version: 66.10
glider: 169
mission: 5
dive: 555
start: 2 27 112 7 7 44
data:
$ID,169
$MISSION,5
$DIVE,555
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$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,380
$T_MISSION,420
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$NOCOMM_ACTION,163
$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,-13608.848
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,270212,065924,2305.266,12200.578,39,1.2,39,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.6
$GPS2,270212,070720,2305.292,12200.626,13,2.0,13,-3.1
$SPEED_LIMITS,0.150,0.248
$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,225.1,59358,-16.1,-8.684
$D_GRID,4204
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.58,-146.0,0.0,0.0,0,89,0.00,0.00,-70.10,0.000,2,0.000,0.000,117,2667,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.58,-146.0,3.1,-5.9,12,120,7.18,2.50,-12.68,0.000,4,0.231,0.044,1825,1183,3576,0,0,0,0,0,0,24.80,25.89,26.52
$GC,325,-0.54,-146.0,67.1,-21.0,56,332,0.00,2.40,0.00,0.000,6,0.000,0.038,1813,2645,3576,0,0,0,0,0,0,28.83,25.81,28.83
$GC,638,-0.44,-146.0,152.9,-24.1,117,645,0.15,1.80,0.00,0.000,4,0.165,0.036,1850,3829,3577,0,0,0,0,0,0,25.91,25.86,28.83
$GC,737,-0.46,-146.0,165.2,-8.2,135,743,0.00,1.77,0.00,0.000,6,0.000,0.021,1850,2579,3577,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1054,-0.43,-146.0,209.6,-13.2,190,1058,0.00,2.17,0.00,0.000,4,0.000,0.027,1850,1172,3577,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1162,-0.46,-146.0,220.8,-9.4,200,1168,0.00,2.40,0.00,0.000,6,0.000,0.034,1839,2646,3578,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1468,-0.43,-146.0,262.3,-13.9,231,1478,0.10,2.33,0.00,0.000,4,0.166,0.024,1865,1180,3577,0,0,0,0,0,0,26.27,26.01,28.83
$GC,1541,-0.48,-146.0,269.1,-6.6,238,1552,0.00,2.40,0.00,0.000,6,0.000,0.037,1856,2660,3577,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1851,-0.48,-146.0,299.1,-9.8,269,1860,0.00,2.35,0.00,0.000,4,0.000,0.027,1856,1176,3577,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1903,-0.52,-146.0,303.6,-8.4,274,1913,0.00,2.38,0.00,0.000,6,0.000,0.037,1846,2640,3577,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2213,-0.52,-146.0,337.0,-12.1,305,2222,0.00,2.33,0.00,0.000,4,0.000,0.028,1846,1179,3576,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2286,-0.55,-146.0,344.5,-9.2,312,2295,0.00,2.40,0.00,0.000,6,0.000,0.037,1836,2644,3576,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2597,-0.54,-146.0,380.5,-11.5,343,2605,0.00,2.30,0.00,0.000,4,0.000,0.026,1836,1173,3574,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2660,-0.57,-146.0,387.3,-10.1,349,2669,0.00,2.38,0.00,0.000,6,0.000,0.036,1826,2637,3574,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2968,-0.55,-146.0,423.5,-11.5,380,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2637,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3273,-0.53,-146.0,455.7,-11.2,410,3282,0.00,2.33,0.00,0.000,4,0.000,0.026,1826,1171,3571,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3315,-0.54,-146.0,460.5,-10.4,414,3325,0.00,2.45,0.00,0.000,6,0.000,0.037,1819,2650,3570,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3627,-0.53,-146.0,496.4,-12.7,445,3635,0.00,2.33,0.00,0.000,4,0.000,0.027,1819,1182,3568,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3670,-0.53,-146.0,501.4,-11.8,449,3678,0.00,2.38,0.00,0.000,6,0.000,0.037,1811,2636,3568,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3980,-0.51,-146.0,538.9,-12.2,480,3989,0.12,2.30,0.00,0.000,4,0.148,0.024,1853,1175,3566,0,0,0,0,0,0,26.12,25.96,28.83
$GC,4014,-0.52,-146.0,542.5,-10.9,483,4023,0.00,2.40,0.00,0.000,6,0.000,0.037,1852,2642,3566,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4324,-0.55,-146.0,564.1,-5.9,514,4328,0.00,1.77,0.00,0.000,4,0.000,0.044,1843,3816,3564,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4347,-0.58,-146.0,565.5,-6.1,516,4351,0.00,1.80,0.00,0.000,6,0.000,0.022,1843,2579,3563,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4660,-0.60,-146.0,586.6,-6.7,547,4669,0.00,2.20,0.00,0.000,4,0.000,0.027,1843,1172,3562,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4714,-0.64,-146.0,590.2,-6.4,552,4723,0.00,2.40,0.00,0.000,6,0.000,0.035,1833,2642,3561,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5034,-0.65,-146.0,615.8,-8.5,575,5040,0.10,2.30,0.00,0.000,4,0.092,0.024,1766,1179,3560,0,0,0,0,0,0,26.46,25.94,28.83
$GC,5107,-0.65,-146.0,623.1,-11.3,578,5116,0.15,2.42,0.00,0.000,6,0.135,0.037,1798,2646,3559,0,0,0,0,0,0,25.46,25.75,28.83
$GC,5415,-0.63,-146.0,660.4,-11.4,594,5420,0.00,2.35,0.00,0.000,4,0.000,0.028,1798,1173,3557,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5481,-0.63,-146.0,666.7,-10.7,597,5485,0.00,2.42,0.00,0.000,6,0.000,0.038,1787,2646,3557,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5790,-0.61,-146.0,704.1,-11.7,612,5795,0.00,2.33,0.00,0.000,4,0.000,0.028,1787,1177,3554,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5851,-0.60,-146.0,710.3,-10.9,615,5856,0.15,2.45,0.00,0.000,6,0.121,0.038,1822,2645,3554,0,0,0,0,0,0,25.50,25.72,28.83
$GC,6167,-0.61,-146.0,736.1,-8.3,631,6173,0.00,2.33,0.00,0.000,4,0.000,0.028,1823,1181,3552,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6226,-0.63,-146.0,740.9,-8.0,634,6232,0.00,2.42,0.00,0.000,6,0.000,0.038,1813,2645,3552,0,0,0,0,0,0,28.83,25.68,28.83
$GC,6547,-0.63,-146.0,771.5,-10.1,650,6552,0.00,2.35,0.00,0.000,4,0.000,0.029,1813,1183,3550,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6580,-0.63,-146.0,773.6,-10.2,651,6587,0.00,2.45,0.00,0.000,6,0.000,0.041,1812,2643,3550,0,0,0,0,0,0,28.83,25.61,28.83
$GC,6887,-0.63,-146.0,806.3,-9.8,667,6894,0.00,2.35,0.00,0.000,4,0.000,0.031,1812,1183,3549,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6933,-0.64,-146.0,810.1,-9.7,669,6938,0.00,2.42,0.00,0.000,6,0.000,0.041,1813,2635,3548,0,0,0,0,0,0,28.83,25.59,28.83
$GC,7247,-0.64,-146.0,840.1,-9.3,685,7251,0.00,1.80,0.00,0.000,4,0.000,0.046,1804,3815,3545,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7282,-0.64,-146.0,842.1,-9.2,686,7289,0.00,1.80,0.00,0.000,6,0.000,0.024,1804,2579,3546,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7590,-0.64,-146.0,871.9,-9.3,702,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2579,3544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7888,-0.64,-146.0,898.0,-8.7,717,7894,0.00,2.00,0.00,0.000,4,0.000,0.047,1795,3818,3542,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7913,-0.64,-146.0,899.7,-8.8,718,7916,0.00,1.80,0.00,0.000,6,0.000,0.024,1795,2589,3542,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8230,-0.64,-146.0,930.8,-9.8,734,8234,0.00,2.25,0.00,0.000,4,0.000,0.031,1795,1178,3541,0,0,0,0,0,0,28.83,25.73,28.83
$GC,8295,-0.65,-146.0,936.4,-9.2,737,8299,0.00,2.47,0.00,0.000,6,0.000,0.040,1783,2650,3540,0,0,0,0,0,0,28.83,25.55,28.83
$GC,8609,-0.63,-146.0,969.0,-10.3,753,8615,0.00,2.35,0.00,0.000,4,0.000,0.031,1783,1186,3538,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8655,-0.62,-146.0,973.0,-10.1,755,8661,0.12,2.45,0.00,0.000,6,0.132,0.040,1809,2644,3539,0,0,0,0,0,0,25.35,25.54,28.83
$STATE,8880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8880,begin apogee
$GC,8886,-0.20,0.0,990.7,-7.4,766,9026,0.38,0.12,128.88,1.190,6,0.097,0.056,1941,2525,2972,0,0,0,0,0,0,25.51,24.71,23.42
$STATE,9027,end apogee,CONTROL_FINISHED_OK
$STATE,9027,begin climb
$GC,9029,0.58,146.0,994.2,0.0,773,9186,0.68,2.50,141.65,1.196,4,0.044,0.033,2218,1054,2370,0,0,0,0,0,0,25.15,24.84,23.32
$GC,9209,0.49,146.0,982.4,12.9,782,9215,0.15,2.42,0.00,0.000,6,0.168,0.037,2175,2522,2363,0,0,0,0,0,0,24.94,25.33,28.83
$GC,9529,0.43,146.0,936.0,14.5,798,9534,0.00,2.05,0.00,0.000,4,0.000,0.044,2175,3827,2356,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9623,0.35,146.0,922.7,16.6,802,9632,0.22,2.08,0.00,0.000,6,0.171,0.026,2126,2466,2354,0,0,0,0,0,0,25.22,25.96,28.83
$GC,9929,0.33,146.0,889.3,9.8,818,9935,0.00,2.17,0.00,0.000,4,0.000,0.045,2126,3819,2352,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9993,0.30,146.0,882.4,11.1,821,9999,0.00,2.08,0.00,0.000,6,0.000,0.027,2136,2466,2351,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10309,0.27,146.0,848.3,10.3,837,10315,0.12,2.17,0.00,0.000,4,0.174,0.042,2100,3821,2350,0,0,0,0,0,0,25.89,25.65,28.83
$GC,10378,0.25,146.0,842.5,9.8,840,10387,0.00,2.08,0.00,0.000,6,0.000,0.027,2110,2461,2349,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10689,0.30,181.1,817.9,7.3,856,10728,0.00,0.00,33.90,1.060,6,0.000,0.000,2110,2461,2231,0,0,0,0,0,0,28.83,28.83,23.92
$GC,11031,0.34,208.7,792.3,7.6,873,11069,0.00,2.30,27.50,1.033,4,0.000,0.044,2110,3810,2114,0,0,0,0,0,0,28.83,25.53,23.90
$GC,11092,0.37,222.6,787.1,8.1,876,11112,0.00,2.10,14.43,1.011,6,0.000,0.027,2120,2463,2069,0,0,0,0,0,0,28.83,25.76,23.82
$GC,11414,0.39,229.7,760.0,8.4,892,11419,0.00,2.17,0.00,0.000,4,0.000,0.034,2131,1061,2049,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11454,0.42,233.0,756.5,8.6,894,11464,0.00,2.35,3.10,0.615,6,0.000,0.038,2131,2517,2028,0,0,0,0,0,0,28.83,25.75,24.09
$GC,11774,0.43,233.0,724.6,10.5,910,11779,0.00,2.05,0.00,0.000,4,0.000,0.044,2131,3810,2036,0,0,0,0,0,0,28.83,25.69,28.83
$GC,11813,0.43,233.0,719.9,11.2,912,11819,0.00,2.05,0.00,0.000,6,0.000,0.027,2142,2473,2036,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12132,0.43,233.0,682.9,11.4,928,12138,0.00,2.25,0.00,0.000,4,0.000,0.034,2153,1053,2035,0,0,0,0,0,0,28.83,25.75,28.83
$GC,12172,0.44,233.0,678.6,11.1,930,12178,0.00,2.38,0.00,0.000,6,0.000,0.037,2153,2525,2036,0,0,0,0,0,0,28.83,25.71,28.83
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$GC,14631,0.43,239.7,427.0,8.4,1140,14650,0.00,2.12,12.38,0.808,4,0.000,0.044,2143,3817,1995,0,0,0,0,0,0,28.83,25.67,24.28
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$GC,15777,0.56,274.5,327.1,8.7,1254,15787,0.00,2.17,0.00,0.000,4,0.000,0.042,2174,3806,1838,0,0,0,0,0,0,28.83,25.63,28.83
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$STATE,18429,end climb,SURFACE_DEPTH_REACHED
$STATE,18429,begin surface coast
$FINISH,0.3,1.023015
$STATE,18453,end surface coast,CONTROL_FINISHED_OK
$STATE,18453,begin surface
$SM_CCo,18469,11.85,0.129,0,0,1245,425.10
$SM_GC,0.79,5.50,0.38,11.85,0.033,0.047,0.129,139,2663,1245,-5.79,-0.25,425.10,0,0,0,0,0,0,25.78,26.22,25.09
$IRIDIUM_FIX,2255.72,12201.32,270212,010107
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.28
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.3,111.011
$10V_AH,9.8,68.698
$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,15.950,209.550,506.025,11.850,0.000,26.946,42.971,248.363,0.000,0.000,14.068,4134.754,10215.425,736.644,3361.134,476.099,0.000,2370.307,0.000,2869.199,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,55.845,1195.695,128.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1120.943,2159.433,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324636
$DATA_FILE_SIZE,110385,1649
$CAP_FILE_SIZE,208536,0
$CFSIZE,260165632,169922560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.358, 21.4,1
$GPS,270212,121654,2306.715,12200.936,37,1.4,37,-3.1