version: 66.13
glider: 144
mission: 6
dive: 126
start: 9 20 117 20 46 47
data:
$ID,144
$MISSION,6
$DIVE,126
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,840
$D_ABORT,900
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$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,280
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54057
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,11
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,90
$PITCH_MAX,3390
$C_PITCH,2790
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.025
$PITCH_ADJ_DBAND,1
$ROLL_MIN,270
$ROLL_MAX,3990
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2840
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,403
$VBD_MAX,3787
$C_VBD,2900
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.89999998
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.70467
$PRESSURE_SLOPE,0.00010862818
$AD7714Ch0Gain,1
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.8522969
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,67
$LOGGERDEVICE3,85
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043846737
$SEABIRD_T_H,0.00063297339
$SEABIRD_T_I,2.9422619e-05
$SEABIRD_T_J,2.7498099e-06
$SEABIRD_C_G,-9.6551037
$SEABIRD_C_H,1.1199346
$SEABIRD_C_I,-0.0013566012
$SEABIRD_C_J,0.00017920439
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,300.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,200917,203634,1001.0989,-12444.6191,33,0.8,35,9.1,0.5,219.0,10,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-75.6
$GPS2,200917,204627,1001.0975,-12444.6025,6,0.8,12,9.1,0.0,0.0,10,10.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NE_r
$TGT_LATLONG,1013.500,-12446.290
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,349.1,23174,-17.6,-10.000,-21.24,2209
$D_GRID,840
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.70,-146.0,57,2682,886,829,0.0,0.0,0,108,0.00,0.12,-82.90,0.000,16390,0.000,2.088,55,2575,3498,3510,3487,0,0,0,0,0,0,14.73,13.44,14.76
$GC,110,-0.70,-146.0,56,2576,3511,3489,9.0,-13.5,3,136,13.43,2.40,0.00,0.000,2820,0.441,0.039,2620,4001,3502,3514,3490,0,0,0,0,0,0,14.28,14.57,14.57
$GC,233,-0.90,-146.0,2621,4002,3520,3490,47.6,-9.9,21,241,0.10,2.20,0.00,0.000,5286,0.150,0.024,2572,2600,3504,3519,3490,0,0,0,0,0,0,14.60,14.66,14.67
$GC,555,-0.99,-146.0,2572,2597,3522,3489,89.2,-8.1,34,559,0.00,0.00,0.00,0.000,166,0.000,0.000,2572,2599,3507,3521,3493,0,0,0,0,0,0,14.85,14.88,14.88
$GC,891,-1.17,-146.0,2572,2597,3526,3490,111.3,-5.8,43,899,0.12,2.20,0.00,0.000,4772,0.141,0.031,2510,1214,3507,3526,3489,0,0,0,0,0,0,14.72,14.73,14.76
$GC,947,-1.26,-146.0,2511,1213,3526,3490,115.8,-8.5,51,955,0.00,2.33,0.00,0.000,1190,0.000,0.052,2504,2605,3507,3525,3490,0,0,0,0,0,0,14.81,14.71,14.81
$GC,1283,-1.29,-146.0,2506,2606,3526,3490,148.6,-10.0,64,1291,0.00,2.33,0.00,0.000,420,0.000,0.072,2500,3983,3507,3526,3489,0,0,0,0,0,0,14.93,14.71,14.96
$GC,1310,-1.35,-146.0,2500,3984,3527,3490,151.4,-10.0,68,1319,0.00,2.15,0.00,0.000,1158,0.000,0.025,2500,2598,3507,3526,3489,0,0,0,0,0,0,14.84,14.80,14.85
$GC,1675,-1.40,-146.0,2500,2596,3526,3490,190.2,-10.7,78,1684,0.00,2.20,0.00,0.000,644,0.000,0.035,2500,1218,3507,3525,3489,0,0,0,0,0,0,14.95,14.76,14.98
$GC,1751,-1.55,-146.0,2500,1219,3525,3490,197.7,-9.3,89,1760,0.17,2.33,0.00,0.000,5286,0.120,0.054,2430,2598,3506,3524,3489,0,0,0,0,0,0,14.75,14.74,14.83
$GC,2067,-1.43,-146.0,2431,2600,3519,3490,245.6,-15.8,99,2075,0.20,2.35,0.00,0.000,2436,0.280,0.072,2467,3991,3503,3518,3489,0,0,0,0,0,0,14.56,14.71,14.78
$GC,2094,-1.37,-146.0,2468,3993,3518,3490,249.6,-14.5,103,2103,0.08,2.20,0.00,0.000,3206,0.240,0.026,2489,2593,3503,3517,3490,0,0,0,0,0,0,14.57,14.79,14.70
$GC,2459,-1.42,-146.0,2489,2592,3517,3485,286.2,-9.9,113,2468,0.00,2.20,0.00,0.000,676,0.000,0.036,2489,1219,3500,3516,3485,0,0,0,0,0,0,14.95,14.77,14.98
$GC,2493,-1.52,-146.0,2489,1217,3516,3485,289.4,-9.3,118,2504,0.08,2.38,0.00,0.000,5286,0.114,0.056,2447,2600,3500,3516,3485,0,0,0,0,0,0,14.70,14.73,14.76
$GC,2853,-1.47,-146.0,2448,2601,3513,3482,334.1,-12.7,127,2867,0.10,2.35,0.00,0.000,2436,0.308,0.072,2458,3987,3496,3511,3482,0,0,0,0,0,0,14.59,14.76,14.79
$GC,2879,-1.43,-146.0,2458,3989,3512,3481,337.6,-12.7,130,2895,0.00,2.15,0.00,0.000,1158,0.000,0.027,2458,2603,3498,3511,3486,0,0,0,0,0,0,14.90,14.85,14.91
$GC,3201,-1.40,-146.0,2458,2602,3510,3479,377.3,-12.5,140,3216,0.12,2.22,0.00,0.000,2692,0.297,0.034,2488,1214,3493,3509,3478,0,0,0,0,0,0,14.57,14.81,14.73
$GC,3277,-1.54,-146.0,2488,1214,3508,3478,385.1,-9.2,150,3292,0.12,2.35,0.00,0.000,5286,0.151,0.057,2441,2609,3493,3508,3478,0,0,0,0,0,0,14.76,14.77,14.85
$GC,3605,-1.48,-146.0,2439,2610,3507,3475,430.6,-14.4,161,3619,0.12,2.35,0.00,0.000,2436,0.295,0.073,2460,3992,3490,3506,3475,0,0,0,0,0,0,14.58,14.78,14.73
$GC,3645,-1.48,-146.0,2459,3993,3506,3475,435.9,-13.2,166,3660,0.00,2.17,0.00,0.000,1030,0.000,0.028,2460,2595,3489,3505,3474,0,0,0,0,0,0,14.92,14.88,14.93
$GC,4009,-1.48,-146.0,2459,2593,3504,3471,481.3,-12.6,175,4023,0.00,2.20,0.00,0.000,516,0.000,0.037,2460,1222,3486,3503,3470,0,0,0,0,0,0,15.02,14.83,15.04
$GC,4090,-1.55,-146.0,2460,1222,3503,3470,491.1,-11.4,186,4105,0.00,2.33,0.00,0.000,1158,0.000,0.059,2458,2600,3486,3502,3470,0,0,0,0,0,0,14.89,14.80,14.91
$GC,4412,-1.55,-146.0,2458,2601,3500,3468,531.0,-12.6,196,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2600,3484,3500,3468,0,0,0,0,0,0,15.03,15.06,15.05
$GC,4748,-1.55,-146.0,2459,2601,3500,3465,572.2,-12.2,202,4763,0.00,2.38,0.00,0.000,260,0.000,0.080,2458,3990,3482,3499,3465,0,0,0,0,0,0,15.03,14.78,15.06
$GC,4795,-1.59,-146.0,2459,3991,3499,3465,577.8,-11.6,208,4809,0.00,2.17,0.00,0.000,1158,0.000,0.028,2458,2596,3481,3498,3464,0,0,0,0,0,0,14.92,14.88,14.93
$GC,5151,-1.59,-146.0,2459,2594,3498,3462,617.4,-11.1,216,5165,0.00,2.20,0.00,0.000,516,0.000,0.037,2458,1223,3479,3497,3462,0,0,0,0,0,0,15.03,14.83,15.06
$GC,5213,-1.70,-146.0,2459,1223,3498,3462,623.7,-9.6,224,5227,0.15,2.35,0.00,0.000,5286,0.138,0.060,2403,2610,3478,3496,3461,0,0,0,0,0,0,14.79,14.79,14.88
$GC,5555,-1.57,-146.0,2403,2610,3494,3460,674.0,-15.2,237,5569,0.20,0.00,0.00,0.000,2182,0.301,0.000,2446,2610,3476,3493,3459,0,0,0,0,0,0,14.53,14.86,14.80
$GC,5890,-1.57,-146.0,2447,2610,3494,3457,712.4,-11.1,243,5905,0.00,2.28,0.00,0.000,516,0.000,0.038,2447,1213,3474,3492,3457,0,0,0,0,0,0,15.02,14.82,15.04
$GC,5930,-1.62,-146.0,2447,1213,3493,3455,716.8,-11.1,248,5944,0.00,2.35,0.00,0.000,1158,0.000,0.060,2443,2599,3474,3492,3457,0,0,0,0,0,0,14.88,14.78,14.90
$GC,6293,-1.62,-146.0,2444,2599,3491,3455,756.2,-10.9,257,6307,0.00,2.38,0.00,0.000,260,0.000,0.081,2443,3983,3472,3490,3455,0,0,0,0,0,0,15.04,14.76,15.06
$GC,6333,-1.62,-146.0,2444,3984,3490,3454,760.7,-11.4,262,6348,0.00,2.17,0.00,0.000,1030,0.000,0.028,2443,2593,3472,3489,3455,0,0,0,0,0,0,14.91,14.86,14.92
$GC,6696,-1.62,-146.0,2444,2591,3495,3452,799.6,-10.8,271,6710,0.00,2.20,0.00,0.000,516,0.000,0.038,2443,1224,3470,3489,3451,0,0,0,0,0,0,15.03,14.81,15.05
$GC,6764,-1.69,-146.0,2443,1224,3489,3452,806.7,-9.9,280,6778,0.00,2.35,0.00,0.000,1190,0.000,0.060,2443,2604,3469,3488,3451,0,0,0,0,0,0,14.87,14.77,14.89
$STATE,7097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7097,begin apogee
$GC,7101,-0.15,0.0,2444,2854,3487,3449,843.1,-11.3,292,7263,1.12,0.00,150.23,1.815,10246,0.236,0.000,2754,2853,2898,2971,2826,0,0,0,0,0,0,14.54,14.12,13.43
$STATE,7265,end apogee,CONTROL_FINISHED_OK
$STATE,7265,begin climb
$GC,7267,0.70,146.0,2755,2854,2967,2820,848.2,0.0,294,7441,0.57,2.05,151.25,1.807,11012,0.084,0.071,2949,3977,2299,2371,2227,0,0,0,0,0,0,14.19,13.96,13.31
$GC,7538,0.16,146.0,2950,3978,2359,2227,830.6,19.1,340,7553,0.65,1.88,0.00,0.000,5254,0.377,0.031,2824,2831,2292,2358,2226,0,0,0,0,0,0,14.07,14.34,14.35
$GC,7894,0.00,146.0,2824,2829,2358,2211,790.1,10.6,348,7910,0.12,2.30,0.00,0.000,4740,0.330,0.038,2804,1443,2283,2357,2210,0,0,0,0,0,0,14.39,14.61,14.55
$GC,7914,-0.13,146.0,2803,1443,2359,2208,788.0,10.4,350,7928,0.17,2.40,0.00,0.000,5254,0.259,0.057,2765,2839,2281,2357,2206,0,0,0,0,0,0,14.41,14.60,14.64
$GC,8242,-0.06,204.9,2764,2839,2358,2204,763.8,7.3,361,8324,0.00,2.42,64.57,1.644,8740,0.000,0.041,2773,1450,2058,2138,1979,0,0,0,0,0,0,14.88,14.31,13.68
$GC,8379,0.10,247.1,2773,1451,2131,1973,753.0,8.0,380,8446,0.15,2.42,48.83,1.633,11430,0.126,0.056,2830,2838,1888,1957,1820,0,0,0,0,0,0,14.43,14.43,13.58
$GC,8752,-0.00,247.1,2831,2838,1944,1814,700.7,14.6,398,8766,0.15,2.33,0.00,0.000,4740,0.287,0.037,2803,1444,1878,1943,1813,0,0,0,0,0,0,14.38,14.59,14.54
$GC,8779,-0.04,247.1,2804,1444,1943,1812,697.4,14.0,401,8793,0.10,2.42,0.00,0.000,5254,0.248,0.057,2783,2845,1876,1943,1810,0,0,0,0,0,0,14.45,14.58,14.64
$GC,9100,-0.01,248.2,2784,2845,1941,1810,664.8,10.0,411,9115,0.00,2.33,0.00,0.000,676,0.000,0.041,2791,1453,1875,1940,1810,0,0,0,0,0,0,14.87,14.69,14.90
$GC,9168,0.12,272.1,2792,1453,1941,1806,658.5,8.9,420,9215,0.10,2.40,29.77,1.525,11430,0.166,0.057,2837,2849,1787,1853,1722,0,0,0,0,0,0,14.66,14.69,13.90
$GC,9558,0.03,272.1,2835,2850,1844,1720,606.1,13.8,433,9573,0.15,2.30,0.00,0.000,4740,0.288,0.037,2807,1458,1781,1843,1720,0,0,0,0,0,0,14.45,14.65,14.62
$GC,9598,0.06,272.1,2807,1458,1843,1718,601.1,10.4,438,9613,0.00,2.40,0.00,0.000,1158,0.000,0.058,2807,2849,1780,1843,1717,0,0,0,0,0,0,14.74,14.66,14.76
$GC,9961,0.06,272.1,2808,2850,1841,1716,560.0,11.6,447,9976,0.00,2.35,0.00,0.000,516,0.000,0.043,2813,1443,1778,1840,1716,0,0,0,0,0,0,14.91,14.73,14.95
$GC,10043,0.12,272.1,2814,1444,1840,1715,551.0,10.4,458,10058,0.00,2.40,0.00,0.000,1158,0.000,0.058,2813,2842,1776,1838,1714,0,0,0,0,0,0,14.81,14.72,14.83
$GC,10364,0.12,272.1,2814,2842,1839,1714,512.3,12.2,468,10378,0.00,2.30,0.00,0.000,516,0.000,0.041,2821,1451,1775,1838,1713,0,0,0,0,0,0,14.95,14.74,14.98
$GC,10418,0.17,272.1,2821,1452,1839,1714,506.0,11.4,475,10434,0.00,2.40,0.00,0.000,1158,0.000,0.058,2821,2843,1775,1838,1713,0,0,0,0,0,0,14.85,14.75,14.85
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$GC,12102,0.26,293.5,2821,1451,1766,1642,310.6,9.9,556,12116,0.10,2.40,0.00,0.000,3238,0.161,0.060,2867,2845,1702,1764,1641,0,0,0,0,0,0,14.69,14.70,14.78
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$STATE,14895,end climb,SURFACE_DEPTH_REACHED
$STATE,14895,begin surface coast
$FINISH,0.1,1.021870
$STATE,14923,end surface coast,CONTROL_FINISHED_OK
$STATE,14923,begin surface
$SM_CCo,15012,0.00,0.000,0,0,806,513.66
$SM_GC,1.01,8.48,0.38,0.00,0.075,0.049,0.000,80,2598,806,-12.38,1.75,513.66,0,0,0,0,0,0,14.58,14.63,14.64
$IRIDIUM_FIX,957.88,-12445.17,200917,161634
$TT8_MAMPS,0.035203,0.465878
$HUMID,44.40
$INTERNAL_PRESSURE,8.64615
$TCM_TEMP,22.40
$XPDR_PINGS,3
$SC_FREEKB,3862144
$TM_FREEKB,3290880
$PM_FREEKB,48910080
$24V_AH,13.31,66.632
$10V_AH,13.38,0.000
$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,27.875,153.950,703.475,0.000,0.000,0.000,0.000,387.150,0.750,0.000,12.604,0.000,11854.683,868.408,2628.829,251.983,0.000,2463.708,0.000,1254.015,0.000,0.538,0.000
$DEVICE_MAMPS,440.640,2088.450,1814.580,0.000,0.000,0.000,0.000,162.945,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.928,18.702,4.641,0.000
$MEM,303552
$DATA_FILE_SIZE,26714,716
$CAP_FILE_SIZE,135507,0
$CFSIZE,260165632,238481408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.063,260.56,1
$GPS,210917,005821,1002.894,-12444.896,40,0.7,42,9.1,0.8,48.3,11,7.3