version: 66.10
glider: 169
mission: 5
dive: 461
start: 2 6 112 18 11 8
data:
$ID,169
$MISSION,5
$DIVE,461
$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,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$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,-12490.457
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$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,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$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,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
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$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,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,060212,180325,2326.812,12357.097,42,1.1,42,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.0
$GPS2,060212,181043,2326.838,12357.188,10,1.8,15,-3.3
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,207.0,216438,-15.4,-9.167
$D_GRID,3655
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.60,-175.2,0.0,0.0,0,110,0.00,0.00,-90.93,0.000,2,0.000,0.000,126,2674,3112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.60,-175.2,3.5,-7.5,15,140,7.10,2.30,-11.30,0.000,4,0.232,0.034,1814,1161,3695,0,0,0,0,0,0,24.74,26.10,26.55
$GC,158,-0.39,-175.2,23.6,-45.1,22,166,0.28,2.35,0.00,0.000,6,0.161,0.037,1878,2650,3695,0,0,0,0,0,0,25.34,25.97,28.83
$GC,472,-0.33,-175.2,91.9,-20.0,83,478,0.00,1.83,0.00,0.000,4,0.000,0.043,1870,3815,3695,0,0,0,0,0,0,28.83,26.03,28.83
$GC,486,-0.27,-175.2,94.7,-20.8,85,494,0.15,1.80,0.00,0.000,6,0.148,0.022,1915,2551,3695,0,0,0,0,0,0,25.88,26.34,28.83
$GC,800,-0.29,-175.2,128.6,-8.6,146,807,0.00,2.05,0.00,0.000,4,0.000,0.028,1915,1172,3695,0,0,0,0,0,0,28.83,26.21,28.83
$GC,872,-0.35,-175.2,133.8,-7.4,159,878,0.00,2.30,0.00,0.000,6,0.000,0.035,1913,2650,3695,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1184,-0.48,-175.2,163.5,-10.9,220,1192,0.15,1.83,0.00,0.000,4,0.102,0.043,1846,3820,3694,0,0,0,0,0,0,26.34,26.06,28.83
$GC,1227,-0.60,-175.2,167.6,-9.6,227,1235,0.12,1.80,0.00,0.000,6,0.132,0.025,1815,2581,3695,0,0,0,0,0,0,26.06,26.34,28.83
$GC,1542,-0.64,-175.2,194.8,-8.1,288,1548,0.00,1.95,0.00,0.000,4,0.000,0.041,1809,3816,3695,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1591,-0.62,-175.2,200.0,-12.3,297,1597,0.00,1.80,0.00,0.000,6,0.000,0.021,1809,2570,3695,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1900,-0.55,-175.2,264.3,-19.4,328,1908,0.00,2.05,0.00,0.000,4,0.000,0.028,1811,1173,3695,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1943,-0.51,-175.2,272.4,-18.2,332,1951,0.15,2.30,0.00,0.000,6,0.124,0.037,1845,2652,3695,0,0,0,0,0,0,25.94,26.15,28.83
$GC,2252,-0.49,-175.2,315.0,-14.0,363,2256,0.00,2.22,0.00,0.000,4,0.000,0.026,1846,1171,3695,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2306,-0.51,-175.2,321.1,-10.7,368,2313,0.00,2.30,0.00,0.000,6,0.000,0.037,1837,2649,3695,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2617,-0.48,-175.2,363.6,-14.0,399,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2649,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2925,-0.46,-175.2,410.6,-13.2,430,2934,0.00,2.20,0.00,0.000,4,0.000,0.026,1837,1179,3693,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2969,-0.46,-175.2,415.6,-12.1,434,2977,0.12,2.30,0.00,0.000,6,0.119,0.037,1869,2651,3693,0,0,0,0,0,0,26.00,26.13,28.83
$GC,3277,-0.49,-175.2,437.9,-5.9,465,3286,0.00,2.20,0.00,0.000,4,0.000,0.028,1869,1172,3692,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3312,-0.53,-175.2,440.0,-6.5,468,3319,0.00,2.30,0.00,0.000,6,0.000,0.036,1865,2650,3692,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3620,-0.55,-175.2,463.2,-7.4,499,3629,0.00,2.22,0.00,0.000,4,0.000,0.029,1864,1175,3690,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3646,-0.58,-175.2,464.6,-6.8,501,3653,0.12,2.30,0.00,0.000,6,0.081,0.037,1799,2651,3690,0,0,0,0,0,0,26.12,26.12,28.83
$GC,3953,-0.54,-175.2,510.3,-15.8,532,3962,0.12,1.77,0.00,0.000,4,0.145,0.042,1833,3816,3689,0,0,0,0,0,0,26.23,26.06,28.83
$GC,3978,-0.51,-175.2,513.7,-15.3,534,3985,0.00,1.77,0.00,0.000,6,0.000,0.022,1833,2572,3688,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4285,-0.51,-175.2,545.5,-10.0,565,4294,0.00,2.08,0.00,0.000,4,0.000,0.028,1833,1175,3686,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4337,-0.54,-175.2,549.6,-7.8,570,4346,0.00,2.30,0.00,0.000,6,0.000,0.036,1823,2657,3686,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4646,-0.54,-175.2,579.9,-10.4,601,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2656,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4946,-0.54,-175.2,611.2,-10.9,626,4952,0.00,2.28,0.00,0.000,4,0.000,0.028,1823,1166,3683,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4996,-0.55,-175.2,615.5,-11.0,628,5000,0.00,2.33,0.00,0.000,6,0.000,0.037,1815,2648,3682,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5301,-0.55,-175.2,649.4,-9.6,643,5307,0.00,2.22,0.00,0.000,4,0.000,0.027,1815,1172,3680,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5334,-0.55,-175.2,651.2,-9.4,644,5341,0.00,2.33,0.00,0.000,6,0.000,0.038,1806,2648,3680,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5644,-0.54,-175.2,685.9,-11.9,660,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2648,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5942,-0.53,-175.2,718.6,-11.0,675,5949,0.12,2.25,0.00,0.000,4,0.144,0.025,1850,1169,3675,0,0,0,0,0,0,26.21,26.15,28.83
$GC,5976,-0.53,-175.2,720.6,-10.8,676,5982,0.00,2.35,0.00,0.000,6,0.000,0.039,1848,2648,3675,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6283,-0.57,-175.2,743.6,-6.9,692,6288,0.00,2.20,0.00,0.000,4,0.000,0.028,1848,1184,3673,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6315,-0.61,-175.2,744.9,-6.8,693,6322,0.00,2.33,0.00,0.000,6,0.000,0.038,1839,2654,3673,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6624,-0.64,-175.2,766.9,-7.0,709,6630,0.10,2.25,0.00,0.000,4,0.092,0.028,1764,1172,3670,0,0,0,0,0,0,26.50,26.10,28.83
$GC,6651,-0.66,-175.2,768.7,-7.4,710,6656,0.15,2.35,0.00,0.000,6,0.132,0.040,1797,2647,3670,0,0,0,0,0,0,25.76,25.99,28.83
$GC,6959,-0.65,-175.2,804.2,-10.7,725,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2647,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7260,-0.64,-175.2,833.5,-9.7,740,7265,0.00,2.22,0.00,0.000,4,0.000,0.028,1797,1177,3666,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7306,-0.64,-175.2,837.3,-9.4,742,7310,0.00,2.35,0.00,0.000,6,0.000,0.040,1788,2648,3665,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7615,-0.62,-175.2,872.1,-11.6,757,7620,0.00,2.25,0.00,0.000,4,0.000,0.029,1787,1180,3664,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7682,-0.62,-175.2,878.8,-11.2,760,7692,0.12,2.35,0.00,0.000,6,0.128,0.041,1815,2650,3663,0,0,0,0,0,0,25.79,25.96,28.83
$GC,7995,-0.63,-175.2,910.2,-9.9,776,8001,0.00,2.25,0.00,0.000,4,0.000,0.030,1815,1172,3661,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8037,-0.65,-175.2,914.2,-10.0,778,8041,0.00,2.35,0.00,0.000,6,0.000,0.041,1813,2646,3661,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8349,-0.66,-175.2,944.0,-9.3,794,8350,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2646,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8650,-0.67,-175.2,969.7,-8.0,809,8656,0.00,2.25,0.00,0.000,4,0.000,0.029,1812,1171,3658,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8692,-0.69,-175.2,972.8,-7.8,811,8696,0.00,2.38,0.00,0.000,6,0.000,0.041,1813,2649,3658,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,8922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8922,begin apogee
$GC,8928,-0.20,0.0,990.7,-7.7,823,9093,0.38,0.12,156.80,1.180,6,0.097,0.054,1945,2531,2974,0,0,0,0,0,0,25.76,24.84,23.27
$STATE,9094,end apogee,CONTROL_FINISHED_OK
$STATE,9094,begin climb
$GC,9096,0.60,175.2,996.9,0.0,831,9274,0.68,2.40,167.77,1.189,4,0.047,0.033,2221,1062,2257,0,0,0,0,0,0,25.22,25.01,23.37
$GC,9289,0.50,175.2,983.6,14.7,841,9294,0.17,2.38,0.00,0.000,6,0.164,0.038,2176,2525,2240,0,0,0,0,0,0,25.03,25.33,28.83
$GC,9604,0.45,175.2,936.1,14.6,857,9609,0.00,2.00,0.00,0.000,4,0.000,0.045,2176,3811,2232,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9690,0.38,175.2,922.5,17.0,861,9695,0.20,2.05,0.00,0.000,6,0.173,0.027,2134,2457,2230,0,0,0,0,0,0,25.52,26.09,28.83
$GC,9998,0.36,175.2,885.9,10.9,876,9999,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2455,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10297,0.34,175.2,856.2,9.4,891,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2455,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10597,0.31,175.2,829.2,9.2,906,10603,0.00,2.17,0.00,0.000,4,0.000,0.047,2134,3812,2226,0,0,0,0,0,0,28.83,25.92,28.83
$GC,10641,0.29,175.2,824.8,10.0,908,10648,0.15,2.05,0.00,0.000,6,0.163,0.028,2105,2455,2225,0,0,0,0,0,0,25.70,26.15,28.83
$GC,10959,0.35,219.3,800.4,7.6,924,11004,0.00,2.25,32.95,1.050,4,0.000,0.037,2116,1046,2085,0,0,0,0,1,0,28.83,25.67,23.61
$GC,11018,0.40,245.6,795.5,8.2,927,11058,0.00,2.33,29.73,1.061,6,0.000,0.039,2116,2519,1976,0,0,0,0,1,0,28.83,25.74,23.40
$GC,11358,0.41,245.6,763.0,9.6,944,11365,0.00,2.10,1.70,0.200,4,0.000,0.045,2116,3816,1974,0,0,0,0,0,0,28.83,25.82,25.04
$GC,11402,0.43,245.6,759.2,9.9,946,11406,0.00,2.08,0.00,0.000,6,0.000,0.028,2126,2458,1980,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11713,0.44,245.6,728.0,9.4,962,11719,0.00,2.15,0.00,0.000,4,0.000,0.037,2137,1048,1984,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11774,0.47,254.5,722.8,8.9,965,11797,0.00,2.30,17.48,0.988,6,0.000,0.041,2137,2525,1941,0,0,0,0,0,0,28.83,25.93,24.07
$GC,12112,0.47,254.5,691.4,9.2,982,12117,0.00,2.00,0.00,0.000,4,0.000,0.046,2137,3809,1923,0,0,0,0,0,0,28.83,25.88,28.83
$GC,12143,0.47,254.5,689.3,9.5,983,12149,0.00,2.05,0.00,0.000,6,0.000,0.027,2148,2456,1923,0,0,0,0,0,0,28.83,26.07,28.83
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$GC,15206,0.53,374.8,316.7,8.9,1250,15215,0.00,2.15,0.00,0.000,4,0.000,0.034,2193,1047,1455,0,0,0,0,0,0,28.83,26.00,28.83
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$GC,17829,0.77,425.6,26.1,8.0,1657,17861,0.00,2.25,24.20,0.167,4,0.000,0.039,2236,3819,1243,0,0,0,0,0,0,28.83,25.97,25.06
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$STATE,18064,end climb,SURFACE_DEPTH_REACHED
$STATE,18064,begin surface coast
$FINISH,0.5,1.023420
$STATE,18090,end surface coast,CONTROL_FINISHED_OK
$STATE,18090,begin surface
$SM_CCo,18104,0.70,0.221,0,0,1244,425.10
$SM_GC,1.91,5.32,0.35,0.70,0.029,0.043,0.221,134,2673,1244,-5.78,-0.28,425.10,0,0,0,0,0,0,26.16,26.37,25.29
$IRIDIUM_FIX,2323.87,12357.70,060212,131347
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.47
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.3,95.641
$10V_AH,9.9,57.079
$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,16.325,174.025,557.150,0.700,0.000,31.243,35.302,222.394,0.000,0.000,16.270,4254.094,9826.542,743.540,3283.610,413.668,0.000,2320.681,0.000,2809.597,0.000,0.543,0.000
$DEVICE_MAMPS,231.795,53.550,1188.810,221.085,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1156.611,2102.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330444
$DATA_FILE_SIZE,113643,1706
$CAP_FILE_SIZE,205455,0
$CFSIZE,260165632,179425280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.121,122.9,1
$GPS,060212,231406,2323.682,12357.143,40,0.9,40,-3.3