version: 66.07.10.p01
glider: 573
mission: 4
dive: 24
start: 9 29 112 8 28 35
data:
$ID,573
$MISSION,4
$DIVE,24
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1100
$D_NO_BLEED,200
$D_BOOST,0
$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,450
$T_MISSION,520
$T_ABORT,720
$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,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52752
$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,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-4040.1714
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3022
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,1819
$C_ROLL_CLIMB,1646
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,2862
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$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,-87.947678
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$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,20
$GC_LAST_COLLECTION,3
$GPS1,290912,081601,-4240.987,-1028.355,53,1.3,53,-21.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-66.5
$GPS2,290912,082814,-4240.929,-1028.278,19,1.3,20,-21.4
$SPEED_LIMITS,0.128,0.217
$TGT_NAME,ACC_574_WP1
$TGT_LATLONG,-4320.000,-800.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.120,-0.304
$KALMAN_X,-151.7,-151.7,-151.7,138.2,-343.1
$KALMAN_Y,273.5,273.5,273.5,229.1,618.8
$MHEAD_RNG_PITCHd_Wd,131.3,212447,-15.4,-7.407
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.71,-121.6,0.0,0.0,0,81,0.00,0.00,-54.80,0.000,2,0.000,0.000,81,1822,3132,0,0,0,0,0,0
$GC,83,-0.71,-121.6,3.5,-3.0,9,109,11.60,2.30,-5.20,0.000,4,0.265,0.075,2777,3224,3361,0,0,0,0,0,0
$GC,371,-0.60,-121.6,41.2,-12.8,58,379,0.15,2.22,0.00,0.000,6,0.151,0.047,2825,1824,3363,0,0,0,0,0,0
$GC,610,-0.54,-121.6,68.4,-11.3,99,616,0.08,0.52,0.00,0.000,4,0.214,0.058,2840,2165,3363,0,0,0,0,0,0
$GC,876,-0.51,-121.6,96.0,-10.0,145,881,0.00,0.55,0.00,0.000,6,0.000,0.054,2841,1800,3363,0,0,0,0,0,0
$GC,1225,-0.48,-121.6,131.6,-10.5,206,1232,0.10,0.32,0.00,0.000,4,0.182,0.063,2865,2026,3363,0,0,0,0,0,0
$GC,1490,-0.48,-121.6,155.7,-8.6,252,1497,0.00,0.30,0.00,0.000,6,0.000,0.062,2865,1813,3363,0,0,0,0,0,0
$GC,1843,-0.48,-121.6,187.5,-9.1,313,1848,0.00,0.90,0.00,0.000,4,0.000,0.055,2861,2401,3364,0,0,0,0,0,0
$GC,2031,-0.50,-121.6,203.8,-8.3,346,2038,0.00,0.90,0.00,0.000,6,0.000,0.050,2861,1815,3364,0,0,0,0,0,0
$GC,2383,-0.50,-121.6,234.6,-8.6,407,2388,0.00,0.55,0.00,0.000,4,0.000,0.055,2859,2191,3364,0,0,0,0,0,0
$GC,2533,-0.50,-121.6,247.9,-8.5,433,2538,0.00,0.55,0.00,0.000,6,0.000,0.054,2859,1821,3364,0,0,0,0,0,0
$GC,2865,-0.50,-121.6,277.1,-9.4,466,2868,0.00,0.52,0.00,0.000,4,0.000,0.057,2856,2184,3364,0,0,0,0,0,0
$GC,2981,-0.50,-121.6,288.0,-9.5,476,2989,0.00,0.57,0.00,0.000,6,0.000,0.052,2857,1806,3364,0,0,0,0,0,0
$GC,3308,-0.50,-121.6,319.6,-9.7,507,3312,0.00,0.43,0.00,0.000,4,0.000,0.057,2855,2105,3364,0,0,0,0,0,0
$GC,3492,-0.50,-121.6,337.1,-9.5,523,3495,0.00,0.43,0.00,0.000,6,0.000,0.057,2855,1823,3364,0,0,0,0,0,0
$GC,3815,-0.50,-121.6,365.4,-8.4,553,3818,0.00,0.50,0.00,0.000,4,0.000,0.057,2852,2162,3364,0,0,0,0,0,0
$GC,3931,-0.50,-121.6,375.1,-8.9,563,3935,0.00,0.50,0.00,0.000,6,0.000,0.054,2853,1823,3364,0,0,0,0,0,0
$GC,4261,-0.50,-121.6,402.9,-8.5,594,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1823,3364,0,0,0,0,0,0
$GC,4580,-0.50,-121.6,432.1,-9.3,624,4583,0.00,0.90,0.00,0.000,4,0.000,0.056,2848,2413,3363,0,0,0,0,0,0
$GC,4719,-0.50,-121.6,445.4,-9.1,636,4727,0.00,0.93,0.00,0.000,6,0.000,0.049,2848,1816,3364,0,0,0,0,0,0
$GC,5046,-0.50,-121.6,477.5,-10.1,667,5049,0.00,0.70,0.00,0.000,4,0.000,0.056,2845,2282,3363,0,0,0,0,0,0
$GC,5183,-0.50,-121.6,491.4,-10.3,679,5187,0.00,0.70,0.00,0.000,6,0.000,0.054,2845,1820,3363,0,0,0,0,0,0
$GC,5514,-0.50,-121.6,524.1,-9.6,695,5517,0.00,0.47,0.00,0.000,4,0.000,0.060,2843,2141,3363,0,0,0,0,0,0
$GC,5770,-0.50,-121.6,548.8,-9.7,702,5772,0.00,0.50,0.00,0.000,6,0.000,0.056,2843,1813,3362,0,0,0,0,0,0
$GC,6084,-0.50,-121.6,576.5,-8.7,713,6089,0.03,1.45,0.00,0.000,4,0.266,0.059,2845,2722,3362,0,0,0,0,0,0
$GC,6220,-0.53,-121.6,587.3,-7.5,717,6223,0.00,1.40,0.00,0.000,6,0.000,0.049,2845,1819,3362,0,0,0,0,0,0
$GC,6559,-0.53,-121.6,615.4,-8.4,728,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1819,3361,0,0,0,0,0,0
$GC,6865,-0.53,-121.6,639.4,-7.5,738,6869,0.00,0.55,0.00,0.000,4,0.000,0.060,2843,2185,3361,0,0,0,0,0,0
$GC,6981,-0.53,-121.6,648.3,-7.5,741,6984,0.00,0.57,0.00,0.000,6,0.000,0.054,2843,1808,3361,0,0,0,0,0,0
$GC,7301,-0.53,-121.6,672.2,-7.5,752,7305,0.00,0.45,0.00,0.000,4,0.000,0.059,2841,2116,3360,0,0,0,0,0,0
$GC,7417,-0.53,-121.6,680.6,-7.2,755,7422,0.00,0.45,0.00,0.000,6,0.000,0.058,2841,1820,3360,0,0,0,0,0,0
$GC,7741,-0.53,-121.6,704.2,-7.4,766,7745,0.00,0.47,0.00,0.000,4,0.000,0.060,2839,2144,3359,0,0,0,0,0,0
$GC,7998,-0.53,-121.6,724.6,-8.1,773,8000,0.00,0.50,0.00,0.000,6,0.000,0.057,2840,1818,3358,0,0,0,0,0,0
$GC,8312,-0.53,-121.6,750.3,-8.4,784,8315,0.00,1.45,0.00,0.000,4,0.000,0.060,2832,2733,3358,0,0,0,0,0,0
$GC,8461,-0.53,-121.6,763.2,-8.3,788,8467,0.08,1.42,0.00,0.000,6,0.188,0.049,2851,1822,3358,0,0,0,0,0,0
$GC,8785,-0.53,-121.6,788.4,-7.8,799,8789,0.00,0.90,0.00,0.000,4,0.000,0.058,2847,2413,3357,0,0,0,0,0,0
$GC,8907,-0.55,-121.6,798.2,-8.2,802,8911,0.00,0.93,0.00,0.000,6,0.000,0.050,2847,1818,3357,0,0,0,0,0,0
$GC,9225,-0.55,-121.6,823.7,-7.9,813,9229,0.00,1.33,0.00,0.000,4,0.000,0.060,2841,2662,3357,0,0,0,0,0,0
$GC,9375,-0.58,-121.6,835.7,-8.9,817,9380,0.00,1.30,0.00,0.000,6,0.000,0.049,2841,1822,3357,0,0,0,0,0,0
$GC,9699,-0.58,-121.6,861.4,-8.2,828,9703,0.00,0.93,0.00,0.000,4,0.000,0.057,2836,2426,3356,0,0,0,0,0,0
$GC,9860,-0.58,-121.6,875.2,-8.4,832,9866,0.00,0.98,0.00,0.000,6,0.000,0.052,2836,1802,3356,0,0,0,0,0,0
$GC,10172,-0.58,-121.6,901.9,-8.6,843,10176,0.00,0.95,0.00,0.000,4,0.000,0.057,2832,2424,3356,0,0,0,0,0,0
$GC,10299,-0.58,-121.6,912.3,-7.9,846,10305,0.00,0.95,0.00,0.000,6,0.000,0.052,2832,1816,3356,0,0,0,0,0,0
$GC,10612,-0.58,-121.6,937.7,-8.0,857,10615,0.00,0.50,0.00,0.000,4,0.000,0.059,2830,2155,3356,0,0,0,0,0,0
$GC,10869,-0.58,-121.6,958.6,-8.5,864,10873,0.00,0.52,0.00,0.000,6,0.000,0.059,2830,1815,3356,0,0,0,0,0,0
$GC,11186,-0.58,-121.6,985.1,-8.4,875,11190,0.00,0.45,0.00,0.000,4,0.000,0.060,2828,2122,3355,0,0,0,0,0,0
$GC,11342,-0.58,-121.6,998.6,-9.2,879,11346,0.00,0.47,0.00,0.000,6,0.000,0.060,2828,1810,3355,0,0,0,0,0,0
$STATE,11383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11383,begin apogee
$GC,11387,-0.23,0.0,1002.1,8.7,881,11491,0.38,0.00,100.95,1.328,6,0.143,0.000,2946,1644,2861,0,0,0,0,0,0
$STATE,11492,end apogee,CONTROL_FINISHED_OK
$STATE,11492,begin climb
$GC,11493,0.71,121.6,1006.9,0.0,884,11604,0.93,0.28,104.35,1.293,4,0.109,0.059,3241,1465,2366,0,0,0,0,0,0
$GC,11625,0.71,220.7,1004.9,3.3,888,11717,0.00,0.30,88.47,1.273,6,0.000,0.063,3241,1643,1961,0,0,0,0,0,0
$GC,12041,0.77,228.1,977.6,7.1,902,12051,0.10,0.55,6.50,0.971,4,0.109,0.057,3283,1980,1932,0,0,0,0,0,0
$GC,12151,0.77,228.1,968.1,8.0,905,12156,0.05,0.55,0.00,0.000,6,0.223,0.059,3274,1647,1931,0,0,0,0,0,0
$GC,12474,0.77,228.1,940.6,8.6,916,12478,0.00,0.38,0.00,0.000,4,0.000,0.060,3274,1894,1930,0,0,0,0,0,0
$GC,12579,0.77,228.1,931.4,9.2,919,12583,0.00,0.40,0.00,0.000,6,0.000,0.063,3274,1647,1930,0,0,0,0,0,0
$GC,12914,0.77,228.1,902.8,8.5,930,12915,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1646,1930,0,0,0,0,0,0
$GC,13220,0.77,228.1,877.4,8.3,940,13223,0.00,0.28,0.00,0.000,4,0.000,0.064,3275,1836,1929,0,0,0,0,0,0
$GC,13321,0.77,228.1,869.4,8.1,943,13324,0.00,0.30,0.00,0.000,6,0.000,0.071,3276,1642,1928,0,0,0,0,0,0
$GC,13660,0.77,228.1,843.6,7.6,954,13664,0.00,0.68,0.00,0.000,4,0.000,0.057,3275,2077,1929,0,0,0,0,0,0
$GC,13776,0.77,228.1,834.6,8.0,957,13781,0.00,0.70,0.00,0.000,6,0.000,0.058,3278,1639,1928,0,0,0,0,0,0
$GC,14100,0.77,228.1,810.3,7.6,968,14103,0.00,0.90,0.00,0.000,4,0.000,0.057,3278,2212,1928,0,0,0,0,0,0
$GC,14227,0.77,228.1,800.5,7.9,971,14233,0.00,0.90,0.00,0.000,6,0.000,0.055,3281,1646,1928,0,0,0,0,0,0
$GC,14539,0.77,228.1,775.6,8.2,982,14541,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1646,1927,0,0,0,0,0,0
$GC,14846,0.77,228.1,750.0,8.6,992,14849,0.00,0.50,0.00,0.000,4,0.000,0.057,3281,1977,1927,0,0,0,0,0,0
$GC,14940,0.77,228.1,741.8,8.5,994,14946,0.00,0.50,0.00,0.000,6,0.000,0.061,3283,1650,1927,0,0,0,0,0,0
$GC,15252,0.77,228.1,715.2,8.7,1005,15256,0.00,0.55,0.00,0.000,4,0.000,0.057,3284,2019,1927,0,0,0,0,0,0
$GC,15353,0.77,228.1,706.7,8.2,1008,15357,0.03,0.57,0.00,0.000,6,0.187,0.060,3276,1648,1927,0,0,0,0,0,0
$GC,15693,0.79,228.1,680.6,7.4,1019,15694,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1648,1927,0,0,0,0,0,0
$GC,15999,0.82,228.1,656.5,8.0,1029,16000,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1648,1927,0,0,0,0,0,0
$GC,16305,0.84,228.1,630.9,8.6,1039,16306,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1648,1927,0,0,0,0,0,0
$GC,16611,0.86,228.1,602.0,9.9,1049,16613,0.08,0.00,0.00,0.000,6,0.132,0.000,3312,1648,1927,0,0,0,0,0,0
$GC,16918,0.83,228.1,566.2,11.8,1059,16922,0.08,0.30,0.00,0.000,4,0.190,0.071,3295,1444,1927,0,0,0,0,0,0
$GC,16984,0.83,228.1,558.7,13.3,1061,16988,0.00,0.30,0.00,0.000,6,0.000,0.064,3295,1647,1927,0,0,0,0,0,0
$GC,17323,0.83,228.1,521.0,11.5,1072,17327,0.00,0.82,0.00,0.000,4,0.000,0.057,3295,2193,1927,0,0,0,0,0,0
$GC,17462,0.83,228.1,504.9,13.2,1076,17467,0.00,0.88,0.00,0.000,6,0.000,0.056,3299,1643,1926,0,0,0,0,0,0
$GC,17789,0.83,228.1,468.7,10.6,1103,17790,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1643,1926,0,0,0,0,0,0
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$GC,18701,0.83,228.1,373.5,9.8,1187,18705,0.00,0.43,0.00,0.000,6,0.000,0.063,3303,1650,1926,0,0,0,0,0,0
$GC,19032,0.83,228.1,340.9,9.3,1218,19036,0.00,0.68,0.00,0.000,4,0.000,0.057,3303,2096,1926,0,0,0,0,0,0
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$GC,22800,0.83,228.1,16.0,10.1,1785,22807,0.00,0.47,0.00,0.000,4,0.000,0.059,3301,1963,1928,0,0,0,0,0,0
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$STATE,22946,end climb,SURFACE_DEPTH_REACHED
$STATE,22946,begin surface coast
$FINISH,1.0,1.025771
$STATE,23019,end surface coast,CONTROL_FINISHED_OK
$STATE,23019,begin surface
$SM_CCo,23033,8.68,0.562,0,0,1841,250.20
$SM_GC,4.16,0.00,0.00,8.68,0.000,0.000,0.562,91,1826,1841,-9.16,0.20,250.20
$IRIDIUM_FIX,-4224.47,-1026.93,290912,080833
$TT8_MAMPS,0.026964
$HUMID,42.04
$INTERNAL_PRESSURE,9.05974
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,23.4,8.727
$10V_AH,10.3,6.386
$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,22.150,53.775,300.275,8.675,0.000,56.204,81.264,398.149,0.000,0.000,23.034,4509.477,12985.530,411.142,5711.077,145.002,0.000,2220.771,0.000,5101.483,0.000,1.008,0.000
$DEVICE_MAMPS,266.220,74.970,1328.040,561.510,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1289.686,2529.535,1051.151,246.606,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354772
$DATA_FILE_SIZE,106627,1821
$CAP_FILE_SIZE,224632,0
$CFSIZE,2097086464,2091253760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290912,145453,-4240.234,-1025.086,102,1.2,102,-21.4