version: 66.12
glider: 528
mission: 3
dive: 354
start: 3 27 117 5 58 40
data:
$ID,528
$MISSION,3
$DIVE,354
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$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,340
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52309
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0025991099
$HD_B,0.0146564
$HD_C,5.3920198e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4212
$TGT_DEFAULT_LON,-7043
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3970
$C_PITCH,3280
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3830
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3959
$C_VBD,2967
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00211
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,3
$DBDW,0
$PITCH_W_GAIN,7
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-56.708107
$PRESSURE_SLOPE,0.00011645618
$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,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.85000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$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,0.0043548695
$SEABIRD_T_H,0.0006268858
$SEABIRD_T_I,2.3578436e-05
$SEABIRD_T_J,2.4722265e-06
$SEABIRD_C_G,-10.467909
$SEABIRD_C_H,1.2025218
$SEABIRD_C_I,-0.00091677177
$SEABIRD_C_J,0.00016246161
$GPS1,270317,055234,500.8372,5916.3608,33,0.9,35,-2.2,0.0,0.0,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-72.1
$GPS2,270317,055813,500.8166,5916.3643,19,1.0,19,-2.2,0.3,82.1,9,5.1
$SPEED_LIMITS,0.168,0.222
$TGT_NAME,SIX
$TGT_LATLONG,600.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,56.6,135916,-17.9,-9.706,-23.59,2449
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_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
$STATE,13,begin dive
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$GC,2754,-0.99,-155.7,2966,2299,3371,3860,297.0,-8.5,321,2760,0.00,2.50,0.00,0.000,516,0.000,0.109,2966,890,3615,3371,3859,0,0,0,0,0,0,15.05,14.46,15.07
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$GC,5581,-0.99,-155.7,2966,3708,3349,3843,552.1,-9.5,536,5586,0.00,2.40,0.00,0.000,1030,0.000,0.063,2966,2291,3595,3349,3842,0,0,0,0,0,0,14.66,14.54,14.69
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$GC,9952,-0.99,-155.7,2966,2299,3342,3820,910.7,-6.3,808,9957,0.00,2.58,0.00,0.000,260,0.000,0.106,2967,3711,3580,3342,3819,0,0,0,0,0,0,15.01,14.29,15.02
$GC,10028,-0.99,-155.7,2966,3711,3342,3819,915.6,-6.6,823,10032,0.00,2.42,0.00,0.000,1030,0.000,0.067,2967,2300,3581,3342,3820,0,0,0,0,0,0,14.60,14.49,14.64
$GC,10340,-0.99,-155.7,2967,2300,3341,3818,933.3,-5.6,835,10347,0.00,2.58,0.00,0.000,260,0.000,0.106,2967,3708,3579,3341,3818,0,0,0,0,0,0,15.00,14.28,15.02
$GC,10403,-0.99,-155.7,2966,3709,3341,3817,937.0,-5.7,848,10408,0.00,2.45,0.00,0.000,1030,0.000,0.067,2966,2289,3579,3341,3818,0,0,0,0,0,0,14.59,14.47,14.64
$GC,10730,-0.99,-155.7,2966,2288,3340,3817,956.9,-6.3,863,10738,0.00,2.60,0.00,0.000,260,0.000,0.105,2967,3711,3578,3340,3817,0,0,0,0,0,0,15.00,14.28,15.02
$GC,10790,-0.99,-155.7,2967,3711,3340,3817,961.1,-7.5,875,10797,0.00,2.42,0.00,0.000,1030,0.000,0.067,2967,2301,3578,3339,3817,0,0,0,0,0,0,14.59,14.47,14.64
$GC,11120,-0.99,-155.7,2967,2301,3338,3816,985.6,-7.8,891,11127,0.00,2.58,0.00,0.000,260,0.000,0.106,2967,3707,3576,3337,3815,0,0,0,0,0,0,15.04,14.27,15.07
$STATE,11171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11172,begin apogee
$GC,11179,-0.19,0.0,2967,2496,3337,3816,990.2,-8.6,902,11319,0.85,0.00,136.55,2.092,10246,0.202,0.000,3217,2485,2966,2840,3092,0,0,0,0,0,0,14.24,13.95,13.12
$STATE,11320,end apogee,CONTROL_FINISHED_OK
$STATE,11320,begin climb
$GC,11322,0.99,155.7,3217,2485,2837,3088,995.9,0.0,906,11469,1.12,0.00,142.45,2.097,10758,0.130,0.000,3597,2485,2331,2277,2385,0,0,0,0,0,0,13.93,13.77,12.98
$GC,11749,1.16,155.7,3596,2485,2262,2375,969.8,7.3,941,11755,0.15,2.45,0.00,0.000,2308,0.140,0.117,3653,3817,2318,2262,2374,0,0,0,0,0,0,14.31,14.22,14.37
$GC,11771,1.20,155.7,3652,3818,2262,2373,967.6,9.2,946,11778,0.00,2.33,0.00,0.000,1030,0.000,0.084,3654,2515,2317,2262,2373,0,0,0,0,0,0,14.43,14.28,14.47
$GC,12078,1.20,155.7,3654,2516,2260,2373,938.0,9.8,957,12084,0.00,2.65,0.00,0.000,516,0.000,0.123,3655,1086,2316,2260,2373,0,0,0,0,0,0,14.81,14.31,14.83
$GC,12151,1.20,155.7,3654,1086,2260,2373,930.5,10.3,972,12156,0.00,2.53,0.00,0.000,1030,0.000,0.082,3654,2502,2316,2260,2373,0,0,0,0,0,0,14.54,14.40,14.59
$GC,12468,1.20,155.7,3654,2502,2258,2373,898.4,10.4,985,12474,0.00,2.40,0.00,0.000,260,0.000,0.119,3654,3822,2315,2258,2372,0,0,0,0,0,0,14.88,14.35,14.90
$GC,12507,1.20,155.7,3654,3823,2257,2372,893.9,11.6,993,12511,0.00,2.33,0.00,0.000,1030,0.000,0.075,3655,2488,2315,2258,2372,0,0,0,0,0,0,14.57,14.44,14.62
$GC,12823,1.20,155.7,3655,2488,2257,2371,858.9,11.3,1006,12829,0.00,2.55,0.00,0.000,516,0.000,0.113,3655,1090,2314,2257,2372,0,0,0,0,0,0,14.91,14.35,14.93
$GC,12917,1.20,155.7,3655,1090,2257,2372,847.7,11.8,1025,12922,0.00,2.53,0.00,0.000,1030,0.000,0.083,3655,2503,2314,2257,2372,0,0,0,0,0,0,14.57,14.41,14.62
$GC,13239,1.20,155.7,3654,2504,2255,2372,809.4,12.1,1039,13240,0.00,0.00,0.00,0.000,6,0.000,0.000,3655,2504,2313,2255,2372,0,0,0,0,0,0,14.93,14.95,14.95
$GC,13539,1.20,155.7,3655,2504,2253,2372,773.1,12.0,1049,13545,0.00,2.60,0.00,0.000,516,0.000,0.103,3655,1093,2312,2253,2371,0,0,0,0,0,0,14.95,14.35,14.97
$GC,13577,1.20,155.7,3655,1092,2252,2371,768.3,12.2,1057,13582,0.00,2.53,0.00,0.000,1030,0.000,0.083,3655,2502,2312,2253,2371,0,0,0,0,0,0,14.57,14.40,14.63
$GC,13894,1.20,155.7,3655,2502,2252,2371,733.5,10.6,1070,13895,0.00,0.00,0.00,0.000,6,0.000,0.000,3655,2502,2312,2252,2372,0,0,0,0,0,0,14.96,14.98,14.97
$GC,14194,1.20,155.7,3655,2502,2252,2371,704.6,9.4,1080,14199,0.00,2.60,0.00,0.000,516,0.000,0.102,3654,1091,2311,2252,2371,0,0,0,0,0,0,14.97,14.33,14.99
$GC,14234,1.25,155.7,3654,1091,2251,2371,700.8,8.9,1088,14239,0.00,2.53,0.00,0.000,1030,0.000,0.083,3655,2503,2311,2251,2371,0,0,0,0,0,0,14.56,14.40,14.62
$GC,14557,1.35,155.7,3655,2503,2251,2371,673.7,8.3,1102,14564,0.15,2.42,0.00,0.000,2308,0.138,0.121,3717,3828,2310,2251,2370,0,0,0,0,0,0,14.48,14.28,14.52
$GC,14586,1.35,155.7,3717,3828,2251,2370,670.5,10.7,1108,14591,0.00,2.33,0.00,0.000,1030,0.000,0.077,3718,2496,2310,2251,2370,0,0,0,0,0,0,14.57,14.43,14.63
$GC,14918,1.35,155.7,3718,2496,2251,2370,637.0,10.4,1124,14923,0.00,2.55,0.00,0.000,516,0.000,0.106,3718,1090,2310,2251,2370,0,0,0,0,0,0,14.97,14.33,14.99
$GC,15028,1.35,155.7,3718,1090,2251,2370,625.2,10.6,1146,15033,0.00,2.53,0.00,0.000,1030,0.000,0.083,3718,2502,2310,2251,2370,0,0,0,0,0,0,14.54,14.38,14.61
$GC,15335,1.35,155.7,3718,2502,2250,2370,593.1,10.5,1157,15341,0.00,2.42,0.00,0.000,260,0.000,0.122,3718,3823,2310,2251,2369,0,0,0,0,0,0,14.97,14.28,14.99
$GC,15395,1.35,155.7,3718,3823,2251,2369,586.2,12.3,1169,15402,0.00,2.30,0.00,0.000,1030,0.000,0.072,3727,2497,2310,2251,2369,0,0,0,0,0,0,14.56,14.42,14.62
$GC,15726,1.35,155.7,3727,2497,2251,2369,551.6,10.5,1185,15732,0.00,2.55,0.00,0.000,516,0.000,0.108,3733,1094,2310,2251,2369,0,0,0,0,0,0,15.02,14.30,15.03
$GC,15859,1.35,155.7,3733,1094,2251,2369,536.5,11.3,1212,15864,0.00,2.53,0.00,0.000,1030,0.000,0.083,3732,2501,2310,2251,2369,0,0,0,0,0,0,14.52,14.36,14.59
$GC,16177,1.35,155.7,3732,2501,2251,2368,498.2,12.4,1225,16178,0.00,0.00,0.00,0.000,6,0.000,0.000,3732,2501,2310,2251,2369,0,0,0,0,0,0,14.97,15.00,15.00
$GC,16476,1.35,155.7,3732,2501,2251,2369,459.1,13.4,1235,16483,0.00,2.45,0.00,0.000,260,0.000,0.121,3732,3826,2310,2251,2369,0,0,0,0,0,0,14.97,14.26,15.00
$GC,16525,1.35,155.7,3732,3826,2251,2369,451.9,14.6,1245,16529,0.00,2.30,0.00,0.000,1030,0.000,0.071,3737,2502,2310,2251,2369,0,0,0,0,0,0,14.55,14.42,14.62
$GC,16831,1.35,155.7,3736,2502,2251,2369,412.8,11.7,1256,16836,0.00,2.58,0.00,0.000,516,0.000,0.108,3744,1088,2310,2251,2369,0,0,0,0,0,0,14.97,14.30,15.00
$GC,16968,1.35,155.7,3743,1089,2251,2369,398.4,10.0,1283,16972,0.00,2.53,0.00,0.000,1030,0.000,0.083,3744,2498,2310,2251,2369,0,0,0,0,0,0,14.52,14.36,14.59
$GC,17279,1.35,155.7,3743,2498,2251,2369,367.8,10.4,1295,17281,0.00,0.00,0.00,0.000,6,0.000,0.000,3744,2498,2310,2251,2369,0,0,0,0,0,0,15.02,15.04,15.04
$GC,17580,1.35,155.7,3743,2498,2250,2369,330.8,13.3,1305,17586,0.00,2.60,0.00,0.000,516,0.000,0.099,3744,1091,2310,2251,2369,0,0,0,0,0,0,14.98,14.28,15.00
$GC,17602,1.35,155.7,3744,1091,2251,2369,327.4,13.6,1310,17609,0.00,2.55,0.00,0.000,1030,0.000,0.082,3744,2510,2310,2251,2369,0,0,0,0,0,0,14.55,14.39,14.62
$GC,17910,1.35,155.7,3744,2511,2251,2369,284.1,14.4,1321,17916,0.00,2.40,0.00,0.000,260,0.000,0.115,3744,3829,2310,2251,2369,0,0,0,0,0,0,14.98,14.28,15.00
$GC,17928,1.35,155.7,3744,3829,2251,2369,281.1,14.6,1325,17933,0.15,2.33,0.00,0.000,5126,0.328,0.073,3717,2490,2310,2251,2369,0,0,0,0,0,0,14.04,14.44,14.44
$GC,18234,1.35,155.7,3717,2490,2251,2369,244.6,10.0,1338,18243,0.00,2.53,0.00,0.000,516,0.000,0.099,3721,1084,2310,2251,2369,0,0,0,0,0,0,15.02,14.33,15.04
$GC,18425,1.35,155.7,3721,1084,2251,2369,225.1,10.0,1376,18430,0.00,2.50,0.00,0.000,1030,0.000,0.073,3721,2504,2310,2251,2369,0,0,0,0,0,0,14.53,14.38,14.59
$GC,18738,1.55,155.7,3721,2504,2251,2368,196.7,6.9,1408,18743,0.15,2.38,0.00,0.000,2308,0.132,0.105,3784,3825,2310,2251,2369,0,0,0,0,0,0,14.48,14.25,14.52
$GC,18794,1.70,155.7,3784,3825,2251,2369,192.4,7.5,1419,18801,0.00,2.30,0.00,0.000,1030,0.000,0.066,3793,2488,2310,2251,2369,0,0,0,0,0,0,14.57,14.45,14.62
$GC,19101,1.74,155.7,3793,2488,2251,2369,166.9,9.2,1450,19111,0.12,2.47,0.00,0.000,2564,0.142,0.089,3860,1088,2310,2251,2369,0,0,0,0,0,0,14.52,14.33,14.54
$GC,19186,1.74,155.7,3859,1088,2251,2369,157.5,10.9,1467,19193,0.00,2.50,0.00,0.000,1030,0.000,0.072,3860,2509,2310,2251,2369,0,0,0,0,0,0,14.53,14.39,14.59
$GC,19493,1.88,155.7,3859,2509,2251,2369,126.2,7.7,1498,19502,0.00,2.55,0.00,0.000,516,0.000,0.086,3866,1093,2310,2251,2369,0,0,0,0,0,0,14.99,14.33,15.01
$GC,19729,1.88,155.7,3866,1093,2251,2369,106.7,9.7,1545,19735,0.00,2.47,0.00,0.000,1030,0.000,0.069,3869,2505,2310,2251,2369,0,0,0,0,0,0,14.52,14.39,14.59
$GC,20035,2.34,375.6,3868,2505,2252,2369,87.9,0.5,1576,20217,0.28,2.47,170.90,0.903,10500,0.096,0.132,3963,3823,1428,1392,1464,0,0,0,0,0,0,14.41,14.05,13.67
$GC,20240,2.34,375.6,3963,3824,1391,1459,73.9,15.4,1616,20244,0.00,2.33,0.00,0.000,3078,0.000,0.071,3963,2501,1424,1390,1458,0,0,0,0,0,0,14.30,14.19,14.32
$GC,20547,2.34,375.6,3963,2501,1386,1458,20.5,16.3,1664,20554,0.00,2.50,0.00,0.000,2564,0.000,0.096,3963,1090,1422,1386,1459,0,0,0,0,0,0,14.76,14.27,14.77
$GC,20601,2.34,375.6,3963,1090,1386,1458,11.0,17.8,1674,20608,0.00,2.50,0.00,0.000,3078,0.000,0.078,3963,2495,1421,1385,1458,0,0,0,0,0,0,14.47,14.31,14.52
$STATE,20648,end climb,SURFACE_DEPTH_REACHED
$STATE,20648,begin surface coast
$FINISH,-0.4,1.022064
$STATE,20664,end surface coast,CONTROL_FINISHED_OK
$STATE,20665,begin surface
$SM_CCo,20683,32.88,0.080,0,0,1131,450.12
$SM_GC,0.29,9.93,0.40,32.88,0.062,0.071,0.080,187,2286,1131,-9.59,0.51,450.12,0,0,0,0,0,0,14.42,14.45,14.38
$IRIDIUM_FIX,457.99,5919.99,260317,234853
$TT8_MAMPS,0.024717,0.152796
$HUMID,51.65
$INTERNAL_PRESSURE,9.67846
$TCM_TEMP,25.00
$XPDR_PINGS,353
$24V_AH,12.98,94.547
$10V_AH,12.67,0.000
$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,24.375,242.975,449.900,32.875,0.000,0.000,0.000,230.200,88.250,0.000,20.302,3012.364,14430.801,711.560,2688.225,206.276,0.000,2334.546,0.000,2395.908,0.000,0.541,0.000
$DEVICE_MAMPS,359.550,132.345,2096.865,80.325,0.000,0.000,0.000,176.715,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,704.389,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,311064
$DATA_FILE_SIZE,73348,1686
$CAP_FILE_SIZE,191507,0
$CFSIZE,2097872896,2048851968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.122,258.14,1
$GPS,270317,114506,500.739,5915.787,30,0.8,33,-2.2,0.3,24.4,8,8.8