version: 66.09
glider: 181
mission: 6
dive: 262
start: 7 30 111 5 58 7
data:
$ID,181
$MISSION,6
$DIVE,262
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,280
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-40849.051
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-61.82621
$PRESSURE_SLOPE,0.000116609
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$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
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$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,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,300711,055036,1947.701,11952.462,34,0.9,40,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-68.6
$GPS2,300711,055743,1947.858,11952.404,10,0.9,15,-2.2
$SPEED_LIMITS,0.204,0.344
$TGT_NAME,WS
$TGT_LATLONG,2030.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,11.8,79152,-15.4,-11.786
$D_GRID,3630
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.56,-243.3,0.0,0.0,0,89,0.00,0.00,-70.75,0.000,2,0.000,0.000,195,2620,2449,0,0,0,0,0,0
$GC,92,-0.56,-243.3,3.5,-3.8,10,137,8.10,1.83,-27.48,0.000,4,0.233,0.053,2122,3781,3866,0,0,0,0,0,0
$GC,280,-0.56,-243.3,91.5,-37.2,43,288,0.00,1.80,0.00,0.000,6,0.000,0.024,2122,2580,3867,0,0,0,0,0,0
$GC,413,-0.56,-243.3,128.0,-26.4,68,421,0.00,1.90,0.00,0.000,4,0.000,0.042,2113,3781,3867,0,0,0,0,0,0
$GC,465,-0.56,-243.3,140.3,-23.4,77,474,0.00,1.70,0.00,0.000,6,0.000,0.024,2113,2637,3865,0,0,0,0,0,0
$GC,600,-0.56,-243.3,171.8,-25.8,102,608,0.00,1.80,0.00,0.000,4,0.000,0.043,2104,3772,3868,0,0,0,0,0,0
$GC,653,-0.56,-243.3,186.0,-26.5,111,662,0.10,1.62,0.00,0.000,6,0.144,0.024,2136,2690,3868,0,0,0,0,0,0
$GC,794,-0.56,-243.3,213.7,-18.0,130,798,0.00,2.17,0.00,0.000,4,0.000,0.028,2136,1212,3869,0,0,0,0,0,0
$GC,848,-0.56,-243.3,221.7,-12.1,134,856,0.00,2.25,0.00,0.000,6,0.000,0.034,2128,2659,3868,0,0,0,0,0,0
$GC,1179,-0.56,-243.3,269.4,-15.2,165,1182,0.00,1.70,0.00,0.000,4,0.000,0.044,2125,3783,3868,0,0,0,0,0,0
$GC,1250,-0.56,-243.3,280.2,-11.7,171,1256,0.00,1.62,0.00,0.000,6,0.000,0.024,2124,2684,3868,0,0,0,0,0,0
$GC,1575,-0.56,-243.3,326.6,-14.1,202,1579,0.00,2.17,0.00,0.000,4,0.000,0.028,2125,1201,3866,0,0,0,0,0,0
$GC,1618,-0.56,-243.3,332.3,-11.9,205,1625,0.00,2.22,0.00,0.000,6,0.000,0.034,2125,2659,3866,0,0,0,0,0,0
$GC,1944,-0.56,-243.3,375.2,-14.5,236,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2664,3862,0,0,0,0,0,0
$GC,2264,-0.56,-243.3,417.2,-12.0,266,2268,0.00,1.70,0.00,0.000,4,0.000,0.046,2121,3777,3859,0,0,0,0,0,0
$GC,2299,-0.56,-243.3,421.3,-11.5,269,2303,0.00,1.65,0.00,0.000,6,0.000,0.024,2121,2652,3859,0,0,0,0,0,0
$GC,2630,-0.56,-243.3,462.8,-13.6,300,2634,0.00,2.15,0.00,0.000,4,0.000,0.030,2121,1202,3856,0,0,0,0,0,0
$GC,2674,-0.56,-243.3,468.2,-11.5,303,2681,0.00,2.22,0.00,0.000,6,0.000,0.035,2113,2661,3855,0,0,0,0,0,0
$GC,2998,-0.56,-243.3,516.6,-16.1,329,3002,0.00,1.70,0.00,0.000,4,0.000,0.048,2112,3775,3852,0,0,0,0,0,0
$GC,3076,-0.56,-243.3,527.0,-11.3,332,3080,0.00,1.65,0.00,0.000,6,0.000,0.025,2112,2678,3852,0,0,0,0,0,0
$GC,3398,-0.56,-243.3,568.9,-13.3,348,3402,0.00,2.17,0.00,0.000,4,0.000,0.030,2112,1212,3849,0,0,0,0,0,0
$GC,3442,-0.56,-243.3,574.0,-10.5,350,3447,0.00,2.25,0.00,0.000,6,0.000,0.037,2112,2672,3848,0,0,0,0,0,0
$GC,3765,-0.56,-243.3,610.5,-11.4,366,3769,0.00,1.70,0.00,0.000,4,0.000,0.048,2112,3776,3845,0,0,0,0,0,0
$GC,3811,-0.56,-243.3,615.2,-10.0,368,3815,0.00,1.65,0.00,0.000,6,0.000,0.027,2112,2660,3844,0,0,0,0,0,0
$GC,4144,-0.56,-243.3,655.3,-12.8,384,4148,0.00,2.17,0.00,0.000,4,0.000,0.031,2112,1203,3841,0,0,0,0,0,0
$GC,4194,-0.56,-243.3,661.5,-11.0,386,4198,0.00,2.28,0.00,0.000,6,0.000,0.037,2112,2674,3841,0,0,0,0,0,0
$GC,4516,-0.56,-243.3,701.7,-13.1,402,4519,0.00,1.70,0.00,0.000,4,0.000,0.050,2112,3774,3838,0,0,0,0,0,0
$GC,4562,-0.56,-243.3,707.0,-11.8,404,4565,0.00,1.65,0.00,0.000,6,0.000,0.026,2112,2658,3838,0,0,0,0,0,0
$GC,4895,-0.56,-243.3,746.6,-12.0,420,4899,0.00,2.15,0.00,0.000,4,0.000,0.031,2112,1212,3836,0,0,0,0,0,0
$GC,4958,-0.56,-243.3,752.9,-9.1,423,4962,0.00,2.25,0.00,0.000,6,0.000,0.037,2112,2661,3835,0,0,0,0,0,0
$GC,5291,-0.56,-243.3,789.9,-11.7,439,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2662,3832,0,0,0,0,0,0
$GC,5599,-0.56,-243.3,827.8,-12.4,454,5603,0.00,2.20,0.00,0.000,4,0.000,0.031,2112,1213,3830,0,0,0,0,0,0
$GC,5626,-0.56,-243.3,831.3,-12.5,455,5631,0.00,2.25,0.00,0.000,6,0.000,0.040,2112,2655,3830,0,0,0,0,0,0
$GC,5950,-0.56,-243.3,868.5,-11.5,471,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2656,3828,0,0,0,0,0,0
$GC,6258,-0.56,-243.3,903.4,-11.2,486,6262,0.00,2.20,0.00,0.000,4,0.000,0.032,2112,1212,3826,0,0,0,0,0,0
$GC,6285,-0.56,-243.3,906.7,-10.8,487,6289,0.00,2.25,0.00,0.000,6,0.000,0.040,2112,2651,3826,0,0,0,0,0,0
$GC,6607,-0.56,-243.3,937.9,-10.0,503,6610,0.00,1.75,0.00,0.000,4,0.000,0.051,2112,3773,3824,0,0,0,0,0,0
$GC,6653,-0.56,-243.3,941.9,-8.5,505,6657,0.00,1.65,0.00,0.000,6,0.000,0.027,2112,2660,3823,0,0,0,0,0,0
$GC,6987,-0.56,-243.3,970.6,-8.4,521,6991,0.00,2.17,0.00,0.000,4,0.000,0.032,2112,1214,3823,0,0,0,0,0,0
$GC,7059,-0.56,-243.3,976.3,-6.9,524,7063,0.00,2.20,0.00,0.000,6,0.000,0.038,2112,2641,3822,0,0,0,0,0,0
$STATE,7254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7254,begin apogee
$GC,7261,-0.13,0.0,991.7,8.3,534,7451,0.47,0.00,183.85,1.094,4,0.116,0.000,2269,2130,2869,0,0,0,0,0,0
$STATE,7453,end apogee,CONTROL_FINISHED_OK
$STATE,7453,begin climb
$GC,7455,0.56,243.3,999.3,0.0,543,7660,0.65,2.28,196.30,1.063,4,0.055,0.037,2505,733,1877,0,0,0,0,0,0
$GC,7738,0.56,243.3,975.6,13.2,555,7743,0.00,2.25,0.00,0.000,6,0.000,0.032,2505,2123,1876,0,0,0,0,0,0
$GC,8054,0.56,243.3,934.7,12.6,570,8058,0.00,2.17,0.00,0.000,4,0.000,0.035,2510,726,1874,0,0,0,0,0,0
$GC,8189,0.56,243.3,918.0,12.5,576,8193,0.00,2.20,0.00,0.000,6,0.000,0.034,2515,2141,1874,0,0,0,0,0,0
$GC,8510,0.56,243.3,877.7,12.4,592,8514,0.00,2.17,0.00,0.000,4,0.000,0.044,2514,3540,1873,0,0,0,0,0,0
$GC,8576,0.56,243.3,868.4,13.9,595,8580,0.00,2.15,0.00,0.000,6,0.000,0.026,2524,2124,1873,0,0,0,0,0,0
$GC,8904,0.56,243.3,821.7,14.8,611,8908,0.00,2.15,0.00,0.000,4,0.000,0.037,2535,724,1872,0,0,0,0,0,0
$GC,9004,0.56,243.3,806.5,15.2,615,9012,0.12,2.15,0.00,0.000,6,0.173,0.033,2504,2130,1872,0,0,0,0,0,0
$GC,9321,0.56,243.3,763.0,13.8,631,9325,0.00,2.20,0.00,0.000,4,0.000,0.045,2504,3536,1868,0,0,0,0,0,0
$GC,9367,0.56,243.3,756.1,15.4,633,9371,0.00,2.12,0.00,0.000,6,0.000,0.027,2511,2132,1870,0,0,0,0,0,0
$GC,9700,0.56,243.3,709.6,13.4,649,9704,0.00,2.15,0.00,0.000,4,0.000,0.038,2522,717,1871,0,0,0,0,0,0
$GC,9763,0.56,243.3,701.6,12.6,652,9767,0.00,2.15,0.00,0.000,6,0.000,0.033,2522,2121,1871,0,0,0,0,0,0
$GC,10090,0.56,243.3,658.0,13.3,668,10094,0.00,2.20,0.00,0.000,4,0.000,0.044,2522,3542,1870,0,0,0,0,0,0
$GC,10117,0.56,243.3,653.9,14.1,669,10122,0.10,2.20,0.00,0.000,6,0.156,0.027,2501,2119,1870,0,0,0,0,0,0
$GC,10440,0.56,245.7,615.9,11.7,685,10443,0.00,2.12,0.00,0.000,4,0.000,0.037,2510,717,1870,0,0,0,0,0,0
$GC,10461,0.56,250.2,613.2,11.6,686,10472,0.00,2.15,6.00,0.734,6,0.000,0.032,2510,2122,1847,0,0,0,0,0,0
$GC,10786,0.57,256.7,576.4,11.6,701,10800,0.00,2.28,6.57,0.705,4,0.000,0.044,2510,3542,1822,0,0,0,0,0,0
$GC,10898,0.57,256.7,561.7,13.9,706,10902,0.00,2.12,0.00,0.000,6,0.000,0.027,2519,2136,1825,0,0,0,0,0,0
$GC,11231,0.57,256.7,515.6,14.2,722,11235,0.00,2.15,0.00,0.000,4,0.000,0.036,2530,717,1822,0,0,0,0,0,0
$GC,11316,0.57,256.7,503.8,13.9,726,11320,0.00,2.15,0.00,0.000,6,0.000,0.032,2530,2122,1822,0,0,0,0,0,0
$GC,11641,0.57,256.7,456.2,14.1,755,11645,0.00,2.20,0.00,0.000,4,0.000,0.043,2530,3541,1821,0,0,0,0,0,0
$GC,11668,0.57,256.7,452.0,14.6,757,11676,0.12,2.15,0.00,0.000,6,0.176,0.027,2509,2114,1822,0,0,0,0,0,0
$GC,11995,0.58,263.9,414.5,11.6,788,12008,0.00,2.20,7.18,0.682,4,0.000,0.036,2518,714,1793,0,0,0,0,0,0
$GC,12055,0.58,264.7,407.3,11.8,793,12059,0.00,2.15,0.00,0.000,6,0.000,0.032,2518,2114,1793,0,0,0,0,0,0
$GC,12385,0.60,278.8,367.8,11.3,824,12408,0.00,2.28,12.80,0.673,4,0.000,0.042,2518,3535,1732,0,0,0,0,0,0
$GC,12477,0.60,278.8,356.3,12.8,832,12481,0.00,2.15,0.00,0.000,6,0.000,0.027,2534,2116,1731,0,0,0,0,0,0
$GC,12803,0.60,278.8,313.4,13.6,862,12807,0.00,2.12,0.00,0.000,4,0.000,0.036,2538,716,1731,0,0,0,0,0,0
$GC,12893,0.60,278.8,301.3,13.3,870,12898,0.00,2.12,0.00,0.000,6,0.000,0.031,2538,2109,1731,0,0,0,0,0,0
$GC,13219,0.60,278.8,257.5,12.3,900,13223,0.00,2.20,0.00,0.000,4,0.000,0.043,2538,3537,1731,0,0,0,0,0,0
$GC,13251,0.60,278.8,253.0,13.1,902,13260,0.10,2.20,0.00,0.000,6,0.150,0.025,2517,2107,1731,0,0,0,0,0,0
$GC,13578,0.64,312.5,219.0,10.7,933,13613,0.00,2.17,25.60,0.610,4,0.000,0.036,2526,725,1596,0,0,0,0,0,0
$GC,13659,0.73,387.9,210.9,9.3,940,13721,0.00,2.12,55.78,0.576,6,0.000,0.031,2526,2113,1285,0,0,0,0,0,0
$GC,14036,0.82,456.0,179.7,9.6,998,14097,0.17,2.33,51.05,0.558,4,0.077,0.041,2605,3538,1009,0,0,0,0,0,0
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$GC,14244,0.82,456.0,150.4,13.2,1032,14252,0.00,2.25,0.00,0.000,4,0.000,0.040,2584,3531,1012,0,0,0,0,0,0
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$GC,14564,0.87,498.1,109.8,11.4,1089,14581,0.00,2.17,10.38,0.447,6,0.000,0.031,2602,2100,837,0,0,0,0,0,0
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$GC,15279,1.08,669.9,29.6,11.4,1214,15288,0.00,2.25,0.28,0.110,4,0.000,0.037,2663,3530,442,0,0,0,0,0,0
$GC,15338,1.08,669.9,22.3,13.0,1224,15347,0.00,2.15,0.90,0.076,6,0.000,0.026,2671,2138,443,0,0,0,0,0,0
$GC,15475,1.16,731.6,8.1,9.8,1249,15484,0.00,2.17,2.45,0.201,4,0.000,0.033,2681,718,440,0,0,0,0,0,0
$STATE,15526,end climb,SURFACE_DEPTH_REACHED
$STATE,15526,begin surface coast
$FINISH,0.4,1.020888
$STATE,15553,end surface coast,CONTROL_FINISHED_OK
$STATE,15556,begin surface
$SM_CCo,15634,0.00,0.000,0,0,441,595.59
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$IRIDIUM_FIX,1938.95,11952.64,300711,000033
$TT8_MAMPS,0.027713,0.027713
$HUMID,42.32
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,23.3,41.424
$10V_AH,9.9,40.443
$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
$DEVICE_SECS,16.750,172.650,656.375,0.000,0.000,28.192,40.348,204.264,0.250,0.000,17.616,3050.779,8646.430,690.699,3299.715,356.563,0.000,2081.129,0.000,2270.667,0.000,0.541,0.000
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$SENSOR_SECS,879.133,1291.908,1408.757,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322996
$DATA_FILE_SIZE,86999,1263
$CAP_FILE_SIZE,174222,0
$CFSIZE,260165632,226541568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300711,101954,1951.224,11953.624,35,1.5,36,-2.2