version: 66.13
glider: 171
mission: 11
dive: 418
start: 10 31 119 11 47 24
data:
$ID,171
$MISSION,11
$DIVE,418
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,2
$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,410
$T_MISSION,460
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53930
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00177828
$HD_B,0.019109501
$HD_C,5.7000002e-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,500
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3600
$C_PITCH,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,350
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2440
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,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,3
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-152.46104
$PRESSURE_SLOPE,0.00010631012
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,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,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.63
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,53
$LOGGERDEVICE2,70
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044193882
$SEABIRD_T_H,0.00064798427
$SEABIRD_T_I,2.6719992e-05
$SEABIRD_T_J,3.3115991e-06
$SEABIRD_C_G,-9.8059483
$SEABIRD_C_H,1.1280893
$SEABIRD_C_I,-0.003824637
$SEABIRD_C_J,0.00035372932
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,311019,114030,907.9230,8629.2998,31,0.7,31,-1.3,0.5,345.2,11,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.6
$GPS2,311019,114632,908.0048,8629.3330,2,0.6,2,-1.3,0.6,18.4,12,7.4
$SPEED_LIMITS,0.139,0.144
$TGT_NAME,R3
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,206.1,166442,-18.5,-8.049,-29.14,1821
$D_GRID,990
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,9,-0.64,-97.3,110,2506,971,880,0.0,0.0,0,83,0.00,0.00,-72.10,0.005,16386,0.000,0.000,110,2506,2608,2607,2609,0,0,0,0,0,0,14.83,28.83,14.86
$GC,87,-0.64,-97.3,110,2506,2608,2609,4.4,-11.5,15,120,9.18,2.45,-14.82,0.009,18692,0.352,0.099,2104,3885,3367,3381,3353,0,0,0,0,0,0,14.04,12.78,14.46
$GC,263,-0.64,-97.3,2104,3886,3381,3354,55.4,-21.3,50,267,0.00,2.20,0.00,0.000,1030,0.000,0.031,2104,2494,3367,3381,3354,0,0,0,0,0,0,14.70,14.64,14.72
$GC,447,-0.64,-97.3,2104,2493,3381,3354,87.6,-16.8,69,452,0.00,2.25,0.00,0.000,516,0.000,0.045,2104,1113,3367,3381,3353,0,0,0,0,0,0,15.00,14.62,15.02
$GC,485,-0.64,-97.3,2104,1113,3381,3354,92.6,-13.0,76,489,0.00,2.35,0.00,0.000,1030,0.000,0.059,2093,2501,3367,3381,3354,0,0,0,0,0,0,14.70,14.59,14.73
$GC,669,-0.64,-97.3,2092,2501,3382,3354,116.9,-13.4,95,673,0.00,2.38,0.00,0.000,260,0.000,0.076,2082,3897,3368,3382,3354,0,0,0,0,0,0,15.04,14.57,15.07
$GC,700,-0.64,-97.3,2082,3897,3382,3354,121.6,-16.1,101,705,0.15,2.20,0.00,0.000,3078,0.224,0.033,2118,2500,3367,3382,3353,0,0,0,0,0,0,14.41,14.72,14.63
$GC,893,-0.64,-97.3,2117,2498,3382,3354,147.0,-12.7,121,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2498,3368,3382,3354,0,0,0,0,0,0,15.06,15.09,15.08
$GC,1072,-0.64,-97.3,2117,2498,3382,3353,167.1,-10.3,139,1076,0.00,2.25,0.00,0.000,516,0.000,0.046,2118,1107,3368,3382,3354,0,0,0,0,0,0,15.08,14.69,15.11
$GC,1113,-0.64,-97.3,2118,1107,3381,3353,171.3,-10.3,147,1118,0.00,2.35,0.00,0.000,1030,0.000,0.057,2109,2505,3367,3381,3354,0,0,0,0,0,0,14.76,14.65,14.79
$GC,1304,-0.64,-97.3,2109,2505,3381,3353,191.3,-10.4,167,1308,0.00,2.35,0.00,0.000,260,0.000,0.079,2098,3893,3367,3381,3353,0,0,0,0,0,0,15.09,14.60,15.11
$GC,1335,-0.64,-97.3,2098,3893,3380,3353,194.6,-11.0,173,1340,0.00,2.20,0.00,0.000,1030,0.000,0.031,2098,2492,3366,3380,3353,0,0,0,0,0,0,14.82,14.76,14.84
$GC,1527,-0.64,-97.3,2098,2491,3378,3353,217.7,-12.0,193,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2491,3366,3379,3353,0,0,0,0,0,0,15.09,15.12,15.11
$GC,1706,-0.64,-97.3,2098,2491,3377,3353,239.3,-11.8,211,1710,0.00,2.42,0.00,0.000,260,0.000,0.083,2087,3892,3365,3377,3353,0,0,0,0,0,0,15.10,14.59,15.13
$GC,1747,-0.64,-97.3,2087,3893,3376,3353,244.4,-12.4,219,1753,0.12,2.20,0.00,0.000,3078,0.214,0.033,2117,2500,3364,3376,3353,0,0,0,0,0,0,14.49,14.76,14.68
$GC,1941,-0.64,-97.3,2117,2499,3374,3353,264.2,-10.1,232,1945,0.00,2.25,0.00,0.000,516,0.000,0.047,2118,1111,3363,3374,3353,0,0,0,0,0,0,15.11,14.69,15.13
$GC,1966,-0.64,-97.3,2117,1111,3373,3353,266.9,-9.9,237,1972,0.00,2.35,0.00,0.000,1030,0.000,0.057,2108,2504,3363,3373,3353,0,0,0,0,0,0,14.76,14.65,14.80
$GC,2284,-0.64,-97.3,2108,2503,3372,3350,298.4,-9.7,255,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2504,3360,3372,3349,0,0,0,0,0,0,15.11,15.15,15.14
$GC,2584,-0.64,-97.3,2108,2504,3370,3347,326.2,-9.1,270,2588,0.00,2.40,0.00,0.000,260,0.000,0.083,2098,3897,3359,3370,3349,0,0,0,0,0,0,15.13,14.59,15.16
$GC,2625,-0.64,-97.3,2097,3897,3370,3347,330.0,-9.5,278,2630,0.00,2.22,0.00,0.000,1030,0.000,0.034,2098,2499,3358,3369,3347,0,0,0,0,0,0,14.82,14.75,14.84
$GC,2948,-0.64,-97.3,2097,2498,3367,3345,360.4,-9.3,297,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2498,3355,3367,3344,0,0,0,0,0,0,15.12,15.15,15.15
$GC,3246,-0.64,-97.3,2097,2498,3366,3342,388.5,-9.7,312,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2498,3354,3366,3343,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3546,-0.64,-97.3,2097,2498,3363,3340,419.4,-10.7,327,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2498,3351,3363,3340,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3848,-0.64,-97.3,2097,2498,3362,3339,453.6,-11.7,342,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2498,3350,3362,3338,0,0,0,0,0,0,15.12,15.16,15.15
$GC,4146,-0.64,-97.3,2097,2498,3361,3337,488.8,-11.6,357,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2498,3349,3361,3337,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4447,-0.64,-97.3,2097,2498,3359,3335,522.7,-11.0,372,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2498,3347,3359,3335,0,0,0,0,0,0,15.12,15.16,15.15
$GC,4746,-0.64,-97.3,2097,2498,3357,3334,554.6,-10.3,387,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2498,3345,3357,3334,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5047,-0.64,-97.3,2097,2497,3356,3333,584.5,-9.8,402,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2498,3344,3356,3333,0,0,0,0,0,0,15.13,15.16,15.16
$GC,5347,-0.64,-97.3,2097,2498,3355,3331,613.5,-9.6,417,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2498,3343,3355,3331,0,0,0,0,0,0,15.12,15.15,15.15
$GC,5646,-0.64,-97.3,2097,2498,3353,3330,642.9,-9.9,432,5651,0.00,2.50,0.00,0.000,260,0.000,0.098,2087,3890,3341,3353,3330,0,0,0,0,0,0,15.13,14.43,15.16
$GC,5672,-0.64,-97.3,2086,3890,3353,3330,645.6,-10.5,437,5678,0.12,2.25,0.00,0.000,3078,0.210,0.036,2117,2492,3341,3353,3330,0,0,0,0,0,0,14.41,14.69,14.60
$GC,5991,-0.64,-97.3,2117,2491,3352,3329,673.9,-8.9,455,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2491,3340,3352,3329,0,0,0,0,0,0,15.11,15.15,15.14
$GC,6290,-0.64,-97.3,2117,2491,3351,3327,701.2,-9.1,470,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2491,3339,3351,3327,0,0,0,0,0,0,15.12,15.15,15.15
$GC,6590,-0.64,-97.3,2117,2491,3350,3326,728.3,-8.9,485,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2491,3338,3350,3326,0,0,0,0,0,0,15.12,15.16,15.14
$GC,6891,-0.64,-97.3,2117,2491,3349,3325,754.3,-8.4,500,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2491,3337,3349,3325,0,0,0,0,0,0,15.11,15.15,15.14
$GC,7190,-0.64,-97.3,2117,2491,3348,3324,778.9,-8.0,515,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2491,3336,3348,3324,0,0,0,0,0,0,15.12,15.16,15.15
$GC,7491,-0.64,-97.3,2117,2491,3347,3323,803.1,-8.1,530,7493,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2490,3335,3347,3323,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7790,-0.64,-97.3,2117,2490,3347,3322,828.0,-8.4,545,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2490,3334,3347,3322,0,0,0,0,0,0,15.12,15.15,15.15
$GC,8090,-0.64,-97.3,2117,2491,3345,3321,852.9,-8.2,560,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2490,3333,3345,3321,0,0,0,0,0,0,15.11,15.15,15.14
$GC,8391,-0.64,-97.3,2117,2491,3345,3320,876.9,-7.9,575,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2491,3332,3344,3321,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8691,-0.64,-97.3,2117,2490,3342,3320,900.3,-7.7,590,8693,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2491,3331,3343,3320,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8990,-0.64,-97.3,2117,2491,3343,3320,923.3,-7.6,605,8992,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2490,3331,3343,3320,0,0,0,0,0,0,15.11,15.14,15.14
$GC,9291,-0.64,-97.3,2117,2490,3342,3319,946.0,-7.8,620,9293,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2491,3331,3343,3319,0,0,0,0,0,0,15.11,15.14,15.13
$GC,9590,-0.64,-97.3,2117,2490,3342,3318,969.1,-7.7,635,9592,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2490,3330,3342,3318,0,0,0,0,0,0,15.11,15.14,15.14
$STATE,9867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9867,begin apogee
$GC,9875,-0.15,0.0,2117,2490,3342,3317,990.2,-7.5,649,9969,0.55,0.00,90.68,2.007,10246,0.163,0.000,2278,2490,2968,2998,2939,0,0,0,0,0,0,14.23,14.08,12.84
$STATE,9970,end apogee,CONTROL_FINISHED_OK
$STATE,9970,begin climb
$GC,9973,0.64,97.3,2278,2490,2998,2939,992.5,0.0,654,10080,0.80,0.00,102.82,1.997,10246,0.089,0.000,2546,2490,2570,2600,2541,0,0,0,0,0,0,14.19,13.88,12.71
$GC,10372,0.64,97.3,2545,2490,2590,2536,969.7,8.3,674,10377,0.00,2.45,0.00,0.000,516,0.000,0.052,2557,1053,2563,2590,2536,0,0,0,0,0,0,14.82,14.47,14.84
$GC,10489,0.64,97.3,2557,1052,2587,2535,959.9,8.2,697,10494,0.00,2.42,0.00,0.000,1030,0.000,0.059,2557,2449,2561,2587,2535,0,0,0,0,0,0,14.59,14.50,14.63
$GC,10793,0.64,97.3,2557,2449,2586,2534,935.1,7.8,713,10795,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2449,2560,2587,2534,0,0,0,0,0,0,14.97,15.00,15.00
$GC,11095,0.66,97.3,2557,2449,2586,2534,913.2,7.1,728,11099,0.00,2.38,0.00,0.000,580,0.000,0.051,2568,1050,2560,2586,2534,0,0,0,0,0,0,15.01,14.57,15.04
$GC,11126,0.68,97.3,2568,1049,2585,2534,911.0,6.9,734,11130,0.00,2.40,0.00,0.000,1094,0.000,0.055,2569,2448,2559,2584,2534,0,0,0,0,0,0,14.66,14.55,14.71
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$GC,22029,1.50,417.7,2766,3846,1950,1842,38.2,-0.8,1687,22174,0.00,2.25,135.90,0.864,9254,0.000,0.032,2780,2438,1263,1341,1186,0,0,0,0,0,0,14.64,14.59,13.59
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$STATE,22389,end climb,SURFACE_DEPTH_REACHED
$STATE,22389,begin surface coast
$STATE,22399,end surface coast,CONTROL_FINISHED_OK
$STATE,22399,begin surface
$SM_CCo,22421,93.80,0.603,1,0,928,500.17
$SM_GC,1.26,7.65,2.53,93.80,0.057,0.058,0.603,123,2491,928,-6.78,-1.10,500.17,0,0,0,0,1,0,14.53,14.44,13.72
$IRIDIUM_FIX,909.40,8630.19,311019,053308
$TT8_MAMPS,0.018725,0.156541
$HUMID,47.40
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,12.71,149.952
$10V_AH,10.85,0.000
$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,19.250,155.850,470.950,93.800,0.000,0.000,0.000,229.675,0.000,0.000,14.246,1627.582,17365.754,710.261,2750.727,425.259,0.000,2314.936,0.000,2503.198,0.000,0.540,0.000
$DEVICE_MAMPS,351.900,98.685,2006.595,602.820,0.000,0.000,0.000,182.070,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,945.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,251220
$DATA_FILE_SIZE,76615,1761
$CAP_FILE_SIZE,191161,0
$CFSIZE,260034560,149127168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.084,337.64,1
$GPS,311019,180357,907.591,8628.217,31,0.8,31,-1.3,0.3,36.8,12,3.5