version: 66.13
glider: 171
mission: 11
dive: 656
start: 12 30 119 9 45 6
data:
$ID,171
$MISSION,11
$DIVE,656
$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,0.00223872
$HD_B,0.0163117
$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,58
$R_STBD_OVSHOOT,22
$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,9
$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
$GPS1,301219,093759,507.3752,8158.6997,31,1.0,31,-2.1,0.7,231.6,8,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-71.9
$GPS2,301219,094413,507.3144,8158.5752,2,0.5,2,-2.1,0.7,220.3,12,9.5
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,223.8,163977,-19.5,-8.049,-26.91,1839
$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,-0.67,-97.3,117,2497,980,875,0.0,0.0,0,88,0.00,0.00,-76.38,0.005,16386,0.000,0.000,117,2497,2688,2688,2688,0,0,0,0,0,0,14.83,28.83,14.85
$GC,92,-0.67,-97.3,117,2497,2689,2688,4.9,-14.2,16,121,9.30,2.33,-12.82,0.010,18948,0.347,0.066,2109,1110,3367,3382,3353,0,0,0,0,0,0,13.83,13.38,14.30
$GC,255,-0.67,-97.3,2109,1109,3383,3354,50.9,-24.2,48,260,0.00,2.45,0.00,0.000,1030,0.000,0.064,2100,2511,3368,3383,3354,0,0,0,0,0,0,14.51,14.38,14.55
$GC,439,-0.67,-97.3,2100,2511,3383,3354,81.7,-14.9,67,445,0.00,2.40,0.00,0.000,260,0.000,0.080,2091,3897,3368,3384,3353,0,0,0,0,0,0,14.98,14.38,15.01
$GC,673,-0.67,-97.3,2089,3897,3384,3354,114.4,-12.3,113,677,0.00,2.25,0.00,0.000,1030,0.000,0.037,2090,2508,3368,3384,3353,0,0,0,0,0,0,14.64,14.57,14.67
$GC,865,-0.67,-97.3,2089,2507,3384,3353,140.7,-13.4,133,869,0.00,2.42,0.00,0.000,260,0.000,0.081,2080,3900,3368,3384,3353,0,0,0,0,0,0,15.02,14.40,15.05
$GC,1062,-0.67,-97.3,2079,3900,3384,3353,167.9,-13.6,172,1067,0.12,2.28,0.00,0.000,3078,0.219,0.034,2107,2482,3368,3384,3353,0,0,0,0,0,0,14.29,14.61,14.48
$GC,1248,-0.67,-97.3,2107,2481,3384,3353,188.8,-10.7,191,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2481,3368,3384,3353,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1427,-0.67,-97.3,2107,2481,3384,3353,208.5,-11.5,209,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2481,3368,3383,3353,0,0,0,0,0,0,15.06,15.09,15.08
$GC,1610,-0.67,-97.3,2107,2481,3382,3353,229.8,-12.0,227,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2481,3367,3381,3353,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1797,-0.67,-97.3,2107,2481,3379,3353,252.6,-12.0,245,1804,0.00,2.50,0.00,0.000,260,0.000,0.083,2098,3903,3366,3379,3353,0,0,0,0,0,0,15.07,14.39,15.09
$GC,1833,-0.67,-97.3,2097,3903,3378,3353,256.8,-12.4,252,1837,0.00,2.28,0.00,0.000,1030,0.000,0.034,2098,2492,3365,3378,3353,0,0,0,0,0,0,14.68,14.61,14.70
$GC,2139,-0.67,-97.3,2097,2491,3376,3353,293.4,-11.7,268,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2491,3364,3376,3353,0,0,0,0,0,0,15.06,15.09,15.09
$GC,2437,-0.67,-97.3,2097,2491,3376,3349,327.0,-10.9,283,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2491,3362,3376,3348,0,0,0,0,0,0,15.07,15.11,15.10
$GC,2737,-0.67,-97.3,2097,2491,3374,3347,359.6,-10.5,298,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2491,3360,3374,3347,0,0,0,0,0,0,15.07,15.11,15.10
$GC,3038,-0.67,-97.3,2097,2491,3372,3345,391.5,-10.7,313,3043,0.00,2.50,0.00,0.000,260,0.000,0.084,2087,3900,3358,3372,3345,0,0,0,0,0,0,15.07,14.35,15.09
$GC,3060,-0.67,-97.3,2086,3900,3372,3345,394.0,-11.4,317,3064,0.00,2.28,0.00,0.000,1030,0.000,0.034,2087,2494,3358,3371,3345,0,0,0,0,0,0,14.66,14.59,14.69
$GC,3381,-0.67,-97.3,2086,2492,3371,3343,430.0,-11.3,336,3388,0.00,2.47,0.00,0.000,260,0.000,0.085,2074,3894,3357,3371,3343,0,0,0,0,0,0,15.07,14.34,15.10
$GC,3402,-0.67,-97.3,2075,3894,3371,3343,432.2,-11.6,340,3408,0.15,2.28,0.00,0.000,3078,0.201,0.035,2113,2493,3356,3370,3343,0,0,0,0,0,0,14.23,14.57,14.44
$GC,3725,-0.67,-97.3,2112,2492,3368,3341,463.4,-9.6,359,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2492,3354,3368,3341,0,0,0,0,0,0,15.07,15.10,15.09
$GC,4026,-0.67,-97.3,2112,2492,3367,3339,491.2,-9.2,374,4033,0.00,2.50,0.00,0.000,260,0.000,0.086,2104,3900,3353,3367,3339,0,0,0,0,0,0,15.06,14.31,15.08
$GC,4056,-0.67,-97.3,2103,3900,3367,3339,494.1,-10.2,380,4060,0.00,2.28,0.00,0.000,1030,0.000,0.034,2104,2500,3353,3367,3339,0,0,0,0,0,0,14.64,14.57,14.66
$GC,4367,-0.67,-97.3,2103,2499,3366,3339,525.6,-10.1,397,4371,0.00,2.33,0.00,0.000,516,0.000,0.049,2104,1108,3352,3366,3338,0,0,0,0,0,0,15.07,14.45,15.09
$GC,4419,-0.67,-97.3,2103,1107,3365,3338,530.9,-10.2,407,4424,0.00,2.42,0.00,0.000,1030,0.000,0.058,2092,2510,3351,3365,3338,0,0,0,0,0,0,14.52,14.40,14.57
$GC,4732,-0.67,-97.3,2091,2510,3363,3337,566.2,-11.8,424,4736,0.00,2.45,0.00,0.000,260,0.000,0.086,2082,3897,3350,3364,3337,0,0,0,0,0,0,15.07,14.28,15.09
$GC,4780,-0.67,-97.3,2082,3897,3363,3337,572.1,-12.8,433,4784,0.12,2.28,0.00,0.000,3078,0.207,0.036,2111,2500,3350,3363,3337,0,0,0,0,0,0,14.24,14.54,14.42
$GC,5099,-0.67,-97.3,2111,2499,3362,3335,606.7,-10.5,451,5104,0.00,2.33,0.00,0.000,516,0.000,0.049,2111,1109,3348,3362,3335,0,0,0,0,0,0,15.06,14.43,15.09
$GC,5151,-0.67,-97.3,2111,1109,3362,3335,612.3,-10.2,461,5157,0.00,2.42,0.00,0.000,1030,0.000,0.058,2102,2509,3348,3362,3335,0,0,0,0,0,0,14.50,14.38,14.54
$GC,5462,-0.67,-97.3,2102,2509,3362,3334,643.8,-10.2,478,5469,0.00,2.45,0.00,0.000,260,0.000,0.086,2091,3893,3348,3362,3334,0,0,0,0,0,0,15.06,14.26,15.09
$GC,5492,-0.67,-97.3,2091,3893,3362,3333,647.0,-11.2,484,5496,0.00,2.28,0.00,0.000,1030,0.000,0.036,2091,2498,3348,3362,3334,0,0,0,0,0,0,14.60,14.53,14.63
$GC,5803,-0.67,-97.3,2091,2497,3361,3333,680.5,-10.8,501,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2497,3347,3361,3333,0,0,0,0,0,0,15.07,15.10,15.09
$GC,6105,-0.67,-97.3,2090,2497,3360,3332,711.9,-10.4,516,6109,0.00,2.33,0.00,0.000,516,0.000,0.050,2091,1109,3346,3360,3332,0,0,0,0,0,0,15.05,14.40,15.08
$GC,6131,-0.67,-97.3,2090,1109,3359,3332,714.9,-10.9,521,6138,0.12,2.42,0.00,0.000,3078,0.210,0.059,2109,2504,3345,3359,3332,0,0,0,0,0,0,14.15,14.35,14.35
$GC,6446,-0.67,-97.3,2109,2504,3358,3331,745.6,-10.0,539,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2504,3345,3359,3331,0,0,0,0,0,0,15.07,15.10,15.09
$GC,6747,-0.67,-97.3,2109,2504,3357,3330,776.5,-10.2,554,6752,0.00,2.47,0.00,0.000,260,0.000,0.087,2100,3896,3343,3357,3330,0,0,0,0,0,0,15.06,14.21,15.08
$GC,6789,-0.67,-97.3,2100,3896,3357,3330,780.9,-10.4,562,6793,0.00,2.30,0.00,0.000,1030,0.000,0.037,2100,2497,3343,3356,3330,0,0,0,0,0,0,14.56,14.50,14.59
$GC,7110,-0.67,-97.3,2100,2496,3356,3330,813.8,-10.1,581,7117,0.00,2.53,0.00,0.000,260,0.000,0.088,2089,3899,3342,3356,3329,0,0,0,0,0,0,15.07,14.20,15.09
$GC,7141,-0.67,-97.3,2089,3899,3356,3329,816.8,-10.5,587,7147,0.00,2.30,0.00,0.000,1030,0.000,0.037,2089,2500,3342,3356,3329,0,0,0,0,0,0,14.55,14.48,14.58
$GC,7454,-0.67,-97.3,2089,2499,3356,3328,848.8,-10.2,604,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2499,3342,3356,3328,0,0,0,0,0,0,15.05,15.09,15.08
$GC,7755,-0.67,-97.3,2089,2499,3355,3327,878.8,-9.9,619,7760,0.00,2.53,0.00,0.000,260,0.000,0.088,2078,3900,3341,3355,3327,0,0,0,0,0,0,15.04,14.18,15.07
$GC,7792,-0.67,-97.3,2078,3900,3355,3327,882.8,-10.6,626,7796,0.12,2.33,0.00,0.000,3078,0.205,0.037,2108,2494,3340,3354,3327,0,0,0,0,0,0,14.14,14.46,14.33
$GC,8097,-0.67,-97.3,2108,2493,3354,3326,910.5,-9.2,642,8101,0.00,2.35,0.00,0.000,516,0.000,0.050,2108,1108,3340,3354,3326,0,0,0,0,0,0,15.07,14.33,15.09
$GC,8130,-0.67,-97.3,2108,1108,3354,3326,913.5,-9.4,648,8136,0.00,2.45,0.00,0.000,1030,0.000,0.061,2099,2503,3339,3353,3326,0,0,0,0,0,0,14.42,14.28,14.46
$GC,8438,-0.67,-97.3,2098,2503,3353,3325,944.5,-10.1,665,8440,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2503,3339,3353,3325,0,0,0,0,0,0,15.06,15.09,15.09
$GC,8738,-0.67,-97.3,2098,2503,3352,3325,974.8,-10.0,680,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2503,3338,3352,3325,0,0,0,0,0,0,15.05,15.09,15.08
$STATE,8895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8895,begin apogee
$GC,8905,-0.15,0.0,2099,2433,3352,3324,990.7,-9.9,688,9003,0.65,0.00,93.70,1.978,10246,0.163,0.000,2280,2432,2968,3002,2935,0,0,0,0,0,0,13.99,13.95,12.59
$STATE,9004,end apogee,CONTROL_FINISHED_OK
$STATE,9004,begin climb
$GC,9007,0.67,97.3,2280,2432,3000,2935,994.5,0.0,693,9125,0.82,2.47,104.50,1.955,10756,0.086,0.052,2564,1048,2568,2601,2536,0,0,0,0,0,0,14.15,13.95,12.57
$GC,9148,0.75,178.0,2564,1048,2599,2535,995.4,3.5,722,9236,0.00,2.47,82.53,1.960,9254,0.000,0.057,2565,2449,2242,2294,2190,0,0,0,0,0,0,14.31,14.21,12.59
$GC,9539,0.75,178.0,2564,2449,2282,2186,952.1,12.3,755,9541,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2449,2234,2282,2186,0,0,0,0,0,0,14.86,14.89,14.88
$GC,9837,0.75,178.0,2564,2449,2280,2185,915.5,12.1,770,9842,0.00,2.42,0.00,0.000,516,0.000,0.054,2575,1051,2232,2280,2185,0,0,0,0,0,0,14.96,14.43,14.99
$GC,9875,0.75,178.0,2575,1050,2278,2184,911.3,11.8,777,9881,0.00,2.42,0.00,0.000,1030,0.000,0.057,2575,2445,2231,2279,2184,0,0,0,0,0,0,14.54,14.42,14.59
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$GC,17502,0.88,276.6,2596,2431,2129,2011,76.3,4.8,1417,17559,0.00,2.53,51.22,0.943,8484,0.000,0.081,2597,3852,1840,1909,1771,0,0,0,0,0,0,14.93,13.97,13.39
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$STATE,18592,end climb,SURFACE_DEPTH_REACHED
$STATE,18592,begin surface coast
$STATE,18620,end surface coast,CONTROL_FINISHED_OK
$STATE,18620,begin surface
$SM_CCo,18642,77.50,0.562,1,0,929,500.17
$SM_GC,1.31,7.32,0.10,77.50,0.050,0.166,0.562,132,2500,929,-6.76,-0.76,500.17,0,0,0,0,1,0,14.50,14.47,13.57
$IRIDIUM_FIX,508.78,8202.00,301219,033917
$TT8_MAMPS,0.019474,0.160286
$HUMID,49.72
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,12.57,221.256
$10V_AH,12.50,0.000
$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,19.700,173.175,515.275,77.500,0.000,0.000,0.000,232.775,0.000,0.000,14.026,1460.869,13899.370,696.564,2554.046,485.534,0.000,2259.344,0.000,2303.643,0.000,0.539,0.000
$DEVICE_MAMPS,347.310,208.845,1977.525,562.275,0.000,0.000,0.000,183.600,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,848.456,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250348
$DATA_FILE_SIZE,69972,1620
$CAP_FILE_SIZE,178447,0
$CFSIZE,260034560,127008768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.116,33.39,1
$GPS,301219,145825,507.102,8157.814,15,0.7,32,-2.1,0.6,224.8,12,3.1