version: 66.11
glider: 129
mission: 4
dive: 368
start: 1 31 113 9 52 52
data:
$ID,129
$MISSION,4
$DIVE,368
$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,-3
$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,-3210.6101
$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,78
$R_STBD_OVSHOOT,81
$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
$GPS1,310113,094353,1753.601,12416.079,26,1.4,43,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-58.5
$GPS2,310113,095224,1753.592,12416.144,13,1.3,30,-2.0
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,262.3,221718,-15.3,-9.429,-18.41
$D_GRID,4732
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.58,-184.9,0.0,0.0,0,80,0.00,0.00,-58.62,0.000,2,0.000,0.000,47,1901,1914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.58,-184.9,3.3,-4.2,10,127,7.95,2.08,-30.27,0.000,4,0.236,0.043,1965,537,3165,0,0,0,0,0,0,24.89,26.11,26.57
$GC,353,-0.52,-184.9,66.1,-26.6,43,360,0.12,1.98,0.00,0.000,6,0.167,0.022,1989,1915,3165,0,0,0,0,0,0,25.89,26.28,28.83
$GC,673,-0.46,-184.9,151.3,-23.4,59,679,0.00,2.03,0.00,0.000,4,0.000,0.028,1989,519,3165,0,0,0,0,0,0,28.83,26.24,28.83
$GC,717,-0.42,-184.9,160.5,-20.7,61,724,0.15,2.05,0.00,0.000,6,0.145,0.021,2022,1962,3166,0,0,0,0,0,0,25.91,26.31,28.83
$GC,1042,-0.42,-184.9,210.5,-12.9,77,1048,0.00,2.08,0.00,0.000,4,0.000,0.028,2023,534,3166,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1107,-0.42,-184.9,218.9,-13.1,80,1112,0.00,2.00,0.00,0.000,6,0.000,0.021,2014,1962,3166,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1430,-0.42,-184.9,258.4,-11.4,96,1436,0.00,1.95,0.00,0.000,4,0.000,0.033,2004,3309,3167,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1469,-0.42,-184.9,261.1,-11.4,97,1475,0.00,1.95,0.00,0.000,6,0.000,0.020,2004,1906,3167,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1774,-0.42,-184.9,300.1,-12.3,113,1779,0.00,1.92,0.00,0.000,4,0.000,0.028,2004,548,3166,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1852,-0.42,-184.9,308.1,-12.7,116,1859,0.12,1.95,0.00,0.000,6,0.140,0.020,2031,1927,3166,0,0,0,0,0,0,26.03,26.34,28.83
$GC,2157,-0.43,-184.9,339.4,-7.6,132,2163,0.00,2.00,0.00,0.000,4,0.000,0.028,2031,554,3165,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2242,-0.44,-184.9,345.6,-7.4,136,2247,0.00,1.95,0.00,0.000,6,0.000,0.020,2024,1931,3164,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2567,-0.46,-184.9,371.9,-8.9,152,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1931,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2869,-0.47,-184.9,397.5,-8.5,167,2875,0.00,2.03,0.00,0.000,4,0.000,0.033,2011,3302,3163,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2939,-0.49,-184.9,403.3,-8.6,170,2944,0.00,1.92,0.00,0.000,6,0.000,0.020,2014,1932,3163,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3258,-0.50,-184.9,432.2,-8.6,186,3263,0.00,2.00,0.00,0.000,4,0.000,0.029,2013,548,3164,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3463,-0.51,-184.9,451.5,-9.2,196,3468,0.00,1.98,0.00,0.000,6,0.000,0.020,2005,1931,3161,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3787,-0.51,-184.9,480.3,-8.8,212,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1932,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4089,-0.52,-184.9,504.3,-7.3,227,4095,0.00,2.05,0.00,0.000,4,0.000,0.029,2005,545,3157,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4123,-0.54,-184.9,506.3,-7.3,228,4129,0.00,1.98,0.00,0.000,6,0.000,0.021,1997,1928,3157,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4437,-0.54,-184.9,534.1,-8.5,244,4443,0.00,2.05,0.00,0.000,4,0.000,0.029,1997,541,3154,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4486,-0.54,-184.9,538.1,-8.8,246,4491,0.00,2.00,0.00,0.000,6,0.000,0.021,1989,1935,3154,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4805,-0.54,-184.9,566.3,-9.0,262,4810,0.00,2.03,0.00,0.000,4,0.000,0.034,1979,3301,3152,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4832,-0.54,-184.9,568.3,-9.0,263,4838,0.00,1.98,0.00,0.000,6,0.000,0.021,1979,1913,3152,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5152,-0.54,-184.9,599.0,-9.2,279,5157,0.00,1.95,0.00,0.000,4,0.000,0.030,1975,556,3149,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5285,-0.54,-184.9,611.4,-10.1,284,5291,0.00,1.95,0.00,0.000,6,0.000,0.021,1970,1924,3149,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5609,-0.54,-184.9,645.1,-9.8,295,5615,0.00,2.05,0.00,0.000,4,0.000,0.035,1959,3306,3146,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5673,-0.54,-184.9,651.3,-9.8,297,5678,0.00,1.98,0.00,0.000,6,0.000,0.021,1959,1914,3146,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6008,-0.54,-184.9,686.0,-10.3,308,6014,0.00,2.00,0.00,0.000,4,0.000,0.030,1959,561,3144,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6151,-0.54,-184.9,699.3,-10.6,312,6157,0.12,1.95,0.00,0.000,6,0.149,0.021,1985,1924,3144,0,0,0,0,0,0,25.96,26.29,28.83
$GC,6467,-0.54,-184.9,727.2,-7.8,323,6472,0.00,2.05,0.00,0.000,4,0.000,0.035,1976,3307,3141,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6489,-0.54,-184.9,727.2,-7.8,323,6495,0.00,1.98,0.00,0.000,6,0.000,0.021,1976,1918,3141,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6805,-0.54,-184.9,752.3,-7.3,334,6811,0.00,1.98,0.00,0.000,4,0.000,0.030,1976,550,3140,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6979,-0.54,-184.9,764.8,-8.0,339,6985,0.00,1.98,0.00,0.000,6,0.000,0.022,1968,1925,3140,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7294,-0.54,-184.9,791.1,-7.8,350,7300,0.00,2.05,0.00,0.000,4,0.000,0.031,1967,543,3137,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7360,-0.54,-184.9,797.0,-8.5,352,7366,0.00,2.00,0.00,0.000,6,0.000,0.023,1959,1928,3137,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7696,-0.54,-184.9,827.8,-9.4,363,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1928,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7995,-0.54,-184.9,856.1,-9.3,373,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1928,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8294,-0.54,-184.9,882.6,-8.6,383,8300,0.00,2.05,0.00,0.000,4,0.000,0.037,1948,3306,3132,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8319,-0.54,-184.9,882.6,-8.6,383,8326,0.15,1.98,0.00,0.000,6,0.138,0.021,1991,1919,3132,0,0,0,0,0,0,25.87,26.29,28.83
$GC,8638,-0.55,-184.9,905.7,-6.6,394,8644,0.00,2.03,0.00,0.000,4,0.000,0.031,1991,546,3131,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8797,-0.57,-184.9,917.3,-7.4,399,8802,0.00,2.00,0.00,0.000,6,0.000,0.022,1984,1934,3131,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9128,-0.58,-184.9,941.0,-7.1,410,9129,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,1934,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9426,-0.59,-184.9,962.5,-7.2,420,9432,0.00,2.08,0.00,0.000,4,0.000,0.031,1984,544,3128,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9480,-0.61,-184.9,965.5,-7.5,421,9485,0.00,2.00,0.00,0.000,6,0.000,0.023,1975,1928,3128,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,9792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9792,begin apogee
$GC,9798,-0.17,0.0,990.2,-7.1,432,9960,0.38,0.00,154.12,1.408,6,0.116,0.000,2102,1928,2410,0,0,0,0,0,0,25.60,28.83,22.40
$STATE,9961,end apogee,CONTROL_FINISHED_OK
$STATE,9961,begin climb
$GC,9964,0.58,184.9,995.6,0.0,437,10144,0.73,2.38,169.88,1.359,4,0.086,0.034,2348,533,1655,0,0,0,0,0,0,24.48,23.76,21.89
$GC,10177,0.62,282.4,987.9,6.1,444,10277,0.00,2.10,89.75,1.334,6,0.000,0.021,2348,1899,1256,0,0,0,0,0,0,28.83,24.77,22.13
$GC,10578,0.65,291.8,952.3,9.1,458,10592,0.00,2.08,8.88,1.151,4,0.000,0.033,2348,3285,1219,0,0,0,0,0,0,28.83,25.89,23.75
$GC,10705,0.67,291.8,940.0,10.0,462,10710,0.00,1.98,0.00,0.000,6,0.000,0.024,2348,1913,1216,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11036,0.70,313.3,911.0,8.7,473,11065,0.12,2.12,20.50,1.287,4,0.107,0.033,2404,3294,1130,0,0,0,0,0,0,26.27,25.70,23.70
$GC,11104,0.72,313.3,903.6,9.9,475,11109,0.00,2.05,0.00,0.000,6,0.000,0.023,2411,1898,1129,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11434,0.72,313.3,863.2,12.2,486,11435,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1898,1127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11733,0.72,313.3,827.1,12.0,496,11738,0.00,2.10,0.00,0.000,4,0.000,0.034,2410,3285,1126,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11815,0.72,313.3,819.0,12.3,498,11820,0.00,2.03,0.00,0.000,6,0.000,0.024,2418,1889,1125,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12129,0.72,313.3,777.3,12.5,509,12134,0.00,2.10,0.00,0.000,4,0.000,0.034,2418,3293,1124,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12166,0.72,313.3,772.8,12.6,510,12172,0.12,2.03,0.00,0.000,6,0.164,0.024,2392,1895,1124,0,0,0,0,0,0,25.90,26.29,28.83
$GC,12497,0.73,313.3,736.1,11.0,521,12498,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1895,1124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12796,0.74,313.3,705.1,10.3,531,12801,0.00,2.10,0.00,0.000,4,0.000,0.034,2392,3285,1124,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12843,0.76,313.3,701.3,10.4,532,12849,0.00,2.03,0.00,0.000,6,0.000,0.024,2393,1888,1123,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13165,0.77,313.3,667.7,9.8,543,13171,0.00,2.12,0.00,0.000,4,0.000,0.034,2393,3288,1123,0,0,0,0,0,0,28.83,26.07,28.83
$GC,13199,0.78,313.3,663.9,9.9,544,13204,0.00,2.03,0.00,0.000,6,0.000,0.024,2399,1895,1122,0,0,0,0,0,0,28.83,26.26,28.83
$GC,13535,0.79,313.3,629.0,10.9,555,13536,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,1894,1122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13842,0.81,313.3,593.2,11.7,566,13847,0.00,2.10,0.00,0.000,4,0.000,0.034,2399,3284,1123,0,0,0,0,0,0,28.83,26.05,28.83
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$GC,16098,0.86,313.3,320.7,10.2,677,16104,0.00,2.08,0.00,0.000,4,0.000,0.033,2446,495,1122,0,0,0,0,0,0,28.83,26.05,28.83
$GC,16204,0.86,313.3,310.4,9.7,682,16210,0.00,2.03,0.00,0.000,6,0.000,0.021,2447,1914,1123,0,0,0,0,0,0,28.83,26.25,28.83
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$GC,19225,1.14,592.0,19.5,10.4,850,19232,0.00,2.08,0.00,0.000,4,0.000,0.031,2526,515,209,0,0,0,0,0,0,28.83,26.18,28.83
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$STATE,19433,end climb,SURFACE_DEPTH_REACHED
$STATE,19433,begin surface coast
$FINISH,1.4,1.012021
$STATE,19454,end surface coast,CONTROL_FINISHED_OK
$STATE,19455,begin surface
$SM_CCo,19532,0.00,0.000,0,0,210,539.41
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$IRIDIUM_FIX,1745.10,12417.21,310113,040459
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.89
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,3879008
$24V_AH,21.9,75.198
$10V_AH,9.8,50.715
$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,16.750,158.175,633.575,0.000,0.000,0.000,0.000,282.925,0.000,0.000,31.519,3007.042,13162.533,720.965,2644.348,499.980,0.000,2292.582,0.000,2253.438,0.000,0.541,0.000
$DEVICE_MAMPS,236.385,42.840,1407.600,0.000,0.000,0.000,0.000,138.465,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.131,0.000,0.000,0.000
$MEM,329624
$DATA_FILE_SIZE,33363,893
$CAP_FILE_SIZE,218726,0
$CFSIZE,260034560,214454272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145,  8.3,1
$GPS,310113,151936,1754.099,12413.651,32,1.4,32,-2.0