version: 66.07
glider: 500
mission: 4
dive: 155
start: 7 22 110 9 38 14
data:
$ID,500
$MISSION,4
$DIVE,155
$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,-112098.85
$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,57
$R_STBD_OVSHOOT,50
$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,154
$AR_SAMPLENUM,12
$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
$GPS1,220710,090337,2050.695,-15922.423,36,1.1,36,9.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-70.6
$GPS2,220710,093719,2050.764,-15922.504,10,1.2,15,9.7
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,HOME
$TGT_LATLONG,2116.430,-15753.630
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.222,-0.018
$KALMAN_X,-118968.7,87.6,13.7,185229.6,-2019.1
$KALMAN_Y,139792.0,188.0,-119.6,-97676.9,1397.6
$MHEAD_RNG_PITCHd_Wd,85.0,160575,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.71,-116.8,0.0,0.0,0,73,0.00,0.00,-45.85,0.000,2,0.000,0.000,133,2047,2564,0,0,0,0,0,0
$GC,76,-0.71,-116.8,3.3,-5.8,9,113,10.07,2.42,-18.05,0.000,4,0.229,0.063,2654,467,3301,0,0,0,0,0,0
$GC,146,-0.71,-116.8,13.7,-17.2,22,152,0.00,2.28,0.00,0.000,6,0.000,0.038,2645,2029,3301,0,0,0,0,0,0
$GC,347,-0.71,-116.8,53.3,-18.9,48,351,0.00,2.35,0.00,0.000,4,0.000,0.052,2645,464,3302,0,0,0,0,0,0
$GC,413,-0.71,-116.8,65.2,-17.4,53,419,0.00,2.30,0.00,0.000,6,0.000,0.038,2633,2039,3302,0,0,0,0,0,0
$GC,674,-0.71,-116.8,107.1,-16.1,78,678,0.00,2.33,0.00,0.000,4,0.000,0.044,2621,3608,3302,0,0,0,0,0,0
$GC,728,-0.71,-116.8,115.6,-16.0,82,735,0.10,2.25,0.00,0.000,6,0.116,0.028,2660,2039,3302,0,0,0,0,0,0
$GC,990,-0.71,-116.8,148.4,-10.5,107,994,0.00,2.28,0.00,0.000,4,0.000,0.044,2664,454,3303,0,0,0,0,0,0
$GC,1073,-0.71,-116.8,158.0,-10.7,114,1077,0.00,2.22,0.00,0.000,6,0.000,0.034,2649,2038,3303,0,0,0,0,0,0
$GC,1336,-0.71,-116.8,187.6,-11.9,138,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2038,3303,0,0,0,0,0,0
$GC,1595,-0.71,-116.8,216.5,-10.6,156,1599,0.00,2.33,0.00,0.000,4,0.000,0.043,2637,3619,3304,0,0,0,0,0,0
$GC,1637,-0.71,-116.8,221.2,-10.3,158,1642,0.00,2.28,0.00,0.000,6,0.000,0.028,2637,2034,3304,0,0,0,0,0,0
$GC,1964,-0.71,-116.8,251.9,-9.5,174,1968,0.00,2.28,0.00,0.000,4,0.000,0.042,2637,445,3303,0,0,0,0,0,0
$GC,2052,-0.71,-116.8,261.2,-10.2,178,2058,0.08,2.28,0.00,0.000,6,0.115,0.031,2658,2030,3303,0,0,0,0,0,0
$GC,2380,-0.71,-116.8,287.0,-7.5,194,2384,0.00,2.33,0.00,0.000,4,0.000,0.049,2657,447,3302,0,0,0,0,0,0
$GC,2419,-0.71,-116.8,290.4,-8.7,196,2423,0.00,2.22,0.00,0.000,6,0.000,0.034,2646,2038,3302,0,0,0,0,0,0
$GC,2741,-0.71,-116.8,319.7,-9.4,207,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2033,3301,0,0,0,0,0,0
$GC,3066,-0.71,-116.8,345.7,-7.5,215,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2033,3300,0,0,0,0,0,0
$GC,3392,-0.71,-116.8,369.9,-7.6,223,3396,0.00,2.30,0.00,0.000,4,0.000,0.044,2646,443,3298,0,0,0,0,0,0
$GC,3486,-0.71,-116.8,377.7,-8.0,225,3490,0.00,2.25,0.00,0.000,6,0.000,0.032,2636,2015,3298,0,0,0,0,0,0
$GC,3810,-0.71,-116.8,401.7,-7.5,233,3814,0.00,2.28,0.00,0.000,4,0.000,0.044,2635,442,3295,0,0,0,0,0,0
$GC,3861,-0.71,-116.8,405.5,-7.3,234,3865,0.12,2.28,0.00,0.000,6,0.140,0.032,2663,2051,3295,0,0,0,0,0,0
$GC,4178,-0.71,-116.8,422.1,-5.3,242,4182,0.00,2.35,0.00,0.000,4,0.000,0.044,2663,442,3291,0,0,0,0,0,0
$GC,4238,-0.71,-116.8,426.4,-7.0,243,4242,0.00,2.25,0.00,0.000,6,0.000,0.033,2658,2029,3293,0,0,0,0,0,0
$GC,4586,-0.71,-116.8,450.9,-7.3,252,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2030,3290,0,0,0,0,0,0
$GC,4911,-0.71,-116.8,473.8,-7.0,260,4915,0.00,2.33,0.00,0.000,4,0.000,0.044,2641,3614,3288,0,0,0,0,0,0
$GC,4982,-0.71,-116.8,479.3,-7.8,261,4987,0.00,2.25,0.00,0.000,6,0.000,0.029,2641,2015,3287,0,0,0,0,0,0
$GC,5319,-0.71,-116.8,506.1,-8.0,270,5323,0.00,2.25,0.00,0.000,4,0.000,0.044,2641,460,3286,0,0,0,0,0,0
$GC,5367,-0.71,-116.8,510.6,-9.1,271,5372,0.08,2.28,0.00,0.000,6,0.114,0.032,2660,2035,3285,0,0,0,0,0,0
$GC,5686,-0.71,-116.8,531.4,-6.3,279,5690,0.00,2.30,0.00,0.000,4,0.000,0.044,2650,3609,3283,0,0,0,0,0,0
$GC,5719,-0.71,-116.8,533.6,-7.0,279,5723,0.00,2.28,0.00,0.000,6,0.000,0.030,2650,2037,3283,0,0,0,0,0,0
$GC,6056,-0.71,-116.8,557.7,-7.4,288,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2037,3281,0,0,0,0,0,0
$GC,6381,-0.71,-116.8,580.3,-6.8,296,6385,0.00,2.33,0.00,0.000,4,0.000,0.044,2649,451,3280,0,0,0,0,0,0
$GC,6465,-0.71,-116.8,586.6,-8.0,298,6469,0.00,2.25,0.00,0.000,6,0.000,0.033,2639,2030,3277,0,0,0,0,0,0
$GC,6788,-0.71,-116.8,607.0,-6.1,306,6789,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2031,3278,0,0,0,0,0,0
$GC,7114,-0.71,-116.8,625.9,-5.8,314,7117,0.00,2.33,0.00,0.000,4,0.000,0.044,2636,447,3276,0,0,0,0,0,0
$GC,7140,-0.71,-116.8,627.8,-7.1,314,7145,0.08,2.30,0.00,0.000,6,0.114,0.033,2666,2040,3276,0,0,0,0,0,0
$GC,7482,-0.71,-116.8,644.5,-4.9,323,7486,0.00,2.30,0.00,0.000,4,0.000,0.045,2656,3613,3275,0,0,0,0,0,0
$GC,7521,-0.71,-116.8,646.7,-5.9,324,7525,0.00,2.25,0.00,0.000,6,0.000,0.031,2656,2029,3275,0,0,0,0,0,0
$GC,7844,-0.71,-116.8,664.5,-5.6,332,7848,0.00,2.33,0.00,0.000,4,0.000,0.045,2655,447,3274,0,0,0,0,0,0
$GC,7910,-0.71,-116.8,669.0,-6.9,333,7914,0.00,2.25,0.00,0.000,6,0.000,0.033,2645,2040,3274,0,0,0,0,0,0
$GC,8257,-0.71,-116.8,691.1,-6.1,342,8262,0.00,2.35,0.00,0.000,4,0.000,0.044,2645,449,3272,0,0,0,0,0,0
$GC,8296,-0.71,-116.8,693.8,-7.4,343,8301,0.00,2.28,0.00,0.000,6,0.000,0.034,2634,2037,3272,0,0,0,0,0,0
$GC,8620,-0.71,-116.8,712.2,-5.5,351,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2038,3271,0,0,0,0,0,0
$GC,8945,-0.71,-116.8,728.5,-4.9,359,8949,0.00,2.33,0.00,0.000,4,0.000,0.046,2621,3608,3270,0,0,0,0,0,0
$GC,8972,-0.71,-116.8,729.9,-5.6,359,8977,0.12,2.25,0.00,0.000,6,0.130,0.031,2662,2032,3270,0,0,0,0,0,0
$GC,9304,-0.71,-116.8,744.0,-4.3,367,9308,0.00,2.33,0.00,0.000,4,0.000,0.047,2662,454,3269,0,0,0,0,0,0
$GC,9364,-0.71,-116.8,747.5,-6.2,368,9368,0.00,2.28,0.00,0.000,6,0.000,0.034,2653,2013,3269,0,0,0,0,0,0
$GC,9677,-0.71,-116.8,764.0,-5.4,376,9678,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2014,3268,0,0,0,0,0,0
$GC,10002,-0.71,-116.8,780.0,-4.7,384,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2014,3269,0,0,0,0,0,0
$GC,10327,-0.71,-116.8,796.3,-5.1,392,10328,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2014,3267,0,0,0,0,0,0
$GC,10652,-0.71,-116.8,815.1,-6.0,400,10653,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2014,3270,0,0,0,0,0,0
$GC,10977,-0.71,-116.8,834.6,-5.9,408,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2014,3266,0,0,0,0,0,0
$GC,11302,-0.71,-116.8,854.1,-5.9,416,11306,0.00,2.30,0.00,0.000,4,0.000,0.047,2653,457,3266,0,0,0,0,0,0
$GC,11341,-0.71,-116.8,856.7,-7.0,417,11345,0.00,2.30,0.00,0.000,6,0.000,0.035,2642,2050,3266,0,0,0,0,0,0
$GC,11664,-0.71,-116.8,876.7,-6.2,425,11668,0.00,2.38,0.00,0.000,4,0.000,0.046,2641,452,3264,0,0,0,0,0,0
$GC,11696,-0.71,-116.8,879.1,-7.0,425,11702,0.08,2.30,0.00,0.000,6,0.117,0.034,2676,2031,3265,0,0,0,0,0,0
$GC,12027,-0.71,-116.8,896.7,-5.2,434,12028,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2031,3265,0,0,0,0,0,0
$GC,12352,-0.71,-116.8,912.2,-4.7,442,12356,0.00,2.35,0.00,0.000,4,0.000,0.047,2676,451,3265,0,0,0,0,0,0
$GC,12384,-0.71,-116.8,914.0,-5.5,442,12388,0.00,2.30,0.00,0.000,6,0.000,0.034,2667,2025,3265,0,0,0,0,0,0
$GC,12721,-0.71,-116.8,930.2,-4.9,451,12722,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2025,3264,0,0,0,0,0,0
$GC,13046,-0.71,-116.8,946.5,-5.0,459,13050,0.00,2.35,0.00,0.000,4,0.000,0.046,2658,3612,3264,0,0,0,0,0,0
$GC,13074,-0.71,-116.8,948.0,-6.1,459,13078,0.00,2.28,0.00,0.000,6,0.000,0.032,2655,2027,3263,0,0,0,0,0,0
$GC,13404,-0.71,-116.8,965.7,-5.2,467,13408,0.00,2.33,0.00,0.000,4,0.000,0.048,2655,455,3263,0,0,0,0,0,0
$GC,13470,-0.71,-116.8,969.7,-6.3,468,13474,0.00,2.30,0.00,0.000,6,0.000,0.034,2644,2030,3263,0,0,0,0,0,0
$STATE,13531,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13531,begin apogee
$GC,13536,-0.23,0.0,973.3,5.7,470,13633,0.50,0.00,94.65,1.283,6,0.107,0.000,2811,2030,2823,0,0,0,0,0,0
$STATE,13656,end apogee,CONTROL_FINISHED_OK
$STATE,13656,begin climb
$GC,13658,0.71,116.8,975.1,0.0,472,13779,0.82,2.65,110.97,1.251,4,0.063,0.045,3120,3607,2347,0,0,0,0,0,0
$GC,13801,0.71,116.8,965.6,13.3,476,13805,0.00,2.50,0.00,0.000,6,0.000,0.035,3133,2045,2339,0,0,0,0,0,0
$GC,14114,0.71,116.8,924.4,13.0,484,14115,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2045,2328,0,0,0,0,0,0
$GC,14439,0.71,116.8,881.1,13.2,492,14443,0.00,2.42,0.00,0.000,4,0.000,0.048,3146,444,2328,0,0,0,0,0,0
$GC,14478,0.71,116.8,875.7,13.8,493,14482,0.00,2.33,0.00,0.000,6,0.000,0.035,3146,2041,2325,0,0,0,0,0,0
$GC,14800,0.71,116.8,828.9,14.8,501,14804,0.00,2.40,0.00,0.000,4,0.000,0.048,3157,443,2322,0,0,0,0,0,0
$GC,14827,0.71,116.8,824.6,15.7,501,14832,0.15,2.33,0.00,0.000,6,0.160,0.035,3117,2033,2324,0,0,0,0,0,0
$GC,15163,0.71,116.8,780.9,12.9,510,15164,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2034,2323,0,0,0,0,0,0
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$GC,16981,0.71,116.8,567.5,12.7,554,16986,0.00,2.33,0.00,0.000,6,0.000,0.035,3140,2019,2319,0,0,0,0,0,0
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$GC,18464,0.71,116.8,408.0,10.8,591,18468,0.00,2.33,0.00,0.000,6,0.000,0.035,3148,2018,2317,0,0,0,0,0,0
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$GC,22421,0.84,222.7,37.4,7.6,829,22442,0.00,2.38,15.98,0.534,4,0.000,0.040,3151,3619,1914,0,0,0,0,0,0
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$STATE,22854,end climb,SURFACE_DEPTH_REACHED
$STATE,22854,begin surface coast
$FINISH,1.3,1.022872
$STATE,22867,end surface coast,CONTROL_FINISHED_OK
$STATE,22867,begin surface
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$IRIDIUM_FIX,2043.29,-15920.43,150112,030336
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$HUMID,1078410958
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$TCM_TEMP,24.60
$XPDR_PINGS,3
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$AR_CDRIVE_FREE,8410431488
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51501694976
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.8,19.555
$10V_AH,9.7,20.513
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.325,194.750,308.625,69.700,0.000,127.979,144.183,1264.360,0.750,0.000,17.295,1761.287,18768.336,541.557,3513.851,403.178,33.364,1661.960,0.000,1963.612,0.000,0.543,0.000
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$SENSOR_SECS,615.867,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335232
$DATA_FILE_SIZE,30064,901
$CAP_FILE_SIZE,207228,0
$CFSIZE,260165632,243367936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220710,160230,2051.055,-15920.820,39,1.0,39,9.7