version: 66.10
glider: 169
mission: 5
dive: 415
start: 1 28 112 4 15 58
data:
$ID,169
$MISSION,5
$DIVE,415
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,4
$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,360
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,35
$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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$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,-11401.274
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,280112,040237,2330.936,12315.812,30,1.0,30,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.5
$GPS2,280112,041536,2330.744,12316.107,10,1.2,26,-3.3
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2339.590,12322.870
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.228,0.143
$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,38.3,20000,-15.4,-9.167
$D_GRID,3251
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.60,-175.2,0.0,0.0,0,92,0.00,0.00,-72.03,0.000,2,0.000,0.000,120,2669,3051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.60,-175.2,3.7,-7.5,13,120,7.07,0.00,-12.43,0.000,6,0.232,0.000,1806,2669,3696,0,0,0,0,0,0,24.82,28.83,26.55
$GC,424,-0.46,-175.2,113.8,-35.3,77,431,0.15,1.80,0.00,0.000,4,0.188,0.037,1842,3821,3697,0,0,0,0,0,0,25.87,26.10,28.83
$GC,536,-0.44,-175.2,139.5,-16.7,98,544,0.00,1.80,0.00,0.000,6,0.000,0.022,1842,2577,3697,0,0,0,0,0,0,28.83,26.34,28.83
$GC,855,-0.39,-175.2,207.8,-18.2,156,864,0.12,2.08,0.00,0.000,4,0.153,0.025,1893,1168,3697,0,0,0,0,0,0,26.20,26.25,28.83
$GC,928,-0.45,-175.2,215.2,-6.8,163,937,0.00,2.25,0.00,0.000,6,0.000,0.036,1884,2646,3697,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1237,-0.47,-175.2,244.3,-10.2,194,1240,0.00,1.83,0.00,0.000,4,0.000,0.044,1875,3814,3696,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1269,-0.50,-175.2,247.4,-10.4,197,1273,0.00,1.80,0.00,0.000,6,0.000,0.022,1875,2570,3696,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1582,-0.52,-175.2,278.4,-10.6,228,1591,0.10,2.00,0.00,0.000,4,0.088,0.024,1800,1170,3697,0,0,0,0,0,0,26.58,26.29,28.83
$GC,1628,-0.51,-175.2,284.5,-14.2,232,1636,0.17,2.28,0.00,0.000,6,0.125,0.036,1843,2654,3696,0,0,0,0,0,0,25.94,26.19,28.83
$GC,1934,-0.50,-175.2,327.7,-12.1,263,1938,0.00,2.20,0.00,0.000,4,0.000,0.026,1842,1177,3696,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1980,-0.51,-175.2,332.2,-10.6,267,1987,0.00,2.28,0.00,0.000,6,0.000,0.036,1834,2655,3697,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2286,-0.49,-175.2,374.5,-14.7,298,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2654,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2590,-0.48,-175.2,412.2,-12.1,328,2599,0.00,2.20,0.00,0.000,4,0.000,0.027,1834,1167,3694,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2662,-0.51,-175.2,420.1,-9.3,335,2670,0.00,2.28,0.00,0.000,6,0.000,0.037,1825,2652,3693,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2971,-0.50,-175.2,455.4,-11.0,366,2975,0.00,2.20,0.00,0.000,4,0.000,0.028,1825,1170,3692,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2996,-0.49,-175.2,457.8,-10.9,368,3003,0.12,2.30,0.00,0.000,6,0.129,0.038,1854,2654,3692,0,0,0,0,0,0,25.99,26.15,28.83
$GC,3304,-0.51,-175.2,479.7,-7.1,399,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2654,3690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3607,-0.54,-175.2,500.8,-7.8,429,3615,0.00,2.17,0.00,0.000,4,0.000,0.028,1854,1176,3688,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3640,-0.57,-175.2,503.3,-7.3,432,3648,0.00,2.25,0.00,0.000,6,0.000,0.039,1847,2642,3687,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3948,-0.64,-175.2,524.8,-6.7,463,3958,0.12,1.80,0.00,0.000,4,0.080,0.043,1767,3819,3685,0,0,0,0,0,0,26.49,26.08,28.83
$GC,4053,-0.62,-175.2,536.9,-12.9,473,4057,0.10,1.83,0.00,0.000,6,0.112,0.024,1815,2576,3684,0,0,0,0,0,0,25.96,26.34,28.83
$GC,4366,-0.61,-175.2,571.7,-10.3,504,4377,0.00,2.03,0.00,0.000,4,0.000,0.029,1816,1180,3683,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4442,-0.64,-175.2,578.5,-8.1,511,4449,0.00,2.28,0.00,0.000,6,0.000,0.039,1808,2651,3682,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4762,-0.63,-175.2,611.4,-10.5,538,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2651,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5059,-0.62,-175.2,643.9,-10.3,553,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2651,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5359,-0.62,-175.2,678.6,-12.0,568,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2651,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5660,-0.62,-175.2,712.1,-10.6,583,5664,0.00,2.22,0.00,0.000,4,0.000,0.031,1808,1178,3673,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5705,-0.63,-175.2,716.4,-10.4,585,5709,0.00,2.30,0.00,0.000,6,0.000,0.041,1799,2648,3673,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6017,-0.62,-175.2,749.4,-10.4,601,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2648,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6320,-0.61,-175.2,780.8,-10.8,616,6325,0.00,2.20,0.00,0.000,4,0.000,0.029,1799,1183,3669,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6347,-0.61,-175.2,783.1,-10.9,617,6351,0.00,2.28,0.00,0.000,6,0.000,0.040,1791,2654,3669,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6653,-0.60,-175.2,818.7,-11.3,632,6659,0.00,2.20,0.00,0.000,4,0.000,0.028,1791,1179,3667,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6682,-0.59,-175.2,820.9,-11.5,633,6692,0.12,2.30,0.00,0.000,6,0.130,0.041,1819,2649,3666,0,0,0,0,0,0,25.85,26.01,28.83
$GC,6995,-0.60,-175.2,848.4,-8.8,649,7001,0.00,2.20,0.00,0.000,4,0.000,0.030,1820,1183,3664,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7023,-0.62,-175.2,850.2,-8.8,650,7032,0.00,2.30,0.00,0.000,6,0.000,0.041,1813,2652,3664,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7334,-0.63,-175.2,879.5,-9.1,666,7337,0.00,1.77,0.00,0.000,4,0.000,0.047,1804,3815,3663,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7355,-0.64,-175.2,881.5,-9.1,667,7361,0.00,1.83,0.00,0.000,6,0.000,0.026,1804,2573,3662,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7678,-0.64,-175.2,910.6,-9.0,683,7679,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2571,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7975,-0.64,-175.2,936.5,-8.4,698,7981,0.00,2.08,0.00,0.000,4,0.000,0.032,1804,1173,3659,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8008,-0.64,-175.2,938.2,-8.3,699,8015,0.00,2.33,0.00,0.000,6,0.000,0.043,1799,2651,3659,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8316,-0.64,-175.2,968.1,-9.7,715,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2651,3658,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8553,begin apogee
$GC,8558,-0.20,0.0,991.6,-9.6,727,8721,0.40,0.15,155.18,1.183,6,0.100,0.076,1940,2534,2977,0,0,0,0,0,0,25.73,24.87,23.33
$STATE,8722,end apogee,CONTROL_FINISHED_OK
$STATE,8722,begin climb
$GC,8724,0.60,175.2,999.8,0.0,735,8903,0.70,2.42,167.57,1.188,4,0.047,0.034,2222,1060,2252,0,0,0,0,0,0,25.15,24.88,23.33
$GC,8920,0.50,175.2,989.8,13.2,745,8930,0.17,2.35,0.00,0.000,6,0.162,0.040,2177,2521,2243,0,0,0,0,0,0,24.98,25.25,28.83
$GC,9231,0.44,175.2,941.8,15.1,761,9237,0.00,2.03,0.00,0.000,4,0.000,0.044,2176,3816,2235,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9275,0.38,175.2,935.1,15.9,763,9280,0.20,2.08,0.00,0.000,6,0.170,0.028,2134,2454,2234,0,0,0,0,0,0,25.56,26.06,28.83
$GC,9589,0.36,175.2,899.8,10.6,779,9590,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2452,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9888,0.34,175.2,869.2,10.1,794,9889,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2452,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10189,0.32,175.2,839.2,9.6,809,10194,0.00,2.15,0.00,0.000,4,0.000,0.045,2133,3815,2230,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10228,0.30,175.2,834.9,10.1,811,10234,0.15,2.08,0.00,0.000,6,0.160,0.027,2105,2455,2229,0,0,0,0,0,0,25.75,26.18,28.83
$GC,10550,0.40,249.1,812.3,6.6,827,10628,0.10,0.00,72.55,1.044,6,0.094,0.000,2167,2454,1955,0,0,0,0,0,0,26.46,28.83,23.73
$GC,10930,0.37,249.1,768.5,12.5,846,10936,0.12,2.17,0.00,0.000,4,0.153,0.045,2127,3816,1934,0,0,0,0,0,0,25.88,25.84,28.83
$GC,10990,0.37,249.1,761.7,11.5,849,10996,0.00,2.05,0.00,0.000,6,0.000,0.028,2137,2473,1934,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11309,0.37,249.1,730.6,9.9,865,11315,0.00,2.15,0.00,0.000,4,0.000,0.035,2148,1055,1932,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11342,0.37,249.1,728.7,9.9,866,11349,0.00,2.28,0.00,0.000,6,0.000,0.039,2148,2524,1930,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11652,0.37,249.1,694.4,10.6,882,11657,0.00,2.20,0.00,0.000,4,0.000,0.035,2159,1056,1930,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11692,0.37,249.1,690.4,10.1,884,11696,0.00,2.28,0.00,0.000,6,0.000,0.039,2159,2524,1929,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12006,0.36,249.1,654.1,11.2,900,12012,0.12,2.00,0.00,0.000,4,0.151,0.044,2120,3817,1929,0,0,0,0,0,0,26.09,25.95,28.83
$GC,12059,0.36,249.1,649.6,11.2,902,12066,0.00,2.05,0.00,0.000,6,0.000,0.028,2130,2457,1929,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12366,0.44,303.8,624.5,7.2,918,12426,0.00,2.30,54.62,0.908,4,0.000,0.047,2130,3815,1732,0,0,0,0,0,0,28.83,25.49,23.94
$GC,12443,0.54,371.0,620.5,6.8,921,12516,0.12,2.10,67.28,0.910,6,0.076,0.028,2215,2458,1465,0,0,0,0,0,0,25.65,25.66,23.77
$GC,12824,0.51,371.0,556.4,17.2,953,12834,0.12,2.15,0.00,0.000,4,0.165,0.037,2187,1055,1437,0,0,0,0,0,0,25.82,25.84,28.83
$GC,12859,0.51,371.0,551.6,15.2,956,12866,0.00,2.28,0.00,0.000,6,0.000,0.038,2187,2523,1435,0,0,0,0,0,0,28.83,25.89,28.83
$GC,13169,0.51,371.0,510.8,12.6,987,13178,0.00,2.03,0.00,0.000,4,0.000,0.044,2187,3818,1435,0,0,0,0,0,0,28.83,25.92,28.83
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$GC,13874,0.53,371.0,420.7,11.0,1057,13875,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2510,1432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14176,0.58,399.5,391.5,8.2,1087,14207,0.00,2.22,26.55,0.760,4,0.000,0.034,2189,1056,1342,0,0,0,0,0,0,28.83,25.89,24.27
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$GC,16704,0.74,457.7,12.3,11.9,1472,16711,0.00,2.22,0.00,0.000,4,0.000,0.034,2286,1055,1083,0,0,0,0,0,0,28.83,26.13,28.83
$GC,16785,0.86,518.8,5.6,7.0,1487,16816,0.00,2.25,25.30,0.122,2,0.000,0.035,2285,2533,909,0,0,0,0,0,0,28.83,26.12,28.83
$STATE,16817,end climb,SURFACE_DEPTH_REACHED
$STATE,16817,begin surface coast
$FINISH,0.4,1.022949
$STATE,16843,end surface coast,CONTROL_FINISHED_OK
$STATE,16843,begin surface
$SM_CCo,16918,0.00,0.000,0,0,918,505.56
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$IRIDIUM_FIX,2323.87,12317.29,270112,232303
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.01
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.3,86.668
$10V_AH,9.9,51.724
$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,16.125,146.175,623.725,0.000,0.000,25.117,19.100,579.735,0.000,0.000,27.546,3530.727,9737.807,715.080,2982.531,701.472,0.000,2151.586,0.000,2518.577,0.000,0.542,0.000
$DEVICE_MAMPS,231.795,76.500,1188.045,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1017.887,1931.321,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330460
$DATA_FILE_SIZE,97042,1497
$CAP_FILE_SIZE,179986,0
$CFSIZE,260165632,184782848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280112,085901,2331.869,12318.266,38,1.1,38,-3.3