version: 66.13
glider: 178
mission: 31
dive: 195
start: 11 18 119 16 25 8
data:
$ID,178
$MISSION,31
$DIVE,195
$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,56
$R_STBD_OVSHOOT,58
$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
$GPS1,181119,160530,1411.8940,14410.3047,17,0.8,17,0.3,0.3,187.8,9,4.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-55.3
$GPS2,181119,162418,1411.9424,14410.2129,3,0.8,4,0.3,0.4,168.8,10,6.2
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,357.4,16779,-18.6,-8.462,-24.20,1753
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.81,-97.3,142,2717,987,868,0.0,0.0,0,110,0.00,0.00,-88.28,0.005,16386,0.000,0.000,143,2717,3268,3294,3243,0,0,0,0,0,0,15.24,28.83,15.26
$GC,113,-0.81,-97.3,142,2717,3294,3244,5.1,-10.0,9,130,7.85,2.10,-1.67,0.067,18692,0.383,0.097,1845,3907,3366,3398,3335,0,0,0,0,0,0,14.82,13.98,14.98
$GC,277,-0.81,-97.3,1844,3907,3398,3334,72.5,-36.8,42,283,0.00,1.90,0.00,0.000,1030,0.000,0.034,1845,2734,3366,3399,3334,0,0,0,0,0,0,15.16,15.14,15.19
$GC,463,-0.81,-97.3,1844,2733,3398,3334,113.6,-20.2,61,469,0.00,2.03,0.00,0.000,260,0.000,0.080,1836,3912,3366,3399,3334,0,0,0,0,0,0,15.38,15.11,15.39
$GC,637,-0.81,-97.3,1836,3912,3404,3334,145.4,-15.7,95,643,0.00,1.83,0.00,0.000,1030,0.000,0.032,1836,2733,3366,3399,3333,0,0,0,0,0,0,15.29,15.26,15.30
$GC,831,-0.81,-97.3,1836,2729,3399,3334,174.7,-15.0,115,838,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2728,3366,3398,3334,0,0,0,0,0,0,15.42,15.44,15.43
$GC,1021,-0.81,-97.3,1836,2728,3400,3334,201.4,-14.5,134,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2729,3366,3399,3333,0,0,0,0,0,0,15.44,15.46,15.46
$GC,1211,-0.81,-97.3,1836,2729,3399,3332,229.7,-13.9,153,1218,0.00,2.03,0.00,0.000,260,0.000,0.080,1827,3914,3365,3398,3332,0,0,0,0,0,0,15.45,15.19,15.47
$GC,1445,-0.81,-97.3,1827,3915,3399,3331,264.7,-12.6,199,1451,0.15,1.80,0.00,0.000,3078,0.271,0.031,1860,2750,3364,3398,3331,0,0,0,0,0,0,15.06,15.30,15.26
$GC,1759,-0.81,-97.3,1860,2743,3400,3329,292.8,-9.0,211,1765,0.00,2.03,0.00,0.000,260,0.000,0.080,1854,3918,3363,3399,3327,0,0,0,0,0,0,15.48,15.21,15.50
$GC,1991,-0.81,-97.3,1853,3918,3398,3326,315.4,-11.1,257,1997,0.00,1.83,0.00,0.000,1030,0.000,0.032,1853,2731,3362,3399,3326,0,0,0,0,0,0,15.36,15.33,15.38
$GC,2305,-0.81,-97.3,1853,2731,3399,3322,348.5,-10.5,269,2311,0.00,2.05,0.00,0.000,260,0.000,0.083,1853,3915,3360,3399,3321,0,0,0,0,0,0,15.47,15.21,15.50
$GC,2537,-0.81,-97.3,1853,3916,3398,3318,375.5,-11.5,315,2543,0.00,1.80,0.00,0.000,1030,0.000,0.034,1853,2764,3358,3398,3318,0,0,0,0,0,0,15.35,15.31,15.36
$GC,2851,-0.81,-97.3,1853,2758,3398,3312,406.2,-9.2,327,2856,0.00,2.25,0.00,0.000,516,0.000,0.044,1853,1381,3354,3398,3311,0,0,0,0,0,0,15.49,15.25,15.50
$GC,2997,-0.81,-97.3,1853,1381,3398,3310,418.7,-7.7,356,3003,0.00,2.30,0.00,0.000,1030,0.000,0.054,1853,2717,3354,3399,3309,0,0,0,0,0,0,15.26,15.21,15.29
$GC,3304,-0.81,-97.3,1853,2718,3399,3305,442.2,-7.6,367,3310,0.00,2.12,0.00,0.000,260,0.000,0.084,1853,3951,3352,3399,3305,0,0,0,0,0,0,15.49,15.21,15.50
$GC,3536,-0.81,-97.3,1855,3950,3399,3301,463.6,-9.6,413,3543,0.00,1.90,0.00,0.000,1030,0.000,0.035,1853,2740,3349,3397,3301,0,0,0,0,0,0,15.35,15.33,15.37
$GC,3850,-0.81,-97.3,1853,2740,3397,3297,496.2,-10.7,425,3857,0.00,2.12,0.00,0.000,260,0.000,0.086,1852,3950,3346,3396,3297,0,0,0,0,0,0,15.48,15.19,15.50
$GC,4013,-0.81,-97.3,1853,3950,3396,3298,514.4,-10.8,457,4019,0.00,1.90,0.00,0.000,1030,0.000,0.037,1853,2754,3345,3396,3294,0,0,0,0,0,0,15.35,15.32,15.37
$GC,4337,-0.81,-97.3,1851,2754,3392,3292,545.3,-9.2,471,4342,0.00,2.10,0.00,0.000,260,0.000,0.090,1853,3949,3342,3392,3292,0,0,0,0,0,0,15.47,15.17,15.50
$GC,4439,-0.81,-97.3,1852,3952,3392,3291,554.5,-9.0,491,4444,0.00,1.92,0.00,0.000,1030,0.000,0.037,1853,2729,3342,3392,3292,0,0,0,0,0,0,15.35,15.31,15.36
$GC,4762,-0.81,-97.3,1852,2727,3389,3289,579.1,-7.4,505,4769,0.00,2.20,0.00,0.000,516,0.000,0.044,1853,1383,3339,3389,3289,0,0,0,0,0,0,15.46,15.23,15.47
$GC,4790,-0.81,-97.3,1852,1383,3389,3289,581.3,-7.8,510,4797,0.00,2.40,0.00,0.000,1030,0.000,0.057,1852,2755,3339,3389,3289,0,0,0,0,0,0,15.24,15.14,15.25
$GC,5097,-0.81,-97.3,1852,2755,3386,3287,602.4,-7.1,521,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2755,3336,3386,3287,0,0,0,0,0,0,15.47,15.49,15.49
$GC,5397,-0.81,-97.3,1852,2755,3384,3286,625.0,-7.6,531,5402,0.00,2.30,0.00,0.000,516,0.000,0.049,1853,1384,3336,3387,3285,0,0,0,0,0,0,15.47,15.21,15.48
$GC,5460,-0.81,-97.3,1852,1384,3383,3286,630.2,-8.1,543,5468,0.00,2.35,0.00,0.000,1030,0.000,0.058,1852,2754,3334,3383,3285,0,0,0,0,0,0,15.29,15.19,15.32
$GC,5792,-0.81,-97.3,1852,2760,3382,3283,657.9,-8.7,559,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2754,3331,3381,3282,0,0,0,0,0,0,15.46,15.48,15.47
$GC,6091,-0.81,-97.3,1852,2754,3380,3282,683.7,-8.5,569,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2754,3330,3380,3281,0,0,0,0,0,0,15.47,15.48,15.47
$GC,6391,-0.81,-97.3,1852,2754,3378,3279,708.4,-8.2,579,6397,0.00,2.33,0.00,0.000,516,0.000,0.050,1852,1384,3328,3378,3279,0,0,0,0,0,0,15.45,15.19,15.47
$GC,6473,-0.81,-97.3,1852,1385,3377,3279,715.5,-8.5,595,6482,0.00,2.35,0.00,0.000,1030,0.000,0.057,1852,2755,3328,3377,3279,0,0,0,0,0,0,15.27,15.16,15.30
$GC,6785,-0.81,-97.3,1852,2755,3376,3277,741.1,-8.2,607,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2754,3326,3376,3277,0,0,0,0,0,0,15.44,15.47,15.45
$GC,7085,-0.81,-97.3,1852,2754,3375,3276,764.3,-7.6,617,7088,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2752,3325,3374,3277,0,0,0,0,0,0,15.45,15.47,15.47
$GC,7385,-0.81,-97.3,1852,2755,3373,3275,786.8,-7.2,627,7391,0.00,2.30,0.00,0.000,516,0.000,0.047,1852,1393,3323,3372,3274,0,0,0,0,0,0,15.44,15.17,15.46
$GC,7509,-0.81,-97.3,1852,1393,3377,3274,796.4,-8.1,651,7515,0.00,2.33,0.00,0.000,1030,0.000,0.057,1852,2745,3323,3372,3274,0,0,0,0,0,0,15.26,15.14,15.28
$GC,7843,-0.81,-97.3,1852,2745,3371,3274,824.4,-8.7,667,7849,0.00,2.10,0.00,0.000,260,0.000,0.089,1853,3949,3322,3371,3273,0,0,0,0,0,0,15.43,15.10,15.45
$GC,7900,-0.81,-97.3,1852,3949,3370,3269,830.4,-9.7,678,7907,0.00,1.95,0.00,0.000,1030,0.000,0.044,1852,2787,3322,3371,3273,0,0,0,0,0,0,15.21,15.19,15.21
$GC,8207,-0.81,-97.3,1854,2787,3372,3272,856.2,-8.6,689,8213,0.00,2.38,0.00,0.000,516,0.000,0.047,1854,1362,3321,3370,3273,0,0,0,0,0,0,15.42,15.13,15.45
$GC,8260,-0.81,-97.3,1852,1361,3369,3271,861.8,-9.1,699,8270,0.00,2.40,0.00,0.000,1030,0.000,0.057,1852,2751,3320,3369,3271,0,0,0,0,0,0,15.24,15.12,15.27
$GC,8571,-0.81,-97.3,1852,2751,3368,3269,886.7,-7.9,711,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2751,3320,3369,3271,0,0,0,0,0,0,15.40,15.43,15.42
$GC,8871,-0.81,-97.3,1852,2750,3368,3271,909.7,-7.6,721,8875,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2751,3318,3367,3270,0,0,0,0,0,0,15.40,15.42,15.42
$GC,9172,-0.81,-97.3,1852,2751,3366,3269,932.4,-7.7,731,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2750,3318,3367,3269,0,0,0,0,0,0,15.40,15.42,15.42
$GC,9471,-0.81,-97.3,1853,2751,3366,3269,955.2,-7.5,741,9478,0.00,2.38,0.00,0.000,516,0.000,0.048,1852,1352,3317,3366,3268,0,0,0,0,0,0,15.40,15.14,15.42
$GC,9626,-0.81,-97.3,1852,1351,3367,3268,967.7,-7.7,771,9633,0.00,2.42,0.00,0.000,1030,0.000,0.058,1852,2751,3316,3365,3268,0,0,0,0,0,0,15.21,15.09,15.23
$STATE,9954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9954,begin apogee
$GC,9961,-0.21,0.0,1853,1716,3365,3267,991.2,-7.3,787,10051,0.73,0.00,84.68,2.074,10246,0.204,0.000,2057,1717,2968,3031,2906,0,0,0,0,0,0,14.94,14.59,13.81
$STATE,10060,end apogee,CONTROL_FINISHED_OK
$STATE,10060,begin climb
$GC,10062,0.81,97.3,2057,1717,3031,2903,994.3,0.0,790,10172,1.02,1.95,99.35,2.031,10756,0.110,0.075,2384,644,2572,2633,2511,0,0,0,0,0,0,14.60,14.26,13.64
$GC,10311,0.81,97.3,2384,643,2623,2507,976.2,9.9,842,10317,0.00,1.83,0.00,0.000,1030,0.000,0.041,2384,1725,2565,2623,2507,0,0,0,0,0,0,14.85,14.80,14.88
$GC,10625,0.81,97.3,2384,1725,2623,2502,946.8,9.4,854,10628,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1725,2561,2623,2500,0,0,0,0,0,0,15.21,15.24,15.23
$GC,10924,0.81,97.3,2384,1725,2623,2499,917.3,10.1,864,10930,0.00,1.92,0.00,0.000,516,0.000,0.075,2384,635,2561,2623,2499,0,0,0,0,0,0,15.28,15.02,15.30
$GC,11157,0.81,97.3,2384,635,2621,2500,893.5,10.3,910,11162,0.00,1.77,0.00,0.000,1030,0.000,0.041,2384,1709,2560,2621,2500,0,0,0,0,0,0,15.16,15.10,15.18
$GC,11470,0.81,97.3,2383,1710,2621,2497,862.3,9.5,922,11474,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1713,2559,2621,2497,0,0,0,0,0,0,15.35,15.38,15.37
$GC,11771,0.81,97.3,2384,1711,2620,2496,834.2,9.3,932,11776,0.00,2.40,0.00,0.000,260,0.000,0.067,2384,3086,2558,2621,2496,0,0,0,0,0,0,15.37,15.07,15.38
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$GC,20934,1.16,331.2,2494,3076,1855,1684,35.3,6.2,1791,20974,0.00,2.30,32.53,0.767,9254,0.000,0.037,2495,1694,1617,1709,1526,0,0,0,0,0,0,15.18,15.10,14.60
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$STATE,21323,end climb,SURFACE_DEPTH_REACHED
$STATE,21323,begin surface coast
$STATE,21352,end surface coast,CONTROL_FINISHED_OK
$STATE,21352,begin surface
$SM_CCo,21373,143.48,0.665,1,0,929,500.17
$SM_GC,0.45,6.75,1.75,143.48,0.069,0.047,0.665,161,2717,929,-6.08,-1.98,500.17,0,0,0,0,1,0,15.10,15.14,14.46
$IRIDIUM_FIX,1411.16,14414.55,181119,160904
$TT8_MAMPS,0.020223,0.156541
$HUMID,44.99
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,26.90
$XPDR_PINGS,0
$SC_FREEKB,3780160
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,124274624
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,2
$24V_AH,13.64,80.348
$10V_AH,13.10,0.000
$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,16.800,147.900,391.000,143.475,0.000,0.000,0.000,848.550,0.000,0.000,15.523,1520.294,14532.789,616.846,5536.545,451.547,0.000,3097.701,0.000,4443.969,0.000,0.553,0.000
$DEVICE_MAMPS,383.265,97.155,2073.915,664.785,0.000,0.000,0.000,206.550,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21399.000,21356.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.008,5.304,0.000,0.000
$MEM,270788
$DATA_FILE_SIZE,63206,1837
$CAP_FILE_SIZE,191604,0
$CFSIZE,260034560,226344960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.054,90.49,1
$GPS,181119,222519,1414.089,14410.975,21,1.1,32,0.3,0.2,0.0,8,3.3