version: 66.10
glider: 70
mission: 80
dive: 177
start: 1 29 112 7 39 18
data:
$ID,70
$MISSION,80
$DIVE,177
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$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,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,270
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51641
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-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,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,1
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-524581.69
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,2670
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,1986
$C_ROLL_CLIMB,1986
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,1
$R_STBD_OVSHOOT,1
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3500
$C_VBD,2837
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,0
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,90
$AH0_10V,60
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,35.771652
$FG_AHR_24V,10.377202
$PHONE_SUPPLY,2
$PRESSURE_YINT,0
$PRESSURE_SLOPE,9.9999997e-05
$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,50
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,5
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,51
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044304794
$SEABIRD_T_H,0.00064686994
$SEABIRD_T_I,0
$SEABIRD_T_J,0
$SEABIRD_C_G,-9.8991232
$SEABIRD_C_H,1.099651
$SEABIRD_C_I,0
$SEABIRD_C_J,0
$SC_RECORDABOVE,1500.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,290112,073239,4701.285,-12500.098,31,2.0,38,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-70.0
$GPS2,290112,073849,4701.285,-12500.098,13,1.9,19,18.0
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,2000.000
$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,119.6,3561,-43.6,-10.000
$D_GRID,990
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-2.75,-26.0,0.0,0.0,0,87,0.00,0.00,-43.75,0.000,6,0.007,0.007,977,1987,2946,0,0,0,0,0,0,24.09,24.09,24.09
$GC,90,-2.76,-26.3,4.2,-9.9,5,113,5.00,2.53,0.00,0.007,4,0.007,0.007,2062,3429,2945,2,0,1,0,0,0,24.08,24.08,24.08
$GC,118,-2.76,-26.3,13.3,-30.8,7,129,0.00,2.58,0.00,0.007,6,0.007,0.007,2062,1960,2945,0,0,3,0,0,0,24.09,27.50,24.09
$GC,185,-2.76,-26.3,44.1,-36.1,14,188,0.00,0.00,0.00,0.007,6,0.007,0.007,2062,1962,2948,0,0,0,0,0,0,24.09,24.09,24.09
$GC,246,-2.76,-26.3,64.2,-32.9,20,248,0.00,0.00,0.00,0.007,6,0.007,1282.565,2063,1959,2943,0,0,0,0,0,0,24.09,27.50,24.09
$GC,305,-2.76,-26.3,81.7,-28.3,26,308,0.00,0.00,0.00,0.007,6,0.007,0.007,2062,1959,2942,0,0,0,0,0,0,24.09,24.09,24.09
$GC,365,-2.76,-26.3,97.0,-25.0,32,368,0.00,0.00,0.00,0.007,6,0.007,0.007,2059,1961,2943,0,0,0,0,0,0,24.09,24.09,24.09
$GC,425,-2.76,-26.3,110.7,-22.4,38,427,0.00,0.00,0.00,0.000,6,0.007,0.007,2062,1961,2944,0,0,0,0,0,0,24.09,24.09,27.50
$GC,486,-2.76,-26.3,123.1,-20.4,44,488,0.00,0.00,0.00,0.007,6,0.007,0.007,2062,1968,2945,0,0,0,0,0,0,24.09,24.09,24.09
$GC,545,-2.76,-26.3,134.7,-19.0,50,547,0.00,0.00,0.00,1282.565,6,0.007,0.007,2062,1961,2946,0,0,0,0,0,0,24.09,24.09,27.50
$GC,605,-2.76,-26.3,145.5,-17.9,56,608,0.00,0.00,-0.05,0.000,6,0.007,0.009,2062,1959,2945,0,0,0,0,0,0,24.09,24.03,27.50
$GC,666,-2.76,-26.3,155.9,-17.1,62,668,0.00,0.00,0.00,0.007,6,0.007,0.007,2062,1960,2944,0,0,0,0,0,0,24.09,24.09,24.09
$GC,725,-2.76,-26.3,165.8,-16.3,68,728,0.00,0.00,0.00,0.007,6,0.000,0.007,2062,1962,2945,0,0,0,0,0,0,27.50,24.09,24.09
$GC,785,-2.76,-26.3,175.3,-15.7,74,788,0.00,0.00,0.00,0.000,6,0.007,0.007,2062,1961,2942,0,0,0,0,0,0,24.09,24.09,27.50
$GC,846,-2.76,-26.3,184.4,-15.1,80,848,0.00,0.00,0.00,0.007,6,0.007,0.007,2062,1958,2941,0,0,0,0,0,0,24.09,24.09,24.09
$GC,905,-2.76,-26.3,193.2,-14.4,86,908,0.00,0.00,0.00,1282.565,6,0.007,0.007,2062,1959,2940,0,0,0,0,0,0,24.09,24.09,27.50
$GC,965,-2.76,-26.3,201.6,-13.8,92,967,0.00,0.00,0.00,1282.565,6,0.007,0.007,2063,1961,2944,0,0,0,0,0,0,24.09,24.09,27.50
$GC,1026,-2.76,-26.3,209.7,-13.4,98,1028,0.00,0.00,0.00,0.007,6,0.007,0.007,2063,1960,2943,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1085,-2.76,-26.3,217.7,-13.1,104,1088,0.00,0.00,0.00,0.000,6,0.007,0.007,2062,1961,2943,0,0,0,0,0,0,24.09,24.09,27.50
$GC,1145,-2.76,-26.3,225.4,-12.9,110,1148,0.00,0.00,0.00,1282.565,6,0.007,0.007,2062,1960,2942,0,0,0,0,0,0,24.09,24.09,27.50
$GC,1206,-2.76,-26.3,232.9,-12.4,116,1208,0.00,0.00,0.00,0.007,6,0.007,0.007,2063,1961,2945,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1265,-2.76,-26.3,240.2,-12.1,122,1268,0.00,0.00,0.00,0.000,6,0.007,0.007,2062,1961,2944,0,0,0,0,0,0,24.09,24.09,27.50
$GC,1325,-2.76,-26.3,247.2,-11.7,128,1341,0.00,2.60,0.00,0.007,4,0.007,0.005,2061,3420,2943,0,0,0,0,0,0,24.09,27.50,24.09
$GC,1347,-2.76,-26.3,248.3,-11.8,129,1364,0.00,2.60,0.00,0.007,6,0.007,0.005,2065,1980,2943,0,0,0,0,0,0,24.09,27.50,24.09
$GC,1413,-2.76,-26.3,257.3,-11.5,132,1415,0.00,0.00,0.00,0.007,6,0.007,0.007,2063,1980,2945,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1533,-2.76,-26.3,270.5,-11.0,136,1536,0.00,0.00,0.00,0.007,6,1282.565,0.007,2062,1982,2944,0,0,0,0,0,0,27.50,24.09,24.09
$GC,1653,-2.76,-26.3,283.1,-10.5,140,1655,0.00,0.00,0.00,0.007,6,0.007,0.007,2062,1982,2950,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1773,-2.76,-26.3,295.1,-10.0,144,1775,0.00,0.00,0.00,0.007,6,0.007,0.000,2062,1980,2941,0,0,0,0,0,0,24.09,27.50,24.09
$GC,1893,-2.76,-27.9,306.6,-9.6,148,1895,0.00,0.00,0.00,0.007,6,0.007,0.007,2061,1980,2945,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2013,-2.76,-31.2,317.6,-9.2,152,2016,0.00,0.00,0.00,0.007,6,0.007,0.007,2062,1979,2944,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2133,-2.77,-35.9,328.1,-8.8,156,2135,0.00,0.00,0.00,0.007,6,0.007,0.007,2062,1981,2944,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2253,-2.77,-42.2,338.2,-8.4,160,2256,0.00,0.00,0.00,0.007,6,1282.565,0.007,2062,1980,2945,0,0,0,0,0,0,27.50,24.08,24.08
$GC,2373,-2.78,-50.0,347.8,-8.0,164,2376,0.00,0.00,0.00,0.007,6,1282.565,0.007,2062,1982,2943,0,0,0,0,0,0,27.50,24.09,24.09
$GC,2493,-2.80,-59.1,357.0,-7.7,168,2496,0.00,0.00,0.00,0.007,6,0.000,0.007,2062,1980,2944,0,0,0,0,0,0,27.50,24.09,24.09
$GC,2613,-2.81,-69.5,365.8,-7.3,172,2616,0.00,0.00,0.00,0.007,6,0.001,0.007,2062,1978,2944,0,0,0,0,0,0,27.50,24.09,24.09
$GC,2733,-2.82,-81.2,374.2,-7.0,176,2736,0.00,0.00,0.00,0.007,6,0.001,0.007,2062,1979,2943,0,0,0,0,0,0,27.50,24.09,24.09
$GC,2853,-2.84,-94.1,382.2,-6.7,180,2856,0.00,0.00,0.00,0.007,6,0.007,0.007,2062,1981,2943,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2973,-2.86,-108.0,390.0,-6.4,184,2976,0.00,0.00,0.00,0.007,6,0.007,0.007,2061,1982,2942,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3093,-2.87,-123.0,397.3,-6.2,188,3096,0.00,0.00,0.00,0.007,6,1282.565,0.007,2062,1980,2942,0,0,0,0,0,0,27.50,24.09,24.09
$GC,3213,-2.89,-139.2,404.3,-5.8,192,3216,0.15,0.00,0.00,0.007,6,0.007,0.001,2043,1980,2940,0,0,0,0,0,0,24.09,27.50,24.09
$GC,3333,-2.90,-146.6,411.2,-5.7,196,3336,0.00,0.00,0.00,0.007,6,0.007,0.007,2043,1982,2946,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3453,-2.90,-146.6,417.8,-5.5,200,3456,0.00,0.00,0.00,0.007,6,0.007,0.000,2046,1979,2943,0,0,0,0,0,0,24.09,27.50,24.09
$GC,3573,-2.90,-146.6,424.0,-5.2,204,3576,0.00,0.00,0.00,0.007,6,0.007,0.007,2042,1979,2945,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3693,-2.90,-146.6,430.0,-4.9,208,3696,0.00,0.00,0.00,0.007,6,0.007,1282.565,2043,1980,2944,0,0,0,0,0,0,24.09,27.50,24.09
$GC,3814,-2.90,-146.6,435.6,-4.7,212,3816,0.00,0.00,0.00,0.007,6,0.007,0.007,2043,1980,2944,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3934,-2.90,-146.6,440.9,-4.5,216,3936,0.00,0.00,0.00,0.007,6,1282.564,0.007,2044,1980,2944,0,0,0,0,0,0,27.50,24.09,24.09
$GC,4054,-2.90,-146.6,446.0,-4.2,220,4056,0.00,0.00,0.00,0.007,6,0.007,0.007,2043,1980,2944,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4179,-2.90,-146.6,450.8,-4.0,224,4182,0.00,0.00,0.00,0.007,6,0.007,0.007,2043,1979,2943,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4294,-2.90,-146.6,455.3,-3.8,228,4296,0.00,0.00,0.00,0.007,6,0.007,0.007,2043,1981,2944,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4414,-2.90,-146.6,459.6,-3.6,232,4417,0.00,0.00,0.00,0.007,6,0.007,0.007,2043,1982,2940,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4534,-2.90,-146.6,463.6,-3.4,236,4536,0.00,0.00,0.00,0.007,6,0.007,0.007,2044,1981,2945,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4654,-2.90,-146.6,467.5,-3.2,240,4657,0.00,0.00,0.00,0.007,6,0.007,0.007,2044,1978,2944,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4774,-2.90,-146.6,471.1,-3.0,244,4777,0.00,0.00,0.00,0.007,6,0.007,0.007,2043,1981,2944,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4894,-2.90,-146.6,474.4,-2.8,248,4897,0.00,0.00,0.00,0.007,6,0.007,0.007,2043,1980,2942,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,4921,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4921,begin apogee
$GC,4927,-0.31,0.0,475.2,-2.7,249,4964,2.65,0.00,25.95,0.011,6,0.007,1282.564,2594,1980,2842,0,0,0,0,0,0,27.50,27.50,24.01
$STATE,4966,end apogee,CONTROL_FINISHED_OK
$STATE,4966,begin climb
$GC,4968,2.90,146.6,475.4,0.0,250,5121,3.33,0.00,144.98,0.012,6,0.007,0.012,3296,1980,2238,0,0,0,0,0,0,24.08,24.01,24.01
$GC,5223,2.90,146.6,374.8,50.7,259,5226,0.00,0.00,0.00,0.007,6,0.007,0.007,3296,1980,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,5343,2.90,146.6,314.6,50.2,263,5345,0.00,0.00,0.00,0.001,6,0.007,0.007,3296,1980,2239,0,0,0,0,0,0,24.09,24.09,27.50
$GC,5463,2.90,146.6,255.6,49.2,267,5465,0.00,0.00,0.00,0.001,6,0.007,0.007,3294,1980,2239,0,0,0,0,0,0,24.08,24.08,27.50
$GC,5585,2.90,146.6,198.0,47.5,277,5597,0.00,0.00,0.00,0.007,6,0.001,0.007,3296,1981,2240,0,0,0,0,0,0,27.50,24.09,24.09
$GC,5654,2.90,146.6,164.9,46.2,284,5656,0.00,0.00,0.00,0.007,6,0.007,0.007,3295,1980,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,5714,2.90,146.6,137.8,45.0,290,5716,0.00,0.00,0.00,0.007,6,0.007,0.007,3296,1980,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,5774,2.90,146.6,111.7,43.1,296,5777,0.00,0.00,0.00,0.007,6,0.007,0.007,3296,1980,2237,0,0,0,0,0,0,24.09,24.09,24.09
$GC,5834,2.90,146.6,87.2,40.2,302,5836,0.00,0.00,0.00,0.007,6,0.007,0.007,3296,1979,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,5894,2.90,146.6,65.3,35.9,308,5896,0.00,0.00,0.00,0.007,6,0.007,0.000,3295,1980,2239,0,0,0,0,0,0,24.09,27.50,24.09
$GC,5954,2.90,146.6,46.3,30.9,314,5957,0.00,0.00,0.00,0.007,6,0.007,0.007,3296,1981,2239,0,0,0,0,0,0,24.09,24.09,24.09
$GC,6014,2.90,146.6,29.2,28.0,320,6016,0.00,0.00,0.00,0.007,6,0.007,0.000,3294,1982,2240,0,0,0,0,0,0,24.09,27.50,24.09
$GC,6074,2.90,146.6,13.1,27.0,326,6076,0.00,0.00,0.00,1282.565,6,0.007,0.007,3298,1980,2240,0,0,0,0,0,0,24.09,24.09,27.50
$STATE,6125,end climb,SURFACE_DEPTH_REACHED
$STATE,6125,begin surface coast
$STATE,6132,end surface coast,CONTROL_FINISHED_OK
$STATE,6132,begin surface
$SM_CCo,6160,95.72,0.012,0,0,1617,300.00
$SM_GC,0.89,13.68,0.00,95.72,0.007,1282.565,0.012,457,1982,1617,-10.18,-0.08,300.00,17,0,0,0,0,0,24.08,27.50,24.01
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,18.95
$INTERNAL_PRESSURE,14.2723
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,450.8,73.7
$24V_AH,24.0,9.517
$10V_AH,10.0,27.893
$FG_AHR_24Vo,10.390
$FG_AHR_10Vo,35.820
$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,24.800,10.300,170.925,95.725,0.000,0.002,2.166,122.317,2.250,0.000,21.494,701.541,4257.010,462.808,684.417,472.374,0.000,534.192,0.000,555.114,0.000,15.348,0.000
$DEVICE_MAMPS,7.218,7.190,11.562,11.549,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6146.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.065,0.000,0.000,0.000
$MEM,354920
$DATA_FILE_SIZE,6799,332
$CAP_FILE_SIZE,339387,0
$CFSIZE,260165632,226025472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,19,4,0,0,1
$CURRENT,0.076,116.8,1
$GPS,290112,092452,4701.168,-12459.758,28,1.6,36,18.0