version: 66.13
glider: 223
mission: 5
dive: 676
start: 12 4 118 3 16 11
data:
$ID,223
$MISSION,5
$DIVE,676
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,110
$T_BOOST,0
$D_FINISH,10
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,100
$SURFACE_URGENCY_FORCE,100
$T_DIVE,330
$T_MISSION,420
$T_ABORT,4320
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,2
$EXEC_DT,0
$EXEC_T,10029665
$EXEC_N,6
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.059999999
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53553
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00375924
$HD_B,0.0090143103
$HD_C,2.26105e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,4
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,120
$STROBE,0
$RAFOS_PEAK_OFFSET,-1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,225
$PITCH_MAX,3880
$C_PITCH,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256899
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3890
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,900
$VBD_MAX,3960
$C_VBD,2560
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1.5
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,200
$VBD_MAXERRORS,5
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,1
$LOITER_DBDW,200
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-185.88379
$PRESSURE_SLOPE,0.0001081376
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,883
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,7
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.25
$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,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044087539
$SEABIRD_T_H,0.00063761615
$SEABIRD_T_I,2.5496534e-05
$SEABIRD_T_J,3.0755168e-06
$SEABIRD_C_G,-9.8995104
$SEABIRD_C_H,1.1242845
$SEABIRD_C_I,-0.0021703816
$SEABIRD_C_J,0.00023950715
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,041218,025950,-7403.8359,-11224.0049,23,1.9,34,53.2,0.3,0.0,6,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-66.1
$GPS2,041218,031538,-7403.7407,-11224.0977,3,1.6,6,53.2,0.4,320.2,6,10.0
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,hold
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,178.2,664,-38.4,-10.000,-39.91,462
$D_GRID,990
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,13,-1.78,-30.0,217,2321,1168,1061,0.0,0.0,0,103,0.00,0.00,-88.62,0.002,16390,0.000,0.000,211,2321,2683,2687,2679,0,0,0,0,0,0,14.96,12.86,14.97
$GC,107,-1.78,-30.0,212,2321,2689,2680,1.4,-0.9,3,123,10.27,2.58,0.00,0.000,2564,0.417,0.065,2288,887,2685,2690,2680,0,0,0,0,0,0,14.12,14.54,14.38
$GC,258,-1.78,-30.0,2288,887,2690,2679,20.1,-14.7,25,264,0.00,2.53,0.00,0.000,1030,0.000,0.063,2279,2300,2684,2690,2678,0,0,0,0,0,0,14.68,14.54,14.72
$PING,30.6,32.3,9000.0,0.00,0.00
$PING,43.1,45.8,9000.0,0.00,0.00
$GC,606,-1.78,-30.0,2280,2302,2695,2675,71.6,-14.5,39,612,0.00,2.58,0.00,0.000,516,0.000,0.067,2279,895,2683,2694,2673,0,0,0,0,0,0,15.08,14.31,15.10
$GC,776,-1.78,-30.0,2279,896,2693,2674,96.6,-14.8,63,781,0.00,2.53,0.00,0.000,1030,0.000,0.061,2269,2309,2683,2694,2673,0,0,0,0,0,0,14.59,14.45,14.64
$GC,1140,-1.78,-30.0,2268,2309,2695,2673,149.2,-14.4,79,1145,0.00,2.55,0.00,0.000,516,0.000,0.065,2268,895,2683,2695,2672,0,0,0,0,0,0,15.04,14.33,15.07
$GC,1193,-1.78,-30.0,2268,895,2695,2672,157.2,-14.2,87,1200,0.17,2.58,0.00,0.000,3078,0.338,0.063,2295,2303,2683,2695,2672,0,0,0,0,0,0,13.72,14.31,13.99
$GC,1585,-1.78,-30.0,2295,2304,2696,2672,208.8,-13.4,103,1592,0.00,2.58,0.00,0.000,516,0.000,0.065,2296,898,2683,2696,2671,0,0,0,0,0,0,15.07,14.21,15.09
$GC,1809,-1.78,-30.0,2297,899,2698,2673,237.9,-12.9,135,1816,0.00,2.58,0.00,0.000,1030,0.000,0.060,2292,2315,2684,2697,2672,0,0,0,0,0,0,14.37,14.30,14.43
$GC,2205,-1.78,-30.0,2287,2315,2698,2672,287.4,-12.8,149,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2314,2683,2696,2671,0,0,0,0,0,0,14.89,14.92,14.92
$GC,2539,-1.78,-30.0,2287,2315,2698,2672,329.1,-12.2,155,2544,0.00,2.58,0.00,0.000,516,0.000,0.063,2286,886,2684,2697,2671,0,0,0,0,0,0,14.88,14.26,14.90
$GC,2614,-1.78,-30.0,2286,887,2696,2672,338.8,-12.7,166,2622,0.00,2.60,0.00,0.000,1030,0.000,0.060,2275,2308,2683,2696,2671,0,0,0,0,0,0,14.33,14.26,14.40
$GC,2986,-1.78,-30.0,2275,2309,2697,2671,382.1,-11.4,177,2993,0.00,2.60,0.00,0.000,516,0.000,0.063,2276,896,2684,2697,2671,0,0,0,0,0,0,15.05,14.16,15.07
$GC,3042,-1.78,-30.0,2275,897,2697,2671,388.2,-10.9,185,3049,0.08,2.60,0.00,0.000,3078,0.344,0.061,2291,2308,2683,2697,2670,0,0,0,0,0,0,13.72,14.24,14.16
$GC,3436,-1.78,-30.0,2292,2309,2699,2670,427.3,-9.7,199,3441,0.00,2.58,0.00,0.000,516,0.000,0.063,2291,892,2683,2697,2670,0,0,0,0,0,0,15.02,14.23,15.05
$GC,3531,-1.78,-30.0,2290,893,2697,2670,436.9,-9.7,213,3538,0.00,2.60,0.00,0.000,1030,0.000,0.060,2282,2309,2684,2698,2670,0,0,0,0,0,0,14.31,14.23,14.36
$GC,3882,-1.78,-30.0,2283,2310,2700,2670,470.5,-9.7,221,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2309,2683,2697,2669,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4217,-1.78,-30.0,2283,2309,2699,2670,504.2,-10.2,227,4224,0.00,2.62,0.00,0.000,516,0.000,0.063,2282,895,2683,2697,2669,0,0,0,0,0,0,15.04,14.04,15.07
$GC,4343,-1.78,-30.0,2284,896,2700,2670,516.8,-10.1,245,4350,0.00,2.58,0.00,0.000,1030,0.000,0.059,2270,2310,2683,2698,2669,0,0,0,0,0,0,14.29,14.21,14.36
$GC,4723,-1.78,-30.0,2273,2311,2700,2670,554.4,-9.7,257,4729,0.00,2.58,0.00,0.000,516,0.000,0.062,2272,887,2683,2698,2669,0,0,0,0,0,0,14.85,14.22,14.88
$GC,4742,-1.78,-30.0,2271,888,2697,2670,556.5,-9.7,260,4749,0.15,2.60,0.00,0.000,3078,0.332,0.061,2299,2304,2683,2698,2669,0,0,0,0,0,0,13.65,14.21,13.91
$GC,5114,-1.79,-39.4,2292,2306,2698,2669,587.3,-7.9,271,5120,0.00,2.67,0.00,0.000,292,0.000,0.099,2283,3724,2683,2698,2669,0,0,0,0,0,0,15.04,14.14,15.07
$GC,5155,-1.79,-39.4,2285,3725,2700,2669,590.8,-8.5,277,5163,0.00,2.53,0.00,0.000,1030,0.000,0.041,2283,2281,2684,2699,2669,0,0,0,0,0,0,14.42,14.38,14.46
$GC,5506,-1.79,-39.4,2284,2281,2700,2669,618.9,-8.0,285,5513,0.00,2.53,0.00,0.000,516,0.000,0.063,2283,907,2683,2698,2669,0,0,0,0,0,0,15.02,14.11,15.05
$GC,5618,-1.81,-51.1,2283,907,2699,2669,627.2,-7.4,301,5624,0.00,2.58,0.00,0.000,1062,0.000,0.060,2273,2306,2684,2699,2669,0,0,0,0,0,0,14.19,14.12,14.25
$GC,6010,-1.83,-67.0,2272,2306,2699,2669,653.7,-6.5,315,6016,0.00,2.55,0.00,0.000,548,0.000,0.061,2273,901,2683,2699,2668,0,0,0,0,0,0,15.03,14.17,15.05
$GC,6143,-1.85,-82.2,2273,902,2699,2669,662.7,-6.6,334,6149,0.00,2.58,0.00,0.000,1062,0.000,0.060,2263,2302,2684,2699,2669,0,0,0,0,0,0,14.26,14.19,14.33
$GC,6514,-1.86,-96.6,2264,2302,2702,2669,687.2,-6.8,345,6521,0.00,2.58,0.00,0.000,548,0.000,0.061,2262,888,2686,2699,2674,0,0,0,0,0,0,15.03,14.12,15.05
$GC,6646,-1.88,-107.1,2263,889,2701,2669,696.8,-7.4,364,6653,0.00,2.60,0.00,0.000,1062,0.000,0.060,2251,2301,2684,2700,2668,0,0,0,0,0,0,14.26,14.19,14.33
$GC,7018,-1.88,-107.1,2253,2302,2701,2670,722.1,-6.7,375,7024,0.00,2.70,0.00,0.000,292,0.000,0.097,2241,3705,2684,2700,2668,0,0,0,0,0,0,15.03,14.02,15.06
$GC,7255,-1.88,-107.1,2242,3706,2703,2669,738.6,-6.9,409,7262,0.00,2.45,0.00,0.000,1062,0.000,0.037,2241,2292,2683,2699,2668,0,0,0,0,0,0,14.42,14.39,14.45
$GC,7634,-1.88,-107.1,2242,2294,2702,2670,762.8,-6.3,421,7634,0.00,0.00,0.00,0.000,38,0.000,0.000,2241,2290,2684,2700,2668,0,0,0,0,0,0,15.03,15.06,15.05
$GC,7970,-1.88,-107.1,2240,2294,2699,2669,781.7,-5.6,427,7976,0.00,2.55,0.00,0.000,548,0.000,0.063,2241,913,2684,2701,2668,0,0,0,0,0,0,15.03,14.09,15.05
$GC,8096,-1.88,-107.1,2242,914,2703,2669,788.9,-5.8,445,8103,0.15,2.58,0.00,0.000,3110,0.338,0.057,2261,2307,2684,2701,2668,0,0,0,0,0,0,13.59,14.19,13.88
$GC,8474,-1.88,-107.1,2261,2308,2701,2669,807.0,-4.7,457,8474,0.00,0.00,0.00,0.000,38,0.000,0.000,2261,2307,2684,2701,2667,0,0,0,0,0,0,15.03,15.06,15.05
$GC,8810,-1.88,-107.1,2262,2308,2702,2669,821.8,-4.3,463,8816,0.00,2.60,0.00,0.000,548,0.000,0.061,2261,910,2685,2701,2669,0,0,0,0,0,0,15.02,14.05,15.05
$GC,8887,-1.88,-107.1,2262,912,2704,2669,825.1,-3.9,474,8893,0.00,2.53,0.00,0.000,1062,0.000,0.056,2252,2305,2686,2702,2670,0,0,0,0,0,0,14.42,14.29,14.48
$GC,9258,-1.88,-107.1,2252,2305,2702,2669,839.9,-4.0,485,9265,0.00,2.58,0.00,0.000,548,0.000,0.060,2252,916,2685,2702,2668,0,0,0,0,0,0,15.03,14.03,15.06
$PING,846.4,39.7,9000.0,0.00,0.00
$GC,9461,-1.88,-107.1,2251,917,2702,2669,847.4,-3.9,514,9467,0.00,2.55,0.00,0.000,1062,0.000,0.056,2242,2304,2685,2702,2668,0,0,0,0,0,0,14.26,14.19,14.32
$PING,858.0,27.5,9000.0,-0.02,0.59
$GC,9818,-1.88,-107.1,2243,2305,2704,2669,861.4,-3.7,523,9819,0.00,0.00,0.00,0.000,38,0.000,0.000,2242,2305,2685,2702,2668,0,0,0,0,0,0,15.03,15.06,15.05
$PING,868.9,15.1,15.2,-1.09,1.00
$GC,10154,-1.88,-107.1,2241,2305,2702,2669,872.2,-3.0,529,10160,0.00,2.60,0.00,0.000,548,0.000,0.060,2242,908,2685,2703,2668,0,0,0,0,0,0,15.00,14.07,15.02
$GC,10210,-1.88,-107.1,2241,908,2702,2669,874.1,-3.3,537,10217,0.15,2.58,0.00,0.000,3110,0.345,0.057,2272,2309,2685,2703,2668,0,0,0,0,0,0,13.68,14.20,14.13
$STATE,10220,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10220,begin apogee
$GC,10228,-0.23,0.0,2274,2069,2705,2669,875.1,-4.8,539,10268,2.22,0.08,36.70,2.998,10246,0.314,0.184,2791,2114,2560,2587,2534,0,0,0,0,0,0,14.00,14.20,12.91
$STATE,10269,end apogee,CONTROL_FINISHED_OK
$STATE,10270,begin climb
$PING,875.1,11.4,10.5,-0.96,0.98
$GC,10273,1.88,107.1,2791,2114,2587,2534,875.1,0.0,539,10418,2.15,0.00,141.50,3.092,10246,0.117,0.000,3471,2114,2122,2151,2093,0,0,0,0,0,0,14.26,12.97,11.69
$GC,10728,1.88,107.1,3472,2115,2145,2080,782.0,24.3,548,10734,0.00,2.53,0.00,0.000,516,0.000,0.074,3482,736,2110,2143,2078,0,0,0,0,0,0,14.72,14.35,14.75
$GC,10770,1.88,107.1,3483,734,2144,2080,771.6,24.9,554,10776,0.00,2.42,0.00,0.000,1030,0.000,0.056,3482,2107,2110,2141,2079,0,0,0,0,0,0,14.62,14.50,14.66
$GC,11123,1.88,107.1,3483,2108,2141,2078,685.9,24.1,562,11124,0.00,0.00,0.00,0.000,6,0.000,0.000,3482,2108,2108,2139,2077,0,0,0,0,0,0,15.00,15.03,15.03
$GC,11456,1.88,107.1,3481,2108,2137,2076,606.6,23.5,568,11462,0.00,2.47,0.00,0.000,516,0.000,0.075,3492,738,2106,2137,2075,0,0,0,0,0,0,15.02,14.54,15.04
$GC,11498,1.88,107.1,3492,739,2137,2076,596.5,24.2,574,11504,0.00,2.40,0.00,0.000,1030,0.000,0.056,3492,2114,2106,2137,2075,0,0,0,0,0,0,14.76,14.63,14.81
$GC,11851,1.88,107.1,3499,2115,2137,2075,517.9,22.2,582,11852,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,2114,2104,2135,2074,0,0,0,0,0,0,15.02,15.04,15.04
$GC,12184,1.88,107.1,3493,2115,2137,2075,448.0,20.7,588,12190,0.00,2.50,0.00,0.000,516,0.000,0.076,3502,741,2104,2134,2074,0,0,0,0,0,0,15.00,14.49,15.03
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$PING,118.4,123.3,123.2,1.02,1.00
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$PING,67.8,70.2,70.3,1.04,1.00
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$PING,53.8,55.6,55.5,1.05,1.00
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$STATE,14534,end climb,FINISH_DEPTH_REACHED
$STATE,14535,begin subsurface finish
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$FINISH2,0.0
$STATE,14586,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14586,begin surface
$RAFOS_CLK,532
$RAFOS,2,1543903985,6.233333,6.218056,128,64,58,52,51,51,491,212,193,139,228,148
$RAFOS,1,1543903658,6.133333,6.127222,64,54,54,53,52,51,204,171,213,155,146,184
$RAFOS,0,1543903298,6.032778,6.027222,79,60,60,56,56,53,379,221,209,191,176,118
$RAFOS_FIX,-7404.871582,-11222.239258,041218,060648,1,2,0.23
$IRIDIUM_FIX,-7403.74,-11221.53,031218,224259
$TT8_MAMPS,0.038199,0.272636
$HUMID,50.31
$INTERNAL_PRESSURE,8.20929
$TCM_TEMP,12.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,12.9,12.8
$ALTIM_BOTTOM_PING,868.9,15.2
$24V_AH,11.69,226.791
$10V_AH,12.11,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,416.925,184.365,3092.130,0.000,0.000,0.000,0.000,211.140,420.000,0.000,10.490,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.291,0.000,0.000,0.000
$MEM,280012
$DATA_FILE_SIZE,23384,694
$CAP_FILE_SIZE,128379,0
$CFSIZE,1024409600,942522368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14538.30,0x214570,5,24
$SOUNDSPEED,1451.8
$CURRENT,0.261,107.37,1
$GPS,041218,060448,-7404.872,-11222.239,0,2002.0,0,53.2,0.0,0.0,0,0.0