version: 66.13
glider: 141
mission: 11
dive: 42
start: 6 5 119 11 40 11
data:
$ID,141
$MISSION,11
$DIVE,42
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,2
$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,270
$T_MISSION,310
$T_ABORT,720
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55610
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0040899999
$HD_B,0.0102
$HD_C,4.5000002e-06
$HEADING,330
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,225
$PITCH_MAX,3920
$C_PITCH,2815
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$PITCH_TIMEOUT,30
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,276
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3935
$C_VBD,2950
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$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_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-166.67619
$PRESSURE_SLOPE,0.00010932798
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$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,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$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,0.0043955045
$SEABIRD_T_H,0.00063085643
$SEABIRD_T_I,2.5021687e-05
$SEABIRD_T_J,3.0087358e-06
$SEABIRD_C_G,-9.7732916
$SEABIRD_C_H,1.1286387
$SEABIRD_C_I,-0.0014607979
$SEABIRD_C_J,0.00018615076
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,050619,112801,5822.2290,-2315.3115,37,0.8,43,-13.0,0.4,351.0,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.1
$GPS2,050619,113926,5822.1797,-2315.2732,9,0.9,17,-13.0,0.6,152.8,9,8.7
$SPEED_LIMITS,0.212,0.350
$TGT_NAME,HEADING
$TGT_LATLONG,5831.532,-2325.615
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,343.0,20000,-16.8,-12.222,-19.27,3061
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
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$GC,1550,-0.50,-243.3,2642,1299,3877,4000,166.6,-8.7,183,1557,0.00,2.45,0.00,0.000,1062,0.000,0.075,2640,2706,3938,3877,4000,0,0,0,0,0,0,14.59,14.52,14.60
$GC,1736,-0.50,-243.3,2643,2707,3877,3999,186.4,-10.9,202,1742,0.00,2.15,0.00,0.000,260,0.000,0.093,2643,3940,3939,3878,4000,0,0,0,0,0,0,14.82,14.62,14.84
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$GC,2019,-0.50,-243.3,2643,1297,3877,4000,215.9,-9.4,238,2025,0.00,2.45,0.00,0.000,1062,0.000,0.074,2643,2706,3938,3878,3999,0,0,0,0,0,0,14.72,14.64,14.73
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$GC,3208,-0.50,-243.3,2643,1290,3878,3999,343.9,-9.1,339,3213,0.00,2.47,0.00,0.000,1062,0.000,0.074,2643,2711,3938,3877,3999,0,0,0,0,0,0,14.76,14.68,14.77
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$GC,3541,-0.50,-243.3,2643,3936,3878,3999,378.5,-10.1,359,3547,0.00,2.03,0.00,0.000,1062,0.000,0.043,2642,2696,3938,3878,3998,0,0,0,0,0,0,14.78,14.73,14.78
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$GC,8014,-0.50,-243.3,2643,2703,3878,3992,789.4,-9.5,651,8019,0.00,2.15,0.00,0.000,292,0.000,0.094,2643,3943,3935,3878,3992,0,0,0,0,0,0,14.92,14.70,14.94
$GC,8047,-0.50,-243.3,2642,3943,3877,3992,792.5,-8.5,657,8053,0.00,2.05,0.00,0.000,1062,0.000,0.045,2643,2686,3935,3878,3992,0,0,0,0,0,0,14.81,14.76,14.82
$GC,8362,-0.50,-243.3,2643,2686,3883,3992,822.3,-9.5,674,8367,0.00,2.28,0.00,0.000,548,0.000,0.049,2643,1297,3934,3877,3992,0,0,0,0,0,0,14.91,14.71,14.93
$GC,8415,-0.50,-243.3,2643,1297,3877,3992,827.5,-9.1,684,8421,0.00,2.45,0.00,0.000,1062,0.000,0.074,2643,2710,3935,3878,3992,0,0,0,0,0,0,14.77,14.71,14.81
$GC,8730,-0.50,-243.3,2642,2711,3878,3992,855.8,-9.0,701,8736,0.00,2.15,0.00,0.000,292,0.000,0.095,2643,3938,3934,3877,3992,0,0,0,0,0,0,14.91,14.70,14.93
$GC,8744,-0.50,-243.3,2642,3938,3878,3991,857.1,-9.1,703,8749,0.00,2.03,0.00,0.000,1062,0.000,0.045,2643,2697,3934,3878,3991,0,0,0,0,0,0,14.81,14.76,14.81
$GC,9058,-0.50,-243.3,2642,2697,3878,3991,886.2,-9.5,720,9064,0.00,2.30,0.00,0.000,548,0.000,0.048,2640,1297,3934,3877,3991,0,0,0,0,0,0,14.91,14.73,14.93
$GC,9117,-0.50,-243.3,2643,1292,3877,3991,891.7,-9.1,731,9123,0.00,2.45,0.00,0.000,1062,0.000,0.074,2643,2706,3934,3877,3991,0,0,0,0,0,0,14.79,14.71,14.80
$STATE,9319,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9319,begin apogee
$GC,9327,-0.14,0.0,2643,2484,3877,3991,910.5,-9.4,742,9542,0.43,0.00,211.80,1.929,10246,0.203,0.000,2764,2484,2949,2999,2900,0,0,0,0,0,0,14.64,13.78,13.12
$STATE,9544,end apogee,CONTROL_FINISHED_OK
$STATE,9544,begin climb
$GC,9548,0.50,243.3,2764,2484,2999,2897,924.7,0.0,753,9781,0.73,2.55,220.00,1.892,10756,0.122,0.057,2980,1106,1960,2009,1911,0,0,0,0,0,0,13.69,13.62,13.00
$GC,9800,0.51,308.7,2980,1107,2006,1908,909.3,10.0,804,9869,0.00,2.60,62.70,1.826,9254,0.000,0.069,2980,2511,1691,1737,1646,0,0,0,0,0,0,13.86,13.78,13.01
$GC,10189,0.53,308.7,2979,2511,1729,1641,865.5,11.5,836,10194,0.00,2.45,0.00,0.000,580,0.000,0.055,2980,1101,1685,1728,1642,0,0,0,0,0,0,14.42,14.25,14.45
$GC,10222,0.56,308.7,2980,1100,1725,1641,861.7,10.5,842,10228,0.00,2.53,0.00,0.000,1094,0.000,0.070,2980,2515,1683,1725,1641,0,0,0,0,0,0,14.34,14.26,14.36
$GC,10537,0.57,308.7,2980,2512,1725,1641,825.5,11.6,859,10539,0.00,0.00,0.00,0.000,70,0.000,0.000,2980,2515,1683,1725,1641,0,0,0,0,0,0,14.62,14.64,14.64
$GC,10837,0.57,308.7,2980,2515,1725,1641,790.1,11.8,874,10842,0.00,2.42,0.00,0.000,516,0.000,0.059,2980,1105,1683,1725,1641,0,0,0,0,0,0,14.71,14.52,14.73
$GC,10870,0.60,308.7,2980,1104,1722,1642,786.1,10.6,880,10876,0.00,2.47,0.00,0.000,1094,0.000,0.073,2980,2512,1682,1723,1641,0,0,0,0,0,0,14.60,14.52,14.62
$GC,11184,0.60,308.7,2979,2512,1722,1641,748.8,12.2,897,11190,0.00,2.47,0.00,0.000,260,0.000,0.090,2980,3916,1681,1722,1641,0,0,0,0,0,0,14.78,14.55,14.80
$GC,11213,0.60,308.7,2979,3917,1722,1640,745.1,12.9,902,11218,0.00,2.38,0.00,0.000,1030,0.000,0.047,2980,2506,1681,1722,1640,0,0,0,0,0,0,14.66,14.60,14.68
$GC,11532,0.60,308.7,2980,2503,1722,1641,706.1,11.9,920,11537,0.00,2.38,0.00,0.000,516,0.000,0.057,2980,1094,1681,1722,1640,0,0,0,0,0,0,14.82,14.59,14.84
$GC,11610,0.63,308.7,2980,1093,1720,1641,697.3,10.8,935,11618,0.12,2.47,0.00,0.000,3142,0.154,0.070,3026,2517,1680,1720,1641,0,0,0,0,0,0,14.63,14.62,14.71
$GC,11916,0.63,308.7,3026,2517,1721,1641,648.8,16.3,951,11921,0.00,2.45,0.00,0.000,260,0.000,0.091,3026,3914,1680,1720,1641,0,0,0,0,0,0,14.84,14.63,14.86
$GC,11940,0.63,308.7,3026,3914,1720,1641,644.6,17.5,955,11946,0.00,2.40,0.00,0.000,1030,0.000,0.049,3026,2486,1680,1720,1640,0,0,0,0,0,0,14.73,14.66,14.74
$GC,12264,0.63,308.7,3026,2482,1720,1640,593.7,15.5,974,12270,0.00,2.35,0.00,0.000,516,0.000,0.059,3026,1087,1680,1720,1641,0,0,0,0,0,0,14.85,14.66,14.88
$GC,12328,0.63,308.7,3026,1087,1719,1641,584.5,13.8,986,12334,0.00,2.47,0.00,0.000,1030,0.000,0.070,3026,2512,1680,1719,1642,0,0,0,0,0,0,14.72,14.64,14.74
$GC,12653,0.63,308.7,3026,2511,1719,1641,535.1,15.1,1005,12658,0.00,2.47,0.00,0.000,260,0.000,0.092,3026,3922,1680,1719,1641,0,0,0,0,0,0,14.87,14.64,14.88
$GC,12665,0.63,308.7,3026,3923,1719,1641,533.0,15.1,1007,12671,0.00,2.40,0.00,0.000,1030,0.000,0.050,3026,2492,1680,1719,1641,0,0,0,0,0,0,14.76,14.69,14.77
$GC,12980,0.63,308.7,3026,2488,1719,1641,486.0,14.7,1024,12985,0.00,2.38,0.00,0.000,516,0.000,0.060,3027,1089,1680,1719,1641,0,0,0,0,0,0,14.87,14.69,14.89
$GC,13033,0.63,308.7,3026,1087,1718,1641,478.5,12.6,1034,13039,0.00,2.47,0.00,0.000,1030,0.000,0.072,3026,2507,1678,1715,1642,0,0,0,0,0,0,14.73,14.66,14.76
$GC,13348,0.63,308.7,3027,2507,1718,1642,430.1,16.0,1051,13350,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2507,1680,1719,1642,0,0,0,0,0,0,14.87,14.89,14.88
$GC,13648,0.63,308.7,3026,2507,1718,1642,383.6,15.4,1066,13653,0.00,2.40,0.00,0.000,516,0.000,0.057,3026,1093,1680,1718,1642,0,0,0,0,0,0,14.87,14.67,14.89
$GC,13701,0.63,308.7,3026,1093,1718,1639,376.0,13.2,1076,13707,0.00,2.45,0.00,0.000,1030,0.000,0.072,3027,2506,1680,1718,1642,0,0,0,0,0,0,14.73,14.66,14.75
$GC,14015,0.63,308.7,3026,2506,1718,1642,329.2,15.1,1093,14021,0.00,2.47,0.00,0.000,260,0.000,0.089,3026,3922,1680,1718,1642,0,0,0,0,0,0,14.88,14.66,14.88
$GC,14054,0.63,308.7,3026,3923,1718,1642,322.9,16.1,1100,14060,0.00,2.40,0.00,0.000,1030,0.000,0.046,3027,2489,1680,1718,1642,0,0,0,0,0,0,14.75,14.68,14.76
$GC,14359,0.63,308.7,3026,2487,1718,1642,278.2,14.3,1116,14365,0.00,2.35,0.00,0.000,516,0.000,0.060,3026,1089,1680,1718,1642,0,0,0,0,0,0,14.88,14.69,14.90
$GC,14428,0.63,308.7,3026,1090,1718,1643,269.1,13.0,1129,14433,0.00,2.47,0.00,0.000,1030,0.000,0.071,3027,2509,1680,1718,1643,0,0,0,0,0,0,14.74,14.67,14.76
$GC,14737,0.63,308.7,3026,2509,1718,1643,225.2,14.1,1155,14743,0.00,2.47,0.00,0.000,260,0.000,0.088,3026,3918,1680,1717,1643,0,0,0,0,0,0,14.87,14.66,14.89
$GC,14772,0.63,308.7,3026,3918,1717,1643,219.8,16.1,1161,14777,0.00,2.38,0.00,0.000,1030,0.000,0.045,3026,2496,1680,1717,1643,0,0,0,0,0,0,14.72,14.67,14.73
$GC,14966,0.63,308.7,3026,2492,1717,1643,192.4,14.2,1181,14972,0.00,2.38,0.00,0.000,516,0.000,0.056,3026,1082,1680,1717,1643,0,0,0,0,0,0,14.88,14.66,14.89
$GC,15031,0.63,308.7,3026,1082,1717,1644,184.1,12.8,1193,15036,0.00,2.47,0.00,0.000,1030,0.000,0.070,3026,2511,1680,1717,1643,0,0,0,0,0,0,14.75,14.66,14.77
$GC,15225,0.63,308.7,3026,2511,1717,1644,157.1,13.7,1213,15230,0.00,2.45,0.00,0.000,260,0.000,0.088,3027,3914,1683,1722,1645,0,0,0,0,0,0,14.87,14.65,14.88
$GC,15269,0.63,308.7,3026,3914,1717,1644,150.7,13.8,1221,15274,0.00,2.38,0.00,0.000,1030,0.000,0.047,3027,2497,1680,1716,1644,0,0,0,0,0,0,14.73,14.69,14.75
$GC,15463,0.63,308.7,3026,2493,1717,1643,124.1,13.7,1241,15469,0.00,2.38,0.00,0.000,516,0.000,0.057,3026,1085,1680,1717,1643,0,0,0,0,0,0,14.87,14.66,14.88
$GC,15528,0.63,308.7,3026,1085,1716,1643,115.8,12.4,1253,15533,0.00,2.45,0.00,0.000,1030,0.000,0.070,3027,2503,1677,1711,1644,0,0,0,0,0,0,14.73,14.66,14.76
$GC,15722,0.63,308.7,3026,2501,1716,1644,87.7,14.8,1273,15727,0.00,2.47,0.00,0.000,260,0.000,0.086,3027,3922,1680,1716,1644,0,0,0,0,0,0,14.85,14.63,14.86
$GC,15756,0.63,308.7,3026,3922,1716,1643,82.5,16.0,1279,15762,0.00,2.40,0.00,0.000,1030,0.000,0.046,3026,2486,1680,1716,1644,0,0,0,0,0,0,14.73,14.67,14.75
$GC,15950,0.63,308.7,3026,2482,1717,1644,52.4,15.3,1299,15956,0.00,2.35,0.00,0.000,516,0.000,0.057,3027,1079,1680,1716,1644,0,0,0,0,0,0,14.86,14.67,14.88
$GC,16019,0.63,308.7,3026,1080,1716,1645,42.8,13.5,1312,16026,0.00,2.47,0.00,0.000,1030,0.000,0.069,3027,2509,1680,1716,1644,0,0,0,0,0,0,14.73,14.66,14.76
$GC,16205,0.63,308.7,3026,2509,1716,1644,15.6,14.0,1331,16210,0.00,2.45,0.00,0.000,260,0.000,0.086,3027,3918,1680,1716,1645,0,0,0,0,0,0,14.85,14.65,14.87
$GC,16249,0.63,308.7,3026,3918,1716,1645,8.8,16.8,1339,16254,0.00,2.38,0.00,0.000,1030,0.000,0.046,3027,2493,1680,1715,1645,0,0,0,0,0,0,14.75,14.69,14.76
$STATE,16290,end climb,SURFACE_DEPTH_REACHED
$STATE,16290,begin surface coast
$FINISH,0.4,1.026893
$STATE,16301,end surface coast,CONTROL_FINISHED_OK
$STATE,16301,begin surface
$SM_CCo,16383,0.00,0.000,0,0,1680,311.78
$SM_GC,1.08,8.32,0.40,0.00,0.085,0.080,0.000,214,2715,1680,-8.08,-0.59,311.78,0,0,0,0,0,0,14.65,14.68,14.73
$IRIDIUM_FIX,5818.65,-2314.07,050619,064414
$TT8_MAMPS,0.020972,0.57673
$HUMID,44.13
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,18.00
$XPDR_PINGS,3
$SC_FREEKB,3873312
$24V_AH,13.00,16.172
$10V_AH,13.10,0.000
$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,21.625,219.750,494.500,0.000,0.000,0.000,0.000,450.075,0.750,0.000,28.236,2833.405,10462.093,734.789,2580.155,455.160,0.000,2335.496,0.000,2051.698,0.000,0.533,0.000
$DEVICE_MAMPS,428.400,94.860,1928.565,0.000,0.000,0.000,0.000,211.140,420.000,0.000,11.240,10.970,2.190,10.970,28.950,34.940,0.000,10.000,0.000,11.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16338.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.610,0.000,0.000,0.000
$MEM,335636
$DATA_FILE_SIZE,50009,1345
$CAP_FILE_SIZE,173259,0
$CFSIZE,260034560,252559360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050619,161437,5824.103,-2314.907,34,0.8,40,-13.0,0.6,121.6,10,9.4