version: 66.11
glider: 615
mission: 5
dive: 209
start: 10 15 115 11 38 19
data:
$ID,615
$MISSION,5
$DIVE,209
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,4
$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,390
$T_ABORT,1440
$T_TURN,225
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54445
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0035031899
$HD_B,0.0146577
$HD_C,4.3681601e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.2002
$TGT_DEFAULT_LON,-12224.4
$TGT_AUTO_DEFAULT,0
$SM_CC,700
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19103.691
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,191
$PITCH_MAX,3898
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,32
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,192
$ROLL_MAX,3824
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,510
$VBD_MAX,3960
$C_VBD,2873
$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,3
$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,350
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,11.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-156.51088
$PRESSURE_SLOPE,0.00013730999
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,166
$DEVICE3,147
$DEVICE4,133
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044134618
$SEABIRD_T_H,0.00064964173
$SEABIRD_T_I,2.6219326e-05
$SEABIRD_T_J,3.1475095e-06
$SEABIRD_C_G,-9.8766012
$SEABIRD_C_H,1.1351171
$SEABIRD_C_I,-0.0017266128
$SEABIRD_C_J,0.00019839592
$GPS1,151015,113103,1757.995,8922.409,62,0.8,62,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.3
$GPS2,151015,113752,1758.015,8922.355,5,0.8,5,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NW
$TGT_LATLONG,1806.660,8921.600
$TGT_RADIUS,3000.000
$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,9.3,16066,-21.4,-9.167,-25.88,2022
$D_GRID,990
$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,-0.82,-126.5,190,2196,560,477,0.0,0.0,0,57,0.00,0.00,-39.90,0.000,16386,0.000,0.000,190,2195,1649,1651,1647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.82,-126.5,190,2195,1652,1647,3.2,-7.2,6,119,10.90,2.35,-36.72,0.000,18692,0.356,0.073,2664,3606,3391,3403,3379,0,0,0,0,0,0,14.17,14.38,14.74
$GC,236,-0.82,-126.5,2664,3607,3403,3379,57.0,-25.8,38,244,0.00,2.33,0.00,0.000,1030,0.000,0.037,2664,2178,3391,3403,3379,0,0,0,0,0,0,28.83,14.51,28.83
$GC,428,-0.82,-126.5,2664,2176,3404,3379,101.3,-19.8,75,435,0.08,2.22,0.00,0.000,2564,0.313,0.050,2676,805,3391,3404,3379,0,0,0,0,0,0,14.47,14.56,28.83
$GC,503,-0.82,-126.5,2676,804,3404,3380,115.6,-18.0,89,510,0.00,2.22,0.00,0.000,1030,0.000,0.040,2668,2208,3392,3404,3380,0,0,0,0,0,0,28.83,14.61,28.83
$GC,694,-0.82,-126.5,2668,2208,3404,3382,145.0,-15.0,126,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2209,3393,3404,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,885,-0.82,-126.5,2668,2209,3404,3383,173.9,-15.5,163,891,0.00,2.25,0.00,0.000,260,0.000,0.057,2657,3599,3393,3404,3383,0,0,0,0,0,0,28.83,14.62,28.83
$GC,929,-0.82,-126.5,2657,3600,3404,3383,180.7,-15.6,171,936,0.10,2.20,0.00,0.000,3078,0.269,0.036,2677,2194,3393,3404,3383,0,0,0,0,0,0,14.42,14.69,28.83
$GC,1124,-0.82,-126.5,2677,2193,3404,3383,208.7,-14.1,203,1134,0.00,2.22,0.00,0.000,516,0.000,0.052,2677,806,3393,3404,3383,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1167,-0.82,-126.5,2677,806,3405,3383,215.1,-14.9,211,1177,0.00,2.20,0.00,0.000,1030,0.000,0.039,2669,2202,3393,3404,3383,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1478,-0.82,-126.5,2669,2202,3404,3381,262.0,-15.3,243,1487,0.00,2.25,0.00,0.000,516,0.000,0.054,2669,799,3392,3404,3381,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1512,-0.82,-126.5,2670,799,3404,3381,267.9,-15.7,250,1522,0.05,2.28,0.00,0.000,3078,0.249,0.041,2674,2198,3392,3404,3381,0,0,0,0,0,0,14.28,14.47,28.83
$GC,1820,-0.82,-126.5,2673,2198,3404,3377,314.1,-15.2,281,1830,0.00,2.30,0.00,0.000,260,0.000,0.062,2665,3608,3390,3404,3377,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1834,-0.82,-126.5,2664,3608,3404,3377,316.7,-15.8,284,1843,0.00,2.28,0.00,0.000,1030,0.000,0.037,2664,2203,3390,3404,3377,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2143,-0.82,-126.5,2664,2202,3404,3373,364.0,-15.8,311,2149,0.08,2.25,0.00,0.000,2564,0.301,0.053,2678,804,3389,3405,3373,0,0,0,0,0,0,14.60,14.62,28.83
$GC,2204,-0.82,-126.5,2678,804,3404,3373,373.3,-14.9,323,2210,0.00,2.22,0.00,0.000,1030,0.000,0.044,2670,2204,3388,3404,3372,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2523,-0.82,-126.5,2670,2205,3404,3370,421.9,-15.3,342,2529,0.00,2.28,0.00,0.000,516,0.000,0.059,2670,805,3387,3404,3370,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2546,-0.82,-126.5,2670,805,3404,3369,425.6,-15.1,347,2551,0.10,2.25,0.00,0.000,3078,0.274,0.045,2681,2209,3386,3403,3369,0,0,0,0,0,0,14.47,14.68,28.83
$GC,2864,-0.82,-126.5,2681,2210,3404,3365,469.2,-13.5,365,2869,0.00,2.28,0.00,0.000,516,0.000,0.061,2681,812,3384,3404,3364,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2896,-0.82,-126.5,2681,811,3404,3364,473.9,-13.5,372,2905,0.00,2.30,0.00,0.000,1030,0.000,0.047,2673,2199,3384,3404,3364,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3224,-0.82,-126.5,2673,2199,3404,3360,517.4,-13.3,387,3230,0.00,2.28,0.00,0.000,516,0.000,0.062,2673,812,3382,3404,3360,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3255,-0.82,-126.5,2673,812,3403,3360,522.2,-13.4,394,3261,0.03,2.28,0.00,0.000,3078,0.296,0.049,2671,2198,3381,3403,3359,0,0,0,0,0,0,14.45,14.65,28.83
$GC,3584,-0.82,-126.5,2671,2199,3403,3355,566.1,-13.6,409,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2199,3379,3403,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3884,-0.82,-126.5,2670,2199,3403,3352,607.1,-13.7,419,3890,0.00,2.25,0.00,0.000,516,0.000,0.060,2671,813,3377,3403,3352,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3945,-0.82,-126.5,2671,813,3403,3351,615.1,-12.3,431,3952,0.05,2.22,0.00,0.000,3078,0.241,0.048,2677,2202,3377,3402,3352,0,0,0,0,0,0,14.43,14.70,28.83
$GC,4274,-0.82,-126.5,2678,2202,3403,3349,659.0,-13.4,447,4280,0.00,2.30,0.00,0.000,516,0.000,0.063,2678,806,3376,3403,3349,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4304,-0.82,-126.5,2678,806,3402,3349,663.1,-13.8,453,4310,0.00,2.25,0.00,0.000,1030,0.000,0.049,2669,2202,3375,3402,3349,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4634,-0.82,-126.5,2670,2203,3401,3346,708.2,-13.7,469,4640,0.00,2.30,0.00,0.000,516,0.000,0.063,2670,806,3373,3401,3346,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4657,-0.82,-126.5,2670,807,3401,3346,711.6,-13.9,474,4665,0.05,2.30,0.00,0.000,3078,0.247,0.049,2674,2190,3373,3401,3346,0,0,0,0,0,0,14.33,14.54,28.83
$GC,4965,-0.82,-126.5,2674,2190,3401,3345,751.7,-13.0,485,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2190,3372,3400,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5264,-0.82,-126.5,2674,2190,3399,3344,791.2,-13.3,495,5270,0.00,2.28,0.00,0.000,516,0.000,0.066,2674,813,3371,3399,3343,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5302,-0.82,-126.5,2675,812,3399,3343,796.6,-13.3,503,5306,0.00,2.25,0.00,0.000,1030,0.000,0.053,2666,2199,3371,3399,3343,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5624,-0.82,-126.5,2666,2199,3397,3342,840.4,-13.5,517,5631,0.00,2.30,0.00,0.000,516,0.000,0.066,2667,812,3370,3398,3342,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5647,-0.82,-126.5,2666,812,3397,3342,843.8,-14.2,522,5655,0.05,2.33,0.00,0.000,3078,0.249,0.052,2671,2203,3369,3397,3342,0,0,0,0,0,0,14.31,14.53,28.83
$GC,5954,-0.82,-126.5,2671,2203,3396,3341,883.3,-12.8,533,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2203,3368,3396,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6254,-0.82,-126.5,2671,2203,3395,3340,922.0,-12.8,543,6258,0.00,2.33,0.00,0.000,516,0.000,0.067,2670,807,3367,3395,3340,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6329,-0.82,-126.5,2671,807,3395,3339,932.0,-12.8,558,6334,0.08,2.28,0.00,0.000,3078,0.309,0.051,2676,2206,3367,3395,3339,0,0,0,0,0,0,14.47,14.69,28.83
$GC,6647,-0.82,-126.5,2676,2206,3393,3338,971.9,-12.7,571,6648,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2206,3366,3394,3338,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6795,begin apogee
$GC,6799,-0.16,0.0,2676,2145,3393,3337,990.9,-12.6,576,6948,0.73,0.00,141.77,1.812,10246,0.226,0.000,2884,2144,2869,2918,2821,0,0,0,0,0,0,14.35,28.83,13.40
$STATE,6949,end apogee,CONTROL_FINISHED_OK
$STATE,6949,begin climb
$GC,6950,0.82,126.5,2884,2144,2915,2818,996.5,0.0,606,7068,1.02,2.55,108.40,2.138,10500,0.148,0.071,3203,3540,2350,2408,2293,0,0,0,0,0,0,14.04,13.88,13.12
$GC,7079,0.87,163.4,3204,3540,2403,2290,992.0,7.3,632,7119,0.00,2.40,33.33,2.064,9222,0.000,0.046,3212,2140,2202,2262,2143,0,0,0,0,0,0,28.83,14.02,13.14
$GC,7431,0.87,163.4,3212,2140,2251,2132,948.9,12.7,652,7437,0.00,2.40,0.00,0.000,516,0.000,0.074,3223,736,2191,2250,2132,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7529,0.87,163.4,3223,736,2250,2132,935.9,12.9,672,7533,0.00,2.33,0.00,0.000,1030,0.000,0.047,3223,2144,2191,2251,2132,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7851,0.87,163.4,3223,2144,2249,2131,895.1,12.6,686,7857,0.00,2.38,0.00,0.000,516,0.000,0.073,3233,739,2190,2249,2131,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7934,0.87,163.4,3234,739,2248,2131,884.4,12.5,703,7941,0.00,2.30,0.00,0.000,1030,0.000,0.047,3234,2144,2189,2248,2131,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8241,0.87,163.4,3234,2145,2247,2130,845.8,12.6,714,8247,0.00,2.38,0.00,0.000,516,0.000,0.073,3244,739,2188,2247,2130,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8271,0.87,163.4,3244,739,2247,2131,842.0,12.9,720,8275,0.00,2.30,0.00,0.000,1030,0.000,0.047,3244,2144,2188,2246,2130,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8601,0.87,163.4,3243,2144,2246,2129,800.1,12.6,736,8606,0.00,2.38,0.00,0.000,516,0.000,0.073,3254,736,2187,2245,2129,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8658,0.87,163.4,3254,736,2246,2129,792.7,12.9,747,8664,0.00,2.30,0.00,0.000,1030,0.000,0.047,3254,2148,2187,2246,2129,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8988,0.87,163.4,3254,2148,2245,2128,749.2,13.4,763,8992,0.00,2.38,0.00,0.000,516,0.000,0.074,3264,738,2187,2245,2129,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9032,0.87,163.4,3264,740,2245,2129,742.8,14.1,772,9037,0.00,2.30,0.00,0.000,1030,0.000,0.049,3264,2150,2187,2245,2129,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9350,0.87,163.4,3264,2150,2245,2129,699.2,14.0,785,9356,0.00,2.38,0.00,0.000,516,0.000,0.073,3274,739,2186,2245,2128,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9382,0.87,163.4,3274,739,2244,2128,694.4,14.6,792,9388,0.05,2.33,0.00,0.000,5126,0.246,0.049,3261,2140,2186,2244,2128,0,0,0,0,0,0,14.35,14.59,28.83
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$GC,12572,0.87,163.4,3269,2140,2242,2127,280.5,12.7,1025,12573,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2140,2184,2243,2126,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,15437,1.37,571.2,3318,2133,1148,1034,22.0,2.5,1508,15522,0.17,2.35,75.97,0.197,10500,0.112,0.054,3398,3548,547,613,481,0,0,0,0,0,0,14.45,14.52,14.28
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$STATE,15642,end climb,SURFACE_DEPTH_REACHED
$STATE,15642,begin surface coast
$FINISH,0.2,1.008684
$STATE,15665,end surface coast,CONTROL_FINISHED_OK
$STATE,15665,begin surface
$SM_CCo,15681,6.20,0.138,0,0,508,579.63
$SM_CCo,15690,-0.05,0.000,0,0,511,579.63
$SM_CCo,15693,0.45,0.305,0,0,509,579.63
$SM_GC,3.74,8.98,0.10,0.45,0.057,0.139,0.305,189,2229,509,-8.56,-1.10,579.63,0,0,0,0,0,0,14.59,14.59,14.47
$IRIDIUM_FIX,1747.37,8923.74,100808,202010
$TT8_MAMPS,0.018725,0.018725
$HUMID,46.06
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,13.1,80.073
$10V_AH,12.7,0.000
$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,22.825,175.975,547.400,6.650,0.000,23.624,19.100,253.079,0.000,0.000,6.533,3145.143,9023.896,677.144,3059.587,188.265,0.000,2005.195,0.000,2273.499,0.000,0.553,0.000
$DEVICE_MAMPS,356.490,169.830,2138.175,305.235,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
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$SENSOR_SECS,853.993,576.830,1479.607,903.956,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322292
$DATA_FILE_SIZE,127181,1547
$CAP_FILE_SIZE,170486,0
$CFSIZE,2097086464,2060025856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.023,287.4,1
$GPS,151015,160121,1759.822,8922.471,51,0.9,51,-0.9