version: 66.14
glider: 640
mission: 5
dive: 558
start: 2 13 119 5 7 4
data:
$ID,640
$MISSION,5
$DIVE,558
$N_DIVES,700
$STOP_T,2171912
$D_SURF,3
$D_FLARE,3
$D_TGT,350
$D_ABORT,420
$D_NO_BLEED,29
$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,140
$T_MISSION,220
$T_ABORT,250
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,3600
$T_SLOITER,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,54260
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-5400
$TGT_DEFAULT_LON,0
$TGT_AUTO_DEFAULT,0
$SM_CC,220
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,312
$PITCH_MAX,3939
$C_PITCH,2400
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,34
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3851
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2720
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-153.19165
$PRESSURE_SLOPE,0.000109596
$AD7714Ch0Gain,1
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,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,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,0.0044042631
$SEABIRD_T_H,0.0006412621
$SEABIRD_T_I,2.6024412e-05
$SEABIRD_T_J,3.2462635e-06
$SEABIRD_C_G,-10.007382
$SEABIRD_C_H,1.1528281
$SEABIRD_C_I,-0.0017483447
$SEABIRD_C_J,0.0001971516
$SEABIRD_C_Z,2950.7202
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,130219,050003,-6016.8721,0.2054,16,0.8,40,-19.7,0.8,247.0,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.1
$GPS2,130219,050643,-6016.8970,0.2719,9,0.9,19,-19.7,0.8,200.1,10,8.3
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,-5940.000,0.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,20.4,68334,-15.5,-8.333,-18.82,2677
$D_GRID,350
$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,int_press,humidity
$STATE,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-0.64,-146.0,233,2096,1786,1834,0.0,0.0,0,97,0.00,0.00,-82.12,0.000,16386,0.000,0.000,233,2095,3117,3195,3040,0,0,0,0,0,0,14.54,28.83,14.54,6.19,51.45
$GC,100,-0.64,-146.0,233,2096,3197,3042,3.1,-6.1,17,119,6.20,2.70,-7.47,0.000,18948,0.351,2.198,2189,706,3320,3413,3228,0,0,0,0,0,0,13.87,13.15,14.26,6.30,50.19
$GC,219,-0.64,-146.0,2190,706,3415,3222,20.6,-14.2,41,223,0.00,2.40,0.00,0.000,3078,0.000,0.055,2179,2103,3317,3413,3222,0,0,0,0,0,0,14.40,14.26,14.42,6.31,49.13
$GC,344,-0.64,-146.0,2180,2104,3415,3222,41.3,-17.1,66,348,0.00,2.47,0.00,0.000,2308,0.000,0.079,2169,3505,3317,3413,3222,0,0,0,0,0,0,14.63,14.23,14.63,6.32,49.48
$GC,369,-0.64,-146.0,2169,3504,3415,3222,45.7,-18.2,71,373,0.08,2.35,0.00,0.000,3078,0.367,0.044,2193,2110,3317,3413,3222,0,0,0,0,0,0,14.00,14.31,14.28,6.32,49.52
$GC,496,-0.64,-146.0,2193,2109,3415,3222,66.0,-14.3,96,502,0.00,2.47,0.00,0.000,2564,0.000,0.063,2193,684,3318,3414,3222,0,0,0,0,0,0,14.64,14.28,14.64,6.32,49.72
$GC,539,-0.64,-146.0,2193,685,3414,3223,72.0,-13.0,105,543,0.00,2.42,0.00,0.000,3078,0.000,0.056,2182,2101,3317,3413,3222,0,0,0,0,0,0,14.45,14.30,14.47,6.32,50.03
$GC,664,-0.64,-146.0,2183,2101,3414,3223,89.3,-14.5,130,668,0.00,2.53,0.00,0.000,2308,0.000,0.083,2166,3511,3318,3414,3222,0,0,0,0,0,0,14.69,14.25,14.69,6.32,48.81
$GC,714,-0.64,-146.0,2172,3512,3414,3223,96.4,-14.0,140,718,0.08,2.38,0.00,0.000,3078,0.360,0.043,2197,2093,3318,3414,3223,0,0,0,0,0,0,14.03,14.35,14.31,6.32,48.97
$GC,844,-0.64,-146.0,2197,2094,3414,3224,113.4,-13.1,151,848,0.00,2.45,0.00,0.000,516,0.000,0.063,2197,691,3318,3414,3222,0,0,0,0,0,0,14.69,14.31,14.69,6.31,48.62
$GC,884,-0.64,-146.0,2198,692,3415,3223,118.5,-13.1,153,888,0.00,2.42,0.00,0.000,3078,0.000,0.055,2187,2103,3318,3413,3223,0,0,0,0,0,0,14.49,14.33,14.50,6.31,48.07
$GC,1204,-0.64,-146.0,2187,2104,3414,3224,159.3,-12.7,169,1208,0.00,2.47,0.00,0.000,2308,0.000,0.082,2181,3507,3318,3414,3223,0,0,0,0,0,0,14.76,14.29,14.76,6.31,50.03
$GC,1239,-0.64,-146.0,2176,3507,3415,3223,163.8,-12.6,171,1243,0.05,2.35,0.00,0.000,3078,0.425,0.043,2192,2097,3318,3413,3223,0,0,0,0,0,0,14.09,14.37,14.35,6.31,49.76
$GC,1554,-0.64,-146.0,2193,2096,3415,3222,201.4,-12.0,187,1558,0.00,2.42,0.00,0.000,2564,0.000,0.063,2191,697,3318,3414,3222,0,0,0,0,0,0,14.78,14.34,14.78,6.32,50.98
$GC,1654,-0.64,-146.0,2193,693,3415,3222,213.5,-12.0,192,1658,0.00,2.40,0.00,0.000,3078,0.000,0.054,2181,2106,3318,3413,3223,0,0,0,0,0,0,14.53,14.37,14.55,6.32,50.78
$GC,1974,-0.64,-146.0,2182,2107,3415,3222,254.1,-12.8,208,1978,0.00,2.47,0.00,0.000,2308,0.000,0.082,2170,3513,3318,3413,3223,0,0,0,0,0,0,14.79,14.31,14.79,6.33,50.70
$GC,1999,-0.64,-146.0,2171,3514,3415,3223,256.1,-12.8,209,2003,0.08,2.38,0.00,0.000,3078,0.353,0.044,2196,2094,3318,3413,3223,0,0,0,0,0,0,14.08,14.41,14.35,6.33,50.98
$GC,2309,-0.64,-146.0,2196,2093,3411,3222,294.5,-11.8,225,2313,0.00,2.42,0.00,0.000,516,0.000,0.063,2195,696,3317,3413,3222,0,0,0,0,0,0,14.80,14.35,14.80,6.33,50.94
$GC,2379,-0.64,-146.0,2196,696,3414,3222,301.0,-11.9,228,2383,0.00,2.40,0.00,0.000,3078,0.000,0.054,2185,2102,3318,3414,3222,0,0,0,0,0,0,14.54,14.38,14.56,6.33,51.33
$GC,2699,-0.64,-146.0,2186,2102,3414,3222,341.4,-12.1,245,2703,0.00,2.47,0.00,0.000,2308,0.000,0.082,2175,3508,3318,3414,3222,0,0,0,0,0,0,14.81,14.31,14.81,6.33,51.10
$GC,2729,-0.64,-146.0,2175,3509,3414,3224,343.2,-12.1,246,2734,0.05,2.38,0.00,0.000,3078,0.419,0.043,2190,2088,3318,3413,3223,0,0,0,0,0,0,14.12,14.42,14.37,6.33,51.18
$STATE,2771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2771,begin apogee
$GC,2778,-0.15,0.0,2191,2160,3414,3224,350.5,-12.2,249,2905,0.45,0.00,125.05,1.581,10246,0.252,0.000,2342,2159,2717,2777,2658,0,0,0,0,0,0,14.04,13.90,13.18,6.33,50.78
$STATE,2906,end apogee,CONTROL_FINISHED_OK
$STATE,2906,begin loiter
$GC,3194,-0.15,0.0,2348,2160,2773,2644,346.5,3.4,270,3195,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2707,2771,2644,0,0,0,0,0,0,14.55,14.55,14.55,6.28,50.43
$GC,3494,-0.15,0.0,2348,2160,2772,2642,336.5,3.4,285,3495,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2706,2771,2642,0,0,0,0,0,0,14.71,14.71,14.71,6.28,50.86
$GC,3794,-0.15,0.0,2348,2160,2772,2641,326.7,3.2,300,3795,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2705,2770,2641,0,0,0,0,0,0,14.80,14.81,14.81,6.29,50.78
$GC,4094,-0.15,0.0,2347,2161,2772,2641,317.1,3.1,315,4095,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2705,2771,2640,0,0,0,0,0,0,14.85,14.85,14.85,6.28,51.22
$GC,4394,-0.15,0.0,2348,2161,2771,2641,307.9,3.0,330,4395,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2705,2771,2640,0,0,0,0,0,0,14.90,14.90,14.90,6.28,51.10
$GC,4694,-0.15,0.0,2348,2161,2771,2641,299.2,2.9,345,4695,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2705,2771,2640,0,0,0,0,0,0,14.92,14.92,14.92,6.28,51.49
$GC,4994,-0.15,0.0,2348,2161,2772,2641,290.8,2.8,360,4995,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2159,2705,2771,2639,0,0,0,0,0,0,14.94,14.94,14.95,6.28,51.14
$GC,5294,-0.15,0.0,2347,2160,2771,2640,282.7,2.6,375,5295,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2705,2771,2639,0,0,0,0,0,0,14.97,14.97,14.97,6.28,51.29
$GC,5594,-0.15,0.0,2348,2160,2772,2639,274.8,2.6,390,5595,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2704,2770,2639,0,0,0,0,0,0,14.98,14.98,14.98,6.28,52.24
$GC,5894,-0.15,0.0,2348,2160,2772,2639,266.3,2.9,405,5895,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2705,2771,2639,0,0,0,0,0,0,14.99,14.99,14.99,6.28,51.57
$GC,6194,-0.15,0.0,2348,2160,2773,2639,257.5,2.9,420,6195,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2160,2705,2771,2639,0,0,0,0,0,0,15.00,15.00,15.00,6.28,51.49
$STATE,6491,end loiter,LOITER_COMPLETE
$STATE,6492,begin climb
$GC,6494,0.64,146.0,2347,2161,2772,2640,249.0,0.0,435,6636,0.62,2.58,129.98,1.431,11012,0.174,0.067,2602,756,2116,2136,2097,0,0,0,0,0,0,14.28,13.95,13.29,6.28,51.29
$GC,6746,0.64,146.0,2602,756,2129,2088,232.0,9.3,447,6749,0.00,2.42,0.00,0.000,1030,0.000,0.052,2602,2147,2108,2128,2088,0,0,0,0,0,0,14.20,14.09,14.22,6.23,49.80
$GC,7051,0.64,146.0,2602,2148,2125,2084,197.7,11.2,462,7055,0.00,2.50,0.00,0.000,260,0.000,0.081,2601,3553,2104,2125,2083,0,0,0,0,0,0,14.59,14.19,14.59,6.23,50.86
$GC,7121,0.64,146.0,2602,3554,2124,2084,191.5,11.4,465,7124,0.00,2.35,0.00,0.000,5126,0.000,0.044,2612,2150,2103,2124,2083,0,0,0,0,0,0,14.42,14.31,14.44,6.24,50.59
$GC,7441,0.64,146.0,2614,2151,2122,2080,150.1,12.7,482,7445,0.00,2.47,0.00,0.000,4612,0.000,0.067,2624,739,2100,2121,2080,0,0,0,0,0,0,14.70,14.29,14.70,6.23,51.02
$GC,7506,0.64,146.0,2624,739,2121,2079,142.9,12.3,485,7510,0.05,2.40,0.00,0.000,5126,0.390,0.052,2606,2151,2099,2120,2079,0,0,0,0,0,0,14.11,14.34,14.38,6.23,51.10
$GC,7816,0.64,146.0,2607,2152,2121,2078,109.1,10.1,501,7819,0.00,2.50,0.00,0.000,260,0.000,0.083,2606,3559,2099,2120,2078,0,0,0,0,0,0,14.76,14.30,14.76,6.22,50.90
$GC,7933,0.64,146.0,2607,3560,2121,2078,97.0,10.1,510,7938,0.00,2.38,0.00,0.000,5126,0.000,0.044,2615,2144,2098,2119,2077,0,0,0,0,0,0,14.47,14.32,14.51,6.23,50.35
$GC,8063,0.64,146.0,2616,2144,2119,2078,84.1,10.0,536,8069,0.00,2.45,0.00,0.000,4612,0.000,0.067,2626,742,2098,2119,2077,0,0,0,0,0,0,14.74,14.24,14.74,6.22,50.66
$GC,8111,0.64,146.0,2627,743,2120,2076,79.2,9.7,546,8115,0.08,2.40,0.00,0.000,5126,0.315,0.052,2600,2154,2097,2118,2076,0,0,0,0,0,0,14.13,14.38,14.40,6.22,50.15
$GC,8236,0.64,146.0,2600,2155,2119,2078,68.0,9.1,571,8240,0.00,2.47,0.00,0.000,2308,0.000,0.084,2600,3553,2097,2118,2076,0,0,0,0,0,0,14.74,14.30,14.74,6.21,49.52
$GC,8306,0.64,146.0,2600,3554,2118,2078,61.3,9.4,585,8310,0.00,2.35,0.00,0.000,5126,0.000,0.044,2609,2144,2097,2118,2077,0,0,0,0,0,0,14.53,14.41,14.57,6.21,49.21
$GC,8433,0.64,146.0,2609,2144,2119,2076,49.7,9.9,610,8439,0.00,2.45,0.00,0.000,4612,0.000,0.066,2620,742,2097,2118,2076,0,0,0,0,0,0,14.74,14.33,14.74,6.21,49.76
$GC,8476,0.64,146.0,2620,742,2118,2077,45.3,9.7,619,8480,0.05,2.40,0.00,0.000,5126,0.382,0.053,2602,2156,2096,2117,2076,0,0,0,0,0,0,14.14,14.37,14.40,6.20,50.00
$GC,8601,0.64,146.0,2603,2157,2118,2076,34.0,8.9,644,8604,0.00,2.50,0.00,0.000,260,0.000,0.084,2602,3556,2096,2117,2076,0,0,0,0,0,0,14.73,14.30,14.74,6.20,49.88
$GC,8646,0.64,146.0,2602,3556,2118,2076,30.1,8.5,653,8650,0.00,2.35,0.00,0.000,5126,0.000,0.045,2611,2149,2096,2117,2076,0,0,0,0,0,0,14.54,14.41,14.57,6.20,50.11
$GC,8773,0.65,157.3,2611,2147,2118,2077,19.7,7.9,678,8781,0.00,2.45,3.97,0.369,12804,0.000,0.065,2622,741,2075,2095,2056,0,0,0,0,0,0,14.74,14.14,13.88,6.21,50.35
$GC,8836,0.65,157.3,2622,741,2096,2057,13.7,9.9,691,8840,0.00,2.40,0.00,0.000,5126,0.000,0.052,2622,2151,2075,2095,2056,0,0,0,0,0,0,14.52,14.38,14.54,6.21,50.78
$STATE,8949,end climb,SURFACE_DEPTH_REACHED
$STATE,8949,begin surface coast
$STATE,8984,end surface coast,CONTROL_FINISHED_OK
$STATE,8984,begin surface
$SM_CCo,9000,60.97,0.238,0,0,1822,220.03
$SM_GC,1.25,5.55,0.08,60.97,0.056,0.165,0.238,229,2083,1822,-6.49,1.05,220.03,0,0,0,0,0,0,14.52,14.46,14.10
$IRIDIUM_FIX,-6016.69,0.00,130219,022312
$TT8_MAMPS,0.038948,0.340795
$HUMID,50.31
$INTERNAL_PRESSURE,6.14803
$TCM_TEMP,0.00
$XPDR_PINGS,0
$SC_FREEKB,3635520
$24V_AH,13.15,106.902
$10V_AH,13.19,0.000
$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,13.325,92.775,259.000,60.975,0.000,26.560,28.569,150.531,0.000,0.000,21.019,0.000,7064.687,410.471,1709.992,276.736,0.000,1087.922,0.000,1218.143,0.000,0.539,0.000
$DEVICE_MAMPS,425.340,2197.845,1581.255,237.915,0.000,29.830,160.000,223.000,420.000,0.000,11.240,0.000,2.190,11.730,32.700,49.930,0.000,11.490,0.000,19.470,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5411.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.442,0.000,0.000,0.000
$MEM,344076
$DATA_FILE_SIZE,20721,721
$CAP_FILE_SIZE,99370,0
$CFSIZE,1023623168,964591616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.053,173.55,1
$GPS,130219,073902,-6016.624,0.240,15,0.9,28,-19.7,1.0,158.6,8,9.3