version: 66.07.10.p01
glider: 573
mission: 12
dive: 77
start: 8 11 115 22 2 49
data:
$ID,573
$MISSION,12
$DIVE,77
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,0
$T_BOOST_BLACKOUT,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,335
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53040
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$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,-4300
$TGT_DEFAULT_LON,800
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-21256.174
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3184
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,1730
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,1950
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-87.994217
$PRESSURE_SLOPE,0.00011693723
$AD7714Ch0Gain,128
$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,15
$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,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,163
$DEVICE4,135
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,0
$GC_LAST_COLLECTION,76
$GPS1,110815,215433,-4505.214,630.563,32,0.9,32,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-66.9
$GPS2,110815,220228,-4505.230,630.723,16,1.3,16,-24.4
$SPEED_LIMITS,0.172,0.243
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$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,308.9,9084,-19.6,-9.950
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-0.83,-126.5,0.0,0.0,0,58,0.00,0.00,-32.62,0.000,2,0.000,0.000,71,2069,1732,0,0,0,0,0,0
$GC,60,-0.83,-126.5,3.1,-3.2,5,111,11.90,2.33,-29.42,0.000,4,0.256,0.078,2902,3455,2469,0,0,0,0,0,0
$GC,200,-0.74,-126.5,18.2,-17.1,27,207,0.10,2.22,0.00,0.000,6,0.161,0.039,2934,2052,2471,0,0,0,0,0,0
$GC,258,-0.70,-126.5,26.4,-13.4,36,266,0.10,0.00,0.00,0.000,6,0.199,0.000,2957,2051,2471,0,0,0,0,0,0
$GC,412,-0.70,-126.5,42.9,-10.7,61,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2051,2472,0,0,0,0,0,0
$GC,760,-0.70,-126.5,80.9,-11.0,122,765,0.00,2.20,0.00,0.000,4,0.000,0.051,2961,651,2472,0,0,0,0,0,0
$GC,824,-0.70,-126.5,88.1,-11.3,133,829,0.00,2.20,0.00,0.000,6,0.000,0.039,2952,2052,2472,0,0,0,0,0,0
$GC,1157,-0.70,-126.5,127.3,-12.3,173,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2052,2472,0,0,0,0,0,0
$GC,1474,-0.70,-126.5,162.4,-10.8,203,1478,0.00,2.20,0.00,0.000,4,0.000,0.056,2941,3464,2472,0,0,0,0,0,0
$GC,1550,-0.70,-126.5,170.1,-9.8,209,1555,0.05,2.15,0.00,0.000,6,0.223,0.037,2952,2060,2472,0,0,0,0,0,0
$GC,1874,-0.70,-126.5,201.3,-9.3,239,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2061,2472,0,0,0,0,0,0
$GC,2196,-0.70,-126.5,230.8,-9.5,269,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2060,2472,0,0,0,0,0,0
$GC,2512,-0.70,-126.5,260.6,-9.2,299,2516,0.00,2.25,0.00,0.000,4,0.000,0.058,2943,3468,2473,0,0,0,0,0,0
$GC,2542,-0.70,-126.5,263.2,-9.4,301,2545,0.00,2.15,0.00,0.000,6,0.000,0.037,2944,2060,2473,0,0,0,0,0,0
$GC,2866,-0.70,-126.5,294.4,-9.4,331,2870,0.00,2.17,0.00,0.000,4,0.000,0.051,2944,654,2473,0,0,0,0,0,0
$GC,2911,-0.70,-126.5,299.0,-10.2,334,2917,0.10,2.17,0.00,0.000,6,0.194,0.039,2958,2063,2473,0,0,0,0,0,0
$GC,3238,-0.72,-126.5,328.3,-8.8,365,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2063,2473,0,0,0,0,0,0
$GC,3554,-0.75,-126.5,356.5,-9.2,395,3558,0.00,2.22,0.00,0.000,4,0.000,0.060,2948,3470,2473,0,0,0,0,0,0
$GC,3606,-0.78,-126.5,361.1,-9.2,399,3610,0.00,2.15,0.00,0.000,6,0.000,0.037,2948,2061,2473,0,0,0,0,0,0
$GC,3933,-0.78,-126.5,391.0,-9.7,429,3937,0.00,2.20,0.00,0.000,4,0.000,0.050,2948,649,2473,0,0,0,0,0,0
$GC,3965,-0.78,-126.5,394.7,-10.1,431,3971,0.00,2.20,0.00,0.000,6,0.000,0.038,2939,2055,2473,0,0,0,0,0,0
$GC,4293,-0.78,-126.5,426.9,-9.9,450,4297,0.00,2.20,0.00,0.000,4,0.000,0.057,2929,3462,2472,0,0,0,0,0,0
$GC,4336,-0.78,-126.5,431.5,-9.9,452,4340,0.00,2.15,0.00,0.000,6,0.000,0.036,2929,2062,2473,0,0,0,0,0,0
$GC,4663,-0.78,-126.5,464.3,-9.9,468,4667,0.00,2.20,0.00,0.000,4,0.000,0.051,2929,653,2472,0,0,0,0,0,0
$GC,4729,-0.74,-126.5,471.5,-10.7,471,4734,0.05,2.20,0.00,0.000,6,0.179,0.039,2937,2058,2472,0,0,0,0,0,0
$GC,5057,-0.74,-126.5,503.7,-9.9,487,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2058,2472,0,0,0,0,0,0
$GC,5366,-0.74,-126.5,534.5,-10.1,502,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2058,2472,0,0,0,0,0,0
$GC,5675,-0.74,-126.5,566.4,-10.3,517,5679,0.00,2.22,0.00,0.000,4,0.000,0.060,2926,3467,2472,0,0,0,0,0,0
$GC,5723,-0.74,-126.5,571.8,-11.1,519,5729,0.03,2.17,0.00,0.000,6,0.182,0.037,2936,2053,2472,0,0,0,0,0,0
$GC,6044,-0.74,-126.5,604.8,-10.1,535,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2053,2471,0,0,0,0,0,0
$GC,6354,-0.74,-126.5,636.7,-10.5,550,6358,0.00,2.17,0.00,0.000,4,0.000,0.052,2937,661,2471,0,0,0,0,0,0
$GC,6385,-0.74,-126.5,640.3,-11.0,551,6392,0.00,2.20,0.00,0.000,6,0.000,0.037,2928,2072,2471,0,0,0,0,0,0
$GC,6701,-0.74,-126.5,673.4,-10.5,567,6703,0.05,0.00,0.00,0.000,6,0.236,0.000,2938,2072,2471,0,0,0,0,0,0
$GC,7011,-0.74,-126.5,705.5,-10.5,582,7015,0.00,2.20,0.00,0.000,4,0.000,0.058,2928,3470,2470,0,0,0,0,0,0
$GC,7050,-0.74,-126.5,709.8,-11.3,584,7054,0.05,2.15,0.00,0.000,6,0.228,0.037,2939,2057,2470,0,0,0,0,0,0
$GC,7376,-0.74,-126.5,742.1,-9.3,600,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2058,2470,0,0,0,0,0,0
$GC,7685,-0.74,-126.5,769.5,-8.6,615,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2057,2470,0,0,0,0,0,0
$GC,7995,-0.76,-126.5,796.1,-8.4,630,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2057,2469,0,0,0,0,0,0
$GC,8304,-0.79,-126.5,821.4,-8.0,645,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2057,2469,0,0,0,0,0,0
$GC,8613,-0.81,-126.5,846.6,-8.0,660,8618,0.00,2.25,0.00,0.000,4,0.000,0.060,2930,3466,2468,0,0,0,0,0,0
$GC,8668,-0.81,-126.5,851.3,-8.5,662,8674,0.00,2.17,0.00,0.000,6,0.000,0.037,2930,2056,2468,0,0,0,0,0,0
$GC,8985,-0.81,-126.5,876.5,-7.9,678,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2056,2468,0,0,0,0,0,0
$GC,9294,-0.81,-126.5,901.1,-8.2,693,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2056,2467,0,0,0,0,0,0
$GC,9603,-0.81,-126.5,926.8,-8.4,708,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2056,2468,0,0,0,0,0,0
$GC,9913,-0.83,-126.5,953.8,-8.8,723,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2056,2468,0,0,0,0,0,0
$GC,10222,-0.83,-126.5,980.8,-8.9,738,10226,0.00,2.17,0.00,0.000,4,0.000,0.052,2930,661,2467,0,0,0,0,0,0
$GC,10261,-0.83,-126.5,984.4,-10.3,740,10265,0.00,2.17,0.00,0.000,6,0.000,0.039,2921,2071,2467,0,0,0,0,0,0
$STATE,10441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10441,begin apogee
$GC,10445,-0.19,0.0,1001.3,9.4,749,10564,0.65,0.00,115.25,1.294,6,0.151,0.000,3122,1725,1950,0,0,0,0,0,0
$STATE,10565,end apogee,CONTROL_FINISHED_OK
$STATE,10565,begin climb
$GC,10566,0.83,126.5,1004.8,0.0,755,10693,0.98,2.33,119.65,1.252,4,0.089,0.047,3457,323,1433,0,0,0,0,0,0
$GC,10742,0.83,126.5,991.4,11.5,763,10749,0.00,2.38,0.00,0.000,6,0.000,0.033,3457,1731,1428,0,0,0,0,0,0
$GC,11059,0.83,126.5,957.2,10.9,779,11060,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1731,1424,0,0,0,0,0,0
$GC,11369,0.83,126.5,923.8,10.7,794,11373,0.00,2.28,0.00,0.000,4,0.000,0.047,3466,323,1422,0,0,0,0,0,0
$GC,11485,0.80,126.5,910.4,12.0,799,11490,0.05,2.28,0.00,0.000,6,0.144,0.033,3447,1746,1421,0,0,0,0,0,0
$GC,11806,0.80,126.5,876.2,10.7,815,11810,0.00,2.30,0.00,0.000,4,0.000,0.046,3457,318,1420,0,0,0,0,0,0
$GC,11845,0.80,126.5,871.9,11.2,817,11849,0.05,2.22,0.00,0.000,6,0.208,0.033,3444,1742,1420,0,0,0,0,0,0
$GC,12171,0.80,126.5,837.7,10.6,833,12172,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1742,1420,0,0,0,0,0,0
$GC,12480,0.80,126.5,804.0,11.1,848,12481,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1742,1420,0,0,0,0,0,0
$GC,12789,0.80,126.5,769.4,11.3,863,12793,0.00,2.28,0.00,0.000,4,0.000,0.048,3453,319,1419,0,0,0,0,0,0
$GC,12838,0.80,126.5,763.5,11.9,865,12843,0.00,2.20,0.00,0.000,6,0.000,0.032,3453,1730,1419,0,0,0,0,0,0
$GC,13160,0.80,126.5,727.4,11.2,881,13161,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1730,1419,0,0,0,0,0,0
$GC,13469,0.80,126.5,694.6,10.7,896,13470,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1730,1419,0,0,0,0,0,0
$GC,13779,0.80,127.9,663.5,9.9,911,13783,0.00,2.22,0.00,0.000,4,0.000,0.046,3463,326,1418,0,0,0,0,0,0
$GC,13844,0.78,127.9,656.7,10.4,914,13849,0.08,2.17,0.00,0.000,6,0.135,0.033,3436,1728,1418,0,0,0,0,0,0
$GC,14172,0.82,154.4,628.5,8.6,930,14198,0.00,0.00,24.60,1.047,6,0.000,0.000,3436,1728,1319,0,0,0,0,0,0
$GC,14501,0.88,177.7,600.2,8.7,946,14531,0.10,2.33,22.67,1.026,4,0.099,0.045,3494,334,1225,0,0,0,0,0,0
$GC,14569,0.84,177.7,592.2,12.2,949,14574,0.10,2.22,0.00,0.000,6,0.136,0.033,3451,1722,1222,0,0,0,0,0,0
$GC,14897,0.87,177.7,559.4,10.2,965,14901,0.00,2.25,0.00,0.000,4,0.000,0.047,3461,328,1219,0,0,0,0,0,0
$GC,14973,0.87,177.7,550.3,10.8,968,14980,0.00,2.22,0.00,0.000,6,0.000,0.032,3461,1736,1219,0,0,0,0,0,0
$GC,15290,0.90,177.7,514.1,11.6,984,15294,0.00,2.28,0.00,0.000,4,0.000,0.046,3470,318,1219,0,0,0,0,0,0
$GC,15344,0.90,177.7,507.2,10.8,986,15351,0.00,2.22,0.00,0.000,6,0.000,0.032,3470,1730,1218,0,0,0,0,0,0
$GC,15661,0.90,177.7,469.7,12.1,1002,15665,0.00,2.25,0.00,0.000,4,0.000,0.046,3480,326,1218,0,0,0,0,0,0
$GC,15699,0.90,177.7,465.0,12.7,1004,15703,0.00,2.20,0.00,0.000,6,0.000,0.034,3480,1740,1218,0,0,0,0,0,0
$GC,16026,0.90,177.7,424.1,12.8,1020,16030,0.00,2.25,0.00,0.000,4,0.000,0.047,3489,326,1218,0,0,0,0,0,0
$GC,16069,0.87,177.7,418.1,13.9,1022,16074,0.05,2.20,0.00,0.000,6,0.150,0.032,3470,1738,1218,0,0,0,0,0,0
$GC,16392,0.87,177.7,378.6,12.2,1045,16393,0.00,0.00,0.00,0.000,6,0.000,0.000,3471,1738,1218,0,0,0,0,0,0
$GC,16708,0.87,177.7,339.5,12.0,1075,16712,0.00,2.22,0.00,0.000,4,0.000,0.046,3480,320,1218,0,0,0,0,0,0
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$GC,18271,0.88,186.4,157.0,9.5,1218,18285,0.00,2.30,7.80,0.667,4,0.000,0.046,3478,310,1190,0,0,0,0,0,0
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$GC,19111,0.92,214.9,70.3,8.6,1318,19145,0.00,2.30,24.17,0.702,4,0.000,0.047,3497,333,1071,0,0,0,0,0,0
$GC,19250,0.92,214.9,56.6,12.0,1342,19256,0.05,2.15,0.00,0.000,6,0.203,0.031,3483,1730,1068,0,0,0,0,0,0
$GC,19614,0.95,214.9,15.3,12.5,1403,19621,0.00,2.25,0.00,0.000,4,0.000,0.044,3493,327,1067,0,0,0,0,0,0
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$STATE,19698,end climb,SURFACE_DEPTH_REACHED
$STATE,19698,begin surface coast
$FINISH,1.3,1.023373
$STATE,19724,end surface coast,CONTROL_FINISHED_OK
$STATE,19724,begin surface
$SM_CCo,19800,0.00,0.000,0,0,1064,217.09
$SM_GC,2.25,8.88,0.00,0.00,0.034,0.000,0.000,91,2091,1064,-9.60,0.85,217.09
$IRIDIUM_FIX,-4447.43,634.22,070608,050552
$TT8_MAMPS,0.026964
$HUMID,62.28
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,23.3,14.339
$10V_AH,10.1,11.728
$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
$DEVICE_SECS,23.500,138.575,318.400,0.000,0.000,24.372,40.818,289.562,0.000,0.000,18.663,3477.096,12643.006,420.886,3569.602,153.054,0.000,1720.842,0.000,3017.474,0.000,0.539,0.000
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$SENSOR_SECS,989.126,2575.566,1002.359,520.404,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353332
$DATA_FILE_SIZE,97337,1420
$CAP_FILE_SIZE,181041,0
$CFSIZE,2097086464,2082013184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120815,033357,-4505.146,629.108,36,1.2,36,-24.4