version: 66.04
glider: 144
mission: 15
dive: 369
start: 10 12 109 8 6 12
data:
$ID,144
$MISSION,15
$DIVE,369
$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,-68542.734
$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,0.02
$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,38
$R_STBD_OVSHOOT,36
$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
$GPS1,075827,5020.266,-14511.107,43,1.4,44,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-64.8
$GPS2,080519,5020.254,-14511.123,15,1.4,32,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.048,-0.161
$KALMAN_X,-70500.3,145.5,209.9,69488.1,-1872.0
$KALMAN_Y,19622.2,191.2,90.3,-21244.6,-1035.2
$MHEAD_RNG_PITCHd_Wd,144.8,48611,-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,17,-0.68,-117.3,0.0,0.0,0,51,0.00,0.00,-31.73,0.000,2,0.000,0.000,98,2305,2565
$GC,54,-0.68,-117.3,3.2,-5.5,3,89,7.15,2.30,-21.48,0.000,4,0.235,0.056,1844,889,3410
$GC,342,-0.63,-117.3,38.0,-11.6,28,349,0.12,2.25,0.00,0.000,6,0.134,0.037,1870,2309,3413
$GC,670,-0.66,-117.3,67.3,-8.3,59,674,0.00,2.28,0.00,0.000,4,0.000,0.040,1870,890,3414
$GC,755,-0.70,-117.3,75.5,-8.9,66,759,0.00,2.22,0.00,0.000,6,0.000,0.036,1863,2306,3414
$GC,1083,-0.70,-117.3,101.5,-7.1,84,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2305,3415
$GC,1392,-0.70,-117.3,122.9,-7.1,99,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2305,3415
$GC,1701,-0.74,-117.3,145.9,-7.0,114,1706,0.10,2.25,0.00,0.000,4,0.064,0.040,1781,887,3415
$GC,1752,-0.64,-117.3,151.3,-11.5,116,1756,0.30,2.22,0.00,0.000,6,0.119,0.037,1861,2305,3414
$GC,2070,-0.69,-117.3,173.0,-6.5,127,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2306,3414
$GC,2377,-0.75,-117.3,194.9,-7.5,137,2381,0.10,2.25,0.00,0.000,4,0.065,0.040,1791,892,3414
$GC,2473,-0.69,-117.3,205.6,-11.5,140,2478,0.22,2.22,0.00,0.000,6,0.120,0.037,1849,2301,3413
$GC,2809,-0.74,-117.3,229.2,-6.4,151,2812,0.00,2.22,0.00,0.000,4,0.000,0.042,1849,899,3413
$GC,2865,-0.80,-117.3,232.9,-6.5,152,2869,0.10,2.22,0.00,0.000,6,0.067,0.038,1779,2314,3413
$GC,3183,-0.71,-117.3,263.5,-9.7,163,3188,0.20,2.25,0.00,0.000,4,0.120,0.041,1843,897,3413
$GC,3222,-0.75,-117.3,266.6,-6.7,164,3226,0.00,2.22,0.00,0.000,6,0.000,0.040,1837,2306,3412
$GC,3547,-0.77,-117.3,287.1,-6.5,175,3550,0.00,2.22,0.00,0.000,4,0.000,0.042,1836,896,3412
$GC,3581,-0.80,-117.3,289.4,-6.7,176,3585,0.00,2.22,0.00,0.000,6,0.000,0.043,1836,2302,3412
$GC,3946,-0.83,-117.3,312.8,-6.4,185,3949,0.00,2.22,0.00,0.000,4,0.000,0.043,1836,896,3411
$GC,3974,-0.86,-117.3,314.7,-6.3,185,3978,0.00,2.25,0.00,0.000,6,0.000,0.042,1834,2312,3411
$GC,4312,-0.88,-117.3,334.5,-5.8,191,4317,0.10,2.25,0.00,0.000,4,0.064,0.041,1767,889,3410
$GC,4345,-0.79,-117.3,337.4,-9.7,191,4350,0.25,2.25,0.00,0.000,6,0.121,0.038,1832,2309,3410
$GC,4672,-0.81,-117.3,356.9,-5.9,197,4675,0.00,2.25,0.00,0.000,4,0.000,0.044,1832,896,3410
$GC,4700,-0.85,-117.3,358.7,-6.8,197,4704,0.00,2.25,0.00,0.000,6,0.000,0.043,1826,2312,3410
$GC,5037,-0.85,-117.3,381.6,-6.9,203,5038,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2312,3409
$GC,5340,-0.85,-117.3,405.2,-7.9,208,5344,0.00,2.22,0.00,0.000,4,0.000,0.043,1826,898,3409
$GC,5390,-0.87,-117.3,409.6,-8.7,208,5394,0.00,2.22,0.00,0.000,6,0.000,0.047,1822,2309,3408
$GC,5711,-0.87,-117.3,435.5,-8.0,214,5715,0.00,2.25,0.00,0.000,4,0.000,0.044,1822,898,3408
$GC,5749,-0.87,-117.3,438.7,-8.2,214,5753,0.00,2.25,0.00,0.000,6,0.000,0.045,1813,2312,3408
$GC,6076,-0.87,-117.3,465.5,-8.2,220,6080,0.00,2.28,0.00,0.000,4,0.000,0.044,1813,892,3408
$GC,6109,-0.87,-117.3,468.4,-8.6,220,6113,0.00,2.25,0.00,0.000,6,0.000,0.040,1808,2306,3408
$GC,6435,-0.87,-117.3,495.0,-8.2,226,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3407
$GC,6738,-0.87,-117.3,518.7,-7.8,231,6742,0.00,2.28,0.00,0.000,4,0.000,0.044,1808,892,3407
$GC,6776,-0.87,-117.3,521.8,-7.6,231,6780,0.00,2.28,0.00,0.000,6,0.000,0.039,1799,2315,3407
$GC,7104,-0.85,-117.3,547.0,-7.6,237,7108,0.00,2.30,0.00,0.000,4,0.000,0.044,1799,893,3406
$GC,7137,-0.85,-117.3,549.8,-7.8,237,7140,0.00,2.28,0.00,0.000,6,0.000,0.039,1794,2313,3407
$GC,7469,-0.81,-117.3,573.2,-6.9,243,7471,0.12,0.00,0.00,0.000,6,0.130,0.000,1830,2313,3407
$GC,7773,-0.85,-117.3,588.4,-4.9,248,7777,0.00,2.30,0.00,0.000,4,0.000,0.045,1830,890,3406
$GC,7812,-0.90,-117.3,590.7,-5.6,248,7816,0.00,2.28,0.00,0.000,6,0.000,0.041,1824,2314,3406
$GC,8133,-0.93,-117.3,609.1,-5.7,254,8137,0.10,2.28,0.00,0.000,4,0.066,0.048,1753,899,3405
$GC,8165,-0.83,-117.3,612.0,-10.0,254,8170,0.28,2.25,0.00,0.000,6,0.124,0.045,1825,2307,3405
$GC,8493,-0.86,-117.3,631.5,-5.8,260,8497,0.00,2.28,0.00,0.000,4,0.000,0.048,1825,893,3405
$GC,8531,-0.91,-117.3,634.1,-6.7,260,8536,0.00,2.25,0.00,0.000,6,0.000,0.041,1823,2301,3405
$GC,8853,-0.94,-117.3,654.3,-6.3,266,8857,0.10,2.28,0.00,0.000,4,0.065,0.047,1759,891,3405
$GC,8880,-0.88,-117.3,656.7,-9.3,266,8885,0.20,2.28,0.00,0.000,6,0.128,0.041,1813,2311,3405
$GC,9212,-0.88,-117.3,678.5,-6.4,272,9216,0.00,2.28,0.00,0.000,4,0.000,0.048,1813,894,3405
$GC,9244,-0.88,-117.3,680.7,-6.7,272,9248,0.00,2.28,0.00,0.000,6,0.000,0.039,1808,2313,3405
$GC,9577,-0.88,-117.3,701.7,-6.3,278,9578,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2314,3404
$GC,9880,-0.88,-117.3,721.0,-6.4,283,9884,0.00,2.30,0.00,0.000,4,0.000,0.048,1808,891,3404
$GC,9907,-0.88,-117.3,722.8,-7.4,283,9911,0.00,2.28,0.00,0.000,6,0.000,0.041,1807,2309,3404
$GC,10245,-0.88,-117.3,744.9,-6.5,289,10249,0.00,2.28,0.00,0.000,4,0.000,0.048,1807,895,3404
$GC,10284,-0.88,-117.3,747.5,-7.3,289,10288,0.00,2.25,0.00,0.000,6,0.000,0.041,1797,2305,3404
$GC,10604,-0.88,-117.3,769.0,-6.7,295,10608,0.00,2.28,0.00,0.000,4,0.000,0.052,1797,899,3404
$GC,10632,-0.88,-117.3,770.9,-6.8,295,10636,0.00,2.28,0.00,0.000,6,0.000,0.041,1794,2308,3404
$GC,10964,-0.88,-117.3,793.5,-6.8,301,10968,0.00,2.30,0.00,0.000,4,0.000,0.046,1794,893,3404
$GC,11004,-0.88,-117.3,796.4,-7.0,301,11009,0.10,2.28,0.00,0.000,6,0.132,0.040,1813,2309,3404
$GC,11325,-0.90,-117.3,814.9,-5.7,307,11329,0.00,2.28,0.00,0.000,4,0.000,0.046,1813,899,3403
$GC,11366,-0.93,-117.3,817.5,-6.3,307,11370,0.00,2.28,0.00,0.000,6,0.000,0.041,1809,2314,3404
$GC,11688,-0.93,-117.3,837.9,-6.4,313,11692,0.00,2.28,0.00,0.000,4,0.000,0.047,1809,901,3403
$GC,11715,-0.93,-117.3,840.0,-7.1,313,11719,0.00,2.25,0.00,0.000,6,0.000,0.041,1808,2304,3403
$GC,12054,-0.93,-117.3,863.6,-7.0,319,12058,0.00,2.25,0.00,0.000,4,0.000,0.051,1808,900,3403
$GC,12099,-0.93,-117.3,867.3,-7.9,319,12103,0.00,2.25,0.00,0.000,6,0.000,0.048,1807,2304,3403
$GC,12414,-0.93,-117.3,890.0,-7.2,325,12415,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2304,3403
$GC,12717,-0.93,-117.3,911.2,-7.0,330,12721,0.00,2.28,0.00,0.000,4,0.000,0.051,1808,893,3403
$GC,12772,-0.93,-117.3,915.5,-8.1,330,12778,0.00,2.28,0.00,0.000,6,0.000,0.042,1806,2311,3403
$GC,13082,-0.93,-117.3,937.2,-7.1,336,13086,0.00,2.30,0.00,0.000,4,0.000,0.048,1806,900,3402
$GC,13127,-0.93,-117.3,940.5,-7.3,336,13131,0.00,2.28,0.00,0.000,6,0.000,0.042,1797,2310,3403
$GC,13443,-0.93,-117.3,962.7,-7.0,342,13445,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2311,3402
$GC,13745,-0.93,-117.3,983.1,-6.7,347,13749,0.00,2.30,0.00,0.000,4,0.000,0.048,1797,896,3402
$GC,13812,-0.93,-117.3,988.1,-7.9,348,13816,0.00,2.28,0.00,0.000,6,0.000,0.047,1794,2305,3403
$STATE,13836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13836,begin apogee
$GC,13842,-0.22,0.0,990.0,7.7,348,13941,0.45,0.00,95.65,1.302,6,0.115,0.000,1945,2306,2931
$STATE,13942,end apogee,CONTROL_FINISHED_OK
$STATE,13942,begin climb
$GC,13945,0.68,117.3,992.7,0.0,350,14056,0.62,2.55,102.55,1.272,4,0.080,0.058,2152,3708,2451
$GC,14079,0.51,117.3,989.0,6.0,352,14085,0.22,2.42,0.00,0.000,6,0.168,0.035,2110,2314,2448
$GC,14423,0.48,130.7,971.5,5.0,358,14441,0.00,2.42,11.48,1.123,4,0.000,0.052,2120,892,2397
$GC,14460,0.50,173.3,969.6,4.1,358,14505,0.00,2.33,38.47,1.233,6,0.000,0.041,2120,2308,2223
$GC,14856,0.47,173.3,945.2,6.3,365,14860,0.00,2.33,0.00,0.000,4,0.000,0.058,2119,3718,2216
$GC,14901,0.40,173.3,941.7,8.2,365,14906,0.17,2.28,0.00,0.000,6,0.152,0.038,2084,2298,2215
$GC,15217,0.47,190.3,926.0,4.9,371,15233,0.00,0.00,14.60,1.150,6,0.000,0.000,2084,2298,2155
$GC,15520,0.54,201.8,910.6,5.1,376,15534,0.12,0.00,11.52,1.107,6,0.067,0.000,2140,2298,2108
$GC,15823,0.48,201.8,886.2,8.2,381,15828,0.15,2.33,0.00,0.000,4,0.137,0.050,2099,3715,2105
$GC,15850,0.48,201.8,884.0,7.6,381,15854,0.00,2.25,0.00,0.000,6,0.000,0.041,2107,2297,2104
$GC,16189,0.48,201.8,861.9,6.5,387,16190,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2297,2104
$GC,16491,0.48,201.8,841.2,6.9,392,16495,0.00,2.30,0.00,0.000,4,0.000,0.051,2107,3719,2103
$GC,16524,0.48,201.8,838.6,7.7,392,16527,0.00,2.22,0.00,0.000,6,0.000,0.034,2118,2298,2102
$GC,16856,0.48,201.8,814.8,7.1,398,16860,0.00,2.28,0.00,0.000,4,0.000,0.052,2118,3710,2103
$GC,16878,0.46,201.8,813.0,6.9,398,16883,0.12,2.22,0.00,0.000,6,0.146,0.037,2096,2293,2103
$GC,17222,0.51,201.8,792.7,5.9,404,17223,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2293,2102
$GC,17526,0.56,204.6,776.3,5.4,409,17527,0.10,0.00,0.00,0.000,6,0.067,0.000,2152,2293,2102
$GC,17828,0.47,204.6,752.4,8.1,414,17833,0.17,2.30,0.00,0.000,4,0.138,0.052,2098,3708,2102
$GC,17872,0.47,204.6,749.4,6.1,414,17875,0.00,2.22,0.00,0.000,6,0.000,0.041,2105,2302,2101
$GC,18194,0.51,213.0,732.6,5.2,420,18207,0.00,0.00,10.60,1.008,6,0.000,0.000,2106,2301,2062
$GC,18497,0.56,224.1,717.0,5.1,425,18513,0.00,2.30,11.30,1.012,4,0.000,0.049,2106,3710,2016
$GC,18542,0.58,224.1,714.3,6.4,425,18546,0.00,2.25,0.00,0.000,6,0.000,0.032,2116,2298,2014
$GC,18857,0.60,224.1,696.4,5.7,431,18858,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2298,2013
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$GC,20989,0.54,230.2,551.8,5.3,466,20999,0.00,2.22,5.95,0.793,4,0.000,0.050,2130,894,1993
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$GC,21349,0.57,233.3,532.4,5.4,472,21358,0.00,2.28,4.75,0.707,4,0.000,0.057,2130,3712,1979
$GC,21393,0.54,233.3,529.5,6.1,472,21397,0.10,2.20,0.00,0.000,6,0.144,0.033,2115,2299,1979
$GC,21714,0.59,239.0,512.6,5.3,478,21728,0.00,2.33,6.60,0.796,4,0.000,0.047,2124,891,1956
$GC,21751,0.65,242.0,510.3,5.4,478,21760,0.00,2.25,4.32,0.646,6,0.000,0.039,2124,2305,1944
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$GC,23180,0.55,242.0,409.2,7.5,502,23185,0.12,2.25,0.00,0.000,4,0.144,0.048,2113,3706,1941
$GC,23202,0.55,242.0,407.5,7.9,502,23206,0.00,2.17,0.00,0.000,6,0.000,0.033,2121,2297,1941
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$GC,23574,0.64,252.5,385.4,5.1,508,23589,0.00,2.22,10.40,0.806,6,0.000,0.041,2130,2310,1901
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$STATE,29324,end climb,SURFACE_DEPTH_REACHED
$STATE,29324,begin surface coast
$FINISH,1.1,1.024712
$STATE,29360,end surface coast,CONTROL_FINISHED_OK
$STATE,29360,begin surface
$SM_CCo,29375,2.33,0.222,0,0,1708,300.00
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$IRIDIUM_FIX,5003.11,-14506.56,060199,010142
$TT8_MAMPS,0.029146
$HUMID,1710
$INTERNAL_PRESSURE,7.44169
$TCM_TEMP,17.10
$XPDR_PINGS,80
$24V_AH,22.2,54.075
$10V_AH,10.6,46.156
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$DEVICE_SECS,18.400,284.550,368.925,2.325,0.000,27.367,30.206,201.135,20.000,0.000,0.000,33.846,1797.441,24203.252,531.567,2499.055,749.741,33.373,1798.165,0.000,2468.081,0.000,0.529,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44344,772
$CAP_FILE_SIZE,202701,0
$CFSIZE,260165632,229949440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121009,161730,5017.314,-14508.802,42,1.4,58,18.5