version: 66.11
glider: 615
mission: 5
dive: 226
start: 10 18 115 19 25 41
data:
$ID,615
$MISSION,5
$DIVE,226
$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,-19259.287
$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,43
$R_STBD_OVSHOOT,65
$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
$GPS1,181015,191827,1756.596,8931.903,62,1.0,62,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-72.0
$GPS2,181015,192514,1756.592,8931.882,4,0.8,4,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,SE
$TGT_LATLONG,1755.320,8933.540
$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,119.6,3753,-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,-126.5,187,2233,560,479,0.0,0.0,0,55,0.00,0.00,-38.40,0.000,16386,0.000,0.000,187,2233,1598,1597,1599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-126.5,187,2234,1597,1599,3.0,-6.7,6,117,10.82,2.42,-38.78,0.000,18948,0.352,0.078,2673,803,3391,3406,3377,0,0,0,0,0,0,14.16,14.38,14.74
$GC,174,-0.82,-126.5,2673,802,3406,3378,36.6,-30.9,26,181,0.00,2.30,0.00,0.000,1030,0.000,0.050,2665,2173,3391,3406,3377,0,0,0,0,0,0,28.83,14.44,28.83
$GC,366,-0.82,-126.5,2665,2174,3406,3378,84.2,-21.3,63,373,0.00,2.35,0.00,0.000,260,0.000,0.061,2654,3611,3392,3406,3378,0,0,0,0,0,0,28.83,14.55,28.83
$GC,415,-0.82,-126.5,2654,3611,3406,3380,94.2,-20.0,72,423,0.05,2.30,0.00,0.000,3078,0.254,0.035,2677,2189,3393,3407,3379,0,0,0,0,0,0,14.32,14.55,28.83
$GC,606,-0.82,-126.5,1696,2186,3392,3378,126.4,-15.6,109,612,0.00,2.22,0.00,0.000,516,0.000,0.054,2678,809,3393,3406,3380,0,0,0,0,0,0,28.83,14.58,28.83
$GC,640,-0.82,-126.5,2677,809,3406,3380,131.4,-14.1,115,647,0.00,2.22,0.00,0.000,1030,0.000,0.041,2669,2212,3393,3406,3380,0,0,0,0,0,0,28.83,14.63,28.83
$GC,831,-0.82,-126.5,2669,2213,3406,3383,160.8,-15.6,152,838,0.00,2.33,0.00,0.000,260,0.000,0.060,2658,3598,3394,3406,3383,0,0,0,0,0,0,28.83,14.54,28.83
$GC,895,-0.82,-126.5,2658,3598,3406,3383,171.5,-15.5,164,904,0.05,2.25,0.00,0.000,3078,0.227,0.035,2672,2198,3394,3406,3383,0,0,0,0,0,0,14.35,14.57,28.83
$GC,1088,-0.82,-126.5,1696,2196,3393,3381,199.4,-13.8,201,1094,0.00,2.30,0.00,0.000,260,0.000,0.060,2664,3604,3394,3406,3383,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1123,-0.82,-126.5,2663,3605,3407,3383,204.6,-15.5,207,1133,0.08,2.20,0.00,0.000,3078,0.278,0.036,2678,2200,3395,3407,3383,0,0,0,0,0,0,14.47,14.69,28.83
$GC,1433,-0.82,-126.5,2678,2200,3407,3382,249.4,-14.7,239,1443,0.00,2.20,0.00,0.000,516,0.000,0.056,2677,821,3394,3408,3381,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1537,-0.82,-126.5,2677,821,3406,3381,264.7,-14.4,259,1547,0.00,2.20,0.00,0.000,1030,0.000,0.044,2669,2201,3393,3406,3380,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1847,-0.82,-126.5,2669,2202,3406,3377,311.9,-15.6,291,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2202,3391,3406,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2158,-0.82,-126.5,2669,2202,3406,3373,359.0,-14.9,319,2164,0.00,2.25,0.00,0.000,516,0.000,0.058,2669,810,3389,3406,3372,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2199,-0.82,-126.5,2669,810,3406,3373,365.9,-15.0,328,2204,0.05,2.28,0.00,0.000,3078,0.243,0.046,2675,2198,3389,3406,3372,0,0,0,0,0,0,14.40,14.62,28.83
$GC,2517,-0.82,-126.5,2675,2199,3406,3370,411.7,-14.5,346,2523,0.00,2.25,0.00,0.000,516,0.000,0.059,2674,814,3388,3406,3370,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2559,-0.82,-126.5,2675,814,3407,3370,418.4,-14.5,355,2564,0.00,2.28,0.00,0.000,1030,0.000,0.049,2667,2195,3387,3406,3369,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2878,-0.82,-126.5,2666,2195,3406,3365,464.7,-14.6,373,2884,0.00,2.25,0.00,0.000,516,0.000,0.063,2666,819,3385,3406,3365,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2925,-0.82,-126.5,2666,819,3406,3364,472.0,-14.2,383,2930,0.10,2.25,0.00,0.000,3078,0.272,0.052,2678,2205,3385,3406,3364,0,0,0,0,0,0,14.47,14.69,28.83
$GC,3259,-0.82,-126.5,2678,2205,3406,3359,517.3,-13.7,399,3265,0.00,2.25,0.00,0.000,516,0.000,0.063,2678,822,3382,3406,3359,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3290,-0.82,-126.5,2678,821,3406,3359,521.4,-13.3,405,3295,0.00,2.22,0.00,0.000,1030,0.000,0.053,2670,2205,3383,3407,3359,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3618,-0.82,-126.5,2670,2206,3406,3356,565.9,-13.5,421,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2206,3380,3406,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3919,-0.82,-126.5,2670,2205,3406,3352,606.2,-13.6,431,3923,0.00,2.30,0.00,0.000,516,0.000,0.067,2670,813,3379,3406,3352,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3982,-0.82,-126.5,2670,813,3405,3352,615.4,-12.7,444,3988,0.10,2.25,0.00,0.000,3078,0.283,0.054,2680,2202,3378,3405,3352,0,0,0,0,0,0,14.45,14.69,28.83
$GC,4310,-0.82,-126.5,2680,2203,3404,3351,656.3,-12.5,459,4317,0.00,2.30,0.00,0.000,516,0.000,0.068,2681,811,3377,3404,3351,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4372,-0.82,-126.5,2681,812,3403,3351,664.8,-12.4,472,4377,0.00,2.30,0.00,0.000,1030,0.000,0.054,2673,2196,3377,3403,3351,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4701,-0.82,-126.5,2673,2196,3402,3348,708.0,-13.5,487,4707,0.00,2.28,0.00,0.000,516,0.000,0.067,2673,818,3375,3402,3348,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4738,-0.82,-126.5,2673,819,3402,3348,713.5,-13.5,495,4743,0.08,2.25,0.00,0.000,3078,0.306,0.054,2676,2199,3374,3401,3348,0,0,0,0,0,0,14.48,14.69,28.83
$GC,5060,-0.82,-126.5,2676,2200,3401,3345,755.9,-13.3,509,5066,0.00,2.30,0.00,0.000,516,0.000,0.069,2676,812,3373,3401,3346,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5103,-0.82,-126.5,2676,812,3401,3346,761.9,-13.3,518,5107,0.00,2.25,0.00,0.000,1030,0.000,0.054,2669,2199,3373,3401,3345,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5420,-0.82,-126.5,2669,2200,3400,3344,804.3,-13.6,531,5426,0.00,2.35,0.00,0.000,260,0.000,0.078,2658,3601,3372,3400,3344,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5443,-0.82,-126.5,2658,3601,3400,3344,807.8,-14.9,536,5451,0.05,2.30,0.00,0.000,3078,0.222,0.044,2672,2217,3372,3400,3344,0,0,0,0,0,0,14.33,14.54,28.83
$GC,5750,-0.82,-126.5,2672,2218,3400,3342,847.9,-13.1,547,5756,0.00,2.35,0.00,0.000,516,0.000,0.069,2672,799,3371,3400,3342,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5818,-0.82,-126.5,2672,799,3399,3342,857.1,-12.8,561,5823,0.08,2.28,0.00,0.000,3078,0.320,0.054,2676,2199,3370,3399,3342,0,0,0,0,0,0,14.45,14.67,28.83
$GC,6141,-0.82,-126.5,2676,2199,3397,3340,896.2,-12.0,575,6147,0.00,2.33,0.00,0.000,516,0.000,0.070,2676,805,3369,3397,3341,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6188,-0.82,-126.5,2676,804,3397,3341,902.2,-11.2,585,6192,0.00,2.28,0.00,0.000,1030,0.000,0.055,2669,2198,3369,3397,3341,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6501,-0.82,-126.5,2669,2199,3396,3340,939.9,-12.2,597,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2199,3367,3396,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6801,-0.82,-126.5,2669,2199,3395,3340,976.8,-12.3,607,6807,0.00,2.33,0.00,0.000,516,0.000,0.070,2668,800,3367,3395,3339,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6868,-0.82,-126.5,2669,801,3394,3339,985.5,-12.0,621,6873,0.10,2.30,0.00,0.000,3078,0.292,0.056,2678,2205,3366,3394,3339,0,0,0,0,0,0,14.39,14.66,28.83
$STATE,6919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6919,begin apogee
$GC,6924,-0.16,0.0,2678,2128,3394,3339,991.3,-11.7,626,7041,0.75,0.00,107.22,2.353,10246,0.252,0.000,2885,2127,2864,2915,2814,0,0,0,0,0,0,14.29,28.83,13.21
$STATE,7042,end apogee,CONTROL_FINISHED_OK
$STATE,7043,begin climb
$GC,7044,0.82,126.5,2885,2128,2914,2813,995.6,0.0,650,7162,1.10,0.00,109.75,2.182,10246,0.177,0.000,3206,2128,2348,2406,2291,0,0,0,0,0,0,14.02,28.83,13.09
$GC,7460,0.82,126.5,3206,2128,2402,2285,961.0,10.5,664,7464,0.00,2.38,0.00,0.000,516,0.000,0.082,3214,750,2343,2402,2285,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7555,0.82,126.5,3215,750,2401,2285,950.7,10.8,683,7559,0.00,2.30,0.00,0.000,1030,0.000,0.054,3215,2139,2343,2401,2285,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7878,0.82,126.5,3215,2139,2399,2283,916.8,10.6,697,7884,0.00,2.35,0.00,0.000,516,0.000,0.080,3225,756,2341,2399,2284,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7955,0.82,126.5,3225,756,2398,2284,908.3,10.6,713,7959,0.00,2.28,0.00,0.000,1030,0.000,0.053,3225,2140,2341,2399,2284,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8268,0.82,126.5,3225,2140,2397,2283,875.9,10.5,725,8274,0.00,2.38,0.00,0.000,260,0.000,0.073,3224,3548,2340,2397,2283,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8285,0.82,126.5,3225,3548,2396,2283,873.7,11.1,729,8290,0.00,2.30,0.00,0.000,1030,0.000,0.047,3235,2143,2339,2396,2283,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8592,0.82,126.5,3235,2142,2396,2282,840.9,10.7,740,8598,0.00,2.40,0.00,0.000,516,0.000,0.080,3245,729,2339,2396,2282,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8745,0.82,126.5,2408,728,2350,2277,823.8,11.3,771,8749,0.00,2.35,0.00,0.000,1030,0.000,0.052,3245,2136,2339,2396,2282,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9072,0.82,126.5,3245,2137,2395,2281,788.5,10.6,786,9078,0.00,2.38,0.00,0.000,260,0.000,0.073,3245,3549,2338,2395,2281,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9103,0.82,126.5,3245,3549,2394,2281,785.2,11.4,792,9109,0.00,2.30,0.00,0.000,1030,0.000,0.047,3255,2138,2337,2394,2281,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9432,0.82,126.5,3255,2137,2394,2281,749.3,10.8,808,9438,0.00,2.38,0.00,0.000,516,0.000,0.079,3266,736,2337,2394,2281,0,0,0,0,0,0,28.83,14.54,28.83
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$GC,14682,0.86,157.7,3263,739,2298,2187,214.2,9.3,1252,14693,0.00,2.30,1.98,0.182,9222,0.000,0.054,3264,2139,2233,2289,2177,0,0,0,0,0,0,28.83,14.60,14.32
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$GC,15277,0.90,190.8,3273,2128,2140,2017,158.0,10.8,1351,15285,0.00,2.38,0.00,0.000,516,0.000,0.074,3284,730,2079,2140,2018,0,0,0,0,0,0,28.83,14.42,28.83
$GC,15398,0.93,210.6,2336,730,2089,2012,146.3,8.2,1374,15419,0.00,2.38,16.23,1.232,9222,0.000,0.050,3283,2147,2013,2077,1950,0,0,0,0,0,0,28.83,14.47,13.90
$GC,15603,0.93,210.6,3284,2147,2063,1937,129.1,9.9,1413,15610,0.00,2.38,0.00,0.000,260,0.000,0.069,3284,3554,1999,2062,1937,0,0,0,0,0,0,28.83,14.47,28.83
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$STATE,17073,end climb,SURFACE_DEPTH_REACHED
$STATE,17074,begin surface coast
$FINISH,0.3,1.019402
$STATE,17092,end surface coast,CONTROL_FINISHED_OK
$STATE,17092,begin surface
$SM_CCo,17109,4.22,0.142,0,0,508,579.63
$SM_CCo,17115,0.00,0.000,0,0,511,579.63
$SM_CCo,17118,0.38,0.339,0,0,508,579.63
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$IRIDIUM_FIX,1749.63,8932.81,140808,030332
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.67
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,12.1,85.474
$10V_AH,12.6,0.000
$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
$DEVICE_SECS,23.125,190.300,518.150,4.600,0.000,26.301,15.958,250.268,0.000,0.000,6.599,3376.177,9997.853,668.963,3281.000,191.112,0.000,2063.612,0.000,2470.648,0.000,0.552,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322284
$DATA_FILE_SIZE,137384,1691
$CAP_FILE_SIZE,183646,0
$CFSIZE,2097086464,2057338880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.040,265.0,1
$GPS,191015,001227,1755.797,8933.041,50,0.8,51,-0.9