version: 66.10
glider: 169
mission: 5
dive: 303
start: 1 6 112 12 26 13
data:
$ID,169
$MISSION,5
$DIVE,303
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,4
$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,320
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$NOCOMM_ACTION,163
$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,-11103.152
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,060112,121830,2146.076,12328.073,37,1.4,43,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-66.6
$GPS2,060112,122552,2146.056,12328.065,21,2.2,40,-2.9
$SPEED_LIMITS,0.179,0.315
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.228,0.143
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,307.5,252987,-15.1,-10.312
$D_GRID,4925
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.65,-219.0,0.0,0.0,0,114,0.00,0.00,-94.75,0.000,2,0.000,0.000,116,2678,3100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.65,-219.0,3.3,-7.0,17,148,6.75,1.85,-15.20,0.000,4,0.224,0.059,1780,3823,3874,0,0,0,0,0,0,25.02,26.04,26.55
$GC,191,-0.52,-219.0,35.8,-39.5,30,198,0.20,1.83,0.00,0.000,6,0.158,0.025,1842,2581,3874,0,0,0,0,0,0,25.67,26.17,28.83
$GC,503,-0.43,-219.0,134.4,-30.1,91,510,0.00,2.05,0.00,0.000,4,0.000,0.026,1852,1166,3874,0,0,0,0,0,0,28.83,26.26,28.83
$GC,543,-0.38,-219.0,144.5,-22.0,98,552,0.15,2.28,0.00,0.000,6,0.129,0.041,1886,2657,3874,0,0,0,0,0,0,25.98,26.15,28.83
$GC,857,-0.37,-219.0,187.4,-13.7,159,863,0.00,1.80,0.00,0.000,4,0.000,0.047,1878,3817,3874,0,0,0,0,0,0,28.83,26.18,28.83
$GC,886,-0.37,-219.0,191.6,-13.9,164,892,0.00,1.80,0.00,0.000,6,0.000,0.024,1878,2563,3874,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1195,-0.36,-219.0,235.1,-13.5,201,1204,0.00,1.98,0.00,0.000,4,0.000,0.044,1868,3814,3874,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1231,-0.36,-219.0,239.1,-12.5,204,1238,0.00,1.80,0.00,0.000,6,0.000,0.023,1868,2545,3874,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1537,-0.36,-219.0,275.9,-11.5,235,1545,0.00,2.03,0.00,0.000,4,0.000,0.044,1859,3819,3874,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1561,-0.36,-219.0,278.5,-11.7,237,1568,0.12,1.80,0.00,0.000,6,0.120,0.023,1899,2551,3874,0,0,0,0,0,0,26.22,26.47,28.83
$GC,1868,-0.42,-219.0,299.5,-5.8,268,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,2550,3875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2172,-0.55,-219.0,318.5,-8.3,298,2179,0.17,0.00,0.00,0.000,6,0.069,0.000,1794,2550,3874,0,0,0,0,0,0,26.53,28.83,28.83
$GC,2478,-0.49,-219.0,367.5,-21.5,329,2488,0.15,2.00,0.00,0.000,4,0.138,0.041,1836,3814,3874,0,0,0,0,0,0,26.22,26.25,28.83
$GC,2615,-0.53,-219.0,382.7,-7.9,342,2621,0.00,1.80,0.00,0.000,6,0.000,0.022,1836,2548,3874,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2922,-0.53,-219.0,418.0,-10.3,373,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2547,3873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3223,-0.54,-219.0,451.0,-10.7,403,3232,0.00,2.00,0.00,0.000,4,0.000,0.045,1826,3811,3871,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3297,-0.58,-219.0,458.3,-8.5,410,3300,0.00,1.80,0.00,0.000,6,0.000,0.024,1826,2564,3871,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3610,-0.58,-219.0,492.8,-9.9,441,3618,0.00,2.00,0.00,0.000,4,0.000,0.043,1818,3833,3870,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3652,-0.59,-219.0,497.0,-10.0,445,3661,0.00,1.83,0.00,0.000,6,0.000,0.023,1817,2564,3869,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3962,-0.59,-219.0,531.3,-12.2,476,3971,0.00,2.00,0.00,0.000,4,0.000,0.028,1817,1173,3868,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3987,-0.59,-219.0,533.8,-11.4,478,3994,0.00,2.22,0.00,0.000,6,0.000,0.038,1811,2655,3867,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4294,-0.59,-219.0,571.1,-12.9,509,4303,0.00,2.17,0.00,0.000,4,0.000,0.027,1811,1169,3866,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4315,-0.59,-219.0,573.9,-12.7,511,4324,0.00,2.25,0.00,0.000,6,0.000,0.039,1802,2652,3866,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4639,-0.57,-219.0,615.9,-12.6,537,4643,0.00,1.80,0.00,0.000,4,0.000,0.046,1793,3819,3864,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4681,-0.57,-219.0,621.2,-12.3,539,4687,0.12,1.83,0.00,0.000,6,0.120,0.024,1833,2561,3863,0,0,0,0,0,0,26.20,26.44,28.83
$GC,5005,-0.60,-219.0,643.8,-7.8,555,5010,0.00,1.98,0.00,0.000,4,0.000,0.044,1824,3816,3861,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5036,-0.63,-219.0,645.6,-7.9,556,5045,0.00,1.80,0.00,0.000,6,0.000,0.024,1824,2561,3860,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5344,-0.65,-219.0,673.8,-8.5,572,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2561,3859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5646,-0.67,-219.0,699.1,-8.3,587,5652,0.00,1.98,0.00,0.000,4,0.000,0.045,1817,3825,3857,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5685,-0.70,-219.0,702.5,-8.4,589,5690,0.00,1.83,0.00,0.000,6,0.000,0.025,1817,2561,3856,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6007,-0.72,-219.0,730.8,-8.8,605,6009,0.12,0.00,0.00,0.000,6,0.078,0.000,1742,2561,3853,0,0,0,0,0,0,26.55,28.83,28.83
$GC,6304,-0.67,-219.0,781.1,-17.4,620,6311,0.15,1.98,0.00,0.000,4,0.145,0.043,1782,3819,3852,0,0,0,0,0,0,26.16,26.13,28.83
$GC,6366,-0.65,-219.0,789.2,-14.6,623,6371,0.00,1.85,0.00,0.000,6,0.000,0.026,1781,2561,3851,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6684,-0.64,-219.0,826.9,-11.4,639,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,2561,3849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6986,-0.63,-219.0,860.0,-10.7,654,6991,0.00,1.98,0.00,0.000,4,0.000,0.046,1772,3832,3846,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7020,-0.62,-219.0,862.2,-10.6,655,7027,0.12,1.83,0.00,0.000,6,0.123,0.024,1811,2562,3847,0,0,0,0,0,0,26.13,26.39,28.83
$GC,7326,-0.64,-219.0,889.0,-8.4,671,7331,0.00,1.98,0.00,0.000,4,0.000,0.046,1802,3814,3845,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7369,-0.66,-219.0,892.5,-8.6,673,7373,0.00,1.83,0.00,0.000,6,0.000,0.025,1802,2566,3844,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7686,-0.68,-219.0,921.4,-8.8,689,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2566,3842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7986,-0.69,-219.0,946.6,-8.4,704,7992,0.00,2.00,0.00,0.000,4,0.000,0.048,1794,3821,3841,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8010,-0.71,-219.0,948.1,-8.2,705,8014,0.00,1.83,0.00,0.000,6,0.000,0.026,1794,2565,3840,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8322,-0.72,-219.0,975.6,-8.4,721,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2564,3839,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8499,begin apogee
$GC,8506,-0.20,0.0,990.5,-8.1,730,8704,0.43,0.12,190.73,1.174,6,0.092,0.085,1946,2540,2976,0,0,0,0,0,0,25.91,24.70,23.51
$STATE,8705,end apogee,CONTROL_FINISHED_OK
$STATE,8705,begin climb
$GC,8707,0.65,219.0,999.4,0.0,740,8925,0.73,2.20,209.10,1.171,4,0.047,0.046,2222,3810,2073,0,0,0,0,0,0,24.92,24.28,23.07
$GC,8947,0.55,219.0,975.1,19.6,752,8952,0.17,2.20,0.00,0.000,6,0.183,0.031,2191,2465,2060,0,0,0,0,0,0,24.49,24.77,28.83
$GC,9261,0.49,219.0,919.6,16.7,768,9266,0.00,2.12,0.00,0.000,4,0.000,0.045,2191,3805,2050,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9303,0.43,219.0,912.0,17.7,770,9308,0.17,2.05,0.00,0.000,6,0.164,0.030,2153,2464,2049,0,0,0,0,0,0,25.65,26.01,28.83
$GC,9617,0.40,219.0,873.4,11.7,786,9622,0.00,2.12,0.00,0.000,4,0.000,0.045,2154,3819,2047,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9669,0.37,219.0,868.3,12.2,788,9677,0.12,2.05,0.00,0.000,6,0.164,0.028,2132,2466,2046,0,0,0,0,0,0,25.85,26.15,28.83
$GC,9977,0.39,229.4,835.8,10.0,804,9978,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2464,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10276,0.39,229.4,805.0,10.3,819,10277,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2465,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10575,0.40,239.3,774.8,10.0,834,10602,0.00,2.17,16.67,0.951,4,0.000,0.046,2132,3824,1993,0,0,0,0,1,0,28.83,25.98,24.13
$GC,10679,0.39,239.3,763.5,11.6,839,10683,0.00,2.08,0.00,0.000,6,0.000,0.028,2142,2464,1987,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10992,0.39,240.5,730.1,10.3,855,10993,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2462,1984,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11291,0.40,245.1,698.9,10.2,870,11296,0.00,2.15,0.00,0.000,4,0.000,0.045,2143,3818,1984,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11380,0.39,245.1,689.5,11.8,874,11384,0.00,2.05,0.00,0.000,6,0.000,0.029,2153,2464,1983,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11687,0.38,245.1,654.4,10.7,889,11689,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2462,1983,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11987,0.37,245.1,622.0,11.2,904,11992,0.00,2.12,0.00,0.000,4,0.000,0.045,2153,3811,1983,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12054,0.36,245.1,614.5,12.0,907,12059,0.15,2.05,0.00,0.000,6,0.152,0.028,2123,2454,1982,0,0,0,0,0,0,25.86,26.24,28.83
$GC,12364,0.47,322.2,588.1,7.9,929,12452,0.12,0.00,84.78,0.881,6,0.077,0.000,2199,2452,1663,0,0,0,0,0,0,26.50,28.83,24.15
$GC,12751,0.45,322.2,524.6,17.1,968,12761,0.12,2.17,0.00,0.000,4,0.152,0.044,2159,3813,1635,0,0,0,0,0,0,25.85,25.85,28.83
$GC,12818,0.46,322.2,515.4,13.9,974,12825,0.00,2.05,0.00,0.000,6,0.000,0.028,2169,2458,1634,0,0,0,0,0,0,28.83,26.01,28.83
$GC,13124,0.46,322.2,480.3,11.5,1005,13125,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2457,1633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13426,0.48,329.9,448.8,10.1,1035,13433,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2457,1633,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,14081,0.53,358.0,381.1,9.4,1100,14118,0.00,0.00,32.12,0.747,6,0.000,0.000,2180,2465,1507,0,0,0,0,0,0,28.83,28.83,24.65
$GC,14419,0.56,360.4,347.3,10.2,1134,14423,0.00,2.10,0.00,0.000,4,0.000,0.035,2191,1061,1496,0,0,0,0,0,0,28.83,26.02,28.83
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$GC,16941,0.84,486.6,39.4,10.4,1514,16948,0.00,0.00,3.38,0.161,6,0.000,0.000,2248,2533,998,0,0,0,0,0,0,28.83,28.83,25.15
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$STATE,17285,end climb,SURFACE_DEPTH_REACHED
$STATE,17285,begin surface coast
$FINISH,0.4,1.023559
$STATE,17302,end surface coast,CONTROL_FINISHED_OK
$STATE,17302,begin surface
$SM_CCo,17376,0.00,0.000,0,0,802,534.02
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$IRIDIUM_FIX,2134.17,12329.83,060112,070757
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.04
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.1,64.835
$10V_AH,10.1,39.526
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,16.500,125.750,674.325,0.000,0.000,25.098,44.137,212.082,0.000,0.000,42.637,3696.621,9868.568,799.146,3047.933,381.113,0.000,2252.647,0.000,2595.512,0.000,0.542,0.000
$DEVICE_MAMPS,224.145,84.915,1174.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1072.318,2012.995,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330408
$DATA_FILE_SIZE,103796,1583
$CAP_FILE_SIZE,184849,0
$CFSIZE,260165632,195055616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,060112,171654,2146.889,12325.593,37,1.5,37,-2.9