version: 66.10
glider: 169
mission: 6
dive: 202
start: 6 1 112 16 15 8
data:
$ID,169
$MISSION,6
$DIVE,202
$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,380
$T_MISSION,420
$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,200
$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,1
$N_NOCOMM,1
$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,-15714.532
$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,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
$GPS1,010612,160637,2159.648,12322.067,31,0.9,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-72.7
$GPS2,010612,161444,2159.735,12322.209,16,1.3,16,-2.9
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,274.7,230890,-13.8,-8.684
$D_GRID,4944
$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,-0.58,-194.6,0.0,0.0,0,94,0.00,0.00,-75.05,0.000,2,0.000,0.000,116,2543,3079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.58,-194.6,4.1,-10.4,13,124,7.85,1.95,-12.18,0.000,4,0.223,0.051,2069,3843,3776,0,0,1,0,0,0,25.21,25.49,26.45
$GC,168,-0.49,-194.6,38.0,-37.3,25,175,0.12,2.00,0.00,0.000,6,0.153,0.026,2113,2477,3777,0,0,0,0,0,0,25.82,26.10,28.83
$GC,361,-0.40,-194.6,97.1,-30.0,62,369,0.12,2.35,0.00,0.000,4,0.184,0.023,2159,1034,3777,0,0,0,0,0,0,25.96,26.20,28.83
$GC,447,-0.43,-194.6,112.5,-9.9,78,454,0.00,2.45,0.00,0.000,6,0.000,0.031,2147,2495,3778,0,0,0,0,0,0,28.83,26.20,28.83
$GC,640,-0.37,-194.6,150.6,-21.2,115,646,0.00,1.98,0.00,0.000,4,0.000,0.038,2137,3829,3778,0,0,0,0,0,0,28.83,26.22,28.83
$GC,675,-0.33,-194.6,157.2,-17.8,121,681,0.00,2.03,0.00,0.000,6,0.000,0.018,2137,2411,3778,0,0,0,0,0,0,28.83,26.39,28.83
$GC,867,-0.30,-194.6,188.8,-15.4,158,874,0.12,2.20,0.00,0.000,4,0.149,0.022,2186,1026,3778,0,0,0,0,0,0,26.22,26.35,28.83
$GC,902,-0.32,-194.6,192.5,-7.7,164,910,0.00,2.42,0.00,0.000,6,0.000,0.030,2186,2491,3779,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1096,-0.41,-194.6,207.1,-9.5,194,1100,0.12,1.98,0.00,0.000,4,0.105,0.034,2126,3836,3779,0,0,0,0,0,0,26.44,26.32,28.83
$GC,1169,-0.49,-194.6,214.2,-9.5,201,1178,0.00,2.03,0.00,0.000,6,0.000,0.017,2133,2384,3779,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1480,-0.57,-194.6,236.9,-6.6,232,1490,0.12,2.08,0.00,0.000,4,0.110,0.021,2089,1032,3778,0,0,0,0,0,0,26.46,26.43,28.83
$GC,1545,-0.62,-194.6,241.3,-6.5,238,1554,0.00,2.30,0.00,0.000,6,0.000,0.027,2089,2444,3778,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1854,-0.57,-194.6,288.2,-16.2,269,1862,0.00,2.03,0.00,0.000,4,0.000,0.038,2078,3825,3778,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1906,-0.54,-194.6,295.5,-14.0,274,1914,0.00,2.05,0.00,0.000,6,0.000,0.021,2079,2398,3778,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2216,-0.49,-194.6,346.0,-17.0,305,2226,0.12,2.15,0.00,0.000,4,0.141,0.023,2128,1033,3778,0,0,0,0,0,0,26.34,26.44,28.83
$GC,2280,-0.52,-194.6,352.9,-8.5,311,2288,0.00,2.28,0.00,0.000,6,0.000,0.031,2125,2430,3778,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2589,-0.52,-194.6,380.7,-8.6,342,2598,0.00,2.12,0.00,0.000,4,0.000,0.040,2114,3830,3776,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2624,-0.53,-194.6,383.3,-8.2,345,2631,0.00,2.08,0.00,0.000,6,0.000,0.018,2115,2373,3775,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2932,-0.53,-194.6,407.9,-7.6,376,2941,0.00,2.08,0.00,0.000,4,0.000,0.024,2115,1040,3773,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2975,-0.54,-194.6,411.0,-7.2,380,2985,0.00,2.28,0.00,0.000,6,0.000,0.032,2112,2427,3773,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3285,-0.54,-194.6,433.3,-6.9,411,3293,0.00,2.08,0.00,0.000,4,0.000,0.041,2102,3829,3770,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3350,-0.55,-194.6,438.0,-7.3,417,3358,0.00,2.08,0.00,0.000,6,0.000,0.020,2102,2381,3769,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3657,-0.55,-194.6,466.9,-10.2,448,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2382,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3960,-0.54,-194.6,497.6,-9.5,478,3969,0.00,2.28,-0.08,0.000,4,0.000,0.054,2092,3821,3792,0,0,0,0,0,0,28.83,26.27,25.56
$GC,3995,-0.54,-194.6,501.1,-9.9,481,4002,0.00,2.05,0.00,0.000,6,0.000,0.021,2091,2393,3792,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4303,-0.53,-194.6,531.1,-10.0,512,4307,0.00,2.12,0.00,0.000,4,0.000,0.024,2092,1038,3791,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4347,-0.53,-194.6,534.9,-9.3,516,4355,0.00,2.33,0.00,0.000,6,0.000,0.034,2084,2444,3790,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4655,-0.51,-194.6,567.7,-10.4,547,4664,0.00,2.28,0.00,0.000,4,0.000,0.026,2084,1032,3787,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4690,-0.51,-194.6,570.8,-9.9,550,4698,0.12,2.30,0.00,0.000,6,0.119,0.033,2117,2434,3787,0,0,0,0,0,0,26.19,26.32,28.83
$GC,4998,-0.52,-194.6,593.0,-7.3,581,5008,0.00,2.10,0.00,0.000,4,0.000,0.043,2107,3828,3784,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5063,-0.55,-194.6,597.8,-7.3,587,5071,0.00,2.08,0.00,0.000,6,0.000,0.022,2107,2392,3784,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5372,-0.55,-194.6,622.3,-7.9,604,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2393,3782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5672,-0.56,-194.6,643.9,-6.7,619,5677,0.00,2.25,0.00,0.000,4,0.000,0.044,2098,3821,3779,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5706,-0.57,-194.6,645.2,-6.7,620,5713,0.00,2.08,0.00,0.000,6,0.000,0.021,2098,2386,3779,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6011,-0.57,-194.6,668.6,-7.7,636,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2387,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6313,-0.58,-194.6,691.1,-7.6,651,6318,0.00,2.35,0.00,0.000,4,0.000,0.045,2088,3824,3774,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6352,-0.59,-194.6,694.1,-7.5,653,6358,0.00,2.05,0.00,0.000,6,0.000,0.023,2088,2417,3773,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6672,-0.59,-194.6,720.3,-8.1,669,6677,0.00,2.20,0.00,0.000,4,0.000,0.028,2088,1044,3772,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6700,-0.59,-194.6,721.7,-7.9,670,6704,0.00,2.40,0.00,0.000,6,0.000,0.034,2085,2477,3771,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7007,-0.59,-194.6,747.0,-8.0,685,7008,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2475,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7306,-0.59,-194.6,771.1,-8.2,700,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2475,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7607,-0.59,-194.6,796.7,-8.8,715,7612,0.00,2.33,0.00,0.000,4,0.000,0.028,2086,1048,3765,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7626,-0.59,-194.6,798.6,-9.0,716,7632,0.00,2.40,0.00,0.000,6,0.000,0.034,2085,2463,3765,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7947,-0.59,-194.6,829.6,-10.2,732,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2462,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8246,-0.59,-194.6,859.5,-9.6,747,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2462,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8546,-0.59,-194.6,886.3,-8.7,762,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2462,3761,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8848,-0.59,-194.6,910.0,-7.6,777,8853,0.00,2.33,0.00,0.000,4,0.000,0.027,2086,1044,3759,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8879,-0.59,-194.6,911.7,-7.7,778,8886,0.00,2.40,0.00,0.000,6,0.000,0.035,2085,2462,3759,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9187,-0.59,-194.6,935.3,-7.3,794,9192,0.00,2.12,0.00,0.000,4,0.000,0.048,2076,3818,3758,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9221,-0.60,-194.6,936.8,-7.3,795,9229,0.00,2.08,0.00,0.000,6,0.000,0.022,2076,2405,3758,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9526,-0.60,-194.6,961.4,-7.8,811,9528,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2405,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9826,-0.60,-194.6,986.8,-8.8,826,9832,0.00,2.28,0.00,0.000,4,0.000,0.047,2066,3818,3755,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9855,-0.60,-194.6,988.6,-8.9,827,9859,0.00,2.08,0.00,0.000,6,0.000,0.023,2066,2413,3755,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,9879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9879,begin apogee
$GC,9885,-0.20,0.0,991.9,-9.1,828,10084,0.40,0.05,193.20,1.171,4,0.096,0.044,2207,2490,2976,0,0,0,0,0,0,25.87,24.52,23.64
$STATE,10085,end apogee,CONTROL_FINISHED_OK
$STATE,10085,begin climb
$GC,10087,0.58,194.6,1002.1,0.0,838,10304,0.65,2.45,207.35,1.147,4,0.040,0.027,2467,1072,2181,0,0,0,0,0,0,24.81,24.82,23.15
$GC,10357,0.54,194.6,975.7,14.5,851,10366,0.00,2.65,0.00,0.000,6,0.000,0.035,2468,2535,2152,0,0,0,0,0,0,28.83,24.86,28.83
$GC,10669,0.47,194.6,910.6,21.6,867,10675,0.12,2.47,0.00,0.000,4,0.183,0.027,2444,1069,2147,0,0,0,0,0,0,25.62,25.85,28.83
$GC,10744,0.43,194.6,899.8,18.8,870,10751,0.00,2.60,0.00,0.000,6,0.000,0.035,2444,2557,2145,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11049,0.38,194.6,840.4,19.2,886,11053,0.15,1.90,0.00,0.000,4,0.168,0.041,2399,3837,2145,0,0,0,0,0,0,25.77,25.99,28.83
$GC,11156,0.35,194.6,823.0,16.5,891,11161,0.00,1.85,0.00,0.000,6,0.000,0.023,2409,2542,2143,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11472,0.32,194.6,776.8,13.3,907,11473,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2541,2142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11772,0.29,194.6,739.4,12.1,922,11777,0.12,1.95,0.00,0.000,4,0.174,0.042,2370,3825,2142,0,0,0,0,0,0,25.98,26.07,28.83
$GC,11836,0.28,194.6,732.9,10.6,925,11839,0.00,1.83,0.00,0.000,6,0.000,0.021,2379,2539,2141,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12159,0.29,211.5,706.6,8.2,941,12179,0.00,2.50,14.52,0.936,4,0.000,0.031,2392,1083,2110,0,0,1,0,0,0,28.83,26.06,24.97
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$GC,13275,0.34,246.7,604.0,8.4,995,13304,0.00,2.62,23.62,0.830,6,0.000,0.034,2387,2572,1972,0,0,0,0,0,0,28.83,26.11,24.94
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$GC,14919,0.40,265.3,446.8,9.4,1156,14926,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2559,1876,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18992,end climb,SURFACE_DEPTH_REACHED
$STATE,18992,begin surface coast
$FINISH,-0.0,1.021222
$STATE,19012,end surface coast,CONTROL_FINISHED_OK
$STATE,19012,begin surface
$SM_CCo,19088,0.00,0.000,0,0,832,526.66
$SM_GC,0.61,6.22,0.00,0.00,0.025,0.000,0.000,129,2510,832,-6.63,0.31,526.66,0,0,0,0,0,0,26.25,28.83,28.83
$IRIDIUM_FIX,2152.74,12323.36,010612,101000
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.97
$INTERNAL_PRESSURE,8.35349
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.2,40.384
$10V_AH,10.1,24.899
$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,17.825,186.900,737.550,0.000,0.000,25.086,41.266,257.531,0.000,0.000,17.282,4242.581,10590.136,867.299,3364.269,472.312,0.000,2524.871,0.000,2857.459,0.000,0.544,0.000
$DEVICE_MAMPS,223.380,56.610,1171.215,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330364
$DATA_FILE_SIZE,106904,1709
$CAP_FILE_SIZE,219108,0
$CFSIZE,260165632,200327168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$CURRENT,0.162, 67.8,1
$GPS,010612,213425,2200.487,12320.594,38,1.0,38,-2.9