version: 66.09
glider: 181
mission: 6
dive: 441
start: 9 3 111 3 41 44
data:
$ID,181
$MISSION,6
$DIVE,441
$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,-4
$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,-41119.465
$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,64
$R_STBD_OVSHOOT,40
$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
$GPS1,030911,033530,1956.495,12011.674,35,0.9,41,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.1
$GPS2,030911,034119,1956.512,12011.789,11,0.9,16,-2.2
$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,193.4,106677,-16.3,-11.786
$D_GRID,3880
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.54,-219.0,0.0,0.0,0,82,0.00,0.00,-61.90,0.000,2,0.000,0.000,201,2574,2187,0,0,0,0,0,0
$GC,85,-0.54,-219.0,3.0,-3.1,11,132,8.02,0.00,-36.62,0.000,6,0.224,0.000,2136,2574,3764,0,0,0,0,0,0
$GC,268,-0.54,-219.0,54.4,-16.3,43,275,0.00,1.85,0.00,0.000,4,0.000,0.041,2128,3776,3764,0,0,0,0,0,0
$GC,355,-0.54,-219.0,67.7,-15.4,58,362,0.00,1.73,0.00,0.000,6,0.000,0.024,2127,2595,3764,0,0,0,0,0,0
$GC,499,-0.54,-219.0,91.2,-15.0,83,505,0.00,1.83,0.00,0.000,4,0.000,0.041,2118,3779,3764,0,0,0,0,0,0
$GC,523,-0.54,-219.0,95.1,-15.0,87,530,0.00,1.67,0.00,0.000,6,0.000,0.024,2118,2621,3764,0,0,0,0,0,0
$GC,668,-0.54,-219.0,119.3,-16.2,112,675,0.00,2.08,0.00,0.000,4,0.000,0.028,2119,1200,3765,0,0,0,0,0,0
$GC,755,-0.54,-219.0,130.6,-11.0,127,763,0.12,2.08,0.00,0.000,6,0.156,0.033,2146,2565,3765,0,0,0,0,0,0
$GC,901,-0.54,-219.0,143.8,-8.9,152,907,0.00,1.85,0.00,0.000,4,0.000,0.042,2139,3789,3765,0,0,0,0,0,0
$GC,938,-0.54,-219.0,147.5,-9.5,158,945,0.00,1.80,0.00,0.000,6,0.000,0.024,2139,2544,3766,0,0,0,0,0,0
$GC,1083,-0.54,-219.0,162.3,-9.8,183,1089,0.00,1.90,0.00,0.000,4,0.000,0.042,2138,3782,3766,0,0,0,0,0,0
$GC,1103,-0.54,-219.0,164.5,-10.1,186,1110,0.00,1.77,0.00,0.000,6,0.000,0.024,2138,2551,3766,0,0,0,0,0,0
$GC,1249,-0.54,-219.0,177.5,-8.8,211,1256,0.00,1.95,0.00,0.000,4,0.000,0.028,2138,1204,3765,0,0,0,0,0,0
$GC,1282,-0.54,-219.0,180.4,-8.1,216,1289,0.00,2.03,0.00,0.000,6,0.000,0.033,2138,2547,3766,0,0,0,0,0,0
$GC,1427,-0.54,-219.0,194.4,-10.7,241,1434,0.00,1.88,0.00,0.000,4,0.000,0.043,2138,3784,3765,0,0,0,0,0,0
$GC,1465,-0.54,-219.0,199.0,-11.8,247,1471,0.00,1.80,0.00,0.000,6,0.000,0.025,2138,2542,3765,0,0,0,0,0,0
$GC,1607,-0.54,-219.0,220.5,-16.5,261,1610,0.00,1.95,0.00,0.000,4,0.000,0.028,2138,1202,3765,0,0,0,0,0,0
$GC,1652,-0.54,-219.0,226.9,-13.4,265,1656,0.00,2.03,0.00,0.000,6,0.000,0.033,2138,2543,3765,0,0,0,0,0,0
$GC,1984,-0.54,-219.0,258.3,-7.5,296,1988,0.00,1.90,0.00,0.000,4,0.000,0.044,2138,3780,3763,0,0,0,0,0,0
$GC,2031,-0.54,-219.0,261.8,-7.4,300,2034,0.00,1.83,0.00,0.000,6,0.000,0.026,2138,2533,3762,0,0,0,0,0,0
$GC,2362,-0.54,-219.0,286.4,-9.3,331,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2530,3761,0,0,0,0,0,0
$GC,2683,-0.54,-219.0,314.8,-6.9,361,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2530,3758,0,0,0,0,0,0
$GC,3011,-0.54,-219.0,335.0,-6.1,392,3014,0.00,1.95,0.00,0.000,4,0.000,0.031,2138,1203,3755,0,0,0,0,0,0
$GC,3049,-0.54,-219.0,337.7,-6.3,395,3056,0.00,2.05,0.00,0.000,6,0.000,0.033,2138,2551,3755,0,0,0,0,0,0
$GC,3375,-0.54,-219.0,359.8,-8.5,426,3379,0.00,1.88,0.00,0.000,4,0.000,0.044,2138,3778,3752,0,0,0,0,0,0
$GC,3437,-0.54,-219.0,365.6,-9.4,431,3444,0.00,1.95,0.00,0.000,6,0.000,0.026,2138,2457,3752,0,0,0,0,0,0
$GC,3763,-0.54,-219.0,395.5,-8.3,462,3766,0.00,2.05,0.00,0.000,4,0.000,0.044,2138,3775,3750,0,0,0,0,0,0
$GC,3899,-0.54,-219.0,407.1,-8.5,474,3903,0.00,2.03,0.00,0.000,6,0.000,0.027,2137,2410,3748,0,0,0,0,0,0
$GC,4231,-0.54,-219.0,432.1,-7.7,505,4235,0.00,2.15,0.00,0.000,4,0.000,0.043,2138,3785,3746,0,0,0,0,0,0
$GC,4305,-0.54,-219.0,438.7,-9.4,511,4308,0.00,2.05,0.00,0.000,6,0.000,0.027,2137,2411,3745,0,0,0,0,0,0
$GC,4636,-0.54,-219.0,468.6,-9.8,542,4640,0.00,2.15,0.00,0.000,4,0.000,0.043,2137,3774,3743,0,0,0,0,0,0
$GC,4711,-0.54,-219.0,476.9,-11.8,548,4714,0.00,2.03,0.00,0.000,6,0.000,0.027,2139,2414,3742,0,0,0,0,0,0
$GC,5040,-0.54,-219.0,514.1,-11.4,573,5044,0.00,2.12,0.00,0.000,4,0.000,0.043,2140,3776,3740,0,0,0,0,0,0
$GC,5298,-0.54,-219.0,541.9,-10.0,584,5306,0.00,1.98,0.00,0.000,6,0.000,0.027,2142,2446,3738,0,0,0,0,0,0
$GC,5616,-0.54,-219.0,566.2,-7.3,600,5619,0.00,2.08,0.00,0.000,4,0.000,0.044,2142,3775,3736,0,0,0,0,0,0
$GC,5851,-0.54,-219.0,585.9,-9.0,610,5858,0.00,2.00,0.00,0.000,6,0.000,0.028,2145,2463,3734,0,0,0,0,0,0
$GC,6168,-0.54,-219.0,613.9,-9.9,626,6172,0.00,2.08,0.00,0.000,4,0.000,0.044,2145,3777,3733,0,0,0,0,0,0
$GC,6341,-0.54,-219.0,633.8,-12.1,633,6348,0.00,1.98,0.00,0.000,6,0.000,0.028,2145,2480,3731,0,0,0,0,0,0
$GC,6659,-0.54,-219.0,670.0,-12.0,649,6662,0.00,1.90,0.00,0.000,4,0.000,0.034,2145,1204,3730,0,0,0,0,0,0
$GC,6704,-0.54,-219.0,675.8,-12.4,651,6708,0.00,1.95,0.00,0.000,6,0.000,0.036,2145,2472,3730,0,0,0,0,0,0
$GC,7038,-0.54,-219.0,715.3,-11.9,667,7042,0.00,2.00,0.00,0.000,4,0.000,0.044,2145,3774,3729,0,0,0,0,0,0
$GC,7128,-0.54,-219.0,726.7,-12.3,671,7132,0.00,1.92,0.00,0.000,6,0.000,0.028,2145,2482,3728,0,0,0,0,0,0
$GC,7461,-0.54,-219.0,758.1,-7.8,687,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2478,3726,0,0,0,0,0,0
$GC,7771,-0.54,-219.0,776.8,-5.2,702,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2479,3725,0,0,0,0,0,0
$GC,8080,-0.54,-219.0,794.5,-6.3,717,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2479,3723,0,0,0,0,0,0
$GC,8390,-0.54,-219.0,818.7,-8.6,732,8393,0.00,2.05,0.00,0.000,4,0.000,0.047,2145,3776,3722,0,0,0,0,0,0
$GC,8538,-0.54,-219.0,832.5,-9.7,738,8542,0.00,1.92,0.00,0.000,6,0.000,0.028,2145,2488,3722,0,0,0,0,0,0
$GC,8861,-0.54,-219.0,863.8,-10.2,754,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2485,3721,0,0,0,0,0,0
$GC,9169,-0.54,-219.0,895.1,-9.9,769,9173,0.00,2.03,0.00,0.000,4,0.000,0.046,2145,3774,3720,0,0,0,0,0,0
$GC,9232,-0.54,-219.0,901.5,-10.7,771,9239,0.00,1.90,0.00,0.000,6,0.000,0.028,2147,2502,3720,0,0,0,0,0,0
$GC,9549,-0.54,-219.0,932.2,-9.8,787,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2502,3719,0,0,0,0,0,0
$STATE,9608,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9608,begin apogee
$GC,9614,-0.13,0.0,938.7,10.2,790,9788,0.35,0.00,167.75,1.048,4,0.065,0.000,2295,2120,2869,0,0,0,0,0,0
$STATE,9789,end apogee,CONTROL_FINISHED_OK
$STATE,9789,begin climb
$GC,9792,0.54,219.0,952.8,0.0,798,9977,0.55,2.25,176.52,1.030,4,0.047,0.039,2517,738,1976,0,0,0,0,0,0
$GC,10179,0.58,247.3,927.8,10.8,816,10213,0.00,2.17,24.17,0.968,6,0.000,0.034,2517,2128,1860,0,0,0,0,0,0
$GC,10521,0.58,247.3,884.7,13.2,833,10525,0.00,2.15,0.00,0.000,4,0.000,0.037,2527,734,1859,0,0,0,0,0,0
$GC,10643,0.58,247.3,868.9,12.8,838,10650,0.00,2.17,0.00,0.000,6,0.000,0.035,2527,2137,1859,0,0,0,0,0,0
$GC,10960,0.58,247.3,824.6,14.6,854,10964,0.00,2.20,0.00,0.000,4,0.000,0.045,2527,3542,1858,0,0,0,0,0,0
$GC,11015,0.58,247.3,814.9,16.6,856,11020,0.00,2.12,0.00,0.000,6,0.000,0.030,2537,2148,1857,0,0,0,0,0,0
$GC,11338,0.58,247.3,761.7,16.5,872,11343,0.12,2.20,0.00,0.000,4,0.183,0.038,2515,714,1856,0,0,0,0,0,0
$GC,11393,0.58,247.3,753.4,14.2,874,11400,0.00,2.17,0.00,0.000,6,0.000,0.034,2515,2133,1856,0,0,0,0,0,0
$GC,11709,0.58,247.3,712.2,11.9,890,11713,0.00,2.17,0.00,0.000,4,0.000,0.044,2515,3537,1856,0,0,0,0,0,0
$GC,11872,0.62,282.8,693.3,10.5,897,11905,0.00,2.05,28.12,0.877,6,0.000,0.030,2525,2184,1716,0,0,0,0,0,0
$GC,12216,0.75,385.7,664.0,8.0,914,12306,0.10,2.40,79.65,0.871,4,0.106,0.036,2580,721,1296,0,0,0,0,0,0
$GC,12361,0.81,434.4,648.0,10.0,920,12410,0.00,2.33,39.25,0.831,6,0.000,0.036,2580,2186,1097,0,0,0,0,0,0
$GC,12719,0.81,434.4,601.9,14.5,938,12723,0.00,2.12,0.00,0.000,4,0.000,0.046,2580,3542,1103,0,0,0,0,0,0
$GC,12773,0.81,434.4,592.4,17.5,940,12781,0.00,2.10,0.00,0.000,6,0.000,0.030,2589,2180,1103,0,0,0,0,0,0
$GC,13091,0.81,434.4,535.2,18.5,956,13092,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2181,1103,0,0,0,0,0,0
$GC,13402,0.81,434.4,479.2,17.6,976,13403,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2180,1102,0,0,0,0,0,0
$GC,13723,0.81,434.4,423.6,17.1,1006,13727,0.00,2.12,0.00,0.000,4,0.000,0.045,2590,3534,1103,0,0,0,0,0,0
$GC,13766,0.81,434.4,415.2,17.6,1009,13773,0.00,2.08,0.00,0.000,6,0.000,0.029,2600,2162,1103,0,0,0,0,0,0
$GC,14093,0.81,434.4,363.6,14.5,1040,14097,0.00,2.15,0.00,0.000,4,0.000,0.045,2601,3533,1103,0,0,0,0,0,0
$GC,14121,0.81,434.4,359.2,15.3,1042,14126,0.12,2.03,0.00,0.000,6,0.178,0.029,2580,2189,1103,0,0,0,0,0,0
$GC,14449,0.81,434.4,318.5,13.9,1072,14453,0.00,2.12,0.00,0.000,4,0.000,0.044,2580,3543,1103,0,0,0,0,0,0
$GC,14503,0.81,434.4,309.7,15.1,1076,14510,0.00,2.05,0.00,0.000,6,0.000,0.030,2587,2224,1103,0,0,0,0,0,0
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$GC,16405,1.22,771.5,60.1,4.8,1343,16425,0.20,2.50,13.05,0.470,4,0.062,0.037,2749,721,439,0,0,0,0,0,0
$GC,16523,1.30,832.0,51.1,9.6,1363,16529,0.00,2.28,0.00,0.000,6,0.000,0.033,2749,2195,438,0,0,0,0,0,0
$GC,16667,1.30,832.0,30.2,16.3,1388,16673,0.00,2.08,0.00,0.000,4,0.000,0.041,2749,3544,439,0,0,0,0,0,0
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$STATE,16838,end climb,SURFACE_DEPTH_REACHED
$STATE,16838,begin surface coast
$FINISH,0.3,0.999158
$STATE,16861,end surface coast,CONTROL_FINISHED_OK
$STATE,16861,begin surface
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$IRIDIUM_FIX,1952.70,12009.44,020911,222238
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.53
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,23.4,72.124
$10V_AH,9.8,62.196
$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,16.250,157.575,643.525,0.000,0.000,25.809,30.078,141.616,0.250,0.000,20.409,3386.891,9928.129,751.115,2825.753,380.725,0.000,2188.770,0.000,2590.699,0.000,0.539,0.000
$DEVICE_MAMPS,224.145,46.665,1048.050,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,986.154,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323052
$DATA_FILE_SIZE,80395,1422
$CAP_FILE_SIZE,184092,0
$CFSIZE,260165632,210006016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030911,082507,1954.515,12011.629,27,1.2,27,-2.2