version: 66.11
glider: 189
mission: 7
dive: 336
start: 12 29 112 12 15 35
data:
$ID,189
$MISSION,7
$DIVE,336
$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,-48076.523
$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
$GPS1,291212,120534,2439.801,-3753.781,30,0.8,30,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-53.6
$GPS2,291212,121436,2439.843,-3753.774,17,1.0,17,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.075,-0.093
$KALMAN_X,184837.2,196.3,-500.8,-170865.1,-1789.5
$KALMAN_Y,-79153.2,112.9,-114.5,86970.9,1333.2
$MHEAD_RNG_PITCHd_Wd,155.1,37522,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-11.02,0.000,2,0.000,0.000,157,2178,1414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-1.26,-97.7,2.1,0.0,1,104,8.77,2.60,-49.42,0.000,4,0.171,0.050,2590,547,2720,0,0,0,0,0,0,25.44,26.04,26.67
$GC,284,-1.15,-97.7,15.2,-7.4,26,293,0.15,2.50,0.00,0.000,6,0.144,0.024,2626,2191,2721,0,0,0,0,0,0,25.72,26.29,28.83
$GC,594,-1.11,-97.7,38.8,-7.8,57,602,0.00,2.50,0.00,0.000,4,0.000,0.041,2616,3746,2722,0,0,0,0,0,0,28.83,26.15,28.83
$GC,894,-1.07,-97.7,63.8,-8.2,87,903,0.10,2.45,0.00,0.000,6,0.130,0.021,2650,2095,2723,0,0,0,0,0,0,26.06,26.47,28.83
$GC,1214,-1.07,-97.7,85.8,-6.9,109,1221,0.00,2.62,0.00,0.000,4,0.000,0.039,2639,3742,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1514,-1.07,-97.7,108.1,-7.7,119,1522,0.00,2.45,0.00,0.000,6,0.000,0.021,2639,2102,2724,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1847,-1.07,-97.7,131.7,-6.7,130,1852,0.00,2.40,0.00,0.000,4,0.000,0.037,2640,546,2722,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2115,-1.03,-97.7,149.9,-6.4,139,2122,0.10,2.45,0.00,0.000,6,0.134,0.024,2660,2191,2724,0,0,0,0,0,0,26.07,26.48,28.83
$GC,2444,-1.06,-97.7,168.2,-5.5,145,2451,0.00,2.47,0.00,0.000,4,0.000,0.040,2650,3748,2725,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2676,-1.06,-97.7,177.8,-5.3,148,2683,0.00,2.45,0.00,0.000,6,0.000,0.021,2651,2095,2725,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2984,-1.06,-97.7,201.1,-7.0,154,2991,0.00,2.62,0.00,0.000,4,0.000,0.039,2639,3746,2726,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3284,-1.06,-97.7,225.0,-7.9,159,3291,0.00,2.45,0.00,0.000,6,0.000,0.021,2638,2099,2726,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3644,-1.06,-97.7,246.0,-5.4,165,3651,0.00,2.62,0.00,0.000,4,0.000,0.039,2626,3747,2725,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3945,-1.06,-97.7,264.1,-6.2,170,3952,0.08,2.45,0.00,0.000,6,0.128,0.021,2653,2093,2728,0,0,0,0,0,0,26.21,26.53,28.83
$GC,4304,-1.10,-97.7,292.2,-8.0,176,4312,0.00,2.65,0.00,0.000,4,0.000,0.039,2642,3751,2725,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4604,-1.12,-97.7,315.4,-7.7,181,4612,0.00,2.45,0.00,0.000,6,0.000,0.021,2642,2107,2724,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4965,-1.15,-97.7,337.7,-6.0,187,4971,0.00,2.58,0.00,0.000,4,0.000,0.040,2630,3753,2723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5264,-1.15,-97.7,358.5,-7.1,192,5271,0.00,2.45,0.00,0.000,6,0.000,0.021,2630,2106,2723,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5624,-1.17,-97.7,386.1,-7.7,198,5631,0.00,2.45,0.00,0.000,4,0.000,0.037,2630,554,2722,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5903,-1.17,-97.7,404.8,-7.8,202,5911,0.00,2.47,0.00,0.000,6,0.000,0.023,2618,2196,2721,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6224,-1.17,-97.7,430.6,-7.0,208,6232,0.00,2.45,0.00,0.000,4,0.000,0.041,2606,3741,2720,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6524,-1.17,-97.7,452.5,-7.3,213,6532,0.00,2.45,0.00,0.000,6,0.000,0.021,2606,2104,2720,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6884,-1.17,-97.7,478.7,-7.2,219,6891,0.00,2.62,0.00,0.000,4,0.000,0.040,2594,3751,2719,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6913,-1.17,-97.7,478.7,-7.2,219,6921,0.00,2.47,0.00,0.000,6,0.000,0.021,2594,2096,2719,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7244,-1.17,-97.7,503.2,-6.7,225,7251,0.00,2.45,0.00,0.000,4,0.000,0.038,2590,547,2718,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7403,-1.17,-97.7,512.0,-7.0,226,7411,0.15,2.50,0.00,0.000,6,0.153,0.024,2624,2201,2717,0,0,0,0,0,0,26.03,26.46,28.83
$GC,7724,-1.17,-97.7,536.9,-7.0,229,7731,0.00,2.47,0.00,0.000,4,0.000,0.042,2607,3749,2716,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8023,-1.19,-97.7,555.8,-7.4,231,8031,0.00,2.50,0.00,0.000,6,0.000,0.021,2612,2094,2716,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8444,-1.22,-97.7,593.1,-7.8,235,8451,0.00,2.67,0.00,0.000,4,0.000,0.041,2600,3752,2714,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8743,-1.22,-97.7,608.0,-6.8,237,8750,0.00,2.50,0.00,0.000,6,0.000,0.022,2600,2099,2713,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9164,-1.22,-97.7,635.7,-5.7,241,9171,0.00,2.62,0.00,0.000,4,0.000,0.041,2588,3739,2712,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9463,-1.22,-97.7,653.0,-6.6,243,9471,0.00,2.47,0.00,0.000,6,0.000,0.022,2588,2101,2711,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9884,-1.22,-97.7,692.7,-8.3,247,9891,0.00,2.47,0.00,0.000,4,0.000,0.039,2588,544,2710,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10043,-1.22,-97.7,703.3,-8.5,248,10052,0.12,2.50,0.00,0.000,6,0.162,0.025,2607,2188,2709,0,0,0,0,0,0,26.05,26.43,28.83
$GC,10364,-1.22,-97.7,730.4,-7.8,251,10371,0.00,2.50,0.00,0.000,4,0.000,0.043,2597,3749,2708,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10663,-1.24,-97.7,747.5,-7.2,253,10671,0.00,2.50,0.00,0.000,6,0.000,0.023,2597,2101,2708,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11084,-1.27,-97.7,784.9,-7.8,257,11091,0.00,2.65,0.00,0.000,4,0.000,0.042,2585,3744,2707,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11383,-1.27,-97.7,807.4,-8.8,259,11390,0.00,2.50,0.00,0.000,6,0.000,0.023,2585,2098,2705,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11804,-1.27,-97.7,856.4,-10.2,263,11811,0.00,2.65,0.00,0.000,4,0.000,0.043,2573,3744,2704,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12103,-1.27,-97.7,879.6,-9.9,265,12110,0.00,2.50,0.00,0.000,6,0.000,0.024,2573,2102,2703,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12524,-1.27,-97.7,916.8,-7.8,269,12531,0.00,2.47,0.00,0.000,4,0.000,0.041,2573,551,2701,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12753,-1.27,-97.7,926.0,-7.5,270,12763,0.12,2.53,0.00,0.000,6,0.168,0.026,2591,2196,2701,0,0,0,0,0,0,25.96,26.36,28.83
$GC,13124,-1.27,-97.7,965.9,-8.3,274,13132,0.00,2.50,0.00,0.000,4,0.000,0.044,2581,3739,2700,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,13364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13364,begin apogee
$GC,13374,-0.29,0.0,990.3,-9.4,276,13464,1.00,0.00,84.95,1.666,6,0.125,0.000,2898,1572,2320,0,0,0,0,0,0,25.27,28.83,23.12
$STATE,13465,end apogee,CONTROL_FINISHED_OK
$STATE,13465,begin climb
$GC,13468,1.26,97.7,996.8,0.0,281,13567,1.42,2.12,91.32,1.640,4,0.061,0.047,3418,350,1921,0,0,0,0,0,0,25.20,24.78,23.04
$GC,13745,1.13,118.3,989.3,5.7,295,13768,0.20,1.98,18.27,1.554,6,0.159,0.023,3367,1652,1838,0,0,0,0,0,0,25.67,26.11,23.76
$GC,14068,1.05,122.0,968.2,6.5,301,14074,0.00,0.00,4.20,1.160,6,0.000,0.000,3367,1652,1822,0,0,0,0,0,0,28.83,28.83,23.91
$GC,14426,0.97,122.0,939.4,7.8,304,14433,0.20,2.10,0.00,0.000,4,0.156,0.047,3320,350,1820,0,0,0,0,0,0,26.00,26.19,28.83
$GC,14545,0.91,122.0,929.7,8.1,305,14552,0.00,1.98,0.00,0.000,6,0.000,0.024,3320,1658,1819,0,0,0,0,0,0,28.83,26.45,28.83
$GC,14906,0.87,122.0,903.3,7.5,308,14913,0.15,2.10,0.00,0.000,4,0.151,0.047,3288,353,1817,0,0,0,0,0,0,26.22,26.25,28.83
$GC,15066,0.84,122.0,896.2,7.0,309,15072,0.00,1.92,0.00,0.000,6,0.000,0.025,3288,1643,1817,0,0,0,0,0,0,28.83,26.51,28.83
$GC,15386,0.88,151.6,877.8,5.3,312,15418,0.00,2.17,27.42,1.589,4,0.000,0.049,3298,352,1700,0,0,0,0,0,0,28.83,25.67,23.87
$GC,15466,0.92,181.3,877.8,5.3,312,15499,0.00,2.00,28.48,1.559,6,0.000,0.024,3298,1652,1579,0,0,0,0,0,0,28.83,26.00,23.61
$GC,15849,0.95,181.3,845.1,7.1,316,15855,0.00,2.08,0.00,0.000,4,0.000,0.048,3308,350,1574,0,0,0,0,0,0,28.83,26.10,28.83
$GC,15997,0.97,181.3,834.5,7.8,317,16004,0.00,1.98,0.00,0.000,6,0.000,0.025,3307,1655,1572,0,0,0,0,0,0,28.83,26.38,28.83
$GC,16327,1.00,181.3,799.8,9.5,320,16335,0.00,2.10,0.00,0.000,4,0.000,0.048,3317,362,1571,0,0,0,0,0,0,28.83,26.20,28.83
$GC,16466,1.00,181.3,787.9,9.7,321,16474,0.00,1.95,0.00,0.000,6,0.000,0.026,3318,1651,1570,0,0,0,0,0,0,28.83,26.48,28.83
$GC,16807,1.00,181.3,753.2,9.7,324,16814,0.00,2.12,0.00,0.000,4,0.000,0.047,3328,349,1568,0,0,0,0,0,0,28.83,26.21,28.83
$GC,17096,1.00,181.3,729.6,9.7,326,17100,0.00,1.98,0.00,0.000,6,0.000,0.025,3327,1655,1569,0,0,0,0,0,0,28.83,26.51,28.83
$GC,17398,1.00,181.3,698.3,9.1,329,17405,0.00,2.10,0.00,0.000,4,0.000,0.048,3337,356,1569,0,0,0,0,0,0,28.83,26.22,28.83
$GC,17697,1.00,181.3,678.5,8.5,331,17704,0.00,1.95,0.00,0.000,6,0.000,0.025,3337,1649,1569,0,0,0,0,0,0,28.83,26.51,28.83
$GC,18117,1.00,181.3,643.6,7.3,335,18125,0.00,2.12,0.00,0.000,4,0.000,0.048,3347,353,1569,0,0,0,0,0,0,28.83,26.17,28.83
$GC,18416,1.00,181.3,622.7,8.0,337,18420,0.00,1.95,0.00,0.000,6,0.000,0.025,3346,1646,1568,0,0,0,0,0,0,28.83,26.51,28.83
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$GC,20569,1.07,181.3,428.4,8.1,362,20576,0.00,2.10,0.00,0.000,4,0.000,0.047,3351,354,1568,0,0,0,0,0,0,28.83,26.09,28.83
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$GC,21648,1.07,181.3,329.5,9.9,380,21656,0.00,2.12,0.00,0.000,4,0.000,0.047,3369,352,1569,0,0,0,0,0,0,28.83,26.07,28.83
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$GC,22188,1.07,181.3,280.0,8.4,389,22195,0.00,2.12,0.00,0.000,4,0.000,0.047,3380,350,1569,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,25477,end climb,SURFACE_DEPTH_REACHED
$STATE,25477,begin surface coast
$FINISH,1.1,0.999615
$STATE,25508,end surface coast,CONTROL_FINISHED_OK
$STATE,25508,begin surface
$SM_CCo,25530,51.40,0.127,0,0,1093,300.00
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$TT8_MAMPS,0.026964,0.026964
$HUMID,60.98
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,7640832
$TM_FREEKB,5180416
$24V_AH,23.0,61.311
$10V_AH,10.1,52.796
$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,21.625,201.475,254.650,51.400,0.000,25.813,37.587,213.766,0.000,0.000,17.878,2653.510,19648.799,690.877,2612.215,503.574,33.262,1866.413,0.000,2203.915,0.000,0.536,0.000
$DEVICE_MAMPS,171.360,49.725,1666.170,126.990,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.244,13.477,0.000,0.000
$MEM,344396
$DATA_FILE_SIZE,13463,532
$CAP_FILE_SIZE,197363,0
$CFSIZE,260034560,220127232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,291212,192305,2438.044,-3753.613,28,1.1,28,-14.0