version: 66.11
revision: 1138
glider: 146
mission: 12
dive: 83
start: 4 7 116 12 31 34
data:
$ID,146
$MISSION,12
$DIVE,83
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$D_ABORT,900
$D_NO_BLEED,200
$D_BOOST,0
$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,233
$T_MISSION,520
$T_ABORT,1440
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52688
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2130
$TGT_DEFAULT_LON,-15720
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$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,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-388198.03
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,2858
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,21
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,175
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2020
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,73
$R_STBD_OVSHOOT,94
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,2720
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.112076
$PRESSURE_SLOPE,0.0001164343
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,133
$DEVICE4,163
$DEVICE5,150
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043265903
$SEABIRD_T_H,0.00062147615
$SEABIRD_T_I,2.2659055e-05
$SEABIRD_T_J,2.3511025e-06
$SEABIRD_C_G,-9.816083
$SEABIRD_C_H,1.0859504
$SEABIRD_C_I,-0.0014767541
$SEABIRD_C_J,0.00019490313
$GPS1,070416,122134,2212.451,-15606.630,41,1.1,47,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-58.8
$GPS2,070416,123038,2212.364,-15606.645,12,1.7,13,10.1
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,NTARG4
$TGT_LATLONG,2210.000,-15615.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.252,0.007
$KALMAN_X,-141701.8,373.1,322.3,243320.9,-687.7
$KALMAN_Y,76381.8,399.9,-103.8,15055.6,-1376.9
$MHEAD_RNG_PITCHd_Wd,261.5,14984,-18.9,-10.014,-21.65,2085
$D_GRID,700
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.62,-136.3,447,1990,1177,982,0.0,0.0,0,88,0.00,0.00,-70.45,0.000,16386,0.000,0.000,447,1990,2831,2807,2855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-1.62,-136.3,447,1991,2807,2855,3.5,-5.0,11,119,10.80,2.22,-9.77,0.000,18948,0.155,0.050,2500,658,3275,3264,3287,0,0,0,0,0,0,24.23,24.32,24.47
$GC,347,-1.49,-136.3,1472,658,3236,3283,54.8,-17.1,60,355,0.12,2.08,0.00,0.000,3078,0.096,0.014,2530,2010,3275,3264,3286,0,0,0,0,0,0,24.39,24.51,28.83
$GC,603,-1.43,-136.3,2529,2010,3265,3287,94.2,-15.1,101,607,0.00,2.17,0.00,0.000,260,0.000,0.024,2530,3383,3275,3265,3286,0,0,0,0,0,0,28.83,24.49,28.83
$GC,645,-1.38,-136.3,2529,3384,3265,3286,100.9,-16.0,105,656,0.12,2.08,0.00,0.000,3078,0.114,0.025,2554,2053,3276,3265,3287,0,0,0,0,0,0,24.44,24.51,28.83
$GC,895,-1.38,-136.3,2554,2053,3266,3287,133.7,-12.4,130,899,0.00,2.10,0.00,0.000,260,0.000,0.025,2554,3379,3276,3266,3287,0,0,0,0,0,0,28.83,24.52,28.83
$GC,960,-1.38,-136.3,2554,3379,3266,3287,141.2,-11.4,136,969,0.00,2.15,0.00,0.000,1030,0.000,0.019,2554,2031,3276,3266,3286,0,0,0,0,0,0,28.83,24.54,28.83
$GC,1208,-1.38,-136.3,2554,2031,3267,3286,169.7,-11.1,161,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2031,3276,3267,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1449,-1.43,-136.3,2554,2031,3267,3286,196.1,-10.5,185,1458,0.00,2.33,0.00,0.000,516,0.000,0.052,2554,631,3276,3267,3286,0,0,0,0,0,0,28.83,24.52,28.83
$GC,1495,-1.47,-136.3,2554,631,3267,3287,200.5,-10.5,189,1502,0.00,2.15,0.00,0.000,1030,0.000,0.016,2554,2006,3276,3267,3286,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1742,-1.54,-136.3,2554,2006,3267,3286,224.8,-9.2,214,1749,0.12,0.00,0.00,0.000,4102,0.063,0.000,2489,2006,3277,3267,3287,0,0,0,0,0,0,24.67,28.83,28.83
$GC,1990,-1.54,-136.3,2489,2006,3267,3286,254.9,-12.4,239,1999,0.12,2.22,0.00,0.000,2308,0.106,0.034,2520,3400,3276,3267,3286,0,0,0,0,0,0,24.60,24.61,28.83
$GC,2021,-1.54,-136.3,2520,3400,3267,3286,258.6,-12.0,242,2026,0.00,2.17,0.00,0.000,1030,0.000,0.021,2520,2018,3276,3267,3286,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2267,-1.54,-136.3,2520,2018,3267,3286,283.3,-9.3,266,2276,0.00,2.22,0.00,0.000,260,0.000,0.036,2520,3406,3276,3267,3286,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2291,-1.57,-136.3,2520,3406,3267,3286,285.4,-9.3,268,2298,0.00,2.20,0.00,0.000,1030,0.000,0.029,2520,2011,3276,3267,3286,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2539,-1.61,-136.3,2520,2011,3267,3285,307.8,-8.9,293,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2011,3276,3267,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2779,-1.67,-136.3,2520,2011,3267,3283,331.1,-10.0,317,2788,0.12,2.25,0.00,0.000,4356,0.081,0.030,2459,3402,3275,3267,3283,0,0,0,0,0,0,24.58,24.65,28.83
$GC,2853,-1.63,-136.3,1572,3401,3245,3279,339.7,-12.2,324,2862,0.15,2.25,0.00,0.000,3078,0.076,0.032,2498,2025,3275,3267,3283,0,0,0,0,0,0,24.61,24.65,28.83
$GC,3101,-1.63,-136.3,2497,2025,3267,3280,365.5,-10.0,349,3110,0.00,2.42,0.00,0.000,516,0.000,0.062,2498,618,3273,3267,3280,0,0,0,0,0,0,28.83,24.59,28.83
$GC,3125,-1.63,-136.3,2497,618,3267,3279,367.8,-10.0,351,3133,0.00,2.22,0.00,0.000,1030,0.000,0.024,2498,1990,3273,3267,3279,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3374,-1.63,-136.3,2497,1990,3267,3276,394.0,-10.3,376,3382,0.00,2.33,0.00,0.000,260,0.000,0.041,2498,3416,3271,3267,3276,0,0,0,0,0,0,28.83,24.65,28.83
$GC,3394,-1.63,-136.3,2497,3416,3267,3276,396.3,-10.3,378,3404,0.00,2.22,0.00,0.000,1030,0.000,0.028,2498,2031,3271,3267,3276,0,0,0,0,0,0,28.83,24.66,28.83
$GC,3674,-1.63,-136.3,2498,2031,3267,3273,422.8,-9.2,388,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2031,3270,3267,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3915,-1.67,-136.3,2497,2031,3267,3269,445.1,-9.3,394,3921,0.00,2.50,0.00,0.000,516,0.000,0.074,2498,616,3267,3266,3269,0,0,0,0,0,0,28.83,24.60,28.83
$GC,3942,-1.71,-136.3,2497,616,3267,3269,445.1,-9.3,394,3947,0.00,2.25,0.00,0.000,1030,0.000,0.031,2498,2008,3268,3267,3269,0,0,0,0,0,0,28.83,24.68,28.83
$GC,4189,-1.75,-136.3,2497,2009,3267,3266,473.1,-10.4,400,4195,0.00,2.40,0.00,0.000,260,0.000,0.058,2498,3425,3266,3267,3266,0,0,0,0,0,0,28.83,24.65,28.83
$GC,4207,-1.79,-136.3,2497,3425,3267,3266,473.1,-10.4,400,4212,0.12,2.30,0.00,0.000,5126,0.066,0.036,2442,2024,3266,3267,3266,0,0,0,0,0,0,24.70,24.66,28.83
$GC,4465,-1.75,-136.3,2442,2024,3267,3262,506.4,-12.4,407,4467,0.15,0.00,0.00,0.000,2054,0.117,0.000,2474,2024,3264,3267,3262,0,0,0,0,0,0,24.60,28.83,28.83
$GC,4704,-1.75,-136.3,2474,2024,3267,3258,531.3,-10.3,413,4709,0.00,2.40,0.00,0.000,260,0.000,0.058,2474,3422,3262,3266,3259,0,0,0,0,0,0,28.83,24.65,28.83
$GC,4764,-1.75,-136.3,2474,3422,3266,3259,534.8,-10.2,414,4768,0.00,2.35,0.00,0.000,1030,0.000,0.045,2474,2022,3262,3266,3259,0,0,0,0,0,0,28.83,24.65,28.83
$GC,5016,-1.75,-136.3,2474,2022,3266,3255,561.6,-9.4,421,5017,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2022,3260,3266,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5256,-1.75,-136.3,2473,2022,3264,3254,583.7,-9.3,427,5262,0.00,2.60,0.00,0.000,516,0.000,0.094,2474,607,3258,3264,3253,0,0,0,0,0,0,28.83,24.60,28.83
$GC,5289,-1.75,-136.3,2474,607,3264,3253,583.7,-9.3,427,5296,0.00,2.38,0.00,0.000,1030,0.000,0.044,2474,2022,3258,3263,3253,0,0,0,0,0,0,28.83,24.67,28.83
$GC,5536,-1.75,-136.3,2474,2023,3262,3252,611.5,-10.0,434,5542,0.00,2.50,0.00,0.000,260,0.000,0.082,2474,3425,3257,3263,3252,0,0,0,0,0,0,28.83,24.63,28.83
$GC,5575,-1.75,-136.3,2474,3425,3262,3252,615.6,-10.1,435,5580,0.00,2.40,0.00,0.000,1030,0.000,0.053,2474,2031,3257,3262,3252,0,0,0,0,0,0,28.83,24.65,28.83
$GC,5852,-1.75,-136.3,2473,2031,3261,3250,642.4,-9.5,442,5858,0.00,2.42,0.00,0.000,260,0.000,0.063,2474,3430,3255,3261,3250,0,0,0,0,0,0,28.83,24.63,28.83
$GC,5892,-1.75,-136.3,2474,3431,3261,3250,646.4,-9.4,443,5897,0.00,2.40,0.00,0.000,1030,0.000,0.050,2474,2020,3255,3261,3250,0,0,0,0,0,0,28.83,24.65,28.83
$GC,6172,-1.75,-136.3,2474,2020,3259,3248,670.3,-8.5,450,6178,0.00,2.42,0.00,0.000,260,0.000,0.067,2474,3433,3253,3259,3248,0,0,0,0,0,0,28.83,24.64,28.83
$GC,6195,-1.75,-136.3,2474,3433,3259,3248,670.3,-8.5,450,6199,0.00,2.38,0.00,0.000,1030,0.000,0.048,2474,2032,3253,3259,3248,0,0,0,0,0,0,28.83,24.66,28.83
$GC,6447,-1.75,-136.3,2474,2032,3258,3246,693.1,-8.2,457,6453,0.00,2.42,0.00,0.000,260,0.000,0.060,2474,3429,3252,3258,3246,0,0,0,0,0,0,28.83,24.64,28.83
$GC,6465,-1.75,-136.3,2474,3429,3258,3246,693.1,-8.2,457,6469,0.00,2.35,0.00,0.000,1030,0.000,0.048,2474,2039,3251,3257,3246,0,0,0,0,0,0,28.83,24.65,28.83
$STATE,6560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6560,begin apogee
$GC,6564,-0.38,0.0,2474,2116,3257,3245,702.9,-8.4,460,6682,1.33,0.00,111.80,1.107,10244,0.087,0.000,2771,2116,2719,2779,2660,0,0,0,0,0,0,24.66,28.83,23.28
$STATE,6683,end apogee,CONTROL_FINISHED_OK
$STATE,6683,begin climb
$GC,6685,1.62,136.3,2771,2117,2778,2659,704.5,0.0,463,6815,1.80,2.42,120.15,1.079,10500,0.040,0.059,3216,3488,2163,2241,2085,0,0,0,0,0,0,24.10,24.02,23.26
$GC,7141,1.52,136.3,3216,3488,2226,2082,662.4,11.2,474,7146,0.15,2.38,0.00,0.000,5126,0.119,0.043,3189,2091,2154,2226,2082,0,0,0,0,0,0,24.32,24.33,28.83
$GC,7398,1.49,154.3,3188,2091,2224,2078,636.5,9.1,481,7420,0.00,2.70,15.32,0.981,8708,0.000,0.094,3188,689,2090,2168,2012,0,0,0,0,0,0,28.83,23.99,23.39
$GC,7646,1.41,154.3,3188,689,2164,2010,612.2,10.2,487,7651,0.12,2.33,0.00,0.000,5126,0.133,0.038,3167,2092,2087,2165,2010,0,0,0,0,0,0,24.36,24.38,28.83
$GC,7913,1.45,189.1,3166,2092,2164,2008,588.9,8.3,494,7953,0.00,2.50,31.98,1.012,8452,0.000,0.062,3167,3501,1948,2037,1859,0,0,0,0,0,0,28.83,23.94,23.34
$GC,7973,1.49,220.3,3166,3501,2035,1859,585.3,8.5,495,8008,0.00,2.38,29.05,0.998,9222,0.000,0.038,3167,2099,1822,1923,1721,0,0,0,0,0,0,28.83,24.22,23.32
$GC,8275,1.49,220.3,3166,2098,1919,1714,550.9,10.8,503,8282,0.00,2.55,0.00,0.000,516,0.000,0.081,3167,693,1816,1918,1714,0,0,0,0,0,0,28.83,24.34,28.83
$GC,8328,1.49,220.3,3167,693,1916,1714,546.2,11.0,504,8332,0.00,2.33,0.00,0.000,1030,0.000,0.028,3166,2101,1815,1916,1714,0,0,0,0,0,0,28.83,24.41,28.83
$GC,8595,1.49,220.3,3166,2101,1914,1713,516.0,10.6,511,8601,0.00,2.47,0.00,0.000,516,0.000,0.063,3166,691,1813,1914,1713,0,0,0,0,0,0,28.83,24.41,28.83
$GC,8608,1.49,220.3,3166,691,1914,1713,516.0,10.6,511,8612,0.00,2.35,0.00,0.000,1030,0.000,0.028,3166,2118,1813,1914,1713,0,0,0,0,0,0,28.83,24.46,28.83
$GC,8875,1.49,220.3,3166,2119,1912,1713,486.4,10.6,518,8880,0.00,2.35,0.00,0.000,260,0.000,0.050,3166,3505,1813,1913,1713,0,0,0,0,0,0,28.83,24.46,28.83
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$GC,10341,1.54,229.5,2272,697,1837,1678,328.3,11.1,599,10348,0.00,2.25,0.00,0.000,1030,0.000,0.027,3203,2089,1782,1880,1684,0,0,0,0,0,0,28.83,24.59,28.83
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$GC,10715,1.54,229.5,3203,3486,1879,1684,286.1,11.9,636,10723,0.00,2.28,0.00,0.000,1030,0.000,0.023,3203,2093,1781,1879,1684,0,0,0,0,0,0,28.83,24.59,28.83
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$STATE,13416,end climb,SURFACE_DEPTH_REACHED
$STATE,13416,begin surface coast
$FINISH,0.9,1.007025
$STATE,13438,end surface coast,CONTROL_FINISHED_OK
$STATE,13438,begin surface
$SM_CCo,13456,41.97,0.526,0,0,1088,400.08
$SM_GC,1.95,11.40,0.05,41.97,0.024,0.151,0.526,461,2024,1088,-10.88,1.70,400.08,0,0,0,0,0,0,24.47,24.47,23.67
$IRIDIUM_FIX,2202.04,-15604.38,010209,212155
$TT8_MAMPS,0.025466,0.025466
$HUMID,43.42
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,23.30
$XPDR_PINGS,66
$24V_AH,23.3,16.245
$10V_AH,10.4,11.324
$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
$DEVICE_SECS,26.975,162.375,422.900,41.975,0.000,27.950,52.678,353.855,16.500,0.000,15.909,2479.829,7952.385,643.060,2810.528,155.139,33.261,1791.734,0.000,2347.307,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830_CNF,WL_BB2F,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,661.475,673.956,865.449,611.480,1081.867,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,46.440,38.950,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,353236
$DATA_FILE_SIZE,77293,973
$CAP_FILE_SIZE,161580,0
$CFSIZE,259248128,251932672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070416,161752,2211.830,-15608.760,41,1.7,41,10.1