version: 66.11
glider: 170
mission: 10
dive: 160
start: 12 5 112 22 25 39
data:
$ID,170
$MISSION,10
$DIVE,160
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,20
$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,380
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51479
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-143291.27
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,91
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2769
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$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,-48.120956
$PRESSURE_SLOPE,0.0001164274
$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,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043559377
$SEABIRD_T_H,0.00062550703
$SEABIRD_T_I,2.3551509e-05
$SEABIRD_T_J,2.509174e-06
$SEABIRD_C_G,-10.138787
$SEABIRD_C_H,1.1450038
$SEABIRD_C_I,-0.0015582878
$SEABIRD_C_J,0.00020114503
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,051212,221334,1911.647,12002.188,26,0.9,26,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-71.1
$GPS2,051212,222511,1911.802,12001.834,23,0.7,23,-2.5
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,183.3,22091,-14.9,-8.684,-17.18
$D_GRID,3428
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.51,-170.3,0.0,0.0,0,73,0.00,0.00,-51.40,0.000,2,0.000,0.000,136,2632,1646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.51,-170.3,3.0,-1.3,9,167,11.35,2.12,-70.18,0.000,4,0.245,0.048,2878,1243,3465,0,0,0,0,0,0,25.53,26.05,26.41
$GC,395,-0.45,-170.3,71.9,-22.4,47,400,0.00,2.10,0.00,0.000,6,0.000,0.051,2878,2573,3464,0,0,0,0,0,0,28.83,26.12,28.83
$GC,593,-0.43,-170.3,99.3,-13.8,57,599,0.12,1.75,0.00,0.000,4,0.153,0.052,2920,3704,3465,0,0,0,0,0,0,26.19,26.22,28.83
$GC,611,-0.40,-170.3,99.3,-13.8,57,618,0.00,1.60,0.00,0.000,6,0.000,0.024,2920,2592,3464,0,0,0,0,0,0,28.83,26.44,28.83
$GC,797,-0.41,-170.3,120.5,-10.4,67,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2592,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,977,-0.43,-170.3,135.5,-7.6,76,984,0.00,1.98,0.00,0.000,4,0.000,0.031,2920,1225,3466,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1031,-0.45,-170.3,139.4,-8.4,78,1036,0.00,2.17,0.00,0.000,6,0.000,0.048,2920,2611,3464,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1227,-0.47,-170.3,151.9,-5.1,88,1232,0.00,1.70,0.00,0.000,4,0.000,0.054,2920,3703,3463,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1259,-0.49,-170.3,153.1,-4.6,89,1264,0.00,1.55,0.00,0.000,6,0.000,0.024,2920,2581,3464,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1454,-0.52,-170.3,162.4,-5.3,99,1459,0.12,1.92,0.00,0.000,4,0.086,0.027,2841,1245,3463,0,0,0,0,0,0,26.57,26.48,28.83
$GC,1542,-0.51,-170.3,170.3,-9.4,103,1548,0.15,2.12,0.00,0.000,6,0.151,0.051,2886,2605,3462,0,0,0,0,0,0,26.20,26.34,28.83
$GC,1742,-0.51,-170.3,187.4,-8.0,113,1747,0.00,1.70,0.00,0.000,4,0.000,0.055,2886,3700,3461,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1795,-0.52,-170.3,190.9,-8.0,115,1800,0.00,1.52,0.00,0.000,6,0.000,0.024,2886,2601,3461,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1990,-0.53,-170.3,207.4,-7.9,125,1996,0.00,1.95,0.00,0.000,4,0.000,0.029,2886,1250,3461,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2064,-0.54,-170.3,212.4,-7.6,128,2069,0.00,2.15,0.00,0.000,6,0.000,0.054,2886,2613,3460,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2259,-0.54,-170.3,227.3,-7.2,138,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2613,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2437,-0.55,-170.3,240.5,-7.6,147,2442,0.00,1.70,0.00,0.000,4,0.000,0.056,2886,3699,3457,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2489,-0.57,-170.3,243.9,-7.9,149,2495,0.00,1.52,0.00,0.000,6,0.000,0.025,2886,2607,3457,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2685,-0.58,-170.3,260.7,-8.6,159,2690,0.00,2.00,0.00,0.000,4,0.000,0.030,2886,1239,3455,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2772,-0.59,-170.3,268.6,-9.4,163,2778,0.00,2.12,0.00,0.000,6,0.000,0.046,2886,2607,3455,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3091,-0.61,-170.3,297.1,-8.4,179,3096,0.00,1.70,0.00,0.000,4,0.000,0.054,2886,3686,3453,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3139,-0.63,-170.3,300.7,-8.3,181,3145,0.12,1.50,0.00,0.000,6,0.084,0.027,2813,2603,3452,0,0,0,0,0,0,26.52,26.64,28.83
$GC,3458,-0.60,-170.3,344.4,-14.0,197,3464,0.12,1.98,0.00,0.000,4,0.158,0.025,2855,1231,3449,0,0,0,0,0,0,26.39,26.55,28.83
$GC,3486,-0.58,-170.3,347.5,-13.7,198,3491,0.00,2.12,0.00,0.000,6,0.000,0.045,2855,2609,3450,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3803,-0.58,-170.3,382.6,-11.0,214,3809,0.00,1.70,0.00,0.000,4,0.000,0.054,2855,3694,3447,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3918,-0.59,-170.3,393.5,-10.4,219,3923,0.00,1.52,0.00,0.000,6,0.000,0.027,2855,2602,3446,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4230,-0.59,-170.3,426.5,-10.1,235,4236,0.00,2.00,0.00,0.000,4,0.000,0.028,2855,1231,3445,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4287,-0.59,-170.3,430.8,-10.0,237,4294,0.00,2.12,0.00,0.000,6,0.000,0.044,2858,2603,3447,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4593,-0.59,-170.3,461.9,-9.4,253,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2603,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4896,-0.59,-170.3,488.7,-8.6,268,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2603,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5195,-0.60,-170.3,516.5,-9.2,283,5200,0.00,1.70,0.00,0.000,4,0.000,0.054,2854,3690,3439,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5228,-0.60,-170.3,518.9,-9.4,284,5233,0.00,1.58,0.00,0.000,6,0.000,0.028,2855,2588,3438,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5540,-0.61,-170.3,549.1,-9.3,300,5546,0.00,1.98,0.00,0.000,4,0.000,0.028,2855,1223,3436,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5584,-0.62,-170.3,553.1,-9.4,302,5589,0.00,2.15,0.00,0.000,6,0.000,0.044,2855,2609,3437,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5907,-0.62,-170.3,582.7,-9.0,318,5912,0.00,1.70,0.00,0.000,4,0.000,0.055,2855,3692,3435,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5945,-0.63,-170.3,584.8,-9.0,319,5952,0.00,1.55,0.00,0.000,6,0.000,0.029,2855,2602,3435,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6252,-0.64,-170.3,611.0,-8.0,333,6257,0.00,2.00,0.00,0.000,4,0.000,0.027,2855,1219,3433,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6285,-0.65,-170.3,613.7,-7.9,334,6291,0.00,2.15,0.00,0.000,6,0.000,0.042,2854,2600,3433,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6621,-0.66,-170.3,636.1,-5.9,345,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2600,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6919,-0.67,-170.3,651.9,-5.1,355,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2600,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7219,-0.68,-170.3,667.0,-5.3,365,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2600,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7519,-0.69,-170.3,684.2,-5.9,375,7524,0.00,2.03,0.00,0.000,4,0.000,0.027,2855,1217,3428,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7556,-0.70,-170.3,686.2,-6.0,376,7562,0.00,2.15,0.00,0.000,6,0.000,0.043,2854,2608,3428,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7887,-0.71,-170.3,708.4,-7.0,387,7892,0.00,2.08,0.00,0.000,4,0.000,0.028,2855,1214,3426,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7975,-0.72,-170.3,713.1,-7.1,389,7982,0.12,2.17,0.00,0.000,6,0.096,0.043,2794,2611,3426,0,0,0,0,0,0,26.39,26.39,28.83
$GC,8282,-0.70,-170.3,747.8,-11.0,400,8287,0.00,2.08,0.00,0.000,4,0.000,0.028,2794,1218,3425,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8315,-0.68,-170.3,751.7,-10.9,401,8321,0.12,2.15,0.00,0.000,6,0.168,0.044,2828,2603,3424,0,0,0,0,0,0,26.15,26.38,28.83
$GC,8649,-0.68,-170.3,781.3,-8.8,412,8650,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2604,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8950,-0.68,-170.3,808.4,-9.0,422,8955,0.00,2.05,0.00,0.000,4,0.000,0.027,2828,1214,3423,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8983,-0.68,-170.3,811.4,-9.1,423,8988,0.00,2.15,0.00,0.000,6,0.000,0.043,2828,2601,3423,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9316,-0.68,-170.3,842.1,-9.4,434,9321,0.00,1.70,0.00,0.000,4,0.000,0.055,2828,3691,3421,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9358,-0.68,-170.3,845.3,-9.5,435,9364,0.00,1.60,0.00,0.000,6,0.000,0.030,2828,2604,3421,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9683,-0.68,-170.3,876.3,-9.4,446,9688,0.00,2.05,0.00,0.000,4,0.000,0.028,2828,1209,3420,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9760,-0.68,-170.3,882.3,-9.5,448,9766,0.00,2.17,0.00,0.000,6,0.000,0.044,2828,2601,3419,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10080,-0.68,-170.3,909.4,-7.7,459,10081,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2601,3419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10379,-0.68,-170.3,932.8,-7.8,469,10380,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2601,3418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10679,-0.68,-170.3,955.7,-7.6,479,10680,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2601,3417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10979,-0.68,-170.3,979.0,-8.0,489,10985,0.00,2.08,0.00,0.000,4,0.000,0.028,2829,1199,3416,0,0,0,0,0,0,28.83,26.49,28.83
$GC,11073,-0.68,-170.3,987.0,-8.5,492,11078,0.00,2.20,0.00,0.000,6,0.000,0.044,2828,2609,3416,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,11134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11134,begin apogee
$GC,11140,-0.15,0.0,992.7,-8.8,494,11288,0.50,0.00,139.48,1.502,6,0.116,0.000,2999,2119,2769,0,0,0,0,0,0,25.98,28.83,23.67
$STATE,11289,end apogee,CONTROL_FINISHED_OK
$STATE,11289,begin climb
$GC,11291,0.51,170.3,998.6,0.0,499,11454,0.57,0.00,156.95,1.457,6,0.047,0.000,3230,2119,2074,0,0,0,0,0,0,24.82,28.83,22.76
$GC,11736,0.47,170.3,949.1,14.2,514,11742,0.00,2.17,0.00,0.000,4,0.000,0.034,3240,736,2063,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11779,0.44,170.3,944.3,14.1,515,11786,0.17,2.17,0.00,0.000,6,0.146,0.037,3190,2121,2062,0,0,0,0,0,0,25.40,25.60,28.83
$GC,12105,0.42,170.3,903.9,12.4,526,12111,0.00,2.28,0.00,0.000,4,0.000,0.051,3190,3538,2061,0,0,0,0,0,0,28.83,25.96,28.83
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$GC,16056,0.42,350.4,515.1,12.7,672,16061,0.00,2.25,0.00,0.000,4,0.000,0.050,3212,3529,1334,0,0,0,0,0,0,28.83,25.89,28.83
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$STATE,20812,end climb,SURFACE_DEPTH_REACHED
$STATE,20812,begin surface coast
$FINISH,1.5,1.021215
$STATE,20840,end surface coast,CONTROL_FINISHED_OK
$STATE,20841,begin surface
$SM_CCo,20919,0.00,0.000,0,0,459,566.64
$SM_GC,2.34,8.50,0.77,0.00,0.054,0.026,0.000,136,2680,459,-9.07,-1.02,566.64,0,0,0,0,0,0,25.90,26.25,28.83
$IRIDIUM_FIX,1906.95,12000.27,051212,161633
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.79
$INTERNAL_PRESSURE,9.41992
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,3958688
$24V_AH,22.8,35.503
$10V_AH,9.9,15.824
$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,22.950,197.125,637.275,0.000,0.000,0.000,0.000,489.525,0.000,0.000,25.245,3221.557,14201.562,833.999,2960.878,384.372,0.000,2690.748,0.000,2354.752,0.000,0.544,0.000
$DEVICE_MAMPS,244.800,55.845,1501.695,0.000,0.000,0.000,0.000,136.170,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20873.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.269,0.000,0.000,0.000
$MEM,323804
$DATA_FILE_SIZE,36741,951
$CAP_FILE_SIZE,250762,0
$CFSIZE,260034560,234799104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.150,341.1,1
$GPS,061212,041629,1910.452,12001.542,95,0.8,95,-2.5