version: 66.03
glider: 120
mission: 9
dive: 648
start: 4 30 109 3 14 14
data:
$ID,120
$MISSION,9
$DIVE,648
$D_SURF,7
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,660
$T_MISSION,675
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51365
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0054608998
$HD_B,0.011315
$HD_C,8.0300997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$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,-31477.15
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3950
$C_PITCH,3317
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,176
$ROLL_MAX,3861
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2876
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-16.122175
$PRESSURE_SLOPE,0.000115925
$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,10
$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
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,53
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043782545
$SEABIRD_T_H,0.00063376746
$SEABIRD_T_I,2.0789576e-05
$SEABIRD_T_J,1.6847914e-06
$SEABIRD_C_G,-10.138739
$SEABIRD_C_H,1.1328104
$SEABIRD_C_I,-0.00035406757
$SEABIRD_C_J,0.00012259149
$GPS1,025655,5001.625,-14454.228,59,1.6,59,18.5
$_CALLS,4
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-73.3
$GPS2,031319,5001.657,-14454.289,15,1.7,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.129,0.123
$KALMAN_X,-115216.4,558.0,220.8,138431.6,-3644.8
$KALMAN_Y,150817.8,196.9,-225.9,-154161.1,-976.2
$MHEAD_RNG_PITCHd_Wd,27.9,11566,-12.0,-5.000
$D_GRID,1001
$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
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.67,-117.3,0.0,0.0,0,59,0.00,0.00,-30.23,0.000,2,0.000,0.000,134,2404,2513
$GC,63,-0.67,-117.3,3.0,-5.3,3,107,13.43,2.47,-20.98,0.000,4,0.268,0.091,3093,3801,3356
$GC,218,-0.51,-117.3,20.3,-12.0,16,225,0.20,2.30,0.00,0.000,6,0.149,0.053,3150,2396,3358
$GC,548,-0.51,-117.3,47.6,-8.0,47,552,0.00,2.50,0.00,0.000,4,0.000,0.067,3150,985,3358
$GC,578,-0.51,-117.3,50.3,-8.0,49,582,0.00,2.42,0.00,0.000,6,0.000,0.061,3150,2409,3358
$GC,904,-0.51,-117.3,75.5,-7.6,79,905,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2408,3358
$GC,1216,-0.51,-117.3,98.1,-6.9,97,1220,0.00,2.53,0.00,0.000,4,0.000,0.067,3150,995,3359
$GC,1284,-0.55,-117.3,102.9,-7.1,100,1288,0.00,2.40,0.00,0.000,6,0.000,0.059,3149,2402,3359
$GC,1606,-0.55,-117.3,122.5,-5.5,116,1610,0.00,2.42,0.00,0.000,4,0.000,0.067,3150,995,3358
$GC,1635,-0.60,-117.3,124.3,-6.3,117,1639,0.00,2.38,0.00,0.000,6,0.000,0.059,3150,2402,3359
$GC,1952,-0.69,-117.3,142.6,-5.7,132,1954,0.17,0.00,0.00,0.000,6,0.075,0.000,3081,2401,3359
$GC,2270,-0.64,-117.3,167.2,-8.0,144,2274,0.00,2.42,0.00,0.000,4,0.000,0.077,3081,3816,3358
$GC,2305,-0.54,-117.3,170.2,-9.1,145,2310,0.20,2.30,0.00,0.000,6,0.124,0.052,3136,2388,3359
$GC,2636,-0.62,-117.3,190.2,-5.5,156,2640,0.00,2.38,0.00,0.000,4,0.000,0.067,3136,996,3359
$GC,2676,-0.72,-117.3,192.6,-5.7,157,2681,0.15,2.38,0.00,0.000,6,0.075,0.059,3083,2406,3359
$GC,3001,-0.72,-117.3,214.5,-7.1,168,3005,0.00,2.42,0.00,0.000,4,0.000,0.077,3083,3816,3359
$GC,3031,-0.68,-117.3,217.0,-8.5,169,3035,0.00,2.30,0.00,0.000,6,0.000,0.053,3083,2402,3359
$GC,3366,-0.68,-117.3,242.2,-7.3,180,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2403,3359
$GC,3673,-0.68,-117.3,264.0,-7.1,190,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2403,3359
$GC,3979,-0.68,-117.3,286.6,-7.4,200,3983,0.00,2.55,0.00,0.000,4,0.000,0.077,3083,3808,3359
$GC,4014,-0.63,-117.3,289.4,-8.3,201,4019,0.00,2.40,0.00,0.000,6,0.000,0.051,3083,2402,3359
$GC,4344,-0.63,-117.3,314.6,-7.5,209,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2403,3359
$GC,4646,-0.63,-117.3,337.0,-7.3,214,4650,0.00,2.58,0.00,0.000,4,0.000,0.067,3083,989,3359
$GC,4713,-0.63,-117.3,342.2,-8.2,215,4717,0.00,2.40,0.00,0.000,6,0.000,0.059,3083,2408,3358
$GC,5079,-0.63,-117.3,369.2,-7.4,221,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2408,3359
$GC,5383,-0.63,-117.3,391.1,-7.2,226,5384,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2408,3359
$GC,5686,-0.63,-117.3,411.3,-6.7,231,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2407,3358
$GC,5989,-0.63,-117.3,431.5,-6.7,236,5993,0.00,2.47,0.00,0.000,4,0.000,0.080,3083,3809,3358
$GC,6039,-0.63,-117.3,435.1,-6.5,236,6044,0.00,2.35,0.00,0.000,6,0.000,0.053,3083,2391,3358
$GC,6351,-0.63,-117.3,454.1,-6.1,241,6355,0.00,2.47,0.00,0.000,4,0.000,0.068,3083,992,3358
$GC,6380,-0.63,-117.3,456.2,-6.8,241,6384,0.00,2.40,0.00,0.000,6,0.000,0.060,3083,2407,3357
$GC,6719,-0.63,-117.3,477.0,-6.1,247,6720,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2406,3357
$GC,7021,-0.63,-117.3,495.7,-6.2,252,7026,0.00,2.53,0.00,0.000,4,0.000,0.068,3083,985,3357
$GC,7062,-0.63,-117.3,498.1,-6.3,252,7066,0.00,2.42,0.00,0.000,6,0.000,0.061,3083,2404,3357
$GC,7383,-0.63,-117.3,517.2,-6.0,258,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2404,3357
$GC,7686,-0.63,-117.3,535.7,-6.2,263,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2403,3357
$GC,7990,-0.63,-117.3,555.2,-6.4,268,7991,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2403,3357
$GC,8292,-0.63,-117.3,572.7,-5.7,273,8294,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2404,3356
$GC,8596,-0.63,-117.3,588.2,-5.0,278,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2404,3356
$GC,8899,-0.63,-117.3,601.9,-4.5,283,8900,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2404,3356
$GC,9202,-0.63,-117.3,616.7,-4.9,288,9206,0.00,2.55,0.00,0.000,4,0.000,0.069,3083,991,3356
$GC,9230,-0.63,-117.3,618.3,-5.8,288,9234,0.00,2.45,0.00,0.000,6,0.000,0.061,3083,2412,3356
$GC,9563,-0.63,-117.3,636.5,-5.6,294,9564,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2411,3356
$GC,9865,-0.63,-117.3,654.7,-6.1,299,9867,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2411,3356
$GC,10169,-0.63,-117.3,675.3,-6.8,304,10170,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2411,3356
$GC,10472,-0.63,-117.3,697.2,-7.3,309,10473,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2411,3356
$GC,10775,-0.63,-117.3,720.7,-7.8,314,10776,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2410,3355
$GC,11079,-0.63,-117.3,744.1,-7.7,319,11080,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2411,3356
$GC,11381,-0.63,-117.3,765.4,-6.9,324,11382,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2410,3355
$GC,11684,-0.63,-117.3,784.5,-6.2,329,11685,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2410,3356
$GC,11987,-0.63,-117.3,803.0,-6.0,334,11989,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2410,3355
$GC,12290,-0.63,-117.3,820.0,-5.6,339,12291,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2411,3355
$GC,12594,-0.63,-117.3,837.4,-5.8,344,12595,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2411,3355
$GC,12897,-0.63,-117.3,855.1,-5.9,349,12901,0.00,2.58,0.00,0.000,4,0.000,0.070,3083,988,3354
$GC,12925,-0.68,-117.3,856.9,-6.4,349,12929,0.00,2.42,0.00,0.000,6,0.000,0.062,3083,2403,3354
$GC,13264,-0.68,-117.3,875.7,-5.5,355,13268,0.00,2.47,0.00,0.000,4,0.000,0.081,3083,3808,3354
$GC,13299,-0.68,-117.3,877.8,-6.0,355,13303,0.00,2.35,0.00,0.000,6,0.000,0.055,3083,2393,3354
$GC,13627,-0.73,-117.3,896.0,-5.5,361,13631,0.00,2.45,0.00,0.000,4,0.000,0.072,3083,989,3355
$GC,13650,-0.79,-117.3,897.4,-5.3,361,13654,0.00,2.42,0.00,0.000,6,0.000,0.063,3083,2403,3354
$GC,13996,-0.83,-117.3,917.0,-5.8,367,14001,0.10,2.47,0.00,0.000,4,0.097,0.081,3043,3808,3354
$GC,14030,-0.76,-117.3,919.6,-7.4,367,14034,0.00,2.33,0.00,0.000,6,0.000,0.056,3043,2396,3354
$GC,14359,-0.72,-117.3,941.8,-6.7,373,14360,0.15,0.00,0.00,0.000,6,0.113,0.000,3086,2395,3354
$GC,14661,-0.72,-117.3,959.5,-5.8,378,14662,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2395,3354
$GC,14965,-0.72,-117.3,976.4,-5.5,383,14966,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2395,3354
$STATE,15264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15264,begin apogee
$GC,15273,-0.22,0.0,992.5,5.3,388,15386,0.52,0.00,108.05,1.493,6,0.131,0.000,3245,2186,2875
$STATE,15387,end apogee,CONTROL_FINISHED_OK
$STATE,15387,begin climb
$GC,15391,0.67,117.3,997.1,0.0,390,15515,0.85,2.85,115.47,1.447,4,0.084,0.077,3525,3615,2395
$GC,15561,0.24,117.3,995.9,6.7,392,15567,0.57,2.60,0.00,0.000,6,0.176,0.061,3399,2208,2394
$GC,15884,0.33,151.8,982.5,4.0,398,15918,0.00,0.00,31.40,1.424,6,0.000,0.000,3399,2209,2256
$GC,16255,0.45,177.2,966.6,4.3,404,16285,0.15,2.58,23.73,1.414,4,0.075,0.078,3476,781,2152
$GC,16349,0.35,177.2,960.5,7.1,405,16353,0.17,2.38,0.00,0.000,6,0.143,0.061,3429,2213,2150
$GC,16688,0.35,177.2,942.1,5.4,411,16692,0.00,2.35,0.00,0.000,4,0.000,0.080,3429,3610,2149
$GC,16744,0.35,177.2,938.4,7.0,411,16751,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2172,2149
$GC,17055,0.35,177.2,920.0,5.9,417,17056,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2173,2149
$GC,17358,0.35,177.2,901.8,6.0,422,17362,0.00,2.45,0.00,0.000,4,0.000,0.077,3436,782,2149
$GC,17398,0.35,177.2,899.3,7.0,422,17402,0.00,2.35,0.00,0.000,6,0.000,0.059,3435,2202,2148
$GC,17719,0.35,177.2,879.0,6.4,428,17720,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2148
$GC,18022,0.35,177.2,859.1,6.6,433,18024,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2148
$GC,18325,0.35,177.2,839.9,6.3,438,18326,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2147
$GC,18628,0.35,177.2,822.0,5.9,443,18630,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2147
$GC,18933,0.35,177.2,805.4,5.4,448,18934,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2200,2147
$GC,19235,0.35,178.1,790.1,5.0,453,19236,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2146
$GC,19538,0.36,183.1,775.5,4.9,458,19546,0.00,0.00,6.15,1.108,6,0.000,0.000,3436,2201,2129
$GC,19841,0.36,183.9,760.2,5.0,463,19842,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2201,2128
$GC,20145,0.36,183.9,744.4,5.3,468,20149,0.00,2.53,0.00,0.000,4,0.000,0.076,3436,792,2128
$GC,20201,0.41,183.9,741.2,5.5,468,20208,0.00,2.35,0.00,0.000,6,0.000,0.060,3436,2204,2128
$GC,20512,0.41,183.9,723.7,5.7,474,20513,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2203,2128
$GC,20815,0.41,183.9,705.4,6.1,479,20816,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2203,2128
$GC,21119,0.45,183.9,686.0,6.5,484,21121,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2203,2128
$GC,21421,0.49,183.9,665.1,6.9,489,21426,0.12,2.55,0.00,0.000,4,0.089,0.075,3492,794,2128
$GC,21478,0.38,183.9,660.4,7.7,489,21485,0.17,2.35,0.00,0.000,6,0.145,0.061,3446,2201,2128
$GC,21789,0.38,183.9,637.0,7.5,495,21790,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2200,2127
$GC,22092,0.38,183.9,613.9,7.6,500,22094,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2200,2128
$GC,22395,0.38,183.9,591.6,7.3,505,22396,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2199,2127
$GC,22698,0.38,183.9,570.8,6.7,510,22702,0.00,2.55,0.00,0.000,4,0.000,0.076,3449,789,2128
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$GC,29476,0.63,224.3,179.7,4.5,655,29500,0.17,2.53,16.50,0.955,4,0.077,0.076,3545,788,1961
$GC,29552,0.48,224.3,174.7,7.4,657,29557,0.25,2.35,0.00,0.000,6,0.152,0.058,3477,2203,1960
$GC,29878,0.53,224.3,157.8,5.6,668,29882,0.00,2.45,0.00,0.000,4,0.000,0.074,3477,777,1959
$GC,29924,0.60,224.3,154.9,6.5,669,29929,0.10,2.38,0.00,0.000,6,0.086,0.058,3519,2212,1959
$GC,30245,0.60,224.3,132.0,6.6,684,30249,0.00,2.47,0.00,0.000,4,0.000,0.075,3520,777,1958
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$GC,30642,0.61,228.9,109.6,4.9,703,30653,0.00,2.35,5.68,0.775,4,0.000,0.077,3519,3609,1941
$GC,30716,0.52,228.9,105.0,6.1,706,30721,0.15,2.30,0.00,0.000,6,0.164,0.059,3481,2191,1940
$GC,31034,0.62,228.9,89.5,5.2,721,31036,0.10,0.00,0.00,0.000,6,0.087,0.000,3521,2191,1940
$GC,31346,0.70,257.0,73.8,4.2,742,31379,0.00,2.45,24.75,0.895,4,0.000,0.074,3522,789,1827
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$STATE,32418,end climb,SURFACE_DEPTH_REACHED
$STATE,32418,begin surface coast
$FINISH,0.7,1.013796
$STATE,32553,end surface coast,CONTROL_FINISHED_OK
$STATE,32553,begin surface
$SM_CCo,32578,0.55,0.123,0,0,1754,275.23
$SM_GC,2.85,0.00,0.00,0.55,0.000,0.000,0.123,141,2409,1754,-9.93,0.25,275.23
$IRIDIUM_FIX,4946.36,-14457.73,250798,030352
$TT8_MAMPS,0.026078
$HUMID,2125
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$TCM_TEMP,15.60
$XPDR_PINGS,986
$24V_AH,20.7,126.379
$10V_AH,10.3,87.722
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$DEVICE_SECS,27.725,186.025,368.025,0.550,0.000,112.286,213.112,295.538,246.500,0.000,0.000,15.951,1760.113,27759.477,505.955,2241.426,1285.806,33.380,1620.068,0.000,2222.838,0.000,0.465
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,661.114,631.324,1453.565,880.222,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50717,855
$CAP_FILE_SIZE,178633,0
$CFSIZE,260165632,208314368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300409,121836,5004.416,-14451.218,38,2.0,38,18.5