version: 66.08
glider: 500
mission: 9
dive: 83
start: 12 23 113 17 23 56
data:
$ID,500
$MISSION,9
$DIVE,83
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1000
$D_NO_BLEED,200
$D_BOOST,0
$T_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,333
$T_MISSION,685
$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,-5
$MAX_BUOY,155
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51896
$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,320
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,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,-165831.58
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2812
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,2460
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3680
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00050000002
$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,-65.78389
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,87
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,101
$LOGGERDEVICE2,115
$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,0.0043038074
$SEABIRD_T_H,0.00062028813
$SEABIRD_T_I,2.2163666e-05
$SEABIRD_T_J,2.2731931e-06
$SEABIRD_C_G,-9.8452415
$SEABIRD_C_H,1.106474
$SEABIRD_C_I,-0.0010991772
$SEABIRD_C_J,0.00015685134
$AD_RECORDABOVE,1100.0
$AD_PROFILE,1.0
$AD_XMITPROFILE,1.0
$AD_UPLOADMAX,60000.0
$AD_STARTS,143.0
$AD_THRESHOLD,2015.0
$AD_INTERVAL,6035.0
$AD_DURATION,1545.0
$DB_RECORDABOVE,0.0
$DB_PROFILE,0.0
$DB_XMITPROFILE,0.0
$DB_UPLOADMAX,0.0
$DB_STARTS,1.0
$GPS1,231213,171706,1922.814,-15558.010,29,1.5,29,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-83.3
$GPS2,231213,172251,1922.757,-15557.978,10,2.7,29,9.7
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,A3
$TGT_LATLONG,1919.800,-15555.200
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.154,-0.213
$KALMAN_X,108683.4,-28.8,-90.0,-110315.8,346.4
$KALMAN_Y,168580.8,89.0,95.3,-253848.4,360.1
$MHEAD_RNG_PITCHd_Wd,134.4,7318,-17.1,-9.910
$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,31,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,34,-0.51,-150.9,0.0,0.0,0,95,0.00,0.00,-58.58,0.000,2,0.000,0.000,134,2447,3676,0,0,0,0,0,0
$GC,98,-0.51,-150.9,3.1,-4.6,2,119,9.50,2.12,-6.05,0.000,4,0.223,0.058,2632,3857,3944,0,0,0,0,0,0
$GC,225,-0.51,-150.9,32.6,-20.8,5,229,0.00,2.05,0.00,0.000,6,0.000,0.035,2628,2458,3945,0,0,0,0,0,0
$GC,562,-0.51,-150.9,106.4,-21.3,16,566,0.00,2.10,0.00,0.000,4,0.000,0.048,2617,3857,3946,0,0,0,0,0,0
$GC,820,-0.51,-150.9,147.8,-13.9,23,829,0.00,2.05,0.00,0.000,6,0.000,0.033,2615,2455,3947,0,0,0,0,0,0
$GC,1135,-0.51,-150.9,189.8,-12.2,34,1139,0.00,2.08,0.00,0.000,4,0.000,0.046,2603,3846,3949,0,0,0,0,0,0
$GC,1394,-0.51,-150.9,222.2,-12.6,39,1398,0.10,2.03,0.00,0.000,6,0.121,0.032,2648,2458,3950,0,0,0,0,0,0
$GC,1710,-0.51,-150.9,251.6,-9.1,45,1714,0.00,2.10,0.00,0.000,4,0.000,0.050,2638,3854,3950,0,0,0,0,0,0
$GC,1968,-0.51,-150.9,275.8,-9.1,48,1974,0.00,2.05,0.00,0.000,6,0.000,0.036,2638,2447,3950,0,0,0,0,0,0
$GC,2278,-0.51,-150.9,303.4,-8.9,54,2282,0.00,2.12,0.00,0.000,4,0.000,0.052,2624,3847,3951,0,0,0,0,0,0
$GC,2424,-0.51,-150.9,317.2,-8.6,56,2428,0.00,2.05,0.00,0.000,6,0.000,0.040,2630,2465,3948,0,0,0,0,0,0
$GC,2779,-0.51,-150.9,347.7,-8.8,62,2783,0.00,2.08,0.00,0.000,4,0.000,0.055,2617,3840,3946,0,0,0,0,0,0
$GC,2890,-0.51,-150.9,360.1,-10.8,63,2895,0.10,2.03,0.00,0.000,6,0.152,0.039,2647,2452,3945,0,0,0,0,0,0
$GC,3212,-0.51,-150.9,388.6,-8.5,69,3215,0.00,2.10,0.00,0.000,4,0.000,0.057,2637,3842,3943,0,0,0,0,0,0
$GC,3235,-0.51,-150.9,390.4,-7.8,69,3239,0.00,2.03,0.00,0.000,6,0.000,0.039,2638,2466,3943,0,0,0,0,0,0
$GC,3578,-0.51,-150.9,420.4,-8.7,75,3582,0.00,2.10,0.00,0.000,4,0.000,0.059,2627,3849,3940,0,0,0,0,0,0
$GC,3634,-0.51,-150.9,425.4,-8.1,75,3641,0.00,2.08,0.00,0.000,6,0.000,0.040,2627,2453,3942,0,0,0,0,0,0
$GC,3944,-0.51,-150.9,450.3,-8.0,81,3948,0.00,2.12,0.00,0.000,4,0.000,0.060,2616,3846,3935,0,0,0,0,0,0
$GC,3965,-0.51,-150.9,452.3,-8.4,81,3970,0.10,2.08,0.00,0.000,6,0.151,0.040,2646,2452,3936,0,0,0,0,0,0
$GC,4308,-0.51,-150.9,477.6,-7.4,87,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2452,3934,0,0,0,0,0,0
$GC,4612,-0.51,-150.9,499.9,-7.5,92,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2452,3932,0,0,0,0,0,0
$GC,4915,-0.51,-150.9,523.5,-7.8,97,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2451,3930,0,0,0,0,0,0
$GC,5218,-0.51,-150.9,546.0,-7.5,102,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2451,3928,0,0,0,0,0,0
$GC,5521,-0.51,-150.9,568.3,-7.4,107,5525,0.00,2.12,0.00,0.000,4,0.000,0.060,2637,3842,3930,0,0,0,0,0,0
$GC,5565,-0.51,-150.9,571.6,-7.6,107,5569,0.00,2.08,0.00,0.000,6,0.000,0.041,2637,2458,3925,0,0,0,0,0,0
$GC,5880,-0.51,-150.9,594.3,-7.2,113,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2458,3925,0,0,0,0,0,0
$GC,6183,-0.51,-150.9,615.7,-7.1,118,6187,0.00,2.38,0.00,0.000,4,0.000,0.046,2637,866,3923,0,0,0,0,0,0
$GC,6199,-0.51,-150.9,617.1,-6.8,118,6203,0.00,2.38,0.00,0.000,6,0.000,0.049,2625,2455,3922,0,0,0,0,0,0
$GC,6547,-0.51,-150.9,639.8,-6.3,124,6551,0.00,2.12,0.00,0.000,4,0.000,0.059,2615,3855,3921,0,0,0,0,0,0
$GC,6683,-0.51,-150.9,649.8,-7.7,126,6688,0.10,2.08,0.00,0.000,6,0.151,0.039,2645,2463,3921,0,0,0,0,0,0
$GC,7045,-0.51,-150.9,673.7,-6.9,132,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2463,3922,0,0,0,0,0,0
$GC,7346,-0.51,-150.9,695.2,-7.1,137,7350,0.00,2.12,0.00,0.000,4,0.000,0.060,2635,3857,3916,0,0,0,0,0,0
$GC,7396,-0.51,-150.9,699.3,-7.9,137,7400,0.00,2.10,0.00,0.000,6,0.000,0.040,2636,2454,3916,0,0,0,0,0,0
$GC,7712,-0.51,-150.9,722.0,-7.1,143,7716,0.00,2.12,0.00,0.000,4,0.000,0.062,2625,3850,3915,0,0,0,0,0,0
$GC,7744,-0.51,-150.9,724.7,-8.2,143,7749,0.00,2.12,0.00,0.000,6,0.000,0.043,2624,2458,3915,0,0,0,0,0,0
$GC,8077,-0.51,-150.9,749.2,-7.3,149,8081,0.00,2.12,0.00,0.000,4,0.000,0.063,2611,3854,3914,0,0,0,0,0,0
$GC,8093,-0.51,-150.9,750.6,-7.4,149,8097,0.10,2.08,0.00,0.000,6,0.151,0.041,2644,2456,3913,0,0,0,0,0,0
$GC,8436,-0.51,-150.9,771.4,-5.9,155,8440,0.00,2.17,0.00,0.000,4,0.000,0.063,2635,3849,3912,0,0,0,0,0,0
$GC,8459,-0.51,-150.9,772.9,-6.0,155,8463,0.00,2.08,0.00,0.000,6,0.000,0.042,2635,2459,3911,0,0,0,0,0,0
$GC,8797,-0.51,-150.9,793.7,-6.1,161,8801,0.00,2.12,0.00,0.000,4,0.000,0.063,2624,3849,3911,0,0,0,0,0,0
$GC,8830,-0.51,-150.9,796.0,-7.4,161,8834,0.00,2.10,0.00,0.000,6,0.000,0.044,2624,2451,3911,0,0,0,0,0,0
$GC,9162,-0.51,-150.9,819.3,-7.1,167,9166,0.00,2.15,0.00,0.000,4,0.000,0.059,2610,3861,3910,0,0,0,0,0,0
$GC,9178,-0.51,-150.9,820.6,-7.1,167,9182,0.00,2.12,0.00,0.000,6,0.000,0.040,2614,2451,3910,0,0,0,0,0,0
$GC,9522,-0.51,-150.9,846.8,-7.7,173,9526,0.12,2.15,0.00,0.000,4,0.155,0.057,2641,3857,3909,0,0,0,0,0,0
$GC,9594,-0.51,-150.9,852.0,-6.5,174,9598,0.00,2.08,0.00,0.000,6,0.000,0.041,2639,2462,3909,0,0,0,0,0,0
$GC,9949,-0.51,-150.9,873.1,-5.8,180,9950,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2460,3908,0,0,0,0,0,0
$GC,10252,-0.51,-150.9,888.9,-5.2,185,10256,0.00,2.15,0.00,0.000,4,0.000,0.057,2631,3850,3906,0,0,0,0,0,0
$GC,10268,-0.51,-150.9,889.9,-5.0,185,10272,0.00,2.10,0.00,0.000,6,0.000,0.041,2630,2457,3906,0,0,0,0,0,0
$GC,10611,-0.51,-150.9,908.4,-5.3,191,10615,0.00,2.15,0.00,0.000,4,0.000,0.060,2620,3858,3906,0,0,0,0,0,0
$GC,10632,-0.51,-150.9,909.7,-6.3,191,10636,0.00,2.12,0.00,0.000,6,0.000,0.041,2620,2452,3906,0,0,0,0,0,0
$GC,10976,-0.51,-150.9,929.3,-5.6,197,10980,0.00,2.12,0.00,0.000,4,0.000,0.058,2610,3853,3905,0,0,0,0,0,0
$GC,11049,-0.51,-150.9,934.2,-6.7,198,11053,0.12,2.08,0.00,0.000,6,0.143,0.041,2647,2458,3905,0,0,0,0,0,0
$GC,11403,-0.51,-150.9,949.6,-4.4,204,11407,0.00,2.38,0.00,0.000,4,0.000,0.044,2647,863,3904,0,0,0,0,0,0
$GC,11420,-0.51,-150.9,950.6,-4.8,204,11424,0.00,2.40,0.00,0.000,6,0.000,0.047,2638,2461,3904,0,0,0,0,0,0
$GC,11763,-0.51,-150.9,972.7,-6.8,210,11767,0.00,2.10,0.00,0.000,4,0.000,0.056,2626,3858,3903,0,0,0,0,0,0
$GC,11802,-0.51,-150.9,976.0,-8.3,210,11806,0.00,2.10,0.00,0.000,6,0.000,0.040,2624,2458,3903,0,0,0,0,0,0
$STATE,12005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12005,begin apogee
$GC,12011,-0.13,0.0,992.5,8.1,214,12061,0.40,0.00,46.35,1.528,6,0.114,0.000,2767,2275,3682,0,0,0,0,0,0
$STATE,12068,end apogee,CONTROL_FINISHED_OK
$STATE,12068,begin climb
$GC,12070,0.51,150.9,994.7,0.0,214,12205,0.52,0.00,130.90,1.537,6,0.055,0.000,2986,2275,3065,0,0,0,0,0,0
$GC,12501,0.51,150.9,949.1,13.8,222,12505,0.00,2.35,0.00,0.000,4,0.000,0.048,2997,738,3062,0,0,0,0,0,0
$GC,12527,0.51,150.9,945.1,14.2,222,12532,0.00,2.40,0.00,0.000,6,0.000,0.042,2997,2316,3062,0,0,0,0,0,0
$GC,12866,0.51,150.9,891.9,16.0,228,12870,0.00,2.42,0.00,0.000,4,0.000,0.046,3010,737,3061,0,0,0,0,0,0
$GC,12881,0.51,150.9,889.0,16.4,228,12886,0.12,2.35,0.00,0.000,6,0.168,0.039,2977,2312,3061,0,0,0,0,0,0
$GC,13230,0.51,150.9,838.8,14.2,234,13231,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2312,3062,0,0,0,0,0,0
$GC,13533,0.51,150.9,798.1,13.4,239,13537,0.00,2.38,0.00,0.000,4,0.000,0.045,2987,723,3060,0,0,0,0,0,0
$GC,13554,0.51,150.9,795.1,13.0,239,13558,0.00,2.35,0.00,0.000,6,0.000,0.041,2987,2311,3059,0,0,0,0,0,0
$GC,13892,0.51,150.9,750.0,13.4,245,13896,0.00,2.38,0.00,0.000,4,0.000,0.046,2999,723,3057,0,0,0,0,0,0
$GC,13913,0.51,150.9,746.8,13.5,245,13917,0.00,2.38,0.00,0.000,6,0.000,0.042,2999,2302,3060,0,0,0,0,0,0
$GC,14257,0.51,150.9,697.4,14.6,251,14261,0.00,2.38,0.00,0.000,4,0.000,0.047,3011,735,3059,0,0,0,0,0,0
$GC,14272,0.51,150.9,694.8,14.8,251,14277,0.12,2.35,0.00,0.000,6,0.173,0.041,2977,2311,3059,0,0,0,0,0,0
$GC,14627,0.51,150.9,654.3,11.2,257,14631,0.00,2.33,0.00,0.000,4,0.000,0.054,2977,3838,3059,0,0,0,0,0,0
$GC,14648,0.51,150.9,651.5,11.4,257,14652,0.00,2.30,0.00,0.000,6,0.000,0.042,2988,2320,3059,0,0,0,0,0,0
$GC,14986,0.51,150.9,610.1,12.3,263,14990,0.00,2.40,0.00,0.000,4,0.000,0.048,2999,717,3058,0,0,0,0,0,0
$GC,15057,0.51,150.9,600.8,12.4,264,15062,0.00,2.35,0.00,0.000,6,0.000,0.045,3004,2297,3059,0,0,0,0,0,0
$GC,15420,0.51,150.9,553.3,13.0,270,15424,0.00,2.38,0.00,0.000,4,0.000,0.047,3011,715,3059,0,0,0,0,0,0
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$GC,16868,0.52,157.9,387.2,11.4,294,16869,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2291,3037,0,0,0,0,0,0
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$GC,17474,0.52,168.8,321.6,9.4,304,17490,0.00,2.40,10.50,0.944,4,0.000,0.045,3023,710,2991,0,0,0,0,0,0
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$GC,20543,0.62,359.4,20.1,9.4,380,20559,0.00,2.40,10.68,0.630,4,0.000,0.056,3010,3844,2214,0,0,0,0,0,0
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$STATE,20725,end climb,SURFACE_DEPTH_REACHED
$STATE,20725,begin surface coast
$FINISH,0.8,1.009569
$STATE,20756,end surface coast,CONTROL_FINISHED_OK
$STATE,20756,begin surface
$SM_CCo,20833,0.00,0.000,0,0,2111,384.87
$SM_GC,1.52,7.18,0.00,0.00,0.026,0.000,0.000,106,2475,2111,-8.28,0.42,384.87
$IRIDIUM_FIX,1918.37,-15557.38,231213,111114
$TT8_MAMPS,0.05992
$HUMID,58.58
$INTERNAL_PRESSURE,9.27648
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.4,20.739
$10V_AH,10.2,9.815
$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
$DEVICE_SECS,18.900,193.150,372.775,0.000,0.000,24.875,36.669,155.627,0.000,0.000,32.719,1416.236,16951.572,462.654,2072.608,284.406,33.370,1445.893,0.000,1784.535,0.000,0.540,0.000
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$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,266.027,322.995,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143020
$DATA_FILE_SIZE,20231,387
$CAP_FILE_SIZE,160064,0
$CFSIZE,260165632,248999936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231213,231229,1920.586,-15557.185,37,1.2,42,9.7