version: 66.11
glider: 165
mission: 7
dive: 34
start: 8 15 112 23 6 10
data:
$ID,165
$MISSION,7
$DIVE,34
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$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,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-13
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51833
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,450
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-274416.25
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2967
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-55.425434
$PRESSURE_SLOPE,0.000116182
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,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,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.85000002
$DEEPGLIDER,0
$DEEPGLIDERMB,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,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043563917
$SEABIRD_T_H,0.00062612642
$SEABIRD_T_I,2.3748129e-05
$SEABIRD_T_J,2.537425e-06
$SEABIRD_C_G,-9.8483667
$SEABIRD_C_H,1.1161635
$SEABIRD_C_I,-0.0015063961
$SEABIRD_C_J,0.00020304731
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,150812,225823,1852.602,12233.613,21,1.0,39,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-66.3
$GPS2,150812,230543,1852.804,12233.544,13,1.3,13,-2.1
$SPEED_LIMITS,0.173,0.311
$TGT_NAME,MMID
$TGT_LATLONG,1845.000,12228.200
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,170.1,17226,-14.7,-10.000
$D_GRID,2112
$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,pitch_volts,roll_volts,vbd_volts
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.69,-219.0,0.0,0.0,0,125,0.00,0.00,-104.53,0.000,2,0.000,0.000,156,2469,3087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,129,-0.69,-219.0,3.8,-10.5,18,161,9.80,1.95,-12.75,0.000,4,0.243,0.069,2666,3690,3862,0,0,0,0,0,0,25.95,26.15,26.43
$GC,219,-0.57,-219.0,46.4,-45.9,29,227,0.17,1.75,0.00,0.000,6,0.186,0.032,2710,2509,3863,0,0,0,0,0,0,26.08,26.22,28.83
$GC,385,-0.50,-219.0,103.7,-26.4,38,390,0.00,2.17,0.00,0.000,4,0.000,0.042,2714,1084,3863,0,0,0,0,0,0,28.83,26.29,28.83
$GC,458,-0.45,-219.0,116.6,-21.2,41,465,0.17,2.20,0.00,0.000,6,0.158,0.050,2754,2497,3863,0,0,0,0,0,0,26.22,26.32,28.83
$GC,774,-0.42,-219.0,178.0,-17.3,57,779,0.00,1.88,0.00,0.000,4,0.000,0.060,2753,3695,3864,0,0,0,0,0,0,28.83,26.39,28.83
$GC,822,-0.40,-219.0,185.5,-17.0,59,827,0.00,1.77,0.00,0.000,6,0.000,0.037,2752,2498,3864,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1140,-0.39,-219.0,229.1,-10.8,75,1146,0.00,2.12,0.00,0.000,4,0.000,0.044,2753,1102,3864,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1225,-0.39,-219.0,236.8,-9.1,79,1231,0.00,2.17,0.00,0.000,6,0.000,0.048,2752,2507,3864,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1549,-0.39,-219.0,273.5,-13.4,95,1554,0.00,1.83,0.00,0.000,4,0.000,0.057,2752,3690,3864,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1593,-0.39,-219.0,278.9,-12.9,97,1598,0.00,1.77,0.00,0.000,6,0.000,0.032,2750,2484,3864,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1916,-0.39,-219.0,319.6,-11.9,113,1921,0.00,2.08,0.00,0.000,4,0.000,0.042,2752,1107,3864,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1969,-0.40,-219.0,324.4,-11.3,115,1975,0.00,2.15,0.00,0.000,6,0.000,0.048,2752,2501,3864,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2284,-0.41,-219.0,350.9,-7.6,131,2289,0.00,1.85,0.00,0.000,4,0.000,0.059,2752,3691,3861,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2342,-0.43,-219.0,354.0,-7.3,133,2350,0.00,1.77,0.00,0.000,6,0.000,0.034,2752,2486,3860,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2648,-0.44,-219.0,376.2,-6.8,149,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2487,3859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2949,-0.46,-219.0,395.5,-6.0,164,2954,0.00,2.08,0.00,0.000,4,0.000,0.042,2752,1108,3857,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2992,-0.48,-219.0,398.2,-6.0,166,2998,0.00,2.17,0.00,0.000,6,0.000,0.049,2752,2505,3856,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3316,-0.50,-219.0,418.3,-6.9,182,3321,0.00,1.83,0.00,0.000,4,0.000,0.059,2752,3694,3854,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3354,-0.52,-219.0,420.1,-7.2,183,3361,0.00,1.75,0.00,0.000,6,0.000,0.034,2752,2506,3853,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3660,-0.54,-219.0,444.2,-7.4,199,3665,0.00,1.85,0.00,0.000,4,0.000,0.060,2752,3690,3851,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3684,-0.56,-219.0,446.0,-7.4,200,3689,0.00,1.80,0.00,0.000,6,0.000,0.033,2752,2498,3851,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4007,-0.58,-219.0,470.9,-8.0,216,4014,0.12,1.90,0.00,0.000,4,0.090,0.057,2674,3698,3848,0,0,0,0,0,0,26.68,26.62,28.83
$GC,4087,-0.58,-219.0,479.1,-11.6,219,4094,0.12,1.80,0.00,0.000,6,0.155,0.034,2708,2486,3847,0,0,0,0,0,0,26.55,26.66,28.83
$GC,4392,-0.58,-219.0,518.5,-11.6,235,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2487,3844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4694,-0.58,-219.0,553.1,-12.0,250,4699,0.00,1.90,0.00,0.000,4,0.000,0.058,2701,3699,3842,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4731,-0.58,-219.0,556.0,-11.9,251,4738,0.00,1.75,0.00,0.000,6,0.000,0.034,2701,2509,3842,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5038,-0.57,-219.0,597.9,-13.2,267,5043,0.00,2.12,0.00,0.000,4,0.000,0.044,2699,1102,3841,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5180,-0.57,-219.0,613.2,-12.3,272,5185,0.00,2.17,0.00,0.000,6,0.000,0.050,2700,2500,3840,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5494,-0.57,-219.0,651.4,-11.4,283,5499,0.00,2.17,0.00,0.000,4,0.000,0.042,2701,1087,3837,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5537,-0.57,-219.0,655.2,-11.4,284,5542,0.00,2.20,0.00,0.000,6,0.000,0.050,2700,2500,3837,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5862,-0.57,-219.0,690.0,-10.1,295,5867,0.00,1.88,0.00,0.000,4,0.000,0.061,2694,3702,3834,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5896,-0.57,-219.0,693.6,-10.0,296,5901,0.00,1.80,0.00,0.000,6,0.000,0.035,2694,2487,3834,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6231,-0.56,-219.0,726.6,-9.9,307,6237,0.00,2.10,0.00,0.000,4,0.000,0.043,2694,1108,3832,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6265,-0.56,-219.0,730.1,-10.1,308,6271,0.00,2.20,0.00,0.000,6,0.000,0.050,2690,2511,3832,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6600,-0.55,-219.0,764.3,-10.5,319,6606,0.12,1.83,0.00,0.000,4,0.164,0.057,2726,3692,3828,0,0,0,0,0,0,26.58,26.63,28.83
$GC,6655,-0.55,-219.0,767.4,-9.9,320,6661,0.00,1.80,0.00,0.000,6,0.000,0.035,2727,2506,3828,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6971,-0.57,-219.0,790.7,-6.8,331,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2500,3827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7270,-0.58,-219.0,814.9,-8.2,341,7275,0.00,1.90,0.00,0.000,4,0.000,0.062,2727,3698,3827,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7334,-0.60,-219.0,820.2,-8.4,343,7339,0.00,1.77,0.00,0.000,6,0.000,0.036,2726,2500,3825,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7670,-0.61,-219.0,846.7,-7.6,354,7675,0.00,1.90,0.00,0.000,4,0.000,0.062,2727,3689,3823,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7704,-0.63,-219.0,849.4,-7.5,355,7709,0.00,1.77,0.00,0.000,6,0.000,0.036,2727,2490,3822,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8042,-0.65,-219.0,872.0,-6.6,366,8047,0.12,1.90,0.00,0.000,4,0.093,0.060,2660,3692,3822,0,0,0,0,0,0,26.70,26.63,28.83
$GC,8090,-0.66,-219.0,875.8,-7.2,367,8095,0.00,1.77,0.00,0.000,6,0.000,0.034,2660,2506,3821,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8411,-0.64,-219.0,918.2,-13.6,378,8412,0.12,0.00,0.00,0.000,6,0.164,0.000,2693,2498,3820,0,0,0,0,0,0,26.58,28.83,28.83
$GC,8708,-0.64,-219.0,950.9,-10.7,388,8713,0.00,1.90,0.00,0.000,4,0.000,0.061,2687,3698,3819,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8760,-0.64,-219.0,954.4,-10.7,389,8765,0.00,1.83,0.00,0.000,6,0.000,0.036,2687,2465,3819,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,9071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9071,begin apogee
$GC,9079,-0.14,0.0,992.6,-12.2,400,9261,0.47,0.00,173.48,1.460,6,0.129,0.000,2846,2509,2967,0,0,0,0,0,0,26.57,28.83,23.65
$STATE,9262,end apogee,CONTROL_FINISHED_OK
$STATE,9262,begin climb
$GC,9264,0.69,219.0,1001.9,0.0,406,9466,0.77,2.08,187.85,1.424,4,0.066,0.060,3124,3688,2073,0,0,0,0,0,0,24.70,24.32,23.48
$GC,9514,0.61,219.0,971.4,19.6,414,9520,0.15,1.92,0.00,0.000,6,0.184,0.042,3099,2525,2070,0,0,0,0,0,0,24.93,25.03,28.83
$GC,9835,0.55,219.0,905.0,18.8,425,9840,0.00,1.92,0.00,0.000,4,0.000,0.057,3098,3701,2067,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9970,0.48,219.0,877.0,22.5,429,9976,0.17,1.90,0.00,0.000,6,0.177,0.042,3061,2482,2066,0,0,0,0,0,0,25.89,25.99,28.83
$GC,10296,0.44,219.0,819.1,16.7,440,10297,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2482,2065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10596,0.41,219.0,769.7,16.2,450,10601,0.00,1.98,0.00,0.000,4,0.000,0.057,3061,3701,2064,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10721,0.37,219.0,748.9,16.6,454,10727,0.17,1.85,0.00,0.000,6,0.170,0.041,3018,2502,2063,0,0,0,0,0,0,26.23,26.34,28.83
$GC,11056,0.35,219.0,711.5,11.1,465,11061,0.00,1.92,0.00,0.000,4,0.000,0.057,3021,3697,2062,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11108,0.34,219.0,707.5,11.2,466,11113,0.00,1.83,0.00,0.000,6,0.000,0.041,3028,2498,2062,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11423,0.32,219.0,671.6,10.3,477,11429,0.00,2.17,0.00,0.000,4,0.000,0.047,3037,1092,2062,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11451,0.31,219.0,671.6,10.3,477,11459,0.15,2.22,0.00,0.000,6,0.148,0.047,2995,2511,2060,0,0,0,0,0,0,26.36,26.45,28.83
$GC,11759,0.43,309.7,645.6,7.2,488,11848,0.12,2.05,76.57,1.235,4,0.096,0.058,3064,3696,1704,0,0,0,0,0,0,26.51,24.89,24.13
$GC,11893,0.40,309.7,629.0,13.2,492,11899,0.15,1.90,0.00,0.000,6,0.166,0.041,3035,2505,1701,0,0,0,0,0,0,25.27,25.37,28.83
$GC,12217,0.43,331.1,593.2,9.3,504,12242,0.00,2.30,19.10,1.138,4,0.000,0.046,3043,1082,1617,0,0,0,0,0,0,28.83,25.55,24.77
$GC,12275,0.45,350.3,589.0,9.4,506,12301,0.00,2.33,18.20,1.120,6,0.000,0.046,3043,2508,1539,0,0,0,0,0,0,28.83,25.67,24.51
$GC,12600,0.45,350.3,554.0,10.9,523,12605,0.00,1.90,0.00,0.000,4,0.000,0.056,3043,3694,1536,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12674,0.44,350.3,546.6,11.7,526,12679,0.00,1.88,0.00,0.000,6,0.000,0.040,3052,2485,1536,0,0,0,0,0,0,28.83,26.03,28.83
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$GC,14231,0.50,432.9,327.9,21.9,603,14237,0.12,2.28,0.00,0.000,4,0.158,0.047,3072,1090,1199,0,0,0,0,0,0,25.89,25.94,28.83
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$GC,14946,0.47,432.9,221.7,13.3,638,14951,0.00,2.17,0.00,0.000,4,0.000,0.047,3090,1094,1200,0,0,0,0,0,0,28.83,26.29,28.83
$GC,15019,0.48,432.9,214.2,12.0,641,15025,0.12,2.20,0.00,0.000,6,0.134,0.042,3055,2502,1198,0,0,0,0,0,0,26.26,26.32,28.83
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$STATE,16877,end climb,SURFACE_DEPTH_REACHED
$STATE,16877,begin surface coast
$FINISH,-0.2,1.021389
$STATE,16905,end surface coast,CONTROL_FINISHED_OK
$STATE,16905,begin surface
$SM_CCo,16984,0.00,0.000,0,0,480,610.06
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$IRIDIUM_FIX,1844.15,12235.08,150812,181841
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.31
$INTERNAL_PRESSURE,9.2097
$TCM_TEMP,25.40
$XPDR_PINGS,0
$SC_FREEKB,7756928
$24V_AH,23.5,7.810
$10V_AH,9.7,4.976
$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,21.825,159.875,709.050,0.000,0.000,29.059,17.598,182.627,0.000,0.000,15.687,2559.206,11389.493,834.637,2257.931,375.341,0.000,1983.703,0.000,1926.311,0.000,0.541,0.000
$DEVICE_MAMPS,242.505,106.335,1459.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.706,0.000,0.000,0.000
$MEM,306452
$DATA_FILE_SIZE,29985,769
$CAP_FILE_SIZE,201649,0
$CFSIZE,260165632,197185536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.317,338.4,1
$GPS,160812,035035,1852.922,12232.920,36,1.0,41,-2.1