version: 66.13
glider: 221
mission: 7
dive: 665
start: 12 13 118 6 15 57
data:
$ID,221
$MISSION,7
$DIVE,665
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,110
$T_BOOST,0
$D_FINISH,10
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,25
$SURFACE_URGENCY_TRY,25
$SURFACE_URGENCY_FORCE,50
$T_DIVE,330
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53510
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0042300001
$HD_B,0.0085000005
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,399.91037
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,4
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,10
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3910
$C_PITCH,2775
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,230
$ROLL_MAX,3910
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,1900
$VBD_MAX,3960
$C_VBD,3492
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,200
$VBD_MAXERRORS,5
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,1
$LOITER_DBDW,200
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-160.68855
$PRESSURE_SLOPE,0.000108275
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,883
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,7
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,6
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.80000001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044198656
$SEABIRD_T_H,0.00064431952
$SEABIRD_T_I,2.6320724e-05
$SEABIRD_T_J,3.2746798e-06
$SEABIRD_C_G,-9.9022408
$SEABIRD_C_H,1.1403944
$SEABIRD_C_I,-0.0013212307
$SEABIRD_C_J,0.00017705678
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,131218,054308,-7407.3779,-11232.5449,22,1.2,22,53.4,0.4,259.0,7,10.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-61.4
$GPS2,131218,061526,-7407.4287,-11233.4912,3,1.2,6,53.4,0.4,249.6,7,9.2
$SPEED_LIMITS,0.100,0.244
$TGT_NAME,hold1
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,351.3,7678,-20.3,-10.000,-22.30,1639
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,13,-1.05,-107.1,192,2798,1929,1796,0.0,0.0,0,144,0.00,0.00,-127.68,0.003,16390,0.000,0.000,192,2799,3922,3938,3906,0,0,0,0,0,0,14.77,12.55,14.75
$PING,7.3,8.7,9000.0,0.00,0.00
$GC,148,-1.05,-107.1,193,2799,3940,3910,2.5,-3.4,13,166,11.27,2.03,0.00,0.000,2340,0.421,0.075,2421,3910,3932,3941,3924,0,0,0,0,0,0,13.86,14.36,14.38
$PING,13.9,14.9,9000.0,0.00,0.00
$PING,20.1,21.9,21.7,1.03,1.00
$PING,26.6,29.1,29.1,1.12,1.00
$PING,32.8,34.7,34.9,1.01,1.00
$GC,393,-1.05,-107.1,2422,3910,3942,3935,32.8,-10.2,61,399,0.00,1.90,0.00,0.000,1030,0.000,0.045,2422,2790,3938,3941,3935,0,0,0,0,0,0,14.49,14.42,14.51
$PING,39.1,41.6,41.4,1.01,1.00
$PING,45.1,48.6,48.5,1.13,1.00
$PING,57.3,61.1,61.2,1.06,1.00
$PING,63.5,67.3,67.3,1.02,1.00
$GC,705,-1.05,-107.1,2422,2788,3942,3939,64.5,-10.3,93,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2790,3939,3941,3938,0,0,0,0,0,0,14.91,14.92,14.91
$PING,75.9,80.4,80.3,1.04,1.00
$GC,1005,-1.05,-107.1,2421,2790,3942,3941,95.5,-10.3,123,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2788,3940,3941,3940,0,0,0,0,0,0,14.90,14.92,14.92
$GC,1305,-1.05,-107.1,2422,2791,3942,3941,126.7,-10.3,153,1310,0.00,2.42,0.00,0.000,516,0.000,0.047,2422,1396,3941,3942,3941,0,0,0,0,0,0,14.91,14.30,14.92
$GC,1331,-1.05,-107.1,2422,1397,3942,3942,129.5,-10.6,158,1338,0.00,2.53,0.00,0.000,1030,0.000,0.063,2420,2804,3940,3941,3940,0,0,0,0,0,0,14.40,14.26,14.48
$GC,1637,-1.05,-107.1,2420,2805,3942,3942,161.0,-10.2,189,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2804,3941,3941,3941,0,0,0,0,0,0,14.91,14.91,14.91
$GC,1936,-1.05,-107.1,2421,2804,3939,3941,192.8,-10.8,219,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2804,3941,3942,3941,0,0,0,0,0,0,14.90,14.91,14.91
$GC,2236,-1.05,-107.1,2420,2805,3941,3942,225.3,-10.9,249,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2802,3942,3943,3941,0,0,0,0,0,0,14.90,14.91,14.90
$GC,2537,-1.05,-107.1,2421,2804,3943,3942,256.9,-10.2,279,2542,0.00,2.50,0.00,0.000,516,0.000,0.047,2420,1388,3941,3941,3941,0,0,0,0,0,0,14.90,14.22,14.90
$GC,2568,-1.05,-107.1,2420,1389,3940,3942,260.2,-10.7,285,2574,0.00,2.55,0.00,0.000,1030,0.000,0.063,2420,2802,3941,3941,3941,0,0,0,0,0,0,14.35,14.21,14.42
$GC,2879,-1.05,-107.1,2420,2802,3943,3941,294.0,-11.1,317,2885,0.00,2.05,0.00,0.000,260,0.000,0.086,2417,3917,3941,3941,3941,0,0,0,0,0,0,14.88,14.12,14.90
$GC,2917,-1.05,-107.1,2418,3917,3943,3941,298.2,-11.9,324,2923,0.00,1.92,0.00,0.000,1030,0.000,0.046,2418,2789,3941,3941,3941,0,0,0,0,0,0,14.46,14.40,14.50
$GC,3221,-1.05,-107.1,2419,2788,3943,3941,330.0,-10.0,341,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2789,3941,3941,3941,0,0,0,0,0,0,14.89,14.89,14.89
$GC,3521,-1.05,-107.1,2418,2789,3943,3941,359.2,-9.6,356,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2788,3941,3942,3941,0,0,0,0,0,0,14.85,14.85,14.85
$GC,3821,-1.05,-107.1,2418,2789,3942,3942,387.4,-9.3,371,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2788,3941,3941,3941,0,0,0,0,0,0,14.89,14.89,14.88
$GC,4122,-1.05,-107.1,2418,2789,3941,3941,416.3,-9.9,386,4127,0.00,2.45,0.00,0.000,516,0.000,0.046,2417,1395,3941,3941,3941,0,0,0,0,0,0,14.73,14.23,14.73
$GC,4152,-1.05,-107.1,2418,1396,3942,3942,419.5,-9.8,392,4157,0.00,2.55,0.00,0.000,1030,0.000,0.063,2413,2802,3941,3941,3941,0,0,0,0,0,0,14.32,14.17,14.38
$GC,4466,-1.05,-107.1,2413,2802,3943,3941,450.1,-10.0,409,4472,0.00,2.05,0.00,0.000,260,0.000,0.087,2413,3912,3941,3941,3941,0,0,0,0,0,0,14.85,14.07,14.85
$GC,4508,-1.05,-107.1,2413,3913,3942,3942,454.7,-10.4,417,4514,0.00,1.92,0.00,0.000,1030,0.000,0.046,2413,2786,3941,3941,3941,0,0,0,0,0,0,14.44,14.38,14.47
$GC,4829,-1.05,-107.1,2413,2786,3942,3940,484.9,-9.2,436,4834,0.00,2.45,0.00,0.000,516,0.000,0.047,2413,1391,3941,3941,3941,0,0,0,0,0,0,14.91,14.22,14.91
$GC,4865,-1.05,-107.1,2413,1391,3942,3941,488.2,-9.1,443,4871,0.00,2.58,0.00,0.000,1030,0.000,0.064,2412,2808,3940,3940,3940,0,0,0,0,0,0,14.30,14.15,14.35
$GC,5194,-1.05,-107.1,2412,2809,3942,3939,517.0,-8.8,457,5199,0.00,2.05,0.00,0.000,260,0.000,0.087,2409,3919,3940,3941,3940,0,0,0,0,0,0,14.73,14.05,14.73
$GC,5235,-1.05,-107.1,2410,3919,3942,3939,521.2,-9.7,465,5241,0.00,1.92,0.00,0.000,1030,0.000,0.047,2409,2799,3939,3940,3939,0,0,0,0,0,0,14.43,14.35,14.47
$GC,5620,-1.05,-107.1,2410,2797,3942,3940,554.4,-8.6,481,5626,0.00,2.47,0.00,0.000,516,0.000,0.047,2409,1386,3939,3939,3939,0,0,0,0,0,0,14.72,14.21,14.71
$GC,5661,-1.05,-107.1,2410,1389,3941,3941,558.3,-8.6,489,5667,0.00,2.60,0.00,0.000,1030,0.000,0.065,2409,2810,3940,3941,3939,0,0,0,0,0,0,14.29,14.14,14.34
$GC,6046,-1.05,-107.1,2409,2810,3942,3939,591.9,-8.9,505,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2810,3938,3938,3939,0,0,0,0,0,0,14.88,14.89,14.89
$GC,6404,-1.05,-107.1,2409,2810,3941,3940,622.3,-8.3,517,6404,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2810,3939,3940,3939,0,0,0,0,0,0,14.90,14.91,14.91
$GC,6764,-1.05,-107.1,2409,2810,3942,3940,651.9,-8.0,529,6769,0.00,2.50,0.00,0.000,548,0.000,0.046,2409,1391,3940,3941,3939,0,0,0,0,0,0,14.90,14.20,14.91
$GC,6810,-1.05,-107.1,2409,1390,3942,3939,655.7,-8.0,538,6816,0.15,2.58,0.00,0.000,3110,0.278,0.063,2432,2808,3940,3941,3939,0,0,0,0,0,0,13.67,14.14,14.02
$GC,7187,-1.05,-107.1,2433,2809,3942,3940,682.3,-7.1,553,7187,0.00,0.00,0.00,0.000,38,0.000,0.000,2432,2808,3940,3941,3939,0,0,0,0,0,0,14.88,14.88,14.89
$GC,7547,-1.05,-107.1,2433,2808,3942,3940,708.0,-7.3,565,7552,0.00,2.50,0.00,0.000,548,0.000,0.047,2432,1389,3940,3942,3939,0,0,0,0,0,0,14.89,14.19,14.89
$GC,7593,-1.05,-107.1,2432,1390,3942,3940,711.4,-7.3,574,7598,0.00,2.60,0.00,0.000,1062,0.000,0.064,2431,2815,3940,3941,3940,0,0,0,0,0,0,14.26,14.12,14.31
$GC,7972,-1.05,-107.1,2432,2816,3942,3941,738.2,-7.1,589,7978,0.00,2.53,0.00,0.000,548,0.000,0.047,2432,1389,3939,3941,3938,0,0,0,0,0,0,14.71,14.09,14.72
$GC,8004,-1.05,-107.1,2432,1390,3942,3940,740.8,-7.5,595,8009,0.00,2.58,0.00,0.000,1062,0.000,0.064,2430,2807,3940,3941,3939,0,0,0,0,0,0,14.27,14.12,14.32
$GC,8398,-1.05,-107.1,2431,2808,3942,3940,768.5,-7.1,613,8398,0.00,0.00,0.00,0.000,38,0.000,0.000,2427,2807,3940,3941,3939,0,0,0,0,0,0,14.85,14.85,14.85
$GC,8756,-1.05,-107.1,2431,2808,3942,3940,794.1,-7.2,625,8762,0.00,2.53,0.00,0.000,548,0.000,0.047,2430,1390,3940,3941,3940,0,0,0,0,0,0,14.88,14.17,14.88
$GC,8822,-1.05,-107.1,2431,1389,3942,3941,798.8,-7.3,638,8828,0.00,2.60,0.00,0.000,1062,0.000,0.065,2429,2816,3940,3941,3940,0,0,0,0,0,0,14.26,14.10,14.30
$GC,9211,-1.05,-107.1,2429,2817,3942,3941,826.7,-7.4,655,9212,0.00,0.00,0.00,0.000,38,0.000,0.000,2429,2816,3940,3941,3940,0,0,0,0,0,0,14.85,14.86,14.86
$GC,9568,-1.05,-107.1,2429,2816,3942,3941,852.1,-6.9,667,9574,0.00,2.53,0.00,0.000,548,0.000,0.046,2429,1396,3940,3941,3940,0,0,0,0,0,0,14.88,14.16,14.88
$GC,9619,-1.05,-107.1,2430,1397,3942,3941,855.8,-7.0,677,9626,0.00,2.60,0.00,0.000,1062,0.000,0.065,2429,2813,3940,3942,3939,0,0,0,0,0,0,14.24,14.09,14.29
$GC,9995,-1.05,-107.1,2428,2813,3943,3941,880.8,-6.6,691,9996,0.00,0.00,0.00,0.000,38,0.000,0.000,2429,2813,3939,3939,3940,0,0,0,0,0,0,14.67,14.68,14.68
$PING,896.6,48.4,9000.0,-0.03,0.83
$PING,904.5,40.9,9000.0,-0.04,0.97
$GC,10355,-1.05,-107.1,2429,2814,3942,3942,904.5,-6.6,703,10360,0.00,2.50,0.00,0.000,548,0.000,0.045,2429,1394,3941,3942,3941,0,0,0,0,0,0,14.67,14.15,14.67
$GC,10411,-1.05,-107.1,2429,1394,3942,3942,908.2,-6.8,714,10417,0.00,2.58,0.00,0.000,1062,0.000,0.065,2429,2808,3940,3941,3940,0,0,0,0,0,0,14.23,14.09,14.28
$PING,910.5,29.4,9000.0,-1.34,0.96
$PING,916.9,22.2,9000.0,-1.50,0.98
$PING,923.1,15.4,15.4,-1.12,1.00
$PING,929.4,11.4,10.9,-0.86,0.97
$STATE,10743,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10743,begin apogee
$GC,10750,-0.23,0.0,2430,2541,3943,3940,931.3,-6.8,726,10886,1.02,0.00,132.93,3.096,10246,0.221,0.000,2697,2541,3492,3499,3485,0,0,0,0,0,0,13.71,12.83,11.81
$STATE,10887,end apogee,CONTROL_FINISHED_OK
$STATE,10887,begin climb
$PING,926.3,17.6,9000.0,-0.61,0.39
$GC,10890,1.05,107.1,2698,2541,3501,3484,932.4,0.0,730,11034,1.42,0.00,137.62,3.096,10758,0.119,0.000,3117,2541,3064,3075,3054,0,0,0,0,0,0,13.22,12.31,10.91
$PING,916.0,20.4,9000.0,-0.57,0.76
$PING,898.4,35.2,9000.0,-0.65,0.95
$GC,11378,1.05,107.1,3117,2542,3065,3046,868.2,14.6,762,11383,0.00,2.47,0.00,0.000,516,0.000,0.059,3128,1158,3054,3064,3044,0,0,0,0,0,0,14.59,14.25,14.60
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$PING,131.4,136.3,9000.0,-0.14,0.99
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$PING,78.5,81.7,81.7,1.05,1.00
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$STATE,18021,end climb,SURFACE_DEPTH_REACHED
$STATE,18021,begin surface coast
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$FINISH,0.9,1.027265
$STATE,18032,end surface coast,CONTROL_FINISHED_OK
$STATE,18032,begin surface
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$RAFOS_CLK,731
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$RAFOS,1,1544692046,9.132667,9.123889,104,59,53,53,52,52,429,216,126,196,185,205
$RAFOS,0,1544691686,9.032354,9.023889,86,67,62,61,60,60,442,201,213,185,223,148
$RAFOS_FIX,-7406.678223,-11231.183594,131218,090940,3,92,0.17
$IRIDIUM_FIX,-7408.94,-11220.24,131218,055716
$TT8_MAMPS,0.038199,0.273385
$HUMID,47.44
$INTERNAL_PRESSURE,7.76316
$TCM_TEMP,12.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,12.3,12.6
$ALTIM_BOTTOM_PING,929.4,10.9
$24V_AH,10.91,209.456
$10V_AH,11.38,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,420.750,88.740,3095.955,219.555,0.000,0.000,0.000,228.735,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18068.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.397,0.000,0.000,0.000
$MEM,279992
$DATA_FILE_SIZE,43336,1247
$CAP_FILE_SIZE,194151,0
$CFSIZE,1024409600,941588480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.1
$CURRENT,0.107,254.43,1
$GPS,131218,112136,-7406.158,-11231.196,32,1.8,37,53.4,0.5,247.2,5,9.8