version: 66.13
glider: 128
mission: 4
dive: 223
start: 3 10 118 22 23 31
data:
$ID,128
$MISSION,4
$DIVE,223
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$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,390
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.89999998
$RHO,1.0275
$MASS,51713
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.0026803601
$HD_B,0.0139002
$HD_C,9.1750398e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3235
$TGT_DEFAULT_LON,-11731
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3750
$C_PITCH,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,3346
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00121
$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,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-157.40906
$PRESSURE_SLOPE,0.00014074198
$AD7714Ch0Gain,32
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043553207
$SEABIRD_T_H,0.00062594062
$SEABIRD_T_I,2.3765557e-05
$SEABIRD_T_J,2.606791e-06
$SEABIRD_C_G,-9.8755465
$SEABIRD_C_H,1.1390997
$SEABIRD_C_I,-0.0019936475
$SEABIRD_C_J,0.00023608611
$GPS1,100318,221732,-327.3865,5537.5996,40,1.0,43,-4.7,0.6,169.0,8,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-72.6
$GPS2,100318,222252,-327.4477,5537.6489,17,1.0,21,-4.7,0.5,140.7,9,9.2
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,207.9,23446,-14.4,-8.462,-20.64,3036
$D_GRID,1000
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-0.63,-170.3,248,2324,1322,1275,0.0,0.0,0,93,0.00,0.00,-82.53,0.003,16386,0.000,0.000,248,2325,3838,3824,3853,0,0,0,0,0,0,14.87,28.83,14.89
$GC,96,-0.63,-170.3,248,2325,3825,3853,4.8,-14.9,14,117,11.48,2.28,-1.00,0.084,18948,0.418,0.067,2549,975,3904,3897,3911,0,0,0,0,0,0,14.28,13.74,14.63
$GC,328,-0.63,-170.3,2549,975,3901,3911,57.3,-17.8,59,335,0.00,2.35,0.00,0.000,1030,0.000,0.050,2549,2355,3906,3901,3911,0,0,0,0,0,0,14.72,14.62,14.76
$GC,636,-0.63,-170.3,2549,2355,3905,3911,100.8,-9.4,90,640,0.00,2.33,0.00,0.000,516,0.000,0.044,2549,972,3908,3905,3911,0,0,0,0,0,0,15.01,14.70,15.03
$GC,847,-0.63,-170.3,2549,972,3907,3913,124.4,-10.0,132,852,0.00,2.33,0.00,0.000,1030,0.000,0.050,2549,2352,3910,3907,3913,0,0,0,0,0,0,14.80,14.71,14.83
$GC,1159,-0.63,-170.3,2548,2352,3909,3914,153.2,-9.9,164,1164,0.00,2.20,0.00,0.000,260,0.000,0.075,2549,3701,3911,3909,3914,0,0,0,0,0,0,15.07,14.69,15.09
$GC,1262,-0.63,-170.3,2549,3701,3909,3914,164.7,-11.7,184,1267,0.00,2.05,0.00,0.000,1030,0.000,0.034,2549,2359,3911,3909,3914,0,0,0,0,0,0,14.86,14.81,14.88
$GC,1574,-0.63,-170.3,2548,2356,3909,3914,200.3,-10.7,216,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2356,3911,3909,3914,0,0,0,0,0,0,15.09,15.11,15.11
$GC,1875,-0.63,-170.3,2549,2356,3909,3915,233.6,-11.2,246,1879,0.00,2.30,0.00,0.000,516,0.000,0.046,2549,963,3911,3909,3914,0,0,0,0,0,0,15.10,14.76,15.11
$GC,1916,-0.63,-170.3,2548,962,3909,3915,238.1,-10.3,254,1920,0.00,2.33,0.00,0.000,1030,0.000,0.049,2549,2349,3912,3909,3915,0,0,0,0,0,0,14.86,14.77,14.89
$GC,2228,-0.63,-170.3,2549,2349,3909,3915,267.2,-9.6,274,2232,0.00,2.22,0.00,0.000,260,0.000,0.076,2549,3703,3911,3909,3914,0,0,0,0,0,0,15.11,14.72,15.14
$GC,2289,-0.63,-170.3,2549,3703,3908,3914,273.7,-10.5,286,2293,0.00,2.08,0.00,0.000,1030,0.000,0.036,2549,2348,3911,3908,3915,0,0,0,0,0,0,14.90,14.84,14.92
$GC,2620,-0.63,-170.3,2549,2346,3907,3914,311.7,-11.6,302,2624,0.00,2.28,0.00,0.000,516,0.000,0.046,2549,965,3910,3907,3914,0,0,0,0,0,0,15.14,14.79,15.15
$GC,2685,-0.63,-170.3,2548,965,3907,3914,319.3,-11.1,315,2689,0.00,2.35,0.00,0.000,1030,0.000,0.050,2549,2359,3911,3908,3914,0,0,0,0,0,0,14.88,14.78,14.90
$GC,3011,-0.63,-170.3,2549,2358,3905,3910,356.1,-11.7,330,3015,0.00,2.20,0.00,0.000,260,0.000,0.079,2549,3692,3908,3906,3910,0,0,0,0,0,0,15.14,14.73,15.16
$GC,3042,-0.63,-170.3,2549,3692,3905,3909,359.8,-11.6,336,3048,0.00,2.08,0.00,0.000,1030,0.000,0.039,2549,2354,3907,3905,3909,0,0,0,0,0,0,14.91,14.85,14.93
$GC,3375,-0.63,-170.3,2549,2351,3903,3907,396.2,-10.4,352,3380,0.00,2.30,0.00,0.000,516,0.000,0.046,2549,960,3905,3903,3908,0,0,0,0,0,0,15.14,14.80,15.16
$GC,3437,-0.63,-170.3,2549,961,3904,3908,402.2,-9.4,364,3442,0.00,2.35,0.00,0.000,1030,0.000,0.052,2549,2349,3905,3903,3908,0,0,0,0,0,0,14.88,14.78,14.91
$GC,3770,-0.63,-170.3,2549,2349,3901,3905,432.0,-8.9,380,3775,0.00,2.25,0.00,0.000,260,0.000,0.081,2549,3703,3902,3900,3904,0,0,0,0,0,0,15.14,14.71,15.16
$GC,3786,-0.63,-170.3,2549,3703,3900,3903,433.5,-8.7,383,3790,0.00,2.10,0.00,0.000,1030,0.000,0.040,2549,2351,3902,3900,3904,0,0,0,0,0,0,14.92,14.85,14.93
$GC,4102,-0.63,-170.3,2549,2349,3899,3902,462.8,-9.5,396,4107,0.00,2.30,0.00,0.000,516,0.000,0.048,2549,961,3901,3900,3902,0,0,0,0,0,0,15.15,14.78,15.16
$GC,4153,-0.63,-170.3,2549,961,3899,3902,468.1,-10.1,406,4157,0.00,2.38,0.00,0.000,1030,0.000,0.054,2549,2356,3900,3899,3902,0,0,0,0,0,0,14.88,14.77,14.90
$GC,4460,-0.63,-170.3,2548,2356,3898,3900,499.1,-10.3,417,4464,0.00,2.22,0.00,0.000,260,0.000,0.083,2549,3693,3898,3897,3900,0,0,0,0,0,0,15.15,14.71,15.16
$GC,4494,-0.63,-170.3,2549,3693,3897,3899,502.8,-9.9,424,4499,0.00,2.12,0.00,0.000,1030,0.000,0.041,2549,2340,3898,3897,3899,0,0,0,0,0,0,14.90,14.84,14.93
$GC,4822,-0.63,-170.3,2548,2339,3896,3897,535.8,-10.2,439,4826,0.00,2.30,0.00,0.000,516,0.000,0.049,2549,958,3897,3897,3897,0,0,0,0,0,0,15.14,14.78,15.16
$GC,4896,-0.63,-170.3,2549,957,3897,3897,543.8,-10.2,454,4900,0.00,2.38,0.00,0.000,1030,0.000,0.054,2549,2355,3896,3896,3897,0,0,0,0,0,0,14.87,14.76,14.90
$GC,5213,-0.63,-170.3,2549,2354,3895,3895,575.5,-10.2,467,5217,0.00,2.25,0.00,0.000,260,0.000,0.083,2549,3697,3895,3895,3895,0,0,0,0,0,0,15.15,14.69,15.16
$GC,5238,-0.63,-170.3,2549,3697,3894,3894,578.2,-10.1,472,5246,0.00,2.12,0.00,0.000,1030,0.000,0.042,2549,2345,3894,3894,3895,0,0,0,0,0,0,14.90,14.84,14.92
$GC,5544,-0.63,-170.3,2549,2345,3894,3892,609.3,-10.0,483,5549,0.00,2.33,0.00,0.000,516,0.000,0.050,2549,955,3893,3894,3892,0,0,0,0,0,0,15.15,14.76,15.16
$GC,5589,-0.63,-170.3,2549,955,3894,3892,613.9,-9.4,492,5594,0.00,2.40,0.00,0.000,1030,0.000,0.057,2549,2352,3892,3893,3892,0,0,0,0,0,0,14.87,14.75,14.90
$GC,5907,-0.63,-170.3,2549,2352,3892,3890,645.0,-10.4,505,5911,0.00,2.25,0.00,0.000,260,0.000,0.083,2549,3694,3890,3891,3890,0,0,0,0,0,0,15.14,14.69,15.16
$GC,5932,-0.63,-170.3,2549,3694,3890,3889,648.0,-11.3,510,5939,0.00,2.12,0.00,0.000,1030,0.000,0.043,2549,2350,3890,3890,3890,0,0,0,0,0,0,14.90,14.83,14.92
$GC,6239,-0.63,-170.3,2549,2352,3890,3887,679.3,-9.8,521,6243,0.00,2.33,0.00,0.000,516,0.000,0.048,2549,958,3889,3891,3887,0,0,0,0,0,0,15.14,14.76,15.16
$GC,6280,-0.63,-170.3,2549,957,3890,3887,683.4,-9.6,529,6284,0.00,2.40,0.00,0.000,1030,0.000,0.057,2549,2359,3888,3890,3887,0,0,0,0,0,0,14.86,14.75,14.90
$GC,6596,-0.63,-170.3,2549,2358,3889,3885,712.3,-8.9,542,6600,0.00,2.25,0.00,0.000,260,0.000,0.085,2549,3694,3886,3888,3885,0,0,0,0,0,0,15.15,14.68,15.16
$GC,6620,-0.63,-170.3,2549,3694,3887,3885,714.7,-8.9,547,6627,0.00,2.12,0.00,0.000,1030,0.000,0.044,2549,2354,3886,3887,3885,0,0,0,0,0,0,14.90,14.83,14.92
$GC,6928,-0.63,-170.3,2549,2354,3887,3883,741.8,-9.0,558,6932,0.00,2.35,0.00,0.000,516,0.000,0.049,2549,954,3885,3887,3883,0,0,0,0,0,0,15.14,14.75,15.16
$GC,6967,-0.63,-170.3,2549,954,3887,3883,745.6,-9.0,566,6972,0.00,2.40,0.00,0.000,1030,0.000,0.056,2549,2353,3885,3887,3883,0,0,0,0,0,0,14.85,14.74,14.89
$GC,7289,-0.63,-170.3,2549,2354,3887,3881,774.0,-9.1,580,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2353,3884,3886,3882,0,0,0,0,0,0,15.14,15.16,15.16
$GC,7590,-0.63,-170.3,2549,2353,3885,3880,801.9,-9.4,590,7594,0.00,2.28,0.00,0.000,260,0.000,0.086,2549,3701,3883,3885,3881,0,0,0,0,0,0,15.14,14.66,15.16
$GC,7629,-0.63,-170.3,2549,3702,3884,3880,805.9,-9.6,598,7633,0.00,2.15,0.00,0.000,1030,0.000,0.041,2549,2346,3882,3884,3880,0,0,0,0,0,0,14.89,14.83,14.91
$GC,7952,-0.63,-170.3,2549,2343,3883,3879,835.0,-9.1,612,7957,0.00,2.33,0.00,0.000,516,0.000,0.050,2549,958,3881,3884,3879,0,0,0,0,0,0,15.14,14.73,15.16
$GC,8002,-0.63,-170.3,2549,958,3884,3879,840.0,-9.3,622,8007,0.00,2.40,0.00,0.000,1030,0.000,0.057,2549,2355,3881,3883,3879,0,0,0,0,0,0,14.84,14.73,14.88
$GC,8309,-0.63,-170.3,2549,2355,3883,3878,867.9,-9.2,633,8313,0.00,2.28,0.00,0.000,260,0.000,0.087,2549,3698,3880,3883,3878,0,0,0,0,0,0,15.14,14.65,15.16
$GC,8343,-0.63,-170.3,2549,3698,3882,3877,871.3,-9.6,640,8349,0.00,2.20,0.00,0.000,1030,0.000,0.044,2549,2348,3880,3882,3878,0,0,0,0,0,0,14.78,14.74,14.89
$GC,8672,-0.63,-170.3,2549,2349,3883,3877,902.0,-9.4,655,8673,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2348,3879,3882,3877,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8972,-0.63,-170.3,2549,2348,3881,3876,930.0,-9.1,665,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2348,3879,3882,3876,0,0,0,0,0,0,15.14,15.16,15.16
$GC,9271,-0.63,-170.3,2549,2348,3881,3874,956.7,-8.7,675,9272,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2348,3877,3881,3874,0,0,0,0,0,0,15.14,15.16,15.16
$GC,9572,-0.63,-170.3,2548,2348,3880,3873,982.6,-8.6,685,9576,0.00,2.35,0.00,0.000,516,0.000,0.052,2549,953,3876,3880,3873,0,0,0,0,0,0,15.14,14.71,15.16
$GC,9596,-0.63,-170.3,2548,953,3880,3873,985.1,-9.1,690,9604,0.00,2.42,0.00,0.000,1030,0.000,0.060,2549,2350,3875,3879,3872,0,0,0,0,0,0,14.83,14.71,14.87
$STATE,9662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9662,begin apogee
$GC,9667,-0.15,0.0,2549,2423,3879,3871,990.9,-9.0,693,9814,0.57,0.00,138.50,1.920,10246,0.219,0.000,2710,2423,3338,3360,3317,0,0,0,0,0,0,14.52,14.09,13.31
$STATE,9815,end apogee,CONTROL_FINISHED_OK
$STATE,9816,begin climb
$GC,9818,0.63,170.3,2710,2423,3359,3316,997.9,0.0,698,10003,0.80,2.30,174.75,1.916,10500,0.141,0.084,2958,3674,2645,2686,2604,0,0,0,0,0,0,14.09,13.90,13.19
$GC,10019,0.65,170.3,2957,3675,2680,2603,992.1,7.6,739,10026,0.00,2.15,0.00,0.000,1094,0.000,0.045,2959,2404,2641,2679,2603,0,0,0,0,0,0,14.13,14.07,14.15
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$GC,16570,0.82,170.3,3035,3695,2651,2589,432.6,10.9,1094,16574,0.00,2.08,0.00,0.000,1030,0.000,0.044,3041,2394,2620,2651,2589,0,0,0,0,0,0,14.84,14.76,14.88
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$STATE,21427,end climb,SURFACE_DEPTH_REACHED
$STATE,21427,begin surface coast
$FINISH,0.3,1.022630
$STATE,21448,end surface coast,CONTROL_FINISHED_OK
$STATE,21448,begin surface
$SM_CCo,21526,0.00,0.000,0,0,1617,423.87
$SM_GC,0.83,8.73,0.10,0.00,0.093,0.127,0.000,245,2314,1617,-7.82,1.24,423.87,0,0,0,0,0,0,14.52,14.66,14.65
$IRIDIUM_FIX,-326.37,5536.05,100318,162615
$TT8_MAMPS,0.018725,0.15729
$HUMID,58.93
$INTERNAL_PRESSURE,8.49255
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,13.19,73.039
$10V_AH,13.50,0.000
$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,22.000,219.600,546.150,0.000,0.000,0.000,0.000,216.425,0.000,0.000,21.902,3304.755,15081.747,709.090,2544.717,210.825,0.000,2261.789,0.000,2286.141,0.000,0.546,0.000
$DEVICE_MAMPS,417.690,168.300,1920.150,0.000,0.000,0.000,0.000,136.935,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,737.373,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,303880
$DATA_FILE_SIZE,69974,1608
$CAP_FILE_SIZE,189943,0
$CFSIZE,260034560,239808512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$CURRENT,0.103,82.40,1
$GPS,110318,042332,-329.084,5538.145,40,0.8,41,-4.7,0.4,111.8,10,8.8