version: 66.11
glider: 181
mission: 11
dive: 437
start: 7 25 113 6 8 11
data:
$ID,181
$MISSION,11
$DIVE,437
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,150
$T_BOOST,5
$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,320
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0028798201
$HD_B,0.025745301
$HD_C,2.4475299e-05
$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,612.7594
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-96586.969
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3941
$C_PITCH,2685
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,78
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2938
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-160.75446
$PRESSURE_SLOPE,0.000109412
$AD7714Ch0Gain,1
$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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004364301
$SEABIRD_T_H,0.00062910328
$SEABIRD_T_I,2.4425184e-05
$SEABIRD_T_J,2.6404416e-06
$SEABIRD_C_G,-9.9046793
$SEABIRD_C_H,1.1251128
$SEABIRD_C_I,-0.0019873739
$SEABIRD_C_J,0.00023203803
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,250713,055624,2314.792,12333.456,41,0.9,41,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-69.0
$GPS2,250713,060742,2314.640,12333.595,10,1.0,15,-3.2
$SPEED_LIMITS,0.179,0.181
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,203.7,199063,-21.5,-10.312,-29.71,2752
$D_GRID,5722
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.28,-194.6,222,2448,463,428,0.0,0.0,0,125,0.00,0.00,-101.07,0.000,16386,0.000,0.000,222,2449,3031,3078,2984,0,0,0,0,0,0,28.83,28.83,28.83
$GC,131,-1.28,-194.6,221,2449,3078,2986,3.5,-11.2,17,163,9.40,2.22,-13.05,0.000,18948,0.383,0.061,2262,1072,3735,3807,3663,0,0,0,0,0,0,14.21,14.64,14.91
$GC,173,-1.28,-194.6,2263,1072,3806,3664,16.8,-26.6,23,179,0.00,2.28,0.00,0.000,1030,0.000,0.056,2255,2459,3735,3807,3664,0,0,0,0,0,0,28.83,14.64,28.83
$GC,368,-1.28,-194.6,2255,2459,3806,3664,64.4,-22.7,42,374,0.00,2.20,0.00,0.000,516,0.000,0.039,2255,1067,3735,3806,3664,0,0,0,0,0,0,28.83,14.65,28.83
$GC,412,-1.28,-194.6,2255,1067,3806,3664,74.1,-22.6,44,419,0.00,2.28,0.00,0.000,1030,0.000,0.056,2245,2458,3735,3807,3664,0,0,0,0,0,0,28.83,14.67,28.83
$GC,617,-1.28,-194.6,2245,2458,3806,3664,118.0,-19.9,54,623,0.00,2.20,0.00,0.000,516,0.000,0.036,2245,1067,3733,3806,3660,0,0,0,0,0,0,28.83,14.74,28.83
$GC,650,-1.28,-194.6,2244,1066,3806,3664,122.4,-19.2,55,656,0.15,2.25,0.00,0.000,3078,0.277,0.050,2268,2456,3735,3806,3664,0,0,0,0,0,0,14.38,14.71,28.83
$GC,847,-1.28,-194.6,2268,2456,3806,3664,155.6,-15.7,65,852,0.00,2.15,0.00,0.000,260,0.000,0.069,2260,3776,3735,3806,3665,0,0,0,0,0,0,28.83,14.69,28.83
$GC,945,-1.28,-194.6,2260,3776,3807,3664,170.2,-17.0,69,952,0.00,2.03,0.00,0.000,1030,0.000,0.031,2260,2426,3735,3806,3664,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1131,-1.28,-194.6,2260,2422,3806,3664,203.4,-16.1,79,1136,0.00,2.22,0.00,0.000,260,0.000,0.068,2250,3776,3735,3806,3664,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1208,-1.28,-194.6,2250,3776,3807,3664,215.1,-17.8,82,1215,0.00,2.00,0.00,0.000,1030,0.000,0.031,2250,2452,3735,3806,3664,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1395,-1.28,-194.6,2249,2449,3807,3664,250.8,-17.5,92,1401,0.00,2.20,0.00,0.000,260,0.000,0.070,2243,3786,3735,3806,3665,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1499,-1.28,-194.6,2240,3786,3806,3664,270.6,-19.0,97,1506,0.12,2.03,0.00,0.000,3078,0.293,0.031,2264,2448,3735,3806,3664,0,0,0,0,0,0,14.42,14.86,28.83
$GC,1709,-1.28,-194.6,2264,2446,3806,3664,303.9,-16.0,107,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2446,3736,3809,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1884,-1.28,-194.6,2264,2446,3806,3664,331.6,-15.3,116,1890,0.00,2.20,0.00,0.000,260,0.000,0.068,2256,3779,3735,3807,3664,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1969,-1.28,-194.6,2257,3779,3806,3664,345.5,-16.7,120,1974,0.00,2.03,0.00,0.000,1030,0.000,0.031,2256,2444,3735,3806,3664,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2172,-1.28,-194.6,2257,2439,3807,3662,378.7,-16.0,130,2177,0.00,2.22,0.00,0.000,260,0.000,0.071,2246,3779,3734,3806,3662,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2276,-1.28,-194.6,2246,3780,3806,3662,396.5,-17.4,135,2282,0.00,2.03,0.00,0.000,1030,0.000,0.031,2246,2438,3734,3807,3661,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2480,-1.28,-194.6,2246,2435,3806,3660,429.2,-16.4,145,2486,0.00,2.22,0.00,0.000,260,0.000,0.070,2236,3776,3733,3806,3660,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2596,-1.28,-194.6,2236,3777,3806,3655,446.8,-17.0,150,2602,0.15,2.00,0.00,0.000,3078,0.283,0.033,2267,2447,3733,3806,3660,0,0,0,0,0,0,14.37,14.83,28.83
$GC,2792,-1.28,-194.6,2268,2444,3806,3656,476.9,-14.1,160,2797,0.00,2.22,0.00,0.000,260,0.000,0.073,2259,3776,3730,3805,3656,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2830,-1.28,-194.6,2260,3778,3805,3656,480.6,-14.1,161,2838,0.00,2.00,0.00,0.000,1030,0.000,0.033,2263,2466,3730,3805,3656,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3017,-1.28,-194.6,2259,2465,3805,3654,509.8,-14.1,171,3023,0.00,2.20,0.00,0.000,260,0.000,0.074,2249,3780,3729,3805,3654,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3110,-1.28,-194.6,2250,3780,3802,3654,522.5,-15.2,175,3116,0.00,2.05,0.00,0.000,1030,0.000,0.034,2249,2444,3728,3802,3654,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3305,-1.28,-194.6,2249,2443,3802,3653,552.4,-14.6,185,3310,0.00,2.25,0.00,0.000,260,0.000,0.076,2239,3782,3727,3802,3652,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3368,-1.28,-194.6,2238,3782,3801,3652,562.6,-15.7,188,3374,0.12,2.08,0.00,0.000,3078,0.291,0.034,2264,2444,3726,3800,3652,0,0,0,0,0,0,14.38,14.83,28.83
$GC,3575,-1.28,-194.6,2264,2440,3801,3649,592.4,-14.5,198,3581,0.00,2.25,0.00,0.000,260,0.000,0.076,2256,3775,3721,3795,3648,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3669,-1.28,-194.6,2257,3775,3799,3648,607.1,-15.1,202,3675,0.00,2.08,0.00,0.000,1030,0.000,0.034,2256,2446,3723,3799,3648,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3884,-1.28,-194.6,2256,2440,3798,3645,638.5,-14.6,209,3890,0.00,2.25,0.00,0.000,260,0.000,0.077,2246,3772,3722,3799,3645,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3952,-1.28,-194.6,2246,3773,3793,3647,648.4,-15.0,211,3957,0.00,2.08,0.00,0.000,1030,0.000,0.036,2245,2447,3720,3793,3647,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4161,-1.28,-194.6,2245,2441,3793,3644,681.2,-15.3,218,4166,0.00,2.25,0.00,0.000,260,0.000,0.079,2235,3772,3718,3793,3644,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4244,-1.28,-194.6,2236,3772,3793,3643,691.7,-16.0,220,4250,0.15,2.10,0.00,0.000,3078,0.286,0.037,2267,2443,3718,3793,3643,0,0,0,0,0,0,14.30,14.78,28.83
$GC,4438,-1.28,-194.6,2267,2440,3793,3640,724.3,-14.9,227,4443,0.00,2.28,0.00,0.000,260,0.000,0.081,2259,3773,3716,3793,3639,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4517,-1.28,-194.6,2260,3773,3790,3639,734.5,-15.6,229,4522,0.00,2.08,0.00,0.000,1030,0.000,0.037,2259,2460,3715,3790,3640,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4716,-1.28,-194.6,2259,2454,3790,3637,767.5,-15.4,236,4721,0.00,2.28,0.00,0.000,260,0.000,0.082,2249,3779,3713,3790,3637,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4789,-1.28,-194.6,2249,3779,3789,3637,777.6,-15.5,238,4796,0.00,2.12,0.00,0.000,1030,0.000,0.037,2249,2431,3712,3789,3636,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4994,-1.28,-194.6,2249,2428,3788,3633,809.8,-14.5,245,4999,0.00,2.30,0.00,0.000,260,0.000,0.084,2239,3771,3710,3787,3633,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5119,-1.28,-194.6,2239,3771,3787,3633,829.2,-15.7,249,5125,0.12,2.10,0.00,0.000,3078,0.298,0.039,2265,2456,3710,3787,3633,0,0,0,0,0,0,14.26,14.76,28.83
$GC,5334,-1.28,-194.6,2265,2450,3787,3630,859.5,-14.0,256,5340,0.00,2.28,0.00,0.000,260,0.000,0.086,2257,3769,3708,3786,3630,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5428,-1.28,-194.6,2257,3769,3784,3637,873.1,-14.3,259,5434,0.00,2.12,0.00,0.000,1030,0.000,0.040,2258,2443,3707,3784,3630,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5643,-1.28,-194.6,2257,2446,3782,3627,903.5,-14.2,266,5649,0.00,2.30,0.00,0.000,260,0.000,0.088,2247,3768,3704,3782,3627,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5773,-1.28,-194.6,1376,3767,3776,3624,922.1,-15.0,270,5779,0.00,2.12,0.00,0.000,1030,0.000,0.041,2247,2447,3703,3780,3626,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5983,-1.28,-194.6,2246,2443,3779,3623,956.7,-15.8,277,5989,0.00,2.33,0.00,0.000,260,0.000,0.090,2238,3776,3700,3779,3622,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6081,-1.28,-194.6,2236,3776,3777,3622,972.1,-16.0,280,6087,0.15,2.12,0.00,0.000,3078,0.292,0.042,2267,2452,3700,3778,3622,0,0,0,0,0,0,14.19,14.73,28.83
$STATE,6198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6198,begin apogee
$GC,6206,-0.21,0.0,2267,2328,3777,3621,990.7,-15.1,284,6390,1.23,0.00,175.55,1.843,10246,0.229,0.000,2607,2327,2934,2979,2889,0,0,0,0,0,0,14.09,28.83,13.36
$STATE,6392,end apogee,CONTROL_FINISHED_OK
$STATE,6392,begin climb
$GC,6396,1.28,194.6,2607,2327,2977,2886,1002.4,0.0,290,6584,1.42,2.33,178.82,1.809,10756,0.074,0.055,3116,977,2141,2172,2111,0,0,0,0,0,0,14.26,14.18,13.36
$GC,6684,1.28,194.6,3116,977,2167,2096,971.5,16.0,300,6689,0.00,2.35,0.00,0.000,1030,0.000,0.069,3116,2338,2131,2167,2096,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6898,1.28,194.6,3116,2338,2167,2090,937.5,15.7,307,6903,0.00,2.28,0.00,0.000,516,0.000,0.054,3126,969,2129,2167,2091,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7006,1.28,194.6,3126,969,2167,2089,922.8,15.6,310,7012,0.00,2.35,0.00,0.000,1030,0.000,0.070,3126,2358,2127,2167,2088,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7205,1.28,194.6,3126,2358,2167,2085,888.5,15.8,317,7210,0.00,2.30,0.00,0.000,516,0.000,0.054,3136,972,2126,2167,2086,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7273,1.28,194.6,3131,973,2166,2085,878.3,15.6,319,7280,0.17,2.33,0.00,0.000,5126,0.314,0.068,3100,2350,2125,2166,2085,0,0,0,0,0,0,14.32,14.63,28.83
$GC,7483,1.28,194.6,3100,2350,2166,2083,847.9,13.8,326,7489,0.00,2.28,0.00,0.000,516,0.000,0.053,3112,975,2124,2166,2083,0,0,0,0,0,0,28.83,14.72,28.83
$GC,7531,1.28,194.6,3107,975,2166,2083,843.2,14.0,327,7537,0.00,2.33,0.00,0.000,1030,0.000,0.066,3108,2358,2124,2166,2083,0,0,0,0,0,0,28.83,14.63,28.83
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$GC,11971,1.42,259.9,3133,970,1909,1819,271.4,12.4,518,11976,0.00,2.33,0.00,0.000,1030,0.000,0.057,3133,2361,1864,1909,1819,0,0,0,0,0,0,28.83,14.56,28.83
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$STATE,14408,end climb,SURFACE_DEPTH_REACHED
$STATE,14408,begin surface coast
$FINISH,0.0,1.021194
$STATE,14429,end surface coast,CONTROL_FINISHED_OK
$STATE,14429,begin surface
$SM_CCo,14454,109.95,0.137,0,0,439,612.76
$SM_GC,-0.09,8.35,2.50,109.95,0.059,0.051,0.137,231,2450,439,-7.57,-0.88,612.76,0,0,0,0,0,0,14.69,14.59,14.50
$IRIDIUM_FIX,2314.48,12326.43,250713,010119
$TT8_MAMPS,0.019474,0.019474
$HUMID,51.26
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,25.70
$XPDR_PINGS,1
$SC_FREEKB,3760128
$24V_AH,13.4,148.988
$10V_AH,12.9,0.000
$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,22.325,215.250,485.175,109.950,0.000,28.580,17.289,331.326,0.250,0.000,18.295,2802.184,8416.606,811.002,2694.642,508.136,0.000,2085.233,0.000,2174.489,0.000,0.542,0.000
$DEVICE_MAMPS,382.500,103.275,1842.885,136.935,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14499.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.003,0.000,0.000,0.000
$MEM,328584
$DATA_FILE_SIZE,26724,676
$CAP_FILE_SIZE,214753,0
$CFSIZE,260034560,210898944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.268,140.8,1
$GPS,250713,101224,2312.675,12334.129,39,1.2,40,-3.2