version: 66.11
glider: 189
mission: 7
dive: 303
start: 12 19 112 12 3 53
data:
$ID,189
$MISSION,7
$DIVE,303
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,100
$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,495
$T_MISSION,525
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,10
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,54634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030066001
$HD_B,0.025237
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2434
$TGT_DEFAULT_LON,-3802
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,5
$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,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-48035.016
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2320
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-80.603096
$PRESSURE_SLOPE,0.0001182519
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042969952
$SEABIRD_T_H,0.00061766658
$SEABIRD_T_I,2.0722548e-05
$SEABIRD_T_J,1.9705003e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,191212,115429,2437.996,-3744.170,40,0.7,40,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-61.6
$GPS2,191212,120253,2437.950,-3744.152,17,0.8,18,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.115,0.033
$KALMAN_X,127588.3,27.4,-549.5,-97167.6,4387.4
$KALMAN_Y,-72500.2,566.4,-249.9,76503.6,-4314.9
$MHEAD_RNG_PITCHd_Wd,299.7,18395,-19.9,-6.667,-29.07
$D_GRID,990
$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,20,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-11.77,0.000,2,0.000,0.000,151,2117,1435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-1.26,-97.7,2.2,0.0,1,104,9.30,2.53,-49.12,0.000,4,0.196,0.054,2590,544,2721,0,0,0,0,0,0,25.45,26.01,26.67
$GC,356,-1.16,-97.7,22.3,-8.9,33,363,0.17,2.45,0.00,0.000,6,0.157,0.024,2626,2188,2721,0,0,0,0,0,0,25.80,26.32,28.83
$GC,664,-1.13,-97.7,46.2,-7.9,64,673,0.00,2.47,0.00,0.000,4,0.000,0.041,2616,3745,2720,0,0,0,0,0,0,28.83,26.17,28.83
$GC,914,-1.08,-97.7,68.0,-8.6,89,923,0.10,2.45,0.00,0.000,6,0.128,0.021,2649,2086,2723,0,0,0,0,0,0,26.08,26.47,28.83
$GC,1244,-1.08,-97.7,95.1,-8.1,106,1251,0.00,2.62,0.00,0.000,4,0.000,0.040,2639,3746,2723,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1544,-1.06,-97.7,117.1,-6.7,116,1551,0.00,2.42,0.00,0.000,6,0.000,0.021,2638,2108,2724,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1874,-1.06,-97.7,138.4,-7.2,127,1881,0.00,2.60,0.00,0.000,4,0.000,0.039,2626,3756,2725,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2175,-1.04,-97.7,158.6,-6.3,135,2182,0.10,2.45,0.00,0.000,6,0.124,0.021,2660,2093,2725,0,0,0,0,0,0,26.15,26.54,28.83
$GC,2534,-1.06,-97.7,177.7,-5.3,141,2541,0.00,2.62,0.00,0.000,4,0.000,0.039,2650,3753,2726,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2834,-1.06,-97.7,196.5,-6.4,146,2841,0.00,2.45,0.00,0.000,6,0.000,0.020,2650,2091,2727,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3195,-1.08,-97.7,217.1,-5.6,152,3201,0.00,2.62,0.00,0.000,4,0.000,0.040,2637,3746,2726,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3494,-1.08,-97.7,233.6,-5.5,157,3501,0.00,2.42,0.00,0.000,6,0.000,0.021,2637,2107,2726,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3854,-1.08,-97.7,254.7,-6.0,163,3861,0.00,2.60,0.00,0.000,4,0.000,0.039,2625,3752,2726,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4154,-1.08,-97.7,273.2,-6.1,168,4161,0.00,2.47,0.00,0.000,6,0.000,0.021,2625,2080,2726,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4514,-1.08,-97.7,295.4,-6.2,174,4521,0.00,2.40,0.00,0.000,4,0.000,0.038,2625,548,2726,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4814,-1.05,-97.7,315.8,-6.9,179,4822,0.12,2.45,0.00,0.000,6,0.127,0.024,2655,2185,2725,0,0,0,0,0,0,26.06,26.50,28.83
$GC,5174,-1.09,-97.7,339.5,-6.7,185,5181,0.00,2.47,0.00,0.000,4,0.000,0.041,2645,3742,2725,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5474,-1.12,-97.7,362.1,-7.6,190,5481,0.00,2.42,0.00,0.000,6,0.000,0.020,2645,2108,2724,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5834,-1.16,-97.7,386.2,-6.4,196,5841,0.00,2.60,0.00,0.000,4,0.000,0.040,2632,3746,2723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6134,-1.16,-97.7,404.2,-6.0,201,6141,0.00,2.45,0.00,0.000,6,0.000,0.021,2634,2102,2722,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6495,-1.18,-97.7,427.3,-6.6,207,6501,0.00,2.62,0.00,0.000,4,0.000,0.041,2621,3752,2721,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6793,-1.18,-97.7,452.4,-8.6,212,6801,0.00,2.47,0.00,0.000,6,0.000,0.021,2621,2105,2721,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7154,-1.18,-97.7,488.3,-10.3,218,7161,0.00,2.47,0.00,0.000,4,0.000,0.038,2621,548,2720,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7453,-1.18,-97.7,514.2,-10.8,221,7457,0.00,2.50,0.00,0.000,6,0.000,0.024,2609,2199,2719,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7865,-1.18,-97.7,547.7,-7.1,225,7872,0.00,2.47,0.00,0.000,4,0.000,0.042,2597,3749,2718,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8164,-1.18,-97.7,560.4,-5.7,227,8172,0.00,2.47,0.00,0.000,6,0.000,0.021,2597,2101,2718,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8585,-1.18,-97.7,585.9,-5.3,231,8593,0.00,2.62,0.00,0.000,4,0.000,0.041,2585,3749,2716,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8884,-1.18,-97.7,604.9,-6.8,233,8892,0.12,2.50,0.00,0.000,6,0.149,0.022,2617,2091,2715,0,0,0,0,0,0,26.15,26.51,28.83
$GC,9305,-1.20,-97.7,653.3,-10.1,237,9312,0.00,2.65,0.00,0.000,4,0.000,0.041,2607,3746,2715,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9604,-1.23,-97.7,680.8,-11.2,239,9612,0.00,2.47,0.00,0.000,6,0.000,0.022,2603,2107,2714,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10025,-1.25,-97.7,722.9,-8.8,243,10032,0.00,2.47,0.00,0.000,4,0.000,0.040,2607,543,2713,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10324,-1.25,-97.7,739.7,-7.2,245,10328,0.00,2.50,0.00,0.000,6,0.000,0.024,2594,2187,2712,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10736,-1.25,-97.7,772.0,-6.8,249,10743,0.00,2.53,0.00,0.000,4,0.000,0.043,2583,3756,2711,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11009,-1.25,-97.7,790.3,-7.2,251,11014,0.00,2.42,0.00,0.000,6,0.000,0.023,2583,2107,2708,0,0,0,0,0,0,28.83,26.47,28.83
$GC,11336,-1.25,-97.7,819.3,-8.0,254,11343,0.00,2.62,0.00,0.000,4,0.000,0.042,2571,3739,2708,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11635,-1.25,-97.7,841.0,-8.6,256,11639,0.00,2.50,0.00,0.000,6,0.000,0.023,2571,2098,2708,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12047,-1.25,-97.7,882.8,-8.9,260,12054,0.00,2.65,0.00,0.000,4,0.000,0.044,2559,3743,2707,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12346,-1.25,-97.7,902.6,-8.5,262,12354,0.15,2.50,0.00,0.000,6,0.149,0.023,2598,2095,2705,0,0,0,0,0,0,25.99,26.44,28.83
$GC,12768,-1.27,-97.7,934.6,-6.6,266,12774,0.00,2.65,0.00,0.000,4,0.000,0.044,2588,3748,2705,0,0,0,0,0,0,28.83,26.11,28.83
$GC,13066,-1.30,-97.7,950.9,-6.6,268,13074,0.00,2.50,0.00,0.000,6,0.000,0.024,2588,2111,2704,0,0,0,0,0,0,28.83,26.42,28.83
$GC,13487,-1.32,-97.7,986.9,-7.5,272,13495,0.00,2.47,0.00,0.000,4,0.000,0.041,2588,555,2704,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,13524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13524,begin apogee
$GC,13532,-0.29,0.0,990.3,-7.8,274,13627,1.02,0.08,85.10,1.670,6,0.126,0.103,2903,1594,2320,0,0,0,0,0,0,25.35,24.83,23.25
$STATE,13628,end apogee,CONTROL_FINISHED_OK
$STATE,13629,begin climb
$GC,13631,1.26,97.7,993.8,0.0,279,13730,1.40,2.78,90.55,1.639,4,0.060,0.036,3408,3206,1921,0,0,0,0,0,0,25.24,24.79,23.13
$GC,13867,1.11,97.7,984.5,6.7,291,13876,0.22,2.60,0.00,0.000,6,0.169,0.030,3363,1582,1915,0,0,0,0,0,0,25.55,25.92,28.83
$GC,14198,1.03,120.1,965.6,5.6,294,14226,0.12,2.05,18.85,1.559,4,0.174,0.049,3339,356,1831,0,0,0,0,0,0,26.10,25.74,24.04
$GC,14370,0.96,142.7,958.5,5.6,295,14396,0.00,1.95,21.90,1.571,6,0.000,0.024,3339,1645,1736,0,0,0,0,0,0,28.83,26.20,23.89
$GC,14798,0.93,152.1,928.7,6.2,299,14817,0.15,2.15,9.10,1.471,4,0.154,0.049,3307,350,1698,0,0,0,0,0,0,26.08,26.02,24.20
$GC,14970,0.91,161.1,921.2,6.2,300,14986,0.00,1.95,9.55,1.458,6,0.000,0.025,3307,1646,1662,0,0,0,0,0,0,28.83,26.31,24.19
$GC,15398,0.91,161.1,888.6,6.8,304,15399,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1646,1660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15758,0.91,161.1,862.1,7.3,307,15765,0.00,2.10,0.00,0.000,4,0.000,0.048,3318,352,1659,0,0,0,0,0,0,28.83,26.25,28.83
$GC,15967,0.91,161.1,852.3,7.5,308,15970,0.00,1.95,0.00,0.000,6,0.000,0.025,3318,1648,1657,0,0,0,0,0,0,28.83,26.51,28.83
$GC,16349,0.91,161.1,816.0,7.7,312,16356,0.00,2.10,0.00,0.000,4,0.000,0.048,3327,348,1657,0,0,0,0,0,0,28.83,26.26,28.83
$GC,16600,0.91,161.1,797.1,7.7,314,16606,0.12,1.90,0.00,0.000,6,0.151,0.026,3294,1665,1656,0,0,0,0,0,0,26.17,26.53,28.83
$GC,16948,0.91,161.1,772.7,7.0,317,16955,0.00,2.15,0.00,0.000,4,0.000,0.048,3303,347,1656,0,0,0,0,0,0,28.83,26.23,28.83
$GC,17088,0.93,161.1,764.0,6.9,318,17095,0.00,1.98,0.00,0.000,6,0.000,0.025,3303,1658,1655,0,0,0,0,0,0,28.83,26.53,28.83
$GC,17429,0.96,161.1,736.8,7.5,321,17436,0.00,2.12,0.00,0.000,4,0.000,0.047,3312,349,1656,0,0,0,0,0,0,28.83,26.22,28.83
$GC,17711,0.98,161.1,715.7,8.3,323,17717,0.00,1.90,0.00,0.000,6,0.000,0.026,3313,1656,1652,0,0,0,0,0,0,28.83,26.53,28.83
$GC,18028,0.98,161.1,683.2,9.0,326,18029,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1656,1655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18389,1.00,161.1,652.1,8.8,329,18396,0.00,2.12,0.00,0.000,4,0.000,0.050,3323,350,1655,0,0,0,0,0,0,28.83,26.17,28.83
$GC,18659,1.00,161.1,631.9,8.4,331,18666,0.00,1.95,0.00,0.000,6,0.000,0.025,3323,1665,1655,0,0,0,0,0,0,28.83,26.52,28.83
$GC,18988,1.00,161.1,603.5,8.0,334,18995,0.00,2.12,0.00,0.000,4,0.000,0.048,3332,355,1655,0,0,0,0,0,0,28.83,26.15,28.83
$GC,19088,1.00,161.1,603.5,8.0,334,19095,0.00,1.98,0.00,0.000,6,0.000,0.026,3333,1656,1654,0,0,0,0,0,0,28.83,26.51,28.83
$GC,19468,1.00,161.1,563.9,8.2,338,19475,0.00,2.12,0.00,0.000,4,0.000,0.048,3342,355,1655,0,0,0,0,0,0,28.83,26.13,28.83
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$GC,21421,1.10,173.9,401.6,6.5,364,21431,0.00,1.92,4.95,1.024,6,0.000,0.026,3327,1648,1611,0,0,0,0,0,0,28.83,26.41,24.11
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$GC,23010,1.12,173.9,246.1,9.6,391,23014,0.00,1.95,0.00,0.000,6,0.000,0.024,3389,1654,1610,0,0,0,0,0,0,28.83,26.51,28.83
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$GC,25081,1.24,173.9,46.9,8.1,467,25090,0.00,1.95,0.00,0.000,6,0.000,0.023,3386,1660,1612,0,0,0,0,0,0,28.83,26.53,28.83
$GC,25392,1.27,173.9,21.6,8.5,498,25401,0.00,2.10,0.00,0.000,4,0.000,0.045,3396,355,1613,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,25599,end climb,SURFACE_DEPTH_REACHED
$STATE,25599,begin surface coast
$FINISH,1.3,1.024947
$STATE,25630,end surface coast,CONTROL_FINISHED_OK
$STATE,25630,begin surface
$SM_CCo,25654,54.80,0.132,0,0,1093,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,60.00
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,7653504
$TM_FREEKB,5317888
$24V_AH,23.1,56.688
$10V_AH,10.2,48.326
$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
$DEVICE_SECS,22.100,193.075,248.050,54.800,0.000,25.403,40.248,187.983,0.000,0.000,18.559,2620.248,19916.699,670.615,2550.151,444.559,33.261,1816.076,0.000,2172.977,0.000,0.537,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.252,13.445,0.000,0.000
$MEM,344356
$DATA_FILE_SIZE,13450,522
$CAP_FILE_SIZE,193627,0
$CFSIZE,260034560,223186944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191212,191334,2438.289,-3744.652,34,0.8,34,-13.9