version: 66.13
glider: 220
mission: 6
dive: 398
start: 12 7 116 10 17 16
data:
$ID,220
$MISSION,6
$DIVE,398
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,930
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,120
$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,400
$T_MISSION,450
$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,110
$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,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$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,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,0.025
$PITCH_ADJ_DBAND,3
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2765
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.5
$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,2
$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,3
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$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,250.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,071216,100501,950.7073,-12507.6348,34,1.0,34,9.0,0.7,19.6,8,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.08
$_SM_ANGLEo,-71.2
$GPS2,071216,101653,950.7534,-12507.5557,3,1.1,4,9.0,0.8,133.8,7,8.7
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,149.5,22861,-17.6,-7.750,-24.23,2047
$D_GRID,930
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-0.93,-107.1,107,2779,1096,1011,0.0,0.0,0,100,0.00,0.00,-80.72,0.000,16390,0.000,0.000,105,2779,3478,3470,3487,0,0,0,0,0,0,14.67,13.17,14.66
$GC,103,-0.93,-107.1,106,2779,3470,3487,4.8,-12.1,3,121,11.77,2.38,0.00,0.000,2564,0.384,0.034,2586,1354,3479,3471,3487,0,0,0,0,0,0,14.00,14.38,14.28
$GC,185,-0.70,-107.1,2587,1354,3474,3488,33.8,-21.4,15,190,0.35,2.53,0.00,0.000,3206,0.249,0.069,2671,2771,3481,3476,3486,0,0,0,0,0,0,14.11,14.33,14.38
$GC,521,-0.70,-107.1,2671,2772,3479,3486,71.3,-8.4,30,526,0.00,1.98,0.00,0.000,260,0.000,0.108,2662,3820,3482,3478,3486,0,0,0,0,0,0,14.83,14.29,14.83
$GC,548,-0.70,-107.1,2663,3821,3478,3488,74.1,-9.9,34,554,0.00,1.80,0.00,0.000,1030,0.000,0.037,2662,2710,3482,3478,3486,0,0,0,0,0,0,14.54,14.52,14.56
$GC,913,-0.70,-107.1,2662,2712,3480,3486,104.7,-7.7,49,919,0.00,2.08,0.00,0.000,292,0.000,0.105,2654,3826,3482,3479,3486,0,0,0,0,0,0,14.88,14.34,14.89
$GC,1066,-0.70,-107.1,2651,3827,3479,3486,117.8,-8.7,71,1072,0.00,1.80,0.00,0.000,1030,0.000,0.037,2654,2711,3482,3479,3486,0,0,0,0,0,0,14.69,14.68,14.70
$GC,1417,-0.70,-107.1,2654,2711,3479,3486,146.6,-8.4,79,1422,0.00,2.25,0.00,0.000,516,0.000,0.041,2653,1366,3480,3479,3481,0,0,0,0,0,0,14.92,14.57,14.92
$GC,1507,-0.70,-107.1,2652,1367,3479,3483,154.7,-8.7,92,1513,0.08,2.50,0.00,0.000,3078,0.214,0.065,2668,2764,3481,3480,3483,0,0,0,0,0,0,14.30,14.45,14.45
$GC,1865,-0.70,-107.1,2668,2764,3479,3479,184.7,-8.5,101,1871,0.00,1.95,0.00,0.000,260,0.000,0.109,2660,3826,3478,3479,3478,0,0,0,0,0,0,14.95,14.38,14.95
$GC,1899,-0.70,-107.1,2660,3826,3479,3480,187.8,-8.9,106,1905,0.00,1.80,0.00,0.000,1030,0.000,0.039,2659,2730,3478,3479,3478,0,0,0,0,0,0,14.68,14.66,14.69
$GC,2256,-0.70,-107.1,2660,2730,3479,3474,219.3,-8.8,115,2262,0.00,2.25,0.00,0.000,516,0.000,0.041,2659,1390,3475,3478,3472,0,0,0,0,0,0,14.93,14.54,14.94
$GC,2298,-0.70,-107.1,2659,1391,3479,3472,223.0,-8.6,121,2305,0.00,2.45,0.00,0.000,1030,0.000,0.065,2652,2759,3473,3475,3472,0,0,0,0,0,0,14.52,14.43,14.57
$GC,2649,-0.70,-107.1,2652,2761,3480,3468,253.4,-8.7,129,2655,0.00,2.35,0.00,0.000,516,0.000,0.041,2652,1398,3473,3479,3468,0,0,0,0,0,0,14.93,14.52,14.94
$GC,2676,-0.70,-107.1,2652,1398,3480,3468,255.9,-8.8,133,2683,0.08,2.42,0.00,0.000,3078,0.224,0.066,2667,2760,3473,3479,3468,0,0,0,0,0,0,14.28,14.44,14.44
$GC,3041,-0.70,-107.1,2667,2761,3480,3460,284.5,-7.8,143,3046,0.00,2.03,0.00,0.000,260,0.000,0.110,2659,3825,3470,3478,3462,0,0,0,0,0,0,14.94,14.33,14.94
$GC,3082,-0.70,-107.1,2659,3826,3480,3462,287.9,-8.3,149,3089,0.00,1.80,0.00,0.000,1030,0.000,0.041,2659,2758,3470,3478,3462,0,0,0,0,0,0,14.74,14.69,14.76
$GC,3433,-0.70,-107.1,2659,2760,3480,3458,314.7,-7.6,157,3433,0.00,0.00,0.00,0.000,38,0.000,0.000,2658,2758,3471,3479,3463,0,0,0,0,0,0,14.95,14.98,14.95
$GC,3769,-0.70,-107.1,2659,2758,3479,3455,341.3,-8.0,163,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2758,3466,3478,3454,0,0,0,0,0,0,14.96,14.96,14.96
$GC,4104,-0.70,-107.1,2660,2758,3479,3452,370.0,-8.6,169,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2758,3464,3478,3451,0,0,0,0,0,0,14.96,14.96,14.97
$GC,4440,-0.70,-107.1,2659,2759,3479,3446,398.1,-8.3,175,4446,0.00,2.38,0.00,0.000,516,0.000,0.043,2659,1387,3460,3473,3447,0,0,0,0,0,0,14.96,14.49,14.97
$GC,4517,-0.70,-107.1,2659,1389,3479,3446,404.3,-7.8,186,4523,0.00,2.50,0.00,0.000,1030,0.000,0.067,2652,2761,3462,3478,3446,0,0,0,0,0,0,14.50,14.39,14.54
$GC,4833,-0.70,-107.1,2651,2762,3480,3444,428.6,-7.6,196,4838,0.00,2.03,0.00,0.000,292,0.000,0.110,2644,3821,3461,3478,3444,0,0,0,0,0,0,14.95,14.31,14.95
$GC,4867,-0.70,-107.1,2644,3822,3479,3444,431.4,-8.4,201,4874,0.08,1.80,0.00,0.000,3078,0.233,0.042,2671,2760,3461,3478,3444,0,0,0,0,0,0,14.35,14.67,14.47
$GC,5225,-0.77,-107.1,2671,2764,3479,3441,456.7,-7.2,210,5230,0.00,2.38,0.00,0.000,676,0.000,0.043,2670,1368,3459,3478,3440,0,0,0,0,0,0,14.93,14.52,14.93
$GC,5343,-0.86,-107.1,2669,1368,3479,3440,465.7,-7.6,227,5349,0.05,2.53,0.00,0.000,5286,0.116,0.067,2606,2764,3457,3478,3437,0,0,0,0,0,0,14.38,14.38,14.47
$GC,5673,-0.86,-107.1,2606,2765,3480,3436,498.8,-10.2,239,5678,0.00,2.00,0.00,0.000,260,0.000,0.110,2598,3817,3456,3476,3437,0,0,0,0,0,0,14.92,14.27,14.92
$GC,5756,-0.86,-107.1,2598,3817,3479,3437,507.9,-10.7,251,5762,0.00,1.80,0.00,0.000,1030,0.000,0.041,2597,2755,3457,3478,3437,0,0,0,0,0,0,14.66,14.65,14.66
$GC,6121,-0.86,-107.1,2598,2755,3479,3435,545.0,-10.1,261,6127,0.00,2.08,0.00,0.000,260,0.000,0.109,2590,3826,3455,3478,3433,0,0,0,0,0,0,14.92,14.28,14.92
$GC,6155,-0.86,-107.1,2596,3828,3479,3432,548.6,-10.7,266,6161,0.08,1.80,0.00,0.000,3078,0.224,0.042,2611,2775,3454,3478,3431,0,0,0,0,0,0,14.23,14.59,14.40
$GC,6513,-0.86,-107.1,2611,2774,3479,3432,581.8,-9.3,275,6518,0.00,2.45,0.00,0.000,516,0.000,0.044,2610,1342,3454,3478,3431,0,0,0,0,0,0,14.92,14.46,14.92
$GC,6568,-0.86,-107.1,2612,1342,3479,3431,586.8,-9.1,283,6574,0.00,2.55,0.00,0.000,1030,0.000,0.065,2602,2764,3454,3479,3430,0,0,0,0,0,0,14.56,14.40,14.60
$GC,6905,-0.86,-107.1,2602,2764,3477,3430,618.7,-9.5,296,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2764,3452,3475,3429,0,0,0,0,0,0,14.94,14.94,14.94
$GC,7241,-0.86,-107.1,2602,2765,3474,3430,650.2,-9.3,302,7246,0.00,2.45,0.00,0.000,516,0.000,0.043,2600,1377,3451,3473,3429,0,0,0,0,0,0,14.95,14.42,14.95
$GC,7275,-0.86,-107.1,2601,1376,3474,3426,653.4,-9.3,307,7281,0.00,2.50,0.00,0.000,1030,0.000,0.067,2591,2752,3450,3472,3428,0,0,0,0,0,0,14.42,14.33,14.48
$GC,7632,-0.86,-107.1,2592,2752,3471,3430,686.4,-9.1,316,7638,0.00,2.05,0.00,0.000,260,0.000,0.110,2584,3819,3449,3470,3429,0,0,0,0,0,0,14.92,14.23,14.92
$GC,7688,-0.86,-107.1,2584,3819,3471,3430,691.8,-9.9,324,7694,0.10,1.83,0.00,0.000,3078,0.220,0.042,2612,2749,3449,3470,3428,0,0,0,0,0,0,14.15,14.54,14.32
$GC,8025,-0.86,-107.1,2612,2750,3472,3426,720.1,-8.4,337,8031,0.00,2.35,0.00,0.000,516,0.000,0.044,2612,1373,3448,3470,3426,0,0,0,0,0,0,14.91,14.47,14.91
$GC,8052,-0.86,-107.1,2612,1373,3472,3426,722.6,-8.9,341,8059,0.00,2.53,0.00,0.000,1030,0.000,0.067,2603,2761,3448,3470,3426,0,0,0,0,0,0,14.42,14.32,14.46
$GC,8417,-0.86,-107.1,2604,2761,3471,3421,756.5,-9.5,351,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2761,3446,3469,3423,0,0,0,0,0,0,14.93,14.94,14.93
$GC,8752,-0.86,-107.1,2604,2761,3466,3424,788.2,-9.5,357,8753,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2761,3445,3468,3423,0,0,0,0,0,0,14.94,14.93,14.94
$GC,9089,-0.86,-107.1,2604,2762,3469,3421,819.0,-9.0,363,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2761,3445,3468,3422,0,0,0,0,0,0,14.93,14.93,14.93
$GC,9424,-0.86,-107.1,2604,2761,3469,3421,848.3,-8.7,369,9425,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2761,3444,3468,3420,0,0,0,0,0,0,14.90,14.91,14.91
$GC,9760,-0.86,-107.1,2603,2762,3466,3420,877.6,-8.8,375,9761,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2761,3442,3465,3420,0,0,0,0,0,0,14.91,14.90,14.90
$GC,10097,-0.86,-107.1,2604,2761,3465,3418,906.5,-8.5,381,10102,0.00,2.42,0.00,0.000,516,0.000,0.046,2603,1368,3442,3465,3419,0,0,0,0,0,0,14.93,14.43,14.93
$GC,10187,-0.86,-107.1,2603,1368,3465,3420,914.4,-8.5,394,10193,0.00,2.55,0.00,0.000,1030,0.000,0.067,2593,2746,3441,3464,3418,0,0,0,0,0,0,14.39,14.25,14.40
$STATE,10374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10374,begin apogee
$GC,10381,-0.23,0.0,2593,2229,3466,3417,931.2,-8.7,400,10493,0.80,0.00,109.82,1.980,10244,0.181,0.000,2825,2227,3050,3092,3008,0,0,0,0,0,0,14.10,13.97,12.95
$STATE,10494,end apogee,CONTROL_FINISHED_OK
$STATE,10494,begin climb
$GC,10497,0.93,107.1,2825,2229,3090,3001,934.9,0.0,402,10623,1.10,2.50,116.70,1.968,10756,0.090,0.057,3183,844,2621,2681,2562,0,0,0,0,0,0,13.99,14.01,12.84
$GC,10664,0.84,128.9,3182,844,2679,2549,929.0,6.7,427,10693,0.00,2.58,24.48,2.016,9382,0.000,0.050,3183,2263,2535,2607,2464,0,0,0,0,0,0,14.04,13.98,12.92
$GC,11043,0.73,128.9,3183,2264,2604,2446,895.8,9.0,439,11048,0.15,2.60,0.00,0.000,4484,0.230,0.098,3141,3658,2522,2600,2445,0,0,0,0,0,0,14.17,14.28,14.43
$GC,11091,0.64,128.9,3141,3658,2603,2447,891.5,8.8,446,11099,0.12,2.47,0.00,0.000,5254,0.209,0.040,3115,2233,2524,2602,2446,0,0,0,0,0,0,14.16,14.42,14.33
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$GC,19142,0.80,254.9,3172,2261,2123,1924,218.5,9.8,707,19147,0.00,2.45,0.00,0.000,516,0.000,0.063,3180,864,2022,2121,1924,0,0,0,0,0,0,14.87,14.37,14.87
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$STATE,21743,end climb,SURFACE_DEPTH_REACHED
$STATE,21743,begin surface coast
$FINISH,-1.4,1.021578
$STATE,21771,end surface coast,CONTROL_FINISHED_OK
$STATE,21771,begin surface
$SM_CCo,21795,35.75,0.154,0,0,1058,500.14
$SM_GC,-2.26,8.80,0.88,35.75,0.047,0.093,0.154,172,2762,1058,-8.38,-0.74,500.14,0,0,0,0,0,0,14.55,14.38,14.23
$IRIDIUM_FIX,947.31,-12508.85,071216,033252
$TT8_MAMPS,0.038948,0.320572
$HUMID,55.35
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.10
$XPDR_PINGS,1
$SC_FREEKB,3756896
$PM_FREEKB,55241536
$24V_AH,12.84,142.714
$10V_AH,12.60,0.000
$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,24.250,176.400,491.500,35.750,0.000,0.000,0.000,418.000,0.250,0.000,5.572,0.000,18740.537,830.669,2510.872,444.161,0.000,1991.466,0.000,1546.523,0.000,0.838,0.000
$DEVICE_MAMPS,384.030,110.160,2112.930,153.765,0.000,0.000,0.000,172.890,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21831.000,21779.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.469,2.417,0.000,0.000
$MEM,334724
$DATA_FILE_SIZE,29994,850
$CAP_FILE_SIZE,156641,0
$CFSIZE,1024409600,947470336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,96.90,1
$GPS,071216,162201,948.809,-12505.851,23,0.8,23,9.0,0.7,61.9,11,3.4