version: 66.13
glider: 198
mission: 13
dive: 20
start: 9 23 118 18 45 36
data:
$ID,198
$MISSION,13
$DIVE,20
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,4
$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,330
$T_MISSION,400
$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,0.1
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53670
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21
$TGT_DEFAULT_LON,-158.3
$TGT_AUTO_DEFAULT,0
$SM_CC,653.96979
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3980
$C_PITCH,2400
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041975998
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,35
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,175
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,20
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,160
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3166
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10.5
$MINV_10V,10.5
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-160.32826
$PRESSURE_SLOPE,0.00010704
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,883
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,1123
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044050296
$SEABIRD_T_H,0.00064172043
$SEABIRD_T_I,2.6501684e-05
$SEABIRD_T_J,3.2658481e-06
$SEABIRD_C_G,-9.7956734
$SEABIRD_C_H,1.1257488
$SEABIRD_C_I,-0.0015621729
$SEABIRD_C_J,0.00020328934
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,230918,183602,7428.9009,-14624.6670,37,0.9,37,22.5,0.0,0.0,8,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-64.3
$GPS2,230918,184502,7428.9038,-14624.7666,7,0.8,10,22.5,0.0,197.0,9,9.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,AB3
$TGT_LATLONG,7452.500,-14519.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,24.1,54035,-18.3,-10.000,-21.02,2236
$D_GRID,990
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,9,-0.96,-146.0,224,2237,419,569,0.0,0.0,0,134,0.00,0.00,-122.57,0.004,16386,0.000,0.000,223,2237,2270,2276,2265,0,0,0,0,0,0,14.23,28.83,14.26
$PING,11.9,14.0,9000.0,0.00,0.00
$GC,135,-0.96,-146.0,224,2237,2278,2266,5.0,-8.8,12,186,10.62,2.45,-33.88,0.006,18948,0.478,0.122,2165,851,3764,3757,3771,0,0,0,0,0,0,13.93,13.36,14.16
$PING,22.8,24.5,9000.0,0.00,0.00
$GC,410,-0.96,-146.0,2166,851,3758,3771,70.4,-18.4,66,416,0.00,2.58,0.00,0.000,1030,0.000,0.126,2163,2246,3764,3757,3771,0,0,0,0,0,0,14.17,14.12,14.22
$GC,600,-0.96,-146.0,2164,2246,3758,3771,101.2,-15.2,86,606,0.00,2.47,0.00,0.000,516,0.000,0.116,2163,859,3764,3757,3771,0,0,0,0,0,0,14.40,14.19,14.43
$GC,665,-0.96,-146.0,2163,859,3758,3771,110.9,-14.7,99,672,0.00,2.58,0.00,0.000,1030,0.000,0.123,2162,2257,3764,3757,3771,0,0,0,0,0,0,14.26,14.16,14.28
$GC,850,-0.96,-146.0,2164,2258,3758,3771,136.6,-13.4,118,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2257,3764,3757,3771,0,0,0,0,0,0,14.45,14.48,14.47
$GC,1030,-0.96,-146.0,2168,2258,3758,3772,159.9,-12.7,136,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2257,3763,3757,3770,0,0,0,0,0,0,14.49,14.52,14.51
$GC,1210,-0.96,-146.0,2163,2258,3758,3772,182.3,-12.3,154,1217,0.00,2.53,0.00,0.000,516,0.000,0.116,2163,853,3764,3757,3771,0,0,0,0,0,0,14.51,14.28,14.54
$GC,1256,-0.96,-146.0,2163,854,3758,3771,188.2,-12.6,163,1263,0.00,2.55,0.00,0.000,1030,0.000,0.123,2163,2249,3763,3756,3771,0,0,0,0,0,0,14.37,14.29,14.40
$GC,1441,-0.96,-146.0,2163,2250,3757,3772,210.2,-11.7,182,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2249,3764,3757,3771,0,0,0,0,0,0,14.53,14.56,14.56
$GC,1621,-0.96,-146.0,2163,2250,3758,3771,231.1,-11.5,200,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2250,3764,3757,3771,0,0,0,0,0,0,14.54,14.58,14.57
$GC,1801,-0.96,-146.0,2163,2250,3758,3771,250.8,-10.8,218,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2250,3763,3756,3771,0,0,0,0,0,0,14.56,14.59,14.59
$GC,2102,-0.96,-146.0,2163,2250,3758,3771,281.7,-9.8,228,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2250,3763,3757,3770,0,0,0,0,0,0,14.57,14.59,14.59
$GC,2401,-0.96,-146.0,2163,2251,3758,3771,309.6,-9.1,238,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2250,3764,3757,3771,0,0,0,0,0,0,14.64,14.67,14.67
$GC,2702,-0.96,-146.0,2163,2250,3758,3771,336.5,-8.9,248,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2250,3764,3757,3771,0,0,0,0,0,0,14.62,14.65,14.65
$GC,3001,-0.96,-146.0,2163,2250,3758,3771,362.3,-8.5,258,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2250,3764,3757,3771,0,0,0,0,0,0,14.69,14.72,14.71
$GC,3302,-0.96,-146.0,2163,2250,3758,3777,387.8,-8.4,268,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2250,3764,3757,3771,0,0,0,0,0,0,14.66,14.69,14.69
$GC,3602,-0.96,-146.0,2163,2250,3758,3771,412.6,-8.2,278,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2250,3764,3757,3771,0,0,0,0,0,0,14.66,14.70,14.69
$GC,3902,-0.96,-146.0,2163,2250,3758,3772,437.2,-8.1,288,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2250,3763,3757,3770,0,0,0,0,0,0,14.68,14.71,14.71
$GC,4202,-0.96,-146.0,2163,2250,3758,3772,461.1,-8.0,298,4207,0.00,2.60,0.00,0.000,292,0.000,0.164,2157,3663,3765,3759,3771,0,0,0,0,0,0,14.68,14.50,14.71
$GC,4231,-0.96,-146.0,2159,3663,3757,3772,463.6,-8.3,304,4237,0.00,2.35,0.00,0.000,1030,0.000,0.067,2157,2259,3764,3757,3771,0,0,0,0,0,0,14.59,14.54,14.62
$GC,4561,-0.96,-146.0,2157,2259,3758,3771,490.5,-8.2,320,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2259,3764,3757,3771,0,0,0,0,0,0,14.68,14.71,14.71
$GC,4861,-0.96,-146.0,2158,2259,3758,3771,515.2,-8.2,330,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2259,3764,3757,3771,0,0,0,0,0,0,14.64,14.68,14.67
$GC,5161,-0.96,-146.0,2157,2261,3758,3771,539.9,-8.2,340,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2259,3763,3756,3771,0,0,0,0,0,0,14.62,14.66,14.65
$GC,5461,-0.96,-146.0,2158,2259,3758,3772,564.4,-8.1,350,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2259,3764,3757,3771,0,0,0,0,0,0,14.60,14.64,14.64
$GC,5761,-0.96,-146.0,2157,2260,3755,3772,588.7,-8.1,360,5762,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2259,3764,3757,3771,0,0,0,0,0,0,14.59,14.62,14.62
$GC,6061,-0.96,-146.0,2157,2259,3758,3772,613.1,-8.1,370,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2259,3764,3757,3771,0,0,0,0,0,0,14.59,14.62,14.59
$GC,6361,-0.96,-146.0,2158,2259,3758,3772,637.2,-8.0,380,6362,0.00,0.00,0.00,0.000,38,0.000,0.000,2157,2259,3764,3757,3771,0,0,0,0,0,0,14.58,14.61,14.61
$GC,6662,-0.96,-146.0,2157,2259,3758,3772,660.9,-7.9,390,6663,0.00,0.00,0.00,0.000,38,0.000,0.000,2157,2260,3764,3757,3771,0,0,0,0,0,0,14.59,14.62,14.61
$GC,6961,-0.96,-146.0,2158,2259,3758,3771,684.4,-7.8,400,6962,0.00,0.00,0.00,0.000,38,0.000,0.000,2157,2259,3764,3757,3771,0,0,0,0,0,0,14.65,14.68,14.68
$GC,7261,-0.96,-146.0,2158,2259,3759,3771,707.5,-7.7,410,7262,0.00,0.00,0.00,0.000,38,0.000,0.000,2157,2259,3764,3757,3772,0,0,0,0,0,0,14.67,14.71,14.71
$GC,7561,-0.96,-146.0,2158,2260,3759,3771,730.7,-7.7,420,7562,0.00,0.00,0.00,0.000,38,0.000,0.000,2157,2259,3764,3758,3771,0,0,0,0,0,0,14.71,14.73,14.73
$GC,7861,-0.96,-146.0,2157,2260,3759,3772,753.9,-7.8,430,7862,0.00,0.00,0.00,0.000,38,0.000,0.000,2157,2259,3764,3757,3771,0,0,0,0,0,0,14.73,14.76,14.75
$GC,8162,-0.96,-146.0,2157,2259,3759,3772,777.2,-7.7,440,8162,0.00,0.00,0.00,0.000,38,0.000,0.000,2157,2259,3764,3757,3771,0,0,0,0,0,0,14.73,14.76,14.76
$GC,8461,-0.96,-146.0,2158,2259,3759,3772,800.5,-7.7,450,8462,0.00,0.00,0.00,0.000,38,0.000,0.000,2157,2259,3764,3758,3771,0,0,0,0,0,0,14.75,14.78,14.78
$GC,8761,-0.96,-146.0,2157,2259,3759,3772,823.6,-7.7,460,8762,0.00,0.00,0.00,0.000,38,0.000,0.000,2157,2259,3764,3758,3771,0,0,0,0,0,0,14.76,14.79,14.78
$GC,9062,-0.96,-146.0,2158,2259,3759,3772,846.4,-7.6,470,9063,0.00,0.00,0.00,0.000,38,0.000,0.000,2157,2258,3764,3758,3771,0,0,0,0,0,0,14.76,14.80,14.79
$GC,9361,-0.96,-146.0,2157,2259,3759,3771,869.1,-7.6,480,9362,0.00,0.00,0.00,0.000,38,0.000,0.000,2157,2258,3764,3758,3771,0,0,0,0,0,0,14.77,14.80,14.80
$GC,9661,-0.96,-146.0,2158,2259,3759,3771,891.9,-7.6,490,9662,0.00,0.00,0.00,0.000,38,0.000,0.000,2157,2259,3764,3758,3771,0,0,0,0,0,0,14.78,14.81,14.81
$GC,9961,-0.96,-146.0,2158,2258,3759,3772,914.9,-7.7,500,9962,0.00,0.00,0.00,0.000,38,0.000,0.000,2157,2258,3764,3758,3771,0,0,0,0,0,0,14.78,14.81,14.80
$GC,10261,-0.96,-146.0,2157,2259,3759,3772,937.9,-7.7,510,10262,0.00,0.00,0.00,0.000,38,0.000,0.000,2157,2258,3764,3758,3771,0,0,0,0,0,0,14.78,14.81,14.81
$GC,10562,-0.96,-146.0,2158,2259,3759,3772,960.7,-7.6,520,10562,0.00,0.00,0.00,0.000,38,0.000,0.000,2157,2258,3764,3758,3771,0,0,0,0,0,0,14.78,14.81,14.81
$GC,10861,-0.96,-146.0,2158,2258,3759,3771,983.3,-7.5,530,10862,0.00,0.00,0.00,0.000,38,0.000,0.000,2153,2258,3767,3758,3777,0,0,0,0,0,0,14.79,14.82,14.82
$STATE,10951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10951,begin apogee
$GC,10954,-0.25,0.0,2158,2409,3759,3772,990.1,-7.5,533,11091,0.65,0.00,134.95,2.404,10246,0.223,0.000,2343,2409,3167,3027,3307,0,0,0,0,0,0,14.53,13.52,12.72
$STATE,11092,end apogee,CONTROL_FINISHED_OK
$STATE,11092,begin climb
$GC,11093,0.96,146.0,2343,2409,3026,3308,993.8,0.0,537,11244,0.98,2.70,142.12,2.332,10756,0.146,0.106,2636,992,2568,2371,2766,0,0,0,0,0,0,13.50,13.33,12.57
$GC,11293,0.98,146.0,2636,993,2364,2765,985.7,8.6,575,11299,0.00,2.67,0.00,0.000,1094,0.000,0.106,2636,2400,2563,2362,2765,0,0,0,0,0,0,13.66,13.59,13.69
$GC,11619,1.00,146.0,2637,2400,2356,2765,956.6,9.0,590,11625,0.00,2.72,0.00,0.000,324,0.000,0.171,2634,3799,2559,2355,2764,0,0,0,0,0,0,14.23,14.00,14.26
$GC,11709,1.00,146.0,2637,3799,2355,2765,947.2,10.4,608,11715,0.00,2.47,0.00,0.000,1030,0.000,0.081,2642,2369,2559,2355,2764,0,0,0,0,0,0,14.18,14.09,14.20
$GC,12040,1.02,146.0,2642,2369,2353,2765,917.0,9.0,624,12045,0.00,2.72,0.00,0.000,324,0.000,0.163,2642,3802,2559,2353,2765,0,0,0,0,0,0,14.40,14.19,14.43
$GC,12140,1.02,146.0,2642,3802,2353,2768,906.5,10.6,644,12145,0.00,2.40,0.00,0.000,1030,0.000,0.073,2650,2388,2559,2353,2765,0,0,0,0,0,0,14.35,14.26,14.37
$GC,12459,1.04,146.0,2651,2390,2352,2765,877.0,9.2,658,12466,0.00,2.72,0.00,0.000,324,0.000,0.170,2650,3797,2558,2352,2765,0,0,0,0,0,0,14.54,14.29,14.56
$GC,12565,1.04,146.0,2651,3797,2354,2765,865.8,10.8,679,12571,0.00,2.40,0.00,0.000,1030,0.000,0.072,2662,2393,2558,2351,2765,0,0,0,0,0,0,14.41,14.35,14.43
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$PING,94.7,100.7,100.7,1.05,1.00
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$PING,74.0,79.3,78.9,1.03,1.00
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$PING,63.9,67.6,68.1,1.04,1.00
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$PING,53.5,56.6,56.4,1.11,1.00
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$STATE,22120,end climb,SURFACE_DEPTH_REACHED
$STATE,22120,begin surface coast
$FINISH,0.0,1.013453
$STATE,22150,end surface coast,CONTROL_FINISHED_OK
$STATE,22150,begin surface
$SM_CCo,22223,0.00,0.000,0,0,495,654.95
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$RAFOS_CLK,180
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$RAFOS_FIX,7430.983887,-14627.671875,240918,000046,1,2,0.21
$IRIDIUM_FIX,7428.95,-14620.83,230918,121231
$TT8_MAMPS,0.039697,0.59171
$HUMID,52.16
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,13.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,11.9,12.5
$SC_FREEKB,4006432
$24V_AH,12.57,10.459
$10V_AH,13.00,0.000
$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,20.375,156.825,683.075,0.000,0.000,0.000,0.000,392.225,44.750,0.000,18.725,0.000,17999.740,970.944,3636.695,152.375,0.000,2598.944,0.000,2253.218,4349.000,317.458,0.000
$DEVICE_MAMPS,478.125,171.360,2403.630,0.000,0.000,0.000,0.000,208.080,420.000,0.000,18.720,0.000,2.310,10.720,28.700,35.440,0.000,11.000,0.000,6.740,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22184.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.322,0.000,0.000,0.000
$MEM,326088
$DATA_FILE_SIZE,53266,1579
$CAP_FILE_SIZE,211120,0
$CFSIZE,260157440,255909888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1453.2
$CURRENT,0.056,323.51,1
$GPS,240918,005702,7431.709,-14619.019,28,0.7,28,22.6,0.0,0.0,11,7.3