version: 66.11
glider: 181
mission: 11
dive: 456
start: 7 28 113 16 14 8
data:
$ID,181
$MISSION,11
$DIVE,456
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,150
$T_BOOST,5
$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,320
$T_MISSION,350
$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,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0028798201
$HD_B,0.025745301
$HD_C,2.4475299e-05
$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,612.7594
$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,-96667.953
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3941
$C_PITCH,2675
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,73
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2938
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-160.75446
$PRESSURE_SLOPE,0.000109412
$AD7714Ch0Gain,1
$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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004364301
$SEABIRD_T_H,0.00062910328
$SEABIRD_T_I,2.4425184e-05
$SEABIRD_T_J,2.6404416e-06
$SEABIRD_C_G,-9.9046793
$SEABIRD_C_H,1.1251128
$SEABIRD_C_I,-0.0019873739
$SEABIRD_C_J,0.00023203803
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,280713,160200,2227.767,12357.763,38,1.4,38,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-68.6
$GPS2,280713,161337,2227.685,12357.828,14,0.9,14,-3.1
$SPEED_LIMITS,0.179,0.181
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$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,226.1,106898,-21.5,-10.312,-29.71,2752
$D_GRID,5410
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.32,-194.6,227,2660,465,426,0.0,0.0,0,127,0.00,0.00,-102.05,0.000,16386,0.000,0.000,227,2660,3057,3098,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,133,-1.32,-194.6,227,2660,3098,3017,3.5,-12.2,18,165,9.20,2.28,-12.73,0.000,18948,0.374,0.060,2241,1265,3734,3800,3668,0,0,0,0,0,0,14.19,14.59,14.88
$GC,204,-1.32,-194.6,2240,1266,3800,3669,23.4,-23.2,30,211,0.00,2.28,0.00,0.000,1030,0.000,0.058,2233,2641,3734,3800,3669,0,0,0,0,0,0,28.83,14.59,28.83
$GC,521,-1.32,-194.6,2233,2641,3800,3669,96.1,-22.3,52,526,0.00,2.17,0.00,0.000,516,0.000,0.038,2232,1265,3734,3800,3669,0,0,0,0,0,0,28.83,14.69,28.83
$GC,593,-1.32,-194.6,2233,1264,3801,3669,110.1,-22.0,55,598,0.00,2.28,0.00,0.000,1030,0.000,0.054,2223,2659,3734,3800,3669,0,0,0,0,0,0,28.83,14.67,28.83
$GC,907,-1.32,-194.6,2223,2658,3800,3669,175.3,-19.9,71,914,0.00,1.85,0.00,0.000,260,0.000,0.069,2214,3779,3734,3800,3669,0,0,0,0,0,0,28.83,14.64,28.83
$GC,941,-1.32,-194.6,2214,3779,3800,3669,180.1,-19.5,72,947,0.15,1.73,0.00,0.000,3078,0.282,0.031,2246,2606,3734,3800,3668,0,0,0,0,0,0,14.36,14.83,28.83
$GC,1256,-1.32,-194.6,2246,2606,3801,3669,236.9,-17.1,88,1261,0.00,1.95,0.00,0.000,260,0.000,0.069,2239,3785,3734,3800,3669,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1377,-1.32,-194.6,2238,3786,3800,3669,254.8,-17.1,93,1384,0.00,1.67,0.00,0.000,1030,0.000,0.032,2239,2638,3734,3800,3669,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1679,-1.32,-194.6,2239,2637,3800,3669,305.9,-15.1,109,1685,0.00,2.08,0.00,0.000,516,0.000,0.036,2239,1299,3734,3799,3669,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1697,-1.32,-194.6,2239,1297,3800,3669,305.9,-15.1,109,1704,0.00,2.20,0.00,0.000,1030,0.000,0.054,2229,2652,3734,3800,3669,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2004,-1.32,-194.6,2229,2652,3800,3668,356.9,-16.1,125,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2652,3733,3800,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2305,-1.32,-194.6,2229,2652,3800,3666,403.9,-14.7,140,2311,0.00,1.85,0.00,0.000,260,0.000,0.071,2220,3778,3733,3801,3665,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2404,-1.32,-194.6,2220,3779,3800,3665,417.0,-15.2,144,2411,0.00,1.65,0.00,0.000,1030,0.000,0.033,2220,2669,3732,3799,3665,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2709,-1.32,-194.6,2221,2668,3800,3662,462.2,-13.9,160,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2668,3731,3800,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3012,-1.32,-194.6,2219,2667,3798,3661,506.0,-15.1,175,3017,0.00,2.17,0.00,0.000,516,0.000,0.040,2220,1290,3729,3799,3660,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3055,-1.32,-194.6,2220,1289,3799,3660,513.2,-15.3,177,3061,0.15,2.25,0.00,0.000,3078,0.278,0.058,2243,2656,3729,3799,3660,0,0,0,0,0,0,14.36,14.69,28.83
$GC,3380,-1.32,-194.6,2243,2656,3799,3654,560.5,-14.2,193,3385,0.00,1.88,0.00,0.000,260,0.000,0.078,2237,3778,3726,3799,3654,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3509,-1.32,-194.6,2237,3778,3796,3654,579.0,-15.1,199,3514,0.00,1.70,0.00,0.000,1030,0.000,0.036,2237,2649,3725,3797,3654,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3821,-1.32,-194.6,2237,2649,3796,3650,623.8,-14.0,212,3826,0.00,1.92,0.00,0.000,260,0.000,0.078,2228,3784,3721,3795,3647,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3885,-1.32,-194.6,2228,3783,3793,3650,633.7,-14.5,214,3890,0.00,1.73,0.00,0.000,1030,0.000,0.037,2228,2659,3721,3793,3650,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4222,-1.32,-194.6,2228,2659,3791,3645,685.1,-15.9,225,4227,0.00,2.20,0.00,0.000,516,0.000,0.042,2228,1282,3718,3791,3645,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4249,-1.32,-194.6,2228,1281,3790,3645,685.1,-15.9,225,4257,0.12,2.30,0.00,0.000,3078,0.288,0.062,2244,2654,3718,3791,3645,0,0,0,0,0,0,14.32,14.61,28.83
$GC,4559,-1.32,-194.6,2244,2653,3788,3642,736.5,-15.2,236,4564,0.00,1.92,0.00,0.000,260,0.000,0.086,2238,3784,3713,3788,3638,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4646,-1.32,-194.6,2238,3785,3787,3642,746.8,-15.2,238,4653,0.00,1.80,0.00,0.000,1030,0.000,0.039,2237,2645,3714,3787,3642,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4953,-1.32,-194.6,2238,2644,3786,3637,796.1,-14.5,249,4958,0.00,2.20,0.00,0.000,516,0.000,0.045,2237,1281,3711,3785,3637,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4971,-1.32,-194.6,2237,1279,3785,3637,796.1,-14.5,249,4977,0.00,2.33,0.00,0.000,1030,0.000,0.065,2228,2656,3711,3786,3637,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5294,-1.32,-194.6,2228,2656,3781,3633,845.4,-14.1,260,5299,0.00,1.95,0.00,0.000,260,0.000,0.090,2219,3786,3707,3780,3634,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5432,-1.32,-194.6,2222,3786,3778,3633,865.0,-15.5,264,5438,0.12,1.77,0.00,0.000,3078,0.293,0.041,2243,2656,3705,3778,3633,0,0,0,0,0,0,14.23,14.73,28.83
$GC,5754,-1.32,-194.6,2243,2655,3777,3628,915.5,-15.6,275,5759,0.00,2.25,0.00,0.000,516,0.000,0.047,2243,1272,3703,3777,3629,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5789,-1.32,-194.6,2243,1272,3777,3629,921.3,-15.7,276,5794,0.00,2.35,0.00,0.000,1030,0.000,0.066,2236,2650,3703,3777,3629,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6124,-1.32,-194.6,2236,2650,3774,3625,975.0,-16.3,287,6129,0.00,2.28,0.00,0.000,516,0.000,0.047,2236,1263,3699,3774,3625,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,6215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6215,begin apogee
$GC,6224,-0.22,0.0,2229,2158,3774,3623,990.3,-16.2,290,6407,1.35,0.00,175.38,1.838,10246,0.235,0.000,2595,2158,2935,2972,2898,0,0,0,0,0,0,14.03,28.83,13.32
$STATE,6409,end apogee,CONTROL_FINISHED_OK
$STATE,6409,begin climb
$GC,6413,1.32,194.6,2595,2157,2969,2895,1000.5,0.0,296,6602,1.48,2.40,179.82,1.817,10756,0.084,0.061,3111,780,2140,2165,2116,0,0,0,0,0,0,14.22,14.14,13.29
$GC,6771,1.32,194.6,3111,780,2164,2094,960.4,15.4,308,6777,0.00,2.33,0.00,0.000,1030,0.000,0.063,3111,2146,2128,2163,2094,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7097,1.32,194.6,3111,2146,2163,2088,909.2,15.8,319,7103,0.00,2.30,0.00,0.000,516,0.000,0.059,3121,773,2125,2163,2088,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7186,1.32,194.6,3121,773,2163,2087,898.8,15.7,321,7192,0.00,2.33,0.00,0.000,1030,0.000,0.062,3121,2155,2124,2163,2086,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7492,1.32,194.6,3121,2155,2163,2084,844.2,16.7,332,7497,0.00,2.30,0.00,0.000,516,0.000,0.056,3130,775,2123,2163,2084,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7545,1.32,194.6,3131,778,2163,2084,838.3,16.8,333,7551,0.12,2.30,0.00,0.000,5126,0.316,0.060,3107,2153,2123,2163,2084,0,0,0,0,0,0,14.34,14.66,28.83
$GC,7862,1.32,194.6,3107,2153,2163,2080,785.1,15.5,344,7867,0.00,2.42,0.00,0.000,260,0.000,0.087,3106,3556,2122,2164,2080,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7890,1.32,194.6,3107,3556,2163,2080,785.1,15.5,344,7898,0.00,2.22,0.00,0.000,1030,0.000,0.039,3115,2168,2121,2163,2080,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8195,1.32,194.6,3115,2168,2162,2079,737.5,13.5,355,8200,0.00,2.35,0.00,0.000,516,0.000,0.057,3125,748,2121,2163,2079,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8309,1.32,194.6,3121,747,2163,2078,725.2,13.2,358,8315,0.00,2.35,0.00,0.000,1030,0.000,0.056,3125,2153,2122,2168,2076,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8623,1.32,194.6,3126,2153,2162,2077,682.6,12.8,369,8629,0.00,2.33,0.00,0.000,516,0.000,0.054,3135,755,2119,2162,2077,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8666,1.32,194.6,3135,755,2162,2077,678.1,13.0,370,8672,0.15,2.33,0.00,0.000,5126,0.297,0.054,3104,2152,2119,2162,2076,0,0,0,0,0,0,14.26,14.64,28.83
$GC,8993,1.32,194.6,3104,2152,2162,2074,634.6,13.0,381,8999,0.00,2.33,0.00,0.000,516,0.000,0.053,3112,754,2118,2162,2074,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9051,1.32,194.6,3112,754,2168,2070,629.8,13.0,382,9058,0.00,2.33,0.00,0.000,1030,0.000,0.054,3112,2150,2118,2162,2075,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9370,1.32,194.6,3109,2150,2161,2074,585.9,12.3,395,9375,0.00,2.42,0.00,0.000,260,0.000,0.085,3112,3556,2118,2162,2074,0,0,0,0,0,0,28.83,14.51,28.83
$GC,9433,1.32,194.6,3112,3556,2161,2074,577.3,12.8,398,9439,0.00,2.28,0.00,0.000,1030,0.000,0.037,3122,2141,2117,2161,2074,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9757,1.32,194.6,3123,2141,2161,2073,541.2,10.7,414,9762,0.00,2.30,0.00,0.000,516,0.000,0.054,3133,750,2117,2160,2074,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9896,1.32,194.6,3132,751,2161,2074,528.1,10.6,420,9903,0.12,2.35,0.00,0.000,5126,0.297,0.054,3107,2157,2117,2160,2074,0,0,0,0,0,0,14.19,14.59,28.83
$GC,10202,1.32,194.6,3107,2158,2161,2073,495.8,10.8,436,10208,0.00,2.42,0.00,0.000,260,0.000,0.084,3106,3551,2116,2160,2072,0,0,0,0,0,0,28.83,14.46,28.83
$GC,10229,1.32,194.6,2176,3551,2121,2064,493.0,11.1,437,10235,0.00,2.25,0.00,0.000,1030,0.000,0.037,3114,2145,2116,2160,2073,0,0,0,0,0,0,28.83,14.68,28.83
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$GC,11363,1.41,240.0,3107,2144,2160,2072,374.3,8.7,493,11407,0.00,2.42,37.80,1.163,8452,0.000,0.079,3107,3551,1954,1993,1915,0,0,0,0,0,0,28.83,14.60,13.88
$GC,11430,1.46,262.2,3107,3552,1989,1912,368.2,9.5,496,11459,0.00,2.25,20.65,1.166,9222,0.000,0.037,3115,2151,1863,1897,1829,0,0,0,0,0,0,28.83,14.64,13.81
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$GC,12254,1.46,262.2,3126,3561,1895,1813,267.5,12.1,536,12261,0.00,2.28,0.00,0.000,1030,0.000,0.036,3136,2139,1854,1895,1813,0,0,0,0,0,0,28.83,14.67,28.83
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$STATE,14747,end climb,SURFACE_DEPTH_REACHED
$STATE,14748,begin surface coast
$FINISH,0.2,1.021455
$STATE,14769,end surface coast,CONTROL_FINISHED_OK
$STATE,14769,begin surface
$SM_CCo,14793,106.78,0.136,0,0,437,612.76
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$IRIDIUM_FIX,2227.67,12355.65,280713,111138
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.68
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,25.70
$XPDR_PINGS,2
$SC_FREEKB,3752224
$24V_AH,13.3,154.920
$10V_AH,12.8,0.000
$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
$DEVICE_SECS,21.275,159.350,493.875,106.775,0.000,23.119,42.318,333.448,0.500,0.000,17.391,2410.385,9606.531,746.646,2338.793,494.461,0.000,1808.980,0.000,1826.080,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.986,0.000,0.000,0.000
$MEM,328612
$DATA_FILE_SIZE,26725,701
$CAP_FILE_SIZE,181685,0
$CFSIZE,260034560,208678912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.333,130.5,1
$GPS,280713,202354,2225.673,12359.442,38,1.3,38,-3.1