version: 66.06
glider: 146
mission: 9
dive: 307
start: 5 6 114 6 0 21
data:
$ID,146
$MISSION,9
$DIVE,307
$D_SURF,4
$D_FLARE,3
$D_TGT,800
$D_ABORT,900
$D_NO_BLEED,200
$D_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,266
$T_MISSION,540
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,52418
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2245
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$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,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-330311.19
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,2996
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3060
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.187134
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.0043272944
$SEABIRD_T_H,0.00062241661
$SEABIRD_T_I,2.3207038e-05
$SEABIRD_T_J,2.4640995e-06
$SEABIRD_C_G,-9.7986097
$SEABIRD_C_H,1.0845124
$SEABIRD_C_I,-0.0017415414
$SEABIRD_C_J,0.00021607026
$GPS1,054950,2252.557,-15737.892,35,99.0,54,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-70.5
$GPS2,055927,2252.611,-15737.953,11,99.0,30,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.137,0.221
$KALMAN_X,-249902.9,-29.7,348.0,279678.2,-1499.7
$KALMAN_Y,8188.2,-18.8,-198.3,-1805.8,233.9
$MHEAD_RNG_PITCHd_Wd,21.7,24130,-17.5,-10.025
$D_GRID,800
$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,-1.28,-146.0,0.0,0.0,0,104,0.00,0.00,-86.38,0.000,2,0.000,0.000,462,2184,3636,0,0,0,0,0,0
$GC,108,-1.28,-146.0,3.6,-8.9,11,126,12.70,2.58,-0.35,0.000,4,0.166,0.041,2709,3786,3656,0,0,0,0,0,0
$GC,198,-1.14,-146.0,27.0,-15.5,23,208,0.15,2.50,0.00,0.000,6,0.096,0.024,2743,2225,3658,0,0,0,0,0,0
$GC,477,-1.09,-146.0,58.7,-9.9,49,481,0.00,2.50,0.00,0.000,4,0.000,0.035,2742,3782,3658,0,0,0,0,0,0
$GC,512,-1.05,-146.0,62.5,-10.3,51,518,0.12,2.47,0.00,0.000,6,0.110,0.021,2769,2192,3658,0,0,0,0,0,0
$GC,779,-1.05,-146.0,87.2,-9.5,75,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2193,3659,0,0,0,0,0,0
$GC,1042,-1.05,-146.0,110.7,-8.2,100,1046,0.00,2.53,0.00,0.000,4,0.000,0.048,2768,640,3659,0,0,0,0,0,0
$GC,1062,-1.05,-146.0,112.3,-8.6,101,1066,0.00,2.42,0.00,0.000,6,0.000,0.026,2768,2226,3659,0,0,0,0,0,0
$GC,1329,-1.05,-146.0,136.1,-9.2,125,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2226,3659,0,0,0,0,0,0
$GC,1591,-1.05,-146.0,161.6,-9.6,150,1596,0.00,2.60,0.00,0.000,4,0.000,0.045,2768,642,3660,0,0,0,0,0,0
$GC,1621,-1.09,-146.0,164.5,-9.6,152,1625,0.00,2.40,0.00,0.000,6,0.000,0.024,2768,2203,3660,0,0,0,0,0,0
$GC,1885,-1.09,-146.0,186.8,-7.8,176,1889,0.00,2.50,0.00,0.000,4,0.000,0.035,2768,3777,3660,0,0,0,0,0,0
$GC,1942,-1.16,-146.0,191.8,-7.9,180,1952,0.08,2.47,0.00,0.000,6,0.040,0.020,2718,2207,3660,0,0,0,0,0,0
$GC,2210,-1.11,-146.0,218.4,-10.1,205,2215,0.17,2.53,0.00,0.000,4,0.092,0.044,2756,3772,3660,0,0,0,0,0,0
$GC,2244,-1.14,-146.0,222.6,-9.6,207,2253,0.00,2.45,0.00,0.000,6,0.000,0.019,2756,2215,3660,0,0,0,0,0,0
$GC,2512,-1.19,-146.0,245.1,-8.3,232,2516,0.00,2.58,0.00,0.000,4,0.000,0.051,2757,641,3660,0,0,0,0,0,0
$GC,2535,-1.24,-146.0,247.4,-7.8,233,2541,0.15,2.42,0.00,0.000,6,0.057,0.019,2697,2209,3660,0,0,0,0,0,0
$GC,2800,-1.17,-146.0,273.0,-9.8,258,2805,0.20,2.53,0.00,0.000,4,0.084,0.040,2741,3776,3660,0,0,0,0,0,0
$GC,2829,-1.17,-146.0,276.0,-8.8,260,2834,0.00,2.47,0.00,0.000,6,0.000,0.022,2741,2204,3660,0,0,0,0,0,0
$GC,3094,-1.17,-146.0,294.3,-6.8,284,3098,0.00,2.55,0.00,0.000,4,0.000,0.043,2741,3775,3660,0,0,0,0,0,0
$GC,3116,-1.17,-146.0,296.2,-7.2,285,3125,0.00,2.47,0.00,0.000,6,0.000,0.023,2741,2224,3660,0,0,0,0,0,0
$GC,3382,-1.21,-146.0,314.1,-7.2,310,3387,0.00,2.70,0.00,0.000,4,0.000,0.066,2741,626,3659,0,0,0,0,0,0
$GC,3412,-1.25,-146.0,316.6,-7.8,312,3417,0.00,2.50,0.00,0.000,6,0.000,0.028,2741,2199,3659,0,0,0,0,0,0
$GC,3675,-1.30,-146.0,335.8,-7.9,336,3680,0.12,2.62,0.00,0.000,4,0.067,0.052,2689,3788,3658,0,0,0,0,0,0
$GC,3722,-1.25,-146.0,340.4,-10.2,339,3732,0.12,2.53,0.00,0.000,6,0.067,0.028,2723,2225,3657,0,0,0,0,0,0
$GC,3988,-1.25,-146.0,361.9,-7.9,364,3993,0.00,2.75,0.00,0.000,4,0.000,0.077,2722,631,3656,0,0,0,0,0,0
$GC,4033,-1.25,-146.0,365.6,-8.2,367,4038,0.00,2.53,0.00,0.000,6,0.000,0.036,2722,2211,3655,0,0,0,0,0,0
$GC,4300,-1.25,-146.0,386.3,-7.8,391,4304,0.00,2.60,0.00,0.000,4,0.000,0.049,2723,3787,3654,0,0,0,0,0,0
$GC,4323,-1.25,-146.0,388.6,-8.2,392,4329,0.00,2.55,0.00,0.000,6,0.000,0.031,2723,2207,3654,0,0,0,0,0,0
$GC,4588,-1.25,-146.0,409.4,-7.8,417,4592,0.00,2.80,0.00,0.000,4,0.000,0.089,2723,625,3652,0,0,0,0,0,0
$GC,4610,-1.25,-146.0,411.8,-8.9,418,4616,0.00,2.55,0.00,0.000,6,0.000,0.035,2722,2195,3652,0,0,0,0,0,0
$GC,4874,-1.25,-146.0,435.6,-9.2,443,4879,0.00,2.67,0.00,0.000,4,0.000,0.058,2722,3793,3650,0,0,0,0,0,0
$GC,4906,-1.25,-146.0,438.7,-10.2,445,4910,0.00,2.60,0.00,0.000,6,0.000,0.042,2722,2203,3650,0,0,0,0,0,0
$GC,5175,-1.29,-146.0,461.0,-7.7,469,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2203,3648,0,0,0,0,0,0
$GC,5438,-1.33,-146.0,479.4,-6.2,494,5442,0.00,2.67,0.00,0.000,4,0.000,0.060,2723,3792,3646,0,0,0,0,0,0
$GC,5472,-1.37,-146.0,481.6,-7.0,496,5477,0.10,2.62,0.00,0.000,6,0.079,0.048,2680,2207,3646,0,0,0,0,0,0
$GC,5739,-1.33,-146.0,503.2,-8.2,520,5744,0.12,2.70,0.00,0.000,4,0.100,0.067,2707,3789,3645,0,0,0,0,0,0
$GC,5774,-1.33,-146.0,506.4,-8.1,522,5783,0.00,2.70,0.00,0.000,6,0.000,0.053,2707,2208,3645,0,0,0,0,0,0
$GC,6040,-1.33,-146.0,526.3,-7.9,547,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2209,3642,0,0,0,0,0,0
$GC,6303,-1.33,-146.0,547.6,-8.1,572,6307,0.00,2.75,0.00,0.000,4,0.000,0.080,2707,3793,3642,0,0,0,0,0,0
$GC,6324,-1.33,-146.0,549.5,-8.2,573,6334,0.00,2.70,0.00,0.000,6,0.000,0.061,2707,2223,3642,0,0,0,0,0,0
$GC,6591,-1.33,-146.0,570.6,-7.9,598,6596,0.00,2.75,0.00,0.000,4,0.000,0.085,2707,3789,3639,0,0,0,0,0,0
$GC,6621,-1.33,-146.0,573.4,-8.7,600,6625,0.00,2.72,0.00,0.000,6,0.000,0.062,2707,2208,3639,0,0,0,0,0,0
$GC,6884,-1.33,-146.0,595.5,-9.1,624,6888,0.00,3.05,0.00,0.000,4,0.000,0.126,2707,618,3638,0,0,0,0,0,0
$GC,6920,-1.33,-146.0,599.1,-9.9,626,6926,0.00,2.72,0.00,0.000,6,0.000,0.072,2707,2198,3637,0,0,0,0,0,0
$GC,7181,-1.33,-146.0,622.5,-8.8,634,7186,0.00,2.90,0.00,0.000,4,0.000,0.099,2707,3801,3636,0,0,0,0,0,0
$GC,7214,-1.33,-146.0,625.8,-11.0,634,7219,0.00,2.83,0.00,0.000,6,0.000,0.077,2707,2208,3636,0,0,0,0,0,0
$GC,7465,-1.33,-146.0,647.7,-8.6,641,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2208,3635,0,0,0,0,0,0
$GC,7710,-1.36,-146.0,665.7,-7.1,647,7714,0.00,2.97,0.00,0.000,4,0.000,0.108,2707,3794,3633,0,0,0,0,0,0
$GC,7760,-1.40,-146.0,669.5,-7.9,648,7765,0.00,2.90,0.00,0.000,6,0.000,0.095,2707,2223,3633,0,0,0,0,0,0
$GC,8034,-1.44,-146.0,685.6,-5.8,655,8039,0.10,3.00,0.00,0.000,4,0.081,0.114,2665,3794,3632,0,0,0,0,0,0
$GC,8096,-1.39,-146.0,690.4,-7.6,656,8101,0.12,2.92,0.00,0.000,6,0.103,0.106,2691,2235,3631,0,0,0,0,0,0
$GC,8359,-1.39,-146.0,707.0,-6.2,663,8364,0.00,3.03,0.00,0.000,4,0.000,0.124,2691,3796,3630,0,0,0,0,0,0
$GC,8398,-1.39,-146.0,709.9,-7.5,664,8403,0.00,2.97,0.00,0.000,6,0.000,0.114,2691,2244,3630,0,0,0,0,0,0
$GC,8682,-1.39,-146.0,729.3,-6.9,671,8683,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2245,3629,0,0,0,0,0,0
$GC,8927,-1.39,-146.0,747.0,-7.3,677,8932,0.00,3.15,0.00,0.000,4,0.000,0.147,2691,3794,3628,0,0,0,0,0,0
$GC,8961,-1.39,-146.0,749.9,-8.2,677,8967,0.00,3.10,0.00,0.000,6,0.000,0.137,2691,2248,3628,0,0,0,0,0,0
$GC,9211,-1.39,-146.0,769.3,-7.7,684,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2248,3626,0,0,0,0,0,0
$GC,9455,-1.39,-146.0,788.5,-7.8,690,9461,0.00,3.67,0.00,0.000,4,0.000,0.203,2691,622,3626,0,0,0,0,0,0
$GC,9473,-1.39,-146.0,789.9,-7.7,690,9479,0.00,3.30,0.00,0.000,6,0.000,0.146,2691,2242,3626,0,0,0,0,0,0
$STATE,9610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9610,begin apogee
$GC,9616,-0.31,0.0,801.0,8.0,694,9741,1.05,0.00,120.93,1.174,6,0.071,0.000,2927,2375,3060,0,0,0,0,0,0
$STATE,9741,end apogee,CONTROL_FINISHED_OK
$STATE,9741,begin climb
$GC,9744,1.28,146.0,804.4,0.0,697,9886,1.48,3.58,130.23,1.146,4,0.035,0.181,3286,3941,2463,0,0,0,0,0,0
$GC,9909,1.12,146.0,793.8,11.3,701,9915,0.22,3.40,0.00,0.000,6,0.101,0.161,3241,2369,2459,0,0,1,0,0,0
$GC,10178,1.11,173.0,769.5,8.8,708,10209,0.00,3.58,24.45,1.082,4,0.000,0.181,3240,778,2353,0,0,0,0,0,0
$GC,10237,1.06,173.0,763.7,10.1,709,10242,0.00,3.17,0.00,0.000,6,0.000,0.135,3240,2362,2351,0,0,0,0,0,0
$GC,10498,1.08,190.8,739.6,9.2,716,10517,0.00,0.00,17.33,1.052,6,0.000,0.000,3240,2362,2282,0,0,0,0,0,0
$GC,10743,1.08,191.3,715.4,10.0,722,10744,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2363,2278,0,0,0,0,0,0
$GC,10985,1.08,191.3,690.2,10.4,728,10986,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2363,2277,0,0,0,0,0,0
$GC,11229,1.08,191.3,664.1,10.8,734,11233,0.00,2.92,0.00,0.000,4,0.000,0.104,3240,3944,2276,0,0,0,0,0,0
$GC,11278,1.08,191.3,658.0,12.9,735,11283,0.00,2.90,0.00,0.000,6,0.000,0.082,3240,2345,2275,0,0,0,0,0,0
$GC,11552,1.08,191.3,627.9,11.1,742,11557,0.00,2.88,0.00,0.000,4,0.000,0.090,3240,3947,2274,0,0,0,0,0,0
$GC,11567,1.08,191.3,625.7,11.3,742,11572,0.00,2.80,0.00,0.000,6,0.000,0.067,3240,2347,2275,0,0,0,0,0,0
$GC,11829,1.08,191.3,597.2,11.1,749,11833,0.00,2.92,0.00,0.000,4,0.000,0.111,3240,780,2274,0,0,0,0,0,0
$GC,11870,1.08,191.3,592.7,10.8,752,11875,0.00,2.70,0.00,0.000,6,0.000,0.060,3240,2352,2273,0,0,0,0,0,0
$GC,12132,1.08,191.3,565.4,10.5,776,12134,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2352,2273,0,0,0,0,0,0
$GC,12388,1.08,191.3,539.4,10.2,800,12389,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2352,2273,0,0,0,0,0,0
$GC,12641,1.08,191.3,512.5,10.3,824,12642,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2352,2273,0,0,0,0,0,0
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$GC,14404,1.25,264.6,333.1,11.7,983,14410,0.00,2.55,0.00,0.000,6,0.000,0.034,3274,2341,1979,0,0,0,0,0,0
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$GC,15240,1.25,264.6,231.8,12.8,1060,15244,0.00,2.58,0.00,0.000,6,0.000,0.028,3274,2314,1975,0,0,0,0,0,0
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$GC,15773,1.28,282.7,177.1,9.2,1109,15797,0.00,2.72,17.20,0.678,4,0.000,0.041,3274,3922,1906,0,0,0,0,0,0
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$GC,17296,1.42,299.4,11.9,9.5,1255,17314,0.00,2.62,12.82,0.502,4,0.000,0.038,3314,3934,1838,0,0,0,0,0,0
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$STATE,17365,end climb,SURFACE_DEPTH_REACHED
$STATE,17365,begin surface coast
$FINISH,-0.1,1.022185
$STATE,17408,end surface coast,CONTROL_FINISHED_OK
$STATE,17408,begin surface
$SM_CCo,17430,65.03,0.522,0,0,1510,380.21
$SM_GC,0.70,0.00,0.00,65.03,0.000,0.000,0.522,461,2140,1510,-11.66,-1.98,380.21
$IRIDIUM_FIX,2241.69,-15734.14,310703,000052
$TT8_MAMPS,0.026078
$HUMID,62.48
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.70
$XPDR_PINGS,77
$24V_AH,23.2,48.344
$10V_AH,9.9,57.661
$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
$DEVICE_SECS,28.750,229.175,398.925,65.025,0.000,30.149,41.343,294.479,19.250,0.000,32.362,2276.911,10173.448,633.375,4060.766,908.506,33.372,1928.522,0.000,4060.486,0.000,0.534,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,872.923,913.378,1199.549,1315.157,2504.545,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355388
$DATA_FILE_SIZE,104630,1269
$CAP_FILE_SIZE,193026,0
$CFSIZE,260165632,155246592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,060514,105330,2254.496,-15737.399,51,1.9,51,10.1