version: 66.12
glider: 141
mission: 23
dive: 329
start: 10 30 115 22 3 39
data:
$ID,141
$MISSION,23
$DIVE,329
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,360
$T_ABORT,1500
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52033
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$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,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3800
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,361
$ROLL_MAX,4050
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2475
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,348
$VBD_MAX,3980
$C_VBD,3127
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-33.834953
$PRESSURE_SLOPE,0.0001160265
$AD7714Ch0Gain,128
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,133
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543633
$SEABIRD_T_H,0.00062237249
$SEABIRD_T_I,2.1446129e-05
$SEABIRD_T_J,2.055453e-06
$SEABIRD_C_G,-10.134171
$SEABIRD_C_H,1.1439899
$SEABIRD_C_I,-0.0013638148
$SEABIRD_C_J,0.00018835191
$GPS1,301015,215633,755.6183,8152.2749,57,2.2,97,-2.3,0.3,92.6,7,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.45
$_SM_ANGLEo,-74.5
$GPS2,301015,220305,755.6671,8152.2749,32,1.6,72,-2.3,0.3,325.3,7,10.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,W1
$TGT_LATLONG,800.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,46.0,344377,-14.9,-10.000,-18.74,2959
$D_GRID,2446
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,25,-0.62,-194.6,20,2679,973,1091,0.0,0.0,0,114,0.00,0.00,-86.45,0.000,16386,0.000,0.000,19,2679,3466,3544,3389,0,0,0,0,0,0,14.91,28.83,14.95
$GC,123,-0.62,-194.6,19,2680,3544,3390,7.1,-7.7,9,148,12.25,2.28,-5.57,0.000,18692,0.412,0.099,2500,4024,3922,3998,3847,0,0,0,0,0,0,14.17,13.76,14.45
$GC,333,-0.62,-194.6,2499,4025,3998,3851,83.8,-23.5,52,338,0.00,2.22,0.00,0.000,1030,0.000,0.034,2500,2630,3924,3998,3851,0,0,0,0,0,0,14.68,14.65,14.71
$GC,640,-0.62,-194.6,2499,2630,3998,3855,139.1,-13.3,68,646,0.00,2.17,0.00,0.000,516,0.000,0.050,2500,1251,3926,3998,3855,0,0,0,0,0,0,15.07,14.69,15.10
$GC,665,-0.62,-194.6,2499,1251,3998,3856,142.7,-13.3,73,669,0.00,2.22,0.00,0.000,1030,0.000,0.052,2490,2634,3927,3998,3856,0,0,0,0,0,0,14.83,14.73,14.86
$GC,984,-0.62,-194.6,2489,2635,3998,3860,184.7,-13.1,91,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2634,3928,3998,3859,0,0,0,0,0,0,15.11,15.15,15.14
$GC,1284,-0.62,-194.6,2489,2635,3997,3860,220.0,-11.9,106,1289,0.00,2.30,0.00,0.000,260,0.000,0.080,2479,4030,3929,3998,3860,0,0,0,0,0,0,15.12,14.65,15.16
$GC,1413,-0.62,-194.6,2478,4030,3997,3859,236.5,-11.8,132,1421,0.15,2.12,0.00,0.000,3078,0.230,0.031,2515,2639,3928,3997,3860,0,0,0,0,0,0,14.54,14.83,14.76
$GC,1745,-0.62,-194.6,2514,2639,3992,3859,267.7,-9.1,144,1751,0.00,2.33,0.00,0.000,260,0.000,0.080,2506,4030,3925,3991,3859,0,0,0,0,0,0,15.14,14.65,15.16
$GC,1810,-0.62,-194.6,2506,4030,3991,3860,274.2,-10.1,157,1814,0.00,2.12,0.00,0.000,1030,0.000,0.031,2507,2647,3925,3991,3860,0,0,0,0,0,0,14.90,14.84,14.92
$GC,2168,-0.62,-194.6,2506,2647,3985,3860,310.3,-10.1,173,2173,0.00,2.20,0.00,0.000,516,0.000,0.052,2507,1264,3922,3985,3860,0,0,0,0,0,0,15.14,14.76,15.18
$GC,2206,-0.62,-194.6,2506,1264,3985,3860,314.1,-9.6,180,2213,0.00,2.25,0.00,0.000,1030,0.000,0.054,2500,2659,3921,3983,3860,0,0,0,0,0,0,14.85,14.75,14.89
$GC,2533,-0.62,-194.6,2499,2659,3978,3860,347.3,-10.2,190,2539,0.00,2.28,0.00,0.000,260,0.000,0.083,2489,4029,3919,3978,3860,0,0,0,0,0,0,15.14,14.62,15.18
$GC,2593,-0.62,-194.6,2489,4029,3978,3859,353.4,-10.4,202,2599,0.00,2.10,0.00,0.000,1030,0.000,0.032,2489,2656,3918,3978,3859,0,0,0,0,0,0,14.81,14.77,14.83
$GC,2957,-0.62,-194.6,2489,2656,3973,3858,388.8,-9.8,219,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2656,3915,3973,3857,0,0,0,0,0,0,15.12,15.16,15.15
$GC,3253,-0.62,-194.6,2489,2656,3968,3855,417.2,-9.4,224,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2656,3911,3968,3855,0,0,0,0,0,0,15.15,15.19,15.18
$GC,3554,-0.62,-194.6,2489,2656,3966,3853,446.0,-9.6,229,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2657,3909,3966,3853,0,0,0,0,0,0,15.14,15.19,15.18
$GC,3854,-0.62,-194.6,2489,2656,3962,3852,474.7,-9.5,234,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2656,3906,3962,3851,0,0,0,0,0,0,15.15,15.19,15.19
$GC,4153,-0.62,-194.6,2489,2656,3960,3850,501.5,-8.9,239,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2656,3905,3960,3850,0,0,0,0,0,0,15.15,15.19,15.19
$GC,4454,-0.62,-194.6,2489,2656,3958,3848,527.6,-8.6,244,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2656,3903,3958,3848,0,0,0,0,0,0,15.14,15.18,15.18
$GC,4753,-0.62,-194.6,2489,2656,3956,3847,554.5,-9.0,249,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2656,3901,3956,3847,0,0,0,0,0,0,15.15,15.19,15.18
$GC,5054,-0.62,-194.6,2489,2655,3952,3846,583.8,-9.7,254,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2655,3899,3952,3846,0,0,0,0,0,0,15.14,15.18,15.17
$GC,5353,-0.62,-194.6,2489,2654,3951,3844,611.5,-9.1,259,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2655,3897,3951,3844,0,0,0,0,0,0,15.14,15.19,15.18
$GC,5654,-0.62,-194.6,2489,2655,3949,3843,636.3,-8.2,264,5660,0.00,2.25,0.00,0.000,516,0.000,0.058,2489,1261,3895,3948,3843,0,0,0,0,0,0,15.14,14.60,15.17
$GC,5684,-0.62,-194.6,2489,1261,3948,3843,638.9,-9.4,270,5690,0.10,2.28,0.00,0.000,3078,0.199,0.060,2514,2634,3895,3948,3843,0,0,0,0,0,0,14.36,14.62,14.50
$GC,6020,-0.62,-194.6,2514,2634,3946,3842,657.6,-5.4,281,6024,0.00,2.42,0.00,0.000,260,0.000,0.092,2506,4045,3894,3946,3842,0,0,0,0,0,0,15.12,14.53,15.15
$GC,6064,-0.62,-194.6,2506,4045,3946,3841,660.8,-6.8,289,6068,0.00,2.20,0.00,0.000,1030,0.000,0.037,2506,2650,3893,3946,3841,0,0,0,0,0,0,14.82,14.74,14.85
$GC,6392,-0.62,-194.6,2505,2650,3944,3840,682.4,-6.7,298,6397,0.00,2.25,0.00,0.000,516,0.000,0.059,2506,1263,3891,3943,3840,0,0,0,0,0,0,15.11,14.59,15.14
$GC,6421,-0.62,-194.6,2505,1263,3944,3840,684.8,-7.1,304,6428,0.00,2.33,0.00,0.000,1030,0.000,0.062,2500,2664,3891,3943,3840,0,0,0,0,0,0,14.75,14.62,14.79
$GC,6816,-0.62,-194.6,2500,2664,3942,3838,711.5,-6.7,315,6817,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2664,3890,3942,3838,0,0,0,0,0,0,15.11,15.15,15.14
$GC,7413,-0.62,-194.6,2500,2664,3939,3836,752.3,-6.8,320,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2664,3888,3940,3836,0,0,0,0,0,0,15.14,15.18,15.17
$GC,8013,-0.62,-194.6,2500,2664,3937,3834,791.3,-6.5,325,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2664,3885,3937,3834,0,0,0,0,0,0,15.14,15.17,15.16
$GC,8613,-0.62,-194.6,2500,2664,3935,3833,827.5,-6.0,330,8618,0.00,2.33,0.00,0.000,516,0.000,0.063,2500,1257,3884,3935,3833,0,0,0,0,0,0,15.14,14.49,15.16
$GC,8652,-0.62,-194.6,2500,1257,3935,3833,830.5,-7.2,338,8658,0.00,2.33,0.00,0.000,1030,0.000,0.067,2493,2650,3883,3934,3833,0,0,0,0,0,0,14.56,14.48,14.62
$GC,9337,-0.62,-194.6,2493,2650,3932,3830,880.0,-7.3,359,9342,0.00,2.40,0.00,0.000,260,0.000,0.098,2484,4036,3881,3932,3830,0,0,0,0,0,0,15.10,14.33,15.14
$GC,9380,-0.62,-194.6,2483,4036,3932,3829,883.8,-8.1,368,9387,0.12,2.22,0.00,0.000,3078,0.226,0.044,2513,2656,3881,3932,3830,0,0,0,0,0,0,14.35,14.64,14.58
$GC,10061,-0.62,-194.6,2512,2656,3930,3830,926.4,-6.2,388,10067,0.00,2.33,0.00,0.000,516,0.000,0.067,2513,1249,3879,3930,3829,0,0,0,0,0,0,15.09,14.42,15.13
$GC,10105,-0.62,-194.6,2513,1249,3930,3829,929.9,-7.2,397,10110,0.00,2.38,0.00,0.000,1030,0.000,0.070,2511,2649,3879,3929,3829,0,0,0,0,0,0,14.64,14.48,14.69
$GC,10788,-0.62,-194.6,2512,2648,3928,3829,971.4,-6.0,417,10792,0.00,2.45,0.00,0.000,260,0.000,0.103,2501,4042,3878,3927,3829,0,0,0,0,0,0,15.09,14.36,15.12
$STATE,10806,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10807,begin apogee
$GC,10819,-0.20,0.0,2501,2477,3928,3828,973.0,-6.1,421,10979,0.52,0.00,157.25,2.167,10246,0.178,0.000,2651,2478,3126,3059,3194,0,0,0,0,0,0,14.28,14.04,13.07
$STATE,10981,end apogee,CONTROL_FINISHED_OK
$STATE,10981,begin climb
$GC,10985,0.62,194.6,2651,2477,3058,3190,976.4,0.0,422,11159,0.80,2.53,163.73,2.128,10756,0.114,0.079,2918,1080,2330,2240,2420,0,0,0,0,0,0,14.05,13.72,12.79
$GC,11178,0.62,194.6,2917,1080,2243,2413,962.0,11.3,471,11183,0.00,2.47,0.00,0.000,1030,0.000,0.068,2918,2471,2328,2243,2413,0,0,0,0,0,0,13.90,13.85,13.94
$GC,11888,0.62,194.6,2917,2471,2250,2400,869.9,13.0,498,11894,0.00,2.45,0.00,0.000,260,0.000,0.099,2918,3877,2325,2251,2400,0,0,0,0,0,0,14.95,14.47,14.98
$GC,11962,0.62,194.6,2918,3877,2258,2391,859.8,13.4,513,11967,0.00,2.30,0.00,0.000,1030,0.000,0.056,2928,2484,2324,2258,2391,0,0,0,0,0,0,14.73,14.64,14.76
$GC,12611,0.62,194.6,2928,2484,2258,2390,774.0,13.3,527,12613,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2484,2324,2258,2390,0,0,0,0,0,0,15.04,15.08,15.07
$GC,13211,0.62,194.6,2928,2484,2258,2389,692.1,13.7,532,13212,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2484,2323,2258,2389,0,0,0,0,0,0,15.08,15.11,15.11
$GC,13511,0.62,194.6,2928,2484,2258,2388,651.4,13.7,537,13513,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2484,2323,2258,2388,0,0,0,0,0,0,15.09,15.12,15.12
$GC,13811,0.62,194.6,2928,2484,2257,2388,611.6,13.3,542,13812,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2484,2323,2258,2388,0,0,0,0,0,0,15.09,15.13,15.13
$GC,14111,0.62,194.6,2928,2484,2258,2388,574.6,12.3,547,14112,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2484,2323,2258,2388,0,0,0,0,0,0,15.10,15.14,15.14
$GC,14411,0.62,194.6,2928,2484,2258,2388,538.2,12.2,552,14417,0.00,2.45,0.00,0.000,260,0.000,0.095,2928,3886,2323,2260,2387,0,0,0,0,0,0,15.10,14.44,15.14
$GC,14435,0.62,194.6,2928,3886,2262,2383,534.9,12.7,557,14440,0.00,2.33,0.00,0.000,1030,0.000,0.054,2937,2472,2322,2262,2383,0,0,0,0,0,0,14.76,14.66,14.81
$GC,14774,0.62,194.6,2937,2472,2262,2383,491.9,12.8,569,14775,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2471,2322,2262,2383,0,0,0,0,0,0,15.11,15.15,15.14
$GC,15075,0.62,194.6,2937,2472,2262,2383,451.0,13.7,574,15076,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2472,2323,2263,2383,0,0,0,0,0,0,15.11,15.14,15.14
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$GC,16402,0.62,194.6,2924,2467,2269,2379,286.5,10.9,618,16407,0.00,2.33,0.00,0.000,516,0.000,0.076,2934,1079,2324,2270,2379,0,0,0,0,0,0,15.11,14.45,15.14
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$GC,17146,0.62,216.4,2912,2474,2272,2378,207.1,9.3,666,17168,0.00,2.47,16.67,1.239,8452,0.000,0.092,2912,3879,2241,2177,2306,0,0,0,0,0,0,15.09,14.67,13.86
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$STATE,19362,end climb,SURFACE_DEPTH_REACHED
$STATE,19362,begin surface coast
$STATE,19375,end surface coast,CONTROL_FINISHED_OK
$STATE,19375,begin surface
$SM_CCo,19461,0.00,0.000,0,0,562,629.19
$SM_GC,3.56,8.10,2.60,0.00,0.056,0.048,0.000,40,2645,562,-8.30,-1.22,629.19,0,0,0,0,0,0,14.63,14.65,14.73
$IRIDIUM_FIX,751.63,8152.81,301015,163456
$TT8_MAMPS,0.02247,0.02247
$HUMID,48.42
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,12.79,107.157
$10V_AH,12.63,0.000
$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,22.350,112.075,630.550,0.000,0.000,0.000,0.000,203.400,0.250,0.000,75.374,583.836,16164.849,637.747,1932.555,528.433,0.000,1692.241,0.000,1260.791,0.000,0.543,0.000
$DEVICE_MAMPS,412.335,102.510,2167.245,0.000,0.000,0.000,0.000,236.385,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1010.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,271728
$DATA_FILE_SIZE,40115,879
$CAP_FILE_SIZE,151931,0
$CFSIZE,260034560,227074048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.153,155.97,1
$GPS,311015,033108,755.534,8154.940,104,2.8,144,-2.3,0.4,13.1,5,27.4