version: 66.06
glider: 140
mission: 8
dive: 50
start: 10 13 109 20 13 54
data:
$ID,140
$MISSION,8
$DIVE,50
$D_SURF,4
$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,-45195.543
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,174
$ROLL_MAX,4054
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,75
$R_STBD_OVSHOOT,43
$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,0
$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
$GPS1,200655,6453.809,-36.931,39,1.6,40,-5.6
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,3.70
$_SM_ANGLEo,-57.5
$GPS2,201332,6453.860,-37.000,17,1.6,17,-5.6
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,INSHORE
$TGT_LATLONG,6300.600,352.100
$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,138.4,308472,-13.7,-6.875
$D_GRID,2797
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.80,-116.7,0.0,0.0,0,25,0.00,0.00,-7.47,0.000,2,0.000,0.000,217,2281,2036,0,0,0,0,0,0
$GC,28,-0.80,-116.7,3.8,-0.0,1,115,8.77,2.22,-68.25,0.000,4,0.241,0.061,2501,3698,3483,0,0,0,0,0,0
$GC,214,-0.64,-116.7,17.3,-13.9,34,220,0.15,2.08,0.00,0.000,6,0.190,0.025,2548,2288,3484,0,0,0,0,0,0
$GC,553,-0.57,-116.7,47.2,-8.6,95,560,0.12,2.17,0.00,0.000,4,0.209,0.044,2580,3704,3486,0,0,0,0,0,0
$GC,589,-0.57,-116.7,51.2,-10.1,101,595,0.00,2.03,0.00,0.000,6,0.000,0.026,2580,2305,3486,0,0,0,0,0,0
$GC,927,-0.57,-116.7,73.9,-5.8,132,931,0.00,2.12,0.00,0.000,4,0.000,0.044,2580,3706,3487,0,0,0,0,0,0
$GC,959,-0.62,-116.7,76.4,-7.5,133,965,0.00,2.08,0.00,0.000,6,0.000,0.025,2580,2274,3487,0,0,0,0,0,0
$GC,1276,-0.68,-116.7,97.5,-6.4,149,1281,0.12,2.03,0.00,0.000,4,0.138,0.039,2542,912,3488,0,0,0,0,0,0
$GC,1317,-0.63,-116.7,100.5,-7.8,151,1321,0.00,2.08,0.00,0.000,6,0.000,0.031,2542,2316,3487,0,0,0,0,0,0
$GC,1643,-0.63,-116.7,125.1,-7.4,167,1647,0.00,2.10,0.00,0.000,4,0.000,0.038,2541,908,3488,0,0,0,0,0,0
$GC,1676,-0.59,-116.7,128.0,-8.8,168,1684,0.08,2.08,0.00,0.000,6,0.197,0.031,2564,2297,3488,0,0,0,0,0,0
$GC,1992,-0.59,-116.7,149.5,-6.8,184,1996,0.00,2.08,0.00,0.000,4,0.000,0.043,2564,3701,3488,0,0,0,0,0,0
$GC,2010,-0.62,-116.7,150.6,-6.9,185,2014,0.00,2.03,0.00,0.000,6,0.000,0.025,2565,2287,3488,0,0,0,0,0,0
$GC,2337,-0.62,-116.7,172.5,-6.8,201,2341,0.00,2.12,0.00,0.000,4,0.000,0.044,2565,3703,3488,0,0,0,0,0,0
$GC,2348,-0.65,-116.7,173.4,-6.9,201,2353,0.00,2.05,0.00,0.000,6,0.000,0.026,2565,2296,3488,0,0,0,0,0,0
$GC,2664,-0.68,-116.7,194.9,-6.9,217,2668,0.00,2.10,0.00,0.000,4,0.000,0.044,2564,3700,3488,0,0,0,0,0,0
$GC,2682,-0.72,-116.7,196.1,-6.6,218,2686,0.00,2.00,0.00,0.000,6,0.000,0.026,2565,2302,3488,0,0,0,0,0,0
$GC,3015,-0.75,-116.7,218.1,-6.6,234,3020,0.12,2.12,0.00,0.000,4,0.141,0.044,2526,3702,3488,0,0,0,0,0,0
$GC,3055,-0.70,-116.7,221.3,-8.5,236,3059,0.00,2.03,0.00,0.000,6,0.000,0.026,2526,2288,3487,0,0,0,0,0,0
$GC,3382,-0.65,-116.7,249.1,-8.7,252,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2286,3487,0,0,0,0,0,0
$GC,3690,-0.60,-116.7,275.4,-8.3,267,3692,0.15,0.00,0.00,0.000,6,0.207,0.000,2565,2284,3486,0,0,0,0,0,0
$GC,4000,-0.63,-116.7,295.9,-6.6,282,4004,0.00,2.15,0.00,0.000,4,0.000,0.044,2565,3708,3486,0,0,0,0,0,0
$GC,4039,-0.68,-116.7,298.5,-7.1,283,4046,0.00,2.05,0.00,0.000,6,0.000,0.027,2566,2299,3486,0,0,0,0,0,0
$GC,4372,-0.73,-116.7,320.5,-6.8,295,4377,0.12,2.12,0.00,0.000,4,0.140,0.045,2527,3702,3485,0,0,0,0,0,0
$GC,4438,-0.70,-116.7,326.2,-8.9,297,4442,0.00,2.00,0.00,0.000,6,0.000,0.027,2527,2296,3485,0,0,0,0,0,0
$GC,4773,-0.65,-116.7,355.8,-8.9,308,4777,0.00,2.10,0.00,0.000,4,0.000,0.045,2527,3700,3485,0,0,0,0,0,0
$GC,4783,-0.61,-116.7,356.7,-8.9,308,4788,0.15,2.00,0.00,0.000,6,0.202,0.028,2565,2293,3485,0,0,0,0,0,0
$GC,5106,-0.65,-116.7,381.7,-7.6,319,5110,0.00,2.12,0.00,0.000,4,0.000,0.045,2566,3706,3484,0,0,0,0,0,0
$GC,5139,-0.70,-116.7,384.4,-8.3,320,5143,0.00,2.05,0.00,0.000,6,0.000,0.028,2566,2306,3484,0,0,0,0,0,0
$GC,5474,-0.75,-116.7,410.0,-7.7,331,5479,0.12,2.12,0.00,0.000,4,0.139,0.046,2527,3708,3483,0,0,0,0,0,0
$GC,5556,-0.75,-116.7,417.3,-9.1,333,5561,0.00,2.05,0.00,0.000,6,0.000,0.028,2527,2303,3483,0,0,0,0,0,0
$GC,5875,-0.71,-116.7,446.5,-9.4,344,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2302,3482,0,0,0,0,0,0
$GC,6181,-0.67,-116.7,473.9,-8.9,354,6185,0.00,2.10,0.00,0.000,4,0.000,0.046,2527,3698,3481,0,0,0,0,0,0
$GC,6191,-0.63,-116.7,474.7,-8.7,354,6195,0.05,2.05,0.00,0.000,6,0.196,0.028,2555,2295,3481,0,0,0,0,0,0
$GC,6519,-0.63,-116.7,499.1,-7.2,365,6523,0.00,2.12,0.00,0.000,4,0.000,0.046,2555,3705,3480,0,0,0,0,0,0
$GC,6539,-0.63,-116.7,500.7,-7.4,365,6544,0.00,2.05,0.00,0.000,6,0.000,0.028,2555,2300,3480,0,0,0,0,0,0
$GC,6854,-0.63,-116.7,522.6,-7.0,371,6858,0.00,2.10,0.00,0.000,4,0.000,0.046,2555,3698,3480,0,0,0,0,0,0
$GC,6892,-0.67,-116.7,525.4,-7.3,371,6897,0.00,2.05,0.00,0.000,6,0.000,0.028,2555,2300,3480,0,0,0,0,0,0
$GC,7219,-0.70,-116.7,547.7,-6.9,377,7223,0.00,2.10,0.00,0.000,4,0.000,0.046,2555,3698,3479,0,0,0,0,0,0
$GC,7257,-0.74,-116.7,550.4,-7.1,377,7261,0.00,2.05,0.00,0.000,6,0.000,0.028,2555,2300,3478,0,0,0,0,0,0
$GC,7583,-0.77,-116.7,572.3,-6.7,383,7588,0.12,2.12,0.00,0.000,4,0.146,0.047,2516,3698,3478,0,0,0,0,0,0
$GC,7638,-0.72,-116.7,576.7,-8.7,383,7645,0.00,2.05,0.00,0.000,6,0.000,0.028,2516,2300,3479,0,0,0,0,0,0
$GC,7947,-0.67,-116.7,601.8,-8.1,389,7952,0.12,2.12,0.00,0.000,4,0.206,0.048,2545,3698,3478,0,0,0,0,0,0
$GC,7957,-0.63,-116.7,602.6,-8.0,389,7961,0.00,2.03,0.00,0.000,6,0.000,0.029,2546,2293,3478,0,0,0,0,0,0
$GC,8311,-0.63,-116.7,626.3,-6.7,395,8315,0.00,2.12,0.00,0.000,4,0.000,0.047,2546,3698,3478,0,0,0,0,0,0
$GC,8359,-0.63,-116.7,629.7,-7.4,395,8364,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2303,3478,0,0,0,0,0,0
$GC,8681,-0.63,-116.7,650.3,-6.4,401,8684,0.00,2.10,0.00,0.000,4,0.000,0.047,2546,3698,3477,0,0,0,0,0,0
$GC,8747,-0.63,-116.7,654.6,-6.4,402,8751,0.00,2.05,0.00,0.000,6,0.000,0.028,2546,2303,3477,0,0,0,0,0,0
$GC,9113,-0.63,-116.7,677.2,-6.2,408,9117,0.00,2.10,0.00,0.000,4,0.000,0.047,2546,3698,3476,0,0,0,0,0,0
$GC,9179,-0.63,-116.7,681.6,-6.7,409,9183,0.00,2.05,0.00,0.000,6,0.000,0.029,2546,2302,3476,0,0,0,0,0,0
$GC,9544,-0.63,-116.7,706.0,-6.8,415,9548,0.00,2.12,0.00,0.000,4,0.000,0.047,2546,3707,3476,0,0,0,0,0,0
$GC,9606,-0.63,-116.7,710.2,-6.5,416,9610,0.00,2.05,0.00,0.000,6,0.000,0.029,2546,2290,3475,0,0,0,0,0,0
$GC,9970,-0.63,-116.7,734.0,-6.5,422,9974,0.00,2.12,0.00,0.000,4,0.000,0.047,2546,3698,3475,0,0,0,0,0,0
$GC,10043,-0.66,-116.7,738.8,-6.3,423,10047,0.00,2.03,0.00,0.000,6,0.000,0.029,2546,2293,3475,0,0,0,0,0,0
$GC,10408,-0.66,-116.7,761.8,-6.3,429,10412,0.00,2.12,0.00,0.000,4,0.000,0.048,2546,3702,3474,0,0,0,0,0,0
$GC,10470,-0.70,-116.7,765.8,-6.7,430,10474,0.00,2.03,0.00,0.000,6,0.000,0.029,2546,2302,3474,0,0,0,0,0,0
$GC,10841,-0.70,-116.7,788.6,-6.1,436,10845,0.00,2.12,0.00,0.000,4,0.000,0.048,2546,3697,3474,0,0,0,0,0,0
$GC,10907,-0.74,-116.7,792.9,-6.4,437,10911,0.00,2.03,0.00,0.000,6,0.000,0.029,2546,2288,3474,0,0,0,0,0,0
$GC,11272,-0.74,-116.7,815.1,-6.0,443,11276,0.00,2.12,0.00,0.000,4,0.000,0.047,2546,3698,3474,0,0,0,0,0,0
$GC,11350,-0.78,-116.7,819.9,-6.4,444,11354,0.00,2.03,0.00,0.000,6,0.000,0.029,2546,2291,3474,0,0,0,0,0,0
$GC,11704,-0.78,-116.7,841.1,-6.0,450,11708,0.00,2.12,0.00,0.000,4,0.000,0.047,2546,3698,3473,0,0,0,0,0,0
$GC,11771,-0.81,-116.7,845.2,-6.5,451,11776,0.15,2.03,0.00,0.000,6,0.140,0.029,2499,2288,3473,0,0,0,0,0,0
$GC,12137,-0.74,-116.7,874.1,-8.1,457,12141,0.00,2.12,0.00,0.000,4,0.000,0.047,2499,3697,3473,0,0,0,0,0,0
$GC,12147,-0.66,-116.7,875.0,-8.1,457,12152,0.17,2.00,0.00,0.000,6,0.204,0.030,2544,2302,3473,0,0,0,0,0,0
$GC,12495,-0.66,-116.7,898.2,-6.6,463,12499,0.00,2.10,0.00,0.000,4,0.000,0.048,2544,3698,3473,0,0,0,0,0,0
$GC,12545,-0.70,-116.7,901.6,-6.3,463,12549,0.00,2.03,0.00,0.000,6,0.000,0.029,2544,2293,3472,0,0,0,0,0,0
$GC,12859,-0.70,-116.7,921.7,-6.4,469,12863,0.00,2.12,0.00,0.000,4,0.000,0.048,2544,3699,3472,0,0,0,0,0,0
$GC,12926,-0.73,-116.7,926.0,-6.4,470,12930,0.00,2.03,0.00,0.000,6,0.000,0.030,2544,2293,3472,0,0,0,0,0,0
$GC,13292,-0.73,-116.7,949.1,-6.4,476,13296,0.00,2.15,0.00,0.000,4,0.000,0.048,2544,3706,3472,0,0,0,0,0,0
$GC,13364,-0.77,-116.7,953.9,-5.8,477,13367,0.00,2.03,0.00,0.000,6,0.000,0.029,2544,2300,3472,0,0,0,0,0,0
$GC,13729,-0.77,-116.7,976.2,-6.0,483,13733,0.00,2.12,0.00,0.000,4,0.000,0.048,2544,3705,3472,0,0,0,0,0,0
$GC,13802,-0.81,-116.7,980.7,-5.9,484,13806,0.12,2.03,0.00,0.000,6,0.149,0.029,2504,2299,3471,0,0,0,0,0,0
$STATE,13971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13971,begin apogee
$GC,13976,-0.24,0.0,993.2,7.4,487,14078,0.60,0.00,99.30,1.568,6,0.184,0.000,2681,2643,3006,0,0,0,0,0,0
$STATE,14079,end apogee,CONTROL_FINISHED_OK
$STATE,14079,begin climb
$GC,14081,0.80,116.7,995.1,0.0,488,14195,1.10,2.38,105.20,1.466,4,0.127,0.048,3016,4044,2529,0,0,0,0,0,0
$GC,14228,0.53,116.7,989.9,8.7,491,14233,0.35,2.22,0.00,0.000,6,0.194,0.028,2941,2648,2523,0,0,0,0,0,0
$GC,14576,0.54,129.9,967.4,6.4,497,14589,0.00,0.00,11.27,1.386,6,0.000,0.000,2941,2648,2476,0,0,0,0,0,0
$GC,14879,0.55,136.8,947.3,6.6,502,14888,0.00,0.00,7.43,1.315,6,0.000,0.000,2941,2648,2448,0,0,0,0,0,0
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$GC,20255,0.68,252.6,537.1,9.5,589,20259,0.00,2.10,0.00,0.000,4,0.000,0.048,2991,4043,1971,0,0,0,0,0,0
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$GC,23273,0.63,252.6,256.4,9.8,687,23278,0.12,2.12,0.00,0.000,4,0.221,0.048,2966,4049,1969,0,0,0,0,0,0
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$STATE,26244,end climb,SURFACE_DEPTH_REACHED
$STATE,26244,begin surface coast
$FINISH,3.0,1.023893
$STATE,26306,end surface coast,CONTROL_FINISHED_OK
$STATE,26306,begin surface
$SM_CCo,26324,17.95,0.847,0,0,1884,275.23
$SM_GC,3.91,0.00,0.00,17.95,0.000,0.000,0.847,214,2312,1884,-7.97,0.34,275.23
$IRIDIUM_FIX,6431.40,-40.56,070199,121259
$TT8_MAMPS,0.027612
$HUMID,1078408377
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,23.0,10.326
$10V_AH,10.1,6.198
$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,22.250,217.650,331.500,17.950,0.000,30.739,32.064,213.654,0.000,0.000,17.089,2110.037,21020.127,515.100,2553.846,532.120,0.000,1812.171,0.000,2514.779,0.000,0.534,0.000
$DEVICE_MAMPS,240.838,60.593,1567.748,846.768,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,641.958,945.960,544.579,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,241552
$DATA_FILE_SIZE,53815,925
$CAP_FILE_SIZE,217237,0
$CFSIZE,260165632,250945536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.019, 33.6,1
$GPS,141009,033406,6451.691,-31.690,33,1.4,34,-5.5