version: 66.11
glider: 167
mission: 14
dive: 452
start: 1 31 113 16 48 55
data:
$ID,167
$MISSION,14
$DIVE,452
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,4
$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,310
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52251
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,270
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-971452.88
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2665
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,20.5
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-16.305099
$PRESSURE_SLOPE,0.0001158971
$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,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,-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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043364335
$SEABIRD_T_H,0.00062881975
$SEABIRD_T_I,2.1970176e-05
$SEABIRD_T_J,2.0625448e-06
$SEABIRD_C_G,-9.8829851
$SEABIRD_C_H,1.104416
$SEABIRD_C_I,-0.0016111456
$SEABIRD_C_J,0.00020720487
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,310113,163835,2314.552,12206.567,42,0.9,42,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-64.8
$GPS2,310113,164826,2314.660,12206.572,6,0.9,6,-3.5
$SPEED_LIMITS,0.184,0.361
$TGT_NAME,HEADING
$TGT_LATLONG,2314.660,12154.819
$TGT_RADIUS,1852.000
$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,273.5,20000,-13.3,-10.645,-16.43
$D_GRID,4139
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.80,-293.3,0.0,0.0,0,103,0.00,0.00,-80.28,0.000,2,0.000,0.000,111,2464,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.80,-293.3,3.5,-4.1,8,152,9.18,2.05,-28.88,0.000,4,0.220,0.060,2395,3751,3961,0,0,0,0,0,0,25.04,25.75,26.68
$GC,338,-0.71,-293.3,44.7,-18.4,30,346,0.15,1.88,0.00,0.000,6,0.148,0.019,2435,2427,3961,0,0,0,0,0,0,25.68,26.20,28.83
$GC,654,-0.67,-293.3,90.8,-14.1,48,659,0.00,2.10,0.00,0.000,4,0.000,0.047,2429,3756,3961,0,0,0,0,0,0,28.83,25.52,28.83
$GC,753,-0.62,-293.3,102.7,-14.2,52,760,0.12,1.85,0.00,0.000,6,0.142,0.018,2463,2438,3961,0,0,0,0,0,0,25.83,26.23,28.83
$GC,1058,-0.61,-293.3,140.3,-11.4,68,1063,0.00,2.03,0.00,0.000,4,0.000,0.034,2463,1080,3961,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1082,-0.60,-293.3,143.0,-11.4,69,1088,0.00,2.08,0.00,0.000,6,0.000,0.037,2463,2442,3961,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1405,-0.60,-293.3,179.5,-10.8,85,1411,0.00,2.05,0.00,0.000,4,0.000,0.048,2463,3754,3961,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1473,-0.60,-293.3,186.3,-10.9,88,1478,0.00,1.88,0.00,0.000,6,0.000,0.017,2463,2417,3961,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1792,-0.66,-293.3,218.0,-8.7,104,1798,0.00,2.00,-0.03,0.000,4,0.000,0.044,2463,1099,3968,0,0,0,0,0,0,28.83,25.72,26.25
$GC,1858,-0.73,-293.3,223.5,-8.6,107,1863,0.00,2.05,0.00,0.000,6,0.000,0.037,2463,2451,3968,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2181,-0.79,-293.3,250.2,-9.1,123,2183,0.15,0.00,0.00,0.000,6,0.068,0.000,2365,2452,3968,0,0,0,0,0,0,26.46,28.83,28.83
$GC,2484,-0.72,-293.3,290.2,-13.5,138,2490,0.20,2.05,0.00,0.000,4,0.136,0.045,2424,3754,3968,0,0,0,0,0,0,25.85,25.47,28.83
$GC,2585,-0.71,-293.3,300.3,-11.5,142,2592,0.00,1.83,0.00,0.000,6,0.000,0.018,2424,2466,3968,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2888,-0.71,-293.3,334.8,-10.2,158,2894,0.00,2.08,0.00,0.000,4,0.000,0.033,2424,1078,3967,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2921,-0.71,-293.3,337.3,-10.3,159,2926,0.00,2.12,0.00,0.000,6,0.000,0.036,2424,2457,3967,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3235,-0.74,-293.3,367.2,-9.0,175,3240,0.00,2.08,0.00,0.000,4,0.000,0.032,2424,1081,3966,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3268,-0.77,-293.3,369.4,-9.1,176,3273,0.00,2.12,0.00,0.000,6,0.000,0.037,2423,2456,3966,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3582,-0.81,-293.3,400.1,-10.3,192,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2456,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3884,-0.86,-293.3,432.9,-11.0,207,3890,0.10,2.05,0.00,0.000,4,0.093,0.047,2357,3758,3962,0,0,0,0,0,0,26.48,25.44,28.83
$GC,3933,-0.87,-293.3,438.8,-11.6,209,3938,0.00,1.85,0.00,0.000,6,0.000,0.019,2357,2454,3962,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4251,-0.82,-293.3,481.4,-12.2,225,4257,0.12,2.05,0.00,0.000,4,0.152,0.030,2396,1079,3960,0,0,0,0,0,0,26.13,25.77,28.83
$GC,4279,-0.78,-293.3,484.2,-12.1,226,4285,0.00,2.12,0.00,0.000,6,0.000,0.037,2396,2457,3960,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4598,-0.78,-293.3,516.4,-10.3,242,4603,0.00,2.08,0.00,0.000,4,0.000,0.056,2396,3755,3958,0,0,0,0,0,0,28.83,25.34,28.83
$GC,4695,-0.78,-293.3,525.4,-10.7,246,4702,0.00,1.88,0.00,0.000,6,0.000,0.019,2396,2443,3958,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5001,-0.78,-293.3,560.4,-11.0,262,5006,0.00,2.10,0.00,0.000,4,0.000,0.049,2396,3753,3954,0,0,0,0,0,0,28.83,25.37,28.83
$GC,5058,-0.78,-293.3,565.3,-11.2,264,5065,0.00,1.88,0.00,0.000,6,0.000,0.019,2395,2443,3955,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5364,-0.78,-293.3,600.1,-11.0,280,5369,0.00,2.15,0.00,0.000,4,0.000,0.053,2396,3760,3953,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5416,-0.78,-293.3,603.9,-11.2,281,5422,0.00,1.88,0.00,0.000,6,0.000,0.020,2396,2441,3951,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5733,-0.78,-293.3,639.0,-10.3,292,5738,0.00,2.17,0.00,0.000,4,0.000,0.050,2396,3765,3951,0,0,0,0,0,0,28.83,25.22,28.83
$GC,5785,-0.78,-293.3,642.6,-10.2,293,5790,0.00,1.88,0.00,0.000,6,0.000,0.021,2396,2443,3950,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6100,-0.77,-293.3,678.2,-11.1,304,6106,0.00,2.12,0.00,0.000,4,0.000,0.050,2396,3761,3947,0,0,0,0,0,0,28.83,25.26,28.83
$GC,6188,-0.77,-293.3,685.7,-11.5,306,6195,0.00,1.88,0.00,0.000,6,0.000,0.021,2396,2455,3947,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6494,-0.77,-293.3,723.4,-11.7,317,6499,0.00,2.10,0.00,0.000,4,0.000,0.051,2396,3754,3945,0,0,0,0,0,0,28.83,25.22,28.83
$GC,6558,-0.77,-293.3,730.9,-11.8,319,6563,0.00,1.95,0.00,0.000,6,0.000,0.022,2395,2434,3944,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6893,-0.77,-293.3,765.0,-9.4,330,6898,0.00,2.15,0.00,0.000,4,0.000,0.051,2396,3757,3942,0,0,0,0,0,0,28.83,25.19,28.83
$GC,6967,-0.77,-293.3,771.3,-9.3,332,6973,0.00,1.90,0.00,0.000,6,0.000,0.022,2396,2446,3941,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7293,-0.77,-293.3,799.9,-8.4,343,7298,0.00,2.12,0.00,0.000,4,0.000,0.051,2396,3754,3938,0,0,0,0,0,0,28.83,25.15,28.83
$GC,7321,-0.77,-293.3,799.9,-8.4,343,7328,0.00,1.90,0.00,0.000,6,0.000,0.022,2396,2441,3939,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7628,-0.77,-293.3,831.2,-9.7,354,7633,0.00,2.20,0.00,0.000,4,0.000,0.052,2396,3762,3937,0,0,0,0,0,0,28.83,25.04,28.83
$GC,7686,-0.77,-293.3,834.6,-9.7,355,7692,0.00,1.90,0.00,0.000,6,0.000,0.023,2396,2447,3937,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7993,-0.77,-293.3,867.8,-10.3,366,7998,0.00,2.17,0.00,0.000,4,0.000,0.056,2395,3759,3934,0,0,0,0,0,0,28.83,24.97,28.83
$GC,8040,-0.77,-293.3,871.4,-10.4,367,8045,0.00,1.92,0.00,0.000,6,0.000,0.027,2395,2451,3933,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8359,-0.77,-293.3,907.0,-10.9,378,8364,0.00,2.12,0.00,0.000,4,0.000,0.053,2396,3758,3932,0,0,0,0,0,0,28.83,25.06,28.83
$GC,8396,-0.77,-293.3,910.8,-11.1,379,8401,0.00,1.92,0.00,0.000,6,0.000,0.023,2396,2437,3932,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8726,-0.77,-293.3,947.3,-10.8,390,8731,0.00,2.20,0.00,0.000,4,0.000,0.056,2396,3758,3930,0,0,0,0,0,0,28.83,24.72,28.83
$GC,8764,-0.77,-293.3,951.1,-10.8,391,8769,0.00,1.95,0.00,0.000,6,0.000,0.024,2395,2439,3930,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9094,-0.77,-293.3,984.6,-10.0,402,9100,0.00,2.15,0.00,0.000,4,0.000,0.053,2399,3752,3928,0,0,0,0,0,0,28.83,24.98,28.83
$GC,9148,-0.77,-293.3,988.3,-10.1,403,9153,0.00,1.92,0.00,0.000,6,0.000,0.023,2396,2443,3928,0,0,0,0,0,0,28.83,26.02,28.83
$STATE,9158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9158,begin apogee
$GC,9165,-0.27,0.0,991.6,-10.1,404,9389,0.55,0.00,212.18,1.738,6,0.109,0.000,2573,2172,2967,0,0,0,0,1,0,24.92,28.83,21.13
$STATE,9391,end apogee,CONTROL_FINISHED_OK
$STATE,9391,begin climb
$GC,9393,0.80,293.3,1005.1,0.0,411,9712,1.08,2.78,297.10,1.721,4,0.056,0.047,2921,3600,1772,0,0,0,0,1,0,22.74,22.37,20.87
$GC,9775,0.72,293.3,978.6,12.6,424,9780,0.00,2.22,0.00,0.000,6,0.000,0.026,2927,2253,1771,0,0,0,0,0,0,28.83,23.86,28.83
$GC,10101,0.65,293.3,935.6,13.1,435,10107,0.15,2.17,0.00,0.000,4,0.152,0.039,2888,850,1769,0,0,0,0,0,0,25.89,25.77,28.83
$GC,10155,0.59,293.3,931.3,12.7,436,10161,0.12,2.08,0.00,0.000,6,0.132,0.035,2854,2205,1768,0,0,0,0,0,0,25.66,25.87,28.83
$GC,10472,0.66,360.3,900.6,9.0,447,10559,0.00,2.25,78.80,1.149,4,0.000,0.047,2853,3599,1492,0,0,0,0,0,0,28.83,25.47,24.20
$GC,10617,0.75,432.0,889.6,8.9,451,10706,0.15,2.03,79.90,1.130,6,0.073,0.026,2925,2243,1200,0,0,0,0,0,0,26.01,26.09,24.09
$GC,11017,0.72,432.0,839.2,12.0,465,11022,0.00,2.20,0.00,0.000,4,0.000,0.041,2928,809,1182,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11090,0.70,432.0,832.4,11.3,467,11096,0.15,2.12,0.00,0.000,6,0.120,0.033,2884,2208,1182,0,0,0,0,0,0,25.73,25.96,28.83
$GC,11416,0.77,492.2,801.9,9.2,478,11492,0.00,2.30,67.62,1.114,4,0.000,0.048,2884,3598,949,0,0,0,0,0,0,28.83,25.47,24.12
$GC,11523,0.87,565.3,793.8,8.9,481,11609,0.17,2.12,73.95,1.039,6,0.065,0.027,2968,2197,659,0,0,0,0,1,0,25.96,26.00,23.81
$GC,11931,0.84,565.3,736.0,13.9,495,11941,0.12,2.20,1.95,0.161,4,0.133,0.041,2934,812,661,0,0,0,0,0,0,26.09,25.91,25.25
$GC,12003,0.84,565.3,728.8,12.6,497,12009,0.00,2.10,0.00,0.000,6,0.000,0.031,2934,2204,671,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12331,0.84,565.3,692.4,11.2,508,12334,0.00,0.00,1.62,0.182,6,0.000,0.000,2934,2204,660,0,0,0,0,0,0,28.83,28.83,25.08
$GC,12627,0.84,565.3,657.6,11.6,518,12632,0.00,2.17,0.00,0.000,4,0.000,0.040,2934,802,670,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12655,0.84,565.3,657.6,11.6,518,12662,0.00,2.12,0.00,0.000,6,0.000,0.031,2935,2195,670,0,0,0,0,0,0,28.83,25.81,28.83
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$GC,13974,0.91,574.9,510.9,10.5,576,13984,0.00,2.17,4.22,0.827,4,0.000,0.037,2934,811,623,0,0,0,0,0,0,28.83,25.75,24.47
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$GC,15095,0.90,575.6,366.0,13.3,631,15099,0.12,0.00,2.15,0.283,6,0.138,0.000,2957,2207,618,0,0,0,0,0,0,26.13,28.83,23.73
$GC,15396,1.05,575.6,332.0,11.3,646,15406,0.12,2.22,2.00,0.153,4,0.104,0.037,3010,813,619,0,0,0,0,0,0,26.26,25.52,21.71
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$STATE,18159,end climb,SURFACE_DEPTH_REACHED
$STATE,18159,begin surface coast
$FINISH,1.0,1.000264
$STATE,18180,end surface coast,CONTROL_FINISHED_OK
$STATE,18183,begin surface
$SM_CCo,18265,0.00,0.000,0,0,549,593.38
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$IRIDIUM_FIX,2305.10,12205.79,310113,161600
$TT8_MAMPS,0.028462,0.028462
$HUMID,57.67
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.40
$XPDR_PINGS,82
$24V_AH,20.9,98.042
$10V_AH,9.7,62.110
$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,20.775,187.275,881.625,0.000,0.000,0.000,0.000,325.325,20.500,0.000,7.627,2542.793,12363.362,933.452,2521.902,489.149,0.000,2564.877,0.000,2124.278,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,60.435,1738.080,0.000,0.000,0.000,0.000,125.460,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18205.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.858,0.000,0.000,0.000
$MEM,323804
$DATA_FILE_SIZE,30067,801
$CAP_FILE_SIZE,215218,8
$CFSIZE,260165632,204337152
$ERRORS,0,0,0,0,0,0,0,0,0,1,0,0,84,3,1,0
$GPS,310113,215435,2316.605,12206.063,30,1.8,30,-3.5