version: 66.10
glider: 169
mission: 5
dive: 361
start: 1 17 112 15 24 23
data:
$ID,169
$MISSION,5
$DIVE,361
$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,-8
$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,-11333.164
$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
$GPS1,170112,151706,2252.342,12151.805,35,1.1,35,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-66.7
$GPS2,170112,152402,2252.435,12151.929,15,1.6,15,-3.0
$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,297.9,49030,-15.1,-10.312
$D_GRID,4292
$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,-94.75,0.000,2,0.000,0.000,117,2658,3067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.65,-219.0,3.2,-6.5,17,148,6.97,1.88,-15.32,0.000,4,0.231,0.057,1781,3823,3874,0,0,0,0,0,0,24.80,25.98,26.53
$GC,252,-0.57,-219.0,54.7,-28.8,42,259,0.12,1.83,0.00,0.000,6,0.159,0.022,1822,2577,3874,0,0,0,0,0,0,25.84,26.18,28.83
$GC,565,-0.50,-219.0,138.8,-21.6,103,572,0.00,2.05,0.00,0.000,4,0.000,0.025,1827,1164,3874,0,0,0,0,0,0,28.83,26.25,28.83
$GC,630,-0.50,-219.0,149.7,-13.3,115,637,0.10,2.28,0.00,0.000,6,0.148,0.039,1845,2651,3874,0,0,0,0,0,0,26.00,26.15,28.83
$GC,942,-0.48,-219.0,191.4,-14.0,176,949,0.00,1.80,0.00,0.000,4,0.000,0.045,1837,3822,3875,0,0,0,0,0,0,28.83,26.15,28.83
$GC,976,-0.48,-219.0,196.3,-14.5,182,983,0.00,1.80,0.00,0.000,6,0.000,0.022,1837,2563,3874,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1292,-0.47,-219.0,245.8,-15.8,216,1300,0.00,2.00,0.00,0.000,4,0.000,0.027,1837,1173,3875,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1316,-0.45,-219.0,248.9,-14.7,218,1323,0.12,2.25,0.00,0.000,6,0.125,0.038,1866,2652,3875,0,0,0,0,0,0,26.06,26.20,28.83
$GC,1624,-0.49,-219.0,275.1,-8.7,249,1634,0.00,2.17,0.00,0.000,4,0.000,0.028,1866,1175,3874,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1657,-0.53,-219.0,277.8,-7.8,252,1661,0.00,2.25,0.00,0.000,6,0.000,0.038,1867,2653,3874,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1970,-0.66,-219.0,304.3,-10.6,283,1979,0.17,2.17,0.00,0.000,4,0.093,0.026,1801,1178,3874,0,0,0,0,0,0,26.36,26.30,28.83
$GC,2126,-0.78,-219.0,319.1,-8.6,298,2134,0.12,2.22,0.00,0.000,6,0.078,0.036,1720,2654,3873,0,0,0,0,0,0,26.24,26.24,28.83
$GC,2433,-0.66,-219.0,403.8,-30.3,329,2443,0.22,2.17,0.00,0.000,4,0.158,0.025,1799,1176,3872,0,0,0,0,0,0,25.87,26.29,28.83
$GC,2455,-0.56,-219.0,409.6,-27.9,331,2465,0.12,2.28,0.00,0.000,6,0.135,0.041,1826,2650,3872,0,0,0,0,0,0,26.02,26.18,28.83
$GC,2765,-0.56,-219.0,444.3,-11.4,362,2769,0.00,1.80,0.00,0.000,4,0.000,0.047,1818,3821,3871,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2800,-0.57,-219.0,447.6,-10.6,365,2806,0.00,1.80,0.00,0.000,6,0.000,0.023,1818,2561,3870,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3107,-0.57,-219.0,480.3,-10.0,396,3115,0.00,2.03,0.00,0.000,4,0.000,0.028,1817,1173,3868,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3131,-0.58,-219.0,482.4,-10.0,398,3138,0.00,2.28,0.00,0.000,6,0.000,0.039,1813,2654,3868,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3438,-0.58,-219.0,518.1,-11.7,429,3441,0.00,1.80,0.00,0.000,4,0.000,0.045,1803,3822,3866,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3479,-0.60,-219.0,522.7,-11.0,433,3483,0.00,1.80,0.00,0.000,6,0.000,0.023,1804,2573,3866,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3793,-0.60,-219.0,561.1,-12.7,464,3801,0.00,1.95,0.00,0.000,4,0.000,0.044,1795,3818,3864,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3824,-0.60,-219.0,565.4,-13.0,467,3827,0.00,1.83,0.00,0.000,6,0.000,0.023,1794,2568,3863,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4136,-0.58,-219.0,605.2,-12.3,496,4141,0.00,2.00,0.00,0.000,4,0.000,0.046,1785,3827,3861,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4164,-0.57,-219.0,607.6,-12.1,497,4168,0.12,1.83,0.00,0.000,6,0.125,0.024,1823,2560,3861,0,0,0,0,0,0,26.12,26.39,28.83
$GC,4472,-0.59,-219.0,637.4,-9.4,512,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2560,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4773,-0.62,-219.0,663.6,-8.4,527,4778,0.00,2.00,0.00,0.000,4,0.000,0.046,1814,3815,3858,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4811,-0.65,-219.0,667.0,-8.2,529,4815,0.00,1.83,0.00,0.000,6,0.000,0.024,1814,2567,3857,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5135,-0.66,-219.0,694.9,-8.9,545,5140,0.00,2.03,0.00,0.000,4,0.000,0.028,1814,1179,3854,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5174,-0.69,-219.0,698.5,-8.8,547,5179,0.00,2.25,0.00,0.000,6,0.000,0.040,1813,2643,3854,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5493,-0.70,-219.0,728.5,-9.7,563,5496,0.00,1.83,0.00,0.000,4,0.000,0.047,1804,3818,3852,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5518,-0.72,-219.0,730.3,-9.3,564,5522,0.00,1.83,0.00,0.000,6,0.000,0.024,1804,2569,3852,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5835,-0.73,-219.0,761.2,-9.3,580,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2568,3850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6135,-0.74,-219.0,787.9,-8.6,595,6141,0.00,1.98,0.00,0.000,4,0.000,0.047,1796,3815,3848,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6176,-0.75,-219.0,791.4,-8.6,597,6180,0.00,1.85,0.00,0.000,6,0.000,0.025,1796,2566,3848,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6498,-0.75,-219.0,821.4,-9.6,613,6503,0.00,1.98,0.00,0.000,4,0.000,0.047,1789,3812,3846,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6526,-0.75,-219.0,823.4,-9.6,614,6530,0.00,1.80,0.00,0.000,6,0.000,0.024,1789,2574,3846,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6839,-0.75,-219.0,854.4,-9.6,630,6845,0.00,2.00,0.00,0.000,4,0.000,0.047,1779,3818,3844,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6865,-0.75,-219.0,856.5,-9.6,631,6869,0.00,1.85,0.00,0.000,6,0.000,0.025,1779,2566,3844,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7179,-0.74,-219.0,890.7,-10.7,647,7184,0.00,2.00,0.00,0.000,4,0.000,0.047,1770,3818,3842,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7220,-0.74,-219.0,895.2,-10.9,649,7224,0.00,1.83,0.00,0.000,6,0.000,0.025,1770,2568,3842,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7538,-0.73,-219.0,931.7,-11.3,665,7543,0.00,2.08,0.00,0.000,4,0.000,0.032,1769,1174,3841,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7567,-0.71,-219.0,934.0,-11.2,666,7571,0.00,2.30,0.00,0.000,6,0.000,0.042,1758,2652,3840,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7873,-0.69,-219.0,972.3,-12.4,681,7876,0.00,1.83,0.00,0.000,4,0.000,0.050,1750,3820,3839,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7907,-0.66,-219.0,975.1,-12.6,682,7914,0.15,1.83,0.00,0.000,6,0.125,0.026,1795,2564,3839,0,0,0,0,0,0,25.95,26.30,28.83
$STATE,8071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8072,begin apogee
$GC,8078,-0.20,0.0,991.1,-8.2,691,8280,0.40,0.10,193.73,1.180,6,0.093,0.057,1939,2532,2975,0,0,0,0,0,0,25.87,24.63,23.27
$STATE,8280,end apogee,CONTROL_FINISHED_OK
$STATE,8281,begin climb
$GC,8284,0.65,219.0,999.8,0.0,701,8502,0.75,2.40,209.40,1.179,4,0.049,0.036,2234,1068,2077,0,0,0,0,0,0,24.94,24.41,22.98
$GC,8580,0.57,219.0,966.3,19.7,716,8590,0.15,2.30,0.00,0.000,6,0.165,0.039,2196,2523,2058,0,0,0,0,0,0,25.13,25.40,28.83
$GC,8890,0.50,219.0,906.5,18.8,732,8895,0.00,2.03,0.00,0.000,4,0.000,0.045,2196,3813,2052,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8939,0.43,219.0,898.4,19.3,734,8944,0.20,2.03,0.00,0.000,6,0.171,0.028,2153,2462,2051,0,0,0,0,0,0,25.58,26.06,28.83
$GC,9245,0.40,219.0,856.6,12.0,749,9246,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2460,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9545,0.38,219.0,822.6,11.0,764,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2460,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9846,0.35,219.0,791.1,10.6,779,9850,0.00,2.20,0.00,0.000,4,0.000,0.045,2153,3819,2048,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9900,0.32,219.0,785.9,11.5,781,9908,0.17,2.05,0.00,0.000,6,0.154,0.028,2116,2457,2047,0,0,0,0,0,0,25.75,26.18,28.83
$GC,10209,0.37,247.4,756.3,9.4,797,10240,0.00,2.15,21.27,0.929,4,0.000,0.038,2126,1056,1967,0,0,0,0,1,0,28.83,25.90,23.91
$GC,10271,0.41,269.0,751.0,9.6,799,10304,0.00,2.28,21.92,0.930,6,0.000,0.039,2126,2524,1880,0,0,0,0,1,0,28.83,25.91,23.85
$GC,10607,0.44,276.9,716.3,10.1,816,10625,0.00,0.00,16.25,0.947,6,0.000,0.000,2126,2524,1850,0,0,0,0,0,0,28.83,28.83,24.38
$GC,10925,0.50,315.8,686.2,9.1,832,10969,0.12,0.00,41.03,0.956,6,0.076,0.000,2202,2524,1690,0,0,0,0,0,0,26.28,28.83,24.14
$GC,11266,0.46,315.8,625.7,18.8,849,11272,0.12,2.20,0.00,0.000,4,0.163,0.034,2175,1069,1665,0,0,0,0,0,0,25.82,25.93,28.83
$GC,11328,0.44,315.8,616.6,15.9,852,11332,0.00,2.25,0.00,0.000,6,0.000,0.038,2175,2531,1663,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11642,0.43,315.8,572.7,13.6,877,11651,0.00,2.00,0.00,0.000,4,0.000,0.045,2175,3816,1663,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11695,0.42,315.8,564.8,14.8,882,11704,0.10,2.03,0.00,0.000,6,0.125,0.028,2150,2462,1662,0,0,0,0,0,0,25.80,26.12,28.83
$GC,12004,0.47,349.5,534.6,9.2,913,12044,0.00,2.15,32.15,0.858,4,0.000,0.035,2160,1066,1542,0,0,0,0,0,0,28.83,25.79,24.35
$GC,12077,0.58,409.9,528.1,8.4,920,12146,0.12,2.25,58.83,0.859,6,0.076,0.037,2238,2525,1294,0,0,0,0,0,0,25.84,25.82,24.02
$GC,12446,0.54,409.9,451.2,20.3,957,12448,0.20,0.00,0.00,0.000,6,0.152,0.000,2182,2525,1279,0,0,0,0,0,0,25.65,28.83,28.83
$GC,12746,0.55,409.9,413.1,12.8,987,12755,0.00,2.20,0.00,0.000,4,0.000,0.036,2193,1066,1278,0,0,0,0,0,0,28.83,26.01,28.83
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$GC,15156,0.83,537.3,106.4,8.3,1306,15238,0.12,2.17,73.82,0.327,4,0.078,0.032,2325,1063,798,0,0,0,0,0,0,26.32,25.80,24.87
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$GC,15653,0.91,591.4,38.2,8.6,1400,15706,0.00,2.08,43.38,0.195,4,0.000,0.042,2277,3806,576,0,0,0,0,0,0,28.83,25.91,25.14
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$STATE,15878,end climb,SURFACE_DEPTH_REACHED
$STATE,15878,begin surface coast
$FINISH,0.1,1.023029
$STATE,15889,end surface coast,CONTROL_FINISHED_OK
$STATE,15889,begin surface
$SM_CCo,15964,0.00,0.000,0,0,583,587.49
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$IRIDIUM_FIX,2244.02,12157.60,170112,101013
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.19
$INTERNAL_PRESSURE,9.42775
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,23.0,77.233
$10V_AH,9.9,45.728
$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,16.575,144.425,771.400,0.000,0.000,25.160,16.072,233.405,0.000,0.000,16.433,3356.549,8933.823,824.273,2876.375,360.215,0.000,2263.204,0.000,2454.357,0.000,0.541,0.000
$DEVICE_MAMPS,231.030,74.205,1179.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,978.849,1820.463,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324664
$DATA_FILE_SIZE,96883,1444
$CAP_FILE_SIZE,178778,0
$CFSIZE,260165632,189882368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170112,195130,2253.366,12150.896,36,1.6,36,-3.0