version: 66.04
glider: 160
mission: 3
dive: 439
start: 6 7 109 17 24 0
data:
$ID,160
$MISSION,3
$DIVE,439
$D_SURF,4
$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,-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,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,-16546.617
$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,2180
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,2
$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
$GPS1,171737,6457.003,-35.927,37,1.1,37,-5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.95
$_SM_ANGLEo,-67.3
$GPS2,172338,6456.976,-35.957,14,1.3,14,-5.6
$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,299.6,25115,-13.7,-6.875
$D_GRID,1000
$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,16,-0.77,-116.7,0.0,0.0,0,24,0.00,0.00,-6.82,0.000,2,0.000,0.000,128,2216,2140
$GC,28,-0.77,-116.7,3.8,-0.0,1,121,8.27,2.30,-78.10,0.000,4,0.196,0.067,2364,3580,3521
$GC,224,-0.52,-116.7,15.6,-10.4,33,231,0.25,2.25,0.00,0.000,6,0.121,0.035,2442,2170,3522
$GC,571,-0.59,-116.7,37.9,-6.0,94,577,0.00,2.25,0.00,0.000,4,0.000,0.046,2442,768,3524
$GC,635,-0.59,-116.7,41.9,-6.4,105,642,0.00,2.22,0.00,0.000,6,0.000,0.037,2442,2186,3524
$GC,996,-0.73,-116.7,61.3,-5.5,166,1001,0.17,2.30,0.00,0.000,4,0.061,0.049,2364,3592,3525
$GC,1029,-0.54,-116.7,63.9,-8.5,167,1038,0.25,2.25,0.00,0.000,6,0.121,0.033,2441,2171,3525
$GC,1346,-0.67,-116.7,82.5,-6.0,183,1348,0.12,0.00,0.00,0.000,6,0.069,0.000,2389,2171,3526
$GC,1655,-0.54,-116.7,109.5,-9.1,198,1657,0.17,0.00,0.00,0.000,6,0.123,0.000,2443,2171,3526
$GC,1965,-0.68,-116.7,131.6,-6.8,213,1967,0.15,0.00,0.00,0.000,6,0.064,0.000,2376,2170,3527
$GC,2275,-0.52,-116.7,159.8,-8.9,228,2279,0.20,2.35,0.00,0.000,4,0.123,0.051,2436,3577,3527
$GC,2325,-0.67,-116.7,163.4,-6.2,230,2330,0.12,2.22,0.00,0.000,6,0.070,0.033,2380,2172,3527
$GC,2647,-0.53,-116.7,191.4,-8.9,246,2649,0.20,0.00,0.00,0.000,6,0.121,0.000,2443,2170,3527
$GC,2956,-0.69,-116.7,209.6,-5.5,261,2958,0.15,0.00,0.00,0.000,6,0.064,0.000,2375,2170,3527
$GC,3265,-0.53,-116.7,234.9,-8.5,276,3267,0.22,0.00,0.00,0.000,6,0.119,0.000,2446,2170,3527
$GC,3575,-0.70,-116.7,253.0,-5.8,291,3577,0.17,0.00,0.00,0.000,6,0.061,0.000,2370,2170,3527
$GC,3883,-0.53,-116.7,280.9,-9.2,306,3888,0.20,2.38,0.00,0.000,4,0.124,0.052,2436,3577,3527
$GC,3911,-0.61,-116.7,283.2,-7.5,307,3915,0.00,2.22,0.00,0.000,6,0.000,0.035,2436,2189,3527
$GC,4253,-0.76,-116.7,304.7,-6.3,323,4258,0.20,2.30,0.00,0.000,4,0.058,0.046,2347,763,3526
$GC,4316,-0.46,-116.7,310.9,-10.8,325,4321,0.40,2.22,0.00,0.000,6,0.127,0.038,2465,2182,3526
$GC,4653,-0.74,-116.7,330.0,-5.4,336,4658,0.22,2.33,0.00,0.000,4,0.058,0.055,2365,3578,3525
$GC,4716,-0.58,-116.7,335.5,-9.7,338,4720,0.20,2.22,0.00,0.000,6,0.123,0.035,2426,2178,3525
$GC,5051,-0.67,-116.7,359.3,-7.2,349,5055,0.00,2.28,0.00,0.000,4,0.000,0.051,2425,773,3525
$GC,5086,-0.67,-116.7,362.2,-8.1,350,5090,0.00,2.25,0.00,0.000,6,0.000,0.041,2426,2192,3525
$GC,5427,-0.76,-116.7,387.4,-7.5,361,5429,0.17,0.00,0.00,0.000,6,0.064,0.000,2350,2192,3525
$GC,5733,-0.52,-116.7,418.9,-10.4,371,5738,0.28,2.33,0.00,0.000,4,0.121,0.049,2443,775,3524
$GC,5760,-0.52,-116.7,421.2,-7.2,371,5768,0.00,2.25,0.00,0.000,6,0.000,0.041,2443,2194,3524
$GC,6074,-0.71,-116.7,441.3,-6.3,382,6078,0.17,2.30,0.00,0.000,4,0.060,0.051,2366,3589,3524
$GC,6130,-0.56,-116.7,446.1,-9.0,383,6135,0.22,2.25,0.00,0.000,6,0.122,0.038,2434,2191,3523
$GC,6444,-0.73,-116.7,466.3,-6.1,393,6446,0.17,0.00,0.00,0.000,6,0.067,0.000,2362,2191,3522
$GC,6750,-0.54,-116.7,493.3,-8.9,403,6755,0.22,2.33,0.00,0.000,4,0.123,0.047,2437,759,3522
$GC,6784,-0.65,-116.7,495.8,-6.3,404,6788,0.00,2.28,0.00,0.000,6,0.000,0.039,2436,2196,3522
$GC,7111,-0.82,-116.7,514.3,-5.5,411,7116,0.22,2.30,0.00,0.000,4,0.057,0.051,2336,3590,3521
$GC,7145,-0.54,-116.7,517.1,-9.2,411,7150,0.32,2.25,0.00,0.000,6,0.123,0.038,2436,2189,3521
$GC,7472,-0.70,-116.7,535.6,-5.6,417,7474,0.15,0.00,0.00,0.000,6,0.071,0.000,2374,2189,3520
$GC,7774,-0.58,-116.7,559.0,-7.8,422,7779,0.17,2.30,0.00,0.000,4,0.123,0.048,2428,767,3520
$GC,7819,-0.66,-116.7,562.1,-6.2,422,7823,0.00,2.28,0.00,0.000,6,0.000,0.041,2429,2196,3520
$GC,8137,-0.80,-116.7,580.4,-5.8,428,8141,0.20,2.30,0.00,0.000,4,0.061,0.051,2339,3596,3519
$GC,8164,-0.62,-116.7,582.8,-9.2,428,8169,0.25,2.25,0.00,0.000,6,0.128,0.036,2415,2186,3519
$GC,8496,-0.68,-116.7,604.0,-6.3,434,8500,0.00,2.28,0.00,0.000,4,0.000,0.049,2414,773,3519
$GC,8531,-0.68,-116.7,606.3,-6.8,434,8535,0.00,2.25,0.00,0.000,6,0.000,0.041,2415,2193,3519
$GC,8869,-0.75,-116.7,627.9,-6.4,440,8871,0.15,0.00,0.00,0.000,6,0.066,0.000,2349,2193,3518
$GC,9171,-0.52,-116.7,655.4,-9.2,445,9173,0.30,0.00,0.00,0.000,6,0.120,0.000,2444,2192,3518
$GC,9476,-0.74,-116.7,672.4,-5.5,450,9480,0.20,2.33,0.00,0.000,4,0.059,0.055,2353,3585,3518
$GC,9503,-0.63,-116.7,674.6,-8.2,450,9508,0.20,2.25,0.00,0.000,6,0.127,0.040,2413,2193,3517
$GC,9836,-0.70,-116.7,696.4,-6.5,456,9840,0.00,2.33,0.00,0.000,4,0.000,0.051,2413,760,3517
$GC,9870,-0.70,-116.7,699.0,-7.5,456,9875,0.00,2.28,0.00,0.000,6,0.000,0.041,2412,2195,3517
$GC,10203,-0.76,-116.7,721.1,-6.6,462,10208,0.12,2.33,0.00,0.000,4,0.077,0.053,2353,3593,3517
$GC,10225,-0.67,-116.7,723.1,-8.4,462,10230,0.15,2.28,0.00,0.000,6,0.133,0.038,2396,2177,3517
$GC,10564,-0.67,-116.7,746.8,-7.0,468,10567,0.00,2.30,0.00,0.000,4,0.000,0.054,2396,772,3517
$GC,10608,-0.67,-116.7,750.3,-7.4,468,10612,0.00,2.28,0.00,0.000,6,0.000,0.044,2396,2194,3517
$GC,10929,-0.67,-116.7,773.1,-7.1,474,10930,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2194,3516
$GC,11232,-0.67,-116.7,794.8,-7.2,479,11233,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2194,3516
$GC,11536,-0.67,-116.7,816.6,-7.2,484,11540,0.00,2.33,0.00,0.000,4,0.000,0.052,2396,780,3515
$GC,11570,-0.67,-116.7,819.4,-8.1,484,11573,0.00,2.25,0.00,0.000,6,0.000,0.042,2396,2193,3516
$GC,11907,-0.67,-116.7,844.1,-7.4,490,11911,0.00,2.30,0.00,0.000,4,0.000,0.058,2396,3580,3515
$GC,11935,-0.67,-116.7,846.2,-7.6,490,11939,0.00,2.25,0.00,0.000,6,0.000,0.041,2396,2192,3515
$GC,12279,-0.67,-116.7,871.1,-7.3,496,12283,0.00,2.30,0.00,0.000,4,0.000,0.051,2395,769,3515
$GC,12335,-0.67,-116.7,875.8,-8.1,496,12339,0.00,2.28,0.00,0.000,6,0.000,0.044,2396,2192,3515
$GC,12645,-0.67,-116.7,898.5,-7.3,501,12646,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2192,3515
$GC,12948,-0.67,-116.7,920.8,-7.3,506,12949,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2192,3514
$GC,13251,-0.67,-116.7,943.4,-7.4,511,13256,0.00,2.33,0.00,0.000,4,0.000,0.060,2396,3580,3514
$GC,13279,-0.67,-116.7,945.7,-7.5,511,13283,0.00,2.30,0.00,0.000,6,0.000,0.041,2396,2169,3514
$GC,13610,-0.67,-116.7,969.8,-7.3,517,13612,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2169,3515
$STATE,13911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13911,begin apogee
$GC,13919,-0.23,0.0,990.8,6.9,522,14024,0.45,0.00,102.40,1.402,6,0.118,0.000,2540,2268,3046
$STATE,14025,end apogee,CONTROL_FINISHED_OK
$STATE,14025,begin climb
$GC,14028,0.77,116.7,992.9,0.0,523,14158,0.95,2.75,113.47,1.347,4,0.074,0.048,2853,3681,2569
$GC,14251,0.41,116.7,988.4,7.6,527,14257,0.43,2.45,0.00,0.000,6,0.131,0.035,2743,2258,2567
$GC,14596,0.71,195.6,975.0,3.7,533,14672,0.25,2.42,70.38,1.373,4,0.061,0.047,2851,854,2247
$GC,14733,0.59,195.6,965.0,8.3,535,14738,0.17,2.33,0.00,0.000,6,0.123,0.036,2801,2265,2242
$GC,15094,0.70,203.5,940.4,6.6,541,15108,0.12,2.40,6.90,1.131,4,0.071,0.051,2856,3683,2216
$GC,15148,0.46,203.5,935.4,10.1,541,15154,0.35,2.28,0.00,0.000,6,0.127,0.035,2756,2257,2216
$GC,15459,0.80,247.3,918.8,5.1,546,15505,0.30,2.33,40.80,1.342,4,0.056,0.047,2882,870,2035
$GC,15564,0.64,247.3,908.7,10.4,547,15569,0.22,2.22,0.00,0.000,6,0.120,0.035,2813,2264,2031
$GC,15891,0.74,247.3,882.9,7.7,553,15896,0.12,2.33,0.00,0.000,4,0.074,0.051,2867,3683,2027
$GC,15930,0.53,247.3,878.8,10.7,553,15935,0.28,2.28,0.00,0.000,6,0.127,0.037,2784,2255,2027
$GC,16253,0.78,258.3,857.5,6.4,559,16267,0.20,2.25,9.45,1.194,4,0.058,0.047,2878,865,1993
$GC,16296,0.64,258.3,853.1,10.4,559,16301,0.20,2.20,0.00,0.000,6,0.123,0.038,2817,2262,1991
$GC,16617,0.74,258.3,826.7,8.1,565,16621,0.10,2.35,0.00,0.000,4,0.080,0.053,2862,3673,1989
$GC,16645,0.63,258.3,823.9,10.6,565,16650,0.20,2.30,0.00,0.000,6,0.130,0.037,2808,2240,1989
$GC,16983,0.77,258.3,796.6,8.0,571,16987,0.15,2.25,0.00,0.000,4,0.068,0.050,2875,863,1989
$GC,17027,0.65,258.3,792.0,11.1,571,17032,0.20,2.20,0.00,0.000,6,0.126,0.038,2814,2259,1988
$GC,17354,0.77,258.3,764.3,8.4,577,17356,0.12,0.00,0.00,0.000,6,0.071,0.000,2869,2259,1988
$GC,17657,0.66,258.3,731.8,10.9,582,17658,0.15,0.00,0.00,0.000,6,0.123,0.000,2823,2259,1988
$GC,17960,0.76,258.3,705.1,8.7,587,17964,0.00,2.35,0.00,0.000,4,0.000,0.054,2823,3684,1987
$GC,17982,0.76,258.3,702.9,9.4,587,17987,0.10,2.30,0.00,0.000,6,0.076,0.037,2869,2239,1987
$GC,18320,0.66,258.3,666.5,10.8,593,18324,0.15,2.22,0.00,0.000,4,0.130,0.048,2825,856,1987
$GC,18353,0.77,258.3,663.2,7.8,593,18357,0.10,2.17,0.00,0.000,6,0.080,0.037,2873,2241,1987
$GC,18686,0.66,258.3,626.9,11.1,599,18690,0.17,2.38,0.00,0.000,4,0.123,0.048,2818,3687,1987
$GC,18720,0.72,258.3,623.3,10.7,599,18725,0.00,2.30,0.00,0.000,6,0.000,0.035,2822,2233,1987
$GC,19047,0.81,258.3,594.8,8.7,605,19052,0.15,2.20,0.00,0.000,4,0.065,0.046,2891,854,1987
$GC,19092,0.64,258.3,589.8,12.9,605,19097,0.25,2.17,0.00,0.000,6,0.120,0.035,2814,2252,1986
$GC,19419,0.78,258.3,561.9,8.4,611,19424,0.15,2.35,0.00,0.000,4,0.065,0.054,2880,3678,1987
$GC,19469,0.56,258.3,555.9,12.7,611,19474,0.30,2.30,0.00,0.000,6,0.123,0.038,2789,2236,1986
$GC,19781,0.82,258.3,532.0,7.5,616,19785,0.20,2.20,0.00,0.000,4,0.057,0.048,2881,866,1986
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$GC,20482,0.69,258.3,457.2,9.6,634,20486,0.00,2.20,0.00,0.000,4,0.000,0.047,2840,855,1986
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$GC,22647,0.63,281.5,252.7,12.3,711,22656,0.30,2.33,0.00,0.000,6,0.126,0.032,2813,2216,1896
$GC,22964,0.88,316.7,233.6,5.5,727,23001,0.22,2.25,31.58,0.888,4,0.055,0.044,2918,861,1752
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$STATE,25467,end climb,SURFACE_DEPTH_REACHED
$STATE,25467,begin surface coast
$FINISH,3.1,1.027434
$STATE,25507,end surface coast,CONTROL_FINISHED_OK
$STATE,25509,begin surface
$SM_CCo,25588,0.00,0.000,0,0,1598,355.19
$SM_GC,3.97,7.38,0.00,0.00,0.048,0.000,0.000,135,2206,1598,-7.66,0.74,355.19
$IRIDIUM_FIX,6431.40,-30.47,010998,090908
$TT8_MAMPS,0.026845
$HUMID,1801
$INTERNAL_PRESSURE,9.05695
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,20.8,69.289
$10V_AH,10.3,51.083
$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,32.800,232.775,426.050,0.000,0.000,30.113,33.509,161.638,0.000,0.000,0.000,16.276,2040.125,20412.984,593.517,2211.110,679.447,0.000,1830.459,0.000,2169.450,0.000,0.531,0.000
$DEVICE_MAMPS,196.352,66.729,1402.076,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,671.034,645.815,362.764,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47361,915
$CAP_FILE_SIZE,195706,0
$CFSIZE,260165632,217460736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.105, 67.0,1
$GPS,080609,003137,6458.929,-39.615,29,1.2,29,-5.6