version: 66.11
glider: 189
mission: 7
dive: 406
start: 1 19 113 22 22 6
data:
$ID,189
$MISSION,7
$DIVE,406
$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,-48164.91
$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
$GPS1,190113,221134,2430.434,-3746.540,40,0.8,41,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-58.9
$GPS2,190113,222105,2430.470,-3746.496,17,1.4,17,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.104,-0.060
$KALMAN_X,226505.4,-132.9,-88.7,-200345.4,2581.2
$KALMAN_Y,-33188.2,142.4,-516.3,24035.2,4130.5
$MHEAD_RNG_PITCHd_Wd,253.6,3070,-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,21,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-11.25,0.000,2,0.000,0.000,152,2125,1424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.4,0.0,1,104,9.18,2.50,-49.20,0.000,4,0.187,0.050,2586,544,2720,0,0,0,0,0,0,25.44,26.01,26.69
$GC,394,-1.16,-97.7,28.3,-8.0,37,403,0.15,2.47,0.00,0.000,6,0.133,0.023,2624,2188,2720,0,0,0,0,0,0,25.79,26.33,28.83
$GC,705,-1.13,-97.7,49.3,-6.0,68,713,0.00,2.60,0.00,0.000,4,0.000,0.037,2625,539,2720,0,0,0,0,0,0,28.83,26.18,28.83
$GC,775,-1.08,-97.7,54.4,-7.7,75,783,0.10,2.47,0.00,0.000,6,0.132,0.024,2646,2189,2721,0,0,0,0,0,0,25.98,26.39,28.83
$GC,1104,-1.08,-97.7,77.4,-6.5,106,1112,0.00,2.53,0.00,0.000,4,0.000,0.041,2636,3752,2721,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1284,-1.08,-97.7,88.9,-6.3,112,1291,0.00,2.45,0.00,0.000,6,0.000,0.021,2636,2103,2722,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1615,-1.08,-97.7,110.1,-6.8,123,1622,0.00,2.65,0.00,0.000,4,0.000,0.039,2624,3751,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1713,-1.08,-97.7,116.6,-7.1,126,1721,0.00,2.47,0.00,0.000,6,0.000,0.020,2624,2087,2722,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2035,-1.08,-97.7,140.5,-6.5,137,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2087,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2364,-1.08,-97.7,162.7,-6.8,145,2371,0.00,2.67,0.00,0.000,4,0.000,0.038,2612,3751,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2533,-1.08,-97.7,171.7,-7.2,147,2543,0.15,2.47,0.00,0.000,6,0.142,0.020,2652,2080,2723,0,0,0,0,0,0,26.07,26.50,28.83
$GC,2845,-1.11,-97.7,196.8,-6.7,153,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2080,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3145,-1.15,-97.7,211.9,-4.8,158,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2080,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3445,-1.19,-97.7,225.9,-4.7,163,3452,0.12,2.40,0.00,0.000,4,0.083,0.037,2586,547,2723,0,0,0,0,0,0,26.65,26.26,28.83
$GC,3524,-1.19,-97.7,229.3,-4.9,164,3532,0.12,2.45,0.00,0.000,6,0.131,0.023,2614,2186,2723,0,0,0,0,0,0,26.00,26.46,28.83
$GC,3865,-1.19,-97.7,250.3,-5.9,170,3871,0.00,2.50,0.00,0.000,4,0.000,0.041,2605,3744,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4074,-1.19,-97.7,263.1,-7.0,173,4082,0.00,2.45,0.00,0.000,6,0.000,0.021,2604,2100,2726,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4404,-1.19,-97.7,289.9,-7.6,179,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2100,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4704,-1.19,-97.7,313.8,-7.9,184,4712,0.00,2.65,0.00,0.000,4,0.000,0.040,2592,3742,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4934,-1.19,-97.7,328.7,-8.2,187,4943,0.00,2.45,0.00,0.000,6,0.000,0.021,2593,2100,2722,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5244,-1.19,-97.7,359.5,-8.6,193,5251,0.00,2.65,0.00,0.000,4,0.000,0.041,2581,3746,2721,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5487,-1.17,-97.7,381.7,-9.3,197,5493,0.15,2.40,0.00,0.000,6,0.141,0.021,2621,2099,2720,0,0,0,0,0,0,26.08,26.49,28.83
$GC,5844,-1.20,-97.7,411.9,-8.4,203,5852,0.00,2.65,0.00,0.000,4,0.000,0.041,2610,3739,2719,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5954,-1.22,-97.7,416.6,-8.2,204,5963,0.00,2.42,0.00,0.000,6,0.000,0.021,2610,2104,2719,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6264,-1.22,-97.7,444.2,-7.6,210,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2104,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6565,-1.24,-97.7,469.0,-8.3,215,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2104,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6865,-1.27,-97.7,495.2,-8.8,220,6871,0.00,2.40,0.00,0.000,4,0.000,0.038,2610,546,2717,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6984,-1.27,-97.7,506.4,-9.1,222,6991,0.00,2.47,0.00,0.000,6,0.000,0.024,2598,2190,2717,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7344,-1.27,-97.7,533.1,-7.7,225,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2190,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7705,-1.29,-97.7,555.6,-6.3,228,7712,0.00,2.60,0.00,0.000,4,0.000,0.038,2598,548,2715,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7754,-1.31,-97.7,555.6,-6.3,228,7761,0.00,2.47,0.00,0.000,6,0.000,0.024,2586,2188,2714,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8064,-1.31,-97.7,584.3,-7.6,231,8071,0.00,2.50,0.00,0.000,4,0.000,0.042,2574,3745,2714,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8224,-1.31,-97.7,595.4,-8.3,232,8231,0.00,2.47,0.00,0.000,6,0.000,0.021,2574,2098,2713,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8544,-1.31,-97.7,630.2,-9.6,235,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2098,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8904,-1.31,-97.7,663.5,-9.4,238,8911,0.00,2.45,0.00,0.000,4,0.000,0.040,2574,549,2711,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8994,-1.31,-97.7,663.5,-9.4,238,9001,0.00,2.50,0.00,0.000,6,0.000,0.024,2562,2193,2711,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9384,-1.31,-97.7,703.0,-8.2,242,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2193,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9744,-1.31,-97.7,730.9,-7.8,245,9751,0.00,2.62,0.00,0.000,4,0.000,0.039,2562,548,2709,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9813,-1.31,-97.7,730.9,-7.8,245,9821,0.00,2.55,0.00,0.000,6,0.000,0.025,2550,2185,2709,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10225,-1.31,-97.7,765.1,-7.1,249,10226,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2185,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10584,-1.31,-97.7,793.8,-7.7,252,10591,0.00,2.55,0.00,0.000,4,0.000,0.044,2539,3745,2707,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10783,-1.31,-97.7,805.1,-8.3,253,10792,0.15,2.47,0.00,0.000,6,0.147,0.023,2577,2103,2705,0,0,0,0,0,0,25.97,26.42,28.83
$GC,11185,-1.31,-97.7,851.2,-9.6,257,11192,0.00,2.47,0.00,0.000,4,0.000,0.041,2578,551,2704,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11263,-1.31,-97.7,851.2,-9.6,257,11271,0.00,2.53,0.00,0.000,6,0.000,0.025,2567,2187,2704,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11664,-1.33,-97.7,897.2,-9.6,261,11666,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2187,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12025,-1.35,-97.7,925.5,-8.1,264,12032,0.00,2.60,0.00,0.000,4,0.000,0.041,2568,553,2702,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12193,-1.35,-97.7,933.8,-7.6,265,12201,0.00,2.50,0.00,0.000,6,0.000,0.025,2555,2187,2701,0,0,0,0,0,0,28.83,26.35,28.83
$GC,12505,-1.35,-97.7,957.2,-6.6,268,12511,0.00,2.50,0.00,0.000,4,0.000,0.045,2544,3749,2700,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12643,-1.35,-97.7,966.3,-6.7,269,12651,0.00,2.50,0.00,0.000,6,0.000,0.024,2544,2105,2701,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,12921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12921,begin apogee
$GC,12929,-0.29,0.0,990.7,-8.4,274,13023,1.15,0.00,85.50,1.669,6,0.130,0.000,2899,1571,2320,0,0,0,0,0,0,25.14,28.83,23.01
$STATE,13025,end apogee,CONTROL_FINISHED_OK
$STATE,13025,begin climb
$GC,13029,1.26,97.7,995.4,0.0,279,13124,1.45,0.00,91.50,1.672,6,0.062,0.000,3412,1571,1922,0,0,0,0,0,0,25.29,28.83,23.06
$GC,13466,1.16,126.7,978.1,5.3,296,13498,0.15,2.78,26.12,1.606,4,0.172,0.037,3375,3206,1803,0,0,0,0,0,0,25.97,25.58,23.68
$GC,13598,1.06,150.7,971.4,5.5,297,13627,0.17,2.53,22.75,1.601,6,0.170,0.031,3343,1577,1704,0,0,0,0,0,0,25.64,26.02,23.64
$GC,13930,0.99,151.1,947.3,6.6,300,13935,0.00,1.92,0.00,0.000,4,0.000,0.049,3351,354,1700,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13996,0.91,151.5,947.3,6.6,300,14004,0.20,2.00,0.00,0.000,6,0.151,0.024,3296,1658,1699,0,0,0,0,0,0,25.87,26.36,28.83
$GC,14407,0.91,151.5,908.1,8.1,304,14414,0.00,2.10,0.00,0.000,4,0.000,0.049,3305,350,1698,0,0,0,0,0,0,28.83,26.21,28.83
$GC,14527,0.91,151.5,897.2,8.5,305,14534,0.00,1.95,0.00,0.000,6,0.000,0.025,3305,1649,1696,0,0,0,0,0,0,28.83,26.48,28.83
$GC,14887,0.91,151.5,864.7,9.1,308,14894,0.00,2.47,0.00,0.000,4,0.000,0.036,3304,3200,1696,0,0,0,0,0,0,28.83,26.29,28.83
$GC,14936,0.91,151.5,864.7,9.1,308,14944,0.00,2.53,0.00,0.000,6,0.000,0.030,3317,1572,1696,0,0,0,0,0,0,28.83,26.34,28.83
$GC,15247,0.91,151.5,835.3,8.3,311,15248,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1573,1695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15607,0.91,151.5,809.3,7.4,314,15608,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1572,1694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15967,0.91,151.5,784.5,7.0,317,15974,0.00,2.62,0.00,0.000,4,0.000,0.036,3317,3205,1694,0,0,0,0,0,0,28.83,26.26,28.83
$GC,16056,0.91,151.5,784.5,7.0,317,16064,0.10,2.53,0.00,0.000,6,0.133,0.030,3296,1581,1694,0,0,0,0,0,0,26.00,26.32,28.83
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$GC,20781,1.05,173.2,416.3,8.0,366,20787,0.00,2.10,0.00,0.000,4,0.000,0.047,3371,360,1613,0,0,0,0,0,0,28.83,26.05,28.83
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$GC,25471,1.24,179.9,11.9,6.4,526,25481,0.00,2.12,4.22,0.161,4,0.000,0.046,3396,354,1581,0,0,0,0,0,0,28.83,25.96,25.00
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$STATE,25598,end climb,SURFACE_DEPTH_REACHED
$STATE,25598,begin surface coast
$FINISH,1.2,1.025614
$STATE,25631,end surface coast,CONTROL_FINISHED_OK
$STATE,25632,begin surface
$SM_CCo,25655,50.88,0.124,0,0,1093,300.00
$SM_GC,2.20,8.48,0.82,50.88,0.034,0.032,0.124,151,2196,1093,-8.84,-0.62,300.00,0,0,0,0,0,0,26.28,26.42,25.48
$IRIDIUM_FIX,2422.84,-3335.49,190113,141450
$TT8_MAMPS,0.026964,0.026964
$HUMID,60.47
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.70
$XPDR_PINGS,0
$SC_FREEKB,7613952
$TM_FREEKB,4881504
$24V_AH,23.0,71.366
$10V_AH,9.6,62.711
$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,22.425,199.250,255.275,50.875,0.000,28.798,64.748,193.261,0.000,0.000,18.607,2144.751,20907.422,687.928,1996.472,528.926,33.271,1614.088,0.000,1593.787,0.000,0.536,0.000
$DEVICE_MAMPS,187.425,78.030,1672.290,123.930,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.823,13.482,0.000,0.000
$MEM,343660
$DATA_FILE_SIZE,13443,542
$CAP_FILE_SIZE,188729,0
$CFSIZE,260034560,213704704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200113,053152,2430.729,-3746.908,40,0.8,40,-13.9