00,2.62,0.00,0.000,6,0.000,0.059,2588,2207,2216
$GC,15780,0.85,146.6,925.3,6.6,763,15781,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2207,2216
$GC,16090,0.85,146.6,905.3,6.5,778,16094,0.00,2.72,0.00,0.000,4,0.000,0.087,2588,3611,2216
$GC,16122,0.85,146.6,902.8,7.0,779,16128,0.00,2.62,0.00,0.000,6,0.000,0.064,2589,2200,2216
$GC,16438,0.85,146.6,883.0,6.1,795,16439,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2200,2216
$GC,16748,0.85,146.9,864.6,6.0,810,16749,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2200,2216
$GC,17056,0.86,157.6,847.2,5.7,825,17070,0.00,0.00,10.48,1.153,6,0.000,0.000,2588,2200,2174
$GC,17388,0.87,172.3,828.4,5.6,841,17410,0.00,2.83,14.07,1.156,4,0.000,0.086,2588,3606,2114
$GC,17438,0.87,172.3,825.2,6.2,843,17443,0.00,2.70,0.00,0.000,6,0.000,0.067,2588,2200,2114
$GC,17759,0.88,177.8,805.9,5.8,859,17767,0.00,0.00,6.20,0.972,6,0.000,0.000,2588,2199,2093
$GC,18069,0.88,177.8,786.6,6.2,874,18073,0.00,2.75,0.00,0.000,4,0.000,0.085,2589,787,2091
$GC,18101,0.88,177.8,784.3,6.7,875,18108,0.00,2.62,0.00,0.000,6,0.000,0.062,2588,2199,2091
$GC,18417,0.88,177.8,764.2,6.4,891,18418,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2199,2091
$GC,18726,0.88,177.8,744.2,6.5,906,18727,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2199,2091
$GC,19036,0.88,177.8,724.0,6.5,921,19037,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2198,2091
$GC,19345,0.88,177.8,703.6,6.7,936,19346,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2199,2091
$GC,19654,0.88,177.8,682.9,6.7,951,19655,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2199,2091
$GC,19964,0.88,177.8,662.7,6.4,966,19968,0.00,2.72,0.00,0.000,4,0.000,0.081,2588,788,2090
$GC,19997,0.90,196.2,660.5,5.5,967,20023,0.00,2.65,16.88,1.145,6,0.000,0.062,2588,2203,2017
$GC,20332,0.90,196.2,637.9,6.8,984,20336,0.00,2.75,0.00,0.000,4,0.000,0.081,2588,784,2016
$GC,20365,0.90,196.2,635.4,7.1,985,20371,0.00,2.65,0.00,0.000,6,0.000,0.062,2588,2204,2016
$GC,20681,0.90,196.2,613.2,7.1,1001,20682,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2204,2016
$GC,20990,0.90,196.2,589.9,7.7,1016,20991,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2204,2016
$GC,21300,0.90,196.2,566.4,7.7,1031,21301,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2204,2016
$GC,21608,0.90,196.2,542.7,7.6,1046,21609,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2204,2016
$GC,21918,0.90,196.2,519.4,7.5,1061,21919,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2204,2016
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$GC,23887,0.92,217.3,381.0,5.4,1157,23908,0.10,0.00,18.60,0.992,6,0.081,0.000,2612,2199,1931
$GC,24216,0.92,217.3,358.3,7.3,1173,24221,0.00,2.72,0.00,0.000,4,0.000,0.079,2612,784,1929
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$GC,26266,0.92,217.3,206.1,6.9,1272,26268,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2200,1930
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$GC,28545,0.92,217.3,34.7,8.4,1382,28546,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2203,1935
$GC,28856,0.92,217.3,7.7,9.7,1397,28861,0.00,2.72,0.00,0.000,4,0.000,0.084,2612,3613,1936
$GC,28884,0.92,217.3,4.9,9.5,1398,28888,0.00,2.67,0.00,0.000,6,0.000,0.064,2612,2202,1937
$STATE,28929,end climb,SURFACE_DEPTH_REACHED
$STATE,28929,begin surface coast
$FINISH,0.9,1.003690
$STATE,28951,end surface coast,CONTROL_FINISHED_OK
$STATE,28951,begin surface
$SM_CCo,28974,54.22,0.663,2,0,1594,300.00
$SM_GC,1.95,0.00,0.00,54.22,0.000,0.000,0.663,70,2398,1594,-10.76,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,2084
$TCM_TEMP,16.20
$XPDR_PINGS,144
$24V_AH,23.1,60.052
$10V_AH,10.1,32.032
$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
$DEVICE_SECS,25.675,200.150,321.250,54.225,0.000,32.657,42.758,229.403,44.500,0.000,0.000,32.680,2476.315,22897.189,589.739,2806.822,723.978,33.377,1950.940,0.000,2736.808,0.000,56.113
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1051.271,965.102,725.523,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69392,1401
$CFSIZE,260165632,237469696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,3,0
$GPS,260108,231910,6204.987,-303.221,32,1.9,34,-6.2