version: 66.09
glider: 181
mission: 6
dive: 138
start: 7 6 111 10 32 41
data:
$ID,181
$MISSION,6
$DIVE,138
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,280
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-40685.191
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.82621
$PRESSURE_SLOPE,0.000116609
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,060711,102606,1949.709,11942.449,35,0.9,35,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-71.8
$GPS2,060711,103214,1949.826,11942.335,13,2.0,13,-2.2
$SPEED_LIMITS,0.204,0.329
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,157.6,97324,-16.3,-11.786
$D_GRID,3451
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.54,-219.0,0.0,0.0,0,87,0.00,0.00,-68.90,0.000,2,0.000,0.000,206,2599,2380,0,0,0,0,0,0
$GC,90,-0.54,-219.0,3.3,-3.8,9,131,7.97,1.90,-27.40,0.000,4,0.239,0.060,2128,3783,3765,0,0,0,0,0,0
$GC,150,-0.54,-219.0,25.8,-41.8,17,158,0.00,1.80,0.00,0.000,6,0.000,0.026,2130,2580,3766,0,0,0,0,0,0
$GC,288,-0.54,-219.0,92.8,-41.7,42,296,0.00,1.90,0.00,0.000,4,0.000,0.046,2122,3775,3766,0,0,0,0,0,0
$GC,420,-0.54,-219.0,151.2,-27.7,66,428,0.00,1.67,0.00,0.000,6,0.000,0.024,2121,2645,3768,0,0,0,0,0,0
$GC,559,-0.54,-219.0,180.4,-24.0,91,569,0.00,2.15,0.00,0.000,4,0.000,0.028,2122,1199,3769,0,0,0,0,0,0
$GC,630,-0.54,-219.0,194.9,-16.1,103,640,0.08,2.22,0.00,0.000,6,0.138,0.035,2136,2633,3769,0,0,0,0,0,0
$GC,776,-0.54,-219.0,218.5,-17.6,119,779,0.00,1.73,0.00,0.000,4,0.000,0.045,2137,3777,3770,0,0,0,0,0,0
$GC,876,-0.54,-219.0,234.2,-11.0,128,880,0.00,1.65,0.00,0.000,6,0.000,0.024,2137,2637,3770,0,0,0,0,0,0
$GC,1208,-0.54,-219.0,283.4,-14.2,159,1212,0.00,2.10,0.00,0.000,4,0.000,0.029,2137,1192,3769,0,0,0,0,0,0
$GC,1240,-0.54,-219.0,288.5,-14.5,161,1247,0.00,2.25,0.00,0.000,6,0.000,0.037,2137,2673,3769,0,0,0,0,0,0
$GC,1566,-0.54,-219.0,337.9,-15.6,192,1570,0.00,1.67,0.00,0.000,4,0.000,0.045,2134,3789,3766,0,0,0,0,0,0
$GC,1593,-0.54,-219.0,342.2,-14.5,194,1600,0.00,1.65,0.00,0.000,6,0.000,0.025,2134,2673,3767,0,0,0,0,0,0
$GC,1919,-0.54,-219.0,385.0,-12.3,225,1923,0.00,2.15,0.00,0.000,4,0.000,0.031,2134,1203,3763,0,0,0,0,0,0
$GC,1962,-0.54,-219.0,389.7,-10.3,228,1969,0.00,2.22,0.00,0.000,6,0.000,0.037,2126,2662,3763,0,0,0,0,0,0
$GC,2287,-0.54,-219.0,430.5,-12.5,259,2291,0.00,1.70,0.00,0.000,4,0.000,0.047,2125,3786,3759,0,0,0,0,0,0
$GC,2337,-0.54,-219.0,436.6,-11.2,263,2345,0.00,1.65,0.00,0.000,6,0.000,0.026,2125,2674,3758,0,0,0,0,0,0
$GC,2662,-0.54,-219.0,480.5,-14.6,294,2666,0.00,2.17,0.00,0.000,4,0.000,0.031,2125,1196,3755,0,0,0,0,0,0
$GC,2758,-0.54,-219.0,493.0,-12.0,302,2762,0.00,2.22,0.00,0.000,6,0.000,0.038,2125,2656,3754,0,0,0,0,0,0
$GC,3086,-0.54,-219.0,541.9,-15.1,320,3090,0.00,1.70,0.00,0.000,4,0.000,0.049,2119,3775,3750,0,0,0,0,0,0
$GC,3110,-0.54,-219.0,545.4,-15.0,321,3114,0.00,1.67,0.00,0.000,6,0.000,0.028,2120,2665,3749,0,0,0,0,0,0
$GC,3442,-0.54,-219.0,592.3,-13.6,337,3446,0.00,2.15,0.00,0.000,4,0.000,0.033,2119,1206,3746,0,0,0,0,0,0
$GC,3506,-0.54,-219.0,599.7,-11.0,340,3511,0.12,2.20,0.00,0.000,6,0.155,0.039,2147,2644,3746,0,0,0,0,0,0
$GC,3836,-0.54,-219.0,625.5,-7.6,356,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2645,3743,0,0,0,0,0,0
$GC,4143,-0.54,-219.0,649.2,-7.5,371,4147,0.00,2.17,0.00,0.000,4,0.000,0.034,2147,1196,3740,0,0,0,0,0,0
$GC,4176,-0.54,-219.0,652.0,-7.7,372,4183,0.00,2.22,0.00,0.000,6,0.000,0.040,2147,2640,3739,0,0,0,0,0,0
$GC,4493,-0.54,-219.0,674.8,-7.6,388,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2640,3736,0,0,0,0,0,0
$GC,4801,-0.54,-219.0,698.8,-8.1,403,4805,0.00,2.15,0.00,0.000,4,0.000,0.034,2147,1209,3734,0,0,0,0,0,0
$GC,4843,-0.54,-219.0,702.1,-8.1,405,4847,0.00,2.17,0.00,0.000,6,0.000,0.039,2147,2629,3733,0,0,0,0,0,0
$GC,5170,-0.54,-219.0,729.4,-8.8,421,5174,0.00,1.75,0.00,0.000,4,0.000,0.050,2141,3777,3731,0,0,0,0,0,0
$GC,5205,-0.54,-219.0,732.4,-8.8,422,5209,0.00,1.70,0.00,0.000,6,0.000,0.028,2141,2619,3731,0,0,0,0,0,0
$GC,5527,-0.54,-219.0,762.0,-9.3,438,5531,0.00,2.10,0.00,0.000,4,0.000,0.034,2141,1203,3729,0,0,0,0,0,0
$GC,5582,-0.54,-219.0,767.5,-9.2,440,5589,0.00,2.20,0.00,0.000,6,0.000,0.039,2139,2631,3728,0,0,0,0,0,0
$GC,5899,-0.54,-219.0,797.7,-9.8,456,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2631,3727,0,0,0,0,0,0
$GC,6208,-0.54,-219.0,826.3,-9.0,471,6212,0.00,2.15,0.00,0.000,4,0.000,0.035,2139,1205,3724,0,0,0,0,0,0
$GC,6264,-0.54,-219.0,831.1,-8.5,473,6270,0.00,2.17,0.00,0.000,6,0.000,0.040,2139,2618,3724,0,0,0,0,0,0
$GC,6580,-0.54,-219.0,855.3,-7.4,489,6583,0.00,1.77,0.00,0.000,4,0.000,0.051,2138,3775,3723,0,0,0,0,0,0
$GC,6607,-0.54,-219.0,857.3,-7.3,490,6611,0.00,1.70,0.00,0.000,6,0.000,0.029,2138,2620,3722,0,0,0,0,0,0
$GC,6935,-0.54,-219.0,880.3,-7.2,506,6939,0.00,2.10,0.00,0.000,4,0.000,0.033,2138,1200,3721,0,0,0,0,0,0
$GC,6998,-0.54,-219.0,884.9,-7.3,509,7002,0.00,2.17,0.00,0.000,6,0.000,0.040,2138,2618,3720,0,0,0,0,0,0
$GC,7326,-0.54,-219.0,910.2,-8.2,525,7329,0.00,1.77,0.00,0.000,4,0.000,0.050,2138,3775,3719,0,0,0,0,0,0
$GC,7349,-0.54,-219.0,912.3,-7.9,526,7353,0.00,1.75,0.00,0.000,6,0.000,0.028,2138,2599,3718,0,0,0,0,0,0
$GC,7682,-0.54,-219.0,936.9,-7.4,542,7686,0.00,2.08,0.00,0.000,4,0.000,0.034,2138,1197,3717,0,0,0,0,0,0
$GC,7738,-0.54,-219.0,940.7,-6.7,544,7742,0.00,2.15,0.00,0.000,6,0.000,0.039,2138,2593,3717,0,0,0,0,0,0
$GC,8054,-0.54,-219.0,960.6,-6.3,559,8057,0.00,1.83,0.00,0.000,4,0.000,0.050,2138,3781,3716,0,0,0,0,0,0
$GC,8081,-0.54,-219.0,962.4,-6.4,560,8085,0.00,1.77,0.00,0.000,6,0.000,0.028,2138,2567,3715,0,0,0,0,0,0
$GC,8410,-0.54,-219.0,982.5,-6.4,576,8413,0.00,2.03,0.00,0.000,4,0.000,0.034,2138,1201,3714,0,0,0,0,0,0
$GC,8448,-0.54,-219.0,985.1,-6.4,577,8455,0.00,2.15,0.00,0.000,6,0.000,0.040,2138,2598,3714,0,0,0,0,0,0
$STATE,8535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8535,begin apogee
$GC,8542,-0.13,0.0,990.3,6.0,582,8715,0.40,0.00,166.27,1.108,4,0.111,0.000,2275,2114,2869,0,0,0,0,0,0
$STATE,8715,end apogee,CONTROL_FINISHED_OK
$STATE,8716,begin climb
$GC,8718,0.54,219.0,997.1,0.0,590,8909,0.62,2.38,177.95,1.076,4,0.060,0.044,2501,3539,1977,0,0,0,0,0,0
$GC,9067,0.54,219.0,957.5,15.3,606,9071,0.00,2.17,0.00,0.000,6,0.000,0.028,2510,2147,1975,0,0,0,0,0,0
$GC,9394,0.54,219.0,908.8,14.9,622,9398,0.00,2.20,0.00,0.000,4,0.000,0.041,2510,3545,1972,0,0,0,0,0,0
$GC,9527,0.54,219.0,887.4,15.6,628,9532,0.00,2.20,0.00,0.000,6,0.000,0.028,2520,2103,1971,0,0,0,0,0,0
$GC,9856,0.54,219.0,836.4,15.6,644,9860,0.00,2.10,0.00,0.000,4,0.000,0.037,2531,722,1970,0,0,0,0,0,0
$GC,9950,0.54,219.0,821.1,15.1,648,9955,0.15,2.17,0.00,0.000,6,0.171,0.035,2493,2132,1970,0,0,0,0,0,0
$GC,10272,0.54,219.0,774.8,14.7,664,10277,0.00,2.17,0.00,0.000,4,0.000,0.045,2493,3542,1969,0,0,0,0,0,0
$GC,10294,0.54,219.0,770.8,15.1,665,10298,0.00,2.22,0.00,0.000,6,0.000,0.028,2502,2077,1968,0,0,0,0,0,0
$GC,10622,0.54,219.0,718.1,15.7,681,10626,0.00,2.08,0.00,0.000,4,0.000,0.039,2512,717,1968,0,0,0,0,0,0
$GC,10671,0.54,219.0,710.2,15.5,683,10675,0.00,2.08,0.00,0.000,6,0.000,0.034,2512,2082,1968,0,0,0,0,0,0
$GC,10999,0.54,219.0,658.4,15.7,699,11003,0.00,2.25,0.00,0.000,4,0.000,0.044,2511,3541,1967,0,0,0,0,0,0
$GC,11026,0.54,219.0,653.5,16.5,700,11030,0.00,2.20,0.00,0.000,6,0.000,0.028,2522,2077,1968,0,0,0,0,0,0
$GC,11348,0.54,219.0,602.7,15.6,716,11351,0.00,2.05,0.00,0.000,4,0.000,0.038,2532,720,1967,0,0,0,0,0,0
$GC,11431,0.54,219.0,590.3,13.8,719,11440,0.08,2.10,0.00,0.000,6,0.153,0.034,2494,2069,1967,0,0,0,0,0,0
$GC,11748,0.56,232.0,553.3,11.3,735,11763,0.00,2.28,10.20,0.799,4,0.000,0.044,2494,3538,1922,0,0,0,0,0,0
$GC,11802,0.56,232.0,546.4,12.2,736,11809,0.00,2.25,0.00,0.000,6,0.000,0.028,2502,2058,1923,0,0,0,0,0,0
$GC,12119,0.56,232.0,506.6,13.0,752,12123,0.00,2.03,0.00,0.000,4,0.000,0.038,2512,723,1923,0,0,0,0,0,0
$GC,12187,0.56,232.0,497.6,13.1,755,12191,0.00,2.08,0.00,0.000,6,0.000,0.034,2512,2072,1923,0,0,0,0,0,0
$GC,12512,0.56,232.0,450.5,14.7,785,12516,0.00,2.25,0.00,0.000,4,0.000,0.045,2512,3536,1923,0,0,0,0,0,0
$GC,12542,0.56,232.0,446.2,15.0,787,12546,0.00,2.22,0.00,0.000,6,0.000,0.028,2522,2059,1923,0,0,0,0,0,0
$GC,12868,0.56,232.0,395.7,15.0,817,12872,0.00,2.00,0.00,0.000,4,0.000,0.038,2533,722,1923,0,0,0,0,0,0
$GC,12928,0.56,232.0,386.7,13.8,822,12936,0.10,2.10,0.00,0.000,6,0.154,0.034,2501,2073,1923,0,0,0,0,0,0
$GC,13256,0.56,232.0,343.9,13.3,853,13260,0.00,2.25,0.00,0.000,4,0.000,0.044,2500,3541,1923,0,0,0,0,0,0
$GC,13330,0.56,232.0,333.4,14.1,859,13334,0.00,2.20,0.00,0.000,6,0.000,0.028,2509,2077,1922,0,0,0,0,0,0
$GC,13657,0.56,232.0,291.1,12.6,889,13661,0.00,2.05,0.00,0.000,4,0.000,0.039,2520,711,1923,0,0,0,0,0,0
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$GC,15826,1.15,711.4,43.8,7.6,1195,15837,0.15,2.22,2.42,0.205,4,0.073,0.038,2718,3543,439,0,0,0,0,0,0
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$GC,16023,1.17,729.1,19.9,11.1,1229,16031,0.00,2.15,0.00,0.000,4,0.000,0.036,2697,712,440,0,0,0,0,0,0
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$STATE,16177,end climb,SURFACE_DEPTH_REACHED
$STATE,16177,begin surface coast
$FINISH,0.0,1.007317
$STATE,16207,end surface coast,CONTROL_FINISHED_OK
$STATE,16208,begin surface
$SM_CCo,16285,0.00,0.000,0,0,441,595.34
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$IRIDIUM_FIX,1943.54,11940.43,060711,050529
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.62
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.8,21.642
$10V_AH,10.1,22.155
$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,16.675,179.750,627.700,0.000,0.000,28.554,16.320,177.363,0.000,0.000,15.644,3235.187,9171.801,685.058,3215.242,334.911,0.000,2073.595,0.000,2263.843,0.000,0.541,0.000
$DEVICE_MAMPS,238.680,59.670,1108.485,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,881.357,1275.017,1336.384,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322708
$DATA_FILE_SIZE,86893,1261
$CAP_FILE_SIZE,178343,0
$CFSIZE,260165632,238268416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.164,339.0,1
$GPS,060711,150524,1949.286,11942.764,40,1.2,40,-2.2