version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 284
start: 1 28 116 3 46 2
data:
$ID,542
$MISSION,12
$DIVE,284
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,5
$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,340
$T_MISSION,355
$T_ABORT,720
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53125
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,230
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,3
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-30007.045
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3947
$C_PITCH,2570
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,182
$ROLL_MAX,3808
$ROLL_DEG,40
$C_ROLL_DIVE,1995
$C_ROLL_CLIMB,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2909
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8.1999998
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.38863
$PRESSURE_SLOPE,0.00013904
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,20
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,166
$DEVICE3,115
$DEVICE4,133
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042912085
$SEABIRD_T_H,0.00061951543
$SEABIRD_T_I,2.2019161e-05
$SEABIRD_T_J,2.2998063e-06
$SEABIRD_C_G,-9.7531137
$SEABIRD_C_H,1.1333146
$SEABIRD_C_I,-0.00071571622
$SEABIRD_C_J,0.00011341914
$GPS1,280116,033821,-4256.044,823.984,123,1.0,123,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-73.3
$GPS2,280116,034535,-4256.083,824.102,14,1.3,15,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT3
$TGT_LATLONG,-4256.000,836.000
$TGT_RADIUS,1000.000
$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,120.4,16134,-17.9,-9.804,-20.77,2280
$D_GRID,1000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-146.0,176,2003,1964,1926,0.0,0.0,0,65,0.00,0.00,-46.85,0.000,16386,0.000,0.000,176,2003,3232,3306,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,176,2003,3306,3161,3.3,-6.0,6,87,8.43,2.33,-5.50,0.000,19204,0.219,0.064,2332,3420,3506,3563,3449,0,0,0,0,0,0,25.08,25.69,26.21
$GC,379,-0.68,-146.0,2331,3421,3563,3455,57.1,-13.4,58,386,0.00,2.25,0.00,0.000,1030,0.000,0.046,2332,1993,3509,3564,3455,0,0,0,0,0,0,28.83,25.75,28.83
$GC,707,-0.68,-146.0,2331,1993,3564,3456,106.7,-15.0,115,716,0.00,2.25,0.00,0.000,516,0.000,0.060,2332,591,3509,3563,3456,0,0,0,0,0,0,28.83,25.72,28.83
$GC,781,-0.68,-146.0,2332,591,3563,3456,118.1,-15.0,122,791,0.12,2.20,0.00,0.000,3078,0.165,0.047,2352,1997,3510,3564,3457,0,0,0,0,0,0,25.62,25.86,28.83
$GC,1094,-0.68,-146.0,2352,1997,3564,3456,160.2,-13.9,153,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1997,3510,3564,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1402,-0.68,-146.0,2351,1997,3565,3456,202.7,-13.7,184,1411,0.00,2.25,0.00,0.000,516,0.000,0.058,2352,590,3510,3565,3456,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1474,-0.68,-146.0,2352,591,3565,3457,212.6,-13.5,191,1483,0.00,2.20,0.00,0.000,1030,0.000,0.047,2343,1998,3511,3565,3457,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1784,-0.68,-146.0,2343,1998,3565,3457,254.6,-13.3,222,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1998,3511,3565,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2084,-0.68,-146.0,2343,1998,3565,3457,293.5,-12.6,252,2094,0.00,2.25,0.00,0.000,516,0.000,0.059,2344,590,3511,3565,3457,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2138,-0.68,-146.0,2343,591,3565,3458,300.4,-13.2,257,2146,0.00,2.17,0.00,0.000,1030,0.000,0.048,2334,1990,3511,3565,3457,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2447,-0.68,-146.0,2333,1990,3565,3458,340.5,-13.0,288,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1990,3511,3565,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2746,-0.68,-146.0,2333,1990,3565,3458,379.2,-13.0,318,2756,0.00,2.25,0.00,0.000,516,0.000,0.060,2334,588,3511,3565,3458,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2803,-0.68,-146.0,2333,588,3565,3458,386.1,-13.1,323,2811,0.00,2.25,0.00,0.000,1030,0.000,0.049,2324,1996,3511,3565,3458,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3111,-0.68,-146.0,2323,1996,3565,3457,429.5,-14.3,344,3117,0.00,2.25,0.00,0.000,516,0.000,0.060,2324,591,3511,3565,3457,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3143,-0.68,-146.0,2323,591,3565,3457,432.5,-14.4,345,3154,0.15,2.22,0.00,0.000,3078,0.159,0.050,2352,2002,3511,3565,3458,0,0,0,0,0,0,25.65,25.94,28.83
$GC,3451,-0.68,-146.0,2351,2002,3565,3458,471.9,-12.3,361,3457,0.00,2.25,0.00,0.000,516,0.000,0.061,2352,595,3511,3565,3458,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3491,-0.68,-146.0,2352,595,3565,3457,476.9,-12.4,363,3497,0.00,2.20,0.00,0.000,1030,0.000,0.050,2343,1994,3511,3565,3458,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3811,-0.68,-146.0,2343,1995,3565,3457,518.7,-13.2,379,3816,0.00,2.25,0.00,0.000,516,0.000,0.062,2343,589,3511,3565,3457,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3845,-0.68,-146.0,2343,589,3565,3457,521.5,-13.3,380,3852,0.00,2.22,0.00,0.000,1030,0.000,0.051,2334,1995,3511,3565,3457,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4154,-0.68,-146.0,2333,1995,3565,3457,566.7,-14.1,396,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1995,3511,3565,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4454,-0.68,-146.0,2333,1996,3564,3457,607.2,-13.6,411,4460,0.00,2.22,0.00,0.000,516,0.000,0.062,2334,598,3510,3564,3457,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4514,-0.68,-146.0,2334,598,3564,3457,615.3,-13.5,414,4519,0.00,2.20,0.00,0.000,1030,0.000,0.052,2324,1993,3510,3564,3457,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4833,-0.68,-146.0,2324,1994,3564,3457,658.2,-13.1,430,4838,0.00,2.28,0.00,0.000,516,0.000,0.063,2324,586,3510,3563,3457,0,0,0,0,0,0,28.83,25.74,28.83
$GC,4866,-0.68,-146.0,2324,585,3564,3457,661.0,-13.3,431,4874,0.12,2.25,0.00,0.000,3078,0.164,0.052,2345,2002,3510,3564,3457,0,0,0,0,0,0,25.64,25.88,28.83
$GC,5173,-0.68,-146.0,2345,2002,3563,3457,698.0,-11.6,447,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2002,3510,3563,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5474,-0.68,-146.0,2345,2002,3563,3457,734.1,-12.3,462,5480,0.00,2.30,0.00,0.000,516,0.000,0.063,2346,587,3510,3563,3457,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5521,-0.68,-146.0,2345,587,3563,3457,739.1,-12.5,464,5525,0.00,2.22,0.00,0.000,1030,0.000,0.054,2337,1993,3510,3563,3457,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5828,-0.68,-146.0,2339,1993,3562,3457,778.1,-12.3,479,5834,0.00,2.28,0.00,0.000,516,0.000,0.063,2338,589,3509,3562,3457,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5872,-0.68,-146.0,1536,588,3556,3455,783.4,-12.4,481,5877,0.00,2.28,0.00,0.000,1030,0.000,0.054,2327,1987,3509,3562,3457,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6190,-0.68,-146.0,2327,1987,3562,3457,824.9,-13.0,497,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1988,3509,3562,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6491,-0.68,-146.0,2327,1988,3560,3457,863.1,-12.5,512,6496,0.00,2.25,0.00,0.000,516,0.000,0.065,2327,587,3508,3560,3457,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6558,-0.68,-146.0,2327,587,3559,3457,870.6,-12.5,515,6563,0.12,2.25,0.00,0.000,3078,0.164,0.054,2348,1998,3508,3559,3457,0,0,0,0,0,0,25.60,25.82,28.83
$GC,6865,-0.68,-146.0,2347,1998,3558,3457,902.6,-9.9,530,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1998,3507,3558,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7166,-0.68,-146.0,2347,1998,3558,3456,932.2,-10.2,545,7172,0.00,2.28,0.00,0.000,516,0.000,0.065,2347,589,3507,3558,3456,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7193,-0.68,-146.0,2348,589,3558,3456,934.3,-10.2,546,7197,0.00,2.25,0.00,0.000,1030,0.000,0.055,2340,1996,3506,3557,3456,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7500,-0.68,-146.0,2340,1996,3556,3456,969.1,-11.3,561,7506,0.00,2.28,0.00,0.000,516,0.000,0.063,2340,592,3506,3557,3456,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7535,-0.68,-146.0,2339,592,3557,3455,971.5,-11.4,562,7541,0.00,2.25,0.00,0.000,1030,0.000,0.054,2330,1997,3506,3557,3455,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,7781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7782,begin apogee
$GC,7787,-0.14,0.0,2330,1869,3556,3455,1001.9,-11.8,575,7923,0.62,0.00,132.52,1.794,10246,0.133,0.000,2522,1868,2908,2985,2832,0,0,0,0,0,0,25.27,28.83,22.47
$STATE,7924,end apogee,CONTROL_FINISHED_OK
$STATE,7924,begin climb
$GC,7926,0.68,146.0,2522,1869,2985,2832,1009.1,0.0,582,8076,0.75,2.58,141.00,1.752,10500,0.054,0.060,2789,3283,2312,2374,2251,0,0,0,0,0,0,23.79,23.31,22.13
$GC,8351,0.68,146.0,2789,3283,2372,2239,972.1,14.5,602,8358,0.00,2.35,0.00,0.000,1030,0.000,0.054,2799,1873,2305,2372,2238,0,0,0,0,0,0,28.83,25.10,28.83
$GC,8659,0.68,146.0,2799,1873,2371,2235,928.5,13.9,618,8665,0.00,2.30,0.00,0.000,260,0.000,0.060,2799,3286,2303,2371,2235,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8787,0.68,146.0,2798,3286,2371,2235,911.3,14.1,624,8792,0.00,2.30,0.00,0.000,1030,0.000,0.054,2809,1864,2302,2370,2235,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9094,0.68,146.0,2809,1864,2370,2234,867.1,14.1,639,9100,0.00,2.33,0.00,0.000,260,0.000,0.061,2809,3286,2302,2370,2234,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9194,0.68,146.0,2809,3286,2370,2234,852.4,14.7,644,9201,0.12,2.28,0.00,0.000,5126,0.212,0.054,2794,1867,2302,2370,2234,0,0,0,0,0,0,25.46,25.79,28.83
$GC,9515,0.68,146.0,2794,1867,2370,2233,811.0,12.9,660,9516,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1867,2301,2370,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9814,0.68,146.0,2794,1867,2369,2232,771.1,13.4,675,9819,0.00,2.30,0.00,0.000,260,0.000,0.061,2793,3287,2300,2369,2232,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9896,0.68,146.0,2794,3287,2368,2232,759.7,14.2,679,9900,0.00,2.28,0.00,0.000,1030,0.000,0.054,2803,1870,2300,2369,2232,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10214,0.68,146.0,2802,1869,2369,2232,715.1,14.3,695,10215,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1869,2300,2369,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10514,0.68,146.0,2802,1869,2369,2232,673.3,13.6,710,10519,0.00,2.30,0.00,0.000,260,0.000,0.062,2803,3292,2300,2368,2232,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10648,0.68,146.0,2802,3291,2368,2232,656.3,14.3,716,10654,0.00,2.30,0.00,0.000,1030,0.000,0.054,2813,1861,2300,2368,2232,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10954,0.68,146.0,2813,1861,2368,2231,612.9,13.1,732,10960,0.00,2.30,0.00,0.000,260,0.000,0.061,2813,3287,2300,2368,2232,0,0,0,0,0,0,28.83,25.85,28.83
$GC,11015,0.68,146.0,2813,3287,2367,2232,604.4,13.9,735,11021,0.10,2.25,0.00,0.000,5126,0.187,0.054,2796,1866,2300,2368,2232,0,0,0,0,0,0,25.47,25.87,28.83
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$GC,12350,0.68,146.0,2802,1868,2367,2231,443.0,11.9,802,12356,0.00,2.30,0.00,0.000,260,0.000,0.061,2803,3293,2299,2367,2231,0,0,0,0,0,0,28.83,25.83,28.83
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$GC,13388,0.68,146.0,2824,461,2366,2231,311.5,13.6,888,13399,0.15,2.25,0.00,0.000,5126,0.199,0.055,2791,1873,2298,2366,2231,0,0,0,0,0,0,25.41,25.88,28.83
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$GC,16098,0.79,237.3,2813,1869,1993,1856,7.1,11.5,1226,16106,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1868,1924,1992,1856,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,16126,end climb,SURFACE_DEPTH_REACHED
$STATE,16126,begin surface coast
$FINISH,-0.1,1.026112
$STATE,16147,end surface coast,CONTROL_FINISHED_OK
$STATE,16147,begin surface
$SM_CCo,16222,0.00,0.000,0,0,1920,242.35
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$IRIDIUM_FIX,-4242.04,822.38,231108,121241
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.00
$INTERNAL_PRESSURE,9.07228
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.1,48.617
$10V_AH,9.9,39.023
$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,17.825,132.025,314.400,0.000,0.000,22.684,48.599,227.731,49.250,0.000,16.282,3262.590,9454.053,457.863,3221.361,250.255,0.000,1711.587,0.000,2674.246,0.000,298.464,0.000
$DEVICE_MAMPS,218.790,79.560,1793.925,0.000,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,862.319,80.375,733.962,1844.581,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352720
$DATA_FILE_SIZE,80063,1233
$CAP_FILE_SIZE,174925,0
$CFSIZE,259248128,235261952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.152,  9.8,1
$GPS,280116,081854,-4254.686,827.175,116,0.9,116,-25.0