version: 66.07
glider: 500
mission: 4
dive: 117
start: 7 11 110 19 15 58
data:
$ID,500
$MISSION,4
$DIVE,117
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1025
$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,388
$T_MISSION,450
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51642
$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,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,8
$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,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-111527.45
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2031
$C_ROLL_CLIMB,2031
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2822
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-65.916748
$PRESSURE_SLOPE,0.00011603366
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$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,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$AR_DIVENUM,116
$AR_SAMPLENUM,11
$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
$GPS1,110710,190437,2032.672,-15953.802,34,0.8,34,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-65.0
$GPS2,110710,191502,2032.874,-15953.853,11,1.2,11,9.6
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,TGT06a
$TGT_LATLONG,2020.000,-15945.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.136,-0.176
$KALMAN_X,-18968.5,229.6,-337.1,31046.6,-2489.1
$KALMAN_Y,17926.6,-21.8,160.1,-9021.1,3064.2
$MHEAD_RNG_PITCHd_Wd,132.8,28369,-17.0,-8.505
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.71,-116.8,0.0,0.0,0,79,0.00,0.00,-50.90,0.000,2,0.000,0.000,131,2030,2694,0,0,0,0,0,0
$GC,82,-0.71,-116.8,3.2,-4.8,10,113,10.38,2.38,-13.82,0.000,4,0.239,0.056,2651,454,3300,0,0,0,0,0,0
$GC,220,-0.71,-116.8,29.0,-17.2,35,225,0.00,2.30,0.00,0.000,6,0.000,0.032,2641,2046,3301,0,0,0,0,0,0
$GC,422,-0.71,-116.8,58.7,-12.8,55,426,0.00,2.33,0.00,0.000,4,0.000,0.043,2629,3602,3302,0,0,0,0,0,0
$GC,499,-0.71,-116.8,69.2,-13.2,61,505,0.08,2.28,0.00,0.000,6,0.117,0.028,2658,2035,3302,0,0,0,0,0,0
$GC,759,-0.71,-116.8,98.2,-10.3,86,763,0.00,2.33,0.00,0.000,4,0.000,0.041,2648,3612,3304,0,0,0,0,0,0
$GC,813,-0.71,-116.8,104.2,-10.7,90,820,0.00,2.28,0.00,0.000,6,0.000,0.028,2648,2035,3304,0,0,0,0,0,0
$GC,1074,-0.71,-116.8,132.7,-11.7,115,1078,0.00,2.30,0.00,0.000,4,0.000,0.043,2648,450,3306,0,0,0,0,0,0
$GC,1134,-0.71,-116.8,140.5,-13.4,120,1141,0.00,2.28,0.00,0.000,6,0.000,0.032,2636,2028,3306,0,0,0,0,0,0
$GC,1398,-0.71,-116.8,170.5,-10.9,145,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2028,3306,0,0,0,0,0,0
$GC,1650,-0.71,-116.8,196.8,-10.4,169,1655,0.00,2.33,0.00,0.000,4,0.000,0.042,2624,3614,3307,0,0,0,0,0,0
$GC,1739,-0.71,-116.8,206.2,-10.5,174,1744,0.08,2.28,0.00,0.000,6,0.107,0.028,2656,2030,3306,0,0,0,0,0,0
$GC,2065,-0.71,-116.8,236.5,-9.0,190,2069,0.00,2.30,0.00,0.000,4,0.000,0.043,2656,448,3306,0,0,0,0,0,0
$GC,2108,-0.71,-116.8,240.8,-10.1,192,2112,0.00,2.28,0.00,0.000,6,0.000,0.031,2643,2040,3306,0,0,0,0,0,0
$GC,2434,-0.71,-116.8,270.3,-8.7,208,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2040,3306,0,0,0,0,0,0
$GC,2743,-0.71,-116.8,295.8,-8.6,223,2748,0.00,2.30,0.00,0.000,4,0.000,0.044,2634,3610,3307,0,0,0,0,0,0
$GC,2765,-0.71,-116.8,297.7,-8.4,224,2769,0.00,2.28,0.00,0.000,6,0.000,0.029,2634,2033,3302,0,0,0,0,0,0
$GC,3087,-0.71,-116.8,326.8,-8.7,233,3091,0.00,2.30,0.00,0.000,4,0.000,0.043,2634,448,3304,0,0,0,0,0,0
$GC,3125,-0.71,-116.8,330.4,-9.3,234,3130,0.12,2.25,0.00,0.000,6,0.142,0.031,2661,2031,3303,0,0,0,0,0,0
$GC,3449,-0.71,-116.8,353.2,-6.8,242,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2031,3300,0,0,0,0,0,0
$GC,3773,-0.71,-116.8,376.7,-7.3,250,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2030,3298,0,0,0,0,0,0
$GC,4098,-0.71,-116.8,401.3,-7.5,258,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2031,3296,0,0,0,0,0,0
$GC,4423,-0.71,-116.8,422.8,-6.3,266,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2031,3295,0,0,0,0,0,0
$GC,4748,-0.71,-116.8,444.2,-6.6,274,4752,0.00,2.35,0.00,0.000,4,0.000,0.045,2661,449,3293,0,0,0,0,0,0
$GC,4785,-0.71,-116.8,447.1,-7.5,274,4792,0.00,2.28,0.00,0.000,6,0.000,0.032,2651,2020,3293,0,0,0,0,0,0
$GC,5117,-0.71,-116.8,470.2,-6.9,283,5121,0.00,2.35,0.00,0.000,4,0.000,0.044,2639,3622,3291,0,0,0,0,0,0
$GC,5171,-0.71,-116.8,474.2,-7.2,284,5175,0.00,2.30,0.00,0.000,6,0.000,0.031,2639,2036,3291,0,0,0,0,0,0
$GC,5484,-0.71,-116.8,496.6,-7.4,292,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2036,3289,0,0,0,0,0,0
$GC,5809,-0.71,-116.8,521.3,-7.6,300,5813,0.00,2.30,0.00,0.000,4,0.000,0.045,2639,453,3287,0,0,0,0,0,0
$GC,5913,-0.71,-116.8,530.1,-8.6,302,5919,0.08,2.30,0.00,0.000,6,0.120,0.033,2657,2044,3286,0,0,0,0,0,0
$GC,6261,-0.71,-116.8,550.7,-5.7,311,6265,0.00,2.30,0.00,0.000,4,0.000,0.045,2647,3606,3288,0,0,0,0,0,0
$GC,6305,-0.71,-116.8,553.3,-6.1,312,6309,0.00,2.30,0.00,0.000,6,0.000,0.031,2647,2025,3284,0,0,0,0,0,0
$GC,6629,-0.71,-116.8,572.9,-6.2,320,6630,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2027,3284,0,0,0,0,0,0
$GC,6954,-0.71,-116.8,594.4,-6.8,328,6958,0.00,2.30,0.00,0.000,4,0.000,0.046,2647,454,3280,0,0,0,0,0,0
$GC,6997,-0.71,-116.8,597.7,-8.2,329,7001,0.00,2.30,0.00,0.000,6,0.000,0.033,2635,2066,3282,0,0,0,0,0,0
$GC,7321,-0.71,-116.8,620.0,-6.8,337,7325,0.00,2.28,0.00,0.000,4,0.000,0.045,2624,3612,3279,0,0,0,0,0,0
$GC,7347,-0.71,-116.8,622.0,-7.4,337,7352,0.08,2.30,0.00,0.000,6,0.111,0.031,2671,2042,3281,0,0,0,0,0,0
$GC,7683,-0.71,-116.8,640.7,-5.4,346,7687,0.00,2.33,0.00,0.000,4,0.000,0.046,2671,450,3279,0,0,0,0,0,0
$GC,7771,-0.71,-116.8,646.3,-6.7,348,7776,0.00,2.30,0.00,0.000,6,0.000,0.033,2662,2036,3279,0,0,0,0,0,0
$GC,8096,-0.71,-116.8,664.2,-5.3,356,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2036,3277,0,0,0,0,0,0
$GC,8420,-0.71,-116.8,682.7,-5.9,364,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2037,3277,0,0,0,0,0,0
$GC,8745,-0.71,-116.8,703.7,-6.6,372,8749,0.00,2.38,0.00,0.000,4,0.000,0.047,2662,440,3276,0,0,0,0,0,0
$GC,8785,-0.71,-116.8,706.5,-7.6,373,8789,0.00,2.30,0.00,0.000,6,0.000,0.035,2650,2041,3276,0,0,0,0,0,0
$GC,9108,-0.71,-116.8,729.5,-7.2,381,9113,0.00,2.33,0.00,0.000,4,0.000,0.046,2639,3611,3275,0,0,0,0,0,0
$GC,9136,-0.71,-116.8,731.6,-7.7,381,9141,0.00,2.30,0.00,0.000,6,0.000,0.032,2639,2025,3275,0,0,0,0,0,0
$GC,9467,-0.71,-116.8,757.4,-7.6,389,9471,0.00,2.33,0.00,0.000,4,0.000,0.047,2639,451,3274,0,0,0,0,0,0
$GC,9526,-0.71,-116.8,762.4,-8.6,390,9532,0.08,2.30,0.00,0.000,6,0.119,0.033,2662,2037,3274,0,0,0,0,0,0
$GC,9839,-0.71,-116.8,782.4,-6.2,398,9843,0.00,2.33,0.00,0.000,4,0.000,0.046,2657,455,3275,0,0,0,0,0,0
$GC,9878,-0.71,-116.8,784.9,-6.6,399,9883,0.00,2.28,0.00,0.000,6,0.000,0.034,2647,2040,3274,0,0,0,0,0,0
$GC,10202,-0.71,-116.8,805.8,-6.5,407,10206,0.00,2.33,0.00,0.000,4,0.000,0.047,2647,459,3273,0,0,0,0,0,0
$GC,10234,-0.71,-116.8,808.0,-7.4,407,10240,0.00,2.28,0.00,0.000,6,0.000,0.034,2636,2028,3273,0,0,0,0,0,0
$GC,10564,-0.71,-116.8,830.6,-6.9,416,10566,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2028,3273,0,0,0,0,0,0
$GC,10889,-0.71,-116.8,853.6,-7.1,424,10891,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2032,3272,0,0,0,0,0,0
$GC,11214,-0.71,-116.8,875.9,-6.9,432,11219,0.00,2.35,0.00,0.000,4,0.000,0.047,2624,3612,3271,0,0,0,0,0,0
$GC,11247,-0.71,-116.8,878.3,-7.0,432,11254,0.12,2.30,0.00,0.000,6,0.136,0.032,2663,2018,3273,0,0,0,0,0,0
$GC,11578,-0.71,-116.8,897.4,-5.5,441,11582,0.00,2.33,0.00,0.000,4,0.000,0.047,2664,452,3271,0,0,0,0,0,0
$GC,11638,-0.71,-116.8,901.0,-6.0,442,11642,0.00,2.30,0.00,0.000,6,0.000,0.034,2652,2060,3270,0,0,0,0,0,0
$GC,11985,-0.71,-116.8,919.2,-5.1,451,11990,0.00,2.38,0.00,0.000,4,0.000,0.046,2653,450,3269,0,0,0,0,0,0
$GC,12018,-0.71,-116.8,921.0,-6.2,451,12024,0.00,2.30,0.00,0.000,6,0.000,0.034,2641,2029,3270,0,0,0,0,0,0
$GC,12349,-0.71,-116.8,937.9,-5.3,460,12350,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2029,3269,0,0,0,0,0,0
$GC,12674,-0.71,-116.8,956.2,-5.8,468,12678,0.00,2.35,0.00,0.000,4,0.000,0.047,2631,3612,3269,0,0,0,0,0,0
$GC,12705,-0.71,-116.8,958.3,-6.4,468,12710,0.00,2.33,0.00,0.000,6,0.000,0.031,2631,2027,3269,0,0,0,0,0,0
$GC,13043,-0.71,-116.8,979.8,-6.4,477,13047,0.00,2.33,0.00,0.000,4,0.000,0.047,2631,450,3269,0,0,0,0,0,0
$GC,13103,-0.71,-116.8,984.5,-7.4,478,13108,0.10,2.30,0.00,0.000,6,0.114,0.034,2657,2033,3269,0,0,0,0,0,0
$STATE,13205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13205,begin apogee
$GC,13208,-0.23,0.0,990.4,5.7,481,13308,0.47,0.00,96.10,1.315,6,0.106,0.000,2820,2033,2823,0,0,0,0,0,0
$STATE,13330,end apogee,CONTROL_FINISHED_OK
$STATE,13330,begin climb
$GC,13332,0.71,116.8,992.3,0.0,483,13453,0.80,2.65,110.90,1.285,4,0.059,0.045,3126,3603,2345,0,0,0,0,0,0
$GC,13480,0.71,116.8,982.7,12.7,487,13485,0.00,2.50,0.00,0.000,6,0.000,0.035,3133,2046,2340,0,0,0,0,0,0
$GC,13828,0.71,116.8,936.9,13.2,496,13833,0.00,2.45,0.00,0.000,4,0.000,0.049,3149,440,2329,0,0,0,0,0,0
$GC,13860,0.71,116.8,932.1,14.2,496,13866,0.00,2.40,0.00,0.000,6,0.000,0.035,3149,2030,2328,0,0,0,0,0,0
$GC,14191,0.71,116.8,886.4,14.0,505,14195,0.00,2.40,0.00,0.000,4,0.000,0.048,3161,440,2327,0,0,0,0,0,0
$GC,14223,0.71,116.8,881.7,14.5,505,14230,0.15,2.35,0.00,0.000,6,0.158,0.035,3120,2040,2326,0,0,0,0,0,0
$GC,14553,0.71,116.8,839.1,12.8,514,14558,0.00,2.38,0.00,0.000,4,0.000,0.045,3120,3614,2326,0,0,0,0,0,0
$GC,14597,0.71,116.8,833.0,13.7,515,14602,0.00,2.40,0.00,0.000,6,0.000,0.035,3130,2010,2324,0,0,0,0,0,0
$GC,14921,0.71,116.8,791.0,13.0,523,14925,0.00,2.33,0.00,0.000,4,0.000,0.048,3142,457,2324,0,0,0,0,0,0
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$STATE,22564,end climb,SURFACE_DEPTH_REACHED
$STATE,22564,begin surface coast
$FINISH,0.6,0.998279
$STATE,22595,end surface coast,CONTROL_FINISHED_OK
$STATE,22595,begin surface
$SM_CCo,22679,74.53,0.476,1,0,1290,375.06
$SM_GC,1.45,0.00,0.00,74.53,0.000,0.000,0.476,134,2028,1290,-8.61,-0.08,375.06
$IRIDIUM_FIX,2022.56,-15954.92,040112,060614
$TT8_MAMPS,0.059059
$HUMID,1078457410
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$TCM_TEMP,23.80
$XPDR_PINGS,5
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$AR_POSTDIVE_SAMPLENUM,11
$AR_CDRIVE_FREE,8438677504
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54410706944
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.7,13.702
$10V_AH,9.7,17.336
$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,20.825,209.800,305.425,74.525,0.000,24.966,33.809,430.184,4.250,0.000,13.650,1807.846,18113.441,558.767,2692.893,211.110,33.351,1732.265,0.000,2059.105,0.000,22.228,0.000
$DEVICE_MAMPS,239.304,55.991,1314.638,475.540,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
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$SENSOR_SECS,623.372,0.000,0.000,0.000,0.000,0.000,0.000,23294.699,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,11.106,0.000,0.000
$MEM,333768
$DATA_FILE_SIZE,33417,909
$CAP_FILE_SIZE,192617,0
$CFSIZE,260165632,248524800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120710,013637,2032.256,-15953.304,30,0.8,30,9.6