version: 66.13
glider: 196
mission: 20
dive: 95
start: 10 20 119 5 54 48
data:
$ID,196
$MISSION,20
$DIVE,95
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,400
$D_BOOST,2
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,390
$T_MISSION,540
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,86400
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53734
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041999999
$HD_B,0.0082
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,20
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,-120
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,275
$PITCH_MAX,3850
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3858
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,2029
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,115
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2758
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,1
$UNCOM_BLEED,500
$VBD_MAXERRORS,2
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,2
$LOITER_DBDW,400
$LOITER_D_TOP,400
$LOITER_D_BOTTOM,700
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-161.88326
$PRESSURE_SLOPE,0.00010687162
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,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,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044106129
$SEABIRD_T_H,0.00064144889
$SEABIRD_T_I,2.6068648e-05
$SEABIRD_T_J,3.2054108e-06
$SEABIRD_C_G,-9.965229
$SEABIRD_C_H,1.1036862
$SEABIRD_C_I,-0.0021489244
$SEABIRD_C_J,0.00024241477
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,201019,043532,7526.5366,-14421.0596,0,6255.0,0,23.3,0.0,0.0,0,0.0
$_CALLS,0
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.86
$_SM_ANGLEo,-11.4
$GPS2,201019,043532,7526.5366,-14421.0596,0,6255.0,0,23.3,0.0,0.0,0,0.0
$SPEED_LIMITS,0.147,0.227
$TGT_NAME,9
$TGT_LATLONG,7530.781,-14419.238
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,342.8,7906,-18.2,-8.462,-20.48,1768
$D_GRID,990
$EXEC,1,102,2,8152000.000000,0.000000
$EXEC,2,103,2,11151900.000000,0.000000
$EXEC,3,104,2,6012000.000000,0.000000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
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$MODEM_MSG,CACST,6,1,20191020080551.874565,06,24782,43,0162,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.0,0.29,-100,2.71,-01,0.05,66,925,0025*0A
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$GC,12493,-0.73,-97.3,2476,1945,3249,3065,947.0,-5.5,689,12494,0.00,0.00,0.00,0.000,38,0.000,0.000,2475,1944,3159,3248,3070,0,0,0,0,0,0,14.81,14.83,14.83
$GC,12853,-0.73,-97.3,2475,1943,3249,3066,966.8,-5.4,701,12858,0.00,2.38,0.00,0.000,292,0.000,0.105,2477,3269,3156,3247,3065,0,0,0,0,0,0,14.81,14.57,14.84
$GC,12918,-0.73,-97.3,2476,3270,3249,3065,971.2,-5.6,714,12923,0.00,2.35,0.00,0.000,1062,0.000,0.070,2475,1937,3156,3248,3064,0,0,0,0,0,0,14.66,14.59,14.69
$STATE,13301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13301,begin apogee
$GC,13305,-0.17,0.0,2476,2044,3249,3065,991.2,-5.4,731,13413,0.70,0.00,105.05,2.387,10246,0.236,0.000,2663,2044,2758,2881,2635,0,0,0,0,0,0,14.50,13.85,13.00
$STATE,13414,end apogee,CONTROL_FINISHED_OK
$STATE,13414,begin climb
$GC,13416,0.73,97.3,2663,2044,2880,2635,993.0,0.0,734,13523,1.00,0.00,103.40,2.331,10758,0.146,0.000,2954,2043,2361,2492,2230,0,0,0,0,0,0,13.82,13.44,12.62
$GC,13873,0.73,97.3,2954,2044,2482,2228,947.2,10.6,760,13874,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2044,2350,2481,2220,0,0,0,0,0,0,14.31,14.34,14.33
$GC,14233,0.73,97.3,2954,2044,2480,2220,908.9,10.6,772,14238,0.00,2.58,0.00,0.000,260,0.000,0.111,2953,3447,2349,2480,2219,0,0,0,0,0,0,14.54,14.33,14.57
$GC,14282,0.73,97.3,2953,3448,2480,2219,903.7,12.2,782,14288,0.00,2.38,0.00,0.000,1030,0.000,0.073,2953,2123,2349,2480,2219,0,0,0,0,0,0,14.46,14.37,14.47
$GC,14653,0.73,97.3,2954,2123,2479,2219,863.0,10.8,796,14654,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2123,2348,2478,2218,0,0,0,0,0,0,14.66,14.70,14.70
$GC,15013,0.73,97.3,2954,2122,2479,2218,824.9,10.5,808,15018,0.00,2.42,0.00,0.000,260,0.000,0.108,2954,3439,2347,2478,2217,0,0,0,0,0,0,14.73,14.51,14.76
$GC,15052,0.73,97.3,2954,3439,2479,2218,820.2,11.7,816,15058,0.00,2.35,0.00,0.000,1030,0.000,0.073,2954,2113,2348,2478,2218,0,0,0,0,0,0,14.60,14.54,14.62
$GC,15433,0.73,97.3,2954,2113,2478,2218,780.8,10.4,832,15434,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2113,2347,2478,2217,0,0,0,0,0,0,14.76,14.80,14.79
$GC,15793,0.73,97.3,2954,2114,2478,2217,743.7,10.3,844,15794,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2113,2347,2478,2217,0,0,0,0,0,0,14.78,14.82,14.81
$GC,16153,0.73,97.3,2954,2113,2477,2218,706.8,10.3,856,16158,0.00,2.45,0.00,0.000,260,0.000,0.107,2954,3450,2346,2476,2217,0,0,0,0,0,0,14.80,14.57,14.83
$GC,16207,0.73,97.3,2954,3450,2478,2218,700.6,11.7,867,16215,0.00,2.35,0.00,0.000,1030,0.000,0.073,2954,2117,2347,2477,2217,0,0,0,0,0,0,14.64,14.60,14.70
$GC,16573,0.73,97.3,2954,2118,2478,2218,663.5,10.1,880,16574,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2117,2347,2477,2217,0,0,0,0,0,0,14.81,14.85,14.84
$GC,16933,0.73,97.3,2954,2118,2477,2217,627.5,10.0,892,16934,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2117,2346,2477,2216,0,0,0,0,0,0,14.82,14.85,14.85
$GC,17293,0.73,97.3,2954,2118,2477,2217,591.9,9.9,904,17298,0.00,2.42,0.00,0.000,260,0.000,0.111,2953,3443,2346,2477,2216,0,0,0,0,0,0,14.83,14.59,14.86
$GC,17332,0.73,97.3,2954,3444,2478,2217,587.5,11.1,912,17338,0.00,2.35,0.00,0.000,1030,0.000,0.076,2954,2113,2346,2476,2216,0,0,0,0,0,0,14.69,14.62,14.75
$GC,17713,0.73,97.3,2954,2114,2475,2216,550.3,9.7,928,17714,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2114,2347,2477,2217,0,0,0,0,0,0,14.88,14.92,14.91
$GC,18073,0.73,97.3,2954,2114,2477,2217,515.2,9.7,940,18074,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2114,2346,2476,2217,0,0,0,0,0,0,14.84,14.87,14.86
$GC,18433,0.73,97.3,2954,2114,2477,2217,480.3,9.7,952,18434,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2114,2346,2476,2216,0,0,0,0,0,0,14.80,14.83,14.83
$GC,18793,0.73,97.3,2954,2115,2476,2217,445.3,9.7,964,18798,0.00,2.42,0.00,0.000,260,0.000,0.105,2954,3450,2346,2476,2216,0,0,0,0,0,0,14.80,14.59,14.83
$GC,18842,0.73,97.3,2954,3451,2477,2217,439.9,10.8,974,18848,0.00,2.35,0.00,0.000,1030,0.000,0.076,2954,2117,2349,2483,2216,0,0,0,0,0,0,14.69,14.62,14.72
$GC,19213,0.73,97.3,2954,2117,2477,2217,404.2,9.6,988,19214,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2117,2346,2476,2216,0,0,0,0,0,0,14.88,14.91,14.90
$GC,19573,0.73,97.3,2954,2118,2476,2217,370.3,9.3,1000,19578,0.00,2.38,0.00,0.000,260,0.000,0.103,2954,3450,2346,2476,2216,0,0,0,0,0,0,14.81,14.61,14.83
$GC,19633,0.73,97.3,2954,3451,2477,2216,364.2,10.5,1012,19638,0.00,2.35,0.00,0.000,1030,0.000,0.075,2953,2117,2346,2476,2216,0,0,0,0,0,0,14.68,14.62,14.71
$GC,20023,0.73,97.3,2954,2118,2477,2217,328.9,8.8,1030,20029,0.00,2.55,0.00,0.000,516,0.000,0.116,2954,705,2346,2476,2216,0,0,0,0,0,0,14.78,14.57,14.82
$GC,20083,0.73,97.3,2954,706,2477,2216,323.4,9.0,1042,20089,0.00,2.38,0.00,0.000,1030,0.000,0.086,2954,2041,2345,2476,2215,0,0,0,0,0,0,14.66,14.58,14.70
$GC,20473,0.75,97.3,2954,2041,2476,2216,291.3,7.9,1060,20475,0.00,0.00,0.00,0.000,70,0.000,0.000,2954,2041,2346,2476,2216,0,0,0,0,0,0,14.81,14.84,14.83
$GC,20833,0.78,97.3,2954,2042,2477,2216,265.7,6.5,1072,20835,0.00,0.00,0.00,0.000,70,0.000,0.000,2953,2041,2345,2476,2215,0,0,0,0,0,0,14.81,14.84,14.84
$GC,21193,0.85,151.2,2954,2041,2478,2216,244.9,5.3,1084,21249,0.12,2.53,47.38,1.586,10788,0.150,0.113,3006,704,2139,2266,2012,0,0,0,0,0,0,14.66,14.28,13.68
$GC,21328,0.85,151.2,3006,705,2260,2012,234.4,8.8,1111,21335,0.00,2.42,0.00,0.000,1030,0.000,0.086,3006,2036,2135,2259,2011,0,0,0,0,0,0,14.35,14.28,14.38
$GC,21705,0.87,151.2,3005,2037,2256,2010,204.4,7.7,1126,21710,0.00,2.55,0.00,0.000,324,0.000,0.106,3006,3450,2132,2256,2009,0,0,0,0,0,0,14.66,14.42,14.69
$GC,21749,0.87,151.2,3005,3452,2257,2010,200.5,8.8,1135,21756,0.00,2.40,0.00,0.000,1030,0.000,0.075,3005,2109,2132,2256,2009,0,0,0,0,0,0,14.45,14.38,14.47
$GC,22125,0.90,151.2,3006,2110,2255,2009,173.2,7.1,1150,22131,0.00,2.55,0.00,0.000,580,0.000,0.114,3006,714,2131,2255,2008,0,0,0,0,0,0,14.70,14.45,14.73
$GC,22185,0.93,151.2,3006,714,2254,2006,169.0,6.8,1161,22192,0.00,2.38,0.00,0.000,1094,0.000,0.086,3006,2028,2130,2254,2007,0,0,0,0,0,0,14.47,14.40,14.52
$GC,22550,0.98,188.1,3006,2029,2254,2008,144.9,6.3,1174,22588,0.00,2.62,32.78,1.471,8484,0.000,0.106,3006,3447,1989,2108,1871,0,0,0,0,0,0,14.66,14.15,13.63
$GC,22622,0.98,188.1,3006,3451,2105,1872,139.7,8.3,1183,22629,0.00,2.42,0.00,0.000,1030,0.000,0.076,3006,2118,1987,2104,1871,0,0,0,0,0,0,14.28,14.22,14.31
$GC,23003,1.01,188.1,3006,2119,2098,1870,112.7,6.6,1199,23005,0.12,0.00,0.00,0.000,2118,0.148,0.000,3058,2118,1983,2097,1869,0,0,0,0,0,0,14.35,14.45,14.42
$GC,23363,1.05,188.1,3059,2119,2097,1868,86.6,6.6,1211,23370,0.00,2.60,0.00,0.000,580,0.000,0.116,3060,714,1982,2097,1868,0,0,0,0,0,0,14.54,14.30,14.57
$GC,23449,1.12,240.5,3060,720,2099,1868,81.5,5.4,1228,23516,0.00,2.42,60.00,1.366,9254,0.000,0.087,3060,2041,1776,1875,1678,0,0,0,0,0,0,14.37,14.29,13.47
$GC,23874,1.22,316.8,3060,2041,1868,1681,57.4,4.0,1253,23981,0.15,2.67,101.12,1.300,10532,0.133,0.105,3115,3454,1465,1528,1403,0,0,0,0,0,0,14.28,13.81,13.35
$GC,24166,1.25,316.8,3115,3455,1523,1402,37.5,7.1,1311,24172,0.00,2.40,0.00,0.000,1094,0.000,0.072,3115,2118,1461,1521,1402,0,0,0,0,0,0,14.21,14.12,14.23
$MODEM_MSG,CACST,6,1,20191020120554.153797,06,32767,45,0101,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.1,0.41,-100,2.59,-01,-0.04,66,925,0025*2F
$MODEM_MSG,CACST,6,1,20191020121536.810909,06,32767,45,0107,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.5,0.48,-100,2.52,-01,0.00,67,925,0025*0A
$MODEM_MSG,CACST,6,1,20191020122031.589369,06,32767,45,0107,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.8,0.44,-100,2.56,-01,0.06,67,925,0025*02
$MODEM_MSG,CACST,6,1,20191020123118.257262,06,138,21,0143,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-29.9,0.29,-100,2.71,-01,-0.10,65,925,0025*22
$MODEM_MSG,CACST,6,1,20191020123532.528222,06,32767,45,0150,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.2,0.39,-100,2.61,-01,-0.03,66,925,0025*20
$GC,24537,1.39,425.1,3115,2119,1520,1400,22.6,2.2,1341,24695,0.15,2.78,151.12,1.242,10788,0.129,0.116,3178,702,1022,1024,1020,0,0,0,0,0,0,14.34,13.78,13.33
$FREEZE,9.70,-1.461,-1.464,2,10,0
$STATE,24763,end climb,FINISH_DEPTH_REACHED
$STATE,24763,begin subsurface finish
$FINISH1,9.7,1.021497,307
$GC,24769,0.40,307.3,3178,2045,1022,1020,9.7,8.8,1384,24791,1.23,2.60,-16.60,0.008,20996,0.210,0.138,2846,708,1507,1466,1548,0,0,0,0,0,0,13.90,13.14,14.01
$FINISH2,8.9
$STATE,24791,end subsurface finish,CONTROL_FINISHED_OK
$STATE,24791,begin surface
$RAFOS_CLK,79
$MODEM,6,1571574932,75.33060,-142.67570,32.528,47290.3
$MODEM,5,1571574678,76.41295,-142.47470,78.257,113772.4
$MODEM,3,1571574031,75.26195,-145.59448,31.589,45925.4
$MODEM,2,1571573736,75.67648,-146.03058,36.811,53516.6
$MODEM,0,1571573154,74.83892,-145.28152,54.154,78730.1
$MODEM,6,1571560531,75.33060,-142.67570,31.950,46449.7
$MODEM,3,1571559629,75.26195,-145.59448,29.968,43568.4
$MODEM,2,1571559336,75.67648,-146.03058,36.773,53461.5
$MODEM,1,1571559033,75.02295,-144.31340,33.970,49386.6
$MODEM,0,1571558751,74.83892,-145.28152,51.875,75416.5
$RAFOS_FIX,7529.047852,-14415.026367,201019,121232,5,255,0.19
$IRIDIUM_FIX,7505.52,-14459.79,171019,151312
$TT8_MAMPS,0.038199,0.471121
$HUMID,51.06
$INTERNAL_PRESSURE,8.79988
$TCM_TEMP,13.40
$XPDR_PINGS,183
$SC_FREEKB,3819744
$24V_AH,12.62,50.944
$10V_AH,12.89,0.000
$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,4.700,155.525,600.850,0.000,0.000,0.000,0.000,0.000,45.750,0.000,0.000,0.000,21147.184,823.638,2805.786,105.902,0.000,1907.694,0.000,2100.189,4412.000,0.531,0.000
$DEVICE_MAMPS,236.385,137.700,2386.800,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,9.320,27.300,37.790,0.000,10.900,0.000,6.740,33.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24804.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.186,0.000,0.000,0.000
$MEM,334868
$DATA_FILE_SIZE,46604,1388
$CAP_FILE_SIZE,163204,0
$CFSIZE,1047117824,1029881856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.0
$GPS,201019,123532,7529.048,-14415.026,0,6255.0,0,23.3,0.0,0.0,0,0.0