version: 66.07.10.p01
glider: 574
mission: 4
dive: 279
start: 11 26 112 20 1 30
data:
$ID,574
$MISSION,4
$DIVE,279
$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,480
$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,0
$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,-6728.458
$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,24
$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,25
$R_STBD_OVSHOOT,40
$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,258
$GPS1,261112,195135,-4142.841,-613.903,31,1.0,31,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-73.1
$GPS2,261112,200035,-4142.855,-613.878,34,0.9,34,-22.2
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4200.000,-500.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.225,-0.068
$KALMAN_X,-331774.0,-404.9,564.6,542928.3,2430.6
$KALMAN_Y,13470.6,-77.7,-495.2,114447.0,-848.0
$MHEAD_RNG_PITCHd_Wd,129.5,106522,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.59,-145.9,0.0,0.0,0,69,0.00,0.00,-42.15,0.000,2,0.000,0.000,67,1916,2365,0,0,0,0,0,0
$GC,71,-0.59,-145.9,3.0,-1.2,7,127,12.90,2.38,-35.33,0.000,4,0.271,0.076,2809,505,3423,0,0,0,0,0,0
$GC,213,-0.63,-145.9,15.0,-10.4,30,220,0.00,2.22,0.00,0.000,6,0.000,0.039,2802,1898,3424,0,0,0,0,0,0
$GC,294,-0.74,-145.9,23.6,-9.8,43,302,0.08,1.38,0.00,0.000,4,0.125,0.050,2769,2760,3424,0,0,0,0,0,0
$GC,363,-0.74,-145.9,30.0,-9.9,54,370,0.00,1.35,0.00,0.000,6,0.000,0.045,2769,1909,3423,0,0,0,0,0,0
$GC,441,-0.74,-145.9,37.6,-10.1,67,446,0.00,2.28,0.00,0.000,4,0.000,0.063,2769,501,3423,0,0,0,0,0,0
$GC,516,-0.64,-145.9,46.0,-11.3,80,524,0.12,2.22,0.00,0.000,6,0.138,0.036,2799,1921,3423,0,0,0,0,0,0
$GC,756,-0.72,-145.9,67.3,-8.4,121,760,0.00,1.88,0.00,0.000,4,0.000,0.058,2799,763,3423,0,0,0,0,0,0
$GC,807,-0.76,-145.9,72.3,-9.4,130,813,0.08,1.77,0.00,0.000,6,0.128,0.036,2765,1914,3423,0,0,0,0,0,0
$GC,1155,-0.76,-145.9,104.7,-9.2,186,1159,0.00,2.28,0.00,0.000,4,0.000,0.058,2765,499,3424,0,0,0,0,0,0
$GC,1237,-0.69,-145.9,113.1,-10.2,191,1242,0.12,2.17,0.00,0.000,6,0.166,0.035,2788,1915,3424,0,0,0,0,0,0
$GC,1564,-0.77,-145.9,141.2,-8.7,212,1565,0.08,0.00,0.00,0.000,6,0.131,0.000,2755,1917,3424,0,0,0,0,0,0
$GC,1874,-0.73,-145.9,171.3,-10.5,232,1878,0.08,1.42,0.00,0.000,4,0.181,0.044,2767,2827,3424,0,0,0,0,0,0
$GC,1934,-0.77,-145.9,178.1,-10.8,235,1939,0.00,1.42,0.00,0.000,6,0.000,0.044,2767,1914,3424,0,0,0,0,0,0
$GC,2253,-0.77,-145.9,211.8,-10.5,256,2257,0.00,2.20,0.00,0.000,4,0.000,0.047,2757,3321,3425,0,0,0,0,0,0
$GC,2315,-0.77,-145.9,218.7,-10.6,260,2319,0.00,2.17,0.00,0.000,6,0.000,0.039,2757,1905,3425,0,0,0,0,0,0
$GC,2635,-0.77,-145.9,253.3,-10.6,280,2639,0.00,2.22,0.00,0.000,4,0.000,0.046,2749,3322,3425,0,0,0,0,0,0
$GC,2689,-0.77,-145.9,259.6,-11.7,282,2697,0.00,2.20,0.00,0.000,6,0.000,0.038,2749,1906,3425,0,0,0,0,0,0
$GC,3006,-0.73,-145.9,291.9,-9.9,298,3010,0.10,2.22,0.00,0.000,4,0.181,0.044,2765,3316,3425,0,0,0,0,0,0
$GC,3049,-0.77,-145.9,296.5,-9.8,300,3053,0.00,2.17,0.00,0.000,6,0.000,0.037,2765,1909,3425,0,0,0,0,0,0
$GC,3376,-0.77,-145.9,325.6,-8.4,316,3380,0.00,2.20,0.00,0.000,4,0.000,0.045,2756,3321,3425,0,0,0,0,0,0
$GC,3461,-0.79,-145.9,332.8,-9.6,320,3465,0.00,2.17,0.00,0.000,6,0.000,0.037,2756,1900,3425,0,0,0,0,0,0
$GC,3787,-0.79,-145.9,361.0,-8.4,336,3791,0.00,2.22,0.00,0.000,4,0.000,0.044,2747,3325,3426,0,0,0,0,0,0
$GC,3864,-0.79,-145.9,368.4,-9.2,339,3870,0.00,2.17,0.00,0.000,6,0.000,0.036,2747,1915,3425,0,0,0,0,0,0
$GC,4182,-0.79,-145.9,399.2,-10.3,355,4186,0.00,2.20,0.00,0.000,4,0.000,0.045,2739,3320,3426,0,0,0,0,0,0
$GC,4250,-0.77,-145.9,406.6,-10.4,358,4255,0.10,2.15,0.00,0.000,6,0.158,0.036,2764,1910,3425,0,0,0,0,0,0
$GC,4585,-0.79,-145.9,440.1,-9.9,369,4589,0.00,2.22,0.00,0.000,4,0.000,0.047,2756,3325,3426,0,0,0,0,0,0
$GC,4652,-0.83,-145.9,447.1,-10.1,371,4656,0.00,2.15,0.00,0.000,6,0.000,0.036,2756,1914,3425,0,0,0,0,0,0
$GC,4987,-0.83,-145.9,480.2,-9.5,382,4991,0.00,2.20,0.00,0.000,4,0.000,0.046,2750,3318,3425,0,0,0,0,0,0
$GC,5058,-0.83,-145.9,487.6,-9.9,384,5063,0.00,2.17,0.00,0.000,6,0.000,0.035,2750,1909,3425,0,0,0,0,0,0
$GC,5394,-0.83,-145.9,518.8,-9.3,395,5397,0.00,1.90,0.00,0.000,4,0.000,0.044,2742,3147,3425,0,0,0,0,0,0
$GC,5438,-0.79,-145.9,523.2,-9.6,396,5442,0.00,1.90,0.00,0.000,6,0.000,0.037,2742,1918,3425,0,0,0,0,0,0
$GC,5768,-0.77,-145.9,554.4,-9.6,407,5772,0.08,2.20,0.00,0.000,4,0.188,0.044,2750,3318,3424,0,0,0,0,0,0
$GC,5822,-0.80,-145.9,559.8,-10.1,408,5827,0.00,2.17,0.00,0.000,6,0.000,0.034,2750,1910,3424,0,0,0,0,0,0
$GC,6135,-0.80,-145.9,588.9,-9.2,419,6139,0.00,2.20,0.00,0.000,4,0.000,0.042,2742,3325,3424,0,0,0,0,0,0
$GC,6212,-0.80,-145.9,596.3,-9.6,421,6216,0.00,2.17,0.00,0.000,6,0.000,0.034,2742,1917,3423,0,0,0,0,0,0
$GC,6542,-0.78,-145.9,627.9,-9.8,432,6547,0.08,2.20,0.00,0.000,4,0.198,0.042,2749,3322,3423,0,0,0,0,0,0
$GC,6590,-0.78,-145.9,633.1,-10.5,433,6595,0.00,2.17,0.00,0.000,6,0.000,0.034,2749,1911,3422,0,0,0,0,0,0
$GC,6909,-0.78,-145.9,665.5,-10.5,444,6913,0.00,2.20,0.00,0.000,4,0.000,0.043,2740,3319,3422,0,0,0,0,0,0
$GC,6971,-0.78,-145.9,672.4,-11.5,446,6976,0.08,2.15,0.00,0.000,6,0.175,0.034,2757,1910,3422,0,0,0,0,0,0
$GC,7306,-0.80,-145.9,708.2,-10.6,457,7309,0.00,2.12,0.00,0.000,4,0.000,0.043,2750,3278,3422,0,0,0,0,0,0
$GC,7349,-0.78,-145.9,713.4,-11.6,458,7353,0.00,2.12,0.00,0.000,6,0.000,0.034,2750,1906,3421,0,0,0,0,0,0
$GC,7673,-0.78,-145.9,747.7,-10.5,469,7677,0.00,2.22,0.00,0.000,4,0.000,0.044,2742,3324,3421,0,0,0,0,0,0
$GC,7728,-0.78,-145.9,753.7,-11.1,470,7734,0.05,2.17,0.00,0.000,6,0.136,0.034,2759,1915,3421,0,0,0,0,0,0
$GC,8041,-0.82,-145.9,784.3,-9.7,481,8045,0.00,2.17,0.00,0.000,4,0.000,0.044,2753,3317,3421,0,0,0,0,0,0
$GC,8113,-0.86,-145.9,791.5,-9.7,483,8117,0.00,2.17,0.00,0.000,6,0.000,0.034,2753,1914,3420,0,0,0,0,0,0
$GC,8449,-0.88,-145.9,822.4,-9.2,494,8454,0.08,2.15,0.00,0.000,4,0.132,0.044,2709,3296,3420,0,0,0,0,0,0
$GC,8492,-0.75,-145.9,827.0,-11.3,495,8497,0.17,2.15,0.00,0.000,6,0.135,0.034,2772,1905,3419,0,0,0,0,0,0
$GC,8816,-0.81,-145.9,853.6,-8.1,506,8821,0.05,2.22,0.00,0.000,4,0.175,0.043,2743,3315,3419,0,0,0,0,0,0
$GC,8892,-0.81,-145.9,860.7,-9.3,508,8897,0.00,2.17,0.00,0.000,6,0.000,0.034,2742,1909,3419,0,0,0,0,0,0
$GC,9217,-0.81,-145.9,889.0,-8.6,519,9221,0.00,2.22,0.00,0.000,4,0.000,0.044,2736,3324,3419,0,0,0,0,0,0
$GC,9272,-0.77,-145.9,894.3,-9.7,520,9278,0.08,2.17,0.00,0.000,6,0.131,0.034,2761,1916,3418,0,0,0,0,0,0
$GC,9585,-0.81,-145.9,921.4,-8.8,531,9589,0.00,2.15,0.00,0.000,4,0.000,0.044,2754,3287,3418,0,0,0,0,0,0
$GC,9634,-0.81,-145.9,926.3,-10.4,532,9639,0.00,2.12,0.00,0.000,6,0.000,0.034,2754,1918,3418,0,0,0,0,0,0
$GC,9959,-0.84,-145.9,955.9,-9.2,543,9962,0.00,2.08,0.00,0.000,4,0.000,0.043,2746,3243,3417,0,0,0,0,0,0
$GC,10002,-0.81,-145.9,960.3,-10.0,544,10006,0.00,2.05,0.00,0.000,6,0.000,0.034,2746,1917,3418,0,0,0,0,0,0
$GC,10332,-0.81,-145.9,991.4,-9.4,555,10336,0.00,1.52,0.00,0.000,4,0.000,0.041,2742,2889,3417,0,0,0,0,0,0
$GC,10365,-0.81,-145.9,994.5,-9.9,556,10369,0.00,1.50,0.00,0.000,6,0.000,0.035,2742,1917,3417,0,0,0,0,0,0
$STATE,10429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10429,begin apogee
$GC,10434,-0.21,0.0,1000.7,9.2,558,10567,0.65,0.00,129.93,1.484,6,0.130,0.000,2939,1640,2827,0,0,0,0,0,0
$STATE,10568,end apogee,CONTROL_FINISHED_OK
$STATE,10568,begin climb
$GC,10570,0.59,145.9,1009.1,0.0,562,10715,0.80,2.55,135.80,1.480,4,0.074,0.059,3213,261,2231,0,0,0,0,0,0
$GC,10861,0.33,160.9,1005.6,6.9,571,10881,0.35,2.22,14.35,1.315,6,0.192,0.032,3128,1656,2171,0,0,0,0,0,0
$GC,11195,0.30,233.8,989.2,4.9,582,11266,0.08,1.17,66.05,1.435,4,0.211,0.054,3114,950,1872,0,0,0,0,0,0
$GC,11306,0.38,260.9,982.8,6.5,585,11336,0.03,1.12,25.45,1.358,6,0.109,0.034,3133,1657,1762,0,0,0,0,0,0
$GC,11655,0.46,275.5,959.1,6.9,597,11675,0.08,2.22,13.75,1.287,4,0.132,0.044,3166,3028,1703,0,0,0,0,0,0
$GC,11742,0.40,275.5,952.0,9.5,599,11747,0.12,2.17,0.00,0.000,6,0.186,0.044,3143,1667,1701,0,0,0,0,0,0
$GC,12055,0.48,303.9,931.4,6.4,609,12087,0.08,1.48,26.48,1.362,4,0.125,0.061,3174,797,1588,0,0,0,0,0,0
$GC,12122,0.46,303.9,926.7,8.0,611,12126,0.00,1.35,0.00,0.000,6,0.000,0.034,3174,1653,1585,0,0,0,0,0,0
$GC,12463,0.49,347.0,905.0,5.9,622,12508,0.00,2.25,40.08,1.385,4,0.000,0.043,3174,3051,1413,0,0,0,0,0,0
$GC,12514,0.55,400.2,901.8,5.6,623,12571,0.00,2.30,51.50,1.384,6,0.000,0.045,3174,1642,1195,0,0,0,0,0,0
$GC,12883,0.74,400.2,876.1,7.5,636,12888,0.22,2.22,0.00,0.000,4,0.077,0.042,3262,3051,1185,0,0,0,0,0,0
$GC,12960,0.60,400.2,867.0,12.5,638,12965,0.17,2.28,0.00,0.000,6,0.167,0.048,3209,1648,1183,0,0,0,0,0,0
$GC,13285,0.69,400.2,839.0,8.5,649,13289,0.08,1.67,0.00,0.000,4,0.125,0.063,3246,602,1182,0,0,0,0,0,0
$GC,13323,0.62,400.2,835.1,9.9,650,13327,0.08,1.62,0.00,0.000,6,0.168,0.036,3223,1653,1181,0,0,0,0,0,0
$GC,13657,0.62,400.2,803.7,9.3,661,13661,0.00,2.15,0.00,0.000,4,0.000,0.045,3223,3045,1181,0,0,0,0,0,0
$GC,13728,0.59,400.2,796.2,10.6,663,13733,0.08,2.22,0.00,0.000,6,0.161,0.045,3191,1649,1180,0,0,0,0,0,0
$GC,14058,0.75,400.2,767.0,8.9,674,14063,0.20,2.28,0.00,0.000,4,0.075,0.065,3273,242,1179,0,0,0,0,0,0
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$GC,17088,0.73,400.2,463.6,9.8,772,17093,0.03,1.35,0.00,0.000,6,0.103,0.049,3248,1649,1176,0,0,0,0,0,0
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$GC,18681,0.64,400.2,309.7,10.3,838,18690,0.12,2.20,0.00,0.000,6,0.147,0.043,3228,1656,1176,0,0,0,0,0,0
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$STATE,21753,end climb,SURFACE_DEPTH_REACHED
$STATE,21753,begin surface coast
$FINISH,1.7,1.015772
$STATE,21790,end surface coast,CONTROL_FINISHED_OK
$STATE,21790,begin surface
$SM_CCo,21868,0.00,0.000,0,0,1174,404.98
$SM_GC,2.54,8.80,0.00,0.00,0.060,0.000,0.000,92,1893,1174,-9.08,-0.48,404.98
$IRIDIUM_FIX,-4126.50,-612.46,261112,060623
$TT8_MAMPS,0.026964
$HUMID,47.20
$INTERNAL_PRESSURE,9.09662
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,22.1,65.834
$10V_AH,10.1,44.751
$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,29.725,225.675,503.375,0.000,0.000,31.094,36.506,319.451,0.250,0.000,36.052,2964.599,14875.126,604.030,3722.732,229.161,33.360,2072.805,0.000,3266.273,0.000,2.836,0.000
$DEVICE_MAMPS,270.810,75.735,1484.100,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,732.228,1245.916,743.463,92.411,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354612
$DATA_FILE_SIZE,70253,1132
$CAP_FILE_SIZE,224340,0
$CFSIZE,2097086464,2055471104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,271112,020705,-4142.471,-614.625,34,1.1,34,-22.2