version: 67.00
glider: 236
mission: 2
dive: 1225
start: 4 24 121 12 21 43
data:
$ID,236
$MISSION,2
$DIVE,1225
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,2
$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,150
$T_MISSION,195
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,180
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72660
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099900002
$HD_C,1.6e-05
$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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,190
$PITCH_MAX,3920
$C_PITCH,2140
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,20
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$ROLL_MIN,670
$ROLL_MAX,3465
$ROLL_DEG,80
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.054945
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,150
$LOITER_D_BOTTOM,250
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,575
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,79.267448
$FG_AHR_24V,291.22092
$PHONE_SUPPLY,2
$PRESSURE_YINT,-170.66119
$PRESSURE_SLOPE,0.00022638284
$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,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,120
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0043000001
$SEABIRD_T_H,0.00063999998
$SEABIRD_T_I,2.4999999e-05
$SEABIRD_T_J,4.3e-06
$SEABIRD_C_G,-10
$SEABIRD_C_H,1
$SEABIRD_C_I,-0.0020000001
$SEABIRD_C_J,0.00019999999
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,7.0
$SC_NDIVE,1.0
$GPS1,240421,121209,4708.015,-12501.764,25,1.1,26,15.5
$_CALLS,2
$_SM_DEPTHo,-1.63
$_SM_ANGLEo,-62.0
$GPS2,240421,122124,4707.985,-12501.715,2,0.7,5,15.5
$SPEED_LIMITS,0.192,0.290
$TGT_NAME,HOLD
$TGT_LATLONG,4708.000,-12502.000
$TGT_RADIUS,3000.000
$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,259.0,360,-27.4,-11.111,-30.00
$D_GRID,1000
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
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$GC,1160.22,0,-94.58,-1.65,0.00,2887.4,2885.2,2889.5,1754.0,2080.2,139.67,-9.82,149,1161.55,0.00,0.00,0.00,0.000,0.000,0.000,2886.47,2885.19,2887.75,1754.00,2079.62,0,0,0,30.00,30.00,30.00
$GC,1220.22,0,-94.58,-1.65,0.00,2887.7,2886.1,2889.3,1754.1,2080.0,145.46,-9.45,155,1221.55,0.00,0.00,0.00,0.000,0.000,0.000,2887.97,2886.00,2889.94,1754.12,2080.56,0,0,0,30.00,30.00,30.00
$GC,1280.49,0,-94.58,-1.65,0.00,2887.7,2886.1,2889.2,1753.6,2080.0,151.13,-9.36,161,1281.82,0.00,0.00,0.00,0.000,0.000,0.000,2888.09,2886.38,2889.81,1754.12,2079.69,0,0,0,30.00,30.00,30.00
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$GC,2789.26,1028,-94.58,-1.65,0.00,2888.2,2886.0,2890.3,1754.1,3475.6,300.80,-11.54,311,2796.06,0.00,0.00,3.47,0.000,0.000,0.052,2888.09,2885.75,2890.44,1754.06,2081.62,0,0,0,30.00,30.00,15.02
$GC,3095.37,4129,-116.87,-1.72,0.00,2887.8,2885.5,2890.1,1754.1,2081.9,328.61,-8.87,322,3096.85,0.00,0.32,0.00,0.000,0.067,0.000,2886.12,2883.94,2888.31,1707.12,2082.31,0,0,0,30.00,15.36,30.00
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$GC,3444.29,1028,-116.87,-1.72,0.00,2887.4,2885.3,2889.5,1707.2,3476.4,367.66,-13.46,342,3451.10,0.00,0.00,3.48,0.000,0.000,0.054,2888.31,2886.25,2890.38,1706.81,2080.12,0,0,0,30.00,30.00,14.99
$GC,3750.39,260,-116.87,-1.72,80.00,2887.6,2885.7,2889.4,1706.9,2080.3,400.56,-10.89,353,3756.09,0.00,0.00,3.90,0.000,0.000,0.106,2886.50,2883.06,2889.94,1706.94,3476.06,0,0,0,30.00,30.00,14.89
$GC,3789.30,1028,-116.87,-1.72,0.00,2887.3,2885.2,2889.4,1707.1,3475.8,404.69,-9.84,361,3795.01,0.00,0.00,3.49,0.000,0.000,0.054,2887.78,2886.19,2889.38,1707.56,2081.81,0,0,0,30.00,30.00,14.98
$GC,4105.41,260,-116.87,-1.72,80.00,2886.7,2885.6,2887.8,1707.4,2081.3,440.84,-11.02,374,4111.10,0.00,0.00,3.91,0.000,0.000,0.107,2885.34,2883.94,2886.75,1706.75,3475.38,0,0,0,30.00,30.00,14.88
$GC,4139.31,1028,-116.87,-1.72,0.00,2886.5,2885.0,2887.9,1707.2,3476.0,444.90,-11.60,381,4145.03,0.00,0.00,3.49,0.000,0.000,0.054,2887.12,2885.38,2888.88,1707.25,2082.38,0,0,0,30.00,30.00,14.97
$GC,4460.43,0,-116.87,-1.72,0.00,2886.8,2886.0,2887.6,1706.9,2082.4,478.53,-10.23,395,4461.76,0.00,0.00,0.00,0.000,0.000,0.000,2886.88,2885.88,2887.88,1706.81,2082.31,0,0,0,30.00,30.00,30.00
$STATE,4670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4670,begin apogee
$GC,4671.62,10243,0.00,-0.25,0.00,2886.4,2885.8,2887.1,1706.6,2119.6,500.39,-10.50,402,4756.99,80.68,3.33,0.09,1.640,0.169,0.229,2500.66,2508.69,2492.62,2079.38,2084.25,0,0,0,10.91,14.68,14.64
$STATE,4760,end apogee,CONTROL_FINISHED_OK
$STATE,4760,begin climb
$GC,4760.33,10759,116.87,1.72,-80.00,2497.8,2507.1,2488.4,2078.5,2084.5,501.75,0.00,404,4882.96,109.20,3.68,4.41,1.577,0.080,0.136,2020.78,2034.94,2006.62,2560.19,663.38,0,0,0,11.08,14.82,14.08
$GC,4885.19,9254,156.33,1.84,0.00,2020.1,2033.6,2006.6,2560.9,663.1,494.91,7.14,424,4931.61,39.45,0.00,3.81,1.488,0.000,0.042,1863.19,1883.12,1843.25,2559.88,2124.19,0,0,0,10.88,30.00,14.35
$GC,5241.89,18951,156.33,1.84,-80.00,1852.1,1876.2,1827.9,2560.1,2123.9,454.87,10.84,445,5248.14,0.00,0.16,4.26,0.000,0.081,0.133,1850.62,1874.44,1826.81,2598.12,661.94,0,0,0,30.00,15.23,14.91
$GC,5345.35,17414,156.33,1.84,0.00,1850.2,1872.6,1827.9,2597.6,661.7,440.24,11.97,466,5351.01,0.00,0.00,3.58,0.000,0.000,0.045,1850.03,1872.50,1827.56,2597.62,2124.31,0,0,0,30.00,30.00,15.21
$GC,5656.40,16902,156.33,1.84,-80.00,1848.9,1872.4,1825.4,2597.4,2124.5,403.65,11.78,478,5662.13,0.00,0.00,4.19,0.000,0.000,0.131,1848.53,1872.31,1824.75,2596.50,661.56,0,0,0,30.00,30.00,15.03
$GC,5755.34,17414,156.33,1.84,0.00,1848.8,1872.0,1825.5,2597.9,661.9,389.31,15.97,498,5761.04,0.00,0.00,3.55,0.000,0.000,0.044,1849.62,1872.88,1826.38,2597.69,2124.44,0,0,0,30.00,30.00,15.26
$GC,6071.43,16902,156.33,1.84,-80.00,1847.2,1871.2,1823.1,2597.8,2124.9,353.84,11.47,511,6077.16,0.00,0.00,4.20,0.000,0.000,0.129,1846.22,1870.75,1821.69,2596.88,662.62,0,0,0,30.00,30.00,15.00
$GC,6126.88,17414,156.33,1.84,0.00,1846.9,1870.6,1823.2,2597.6,662.7,346.72,14.53,522,6132.07,0.00,0.00,3.55,0.000,0.000,0.043,1845.84,1869.69,1822.00,2597.31,2126.50,0,0,0,30.00,30.00,15.29
$GC,6451.51,16902,156.33,1.84,-80.00,1846.4,1871.1,1821.8,2597.7,2126.5,311.19,11.04,537,6457.21,0.00,0.00,4.22,0.000,0.000,0.128,1847.91,1871.31,1824.50,2597.44,660.81,0,0,0,30.00,30.00,14.95
$GC,6500.37,17414,156.33,1.84,0.00,1846.1,1870.1,1822.1,2597.7,660.8,304.69,13.72,547,6507.19,0.00,0.00,3.55,0.000,0.000,0.043,1846.22,1870.38,1822.06,2597.31,2128.19,0,0,0,30.00,30.00,15.27
$GC,6806.49,16966,156.33,1.87,-80.00,1845.6,1870.0,1821.2,2596.8,2128.4,272.30,10.17,558,6812.22,0.00,0.00,4.21,0.000,0.000,0.127,1844.81,1869.12,1820.50,2596.31,662.00,0,0,0,30.00,30.00,14.93
$GC,6895.40,17414,156.33,1.87,0.00,1845.2,1868.8,1821.6,2597.9,662.1,260.91,12.49,576,6901.12,0.00,0.00,3.56,0.000,0.000,0.043,1847.06,1870.88,1823.25,2597.25,2125.38,0,0,0,30.00,30.00,15.23
$GC,7201.52,16966,156.33,1.91,-80.00,1844.9,1869.2,1820.7,2597.7,2125.6,228.54,9.55,603,7207.26,0.00,0.00,4.22,0.000,0.000,0.127,1843.41,1867.94,1818.88,2597.56,660.62,0,0,0,30.00,30.00,14.91
$GC,7246.97,17414,156.33,1.91,0.00,1844.8,1868.6,1820.9,2598.0,660.8,223.27,11.22,612,7252.16,0.00,0.00,3.54,0.000,0.000,0.043,1843.72,1867.50,1819.94,2597.75,2126.38,0,0,0,30.00,30.00,15.27
$GC,7371.55,16450,156.33,1.95,0.00,1844.7,1868.4,1821.0,2597.6,2126.2,209.84,9.94,625,7372.88,0.00,0.00,0.00,0.000,0.000,0.000,1844.31,1868.19,1820.44,2595.38,2126.25,0,0,0,30.00,30.00,30.00
$GC,7491.57,18499,156.33,1.99,0.00,1844.6,1868.4,1820.9,2597.9,2126.3,197.89,9.65,637,7493.01,0.00,0.17,0.00,0.000,0.079,0.000,1845.25,1869.38,1821.12,2633.50,2126.62,0,0,0,30.00,15.46,30.00
$GC,7611.57,16966,156.33,2.02,-80.00,1844.5,1868.5,1820.6,2634.3,2126.9,185.49,10.26,649,7617.36,0.00,0.00,4.22,0.000,0.000,0.125,1844.91,1868.75,1821.06,2634.50,660.69,0,0,0,30.00,30.00,14.90
$GC,7757.03,17414,156.33,2.02,0.00,1844.5,1868.1,1820.9,2634.4,660.7,167.37,11.93,678,7762.23,0.00,0.00,3.57,0.000,0.000,0.044,1843.84,1866.88,1820.81,2633.25,2127.00,0,0,0,30.00,30.00,15.21
$GC,7881.62,16450,156.33,2.07,0.00,1844.2,1867.9,1820.5,2635.3,2127.6,155.40,9.42,691,7882.96,0.00,0.00,0.00,0.000,0.000,0.000,1844.44,1867.75,1821.12,2634.38,2127.50,0,0,0,30.00,30.00,30.00
$GC,8001.62,16966,156.33,2.12,-80.00,1844.0,1867.7,1820.3,2634.9,2126.9,144.36,9.34,703,8007.35,0.00,0.00,4.20,0.000,0.000,0.123,1846.09,1870.00,1822.19,2635.75,661.75,0,0,0,30.00,30.00,14.88
$GC,8040.52,17414,156.33,2.12,0.00,1843.9,1867.2,1820.7,2634.7,661.9,139.52,11.96,711,8047.34,0.00,0.00,3.55,0.000,0.000,0.042,1844.34,1868.00,1820.69,2635.31,2127.38,0,0,0,30.00,30.00,15.22
$GC,8106.62,18759,156.33,2.15,80.00,1843.9,1867.1,1820.8,2635.2,2127.1,132.99,9.98,718,8112.30,0.00,0.18,3.70,0.000,0.078,0.104,1843.59,1866.94,1820.25,2671.12,3474.94,0,0,0,30.00,15.44,15.01
$GC,8135.52,17414,156.33,2.15,0.00,1843.3,1866.6,1820.1,2672.4,3475.1,129.45,11.13,724,8142.33,0.00,0.00,3.44,0.000,0.000,0.049,1845.66,1869.00,1822.31,2672.56,2077.69,0,0,0,30.00,30.00,15.14
$GC,8201.68,16966,156.33,2.19,-80.00,1843.8,1866.9,1820.6,2672.7,2077.8,122.75,9.99,731,8207.34,0.00,0.00,4.01,0.000,0.000,0.125,1842.44,1865.38,1819.50,2672.25,662.06,0,0,0,30.00,30.00,14.94
$GC,8317.14,17414,156.33,2.19,0.00,1843.4,1866.6,1820.3,2672.2,661.9,109.06,11.51,754,8322.28,0.00,0.00,3.55,0.000,0.000,0.042,1843.34,1866.62,1820.06,2671.44,2128.12,0,0,0,30.00,30.00,15.23
$GC,8381.66,8226,176.41,2.25,0.00,1843.6,1866.7,1820.4,2672.8,2128.5,103.03,9.09,761,8406.04,21.41,0.00,0.00,1.125,0.000,0.000,1780.31,1802.75,1757.88,2672.31,2128.50,0,0,0,11.15,30.00,30.00
$GC,8471.74,580,176.41,2.29,-80.00,1777.8,1801.1,1754.6,2672.9,2128.4,94.69,9.64,771,8477.40,0.00,0.00,4.11,0.000,0.000,0.121,1776.62,1800.19,1753.06,2673.19,660.88,0,0,0,30.00,30.00,15.13
$GC,8700.61,3141,176.41,2.35,0.00,1777.1,1800.2,1753.9,2673.1,660.8,72.16,9.12,817,8707.50,0.00,0.25,3.54,0.000,0.063,0.042,1777.34,1800.50,1754.19,2722.62,2130.81,0,0,0,30.00,15.11,15.33
$GC,8766.71,8742,215.38,2.47,-80.00,1776.8,1800.0,1753.6,2722.9,2130.4,67.56,7.19,824,8818.94,46.04,0.00,4.11,1.116,0.000,0.122,1620.84,1643.50,1598.19,2722.56,660.88,0,0,0,11.28,30.00,15.01
$GC,8887.62,1028,215.38,2.47,0.00,1619.7,1640.8,1598.6,2722.6,660.7,56.27,10.87,848,8892.81,0.00,0.00,3.56,0.000,0.000,0.045,1618.84,1640.69,1597.00,2720.94,2127.81,0,0,0,30.00,30.00,15.30
$GC,8952.19,2373,215.38,2.52,80.00,1618.0,1640.6,1595.3,2722.2,2128.2,49.98,9.34,855,8957.88,0.00,0.19,3.65,0.000,0.072,0.105,1617.66,1640.25,1595.06,2763.31,3474.06,0,0,0,30.00,15.37,15.13
$GC,9181.14,11303,275.97,2.70,0.00,1615.9,1639.1,1592.8,2763.8,3473.8,35.15,5.02,901,9253.31,67.03,0.22,3.44,1.072,0.076,0.051,1374.62,1398.12,1351.12,2802.56,2077.00,0,0,0,11.32,15.04,15.25
$GC,9317.44,324,275.97,2.75,80.00,1371.1,1396.6,1345.6,2802.6,2077.7,24.93,9.46,922,9322.91,0.00,0.00,3.82,0.000,0.000,0.102,1370.53,1396.12,1344.94,2802.69,3476.38,0,0,0,30.00,30.00,15.03
$GC,9486.22,1028,275.97,2.75,0.00,1369.7,1395.6,1343.7,2803.3,3476.6,6.84,10.90,956,9492.97,0.00,0.00,3.45,0.000,0.000,0.051,1369.75,1395.50,1344.00,2803.50,2078.62,0,0,0,30.00,30.00,15.24
$STATE,9552,end climb,SURFACE_DEPTH_REACHED
$STATE,9552,begin surface coast
$STATE,9572,end surface coast,CONTROL_FINISHED_OK
$STATE,9572,begin surface
$SM_CCo,9799.13,191.54,1.025,0,564.2,561.6,566.9,474.84
$SM_CCo,9800.25,0.00,2.516,0,565.0,561.2,568.8,474.66
$SM_CCo,9801.35,0.03,0.324,0,564.9,560.7,569.1,474.69
$SM_GC,-0.77,0.03,19.44,0.08,0.324,0.084,0.143,564.9,560.7,569.1,183.9,2130.9,0,0,0,14.67,14.96,15.40
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4707.10,-12459.52,240421,121630
$TCM_TEMP,174.63
$XPDR_PINGS,16,14.0,11.5
$SC_FREEKB,3389664
$HUMID,58.93
$TEMP,7.89
$INTERNAL_PRESSURE,7.78944
$24V_AH,13.31,332.582
$10V_AH,14.33,0.000
$FG_AHR_24Vo,291.440
$FG_AHR_10Vo,79.301
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,650.610,42.635,233.800,243.269,4.000,13.937,3641.775,6436.461,1892.239,0.000,0.000,0.000
$DEVICE_MAMPS,2515.840,248.048,229.352,185.419,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9643.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.325,0.000,0.000,0.000
$MEM,1103652,41,73436,56
$DATA_FILE_SIZE,35394,965
$CAP_FILE_SIZE,514287,0
$SDSIZE,3918848,3583488
$SDFILEDIR,6151,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240421,150531,4707.978,-12502.517,18,0.8,19,15.5