version: 66.11
glider: 129
mission: 4
dive: 347
start: 1 26 113 14 42 4
data:
$ID,129
$MISSION,4
$DIVE,347
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$T_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,350
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$NOCOMM_ACTION,163
$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,-3182.5554
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,79
$R_STBD_OVSHOOT,103
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,21.5
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$AD7714Ch0Gain,128
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,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,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,260113,143305,1839.617,12423.683,40,0.8,52,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-61.4
$GPS2,260113,144136,1839.365,12423.923,9,1.0,14,-2.2
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$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,207.4,93487,-15.3,-9.429,-18.41
$D_GRID,5510
$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,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.58,-184.9,0.0,0.0,0,93,0.00,0.00,-70.82,0.000,2,0.000,0.000,60,1935,1921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.58,-184.9,3.5,-5.2,12,141,8.02,2.08,-28.95,0.000,4,0.243,0.041,1967,526,3160,0,0,0,0,0,0,24.92,26.11,26.55
$GC,314,-0.51,-184.9,60.6,-29.0,40,321,0.12,1.95,0.00,0.000,6,0.170,0.020,1991,1904,3161,0,0,0,0,0,0,25.91,26.31,28.83
$GC,634,-0.47,-184.9,132.7,-21.0,56,639,0.00,2.03,0.00,0.000,4,0.000,0.031,1982,3312,3161,0,0,0,0,0,0,28.83,26.21,28.83
$GC,713,-0.44,-184.9,144.1,-18.2,59,720,0.12,1.92,0.00,0.000,6,0.141,0.020,2017,1905,3161,0,0,0,0,0,0,26.04,26.37,28.83
$GC,1018,-0.42,-184.9,189.9,-14.2,75,1023,0.00,1.92,0.00,0.000,4,0.000,0.028,2017,542,3159,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1238,-0.42,-184.9,216.5,-12.3,85,1246,0.00,1.98,0.00,0.000,6,0.000,0.020,2009,1932,3162,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1543,-0.42,-184.9,252.8,-11.0,101,1549,0.00,2.00,0.00,0.000,4,0.000,0.031,1998,3304,3161,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1607,-0.42,-184.9,259.6,-10.9,104,1613,0.00,1.90,0.00,0.000,6,0.000,0.019,1999,1918,3161,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1931,-0.41,-184.9,298.4,-12.0,120,1936,0.00,1.95,0.00,0.000,4,0.000,0.028,1998,553,3160,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2115,-0.41,-184.9,320.6,-11.8,129,2121,0.12,1.95,0.00,0.000,6,0.145,0.020,2025,1931,3160,0,0,0,0,0,0,26.05,26.36,28.83
$GC,2439,-0.42,-184.9,352.7,-10.0,145,2444,0.00,2.00,0.00,0.000,4,0.000,0.032,2016,3298,3159,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2503,-0.44,-184.9,358.7,-9.6,148,2508,0.00,1.90,0.00,0.000,6,0.000,0.019,2015,1935,3159,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2827,-0.45,-184.9,387.6,-8.1,164,2832,0.00,1.98,0.00,0.000,4,0.000,0.028,2015,546,3158,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3017,-0.46,-184.9,403.2,-8.0,173,3022,0.00,1.95,0.00,0.000,6,0.000,0.020,2006,1928,3158,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3335,-0.46,-184.9,426.9,-7.1,189,3341,0.00,2.03,0.00,0.000,4,0.000,0.033,1996,3305,3157,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3379,-0.46,-184.9,430.1,-7.3,191,3386,0.00,1.92,0.00,0.000,6,0.000,0.020,1996,1920,3156,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3704,-0.46,-184.9,458.2,-9.5,207,3710,0.00,1.98,-0.08,0.000,4,0.000,0.041,1995,556,3183,0,0,0,0,0,0,28.83,26.25,25.37
$GC,3862,-0.46,-184.9,473.5,-11.0,214,3868,0.00,1.95,0.00,0.000,6,0.000,0.021,1987,1929,3182,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4168,-0.46,-184.9,510.9,-11.7,230,4173,0.00,2.03,0.00,0.000,4,0.000,0.034,1976,3303,3181,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4195,-0.46,-184.9,513.4,-11.5,231,4200,0.12,1.90,0.00,0.000,6,0.132,0.021,2014,1923,3182,0,0,0,0,0,0,26.08,26.38,28.83
$GC,4514,-0.48,-184.9,538.7,-6.9,247,4520,0.00,2.00,0.00,0.000,4,0.000,0.029,2014,534,3181,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4609,-0.50,-184.9,544.9,-7.3,251,4614,0.00,1.98,0.00,0.000,6,0.000,0.020,2008,1927,3180,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4923,-0.52,-184.9,565.8,-6.4,267,4929,0.00,2.03,0.00,0.000,4,0.000,0.028,2008,548,3178,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4972,-0.53,-184.9,569.2,-7.0,269,4977,0.00,1.95,0.00,0.000,6,0.000,0.021,2001,1920,3177,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5291,-0.54,-184.9,594.3,-8.3,285,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1920,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5613,-0.56,-184.9,622.1,-8.8,297,5618,0.00,2.00,0.00,0.000,4,0.000,0.029,2001,555,3174,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5666,-0.57,-184.9,625.6,-9.0,298,5672,0.00,1.98,0.00,0.000,6,0.000,0.021,1993,1936,3173,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5983,-0.58,-184.9,656.0,-8.9,309,5988,0.00,2.03,0.00,0.000,4,0.000,0.035,1983,3300,3171,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6017,-0.59,-184.9,659.2,-8.7,310,6022,0.00,1.92,0.00,0.000,6,0.000,0.021,1983,1936,3171,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6352,-0.59,-184.9,686.4,-8.0,321,6357,0.00,2.05,0.00,0.000,4,0.000,0.030,1983,535,3170,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6507,-0.59,-184.9,699.9,-8.6,326,6512,0.00,2.00,0.00,0.000,6,0.000,0.021,1973,1924,3169,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6844,-0.59,-184.9,728.3,-8.8,337,6850,0.00,2.05,0.00,0.000,4,0.000,0.036,1964,3300,3167,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6878,-0.59,-184.9,731.6,-8.8,338,6883,0.00,2.00,0.00,0.000,6,0.000,0.021,1964,1914,3167,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7213,-0.59,-184.9,764.8,-10.4,349,7218,0.00,2.00,0.00,0.000,4,0.000,0.031,1964,547,3165,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7321,-0.59,-184.9,775.5,-11.1,352,7327,0.00,1.98,0.00,0.000,6,0.000,0.022,1954,1921,3164,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7641,-0.59,-184.9,810.7,-10.0,363,7646,0.00,2.03,0.00,0.000,4,0.000,0.031,1954,545,3163,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7684,-0.59,-184.9,814.2,-10.1,364,7689,0.00,2.00,0.00,0.000,6,0.000,0.022,1945,1932,3161,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8007,-0.59,-184.9,847.1,-9.9,375,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,1932,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8308,-0.59,-184.9,878.7,-11.0,385,8313,0.00,2.05,0.00,0.000,4,0.000,0.031,1945,544,3160,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8355,-0.59,-184.9,882.8,-11.3,386,8361,0.12,2.00,0.00,0.000,6,0.157,0.024,1970,1922,3160,0,0,0,0,0,0,25.89,26.26,28.83
$GC,8677,-0.59,-184.9,915.6,-9.4,397,8678,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1923,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8975,-0.59,-184.9,941.8,-8.5,407,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,1923,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9274,-0.59,-184.9,964.5,-7.5,417,9279,0.00,2.05,0.00,0.000,4,0.000,0.031,1970,553,3156,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9317,-0.59,-184.9,967.2,-7.7,418,9323,0.00,2.00,0.00,0.000,6,0.000,0.023,1964,1935,3156,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,9608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9608,begin apogee
$GC,9614,-0.17,0.0,991.0,-7.9,428,9782,0.43,0.00,160.68,1.410,6,0.118,0.000,2106,1935,2409,0,0,0,0,0,0,25.56,28.83,22.26
$STATE,9783,end apogee,CONTROL_FINISHED_OK
$STATE,9784,begin climb
$GC,9786,0.58,184.9,996.6,0.0,433,9966,0.70,2.22,171.00,1.358,4,0.083,0.032,2343,3279,1653,0,0,0,0,0,0,24.27,23.66,21.85
$GC,9978,0.63,289.5,989.5,5.8,440,10083,0.00,2.15,97.75,1.332,6,0.000,0.022,2351,1924,1227,0,0,0,0,0,0,28.83,24.20,21.87
$GC,10400,0.66,321.5,955.1,8.3,454,10430,0.00,0.00,28.40,1.307,6,0.000,0.000,2351,1919,1099,0,0,0,0,0,0,28.83,28.83,23.61
$GC,10730,0.68,321.5,925.6,9.5,465,10731,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1921,1093,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11029,0.71,321.5,894.9,10.5,475,11035,0.12,2.05,0.00,0.000,4,0.109,0.032,2406,3289,1092,0,0,0,0,0,0,26.29,26.17,28.83
$GC,11073,0.72,321.5,890.3,11.2,476,11078,0.00,2.03,0.00,0.000,6,0.000,0.024,2414,1896,1091,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11398,0.72,321.5,843.5,13.8,487,11404,0.00,2.08,0.00,0.000,4,0.000,0.034,2414,3286,1091,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11427,0.72,321.5,843.5,13.8,487,11434,0.00,2.00,0.00,0.000,6,0.000,0.024,2421,1884,1091,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11732,0.72,321.5,798.3,13.1,498,11738,0.00,2.10,0.00,0.000,4,0.000,0.034,2421,3283,1091,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11776,0.72,321.5,793.6,13.3,499,11782,0.12,2.00,0.00,0.000,6,0.170,0.024,2394,1901,1090,0,0,0,0,0,0,25.91,26.29,28.83
$GC,12102,0.72,321.5,756.7,11.1,510,12103,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1901,1090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12401,0.73,321.5,722.0,11.4,520,12407,0.00,2.08,0.00,0.000,4,0.000,0.034,2393,3291,1089,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12450,0.73,321.5,717.9,11.4,521,12455,0.00,2.03,0.00,0.000,6,0.000,0.024,2398,1891,1089,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12770,0.73,321.5,683.5,10.0,532,12775,0.00,2.08,0.00,0.000,4,0.000,0.034,2398,3285,1089,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12812,0.73,321.5,679.7,10.1,533,12817,0.00,2.00,0.00,0.000,6,0.000,0.024,2405,1899,1089,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13137,0.73,321.5,643.4,11.0,544,13138,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1899,1089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13436,0.73,321.5,613.5,9.9,554,13441,0.00,2.10,0.00,0.000,4,0.000,0.034,2405,3286,1089,0,0,0,0,0,0,28.83,26.08,28.83
$GC,13513,0.73,321.5,606.6,10.4,556,13519,0.00,2.00,0.00,0.000,6,0.000,0.024,2412,1889,1088,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13821,0.73,321.5,569.0,11.7,571,13827,0.00,2.12,0.00,0.000,4,0.000,0.034,2412,3291,1088,0,0,0,0,0,0,28.83,26.07,28.83
$GC,13873,0.73,321.5,563.8,12.0,573,13879,0.00,2.03,0.00,0.000,6,0.000,0.024,2415,1894,1088,0,0,0,0,0,0,28.83,26.26,28.83
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$GC,16381,0.74,334.4,280.9,9.0,697,16401,0.00,2.12,11.62,0.838,4,0.000,0.034,2426,510,1045,0,0,0,0,0,0,28.83,25.89,23.91
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$GC,19060,1.09,528.6,24.1,10.3,842,19067,0.00,2.03,0.00,0.000,4,0.000,0.031,2496,505,253,0,0,0,0,0,0,28.83,26.15,28.83
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$STATE,19265,end climb,SURFACE_DEPTH_REACHED
$STATE,19266,begin surface coast
$FINISH,1.0,1.003554
$STATE,19283,end surface coast,CONTROL_FINISHED_OK
$STATE,19283,begin surface
$SM_CCo,19360,0.00,0.000,0,0,208,539.91
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$IRIDIUM_FIX,1837.32,12423.71,260113,090900
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.56
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,3887104
$24V_AH,21.9,70.565
$10V_AH,9.8,48.058
$FG_AHR_24Vo,120.571
$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,16.675,165.125,640.200,0.000,0.000,0.000,0.000,304.175,0.000,0.000,15.752,2935.953,13103.791,750.774,2597.776,475.561,0.000,2336.457,0.000,2206.691,0.000,0.541,0.000
$DEVICE_MAMPS,242.505,41.310,1409.895,0.000,0.000,0.000,0.000,135.405,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.032,0.000,0.000,0.000
$MEM,329040
$DATA_FILE_SIZE,33415,883
$CAP_FILE_SIZE,217015,0
$CFSIZE,260034560,216584192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.252,132.5,1
$GPS,260113,200605,1834.823,12425.144,35,1.0,41,-2.2