version: 66.13
glider: 124
mission: 26
dive: 111
start: 6 11 118 6 50 17
data:
$ID,124
$MISSION,26
$DIVE,111
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,50
$D_BOOST,2.5
$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,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55793
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$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,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,75
$PITCH_MAX,3750
$C_PITCH,2120
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.001
$PITCH_ADJ_DBAND,5
$ROLL_MIN,180
$ROLL_MAX,3850
$ROLL_DEG,15
$C_ROLL_DIVE,1750
$C_ROLL_CLIMB,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,550
$VBD_MAX,3990
$C_VBD,2998
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,0
$AH0_10V,350
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-165.43451
$PRESSURE_SLOPE,0.00010836
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,5
$LOGGERDEVICE1,53
$LOGGERDEVICE2,71
$LOGGERDEVICE3,134
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043545738
$SEABIRD_T_H,0.00062548259
$SEABIRD_T_I,2.3693661e-05
$SEABIRD_T_J,2.5207949e-06
$SEABIRD_C_G,-9.9945526
$SEABIRD_C_H,1.1183146
$SEABIRD_C_I,-0.0026370776
$SEABIRD_C_J,0.00028069684
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$CP_RECORDABOVE,2000.0
$CP_PROFILE,2.0
$CP_XMITPROFILE,2.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,114.0
$CP_NDIVE,1.0
$GPS1,110618,064004,5810.0713,-2433.6067,37,0.9,37,-15.9,0.0,0.0,10,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-75.7
$GPS2,110618,064952,5810.0024,-2433.8213,11,1.3,11,-15.9,0.0,0.0,6,9.7
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,Z4
$TGT_LATLONG,5830.000,-2400.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,57.4,49424,-17.6,-10.000,-21.24,2209
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.68,-146.0,20,1770,1757,1355,0.0,0.0,0,107,0.00,0.00,-92.22,0.006,16390,0.000,0.000,19,1770,3594,3533,3655,0,0,0,0,0,0,14.75,13.58,14.77
$GC,110,-0.68,-146.0,20,1771,3535,3655,2.8,-2.3,4,123,8.95,0.95,0.00,0.000,2564,0.416,0.044,1969,1205,3594,3540,3648,0,0,0,0,0,0,14.35,14.62,14.54
$GC,348,-0.68,-146.0,1969,1205,3563,3625,48.7,-13.4,52,353,0.00,1.00,0.00,0.000,1030,0.000,0.050,1966,1759,3592,3562,3623,0,0,0,0,0,0,14.73,14.68,14.73
$GC,688,-0.67,-146.0,1965,1777,3572,3618,102.8,-16.1,72,694,0.00,1.00,0.00,0.000,644,0.000,0.056,1965,1210,3594,3571,3617,0,0,0,0,0,0,14.92,14.74,14.94
$GC,918,-0.67,-146.0,1966,1209,3572,3618,137.7,-14.7,118,923,0.00,0.93,0.00,0.000,1030,0.000,0.050,1962,1736,3594,3571,3618,0,0,0,0,0,0,14.81,14.80,14.86
$GC,1249,-0.67,-146.0,1962,1752,3574,3615,190.8,-16.2,128,1253,0.00,0.95,0.00,0.000,644,0.000,0.058,1961,1208,3593,3572,3615,0,0,0,0,0,0,15.00,14.80,15.02
$GC,1439,-0.67,-146.0,1961,1207,3573,3615,219.9,-14.7,166,1443,0.00,0.90,0.00,0.000,1030,0.000,0.050,1959,1718,3593,3572,3614,0,0,0,0,0,0,14.86,14.85,14.88
$GC,1769,-0.66,-146.0,1959,1718,3574,3614,274.7,-16.9,176,1773,0.00,0.88,0.00,0.000,388,0.000,0.054,1954,2279,3593,3573,3614,0,0,0,0,0,0,15.04,14.84,15.06
$GC,1829,-0.66,-146.0,1953,2282,3575,3613,284.2,-14.9,188,1833,0.05,0.93,0.00,0.000,3078,0.226,0.060,1971,1713,3593,3574,3612,0,0,0,0,0,0,14.71,14.84,14.81
$GC,2169,-0.66,-146.0,1971,1712,3576,3612,334.7,-14.8,200,2173,0.00,0.85,0.00,0.000,516,0.000,0.060,1971,1220,3593,3575,3611,0,0,0,0,0,0,15.07,14.87,15.09
$GC,2398,-0.66,-146.0,1972,1219,3577,3612,365.0,-12.3,246,2403,0.00,0.85,0.00,0.000,1030,0.000,0.050,1969,1708,3593,3575,3611,0,0,0,0,0,0,14.92,14.89,14.94
$GC,2729,-0.66,-146.0,1968,1709,3577,3612,412.2,-14.6,256,2733,0.00,0.88,0.00,0.000,516,0.000,0.057,1968,1218,3593,3575,3611,0,0,0,0,0,0,15.10,14.89,15.11
$GC,2849,-0.66,-146.0,1968,1217,3576,3612,428.5,-13.1,280,2854,0.00,0.85,0.00,0.000,1030,0.000,0.051,1965,1699,3593,3575,3611,0,0,0,0,0,0,14.92,14.90,14.95
$GC,3209,-0.66,-146.0,1964,1716,3577,3612,481.3,-14.7,296,3214,0.00,0.85,0.00,0.000,516,0.000,0.057,1964,1220,3593,3576,3611,0,0,0,0,0,0,15.09,14.90,15.11
$GC,3264,-0.66,-146.0,1964,1220,3577,3612,489.2,-13.9,307,3269,0.00,0.85,0.00,0.000,1030,0.000,0.051,1962,1703,3593,3576,3611,0,0,0,0,0,0,14.95,14.91,14.96
$GC,3609,-0.66,-146.0,1963,1704,3577,3610,538.1,-14.3,320,3613,0.00,0.90,0.00,0.000,260,0.000,0.056,1957,2277,3593,3576,3610,0,0,0,0,0,0,15.11,14.90,15.13
$GC,3664,-0.66,-146.0,1957,2279,3577,3610,545.6,-13.0,331,3668,0.00,0.95,0.00,0.000,1030,0.000,0.059,1957,1697,3592,3576,3609,0,0,0,0,0,0,14.94,14.90,14.99
$GC,4010,-0.66,-146.0,1957,1695,3578,3609,594.8,-14.3,344,4014,0.00,0.82,0.00,0.000,516,0.000,0.061,1956,1220,3593,3577,3609,0,0,0,0,0,0,15.11,14.91,15.14
$GC,4239,-0.66,-146.0,1957,1219,3582,3608,625.4,-13.2,390,4244,0.00,0.82,0.00,0.000,1030,0.000,0.053,1954,1692,3592,3577,3608,0,0,0,0,0,0,14.96,14.93,14.97
$GC,4569,-0.66,-146.0,1954,1693,3577,3608,672.2,-14.5,400,4574,0.10,0.93,0.00,0.000,2308,0.289,0.048,1973,2281,3592,3577,3607,0,0,0,0,0,0,14.78,14.91,14.94
$GC,4624,-0.66,-146.0,1972,2282,3577,3607,678.9,-11.1,411,4629,0.00,0.95,0.00,0.000,1030,0.000,0.057,1973,1696,3591,3577,3606,0,0,0,0,0,0,14.95,14.91,14.97
$GC,4969,-0.66,-146.0,1973,1696,3578,3606,722.8,-12.7,424,4974,0.00,0.82,0.00,0.000,516,0.000,0.063,1972,1219,3591,3577,3606,0,0,0,0,0,0,15.13,14.91,15.14
$GC,5179,-0.66,-146.0,1973,1219,3579,3605,746.8,-11.1,466,5184,0.00,0.82,0.00,0.000,1030,0.000,0.053,1970,1691,3591,3577,3605,0,0,0,0,0,0,14.97,14.92,14.98
$GC,5530,-0.66,-146.0,1970,1692,3577,3605,789.6,-12.5,480,5534,0.00,0.90,0.00,0.000,260,0.000,0.054,1966,2265,3590,3577,3604,0,0,0,0,0,0,15.13,14.92,15.15
$GC,5619,-0.66,-146.0,1965,2269,3577,3604,800.5,-11.5,498,5624,0.00,0.95,0.00,0.000,1030,0.000,0.058,1965,1692,3590,3577,3603,0,0,0,0,0,0,14.96,14.92,14.98
$GC,5970,-0.66,-146.0,1965,1692,3577,3603,845.7,-12.7,512,5974,0.00,0.82,0.00,0.000,516,0.000,0.062,1965,1214,3589,3577,3602,0,0,0,0,0,0,15.13,14.92,15.16
$GC,6199,-0.66,-146.0,1965,1214,3578,3601,871.5,-11.1,558,6204,0.00,0.82,0.00,0.000,1030,0.000,0.053,1962,1684,3589,3577,3601,0,0,0,0,0,0,14.97,14.94,14.98
$GC,6530,-0.66,-146.0,1963,1686,3577,3600,911.0,-11.9,568,6534,0.00,0.93,0.00,0.000,260,0.000,0.056,1958,2272,3588,3577,3600,0,0,0,0,0,0,15.13,14.92,15.15
$GC,6619,-0.66,-146.0,1958,2274,3577,3600,921.1,-11.1,586,6624,0.00,0.98,0.00,0.000,1030,0.000,0.059,1958,1680,3588,3577,3599,0,0,0,0,0,0,14.95,14.93,14.97
$GC,6970,-0.66,-146.0,1958,1680,3577,3599,966.2,-13.1,600,6974,0.00,0.80,0.00,0.000,516,0.000,0.063,1957,1215,3588,3577,3599,0,0,0,0,0,0,15.13,14.91,15.18
$STATE,7157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7157,begin apogee
$GC,7164,-0.14,0.0,1956,1720,3578,3598,990.3,-12.8,638,7289,0.45,0.00,123.03,2.290,10244,0.204,0.000,2091,1738,3000,3133,2868,0,0,0,0,0,0,14.80,14.07,13.34
$STATE,7290,end apogee,CONTROL_FINISHED_OK
$STATE,7290,begin climb
$GC,7292,0.68,146.0,2092,1738,3132,2868,996.0,0.0,641,7433,0.52,0.00,131.38,2.229,11270,0.075,0.000,2296,1738,2398,2602,2195,0,0,0,0,0,0,14.12,14.27,13.15
$GC,7764,0.67,146.0,2297,1738,2582,2196,958.6,11.9,681,7768,0.12,0.82,0.00,0.000,4484,0.275,0.041,2262,2248,2388,2581,2195,0,0,0,0,0,0,14.40,14.47,14.48
$GC,7933,0.66,146.0,2265,2250,2579,2195,942.3,9.3,715,7938,0.00,0.88,0.00,0.000,1158,0.000,0.062,2267,1734,2386,2578,2194,0,0,0,0,0,0,14.62,14.57,14.63
$GC,8284,0.65,146.0,2268,1734,2577,2195,906.8,10.4,729,8288,0.00,0.82,0.00,0.000,388,0.000,0.047,2267,2250,2385,2576,2195,0,0,0,0,0,0,14.86,14.70,14.90
$GC,8384,0.64,146.0,2266,2253,2575,2195,896.5,9.8,749,8388,0.00,0.88,0.00,0.000,1158,0.000,0.063,2270,1734,2384,2574,2195,0,0,0,0,0,0,14.76,14.72,14.78
$GC,8724,0.63,146.0,2270,1734,2574,2195,861.6,10.1,761,8728,0.00,0.82,0.00,0.000,388,0.000,0.047,2270,2249,2383,2571,2195,0,0,0,0,0,0,14.95,14.76,14.96
$GC,8841,0.63,146.0,2271,2251,2572,2194,850.0,9.9,784,8847,0.00,0.85,0.00,0.000,1158,0.000,0.064,2273,1737,2383,2571,2195,0,0,0,0,0,0,14.81,14.77,14.81
$GC,9164,0.62,146.0,2273,1740,2572,2196,816.0,10.6,793,9168,0.00,0.82,0.00,0.000,388,0.000,0.047,2272,2257,2382,2571,2194,0,0,0,0,0,0,14.97,14.79,15.01
$GC,9301,0.61,146.0,2272,2259,2571,2196,802.1,10.3,820,9305,0.08,0.85,0.00,0.000,5254,0.246,0.062,2252,1746,2382,2570,2195,0,0,0,0,0,0,14.64,14.77,14.76
$GC,9646,0.60,146.0,2252,1746,2571,2195,771.8,8.7,833,9650,0.00,1.00,0.00,0.000,644,0.000,0.065,2256,1185,2382,2570,2195,0,0,0,0,0,0,15.00,14.78,15.02
$GC,9686,0.60,146.0,2257,1187,2571,2195,768.3,9.0,841,9690,0.00,1.00,0.00,0.000,1158,0.000,0.048,2256,1749,2382,2569,2195,0,0,0,0,0,0,14.84,14.82,14.86
$GC,10046,0.59,146.0,2256,1766,2569,2195,736.2,8.8,857,10050,0.00,0.77,0.00,0.000,388,0.000,0.049,2256,2262,2381,2568,2195,0,0,0,0,0,0,14.97,14.79,14.99
$GC,10188,0.59,146.0,2256,2264,2568,2195,723.7,8.8,885,10192,0.00,0.85,0.00,0.000,1158,0.000,0.061,2259,1748,2377,2563,2192,0,0,0,0,0,0,14.81,14.78,14.84
$GC,10528,0.58,146.0,2259,1748,2568,2195,691.9,9.2,897,10532,0.00,0.82,0.00,0.000,388,0.000,0.047,2259,2262,2381,2567,2195,0,0,0,0,0,0,14.96,14.79,14.98
$GC,10603,0.57,146.0,2259,2261,2568,2195,685.3,8.4,912,10608,0.00,0.82,0.00,0.000,1158,0.000,0.061,2261,1759,2381,2567,2195,0,0,0,0,0,0,14.81,14.77,14.83
$GC,10928,0.57,146.0,2262,1759,2568,2196,654.6,9.4,921,10932,0.00,0.80,0.00,0.000,388,0.000,0.048,2261,2257,2381,2567,2195,0,0,0,0,0,0,14.97,14.79,14.99
$GC,10992,0.56,146.0,2262,2263,2568,2195,648.4,9.5,934,10997,0.08,0.82,0.00,0.000,5254,0.246,0.062,2241,1763,2379,2566,2193,0,0,0,0,0,0,14.63,14.78,14.76
$GC,11328,0.56,146.0,2244,1763,2567,2195,620.1,8.4,945,11332,0.00,1.02,0.00,0.000,516,0.000,0.064,2242,1192,2380,2566,2195,0,0,0,0,0,0,14.97,14.77,14.99
$GC,11397,0.56,146.0,2246,1192,2568,2195,614.1,9.1,959,11402,0.00,1.02,0.00,0.000,1030,0.000,0.047,2245,1770,2380,2566,2195,0,0,0,0,0,0,14.81,14.78,14.83
$GC,11728,0.56,146.0,2251,1787,2567,2195,585.6,8.6,969,11732,0.00,0.73,0.00,0.000,260,0.000,0.050,2245,2250,2380,2566,2195,0,0,0,0,0,0,14.97,14.80,14.98
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$GC,13408,0.63,200.1,2256,1751,2394,1955,434.8,9.7,1081,13412,0.00,1.00,0.00,0.000,516,0.000,0.065,2262,1192,2173,2393,1954,0,0,0,0,0,0,14.94,14.74,14.97
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$GC,14608,0.63,200.1,2270,1774,2389,1954,307.7,10.9,1153,14613,0.00,0.75,0.00,0.000,260,0.000,0.047,2270,2256,2172,2395,1949,0,0,0,0,0,0,14.95,14.78,14.97
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$STATE,17715,end climb,SURFACE_DEPTH_REACHED
$STATE,17715,begin surface coast
$FINISH,0.5,1.027051
$STATE,17768,end surface coast,CONTROL_FINISHED_OK
$STATE,17768,begin surface
$SM_CCo,17785,68.15,0.112,0,0,1572,350.04
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$IRIDIUM_FIX,5809.74,-2427.99,110618,012219
$TT8_MAMPS,0.038199,0.746004
$HUMID,39.48
$INTERNAL_PRESSURE,7.94952
$TCM_TEMP,18.70
$XPDR_PINGS,18
$SC_FREEKB,3956512
$CP_FREE,15883370496.000000
$24V_AH,13.15,0.000
$10V_AH,13.18,39.127
$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,16.525,58.150,320.625,68.150,0.000,0.000,0.000,383.525,4.500,0.000,13.958,0.000,14706.979,583.404,2793.130,351.035,0.000,1956.365,0.000,1846.823,0.000,0.538,0.000
$DEVICE_MAMPS,416.160,65.025,2290.410,111.690,0.000,0.000,0.000,177.480,420.000,0.000,20.220,0.000,2.190,8.670,26.650,31.140,0.000,10.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,NCP,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.127,0.000,25.000,0.000
$MEM,333472
$DATA_FILE_SIZE,46695,1296
$CAP_FILE_SIZE,148753,0
$CFSIZE,260165632,243527680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110618,114903,5810.160,-2436.386,42,1.0,42,-15.9,0.0,0.0,8,7.4