version: 66.10
glider: 176
mission: 5
dive: 129
start: 4 4 112 23 32 20
data:
$ID,176
$MISSION,5
$DIVE,129
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,440
$T_MISSION,500
$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,150
$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,161
$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,-7591.0381
$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,2510
$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,2610
$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,49
$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
$GPS1,040412,232255,1947.637,12323.544,41,1.1,41,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-76.1
$GPS2,040412,233155,1947.620,12323.699,12,1.2,17,-2.4
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,DOGLEG2
$TGT_LATLONG,1930.000,12325.000
$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,195.3,32712,-13.1,-7.500
$D_GRID,5097
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.51,-146.0,0.0,0.0,0,63,0.00,0.00,-43.45,0.000,2,0.000,0.000,180,2669,2546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.51,-146.0,3.3,-6.1,7,103,8.65,2.25,-20.25,0.000,4,0.236,0.039,2347,1152,3527,0,0,0,0,0,0,25.53,26.14,26.46
$GC,181,-0.51,-146.0,35.1,-25.9,25,189,0.08,2.25,0.00,0.000,6,0.204,0.048,2352,2629,3527,0,0,0,0,0,0,25.95,26.09,28.83
$GC,509,-0.51,-146.0,135.9,-24.2,86,517,0.00,1.73,0.00,0.000,4,0.000,0.052,2345,3765,3527,0,0,0,0,0,0,28.83,26.22,28.83
$GC,590,-0.51,-146.0,155.5,-21.8,101,597,0.00,1.70,0.00,0.000,6,0.000,0.023,2344,2528,3527,0,0,0,0,0,0,28.83,26.46,28.83
$GC,900,-0.51,-146.0,228.0,-22.0,150,909,0.00,1.95,0.00,0.000,4,0.000,0.026,2344,1145,3527,0,0,0,0,0,0,28.83,26.46,28.83
$GC,992,-0.51,-146.0,244.3,-15.5,159,1002,0.05,2.20,0.00,0.000,6,0.151,0.044,2353,2633,3528,0,0,0,0,0,0,26.19,26.38,28.83
$GC,1302,-0.51,-146.0,300.7,-17.8,190,1311,0.00,2.10,0.00,0.000,4,0.000,0.026,2353,1152,3528,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1384,-0.51,-146.0,312.3,-12.2,198,1393,0.00,2.22,0.00,0.000,6,0.000,0.046,2348,2629,3528,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1693,-0.51,-146.0,362.9,-16.0,229,1703,0.00,2.10,0.00,0.000,4,0.000,0.027,2347,1148,3527,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1748,-0.51,-146.0,370.5,-14.4,234,1755,0.00,2.25,0.00,0.000,6,0.000,0.047,2345,2633,3527,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2057,-0.51,-146.0,415.5,-15.0,265,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2633,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2357,-0.51,-146.0,455.8,-12.5,295,2366,0.00,2.10,0.00,0.000,4,0.000,0.027,2345,1156,3524,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2401,-0.51,-146.0,460.8,-11.7,299,2408,0.00,2.22,0.00,0.000,6,0.000,0.046,2344,2629,3524,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2709,-0.51,-146.0,495.4,-10.8,330,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2629,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3010,-0.51,-146.0,529.7,-11.6,360,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2629,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3311,-0.51,-146.0,564.0,-11.0,390,3319,0.00,2.10,0.00,0.000,4,0.000,0.027,2344,1155,3518,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3396,-0.51,-146.0,572.7,-10.0,398,3403,0.00,2.25,0.00,0.000,6,0.000,0.048,2344,2633,3517,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3707,-0.51,-146.0,608.2,-11.9,426,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2633,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4003,-0.51,-146.0,642.1,-11.3,441,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2633,3513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4304,-0.51,-146.0,674.6,-10.8,456,4308,0.00,2.12,0.00,0.000,4,0.000,0.027,2344,1150,3510,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4338,-0.51,-146.0,677.0,-10.7,457,4346,0.00,2.25,0.00,0.000,6,0.000,0.049,2344,2626,3510,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4645,-0.51,-146.0,708.6,-9.8,473,4650,0.00,2.10,0.00,0.000,4,0.000,0.027,2344,1157,3507,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4693,-0.51,-146.0,712.6,-9.8,475,4697,0.00,2.25,0.00,0.000,6,0.000,0.050,2344,2629,3507,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5006,-0.51,-146.0,742.4,-9.1,491,5012,0.00,2.12,0.00,0.000,4,0.000,0.028,2344,1148,3504,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5038,-0.51,-146.0,744.4,-9.2,492,5045,0.00,2.28,0.00,0.000,6,0.000,0.050,2344,2626,3504,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5346,-0.51,-146.0,773.2,-8.9,508,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2626,3502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5645,-0.51,-146.0,799.3,-8.6,523,5651,0.00,2.10,0.00,0.000,4,0.000,0.028,2344,1157,3500,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5667,-0.51,-146.0,801.2,-8.7,524,5671,0.00,2.28,0.00,0.000,6,0.000,0.050,2344,2617,3500,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5986,-0.51,-146.0,828.2,-8.4,540,5991,0.00,2.10,0.00,0.000,4,0.000,0.027,2344,1152,3497,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6027,-0.51,-146.0,831.5,-8.4,542,6031,0.00,2.30,0.00,0.000,6,0.000,0.050,2344,2625,3497,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6346,-0.51,-146.0,859.4,-9.0,558,6347,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2625,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6646,-0.51,-146.0,886.4,-9.0,573,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2625,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6945,-0.51,-146.0,913.6,-8.9,588,6951,0.00,2.12,0.00,0.000,4,0.000,0.028,2344,1148,3491,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7000,-0.51,-146.0,917.2,-9.1,590,7006,0.00,2.28,0.00,0.000,6,0.000,0.050,2344,2625,3491,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7306,-0.51,-146.0,945.8,-8.9,606,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2625,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7605,-0.51,-146.0,972.0,-8.4,621,7611,0.00,2.12,0.00,0.000,4,0.000,0.028,2344,1150,3487,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7653,-0.51,-146.0,975.5,-8.5,623,7657,0.00,2.25,0.00,0.000,6,0.000,0.049,2344,2626,3487,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,7838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7838,begin apogee
$GC,7844,-0.17,0.0,991.1,-8.0,632,7974,0.32,0.12,121.43,1.743,6,0.113,0.096,2459,2538,2929,0,0,0,0,0,0,26.08,24.62,23.56
$STATE,7975,end apogee,CONTROL_FINISHED_OK
$STATE,7975,begin climb
$GC,7977,0.51,146.0,995.5,0.0,638,8125,0.60,2.47,138.05,1.704,4,0.051,0.032,2708,1062,2332,0,0,0,0,0,0,24.89,24.03,22.87
$GC,8210,0.51,146.0,978.8,13.8,650,8215,0.12,2.40,0.00,0.000,6,0.171,0.047,2671,2517,2325,0,0,0,0,0,0,24.74,24.98,28.83
$GC,8529,0.51,146.0,938.5,12.4,666,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2517,2322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8827,0.51,146.0,902.0,12.2,681,8833,0.00,2.20,0.00,0.000,4,0.000,0.032,2682,1051,2320,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8892,0.51,146.0,895.5,11.2,684,8897,0.08,2.28,0.00,0.000,6,0.212,0.047,2667,2517,2319,0,0,0,0,0,0,25.87,26.03,28.83
$GC,9205,0.51,146.0,858.7,11.9,700,9208,0.00,1.92,0.00,0.000,4,0.000,0.056,2667,3772,2318,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9254,0.51,146.0,852.9,12.6,702,9257,0.00,1.90,0.00,0.000,6,0.000,0.027,2676,2449,2317,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9567,0.51,146.0,812.6,12.5,718,9568,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2444,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9866,0.51,146.0,775.6,12.2,733,9867,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2445,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10166,0.51,146.0,738.6,12.3,748,10172,0.00,2.05,0.00,0.000,4,0.000,0.033,2687,1054,2315,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10189,0.51,146.0,736.1,12.3,749,10194,0.10,2.25,0.00,0.000,6,0.196,0.046,2665,2518,2315,0,0,0,0,0,0,25.97,26.20,28.83
$GC,10501,0.51,146.0,701.8,10.9,765,10507,0.00,2.17,0.00,0.000,4,0.000,0.031,2675,1047,2314,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10541,0.51,146.0,697.5,10.8,767,10547,0.00,2.25,0.00,0.000,6,0.000,0.046,2675,2523,2313,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10862,0.51,146.0,661.3,11.1,783,10863,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2523,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11163,0.51,146.0,628.0,11.0,798,11168,0.00,1.90,0.00,0.000,4,0.000,0.054,2675,3764,2312,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11194,0.51,146.0,625.7,11.2,799,11201,0.08,1.90,0.00,0.000,6,0.239,0.024,2671,2434,2312,0,0,0,0,0,0,26.14,26.44,28.83
$GC,11502,0.51,146.0,590.3,11.3,819,11510,0.00,2.03,0.00,0.000,4,0.000,0.033,2681,1054,2312,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11555,0.51,146.0,584.6,10.7,824,11563,0.03,2.28,0.00,0.000,6,0.178,0.044,2671,2525,2311,0,0,0,0,0,0,26.13,26.25,28.83
$GC,11863,0.51,146.0,551.0,10.6,855,11872,0.00,2.17,0.00,0.000,4,0.000,0.032,2681,1049,2311,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11904,0.51,146.0,546.9,9.8,859,11914,0.05,2.22,0.00,0.000,6,0.217,0.044,2670,2521,2311,0,0,0,0,0,0,26.16,26.25,28.83
$GC,12215,0.51,146.0,517.9,9.0,890,12218,0.00,1.92,0.00,0.000,4,0.000,0.054,2669,3788,2311,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12286,0.51,146.0,510.7,10.4,897,12296,0.00,1.90,0.00,0.000,6,0.000,0.023,2679,2428,2311,0,0,0,0,0,0,28.83,26.48,28.83
$GC,12597,0.51,146.0,483.9,8.9,928,12598,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2429,2311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12897,0.51,146.0,454.4,9.6,958,12906,0.00,2.03,0.00,0.000,4,0.000,0.051,2679,3770,2311,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12940,0.51,146.0,449.8,10.9,962,12949,0.10,1.90,0.00,0.000,6,0.210,0.023,2661,2428,2311,0,0,0,0,0,0,26.02,26.50,28.83
$GC,13248,0.51,146.0,423.3,7.6,993,13259,0.08,2.03,0.00,0.000,4,0.137,0.031,2713,1047,2311,0,0,0,0,0,0,26.60,26.36,28.83
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$GC,14672,0.54,176.0,312.0,6.7,1134,14702,0.10,0.00,22.73,1.229,6,0.112,0.000,2726,2425,2211,0,0,0,0,0,0,26.59,28.83,24.93
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$GC,15301,0.56,188.8,251.9,7.1,1197,15322,0.08,2.05,12.40,1.141,4,0.127,0.034,2740,1051,2159,0,0,0,0,0,0,26.43,26.10,25.01
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$STATE,18154,end climb,SURFACE_DEPTH_REACHED
$STATE,18154,begin surface coast
$FINISH,0.5,1.022308
$STATE,18192,end surface coast,CONTROL_FINISHED_OK
$STATE,18192,begin surface
$SM_CCo,18209,15.45,0.133,0,0,1398,375.06
$SM_GC,2.88,6.32,1.77,15.45,0.036,0.028,0.133,179,2545,1398,-7.13,0.62,375.06,0,0,0,0,0,0,26.45,26.50,26.00
$IRIDIUM_FIX,1941.24,12321.70,040412,181846
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.61
$INTERNAL_PRESSURE,9.50506
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,22.9,28.876
$10V_AH,10.2,17.018
$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,18.250,142.875,372.950,15.450,0.000,55.691,39.760,234.143,0.000,0.000,20.375,4234.249,10279.353,545.093,3296.620,378.078,0.000,2046.397,0.000,2759.323,0.000,0.542,0.000
$DEVICE_MAMPS,244.800,95.625,1742.670,133.110,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1147.523,2181.285,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329420
$DATA_FILE_SIZE,123828,1686
$CAP_FILE_SIZE,186210,0
$CFSIZE,260165632,211214336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134,107.8,1
$GPS,050412,043707,1944.914,12324.685,31,0.9,31,-2.4