version: 66.09
glider: 181
mission: 6
dive: 448
start: 9 4 111 14 19 51
data:
$ID,181
$MISSION,6
$DIVE,448
$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,-41128.273
$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,43
$R_STBD_OVSHOOT,58
$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
$GPS1,040911,141337,1945.171,12009.137,31,0.9,31,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.7
$GPS2,040911,141926,1945.129,12009.117,9,1.9,9,-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,193.0,85090,-16.3,-11.786
$D_GRID,4045
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.54,-219.0,0.0,0.0,0,82,0.00,0.00,-62.00,0.000,2,0.000,0.000,201,2652,2199,0,0,0,0,0,0
$GC,85,-0.54,-219.0,3.1,-3.3,11,138,8.05,2.25,-35.53,0.000,4,0.225,0.041,2135,1187,3765,0,0,0,0,0,0
$GC,212,-0.54,-219.0,34.4,-22.0,33,219,0.00,2.15,0.00,0.000,6,0.000,0.037,2126,2577,3766,0,0,0,0,0,0
$GC,356,-0.54,-219.0,66.7,-15.0,58,362,0.00,1.83,0.00,0.000,4,0.000,0.042,2116,3783,3765,0,0,0,0,0,0
$GC,454,-0.54,-219.0,82.4,-14.1,75,461,0.00,1.65,0.00,0.000,6,0.000,0.024,2116,2648,3765,0,0,0,0,0,0
$GC,597,-0.54,-219.0,109.9,-18.2,100,604,0.00,1.75,0.00,0.000,4,0.000,0.042,2109,3784,3765,0,0,0,0,0,0
$GC,610,-0.54,-219.0,112.4,-18.2,102,618,0.12,1.62,0.00,0.000,6,0.151,0.024,2143,2693,3765,0,0,0,0,0,0
$GC,756,-0.54,-219.0,136.5,-15.2,127,762,0.00,2.20,0.00,0.000,4,0.000,0.028,2143,1195,3765,0,0,0,0,0,0
$GC,803,-0.54,-219.0,143.6,-13.7,135,810,0.00,2.28,0.00,0.000,6,0.000,0.034,2139,2686,3765,0,0,0,0,0,0
$GC,947,-0.54,-219.0,164.5,-13.8,160,953,0.00,1.65,0.00,0.000,4,0.000,0.044,2138,3782,3766,0,0,0,0,0,0
$GC,1035,-0.54,-219.0,174.0,-9.7,175,1041,0.00,1.60,0.00,0.000,6,0.000,0.024,2137,2701,3766,0,0,0,0,0,0
$GC,1180,-0.54,-219.0,187.3,-9.4,200,1187,0.00,2.20,0.00,0.000,4,0.000,0.028,2138,1203,3766,0,0,0,0,0,0
$GC,1217,-0.54,-219.0,191.0,-9.8,206,1224,0.00,2.33,0.00,0.000,6,0.000,0.034,2138,2726,3766,0,0,0,0,0,0
$GC,1357,-0.54,-219.0,206.1,-11.2,226,1361,0.00,2.28,0.00,0.000,4,0.000,0.028,2138,1198,3766,0,0,0,0,0,0
$GC,1390,-0.54,-219.0,210.1,-11.7,228,1397,0.00,2.28,0.00,0.000,6,0.000,0.034,2138,2690,3766,0,0,0,0,0,0
$GC,1715,-0.54,-219.0,246.9,-12.1,259,1719,0.00,1.65,0.00,0.000,4,0.000,0.044,2137,3782,3766,0,0,0,0,0,0
$GC,1751,-0.54,-219.0,250.9,-11.4,262,1755,0.00,1.62,0.00,0.000,6,0.000,0.024,2137,2685,3766,0,0,0,0,0,0
$GC,2082,-0.54,-219.0,281.3,-6.9,293,2086,0.00,2.17,0.00,0.000,4,0.000,0.030,2137,1209,3764,0,0,0,0,0,0
$GC,2169,-0.54,-219.0,287.3,-6.9,300,2173,0.00,2.28,0.00,0.000,6,0.000,0.033,2130,2702,3763,0,0,0,0,0,0
$GC,2494,-0.54,-219.0,313.7,-10.0,330,2498,0.00,2.25,0.00,0.000,4,0.000,0.031,2130,1201,3761,0,0,0,0,0,0
$GC,2530,-0.54,-219.0,317.3,-10.4,332,2537,0.00,2.10,0.00,0.000,6,0.000,0.034,2126,2577,3761,0,0,0,0,0,0
$GC,2855,-0.54,-219.0,351.2,-10.5,363,2859,0.00,1.88,0.00,0.000,4,0.000,0.045,2126,3776,3757,0,0,0,0,0,0
$GC,2918,-0.54,-219.0,357.8,-10.9,368,2924,0.00,1.90,0.00,0.000,6,0.000,0.026,2126,2481,3757,0,0,0,0,0,0
$GC,3243,-0.54,-219.0,393.7,-11.2,399,3247,0.00,2.03,0.00,0.000,4,0.000,0.044,2126,3778,3754,0,0,0,0,0,0
$GC,3294,-0.54,-219.0,399.4,-10.7,403,3301,0.00,2.03,0.00,0.000,6,0.000,0.027,2126,2411,3754,0,0,0,0,0,0
$GC,3619,-0.54,-219.0,430.0,-8.5,434,3623,0.00,2.15,0.00,0.000,4,0.000,0.044,2126,3783,3751,0,0,0,0,0,0
$GC,3833,-0.54,-219.0,447.1,-8.4,452,3840,0.00,2.12,0.00,0.000,6,0.000,0.027,2126,2357,3749,0,0,0,0,0,0
$GC,4159,-0.54,-219.0,471.0,-6.1,483,4162,0.00,1.70,0.00,0.000,4,0.000,0.033,2126,1200,3747,0,0,0,0,0,0
$GC,4221,-0.54,-219.0,475.5,-7.3,488,4227,0.00,1.77,0.00,0.000,6,0.000,0.035,2125,2349,3746,0,0,0,0,0,0
$GC,4546,-0.54,-219.0,502.2,-9.7,518,4549,0.00,1.70,0.00,0.000,4,0.000,0.033,2125,1208,3743,0,0,0,0,0,0
$GC,4602,-0.54,-219.0,508.1,-10.4,520,4606,0.00,1.70,0.00,0.000,6,0.000,0.035,2125,2326,3743,0,0,0,0,0,0
$GC,4924,-0.54,-219.0,540.1,-9.6,536,4928,0.00,2.25,0.00,0.000,4,0.000,0.045,2125,3776,3741,0,0,0,0,0,0
$GC,5082,-0.54,-219.0,553.9,-8.7,543,5086,0.00,2.03,0.00,0.000,6,0.000,0.027,2125,2417,3739,0,0,0,0,0,0
$GC,5410,-0.54,-219.0,578.3,-6.8,559,5413,0.00,1.80,0.00,0.000,4,0.000,0.034,2125,1202,3737,0,0,0,0,0,0
$GC,5511,-0.54,-219.0,585.2,-6.4,563,5515,0.00,1.80,0.00,0.000,6,0.000,0.034,2125,2382,3737,0,0,0,0,0,0
$GC,5834,-0.54,-219.0,604.4,-6.0,579,5838,0.00,1.77,0.00,0.000,4,0.000,0.034,2125,1202,3735,0,0,0,0,0,0
$GC,5861,-0.54,-219.0,606.5,-6.3,580,5865,0.00,1.75,0.00,0.000,6,0.000,0.034,2125,2357,3735,0,0,0,0,0,0
$GC,6190,-0.54,-219.0,629.5,-7.3,596,6193,0.00,1.73,0.00,0.000,4,0.000,0.034,2125,1207,3732,0,0,0,0,0,0
$GC,6217,-0.54,-219.0,632.1,-7.6,597,6221,0.00,1.70,0.00,0.000,6,0.000,0.035,2125,2324,3732,0,0,0,0,0,0
$GC,6546,-0.54,-219.0,660.7,-9.3,613,6550,0.00,2.28,0.00,0.000,4,0.000,0.047,2125,3782,3731,0,0,0,0,0,0
$GC,6586,-0.54,-219.0,664.8,-10.0,615,6590,0.00,2.28,0.00,0.000,6,0.000,0.028,2125,2276,3730,0,0,0,0,0,0
$GC,6913,-0.54,-219.0,699.6,-10.8,631,6917,0.00,1.62,0.00,0.000,4,0.000,0.035,2125,1175,3729,0,0,0,0,0,0
$GC,6964,-0.54,-219.0,705.3,-11.0,633,6968,0.00,1.65,0.00,0.000,6,0.000,0.035,2125,2262,3729,0,0,0,0,0,0
$GC,7292,-0.54,-219.0,735.2,-8.5,649,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2263,3727,0,0,0,0,0,0
$GC,7601,-0.54,-219.0,756.3,-6.3,664,7605,0.00,1.62,0.00,0.000,4,0.000,0.035,2125,1182,3727,0,0,0,0,0,0
$GC,7640,-0.54,-219.0,759.0,-6.4,665,7647,0.00,1.65,0.00,0.000,6,0.000,0.033,2125,2272,3726,0,0,0,0,0,0
$GC,7957,-0.54,-219.0,779.3,-6.9,681,7960,0.00,2.38,0.00,0.000,4,0.000,0.047,2125,3776,3725,0,0,0,0,0,0
$GC,8008,-0.54,-219.0,783.5,-8.2,683,8012,0.00,2.30,0.00,0.000,6,0.000,0.028,2125,2259,3724,0,0,0,0,0,0
$GC,8329,-0.54,-219.0,810.1,-8.8,699,8334,0.00,2.42,0.00,0.000,4,0.000,0.046,2125,3785,3723,0,0,0,0,0,0
$GC,8587,-0.54,-219.0,837.1,-11.1,710,8594,0.00,2.28,0.00,0.000,6,0.000,0.029,2125,2280,3722,0,0,0,0,0,0
$GC,8904,-0.54,-219.0,867.3,-9.3,726,8908,0.00,2.38,0.00,0.000,4,0.000,0.047,2125,3774,3721,0,0,0,0,0,0
$GC,9161,-0.54,-219.0,892.1,-9.5,737,9168,0.00,2.22,0.00,0.000,6,0.000,0.030,2125,2300,3720,0,0,0,0,0,0
$GC,9477,-0.54,-219.0,912.7,-6.2,753,9482,0.00,2.35,0.00,0.000,4,0.000,0.048,2125,3776,3720,0,0,0,0,0,0
$GC,9568,-0.54,-219.0,918.7,-7.4,757,9572,0.00,2.22,0.00,0.000,6,0.000,0.029,2125,2312,3719,0,0,0,0,0,0
$STATE,9618,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9618,begin apogee
$GC,9625,-0.13,0.0,921.6,5.9,760,9798,0.40,0.00,168.15,1.032,4,0.063,0.000,2288,2137,2869,0,0,0,0,0,0
$STATE,9798,end apogee,CONTROL_FINISHED_OK
$STATE,9798,begin climb
$GC,9801,0.54,219.0,927.7,0.0,768,9987,0.57,2.35,176.12,1.010,4,0.046,0.044,2514,3542,1976,0,0,0,0,0,0
$GC,10138,0.54,219.0,890.7,15.5,784,10143,0.00,2.22,0.00,0.000,6,0.000,0.030,2524,2134,1974,0,0,0,0,0,0
$GC,10466,0.54,219.0,846.7,12.8,800,10470,0.00,2.20,0.00,0.000,4,0.000,0.043,2525,3535,1973,0,0,0,0,0,0
$GC,10594,0.54,219.0,829.4,12.5,805,10604,0.15,2.17,0.00,0.000,6,0.183,0.031,2498,2111,1972,0,0,0,0,0,0
$GC,10912,0.64,296.3,800.1,9.0,821,10975,0.00,0.00,60.90,0.948,6,0.000,0.000,2498,2111,1661,0,0,0,0,0,0
$GC,11284,0.71,358.3,764.8,9.5,839,11340,0.15,2.38,49.05,0.919,4,0.080,0.044,2562,3529,1407,0,0,0,0,0,0
$GC,11384,0.71,358.3,749.8,16.1,843,11391,0.00,2.20,0.00,0.000,6,0.000,0.030,2572,2122,1406,0,0,0,0,0,0
$GC,11700,0.71,358.3,698.5,16.9,859,11704,0.00,2.17,0.00,0.000,4,0.000,0.039,2583,705,1410,0,0,0,0,0,0
$GC,11733,0.71,358.3,692.7,16.9,860,11740,0.12,2.22,0.00,0.000,6,0.158,0.034,2551,2134,1410,0,0,0,0,0,0
$GC,12049,0.71,358.3,643.0,16.0,876,12053,0.00,2.20,0.00,0.000,4,0.000,0.046,2551,3543,1412,0,0,0,0,0,0
$GC,12123,0.71,358.3,630.9,16.0,879,12127,0.00,2.15,0.00,0.000,6,0.000,0.030,2559,2135,1411,0,0,0,0,0,0
$GC,12439,0.71,358.3,582.6,15.1,894,12443,0.00,2.17,0.00,0.000,4,0.000,0.039,2570,715,1411,0,0,0,0,0,0
$GC,12494,0.71,358.3,574.2,15.0,896,12498,0.00,2.20,0.00,0.000,6,0.000,0.034,2569,2142,1411,0,0,0,0,0,0
$GC,12817,0.71,358.3,526.6,14.8,912,12821,0.00,2.17,0.00,0.000,4,0.000,0.045,2570,3540,1411,0,0,0,0,0,0
$GC,12882,0.71,358.3,515.7,15.9,915,12887,0.00,2.12,0.00,0.000,6,0.000,0.031,2579,2144,1411,0,0,0,0,0,0
$GC,13208,0.71,358.3,464.8,15.7,940,13212,0.00,2.17,0.00,0.000,4,0.000,0.039,2590,716,1411,0,0,0,0,0,0
$GC,13264,0.71,358.3,455.6,15.5,944,13272,0.15,2.22,0.00,0.000,6,0.150,0.035,2550,2153,1411,0,0,0,0,0,0
$GC,13591,0.71,359.6,415.0,11.7,975,13595,0.00,2.15,0.00,0.000,4,0.000,0.044,2550,3538,1411,0,0,0,0,0,0
$GC,13669,0.71,359.6,405.0,12.4,981,13676,0.00,2.08,0.00,0.000,6,0.000,0.031,2557,2170,1412,0,0,0,0,0,0
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$GC,16609,1.26,800.3,48.4,15.7,1359,16616,0.00,2.10,1.20,0.083,4,0.000,0.040,2751,3532,441,0,0,0,0,0,0
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$GC,16791,1.26,800.3,20.3,13.9,1390,16798,0.00,2.22,0.00,0.000,4,0.000,0.038,2729,714,439,0,0,0,0,0,0
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$STATE,16929,end climb,SURFACE_DEPTH_REACHED
$STATE,16929,begin surface coast
$FINISH,0.4,1.008443
$STATE,16958,end surface coast,CONTROL_FINISHED_OK
$STATE,16958,begin surface
$SM_CCo,17036,0.00,0.000,0,0,441,595.59
$SM_GC,1.22,6.55,0.00,0.00,0.036,0.000,0.000,207,2621,441,-6.51,0.59,595.59,0,0,0,0,0,0
$IRIDIUM_FIX,1938.95,12015.39,040911,090904
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.58
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,23.5,73.328
$10V_AH,9.8,62.849
$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,17.075,184.075,643.725,0.000,0.000,30.122,24.781,147.214,0.500,0.000,13.810,3397.829,9980.931,767.478,2851.805,373.803,0.000,2229.880,0.000,2613.840,0.000,0.539,0.000
$DEVICE_MAMPS,224.910,49.725,1031.985,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,982.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323040
$DATA_FILE_SIZE,80306,1419
$CAP_FILE_SIZE,193129,0
$CFSIZE,260165632,209367040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040911,190501,1943.618,12007.215,36,1.6,36,-2.2