version: 66.10
glider: 176
mission: 5
dive: 452
start: 6 17 112 0 32 53
data:
$ID,176
$MISSION,5
$DIVE,452
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$D_BOOST,100
$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,380
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51719
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-8187.9019
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2514
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2929
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$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,-70.662712
$PRESSURE_SLOPE,0.0001162977
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043285224
$SEABIRD_T_H,0.00062606536
$SEABIRD_T_I,2.5051821e-05
$SEABIRD_T_J,2.9112039e-06
$SEABIRD_C_G,-10.134115
$SEABIRD_C_H,1.1528351
$SEABIRD_C_I,-0.0013358581
$SEABIRD_C_J,0.00019115997
$GPS1,170612,002524,1801.278,12405.878,37,1.5,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.9
$GPS2,170612,003225,1801.270,12405.811,10,1.8,10,-2.0
$SPEED_LIMITS,0.150,0.264
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,5000.000
$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,272.7,200160,-14.0,-8.684
$D_GRID,4866
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.56,-170.3,0.0,0.0,0,71,0.00,0.00,-53.05,0.000,2,0.000,0.000,179,2708,2260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.56,-170.3,3.1,-6.8,9,118,8.85,1.65,-28.40,0.000,4,0.233,0.065,2325,3772,3626,0,0,0,0,0,0,24.97,26.10,26.71
$GC,161,-0.56,-170.3,29.4,-38.7,18,168,0.05,1.65,0.00,0.000,6,0.239,0.023,2338,2563,3626,0,0,0,0,0,0,26.21,26.42,28.83
$GC,488,-0.56,-170.3,138.5,-28.5,79,496,0.00,1.90,0.00,0.000,4,0.000,0.025,2339,1184,3626,0,0,0,0,0,0,28.83,26.41,28.83
$GC,595,-0.56,-170.3,158.0,-12.9,96,602,0.00,2.25,0.00,0.000,6,0.000,0.047,2335,2668,3626,0,0,0,0,0,0,28.83,26.18,28.83
$GC,907,-0.56,-170.3,219.4,-21.7,148,910,0.00,1.62,0.00,0.000,4,0.000,0.052,2332,3768,3627,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1039,-0.56,-170.3,240.8,-15.1,161,1043,0.00,1.62,0.00,0.000,6,0.000,0.022,2332,2557,3627,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1352,-0.56,-170.3,291.0,-14.5,192,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2553,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1663,-0.56,-170.3,332.8,-13.4,223,1672,0.00,1.92,0.00,0.000,4,0.000,0.027,2332,1193,3626,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1717,-0.56,-170.3,339.0,-10.6,228,1725,0.00,2.25,0.00,0.000,6,0.000,0.042,2331,2669,3626,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2025,-0.56,-170.3,378.3,-13.5,259,2035,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1188,3624,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2078,-0.56,-170.3,384.0,-10.4,264,2087,0.00,2.25,0.00,0.000,6,0.000,0.042,2331,2682,3624,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2388,-0.56,-170.3,420.3,-11.7,295,2397,0.00,2.15,0.00,0.000,4,0.000,0.024,2330,1187,3622,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2450,-0.56,-170.3,427.1,-9.9,301,2460,0.08,2.25,0.00,0.000,6,0.174,0.042,2344,2679,3621,0,0,0,0,0,0,26.08,26.20,28.83
$GC,2760,-0.56,-170.3,456.7,-9.2,332,2765,0.05,1.67,0.00,0.000,4,0.172,0.051,2276,3768,3618,0,0,0,0,0,0,26.60,26.08,28.83
$GC,2775,-0.56,-170.3,457.8,-9.4,333,2783,0.15,1.67,0.00,0.000,6,0.116,0.022,2343,2521,3618,0,0,0,0,0,0,26.02,26.55,28.83
$GC,3083,-0.56,-170.3,487.7,-9.0,364,3087,0.05,1.88,0.00,0.000,4,0.173,0.023,2283,1189,3616,0,0,0,0,0,0,26.59,26.39,28.83
$GC,3135,-0.56,-170.3,493.8,-11.9,369,3145,0.20,2.28,-0.10,0.000,6,0.129,0.044,2343,2675,3641,0,0,0,0,0,0,25.91,26.15,25.50
$GC,3446,-0.56,-170.3,519.7,-8.1,400,3455,0.05,2.12,0.00,0.000,4,0.173,0.023,2282,1198,3638,0,0,0,0,0,0,26.59,26.36,28.83
$GC,3510,-0.56,-170.3,526.4,-11.3,406,3518,0.20,2.28,0.00,0.000,6,0.127,0.045,2344,2667,3638,0,0,0,0,0,0,25.91,26.13,28.83
$GC,3818,-0.56,-170.3,552.1,-8.1,437,3828,0.05,2.12,0.00,0.000,4,0.172,0.023,2282,1188,3634,0,0,0,0,0,0,26.58,26.36,28.83
$GC,3842,-0.56,-170.3,554.5,-9.4,439,3852,0.17,2.30,0.00,0.000,6,0.107,0.045,2343,2673,3634,0,0,0,0,0,0,25.86,26.13,28.83
$GC,4150,-0.56,-170.3,580.4,-7.8,470,4160,0.05,2.15,0.00,0.000,4,0.171,0.023,2282,1186,3632,0,0,0,0,0,0,26.58,26.35,28.83
$GC,4205,-0.56,-170.3,585.9,-10.9,475,4214,0.20,2.30,0.00,0.000,6,0.125,0.047,2343,2688,3631,0,0,0,0,0,0,25.87,26.10,28.83
$GC,4516,-0.56,-170.3,609.8,-7.6,500,4521,0.00,2.15,0.00,0.000,4,0.000,0.024,2343,1190,3628,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4562,-0.56,-170.3,612.9,-7.8,502,4567,0.05,2.25,0.00,0.000,6,0.168,0.044,2283,2669,3628,0,0,0,0,0,0,26.08,26.11,28.83
$GC,4869,-0.56,-170.3,655.4,-14.4,517,4875,0.15,2.12,0.00,0.000,4,0.153,0.023,2339,1193,3625,0,0,0,0,0,0,26.15,26.33,28.83
$GC,4918,-0.56,-170.3,659.7,-12.8,519,4922,0.00,2.28,0.00,0.000,6,0.000,0.045,2334,2675,3624,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5224,-0.56,-170.3,686.1,-8.2,534,5230,0.00,2.15,0.00,0.000,4,0.000,0.025,2336,1194,3622,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5268,-0.56,-170.3,689.2,-8.0,536,5272,0.00,2.25,0.00,0.000,6,0.000,0.046,2334,2672,3622,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5585,-0.56,-170.3,712.9,-7.1,552,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2672,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5885,-0.56,-170.3,735.7,-7.8,567,5890,0.00,2.15,0.00,0.000,4,0.000,0.025,2334,1193,3617,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5934,-0.56,-170.3,739.1,-8.2,569,5938,0.00,2.28,0.00,0.000,6,0.000,0.047,2334,2668,3617,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6240,-0.56,-170.3,766.3,-9.0,584,6245,0.00,2.15,0.00,0.000,4,0.000,0.025,2334,1189,3615,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6279,-0.56,-170.3,769.8,-8.8,586,6285,0.00,2.30,0.00,0.000,6,0.000,0.047,2334,2673,3615,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6601,-0.56,-170.3,797.2,-8.5,602,6606,0.00,2.12,0.00,0.000,4,0.000,0.025,2334,1196,3613,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6628,-0.56,-170.3,799.1,-8.7,603,6632,0.00,2.28,0.00,0.000,6,0.000,0.047,2334,2667,3613,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6937,-0.56,-170.3,825.4,-8.4,618,6942,0.00,2.12,0.00,0.000,4,0.000,0.025,2334,1192,3611,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6969,-0.56,-170.3,827.1,-8.4,619,6977,0.00,2.28,0.00,0.000,6,0.000,0.047,2334,2666,3611,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7275,-0.56,-170.3,853.0,-8.0,635,7279,0.00,2.15,0.00,0.000,4,0.000,0.024,2334,1191,3609,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7320,-0.56,-170.3,856.3,-7.7,637,7325,0.00,2.28,0.00,0.000,6,0.000,0.047,2334,2666,3609,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7638,-0.56,-170.3,880.6,-7.7,653,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2666,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7940,-0.56,-170.3,903.2,-7.6,668,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2666,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8240,-0.56,-170.3,924.7,-7.1,683,8245,0.00,2.12,0.00,0.000,4,0.000,0.025,2334,1199,3604,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8281,-0.56,-170.3,927.5,-7.1,685,8285,0.00,2.28,0.00,0.000,6,0.000,0.046,2333,2666,3604,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8595,-0.56,-170.3,951.0,-7.9,701,8600,0.00,2.12,0.00,0.000,4,0.000,0.025,2333,1195,3603,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8626,-0.56,-170.3,952.5,-7.9,702,8633,0.00,2.28,0.00,0.000,6,0.000,0.046,2333,2666,3603,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8935,-0.56,-170.3,978.7,-8.5,718,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2665,3602,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9071,begin apogee
$GC,9078,-0.17,0.0,990.4,-8.2,725,9236,0.38,0.12,149.48,1.693,6,0.100,0.093,2469,2585,2929,0,0,0,0,0,0,25.84,24.49,22.62
$STATE,9237,end apogee,CONTROL_FINISHED_OK
$STATE,9237,begin climb
$GC,9239,0.56,170.3,999.4,0.0,733,9415,0.62,0.00,163.75,1.654,6,0.048,0.000,2719,2585,2233,0,0,0,0,0,0,24.98,28.83,22.12
$GC,9713,0.56,170.3,944.8,15.8,757,9715,0.12,0.00,0.00,0.000,6,0.184,0.000,2687,2585,2223,0,0,0,0,0,0,25.99,28.83,28.83
$GC,10014,0.56,170.3,902.8,13.9,772,10019,0.00,2.15,0.00,0.000,4,0.000,0.029,2698,1105,2221,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10041,0.56,170.3,900.0,13.9,773,10045,0.00,2.28,0.00,0.000,6,0.000,0.047,2698,2572,2219,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10348,0.56,170.3,854.1,14.5,788,10351,0.00,1.85,0.00,0.000,4,0.000,0.056,2698,3770,2218,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10390,0.56,170.3,847.0,15.9,790,10396,0.10,1.85,0.00,0.000,6,0.210,0.024,2685,2482,2218,0,0,0,0,0,0,25.95,26.34,28.83
$GC,10709,0.56,170.3,802.8,13.2,806,10714,0.00,1.98,0.00,0.000,4,0.000,0.029,2694,1107,2216,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10782,0.56,170.3,795.6,12.2,809,10789,0.00,2.28,0.00,0.000,6,0.000,0.047,2695,2570,2215,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11091,0.56,170.3,755.2,12.9,825,11094,0.00,2.17,0.00,0.000,4,0.000,0.029,2705,1114,2215,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11145,0.56,170.3,749.9,12.4,827,11152,0.08,2.25,0.00,0.000,6,0.183,0.047,2688,2566,2214,0,0,0,0,0,0,25.91,26.03,28.83
$GC,11453,0.56,170.3,713.9,10.9,843,11457,0.00,1.85,0.00,0.000,4,0.000,0.055,2688,3765,2214,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11476,0.56,170.3,711.3,11.2,844,11481,0.00,1.85,0.00,0.000,6,0.000,0.022,2697,2485,2214,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11794,0.56,170.3,672.5,12.7,860,11800,0.00,2.03,0.00,0.000,4,0.000,0.054,2697,3771,2214,0,0,0,0,0,0,28.83,25.87,28.83
$GC,11818,0.56,170.3,669.9,12.8,861,11822,0.10,1.83,0.00,0.000,6,0.203,0.022,2683,2489,2214,0,0,0,0,0,0,25.97,26.39,28.83
$GC,12130,0.56,170.3,633.9,10.9,877,12132,0.05,0.00,0.00,0.000,6,0.173,0.000,2722,2485,2213,0,0,0,0,0,0,26.53,28.83,28.83
$GC,12430,0.56,170.3,590.5,15.0,895,12439,0.12,2.00,0.00,0.000,4,0.171,0.050,2684,3776,2213,0,0,0,0,0,0,26.09,25.86,28.83
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$GC,14146,0.56,170.3,408.8,9.9,1065,14156,0.08,2.25,0.00,0.000,6,0.175,0.043,2686,2577,2212,0,0,0,0,0,0,25.84,25.96,28.83
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$GC,15488,0.61,212.8,273.6,8.1,1199,15510,0.00,2.10,15.88,1.165,4,0.000,0.033,2715,1108,2060,0,0,0,0,0,0,28.83,25.99,23.96
$GC,15625,0.64,238.4,262.7,7.8,1212,15655,0.00,2.25,23.10,1.167,6,0.000,0.042,2716,2579,1956,0,0,0,0,0,0,28.83,26.06,23.83
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$STATE,18668,end climb,SURFACE_DEPTH_REACHED
$STATE,18671,begin surface coast
$FINISH,0.7,1.021409
$STATE,18742,end surface coast,CONTROL_FINISHED_OK
$STATE,18742,begin surface
$SM_CCo,18818,0.00,0.000,0,0,752,534.02
$SM_GC,1.35,6.50,0.12,0.00,0.031,0.088,0.000,197,2717,752,-7.16,-0.51,534.02,0,0,0,0,0,0,26.27,26.53,28.83
$IRIDIUM_FIX,1754.17,12405.29,160612,191930
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.17
$INTERNAL_PRESSURE,9.55389
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,22.1,95.360
$10V_AH,9.8,58.230
$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,20.400,175.600,535.300,0.000,0.000,27.811,18.822,227.074,0.000,0.000,12.932,4305.278,10271.340,717.243,3466.104,449.287,0.000,2326.671,0.000,2857.836,0.000,0.543,0.000
$DEVICE_MAMPS,238.680,93.330,1692.945,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1168.118,2329.045,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329628
$DATA_FILE_SIZE,130437,1722
$CAP_FILE_SIZE,204437,0
$CFSIZE,260165632,176345088
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139, 73.7,1
$GPS,170612,054736,1801.660,12404.775,35,1.0,35,-2.0