version: 66.04
glider: 5
mission: 5
dive: 364
start: 1 23 109 6 21 9
data:
$ID,5
$MISSION,5
$DIVE,364
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-94546.305
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2832
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.610077
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043761111
$SEABIRD_T_H,0.00064345129
$SEABIRD_T_I,2.5632376e-05
$SEABIRD_T_J,2.7382036e-06
$SEABIRD_C_G,-10.188265
$SEABIRD_C_H,1.1432956
$SEABIRD_C_I,-0.00020702372
$SEABIRD_C_J,0.00012956691
$GPS1,061310,6035.080,-507.790,38,1.8,48,-6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-42.9
$GPS2,062050,6035.165,-507.848,16,1.9,16,-6.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FSC_S
$TGT_LATLONG,6025.000,-500.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.132,-0.177
$KALMAN_X,220775.9,-921.1,-1644.0,-80717.6,25183.1
$KALMAN_Y,135954.9,-405.3,-1430.2,-453990.2,21805.5
$MHEAD_RNG_PITCHd_Wd,166.0,20146,-11.0,-6.000
$D_GRID,990
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.97,-146.6,0.0,0.0,0,178,0.00,0.00,-157.82,0.000,6,0.000,0.000,422,1984,3430
$GC,181,-0.97,-146.6,6.6,-6.8,8,197,10.95,2.62,0.00,0.000,4,0.133,0.065,2523,3404,3429
$GC,260,-0.87,-146.6,26.6,-14.3,10,267,0.15,2.50,0.00,0.000,6,0.090,0.048,2555,2004,3428
$GC,578,-0.87,-146.6,64.8,-11.4,26,582,0.00,2.55,0.00,0.000,4,0.000,0.067,2555,593,3428
$GC,622,-0.87,-146.6,70.7,-13.5,28,626,0.00,2.53,0.00,0.000,6,0.000,0.054,2555,2002,3428
$GC,943,-0.87,-146.6,102.0,-8.5,44,948,0.00,2.60,0.00,0.000,4,0.000,0.067,2555,593,3428
$GC,984,-0.87,-146.6,105.4,-8.6,46,989,0.00,2.47,0.00,0.000,6,0.000,0.054,2555,1979,3428
$GC,1312,-0.87,-146.6,135.4,-10.3,62,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1987,3428
$GC,1620,-0.87,-146.6,168.6,-11.7,77,1625,0.00,2.55,0.00,0.000,4,0.000,0.067,2555,594,3428
$GC,1666,-0.87,-146.6,174.8,-13.6,79,1671,0.00,2.47,0.00,0.000,6,0.000,0.053,2555,1980,3428
$GC,1992,-0.87,-146.6,214.1,-10.8,95,1996,0.00,2.58,0.00,0.000,4,0.000,0.064,2556,3408,3428
$GC,2019,-0.87,-146.6,216.5,-8.9,96,2024,0.00,2.58,0.00,0.000,6,0.000,0.051,2555,1973,3428
$GC,2336,-0.87,-146.6,248.8,-11.7,111,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1972,3427
$GC,2646,-0.87,-146.6,275.3,-8.6,126,2650,0.00,2.62,0.00,0.000,4,0.000,0.062,2555,3410,3428
$GC,2678,-0.87,-146.6,278.4,-8.7,127,2685,0.00,2.58,0.00,0.000,6,0.000,0.052,2555,1975,3428
$GC,2995,-0.87,-146.6,299.8,-6.7,143,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1975,3427
$GC,3303,-0.87,-146.6,319.9,-6.4,158,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1975,3427
$GC,3613,-0.87,-146.6,339.5,-5.4,173,3618,0.00,2.62,0.00,0.000,4,0.000,0.064,2555,3409,3427
$GC,3677,-0.87,-146.6,342.4,-4.7,176,3681,0.00,2.55,0.00,0.000,6,0.000,0.053,2555,1986,3427
$GC,4003,-0.87,-146.6,363.0,-7.2,192,4007,0.00,2.60,0.00,0.000,4,0.000,0.064,2555,3408,3427
$GC,4042,-0.87,-146.6,365.8,-7.7,194,4047,0.00,2.53,0.00,0.000,6,0.000,0.054,2555,2000,3428
$GC,4370,-0.87,-146.6,389.8,-7.5,210,4375,0.00,2.53,0.00,0.000,4,0.000,0.068,2555,594,3427
$GC,4420,-0.87,-146.6,393.9,-8.3,212,4425,0.00,2.50,0.00,0.000,6,0.000,0.054,2555,1996,3427
$GC,4736,-0.87,-146.6,417.2,-7.2,227,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1997,3427
$GC,5046,-0.87,-146.6,438.1,-7.1,242,5051,0.00,2.55,0.00,0.000,4,0.000,0.068,2555,3405,3427
$GC,5080,-0.87,-146.6,440.6,-6.8,243,5086,0.00,2.58,0.00,0.000,6,0.000,0.058,2555,1983,3427
$GC,5396,-0.87,-146.6,459.7,-5.4,259,5400,0.00,2.62,0.00,0.000,4,0.000,0.068,2555,3405,3427
$GC,5452,-0.87,-146.6,462.9,-6.0,261,5458,0.00,2.55,0.00,0.000,6,0.000,0.059,2555,1999,3427
$GC,5767,-0.87,-146.6,482.7,-6.2,277,5772,0.00,2.62,0.00,0.000,4,0.000,0.072,2555,3412,3427
$GC,5796,-0.87,-146.6,484.5,-6.5,278,5800,0.00,2.53,0.00,0.000,6,0.000,0.062,2555,2029,3426
$GC,6113,-0.87,-146.6,502.4,-6.1,293,6117,0.00,2.62,0.00,0.000,4,0.000,0.075,2555,588,3426
$GC,6190,-0.87,-146.6,508.0,-7.3,296,6196,0.00,2.58,0.00,0.000,6,0.000,0.062,2555,2011,3426
$GC,6507,-0.87,-146.6,527.7,-6.2,312,6511,0.00,2.58,0.00,0.000,4,0.000,0.079,2555,3408,3425
$GC,6534,-0.87,-146.6,529.7,-7.6,313,6538,0.00,2.58,0.00,0.000,6,0.000,0.067,2555,2011,3425
$GC,6852,-0.87,-146.6,550.6,-6.8,328,6856,0.00,2.62,0.00,0.000,4,0.000,0.079,2555,582,3424
$GC,6885,-0.87,-146.6,553.1,-7.4,329,6891,0.00,2.60,0.00,0.000,6,0.000,0.066,2555,2007,3424
$GC,7201,-0.87,-146.6,572.8,-6.2,345,7206,0.00,2.60,0.00,0.000,4,0.000,0.081,2555,3404,3424
$GC,7229,-0.87,-146.6,574.8,-6.8,346,7234,0.00,2.60,0.00,0.000,6,0.000,0.070,2555,2003,3423
$GC,7550,-0.87,-146.6,594.5,-6.1,362,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2002,3422
$GC,7860,-0.87,-146.6,613.7,-6.3,377,7861,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2002,3421
$GC,8168,-0.87,-146.6,633.6,-6.7,392,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2003,3419
$GC,8478,-0.87,-146.6,655.2,-7.2,407,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2003,3419
$GC,8789,-0.87,-146.6,676.0,-6.4,422,8793,0.00,2.67,0.00,0.000,4,0.000,0.086,2555,3406,3417
$GC,8829,-0.92,-146.6,678.7,-7.2,424,8833,0.00,2.62,0.00,0.000,6,0.000,0.075,2555,2004,3417
$GC,9157,-0.96,-146.6,698.0,-5.4,440,9158,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2003,3416
$GC,9465,-1.01,-146.6,714.8,-5.5,455,9467,0.15,0.00,0.00,0.000,6,0.073,0.000,2521,2003,3417
$GC,9774,-0.95,-146.6,736.9,-7.2,470,9775,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2003,3415
$GC,10084,-0.89,-146.6,761.2,-7.8,485,10086,0.12,0.00,0.00,0.000,6,0.111,0.000,2546,2003,3415
$GC,10392,-0.89,-146.6,781.3,-6.2,500,10397,0.00,2.70,0.00,0.000,4,0.000,0.089,2546,3412,3413
$GC,10420,-0.89,-146.6,783.3,-7.0,501,10424,0.00,2.65,0.00,0.000,6,0.000,0.077,2546,2004,3413
$GC,10737,-0.89,-146.6,803.6,-6.3,516,10738,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2004,3412
$GC,11045,-0.89,-146.6,824.0,-6.6,531,11050,0.00,2.70,0.00,0.000,4,0.000,0.089,2546,3411,3411
$GC,11067,-0.89,-146.6,825.5,-7.2,532,11072,0.00,2.62,0.00,0.000,6,0.000,0.079,2546,2018,3411
$GC,11389,-0.89,-146.6,845.6,-5.7,548,11390,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2017,3410
$GC,11697,-0.89,-146.6,863.7,-5.7,563,11698,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2018,3410
$GC,12007,-0.89,-146.6,881.9,-6.1,578,12008,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2018,3409
$GC,12315,-0.89,-146.6,901.3,-6.2,593,12317,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2017,3409
$GC,12625,-0.89,-146.6,920.2,-6.2,608,12629,0.00,2.67,0.00,0.000,4,0.000,0.092,2546,3403,3408
$GC,12646,-0.89,-146.6,921.8,-6.9,609,12651,0.00,2.62,0.00,0.000,6,0.000,0.082,2546,2021,3409
$STATE,12780,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12780,begin apogee
$GC,12788,-0.33,0.0,930.4,6.3,616,12926,0.62,0.00,134.38,1.604,6,0.095,0.000,2672,2127,2832
$STATE,12927,end apogee,CONTROL_FINISHED_OK
$STATE,12927,begin climb
$GC,12930,0.97,146.6,934.6,0.0,623,13082,1.35,2.78,140.32,1.544,4,0.085,0.087,2952,3522,2234
$GC,13094,0.74,151.6,929.6,5.9,630,13106,0.25,2.70,6.47,1.178,6,0.098,0.080,2905,2127,2214
$GC,13430,0.76,165.4,910.6,5.6,647,13459,0.00,2.78,16.67,1.274,4,0.000,0.092,2905,707,2156
$GC,13474,0.71,165.4,907.8,6.3,649,13479,0.00,2.70,0.00,0.000,6,0.000,0.077,2905,2121,2156
$GC,13801,0.71,165.4,887.7,6.2,665,13802,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2121,2156
$GC,14111,0.72,166.2,869.5,6.0,680,14112,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2121,2156
$GC,14419,0.76,194.4,852.4,5.2,695,14462,0.00,2.83,29.98,1.437,4,0.000,0.093,2904,707,2039
$GC,14485,0.76,194.4,848.6,6.0,698,14490,0.00,2.70,0.00,0.000,6,0.000,0.077,2905,2121,2038
$GC,14813,0.81,227.5,831.5,5.1,714,14851,0.00,0.00,31.90,1.511,6,0.000,0.000,2905,2121,1904
$GC,15162,0.91,263.1,813.1,5.0,731,15209,0.17,2.83,36.00,1.438,4,0.066,0.094,2947,710,1759
$GC,15227,0.83,263.1,808.4,7.2,734,15232,0.00,2.70,0.00,0.000,6,0.000,0.079,2947,2115,1759
$GC,15549,0.77,263.1,784.4,7.8,750,15551,0.17,0.00,0.00,0.000,6,0.096,0.000,2913,2117,1759
$GC,15858,0.79,273.2,766.0,5.7,765,15879,0.00,2.80,11.15,1.368,4,0.000,0.094,2913,706,1717
$GC,15897,0.81,287.4,763.7,5.6,766,15917,0.00,2.67,14.43,1.400,6,0.000,0.078,2913,2106,1659
$GC,16236,0.90,299.5,744.6,5.7,783,16262,0.12,2.80,14.32,1.224,4,0.073,0.095,2943,717,1611
$GC,16275,0.90,299.5,741.7,7.5,785,16280,0.00,2.65,0.00,0.000,6,0.000,0.077,2944,2102,1611
$GC,16602,0.90,299.5,715.5,8.4,801,16603,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2102,1611
$GC,16911,0.90,299.5,690.7,7.6,816,16915,0.00,2.72,0.00,0.000,4,0.000,0.096,2944,704,1610
$GC,16939,0.90,299.5,688.2,8.1,817,16943,0.00,2.62,0.00,0.000,6,0.000,0.077,2943,2094,1611
$GC,17254,0.90,299.5,662.2,8.8,832,17259,0.00,2.75,0.00,0.000,4,0.000,0.089,2944,3533,1610
$GC,17281,0.90,299.5,659.6,8.9,833,17286,0.00,2.75,0.00,0.000,6,0.000,0.078,2944,2090,1611
$GC,17598,0.90,299.5,632.1,8.3,848,17602,0.00,2.62,0.00,0.000,4,0.000,0.096,2944,711,1610
$GC,17619,0.90,299.5,630.2,7.5,849,17624,0.00,2.60,0.00,0.000,6,0.000,0.076,2944,2095,1610
$GC,17941,0.90,299.5,607.8,6.9,865,17942,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2095,1610
$GC,18250,0.90,299.5,585.2,7.4,880,18251,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2096,1610
$GC,18560,0.90,299.5,562.2,7.2,895,18561,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2096,1610
$GC,18868,0.90,299.5,538.0,8.2,910,18870,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2096,1610
$GC,19178,0.90,299.5,511.8,7.6,925,19179,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2096,1610
$GC,19488,0.90,299.5,487.3,8.1,940,19489,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2096,1610
$GC,19796,0.90,299.5,461.2,8.6,955,19801,0.00,2.65,0.00,0.000,4,0.000,0.087,2944,707,1610
$GC,19831,0.90,299.5,458.1,8.9,956,19837,0.00,2.58,0.00,0.000,6,0.000,0.073,2944,2090,1610
$GC,20147,0.90,299.5,431.9,8.1,972,20148,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2089,1610
$GC,20456,0.97,343.3,414.5,4.8,987,20500,0.00,2.78,39.10,1.241,4,0.000,0.077,2943,3534,1431
$GC,20524,1.03,354.9,410.8,5.7,990,20543,0.12,2.75,11.75,1.135,6,0.069,0.067,2975,2074,1385
$GC,20869,0.99,354.9,384.0,8.8,1007,20874,0.00,2.75,0.00,0.000,4,0.000,0.075,2974,3528,1385
$GC,20896,0.99,354.9,381.2,9.2,1008,20901,0.00,2.67,0.00,0.000,6,0.000,0.064,2974,2083,1384
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$GC,21579,1.03,354.9,324.9,7.4,1040,21584,0.12,2.50,0.00,0.000,6,0.060,0.060,2978,2075,1385
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$GC,23591,1.00,354.9,136.8,9.5,1138,23596,0.00,2.42,0.00,0.000,6,0.000,0.053,2959,2063,1391
$GC,23914,1.00,354.9,108.9,7.9,1154,23915,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2064,1392
$GC,24223,1.04,354.9,80.2,9.1,1169,24224,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2085,1392
$GC,24532,1.12,401.6,55.7,4.7,1184,24575,0.12,0.00,40.20,0.870,6,0.054,0.000,2996,2085,1194
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$STATE,25025,end climb,SURFACE_DEPTH_REACHED
$STATE,25025,begin surface coast
$FINISH,1.0,1.027446
$STATE,25049,end surface coast,CONTROL_FINISHED_OK
$STATE,25049,begin surface
$SM_CCo,25132,0.00,0.000,0,0,1192,402.29
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1805
$TCM_TEMP,16.70
$XPDR_PINGS,37
$ALTIM_BOTTOM_PING,850.4,88.9
$24V_AH,23.3,62.889
$10V_AH,10.0,30.998
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$DEVICE_SECS,26.375,199.600,526.675,0.000,0.000,37.755,26.533,244.070,17.000,0.000,0.000,16.495,2143.873,19559.215,760.387,2368.448,747.845,0.000,1992.928,0.000,2310.438,0.000,52.216,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,894.360,817.812,620.067,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63115,1209
$CAP_FILE_SIZE,175923,0
$CFSIZE,254472192,229969920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,57,4,0
$GPS,230109,132106,6031.611,-503.737,28,1.1,28,-6.8