version: 66.07.10.p01
glider: 574
mission: 4
dive: 419
start: 12 26 112 21 52 56
data:
$ID,574
$MISSION,4
$DIVE,419
$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,360
$T_MISSION,385
$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,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,2
$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,-7186.0288
$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,3005
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,1800
$C_ROLL_CLIMB,1610
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,52
$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,398
$GPS1,261212,213935,-4127.908,-520.271,35,1.3,35,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-70.8
$GPS2,261212,215235,-4127.871,-520.286,30,1.3,31,-22.4
$SPEED_LIMITS,0.160,0.254
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-400.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.143,-0.253
$KALMAN_X,-450768.2,55.4,-146.1,643435.0,-838.8
$KALMAN_Y,54548.8,221.8,-27.0,52814.2,1450.5
$MHEAD_RNG_PITCHd_Wd,114.4,111432,-17.1,-9.259
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.86,-145.9,0.0,0.0,0,63,0.00,0.00,-35.00,0.000,2,0.000,0.000,67,1857,1830,0,0,0,0,0,0
$GC,66,-0.86,-145.9,3.0,-1.2,6,151,12.20,2.15,-64.85,0.000,4,0.262,0.059,2708,3189,3422,0,0,0,0,0,0
$GC,225,-0.74,-145.9,12.6,-12.7,32,233,0.15,2.22,0.00,0.000,6,0.138,0.048,2754,1812,3423,0,0,0,0,0,0
$GC,306,-0.86,-145.9,23.5,-13.0,45,314,0.10,2.28,0.00,0.000,4,0.106,0.063,2713,448,3424,0,0,0,0,0,0
$GC,429,-0.86,-145.9,39.2,-11.8,66,437,0.08,2.10,0.00,0.000,6,0.158,0.034,2726,1787,3424,0,0,0,0,0,0
$GC,667,-0.91,-145.9,65.6,-10.2,107,671,0.00,0.70,0.00,0.000,4,0.000,0.054,2726,1348,3424,0,0,0,0,0,0
$GC,798,-0.91,-145.9,79.4,-9.9,130,803,0.00,0.70,0.00,0.000,6,0.000,0.038,2724,1810,3424,0,0,0,0,0,0
$GC,1144,-0.95,-145.9,111.1,-8.8,177,1148,0.08,2.35,0.00,0.000,4,0.129,0.058,2690,385,3424,0,0,0,0,0,0
$GC,1244,-0.89,-145.9,122.0,-11.3,183,1249,0.12,2.17,0.00,0.000,6,0.170,0.035,2712,1789,3425,0,0,0,0,0,0
$GC,1570,-0.92,-145.9,156.5,-11.7,204,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1789,3426,0,0,0,0,0,0
$GC,1883,-0.96,-145.9,193.6,-11.5,224,1887,0.00,2.30,0.00,0.000,4,0.000,0.060,2712,382,3426,0,0,0,0,0,0
$GC,1965,-0.96,-145.9,203.0,-11.7,229,1969,0.00,2.20,0.00,0.000,6,0.000,0.034,2703,1811,3426,0,0,0,0,0,0
$GC,2292,-0.99,-145.9,237.8,-10.0,250,2296,0.00,2.33,0.00,0.000,4,0.000,0.058,2703,384,3426,0,0,0,0,0,0
$GC,2363,-0.99,-145.9,245.5,-9.5,254,2371,0.00,2.20,0.00,0.000,6,0.000,0.034,2696,1796,3426,0,0,0,0,0,0
$GC,2688,-0.99,-145.9,274.7,-8.9,271,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1796,3426,0,0,0,0,0,0
$GC,2995,-0.99,-145.9,304.2,-9.9,286,2999,0.00,2.30,0.00,0.000,4,0.000,0.057,2696,382,3426,0,0,0,0,0,0
$GC,3059,-0.99,-145.9,310.9,-10.1,289,3063,0.00,2.20,0.00,0.000,6,0.000,0.034,2688,1812,3426,0,0,0,0,0,0
$GC,3388,-0.99,-145.9,349.9,-12.7,305,3392,0.00,0.65,0.00,0.000,4,0.000,0.050,2689,1392,3426,0,0,0,0,0,0
$GC,3465,-0.99,-145.9,360.7,-13.2,308,3469,0.00,0.65,0.00,0.000,6,0.000,0.037,2686,1815,3426,0,0,0,0,0,0
$GC,3787,-0.99,-145.9,402.1,-12.6,324,3791,0.00,2.12,0.00,0.000,4,0.000,0.055,2686,501,3426,0,0,0,0,0,0
$GC,3853,-0.94,-145.9,410.6,-12.0,326,3858,0.10,2.00,0.00,0.000,6,0.174,0.033,2702,1795,3425,0,0,0,0,0,0
$GC,4188,-0.97,-145.9,447.1,-10.5,337,4192,0.00,0.82,0.00,0.000,4,0.000,0.050,2702,1277,3425,0,0,0,0,0,0
$GC,4243,-0.97,-145.9,452.6,-9.3,338,4248,0.00,0.82,0.00,0.000,6,0.000,0.037,2700,1808,3425,0,0,0,0,0,0
$GC,4563,-1.01,-145.9,480.8,-8.8,349,4567,0.05,2.05,0.00,0.000,4,0.169,0.055,2674,544,3424,0,0,0,0,0,0
$GC,4623,-0.95,-145.9,486.9,-9.8,350,4629,0.08,1.95,0.00,0.000,6,0.150,0.032,2689,1801,3424,0,0,0,0,0,0
$GC,4936,-0.95,-145.9,513.7,-8.7,361,4940,0.00,2.05,0.00,0.000,4,0.000,0.054,2689,518,3423,0,0,0,0,0,0
$GC,5008,-0.95,-145.9,520.4,-8.6,363,5013,0.03,2.00,0.00,0.000,6,0.194,0.033,2691,1809,3423,0,0,0,0,0,0
$GC,5343,-0.95,-145.9,551.0,-9.5,374,5346,0.00,1.02,0.00,0.000,4,0.000,0.050,2692,1169,3423,0,0,0,0,0,0
$GC,5420,-0.95,-145.9,558.7,-10.0,376,5425,0.00,0.98,0.00,0.000,6,0.000,0.036,2688,1803,3423,0,0,0,0,0,0
$GC,5750,-0.95,-145.9,592.5,-10.8,387,5754,0.00,1.42,0.00,0.000,4,0.000,0.053,2688,930,3422,0,0,0,0,0,0
$GC,5833,-0.95,-145.9,601.7,-10.6,389,5837,0.00,1.35,0.00,0.000,6,0.000,0.035,2683,1801,3421,0,0,0,0,0,0
$GC,6158,-0.95,-145.9,639.6,-12.0,400,6162,0.05,2.33,0.00,0.000,4,0.238,0.056,2699,381,3421,0,0,0,0,0,0
$GC,6219,-0.95,-145.9,647.0,-12.1,402,6223,0.00,2.17,0.00,0.000,6,0.000,0.033,2689,1800,3421,0,0,0,0,0,0
$GC,6560,-0.95,-145.9,688.4,-12.1,413,6563,0.00,0.68,0.00,0.000,4,0.000,0.050,2689,1371,3420,0,0,0,0,0,0
$GC,6665,-0.95,-145.9,700.9,-11.6,416,6669,0.00,0.68,0.00,0.000,6,0.000,0.037,2687,1811,3420,0,0,0,0,0,0
$GC,7001,-0.95,-145.9,737.8,-10.8,427,7004,0.00,1.70,0.00,0.000,4,0.000,0.053,2688,753,3419,0,0,0,0,0,0
$GC,7061,-0.95,-145.9,744.5,-11.4,428,7068,0.03,1.60,0.00,0.000,6,0.195,0.033,2691,1792,3419,0,0,0,0,0,0
$GC,7375,-0.97,-145.9,775.2,-9.8,439,7378,0.00,1.55,0.00,0.000,4,0.000,0.051,2691,843,3419,0,0,0,0,0,0
$GC,7443,-0.99,-145.9,781.7,-9.4,441,7447,0.00,1.48,0.00,0.000,6,0.000,0.034,2688,1790,3419,0,0,0,0,0,0
$GC,7784,-0.99,-145.9,813.3,-9.1,452,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1790,3419,0,0,0,0,0,0
$GC,8090,-0.99,-145.9,840.1,-8.6,462,8094,0.00,1.58,0.00,0.000,4,0.000,0.050,2688,813,3418,0,0,0,0,0,0
$GC,8159,-0.99,-145.9,845.9,-7.6,464,8162,0.00,1.52,0.00,0.000,6,0.000,0.034,2683,1796,3418,0,0,0,0,0,0
$GC,8500,-0.99,-145.9,874.8,-8.6,475,8503,0.00,0.93,0.00,0.000,4,0.000,0.050,2683,1219,3417,0,0,0,0,0,0
$GC,8568,-0.99,-145.9,880.9,-8.9,477,8572,0.00,0.90,0.00,0.000,6,0.000,0.036,2679,1810,3417,0,0,0,0,0,0
$GC,8909,-0.99,-145.9,913.1,-9.7,488,8912,0.00,1.48,0.00,0.000,4,0.000,0.051,2679,905,3417,0,0,0,0,0,0
$GC,8969,-0.99,-145.9,919.2,-8.8,489,8975,0.00,1.38,0.00,0.000,6,0.000,0.033,2673,1789,3416,0,0,0,0,0,0
$GC,9282,-0.99,-145.9,950.9,-10.3,500,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1789,3416,0,0,0,0,0,0
$GC,9588,-0.99,-145.9,983.0,-10.4,510,9592,0.00,2.10,0.00,0.000,4,0.000,0.052,2673,488,3416,0,0,0,0,0,0
$GC,9644,-0.95,-145.9,989.3,-10.9,511,9650,0.12,2.05,0.00,0.000,6,0.174,0.032,2696,1808,3416,0,0,0,0,0,0
$STATE,9772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9772,begin apogee
$GC,9777,-0.25,0.0,1002.0,10.1,516,9910,0.75,0.00,129.60,1.478,6,0.129,0.000,2923,1581,2827,0,0,0,0,0,0
$STATE,9911,end apogee,CONTROL_FINISHED_OK
$STATE,9911,begin climb
$GC,9913,0.86,145.9,1012.2,0.0,520,10054,1.10,0.00,137.75,1.461,6,0.068,0.000,3280,1582,2232,0,0,0,0,0,0
$GC,10351,0.53,273.0,1012.7,3.8,535,10474,0.40,2.42,114.78,1.459,4,0.210,0.042,3183,3009,1714,0,0,0,0,0,0
$GC,10564,0.51,320.9,999.6,7.2,541,10614,0.08,2.25,44.58,1.416,6,0.213,0.044,3175,1626,1518,0,0,0,0,0,0
$GC,10944,0.60,368.4,971.0,7.2,554,10994,0.08,2.25,44.08,1.409,4,0.132,0.044,3202,3008,1324,0,0,0,0,0,0
$GC,11067,0.68,373.6,960.9,9.0,557,11078,0.00,2.25,5.62,1.004,6,0.000,0.044,3211,1607,1304,0,0,0,0,0,0
$GC,11409,0.74,398.2,932.9,8.2,569,11440,0.10,1.15,24.25,1.354,4,0.112,0.041,3248,2331,1203,0,0,0,0,0,0
$GC,11479,0.74,398.2,926.1,9.7,571,11483,0.00,1.15,0.00,0.000,6,0.000,0.049,3252,1615,1202,0,0,0,0,0,0
$GC,11814,0.74,398.2,894.3,9.4,582,11818,0.00,0.82,0.00,0.000,4,0.000,0.060,3253,1094,1198,0,0,0,0,0,0
$GC,11854,0.74,398.2,890.6,9.3,583,11857,0.00,0.80,0.00,0.000,6,0.000,0.037,3253,1623,1197,0,0,0,0,0,0
$GC,12189,0.74,398.2,858.8,9.7,594,12190,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1626,1197,0,0,0,0,0,0
$GC,12495,0.74,398.2,828.5,9.9,604,12498,0.00,0.90,0.00,0.000,4,0.000,0.060,3253,1074,1197,0,0,0,0,0,0
$GC,12550,0.74,398.2,822.7,10.5,605,12554,0.00,0.82,0.00,0.000,6,0.000,0.037,3253,1614,1196,0,0,0,0,0,0
$GC,12868,0.74,398.2,790.0,10.4,616,12872,0.00,1.02,0.00,0.000,4,0.000,0.042,3253,2292,1196,0,0,0,0,0,0
$GC,12912,0.74,398.2,785.3,9.9,617,12916,0.00,1.10,0.00,0.000,6,0.000,0.051,3255,1608,1196,0,0,0,0,0,0
$GC,13242,0.74,398.2,750.8,10.4,628,13243,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1608,1196,0,0,0,0,0,0
$GC,13548,0.74,398.2,719.3,10.1,638,13549,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1609,1196,0,0,0,0,0,0
$GC,13854,0.74,398.2,687.5,10.5,648,13858,0.00,0.82,0.00,0.000,4,0.000,0.040,3255,2152,1196,0,0,0,0,0,0
$GC,13926,0.74,398.2,679.8,10.2,650,13931,0.00,0.90,0.00,0.000,6,0.000,0.053,3255,1602,1196,0,0,0,0,0,0
$GC,14261,0.74,398.2,645.7,10.0,661,14262,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1601,1196,0,0,0,0,0,0
$GC,14567,0.74,398.2,614.7,10.3,671,14569,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1602,1196,0,0,0,0,0,0
$GC,14874,0.74,398.2,584.0,9.8,681,14877,0.00,0.68,0.00,0.000,4,0.000,0.041,3255,2053,1196,0,0,0,0,0,0
$GC,14945,0.74,406.1,577.0,8.9,683,14957,0.00,0.73,7.88,1.004,6,0.000,0.054,3255,1608,1170,0,0,0,0,0,0
$GC,15275,0.74,406.1,545.7,9.4,694,15276,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1608,1169,0,0,0,0,0,0
$GC,15581,0.74,406.1,516.9,9.5,704,15582,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1608,1170,0,0,0,0,0,0
$GC,15887,0.74,406.1,486.3,10.2,714,15889,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1608,1170,0,0,0,0,0,0
$GC,16194,0.74,406.1,454.6,10.3,724,16197,0.00,1.00,0.00,0.000,4,0.000,0.061,3255,990,1170,0,0,0,0,0,0
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$GC,16875,0.74,406.1,386.8,9.6,748,16878,0.00,1.27,0.00,0.000,4,0.000,0.062,3255,844,1169,0,0,0,0,0,0
$GC,16920,0.74,406.1,382.4,10.4,750,16924,0.00,1.17,0.00,0.000,6,0.000,0.036,3255,1610,1169,0,0,0,0,0,0
$GC,17252,0.74,406.1,350.9,9.7,766,17256,0.00,0.80,0.00,0.000,4,0.000,0.041,3255,2156,1169,0,0,0,0,0,0
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$GC,18338,0.74,406.1,241.4,10.8,819,18340,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1608,1169,0,0,0,0,0,0
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$GC,20037,0.81,448.4,72.1,8.0,961,20070,0.00,0.98,27.67,0.853,6,0.000,0.051,3255,1612,999,0,0,0,0,0,0
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$GC,20664,0.84,455.6,12.3,11.4,1069,20672,0.10,0.00,0.00,0.000,6,0.187,0.000,3279,1611,969,0,0,0,0,0,0
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$STATE,20783,end climb,SURFACE_DEPTH_REACHED
$STATE,20783,begin surface coast
$FINISH,1.6,1.012997
$STATE,20826,end surface coast,CONTROL_FINISHED_OK
$STATE,20826,begin surface
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$SM_GC,2.55,8.85,0.00,0.00,0.050,0.000,0.000,92,1824,773,-9.06,0.68,503.59
$IRIDIUM_FIX,-4112.14,-522.06,261212,101023
$TT8_MAMPS,0.026964
$HUMID,49.33
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,21.6,101.135
$10V_AH,9.9,60.203
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.725,103.600,580.725,0.000,0.000,31.055,40.375,509.506,0.250,0.000,33.430,2697.852,14481.185,625.944,3579.695,289.233,0.000,1921.899,0.000,2948.293,0.000,2.832,0.000
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$SENSOR_SECS,706.902,1205.417,723.374,90.836,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354588
$DATA_FILE_SIZE,66956,1095
$CAP_FILE_SIZE,181673,0
$CFSIZE,2097086464,2036989952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,271212,034235,-4127.524,-519.552,42,1.0,42,-22.4