version: 66.11
glider: 169
mission: 8
dive: 135
start: 4 12 113 23 11 59
data:
$ID,169
$MISSION,8
$DIVE,135
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,130
$T_BOOST,4
$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,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,165
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52063
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00091300003
$HD_B,0.0119
$HD_C,2.0500001e-07
$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,430
$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,-21028.701
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2852
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.03682
$PRESSURE_SLOPE,0.0001078585
$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,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$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,33
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042608725
$SEABIRD_T_H,0.00061783189
$SEABIRD_T_I,2.1692709e-05
$SEABIRD_T_J,2.1724361e-06
$SEABIRD_C_G,-10.034778
$SEABIRD_C_H,1.1503564
$SEABIRD_C_I,-0.0019294197
$SEABIRD_C_J,0.0002327933
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,120413,225906,1956.305,12358.452,38,1.3,38,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-69.9
$GPS2,120413,231130,1956.193,12358.176,10,1.8,15,-2.4
$SPEED_LIMITS,0.143,0.238
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,37.9,51489,-3.2,-8.250,-19.13,2990
$D_GRID,5340
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.48,-160.6,122,2518,1264,935,0.0,0.0,0,103,0.00,0.00,-77.43,0.000,16386,0.000,0.000,122,2519,3098,3019,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.48,-160.6,122,2519,3019,3177,3.1,-7.3,10,131,8.38,2.40,-7.18,0.000,18692,0.235,0.058,2199,3837,3510,3386,3635,0,0,0,0,0,0,25.82,26.17,26.49
$GC,148,-0.48,-160.6,2199,3838,3387,3635,25.0,-50.9,15,155,0.00,2.30,0.00,0.000,1030,0.000,0.028,2202,2463,3511,3388,3635,0,0,0,0,0,0,28.83,26.27,28.83
$GC,457,-0.48,-160.6,2202,2464,3389,3635,123.7,-27.1,34,463,0.00,2.45,0.00,0.000,260,0.000,0.048,2191,3836,3512,3389,3635,0,0,0,0,0,0,28.83,26.39,28.83
$GC,508,-0.48,-160.6,2191,3836,3389,3635,135.6,-24.8,36,515,0.12,2.28,0.00,0.000,3078,0.159,0.027,2224,2462,3514,3388,3640,0,0,0,0,0,0,26.27,26.47,28.83
$GC,831,-0.48,-160.6,2224,2461,3390,3635,195.2,-16.6,52,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2462,3512,3390,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1130,-0.48,-160.6,2224,2461,3390,3635,245.7,-17.4,67,1135,0.00,2.40,0.00,0.000,260,0.000,0.047,2220,3821,3512,3390,3635,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1180,-0.48,-160.6,2219,3821,3390,3641,253.6,-17.3,69,1187,0.00,2.22,0.00,0.000,1030,0.000,0.024,2220,2470,3512,3390,3635,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1504,-0.48,-160.6,2220,2469,3390,3635,304.2,-15.3,85,1509,0.00,2.33,0.00,0.000,516,0.000,0.032,2219,1023,3512,3390,3634,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1560,-0.48,-160.6,2219,1022,3390,3635,311.4,-15.1,87,1567,0.00,2.47,0.00,0.000,1030,0.000,0.031,2219,2517,3512,3390,3635,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1876,-0.48,-160.6,2219,2515,3390,3634,356.8,-13.0,103,1882,0.00,2.22,0.00,0.000,260,0.000,0.045,2212,3828,3512,3390,3634,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1954,-0.48,-160.6,2211,3828,3390,3633,365.5,-12.4,106,1960,0.00,2.22,0.00,0.000,1030,0.000,0.025,2213,2465,3511,3390,3633,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2269,-0.48,-160.6,2212,2464,3390,3631,405.4,-11.6,122,2276,0.00,2.40,0.00,0.000,260,0.000,0.048,2206,3823,3510,3390,3631,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2305,-0.48,-160.6,2206,3823,3390,3631,408.5,-11.6,123,2310,0.00,2.22,0.00,0.000,1030,0.000,0.024,2206,2461,3510,3389,3631,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2620,-0.48,-160.6,2206,2461,3390,3628,446.0,-11.4,139,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2460,3508,3389,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2920,-0.48,-160.6,2206,2459,3390,3625,479.1,-11.1,154,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2460,3507,3389,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3220,-0.48,-160.6,2206,2460,3389,3621,515.2,-12.1,169,3226,0.00,2.45,0.00,0.000,260,0.000,0.047,2204,3838,3505,3390,3621,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3283,-0.48,-160.6,2203,3838,3389,3620,521.1,-12.5,171,3293,0.00,2.22,0.00,0.000,1030,0.000,0.024,2204,2458,3504,3390,3619,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3590,-0.48,-160.6,2204,2459,3389,3615,558.7,-11.7,187,3596,0.00,2.40,0.00,0.000,260,0.000,0.047,2197,3832,3501,3389,3614,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3641,-0.48,-160.6,2197,3833,3389,3615,564.3,-12.0,189,3648,0.00,2.22,0.00,0.000,1030,0.000,0.026,2197,2462,3502,3389,3615,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3974,-0.48,-160.6,2197,2462,3389,3610,605.0,-11.8,205,3980,0.00,2.40,0.00,0.000,260,0.000,0.049,2194,3832,3499,3389,3610,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3993,-0.48,-160.6,2194,3832,3389,3610,605.0,-11.8,205,3999,0.00,2.22,0.00,0.000,1030,0.000,0.026,2194,2463,3499,3389,3609,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4313,-0.48,-160.6,2193,2462,3390,3605,645.9,-11.9,216,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2462,3496,3389,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4616,-0.48,-160.6,2194,2462,3389,3601,679.4,-11.2,226,4621,0.00,2.40,0.00,0.000,260,0.000,0.050,2194,3828,3495,3389,3601,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4665,-0.48,-160.6,2193,3828,3389,3600,683.7,-11.3,227,4671,0.00,2.22,0.00,0.000,1030,0.000,0.026,2194,2462,3494,3389,3599,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4988,-0.48,-160.6,2193,2461,3389,3595,721.1,-11.4,238,4994,0.00,2.40,0.00,0.000,260,0.000,0.050,2194,3830,3492,3389,3595,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5029,-0.48,-160.6,2193,3833,3389,3594,725.5,-11.6,239,5035,0.00,2.22,0.00,0.000,1030,0.000,0.027,2194,2462,3491,3389,3594,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5360,-0.48,-160.6,2193,2462,3389,3589,762.6,-10.6,250,5365,0.00,2.40,0.00,0.000,260,0.000,0.050,2192,3834,3489,3389,3589,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5407,-0.48,-160.6,2192,3834,3388,3589,766.4,-10.5,251,5414,0.10,2.25,0.00,0.000,3078,0.138,0.026,2222,2458,3488,3387,3589,0,0,0,0,0,0,26.52,26.68,28.83
$GC,5733,-0.48,-160.6,2221,2457,3388,3586,795.6,-8.7,262,5739,0.00,2.40,0.00,0.000,260,0.000,0.048,2220,3832,3487,3388,3586,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5783,-0.48,-160.6,2220,3831,3387,3586,798.7,-8.8,263,5790,0.00,2.25,0.00,0.000,1030,0.000,0.027,2220,2457,3486,3387,3585,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6104,-0.48,-160.6,2219,2457,3386,3582,828.3,-8.8,274,6110,0.00,2.42,0.00,0.000,260,0.000,0.047,2208,3838,3484,3386,3582,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6175,-0.48,-160.6,2208,3838,3386,3582,834.7,-9.2,276,6181,0.00,2.25,0.00,0.000,1030,0.000,0.026,2208,2457,3483,3385,3582,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6506,-0.48,-160.6,2208,2457,3385,3579,866.1,-9.5,287,6511,0.00,2.40,0.00,0.000,260,0.000,0.050,2207,3824,3482,3385,3579,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6582,-0.48,-160.6,2206,3824,3383,3579,872.4,-9.6,289,6588,0.00,2.22,0.00,0.000,1030,0.000,0.025,2207,2459,3481,3383,3579,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6908,-0.48,-160.6,2206,2459,3383,3577,900.2,-7.7,300,6914,0.00,2.40,0.00,0.000,260,0.000,0.049,2206,3826,3480,3383,3577,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6969,-0.48,-160.6,2206,3827,3381,3576,903.0,-7.7,301,6978,0.00,2.25,0.00,0.000,1030,0.000,0.027,2206,2457,3479,3381,3577,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7277,-0.48,-160.6,2206,2457,3381,3574,929.8,-8.3,312,7283,0.00,2.40,0.00,0.000,260,0.000,0.050,2206,3824,3477,3381,3573,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7312,-0.48,-160.6,2206,3824,3381,3573,933.3,-8.6,313,7318,0.00,2.25,0.00,0.000,1030,0.000,0.025,2206,2456,3477,3381,3573,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7648,-0.48,-160.6,2206,2456,3380,3572,961.5,-8.5,324,7654,0.00,2.40,0.00,0.000,260,0.000,0.047,2194,3834,3475,3380,3571,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7698,-0.48,-160.6,2194,3834,3380,3571,964.8,-8.6,325,7704,0.00,2.25,0.00,0.000,1030,0.000,0.027,2195,2460,3475,3379,3571,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,7987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7988,begin apogee
$GC,7994,-0.12,0.0,2194,2610,3380,3570,992.1,-8.7,335,8139,0.38,0.00,138.62,1.057,10246,0.100,0.000,2329,2609,2845,2855,2835,0,0,0,0,0,0,26.46,28.83,24.40
$STATE,8141,end apogee,CONTROL_FINISHED_OK
$STATE,8142,begin climb
$GC,8145,0.48,160.6,2329,2609,2852,2826,997.8,0.0,339,8304,0.55,2.05,148.68,1.011,10500,0.062,0.040,2526,3834,2184,2306,2063,0,0,0,0,0,0,25.18,24.84,24.21
$GC,8377,0.48,160.6,2526,3834,2294,2054,983.7,9.2,346,8384,0.00,1.98,0.00,0.000,1030,0.000,0.016,2537,2562,2173,2294,2053,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8709,0.48,160.6,2536,2563,2286,2051,950.8,10.0,357,8714,0.00,2.15,0.00,0.000,260,0.000,0.041,2526,3840,2168,2286,2051,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8764,0.48,160.6,2526,3840,2285,2051,947.6,9.9,358,8770,0.00,1.92,0.00,0.000,1030,0.000,0.018,2537,2568,2168,2286,2051,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9082,0.48,160.6,2537,2567,2282,2051,909.7,11.2,369,9083,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2567,2166,2281,2051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9380,0.48,160.6,2537,2567,2279,2052,875.5,11.3,379,9381,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2567,2165,2279,2051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9680,0.48,160.6,2537,2567,2278,2049,843.8,10.2,389,9686,0.00,2.12,0.00,0.000,260,0.000,0.041,2527,3837,2165,2279,2051,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9715,0.48,160.6,2526,3837,2278,2051,839.9,10.3,390,9721,0.00,1.92,0.00,0.000,1030,0.000,0.017,2537,2562,2164,2278,2051,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10050,0.48,160.6,2537,2563,2277,2050,809.0,9.0,401,10056,0.00,2.12,0.00,0.000,260,0.000,0.042,2527,3838,2163,2276,2050,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10131,0.48,160.6,2527,3837,2276,2050,802.4,9.4,403,10137,0.00,1.90,0.00,0.000,1030,0.000,0.017,2537,2565,2163,2276,2050,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10451,0.48,160.6,2537,2564,2275,2050,773.5,8.5,414,10457,0.00,2.12,0.00,0.000,260,0.000,0.041,2527,3845,2162,2274,2050,0,0,0,0,0,0,28.83,26.49,28.83
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$GC,14089,0.57,196.5,2529,3837,2165,1952,458.5,9.4,556,14097,0.00,1.95,0.00,0.000,1030,0.000,0.018,2540,2568,2058,2165,1952,0,0,0,0,0,0,28.83,26.65,28.83
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$STATE,18470,end climb,SURFACE_DEPTH_REACHED
$STATE,18470,begin surface coast
$FINISH,-0.4,1.022922
$STATE,18506,end surface coast,CONTROL_FINISHED_OK
$STATE,18506,begin surface
$SM_CCo,18524,63.60,0.124,0,0,1095,430.01
$SM_GC,0.13,6.25,0.20,63.60,0.025,0.047,0.124,130,2450,1095,-6.95,0.25,430.01,0,0,0,0,0,0,26.53,26.63,26.21
$IRIDIUM_FIX,1948.12,12231.44,120413,181847
$TT8_MAMPS,0.02247,0.02247
$HUMID,44.17
$INTERNAL_PRESSURE,9.36915
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3953184
$24V_AH,24.2,17.761
$10V_AH,10.3,13.993
$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,16.075,177.225,444.450,63.600,0.000,0.000,0.000,458.125,0.000,0.000,16.595,3466.772,11829.934,725.816,2547.679,732.667,0.000,2304.716,0.000,1944.153,0.000,0.544,0.000
$DEVICE_MAMPS,234.855,72.675,1057.230,123.930,0.000,0.000,0.000,123.165,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18585.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.472,0.000,0.000,0.000
$MEM,329116
$DATA_FILE_SIZE,30100,820
$CAP_FILE_SIZE,439389,0
$CFSIZE,260034560,233947136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.146,356.6,1
$GPS,130413,042300,1959.141,12359.162,38,1.8,38,-2.5