version: 66.11
glider: 170
mission: 10
dive: 499
start: 2 14 113 4 4 57
data:
$ID,170
$MISSION,10
$DIVE,499
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$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,310
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,15
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51760
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-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,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-143867.02
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,3035
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,25
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2160
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2853
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,21.5
$MINV_10V,8.8000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.120956
$PRESSURE_SLOPE,0.0001164274
$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,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043559377
$SEABIRD_T_H,0.00062550703
$SEABIRD_T_I,2.3551509e-05
$SEABIRD_T_J,2.509174e-06
$SEABIRD_C_G,-10.138787
$SEABIRD_C_H,1.1450038
$SEABIRD_C_I,-0.0015582878
$SEABIRD_C_J,0.00020114503
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,140213,035734,2146.804,11953.297,30,0.9,30,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-74.7
$GPS2,140213,040430,2146.817,11953.333,16,1.6,16,-3.0
$SPEED_LIMITS,0.184,0.319
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$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,122.9,11951,-16.5,-10.645,-18.43
$D_GRID,2253
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.63,-194.6,0.0,0.0,0,85,0.00,0.00,-60.83,0.000,2,0.000,0.000,141,2519,1870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.63,-194.6,3.1,-1.3,4,178,11.73,1.40,-72.35,0.000,4,0.246,0.048,2826,1603,3648,0,0,0,0,0,0,24.94,26.09,26.58
$GC,238,-0.58,-194.6,15.5,-14.5,14,242,0.00,1.42,0.00,0.000,6,0.000,0.038,2826,2507,3648,0,0,0,0,0,0,28.83,26.01,28.83
$GC,539,-0.60,-194.6,55.3,-11.2,29,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2507,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,838,-0.65,-194.6,88.4,-12.2,44,841,0.00,1.38,0.00,0.000,4,0.000,0.049,2826,3375,3649,0,0,0,0,0,0,28.83,25.94,28.83
$GC,882,-0.72,-194.6,93.6,-11.8,47,885,0.00,1.38,0.00,0.000,6,0.000,0.023,2826,2408,3649,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1184,-0.78,-194.6,125.9,-10.7,58,1188,0.12,1.58,0.00,0.000,4,0.090,0.048,2761,3376,3649,0,0,0,0,0,0,26.40,25.92,28.83
$GC,1228,-0.83,-194.6,131.3,-10.8,60,1231,0.00,1.42,0.00,0.000,6,0.000,0.021,2761,2368,3649,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1545,-0.79,-194.6,162.6,-9.7,71,1548,0.00,1.65,0.00,0.000,4,0.000,0.047,2760,3383,3650,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1633,-0.76,-194.6,169.9,-9.7,74,1636,0.00,1.38,0.00,0.000,6,0.000,0.021,2761,2407,3650,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1932,-0.76,-194.6,202.4,-11.3,84,1935,0.00,1.58,0.00,0.000,4,0.000,0.049,2761,3374,3651,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1991,-0.76,-194.6,207.8,-11.6,86,1994,0.00,1.33,0.00,0.000,6,0.000,0.021,2761,2425,3651,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2294,-0.76,-194.6,241.7,-10.3,96,2297,0.00,1.58,0.00,0.000,4,0.000,0.048,2761,3385,3651,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2368,-0.78,-194.6,249.2,-10.0,99,2371,0.00,1.42,0.00,0.000,6,0.000,0.021,2761,2380,3650,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2687,-0.81,-194.6,280.2,-10.4,110,2694,0.00,1.65,0.00,0.000,4,0.000,0.049,2761,3385,3649,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2743,-0.81,-194.6,286.9,-10.8,112,2746,0.00,1.48,0.00,0.000,6,0.000,0.022,2761,2355,3650,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3061,-0.84,-194.6,320.7,-10.2,123,3069,0.00,1.67,0.00,0.000,4,0.000,0.048,2761,3386,3649,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3088,-0.86,-194.6,323.7,-10.0,124,3091,0.00,1.50,0.00,0.000,6,0.000,0.022,2761,2342,3649,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3405,-0.89,-194.6,352.3,-8.8,135,3409,0.00,1.70,0.00,0.000,4,0.000,0.049,2761,3373,3647,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3464,-0.92,-194.6,356.5,-8.8,137,3467,0.00,1.38,0.00,0.000,6,0.000,0.024,2761,2421,3647,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3766,-0.96,-194.6,384.6,-9.2,147,3770,0.12,1.58,0.00,0.000,4,0.095,0.050,2701,3380,3646,0,0,0,0,0,0,26.39,25.93,28.83
$GC,3839,-0.96,-194.6,393.0,-10.7,150,3843,0.00,1.45,0.00,0.000,6,0.000,0.023,2701,2371,3645,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4156,-0.92,-194.6,432.2,-12.8,161,4158,0.15,0.00,0.00,0.000,6,0.155,0.000,2741,2367,3644,0,0,0,0,0,0,26.06,28.83,28.83
$GC,4455,-0.92,-194.6,466.2,-11.4,171,4459,0.00,1.65,0.00,0.000,4,0.000,0.050,2741,3372,3643,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4513,-0.92,-194.6,471.3,-11.2,173,4516,0.00,1.42,0.00,0.000,6,0.000,0.024,2742,2400,3642,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4817,-0.94,-194.6,502.8,-9.3,183,4820,0.00,1.60,0.00,0.000,4,0.000,0.050,2742,3374,3640,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4874,-0.94,-194.6,506.8,-8.8,185,4878,0.00,1.50,0.00,0.000,6,0.000,0.024,2742,2357,3641,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5178,-0.96,-194.6,531.4,-7.8,195,5181,0.00,1.70,0.00,0.000,4,0.000,0.050,2742,3385,3638,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5251,-0.96,-194.6,537.7,-8.2,198,5254,0.00,1.58,0.00,0.000,6,0.000,0.024,2742,2316,3638,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5568,-0.99,-194.6,568.5,-10.4,209,5571,0.00,1.02,0.00,0.000,4,0.000,0.024,2742,1582,3636,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5654,-1.02,-194.6,576.6,-10.7,212,5658,0.12,1.33,0.00,0.000,6,0.100,0.037,2685,2417,3636,0,0,0,0,0,0,25.99,26.07,28.83
$GC,5989,-0.99,-194.6,617.1,-11.7,221,5992,0.00,1.55,0.00,0.000,4,0.000,0.051,2685,3378,3634,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6075,-0.96,-194.6,622.9,-11.8,222,6079,0.15,1.52,0.00,0.000,6,0.159,0.024,2725,2335,3634,0,0,0,0,0,0,25.82,26.32,28.83
$GC,6377,-0.96,-194.6,661.1,-10.6,227,6381,0.00,1.73,0.00,0.000,4,0.000,0.050,2725,3380,3633,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6390,-0.96,-194.6,661.1,-10.6,227,6393,0.00,1.45,0.00,0.000,6,0.000,0.026,2725,2414,3633,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6706,-0.96,-194.6,695.0,-10.2,233,6709,0.00,1.17,0.00,0.000,4,0.000,0.024,2725,1594,3631,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6753,-0.96,-194.6,699.4,-10.0,234,6756,0.00,1.40,0.00,0.000,6,0.000,0.037,2725,2476,3631,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7097,-0.96,-194.6,728.1,-8.0,240,7100,0.00,1.45,0.00,0.000,4,0.000,0.050,2725,3375,3630,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7170,-0.96,-194.6,731.5,-7.8,241,7173,0.00,1.50,0.00,0.000,6,0.000,0.027,2725,2376,3629,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7487,-0.96,-194.6,756.8,-7.2,247,7490,0.00,1.12,0.00,0.000,4,0.000,0.024,2725,1589,3628,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7531,-0.96,-194.6,760.2,-7.3,248,7534,0.00,1.42,0.00,0.000,6,0.000,0.038,2725,2484,3628,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7876,-0.96,-194.6,788.2,-8.4,254,7879,0.00,1.45,0.00,0.000,4,0.000,0.052,2725,3377,3627,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7966,-0.96,-194.6,792.5,-8.6,255,7970,0.00,1.50,0.00,0.000,6,0.000,0.027,2725,2383,3626,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8266,-0.93,-194.6,830.4,-11.3,260,8270,0.00,1.65,0.00,0.000,4,0.000,0.051,2725,3376,3625,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8311,-0.91,-194.6,836.0,-11.8,261,8315,0.00,1.48,0.00,0.000,6,0.000,0.027,2725,2400,3625,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8657,-0.91,-194.6,876.4,-11.6,267,8658,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2398,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8956,-0.89,-194.6,907.5,-10.2,272,8960,0.00,1.62,0.00,0.000,4,0.000,0.050,2725,3377,3623,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9016,-0.87,-194.6,912.0,-10.1,273,9020,0.12,1.45,0.00,0.000,6,0.154,0.028,2760,2422,3623,0,0,0,0,0,0,25.86,26.25,28.83
$GC,9347,-0.91,-194.6,939.3,-7.6,279,9351,0.00,1.58,0.00,0.000,4,0.000,0.051,2760,3371,3622,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9420,-0.95,-194.6,942.9,-7.7,280,9424,0.00,1.30,0.00,0.000,6,0.000,0.028,2760,2519,3622,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9738,-1.00,-194.6,970.4,-8.0,286,9741,0.15,1.33,0.00,0.000,4,0.090,0.025,2698,1610,3621,0,0,0,0,0,0,26.33,26.20,28.83
$GC,9751,-1.04,-194.6,970.4,-8.0,286,9754,0.00,1.65,0.00,0.000,6,0.000,0.041,2700,2636,3621,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,9944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9944,begin apogee
$GC,9953,-0.17,0.0,994.9,-11.8,290,10129,0.88,0.00,172.23,1.490,4,0.132,0.000,2974,2142,2853,0,0,0,0,0,0,25.05,28.83,22.61
$STATE,10131,end apogee,CONTROL_FINISHED_OK
$STATE,10131,begin climb
$GC,10134,0.63,194.6,1006.6,0.0,293,10329,0.70,1.33,188.65,1.448,4,0.051,0.029,3254,1315,2059,0,0,0,0,0,0,24.54,24.63,21.91
$GC,10487,0.57,225.0,986.6,9.5,299,10521,0.12,1.35,27.88,1.382,6,0.158,0.036,3220,2161,1935,0,0,0,0,0,0,25.58,25.84,23.49
$GC,10865,0.58,244.2,946.9,9.9,306,10891,0.00,1.35,18.52,1.355,4,0.000,0.031,3225,1301,1856,0,0,0,0,0,0,28.83,25.77,23.77
$GC,10938,0.58,258.1,940.5,10.1,307,10957,0.00,1.40,14.15,1.309,6,0.000,0.035,3225,2181,1800,0,0,0,0,0,0,28.83,25.95,23.75
$GC,11268,0.58,258.1,901.4,11.4,313,11271,0.00,1.35,0.00,0.000,4,0.000,0.046,3225,3038,1794,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11358,0.58,258.1,896.0,11.5,314,11361,0.00,1.27,0.00,0.000,6,0.000,0.025,3227,2187,1795,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11659,0.58,258.1,856.6,11.1,319,11662,0.00,1.35,0.00,0.000,4,0.000,0.031,3227,1294,1793,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11718,0.58,258.1,851.9,10.8,320,11721,0.00,1.40,0.00,0.000,6,0.000,0.034,3227,2184,1793,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12049,0.61,318.1,821.4,8.5,326,12109,0.00,1.42,55.92,1.383,4,0.000,0.046,3227,3041,1556,0,0,0,0,0,0,28.83,25.20,23.48
$GC,12197,0.63,388.1,812.9,8.1,328,12273,0.00,1.30,65.53,1.357,6,0.000,0.025,3227,2175,1269,0,0,0,0,0,0,28.83,26.03,23.33
$GC,12576,0.85,493.2,782.5,6.8,335,12681,0.22,1.40,99.18,1.336,4,0.069,0.031,3338,1309,842,0,0,0,0,0,0,26.21,25.01,23.27
$GC,12785,0.96,506.4,761.9,10.2,337,12804,0.00,1.27,13.80,1.195,6,0.000,0.033,3337,2119,788,0,0,0,0,0,0,28.83,25.90,23.80
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$GC,15063,0.94,506.4,420.9,13.5,398,15066,0.00,1.40,0.00,0.000,6,0.000,0.026,3337,2092,781,0,0,0,0,0,0,28.83,26.21,28.83
$GC,15363,0.94,506.4,379.1,13.0,408,15367,0.00,1.52,0.00,0.000,4,0.000,0.041,3337,3035,780,0,0,0,0,0,0,28.83,25.94,28.83
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$STATE,18325,end climb,SURFACE_DEPTH_REACHED
$STATE,18325,begin surface coast
$FINISH,1.7,1.011029
$STATE,18346,end surface coast,CONTROL_FINISHED_OK
$STATE,18346,begin surface
$SM_CCo,18428,0.00,0.000,0,0,458,587.49
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$IRIDIUM_FIX,2136.49,11952.17,130213,222238
$TT8_MAMPS,0.025466,0.025466
$HUMID,59.60
$INTERNAL_PRESSURE,9.35155
$TCM_TEMP,21.90
$XPDR_PINGS,0
$SC_FREEKB,3828832
$24V_AH,21.9,109.275
$10V_AH,9.8,53.676
$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,24.075,124.000,732.200,0.000,0.000,0.000,0.000,210.275,0.000,0.000,17.932,1763.429,14313.072,976.273,1288.171,495.593,0.000,1808.709,0.000,1028.969,0.000,0.541,0.000
$DEVICE_MAMPS,246.330,52.020,1490.220,0.000,0.000,0.000,0.000,123.165,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18338.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.268,0.000,0.000,0.000
$MEM,325088
$DATA_FILE_SIZE,20104,528
$CAP_FILE_SIZE,168333,0
$CFSIZE,260034560,196562944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.034,336.5,1
$GPS,140213,091322,2146.390,11953.762,35,1.0,35,-3.0