version: 66.04
glider: 160
mission: 3
dive: 100
start: 2 24 109 1 55 55
data:
$ID,160
$MISSION,3
$DIVE,100
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$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,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-1
$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,51810
$NAV_MODE,2
$FERRY_MAX,45
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,8
$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,-9080.0996
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2613
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3792
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,490
$VBD_MAX,3961
$C_VBD,3046
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,146
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.900637
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0043896637
$SEABIRD_T_H,0.00063842954
$SEABIRD_T_I,2.5580319e-05
$SEABIRD_T_J,2.7701631e-06
$SEABIRD_C_G,-10.180033
$SEABIRD_C_H,1.1381946
$SEABIRD_C_I,-0.00092952099
$SEABIRD_C_J,0.0001655513
$GPS1,014937,6350.127,149.869,38,1.0,38,-4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.23
$_SM_ANGLEo,-63.3
$GPS2,015532,6350.186,149.849,11,1.3,11,-4.0
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,INSHORE
$TGT_LATLONG,6248.000,415.000
$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,182.1,168412,-13.7,-6.875
$D_GRID,1634
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.77,-116.7,0.0,0.0,0,25,0.00,0.00,-9.40,0.000,2,0.000,0.000,121,2313,2192
$GC,27,-0.77,-116.7,3.2,-0.0,1,121,8.10,2.25,-77.35,0.000,4,0.203,0.053,2365,889,3521
$GC,374,-0.43,-116.7,19.5,-10.6,60,382,0.35,2.20,0.00,0.000,6,0.128,0.037,2475,2300,3523
$GC,721,-0.62,-116.7,40.0,-5.6,121,728,0.20,2.22,0.00,0.000,4,0.055,0.042,2386,887,3522
$GC,975,-0.40,-116.7,65.8,-9.8,166,982,0.30,2.20,0.00,0.000,6,0.124,0.038,2480,2304,3523
$GC,1318,-0.63,-116.7,84.7,-5.3,227,1325,0.20,2.20,0.00,0.000,4,0.058,0.039,2391,891,3523
$GC,1381,-0.41,-116.7,90.0,-9.2,238,1388,0.28,2.17,0.00,0.000,6,0.124,0.036,2476,2304,3524
$GC,1726,-0.61,-116.7,108.8,-5.4,299,1733,0.17,2.20,0.00,0.000,4,0.061,0.040,2403,889,3524
$GC,1786,-0.44,-116.7,113.6,-8.8,309,1793,0.22,2.15,0.00,0.000,6,0.123,0.036,2472,2283,3524
$GC,2130,-0.63,-116.7,134.0,-5.9,370,2137,0.20,2.15,0.00,0.000,4,0.056,0.040,2381,896,3524
$GC,2176,-0.42,-116.7,138.4,-10.0,378,2183,0.30,2.15,0.00,0.000,6,0.125,0.037,2475,2286,3524
$GC,2512,-0.63,-116.7,158.0,-5.6,426,2517,0.20,2.17,0.00,0.000,4,0.058,0.042,2386,891,3524
$GC,2584,-0.41,-116.7,164.6,-9.9,432,2589,0.30,2.15,0.00,0.000,6,0.124,0.037,2481,2284,3524
$GC,2909,-0.65,-116.7,183.3,-5.6,462,2914,0.20,2.17,0.00,0.000,4,0.058,0.041,2390,888,3524
$GC,2981,-0.47,-116.7,189.8,-9.3,468,2985,0.22,2.15,0.00,0.000,6,0.125,0.038,2461,2281,3524
$GC,3309,-0.60,-116.7,210.8,-6.2,493,3313,0.12,2.15,0.00,0.000,4,0.066,0.041,2403,895,3524
$GC,3363,-0.46,-116.7,215.8,-9.4,496,3368,0.20,2.12,0.00,0.000,6,0.123,0.037,2466,2279,3524
$GC,3689,-0.63,-116.7,234.8,-5.5,517,3693,0.17,2.15,0.00,0.000,4,0.060,0.042,2390,898,3524
$GC,3760,-0.45,-116.7,241.1,-9.0,521,3765,0.17,2.15,0.00,0.000,6,0.117,0.038,2464,2268,3525
$GC,4085,-0.62,-116.7,257.6,-4.8,542,4090,0.15,2.15,0.00,0.000,4,0.064,0.043,2398,891,3524
$GC,4173,-0.48,-116.7,264.9,-8.4,547,4181,0.15,2.15,0.00,0.000,6,0.120,0.036,2462,2264,3524
$GC,4493,-0.64,-116.7,283.5,-5.8,568,4495,0.17,0.00,0.00,0.000,6,0.058,0.000,2386,2265,3525
$GC,4819,-0.49,-116.7,312.4,-9.1,587,4823,0.20,2.12,0.00,0.000,4,0.125,0.041,2455,895,3525
$GC,4886,-0.60,-116.7,317.2,-6.7,590,4890,0.12,2.12,0.00,0.000,6,0.068,0.038,2400,2278,3525
$GC,5217,-0.50,-116.7,345.1,-8.3,606,5222,0.17,2.17,0.00,0.000,4,0.127,0.044,2455,890,3525
$GC,5357,-0.58,-116.7,354.8,-6.3,612,5361,0.00,2.08,0.00,0.000,6,0.000,0.037,2455,2240,3525
$GC,5677,-0.73,-116.7,376.4,-7.1,628,5679,0.22,0.00,0.00,0.000,6,0.055,0.000,2360,2240,3525
$GC,5986,-0.48,-116.7,409.7,-10.6,643,5991,0.28,2.10,0.00,0.000,4,0.127,0.041,2453,888,3525
$GC,6026,-0.61,-116.7,412.8,-7.3,645,6030,0.00,2.08,0.00,0.000,6,0.000,0.038,2451,2239,3525
$GC,6359,-0.73,-116.7,434.4,-6.2,661,6363,0.20,2.10,0.00,0.000,4,0.060,0.042,2360,890,3525
$GC,6403,-0.44,-116.7,438.7,-10.4,663,6408,0.35,2.08,0.00,0.000,6,0.129,0.038,2472,2239,3525
$GC,6729,-0.67,-116.7,457.2,-5.5,679,6731,0.22,0.00,0.00,0.000,6,0.057,0.000,2378,2240,3524
$GC,7037,-0.50,-116.7,482.6,-8.0,694,7042,0.20,2.10,0.00,0.000,4,0.127,0.042,2445,891,3524
$GC,7121,-0.58,-116.7,487.7,-5.6,697,7127,0.00,2.05,0.00,0.000,6,0.000,0.038,2445,2222,3524
$GC,7437,-0.70,-116.7,503.9,-5.0,713,7439,0.17,0.00,0.00,0.000,6,0.061,0.000,2372,2223,3523
$GC,7745,-0.51,-116.7,528.6,-8.3,728,7750,0.20,2.05,0.00,0.000,4,0.130,0.044,2440,894,3522
$GC,7886,-0.58,-116.7,537.4,-5.8,734,7890,0.00,2.05,0.00,0.000,6,0.000,0.040,2441,2219,3521
$GC,8212,-0.68,-116.7,553.8,-5.1,750,8214,0.15,0.00,0.00,0.000,6,0.066,0.000,2378,2220,3521
$GC,8522,-0.52,-116.7,577.6,-7.7,765,8526,0.20,2.08,0.00,0.000,4,0.129,0.044,2444,890,3520
$GC,8554,-0.61,-116.7,579.9,-6.3,766,8558,0.00,2.05,0.00,0.000,6,0.000,0.041,2445,2216,3520
$GC,8876,-0.73,-116.7,597.6,-5.8,782,8878,0.20,0.00,0.00,0.000,6,0.061,0.000,2362,2218,3519
$GC,9192,-0.52,-116.7,625.5,-8.8,793,9197,0.22,2.08,0.00,0.000,4,0.132,0.047,2438,896,3518
$GC,9287,-0.52,-116.7,631.9,-6.2,795,9293,0.00,2.08,0.00,0.000,6,0.000,0.044,2436,2202,3517
$GC,9600,-0.61,-116.7,650.7,-6.2,806,9601,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2202,3517
$GC,9907,-0.70,-116.7,668.4,-5.6,816,9909,0.15,0.00,0.00,0.000,6,0.071,0.000,2375,2203,3516
$GC,10213,-0.53,-116.7,691.9,-7.9,826,10217,0.20,2.05,0.00,0.000,4,0.130,0.048,2442,897,3515
$GC,10285,-0.62,-116.7,696.7,-6.4,828,10289,0.00,2.05,0.00,0.000,6,0.000,0.046,2443,2208,3515
$GC,10621,-0.76,-116.7,715.4,-5.6,839,10623,0.22,0.00,0.00,0.000,6,0.061,0.000,2350,2209,3514
$GC,10927,-0.50,-116.7,742.2,-8.9,849,10932,0.30,2.08,0.00,0.000,4,0.133,0.051,2449,903,3514
$GC,10999,-0.62,-116.7,747.1,-6.0,851,11004,0.12,2.05,0.00,0.000,6,0.077,0.047,2396,2206,3514
$GC,11330,-0.56,-116.7,769.4,-6.8,862,11334,0.12,2.08,0.00,0.000,4,0.135,0.050,2431,895,3513
$GC,11368,-0.62,-116.7,772.1,-6.5,863,11372,0.00,2.05,0.00,0.000,6,0.000,0.044,2431,2203,3513
$GC,11702,-0.71,-116.7,789.4,-5.0,874,11704,0.15,0.00,0.00,0.000,6,0.071,0.000,2369,2205,3513
$GC,12008,-0.54,-116.7,812.2,-7.6,884,12012,0.22,2.08,0.00,0.000,4,0.131,0.050,2443,891,3512
$GC,12125,-0.64,-116.7,819.1,-5.6,887,12129,0.12,2.03,0.00,0.000,6,0.073,0.043,2391,2195,3512
$GC,12447,-0.57,-116.7,842.3,-7.5,898,12451,0.12,2.05,0.00,0.000,4,0.137,0.051,2429,898,3512
$GC,12485,-0.57,-116.7,844.9,-6.5,899,12489,0.00,2.05,0.00,0.000,6,0.000,0.046,2429,2183,3511
$GC,12821,-0.65,-116.7,865.4,-6.2,910,12823,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2184,3511
$GC,13126,-0.74,-116.7,884.1,-6.0,920,13131,0.15,2.45,0.00,0.000,4,0.069,0.061,2365,3700,3510
$GC,13152,-0.60,-116.7,886.2,-8.1,920,13161,0.17,2.38,0.00,0.000,6,0.136,0.044,2418,2192,3510
$GC,13465,-0.60,-116.7,906.2,-6.4,931,13468,0.00,2.03,0.00,0.000,4,0.000,0.053,2418,901,3510
$GC,13519,-0.60,-116.7,909.8,-7.1,932,13524,0.00,2.05,0.00,0.000,6,0.000,0.047,2418,2184,3510
$GC,13838,-0.60,-116.7,931.4,-6.9,943,13839,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2185,3510
$GC,14144,-0.60,-116.7,951.7,-6.4,953,14145,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2185,3510
$GC,14450,-0.60,-116.7,971.1,-6.4,963,14451,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2185,3509
$STATE,14755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14755,begin apogee
$GC,14760,-0.23,0.0,991.3,6.7,973,14857,0.38,0.00,94.90,1.434,6,0.118,0.000,2540,2288,3046
$STATE,14858,end apogee,CONTROL_FINISHED_OK
$STATE,14858,begin climb
$GC,14860,0.77,116.7,994.3,0.0,976,14968,0.98,0.00,104.15,1.413,6,0.086,0.000,2857,2288,2569
$GC,15273,0.44,116.7,968.6,7.8,990,15275,0.35,0.00,0.00,0.000,6,0.140,0.000,2755,2289,2563
$GC,15579,0.61,172.2,953.7,4.7,1000,15632,0.17,2.38,46.90,1.398,4,0.070,0.047,2825,892,2343
$GC,15677,0.52,172.2,946.6,7.5,1003,15682,0.17,2.33,0.00,0.000,6,0.136,0.036,2776,2322,2339
$GC,16012,0.62,172.2,923.8,7.0,1014,16013,0.10,0.00,0.00,0.000,6,0.083,0.000,2816,2322,2336
$GC,16319,0.62,172.2,897.2,8.9,1024,16322,0.00,2.25,0.00,0.000,4,0.000,0.057,2816,3708,2335
$GC,16373,0.46,172.2,891.7,9.5,1025,16378,0.15,2.22,0.00,0.000,6,0.136,0.035,2767,2308,2335
$GC,16692,0.61,172.2,868.9,6.9,1036,16697,0.12,2.25,0.00,0.000,4,0.075,0.050,2816,892,2335
$GC,16775,0.61,172.2,861.7,9.3,1038,16779,0.00,2.20,0.00,0.000,6,0.000,0.037,2816,2305,2335
$GC,17094,0.54,172.2,832.8,9.3,1049,17097,0.00,2.25,0.00,0.000,4,0.000,0.055,2816,3706,2334
$GC,17171,0.39,172.2,824.6,9.5,1051,17176,0.20,2.22,0.00,0.000,6,0.133,0.035,2739,2298,2334
$GC,17502,0.67,180.0,802.3,6.6,1062,17516,0.22,2.28,6.45,1.118,4,0.063,0.046,2837,894,2312
$GC,17607,0.55,180.0,792.1,9.8,1065,17611,0.17,2.17,0.00,0.000,6,0.136,0.036,2787,2286,2311
$GC,17935,0.64,180.0,765.6,7.6,1076,17938,0.00,2.28,0.00,0.000,4,0.000,0.054,2787,3710,2311
$GC,17978,0.64,180.0,761.9,8.5,1077,17983,0.00,2.25,0.00,0.000,6,0.000,0.037,2787,2296,2311
$GC,18309,0.73,180.0,736.8,7.6,1088,18314,0.17,2.22,0.00,0.000,4,0.061,0.047,2859,882,2311
$GC,18404,0.51,180.0,727.4,10.3,1091,18409,0.28,2.20,0.00,0.000,6,0.137,0.039,2776,2304,2311
$GC,18743,0.66,180.0,701.9,7.4,1102,18745,0.15,0.00,0.00,0.000,6,0.069,0.000,2838,2304,2310
$GC,19049,0.53,180.0,673.3,9.4,1112,19051,0.17,0.00,0.00,0.000,6,0.131,0.000,2786,2304,2310
$GC,19356,0.63,180.0,651.2,7.1,1122,19357,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2304,2310
$GC,19663,0.73,180.0,630.1,6.9,1132,19665,0.17,0.00,0.00,0.000,6,0.063,0.000,2856,2303,2310
$GC,19969,0.54,180.0,601.2,9.4,1142,19974,0.20,2.25,0.00,0.000,4,0.133,0.054,2791,3708,2310
$GC,20018,0.54,180.0,597.0,8.0,1144,20022,0.00,2.25,0.00,0.000,6,0.000,0.037,2791,2287,2310
$GC,20340,0.63,180.0,574.2,7.2,1160,20343,0.00,2.20,0.00,0.000,4,0.000,0.051,2795,891,2310
$GC,20462,0.70,180.0,565.3,7.8,1165,20467,0.08,2.17,0.00,0.000,6,0.067,0.037,2839,2279,2310
$GC,20784,0.59,180.0,537.4,8.9,1181,20788,0.12,2.28,0.00,0.000,4,0.140,0.053,2803,3708,2310
$GC,20826,0.59,180.0,533.7,8.0,1183,20831,0.00,2.25,0.00,0.000,6,0.000,0.035,2803,2277,2310
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$GC,21922,0.53,180.0,448.4,8.1,1235,21929,0.00,2.25,0.00,0.000,6,0.000,0.036,2809,2292,2310
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$GC,26249,0.77,202.0,119.2,6.7,1533,26262,0.17,2.12,5.50,0.658,6,0.058,0.034,2876,2268,2221
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$GC,26940,0.73,220.5,57.5,6.1,1656,26961,0.15,0.00,15.95,0.714,6,0.063,0.000,2867,2268,2146
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$STATE,27544,end climb,SURFACE_DEPTH_REACHED
$STATE,27544,begin surface coast
$FINISH,2.6,1.014975
$STATE,27585,end surface coast,CONTROL_FINISHED_OK
$STATE,27585,begin surface
$SM_CCo,27599,3.30,0.443,0,0,2128,225.19
$SM_GC,4.29,0.00,0.00,3.30,0.000,0.000,0.443,143,2274,2128,-7.72,-0.74,225.19
$IRIDIUM_FIX,6322.64,142.37,200598,181859
$TT8_MAMPS,0.026845
$HUMID,1623
$INTERNAL_PRESSURE,9.12531
$TCM_TEMP,18.40
$XPDR_PINGS,51
$24V_AH,22.6,21.230
$10V_AH,10.6,14.146
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,30.325,186.475,293.375,3.300,0.000,22.824,32.707,186.421,12.750,0.000,0.000,13.714,3388.331,20108.014,524.263,3442.130,482.771,0.000,2176.058,0.000,3394.208,0.000,0.832,0.000
$DEVICE_MAMPS,203.255,76.700,1433.523,442.559,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1230.167,1004.036,662.574,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88411,1770
$CAP_FILE_SIZE,228006,0
$CFSIZE,260165632,247894016
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152, 26.5,1
$GPS,240209,093707,6349.092,152.872,32,1.2,32,-4.0