version: 66.06
glider: 148
mission: 9
dive: 17
start: 11 11 110 3 44 8
data:
$ID,148
$MISSION,9
$DIVE,17
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,4
$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,330
$T_MISSION,660
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52499
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-857774.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1770
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3105
$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,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.449877
$PRESSURE_SLOPE,0.00011637
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.0043994542
$SEABIRD_T_H,0.00064267928
$SEABIRD_T_I,2.722389e-05
$SEABIRD_T_J,3.0868655e-06
$SEABIRD_C_G,-10.114415
$SEABIRD_C_H,1.1488829
$SEABIRD_C_I,-0.0023405037
$SEABIRD_C_J,0.00025300399
$GPS1,033250,2151.185,-15808.577,35,2.2,54,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-66.2
$GPS2,034314,2151.185,-15808.759,9,1.5,9,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.072,0.223
$KALMAN_X,-4907.2,-553.6,179.4,7175.8,-865.7
$KALMAN_Y,-3803.5,10.8,171.0,24531.3,-695.7
$MHEAD_RNG_PITCHd_Wd,8.0,100782,-19.8,-10.000
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,103,0.00,0.00,-82.40,0.000,2,0.000,0.000,414,1819,3358,0,0,0,0,0,0
$GC,106,-1.38,-116.8,3.5,-5.8,11,131,11.35,2.50,-4.12,0.000,4,0.156,0.044,2559,3355,3583,0,0,0,0,0,0
$GC,183,-1.26,-116.8,26.6,-19.8,22,193,0.12,2.55,0.00,0.000,6,0.094,0.024,2590,1764,3585,0,0,0,0,0,0
$GC,457,-1.20,-116.8,71.2,-16.9,48,461,0.00,2.55,0.00,0.000,4,0.000,0.033,2590,3350,3585,0,0,0,0,0,0
$GC,477,-1.13,-116.8,75.5,-17.7,49,482,0.15,2.47,0.00,0.000,6,0.117,0.021,2621,1760,3585,0,0,0,0,0,0
$GC,745,-1.26,-116.8,109.1,-12.0,73,750,0.12,2.55,0.00,0.000,4,0.071,0.032,2573,3358,3586,0,0,0,0,0,0
$GC,805,-1.36,-116.8,117.4,-10.9,78,814,0.00,2.47,0.00,0.000,6,0.000,0.024,2573,1803,3586,0,0,0,0,0,0
$GC,1070,-1.36,-116.8,148.9,-12.5,103,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1802,3587,0,0,0,0,0,0
$GC,1332,-1.44,-116.8,176.3,-9.4,128,1336,0.00,2.47,0.00,0.000,4,0.000,0.031,2573,3354,3588,0,0,0,0,0,0
$GC,1363,-1.51,-116.8,179.8,-11.1,130,1370,0.15,2.45,0.00,0.000,6,0.057,0.023,2493,1784,3588,0,0,0,0,0,0
$GC,1629,-1.37,-116.8,220.9,-16.1,147,1636,0.32,2.58,0.00,0.000,4,0.097,0.046,2568,191,3588,0,0,0,0,0,0
$GC,1688,-1.51,-116.8,228.3,-11.9,148,1693,0.12,2.50,0.00,0.000,6,0.069,0.022,2516,1796,3589,0,0,0,0,0,0
$GC,1961,-1.51,-116.8,263.3,-12.9,155,1966,0.12,2.45,0.00,0.000,4,0.120,0.034,2542,3348,3589,0,0,0,0,0,0
$GC,1998,-1.51,-116.8,267.5,-10.5,155,2004,0.00,2.45,0.00,0.000,6,0.000,0.025,2542,1794,3588,0,0,0,0,0,0
$GC,2249,-1.51,-116.8,292.1,-10.0,162,2253,0.00,2.50,0.00,0.000,4,0.000,0.036,2542,3348,3588,0,0,0,0,0,0
$GC,2297,-1.58,-116.8,297.0,-10.2,163,2301,0.00,2.42,0.00,0.000,6,0.000,0.026,2542,1806,3589,0,0,0,0,0,0
$GC,2579,-1.58,-116.8,325.2,-10.1,170,2583,0.00,2.65,0.00,0.000,4,0.000,0.049,2542,196,3588,0,0,0,0,0,0
$GC,2641,-1.66,-116.8,332.1,-11.5,171,2646,0.15,2.50,0.00,0.000,6,0.064,0.025,2486,1792,3588,0,0,0,0,0,0
$GC,2910,-1.57,-116.8,366.5,-12.8,178,2915,0.20,2.65,0.00,0.000,4,0.107,0.051,2528,196,3586,0,0,0,0,0,0
$GC,2934,-1.57,-116.8,369.5,-12.1,178,2938,0.00,2.53,0.00,0.000,6,0.000,0.028,2528,1798,3586,0,0,0,0,0,0
$GC,3194,-1.57,-116.8,397.8,-10.9,185,3198,0.00,2.70,0.00,0.000,4,0.000,0.056,2528,192,3585,0,0,0,0,0,0
$GC,3277,-1.65,-116.8,408.1,-12.3,186,3283,0.00,2.53,0.00,0.000,6,0.000,0.031,2528,1782,3584,0,0,0,0,0,0
$GC,3528,-1.65,-116.8,435.6,-11.0,193,3533,0.00,2.58,0.00,0.000,4,0.000,0.046,2528,3352,3583,0,0,0,0,0,0
$GC,3556,-1.71,-116.8,438.8,-10.5,193,3561,0.12,2.53,0.00,0.000,6,0.073,0.032,2472,1789,3583,0,0,0,0,0,0
$GC,3812,-1.60,-116.8,472.0,-13.2,200,3819,0.22,2.72,0.00,0.000,4,0.107,0.064,2520,193,3581,0,0,0,0,0,0
$GC,3881,-1.67,-116.8,480.6,-12.3,201,3885,0.00,2.55,0.00,0.000,6,0.000,0.037,2520,1774,3580,0,0,0,0,0,0
$GC,4144,-1.67,-116.8,509.8,-10.8,208,4149,0.00,2.62,0.00,0.000,4,0.000,0.054,2520,3353,3578,0,0,0,0,0,0
$GC,4181,-1.67,-116.8,514.2,-10.9,208,4186,0.00,2.58,0.00,0.000,6,0.000,0.036,2520,1777,3578,0,0,0,0,0,0
$GC,4432,-1.67,-116.8,540.2,-10.3,215,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1777,3576,0,0,0,0,0,0
$GC,4674,-1.67,-116.8,563.0,-9.2,221,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1777,3574,0,0,0,0,0,0
$GC,4918,-1.67,-116.8,583.1,-8.2,227,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1777,3572,0,0,0,0,0,0
$GC,5163,-1.67,-116.8,601.7,-7.3,233,5168,0.00,2.65,0.00,0.000,4,0.000,0.058,2520,3350,3570,0,0,0,0,0,0
$GC,5210,-1.76,-116.8,605.5,-8.1,234,5216,0.15,2.58,0.00,0.000,6,0.066,0.041,2463,1777,3570,0,0,0,0,0,0
$GC,5496,-1.65,-116.8,635.6,-11.0,241,5503,0.22,2.78,0.00,0.000,4,0.109,0.076,2510,190,3567,0,0,0,0,0,0
$GC,5603,-1.65,-116.8,647.3,-10.3,243,5607,0.00,2.60,0.00,0.000,6,0.000,0.042,2510,1777,3567,0,0,0,0,0,0
$GC,5876,-1.65,-116.8,673.6,-9.6,250,5880,0.00,2.78,0.00,0.000,4,0.000,0.073,2510,186,3565,0,0,0,0,0,0
$GC,5896,-1.65,-116.8,675.6,-10.1,250,5900,0.00,2.60,0.00,0.000,6,0.000,0.043,2510,1771,3565,0,0,0,0,0,0
$GC,6160,-1.65,-116.8,700.3,-9.2,257,6164,0.00,2.75,0.00,0.000,4,0.000,0.071,2510,3363,3563,0,0,0,0,0,0
$GC,6197,-1.65,-116.8,704.0,-9.8,257,6202,0.00,2.65,0.00,0.000,6,0.000,0.044,2510,1768,3563,0,0,0,0,0,0
$GC,6448,-1.65,-116.8,727.7,-9.6,264,6453,0.00,2.75,0.00,0.000,4,0.000,0.081,2510,188,3561,0,0,0,0,0,0
$GC,6476,-1.65,-116.8,730.9,-11.0,264,6480,0.00,2.62,0.00,0.000,6,0.000,0.044,2510,1783,3561,0,0,0,0,0,0
$GC,6730,-1.65,-116.8,755.3,-9.6,271,6735,0.00,2.80,0.00,0.000,4,0.000,0.074,2510,182,3559,0,0,0,0,0,0
$GC,6749,-1.65,-116.8,757.4,-10.5,271,6753,0.00,2.62,0.00,0.000,6,0.000,0.044,2511,1775,3559,0,0,0,0,0,0
$GC,7014,-1.65,-116.8,781.9,-9.0,278,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1775,3558,0,0,0,0,0,0
$GC,7256,-1.65,-116.8,803.0,-8.6,284,7261,0.00,2.72,0.00,0.000,4,0.000,0.073,2511,3353,3557,0,0,0,0,0,0
$GC,7280,-1.65,-116.8,805.3,-9.3,284,7284,0.00,2.62,0.00,0.000,6,0.000,0.044,2510,1775,3557,0,0,0,0,0,0
$GC,7540,-1.65,-116.8,827.5,-8.7,291,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1775,3555,0,0,0,0,0,0
$GC,7782,-1.65,-116.8,847.8,-8.2,297,7787,0.00,2.70,0.00,0.000,4,0.000,0.058,2510,3360,3554,0,0,0,0,0,0
$GC,7801,-1.65,-116.8,849.6,-9.3,297,7806,0.00,2.62,0.00,0.000,6,0.000,0.044,2510,1777,3554,0,0,0,0,0,0
$GC,8066,-1.65,-116.8,872.6,-8.9,304,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1777,3553,0,0,0,0,0,0
$GC,8309,-1.65,-116.8,893.4,-8.5,310,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1777,3552,0,0,0,0,0,0
$GC,8553,-1.71,-116.8,912.5,-7.8,316,8554,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1776,3551,0,0,0,0,0,0
$GC,8796,-1.71,-116.8,931.2,-7.6,322,8801,0.00,2.80,0.00,0.000,4,0.000,0.081,2510,182,3550,0,0,0,0,0,0
$GC,8842,-1.71,-116.8,934.9,-9.1,323,8847,0.00,2.65,0.00,0.000,6,0.000,0.046,2510,1778,3549,0,0,0,0,0,0
$GC,9129,-1.71,-116.8,957.7,-7.6,330,9130,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1778,3549,0,0,0,0,0,0
$GC,9374,-1.78,-116.8,977.4,-8.3,336,9381,0.12,2.80,0.00,0.000,4,0.078,0.074,2469,184,3548,0,0,0,0,0,0
$GC,9424,-1.71,-116.8,983.2,-12.9,337,9429,0.12,2.65,0.00,0.000,6,0.131,0.046,2494,1774,3547,0,0,0,0,0,0
$STATE,9501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9501,begin apogee
$GC,9507,-0.31,0.0,991.0,9.4,339,9605,1.40,0.00,94.45,1.285,6,0.092,0.000,2801,1636,3105,0,0,0,0,0,0
$STATE,9606,end apogee,CONTROL_FINISHED_OK
$STATE,9606,begin climb
$GC,9609,1.38,116.8,993.1,0.0,341,9725,1.52,2.65,106.18,1.253,4,0.028,0.076,3176,183,2627,0,0,0,0,0,0
$GC,9739,0.91,156.5,993.5,7.7,344,9784,0.55,2.47,36.67,1.207,6,0.142,0.041,3072,1650,2465,0,0,0,0,0,0
$GC,10062,0.79,156.5,960.0,10.7,352,10067,0.15,2.60,0.00,0.000,4,0.133,0.072,3043,184,2457,0,0,0,0,0,0
$GC,10206,0.66,156.5,943.9,11.4,355,10212,0.15,2.42,0.00,0.000,6,0.130,0.041,3015,1643,2455,0,0,0,0,0,0
$GC,10485,0.71,199.1,922.1,7.5,362,10529,0.00,2.67,38.28,1.197,4,0.000,0.073,3014,187,2293,0,0,0,0,0,0
$GC,10565,0.72,208.8,915.3,9.4,363,10581,0.00,2.45,10.48,1.052,6,0.000,0.041,3014,1650,2252,0,0,0,0,0,0
$GC,10865,0.82,228.1,888.4,8.9,371,10886,0.15,0.00,18.35,1.129,6,0.067,0.000,3061,1650,2175,0,0,0,0,0,0
$GC,11108,0.82,228.1,861.4,11.3,377,11113,0.00,2.60,0.00,0.000,4,0.000,0.071,3061,180,2169,0,0,0,0,0,0
$GC,11127,0.73,228.1,859.0,11.5,377,11132,0.15,2.42,0.00,0.000,6,0.123,0.041,3033,1641,2169,0,0,0,0,0,0
$GC,11391,0.73,228.1,831.5,10.3,384,11392,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1641,2168,0,0,0,0,0,0
$GC,11636,0.73,228.1,806.7,10.2,390,11641,0.00,2.78,0.00,0.000,4,0.000,0.071,3033,3235,2167,0,0,0,0,0,0
$GC,11659,0.73,228.1,804.1,10.5,390,11664,0.00,2.67,0.00,0.000,6,0.000,0.043,3032,1650,2166,0,0,0,0,0,0
$GC,11918,0.73,228.1,778.1,10.0,397,11919,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1650,2166,0,0,0,0,0,0
$GC,12164,0.73,228.1,752.7,10.5,403,12168,0.00,2.65,0.00,0.000,4,0.000,0.086,3032,167,2166,0,0,0,0,0,0
$GC,12196,0.73,228.1,748.8,11.3,403,12200,0.00,2.45,0.00,0.000,6,0.000,0.048,3033,1648,2166,0,0,0,0,0,0
$GC,12445,0.73,228.1,722.4,10.4,409,12446,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1648,2166,0,0,0,0,0,0
$GC,12689,0.73,228.1,697.8,10.0,415,12693,0.00,2.75,0.00,0.000,4,0.000,0.069,3032,3238,2165,0,0,0,0,0,0
$GC,12742,0.85,236.4,692.9,9.5,416,12756,0.10,2.67,7.30,0.905,6,0.091,0.043,3067,1647,2141,0,0,0,0,0,0
$GC,13019,0.85,236.4,662.0,11.3,423,13024,0.00,2.62,0.00,0.000,4,0.000,0.083,3068,171,2140,0,0,0,0,0,0
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$GC,14348,0.85,252.3,511.2,9.1,455,14369,0.00,2.80,15.82,0.920,4,0.000,0.065,3036,3227,2075,0,0,0,0,0,0
$GC,14384,0.95,259.9,507.5,9.6,455,14398,0.17,2.65,8.30,0.819,6,0.061,0.039,3088,1643,2045,0,0,0,0,0,0
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$GC,15574,0.86,263.7,369.9,9.8,484,15583,0.00,2.55,4.05,0.569,4,0.000,0.060,3059,161,2030,0,0,0,0,0,0
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$STATE,18885,end climb,SURFACE_DEPTH_REACHED
$STATE,18885,begin surface coast
$FINISH,0.7,1.023562
$STATE,18924,end surface coast,CONTROL_FINISHED_OK
$STATE,18924,begin surface
$SM_CCo,18944,69.65,0.441,1,0,1269,450.13
$SM_GC,1.46,0.00,0.00,69.65,0.000,0.000,0.441,413,1844,1269,-11.30,2.09,450.13
$IRIDIUM_FIX,2141.13,-15809.76,040200,232318
$TT8_MAMPS,0.027612
$HUMID,38.81
$INTERNAL_PRESSURE,9.70151
$TCM_TEMP,22.80
$XPDR_PINGS,3
$24V_AH,23.3,4.987
$10V_AH,10.4,4.559
$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,30.200,232.575,396.550,69.650,0.000,30.264,33.154,352.237,0.750,0.000,10.798,1572.480,14079.708,599.740,2523.870,842.823,33.354,1758.693,0.000,2501.892,0.000,0.536,0.000
$DEVICE_MAMPS,156.468,85.904,1284.725,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,478.541,329.151,408.398,537.433,950.560,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355992
$DATA_FILE_SIZE,54154,701
$CAP_FILE_SIZE,192060,0
$CFSIZE,260165632,171413504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111110,090300,2153.461,-15808.145,67,1.9,72,9.9