version: 66.12
glider: 141
mission: 23
dive: 243
start: 10 11 115 9 49 55
data:
$ID,141
$MISSION,23
$DIVE,243
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,330
$T_MISSION,360
$T_ABORT,1500
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52033
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3800
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,361
$ROLL_MAX,4050
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2475
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,348
$VBD_MAX,3980
$C_VBD,3127
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-33.834953
$PRESSURE_SLOPE,0.0001160265
$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,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,133
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543633
$SEABIRD_T_H,0.00062237249
$SEABIRD_T_I,2.1446129e-05
$SEABIRD_T_J,2.055453e-06
$SEABIRD_C_G,-10.134171
$SEABIRD_C_H,1.1439899
$SEABIRD_C_I,-0.0013638148
$SEABIRD_C_J,0.00018835191
$GPS1,111015,094334,752.7165,8421.1221,140,1.1,169,-2.0,0.2,44.7,7,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.30
$_SM_ANGLEo,-72.2
$GPS2,111015,094921,752.7104,8421.1240,12,1.3,39,-2.0,0.3,12.0,7,8.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,290.6,289485,-14.9,-10.000,-18.74,2959
$D_GRID,1000
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.62,-194.6,27,2668,597,739,0.0,0.0,0,127,0.00,0.00,-96.07,0.000,16386,0.000,0.000,25,2668,3372,3433,3311,0,0,0,0,0,0,14.88,28.83,14.92
$GC,133,-0.62,-194.6,26,2668,3433,3312,6.2,-6.1,10,159,11.70,2.35,-7.53,0.000,18948,0.402,0.072,2504,1238,3925,3996,3855,0,0,0,0,0,0,14.27,13.36,14.52
$GC,240,-0.62,-194.6,2504,1238,3996,3860,48.2,-30.1,32,246,0.00,2.30,0.00,0.000,1030,0.000,0.057,2496,2645,3928,3996,3860,0,0,0,0,0,0,14.65,14.60,14.69
$GC,550,-0.62,-194.6,2496,2645,3996,3860,134.0,-22.7,49,556,0.00,2.30,0.00,0.000,260,0.000,0.078,2485,4035,3928,3996,3860,0,0,0,0,0,0,15.04,14.63,15.07
$GC,681,-0.62,-194.6,2485,4035,3996,3862,160.5,-19.4,75,688,0.08,2.15,0.00,0.000,3078,0.240,0.033,2506,2632,3929,3996,3862,0,0,0,0,0,0,14.45,14.74,14.61
$GC,991,-0.62,-194.6,2505,2632,3996,3864,203.8,-11.7,92,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2632,3929,3995,3864,0,0,0,0,0,0,15.09,15.13,15.13
$GC,1293,-0.62,-194.6,2505,2631,3997,3864,235.7,-11.1,107,1298,0.00,2.35,0.00,0.000,260,0.000,0.080,2497,4043,3930,3996,3864,0,0,0,0,0,0,15.11,14.66,15.14
$GC,1382,-0.62,-194.6,2497,4043,3995,3864,246.3,-11.8,125,1389,0.00,2.17,0.00,0.000,1030,0.000,0.031,2498,2644,3929,3995,3864,0,0,0,0,0,0,14.90,14.84,14.92
$GC,1735,-0.62,-194.6,2494,2644,3990,3864,286.7,-11.6,134,1740,0.00,2.20,0.00,0.000,516,0.000,0.051,2497,1256,3926,3989,3864,0,0,0,0,0,0,15.12,14.78,15.16
$GC,1778,-0.62,-194.6,2497,1256,3990,3864,292.7,-11.9,142,1783,0.00,2.28,0.00,0.000,1030,0.000,0.053,2489,2660,3926,3989,3864,0,0,0,0,0,0,14.87,14.77,14.91
$GC,2103,-0.62,-194.6,2489,2660,3982,3864,332.0,-12.1,151,2109,0.00,2.30,0.00,0.000,260,0.000,0.082,2478,4035,3923,3982,3864,0,0,0,0,0,0,15.14,14.68,15.17
$GC,2137,-0.62,-194.6,2478,4035,3982,3864,336.6,-13.1,158,2142,0.15,2.15,0.00,0.000,3078,0.233,0.032,2515,2642,3923,3982,3864,0,0,0,0,0,0,14.55,14.85,14.78
$GC,2470,-0.62,-194.6,2514,2642,3976,3864,367.5,-9.0,168,2476,0.00,2.20,0.00,0.000,516,0.000,0.052,2515,1253,3919,3975,3864,0,0,0,0,0,0,15.13,14.72,15.16
$GC,2509,-0.62,-194.6,2514,1253,3975,3864,371.1,-7.8,176,2515,0.00,2.25,0.00,0.000,1030,0.000,0.054,2513,2649,3919,3975,3864,0,0,0,0,0,0,14.88,14.77,14.90
$GC,2831,-0.62,-194.6,2513,2649,3971,3862,395.8,-7.8,185,2837,0.00,2.30,0.00,0.000,260,0.000,0.083,2502,4028,3916,3971,3862,0,0,0,0,0,0,15.16,14.64,15.19
$GC,2861,-0.62,-194.6,2502,4028,3970,3860,398.5,-8.8,191,2866,0.00,2.12,0.00,0.000,1030,0.000,0.034,2503,2645,3916,3971,3861,0,0,0,0,0,0,14.83,14.78,14.85
$GC,3195,-0.62,-194.6,2502,2645,3966,3860,429.2,-9.4,202,3199,0.00,2.22,0.00,0.000,516,0.000,0.054,2502,1250,3913,3966,3860,0,0,0,0,0,0,15.13,14.76,15.16
$GC,3227,-0.62,-194.6,2502,1250,3966,3860,432.6,-9.2,208,3233,0.00,2.28,0.00,0.000,1030,0.000,0.056,2498,2654,3912,3965,3860,0,0,0,0,0,0,14.86,14.75,14.90
$GC,3560,-0.62,-194.6,2498,2654,3961,3858,462.9,-9.2,219,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2654,3909,3961,3858,0,0,0,0,0,0,15.15,15.19,15.19
$GC,3859,-0.62,-194.6,2498,2654,3959,3855,489.3,-8.8,224,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2654,3907,3959,3855,0,0,0,0,0,0,15.16,15.20,15.19
$GC,4159,-0.62,-194.6,2498,2653,3957,3853,516.4,-9.2,229,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2654,3905,3957,3853,0,0,0,0,0,0,15.16,15.19,15.19
$GC,4458,-0.62,-194.6,2498,2654,3952,3852,546.7,-10.2,234,4463,0.00,2.28,0.00,0.000,516,0.000,0.056,2498,1248,3902,3952,3852,0,0,0,0,0,0,15.16,14.71,15.19
$GC,4481,-0.62,-194.6,2498,1248,3952,3852,549.1,-9.9,238,4486,0.00,2.28,0.00,0.000,1030,0.000,0.057,2489,2648,3901,3951,3852,0,0,0,0,0,0,14.85,14.73,14.88
$GC,4830,-0.62,-194.6,2489,2648,3949,3850,583.4,-10.0,251,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2648,3899,3949,3849,0,0,0,0,0,0,15.13,15.16,15.16
$GC,5126,-0.62,-194.6,2489,2647,3948,3848,612.0,-9.5,256,5127,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2648,3898,3948,3848,0,0,0,0,0,0,15.16,15.20,15.19
$GC,5426,-0.62,-194.6,2489,2648,3945,3847,638.6,-8.8,261,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2648,3896,3945,3847,0,0,0,0,0,0,15.16,15.19,15.19
$GC,5726,-0.62,-194.6,2489,2648,3943,3846,662.7,-8.0,266,5730,0.00,2.28,0.00,0.000,516,0.000,0.058,2489,1257,3894,3943,3846,0,0,0,0,0,0,15.16,14.68,15.19
$GC,5754,-0.62,-194.6,2489,1258,3943,3846,665.1,-8.4,271,5760,0.10,2.28,0.00,0.000,3078,0.199,0.061,2512,2646,3893,3942,3845,0,0,0,0,0,0,14.41,14.64,14.55
$GC,6095,-0.62,-194.6,2511,2646,3940,3845,685.5,-6.1,283,6100,0.00,2.35,0.00,0.000,260,0.000,0.091,2504,4037,3892,3940,3844,0,0,0,0,0,0,15.13,14.52,15.16
$GC,6124,-0.62,-194.6,2503,4037,3940,3844,687.9,-7.9,289,6131,0.00,2.17,0.00,0.000,1030,0.000,0.038,2504,2655,3891,3940,3843,0,0,0,0,0,0,14.85,14.78,14.88
$GC,6456,-0.62,-194.6,2503,2655,3939,3843,713.3,-7.7,299,6461,0.00,2.28,0.00,0.000,516,0.000,0.060,2504,1249,3890,3938,3843,0,0,0,0,0,0,15.14,14.59,15.17
$GC,6490,-0.62,-194.6,2503,1249,3938,3842,716.2,-8.3,306,6495,0.00,2.33,0.00,0.000,1030,0.000,0.063,2498,2658,3890,3938,3843,0,0,0,0,0,0,14.79,14.66,14.83
$GC,7183,-0.62,-194.6,2498,2658,3936,3839,775.2,-8.6,328,7188,0.00,2.35,0.00,0.000,260,0.000,0.094,2488,4032,3887,3935,3839,0,0,0,0,0,0,15.12,14.48,15.15
$GC,7237,-0.62,-194.6,2487,4032,3935,3838,780.8,-9.5,339,7243,0.00,2.17,0.00,0.000,1030,0.000,0.040,2488,2655,3886,3935,3838,0,0,0,0,0,0,14.71,14.67,14.75
$GC,7906,-0.62,-194.6,2487,2655,3929,3837,843.7,-9.5,357,7911,0.00,2.30,0.00,0.000,516,0.000,0.064,2488,1247,3884,3931,3837,0,0,0,0,0,0,15.11,14.54,15.15
$GC,7947,-0.62,-194.6,2487,1246,3931,3837,847.7,-9.7,365,7953,0.10,2.33,0.00,0.000,3078,0.200,0.066,2510,2648,3884,3931,3837,0,0,0,0,0,0,14.35,14.58,14.50
$GC,8632,-0.62,-194.6,2509,2648,3928,3835,897.0,-7.0,386,8636,0.00,2.42,0.00,0.000,260,0.000,0.098,2501,4040,3881,3928,3835,0,0,0,0,0,0,15.11,14.50,15.14
$GC,8670,-0.62,-194.6,2501,4040,3928,3834,900.1,-7.4,393,8676,0.00,2.22,0.00,0.000,1030,0.000,0.042,2501,2651,3881,3928,3834,0,0,0,0,0,0,14.79,14.71,14.83
$GC,9357,-0.62,-194.6,2501,2651,3925,3833,950.2,-7.4,415,9362,0.00,2.33,0.00,0.000,516,0.000,0.067,2501,1247,3879,3925,3833,0,0,0,0,0,0,15.13,14.49,15.16
$GC,9396,-0.62,-194.6,2501,1247,3925,3833,953.4,-7.9,423,9401,0.00,2.35,0.00,0.000,1030,0.000,0.070,2494,2650,3879,3925,3833,0,0,0,0,0,0,14.60,14.52,14.66
$STATE,9953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9953,begin apogee
$GC,9963,-0.20,0.0,2493,2467,3923,3832,996.1,-7.6,443,10118,0.55,0.00,152.10,2.157,10246,0.186,0.000,2651,2467,3125,3054,3197,0,0,0,0,0,0,14.40,14.07,13.20
$STATE,10120,end apogee,CONTROL_FINISHED_OK
$STATE,10120,begin climb
$GC,10124,0.62,194.6,2651,2467,3053,3192,1000.3,0.0,444,10293,0.80,2.53,158.70,2.109,10756,0.117,0.080,2921,1095,2329,2235,2424,0,0,0,0,0,0,14.07,13.80,12.98
$GC,10356,0.62,194.6,2920,1095,2243,2412,981.4,12.8,500,10362,0.00,2.42,0.00,0.000,1030,0.000,0.067,2921,2472,2327,2243,2412,0,0,0,0,0,0,14.16,14.06,14.19
$GC,11038,0.62,194.6,2921,2473,2249,2401,891.1,13.3,521,11044,0.00,2.45,0.00,0.000,260,0.000,0.098,2921,3880,2325,2250,2400,0,0,0,0,0,0,14.92,14.45,14.95
$GC,11137,0.62,194.6,2920,3880,2258,2391,876.5,14.6,541,11144,0.00,2.30,0.00,0.000,1030,0.000,0.057,2931,2496,2324,2258,2391,0,0,0,0,0,0,14.70,14.61,14.73
$GC,11759,0.62,194.6,2930,2496,2256,2390,789.6,14.0,550,11763,0.00,2.42,0.00,0.000,516,0.000,0.081,2942,1066,2323,2257,2390,0,0,0,0,0,0,15.02,14.56,15.05
$GC,11798,0.62,194.6,2941,1066,2258,2388,784.2,13.9,557,11804,0.00,2.35,0.00,0.000,1030,0.000,0.068,2941,2471,2323,2259,2388,0,0,0,0,0,0,14.63,14.56,14.68
$GC,12483,0.62,194.6,2941,2471,2258,2388,683.7,14.7,579,12488,0.00,2.42,0.00,0.000,260,0.000,0.099,2942,3874,2323,2259,2387,0,0,0,0,0,0,15.07,14.47,15.10
$GC,12603,0.62,194.6,2941,3874,2262,2381,664.0,16.9,603,12609,0.15,2.30,0.00,0.000,5126,0.262,0.057,2914,2479,2321,2262,2381,0,0,0,0,0,0,14.22,14.60,14.42
$GC,12968,0.62,194.6,2913,2479,2262,2381,618.0,12.5,620,12973,0.00,2.40,0.00,0.000,516,0.000,0.080,2922,1060,2322,2263,2381,0,0,0,0,0,0,15.06,14.50,15.09
$GC,13016,0.62,194.6,2922,1060,2263,2380,611.5,12.4,630,13021,0.00,2.38,0.00,0.000,1030,0.000,0.067,2922,2473,2322,2263,2381,0,0,0,0,0,0,14.74,14.61,14.79
$GC,13331,0.62,194.6,2922,2474,2263,2380,572.6,12.6,637,13337,0.00,2.45,0.00,0.000,260,0.000,0.097,2922,3881,2321,2263,2380,0,0,0,0,0,0,15.09,14.46,15.12
$GC,13365,0.62,194.6,2922,3881,2264,2379,567.6,14.0,644,13371,0.00,2.33,0.00,0.000,1030,0.000,0.055,2933,2468,2321,2264,2379,0,0,0,0,0,0,14.77,14.67,14.82
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$GC,15499,0.62,194.6,2938,2443,2270,2376,280.7,13.7,739,15504,0.00,2.50,0.00,0.000,260,0.000,0.093,2938,3879,2323,2270,2376,0,0,0,0,0,0,15.11,14.46,15.14
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$GC,16198,0.62,222.9,2925,2488,2255,2363,210.3,9.3,778,16222,0.00,2.45,17.83,1.194,8452,0.000,0.093,2926,3887,2214,2148,2281,0,0,0,0,0,0,15.09,14.72,14.09
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$GC,17685,0.65,511.9,2941,2471,1435,1693,87.3,5.5,891,17781,0.00,2.45,88.50,0.999,8452,0.000,0.078,2941,3884,1035,882,1189,0,0,0,0,0,0,14.90,14.26,13.85
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$STATE,18432,end climb,SURFACE_DEPTH_REACHED
$STATE,18432,begin surface coast
$STATE,18451,end surface coast,CONTROL_FINISHED_OK
$STATE,18451,begin surface
$SM_CCo,18537,0.00,0.000,0,0,626,613.50
$SM_GC,3.43,8.12,2.60,0.00,0.055,0.045,0.000,40,2657,626,-8.30,-0.85,613.50,0,0,0,0,0,0,14.63,14.64,14.73
$IRIDIUM_FIX,749.46,8421.92,111015,043048
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.22
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,12.98,77.681
$10V_AH,12.54,0.000
$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
$DEVICE_SECS,22.025,149.275,604.425,0.000,0.000,0.000,0.000,195.025,0.500,0.000,41.858,642.647,15009.776,616.372,2060.370,551.371,0.000,1795.568,0.000,1442.619,0.000,0.542,0.000
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$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,959.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260236
$DATA_FILE_SIZE,43356,1006
$CAP_FILE_SIZE,154784,0
$CFSIZE,260034560,232423424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138,129.50,1
$GPS,111015,150339,752.887,8419.736,204,1.5,244,-2.0,0.4,179.3,6,12.9