version: 66.08
glider: 500
mission: 9
dive: 53
start: 12 16 113 22 45 54
data:
$ID,500
$MISSION,9
$DIVE,53
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1000
$D_NO_BLEED,200
$D_BOOST,0
$T_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,333
$T_MISSION,685
$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,-5
$MAX_BUOY,155
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51896
$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,290
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,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,-165793.88
$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,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,2520
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3570
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00079999998
$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,-65.78389
$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,13
$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
$DEVICE2,87
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,101
$LOGGERDEVICE2,115
$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,0.0043038074
$SEABIRD_T_H,0.00062028813
$SEABIRD_T_I,2.2163666e-05
$SEABIRD_T_J,2.2731931e-06
$SEABIRD_C_G,-9.8452415
$SEABIRD_C_H,1.106474
$SEABIRD_C_I,-0.0010991772
$SEABIRD_C_J,0.00015685134
$AD_RECORDABOVE,1100.0
$AD_PROFILE,3.0
$AD_XMITPROFILE,1.0
$AD_UPLOADMAX,60000.0
$AD_STARTS,104.0
$AD_THRESHOLD,2015.0
$AD_INTERVAL,6015.0
$AD_DURATION,1045.0
$DB_RECORDABOVE,0.0
$DB_PROFILE,0.0
$DB_XMITPROFILE,0.0
$DB_UPLOADMAX,0.0
$DB_STARTS,0.0
$GPS1,161213,223824,2004.502,-15610.606,59,1.7,59,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-83.2
$GPS2,161213,224443,2004.554,-15610.578,13,1.3,13,9.7
$SPEED_LIMITS,0.172,0.263
$TGT_NAME,A2
$TGT_LATLONG,2000.000,-15610.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.097,-0.244
$KALMAN_X,78474.5,-979.3,-180.4,-100962.0,5075.5
$KALMAN_Y,106359.3,149.8,199.7,-114381.8,2658.7
$MHEAD_RNG_PITCHd_Wd,192.1,8460,-17.1,-9.910
$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,30,end surface,CONTROL_FINISHED_OK
$STATE,30,begin dive
$GC,32,-0.56,-150.9,0.0,0.0,0,86,0.00,0.00,-51.55,0.000,2,0.000,0.000,132,2531,3761,0,0,0,0,0,0
$GC,89,-0.56,-150.9,3.5,-6.3,1,111,9.45,2.35,-4.05,0.000,4,0.224,0.042,2640,912,3943,0,0,0,0,0,0
$GC,262,-0.56,-150.9,43.6,-20.0,6,272,0.00,2.38,0.00,0.000,6,0.000,0.039,2629,2508,3948,0,0,0,0,0,0
$GC,517,-0.56,-150.9,96.0,-20.1,15,521,0.00,2.30,0.00,0.000,4,0.000,0.032,2629,918,3949,0,0,0,0,0,0
$GC,532,-0.56,-150.9,99.6,-21.1,15,537,0.00,2.33,0.00,0.000,6,0.000,0.034,2617,2525,3947,0,0,0,0,0,0
$GC,792,-0.56,-150.9,142.4,-16.7,24,796,0.00,2.33,0.00,0.000,4,0.000,0.036,2617,915,3948,0,0,0,0,0,0
$GC,823,-0.56,-150.9,147.3,-15.5,25,828,0.12,2.33,0.00,0.000,6,0.179,0.037,2638,2530,3948,0,0,0,0,0,0
$GC,1099,-0.56,-150.9,184.2,-12.8,34,1103,0.00,1.95,0.00,0.000,4,0.000,0.046,2629,3848,3950,0,0,0,0,0,0
$GC,1115,-0.56,-150.9,186.8,-12.8,34,1119,0.00,1.95,0.00,0.000,6,0.000,0.030,2629,2505,3950,0,0,0,0,0,0
$GC,1407,-0.56,-150.9,223.6,-12.3,41,1411,0.00,2.00,0.00,0.000,4,0.000,0.047,2621,3842,3951,0,0,0,0,0,0
$GC,1518,-0.56,-150.9,237.9,-12.2,42,1522,0.00,1.92,0.00,0.000,6,0.000,0.032,2619,2525,3951,0,0,0,0,0,0
$GC,1784,-0.56,-150.9,268.9,-11.6,47,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2524,3951,0,0,0,0,0,0
$GC,2027,-0.56,-150.9,297.5,-11.9,51,2031,0.00,2.28,0.00,0.000,4,0.000,0.037,2623,934,3951,0,0,0,0,0,0
$GC,2054,-0.56,-150.9,300.9,-11.8,51,2059,0.12,2.28,0.00,0.000,6,0.165,0.038,2641,2521,3951,0,0,0,0,0,0
$GC,2325,-0.56,-150.9,324.8,-8.8,56,2329,0.00,1.98,0.00,0.000,4,0.000,0.047,2635,3838,3950,0,0,0,0,0,0
$GC,2358,-0.56,-150.9,328.0,-9.1,56,2362,0.00,1.88,0.00,0.000,6,0.000,0.031,2633,2517,3950,0,0,0,0,0,0
$GC,2636,-0.56,-150.9,353.1,-9.1,61,2640,0.00,2.28,0.00,0.000,4,0.000,0.035,2633,927,3947,0,0,0,0,0,0
$GC,2663,-0.56,-150.9,356.2,-10.9,61,2667,0.00,2.28,0.00,0.000,6,0.000,0.040,2626,2515,3948,0,0,0,0,0,0
$GC,2941,-0.56,-150.9,387.0,-11.2,66,2945,0.00,2.30,0.00,0.000,4,0.000,0.037,2622,929,3945,0,0,0,0,0,0
$GC,2967,-0.56,-150.9,390.2,-12.2,66,2972,0.00,2.30,0.00,0.000,6,0.000,0.039,2609,2530,3946,0,0,0,0,0,0
$GC,3239,-0.56,-150.9,421.3,-11.4,71,3241,0.10,0.00,0.00,0.000,6,0.175,0.000,2637,2527,3944,0,0,0,0,0,0
$GC,3482,-0.56,-150.9,440.8,-8.0,75,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2527,3940,0,0,0,0,0,0
$GC,3725,-0.56,-150.9,456.7,-6.5,79,3729,0.00,2.30,0.00,0.000,4,0.000,0.035,2638,937,3940,0,0,0,0,0,0
$GC,3741,-0.56,-150.9,457.9,-6.2,79,3745,0.00,2.30,0.00,0.000,6,0.000,0.038,2632,2526,3940,0,0,0,0,0,0
$GC,4024,-0.56,-150.9,477.6,-7.2,84,4028,0.00,2.33,0.00,0.000,4,0.000,0.037,2628,929,3935,0,0,0,0,0,0
$GC,4045,-0.56,-150.9,479.4,-8.0,84,4050,0.00,2.33,0.00,0.000,6,0.000,0.040,2615,2520,3937,0,0,0,0,0,0
$GC,4325,-0.56,-150.9,504.6,-9.3,89,4329,0.00,2.33,0.00,0.000,4,0.000,0.038,2615,939,3935,0,0,0,0,0,0
$GC,4369,-0.56,-150.9,510.2,-12.0,89,4374,0.12,2.30,0.00,0.000,6,0.165,0.042,2639,2521,3934,0,0,0,0,0,0
$GC,4623,-0.56,-150.9,535.0,-9.7,94,4628,0.00,2.30,0.00,0.000,4,0.000,0.038,2639,940,3932,0,0,0,0,0,0
$GC,4651,-0.56,-150.9,537.8,-10.2,94,4655,0.00,2.30,0.00,0.000,6,0.000,0.042,2628,2519,3929,0,0,0,0,0,0
$GC,4922,-0.56,-150.9,563.7,-9.6,99,4927,0.00,2.33,0.00,0.000,4,0.000,0.039,2628,930,3932,0,0,0,0,0,0
$GC,4961,-0.56,-150.9,567.7,-9.9,99,4965,0.00,2.35,0.00,0.000,6,0.000,0.042,2617,2527,3931,0,0,0,0,0,0
$GC,5223,-0.56,-150.9,592.2,-9.4,104,5227,0.00,2.33,0.00,0.000,4,0.000,0.038,2617,935,3928,0,0,0,0,0,0
$GC,5244,-0.56,-150.9,594.8,-10.8,104,5249,0.12,2.33,0.00,0.000,6,0.169,0.041,2640,2527,3928,0,0,0,0,0,0
$GC,5521,-0.56,-150.9,617.9,-8.2,109,5525,0.00,2.33,0.00,0.000,4,0.000,0.039,2640,934,3925,0,0,0,0,0,0
$GC,5542,-0.56,-150.9,619.8,-8.2,109,5546,0.00,2.33,0.00,0.000,6,0.000,0.042,2629,2519,3925,0,0,0,0,0,0
$GC,5826,-0.56,-150.9,644.3,-8.7,114,5830,0.00,2.35,0.00,0.000,4,0.000,0.041,2629,941,3923,0,0,0,0,0,0
$GC,5859,-0.56,-150.9,647.4,-8.9,114,5863,0.00,2.33,0.00,0.000,6,0.000,0.044,2618,2517,3923,0,0,0,0,0,0
$GC,6126,-0.56,-150.9,671.0,-8.9,119,6131,0.00,2.30,0.00,0.000,4,0.000,0.041,2618,938,3922,0,0,0,0,0,0
$GC,6160,-0.56,-150.9,674.6,-9.9,119,6165,0.12,2.35,0.00,0.000,6,0.166,0.044,2641,2526,3922,0,0,0,0,0,0
$GC,6426,-0.56,-150.9,694.9,-7.6,124,6430,0.00,2.35,0.00,0.000,4,0.000,0.041,2644,934,3921,0,0,0,0,0,0
$GC,6464,-0.56,-150.9,698.1,-8.1,124,6468,0.00,2.38,0.00,0.000,6,0.000,0.044,2631,2529,3921,0,0,0,0,0,0
$GC,6724,-0.56,-150.9,719.5,-8.3,129,6728,0.00,2.33,0.00,0.000,4,0.000,0.041,2631,935,3920,0,0,0,0,0,0
$GC,6740,-0.56,-150.9,721.0,-8.1,129,6744,0.00,2.33,0.00,0.000,6,0.000,0.044,2620,2522,3920,0,0,0,0,0,0
$GC,7024,-0.56,-150.9,741.7,-7.2,134,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2522,3922,0,0,0,0,0,0
$GC,7265,-0.56,-150.9,759.1,-7.2,138,7269,0.00,2.33,0.00,0.000,4,0.000,0.041,2620,939,3917,0,0,0,0,0,0
$GC,7292,-0.56,-150.9,761.4,-8.3,138,7297,0.10,2.33,0.00,0.000,6,0.182,0.044,2635,2522,3917,0,0,0,0,0,0
$GC,7563,-0.56,-150.9,780.1,-6.9,143,7567,0.00,2.33,0.00,0.000,4,0.000,0.041,2638,942,3916,0,0,0,0,0,0
$GC,7596,-0.56,-150.9,782.3,-6.6,143,7600,0.00,2.33,0.00,0.000,6,0.000,0.044,2625,2526,3915,0,0,0,0,0,0
$GC,7861,-0.56,-150.9,801.0,-7.0,148,7865,0.00,2.33,0.00,0.000,4,0.000,0.041,2625,937,3914,0,0,0,0,0,0
$GC,7878,-0.56,-150.9,802.3,-7.4,148,7882,0.00,2.33,0.00,0.000,6,0.000,0.045,2613,2517,3912,0,0,0,0,0,0
$GC,8160,-0.56,-150.9,820.3,-6.4,153,8164,0.00,1.98,0.00,0.000,4,0.000,0.053,2600,3842,3913,0,0,0,0,0,0
$GC,8205,-0.56,-150.9,824.0,-8.2,153,8209,0.12,1.95,0.00,0.000,6,0.155,0.037,2644,2521,3915,0,0,0,0,0,0
$GC,8470,-0.56,-150.9,839.6,-5.9,158,8475,0.00,2.35,0.00,0.000,4,0.000,0.042,2640,922,3912,0,0,0,0,0,0
$GC,8521,-0.56,-150.9,843.3,-7.1,158,8525,0.00,2.38,0.00,0.000,6,0.000,0.047,2629,2519,3911,0,0,0,0,0,0
$GC,8770,-0.56,-150.9,861.0,-7.2,162,8774,0.00,2.35,0.00,0.000,4,0.000,0.042,2629,931,3912,0,0,0,0,0,0
$GC,8791,-0.56,-150.9,862.8,-8.0,162,8795,0.00,2.38,0.00,0.000,6,0.000,0.044,2618,2529,3911,0,0,0,0,0,0
$GC,9075,-0.56,-150.9,883.3,-7.3,167,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2534,3910,0,0,0,0,0,0
$GC,9317,-0.56,-150.9,900.3,-7.0,171,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2530,3909,0,0,0,0,0,0
$GC,9559,-0.56,-150.9,916.6,-6.7,175,9563,0.00,2.35,0.00,0.000,4,0.000,0.040,2618,922,3908,0,0,0,0,0,0
$GC,9592,-0.56,-150.9,919.1,-7.6,175,9597,0.12,2.40,0.00,0.000,6,0.168,0.046,2645,2526,3907,0,0,0,0,0,0
$GC,9859,-0.56,-150.9,932.8,-5.1,180,9863,0.00,2.38,0.00,0.000,4,0.000,0.041,2640,917,3907,0,0,0,0,0,0
$GC,9925,-0.56,-150.9,936.2,-5.3,181,9930,0.00,2.38,0.00,0.000,6,0.000,0.046,2631,2523,3907,0,0,0,0,0,0
$GC,10226,-0.56,-150.9,951.3,-5.1,186,10230,0.00,2.38,0.00,0.000,4,0.000,0.041,2631,924,3906,0,0,0,0,0,0
$GC,10275,-0.56,-150.9,954.5,-6.9,186,10280,0.00,2.38,0.00,0.000,6,0.000,0.046,2619,2526,3906,0,0,0,0,0,0
$GC,10525,-0.56,-150.9,971.5,-6.9,190,10526,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2526,3905,0,0,0,0,0,0
$GC,10767,-0.56,-150.9,988.5,-7.0,194,10771,0.00,2.00,0.00,0.000,4,0.000,0.054,2610,3851,3904,0,0,0,0,0,0
$STATE,10787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10787,begin apogee
$GC,10795,-0.13,0.0,990.4,8.2,194,10870,0.47,0.00,69.57,1.517,6,0.125,0.000,2770,2294,3570,0,0,0,0,0,0
$STATE,10878,end apogee,CONTROL_FINISHED_OK
$STATE,10878,begin climb
$GC,10881,0.56,150.9,992.1,0.0,195,11015,0.60,0.00,130.38,1.502,6,0.055,0.000,3011,2291,2956,0,0,0,0,0,0
$GC,11210,0.56,150.9,945.3,17.2,201,11214,0.00,2.42,0.00,0.000,4,0.000,0.048,3011,3847,2954,0,0,0,0,0,0
$GC,11231,0.56,150.9,940.8,19.4,201,11235,0.00,2.40,0.00,0.000,6,0.000,0.042,3023,2298,2954,0,0,0,0,0,0
$GC,11514,0.56,150.9,888.1,18.7,206,11518,0.00,2.42,0.00,0.000,4,0.000,0.047,3035,702,2953,0,0,0,0,0,0
$GC,11530,0.56,150.9,884.8,18.2,206,11535,0.12,2.40,0.00,0.000,6,0.184,0.039,3005,2308,2953,0,0,0,0,0,0
$GC,11818,0.56,150.9,838.3,16.0,211,11819,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2307,2952,0,0,0,0,0,0
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$GC,13963,0.56,150.9,473.4,14.3,246,13967,0.00,2.35,0.00,0.000,6,0.000,0.043,3012,2304,2950,0,0,0,0,0,0
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$GC,14838,0.56,150.9,357.9,12.5,261,14842,0.00,2.38,0.00,0.000,4,0.000,0.047,3014,705,2948,0,0,0,0,0,0
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$STATE,18124,end climb,SURFACE_DEPTH_REACHED
$STATE,18124,begin surface coast
$FINISH,0.9,1.023142
$STATE,18156,end surface coast,CONTROL_FINISHED_OK
$STATE,18156,begin surface
$SM_CCo,18179,19.20,0.614,0,0,2386,290.19
$SM_GC,1.51,0.00,0.00,19.20,0.000,0.000,0.614,116,2533,2386,-8.45,0.37,290.19
$IRIDIUM_FIX,1959.59,-15636.03,161213,171743
$TT8_MAMPS,0.066661
$HUMID,60.90
$INTERNAL_PRESSURE,9.28625
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.4,16.201
$10V_AH,10.2,7.172
$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,19.425,212.275,279.500,19.200,0.000,23.761,31.627,161.394,0.000,0.000,16.224,1286.098,14838.401,426.435,1764.625,282.401,33.363,1261.394,0.000,1432.635,0.000,0.541,0.000
$DEVICE_MAMPS,224.145,59.670,1516.995,613.530,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,237.306,326.305,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143088
$DATA_FILE_SIZE,16939,345
$CAP_FILE_SIZE,154549,0
$CFSIZE,260165632,251084800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171213,035035,2003.115,-15611.110,41,1.5,41,9.7