version: 66.11
glider: 177
mission: 4
dive: 235
start: 5 2 113 6 16 5
data:
$ID,177
$MISSION,4
$DIVE,235
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,360
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52151
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.001
$HD_C,9.9999997e-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,619.87311
$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,-8170.2617
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,159
$PITCH_MAX,3950
$C_PITCH,2925
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,161
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,2375
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,2992
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,-43.106712
$PRESSURE_SLOPE,0.000115925
$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,0
$XPDR_VALID,0
$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,0.0044109048
$SEABIRD_T_H,0.00065266038
$SEABIRD_T_I,2.7513828e-05
$SEABIRD_T_J,3.0466049e-06
$SEABIRD_C_G,-9.9740562
$SEABIRD_C_H,1.1339458
$SEABIRD_C_I,-0.0018908759
$SEABIRD_C_J,0.0002126007
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,020513,060736,1848.052,12218.798,28,1.0,29,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.82
$_SM_ANGLEo,-68.0
$GPS2,020513,061537,1848.360,12218.668,14,1.3,14,-2.1
$SPEED_LIMITS,0.159,0.756
$TGT_NAME,M3
$TGT_LATLONG,1845.000,12224.280
$TGT_RADIUS,5000.000
$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,124.4,11645,-6.2,-9.167,-6.92,3252
$D_GRID,1049
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.64,-194.6,128,2375,483,441,0.0,0.0,0,126,0.00,0.00,-104.93,0.000,16386,0.000,0.000,129,2376,3359,3412,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,129,-0.64,-194.6,128,2376,3413,3307,5.5,-19.4,14,153,10.85,0.00,-6.05,0.000,18950,0.246,0.000,2716,2374,3790,3870,3710,0,0,0,0,0,0,25.52,28.83,26.32
$GC,462,-0.64,-194.6,2715,2374,3874,3710,119.3,-24.0,36,468,0.00,2.00,0.00,0.000,260,0.000,0.040,2709,3710,3792,3874,3711,0,0,0,0,0,0,28.83,26.17,28.83
$GC,533,-0.64,-194.6,2709,3710,3874,3713,134.4,-22.9,39,539,0.00,1.85,0.00,0.000,1030,0.000,0.020,2709,2338,3793,3874,3712,0,0,0,0,0,0,28.83,26.32,28.83
$GC,852,-0.64,-194.6,2708,2338,3875,3713,196.9,-18.4,55,858,0.00,1.88,0.00,0.000,516,0.000,0.030,2709,1025,3794,3875,3713,0,0,0,0,0,0,28.83,26.31,28.83
$GC,972,-0.64,-194.6,2708,1025,3875,3713,215.4,-16.9,60,981,0.08,1.90,0.00,0.000,3078,0.191,0.027,2719,2372,3794,3875,3713,0,0,0,0,0,0,26.19,26.36,28.83
$GC,1278,-0.64,-194.6,2719,2372,3875,3713,262.0,-14.4,76,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2372,3793,3874,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1579,-0.64,-194.6,2719,2373,3876,3712,301.4,-11.9,91,1585,0.00,1.92,0.00,0.000,516,0.000,0.028,2720,1024,3792,3875,3710,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1635,-0.64,-194.6,2719,1024,3875,3710,306.8,-12.0,93,1641,0.00,1.92,0.00,0.000,1030,0.000,0.028,2717,2381,3792,3875,3710,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1949,-0.64,-194.6,2717,2382,3874,3706,348.1,-12.4,109,1956,0.00,1.95,0.00,0.000,260,0.000,0.042,2717,3707,3790,3875,3706,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1983,-0.64,-194.6,2716,3707,3875,3706,351.3,-12.4,110,1989,0.00,1.80,0.00,0.000,1030,0.000,0.021,2717,2364,3790,3875,3706,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2297,-0.64,-194.6,2716,2363,3875,3700,390.3,-11.3,126,2303,0.00,2.00,0.00,0.000,260,0.000,0.042,2716,3709,3787,3874,3700,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2321,-0.64,-194.6,2716,3709,3875,3700,393.1,-11.4,127,2327,0.00,1.80,0.00,0.000,1030,0.000,0.021,2716,2368,3787,3875,3700,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2647,-0.64,-194.6,2716,2366,3875,3694,425.2,-9.4,143,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2366,3784,3875,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2946,-0.64,-194.6,2716,2368,3875,3688,454.3,-10.0,158,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2366,3781,3874,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3246,-0.64,-194.6,2716,2366,3874,3682,484.4,-9.9,173,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2366,3778,3874,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3546,-0.64,-194.6,2716,2366,3871,3680,513.1,-9.4,188,3552,0.00,1.90,0.00,0.000,516,0.000,0.031,2717,1037,3775,3871,3680,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3605,-0.64,-194.6,1744,1036,3867,3678,517.3,-9.2,190,3613,0.00,1.95,0.00,0.000,1030,0.000,0.028,2714,2405,3775,3870,3680,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3913,-0.64,-194.6,2713,2405,3867,3676,545.6,-8.6,206,3919,0.00,1.98,0.00,0.000,516,0.000,0.031,2714,1037,3771,3867,3676,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3993,-0.64,-194.6,2713,1037,3865,3676,551.6,-9.2,209,4001,0.00,1.90,0.00,0.000,1030,0.000,0.029,2713,2372,3770,3865,3675,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4298,-0.64,-194.6,2713,2372,3864,3673,585.4,-10.1,225,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2372,3768,3863,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4608,-0.64,-194.6,2713,2372,3861,3669,616.3,-10.2,238,4614,0.00,1.92,0.00,0.000,516,0.000,0.031,2713,1039,3764,3860,3669,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4648,-0.64,-194.6,2718,1038,3859,3670,620.0,-10.4,239,4654,0.00,1.92,0.00,0.000,1030,0.000,0.029,2709,2374,3764,3860,3669,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4977,-0.64,-194.6,2708,2375,3858,3666,654.1,-9.7,250,4983,0.00,1.95,0.00,0.000,516,0.000,0.032,2709,1028,3761,3857,3666,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5102,-0.64,-194.6,2708,1028,3855,3666,667.5,-10.8,254,5109,0.00,1.95,0.00,0.000,1030,0.000,0.028,2706,2383,3760,3855,3666,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5437,-0.64,-194.6,2705,2384,3854,3663,704.9,-11.0,265,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2384,3758,3854,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5738,-0.64,-194.6,2705,2384,3852,3661,734.8,-9.7,275,5744,0.00,1.95,0.00,0.000,516,0.000,0.031,2706,1036,3756,3852,3661,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5772,-0.64,-194.6,2705,1036,3850,3661,738.4,-9.8,276,5779,0.08,1.92,0.00,0.000,3078,0.182,0.029,2721,2376,3755,3850,3661,0,0,0,0,0,0,26.24,26.40,28.83
$GC,6109,-0.64,-194.6,2720,2376,3848,3658,768.8,-9.3,287,6115,0.00,1.95,0.00,0.000,516,0.000,0.032,2721,1033,3752,3847,3658,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6153,-0.64,-194.6,2720,1033,3847,3658,772.5,-9.7,288,6160,0.00,1.92,0.00,0.000,1030,0.000,0.029,2716,2375,3752,3847,3658,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6478,-0.64,-194.6,2719,2376,3847,3655,808.6,-11.3,299,6484,0.00,1.95,0.00,0.000,516,0.000,0.032,2719,1033,3750,3846,3655,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6538,-0.64,-194.6,2719,1033,3845,3655,812.6,-11.4,300,6546,0.00,1.92,0.00,0.000,1030,0.000,0.031,2717,2374,3750,3845,3655,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6845,-0.64,-194.6,2717,2375,3845,3653,845.6,-9.5,311,6852,0.00,1.95,0.00,0.000,516,0.000,0.033,2717,1041,3749,3845,3653,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6881,-0.64,-194.6,2717,1041,3844,3652,848.9,-9.4,312,6888,0.00,1.98,0.00,0.000,1030,0.000,0.031,2717,2373,3748,3844,3653,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7216,-0.64,-194.6,2716,2374,3844,3649,875.7,-7.5,323,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2374,3752,3851,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7517,-0.64,-194.6,2716,2374,3843,3647,896.7,-7.0,333,7523,0.00,1.95,0.00,0.000,516,0.000,0.033,2716,1034,3744,3842,3647,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7583,-0.64,-194.6,2716,1035,3843,3647,901.4,-7.3,335,7589,0.00,1.95,0.00,0.000,1030,0.000,0.030,2713,2381,3744,3842,3647,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7919,-0.64,-194.6,2713,2381,3840,3646,926.2,-7.3,346,7926,0.00,1.95,0.00,0.000,516,0.000,0.034,2713,1041,3742,3839,3646,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7955,-0.64,-194.6,2713,1041,3839,3646,928.9,-7.4,347,7961,0.00,1.95,0.00,0.000,1030,0.000,0.031,2713,2382,3743,3840,3646,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8291,-0.64,-194.6,2712,2382,3839,3645,955.6,-8.1,358,8296,0.00,1.98,0.00,0.000,516,0.000,0.035,2713,1037,3741,3838,3644,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8330,-0.64,-194.6,2712,1038,3838,3645,958.7,-8.3,359,8336,0.00,1.95,0.00,0.000,1030,0.000,0.031,2708,2384,3741,3838,3645,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8660,-0.64,-194.6,2708,2384,3837,3644,986.2,-8.2,370,8666,0.00,1.98,0.00,0.000,516,0.000,0.034,2708,1038,3740,3837,3643,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8700,-0.64,-194.6,2707,1037,3836,3643,989.0,-8.2,371,8706,0.00,1.92,0.00,0.000,1030,0.000,0.031,2705,2375,3739,3836,3643,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,8728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8728,begin apogee
$GC,8734,-0.20,0.0,2705,2271,3835,3644,990.8,-7.3,372,8927,0.47,0.00,182.18,0.973,10246,0.116,0.000,2862,2271,2985,3092,2878,0,0,0,0,0,0,25.96,28.83,24.10
$STATE,8928,end apogee,CONTROL_FINISHED_OK
$STATE,8928,begin climb
$GC,8930,0.64,194.6,2861,2271,3092,2875,995.9,0.0,378,9129,0.75,2.33,187.62,0.957,10756,0.064,0.044,3142,885,2192,2315,2070,0,0,0,0,0,0,24.91,24.44,23.80
$GC,9255,0.64,194.6,3142,885,2310,2059,971.8,11.6,388,9261,0.00,2.05,0.00,0.000,1030,0.000,0.028,3142,2240,2184,2310,2059,0,0,0,0,0,0,28.83,25.32,28.83
$GC,9589,0.64,194.6,3142,2241,2309,2050,933.9,11.2,399,9590,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2241,2179,2309,2050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9889,0.64,194.6,3142,2241,2309,2048,900.3,11.1,409,9895,0.00,2.15,0.00,0.000,260,0.000,0.045,3143,3647,2176,2308,2044,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9943,0.64,194.6,3142,3647,2306,2048,896.1,11.4,410,9950,0.10,2.00,0.00,0.000,5126,0.222,0.025,3131,2272,2176,2305,2047,0,0,0,0,0,0,25.80,26.10,28.83
$GC,10259,0.64,194.6,3131,2272,2305,2045,859.5,10.4,421,10265,0.00,2.15,0.00,0.000,516,0.000,0.045,3139,850,2175,2305,2045,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10348,0.64,194.6,3138,850,2305,2045,852.5,10.5,423,10356,0.00,2.03,0.00,0.000,1030,0.000,0.028,3139,2247,2175,2306,2045,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10657,0.64,194.6,3139,2247,2305,2044,819.0,10.2,434,10658,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2247,2174,2305,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10955,0.64,194.6,3139,2247,2304,2043,786.6,11.1,444,10961,0.00,2.12,0.00,0.000,516,0.000,0.043,3148,842,2174,2305,2043,0,0,0,0,0,0,28.83,26.16,28.83
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$GC,14703,0.72,232.9,3157,857,2187,1931,402.1,9.0,599,14715,0.00,2.00,4.68,0.629,9222,0.000,0.026,3157,2238,2042,2167,1917,0,0,0,0,0,0,28.83,26.22,25.24
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$STATE,18674,end climb,SURFACE_DEPTH_REACHED
$STATE,18674,begin surface coast
$FINISH,-0.4,1.021329
$STATE,18702,end surface coast,CONTROL_FINISHED_OK
$STATE,18703,begin surface
$SM_CCo,18723,88.72,0.050,0,0,464,619.87
$SM_GC,-1.82,8.45,1.80,88.72,0.067,0.019,0.050,131,2354,464,-8.61,2.04,619.87,0,0,1,0,0,0,26.26,26.37,26.13
$IRIDIUM_FIX,1839.59,12215.53,020513,010113
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.60
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.50
$XPDR_PINGS,16
$SC_FREEKB,3929888
$24V_AH,23.8,29.612
$10V_AH,10.1,27.756
$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,21.625,155.775,526.500,88.725,0.000,0.000,0.000,280.650,4.000,0.000,17.525,3617.859,11813.978,848.438,2467.278,524.128,0.000,2330.964,0.000,2083.356,0.000,0.547,0.000
$DEVICE_MAMPS,245.565,98.685,973.080,50.490,0.000,0.000,0.000,120.870,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18710.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.851,0.000,0.000,0.000
$MEM,320820
$DATA_FILE_SIZE,30101,844
$CAP_FILE_SIZE,457783,0
$CFSIZE,260034560,222965760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.144,326.2,1
$GPS,020513,113105,1848.125,12220.724,37,0.9,44,-2.1