version: 66.11
glider: 615
mission: 5
dive: 495
start: 12 19 115 23 9 4
data:
$ID,615
$MISSION,5
$DIVE,495
$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,360
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54445
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0035031899
$HD_B,0.0146577
$HD_C,4.3681601e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.2002
$TGT_DEFAULT_LON,-12224.4
$TGT_AUTO_DEFAULT,0
$SM_CC,579.63446
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,-26402.443
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,191
$PITCH_MAX,3898
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,32
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,192
$ROLL_MAX,3824
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,510
$VBD_MAX,3960
$C_VBD,2873
$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,3
$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,315
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-156.51088
$PRESSURE_SLOPE,0.00013730999
$AD7714Ch0Gain,32
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,166
$DEVICE3,147
$DEVICE4,133
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044134618
$SEABIRD_T_H,0.00064964173
$SEABIRD_T_I,2.6219326e-05
$SEABIRD_T_J,3.1475095e-06
$SEABIRD_C_G,-9.8766012
$SEABIRD_C_H,1.1351171
$SEABIRD_C_I,-0.0017266128
$SEABIRD_C_J,0.00019839592
$GPS1,191215,214055,1730.013,8859.844,64,2.5,84,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-70.8
$GPS2,191215,230832,1729.792,8858.126,42,1.2,45,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,ES
$TGT_LATLONG,1730.000,8900.000
$TGT_RADIUS,500.000
$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,79.2,3332,-26.1,-9.167,-30.00,1414
$D_GRID,990
$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
$GC,17,-0.92,-87.0,115,2184,562,500,0.0,0.0,0,63,0.00,0.00,-44.53,0.000,16386,0.000,0.000,115,2185,1776,1765,1787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.94,-99.7,116,2184,1765,1785,3.5,-8.2,7,120,11.20,2.38,-30.05,0.000,19204,0.353,0.080,2625,3599,3281,3297,3265,0,0,0,0,0,0,14.07,14.41,14.94
$GC,155,-0.94,-99.7,2624,3599,3297,3265,28.3,-36.6,21,163,0.08,2.22,0.00,0.000,3078,0.317,0.041,2636,2193,3281,3297,3265,0,0,0,0,0,0,14.45,14.70,28.83
$GC,350,-0.94,-99.7,2636,2190,3297,3264,89.5,-22.8,58,357,0.00,2.35,0.00,0.000,260,0.000,0.060,2627,3609,3280,3297,3264,0,0,0,0,0,0,28.83,14.58,28.83
$GC,436,-0.94,-99.7,2627,3609,3297,3264,107.9,-21.4,74,444,0.03,2.28,0.00,0.000,3078,0.291,0.037,2634,2202,3280,3297,3264,0,0,0,0,0,0,14.41,14.59,28.83
$GC,631,-0.94,-99.7,2634,2201,3297,3264,137.1,-11.8,111,638,0.00,2.22,0.00,0.000,516,0.000,0.054,2634,804,3280,3297,3264,0,0,0,0,0,0,28.83,14.66,28.83
$GC,672,-0.94,-99.7,2634,805,3297,3265,142.4,-12.1,118,680,0.05,2.25,0.00,0.000,3078,0.249,0.041,2639,2199,3281,3297,3265,0,0,0,0,0,0,14.36,14.56,28.83
$GC,866,-0.94,-99.7,1632,2198,3277,3262,167.5,-13.4,155,873,0.00,2.28,0.00,0.000,260,0.000,0.060,2630,3603,3280,3297,3264,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1026,-0.94,-99.7,2629,3603,3297,3264,188.4,-13.9,185,1033,0.00,2.20,0.00,0.000,1030,0.000,0.036,2630,2198,3280,3297,3264,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1220,-0.94,-99.7,2629,2198,3297,3263,213.4,-11.7,211,1230,0.00,2.22,0.00,0.000,516,0.000,0.057,2630,803,3280,3297,3263,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1315,-0.94,-99.7,2630,803,3297,3262,226.0,-13.6,229,1326,0.05,2.20,0.00,0.000,3078,0.252,0.044,2635,2203,3279,3297,3262,0,0,0,0,0,0,14.33,14.72,28.83
$GC,1625,-0.94,-99.7,2635,2203,3297,3258,266.1,-13.1,261,1635,0.00,2.25,0.00,0.000,260,0.000,0.064,2626,3590,3277,3297,3258,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1681,-0.94,-99.7,2626,3590,3296,3258,274.2,-13.9,272,1689,0.00,2.25,0.00,0.000,1030,0.000,0.037,2626,2208,3277,3296,3258,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1990,-0.94,-99.7,2626,2207,3297,3253,316.1,-14.0,303,2000,0.08,2.28,0.00,0.000,2564,0.310,0.060,2639,810,3275,3297,3253,0,0,0,0,0,0,14.64,14.42,28.83
$GC,2109,-0.94,-99.7,2639,810,3296,3252,331.6,-13.2,325,2118,0.00,2.20,0.00,0.000,1030,0.000,0.047,2631,2197,3273,3296,3251,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2430,-0.94,-99.7,2631,2197,3296,3246,374.9,-13.8,349,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2197,3270,3295,3245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2728,-0.94,-99.7,2631,2197,3294,3242,415.6,-13.7,364,2733,0.00,2.25,0.00,0.000,516,0.000,0.062,2631,809,3267,3293,3242,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2781,-0.94,-99.7,2631,809,3293,3242,423.5,-13.7,375,2788,0.00,2.30,0.00,0.000,1030,0.000,0.049,2628,2191,3267,3293,3242,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3089,-0.94,-99.7,2628,2192,3291,3238,465.6,-13.7,391,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2192,3264,3291,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3408,-0.94,-99.7,2628,2192,3289,3235,508.2,-13.1,406,3413,0.00,2.28,0.00,0.000,516,0.000,0.064,2628,805,3261,3288,3235,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3486,-0.94,-99.7,2628,805,3288,3235,518.9,-13.2,422,3490,0.00,2.25,0.00,0.000,1030,0.000,0.050,2628,2201,3261,3288,3235,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3799,-0.94,-99.7,2628,2201,3285,3231,559.4,-13.1,434,3805,0.00,2.30,0.00,0.000,516,0.000,0.065,2628,802,3258,3285,3231,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3822,-0.94,-99.7,2628,802,3285,3231,562.8,-14.3,439,3828,0.00,2.28,0.00,0.000,1030,0.000,0.051,2628,2205,3258,3285,3232,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4128,-0.94,-99.7,2628,2205,3283,3229,601.9,-12.9,450,4134,0.00,2.30,0.00,0.000,516,0.000,0.066,2628,807,3256,3283,3229,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4188,-0.94,-99.7,2628,807,3283,3229,609.7,-12.8,462,4194,0.00,2.25,0.00,0.000,1030,0.000,0.051,2628,2205,3255,3282,3229,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4519,-0.94,-99.7,2629,2205,3281,3226,651.2,-12.6,478,4525,0.00,2.30,0.00,0.000,516,0.000,0.067,2628,811,3253,3281,3226,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4557,-0.94,-99.7,2628,810,3281,3226,656.5,-13.2,486,4561,0.00,2.25,0.00,0.000,1030,0.000,0.051,2628,2198,3253,3281,3226,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4876,-0.94,-99.7,2628,2198,3278,3223,696.8,-12.9,499,4882,0.00,2.30,0.00,0.000,516,0.000,0.067,2629,810,3250,3278,3223,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4936,-0.94,-99.7,2628,810,3277,3223,704.8,-13.0,511,4942,0.00,2.25,0.00,0.000,1030,0.000,0.052,2628,2201,3250,3277,3223,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5266,-0.94,-99.7,2628,2201,3276,3221,748.6,-13.4,527,5270,0.00,2.33,0.00,0.000,516,0.000,0.068,2628,807,3249,3277,3221,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5329,-0.94,-99.7,2628,807,3276,3220,757.3,-13.3,539,5335,0.00,2.25,0.00,0.000,1030,0.000,0.053,2628,2201,3248,3276,3221,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5659,-0.94,-99.7,2628,2201,3275,3219,800.5,-13.0,555,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2201,3247,3275,3219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5960,-0.94,-99.7,2628,2201,3275,3217,839.1,-12.8,565,5966,0.00,2.30,0.00,0.000,516,0.000,0.069,2628,812,3246,3275,3217,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6038,-0.94,-99.7,2628,811,3274,3218,849.9,-12.7,581,6042,0.00,2.28,0.00,0.000,1030,0.000,0.054,2628,2199,3245,3274,3217,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6346,-0.94,-99.7,2628,2200,3273,3215,887.7,-12.3,592,6351,0.00,2.30,0.00,0.000,516,0.000,0.069,2628,812,3244,3273,3215,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6398,-0.94,-99.7,2628,812,3272,3214,894.7,-12.3,603,6405,0.00,2.30,0.00,0.000,1030,0.000,0.055,2628,2208,3244,3273,3215,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6705,-0.94,-99.7,2628,2208,3272,3214,931.8,-12.2,614,6709,0.00,2.33,0.00,0.000,516,0.000,0.070,2628,809,3243,3272,3214,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6751,-0.94,-99.7,2628,809,3272,3214,937.8,-12.4,623,6755,0.00,2.30,0.00,0.000,1030,0.000,0.055,2628,2208,3243,3272,3214,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7065,-0.94,-99.7,2628,2208,3271,3212,975.3,-12.1,635,7071,0.00,2.33,0.00,0.000,516,0.000,0.070,2628,817,3241,3270,3212,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7127,-0.94,-99.7,2628,818,3270,3212,983.4,-12.3,648,7131,0.00,2.28,0.00,0.000,1030,0.000,0.057,2627,2199,3241,3270,3213,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,7207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7207,begin apogee
$GC,7215,-0.16,0.0,2628,2145,3269,3212,993.2,-12.1,654,7321,1.02,0.00,101.78,2.209,10246,0.281,0.000,2886,2143,2871,2918,2825,0,0,0,0,0,0,14.00,28.83,12.86
$STATE,7325,end apogee,CONTROL_FINISHED_OK
$STATE,7325,begin climb
$GC,7328,0.94,99.7,2886,2143,2910,2816,997.0,0.0,677,7424,1.10,0.00,92.20,2.450,10246,0.110,0.000,3248,2144,2464,2515,2414,0,0,0,0,0,0,14.20,28.83,12.98
$GC,7715,0.95,105.8,3248,2144,2502,2399,971.3,8.7,690,7721,0.00,2.33,0.00,0.000,516,0.000,0.069,3259,746,2450,2502,2398,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7758,0.95,105.8,3259,746,2502,2398,967.2,9.2,699,7766,0.00,2.28,1.20,0.184,9222,0.000,0.050,3259,2142,2439,2493,2386,0,0,0,0,0,0,28.83,14.59,14.47
$GC,8075,0.95,110.7,3259,2142,2500,2397,938.7,8.8,712,8086,0.00,2.40,3.90,1.356,8708,0.000,0.067,3269,742,2426,2480,2372,0,0,0,0,0,0,28.83,14.60,13.21
$GC,8143,0.95,110.7,3269,742,2489,2386,932.2,9.3,726,8151,0.00,2.28,2.47,0.658,9222,0.000,0.049,3269,2142,2419,2473,2365,0,0,0,0,0,0,28.83,14.64,13.12
$GC,8465,0.96,115.3,3269,2142,2487,2381,903.1,8.8,740,8481,0.00,2.35,10.45,1.922,8708,0.000,0.069,3279,743,2397,2453,2342,0,0,0,0,0,0,28.83,14.61,13.35
$GC,8518,0.96,115.3,3279,743,2448,2338,898.0,9.6,751,8525,0.00,2.28,0.00,0.000,1030,0.000,0.050,3278,2139,2393,2449,2338,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8825,0.96,115.3,3279,2140,2448,2336,868.1,9.8,762,8831,0.00,2.33,0.00,0.000,516,0.000,0.068,3289,739,2392,2448,2336,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8868,0.96,115.3,3289,739,2448,2336,863.5,10.3,771,8872,0.00,2.28,0.00,0.000,1030,0.000,0.050,3289,2140,2392,2448,2336,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9181,0.96,115.3,3289,2140,2447,2335,832.5,9.8,783,9187,0.00,2.33,0.00,0.000,516,0.000,0.067,3299,739,2391,2448,2335,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9244,0.96,115.3,3299,739,2448,2335,825.7,10.7,796,9249,0.08,2.28,0.00,0.000,5126,0.289,0.049,3286,2142,2391,2447,2335,0,0,0,0,0,0,14.42,14.62,28.83
$GC,9568,0.96,115.3,3286,2142,2448,2334,793.2,10.3,810,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,2142,2391,2447,2335,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,13508,1.00,145.6,3293,2156,2402,2285,412.0,8.3,1105,13527,0.00,0.00,17.12,1.531,8198,0.000,0.000,3293,2156,2278,2338,2218,0,0,0,0,0,0,28.83,28.83,13.45
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$GC,16012,1.06,194.2,3320,735,2125,2004,173.7,10.1,1403,16019,0.00,2.28,0.00,0.000,1030,0.000,0.044,3320,2137,2064,2125,2004,0,0,0,0,0,0,28.83,14.50,28.83
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$STATE,18151,end climb,NO_VERTICAL_VELOCITY
$STATE,18151,begin surface
$SM_CCo,18155,53.65,0.138,0,0,508,579.63
$SM_CCo,18263,1.23,0.187,0,0,508,579.63
$SM_GC,2.75,9.15,0.08,1.23,0.064,0.168,0.187,182,2228,508,-8.58,-1.33,579.63,0,0,0,0,0,0,14.61,14.69,14.43
$IRIDIUM_FIX,1722.48,8858.94,151008,121232
$TT8_MAMPS,0.018725,0.018725
$HUMID,50.63
$INTERNAL_PRESSURE,6.73854
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,12.9,181.222
$10V_AH,10.4,0.000
$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,23.475,202.800,510.325,54.875,0.000,143.109,187.201,0.000,0.000,0.000,45.760,4017.787,10747.665,722.654,3561.755,4455.113,0.000,2212.263,0.000,2629.059,0.000,0.555,0.000
$DEVICE_MAMPS,352.665,225.675,2449.530,187.425,0.000,29.840,160.000,0.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
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$SENSOR_SECS,939.406,624.518,1668.467,1019.604,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322944
$DATA_FILE_SIZE,147545,1792
$CAP_FILE_SIZE,193565,0
$CFSIZE,2097086464,1958445056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.020,114.1,1
$GPS,201215,041503,1730.092,8900.007,51,1.5,51,-0.9