version: 66.06
glider: 140
mission: 8
dive: 14
start: 10 3 109 10 17 31
data:
$ID,140
$MISSION,8
$DIVE,14
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$D_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,480
$T_MISSION,540
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51390
$NAV_MODE,2
$FERRY_MAX,0
$KALMAN_USE,2
$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,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,4
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-44571.793
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,214
$PITCH_MAX,3926
$C_PITCH,2765
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,174
$ROLL_MAX,4054
$ROLL_DEG,40
$C_ROLL_DIVE,2275
$C_ROLL_CLIMB,2850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,550
$VBD_MAX,3938
$C_VBD,3006
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.173029
$PRESSURE_SLOPE,0.0001158875
$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,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,800
$ALTIM_PING_DELTA,25
$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
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.0044206623
$SEABIRD_T_H,0.00065338978
$SEABIRD_T_I,2.7511465e-05
$SEABIRD_T_J,3.0433071e-06
$SEABIRD_C_G,-10.080298
$SEABIRD_C_H,1.1283234
$SEABIRD_C_I,-0.0013448599
$SEABIRD_C_J,0.00017661104
$GPS1,100937,6417.637,114.308,33,1.6,33,-4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-42.9
$GPS2,101708,6417.658,114.231,13,1.5,13,-4.4
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,OFFSHORE
$TGT_LATLONG,6506.000,-100.000
$TGT_RADIUS,4000.000
$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,314.9,137735,-13.7,-6.875
$D_GRID,2469
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.80,-116.7,0.0,0.0,0,75,0.00,0.00,-56.58,0.000,2,0.000,0.000,220,2258,1793,0,0,0,0,0,0
$GC,77,-0.80,-116.7,3.0,-0.7,10,186,9.02,2.25,-91.88,0.000,4,0.243,0.059,2507,3690,3479,0,0,0,0,0,0
$GC,192,-0.80,-116.7,4.0,-4.2,30,199,0.00,2.12,0.00,0.000,6,0.000,0.027,2507,2288,3480,0,0,0,0,0,0
$GC,531,-0.80,-116.7,31.7,-8.6,91,536,0.00,2.15,0.00,0.000,4,0.000,0.044,2506,3687,3481,0,0,0,0,0,0
$GC,786,-0.80,-116.7,58.4,-11.6,137,792,0.00,2.08,0.00,0.000,6,0.000,0.027,2507,2267,3481,0,0,0,0,0,0
$GC,1114,-0.80,-116.7,90.2,-8.9,155,1118,0.00,2.08,0.00,0.000,4,0.000,0.042,2507,876,3481,0,0,0,0,0,0
$GC,1157,-0.80,-116.7,94.9,-10.2,157,1161,0.00,2.12,0.00,0.000,6,0.000,0.031,2507,2280,3482,0,0,0,0,0,0
$GC,1485,-0.80,-116.7,123.1,-8.9,173,1489,0.00,2.08,0.00,0.000,4,0.000,0.045,2507,3674,3482,0,0,0,0,0,0
$GC,1539,-0.80,-116.7,128.4,-9.9,175,1545,0.00,2.08,0.00,0.000,6,0.000,0.026,2507,2267,3482,0,0,0,0,0,0
$GC,1856,-0.80,-116.7,159.7,-10.6,191,1859,0.00,2.05,0.00,0.000,4,0.000,0.041,2507,883,3481,0,0,0,0,0,0
$GC,1927,-0.80,-116.7,167.9,-10.8,194,1932,0.00,2.10,0.00,0.000,6,0.000,0.031,2507,2274,3481,0,0,0,0,0,0
$GC,2255,-0.80,-116.7,202.9,-10.5,210,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2274,3481,0,0,0,0,0,0
$GC,2564,-0.80,-116.7,234.4,-9.7,225,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2274,3481,0,0,0,0,0,0
$GC,2873,-0.80,-116.7,266.2,-10.3,240,2877,0.00,2.08,0.00,0.000,4,0.000,0.041,2507,879,3480,0,0,0,0,0,0
$GC,2938,-0.80,-116.7,273.5,-10.9,243,2943,0.00,2.10,0.00,0.000,6,0.000,0.032,2507,2279,3480,0,0,0,0,0,0
$GC,3265,-0.80,-116.7,306.6,-10.0,258,3269,0.00,2.08,0.00,0.000,4,0.000,0.046,2507,3681,3479,0,0,0,0,0,0
$GC,3314,-0.80,-116.7,311.5,-9.5,259,3318,0.00,2.05,0.00,0.000,6,0.000,0.027,2508,2278,3478,0,0,0,0,0,0
$GC,3632,-0.80,-116.7,340.7,-9.0,270,3636,0.00,2.05,0.00,0.000,4,0.000,0.042,2507,886,3477,0,0,0,0,0,0
$GC,3681,-0.80,-116.7,345.6,-9.5,271,3685,0.00,2.08,0.00,0.000,6,0.000,0.033,2507,2269,3477,0,0,0,0,0,0
$GC,3999,-0.80,-116.7,374.0,-8.8,282,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2269,3476,0,0,0,0,0,0
$GC,4305,-0.80,-116.7,400.9,-8.8,292,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2269,3475,0,0,0,0,0,0
$GC,4612,-0.80,-116.7,427.5,-8.8,302,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2269,3474,0,0,0,0,0,0
$GC,4917,-0.80,-116.7,453.9,-8.7,312,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2269,3473,0,0,0,0,0,0
$GC,5224,-0.80,-116.7,480.7,-8.7,322,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2269,3472,0,0,0,0,0,0
$GC,5529,-0.80,-116.7,507.9,-8.9,331,5533,0.00,2.10,0.00,0.000,4,0.000,0.048,2507,3685,3471,0,0,0,0,0,0
$GC,5578,-0.80,-116.7,512.4,-9.0,331,5583,0.00,2.08,0.00,0.000,6,0.000,0.029,2507,2270,3471,0,0,0,0,0,0
$GC,5893,-0.80,-116.7,539.6,-8.6,337,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2270,3470,0,0,0,0,0,0
$GC,6197,-0.80,-116.7,565.1,-8.4,342,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2268,3469,0,0,0,0,0,0
$GC,6499,-0.80,-116.7,589.6,-8.1,347,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2269,3468,0,0,0,0,0,0
$GC,6802,-0.80,-116.7,614.0,-8.1,352,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2269,3467,0,0,0,0,0,0
$GC,7106,-0.80,-116.7,637.7,-7.8,357,7109,0.00,2.12,0.00,0.000,4,0.000,0.048,2507,3683,3466,0,0,0,0,0,0
$GC,7149,-0.80,-116.7,641.2,-7.8,357,7153,0.00,2.08,0.00,0.000,6,0.000,0.029,2507,2270,3465,0,0,0,0,0,0
$GC,7470,-0.80,-116.7,666.0,-7.7,363,7471,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2270,3465,0,0,0,0,0,0
$GC,7773,-0.80,-116.7,689.5,-7.7,368,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2269,3465,0,0,0,0,0,0
$GC,8076,-0.80,-116.7,712.7,-7.7,373,8080,0.00,2.12,0.00,0.000,4,0.000,0.048,2507,3683,3464,0,0,0,0,0,0
$GC,8130,-0.80,-116.7,717.1,-7.5,373,8138,0.00,2.08,0.00,0.000,6,0.000,0.030,2507,2270,3464,0,0,0,0,0,0
$GC,8440,-0.80,-116.7,742.1,-8.1,379,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2270,3463,0,0,0,0,0,0
$GC,8743,-0.80,-116.7,766.3,-8.0,384,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2269,3463,0,0,0,0,0,0
$GC,9046,-0.80,-116.7,790.7,-8.1,389,9050,0.00,2.12,0.00,0.000,4,0.000,0.049,2507,3683,3462,0,0,0,0,0,0
$GC,9095,-0.80,-116.7,794.9,-8.1,389,9099,0.00,2.08,0.00,0.000,6,0.000,0.030,2507,2273,3462,0,0,0,0,0,0
$GC,9410,-0.80,-116.7,821.3,-8.5,395,9411,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2273,3462,0,0,0,0,0,0
$GC,9713,-0.80,-116.7,847.7,-8.7,400,9717,0.00,2.10,0.00,0.000,4,0.000,0.049,2507,3673,3461,0,0,0,0,0,0
$GC,9756,-0.80,-116.7,851.8,-10.2,400,9760,0.00,2.05,0.00,0.000,6,0.000,0.031,2507,2278,3461,0,0,0,0,0,0
$GC,10078,-0.80,-116.7,880.0,-8.8,406,10079,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2278,3461,0,0,0,0,0,0
$GC,10379,-0.80,-116.7,907.2,-9.0,411,10381,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2277,3461,0,0,0,0,0,0
$GC,10682,-0.80,-116.7,934.0,-8.8,416,10686,0.00,2.10,0.00,0.000,4,0.000,0.049,2507,3677,3460,0,0,0,0,0,0
$GC,10744,-0.80,-116.7,939.6,-9.3,417,10748,0.00,2.03,0.00,0.000,6,0.000,0.031,2507,2273,3460,0,0,0,0,0,0
$GC,11114,-0.80,-116.7,972.1,-8.8,423,11115,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2272,3460,0,0,0,0,0,0
$STATE,11355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11355,begin apogee
$GC,11361,-0.24,0.0,993.5,8.8,427,11461,0.60,0.00,97.57,1.625,6,0.186,0.000,2687,2841,3006,0,0,0,0,0,0
$STATE,11462,end apogee,CONTROL_FINISHED_OK
$STATE,11462,begin climb
$GC,11464,0.80,116.7,996.2,0.0,428,11579,1.10,2.03,106.78,1.532,4,0.133,0.054,3016,4043,2529,0,0,0,0,0,0
$GC,11623,0.80,116.7,994.2,7.4,431,11627,0.00,1.90,0.00,0.000,6,0.000,0.029,3026,2847,2523,0,0,0,0,0,0
$GC,11972,0.80,116.7,968.8,7.3,437,11976,0.00,1.92,0.00,0.000,4,0.000,0.051,3019,4064,2517,0,0,0,0,0,0
$GC,11987,0.80,116.7,967.5,7.3,437,11991,0.00,1.88,0.00,0.000,6,0.000,0.030,3027,2844,2516,0,0,0,0,0,0
$GC,12341,0.80,116.7,942.0,7.2,443,12345,0.00,1.88,0.00,0.000,4,0.000,0.052,3020,4047,2515,0,0,0,0,0,0
$GC,12384,0.80,116.7,938.4,8.3,443,12389,0.00,1.80,0.00,0.000,6,0.000,0.031,3028,2850,2515,0,0,0,0,0,0
$GC,12711,0.80,116.7,915.1,7.1,449,12712,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2848,2514,0,0,0,0,0,0
$GC,13014,0.80,116.7,893.5,7.1,454,13018,0.00,1.85,0.00,0.000,4,0.000,0.053,3027,4045,2514,0,0,0,0,0,0
$GC,13046,0.80,116.7,890.8,8.3,454,13051,0.00,1.77,0.00,0.000,6,0.000,0.031,3036,2850,2514,0,0,0,0,0,0
$GC,13384,0.80,116.7,865.8,7.4,460,13387,0.00,1.85,0.00,0.000,4,0.000,0.053,3033,4050,2513,0,0,0,0,0,0
$GC,13438,0.80,116.7,861.2,8.0,460,13443,0.00,1.77,0.00,0.000,6,0.000,0.031,3041,2854,2513,0,0,0,0,0,0
$GC,13754,0.80,116.7,836.8,7.7,466,13755,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2853,2513,0,0,0,0,0,0
$GC,14056,0.80,116.7,812.2,8.2,471,14060,0.00,1.83,0.00,0.000,4,0.000,0.053,3033,4047,2512,0,0,0,0,0,0
$GC,14077,0.80,116.7,810.2,8.3,471,14082,0.00,1.77,0.00,0.000,6,0.000,0.031,3041,2847,2512,0,0,0,0,0,0
$GC,14425,0.80,116.7,781.5,8.3,477,14426,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2847,2512,0,0,0,0,0,0
$GC,14729,0.80,116.7,755.9,8.5,482,14732,0.00,1.83,0.00,0.000,4,0.000,0.052,3034,4045,2512,0,0,0,0,0,0
$GC,14750,0.80,116.7,753.7,9.4,482,14755,0.00,1.75,0.00,0.000,6,0.000,0.031,3041,2852,2512,0,0,0,0,0,0
$GC,15099,0.80,116.7,723.0,8.8,488,15102,0.00,1.83,0.00,0.000,4,0.000,0.052,3034,4049,2512,0,0,0,0,0,0
$GC,15125,0.80,116.7,720.4,9.9,488,15130,0.00,1.77,0.00,0.000,6,0.000,0.031,3041,2848,2512,0,0,0,0,0,0
$GC,15469,0.80,116.7,689.3,9.0,494,15470,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2847,2511,0,0,0,0,0,0
$GC,15771,0.80,116.7,662.5,8.9,499,15775,0.00,1.83,0.00,0.000,4,0.000,0.052,3034,4046,2512,0,0,0,0,0,0
$GC,15832,0.80,116.7,656.4,10.2,499,15838,0.00,1.75,0.00,0.000,6,0.000,0.031,3042,2848,2511,0,0,0,0,0,0
$GC,16141,0.80,116.7,629.3,8.8,505,16145,0.00,1.88,0.00,0.000,4,0.000,0.052,3034,4050,2511,0,0,0,0,0,0
$GC,16173,0.80,116.7,626.3,9.3,505,16177,0.00,1.77,0.00,0.000,6,0.000,0.031,3042,2848,2511,0,0,0,0,0,0
$GC,16510,0.80,116.7,597.6,8.5,511,16514,0.00,1.83,0.00,0.000,4,0.000,0.052,3034,4046,2511,0,0,0,0,0,0
$GC,16525,0.80,116.7,596.1,8.6,511,16530,0.00,1.77,0.00,0.000,6,0.000,0.031,3042,2841,2511,0,0,0,0,0,0
$GC,16880,0.80,116.7,565.7,8.6,517,16883,0.00,1.85,0.00,0.000,4,0.000,0.054,3042,4056,2511,0,0,0,0,0,0
$GC,16895,0.80,116.7,564.3,8.4,517,16900,0.00,1.77,0.00,0.000,6,0.000,0.031,3044,2858,2511,0,0,0,0,0,0
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$GC,20621,0.80,116.7,282.2,7.5,629,20622,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2848,2510,0,0,0,0,0,0
$GC,20929,0.80,116.7,258.2,7.6,644,20932,0.00,1.80,0.00,0.000,4,0.000,0.052,3043,4046,2510,0,0,0,0,0,0
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$GC,24052,0.89,195.3,23.4,8.2,845,24059,0.00,1.83,0.00,0.000,4,0.000,0.049,3043,4049,2202,0,0,0,0,0,0
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$STATE,24284,end climb,SURFACE_DEPTH_REACHED
$STATE,24284,begin surface coast
$FINISH,2.4,1.026893
$STATE,24438,end surface coast,CONTROL_FINISHED_OK
$STATE,24438,begin surface
$SM_CCo,24456,63.20,0.912,0,0,1883,275.23
$SM_GC,3.43,0.00,0.00,63.20,0.000,0.000,0.912,220,2265,1883,-7.96,-0.25,275.23
$IRIDIUM_FIX,6351.77,119.24,281298,030324
$TT8_MAMPS,0.027612
$HUMID,1078364506
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,23.1,4.829
$10V_AH,10.1,2.715
$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,19.225,156.025,266.725,63.200,0.000,28.887,36.931,242.000,2.000,0.000,13.100,1870.696,19806.436,518.608,2196.856,561.923,0.000,1633.593,0.000,2171.618,0.000,15.506,0.000
$DEVICE_MAMPS,243.139,59.059,1624.506,911.963,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,632.138,936.627,571.498,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241532
$DATA_FILE_SIZE,53915,915
$CAP_FILE_SIZE,171573,0
$CFSIZE,260165632,253743104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,104.9,1
$GPS,031009,170730,6418.994,111.149,38,2.0,43,-4.4