version: 67.00
glider: 233
mission: 9
dive: 23
start: 4 2 121 14 38 52
data:
$ID,233
$MISSION,9
$DIVE,23
$N_DIVES,50
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,201
$D_NO_BLEED,50
$D_BOOST,0
$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,60
$T_MISSION,75
$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,150
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,72312
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$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,570.32251
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,15
$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,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,2640
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,25
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,2
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,1115
$ROLL_MAX,3875
$ROLL_DEG,80
$C_ROLL_DIVE,2495
$C_ROLL_CLIMB,2495
$HEAD_ERRBAND,10
$ROLL_CNV,0.054945
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2825
$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,2
$LOITER_DBDW,400
$LOITER_D_TOP,450
$LOITER_D_BOTTOM,550
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,550
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,72.964813
$FG_AHR_24V,192.47971
$PHONE_SUPPLY,2
$PRESSURE_YINT,-169.1727
$PRESSURE_SLOPE,0.00022579571
$COMPASS_USE,16388
$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,4
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,7
$LOGGERDEVICE2,35
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,102
$NETWORK_DEVICE,1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,-1
$SIM_W,0.1
$SEABIRD_T_G,0.0044157342
$SEABIRD_T_H,0.00064262876
$SEABIRD_T_I,2.7006432e-05
$SEABIRD_T_J,3.3103631e-06
$SEABIRD_C_G,-9.9894733
$SEABIRD_C_H,1.1093811
$SEABIRD_C_I,-0.0026526626
$SEABIRD_C_J,0.00026268355
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$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
$GPS1,020421,142508,4739.309,-12219.016,3,1.2,14,15.5
$_CALLS,5
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-89.0
$GPS2,020421,143818,4739.312,-12219.021,4,1.2,19,15.5
$SPEED_LIMITS,0.173,0.214
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$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,301.0,10754,-21.8,-10.000,-25.03
$D_GRID,150
$IRON,1.000000,-0.030000,0.020000,-0.040000,1.110000,0.060000,0.006000,0.020000,1.100000,-478.000000,-884.000000,-444.000000
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$MODEM_MSG,CACST,6,1,20210402112959.731611,05,14692,35,0178,0150,216,03,03,01,03,-1,-01,-01,1,3,3,0,150,-19.2,0.12,-100,2.88,-01,0.00,26,925,0025*09
$MODEM_MSG,CACST,6,1,20210402113442.568846,05,347,-22,0680,0150,216,01,01,08,03,-1,-01,-01,1,3,3,0,150,42.4,361.49,-100,296.87,-01,0.00,25,925,0025*0A
$MODEM_MSG,CACST,6,1,20210402113752.390655,05,72,-23,0092,0150,432,02,02,07,04,-1,-01,-01,1,3,3,0,150,-36.4,1.08,-100,1.92,-01,0.08,54,925,0025*1B
$MODEM_MSG,CACST,6,1,20210402115212.204247,05,772,-13,0001,0150,432,02,02,07,04,-1,-01,-01,1,3,3,0,150,-36.5,0.51,-100,2.49,-01,0.17,55,925,0025*26
$MODEM_MSG,CACST,6,1,20210402115959.465681,05,32767,45,0139,0150,216,04,04,00,04,-1,-01,-01,1,3,3,0,150,-100.0,0.42,-100,2.58,-01,0.03,26,925,0025*39
$MODEM_MSG,CACST,6,1,20210402121459.449569,05,32767,45,0168,0150,216,04,04,00,04,-1,-01,-01,1,3,3,0,150,-22.1,0.33,-100,2.67,-01,0.10,26,925,0025*35
$MODEM_MSG,CACST,6,1,20210402121820.422431,05,109,-21,0091,0150,432,02,02,07,04,-1,-01,-01,1,3,3,0,150,-3.9,0.33,-100,2.67,-01,0.12,53,925,0025*24
$MODEM_MSG,CACST,6,1,20210402122001.568544,05,163,-20,0246,0150,216,01,01,07,03,-1,-01,-01,1,3,3,0,150,-21.2,0.62,-100,2.38,-01,-0.03,30,925,0025*32
$MODEM_MSG,CACST,6,1,20210402123500.334968,05,1395,13,0191,0150,432,02,02,03,04,-1,-01,-01,1,3,3,0,150,-0.5,0.50,-100,2.50,-01,0.07,55,925,0025*36
$MODEM_MSG,CACST,6,1,20210402123644.200401,05,68,-23,0101,0150,216,01,01,07,03,-1,-01,-01,1,3,3,0,150,12.0,0.63,-100,2.37,-01,0.11,43,925,0025*08
$MODEM_MSG,CACST,6,1,20210402125323.281723,05,73,-23,0114,0150,432,02,02,07,04,-1,-01,-01,1,3,3,0,150,-36.4,0.43,-100,2.57,-01,0.13,54,925,0025*20
$MODEM_MSG,CACST,6,1,20210402125712.256176,05,270,-23,0137,0150,216,01,01,08,03,-1,-01,-01,1,3,3,0,150,-9.3,0.44,-100,2.56,-01,0.19,26,925,0025*2B
$MODEM_MSG,CACST,6,1,20210402130000.151298,05,65532,42,0780,0150,432,02,02,01,04,-1,-01,-01,1,3,3,0,150,1.6,0.47,-100,2.53,-01,-0.05,54,925,0025*0C
$MODEM_MSG,CACST,6,1,20210402131959.779861,05,32767,45,0133,0150,432,02,02,00,04,-1,-01,-01,1,3,3,0,150,-36.5,0.36,-100,2.64,-01,-0.01,54,925,0025*12
$MODEM_MSG,CACST,6,1,20210402132459.527829,05,1040,18,0305,0150,432,02,02,02,04,-1,-01,-01,1,3,3,0,150,-36.5,0.43,-100,2.57,-01,0.05,54,925,0025*0B
$MODEM_MSG,CACST,6,1,20210402132805.823249,05,170,-25,0283,0150,432,02,02,08,04,-1,-01,-01,1,3,3,0,150,4.1,0.55,-100,2.45,-01,0.02,55,925,0025*05
$MODEM_MSG,CACST,6,1,20210402133959.510902,05,1706,20,0141,0150,216,01,01,02,03,-1,-01,-01,1,3,3,0,150,1.2,0.48,-100,2.52,-01,-0.35,27,925,0025*37
$MODEM_MSG,CACST,6,1,20210402134500.073231,05,65532,42,0488,0150,432,02,02,01,04,-1,-01,-01,1,3,3,0,150,1.5,0.38,-100,2.62,-01,0.00,51,925,0025*23
$MODEM_MSG,CACST,6,1,20210402140239.519512,05,454,-21,0965,0150,432,02,02,08,04,-1,-01,-01,1,3,3,0,150,-36.5,0.36,-100,2.64,-01,-0.01,55,925,0025*39
$MODEM_MSG,CACST,6,1,20210402140459.451806,05,65532,42,1703,0150,216,01,01,01,03,-1,-01,-01,1,3,3,0,150,-19.2,0.43,-100,2.57,-01,-0.19,26,925,0025*1C
$MODEM_MSG,CACST,6,1,20210402141000.126223,05,32767,45,0188,0150,216,01,01,00,03,-1,-01,-01,1,3,3,0,150,-21.4,0.72,-100,2.28,-01,-0.04,30,925,0025*14
$MODEM_MSG,CACST,6,1,20210402141810.496642,05,132,-20,0258,0150,216,00,00,07,04,-1,-01,-01,1,3,3,0,150,17.0,0.33,-100,2.67,-01,0.00,34,925,0025*30
$MODEM_MSG,CACST,6,1,20210402141959.475534,05,32767,45,0177,0150,246,02,02,00,04,-1,-01,-01,1,3,3,0,150,-39.6,0.52,-100,2.48,-01,-0.03,61,925,0025*19
$NAV,1617374350,1.5,8,stop
$GC,10.40,16386,-97.75,-0.99,0.00,498.3,442.2,554.4,198.0,2469.2,0.00,0.00,0,37.59,24.33,0.00,0.00,0.006,0.000,0.000,1069.00,1064.00,1074.00,197.44,2469.12,0,0,0,16.10,30.00,30.00
$NET_PING,1617374408,0,0.415500,0.000000
$NET,CARFP,2021-04-02T14:40:04.732172,0,0,233,1,-1,-1,0,1;9;0800e90778381d00ff,,,*05
$NET,CACST,6,0,20210402144004.107666,05,32767,45,0101,0150,07,00,00,00,00,1,000,233,0,5,1,0,150,27.7,146.00,-100,-143.00,-01,-0.05,56,10000,5000*5A
$NET,CAXST,7,20210402,144008.774419,3,0,200,5000,10000,5,0,0,0,0,6,5,738,10000*50
$NET,CACST,6,1,20210402144011.912909,05,32767,45,0101,0150,07,00,00,00,00,-1,-01,-01,2,3,2,0,150,28.6,109.00,-100,-106.00,-01,-0.02,55,10000,5000*7D
$NET,xmit part outbox015.n 738 0
$GC,37.85,18695,-97.75,-0.99,80.00,1068.4,1063.2,1073.5,198.1,2469.2,3.37,-10.59,4,177.72,110.55,18.47,3.28,0.005,0.294,0.088,3223.22,3208.38,3238.06,2396.75,3893.38,0,0,0,14.80,15.81,16.01
$GC,401.84,1028,-97.75,-0.99,0.00,3220.9,3206.1,3235.7,2397.6,3893.2,40.27,-9.77,75,408.83,0.00,0.00,3.26,0.000,0.000,0.072,3221.50,3207.25,3235.75,2397.31,2461.31,0,0,0,30.00,30.00,16.01
$GC,588.41,260,-97.75,-0.99,80.00,3221.0,3206.4,3235.6,2397.5,2461.4,58.87,-9.99,112,595.41,0.00,0.00,3.29,0.000,0.000,0.082,3222.56,3208.38,3236.75,2397.25,3894.00,0,0,0,30.00,30.00,16.01
$NET_PING,1617375010,0,0.354000,0.000000
$NET,CARFP,2021-04-02T14:50:06.596020,0,0,233,1,-1,-1,0,1;9;0800e90778381d00ff,,,*0C
$NET,CACST,6,0,20210402145005.971227,05,32767,45,0101,0150,07,00,00,00,00,1,000,233,0,5,1,0,150,28.7,120.00,-100,-117.00,-01,-0.02,55,10000,5000*58
$NET,CAXST,7,20210402,145011.064178,3,0,200,5000,10000,5,0,0,0,0,6,5,738,10000*5D
$NET,xmit part outbox015.n 738 0
$GC,822.83,1028,-97.75,-0.99,0.00,3220.9,3206.2,3235.7,2397.1,3894.6,82.19,-9.93,158,829.77,0.00,0.00,3.26,0.000,0.000,0.072,3220.66,3205.81,3235.50,2398.00,2462.81,0,0,0,30.00,30.00,16.03
$GC,1009.40,260,-97.75,-0.99,80.00,3220.5,3205.2,3235.8,2397.4,2462.8,101.04,-10.01,194,1016.31,0.00,0.00,3.30,0.000,0.000,0.082,3222.91,3208.12,3237.69,2396.00,3894.81,0,0,0,30.00,30.00,16.01
$NAV,1617375548,121.8,start
$GC,1238.24,1028,-97.75,-0.99,0.00,3220.0,3204.4,3235.7,2397.2,3893.6,124.32,-9.89,240,1246.75,0.00,0.00,3.26,0.000,0.000,0.072,3220.38,3205.19,3235.56,2397.69,2461.50,0,0,0,30.00,30.00,16.03
$GC,1425.74,260,-97.75,-0.99,80.00,3220.2,3204.9,3235.4,2397.8,2461.8,143.40,-10.19,259,1432.68,0.00,0.00,3.29,0.000,0.000,0.082,3221.62,3206.44,3236.81,2397.31,3896.62,0,0,0,30.00,30.00,16.02
$STATE,1492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1492,begin apogee
$GC,1496.55,10243,0.00,-0.20,0.00,3220.2,3204.5,3235.9,2397.6,2459.6,150.13,-10.21,272,1569.46,68.21,1.59,0.10,0.640,0.294,0.170,2823.31,2779.88,2866.75,2589.56,2519.88,0,0,0,11.32,15.78,15.98
$STATE,1572,end apogee,CONTROL_FINISHED_OK
$STATE,1572,begin climb
$GC,1572.42,10759,97.75,0.99,-80.00,2821.9,2777.1,2866.7,2590.0,2519.2,143.20,0.00,279,1655.05,71.22,2.43,3.38,0.622,0.302,0.101,2424.53,2365.19,2483.88,2878.56,1098.56,0,0,0,11.76,15.86,15.88
$NET_PING,1617376207,0,0.343500,0.000000
$NET,CARFP,2021-04-02T15:10:05.886901,0,0,233,1,-1,-1,0,1;9;0800e90778381d00ff,,,*0C
$NET,CACST,6,0,20210402151005.262121,05,32767,45,0101,0150,07,00,00,00,00,1,000,233,0,5,1,0,150,28.8,128.00,-100,-125.00,-01,-0.03,55,10000,5000*56
$NET,CAXST,7,20210402,151008.026034,3,0,200,5000,10000,5,0,0,0,0,6,5,738,10000*5F
$GC,1880.29,1028,97.75,0.99,0.00,2419.1,2355.5,2482.6,2879.2,1098.4,111.70,9.84,339,1891.99,0.00,0.00,3.27,0.000,0.000,0.080,2420.81,2357.56,2484.06,2878.94,2523.69,0,0,0,30.00,30.00,15.96
$NET,xmit part outbox015.n 738 0
$GC,2071.20,16902,97.75,0.99,-80.00,2418.3,2354.4,2482.2,2879.0,2524.0,92.94,9.95,366,2078.20,0.00,0.00,3.36,0.000,0.000,0.097,2421.19,2356.75,2485.62,2878.56,1096.75,0,0,0,30.00,30.00,15.97
$GC,2302.69,17414,97.75,0.99,0.00,2417.8,2353.2,2482.4,2878.6,1096.8,69.96,9.70,412,2309.11,0.00,0.00,3.27,0.000,0.000,0.079,2418.25,2353.62,2482.88,2879.00,2523.50,0,0,0,30.00,30.00,16.02
$NET_PING,1617376809,0,0.445500,0.000000
$NET,CARFP,2021-04-02T15:20:05.667415,0,0,233,1,-1,-1,0,1;9;0800e90778381d00ff,,,*06
$NET,CACST,6,0,20210402152005.042739,05,32767,45,0101,0150,07,00,00,00,00,1,000,233,0,5,1,0,150,27.0,142.00,-100,-139.00,-01,-0.03,57,10000,5000*5E
$NET,CAXST,7,20210402,152009.998304,3,0,200,5000,10000,5,0,0,0,0,6,5,738,10000*51
$NET,CACST,6,1,20210402152013.126470,05,32767,45,0101,0150,07,00,00,00,00,-1,-01,-01,2,3,2,0,150,27.3,74.00,-100,-71.00,-01,-0.02,56,10000,5000*77
$GC,2491.45,16902,97.75,0.99,-80.00,2417.4,2352.9,2482.0,2878.9,2524.0,51.32,9.97,449,2497.88,0.00,0.00,3.36,0.000,0.000,0.096,2418.25,2353.81,2482.69,2879.12,1097.00,0,0,0,30.00,30.00,15.99
$NET,xmit part outbox015.n 738 0
$GC,2721.96,17414,97.75,0.99,0.00,2417.2,2352.4,2481.9,2879.2,1096.9,28.16,10.10,495,2728.88,0.00,0.00,3.25,0.000,0.000,0.079,2418.03,2353.06,2483.00,2879.12,2523.69,0,0,0,30.00,30.00,16.02
$GC,2908.47,16902,97.75,0.99,-80.00,2417.0,2351.7,2482.4,2878.8,2523.1,9.61,10.09,532,2915.48,0.00,0.00,3.34,0.000,0.000,0.096,2418.12,2352.69,2483.56,2879.44,1098.44,0,0,0,30.00,30.00,15.99
$STATE,2986,end climb,SURFACE_DEPTH_REACHED
$STATE,2986,begin surface coast
$STATE,3004,end surface coast,CONTROL_FINISHED_OK
$STATE,3005,begin surface
$SM_CCo,3372.43,338.38,0.634,0,500.9,444.9,557.0,570.09
$SM_GC,0.09,338.38,16.47,3.21,0.634,0.055,0.080,500.9,444.9,557.0,198.0,2523.9,0,0,0,11.32,15.99,16.04
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4738.87,-12218.96,020421,142811
$TCM_TEMP,24.78
$SC_FREEKB,3872672
$PM_FREEKB_00,61731136
$PM_ACTIVECARD,0
$RAFOS_CLK,-8
$MODEM,9,1617371100,47.55000,-122.50000,0.073,107.3
$MODEM,7,1617366900,48.05000,-122.50000,0.335,490.7
$MODEM,6,1617363282,48.15000,-122.50000,282.569,413963.4
$MODEM,5,1617370085,47.25000,-122.00000,185.823,272231.1
$MODEM,4,1617366001,48.25000,-123.50000,1.569,2297.9
$MODEM,3,1617373090,46.25000,-123.50000,190.497,279077.6
$MODEM,2,1617372600,47.00000,-123.00000,0.126,184.9
$MODEM,0,1617368400,47.00000,-122.50000,0.151,221.7
$RAFOS_FIX,4806.905762,-12302.076172,020421,141410,5,255,-8410.52
$HUMID,50.18
$TEMP,22.71
$INTERNAL_PRESSURE,9.18845
$24V_AH,15.07,101.868
$10V_AH,15.00,0.000
$FG_AHR_24Vo,192.577
$FG_AHR_10Vo,73.025
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,612.690,38.955,52.770,367.399,0.000,28.934,2820.813,939.119,1624.968,789.024,0.000,0.000,212.030
$DEVICE_MAMPS,639.680,302.496,169.656,164.825,0.000,15.000,10.120,1.120,5.000,40.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3016.000,3022.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.828,10.607,0.000,0.000
$MEM,1123000,39,53052,118
$DATA_FILE_SIZE,16128,551
$CAP_FILE_SIZE,581187,0
$SDSIZE,3918848,3896192
$SDFILEDIR,328,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.002, 74.9,1
$GPS,020421,153613,4739.312,-12219.016,22,1.5,34,15.5