version: 66.13
glider: 220
mission: 6
dive: 43
start: 8 31 116 0 52 44
data:
$ID,220
$MISSION,6
$DIVE,43
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,840
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,100
$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,360
$T_MISSION,370
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54354
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0024999999
$HD_B,0.014
$HD_C,1.6e-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,609.96155
$N_FILEKB,8
$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,10
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3888
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,3
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2290
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-168.7365
$PRESSURE_SLOPE,0.0001077811
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$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
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044037569
$SEABIRD_T_H,0.00063615869
$SEABIRD_T_I,2.4815216e-05
$SEABIRD_T_J,2.9729028e-06
$SEABIRD_C_G,-9.8086529
$SEABIRD_C_H,1.075657
$SEABIRD_C_I,-0.0023452051
$SEABIRD_C_J,0.00023101401
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,400.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,310816,002931,959.0339,-12441.0938,20,0.8,20,9.0,0.3,111.7,10,5.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.58
$_SM_ANGLEo,-69.7
$GPS2,310816,005225,958.9938,-12441.0986,2,0.9,4,9.0,0.5,209.3,8,7.5
$SPEED_LIMITS,0.135,0.197
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,4.8,2065,-24.5,-7.778,-30.00,1227
$D_GRID,840
$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,15,-1.19,-63.4,182,2795,664,586,0.0,0.0,0,106,0.00,0.00,-87.12,0.000,16390,0.000,0.000,182,2795,3303,3292,3315,0,0,0,0,0,0,14.72,13.80,14.73
$GC,107,-1.19,-63.4,183,2795,3292,3316,1.6,-6.1,4,126,10.80,2.30,0.00,0.000,2564,0.396,0.035,2509,1397,3301,3288,3314,0,0,0,0,0,0,14.37,14.57,14.59
$GC,172,-1.02,-63.4,2509,1398,3297,3316,31.6,-33.4,14,182,0.25,2.50,0.00,0.000,3206,0.324,0.075,2563,2801,3305,3296,3315,0,0,0,0,0,0,14.44,14.55,14.59
$GC,502,-0.95,-69.3,2563,2801,3298,3315,84.9,-7.3,31,510,0.10,2.30,0.00,0.000,2724,0.308,0.039,2588,1404,3304,3298,3310,0,0,0,0,0,0,14.59,14.71,14.74
$GC,697,-0.95,-69.3,2588,1404,3299,3315,100.0,-8.2,59,705,0.00,2.53,0.00,0.000,1030,0.000,0.064,2579,2864,3306,3298,3314,0,0,0,0,0,0,14.81,14.71,14.81
$GC,1027,-0.98,-94.8,2579,2863,3298,3315,122.4,-5.6,70,1035,0.00,2.42,0.00,0.000,548,0.000,0.040,2572,1404,3305,3298,3312,0,0,0,0,0,0,14.97,14.78,14.99
$GC,1068,-0.98,-94.8,2579,1403,3299,3313,126.0,-14.1,76,1076,0.00,2.50,0.00,0.000,1030,0.000,0.063,2568,2851,3305,3299,3311,0,0,0,0,0,0,14.85,14.76,14.85
$GC,1413,-0.98,-94.8,2569,2851,3298,3310,155.9,-9.3,89,1419,0.00,1.75,0.00,0.000,260,0.000,0.102,2561,3829,3303,3297,3309,0,0,0,0,0,0,14.98,14.74,14.98
$GC,1649,-0.94,-94.8,2561,3830,3296,3305,185.2,-11.3,123,1659,0.12,1.62,0.00,0.000,3206,0.274,0.041,2593,2842,3302,3300,3305,0,0,0,0,0,0,14.69,14.83,14.85
$GC,1972,-0.94,-94.8,2593,2842,3298,3300,217.3,-9.7,133,1979,0.00,1.83,0.00,0.000,260,0.000,0.102,2581,3843,3298,3297,3299,0,0,0,0,0,0,15.01,14.76,15.00
$GC,2048,-0.94,-94.8,2586,3843,3298,3300,225.1,-10.0,144,2056,0.00,1.65,0.00,0.000,1030,0.000,0.041,2586,2842,3298,3298,3298,0,0,0,0,0,0,14.90,14.85,14.90
$GC,2392,-0.94,-94.8,2587,2842,3298,3294,258.4,-9.6,157,2399,0.00,2.38,0.00,0.000,516,0.000,0.043,2585,1407,3295,3297,3293,0,0,0,0,0,0,15.01,14.81,15.01
$GC,2440,-0.94,-94.8,2585,1405,3298,3293,263.2,-9.8,164,2448,0.00,2.53,0.00,0.000,1030,0.000,0.067,2575,2851,3295,3299,3291,0,0,0,0,0,0,14.89,14.79,14.90
$GC,2777,-0.94,-94.8,2576,2852,3298,3285,296.1,-9.8,176,2784,0.00,2.40,0.00,0.000,516,0.000,0.043,2575,1415,3291,3297,3285,0,0,0,0,0,0,15.01,14.81,15.01
$GC,2839,-0.94,-94.8,2575,1417,3298,3284,302.0,-9.3,185,2849,0.10,2.53,0.00,0.000,3078,0.292,0.067,2588,2856,3291,3298,3284,0,0,0,0,0,0,14.70,14.80,14.87
$GC,3162,-0.94,-94.8,2591,2857,3299,3279,330.6,-9.0,195,3169,0.00,1.77,0.00,0.000,260,0.000,0.106,2584,3825,3288,3297,3279,0,0,0,0,0,0,15.02,14.78,15.02
$GC,3224,-0.94,-94.8,2584,3825,3298,3278,336.8,-10.0,204,3228,0.00,1.62,0.00,0.000,1030,0.000,0.044,2584,2849,3288,3298,3278,0,0,0,0,0,0,14.90,14.85,14.91
$GC,3540,-0.94,-94.8,2584,2849,3298,3275,367.2,-10.0,213,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2849,3286,3297,3275,0,0,0,0,0,0,15.01,15.02,15.02
$GC,3855,-0.94,-94.8,2585,2849,3305,3270,399.5,-10.3,222,3869,0.00,2.40,0.00,0.000,516,0.000,0.045,2584,1408,3284,3298,3270,0,0,0,0,0,0,15.02,14.82,15.02
$GC,3957,-0.94,-94.8,2585,1407,3298,3269,409.8,-9.9,236,3971,0.00,2.45,0.00,0.000,1030,0.000,0.070,2574,2844,3282,3297,3267,0,0,0,0,0,0,14.90,14.81,14.92
$GC,4280,-0.94,-94.8,2574,2845,3298,3263,441.2,-9.4,246,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2844,3280,3297,3263,0,0,0,0,0,0,15.03,15.03,15.03
$GC,4595,-0.94,-94.8,2574,2844,3299,3261,470.7,-9.3,255,4608,0.00,2.38,0.00,0.000,516,0.000,0.046,2574,1400,3278,3297,3260,0,0,0,0,0,0,15.04,14.85,15.04
$GC,4696,-0.94,-94.8,2572,1398,3298,3260,480.1,-9.3,269,4710,0.12,2.47,0.00,0.000,3078,0.286,0.072,2595,2842,3277,3297,3258,0,0,0,0,0,0,14.72,14.81,14.89
$GC,5019,-0.94,-94.8,2596,2842,3298,3255,508.2,-8.7,279,5032,0.00,2.38,0.00,0.000,516,0.000,0.047,2595,1411,3275,3297,3254,0,0,0,0,0,0,15.04,14.88,15.04
$GC,5085,-0.94,-94.8,2596,1411,3298,3255,514.1,-8.8,288,5099,0.00,2.45,0.00,0.000,1030,0.000,0.072,2586,2831,3275,3297,3253,0,0,0,0,0,0,14.92,14.82,14.93
$GC,5408,-0.94,-94.8,2586,2832,3296,3252,542.2,-8.6,298,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2832,3273,3295,3252,0,0,0,0,0,0,15.04,15.04,15.04
$GC,5723,-0.94,-94.8,2587,2831,3291,3253,568.6,-8.2,307,5736,0.00,1.77,0.00,0.000,260,0.000,0.112,2579,3828,3271,3290,3253,0,0,0,0,0,0,15.04,14.81,15.04
$GC,5824,-0.94,-94.8,2579,3827,3291,3251,577.5,-8.7,321,5838,0.00,1.65,0.00,0.000,1030,0.000,0.050,2577,2840,3271,3290,3252,0,0,0,0,0,0,14.90,14.87,14.91
$GC,6147,-0.94,-94.8,2578,2840,3288,3253,605.8,-8.9,331,6160,0.00,2.38,0.00,0.000,516,0.000,0.048,2577,1399,3269,3287,3251,0,0,0,0,0,0,15.04,14.85,15.04
$GC,6226,-0.94,-94.8,2577,1399,3288,3251,613.4,-9.4,342,6240,0.10,2.47,0.00,0.000,3078,0.293,0.073,2593,2840,3269,3287,3251,0,0,0,0,0,0,14.71,14.82,14.89
$GC,6574,-0.94,-94.8,2592,2840,3288,3249,645.6,-9.5,355,6587,0.00,2.40,0.00,0.000,516,0.000,0.048,2593,1391,3267,3287,3247,0,0,0,0,0,0,15.04,14.84,15.03
$GC,6667,-0.94,-94.8,2603,1391,3288,3246,654.7,-9.4,368,6681,0.00,2.47,0.00,0.000,1030,0.000,0.073,2584,2830,3266,3287,3246,0,0,0,0,0,0,14.92,14.81,14.92
$GC,7000,-0.94,-94.8,2585,2829,3285,3251,686.7,-9.8,379,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2830,3265,3285,3245,0,0,0,0,0,0,15.04,15.04,15.04
$GC,7315,-0.94,-94.8,2584,2830,3284,3245,716.1,-9.2,388,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2829,3263,3283,3244,0,0,0,0,0,0,15.03,15.04,15.03
$GC,7630,-0.94,-94.8,2584,2831,3285,3242,743.7,-8.4,397,7644,0.00,2.38,0.00,0.000,516,0.000,0.048,2582,1396,3263,3284,3242,0,0,0,0,0,0,15.04,14.83,15.04
$GC,7731,-0.94,-94.8,2583,1397,3284,3243,752.4,-8.5,411,7745,0.00,2.45,0.00,0.000,1030,0.000,0.074,2573,2821,3262,3284,3240,0,0,0,0,0,0,14.91,14.80,14.92
$GC,8054,-0.94,-94.8,2574,2822,3284,3240,779.1,-8.2,421,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2821,3261,3282,3240,0,0,0,0,0,0,15.03,15.03,15.03
$GC,8369,-0.94,-95.3,2574,2823,3282,3240,804.6,-7.7,430,8382,0.00,2.38,0.00,0.000,548,0.000,0.050,2573,1392,3260,3281,3239,0,0,0,0,0,0,15.04,14.83,15.04
$GC,8449,-0.94,-95.7,2573,1393,3282,3239,811.0,-7.7,441,8463,0.12,2.47,0.00,0.000,3110,0.287,0.074,2594,2829,3259,3280,3239,0,0,0,0,0,0,14.71,14.79,14.88
$GC,8797,-0.99,-99.9,2595,2829,3281,3237,835.9,-7.4,454,8810,0.00,0.00,0.00,0.000,166,0.000,0.000,2594,2829,3259,3280,3238,0,0,0,0,0,0,15.02,15.02,15.02
$STATE,8865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8865,begin apogee
$GC,8869,-0.23,0.0,2596,2277,3281,3239,841.0,-7.5,456,8942,0.77,0.00,59.33,1.940,10244,0.214,0.000,2823,2276,3043,3080,3006,0,0,0,0,0,0,14.72,14.26,13.69
$STATE,8944,end apogee,CONTROL_FINISHED_OK
$STATE,8944,begin climb
$GC,8945,1.24,99.9,2824,2275,3081,3005,843.2,0.0,458,9067,1.40,0.00,105.07,1.839,11270,0.112,0.000,3282,2275,2643,2693,2594,0,0,0,0,0,0,14.33,14.54,13.41
$GC,9395,1.15,99.9,3282,2275,2693,2582,798.6,12.1,487,9408,0.00,2.33,0.00,0.000,644,0.000,0.062,3292,909,2637,2693,2581,0,0,0,0,0,0,14.73,14.53,14.73
$GC,9469,1.07,99.9,3292,909,2693,2582,790.1,11.7,497,9482,0.17,2.38,0.00,0.000,5254,0.296,0.060,3248,2289,2636,2693,2580,0,0,0,0,0,0,14.44,14.55,14.63
$GC,9823,1.02,99.9,3248,2290,2694,2581,753.1,10.4,511,9836,0.00,0.00,0.00,0.000,134,0.000,0.000,3248,2289,2634,2693,2575,0,0,0,0,0,0,14.85,14.86,14.85
$GC,10138,0.97,99.9,3248,2289,2694,2576,721.1,10.1,520,10151,0.10,2.35,0.00,0.000,4740,0.309,0.060,3226,905,2633,2692,2575,0,0,0,0,0,0,14.59,14.70,14.73
$GC,10232,0.97,99.9,3230,905,2693,2575,712.5,8.9,533,10245,0.00,2.35,0.00,0.000,1030,0.000,0.060,3226,2288,2634,2693,2575,0,0,0,0,0,0,14.80,14.70,14.81
$GC,10565,0.97,99.9,3227,2289,2694,2573,681.9,9.2,544,10578,0.00,2.53,0.00,0.000,260,0.000,0.107,3226,3700,2633,2692,2574,0,0,0,0,0,0,14.94,14.68,14.94
$GC,10617,0.90,99.9,3227,3700,2693,2575,676.7,10.2,551,10631,0.15,2.35,0.00,0.000,5254,0.295,0.046,3197,2275,2633,2693,2574,0,0,0,0,0,0,14.62,14.77,14.80
$GC,10957,0.90,99.9,3197,2276,2694,2572,647.8,8.5,563,10970,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2275,2629,2693,2566,0,0,0,0,0,0,14.95,14.95,14.95
$GC,11272,0.90,99.9,3197,2275,2693,2573,622.0,8.2,572,11286,0.00,2.30,0.00,0.000,516,0.000,0.063,3207,902,2632,2692,2572,0,0,0,0,0,0,14.97,14.76,14.96
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$GC,15315,0.89,127.4,3197,2284,2607,2502,299.8,8.1,750,15320,0.00,0.00,1.62,0.300,8198,0.000,0.000,3197,2283,2543,2601,2486,0,0,0,0,0,0,14.90,14.73,14.40
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$STATE,19607,end climb,SURFACE_DEPTH_REACHED
$STATE,19607,begin surface coast
$FINISH,-1.1,1.020582
$STATE,19629,end surface coast,CONTROL_FINISHED_OK
$STATE,19629,begin surface
$SM_CCo,19653,120.93,0.153,0,0,619,610.16
$SM_GC,-2.50,9.52,0.75,120.93,0.107,0.083,0.153,192,2811,619,-8.40,-0.51,610.16,0,0,0,0,0,0,14.71,14.68,14.56
$IRIDIUM_FIX,956.07,-12440.32,310816,003538
$TT8_MAMPS,0.036701,0.465878
$HUMID,46.25
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,23.80
$XPDR_PINGS,8
$SC_FREEKB,3893216
$PM_FREEKB,61131008
$TM_FREEKB,7316672
$24V_AH,13.41,19.817
$10V_AH,13.44,0.000
$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,24.400,155.075,319.275,120.925,0.000,0.000,0.000,832.200,2.000,0.000,5.547,0.000,16218.684,714.283,4071.405,137.915,0.000,2838.892,0.000,1988.633,0.000,0.549,0.000
$DEVICE_MAMPS,396.270,111.690,1940.040,153.000,0.000,0.000,0.000,209.610,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19759.000,19626.000,9838.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.838,2.958,11.614,0.000
$MEM,334684
$DATA_FILE_SIZE,36666,1014
$CAP_FILE_SIZE,186242,0
$CFSIZE,1024409600,1010860032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.018,181.31,1
$GPS,310816,062310,1000.189,-12440.788,18,1.3,19,9.0,0.4,163.2,6,7.4