version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 128
start: 1 2 117 21 3 35
data:
$ID,573
$MISSION,15
$DIVE,128
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1010
$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,380
$T_ABORT,400
$T_TURN,225
$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,155
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52758
$MASS_COMP,0
$NAV_MODE,1
$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,670
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-31757.795
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3858
$C_PITCH,2954
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,1869
$C_ROLL_CLIMB,1333
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,3250
$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
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-87.331184
$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,5
$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
$DEVICE2,20
$DEVICE3,131
$DEVICE4,151
$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
$GPS1,020117,205603,-4528.721,553.603,36,1.6,36,-24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-55.3
$GPS2,020117,210310,-4528.766,553.674,15,0.7,17,-24.1
$SPEED_LIMITS,0.170,0.262
$TGT_NAME,SOUTH
$TGT_LATLONG,-4620.000,470.000
$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,234.6,110100,-17.6,-9.804,-20.49,2356
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.77,-150.8,230,1873,611,416,0.0,0.0,0,149,0.00,0.00,-131.27,0.000,16386,0.000,0.000,227,1880,3315,3325,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,151,-0.77,-150.8,227,1880,3328,3306,3.2,-1.3,21,188,10.30,2.35,-17.45,0.000,18692,0.250,0.083,2689,3269,3867,4001,3734,0,0,0,0,0,0,25.25,25.60,26.03
$GC,338,-0.88,-150.8,1696,3268,4007,3730,20.6,-10.7,55,346,0.03,2.28,0.00,0.000,5126,0.112,0.050,2653,1858,3870,4008,3732,0,0,0,0,0,0,25.75,25.82,28.83
$GC,470,-0.88,-150.8,1680,1856,4007,3730,36.0,-11.6,80,478,0.05,0.00,0.00,0.000,2054,0.218,0.000,2663,1858,3869,4008,3731,0,0,0,0,0,0,25.98,28.83,28.83
$GC,600,-0.88,-150.8,2663,1858,4008,3731,51.0,-13.0,105,607,0.00,2.30,0.00,0.000,2564,0.000,0.066,2663,470,3870,4008,3732,0,0,0,0,0,0,28.83,25.90,28.83
$GC,643,-0.88,-150.8,1728,469,4007,3730,56.8,-12.4,113,650,0.00,2.25,0.00,0.000,3078,0.000,0.049,2655,1873,3869,4008,3731,0,0,0,0,0,0,28.83,25.96,28.83
$GC,973,-0.91,-150.8,2654,1872,4008,3731,91.0,-8.7,159,978,0.00,2.22,0.00,0.000,2308,0.000,0.067,2644,3270,3870,4009,3731,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1192,-0.96,-150.8,2644,3270,4010,3731,108.7,-7.6,170,1198,0.00,2.20,0.00,0.000,3078,0.000,0.049,2644,1864,3870,4010,3731,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1515,-0.96,-150.8,2644,1865,4010,3731,135.3,-8.7,186,1520,0.00,2.22,0.00,0.000,2564,0.000,0.064,2644,471,3870,4010,3731,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1595,-0.96,-150.8,2644,471,4010,3731,142.9,-9.5,190,1600,0.00,2.22,0.00,0.000,3078,0.000,0.048,2635,1872,3870,4010,3731,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1908,-0.96,-150.8,2635,1873,4010,3731,173.0,-9.8,206,1909,0.00,0.00,0.00,0.000,2054,0.000,0.000,2635,1872,3870,4010,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2208,-0.96,-150.8,2634,1872,4010,3731,204.3,-10.1,221,2209,0.00,0.00,0.00,0.000,2054,0.000,0.000,2635,1872,3870,4010,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2507,-0.96,-150.8,2634,1872,4010,3731,234.0,-9.7,236,2513,0.00,2.28,0.00,0.000,2564,0.000,0.063,2635,467,3870,4010,3731,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2552,-0.96,-150.8,1792,467,4009,3730,238.3,-9.9,238,2557,0.05,2.25,0.00,0.000,3078,0.158,0.047,2643,1872,3870,4010,3731,0,0,0,0,0,0,26.10,26.27,28.83
$GC,2872,-0.96,-150.8,2643,1872,4010,3731,267.2,-9.0,254,2873,0.00,0.00,0.00,0.000,2054,0.000,0.000,2643,1873,3870,4010,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3171,-0.96,-150.8,2643,1873,4010,3731,295.4,-9.7,269,3177,0.00,2.28,0.00,0.000,2564,0.000,0.065,2643,464,3870,4010,3731,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3212,-0.96,-150.8,2643,464,4009,3731,299.5,-9.9,271,3217,0.00,2.25,0.00,0.000,3078,0.000,0.048,2634,1866,3870,4010,3731,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3530,-0.96,-150.8,2634,1867,4010,3731,331.5,-10.0,287,3531,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1867,3870,4010,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3829,-0.96,-150.8,2634,1867,4010,3731,362.1,-10.2,302,3833,0.00,2.30,0.00,0.000,2564,0.000,0.065,2634,461,3870,4010,3731,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3878,-0.96,-150.8,2634,461,4010,3731,366.0,-10.6,304,3886,0.08,2.25,0.00,0.000,3078,0.190,0.050,2641,1876,3870,4010,3731,0,0,0,0,0,0,26.19,26.32,28.83
$GC,4186,-0.99,-150.8,2641,1876,4010,3731,398.6,-10.1,320,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1876,3870,4010,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4485,-1.02,-150.8,2641,1876,4010,3730,429.3,-10.2,335,4491,0.00,2.30,0.00,0.000,4612,0.000,0.066,2641,470,3870,4010,3730,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4518,-1.02,-150.8,2641,470,4010,3730,431.5,-10.4,336,4525,0.00,2.22,0.00,0.000,5126,0.000,0.049,2633,1872,3870,4010,3730,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4825,-1.02,-150.8,2632,1872,4010,3730,464.6,-10.1,352,4829,0.00,2.22,0.00,0.000,4356,0.000,0.067,2622,3272,3870,4010,3730,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4874,-1.02,-150.8,2621,3272,4010,3729,468.2,-10.0,354,4881,0.00,2.22,0.00,0.000,3078,0.000,0.050,2622,1869,3869,4010,3729,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5181,-1.02,-150.8,2621,1869,4011,3729,500.0,-9.5,370,5185,0.00,2.28,0.00,0.000,2564,0.000,0.067,2622,468,3869,4010,3729,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5225,-1.02,-150.8,2621,468,4010,3729,503.6,-9.6,372,5229,0.00,2.22,0.00,0.000,3078,0.000,0.050,2612,1869,3869,4010,3729,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5533,-1.02,-150.8,2612,1870,4010,3729,532.7,-8.7,387,5534,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,1869,3869,4010,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5832,-1.02,-150.8,2612,1869,4010,3728,559.1,-8.8,402,5833,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,1870,3869,4010,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6134,-1.02,-150.8,2612,1869,4010,3727,584.3,-8.4,417,6139,0.00,2.25,0.00,0.000,2564,0.000,0.067,2613,471,3869,4010,3728,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6175,-1.02,-150.8,2612,471,4010,3727,587.9,-8.8,419,6180,0.08,2.22,0.00,0.000,3078,0.194,0.050,2619,1868,3868,4010,3727,0,0,0,0,0,0,26.21,26.34,28.83
$GC,6488,-1.02,-150.8,2619,1868,4010,3727,614.5,-8.4,435,6489,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1868,3868,4010,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6788,-1.02,-150.8,2618,1867,4010,3726,639.5,-8.5,450,6789,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1868,3868,4010,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7089,-1.02,-150.8,2619,1868,4010,3726,665.1,-8.6,465,7095,0.00,2.28,0.00,0.000,2564,0.000,0.067,2619,473,3867,4009,3726,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7140,-1.02,-150.8,2619,472,4010,3726,669.0,-9.2,467,7146,0.00,2.22,0.00,0.000,3078,0.000,0.051,2610,1870,3868,4010,3726,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7447,-1.02,-150.8,2610,1871,4010,3725,698.3,-9.3,483,7448,0.00,0.00,0.00,0.000,2054,0.000,0.000,2611,1871,3867,4010,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7749,-1.02,-150.8,2610,1871,4010,3724,726.6,-9.5,498,7750,0.00,0.00,0.00,0.000,2054,0.000,0.000,2610,1871,3867,4010,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8049,-1.02,-150.8,2610,1871,4010,3724,755.7,-9.8,513,8051,0.00,0.00,0.00,0.000,2054,0.000,0.000,2611,1871,3867,4010,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8348,-1.02,-150.8,2610,1871,4011,3722,785.8,-10.4,528,8354,0.00,2.25,0.00,0.000,2564,0.000,0.067,2610,471,3866,4010,3722,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8410,-1.02,-150.8,2610,471,4010,3722,792.4,-10.8,531,8415,0.10,2.25,0.00,0.000,3078,0.177,0.051,2625,1879,3866,4010,3722,0,0,0,0,0,0,26.18,26.35,28.83
$GC,8728,-1.02,-150.8,2625,1880,4010,3722,822.5,-9.5,547,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1879,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9027,-1.02,-150.8,2625,1880,4010,3721,850.8,-9.1,562,9031,0.00,2.30,0.00,0.000,516,0.000,0.065,2626,462,3866,4010,3722,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9062,-1.02,-150.8,2625,462,4010,3722,854.2,-9.2,564,9067,0.00,2.25,0.00,0.000,3078,0.000,0.051,2616,1877,3866,4010,3722,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9379,-1.02,-150.8,2616,1877,4010,3722,882.1,-8.5,580,9380,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1877,3866,4010,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9679,-1.02,-150.8,2616,1877,4010,3722,907.4,-8.5,595,9684,0.00,2.33,0.00,0.000,2564,0.000,0.067,2617,462,3866,4010,3722,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9752,-1.02,-150.8,2616,463,4010,3721,912.8,-8.9,598,9759,0.05,2.25,0.00,0.000,3078,0.221,0.051,2618,1870,3865,4010,3721,0,0,0,0,0,0,26.25,26.34,28.83
$GC,10059,-1.02,-150.8,2619,1871,4010,3721,938.7,-7.8,614,10060,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1871,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10359,-1.02,-150.8,2619,1871,4010,3721,961.9,-7.9,629,10360,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1871,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10659,-1.02,-150.8,2619,1870,4010,3721,986.2,-8.3,644,10665,0.00,2.28,0.00,0.000,2564,0.000,0.067,2619,470,3865,4010,3721,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10738,-1.02,-150.8,2619,469,4009,3721,993.2,-8.7,648,10742,0.00,2.22,0.00,0.000,3078,0.000,0.050,2610,1870,3865,4009,3721,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,10832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10833,begin apogee
$GC,10837,-0.19,0.0,2610,1338,4009,3721,1001.4,-8.5,653,10968,0.88,0.00,126.90,1.298,10246,0.138,0.000,2884,1338,3249,3376,3123,0,0,0,0,0,0,26.06,28.83,23.40
$STATE,10969,end apogee,CONTROL_FINISHED_OK
$STATE,10969,begin climb
$GC,10970,0.77,150.8,2884,1338,3377,3126,1004.0,0.0,659,11116,0.93,2.22,133.75,1.250,10756,0.070,0.075,3209,168,2635,2729,2541,0,0,0,0,0,0,24.34,23.42,22.64
$GC,11258,0.52,150.8,3209,168,2722,2541,970.7,15.0,674,11265,0.32,1.95,0.00,0.000,5126,0.159,0.050,3123,1342,2631,2722,2541,0,0,0,0,0,0,24.86,25.03,28.83
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$GC,15606,0.52,210.5,3122,1334,2470,2311,533.1,10.1,891,15610,0.00,1.95,0.00,0.000,516,0.000,0.078,3130,158,2390,2470,2311,0,0,0,0,0,0,28.83,26.03,28.83
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$GC,16643,0.52,210.5,3125,1351,2469,2312,416.9,12.0,943,16649,0.00,2.00,0.00,0.000,4612,0.000,0.077,3134,155,2390,2469,2311,0,0,0,0,0,0,28.83,26.14,28.83
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$STATE,20458,end climb,SURFACE_DEPTH_REACHED
$STATE,20459,begin surface coast
$FINISH,2.3,1.023304
$STATE,20465,end surface coast,CONTROL_FINISHED_OK
$STATE,20465,begin surface
$SM_CCo,20481,206.82,0.052,0,0,516,670.15
$SM_GC,2.36,7.55,1.40,206.82,0.028,0.048,0.052,227,1850,516,-8.43,0.65,670.15,0,0,0,0,0,0,26.32,26.23,25.98
$IRIDIUM_FIX,-4511.83,550.58,301009,040432
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.50
$INTERNAL_PRESSURE,8.88396
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.6,21.448
$10V_AH,10.3,12.928
$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,21.175,148.625,331.950,206.825,0.000,24.244,19.713,268.045,25.000,0.000,17.619,3040.632,14222.512,735.836,2962.942,149.582,0.000,2031.843,0.000,2529.504,0.000,148.961,0.000
$DEVICE_MAMPS,250.155,83.385,1298.205,52.020,0.000,91.800,160.000,223.000,420.000,0.000,30.710,14.210,2.190,13.460,40.430,47.920,0.000,15.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,616.434,579.038,672.622,106.599,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353632
$DATA_FILE_SIZE,73638,1240
$CAP_FILE_SIZE,199655,0
$CFSIZE,2097086464,2074804224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030117,024934,-4529.049,554.287,36,0.9,36,-24.1