version: 66.13
glider: 144
mission: 6
dive: 179
start: 9 30 117 9 52 41
data:
$ID,144
$MISSION,6
$DIVE,179
$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,75
$R_STBD_OVSHOOT,32
$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
$GPS1,300917,094202,951.4926,-12445.9561,31,0.7,31,9.1,0.0,0.0,11,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-76.1
$GPS2,300917,095221,951.3902,-12446.0312,6,0.7,9,9.1,0.0,247.5,11,8.2
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NE_r
$TGT_LATLONG,1013.500,-12446.290
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,348.0,40950,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.70,-146.0,49,2616,881,837,0.0,0.0,0,109,0.00,0.00,-82.40,0.000,16390,0.000,0.000,47,2616,3499,3513,3486,0,0,0,0,0,0,14.71,13.19,14.74
$GC,111,-0.70,-146.0,48,2617,3513,3490,9.8,-15.2,3,138,13.82,2.33,0.00,0.000,2308,0.448,0.041,2623,4006,3502,3516,3489,0,0,0,0,0,0,14.22,14.56,14.53
$GC,150,0.29,-146.0,2623,4006,3520,3489,38.2,-63.5,9,159,0.80,2.28,0.00,0.000,3206,0.236,0.028,2850,2619,3504,3520,3489,0,0,0,0,0,0,14.33,14.53,14.56
$GC,473,-0.28,-146.0,2852,2617,3522,3489,69.9,-9.1,22,481,0.38,2.35,0.00,0.000,4516,0.140,0.063,2728,3989,3505,3522,3489,0,0,0,0,0,0,14.50,14.57,14.57
$GC,542,-0.68,-146.0,2728,3988,3522,3493,76.7,-10.4,32,551,0.20,2.25,0.00,0.000,5254,0.114,0.024,2638,2559,3505,3521,3489,0,0,0,0,0,0,14.54,14.64,14.66
$GC,865,-1.14,-146.0,2638,2558,3525,3489,100.3,-7.1,45,874,0.32,2.42,0.00,0.000,4516,0.116,0.066,2528,3984,3506,3524,3488,0,0,0,0,0,0,14.60,14.62,14.71
$GC,1036,-1.40,-146.0,2528,3984,3525,3489,111.9,-6.2,69,1045,0.15,2.12,0.00,0.000,5286,0.116,0.024,2462,2598,3507,3525,3489,0,0,0,0,0,0,14.67,14.73,14.74
$GC,1373,-1.36,-146.0,2462,2599,3526,3489,154.4,-13.4,82,1382,0.12,2.20,0.00,0.000,2692,0.276,0.031,2493,1212,3507,3525,3489,0,0,0,0,0,0,14.43,14.67,14.58
$GC,1508,-1.49,-146.0,2493,1213,3526,3493,167.0,-8.4,101,1517,0.10,2.35,0.00,0.000,5286,0.166,0.054,2451,2596,3507,3525,3489,0,0,0,0,0,0,14.64,14.64,14.74
$GC,1824,-1.44,-146.0,2451,2596,3525,3489,205.6,-12.5,111,1828,0.12,0.00,0.00,0.000,2182,0.285,0.000,2476,2596,3506,3524,3488,0,0,0,0,0,0,14.45,14.73,14.67
$GC,2160,-1.48,-146.0,2476,2597,3519,3489,239.2,-9.8,117,2167,0.00,2.22,0.00,0.000,676,0.000,0.034,2476,1236,3503,3519,3488,0,0,0,0,0,0,14.92,14.70,14.95
$GC,2243,-1.58,-146.0,2476,1236,3519,3489,246.7,-8.6,129,2252,0.12,2.35,0.00,0.000,5286,0.146,0.056,2425,2608,3503,3518,3488,0,0,0,0,0,0,14.65,14.66,14.75
$GC,2608,-1.48,-146.0,2425,2607,3514,3487,297.2,-14.3,139,2616,0.15,2.25,0.00,0.000,2692,0.285,0.033,2462,1235,3499,3513,3486,0,0,0,0,0,0,14.38,14.66,14.55
$GC,2664,-1.56,-146.0,2462,1235,3514,3487,303.3,-9.6,147,2678,0.00,2.35,0.00,0.000,1190,0.000,0.057,2460,2604,3500,3514,3486,0,0,0,0,0,0,14.75,14.65,14.78
$GC,3006,-1.56,-146.0,2460,2603,3512,3482,339.8,-10.9,160,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2603,3496,3510,3482,0,0,0,0,0,0,14.97,15.00,15.00
$GC,3342,-1.56,-146.0,2461,2604,3509,3480,377.2,-11.2,166,3357,0.00,2.22,0.00,0.000,516,0.000,0.036,2460,1237,3493,3508,3479,0,0,0,0,0,0,14.97,14.73,15.00
$GC,3391,-1.64,-146.0,2461,1237,3509,3480,382.6,-10.7,172,3407,0.08,2.30,0.00,0.000,5254,0.105,0.058,2421,2593,3493,3508,3479,0,0,0,0,0,0,14.64,14.68,14.71
$GC,3749,-1.55,-146.0,2420,2593,3506,3477,435.0,-14.9,180,3763,0.15,0.00,0.00,0.000,2182,0.294,0.000,2452,2593,3492,3505,3479,0,0,0,0,0,0,14.43,14.77,14.70
$GC,4084,-1.55,-146.0,2452,2593,3504,3473,475.9,-11.9,186,4100,0.00,2.22,0.00,0.000,516,0.000,0.037,2452,1235,3489,3503,3475,0,0,0,0,0,0,15.00,14.69,15.02
$GC,4140,-1.63,-146.0,2452,1234,3503,3473,482.1,-10.6,193,4156,0.00,2.38,0.00,0.000,1158,0.000,0.059,2449,2609,3487,3502,3473,0,0,0,0,0,0,14.80,14.69,14.83
$GC,4483,-1.63,-146.0,2449,2609,3501,3470,524.1,-12.5,200,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2609,3485,3500,3470,0,0,0,0,0,0,14.99,15.02,15.02
$GC,4819,-1.63,-146.0,2449,2609,3499,3468,565.8,-12.3,206,4834,0.00,2.25,0.00,0.000,516,0.000,0.037,2448,1238,3483,3499,3467,0,0,0,0,0,0,15.00,14.74,15.02
$GC,4888,-1.71,-146.0,2449,1238,3499,3468,573.6,-10.7,215,4903,0.12,2.35,0.00,0.000,5254,0.152,0.060,2402,2602,3482,3498,3467,0,0,0,0,0,0,14.67,14.69,14.79
$GC,5223,-1.60,-146.0,2402,2602,3496,3465,624.6,-15.5,227,5238,0.15,2.25,0.00,0.000,2692,0.307,0.034,2437,1235,3479,3495,3464,0,0,0,0,0,0,14.33,14.64,14.52
$GC,5257,-1.58,-146.0,2437,1235,3496,3465,629.3,-14.2,231,5271,0.00,2.35,0.00,0.000,1158,0.000,0.061,2432,2598,3480,3495,3465,0,0,0,0,0,0,14.79,14.68,14.83
$GC,5627,-1.55,-146.0,2432,2598,3494,3462,675.6,-12.5,241,5641,0.10,2.25,0.00,0.000,2692,0.321,0.034,2449,1236,3477,3493,3461,0,0,0,0,0,0,14.46,14.72,14.66
$GC,5667,-1.61,-146.0,2450,1235,3494,3461,680.2,-11.0,246,5683,0.00,2.38,0.00,0.000,1158,0.000,0.060,2446,2608,3477,3493,3461,0,0,0,0,0,0,14.79,14.68,14.83
$GC,6032,-1.61,-146.0,2446,2608,3493,3459,719.0,-10.7,255,6046,0.00,2.25,0.00,0.000,516,0.000,0.037,2446,1238,3475,3492,3458,0,0,0,0,0,0,14.99,14.71,15.02
$GC,6072,-1.67,-146.0,2446,1239,3493,3458,723.1,-10.2,260,6086,0.00,2.33,0.00,0.000,1158,0.000,0.060,2446,2593,3475,3492,3458,0,0,0,0,0,0,14.71,14.64,14.74
$GC,6435,-1.67,-146.0,2446,2593,3491,3456,760.7,-10.4,269,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2592,3472,3490,3455,0,0,0,0,0,0,14.98,15.02,15.01
$GC,6771,-1.67,-146.0,2447,2593,3489,3454,795.6,-10.5,275,6785,0.00,2.25,0.00,0.000,516,0.000,0.037,2446,1232,3471,3488,3454,0,0,0,0,0,0,14.97,14.69,15.00
$GC,6811,-1.74,-146.0,2446,1230,3489,3455,799.9,-10.3,280,6826,0.15,2.38,0.00,0.000,5254,0.138,0.061,2393,2600,3471,3488,3454,0,0,0,0,0,0,14.65,14.66,14.76
$STATE,7116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7116,begin apogee
$GC,7122,-0.15,0.0,2392,2856,3484,3453,844.6,-15.0,288,7284,1.40,0.00,149.88,1.769,10246,0.266,0.000,2757,2855,2899,2969,2829,0,0,0,0,0,0,14.35,14.10,13.39
$STATE,7286,end apogee,CONTROL_FINISHED_OK
$STATE,7286,begin climb
$GC,7288,0.70,146.0,2757,2856,2966,2822,850.5,0.0,290,7460,0.57,2.00,151.77,1.765,11012,0.086,0.069,2949,3980,2298,2368,2228,0,0,0,0,0,0,14.16,13.83,13.28
$GC,7550,0.16,146.0,2949,3981,2356,2228,835.7,19.9,335,7566,0.62,1.85,0.00,0.000,5254,0.366,0.030,2827,2870,2292,2357,2228,0,0,0,0,0,0,13.99,14.29,14.29
$GC,7916,-0.00,146.0,2828,2868,2355,2213,796.6,10.1,344,7930,0.15,2.40,0.00,0.000,4740,0.314,0.041,2800,1443,2282,2354,2211,0,0,0,0,0,0,14.28,14.54,14.46
$GC,7978,0.05,189.9,2800,1444,2355,2206,791.2,8.0,352,8041,0.00,2.45,46.88,1.649,9254,0.000,0.057,2800,2840,2121,2197,2046,0,0,0,0,0,0,14.65,14.57,13.66
$GC,8372,-0.01,189.9,2800,2840,2189,2036,751.5,10.6,366,8386,0.00,2.35,0.00,0.000,644,0.000,0.041,2808,1442,2111,2188,2035,0,0,0,0,0,0,14.78,14.59,14.81
$GC,8434,-0.01,189.9,2809,1443,2186,2034,744.9,10.2,374,8448,0.00,2.45,0.00,0.000,1030,0.000,0.057,2808,2847,2110,2185,2035,0,0,0,0,0,0,14.66,14.57,14.69
$GC,8775,-0.08,189.9,2810,2847,2185,2031,704.9,11.9,387,8791,0.12,2.35,0.00,0.000,4740,0.277,0.037,2788,1445,2106,2183,2030,0,0,0,0,0,0,14.35,14.62,14.52
$GC,8831,-0.01,199.7,2786,1446,2183,2029,699.3,9.5,394,8856,0.00,2.45,8.18,1.590,9382,0.000,0.058,2786,2843,2083,2161,2006,0,0,0,0,0,0,14.73,14.64,13.98
$GC,9177,-0.01,199.7,2786,2842,2159,2002,663.7,10.3,408,9191,0.00,2.35,0.00,0.000,516,0.000,0.041,2794,1442,2079,2158,2001,0,0,0,0,0,0,14.88,14.66,14.90
$GC,9259,0.05,210.6,2794,1442,2155,2002,655.8,9.5,419,9287,0.00,2.45,14.05,1.545,9382,0.000,0.058,2794,2847,2041,2120,1963,0,0,0,0,0,0,14.74,14.64,13.98
$GC,9628,0.05,213.9,2794,2847,2115,1956,619.0,9.8,429,9642,0.00,2.35,0.00,0.000,548,0.000,0.043,2797,1445,2034,2113,1956,0,0,0,0,0,0,14.88,14.66,14.90
$GC,9696,0.14,242.2,2798,1445,2112,1955,613.0,8.7,438,9752,0.10,2.45,41.22,1.483,11430,0.164,0.058,2843,2849,1911,1983,1839,0,0,0,0,0,0,14.61,14.64,13.83
$GC,10084,0.02,242.2,2843,2849,1971,1835,560.6,14.0,451,10099,0.17,2.38,0.00,0.000,4740,0.285,0.038,2808,1445,1902,1970,1835,0,0,0,0,0,0,14.29,14.57,14.47
$GC,10132,0.07,245.9,2809,1445,1970,1832,554.8,9.8,457,10146,0.00,2.45,0.00,0.000,1190,0.000,0.058,2809,2845,1900,1969,1831,0,0,0,0,0,0,14.67,14.58,14.70
$GC,10488,0.07,245.9,2809,2845,1968,1831,516.0,10.9,465,10503,0.00,2.35,0.00,0.000,516,0.000,0.042,2814,1446,1899,1968,1830,0,0,0,0,0,0,14.87,14.64,14.90
$GC,10542,0.12,253.2,2815,1447,1968,1829,510.5,9.7,472,10569,0.00,2.42,12.10,1.425,9382,0.000,0.058,2815,2840,1866,1936,1796,0,0,0,0,0,0,14.73,14.66,14.02
$GC,10891,0.09,253.2,2815,2838,1929,1794,474.2,10.4,486,10905,0.00,2.35,0.00,0.000,644,0.000,0.041,2822,1440,1860,1928,1793,0,0,0,0,0,0,14.87,14.66,14.90
$GC,10959,0.14,272.7,2823,1441,1928,1791,467.6,9.1,495,11001,0.00,2.45,26.65,1.360,9382,0.000,0.058,2822,2845,1786,1853,1719,0,0,0,0,0,0,14.73,14.63,13.96
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$GC,12633,0.22,278.2,2834,1445,1830,1700,275.3,10.5,581,12641,0.00,2.45,0.00,0.000,1158,0.000,0.058,2834,2847,1764,1829,1700,0,0,0,0,0,0,14.71,14.61,14.73
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$STATE,15336,end climb,SURFACE_DEPTH_REACHED
$STATE,15336,begin surface coast
$FINISH,0.2,1.022332
$STATE,15364,end surface coast,CONTROL_FINISHED_OK
$STATE,15364,begin surface
$SM_CCo,15454,0.00,0.000,0,0,806,513.66
$SM_GC,1.11,8.48,0.40,0.00,0.067,0.050,0.000,76,2557,806,-12.39,1.75,513.66,0,0,0,0,0,0,14.56,14.62,14.62
$IRIDIUM_FIX,949.11,-12446.97,300917,053333
$TT8_MAMPS,0.035203,0.41944
$HUMID,44.52
$INTERNAL_PRESSURE,8.65592
$TCM_TEMP,22.70
$XPDR_PINGS,4
$SC_FREEKB,3841792
$TM_FREEKB,2379488
$PM_FREEKB,40258816
$24V_AH,13.19,89.120
$10V_AH,13.08,0.000
$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,29.225,151.175,696.325,0.000,0.000,0.000,0.000,382.650,1.000,0.000,11.003,0.000,12203.955,838.037,2699.649,328.807,0.000,2454.889,0.000,1324.693,0.000,0.538,0.000
$DEVICE_MAMPS,447.525,77.265,1769.445,0.000,0.000,0.000,0.000,158.355,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.994,18.746,3.888,0.000
$MEM,303636
$DATA_FILE_SIZE,26707,752
$CAP_FILE_SIZE,136963,0
$CFSIZE,260165632,232239104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052,318.60,1
$GPS,300917,141132,953.165,-12445.965,35,0.8,35,9.1,0.0,0.0,10,7.7