version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 143
start: 1 1 116 23 39 32
data:
$ID,542
$MISSION,12
$DIVE,143
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,5
$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,340
$T_MISSION,355
$T_ABORT,720
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53125
$MASS_COMP,0
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,230
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,3
$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,-29829.305
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3947
$C_PITCH,2570
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,182
$ROLL_MAX,3808
$ROLL_DEG,40
$C_ROLL_DIVE,1995
$C_ROLL_CLIMB,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2909
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8.1999998
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.38863
$PRESSURE_SLOPE,0.00013904
$AD7714Ch0Gain,32
$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,1
$ALTIM_PING_DEPTH,20
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,166
$DEVICE3,115
$DEVICE4,133
$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,0.0042912085
$SEABIRD_T_H,0.00061951543
$SEABIRD_T_I,2.2019161e-05
$SEABIRD_T_J,2.2998063e-06
$SEABIRD_C_G,-9.7531137
$SEABIRD_C_H,1.1333146
$SEABIRD_C_I,-0.00071571622
$SEABIRD_C_J,0.00011341914
$GPS1,010116,233321,-4303.724,836.435,67,1.1,67,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-75.6
$GPS2,010116,233906,-4303.773,836.477,16,0.9,17,-25.1
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT1
$TGT_LATLONG,-4304.000,824.000
$TGT_RADIUS,1000.000
$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,277.0,16887,-17.9,-9.804,-20.77,2280
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.68,-146.0,160,1995,1959,1927,0.0,0.0,0,72,0.00,0.00,-54.70,0.000,16386,0.000,0.000,160,1994,3459,3514,3405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.68,-146.0,160,1995,3514,3406,4.0,-7.5,7,92,8.12,2.28,-0.90,0.000,18692,0.213,0.066,2331,3420,3508,3557,3459,0,0,0,0,0,0,25.48,25.92,26.22
$GC,119,-0.68,-146.0,2331,3420,3560,3459,22.0,-35.1,13,129,0.00,2.30,0.00,0.000,1030,0.000,0.054,2331,2000,3510,3561,3460,0,0,0,0,0,0,28.83,25.92,28.83
$GC,274,-0.68,-146.0,2330,1999,3561,3459,49.5,-18.0,38,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1999,3510,3561,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,611,-0.68,-146.0,2331,1999,3562,3459,105.5,-16.4,97,620,0.00,2.28,0.00,0.000,516,0.000,0.067,2331,579,3510,3562,3459,0,0,0,0,0,0,28.83,26.03,28.83
$GC,673,-0.68,-146.0,2331,580,3562,3459,115.6,-15.7,103,683,0.12,2.22,0.00,0.000,3078,0.187,0.053,2349,1997,3511,3563,3459,0,0,0,0,0,0,25.89,26.10,28.83
$GC,983,-0.68,-146.0,2349,1997,3563,3459,159.3,-13.7,134,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1997,3511,3563,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1284,-0.68,-146.0,2349,1997,3563,3459,200.7,-13.7,164,1293,0.00,2.28,0.00,0.000,516,0.000,0.065,2349,577,3511,3564,3459,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1315,-0.68,-146.0,2349,576,3564,3459,205.4,-14.4,167,1324,0.00,2.22,0.00,0.000,1030,0.000,0.053,2341,1996,3511,3564,3459,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1626,-0.68,-146.0,2341,1996,3564,3459,249.3,-14.1,198,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1996,3511,3564,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1925,-0.68,-146.0,2341,1996,3563,3460,294.6,-15.8,228,1929,0.00,2.25,0.00,0.000,516,0.000,0.065,2341,579,3511,3564,3459,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1983,-0.68,-146.0,2341,578,3564,3459,303.5,-15.4,233,1993,0.00,2.22,0.00,0.000,1030,0.000,0.054,2331,2001,3511,3564,3459,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2292,-0.68,-146.0,2331,2002,3564,3459,351.9,-15.7,264,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2002,3512,3565,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2592,-0.68,-146.0,2331,2002,3564,3459,397.6,-15.4,294,2601,0.00,2.28,0.00,0.000,516,0.000,0.066,2331,578,3512,3565,3460,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2615,-0.68,-146.0,2331,578,3565,3459,400.9,-15.5,296,2620,0.00,2.28,0.00,0.000,1030,0.000,0.054,2321,1998,3512,3565,3459,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2935,-0.68,-146.0,2321,1998,3565,3459,450.6,-15.8,312,2937,0.12,0.00,0.00,0.000,2054,0.184,0.000,2350,1998,3512,3564,3460,0,0,0,0,0,0,26.17,28.83,28.83
$GC,3233,-0.68,-146.0,2350,1998,3565,3459,487.6,-11.9,327,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1999,3512,3565,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3534,-0.68,-146.0,2350,1998,3565,3459,523.0,-11.8,342,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1998,3512,3565,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3833,-0.68,-146.0,2350,1998,3564,3459,557.4,-11.2,357,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1998,3511,3565,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4134,-0.68,-146.0,2350,1998,3565,3459,589.6,-10.6,372,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1998,3512,3565,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4436,-0.68,-146.0,2350,1998,3565,3459,622.1,-11.1,387,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1998,3511,3564,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4735,-0.68,-146.0,2350,1998,3565,3459,655.7,-10.9,402,4740,0.00,2.22,0.00,0.000,260,0.000,0.066,2341,3402,3512,3565,3459,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4753,-0.68,-146.0,2341,3402,3564,3459,657.8,-10.9,403,4757,0.00,2.20,0.00,0.000,1030,0.000,0.056,2342,1994,3512,3565,3459,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5069,-0.68,-146.0,2341,1993,3565,3459,694.6,-11.7,419,5075,0.00,2.28,0.00,0.000,516,0.000,0.071,2341,580,3512,3565,3459,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5132,-0.68,-146.0,2341,579,3565,3459,701.9,-12.1,422,5137,0.00,2.28,0.00,0.000,1030,0.000,0.059,2332,1989,3512,3565,3459,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5451,-0.68,-146.0,2331,1989,3564,3459,742.0,-12.4,438,5457,0.00,2.25,0.00,0.000,260,0.000,0.067,2321,3408,3511,3564,3459,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5472,-0.68,-146.0,2320,3408,3564,3459,744.5,-12.4,439,5477,0.12,2.22,0.00,0.000,3078,0.161,0.056,2352,1994,3511,3564,3459,0,0,0,0,0,0,26.13,26.29,28.83
$GC,5790,-0.68,-146.0,2351,1994,3564,3459,777.8,-10.1,455,5794,0.00,2.28,0.00,0.000,516,0.000,0.072,2351,582,3511,3564,3459,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5834,-0.68,-146.0,2352,582,3564,3459,781.6,-10.2,457,5838,0.00,2.25,0.00,0.000,1030,0.000,0.059,2343,2002,3511,3564,3458,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6142,-0.68,-146.0,2343,2002,3563,3459,815.7,-11.1,472,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2002,3511,3563,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6443,-0.68,-146.0,2343,2002,3563,3459,850.5,-11.8,487,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2002,3511,3563,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6743,-0.68,-146.0,2343,2003,3562,3459,886.9,-12.6,502,6748,0.00,2.22,0.00,0.000,260,0.000,0.068,2333,3401,3511,3563,3459,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6765,-0.68,-146.0,2332,3401,3562,3459,889.4,-12.6,503,6769,0.00,2.22,0.00,0.000,1030,0.000,0.057,2333,1988,3510,3562,3459,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7076,-0.68,-146.0,2332,1987,3562,3459,928.7,-12.3,519,7082,0.00,2.28,0.00,0.000,516,0.000,0.073,2333,579,3510,3562,3459,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7131,-0.68,-146.0,2333,579,3562,3459,934.0,-12.4,521,7140,0.00,2.30,0.00,0.000,1030,0.000,0.060,2322,2012,3510,3562,3459,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7437,-0.68,-146.0,2323,2014,3561,3459,974.4,-12.7,537,7441,0.00,2.25,0.00,0.000,260,0.000,0.068,2312,3412,3510,3561,3459,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7469,-0.68,-146.0,2311,3412,3561,3459,977.0,-12.7,538,7474,0.15,2.25,0.00,0.000,3078,0.160,0.057,2350,1984,3510,3561,3459,0,0,0,0,0,0,26.07,26.27,28.83
$STATE,7694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7694,begin apogee
$GC,7698,-0.14,0.0,2350,1859,3561,3458,1001.1,-9.9,549,7835,0.52,0.00,132.35,1.782,10246,0.130,0.000,2518,1859,2908,2981,2836,0,0,0,0,0,0,26.05,28.83,23.20
$STATE,7836,end apogee,CONTROL_FINISHED_OK
$STATE,7836,begin climb
$GC,7838,0.68,146.0,2518,1859,2981,2837,1007.3,0.0,556,7988,0.77,2.62,140.30,1.750,10756,0.049,0.072,2817,468,2312,2373,2252,0,0,0,0,0,0,24.34,23.35,22.39
$GC,8095,0.68,146.0,2817,468,2366,2247,987.1,17.2,569,8101,0.00,2.40,0.00,0.000,1030,0.000,0.060,2817,1868,2306,2366,2246,0,0,0,0,0,0,28.83,24.58,28.83
$GC,8415,0.68,146.0,2817,1868,2366,2241,932.5,17.2,585,8420,0.00,2.35,0.00,0.000,260,0.000,0.066,2817,3290,2303,2366,2241,0,0,0,0,0,0,28.83,25.43,28.83
$GC,8466,0.68,146.0,2817,3289,2366,2241,926.1,17.5,587,8473,0.15,2.33,0.00,0.000,5126,0.224,0.058,2796,1873,2303,2365,2241,0,0,0,0,0,0,25.26,25.51,28.83
$GC,8772,0.68,146.0,2796,1873,2365,2238,874.2,16.1,603,8778,0.00,2.35,0.00,0.000,516,0.000,0.073,2805,450,2301,2365,2238,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8791,0.68,146.0,2805,450,2365,2238,870.9,16.1,604,8796,0.00,2.30,0.00,0.000,1030,0.000,0.060,2801,1871,2301,2365,2238,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9108,0.68,146.0,2801,1870,2365,2237,820.7,15.6,620,9113,0.00,2.30,0.00,0.000,260,0.000,0.068,2801,3291,2301,2365,2237,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9150,0.68,146.0,1936,3290,2326,2231,814.1,16.1,622,9154,0.00,2.33,0.00,0.000,1030,0.000,0.059,2810,1870,2301,2365,2237,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9468,0.68,146.0,2810,1870,2365,2236,764.9,14.9,638,9474,0.00,2.33,0.00,0.000,516,0.000,0.074,2822,448,2300,2365,2236,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9490,0.68,146.0,1928,447,2324,2230,762.0,14.8,639,9495,0.10,2.35,0.00,0.000,5126,0.207,0.061,2793,1875,2300,2364,2236,0,0,0,0,0,0,25.78,26.06,28.83
$GC,9807,0.68,146.0,2793,1875,2364,2235,718.5,13.1,655,9812,0.00,2.28,0.00,0.000,260,0.000,0.067,2793,3290,2299,2364,2235,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9843,0.68,146.0,2793,3289,2364,2235,713.6,13.5,657,9848,0.00,2.28,0.00,0.000,1030,0.000,0.059,2802,1862,2299,2364,2235,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10160,0.68,146.0,2802,1861,2364,2235,673.3,12.4,673,10165,0.00,2.30,0.00,0.000,260,0.000,0.067,2802,3294,2299,2364,2234,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10202,0.68,146.0,1920,3292,2324,2229,667.9,13.0,675,10206,0.00,2.30,0.00,0.000,1030,0.000,0.059,2812,1875,2298,2363,2234,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10520,0.68,146.0,2812,1875,2363,2234,626.0,13.2,691,10521,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1875,2298,2362,2234,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,12103,0.68,146.0,2800,457,2363,2233,429.8,12.2,770,12108,0.00,2.30,0.00,0.000,1030,0.000,0.060,2800,1869,2298,2363,2233,0,0,0,0,0,0,28.83,26.27,28.83
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$GC,12780,0.68,146.0,2808,1870,2362,2233,346.7,12.6,825,12787,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1871,2297,2362,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13088,0.68,146.0,2808,1870,2362,2233,308.5,12.4,856,13098,0.00,2.28,0.00,0.000,516,0.000,0.074,2819,459,2297,2362,2233,0,0,0,0,0,0,28.83,26.23,28.83
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$STATE,15709,end climb,SURFACE_DEPTH_REACHED
$STATE,15709,begin surface coast
$FINISH,1.2,1.026303
$STATE,15723,end surface coast,CONTROL_FINISHED_OK
$STATE,15723,begin surface
$SM_CCo,15739,33.05,0.150,0,0,1968,230.09
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$IRIDIUM_FIX,-4244.98,834.47,281008,080821
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.41
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.4,26.263
$10V_AH,10.1,21.176
$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
$DEVICE_SECS,17.750,127.600,272.650,33.050,0.000,25.695,20.070,183.911,49.250,0.000,18.969,3144.186,9486.712,451.387,2848.676,186.043,0.000,1561.039,0.000,2380.570,0.000,296.147,0.000
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$SENSOR_SECS,830.128,74.458,675.842,1767.393,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352736
$DATA_FILE_SIZE,73702,1184
$CAP_FILE_SIZE,165588,0
$CFSIZE,259248128,247156736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.206, 43.7,1
$GPS,020116,040352,-4303.269,835.537,51,1.4,51,-25.1