version: 66.07
glider: 187
mission: 4
dive: 206
start: 5 12 111 5 1 26
data:
$ID,187
$MISSION,4
$DIVE,206
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$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,330
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-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,375
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-1584080.2
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,2905
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,43
$C_ROLL_DIVE,2175
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2735
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,6
$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,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-60.973145
$PRESSURE_SLOPE,0.0001138132
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$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,0.0043543768
$SEABIRD_T_H,0.0006249955
$SEABIRD_T_I,2.3401506e-05
$SEABIRD_T_J,2.4672308e-06
$SEABIRD_C_G,-9.9855604
$SEABIRD_C_H,1.1126566
$SEABIRD_C_I,-0.0021479612
$SEABIRD_C_J,0.0002479906
$GPS1,120511,045036,4714.969,-12629.194,24,1.7,24,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.2
$GPS2,120511,050102,4714.906,-12629.106,12,1.7,12,18.6
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.256,-0.052
$KALMAN_X,10711.6,-206.9,-75.4,-48769.7,1425.1
$KALMAN_Y,-11625.3,187.7,296.2,12586.6,-1661.0
$MHEAD_RNG_PITCHd_Wd,224.6,47798,-20.8,-10.000
$D_GRID,1000
$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,-0.72,-117.3,0.0,0.0,0,91,0.00,0.00,-72.85,0.000,2,0.000,0.000,130,2146,2920,0,0,0,0,0,0
$GC,96,-0.72,-117.3,3.7,-5.5,11,119,10.10,2.58,-5.68,0.000,4,0.235,0.070,2653,3697,3217,0,0,0,0,0,0
$GC,220,-0.69,-117.3,40.1,-20.3,32,228,0.00,2.42,0.00,0.000,6,0.000,0.044,2652,2177,3220,0,0,0,0,0,0
$GC,295,-0.64,-117.3,56.8,-21.8,45,304,0.15,2.38,0.00,0.000,4,0.173,0.052,2692,665,3220,0,0,0,0,0,0
$GC,313,-0.60,-117.3,61.0,-22.0,47,320,0.00,2.38,0.00,0.000,6,0.000,0.049,2683,2160,3220,0,0,0,0,0,0
$GC,386,-0.57,-117.3,74.9,-18.8,60,394,0.12,2.47,0.00,0.000,4,0.171,0.061,2706,3691,3221,0,0,0,0,0,0
$GC,425,-0.57,-117.3,81.3,-16.9,66,432,0.00,2.42,0.00,0.000,6,0.000,0.046,2706,2166,3221,0,0,0,0,0,0
$GC,499,-0.57,-117.3,92.8,-14.8,79,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2162,3220,0,0,0,0,0,0
$GC,576,-0.57,-117.3,103.5,-13.5,91,580,0.00,2.35,0.00,0.000,4,0.000,0.053,2705,663,3221,0,0,0,0,0,0
$GC,602,-0.57,-117.3,107.2,-12.7,93,611,0.00,2.33,0.00,0.000,6,0.000,0.048,2695,2137,3221,0,0,0,0,0,0
$GC,740,-0.57,-117.3,124.3,-13.5,106,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2137,3222,0,0,0,0,0,0
$GC,874,-0.57,-117.3,141.8,-12.1,119,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2137,3221,0,0,0,0,0,0
$GC,1001,-0.57,-117.3,157.7,-12.5,131,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2137,3222,0,0,0,0,0,0
$GC,1130,-0.57,-117.3,173.5,-12.3,143,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2137,3222,0,0,0,0,0,0
$GC,1256,-0.57,-117.3,189.1,-12.2,155,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2137,3221,0,0,0,0,0,0
$GC,1384,-0.57,-117.3,204.3,-11.9,167,1388,0.00,2.47,0.00,0.000,4,0.000,0.060,2683,3698,3222,0,0,0,0,0,0
$GC,1406,-0.57,-117.3,207.0,-12.1,168,1414,0.12,2.45,0.00,0.000,6,0.154,0.045,2717,2133,3221,0,0,0,0,0,0
$GC,1541,-0.58,-117.3,221.1,-10.0,181,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2129,3222,0,0,0,0,0,0
$GC,1669,-0.60,-117.3,234.5,-10.5,193,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2129,3222,0,0,0,0,0,0
$GC,1797,-0.61,-117.3,247.7,-10.8,205,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2129,3222,0,0,0,0,0,0
$GC,1933,-0.62,-117.3,261.4,-10.2,218,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2129,3221,0,0,0,0,0,0
$GC,2068,-0.63,-117.3,274.9,-9.7,231,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2129,3221,0,0,0,0,0,0
$GC,2197,-0.64,-117.3,287.0,-9.5,243,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2129,3222,0,0,0,0,0,0
$GC,2323,-0.65,-117.3,299.1,-9.5,255,2327,0.00,2.28,0.00,0.000,4,0.000,0.053,2717,656,3221,0,0,0,0,0,0
$GC,2357,-0.66,-117.3,302.5,-9.9,257,2364,0.00,2.30,0.00,0.000,6,0.000,0.050,2709,2146,3221,0,0,0,0,0,0
$GC,2492,-0.66,-117.3,316.0,-10.2,270,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2146,3222,0,0,0,0,0,0
$GC,2619,-0.66,-117.3,329.2,-10.3,282,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2146,3221,0,0,0,0,0,0
$GC,2747,-0.68,-117.3,342.4,-10.7,294,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2146,3222,0,0,0,0,0,0
$GC,2874,-0.68,-117.3,355.5,-10.4,306,2878,0.00,2.47,0.00,0.000,4,0.000,0.063,2697,3697,3221,0,0,0,0,0,0
$GC,2902,-0.68,-117.3,358.6,-11.2,308,2906,0.00,2.42,0.00,0.000,6,0.000,0.045,2697,2125,3221,0,0,0,0,0,0
$GC,3037,-0.68,-117.3,373.4,-11.0,320,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2119,3220,0,0,0,0,0,0
$GC,3164,-0.68,-117.3,387.2,-10.6,332,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2119,3221,0,0,0,0,0,0
$GC,3291,-0.68,-117.3,400.9,-10.5,344,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2119,3221,0,0,0,0,0,0
$GC,3419,-0.68,-117.3,414.7,-10.7,356,3423,0.00,2.53,0.00,0.000,4,0.000,0.062,2686,3700,3220,0,0,0,0,0,0
$GC,3463,-0.68,-117.3,419.6,-11.3,359,3470,0.00,2.42,0.00,0.000,6,0.000,0.045,2684,2125,3220,0,0,0,0,0,0
$GC,3597,-0.68,-117.3,434.4,-11.0,372,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2120,3220,0,0,0,0,0,0
$GC,3724,-0.68,-117.3,448.6,-11.3,384,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2121,3220,0,0,0,0,0,0
$GC,3853,-0.68,-117.3,462.2,-10.3,396,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2120,3220,0,0,0,0,0,0
$GC,3979,-0.68,-117.3,475.8,-10.4,408,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2121,3220,0,0,0,0,0,0
$GC,4107,-0.68,-117.3,489.0,-10.5,420,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2121,3219,0,0,0,0,0,0
$GC,4235,-0.68,-117.3,502.0,-10.2,432,4240,0.00,2.50,0.00,0.000,4,0.000,0.063,2673,3690,3219,0,0,0,0,0,0
$GC,4254,-0.68,-117.3,504.0,-10.5,433,4258,0.00,2.40,0.00,0.000,6,0.000,0.046,2673,2129,3219,0,0,0,0,0,0
$GC,4389,-0.68,-117.3,518.7,-11.0,445,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2125,3219,0,0,0,0,0,0
$GC,4517,-0.68,-117.3,532.9,-11.1,457,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2125,3218,0,0,0,0,0,0
$GC,4644,-0.68,-117.3,547.1,-11.4,469,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2125,3218,0,0,0,0,0,0
$GC,4770,-0.68,-117.3,560.9,-10.9,481,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2125,3218,0,0,0,0,0,0
$GC,4899,-0.68,-117.3,574.4,-10.6,493,4903,0.00,2.50,0.00,0.000,4,0.000,0.064,2661,3689,3218,0,0,0,0,0,0
$GC,4939,-0.68,-117.3,578.9,-10.8,496,4943,0.00,2.40,0.00,0.000,6,0.000,0.047,2661,2129,3218,0,0,0,0,0,0
$GC,5078,-0.68,-117.3,594.7,-11.3,509,5082,0.00,2.22,0.00,0.000,4,0.000,0.055,2661,667,3218,0,0,0,0,0,0
$GC,5102,-0.66,-117.3,597.6,-12.1,510,5110,0.10,2.28,0.00,0.000,6,0.139,0.052,2685,2125,3217,0,0,0,0,0,0
$GC,5252,-0.66,-117.3,612.6,-9.8,517,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2125,3217,0,0,0,0,0,0
$GC,5559,-0.66,-117.3,643.0,-9.9,527,5563,0.00,2.50,0.00,0.000,4,0.000,0.064,2676,3694,3217,0,0,0,0,0,0
$GC,5586,-0.66,-117.3,646.0,-10.9,527,5593,0.00,2.42,0.00,0.000,6,0.000,0.047,2675,2122,3217,0,0,0,0,0,0
$GC,5901,-0.66,-117.3,677.4,-9.8,538,5905,0.00,2.53,0.00,0.000,4,0.000,0.064,2663,3698,3216,0,0,0,0,0,0
$GC,5933,-0.66,-117.3,681.1,-10.3,539,5937,0.00,2.42,0.00,0.000,6,0.000,0.047,2663,2126,3216,0,0,0,0,0,0
$GC,6264,-0.66,-117.3,714.8,-10.3,550,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2122,3216,0,0,0,0,0,0
$GC,6571,-0.66,-117.3,746.5,-10.5,560,6575,0.00,2.53,0.00,0.000,4,0.000,0.064,2651,3697,3216,0,0,0,0,0,0
$GC,6828,-0.66,-117.3,775.3,-10.9,567,6836,0.12,2.38,0.00,0.000,6,0.158,0.047,2685,2139,3215,0,0,0,0,0,0
$GC,7142,-0.66,-117.3,803.0,-8.6,578,7146,0.00,2.28,0.00,0.000,4,0.000,0.057,2686,667,3215,0,0,0,0,0,0
$GC,7352,-0.66,-117.3,822.4,-9.2,584,7356,0.00,2.30,0.00,0.000,6,0.000,0.053,2677,2154,3215,0,0,0,0,0,0
$GC,7681,-0.66,-117.3,852.8,-9.2,595,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2154,3214,0,0,0,0,0,0
$GC,7988,-0.66,-117.3,880.4,-8.8,605,7992,0.00,2.45,0.00,0.000,4,0.000,0.067,2666,3694,3214,0,0,0,0,0,0
$GC,8024,-0.66,-117.3,883.6,-9.5,606,8028,0.00,2.40,0.00,0.000,6,0.000,0.049,2665,2136,3214,0,0,0,0,0,0
$GC,8365,-0.66,-117.3,916.5,-9.8,617,8369,0.00,2.50,0.00,0.000,4,0.000,0.065,2654,3692,3214,0,0,0,0,0,0
$GC,8397,-0.66,-117.3,920.0,-10.8,618,8402,0.12,2.38,0.00,0.000,6,0.159,0.048,2687,2150,3213,0,0,0,0,0,0
$GC,8728,-0.66,-117.3,947.5,-8.3,629,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2145,3213,0,0,0,0,0,0
$GC,9033,-0.67,-117.3,973.0,-8.4,639,9034,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2145,3213,0,0,0,0,0,0
$STATE,9245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9245,begin apogee
$GC,9252,-0.22,0.0,990.6,8.3,646,9357,0.45,0.00,101.75,1.234,6,0.125,0.000,2836,2049,2735,0,0,0,0,0,0
$STATE,9358,end apogee,CONTROL_FINISHED_OK
$STATE,9358,begin climb
$GC,9360,0.72,117.3,993.1,0.0,649,9476,0.88,0.00,109.70,1.206,6,0.079,0.000,3135,2049,2255,0,0,0,0,0,0
$GC,9797,0.69,117.3,935.9,15.1,663,9801,0.00,2.50,0.00,0.000,4,0.000,0.062,3135,3575,2244,0,0,0,0,0,0
$GC,9869,0.66,117.3,923.2,17.2,665,9873,0.00,2.40,0.00,0.000,6,0.000,0.048,3147,2086,2242,0,0,0,0,0,0
$GC,10193,0.63,117.3,871.7,15.7,676,10198,0.15,2.42,0.00,0.000,4,0.174,0.063,3108,3580,2241,0,0,0,0,0,0
$GC,10232,0.61,117.3,865.3,15.4,677,10237,0.00,2.40,0.00,0.000,6,0.000,0.049,3117,2077,2241,0,0,0,0,0,0
$GC,10557,0.59,117.3,820.6,13.6,688,10558,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2077,2240,0,0,0,0,0,0
$GC,10865,0.57,117.3,779.4,13.3,698,10869,0.00,2.40,0.00,0.000,4,0.000,0.062,3117,3576,2240,0,0,0,0,0,0
$GC,10886,0.55,117.3,775.9,13.8,698,10894,0.17,2.35,0.00,0.000,6,0.180,0.048,3083,2083,2238,0,0,0,0,0,0
$GC,11199,0.55,117.3,741.8,10.6,709,11200,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2082,2238,0,0,0,0,0,0
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$GC,15238,0.63,179.7,301.2,9.5,1003,15256,0.00,2.33,8.23,0.699,6,0.000,0.047,3082,2106,2001,0,0,0,0,0,0
$GC,15386,0.65,179.7,286.0,11.0,1017,15391,0.00,2.47,0.00,0.000,4,0.000,0.058,3092,538,1998,0,0,0,0,0,0
$GC,15408,0.66,179.7,283.3,10.6,1018,15415,0.00,2.47,0.00,0.000,6,0.000,0.051,3092,2112,1998,0,0,0,0,0,0
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$GC,15671,0.68,179.7,253.9,11.3,1043,15673,0.10,0.00,0.00,0.000,6,0.106,0.000,3142,2112,1996,0,0,0,0,0,0
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$STATE,17760,end climb,SURFACE_DEPTH_REACHED
$STATE,17760,begin surface coast
$FINISH,0.7,1.024121
$STATE,17793,end surface coast,CONTROL_FINISHED_OK
$STATE,17793,begin surface
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$TT8_MAMPS,0.027713
$HUMID,35.11
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$TCM_TEMP,15.80
$XPDR_PINGS,0
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$10V_AH,10.2,14.316
$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
$DEVICE_SECS,21.425,173.200,382.525,34.925,0.000,51.996,77.641,282.565,0.000,0.000,13.723,3427.047,10837.031,647.521,3069.052,482.850,0.000,1958.076,0.000,2675.903,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,907.277,1089.851,1110.339,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297464
$DATA_FILE_SIZE,73507,1315
$CAP_FILE_SIZE,213407,0
$CFSIZE,260165632,202375168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.088,135.8,1
$GPS,120511,100007,4713.195,-12631.241,29,1.3,29,18.6