version: 66.11
glider: 181
mission: 11
dive: 631
start: 8 28 113 1 57 36
data:
$ID,181
$MISSION,11
$DIVE,631
$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,400
$T_MISSION,430
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0028798201
$HD_B,0.025745301
$HD_C,2.4475299e-05
$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,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,4096
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-99241.141
$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,40
$C_ROLL_DIVE,1100
$C_ROLL_CLIMB,1100
$HEAD_ERRBAND,359
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,35
$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
$GPS1,280813,014753,1955.914,12710.331,39,1.4,39,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-67.1
$GPS2,280813,015642,1956.010,12710.480,11,1.4,16,-2.5
$SPEED_LIMITS,0.143,0.153
$TGT_NAME,HOLDING
$TGT_LATLONG,2204.000,12024.000
$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,287.3,736826,-18.5,-8.250,-28.35,2783
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.14,-107.1,212,1131,1010,992,0.0,0.0,0,115,0.00,0.00,-88.15,0.000,16390,0.000,0.000,212,1131,3376,3436,3316,0,0,0,0,0,0,28.83,28.83,14.85
$GC,119,-1.14,-107.1,212,1131,3436,3317,6.4,-10.0,3,131,9.98,0.00,0.00,0.000,2054,0.381,0.000,2293,1130,3377,3438,3317,0,0,0,0,0,0,14.07,28.83,28.83
$GC,418,-1.14,-107.1,2293,1133,3440,3317,66.5,-18.0,13,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1130,3379,3441,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,716,-1.14,-107.1,2293,1130,3440,3316,113.7,-14.3,23,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1130,3376,3436,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1018,-1.14,-107.1,2292,1130,3442,3316,153.9,-12.8,33,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1129,3379,3442,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1316,-1.14,-107.1,2293,1129,3444,3316,193.1,-12.6,43,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1130,3380,3444,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1617,-1.14,-107.1,2293,1129,3445,3316,226.6,-11.0,53,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1130,3381,3445,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1918,-1.14,-107.1,2293,1129,3445,3316,261.9,-12.0,63,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1130,3380,3445,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2217,-1.14,-107.1,2294,1129,3445,3316,296.7,-11.7,73,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1130,3380,3445,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2518,-1.14,-107.1,2293,1129,3445,3315,329.3,-10.6,83,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1130,3380,3445,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2817,-1.14,-107.1,2293,1129,3445,3312,361.1,-10.7,93,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1129,3379,3445,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3118,-1.14,-107.1,2293,1129,3445,3309,393.5,-10.5,103,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1130,3377,3445,3309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3417,-1.14,-107.1,2293,1130,3445,3307,424.3,-10.2,113,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1130,3376,3445,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3716,-1.14,-107.1,2293,1130,3443,3307,456.1,-10.5,123,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1130,3375,3443,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4018,-1.14,-107.1,2293,1130,3441,3304,486.1,-9.8,133,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1129,3372,3440,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4317,-1.14,-107.1,2293,1129,3440,3301,515.4,-9.6,143,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1130,3370,3439,3302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4618,-1.14,-107.1,2292,1130,3438,3300,543.9,-9.4,153,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1130,3368,3437,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4916,-1.14,-107.1,2293,1129,3436,3298,573.4,-10.1,163,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1130,3366,3435,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5247,-1.14,-107.1,2293,1130,3433,3295,606.1,-9.7,173,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1130,3364,3433,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5548,-1.14,-107.1,2292,1130,3430,3293,634.1,-9.3,178,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1130,3361,3430,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5847,-1.14,-107.1,2293,1130,3428,3291,661.5,-9.2,183,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1130,3359,3428,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6147,-1.14,-107.1,2293,1130,3426,3288,689.7,-9.4,188,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1129,3356,3425,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6448,-1.14,-107.1,2293,1130,3423,3288,717.9,-9.4,193,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1130,3354,3423,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6746,-1.14,-107.1,2293,1130,3421,3283,745.0,-9.0,198,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1130,3352,3421,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7047,-1.14,-107.1,2293,1130,3419,3280,771.9,-9.0,203,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1130,3348,3419,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7348,-1.14,-107.1,2293,1130,3417,3279,797.9,-8.7,208,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1130,3348,3417,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7647,-1.14,-107.1,2293,1130,3415,3278,824.5,-8.9,213,7648,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1129,3345,3414,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7947,-1.14,-107.1,2293,1130,3412,3274,852.3,-9.2,218,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1130,3343,3412,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8247,-1.14,-107.1,2292,1130,3410,3273,879.4,-9.0,223,8248,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1130,3341,3410,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8548,-1.14,-107.1,2293,1129,3408,3272,906.1,-8.8,228,8549,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1127,3340,3408,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8847,-1.14,-107.1,2293,1130,3402,3275,932.8,-8.9,233,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1130,3338,3407,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9147,-1.14,-107.1,2289,1130,3406,3268,959.7,-9.0,238,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1130,3334,3405,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9448,-1.14,-107.1,2293,1130,3404,3265,987.5,-9.3,243,9449,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1130,3335,3404,3266,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9503,begin apogee
$GC,9511,-0.25,0.0,2293,1130,3403,3267,993.2,-9.5,244,9639,1.05,0.00,121.35,1.583,10246,0.213,0.000,2580,1135,2936,2979,2893,0,0,0,0,0,0,13.67,28.83,13.23
$STATE,9643,end apogee,CONTROL_FINISHED_OK
$STATE,9644,begin climb
$GC,9648,1.14,107.1,2580,1130,2977,2890,999.8,0.0,246,9788,1.35,0.00,135.50,1.532,10246,0.096,0.000,3035,1129,2502,2511,2493,0,0,0,0,0,0,14.23,28.83,13.28
$GC,10049,1.14,107.1,3035,1129,2503,2475,974.1,8.7,253,10050,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1130,2488,2503,2474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10347,1.14,107.1,3035,1129,2502,2469,947.7,8.8,258,10348,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1130,2485,2502,2469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10648,1.14,107.1,3035,1130,2502,2467,919.0,9.7,263,10649,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1130,2484,2502,2467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10947,1.14,107.1,3036,1130,2502,2463,890.0,9.7,268,10948,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1129,2482,2502,2463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11247,1.14,107.1,3035,1130,2503,2461,863.2,8.9,273,11248,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1130,2481,2502,2461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11548,1.14,107.1,3035,1130,2502,2460,837.9,8.4,278,11549,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1129,2481,2502,2461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11847,1.17,120.7,3035,1130,2502,2459,814.6,7.7,283,11861,0.00,0.00,12.35,1.610,8198,0.000,0.000,3035,1130,2446,2465,2428,0,0,0,0,0,0,28.83,28.83,13.62
$GC,12147,1.17,120.7,3035,1130,2461,2417,788.9,8.5,288,12148,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1130,2439,2460,2418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12448,1.17,120.7,3035,1129,2460,2416,762.2,9.0,293,12449,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1130,2438,2461,2416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12746,1.17,120.7,3035,1130,2459,2414,734.7,9.2,298,12748,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1130,2437,2460,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13047,1.17,120.7,3035,1130,2460,2413,709.6,8.3,303,13048,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1130,2437,2460,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13349,1.23,150.4,3035,1129,2459,2413,687.7,7.2,308,13388,0.00,0.00,37.03,1.385,8198,0.000,0.000,3035,1130,2324,2340,2309,0,0,0,0,0,0,28.83,28.83,13.61
$GC,13647,1.23,150.4,3035,1130,2334,2295,660.8,9.1,313,13648,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1130,2314,2334,2295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13946,1.23,150.4,3035,1130,2334,2292,634.5,8.7,318,13948,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1129,2312,2333,2292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14248,1.23,151.7,3036,1130,2333,2291,609.8,8.2,323,14249,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1130,2312,2334,2291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14547,1.23,151.7,3035,1129,2332,2286,585.4,8.5,330,14548,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1130,2311,2334,2289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14847,1.23,151.7,3035,1130,2334,2288,558.2,9.2,340,14848,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1130,2310,2333,2288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15148,1.25,158.9,3035,1129,2333,2288,532.6,8.0,350,15154,0.10,0.00,3.50,1.103,10246,0.157,0.000,3085,1130,2290,2312,2269,0,0,0,0,0,0,14.64,28.83,13.37
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$GC,17879,1.32,195.9,3085,1129,2206,2159,308.2,7.8,441,17894,0.00,0.00,12.45,1.146,8198,0.000,0.000,3085,1130,2141,2164,2118,0,0,0,0,0,0,28.83,28.83,13.74
$GC,18178,1.35,212.7,3085,1130,2159,2104,284.8,7.6,451,18197,0.00,0.00,17.35,1.073,8198,0.000,0.000,3086,1130,2068,2094,2042,0,0,0,0,0,0,28.83,28.83,13.80
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$GC,19378,1.38,226.9,3085,1129,2090,2030,182.9,7.7,491,19394,0.00,0.00,13.73,0.972,8198,0.000,0.000,3085,1129,2010,2043,1978,0,0,0,0,0,0,28.83,28.83,13.92
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$STATE,21593,end climb,SURFACE_DEPTH_REACHED
$STATE,21593,begin surface coast
$FINISH,-0.9,1.021272
$STATE,21625,end surface coast,CONTROL_FINISHED_OK
$STATE,21625,begin surface
$SM_CCo,21647,46.85,0.134,0,0,999,475.15
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$IRIDIUM_FIX,1941.24,12708.69,270813,191932
$TT8_MAMPS,0.019474,0.019474
$HUMID,52.36
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,25.80
$XPDR_PINGS,2
$SC_FREEKB,3681792
$24V_AH,13.2,212.101
$10V_AH,12.2,0.000
$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
$DEVICE_SECS,21.100,0.000,486.225,46.850,0.000,31.059,47.252,176.207,0.500,0.000,22.378,1596.279,18321.734,596.753,1244.024,464.411,0.000,1145.659,0.000,926.966,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.139,0.000,0.000,0.000
$MEM,328580
$DATA_FILE_SIZE,23455,566
$CAP_FILE_SIZE,132256,1
$CFSIZE,260034560,188317696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127, 97.6,1
$GPS,280813,080036,1955.818,12712.059,43,1.1,43,-2.5