version: 66.10
glider: 176
mission: 5
dive: 447
start: 6 15 112 21 49 29
data:
$ID,176
$MISSION,5
$DIVE,447
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$D_BOOST,100
$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,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,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51719
$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,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-8178.1421
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2514
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2929
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.662712
$PRESSURE_SLOPE,0.0001162977
$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,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043285224
$SEABIRD_T_H,0.00062606536
$SEABIRD_T_I,2.5051821e-05
$SEABIRD_T_J,2.9112039e-06
$SEABIRD_C_G,-10.134115
$SEABIRD_C_H,1.1528351
$SEABIRD_C_I,-0.0013358581
$SEABIRD_C_J,0.00019115997
$GPS1,150612,214136,1758.257,12412.179,38,1.1,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-68.7
$GPS2,150612,214901,1758.229,12412.153,12,1.1,17,-2.0
$SPEED_LIMITS,0.150,0.264
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,5000.000
$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,275.5,212439,-14.0,-8.684
$D_GRID,4802
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.56,-170.3,0.0,0.0,0,82,0.00,0.00,-64.18,0.000,2,0.000,0.000,178,2683,2380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.56,-170.3,3.3,-7.0,11,128,8.65,2.15,-25.00,0.000,4,0.226,0.040,2332,1186,3627,0,0,0,0,0,0,24.99,26.32,26.73
$GC,256,-0.56,-170.3,50.3,-22.2,37,264,0.00,2.25,0.00,0.000,6,0.000,0.044,2332,2675,3627,0,0,0,0,0,0,28.83,26.19,28.83
$GC,570,-0.56,-170.3,147.3,-25.5,98,577,0.00,1.62,0.00,0.000,4,0.000,0.050,2324,3774,3627,0,0,0,0,0,0,28.83,26.21,28.83
$GC,650,-0.56,-170.3,168.6,-21.6,113,659,0.08,1.65,0.00,0.000,6,0.189,0.023,2342,2558,3626,0,0,0,0,0,0,26.27,26.51,28.83
$GC,988,-0.56,-170.3,231.7,-17.9,158,997,0.00,1.92,0.00,0.000,4,0.000,0.024,2343,1178,3626,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1012,-0.56,-170.3,235.6,-17.3,160,1019,0.00,2.25,0.00,0.000,6,0.000,0.043,2335,2679,3627,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1319,-0.56,-170.3,286.2,-15.2,191,1328,0.00,2.12,0.00,0.000,4,0.000,0.024,2337,1177,3626,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1365,-0.56,-170.3,291.6,-13.2,195,1371,0.00,2.25,0.00,0.000,6,0.000,0.042,2335,2678,3627,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1671,-0.56,-170.3,333.5,-14.3,226,1680,0.00,2.12,0.00,0.000,4,0.000,0.024,2335,1178,3625,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1724,-0.56,-170.3,339.9,-12.0,231,1732,0.00,2.22,0.00,0.000,6,0.000,0.043,2335,2670,3625,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2033,-0.56,-170.3,379.0,-11.9,262,2042,0.00,2.10,0.00,0.000,4,0.000,0.024,2335,1188,3623,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2107,-0.56,-170.3,386.3,-9.4,269,2117,0.00,2.20,0.00,0.000,6,0.000,0.043,2332,2660,3623,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2415,-0.56,-170.3,421.5,-11.1,300,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2660,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2719,-0.56,-170.3,452.8,-10.2,330,2728,0.00,2.08,0.00,0.000,4,0.000,0.024,2332,1183,3617,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2794,-0.56,-170.3,460.0,-9.0,337,2802,0.00,2.25,0.00,0.000,6,0.000,0.044,2331,2669,3617,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3101,-0.56,-170.3,489.5,-8.9,368,3105,0.00,2.15,-0.10,0.000,4,0.000,0.036,2331,1186,3637,0,0,0,0,0,0,28.83,26.38,25.98
$GC,3153,-0.56,-170.3,493.8,-8.2,373,3163,0.00,2.28,0.00,0.000,6,0.000,0.044,2331,2675,3637,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3463,-0.56,-170.3,521.5,-9.3,404,3472,0.00,2.12,0.00,0.000,4,0.000,0.024,2331,1189,3634,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3504,-0.56,-170.3,525.2,-9.0,408,3513,0.00,2.25,0.00,0.000,6,0.000,0.044,2331,2669,3634,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3817,-0.56,-170.3,556.6,-10.5,439,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2669,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4126,-0.56,-170.3,590.1,-10.9,470,4135,0.00,2.10,0.00,0.000,4,0.000,0.024,2331,1191,3627,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4199,-0.56,-170.3,597.5,-9.9,477,4208,0.00,2.28,0.00,0.000,6,0.000,0.045,2331,2660,3627,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4509,-0.56,-170.3,628.5,-9.8,494,4513,0.00,2.10,0.00,0.000,4,0.000,0.024,2331,1189,3623,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4543,-0.56,-170.3,630.6,-9.6,495,4550,0.00,2.28,0.00,0.000,6,0.000,0.045,2331,2678,3623,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4852,-0.56,-170.3,658.3,-8.4,511,4857,0.00,2.12,0.00,0.000,4,0.000,0.024,2331,1186,3621,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4898,-0.56,-170.3,661.7,-8.4,513,4903,0.00,2.28,0.00,0.000,6,0.000,0.046,2331,2671,3621,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5206,-0.56,-170.3,688.0,-8.7,528,5211,0.00,2.15,0.00,0.000,4,0.000,0.024,2331,1179,3618,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5240,-0.56,-170.3,689.8,-8.7,529,5248,0.00,2.30,0.00,0.000,6,0.000,0.046,2331,2676,3618,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5545,-0.56,-170.3,717.7,-8.9,545,5551,0.00,2.15,0.00,0.000,4,0.000,0.025,2331,1185,3615,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5573,-0.56,-170.3,719.5,-8.9,546,5577,0.00,2.30,0.00,0.000,6,0.000,0.046,2331,2674,3615,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5882,-0.56,-170.3,747.0,-8.8,561,5887,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1192,3613,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5925,-0.56,-170.3,750.5,-8.8,563,5929,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2669,3612,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6237,-0.56,-170.3,777.8,-8.6,579,6241,0.00,2.15,0.00,0.000,4,0.000,0.025,2331,1179,3610,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6273,-0.56,-170.3,779.6,-8.6,580,6279,0.00,2.30,0.00,0.000,6,0.000,0.047,2331,2673,3610,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6578,-0.56,-170.3,805.6,-7.9,596,6584,0.00,2.15,0.00,0.000,4,0.000,0.025,2331,1181,3608,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6601,-0.56,-170.3,807.2,-8.0,597,6606,0.00,2.30,0.00,0.000,6,0.000,0.047,2331,2671,3608,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6915,-0.56,-170.3,831.3,-7.5,613,6920,0.00,2.12,0.00,0.000,4,0.000,0.024,2331,1190,3606,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6941,-0.56,-170.3,833.0,-7.7,614,6946,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2666,3606,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7252,-0.56,-170.3,856.6,-7.6,629,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2666,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7549,-0.56,-170.3,879.6,-7.7,644,7554,0.00,2.15,0.00,0.000,4,0.000,0.024,2331,1181,3602,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7597,-0.56,-170.3,882.5,-7.6,646,7601,0.00,2.30,0.00,0.000,6,0.000,0.047,2331,2674,3602,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7905,-0.56,-170.3,907.5,-7.9,661,7911,0.00,2.15,0.00,0.000,4,0.000,0.025,2331,1181,3600,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7944,-0.56,-170.3,910.8,-8.1,663,7950,0.00,2.33,0.00,0.000,6,0.000,0.047,2331,2675,3601,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8264,-0.56,-170.3,936.1,-8.0,679,8269,0.00,2.17,0.00,0.000,4,0.000,0.025,2331,1179,3599,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8288,-0.56,-170.3,937.8,-8.1,680,8294,0.00,2.30,0.00,0.000,6,0.000,0.047,2331,2665,3599,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8604,-0.56,-170.3,962.1,-7.5,696,8605,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2666,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8905,-0.56,-170.3,982.4,-6.3,711,8911,0.00,2.12,0.00,0.000,4,0.000,0.024,2331,1192,3596,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8952,-0.56,-170.3,984.9,-6.2,713,8956,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2666,3596,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,9037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9037,begin apogee
$GC,9042,-0.17,0.0,990.8,-6.1,717,9202,0.38,0.10,149.12,1.694,6,0.102,0.067,2466,2585,2929,0,0,0,0,0,0,25.83,24.46,22.68
$STATE,9203,end apogee,CONTROL_FINISHED_OK
$STATE,9203,begin climb
$GC,9205,0.56,170.3,996.3,0.0,725,9382,0.62,2.42,163.00,1.650,4,0.048,0.031,2729,1108,2233,0,0,0,0,0,0,25.06,24.22,22.24
$GC,9437,0.56,170.3,979.2,15.0,736,9445,0.15,2.33,0.00,0.000,6,0.168,0.047,2690,2565,2226,0,0,0,0,0,0,25.22,25.48,28.83
$GC,9745,0.56,170.3,932.3,14.0,752,9748,0.00,1.85,0.00,0.000,4,0.000,0.057,2690,3777,2222,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9775,0.56,170.3,929.2,14.0,753,9779,0.00,1.85,0.00,0.000,6,0.000,0.024,2699,2493,2221,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10081,0.56,170.3,881.7,15.1,768,10086,0.00,2.03,0.00,0.000,4,0.000,0.031,2710,1104,2220,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10121,0.56,170.3,876.2,14.5,770,10127,0.10,2.28,0.00,0.000,6,0.173,0.045,2685,2575,2218,0,0,0,0,0,0,25.93,26.13,28.83
$GC,10442,0.56,170.3,835.3,12.5,786,10443,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2575,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10741,0.56,170.3,798.6,12.1,801,10744,0.00,1.83,0.00,0.000,4,0.000,0.055,2685,3766,2216,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10775,0.56,170.3,796.0,12.2,802,10783,0.00,1.83,0.00,0.000,6,0.000,0.024,2694,2488,2216,0,0,0,0,0,0,28.83,26.35,28.83
$GC,11084,0.56,170.3,754.3,12.3,818,11085,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2485,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11382,0.56,170.3,718.6,11.4,833,11388,0.00,2.05,0.00,0.000,4,0.000,0.031,2705,1090,2214,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11415,0.56,170.3,716.3,11.5,834,11424,0.08,2.28,0.00,0.000,6,0.185,0.045,2688,2567,2214,0,0,0,0,0,0,25.90,26.03,28.83
$GC,11724,0.56,170.3,682.3,10.8,850,11725,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2567,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12022,0.56,170.3,649.2,11.3,865,12028,0.00,2.17,0.00,0.000,4,0.000,0.029,2698,1097,2214,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12050,0.56,170.3,647.2,11.0,866,12054,0.00,2.28,0.00,0.000,6,0.000,0.045,2698,2567,2213,0,0,0,0,0,0,28.83,25.99,28.83
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$GC,14161,0.56,174.1,431.2,8.6,1054,14171,0.08,2.17,0.00,0.000,4,0.126,0.028,2746,1094,2212,0,0,0,0,0,0,26.52,26.14,28.83
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$GC,15401,0.59,194.3,315.8,9.3,1177,15405,0.00,1.83,0.00,0.000,4,0.000,0.051,2705,3766,2134,0,0,0,0,0,0,28.83,25.92,28.83
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$STATE,18426,end climb,SURFACE_DEPTH_REACHED
$STATE,18426,begin surface coast
$FINISH,0.7,1.021107
$STATE,18448,end surface coast,CONTROL_FINISHED_OK
$STATE,18448,begin surface
$SM_CCo,18524,0.00,0.000,0,0,814,519.05
$SM_GC,1.43,6.65,0.12,0.00,0.030,0.090,0.000,181,2707,814,-7.15,-0.51,519.05,0,0,0,0,0,0,26.34,26.49,28.83
$IRIDIUM_FIX,1751.90,12412.19,150612,161611
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.60
$INTERNAL_PRESSURE,9.53436
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,22.2,94.238
$10V_AH,9.8,57.595
$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,19.250,188.100,544.800,0.000,0.000,24.566,20.570,242.788,0.000,0.000,20.433,4068.865,10317.989,711.577,3407.565,433.808,0.000,2318.796,0.000,2778.887,0.000,0.543,0.000
$DEVICE_MAMPS,252.450,89.505,1693.710,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1102.567,2267.584,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330220
$DATA_FILE_SIZE,120669,1624
$CAP_FILE_SIZE,201239,0
$CFSIZE,260165632,176885760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.142, 70.9,1
$GPS,160612,025925,1758.804,12411.021,40,0.9,40,-2.0