version: 66.13
glider: 178
mission: 31
dive: 137
start: 11 3 119 20 28 30
data:
$ID,178
$MISSION,31
$DIVE,137
$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,100
$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,0.00223872
$HD_B,0.011885
$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,38
$R_STBD_OVSHOOT,32
$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
$GPS1,031119,201200,1412.6337,14410.7646,33,0.6,33,0.3,0.2,108.5,12,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-57.1
$GPS2,031119,202739,1412.5585,14410.8369,2,0.6,4,0.3,0.6,66.5,12,3.2
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,217.0,4971,-25.2,-8.462,-30.00,1059
$D_GRID,1000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.07,-58.6,155,2736,986,868,0.0,0.0,0,108,0.00,0.00,-88.10,0.005,16390,0.000,0.000,155,2736,3206,3230,3182,0,0,0,0,0,0,15.26,14.12,15.27
$GC,111,-1.07,-58.6,155,2737,3230,3183,4.6,-8.8,9,128,7.45,2.30,0.00,0.000,2564,0.393,0.040,1766,1339,3207,3232,3183,0,0,0,0,0,0,14.87,15.09,15.04
$GC,354,-1.07,-58.6,1765,1338,3233,3181,86.6,-29.6,58,361,0.00,2.40,0.00,0.000,1030,0.000,0.056,1758,2741,3207,3234,3181,0,0,0,0,0,0,15.19,15.15,15.21
$GC,541,-1.07,-58.6,1758,2741,3234,3180,129.8,-22.4,77,548,0.00,2.28,0.00,0.000,516,0.000,0.040,1758,1339,3207,3234,3181,0,0,0,0,0,0,15.42,15.22,15.43
$GC,645,-1.07,-58.6,1755,1339,3234,3180,149.3,-16.0,97,652,0.00,2.35,0.00,0.000,1030,0.000,0.047,1750,2759,3207,3234,3180,0,0,0,0,0,0,15.30,15.22,15.31
$GC,840,-1.07,-58.6,1750,2755,3235,3180,179.9,-14.6,117,846,0.00,1.98,0.00,0.000,260,0.000,0.073,1750,3946,3207,3235,3180,0,0,0,0,0,0,15.45,15.23,15.47
$GC,894,-1.07,-58.6,1751,3946,3234,3180,188.3,-15.8,127,900,0.00,1.92,0.00,0.000,1030,0.000,0.029,1750,2698,3207,3234,3180,0,0,0,0,0,0,15.35,15.31,15.35
$GC,1087,-1.07,-58.6,1749,2693,3234,3180,215.1,-14.6,147,1093,0.00,2.17,0.00,0.000,516,0.000,0.041,1750,1329,3207,3234,3180,0,0,0,0,0,0,15.47,15.28,15.50
$GC,1121,-1.07,-58.6,1749,1329,3230,3180,219.4,-12.8,153,1127,0.00,2.35,0.00,0.000,1030,0.000,0.047,1750,2753,3207,3234,3180,0,0,0,0,0,0,15.35,15.28,15.36
$GC,1315,-1.07,-58.6,1749,2753,3234,3179,244.2,-11.3,173,1321,0.00,1.98,0.00,0.000,260,0.000,0.074,1750,3946,3206,3235,3178,0,0,0,0,0,0,15.47,15.26,15.50
$GC,1548,-1.07,-58.6,1749,3946,3234,3177,275.1,-14.0,219,1553,0.00,1.92,0.00,0.000,1030,0.000,0.030,1750,2699,3206,3235,3177,0,0,0,0,0,0,15.38,15.34,15.38
$GC,1861,-1.07,-58.6,1749,2692,3235,3174,315.8,-13.0,231,1867,0.00,2.17,0.00,0.000,516,0.000,0.045,1750,1341,3204,3235,3174,0,0,0,0,0,0,15.50,15.30,15.52
$GC,2052,-1.07,-58.6,1749,1341,3234,3171,341.4,-12.0,269,2059,0.12,2.35,0.00,0.000,3078,0.310,0.050,1774,2753,3204,3235,3173,0,0,0,0,0,0,15.16,15.30,15.35
$GC,2377,-1.07,-58.6,1773,2753,3234,3166,372.1,-9.1,283,2383,0.00,2.33,0.00,0.000,516,0.000,0.045,1774,1334,3200,3235,3166,0,0,0,0,0,0,15.51,15.31,15.53
$GC,2524,-1.07,-58.6,1773,1335,3234,3163,385.3,-9.0,312,2531,0.00,2.40,0.00,0.000,1030,0.000,0.051,1767,2745,3200,3238,3162,0,0,0,0,0,0,15.33,15.29,15.35
$GC,2831,-1.07,-58.6,1767,2745,3234,3159,415.2,-10.6,323,2836,0.00,2.03,0.00,0.000,260,0.000,0.082,1763,3949,3196,3234,3158,0,0,0,0,0,0,15.51,15.28,15.53
$GC,3062,-1.07,-58.6,1763,3949,3234,3150,440.2,-10.5,369,3069,0.00,1.95,0.00,0.000,1030,0.000,0.034,1764,2708,3193,3235,3152,0,0,0,0,0,0,15.40,15.36,15.42
$GC,3376,-1.07,-58.6,1764,2708,3234,3149,471.2,-10.6,381,3383,0.00,2.12,0.00,0.000,260,0.000,0.085,1765,3940,3191,3234,3149,0,0,0,0,0,0,15.50,15.27,15.52
$GC,3609,-1.07,-58.6,1763,3940,3234,3142,499.6,-12.9,427,3614,0.00,1.88,0.00,0.000,1030,0.000,0.035,1764,2741,3189,3234,3145,0,0,0,0,0,0,15.39,15.37,15.41
$GC,3922,-1.07,-58.6,1763,2741,3234,3139,535.9,-11.3,439,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,2741,3187,3234,3140,0,0,0,0,0,0,15.49,15.53,15.51
$GC,4222,-1.07,-58.6,1759,2741,3233,3136,566.6,-10.3,449,4228,0.00,2.08,0.00,0.000,260,0.000,0.086,1764,3940,3184,3233,3136,0,0,0,0,0,0,15.50,15.27,15.51
$GC,4454,-1.07,-58.6,1763,3940,3231,3133,593.5,-12.4,495,4460,0.00,1.88,0.00,0.000,1030,0.000,0.038,1763,2763,3182,3231,3133,0,0,0,0,0,0,15.39,15.35,15.40
$GC,4767,-1.07,-58.6,1763,2763,3229,3132,622.8,-8.7,507,4773,0.00,2.28,0.00,0.000,516,0.000,0.047,1763,1370,3180,3229,3131,0,0,0,0,0,0,15.50,15.29,15.52
$GC,4831,-1.07,-58.6,1763,1370,3228,3131,628.3,-8.6,519,4837,0.00,2.33,0.00,0.000,1030,0.000,0.057,1763,2745,3180,3229,3131,0,0,0,0,0,0,15.37,15.28,15.38
$GC,5164,-1.07,-58.6,1763,2745,3227,3129,659.3,-10.1,535,5170,0.00,2.30,0.00,0.000,516,0.000,0.047,1763,1369,3178,3227,3129,0,0,0,0,0,0,15.50,15.29,15.52
$GC,5396,-1.07,-58.6,1763,1369,3224,3128,684.0,-10.9,581,5403,0.00,2.35,0.00,0.000,1030,0.000,0.057,1762,2752,3175,3222,3128,0,0,0,0,0,0,15.35,15.27,15.38
$GC,5710,-1.07,-58.6,1763,2751,3223,3126,714.8,-9.6,593,5717,0.00,2.30,0.00,0.000,516,0.000,0.047,1764,1370,3174,3223,3126,0,0,0,0,0,0,15.50,15.28,15.51
$GC,5943,-1.07,-58.6,1763,1368,3221,3126,736.5,-9.5,639,5948,0.00,2.38,0.00,0.000,1030,0.000,0.058,1763,2750,3173,3220,3126,0,0,0,0,0,0,15.35,15.24,15.36
$GC,6256,-1.07,-58.6,1763,2750,3220,3123,764.3,-8.9,651,6262,0.00,2.08,0.00,0.000,260,0.000,0.089,1763,3950,3171,3221,3122,0,0,0,0,0,0,15.48,15.22,15.50
$GC,6488,-1.07,-58.6,1763,3950,3219,3120,786.9,-9.5,697,6494,0.00,1.92,0.00,0.000,1030,0.000,0.043,1763,2764,3169,3219,3120,0,0,0,0,0,0,15.36,15.31,15.38
$GC,6802,-1.07,-58.6,1763,2763,3218,3119,813.0,-8.5,709,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,2763,3168,3214,3123,0,0,0,0,0,0,15.47,15.48,15.47
$GC,7102,-1.07,-58.6,1763,2763,3211,3118,838.1,-8.0,719,7108,0.00,2.35,0.00,0.000,516,0.000,0.048,1763,1354,3167,3216,3118,0,0,0,0,0,0,15.46,15.26,15.47
$GC,7269,-1.07,-58.6,1763,1354,3215,3118,851.5,-7.1,752,7274,0.00,2.40,0.00,0.000,1030,0.000,0.060,1764,2753,3167,3216,3119,0,0,0,0,0,0,15.31,15.24,15.38
$GC,7582,-1.07,-58.6,1759,2752,3215,3113,873.0,-7.2,764,7588,0.00,2.35,0.00,0.000,516,0.000,0.049,1763,1351,3166,3214,3118,0,0,0,0,0,0,15.45,15.25,15.45
$GC,7708,-1.07,-58.6,1763,1350,3213,3118,883.1,-7.2,789,7715,0.00,2.40,0.00,0.000,1030,0.000,0.060,1763,2751,3165,3213,3118,0,0,0,0,0,0,15.33,15.22,15.34
$GC,8038,-1.07,-58.6,1763,2751,3213,3116,905.8,-7.3,804,8043,0.00,2.08,0.00,0.000,260,0.000,0.091,1763,3943,3162,3208,3116,0,0,0,0,0,0,15.46,15.20,15.47
$GC,8104,-1.07,-58.6,1763,3943,3212,3116,912.1,-8.6,817,8111,0.00,1.95,0.00,0.000,1030,0.000,0.046,1763,2753,3164,3212,3116,0,0,0,0,0,0,15.33,15.28,15.33
$GC,8434,-1.07,-58.6,1763,2754,3211,3115,938.0,-8.6,832,8439,0.00,2.33,0.00,0.000,516,0.000,0.050,1763,1350,3163,3211,3115,0,0,0,0,0,0,15.48,15.24,15.47
$GC,8536,-1.07,-58.6,1768,1350,3211,3115,948.3,-8.8,852,8545,0.00,2.40,0.00,0.000,1030,0.000,0.060,1763,2748,3163,3211,3115,0,0,0,0,0,0,15.29,15.19,15.31
$GC,8858,-1.07,-58.6,1763,2748,3210,3114,976.1,-8.8,866,8864,0.00,2.35,0.00,0.000,516,0.000,0.049,1763,1352,3162,3210,3114,0,0,0,0,0,0,15.45,15.23,15.47
$STATE,9002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9002,begin apogee
$GC,9008,-0.21,0.0,1763,1734,3210,3114,990.1,-8.5,895,9061,1.08,0.00,47.65,2.051,10246,0.247,0.000,2054,1734,2969,3030,2909,0,0,0,0,0,0,15.05,14.85,14.14
$STATE,9063,end apogee,CONTROL_FINISHED_OK
$STATE,9063,begin climb
$GC,9065,1.07,58.6,2054,1734,3030,2908,991.2,0.0,896,9132,1.27,0.00,61.90,2.012,10758,0.114,0.000,2468,1734,2729,2783,2675,0,0,0,0,0,0,14.84,14.52,13.84
$GC,9429,1.07,58.6,2468,1734,2779,2666,958.4,10.6,914,9434,0.00,1.90,0.00,0.000,516,0.000,0.070,2475,652,2723,2780,2666,0,0,0,0,0,0,15.19,14.97,15.21
$GC,9643,1.07,58.6,2474,652,2776,2666,936.0,10.6,956,9649,0.00,1.73,0.00,0.000,1030,0.000,0.043,2475,1704,2721,2776,2666,0,0,0,0,0,0,15.16,15.10,15.19
$GC,9977,1.07,58.6,2474,1704,2775,2664,900.9,10.4,972,9980,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1704,2720,2776,2664,0,0,0,0,0,0,15.35,15.36,15.36
$GC,10277,1.07,58.6,2474,1704,2776,2663,870.4,10.0,982,10283,0.00,2.38,0.00,0.000,260,0.000,0.067,2474,3089,2719,2776,2663,0,0,0,0,0,0,15.38,15.15,15.40
$GC,10453,1.07,58.6,2475,3084,2775,2661,852.5,10.2,1017,10461,0.00,2.38,0.00,0.000,1030,0.000,0.047,2483,1710,2717,2775,2660,0,0,0,0,0,0,15.21,15.15,15.22
$GC,10760,1.07,58.6,2482,1710,2774,2662,824.2,9.2,1028,10766,0.00,1.88,0.00,0.000,516,0.000,0.073,2490,616,2717,2775,2659,0,0,0,0,0,0,15.38,15.14,15.42
$GC,10993,1.07,58.6,2489,615,2774,2660,802.6,9.5,1074,10998,0.00,1.77,0.00,0.000,1030,0.000,0.044,2490,1699,2717,2774,2661,0,0,0,0,0,0,15.28,15.21,15.30
$GC,11308,1.07,58.6,2489,1701,2773,2660,774.3,9.5,1086,11314,0.00,1.85,0.00,0.000,516,0.000,0.073,2490,631,2716,2773,2660,0,0,0,0,0,0,15.39,15.16,15.41
$GC,11539,1.07,58.6,2490,632,2772,2660,751.1,9.6,1132,11545,0.00,1.75,0.00,0.000,1030,0.000,0.044,2491,1702,2718,2776,2660,0,0,0,0,0,0,15.28,15.22,15.30
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$GC,16711,1.11,105.3,2485,3088,2600,2470,275.9,7.7,1606,16717,0.00,2.35,0.00,0.000,1094,0.000,0.047,2490,1698,2534,2600,2469,0,0,0,0,0,0,15.26,15.18,15.27
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$STATE,20370,end climb,SURFACE_DEPTH_REACHED
$STATE,20371,begin surface coast
$STATE,20400,end surface coast,CONTROL_FINISHED_OK
$STATE,20401,begin surface
$SM_CCo,20421,184.73,0.666,1,0,927,500.17
$SM_GC,0.41,6.90,3.53,184.73,0.077,0.045,0.666,157,2714,927,-6.10,-1.75,500.17,0,0,0,0,1,0,15.19,15.19,14.47
$IRIDIUM_FIX,1413.07,14409.64,031119,135335
$TT8_MAMPS,0.018725,0.155043
$HUMID,43.54
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,27.20
$XPDR_PINGS,0
$SC_FREEKB,3811456
$PM_FREEKB_00,58040768
$PM_FREEKB_01,110125760
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,1
$24V_AH,13.84,57.251
$10V_AH,13.39,0.000
$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,16.925,174.525,307.275,184.725,0.000,0.000,0.000,722.500,0.000,0.000,17.244,1771.333,12930.846,586.162,5847.730,421.252,0.000,3104.360,0.000,4868.058,0.000,0.553,0.000
$DEVICE_MAMPS,393.210,91.035,2050.965,665.550,0.000,0.000,0.000,210.375,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20419.000,20422.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.228,6.270,0.000,0.000
$MEM,270820
$DATA_FILE_SIZE,73168,2139
$CAP_FILE_SIZE,207710,0
$CFSIZE,260034560,235438080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.099,213.03,1
$GPS,041119,021330,1410.627,14409.331,34,0.8,34,0.3,0.3,264.7,9,6.6