version: 67.00
glider: 227
mission: 5
dive: 179
start: 9 7 119 12 29 20
data:
$ID,227
$MISSION,5
$DIVE,179
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$D_ABORT,800
$D_NO_BLEED,50
$D_BOOST,2
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,4
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,210
$T_MISSION,300
$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,1
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72247
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00272
$HD_B,0.0117
$HD_C,1.6e-05
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,511.6958
$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
$T_GPS,3
$N_GPS,50860
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,160
$PITCH_MAX,3830
$C_PITCH,2150
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,36
$PITCH_TIMEOUT,40
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,310
$ROLL_MAX,3940
$ROLL_DEG,60
$C_ROLL_DIVE,2280
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,13
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,30
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2636
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$UNCOM_BLEED,400
$VBD_MAXERRORS,2
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,0
$AH0_24V,575
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,5
$MAXI_10V,2
$FG_AHR_10V,13.440968
$FG_AHR_24V,32.4258
$PHONE_SUPPLY,2
$PRESSURE_YINT,-148.83586
$PRESSURE_SLOPE,0.00010809835
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,55
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,104
$XPDR_DEVICE,0
$SIM_W,0
$SEABIRD_T_G,0.0043851961
$SEABIRD_T_H,0.00063407799
$SEABIRD_T_I,2.5652189e-05
$SEABIRD_T_J,2.9095588e-06
$SEABIRD_C_G,-9.6619873
$SEABIRD_C_H,1.1246239
$SEABIRD_C_I,-0.0018771546
$SEABIRD_C_J,0.00021465076
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,070919,122231,7323.571,-14811.114,102,0.7,103,17.2
$_CALLS,1
$_SM_DEPTHo,-0.35
$_SM_ANGLEo,-68.0
$GPS2,070919,122856,7323.626,-14810.986,2,0.7,4,17.2
$SPEED_LIMITS,0.165,0.234
$TGT_NAME,SODAA
$TGT_LATLONG,7300.000,-14820.200
$TGT_RADIUS,2000.000
$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,169.3,44040,-17.4,-9.524,-22.18
$D_GRID,600
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,3,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
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$GC,500.88,389,-145.99,-0.39,60.00,3232.2,3178.5,3285.9,2068.4,2204.1,73.32,-10.19,54,506.77,0.00,0.16,3.88,0.000,0.107,0.056,3234.38,3180.62,3288.12,1987.31,3564.94,0,0,0,30.00,15.71,15.58
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$GC,1441.23,1157,-145.99,-0.60,0.00,3232.9,3179.9,3285.8,1995.6,991.5,186.48,-10.37,188,1447.05,0.00,0.09,3.61,0.000,0.131,0.022,3234.44,3182.12,3286.75,1941.62,2303.94,0,0,0,30.00,15.80,15.79
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$GC,1671.33,1028,-145.99,-0.60,0.00,3233.2,3181.1,3285.2,1955.4,990.4,213.05,-11.89,216,1676.81,0.00,0.00,3.61,0.000,0.000,0.022,3235.47,3183.06,3287.88,1940.12,2303.00,0,0,0,30.00,30.00,15.85
$GC,1861.47,32,-145.99,-0.60,0.00,3232.9,3180.8,3285.1,1940.6,2302.9,231.61,-9.22,236,1862.81,0.00,0.00,0.00,0.000,0.000,0.000,3233.47,3181.12,3285.81,1940.62,2303.12,0,0,0,30.00,30.00,30.00
$GC,2041.42,420,-145.99,-0.66,60.00,3233.6,3181.1,3286.1,1940.4,2302.9,247.76,-9.18,254,2046.80,0.00,0.00,3.52,0.000,0.000,0.058,3235.69,3183.12,3288.25,1923.69,3567.12,0,0,0,30.00,30.00,15.81
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$GC,2836.37,1060,-145.99,-0.74,0.00,3232.7,3181.8,3283.6,1902.3,3567.9,310.86,-8.89,293,2842.13,0.00,0.00,3.55,0.000,0.000,0.016,3232.66,3181.25,3284.06,1914.88,2244.00,0,0,0,30.00,30.00,15.96
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$GC,3211.50,161,-145.99,-0.84,0.00,3231.6,3180.5,3282.6,1915.0,2229.8,337.90,-7.10,308,3212.95,0.00,0.12,0.00,0.000,0.118,0.000,3230.59,3180.56,3280.62,1865.31,2223.31,0,0,0,30.00,15.94,30.00
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$GC,5691.39,1060,-145.99,-0.81,0.00,3229.8,3180.8,3278.8,1894.1,991.4,520.70,17.19,474,5697.15,0.00,0.00,3.59,0.000,0.000,0.022,3231.66,3182.19,3281.12,1880.25,2304.38,0,0,0,30.00,30.00,16.03
$GC,5881.69,32,-145.99,-0.81,0.00,3230.1,3180.9,3279.2,1880.5,2304.2,535.20,-7.62,482,5883.02,0.00,0.00,0.00,0.000,0.000,0.000,3229.97,3180.19,3279.75,1880.06,2304.38,0,0,0,30.00,30.00,30.00
$GC,6061.62,548,-145.99,-0.81,-60.00,3230.2,3180.8,3279.8,1880.2,2303.9,548.73,-7.52,488,6067.21,0.00,0.00,3.72,0.000,0.000,0.048,3230.88,3180.88,3280.88,1893.88,991.56,0,0,0,30.00,30.00,16.05
$GC,6076.42,1060,-145.99,-0.81,0.00,3230.0,3180.8,3279.2,1893.4,991.5,549.96,-7.53,491,6082.18,0.00,0.00,3.59,0.000,0.000,0.022,3231.34,3181.94,3280.75,1880.00,2303.25,0,0,0,30.00,30.00,16.03
$GC,6271.57,516,-145.99,-0.81,-60.00,3230.3,3181.3,3279.4,1880.4,2303.9,569.27,-10.56,500,6277.23,0.00,0.00,3.72,0.000,0.000,0.048,3232.50,3182.94,3282.06,1892.94,991.06,0,0,0,30.00,30.00,16.02
$GC,6501.50,1060,-145.99,-0.81,0.00,3230.8,3181.5,3280.1,1892.8,991.2,587.73,-8.04,546,6507.27,0.00,0.00,3.59,0.000,0.000,0.022,3229.56,3180.50,3278.62,1879.69,2306.62,0,0,0,30.00,30.00,16.04
$GC,6691.83,292,-145.99,-0.81,60.00,3230.6,3181.3,3279.9,1879.5,2306.7,597.67,-7.65,554,6697.27,0.00,0.00,3.48,0.000,0.000,0.058,3230.91,3182.06,3279.75,1863.44,3566.50,0,0,0,30.00,30.00,16.03
$STATE,6721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6721,begin apogee
$GC,6726.68,3,0.00,-0.14,0.00,3230.1,3180.7,3279.6,1875.9,2213.1,600.15,-7.73,560,6843.59,113.07,0.77,0.19,1.981,0.203,0.092,2636.91,2715.38,2558.44,2107.06,2281.88,0,0,0,12.60,15.96,15.31
$STATE,6844,end apogee,CONTROL_FINISHED_OK
$STATE,6844,begin climb
$GC,6844.86,519,145.99,0.92,-60.00,2632.9,2712.4,2553.5,2108.6,2282.8,602.35,0.00,564,6972.01,119.14,1.09,3.99,1.891,0.134,0.053,2039.41,2213.50,1865.31,2467.88,964.12,0,0,0,12.42,15.35,15.01
$GC,7068.87,1030,145.99,0.92,0.00,2030.8,2205.8,1855.8,2467.5,964.1,582.05,11.19,609,7074.94,0.00,0.00,3.75,0.000,0.000,0.021,2030.25,2205.56,1854.94,2454.69,2272.75,0,0,0,30.00,30.00,15.32
$GC,7264.27,390,145.99,0.89,60.00,2026.5,2199.9,1853.2,2454.2,2274.2,560.69,10.96,618,7269.93,0.00,0.00,3.62,0.000,0.000,0.056,2029.00,2202.38,1855.62,2438.56,3535.31,0,0,0,30.00,30.00,15.51
$GC,7309.17,1158,145.99,0.84,0.00,2024.8,2196.8,1852.9,2439.4,3535.6,555.49,11.56,627,7314.95,0.00,0.00,3.64,0.000,0.000,0.016,2025.44,2196.38,1854.50,2454.12,2217.81,0,0,0,30.00,30.00,15.55
$GC,7504.23,131,145.99,0.81,0.00,2024.5,2195.6,1853.4,2454.3,2205.1,533.91,11.06,636,7505.69,0.00,0.19,0.00,0.000,0.222,0.000,2026.94,2198.06,1855.81,2400.19,2197.06,0,0,0,30.00,15.54,30.00
$GC,7684.26,163,159.11,0.91,0.00,2023.3,2193.6,1853.1,2400.1,2197.1,517.68,8.94,642,7695.97,10.34,0.13,0.00,1.514,0.105,0.000,1984.41,2152.69,1816.12,2454.69,2194.38,0,0,0,12.51,15.67,30.00
$GC,7864.28,35,397.81,1.63,0.00,1983.8,2151.9,1815.7,2455.2,2194.9,516.31,-1.13,648,8053.05,184.77,0.63,0.00,1.768,0.079,0.000,1014.72,1210.81,818.62,2685.69,2194.88,0,0,0,12.51,15.68,30.00
$GC,8255.17,391,397.81,1.46,60.00,1006.1,1200.4,811.8,2686.2,2194.7,426.42,23.27,691,8261.05,0.00,0.28,3.89,0.000,0.236,0.056,1006.38,1200.69,812.06,2594.62,3535.56,0,0,0,30.00,15.34,15.41
$GC,8319.98,1030,397.81,1.46,0.00,1004.7,1197.8,811.5,2594.7,3535.8,414.10,16.83,704,8325.96,0.00,0.00,3.66,0.000,0.000,0.019,1005.34,1198.44,812.25,2608.88,2224.38,0,0,0,30.00,30.00,15.48
$GC,8525.09,130,397.81,1.42,0.00,1004.4,1197.6,811.2,2609.4,2209.4,361.32,28.51,715,8526.43,0.00,0.00,0.00,0.000,0.000,0.000,1004.09,1197.00,811.19,2609.50,2209.44,0,0,0,30.00,30.00,30.00
$GC,8705.29,130,397.81,1.37,0.00,1003.8,1196.4,811.2,2609.5,2209.4,329.20,17.81,721,8706.62,0.00,0.00,0.00,0.000,0.000,0.000,1003.50,1196.19,810.81,2609.44,2209.12,0,0,0,30.00,30.00,30.00
$GC,8885.30,131,397.81,1.34,0.00,1003.0,1194.8,811.2,2609.9,2207.7,297.60,17.51,727,8886.75,0.00,0.14,0.00,0.000,0.241,0.000,1002.62,1194.38,810.88,2571.50,2201.25,0,0,0,30.00,15.61,30.00
$GC,9065.32,262,397.81,1.34,60.00,1002.6,1194.2,811.1,2571.0,2201.5,270.42,14.98,733,9071.03,0.00,0.00,3.79,0.000,0.000,0.056,1003.28,1194.81,811.75,2555.12,3535.12,0,0,0,30.00,30.00,15.76
$GC,9099.99,1159,397.81,1.39,0.00,1002.0,1193.2,810.8,2555.1,3535.4,265.33,14.46,740,9106.05,0.00,0.08,3.59,0.000,0.136,0.019,1002.19,1193.25,811.12,2610.31,2221.44,0,0,0,30.00,15.74,15.78
$GC,9285.19,518,397.81,1.39,-60.00,1002.2,1193.1,811.2,2610.4,2206.1,236.59,14.91,755,9290.79,0.00,0.00,3.56,0.000,0.000,0.054,1002.31,1193.19,811.44,2626.31,963.06,0,0,0,30.00,30.00,15.82
$GC,9340.02,1158,397.81,1.45,0.00,1002.0,1192.8,811.2,2626.1,962.5,229.10,13.15,766,9346.00,0.00,0.00,3.63,0.000,0.000,0.021,1002.44,1193.25,811.62,2613.06,2275.06,0,0,0,30.00,30.00,15.82
$GC,9525.31,390,397.81,1.51,60.00,1002.0,1193.1,810.9,2613.5,2277.2,204.89,12.42,785,9531.06,0.00,0.00,3.54,0.000,0.000,0.059,1002.47,1193.38,811.56,2600.75,3536.00,0,0,0,30.00,30.00,15.83
$GC,9590.06,1159,397.81,1.63,0.00,1001.1,1191.4,810.8,2600.5,3535.4,197.65,10.23,798,9596.23,0.00,0.17,3.57,0.000,0.100,0.018,1001.41,1191.69,811.12,2688.19,2218.31,0,0,0,30.00,15.81,15.86
$GC,9775.35,647,397.81,1.59,-60.00,1001.3,1191.6,811.0,2688.9,2207.9,171.32,14.56,817,9781.18,0.00,0.14,3.54,0.000,0.232,0.054,1001.84,1192.19,811.50,2662.25,961.44,0,0,0,30.00,15.77,15.84
$GC,9825.21,1158,397.81,1.67,0.00,1001.2,1191.7,810.8,2662.2,961.2,164.97,12.38,827,9831.14,0.00,0.00,3.62,0.000,0.000,0.020,1001.84,1192.19,811.50,2648.50,2274.38,0,0,0,30.00,30.00,15.87
$GC,10015.35,131,397.81,1.71,0.00,1001.1,1191.2,810.9,2649.6,2275.5,143.34,10.80,847,10016.81,0.00,0.15,0.00,0.000,0.104,0.000,1000.84,1190.69,811.00,2714.88,2276.75,0,0,0,30.00,15.84,30.00
$GC,10195.30,646,397.81,1.68,-60.00,1001.2,1191.6,810.8,2713.6,2276.0,120.34,12.57,865,10201.20,0.00,0.00,3.77,0.000,0.000,0.052,1001.81,1191.88,811.75,2730.75,962.81,0,0,0,30.00,30.00,15.89
$GC,10255.55,1159,397.81,1.64,0.00,1001.2,1191.4,811.0,2730.9,963.0,112.68,12.68,877,10261.00,0.00,0.17,3.61,0.000,0.233,0.021,1001.31,1191.44,811.19,2667.06,2277.50,0,0,0,30.00,15.81,15.89
$GC,10445.42,130,397.81,1.68,0.00,1000.9,1191.2,810.6,2666.8,2278.4,92.75,10.37,897,10446.76,0.00,0.00,0.00,0.000,0.000,0.000,1000.75,1191.06,810.44,2666.69,2278.75,0,0,0,30.00,30.00,30.00
$GC,10625.55,131,397.81,1.73,0.00,1000.8,1191.1,810.6,2667.3,2277.8,73.43,10.40,915,10627.00,0.00,0.12,0.00,0.000,0.119,0.000,1000.53,1190.81,810.25,2719.06,2280.69,0,0,0,30.00,15.84,30.00
$GC,10805.40,2,397.81,1.73,0.00,1001.0,1191.2,810.7,2718.6,2281.1,53.51,10.87,933,10806.74,0.00,0.00,0.00,0.000,0.000,0.000,1000.69,1191.00,810.38,2719.19,2280.38,0,0,0,30.00,30.00,30.00
$GC,10985.56,2,397.81,1.73,0.00,1000.5,1190.8,810.2,2718.9,2279.8,35.41,9.63,951,10986.89,0.00,0.00,0.00,0.000,0.000,0.000,1000.56,1190.44,810.69,2719.50,2280.38,0,0,0,30.00,30.00,30.00
$GC,11165.46,423,436.62,1.92,60.00,1000.6,1190.9,810.2,2719.0,2280.2,19.50,7.79,969,11202.00,30.39,0.14,3.55,1.274,0.109,0.061,856.22,1053.00,659.44,2777.81,3535.38,0,0,0,12.66,15.86,15.69
$FREEZE,9.69,3.630,-1.539,2,1,0
$GC,11425.58,1063,615.98,2.46,0.00,853.3,1047.6,659.0,2779.0,3535.7,13.20,1.52,1021,11492.80,60.31,0.42,3.57,1.232,0.089,0.016,550.88,748.12,353.62,2949.81,2206.38,0,0,0,12.53,15.78,15.80
$FREEZE,8.85,3.641,-1.539,2,1,0
$FREEZE,7.92,3.648,-1.538,2,1,0
$FREEZE,6.94,3.648,-1.537,2,1,0
$FREEZE,5.88,3.649,-1.536,2,1,0
$FREEZE,4.79,3.649,-1.536,2,1,0
$FREEZE,3.62,3.646,-1.535,2,1,0
$FREEZE,2.44,3.646,-1.534,2,1,0
$FREEZE,1.24,3.645,-1.533,2,1,0
$STATE,11565,end climb,SURFACE_DEPTH_REACHED
$STATE,11565,begin surface coast
$FREEZE,0.02,3.646,-1.532,2,1,0
$FINISH,0.0,1.022343
$STATE,11575,end surface coast,CONTROL_FINISHED_OK
$STATE,11575,begin surface
$SM_CCo,11648.89,0.00,0.000,0,546.4,739.9,352.9,512.59
$SM_GC,-2.39,0.00,9.02,0.28,0.000,0.155,0.036,546.4,739.9,352.9,143.5,2314.2,0,0,0,30.00,15.55,15.66
$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,7324.07,-14809.25,070919,093808
$TCM_TEMP,8.61
$XPDR_PINGS,64
$SC_FREEKB,3730944
$RAFOS_CLK,-20
$MODEM,2,1567858289,74.08163,-144.87579,89.356,130905.9
$MODEM,1,1567857974,74.42723,-147.94939,74.483,109117.7
$MODEM,0,1567857631,73.00043,-148.33627,31.642,46356.2
$RAFOS_FIX,7326.413574,-14822.214844,070919,121229,3,255,-7.44
$HUMID,55.86
$TEMP,1.82
$INTERNAL_PRESSURE,8.53505
$24V_AH,14.56,71.350
$10V_AH,14.97,0.000
$FG_AHR_24Vo,32.584
$FG_AHR_10Vo,13.492
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,624.790,23.550,183.140,258.924,16.000,14.169,2992.857,9021.036,1109.660,0.000,0.000,0.000
$DEVICE_MAMPS,1980.544,399.584,91.592,184.657,420.000,11.790,11.520,2.310,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11604.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.319,0.000,0.000,0.000
$MEM,1154992,31,24216,64
$DATA_FILE_SIZE,32105,1043
$CAP_FILE_SIZE,312519,0
$SDSIZE,3918848,3867648
$SDFILEDIR,933,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,070919,154436,7322.532,-14811.709,43,1.0,46,17.2