version: 66.09
glider: 181
mission: 6
dive: 706
start: 10 24 111 5 6 59
data:
$ID,181
$MISSION,6
$DIVE,706
$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,320
$T_MISSION,350
$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,0
$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,-41494.305
$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,2375
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,42
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,15
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,241011,050030,2144.312,12002.344,34,1.7,34,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.2
$GPS2,241011,050632,2144.498,12002.253,13,1.3,13,-2.6
$SPEED_LIMITS,0.179,0.314
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.206,0.235
$KALMAN_X,28223.1,-227.3,-456.5,-48601.6,-2485.5
$KALMAN_Y,68902.1,-606.5,-201.3,102840.5,390.9
$MHEAD_RNG_PITCHd_Wd,183.3,304676,-14.3,-10.312
$D_GRID,2568
$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,-0.61,-219.0,0.0,0.0,0,86,0.00,0.00,-67.12,0.000,2,0.000,0.000,195,2489,2330,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.4,-3.0,12,137,8.27,0.77,-32.60,0.000,4,0.222,0.064,2169,1943,3764,0,0,0,0,0,0
$GC,236,-0.48,-219.0,35.8,-22.8,37,243,0.15,0.82,0.00,0.000,6,0.138,0.036,2213,2487,3765,0,0,0,0,0,0
$GC,583,-0.39,-219.0,104.8,-18.0,98,590,0.12,0.75,0.00,0.000,4,0.163,0.025,2248,1935,3763,0,0,0,0,0,0
$GC,676,-0.39,-219.0,116.2,-10.4,114,683,0.00,0.85,0.00,0.000,6,0.000,0.033,2247,2504,3763,0,0,0,0,0,0
$GC,1023,-0.51,-219.0,146.3,-9.1,175,1030,0.10,0.77,0.00,0.000,4,0.093,0.037,2177,3027,3764,0,0,0,0,0,0
$GC,1073,-0.53,-219.0,151.3,-10.3,183,1079,0.00,0.75,0.00,0.000,6,0.000,0.024,2177,2484,3764,0,0,0,0,0,0
$GC,1421,-0.56,-219.0,186.7,-9.5,244,1428,0.00,0.65,0.00,0.000,4,0.000,0.025,2178,1969,3764,0,0,0,0,0,0
$GC,1447,-0.58,-219.0,189.5,-9.5,248,1454,0.00,0.77,0.00,0.000,6,0.000,0.033,2175,2499,3764,0,0,0,0,0,0
$GC,1780,-0.64,-219.0,221.0,-9.9,288,1784,0.00,0.77,0.00,0.000,4,0.000,0.037,2171,3029,3764,0,0,0,0,0,0
$GC,1872,-0.68,-219.0,230.4,-10.1,296,1876,0.00,0.73,0.00,0.000,6,0.000,0.025,2172,2499,3764,0,0,0,0,0,0
$GC,2204,-0.75,-219.0,261.4,-9.1,327,2208,0.12,0.70,0.00,0.000,4,0.080,0.026,2088,1972,3764,0,0,0,0,0,0
$GC,2284,-0.64,-219.0,271.3,-14.1,334,2288,0.25,0.77,0.00,0.000,6,0.120,0.035,2164,2489,3763,0,0,0,0,0,0
$GC,2615,-0.62,-219.0,304.7,-10.0,365,2618,0.00,0.80,0.00,0.000,4,0.000,0.039,2162,3030,3762,0,0,0,0,0,0
$GC,2717,-0.59,-219.0,315.4,-11.0,374,2721,0.00,0.73,0.00,0.000,6,0.000,0.026,2162,2505,3761,0,0,0,0,0,0
$GC,3049,-0.65,-219.0,346.8,-8.7,405,3053,0.00,0.80,0.00,0.000,4,0.000,0.039,2158,3028,3759,0,0,0,0,0,0
$GC,3085,-0.70,-219.0,349.7,-8.7,408,3089,0.00,0.73,0.00,0.000,6,0.000,0.028,2159,2510,3758,0,0,0,0,0,0
$GC,3417,-0.77,-219.0,377.0,-8.1,439,3420,0.00,0.80,0.00,0.000,4,0.000,0.040,2156,3029,3755,0,0,0,0,0,0
$GC,3493,-0.79,-219.0,383.2,-8.1,445,3500,0.08,0.75,0.00,0.000,6,0.050,0.027,2096,2501,3754,0,0,0,0,0,0
$GC,3819,-0.78,-219.0,415.7,-9.7,476,3822,0.00,0.80,0.00,0.000,4,0.000,0.040,2093,3022,3751,0,0,0,0,0,0
$GC,3844,-0.75,-219.0,418.2,-9.9,478,3849,0.10,0.75,0.00,0.000,6,0.122,0.028,2128,2497,3751,0,0,0,0,0,0
$GC,4176,-0.70,-219.0,453.0,-10.4,509,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2497,3749,0,0,0,0,0,0
$GC,4497,-0.64,-219.0,489.9,-12.1,539,4502,0.15,0.82,0.00,0.000,4,0.147,0.041,2170,3015,3746,0,0,0,0,0,0
$GC,4555,-0.64,-219.0,496.1,-9.4,544,4559,0.00,0.75,0.00,0.000,6,0.000,0.028,2170,2491,3746,0,0,0,0,0,0
$GC,4890,-0.73,-219.0,525.4,-8.8,562,4894,0.00,0.82,0.00,0.000,4,0.000,0.041,2167,3021,3743,0,0,0,0,0,0
$GC,4998,-0.78,-219.0,535.1,-9.1,566,5005,0.10,0.75,0.00,0.000,6,0.049,0.027,2099,2495,3741,0,0,0,0,0,0
$GC,5315,-0.70,-219.0,577.3,-13.7,582,5320,0.17,0.73,0.00,0.000,4,0.142,0.028,2149,1977,3739,0,0,0,0,0,0
$GC,5348,-0.67,-219.0,581.4,-11.4,583,5352,0.00,0.80,0.00,0.000,6,0.000,0.037,2147,2498,3739,0,0,0,0,0,0
$GC,5671,-0.65,-219.0,613.6,-9.9,599,5674,0.00,0.80,0.00,0.000,4,0.000,0.044,2143,3024,3736,0,0,0,0,0,0
$GC,5779,-0.62,-219.0,624.3,-9.7,603,5785,0.00,0.75,0.00,0.000,6,0.000,0.028,2143,2500,3736,0,0,0,0,0,0
$GC,6096,-0.60,-219.0,653.4,-9.1,619,6100,0.12,0.85,0.00,0.000,4,0.145,0.043,2177,3030,3733,0,0,0,0,0,0
$GC,6192,-0.67,-219.0,660.7,-7.4,623,6195,0.00,0.75,0.00,0.000,6,0.000,0.028,2177,2505,3733,0,0,0,0,0,0
$GC,6520,-0.78,-219.0,685.2,-7.9,639,6524,0.15,0.82,0.00,0.000,4,0.080,0.041,2107,3026,3731,0,0,0,0,0,0
$GC,6627,-0.71,-219.0,697.1,-13.9,643,6634,0.10,0.75,0.00,0.000,6,0.127,0.028,2140,2510,3730,0,0,0,0,0,0
$GC,6945,-0.69,-219.0,729.9,-10.2,659,6949,0.00,0.80,0.00,0.000,4,0.000,0.044,2138,3021,3728,0,0,0,0,0,0
$GC,7025,-0.66,-219.0,738.6,-10.6,662,7029,0.00,0.77,0.00,0.000,6,0.000,0.028,2138,2485,3728,0,0,0,0,0,0
$GC,7347,-0.64,-219.0,771.5,-10.1,678,7351,0.00,0.85,0.00,0.000,4,0.000,0.045,2138,3021,3726,0,0,0,0,0,0
$GC,7491,-0.62,-219.0,785.6,-9.5,684,7495,0.10,0.75,0.00,0.000,6,0.125,0.028,2171,2503,3725,0,0,0,0,0,0
$GC,7820,-0.72,-219.0,809.2,-6.8,700,7821,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2502,3723,0,0,0,0,0,0
$GC,8129,-0.82,-219.0,829.4,-6.4,715,8133,0.17,0.85,0.00,0.000,4,0.075,0.042,2093,3034,3722,0,0,0,0,0,0
$GC,8221,-0.74,-219.0,838.8,-12.2,719,8226,0.10,0.77,0.00,0.000,6,0.132,0.029,2126,2504,3720,0,0,0,0,0,0
$GC,8558,-0.71,-219.0,875.1,-11.0,735,8562,0.00,0.82,0.00,0.000,4,0.000,0.044,2124,3027,3720,0,0,0,0,0,0
$GC,8664,-0.67,-219.0,887.7,-11.1,739,8672,0.10,0.77,0.00,0.000,6,0.130,0.028,2157,2494,3719,0,0,0,0,0,0
$GC,8984,-0.74,-219.0,916.0,-8.6,755,8988,0.00,0.70,0.00,0.000,4,0.000,0.029,2157,1979,3718,0,0,0,0,0,0
$GC,9058,-0.82,-219.0,922.7,-8.5,758,9062,0.10,0.80,0.00,0.000,6,0.054,0.039,2096,2498,3718,0,0,0,0,0,0
$GC,9388,-0.83,-219.0,955.8,-10.0,774,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2498,3716,0,0,0,0,0,0
$GC,9694,-0.85,-219.0,987.7,-10.4,789,9695,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2498,3715,0,0,0,0,0,0
$STATE,9732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9732,begin apogee
$GC,9739,-0.19,0.0,991.9,10.3,791,9911,0.65,0.00,166.93,1.069,6,0.101,0.000,2313,2098,2869,0,0,0,0,0,0
$STATE,9912,end apogee,CONTROL_FINISHED_OK
$STATE,9912,begin climb
$GC,9915,0.61,219.0,1005.9,0.0,799,10098,0.70,0.85,175.60,1.056,4,0.051,0.038,2581,2625,1976,0,0,0,0,0,0
$GC,10132,0.50,219.0,997.9,11.1,809,10139,0.15,0.80,0.00,0.000,6,0.154,0.028,2542,2098,1975,0,0,0,0,0,0
$GC,10452,0.48,259.0,968.8,9.0,825,10489,0.00,0.82,33.28,1.007,4,0.000,0.034,2544,1572,1812,0,0,0,0,0,0
$GC,10549,0.43,260.5,959.1,10.3,828,10553,0.08,0.82,0.00,0.000,6,0.149,0.031,2520,2109,1810,0,0,0,0,0,0
$GC,10873,0.45,296.8,929.9,9.2,844,10908,0.00,0.80,30.65,0.990,4,0.000,0.034,2521,2627,1658,0,0,0,0,0,0
$GC,11101,0.43,307.5,907.8,10.0,854,11119,0.00,0.80,10.57,0.877,6,0.000,0.030,2522,2090,1614,0,0,0,0,0,0
$GC,11429,0.46,326.3,876.3,9.7,870,11452,0.00,0.88,16.88,0.922,4,0.000,0.035,2523,2633,1537,0,0,0,0,0,0
$GC,11522,0.46,327.1,867.3,10.3,874,11526,0.00,0.77,0.00,0.000,6,0.000,0.030,2525,2111,1538,0,0,0,0,0,0
$GC,11855,0.51,365.1,836.2,9.1,890,11892,0.00,0.82,32.62,0.943,4,0.000,0.035,2530,1582,1380,0,0,0,0,0,0
$GC,11909,0.57,419.9,831.2,8.6,891,11958,0.00,0.80,44.72,0.936,6,0.000,0.031,2530,2099,1157,0,0,0,0,0,0
$GC,12267,0.68,445.3,797.2,9.5,909,12292,0.17,0.00,22.17,0.894,6,0.076,0.000,2609,2099,1053,0,0,0,0,0,0
$GC,12601,0.64,445.3,753.6,13.3,925,12605,0.00,0.80,0.00,0.000,4,0.000,0.040,2609,2619,1052,0,0,0,0,0,0
$GC,12769,0.60,445.3,729.8,14.2,932,12774,0.12,0.77,0.00,0.000,6,0.135,0.028,2572,2092,1052,0,0,0,0,0,0
$GC,13092,0.60,445.3,695.5,10.5,948,13096,0.00,0.80,0.00,0.000,4,0.000,0.034,2572,2625,1051,0,0,0,0,0,0
$GC,13139,0.58,445.3,690.3,11.3,950,13143,0.00,0.77,0.00,0.000,6,0.000,0.029,2573,2096,1051,0,0,0,0,0,0
$GC,13473,0.58,445.3,654.9,10.6,966,13477,0.00,0.80,0.00,0.000,4,0.000,0.034,2573,2631,1051,0,0,0,0,0,0
$GC,13500,0.58,445.3,651.6,11.1,967,13503,0.00,0.77,0.00,0.000,6,0.000,0.028,2576,2101,1051,0,0,0,0,0,0
$GC,13827,0.58,445.3,616.2,10.8,983,13831,0.00,0.75,0.00,0.000,4,0.000,0.035,2580,1586,1051,0,0,0,0,0,0
$GC,13851,0.58,445.3,613.5,10.7,984,13854,0.00,0.77,0.00,0.000,6,0.000,0.031,2580,2101,1051,0,0,0,0,0,0
$GC,14185,0.58,445.3,577.5,10.7,1000,14188,0.00,0.77,0.00,0.000,4,0.000,0.037,2579,2630,1051,0,0,0,0,0,0
$GC,14327,0.56,445.3,560.5,12.0,1006,14331,0.00,0.77,0.00,0.000,6,0.000,0.030,2583,2104,1051,0,0,0,0,0,0
$GC,14656,0.58,445.3,523.9,11.0,1022,14657,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2104,1051,0,0,0,0,0,0
$GC,14967,0.62,445.3,490.7,10.7,1041,14970,0.00,0.75,0.00,0.000,4,0.000,0.036,2587,1588,1051,0,0,0,0,0,0
$GC,14996,0.65,445.3,487.6,10.5,1043,15002,0.00,0.77,0.00,0.000,6,0.000,0.029,2586,2112,1051,0,0,0,0,0,0
$GC,15321,0.68,445.3,452.9,10.4,1074,15325,0.00,0.73,0.00,0.000,4,0.000,0.037,2587,2610,1052,0,0,0,0,0,0
$GC,15425,0.68,445.3,441.8,11.3,1083,15429,0.00,0.75,0.00,0.000,6,0.000,0.030,2590,2097,1051,0,0,0,0,0,0
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$GC,16135,0.82,477.5,369.9,9.7,1149,16159,0.12,0.82,17.02,0.638,4,0.089,0.037,2650,2624,922,0,0,0,0,0,0
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$GC,18822,1.03,588.9,78.5,11.1,1491,18828,0.00,0.80,0.00,0.000,6,0.000,0.028,2732,2091,473,0,0,0,0,0,0
$GC,19171,1.08,593.9,42.7,10.2,1552,19184,0.00,0.77,7.28,0.415,4,0.000,0.034,2736,1575,446,0,0,0,0,0,0
$GC,19214,1.10,593.9,37.7,10.5,1559,19221,0.00,0.77,0.00,0.000,6,0.000,0.028,2736,2109,446,0,0,0,0,0,0
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$STATE,19576,end climb,SURFACE_DEPTH_REACHED
$STATE,19576,begin surface coast
$FINISH,0.7,1.020944
$STATE,19610,end surface coast,CONTROL_FINISHED_OK
$STATE,19611,begin surface
$SM_CCo,19689,0.00,0.000,0,0,439,595.83
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$IRIDIUM_FIX,2138.81,12003.69,231011,232323
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.95
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.8,117.138
$10V_AH,9.8,85.336
$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
$DEVICE_SECS,19.850,65.600,661.550,0.000,0.000,29.643,20.649,149.084,0.000,0.000,16.299,3952.277,11691.068,726.513,3176.379,491.964,0.000,2325.088,0.000,2938.581,0.000,0.541,0.000
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$SENSOR_SECS,1127.114,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322768
$DATA_FILE_SIZE,93534,1628
$CAP_FILE_SIZE,215107,0
$CFSIZE,260165632,187809792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241011,103625,2144.016,12002.411,38,1.4,38,-2.6