version: 66.10
glider: 176
mission: 5
dive: 309
start: 5 14 112 19 30 13
data:
$ID,176
$MISSION,5
$DIVE,309
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$D_BOOST,100
$T_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,400
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51719
$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
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-7928.665
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2514
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2929
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$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,-70.662712
$PRESSURE_SLOPE,0.0001162977
$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,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$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,0.0043285224
$SEABIRD_T_H,0.00062606536
$SEABIRD_T_I,2.5051821e-05
$SEABIRD_T_J,2.9112039e-06
$SEABIRD_C_G,-10.134115
$SEABIRD_C_H,1.1528351
$SEABIRD_C_I,-0.0013358581
$SEABIRD_C_J,0.00019115997
$GPS1,140512,192200,1936.874,12304.477,37,1.3,42,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-72.1
$GPS2,140512,192944,1936.876,12304.589,13,1.5,13,-2.3
$SPEED_LIMITS,0.143,0.259
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,70.0,148841,-13.2,-8.250
$D_GRID,4632
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.54,-170.3,0.0,0.0,0,72,0.00,0.00,-52.75,0.000,2,0.000,0.000,176,2674,2479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.54,-170.3,3.4,-6.6,9,114,8.68,1.70,-22.48,0.000,4,0.231,0.062,2335,3774,3627,0,0,0,0,0,0,25.25,26.20,26.69
$GC,247,-0.54,-170.3,60.9,-24.1,38,254,0.00,1.73,0.00,0.000,6,0.000,0.023,2335,2530,3627,0,0,0,0,0,0,28.83,26.48,28.83
$GC,559,-0.54,-170.3,159.4,-30.7,99,567,0.00,1.95,0.00,0.000,4,0.000,0.028,2337,1142,3627,0,0,0,0,0,0,28.83,26.48,28.83
$GC,685,-0.54,-170.3,182.3,-15.6,123,693,0.00,2.22,0.00,0.000,6,0.000,0.047,2335,2616,3627,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1000,-0.54,-170.3,251.0,-19.7,162,1009,0.00,2.08,0.00,0.000,4,0.000,0.026,2335,1144,3627,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1095,-0.54,-170.3,264.7,-13.1,171,1103,0.00,2.22,0.00,0.000,6,0.000,0.045,2333,2624,3628,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1402,-0.54,-170.3,320.2,-18.6,202,1411,0.00,2.10,0.00,0.000,4,0.000,0.026,2333,1144,3626,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1465,-0.54,-170.3,328.6,-12.2,208,1473,0.00,2.20,0.00,0.000,6,0.000,0.045,2332,2621,3627,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1774,-0.54,-170.3,374.0,-14.4,239,1784,0.05,2.10,0.00,0.000,4,0.245,0.024,2346,1136,3625,0,0,0,0,0,0,26.62,26.51,28.83
$GC,1810,-0.54,-170.3,378.2,-12.8,242,1817,0.00,2.22,0.00,0.000,6,0.000,0.042,2345,2625,3625,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2117,-0.54,-170.3,412.3,-11.3,273,2126,0.00,2.10,0.00,0.000,4,0.000,0.025,2345,1138,3623,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2181,-0.54,-170.3,418.6,-9.4,279,2189,0.00,2.22,0.00,0.000,6,0.000,0.043,2345,2632,3622,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2488,-0.54,-170.3,454.1,-11.3,310,2491,0.00,1.67,0.00,0.000,4,0.000,0.051,2338,3767,3620,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2519,-0.54,-170.3,457.6,-11.4,313,2522,0.00,1.73,0.00,0.000,6,0.000,0.022,2338,2492,3620,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2830,-0.54,-170.3,488.1,-8.6,344,2839,0.00,2.00,0.00,0.000,4,0.000,0.051,2332,3766,3618,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2872,-0.54,-170.3,492.0,-9.4,348,2876,0.05,1.73,0.00,0.000,6,0.208,0.024,2349,2486,3617,0,0,0,0,0,0,26.45,26.64,28.83
$GC,3184,-0.54,-170.3,518.4,-8.9,379,3194,0.05,2.00,0.00,0.000,4,0.177,0.050,2290,3765,3614,0,0,0,0,0,0,26.67,26.23,28.83
$GC,3229,-0.54,-170.3,523.6,-12.2,383,3238,0.12,1.75,0.00,0.000,6,0.115,0.023,2349,2471,3614,0,0,0,0,0,0,26.18,26.63,28.83
$GC,3536,-0.54,-170.3,554.4,-9.9,414,3541,0.05,2.00,0.00,0.000,4,0.177,0.051,2291,3775,3612,0,0,0,0,0,0,26.67,26.22,28.83
$GC,3560,-0.54,-170.3,556.9,-10.3,416,3569,0.15,1.75,0.00,0.000,6,0.113,0.022,2348,2466,3611,0,0,0,0,0,0,26.20,26.64,28.83
$GC,3869,-0.54,-170.3,584.7,-8.1,447,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2465,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4169,-0.54,-170.3,608.7,-8.0,472,4174,0.00,2.00,0.00,0.000,4,0.000,0.054,2345,3776,3606,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4213,-0.54,-170.3,611.9,-8.0,474,4216,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2499,3605,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4528,-0.54,-170.3,639.6,-9.0,490,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2456,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4829,-0.54,-170.3,664.5,-7.5,505,4835,0.00,2.03,0.00,0.000,4,0.000,0.054,2339,3766,3600,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4910,-0.54,-170.3,670.4,-7.4,509,4913,0.00,1.73,0.00,0.000,6,0.000,0.024,2339,2494,3599,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5231,-0.54,-170.3,692.0,-6.5,525,5236,0.00,2.03,0.00,0.000,4,0.000,0.053,2331,3772,3596,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5259,-0.54,-170.3,693.4,-6.5,526,5263,0.05,1.75,0.00,0.000,6,0.202,0.024,2349,2488,3596,0,0,0,0,0,0,26.42,26.62,28.83
$GC,5572,-0.54,-170.3,712.5,-6.2,542,5576,0.05,2.03,0.00,0.000,4,0.174,0.052,2292,3768,3594,0,0,0,0,0,0,26.65,26.13,28.83
$GC,5622,-0.54,-170.3,716.5,-7.7,544,5627,0.17,1.75,0.00,0.000,6,0.125,0.023,2351,2451,3593,0,0,0,0,0,0,26.18,26.60,28.83
$GC,5931,-0.54,-170.3,739.1,-7.1,559,5935,0.05,2.05,0.00,0.000,4,0.174,0.052,2292,3771,3591,0,0,0,0,0,0,26.64,26.11,28.83
$GC,6000,-0.54,-170.3,745.8,-9.9,562,6005,0.17,1.75,0.00,0.000,6,0.129,0.024,2349,2474,3591,0,0,0,0,0,0,26.15,26.59,28.83
$GC,6313,-0.54,-170.3,769.7,-7.2,578,6319,0.05,2.00,0.00,0.000,4,0.176,0.051,2290,3769,3589,0,0,0,0,0,0,26.64,26.10,28.83
$GC,6355,-0.54,-170.3,773.8,-8.4,580,6360,0.15,1.77,0.00,0.000,6,0.105,0.023,2349,2486,3588,0,0,0,0,0,0,26.15,26.59,28.83
$GC,6673,-0.54,-170.3,798.1,-7.7,596,6680,0.05,1.98,0.00,0.000,4,0.176,0.052,2290,3767,3586,0,0,0,0,0,0,26.64,26.09,28.83
$GC,6716,-0.54,-170.3,802.5,-9.3,598,6721,0.17,1.75,0.00,0.000,6,0.129,0.024,2348,2482,3585,0,0,0,0,0,0,26.13,26.56,28.83
$GC,7029,-0.54,-170.3,830.8,-8.6,614,7035,0.00,2.00,0.00,0.000,4,0.000,0.054,2347,3767,3584,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7073,-0.54,-170.3,834.2,-8.7,616,7076,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2506,3584,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7390,-0.54,-170.3,858.4,-6.9,632,7396,0.00,2.00,0.00,0.000,4,0.000,0.054,2347,3763,3582,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7433,-0.54,-170.3,861.0,-6.6,634,7436,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2502,3582,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7751,-0.54,-170.3,879.3,-5.4,650,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2463,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8050,-0.54,-170.3,896.1,-5.7,665,8054,0.00,2.03,0.00,0.000,4,0.000,0.056,2346,3769,3579,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8113,-0.54,-170.3,899.9,-5.9,668,8116,0.00,1.75,0.00,0.000,6,0.000,0.025,2347,2507,3578,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8435,-0.54,-170.3,920.3,-6.4,684,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2467,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8734,-0.54,-170.3,939.5,-6.3,699,8740,0.00,2.03,0.00,0.000,4,0.000,0.056,2347,3763,3575,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8798,-0.54,-170.3,943.1,-6.1,702,8801,0.00,1.75,0.00,0.000,6,0.000,0.024,2347,2503,3575,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9114,-0.54,-170.3,961.9,-5.6,718,9115,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2469,3574,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9414,-0.54,-170.3,977.9,-5.4,733,9420,0.00,2.03,0.00,0.000,4,0.000,0.057,2347,3763,3573,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9468,-0.54,-170.3,979.9,-5.2,735,9476,0.00,1.75,0.00,0.000,6,0.000,0.025,2347,2461,3572,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,9652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9652,begin apogee
$GC,9657,-0.17,0.0,990.7,-5.5,745,9809,0.32,0.08,143.65,1.726,6,0.101,0.041,2466,2441,2928,0,0,0,0,0,0,26.04,24.23,22.68
$STATE,9810,end apogee,CONTROL_FINISHED_OK
$STATE,9810,begin climb
$GC,9812,0.54,170.3,996.7,0.0,752,9987,0.62,2.35,164.40,1.677,4,0.054,0.055,2703,3760,2233,0,0,0,0,0,0,24.59,23.81,22.19
$GC,10077,0.54,170.3,974.3,17.5,766,10083,0.10,1.98,0.00,0.000,6,0.173,0.024,2684,2453,2228,0,0,0,0,0,0,25.08,25.44,28.83
$GC,10396,0.54,170.3,933.2,12.1,782,10397,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2449,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10696,0.54,170.3,899.0,11.2,797,10701,0.00,2.03,0.00,0.000,4,0.000,0.030,2694,1049,2220,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10728,0.54,170.3,896.9,11.2,798,10735,0.03,2.25,0.00,0.000,6,0.274,0.047,2683,2517,2219,0,0,0,0,0,0,26.12,26.19,28.83
$GC,11035,0.54,170.3,861.0,12.0,814,11041,0.00,1.92,0.00,0.000,4,0.000,0.054,2683,3770,2218,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11057,0.54,170.3,858.0,12.7,815,11063,0.00,1.90,0.00,0.000,6,0.000,0.024,2692,2450,2218,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11376,0.54,170.3,813.9,14.4,831,11378,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2445,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11675,0.54,170.3,771.4,14.0,846,11677,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2445,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11976,0.54,170.3,732.3,12.5,861,11982,0.00,2.03,0.00,0.000,4,0.000,0.054,2692,3759,2216,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12018,0.54,170.3,726.5,13.4,863,12022,0.10,1.92,0.00,0.000,6,0.201,0.024,2679,2446,2216,0,0,0,0,0,0,26.08,26.44,28.83
$GC,12336,0.54,170.3,689.5,11.3,879,12340,0.00,2.03,0.00,0.000,4,0.000,0.031,2689,1048,2215,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12398,0.54,170.3,682.7,10.9,882,12404,0.00,2.28,0.00,0.000,6,0.000,0.045,2689,2522,2214,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12718,0.54,170.3,644.6,11.4,898,12723,0.00,1.92,0.00,0.000,4,0.000,0.055,2689,3770,2214,0,0,0,0,0,0,28.83,26.08,28.83
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$GC,14839,0.54,170.3,427.3,8.5,1087,14847,0.05,2.28,0.00,0.000,6,0.144,0.042,2680,2527,2213,0,0,0,0,0,0,25.96,26.16,28.83
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$GC,15178,0.55,180.4,400.0,8.8,1121,15189,0.20,2.25,0.00,0.000,6,0.149,0.044,2682,2526,2192,0,0,0,0,0,0,25.73,26.10,28.83
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$STATE,19617,end climb,SURFACE_DEPTH_REACHED
$STATE,19617,begin surface coast
$FINISH,0.9,1.021480
$STATE,19640,end surface coast,CONTROL_FINISHED_OK
$STATE,19640,begin surface
$SM_CCo,19719,0.00,0.000,0,0,798,522.73
$SM_GC,1.52,6.65,2.42,0.00,0.032,0.046,0.000,179,2624,798,-7.17,-0.40,522.73,0,0,0,0,0,0,26.44,26.24,28.83
$IRIDIUM_FIX,1927.51,12301.43,140512,131325
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.47
$INTERNAL_PRESSURE,9.51483
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,22.2,64.449
$10V_AH,9.9,39.479
$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,20.425,180.650,504.750,0.000,0.000,33.625,41.713,237.703,0.000,0.000,16.536,4417.890,11072.119,670.756,3581.967,412.122,0.000,2346.365,0.000,2987.957,0.000,0.543,0.000
$DEVICE_MAMPS,273.870,108.630,1725.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1194.305,2326.790,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329800
$DATA_FILE_SIZE,130498,1758
$CAP_FILE_SIZE,210157,0
$CFSIZE,260165632,192167936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082,208.0,1
$GPS,150512,010021,1936.956,12306.626,39,2.2,58,-2.3