version: 66.11
glider: 189
mission: 7
dive: 459
start: 2 5 113 0 23 18
data:
$ID,189
$MISSION,7
$DIVE,459
$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,-48231.547
$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
$GPS1,050213,001252,2430.541,-3746.545,38,0.9,38,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-58.5
$GPS2,050213,002217,2430.525,-3746.537,16,0.9,16,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.115,-0.004
$KALMAN_X,211227.3,268.5,-330.3,-185308.6,-426.5
$KALMAN_Y,61144.8,138.7,-447.9,-70260.2,896.4
$MHEAD_RNG_PITCHd_Wd,281.9,2974,-21.1,-6.667,-30.00
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.32,-90.7,0.0,0.0,0,36,0.00,0.00,-10.80,0.000,2,0.000,0.000,153,2132,1404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-1.33,-97.7,2.2,0.0,1,106,9.18,2.53,-50.15,0.000,4,0.190,0.050,2568,546,2719,0,0,0,0,0,0,25.34,25.94,26.70
$GC,396,-1.24,-97.7,26.0,-8.5,37,405,0.12,2.47,0.00,0.000,6,0.140,0.023,2596,2189,2719,0,0,0,0,0,0,25.82,26.34,28.83
$GC,707,-1.22,-97.7,45.3,-5.2,68,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2188,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1006,-1.22,-97.7,64.2,-6.7,98,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2189,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1327,-1.22,-97.7,89.3,-7.3,118,1333,0.00,2.53,0.00,0.000,4,0.000,0.040,2586,3748,2721,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1447,-1.18,-97.7,98.6,-7.8,122,1454,0.08,2.45,0.00,0.000,6,0.135,0.021,2611,2083,2721,0,0,0,0,0,0,26.10,26.46,28.83
$GC,1780,-1.18,-97.7,119.6,-5.9,133,1785,0.00,2.65,0.00,0.000,4,0.000,0.039,2600,3751,2721,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1927,-1.16,-97.7,127.7,-5.4,138,1934,0.00,2.45,0.00,0.000,6,0.000,0.021,2600,2092,2721,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2258,-1.16,-97.7,149.6,-7.1,149,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2092,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2586,-1.16,-97.7,175.8,-8.1,155,2593,0.00,2.42,0.00,0.000,4,0.000,0.037,2600,543,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2696,-1.16,-97.7,180.8,-8.3,156,2705,0.12,2.47,0.00,0.000,6,0.157,0.023,2620,2193,2722,0,0,0,0,0,0,26.06,26.43,28.83
$GC,3008,-1.19,-97.7,204.1,-5.9,162,3014,0.00,2.47,0.00,0.000,4,0.000,0.040,2610,3754,2722,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3046,-1.21,-97.7,204.1,-5.9,162,3053,0.00,2.45,0.00,0.000,6,0.000,0.020,2610,2094,2722,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3367,-1.21,-97.7,226.1,-6.3,168,3373,0.00,2.67,0.00,0.000,4,0.000,0.039,2598,3753,2722,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3447,-1.21,-97.7,230.2,-6.5,169,3453,0.00,2.45,0.00,0.000,6,0.000,0.020,2597,2091,2722,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3786,-1.21,-97.7,257.9,-7.9,175,3793,0.00,2.42,0.00,0.000,4,0.000,0.037,2598,546,2722,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3876,-1.21,-97.7,263.1,-8.1,176,3884,0.00,2.45,0.00,0.000,6,0.000,0.023,2586,2191,2722,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4206,-1.21,-97.7,291.5,-7.7,182,4213,0.00,2.58,0.00,0.000,4,0.000,0.035,2585,552,2722,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4285,-1.21,-97.7,296.1,-7.7,183,4294,0.12,2.47,0.00,0.000,6,0.159,0.023,2605,2196,2722,0,0,0,0,0,0,26.06,26.44,28.83
$GC,4628,-1.24,-97.7,319.1,-6.1,189,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2196,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4928,-1.27,-97.7,336.3,-5.8,194,4933,0.00,2.58,0.00,0.000,4,0.000,0.036,2605,536,2722,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5006,-1.30,-97.7,340.1,-6.0,195,5013,0.00,2.50,0.00,0.000,6,0.000,0.024,2594,2196,2722,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5348,-1.30,-97.7,362.1,-6.0,201,5353,0.00,2.47,0.00,0.000,4,0.000,0.042,2583,3751,2721,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5396,-1.30,-97.7,362.1,-6.0,201,5405,0.00,2.47,0.00,0.000,6,0.000,0.021,2583,2092,2722,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5707,-1.30,-97.7,385.9,-6.9,207,5713,0.00,2.45,0.00,0.000,4,0.000,0.037,2583,543,2720,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5786,-1.30,-97.7,390.7,-7.3,208,5793,0.00,2.47,0.00,0.000,6,0.000,0.024,2571,2189,2720,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6126,-1.30,-97.7,421.3,-8.7,214,6133,0.00,2.53,0.00,0.000,4,0.000,0.041,2562,3748,2719,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6186,-1.30,-97.7,426.9,-8.8,215,6193,0.00,2.45,0.00,0.000,6,0.000,0.021,2559,2098,2718,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6547,-1.30,-97.7,457.4,-8.3,221,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2098,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6847,-1.30,-97.7,480.5,-7.7,226,6854,0.00,2.42,0.00,0.000,4,0.000,0.038,2559,549,2718,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6917,-1.30,-97.7,485.3,-7.6,227,6924,0.10,2.53,0.00,0.000,6,0.139,0.024,2579,2191,2717,0,0,0,0,0,0,25.98,26.41,28.83
$GC,7268,-1.32,-97.7,511.4,-7.3,232,7274,0.00,2.55,0.00,0.000,4,0.000,0.037,2579,540,2717,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7386,-1.32,-97.7,520.9,-7.5,233,7394,0.00,2.50,0.00,0.000,6,0.000,0.024,2569,2194,2716,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7747,-1.32,-97.7,547.6,-7.5,236,7753,0.00,2.53,0.00,0.000,4,0.000,0.042,2557,3741,2715,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7878,-1.32,-97.7,556.9,-7.5,237,7884,0.00,2.40,0.00,0.000,6,0.000,0.021,2557,2089,2714,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8227,-1.32,-97.7,585.0,-7.8,240,8233,0.00,2.42,0.00,0.000,4,0.000,0.038,2557,552,2713,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8286,-1.32,-97.7,585.0,-7.8,240,8294,0.12,2.50,0.00,0.000,6,0.164,0.024,2575,2200,2713,0,0,0,0,0,0,26.01,26.40,28.83
$GC,8708,-1.34,-97.7,623.4,-8.0,244,8713,0.00,2.58,0.00,0.000,4,0.000,0.038,2576,542,2712,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8898,-1.37,-97.7,633.3,-8.0,245,8903,0.00,2.45,0.00,0.000,6,0.000,0.024,2566,2196,2711,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9307,-1.37,-97.7,672.6,-8.2,249,9314,0.00,2.62,0.00,0.000,4,0.000,0.038,2565,545,2711,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9395,-1.37,-97.7,672.6,-8.2,249,9403,0.00,2.50,0.00,0.000,6,0.000,0.024,2552,2189,2711,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9787,-1.37,-97.7,714.0,-8.6,253,9788,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2189,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10147,-1.37,-97.7,742.7,-8.1,256,10154,0.00,2.60,0.00,0.000,4,0.000,0.040,2553,555,2709,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10286,-1.37,-97.7,751.8,-7.9,257,10294,0.00,2.58,0.00,0.000,6,0.000,0.026,2541,2193,2709,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10627,-1.37,-97.7,775.6,-6.8,260,10633,0.00,2.53,0.00,0.000,4,0.000,0.044,2529,3746,2707,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10768,-1.37,-97.7,783.9,-6.6,261,10774,0.12,2.42,0.00,0.000,6,0.155,0.024,2561,2091,2707,0,0,0,0,0,0,26.00,26.39,28.83
$GC,11107,-1.37,-97.7,807.8,-6.7,264,11113,0.00,2.45,0.00,0.000,4,0.000,0.041,2560,549,2705,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11286,-1.37,-97.7,817.3,-6.9,265,11293,0.00,2.47,0.00,0.000,6,0.000,0.024,2550,2185,2704,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11707,-1.37,-97.7,859.2,-8.7,269,11713,0.00,2.60,0.00,0.000,4,0.000,0.040,2550,550,2703,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11826,-1.37,-97.7,871.0,-9.1,270,11833,0.00,2.47,0.00,0.000,6,0.000,0.025,2539,2180,2703,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12187,-1.37,-97.7,905.3,-9.6,273,12193,0.00,2.55,0.00,0.000,4,0.000,0.044,2527,3766,2702,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12326,-1.37,-97.7,916.4,-9.5,274,12334,0.12,2.53,0.00,0.000,6,0.154,0.024,2557,2094,2700,0,0,0,0,0,0,25.97,26.36,28.83
$GC,12668,-1.39,-97.7,945.2,-8.3,277,12674,0.00,2.45,0.00,0.000,4,0.000,0.042,2557,549,2701,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12756,-1.42,-97.7,945.2,-8.3,277,12763,0.00,2.53,0.00,0.000,6,0.000,0.025,2547,2195,2701,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13147,-1.45,-97.7,981.2,-7.5,281,13154,0.00,2.62,0.00,0.000,4,0.000,0.041,2547,549,2699,0,0,0,0,0,0,28.83,26.02,28.83
$GC,13247,-1.48,-97.7,981.2,-7.5,281,13253,0.00,2.55,0.00,0.000,6,0.000,0.026,2535,2185,2699,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,13263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13263,begin apogee
$GC,13272,-0.29,0.0,990.4,-7.4,282,13365,1.17,0.00,85.93,1.687,6,0.128,0.000,2900,1576,2320,0,0,0,0,0,0,25.08,28.83,22.99
$STATE,13367,end apogee,CONTROL_FINISHED_OK
$STATE,13367,begin climb
$GC,13370,1.33,97.7,993.6,0.0,287,13467,1.48,0.00,92.05,1.684,6,0.060,0.000,3429,1576,1920,0,0,0,0,0,0,25.29,28.83,23.01
$GC,13847,1.21,113.1,970.9,5.9,301,13867,0.15,2.72,13.27,1.546,4,0.172,0.035,3392,3205,1858,0,0,0,0,0,0,26.00,25.92,23.87
$GC,13947,1.10,128.5,970.9,5.9,301,13968,0.15,2.55,15.50,1.551,6,0.148,0.031,3357,1586,1795,0,0,0,0,0,0,25.71,26.10,23.75
$GC,14310,1.06,150.3,945.0,5.6,305,14336,0.00,2.05,20.73,1.587,4,0.000,0.049,3366,354,1706,0,0,0,0,0,0,28.83,25.68,23.80
$GC,14490,1.02,165.6,937.1,5.9,306,14511,0.15,1.92,15.40,1.550,6,0.158,0.025,3327,1666,1643,0,0,0,0,0,0,25.83,26.24,23.82
$GC,14890,1.02,165.6,899.3,8.0,310,14891,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1666,1640,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,18720,1.08,177.5,596.3,6.3,342,18737,0.00,2.15,8.00,1.285,4,0.000,0.048,3367,354,1595,0,0,0,0,0,0,28.83,26.10,23.97
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$GC,20159,1.16,184.4,480.5,8.5,355,20166,0.00,1.98,0.00,0.000,6,0.000,0.025,3355,1659,1566,0,0,0,0,0,0,28.83,26.43,28.83
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$STATE,25277,end climb,SURFACE_DEPTH_REACHED
$STATE,25277,begin surface coast
$FINISH,1.4,1.013269
$STATE,25298,end surface coast,CONTROL_FINISHED_OK
$STATE,25298,begin surface
$SM_CCo,25326,52.75,0.126,0,0,1096,300.00
$SM_GC,2.24,8.60,2.83,52.75,0.035,0.026,0.126,152,2177,1096,-8.83,-0.48,300.00,0,0,0,0,0,0,26.28,26.29,25.42
$IRIDIUM_FIX,2418.11,-3647.93,040213,161653
$TT8_MAMPS,0.026964,0.026964
$HUMID,62.04
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.40
$XPDR_PINGS,0
$SC_FREEKB,7593600
$TM_FREEKB,4649600
$24V_AH,23.0,78.654
$10V_AH,9.7,69.816
$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,22.825,221.100,262.900,52.750,0.000,25.199,35.674,207.158,0.000,0.000,17.245,2264.999,20239.414,707.100,2147.926,569.325,33.261,1725.207,0.000,1768.254,0.000,0.535,0.000
$DEVICE_MAMPS,189.720,76.500,1686.825,126.225,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.249,13.510,0.000,0.000
$MEM,343764
$DATA_FILE_SIZE,13418,509
$CAP_FILE_SIZE,195064,0
$CFSIZE,260034560,209096704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050213,072734,2431.058,-3748.011,37,0.9,37,-14.0