version: 66.06
glider: 148
mission: 12
dive: 31
start: 5 27 113 10 7 13
data:
$ID,148
$MISSION,12
$DIVE,31
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,950
$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,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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52665
$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,578.66266
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1015635.8
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3380
$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,1560
$C_ROLL_CLIMB,1300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,105
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2870
$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,-11.834597
$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,0.0043645771
$SEABIRD_T_H,0.00062944926
$SEABIRD_T_I,2.4626779e-05
$SEABIRD_T_J,2.6951686e-06
$SEABIRD_C_G,-9.9698391
$SEABIRD_C_H,1.1487522
$SEABIRD_C_I,-0.0018401047
$SEABIRD_C_J,0.00022632178
$GPS1,094435,2300.571,-15803.948,44,1.9,48,10.1
$_CALLS,5
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-76.9
$GPS2,100621,2300.964,-15803.743,15,2.4,34,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.046,0.256
$KALMAN_X,-12589.6,247.3,657.9,5380.1,-1633.8
$KALMAN_Y,3300.7,196.6,384.5,25702.1,-650.4
$MHEAD_RNG_PITCHd_Wd,0.1,6591,-17.5,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,78,0.00,0.00,-60.38,0.000,2,0.000,0.000,418,1578,2971,0,0,0,0,0,0
$GC,82,-1.27,-146.0,3.8,-7.0,8,114,14.05,2.42,-8.48,0.000,4,0.152,0.036,3097,3084,3468,0,0,0,0,0,0
$GC,169,-1.00,-146.0,29.4,-20.2,20,178,0.25,2.55,0.00,0.000,6,0.085,0.031,3156,1540,3468,0,0,0,0,0,0
$GC,437,-0.88,-146.0,68.9,-13.0,45,442,0.12,2.28,0.00,0.000,4,0.118,0.043,3184,165,3468,0,0,0,0,0,0
$GC,518,-0.98,-146.0,78.5,-9.7,51,523,0.00,2.05,0.00,0.000,6,0.000,0.018,3184,1527,3468,0,0,0,0,0,0
$GC,786,-0.98,-146.0,105.5,-10.3,75,790,0.00,2.50,0.00,0.000,4,0.000,0.025,3184,3111,3468,0,0,0,0,0,0
$GC,848,-1.13,-146.0,112.2,-8.9,80,858,0.17,2.53,0.00,0.000,6,0.021,0.030,3077,1566,3468,0,0,0,0,0,0
$GC,1112,-0.80,-146.0,159.4,-19.1,105,1122,0.57,0.00,0.00,0.000,6,0.094,0.000,3200,1566,3468,0,0,0,0,0,0
$GC,1379,-0.91,-146.0,183.8,-7.6,130,1383,0.00,2.45,0.00,0.000,4,0.000,0.024,3200,3112,3468,0,0,0,0,0,0
$GC,1419,-1.13,-146.0,187.0,-7.5,133,1424,0.28,2.53,0.00,0.000,6,0.035,0.029,3090,1553,3468,0,0,0,0,0,0
$GC,1684,-0.89,-146.0,226.0,-15.3,146,1689,0.40,2.25,0.00,0.000,4,0.090,0.042,3180,165,3468,0,0,0,0,0,0
$GC,1738,-1.05,-146.0,231.7,-8.9,147,1742,0.12,2.12,0.00,0.000,6,0.064,0.019,3119,1554,3468,0,0,0,0,0,0
$GC,2016,-0.97,-146.0,263.1,-11.3,154,2021,0.22,2.47,0.00,0.000,4,0.089,0.025,3169,3122,3468,0,0,0,0,0,0
$GC,2070,-1.17,-146.0,267.3,-7.0,155,2075,0.20,2.50,0.00,0.000,6,0.043,0.031,3069,1573,3468,0,0,0,0,0,0
$GC,2349,-0.95,-146.0,304.4,-13.7,162,2354,0.45,2.30,0.00,0.000,4,0.091,0.048,3166,172,3468,0,0,0,0,0,0
$GC,2388,-1.11,-146.0,308.1,-7.7,162,2394,0.12,2.12,0.00,0.000,6,0.063,0.023,3102,1542,3468,0,0,0,0,0,0
$GC,2640,-1.02,-146.0,333.8,-10.5,169,2642,0.25,0.00,0.00,0.000,6,0.090,0.000,3157,1542,3466,0,0,0,0,0,0
$GC,2882,-1.11,-146.0,354.2,-8.1,175,2887,0.00,2.58,0.00,0.000,4,0.000,0.036,3157,3137,3465,0,0,0,0,0,0
$GC,2906,-1.25,-146.0,356.0,-7.8,175,2912,0.20,2.58,0.00,0.000,6,0.043,0.035,3087,1560,3465,0,0,0,0,0,0
$GC,3168,-1.13,-146.0,384.7,-11.2,182,3173,0.22,2.35,0.00,0.000,4,0.097,0.058,3135,168,3463,0,0,0,0,0,0
$GC,3192,-1.13,-146.0,387.4,-9.6,182,3197,0.00,2.17,0.00,0.000,6,0.000,0.025,3135,1555,3463,0,0,0,0,0,0
$GC,3453,-1.13,-146.0,409.0,-8.2,189,3457,0.00,2.60,0.00,0.000,4,0.000,0.041,3135,3133,3462,0,0,0,0,0,0
$GC,3510,-1.28,-146.0,413.5,-6.9,190,3515,0.15,2.58,0.00,0.000,6,0.054,0.043,3078,1568,3461,0,0,0,0,0,0
$GC,3784,-1.16,-146.0,442.3,-10.6,197,3789,0.22,2.40,0.00,0.000,4,0.097,0.067,3126,166,3459,0,0,0,0,0,0
$GC,3819,-1.16,-146.0,445.7,-8.8,197,3823,0.00,2.22,0.00,0.000,6,0.000,0.030,3126,1562,3459,0,0,0,0,0,0
$GC,4069,-1.16,-146.0,465.3,-7.8,203,4073,0.00,2.60,0.00,0.000,4,0.000,0.045,3126,3136,3457,0,0,0,0,0,0
$GC,4114,-1.29,-146.0,468.6,-7.6,204,4119,0.12,2.60,0.00,0.000,6,0.062,0.041,3077,1567,3457,0,0,0,0,0,0
$GC,4402,-1.18,-146.0,498.7,-10.6,211,4407,0.20,2.42,0.00,0.000,4,0.100,0.074,3121,170,3455,0,0,0,0,0,0
$GC,4432,-1.18,-146.0,501.6,-9.0,211,4436,0.00,2.28,0.00,0.000,6,0.000,0.035,3121,1579,3454,0,0,0,0,0,0
$GC,4688,-1.18,-146.0,522.6,-8.2,218,4692,0.00,2.62,0.00,0.000,4,0.000,0.050,3121,3144,3453,0,0,0,0,0,0
$GC,4721,-1.29,-146.0,525.2,-8.0,218,4726,0.10,2.62,0.00,0.000,6,0.075,0.045,3080,1574,3452,0,0,0,0,0,0
$GC,4973,-1.21,-146.0,550.1,-10.1,224,4975,0.17,0.00,0.00,0.000,6,0.104,0.000,3116,1574,3451,0,0,0,0,0,0
$GC,5215,-1.21,-146.0,570.7,-8.3,230,5219,0.00,2.67,0.00,0.000,4,0.000,0.055,3117,3139,3449,0,0,0,0,0,0
$GC,5253,-1.30,-146.0,574.0,-8.3,230,5258,0.00,2.65,0.00,0.000,6,0.000,0.048,3117,1579,3449,0,0,0,0,0,0
$GC,5503,-1.30,-146.0,596.1,-9.1,237,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1579,3447,0,0,0,0,0,0
$GC,5748,-1.30,-146.0,617.7,-8.8,243,5753,0.00,2.65,0.00,0.000,4,0.000,0.054,3116,3145,3445,0,0,0,0,0,0
$GC,5769,-1.30,-146.0,619.8,-9.4,243,5773,0.00,2.65,0.00,0.000,6,0.000,0.048,3117,1581,3444,0,0,0,0,0,0
$GC,6033,-1.30,-146.0,642.1,-8.4,250,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1581,3443,0,0,0,0,0,0
$GC,6278,-1.30,-146.0,661.3,-7.7,256,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1581,3442,0,0,0,0,0,0
$GC,6521,-1.30,-146.0,679.2,-7.3,262,6525,0.00,2.62,0.00,0.000,4,0.000,0.053,3116,3139,3441,0,0,0,0,0,0
$GC,6549,-1.39,-146.0,681.4,-7.7,262,6555,0.17,2.62,0.00,0.000,6,0.052,0.051,3051,1591,3441,0,0,0,0,0,0
$GC,6807,-1.24,-146.0,707.9,-10.6,269,6812,0.25,2.55,0.00,0.000,4,0.100,0.084,3108,165,3439,0,0,0,0,0,0
$GC,6845,-1.24,-146.0,711.7,-8.4,269,6851,0.00,2.35,0.00,0.000,6,0.000,0.041,3108,1587,3439,0,0,0,0,0,0
$GC,7095,-1.24,-146.0,731.2,-7.9,276,7100,0.00,2.65,0.00,0.000,4,0.000,0.058,3108,3144,3437,0,0,0,0,0,0
$GC,7126,-1.32,-146.0,733.5,-7.5,276,7130,0.00,2.62,0.00,0.000,6,0.000,0.051,3108,1594,3437,0,0,0,0,0,0
$GC,7380,-1.32,-146.0,754.5,-8.5,283,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1594,3436,0,0,0,0,0,0
$GC,7624,-1.32,-146.0,775.4,-8.7,289,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1594,3435,0,0,0,0,0,0
$GC,7869,-1.32,-146.0,796.2,-8.5,295,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1594,3434,0,0,0,0,0,0
$GC,8111,-1.32,-146.0,816.4,-8.2,301,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1594,3433,0,0,0,0,0,0
$GC,8355,-1.32,-146.0,836.3,-8.1,307,8360,0.00,2.65,0.00,0.000,4,0.000,0.053,3108,3150,3432,0,0,0,0,0,0
$GC,8379,-1.39,-146.0,838.5,-10.0,307,8384,0.12,2.65,0.00,0.000,6,0.063,0.051,3057,1590,3432,0,0,0,0,0,0
$GC,8641,-1.29,-146.0,865.0,-10.4,314,8643,0.20,0.00,0.00,0.000,6,0.102,0.000,3099,1590,3431,0,0,0,0,0,0
$GC,8883,-1.29,-146.0,884.6,-7.9,320,8888,0.00,2.62,0.00,0.000,4,0.000,0.052,3099,3145,3430,0,0,0,0,0,0
$GC,8907,-1.29,-146.0,886.7,-9.5,320,8911,0.00,2.65,0.00,0.000,6,0.000,0.052,3099,1597,3430,0,0,0,0,0,0
$STATE,9123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9123,begin apogee
$GC,9131,-0.31,0.0,902.6,7.3,326,9251,0.95,0.00,116.90,1.176,6,0.081,0.000,3314,1294,2870,0,0,0,0,0,0
$STATE,9252,end apogee,CONTROL_FINISHED_OK
$STATE,9252,begin climb
$GC,9255,1.27,146.0,906.2,0.0,329,9396,1.45,2.15,129.43,1.154,4,0.033,0.089,3662,167,2273,0,0,0,0,0,0
$GC,9434,0.83,146.0,898.6,14.8,333,9439,0.50,1.90,0.00,0.000,6,0.116,0.035,3563,1305,2270,0,0,0,0,0,0
$GC,9699,0.86,165.5,873.5,9.1,340,9722,0.00,2.08,16.92,1.051,4,0.000,0.077,3562,170,2195,0,0,0,0,0,0
$GC,9757,0.75,165.5,867.6,10.5,341,9761,0.00,1.88,0.00,0.000,6,0.000,0.036,3563,1304,2195,0,0,0,0,0,0
$GC,10034,0.79,199.0,843.2,8.5,348,10068,0.00,0.00,31.98,1.095,6,0.000,0.000,3562,1304,2058,0,0,0,0,0,0
$GC,10279,0.84,236.4,823.0,8.3,354,10321,0.00,2.80,35.50,1.086,4,0.000,0.060,3563,2878,1905,0,0,0,0,0,0
$GC,10348,0.94,262.9,817.0,8.8,355,10381,0.10,2.75,25.75,1.056,6,0.083,0.055,3600,1304,1798,0,0,0,0,0,0
$GC,10659,0.87,262.9,779.6,12.2,363,10664,0.15,2.08,0.00,0.000,4,0.114,0.091,3570,166,1792,0,0,0,0,0,0
$GC,10678,0.87,262.9,777.0,12.3,363,10682,0.00,1.88,0.00,0.000,6,0.000,0.035,3570,1311,1792,0,0,0,0,0,0
$GC,10950,0.87,262.9,747.9,10.8,370,10955,0.00,2.70,0.00,0.000,4,0.000,0.055,3570,2880,1790,0,0,0,0,0,0
$GC,10980,0.93,262.9,744.8,11.5,370,10985,0.00,2.72,0.00,0.000,6,0.000,0.054,3570,1304,1787,0,0,0,0,0,0
$GC,11235,0.93,262.9,715.5,11.6,377,11236,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1304,1787,0,0,0,0,0,0
$GC,11479,0.93,262.9,686.3,12.1,383,11483,0.00,2.70,0.00,0.000,4,0.000,0.048,3570,2877,1787,0,0,0,0,0,0
$GC,11499,0.93,262.9,683.9,11.7,383,11503,0.00,2.70,0.00,0.000,6,0.000,0.054,3570,1310,1785,0,0,0,0,0,0
$GC,11763,0.93,262.9,652.0,12.3,390,11764,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1310,1786,0,0,0,0,0,0
$GC,12006,0.93,262.9,622.7,11.9,396,12011,0.00,2.67,0.00,0.000,4,0.000,0.048,3570,2876,1785,0,0,0,0,0,0
$GC,12021,0.93,262.9,620.9,11.9,396,12025,0.00,2.72,0.00,0.000,6,0.000,0.051,3569,1301,1785,0,0,0,0,0,0
$GC,12291,0.93,262.9,590.1,11.4,403,12295,0.00,2.67,0.00,0.000,4,0.000,0.047,3570,2874,1785,0,0,0,0,0,0
$GC,12305,0.93,262.9,588.3,10.9,403,12309,0.00,2.70,0.00,0.000,6,0.000,0.051,3570,1300,1783,0,0,0,0,0,0
$GC,12573,0.93,262.9,559.9,10.4,410,12578,0.00,2.67,0.00,0.000,4,0.000,0.048,3570,2876,1784,0,0,0,0,0,0
$GC,12619,1.08,275.8,555.6,9.4,411,12636,0.20,2.67,10.52,0.856,6,0.050,0.054,3634,1317,1745,0,0,0,0,0,0
$GC,12911,0.96,275.8,515.0,14.3,418,12913,0.20,0.00,0.00,0.000,6,0.108,0.000,3591,1317,1743,0,0,0,0,0,0
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$GC,14209,0.96,275.8,364.5,10.8,450,14210,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1315,1741,0,0,0,0,0,0
$GC,14453,0.96,275.8,338.8,10.4,456,14458,0.00,2.55,0.00,0.000,4,0.000,0.033,3591,2882,1741,0,0,0,0,0,0
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$GC,15376,1.09,293.1,241.3,9.4,478,15396,0.00,2.47,13.15,0.647,4,0.000,0.028,3598,2869,1674,0,0,0,0,0,0
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$STATE,17259,end climb,SURFACE_DEPTH_REACHED
$STATE,17259,begin surface coast
$FINISH,0.7,1.023048
$STATE,17312,end surface coast,CONTROL_FINISHED_OK
$STATE,17312,begin surface
$SM_CCo,17338,164.30,0.449,3,0,510,578.66
$SM_GC,1.52,0.00,0.00,164.30,0.000,0.000,0.449,412,1569,510,-13.65,0.25,578.66
$IRIDIUM_FIX,2251.04,-15802.79,210802,101001
$TT8_MAMPS,0.027612
$HUMID,60.12
$INTERNAL_PRESSURE,9.32063
$TCM_TEMP,21.90
$XPDR_PINGS,21
$24V_AH,23.2,3.858
$10V_AH,9.8,3.463
$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,37.125,198.000,424.025,164.300,0.000,143.785,188.464,501.029,5.250,0.000,36.549,1442.005,13108.792,718.525,2231.853,1311.148,33.359,1720.319,0.000,2206.500,0.000,0.536,0.000
$DEVICE_MAMPS,151.866,91.273,1175.811,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,445.005,305.430,390.278,689.872,946.279,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,51109,654
$CAP_FILE_SIZE,183469,0
$CFSIZE,260165632,170131456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,270513,150029,2303.162,-15803.492,37,1.9,37,10.1