version: 66.13
glider: 128
mission: 4
dive: 28
start: 1 20 118 9 1 48
data:
$ID,128
$MISSION,4
$DIVE,28
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,-6
$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,51713
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026803601
$HD_B,0.0139002
$HD_C,9.1750398e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3235
$TGT_DEFAULT_LON,-11731
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3750
$C_PITCH,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,3346
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00121
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-157.40906
$PRESSURE_SLOPE,0.00014074198
$AD7714Ch0Gain,32
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$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
$SEABIRD_T_G,0.0043553207
$SEABIRD_T_H,0.00062594062
$SEABIRD_T_I,2.3765557e-05
$SEABIRD_T_J,2.606791e-06
$SEABIRD_C_G,-9.8755465
$SEABIRD_C_H,1.1390997
$SEABIRD_C_I,-0.0019936475
$SEABIRD_C_J,0.00023608611
$GPS1,200118,085628,-311.3708,5544.3677,40,0.9,45,-4.6,0.9,126.4,8,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-70.7
$GPS2,200118,090112,-311.4368,5544.4653,24,0.9,24,-4.6,1.0,84.6,8,6.8
$SPEED_LIMITS,0.159,0.245
$TGT_NAME,N
$TGT_LATLONG,-300.000,5535.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,307.8,27479,-14.5,-9.167,-20.51,3205
$D_GRID,1000
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-0.60,-194.6,229,2220,1208,1165,0.0,0.0,0,94,0.00,0.00,-83.38,0.003,16386,0.000,0.000,230,2220,3685,3668,3703,0,0,0,0,0,0,14.87,28.83,14.89
$GC,96,-0.60,-194.6,230,2220,3668,3704,3.9,-10.8,14,117,11.70,2.45,-3.38,0.027,18692,0.439,0.086,2548,3659,3904,3897,3911,0,0,0,0,0,0,14.46,13.85,14.71
$GC,219,-0.60,-194.6,2547,3659,3901,3912,44.8,-24.8,37,226,0.00,2.28,0.00,0.000,1030,0.000,0.048,2547,2253,3907,3902,3912,0,0,0,0,0,0,14.78,14.71,14.80
$GC,533,-0.60,-194.6,2547,2248,3908,3913,97.1,-14.5,70,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2248,3910,3908,3913,0,0,0,0,0,0,15.01,15.03,15.03
$GC,833,-0.60,-194.6,2547,2248,3909,3915,144.4,-16.7,100,838,0.00,2.38,0.00,0.000,260,0.000,0.084,2547,3656,3912,3910,3915,0,0,0,0,0,0,15.06,14.81,15.07
$GC,868,-0.60,-194.6,2547,3656,3909,3915,150.4,-16.0,107,875,0.00,2.25,0.00,0.000,1030,0.000,0.045,2547,2239,3912,3910,3915,0,0,0,0,0,0,14.92,14.87,14.94
$GC,1175,-0.60,-194.6,2547,2235,3910,3915,198.7,-15.9,138,1179,0.00,2.22,0.00,0.000,516,0.000,0.054,2548,837,3912,3910,3915,0,0,0,0,0,0,15.09,14.87,15.11
$GC,1226,-0.60,-194.6,2547,836,3909,3916,206.2,-13.9,148,1231,0.00,2.30,0.00,0.000,1030,0.000,0.057,2548,2253,3913,3910,3916,0,0,0,0,0,0,14.95,14.87,14.97
$GC,1537,-0.60,-194.6,2547,2253,3910,3916,248.3,-13.1,180,1542,0.00,2.33,0.00,0.000,260,0.000,0.087,2548,3655,3912,3910,3915,0,0,0,0,0,0,15.11,14.87,15.14
$GC,1692,-0.60,-194.6,2547,3655,3909,3916,267.4,-11.7,211,1697,0.00,2.22,0.00,0.000,1030,0.000,0.044,2547,2241,3912,3909,3915,0,0,0,0,0,0,14.98,14.93,15.00
$GC,2019,-0.60,-194.6,2547,2236,3909,3915,309.6,-14.1,226,2023,0.00,2.40,0.00,0.000,260,0.000,0.086,2548,3663,3912,3909,3915,0,0,0,0,0,0,15.15,14.90,15.17
$GC,2083,-0.60,-194.6,2547,3663,3907,3914,318.5,-13.1,239,2087,0.00,2.22,0.00,0.000,1030,0.000,0.044,2547,2250,3911,3908,3914,0,0,0,0,0,0,15.01,14.95,15.02
$GC,2409,-0.60,-194.6,2547,2245,3907,3914,359.5,-12.5,254,2413,0.00,2.38,0.00,0.000,260,0.000,0.086,2548,3655,3910,3907,3913,0,0,0,0,0,0,15.16,14.92,15.19
$GC,2433,-0.60,-194.6,2547,3655,3906,3913,362.8,-12.6,259,2440,0.00,2.22,0.00,0.000,1030,0.000,0.047,2548,2247,3909,3906,3912,0,0,0,0,0,0,15.02,14.97,15.04
$GC,2740,-0.60,-194.6,2547,2242,3905,3910,401.7,-13.2,270,2744,0.00,2.40,0.00,0.000,260,0.000,0.088,2548,3666,3907,3905,3910,0,0,0,0,0,0,15.17,14.92,15.20
$GC,2784,-0.60,-194.6,2547,3666,3904,3910,407.7,-12.9,279,2789,0.00,2.28,0.00,0.000,1030,0.000,0.045,2548,2250,3906,3904,3909,0,0,0,0,0,0,15.01,14.97,15.03
$GC,3102,-0.60,-194.6,2547,2244,3903,3907,443.9,-10.9,292,3106,0.00,2.40,0.00,0.000,260,0.000,0.089,2548,3667,3905,3903,3907,0,0,0,0,0,0,15.19,14.94,15.21
$GC,3142,-0.60,-194.6,2547,3667,3902,3907,448.4,-10.4,300,3147,0.00,2.25,0.00,0.000,1030,0.000,0.046,2548,2242,3904,3902,3907,0,0,0,0,0,0,15.04,14.99,15.06
$GC,3464,-0.60,-194.6,2547,2237,3901,3905,481.5,-10.8,314,3468,0.00,2.40,0.00,0.000,260,0.000,0.088,2547,3656,3903,3902,3905,0,0,0,0,0,0,15.19,14.94,15.21
$GC,3494,-0.60,-194.6,2547,3655,3901,3904,485.0,-11.9,320,3500,0.00,2.22,0.00,0.000,1030,0.000,0.049,2548,2250,3901,3900,3903,0,0,0,0,0,0,15.05,15.00,15.07
$GC,3826,-0.60,-194.6,2547,2246,3899,3902,522.6,-11.3,336,3831,0.00,2.40,0.00,0.000,260,0.000,0.090,2548,3661,3900,3899,3901,0,0,0,0,0,0,15.19,14.95,15.21
$GC,3852,-0.60,-194.6,2547,3661,3899,3901,525.7,-11.7,341,3858,0.00,2.25,0.00,0.000,1030,0.000,0.049,2548,2246,3900,3899,3902,0,0,0,0,0,0,15.06,15.00,15.07
$GC,4158,-0.60,-194.6,2547,2241,3899,3900,560.3,-11.2,352,4163,0.00,2.40,0.00,0.000,260,0.000,0.091,2548,3654,3898,3898,3899,0,0,0,0,0,0,15.20,14.95,15.22
$GC,4208,-0.60,-194.6,2548,3655,3898,3898,566.2,-11.5,362,4212,0.00,2.22,0.00,0.000,1030,0.000,0.049,2547,2251,3898,3898,3898,0,0,0,0,0,0,15.06,15.00,15.07
$GC,4519,-0.60,-194.6,2547,2245,3898,3897,601.0,-11.3,374,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2244,3897,3898,3897,0,0,0,0,0,0,15.20,15.23,15.22
$GC,4819,-0.60,-194.6,2546,2244,3896,3894,636.8,-12.3,384,4825,0.00,2.40,0.00,0.000,260,0.000,0.093,2546,3662,3895,3896,3894,0,0,0,0,0,0,15.21,14.95,15.23
$GC,4875,-0.60,-194.6,2546,3662,3896,3893,644.0,-12.9,395,4882,0.00,2.25,0.00,0.000,1030,0.000,0.049,2546,2244,3894,3896,3893,0,0,0,0,0,0,15.07,15.00,15.08
$GC,5181,-0.60,-194.6,2545,2243,3896,3891,683.8,-13.4,406,5185,0.00,2.40,0.00,0.000,260,0.000,0.092,2546,3656,3893,3896,3891,0,0,0,0,0,0,15.21,14.95,15.22
$GC,5245,-0.60,-194.6,2546,3656,3895,3891,692.7,-14.1,419,5250,0.00,2.28,0.00,0.000,1030,0.000,0.050,2547,2253,3892,3894,3891,0,0,0,0,0,0,15.02,15.00,15.05
$GC,5572,-0.60,-194.6,2546,2249,3894,3889,735.6,-12.8,434,5576,0.00,2.40,0.00,0.000,260,0.000,0.093,2546,3660,3892,3895,3889,0,0,0,0,0,0,15.21,14.95,15.22
$GC,5596,-0.60,-194.6,2546,3660,3894,3889,738.9,-12.7,439,5603,0.00,2.25,0.00,0.000,1030,0.000,0.051,2546,2244,3891,3894,3889,0,0,0,0,0,0,15.07,15.00,15.08
$GC,5903,-0.60,-194.6,2546,2243,3893,3887,775.3,-11.5,450,5907,0.00,2.40,0.00,0.000,260,0.000,0.093,2546,3655,3890,3893,3887,0,0,0,0,0,0,15.21,14.95,15.23
$GC,5947,-0.60,-194.6,2546,3655,3892,3887,780.4,-11.1,459,5951,0.00,2.25,0.00,0.000,1030,0.000,0.050,2546,2244,3889,3892,3886,0,0,0,0,0,0,15.07,15.01,15.08
$GC,6264,-0.60,-194.6,2546,2240,3892,3885,812.2,-9.7,472,6268,0.00,2.42,0.00,0.000,260,0.000,0.094,2546,3660,3888,3892,3885,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6284,-0.60,-194.6,2546,3660,3892,3885,814.2,-9.5,476,6289,0.00,2.25,0.00,0.000,1030,0.000,0.052,2546,2254,3888,3892,3885,0,0,0,0,0,0,15.07,15.00,15.08
$GC,6596,-0.60,-194.6,2546,2249,3891,3882,842.2,-9.0,488,6601,0.00,2.40,0.00,0.000,292,0.000,0.095,2546,3653,3886,3891,3882,0,0,0,0,0,0,15.21,14.95,15.22
$GC,6662,-0.60,-194.6,2546,3654,3890,3882,848.5,-9.1,501,6666,0.00,2.25,0.00,0.000,1062,0.000,0.051,2546,2246,3886,3890,3882,0,0,0,0,0,0,15.07,15.00,15.07
$GC,6988,-0.60,-194.6,2546,2242,3890,3881,877.8,-9.2,516,6993,0.00,2.42,0.00,0.000,260,0.000,0.095,2546,3660,3885,3890,3881,0,0,0,0,0,0,15.21,14.95,15.22
$GC,7074,-0.60,-194.6,2546,3660,3888,3881,886.4,-10.0,533,7081,0.00,2.25,0.00,0.000,1030,0.000,0.051,2546,2248,3884,3888,3880,0,0,0,0,0,0,15.06,15.00,15.07
$GC,7380,-0.60,-194.6,2546,2245,3888,3879,917.1,-10.3,544,7384,0.00,2.42,0.00,0.000,260,0.000,0.095,2546,3662,3883,3888,3878,0,0,0,0,0,0,15.20,14.95,15.22
$GC,7406,-0.60,-194.6,2546,3662,3887,3879,920.1,-11.1,549,7413,0.00,2.28,0.00,0.000,1030,0.000,0.053,2546,2240,3883,3887,3879,0,0,0,0,0,0,15.07,15.00,15.07
$GC,7711,-0.60,-194.6,2546,2240,3887,3877,953.0,-10.8,560,7716,0.00,2.42,0.00,0.000,260,0.000,0.096,2546,3655,3882,3887,3877,0,0,0,0,0,0,15.20,14.95,15.22
$GC,7781,-0.60,-194.6,2546,3655,3886,3877,961.0,-11.1,574,7786,0.00,2.25,0.00,0.000,1030,0.000,0.053,2546,2252,3881,3886,3877,0,0,0,0,0,0,15.06,15.00,15.07
$STATE,8072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8072,begin apogee
$GC,8076,-0.12,0.0,2547,2369,3886,3876,992.0,-10.5,587,8225,0.60,0.00,145.45,1.836,10246,0.246,0.000,2715,2368,3346,3365,3327,0,0,0,0,0,0,14.88,14.12,13.44
$STATE,8225,end apogee,CONTROL_FINISHED_OK
$STATE,8226,begin climb
$GC,8227,0.60,194.6,2714,2368,3358,3317,997.4,0.0,592,8449,0.77,2.40,212.07,1.802,11012,0.154,0.095,2945,3678,2543,2588,2499,0,0,0,0,0,0,14.08,13.95,13.35
$GC,8504,0.60,194.6,2945,3678,2576,2494,980.4,10.6,633,8510,0.00,2.30,0.00,0.000,1030,0.000,0.054,2945,2365,2536,2578,2494,0,0,0,0,0,0,14.30,14.26,14.33
$GC,8826,0.60,194.6,2945,2364,2570,2488,948.5,10.1,647,8827,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2364,2529,2570,2488,0,0,0,0,0,0,14.83,14.85,14.85
$GC,9126,0.60,194.6,2945,2364,2567,2487,918.1,10.1,657,9131,0.00,2.30,0.00,0.000,260,0.000,0.090,2945,3687,2527,2567,2488,0,0,0,0,0,0,14.95,14.71,14.97
$GC,9161,0.60,194.6,2945,3688,2566,2487,914.1,11.3,664,9166,0.00,2.22,0.00,0.000,1030,0.000,0.054,2945,2346,2526,2566,2487,0,0,0,0,0,0,14.82,14.75,14.83
$GC,9488,0.60,194.6,2945,2345,2564,2486,881.5,9.8,679,9489,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2345,2525,2564,2487,0,0,0,0,0,0,15.02,15.04,15.04
$GC,9788,0.60,198.7,2945,2345,2562,2486,854.0,9.0,689,9793,0.00,2.33,0.00,0.000,292,0.000,0.091,2945,3690,2524,2562,2486,0,0,0,0,0,0,15.06,14.82,15.09
$GC,9828,0.60,198.7,2945,3691,2561,2486,849.8,10.2,697,9833,0.00,2.20,0.00,0.000,1030,0.000,0.053,2945,2347,2524,2562,2486,0,0,0,0,0,0,14.92,14.85,14.95
$GC,10150,0.63,225.1,2945,2346,2561,2485,822.6,8.3,711,10188,0.00,2.40,31.35,1.669,8484,0.000,0.090,2945,3679,2421,2462,2380,0,0,0,0,0,0,15.09,14.57,14.00
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$GC,17523,0.95,489.8,3036,2352,1808,1738,31.9,5.7,1312,17637,0.00,2.38,106.30,0.851,8484,0.000,0.082,3036,3694,1342,1395,1289,0,0,0,0,0,0,15.02,14.38,14.04
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$STATE,17879,end climb,SURFACE_DEPTH_REACHED
$STATE,17879,begin surface coast
$FINISH,-0.0,1.022859
$STATE,17905,end surface coast,CONTROL_FINISHED_OK
$STATE,17905,begin surface
$SM_CCo,17980,0.00,0.000,0,0,1332,493.78
$SM_GC,0.67,8.23,0.08,0.00,0.093,0.166,0.000,249,2232,1332,-7.81,1.53,493.78,0,0,0,0,0,0,14.62,14.65,14.70
$IRIDIUM_FIX,-311.17,5546.84,200118,034628
$TT8_MAMPS,0.019474,0.15729
$HUMID,60.39
$INTERNAL_PRESSURE,8.42419
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,13.35,12.281
$10V_AH,13.64,0.000
$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,21.525,198.250,677.100,0.000,0.000,0.000,0.000,190.025,0.000,0.000,25.286,2800.811,12335.377,820.756,2204.137,110.929,0.000,2172.332,0.000,1967.541,0.000,0.545,0.000
$DEVICE_MAMPS,439.110,166.005,1836.000,0.000,0.000,0.000,0.000,134.640,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,627.452,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304648
$DATA_FILE_SIZE,59985,1382
$CAP_FILE_SIZE,164340,0
$CFSIZE,260034560,256323584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$CURRENT,0.153,139.25,1
$GPS,200118,140237,-311.080,5543.750,34,0.8,36,-4.6,0.7,116.9,8,9.8