version: 66.09
glider: 181
mission: 6
dive: 553
start: 9 26 111 6 31 55
data:
$ID,181
$MISSION,6
$DIVE,553
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,-41282.02
$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,2300
$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,10
$C_ROLL_DIVE,2590
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,82
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,260911,062107,1953.115,11956.051,30,1.1,30,-2.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-61.0
$GPS2,260911,063056,1953.223,11956.047,14,1.2,14,-2.2
$SPEED_LIMITS,0.204,0.312
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.081,0.301
$KALMAN_X,82052.7,559.3,343.7,-86891.2,1540.4
$KALMAN_Y,68034.0,-188.0,302.8,3447.4,62.3
$MHEAD_RNG_PITCHd_Wd,5.8,207122,-17.4,-11.786
$D_GRID,3639
$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,-0.53,-194.6,0.0,0.0,0,84,0.00,0.00,-65.57,0.000,2,0.000,0.000,126,2579,2314,0,0,0,0,0,0
$GC,87,-0.53,-194.6,3.5,-3.7,11,132,8.43,0.50,-29.48,0.000,4,0.223,0.093,2115,2941,3663,0,0,0,0,0,0
$GC,229,-0.53,-194.6,56.2,-50.0,35,236,0.00,0.47,0.00,0.000,6,0.000,0.028,2115,2571,3664,0,0,0,0,0,0
$GC,372,-0.53,-194.6,88.1,-17.2,60,379,0.00,0.55,0.00,0.000,4,0.000,0.038,2113,2948,3663,0,0,0,0,0,0
$GC,580,-0.53,-194.6,120.0,-13.4,97,587,0.00,0.45,0.00,0.000,6,0.000,0.028,2112,2586,3663,0,0,0,0,0,0
$GC,724,-0.53,-194.6,139.1,-12.9,122,731,0.00,0.40,0.00,0.000,4,0.000,0.028,2112,2230,3663,0,0,0,0,0,0
$GC,765,-0.53,-194.6,144.5,-12.6,129,772,0.00,0.52,0.00,0.000,6,0.000,0.037,2112,2589,3663,0,0,0,0,0,0
$GC,909,-0.53,-194.6,162.2,-12.9,154,916,0.00,0.40,0.00,0.000,4,0.000,0.028,2112,2247,3664,0,0,0,0,0,0
$GC,984,-0.53,-194.6,171.8,-12.5,167,992,0.00,0.50,0.00,0.000,6,0.000,0.038,2110,2594,3663,0,0,0,0,0,0
$GC,1129,-0.53,-194.6,190.7,-12.9,192,1136,0.00,0.47,0.00,0.000,4,0.000,0.040,2107,2942,3663,0,0,0,0,0,0
$GC,1200,-0.53,-194.6,199.6,-12.5,204,1207,0.00,0.43,0.00,0.000,6,0.000,0.030,2107,2595,3663,0,0,0,0,0,0
$GC,1335,-0.53,-194.6,215.6,-11.6,217,1338,0.00,0.40,0.00,0.000,4,0.000,0.028,2107,2241,3662,0,0,0,0,0,0
$GC,1370,-0.53,-194.6,219.5,-11.3,220,1374,0.00,0.50,0.00,0.000,6,0.000,0.039,2105,2585,3662,0,0,0,0,0,0
$GC,1701,-0.53,-194.6,259.8,-12.8,251,1704,0.00,0.40,0.00,0.000,4,0.000,0.028,2105,2247,3659,0,0,0,0,0,0
$GC,1917,-0.53,-194.6,285.9,-11.5,270,1920,0.00,0.50,0.00,0.000,6,0.000,0.038,2102,2589,3657,0,0,0,0,0,0
$GC,2248,-0.53,-194.6,327.2,-11.7,301,2251,0.00,0.43,0.00,0.000,4,0.000,0.028,2102,2249,3654,0,0,0,0,0,0
$GC,2339,-0.53,-194.6,337.7,-11.6,309,2343,0.00,0.50,0.00,0.000,6,0.000,0.040,2099,2586,3654,0,0,0,0,0,0
$GC,2671,-0.53,-194.6,375.8,-11.0,340,2675,0.00,0.50,0.00,0.000,4,0.000,0.042,2098,2943,3650,0,0,0,0,0,0
$GC,2710,-0.53,-194.6,380.6,-11.8,343,2718,0.00,0.45,0.00,0.000,6,0.000,0.031,2098,2593,3649,0,0,0,0,0,0
$GC,3035,-0.53,-194.6,419.1,-11.9,374,3037,0.12,0.00,0.00,0.000,6,0.148,0.000,2133,2593,3647,0,0,0,0,0,0
$GC,3355,-0.53,-194.6,447.4,-8.5,404,3358,0.00,0.43,0.00,0.000,4,0.000,0.028,2133,2237,3644,0,0,0,0,0,0
$GC,3415,-0.53,-194.6,452.6,-8.3,409,3423,0.00,0.52,0.00,0.000,6,0.000,0.041,2132,2589,3643,0,0,0,0,0,0
$GC,3741,-0.53,-194.6,481.1,-9.1,440,3745,0.00,0.43,0.00,0.000,4,0.000,0.028,2132,2251,3640,0,0,0,0,0,0
$GC,3799,-0.53,-194.6,486.5,-9.1,445,3802,0.00,0.50,0.00,0.000,6,0.000,0.041,2130,2587,3639,0,0,0,0,0,0
$GC,4138,-0.53,-194.6,518.9,-9.8,468,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2588,3637,0,0,0,0,0,0
$GC,4444,-0.53,-194.6,547.2,-8.6,483,4448,0.00,0.43,0.00,0.000,4,0.000,0.028,2130,2245,3634,0,0,0,0,0,0
$GC,4529,-0.53,-194.6,554.5,-8.6,486,4536,0.00,0.52,0.00,0.000,6,0.000,0.040,2127,2594,3633,0,0,0,0,0,0
$GC,4847,-0.53,-194.6,580.1,-7.9,502,4851,0.00,0.45,0.00,0.000,4,0.000,0.027,2127,2230,3631,0,0,0,0,0,0
$GC,4960,-0.53,-194.6,588.9,-7.8,507,4964,0.00,0.55,0.00,0.000,6,0.000,0.041,2125,2594,3631,0,0,0,0,0,0
$GC,5294,-0.53,-194.6,615.6,-7.9,523,5298,0.00,0.45,0.00,0.000,4,0.000,0.028,2125,2229,3629,0,0,0,0,0,0
$GC,5388,-0.53,-194.6,623.3,-7.8,527,5392,0.00,0.55,0.00,0.000,6,0.000,0.041,2125,2595,3628,0,0,0,0,0,0
$GC,5716,-0.53,-194.6,649.2,-8.3,543,5720,0.00,0.45,0.00,0.000,4,0.000,0.027,2125,2232,3626,0,0,0,0,0,0
$GC,5796,-0.53,-194.6,656.1,-8.6,546,5800,0.00,0.55,0.00,0.000,6,0.000,0.041,2125,2593,3625,0,0,0,0,0,0
$GC,6118,-0.53,-194.6,683.5,-8.6,562,6122,0.00,0.45,0.00,0.000,4,0.000,0.028,2125,2232,3624,0,0,0,0,0,0
$GC,6226,-0.53,-194.6,692.2,-7.5,566,6233,0.00,0.55,0.00,0.000,6,0.000,0.041,2125,2594,3623,0,0,0,0,0,0
$GC,6543,-0.53,-194.6,716.7,-7.7,582,6547,0.00,0.45,0.00,0.000,4,0.000,0.028,2125,2239,3621,0,0,0,0,0,0
$GC,6613,-0.53,-194.6,722.0,-8.0,585,6616,0.00,0.52,0.00,0.000,6,0.000,0.042,2125,2583,3621,0,0,0,0,0,0
$GC,6946,-0.53,-194.6,751.5,-9.5,601,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2584,3619,0,0,0,0,0,0
$GC,7255,-0.53,-194.6,782.8,-10.2,616,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2584,3618,0,0,0,0,0,0
$GC,7565,-0.53,-194.6,813.9,-10.0,631,7569,0.00,0.43,0.00,0.000,4,0.000,0.029,2125,2244,3617,0,0,0,0,0,0
$GC,7717,-0.53,-194.6,829.1,-9.7,637,7724,0.00,0.52,0.00,0.000,6,0.000,0.042,2125,2590,3617,0,0,0,0,0,0
$GC,8034,-0.53,-194.6,856.3,-8.1,653,8038,0.00,0.47,0.00,0.000,4,0.000,0.031,2125,2234,3615,0,0,0,0,0,0
$GC,8134,-0.53,-194.6,864.0,-7.6,657,8138,0.00,0.55,0.00,0.000,6,0.000,0.042,2125,2594,3615,0,0,0,0,0,0
$GC,8457,-0.53,-194.6,886.1,-7.0,673,8461,0.00,0.45,0.00,0.000,4,0.000,0.028,2125,2236,3614,0,0,0,0,0,0
$GC,8512,-0.53,-194.6,890.1,-7.2,675,8516,0.00,0.55,0.00,0.000,6,0.000,0.042,2125,2591,3613,0,0,0,0,0,0
$GC,8834,-0.53,-194.6,914.9,-8.2,691,8838,0.00,0.45,0.00,0.000,4,0.000,0.028,2125,2234,3611,0,0,0,0,0,0
$GC,8949,-0.53,-194.6,924.4,-8.7,696,8952,0.00,0.55,0.00,0.000,6,0.000,0.044,2125,2593,3611,0,0,0,0,0,0
$GC,9282,-0.53,-194.6,955.1,-9.3,712,9286,0.00,0.45,0.00,0.000,4,0.000,0.028,2125,2238,3611,0,0,0,0,0,0
$GC,9406,-0.53,-194.6,967.2,-9.2,717,9410,0.00,0.52,0.00,0.000,6,0.000,0.043,2125,2581,3610,0,0,0,0,0,0
$STATE,9623,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9623,begin apogee
$GC,9629,-0.13,0.0,987.7,9.3,728,9783,0.38,0.00,148.98,1.074,6,0.108,0.000,2252,2157,2869,0,0,0,0,0,0
$STATE,9783,end apogee,CONTROL_FINISHED_OK
$STATE,9784,begin climb
$GC,9786,0.53,194.6,998.8,0.0,735,9952,0.57,0.57,159.15,1.052,4,0.052,0.031,2483,2527,2074,0,0,0,0,0,0
$GC,10069,0.60,251.6,985.9,9.5,748,10123,0.00,0.50,46.72,1.023,6,0.000,0.028,2485,2152,1842,0,0,0,0,0,0
$GC,10432,0.64,288.3,950.5,10.3,766,10467,0.00,0.57,30.27,0.998,4,0.000,0.037,2485,2524,1693,0,0,0,0,0,0
$GC,10536,0.67,306.0,939.2,11.1,770,10556,0.00,0.47,15.62,0.930,6,0.000,0.028,2487,2165,1622,0,0,0,0,0,0
$GC,10875,0.71,345.4,904.4,10.2,787,10913,0.12,0.57,33.40,0.981,4,0.093,0.037,2544,2523,1460,0,0,0,0,0,0
$GC,11007,0.71,345.4,885.5,14.1,792,11011,0.00,0.47,0.00,0.000,6,0.000,0.028,2546,2162,1459,0,0,0,0,0,0
$GC,11335,0.71,345.4,838.8,14.1,808,11339,0.00,0.40,0.00,0.000,4,0.000,0.033,2548,1831,1460,0,0,0,0,0,0
$GC,11397,0.71,345.4,829.8,14.4,810,11404,0.00,0.50,0.00,0.000,6,0.000,0.032,2548,2187,1461,0,0,0,0,0,0
$GC,11714,0.71,345.4,785.5,13.9,826,11718,0.00,0.47,0.00,0.000,4,0.000,0.030,2550,1819,1461,0,0,0,0,0,0
$GC,11808,0.71,345.4,771.9,14.3,830,11812,0.00,0.50,0.00,0.000,6,0.000,0.033,2550,2166,1461,0,0,0,0,0,0
$GC,12137,0.71,345.4,727.5,13.6,846,12140,0.00,0.45,0.00,0.000,4,0.000,0.039,2550,2500,1461,0,0,0,0,0,0
$GC,12183,0.71,345.4,720.7,15.2,848,12187,0.00,0.43,0.00,0.000,6,0.000,0.031,2552,2160,1461,0,0,0,0,0,0
$GC,12515,0.71,345.4,671.8,15.1,864,12516,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2160,1461,0,0,0,0,0,0
$GC,12825,0.71,345.4,623.0,15.9,879,12829,0.00,0.50,0.00,0.000,4,0.000,0.039,2552,2508,1461,0,0,0,0,0,0
$GC,12915,0.71,345.4,608.1,16.6,883,12919,0.00,0.43,0.00,0.000,6,0.000,0.031,2553,2170,1461,0,0,0,0,0,0
$GC,13249,0.71,345.4,558.3,14.5,899,13253,0.00,0.43,0.00,0.000,4,0.000,0.033,2556,1822,1461,0,0,0,0,0,0
$GC,13388,0.71,345.4,538.5,13.9,905,13393,0.00,0.50,0.00,0.000,6,0.000,0.033,2556,2167,1461,0,0,0,0,0,0
$GC,13707,0.71,345.4,498.0,12.2,921,13710,0.00,0.47,0.00,0.000,4,0.000,0.039,2555,2513,1461,0,0,0,0,0,0
$GC,13779,0.71,345.4,488.7,12.7,927,13787,0.00,0.45,0.00,0.000,6,0.000,0.029,2557,2160,1461,0,0,0,0,0,0
$GC,14104,0.71,345.4,446.4,13.3,958,14108,0.00,0.40,0.00,0.000,4,0.000,0.035,2560,1827,1461,0,0,0,0,0,0
$GC,14188,0.71,345.4,435.2,13.2,965,14194,0.00,0.47,0.00,0.000,6,0.000,0.033,2560,2166,1461,0,0,0,0,0,0
$GC,14514,0.71,345.4,395.3,12.0,996,14517,0.00,0.47,0.00,0.000,4,0.000,0.039,2560,2512,1461,0,0,0,0,0,0
$GC,14627,0.71,345.4,381.6,12.1,1006,14632,0.08,0.45,0.00,0.000,6,0.144,0.030,2537,2164,1461,0,0,0,0,0,0
$GC,14958,0.77,389.3,347.4,10.0,1037,14996,0.00,0.47,35.10,0.665,4,0.000,0.034,2537,1820,1282,0,0,0,0,0,0
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$GC,15908,0.84,450.3,240.9,10.2,1124,15944,0.00,0.52,32.50,0.591,4,0.000,0.028,2538,2510,1032,0,0,0,0,0,0
$GC,15987,0.89,486.5,232.8,10.3,1131,16023,0.10,0.45,29.00,0.558,6,0.058,0.030,2594,2160,884,0,0,0,0,0,0
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$STATE,18027,end climb,SURFACE_DEPTH_REACHED
$STATE,18027,begin surface coast
$FINISH,0.5,1.021046
$STATE,18060,end surface coast,CONTROL_FINISHED_OK
$STATE,18060,begin surface
$SM_CCo,18137,0.00,0.000,0,0,439,596.08
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$IRIDIUM_FIX,1945.83,12005.16,260911,010110
$TT8_MAMPS,0.025466,0.025466
$HUMID,47.36
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.4,90.889
$10V_AH,9.7,72.485
$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,16.450,41.850,646.200,0.000,0.000,84.074,55.977,166.081,0.000,0.000,16.706,3739.605,10765.413,719.146,3082.512,408.805,33.368,2235.606,0.000,2730.872,0.000,0.540,0.000
$DEVICE_MAMPS,223.380,133.875,1074.060,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,1022.963,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322236
$DATA_FILE_SIZE,83768,1469
$CAP_FILE_SIZE,196626,0
$CFSIZE,260165632,200126464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,342.9,1
$GPS,260911,113531,1956.147,11955.732,40,1.1,40,-2.2