version: 66.04
glider: 144
mission: 15
dive: 73
start: 7 6 109 5 38 13
data:
$ID,144
$MISSION,15
$DIVE,73
$D_SURF,2
$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,600
$T_MISSION,630
$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,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51458
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0037098001
$HD_B,0.012019
$HD_C,3.2039999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-62358.449
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3976
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,2303
$C_ROLL_CLIMB,2303
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2931
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,122.2
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1.9652373
$PRESSURE_SLOPE,0.00011159377
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043441742
$SEABIRD_T_H,0.00062523223
$SEABIRD_T_I,1.8114715e-05
$SEABIRD_T_J,1.1782754e-06
$SEABIRD_C_G,-10.019677
$SEABIRD_C_H,1.1227477
$SEABIRD_C_I,-0.00077646878
$SEABIRD_C_J,0.00015901824
$GPS1,053101,4958.902,-14505.381,37,1.5,37,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-68.0
$GPS2,053719,4958.926,-14505.334,9,1.4,9,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.135,0.100
$KALMAN_X,-34962.8,-59.7,-91.6,29778.3,-370.7
$KALMAN_Y,16573.5,274.0,22.0,-18298.5,561.5
$MHEAD_RNG_PITCHd_Wd,35.2,23386,-12.3,-5.500
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.68,-117.3,0.0,0.0,0,51,0.00,0.00,-32.25,0.000,2,0.000,0.000,102,2300,2564
$GC,53,-0.68,-117.3,3.2,-5.8,3,89,7.03,2.35,-22.15,0.000,4,0.249,0.070,1844,886,3412
$GC,341,-0.53,-117.3,39.3,-12.6,28,348,0.17,2.25,0.00,0.000,6,0.137,0.045,1886,2304,3414
$GC,668,-0.57,-117.3,66.1,-8.2,59,672,0.00,2.25,0.00,0.000,4,0.000,0.049,1887,890,3416
$GC,730,-0.64,-117.3,71.3,-8.7,64,734,0.00,2.22,0.00,0.000,6,0.000,0.044,1880,2305,3415
$GC,1049,-0.64,-117.3,96.4,-7.6,84,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2305,3416
$GC,1359,-0.69,-117.3,119.8,-7.6,99,1363,0.10,2.25,0.00,0.000,4,0.068,0.048,1819,882,3416
$GC,1488,-0.57,-117.3,134.1,-11.2,105,1493,0.22,2.22,0.00,0.000,6,0.128,0.051,1877,2309,3416
$GC,1809,-0.68,-117.3,155.5,-6.1,119,1811,0.10,0.00,0.00,0.000,6,0.069,0.000,1822,2309,3416
$GC,2116,-0.59,-117.3,181.2,-8.3,129,2120,0.17,2.25,0.00,0.000,4,0.125,0.050,1881,887,3416
$GC,2154,-0.75,-117.3,183.8,-6.1,130,2159,0.15,2.22,0.00,0.000,6,0.058,0.050,1799,2305,3416
$GC,2477,-0.58,-117.3,215.8,-10.2,141,2479,0.25,0.00,0.00,0.000,6,0.132,0.000,1875,2306,3416
$GC,2784,-0.72,-117.3,233.0,-5.1,151,2786,0.12,0.00,0.00,0.000,6,0.062,0.000,1805,2305,3415
$GC,3090,-0.60,-117.3,259.6,-9.1,161,3092,0.22,0.00,0.00,0.000,6,0.127,0.000,1874,2306,3415
$GC,3396,-0.75,-117.3,277.4,-5.8,171,3398,0.12,0.00,0.00,0.000,6,0.062,0.000,1804,2305,3415
$GC,3702,-0.62,-117.3,305.7,-9.3,180,3704,0.20,0.00,0.00,0.000,6,0.127,0.000,1865,2306,3414
$GC,4005,-0.74,-117.3,324.0,-5.8,185,4009,0.10,2.22,0.00,0.000,4,0.074,0.052,1809,890,3414
$GC,4071,-0.64,-117.3,329.7,-9.4,186,4076,0.20,2.22,0.00,0.000,6,0.131,0.053,1860,2305,3413
$GC,4432,-0.75,-117.3,352.3,-6.3,192,4434,0.10,0.00,0.00,0.000,6,0.072,0.000,1806,2306,3413
$GC,4735,-0.64,-117.3,382.0,-10.1,197,4740,0.20,2.25,0.00,0.000,4,0.127,0.052,1869,884,3413
$GC,4790,-0.82,-117.3,386.5,-7.4,197,4798,0.15,2.22,0.00,0.000,6,0.061,0.046,1782,2302,3412
$GC,5101,-0.63,-117.3,419.4,-10.8,203,5106,0.25,2.25,0.00,0.000,4,0.132,0.064,1856,3711,3412
$GC,5151,-0.79,-117.3,423.2,-6.3,203,5155,0.10,2.17,0.00,0.000,6,0.075,0.041,1801,2298,3412
$GC,5460,-0.67,-117.3,450.2,-8.9,208,5465,0.17,2.22,0.00,0.000,4,0.130,0.051,1859,885,3412
$GC,5493,-0.77,-117.3,452.7,-6.7,208,5497,0.00,2.22,0.00,0.000,6,0.000,0.048,1851,2305,3412
$GC,5819,-0.86,-117.3,471.9,-5.8,214,5821,0.12,0.00,0.00,0.000,6,0.065,0.000,1784,2305,3411
$GC,6122,-0.69,-117.3,498.5,-8.9,219,6127,0.20,2.25,0.00,0.000,4,0.133,0.058,1849,887,3411
$GC,6166,-0.79,-117.3,501.6,-6.3,219,6170,0.00,2.22,0.00,0.000,6,0.000,0.051,1849,2304,3411
$GC,6482,-0.88,-117.3,517.6,-5.1,225,6484,0.15,0.00,0.00,0.000,6,0.061,0.000,1771,2304,3410
$GC,6784,-0.67,-117.3,544.9,-9.3,230,6789,0.25,2.22,0.00,0.000,4,0.135,0.053,1852,897,3410
$GC,6839,-0.79,-117.3,548.7,-5.7,230,6847,0.05,2.22,0.00,0.000,6,0.073,0.052,1805,2297,3410
$GC,7149,-0.72,-117.3,571.6,-7.5,236,7151,0.15,0.00,0.00,0.000,6,0.131,0.000,1848,2297,3410
$GC,7452,-0.82,-117.3,588.7,-5.5,241,7454,0.10,0.00,0.00,0.000,6,0.073,0.000,1795,2297,3410
$GC,7756,-0.71,-117.3,613.6,-8.3,246,7760,0.17,2.22,0.00,0.000,4,0.129,0.054,1852,893,3410
$GC,7796,-0.84,-117.3,616.3,-5.9,246,7800,0.12,2.22,0.00,0.000,6,0.071,0.052,1789,2309,3409
$GC,8117,-0.71,-117.3,645.0,-9.1,252,8119,0.20,0.00,0.00,0.000,6,0.133,0.000,1849,2309,3409
$GC,8419,-0.83,-117.3,663.9,-6.1,257,8421,0.12,0.00,0.00,0.000,6,0.071,0.000,1791,2309,3409
$GC,8722,-0.71,-117.3,690.5,-8.9,262,8724,0.20,0.00,0.00,0.000,6,0.128,0.000,1851,2309,3409
$GC,9026,-0.85,-117.3,708.4,-5.8,267,9031,0.12,2.28,0.00,0.000,4,0.077,0.058,1796,889,3409
$GC,9064,-0.73,-117.3,711.6,-9.1,267,9069,0.20,2.22,0.00,0.000,6,0.133,0.053,1846,2304,3409
$GC,9385,-0.85,-117.3,730.3,-5.7,273,9390,0.12,2.25,0.00,0.000,4,0.075,0.058,1784,3717,3409
$GC,9412,-0.78,-117.3,732.4,-8.9,273,9417,0.17,2.17,0.00,0.000,6,0.134,0.046,1835,2296,3408
$GC,9750,-0.86,-117.3,752.9,-6.0,279,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2296,3409
$GC,10053,-0.93,-117.3,770.6,-5.7,284,10057,0.12,2.22,0.00,0.000,4,0.079,0.060,1784,896,3408
$GC,10153,-0.78,-117.3,779.3,-9.0,285,10158,0.20,2.22,0.00,0.000,6,0.140,0.048,1833,2308,3408
$GC,10479,-0.86,-117.3,797.0,-5.2,291,10483,0.00,2.25,0.00,0.000,4,0.000,0.056,1833,895,3408
$GC,10513,-0.92,-117.3,798.9,-5.4,291,10518,0.10,2.22,0.00,0.000,6,0.084,0.050,1782,2310,3408
$GC,10839,-0.78,-117.3,824.0,-7.8,297,10844,0.17,2.25,0.00,0.000,4,0.143,0.059,1830,3722,3408
$GC,10889,-0.87,-117.3,827.2,-5.5,297,10893,0.00,2.20,0.00,0.000,6,0.000,0.040,1829,2295,3408
$GC,11199,-0.93,-117.3,845.0,-5.8,302,11201,0.12,0.00,0.00,0.000,6,0.083,0.000,1779,2296,3408
$GC,11502,-0.78,-117.3,871.1,-8.8,307,11507,0.17,2.22,0.00,0.000,4,0.142,0.056,1840,896,3408
$GC,11535,-0.86,-117.3,873.6,-6.7,307,11540,0.08,2.22,0.00,0.000,6,0.101,0.048,1802,2307,3408
$GC,11861,-0.80,-117.3,899.0,-7.8,313,11863,0.10,0.00,0.00,0.000,6,0.150,0.000,1827,2308,3408
$GC,12164,-0.86,-117.3,919.1,-6.6,318,12166,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2307,3407
$GC,12468,-0.92,-117.3,938.6,-6.4,323,12472,0.10,2.28,0.00,0.000,4,0.094,0.063,1791,887,3407
$GC,12506,-0.80,-117.3,941.8,-9.4,323,12511,0.17,2.25,0.00,0.000,6,0.155,0.056,1829,2311,3407
$GC,12827,-0.87,-117.3,961.7,-6.2,329,12831,0.00,2.28,0.00,0.000,4,0.000,0.060,1829,887,3407
$GC,12868,-0.94,-117.3,964.3,-6.1,329,12872,0.10,2.25,0.00,0.000,6,0.095,0.053,1784,2310,3407
$GC,13188,-0.82,-117.3,989.3,-7.9,335,13193,0.15,2.25,0.00,0.000,4,0.152,0.064,1816,3718,3407
$STATE,13196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13196,begin apogee
$GC,13204,-0.22,0.0,990.2,7.7,335,13300,0.40,0.00,92.47,1.348,6,0.133,0.000,1948,2300,2931
$STATE,13301,end apogee,CONTROL_FINISHED_OK
$STATE,13301,begin climb
$GC,13303,0.68,117.3,991.6,0.0,336,13410,0.62,2.55,98.40,1.322,4,0.094,0.061,2151,3716,2450
$GC,13427,0.33,117.3,988.3,6.3,338,13434,0.35,2.38,0.00,0.000,6,0.189,0.044,2074,2301,2447
$GC,13737,0.35,139.9,973.4,4.7,344,13757,0.00,0.00,18.80,1.237,6,0.000,0.000,2074,2301,2360
$GC,14040,0.37,154.2,958.2,5.0,349,14055,0.00,0.00,12.98,1.190,6,0.000,0.000,2074,2301,2302
$GC,14343,0.43,159.2,942.3,5.3,354,14353,0.00,2.35,5.45,0.954,4,0.000,0.060,2084,882,2281
$GC,14376,0.51,168.5,940.2,5.2,354,14391,0.10,2.33,9.55,1.122,6,0.091,0.050,2122,2310,2243
$GC,14701,0.38,168.5,915.8,7.6,360,14703,0.15,0.00,0.00,0.000,6,0.163,0.000,2083,2310,2241
$GC,15004,0.38,170.6,899.0,5.4,365,15008,0.00,2.28,0.00,0.000,4,0.000,0.060,2084,3711,2239
$GC,15037,0.38,170.6,896.9,6.7,365,15041,0.00,2.25,0.00,0.000,6,0.000,0.047,2092,2296,2239
$GC,15369,0.38,170.6,877.3,5.9,371,15373,0.00,2.30,0.00,0.000,4,0.000,0.059,2092,3712,2238
$GC,15391,0.34,170.6,875.8,6.3,371,15396,0.12,2.22,0.00,0.000,6,0.168,0.044,2070,2302,2238
$GC,15729,0.45,182.9,858.6,5.1,377,15744,0.10,0.00,12.95,1.157,6,0.083,0.000,2114,2301,2185
$GC,16032,0.38,182.9,837.4,7.1,382,16034,0.12,0.00,0.00,0.000,6,0.154,0.000,2082,2301,2182
$GC,16335,0.45,187.1,820.8,5.4,387,16344,0.00,2.33,4.75,0.859,4,0.000,0.059,2082,3714,2168
$GC,16362,0.52,196.1,819.2,5.2,387,16377,0.08,2.25,9.65,1.077,6,0.083,0.047,2128,2295,2131
$GC,16704,0.37,196.1,793.7,7.5,393,16708,0.17,2.28,0.00,0.000,4,0.153,0.058,2084,891,2127
$GC,16736,0.51,212.6,791.8,4.9,393,16757,0.10,2.28,15.27,1.136,6,0.086,0.052,2129,2312,2064
$GC,17062,0.39,212.6,768.7,7.3,398,17067,0.17,2.28,0.00,0.000,4,0.153,0.060,2081,3711,2060
$GC,17101,0.44,215.2,766.2,5.4,398,17105,0.00,2.22,0.00,0.000,6,0.000,0.046,2090,2303,2059
$GC,17422,0.56,244.9,751.5,4.5,404,17453,0.12,0.00,28.52,1.154,6,0.070,0.000,2145,2303,1932
$GC,17725,0.40,244.9,727.7,8.1,409,17727,0.22,0.00,0.00,0.000,6,0.149,0.000,2084,2302,1926
$GC,18028,0.65,265.6,712.8,4.8,414,18048,0.17,0.00,17.95,1.096,6,0.074,0.000,2154,2302,1848
$GC,18393,0.82,265.6,684.7,7.8,420,18398,0.08,2.30,0.00,0.000,4,0.094,0.062,2199,3711,1841
$GC,18478,0.43,265.6,673.7,15.4,421,18483,0.43,2.25,0.00,0.000,6,0.170,0.041,2092,2302,1842
$GC,18821,0.58,265.6,651.9,5.9,427,18826,0.12,2.28,0.00,0.000,4,0.062,0.055,2159,893,1841
$GC,18843,0.58,265.6,650.2,7.4,427,18847,0.12,2.25,0.00,0.000,6,0.147,0.051,2127,2305,1840
$GC,19180,0.58,265.6,623.6,7.9,433,19184,0.00,2.28,0.00,0.000,4,0.000,0.064,2127,3720,1840
$GC,19230,0.53,265.6,618.9,9.5,433,19234,0.00,2.22,0.00,0.000,6,0.000,0.042,2135,2298,1840
$GC,19540,0.47,265.6,591.3,9.0,438,19542,0.12,0.00,0.00,0.000,6,0.154,0.000,2102,2297,1840
$GC,19842,0.59,265.6,571.9,6.2,443,19844,0.10,0.00,0.00,0.000,6,0.068,0.000,2159,2298,1839
$GC,20146,0.42,265.6,542.6,9.8,448,20150,0.22,2.28,0.00,0.000,4,0.146,0.055,2091,3713,1839
$GC,20190,0.53,265.6,539.0,6.5,448,20194,0.00,2.20,0.00,0.000,6,0.000,0.039,2099,2298,1839
$GC,20505,0.67,271.7,522.1,5.3,454,20516,0.15,2.25,5.50,0.793,4,0.060,0.054,2188,893,1822
$GC,20544,0.49,271.7,518.7,10.1,454,20548,0.30,2.25,0.00,0.000,6,0.144,0.048,2100,2314,1822
$GC,20865,0.65,291.6,502.2,4.8,460,20890,0.15,2.30,18.33,0.976,4,0.054,0.061,2179,3709,1741
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$GC,21296,0.97,291.6,470.0,7.9,467,21301,0.35,2.28,0.00,0.000,4,0.077,0.051,2212,881,1735
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$GC,22393,0.56,291.6,349.9,6.1,485,22394,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2291,1735
$GC,22696,0.56,291.6,331.4,6.1,490,22697,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2291,1734
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$GC,26130,0.98,347.2,73.0,5.2,616,26143,0.17,2.33,7.90,0.641,4,0.053,0.054,2265,893,1514
$GC,26182,0.75,347.2,67.6,11.4,620,26189,0.35,2.25,0.00,0.000,6,0.137,0.044,2159,2314,1512
$GC,26508,0.96,363.7,50.0,4.9,651,26531,0.17,2.28,14.15,0.673,4,0.053,0.054,2260,3703,1447
$GC,26593,0.67,363.7,40.4,11.9,658,26600,0.43,2.20,0.00,0.000,6,0.144,0.038,2144,2297,1446
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$STATE,27085,end climb,SURFACE_DEPTH_REACHED
$STATE,27085,begin surface coast
$FINISH,1.3,1.013041
$STATE,27108,end surface coast,CONTROL_FINISHED_OK
$STATE,27108,begin surface
$SM_CCo,27183,0.00,0.000,0,0,1440,365.74
$SM_GC,2.04,5.72,0.00,0.00,0.046,0.000,0.000,100,2297,1440,-8.62,-0.20,365.74
$IRIDIUM_FIX,4936.36,-14510.89,290998,212134
$TT8_MAMPS,0.028379
$HUMID,1612
$INTERNAL_PRESSURE,7.3831
$TCM_TEMP,15.90
$XPDR_PINGS,69
$24V_AH,23.5,13.706
$10V_AH,10.7,9.651
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$DEVICE_SECS,29.525,193.725,410.075,0.000,0.000,31.547,27.476,203.756,17.250,0.000,0.000,10.960,1616.330,22688.145,559.251,2067.396,620.761,33.376,1599.573,0.000,2078.531,0.000,0.528,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,500.481,569.299,731.956,1214.223,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41297,707
$CAP_FILE_SIZE,184935,0
$CFSIZE,260165632,253251584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,060709,131230,5001.621,-14502.606,36,1.6,37,18.5