version: 66.11
glider: 169
mission: 8
dive: 692
start: 8 10 113 14 57 16
data:
$ID,169
$MISSION,8
$DIVE,692
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,130
$T_BOOST,4
$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,350
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52063
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00091300003
$HD_B,0.0119
$HD_C,2.0500001e-07
$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,592.89008
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-23405.889
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2365
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2575
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2852
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$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
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.03682
$PRESSURE_SLOPE,0.0001078585
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042608725
$SEABIRD_T_H,0.00061783189
$SEABIRD_T_I,2.1692709e-05
$SEABIRD_T_J,2.1724361e-06
$SEABIRD_C_G,-10.034778
$SEABIRD_C_H,1.1503564
$SEABIRD_C_I,-0.0019294197
$SEABIRD_C_J,0.0002327933
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,100813,144206,1913.722,12224.312,31,1.1,31,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-69.8
$GPS2,100813,145648,1913.923,12223.982,10,1.5,15,-2.2
$SPEED_LIMITS,0.163,0.258
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,107.9,231152,-5.6,-9.429,-20.04,2855
$D_GRID,2401
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,28,-0.67,-175.2,127,2606,611,259,0.0,0.0,0,121,0.00,0.00,-90.35,0.000,16386,0.000,0.000,126,2606,2826,2804,2849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,133,-0.67,-175.2,125,2606,2804,2850,3.8,-9.6,12,159,8.77,2.88,-11.00,0.000,18948,0.228,0.041,2140,1135,3570,3440,3700,0,0,0,0,0,0,24.56,25.88,26.51
$GC,177,-0.67,-175.2,2140,1133,3441,3700,28.5,-44.6,17,183,0.00,2.85,0.00,0.000,1030,0.000,0.036,2128,2608,3570,3441,3700,0,0,0,0,0,0,28.83,25.83,28.83
$GC,504,-0.67,-175.2,2128,2605,3441,3700,120.6,-21.9,36,510,0.00,2.78,0.00,0.000,516,0.000,0.028,2128,1131,3570,3441,3700,0,0,0,0,0,0,28.83,26.03,28.83
$GC,556,-0.67,-175.2,2128,1130,3441,3700,130.2,-21.3,38,562,0.00,2.83,0.00,0.000,1030,0.000,0.035,2125,2609,3570,3441,3700,0,0,0,0,0,0,28.83,25.96,28.83
$GC,885,-0.67,-175.2,2125,2606,3441,3701,195.7,-20.5,54,891,0.00,2.75,0.00,0.000,516,0.000,0.027,2125,1145,3570,3441,3700,0,0,0,0,0,0,28.83,26.10,28.83
$GC,922,-0.67,-175.2,2125,1144,3441,3700,201.7,-20.5,55,930,0.00,2.80,0.00,0.000,1030,0.000,0.034,2125,2605,3570,3441,3700,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1241,-0.67,-175.2,2124,2603,3441,3700,260.3,-16.5,71,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2602,3571,3442,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1542,-0.67,-175.2,2125,2602,3440,3700,306.0,-15.4,86,1549,0.00,2.75,0.00,0.000,516,0.000,0.026,2124,1125,3570,3441,3700,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1601,-0.67,-175.2,2125,1124,3440,3700,313.1,-14.8,88,1607,0.00,2.83,0.00,0.000,1030,0.000,0.035,2124,2608,3570,3441,3699,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1920,-0.67,-175.2,2124,2605,3440,3697,362.7,-14.4,104,1926,0.00,1.90,0.00,0.000,260,0.000,0.044,2116,3822,3568,3440,3697,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1979,-0.67,-175.2,2115,3822,3440,3696,369.9,-14.8,106,1985,0.12,1.88,0.00,0.000,3078,0.137,0.023,2151,2559,3568,3440,3696,0,0,0,0,0,0,26.01,26.36,28.83
$GC,2301,-0.67,-175.2,2151,2559,3440,3691,410.9,-11.8,122,2307,0.00,2.08,0.00,0.000,260,0.000,0.044,2143,3841,3565,3439,3691,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2392,-0.67,-175.2,2143,3841,3440,3690,422.4,-12.0,126,2398,0.00,1.90,0.00,0.000,1030,0.000,0.026,2148,2571,3564,3440,3689,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2725,-0.67,-175.2,2143,2571,3440,3683,456.9,-10.5,142,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2571,3561,3440,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3019,-0.67,-175.2,2143,2571,3439,3677,490.8,-11.7,157,3025,0.00,2.05,0.00,0.000,260,0.000,0.045,2141,3832,3557,3439,3676,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3071,-0.67,-175.2,2142,3832,3439,3676,496.4,-11.9,159,3078,0.00,1.90,0.00,0.000,1030,0.000,0.024,2141,2562,3557,3439,3676,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3403,-0.67,-175.2,2141,2562,3439,3669,536.3,-12.0,175,3409,0.00,2.65,0.00,0.000,516,0.000,0.030,2141,1132,3553,3439,3668,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3455,-0.67,-175.2,2141,1133,3439,3668,542.2,-11.7,177,3461,0.00,2.78,0.00,0.000,1030,0.000,0.032,2139,2614,3553,3439,3667,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3786,-0.67,-175.2,2138,2612,3437,3661,579.2,-11.0,193,3792,0.00,1.92,0.00,0.000,260,0.000,0.050,2138,3826,3549,3437,3661,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3851,-0.67,-175.2,2138,3826,3436,3661,585.0,-11.4,195,3859,0.00,1.90,0.00,0.000,1030,0.000,0.024,2138,2559,3549,3437,3661,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4157,-0.67,-175.2,2138,2558,3436,3655,622.2,-11.3,208,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2558,3545,3435,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4458,-0.67,-175.2,2137,2558,3434,3655,655.8,-11.1,218,4464,0.00,2.12,0.00,0.000,260,0.000,0.051,2136,3821,3542,3434,3650,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4491,-0.67,-175.2,2138,3821,3433,3651,655.8,-11.1,218,4499,0.00,1.92,0.00,0.000,1030,0.000,0.026,2138,2565,3541,3433,3650,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4801,-0.67,-175.2,2138,2565,3431,3647,694.7,-11.6,229,4808,0.00,2.10,0.00,0.000,260,0.000,0.047,2138,3843,3539,3431,3648,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4822,-0.67,-175.2,2138,3842,3431,3647,694.7,-11.6,229,4828,0.00,1.95,0.00,0.000,1030,0.000,0.026,2138,2554,3539,3431,3648,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5149,-0.67,-175.2,2138,2554,3430,3643,731.2,-9.9,240,5156,0.00,2.62,0.00,0.000,516,0.000,0.031,2138,1127,3536,3430,3643,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5204,-0.67,-175.2,2138,1126,3430,3643,735.3,-9.7,241,5210,0.00,2.78,0.00,0.000,1030,0.000,0.034,2138,2613,3536,3430,3643,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5528,-0.67,-175.2,2137,2611,3428,3638,769.8,-10.8,252,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2611,3532,3428,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5830,-0.67,-175.2,2137,2610,3426,3634,804.1,-11.8,262,5837,0.00,2.72,0.00,0.000,516,0.000,0.030,2138,1148,3530,3426,3634,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5879,-0.67,-175.2,2138,1148,3426,3634,808.8,-12.0,263,5886,0.00,2.78,0.00,0.000,1030,0.000,0.034,2138,2618,3529,3426,3633,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6209,-0.67,-175.2,2137,2616,3425,3630,846.5,-10.6,274,6215,0.00,2.75,0.00,0.000,516,0.000,0.030,2138,1135,3527,3424,3630,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6241,-0.67,-175.2,2138,1135,3425,3630,846.5,-10.6,274,6249,0.00,2.78,0.00,0.000,1030,0.000,0.032,2126,2617,3527,3425,3629,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6551,-0.67,-175.2,2125,2616,3424,3627,882.9,-11.1,285,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2615,3525,3424,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6846,-0.67,-175.2,2125,2614,3422,3625,914.8,-10.5,295,6852,0.00,2.78,0.00,0.000,516,0.000,0.031,2126,1130,3523,3422,3625,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6917,-0.67,-175.2,2125,1129,3422,3624,921.6,-10.2,297,6925,0.12,2.80,0.00,0.000,3078,0.126,0.032,2152,2619,3522,3422,3623,0,0,0,0,0,0,25.69,25.86,28.83
$GC,7256,-0.67,-175.2,2152,2617,3421,3621,949.4,-8.1,308,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2617,3520,3421,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7556,-0.67,-175.2,2152,2617,3419,3618,973.0,-7.9,318,7562,0.00,2.75,0.00,0.000,516,0.000,0.030,2152,1144,3518,3420,3617,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7602,-0.67,-175.2,2152,1139,3421,3617,976.0,-8.1,319,7607,0.00,2.78,0.00,0.000,1030,0.000,0.034,2142,2616,3518,3420,3617,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,7779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7779,begin apogee
$GC,7790,-0.12,0.0,2142,2536,3419,3616,992.1,-8.7,325,7953,0.52,0.15,156.90,0.941,10246,0.094,0.072,2324,2613,2850,2878,2822,0,0,0,0,0,0,25.48,24.90,23.33
$STATE,7955,end apogee,CONTROL_FINISHED_OK
$STATE,7959,begin climb
$GC,7963,0.67,175.2,2323,2613,2869,2801,997.7,0.0,329,8153,0.65,2.88,170.60,0.964,10756,0.036,0.024,2609,1100,2118,2256,1981,0,0,0,0,0,0,25.32,25.09,23.51
$GC,8178,0.93,263.3,2608,1100,2245,1971,991.6,6.3,335,8271,0.20,2.80,85.05,0.923,11270,0.053,0.025,2709,2610,1775,1925,1625,0,0,0,0,0,0,25.55,25.50,23.60
$GC,8598,0.93,263.3,2708,2601,1903,1585,902.9,19.5,349,8605,0.12,1.98,0.00,0.000,4356,0.175,0.037,2666,3845,1744,1903,1585,0,0,0,0,0,0,25.75,25.86,28.83
$GC,8709,0.93,263.3,2661,3845,1901,1585,884.9,18.1,352,8715,0.00,2.00,0.00,0.000,1030,0.000,0.016,2671,2510,1743,1901,1585,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9036,0.93,263.3,2672,2508,1901,1584,832.8,15.6,363,9042,0.00,2.22,0.00,0.000,260,0.000,0.039,2662,3851,1742,1901,1583,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9087,0.93,263.3,2661,3850,1900,1584,826.9,15.8,364,9093,0.00,2.03,0.00,0.000,1030,0.000,0.017,2672,2520,1741,1900,1583,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9413,0.93,263.3,2672,2519,1898,1583,769.9,17.2,375,9419,0.00,2.20,0.00,0.000,260,0.000,0.040,2662,3847,1740,1898,1583,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9458,0.93,263.3,2661,3847,1898,1584,763.4,17.3,376,9464,0.00,2.00,0.00,0.000,1030,0.000,0.016,2672,2521,1740,1898,1583,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9790,0.93,263.3,2673,2520,1896,1583,710.0,15.1,387,9796,0.00,2.20,0.00,0.000,260,0.000,0.039,2662,3848,1739,1896,1583,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9842,0.93,263.3,2662,3848,1896,1583,703.9,15.4,388,9848,0.00,2.00,0.00,0.000,1030,0.000,0.016,2672,2519,1739,1896,1583,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10164,0.93,263.3,2673,2518,1896,1584,649.6,16.6,399,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2517,1739,1896,1582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10466,0.93,263.3,2673,2518,1896,1581,601.5,15.6,409,10472,0.00,2.20,0.00,0.000,260,0.000,0.040,2662,3835,1738,1896,1581,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10572,0.93,263.3,2662,3834,1896,1581,585.6,17.0,413,10577,0.00,2.00,0.00,0.000,1030,0.000,0.016,2673,2513,1738,1896,1581,0,0,0,0,0,0,28.83,26.29,28.83
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$GC,12162,0.93,263.3,2686,1085,1886,1584,356.3,12.2,489,12168,0.00,2.72,0.00,0.000,1030,0.000,0.024,2674,2603,1735,1887,1584,0,0,0,0,0,0,28.83,25.92,28.83
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$STATE,15593,end climb,SURFACE_DEPTH_REACHED
$STATE,15593,begin surface coast
$FINISH,-0.6,1.000920
$STATE,15625,end surface coast,CONTROL_FINISHED_OK
$STATE,15625,begin surface
$SM_CCo,15647,103.47,0.117,0,0,431,592.89
$SM_GC,0.28,6.60,0.00,103.47,0.015,0.000,0.117,123,2605,431,-6.91,0.14,592.89,0,0,0,0,0,0,26.10,28.83,25.21
$IRIDIUM_FIX,1904.66,12225.47,100813,090917
$TT8_MAMPS,0.02247,0.02247
$HUMID,51.18
$INTERNAL_PRESSURE,9.39845
$TCM_TEMP,25.40
$XPDR_PINGS,0
$SC_FREEKB,3669984
$24V_AH,23.3,94.662
$10V_AH,9.8,70.752
$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,17.700,160.675,568.675,103.475,0.000,0.000,0.000,492.600,0.000,0.000,16.754,2866.544,9476.306,816.773,2234.562,1197.529,0.000,2312.239,0.000,1656.792,0.000,0.545,0.000
$DEVICE_MAMPS,227.970,71.910,963.900,117.045,0.000,0.000,0.000,120.105,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15725.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.902,0.000,0.000,0.000
$MEM,323200
$DATA_FILE_SIZE,26688,690
$CAP_FILE_SIZE,372887,0
$CFSIZE,260034560,143044608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.262,333.1,1
$GPS,100813,192106,1915.485,12224.461,34,0.9,34,-2.2