version: 66.09
glider: 181
mission: 6
dive: 711
start: 10 25 111 8 25 5
data:
$ID,181
$MISSION,6
$DIVE,711
$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,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,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,0
$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,-41500.879
$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,2375
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,42
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,15
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,251011,081836,2144.468,12002.995,40,1.2,40,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-63.1
$GPS2,251011,082438,2144.676,12002.912,11,1.6,11,-2.6
$SPEED_LIMITS,0.179,0.314
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.206,0.235
$KALMAN_X,28223.1,-227.3,-456.5,-48601.6,-2485.5
$KALMAN_Y,68902.1,-606.5,-201.3,102840.5,390.9
$MHEAD_RNG_PITCHd_Wd,183.6,305023,-14.3,-10.312
$D_GRID,2422
$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,-0.61,-219.0,0.0,0.0,0,86,0.00,0.00,-67.55,0.000,2,0.000,0.000,126,2474,2333,0,0,0,0,0,0
$GC,90,-0.61,-219.0,3.3,-3.0,12,138,8.73,0.75,-33.15,0.000,4,0.228,0.066,2168,1946,3763,0,0,0,0,0,0
$GC,242,-0.47,-219.0,36.5,-22.7,38,249,0.17,0.82,0.00,0.000,6,0.143,0.037,2218,2487,3763,0,0,0,0,0,0
$GC,589,-0.40,-219.0,97.2,-15.7,99,596,0.00,0.80,0.00,0.000,4,0.000,0.038,2215,3029,3762,0,0,0,0,0,0
$GC,682,-0.32,-219.0,111.1,-13.9,115,689,0.15,0.75,0.00,0.000,6,0.109,0.024,2268,2485,3762,0,0,0,0,0,0
$GC,1031,-0.48,-219.0,144.1,-9.8,176,1040,0.15,0.68,0.00,0.000,4,0.076,0.028,2205,1973,3762,0,0,0,0,0,0
$GC,1195,-0.60,-219.0,158.3,-8.5,204,1202,0.00,0.80,0.00,0.000,6,0.000,0.032,2204,2515,3762,0,0,0,0,0,0
$GC,1544,-0.70,-219.0,188.4,-8.4,265,1551,0.15,0.75,0.00,0.000,4,0.069,0.026,2111,1968,3763,0,0,0,0,0,0
$GC,1687,-0.60,-219.0,206.8,-14.2,285,1691,0.20,0.80,0.00,0.000,6,0.120,0.036,2174,2500,3763,0,0,0,0,0,0
$GC,2020,-0.66,-219.0,239.9,-8.9,316,2024,0.00,0.77,0.00,0.000,4,0.000,0.037,2173,3027,3763,0,0,0,0,0,0
$GC,2117,-0.69,-219.0,249.5,-9.8,324,2123,0.00,0.73,0.00,0.000,6,0.000,0.026,2173,2496,3762,0,0,0,0,0,0
$GC,2443,-0.76,-219.0,282.6,-10.1,355,2447,0.12,0.82,0.00,0.000,4,0.081,0.038,2092,3028,3761,0,0,0,0,0,0
$GC,2516,-0.65,-219.0,292.2,-14.7,361,2524,0.20,0.73,0.00,0.000,6,0.126,0.026,2157,2504,3760,0,0,0,0,0,0
$GC,2842,-0.63,-219.0,325.2,-10.0,392,2846,0.00,0.80,0.00,0.000,4,0.000,0.038,2155,3031,3758,0,0,0,0,0,0
$GC,2905,-0.60,-219.0,331.5,-10.2,397,2912,0.00,0.75,0.00,0.000,6,0.000,0.026,2155,2495,3758,0,0,0,0,0,0
$GC,3233,-0.58,-219.0,365.7,-10.1,428,3238,0.12,0.82,0.00,0.000,4,0.138,0.039,2192,3020,3755,0,0,0,0,0,0
$GC,3272,-0.63,-219.0,369.6,-9.2,431,3279,0.00,0.73,0.00,0.000,6,0.000,0.026,2191,2498,3755,0,0,0,0,0,0
$GC,3599,-0.75,-219.0,397.7,-8.9,462,3603,0.17,0.73,0.00,0.000,4,0.070,0.028,2110,1962,3753,0,0,0,0,0,0
$GC,3637,-0.74,-219.0,402.3,-11.4,465,3644,0.00,0.80,0.00,0.000,6,0.000,0.035,2106,2494,3751,0,0,0,0,0,0
$GC,3964,-0.66,-219.0,449.3,-15.3,496,3968,0.20,0.80,0.00,0.000,4,0.141,0.037,2162,3016,3749,0,0,0,0,0,0
$GC,4160,-0.65,-219.0,472.6,-11.0,513,4166,0.00,0.73,0.00,0.000,6,0.000,0.027,2162,2500,3747,0,0,0,0,0,0
$GC,4498,-0.73,-219.0,506.2,-9.1,542,4501,0.00,0.80,0.00,0.000,4,0.000,0.041,2162,3021,3745,0,0,0,0,0,0
$GC,4560,-0.80,-219.0,512.2,-9.0,544,4567,0.10,0.73,0.00,0.000,6,0.049,0.026,2097,2504,3744,0,0,0,0,0,0
$GC,4877,-0.80,-219.0,544.5,-10.1,560,4881,0.00,0.70,0.00,0.000,4,0.000,0.025,2096,1983,3741,0,0,0,0,0,0
$GC,4969,-0.75,-219.0,555.0,-11.8,564,4973,0.10,0.77,0.00,0.000,6,0.127,0.037,2128,2497,3740,0,0,0,0,0,0
$GC,5304,-0.70,-219.0,594.1,-12.0,580,5308,0.00,0.80,0.00,0.000,4,0.000,0.042,2126,3022,3737,0,0,0,0,0,0
$GC,5478,-0.65,-219.0,615.9,-12.0,587,5485,0.10,0.75,0.00,0.000,6,0.127,0.027,2159,2496,3736,0,0,0,0,0,0
$GC,5797,-0.73,-219.0,645.3,-9.4,603,5801,0.00,0.82,0.00,0.000,4,0.000,0.041,2159,3032,3733,0,0,0,0,0,0
$GC,5878,-0.78,-219.0,653.2,-9.0,606,5881,0.00,0.75,0.00,0.000,6,0.000,0.028,2158,2507,3733,0,0,0,0,0,0
$GC,6201,-0.86,-219.0,683.2,-9.2,622,6206,0.17,0.82,0.00,0.000,4,0.070,0.041,2071,3024,3731,0,0,0,0,0,0
$GC,6228,-0.86,-219.0,686.5,-9.7,623,6232,0.00,0.75,0.00,0.000,6,0.000,0.027,2071,2503,3730,0,0,0,0,0,0
$GC,6556,-0.74,-219.0,737.7,-15.9,639,6560,0.22,0.85,0.00,0.000,4,0.154,0.039,2131,3026,3728,0,0,0,0,0,0
$GC,6713,-0.71,-219.0,756.6,-11.4,646,6717,0.00,0.75,0.00,0.000,6,0.000,0.027,2130,2498,3727,0,0,0,0,0,0
$GC,7047,-0.67,-219.0,796.4,-11.9,662,7051,0.00,0.82,0.00,0.000,4,0.000,0.042,2127,3024,3724,0,0,0,0,0,0
$GC,7171,-0.63,-219.0,812.2,-12.4,667,7175,0.12,0.75,0.00,0.000,6,0.124,0.027,2168,2501,3724,0,0,0,0,0,0
$GC,7495,-0.73,-219.0,841.2,-8.6,683,7498,0.00,0.73,0.00,0.000,4,0.000,0.028,2168,1966,3722,0,0,0,0,0,0
$GC,7639,-0.80,-219.0,853.3,-8.0,689,7643,0.12,0.82,0.00,0.000,6,0.047,0.037,2097,2502,3722,0,0,0,0,0,0
$GC,7970,-0.81,-219.0,886.8,-10.0,705,7973,0.00,0.80,0.00,0.000,4,0.000,0.043,2097,3026,3720,0,0,0,0,0,0
$GC,8099,-0.73,-219.0,902.9,-13.6,710,8106,0.10,0.75,0.00,0.000,6,0.130,0.028,2132,2508,3719,0,0,0,0,0,0
$GC,8416,-0.71,-219.0,938.0,-11.2,726,8420,0.00,0.80,0.00,0.000,4,0.000,0.044,2128,3020,3718,0,0,0,0,0,0
$GC,8545,-0.67,-219.0,952.8,-11.2,731,8552,0.00,0.75,0.00,0.000,6,0.000,0.028,2129,2497,3717,0,0,0,0,0,0
$GC,8862,-0.64,-219.0,989.1,-11.8,747,8866,0.15,0.85,0.00,0.000,4,0.145,0.043,2170,3017,3715,0,0,0,0,0,0
$STATE,8869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8869,begin apogee
$GC,8878,-0.19,0.0,990.7,11.7,747,9051,0.43,0.00,166.80,1.065,6,0.104,0.000,2313,2102,2869,0,0,0,0,0,0
$STATE,9051,end apogee,CONTROL_FINISHED_OK
$STATE,9052,begin climb
$GC,9055,0.61,219.0,1003.6,0.0,755,9238,0.70,0.82,174.57,1.052,4,0.050,0.031,2589,1575,1975,0,0,0,0,0,0
$GC,9476,0.50,219.0,970.4,12.1,775,9480,0.15,0.80,0.00,0.000,6,0.148,0.031,2545,2112,1973,0,0,0,0,0,0
$GC,9812,0.46,234.9,937.9,9.8,791,9834,0.00,0.80,14.00,0.933,4,0.000,0.037,2545,2622,1910,0,0,0,0,0,0
$GC,9975,0.39,234.9,920.6,10.5,798,9979,0.12,0.77,0.00,0.000,6,0.154,0.028,2508,2095,1909,0,0,0,0,0,0
$GC,10304,0.47,318.3,894.5,7.7,814,10376,0.00,0.85,66.20,0.991,4,0.000,0.035,2508,2619,1571,0,0,0,0,0,0
$GC,10481,0.51,354.8,879.8,9.1,822,10516,0.00,0.77,30.62,0.946,6,0.000,0.028,2510,2094,1421,0,0,0,0,0,0
$GC,10833,0.64,410.2,850.2,8.5,839,10884,0.20,0.85,44.30,0.952,4,0.070,0.034,2598,2619,1196,0,0,0,0,0,0
$GC,11009,0.60,410.2,826.7,14.5,847,11014,0.10,0.75,0.00,0.000,6,0.141,0.028,2570,2107,1199,0,0,0,0,0,0
$GC,11343,0.60,410.2,785.5,12.3,863,11347,0.00,0.75,0.00,0.000,4,0.000,0.034,2570,2611,1204,0,0,0,0,0,0
$GC,11390,0.57,410.2,779.4,13.3,865,11394,0.00,0.75,0.00,0.000,6,0.000,0.030,2571,2098,1203,0,0,0,0,0,0
$GC,11723,0.56,410.2,739.0,11.7,881,11727,0.00,0.77,0.00,0.000,4,0.000,0.034,2570,2617,1203,0,0,0,0,0,0
$GC,11775,0.54,410.2,733.0,11.9,883,11778,0.00,0.75,0.00,0.000,6,0.000,0.029,2574,2101,1202,0,0,0,0,0,0
$GC,12103,0.52,410.2,697.2,10.6,899,12104,0.12,0.00,0.00,0.000,6,0.151,0.000,2540,2101,1202,0,0,0,0,0,0
$GC,12413,0.63,445.6,669.6,9.2,914,12449,0.12,0.80,30.30,0.846,4,0.089,0.035,2599,2615,1052,0,0,0,0,0,0
$GC,12569,0.60,445.6,649.4,13.9,921,12573,0.10,0.75,0.00,0.000,6,0.132,0.029,2570,2103,1051,0,0,0,0,0,0
$GC,12903,0.60,445.6,611.0,11.4,937,12906,0.00,0.75,0.00,0.000,4,0.000,0.035,2572,1584,1051,0,0,0,0,0,0
$GC,12926,0.60,445.6,608.1,11.4,938,12930,0.00,0.77,0.00,0.000,6,0.000,0.030,2571,2099,1051,0,0,0,0,0,0
$GC,13260,0.60,445.6,571.1,10.6,954,13264,0.00,0.77,0.00,0.000,4,0.000,0.036,2571,2628,1052,0,0,0,0,0,0
$GC,13403,0.58,445.6,555.3,11.4,960,13406,0.00,0.77,0.00,0.000,6,0.000,0.029,2574,2098,1051,0,0,0,0,0,0
$GC,13732,0.62,446.7,522.0,10.3,976,13735,0.00,0.77,0.00,0.000,4,0.000,0.033,2575,2621,1052,0,0,0,0,0,0
$GC,13759,0.66,446.7,519.0,10.5,977,13763,0.00,0.77,0.00,0.000,6,0.000,0.031,2577,2096,1051,0,0,0,0,0,0
$GC,14082,0.70,446.7,486.0,10.5,998,14086,0.00,0.75,0.00,0.000,4,0.000,0.035,2580,1577,1051,0,0,0,0,0,0
$GC,14130,0.72,446.7,480.9,10.7,1002,14133,0.00,0.77,0.00,0.000,6,0.000,0.029,2580,2104,1052,0,0,0,0,0,0
$GC,14461,0.77,454.3,447.0,10.1,1033,14475,0.12,0.80,8.52,0.647,4,0.088,0.037,2640,2618,1016,0,0,0,0,0,0
$GC,14594,0.70,454.3,429.0,13.6,1044,14602,0.12,0.77,0.00,0.000,6,0.142,0.029,2604,2093,1018,0,0,0,0,0,0
$GC,14920,0.70,454.3,392.7,11.0,1075,14923,0.00,0.75,0.00,0.000,4,0.000,0.034,2606,1572,1018,0,0,0,0,0,0
$GC,14977,0.68,454.3,386.5,10.8,1080,14982,0.00,0.77,0.00,0.000,6,0.000,0.028,2606,2098,1019,0,0,0,0,0,0
$GC,15308,0.68,454.3,350.1,10.8,1111,15312,0.00,0.77,0.00,0.000,4,0.000,0.036,2606,2630,1019,0,0,0,0,0,0
$GC,15415,0.64,454.3,337.5,12.0,1120,15422,0.00,0.77,0.00,0.000,6,0.000,0.030,2609,2101,1018,0,0,0,0,0,0
$GC,15741,0.70,489.8,305.1,9.2,1151,15774,0.00,0.00,28.83,0.618,6,0.000,0.000,2610,2101,872,0,0,0,0,0,0
$GC,16094,0.75,499.2,271.3,10.0,1184,16110,0.00,0.80,10.18,0.558,4,0.000,0.034,2613,1570,832,0,0,0,0,0,0
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$GC,16539,0.92,511.9,226.2,10.5,1224,16546,0.00,0.80,0.00,0.000,6,0.000,0.029,2694,2101,780,0,0,0,0,0,0
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$GC,17735,1.07,581.6,96.7,9.6,1415,17762,0.17,0.77,18.25,0.494,4,0.074,0.028,2731,2638,496,0,0,0,0,0,0
$GC,17803,1.10,581.6,88.5,11.8,1426,17810,0.00,0.77,0.00,0.000,6,0.000,0.029,2734,2108,495,0,0,0,0,0,0
$GC,18153,1.06,581.6,53.5,10.5,1487,18160,0.00,0.75,0.00,0.000,4,0.000,0.034,2738,1578,496,0,0,0,0,0,0
$GC,18314,1.08,609.3,37.9,9.4,1515,18333,0.00,0.77,12.25,0.445,6,0.000,0.026,2738,2118,439,0,0,0,0,0,0
$STATE,18629,end climb,SURFACE_DEPTH_REACHED
$STATE,18629,begin surface coast
$FINISH,0.7,1.011983
$STATE,18664,end surface coast,CONTROL_FINISHED_OK
$STATE,18664,begin surface
$SM_CCo,18741,0.00,0.000,0,0,442,595.59
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$IRIDIUM_FIX,2136.49,12005.70,251011,020237
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.18
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.8,118.047
$10V_AH,9.7,85.847
$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
$DEVICE_SECS,20.975,64.975,654.650,0.000,0.000,30.261,16.493,154.319,0.000,0.000,13.689,3838.275,10854.542,707.928,3202.094,486.560,0.000,2320.931,0.000,2964.342,0.000,0.541,0.000
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$SENSOR_SECS,1090.172,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322756
$DATA_FILE_SIZE,90280,1577
$CAP_FILE_SIZE,209154,0
$CFSIZE,260165632,187326464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251011,133837,2144.225,12002.823,31,1.2,31,-2.6