version: 66.09
glider: 181
mission: 6
dive: 714
start: 10 26 111 0 32 47
data:
$ID,181
$MISSION,6
$DIVE,714
$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,-41504.848
$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,44
$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
$GPS1,261011,002607,2144.485,12004.216,27,1.6,27,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-69.2
$GPS2,261011,003220,2144.668,12004.213,15,1.6,15,-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,184.0,305054,-14.3,-10.312
$D_GRID,2422
$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,16,-0.61,-219.0,0.0,0.0,0,86,0.00,0.00,-67.80,0.000,2,0.000,0.000,127,2504,2352,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.1,-2.6,12,138,8.52,0.80,-34.20,0.000,4,0.220,0.063,2169,1968,3763,0,0,0,0,0,0
$GC,248,-0.48,-219.0,38.3,-22.1,39,255,0.15,0.80,0.00,0.000,6,0.133,0.039,2214,2488,3764,0,0,0,0,0,0
$GC,595,-0.39,-219.0,100.1,-16.2,100,602,0.12,0.82,0.00,0.000,4,0.164,0.040,2248,3026,3762,0,0,0,0,0,0
$GC,644,-0.38,-219.0,106.8,-12.6,108,650,0.00,0.77,0.00,0.000,6,0.000,0.026,2247,2470,3762,0,0,0,0,0,0
$GC,990,-0.50,-219.0,140.4,-9.9,169,998,0.10,0.88,0.00,0.000,4,0.092,0.037,2198,3040,3763,0,0,0,0,0,0
$GC,1085,-0.53,-219.0,149.8,-10.5,185,1091,0.00,0.75,0.00,0.000,6,0.000,0.025,2198,2497,3763,0,0,0,0,0,0
$GC,1431,-0.59,-219.0,182.1,-9.1,246,1438,0.00,0.80,0.00,0.000,4,0.000,0.037,2196,3031,3763,0,0,0,0,0,0
$GC,1554,-0.65,-219.0,193.2,-9.1,267,1561,0.00,0.73,0.00,0.000,6,0.000,0.025,2195,2497,3763,0,0,0,0,0,0
$GC,1886,-0.74,-219.0,223.0,-9.3,304,1888,0.17,0.00,0.00,0.000,6,0.063,0.000,2093,2497,3763,0,0,0,0,0,0
$GC,2205,-0.62,-219.0,271.4,-15.8,334,2210,0.25,0.82,0.00,0.000,4,0.140,0.034,2169,3027,3762,0,0,0,0,0,0
$GC,2296,-0.59,-219.0,281.2,-9.3,342,2301,0.00,0.73,0.00,0.000,6,0.000,0.027,2169,2504,3762,0,0,0,0,0,0
$GC,2628,-0.57,-219.0,314.1,-9.3,373,2632,0.00,0.80,0.00,0.000,4,0.000,0.039,2166,3030,3760,0,0,0,0,0,0
$GC,2756,-0.55,-219.0,325.7,-8.8,384,2760,0.08,0.75,0.00,0.000,6,0.117,0.027,2193,2494,3759,0,0,0,0,0,0
$GC,3087,-0.65,-219.0,350.2,-8.5,415,3090,0.00,0.82,0.00,0.000,4,0.000,0.041,2193,3037,3757,0,0,0,0,0,0
$GC,3149,-0.75,-219.0,355.9,-9.0,420,3156,0.15,0.75,0.00,0.000,6,0.041,0.027,2099,2501,3755,0,0,0,0,0,0
$GC,3475,-0.65,-219.0,405.0,-15.8,451,3479,0.22,0.73,0.00,0.000,4,0.139,0.022,2164,1965,3752,0,0,0,0,0,0
$GC,3498,-0.59,-219.0,408.2,-14.6,453,3502,0.00,0.80,0.00,0.000,6,0.000,0.038,2164,2497,3753,0,0,0,0,0,0
$GC,3830,-0.66,-219.0,439.7,-8.8,484,3833,0.00,0.70,0.00,0.000,4,0.000,0.027,2164,1982,3750,0,0,0,0,0,0
$GC,3933,-0.70,-219.0,448.6,-8.8,493,3936,0.00,0.77,0.00,0.000,6,0.000,0.038,2164,2496,3749,0,0,0,0,0,0
$GC,4264,-0.78,-219.0,479.4,-10.5,524,4268,0.12,0.73,0.00,0.000,4,0.082,0.029,2091,1984,3746,0,0,0,0,0,0
$GC,4292,-0.79,-219.0,482.9,-11.7,526,4299,0.10,0.77,0.00,0.000,6,0.126,0.039,2121,2492,3746,0,0,0,0,0,0
$GC,4615,-0.73,-219.0,527.7,-14.2,548,4619,0.00,0.80,0.00,0.000,4,0.000,0.043,2119,3021,3743,0,0,0,0,0,0
$GC,4807,-0.66,-219.0,555.2,-14.0,556,4811,0.12,0.75,0.00,0.000,6,0.128,0.028,2161,2499,3741,0,0,0,0,0,0
$GC,5130,-0.73,-219.0,589.4,-10.2,572,5134,0.00,0.82,0.00,0.000,4,0.000,0.042,2158,3032,3739,0,0,0,0,0,0
$GC,5210,-0.77,-219.0,597.9,-10.1,575,5214,0.00,0.77,0.00,0.000,6,0.000,0.028,2159,2498,3738,0,0,0,0,0,0
$GC,5533,-0.85,-219.0,627.9,-8.6,591,5537,0.17,0.85,0.00,0.000,4,0.070,0.042,2071,3029,3735,0,0,0,0,0,0
$GC,5653,-0.73,-219.0,643.7,-15.7,596,5657,0.20,0.77,0.00,0.000,6,0.139,0.028,2134,2492,3734,0,0,0,0,0,0
$GC,5982,-0.69,-219.0,676.5,-9.7,612,5986,0.00,0.82,0.00,0.000,4,0.000,0.044,2131,3024,3732,0,0,0,0,0,0
$GC,6034,-0.65,-219.0,682.1,-10.4,614,6038,0.10,0.75,0.00,0.000,6,0.127,0.029,2164,2505,3731,0,0,0,0,0,0
$GC,6365,-0.73,-219.0,707.4,-7.8,630,6368,0.00,0.80,0.00,0.000,4,0.000,0.044,2164,3020,3730,0,0,0,0,0,0
$GC,6466,-0.79,-219.0,715.7,-7.8,634,6470,0.10,0.75,0.00,0.000,6,0.048,0.029,2101,2504,3729,0,0,0,0,0,0
$GC,6788,-0.79,-219.0,749.1,-10.7,650,6792,0.00,0.73,0.00,0.000,4,0.000,0.031,2101,1972,3727,0,0,0,0,0,0
$GC,6835,-0.77,-219.0,754.4,-11.5,652,6838,0.00,0.80,0.00,0.000,6,0.000,0.038,2098,2494,3727,0,0,0,0,0,0
$GC,7169,-0.70,-219.0,802.0,-14.8,668,7173,0.17,0.85,0.00,0.000,4,0.145,0.046,2145,3029,3725,0,0,0,0,0,0
$GC,7269,-0.68,-219.0,814.4,-11.4,672,7273,0.00,0.77,0.00,0.000,6,0.000,0.030,2145,2498,3724,0,0,0,0,0,0
$GC,7593,-0.67,-219.0,849.7,-10.7,688,7596,0.00,0.82,0.00,0.000,4,0.000,0.046,2142,3023,3723,0,0,0,0,0,0
$GC,7684,-0.65,-219.0,859.9,-10.8,692,7688,0.00,0.75,0.00,0.000,6,0.000,0.029,2142,2501,3722,0,0,0,0,0,0
$GC,8019,-0.63,-219.0,893.3,-9.7,708,8023,0.10,0.85,0.00,0.000,4,0.156,0.046,2166,3024,3721,0,0,0,0,0,0
$GC,8080,-0.65,-219.0,898.9,-8.2,710,8086,0.00,0.75,0.00,0.000,6,0.000,0.029,2166,2504,3720,0,0,0,0,0,0
$GC,8397,-0.74,-219.0,922.1,-7.2,726,8400,0.00,0.80,0.00,0.000,4,0.000,0.044,2166,3016,3719,0,0,0,0,0,0
$GC,8517,-0.82,-219.0,930.3,-6.7,731,8521,0.12,0.75,0.00,0.000,6,0.048,0.028,2097,2504,3719,0,0,0,0,0,0
$GC,8846,-0.75,-219.0,969.2,-12.7,747,8848,0.12,0.00,0.00,0.000,6,0.155,0.000,2131,2500,3717,0,0,0,0,0,0
$STATE,9068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9068,begin apogee
$GC,9076,-0.19,0.0,991.3,9.7,758,9248,0.52,0.00,166.52,1.063,6,0.117,0.000,2301,2081,2869,0,0,0,0,0,0
$STATE,9249,end apogee,CONTROL_FINISHED_OK
$STATE,9249,begin climb
$GC,9253,0.61,219.0,1001.6,0.0,766,9437,0.73,0.75,174.80,1.048,4,0.045,0.028,2594,1585,1975,0,0,0,0,0,0
$GC,9634,0.50,219.0,966.5,13.8,783,9641,0.17,0.80,0.00,0.000,6,0.151,0.032,2543,2116,1973,0,0,0,0,0,0
$GC,9952,0.44,219.6,932.2,10.3,799,9955,0.00,0.73,0.00,0.000,4,0.000,0.037,2543,2611,1973,0,0,0,0,0,0
$GC,10058,0.36,219.6,920.3,10.7,803,10065,0.15,0.75,0.00,0.000,6,0.149,0.029,2499,2099,1973,0,0,0,0,0,0
$GC,10378,0.47,319.4,895.9,7.1,819,10463,0.00,0.85,78.97,0.994,4,0.000,0.034,2499,2619,1566,0,0,0,0,0,0
$GC,10549,0.58,415.0,883.4,7.3,826,10635,0.15,0.77,76.53,0.973,6,0.049,0.031,2572,2104,1178,0,0,0,0,0,0
$GC,10952,0.58,424.5,843.9,10.0,846,10967,0.00,0.77,10.73,0.850,4,0.000,0.032,2572,2632,1140,0,0,0,0,0,0
$GC,11054,0.56,424.5,833.0,11.2,850,11058,0.00,0.80,0.00,0.000,6,0.000,0.028,2576,2092,1140,0,0,0,0,0,0
$GC,11377,0.55,424.5,797.5,11.2,866,11380,0.00,0.80,0.00,0.000,4,0.000,0.035,2575,2622,1140,0,0,0,0,0,0
$GC,11417,0.53,424.5,792.6,11.9,867,11424,0.10,0.77,0.00,0.000,6,0.122,0.029,2546,2096,1140,0,0,0,0,0,0
$GC,11734,0.56,436.1,760.1,9.9,883,11748,0.00,0.77,11.25,0.828,4,0.000,0.031,2546,2632,1090,0,0,0,0,0,0
$GC,11779,0.59,445.8,755.6,10.0,885,11793,0.00,0.80,9.75,0.782,6,0.000,0.031,2547,2095,1050,0,0,0,0,0,0
$GC,12113,0.67,450.5,721.9,10.2,901,12124,0.12,0.77,5.43,0.662,4,0.087,0.032,2611,1574,1031,0,0,0,0,0,0
$GC,12163,0.66,450.5,715.6,11.9,903,12167,0.00,0.77,0.00,0.000,6,0.000,0.031,2611,2096,1031,0,0,0,0,0,0
$GC,12492,0.62,450.5,672.2,13.2,919,12496,0.12,0.80,0.00,0.000,4,0.152,0.033,2578,1569,1030,0,0,0,0,0,0
$GC,12624,0.61,450.5,656.4,11.8,924,12630,0.00,0.80,0.00,0.000,6,0.000,0.031,2578,2107,1030,0,0,0,0,0,0
$GC,12940,0.61,450.5,618.7,11.9,940,12943,0.00,0.77,0.00,0.000,4,0.000,0.033,2581,1578,1030,0,0,0,0,0,0
$GC,13025,0.60,450.5,608.1,12.8,943,13032,0.00,0.77,0.00,0.000,6,0.000,0.031,2581,2097,1030,0,0,0,0,0,0
$GC,13343,0.60,450.5,569.8,11.8,959,13346,0.00,0.77,0.00,0.000,4,0.000,0.034,2584,1573,1030,0,0,0,0,0,0
$GC,13443,0.58,450.5,557.0,12.1,963,13447,0.00,0.77,0.00,0.000,6,0.000,0.030,2584,2097,1030,0,0,0,0,0,0
$GC,13767,0.61,450.5,520.7,11.4,979,13768,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2098,1030,0,0,0,0,0,0
$GC,14078,0.67,450.5,485.3,11.1,1000,14082,0.00,0.77,0.00,0.000,4,0.000,0.037,2584,2623,1030,0,0,0,0,0,0
$GC,14152,0.67,450.5,476.8,11.5,1006,14159,0.00,0.77,0.00,0.000,6,0.000,0.031,2586,2098,1030,0,0,0,0,0,0
$GC,14478,0.70,450.5,441.4,10.7,1037,14482,0.00,0.75,0.00,0.000,4,0.000,0.036,2590,1582,1030,0,0,0,0,0,0
$GC,14541,0.72,450.5,434.6,11.0,1042,14548,0.00,0.77,0.00,0.000,6,0.000,0.031,2590,2096,1030,0,0,0,0,0,0
$GC,14867,0.78,450.5,396.5,11.5,1073,14871,0.10,0.80,0.00,0.000,4,0.099,0.038,2644,2625,1031,0,0,0,0,0,0
$GC,14936,0.70,450.5,387.2,14.8,1079,14941,0.12,0.77,0.00,0.000,6,0.143,0.031,2608,2101,1031,0,0,0,0,0,0
$GC,15267,0.72,465.3,349.0,9.8,1110,15284,0.00,0.82,12.95,0.640,4,0.000,0.036,2610,1572,971,0,0,0,0,0,0
$GC,15384,0.70,465.3,337.3,10.7,1119,15391,0.00,0.80,0.00,0.000,6,0.000,0.030,2611,2107,974,0,0,0,0,0,0
$GC,15711,0.74,480.2,305.6,9.8,1150,15734,0.00,0.85,13.73,0.601,4,0.000,0.033,2613,1566,910,0,0,0,0,0,0
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$GC,16196,0.83,493.6,254.9,10.0,1194,16210,0.00,0.77,9.88,0.535,6,0.000,0.031,2617,2098,856,0,0,0,0,0,0
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$GC,17405,1.09,567.2,125.9,9.2,1363,17438,0.22,0.85,26.92,0.501,4,0.060,0.032,2752,2639,555,0,0,0,0,0,0
$GC,17621,1.03,567.2,98.7,13.7,1400,17628,0.15,0.80,0.00,0.000,6,0.132,0.030,2708,2095,555,0,0,0,0,0,0
$GC,17970,1.19,659.3,68.5,7.4,1461,18001,0.15,0.77,22.50,0.478,4,0.070,0.035,2794,1574,439,0,0,0,0,0,0
$GC,18257,1.12,659.3,32.9,14.5,1511,18264,0.17,0.77,0.00,0.000,6,0.123,0.028,2738,2114,440,0,0,0,0,0,0
$STATE,18534,end climb,SURFACE_DEPTH_REACHED
$STATE,18534,begin surface coast
$FINISH,0.8,1.013586
$STATE,18565,end surface coast,CONTROL_FINISHED_OK
$STATE,18565,begin surface
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$IRIDIUM_FIX,2136.49,12005.70,251011,191956
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.16
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.60
$XPDR_PINGS,1
$24V_AH,23.8,118.592
$10V_AH,9.8,86.150
$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
$DEVICE_SECS,21.125,63.925,661.100,0.000,0.000,27.206,24.862,153.545,0.250,0.000,17.916,3803.460,10884.215,711.453,3126.352,475.368,0.000,2288.616,0.000,2881.682,0.000,0.541,0.000
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$SENSOR_SECS,1080.348,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322760
$DATA_FILE_SIZE,90302,1565
$CAP_FILE_SIZE,208306,0
$CFSIZE,260165632,187035648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261011,054437,2144.521,12004.917,28,1.1,28,-2.6