version: 66.03
glider: 120
mission: 9
dive: 693
start: 5 16 109 23 30 1
data:
$ID,120
$MISSION,9
$DIVE,693
$D_SURF,7
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,660
$T_MISSION,675
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51365
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0054608998
$HD_B,0.011315
$HD_C,8.0300997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-32439.297
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3950
$C_PITCH,3317
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,176
$ROLL_MAX,3861
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2876
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-16.122175
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,53
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043782545
$SEABIRD_T_H,0.00063376746
$SEABIRD_T_I,2.0789576e-05
$SEABIRD_T_J,1.6847914e-06
$SEABIRD_C_G,-10.138739
$SEABIRD_C_H,1.1328104
$SEABIRD_C_I,-0.00035406757
$SEABIRD_C_J,0.00012259149
$GPS1,232201,5003.792,-14449.687,88,1.5,88,18.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-74.7
$GPS2,232907,5003.808,-14449.653,14,1.4,19,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.018,0.177
$KALMAN_X,-140792.8,275.5,375.2,169649.7,-2071.8
$KALMAN_Y,151912.4,-248.9,-102.6,-150953.1,-677.7
$MHEAD_RNG_PITCHd_Wd,347.5,7011,-12.0,-5.000
$D_GRID,1001
$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
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,69,0.00,0.00,-39.92,0.000,2,0.000,0.000,138,2411,2749
$GC,74,-0.67,-117.3,3.5,-5.9,4,108,14.45,2.67,-12.40,0.000,4,0.275,0.077,3096,985,3356
$GC,361,-0.51,-117.3,40.0,-10.8,29,368,0.20,2.42,0.00,0.000,6,0.150,0.061,3149,2409,3358
$GC,691,-0.51,-117.3,64.6,-7.0,60,697,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2408,3358
$GC,1025,-0.51,-117.3,87.4,-6.8,87,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2408,3359
$GC,1335,-0.51,-117.3,109.6,-7.5,102,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2407,3359
$GC,1644,-0.56,-117.3,132.9,-7.3,117,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2407,3359
$GC,1963,-0.67,-117.3,152.9,-5.8,132,1968,0.15,2.70,0.00,0.000,4,0.080,0.064,3091,993,3359
$GC,1999,-0.74,-117.3,155.5,-7.2,133,2003,0.00,2.42,0.00,0.000,6,0.000,0.058,3091,2402,3359
$GC,2330,-0.90,-117.3,179.4,-7.5,144,2335,0.15,2.53,0.00,0.000,4,0.084,0.075,3029,3815,3359
$GC,2544,-0.66,-117.3,201.4,-10.8,150,2549,0.28,2.42,0.00,0.000,6,0.150,0.051,3099,2398,3359
$GC,2864,-0.66,-117.3,224.0,-7.1,161,2868,0.00,2.65,0.00,0.000,4,0.000,0.064,3099,994,3359
$GC,2908,-0.66,-117.3,227.5,-7.5,162,2913,0.00,2.42,0.00,0.000,6,0.000,0.059,3099,2408,3359
$GC,3229,-0.66,-117.3,251.6,-7.8,173,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2407,3359
$GC,3534,-0.66,-117.3,274.6,-7.2,183,3539,0.00,2.67,0.00,0.000,4,0.000,0.066,3099,989,3359
$GC,3564,-0.66,-117.3,276.9,-7.5,184,3568,0.00,2.50,0.00,0.000,6,0.000,0.060,3099,2399,3359
$GC,3900,-0.66,-117.3,300.1,-6.9,195,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3359
$GC,4203,-0.66,-117.3,320.1,-6.6,200,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,3359
$GC,4506,-0.66,-117.3,339.9,-6.6,205,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2397,3359
$GC,4810,-0.66,-117.3,359.7,-6.6,210,4814,0.00,2.65,0.00,0.000,4,0.000,0.065,3099,993,3359
$GC,4843,-0.66,-117.3,362.2,-6.6,210,4848,0.00,2.45,0.00,0.000,6,0.000,0.060,3099,2405,3359
$GC,5172,-0.66,-117.3,382.9,-6.3,216,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3359
$GC,5474,-0.66,-117.3,401.7,-6.3,221,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3359
$GC,5778,-0.66,-117.3,420.4,-6.2,226,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3359
$GC,6080,-0.66,-117.3,438.6,-6.0,231,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2403,3358
$GC,6383,-0.66,-117.3,455.9,-5.6,236,6388,0.00,2.65,0.00,0.000,4,0.000,0.067,3099,995,3358
$GC,6424,-0.66,-117.3,458.3,-6.6,236,6428,0.00,2.50,0.00,0.000,6,0.000,0.059,3099,2403,3358
$GC,6746,-0.66,-117.3,476.5,-5.6,242,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3358
$GC,7049,-0.66,-117.3,494.4,-6.0,247,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3358
$GC,7352,-0.66,-117.3,512.8,-6.1,252,7353,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3358
$GC,7656,-0.66,-117.3,531.8,-6.4,257,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2402,3358
$GC,7958,-0.66,-117.3,552.9,-6.9,262,7963,0.00,2.60,0.00,0.000,4,0.000,0.067,3099,985,3357
$GC,7987,-0.66,-117.3,555.2,-8.3,262,7991,0.00,2.45,0.00,0.000,6,0.000,0.061,3099,2404,3357
$GC,8320,-0.66,-117.3,578.6,-7.1,268,8321,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3357
$GC,8623,-0.66,-117.3,598.9,-6.6,273,8628,0.00,2.62,0.00,0.000,4,0.000,0.067,3099,994,3357
$GC,8652,-0.66,-117.3,601.1,-6.9,273,8656,0.00,2.50,0.00,0.000,6,0.000,0.061,3099,2407,3357
$GC,8985,-0.66,-117.3,620.9,-5.9,279,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2406,3356
$GC,9288,-0.66,-117.3,637.4,-5.4,284,9292,0.00,2.58,0.00,0.000,4,0.000,0.068,3099,993,3357
$GC,9317,-0.70,-117.3,639.0,-6.0,284,9321,0.00,2.45,0.00,0.000,6,0.000,0.061,3099,2399,3357
$GC,9650,-0.70,-117.3,655.9,-5.1,290,9654,0.00,2.53,0.00,0.000,4,0.000,0.081,3099,3815,3357
$GC,9678,-0.76,-117.3,657.3,-5.2,290,9682,0.00,2.38,0.00,0.000,6,0.000,0.053,3099,2398,3356
$GC,10012,-0.96,-117.3,676.1,-5.9,296,10017,0.25,2.60,0.00,0.000,4,0.083,0.077,3005,3809,3356
$GC,10187,-0.73,-117.3,691.1,-9.7,298,10192,0.30,2.40,0.00,0.000,6,0.152,0.054,3079,2400,3356
$GC,10509,-0.73,-117.3,710.9,-6.1,304,10513,0.00,2.58,0.00,0.000,4,0.000,0.069,3079,993,3356
$GC,10549,-0.73,-117.3,713.7,-6.9,304,10553,0.00,2.45,0.00,0.000,6,0.000,0.061,3079,2400,3356
$GC,10870,-0.73,-117.3,734.9,-6.7,310,10874,0.00,2.50,0.00,0.000,4,0.000,0.081,3079,3816,3356
$GC,10904,-0.73,-117.3,737.5,-7.1,310,10909,0.00,2.35,0.00,0.000,6,0.000,0.054,3079,2400,3356
$GC,11232,-0.73,-117.3,759.1,-6.6,316,11233,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2401,3356
$GC,11536,-0.73,-117.3,779.6,-6.8,321,11540,0.00,2.47,0.00,0.000,4,0.000,0.070,3079,992,3356
$GC,11564,-0.73,-117.3,781.7,-7.6,321,11568,0.00,2.45,0.00,0.000,6,0.000,0.061,3079,2400,3356
$GC,11897,-0.73,-117.3,805.0,-7.1,327,11901,0.00,2.50,0.00,0.000,4,0.000,0.081,3079,3810,3356
$GC,11930,-0.73,-117.3,807.7,-7.3,327,11935,0.00,2.35,0.00,0.000,6,0.000,0.054,3079,2395,3355
$GC,12259,-0.73,-117.3,830.4,-7.0,333,12260,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2396,3356
$GC,12561,-0.73,-117.3,851.2,-6.8,338,12562,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2396,3355
$GC,12864,-0.73,-117.3,870.5,-6.3,343,12868,0.00,2.67,0.00,0.000,4,0.000,0.067,3079,992,3355
$GC,12898,-0.73,-117.3,872.6,-6.0,343,12902,0.00,2.47,0.00,0.000,6,0.000,0.061,3079,2408,3355
$GC,13226,-0.73,-117.3,890.7,-5.4,349,13227,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2407,3355
$GC,13528,-0.73,-117.3,906.3,-5.1,354,13530,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2406,3355
$GC,13832,-0.73,-117.3,920.7,-4.7,359,13833,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2406,3355
$GC,14135,-0.73,-117.3,935.8,-5.0,364,14136,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2407,3354
$GC,14439,-0.73,-117.3,951.6,-5.2,369,14440,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2407,3355
$GC,14741,-0.73,-117.3,967.8,-5.4,374,14742,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2407,3355
$GC,15044,-0.73,-117.3,985.3,-5.8,379,15045,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2407,3354
$STATE,15161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15161,begin apogee
$GC,15170,-0.22,0.0,992.7,6.0,381,15284,0.55,0.00,108.88,1.503,6,0.130,0.000,3242,2193,2876
$STATE,15285,end apogee,CONTROL_FINISHED_OK
$STATE,15285,begin climb
$GC,15290,0.67,117.3,998.2,0.0,383,15417,0.90,3.05,118.03,1.451,4,0.081,0.072,3532,791,2397
$GC,15447,0.38,172.5,999.7,3.4,385,15513,0.40,2.72,58.45,1.417,6,0.166,0.057,3449,2200,2171
$GC,15853,0.34,172.5,977.0,6.0,392,15857,0.00,2.55,0.00,0.000,4,0.000,0.077,3449,3619,2166
$GC,15893,0.23,172.5,973.9,7.0,392,15898,0.22,2.47,0.00,0.000,6,0.166,0.059,3397,2201,2166
$GC,16215,0.38,193.2,959.4,4.4,398,16240,0.15,2.47,18.77,1.399,4,0.078,0.077,3462,792,2087
$GC,16271,0.34,193.2,956.2,6.6,398,16276,0.15,2.38,0.00,0.000,6,0.145,0.058,3427,2210,2087
$GC,16582,0.39,193.2,938.5,5.6,403,16583,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2209,2085
$GC,16885,0.44,193.2,920.3,6.1,408,16889,0.00,2.50,0.00,0.000,4,0.000,0.075,3436,789,2085
$GC,16937,0.49,193.2,916.9,6.5,408,16941,0.12,2.35,0.00,0.000,6,0.087,0.059,3490,2203,2084
$GC,17248,0.36,193.2,890.6,8.6,413,17250,0.20,0.00,0.00,0.000,6,0.150,0.000,3437,2202,2084
$GC,17550,0.36,193.2,869.5,6.9,418,17552,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2202,2084
$GC,17854,0.36,193.2,849.1,6.7,423,17859,0.00,2.60,0.00,0.000,4,0.000,0.075,3437,788,2084
$GC,17919,0.41,193.2,844.7,6.6,424,17923,0.00,2.40,0.00,0.000,6,0.000,0.059,3437,2210,2084
$GC,18286,0.41,193.2,820.3,6.6,430,18287,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2209,2084
$GC,18589,0.41,193.2,800.4,6.5,435,18593,0.00,2.53,0.00,0.000,4,0.000,0.076,3437,786,2084
$GC,18629,0.46,193.2,797.7,7.2,435,18633,0.00,2.40,0.00,0.000,6,0.000,0.059,3437,2206,2084
$GC,18952,0.51,193.2,777.5,6.2,441,18954,0.12,0.00,0.00,0.000,6,0.087,0.000,3490,2205,2084
$GC,19255,0.39,193.2,754.7,7.6,446,19257,0.17,0.00,0.00,0.000,6,0.141,0.000,3444,2205,2083
$GC,19559,0.39,193.2,737.6,5.5,451,19560,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2205,2083
$GC,19861,0.39,193.2,721.4,5.3,456,19862,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2204,2083
$GC,20164,0.39,193.2,705.2,5.3,461,20168,0.00,2.55,0.00,0.000,4,0.000,0.075,3449,782,2083
$GC,20209,0.41,206.6,702.8,4.6,461,20228,0.00,2.42,13.07,1.254,6,0.000,0.060,3449,2211,2032
$GC,20598,0.41,206.6,679.7,6.1,468,20599,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2210,2031
$GC,20900,0.41,206.6,659.3,6.8,473,20901,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2210,2030
$GC,21204,0.41,206.6,638.9,6.7,478,21208,0.00,2.58,0.00,0.000,4,0.000,0.075,3449,789,2031
$GC,21255,0.45,206.6,635.4,6.8,478,21259,0.00,2.40,0.00,0.000,6,0.000,0.059,3449,2206,2031
$GC,21566,0.45,206.6,614.6,6.7,483,21567,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2205,2030
$GC,21869,0.45,206.6,594.7,6.6,488,21870,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2205,2030
$GC,22171,0.45,206.6,575.5,6.3,493,22176,0.00,2.58,0.00,0.000,4,0.000,0.075,3449,780,2031
$GC,22217,0.51,206.6,572.6,6.6,493,22222,0.00,2.42,0.00,0.000,6,0.000,0.059,3449,2201,2030
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$GC,26920,0.58,212.5,286.5,5.5,574,26925,0.12,2.60,0.00,0.000,4,0.091,0.074,3521,789,2010
$GC,26984,0.47,212.5,282.3,7.1,576,26989,0.20,2.42,0.00,0.000,6,0.143,0.059,3472,2200,2009
$GC,27321,0.48,219.4,265.4,4.8,587,27331,0.00,0.00,7.82,0.933,6,0.000,0.000,3472,2198,1981
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$GC,28645,0.48,222.9,195.6,5.7,630,28646,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,2208,1965
$GC,28950,0.48,222.9,176.2,6.4,640,28954,0.00,2.65,0.00,0.000,4,0.000,0.073,3477,784,1966
$GC,28986,0.54,222.9,174.0,6.6,641,28991,0.00,2.42,0.00,0.000,6,0.000,0.058,3476,2204,1966
$GC,29318,0.58,222.9,154.1,6.1,652,29319,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,2203,1965
$GC,29637,0.64,227.0,135.7,4.9,666,29648,0.15,2.58,5.62,0.792,4,0.081,0.073,3545,787,1948
$GC,29729,0.54,227.0,129.8,7.0,670,29734,0.20,2.42,0.00,0.000,6,0.139,0.058,3496,2211,1948
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$STATE,31954,end climb,SURFACE_DEPTH_REACHED
$STATE,31954,begin surface coast
$FINISH,0.4,1.013805
$STATE,32106,end surface coast,CONTROL_FINISHED_OK
$STATE,32106,begin surface
$SM_CCo,32131,19.27,0.859,0,0,1754,275.23
$SM_GC,3.95,0.00,0.00,19.27,0.000,0.000,0.859,141,2407,1754,-9.92,0.20,275.23
$IRIDIUM_FIX,4943.02,-14454.99,100898,141402
$TT8_MAMPS,0.026845
$HUMID,2149
$INTERNAL_PRESSURE,9.04575
$TCM_TEMP,15.50
$XPDR_PINGS,1002
$24V_AH,20.5,134.903
$10V_AH,10.3,93.927
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$DEVICE_SECS,29.675,196.675,363.900,19.275,0.000,25.284,26.398,185.914,250.500,0.000,0.000,19.717,1777.649,26977.068,532.833,2346.380,929.651,33.381,1676.582,0.000,2311.894,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,648.635,623.416,1439.021,868.927,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50603,846
$CAP_FILE_SIZE,177314,0
$CFSIZE,260165632,204804096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170509,082755,5006.927,-14449.502,77,1.7,77,18.5