version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 1046
start: 10 26 121 1 57 45
data:
$ID,626
$MISSION,3
$DIVE,1046
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$D_NO_BLEED,150
$D_BOOST,20
$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,180
$T_MISSION,425
$T_ABORT,550
$T_TURN,500
$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,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54816
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019952599
$HD_B,0.011885
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15809
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,199
$PITCH_MAX,3921
$C_PITCH,2720
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,37.799999
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,183
$ROLL_MAX,3761
$ROLL_DEG,40
$C_ROLL_DIVE,2075
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2670
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00061500003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.91942
$PRESSURE_SLOPE,0.00014088588
$AD7714Ch0Gain,32
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,67
$DEVICE5,54
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044219922
$SEABIRD_T_H,0.00064468966
$SEABIRD_T_I,2.6862755e-05
$SEABIRD_T_J,3.3151866e-06
$SEABIRD_C_G,-10.061407
$SEABIRD_C_H,1.1334444
$SEABIRD_C_I,-0.0030129163
$SEABIRD_C_J,0.00029655115
$GPS1,261021,014806,2241.8940,-15817.0820,30,0.9,35,9.8,0.5,304.9,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-74.4
$GPS2,261021,015653,2241.9539,-15817.1318,6,0.9,16,9.8,0.4,320.4,9,9.8
$SPEED_LIMITS,0.238,0.248
$TGT_NAME,ALOHA3
$TGT_LATLONG,2239.500,-15800.000
$TGT_RADIUS,1300.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,69.1,29631,-18.4,-11.111,-24.11,2067
$D_GRID,600
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.57,-136.3,126,2061,773,623,0.0,0.0,0,95,0.00,0.00,-75.32,0.000,16386,0.000,0.000,126,2062,3186,3146,3226,0,0,0,0,0,0,15.04,28.83,15.05
$GC,99,-0.57,-136.3,126,2062,3148,3226,3.7,-7.6,11,115,8.73,2.45,-0.62,0.000,18692,0.449,0.068,2517,3496,3229,3195,3263,0,0,0,0,0,0,13.97,13.10,14.26
$GC,145,-0.57,-136.3,2516,3496,3203,3257,21.6,-29.0,18,153,0.05,2.45,0.00,0.000,3078,0.364,0.049,2534,2078,3229,3207,3252,0,0,0,0,0,0,14.39,14.64,14.62
$GC,403,-0.57,-136.3,2534,2076,3210,3251,68.1,-18.1,47,412,0.00,2.38,0.00,0.000,2564,0.000,0.056,2538,673,3230,3210,3250,0,0,0,0,0,0,15.12,14.23,15.13
$GC,467,-0.57,-136.3,2538,672,3211,3250,79.1,-16.5,53,477,0.00,2.38,0.00,0.000,3078,0.000,0.050,2529,2076,3230,3212,3249,0,0,0,0,0,0,14.41,14.37,14.44
$GC,719,-0.57,-136.3,2530,2076,3213,3248,119.2,-14.1,78,723,0.00,2.40,0.00,0.000,2308,0.000,0.066,2519,3487,3231,3214,3248,0,0,0,0,0,0,15.15,14.69,15.16
$GC,773,-0.57,-136.3,2518,3487,3213,3248,126.4,-12.7,83,783,0.03,2.35,0.00,0.000,3078,0.330,0.045,2530,2066,3230,3213,3248,0,0,0,0,0,0,14.32,14.57,14.41
$GC,1025,-0.57,-136.3,2530,2067,3214,3248,154.1,-11.4,108,1029,0.00,2.35,0.00,0.000,2564,0.000,0.054,2531,663,3231,3214,3248,0,0,0,0,0,0,15.18,14.73,15.19
$GC,1072,-0.57,-136.3,2530,663,3214,3248,159.4,-11.6,112,1078,0.00,2.40,0.00,0.000,3078,0.000,0.051,2522,2084,3230,3214,3246,0,0,0,0,0,0,14.89,14.74,14.91
$GC,1321,-0.57,-136.3,2521,2085,3215,3246,188.2,-11.3,137,1330,0.00,2.38,0.00,0.000,2564,0.000,0.050,2522,670,3231,3215,3247,0,0,0,0,0,0,15.19,14.54,15.19
$GC,1354,-0.57,-136.3,2522,669,3215,3246,192.4,-11.7,140,1360,0.08,2.38,0.00,0.000,3078,0.322,0.051,2540,2077,3229,3213,3246,0,0,0,0,0,0,14.43,14.75,14.69
$GC,1609,-0.57,-136.3,2539,2078,3215,3245,217.4,-9.1,165,1618,0.00,2.38,0.00,0.000,260,0.000,0.067,2529,3480,3230,3215,3245,0,0,0,0,0,0,15.21,14.44,15.21
$GC,1653,-0.57,-136.3,2530,3479,3215,3245,221.3,-9.0,169,1662,0.00,2.30,0.00,0.000,3078,0.000,0.043,2530,2080,3230,3215,3245,0,0,0,0,0,0,14.61,14.57,14.62
$GC,1905,-0.57,-136.3,2530,2080,3215,3245,245.7,-9.8,194,1909,0.00,2.38,0.00,0.000,2564,0.000,0.053,2530,660,3229,3215,3244,0,0,0,0,0,0,15.19,14.75,15.20
$GC,1991,-0.57,-136.3,2530,659,3215,3245,254.1,-9.6,202,1999,0.05,2.40,0.00,0.000,3078,0.360,0.052,2539,2082,3229,3215,3244,0,0,0,0,0,0,14.50,14.75,14.72
$GC,2239,-0.57,-136.3,2539,2081,3215,3243,279.3,-10.0,227,2247,0.00,2.38,0.00,0.000,260,0.000,0.067,2530,3484,3229,3215,3243,0,0,0,0,0,0,15.20,14.47,15.20
$GC,2312,-0.57,-136.3,2530,3484,3214,3243,286.3,-9.4,234,2317,0.00,2.33,0.00,0.000,3078,0.000,0.043,2530,2076,3228,3215,3242,0,0,0,0,0,0,14.92,14.80,14.95
$GC,2569,-0.57,-136.3,2529,2075,3215,3241,308.2,-8.1,259,2578,0.00,2.35,0.00,0.000,2564,0.000,0.055,2530,671,3228,3215,3241,0,0,0,0,0,0,15.19,14.50,15.20
$GC,2646,-0.57,-136.3,2530,671,3215,3241,314.2,-7.7,266,2654,0.05,2.35,0.00,0.000,3078,0.364,0.052,2539,2075,3227,3214,3240,0,0,0,0,0,0,14.49,14.75,14.71
$GC,2897,-0.57,-136.3,2539,2075,3215,3238,333.8,-8.7,291,2906,0.00,2.40,0.00,0.000,260,0.000,0.067,2530,3481,3226,3215,3237,0,0,0,0,0,0,15.20,14.21,15.21
$GC,2950,-0.57,-136.3,2528,3481,3214,3237,339.2,-9.3,296,2955,0.00,2.33,0.00,0.000,3078,0.000,0.043,2530,2075,3225,3214,3237,0,0,0,0,0,0,14.92,14.80,14.95
$GC,3206,-0.57,-136.3,2529,2073,3214,3235,364.3,-9.7,321,3216,0.00,2.35,0.00,0.000,2564,0.000,0.056,2530,671,3224,3214,3235,0,0,0,0,0,0,15.20,14.50,15.20
$GC,3260,-0.57,-136.3,2529,671,3214,3235,369.8,-9.9,326,3266,0.05,2.40,0.00,0.000,3078,0.356,0.055,2539,2077,3224,3214,3235,0,0,0,0,0,0,14.49,14.73,14.71
$GC,3515,-0.57,-136.3,2539,2077,3214,3231,391.0,-7.6,351,3525,0.00,2.42,0.00,0.000,260,0.000,0.069,2530,3485,3222,3214,3231,0,0,0,0,0,0,15.21,14.19,15.21
$GC,3602,-0.57,-136.3,2529,3485,3214,3229,397.6,-7.7,359,3609,0.00,2.38,0.00,0.000,3078,0.000,0.044,2530,2068,3221,3214,3229,0,0,0,0,0,0,14.90,14.77,14.92
$GC,3853,-0.57,-136.3,2529,2067,3214,3227,417.8,-8.5,384,3858,0.00,2.38,0.00,0.000,2564,0.000,0.057,2529,671,3220,3214,3226,0,0,0,0,0,0,15.19,14.71,15.19
$GC,3890,-0.57,-136.3,2529,670,3211,3228,421.1,-8.9,387,3898,0.00,2.53,0.00,0.000,3078,0.000,0.056,2519,2076,3219,3211,3227,0,0,0,0,0,0,14.67,14.59,14.71
$GC,4141,-0.57,-136.3,2520,2076,3211,3224,444.2,-9.2,412,4146,0.05,2.45,0.00,0.000,2308,0.399,0.068,2528,3488,3217,3211,3224,0,0,0,0,0,0,14.60,14.66,14.73
$GC,4176,-0.57,-136.3,2528,3488,3211,3224,447.6,-9.0,415,4185,0.00,2.38,0.00,0.000,3078,0.000,0.047,2528,2076,3217,3211,3224,0,0,0,0,0,0,14.52,14.47,14.55
$GC,4428,-0.57,-136.3,2528,2076,3211,3221,469.5,-9.1,440,4432,0.00,2.42,0.00,0.000,2564,0.000,0.058,2528,665,3215,3210,3221,0,0,0,0,0,0,15.19,14.69,15.19
$GC,4475,-0.57,-136.3,2528,664,3208,3223,473.7,-9.3,444,4483,0.05,2.50,0.00,0.000,3078,0.358,0.057,2537,2074,3215,3209,3222,0,0,0,0,0,0,14.40,14.63,14.63
$GC,4726,-0.57,-136.3,2537,2075,3209,3219,496.3,-9.6,469,4735,0.00,2.45,0.00,0.000,260,0.000,0.070,2528,3478,3214,3209,3219,0,0,0,0,0,0,15.18,14.39,15.19
$GC,4780,-0.57,-136.3,2527,3479,3209,3218,502.0,-10.1,474,4785,0.00,2.38,0.00,0.000,3078,0.000,0.046,2528,2070,3213,3208,3218,0,0,0,0,0,0,14.87,14.72,14.90
$GC,5037,-0.57,-136.3,2528,2070,3209,3215,528.6,-10.6,499,5046,0.00,2.40,0.00,0.000,2564,0.000,0.057,2528,668,3212,3208,3217,0,0,0,0,0,0,15.18,14.36,15.18
$GC,5080,-0.57,-136.3,2528,668,3206,3217,533.7,-11.0,503,5089,0.05,2.42,0.00,0.000,3078,0.305,0.055,2536,2075,3212,3207,3217,0,0,0,0,0,0,14.04,14.38,14.19
$GC,5331,-0.57,-136.3,2536,2075,3207,3213,558.1,-8.9,528,5335,0.00,2.45,0.00,0.000,260,0.000,0.070,2527,3484,3210,3207,3213,0,0,0,0,0,0,15.19,14.62,15.19
$GC,5375,-0.57,-136.3,2526,3484,3206,3213,561.9,-9.0,532,5380,0.00,2.42,0.00,0.000,3078,0.000,0.047,2527,2072,3209,3206,3213,0,0,0,0,0,0,14.85,14.71,14.88
$GC,5631,-0.57,-136.3,2527,2071,3206,3212,582.8,-7.9,557,5640,0.00,2.42,0.00,0.000,2564,0.000,0.060,2527,665,3208,3205,3212,0,0,0,0,0,0,15.16,14.33,15.17
$GC,5704,-0.57,-136.3,2527,665,3204,3212,589.0,-8.2,564,5709,0.05,2.45,0.00,0.000,3078,0.377,0.057,2535,2074,3207,3203,3212,0,0,0,0,0,0,14.38,14.64,14.61
$STATE,5875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5875,begin apogee
$GC,5882,-0.13,0.0,2535,2075,3203,3211,600.4,-6.2,581,6007,0.38,0.00,119.05,1.760,10246,0.238,0.000,2672,2076,2669,2750,2588,0,0,0,0,0,0,13.96,14.29,13.27
$STATE,6008,end apogee,CONTROL_FINISHED_OK
$STATE,6008,begin climb
$GC,6012,0.57,136.3,2672,2075,2750,2588,602.5,0.0,594,6151,0.57,2.53,124.65,1.723,10756,0.156,0.059,2913,664,2111,2205,2017,0,0,0,0,0,0,14.27,14.32,13.30
$GC,6239,0.57,136.3,2913,664,2196,2013,580.6,13.1,616,6246,0.00,2.53,0.00,0.000,5126,0.000,0.054,2913,2107,2104,2196,2012,0,0,0,0,0,0,14.73,14.59,14.75
$GC,6489,0.57,136.3,2913,2107,2195,2009,547.8,12.9,641,6498,0.00,2.42,0.00,0.000,4356,0.000,0.070,2913,3509,2102,2195,2009,0,0,0,0,0,0,15.07,14.43,15.07
$GC,6566,0.57,136.3,2913,3509,2195,2009,537.7,13.3,648,6574,0.08,2.45,0.00,0.000,5126,0.378,0.049,2902,2101,2102,2195,2010,0,0,0,0,0,0,14.30,14.69,14.65
$GC,6817,0.58,145.5,2901,2099,2195,2008,510.4,10.7,673,6830,0.00,2.50,7.70,1.433,8452,0.000,0.070,2902,3515,2074,2169,1980,0,0,0,0,0,0,15.12,14.69,13.64
$GC,6870,0.58,145.5,2901,3514,2169,1980,504.0,11.7,678,6879,0.00,2.40,0.00,0.000,5126,0.000,0.050,2911,2100,2074,2169,1980,0,0,0,0,0,0,14.50,14.42,14.52
$GC,7125,0.58,153.1,2910,2100,2169,1980,477.5,10.7,703,7142,0.00,2.40,8.48,1.434,12804,0.000,0.060,2922,694,2043,2138,1949,0,0,0,0,0,0,15.13,14.40,13.64
$GC,7160,0.59,160.5,2921,694,2137,1948,473.6,10.7,706,7177,0.00,2.42,8.18,1.405,13318,0.000,0.055,2922,2101,2013,2107,1920,0,0,0,0,0,0,14.90,14.76,13.64
$GC,7417,0.59,160.5,2922,2101,2107,1918,443.4,11.5,732,7427,0.00,2.45,0.00,0.000,4356,0.000,0.070,2922,3511,2012,2107,1918,0,0,0,0,0,0,15.13,14.23,15.13
$GC,7511,0.59,160.5,2922,3512,2107,1917,431.4,12.5,741,7522,0.08,2.40,0.00,0.000,5126,0.321,0.050,2910,2101,2012,2107,1918,0,0,0,0,0,0,13.91,14.28,14.11
$GC,7763,0.59,171.3,2909,2100,2107,1916,404.1,10.6,766,7781,0.00,2.42,10.85,1.430,8708,0.000,0.061,2919,694,1969,2063,1876,0,0,0,0,0,0,15.14,14.38,13.64
$GC,7796,0.59,172.9,2918,693,2060,1876,400.4,11.0,769,7805,0.00,2.42,0.00,0.000,5126,0.000,0.056,2918,2101,1967,2059,1875,0,0,0,0,0,0,14.66,14.60,14.69
$GC,8048,0.60,176.9,2918,2101,2059,1874,372.3,10.9,794,8060,0.00,2.45,6.12,1.258,12548,0.000,0.066,2918,3516,1947,2037,1857,0,0,0,0,0,0,15.12,14.69,13.66
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$GC,9067,0.62,218.1,2932,3508,1900,1721,254.3,10.7,894,9086,0.05,2.38,8.57,1.203,13318,0.300,0.050,2925,2104,1779,1869,1689,0,0,0,0,0,0,14.19,14.45,13.69
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$STATE,11617,end climb,SURFACE_DEPTH_REACHED
$STATE,11617,begin surface coast
$FINISH,0.3,1.023381
$STATE,11649,end surface coast,CONTROL_FINISHED_OK
$STATE,11650,begin surface
$SM_CCo,11731,0.00,0.000,0,0,597,508.99
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$IRIDIUM_FIX,2232.34,-15817.99,261021,015025
$TT8_MAMPS,0.023219,0.340046
$HUMID,55.94
$INTERNAL_PRESSURE,9.00388
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,13.10,228.385
$10V_AH,12.25,0.000
$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,16.975,168.975,572.650,0.000,0.000,29.217,47.576,270.556,0.000,0.000,17.139,2985.005,5208.999,678.269,2942.182,452.742,0.000,1940.794,0.000,2575.453,0.000,0.552,0.000
$DEVICE_MAMPS,449.055,70.380,1759.500,0.000,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,792.713,905.079,1571.885,1000.350,1163.598,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339124
$DATA_FILE_SIZE,110840,1174
$CAP_FILE_SIZE,163545,0
$CFSIZE,1023623168,931217408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.126,309.39,1
$GPS,261021,051435,2242.580,-15817.058,29,0.8,42,9.8,0.4,161.7,10,9.1