version: 66.06
glider: 1
mission: 14
dive: 150
start: 10 24 109 16 20 19
data:
$ID,1
$MISSION,14
$DIVE,150
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,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,470
$T_MISSION,530
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,3
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$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,-222531.05
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,2
$R_STBD_OVSHOOT,1
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3500
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,250
$VBD_MAXERRORS,5
$CF8_MAXERRORS,20
$AH0_24V,300
$AH0_10V,200
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,83.795303
$FG_AHR_24V,4.6384478
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.036699742
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0072730002
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,5
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,48
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,162108,6655.620,-5825.474,26,1.1,26,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,162753,6655.437,-5825.667,17,1.1,17,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.097,-0.212
$KALMAN_X,2536.1,-1744.5,-91.5,-1418.6,7628.2
$KALMAN_Y,91070.8,608.0,210.8,-86711.3,3376.0
$MHEAD_RNG_PITCHd_Wd,137.3,369858,-13.0,-7.021
$D_GRID,900
$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,27,-0.99,-146.6,0.0,0.0,0,84,0.00,0.00,-53.97,0.000,2,0.007,0.000,575,1216,2203,0,0,0,0,0,0
$GC,87,-0.99,-146.6,3.0,-1.9,11,134,9.35,2.03,-29.60,0.000,4,0.000,0.000,2678,190,3114,22,0,13,0,0,0
$GC,387,-0.68,-146.6,35.4,-11.1,55,400,2.03,4.28,0.00,0.007,6,0.000,0.000,2223,2605,3115,5,0,30,0,0,0
$GC,590,-0.68,-146.6,51.6,-8.3,74,606,2.08,5.65,0.00,0.007,4,0.000,0.000,2658,200,3115,5,0,41,0,0,0
$GC,859,-0.68,-146.6,72.5,-7.7,98,874,0.85,3.53,0.00,0.007,6,0.000,0.000,2492,2779,3111,3,0,23,0,0,0
$GC,1188,-0.68,-146.6,97.9,-7.4,129,1198,1.12,5.40,0.00,0.007,4,0.000,0.000,2726,476,3113,4,0,37,0,0,0
$GC,1449,-0.68,-146.6,117.3,-7.5,152,1460,1.58,3.90,0.00,0.007,6,0.000,0.000,2403,2799,3111,4,0,26,0,0,0
$GC,1785,-0.68,-146.6,141.5,-7.0,184,1799,0.90,3.67,0.00,0.007,4,0.000,0.000,2633,416,3122,2,0,24,0,0,0
$GC,2051,-0.68,-146.6,161.3,-6.9,207,2062,1.20,3.10,0.00,0.000,6,0.000,0.000,2313,2653,3115,4,0,18,0,0,0
$GC,2388,-0.77,-146.6,183.1,-5.4,239,2404,1.23,3.40,0.00,0.007,4,0.000,0.000,2587,380,3114,3,0,22,0,0,0
$GC,2656,-0.68,-146.6,201.4,-7.2,262,2667,1.70,3.28,0.00,0.007,6,0.000,0.000,2374,2783,3114,6,0,20,0,0,0
$GC,2991,-0.68,-146.6,220.4,-6.7,294,3003,2.28,4.40,0.00,0.007,4,0.000,0.000,2702,183,3106,6,0,29,0,0,0
$GC,3256,-0.80,-146.6,234.8,-4.7,317,3265,1.15,3.80,0.00,0.007,6,0.000,0.000,2450,2692,3108,3,0,25,0,0,0
$GC,3590,-0.92,-146.6,254.8,-5.6,349,3606,1.30,3.60,0.00,0.007,4,0.000,0.000,2550,387,3113,4,0,25,0,0,0
$GC,3858,-0.92,-146.6,271.1,-6.5,372,3869,1.70,3.55,0.00,0.000,6,0.000,0.000,2381,2723,3113,6,0,24,0,0,0
$GC,4194,-0.92,-146.6,293.7,-7.1,404,4207,1.12,4.18,0.00,0.007,4,0.000,0.000,2608,189,3106,4,0,28,0,0,0
$GC,4459,-0.92,-146.6,311.8,-6.3,427,4470,1.67,3.53,0.00,0.007,6,0.000,0.000,2419,2734,3110,6,0,22,0,0,0
$GC,4794,-0.92,-146.6,332.9,-6.2,459,4806,0.95,5.57,0.00,0.007,4,0.000,0.000,2630,197,3104,2,0,37,0,0,0
$GC,5058,-0.92,-146.6,347.4,-5.3,482,5069,0.95,3.90,0.00,0.007,6,0.000,0.000,2414,2589,3112,3,0,25,0,0,0
$GC,5394,-0.92,-146.6,364.4,-5.2,514,5409,1.00,3.60,0.00,0.007,4,0.000,0.000,2646,390,3105,3,0,23,0,0,0
$GC,5661,-0.92,-146.6,380.3,-7.0,537,5672,1.00,4.10,0.00,0.007,6,0.000,0.000,2342,2481,3114,3,0,28,0,0,0
$GC,5997,-0.92,-146.6,401.2,-6.7,569,6013,0.90,3.40,0.00,0.000,4,0.000,0.000,2547,195,3112,2,0,24,0,0,0
$GC,6265,-0.92,-146.6,418.7,-6.5,592,6276,1.12,4.03,0.00,0.007,6,0.000,0.000,2325,2392,3112,4,0,27,0,0,0
$GC,6601,-1.03,-146.6,437.1,-5.1,624,6614,1.12,5.22,0.00,0.007,4,0.000,0.000,2619,188,3111,2,0,37,0,0,0
$GC,6867,-0.93,-146.6,453.8,-6.8,647,6877,0.93,3.97,0.00,0.007,6,0.000,0.000,2421,2589,3116,3,0,27,0,0,0
$GC,7202,-0.93,-146.6,476.4,-6.6,679,7215,1.48,4.78,0.00,0.007,4,0.001,0.000,2649,189,3112,4,0,34,0,0,0
$GC,7467,-0.93,-146.6,494.0,-6.8,702,7478,0.98,4.60,0.00,0.007,6,0.000,0.000,2439,2744,3110,3,0,31,0,0,0
$GC,7803,-0.93,-146.6,516.4,-6.7,734,7819,0.62,3.65,0.00,0.007,4,0.000,0.000,2528,190,3112,2,0,26,0,0,0
$GC,8071,-0.93,-146.6,533.8,-6.5,757,8082,0.88,4.40,0.00,0.007,6,0.000,0.000,2384,2522,3114,3,0,30,0,0,0
$GC,8407,-1.04,-146.6,550.9,-4.6,789,8422,0.82,3.60,0.00,0.007,4,0.000,0.000,2592,331,3114,2,0,24,0,0,0
$GC,8675,-1.11,-146.6,565.3,-5.5,812,8686,0.93,3.95,0.00,0.007,6,0.000,0.000,2394,2502,3111,3,0,28,0,0,0
$GC,9011,-0.98,-146.6,586.8,-7.4,844,9027,1.50,3.33,0.00,0.007,4,0.000,0.000,2621,474,3111,4,0,24,0,0,0
$GC,9280,-1.12,-146.6,603.1,-4.8,867,9291,0.85,4.10,0.00,0.007,6,0.000,0.000,2412,2163,3112,3,0,28,0,0,0
$GC,9616,-1.12,-146.6,620.0,-5.3,899,9632,1.12,2.83,0.00,0.007,4,0.000,0.000,2650,211,3112,4,0,20,0,0,0
$GC,9885,-1.12,-146.6,633.4,-5.5,922,9895,1.27,4.43,0.00,0.007,6,0.000,0.000,2275,2697,3115,2,0,29,0,0,0
$GC,10214,-1.12,-146.6,651.1,-5.6,953,10228,0.88,4.22,0.00,0.007,4,0.000,0.000,2530,627,3114,2,0,29,0,0,0
$GC,10481,-1.12,-146.6,666.9,-6.3,976,10492,1.83,3.03,0.00,0.007,6,0.000,0.000,2217,2725,3114,6,0,19,0,0,0
$GC,10817,-1.12,-146.6,688.0,-6.6,1008,10833,1.23,3.78,0.00,0.007,4,0.000,0.000,2497,381,3113,3,0,25,0,0,0
$GC,11086,-1.21,-146.6,704.1,-5.5,1031,11096,1.02,3.47,0.00,0.007,6,0.000,0.000,2283,2296,3113,3,0,23,0,0,0
$GC,11421,-1.30,-146.6,722.0,-5.1,1063,11435,1.08,4.05,0.00,0.007,4,0.000,0.000,2522,190,3113,2,0,28,0,0,0
$GC,11687,-1.42,-146.6,738.6,-6.3,1086,11698,1.12,4.60,0.00,0.007,6,0.000,0.000,2223,2597,3116,3,0,32,0,0,0
$GC,12017,-1.42,-146.6,758.1,-6.6,1117,12028,1.48,4.82,0.00,0.007,4,0.000,0.000,2572,201,3115,3,0,35,0,0,0
$GC,12281,-1.56,-146.6,772.5,-5.3,1140,12291,2.28,3.40,0.00,0.007,6,0.000,0.000,2203,2581,3113,6,0,22,0,0,0
$GC,12610,-1.68,-146.6,789.6,-4.9,1171,12628,0.70,3.40,0.00,0.007,4,0.000,0.000,2390,198,3116,2,0,24,0,0,0
$GC,12881,-1.62,-146.6,806.2,-6.4,1194,12890,1.15,3.58,0.00,0.007,6,0.000,0.000,2321,2587,3114,4,0,22,0,0,0
$GC,13215,-1.62,-146.6,825.8,-5.4,1226,13231,0.75,3.53,0.00,0.007,4,0.000,0.000,2425,375,3113,2,0,25,0,0,0
$GC,13483,-1.62,-146.6,840.0,-5.2,1249,13493,0.98,3.65,0.00,0.007,6,0.000,0.000,2150,2609,3111,3,0,24,0,0,0
$GC,13818,-1.62,-146.6,859.8,-6.3,1281,13834,1.27,3.38,0.00,0.007,4,0.000,0.000,2492,358,3151,3,0,22,0,0,0
$GC,14086,-1.62,-146.6,875.8,-5.9,1304,14096,1.17,4.57,0.00,0.007,6,0.000,0.000,2170,2717,3114,2,0,32,0,0,0
$GC,14416,-1.62,-146.6,894.7,-5.6,1335,14431,0.88,3.65,0.00,0.007,4,0.000,0.000,2422,353,3113,2,0,25,0,0,0
$STATE,14507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14510,begin apogee
$GC,14521,-0.31,0.0,900.2,5.6,1343,14682,1.25,0.00,147.82,0.000,6,0.000,0.007,2696,2696,2499,3,0,0,0,0,0
$STATE,14686,end apogee,CONTROL_FINISHED_OK
$STATE,14686,begin climb
$GC,14688,0.99,146.6,909.6,0.0,1359,14846,1.50,1.45,140.93,0.000,4,0.000,0.000,3072,3555,1906,3,0,11,0,0,0
$GC,15100,2.54,518.5,933.7,-4.9,1396,15434,1.12,2.97,307.85,0.000,6,0.000,0.000,3370,1520,621,4,0,20,0,1,0
$GC,15753,4.13,891.2,967.0,-4.9,1459,15768,0.00,3.62,5.47,0.000,4,0.007,0.000,3372,3621,605,0,0,25,0,0,0
$GC,16021,4.44,1141.3,977.5,-1.0,1483,16037,0.00,3.05,0.90,0.000,6,0.007,0.000,3373,1461,604,0,0,20,0,0,0
$GC,16352,4.44,1146.2,953.0,6.9,1514,16368,0.00,4.00,0.17,0.007,4,0.007,0.000,3371,3787,598,0,0,27,0,0,0
$GC,16621,4.44,1146.2,933.8,7.1,1537,16631,0.00,4.28,0.20,0.007,6,0.007,0.000,3370,1311,605,0,0,31,0,0,0
$GC,16956,4.45,1153.2,911.1,6.8,1569,16973,0.00,4.00,0.12,0.007,4,0.007,0.000,3370,3513,605,0,0,25,0,0,0
$GC,17226,4.67,1203.0,896.3,5.4,1592,17237,0.00,3.72,0.40,0.000,6,0.007,0.000,3373,1056,597,0,0,26,0,0,0
$GC,17561,4.67,1203.0,870.9,8.6,1624,17577,0.00,4.55,0.12,0.007,4,0.007,0.000,3375,3462,602,0,0,31,0,0,0
$GC,17830,4.39,1203.0,839.9,13.5,1647,17840,0.00,3.55,0.75,0.000,6,0.007,0.000,3372,1352,605,0,0,24,0,0,0
$GC,18165,4.54,1216.3,803.0,6.6,1679,18182,0.00,4.53,0.20,0.007,4,0.007,0.000,3371,3784,606,0,0,33,0,0,0
$GC,18434,4.30,1216.3,782.6,11.9,1702,18444,0.00,3.70,0.50,0.000,6,0.007,0.000,3373,1404,605,0,0,24,0,0,0
$GC,18768,4.30,1216.3,754.9,9.6,1734,18785,0.00,4.00,0.22,0.000,4,0.007,0.000,3374,3718,604,0,0,26,0,0,0
$GC,18831,4.11,1216.3,748.7,11.5,1739,18847,0.00,3.60,0.35,0.000,6,0.007,0.000,3372,1782,605,0,0,23,0,0,0
$GC,19161,3.72,1216.3,695.5,15.5,1770,19177,0.00,3.15,0.12,0.007,4,0.007,0.000,3375,3784,603,0,0,20,0,0,0
$GC,19430,3.87,1216.3,675.5,7.6,1793,19440,0.00,3.45,0.85,0.000,6,0.007,0.000,3373,1448,608,0,0,23,0,0,0
$GC,19764,4.35,1216.3,648.6,7.2,1825,19780,0.00,3.78,0.17,0.000,4,0.007,0.000,3373,3783,605,0,0,25,0,0,0
$GC,19972,4.42,1216.3,629.5,10.8,1843,19986,0.00,4.68,4.07,0.000,6,0.007,0.000,3368,1792,590,0,0,32,0,0,0
$GC,20311,4.05,1216.3,576.9,15.1,1875,20328,0.00,4.43,0.12,0.000,4,0.007,0.000,3372,3685,596,0,0,31,0,0,0
$GC,20580,4.26,1255.7,558.1,5.8,1898,20591,0.00,3.75,0.22,0.000,6,0.007,0.000,3373,1385,594,0,0,25,0,0,0
$GC,20916,4.71,1262.6,532.0,6.8,1930,20933,0.00,4.15,0.12,0.000,4,0.007,0.000,3373,3752,560,0,0,29,0,0,0
$GC,21185,4.29,1262.6,504.0,16.9,1953,21197,0.00,3.50,0.70,0.000,6,0.007,0.000,3372,1501,593,0,0,23,0,0,0
$GC,21522,4.46,1279.3,455.0,6.5,1985,21539,0.00,4.70,0.12,0.007,4,0.000,0.000,3372,3765,586,0,0,31,0,0,0
$GC,21790,4.46,1279.3,437.9,9.4,2008,21802,0.00,3.55,1.52,0.000,6,0.007,0.000,3370,1227,595,0,0,24,0,0,0
$GC,22126,4.46,1279.3,399.1,9.4,2040,22142,0.00,4.18,0.12,0.000,4,0.007,0.000,3370,3641,596,0,0,27,0,0,0
$GC,22395,4.60,1279.3,378.6,7.5,2063,22405,0.00,4.28,0.03,0.007,6,0.007,0.000,3372,1721,594,0,0,30,0,0,0
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$GC,23327,4.58,1309.2,290.7,6.1,2149,23337,0.00,3.75,0.20,0.000,6,0.007,0.000,3372,1557,581,0,0,24,0,0,0
$GC,23662,3.85,1309.2,235.1,28.5,2181,23678,0.00,4.80,0.12,0.007,4,0.007,0.000,3376,3450,597,0,0,34,0,0,0
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$GC,25474,3.83,1361.3,29.6,27.9,2346,25489,0.00,3.75,0.12,0.007,4,0.007,0.000,3375,3782,586,0,0,24,0,0,0
$GC,25569,2.99,1361.3,4.4,27.1,2358,25575,0.00,3.05,0.00,0.000,3,0.000,0.000,3373,3327,584,0,0,21,0,0,0
$STATE,25575,end climb,SURFACE_DEPTH_REACHED
$STATE,25576,begin surface coast
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$STATE,25580,end surface coast,CONTROL_FINISHED_OK
$STATE,25580,begin surface
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$SUPER,3,206,254,0,0,0
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$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078197667
$INTERNAL_PRESSURE,16.3332
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,298.308
$10V_AH,10.7,43.466
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,84.046
$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,85.500,334.900,621.550,0.000,0.000,0.000,0.000,123.471,0.000,0.000,18.238,3968.497,16596.863,1343.271,3388.086,762.010,33.365,1697.168,0.000,3270.960,2520.000,3.340,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,337140
$DATA_FILE_SIZE,78505,2360
$CAP_FILE_SIZE,302939,8
$CFSIZE,260165632,239558656
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,229,2265,1,0
$SOUNDSPEED,1460.8
$GPS,241009,233845,6655.419,-5816.356,15,1.1,15,18.0