version: 66.13
glider: 128
mission: 4
dive: 43
start: 1 23 118 16 57 44
data:
$ID,128
$MISSION,4
$DIVE,43
$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,0.89999998
$RHO,1.0275
$MASS,51713
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,60
$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,400
$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,2780
$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,2350
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,77
$R_STBD_OVSHOOT,45
$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,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$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
$GPS1,230118,165231,-321.5431,5542.1851,40,0.8,42,-4.6,0.7,45.7,10,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-71.8
$GPS2,230118,165708,-321.5475,5542.2612,17,0.8,19,-4.6,0.6,88.3,10,9.5
$SPEED_LIMITS,0.143,0.221
$TGT_NAME,S
$TGT_LATLONG,-340.000,5536.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,246.0,36080,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.60,-194.6,241,2365,1174,1127,0.0,0.0,0,94,0.00,0.00,-84.55,0.003,16386,0.000,0.000,241,2366,3689,3670,3709,0,0,0,0,0,0,14.84,28.83,14.87
$GC,96,-0.60,-194.6,241,2366,3671,3710,4.1,-10.4,14,118,11.80,2.22,-3.20,0.028,18692,0.440,0.087,2568,3682,3904,3897,3911,0,0,0,0,0,0,14.43,13.79,14.69
$GC,275,-0.60,-194.6,2568,3683,3901,3911,58.7,-23.1,48,280,0.00,2.10,0.00,0.000,1030,0.000,0.050,2568,2389,3906,3901,3911,0,0,0,0,0,0,14.78,14.71,14.80
$GC,587,-0.60,-194.6,2568,2386,3908,3912,102.5,-15.6,80,592,0.00,2.33,0.00,0.000,516,0.000,0.052,2568,935,3910,3908,3912,0,0,0,0,0,0,15.01,14.78,15.03
$GC,621,-0.60,-194.6,2568,935,3909,3913,108.5,-15.6,87,629,0.00,2.33,0.00,0.000,1030,0.000,0.056,2568,2333,3911,3909,3913,0,0,0,0,0,0,14.82,14.78,14.85
$GC,928,-0.60,-194.6,2568,2333,3910,3914,160.3,-15.8,118,933,0.00,2.25,0.00,0.000,260,0.000,0.084,2568,3694,3912,3910,3914,0,0,0,0,0,0,15.06,14.82,15.09
$GC,993,-0.60,-194.6,2568,3694,3910,3914,169.7,-13.4,131,1000,0.00,2.15,0.00,0.000,1030,0.000,0.040,2568,2318,3912,3910,3915,0,0,0,0,0,0,14.93,14.88,14.95
$GC,1299,-0.60,-194.6,2568,2314,3910,3914,206.0,-11.7,162,1303,0.00,2.33,0.00,0.000,260,0.000,0.083,2568,3701,3912,3910,3914,0,0,0,0,0,0,15.09,14.85,15.11
$GC,1323,-0.60,-194.6,2568,3702,3910,3915,209.3,-12.9,167,1331,0.00,2.15,0.00,0.000,1030,0.000,0.043,2568,2359,3912,3910,3914,0,0,0,0,0,0,14.92,14.89,14.95
$GC,1650,-0.60,-194.6,2568,2357,3910,3915,254.9,-14.5,198,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2357,3912,3910,3914,0,0,0,0,0,0,15.12,15.14,15.14
$GC,1950,-0.60,-194.6,2567,2357,3910,3914,288.8,-10.6,208,1955,0.00,2.25,0.00,0.000,260,0.000,0.085,2568,3696,3912,3910,3914,0,0,0,0,0,0,15.14,14.90,15.16
$GC,1982,-0.60,-194.6,2568,3696,3909,3914,292.2,-10.5,214,1986,0.00,2.12,0.00,0.000,1030,0.000,0.042,2568,2335,3911,3909,3914,0,0,0,0,0,0,15.01,14.96,15.02
$GC,2313,-0.60,-194.6,2568,2330,3909,3914,331.8,-12.4,230,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2330,3911,3909,3913,0,0,0,0,0,0,15.16,15.19,15.19
$GC,2613,-0.60,-194.6,2568,2330,3907,3911,367.5,-11.5,240,2618,0.00,2.30,0.00,0.000,260,0.000,0.086,2567,3697,3909,3907,3911,0,0,0,0,0,0,15.18,14.93,15.20
$GC,2628,-0.60,-194.6,2567,3697,3907,3911,369.4,-11.5,243,2632,0.00,2.10,0.00,0.000,1030,0.000,0.044,2568,2352,3909,3907,3911,0,0,0,0,0,0,15.04,14.98,15.05
$GC,2945,-0.60,-194.6,2567,2348,3906,3909,402.0,-10.7,256,2949,0.00,2.22,0.00,0.000,516,0.000,0.053,2568,947,3907,3906,3909,0,0,0,0,0,0,15.19,14.97,15.21
$GC,2970,-0.60,-194.6,2568,947,3906,3909,404.9,-10.9,261,2977,0.00,2.30,0.00,0.000,1030,0.000,0.060,2568,2359,3907,3906,3909,0,0,0,0,0,0,15.04,14.95,15.05
$GC,3276,-0.60,-194.6,2568,2360,3905,3907,437.3,-10.7,272,3281,0.00,2.22,0.00,0.000,260,0.000,0.090,2568,3700,3904,3903,3906,0,0,0,0,0,0,15.19,14.95,15.21
$GC,3322,-0.60,-194.6,2568,3700,3903,3906,442.3,-10.6,281,3326,0.00,2.12,0.00,0.000,1030,0.000,0.045,2568,2347,3904,3902,3906,0,0,0,0,0,0,15.05,15.00,15.07
$GC,3638,-0.60,-194.6,2568,2343,3902,3903,474.2,-10.3,294,3642,0.00,2.20,0.00,0.000,516,0.000,0.052,2568,954,3902,3902,3903,0,0,0,0,0,0,15.20,14.97,15.21
$GC,3662,-0.60,-194.6,2568,954,3902,3903,477.1,-10.8,299,3669,0.00,2.28,0.00,0.000,1030,0.000,0.059,2568,2349,3902,3902,3903,0,0,0,0,0,0,15.04,14.97,15.07
$GC,3969,-0.60,-194.6,2567,2349,3900,3901,509.7,-10.8,310,3973,0.00,2.22,0.00,0.000,260,0.000,0.090,2568,3693,3900,3900,3901,0,0,0,0,0,0,15.20,14.95,15.22
$GC,4008,-0.60,-194.6,2566,3693,3899,3901,514.1,-10.7,318,4012,0.00,2.12,0.00,0.000,1030,0.000,0.044,2567,2343,3900,3899,3901,0,0,0,0,0,0,15.06,15.00,15.07
$GC,4330,-0.60,-194.6,2568,2339,3899,3898,543.5,-8.4,332,4335,0.00,2.20,0.00,0.000,516,0.000,0.053,2568,950,3898,3899,3898,0,0,0,0,0,0,15.20,14.98,15.22
$GC,4363,-0.60,-194.6,2567,950,3900,3899,546.0,-8.0,338,4367,0.00,2.30,0.00,0.000,1030,0.000,0.061,2568,2355,3899,3899,3899,0,0,0,0,0,0,15.05,14.97,15.07
$GC,4694,-0.60,-194.6,2567,2355,3898,3897,571.4,-7.9,354,4698,0.00,2.22,0.00,0.000,260,0.000,0.091,2568,3692,3897,3898,3897,0,0,0,0,0,0,15.21,14.95,15.22
$GC,4748,-0.60,-194.6,2568,3692,3897,3896,576.2,-8.4,365,4755,0.00,2.10,0.00,0.000,1030,0.000,0.045,2568,2346,3896,3897,3896,0,0,0,0,0,0,15.07,15.01,15.08
$GC,5055,-0.60,-194.6,2568,2346,3897,3895,605.8,-10.4,376,5060,0.00,2.20,0.00,0.000,516,0.000,0.055,2568,962,3895,3897,3894,0,0,0,0,0,0,15.21,14.98,15.23
$GC,5090,-0.60,-194.6,2568,962,3897,3894,609.7,-10.4,383,5094,0.00,2.28,0.00,0.000,1030,0.000,0.063,2568,2350,3895,3897,3894,0,0,0,0,0,0,15.05,14.97,15.07
$GC,5416,-0.60,-194.6,2567,2350,3896,3891,644.7,-11.0,398,5420,0.00,2.25,0.00,0.000,260,0.000,0.093,2568,3697,3893,3896,3891,0,0,0,0,0,0,15.21,14.95,15.23
$GC,5471,-0.60,-194.6,2568,3697,3895,3891,651.2,-11.3,409,5478,0.00,2.12,0.00,0.000,1030,0.000,0.047,2568,2346,3893,3895,3891,0,0,0,0,0,0,15.07,15.01,15.07
$GC,5777,-0.60,-194.6,2566,2345,3893,3888,686.3,-11.4,420,5782,0.00,2.20,0.00,0.000,516,0.000,0.055,2566,957,3891,3895,3888,0,0,0,0,0,0,15.20,14.98,15.22
$GC,5809,-0.60,-194.6,2566,957,3894,3888,690.1,-11.6,426,5813,0.00,2.28,0.00,0.000,1030,0.000,0.062,2566,2351,3891,3894,3888,0,0,0,0,0,0,15.05,14.97,15.07
$GC,6140,-0.60,-194.6,2567,2351,3893,3886,725.6,-10.2,442,6144,0.00,2.25,0.00,0.000,260,0.000,0.093,2567,3700,3889,3893,3886,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6164,-0.60,-194.6,2566,3700,3892,3886,728.1,-10.0,447,6171,0.00,2.12,0.00,0.000,1030,0.000,0.048,2567,2351,3889,3892,3886,0,0,0,0,0,0,15.07,15.01,15.08
$GC,6471,-0.60,-194.6,2566,2350,3892,3885,755.3,-8.7,458,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2350,3888,3892,3885,0,0,0,0,0,0,15.21,15.23,15.23
$GC,6771,-0.60,-194.6,2566,2350,3892,3883,783.0,-9.5,468,6775,0.00,2.28,0.00,0.000,260,0.000,0.092,2567,3693,3887,3892,3883,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6796,-0.60,-194.6,2566,3693,3891,3883,785.6,-10.3,473,6803,0.00,2.12,0.00,0.000,1030,0.000,0.048,2566,2347,3886,3891,3882,0,0,0,0,0,0,15.07,15.01,15.08
$GC,7102,-0.60,-194.6,2566,2347,3891,3882,817.3,-10.8,484,7107,0.00,2.22,0.00,0.000,516,0.000,0.057,2567,956,3886,3891,3881,0,0,0,0,0,0,15.21,14.98,15.23
$GC,7147,-0.60,-194.6,2566,955,3891,3881,822.4,-11.0,493,7151,0.00,2.30,0.00,0.000,1030,0.000,0.063,2567,2361,3885,3890,3881,0,0,0,0,0,0,15.05,14.97,15.07
$GC,7464,-0.60,-194.6,2566,2361,3890,3879,856.4,-10.7,506,7468,0.00,2.25,0.00,0.000,260,0.000,0.096,2567,3699,3885,3890,3880,0,0,0,0,0,0,15.21,14.95,15.23
$GC,7499,-0.60,-194.6,2566,3699,3889,3879,860.3,-10.9,513,7503,0.00,2.12,0.00,0.000,1030,0.000,0.049,2567,2355,3884,3889,3879,0,0,0,0,0,0,15.07,15.00,15.08
$GC,7825,-0.60,-194.6,2566,2351,3888,3878,892.3,-9.8,528,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2351,3883,3889,3878,0,0,0,0,0,0,15.21,15.23,15.22
$GC,8125,-0.60,-194.6,2566,2351,3888,3877,921.2,-9.5,538,8129,0.00,2.30,0.00,0.000,260,0.000,0.095,2567,3698,3882,3887,3877,0,0,0,0,0,0,15.21,14.95,15.23
$GC,8160,-0.60,-194.6,2566,3697,3887,3877,924.6,-9.5,545,8164,0.00,2.15,0.00,0.000,1030,0.000,0.050,2566,2345,3881,3887,3876,0,0,0,0,0,0,15.06,15.01,15.08
$GC,8486,-0.60,-194.6,2566,2341,3887,3875,953.2,-8.5,560,8491,0.00,2.22,0.00,0.000,516,0.000,0.056,2567,948,3880,3887,3874,0,0,0,0,0,0,15.21,14.98,15.23
$GC,8507,-0.60,-194.6,2566,949,3886,3874,955.0,-8.6,564,8512,0.00,2.30,0.00,0.000,1030,0.000,0.066,2567,2349,3881,3887,3875,0,0,0,0,0,0,15.05,14.96,15.07
$GC,8819,-0.60,-194.6,2566,2349,3886,3873,978.2,-7.2,576,8824,0.00,2.28,0.00,0.000,260,0.000,0.098,2566,3699,3879,3886,3873,0,0,0,0,0,0,15.21,14.94,15.23
$GC,8869,-0.60,-194.6,2566,3699,3885,3872,982.0,-7.1,586,8873,0.00,2.15,0.00,0.000,1062,0.000,0.050,2567,2349,3878,3885,3872,0,0,0,0,0,0,15.06,15.00,15.07
$STATE,8999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9000,begin apogee
$GC,9004,-0.12,0.0,2567,2404,3885,3872,991.2,-7.1,592,9182,0.57,0.00,175.12,1.655,10246,0.235,0.000,2731,2404,3345,3368,3323,0,0,0,0,0,0,14.87,14.13,13.52
$STATE,9183,end apogee,CONTROL_FINISHED_OK
$STATE,9183,begin climb
$GC,9185,0.60,194.6,2731,2404,3362,3318,995.3,0.0,598,9393,0.80,2.40,198.73,1.869,10500,0.142,0.090,2978,3687,2544,2591,2498,0,0,0,0,0,0,14.09,13.95,13.30
$GC,9468,0.60,194.6,2978,3687,2579,2493,974.4,12.8,655,9473,0.00,2.15,0.00,0.000,1030,0.000,0.051,2979,2419,2535,2579,2492,0,0,0,0,0,0,14.36,14.30,14.38
$GC,9785,0.60,194.6,2979,2419,2572,2487,940.8,10.0,668,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2419,2529,2572,2487,0,0,0,0,0,0,14.83,14.85,14.85
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$GC,18879,1.12,487.5,3034,2389,2557,2482,48.4,-0.2,1323,19140,0.28,2.40,249.40,0.847,11044,0.118,0.062,3138,1004,1349,1407,1292,0,0,0,0,0,0,14.89,14.25,13.90
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$STATE,19305,end climb,SURFACE_DEPTH_REACHED
$STATE,19305,begin surface coast
$FINISH,0.5,1.022713
$STATE,19321,end surface coast,CONTROL_FINISHED_OK
$STATE,19321,begin surface
$SM_CCo,19397,0.00,0.000,0,0,1337,492.55
$SM_GC,0.75,8.73,0.10,0.00,0.106,0.129,0.000,249,2324,1337,-7.87,1.27,492.55,0,0,0,0,0,0,14.50,14.58,14.61
$IRIDIUM_FIX,-319.87,5543.84,230118,112948
$TT8_MAMPS,0.018725,0.156541
$HUMID,58.50
$INTERNAL_PRESSURE,8.45349
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,13.30,17.173
$10V_AH,13.61,0.000
$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,22.300,181.500,623.250,0.000,0.000,0.000,0.000,188.875,0.250,0.000,20.588,2943.262,13627.997,760.254,2216.673,134.721,0.000,2123.712,0.000,1992.778,0.000,0.546,0.000
$DEVICE_MAMPS,439.875,163.710,1868.895,0.000,0.000,0.000,0.000,135.405,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,674.833,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304644
$DATA_FILE_SIZE,60023,1400
$CAP_FILE_SIZE,166648,0
$CFSIZE,260034560,255139840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.176,104.84,1
$GPS,230118,222209,-323.075,5542.175,31,1.1,35,-4.7,0.5,106.7,7,9.0