version: 66.07.10.p01
glider: 574
mission: 4
dive: 173
start: 11 2 112 23 10 25
data:
$ID,574
$MISSION,4
$DIVE,173
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,3
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,1
$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,-5969.5664
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,92
$PITCH_MAX,3858
$C_PITCH,3013
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1913
$C_ROLL_CLIMB,1651
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,396
$VBD_MAX,3960
$C_VBD,2827
$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,-61.017719
$PRESSURE_SLOPE,0.00011710486
$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,1000
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.812
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$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,0.0043508084
$SEABIRD_T_H,0.00062732975
$SEABIRD_T_I,2.3669163e-05
$SEABIRD_T_J,2.5502761e-06
$SEABIRD_C_G,-9.9075203
$SEABIRD_C_H,1.1452845
$SEABIRD_C_I,-0.00093430834
$SEABIRD_C_J,0.0001541152
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,152
$GPS1,021112,230136,-4228.310,-721.716,41,1.1,42,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-75.2
$GPS2,021112,230931,-4228.307,-721.846,17,1.1,19,-21.8
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4200.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.195,0.130
$KALMAN_X,-298064.2,341.0,361.4,416427.2,-7991.8
$KALMAN_Y,253094.8,-424.8,-826.4,-208668.2,9063.8
$MHEAD_RNG_PITCHd_Wd,78.0,77880,-13.9,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.52,-145.9,0.0,0.0,0,88,0.00,0.00,-60.83,0.000,2,0.000,0.000,68,1922,2721,0,0,0,0,0,0
$GC,90,-0.52,-145.9,3.2,-1.7,10,128,12.15,0.70,-18.45,0.000,4,0.258,0.097,2835,1488,3422,0,0,0,0,0,0
$GC,219,-0.49,-145.9,16.2,-9.4,31,227,0.05,0.62,0.00,0.000,6,0.152,0.041,2851,1896,3423,0,0,0,0,0,0
$GC,300,-0.60,-145.9,22.6,-7.7,44,308,0.10,0.45,0.00,0.000,4,0.110,0.050,2804,2211,3424,0,0,0,0,0,0
$GC,387,-0.65,-145.9,30.2,-8.9,58,394,0.00,0.47,0.00,0.000,6,0.000,0.052,2804,1902,3423,0,0,0,0,0,0
$GC,625,-0.58,-145.9,53.0,-10.1,99,631,0.08,2.28,0.00,0.000,4,0.187,0.063,2822,511,3424,0,0,0,0,0,0
$GC,685,-0.56,-145.9,58.9,-9.5,109,691,0.05,2.17,0.00,0.000,6,0.216,0.035,2826,1916,3424,0,0,0,0,0,0
$GC,914,-0.54,-145.9,78.5,-8.2,150,921,0.00,0.45,0.00,0.000,4,0.000,0.057,2826,1625,3423,0,0,0,0,0,0
$GC,983,-0.52,-145.9,84.2,-8.6,162,991,0.03,0.43,0.00,0.000,6,0.173,0.042,2834,1928,3424,0,0,0,0,0,0
$GC,1330,-0.52,-145.9,111.8,-8.4,207,1334,0.00,2.30,0.00,0.000,4,0.000,0.060,2835,513,3424,0,0,0,0,0,0
$GC,1384,-0.52,-145.9,117.2,-9.6,210,1393,0.03,2.15,0.00,0.000,6,0.172,0.034,2837,1899,3424,0,0,0,0,0,0
$GC,1706,-0.62,-145.9,143.5,-8.3,231,1711,0.08,1.58,0.00,0.000,4,0.132,0.046,2799,2903,3424,0,0,0,0,0,0
$GC,1761,-0.66,-145.9,149.3,-10.6,234,1766,0.00,1.55,0.00,0.000,6,0.000,0.042,2799,1918,3424,0,0,0,0,0,0
$GC,2089,-0.68,-145.9,181.2,-9.9,255,2093,0.00,2.17,0.00,0.000,4,0.000,0.047,2791,3318,3424,0,0,0,0,0,0
$GC,2159,-0.64,-145.9,188.7,-10.9,259,2163,0.00,2.17,0.00,0.000,6,0.000,0.039,2791,1902,3425,0,0,0,0,0,0
$GC,2484,-0.55,-145.9,225.9,-11.1,280,2489,0.15,2.25,0.00,0.000,4,0.159,0.058,2833,504,3425,0,0,0,0,0,0
$GC,2550,-0.55,-145.9,232.9,-9.4,284,2555,0.00,2.17,0.00,0.000,6,0.000,0.030,2825,1927,3425,0,0,0,0,0,0
$GC,2885,-0.64,-145.9,258.9,-7.8,304,2888,0.00,1.67,0.00,0.000,4,0.000,0.045,2821,3020,3425,0,0,0,0,0,0
$GC,2940,-0.77,-145.9,263.4,-7.6,306,2945,0.12,1.73,0.00,0.000,6,0.062,0.039,2761,1910,3425,0,0,0,0,0,0
$GC,3262,-0.63,-145.9,299.5,-11.9,322,3267,0.17,2.20,0.00,0.000,4,0.164,0.044,2798,3322,3425,0,0,0,0,0,0
$GC,3379,-0.63,-145.9,310.5,-9.1,327,3384,0.00,2.17,0.00,0.000,6,0.000,0.037,2798,1917,3425,0,0,0,0,0,0
$GC,3703,-0.58,-145.9,340.6,-9.3,343,3708,0.10,2.25,0.00,0.000,4,0.177,0.057,2824,505,3425,0,0,0,0,0,0
$GC,3774,-0.58,-145.9,347.3,-8.8,346,3779,0.00,2.17,0.00,0.000,6,0.000,0.034,2822,1915,3425,0,0,0,0,0,0
$GC,4102,-0.68,-145.9,371.7,-7.4,362,4107,0.10,2.28,0.00,0.000,4,0.110,0.057,2779,499,3425,0,0,0,0,0,0
$GC,4166,-0.57,-145.9,378.0,-10.7,365,4171,0.20,2.17,0.00,0.000,6,0.152,0.034,2825,1921,3425,0,0,0,0,0,0
$GC,4491,-0.57,-145.9,406.0,-8.6,380,4495,0.00,1.05,0.00,0.000,4,0.000,0.054,2824,1260,3425,0,0,0,0,0,0
$GC,4551,-0.57,-145.9,411.7,-9.3,381,4557,0.00,1.02,0.00,0.000,6,0.000,0.037,2823,1918,3425,0,0,0,0,0,0
$GC,4865,-0.68,-145.9,437.9,-8.1,392,4869,0.10,2.28,0.00,0.000,4,0.113,0.056,2779,508,3425,0,0,0,0,0,0
$GC,4931,-0.57,-145.9,445.2,-11.8,394,4935,0.15,2.17,0.00,0.000,6,0.134,0.034,2826,1911,3425,0,0,0,0,0,0
$GC,5265,-0.57,-145.9,473.7,-8.3,405,5268,0.00,1.05,0.00,0.000,4,0.000,0.053,2826,1251,3425,0,0,0,0,0,0
$GC,5325,-0.57,-145.9,478.9,-8.6,406,5331,0.00,1.05,0.00,0.000,6,0.000,0.036,2823,1928,3424,0,0,0,0,0,0
$GC,5638,-0.57,-145.9,502.4,-7.2,417,5642,0.00,2.28,0.00,0.000,4,0.000,0.057,2823,504,3424,0,0,0,0,0,0
$GC,5686,-0.57,-145.9,506.3,-7.9,418,5691,0.00,2.17,0.00,0.000,6,0.000,0.034,2821,1909,3424,0,0,0,0,0,0
$GC,6006,-0.67,-145.9,527.4,-6.5,429,6010,0.08,1.77,0.00,0.000,4,0.132,0.047,2782,3055,3424,0,0,0,0,0,0
$GC,6066,-0.69,-145.9,532.2,-8.5,430,6072,0.00,1.77,0.00,0.000,6,0.000,0.038,2782,1910,3423,0,0,0,0,0,0
$GC,6378,-0.69,-145.9,557.6,-8.2,441,6382,0.00,2.22,0.00,0.000,4,0.000,0.056,2782,509,3423,0,0,0,0,0,0
$GC,6455,-0.61,-145.9,565.6,-10.5,443,6461,0.12,2.17,0.00,0.000,6,0.138,0.033,2813,1915,3423,0,0,0,0,0,0
$GC,6785,-0.61,-145.9,593.5,-8.6,454,6789,0.00,0.85,0.00,0.000,4,0.000,0.051,2813,1374,3423,0,0,0,0,0,0
$GC,6852,-0.61,-145.9,599.5,-9.0,456,6856,0.00,0.82,0.00,0.000,6,0.000,0.037,2811,1925,3422,0,0,0,0,0,0
$GC,7192,-0.61,-145.9,630.0,-8.9,467,7196,0.00,1.50,0.00,0.000,4,0.000,0.054,2811,996,3422,0,0,0,0,0,0
$GC,7247,-0.61,-145.9,635.1,-8.9,468,7252,0.00,1.42,0.00,0.000,6,0.000,0.034,2807,1913,3422,0,0,0,0,0,0
$GC,7565,-0.61,-145.9,662.3,-8.5,479,7569,0.00,0.82,0.00,0.000,4,0.000,0.051,2808,1386,3422,0,0,0,0,0,0
$GC,7633,-0.59,-145.9,668.2,-8.7,481,7637,0.03,0.80,0.00,0.000,6,0.184,0.037,2814,1921,3422,0,0,0,0,0,0
$GC,7972,-0.59,-145.9,695.4,-7.8,492,7976,0.00,1.60,0.00,0.000,4,0.000,0.054,2815,929,3422,0,0,0,0,0,0
$GC,8040,-0.59,-145.9,701.2,-8.8,494,8043,0.00,1.50,0.00,0.000,6,0.000,0.034,2810,1898,3421,0,0,0,0,0,0
$GC,8380,-0.59,-145.9,731.6,-9.4,505,8383,0.00,0.98,0.00,0.000,4,0.000,0.052,2810,1284,3421,0,0,0,0,0,0
$GC,8462,-0.59,-145.9,739.8,-10.1,507,8467,0.00,1.00,0.00,0.000,6,0.000,0.037,2808,1924,3421,0,0,0,0,0,0
$GC,8786,-0.59,-145.9,770.5,-9.4,518,8789,0.00,1.38,0.00,0.000,4,0.000,0.053,2808,1066,3421,0,0,0,0,0,0
$GC,8853,-0.59,-145.9,776.9,-9.5,520,8857,0.03,1.30,0.00,0.000,6,0.181,0.037,2814,1910,3421,0,0,0,0,0,0
$GC,9192,-0.59,-145.9,807.3,-8.9,531,9196,0.00,0.52,0.00,0.000,4,0.000,0.053,2814,1564,3421,0,0,0,0,0,0
$GC,9252,-0.59,-145.9,813.2,-9.6,532,9258,0.00,0.55,0.00,0.000,6,0.000,0.041,2813,1931,3420,0,0,0,0,0,0
$GC,9565,-0.59,-145.9,841.4,-9.1,543,9568,0.00,1.88,0.00,0.000,4,0.000,0.054,2813,743,3420,0,0,0,0,0,0
$GC,9619,-0.59,-145.9,846.9,-10.1,544,9624,0.00,1.80,0.00,0.000,6,0.000,0.036,2809,1902,3420,0,0,0,0,0,0
$GC,9938,-0.59,-145.9,876.0,-9.3,555,9939,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1902,3420,0,0,0,0,0,0
$GC,10244,-0.59,-145.9,905.6,-9.8,565,10247,0.00,1.12,0.00,0.000,4,0.000,0.053,2809,1196,3420,0,0,0,0,0,0
$GC,10315,-0.59,-145.9,912.7,-10.5,567,10320,0.00,1.12,0.00,0.000,6,0.000,0.038,2808,1915,3420,0,0,0,0,0,0
$GC,10651,-0.59,-145.9,940.7,-7.8,578,10654,0.00,1.25,0.00,0.000,4,0.000,0.053,2808,1135,3421,0,0,0,0,0,0
$GC,10718,-0.59,-145.9,945.8,-7.3,580,10722,0.03,1.20,0.00,0.000,6,0.179,0.037,2813,1914,3420,0,0,0,0,0,0
$GC,11059,-0.59,-145.9,968.7,-6.7,591,11062,0.00,1.52,0.00,0.000,4,0.000,0.054,2813,968,3420,0,0,0,0,0,0
$GC,11130,-0.59,-145.9,974.0,-6.6,593,11135,0.00,1.48,0.00,0.000,6,0.000,0.037,2810,1916,3420,0,0,0,0,0,0
$GC,11466,-0.59,-145.9,997.8,-7.1,604,11469,0.00,1.17,0.00,0.000,4,0.000,0.052,2810,1180,3420,0,0,0,0,0,0
$STATE,11501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11501,begin apogee
$GC,11506,-0.19,0.0,1000.1,6.5,605,11634,0.45,0.00,125.32,1.571,6,0.134,0.000,2945,1660,2827,0,0,0,0,0,0
$STATE,11635,end apogee,CONTROL_FINISHED_OK
$STATE,11635,begin climb
$GC,11637,0.52,145.9,1005.0,0.0,609,11776,0.73,2.42,131.20,1.529,4,0.075,0.047,3178,3038,2232,0,0,0,0,0,0
$GC,11901,0.33,145.9,996.4,8.7,618,11906,0.25,2.30,0.00,0.000,6,0.192,0.045,3127,1660,2227,0,0,0,0,0,0
$GC,12236,0.26,180.5,975.5,6.2,629,12272,0.10,0.50,30.48,1.453,4,0.205,0.057,3104,1352,2090,0,0,0,0,0,0
$GC,12316,0.27,197.4,970.7,6.8,631,12336,0.00,0.47,15.62,1.395,6,0.000,0.044,3105,1649,2023,0,0,0,0,0,0
$GC,12672,0.29,224.1,948.0,6.5,643,12703,0.00,1.10,24.52,1.436,4,0.000,0.045,3105,2337,1912,0,0,0,0,0,0
$GC,12747,0.32,235.7,942.5,7.0,645,12762,0.00,1.12,11.57,1.334,6,0.000,0.050,3107,1651,1865,0,0,0,0,0,0
$GC,13070,0.43,241.9,919.4,7.2,655,13084,0.12,2.30,6.70,1.172,4,0.101,0.048,3156,3044,1841,0,0,0,0,0,0
$GC,13151,0.36,241.9,911.9,8.7,657,13156,0.12,2.25,0.00,0.000,6,0.194,0.048,3132,1649,1840,0,0,0,0,0,0
$GC,13474,0.36,241.9,886.6,7.8,668,13475,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1649,1839,0,0,0,0,0,0
$GC,13781,0.36,252.6,864.0,7.0,678,13795,0.00,0.30,11.35,1.288,4,0.000,0.042,3132,1862,1796,0,0,0,0,0,0
$GC,13847,0.36,281.4,859.7,6.4,680,13877,0.00,0.35,27.20,1.398,6,0.000,0.063,3132,1641,1679,0,0,0,0,0,0
$GC,14185,0.39,337.1,839.3,5.5,691,14239,0.00,0.43,50.58,1.432,4,0.000,0.039,3131,1919,1451,0,0,0,0,0,0
$GC,14273,0.50,414.3,834.5,4.8,693,14350,0.10,0.43,71.80,1.420,6,0.067,0.061,3181,1653,1136,0,0,0,0,0,0
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$GC,18617,0.56,430.4,431.8,11.6,834,18621,0.00,0.62,0.00,0.000,6,0.000,0.042,3200,1658,1060,0,0,0,0,0,0
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$GC,19319,0.56,430.4,356.0,11.0,863,19323,0.00,0.47,0.00,0.000,4,0.000,0.065,3200,1340,1061,0,0,0,0,0,0
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$GC,20028,0.56,430.4,280.2,10.2,897,20029,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1650,1060,0,0,0,0,0,0
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$STATE,22904,end climb,SURFACE_DEPTH_REACHED
$STATE,22904,begin surface coast
$FINISH,1.4,1.026520
$STATE,22935,end surface coast,CONTROL_FINISHED_OK
$STATE,22935,begin surface
$SM_CCo,23011,0.00,0.000,0,0,1059,433.68
$SM_GC,2.34,8.65,0.00,0.00,0.055,0.000,0.000,85,1928,1059,-9.10,0.40,433.68
$IRIDIUM_FIX,-4215.72,-722.36,021112,161635
$TT8_MAMPS,0.026215
$HUMID,46.49
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,22.6,41.900
$10V_AH,10.2,32.174
$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,25.000,135.500,520.400,0.000,0.000,23.025,37.992,288.182,0.250,0.000,21.208,3035.438,15889.839,612.010,3749.764,188.757,33.358,2112.250,0.000,3345.857,0.000,3.363,0.000
$DEVICE_MAMPS,257.805,97.155,1571.310,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,765.975,1279.843,776.439,97.475,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354460
$DATA_FILE_SIZE,70054,1189
$CAP_FILE_SIZE,216163,0
$CFSIZE,2097086464,2069987328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,031112,053505,-4225.569,-721.592,36,0.8,36,-21.8