version: 66.11
glider: 191
mission: 5
dive: 46
start: 9 28 112 22 43 36
data:
$ID,191
$MISSION,5
$DIVE,46
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,980
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,6
$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,540
$T_MISSION,580
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,15
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55001
$NAV_MODE,2
$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,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3858.3428
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3912
$C_PITCH,2190
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3062
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.410744
$PRESSURE_SLOPE,0.0001171456
$AD7714Ch0Gain,128
$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,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043008043
$SEABIRD_T_H,0.0006204489
$SEABIRD_T_I,2.2177979e-05
$SEABIRD_T_J,2.3040141e-06
$SEABIRD_C_G,-9.8990955
$SEABIRD_C_H,1.13379
$SEABIRD_C_I,-0.00086898328
$SEABIRD_C_J,0.00011426309
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,280912,222904,2433.057,-3802.227,25,1.1,25,-14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-61.6
$GPS2,280912,224306,2433.085,-3802.218,15,1.2,15,-14.0
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,C
$TGT_LATLONG,2433.000,-3802.000
$TGT_RADIUS,100.000
$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,135.8,400,-26.4,-6.049,-30.00
$D_GRID,980
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,20,-0.98,-29.8,0.0,0.0,0,76,0.00,0.00,-53.15,0.000,6,0.000,0.000,162,1510,3184,0,0,0,0,0,0,28.83,28.83,14.94
$GC,78,-1.01,-50.2,2.5,-3.3,3,94,8.77,1.92,-2.05,0.000,4,0.435,0.114,1861,440,3268,0,0,0,0,0,0,14.49,14.70,14.90
$GC,311,-0.94,-50.2,47.1,-17.4,19,316,0.15,1.77,0.00,0.000,6,0.344,0.050,1879,1494,3270,0,0,0,0,0,0,14.61,14.81,28.83
$GC,612,-0.92,-50.2,84.3,-12.0,39,616,0.00,1.88,0.00,0.000,4,0.000,0.090,1893,439,3271,0,0,0,0,0,0,28.83,14.79,28.83
$GC,807,-0.88,-50.2,109.6,-13.0,52,811,0.00,1.80,0.00,0.000,6,0.000,0.050,1882,1513,3271,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1106,-0.86,-50.2,145.8,-12.5,72,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,1514,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1406,-0.85,-50.2,184.4,-13.3,92,1408,0.15,0.00,0.00,0.000,6,0.310,0.000,1913,1512,3272,0,0,0,0,0,0,14.73,28.83,28.83
$GC,1706,-0.87,-50.2,215.5,-9.4,112,1710,0.00,1.90,0.00,0.000,4,0.000,0.090,1913,438,3272,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1781,-0.87,-50.2,222.6,-9.7,117,1785,0.00,1.77,0.00,0.000,6,0.000,0.050,1907,1502,3272,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2082,-0.88,-50.2,249.7,-9.3,137,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,1503,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2397,-0.90,-50.2,284.0,-11.2,148,2400,0.00,1.88,0.00,0.000,4,0.000,0.092,1907,441,3272,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2622,-0.90,-50.2,311.6,-12.4,156,2625,0.00,1.77,0.00,0.000,6,0.000,0.050,1899,1509,3271,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2937,-0.91,-50.2,346.6,-10.9,167,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1510,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3237,-0.93,-50.2,375.4,-9.0,177,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1510,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3537,-0.94,-50.2,403.2,-9.8,187,3541,0.00,1.90,0.00,0.000,4,0.000,0.093,1899,435,3267,0,0,0,0,0,0,28.83,14.91,28.83
$GC,3761,-0.94,-50.2,428.6,-11.4,195,3765,0.00,1.77,0.00,0.000,6,0.000,0.051,1891,1499,3266,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4076,-0.94,-50.2,463.1,-11.5,206,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,1500,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4377,-0.96,-50.2,496.5,-10.9,216,4381,0.00,1.88,0.00,0.000,4,0.000,0.096,1891,443,3264,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4496,-0.96,-50.2,508.1,-11.1,220,4499,0.00,1.77,0.00,0.000,6,0.000,0.053,1883,1503,3263,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4796,-0.96,-50.2,539.0,-9.7,230,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,1504,3261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5097,-0.96,-50.2,571.2,-11.4,240,5100,0.00,1.88,0.00,0.000,4,0.000,0.095,1883,444,3260,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5231,-0.94,-50.2,587.7,-12.3,245,5235,0.00,1.77,0.00,0.000,6,0.000,0.054,1875,1502,3259,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5546,-0.94,-50.2,625.3,-12.2,256,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,1875,1503,3257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5846,-0.94,-50.2,663.0,-12.2,266,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,1875,1503,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6147,-0.94,-50.2,697.0,-10.9,276,6150,0.00,1.90,0.00,0.000,4,0.000,0.096,1875,442,3254,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6266,-0.92,-50.2,708.7,-11.1,280,6270,0.00,1.80,0.00,0.000,6,0.000,0.054,1867,1506,3253,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6566,-0.92,-50.2,737.8,-9.1,290,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,1507,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6867,-0.92,-50.2,766.9,-9.9,300,6871,0.00,1.90,0.00,0.000,4,0.000,0.096,1867,443,3250,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7015,-0.90,-50.2,782.6,-11.7,305,7020,0.17,1.80,0.00,0.000,6,0.321,0.057,1895,1506,3249,0,0,0,0,0,0,14.70,14.96,28.83
$GC,7318,-0.92,-50.2,814.7,-10.2,315,7321,0.00,1.90,0.00,0.000,4,0.000,0.098,1895,444,3247,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7436,-0.92,-50.2,826.8,-11.6,319,7439,0.00,1.80,0.00,0.000,6,0.000,0.057,1890,1507,3247,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7736,-0.94,-50.2,863.0,-11.5,329,7740,0.00,1.92,0.00,0.000,4,0.000,0.099,1890,437,3246,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7841,-0.94,-50.2,876.3,-12.7,333,7845,0.00,1.80,0.00,0.000,6,0.000,0.057,1882,1498,3245,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8157,-0.96,-50.2,911.3,-10.4,344,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,1499,3244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8457,-0.98,-50.2,940.7,-9.4,354,8458,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,1499,3243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8757,-0.99,-50.2,968.8,-9.1,364,8758,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,1499,3240,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8905,begin apogee
$GC,8908,-0.18,0.0,982.0,-8.8,369,8976,0.93,0.00,58.83,1.914,6,0.272,0.000,2122,1500,3064,0,0,0,0,1,0,14.68,28.83,13.62
$STATE,8977,end apogee,CONTROL_FINISHED_OK
$STATE,8977,begin climb
$GC,8979,1.01,50.2,983.3,0.0,371,9062,1.23,0.00,73.45,2.157,6,0.142,0.000,2502,1500,2857,0,0,0,0,1,0,14.43,28.83,13.29
$GC,9356,0.97,50.2,962.4,6.7,384,9360,0.00,1.85,0.00,0.000,4,0.000,0.067,2503,2566,2860,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9552,0.93,50.9,950.6,5.9,391,9556,0.00,1.90,0.00,0.000,6,0.000,0.080,2511,1500,2859,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9867,0.90,56.9,934.2,5.2,402,9882,0.15,1.85,5.45,2.102,4,0.349,0.069,2481,2562,2832,0,0,0,0,0,0,14.64,14.81,14.00
$GC,9987,0.88,64.2,928.1,5.1,406,10023,0.00,1.90,26.73,1.076,6,0.000,0.081,2488,1496,2798,0,0,0,0,1,0,28.83,14.81,13.97
$GC,10332,0.86,64.2,907.5,6.1,418,10336,0.00,1.92,0.00,0.000,4,0.000,0.103,2496,437,2797,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10451,0.81,64.2,900.7,6.6,422,10456,0.20,1.83,0.00,0.000,6,0.326,0.059,2454,1500,2797,0,0,0,0,0,0,14.65,14.85,28.83
$GC,10752,0.82,66.7,882.7,5.7,432,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1500,2796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11052,0.82,66.7,864.3,6.3,442,11055,0.00,1.83,0.00,0.000,4,0.000,0.070,2454,2563,2795,0,0,0,0,0,0,28.83,14.88,28.83
$GC,11246,0.82,66.7,850.6,7.2,449,11250,0.00,1.90,0.00,0.000,6,0.000,0.083,2460,1493,2795,0,0,0,0,0,0,28.83,14.87,28.83
$GC,11562,0.82,66.7,826.3,7.7,460,11565,0.00,1.90,0.00,0.000,4,0.000,0.104,2468,443,2794,0,0,0,0,0,0,28.83,14.85,28.83
$GC,11727,0.79,66.7,813.6,7.6,466,11730,0.00,1.83,0.00,0.000,6,0.000,0.060,2468,1509,2793,0,0,0,0,0,0,28.83,14.91,28.83
$GC,12042,0.81,77.0,795.7,4.7,477,12079,0.00,1.98,27.92,1.086,4,0.000,0.103,2475,438,2748,0,0,0,0,1,0,28.83,14.75,14.09
$GC,12161,0.79,83.9,790.3,5.1,481,12177,0.12,1.83,6.05,2.035,6,0.333,0.059,2453,1501,2723,0,0,0,0,0,0,14.64,14.81,14.52
$GC,12477,0.80,92.7,774.4,4.8,492,12512,0.00,0.00,27.73,1.076,6,0.000,0.000,2453,1501,2682,0,0,0,0,1,0,28.83,28.83,13.98
$GC,12808,0.82,92.7,755.4,6.5,503,12811,0.00,1.92,0.00,0.000,4,0.000,0.104,2459,446,2685,0,0,0,0,0,0,28.83,14.74,28.83
$GC,12942,0.80,92.7,744.0,8.5,508,12945,0.00,1.83,0.00,0.000,6,0.000,0.060,2458,1506,2684,0,0,0,0,0,0,28.83,14.83,28.83
$GC,13257,0.80,92.7,715.1,9.6,519,13260,0.00,1.83,0.00,0.000,4,0.000,0.070,2459,2565,2684,0,0,0,0,0,0,28.83,14.84,28.83
$GC,13436,0.80,92.7,698.8,9.9,525,13440,0.00,1.90,0.00,0.000,6,0.000,0.083,2466,1499,2684,0,0,0,0,0,0,28.83,14.84,28.83
$GC,13736,0.80,92.7,666.4,10.5,535,13737,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1498,2684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14037,0.80,92.7,636.5,9.8,545,14038,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1497,2684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14336,0.80,92.7,609.7,8.5,555,14340,0.00,1.83,0.00,0.000,4,0.000,0.068,2463,2557,2684,0,0,0,0,0,0,28.83,14.89,28.83
$GC,14455,0.80,92.7,601.3,8.0,559,14459,0.00,1.88,0.00,0.000,6,0.000,0.082,2474,1498,2684,0,0,0,0,0,0,28.83,14.87,28.83
$GC,14757,0.81,95.1,580.9,5.7,569,14764,0.00,1.92,2.70,1.707,4,0.000,0.102,2482,437,2671,0,0,0,0,0,0,28.83,14.87,14.23
$GC,14966,0.79,95.1,569.0,6.1,576,14971,0.17,1.83,0.00,0.000,6,0.321,0.057,2447,1511,2672,0,0,0,0,0,0,14.69,14.90,28.83
$GC,15268,0.81,96.2,550.7,5.9,586,15272,0.00,1.80,0.00,0.000,4,0.000,0.069,2446,2563,2672,0,0,0,0,0,0,28.83,14.88,28.83
$GC,15492,0.83,96.2,535.2,7.1,594,15496,0.00,1.88,0.00,0.000,6,0.000,0.081,2452,1500,2672,0,0,0,0,0,0,28.83,14.88,28.83
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$GC,16527,0.89,96.2,447.2,9.2,630,16531,0.00,1.88,0.00,0.000,4,0.000,0.100,2468,446,2673,0,0,0,0,0,0,28.83,14.85,28.83
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$GC,18566,0.86,96.2,281.0,9.9,699,18570,0.00,1.80,0.00,0.000,6,0.000,0.053,2483,1506,2676,0,0,0,0,0,0,28.83,14.93,28.83
$GC,18866,0.86,96.2,253.8,8.1,709,18870,0.00,1.90,0.00,0.000,4,0.000,0.096,2491,444,2677,0,0,0,0,0,0,28.83,14.86,28.83
$GC,19047,0.84,96.2,237.0,9.4,720,19052,0.15,1.77,0.00,0.000,6,0.314,0.053,2462,1500,2677,0,0,0,0,0,0,14.66,14.90,28.83
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$STATE,22420,end climb,SURFACE_DEPTH_REACHED
$STATE,22420,begin surface coast
$FINISH,-0.0,1.024415
$STATE,22438,end surface coast,CONTROL_FINISHED_OK
$STATE,22438,begin surface
$SM_CCo,22454,178.95,0.748,0,0,1634,350.04
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$TT8_MAMPS,0.023219,0.023219
$HUMID,43.46
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,26.90
$XPDR_PINGS,1
$SC_FREEKB,7752480
$TM_FREEKB,7492480
$24V_AH,13.3,25.445
$10V_AH,13.6,0.000
$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,19.350,118.400,272.775,178.950,0.000,0.000,0.000,567.425,0.250,0.000,16.375,2713.675,17572.947,689.459,2322.133,176.072,0.000,2068.386,0.000,1606.440,0.000,0.551,0.000
$DEVICE_MAMPS,434.520,113.985,2157.300,748.170,0.000,0.000,0.000,163.710,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.327,13.115,0.000,0.000
$MEM,344928
$DATA_FILE_SIZE,33383,946
$CAP_FILE_SIZE,206448,0
$CFSIZE,260034560,251547648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$CURRENT,0.040, 15.1,1
$GPS,290912,050204,2432.885,-3800.375,34,0.8,34,-14.0