version: 66.06
glider: 146
mission: 8
dive: 417
start: 4 16 113 0 34 30
data:
$ID,146
$MISSION,8
$DIVE,417
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,960
$D_NO_BLEED,200
$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,300
$T_MISSION,620
$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,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,52423
$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,2225
$TGT_DEFAULT_LON,-8113.5
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-315680.84
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3260
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,23
$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,3190
$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,20
$VBD_MAXERRORS,1
$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,-27.560358
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043571657
$SEABIRD_T_H,0.00063262874
$SEABIRD_T_I,2.5277763e-05
$SEABIRD_T_J,2.8683949e-06
$SEABIRD_C_G,-9.9054022
$SEABIRD_C_H,1.142597
$SEABIRD_C_I,-0.0022074829
$SEABIRD_C_J,0.00025491611
$GPS1,002523,1925.766,-8116.360,36,1.4,36,-3.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-76.5
$GPS2,003335,1925.790,-8116.476,11,1.8,27,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.152,0.171
$KALMAN_X,-216886.1,130.6,53.3,200869.3,64.9
$KALMAN_Y,144034.1,0.5,157.8,-140071.8,-834.4
$MHEAD_RNG_PITCHd_Wd,322.1,3481,-20.3,-10.000
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.41,-110.9,0.0,0.0,0,92,0.00,0.00,-70.62,0.000,2,0.000,0.000,466,2162,3469,0,0,0,0,0,0
$GC,97,-1.45,-146.0,3.6,-4.4,9,123,13.27,2.65,-5.88,0.000,4,0.155,0.040,2938,3812,3786,0,0,0,0,0,0
$GC,311,-1.31,-146.0,53.8,-19.1,32,319,0.12,2.50,0.00,0.000,6,0.086,0.024,2970,2246,3788,0,0,0,0,0,0
$GC,580,-1.18,-146.0,99.3,-16.7,57,585,0.15,0.00,0.00,0.000,6,0.108,0.000,3002,2246,3788,0,0,0,0,0,0
$GC,841,-1.18,-146.0,136.9,-10.6,82,845,0.00,2.47,0.00,0.000,4,0.000,0.039,3002,3803,3789,0,0,0,0,0,0
$GC,889,-1.26,-146.0,141.1,-10.1,85,893,0.00,2.50,0.00,0.000,6,0.000,0.020,3002,2206,3789,0,0,0,0,0,0
$GC,1156,-1.34,-146.0,164.9,-8.2,109,1161,0.15,0.00,0.00,0.000,6,0.056,0.000,2941,2206,3789,0,0,0,0,0,0
$GC,1419,-1.34,-146.0,194.9,-10.7,134,1421,0.12,0.00,0.00,0.000,6,0.101,0.000,2969,2205,3790,0,0,0,0,0,0
$GC,1684,-1.38,-146.0,219.4,-9.2,145,1688,0.00,2.55,0.00,0.000,4,0.000,0.035,2969,3803,3790,0,0,0,0,0,0
$GC,1724,-1.44,-146.0,223.0,-9.6,146,1729,0.10,2.45,0.00,0.000,6,0.076,0.020,2915,2222,3790,0,0,0,0,0,0
$GC,2011,-1.39,-146.0,254.4,-11.1,153,2016,0.17,2.67,0.00,0.000,4,0.090,0.054,2955,632,3790,0,0,0,0,0,0
$GC,2060,-1.39,-146.0,260.0,-10.3,154,2065,0.00,2.53,0.00,0.000,6,0.000,0.021,2955,2248,3790,0,0,0,0,0,0
$GC,2335,-1.39,-146.0,285.8,-9.5,161,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2248,3789,0,0,0,0,0,0
$GC,2577,-1.39,-146.0,308.8,-9.4,167,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2248,3789,0,0,0,0,0,0
$GC,2820,-1.39,-146.0,332.0,-9.6,173,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2248,3788,0,0,0,0,0,0
$GC,3064,-1.39,-146.0,355.1,-9.3,179,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2248,3787,0,0,0,0,0,0
$GC,3310,-1.39,-146.0,378.4,-9.5,185,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2248,3786,0,0,0,0,0,0
$GC,3552,-1.43,-146.0,401.2,-9.3,191,3557,0.00,2.53,0.00,0.000,4,0.000,0.054,2955,3783,3785,0,0,0,0,0,0
$GC,3580,-1.47,-146.0,404.3,-10.3,191,3584,0.00,2.47,0.00,0.000,6,0.000,0.035,2955,2246,3785,0,0,0,0,0,0
$GC,3833,-1.52,-146.0,427.7,-9.4,197,3838,0.12,2.53,0.00,0.000,4,0.068,0.052,2904,3774,3785,0,0,0,0,0,0
$GC,3866,-1.46,-146.0,431.8,-12.3,197,3872,0.15,2.50,0.00,0.000,6,0.091,0.038,2941,2239,3784,0,0,0,0,0,0
$GC,4115,-1.46,-146.0,456.8,-10.1,204,4120,0.00,2.90,0.00,0.000,4,0.000,0.094,2940,619,3783,0,0,0,0,0,0
$GC,4150,-1.46,-146.0,460.2,-10.6,204,4156,0.00,2.60,0.00,0.000,6,0.000,0.037,2940,2207,3783,0,0,0,0,0,0
$GC,4400,-1.46,-146.0,484.1,-9.3,211,4405,0.00,2.67,0.00,0.000,4,0.000,0.067,2940,3793,3782,0,0,0,0,0,0
$GC,4456,-1.46,-146.0,489.6,-9.1,212,4460,0.00,2.60,0.00,0.000,6,0.000,0.051,2941,2233,3782,0,0,0,0,0,0
$GC,4725,-1.46,-146.0,514.8,-9.6,219,4729,0.00,2.95,0.00,0.000,4,0.000,0.104,2940,620,3780,0,0,0,0,0,0
$GC,4740,-1.46,-146.0,516.8,-9.8,219,4745,0.00,2.67,0.00,0.000,6,0.000,0.045,2940,2235,3780,0,0,0,0,0,0
$GC,5001,-1.46,-146.0,543.1,-10.1,226,5005,0.00,2.70,0.00,0.000,4,0.000,0.077,2940,3789,3779,0,0,0,0,0,0
$GC,5030,-1.46,-146.0,546.0,-10.3,226,5034,0.00,2.60,0.00,0.000,6,0.000,0.048,2941,2240,3779,0,0,0,0,0,0
$GC,5280,-1.46,-146.0,570.2,-9.6,232,5285,0.00,3.00,0.00,0.000,4,0.000,0.110,2940,627,3778,0,0,0,0,0,0
$GC,5301,-1.46,-146.0,572.3,-9.8,232,5306,0.00,2.70,0.00,0.000,6,0.000,0.054,2940,2241,3777,0,0,0,0,0,0
$GC,5559,-1.46,-146.0,596.2,-9.4,239,5564,0.00,2.78,0.00,0.000,4,0.000,0.092,2941,3798,3776,0,0,0,0,0,0
$GC,5603,-1.51,-146.0,601.2,-10.8,240,5608,0.00,2.67,0.00,0.000,6,0.000,0.065,2940,2245,3776,0,0,0,0,0,0
$GC,5881,-1.51,-146.0,626.8,-9.5,247,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2245,3774,0,0,0,0,0,0
$GC,6127,-1.51,-146.0,649.0,-9.3,253,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2245,3773,0,0,0,0,0,0
$GC,6368,-1.51,-146.0,672.7,-9.9,259,6373,0.00,3.17,0.00,0.000,4,0.000,0.131,2940,621,3772,0,0,0,0,0,0
$GC,6395,-1.51,-146.0,675.6,-10.6,259,6400,0.00,2.90,0.00,0.000,6,0.000,0.082,2940,2242,3771,0,0,0,0,0,0
$GC,6648,-1.51,-146.0,700.1,-9.7,265,6649,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2242,3770,0,0,0,0,0,0
$GC,6889,-1.51,-146.0,722.1,-9.0,271,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2243,3769,0,0,0,0,0,0
$GC,7133,-1.51,-146.0,744.4,-9.1,277,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2243,3768,0,0,0,0,0,0
$GC,7377,-1.54,-146.0,767.3,-9.4,283,7382,0.00,3.05,0.00,0.000,4,0.000,0.114,2941,625,3766,0,0,0,0,0,0
$GC,7412,-1.54,-146.0,770.8,-10.8,283,7417,0.00,2.83,0.00,0.000,6,0.000,0.075,2940,2241,3765,0,0,0,0,0,0
$GC,7662,-1.58,-146.0,794.1,-9.1,290,7668,0.12,2.85,0.00,0.000,4,0.070,0.102,2892,3807,3765,0,0,0,0,0,0
$GC,7684,-1.58,-146.0,796.5,-10.2,290,7689,0.10,2.72,0.00,0.000,6,0.116,0.072,2914,2235,3765,0,0,0,0,0,0
$GC,7945,-1.58,-146.0,821.4,-9.6,297,7949,0.00,3.03,0.00,0.000,4,0.000,0.111,2914,623,3763,0,0,0,0,0,0
$GC,7966,-1.58,-146.0,823.8,-9.8,297,7971,0.00,2.83,0.00,0.000,6,0.000,0.065,2914,2252,3763,0,0,0,0,0,0
$GC,8221,-1.58,-146.0,849.5,-10.2,304,8225,0.00,2.80,0.00,0.000,4,0.000,0.099,2914,3803,3762,0,0,0,0,0,0
$GC,8255,-1.58,-146.0,853.1,-11.2,304,8261,0.00,2.70,0.00,0.000,6,0.000,0.069,2914,2247,3762,0,0,0,0,0,0
$GC,8505,-1.58,-146.0,878.6,-10.2,311,8510,0.00,3.05,0.00,0.000,4,0.000,0.110,2914,620,3760,0,0,0,0,0,0
$GC,8526,-1.58,-146.0,881.0,-10.8,311,8531,0.00,2.83,0.00,0.000,6,0.000,0.064,2914,2260,3760,0,0,0,0,0,0
$STATE,8738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8738,begin apogee
$GC,8747,-0.31,0.0,902.0,9.6,317,8873,1.20,0.00,122.05,1.209,6,0.069,0.000,3189,2375,3189,0,0,0,0,0,0
$STATE,8874,end apogee,CONTROL_FINISHED_OK
$STATE,8874,begin climb
$GC,8876,1.45,146.0,905.0,0.0,320,9014,1.60,2.85,128.27,1.178,4,0.032,0.084,3586,3930,2592,0,0,0,0,0,0
$GC,9142,1.32,146.0,881.5,14.2,326,9147,0.20,2.70,0.00,0.000,6,0.117,0.051,3547,2367,2587,0,0,0,0,0,0
$GC,9420,1.32,146.0,850.3,10.9,333,9424,0.00,2.72,0.00,0.000,4,0.000,0.059,3548,3935,2583,0,0,0,0,0,0
$GC,9437,1.32,146.0,848.5,10.8,333,9442,0.00,2.67,0.00,0.000,6,0.000,0.045,3548,2364,2583,0,0,0,0,0,0
$GC,9699,1.33,147.5,822.2,9.9,340,9703,0.00,2.72,0.00,0.000,4,0.000,0.057,3548,3942,2582,0,0,0,0,0,0
$GC,9759,1.28,147.5,815.5,11.9,341,9764,0.00,2.67,0.00,0.000,6,0.000,0.051,3548,2368,2582,0,0,0,0,0,0
$GC,10022,1.28,147.5,788.8,10.3,348,10027,0.00,3.10,0.00,0.000,4,0.000,0.125,3547,778,2581,0,0,0,0,0,0
$GC,10038,1.28,147.5,786.9,10.1,348,10042,0.00,2.67,0.00,0.000,6,0.000,0.044,3547,2367,2581,0,0,0,0,0,0
$GC,10299,1.28,149.7,761.0,9.9,355,10303,0.00,2.72,0.00,0.000,4,0.000,0.069,3547,3937,2580,0,0,0,0,0,0
$GC,10344,1.28,149.7,755.9,11.9,356,10349,0.00,2.67,0.00,0.000,6,0.000,0.044,3547,2355,2580,0,0,0,0,0,0
$GC,10622,1.28,149.7,727.4,10.2,363,10623,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,2355,2579,0,0,0,0,0,0
$GC,10866,1.29,154.3,703.7,9.7,369,10877,0.00,2.72,6.12,0.851,4,0.000,0.059,3547,3934,2559,0,0,0,0,0,0
$GC,10902,1.29,154.3,700.0,11.0,369,10907,0.00,2.65,0.00,0.000,6,0.000,0.044,3547,2375,2559,0,0,0,0,0,0
$GC,11151,1.29,154.3,674.4,10.3,376,11152,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,2375,2558,0,0,0,0,0,0
$GC,11395,1.30,160.6,650.8,9.6,382,11409,0.00,2.75,6.85,0.859,4,0.000,0.060,3548,3934,2536,0,0,0,0,0,0
$GC,11441,1.30,160.6,646.2,11.5,383,11445,0.00,2.62,0.00,0.000,6,0.000,0.048,3547,2380,2535,0,0,0,0,0,0
$GC,11724,1.30,163.9,617.7,9.8,390,11730,0.00,0.00,4.38,0.686,6,0.000,0.000,3547,2379,2522,0,0,0,0,0,0
$GC,11967,1.30,163.9,593.2,10.1,396,11972,0.00,2.65,0.00,0.000,4,0.000,0.058,3547,3940,2522,0,0,0,0,0,0
$GC,11991,1.30,163.9,590.9,10.0,396,11995,0.00,2.62,0.00,0.000,6,0.000,0.048,3547,2378,2521,0,0,0,0,0,0
$GC,12245,1.30,163.9,563.3,11.0,403,12247,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,2378,2521,0,0,0,0,0,0
$GC,12489,1.30,163.9,536.5,10.9,409,12494,0.00,2.65,0.00,0.000,4,0.000,0.050,3547,3945,2521,0,0,0,0,0,0
$GC,12511,1.30,163.9,533.9,11.2,409,12515,0.00,2.60,0.00,0.000,6,0.000,0.040,3547,2390,2520,0,0,0,0,0,0
$GC,12769,1.30,163.9,506.9,10.3,416,12773,0.00,2.60,0.00,0.000,4,0.000,0.051,3547,3938,2520,0,0,0,0,0,0
$GC,12818,1.30,163.9,501.1,10.3,417,12823,0.00,2.55,0.00,0.000,6,0.000,0.040,3547,2400,2520,0,0,0,0,0,0
$GC,13097,1.31,172.3,474.7,9.5,424,13111,0.00,2.62,9.15,0.810,4,0.000,0.053,3547,3938,2486,0,0,0,0,0,0
$GC,13147,1.31,172.3,469.6,10.7,425,13152,0.00,2.55,0.00,0.000,6,0.000,0.035,3547,2403,2486,0,0,0,0,0,0
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$GC,14879,1.35,172.7,290.7,10.0,467,14883,0.00,2.53,0.00,0.000,4,0.000,0.048,3547,3935,2485,0,0,0,0,0,0
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$GC,17210,1.68,288.6,58.9,8.6,617,17238,0.00,2.62,20.65,0.520,6,0.000,0.020,3623,2455,2013,0,0,0,0,0,0
$GC,17500,1.74,288.6,27.2,10.1,645,17509,0.00,2.42,0.00,0.000,4,0.000,0.038,3623,3936,2012,0,0,0,0,0,0
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$STATE,17696,end climb,SURFACE_DEPTH_REACHED
$STATE,17696,begin surface coast
$FINISH,1.1,1.009773
$STATE,17735,end surface coast,CONTROL_FINISHED_OK
$STATE,17735,begin surface
$SM_CCo,17760,49.60,0.488,0,0,1762,350.04
$SM_GC,1.87,0.00,0.00,49.60,0.000,0.000,0.488,464,2165,1762,-12.87,-1.27,350.04
$IRIDIUM_FIX,1916.08,-8114.71,100702,181848
$TT8_MAMPS,0.026078
$HUMID,60.23
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.30
$XPDR_PINGS,111
$24V_AH,23.0,58.795
$10V_AH,10.1,52.267
$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,30.725,212.575,382.200,49.600,0.000,32.757,60.759,198.197,27.750,0.000,29.213,1437.958,13253.052,539.250,2280.574,780.315,33.361,1535.745,0.000,2259.855,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,131.157,1208.792,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,458.823,321.510,410.389,539.625,1023.620,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355812
$DATA_FILE_SIZE,54134,678
$CAP_FILE_SIZE,162408,0
$CFSIZE,260165632,99004416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160413,053236,1927.492,-8117.471,35,1.6,35,-3.7