version: 66.04
glider: 144
mission: 15
dive: 83
start: 7 9 109 12 39 30
data:
$ID,144
$MISSION,15
$DIVE,83
$D_SURF,2
$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,600
$T_MISSION,630
$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,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51458
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0037098001
$HD_B,0.012019
$HD_C,3.2039999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-62571.258
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3976
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,2303
$C_ROLL_CLIMB,2303
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2931
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,122.2
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1.9652373
$PRESSURE_SLOPE,0.00011159377
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0043441742
$SEABIRD_T_H,0.00062523223
$SEABIRD_T_I,1.8114715e-05
$SEABIRD_T_J,1.1782754e-06
$SEABIRD_C_G,-10.019677
$SEABIRD_C_H,1.1227477
$SEABIRD_C_I,-0.00077646878
$SEABIRD_C_J,0.00015901824
$GPS1,122836,5017.637,-14431.011,26,1.2,26,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-65.7
$GPS2,123837,5017.599,-14430.971,55,1.9,55,18.6
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.068,0.146
$KALMAN_X,-42926.7,102.3,148.4,78238.4,-1070.9
$KALMAN_Y,24733.4,-79.6,47.1,8457.9,1064.0
$MHEAD_RNG_PITCHd_Wd,6.3,6457,-13.3,-5.500
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.71,-105.1,0.0,0.0,0,49,0.00,0.00,-31.92,0.000,2,0.000,0.000,101,2308,2585
$GC,51,-0.71,-105.1,3.4,-6.3,3,84,6.95,0.00,-19.88,0.000,6,0.245,0.000,1836,2308,3362
$GC,403,-0.52,-105.1,50.7,-12.4,36,407,0.17,2.28,0.00,0.000,4,0.142,0.051,1896,894,3364
$GC,492,-0.65,-105.1,58.5,-7.6,43,499,0.12,2.22,0.00,0.000,6,0.062,0.044,1820,2311,3364
$GC,825,-0.46,-105.1,95.7,-12.0,69,827,0.28,0.00,0.00,0.000,6,0.133,0.000,1903,2311,3365
$GC,1133,-0.62,-105.1,117.1,-6.8,84,1138,0.15,2.25,0.00,0.000,4,0.054,0.048,1823,887,3365
$GC,1173,-0.49,-105.1,120.9,-10.7,85,1180,0.28,2.22,0.00,0.000,6,0.127,0.044,1898,2309,3365
$GC,1489,-0.69,-105.1,139.9,-5.6,101,1491,0.15,0.00,0.00,0.000,6,0.052,0.000,1815,2310,3365
$GC,1796,-0.59,-105.1,169.1,-9.6,113,1801,0.17,2.25,0.00,0.000,4,0.127,0.051,1873,892,3365
$GC,1829,-0.70,-105.1,171.7,-6.8,114,1833,0.00,2.22,0.00,0.000,6,0.000,0.047,1866,2313,3364
$GC,2164,-0.80,-105.1,192.1,-5.9,125,2166,0.12,0.00,0.00,0.000,6,0.062,0.000,1788,2313,3365
$GC,2471,-0.62,-105.1,224.3,-10.9,135,2476,0.22,2.25,0.00,0.000,4,0.135,0.049,1861,891,3364
$GC,2554,-0.73,-105.1,231.0,-7.3,137,2558,0.00,2.22,0.00,0.000,6,0.000,0.050,1861,2309,3364
$GC,2873,-0.83,-105.1,251.5,-6.4,148,2874,0.15,0.00,0.00,0.000,6,0.057,0.000,1779,2309,3364
$GC,3179,-0.62,-105.1,285.2,-11.2,158,3184,0.25,2.25,0.00,0.000,4,0.133,0.051,1862,889,3363
$GC,3256,-0.75,-105.1,291.5,-7.0,160,3261,0.10,2.22,0.00,0.000,6,0.073,0.045,1801,2309,3363
$GC,3603,-0.62,-105.1,322.8,-9.2,168,3607,0.17,2.22,0.00,0.000,4,0.133,0.054,1860,890,3362
$GC,3641,-0.74,-105.1,325.9,-7.0,168,3645,0.00,2.22,0.00,0.000,6,0.000,0.044,1851,2314,3362
$GC,3962,-0.83,-105.1,347.9,-7.0,174,3967,0.10,2.22,0.00,0.000,4,0.071,0.049,1790,893,3362
$GC,4017,-0.68,-105.1,353.7,-11.3,174,4024,0.25,2.20,0.00,0.000,6,0.132,0.051,1857,2300,3362
$GC,4327,-0.80,-105.1,375.0,-6.7,180,4329,0.12,0.00,0.00,0.000,6,0.063,0.000,1789,2300,3362
$GC,4630,-0.65,-105.1,405.4,-10.3,185,4635,0.20,2.25,0.00,0.000,4,0.133,0.053,1853,883,3361
$GC,4685,-0.76,-105.1,410.1,-7.6,185,4692,0.00,2.25,0.00,0.000,6,0.000,0.051,1850,2316,3361
$GC,4995,-0.85,-105.1,430.9,-6.7,191,5000,0.12,2.25,0.00,0.000,4,0.063,0.051,1781,890,3361
$GC,5035,-0.67,-105.1,434.6,-10.2,191,5040,0.28,2.22,0.00,0.000,6,0.131,0.046,1855,2312,3360
$GC,5356,-0.79,-105.1,454.2,-5.8,197,5358,0.10,0.00,0.00,0.000,6,0.071,0.000,1797,2313,3360
$GC,5659,-0.68,-105.1,478.6,-8.2,202,5664,0.17,2.25,0.00,0.000,4,0.130,0.054,1855,894,3360
$GC,5715,-0.81,-106.3,482.2,-5.5,202,5721,0.10,2.22,0.00,0.000,6,0.073,0.046,1791,2314,3359
$GC,6025,-0.69,-106.3,507.8,-8.5,208,6026,0.20,0.00,0.00,0.000,6,0.130,0.000,1850,2314,3359
$GC,6328,-0.82,-116.2,523.9,-5.1,213,6332,0.12,2.25,0.00,0.000,4,0.066,0.054,1785,893,3358
$GC,6383,-0.67,-116.2,528.4,-8.6,213,6390,0.25,2.22,0.00,0.000,6,0.132,0.054,1855,2309,3359
$GC,6693,-0.81,-117.3,542.9,-4.5,219,6695,0.12,0.00,0.00,0.000,6,0.064,0.000,1790,2309,3358
$GC,6996,-0.68,-117.3,567.4,-8.3,224,6998,0.20,0.00,0.00,0.000,6,0.130,0.000,1850,2309,3358
$GC,7299,-0.81,-117.3,584.2,-5.4,229,7304,0.10,2.22,0.00,0.000,4,0.073,0.054,1794,896,3358
$GC,7349,-0.69,-117.3,588.2,-7.9,229,7354,0.22,2.22,0.00,0.000,6,0.131,0.048,1852,2314,3358
$GC,7660,-0.84,-117.3,604.2,-5.0,234,7665,0.12,2.25,0.00,0.000,4,0.064,0.054,1790,894,3358
$GC,7700,-0.70,-117.3,607.0,-8.0,234,7704,0.22,2.22,0.00,0.000,6,0.131,0.049,1849,2310,3357
$GC,8021,-0.83,-117.3,623.7,-5.1,240,8022,0.12,0.00,0.00,0.000,6,0.067,0.000,1786,2311,3358
$GC,8323,-0.70,-117.3,648.9,-8.5,245,8328,0.20,2.25,0.00,0.000,4,0.131,0.054,1851,894,3357
$GC,8373,-0.85,-117.3,652.4,-6.4,245,8377,0.12,2.22,0.00,0.000,6,0.070,0.054,1789,2309,3358
$GC,8684,-0.73,-117.3,677.5,-8.2,250,8689,0.17,2.25,0.00,0.000,4,0.136,0.054,1846,894,3357
$GC,8734,-0.85,-117.3,680.7,-5.8,250,8738,0.10,2.22,0.00,0.000,6,0.077,0.047,1787,2310,3357
$GC,9043,-0.74,-117.3,702.6,-7.1,255,9045,0.17,0.00,0.00,0.000,6,0.135,0.000,1839,2310,3357
$GC,9347,-0.85,-117.3,716.5,-4.5,260,9352,0.10,2.25,0.00,0.000,4,0.082,0.061,1794,887,3357
$GC,9380,-0.75,-117.3,718.8,-7.3,260,9384,0.20,2.22,0.00,0.000,6,0.133,0.048,1843,2304,3357
$GC,9712,-0.87,-117.3,736.0,-5.2,266,9717,0.12,2.25,0.00,0.000,4,0.073,0.056,1790,884,3356
$GC,9745,-0.77,-117.3,738.7,-9.1,266,9749,0.17,2.22,0.00,0.000,6,0.137,0.048,1831,2301,3356
$GC,10077,-0.84,-117.3,759.7,-6.4,272,10080,0.00,2.22,0.00,0.000,4,0.000,0.060,1830,894,3356
$GC,10117,-0.92,-117.3,762.4,-7.3,272,10122,0.08,2.22,0.00,0.000,6,0.093,0.049,1781,2313,3356
$GC,10444,-0.79,-117.3,791.5,-9.0,278,10448,0.17,2.22,0.00,0.000,4,0.142,0.061,1828,3713,3356
$GC,10510,-0.88,-117.3,796.6,-6.9,279,10514,0.00,2.17,0.00,0.000,6,0.000,0.045,1829,2299,3356
$GC,10871,-0.94,-117.3,819.3,-6.2,285,10875,0.12,2.22,0.00,0.000,4,0.077,0.055,1777,892,3356
$GC,10943,-0.80,-117.3,825.3,-8.8,286,10948,0.22,2.22,0.00,0.000,6,0.142,0.054,1832,2309,3355
$GC,11298,-0.88,-117.3,843.6,-5.0,292,11303,0.10,2.25,0.00,0.000,4,0.087,0.056,1793,887,3356
$GC,11338,-0.79,-117.3,846.1,-7.3,292,11343,0.17,2.22,0.00,0.000,6,0.140,0.047,1833,2304,3356
$GC,11660,-0.88,-117.3,861.9,-4.8,298,11661,0.10,0.00,0.00,0.000,6,0.087,0.000,1794,2304,3356
$GC,11962,-0.81,-117.3,881.5,-6.6,303,11966,0.12,2.22,0.00,0.000,4,0.140,0.060,1828,897,3355
$GC,12024,-0.86,-117.3,885.3,-5.8,304,12028,0.00,2.20,0.00,0.000,6,0.000,0.048,1820,2304,3355
$GC,12395,-0.86,-117.3,907.6,-6.1,310,12399,0.00,2.25,0.00,0.000,4,0.000,0.058,1820,889,3355
$GC,12439,-0.86,-117.3,910.4,-6.3,310,12442,0.00,2.25,0.00,0.000,6,0.000,0.049,1811,2315,3355
$GC,12759,-0.86,-117.3,931.0,-6.5,316,12764,0.00,2.28,0.00,0.000,4,0.000,0.061,1813,888,3355
$GC,12804,-0.86,-117.3,934.1,-7.0,316,12807,0.00,2.22,0.00,0.000,6,0.000,0.049,1806,2302,3355
$GC,13124,-0.86,-117.3,954.7,-6.4,322,13128,0.00,2.25,0.00,0.000,4,0.000,0.058,1806,896,3355
$GC,13185,-0.86,-117.3,959.0,-7.2,322,13192,0.00,2.25,0.00,0.000,6,0.000,0.054,1796,2303,3355
$GC,13496,-0.81,-117.3,980.2,-6.9,328,13497,0.12,0.00,0.00,0.000,6,0.157,0.000,1829,2303,3355
$STATE,13675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13675,begin apogee
$GC,13680,-0.22,0.0,990.5,5.9,331,13765,0.40,0.00,82.72,1.345,6,0.131,0.000,1958,2303,2931
$STATE,13766,end apogee,CONTROL_FINISHED_OK
$STATE,13766,begin climb
$GC,13769,0.72,117.3,991.7,0.0,332,13875,0.57,2.53,97.65,1.318,4,0.084,0.064,2152,3710,2450
$GC,13908,0.31,117.3,986.7,8.2,334,13914,0.38,2.35,0.00,0.000,6,0.179,0.047,2065,2303,2446
$GC,14258,0.44,163.6,973.1,3.8,340,14299,0.10,0.00,38.78,1.285,6,0.084,0.000,2102,2302,2263
$GC,14561,0.44,163.6,956.4,5.7,345,14562,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2302,2255
$GC,14863,0.44,163.6,939.4,5.6,350,14865,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2302,2254
$GC,15166,0.44,166.2,923.0,5.4,355,15171,0.00,2.30,0.00,0.000,4,0.000,0.061,2113,892,2253
$GC,15193,0.44,166.2,921.4,5.7,355,15197,0.00,2.28,0.00,0.000,6,0.000,0.048,2112,2304,2253
$GC,15532,0.38,166.2,901.3,6.0,361,15536,0.12,2.30,0.00,0.000,4,0.159,0.063,2080,3720,2252
$GC,15564,0.38,166.2,899.3,5.6,361,15568,0.00,2.25,0.00,0.000,6,0.000,0.042,2089,2296,2251
$GC,15896,0.40,186.2,883.7,4.8,367,15921,0.00,2.35,18.52,1.213,4,0.000,0.065,2089,3704,2170
$GC,15938,0.41,190.1,881.2,5.4,367,15948,0.00,2.25,4.90,0.871,6,0.000,0.041,2099,2299,2155
$GC,16258,0.41,190.1,862.9,5.7,373,16259,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2299,2151
$GC,16561,0.41,190.1,845.3,5.8,378,16565,0.00,2.30,0.00,0.000,4,0.000,0.063,2098,3713,2150
$GC,16587,0.41,190.1,843.4,7.4,378,16591,0.00,2.25,0.00,0.000,6,0.000,0.045,2109,2295,2150
$GC,16925,0.41,190.1,822.3,6.3,384,16929,0.00,2.30,0.00,0.000,4,0.000,0.061,2109,3716,2150
$GC,16947,0.37,190.1,820.5,7.0,384,16952,0.15,2.22,0.00,0.000,6,0.161,0.041,2079,2302,2149
$GC,17285,0.53,216.5,805.0,4.5,390,17315,0.12,2.35,23.00,1.183,4,0.068,0.063,2144,899,2047
$GC,17337,0.47,216.5,801.2,6.9,390,17342,0.17,2.28,0.00,0.000,6,0.144,0.051,2097,2303,2045
$GC,17647,0.56,216.5,783.7,5.5,395,17652,0.10,2.28,0.00,0.000,4,0.072,0.058,2142,3711,2043
$GC,17696,0.37,216.5,779.2,8.9,395,17701,0.28,2.22,0.00,0.000,6,0.160,0.047,2076,2304,2042
$GC,18007,0.57,231.1,763.3,5.0,400,18023,0.15,0.00,13.25,1.102,6,0.061,0.000,2142,2302,1988
$GC,18309,0.46,231.1,736.9,8.9,405,18311,0.17,0.00,0.00,0.000,6,0.149,0.000,2095,2302,1983
$GC,18612,0.58,231.1,719.4,5.6,410,18617,0.12,2.30,0.00,0.000,4,0.062,0.057,2152,3717,1982
$GC,18651,0.38,231.1,715.9,10.0,410,18656,0.30,2.25,0.00,0.000,6,0.154,0.041,2078,2294,1982
$GC,18971,0.69,231.1,697.9,5.6,416,18976,0.20,2.25,0.00,0.000,4,0.067,0.054,2160,888,1982
$GC,19033,0.69,231.1,693.1,8.6,417,19037,0.00,2.25,0.00,0.000,6,0.000,0.047,2161,2304,1981
$GC,19399,0.52,231.1,657.3,10.0,423,19403,0.17,2.25,0.00,0.000,4,0.154,0.058,2113,3712,1981
$GC,19464,0.52,231.1,651.5,9.0,424,19469,0.00,2.22,0.00,0.000,6,0.000,0.044,2121,2310,1981
$GC,19830,0.52,231.1,624.9,7.3,430,19834,0.00,2.25,0.00,0.000,4,0.000,0.058,2121,3712,1981
$GC,19863,0.47,231.1,621.9,8.8,430,19868,0.12,2.20,0.00,0.000,6,0.151,0.039,2098,2301,1981
$GC,20189,0.59,231.1,602.8,5.7,436,20191,0.10,0.00,0.00,0.000,6,0.071,0.000,2157,2301,1981
$GC,20492,0.42,231.1,573.9,9.7,441,20497,0.20,2.25,0.00,0.000,4,0.147,0.058,2095,3717,1981
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$GC,21907,0.62,231.1,486.5,7.8,464,21911,0.00,2.20,0.00,0.000,6,0.000,0.039,2131,2296,1981
$GC,22251,0.57,231.1,461.8,7.2,470,22252,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2295,1981
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$GC,23940,0.63,256.5,357.5,4.6,498,23963,0.15,0.00,21.12,0.890,6,0.053,0.000,2173,2298,1884
$GC,24243,0.45,256.5,330.1,9.3,503,24248,0.22,2.30,0.00,0.000,4,0.146,0.054,2103,3721,1880
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$STATE,28419,end climb,SURFACE_DEPTH_REACHED
$STATE,28419,begin surface coast
$FINISH,1.3,1.024920
$STATE,28442,end surface coast,CONTROL_FINISHED_OK
$STATE,28442,begin surface
$SM_CCo,28517,0.00,0.000,0,0,1659,312.02
$SM_GC,2.15,5.55,0.00,0.00,0.038,0.000,0.000,102,2302,1659,-8.61,-0.03,312.02
$IRIDIUM_FIX,4956.40,-14429.30,031098,121232
$TT8_MAMPS,0.028379
$HUMID,1605
$INTERNAL_PRESSURE,7.40263
$TCM_TEMP,16.10
$XPDR_PINGS,80
$24V_AH,23.5,15.048
$10V_AH,10.7,10.888
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$DEVICE_SECS,28.850,233.550,349.850,0.000,0.000,53.744,91.547,223.669,20.000,0.000,0.000,56.810,1688.426,23892.625,530.132,2245.549,752.423,33.367,1649.329,0.000,2200.810,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,499.631,570.604,729.882,1215.857,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41105,708
$CAP_FILE_SIZE,200382,0
$CFSIZE,260165632,252440576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090709,203601,5020.702,-14429.806,36,1.7,36,18.7