version: 66.11
glider: 190
mission: 6
dive: 12
start: 9 18 112 9 47 30
data:
$ID,190
$MISSION,6
$DIVE,12
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,2
$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,410
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55694
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-12043.608
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3920
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3240
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-57.210079
$PRESSURE_SLOPE,0.0001167181
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043554804
$SEABIRD_T_H,0.00062589208
$SEABIRD_T_I,2.3694633e-05
$SEABIRD_T_J,2.5872548e-06
$SEABIRD_C_G,-9.7973194
$SEABIRD_C_H,1.1276957
$SEABIRD_C_I,-0.00090238411
$SEABIRD_C_J,0.00014727951
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,180912,093328,2456.646,-3801.559,39,0.9,39,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-68.9
$GPS2,180912,094702,2456.653,-3801.496,15,0.9,16,-13.9
$SPEED_LIMITS,0.139,0.226
$TGT_NAME,midN
$TGT_LATLONG,2512.000,-3802.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,3.1,28435,-15.4,-8.049,-19.59
$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,20,-0.75,-126.5,0.0,0.0,0,54,0.00,0.00,-32.33,0.000,2,0.000,0.000,142,1813,2618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57,-0.75,-126.5,2.3,-5.5,3,115,12.57,1.95,-38.78,0.000,4,0.436,0.135,2638,731,3760,0,0,0,0,0,0,14.50,14.66,14.88
$GC,276,-0.67,-126.5,30.1,-17.4,24,283,0.15,1.80,0.00,0.000,6,0.291,0.063,2666,1797,3760,0,0,0,0,0,0,14.65,14.76,28.83
$GC,583,-0.66,-126.5,73.0,-13.0,55,588,0.00,1.80,0.00,0.000,4,0.000,0.085,2658,2861,3762,0,0,0,0,0,0,28.83,14.77,28.83
$GC,615,-0.65,-126.5,76.8,-12.3,58,620,0.00,1.80,0.00,0.000,6,0.000,0.084,2658,1799,3762,0,0,0,0,0,0,28.83,14.81,28.83
$GC,927,-0.63,-126.5,112.7,-10.7,89,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1801,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1227,-0.63,-126.5,145.9,-10.5,119,1232,0.00,1.88,0.00,0.000,4,0.000,0.108,2658,734,3763,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1333,-0.61,-126.5,158.8,-12.7,129,1341,0.12,1.77,0.00,0.000,6,0.270,0.067,2688,1798,3763,0,0,0,0,0,0,14.78,14.85,28.83
$GC,1641,-0.63,-126.5,188.4,-8.4,160,1646,0.00,1.80,0.00,0.000,4,0.000,0.088,2688,2863,3762,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1784,-0.66,-126.5,199.4,-7.4,174,1790,0.00,1.80,0.00,0.000,6,0.000,0.085,2687,1797,3762,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2098,-0.68,-126.5,222.9,-7.5,205,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1797,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2397,-0.71,-126.5,243.8,-6.3,235,2402,0.00,1.88,0.00,0.000,4,0.000,0.111,2689,733,3761,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2494,-0.72,-126.5,250.1,-6.9,244,2499,0.00,1.80,0.00,0.000,6,0.000,0.068,2688,1808,3760,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2828,-0.75,-126.5,271.0,-6.4,255,2833,0.12,1.75,0.00,0.000,4,0.148,0.086,2629,2858,3759,0,0,0,0,0,0,14.97,14.94,28.83
$GC,2875,-0.77,-126.5,273.9,-7.0,256,2880,0.00,1.83,0.00,0.000,6,0.000,0.088,2629,1791,3758,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3193,-0.76,-126.5,311.4,-12.0,267,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1791,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3492,-0.75,-126.5,346.8,-11.5,277,3497,0.00,1.85,0.00,0.000,4,0.000,0.112,2629,739,3756,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3558,-0.73,-126.5,354.3,-11.5,279,3563,0.00,1.77,0.00,0.000,6,0.000,0.070,2626,1802,3756,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3886,-0.71,-126.5,393.2,-12.1,290,3892,0.12,1.77,0.00,0.000,4,0.275,0.089,2654,2867,3754,0,0,0,0,0,0,14.92,14.98,28.83
$GC,3933,-0.71,-126.5,396.9,-11.9,291,3938,0.00,1.83,0.00,0.000,6,0.000,0.089,2654,1791,3754,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4249,-0.71,-126.5,431.4,-10.2,302,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1791,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4550,-0.71,-126.5,459.4,-9.3,312,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1791,3750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4850,-0.72,-126.5,486.9,-9.1,322,4855,0.00,1.85,0.00,0.000,4,0.000,0.115,2654,741,3749,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4925,-0.72,-126.5,493.1,-9.6,324,4931,0.00,1.77,0.00,0.000,6,0.000,0.073,2653,1801,3748,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5243,-0.74,-126.5,523.8,-9.0,335,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1801,3746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5543,-0.75,-126.5,550.2,-8.7,345,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1801,3746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5842,-0.76,-126.5,577.1,-9.1,355,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1801,3743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6143,-0.78,-126.5,602.9,-8.3,365,6148,0.00,1.77,0.00,0.000,4,0.000,0.095,2652,2858,3742,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6199,-0.80,-126.5,605.4,-8.1,366,6206,0.00,1.80,0.00,0.000,6,0.000,0.093,2652,1797,3742,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6506,-0.81,-126.5,630.3,-7.4,377,6511,0.00,1.85,0.00,0.000,4,0.000,0.120,2651,742,3740,0,0,0,0,0,0,28.83,14.98,28.83
$GC,6588,-0.82,-126.5,635.7,-8.0,379,6593,0.00,1.77,0.00,0.000,6,0.000,0.077,2650,1799,3740,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6900,-0.84,-126.5,663.1,-8.2,390,6905,0.00,1.80,0.00,0.000,4,0.000,0.100,2648,2865,3738,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6946,-0.86,-126.5,665.7,-8.1,391,6953,0.12,1.85,0.00,0.000,6,0.149,0.096,2597,1795,3737,0,0,0,0,0,0,15.02,14.97,28.83
$GC,7266,-0.84,-126.5,701.7,-11.2,402,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1794,3737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7565,-0.82,-126.5,735.6,-11.5,412,7570,0.00,1.88,0.00,0.000,4,0.000,0.123,2597,734,3735,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7597,-0.79,-126.5,739.7,-11.9,413,7603,0.15,1.80,0.00,0.000,6,0.279,0.082,2629,1796,3735,0,0,0,0,0,0,14.90,14.99,28.83
$GC,7931,-0.79,-126.5,774.5,-10.2,424,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1797,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8230,-0.79,-126.5,804.3,-9.8,434,8235,0.00,1.83,0.00,0.000,4,0.000,0.103,2622,2861,3731,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8265,-0.79,-126.5,807.3,-9.7,435,8270,0.00,1.85,0.00,0.000,6,0.000,0.099,2622,1798,3731,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8593,-0.79,-126.5,839.8,-9.8,446,8598,0.00,1.88,0.00,0.000,4,0.000,0.125,2622,740,3730,0,0,0,0,0,0,28.83,14.96,28.83
$GC,8663,-0.79,-126.5,846.3,-9.9,448,8669,0.00,1.83,0.00,0.000,6,0.000,0.083,2619,1812,3730,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8986,-0.79,-126.5,878.4,-9.2,459,8991,0.00,1.80,0.00,0.000,4,0.000,0.104,2618,2857,3729,0,0,0,0,0,0,28.83,14.96,28.83
$GC,9051,-0.79,-126.5,883.9,-9.0,461,9057,0.00,1.88,0.00,0.000,6,0.000,0.100,2618,1800,3729,0,0,0,0,0,0,28.83,14.95,28.83
$GC,9380,-0.79,-126.5,913.6,-8.9,472,9381,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1799,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9679,-0.79,-126.5,940.8,-9.1,482,9680,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1800,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9979,-0.79,-126.5,966.5,-8.4,492,9984,0.00,1.88,0.00,0.000,4,0.000,0.125,2619,737,3725,0,0,0,0,0,0,28.83,14.95,28.83
$GC,10015,-0.79,-126.5,969.3,-8.4,493,10021,0.00,1.83,0.00,0.000,6,0.000,0.084,2618,1806,3725,0,0,0,0,0,0,28.83,14.97,28.83
$STATE,10282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10282,begin apogee
$GC,10286,-0.19,0.0,992.1,-8.3,502,10408,0.68,0.00,116.12,2.128,6,0.228,0.000,2816,1496,3236,0,0,0,0,0,0,14.88,28.83,13.47
$STATE,10410,end apogee,CONTROL_FINISHED_OK
$STATE,10410,begin climb
$GC,10411,0.75,126.5,995.0,0.0,506,10544,0.98,2.10,122.12,2.060,4,0.138,0.148,3130,447,2716,0,0,0,0,0,0,14.15,14.00,13.40
$GC,10770,0.78,193.4,987.5,5.2,518,10840,0.00,1.88,65.10,2.081,6,0.000,0.083,3131,1510,2449,0,0,0,0,0,0,28.83,14.61,13.50
$GC,11158,0.78,215.6,959.8,7.1,531,11188,0.00,2.10,21.20,2.036,4,0.000,0.149,3139,447,2352,0,0,0,0,0,0,28.83,14.42,13.83
$GC,11245,0.77,234.9,955.1,7.2,533,11269,0.00,1.88,19.33,1.991,6,0.000,0.083,3138,1507,2282,0,0,0,0,0,0,28.83,14.56,13.73
$GC,11582,0.75,237.3,926.5,7.9,545,11583,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1507,2267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11882,0.73,237.3,901.3,8.8,555,11883,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1507,2265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12182,0.70,237.3,873.6,9.2,565,12183,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1507,2264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12482,0.68,237.3,844.3,9.8,575,12487,0.00,1.85,0.00,0.000,4,0.000,0.106,3139,2558,2264,0,0,0,0,0,0,28.83,14.87,28.83
$GC,12589,0.65,237.3,834.8,10.1,578,12595,0.17,1.90,0.00,0.000,6,0.297,0.122,3106,1504,2263,0,0,0,0,0,0,14.78,14.85,28.83
$GC,12907,0.66,242.4,807.5,7.8,589,12913,0.00,1.98,1.45,0.195,4,0.000,0.147,3110,441,2248,0,0,0,0,0,0,28.83,14.85,14.85
$GC,12944,0.66,249.3,804.8,7.8,590,12965,0.00,1.83,14.45,1.979,6,0.000,0.084,3110,1504,2218,0,0,0,0,0,0,28.83,14.90,14.16
$GC,13272,0.66,249.3,777.1,8.5,601,13273,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1504,2208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13571,0.66,249.3,751.5,8.4,611,13576,0.00,1.88,0.00,0.000,4,0.000,0.108,3111,2563,2208,0,0,0,0,0,0,28.83,14.85,28.83
$GC,13677,0.66,249.3,743.8,8.5,614,13683,0.00,1.92,0.00,0.000,6,0.000,0.122,3118,1497,2208,0,0,0,0,0,0,28.83,14.83,28.83
$GC,13996,0.67,251.8,717.0,7.9,625,14001,0.00,1.95,0.00,0.000,4,0.000,0.148,3125,437,2208,0,0,0,0,0,0,28.83,14.85,28.83
$GC,14037,0.67,252.3,714.4,8.0,626,14042,0.00,1.83,0.00,0.000,6,0.000,0.084,3125,1506,2208,0,0,0,0,0,0,28.83,14.89,28.83
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$GC,15419,0.67,276.5,601.4,7.0,672,15454,0.00,1.90,27.50,1.787,4,0.000,0.103,3106,2551,2103,0,0,0,0,0,0,28.83,14.66,14.08
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$GC,18369,0.70,302.6,316.5,10.6,770,18374,0.00,1.80,0.00,0.000,4,0.000,0.089,3130,2561,1987,0,0,0,0,0,0,28.83,14.92,28.83
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$GC,18732,0.70,302.6,277.0,10.8,782,18733,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1491,1988,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21629,end climb,SURFACE_DEPTH_REACHED
$STATE,21630,begin surface coast
$FINISH,0.4,1.024548
$STATE,21651,end surface coast,CONTROL_FINISHED_OK
$STATE,21651,begin surface
$SM_CCo,21669,3.38,0.144,0,0,1810,350.04
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$IRIDIUM_FIX,2441.81,-3759.16,180912,030306
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.31
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.60
$XPDR_PINGS,0
$SC_FREEKB,7765408
$TM_FREEKB,7820608
$24V_AH,13.4,9.907
$10V_AH,13.7,0.000
$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,24.325,127.325,447.900,3.375,0.000,0.000,0.000,513.275,0.000,0.000,17.738,3292.589,15363.145,569.059,3097.639,160.749,0.000,2348.096,0.000,2307.503,0.000,0.541,0.000
$DEVICE_MAMPS,436.050,149.175,2128.230,143.820,0.000,0.000,0.000,195.840,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.046,13.139,0.000,0.000
$MEM,345164
$DATA_FILE_SIZE,36681,1053
$CAP_FILE_SIZE,237590,0
$CFSIZE,260034560,254345216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.141, 19.2,1
$GPS,180912,155000,2501.106,-3801.559,37,0.8,37,-13.9