version: 66.13
glider: 220
mission: 6
dive: 489
start: 12 30 116 18 37 40
data:
$ID,220
$MISSION,6
$DIVE,489
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,800
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,120
$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,345
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54354
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0024999999
$HD_B,0.014
$HD_C,1.6e-05
$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,0
$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,10
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3888
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.025
$PITCH_ADJ_DBAND,3
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2765
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-168.7365
$PRESSURE_SLOPE,0.0001077811
$AD7714Ch0Gain,1
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$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
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044037569
$SEABIRD_T_H,0.00063615869
$SEABIRD_T_I,2.4815216e-05
$SEABIRD_T_J,2.9729028e-06
$SEABIRD_C_G,-9.8086529
$SEABIRD_C_H,1.075657
$SEABIRD_C_I,-0.0023452051
$SEABIRD_C_J,0.00023101401
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,301216,182531,944.0643,-12502.0410,18,0.8,18,9.0,0.5,279.8,10,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.39
$_SM_ANGLEo,-70.3
$GPS2,301216,183719,944.0387,-12501.9805,2,0.8,4,9.0,0.3,106.2,10,4.2
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,165.0,6830,-17.5,-7.729,-24.20,2052
$D_GRID,800
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.93,-107.1,109,2782,1100,1017,0.0,0.0,0,101,0.00,0.00,-81.62,0.000,16390,0.000,0.000,107,2782,3478,3470,3486,0,0,0,0,0,0,14.67,12.54,14.65
$GC,105,-0.93,-107.1,108,2783,3471,3486,3.9,-10.8,3,122,11.88,2.42,0.00,0.000,2564,0.384,0.038,2589,1359,3479,3472,3486,0,0,0,0,0,0,13.97,14.36,14.26
$GC,192,-0.69,-107.1,2590,1360,3474,3488,33.6,-22.3,16,198,0.30,2.60,0.00,0.000,3206,0.239,0.076,2669,2762,3480,3474,3486,0,0,0,0,0,0,14.02,14.25,14.29
$GC,522,-0.69,-107.1,2669,2764,3479,3486,69.2,-8.4,30,527,0.00,1.98,0.00,0.000,260,0.000,0.114,2661,3826,3481,3476,3486,0,0,0,0,0,0,14.83,14.28,14.83
$GC,626,-0.69,-107.1,2661,3827,3479,3487,77.9,-8.0,45,634,0.00,1.80,0.00,0.000,1030,0.000,0.041,2660,2739,3482,3479,3486,0,0,0,0,0,0,14.57,14.55,14.56
$GC,942,-0.69,-107.1,2661,2740,3480,3487,105.5,-8.6,56,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2740,3482,3479,3486,0,0,0,0,0,0,14.90,14.90,14.88
$GC,1278,-0.69,-107.1,2660,2741,3480,3486,131.2,-7.8,62,1283,0.00,2.05,0.00,0.000,260,0.000,0.112,2649,3828,3482,3479,3486,0,0,0,0,0,0,14.92,14.30,14.92
$GC,1347,-0.69,-107.1,2652,3829,3481,3485,137.2,-8.7,72,1353,0.00,1.77,0.00,0.000,1030,0.000,0.040,2651,2760,3482,3479,3486,0,0,0,0,0,0,14.61,14.59,14.62
$GC,1670,-0.69,-107.1,2652,2759,3480,3482,164.3,-8.4,83,1675,0.00,2.33,0.00,0.000,516,0.000,0.044,2652,1394,3480,3479,3481,0,0,0,0,0,0,14.91,14.49,14.91
$GC,1726,-0.69,-107.1,2651,1395,3480,3481,168.9,-8.2,91,1731,0.10,2.47,0.00,0.000,3078,0.233,0.069,2673,2772,3480,3479,3481,0,0,0,0,0,0,14.25,14.39,14.47
$GC,2062,-0.77,-107.1,2672,2773,3481,3476,193.2,-7.1,104,2067,0.00,1.95,0.00,0.000,420,0.000,0.111,2665,3821,3477,3479,3476,0,0,0,0,0,0,14.90,14.28,14.90
$GC,2118,-0.77,-107.1,2665,3821,3485,3476,197.4,-7.7,112,2123,0.00,1.77,0.00,0.000,1062,0.000,0.044,2664,2737,3477,3479,3476,0,0,0,0,0,0,14.65,14.58,14.66
$GC,2454,-0.77,-107.1,2665,2737,3480,3471,220.6,-6.9,125,2460,0.00,2.30,0.00,0.000,548,0.000,0.044,2665,1390,3477,3484,3470,0,0,0,0,0,0,14.92,14.48,14.93
$GC,2516,-0.85,-107.1,2665,1391,3480,3469,225.0,-7.1,134,2522,0.00,2.47,0.00,0.000,1190,0.000,0.069,2656,2775,3474,3479,3469,0,0,0,0,0,0,14.54,14.38,14.57
$GC,2846,-0.85,-107.1,2656,2777,3480,3466,250.5,-7.9,146,2851,0.00,2.40,0.00,0.000,516,0.000,0.044,2656,1389,3472,3479,3466,0,0,0,0,0,0,14.91,14.48,14.90
$GC,2880,-0.85,-107.1,2657,1390,3481,3466,253.4,-8.2,151,2886,0.00,2.50,0.00,0.000,1030,0.000,0.070,2648,2761,3472,3478,3466,0,0,0,0,0,0,14.42,14.33,14.47
$GC,3238,-0.85,-107.1,2648,2762,3480,3461,282.8,-8.2,160,3243,0.00,2.00,0.00,0.000,260,0.000,0.113,2639,3832,3470,3479,3461,0,0,0,0,0,0,14.88,14.26,14.91
$GC,3279,-0.85,-107.1,2640,3831,3479,3462,286.4,-8.8,166,3285,0.00,1.80,0.00,0.000,1030,0.000,0.044,2639,2771,3470,3479,3461,0,0,0,0,0,0,14.59,14.57,14.62
$GC,3630,-0.85,-107.1,2640,2772,3477,3458,317.9,-9.2,174,3635,0.00,2.40,0.00,0.000,516,0.000,0.044,2639,1384,3467,3478,3456,0,0,0,0,0,0,14.93,14.46,14.94
$GC,3671,-0.85,-107.1,2638,1380,3479,3457,321.8,-9.3,180,3677,0.00,2.53,0.00,0.000,1030,0.000,0.068,2630,2764,3467,3479,3456,0,0,0,0,0,0,14.40,14.34,14.46
$GC,4022,-0.85,-107.1,2631,2765,3489,3452,354.4,-9.2,188,4027,0.00,2.00,0.00,0.000,260,0.000,0.115,2622,3828,3465,3479,3452,0,0,0,0,0,0,14.93,14.26,14.94
$GC,4063,-0.85,-107.1,2622,3829,3480,3452,358.4,-9.5,194,4069,0.00,1.83,0.00,0.000,1030,0.000,0.046,2622,2767,3465,3478,3452,0,0,0,0,0,0,14.50,14.47,14.52
$GC,4414,-0.85,-107.1,2622,2768,3480,3449,391.9,-9.7,202,4419,0.00,2.42,0.00,0.000,516,0.000,0.044,2621,1368,3464,3479,3449,0,0,0,0,0,0,14.92,14.45,14.92
$GC,4470,-0.85,-107.1,2621,1369,3480,3448,397.4,-9.6,210,4475,0.00,2.53,0.00,0.000,1030,0.000,0.070,2612,2767,3463,3478,3448,0,0,0,0,0,0,14.52,14.35,14.55
$GC,4806,-0.85,-107.1,2613,2774,3479,3446,431.8,-10.2,223,4811,0.00,1.98,0.00,0.000,260,0.000,0.113,2603,3824,3461,3478,3445,0,0,0,0,0,0,14.93,14.23,14.93
$GC,4862,-0.85,-107.1,2604,3824,3479,3446,437.9,-10.9,231,4867,0.00,1.83,0.00,0.000,1030,0.000,0.045,2603,2756,3462,3479,3445,0,0,0,0,0,0,14.54,14.50,14.55
$GC,5198,-0.85,-107.1,2603,2756,3479,3444,473.3,-10.5,244,5203,0.00,2.38,0.00,0.000,516,0.000,0.044,2602,1382,3460,3478,3442,0,0,0,0,0,0,14.92,14.45,14.92
$GC,5225,-0.85,-107.1,2603,1384,3480,3442,476.3,-10.7,248,5231,0.08,2.55,0.00,0.000,3078,0.229,0.069,2615,2770,3460,3479,3442,0,0,0,0,0,0,14.07,14.29,14.25
$GC,5590,-0.85,-107.1,2615,2770,3478,3440,512.1,-9.8,258,5595,0.00,2.00,0.00,0.000,260,0.000,0.114,2607,3827,3458,3479,3438,0,0,0,0,0,0,14.92,14.22,14.92
$GC,5646,-0.85,-107.1,2613,3827,3479,3439,517.8,-10.2,266,5651,0.00,1.85,0.00,0.000,1030,0.000,0.046,2607,2765,3458,3479,3438,0,0,0,0,0,0,14.59,14.49,14.61
$GC,5982,-0.85,-107.1,2607,2767,3480,3437,552.1,-10.2,279,5987,0.00,2.42,0.00,0.000,516,0.000,0.047,2604,1370,3457,3477,3437,0,0,0,0,0,0,14.90,14.42,14.90
$GC,6016,-0.85,-107.1,2607,1369,3478,3436,555.7,-10.3,284,6022,0.00,2.58,0.00,0.000,1030,0.000,0.068,2597,2766,3457,3479,3436,0,0,0,0,0,0,14.35,14.26,14.39
$GC,6374,-0.85,-107.1,2598,2766,3479,3432,592.4,-10.2,293,6380,0.00,2.00,0.00,0.000,260,0.000,0.113,2588,3824,3455,3479,3432,0,0,0,0,0,0,14.90,14.18,14.90
$GC,6422,-0.85,-107.1,2589,3825,3479,3432,597.4,-10.5,300,6429,0.10,1.85,0.00,0.000,3078,0.214,0.045,2617,2763,3455,3478,3432,0,0,0,0,0,0,14.11,14.51,14.27
$GC,6766,-0.85,-107.1,2617,2764,3476,3432,627.3,-8.5,307,6771,0.00,2.45,0.00,0.000,516,0.000,0.048,2616,1362,3453,3475,3432,0,0,0,0,0,0,14.89,14.37,14.90
$GC,6807,-0.85,-107.1,2621,1363,3475,3432,630.8,-8.3,313,6814,0.00,2.58,0.00,0.000,1030,0.000,0.068,2607,2762,3453,3474,3433,0,0,0,0,0,0,14.33,14.23,14.37
$GC,7158,-0.85,-107.1,2609,2762,3473,3433,660.2,-8.4,321,7164,0.00,2.00,0.00,0.000,260,0.000,0.112,2598,3828,3452,3473,3432,0,0,0,0,0,0,14.92,14.17,14.92
$GC,7199,-0.85,-107.1,2600,3829,3473,3431,663.7,-8.6,327,7205,0.00,1.85,0.00,0.000,1030,0.000,0.047,2599,2763,3452,3472,3432,0,0,0,0,0,0,14.55,14.47,14.49
$GC,7550,-0.85,-107.1,2600,2763,3472,3430,692.7,-8.2,335,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2763,3450,3472,3429,0,0,0,0,0,0,14.88,14.90,14.89
$GC,7886,-0.85,-107.1,2600,2763,3471,3430,721.1,-8.6,341,7892,0.00,2.45,0.00,0.000,516,0.000,0.048,2599,1367,3449,3471,3428,0,0,0,0,0,0,14.88,14.35,14.89
$GC,7920,-0.85,-107.1,2602,1367,3471,3429,724.2,-9.2,346,7926,0.10,2.60,0.00,0.000,3078,0.226,0.069,2617,2767,3448,3470,3427,0,0,0,0,0,0,13.94,14.19,14.30
$GC,8278,-0.85,-107.1,2616,2768,3471,3426,755.7,-8.7,355,8283,0.00,2.03,0.00,0.000,260,0.000,0.115,2609,3830,3448,3470,3426,0,0,0,0,0,0,14.88,14.11,14.88
$GC,8334,-0.85,-107.1,2610,3831,3472,3425,761.3,-10.1,363,8339,0.00,1.88,0.00,0.000,1030,0.000,0.047,2609,2754,3448,3470,3426,0,0,0,0,0,0,14.45,14.42,14.53
$GC,8670,-0.85,-107.1,2609,2755,3471,3425,791.2,-8.8,376,8675,0.00,2.40,0.00,0.000,516,0.000,0.048,2608,1381,3446,3469,3423,0,0,0,0,0,0,14.88,14.32,14.87
$GC,8718,-0.85,-107.1,2608,1380,3469,3426,795.6,-8.8,383,8725,0.00,2.58,0.00,0.000,1030,0.000,0.070,2599,2765,3447,3470,3425,0,0,0,0,0,0,14.26,14.16,14.31
$STATE,8779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8779,begin apogee
$GC,8787,-0.23,0.0,2599,2230,3471,3424,801.4,-9.2,385,8901,0.77,0.00,111.82,1.825,10244,0.178,0.000,2823,2229,3049,3091,3007,0,0,0,0,0,0,14.01,14.00,13.00
$STATE,8903,end apogee,CONTROL_FINISHED_OK
$STATE,8903,begin climb
$GC,8906,0.93,107.1,2824,2230,3086,2999,804.5,0.0,387,9030,1.10,2.42,113.72,1.821,10756,0.088,0.060,3185,890,2621,2681,2561,0,0,0,0,0,0,14.04,14.05,12.99
$GC,9106,0.83,118.4,3186,891,2677,2544,798.1,7.2,417,9120,0.00,2.45,5.05,1.828,9382,0.000,0.052,3185,2257,2582,2648,2517,0,0,0,0,0,0,14.26,14.19,12.93
$GC,9457,0.69,118.4,3186,2257,2649,2534,769.6,8.3,425,9464,0.17,2.53,1.60,0.213,12932,0.227,0.063,3140,886,2578,2647,2510,0,0,0,0,0,0,14.14,14.33,14.04
$GC,9484,0.69,118.4,3141,887,2648,2523,767.4,7.7,429,9491,0.00,2.42,0.95,0.234,9222,0.000,0.053,3140,2251,2578,2647,2510,0,0,0,0,0,0,14.40,14.37,14.09
$GC,9849,0.70,124.2,3141,2250,2649,2530,740.3,7.4,439,9868,0.00,2.62,12.20,1.980,8484,0.000,0.102,3140,3646,2549,2618,2480,0,0,0,0,0,0,14.81,14.40,13.44
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$GC,18994,1.19,417.9,3206,2254,1855,1682,22.3,3.0,799,19052,0.12,2.55,49.50,0.251,10916,0.096,0.071,3329,862,1385,1469,1301,0,0,0,0,0,0,14.48,14.28,14.07
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$STATE,19240,end climb,SURFACE_DEPTH_REACHED
$STATE,19240,begin surface coast
$FINISH,-0.9,1.021801
$STATE,19267,end surface coast,CONTROL_FINISHED_OK
$STATE,19267,begin surface
$SM_CCo,19290,39.70,0.163,0,0,1057,500.14
$SM_GC,-5.19,9.27,0.93,39.70,0.078,0.081,0.163,182,2774,1057,-8.40,-0.48,500.14,0,0,0,0,0,0,14.46,14.32,14.15
$IRIDIUM_FIX,938.56,-12502.75,301216,130254
$TT8_MAMPS,0.038948,0.286867
$HUMID,57.20
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.60
$XPDR_PINGS,0
$SC_FREEKB,3721984
$PM_FREEKB,54173184
$24V_AH,12.54,173.220
$10V_AH,12.58,0.000
$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,24.925,190.875,492.300,39.700,0.000,0.000,0.000,389.525,0.000,0.000,6.113,0.000,16302.200,815.125,2393.012,510.945,0.000,1939.556,0.000,1477.645,0.000,0.838,0.000
$DEVICE_MAMPS,384.030,114.750,1979.820,162.945,0.000,0.000,0.000,171.360,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19324.000,19276.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.568,2.446,0.000,0.000
$MEM,334732
$DATA_FILE_SIZE,30075,827
$CAP_FILE_SIZE,155190,0
$CFSIZE,1024409600,934100992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079,132.95,1
$GPS,311216,000055,941.704,-12501.160,32,0.8,32,9.0,0.7,311.2,11,5.3