version: 66.11
glider: 129
mission: 4
dive: 215
start: 12 26 112 10 29 22
data:
$ID,129
$MISSION,4
$DIVE,215
$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,390
$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,-3
$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,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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2922.8674
$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,2
$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,71
$R_STBD_OVSHOOT,70
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$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
$GPS1,261212,102053,1758.296,12402.108,40,1.3,40,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-51.1
$GPS2,261212,102855,1758.357,12402.118,12,1.5,12,-2.0
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,245.2,195563,-14.2,-8.462,-17.62
$D_GRID,4725
$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,-0.54,-175.2,0.0,0.0,0,93,0.00,0.00,-71.78,0.000,2,0.000,0.000,47,1895,1969,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.54,-175.2,3.4,-6.0,12,134,8.12,2.05,-24.85,0.000,4,0.251,0.044,1976,527,3125,0,0,0,0,0,0,25.15,26.13,26.49
$GC,363,-0.46,-175.2,73.4,-30.4,42,371,0.15,2.00,0.00,0.000,6,0.176,0.024,2005,1919,3126,0,0,0,0,0,0,25.85,26.31,28.83
$GC,669,-0.40,-175.2,165.5,-25.6,58,674,0.00,2.03,0.00,0.000,4,0.000,0.030,2006,530,3125,0,0,0,0,0,0,28.83,26.34,28.83
$GC,797,-0.36,-175.2,191.3,-18.2,64,803,0.15,2.00,0.00,0.000,6,0.146,0.021,2041,1949,3126,0,0,0,0,0,0,26.06,26.42,28.83
$GC,1117,-0.35,-175.2,232.3,-12.5,80,1122,0.00,2.05,0.00,0.000,4,0.000,0.029,2041,522,3126,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1200,-0.35,-175.2,242.9,-12.6,84,1206,0.00,2.00,0.00,0.000,6,0.000,0.022,2034,1918,3126,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1523,-0.35,-175.2,283.3,-13.1,100,1529,0.00,2.03,0.00,0.000,4,0.000,0.030,2034,525,3125,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1575,-0.35,-175.2,288.8,-12.7,102,1580,0.00,2.00,0.00,0.000,6,0.000,0.022,2033,1937,3125,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1888,-0.35,-175.2,322.2,-8.9,118,1893,0.00,2.00,0.00,0.000,4,0.000,0.034,2033,3305,3124,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2003,-0.37,-175.2,329.8,-7.1,123,2008,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1901,3124,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2316,-0.37,-175.2,353.2,-7.3,139,2321,0.00,1.95,0.00,0.000,4,0.000,0.031,2033,544,3123,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2540,-0.37,-175.2,373.7,-9.1,150,2545,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1931,3123,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2863,-0.37,-175.2,398.7,-7.6,166,2868,0.00,2.03,0.00,0.000,4,0.000,0.030,2033,534,3121,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2956,-0.37,-175.2,405.4,-8.1,170,2961,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1927,3121,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3269,-0.37,-175.2,429.0,-7.2,186,3275,0.00,2.03,0.00,0.000,4,0.000,0.035,2033,3307,3118,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3314,-0.38,-175.2,432.0,-7.0,188,3320,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1934,3118,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3638,-0.39,-175.2,454.1,-6.6,204,3644,0.00,2.03,-0.08,0.000,4,0.000,0.044,2033,535,3144,0,0,0,0,0,0,28.83,26.34,25.49
$GC,3718,-0.40,-175.2,458.7,-7.1,207,3725,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1924,3145,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4022,-0.41,-175.2,481.8,-8.0,223,4027,0.00,2.05,0.00,0.000,4,0.000,0.036,2033,3306,3143,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4069,-0.43,-175.2,485.1,-8.0,225,4074,0.00,1.95,0.00,0.000,6,0.000,0.023,2033,1927,3143,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4388,-0.44,-175.2,511.0,-7.6,241,4393,0.00,2.00,0.00,0.000,4,0.000,0.031,2033,531,3142,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4460,-0.46,-175.2,516.2,-8.0,244,4465,0.00,2.00,0.00,0.000,6,0.000,0.022,2033,1937,3142,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4774,-0.47,-175.2,534.7,-5.1,260,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1941,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5075,-0.49,-175.2,553.2,-6.9,275,5080,0.00,2.08,0.00,0.000,4,0.000,0.032,2033,534,3139,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5148,-0.51,-175.2,558.7,-8.3,278,5154,0.12,2.00,0.00,0.000,6,0.101,0.023,1977,1933,3138,0,0,0,0,0,0,26.27,26.41,28.83
$GC,5462,-0.50,-175.2,595.8,-11.4,294,5467,0.00,2.08,0.00,0.000,4,0.000,0.033,1977,529,3136,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5520,-0.48,-175.2,601.1,-11.9,296,5527,0.12,2.00,0.00,0.000,6,0.153,0.023,2002,1921,3135,0,0,0,0,0,0,26.06,26.40,28.83
$GC,5826,-0.48,-175.2,632.7,-9.5,307,5832,0.00,2.05,0.00,0.000,4,0.000,0.036,1993,3310,3133,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5854,-0.48,-175.2,632.7,-9.5,307,5861,0.00,2.00,0.00,0.000,6,0.000,0.024,1993,1932,3133,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6159,-0.48,-175.2,662.6,-8.7,318,6165,0.00,2.03,0.00,0.000,4,0.000,0.033,1993,531,3131,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6357,-0.48,-175.2,679.8,-9.4,324,6362,0.00,2.03,0.00,0.000,6,0.000,0.023,1985,1941,3130,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6674,-0.48,-175.2,708.4,-8.6,335,6680,0.00,2.10,0.00,0.000,4,0.000,0.033,1985,524,3128,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6727,-0.48,-175.2,711.5,-8.7,336,6732,0.00,2.03,0.00,0.000,6,0.000,0.023,1975,1933,3129,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7040,-0.48,-175.2,744.1,-9.9,347,7041,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1933,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7341,-0.48,-175.2,772.1,-9.0,357,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1933,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7640,-0.48,-175.2,796.2,-7.8,367,7645,0.00,2.10,0.00,0.000,4,0.000,0.032,1975,523,3124,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7673,-0.48,-175.2,799.2,-8.0,368,7680,0.12,2.05,0.00,0.000,6,0.158,0.024,2001,1934,3123,0,0,0,0,0,0,26.01,26.36,28.83
$GC,8007,-0.48,-175.2,821.8,-6.7,379,8014,0.00,2.08,0.00,0.000,4,0.000,0.034,2001,533,3122,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8045,-0.48,-175.2,824.4,-6.9,380,8051,0.00,2.03,0.00,0.000,6,0.000,0.024,1994,1938,3122,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8375,-0.48,-175.2,849.0,-7.4,391,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1938,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8673,-0.48,-175.2,871.3,-7.3,401,8679,0.00,2.10,0.00,0.000,4,0.000,0.034,1993,534,3119,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8757,-0.48,-175.2,876.6,-7.8,403,8763,0.00,2.03,0.00,0.000,6,0.000,0.024,1985,1934,3119,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9071,-0.48,-175.2,902.5,-7.6,414,9077,0.00,2.08,0.00,0.000,4,0.000,0.038,1974,3327,3117,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9109,-0.48,-175.2,905.2,-7.6,415,9114,0.00,2.03,0.00,0.000,6,0.000,0.024,1974,1922,3116,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9439,-0.48,-175.2,932.8,-8.4,426,9444,0.00,2.05,0.00,0.000,4,0.000,0.034,1975,527,3115,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9572,-0.48,-175.2,944.6,-9.4,430,9579,0.12,2.03,0.00,0.000,6,0.161,0.025,2000,1924,3116,0,0,0,0,0,0,25.94,26.31,28.83
$GC,9898,-0.50,-175.2,969.3,-7.3,441,9904,0.00,2.08,0.00,0.000,4,0.000,0.034,2000,534,3115,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9936,-0.51,-175.2,972.0,-7.4,442,9941,0.00,2.03,0.00,0.000,6,0.000,0.025,1994,1930,3114,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,10202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10202,begin apogee
$GC,10207,-0.17,0.0,992.0,-7.1,451,10361,0.32,0.00,146.70,1.408,6,0.119,0.000,2103,1930,2409,0,0,0,0,0,0,25.77,28.83,22.90
$STATE,10362,end apogee,CONTROL_FINISHED_OK
$STATE,10362,begin climb
$GC,10364,0.54,175.2,997.4,0.0,456,10536,0.68,2.42,158.98,1.358,4,0.090,0.037,2330,524,1692,0,0,0,0,0,0,24.24,23.60,22.28
$GC,10564,0.58,254.2,990.3,5.9,462,10644,0.00,2.17,72.85,1.326,6,0.000,0.022,2330,1896,1372,0,0,0,0,0,0,28.83,24.32,22.26
$GC,10962,0.59,254.2,953.0,9.1,476,10967,0.00,2.12,0.00,0.000,4,0.000,0.037,2330,3300,1363,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11009,0.61,254.2,949.7,9.3,477,11015,0.00,2.08,0.00,0.000,6,0.000,0.025,2332,1892,1362,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11329,0.62,254.2,920.1,8.5,488,11330,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1892,1361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11628,0.65,283.1,896.6,7.5,498,11660,0.12,2.17,24.67,1.309,4,0.110,0.038,2386,513,1255,0,0,0,0,0,0,26.27,25.61,24.22
$GC,11678,0.67,302.8,893.9,7.8,499,11704,0.00,2.08,19.15,1.270,6,0.000,0.024,2385,1913,1174,0,0,0,0,0,0,28.83,25.79,24.00
$GC,12026,0.67,302.8,854.6,10.5,511,12032,0.00,2.03,0.00,0.000,4,0.000,0.037,2386,3281,1167,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12080,0.67,302.8,850.9,10.7,512,12085,0.00,2.03,0.00,0.000,6,0.000,0.027,2386,1898,1167,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12393,0.67,302.8,814.0,11.4,523,12399,0.00,2.08,0.00,0.000,4,0.000,0.039,2386,507,1166,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12436,0.67,302.8,810.2,11.3,524,12441,0.00,2.03,0.00,0.000,6,0.000,0.024,2386,1909,1166,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12760,0.67,302.8,773.3,11.4,535,12766,0.00,2.03,0.00,0.000,4,0.000,0.037,2386,3284,1165,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12814,0.67,302.8,769.1,11.5,536,12819,0.00,2.00,0.00,0.000,6,0.000,0.027,2386,1894,1163,0,0,0,0,0,0,28.83,26.35,28.83
$GC,13127,0.67,302.8,731.3,11.2,547,13128,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1894,1165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13427,0.67,302.8,699.1,10.5,557,13428,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1894,1164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13727,0.67,302.8,667.3,10.7,567,13728,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1894,1164,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,17682,0.84,415.2,303.8,7.5,752,17717,0.12,2.12,25.10,0.898,4,0.103,0.033,2448,3276,715,0,0,0,0,0,0,26.29,25.79,24.63
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$STATE,20693,end climb,SURFACE_DEPTH_REACHED
$STATE,20693,begin surface coast
$FINISH,1.2,1.022510
$STATE,20709,end surface coast,CONTROL_FINISHED_OK
$STATE,20710,begin surface
$SM_CCo,20785,0.00,0.000,0,0,209,539.66
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$IRIDIUM_FIX,1751.90,12326.32,261212,040453
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.41
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,25.00
$XPDR_PINGS,0
$SC_FREEKB,3937824
$24V_AH,22.3,42.490
$10V_AH,10.2,30.531
$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,16.650,171.600,627.150,0.000,0.000,0.000,0.000,296.450,0.000,0.000,13.609,3131.098,14284.646,763.403,2703.886,373.602,0.000,2379.179,0.000,2304.397,0.000,0.541,0.000
$DEVICE_MAMPS,250.920,43.605,1408.365,0.000,0.000,0.000,0.000,136.170,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20730.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.858,0.000,0.000,0.000
$MEM,329636
$DATA_FILE_SIZE,36722,945
$CAP_FILE_SIZE,230391,0
$CFSIZE,260034560,230137856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195, 15.7,1
$GPS,261212,161706,1758.630,12400.250,41,1.0,41,-2.0