version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 111
start: 6 19 115 4 16 40
data:
$ID,574
$MISSION,20
$DIVE,111
$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,333
$T_MISSION,343
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53162
$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,200
$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,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2372112
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3888
$C_PITCH,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3880
$ROLL_DEG,40
$C_ROLL_DIVE,2124
$C_ROLL_CLIMB,2097
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,2322
$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,8.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-47.130039
$PRESSURE_SLOPE,0.0001171049
$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,1050
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,134
$DEVICE3,147
$DEVICE4,165
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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,0.0043017557
$SEABIRD_T_H,0.00062339538
$SEABIRD_T_I,2.3377639e-05
$SEABIRD_T_J,2.5612862e-06
$SEABIRD_C_G,-9.9136524
$SEABIRD_C_H,1.1456692
$SEABIRD_C_I,-0.00078246131
$SEABIRD_C_J,0.00012677554
$GPS1,090816,175203,-4638.233,454.112,37,0.9,37,-23.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-80.1
$GPS2,090816,175923,-4638.279,454.108,4,1.1,4,-23.6
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,SOUTH
$TGT_LATLONG,-4609.000,470.000
$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,19.2,57931,-16.4,-10.010,-19.35,2733
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.50,-107.1,127,2134,1525,1451,0.0,0.0,0,40,0.00,0.00,-23.38,0.000,16386,0.000,0.000,127,2134,2070,2074,2067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,42,-0.50,-107.1,127,2133,2075,2066,3.0,-2.2,4,89,10.30,2.33,-26.75,0.000,19204,0.241,0.060,2679,717,2761,2772,2750,0,0,0,0,0,0,25.51,25.78,26.08
$GC,101,-0.50,-107.1,2678,717,2773,2751,5.3,-9.0,14,108,0.00,2.28,0.00,0.000,1030,0.000,0.052,2670,2123,2762,2773,2751,0,0,0,0,0,0,28.83,25.78,28.83
$GC,149,-0.50,-107.1,1760,2121,2745,2746,12.8,-17.4,23,156,0.00,2.28,0.00,0.000,260,0.000,0.058,2659,3535,2762,2774,2750,0,0,0,0,0,0,28.83,25.79,28.83
$GC,198,-0.50,-107.1,2659,3534,2773,2750,21.0,-16.4,32,204,0.00,2.28,0.00,0.000,1030,0.000,0.053,2659,2123,2761,2774,2749,0,0,0,0,0,0,28.83,25.84,28.83
$GC,326,-0.50,-107.1,1760,2118,2745,2745,44.0,-18.4,57,332,0.00,2.30,0.00,0.000,260,0.000,0.062,2650,3535,2761,2774,2749,0,0,0,0,0,0,28.83,25.89,28.83
$GC,344,-0.50,-107.1,2650,3535,2773,2749,47.5,-18.9,60,351,0.12,2.28,0.00,0.000,3078,0.182,0.052,2682,2120,2762,2774,2750,0,0,0,0,0,0,25.79,25.91,28.83
$GC,652,-0.50,-107.1,1792,2115,2746,2745,95.1,-15.3,121,659,0.00,2.28,0.00,0.000,260,0.000,0.062,2673,3529,2761,2774,2749,0,0,0,0,0,0,28.83,26.01,28.83
$GC,688,-0.50,-107.1,2673,3529,2774,2749,100.1,-15.7,127,697,0.00,2.28,0.00,0.000,1030,0.000,0.054,2673,2103,2762,2775,2749,0,0,0,0,0,0,28.83,26.03,28.83
$GC,996,-0.50,-107.1,2673,2099,2775,2749,150.3,-17.0,158,1005,0.00,2.30,0.00,0.000,260,0.000,0.064,2663,3528,2762,2775,2749,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1059,-0.50,-107.1,1844,3527,2750,2744,160.1,-15.3,164,1066,0.00,2.30,0.00,0.000,1030,0.000,0.056,2663,2121,2761,2775,2748,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1366,-0.50,-107.1,2662,2117,2775,2749,212.8,-17.9,195,1370,0.00,2.28,0.00,0.000,260,0.000,0.064,2652,3538,2762,2775,2749,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1392,-0.50,-107.1,2652,3538,2775,2748,217.3,-17.6,197,1397,0.12,2.25,0.00,0.000,3078,0.172,0.056,2681,2123,2761,2775,2748,0,0,0,0,0,0,26.07,26.17,28.83
$GC,1697,-0.50,-107.1,2681,2120,2775,2748,265.9,-15.1,227,1701,0.00,2.25,0.00,0.000,260,0.000,0.063,2673,3527,2761,2775,2748,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1743,-0.50,-107.1,2673,3528,2776,2748,272.6,-14.4,231,1747,0.00,2.25,0.00,0.000,1030,0.000,0.056,2673,2115,2762,2776,2748,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2048,-0.50,-107.1,2672,2112,2776,2748,318.2,-14.7,261,2052,0.00,2.28,0.00,0.000,260,0.000,0.065,2662,3533,2762,2776,2748,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2104,-0.50,-107.1,2662,3533,2776,2748,326.2,-13.9,266,2108,0.00,2.28,0.00,0.000,1030,0.000,0.059,2662,2117,2762,2776,2748,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2409,-0.50,-107.1,2662,2113,2776,2748,371.6,-14.6,296,2418,0.00,2.28,0.00,0.000,260,0.000,0.065,2652,3536,2762,2776,2748,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2473,-0.50,-107.1,2651,3536,2776,2748,380.3,-14.0,302,2480,0.12,2.25,0.00,0.000,3078,0.172,0.060,2680,2122,2762,2776,2748,0,0,0,0,0,0,26.18,26.28,28.83
$GC,2790,-0.50,-107.1,2680,2119,2776,2748,421.2,-12.6,326,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2119,2762,2776,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3090,-0.50,-107.1,2681,2120,2777,2747,460.1,-13.3,341,3094,0.00,2.25,0.00,0.000,260,0.000,0.067,2672,3528,2762,2777,2747,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3108,-0.50,-107.1,1828,3527,2750,2742,462.2,-13.4,342,3112,0.00,2.28,0.00,0.000,1030,0.000,0.058,2672,2122,2762,2777,2747,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3425,-0.50,-107.1,2672,2120,2777,2747,507.0,-14.0,358,3430,0.00,2.25,0.00,0.000,260,0.000,0.067,2661,3528,2762,2777,2747,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3469,-0.50,-107.1,2661,3528,2777,2746,512.2,-14.2,360,3473,0.00,2.25,0.00,0.000,1030,0.000,0.060,2662,2117,2761,2777,2746,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3782,-0.50,-107.1,2661,2114,2777,2746,558.4,-14.4,376,3788,0.00,2.28,0.00,0.000,260,0.000,0.068,2651,3533,2761,2777,2746,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3834,-0.50,-107.1,2651,3533,2777,2746,563.9,-14.2,378,3842,0.12,2.25,0.00,0.000,3078,0.168,0.063,2681,2125,2761,2777,2746,0,0,0,0,0,0,26.25,26.34,28.83
$GC,4141,-0.50,-107.1,2680,2122,2777,2745,602.7,-11.7,394,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2122,2761,2777,2746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4441,-0.50,-107.1,2681,2122,2777,2745,637.0,-11.5,409,4445,0.00,2.25,0.00,0.000,260,0.000,0.070,2672,3527,2761,2777,2746,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4460,-0.50,-107.1,1816,3526,2750,2741,638.8,-11.5,410,4464,0.00,2.28,0.00,0.000,1030,0.000,0.063,2672,2135,2761,2777,2745,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4777,-0.50,-107.1,2672,2132,2777,2745,679.4,-12.9,426,4781,0.00,2.30,0.00,0.000,516,0.000,0.066,2672,703,2761,2777,2745,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4815,-0.50,-107.1,1856,703,2753,2741,684.4,-13.2,428,4820,0.00,2.30,0.00,0.000,1030,0.000,0.058,2662,2114,2761,2778,2745,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5135,-0.50,-107.1,2661,2114,2778,2744,727.2,-13.4,444,5141,0.00,2.25,0.00,0.000,260,0.000,0.068,2651,3543,2761,2778,2744,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5236,-0.50,-107.1,1808,3542,2751,2740,740.5,-12.7,449,5241,0.08,2.33,0.00,0.000,3078,0.156,0.063,2675,2118,2760,2777,2744,0,0,0,0,0,0,26.29,26.38,28.83
$GC,5555,-0.50,-107.1,2675,2115,2777,2744,779.2,-12.0,465,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2115,2760,2777,2744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5855,-0.50,-107.1,2675,2115,2777,2744,815.4,-12.0,480,5860,0.00,2.25,0.00,0.000,516,0.000,0.064,2682,702,2760,2777,2744,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5873,-0.50,-107.1,2683,702,2778,2744,817.9,-12.1,481,5877,0.00,2.28,0.00,0.000,1030,0.000,0.060,2674,2129,2761,2778,2744,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6190,-0.50,-107.1,2674,2129,2778,2744,856.8,-12.1,497,6196,0.00,2.22,0.00,0.000,260,0.000,0.070,2663,3529,2760,2777,2743,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6269,-0.50,-107.1,2663,3529,2777,2743,866.0,-11.6,501,6273,0.00,2.25,0.00,0.000,1030,0.000,0.064,2663,2121,2760,2777,2743,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6585,-0.50,-107.1,2662,2118,2777,2743,903.6,-11.5,517,6586,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2118,2760,2777,2743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6885,-0.50,-107.1,2663,2118,2777,2743,937.3,-11.1,532,6891,0.00,2.28,0.00,0.000,260,0.000,0.071,2652,3529,2759,2777,2742,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6938,-0.50,-107.1,2652,3529,2777,2743,941.7,-11.1,534,6946,0.12,2.25,0.00,0.000,3078,0.167,0.067,2682,2123,2759,2777,2742,0,0,0,0,0,0,26.32,26.41,28.83
$GC,7245,-0.50,-107.1,2682,2121,2777,2742,970.7,-9.0,550,7251,0.00,2.28,0.00,0.000,516,0.000,0.067,2684,709,2759,2777,2742,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7268,-0.50,-107.1,2683,709,2778,2742,972.5,-9.0,551,7272,0.00,2.28,0.00,0.000,1030,0.000,0.060,2675,2129,2760,2778,2742,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,7579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7579,begin apogee
$GC,7583,-0.11,0.0,2675,2088,2777,2742,1001.6,-9.0,567,7680,0.45,0.00,89.35,1.312,10246,0.148,0.000,2807,2088,2321,2365,2278,0,0,0,0,0,0,26.32,28.83,23.76
$STATE,7681,end apogee,CONTROL_FINISHED_OK
$STATE,7681,begin climb
$GC,7683,0.50,107.1,2807,2087,2364,2278,1002.5,0.0,572,7788,0.57,2.50,95.88,1.290,10756,0.080,0.050,3009,685,1883,1956,1810,0,0,0,0,0,0,24.71,24.17,23.36
$GC,7868,0.50,107.1,3008,685,1944,1810,977.3,18.4,581,7872,0.00,2.38,0.00,0.000,1030,0.000,0.044,3009,2111,1877,1944,1810,0,0,0,0,0,0,28.83,24.87,28.83
$GC,8180,0.50,107.1,3008,2114,1943,1806,915.2,19.4,597,8184,0.00,2.33,0.00,0.000,516,0.000,0.050,3019,686,1874,1943,1806,0,0,0,0,0,0,28.83,25.52,28.83
$GC,8256,0.50,107.1,3018,686,1937,1806,900.3,19.5,601,8260,0.00,2.28,0.00,0.000,1030,0.000,0.044,3019,2103,1871,1937,1806,0,0,0,0,0,0,28.83,25.62,28.83
$GC,8572,0.50,107.1,3018,2103,1937,1805,838.7,19.1,617,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2103,1871,1937,1806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8872,0.50,107.1,3018,2104,1937,1805,781.0,18.9,632,8878,0.00,2.25,0.00,0.000,516,0.000,0.049,3029,688,1871,1937,1805,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8912,0.50,107.1,3029,688,1934,1805,773.4,19.1,634,8916,0.00,2.22,0.00,0.000,1030,0.000,0.042,3029,2104,1869,1933,1805,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9229,0.50,107.1,3029,2103,1935,1805,713.0,18.7,650,9234,0.00,2.22,0.00,0.000,516,0.000,0.047,3039,690,1870,1935,1805,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9275,0.50,107.1,3039,690,1932,1805,705.5,18.8,652,9280,0.12,2.25,0.00,0.000,5126,0.208,0.043,3012,2091,1868,1932,1805,0,0,0,0,0,0,25.91,26.08,28.83
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$GC,10546,0.50,107.1,3021,2098,1932,1805,501.5,14.9,716,10551,0.00,2.20,0.00,0.000,516,0.000,0.050,3032,691,1868,1932,1805,0,0,0,0,0,0,28.83,26.26,28.83
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$GC,11304,0.50,107.1,3023,678,1929,1804,384.7,15.6,759,11312,0.00,2.22,0.00,0.000,1030,0.000,0.045,3024,2100,1867,1930,1805,0,0,0,0,0,0,28.83,26.32,28.83
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$STATE,13785,end climb,SURFACE_DEPTH_REACHED
$STATE,13786,begin surface coast
$FINISH,1.7,1.023143
$STATE,13807,end surface coast,CONTROL_FINISHED_OK
$STATE,13807,begin surface
$SM_CCo,13821,38.97,0.058,0,0,1505,200.16
$SM_GC,2.42,7.50,0.00,38.97,0.031,0.000,0.058,127,2104,1505,-8.42,-0.54,200.16,0,0,0,0,0,0,26.42,28.83,26.35
$IRIDIUM_FIX,-4622.97,445.82,060609,030312
$TT8_MAMPS,0.026964,0.026964
$HUMID,59.60
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,23.4,14.791
$10V_AH,10.3,11.923
$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,20.050,144.800,185.225,38.975,0.000,32.288,40.232,275.110,0.000,0.000,7.951,2818.357,8713.312,413.487,2266.363,113.932,0.000,1436.878,0.000,1868.703,0.000,0.990,0.000
$DEVICE_MAMPS,240.975,117.810,1311.975,58.140,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,745.464,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353176
$DATA_FILE_SIZE,63623,1079
$CAP_FILE_SIZE,144499,0
$CFSIZE,2097086464,2079883264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.167, 73.0,1
$GPS,090816,215221,-4636.194,456.113,39,0.9,39,-23.6