version: 66.11
glider: 129
mission: 4
dive: 115
start: 12 1 112 5 16 2
data:
$ID,129
$MISSION,4
$DIVE,115
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,0
$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,380
$T_MISSION,400
$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,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-2790.8176
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,73
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$AD7714Ch0Gain,128
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$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,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,011212,050736,1926.082,12301.455,34,1.0,34,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-60.0
$GPS2,011212,051537,1925.981,12301.458,13,1.0,13,-2.3
$SPEED_LIMITS,0.150,0.269
$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,81.9,163907,-14.6,-8.684,-17.90
$D_GRID,4560
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.56,-175.2,0.0,0.0,0,86,0.00,0.00,-65.75,0.000,2,0.000,0.000,61,1911,1839,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.56,-175.2,3.1,-4.5,11,139,7.62,2.12,-32.00,0.000,4,0.243,0.050,1964,3304,3124,0,0,0,0,0,0,25.56,26.01,26.34
$GC,177,-0.50,-175.2,18.5,-25.4,26,184,0.12,2.00,0.00,0.000,6,0.165,0.024,1994,1906,3125,0,0,0,0,0,0,25.86,26.11,28.83
$GC,492,-0.45,-175.2,98.6,-19.7,49,498,0.00,1.95,0.00,0.000,4,0.000,0.031,1994,542,3125,0,0,0,0,0,0,28.83,26.27,28.83
$GC,724,-0.43,-175.2,146.6,-19.5,60,730,0.12,1.98,0.00,0.000,6,0.157,0.024,2020,1927,3126,0,0,0,0,0,0,26.15,26.39,28.83
$GC,1037,-0.42,-175.2,185.1,-9.2,76,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1929,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1338,-0.42,-175.2,211.8,-9.8,91,1343,0.00,2.03,0.00,0.000,4,0.000,0.031,2020,534,3127,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1389,-0.42,-175.2,216.3,-10.1,93,1395,0.00,1.95,0.00,0.000,6,0.000,0.024,2012,1926,3125,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1703,-0.42,-175.2,245.1,-7.7,109,1708,0.00,2.03,0.00,0.000,4,0.000,0.031,2012,535,3124,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1791,-0.42,-175.2,252.0,-8.2,113,1796,0.00,2.00,0.00,0.000,6,0.000,0.024,2003,1948,3125,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2108,-0.42,-175.2,280.7,-8.4,129,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1949,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2410,-0.43,-175.2,303.0,-7.4,144,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1949,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2709,-0.43,-175.2,329.0,-8.9,159,2714,0.00,2.05,0.00,0.000,4,0.000,0.032,2003,531,3121,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2796,-0.44,-175.2,336.8,-9.3,163,2802,0.00,1.98,0.00,0.000,6,0.000,0.024,2004,1935,3121,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3115,-0.45,-175.2,367.5,-9.6,179,3120,0.00,2.05,0.00,0.000,4,0.000,0.032,2000,548,3121,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3152,-0.46,-175.2,369.9,-9.7,180,3159,0.00,1.95,0.00,0.000,6,0.000,0.024,1991,1930,3120,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3458,-0.47,-175.2,396.1,-7.5,196,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1930,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3758,-0.48,-175.2,413.4,-5.6,211,3763,0.00,2.03,0.00,0.000,4,0.000,0.032,1991,543,3118,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3815,-0.48,-175.2,416.2,-6.2,213,3822,0.00,1.95,0.00,0.000,6,0.000,0.024,1988,1927,3117,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4121,-0.49,-175.2,438.5,-7.7,229,4126,0.00,2.03,0.00,0.000,4,0.000,0.038,1988,3317,3117,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4159,-0.50,-175.2,440.1,-7.6,230,4165,0.00,1.98,0.00,0.000,6,0.000,0.024,1988,1923,3116,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4465,-0.51,-175.2,466.2,-8.5,246,4471,0.00,2.03,-0.08,0.000,4,0.000,0.046,1988,531,3143,0,0,0,0,0,0,28.83,26.51,25.91
$GC,4550,-0.52,-175.2,473.9,-9.1,250,4555,0.00,1.98,0.00,0.000,6,0.000,0.024,1988,1927,3143,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4873,-0.53,-175.2,499.3,-7.3,266,4879,0.00,2.05,0.00,0.000,4,0.000,0.034,1988,531,3142,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4923,-0.54,-175.2,502.9,-7.5,268,4929,0.00,1.98,0.00,0.000,6,0.000,0.024,1988,1931,3142,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5242,-0.56,-175.2,526.6,-7.4,284,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1931,3141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5543,-0.57,-175.2,546.6,-6.3,299,5548,0.00,2.03,0.00,0.000,4,0.000,0.038,1988,3307,3140,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5580,-0.58,-175.2,548.1,-6.3,300,5587,0.00,2.00,0.00,0.000,6,0.000,0.025,1988,1922,3139,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5886,-0.60,-175.2,565.5,-5.0,316,5891,0.00,2.03,0.00,0.000,4,0.000,0.034,1992,531,3140,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5979,-0.61,-175.2,570.5,-6.0,320,5984,0.00,1.98,0.00,0.000,6,0.000,0.024,1988,1928,3137,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6292,-0.63,-175.2,590.3,-6.8,336,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1930,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6614,-0.64,-175.2,613.8,-7.3,349,6620,0.10,2.05,0.00,0.000,4,0.116,0.033,1943,531,3133,0,0,0,0,0,0,26.58,26.50,28.83
$GC,6667,-0.65,-175.2,617.0,-7.7,350,6673,0.00,1.98,0.00,0.000,6,0.000,0.025,1933,1924,3133,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6984,-0.64,-175.2,650.2,-10.1,361,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,1924,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7280,-0.63,-175.2,681.3,-10.3,371,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,1924,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7581,-0.63,-175.2,710.6,-9.5,381,7586,0.00,2.05,0.00,0.000,4,0.000,0.035,1931,539,3128,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7617,-0.62,-175.2,714.1,-9.6,382,7623,0.12,1.98,0.00,0.000,6,0.156,0.026,1959,1927,3127,0,0,0,0,0,0,26.27,26.53,28.83
$GC,7947,-0.62,-175.2,738.5,-7.3,393,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1927,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8246,-0.63,-175.2,759.6,-7.1,403,8248,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1927,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8547,-0.63,-175.2,780.8,-7.0,413,8548,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,1927,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8848,-0.64,-175.2,802.0,-7.0,423,8849,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1927,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9147,-0.65,-175.2,823.2,-7.2,433,9152,0.00,2.05,0.00,0.000,4,0.000,0.041,1949,3314,3120,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9174,-0.66,-175.2,823.2,-7.2,433,9181,0.00,1.98,0.00,0.000,6,0.000,0.028,1950,1930,3120,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9483,-0.66,-175.2,850.1,-8.5,444,9488,0.00,2.05,0.00,0.000,4,0.000,0.037,1950,534,3119,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9584,-0.66,-175.2,859.6,-9.6,447,9589,0.00,2.03,0.00,0.000,6,0.000,0.026,1941,1937,3119,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9907,-0.66,-175.2,891.8,-9.5,458,9912,0.00,2.10,0.00,0.000,4,0.000,0.037,1941,528,3118,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9948,-0.66,-175.2,895.1,-9.7,459,9953,0.00,2.03,0.00,0.000,6,0.000,0.026,1931,1933,3118,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10271,-0.66,-175.2,926.6,-8.9,470,10272,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,1932,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10572,-0.66,-175.2,952.2,-8.2,480,10577,0.00,2.10,0.00,0.000,4,0.000,0.037,1932,528,3116,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10648,-0.66,-175.2,957.8,-8.3,482,10653,0.00,2.03,0.00,0.000,6,0.000,0.027,1922,1926,3115,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10968,-0.65,-175.2,983.5,-7.4,493,10969,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,1926,3115,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11054,begin apogee
$GC,11058,-0.17,0.0,990.3,-7.5,496,11208,0.52,0.00,143.62,1.411,6,0.124,0.000,2098,1926,2409,0,0,0,0,0,0,26.01,28.83,23.64
$STATE,11210,end apogee,CONTROL_FINISHED_OK
$STATE,11210,begin climb
$GC,11211,0.56,175.2,993.0,0.0,501,11371,0.68,0.00,153.12,1.364,6,0.074,0.000,2339,1928,1694,0,0,0,0,0,0,24.70,28.83,22.73
$GC,11690,0.54,175.2,949.4,10.6,517,11695,0.00,2.10,0.00,0.000,4,0.000,0.038,2339,3285,1685,0,0,0,0,0,0,28.83,25.58,28.83
$GC,11731,0.52,175.2,945.6,10.7,518,11736,0.00,2.05,0.00,0.000,6,0.000,0.028,2349,1903,1684,0,0,0,0,0,0,28.83,25.71,28.83
$GC,12056,0.51,175.2,911.8,9.9,529,12061,0.00,2.10,0.00,0.000,4,0.000,0.039,2360,499,1683,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12092,0.49,175.2,908.4,9.9,530,12099,0.15,2.05,0.00,0.000,6,0.155,0.025,2320,1921,1682,0,0,0,0,0,0,25.82,26.10,28.83
$GC,12422,0.48,184.1,880.5,8.4,541,12433,0.00,2.10,6.85,1.103,4,0.000,0.038,2320,3275,1659,0,0,0,0,0,0,28.83,26.06,25.00
$GC,12579,0.47,184.1,865.1,10.3,546,12584,0.00,2.03,0.00,0.000,6,0.000,0.029,2329,1894,1657,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12908,0.46,184.1,831.7,10.3,557,12909,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1893,1656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13207,0.45,184.1,799.8,10.8,567,13212,0.00,2.10,0.00,0.000,4,0.000,0.037,2328,3288,1655,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13249,0.44,184.1,796.0,10.9,568,13254,0.12,2.03,0.00,0.000,6,0.175,0.030,2307,1893,1655,0,0,0,0,0,0,26.06,26.36,28.83
$GC,13573,0.44,184.1,763.5,9.6,579,13578,0.00,2.10,0.00,0.000,4,0.000,0.038,2308,3283,1655,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13600,0.44,184.1,763.5,9.6,579,13606,0.00,2.00,0.00,0.000,6,0.000,0.029,2315,1896,1655,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13905,0.44,184.1,732.0,9.0,590,13906,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,1897,1654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14206,0.45,207.0,707.2,7.9,600,14228,0.00,0.00,20.40,1.218,6,0.000,0.000,2315,1896,1564,0,0,0,0,0,0,28.83,28.83,24.94
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$GC,15350,0.48,247.2,603.1,8.1,637,15374,0.00,2.05,16.88,1.115,6,0.000,0.029,2311,1901,1402,0,0,0,0,0,0,28.83,25.99,24.70
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$STATE,21527,end climb,SURFACE_DEPTH_REACHED
$STATE,21527,begin surface coast
$FINISH,0.8,1.021923
$STATE,21543,end surface coast,CONTROL_FINISHED_OK
$STATE,21543,begin surface
$SM_CCo,21617,0.00,0.000,0,0,206,540.15
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$IRIDIUM_FIX,1920.65,12253.86,301112,232350
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.65
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,3976128
$24V_AH,22.7,22.180
$10V_AH,10.3,16.832
$FG_AHR_24Vo,120.571
$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,16.325,155.300,599.950,0.000,0.000,0.000,0.000,313.775,3.000,0.000,14.089,3115.185,15265.707,735.335,2668.848,302.439,0.000,2324.692,0.000,2236.786,0.000,25.448,0.000
$DEVICE_MAMPS,242.505,49.725,1410.660,0.000,0.000,0.000,0.000,135.405,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21558.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.660,0.000,0.000,0.000
$MEM,328976
$DATA_FILE_SIZE,36696,989
$CAP_FILE_SIZE,237371,0
$CFSIZE,260034560,240848896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.163,262.1,1
$GPS,011212,111736,1926.693,12302.588,40,1.1,40,-2.3