version: 66.11
glider: 189
mission: 7
dive: 387
start: 1 14 113 2 33 10
data:
$ID,189
$MISSION,7
$DIVE,387
$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,-48140.84
$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
$GPS1,140113,021935,2442.258,-3757.148,32,0.8,33,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-44.6
$GPS2,140113,023210,2442.250,-3757.030,23,0.9,23,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_N
$TGT_LATLONG,2444.464,-3756.424
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.015,0.119
$KALMAN_X,222018.9,30.7,343.4,-214190.0,867.3
$KALMAN_Y,-57339.0,281.4,456.8,68889.3,-1847.7
$MHEAD_RNG_PITCHd_Wd,6.8,4225,-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,-97.7,0.0,0.0,0,35,0.00,0.00,-11.45,0.000,2,0.000,0.000,151,2118,852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.26,-97.7,2.0,0.0,1,125,8.75,2.50,-70.25,0.000,4,0.172,0.050,2592,549,2718,0,0,0,0,0,0,25.46,26.02,26.67
$GC,148,-1.54,-97.7,1.5,-0.4,12,155,0.20,2.50,0.00,0.000,6,0.069,0.027,2499,2186,2719,0,0,0,0,0,0,26.11,26.20,28.83
$GC,456,-1.39,-97.7,31.9,-10.1,43,464,0.20,2.60,0.00,0.000,4,0.163,0.037,2551,517,2719,0,0,0,0,0,0,25.92,26.18,28.83
$GC,685,-1.25,-97.7,52.3,-8.8,66,695,0.17,2.53,0.00,0.000,6,0.147,0.024,2594,2190,2719,0,0,0,0,0,0,25.77,26.40,28.83
$GC,995,-1.20,-97.7,74.5,-7.2,97,1004,0.00,2.50,0.00,0.000,4,0.000,0.042,2584,3747,2719,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1295,-1.14,-97.7,99.5,-8.4,108,1303,0.15,2.42,0.00,0.000,6,0.131,0.021,2632,2094,2719,0,0,0,0,0,0,25.97,26.51,28.83
$GC,1629,-1.14,-97.7,123.9,-7.1,119,1634,0.00,2.60,0.00,0.000,4,0.000,0.040,2622,3748,2719,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1675,-1.14,-97.7,125.8,-6.8,120,1684,0.00,2.45,0.00,0.000,6,0.000,0.020,2621,2100,2723,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1985,-1.14,-97.7,145.9,-6.4,131,1992,0.00,2.42,0.00,0.000,4,0.000,0.037,2621,547,2720,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2034,-1.14,-97.7,147.9,-6.6,132,2044,0.00,2.50,0.00,0.000,6,0.000,0.024,2609,2197,2720,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2346,-1.14,-97.7,169.4,-6.4,138,2352,0.00,2.47,0.00,0.000,4,0.000,0.041,2598,3748,2720,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2515,-1.11,-97.7,177.4,-6.6,140,2524,0.12,2.45,0.00,0.000,6,0.125,0.020,2639,2093,2720,0,0,0,0,0,0,26.08,26.52,28.83
$GC,2826,-1.11,-97.7,198.7,-5.8,146,2832,0.00,2.62,0.00,0.000,4,0.000,0.040,2628,3758,2720,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3005,-1.11,-97.7,210.0,-6.2,149,3012,0.00,2.45,0.00,0.000,6,0.000,0.021,2628,2102,2720,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3365,-1.11,-97.7,238.7,-8.4,155,3373,0.00,2.65,0.00,0.000,4,0.000,0.039,2616,3752,2720,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3627,-1.11,-97.7,262.3,-9.8,159,3632,0.00,2.40,0.00,0.000,6,0.000,0.021,2616,2102,2720,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3965,-1.11,-97.7,294.0,-8.4,165,3972,0.00,2.65,0.00,0.000,4,0.000,0.040,2604,3747,2719,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4208,-1.11,-97.7,309.6,-6.5,169,4214,0.12,2.40,0.00,0.000,6,0.145,0.021,2638,2094,2719,0,0,0,0,0,0,26.17,26.51,28.83
$GC,4566,-1.15,-97.7,326.1,-4.6,175,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2094,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4867,-1.18,-97.7,344.2,-6.2,180,4872,0.00,2.62,0.00,0.000,4,0.000,0.041,2627,3749,2718,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4954,-1.22,-97.7,348.7,-6.8,181,4962,0.00,2.47,0.00,0.000,6,0.000,0.021,2627,2090,2718,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5285,-1.24,-97.7,380.7,-9.3,187,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2090,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5586,-1.28,-97.7,411.3,-10.3,192,5593,0.12,2.38,0.00,0.000,4,0.083,0.038,2566,548,2715,0,0,0,0,0,0,26.65,26.27,28.83
$GC,5724,-1.28,-97.7,424.7,-10.7,194,5732,0.12,2.47,0.00,0.000,6,0.164,0.023,2584,2192,2716,0,0,0,0,0,0,26.07,26.46,28.83
$GC,6066,-1.28,-97.7,456.8,-8.3,200,6072,0.00,2.50,0.00,0.000,4,0.000,0.042,2574,3745,2715,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6336,-1.25,-97.7,474.0,-7.2,204,6342,0.00,2.40,0.00,0.000,6,0.000,0.021,2574,2103,2717,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6666,-1.25,-97.7,495.5,-5.9,210,6672,0.00,2.62,0.00,0.000,4,0.000,0.041,2562,3758,2714,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6965,-1.22,-97.7,510.5,-6.2,213,6973,0.12,2.47,0.00,0.000,6,0.129,0.021,2602,2091,2711,0,0,0,0,0,0,26.03,26.50,28.83
$GC,7386,-1.22,-97.7,539.4,-6.0,217,7392,0.00,2.65,0.00,0.000,4,0.000,0.041,2591,3754,2712,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7564,-1.22,-97.7,548.0,-6.3,218,7572,0.00,2.47,0.00,0.000,6,0.000,0.021,2591,2102,2712,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7985,-1.22,-97.7,587.2,-8.1,222,7992,0.00,2.67,0.00,0.000,4,0.000,0.041,2579,3751,2711,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8284,-1.22,-97.7,609.4,-9.0,224,8291,0.00,2.47,0.00,0.000,6,0.000,0.022,2579,2105,2710,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8705,-1.22,-97.7,644.6,-7.3,228,8712,0.00,2.67,0.00,0.000,4,0.000,0.041,2568,3746,2708,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8948,-1.22,-97.7,659.8,-6.6,230,8954,0.15,2.42,0.00,0.000,6,0.143,0.023,2607,2091,2708,0,0,0,0,0,0,26.04,26.47,28.83
$GC,9305,-1.22,-97.7,678.0,-5.3,233,9312,0.00,2.67,0.00,0.000,4,0.000,0.042,2596,3747,2707,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9415,-1.22,-97.7,678.0,-5.3,233,9423,0.00,2.45,0.00,0.000,6,0.000,0.022,2596,2105,2707,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9786,-1.25,-97.7,708.0,-6.2,237,9793,0.00,2.47,0.00,0.000,4,0.000,0.040,2596,543,2705,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9905,-1.27,-97.7,717.2,-6.7,238,9912,0.00,2.53,0.00,0.000,6,0.000,0.025,2585,2178,2705,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10266,-1.27,-97.7,748.1,-8.3,241,10272,0.00,2.55,0.00,0.000,4,0.000,0.044,2573,3741,2704,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10324,-1.27,-97.7,748.1,-8.3,241,10332,0.00,2.47,0.00,0.000,6,0.000,0.022,2573,2100,2704,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10745,-1.27,-97.7,795.0,-9.8,245,10753,0.00,2.67,0.00,0.000,4,0.000,0.043,2561,3738,2703,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10895,-1.27,-97.7,806.5,-9.8,246,10903,0.12,2.47,0.00,0.000,6,0.149,0.023,2592,2098,2703,0,0,0,0,0,0,26.06,26.43,28.83
$GC,11225,-1.29,-97.7,835.9,-8.5,249,11233,0.00,2.67,0.00,0.000,4,0.000,0.044,2588,3748,2701,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11275,-1.31,-97.7,835.9,-8.5,249,11282,0.00,2.45,0.00,0.000,6,0.000,0.024,2582,2115,2701,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11585,-1.34,-97.7,861.3,-7.2,252,11587,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2115,2704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11945,-1.37,-97.7,888.4,-7.4,255,11952,0.00,2.65,0.00,0.000,4,0.000,0.044,2570,3741,2699,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12035,-1.40,-97.7,888.4,-7.4,255,12042,0.00,2.45,0.00,0.000,6,0.000,0.024,2570,2111,2699,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12425,-1.40,-97.7,929.3,-8.5,259,12432,0.00,2.65,0.00,0.000,4,0.000,0.043,2558,3738,2698,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12667,-1.40,-97.7,950.0,-8.5,261,12672,0.00,2.42,0.00,0.000,6,0.000,0.024,2558,2102,2698,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13026,-1.40,-97.7,980.2,-8.5,264,13033,0.00,2.67,0.00,0.000,4,0.000,0.044,2546,3748,2696,0,0,0,0,0,0,28.83,26.04,28.83
$STATE,13142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13142,begin apogee
$GC,13153,-0.29,0.0,990.9,-8.5,265,13244,1.15,0.00,83.45,1.683,6,0.132,0.000,2900,1576,2319,0,0,0,0,0,0,25.13,28.83,23.05
$STATE,13246,end apogee,CONTROL_FINISHED_OK
$STATE,13246,begin climb
$GC,13250,1.26,97.7,995.8,0.0,270,13346,1.45,0.00,91.82,1.671,6,0.064,0.000,3408,1576,1920,0,0,0,0,0,0,25.25,28.83,23.04
$GC,13686,1.15,121.5,978.2,5.6,287,13714,0.15,2.67,20.92,1.582,4,0.174,0.037,3374,3208,1823,0,0,0,0,0,0,25.95,25.67,23.81
$GC,13795,1.04,145.3,978.2,5.6,287,13824,0.15,2.58,22.67,1.587,6,0.161,0.030,3345,1577,1727,0,0,0,0,0,0,25.61,26.01,23.65
$GC,14169,0.98,151.8,947.6,6.4,291,14183,0.00,2.00,6.62,1.386,4,0.000,0.048,3348,353,1700,0,0,0,0,0,0,28.83,26.07,23.95
$GC,14337,0.92,152.3,938.8,6.6,292,14343,0.20,1.92,0.00,0.000,6,0.151,0.024,3294,1648,1699,0,0,0,0,0,0,25.86,26.34,28.83
$GC,14645,0.92,152.3,912.9,7.2,295,14652,0.00,2.47,0.00,0.000,4,0.000,0.037,3294,3199,1698,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14725,0.92,152.3,912.9,7.2,295,14732,0.00,2.53,0.00,0.000,6,0.000,0.030,3305,1580,1698,0,0,0,0,0,0,28.83,26.32,28.83
$GC,15125,0.92,152.3,873.9,8.1,299,15132,0.00,2.60,0.00,0.000,4,0.000,0.035,3305,3198,1697,0,0,0,0,0,0,28.83,26.29,28.83
$GC,15174,0.92,152.3,873.9,8.1,299,15182,0.00,2.55,0.00,0.000,6,0.000,0.030,3317,1568,1697,0,0,0,0,0,0,28.83,26.35,28.83
$GC,15486,0.92,152.3,845.8,7.9,302,15487,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1568,1696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15845,0.92,152.3,820.6,7.2,305,15852,0.00,2.65,0.00,0.000,4,0.000,0.036,3317,3206,1695,0,0,0,0,0,0,28.83,26.28,28.83
$GC,15904,0.92,152.3,820.6,7.2,305,15913,0.12,2.55,0.00,0.000,6,0.163,0.030,3298,1574,1695,0,0,0,0,0,0,26.02,26.34,28.83
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$GC,19887,1.00,164.1,537.1,6.9,339,19894,0.00,2.45,0.00,0.000,4,0.000,0.036,3350,3195,1650,0,0,0,0,0,0,28.83,26.18,28.83
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$GC,21567,1.04,164.1,410.2,7.5,362,21569,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1572,1650,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,26579,1.25,188.1,13.7,5.9,521,26592,0.00,2.15,7.88,0.159,4,0.000,0.046,3402,352,1550,0,0,0,0,0,0,28.83,26.05,25.19
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$STATE,26697,end climb,SURFACE_DEPTH_REACHED
$STATE,26697,begin surface coast
$FINISH,1.1,1.025668
$STATE,26719,end surface coast,CONTROL_FINISHED_OK
$STATE,26719,begin surface
$SM_CCo,26744,48.08,0.127,0,0,1096,300.00
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$IRIDIUM_FIX,2425.21,-3736.28,130113,191947
$TT8_MAMPS,0.026964,0.026964
$HUMID,61.18
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.30
$XPDR_PINGS,1
$SC_FREEKB,7621248
$TM_FREEKB,4964096
$24V_AH,23.0,68.602
$10V_AH,9.9,60.042
$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
$DEVICE_SECS,22.675,226.250,259.650,48.075,0.000,27.834,46.751,378.065,0.250,0.000,24.444,2399.661,21374.350,729.743,2432.063,598.158,33.290,1791.155,0.000,1882.404,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.822,13.451,0.000,0.000
$MEM,343696
$DATA_FILE_SIZE,13447,535
$CAP_FILE_SIZE,203443,0
$CFSIZE,260034560,215412736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140113,100058,2443.429,-3756.967,36,0.9,37,-14.0