version: 66.07
glider: 513
mission: 7
dive: 84
start: 7 15 111 8 22 35
data:
$ID,513
$MISSION,7
$DIVE,84
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$D_NO_BLEED,500
$D_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,500
$T_MISSION,700
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51770
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2114
$TGT_DEFAULT_LON,-15752
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-422192.22
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3828
$C_PITCH,2691
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,173
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,81
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3130
$VBD_DBAND,2
$VBD_CNV,-0.245296
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,140
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-42.005497
$PRESSURE_SLOPE,0.00011645097
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$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,0.0042943386
$SEABIRD_T_H,0.00062873802
$SEABIRD_T_I,2.3468303e-05
$SEABIRD_T_J,2.4773003e-06
$SEABIRD_C_G,-10.034972
$SEABIRD_C_H,1.1114111
$SEABIRD_C_I,0.0038124193
$SEABIRD_C_J,-0.00019934869
$AR_DIVENUM,83
$AR_SAMPLENUM,3
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,150711,080455,1909.001,-15618.625,63,1.5,63,9.6
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-78.4
$GPS2,150711,082140,1909.142,-15618.435,18,2.8,37,9.6
$SPEED_LIMITS,0.104,0.196
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.001,0.196
$KALMAN_X,16091.4,126.1,25.0,3634.0,6879.8
$KALMAN_Y,-199177.9,587.1,188.7,143314.0,-2787.5
$MHEAD_RNG_PITCHd_Wd,350.0,122115,-11.6,-6.000
$D_GRID,900
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
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$GC,2452,-0.61,-117.2,220.9,-5.5,216,2456,0.00,2.05,0.00,0.000,4,0.000,0.038,2495,694,3622,0,0,0,0,0,0
$GC,2594,-0.61,-117.2,228.7,-4.3,222,2598,0.00,2.10,0.00,0.000,6,0.000,0.039,2487,2102,3618,0,0,0,0,0,0
$GC,2855,-0.61,-117.2,240.7,-5.1,235,2859,0.00,2.15,0.00,0.000,4,0.000,0.053,2476,3502,3618,0,0,0,0,0,0
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$GC,3226,-0.61,-117.2,265.7,-6.4,252,3232,0.00,2.08,0.00,0.000,6,0.000,0.039,2467,2099,3617,0,0,0,0,0,0
$GC,3480,-0.61,-117.2,283.0,-7.1,265,3484,0.00,2.12,0.00,0.000,4,0.000,0.051,2456,3499,3616,0,0,0,0,0,0
$GC,3507,-0.61,-117.2,285.1,-7.6,266,3512,0.12,2.05,0.00,0.000,6,0.142,0.031,2492,2094,3616,0,0,0,0,0,0
$GC,3762,-0.61,-117.2,298.0,-4.5,278,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2088,3615,0,0,0,0,0,0
$GC,4026,-0.61,-117.2,312.2,-5.7,286,4030,0.00,2.17,0.00,0.000,4,0.000,0.053,2483,3507,3614,0,0,0,0,0,0
$GC,4058,-0.61,-117.2,314.5,-7.0,286,4062,0.00,2.08,0.00,0.000,6,0.000,0.032,2483,2090,3614,0,0,0,0,0,0
$GC,4315,-0.61,-117.2,330.6,-6.3,293,4319,0.00,2.08,0.00,0.000,4,0.000,0.040,2480,688,3612,0,0,0,0,0,0
$GC,4376,-0.61,-117.2,334.8,-6.6,294,4380,0.00,2.10,0.00,0.000,6,0.000,0.040,2473,2100,3611,0,0,0,0,0,0
$GC,4643,-0.61,-117.2,348.7,-5.0,301,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2099,3610,0,0,0,0,0,0
$GC,4888,-0.61,-117.2,361.7,-5.3,307,4892,0.00,2.10,0.00,0.000,4,0.000,0.041,2473,693,3607,0,0,0,0,0,0
$GC,4926,-0.61,-117.2,364.1,-6.4,307,4932,0.10,2.12,0.00,0.000,6,0.164,0.041,2492,2102,3608,0,0,0,0,0,0
$GC,5176,-0.61,-117.2,376.1,-4.8,314,5180,0.00,2.10,0.00,0.000,4,0.000,0.041,2495,694,3607,0,0,0,0,0,0
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$GC,5823,-0.61,-117.2,408.9,-4.4,330,5827,0.00,2.12,0.00,0.000,4,0.000,0.054,2462,3502,3606,0,0,0,0,0,0
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$GC,6106,-0.61,-117.2,419.2,-3.5,337,6109,0.00,2.10,0.00,0.000,4,0.000,0.041,2499,689,3599,0,0,0,0,0,0
$GC,6157,-0.61,-117.2,421.6,-5.1,338,6161,0.00,2.12,0.00,0.000,6,0.000,0.041,2490,2103,3601,0,0,0,0,0,0
$GC,6429,-0.61,-117.2,437.7,-6.3,345,6433,0.00,2.17,-0.10,0.000,4,0.000,0.072,2480,3514,3622,0,0,0,0,0,0
$GC,6468,-0.61,-117.2,440.6,-7.5,346,6472,0.00,2.08,0.00,0.000,6,0.000,0.033,2480,2097,3622,0,0,0,0,0,0
$GC,6752,-0.61,-117.2,459.8,-6.5,353,6756,0.00,2.08,0.00,0.000,4,0.000,0.041,2481,696,3623,0,0,0,0,0,0
$GC,6807,-0.61,-117.2,463.6,-6.9,354,6811,0.00,2.15,0.00,0.000,6,0.000,0.041,2470,2104,3621,0,0,0,0,0,0
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$GC,10546,-0.61,-117.2,614.6,-5.3,444,10551,0.12,2.12,0.00,0.000,6,0.159,0.041,2491,2104,3607,0,0,0,0,0,0
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$GC,11672,-0.61,-117.2,676.2,-5.1,471,11676,0.00,2.12,0.00,0.000,4,0.000,0.043,2479,696,3607,0,0,0,0,0,0
$GC,11758,-0.61,-117.2,680.3,-5.1,473,11762,0.00,2.10,0.00,0.000,6,0.000,0.041,2470,2101,3604,0,0,0,0,0,0
$GC,12041,-0.61,-117.2,692.5,-4.1,480,12045,0.00,2.12,0.00,0.000,4,0.000,0.044,2469,694,3602,0,0,0,0,0,0
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$GC,12411,-0.61,-117.2,705.2,-3.3,489,12414,0.00,2.12,0.00,0.000,4,0.000,0.041,2495,697,3602,0,0,0,0,0,0
$GC,12635,-0.61,-117.2,712.5,-3.4,494,12639,0.00,2.12,0.00,0.000,6,0.000,0.041,2495,2101,3602,0,0,0,0,0,0
$GC,12918,-0.61,-117.2,722.2,-3.6,501,12922,0.00,2.12,0.00,0.000,4,0.000,0.043,2494,692,3602,0,0,0,0,0,0
$GC,13169,-0.61,-117.2,731.6,-3.8,506,13174,0.00,2.15,0.00,0.000,6,0.000,0.043,2491,2115,3601,0,0,0,0,0,0
$GC,13425,-0.61,-117.2,741.7,-4.1,513,13429,0.00,2.12,0.00,0.000,4,0.000,0.044,2491,698,3601,0,0,0,0,0,0
$GC,13649,-0.61,-117.2,752.1,-4.4,518,13653,0.00,2.12,0.00,0.000,6,0.000,0.041,2490,2107,3600,0,0,0,0,0,0
$GC,13926,-0.61,-117.2,764.4,-4.6,525,13930,0.00,2.12,0.00,0.000,4,0.000,0.042,2487,696,3603,0,0,0,0,0,0
$GC,14085,-0.61,-117.2,771.5,-3.4,528,14089,0.00,2.12,0.00,0.000,6,0.000,0.041,2483,2106,3599,0,0,0,0,0,0
$GC,14340,-0.61,-117.2,782.9,-4.5,535,14344,0.00,2.10,0.00,0.000,4,0.000,0.042,2483,697,3599,0,0,0,0,0,0
$GC,14493,-0.61,-117.2,789.6,-4.0,538,14497,0.00,2.12,0.00,0.000,6,0.000,0.041,2476,2107,3599,0,0,0,0,0,0
$GC,14755,-0.61,-117.2,801.0,-4.4,545,14759,0.00,2.12,0.00,0.000,4,0.000,0.042,2476,698,3598,0,0,0,0,0,0
$GC,14887,-0.61,-117.2,806.8,-4.9,548,14891,0.00,2.12,0.00,0.000,6,0.000,0.041,2468,2107,3599,0,0,0,0,0,0
$GC,15170,-0.61,-117.2,819.3,-4.5,555,15174,0.00,2.12,0.00,0.000,4,0.000,0.041,2468,698,3598,0,0,0,0,0,0
$GC,15256,-0.61,-117.2,823.6,-5.7,557,15261,0.12,2.12,0.00,0.000,6,0.157,0.041,2495,2106,3598,0,0,0,0,0,0
$GC,15540,-0.61,-117.2,837.0,-4.9,564,15543,0.00,2.10,0.00,0.000,4,0.000,0.041,2494,702,3598,0,0,0,0,0,0
$GC,15798,-0.61,-117.2,850.8,-5.2,569,15803,0.00,2.15,0.00,0.000,6,0.000,0.041,2498,2108,3598,0,0,0,0,0,0
$GC,16048,-0.61,-117.2,863.8,-5.3,576,16052,0.00,2.17,0.00,0.000,4,0.000,0.060,2483,3507,3596,0,0,0,0,0,0
$GC,16216,-0.61,-117.2,872.9,-5.5,579,16220,0.00,2.08,0.00,0.000,6,0.000,0.035,2483,2097,3598,0,0,0,0,0,0
$GC,16466,-0.61,-117.2,885.1,-4.8,585,16469,0.00,2.12,0.00,0.000,4,0.000,0.047,2482,696,3597,0,0,0,0,0,0
$GC,16628,-0.61,-117.2,893.3,-4.9,588,16632,0.00,2.15,0.00,0.000,6,0.000,0.042,2476,2103,3597,0,0,0,0,0,0
$STATE,16794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,16794,begin apogee
$GC,16800,-0.28,0.0,901.0,4.7,592,16902,0.38,0.00,98.40,1.160,6,0.107,0.000,2604,1972,3130,0,0,0,0,0,0
$STATE,16904,end apogee,CONTROL_FINISHED_OK
$STATE,16904,begin climb
$GC,16908,0.61,117.2,903.3,0.0,594,17021,0.77,2.42,103.50,1.120,4,0.054,0.054,2895,3390,2651,0,0,0,0,0,0
$GC,17272,0.61,117.2,822.2,26.5,602,17277,0.00,2.15,0.00,0.000,6,0.000,0.034,2905,2008,2645,0,0,0,0,0,0
$GC,17539,0.61,117.2,753.2,25.9,609,17543,0.00,2.22,0.00,0.000,4,0.000,0.050,2896,3402,2639,0,0,0,0,0,0
$GC,17625,0.61,117.2,731.7,26.4,611,17629,0.00,2.15,0.00,0.000,6,0.000,0.032,2905,1978,2642,0,0,0,0,0,0
$GC,17908,0.61,117.2,659.6,25.5,618,17909,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1976,2640,0,0,0,0,0,0
$GC,18152,0.61,117.2,597.9,25.2,624,18156,0.00,2.22,0.00,0.000,4,0.000,0.052,2898,3393,2640,0,0,0,0,0,0
$GC,18208,0.61,117.2,582.9,24.7,625,18212,0.00,2.10,0.00,0.000,6,0.000,0.033,2906,1990,2640,0,0,0,0,0,0
$GC,18474,0.61,117.2,516.6,24.7,632,18475,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1988,2642,0,0,0,0,0,0
$GC,18718,0.61,117.2,459.3,22.7,638,18719,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1984,2639,0,0,0,0,0,0
$GC,18962,0.61,117.2,407.1,21.0,644,18966,0.00,2.20,0.00,0.000,4,0.000,0.051,2902,3402,2638,0,0,0,0,0,0
$GC,18995,0.61,117.2,400.0,21.3,644,19001,0.00,2.10,0.00,0.000,6,0.000,0.031,2910,1988,2636,0,0,0,0,0,0
$GC,19245,0.61,117.2,348.0,20.8,651,19249,0.00,2.10,0.00,0.000,4,0.000,0.041,2922,585,2638,0,0,0,0,0,0
$GC,19305,0.61,117.2,335.0,20.9,652,19310,0.12,2.10,0.00,0.000,6,0.225,0.033,2895,1998,2636,0,0,0,0,0,0
$GC,19559,0.61,117.2,285.7,18.8,660,19563,0.00,2.17,0.00,0.000,4,0.000,0.051,2895,3398,2636,0,0,0,0,0,0
$GC,19580,0.61,117.2,281.5,17.7,661,19585,0.00,2.15,0.00,0.000,6,0.000,0.032,2904,1983,2637,0,0,0,0,0,0
$GC,19845,0.61,117.2,231.6,16.5,674,19849,0.00,2.17,0.00,0.000,4,0.000,0.048,2904,3389,2636,0,0,0,0,0,0
$GC,19963,0.61,117.2,209.1,19.7,679,19967,0.00,2.08,0.00,0.000,6,0.000,0.032,2914,1993,2636,0,0,0,0,0,0
$GC,20224,0.61,117.2,166.1,14.8,700,20225,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1988,2635,0,0,0,0,0,0
$GC,20480,0.61,117.2,124.7,16.1,724,20481,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1988,2636,0,0,0,0,0,0
$GC,20734,0.61,117.2,90.6,12.3,748,20738,0.00,2.08,0.00,0.000,4,0.000,0.039,2925,583,2636,0,0,0,0,0,0
$GC,20797,0.61,117.2,82.7,13.0,753,20801,0.15,2.10,0.00,0.000,6,0.206,0.032,2890,1995,2635,0,0,0,0,0,0
$GC,21060,0.61,117.2,60.5,8.4,777,21064,0.00,2.12,0.00,0.000,4,0.000,0.048,2890,3388,2636,0,0,0,0,0,0
$GC,21100,0.61,117.2,55.6,11.9,780,21104,0.00,2.08,0.00,0.000,6,0.000,0.030,2899,1974,2638,0,0,0,0,0,0
$GC,21366,0.61,117.2,31.2,9.3,804,21373,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1971,2638,0,0,0,0,0,0
$GC,21626,0.61,117.2,7.9,8.0,852,21633,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1970,2639,0,0,0,0,0,0
$STATE,21685,end climb,SURFACE_DEPTH_REACHED
$STATE,21686,begin surface coast
$FINISH,-0.0,1.023193
$STATE,21723,end surface coast,CONTROL_FINISHED_OK
$STATE,21723,begin surface
$SM_CCo,21743,66.68,0.486,0,0,2110,250.45
$SM_GC,0.97,0.00,0.00,66.68,0.000,0.000,0.486,59,2125,2110,-8.23,0.79,250.45
$IRIDIUM_FIX,1902.38,-15621.71,070113,020215
$TT8_MAMPS,0.148031
$HUMID,1078872893
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.60
$XPDR_PINGS,112
$AR_POSTDIVE_SAMPLENUM,3
$AR_CDRIVE_FREE,5143461888
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59366703104
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.0,11.675
$10V_AH,10.2,11.597
$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,20.500,216.600,201.900,66.675,0.000,56.313,80.347,540.358,28.000,0.000,41.410,1944.097,15765.781,412.176,4079.812,611.864,33.353,1837.272,0.000,3381.441,0.000,0.541,0.000
$DEVICE_MAMPS,256.945,72.098,1160.471,485.511,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,598.433,0.000,1278.701,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354328
$DATA_FILE_SIZE,43502,870
$CAP_FILE_SIZE,218299,0
$CFSIZE,260165632,200359936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150711,142736,1911.093,-15617.685,28,1.6,28,9.6