version: 67.00
glider: 180
mission: 2
dive: 437
start: 1 9 120 13 48 24
data:
$ID,180
$MISSION,2
$DIVE,437
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,3
$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,390
$T_MISSION,450
$T_ABORT,1440
$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,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54047
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019952599
$HD_B,0.0139236
$HD_C,5.7000002e-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,598.53198
$N_FILEKB,8
$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
$T_GPS,5
$N_GPS,80740
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,185
$PITCH_MAX,3625
$C_PITCH,3336
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,25
$PITCH_TIMEOUT,25
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$ROLL_MIN,360
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3960
$C_VBD,2840
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.4
$FG_AHR_10V,48.567429
$FG_AHR_24V,91.185471
$PHONE_SUPPLY,2
$PRESSURE_YINT,-154.69112
$PRESSURE_SLOPE,0.00010699085
$COMPASS_USE,4
$ALTIM_PING_FIT,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,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,7
$LOGGERDEVICE2,22
$LOGGERDEVICE3,33
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,55
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,0
$SIM_W,0
$SEABIRD_T_G,0.0043955045
$SEABIRD_T_H,0.00063085643
$SEABIRD_T_I,2.5021687e-05
$SEABIRD_T_J,3.0087358e-06
$SEABIRD_C_G,-9.7732916
$SEABIRD_C_H,1.1286387
$SEABIRD_C_I,-0.0014607979
$SEABIRD_C_J,0.00018615076
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_XMITRAW,0.0
$TM_LOGSAMPLE,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,090120,133659,1403.388,14416.509,31,0.9,32,0.3
$_CALLS,1
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-69.1
$GPS2,090120,134809,1403.430,14416.506,2,0.6,4,0.3
$SPEED_LIMITS,0.085,0.155
$TGT_NAME,HOLDN
$TGT_LATLONG,1345.000,14430.000
$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,174.6,41885,-21.9,-8.462,-28.56
$D_GRID,1000
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,10.05,2,-77.86,-0.97,0.00,399.2,424.2,374.3,166.4,2473.6,0.00,0.00,0,122.88,106.26,0.00,0.00,0.005,0.000,0.000,3012.44,3049.12,2975.75,166.38,2472.44,0,0,0,15.14,30.00,30.00
$GC,123.18,519,-77.86,-0.97,-40.00,3011.2,3047.4,2975.0,166.6,2472.4,5.12,-8.40,11,150.07,2.60,14.24,2.20,0.013,0.403,0.033,3156.50,3198.31,3114.69,3024.31,1088.19,0,0,0,15.40,15.28,15.33
$GC,372.31,1028,-77.86,-0.97,0.00,3155.6,3196.8,3114.5,3024.5,1088.1,86.01,-30.00,61,378.33,0.00,0.00,2.45,0.000,0.000,0.048,3156.91,3198.00,3115.81,3023.81,2576.88,0,0,0,30.00,30.00,15.81
$GC,562.43,516,-77.86,-0.97,-40.00,3155.7,3196.9,3114.5,3024.6,2577.9,128.91,-18.65,81,568.33,0.00,0.00,2.38,0.000,0.000,0.030,3155.72,3196.88,3114.56,3024.88,1089.38,0,0,0,30.00,30.00,15.85
$GC,792.29,1028,-77.86,-0.97,0.00,3155.6,3196.9,3114.3,3023.8,1089.2,172.36,-14.07,127,798.42,0.00,0.00,2.41,0.000,0.000,0.038,3156.69,3197.81,3115.56,3023.06,2581.31,0,0,0,30.00,30.00,15.87
$GC,982.35,260,-77.86,-0.97,40.00,3155.5,3196.2,3114.7,3024.2,2581.2,198.88,-12.77,147,988.31,0.00,0.00,1.97,0.000,0.000,0.071,3155.72,3196.50,3114.94,3024.50,3772.50,0,0,0,30.00,30.00,15.86
$GC,1172.56,1028,-77.86,-0.97,0.00,3155.4,3196.5,3114.3,3024.2,3772.2,226.73,-14.38,185,1177.62,0.00,0.00,2.00,0.000,0.000,0.022,3156.69,3197.94,3115.44,3025.19,2469.69,0,0,0,30.00,30.00,15.95
$GC,1362.51,516,-77.86,-0.97,-40.00,3155.1,3195.9,3114.2,3023.8,2454.9,254.93,-14.44,203,1367.68,0.00,0.00,2.15,0.000,0.000,0.033,3155.91,3197.06,3114.75,3024.69,1091.38,0,0,0,30.00,30.00,15.98
$GC,1527.29,1028,-77.86,-0.97,0.00,3153.9,3193.8,3114.0,3023.7,1091.2,278.87,-16.08,236,1532.76,0.00,0.00,2.40,0.000,0.000,0.040,3155.25,3195.81,3114.69,3023.94,2580.38,0,0,0,30.00,30.00,16.01
$GC,1842.61,260,-77.86,-0.97,40.00,3152.4,3193.6,3111.1,3024.2,2579.2,321.23,-12.60,249,1847.71,0.00,0.00,1.98,0.000,0.000,0.073,3152.00,3193.50,3110.50,3023.25,3771.50,0,0,0,30.00,30.00,15.95
$GC,1982.35,1028,-77.86,-0.97,0.00,3150.8,3191.5,3110.2,3023.8,3772.1,338.14,-13.04,277,1987.75,0.00,0.00,2.00,0.000,0.000,0.023,3150.94,3192.56,3109.31,3024.81,2480.00,0,0,0,30.00,30.00,16.00
$GC,2292.66,0,-77.86,-0.97,0.00,3148.2,3188.9,3107.5,3023.4,2465.4,374.96,-11.34,289,2293.99,0.00,0.00,0.00,0.000,0.000,0.000,3148.81,3189.88,3107.75,3023.88,2466.25,0,0,0,30.00,30.00,30.00
$GC,2592.67,260,-77.86,-0.97,40.00,3145.5,3185.7,3105.3,3023.6,2465.4,408.85,-11.26,299,2597.84,0.00,0.00,2.20,0.000,0.000,0.074,3146.12,3186.12,3106.12,3022.50,3772.25,0,0,0,30.00,30.00,15.94
$GC,2722.45,1028,-77.86,-0.97,0.00,3143.7,3184.6,3102.8,3021.6,3771.4,424.77,-13.16,325,2727.87,0.00,0.00,2.01,0.000,0.000,0.025,3144.12,3184.06,3104.19,3021.19,2486.19,0,0,0,30.00,30.00,16.01
$GC,3042.77,260,-77.86,-0.97,40.00,3140.8,3181.2,3100.4,3021.8,2472.2,465.47,-12.80,339,3047.92,0.00,0.00,2.20,0.000,0.000,0.076,3142.12,3182.44,3101.81,3018.88,3771.88,0,0,0,30.00,30.00,15.92
$GC,3177.54,1028,-77.86,-0.97,0.00,3139.3,3179.9,3098.8,3020.4,3771.7,481.22,-9.82,366,3182.96,0.00,0.00,2.02,0.000,0.000,0.027,3140.28,3181.44,3099.12,3020.00,2462.81,0,0,0,30.00,30.00,16.00
$GC,3492.86,0,-77.86,-0.97,0.00,3136.8,3176.9,3096.6,3019.8,2448.8,513.33,-10.00,379,3494.19,0.00,0.00,0.00,0.000,0.000,0.000,3137.56,3177.25,3097.88,3019.56,2448.62,0,0,0,30.00,30.00,30.00
$GC,3792.67,516,-77.86,-0.97,-40.00,3134.5,3174.2,3094.7,3019.8,2448.5,543.74,-10.42,389,3798.02,0.00,0.00,2.16,0.000,0.000,0.040,3135.88,3176.56,3095.19,3020.12,1095.00,0,0,0,30.00,30.00,16.01
$GC,3897.63,1028,-77.86,-0.97,0.00,3133.6,3173.0,3094.1,3019.6,1095.3,555.31,-11.15,410,3903.13,0.00,0.00,2.43,0.000,0.000,0.043,3134.34,3173.62,3095.06,3018.75,2577.19,0,0,0,30.00,30.00,15.98
$GC,4212.91,0,-77.86,-0.97,0.00,3131.1,3172.1,3090.2,3019.5,2576.8,589.14,-10.63,423,4214.24,0.00,0.00,0.00,0.000,0.000,0.000,3131.75,3173.00,3090.50,3018.69,2577.62,0,0,0,30.00,30.00,30.00
$GC,4512.91,260,-77.86,-0.97,40.00,3129.5,3169.4,3089.5,3019.2,2577.3,620.92,-10.57,433,4518.09,0.00,0.00,2.02,0.000,0.000,0.080,3129.84,3169.94,3089.75,3011.88,3770.06,0,0,0,30.00,30.00,15.88
$GC,4702.77,1028,-77.86,-0.97,0.00,3128.1,3167.5,3088.6,3012.2,3771.4,643.13,-11.61,471,4708.19,0.00,0.00,2.03,0.000,0.000,0.029,3128.50,3167.69,3089.31,3011.81,2485.19,0,0,0,30.00,30.00,15.99
$GC,5022.97,260,-77.86,-0.97,40.00,3126.0,3165.4,3086.6,3012.1,2471.1,679.32,-11.37,485,5028.23,0.00,0.00,2.22,0.000,0.000,0.080,3126.62,3166.50,3086.75,3007.00,3768.69,0,0,0,30.00,30.00,15.85
$GC,5212.84,1028,-77.86,-0.97,0.00,3124.6,3163.9,3085.2,3007.4,3768.6,701.55,-11.13,523,5218.25,0.00,0.00,2.03,0.000,0.000,0.030,3126.03,3165.62,3086.44,3007.19,2492.56,0,0,0,30.00,30.00,15.97
$GC,5533.18,516,-77.86,-0.97,-40.00,3123.3,3162.5,3084.1,3007.4,2478.9,732.64,-9.03,537,5538.32,0.00,0.00,2.23,0.000,0.000,0.042,3123.91,3162.56,3085.25,3007.38,1097.12,0,0,0,30.00,30.00,15.96
$GC,5647.90,1028,-77.86,-0.97,0.00,3123.1,3161.6,3084.6,3008.1,1096.7,743.18,-9.18,560,5653.61,0.00,0.00,2.44,0.000,0.000,0.046,3122.78,3161.88,3083.69,3007.50,2578.44,0,0,0,30.00,30.00,15.93
$GC,5953.27,0,-77.86,-0.97,0.00,3121.1,3160.0,3082.2,3007.0,2578.9,772.07,-9.51,571,5954.60,0.00,0.00,0.00,0.000,0.000,0.000,3122.34,3161.75,3082.94,3007.06,2579.00,0,0,0,30.00,30.00,30.00
$GC,6253.05,260,-77.86,-0.97,40.00,3119.7,3158.9,3080.6,3006.7,2578.5,804.66,-11.33,581,6258.35,0.00,0.00,2.03,0.000,0.000,0.082,3119.34,3158.69,3080.00,3000.19,3768.75,0,0,0,30.00,30.00,15.81
$GC,6337.95,1028,-77.86,-0.97,0.00,3119.1,3157.9,3080.2,2998.8,3767.8,815.29,-12.64,598,6343.70,0.00,0.00,2.04,0.000,0.000,0.031,3121.03,3159.94,3082.12,2998.50,2489.38,0,0,0,30.00,30.00,15.95
$GC,6643.28,260,-77.86,-0.97,40.00,3118.2,3156.4,3080.0,2998.8,2476.4,852.99,-12.64,609,6648.43,0.00,0.00,2.23,0.000,0.000,0.082,3117.91,3157.19,3078.62,2993.44,3769.44,0,0,0,30.00,30.00,15.79
$GC,6722.99,1029,-77.86,-0.97,0.00,3117.1,3155.1,3079.0,2991.9,3769.4,863.62,-13.54,625,6728.48,0.00,0.12,2.04,0.000,0.258,0.031,3119.12,3157.75,3080.50,3025.69,2480.31,0,0,0,30.00,15.50,15.95
$GC,7033.16,260,-77.86,-0.97,40.00,3116.2,3154.9,3077.4,3026.5,2467.2,896.56,-10.12,637,7038.47,0.00,0.00,2.26,0.000,0.000,0.082,3116.09,3155.50,3076.69,3017.94,3767.75,0,0,0,30.00,30.00,15.76
$GC,7158.05,1028,-77.86,-0.97,0.00,3115.7,3154.4,3076.9,3018.6,3768.2,909.99,-9.18,662,7163.47,0.00,0.00,2.04,0.000,0.000,0.032,3117.41,3156.00,3078.81,3018.56,2494.75,0,0,0,30.00,30.00,15.94
$GC,7483.40,260,-77.86,-0.97,40.00,3114.9,3153.6,3076.2,3018.8,2481.8,942.18,-9.55,677,7488.53,0.00,0.00,2.23,0.000,0.000,0.084,3116.69,3155.00,3078.38,3017.81,3768.94,0,0,0,30.00,30.00,15.74
$GC,7573.36,1028,-77.86,-0.97,0.00,3114.2,3152.4,3076.1,3017.9,3769.5,951.23,-9.51,695,7578.52,0.00,0.00,2.04,0.000,0.000,0.032,3113.81,3152.19,3075.44,3017.19,2492.31,0,0,0,30.00,30.00,15.94
$GC,7903.31,260,-77.86,-0.97,40.00,3113.7,3151.8,3075.6,3017.8,2479.2,981.22,-9.00,711,7908.59,0.00,0.00,2.24,0.000,0.000,0.083,3113.84,3151.56,3076.12,3013.69,3769.25,0,0,0,30.00,30.00,15.71
$GC,7968.14,1028,-77.86,-0.97,0.00,3113.2,3150.8,3075.7,3013.1,3769.6,987.58,-9.74,724,7973.56,0.00,0.00,2.04,0.000,0.000,0.033,3114.53,3151.94,3077.12,3013.62,2494.38,0,0,0,30.00,30.00,15.90
$STATE,8023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8023,begin apogee
$GC,8025.10,3,0.00,-0.20,0.00,3113.4,3151.0,3075.9,3013.8,2016.9,992.83,-9.52,730,8087.86,60.73,0.94,0.20,2.231,0.248,0.110,2839.22,2863.00,2815.44,3271.44,2163.06,0,0,0,10.53,15.32,15.30
$STATE,8090,end apogee,CONTROL_FINISHED_OK
$STATE,8090,begin climb
$GC,8090.06,3,77.86,0.97,0.00,2837.9,2862.6,2813.2,3271.7,2164.4,993.95,0.00,732,8165.05,72.67,1.12,0.00,2.212,0.139,0.000,2523.12,2532.81,2513.44,3632.94,2165.25,0,0,0,11.95,15.39,30.00
$GC,8473.35,2,77.86,0.97,-40.00,2513.8,2530.8,2496.8,3632.4,2165.4,960.90,9.82,750,8474.68,0.00,0.00,0.00,0.000,0.000,0.000,2515.50,2532.50,2498.50,3632.62,2165.62,0,0,0,30.00,30.00,30.00
$GC,8773.48,2,77.86,0.97,-40.00,2512.0,2530.6,2493.4,3632.4,2165.3,930.66,10.21,760,8774.81,0.00,0.00,0.00,0.000,0.000,0.000,2512.84,2531.69,2494.00,3632.69,2165.25,0,0,0,30.00,30.00,30.00
$GC,9073.49,262,77.86,0.97,40.00,2510.7,2530.6,2490.8,3632.0,2165.2,899.21,10.56,770,9078.70,0.00,0.00,2.31,0.000,0.000,0.065,2509.97,2530.12,2489.81,3632.31,3538.19,0,0,0,30.00,30.00,15.82
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$GC,15279.37,1,110.52,1.18,0.00,2381.6,2406.9,2356.3,3665.6,2068.4,326.30,8.54,1261,15280.72,0.00,0.00,0.00,0.000,0.000,0.000,2382.12,2407.19,2357.06,3664.88,2069.00,0,0,0,30.00,30.00,30.00
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$GC,16029.32,295,149.89,1.28,40.00,2381.7,2408.1,2355.2,3665.7,2140.1,275.41,5.57,1311,16066.52,33.03,0.00,2.44,1.350,0.000,0.104,2228.19,2236.19,2220.19,3665.69,3528.94,0,0,0,10.98,30.00,15.63
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$STATE,19556,end climb,SURFACE_DEPTH_REACHED
$STATE,19556,begin surface coast
$FINISH,-0.3,1.014810
$STATE,19586,end surface coast,CONTROL_FINISHED_OK
$STATE,19586,begin surface
$SM_CCo,19798.21,191.64,0.753,0,400.1,413.1,387.1,598.51
$SM_CCo,19799.37,0.00,2.581,0,400.5,413.4,387.6,598.41
$SM_CCo,19800.50,0.00,0.012,0,399.9,416.7,383.2,598.55
$SM_GC,0.62,0.00,9.59,0.85,0.012,0.054,0.031,399.9,416.7,383.2,166.6,2595.4,0,0,0,30.36,15.77,15.92
$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,1402.00,14414.04,090120,074305
$TCM_TEMP,163.30
$XPDR_PINGS,9
$SC_FREEKB,3699328
$TM_FREEKB,1701504
$HUMID,53.46
$TEMP,22.69
$INTERNAL_PRESSURE,9.42274
$24V_AH,14.26,142.950
$10V_AH,14.91,0.000
$FG_AHR_24Vo,91.376
$FG_AHR_10Vo,48.666
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,629.285,26.015,164.180,406.357,2.250,13.693,4677.821,15733.181,1824.914,0.000,0.000,0.000
$DEVICE_MAMPS,2580.784,403.192,134.232,205.220,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19593.000,3798.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.301,19.949,0.000,0.000
$MEM,1098904,29,80060,64
$DATA_FILE_SIZE,57637,1798
$CAP_FILE_SIZE,345644,0
$SDSIZE,3918848,3763680
$SDFILEDIR,3366,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028,167.7,1
$GPS,090120,191901,1401.596,14416.640,19,1.0,20,0.4