version: 66.10
glider: 169
mission: 6
dive: 83
start: 5 4 112 18 29 13
data:
$ID,169
$MISSION,6
$DIVE,83
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$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,390
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$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,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,-15383.555
$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,2275
$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,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2525
$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,1.75
$ROLL_ADJ_DBAND,0.029999999
$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,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,147.521
$AH0_10V,108.529
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-77.157478
$PRESSURE_SLOPE,0.000115925
$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,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,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043354053
$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
$GPS1,040512,182037,2317.969,12309.068,35,1.0,35,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-73.4
$GPS2,040512,182849,2318.091,12309.057,14,1.1,31,-3.2
$SPEED_LIMITS,0.159,0.302
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,101.0,97724,-13.6,-9.167
$D_GRID,4020
$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,17,-0.61,-219.0,0.0,0.0,0,104,0.00,0.00,-83.72,0.000,2,0.000,0.000,117,2416,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.61,-219.0,3.5,-9.4,15,136,7.62,2.22,-11.48,0.000,4,0.226,0.034,2077,986,3877,0,0,0,0,0,0,25.57,26.13,26.38
$GC,207,-0.56,-219.0,42.3,-23.3,32,214,0.00,2.53,0.00,0.000,6,0.000,0.036,2064,2526,3877,0,0,0,0,0,0,28.83,26.10,28.83
$GC,407,-0.47,-219.0,104.5,-28.4,69,414,0.17,2.35,0.00,0.000,4,0.177,0.023,2126,1033,3878,0,0,0,0,0,0,25.94,26.25,28.83
$GC,453,-0.44,-219.0,115.3,-19.0,77,460,0.00,2.40,0.00,0.000,6,0.000,0.035,2115,2501,3878,0,0,0,0,0,0,28.83,26.22,28.83
$GC,649,-0.39,-219.0,150.6,-20.5,114,659,0.12,2.05,0.00,0.000,4,0.167,0.043,2143,3822,3878,0,0,0,0,0,0,26.14,26.27,28.83
$GC,677,-0.35,-219.0,156.1,-19.7,118,686,0.00,2.05,0.00,0.000,6,0.000,0.021,2152,2427,3878,0,0,0,0,0,0,28.83,26.36,28.83
$GC,877,-0.34,-219.0,181.9,-12.2,155,885,0.00,2.15,0.00,0.000,4,0.000,0.024,2152,1036,3878,0,0,0,0,0,0,28.83,26.39,28.83
$GC,919,-0.38,-219.0,186.2,-8.7,162,928,0.00,2.35,0.00,0.000,6,0.000,0.031,2150,2501,3878,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1121,-0.38,-219.0,205.7,-10.5,195,1130,0.00,1.98,0.00,0.000,4,0.000,0.042,2141,3817,3878,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1153,-0.39,-219.0,209.1,-10.5,198,1164,0.00,2.08,0.00,0.000,6,0.000,0.020,2141,2399,3878,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1463,-0.39,-219.0,240.7,-9.9,229,1467,0.00,2.10,0.00,0.000,4,0.000,0.025,2141,1035,3878,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1485,-0.40,-219.0,242.8,-9.8,231,1494,0.00,2.33,0.00,0.000,6,0.000,0.031,2138,2482,3878,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1797,-0.40,-219.0,272.8,-10.5,262,1805,0.00,2.03,0.00,0.000,4,0.000,0.041,2128,3814,3878,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1840,-0.41,-219.0,277.1,-10.0,266,1849,0.00,2.08,0.00,0.000,6,0.000,0.021,2128,2403,3878,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2149,-0.41,-219.0,310.2,-10.8,297,2160,0.00,2.10,0.00,0.000,4,0.000,0.025,2128,1032,3878,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2206,-0.42,-219.0,315.1,-9.0,302,2213,0.00,2.28,0.00,0.000,6,0.000,0.033,2125,2462,3877,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2513,-0.42,-219.0,347.0,-11.1,333,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2462,3878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2816,-0.42,-219.0,376.7,-8.9,363,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2461,3877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3128,-0.43,-219.0,403.0,-8.2,394,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2461,3877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3435,-0.44,-219.0,429.6,-8.5,425,3444,0.00,2.22,0.00,0.000,4,0.000,0.028,2125,1048,3876,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3461,-0.45,-219.0,431.6,-8.6,427,3470,0.00,2.28,0.00,0.000,6,0.000,0.033,2125,2461,3876,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3770,-0.46,-219.0,454.0,-7.3,458,3778,0.00,2.08,0.00,0.000,4,0.000,0.045,2116,3817,3874,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3816,-0.49,-219.0,457.2,-7.3,462,3823,0.00,2.08,0.00,0.000,6,0.000,0.021,2116,2394,3873,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4124,-0.50,-219.0,481.5,-7.5,493,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2394,3873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4435,-0.51,-219.0,508.4,-8.5,524,4446,0.00,2.33,0.00,0.000,4,0.000,0.046,2109,3817,3871,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4460,-0.53,-219.0,510.6,-8.2,526,4468,0.00,2.08,0.00,0.000,6,0.000,0.021,2109,2400,3871,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4770,-0.54,-219.0,532.5,-6.2,557,4779,0.00,2.28,0.00,0.000,4,0.000,0.043,2100,3820,3869,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4792,-0.55,-219.0,534.0,-6.4,559,4796,0.00,2.05,0.00,0.000,6,0.000,0.021,2100,2407,3869,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5104,-0.55,-219.0,557.5,-8.4,590,5115,0.00,2.10,0.00,0.000,4,0.000,0.026,2100,1035,3867,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5129,-0.56,-219.0,559.6,-8.7,592,5137,0.00,2.30,0.00,0.000,6,0.000,0.033,2099,2477,3867,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5438,-0.56,-219.0,587.5,-9.6,623,5442,0.00,2.05,0.00,0.000,4,0.000,0.046,2089,3816,3866,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5481,-0.57,-219.0,591.5,-9.6,627,5490,0.00,2.08,0.00,0.000,6,0.000,0.021,2089,2414,3865,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5801,-0.57,-219.0,620.8,-8.2,648,5805,0.00,2.12,0.00,0.000,4,0.000,0.028,2089,1035,3863,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5831,-0.57,-219.0,622.5,-8.0,649,5836,0.00,2.33,0.00,0.000,6,0.000,0.034,2086,2484,3862,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6138,-0.57,-219.0,650.7,-9.3,664,6143,0.00,2.05,0.00,0.000,4,0.000,0.045,2076,3819,3862,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6160,-0.57,-219.0,652.6,-9.4,665,6164,0.00,2.03,0.00,0.000,6,0.000,0.021,2076,2420,3862,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6474,-0.56,-219.0,687.7,-11.7,681,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2420,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6773,-0.56,-219.0,720.0,-10.2,696,6779,0.00,2.25,0.00,0.000,4,0.000,0.047,2066,3833,3858,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6802,-0.55,-219.0,722.1,-10.4,697,6806,0.10,2.05,0.00,0.000,6,0.132,0.023,2097,2428,3857,0,0,0,0,0,0,26.41,26.58,28.83
$GC,7110,-0.56,-219.0,747.3,-8.0,712,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2427,3856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7408,-0.57,-219.0,770.9,-8.0,727,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2427,3854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7711,-0.58,-219.0,795.6,-8.4,742,7716,0.00,2.22,0.00,0.000,4,0.000,0.047,2087,3820,3851,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7750,-0.60,-219.0,799.1,-8.6,744,7755,0.00,2.05,0.00,0.000,6,0.000,0.021,2087,2416,3851,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8071,-0.61,-219.0,828.4,-8.8,760,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2416,3850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8371,-0.61,-219.0,853.4,-8.1,775,8375,0.00,2.22,0.00,0.000,4,0.000,0.047,2078,3814,3848,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8406,-0.62,-219.0,855.3,-8.2,776,8413,0.00,2.03,0.00,0.000,6,0.000,0.024,2078,2439,3848,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8714,-0.62,-219.0,882.0,-8.6,792,8719,0.00,2.17,0.00,0.000,4,0.000,0.029,2079,1041,3846,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8746,-0.62,-219.0,883.8,-8.8,793,8753,0.00,2.38,0.00,0.000,6,0.000,0.037,2070,2510,3846,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9053,-0.62,-219.0,916.6,-10.6,809,9059,0.00,2.00,0.00,0.000,4,0.000,0.047,2059,3822,3845,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9073,-0.62,-219.0,918.7,-10.7,810,9078,0.00,2.05,0.00,0.000,6,0.000,0.023,2059,2435,3844,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9394,-0.61,-219.0,953.4,-10.3,826,9395,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2434,3843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9694,-0.60,-219.0,983.7,-10.1,841,9695,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2434,3842,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9770,begin apogee
$GC,9776,-0.20,0.0,991.7,-10.0,845,9987,0.43,0.08,204.85,1.162,4,0.103,0.090,2207,2479,2977,0,0,0,0,0,0,26.21,24.65,23.94
$STATE,9988,end apogee,CONTROL_FINISHED_OK
$STATE,9988,begin climb
$GC,9991,0.61,219.0,1000.4,0.0,855,10231,0.65,2.40,225.10,1.137,4,0.034,0.029,2484,1054,2069,0,0,0,0,0,0,24.87,24.85,23.66
$GC,10328,0.56,219.0,954.6,18.5,871,10335,0.00,2.55,0.00,0.000,6,0.000,0.038,2484,2537,2049,0,0,0,0,0,0,28.83,25.20,28.83
$GC,10637,0.48,219.0,875.9,25.9,887,10644,0.17,2.40,0.00,0.000,4,0.186,0.028,2446,1070,2046,0,0,0,0,0,0,25.57,25.84,28.83
$GC,10720,0.44,219.0,860.1,19.2,891,10725,0.00,2.45,0.00,0.000,6,0.000,0.037,2446,2549,2044,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11040,0.39,219.0,794.2,20.9,907,11046,0.15,1.92,0.00,0.000,4,0.174,0.042,2398,3816,2043,0,0,0,0,0,0,25.85,26.06,28.83
$GC,11183,0.36,219.0,769.8,16.4,914,11187,0.00,1.88,0.00,0.000,6,0.000,0.023,2408,2543,2042,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11495,0.33,219.0,723.8,14.4,930,11501,0.00,2.03,0.00,0.000,4,0.000,0.045,2408,3828,2041,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11525,0.29,219.0,720.7,14.7,931,11529,0.17,1.85,0.00,0.000,6,0.163,0.022,2369,2554,2041,0,0,0,0,0,0,25.96,26.28,28.83
$GC,11833,0.29,219.0,685.9,10.3,946,11838,0.00,2.38,0.00,0.000,4,0.000,0.031,2381,1082,2040,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11865,0.29,219.0,683.7,10.3,947,11872,0.00,2.53,0.00,0.000,6,0.000,0.035,2381,2589,2039,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12174,0.28,219.0,648.3,10.8,963,12178,0.00,1.88,0.00,0.000,4,0.000,0.047,2381,3810,2039,0,0,0,0,0,0,28.83,26.27,28.83
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$GC,12900,0.27,228.4,569.5,8.9,1015,12906,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2583,2038,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,14098,0.40,346.0,403.1,14.6,1134,14107,0.00,2.38,0.00,0.000,4,0.000,0.031,2437,1083,1529,0,0,0,0,0,0,28.83,26.09,28.83
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$STATE,16677,end climb,SURFACE_DEPTH_REACHED
$STATE,16677,begin surface coast
$FINISH,-0.1,1.022403
$STATE,16720,end surface coast,CONTROL_FINISHED_OK
$STATE,16720,begin surface
$SM_CCo,16795,0.00,0.000,0,0,955,496.49
$SM_GC,0.50,5.85,0.38,0.00,0.021,0.036,0.000,125,2466,955,-6.61,0.48,496.49,0,0,0,0,0,0
$IRIDIUM_FIX,2309.79,12306.25,040512,131302
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.26
$INTERNAL_PRESSURE,8.26559
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,23.7,16.743
$10V_AH,10.2,9.151
$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,16.700,162.575,729.950,0.000,0.000,30.484,48.865,245.969,0.000,0.000,32.525,4017.722,8918.903,826.108,3083.591,407.719,0.000,2342.706,0.000,2584.091,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,90.270,1162.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1028.997,1960.045,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330400
$DATA_FILE_SIZE,93534,1518
$CAP_FILE_SIZE,188691,0
$CFSIZE,260165632,213979136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.280,298.3,1
$GPS,040512,231007,2318.904,12311.560,30,1.1,30,-3.2