version: 66.13
glider: 221
mission: 7
dive: 692
start: 12 17 118 20 24 43
data:
$ID,221
$MISSION,7
$DIVE,692
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,110
$T_BOOST,0
$D_FINISH,280
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,25
$SURFACE_URGENCY_TRY,25
$SURFACE_URGENCY_FORCE,50
$T_DIVE,350
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,20
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53510
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0042300001
$HD_B,0.0085000005
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,399.91037
$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,4
$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,200
$PITCH_MAX,3910
$C_PITCH,2775
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,230
$ROLL_MAX,3910
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,1900
$VBD_MAX,3960
$C_VBD,3492
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,200
$VBD_MAXERRORS,5
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,1
$LOITER_DBDW,200
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$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,-160.68855
$PRESSURE_SLOPE,0.000108275
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,883
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,7
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,6
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.80000001
$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,64
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044198656
$SEABIRD_T_H,0.00064431952
$SEABIRD_T_I,2.6320724e-05
$SEABIRD_T_J,3.2746798e-06
$SEABIRD_C_G,-9.9022408
$SEABIRD_C_H,1.1403944
$SEABIRD_C_I,-0.0013212307
$SEABIRD_C_J,0.00017705678
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,171218,181632,-7430.6108,-11234.2266,0,4116.7,0,53.4,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,335.26
$_SM_ANGLEo,4.1
$GPS2,171218,181632,-7430.6108,-11234.2266,0,4116.7,0,53.4,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,inside1
$TGT_LATLONG,-7430.000,-11312.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,220.0,18729,-19.3,-9.429,-21.50,1737
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,13,-1.01,-107.1,2795,2807,3517,3511,0.0,0.0,0,16,0.00,0.00,-1.88,0.048,16390,0.000,0.000,2793,2806,3938,3931,3945,0,0,0,0,0,0,14.83,12.71,14.73
$GC,19,-1.01,-107.1,2795,2807,3940,3954,0.0,0.0,0,25,1.12,1.98,0.00,0.000,4356,0.145,0.087,2450,3902,3948,3941,3956,0,0,0,0,0,0,14.12,14.17,14.26
$GC,124,-1.01,-107.1,2450,3903,3951,3962,342.8,-8.4,20,129,0.00,1.88,0.00,0.000,1030,0.000,0.047,2450,2803,3956,3951,3961,0,0,0,0,0,0,14.38,14.28,14.42
$PING,348.1,18.3,9000.0,0.00,0.00
$PING,354.8,25.0,9000.0,0.00,0.00
$PING,367.8,38.5,38.5,1.03,1.00
$GC,434,-1.01,-107.1,2450,2804,3954,3967,369.5,-8.7,52,440,0.00,2.47,0.00,0.000,516,0.000,0.047,2450,1385,3960,3954,3966,0,0,0,0,0,0,14.88,14.38,14.89
$GC,495,-1.01,-107.1,2451,1386,3955,3967,374.9,-8.9,64,500,0.00,2.55,0.00,0.000,1030,0.000,0.064,2449,2812,3960,3954,3966,0,0,0,0,0,0,14.46,14.32,14.51
$PING,392.4,64.2,64.2,1.04,1.00
$PING,399.0,71.1,71.1,1.04,1.00
$GC,806,-1.01,-107.1,2450,2813,3956,3967,401.5,-7.9,96,811,0.00,2.00,0.00,0.000,260,0.000,0.088,2451,3916,3960,3955,3966,0,0,0,0,0,0,14.90,14.24,14.90
$GC,872,-1.01,-107.1,2450,3916,3956,3966,407.1,-8.8,109,879,0.00,1.90,0.00,0.000,1030,0.000,0.047,2450,2793,3960,3955,3966,0,0,0,0,0,0,14.54,14.47,14.57
$GC,1177,-1.01,-107.1,2450,2793,3956,3967,433.1,-8.6,140,1182,0.00,2.42,0.00,0.000,516,0.000,0.047,2450,1395,3961,3956,3966,0,0,0,0,0,0,14.92,14.28,14.92
$GC,1233,-1.01,-107.1,2450,1396,3956,3967,437.9,-8.6,151,1239,0.00,2.53,0.00,0.000,1030,0.000,0.065,2453,2802,3961,3956,3966,0,0,0,0,0,0,14.45,14.34,14.50
$GC,1539,-1.01,-107.1,2450,2802,3957,3967,463.2,-8.2,182,1544,0.00,2.03,0.00,0.000,260,0.000,0.087,2446,3908,3961,3956,3967,0,0,0,0,0,0,14.77,14.23,14.77
$GC,1570,-1.01,-107.1,2447,3910,3957,3967,466.1,-8.9,188,1575,0.00,1.90,0.00,0.000,1030,0.000,0.047,2446,2787,3961,3956,3966,0,0,0,0,0,0,14.54,14.47,14.57
$GC,1881,-1.01,-107.1,2447,2788,3957,3967,490.9,-7.9,220,1886,0.00,2.42,0.00,0.000,516,0.000,0.047,2447,1385,3961,3956,3966,0,0,0,0,0,0,14.85,14.33,14.86
$GC,1911,-1.01,-107.1,2447,1385,3957,3967,493.4,-7.6,226,1917,0.00,2.58,0.00,0.000,1030,0.000,0.064,2445,2813,3961,3956,3966,0,0,0,0,0,0,14.44,14.30,14.50
$GC,2222,-1.01,-107.1,2445,2814,3957,3967,518.9,-8.4,258,2227,0.00,2.00,0.00,0.000,260,0.000,0.087,2442,3914,3961,3956,3967,0,0,0,0,0,0,14.85,14.14,14.85
$GC,2258,-1.01,-107.1,2444,3915,3957,3966,522.0,-9.0,265,2265,0.00,1.92,0.00,0.000,1030,0.000,0.047,2443,2782,3961,3956,3966,0,0,0,0,0,0,14.43,14.36,14.45
$GC,2564,-1.01,-107.1,2444,2782,3958,3967,547.2,-8.5,296,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2782,3961,3956,3966,0,0,0,0,0,0,14.74,14.74,14.74
$GC,2863,-1.01,-107.1,2443,2782,3958,3966,571.8,-8.2,326,2868,0.00,2.42,0.00,0.000,516,0.000,0.047,2443,1385,3958,3956,3961,0,0,0,0,0,0,14.90,14.32,14.90
$GC,2904,-1.01,-107.1,2444,1386,3958,3963,575.2,-8.3,334,2909,0.00,2.58,0.00,0.000,1030,0.000,0.064,2442,2803,3961,3957,3966,0,0,0,0,0,0,14.41,14.26,14.45
$GC,3215,-1.01,-107.1,2443,2804,3958,3966,599.5,-7.7,366,3220,0.00,2.03,0.00,0.000,260,0.000,0.087,2441,3917,3961,3957,3966,0,0,0,0,0,0,14.85,14.19,14.85
$GC,3266,-1.01,-107.1,2441,3918,3958,3966,603.7,-8.4,376,3272,0.00,1.92,0.00,0.000,1030,0.000,0.047,2441,2789,3959,3956,3963,0,0,0,0,0,0,14.50,14.42,14.52
$GC,3578,-1.01,-107.1,2441,2790,3957,3965,628.1,-7.9,408,3583,0.00,2.42,0.00,0.000,516,0.000,0.046,2441,1391,3961,3956,3966,0,0,0,0,0,0,14.90,14.32,14.90
$GC,3619,-1.01,-107.1,2441,1392,3957,3967,631.4,-8.0,416,3624,0.00,2.55,0.00,0.000,1030,0.000,0.063,2440,2810,3961,3957,3966,0,0,0,0,0,0,14.42,14.28,14.46
$GC,3930,-1.01,-107.1,2440,2811,3957,3967,654.9,-7.7,448,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2809,3961,3957,3966,0,0,0,0,0,0,14.73,14.73,14.73
$GC,4229,-1.01,-107.1,2440,2811,3957,3967,677.2,-7.6,478,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2810,3961,3957,3966,0,0,0,0,0,0,14.90,14.90,14.90
$GC,4529,-1.01,-107.1,2441,2810,3958,3966,699.3,-7.5,508,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2810,3961,3957,3966,0,0,0,0,0,0,14.90,14.90,14.90
$GC,4851,-1.01,-107.1,2440,2811,3957,3968,722.1,-7.1,520,4851,0.00,0.00,0.00,0.000,38,0.000,0.000,2440,2810,3962,3957,3967,0,0,0,0,0,0,14.73,14.73,14.73
$GC,5211,-1.01,-107.1,2440,2811,3957,3969,746.9,-6.9,532,5212,0.00,0.00,0.00,0.000,38,0.000,0.000,2440,2810,3961,3957,3966,0,0,0,0,0,0,14.73,14.73,14.73
$GC,5570,-1.01,-107.1,2441,2810,3959,3969,772.6,-7.1,544,5571,0.00,0.00,0.00,0.000,38,0.000,0.000,2440,2810,3963,3957,3969,0,0,0,0,0,0,14.72,14.73,14.72
$GC,5931,-1.01,-107.1,2440,2811,3958,3970,798.1,-7.1,556,5931,0.00,0.00,0.00,0.000,38,0.000,0.000,2440,2810,3963,3958,3969,0,0,0,0,0,0,14.72,14.71,14.72
$GC,6291,-1.01,-107.1,2440,2811,3959,3971,823.7,-7.1,568,6292,0.00,0.00,0.00,0.000,38,0.000,0.000,2440,2810,3964,3958,3970,0,0,0,0,0,0,14.72,14.71,14.72
$GC,6650,-1.01,-107.1,2441,2810,3960,3970,848.7,-6.9,580,6655,0.00,2.47,0.00,0.000,548,0.000,0.045,2440,1396,3965,3959,3971,0,0,0,0,0,0,14.89,14.26,14.89
$GC,6685,-1.01,-107.1,2441,1396,3961,3971,851.0,-6.9,587,6690,0.00,2.55,0.00,0.000,1062,0.000,0.064,2440,2802,3965,3960,3971,0,0,0,0,0,0,14.35,14.21,14.39
$GC,7074,-1.01,-107.1,2440,2802,3961,3973,877.7,-7.0,604,7075,0.00,0.00,0.00,0.000,38,0.000,0.000,2440,2801,3965,3960,3971,0,0,0,0,0,0,14.86,14.87,14.86
$GC,7432,-1.01,-107.1,2444,2800,3961,3973,902.9,-6.9,616,7433,0.00,0.00,0.00,0.000,38,0.000,0.000,2440,2801,3966,3960,3972,0,0,0,0,0,0,14.71,14.71,14.71
$GC,7792,-1.01,-107.1,2440,2802,3958,3972,927.7,-6.9,628,7793,0.00,0.00,0.00,0.000,38,0.000,0.000,2442,2801,3966,3960,3972,0,0,0,0,0,0,14.71,14.71,14.71
$GC,8152,-1.01,-107.1,2440,2802,3961,3974,952.4,-6.8,640,8157,0.00,2.47,0.00,0.000,548,0.000,0.045,2439,1394,3966,3960,3973,0,0,0,0,0,0,14.71,14.01,14.71
$GC,8183,-1.01,-107.1,2440,1394,3962,3973,954.4,-2.4,646,8188,0.00,2.60,0.00,0.000,1062,0.000,0.065,2440,2814,3966,3960,3973,0,0,0,0,0,0,14.23,14.08,14.26
$GC,8578,-1.01,-107.1,2439,2816,3961,3974,982.2,-6.8,664,8578,0.00,0.00,0.00,0.000,38,0.000,0.000,2437,2815,3967,3961,3973,0,0,0,0,0,0,14.69,14.69,14.69
$STATE,8692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8692,begin apogee
$GC,8700,-0.23,0.0,2440,2537,3961,3974,990.3,-6.8,668,8845,0.98,0.00,142.00,3.097,10246,0.210,0.000,2700,2537,3492,3499,3486,0,0,0,0,0,0,13.83,13.09,11.73
$STATE,8846,end apogee,CONTROL_FINISHED_OK
$STATE,8846,begin climb
$GC,8850,1.01,107.1,2700,2538,3499,3486,991.2,0.0,673,8996,1.38,0.00,143.77,3.097,10246,0.110,0.000,3101,2537,3065,3081,3049,0,0,0,0,0,0,13.15,12.21,10.89
$GC,9354,1.01,107.1,3102,2538,3071,3039,924.7,14.7,690,9360,0.00,2.55,0.00,0.000,260,0.000,0.086,3101,3910,3054,3071,3038,0,0,0,0,0,0,14.59,14.19,14.59
$GC,9396,1.01,107.1,3101,3910,3072,3037,917.6,17.7,698,9402,0.00,2.35,0.00,0.000,1030,0.000,0.047,3112,2535,3054,3070,3038,0,0,0,0,0,0,14.50,14.43,14.52
$GC,9778,1.01,107.1,3112,2537,3069,3037,859.9,15.1,714,9778,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2536,3052,3069,3036,0,0,0,0,0,0,14.90,14.89,14.89
$GC,10140,1.01,107.1,3112,2537,3069,3036,805.7,15.1,726,10141,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2536,3051,3068,3035,0,0,0,0,0,0,14.89,14.89,14.89
$GC,10500,1.01,107.1,3111,2534,3068,3035,752.4,14.6,738,10506,0.00,2.50,0.00,0.000,260,0.000,0.088,3112,3910,3051,3068,3034,0,0,0,0,0,0,14.90,14.38,14.90
$GC,10546,1.01,107.1,3112,3911,3069,3035,744.5,16.9,747,10555,0.00,2.33,0.00,0.000,1030,0.000,0.047,3123,2538,3050,3068,3033,0,0,0,0,0,0,14.64,14.57,14.67
$GC,10915,1.01,107.1,3123,2539,3069,3033,688.5,15.0,765,10920,0.00,2.42,0.00,0.000,516,0.000,0.059,3133,1164,3050,3068,3032,0,0,0,0,0,0,14.88,14.38,14.89
$GC,10951,1.01,107.1,3134,1159,3069,3032,683.4,14.3,772,10958,0.15,2.47,0.00,0.000,5126,0.265,0.063,3099,2560,3052,3071,3033,0,0,0,0,0,0,14.12,14.42,14.45
$GC,11257,1.01,107.1,3100,2559,3069,3033,642.1,13.4,803,11262,0.00,2.45,0.00,0.000,260,0.000,0.089,3099,3909,3050,3068,3033,0,0,0,0,0,0,14.89,14.33,14.90
$GC,11302,1.01,107.1,3099,3909,3069,3033,635.2,15.5,812,11308,0.00,2.33,0.00,0.000,1030,0.000,0.047,3110,2542,3049,3067,3032,0,0,0,0,0,0,14.42,14.37,14.44
$GC,11607,1.01,107.1,3110,2542,3069,3032,592.7,13.8,843,11608,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2542,3050,3068,3032,0,0,0,0,0,0,14.92,14.93,14.92
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$GC,12611,1.01,107.1,3097,3917,3069,3032,457.6,14.4,953,12616,0.00,2.35,0.00,0.000,1030,0.000,0.047,3107,2537,3050,3068,3032,0,0,0,0,0,0,14.59,14.53,14.62
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$STATE,13344,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,13344,begin subsurface finish
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$STATE,13363,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13363,begin surface
$RAFOS_CLK,547
$RAFOS,0,1545091262,0.032355,0.017222,137,65,62,56,54,50,651,215,202,172,140,153
$RAFOS,2,1545081180,21.232241,21.216667,170,63,63,58,55,55,710,197,178,211,220,160
$RAFOS,1,1545080824,21.132666,21.117777,156,62,61,60,51,50,637,195,177,216,229,141
$RAFOS,0,1545080463,21.032354,21.017500,123,60,57,57,56,53,645,225,139,196,212,155
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$IRIDIUM_FIX,-7410.85,-11223.24,141218,223050
$TT8_MAMPS,0.041195,0.709303
$HUMID,50.70
$INTERNAL_PRESSURE,7.93895
$TCM_TEMP,13.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,378.4,17.1
$24V_AH,10.89,218.449
$10V_AH,11.34,0.000
$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,5.025,99.600,285.775,0.000,0.000,0.000,0.000,0.000,46.750,0.000,0.000,0.000,10557.148,416.053,2220.666,306.719,0.000,1174.224,0.000,1482.084,1200.000,344.584,0.000
$DEVICE_MAMPS,266.220,106.335,3097.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.789,0.000,0.000,0.000
$MEM,279804
$DATA_FILE_SIZE,36680,1033
$CAP_FILE_SIZE,136530,0
$CFSIZE,1024409600,938147840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.4
$GPS,171218,211544,-7430.695,-11238.887,0,4149.7,0,53.4,0.0,0.0,0,0.0