version: 66.12
glider: 193
mission: 4
dive: 331
start: 2 4 115 7 32 0
data:
$ID,193
$MISSION,4
$DIVE,331
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,5
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,300
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52059
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.0099999998
$HD_C,6.0000002e-06
$HEADING,-1
$ESCAPE_HEADING,120
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,601.23029
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3900
$C_PITCH,2550
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,13
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2951
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-50.214073
$PRESSURE_SLOPE,0.0001163556
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.93000001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042903274
$SEABIRD_T_H,0.00062837056
$SEABIRD_T_I,2.3004332e-05
$SEABIRD_T_J,2.3253908e-06
$SEABIRD_C_G,-9.879467
$SEABIRD_C_H,1.1201456
$SEABIRD_C_I,-0.00035123606
$SEABIRD_C_J,0.00012622437
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,040215,044800,6658.648,-5746.804,0,2134.5,0,-32.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.58
$_SM_ANGLEo,-1.5
$GPS2,040215,044800,6658.648,-5746.804,0,2134.5,0,-32.6
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,111.9,43223,-18.4,-10.000,-20.87,2243
$D_GRID,854
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.60,-146.0,2570,2536,2737,2707,0.0,0.0,0,34,0.00,0.00,-11.52,0.000,16386,0.000,0.000,2570,2536,2984,2989,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-1.60,-146.0,2570,2536,2990,2981,4.3,0.0,1,68,1.10,2.47,-21.73,0.000,20740,0.118,0.156,2188,3837,3548,3538,3558,0,0,0,0,0,0,14.48,14.45,14.83
$GC,185,-1.54,-146.0,2189,3837,3543,3559,23.2,-14.6,30,193,0.12,2.22,0.00,0.000,3078,0.307,0.060,2214,2542,3551,3543,3559,0,0,0,0,0,0,14.27,14.58,28.83
$GC,501,-1.54,-146.0,2214,2542,3544,3559,66.4,-12.9,47,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2542,3551,3544,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,804,-1.54,-146.0,2214,2542,3544,3559,103.1,-12.5,62,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2541,3551,3543,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1103,-1.54,-146.0,2213,2542,3543,3558,136.3,-10.3,77,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2542,3550,3544,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1404,-1.54,-146.0,2214,2542,3544,3555,166.2,-9.7,92,1409,0.00,2.42,0.00,0.000,516,0.000,0.093,2214,1144,3549,3544,3554,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1509,-1.54,-146.0,2214,1144,3544,3554,176.6,-9.4,112,1515,0.00,2.58,0.00,0.000,1030,0.000,0.114,2206,2554,3549,3544,3554,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1832,-1.54,-146.0,2206,2555,3544,3554,206.2,-9.3,131,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2555,3548,3544,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2135,-1.54,-146.0,2206,2554,3543,3553,234.7,-9.4,146,2140,0.00,2.45,0.00,0.000,516,0.000,0.091,2206,1147,3548,3543,3553,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2182,-1.54,-146.0,2206,1147,3544,3553,239.7,-10.3,155,2188,0.00,2.55,0.00,0.000,1030,0.000,0.110,2199,2557,3548,3544,3553,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2512,-1.54,-146.0,2198,2561,3542,3553,273.6,-10.3,170,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2557,3548,3544,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2811,-1.54,-146.0,2198,2557,3544,3553,302.5,-9.5,180,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2557,3548,3544,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3111,-1.54,-146.0,2199,2557,3544,3554,330.1,-9.0,190,3117,0.00,2.45,0.00,0.000,516,0.000,0.092,2198,1146,3551,3544,3558,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3140,-1.54,-146.0,2198,1146,3544,3555,332.7,-9.1,195,3147,0.10,2.55,0.00,0.000,3078,0.320,0.112,2210,2558,3549,3544,3554,0,0,0,0,0,0,14.32,14.51,28.83
$GC,3446,-1.54,-146.0,2211,2564,3545,3554,358.3,-8.4,206,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2558,3549,3545,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3746,-1.54,-146.0,2210,2558,3546,3556,384.7,-9.1,216,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2558,3550,3546,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4045,-1.54,-146.0,2211,2558,3548,3554,413.4,-9.7,226,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2558,3550,3546,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4346,-1.54,-146.0,2210,2558,3547,3553,442.3,-9.6,236,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2558,3550,3547,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4647,-1.54,-146.0,2211,2558,3547,3554,469.8,-9.0,246,4652,0.00,2.47,0.00,0.000,516,0.000,0.097,2211,1146,3550,3546,3554,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4669,-1.54,-146.0,2211,1146,3547,3554,472.2,-9.3,250,4674,0.00,2.58,0.00,0.000,1030,0.000,0.115,2203,2551,3550,3547,3554,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4984,-1.54,-146.0,2203,2551,3547,3554,499.2,-8.5,262,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2551,3550,3547,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5282,-1.54,-146.0,2203,2551,3547,3554,525.3,-8.8,272,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2551,3550,3547,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5583,-1.54,-146.0,2203,2551,3547,3555,551.4,-8.7,282,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2551,3550,3547,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5883,-1.54,-146.0,2203,2551,3547,3554,577.8,-8.8,292,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2551,3550,3547,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6183,-1.54,-146.0,2203,2551,3547,3554,603.5,-8.5,302,6184,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2551,3550,3547,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6482,-1.54,-146.0,2203,2551,3547,3554,627.4,-7.9,312,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2551,3551,3548,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6783,-1.54,-146.0,2203,2550,3547,3554,651.2,-7.9,322,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2551,3550,3547,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7083,-1.54,-146.0,2203,2551,3547,3554,674.7,-7.9,332,7088,0.00,2.50,0.00,0.000,516,0.000,0.107,2203,1147,3550,3547,3554,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7110,-1.54,-146.0,2203,1146,3547,3554,677.1,-8.8,337,7117,0.00,2.60,0.00,0.000,1030,0.000,0.120,2195,2555,3550,3547,3554,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7417,-1.54,-146.0,2195,2555,3547,3554,701.7,-8.2,348,7418,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2555,3550,3547,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7716,-1.54,-146.0,2196,2555,3546,3554,726.8,-8.4,358,7722,0.00,2.53,0.00,0.000,516,0.000,0.111,2195,1148,3550,3547,3554,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7760,-1.54,-146.0,2195,1148,3547,3554,730.7,-9.6,366,7766,0.12,2.60,0.00,0.000,3078,0.301,0.126,2215,2550,3550,3547,3554,0,0,0,0,0,0,14.31,14.51,28.83
$GC,8086,-1.56,-146.0,2215,2550,3547,3554,756.5,-8.1,380,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2550,3549,3547,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8385,-1.59,-146.0,2215,2550,3547,3553,780.2,-7.8,390,8391,0.00,2.50,0.00,0.000,516,0.000,0.112,2214,1151,3550,3547,3554,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8438,-1.62,-146.0,2215,1151,3547,3553,784.6,-8.6,400,8444,0.00,2.60,0.00,0.000,1030,0.000,0.125,2208,2550,3549,3545,3553,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8754,-1.65,-146.0,2207,2550,3547,3553,810.5,-8.4,412,8755,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2550,3550,3547,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9053,-1.87,-146.0,2207,2550,3547,3554,822.6,-0.1,422,9059,0.20,2.47,0.00,0.000,4356,0.122,0.136,2128,3839,3550,3547,3554,0,0,0,0,0,0,14.57,14.45,28.83
$STATE,9141,end dive,NO_VERTICAL_VELOCITY
$STATE,9141,begin apogee
$GC,9149,-0.38,0.0,2129,2398,3547,3554,822.6,0.0,439,9331,1.10,0.00,177.88,1.637,10246,0.155,0.000,2472,2398,2951,2972,2930,0,0,0,0,0,0,14.42,28.83,13.28
$STATE,9332,end apogee,CONTROL_FINISHED_OK
$STATE,9332,begin climb
$GC,9335,1.60,146.0,2472,2397,2963,2921,822.0,0.0,445,9532,1.38,3.10,182.25,1.504,10500,0.141,0.148,2900,3817,2341,2388,2295,0,0,0,0,0,0,13.87,13.43,12.92
$GC,9726,1.55,146.0,2900,3818,2372,2282,779.3,14.5,525,9732,0.12,2.60,0.00,0.000,5126,0.291,0.076,2885,2404,2326,2372,2281,0,0,0,0,0,0,13.77,13.97,28.83
$GC,10051,1.55,146.0,2885,2403,2369,2278,740.1,11.9,539,10057,0.00,2.60,0.00,0.000,516,0.000,0.118,2894,987,2324,2370,2278,0,0,0,0,0,0,28.83,14.25,28.83
$GC,10119,1.55,146.0,2894,987,2368,2278,731.8,12.2,552,10125,0.00,2.62,0.00,0.000,1030,0.000,0.122,2894,2399,2323,2369,2277,0,0,0,0,0,0,28.83,14.27,28.83
$GC,10449,1.55,146.0,2894,2399,2369,2276,691.9,12.2,567,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2399,2322,2369,2276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10748,1.55,146.0,2894,2398,2369,2275,654.8,12.4,577,10753,0.00,2.55,0.00,0.000,516,0.000,0.113,2903,988,2322,2369,2275,0,0,0,0,0,0,28.83,14.44,28.83
$GC,10790,1.55,146.0,2910,988,2367,2275,649.4,12.4,585,10796,0.00,2.60,0.00,0.000,1030,0.000,0.119,2904,2405,2321,2368,2275,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11116,1.52,146.0,2903,2405,2367,2275,608.2,12.7,599,11121,0.00,2.72,0.00,0.000,260,0.000,0.145,2903,3816,2321,2367,2275,0,0,0,0,0,0,28.83,14.42,28.83
$GC,11149,1.47,146.0,2903,3816,2367,2274,603.2,14.9,605,11156,0.17,2.50,0.00,0.000,5126,0.280,0.074,2873,2391,2321,2367,2276,0,0,0,0,0,0,14.31,14.53,28.83
$GC,11483,1.47,146.0,2873,2391,2367,2275,564.9,11.6,621,11489,0.00,2.47,0.00,0.000,516,0.000,0.106,2882,990,2321,2367,2275,0,0,0,0,0,0,28.83,14.48,28.83
$GC,11540,1.47,146.0,2882,990,2367,2275,558.2,11.7,632,11547,0.00,2.55,0.00,0.000,1030,0.000,0.113,2882,2403,2321,2367,2275,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11846,1.47,146.0,2882,2403,2367,2275,522.1,11.7,643,11852,0.00,2.72,0.00,0.000,260,0.000,0.144,2882,3813,2321,2367,2275,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11881,1.44,146.0,2880,3813,2366,2275,517.9,12.9,649,11887,0.12,2.47,0.00,0.000,5126,0.285,0.074,2865,2398,2321,2367,2276,0,0,0,0,0,0,14.35,14.55,28.83
$GC,12215,1.47,146.0,2865,2398,2368,2275,480.6,10.9,665,12220,0.00,2.50,0.00,0.000,516,0.000,0.106,2874,985,2321,2367,2275,0,0,0,0,0,0,28.83,14.50,28.83
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$GC,14573,1.49,146.0,2875,3813,2367,2274,215.9,12.7,787,14579,0.00,2.47,0.00,0.000,1030,0.000,0.072,2884,2391,2320,2367,2274,0,0,0,0,0,0,28.83,14.59,28.83
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$FREEZE,8.02,-1.713,-1.798,3,66,0
$STATE,16693,end climb,FINISH_DEPTH_REACHED
$STATE,16694,begin subsurface finish
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$FINISH2,6.5
$STATE,16731,end subsurface finish,CONTROL_FINISHED_OK
$STATE,16731,begin surface
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$RAFOS,5,1423039282,8.700000,8.689445,153,68,62,56,53,52,463,220,161,196,180,138
$RAFOS,4,1423038802,8.566667,8.556111,65,62,50,49,48,47,162,203,222,143,114,49
$RAFOS,3,1423038323,8.433333,8.423056,66,63,54,53,52,50,209,138,156,229,1758,185
$RAFOS,2,1423037838,8.300000,8.288333,69,60,59,59,54,52,210,181,159,170,133,111
$RAFOS,1,1423037358,8.166667,8.155000,62,60,59,53,49,48,139,215,195,165,151,178
$RAFOS,0,1423036870,8.033334,8.019444,61,56,56,56,50,48,184,158,198,211,139,224
$RAFOS_FIX,6655.533691,-5745.595215,040215,080856,2,145,0.41
$IRIDIUM_FIX,6625.71,-5725.81,220115,144240
$TT8_MAMPS,0.028462,0.028462
$HUMID,47.32
$INTERNAL_PRESSURE,8.54748
$TCM_TEMP,13.40
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.7,17.4
$SC_FREEKB,7664160
$24V_AH,12.92,83.981
$10V_AH,13.10,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.492,0.000,0.000,0.000
$MEM,271120
$DATA_FILE_SIZE,30017,913
$CAP_FILE_SIZE,153921,0
$CFSIZE,260034560,228057088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,16696.75,0x23769e,5,5
$SOUNDSPEED,1462.8
$GPS,040215,084656,6655.534,-5745.595,0,2145.0,0,-32.6