version: 66.07
glider: 500
mission: 4
dive: 139
start: 7 17 110 21 45 9
data:
$ID,500
$MISSION,4
$DIVE,139
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1025
$D_NO_BLEED,200
$D_BOOST,4
$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,388
$T_MISSION,450
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51642
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,8
$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,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-111843.26
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2031
$C_ROLL_CLIMB,2031
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2822
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-65.916748
$PRESSURE_SLOPE,0.00011603366
$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,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$AR_DIVENUM,138
$AR_SAMPLENUM,13
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,170710,212100,2044.287,-15941.808,38,1.0,38,9.7
$_CALLS,2
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-70.2
$GPS2,170710,214414,2044.615,-15942.051,12,1.1,12,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.196,-0.105
$KALMAN_X,-78936.6,7.7,-416.9,111798.7,-1748.2
$KALMAN_Y,100701.6,459.1,-217.0,-70159.1,3334.4
$MHEAD_RNG_PITCHd_Wd,108.6,196171,-17.0,-8.505
$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
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.71,-116.8,0.0,0.0,0,79,0.00,0.00,-51.33,0.000,2,0.000,0.000,134,2016,2716,0,0,0,0,0,0
$GC,82,-0.71,-116.8,3.4,-6.3,10,113,10.07,2.38,-13.43,0.000,4,0.229,0.059,2654,462,3301,0,0,0,0,0,0
$GC,198,-0.71,-116.8,24.0,-18.8,31,204,0.00,2.28,0.00,0.000,6,0.000,0.035,2644,2031,3302,0,0,0,0,0,0
$GC,401,-0.71,-116.8,58.6,-15.2,53,405,0.00,2.33,0.00,0.000,4,0.000,0.044,2632,3614,3301,0,0,0,0,0,0
$GC,490,-0.71,-116.8,71.7,-13.9,60,496,0.00,2.28,0.00,0.000,6,0.000,0.029,2632,2042,3303,0,0,0,0,0,0
$GC,751,-0.71,-116.8,104.7,-12.4,85,755,0.00,2.30,0.00,0.000,4,0.000,0.042,2632,441,3303,0,0,0,0,0,0
$GC,895,-0.71,-116.8,124.8,-13.2,97,902,0.10,2.28,0.00,0.000,6,0.118,0.031,2657,2029,3303,0,0,0,0,0,0
$GC,1157,-0.71,-116.8,153.1,-11.1,122,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2029,3304,0,0,0,0,0,0
$GC,1411,-0.71,-116.8,180.0,-9.3,146,1415,0.00,2.33,0.00,0.000,4,0.000,0.049,2656,447,3302,0,0,0,0,0,0
$GC,1444,-0.71,-116.8,183.3,-10.3,149,1448,0.00,2.25,0.00,0.000,6,0.000,0.034,2647,2050,3304,0,0,0,0,0,0
$GC,1701,-0.71,-116.8,208.6,-9.8,169,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2050,3304,0,0,0,0,0,0
$GC,2010,-0.71,-116.8,238.1,-9.8,184,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2051,3303,0,0,0,0,0,0
$GC,2320,-0.71,-116.8,263.6,-7.4,199,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2050,3301,0,0,0,0,0,0
$GC,2629,-0.71,-116.8,289.1,-8.8,214,2633,0.00,2.25,0.00,0.000,4,0.000,0.043,2635,3611,3302,0,0,0,0,0,0
$GC,2668,-0.71,-116.8,292.6,-9.1,216,2672,0.00,2.25,0.00,0.000,6,0.000,0.029,2634,2019,3302,0,0,0,0,0,0
$GC,3010,-0.71,-116.8,325.9,-9.8,227,3014,0.00,2.25,0.00,0.000,4,0.000,0.043,2635,450,3299,0,0,0,0,0,0
$GC,3094,-0.71,-116.8,335.0,-11.1,229,3099,0.12,2.22,0.00,0.000,6,0.138,0.031,2662,2024,3298,0,0,0,0,0,0
$GC,3417,-0.71,-116.8,360.1,-7.3,237,3421,0.00,2.30,0.00,0.000,4,0.000,0.043,2649,3618,3295,0,0,0,0,0,0
$GC,3488,-0.71,-116.8,365.2,-7.2,238,3493,0.00,2.28,0.00,0.000,6,0.000,0.028,2651,2033,3296,0,0,0,0,0,0
$GC,3825,-0.71,-116.8,386.6,-6.3,247,3829,0.00,2.28,0.00,0.000,4,0.000,0.044,2648,455,3297,0,0,0,0,0,0
$GC,3869,-0.71,-116.8,390.1,-8.0,248,3874,0.00,2.25,0.00,0.000,6,0.000,0.032,2640,2054,3296,0,0,0,0,0,0
$GC,4199,-0.71,-116.8,414.5,-7.6,256,4203,0.00,2.30,0.00,0.000,4,0.000,0.042,2640,454,3290,0,0,0,0,0,0
$GC,4270,-0.71,-116.8,420.9,-8.5,257,4275,0.08,2.25,0.00,0.000,6,0.117,0.032,2658,2026,3290,0,0,0,0,0,0
$GC,4607,-0.71,-116.8,443.3,-6.5,266,4611,0.00,2.33,0.00,0.000,4,0.000,0.044,2648,3618,3288,0,0,0,0,0,0
$GC,4645,-0.71,-116.8,445.9,-7.0,267,4649,0.00,2.25,0.00,0.000,6,0.000,0.030,2648,2017,3287,0,0,0,0,0,0
$GC,4968,-0.71,-116.8,462.5,-5.9,275,4972,0.00,2.28,0.00,0.000,4,0.000,0.044,2648,451,3285,0,0,0,0,0,0
$GC,5050,-0.71,-116.8,467.8,-6.7,276,5057,0.00,2.22,0.00,0.000,6,0.000,0.032,2635,2037,3284,0,0,0,0,0,0
$GC,5381,-0.71,-116.8,487.0,-5.8,285,5386,0.00,2.30,0.00,0.000,4,0.000,0.043,2636,448,3281,0,0,0,0,0,0
$GC,5436,-0.71,-116.8,490.8,-6.6,286,5441,0.08,2.25,0.00,0.000,6,0.114,0.032,2655,2020,3281,0,0,0,0,0,0
$GC,5749,-0.71,-116.8,508.8,-6.1,294,5753,0.00,2.30,0.00,0.000,4,0.000,0.044,2645,3610,3278,0,0,0,0,0,0
$GC,5787,-0.71,-116.8,511.6,-7.3,295,5792,0.00,2.22,0.00,0.000,6,0.000,0.031,2645,2033,3280,0,0,0,0,0,0
$GC,6111,-0.71,-116.8,536.6,-8.1,303,6115,0.00,2.30,0.00,0.000,4,0.000,0.044,2645,450,3277,0,0,0,0,0,0
$GC,6171,-0.71,-116.8,542.3,-9.8,304,6175,0.00,2.28,0.00,0.000,6,0.000,0.032,2634,2038,3276,0,0,0,0,0,0
$GC,6484,-0.71,-116.8,569.9,-8.8,312,6488,0.00,2.28,0.00,0.000,4,0.000,0.043,2634,458,3278,0,0,0,0,0,0
$GC,6523,-0.71,-116.8,573.6,-9.4,313,6527,0.12,2.22,0.00,0.000,6,0.143,0.032,2656,2043,3275,0,0,0,0,0,0
$GC,6846,-0.71,-116.8,596.8,-6.8,321,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2043,3273,0,0,0,0,0,0
$GC,7171,-0.71,-116.8,617.8,-6.4,329,7175,0.00,2.30,0.00,0.000,4,0.000,0.044,2650,3606,3272,0,0,0,0,0,0
$GC,7231,-0.71,-116.8,621.8,-6.4,330,7235,0.00,2.25,0.00,0.000,6,0.000,0.031,2650,2032,3271,0,0,0,0,0,0
$GC,7579,-0.71,-116.8,645.1,-6.5,339,7583,0.00,2.33,0.00,0.000,4,0.000,0.045,2650,449,3269,0,0,0,0,0,0
$GC,7719,-0.71,-116.8,655.5,-7.4,342,7723,0.00,2.25,0.00,0.000,6,0.000,0.032,2639,2044,3268,0,0,0,0,0,0
$GC,8030,-0.71,-116.8,675.5,-6.4,350,8034,0.00,2.33,0.00,0.000,4,0.000,0.044,2638,451,3268,0,0,0,0,0,0
$GC,8069,-0.71,-116.8,678.2,-7.4,351,8074,0.12,2.28,0.00,0.000,6,0.144,0.034,2665,2045,3267,0,0,0,0,0,0
$GC,8392,-0.71,-116.8,696.8,-5.6,359,8396,0.00,2.33,0.00,0.000,4,0.000,0.045,2662,454,3265,0,0,0,0,0,0
$GC,8431,-0.71,-116.8,699.4,-7.0,360,8435,0.00,2.25,0.00,0.000,6,0.000,0.034,2656,2030,3267,0,0,0,0,0,0
$GC,8755,-0.71,-116.8,719.6,-6.2,368,8756,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2031,3266,0,0,0,0,0,0
$GC,9079,-0.71,-116.8,739.1,-6.0,376,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2030,3266,0,0,0,0,0,0
$GC,9404,-0.71,-116.8,757.3,-5.5,384,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2032,3265,0,0,0,0,0,0
$GC,9729,-0.71,-116.8,776.9,-6.2,392,9733,0.00,2.33,0.00,0.000,4,0.000,0.047,2656,460,3263,0,0,0,0,0,0
$GC,9806,-0.71,-116.8,782.6,-7.6,393,9812,0.00,2.25,0.00,0.000,6,0.000,0.034,2645,2032,3263,0,0,0,0,0,0
$GC,10137,-0.71,-116.8,805.7,-7.0,402,10141,0.00,2.30,0.00,0.000,4,0.000,0.045,2633,3604,3262,0,0,0,0,0,0
$GC,10177,-0.71,-116.8,808.5,-8.1,403,10181,0.00,2.25,0.00,0.000,6,0.000,0.031,2633,2028,3262,0,0,0,0,0,0
$GC,10500,-0.71,-116.8,832.7,-7.4,411,10504,0.00,2.30,0.00,0.000,4,0.000,0.046,2633,455,3261,0,0,0,0,0,0
$GC,10539,-0.71,-116.8,835.8,-8.5,412,10544,0.12,2.25,0.00,0.000,6,0.142,0.033,2663,2029,3261,0,0,0,0,0,0
$GC,10862,-0.71,-116.8,856.2,-6.2,420,10864,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2029,3260,0,0,0,0,0,0
$GC,11187,-0.71,-116.8,877.7,-6.5,428,11191,0.00,2.33,0.00,0.000,4,0.000,0.046,2660,460,3263,0,0,0,0,0,0
$GC,11230,-0.71,-116.8,880.9,-7.5,429,11234,0.00,2.22,0.00,0.000,6,0.000,0.034,2650,2032,3260,0,0,0,0,0,0
$GC,11555,-0.71,-116.8,902.8,-6.7,437,11556,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2033,3259,0,0,0,0,0,0
$GC,11879,-0.71,-116.8,923.4,-6.3,445,11883,0.00,2.33,0.00,0.000,4,0.000,0.047,2650,455,3258,0,0,0,0,0,0
$GC,11912,-0.71,-116.8,925.7,-6.9,445,11916,0.00,2.30,0.00,0.000,6,0.000,0.035,2644,2038,3258,0,0,0,0,0,0
$GC,12249,-0.71,-116.8,946.6,-6.1,454,12250,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2037,3257,0,0,0,0,0,0
$GC,12573,-0.71,-116.8,966.1,-6.1,462,12574,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2037,3257,0,0,0,0,0,0
$GC,12898,-0.71,-116.8,986.7,-6.4,470,12899,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2037,3256,0,0,0,0,0,0
$STATE,12978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12978,begin apogee
$GC,12982,-0.23,0.0,992.2,6.6,472,13078,0.52,0.00,93.57,1.300,6,0.110,0.000,2814,2037,2822,0,0,0,0,0,0
$STATE,13081,end apogee,CONTROL_FINISHED_OK
$STATE,13081,begin climb
$GC,13083,0.71,116.8,994.3,0.0,474,13201,0.88,2.55,111.72,1.269,4,0.064,0.044,3131,3598,2344,0,0,0,0,0,0
$GC,13222,0.71,116.8,986.0,11.7,478,13227,0.00,2.50,0.00,0.000,6,0.000,0.035,3142,2042,2338,0,0,0,0,0,0
$GC,13547,0.71,116.8,945.6,12.5,486,13551,0.00,2.42,0.00,0.000,4,0.000,0.048,3155,440,2327,0,0,0,0,0,0
$GC,13595,0.71,116.8,939.2,12.8,487,13601,0.10,2.38,0.00,0.000,6,0.137,0.035,3122,2026,2326,0,0,0,0,0,0
$GC,13914,0.71,116.8,904.4,10.9,495,13918,0.00,2.40,0.00,0.000,4,0.000,0.048,3133,447,2321,0,0,0,0,0,0
$GC,13940,0.71,116.8,901.2,11.1,495,13944,0.00,2.35,0.00,0.000,6,0.000,0.035,3132,2032,2323,0,0,0,0,0,0
$GC,14277,0.71,116.8,862.2,11.8,504,14281,0.00,2.40,0.00,0.000,4,0.000,0.048,3145,449,2321,0,0,0,0,0,0
$GC,14309,0.71,116.8,857.8,13.4,504,14315,0.00,2.35,0.00,0.000,6,0.000,0.035,3145,2036,2322,0,0,0,0,0,0
$GC,14640,0.71,116.8,815.3,12.9,513,14644,0.00,2.38,0.00,0.000,4,0.000,0.045,3146,3625,2321,0,0,0,0,0,0
$GC,14684,0.71,116.8,809.1,14.8,514,14689,0.12,2.35,0.00,0.000,6,0.172,0.035,3123,2013,2318,0,0,0,0,0,0
$GC,15012,0.71,116.8,770.1,11.8,522,15016,0.00,2.30,0.00,0.000,4,0.000,0.048,3133,459,2318,0,0,0,0,0,0
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$GC,19090,0.71,116.8,326.8,9.7,621,19094,0.00,2.33,0.00,0.000,4,0.000,0.045,3125,3608,2315,0,0,0,0,0,0
$GC,19235,0.71,116.8,311.4,9.5,624,19240,0.00,2.30,0.00,0.000,6,0.000,0.034,3135,2019,2315,0,0,0,0,0,0
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$STATE,22691,end climb,SURFACE_DEPTH_REACHED
$STATE,22692,begin surface coast
$FINISH,0.7,1.022979
$STATE,22727,end surface coast,CONTROL_FINISHED_OK
$STATE,22727,begin surface
$SM_CCo,22776,66.60,0.075,0,0,1293,375.06
$SM_GC,1.72,0.00,0.00,66.60,0.000,0.000,0.075,125,2030,1293,-8.64,-0.06,375.06
$IRIDIUM_FIX,2038.68,-15940.93,100112,151557
$TT8_MAMPS,0.25311
$HUMID,1078447087
$INTERNAL_PRESSURE,9.41321
$TCM_TEMP,24.60
$XPDR_PINGS,6
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$AR_CDRIVE_FREE,8412233728
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52994605056
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.8,17.120
$10V_AH,9.7,19.207
$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
$DEVICE_SECS,20.800,208.100,314.075,66.600,0.000,59.349,68.412,993.887,1.500,0.000,14.315,1832.561,18133.205,565.016,3417.719,291.924,33.366,1781.771,0.000,2191.238,0.000,0.542,0.000
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$SENSOR_SECS,623.993,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335240
$DATA_FILE_SIZE,33392,912
$CAP_FILE_SIZE,208005,0
$CFSIZE,260165632,245760000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180710,040724,2044.176,-15940.274,37,1.3,37,9.7