version: 66.11
glider: 167
mission: 14
dive: 396
start: 1 17 113 20 5 0
data:
$ID,167
$MISSION,14
$DIVE,396
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,4
$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,370
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,170
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52251
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-971310.62
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2665
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,21
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-16.305099
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$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,0
$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,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043364335
$SEABIRD_T_H,0.00062881975
$SEABIRD_T_I,2.1970176e-05
$SEABIRD_T_J,2.0625448e-06
$SEABIRD_C_G,-9.8829851
$SEABIRD_C_H,1.104416
$SEABIRD_C_I,-0.0016111456
$SEABIRD_C_J,0.00020720487
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,170113,195329,2222.469,12223.051,40,1.2,40,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-53.2
$GPS2,170113,200432,2222.546,12223.088,9,1.2,9,-3.3
$SPEED_LIMITS,0.154,0.265
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$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,277.3,123681,-15.4,-8.919,-18.60
$D_GRID,4855
$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,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.71,-166.2,0.0,0.0,0,69,0.00,0.00,-46.85,0.000,2,0.000,0.000,107,2393,2304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.71,-166.2,3.0,-3.9,5,127,9.38,2.15,-36.08,0.000,4,0.220,0.063,2424,3742,3646,0,0,0,0,0,0,25.01,25.89,26.72
$GC,233,-0.68,-166.2,26.9,-18.9,20,238,0.00,1.90,0.00,0.000,6,0.000,0.024,2424,2425,3647,0,0,0,0,0,0,28.83,26.26,28.83
$GC,556,-0.65,-166.2,74.8,-17.1,44,562,0.12,1.98,0.00,0.000,4,0.166,0.028,2461,1068,3646,0,0,0,0,0,0,26.19,26.21,28.83
$GC,605,-0.62,-166.2,82.3,-18.0,46,610,0.00,2.08,0.00,0.000,6,0.000,0.034,2461,2456,3646,0,0,0,0,0,0,28.83,26.18,28.83
$GC,924,-0.61,-166.2,125.2,-12.8,62,929,0.00,2.05,0.00,0.000,4,0.000,0.031,2461,1066,3646,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1017,-0.60,-166.2,137.2,-14.3,66,1022,0.00,2.08,0.00,0.000,6,0.000,0.035,2455,2454,3647,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1330,-0.60,-166.2,174.0,-8.9,82,1337,0.00,2.05,0.00,0.000,4,0.000,0.031,2454,1067,3647,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1404,-0.60,-166.2,180.6,-10.0,85,1409,0.00,2.08,0.00,0.000,6,0.000,0.034,2453,2454,3647,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1717,-0.60,-166.2,214.7,-10.5,101,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2454,3647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2020,-0.60,-166.2,245.3,-8.5,116,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2455,3648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2319,-0.60,-166.2,273.4,-10.6,131,2324,0.00,2.05,0.00,0.000,4,0.000,0.031,2453,1068,3647,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2377,-0.60,-166.2,278.4,-11.0,133,2385,0.00,2.10,0.00,0.000,6,0.000,0.034,2453,2459,3648,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2682,-0.60,-166.2,311.9,-10.0,149,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2460,3647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2985,-0.60,-166.2,341.4,-10.5,164,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2459,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3285,-0.60,-166.2,371.7,-9.5,179,3290,0.00,2.05,0.00,0.000,4,0.000,0.030,2453,1069,3646,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3344,-0.60,-166.2,376.1,-9.5,181,3350,0.00,2.08,0.00,0.000,6,0.000,0.034,2453,2454,3645,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3649,-0.60,-166.2,404.3,-9.0,197,3654,0.00,2.03,0.00,0.000,4,0.000,0.049,2453,3754,3644,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3687,-0.60,-166.2,406.5,-9.1,198,3695,0.00,1.85,0.00,0.000,6,0.000,0.018,2453,2423,3644,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3992,-0.60,-166.2,436.3,-8.8,214,3998,0.00,1.92,0.00,0.000,4,0.000,0.029,2453,1095,3642,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4031,-0.60,-166.2,438.5,-8.8,215,4038,0.00,2.05,0.00,0.000,6,0.000,0.034,2453,2461,3642,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4336,-0.60,-166.2,463.3,-7.1,231,4342,0.00,2.03,0.00,0.000,4,0.000,0.050,2453,3761,3641,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4385,-0.60,-166.2,466.2,-6.9,233,4391,0.00,1.83,0.00,0.000,6,0.000,0.018,2453,2443,3644,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4705,-0.61,-166.2,490.5,-8.4,249,4710,0.00,1.98,0.00,0.000,4,0.000,0.029,2453,1088,3639,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4759,-0.62,-166.2,494.5,-8.8,251,4765,0.00,2.05,0.00,0.000,6,0.000,0.034,2453,2455,3638,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5073,-0.63,-166.2,527.9,-10.3,267,5078,0.00,2.03,0.00,0.000,4,0.000,0.050,2453,3757,3637,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5100,-0.64,-166.2,530.2,-10.2,268,5105,0.00,1.83,0.00,0.000,6,0.000,0.019,2453,2451,3637,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5418,-0.66,-166.2,563.4,-10.4,284,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2448,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5721,-0.68,-166.2,594.4,-9.9,299,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2448,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6040,-0.69,-166.2,620.1,-7.0,311,6045,0.00,2.08,0.00,0.000,4,0.000,0.052,2452,3756,3630,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6084,-0.71,-166.2,622.4,-6.7,312,6089,0.00,1.85,0.00,0.000,6,0.000,0.020,2453,2444,3630,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6410,-0.72,-166.2,641.0,-5.4,323,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2442,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6708,-0.74,-166.2,658.5,-6.2,333,6714,0.00,2.10,0.00,0.000,4,0.000,0.052,2453,3759,3626,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6766,-0.76,-166.2,661.0,-6.5,334,6773,0.00,1.88,0.00,0.000,6,0.000,0.021,2452,2435,3626,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7075,-0.79,-166.2,687.9,-8.3,345,7081,0.12,2.12,0.00,0.000,4,0.083,0.050,2378,3755,3623,0,0,0,0,0,0,26.56,25.78,28.83
$GC,7088,-0.82,-166.2,687.9,-8.3,345,7094,0.00,1.88,0.00,0.000,6,0.000,0.021,2378,2437,3623,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7415,-0.81,-166.2,727.6,-11.9,356,7420,0.00,1.98,0.00,0.000,4,0.000,0.029,2378,1085,3621,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7579,-0.80,-166.2,746.2,-11.8,361,7584,0.00,2.08,0.00,0.000,6,0.000,0.035,2377,2452,3621,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7905,-0.79,-166.2,781.1,-10.3,372,7907,0.12,0.00,0.00,0.000,6,0.163,0.000,2410,2451,3618,0,0,0,0,0,0,26.25,28.83,28.83
$GC,8202,-0.79,-166.2,809.2,-9.4,382,8207,0.00,2.08,0.00,0.000,4,0.000,0.054,2410,3761,3617,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8295,-0.79,-166.2,817.9,-9.3,385,8300,0.00,1.88,0.00,0.000,6,0.000,0.021,2410,2442,3616,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8631,-0.79,-166.2,847.8,-8.9,396,8632,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2441,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8929,-0.79,-166.2,871.9,-7.8,406,8934,0.00,2.12,0.00,0.000,4,0.000,0.054,2410,3761,3612,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8963,-0.79,-166.2,874.5,-7.7,407,8968,0.00,1.88,0.00,0.000,6,0.000,0.021,2410,2451,3612,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9298,-0.79,-166.2,900.1,-7.8,418,9303,0.00,2.10,0.00,0.000,4,0.000,0.054,2410,3756,3611,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9386,-0.79,-166.2,905.5,-8.0,420,9394,0.00,1.88,0.00,0.000,6,0.000,0.022,2410,2444,3609,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9691,-0.79,-166.2,934.2,-9.1,431,9696,0.00,2.10,0.00,0.000,4,0.000,0.054,2411,3752,3609,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9744,-0.79,-166.2,937.2,-9.3,432,9749,0.00,1.88,0.00,0.000,6,0.000,0.022,2406,2440,3609,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10058,-0.79,-166.2,968.5,-9.5,443,10059,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2437,3608,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10295,begin apogee
$GC,10303,-0.27,0.0,992.0,-10.0,451,10468,0.50,0.00,155.38,1.286,6,0.114,0.000,2573,2185,2959,0,0,0,0,0,0,25.37,28.83,23.02
$STATE,10469,end apogee,CONTROL_FINISHED_OK
$STATE,10469,begin climb
$GC,10472,0.71,166.2,1000.6,0.0,456,10645,0.93,2.25,163.10,1.243,4,0.077,0.038,2894,858,2273,0,0,0,0,0,0,24.87,24.34,22.61
$GC,10733,0.75,218.0,991.4,7.0,465,10792,0.00,2.08,51.35,1.200,6,0.000,0.034,2894,2205,2072,0,0,0,0,0,0,28.83,25.82,23.50
$GC,11111,0.75,232.6,958.1,8.4,478,11121,0.00,2.20,5.12,0.989,4,0.000,0.048,2894,3600,2020,0,0,0,0,0,0,28.83,26.01,24.15
$GC,11208,0.73,232.6,948.8,9.7,481,11213,0.00,2.03,0.00,0.000,6,0.000,0.027,2894,2241,2025,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11544,0.71,235.6,919.2,8.8,492,11554,0.00,2.22,2.75,0.598,4,0.000,0.050,2894,3600,2005,0,0,0,0,0,0,28.83,26.04,24.13
$GC,11592,0.69,235.6,915.6,9.2,493,11597,0.00,2.08,0.00,0.000,6,0.000,0.027,2901,2197,2013,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11912,0.68,235.6,881.2,10.4,504,11917,0.00,2.22,0.00,0.000,4,0.000,0.050,2902,3596,2015,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11960,0.65,235.6,877.1,10.7,505,11967,0.12,2.08,0.00,0.000,6,0.170,0.026,2877,2199,2014,0,0,0,0,0,0,25.86,26.27,28.83
$GC,12282,0.65,235.6,845.8,8.9,516,12287,0.00,2.22,0.00,0.000,4,0.000,0.050,2877,3597,2015,0,0,0,0,0,0,28.83,25.85,28.83
$GC,12326,0.64,235.6,842.5,9.0,517,12331,0.00,2.08,0.00,0.000,6,0.000,0.027,2884,2196,2014,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12651,0.63,235.6,812.0,9.1,528,12656,0.00,2.10,0.00,0.000,4,0.000,0.039,2892,812,2014,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12673,0.62,235.6,812.0,9.1,528,12678,0.00,2.10,0.00,0.000,6,0.000,0.034,2892,2199,2014,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12989,0.60,235.6,779.3,9.8,539,12995,0.12,2.22,0.00,0.000,4,0.145,0.048,2854,3603,2014,0,0,0,0,0,0,26.22,25.77,28.83
$GC,13083,0.60,235.6,769.5,10.0,542,13089,0.00,2.10,0.00,0.000,6,0.000,0.027,2854,2198,2014,0,0,0,0,0,0,28.83,26.21,28.83
$GC,13420,0.63,257.3,740.9,8.1,553,13456,0.00,2.20,22.67,1.089,4,0.000,0.040,2854,808,1918,0,0,0,0,1,0,28.83,25.78,23.71
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$GC,14239,0.74,349.6,674.6,6.4,580,14316,0.15,0.00,69.50,1.499,6,0.076,0.000,2928,2184,1540,0,0,0,0,1,0,26.47,28.83,22.87
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$GC,16724,0.72,349.6,421.6,9.1,690,16725,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2212,1543,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20698,end climb,SURFACE_DEPTH_REACHED
$STATE,20699,begin surface coast
$FINISH,1.0,1.023293
$STATE,20729,end surface coast,CONTROL_FINISHED_OK
$STATE,20730,begin surface
$SM_CCo,20809,0.00,0.000,0,0,815,528.38
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$IRIDIUM_FIX,2213.68,12217.37,170113,191948
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.72
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.40
$XPDR_PINGS,81
$24V_AH,22.6,85.525
$10V_AH,9.9,55.080
$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,20.000,165.900,624.600,0.000,0.000,0.000,0.000,406.100,20.250,0.000,10.063,3010.597,14540.725,752.173,2691.749,471.743,0.000,2428.012,0.000,2205.315,0.000,0.542,0.000
$DEVICE_MAMPS,220.320,62.730,1498.635,0.000,0.000,0.000,0.000,127.755,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20750.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.310,0.000,0.000,0.000
$MEM,323704
$DATA_FILE_SIZE,33316,912
$CAP_FILE_SIZE,226287,0
$CFSIZE,260165632,209924096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.190, 95.8,1
$GPS,180113,015306,2222.399,12222.841,32,1.2,32,-3.3