version: 66.09
glider: 181
mission: 6
dive: 726
start: 10 28 111 19 33 20
data:
$ID,181
$MISSION,6
$DIVE,726
$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,1
$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,-41757.316
$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,48
$R_STBD_OVSHOOT,38
$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
$GPS1,281011,192606,2147.043,12012.513,37,1.1,42,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-64.1
$GPS2,281011,193255,2147.236,12012.574,13,1.8,13,-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,186.7,310503,-14.3,-10.312
$D_GRID,1399
$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,18,-0.61,-219.0,0.0,0.0,0,87,0.00,0.00,-67.15,0.000,2,0.000,0.000,130,2493,2383,0,0,0,0,0,0
$GC,91,-0.61,-219.0,3.4,-3.2,12,138,8.57,0.77,-30.60,0.000,4,0.223,0.065,2171,1959,3765,0,0,0,0,0,0
$GC,226,-0.48,-219.0,33.8,-20.6,35,233,0.15,0.82,0.00,0.000,6,0.138,0.037,2215,2501,3765,0,0,0,0,0,0
$GC,573,-0.40,-219.0,91.4,-15.3,96,580,0.00,0.75,0.00,0.000,4,0.000,0.024,2215,1946,3763,0,0,0,0,0,0
$GC,689,-0.36,-219.0,107.4,-12.8,116,696,0.12,0.82,0.00,0.000,6,0.114,0.033,2256,2495,3763,0,0,0,0,0,0
$GC,1036,-0.49,-219.0,141.1,-10.9,177,1044,0.12,0.77,0.00,0.000,4,0.084,0.028,2207,1936,3764,0,0,0,0,0,0
$GC,1301,-0.64,-219.0,164.7,-8.5,223,1308,0.10,0.85,0.00,0.000,6,0.054,0.033,2154,2507,3763,0,0,0,0,0,0
$GC,1650,-0.67,-219.0,195.3,-8.8,284,1657,0.00,0.77,0.00,0.000,4,0.000,0.024,2154,1929,3763,0,0,0,0,0,0
$GC,1733,-0.65,-219.0,203.6,-10.7,296,1737,0.00,0.85,0.00,0.000,6,0.000,0.032,2152,2502,3763,0,0,0,0,0,0
$GC,2064,-0.59,-219.0,248.9,-12.6,327,2069,0.12,0.80,0.00,0.000,4,0.150,0.039,2184,3027,3763,0,0,0,0,0,0
$GC,2172,-0.59,-219.0,258.9,-8.5,336,2179,0.00,0.77,0.00,0.000,6,0.000,0.025,2184,2472,3763,0,0,0,0,0,0
$GC,2498,-0.66,-219.0,284.8,-8.8,367,2502,0.00,0.82,0.00,0.000,4,0.000,0.037,2182,3018,3762,0,0,0,0,0,0
$GC,2590,-0.71,-219.0,293.0,-9.3,375,2595,0.08,0.73,0.00,0.000,6,0.051,0.026,2119,2500,3762,0,0,0,0,0,0
$GC,2923,-0.70,-219.0,327.4,-9.3,406,2927,0.12,0.73,0.00,0.000,4,0.130,0.028,2156,1959,3759,0,0,0,0,0,0
$GC,2969,-0.73,-219.0,331.4,-8.5,410,2973,0.00,0.80,0.00,0.000,6,0.000,0.035,2155,2495,3759,0,0,0,0,0,0
$GC,3301,-0.77,-219.0,363.0,-10.3,441,3305,0.00,0.70,0.00,0.000,4,0.000,0.027,2155,1973,3757,0,0,0,0,0,0
$GC,3362,-0.80,-219.0,369.7,-10.7,446,3369,0.08,0.80,0.00,0.000,6,0.054,0.036,2095,2504,3756,0,0,0,0,0,0
$GC,3688,-0.69,-219.0,409.0,-13.9,477,3692,0.20,0.80,0.00,0.000,4,0.140,0.042,2150,3020,3754,0,0,0,0,0,0
$GC,3723,-0.63,-219.0,413.1,-11.9,480,3727,0.00,0.73,0.00,0.000,6,0.000,0.027,2150,2504,3753,0,0,0,0,0,0
$GC,4054,-0.61,-219.0,447.4,-11.2,511,4058,0.00,0.80,0.00,0.000,4,0.000,0.041,2146,3021,3750,0,0,0,0,0,0
$GC,4101,-0.57,-219.0,453.0,-12.5,515,4106,0.12,0.73,0.00,0.000,6,0.116,0.027,2188,2510,3750,0,0,0,0,0,0
$GC,4433,-0.70,-219.0,487.6,-9.4,546,4440,0.12,0.00,0.00,0.000,6,0.084,0.000,2132,2510,3748,0,0,0,0,0,0
$GC,4756,-0.73,-219.0,511.5,-5.6,568,4760,0.00,0.73,0.00,0.000,4,0.000,0.028,2132,1972,3745,0,0,0,0,0,0
$GC,4808,-0.75,-219.0,514.4,-5.3,570,4812,0.00,0.80,0.00,0.000,6,0.000,0.037,2128,2495,3745,0,0,0,0,0,0
$GC,5136,-0.77,-219.0,533.0,-6.5,586,5140,0.00,0.73,0.00,0.000,4,0.000,0.028,2128,1972,3742,0,0,0,0,0,0
$GC,5182,-0.77,-219.0,536.1,-6.4,588,5186,0.00,0.80,0.00,0.000,6,0.000,0.038,2125,2493,3742,0,0,0,0,0,0
$GC,5517,-0.72,-219.0,564.8,-8.8,604,5521,0.00,0.80,0.00,0.000,4,0.000,0.044,2121,3020,3739,0,0,0,0,0,0
$GC,5563,-0.66,-219.0,569.3,-9.6,606,5568,0.10,0.75,0.00,0.000,6,0.132,0.028,2155,2500,3739,0,0,0,0,0,0
$GC,5899,-0.74,-219.0,595.0,-7.8,622,5903,0.00,0.75,0.00,0.000,4,0.000,0.030,2155,1968,3736,0,0,0,0,0,0
$GC,6001,-0.79,-219.0,603.5,-7.9,626,6005,0.08,0.82,0.00,0.000,6,0.054,0.037,2097,2502,3735,0,0,0,0,0,0
$GC,6323,-0.79,-219.0,635.7,-10.0,642,6327,0.00,0.80,0.00,0.000,4,0.000,0.043,2098,3029,3733,0,0,0,0,0,0
$GC,6334,-0.79,-219.0,637.0,-9.9,642,6338,0.00,0.77,0.00,0.000,6,0.000,0.028,2098,2493,3733,0,0,0,0,0,0
$GC,6656,-0.71,-219.0,677.9,-13.4,658,6661,0.17,0.73,0.00,0.000,4,0.145,0.030,2147,1982,3731,0,0,0,0,0,0
$GC,6801,-0.71,-219.0,692.7,-10.1,664,6805,0.00,0.80,0.00,0.000,6,0.000,0.038,2145,2501,3730,0,0,0,0,0,0
$GC,7129,-0.77,-219.0,720.1,-7.6,680,7133,0.00,0.80,0.00,0.000,4,0.000,0.042,2142,3027,3728,0,0,0,0,0,0
$GC,7232,-0.80,-219.0,727.8,-7.8,684,7235,0.00,0.77,0.00,0.000,6,0.000,0.028,2142,2500,3728,0,0,0,0,0,0
$GC,7554,-0.85,-219.0,751.2,-7.3,700,7558,0.12,0.85,0.00,0.000,4,0.083,0.043,2074,3028,3726,0,0,0,0,0,0
$GC,7716,-0.75,-219.0,772.5,-14.9,707,7721,0.17,0.77,0.00,0.000,6,0.138,0.028,2129,2492,3724,0,0,0,0,0,0
$GC,8046,-0.71,-219.0,807.4,-10.6,723,8050,0.00,0.82,0.00,0.000,4,0.000,0.043,2125,3022,3723,0,0,0,0,0,0
$GC,8120,-0.67,-219.0,815.6,-10.3,726,8125,0.10,0.75,0.00,0.000,6,0.129,0.029,2159,2504,3723,0,0,0,0,0,0
$GC,8450,-0.76,-219.0,840.9,-7.4,742,8454,0.00,0.80,0.00,0.000,4,0.000,0.044,2157,3015,3721,0,0,0,0,0,0
$GC,8497,-0.85,-219.0,844.4,-7.5,744,8501,0.12,0.75,0.00,0.000,6,0.047,0.029,2088,2515,3721,0,0,0,0,0,0
$GC,8833,-0.76,-219.0,887.6,-13.8,760,8837,0.15,0.82,0.00,0.000,4,0.151,0.047,2128,3018,3719,0,0,0,0,0,0
$GC,8912,-0.73,-219.0,897.1,-10.5,763,8916,0.00,0.77,0.00,0.000,6,0.000,0.028,2128,2491,3719,0,0,0,0,0,0
$GC,9233,-0.70,-219.0,930.9,-10.7,779,9237,0.00,0.85,0.00,0.000,4,0.000,0.045,2125,3022,3717,0,0,0,0,0,0
$GC,9358,-0.67,-219.0,944.7,-10.8,784,9362,0.10,0.77,0.00,0.000,6,0.129,0.029,2158,2494,3717,0,0,0,0,0,0
$GC,9682,-0.75,-219.0,971.4,-8.3,800,9685,0.00,0.73,0.00,0.000,4,0.000,0.030,2158,1969,3716,0,0,0,0,0,0
$GC,9790,-0.81,-219.0,980.6,-8.1,804,9797,0.10,0.82,0.00,0.000,6,0.055,0.039,2097,2499,3715,0,0,0,0,0,0
$STATE,9877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9877,begin apogee
$GC,9883,-0.19,0.0,990.4,11.1,809,10057,0.68,0.00,166.45,1.071,6,0.130,0.000,2305,2096,2869,0,0,0,0,0,0
$STATE,10058,end apogee,CONTROL_FINISHED_OK
$STATE,10058,begin climb
$GC,10060,0.61,219.0,1002.5,0.0,817,10246,0.73,0.80,174.85,1.055,4,0.050,0.029,2592,1582,1976,0,0,0,0,0,0
$GC,10431,0.49,219.0,971.8,13.1,834,10436,0.17,0.82,0.00,0.000,6,0.153,0.032,2541,2118,1973,0,0,0,0,0,0
$GC,10762,0.45,240.7,938.1,9.6,850,10785,0.00,0.80,18.55,0.965,4,0.000,0.037,2540,2624,1887,0,0,0,0,0,0
$GC,10955,0.39,240.7,917.9,10.6,858,10959,0.12,0.77,0.00,0.000,6,0.151,0.029,2504,2102,1885,0,0,0,0,0,0
$GC,11278,0.47,315.5,891.5,7.9,874,11340,0.00,0.00,59.83,0.994,6,0.000,0.000,2504,2102,1582,0,0,0,0,0,0
$GC,11649,0.60,392.6,862.2,7.9,892,11716,0.20,0.80,62.10,0.972,4,0.072,0.031,2591,1582,1267,0,0,0,0,0,0
$GC,11769,0.56,392.6,847.8,12.3,897,11774,0.10,0.80,0.00,0.000,6,0.132,0.034,2560,2096,1267,0,0,0,0,0,0
$GC,12091,0.56,392.6,812.4,11.2,913,12095,0.00,0.77,0.00,0.000,4,0.000,0.034,2561,1574,1269,0,0,0,0,0,0
$GC,12222,0.55,392.6,796.8,12.2,918,12229,0.00,0.80,0.00,0.000,6,0.000,0.032,2561,2096,1268,0,0,0,0,0,0
$GC,12540,0.53,392.6,760.4,11.2,934,12543,0.00,0.80,0.00,0.000,4,0.000,0.040,2561,2629,1268,0,0,0,0,0,0
$GC,12714,0.50,392.6,739.0,11.9,941,12720,0.00,0.80,0.00,0.000,6,0.000,0.031,2564,2091,1267,0,0,0,0,0,0
$GC,13031,0.49,392.6,705.3,10.5,957,13033,0.12,0.00,0.00,0.000,6,0.151,0.000,2530,2091,1267,0,0,0,0,0,0
$GC,13340,0.59,437.6,677.8,8.9,972,13383,0.12,0.88,36.30,0.861,4,0.093,0.034,2584,2634,1084,0,0,0,0,0,0
$GC,13433,0.55,437.6,666.7,13.6,976,13437,0.10,0.80,0.00,0.000,6,0.122,0.031,2555,2101,1086,0,0,0,0,0,0
$GC,13767,0.60,437.6,626.8,12.6,992,13771,0.00,0.77,0.00,0.000,4,0.000,0.037,2556,1573,1086,0,0,0,0,0,0
$GC,13820,0.64,437.6,620.2,12.3,994,13824,0.00,0.80,0.00,0.000,6,0.000,0.031,2556,2104,1085,0,0,0,0,0,0
$GC,14149,0.73,470.3,585.2,9.3,1010,14180,0.15,0.82,27.15,0.796,4,0.079,0.037,2628,2631,951,0,0,0,0,0,0
$GC,14189,0.69,470.3,580.9,11.0,1012,14193,0.10,0.80,0.00,0.000,6,0.138,0.032,2599,2106,950,0,0,0,0,0,0
$GC,14524,0.73,511.6,549.3,9.0,1028,14561,0.00,0.85,33.20,0.773,4,0.000,0.036,2599,2632,783,0,0,0,0,0,0
$GC,14656,0.71,511.6,535.0,11.4,1033,14660,0.00,0.80,0.00,0.000,6,0.000,0.031,2601,2098,788,0,0,0,0,0,0
$GC,14973,0.75,511.6,496.5,13.0,1049,14983,0.00,0.00,3.80,0.491,6,0.000,0.000,2601,2098,782,0,0,0,0,0,0
$GC,15302,0.82,511.6,456.1,11.0,1080,15306,0.10,0.80,0.00,0.000,4,0.102,0.036,2653,2616,782,0,0,0,0,0,0
$GC,15348,0.79,511.6,450.6,12.5,1084,15351,0.00,0.77,0.00,0.000,6,0.000,0.031,2656,2093,782,0,0,0,0,0,0
$GC,15679,0.75,511.6,407.8,12.6,1115,15683,0.15,0.77,0.00,0.000,4,0.150,0.035,2617,1578,782,0,0,0,0,0,0
$GC,15736,0.74,511.6,401.0,11.9,1120,15740,0.00,0.80,0.00,0.000,6,0.000,0.032,2617,2103,782,0,0,0,0,0,0
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$GC,18455,1.05,614.1,90.7,7.9,1455,18502,0.00,0.80,42.20,0.476,4,0.000,0.035,2680,2616,439,0,0,0,0,0,0
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$GC,19039,1.18,614.1,28.4,11.4,1557,19046,0.00,0.77,0.25,0.111,4,0.000,0.028,2763,1572,441,0,0,0,0,0,0
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$STATE,19258,end climb,SURFACE_DEPTH_REACHED
$STATE,19259,begin surface coast
$FINISH,0.5,1.021679
$STATE,19282,end surface coast,CONTROL_FINISHED_OK
$STATE,19282,begin surface
$SM_CCo,19361,0.00,0.000,0,0,443,595.10
$SM_GC,1.39,6.82,0.00,0.00,0.037,0.000,0.000,196,2540,443,-6.70,1.13,595.10,0,0,0,0,0,0
$IRIDIUM_FIX,2143.45,11959.67,281011,141400
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.39
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.8,121.045
$10V_AH,9.7,87.434
$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,21.425,67.150,650.525,0.000,0.000,28.585,42.002,167.123,0.000,0.000,16.946,3909.539,11419.463,711.411,3209.498,502.097,0.000,2311.567,0.000,2932.653,0.000,0.540,0.000
$DEVICE_MAMPS,223.380,65.025,1071.000,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1106.739,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322720
$DATA_FILE_SIZE,93598,1599
$CAP_FILE_SIZE,214490,0
$CFSIZE,260165632,185847808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291011,005707,2146.431,12014.239,25,1.4,25,-2.6