version: 66.11
revision: 1138
glider: 626
mission: 1
dive: 538
start: 4 9 117 5 18 32
data:
$ID,626
$MISSION,1
$DIVE,538
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$D_ABORT,750
$D_NO_BLEED,29
$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,290
$T_MISSION,450
$T_ABORT,400
$T_TURN,250
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54941
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,390
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$NOCOMM_ACTION,3
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-132391.41
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,158
$PITCH_MAX,3905
$C_PITCH,2800
$PITCH_DBAND,0.050000001
$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,286
$ROLL_MAX,3922
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,649
$VBD_MAX,3962
$C_VBD,2600
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.80853
$PRESSURE_SLOPE,0.000140886
$AD7714Ch0Gain,32
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,133
$DEVICE4,163
$DEVICE5,150
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,0
$LOGGERDEVICE2,0
$LOGGERDEVICE3,0
$LOGGERDEVICE4,0
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043901233
$SEABIRD_T_H,0.00063526275
$SEABIRD_T_I,2.50098e-05
$SEABIRD_T_J,2.985784e-06
$SEABIRD_C_G,-9.6502161
$SEABIRD_C_H,1.0763537
$SEABIRD_C_I,-0.002494992
$SEABIRD_C_J,0.00024128702
$GPS1,090417,051100,2233.635,-15800.188,39,0.8,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-75.8
$GPS2,090417,051718,2233.568,-15800.226,7,1.1,7,9.8
$SPEED_LIMITS,0.221,0.231
$TGT_NAME,AC11
$TGT_LATLONG,2234.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.108,0.204
$KALMAN_X,-110211.0,-794.3,-541.8,114853.1,4209.6
$KALMAN_Y,-330658.2,-108.1,699.4,316095.4,-6428.3
$MHEAD_RNG_PITCHd_Wd,15.9,888,-16.8,-8.046,-20.00,2265
$D_GRID,700
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.69,-107.1,128,2515,1024,972,0.0,0.0,0,79,0.00,0.00,-58.70,0.000,16390,0.000,0.000,128,2516,3039,3069,3009,0,0,0,0,0,0,28.83,28.83,14.89
$GC,82,-0.69,-107.1,128,2516,3069,3009,4.0,-7.4,7,101,8.80,2.33,0.00,0.000,2308,0.478,0.053,2561,3898,3039,3071,3008,0,0,0,0,0,0,14.09,14.51,28.83
$GC,309,-0.69,-107.1,2562,3898,3073,3008,59.4,-17.5,39,319,0.00,2.33,0.00,0.000,3078,0.000,0.041,2561,2506,3040,3073,3008,0,0,0,0,0,0,28.83,14.50,28.83
$GC,623,-0.69,-107.1,2561,2505,3074,3008,119.3,-17.3,88,633,0.00,2.40,0.00,0.000,2564,0.000,0.055,2561,1088,3041,3074,3008,0,0,0,0,0,0,28.83,14.52,28.83
$GC,685,-0.69,-107.1,2561,1088,3074,3008,129.6,-17.0,97,692,0.00,2.33,0.00,0.000,3078,0.000,0.051,2561,2490,3041,3074,3008,0,0,0,0,0,0,28.83,14.66,28.83
$GC,958,-0.69,-107.1,2561,2491,3075,3008,174.3,-15.9,132,959,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2489,3041,3075,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1208,-0.69,-107.1,2561,2491,3076,3008,211.6,-13.9,151,1214,0.00,2.35,0.00,0.000,2308,0.000,0.072,2561,3906,3042,3076,3008,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1226,-0.69,-107.1,2561,3906,3076,3009,211.6,-13.9,151,1230,0.00,2.25,0.00,0.000,3078,0.000,0.037,2561,2488,3042,3076,3008,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1483,-0.69,-107.1,2561,2486,3076,3008,243.9,-11.5,158,1489,0.00,2.25,0.00,0.000,2564,0.000,0.054,2561,1099,3042,3076,3008,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1516,-0.69,-107.1,2561,1098,3076,3008,243.9,-11.5,158,1523,0.00,2.33,0.00,0.000,3078,0.000,0.057,2561,2498,3042,3076,3008,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1763,-0.69,-107.1,2561,2499,3076,3008,274.7,-11.0,165,1769,0.00,2.35,0.00,0.000,2308,0.000,0.071,2561,3913,3042,3076,3008,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1851,-0.69,-107.1,2561,3912,3076,3008,283.8,-11.2,167,1855,0.00,2.25,0.00,0.000,3078,0.000,0.037,2561,2496,3042,3076,3008,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2118,-0.69,-107.1,2561,2495,3076,3008,316.8,-12.5,174,2124,0.00,2.28,0.00,0.000,2564,0.000,0.056,2561,1096,3042,3076,3008,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2191,-0.69,-107.1,2561,1096,3076,3007,321.7,-12.6,175,2198,0.00,2.35,0.00,0.000,3078,0.000,0.056,2561,2504,3042,3076,3008,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2438,-0.69,-107.1,2561,2506,3076,3005,355.7,-12.2,182,2439,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2505,3041,3076,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2678,-0.69,-107.1,2561,2505,3076,3004,385.6,-12.7,188,2684,0.00,2.35,0.00,0.000,2564,0.000,0.055,2562,1097,3039,3076,3003,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2711,-0.69,-107.1,2561,1096,3076,3003,385.6,-12.7,188,2717,0.00,2.35,0.00,0.000,3078,0.000,0.056,2561,2504,3039,3076,3003,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2958,-0.69,-107.1,2561,2505,3076,3001,419.6,-12.4,195,2959,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2504,3038,3076,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3200,-0.69,-107.1,2561,2505,3076,2997,448.9,-12.1,201,3205,0.00,2.33,0.00,0.000,2564,0.000,0.057,2561,1090,3036,3076,2996,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3226,-0.69,-107.1,2561,1090,3076,2996,448.9,-12.1,201,3230,0.00,2.35,0.00,0.000,3078,0.000,0.057,2561,2498,3036,3076,2996,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3473,-0.69,-107.1,2561,2499,3076,2994,480.1,-10.6,207,3479,0.00,2.38,0.00,0.000,2308,0.000,0.076,2561,3916,3035,3076,2994,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3513,-0.69,-107.1,2561,3917,3076,2994,484.1,-10.3,208,3519,0.00,2.28,0.00,0.000,3078,0.000,0.041,2561,2498,3035,3076,2994,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3793,-0.69,-107.1,2561,2497,3076,2990,508.1,-8.2,215,3799,0.00,2.30,0.00,0.000,2564,0.000,0.057,2561,1091,3033,3076,2990,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3821,-0.69,-107.1,2562,1091,3075,2989,508.1,-8.2,215,3825,0.00,2.35,0.00,0.000,3078,0.000,0.057,2561,2500,3033,3076,2990,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4068,-0.69,-107.1,2561,2499,3076,2986,531.1,-8.5,221,4074,0.00,2.38,0.00,0.000,2308,0.000,0.076,2561,3915,3031,3076,2986,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4148,-0.69,-107.1,2561,3915,3075,2986,538.3,-8.8,223,4154,0.00,2.30,0.00,0.000,3078,0.000,0.041,2561,2503,3029,3074,2985,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4428,-0.69,-107.1,2561,2501,3076,2981,562.9,-8.9,230,4434,0.00,2.33,0.00,0.000,2564,0.000,0.058,2561,1089,3029,3077,2981,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4446,-0.69,-107.1,2561,1090,3076,2981,562.9,-8.9,230,4450,0.00,2.38,0.00,0.000,3078,0.000,0.057,2561,2501,3028,3076,2980,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4703,-0.69,-107.1,2561,2501,3076,2978,589.9,-9.9,237,4704,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2501,3027,3076,2978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4943,-0.69,-107.1,2561,2501,3075,2974,616.2,-11.3,243,4944,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2502,3025,3076,2975,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5183,-0.69,-107.1,2561,2501,3076,2972,642.9,-11.3,249,5184,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2501,3023,3076,2971,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5423,-0.69,-107.1,2561,2502,3076,2969,670.4,-11.3,255,5429,0.00,2.38,0.00,0.000,2564,0.000,0.057,2561,1087,3021,3075,2968,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5446,-0.69,-107.1,2561,1087,3075,2968,670.4,-11.3,255,5450,0.00,2.40,0.00,0.000,3078,0.000,0.060,2561,2507,3022,3076,2969,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5698,-0.69,-107.1,2561,2507,3076,2967,699.9,-10.5,262,5704,0.00,2.40,0.00,0.000,2308,0.000,0.079,2561,3909,3021,3075,2967,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5726,-0.69,-107.1,2561,3909,3075,2967,699.9,-10.5,262,5730,0.00,2.30,0.00,0.000,3078,0.000,0.044,2561,2498,3021,3075,2967,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,5771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5771,begin apogee
$GC,5776,-0.17,0.0,2561,2496,3075,2966,707.3,-10.3,263,5871,0.55,0.00,92.35,2.647,10246,0.298,0.000,2744,2496,2600,2677,2524,0,0,0,0,0,0,14.14,28.83,12.97
$STATE,5872,end apogee,CONTROL_FINISHED_OK
$STATE,5872,begin climb
$GC,5875,0.69,107.1,2744,2496,2677,2524,710.0,0.0,265,5977,0.73,0.00,97.70,2.638,10502,0.193,0.000,3020,2496,2162,2238,2087,0,0,0,0,0,0,14.08,28.83,12.86
$GC,6214,0.69,107.1,3020,2496,2238,2077,680.7,11.4,274,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2496,2157,2238,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6453,0.69,107.1,3020,2496,2238,2073,653.8,11.2,280,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2496,2155,2238,2072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6693,0.69,107.1,3020,2496,2238,2070,627.5,10.9,286,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2496,2154,2238,2070,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6933,0.69,107.1,3021,2495,2238,2069,600.7,11.2,292,6939,0.00,2.42,0.00,0.000,516,0.000,0.058,3031,1032,2153,2239,2068,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6956,0.69,107.1,3031,1032,2237,2067,600.7,11.2,292,6961,0.00,2.40,0.00,0.000,1030,0.000,0.057,3031,2462,2152,2237,2067,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7208,0.69,107.1,3031,2461,2237,2066,568.9,11.7,299,7209,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2461,2151,2235,2067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7448,0.69,107.1,3031,2462,2237,2065,543.2,10.6,305,7454,0.00,2.35,0.00,0.000,260,0.000,0.073,3031,3859,2151,2237,2065,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7546,0.69,107.1,3031,3859,2236,2065,533.7,11.1,307,7551,0.08,2.30,0.00,0.000,5126,0.479,0.046,3028,2447,2150,2236,2065,0,0,0,0,0,0,14.31,14.73,28.83
$GC,7804,0.69,107.1,3028,2445,2236,2064,508.5,8.6,314,7810,0.00,2.42,0.00,0.000,260,0.000,0.071,3028,3866,2150,2237,2064,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7902,0.69,107.1,3028,3867,2236,2063,500.8,9.0,316,7906,0.00,2.33,0.00,0.000,1030,0.000,0.046,3037,2448,2150,2236,2064,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8159,0.69,107.1,3037,2446,2236,2063,475.4,9.3,323,8165,0.00,2.35,0.00,0.000,516,0.000,0.057,3048,1031,2149,2236,2062,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8207,0.69,107.1,3049,1031,2234,2062,471.5,9.5,324,8212,0.10,2.38,0.00,0.000,5126,0.392,0.054,3024,2450,2147,2234,2061,0,0,0,0,0,0,14.25,14.68,28.83
$GC,8474,0.69,107.1,3024,2451,2234,2062,446.0,9.1,331,8480,0.00,2.38,0.00,0.000,260,0.000,0.071,3024,3862,2148,2234,2063,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8537,0.69,107.1,3024,3863,2234,2062,441.8,9.4,332,8542,0.00,2.33,0.00,0.000,1030,0.000,0.044,3033,2441,2148,2234,2062,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8789,0.69,107.1,3033,2439,2234,2062,416.8,8.8,339,8790,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2439,2148,2234,2062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9030,0.70,112.0,3033,2439,2234,2061,397.3,7.8,345,9035,0.00,2.33,0.00,0.000,516,0.000,0.056,3045,1035,2147,2234,2061,0,0,0,0,0,0,28.83,14.68,28.83
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$GC,9953,0.73,135.3,3049,1035,2133,1955,318.2,9.6,368,9958,0.05,2.38,0.00,0.000,5126,0.468,0.052,3038,2453,2044,2133,1956,0,0,0,0,0,0,14.36,14.64,28.83
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$GC,10803,0.73,135.3,3058,1038,2133,1954,243.7,8.1,389,10808,0.10,2.38,0.00,0.000,5126,0.379,0.052,3033,2454,2043,2133,1954,0,0,0,0,0,0,14.23,14.64,28.83
$GC,11051,0.78,181.0,3033,2455,2133,1955,226.5,6.0,395,11097,0.00,2.45,38.90,1.981,10500,0.000,0.070,3033,3857,1861,1961,1762,0,0,0,0,0,0,28.83,14.52,13.50
$GC,11199,0.81,203.3,3033,3857,1961,1760,217.3,7.0,398,11224,0.00,2.33,20.00,1.909,11270,0.000,0.044,3042,2451,1770,1877,1663,0,0,0,0,0,0,28.83,14.57,13.43
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$STATE,13402,end climb,SURFACE_DEPTH_REACHED
$STATE,13402,begin surface coast
$FINISH,0.2,1.009712
$STATE,13447,end surface coast,CONTROL_FINISHED_OK
$STATE,13447,begin surface
$SM_CCo,13463,88.40,0.849,0,0,1008,390.02
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$IRIDIUM_FIX,2225.34,-15758.91,030210,181856
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.68
$INTERNAL_PRESSURE,7.27567
$TCM_TEMP,23.60
$XPDR_PINGS,11
$24V_AH,12.9,172.781
$10V_AH,12.6,0.000
$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
$DEVICE_SECS,17.375,136.600,292.175,88.400,0.000,28.195,46.725,175.681,2.750,0.000,8.281,1903.714,8601.674,470.474,2748.992,222.850,33.256,1443.941,0.000,1839.778,0.000,0.551,0.000
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$SENSORS,SBE_CT,SBE_O2,AA4831F,WL_BB2FL,WL_BBFL2,nil,empty,empty,empty,empty
$SENSOR_SECS,466.842,368.892,643.849,637.653,1319.493,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,35.950,51.680,46.440,0.000,0.000,0.000,0.000,0.000
$MEM,353008
$DATA_FILE_SIZE,60659,691
$CAP_FILE_SIZE,130068,0
$CFSIZE,2097086464,2033352704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,090417,090531,2233.735,-15800.084,28,0.9,28,9.8