version: 66.11
glider: 181
mission: 11
dive: 608
start: 8 22 113 22 53 24
data:
$ID,181
$MISSION,11
$DIVE,608
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,150
$T_BOOST,5
$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,220
$T_MISSION,270
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$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,50
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0028798201
$HD_B,0.025745301
$HD_C,2.4475299e-05
$HEADING,180
$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,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$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,-99198.234
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3941
$C_PITCH,2670
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.9
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,30
$C_ROLL_DIVE,2825
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2938
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-160.75446
$PRESSURE_SLOPE,0.000109412
$AD7714Ch0Gain,1
$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,2
$XPDR_VALID,2
$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,149
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004364301
$SEABIRD_T_H,0.00062910328
$SEABIRD_T_I,2.4425184e-05
$SEABIRD_T_J,2.6404416e-06
$SEABIRD_C_G,-9.9046793
$SEABIRD_C_H,1.1251128
$SEABIRD_C_I,-0.0019873739
$SEABIRD_C_J,0.00023203803
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,220813,224136,2004.793,12632.679,24,1.6,24,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-68.4
$GPS2,220813,225255,2004.928,12632.829,10,1.8,10,-2.5
$SPEED_LIMITS,0.126,0.224
$TGT_NAME,HEADING
$TGT_LATLONG,1954.129,12632.829
$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,182.5,20000,-27.9,-15.000,-33.75,2427
$D_GRID,1000
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.89,-243.3,229,2830,1023,998,0.0,0.0,0,106,0.00,0.00,-81.78,0.000,16386,0.000,0.000,228,2831,3093,3138,3048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-1.89,-243.3,228,2830,3138,3049,3.6,-12.3,15,143,8.50,1.65,-15.88,0.000,18692,0.372,0.096,2049,3788,3931,3989,3874,0,0,0,0,0,0,13.94,14.55,14.85
$GC,162,-1.89,-243.3,2049,3787,3989,3876,19.8,-30.5,23,169,0.00,1.50,0.00,0.000,1030,0.000,0.031,2049,2798,3932,3989,3876,0,0,0,0,0,0,28.83,14.62,28.83
$GC,352,-1.89,-243.3,2049,2794,3989,3876,78.8,-28.5,43,357,0.00,1.52,0.00,0.000,516,0.000,0.032,2049,1786,3932,3989,3876,0,0,0,0,0,0,28.83,14.62,28.83
$GC,380,-1.89,-243.3,1256,1782,3989,3875,85.6,-28.5,45,386,0.00,1.73,0.00,0.000,1030,0.000,0.060,2040,2827,3932,3989,3876,0,0,0,0,0,0,28.83,14.54,28.83
$GC,566,-1.89,-243.3,2041,2828,3989,3876,135.7,-24.9,64,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2828,3932,3989,3876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,747,-1.89,-243.3,2040,2828,3989,3878,179.5,-23.7,82,752,0.00,1.55,0.00,0.000,260,0.000,0.067,2033,3782,3933,3989,3878,0,0,0,0,0,0,28.83,14.57,28.83
$GC,771,-1.89,-243.3,2033,3783,3989,3878,185.5,-24.2,84,777,0.12,1.50,0.00,0.000,3078,0.324,0.030,2055,2794,3934,3990,3878,0,0,0,0,0,0,14.19,14.68,28.83
$GC,967,-1.89,-243.3,2055,2792,3989,3878,228.9,-21.0,103,972,0.00,1.65,0.00,0.000,260,0.000,0.066,2050,3793,3934,3989,3880,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1001,-1.89,-243.3,2050,3793,3989,3879,237.0,-22.9,106,1006,0.00,1.48,0.00,0.000,1030,0.000,0.031,2050,2803,3933,3989,3878,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1196,-1.89,-243.3,2050,2802,3989,3880,281.6,-24.1,125,1201,0.00,1.50,0.00,0.000,516,0.000,0.029,2050,1784,3934,3989,3880,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1209,-1.89,-243.3,2050,1783,3989,3880,285.0,-24.3,126,1214,0.00,1.75,0.00,0.000,1030,0.000,0.055,2042,2826,3935,3990,3881,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1403,-1.89,-243.3,2042,2827,3993,3881,329.5,-22.6,145,1408,0.00,1.55,0.00,0.000,260,0.000,0.067,2034,3782,3935,3989,3881,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1458,-1.89,-243.3,2034,3782,3989,3881,341.8,-22.9,150,1463,0.00,1.42,0.00,0.000,1030,0.000,0.031,2034,2820,3935,3989,3881,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1652,-1.89,-243.3,2034,2819,3989,3881,383.5,-21.1,169,1657,0.00,1.60,0.00,0.000,260,0.000,0.069,2027,3783,3934,3989,3880,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1748,-1.89,-243.3,2026,3783,3990,3881,404.8,-23.1,178,1754,0.08,1.42,0.00,0.000,3078,0.304,0.031,2056,2846,3935,3989,3881,0,0,0,0,0,0,14.16,14.71,28.83
$GC,1943,-1.89,-243.3,2056,2845,3989,3881,445.3,-20.4,197,1948,0.00,1.58,0.00,0.000,516,0.000,0.031,2056,1785,3938,3997,3880,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1996,-1.89,-243.3,2056,1784,3989,3881,456.0,-19.7,202,2002,0.00,1.70,0.00,0.000,1030,0.000,0.057,2051,2827,3935,3989,3881,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2190,-1.89,-243.3,2047,2827,3989,3880,495.5,-20.3,221,2196,0.00,1.60,0.00,0.000,260,0.000,0.070,2043,3776,3934,3989,3879,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2219,-1.89,-243.3,2043,3776,3989,3879,500.4,-20.4,223,2225,0.00,1.45,0.00,0.000,1030,0.000,0.033,2043,2815,3934,3989,3879,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2405,-1.89,-243.3,2044,2814,3989,3877,539.7,-20.5,242,2410,0.00,1.52,0.00,0.000,516,0.000,0.031,2043,1788,3933,3989,3878,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2442,-1.89,-243.3,2043,1788,3989,3878,546.6,-20.6,245,2449,0.00,1.70,0.00,0.000,1030,0.000,0.059,2036,2826,3933,3989,3877,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2628,-1.89,-243.3,2035,2826,3984,3875,585.8,-20.8,264,2634,0.00,1.58,0.00,0.000,260,0.000,0.074,2028,3778,3931,3989,3874,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2696,-1.89,-243.3,1256,3779,3988,3873,599.6,-21.8,270,2703,0.10,1.45,0.00,0.000,3078,0.307,0.034,2052,2844,3931,3989,3874,0,0,0,0,0,0,14.11,14.66,28.83
$GC,2886,-1.89,-243.3,2052,2844,3989,3873,639.7,-21.1,280,2891,0.00,1.60,0.00,0.000,516,0.000,0.033,2048,1790,3931,3989,3873,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2944,-1.89,-243.3,2052,1789,3989,3872,649.7,-21.2,282,2951,0.00,1.70,0.00,0.000,1030,0.000,0.060,2046,2823,3930,3989,3872,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3133,-1.89,-243.3,2046,2823,3989,3867,695.0,-23.3,292,3138,0.00,1.60,0.00,0.000,516,0.000,0.034,2046,1786,3928,3990,3867,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3146,-1.89,-243.3,2046,1785,3989,3867,695.0,-23.3,292,3151,0.00,1.73,0.00,0.000,1030,0.000,0.063,2039,2825,3928,3989,3867,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3340,-1.89,-243.3,2039,2823,3989,3866,745.6,-24.5,302,3346,0.00,1.65,0.00,0.000,260,0.000,0.079,2031,3778,3927,3988,3866,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3395,-1.89,-243.3,2031,3777,3987,3866,757.0,-24.9,304,3401,0.10,1.50,0.00,0.000,3078,0.311,0.035,2054,2823,3926,3987,3866,0,0,0,0,0,0,14.08,14.66,28.83
$GC,3592,-1.89,-243.3,2054,2822,3987,3864,806.3,-23.7,314,3597,0.00,1.60,0.00,0.000,516,0.000,0.034,2053,1782,3924,3987,3862,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3626,-1.89,-243.3,2054,1785,3987,3862,812.5,-23.5,315,3632,0.00,1.75,0.00,0.000,1030,0.000,0.062,2049,2830,3924,3986,3862,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3820,-1.89,-243.3,2048,2830,3984,3859,859.9,-23.3,325,3826,0.00,1.62,0.00,0.000,516,0.000,0.035,2050,1793,3921,3984,3858,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3848,-1.89,-243.3,2048,1793,3984,3858,865.4,-23.1,326,3854,0.00,1.73,0.00,0.000,1030,0.000,0.065,2041,2824,3921,3984,3858,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4049,-1.89,-243.3,2041,2824,3982,3856,912.7,-22.6,336,4054,0.00,1.67,0.00,0.000,260,0.000,0.083,2034,3780,3919,3982,3856,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4083,-1.89,-243.3,2033,3781,3981,3856,918.0,-22.0,337,4089,0.12,1.50,0.00,0.000,3078,0.333,0.037,2055,2810,3918,3981,3856,0,0,0,0,0,0,14.10,14.67,28.83
$GC,4281,-1.89,-243.3,2055,2810,3980,3853,965.3,-22.4,347,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2810,3916,3980,3853,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4395,begin apogee
$GC,4403,-0.25,0.0,2055,2083,3979,3852,992.6,-22.9,353,4637,2.05,0.00,224.48,1.816,10246,0.276,0.000,2584,2080,2935,2969,2901,0,0,0,0,0,0,13.91,28.83,13.19
$STATE,4639,end apogee,CONTROL_FINISHED_OK
$STATE,4639,begin climb
$GC,4642,1.89,243.3,2583,2080,2964,2897,1010.5,0.0,365,4878,1.98,1.85,225.50,1.796,10756,0.074,0.054,3296,1022,1942,1970,1914,0,0,0,0,0,0,14.29,14.25,13.26
$GC,4976,1.89,243.3,3295,1022,1967,1896,965.8,21.2,381,4983,0.00,1.77,0.00,0.000,1030,0.000,0.059,3295,2077,1931,1967,1895,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5163,1.89,243.3,3295,2076,1967,1890,923.5,21.4,391,5169,0.00,1.77,0.00,0.000,516,0.000,0.048,3301,1024,1928,1967,1890,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5232,1.89,243.3,3300,1024,1967,1888,909.6,21.1,394,5237,0.00,1.75,0.00,0.000,1030,0.000,0.059,3301,2074,1928,1967,1889,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5432,1.89,243.3,3298,2074,1967,1885,866.5,21.3,404,5437,0.00,1.70,0.00,0.000,516,0.000,0.047,3307,1022,1926,1967,1886,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5510,1.89,243.3,3307,1022,1967,1884,852.4,21.5,407,5517,0.15,1.75,0.00,0.000,5126,0.355,0.057,3280,2077,1925,1967,1884,0,0,0,0,0,0,14.18,14.62,28.83
$GC,5697,1.89,243.3,3280,2077,1966,1882,810.3,20.8,417,5702,0.00,1.73,0.00,0.000,516,0.000,0.048,3283,1020,1924,1967,1882,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5755,1.89,243.3,3285,1019,1967,1882,801.1,20.5,419,5763,0.00,1.75,0.00,0.000,1030,0.000,0.056,3283,2075,1924,1967,1882,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5941,1.89,243.3,3283,2075,1967,1880,761.0,19.3,429,5946,0.00,1.77,0.00,0.000,260,0.000,0.074,3282,3139,1923,1967,1880,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5970,1.89,243.3,3283,3139,1966,1880,756.1,19.4,430,5975,0.00,1.67,0.00,0.000,1030,0.000,0.034,3288,2071,1923,1967,1880,0,0,0,0,0,0,28.83,14.72,28.83
$GC,6169,1.89,243.3,3288,2071,1966,1879,715.5,19.8,440,6174,0.00,1.67,0.00,0.000,516,0.000,0.047,3295,1025,1922,1966,1879,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6254,1.89,243.3,3296,1025,1965,1879,699.2,19.4,444,6260,0.00,1.75,0.00,0.000,1030,0.000,0.055,3295,2076,1922,1966,1879,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6458,1.89,243.3,3295,2076,1965,1877,659.6,19.2,454,6463,0.00,1.77,0.00,0.000,260,0.000,0.071,3295,3134,1921,1964,1878,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6492,1.89,243.3,3295,3134,1964,1878,654.6,19.5,455,6497,0.00,1.67,0.00,0.000,1030,0.000,0.034,3303,2071,1921,1964,1878,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6687,1.89,243.3,3303,2069,1963,1876,615.2,19.2,465,6692,0.00,1.70,0.00,0.000,516,0.000,0.047,3311,1017,1919,1963,1876,0,0,0,0,0,0,28.83,14.64,28.83
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$GC,7833,1.89,243.3,3303,2074,1960,1871,421.4,15.4,572,7839,0.00,1.73,0.00,0.000,516,0.000,0.043,3310,1025,1915,1960,1871,0,0,0,0,0,0,28.83,14.52,28.83
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$GC,8114,1.96,278.0,3311,2082,1960,1870,381.5,13.9,599,8149,0.00,1.75,28.88,1.097,8452,0.000,0.067,3311,3135,1801,1834,1768,0,0,0,0,0,0,28.83,14.64,13.74
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$STATE,10597,end climb,SURFACE_DEPTH_REACHED
$STATE,10597,begin surface coast
$FINISH,-0.1,1.021404
$STATE,10612,end surface coast,CONTROL_FINISHED_OK
$STATE,10613,begin surface
$SM_CCo,10638,19.00,0.142,0,0,998,475.15
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$IRIDIUM_FIX,1945.83,12721.11,220813,191902
$TT8_MAMPS,0.019474,0.019474
$HUMID,57.00
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,25.30
$XPDR_PINGS,4
$SC_FREEKB,3690624
$24V_AH,13.2,206.079
$10V_AH,10.8,0.000
$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,22.450,125.875,599.025,19.000,0.000,32.110,58.230,289.666,1.000,0.000,12.986,2360.583,5368.152,699.819,2311.495,591.458,0.000,1799.423,0.000,1860.261,0.000,0.541,0.000
$DEVICE_MAMPS,371.790,96.390,1816.110,142.290,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10672.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.812,0.000,0.000,0.000
$MEM,328808
$DATA_FILE_SIZE,33424,856
$CAP_FILE_SIZE,189675,0
$CFSIZE,260034560,189865984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230813,015235,2004.364,12633.689,37,1.4,42,-2.5