version: 66.06
glider: 140
mission: 8
dive: 12
start: 10 2 109 20 28 6
data:
$ID,140
$MISSION,8
$DIVE,12
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$D_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,480
$T_MISSION,540
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51390
$NAV_MODE,2
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-44543.812
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,214
$PITCH_MAX,3926
$C_PITCH,2765
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,174
$ROLL_MAX,4054
$ROLL_DEG,40
$C_ROLL_DIVE,2275
$C_ROLL_CLIMB,2850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,550
$VBD_MAX,3938
$C_VBD,3006
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.173029
$PRESSURE_SLOPE,0.0001158875
$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,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,800
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044206623
$SEABIRD_T_H,0.00065338978
$SEABIRD_T_I,2.7511465e-05
$SEABIRD_T_J,3.0433071e-06
$SEABIRD_C_G,-10.080298
$SEABIRD_C_H,1.1283234
$SEABIRD_C_I,-0.0013448599
$SEABIRD_C_J,0.00017661104
$GPS1,202136,6415.389,118.492,35,0.8,35,-4.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,3.31
$_SM_ANGLEo,-63.7
$GPS2,202743,6415.376,118.507,11,0.8,16,-4.4
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,OFFSHORE
$TGT_LATLONG,6506.000,-100.000
$TGT_RADIUS,4000.000
$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,315.4,143018,-13.7,-6.875
$D_GRID,2425
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-6.20,0.000,2,0.000,0.000,216,2264,1999,0,0,0,0,0,0
$GC,26,-0.80,-116.7,3.3,-0.0,1,128,9.73,2.25,-82.47,0.000,4,0.273,0.064,2500,3677,3482,0,0,0,0,0,0
$GC,376,-0.80,-116.7,27.1,-9.6,64,383,0.00,2.10,0.00,0.000,6,0.000,0.026,2500,2274,3484,0,0,0,0,0,0
$GC,722,-0.80,-116.7,64.5,-10.7,121,726,0.00,2.15,0.00,0.000,4,0.000,0.045,2500,3683,3485,0,0,0,0,0,0
$GC,749,-0.80,-116.7,67.8,-10.6,122,754,0.00,2.08,0.00,0.000,6,0.000,0.027,2500,2286,3485,0,0,0,0,0,0
$GC,1070,-0.80,-116.7,95.6,-8.5,138,1074,0.00,2.10,0.00,0.000,4,0.000,0.041,2500,874,3486,0,0,0,0,0,0
$GC,1141,-0.80,-116.7,102.4,-9.7,141,1146,0.00,2.12,0.00,0.000,6,0.000,0.032,2500,2277,3486,0,0,0,0,0,0
$GC,1464,-0.80,-116.7,133.2,-9.8,157,1468,0.00,2.10,0.00,0.000,4,0.000,0.045,2500,3683,3486,0,0,0,0,0,0
$GC,1575,-0.80,-116.7,144.6,-9.9,162,1579,0.00,2.08,0.00,0.000,6,0.000,0.026,2500,2267,3486,0,0,0,0,0,0
$GC,1901,-0.80,-116.7,175.0,-8.6,178,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2267,3487,0,0,0,0,0,0
$GC,2212,-0.80,-116.7,200.2,-7.9,193,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2266,3486,0,0,0,0,0,0
$GC,2521,-0.80,-116.7,225.8,-8.7,208,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2266,3486,0,0,0,0,0,0
$GC,2829,-0.80,-116.7,254.6,-9.3,223,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2266,3486,0,0,0,0,0,0
$GC,3139,-0.80,-116.7,283.9,-9.4,238,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2266,3485,0,0,0,0,0,0
$GC,3447,-0.80,-116.7,311.5,-8.7,251,3451,0.00,2.12,0.00,0.000,4,0.000,0.047,2500,3680,3484,0,0,0,0,0,0
$GC,3529,-0.80,-116.7,318.8,-8.7,253,3534,0.00,2.05,0.00,0.000,6,0.000,0.028,2500,2273,3484,0,0,0,0,0,0
$GC,3848,-0.80,-116.7,346.7,-8.9,264,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2273,3483,0,0,0,0,0,0
$GC,4153,-0.80,-116.7,374.1,-9.0,274,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2272,3482,0,0,0,0,0,0
$GC,4460,-0.80,-116.7,401.4,-9.1,284,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2272,3482,0,0,0,0,0,0
$GC,4766,-0.80,-116.7,429.6,-9.1,294,4770,0.00,2.05,0.00,0.000,4,0.000,0.044,2500,882,3481,0,0,0,0,0,0
$GC,4809,-0.80,-116.7,433.8,-9.5,295,4814,0.00,2.08,0.00,0.000,6,0.000,0.035,2500,2267,3481,0,0,0,0,0,0
$GC,5133,-0.80,-116.7,461.8,-8.5,306,5137,0.00,2.10,0.00,0.000,4,0.000,0.048,2500,3680,3479,0,0,0,0,0,0
$GC,5193,-0.80,-116.7,467.0,-8.2,307,5200,0.00,2.05,0.00,0.000,6,0.000,0.028,2500,2278,3479,0,0,0,0,0,0
$GC,5505,-0.80,-116.7,492.3,-8.1,318,5509,0.00,2.05,0.00,0.000,4,0.000,0.044,2500,887,3479,0,0,0,0,0,0
$GC,5548,-0.80,-116.7,496.1,-8.3,319,5552,0.00,2.08,0.00,0.000,6,0.000,0.035,2499,2271,3479,0,0,0,0,0,0
$GC,5869,-0.80,-116.7,521.5,-7.9,326,5873,0.00,2.10,0.00,0.000,4,0.000,0.048,2500,3684,3477,0,0,0,0,0,0
$GC,5930,-0.80,-116.7,526.4,-8.1,327,5934,0.00,2.03,0.00,0.000,6,0.000,0.030,2500,2274,3478,0,0,0,0,0,0
$GC,6294,-0.80,-116.7,555.7,-8.1,333,6298,0.00,2.05,0.00,0.000,4,0.000,0.044,2500,884,3476,0,0,0,0,0,0
$GC,6338,-0.80,-116.7,559.7,-9.2,333,6342,0.00,2.08,0.00,0.000,6,0.000,0.035,2500,2269,3476,0,0,0,0,0,0
$GC,6659,-0.80,-116.7,586.8,-8.4,339,6662,0.00,2.10,0.00,0.000,4,0.000,0.048,2500,3675,3476,0,0,0,0,0,0
$GC,6719,-0.80,-116.7,592.2,-9.0,339,6726,0.00,2.05,0.00,0.000,6,0.000,0.030,2500,2278,3475,0,0,0,0,0,0
$GC,7028,-0.80,-116.7,618.9,-8.7,345,7029,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2278,3475,0,0,0,0,0,0
$GC,7331,-0.80,-116.7,645.4,-8.8,350,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2277,3474,0,0,0,0,0,0
$GC,7634,-0.80,-116.7,672.2,-8.9,355,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2277,3473,0,0,0,0,0,0
$GC,7938,-0.80,-116.7,699.7,-9.1,360,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2276,3473,0,0,0,0,0,0
$GC,8241,-0.80,-116.7,727.1,-9.0,365,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2276,3472,0,0,0,0,0,0
$GC,8544,-0.80,-116.7,754.2,-9.0,370,8548,0.00,2.12,0.00,0.000,4,0.000,0.049,2500,3682,3472,0,0,0,0,0,0
$GC,8593,-0.80,-116.7,758.9,-9.7,370,8597,0.00,2.08,0.00,0.000,6,0.000,0.031,2500,2267,3472,0,0,0,0,0,0
$GC,8914,-0.80,-116.7,787.5,-9.1,376,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2267,3471,0,0,0,0,0,0
$GC,9216,-0.80,-116.7,815.1,-9.1,381,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2266,3471,0,0,0,0,0,0
$GC,9519,-0.80,-116.7,842.9,-9.2,386,9523,0.00,2.12,0.00,0.000,4,0.000,0.050,2500,3679,3470,0,0,0,0,0,0
$GC,9557,-0.80,-116.7,846.7,-9.6,386,9562,0.00,2.05,0.00,0.000,6,0.000,0.030,2500,2277,3470,0,0,0,0,0,0
$GC,9885,-0.80,-116.7,876.4,-9.2,392,9886,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2277,3470,0,0,0,0,0,0
$GC,10188,-0.80,-116.7,903.9,-9.1,397,10189,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2277,3470,0,0,0,0,0,0
$GC,10490,-0.80,-116.7,930.3,-8.7,402,10494,0.00,2.10,0.00,0.000,4,0.000,0.050,2500,3675,3469,0,0,0,0,0,0
$GC,10539,-0.80,-116.7,934.7,-9.0,402,10543,0.00,2.05,0.00,0.000,6,0.000,0.031,2500,2279,3469,0,0,0,0,0,0
$GC,10854,-0.80,-116.7,960.5,-8.2,408,10855,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2279,3469,0,0,0,0,0,0
$GC,11157,-0.80,-116.7,984.8,-8.0,413,11158,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2279,3469,0,0,0,0,0,0
$STATE,11276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11276,begin apogee
$GC,11282,-0.24,0.0,994.4,8.0,415,11385,0.62,0.00,100.22,1.646,6,0.191,0.000,2685,2847,3005,0,0,0,0,0,0
$STATE,11386,end apogee,CONTROL_FINISHED_OK
$STATE,11386,begin climb
$GC,11388,0.80,116.7,996.5,0.0,416,11505,1.10,2.03,107.72,1.582,4,0.136,0.054,3012,4047,2529,0,0,0,0,0,0
$GC,11537,0.80,116.7,992.6,8.6,419,11542,0.00,1.90,0.00,0.000,6,0.000,0.029,3020,2855,2524,0,0,0,0,0,0
$GC,11892,0.80,116.7,961.5,8.9,425,11893,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2855,2518,0,0,0,0,0,0
$GC,12195,0.80,116.7,934.0,9.1,430,12196,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2855,2516,0,0,0,0,0,0
$GC,12498,0.80,116.7,907.0,8.9,435,12501,0.00,1.85,0.00,0.000,4,0.000,0.053,3019,4045,2516,0,0,0,0,0,0
$GC,12541,0.80,116.7,902.8,10.0,435,12546,0.00,1.80,0.00,0.000,6,0.000,0.030,3027,2844,2516,0,0,0,0,0,0
$GC,12867,0.80,116.7,873.8,8.8,441,12869,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2843,2515,0,0,0,0,0,0
$GC,13171,0.80,116.7,847.4,8.7,446,13172,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2843,2515,0,0,0,0,0,0
$GC,13474,0.80,116.7,821.4,8.6,451,13477,0.00,1.85,0.00,0.000,4,0.000,0.054,3027,4045,2514,0,0,0,0,0,0
$GC,13494,0.80,116.7,819.3,8.6,451,13499,0.00,1.77,0.00,0.000,6,0.000,0.031,3033,2853,2514,0,0,0,0,0,0
$GC,13843,0.80,116.7,789.0,8.7,457,13844,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2852,2514,0,0,0,0,0,0
$GC,14146,0.80,116.7,763.2,8.5,462,14147,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2852,2514,0,0,0,0,0,0
$GC,14449,0.80,116.7,738.3,8.1,467,14450,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2852,2513,0,0,0,0,0,0
$GC,14753,0.80,116.7,713.9,8.0,472,14756,0.00,1.83,0.00,0.000,4,0.000,0.054,3033,4052,2513,0,0,0,0,0,0
$GC,14785,0.80,116.7,710.8,9.1,472,14790,0.00,1.77,0.00,0.000,6,0.000,0.031,3039,2847,2513,0,0,0,0,0,0
$GC,15122,0.80,116.7,683.2,8.2,478,15123,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2847,2513,0,0,0,0,0,0
$GC,15425,0.80,116.7,658.5,8.2,483,15426,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2847,2513,0,0,0,0,0,0
$GC,15729,0.80,116.7,633.6,8.2,488,15732,0.00,1.83,0.00,0.000,4,0.000,0.052,3035,4048,2513,0,0,0,0,0,0
$GC,15749,0.80,116.7,631.7,8.6,488,15754,0.00,1.75,0.00,0.000,6,0.000,0.031,3042,2854,2512,0,0,0,0,0,0
$GC,16098,0.80,116.7,601.5,8.8,494,16099,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2853,2513,0,0,0,0,0,0
$GC,16401,0.80,116.7,575.1,8.7,499,16402,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2853,2512,0,0,0,0,0,0
$GC,16705,0.80,116.7,548.6,8.7,504,16706,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2853,2512,0,0,0,0,0,0
$GC,17007,0.80,116.7,522.7,8.5,509,17009,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2853,2512,0,0,0,0,0,0
$GC,17311,0.80,116.7,497.4,8.3,514,17312,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2853,2512,0,0,0,0,0,0
$GC,17617,0.80,116.7,471.6,8.4,524,17621,0.00,1.83,0.00,0.000,4,0.000,0.054,3042,4053,2512,0,0,0,0,0,0
$GC,17661,0.80,116.7,467.5,9.5,525,17665,0.00,1.77,0.00,0.000,6,0.000,0.031,3042,2853,2512,0,0,0,0,0,0
$GC,17991,0.80,116.7,441.2,7.9,536,17992,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2852,2512,0,0,0,0,0,0
$GC,18296,0.80,116.7,418.2,7.4,546,18300,0.00,1.80,0.00,0.000,4,0.000,0.053,3035,4046,2512,0,0,0,0,0,0
$GC,18340,0.80,116.7,414.6,7.3,547,18344,0.00,1.77,0.00,0.000,6,0.000,0.031,3043,2836,2512,0,0,0,0,0,0
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$GC,20088,0.80,116.7,285.7,7.3,607,20091,0.00,2.08,0.00,0.000,4,0.000,0.040,3042,1451,2512,0,0,0,0,0,0
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$GC,23584,0.86,168.3,38.0,5.4,827,23618,0.00,0.00,30.42,0.947,6,0.000,0.000,3035,2847,2319,0,0,0,0,0,0
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$STATE,24032,end climb,SURFACE_DEPTH_REACHED
$STATE,24032,begin surface coast
$FINISH,2.4,1.020118
$STATE,24061,end surface coast,CONTROL_FINISHED_OK
$STATE,24061,begin surface
$SM_CCo,24078,84.65,0.903,0,0,1883,275.23
$SM_GC,3.21,0.00,0.00,84.65,0.000,0.000,0.903,217,2271,1883,-7.96,-0.08,275.23
$IRIDIUM_FIX,6346.88,114.18,271298,131334
$TT8_MAMPS,0.027612
$HUMID,1078346442
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,23.0,4.476
$10V_AH,10.1,2.517
$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,19.825,120.950,253.325,84.650,0.000,25.138,36.603,191.149,2.000,0.000,16.629,1834.492,19678.131,477.542,2067.692,473.661,0.000,1492.452,0.000,2042.573,0.000,15.502,0.000
$DEVICE_MAMPS,273.052,63.661,1645.982,902.759,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,631.130,933.693,563.654,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241624
$DATA_FILE_SIZE,53887,913
$CAP_FILE_SIZE,156572,0
$CFSIZE,260165632,253902848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,119.8,1
$GPS,031009,031207,6416.508,116.240,41,1.1,41,-4.4