version: 66.09
glider: 181
mission: 6
dive: 393
start: 8 24 111 13 22 56
data:
$ID,181
$MISSION,6
$DIVE,393
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,280
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$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,51861
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-41039.262
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.82621
$PRESSURE_SLOPE,0.000116609
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$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,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,240811,131437,2107.647,11948.854,34,1.1,34,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.0
$GPS2,240811,132231,2107.525,11948.903,10,1.5,10,-2.4
$SPEED_LIMITS,0.204,0.329
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,177.7,236974,-16.3,-11.786
$D_GRID,3315
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.54,-219.0,0.0,0.0,0,86,0.00,0.00,-66.75,0.000,2,0.000,0.000,202,2611,2307,0,0,0,0,0,0
$GC,90,-0.54,-219.0,3.1,-3.0,12,138,8.05,2.20,-33.12,0.000,4,0.226,0.038,2140,1178,3764,0,0,0,0,0,0
$GC,206,-0.54,-219.0,26.5,-15.7,32,213,0.00,2.22,0.00,0.000,6,0.000,0.034,2138,2606,3763,0,0,0,0,0,0
$GC,349,-0.54,-219.0,57.8,-20.7,57,356,0.00,1.83,0.00,0.000,4,0.000,0.043,2129,3788,3762,0,0,0,0,0,0
$GC,459,-0.54,-219.0,79.6,-19.1,76,465,0.00,1.65,0.00,0.000,6,0.000,0.022,2129,2649,3761,0,0,0,0,0,0
$GC,602,-0.54,-219.0,107.2,-19.2,101,608,0.00,2.12,0.00,0.000,4,0.000,0.025,2129,1190,3761,0,0,0,0,0,0
$GC,627,-0.54,-219.0,111.3,-16.8,105,634,0.00,2.28,0.00,0.000,6,0.000,0.034,2125,2678,3761,0,0,0,0,0,0
$GC,770,-0.54,-219.0,135.0,-17.3,130,776,0.00,1.67,0.00,0.000,4,0.000,0.043,2116,3786,3761,0,0,0,0,0,0
$GC,822,-0.54,-219.0,144.4,-16.6,139,829,0.00,1.62,0.00,0.000,6,0.000,0.022,2116,2688,3761,0,0,0,0,0,0
$GC,966,-0.54,-219.0,167.6,-17.8,164,973,0.00,2.17,0.00,0.000,4,0.000,0.026,2116,1195,3761,0,0,0,0,0,0
$GC,1013,-0.54,-219.0,175.5,-15.1,172,1021,0.12,2.20,0.00,0.000,6,0.149,0.034,2147,2649,3761,0,0,0,0,0,0
$GC,1157,-0.54,-219.0,194.2,-12.8,197,1164,0.00,1.70,0.00,0.000,4,0.000,0.042,2140,3783,3761,0,0,0,0,0,0
$GC,1230,-0.54,-219.0,203.7,-12.3,207,1237,0.00,1.60,0.00,0.000,6,0.000,0.022,2139,2683,3761,0,0,0,0,0,0
$GC,1556,-0.54,-219.0,237.2,-10.0,238,1560,0.00,2.17,0.00,0.000,4,0.000,0.027,2140,1196,3761,0,0,0,0,0,0
$GC,1642,-0.54,-219.0,246.5,-11.2,245,1646,0.00,2.22,0.00,0.000,6,0.000,0.032,2139,2663,3761,0,0,0,0,0,0
$GC,1967,-0.54,-219.0,286.2,-12.0,275,1971,0.00,1.67,0.00,0.000,4,0.000,0.043,2138,3776,3759,0,0,0,0,0,0
$GC,1984,-0.54,-219.0,288.1,-11.4,276,1990,0.00,1.67,0.00,0.000,6,0.000,0.023,2138,2643,3759,0,0,0,0,0,0
$GC,2309,-0.54,-219.0,318.2,-9.7,307,2313,0.00,2.10,0.00,0.000,4,0.000,0.027,2138,1203,3757,0,0,0,0,0,0
$GC,2387,-0.54,-219.0,325.5,-9.0,313,2394,0.00,2.15,0.00,0.000,6,0.000,0.032,2138,2627,3756,0,0,0,0,0,0
$GC,2713,-0.54,-219.0,356.9,-9.5,344,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2628,3753,0,0,0,0,0,0
$GC,3033,-0.54,-219.0,384.7,-7.7,374,3037,0.00,2.12,0.00,0.000,4,0.000,0.029,2138,1201,3751,0,0,0,0,0,0
$GC,3055,-0.54,-219.0,386.5,-7.4,375,3062,0.00,2.15,0.00,0.000,6,0.000,0.035,2138,2608,3751,0,0,0,0,0,0
$GC,3381,-0.54,-219.0,411.0,-8.4,406,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2608,3749,0,0,0,0,0,0
$GC,3701,-0.54,-219.0,443.1,-11.0,436,3705,0.00,2.10,0.00,0.000,4,0.000,0.031,2138,1206,3746,0,0,0,0,0,0
$GC,3732,-0.54,-219.0,446.8,-11.4,438,3736,0.00,2.15,0.00,0.000,6,0.000,0.034,2138,2609,3746,0,0,0,0,0,0
$GC,4059,-0.54,-219.0,480.2,-9.3,468,4063,0.00,2.12,0.00,0.000,4,0.000,0.031,2138,1206,3742,0,0,0,0,0,0
$GC,4082,-0.54,-219.0,482.4,-9.1,470,4086,0.00,2.15,0.00,0.000,6,0.000,0.035,2138,2607,3742,0,0,0,0,0,0
$GC,4417,-0.54,-219.0,511.1,-8.4,495,4420,0.00,1.80,0.00,0.000,4,0.000,0.047,2138,3778,3740,0,0,0,0,0,0
$GC,4433,-0.54,-219.0,513.0,-8.5,495,4439,0.00,1.75,0.00,0.000,6,0.000,0.026,2138,2586,3739,0,0,0,0,0,0
$GC,4749,-0.54,-219.0,540.8,-8.9,511,4753,0.00,2.05,0.00,0.000,4,0.000,0.031,2138,1205,3737,0,0,0,0,0,0
$GC,4805,-0.54,-219.0,545.7,-8.4,513,4812,0.00,2.15,0.00,0.000,6,0.000,0.035,2138,2605,3737,0,0,0,0,0,0
$GC,5121,-0.54,-219.0,571.3,-8.2,529,5125,0.00,1.80,0.00,0.000,4,0.000,0.046,2138,3779,3735,0,0,0,0,0,0
$GC,5205,-0.54,-219.0,578.6,-8.5,532,5212,0.00,1.90,0.00,0.000,6,0.000,0.025,2138,2488,3734,0,0,0,0,0,0
$GC,5522,-0.54,-219.0,606.8,-9.0,548,5526,0.00,1.95,0.00,0.000,4,0.000,0.031,2138,1202,3732,0,0,0,0,0,0
$GC,5645,-0.54,-219.0,618.9,-10.1,553,5649,0.00,1.92,0.00,0.000,6,0.000,0.034,2138,2471,3731,0,0,0,0,0,0
$GC,5968,-0.54,-219.0,646.8,-8.6,569,5972,0.00,2.03,0.00,0.000,4,0.000,0.044,2138,3785,3729,0,0,0,0,0,0
$GC,6048,-0.54,-219.0,654.1,-9.3,572,6051,0.00,1.92,0.00,0.000,6,0.000,0.025,2138,2482,3729,0,0,0,0,0,0
$GC,6370,-0.54,-219.0,678.1,-6.9,588,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2478,3727,0,0,0,0,0,0
$GC,6679,-0.54,-219.0,696.1,-5.4,603,6682,0.00,2.03,0.00,0.000,4,0.000,0.044,2138,3777,3724,0,0,0,0,0,0
$GC,6729,-0.54,-219.0,699.1,-5.3,605,6732,0.00,1.90,0.00,0.000,6,0.000,0.025,2138,2491,3724,0,0,0,0,0,0
$GC,7057,-0.54,-219.0,718.7,-6.2,621,7061,0.00,1.90,0.00,0.000,4,0.000,0.032,2138,1206,3722,0,0,0,0,0,0
$GC,7314,-0.54,-219.0,739.1,-9.1,632,7318,0.00,1.95,0.00,0.000,6,0.000,0.031,2138,2488,3721,0,0,0,0,0,0
$GC,7637,-0.54,-219.0,766.9,-8.8,648,7641,0.00,1.92,0.00,0.000,4,0.000,0.031,2138,1200,3720,0,0,0,0,0,0
$GC,7896,-0.54,-219.0,791.4,-9.0,659,7900,0.00,1.98,0.00,0.000,6,0.000,0.035,2138,2484,3719,0,0,0,0,0,0
$GC,8218,-0.54,-219.0,816.4,-7.9,675,8221,0.00,1.92,0.00,0.000,4,0.000,0.032,2138,1207,3718,0,0,0,0,0,0
$GC,8234,-0.54,-219.0,817.8,-7.8,675,8241,0.00,1.90,0.00,0.000,6,0.000,0.033,2138,2452,3718,0,0,0,0,0,0
$GC,8551,-0.54,-219.0,842.3,-7.9,691,8555,0.00,2.05,0.00,0.000,4,0.000,0.046,2138,3776,3717,0,0,0,0,0,0
$GC,8792,-0.54,-219.0,863.4,-8.9,701,8799,0.00,2.05,0.00,0.000,6,0.000,0.025,2144,2432,3715,0,0,0,0,0,0
$GC,9109,-0.54,-219.0,887.9,-7.6,717,9113,0.00,1.85,0.00,0.000,4,0.000,0.033,2147,1212,3714,0,0,0,0,0,0
$GC,9170,-0.54,-219.0,893.0,-8.0,719,9177,0.00,1.85,0.00,0.000,6,0.000,0.033,2147,2429,3714,0,0,0,0,0,0
$GC,9488,-0.54,-219.0,915.8,-7.5,735,9492,0.00,2.10,0.00,0.000,4,0.000,0.046,2147,3780,3712,0,0,0,0,0,0
$GC,9538,-0.54,-219.0,920.2,-8.5,737,9541,0.00,2.03,0.00,0.000,6,0.000,0.024,2147,2420,3711,0,0,0,0,0,0
$STATE,9609,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9609,begin apogee
$GC,9616,-0.13,0.0,925.4,7.1,741,9787,0.32,0.00,165.27,1.044,4,0.063,0.000,2287,2108,2868,0,0,0,0,0,0
$STATE,9787,end apogee,CONTROL_FINISHED_OK
$STATE,9788,begin climb
$GC,9790,0.54,219.0,935.1,0.0,749,9978,0.57,2.38,176.32,1.019,4,0.044,0.041,2512,3541,1976,0,0,0,0,0,0
$GC,10115,0.54,219.0,905.8,13.6,764,10119,0.00,2.15,0.00,0.000,6,0.000,0.027,2521,2152,1975,0,0,0,0,0,0
$GC,10441,0.54,219.0,864.9,12.1,780,10445,0.00,2.17,0.00,0.000,4,0.000,0.041,2522,3542,1973,0,0,0,0,0,0
$GC,10530,0.54,219.0,853.2,12.8,784,10535,0.15,2.17,0.00,0.000,6,0.183,0.027,2496,2103,1973,0,0,0,0,0,0
$GC,10860,0.61,272.3,820.7,9.9,800,10907,0.00,2.17,42.47,0.961,4,0.000,0.035,2505,719,1757,0,0,0,0,0,0
$GC,10937,0.68,334.5,812.9,9.5,803,10992,0.10,2.17,49.28,0.941,6,0.105,0.031,2549,2106,1505,0,0,0,0,0,0
$GC,11314,0.68,334.5,758.5,15.7,822,11318,0.00,2.22,0.00,0.000,4,0.000,0.043,2549,3534,1507,0,0,0,0,0,0
$GC,11399,0.68,334.5,744.0,17.6,826,11403,0.00,2.15,0.00,0.000,6,0.000,0.027,2558,2122,1507,0,0,0,0,0,0
$GC,11726,0.68,334.5,687.7,17.3,842,11730,0.00,2.12,0.00,0.000,4,0.000,0.037,2568,718,1508,0,0,0,0,0,0
$GC,11804,0.68,334.5,674.4,17.0,845,11811,0.00,2.15,0.00,0.000,6,0.000,0.034,2569,2121,1507,0,0,0,0,0,0
$GC,12123,0.68,334.5,621.3,16.1,861,12127,0.00,2.20,0.00,0.000,4,0.000,0.044,2569,3541,1507,0,0,0,0,0,0
$GC,12185,0.68,334.5,610.4,17.1,864,12190,0.15,2.12,0.00,0.000,6,0.173,0.027,2541,2129,1507,0,0,0,0,0,0
$GC,12514,0.68,334.5,567.3,13.0,880,12518,0.00,2.12,0.00,0.000,4,0.000,0.036,2550,719,1507,0,0,0,0,0,0
$GC,12554,0.68,334.5,562.0,12.6,882,12558,0.00,2.17,0.00,0.000,6,0.000,0.033,2550,2139,1507,0,0,0,0,0,0
$GC,12882,0.68,334.5,516.9,13.7,898,12886,0.00,2.15,0.00,0.000,4,0.000,0.044,2550,3535,1507,0,0,0,0,0,0
$GC,12954,0.68,334.5,506.0,14.5,901,12958,0.00,2.10,0.00,0.000,6,0.000,0.026,2559,2136,1507,0,0,0,0,0,0
$GC,13285,0.68,334.5,462.6,12.9,930,13289,0.00,2.15,0.00,0.000,4,0.000,0.036,2570,720,1507,0,0,0,0,0,0
$GC,13356,0.68,334.5,453.2,12.7,936,13364,0.00,2.17,0.00,0.000,6,0.000,0.031,2570,2148,1507,0,0,0,0,0,0
$GC,13682,0.68,334.5,407.2,14.6,967,13686,0.00,2.12,0.00,0.000,4,0.000,0.042,2570,3534,1507,0,0,0,0,0,0
$GC,13734,0.68,334.5,399.1,17.0,971,13738,0.15,2.08,0.00,0.000,6,0.166,0.026,2541,2149,1507,0,0,0,0,0,0
$GC,14059,0.68,334.5,355.9,13.6,1001,14063,0.00,2.15,0.00,0.000,4,0.000,0.037,2550,724,1507,0,0,0,0,0,0
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$GC,14946,0.75,391.2,245.2,11.0,1081,14974,0.00,2.17,18.45,0.557,6,0.000,0.031,2571,2134,1273,0,0,0,0,0,0
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$GC,16737,1.19,743.9,25.8,9.0,1360,16744,0.15,2.00,0.00,0.000,6,0.071,0.025,2731,2188,438,0,0,0,0,0,0
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$STATE,16907,end climb,SURFACE_DEPTH_REACHED
$STATE,16907,begin surface coast
$FINISH,0.3,1.021151
$STATE,16930,end surface coast,CONTROL_FINISHED_OK
$STATE,16931,begin surface
$SM_CCo,17010,0.00,0.000,0,0,439,596.08
$SM_GC,1.02,6.62,0.00,0.00,0.041,0.000,0.000,208,2606,439,-6.51,0.20,596.08,0,0,0,0,0,0
$IRIDIUM_FIX,2059.45,11946.12,240811,131348
$TT8_MAMPS,0.025466,0.025466
$HUMID,45.62
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.3,63.989
$10V_AH,9.8,57.849
$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,16.825,186.550,635.600,0.000,0.000,55.158,71.576,143.922,0.000,0.000,12.933,3333.870,10118.068,762.231,2877.666,379.977,0.000,2213.750,0.000,2574.719,0.000,0.539,0.000
$DEVICE_MAMPS,226.440,47.430,1044.225,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,964.247,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323520
$DATA_FILE_SIZE,80227,1393
$CAP_FILE_SIZE,192713,0
$CFSIZE,260165632,214204416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240811,180736,2105.502,11949.472,31,0.9,31,-2.4