version: 66.13
glider: 171
mission: 11
dive: 231
start: 9 15 119 2 18 22
data:
$ID,171
$MISSION,11
$DIVE,231
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,2
$T_BOOST,0
$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,390
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53930
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019952599
$HD_B,0.0163117
$HD_C,5.7000002e-06
$HEADING,-1
$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,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3600
$C_PITCH,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,350
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2440
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,3
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-152.46104
$PRESSURE_SLOPE,0.00010631012
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,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,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.63
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,5
$LOGGERDEVICE1,53
$LOGGERDEVICE2,70
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044193882
$SEABIRD_T_H,0.00064798427
$SEABIRD_T_I,2.6719992e-05
$SEABIRD_T_J,3.3115991e-06
$SEABIRD_C_G,-9.8059483
$SEABIRD_C_H,1.1280893
$SEABIRD_C_I,-0.003824637
$SEABIRD_C_J,0.00035372932
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,150919,020900,1311.1439,8701.0439,27,0.7,27,-0.9,1.0,81.7,9,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.2
$GPS2,150919,021736,1311.0753,8701.1133,2,0.6,3,-0.9,1.2,147.4,12,5.7
$SPEED_LIMITS,0.147,0.175
$TGT_NAME,N
$TGT_LATLONG,1346.250,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,338.1,65174,-17.3,-8.462,-25.76,2103
$D_GRID,990
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.62,-116.8,90,2529,975,875,0.0,0.0,0,103,0.00,0.00,-77.60,0.005,16386,0.000,0.000,89,2530,2768,2765,2771,0,0,0,0,0,0,14.81,28.83,14.84
$GC,106,-0.62,-116.8,88,2530,2766,2772,4.9,-13.0,16,138,9.12,2.35,-11.95,0.013,18948,0.358,0.067,2125,1103,3447,3453,3441,0,0,0,0,0,0,14.25,13.74,14.47
$GC,206,-0.62,-116.8,2125,1102,3453,3441,41.6,-28.1,36,213,0.00,2.38,0.00,0.000,1030,0.000,0.057,2117,2475,3447,3453,3441,0,0,0,0,0,0,14.56,14.50,14.60
$GC,397,-0.62,-116.8,2116,2475,3453,3441,97.2,-25.8,57,402,0.00,2.28,0.00,0.000,516,0.000,0.054,2117,1103,3447,3453,3441,0,0,0,0,0,0,14.90,14.60,14.92
$GC,433,-0.62,-116.8,2116,1102,3453,3441,106.1,-22.1,64,440,0.00,2.42,0.00,0.000,1030,0.000,0.061,2106,2503,3447,3453,3441,0,0,0,0,0,0,14.64,14.58,14.67
$GC,621,-0.62,-116.8,2106,2504,3453,3441,140.9,-17.4,83,627,0.00,2.35,0.00,0.000,260,0.000,0.080,2095,3896,3446,3453,3440,0,0,0,0,0,0,14.93,14.62,14.96
$GC,645,-0.62,-116.8,2095,3896,3453,3441,145.1,-17.4,87,651,0.12,2.22,0.00,0.000,3078,0.235,0.037,2122,2490,3447,3453,3441,0,0,0,0,0,0,14.50,14.73,14.70
$GC,840,-0.62,-116.8,2122,2488,3453,3441,175.7,-14.9,107,845,0.00,2.42,0.00,0.000,260,0.000,0.088,2114,3894,3447,3453,3441,0,0,0,0,0,0,14.94,14.63,14.97
$GC,873,-0.62,-116.8,2114,3894,3453,3442,181.0,-16.1,113,879,0.00,2.20,0.00,0.000,1030,0.000,0.033,2114,2496,3447,3453,3441,0,0,0,0,0,0,14.81,14.76,14.83
$GC,1067,-0.62,-116.8,2113,2496,3453,3441,209.8,-14.1,133,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2496,3447,3453,3441,0,0,0,0,0,0,14.97,15.00,15.00
$GC,1257,-0.62,-116.8,2113,2496,3453,3441,234.1,-12.1,152,1262,0.00,2.40,0.00,0.000,260,0.000,0.085,2103,3897,3447,3453,3441,0,0,0,0,0,0,14.98,14.67,15.01
$GC,1280,-0.62,-116.8,2103,3897,3453,3441,236.9,-12.3,156,1286,0.00,2.20,0.00,0.000,1030,0.000,0.032,2103,2492,3447,3453,3441,0,0,0,0,0,0,14.83,14.78,14.85
$GC,1484,-0.62,-116.8,2103,2491,3451,3441,263.0,-13.0,172,1489,0.00,2.22,0.00,0.000,516,0.000,0.047,2103,1110,3446,3451,3441,0,0,0,0,0,0,15.00,14.73,15.02
$GC,1510,-0.62,-116.8,2103,1112,3450,3441,266.8,-13.8,177,1517,0.15,2.35,0.00,0.000,3078,0.213,0.057,2128,2514,3445,3450,3441,0,0,0,0,0,0,14.57,14.72,14.76
$GC,1824,-0.62,-116.8,2128,2514,3447,3441,301.6,-10.6,194,1831,0.00,2.33,0.00,0.000,260,0.000,0.083,2120,3890,3444,3447,3441,0,0,0,0,0,0,15.02,14.69,15.04
$GC,1862,-0.62,-116.8,2120,3890,3446,3441,305.9,-11.2,201,1869,0.00,2.25,0.00,0.000,1030,0.000,0.034,2120,2497,3443,3446,3441,0,0,0,0,0,0,14.73,14.71,14.76
$GC,2169,-0.62,-116.8,2119,2496,3444,3437,340.7,-11.8,217,2175,0.00,2.25,0.00,0.000,516,0.000,0.049,2120,1109,3440,3444,3437,0,0,0,0,0,0,15.02,14.75,15.05
$GC,2216,-0.62,-116.8,2119,1109,3443,3437,346.5,-11.7,226,2223,0.00,2.38,0.00,0.000,1030,0.000,0.059,2109,2507,3440,3444,3437,0,0,0,0,0,0,14.83,14.73,14.85
$GC,2536,-0.62,-116.8,2109,2506,3442,3434,385.4,-12.3,244,2541,0.00,2.35,0.00,0.000,260,0.000,0.083,2099,3890,3437,3442,3433,0,0,0,0,0,0,15.03,14.69,15.05
$GC,2579,-0.62,-116.8,2098,3890,3441,3434,390.9,-12.7,252,2585,0.00,2.20,0.00,0.000,1030,0.000,0.036,2098,2500,3438,3442,3434,0,0,0,0,0,0,14.87,14.81,14.88
$GC,2903,-0.62,-116.8,2098,2499,3439,3430,433.6,-13.3,271,2909,0.00,2.28,0.00,0.000,516,0.000,0.049,2099,1104,3434,3439,3430,0,0,0,0,0,0,15.03,14.74,15.06
$GC,2941,-0.62,-116.8,2098,1104,3438,3430,438.8,-13.2,278,2949,0.12,2.40,0.00,0.000,3078,0.184,0.057,2138,2494,3433,3438,3428,0,0,0,0,0,0,14.54,14.62,14.75
$GC,3247,-0.62,-116.8,2138,2494,3437,3427,469.5,-9.5,294,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2494,3431,3436,3427,0,0,0,0,0,0,15.03,15.06,15.06
$GC,3547,-0.62,-116.8,2138,2494,3434,3424,497.7,-9.3,309,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2494,3429,3434,3424,0,0,0,0,0,0,15.03,15.06,15.05
$GC,3847,-0.62,-116.8,2138,2495,3432,3423,525.9,-9.5,324,3853,0.00,2.40,0.00,0.000,260,0.000,0.088,2130,3893,3427,3432,3422,0,0,0,0,0,0,15.02,14.66,15.05
$GC,3874,-0.62,-116.8,2130,3893,3431,3422,528.7,-10.1,329,3880,0.00,2.22,0.00,0.000,1030,0.000,0.037,2130,2496,3426,3431,3422,0,0,0,0,0,0,14.85,14.80,14.88
$GC,4194,-0.62,-116.8,2129,2494,3430,3421,559.3,-9.2,347,4200,0.00,2.30,0.00,0.000,516,0.000,0.050,2129,1101,3425,3431,3419,0,0,0,0,0,0,15.02,14.72,15.05
$GC,4252,-0.62,-116.8,2128,1100,3431,3419,564.8,-9.4,358,4260,0.00,2.42,0.00,0.000,1030,0.000,0.057,2119,2497,3424,3430,3419,0,0,0,0,0,0,14.65,14.59,14.69
$GC,4559,-0.62,-116.8,2119,2497,3429,3419,593.6,-9.3,374,4567,0.00,2.40,0.00,0.000,260,0.000,0.089,2109,3895,3424,3429,3419,0,0,0,0,0,0,15.02,14.60,15.04
$GC,4609,-0.62,-116.8,2108,3894,3428,3419,598.5,-9.8,383,4615,0.00,2.25,0.00,0.000,1030,0.000,0.037,2109,2493,3423,3428,3419,0,0,0,0,0,0,14.83,14.78,14.85
$GC,4928,-0.62,-116.8,2108,2491,3426,3418,630.1,-9.8,401,4933,0.00,2.28,0.00,0.000,516,0.000,0.050,2109,1105,3422,3426,3418,0,0,0,0,0,0,15.02,14.71,15.04
$GC,4971,-0.62,-116.8,2109,1105,3426,3417,634.4,-9.6,409,4981,0.12,2.38,0.00,0.000,3078,0.215,0.059,2127,2505,3421,3426,3417,0,0,0,0,0,0,14.54,14.69,14.73
$GC,5294,-0.62,-116.8,2127,2505,3426,3414,662.0,-8.6,428,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2505,3420,3426,3414,0,0,0,0,0,0,15.01,15.04,15.04
$GC,5595,-0.62,-116.8,2126,2505,3423,3412,687.3,-8.5,443,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2505,3418,3424,3413,0,0,0,0,0,0,15.01,15.04,15.04
$GC,5894,-0.62,-116.8,2126,2505,3422,3412,713.6,-9.0,458,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2505,3417,3422,3413,0,0,0,0,0,0,15.01,15.04,15.03
$GC,6194,-0.62,-116.8,2126,2505,3421,3411,741.9,-9.8,473,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2505,3416,3421,3411,0,0,0,0,0,0,15.01,15.04,15.03
$GC,6494,-0.62,-116.8,2126,2505,3421,3410,771.8,-10.0,488,6500,0.00,2.33,0.00,0.000,516,0.000,0.050,2127,1105,3415,3421,3410,0,0,0,0,0,0,15.01,14.69,15.03
$GC,6541,-0.62,-116.8,2127,1105,3421,3410,776.8,-10.2,497,6547,0.00,2.38,0.00,0.000,1030,0.000,0.057,2118,2500,3415,3420,3410,0,0,0,0,0,0,14.77,14.66,14.81
$GC,6861,-0.62,-116.8,2118,2499,3419,3409,810.8,-10.7,515,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2499,3414,3419,3409,0,0,0,0,0,0,15.00,15.03,15.02
$GC,7160,-0.62,-116.8,2118,2499,3418,3408,842.3,-10.4,530,7166,0.00,2.42,0.00,0.000,260,0.000,0.090,2108,3899,3413,3418,3408,0,0,0,0,0,0,15.00,14.59,15.02
$GC,7205,-0.62,-116.8,2107,3899,3417,3408,847.1,-10.8,538,7211,0.00,2.25,0.00,0.000,1030,0.000,0.037,2108,2499,3412,3417,3408,0,0,0,0,0,0,14.80,14.73,14.82
$GC,7529,-0.62,-116.8,2107,2497,3416,3408,880.8,-10.2,557,7535,0.00,2.30,0.00,0.000,516,0.000,0.050,2108,1107,3411,3416,3407,0,0,0,0,0,0,14.99,14.66,15.02
$GC,7563,-0.62,-116.8,2107,1106,3415,3407,884.3,-10.6,563,7573,0.12,2.38,0.00,0.000,3078,0.214,0.059,2126,2499,3411,3415,3407,0,0,0,0,0,0,14.49,14.64,14.68
$GC,7873,-0.62,-116.8,2126,2500,3415,3409,910.7,-8.2,580,7877,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2499,3411,3415,3407,0,0,0,0,0,0,14.99,15.02,15.02
$GC,8174,-0.62,-116.8,2126,2500,3414,3406,935.3,-8.3,595,8177,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2499,3410,3414,3406,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8473,-0.62,-116.8,2126,2500,3413,3405,961.0,-8.8,610,8479,0.00,2.42,0.00,0.000,260,0.000,0.090,2117,3893,3408,3413,3404,0,0,0,0,0,0,14.99,14.56,15.01
$GC,8501,-0.62,-116.8,2117,3893,3413,3405,963.6,-9.7,615,8507,0.00,2.25,0.00,0.000,1030,0.000,0.038,2117,2498,3408,3413,3404,0,0,0,0,0,0,14.78,14.71,14.81
$STATE,8797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8797,begin apogee
$GC,8803,-0.15,0.0,2117,2497,3413,3404,991.2,-9.2,632,8917,0.55,0.00,105.43,2.017,10246,0.168,0.000,2277,2497,2967,2995,2940,0,0,0,0,0,0,14.47,14.14,13.16
$STATE,8920,end apogee,CONTROL_FINISHED_OK
$STATE,8920,begin climb
$GC,8922,0.62,116.8,2276,2497,2993,2940,994.7,0.0,638,9053,0.77,2.55,112.88,2.005,10500,0.095,0.087,2531,3846,2490,2522,2458,0,0,0,0,0,0,14.21,14.00,13.07
$GC,9070,0.65,116.8,2531,3846,2517,2456,991.3,7.3,668,9076,0.00,2.38,0.00,0.000,1094,0.000,0.037,2543,2439,2486,2517,2456,0,0,0,0,0,0,14.22,14.16,14.23
$GC,9384,0.65,116.8,2543,2438,2512,2452,959.1,10.7,685,9389,0.00,2.35,0.00,0.000,516,0.000,0.053,2554,1049,2482,2512,2452,0,0,0,0,0,0,14.77,14.53,14.79
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$GC,16627,0.80,116.8,2555,2444,2504,2444,315.3,7.8,1131,16634,0.00,2.35,0.00,0.000,580,0.000,0.050,2567,1044,2474,2504,2445,0,0,0,0,0,0,14.96,14.62,14.98
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$STATE,20257,end climb,SURFACE_DEPTH_REACHED
$STATE,20258,begin surface coast
$STATE,20289,end surface coast,CONTROL_FINISHED_OK
$STATE,20289,begin surface
$SM_CCo,20317,138.48,0.642,1,0,928,500.17
$SM_GC,1.24,7.28,2.50,138.48,0.045,0.050,0.642,132,2499,928,-6.78,-0.88,500.17,0,0,0,0,1,0,14.66,14.62,13.95
$IRIDIUM_FIX,1306.02,8702.84,140919,201938
$TT8_MAMPS,0.018725,0.65912
$HUMID,41.02
$INTERNAL_PRESSURE,9.52683
$TCM_TEMP,25.90
$XPDR_PINGS,1
$SC_FREEKB,3806624
$PM_FREEKB_00,48499072
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.07,89.436
$10V_AH,13.20,0.000
$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,19.400,188.550,426.200,138.475,0.000,0.000,0.000,274.950,0.250,0.000,16.416,1480.542,13383.203,629.084,4898.599,589.428,0.000,2494.208,0.000,4281.283,0.000,0.542,0.000
$DEVICE_MAMPS,358.020,90.270,2017.305,641.835,0.000,0.000,0.000,188.190,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3972.445,0.000,0.000,0.000,0.000,0.000,20297.000,0.000,20310.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,3.227,0.000,3.416,0.000
$MEM,251832
$DATA_FILE_SIZE,70049,1597
$CAP_FILE_SIZE,286361,0
$CFSIZE,260034560,168620032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.068,102.93,1
$GPS,150919,080058,1312.594,8701.159,31,1.2,31,-0.9,0.9,95.2,6,9.3