version: 66.07
glider: 500
mission: 5
dive: 229
start: 12 27 110 0 59 52
data:
$ID,500
$MISSION,5
$DIVE,229
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,550
$T_MISSION,1020
$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,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$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,500
$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,0
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-125363.29
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3070
$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,2190
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2945
$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,-66.543793
$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,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$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,228
$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
$GPS1,271210,004601,2131.849,12645.044,39,1.1,39,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.9
$GPS2,271210,005858,2131.652,12645.034,10,3.0,29,-2.9
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T1
$TGT_LATLONG,2308.380,12704.078
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,0.055
$KALMAN_X,-396703.1,1219.3,-133.6,755349.2,-8112.8
$KALMAN_Y,29235.7,298.1,840.4,10318.0,-7599.2
$MHEAD_RNG_PITCHd_Wd,78.4,182053,-9.4,-6.000
$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
$STATE,24,begin dive
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$GC,3517,-0.51,-155.7,340.6,-5.5,237,3522,0.00,2.40,0.00,0.000,4,0.000,0.056,2902,602,3583,0,0,0,0,0,0
$GC,3617,-0.51,-155.7,347.6,-7.1,239,3622,0.00,2.45,0.00,0.000,6,0.000,0.059,2891,2203,3583,0,0,0,0,0,0
$GC,3930,-0.51,-155.7,370.2,-7.4,247,3934,0.00,2.42,0.00,0.000,4,0.000,0.058,2880,3781,3582,0,0,0,0,0,0
$GC,4076,-0.51,-155.7,381.5,-7.6,250,4080,0.00,2.38,0.00,0.000,6,0.000,0.040,2878,2176,3581,0,0,0,0,0,0
$GC,4422,-0.51,-155.7,408.2,-7.7,259,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2176,3579,0,0,0,0,0,0
$GC,4747,-0.51,-155.7,429.8,-6.1,267,4751,0.00,2.35,0.00,0.000,4,0.000,0.048,2878,590,3577,0,0,0,0,0,0
$GC,4877,-0.51,-155.7,438.2,-6.6,270,4882,0.12,2.38,0.00,0.000,6,0.138,0.045,2906,2200,3576,0,0,0,0,0,0
$GC,5200,-0.51,-155.7,453.6,-4.8,278,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2200,3575,0,0,0,0,0,0
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$GC,7419,-0.51,-155.7,568.0,-4.8,332,7423,0.00,2.38,0.00,0.000,6,0.000,0.047,2890,2199,3563,0,0,0,0,0,0
$GC,7744,-0.51,-155.7,580.3,-3.9,340,7748,0.00,2.40,0.00,0.000,4,0.000,0.048,2889,593,3562,0,0,0,0,0,0
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$GC,8113,-0.51,-155.7,599.5,-5.6,349,8114,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2197,3560,0,0,0,0,0,0
$GC,8439,-0.51,-155.7,616.7,-5.2,357,8443,0.00,2.38,0.00,0.000,4,0.000,0.045,2875,591,3557,0,0,0,0,0,0
$GC,8478,-0.51,-155.7,618.9,-5.6,358,8483,0.12,2.38,0.00,0.000,6,0.137,0.045,2906,2197,3557,0,0,0,0,0,0
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$GC,14972,-0.51,-155.7,858.7,-4.5,518,14973,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2196,3536,0,0,0,0,0,0
$GC,15298,-0.51,-155.7,872.2,-4.2,526,15302,0.00,2.40,0.00,0.000,4,0.000,0.048,2904,611,3537,0,0,0,0,0,0
$GC,15403,-0.51,-155.7,876.5,-4.7,528,15407,0.00,2.40,0.00,0.000,6,0.000,0.046,2892,2193,3536,0,0,0,0,0,0
$GC,15717,-0.51,-155.7,887.9,-3.6,536,15721,0.00,2.40,0.00,0.000,4,0.000,0.048,2892,612,3535,0,0,0,0,0,0
$GC,15941,-0.51,-155.7,895.5,-3.5,541,15945,0.00,2.35,0.00,0.000,6,0.000,0.047,2881,2193,3535,0,0,0,0,0,0
$GC,16265,-0.51,-155.7,904.5,-2.9,549,16269,0.00,2.38,0.00,0.000,4,0.000,0.048,2881,616,3534,0,0,0,0,0,0
$GC,16319,-0.51,-155.7,906.5,-4.2,550,16324,0.12,2.38,0.00,0.000,6,0.138,0.046,2909,2195,3534,0,0,0,0,0,0
$GC,16633,-0.51,-155.7,916.8,-3.6,558,16637,0.00,2.45,0.00,0.000,4,0.000,0.058,2898,3779,3535,0,0,0,0,0,0
$GC,16659,-0.51,-155.7,918.0,-4.7,558,16663,0.00,2.38,0.00,0.000,6,0.000,0.039,2904,2184,3533,0,0,0,0,0,0
$GC,16995,-0.51,-155.7,933.2,-4.6,567,16996,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2184,3532,0,0,0,0,0,0
$GC,17320,-0.51,-155.7,948.7,-4.7,575,17324,0.00,2.40,0.00,0.000,4,0.000,0.051,2899,602,3532,0,0,0,0,0,0
$GC,17366,-0.51,-155.7,951.0,-4.6,576,17370,0.00,2.40,0.00,0.000,6,0.000,0.050,2887,2192,3532,0,0,0,0,0,0
$GC,17689,-0.51,-155.7,965.9,-4.6,584,17690,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2192,3532,0,0,0,0,0,0
$GC,18014,-0.51,-155.7,979.1,-3.8,592,18018,0.00,2.38,0.00,0.000,4,0.000,0.048,2891,602,3532,0,0,0,0,0,0
$GC,18120,-0.51,-155.7,983.4,-3.8,594,18125,0.10,2.40,0.00,0.000,6,0.146,0.048,2904,2197,3532,0,0,0,0,0,0
$STATE,18419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18419,begin apogee
$GC,18424,-0.23,0.0,990.5,2.0,602,18553,0.25,0.00,126.90,1.387,6,0.093,0.000,2998,1849,2948,0,0,0,0,0,0
$STATE,18561,end apogee,CONTROL_FINISHED_OK
$STATE,18561,begin climb
$GC,18564,0.51,155.7,988.1,0.0,605,18721,0.62,2.80,146.20,1.348,4,0.063,0.056,3237,3439,2310,0,0,0,0,0,0
$GC,18749,0.51,155.7,964.1,16.0,609,18753,0.00,2.58,0.00,0.000,6,0.000,0.043,3248,1867,2303,0,0,0,0,0,0
$GC,19090,0.51,155.7,912.0,15.3,618,19094,0.00,2.55,0.00,0.000,4,0.000,0.056,3261,274,2294,0,0,0,0,0,0
$GC,19121,0.51,155.7,906.9,15.5,618,19128,0.00,2.50,0.00,0.000,6,0.000,0.046,3261,1868,2293,0,0,0,0,0,0
$GC,19453,0.51,155.7,853.5,16.3,627,19457,0.00,2.47,0.00,0.000,4,0.000,0.057,3261,3454,2292,0,0,0,0,0,0
$GC,19518,0.51,155.7,841.6,18.1,628,19524,0.10,2.50,0.00,0.000,6,0.116,0.044,3236,1856,2290,0,0,0,0,0,0
$GC,19861,0.51,155.7,792.6,14.0,637,19865,0.00,2.50,0.00,0.000,4,0.000,0.054,3235,3457,2291,0,0,0,0,0,0
$GC,19882,0.51,155.7,789.5,14.3,637,19886,0.00,2.45,0.00,0.000,6,0.000,0.044,3246,1858,2290,0,0,0,0,0,0
$GC,20217,0.51,155.7,744.6,13.0,646,20222,0.00,2.47,0.00,0.000,4,0.000,0.055,3258,272,2288,0,0,0,0,0,0
$GC,20261,0.51,155.7,739.0,12.8,647,20265,0.00,2.45,0.00,0.000,6,0.000,0.048,3258,1857,2290,0,0,0,0,0,0
$GC,20586,0.51,155.7,694.4,14.3,655,20590,0.00,2.47,0.00,0.000,4,0.000,0.057,3258,3452,2290,0,0,0,0,0,0
$GC,20657,0.51,155.7,683.2,14.4,656,20662,0.10,2.47,0.00,0.000,6,0.113,0.044,3231,1861,2288,0,0,0,0,0,0
$GC,20993,0.51,155.7,643.0,11.9,665,20994,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1860,2288,0,0,0,0,0,0
$GC,21319,0.51,155.7,604.5,11.5,673,21323,0.00,2.45,0.00,0.000,4,0.000,0.054,3243,265,2290,0,0,0,0,0,0
$GC,21350,0.51,155.7,600.9,11.3,673,21357,0.00,2.45,0.00,0.000,6,0.000,0.047,3243,1864,2292,0,0,0,0,0,0
$GC,21681,0.51,155.7,566.7,10.3,682,21686,0.00,2.45,0.00,0.000,4,0.000,0.057,3243,3448,2290,0,0,0,0,0,0
$GC,21782,0.51,155.7,554.9,11.0,684,21786,0.00,2.45,0.00,0.000,6,0.000,0.044,3255,1852,2290,0,0,0,0,0,0
$GC,22128,0.51,155.7,515.4,11.2,693,22133,0.00,2.42,0.00,0.000,4,0.000,0.056,3267,278,2292,0,0,0,0,0,0
$GC,22183,0.51,155.7,509.0,11.5,694,22188,0.08,2.42,0.00,0.000,6,0.105,0.047,3235,1863,2289,0,0,0,0,0,0
$GC,22496,0.51,155.7,480.1,9.0,702,22501,0.00,2.45,0.00,0.000,4,0.000,0.057,3235,3451,2292,0,0,0,0,0,0
$GC,22574,0.51,155.7,471.9,9.9,703,22580,0.00,2.45,0.00,0.000,6,0.000,0.044,3246,1867,2292,0,0,0,0,0,0
$GC,22906,0.51,155.7,434.1,12.0,712,22910,0.00,2.45,0.00,0.000,4,0.000,0.056,3246,3455,2294,0,0,0,0,0,0
$GC,22937,0.51,155.7,429.7,12.7,712,22944,0.00,2.45,0.00,0.000,6,0.000,0.043,3258,1863,2293,0,0,0,0,0,0
$GC,23268,0.51,155.7,390.2,11.5,721,23273,0.00,2.45,0.00,0.000,4,0.000,0.053,3270,276,2293,0,0,0,0,0,0
$GC,23317,0.51,155.7,384.1,13.3,722,23323,0.08,2.40,0.00,0.000,6,0.100,0.044,3238,1859,2294,0,0,0,0,0,0
$GC,23637,0.51,155.7,351.5,10.2,730,23641,0.00,2.45,0.00,0.000,4,0.000,0.054,3238,3451,2295,0,0,0,0,0,0
$GC,23720,0.51,155.7,342.2,9.9,732,23724,0.00,2.40,0.00,0.000,6,0.000,0.043,3248,1861,2297,0,0,0,0,0,0
$GC,24044,0.51,155.7,310.4,9.5,740,24045,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1860,2297,0,0,0,0,0,0
$GC,24350,0.51,155.7,275.4,11.4,752,24351,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1860,2298,0,0,0,0,0,0
$GC,24661,0.51,155.7,243.4,9.9,767,24662,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1860,2300,0,0,0,0,0,0
$GC,24970,0.51,155.7,215.6,9.1,782,24974,0.00,2.42,0.00,0.000,4,0.000,0.052,3249,3449,2302,0,0,0,0,0,0
$GC,25019,0.51,155.7,210.8,9.7,784,25023,0.00,2.42,0.00,0.000,6,0.000,0.042,3260,1857,2300,0,0,0,0,0,0
$GC,25347,0.51,155.7,183.9,6.9,809,25351,0.00,2.40,0.00,0.000,4,0.000,0.051,3272,264,2304,0,0,0,0,0,0
$GC,25455,0.51,155.7,175.3,8.0,818,25460,0.15,2.38,0.00,0.000,6,0.110,0.042,3219,1867,2305,0,0,0,0,0,0
$GC,25715,0.62,247.3,165.2,3.6,842,25799,0.15,2.47,75.65,0.704,4,0.076,0.051,3313,3445,1937,0,0,0,0,0,0
$GC,25934,0.62,247.3,141.9,11.1,862,25940,0.17,2.45,0.00,0.000,6,0.114,0.041,3268,1854,1928,0,0,0,0,0,0
$GC,26194,0.62,247.3,125.8,7.2,886,26199,0.00,2.45,0.00,0.000,4,0.000,0.052,3279,265,1926,0,0,0,0,0,0
$GC,26257,0.62,247.3,121.4,6.3,891,26261,0.00,2.38,0.00,0.000,6,0.000,0.042,3280,1860,1924,0,0,0,0,0,0
$GC,26519,0.62,247.3,100.0,8.0,915,26520,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1860,1924,0,0,0,0,0,0
$GC,26772,0.62,252.7,81.6,5.9,939,26781,0.00,0.00,3.83,0.400,6,0.000,0.000,3280,1860,1916,0,0,0,0,0,0
$GC,27038,0.64,264.8,64.6,5.7,964,27059,0.00,2.50,12.10,0.557,4,0.000,0.054,3279,3457,1866,0,0,0,0,0,0
$GC,27086,0.69,305.0,61.2,4.9,968,27127,0.00,2.42,33.60,0.607,6,0.000,0.041,3290,1861,1700,0,0,0,0,0,0
$GC,27387,0.69,305.0,39.7,7.7,997,27392,0.00,2.42,0.00,0.000,4,0.000,0.053,3298,267,1693,0,0,0,0,0,0
$GC,27426,0.69,305.0,36.6,6.4,1000,27430,0.00,2.38,0.00,0.000,6,0.000,0.042,3302,1860,1694,0,0,0,0,0,0
$GC,27696,0.69,305.0,16.5,10.9,1039,27702,0.00,2.42,0.00,0.000,4,0.000,0.054,3302,3455,1692,0,0,0,0,0,0
$GC,27741,0.69,305.0,11.9,9.8,1047,27747,0.00,2.42,0.00,0.000,6,0.000,0.041,3315,1847,1691,0,0,0,0,0,0
$STATE,27835,end climb,SURFACE_DEPTH_REACHED
$STATE,27835,begin surface coast
$FINISH,0.6,1.023290
$STATE,27872,end surface coast,CONTROL_FINISHED_OK
$STATE,27872,begin surface
$SM_CCo,27890,95.82,0.570,0,0,906,500.40
$SM_GC,1.10,0.00,0.00,95.82,0.000,0.000,0.570,115,2202,906,-9.24,0.31,500.40
$IRIDIUM_FIX,2122.58,12647.10,200612,191937
$TT8_MAMPS,0.059059
$HUMID,1078587732
$INTERNAL_PRESSURE,9.16906
$TCM_TEMP,25.10
$XPDR_PINGS,32
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8291909632
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,54171369472
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.5,38.065
$10V_AH,10.0,31.231
$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,21.400,267.275,398.275,95.825,0.000,47.407,85.859,374.736,8.000,0.000,33.762,2136.598,22373.957,703.905,3166.667,373.520,33.377,2155.002,0.000,2557.959,0.000,0.544,0.000
$DEVICE_MAMPS,221.663,67.496,1386.736,569.881,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,728.802,0.000,0.000,0.000,0.000,0.000,0.000,28951.301,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,9.041,0.000,0.000
$MEM,354624
$DATA_FILE_SIZE,36698,1070
$CAP_FILE_SIZE,229742,0
$CFSIZE,260165632,204455936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271210,084737,2131.765,12645.833,27,1.0,27,-2.9