version: 66.11
glider: 169
mission: 8
dive: 154
start: 4 17 113 7 48 53
data:
$ID,169
$MISSION,8
$DIVE,154
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,130
$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,400
$T_MISSION,410
$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,165
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52063
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00091300003
$HD_B,0.0119
$HD_C,2.0500001e-07
$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,430
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-21412.879
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2852
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.03682
$PRESSURE_SLOPE,0.0001078585
$AD7714Ch0Gain,1
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,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,150
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042608725
$SEABIRD_T_H,0.00061783189
$SEABIRD_T_I,2.1692709e-05
$SEABIRD_T_J,2.1724361e-06
$SEABIRD_C_G,-10.034778
$SEABIRD_C_H,1.1503564
$SEABIRD_C_I,-0.0019294197
$SEABIRD_C_J,0.0002327933
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,170413,073424,1955.098,12423.014,37,1.7,37,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-71.8
$GPS2,170413,074825,1955.102,12423.131,38,1.6,38,-2.5
$SPEED_LIMITS,0.143,0.238
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,186.8,232631,-3.2,-8.250,-19.13,2990
$D_GRID,5586
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.48,-160.6,122,2527,1262,941,0.0,0.0,0,111,0.00,0.00,-85.38,0.000,16386,0.000,0.000,122,2527,3360,3243,3477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.48,-160.6,122,2527,3244,3477,5.2,-13.7,11,131,8.70,0.00,-2.35,0.000,18694,0.246,0.000,2216,2528,3509,3379,3640,0,0,0,0,0,0,25.73,28.83,26.41
$GC,446,-0.48,-160.6,2211,2528,3383,3640,103.0,-21.7,34,452,0.00,2.50,0.00,0.000,516,0.000,0.031,2212,1024,3512,3384,3640,0,0,0,0,0,0,28.83,26.35,28.83
$GC,509,-0.48,-160.6,2215,1023,3383,3640,112.3,-20.8,36,518,0.00,2.47,0.00,0.000,1030,0.000,0.034,2210,2514,3512,3384,3640,0,0,0,0,0,0,28.83,26.37,28.83
$GC,815,-0.48,-160.6,2210,2511,3384,3640,173.0,-18.7,52,822,0.00,2.30,0.00,0.000,260,0.000,0.049,2207,3837,3511,3384,3639,0,0,0,0,0,0,28.83,26.42,28.83
$GC,846,-0.48,-160.6,2206,3836,3384,3639,178.1,-18.9,53,851,0.00,2.28,0.00,0.000,1030,0.000,0.025,2206,2469,3511,3383,3640,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1167,-0.48,-160.6,2206,2467,3383,3639,234.1,-15.8,69,1173,0.00,2.42,0.00,0.000,260,0.000,0.047,2205,3826,3511,3383,3639,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1218,-0.48,-160.6,2205,3826,3383,3640,241.0,-14.7,71,1225,0.00,2.28,0.00,0.000,1030,0.000,0.027,2205,2465,3511,3384,3639,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1541,-0.48,-160.6,2205,2463,3383,3639,291.0,-15.6,87,1547,0.00,2.33,0.00,0.000,516,0.000,0.033,2206,1036,3511,3383,3639,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1611,-0.48,-160.6,1344,1036,3371,3637,300.9,-14.9,90,1617,0.00,2.45,0.00,0.000,1030,0.000,0.033,2203,2519,3511,3383,3639,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1934,-0.48,-160.6,2203,2517,3383,3638,341.7,-13.2,106,1940,0.00,2.25,0.00,0.000,260,0.000,0.048,2197,3822,3510,3383,3638,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1962,-0.48,-160.6,1328,3822,3371,3636,345.5,-13.4,107,1968,0.00,2.25,0.00,0.000,1030,0.000,0.024,2197,2467,3510,3383,3638,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2285,-0.48,-160.6,2196,2466,3383,3636,387.3,-12.8,123,2292,0.00,2.42,0.00,0.000,260,0.000,0.047,2194,3840,3509,3383,3635,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2315,-0.48,-160.6,2194,3840,3383,3634,391.2,-13.1,124,2320,0.00,2.25,0.00,0.000,1030,0.000,0.023,2194,2474,3509,3383,3635,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2637,-0.48,-160.6,2194,2472,3383,3632,433.2,-12.8,140,2643,0.00,2.40,0.00,0.000,260,0.000,0.050,2194,3818,3507,3383,3632,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2665,-0.48,-160.6,2193,3818,3383,3631,436.7,-12.6,141,2672,0.00,2.25,0.00,0.000,1030,0.000,0.024,2193,2465,3506,3382,3631,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2988,-0.48,-160.6,2193,2464,3383,3626,478.6,-12.5,157,2995,0.10,2.42,0.00,0.000,2308,0.148,0.047,2220,3834,3504,3383,3626,0,0,0,0,0,0,26.58,26.54,28.83
$GC,3025,-0.48,-160.6,2217,3834,3383,3626,481.8,-12.3,158,3032,0.00,2.25,0.00,0.000,1030,0.000,0.024,2220,2467,3504,3383,3626,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3341,-0.48,-160.6,2219,2466,3382,3621,511.3,-8.7,174,3347,0.00,2.42,0.00,0.000,260,0.000,0.049,2220,3838,3502,3383,3621,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3393,-0.48,-160.6,2219,3838,3383,3621,515.3,-8.7,176,3399,0.00,2.28,0.00,0.000,1030,0.000,0.024,2220,2466,3501,3383,3620,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3715,-0.48,-160.6,2219,2464,3383,3615,545.1,-9.7,192,3722,0.00,2.45,0.00,0.000,260,0.000,0.047,2210,3840,3499,3383,3615,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3798,-0.48,-160.6,2209,3839,3382,3614,552.8,-10.7,195,3806,0.00,2.28,0.00,0.000,1030,0.000,0.025,2210,2465,3498,3382,3614,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4104,-0.48,-160.6,2209,2465,3383,3609,588.7,-10.9,211,4110,0.00,2.42,0.00,0.000,260,0.000,0.048,2207,3822,3496,3383,3609,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4133,-0.48,-160.6,2206,3822,3381,3608,591.4,-10.9,212,4140,0.00,2.25,0.00,0.000,1030,0.000,0.025,2207,2462,3495,3382,3608,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4454,-0.48,-160.6,2206,2462,3382,3604,627.2,-10.8,224,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2462,3493,3382,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4754,-0.48,-160.6,2206,2462,3382,3600,657.4,-9.5,234,4761,0.00,2.45,0.00,0.000,260,0.000,0.050,2207,3839,3490,3382,3599,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4881,-0.48,-160.6,2206,3839,3388,3598,668.8,-9.0,238,4888,0.00,2.28,0.00,0.000,1030,0.000,0.025,2206,2469,3490,3382,3598,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5218,-0.48,-160.6,2206,2469,3382,3592,700.6,-9.6,249,5225,0.00,2.42,0.00,0.000,260,0.000,0.051,2206,3830,3487,3382,3592,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5249,-0.48,-160.6,2206,3830,3382,3592,700.6,-9.6,249,5257,0.00,2.28,0.00,0.000,1030,0.000,0.026,2206,2463,3486,3382,3591,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5558,-0.48,-160.6,2206,2463,3382,3588,734.0,-10.2,260,5565,0.00,2.42,0.00,0.000,260,0.000,0.049,2195,3831,3485,3382,3588,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5616,-0.48,-160.6,2194,3827,3381,3588,738.4,-10.4,261,5621,0.00,2.28,0.00,0.000,1030,0.000,0.027,2195,2466,3484,3381,3588,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5934,-0.48,-160.6,2194,2466,3380,3586,773.6,-10.4,272,5940,0.00,2.42,0.00,0.000,260,0.000,0.050,2194,3830,3483,3380,3586,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6009,-0.48,-160.6,2193,3830,3379,3586,780.5,-10.1,274,6016,0.00,2.30,0.00,0.000,1030,0.000,0.028,2194,2463,3482,3379,3585,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6335,-0.48,-160.6,2194,2464,3379,3582,811.6,-9.0,285,6341,0.00,2.42,0.00,0.000,260,0.000,0.049,2182,3836,3480,3379,3582,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6420,-0.48,-160.6,1344,3835,3365,3580,817.7,-9.1,287,6426,0.12,2.28,0.00,0.000,3078,0.126,0.027,2221,2467,3479,3377,3581,0,0,0,0,0,0,26.45,26.64,28.83
$GC,6738,-0.48,-160.6,2221,2466,3377,3579,842.8,-7.5,298,6744,0.00,2.42,0.00,0.000,260,0.000,0.049,2212,3827,3478,3377,3579,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6814,-0.48,-160.6,2212,3828,3376,3581,847.8,-7.3,300,6821,0.00,2.28,0.00,0.000,1030,0.000,0.028,2212,2461,3477,3376,3579,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7140,-0.48,-160.6,2212,2460,3376,3577,876.6,-8.7,311,7146,0.00,2.45,0.00,0.000,260,0.000,0.051,2207,3836,3476,3376,3577,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7231,-0.48,-160.6,2207,3836,3375,3577,882.9,-9.3,313,7239,0.00,2.28,0.00,0.000,1030,0.000,0.027,2207,2463,3476,3375,3577,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7539,-0.48,-160.6,2207,2463,3375,3574,910.8,-8.2,324,7545,0.00,2.42,0.00,0.000,260,0.000,0.051,2206,3824,3474,3375,3574,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7630,-0.48,-160.6,2206,3824,3373,3574,916.3,-8.1,326,7638,0.00,2.28,0.00,0.000,1030,0.000,0.028,2207,2463,3473,3373,3574,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7938,-0.48,-160.6,2206,2463,3373,3572,942.0,-7.4,337,7944,0.00,2.45,0.00,0.000,260,0.000,0.050,2203,3837,3472,3373,3572,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8019,-0.48,-160.6,2202,3837,3371,3571,946.7,-7.0,339,8025,0.00,2.28,0.00,0.000,1030,0.000,0.027,2203,2465,3471,3371,3571,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8340,-0.48,-160.6,2203,2465,3371,3570,974.9,-8.5,350,8346,0.00,2.42,0.00,0.000,260,0.000,0.050,2198,3833,3470,3371,3570,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8424,-0.48,-160.6,1360,3833,3359,3567,981.8,-9.4,352,8431,0.10,2.28,0.00,0.000,3078,0.138,0.027,2223,2465,3470,3371,3570,0,0,0,0,0,0,26.44,26.63,28.83
$STATE,8530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8530,begin apogee
$GC,8537,-0.12,0.0,2222,2610,3370,3569,991.1,-7.5,356,8682,0.30,0.00,139.55,1.058,10246,0.097,0.000,2332,2609,2849,2857,2841,0,0,0,0,0,0,26.41,28.83,24.34
$STATE,8684,end apogee,CONTROL_FINISHED_OK
$STATE,8684,begin climb
$GC,8687,0.48,160.6,2332,2609,2853,2829,998.0,0.0,360,8848,0.55,2.85,153.60,0.996,10756,0.054,0.024,2554,1144,2186,2310,2063,0,0,1,0,0,0,25.11,24.79,24.13
$GC,8868,0.64,221.8,2554,1143,2298,2051,991.2,6.1,367,8937,0.12,2.70,57.50,0.978,11270,0.075,0.025,2619,2605,1934,2066,1802,0,0,0,0,0,0,25.10,25.08,24.12
$GC,9231,0.64,221.8,2619,2604,2050,1786,936.8,15.7,379,9238,0.12,2.08,0.00,0.000,4356,0.167,0.041,2571,3844,1916,2050,1783,0,0,0,0,0,0,25.72,25.86,28.83
$GC,9337,0.64,221.8,2571,3843,2049,1786,922.6,14.5,382,9343,0.00,2.03,0.00,0.000,1030,0.000,0.016,2581,2572,1917,2048,1786,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9664,0.64,221.8,2582,2571,2046,1784,880.8,12.6,393,9669,0.00,2.20,0.00,0.000,260,0.000,0.042,2572,3842,1915,2046,1784,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9743,0.64,221.8,1616,3841,2009,1777,871.3,13.4,395,9749,0.00,2.00,0.00,0.000,1030,0.000,0.015,2581,2572,1914,2046,1783,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10064,0.64,221.8,2582,2569,2045,1784,826.1,13.7,406,10070,0.00,2.20,0.00,0.000,260,0.000,0.041,2572,3836,1914,2044,1784,0,0,0,0,0,0,28.83,26.32,28.83
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$GC,14079,0.64,221.8,2596,2570,2037,1783,350.0,11.1,572,14085,0.00,2.42,0.00,0.000,516,0.000,0.024,2608,1114,1909,2036,1783,0,0,0,0,0,0,28.83,26.56,28.83
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$STATE,17655,end climb,SURFACE_DEPTH_REACHED
$STATE,17655,begin surface coast
$FINISH,-0.2,1.022574
$STATE,17672,end surface coast,CONTROL_FINISHED_OK
$STATE,17672,begin surface
$SM_CCo,17692,33.90,0.127,0,0,1097,430.01
$SM_GC,-0.07,6.57,2.40,33.90,0.033,0.025,0.127,148,2524,1097,-6.93,-0.31,430.01,0,0,0,0,0,0,26.32,26.41,26.11
$IRIDIUM_FIX,1952.70,12422.12,170413,010147
$TT8_MAMPS,0.021721,0.021721
$HUMID,44.32
$INTERNAL_PRESSURE,9.35939
$TCM_TEMP,24.10
$XPDR_PINGS,1
$SC_FREEKB,3943488
$24V_AH,24.1,20.259
$10V_AH,10.2,16.286
$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,16.850,194.325,497.550,33.900,0.000,0.000,0.000,507.725,0.250,0.000,38.920,3468.606,10878.172,786.511,2650.663,745.972,0.000,2419.250,0.000,1977.234,0.000,0.543,0.000
$DEVICE_MAMPS,246.330,68.085,1057.995,126.990,0.000,0.000,0.000,120.870,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17766.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.647,0.000,0.000,0.000
$MEM,329156
$DATA_FILE_SIZE,30061,787
$CAP_FILE_SIZE,439267,0
$CFSIZE,260034560,230592512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$CURRENT,0.090,264.5,1
$GPS,170413,124536,1953.292,12422.201,40,1.0,40,-2.5