version: 66.11
glider: 169
mission: 8
dive: 49
start: 3 25 113 1 22 0
data:
$ID,169
$MISSION,8
$DIVE,49
$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,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,170
$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,400
$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,-20915.826
$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,2400
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$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,2600
$C_ROLL_CLIMB,2500
$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
$GPS1,250313,011036,1749.832,12435.439,30,1.3,30,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-72.7
$GPS2,250313,012130,1749.852,12435.467,10,1.3,15,-2.0
$SPEED_LIMITS,0.147,0.243
$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,297.9,256134,-3.5,-8.462,-19.19,3003
$D_GRID,4017
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.55,-165.5,131,2574,1376,1064,0.0,0.0,0,99,0.00,0.00,-74.57,0.000,16386,0.000,0.000,131,2574,3172,3076,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.55,-165.5,131,2574,3076,3269,4.4,-9.7,10,128,8.32,2.65,-5.90,0.000,18948,0.238,0.051,2219,1155,3532,3396,3668,0,0,0,0,0,0,25.94,26.18,26.46
$GC,359,-0.55,-165.5,2219,1156,3400,3668,85.1,-23.8,28,365,0.00,2.72,0.00,0.000,1030,0.000,0.036,2207,2616,3534,3400,3668,0,0,0,0,0,0,28.83,26.38,28.83
$GC,679,-0.55,-165.5,2206,2615,3401,3668,179.3,-26.5,44,685,0.00,2.70,0.00,0.000,516,0.000,0.032,2206,1143,3534,3401,3668,0,0,0,0,0,0,28.83,26.52,28.83
$GC,852,-0.55,-165.5,2206,1142,3401,3668,211.6,-16.4,52,859,0.00,2.72,0.00,0.000,1030,0.000,0.039,2206,2615,3534,3401,3668,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1175,-0.55,-165.5,2206,2613,3402,3668,266.6,-16.1,68,1181,0.00,2.67,0.00,0.000,516,0.000,0.031,2206,1143,3535,3402,3668,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1317,-0.55,-165.5,2206,1144,3402,3668,285.8,-13.9,74,1326,0.00,2.72,0.00,0.000,1030,0.000,0.038,2205,2619,3534,3401,3668,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1624,-0.55,-165.5,2204,2617,3402,3665,332.8,-13.8,90,1630,0.00,2.70,0.00,0.000,516,0.000,0.031,2205,1134,3535,3402,3668,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1743,-0.55,-165.5,2205,1135,3402,3668,346.6,-12.2,95,1749,0.00,2.72,0.00,0.000,1030,0.000,0.037,2197,2622,3535,3402,3668,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2058,-0.55,-165.5,2196,2623,3406,3661,394.8,-14.8,111,2065,0.00,2.70,0.00,0.000,516,0.000,0.032,2197,1132,3533,3406,3661,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2187,-0.55,-165.5,2197,1132,3405,3661,411.4,-12.6,117,2194,0.00,2.70,0.00,0.000,1030,0.000,0.036,2194,2619,3533,3406,3660,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2515,-0.55,-165.5,2194,2617,3406,3658,451.9,-12.2,133,2521,0.00,2.70,0.00,0.000,516,0.000,0.032,2194,1137,3532,3406,3658,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2623,-0.55,-165.5,2194,1135,3406,3656,465.5,-12.1,138,2629,0.00,2.72,0.00,0.000,1030,0.000,0.038,2193,2622,3531,3406,3656,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2950,-0.55,-165.5,2193,2620,3406,3650,505.9,-12.0,154,2957,0.00,2.70,0.00,0.000,516,0.000,0.032,2193,1145,3528,3405,3651,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3074,-0.55,-165.5,2193,1145,3406,3649,519.1,-11.5,159,3083,0.12,2.70,0.00,0.000,3078,0.147,0.037,2227,2615,3527,3406,3649,0,0,0,0,0,0,26.65,26.72,28.83
$GC,3383,-0.55,-165.5,2227,2614,3406,3644,547.0,-7.7,175,3389,0.00,2.67,0.00,0.000,516,0.000,0.030,2228,1141,3524,3406,3643,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3456,-0.55,-165.5,2227,1141,3406,3643,552.3,-7.4,178,3462,0.00,2.70,0.00,0.000,1030,0.000,0.036,2224,2614,3524,3406,3643,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3778,-0.55,-165.5,2224,2612,3406,3637,575.3,-7.5,194,3785,0.00,2.65,0.00,0.000,516,0.000,0.030,2225,1145,3521,3406,3637,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3841,-0.55,-165.5,2225,1145,3406,3637,579.2,-7.8,196,3849,0.00,2.70,0.00,0.000,1030,0.000,0.035,2223,2614,3520,3406,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4168,-0.55,-165.5,2223,2613,3406,3630,606.1,-7.8,212,4174,0.00,2.67,0.00,0.000,516,0.000,0.031,2223,1131,3517,3405,3630,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4218,-0.55,-165.5,2223,1131,3406,3630,609.0,-7.9,213,4225,0.00,2.67,0.00,0.000,1030,0.000,0.033,2220,2617,3517,3406,3629,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4540,-0.55,-165.5,2220,2615,3405,3624,636.9,-8.8,224,4546,0.00,2.67,0.00,0.000,516,0.000,0.031,2220,1129,3514,3405,3624,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4611,-0.55,-165.5,2220,1129,3407,3622,643.3,-9.3,226,4617,0.00,2.70,0.00,0.000,1030,0.000,0.034,2220,2617,3514,3406,3622,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4941,-0.55,-165.5,2220,2615,3405,3617,674.4,-9.2,237,4947,0.00,2.67,0.00,0.000,516,0.000,0.031,2220,1145,3511,3405,3617,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5009,-0.55,-165.5,2220,1145,3404,3617,680.8,-9.4,239,5015,0.00,2.70,0.00,0.000,1030,0.000,0.035,2220,2616,3510,3404,3617,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5344,-0.55,-165.5,2219,2613,3402,3614,710.3,-8.6,250,5350,0.00,2.67,0.00,0.000,516,0.000,0.031,2220,1133,3507,3401,3614,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5394,-0.55,-165.5,2219,1133,3401,3615,713.4,-8.6,251,5400,0.00,2.70,0.00,0.000,1030,0.000,0.034,2220,2615,3508,3402,3614,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5717,-0.55,-165.5,2219,2614,3400,3611,741.0,-8.4,262,5723,0.00,2.67,0.00,0.000,516,0.000,0.031,2220,1144,3505,3400,3611,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5784,-0.55,-165.5,2220,1144,3400,3610,747.0,-8.5,264,5790,0.00,2.67,0.00,0.000,1030,0.000,0.034,2217,2617,3505,3400,3610,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6119,-0.55,-165.5,2216,2615,3397,3607,775.6,-8.6,275,6125,0.00,2.67,0.00,0.000,516,0.000,0.031,2217,1141,3502,3398,3607,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6165,-0.55,-165.5,2216,1140,3398,3606,778.6,-8.6,276,6171,0.00,2.70,0.00,0.000,1030,0.000,0.034,2208,2616,3502,3398,3606,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6492,-0.55,-165.5,2208,2614,3396,3604,807.3,-8.3,287,6498,0.00,2.67,0.00,0.000,516,0.000,0.031,2208,1141,3501,3398,3604,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6539,-0.55,-165.5,2208,1141,3396,3604,810.4,-8.3,288,6545,0.00,2.70,0.00,0.000,1030,0.000,0.036,2207,2616,3499,3396,3603,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6866,-0.55,-165.5,2206,2614,3395,3602,835.8,-6.8,299,6872,0.00,2.67,0.00,0.000,516,0.000,0.031,2207,1143,3499,3396,3602,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6922,-0.55,-165.5,2207,1143,3397,3601,838.5,-6.8,300,6928,0.00,2.70,0.00,0.000,1030,0.000,0.036,2207,2615,3498,3395,3601,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7240,-0.55,-165.5,2206,2613,3394,3598,861.0,-7.1,311,7246,0.00,2.67,0.00,0.000,516,0.000,0.032,2207,1149,3496,3395,3598,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7296,-0.55,-165.5,2206,1149,3394,3598,864.1,-7.3,312,7302,0.00,2.70,0.00,0.000,1030,0.000,0.035,2206,2618,3496,3394,3598,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7613,-0.55,-165.5,2206,2616,3393,3595,893.4,-9.4,323,7619,0.00,2.70,0.00,0.000,516,0.000,0.033,2207,1140,3494,3393,3595,0,0,0,0,0,0,28.83,26.71,28.83
$GC,7680,-0.55,-165.5,2208,1140,3394,3595,900.3,-9.7,325,7686,0.00,2.72,0.00,0.000,1030,0.000,0.036,2204,2618,3494,3393,3595,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8016,-0.55,-165.5,2205,2616,3392,3592,931.4,-9.3,336,8021,0.00,2.70,0.00,0.000,516,0.000,0.034,2206,1142,3492,3392,3592,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8076,-0.55,-165.5,1368,1141,3380,3589,935.3,-9.8,337,8084,0.00,2.70,0.00,0.000,1030,0.000,0.036,2196,2617,3491,3392,3591,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8386,-0.55,-165.5,2196,2614,3390,3590,965.0,-8.7,348,8392,0.00,2.70,0.00,0.000,516,0.000,0.034,2196,1146,3490,3390,3590,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8467,-0.55,-165.5,2196,1146,3390,3590,970.9,-8.6,350,8474,0.00,2.72,0.00,0.000,1030,0.000,0.038,2193,2619,3489,3390,3589,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,8695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8695,begin apogee
$GC,8702,-0.19,0.0,2193,2479,3389,3588,990.5,-8.0,358,8851,0.40,0.08,143.48,1.055,10246,0.103,0.110,2337,2513,2849,2854,2844,0,0,0,0,0,0,26.64,24.83,24.22
$STATE,8853,end apogee,CONTROL_FINISHED_OK
$STATE,8854,begin climb
$GC,8856,0.55,165.5,2337,2513,2849,2832,994.9,0.0,362,9022,0.65,2.33,158.38,0.988,10500,0.058,0.042,2569,3824,2169,2289,2050,0,0,0,0,0,0,25.01,24.75,24.10
$GC,9048,0.55,165.5,2569,3824,2274,2040,983.1,9.3,369,9053,0.00,2.17,0.00,0.000,1030,0.000,0.016,2579,2472,2157,2274,2040,0,0,0,0,0,0,28.83,25.20,28.83
$GC,9373,0.55,165.5,2579,2471,2266,2033,941.0,12.2,380,9379,0.00,2.28,0.00,0.000,260,0.000,0.041,2569,3824,2150,2266,2034,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9478,0.55,165.5,2569,3824,2266,2033,928.0,13.2,383,9484,0.00,2.10,0.00,0.000,1030,0.000,0.017,2579,2469,2149,2265,2033,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9804,0.55,165.5,2579,2467,2262,2033,886.6,12.3,394,9809,0.00,2.28,0.00,0.000,260,0.000,0.041,2569,3842,2147,2262,2033,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9956,0.55,165.5,2569,3842,2261,2033,869.2,13.4,398,9964,0.00,2.10,0.00,0.000,1030,0.000,0.017,2580,2469,2147,2261,2033,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10264,0.55,165.5,2580,2469,2259,2032,827.5,12.3,409,10270,0.00,2.25,0.00,0.000,260,0.000,0.041,2570,3840,2145,2259,2032,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10354,0.55,165.5,1632,3838,2218,2024,817.6,13.1,411,10362,0.00,2.08,0.00,0.000,1030,0.000,0.017,2580,2474,2145,2259,2032,0,0,0,0,0,0,28.83,26.52,28.83
$GC,10664,0.55,165.5,2580,2474,2258,2032,777.2,11.8,422,10670,0.00,2.22,0.00,0.000,260,0.000,0.041,2570,3832,2144,2257,2032,0,0,0,0,0,0,28.83,26.49,28.83
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$GC,13195,0.55,165.5,2571,3839,2252,2031,488.0,10.1,520,13201,0.00,2.08,0.00,0.000,1030,0.000,0.018,2581,2476,2141,2251,2032,0,0,0,0,0,0,28.83,26.72,28.83
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$STATE,17944,end climb,SURFACE_DEPTH_REACHED
$STATE,17944,begin surface coast
$FINISH,-0.5,1.021757
$STATE,17973,end surface coast,CONTROL_FINISHED_OK
$STATE,17973,begin surface
$SM_CCo,17992,51.67,0.121,0,0,1220,400.08
$SM_GC,0.48,6.32,1.88,51.67,0.026,0.020,0.121,131,2572,1220,-7.02,0.37,400.08,0,0,0,0,0,0,26.59,26.65,26.36
$IRIDIUM_FIX,1742.84,12435.41,240313,202041
$TT8_MAMPS,0.021721,0.021721
$HUMID,42.08
$INTERNAL_PRESSURE,9.43751
$TCM_TEMP,25.40
$XPDR_PINGS,0
$SC_FREEKB,3997056
$24V_AH,24.1,6.572
$10V_AH,10.0,4.655
$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,16.400,213.400,417.500,51.675,0.000,0.000,0.000,384.075,0.000,0.000,16.253,3748.624,10808.494,742.055,2669.901,698.792,0.000,2311.272,0.000,2136.531,0.000,0.545,0.000
$DEVICE_MAMPS,237.915,110.160,1054.935,120.870,0.000,0.000,0.000,123.930,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18048.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.471,0.000,0.000,0.000
$MEM,329688
$DATA_FILE_SIZE,30048,796
$CAP_FILE_SIZE,458043,0
$CFSIZE,260034560,248848384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,273.6,1
$GPS,250313,062359,1749.850,12433.102,40,1.1,40,-2.0