version: 67.00
glider: 180
mission: 2
dive: 150
start: 11 2 119 20 5 28
data:
$ID,180
$MISSION,2
$DIVE,150
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,3
$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
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54047
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00177828
$HD_B,0.0139236
$HD_C,5.7000002e-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,619.93036
$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
$T_GPS,5
$N_GPS,80740
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,185
$PITCH_MAX,3625
$C_PITCH,3295
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,25
$PITCH_TIMEOUT,25
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$ROLL_MIN,360
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3960
$C_VBD,2840
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$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
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.4
$FG_AHR_10V,19.68395
$FG_AHR_24V,33.000595
$PHONE_SUPPLY,2
$PRESSURE_YINT,-154.69112
$PRESSURE_SLOPE,0.00010699085
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,7
$LOGGERDEVICE2,22
$LOGGERDEVICE3,33
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,55
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,0
$SIM_W,0
$SEABIRD_T_G,0.0043955045
$SEABIRD_T_H,0.00063085643
$SEABIRD_T_I,2.5021687e-05
$SEABIRD_T_J,3.0087358e-06
$SEABIRD_C_G,-9.7732916
$SEABIRD_C_H,1.1286387
$SEABIRD_C_I,-0.0014607979
$SEABIRD_C_J,0.00018615076
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_XMITRAW,0.0
$TM_LOGSAMPLE,0.0
$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
$GPS1,021119,195631,1410.657,14410.118,29,0.7,30,0.3
$_CALLS,1
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-70.9
$GPS2,021119,200511,1410.607,14410.104,2,0.5,4,0.3
$SPEED_LIMITS,0.147,0.155
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$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,359.5,19248,-21.2,-8.462,-28.68
$D_GRID,1000
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,9.16,2,-77.86,-0.94,0.00,398.2,417.6,378.8,166.8,2452.4,0.00,0.00,0,112.77,98.30,0.00,0.00,0.005,0.000,0.000,2794.69,2821.94,2767.44,167.06,2441.94,0,0,0,15.72,30.00,30.00
$GC,113.04,295,-77.86,-0.94,40.00,2793.5,2820.9,2766.1,167.1,2442.1,4.04,-5.27,10,142.27,7.30,14.11,2.23,0.008,0.424,0.079,3156.09,3202.50,3109.69,2992.44,3772.12,0,0,0,15.75,15.66,15.70
$GC,289.48,1028,-77.86,-0.94,0.00,3155.4,3200.2,3110.7,2992.6,3771.6,70.32,-37.89,45,295.34,0.00,0.00,1.98,0.000,0.000,0.023,3156.03,3200.25,3111.81,2992.00,2481.94,0,0,0,30.00,30.00,15.90
$GC,479.31,260,-77.86,-0.94,40.00,3155.2,3199.4,3111.0,2992.8,2470.1,116.85,-21.24,65,485.40,0.00,0.00,2.16,0.000,0.000,0.073,3155.41,3199.75,3111.06,2992.00,3771.81,0,0,0,30.00,30.00,15.97
$GC,604.24,1028,-77.86,-0.94,0.00,3155.2,3199.0,3111.3,2992.5,3771.6,146.46,-23.19,90,610.56,0.00,0.00,1.97,0.000,0.000,0.023,3155.12,3199.12,3111.12,2992.56,2473.31,0,0,0,30.00,30.00,16.00
$GC,789.40,516,-77.86,-0.94,-40.00,3155.1,3199.1,3111.1,2992.5,2460.5,179.46,-16.37,109,795.56,0.00,0.00,2.12,0.000,0.000,0.033,3156.00,3199.69,3112.31,2992.25,1089.75,0,0,0,30.00,30.00,16.02
$GC,934.42,1028,-77.86,-0.94,0.00,3154.6,3198.4,3110.8,2992.7,1089.9,201.45,-16.45,138,939.98,0.00,0.00,2.38,0.000,0.000,0.045,3155.09,3197.75,3112.44,2992.50,2575.38,0,0,0,30.00,30.00,16.06
$GC,1119.67,260,-77.86,-0.94,40.00,3154.5,3198.1,3110.9,2992.3,2575.9,224.96,-12.41,157,1124.72,0.00,0.00,1.94,0.000,0.000,0.073,3156.66,3199.69,3113.62,2992.75,3771.50,0,0,0,30.00,30.00,16.07
$GC,1164.32,1028,-77.86,-0.94,0.00,3154.6,3198.2,3111.0,2992.7,3771.9,230.73,-12.91,166,1170.08,0.00,0.00,1.97,0.000,0.000,0.024,3154.62,3198.12,3111.12,2991.94,2479.94,0,0,0,30.00,30.00,16.09
$GC,1349.67,0,-77.86,-0.94,0.00,3153.9,3196.9,3110.9,2992.4,2469.5,254.28,-13.35,183,1351.00,0.00,0.00,0.00,0.000,0.000,0.000,3153.62,3195.62,3111.62,2991.88,2469.25,0,0,0,30.00,30.00,30.00
$GC,1649.53,516,-77.86,-0.94,-40.00,3152.2,3193.6,3110.8,2992.4,2469.3,289.94,-11.48,193,1654.81,0.00,0.00,2.13,0.000,0.000,0.035,3153.06,3194.38,3111.75,2993.25,1090.88,0,0,0,30.00,30.00,16.14
$GC,1879.42,1028,-77.86,-0.94,0.00,3150.0,3189.5,3110.4,2991.6,1091.2,317.74,-13.29,239,1884.91,0.00,0.00,2.37,0.000,0.000,0.044,3150.53,3190.88,3110.19,2993.19,2580.00,0,0,0,30.00,30.00,16.16
$GC,2189.56,516,-77.86,-0.94,-40.00,3149.3,3188.6,3110.1,2992.0,2579.8,358.19,-12.98,251,2194.93,0.00,0.00,2.33,0.000,0.000,0.035,3150.06,3188.56,3111.56,2991.88,1091.06,0,0,0,30.00,30.00,16.16
$GC,2384.56,1028,-77.86,-0.94,0.00,3147.3,3184.5,3110.2,2991.7,1091.1,383.22,-13.03,290,2389.99,0.00,0.00,2.38,0.000,0.000,0.046,3149.56,3187.25,3111.88,2992.00,2582.06,0,0,0,30.00,30.00,16.17
$GC,2699.84,260,-77.86,-0.94,40.00,3143.8,3183.1,3104.4,2992.4,2581.9,415.97,-9.34,303,2704.93,0.00,0.00,1.95,0.000,0.000,0.080,3145.38,3184.12,3106.62,2991.19,3769.81,0,0,0,30.00,30.00,16.16
$GC,2929.70,1028,-77.86,-0.94,0.00,3141.7,3180.6,3102.8,2991.8,3769.6,439.45,-10.10,349,2934.11,0.00,0.00,1.97,0.000,0.000,0.028,3142.00,3181.81,3102.19,2992.00,2483.69,0,0,0,30.00,30.00,16.17
$GC,3239.97,260,-77.86,-0.94,40.00,3138.6,3177.2,3100.0,2991.6,2471.5,472.82,-11.58,361,3245.08,0.00,0.00,2.16,0.000,0.000,0.080,3138.66,3178.31,3099.00,2992.44,3767.44,0,0,0,30.00,30.00,16.17
$GC,3469.74,1028,-77.86,-0.94,0.00,3136.1,3174.4,3097.8,2992.2,3768.2,501.28,-11.67,407,3472.53,0.00,0.00,1.97,0.000,0.000,0.030,3134.69,3173.56,3095.81,2991.69,2505.12,0,0,0,30.00,30.00,16.17
$GC,3774.93,260,-77.86,-0.94,40.00,3132.4,3172.2,3092.6,2991.2,2481.1,533.81,-10.16,418,3780.21,0.00,0.00,2.16,0.000,0.000,0.083,3132.62,3171.38,3093.88,2992.31,3769.69,0,0,0,30.00,30.00,16.17
$GC,3965.29,1028,-77.86,-0.94,0.00,3131.4,3170.4,3092.4,2991.6,3769.4,554.69,-11.23,456,3970.26,0.00,0.00,1.98,0.000,0.000,0.032,3131.72,3171.44,3092.00,2992.00,2482.50,0,0,0,30.00,30.00,16.18
$GC,4285.02,260,-77.86,-0.94,40.00,3129.8,3167.3,3092.2,2991.7,2472.4,586.88,-9.85,470,4290.31,0.00,0.00,2.17,0.000,0.000,0.085,3129.81,3166.75,3092.88,2991.50,3768.56,0,0,0,30.00,30.00,16.17
$GC,4334.89,1028,-77.86,-0.94,0.00,3129.3,3166.6,3092.0,2991.7,3767.8,591.74,-9.82,480,4340.30,0.00,0.00,1.98,0.000,0.000,0.032,3131.09,3167.75,3094.44,2990.38,2487.00,0,0,0,30.00,30.00,16.16
$GC,4645.16,516,-77.86,-0.94,-40.00,3126.6,3163.6,3089.7,2991.7,2482.9,621.21,-9.76,492,4650.42,0.00,0.00,2.19,0.000,0.000,0.042,3128.06,3164.94,3091.19,2992.19,1095.00,0,0,0,30.00,30.00,16.18
$GC,4729.94,1028,-77.86,-0.94,0.00,3126.3,3162.7,3089.9,2991.5,1094.9,629.79,-9.88,509,4735.60,0.00,0.00,2.40,0.000,0.000,0.049,3126.81,3163.94,3089.69,2991.62,2575.12,0,0,0,30.00,30.00,16.18
$GC,5035.09,260,-77.86,-0.94,40.00,3124.6,3161.2,3087.9,2991.2,2575.4,663.11,-11.36,520,5040.36,0.00,0.00,1.99,0.000,0.000,0.088,3127.09,3162.25,3091.94,2990.81,3769.62,0,0,0,30.00,30.00,16.15
$GC,5165.00,1028,-77.86,-0.94,0.00,3123.3,3159.6,3087.0,2991.4,3768.8,678.42,-12.18,546,5170.41,0.00,0.00,1.99,0.000,0.000,0.035,3123.97,3159.81,3088.12,2992.50,2483.56,0,0,0,30.00,30.00,16.17
$GC,5485.33,260,-77.86,-0.94,40.00,3122.2,3157.7,3086.7,2991.6,2479.7,714.09,-11.07,560,5490.46,0.00,0.00,2.18,0.000,0.000,0.090,3124.56,3159.75,3089.38,2991.75,3768.38,0,0,0,30.00,30.00,16.15
$GC,5590.05,1028,-77.86,-0.94,0.00,3121.4,3156.7,3086.1,2991.4,3769.2,725.83,-11.35,581,5595.46,0.00,0.00,1.99,0.000,0.000,0.036,3123.84,3158.75,3088.94,2991.56,2493.31,0,0,0,30.00,30.00,16.16
$GC,5905.24,516,-77.86,-0.94,-40.00,3119.6,3154.9,3084.2,2991.5,2488.8,760.62,-11.18,594,5910.54,0.00,0.00,2.20,0.000,0.000,0.044,3119.69,3155.50,3083.88,2991.19,1096.62,0,0,0,30.00,30.00,16.17
$GC,6080.13,1028,-77.86,-0.94,0.00,3119.7,3153.6,3085.8,2991.4,1096.8,782.00,-12.38,629,6085.92,0.00,0.00,2.40,0.000,0.000,0.051,3119.94,3154.00,3085.88,2991.12,2575.50,0,0,0,30.00,30.00,16.17
$GC,6385.42,260,-77.86,-0.94,40.00,3118.8,3152.6,3085.0,2991.5,2575.6,816.71,-10.98,640,6390.54,0.00,0.00,2.00,0.000,0.000,0.091,3120.59,3154.00,3087.19,2991.75,3767.75,0,0,0,30.00,30.00,16.14
$GC,6530.18,1028,-77.86,-0.94,0.00,3117.2,3150.9,3083.6,2991.4,3768.4,832.26,-9.57,669,6535.79,0.00,0.00,1.99,0.000,0.000,0.036,3119.03,3153.12,3084.94,2990.81,2486.94,0,0,0,30.00,30.00,16.14
$GC,6835.44,0,-77.86,-0.94,0.00,3116.4,3149.8,3083.1,2991.0,2484.5,862.35,-9.37,680,6836.78,0.00,0.00,0.00,0.000,0.000,0.000,3117.06,3150.62,3083.50,2991.12,2484.31,0,0,0,30.00,30.00,30.00
$GC,7135.30,260,-77.86,-0.94,40.00,3115.0,3148.1,3082.0,2991.1,2484.2,887.83,-8.35,690,7140.65,0.00,0.00,2.18,0.000,0.000,0.094,3116.12,3149.69,3082.56,2990.38,3766.94,0,0,0,30.00,30.00,16.13
$GC,7285.35,1028,-77.86,-0.94,0.00,3114.2,3146.9,3081.4,2991.1,3767.4,899.64,-7.77,720,7290.66,0.00,0.00,2.00,0.000,0.000,0.037,3114.19,3146.88,3081.50,2990.75,2487.38,0,0,0,30.00,30.00,16.14
$GC,7615.44,516,-77.86,-0.94,-40.00,3113.7,3146.9,3080.5,2991.2,2482.4,923.22,-7.13,736,7620.72,0.00,0.00,2.20,0.000,0.000,0.047,3114.09,3145.94,3082.25,2991.44,1099.75,0,0,0,30.00,30.00,16.14
$GC,7685.30,1028,-77.86,-0.94,0.00,3114.7,3145.8,3083.5,2990.6,1099.7,928.90,-7.88,750,7690.80,0.00,0.00,2.40,0.000,0.000,0.051,3116.38,3148.25,3084.50,2991.31,2574.50,0,0,0,30.00,30.00,16.17
$GC,8005.59,0,-77.86,-0.94,0.00,3114.2,3145.2,3083.3,2991.0,2574.0,952.43,-7.50,764,8006.92,0.00,0.00,0.00,0.000,0.000,0.000,3115.28,3145.56,3085.00,2990.81,2574.25,0,0,0,30.00,30.00,30.00
$GC,8305.67,0,-77.86,-0.94,0.00,3113.9,3144.6,3083.2,2991.3,2574.2,976.96,-8.34,774,8307.00,0.00,0.00,0.00,0.000,0.000,0.000,3114.78,3145.81,3083.75,2991.06,2574.50,0,0,0,30.00,30.00,30.00
$STATE,8455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8455,begin apogee
$GC,8457.30,3,0.00,-0.20,0.00,3113.7,3144.3,3083.0,2991.2,2037.1,990.18,-8.82,779,8517.08,57.17,0.83,0.16,2.246,0.255,0.141,2840.19,2859.00,2821.38,3231.75,2165.38,0,0,0,12.36,16.01,15.50
$STATE,8518,end apogee,CONTROL_FINISHED_OK
$STATE,8518,begin climb
$GC,8518.48,3,77.86,0.94,0.00,2837.9,2857.1,2818.8,3232.5,2165.9,991.78,0.00,781,8591.49,70.36,1.15,0.00,2.187,0.149,0.000,2520.00,2523.50,2516.50,3599.88,2166.12,0,0,0,12.58,15.52,30.00
$GC,8875.51,518,77.86,0.94,-40.00,2513.8,2524.4,2503.2,3599.4,2165.9,958.95,10.51,793,8880.97,0.00,0.00,2.53,0.000,0.000,0.056,2514.25,2524.75,2503.75,3609.69,659.31,0,0,0,30.00,30.00,15.78
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$GC,15196.24,1062,116.65,1.16,0.00,2505.9,2522.5,2489.2,3638.1,656.9,369.86,5.61,1257,15232.12,30.44,0.00,2.35,1.497,0.000,0.031,2363.25,2375.25,2351.25,3636.44,2147.38,0,0,0,12.38,30.00,16.11
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$GC,15926.43,260,116.65,1.20,40.00,2356.9,2373.7,2340.1,3646.9,2044.4,305.59,10.88,1303,15931.78,0.00,0.00,2.48,0.000,0.000,0.061,2356.56,2373.44,2339.69,3648.19,3538.19,0,0,0,30.00,30.00,16.02
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$STATE,19612,end climb,SURFACE_DEPTH_REACHED
$STATE,19612,begin surface coast
$FINISH,-0.2,1.021508
$STATE,19632,end surface coast,CONTROL_FINISHED_OK
$STATE,19632,begin surface
$SM_CCo,19810.71,158.34,0.743,0,400.6,397.6,403.6,598.39
$SM_CCo,19811.75,0.00,0.000,0,398.8,401.4,396.3,598.82
$SM_CCo,19812.79,0.00,0.000,0,398.7,401.1,396.2,598.86
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$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,1415.61,14408.34,021119,143353
$TCM_TEMP,165.02
$XPDR_PINGS,15
$SC_FREEKB,3809568
$TM_FREEKB,5102464
$HUMID,51.96
$TEMP,23.19
$INTERNAL_PRESSURE,9.43134
$24V_AH,14.67,54.193
$10V_AH,14.90,0.000
$FG_AHR_24Vo,33.179
$FG_AHR_10Vo,19.783
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,617.420,25.935,164.395,355.153,3.750,13.900,4558.213,15725.425,1847.594,0.000,0.000,0.000
$DEVICE_MAMPS,2245.568,424.184,141.120,198.613,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19621.000,3392.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.544,20.044,0.000,0.000
$MEM,1099224,29,79860,58
$DATA_FILE_SIZE,57672,1827
$CAP_FILE_SIZE,343918,0
$SDSIZE,3918848,3852736
$SDFILEDIR,1357,1
$ERRORS,0,0,0,0,0,1,0,2,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,194.2,1
$GPS,031119,013631,1411.351,14410.075,31,0.7,34,0.3