version: 66.08
glider: 141
mission: 15
dive: 671
start: 5 23 111 3 43 45
data:
$ID,141
$MISSION,15
$DIVE,671
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51684
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,120
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,559.0387
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-49740.031
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3900
$C_PITCH,2864
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,256
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2490
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,751
$VBD_MAX,4040
$C_VBD,3030
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-33.184971
$PRESSURE_SLOPE,0.0001160265
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,133
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907749
$SEABIRD_T_H,0.0006300722
$SEABIRD_T_I,2.4342404e-05
$SEABIRD_T_J,2.663412e-06
$SEABIRD_C_G,-9.8752003
$SEABIRD_C_H,1.1299734
$SEABIRD_C_I,-0.00041852854
$SEABIRD_C_J,0.00012689357
$GPS1,230511,002707,6700.367,-5946.696,0,7111.3,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.36
$_SM_ANGLEo,-3.9
$GPS2,230511,002707,6700.367,-5946.696,0,7111.3,0,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W2
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,261.1,41780,-17.5,-10.000
$D_GRID,991
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,25,0.00,0.00,-5.97,0.000,2,0.000,0.000,2890,3694,2967,0,0,0,0,0,0
$GC,28,-0.62,-146.0,13.2,-0.0,1,53,0.62,4.38,-15.68,0.000,4,0.105,0.078,2671,1077,3629,0,0,0,0,0,0
$GC,230,-0.51,-146.0,48.7,-19.0,36,237,0.00,2.38,0.00,0.000,6,0.000,0.076,2671,2494,3631,0,0,0,0,0,0
$GC,577,-0.38,-146.0,117.8,-17.9,89,582,0.25,2.40,0.00,0.000,4,0.227,0.090,2736,3900,3630,0,0,0,0,0,0
$GC,623,-0.48,-146.0,124.1,-10.0,92,630,0.00,2.28,0.00,0.000,6,0.000,0.062,2736,2488,3631,0,0,0,0,0,0
$GC,952,-0.55,-146.0,154.0,-8.6,123,958,0.15,0.00,0.00,0.000,6,0.122,0.000,2684,2488,3629,0,0,0,0,0,0
$GC,1277,-0.50,-146.0,195.5,-12.7,154,1281,0.00,2.35,0.00,0.000,4,0.000,0.078,2685,1069,3629,0,0,0,0,0,0
$GC,1311,-0.45,-146.0,200.0,-12.8,156,1318,0.12,2.40,0.00,0.000,6,0.217,0.076,2712,2497,3629,0,0,0,0,0,0
$GC,1637,-0.49,-146.0,231.6,-9.6,187,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2497,3628,0,0,0,0,0,0
$GC,1960,-0.53,-146.0,261.1,-9.2,217,1964,0.00,2.40,0.00,0.000,4,0.000,0.091,2712,3899,3628,0,0,0,0,0,0
$GC,2011,-0.63,-146.0,266.2,-9.0,221,2016,0.15,2.33,0.00,0.000,6,0.116,0.063,2663,2479,3628,0,0,0,0,0,0
$GC,2342,-0.56,-146.0,307.4,-12.6,252,2346,0.00,2.33,0.00,0.000,4,0.000,0.076,2664,1077,3628,0,0,0,0,0,0
$GC,2374,-0.50,-146.0,311.9,-13.8,254,2382,0.15,2.38,0.00,0.000,6,0.208,0.075,2698,2488,3628,0,0,0,0,0,0
$GC,2701,-0.53,-146.0,344.3,-9.6,285,2705,0.00,2.40,0.00,0.000,4,0.000,0.091,2698,3900,3628,0,0,0,0,0,0
$GC,2745,-0.60,-146.0,348.6,-9.6,288,2752,0.00,2.33,0.00,0.000,6,0.000,0.062,2698,2481,3628,0,0,0,0,0,0
$GC,3072,-0.64,-146.0,378.3,-9.1,319,3076,0.12,2.35,0.00,0.000,4,0.132,0.076,2656,1074,3628,0,0,0,0,0,0
$GC,3112,-0.60,-146.0,383.0,-12.2,322,3116,0.00,2.40,0.00,0.000,6,0.000,0.075,2656,2499,3628,0,0,0,0,0,0
$GC,3438,-0.53,-146.0,422.8,-12.1,352,3444,0.15,2.40,0.00,0.000,4,0.207,0.090,2691,3906,3628,0,0,0,0,0,0
$GC,3463,-0.50,-146.0,425.7,-11.2,354,3467,0.00,2.33,0.00,0.000,6,0.000,0.062,2692,2482,3628,0,0,0,0,0,0
$GC,3789,-0.54,-146.0,454.7,-8.9,384,3793,0.00,2.30,0.00,0.000,4,0.000,0.074,2692,1078,3628,0,0,0,0,0,0
$GC,3816,-0.57,-146.0,457.4,-9.6,386,3823,0.00,2.35,0.00,0.000,6,0.000,0.073,2691,2495,3628,0,0,0,0,0,0
$GC,4142,-0.61,-146.0,486.3,-9.3,417,4147,0.00,2.40,0.00,0.000,4,0.000,0.089,2691,3902,3629,0,0,0,0,0,0
$GC,4176,-0.66,-146.0,489.5,-8.6,419,4183,0.12,2.28,0.00,0.000,6,0.125,0.060,2651,2486,3629,0,0,0,0,0,0
$GC,4502,-0.59,-146.0,528.2,-11.7,450,4506,0.00,2.33,0.00,0.000,4,0.000,0.074,2650,1074,3629,0,0,0,0,0,0
$GC,4535,-0.54,-146.0,532.3,-11.9,452,4542,0.15,2.38,0.00,0.000,6,0.203,0.073,2685,2493,3629,0,0,0,0,0,0
$GC,4860,-0.54,-146.0,562.0,-9.5,483,4864,0.00,2.42,0.00,0.000,4,0.000,0.089,2685,3911,3630,0,0,0,0,0,0
$GC,4883,-0.57,-146.0,564.1,-8.6,484,4890,0.00,2.30,0.00,0.000,6,0.000,0.060,2685,2484,3629,0,0,0,0,0,0
$GC,5209,-0.59,-146.0,591.9,-8.2,515,5213,0.00,2.33,0.00,0.000,4,0.000,0.074,2685,1074,3630,0,0,0,0,0,0
$GC,5238,-0.63,-146.0,594.4,-8.9,517,5243,0.00,2.38,0.00,0.000,6,0.000,0.073,2685,2491,3630,0,0,0,0,0,0
$GC,5555,-0.66,-146.0,620.4,-8.5,531,5560,0.12,2.42,0.00,0.000,4,0.126,0.089,2642,3908,3630,0,0,0,0,0,0
$GC,5605,-0.62,-146.0,626.5,-12.0,532,5610,0.00,2.33,0.00,0.000,6,0.000,0.060,2642,2481,3629,0,0,0,0,0,0
$GC,5920,-0.54,-146.0,665.3,-12.5,542,5925,0.17,2.35,0.00,0.000,4,0.202,0.075,2686,1079,3630,0,0,0,0,0,0
$GC,5942,-0.51,-146.0,668.3,-12.1,542,5949,0.00,2.40,0.00,0.000,6,0.000,0.075,2686,2492,3630,0,0,0,0,0,0
$GC,6256,-0.55,-146.0,694.8,-8.5,553,6260,0.00,2.42,0.00,0.000,4,0.000,0.090,2686,3906,3630,0,0,0,0,0,0
$GC,6295,-0.60,-146.0,698.2,-8.7,554,6299,0.00,2.33,0.00,0.000,6,0.000,0.060,2685,2480,3630,0,0,0,0,0,0
$GC,6620,-0.64,-146.0,725.8,-8.6,565,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2479,3630,0,0,0,0,0,0
$GC,6928,-0.69,-146.0,751.4,-8.4,575,6933,0.12,2.35,0.00,0.000,4,0.133,0.075,2642,1072,3630,0,0,0,0,0,0
$GC,6944,-0.69,-146.0,753.3,-8.8,575,6949,0.00,2.40,0.00,0.000,6,0.000,0.075,2642,2496,3630,0,0,0,0,0,0
$GC,7258,-0.62,-146.0,790.5,-11.8,585,7259,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2496,3630,0,0,0,0,0,0
$GC,7565,-0.55,-146.0,827.1,-11.8,595,7567,0.17,0.00,0.00,0.000,6,0.201,0.000,2686,2497,3630,0,0,0,0,0,0
$GC,7871,-0.60,-146.0,853.0,-8.2,605,7875,0.00,2.40,0.00,0.000,4,0.000,0.089,2687,3906,3631,0,0,0,0,0,0
$GC,7909,-0.67,-146.0,856.5,-8.7,606,7914,0.12,2.33,0.00,0.000,6,0.123,0.061,2644,2483,3630,0,0,0,0,0,0
$GC,8235,-0.62,-146.0,893.6,-11.5,617,8239,0.00,2.33,0.00,0.000,4,0.000,0.075,2644,1081,3630,0,0,0,0,0,0
$GC,8270,-0.57,-146.0,897.7,-12.2,618,8275,0.15,2.38,0.00,0.000,6,0.201,0.075,2678,2497,3630,0,0,0,0,0,0
$GC,8614,-0.60,-146.0,927.6,-8.3,629,8618,0.00,2.40,0.00,0.000,4,0.000,0.088,2678,3908,3631,0,0,0,0,0,0
$GC,8642,-0.66,-146.0,930.7,-9.5,629,8649,0.00,2.33,0.00,0.000,6,0.000,0.062,2678,2488,3630,0,0,0,0,0,0
$GC,8957,-0.79,-146.0,954.0,-5.0,640,8959,0.20,0.00,0.00,0.000,6,0.105,0.000,2607,2488,3631,0,0,0,0,0,0
$STATE,9137,end dive,NO_VERTICAL_VELOCITY
$STATE,9137,begin apogee
$GC,9143,-0.12,0.0,954.0,0.0,646,9282,0.65,0.00,133.32,1.541,6,0.126,0.000,2819,2269,3029,0,0,0,0,0,0
$STATE,9282,end apogee,CONTROL_FINISHED_OK
$STATE,9283,begin climb
$GC,9286,0.62,146.0,953.8,0.0,650,9438,0.82,2.75,143.77,1.483,4,0.141,0.078,3066,873,2433,0,0,0,0,0,0
$GC,9467,0.55,146.0,946.1,10.8,656,9472,0.00,2.62,0.00,0.000,6,0.000,0.066,3066,2273,2430,0,0,0,0,0,0
$GC,9791,0.47,146.0,906.7,12.0,667,9796,0.17,2.42,0.00,0.000,4,0.181,0.083,3021,3696,2426,0,0,0,0,0,0
$GC,9871,0.44,158.8,898.9,9.4,669,9888,0.00,2.38,11.57,1.287,6,0.000,0.067,3029,2271,2382,0,0,0,0,0,0
$GC,10194,0.46,173.2,869.0,9.3,680,10214,0.00,2.40,14.70,1.330,4,0.000,0.082,3039,857,2323,0,0,0,0,0,0
$GC,10241,0.46,173.2,864.4,10.0,681,10246,0.00,2.35,0.00,0.000,6,0.000,0.069,3040,2283,2320,0,0,0,0,0,0
$GC,10556,0.47,182.4,834.5,9.6,691,10570,0.00,2.38,9.32,1.239,4,0.000,0.083,3040,3687,2286,0,0,0,0,0,0
$GC,10610,0.41,182.4,828.3,12.3,692,10615,0.20,2.35,0.00,0.000,6,0.190,0.068,3000,2265,2285,0,0,0,0,0,0
$GC,10924,0.55,232.4,804.0,7.7,702,10980,0.12,2.47,48.12,1.393,4,0.106,0.082,3067,862,2081,0,0,0,0,0,0
$GC,11021,0.55,232.4,793.0,12.7,705,11025,0.00,2.40,0.00,0.000,6,0.000,0.069,3067,2286,2077,0,0,0,0,0,0
$GC,11364,0.50,232.4,745.9,13.8,716,11368,0.15,2.35,0.00,0.000,4,0.179,0.083,3027,3688,2074,0,0,0,0,0,0
$GC,11428,0.53,232.4,737.9,12.4,718,11432,0.00,2.33,0.00,0.000,6,0.000,0.069,3035,2266,2072,0,0,0,0,0,0
$GC,11765,0.56,232.4,701.9,10.4,729,11769,0.00,2.33,0.00,0.000,4,0.000,0.082,3044,864,2071,0,0,0,0,0,0
$GC,11815,0.62,232.4,696.3,10.9,730,11819,0.00,2.33,0.00,0.000,6,0.000,0.070,3044,2286,2070,0,0,0,0,0,0
$GC,12133,0.64,232.4,662.1,10.6,741,12137,0.00,2.33,0.00,0.000,4,0.000,0.083,3045,3687,2070,0,0,0,0,0,0
$GC,12166,0.64,232.4,658.2,12.1,742,12170,0.00,2.30,0.00,0.000,6,0.000,0.068,3054,2275,2069,0,0,0,0,0,0
$GC,12496,0.64,232.4,618.7,11.9,753,12500,0.00,2.33,0.00,0.000,4,0.000,0.081,3065,864,2069,0,0,0,0,0,0
$GC,12545,0.64,232.4,612.8,11.5,754,12549,0.00,2.33,0.00,0.000,6,0.000,0.069,3065,2277,2068,0,0,0,0,0,0
$GC,12868,0.64,232.4,573.8,12.1,776,12872,0.00,2.35,0.00,0.000,4,0.000,0.083,3065,3694,2068,0,0,0,0,0,0
$GC,12919,0.59,232.4,566.4,14.1,780,12925,0.00,2.35,0.00,0.000,6,0.000,0.068,3074,2267,2068,0,0,0,0,0,0
$GC,13244,0.53,232.4,521.1,13.7,811,13249,0.15,2.35,0.00,0.000,4,0.187,0.081,3044,861,2068,0,0,0,0,0,0
$GC,13291,0.61,240.1,515.9,9.6,815,13303,0.00,2.33,5.97,0.980,6,0.000,0.069,3045,2283,2051,0,0,0,0,0,0
$GC,13621,0.65,240.1,482.1,10.4,846,13625,0.00,2.35,0.00,0.000,4,0.000,0.083,3044,3690,2050,0,0,0,0,0,0
$GC,13666,0.65,240.1,476.9,12.0,849,13672,0.00,2.33,0.00,0.000,6,0.000,0.067,3054,2273,2050,0,0,0,0,0,0
$GC,13991,0.65,240.1,441.6,11.5,880,13995,0.00,2.35,0.00,0.000,4,0.000,0.081,3065,862,2051,0,0,0,0,0,0
$GC,14036,0.67,240.1,436.5,11.4,883,14043,0.00,2.30,0.00,0.000,6,0.000,0.067,3065,2275,2049,0,0,0,0,0,0
$GC,14361,0.67,240.1,399.8,11.3,914,14365,0.00,2.38,0.00,0.000,4,0.000,0.083,3064,3691,2049,0,0,0,0,0,0
$GC,14401,0.64,240.1,394.6,13.6,917,14407,0.00,2.33,0.00,0.000,6,0.000,0.067,3075,2274,2049,0,0,0,0,0,0
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$GC,16990,0.80,264.5,112.1,10.6,1156,16996,0.00,2.35,0.00,0.000,6,0.000,0.068,3102,2269,1950,0,0,0,0,0,0
$GC,17327,0.83,266.6,81.3,9.9,1205,17334,0.00,2.33,0.00,0.000,4,0.000,0.083,3111,866,1948,0,0,0,0,0,0
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$FREEZE,8.82,-1.737,-1.772,2,34,0
$STATE,18008,end climb,FINISH_DEPTH_REACHED
$STATE,18008,begin subsurface finish
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$FINISH2,7.8
$STATE,18053,end subsurface finish,CONTROL_FINISHED_OK
$STATE,18053,begin surface
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$RAFOS,4,1306139586,8.566667,8.551666,102,66,58,57,55,50,681,110,188,211,170,235
$RAFOS,3,1306139108,8.433333,8.418889,92,60,58,57,56,54,828,197,140,214,152,119
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$RAFOS,1,1306138144,8.166667,8.151111,134,60,59,55,50,50,625,225,212,148,193,134
$RAFOS,0,1306137672,8.033334,8.020000,67,64,62,57,54,53,194,667,182,213,163,548
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$RAFOS,5,1306125667,4.700000,4.685278,119,61,59,56,55,51,878,212,193,156,110,121
$RAFOS,4,1306125187,4.566667,4.551944,95,66,61,58,53,52,672,212,170,223,185,134
$RAFOS,3,1306124710,4.433333,4.419445,102,61,58,57,56,52,821,222,157,205,168,186
$RAFOS,2,1306124222,4.300000,4.283889,100,62,58,57,51,51,755,183,198,162,85,115
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$RAFOS,0,1306123266,4.033333,4.018333,64,60,58,58,58,56,202,215,155,188,225,716
$RAFOS_FIX,6701.168945,-5951.182617,230511,040456,6,116,0.24
$IRIDIUM_FIX,6636.54,-5659.96,160511,171709
$TT8_MAMPS,0.029211
$HUMID,48.34
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.20
$XPDR_PINGS,11
$ALTIM_TOP_PING,20.0,16.3
$24V_AH,20.5,89.346
$10V_AH,9.8,46.248
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,953.270,1031.178,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,50093,1330
$CAP_FILE_SIZE,188688,0
$CFSIZE,260165632,209580032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.2
$GPS,230511,043056,6701.169,-5951.183,0,6115.8,0,-37.6