version: 66.07.10.p01
glider: 573
mission: 4
dive: 459
start: 1 12 113 0 50 31
data:
$ID,573
$MISSION,4
$DIVE,459
$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,340
$T_MISSION,355
$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,170
$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,0
$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,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,-5768.1763
$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,3049
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,1910
$C_ROLL_CLIMB,1585
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,28
$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,438
$GPS1,120113,004225,-4229.093,-415.236,40,1.9,40,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.96
$_SM_ANGLEo,-63.8
$GPS2,120113,004936,-4229.101,-415.230,18,1.9,18,-22.1
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4330.000,-230.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.266,0.063
$KALMAN_X,-166477.4,-45.3,121.9,312247.7,-4226.7
$KALMAN_Y,-138108.4,49.9,753.2,74485.1,-2212.5
$MHEAD_RNG_PITCHd_Wd,98.9,180844,-16.8,-9.804
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.00,-165.4,0.0,0.0,0,35,0.00,0.00,-7.47,0.000,2,0.000,0.000,82,1914,1090,0,0,0,0,0,0
$GC,37,-1.00,-165.4,3.0,-0.0,1,171,10.50,2.40,-110.38,0.000,4,0.211,0.073,2729,501,3537,0,0,0,0,0,0
$GC,301,-0.96,-165.4,19.0,-11.7,45,309,0.03,2.28,0.00,0.000,6,0.173,0.047,2729,1909,3540,0,0,0,0,0,0
$GC,382,-0.96,-165.4,28.1,-10.7,58,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1910,3540,0,0,0,0,0,0
$GC,460,-0.96,-165.4,36.2,-10.4,71,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1910,3540,0,0,0,0,0,0
$GC,696,-0.96,-165.4,60.2,-9.7,112,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1909,3540,0,0,0,0,0,0
$GC,1015,-0.96,-165.4,93.1,-10.2,142,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1910,3541,0,0,0,0,0,0
$GC,1341,-0.99,-165.4,126.2,-10.8,165,1344,0.00,0.60,0.00,0.000,4,0.000,0.056,2726,2317,3541,0,0,0,0,0,0
$GC,1396,-1.03,-165.4,132.6,-11.2,168,1400,0.00,0.62,0.00,0.000,6,0.000,0.053,2727,1907,3541,0,0,0,0,0,0
$GC,1724,-1.07,-165.4,167.2,-10.6,189,1728,0.08,0.43,0.00,0.000,4,0.122,0.062,2679,1625,3541,0,0,0,0,0,0
$GC,1810,-1.02,-165.4,176.8,-10.8,194,1814,0.10,0.43,0.00,0.000,6,0.133,0.057,2712,1908,3541,0,0,0,0,0,0
$GC,2129,-1.05,-165.4,208.4,-9.8,213,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1908,3541,0,0,0,0,0,0
$GC,2437,-1.05,-165.4,238.8,-9.8,228,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1908,3541,0,0,0,0,0,0
$GC,2747,-1.05,-165.4,269.5,-9.7,243,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1908,3541,0,0,0,0,0,0
$GC,3056,-1.05,-165.4,298.5,-9.1,258,3060,0.00,0.45,0.00,0.000,4,0.000,0.057,2712,1600,3541,0,0,0,0,0,0
$GC,3134,-1.05,-165.4,305.8,-8.8,261,3138,0.00,0.50,0.00,0.000,6,0.000,0.054,2711,1920,3541,0,0,0,0,0,0
$GC,3465,-1.07,-165.4,335.6,-9.0,272,3468,0.00,1.48,0.00,0.000,4,0.000,0.055,2711,1001,3541,0,0,0,0,0,0
$GC,3549,-1.07,-165.4,343.6,-9.5,274,3553,0.00,1.45,0.00,0.000,6,0.000,0.047,2704,1911,3541,0,0,0,0,0,0
$GC,3873,-1.07,-165.4,372.4,-8.8,285,3877,0.00,0.88,0.00,0.000,4,0.000,0.054,2703,1354,3541,0,0,0,0,0,0
$GC,3957,-1.07,-165.4,379.9,-8.6,287,3961,0.00,0.88,0.00,0.000,6,0.000,0.050,2699,1919,3541,0,0,0,0,0,0
$GC,4281,-1.07,-165.4,408.5,-8.8,298,4285,0.00,0.57,0.00,0.000,4,0.000,0.058,2697,2301,3541,0,0,0,0,0,0
$GC,4387,-1.07,-165.4,418.2,-9.2,301,4391,0.00,0.62,0.00,0.000,6,0.000,0.052,2697,1901,3541,0,0,0,0,0,0
$GC,4723,-1.07,-165.4,448.1,-9.0,312,4726,0.00,0.73,0.00,0.000,4,0.000,0.058,2694,2369,3541,0,0,0,0,0,0
$GC,4812,-1.07,-165.4,456.7,-9.6,314,4815,0.00,0.70,0.00,0.000,6,0.000,0.051,2694,1910,3541,0,0,0,0,0,0
$GC,5130,-1.07,-165.4,487.1,-9.4,325,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1910,3540,0,0,0,0,0,0
$GC,5437,-1.07,-165.4,515.1,-9.1,335,5440,0.00,0.43,0.00,0.000,4,0.000,0.059,2694,1621,3540,0,0,0,0,0,0
$GC,5475,-1.07,-165.4,518.9,-9.3,336,5479,0.00,0.47,0.00,0.000,6,0.000,0.057,2692,1924,3539,0,0,0,0,0,0
$GC,5810,-1.07,-165.4,551.1,-10.0,347,5814,0.00,1.10,0.00,0.000,4,0.000,0.057,2686,2618,3539,0,0,0,0,0,0
$GC,5871,-1.07,-165.4,557.5,-10.2,348,5877,0.03,1.12,0.00,0.000,6,0.168,0.049,2697,1906,3539,0,0,0,0,0,0
$GC,6184,-1.07,-165.4,590.3,-10.8,359,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1907,3538,0,0,0,0,0,0
$GC,6490,-1.07,-165.4,624.3,-11.2,369,6494,0.00,0.73,0.00,0.000,4,0.000,0.059,2693,2371,3537,0,0,0,0,0,0
$GC,6561,-1.07,-165.4,632.6,-10.8,371,6566,0.00,0.75,0.00,0.000,6,0.000,0.053,2694,1899,3537,0,0,0,0,0,0
$GC,6897,-1.07,-165.4,669.3,-10.8,382,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1899,3536,0,0,0,0,0,0
$GC,7203,-1.07,-165.4,699.5,-9.6,392,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1899,3536,0,0,0,0,0,0
$GC,7509,-1.07,-165.4,729.2,-9.9,402,7511,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1898,3535,0,0,0,0,0,0
$GC,7816,-1.07,-165.4,757.9,-9.5,412,7820,0.00,1.12,0.00,0.000,4,0.000,0.059,2689,2597,3534,0,0,0,0,0,0
$GC,7888,-1.07,-165.4,765.0,-9.4,414,7892,0.03,1.10,0.00,0.000,6,0.161,0.050,2700,1908,3534,0,0,0,0,0,0
$GC,8223,-1.09,-165.4,798.2,-10.1,425,8227,0.00,1.33,0.00,0.000,4,0.000,0.060,2693,2732,3534,0,0,0,0,0,0
$GC,8358,-1.09,-165.4,812.3,-9.9,429,8362,0.00,1.30,0.00,0.000,6,0.000,0.050,2694,1915,3533,0,0,0,0,0,0
$GC,8699,-1.09,-165.4,848.9,-10.9,440,8702,0.00,0.47,0.00,0.000,4,0.000,0.060,2691,2229,3533,0,0,0,0,0,0
$GC,8787,-1.09,-165.4,858.6,-10.2,442,8792,0.00,0.52,0.00,0.000,6,0.000,0.056,2691,1896,3532,0,0,0,0,0,0
$GC,9106,-1.09,-165.4,890.5,-9.8,453,9110,0.00,0.88,0.00,0.000,4,0.000,0.057,2688,2445,3531,0,0,0,0,0,0
$GC,9167,-1.09,-165.4,896.4,-9.2,454,9173,0.00,0.85,0.00,0.000,6,0.000,0.053,2687,1909,3531,0,0,0,0,0,0
$GC,9480,-1.09,-165.4,924.6,-8.8,465,9484,0.00,0.55,0.00,0.000,4,0.000,0.061,2685,2268,3530,0,0,0,0,0,0
$GC,9569,-1.09,-165.4,932.6,-8.9,467,9573,0.00,0.57,0.00,0.000,6,0.000,0.057,2685,1906,3530,0,0,0,0,0,0
$GC,9888,-1.09,-165.4,959.2,-8.4,478,9889,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1906,3529,0,0,0,0,0,0
$GC,10194,-1.09,-165.4,985.3,-8.7,488,10198,0.00,1.35,0.00,0.000,4,0.000,0.060,2679,2734,3529,0,0,0,0,0,0
$GC,10272,-1.09,-165.4,992.8,-9.4,490,10277,0.03,1.33,0.00,0.000,6,0.168,0.052,2690,1905,3529,0,0,0,0,0,0
$STATE,10355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10355,begin apogee
$GC,10361,-0.29,0.0,1000.6,9.6,493,10508,0.80,0.00,144.35,1.259,6,0.112,0.000,2949,1586,2862,0,0,0,0,0,0
$STATE,10509,end apogee,CONTROL_FINISHED_OK
$STATE,10509,begin climb
$GC,10511,1.00,165.4,1011.0,0.0,498,10667,1.20,0.00,150.07,1.223,6,0.063,0.000,3366,1586,2187,0,0,0,0,0,0
$GC,10970,0.84,283.9,999.6,5.1,513,11082,0.15,0.45,105.03,1.225,4,0.176,0.050,3325,1858,1705,0,0,0,0,0,0
$GC,11109,0.85,364.7,991.2,6.6,517,11190,0.00,0.47,76.47,1.196,6,0.000,0.061,3327,1584,1374,0,0,0,0,0,0
$GC,11527,0.89,412.7,958.9,7.9,531,11577,0.00,2.28,44.58,1.191,4,0.000,0.069,3337,268,1178,0,0,0,0,0,0
$GC,11661,0.99,426.0,947.3,9.3,535,11681,0.10,2.12,13.38,1.097,6,0.096,0.048,3387,1580,1125,0,0,0,0,0,0
$GC,11996,0.99,426.0,914.2,10.3,546,11997,0.08,0.00,0.00,0.000,6,0.175,0.000,3368,1580,1118,0,0,0,0,0,0
$GC,12301,1.02,426.0,883.0,10.4,556,12305,0.00,0.45,0.00,0.000,4,0.000,0.070,3370,1299,1117,0,0,0,0,0,0
$GC,12396,1.06,426.0,872.8,10.4,558,12401,0.00,0.47,0.00,0.000,6,0.000,0.056,3370,1592,1117,0,0,0,0,0,0
$GC,12709,1.09,426.0,839.4,10.9,569,12711,0.08,0.00,0.00,0.000,6,0.121,0.000,3414,1592,1116,0,0,0,0,0,0
$GC,13015,1.05,426.0,803.6,11.8,579,13017,0.10,0.00,0.00,0.000,6,0.168,0.000,3388,1592,1116,0,0,0,0,0,0
$GC,13321,1.05,426.0,769.6,10.9,589,13325,0.00,0.40,0.00,0.000,4,0.000,0.057,3388,1865,1115,0,0,0,0,0,0
$GC,13359,1.05,426.0,765.4,10.5,590,13363,0.00,0.47,0.00,0.000,6,0.000,0.063,3389,1577,1115,0,0,0,0,0,0
$GC,13695,1.05,426.0,729.7,10.6,601,13698,0.00,0.90,0.00,0.000,4,0.000,0.064,3394,1020,1115,0,0,0,0,0,0
$GC,13744,1.05,426.0,724.4,10.4,602,13748,0.00,0.93,0.00,0.000,6,0.000,0.049,3394,1602,1115,0,0,0,0,0,0
$GC,14068,1.05,426.0,690.3,10.4,613,14069,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1602,1115,0,0,0,0,0,0
$GC,14375,1.05,426.0,659.2,10.2,623,14376,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1602,1114,0,0,0,0,0,0
$GC,14681,1.05,426.0,628.5,10.0,633,14682,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1602,1114,0,0,0,0,0,0
$GC,14987,1.05,426.0,596.6,10.5,643,14991,0.00,0.70,0.00,0.000,4,0.000,0.057,3394,2063,1114,0,0,0,0,0,0
$GC,15042,1.05,432.5,590.8,9.5,644,15053,0.00,0.75,5.72,0.789,6,0.000,0.060,3397,1592,1098,0,0,0,0,0,0
$GC,15360,1.05,432.5,556.9,10.8,655,15364,0.00,1.25,0.00,0.000,4,0.000,0.057,3397,2369,1098,0,0,0,0,0,0
$GC,15420,1.05,432.5,550.3,10.8,656,15426,0.03,1.25,0.00,0.000,6,0.187,0.056,3393,1594,1098,0,0,0,0,0,0
$GC,15733,1.05,432.5,517.5,10.4,667,15735,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,1594,1098,0,0,0,0,0,0
$GC,16039,1.05,432.5,485.6,10.2,677,16043,0.00,0.50,0.00,0.000,4,0.000,0.058,3393,1920,1097,0,0,0,0,0,0
$GC,16100,1.05,432.5,479.3,10.0,678,16106,0.00,0.55,0.00,0.000,6,0.000,0.063,3395,1581,1098,0,0,0,0,0,0
$GC,16413,1.05,432.5,448.2,10.0,689,16417,0.00,0.82,0.00,0.000,4,0.000,0.054,3395,2110,1098,0,0,0,0,0,0
$GC,16462,1.05,439.7,443.2,9.5,690,16477,0.00,0.85,8.57,0.815,6,0.000,0.060,3399,1581,1069,0,0,0,0,0,0
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$GC,17157,1.08,439.7,370.7,10.8,713,17158,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1583,1067,0,0,0,0,0,0
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$GC,17531,1.10,439.7,329.8,10.4,725,17535,0.00,1.25,0.00,0.000,6,0.000,0.057,3398,1591,1067,0,0,0,0,0,0
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$GC,19905,1.10,460.0,78.9,9.0,856,19930,0.03,0.77,20.40,0.645,6,0.188,0.057,3408,1588,987,0,0,0,0,0,0
$GC,20261,1.12,463.9,44.2,9.7,902,20269,0.00,0.70,4.53,0.502,4,0.000,0.054,3407,2020,971,0,0,0,0,0,0
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$GC,20577,1.06,463.9,11.0,12.8,955,20585,0.08,0.00,0.00,0.000,6,0.202,0.000,3393,1580,970,0,0,0,0,0,0
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$STATE,20672,end climb,SURFACE_DEPTH_REACHED
$STATE,20672,begin surface coast
$FINISH,2.2,1.006539
$STATE,20715,end surface coast,CONTROL_FINISHED_OK
$STATE,20715,begin surface
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$SM_GC,2.96,8.68,0.00,0.00,0.032,0.000,0.000,81,1923,871,-9.18,0.37,488.38
$IRIDIUM_FIX,-4212.81,-419.89,110113,191932
$TT8_MAMPS,0.026215
$HUMID,49.09
$INTERNAL_PRESSURE,9.04998
$TCM_TEMP,15.00
$XPDR_PINGS,2
$24V_AH,22.2,77.626
$10V_AH,9.9,61.472
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.100,61.875,584.725,0.000,0.000,26.220,41.994,221.418,0.500,0.000,20.460,2489.751,14888.404,608.517,2980.794,251.485,33.371,1864.232,0.000,2656.064,0.000,1.009,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,654.558,919.907,665.742,78.851,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354620
$DATA_FILE_SIZE,57050,977
$CAP_FILE_SIZE,170759,0
$CFSIZE,2097086464,2033713152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120113,063828,-4229.779,-414.319,30,4.0,49,-22.1