version: 66.11
glider: 169
mission: 8
dive: 370
start: 6 1 113 15 10 33
data:
$ID,169
$MISSION,8
$DIVE,370
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,130
$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,350
$T_MISSION,370
$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,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52063
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00091300003
$HD_B,0.0119
$HD_C,2.0500001e-07
$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,430
$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,-22786.094
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2380
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2852
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.03682
$PRESSURE_SLOPE,0.0001078585
$AD7714Ch0Gain,1
$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,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042608725
$SEABIRD_T_H,0.00061783189
$SEABIRD_T_I,2.1692709e-05
$SEABIRD_T_J,2.1724361e-06
$SEABIRD_C_G,-10.034778
$SEABIRD_C_H,1.1503564
$SEABIRD_C_I,-0.0019294197
$SEABIRD_C_J,0.0002327933
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,010613,145754,1947.503,12418.521,39,1.4,39,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-73.4
$GPS2,010613,151005,1947.674,12418.453,19,1.8,29,-2.4
$SPEED_LIMITS,0.163,0.258
$TGT_NAME,DOGLEG
$TGT_LATLONG,1947.000,12423.000
$TGT_RADIUS,5000.000
$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,100.2,8022,-5.6,-9.429,-20.04,2855
$D_GRID,5493
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.58,-175.2,122,2577,1281,926,0.0,0.0,0,98,0.00,0.00,-71.68,0.000,16386,0.000,0.000,122,2578,2973,2920,3026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.58,-175.2,122,2578,2920,3027,4.0,-10.0,10,127,8.50,0.00,-9.70,0.000,18694,0.228,0.000,2185,2577,3571,3444,3698,0,0,0,0,0,0,25.22,28.83,26.41
$GC,437,-0.58,-175.2,2184,2578,3449,3697,101.6,-24.5,34,443,0.00,2.67,0.00,0.000,516,0.000,0.032,2186,1081,3573,3449,3697,0,0,0,0,0,0,28.83,26.07,28.83
$GC,520,-0.58,-175.2,2186,1081,3448,3698,115.4,-20.6,37,528,0.00,2.62,0.00,0.000,1030,0.000,0.034,2181,2560,3573,3449,3697,0,0,0,0,0,0,28.83,26.08,28.83
$GC,825,-0.58,-175.2,2181,2558,3449,3697,178.6,-19.8,53,831,0.00,2.12,0.00,0.000,260,0.000,0.047,2175,3836,3573,3449,3697,0,0,0,0,0,0,28.83,26.09,28.83
$GC,860,-0.58,-175.2,2174,3835,3449,3697,183.6,-19.7,54,866,0.00,2.10,0.00,0.000,1030,0.000,0.024,2174,2525,3573,3449,3697,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1176,-0.58,-175.2,2174,2524,3450,3698,253.8,-22.5,70,1183,0.00,2.47,0.00,0.000,516,0.000,0.030,2174,1075,3573,3449,3697,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1270,-0.58,-175.2,2171,1074,3449,3697,270.9,-19.0,74,1276,0.00,2.62,0.00,0.000,1030,0.000,0.035,2167,2560,3573,3449,3697,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1593,-0.58,-175.2,2167,2557,3448,3697,333.1,-18.9,90,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2557,3573,3449,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1890,-0.58,-175.2,2167,2557,3444,3696,379.5,-14.5,105,1896,0.00,2.58,0.00,0.000,516,0.000,0.027,2167,1071,3571,3446,3696,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1926,-0.58,-175.2,2167,1070,3448,3696,383.4,-14.7,106,1934,0.12,2.62,0.00,0.000,3078,0.132,0.034,2194,2561,3572,3448,3696,0,0,0,0,0,0,26.06,26.23,28.83
$GC,2247,-0.58,-175.2,2194,2559,3448,3691,429.3,-15.0,122,2253,0.00,2.12,0.00,0.000,260,0.000,0.044,2194,3846,3569,3448,3690,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2273,-0.58,-175.2,2193,3846,3448,3690,433.5,-14.6,123,2279,0.00,2.12,0.00,0.000,1030,0.000,0.023,2193,2515,3569,3449,3690,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2603,-0.58,-175.2,2193,2515,3448,3686,478.5,-13.5,139,2610,0.00,2.28,0.00,0.000,260,0.000,0.047,2194,3835,3566,3448,3685,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2639,-0.58,-175.2,2193,3836,3448,3685,482.4,-13.0,140,2645,0.00,2.08,0.00,0.000,1030,0.000,0.024,2193,2515,3566,3448,3685,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2956,-0.58,-175.2,2193,2515,3448,3679,520.0,-10.2,156,2962,0.00,2.45,0.00,0.000,516,0.000,0.031,2194,1087,3563,3448,3679,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2997,-0.58,-175.2,2193,1087,3448,3679,522.7,-10.1,157,3005,0.00,2.58,0.00,0.000,1030,0.000,0.032,2193,2564,3563,3448,3678,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3301,-0.58,-175.2,2193,2561,3447,3673,553.7,-10.1,173,3307,0.00,2.15,0.00,0.000,260,0.000,0.050,2193,3838,3560,3448,3673,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3352,-0.58,-175.2,1328,3838,3437,3671,557.9,-9.7,175,3358,0.00,2.12,0.00,0.000,1030,0.000,0.024,2193,2514,3560,3448,3672,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3676,-0.58,-175.2,2193,2514,3447,3666,586.7,-8.8,191,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2514,3556,3447,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3983,-0.58,-175.2,2193,2514,3446,3661,615.7,-9.8,204,3989,0.00,2.30,0.00,0.000,260,0.000,0.047,2193,3845,3554,3447,3661,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4045,-0.58,-175.2,2193,3845,3445,3661,619.3,-9.9,205,4053,0.00,2.10,0.00,0.000,1030,0.000,0.025,2193,2517,3553,3445,3661,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4354,-0.58,-175.2,2193,2518,3445,3657,655.9,-11.5,216,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2518,3550,3445,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4651,-0.58,-175.2,2193,2518,3444,3652,690.4,-11.2,226,4657,0.00,2.30,0.00,0.000,260,0.000,0.050,2193,3835,3548,3444,3652,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4721,-0.58,-175.2,2193,3834,3443,3652,697.3,-10.9,228,4727,0.00,2.10,0.00,0.000,1030,0.000,0.025,2193,2520,3547,3443,3652,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5052,-0.58,-175.2,2193,2520,3449,3648,728.1,-8.5,239,5058,0.00,2.30,0.00,0.000,260,0.000,0.052,2193,3837,3545,3443,3647,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5100,-0.58,-175.2,2193,3836,3442,3647,731.0,-8.4,240,5106,0.00,2.10,0.00,0.000,1030,0.000,0.026,2191,2519,3547,3442,3653,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5426,-0.58,-175.2,2193,2519,3442,3644,754.9,-6.9,251,5433,0.00,2.28,0.00,0.000,260,0.000,0.050,2193,3820,3542,3441,3644,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5447,-0.58,-175.2,2193,3820,3440,3644,754.9,-6.9,251,5453,0.00,2.10,0.00,0.000,1030,0.000,0.026,2193,2518,3542,3441,3643,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5768,-0.58,-175.2,2193,2518,3439,3639,780.2,-7.5,262,5775,0.00,2.30,0.00,0.000,260,0.000,0.050,2194,3832,3538,3439,3638,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5811,-0.58,-175.2,1316,3832,3427,3636,782.9,-7.6,263,5817,0.00,2.10,0.00,0.000,1030,0.000,0.026,2193,2520,3538,3438,3639,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6142,-0.58,-175.2,2193,2520,3437,3635,810.2,-8.4,274,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2520,3536,3437,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6442,-0.58,-175.2,2193,2520,3436,3635,835.3,-8.6,284,6449,0.00,2.30,0.00,0.000,260,0.000,0.050,2191,3836,3534,3436,3633,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6480,-0.58,-175.2,2191,3836,3435,3632,838.1,-8.4,285,6486,0.00,2.12,0.00,0.000,1030,0.000,0.026,2191,2520,3533,3435,3632,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6816,-0.58,-175.2,2191,2520,3435,3630,869.4,-9.2,296,6822,0.00,2.30,0.00,0.000,260,0.000,0.049,2181,3841,3531,3434,3629,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6858,-0.58,-175.2,2181,3840,3434,3630,873.1,-9.4,297,6864,0.00,2.12,0.00,0.000,1030,0.000,0.027,2181,2520,3531,3434,3629,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7189,-0.58,-175.2,2181,2521,3434,3626,905.8,-9.9,308,7196,0.00,2.30,0.00,0.000,260,0.000,0.049,2173,3822,3529,3433,3626,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7236,-0.58,-175.2,2172,3822,3432,3626,909.5,-9.9,309,7243,0.00,2.12,0.00,0.000,1030,0.000,0.027,2172,2520,3529,3432,3626,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7563,-0.58,-175.2,2172,2520,3432,3625,942.8,-9.3,320,7564,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2520,3528,3431,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7863,-0.58,-175.2,2172,2521,3431,3622,970.0,-8.9,330,7870,0.00,2.33,0.00,0.000,260,0.000,0.050,2163,3832,3526,3430,3622,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7915,-0.58,-175.2,2163,3832,3430,3622,973.5,-9.0,331,7922,0.12,2.12,0.00,0.000,3078,0.122,0.028,2202,2524,3526,3431,3622,0,0,0,0,0,0,26.00,26.27,28.83
$STATE,8144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8144,begin apogee
$GC,8151,-0.12,0.0,2200,2719,3430,3620,990.4,-6.4,339,8312,0.38,0.10,155.62,1.023,10246,0.091,0.073,2337,2657,2853,2879,2828,0,0,0,0,0,0,25.86,24.75,23.85
$STATE,8317,end apogee,CONTROL_FINISHED_OK
$STATE,8317,begin climb
$GC,8320,0.58,175.2,2336,2647,2870,2805,996.0,0.0,343,8498,0.60,0.00,170.45,0.976,10502,0.036,0.000,2585,2647,2136,2270,2002,0,0,0,0,0,0,24.98,28.83,23.40
$GC,8779,0.58,175.2,2585,2647,2243,1970,955.0,11.5,360,8785,0.00,1.95,0.00,0.000,260,0.000,0.042,2576,3828,2106,2243,1970,0,0,0,0,0,0,28.83,25.66,28.83
$GC,8803,0.58,175.2,2576,3828,2242,1970,955.0,11.5,360,8809,0.00,1.77,0.00,0.000,1030,0.000,0.017,2585,2620,2106,2242,1970,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9121,0.58,175.2,2585,2618,2238,1970,918.2,10.1,371,9127,0.00,2.03,0.00,0.000,260,0.000,0.042,2576,3846,2104,2238,1970,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9146,0.58,175.2,2576,3846,2238,1970,918.2,10.1,371,9152,0.00,1.77,0.00,0.000,1030,0.000,0.017,2585,2613,2103,2237,1970,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9465,0.58,175.2,2586,2613,2235,1969,881.8,11.1,382,9471,0.00,2.03,0.00,0.000,260,0.000,0.041,2576,3852,2102,2235,1970,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9515,0.58,175.2,2576,3852,2235,1970,877.1,11.4,383,9521,0.00,1.80,0.00,0.000,1030,0.000,0.016,2585,2618,2102,2235,1970,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9838,0.58,175.2,2586,2617,2233,1970,838.1,11.7,394,9839,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2618,2101,2233,1969,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10136,0.58,175.2,2586,2618,2232,1969,800.8,12.5,404,10137,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2618,2100,2232,1969,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10436,0.58,175.2,2586,2618,2231,1969,762.2,12.7,414,10437,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2618,2100,2231,1970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10736,0.58,175.2,2586,2618,2230,1970,722.6,13.0,424,10742,0.00,2.00,0.00,0.000,260,0.000,0.041,2576,3836,2099,2230,1969,0,0,0,0,0,0,28.83,26.02,28.83
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$GC,14496,0.75,242.7,2605,2717,1993,1744,314.5,13.5,591,14502,0.00,1.73,0.00,0.000,260,0.000,0.041,2605,3831,1868,1993,1744,0,0,0,0,0,0,28.83,25.98,28.83
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$STATE,17577,end climb,SURFACE_DEPTH_REACHED
$STATE,17577,begin surface coast
$FINISH,-0.8,1.008743
$STATE,17602,end surface coast,CONTROL_FINISHED_OK
$STATE,17602,begin surface
$SM_CCo,17622,6.53,0.133,0,0,1096,430.01
$SM_GC,1.03,6.72,1.62,6.53,0.024,0.029,0.133,125,2566,1096,-6.95,-0.31,430.01,0,0,0,0,0,0,26.14,26.11,25.61
$IRIDIUM_FIX,1938.95,12415.06,010613,101015
$TT8_MAMPS,0.021721,0.021721
$HUMID,50.66
$INTERNAL_PRESSURE,9.38868
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3834560
$24V_AH,23.3,48.765
$10V_AH,10.2,37.257
$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,16.650,150.975,544.550,6.525,0.000,0.000,0.000,425.400,0.000,0.000,30.270,3097.847,11437.662,746.192,2228.082,821.083,0.000,2155.020,0.000,1688.561,0.000,0.542,0.000
$DEVICE_MAMPS,227.970,73.440,1022.805,133.110,0.000,0.000,0.000,120.870,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17682.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.771,0.000,0.000,0.000
$MEM,328972
$DATA_FILE_SIZE,30057,787
$CAP_FILE_SIZE,400630,0
$CFSIZE,260034560,195776512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089,337.8,1
$GPS,010613,200536,1948.213,12419.999,38,1.4,38,-2.4