version: 66.06
glider: 148
mission: 9
dive: 24
start: 11 12 110 17 50 46
data:
$ID,148
$MISSION,9
$DIVE,24
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$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,300
$T_MISSION,600
$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,-857884.44
$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,32
$R_STBD_OVSHOOT,43
$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
$GPS1,173336,2209.469,-15806.700,34,2.0,34,10.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-63.7
$GPS2,174950,2209.514,-15806.854,11,1.5,11,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.056,0.228
$KALMAN_X,-9039.9,30.5,-258.8,14445.2,-255.7
$KALMAN_Y,-218.9,94.3,120.6,54865.0,78.1
$MHEAD_RNG_PITCHd_Wd,3.8,66754,-19.8,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,133,0.00,0.00,-112.93,0.000,2,0.000,0.000,411,1846,3437,0,0,0,0,0,0
$GC,137,-1.38,-116.8,3.7,-6.1,15,162,11.52,2.45,-2.55,0.000,4,0.159,0.041,2562,3354,3585,0,0,0,0,0,0
$GC,202,-1.23,-116.8,25.7,-19.2,24,212,0.12,2.55,0.00,0.000,6,0.089,0.022,2594,1765,3586,0,0,0,0,0,0
$GC,477,-1.23,-116.8,64.3,-15.3,51,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1764,3587,0,0,0,0,0,0
$GC,737,-1.23,-116.8,101.4,-13.4,76,741,0.00,2.53,0.00,0.000,4,0.000,0.031,2594,3348,3587,0,0,0,0,0,0
$GC,820,-1.35,-116.8,111.8,-11.5,83,824,0.00,2.47,0.00,0.000,6,0.000,0.024,2594,1774,3587,0,0,0,0,0,0
$GC,1086,-1.45,-116.8,143.2,-9.6,107,1091,0.17,2.58,0.00,0.000,4,0.055,0.041,2527,184,3587,0,0,0,0,0,0
$GC,1105,-1.45,-116.8,146.1,-11.4,108,1114,0.10,2.50,0.00,0.000,6,0.093,0.020,2552,1773,3587,0,0,0,0,0,0
$GC,1368,-1.45,-116.8,175.7,-11.7,133,1373,0.00,2.58,0.00,0.000,4,0.000,0.038,2552,194,3587,0,0,0,0,0,0
$GC,1392,-1.45,-116.8,179.5,-13.5,135,1396,0.00,2.45,0.00,0.000,6,0.000,0.021,2552,1775,3587,0,0,0,0,0,0
$GC,1681,-1.45,-116.8,215.9,-12.4,153,1685,0.00,2.58,0.00,0.000,4,0.000,0.040,2552,187,3587,0,0,0,0,0,0
$GC,1714,-1.45,-116.8,219.9,-11.2,153,1719,0.00,2.45,0.00,0.000,6,0.000,0.021,2552,1774,3587,0,0,0,0,0,0
$GC,1964,-1.45,-116.8,246.1,-10.6,159,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1776,3587,0,0,0,0,0,0
$GC,2209,-1.45,-116.8,273.5,-11.0,165,2213,0.00,2.53,0.00,0.000,4,0.000,0.034,2552,3349,3587,0,0,0,0,0,0
$GC,2260,-1.53,-116.8,279.3,-10.1,166,2264,0.00,2.50,0.00,0.000,6,0.000,0.025,2552,1774,3587,0,0,0,0,0,0
$GC,2537,-1.59,-116.8,308.0,-10.4,173,2539,0.12,0.00,0.00,0.000,6,0.069,0.000,2500,1774,3587,0,0,0,0,0,0
$GC,2782,-1.53,-116.8,338.4,-12.3,179,2784,0.17,0.00,0.00,0.000,6,0.110,0.000,2536,1774,3586,0,0,0,0,0,0
$GC,3024,-1.53,-116.8,361.0,-8.9,185,3029,0.00,2.62,0.00,0.000,4,0.000,0.052,2536,197,3585,0,0,0,0,0,0
$GC,3043,-1.53,-116.8,363.1,-10.5,185,3047,0.00,2.47,0.00,0.000,6,0.000,0.027,2536,1759,3585,0,0,0,0,0,0
$GC,3308,-1.53,-116.8,388.0,-9.7,192,3312,0.00,2.60,0.00,0.000,4,0.000,0.042,2536,3350,3583,0,0,0,0,0,0
$GC,3331,-1.53,-116.8,390.9,-11.9,192,3335,0.00,2.53,0.00,0.000,6,0.000,0.028,2536,1770,3583,0,0,0,0,0,0
$GC,3590,-1.53,-116.8,420.2,-11.6,199,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1770,3581,0,0,0,0,0,0
$GC,3835,-1.60,-116.8,446.6,-10.6,205,3839,0.00,2.65,0.00,0.000,4,0.000,0.049,2536,3352,3579,0,0,0,0,0,0
$GC,3858,-1.60,-116.8,449.4,-11.4,205,3862,0.00,2.55,0.00,0.000,6,0.000,0.031,2536,1777,3579,0,0,0,0,0,0
$GC,4117,-1.66,-116.8,475.7,-10.1,212,4122,0.12,2.72,0.00,0.000,4,0.071,0.064,2488,189,3577,0,0,0,0,0,0
$GC,4136,-1.66,-116.8,478.0,-11.5,212,4141,0.00,2.58,0.00,0.000,6,0.000,0.035,2488,1770,3577,0,0,0,0,0,0
$GC,4402,-1.60,-116.8,507.7,-11.0,219,4409,0.15,2.75,0.00,0.000,4,0.117,0.065,2519,187,3575,0,0,0,0,0,0
$GC,4427,-1.60,-116.8,510.6,-9.8,219,4432,0.00,2.60,0.00,0.000,6,0.000,0.036,2519,1775,3574,0,0,0,0,0,0
$GC,4688,-1.60,-116.8,533.1,-8.5,226,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1775,3572,0,0,0,0,0,0
$GC,4930,-1.60,-116.8,554.2,-8.7,232,4935,0.00,2.65,0.00,0.000,4,0.000,0.058,2519,3354,3570,0,0,0,0,0,0
$GC,4958,-1.60,-116.8,557.0,-8.4,232,4963,0.00,2.60,0.00,0.000,6,0.000,0.038,2519,1777,3570,0,0,0,0,0,0
$GC,5213,-1.60,-116.8,581.0,-9.5,239,5218,0.00,2.75,0.00,0.000,4,0.000,0.072,2519,193,3568,0,0,0,0,0,0
$GC,5259,-1.60,-116.8,585.9,-10.3,240,5264,0.00,2.60,0.00,0.000,6,0.000,0.040,2519,1770,3567,0,0,0,0,0,0
$GC,5541,-1.60,-116.8,614.5,-10.4,247,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1770,3565,0,0,0,0,0,0
$GC,5785,-1.60,-116.8,639.4,-10.3,253,5789,0.00,2.78,0.00,0.000,4,0.000,0.071,2519,188,3563,0,0,0,0,0,0
$GC,5809,-1.60,-116.8,642.0,-11.2,253,5814,0.00,2.62,0.00,0.000,6,0.000,0.042,2519,1770,3563,0,0,0,0,0,0
$GC,6068,-1.60,-116.8,669.1,-10.3,260,6069,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1770,3561,0,0,0,0,0,0
$GC,6312,-1.60,-116.8,691.6,-9.1,266,6317,0.00,2.75,0.00,0.000,4,0.000,0.070,2519,3360,3560,0,0,0,0,0,0
$GC,6333,-1.60,-116.8,693.5,-9.8,266,6337,0.00,2.65,0.00,0.000,6,0.000,0.041,2519,1769,3559,0,0,0,0,0,0
$GC,6597,-1.67,-116.8,718.0,-9.4,273,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1769,3558,0,0,0,0,0,0
$GC,6841,-1.73,-116.8,741.8,-10.0,279,6842,0.12,0.00,0.00,0.000,6,0.074,0.000,2475,1769,3556,0,0,0,0,0,0
$GC,7083,-1.73,-116.8,771.0,-12.1,285,7088,0.00,2.70,0.00,0.000,4,0.000,0.058,2475,3361,3555,0,0,0,0,0,0
$GC,7102,-1.66,-116.8,773.5,-12.7,285,7108,0.15,2.62,0.00,0.000,6,0.117,0.042,2506,1774,3554,0,0,0,0,0,0
$GC,7367,-1.66,-116.8,799.8,-9.9,292,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1774,3552,0,0,0,0,0,0
$GC,7612,-1.66,-116.8,821.2,-8.4,298,7617,0.00,2.80,0.00,0.000,4,0.000,0.081,2506,186,3551,0,0,0,0,0,0
$GC,7644,-1.66,-116.8,824.6,-10.3,298,7649,0.00,2.62,0.00,0.000,6,0.000,0.044,2506,1774,3551,0,0,0,0,0,0
$GC,7894,-1.66,-116.8,843.8,-7.6,304,7899,0.00,2.78,0.00,0.000,4,0.000,0.072,2506,189,3550,0,0,0,0,0,0
$GC,7918,-1.66,-116.8,846.0,-9.0,304,7922,0.00,2.65,0.00,0.000,6,0.000,0.045,2506,1772,3549,0,0,0,0,0,0
$GC,8178,-1.66,-116.8,865.5,-7.6,311,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1773,3548,0,0,0,0,0,0
$GC,8420,-1.66,-116.8,884.8,-8.0,317,8422,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1773,3548,0,0,0,0,0,0
$STATE,8621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8621,begin apogee
$GC,8627,-0.31,0.0,902.6,8.8,322,8724,1.35,0.00,93.78,1.213,6,0.092,0.000,2801,1636,3105,0,0,0,0,0,0
$STATE,8725,end apogee,CONTROL_FINISHED_OK
$STATE,8725,begin climb
$GC,8729,1.38,116.8,905.0,0.0,324,8844,1.50,2.83,105.15,1.185,4,0.023,0.064,3175,3240,2626,0,0,0,0,0,0
$GC,8905,1.01,116.8,900.9,10.7,328,8912,0.43,2.67,0.00,0.000,6,0.141,0.042,3095,1664,2621,0,0,0,0,0,0
$GC,9196,0.86,143.2,875.5,8.5,335,9226,0.20,2.78,23.58,1.120,4,0.146,0.087,3058,170,2521,0,0,0,0,0,0
$GC,9291,0.68,146.2,866.6,9.8,337,9301,0.20,2.47,3.75,0.666,6,0.127,0.041,3020,1648,2509,0,0,0,0,0,0
$GC,9569,0.72,185.0,845.2,7.8,344,9614,0.00,2.75,37.38,1.139,4,0.000,0.073,3020,170,2349,0,0,0,0,0,0
$GC,9639,0.72,185.0,839.0,10.3,345,9643,0.00,2.53,0.00,0.000,6,0.000,0.041,3020,1656,2346,0,0,0,0,0,0
$GC,9898,0.74,197.7,814.4,9.3,352,9915,0.00,2.70,11.55,1.025,4,0.000,0.074,3020,164,2299,0,0,0,0,0,0
$GC,9973,0.74,197.7,806.5,10.5,353,9978,0.00,2.50,0.00,0.000,6,0.000,0.041,3020,1643,2297,0,0,0,0,0,0
$GC,10228,0.80,197.7,780.3,10.2,360,10235,0.10,2.80,0.00,0.000,4,0.089,0.070,3056,3236,2294,0,0,0,0,0,0
$GC,10244,0.80,197.7,778.4,10.6,360,10249,0.00,2.70,0.00,0.000,6,0.000,0.042,3056,1641,2292,0,0,0,0,0,0
$GC,10514,0.80,197.7,747.5,11.4,367,10518,0.00,2.62,0.00,0.000,4,0.000,0.087,3056,171,2292,0,0,0,0,0,0
$GC,10533,0.72,197.7,744.9,12.8,367,10538,0.15,2.47,0.00,0.000,6,0.126,0.041,3028,1649,2291,0,0,0,0,0,0
$GC,10797,0.72,197.7,717.7,10.1,374,10802,0.00,2.78,0.00,0.000,4,0.000,0.067,3028,3233,2291,0,0,0,0,0,0
$GC,10831,0.79,197.7,714.3,10.2,374,10836,0.00,2.67,0.00,0.000,6,0.000,0.043,3028,1650,2290,0,0,0,0,0,0
$GC,11081,0.81,210.3,690.7,9.3,380,11098,0.00,2.70,11.75,0.990,4,0.000,0.084,3028,163,2246,0,0,0,0,0,0
$GC,11122,0.81,210.3,686.6,11.4,381,11126,0.00,2.47,0.00,0.000,6,0.000,0.041,3028,1651,2246,0,0,0,0,0,0
$GC,11411,0.89,218.0,659.2,9.6,388,11426,0.15,2.78,7.88,0.902,4,0.065,0.067,3078,3233,2216,0,0,0,0,0,0
$GC,11445,0.89,218.0,655.2,11.0,388,11449,0.00,2.67,0.00,0.000,6,0.000,0.041,3078,1655,2215,0,0,0,0,0,0
$GC,11696,0.82,218.0,626.2,11.7,394,11701,0.15,2.67,0.00,0.000,4,0.129,0.083,3050,165,2214,0,0,0,0,0,0
$GC,11716,0.76,218.0,623.5,12.2,394,11720,0.00,2.47,0.00,0.000,6,0.000,0.038,3050,1652,2213,0,0,0,0,0,0
$GC,11979,0.76,218.0,595.1,10.5,401,11983,0.00,2.60,0.00,0.000,4,0.000,0.067,3050,166,2212,0,0,0,0,0,0
$GC,12026,0.76,218.0,589.5,12.0,402,12031,0.00,2.45,0.00,0.000,6,0.000,0.036,3050,1646,2212,0,0,0,0,0,0
$GC,12309,0.77,222.2,561.4,9.8,409,12320,0.00,2.58,4.80,0.716,4,0.000,0.065,3050,169,2200,0,0,0,0,0,0
$GC,12368,0.77,222.2,554.9,11.1,410,12372,0.00,2.42,0.00,0.000,6,0.000,0.033,3050,1648,2199,0,0,0,0,0,0
$GC,12641,0.78,234.6,528.9,9.3,417,12656,0.00,0.00,13.68,0.911,6,0.000,0.000,3050,1648,2148,0,0,0,0,0,0
$GC,12884,0.78,234.6,504.4,10.2,423,12885,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1649,2144,0,0,0,0,0,0
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$GC,13741,0.85,236.1,413.8,9.9,444,13745,0.00,2.67,0.00,0.000,4,0.000,0.056,3050,3227,2143,0,0,0,0,0,0
$GC,13770,0.94,249.4,410.9,9.2,444,13791,0.10,2.60,14.05,0.838,6,0.087,0.037,3093,1648,2087,0,0,0,0,0,0
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$GC,14317,0.94,249.4,346.0,12.4,458,14322,0.00,2.67,0.00,0.000,4,0.000,0.048,3093,3229,2083,0,0,0,0,0,0
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$STATE,17107,end climb,SURFACE_DEPTH_REACHED
$STATE,17107,begin surface coast
$FINISH,0.7,1.004916
$STATE,17160,end surface coast,CONTROL_FINISHED_OK
$STATE,17160,begin surface
$SM_CCo,17180,70.07,0.439,1,0,1270,450.13
$SM_GC,1.63,0.00,0.00,70.07,0.000,0.000,0.439,413,1833,1270,-11.30,1.78,450.13
$IRIDIUM_FIX,2159.71,-15808.46,060200,121246
$TT8_MAMPS,0.026845
$HUMID,39.68
$INTERNAL_PRESSURE,9.70151
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.3,6.125
$10V_AH,10.4,5.457
$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,28.400,202.700,381.950,70.075,0.000,30.665,33.617,697.602,0.250,0.000,13.349,1423.697,12786.376,559.262,2266.634,1170.416,33.352,1599.767,0.000,2265.407,0.000,0.536,0.000
$DEVICE_MAMPS,158.769,86.671,1212.627,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,446.811,320.230,399.206,560.179,990.911,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355980
$DATA_FILE_SIZE,50937,656
$CAP_FILE_SIZE,176467,0
$CFSIZE,260165632,170893312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121110,224010,2211.975,-15806.480,65,1.3,68,10.0