version: 66.11
glider: 124
mission: 14
dive: 538
start: 2 26 113 20 30 15
data:
$ID,124
$MISSION,14
$DIVE,538
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$D_ABORT,980
$D_NO_BLEED,500
$D_BOOST,20
$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,340
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51525
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,2.53e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-304516.84
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3900
$C_PITCH,2275
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,183
$ROLL_MAX,3883
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,244
$VBD_MAX,3700
$C_VBD,2509
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,0
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.1999998
$FG_AHR_10V,0
$FG_AHR_24V,69.417763
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-21.889965
$PRESSURE_SLOPE,0.0001157801
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043984288
$SEABIRD_T_H,0.00063808635
$SEABIRD_T_I,2.5525775e-05
$SEABIRD_T_J,3.0944329e-06
$SEABIRD_C_G,-9.6676407
$SEABIRD_C_H,1.1061285
$SEABIRD_C_I,-0.0013205735
$SEABIRD_C_J,0.00018109973
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,260213,202106,1842.712,12259.307,43,1.4,43,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-61.6
$GPS2,260213,202943,1842.863,12259.170,16,1.5,16,-2.1
$SPEED_LIMITS,0.161,0.278
$TGT_NAME,M6A
$TGT_LATLONG,1845.000,12250.480
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,253.1,15745,-14.2,-9.314,-18.51
$D_GRID,4374
$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,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.69,-194.6,0.0,0.0,0,122,0.00,0.00,-98.82,0.000,2,0.000,0.000,41,2509,2089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,128,-0.69,-194.6,3.0,-0.7,17,178,9.27,2.33,-33.85,0.000,4,0.252,0.061,2118,1089,3305,0,0,0,0,0,0,25.26,26.15,26.93
$GC,346,-0.69,-194.6,31.4,-14.7,52,352,0.00,2.22,0.00,0.000,6,0.000,0.043,2118,2505,3305,0,0,0,0,0,0,28.83,26.20,28.83
$GC,652,-0.69,-194.6,76.8,-14.1,74,658,0.00,2.22,0.00,0.000,4,0.000,0.044,2118,1078,3305,0,0,0,0,0,0,28.83,26.18,28.83
$GC,746,-0.69,-194.6,87.9,-13.0,78,751,0.00,2.22,0.00,0.000,6,0.000,0.042,2118,2503,3304,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1060,-0.71,-194.6,124.3,-9.8,94,1066,0.00,2.22,0.00,0.000,4,0.000,0.044,2118,1085,3305,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1116,-0.73,-194.6,128.2,-8.8,96,1121,0.00,2.22,0.00,0.000,6,0.000,0.043,2118,2506,3305,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1430,-0.77,-194.6,155.8,-8.7,112,1435,0.00,2.22,0.00,0.000,4,0.000,0.044,2118,1087,3305,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1591,-0.81,-194.6,169.9,-10.0,119,1598,0.00,2.22,0.00,0.000,6,0.000,0.041,2118,2509,3305,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1898,-0.87,-194.6,196.9,-7.7,135,1904,0.12,2.22,0.00,0.000,4,0.088,0.043,2053,1079,3305,0,0,0,0,0,0,26.76,26.22,28.83
$GC,2043,-0.87,-194.6,213.0,-11.1,142,2049,0.12,2.22,0.00,0.000,6,0.139,0.042,2089,2502,3305,0,0,0,0,0,0,26.09,26.26,28.83
$GC,2369,-0.91,-194.6,238.0,-8.0,158,2374,0.00,2.22,0.00,0.000,4,0.000,0.045,2089,1077,3305,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2505,-0.94,-194.6,248.3,-8.2,164,2511,0.00,2.25,0.00,0.000,6,0.000,0.043,2089,2508,3305,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2820,-0.99,-194.6,272.9,-7.5,180,2826,0.12,2.22,0.00,0.000,4,0.087,0.044,2024,1083,3303,0,0,0,0,0,0,26.77,26.22,28.83
$GC,3022,-0.98,-194.6,294.7,-11.9,189,3029,0.15,2.25,0.00,0.000,6,0.136,0.044,2066,2508,3303,0,0,0,0,0,0,26.03,26.25,28.83
$GC,3328,-1.02,-194.6,321.5,-7.9,205,3333,0.00,2.25,0.00,0.000,4,0.000,0.046,2068,1082,3301,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3413,-1.05,-194.6,328.4,-8.2,209,3418,0.00,2.25,0.00,0.000,6,0.000,0.044,2066,2507,3299,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3737,-1.09,-194.6,353.0,-7.6,225,3743,0.12,2.22,0.00,0.000,4,0.094,0.045,2006,1091,3299,0,0,0,0,0,0,26.76,26.20,28.83
$GC,3903,-1.09,-194.6,370.6,-10.8,233,3910,0.12,2.25,-0.52,0.000,6,0.141,0.045,2039,2511,3304,0,0,0,0,0,0,26.06,26.22,25.87
$GC,4230,-1.13,-194.6,395.2,-7.3,249,4235,0.00,2.25,0.00,0.000,4,0.000,0.047,2040,1077,3434,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4346,-1.15,-194.6,403.4,-7.9,254,4352,0.00,2.25,0.00,0.000,6,0.000,0.045,2039,2507,3428,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4661,-1.20,-194.6,430.7,-8.5,270,4668,0.10,2.25,0.00,0.000,4,0.108,0.046,1996,1083,3431,0,0,0,0,0,0,26.79,26.16,28.83
$GC,4801,-1.20,-194.6,445.3,-12.0,276,4808,0.00,2.28,0.00,0.000,6,0.000,0.047,1996,2506,3351,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5107,-1.20,-194.6,481.9,-11.2,292,5112,0.00,2.28,0.00,0.000,4,0.000,0.049,1996,1086,3428,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5174,-1.20,-194.6,489.3,-11.5,295,5180,0.00,2.28,0.00,0.000,6,0.000,0.047,1996,2507,3427,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5494,-1.21,-194.6,524.5,-10.7,311,5499,0.00,2.25,0.00,0.000,4,0.000,0.048,1996,1090,3424,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5624,-1.21,-194.6,537.7,-10.5,317,5629,0.00,2.28,0.00,0.000,6,0.000,0.049,1996,2507,3403,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5944,-1.22,-194.6,570.5,-9.9,333,5949,0.00,2.28,0.00,0.000,4,0.000,0.050,1996,1078,3421,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6094,-1.22,-194.6,586.0,-10.6,340,6099,0.00,2.30,0.00,0.000,6,0.000,0.049,1996,2507,3419,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6417,-1.23,-194.6,617.4,-9.5,353,6422,0.00,2.25,0.00,0.000,4,0.000,0.049,1996,1093,3418,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6522,-1.24,-194.6,627.1,-9.8,356,6527,0.00,2.28,0.00,0.000,6,0.000,0.048,1997,2506,3380,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6848,-1.26,-194.6,659.5,-9.9,367,6854,0.00,2.28,0.00,0.000,4,0.000,0.050,1996,1089,3415,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6976,-1.27,-194.6,672.7,-10.4,371,6981,0.00,2.28,0.00,0.000,6,0.000,0.050,1996,2499,3414,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7313,-1.29,-194.6,707.9,-10.5,382,7318,0.00,2.28,0.00,0.000,4,0.000,0.050,1996,1094,3406,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7453,-1.31,-194.6,720.9,-10.2,386,7458,0.00,2.28,0.00,0.000,6,0.000,0.050,1996,2499,3410,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7776,-1.33,-194.6,752.0,-8.8,397,7781,0.00,2.28,0.00,0.000,4,0.000,0.050,1996,1096,3346,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7893,-1.35,-194.6,761.2,-9.1,400,7899,0.00,2.28,0.00,0.000,6,0.000,0.050,1996,2497,3408,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8212,-1.37,-194.6,791.9,-9.5,411,8217,0.00,2.30,0.00,0.000,4,0.000,0.051,1996,1082,3344,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8339,-1.40,-194.6,804.1,-9.5,415,8345,0.10,2.33,0.00,0.000,6,0.108,0.052,1954,2507,3405,0,0,0,0,0,0,25.93,25.90,28.83
$GC,8674,-1.40,-194.6,844.0,-12.0,426,8679,0.00,2.33,0.00,0.000,4,0.000,0.053,1955,1082,3404,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8758,-1.40,-194.6,851.9,-12.1,428,8763,0.00,2.30,0.00,0.000,6,0.000,0.054,1954,2499,3403,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9073,-1.40,-194.6,890.0,-11.0,439,9078,0.00,2.30,0.00,0.000,4,0.000,0.054,1954,1096,3402,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9131,-1.40,-194.6,894.2,-11.1,440,9138,0.00,2.30,0.00,0.000,6,0.000,0.053,1954,2500,3233,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9438,-1.40,-194.6,932.8,-11.9,451,9443,0.00,2.30,0.00,0.000,4,0.000,0.055,1954,1096,3379,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9545,-1.40,-194.6,944.0,-11.8,454,9552,0.00,2.30,0.00,0.000,6,0.000,0.054,1954,2499,3269,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,9592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9592,begin apogee
$GC,9601,-0.22,0.0,951.2,-11.4,456,9787,0.82,0.00,180.43,1.255,6,0.108,0.000,2226,1699,2509,0,0,0,0,0,0,25.39,28.83,23.46
$STATE,9789,end apogee,CONTROL_FINISHED_OK
$STATE,9789,begin climb
$GC,9792,0.69,194.6,961.6,0.0,462,9967,0.57,2.50,166.30,1.224,4,0.056,0.058,2442,3120,1715,0,0,0,0,0,0,25.26,24.94,23.32
$GC,10002,0.71,302.4,956.7,5.7,469,10100,0.00,2.35,92.25,1.202,6,0.000,0.049,2451,1694,1276,0,0,0,0,0,0,28.83,25.63,23.53
$GC,10414,0.72,319.8,920.1,8.7,483,10436,0.00,2.40,15.10,1.104,4,0.000,0.058,2451,3112,1205,0,0,0,0,0,0,28.83,26.02,24.25
$GC,10464,0.73,340.1,917.4,8.6,484,10489,0.10,2.30,19.08,1.122,6,0.145,0.050,2426,1700,1122,0,0,0,0,0,0,26.03,26.11,24.04
$GC,10809,0.80,429.4,893.1,6.3,496,10898,0.10,2.47,77.15,1.190,4,0.101,0.058,2475,3116,749,0,0,0,0,0,0,26.63,25.43,23.76
$GC,10943,0.80,429.4,880.6,9.9,500,10949,0.12,2.35,0.00,0.000,6,0.129,0.050,2445,1693,754,0,0,0,0,0,0,25.83,25.91,28.83
$GC,11271,0.86,475.8,853.0,7.8,511,11316,0.00,2.40,39.62,1.159,4,0.000,0.057,2445,3113,568,0,0,0,0,0,0,28.83,25.69,24.01
$GC,11350,0.91,521.3,848.1,7.8,513,11399,0.10,2.35,40.78,1.147,6,0.097,0.053,2494,1693,383,0,0,0,0,0,0,25.97,25.94,23.82
$GC,11725,0.91,521.3,799.5,12.9,526,11730,0.00,2.35,0.00,0.000,4,0.000,0.058,2494,3117,377,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11758,0.91,521.3,794.6,13.0,527,11764,0.10,2.33,0.00,0.000,6,0.142,0.052,2469,1691,377,0,0,0,0,0,0,26.08,26.15,28.83
$GC,12094,0.95,521.3,760.4,10.2,538,12095,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1691,376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12394,0.98,521.3,728.5,10.5,548,12399,0.00,2.35,0.00,0.000,4,0.000,0.058,2469,3116,375,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12437,1.02,521.3,724.7,10.7,549,12443,0.10,2.33,0.00,0.000,6,0.103,0.050,2522,1690,375,0,0,0,0,0,0,26.15,26.11,28.83
$GC,12767,1.00,521.3,676.5,14.1,560,12769,0.12,0.00,0.00,0.000,6,0.128,0.000,2485,1689,374,0,0,0,0,0,0,26.54,28.83,28.83
$GC,13063,1.02,521.3,644.7,10.1,570,13068,0.00,2.35,0.00,0.000,4,0.000,0.057,2485,3119,372,0,0,0,0,0,0,28.83,25.96,28.83
$GC,13108,1.05,521.3,640.9,10.2,571,13113,0.00,2.33,0.00,0.000,6,0.000,0.050,2485,1690,373,0,0,0,0,0,0,28.83,26.05,28.83
$GC,13434,1.08,521.3,605.6,10.4,582,13436,0.10,0.00,0.00,0.000,6,0.105,0.000,2538,1690,373,0,0,0,0,0,0,26.72,28.83,28.83
$GC,13736,1.05,521.3,558.3,16.3,596,13742,0.12,2.38,0.00,0.000,4,0.129,0.054,2496,3121,373,0,0,0,0,0,0,26.51,25.89,28.83
$GC,13761,1.02,521.3,553.8,16.1,597,13766,0.00,2.30,0.00,0.000,6,0.000,0.050,2499,1695,370,0,0,0,0,0,0,28.83,25.98,28.83
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$GC,15781,1.15,521.3,303.7,10.3,696,15783,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1697,372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16085,1.19,521.3,271.2,10.4,711,16090,0.00,2.25,0.00,0.000,4,0.000,0.060,2512,296,372,0,0,0,0,0,0,28.83,25.75,28.83
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$STATE,18613,end climb,SURFACE_DEPTH_REACHED
$STATE,18613,begin surface coast
$FINISH,1.4,1.016149
$STATE,18642,end surface coast,CONTROL_FINISHED_OK
$STATE,18643,begin surface
$SM_CCo,18724,0.00,0.000,0,0,244,555.60
$SM_GC,2.12,7.10,1.30,0.00,0.050,0.041,0.000,45,2497,244,-10.20,-1.10,555.60,0,0,0,0,0,0,25.65,26.25,28.83
$IRIDIUM_FIX,1837.32,12300.38,260213,141411
$TT8_MAMPS,0.027713,0.027713
$HUMID,65.86
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,24.60
$XPDR_PINGS,3
$SC_FREEKB,3814112
$24V_AH,23.3,110.667
$10V_AH,9.5,57.201
$FG_AHR_24Vo,69.418
$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,21.025,189.700,658.250,0.000,0.000,0.000,0.000,280.100,0.750,0.000,16.767,3048.967,12106.676,772.767,2666.460,633.021,0.000,2382.826,0.000,2340.306,0.000,0.537,0.000
$DEVICE_MAMPS,252.450,61.200,1254.600,0.000,0.000,0.000,0.000,126.225,420.000,0.000,29.960,14.710,2.190,13.960,38.680,47.660,0.000,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18661.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.638,0.000,0.000,0.000
$MEM,326524
$DATA_FILE_SIZE,33287,879
$CAP_FILE_SIZE,223651,0
$CFSIZE,260034560,198651904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.220, 11.6,1
$GPS,270213,014336,1843.217,12256.892,35,1.2,35,-2.1