version: 66.12
glider: 187
mission: 4
dive: 649
start: 12 5 114 2 35 2
data:
$ID,187
$MISSION,4
$DIVE,649
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,20
$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,450
$T_MISSION,510
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53474
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0027000001
$HD_B,0.0098999999
$HD_C,2.1999999e-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,375
$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,-1595239.5
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3700
$C_PITCH,3325
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2858
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-63.106686
$PRESSURE_SLOPE,0.0001138132
$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,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$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,0.0043206038
$SEABIRD_T_H,0.00062367303
$SEABIRD_T_I,2.3110064e-05
$SEABIRD_T_J,2.4313138e-06
$SEABIRD_C_G,-10.199382
$SEABIRD_C_H,1.1587334
$SEABIRD_C_I,-0.0027609179
$SEABIRD_C_J,0.00029025986
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,051214,022323,4744.541,-12527.370,93,1.1,93,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-70.4
$GPS2,051214,023431,4744.589,-12527.514,14,1.3,14,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,53.3,25375,-14.0,-7.333,-18.81,2445
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
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$GC,2156,-0.59,-116.8,3125,2385,3382,3295,199.1,-7.9,210,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2385,3337,3381,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2407,-0.59,-116.8,3125,2385,3383,3293,220.0,-8.3,235,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2384,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2658,-0.59,-116.8,3125,2385,3382,3293,242.4,-8.8,260,2668,0.00,2.62,0.00,0.000,260,0.000,0.087,3125,3818,3338,3383,3293,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2763,-0.59,-116.8,3125,3818,3382,3293,251.3,-8.5,270,2773,0.00,2.53,0.00,0.000,1030,0.000,0.061,3126,2399,3337,3381,3293,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3087,-0.59,-116.8,3125,2398,3382,3292,278.7,-8.2,282,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3337,3382,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3385,-0.59,-116.8,3125,2398,3386,3292,304.5,-8.6,292,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2398,3337,3382,3292,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,4969,-0.59,-116.8,3125,986,3382,3287,429.3,-7.3,369,4980,0.00,2.55,0.00,0.000,1030,0.000,0.071,3125,2398,3334,3382,3287,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5291,-0.59,-116.8,3125,2397,3386,3286,450.0,-6.0,381,5301,0.00,2.60,0.00,0.000,260,0.000,0.089,3125,3819,3334,3386,3283,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5437,-0.59,-116.8,3125,3816,3382,3286,459.2,-6.9,395,5448,0.00,2.53,0.00,0.000,1030,0.000,0.063,3125,2401,3334,3382,3286,0,0,0,0,0,0,28.83,13.93,28.83
$GC,5745,-0.59,-116.8,3125,2405,3382,3286,479.2,-6.4,406,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,10772,-0.59,-116.8,3127,2411,3383,3279,824.4,-5.8,607,10782,0.00,2.60,0.00,0.000,516,0.000,0.075,3125,994,3326,3377,3276,0,0,0,0,0,0,28.83,13.75,28.83
$GC,10833,-0.59,-116.8,3125,993,3384,3276,828.7,-6.9,613,10843,0.00,2.58,0.00,0.000,1030,0.000,0.076,3125,2395,3326,3377,3276,0,0,0,0,0,0,28.83,13.80,28.83
$GC,11163,-0.59,-116.8,3125,2396,3377,3272,848.1,-5.4,626,11174,0.00,2.65,0.00,0.000,260,0.000,0.096,3127,3813,3326,3377,3276,0,0,0,0,0,0,28.83,13.69,28.83
$GC,11184,-0.59,-116.8,3126,3813,3376,3276,848.1,-3.8,628,11194,0.00,2.55,0.00,0.000,1030,0.000,0.066,3125,2388,3327,3378,3276,0,0,0,0,0,0,28.83,13.88,28.83
$STATE,11340,end dive,NO_VERTICAL_VELOCITY
$STATE,11340,begin apogee
$GC,11352,-0.25,0.0,3125,2334,3377,3275,848.5,0.0,634,11465,0.38,0.00,105.45,1.733,10246,0.110,0.000,3248,2333,2858,2930,2786,0,0,0,0,0,0,13.83,28.83,12.76
$STATE,11467,end apogee,CONTROL_FINISHED_OK
$STATE,11467,begin climb
$GC,11471,0.59,116.8,3248,2333,2928,2783,848.4,0.0,638,11599,0.82,2.70,110.12,1.706,10500,0.109,0.096,3514,3749,2378,2506,2251,0,0,0,0,0,0,13.91,13.73,12.67
$GC,11834,0.72,299.0,3514,3749,2505,2250,848.6,-0.3,672,12014,0.00,2.55,163.02,1.706,9222,0.000,0.073,3519,2328,1634,1779,1490,0,0,0,0,0,0,28.83,14.06,12.74
$GC,12310,0.72,299.0,3519,2328,1779,1485,818.0,10.0,700,12321,0.12,2.55,0.00,0.000,2564,0.152,0.080,3574,916,1634,1779,1489,0,0,0,0,0,0,14.15,14.07,28.83
$GC,12361,0.72,299.0,3574,916,1778,1489,811.7,12.6,705,12372,0.00,2.55,0.00,0.000,1030,0.000,0.073,3574,2346,1634,1779,1489,0,0,0,0,0,0,28.83,14.12,28.83
$GC,12675,0.72,299.0,3574,2345,1779,1490,768.3,13.9,716,12685,0.00,2.58,0.00,0.000,516,0.000,0.086,3575,923,1636,1779,1494,0,0,0,0,0,0,28.83,14.07,28.83
$GC,12777,0.72,299.0,3575,923,1779,1489,752.5,15.4,726,12787,0.00,2.55,0.00,0.000,1030,0.000,0.076,3575,2335,1634,1779,1489,0,0,0,0,0,0,28.83,14.10,28.83
$GC,13097,0.72,299.0,3575,2334,1779,1485,704.6,15.1,738,13107,0.00,2.58,0.00,0.000,516,0.000,0.088,3576,918,1634,1779,1489,0,0,0,0,0,0,28.83,14.03,28.83
$GC,13168,0.72,299.0,3575,915,1780,1489,693.8,15.5,745,13178,0.00,2.55,0.00,0.000,1030,0.000,0.075,3575,2331,1634,1779,1489,0,0,0,0,0,0,28.83,14.09,28.83
$GC,13488,0.72,299.0,3571,2330,1779,1489,644.2,15.5,757,13499,0.00,2.55,0.00,0.000,516,0.000,0.086,3575,926,1634,1779,1489,0,0,0,0,0,0,28.83,14.02,28.83
$GC,13539,0.72,299.0,3575,925,1780,1489,636.5,15.4,762,13550,0.00,2.55,0.00,0.000,1030,0.000,0.076,3581,2338,1634,1779,1489,0,0,0,0,0,0,28.83,14.04,28.83
$GC,13853,0.72,299.0,3575,2336,1779,1489,592.2,13.9,773,13863,0.00,2.60,0.00,0.000,516,0.000,0.088,3575,916,1634,1780,1489,0,0,0,0,0,0,28.83,13.98,28.83
$GC,13924,0.72,299.0,3575,920,1779,1489,582.2,13.6,780,13934,0.00,2.55,0.00,0.000,1030,0.000,0.076,3575,2327,1634,1779,1489,0,0,0,0,0,0,28.83,14.04,28.83
$GC,14245,0.72,299.0,3575,2329,1779,1487,539.8,13.2,792,14255,0.00,2.55,0.00,0.000,516,0.000,0.086,3575,926,1634,1779,1489,0,0,0,0,0,0,28.83,13.95,28.83
$GC,14306,0.72,299.0,3572,923,1778,1489,531.3,13.8,798,14316,0.00,2.55,0.00,0.000,1030,0.000,0.076,3575,2332,1634,1779,1489,0,0,0,0,0,0,28.83,14.02,28.83
$GC,14640,0.72,299.0,3575,2332,1785,1493,485.3,14.0,811,14650,0.00,2.58,0.00,0.000,260,0.000,0.090,3575,3746,1633,1778,1488,0,0,0,0,0,0,28.83,13.95,28.83
$GC,14672,0.72,299.0,3575,3746,1779,1489,480.5,13.9,814,14682,0.00,2.55,0.00,0.000,1030,0.000,0.071,3575,2327,1633,1778,1489,0,0,0,0,0,0,28.83,14.00,28.83
$GC,15003,0.72,299.0,3575,2327,1780,1489,435.7,13.3,827,15013,0.00,2.55,0.00,0.000,516,0.000,0.085,3585,921,1634,1779,1489,0,0,0,0,0,0,28.83,13.93,28.83
$GC,15114,0.72,299.0,3585,921,1779,1490,420.0,14.2,838,15124,0.00,2.55,0.00,0.000,1030,0.000,0.076,3585,2332,1633,1778,1489,0,0,0,0,0,0,28.83,13.97,28.83
$GC,15427,0.72,299.0,3585,2331,1779,1489,377.3,13.5,849,15437,0.00,2.60,0.00,0.000,516,0.000,0.087,3588,917,1634,1779,1489,0,0,0,0,0,0,28.83,13.88,28.83
$GC,15508,0.72,299.0,3590,917,1779,1489,365.9,13.6,857,15519,0.12,2.58,0.00,0.000,5126,0.256,0.076,3562,2338,1634,1779,1489,0,0,0,0,0,0,13.71,13.99,28.83
$GC,15818,0.72,299.0,3562,2338,1779,1489,328.1,12.0,868,15828,0.00,2.60,0.00,0.000,516,0.000,0.086,3562,919,1634,1779,1489,0,0,0,0,0,0,28.83,13.86,28.83
$GC,15869,0.72,299.0,3562,916,1779,1495,321.8,12.0,873,15879,0.00,2.55,0.00,0.000,1030,0.000,0.075,3562,2328,1636,1783,1489,0,0,0,0,0,0,28.83,13.95,28.83
$GC,16182,0.72,299.0,3562,2327,1780,1489,286.3,11.1,884,16192,0.00,2.58,0.00,0.000,516,0.000,0.083,3562,920,1634,1779,1489,0,0,0,0,0,0,28.83,13.87,28.83
$GC,16224,0.72,299.0,3563,920,1779,1485,281.4,11.2,888,16234,0.00,2.55,0.00,0.000,1030,0.000,0.075,3562,2327,1634,1779,1489,0,0,0,0,0,0,28.83,13.95,28.83
$GC,16545,0.72,299.0,3563,2326,1779,1489,247.3,10.6,900,16555,0.00,2.58,0.00,0.000,516,0.000,0.083,3562,918,1634,1779,1489,0,0,0,0,0,0,28.83,13.88,28.83
$GC,16598,0.72,299.0,3563,918,1779,1493,241.6,10.9,905,16609,0.00,2.55,0.00,0.000,1030,0.000,0.073,3562,2336,1634,1779,1489,0,0,0,0,0,0,28.83,13.95,28.83
$GC,16850,0.72,299.0,3562,2335,1779,1489,213.6,11.3,930,16860,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,2335,1634,1779,1489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17100,0.72,299.0,3562,2335,1779,1485,186.5,10.1,955,17112,0.00,2.60,0.00,0.000,516,0.000,0.082,3562,919,1634,1779,1489,0,0,0,0,0,0,28.83,13.85,28.83
$GC,17174,0.72,299.0,3562,919,1781,1489,178.4,11.2,962,17185,0.00,2.55,0.00,0.000,1030,0.000,0.074,3562,2327,1634,1775,1493,0,0,0,0,0,0,28.83,13.93,28.83
$GC,17426,0.72,299.0,3562,2326,1779,1489,150.4,11.0,987,17437,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2326,1634,1779,1489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17679,0.72,299.0,3558,2323,1779,1489,124.0,10.0,1012,17689,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2326,1634,1779,1489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17930,0.72,299.0,3563,2326,1779,1490,98.9,9.8,1037,17941,0.00,2.58,0.00,0.000,516,0.000,0.079,3563,914,1634,1779,1489,0,0,0,0,0,0,28.83,13.83,28.83
$GC,17991,0.72,299.0,3562,914,1779,1490,92.8,10.0,1043,18003,0.00,2.58,0.00,0.000,1030,0.000,0.071,3562,2347,1634,1779,1490,0,0,0,0,0,0,28.83,13.91,28.83
$GC,18245,0.72,299.0,3562,2338,1779,1490,69.7,9.4,1068,18255,0.00,2.53,0.00,0.000,260,0.000,0.087,3562,3730,1634,1779,1490,0,0,0,0,0,0,28.83,13.86,28.83
$GC,18276,0.72,299.0,3563,3730,1779,1490,66.2,10.3,1071,18288,0.00,2.50,0.00,0.000,1030,0.000,0.064,3561,2324,1635,1779,1491,0,0,0,0,0,0,28.83,13.90,28.83
$GC,18529,0.73,299.0,3568,2324,1779,1491,44.6,6.7,1096,18539,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,2327,1634,1778,1491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18780,0.76,299.0,3563,2324,1779,1490,29.5,5.7,1121,18791,0.00,2.53,0.00,0.000,516,0.000,0.079,3562,927,1634,1779,1490,0,0,0,0,0,0,28.83,13.85,28.83
$GC,18886,0.80,348.1,3562,927,1774,1488,24.4,5.3,1131,18932,0.00,2.55,36.42,0.729,9222,0.000,0.071,3562,2332,1436,1590,1282,0,0,0,0,0,0,28.83,13.85,13.54
$GC,19178,0.80,348.1,3562,2329,1579,1281,7.2,7.3,1160,19188,0.00,2.55,0.00,0.000,260,0.000,0.086,3562,3742,1431,1584,1279,0,0,0,0,0,0,28.83,14.00,28.83
$GC,19211,0.84,400.9,3562,3742,1585,1279,5.2,5.1,1163,19225,0.00,2.50,4.10,0.096,9218,0.000,0.063,3562,2324,1396,1550,1243,0,0,0,0,0,0,28.83,14.06,28.83
$STATE,19226,end climb,SURFACE_DEPTH_REACHED
$STATE,19227,begin surface coast
$FINISH,3.0,1.024090
$STATE,19232,end surface coast,CONTROL_FINISHED_OK
$STATE,19232,begin surface
$SM_CCo,19262,7.43,0.097,0,0,1328,375.06
$SM_GC,3.88,9.68,0.15,7.43,0.098,0.137,0.097,395,2406,1328,-9.11,-0.76,375.06,0,0,0,0,0,0,14.02,14.20,14.05
$IRIDIUM_FIX,4722.92,-12536.72,041214,181829
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.14
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,3730336
$PM_FREEKB,42619744
$24V_AH,12.7,163.119
$10V_AH,12.9,0.000
$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,23.475,194.550,419.125,7.425,0.000,0.000,0.000,326.100,0.000,0.000,15.508,2716.748,12925.113,705.710,2604.954,955.540,0.000,2474.715,0.000,1810.123,0.000,0.536,0.000
$DEVICE_MAMPS,349.605,188.955,1732.725,97.155,0.000,0.000,0.000,179.775,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19264.000,299.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.026,5.637,0.000,0.000
$MEM,290812
$DATA_FILE_SIZE,43301,1165
$CAP_FILE_SIZE,235748,0
$CFSIZE,260034560,190427136
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,27872.74,0x2378ba,7,5
$INTR,1,7700.43,0x213678,0,24
$CURRENT,0.128,337.5,1
$GPS,051214,075903,4746.325,-12524.682,117,1.1,117,18.7