version: 66.11
glider: 189
mission: 7
dive: 279
start: 12 12 112 5 28 33
data:
$ID,189
$MISSION,7
$DIVE,279
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,495
$T_MISSION,525
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,54634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030066001
$HD_B,0.025237
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2434
$TGT_DEFAULT_LON,-3802
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,5
$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,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-48004.73
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2320
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-80.603096
$PRESSURE_SLOPE,0.0001182519
$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,10
$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,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,0.0042969952
$SEABIRD_T_H,0.00061766658
$SEABIRD_T_I,2.0722548e-05
$SEABIRD_T_J,1.9705003e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,121212,051805,2432.967,-3752.227,29,1.2,29,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-57.0
$GPS2,121212,052735,2432.919,-3752.278,19,0.9,20,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.066,0.100
$KALMAN_X,71816.8,27.4,209.5,-55850.6,1093.0
$KALMAN_Y,-20854.1,-38.0,282.8,15609.0,-5717.1
$MHEAD_RNG_PITCHd_Wd,340.4,28342,-19.9,-6.667,-29.07
$D_GRID,990
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.26,-97.7,0.0,0.0,0,38,0.00,0.00,-11.57,0.000,2,0.000,0.000,156,2114,1433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-1.26,-97.7,2.1,0.0,1,108,8.90,2.62,-49.33,0.000,4,0.179,0.053,2590,3748,2720,0,0,0,0,0,0,25.58,26.04,26.67
$GC,338,-1.17,-97.7,24.2,-12.2,31,347,0.08,2.47,0.00,0.000,6,0.143,0.021,2614,2088,2721,0,0,0,0,0,0,26.00,26.35,28.83
$GC,648,-1.12,-97.7,50.0,-6.4,62,657,0.00,2.62,0.00,0.000,4,0.000,0.039,2603,3748,2721,0,0,0,0,0,0,28.83,26.18,28.83
$GC,888,-1.05,-97.7,66.7,-7.3,86,897,0.15,2.45,0.00,0.000,6,0.129,0.021,2653,2088,2724,0,0,0,0,0,0,25.94,26.47,28.83
$GC,1208,-1.05,-97.7,88.6,-6.5,104,1215,0.00,2.62,0.00,0.000,4,0.000,0.039,2642,3746,2722,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1450,-1.03,-97.7,105.8,-7.1,112,1455,0.00,2.42,0.00,0.000,6,0.000,0.021,2642,2102,2722,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1778,-1.03,-97.7,129.7,-7.4,123,1785,0.00,2.62,0.00,0.000,4,0.000,0.039,2630,3758,2723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2018,-1.00,-97.7,147.5,-7.3,131,2026,0.12,2.47,0.00,0.000,6,0.124,0.020,2672,2082,2723,0,0,0,0,0,0,26.10,26.53,28.83
$GC,2378,-1.03,-97.7,166.2,-4.8,138,2385,0.00,2.62,0.00,0.000,4,0.000,0.039,2661,3743,2724,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2619,-1.03,-97.7,182.5,-6.8,142,2626,0.00,2.42,0.00,0.000,6,0.000,0.021,2659,2097,2722,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2979,-1.06,-97.7,205.3,-6.4,148,2985,0.00,2.62,0.00,0.000,4,0.000,0.040,2649,3752,2724,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3220,-1.06,-97.7,217.6,-5.1,152,3225,0.00,2.40,0.00,0.000,6,0.000,0.021,2649,2097,2724,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3578,-1.06,-97.7,235.0,-5.0,158,3585,0.00,2.62,0.00,0.000,4,0.000,0.040,2637,3752,2725,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3820,-1.06,-97.7,250.2,-6.4,162,3825,0.00,2.40,0.00,0.000,6,0.000,0.021,2637,2092,2724,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4178,-1.06,-97.7,274.8,-7.0,168,4185,0.00,2.45,0.00,0.000,4,0.000,0.037,2637,537,2724,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4420,-1.06,-97.7,295.5,-8.6,172,4426,0.12,2.47,0.00,0.000,6,0.158,0.024,2657,2220,2724,0,0,0,0,0,0,26.14,26.50,28.83
$GC,4778,-1.10,-97.7,325.4,-8.2,178,4785,0.00,2.42,0.00,0.000,4,0.000,0.042,2647,3745,2723,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4877,-1.13,-97.7,330.3,-8.1,179,4884,0.00,2.45,0.00,0.000,6,0.000,0.021,2647,2102,2723,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5198,-1.16,-97.7,357.5,-7.3,185,5205,0.00,2.62,0.00,0.000,4,0.000,0.041,2635,3749,2722,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5427,-1.16,-97.7,369.8,-6.9,188,5431,0.00,2.47,0.00,0.000,6,0.000,0.021,2634,2095,2721,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5728,-1.16,-97.7,389.4,-5.3,193,5736,0.00,2.62,0.00,0.000,4,0.000,0.041,2623,3749,2721,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5970,-1.16,-97.7,404.0,-6.1,197,5975,0.00,2.40,0.00,0.000,6,0.000,0.021,2623,2098,2720,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6328,-1.16,-97.7,430.2,-7.5,203,6335,0.00,2.62,0.00,0.000,4,0.000,0.041,2611,3742,2719,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6569,-1.16,-97.7,451.3,-8.8,207,6575,0.00,2.42,0.00,0.000,6,0.000,0.021,2611,2107,2718,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6928,-1.16,-97.7,482.6,-8.6,213,6936,0.00,2.60,0.00,0.000,4,0.000,0.040,2598,3745,2717,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7169,-1.16,-97.7,500.5,-7.5,217,7175,0.00,2.40,0.00,0.000,6,0.000,0.021,2596,2105,2717,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7528,-1.16,-97.7,524.6,-6.7,220,7535,0.00,2.45,0.00,0.000,4,0.000,0.038,2598,551,2716,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7767,-1.16,-97.7,543.2,-7.3,222,7776,0.15,2.47,0.00,0.000,6,0.156,0.024,2626,2189,2715,0,0,0,0,0,0,26.05,26.48,28.83
$GC,8128,-1.16,-97.7,566.6,-6.7,225,8136,0.00,2.62,0.00,0.000,4,0.000,0.037,2626,543,2715,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8197,-1.16,-97.7,566.6,-6.7,225,8205,0.00,2.53,0.00,0.000,6,0.000,0.024,2616,2188,2714,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8608,-1.18,-97.7,599.4,-6.8,229,8616,0.00,2.50,0.00,0.000,4,0.000,0.042,2604,3752,2713,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8848,-1.18,-97.7,617.0,-7.0,231,8855,0.00,2.47,0.00,0.000,6,0.000,0.022,2604,2099,2713,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9208,-1.18,-97.7,644.3,-7.6,234,9215,0.00,2.62,0.00,0.000,4,0.000,0.042,2591,3744,2712,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9448,-1.18,-97.7,663.9,-8.0,236,9455,0.00,2.47,0.00,0.000,6,0.000,0.022,2592,2105,2711,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9808,-1.18,-97.7,691.3,-7.7,239,9816,0.10,2.62,0.00,0.000,4,0.162,0.041,2606,3749,2710,0,0,0,0,0,0,26.51,26.21,28.83
$GC,10049,-1.18,-97.7,709.2,-7.5,241,10055,0.00,2.42,0.00,0.000,6,0.000,0.023,2606,2095,2709,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10408,-1.18,-97.7,733.1,-6.8,244,10415,0.00,2.45,0.00,0.000,4,0.000,0.040,2606,550,2708,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10649,-1.18,-97.7,750.7,-6.9,246,10655,0.00,2.50,0.00,0.000,6,0.000,0.025,2594,2184,2707,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11008,-1.18,-97.7,779.5,-7.9,249,11016,0.00,2.50,0.00,0.000,4,0.000,0.043,2582,3738,2706,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11247,-1.18,-97.7,801.4,-8.7,251,11256,0.12,2.47,0.00,0.000,6,0.152,0.023,2614,2102,2705,0,0,0,0,0,0,26.10,26.47,28.83
$GC,11608,-1.18,-97.7,830.7,-8.4,254,11615,0.00,2.65,0.00,0.000,4,0.000,0.043,2603,3740,2705,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11849,-1.21,-97.7,850.5,-8.1,256,11855,0.00,2.40,0.00,0.000,6,0.000,0.023,2603,2100,2704,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12209,-1.24,-97.7,878.6,-8.0,259,12216,0.00,2.47,0.00,0.000,4,0.000,0.041,2603,547,2703,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12449,-1.24,-97.7,894.8,-7.2,261,12455,0.00,2.45,0.00,0.000,6,0.000,0.027,2591,2187,2702,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12808,-1.24,-97.7,916.7,-6.2,264,12815,0.00,2.50,0.00,0.000,4,0.000,0.044,2580,3744,2701,0,0,0,0,0,0,28.83,26.11,28.83
$GC,13049,-1.24,-97.7,932.8,-6.4,266,13055,0.00,2.42,0.00,0.000,6,0.000,0.024,2580,2101,2700,0,0,0,0,0,0,28.83,26.42,28.83
$GC,13408,-1.24,-97.7,958.8,-7.1,269,13416,0.00,2.62,0.00,0.000,4,0.000,0.044,2568,3743,2700,0,0,0,0,0,0,28.83,26.09,28.83
$GC,13650,-1.24,-97.7,979.4,-7.9,271,13656,0.12,2.42,0.00,0.000,6,0.156,0.024,2599,2101,2699,0,0,0,0,0,0,26.02,26.41,28.83
$STATE,13785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13786,begin apogee
$GC,13793,-0.29,0.0,991.1,-8.5,273,13882,0.95,0.08,83.88,1.661,6,0.124,0.100,2902,1633,2320,0,0,0,0,0,0,25.34,24.86,23.32
$STATE,13883,end apogee,CONTROL_FINISHED_OK
$STATE,13883,begin climb
$GC,13886,1.26,97.7,994.6,0.0,277,13987,1.40,2.20,90.53,1.637,4,0.060,0.047,3415,355,1920,0,0,0,0,0,0,25.16,24.69,23.13
$GC,14217,1.11,103.5,984.1,6.4,291,14227,0.20,1.98,4.60,1.204,6,0.165,0.024,3360,1656,1896,0,0,0,0,0,0,25.68,26.14,23.95
$GC,14619,1.04,127.4,958.4,5.6,295,14646,0.00,2.17,22.70,1.586,4,0.000,0.050,3368,356,1799,0,0,0,0,0,0,28.83,25.67,24.07
$GC,14849,0.98,145.6,949.9,5.8,296,14871,0.17,1.95,17.00,1.546,6,0.143,0.024,3314,1654,1724,0,0,0,0,0,0,25.78,26.23,24.08
$GC,15212,0.94,145.6,912.5,7.9,300,15217,0.00,2.08,0.00,0.000,4,0.000,0.050,3323,347,1722,0,0,0,0,0,0,28.83,26.14,28.83
$GC,15398,0.91,145.6,901.5,8.3,301,15406,0.12,2.00,0.00,0.000,6,0.153,0.025,3290,1661,1720,0,0,0,0,0,0,26.08,26.41,28.83
$GC,15810,0.91,145.6,858.6,8.9,305,15817,0.00,2.10,0.00,0.000,4,0.000,0.047,3299,356,1719,0,0,0,0,0,0,28.83,26.25,28.83
$GC,16040,0.91,145.6,847.6,8.9,306,16048,0.00,1.95,0.00,0.000,6,0.000,0.025,3299,1654,1718,0,0,0,0,0,0,28.83,26.51,28.83
$GC,16409,0.91,145.6,809.4,7.9,310,16410,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1654,1718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16770,0.91,149.5,786.9,6.5,313,16777,0.00,2.08,0.00,0.000,4,0.000,0.049,3308,356,1717,0,0,0,0,0,0,28.83,26.23,28.83
$GC,16998,0.93,160.4,779.7,6.2,314,17017,0.00,1.95,12.98,1.462,6,0.000,0.026,3308,1655,1665,0,0,0,0,0,0,28.83,26.53,24.37
$GC,17370,0.93,160.4,746.8,6.8,318,17377,0.00,2.12,0.00,0.000,4,0.000,0.048,3319,340,1666,0,0,0,0,0,0,28.83,26.15,28.83
$GC,17609,0.93,160.4,726.9,7.7,320,17616,0.00,1.98,0.00,0.000,6,0.000,0.026,3319,1650,1662,0,0,0,0,0,0,28.83,26.46,28.83
$GC,17970,0.93,160.4,694.5,8.9,323,17977,0.00,2.08,0.00,0.000,4,0.000,0.048,3328,358,1663,0,0,0,0,0,0,28.83,26.20,28.83
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$GC,19162,1.02,171.2,601.5,6.2,333,19180,0.00,2.12,10.30,1.319,4,0.000,0.048,3314,352,1621,0,0,0,0,0,0,28.83,26.23,24.39
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$GC,21053,1.08,196.0,421.3,10.7,355,21060,0.00,2.10,0.00,0.000,4,0.000,0.047,3365,349,1519,0,0,0,0,0,0,28.83,26.19,28.83
$GC,21192,1.08,196.0,409.0,10.4,357,21195,0.00,1.95,0.00,0.000,6,0.000,0.024,3365,1649,1519,0,0,0,0,0,0,28.83,26.52,28.83
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$STATE,25171,end climb,SURFACE_DEPTH_REACHED
$STATE,25171,begin surface coast
$FINISH,1.4,1.025653
$STATE,25193,end surface coast,CONTROL_FINISHED_OK
$STATE,25193,begin surface
$SM_CCo,25214,22.95,0.132,0,0,1094,300.00
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$IRIDIUM_FIX,2418.11,-3750.42,111212,222250
$TT8_MAMPS,0.026964,0.026964
$HUMID,62.67
$INTERNAL_PRESSURE,9.02643
$TCM_TEMP,22.10
$XPDR_PINGS,0
$SC_FREEKB,7662720
$TM_FREEKB,5447744
$24V_AH,23.1,53.360
$10V_AH,10.2,45.052
$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,21.875,200.200,312.325,22.950,0.000,25.690,35.700,222.417,0.000,0.000,20.540,2596.894,19461.951,674.982,2612.824,447.390,33.259,1841.092,0.000,2177.239,0.000,0.535,0.000
$DEVICE_MAMPS,179.010,100.215,1660.815,132.345,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.183,13.488,0.000,0.000
$MEM,344380
$DATA_FILE_SIZE,13422,488
$CAP_FILE_SIZE,196582,0
$CFSIZE,260034560,225464320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121212,123029,2433.539,-3751.850,41,0.8,42,-14.0