version: 66.13
glider: 178
mission: 31
dive: 27
start: 10 6 119 14 2 42
data:
$ID,178
$MISSION,31
$DIVE,27
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,2
$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
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53923
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0035481299
$HD_B,0.010145
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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
$HEAPDBG,0
$T_GPS,5
$N_GPS,100740
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,165
$PITCH_MAX,3805
$C_PITCH,2125
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,625
$ROLL_MAX,3950
$ROLL_DEG,40
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00038000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-157.45766
$PRESSURE_SLOPE,0.0001061024
$AD7714Ch0Gain,1
$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,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,147
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043966938
$SEABIRD_T_H,0.00063700025
$SEABIRD_T_I,2.5067597e-05
$SEABIRD_T_J,2.9826379e-06
$SEABIRD_C_G,-9.7293062
$SEABIRD_C_H,1.1206031
$SEABIRD_C_I,0.00047059715
$SEABIRD_C_J,5.505409e-05
$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
$GPS1,061019,135030,1342.3191,14430.2393,29,0.8,29,0.5,0.2,0.0,11,3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-58.1
$GPS2,061019,140141,1342.3439,14430.1543,2,0.6,3,0.5,0.0,0.0,12,3.8
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,N
$TGT_LATLONG,1345.000,14430.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,4.3,4927,-23.0,-8.462,-25.86,1262
$D_GRID,2365
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.99,-69.5,158,2728,995,861,0.0,0.0,0,109,0.00,0.00,-87.60,0.005,16390,0.000,0.000,158,2728,3252,3293,3212,0,0,0,0,0,0,15.28,14.60,15.29
$GC,112,-0.99,-69.5,158,2728,3293,3212,5.7,-11.2,9,129,7.80,2.30,0.00,0.000,2564,0.415,0.041,1796,1329,3253,3294,3213,0,0,0,0,0,0,14.95,15.13,15.11
$GC,222,-0.99,-69.5,1796,1329,3295,3209,50.3,-35.4,31,231,0.00,2.38,0.00,0.000,1030,0.000,0.055,1792,2751,3252,3297,3207,0,0,0,0,0,0,15.23,15.16,15.25
$GC,412,-0.99,-69.5,1788,2750,3298,3205,109.9,-29.0,51,417,0.00,1.98,0.00,0.000,260,0.000,0.076,1779,3943,3251,3298,3205,0,0,0,0,0,0,15.41,15.21,15.42
$GC,645,-0.99,-69.5,1779,3943,3298,3206,168.5,-15.6,97,651,0.00,1.92,0.00,0.000,1030,0.000,0.034,1779,2685,3253,3300,3206,0,0,0,0,0,0,15.35,15.31,15.36
$GC,838,-0.99,-69.5,1779,2685,3299,3205,196.0,-15.2,117,845,0.00,2.15,0.00,0.000,260,0.000,0.076,1770,3952,3252,3300,3205,0,0,0,0,0,0,15.48,15.28,15.50
$GC,1073,-0.99,-69.5,1770,3952,3299,3205,230.5,-13.2,163,1079,0.15,1.92,0.00,0.000,3078,0.318,0.035,1799,2706,3252,3299,3205,0,0,0,0,0,0,15.19,15.37,15.36
$GC,1269,-0.99,-69.5,1798,2702,3299,3205,250.4,-10.0,183,1275,0.00,2.12,0.00,0.000,260,0.000,0.079,1791,3942,3251,3299,3204,0,0,0,0,0,0,15.52,15.31,15.54
$GC,1500,-0.99,-69.5,1791,3942,3294,3203,274.8,-9.0,229,1507,0.00,1.85,0.00,0.000,1030,0.000,0.037,1792,2741,3251,3299,3203,0,0,0,0,0,0,15.42,15.39,15.44
$GC,1815,-0.99,-69.5,1791,2741,3299,3200,307.4,-11.8,241,1821,0.00,2.17,0.00,0.000,516,0.000,0.043,1789,1367,3249,3299,3199,0,0,0,0,0,0,15.54,15.39,15.57
$GC,1932,-0.99,-69.5,1791,1367,3299,3199,323.2,-13.0,264,1938,0.00,2.35,0.00,0.000,1030,0.000,0.056,1788,2754,3248,3299,3198,0,0,0,0,0,0,15.40,15.35,15.40
$GC,2239,-0.99,-69.5,1787,2754,3299,3193,358.4,-11.4,275,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2754,3246,3299,3193,0,0,0,0,0,0,15.56,15.57,15.58
$GC,2539,-0.99,-69.5,1787,2754,3299,3189,394.3,-11.3,285,2545,0.00,2.00,0.00,0.000,260,0.000,0.086,1780,3946,3243,3298,3188,0,0,0,0,0,0,15.57,15.35,15.58
$GC,2581,-0.99,-69.5,1779,3946,3298,3188,399.2,-11.8,293,2587,0.00,1.88,0.00,0.000,1030,0.000,0.042,1780,2758,3243,3298,3188,0,0,0,0,0,0,15.46,15.42,15.47
$GC,2905,-0.99,-69.5,1780,2758,3295,3183,434.8,-10.9,307,2910,0.00,2.00,0.00,0.000,260,0.000,0.087,1773,3939,3239,3295,3183,0,0,0,0,0,0,15.56,15.36,15.58
$GC,3136,-0.99,-69.5,1772,3939,3293,3178,463.6,-12.6,353,3143,0.15,1.88,0.00,0.000,3078,0.306,0.043,1803,2745,3237,3293,3182,0,0,0,0,0,0,15.26,15.42,15.43
$GC,3451,-0.99,-69.5,1803,2745,3290,3180,494.1,-9.3,365,3457,0.00,2.05,0.00,0.000,260,0.000,0.090,1796,3944,3235,3290,3180,0,0,0,0,0,0,15.56,15.35,15.57
$GC,3578,-0.99,-69.5,1796,3944,3289,3178,506.9,-9.4,390,3584,0.00,1.88,0.00,0.000,1030,0.000,0.044,1797,2750,3233,3289,3178,0,0,0,0,0,0,15.46,15.42,15.47
$GC,3906,-0.99,-69.5,1796,2749,3286,3175,537.1,-9.2,405,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2750,3230,3286,3175,0,0,0,0,0,0,15.56,15.57,15.57
$GC,4206,-0.99,-69.5,1796,2749,3283,3175,566.8,-10.0,415,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2749,3227,3283,3172,0,0,0,0,0,0,15.55,15.58,15.58
$GC,4506,-0.99,-69.5,1796,2749,3281,3171,597.6,-10.6,425,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2749,3226,3281,3171,0,0,0,0,0,0,15.55,15.58,15.57
$GC,4806,-0.99,-69.5,1796,2749,3278,3169,626.9,-9.7,435,4812,0.00,2.25,0.00,0.000,516,0.000,0.053,1797,1365,3224,3279,3169,0,0,0,0,0,0,15.55,15.38,15.57
$GC,4930,-0.99,-69.5,1796,1365,3277,3169,639.3,-10.0,459,4937,0.00,2.33,0.00,0.000,1030,0.000,0.065,1796,2743,3223,3277,3169,0,0,0,0,0,0,15.44,15.35,15.46
$GC,5260,-0.99,-69.5,1796,2743,3274,3167,672.6,-10.2,475,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2743,3220,3274,3167,0,0,0,0,0,0,15.55,15.56,15.57
$GC,5560,-0.99,-69.5,1796,2743,3273,3165,701.9,-9.4,485,5566,0.00,2.05,0.00,0.000,260,0.000,0.097,1787,3943,3216,3268,3165,0,0,0,0,0,0,15.54,15.33,15.56
$GC,5769,-0.99,-69.5,1787,3943,3272,3163,724.0,-10.5,526,5775,0.00,1.95,0.00,0.000,1030,0.000,0.049,1787,2758,3217,3272,3163,0,0,0,0,0,0,15.40,15.39,15.42
$GC,6074,-0.99,-69.5,1787,2757,3271,3162,750.6,-7.9,537,6080,0.00,2.08,0.00,0.000,260,0.000,0.098,1785,3953,3216,3270,3162,0,0,0,0,0,0,15.54,15.33,15.56
$GC,6156,-0.99,-69.5,1784,3953,3269,3162,757.4,-8.0,553,6162,0.00,1.95,0.00,0.000,1030,0.000,0.049,1784,2738,3215,3269,3162,0,0,0,0,0,0,15.44,15.40,15.45
$GC,6470,-0.99,-69.5,1790,2740,3268,3161,780.5,-7.4,565,6477,0.00,2.25,0.00,0.000,516,0.000,0.054,1784,1359,3214,3268,3160,0,0,0,0,0,0,15.52,15.35,15.54
$GC,6523,-0.99,-69.5,1784,1359,3267,3161,784.7,-7.2,575,6529,0.00,2.38,0.00,0.000,1030,0.000,0.064,1782,2758,3213,3267,3160,0,0,0,0,0,0,15.41,15.33,15.44
$GC,6830,-0.99,-69.5,1782,2759,3266,3156,807.9,-7.7,586,6837,0.00,2.33,0.00,0.000,516,0.000,0.053,1782,1360,3212,3266,3159,0,0,0,0,0,0,15.52,15.35,15.54
$GC,7008,-0.99,-69.5,1782,1361,3265,3156,822.9,-8.3,621,7015,0.00,2.40,0.00,0.000,1030,0.000,0.065,1782,2744,3212,3265,3159,0,0,0,0,0,0,15.37,15.30,15.39
$GC,7315,-0.99,-69.5,1782,2744,3264,3158,848.6,-8.8,632,7320,0.00,2.08,0.00,0.000,260,0.000,0.100,1782,3947,3211,3264,3158,0,0,0,0,0,0,15.52,15.31,15.53
$GC,7530,-0.99,-69.5,1782,3949,3263,3158,869.5,-9.8,674,7536,0.00,1.92,0.00,0.000,1030,0.000,0.050,1782,2764,3210,3263,3158,0,0,0,0,0,0,15.42,15.37,15.43
$GC,7864,-0.99,-69.5,1782,2758,3262,3157,899.4,-8.7,690,7869,0.00,2.33,0.00,0.000,516,0.000,0.055,1782,1340,3208,3261,3155,0,0,0,0,0,0,15.52,15.32,15.53
$GC,7910,-0.99,-69.5,1782,1340,3261,3157,903.9,-9.2,699,7917,0.00,2.42,0.00,0.000,1030,0.000,0.067,1782,2754,3208,3261,3156,0,0,0,0,0,0,15.40,15.32,15.42
$GC,8229,-0.99,-69.5,1782,2754,3262,3155,932.1,-8.0,712,8235,0.00,2.35,0.00,0.000,516,0.000,0.054,1782,1339,3207,3260,3155,0,0,0,0,0,0,15.52,15.33,15.53
$GC,8306,-1.00,-95.0,1782,1338,3260,3155,937.1,-6.4,727,8314,0.00,2.42,0.00,0.000,1062,0.000,0.066,1782,2759,3208,3260,3157,0,0,0,0,0,0,15.40,15.31,15.42
$GC,8622,-1.00,-95.0,1782,2759,3259,3154,961.3,-7.5,740,8626,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2759,3206,3259,3154,0,0,0,0,0,0,15.51,15.53,15.53
$GC,8923,-1.00,-95.0,1782,2759,3259,3153,984.4,-7.8,750,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,2759,3205,3257,3154,0,0,0,0,0,0,15.51,15.54,15.53
$STATE,9010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9010,begin apogee
$GC,9017,-0.21,0.0,1782,1697,3258,3153,992.1,-7.8,753,9080,1.00,0.00,57.67,2.111,10246,0.256,0.000,2056,1694,2968,3034,2903,0,0,0,0,0,0,15.23,14.80,14.08
$STATE,9089,end apogee,CONTROL_FINISHED_OK
$STATE,9089,begin climb
$GC,9091,1.00,95.0,2056,1694,3034,2902,993.3,0.0,755,9199,1.23,1.92,97.75,2.071,10756,0.130,0.081,2447,645,2580,2645,2515,0,0,0,0,0,0,14.76,14.28,13.69
$GC,9320,1.00,95.0,2446,645,2638,2512,971.5,13.8,804,9326,0.00,1.83,0.00,0.000,1030,0.000,0.052,2447,1717,2575,2638,2512,0,0,0,0,0,0,14.88,14.82,14.90
$GC,9644,1.00,95.0,2446,1717,2638,2507,935.9,10.7,818,9647,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1717,2572,2638,2507,0,0,0,0,0,0,15.25,15.28,15.27
$GC,9943,1.00,95.0,2446,1716,2636,2505,907.0,9.0,828,9949,0.00,1.90,0.00,0.000,516,0.000,0.086,2450,631,2571,2637,2505,0,0,0,0,0,0,15.34,15.14,15.36
$GC,10176,1.00,95.0,2447,631,2635,2504,884.3,10.5,874,10181,0.00,1.77,0.00,0.000,1030,0.000,0.054,2450,1702,2569,2634,2505,0,0,0,0,0,0,15.27,15.21,15.28
$GC,10490,1.00,95.0,2449,1702,2635,2502,851.8,10.6,886,10495,0.00,1.88,0.00,0.000,516,0.000,0.089,2449,645,2569,2635,2503,0,0,0,0,0,0,15.40,15.20,15.42
$GC,10643,1.00,95.0,2449,645,2634,2503,835.0,11.4,916,10648,0.00,1.77,0.00,0.000,1030,0.000,0.054,2449,1694,2568,2634,2503,0,0,0,0,0,0,15.28,15.24,15.30
$GC,10976,1.00,95.0,2450,1691,2634,2502,797.1,11.4,932,10981,0.00,1.85,0.00,0.000,516,0.000,0.090,2449,640,2571,2634,2508,0,0,0,0,0,0,15.44,15.23,15.45
$GC,11208,1.00,95.0,2449,640,2632,2501,770.5,11.6,978,11213,0.00,1.75,0.00,0.000,1030,0.000,0.054,2449,1699,2567,2632,2502,0,0,0,0,0,0,15.33,15.26,15.35
$GC,11522,1.00,95.0,2449,1699,2632,2497,734.6,11.6,990,11527,0.00,1.85,0.00,0.000,516,0.000,0.089,2450,643,2566,2632,2501,0,0,0,0,0,0,15.45,15.23,15.47
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$GC,18197,1.27,210.4,2490,3100,2194,2025,132.5,6.5,1665,18206,0.10,2.42,0.00,0.000,3142,0.110,0.050,2534,1697,2110,2195,2025,0,0,0,0,0,0,15.01,15.03,15.04
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$STATE,19809,end climb,SURFACE_DEPTH_REACHED
$STATE,19809,begin surface coast
$STATE,19829,end surface coast,CONTROL_FINISHED_OK
$STATE,19831,begin surface
$SM_CCo,19851,163.27,0.708,1,0,928,500.17
$SM_GC,0.56,6.93,3.55,163.27,0.084,0.050,0.708,155,2727,928,-6.10,-1.50,500.17,0,0,0,0,1,0,15.22,15.21,14.50
$IRIDIUM_FIX,1339.61,14429.03,061019,081632
$TT8_MAMPS,0.019474,0.167027
$HUMID,42.47
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,26.20
$XPDR_PINGS,0
$SC_FREEKB,3866272
$PM_FREEKB_00,118009728
$PM_FREEKB_01,124821056
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,0
$24V_AH,13.69,10.782
$10V_AH,13.42,0.000
$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,17.475,151.575,343.550,163.275,0.000,0.000,0.000,464.800,0.000,0.000,15.355,1528.896,13080.743,584.621,5190.034,329.466,0.000,2702.730,0.000,4422.246,0.000,0.553,0.000
$DEVICE_MAMPS,414.630,100.215,2111.400,707.625,0.000,0.000,0.000,204.255,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19856.000,19849.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.862,5.791,0.000,0.000
$MEM,270892
$DATA_FILE_SIZE,66612,1894
$CAP_FILE_SIZE,189358,0
$CFSIZE,260034560,254590976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.043,272.28,1
$GPS,061019,193749,1344.217,14430.235,22,1.5,33,0.5,0.3,0.0,7,3.9