version: 66.10
glider: 169
mission: 5
dive: 58
start: 11 20 111 12 50 48
data:
$ID,169
$MISSION,5
$DIVE,58
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$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,400
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$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,-10342.301
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$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,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$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,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
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$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
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,201111,124254,2320.231,12408.263,42,1.7,58,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-57.8
$GPS2,201111,125020,2320.178,12408.353,12,1.7,12,-3.3
$SPEED_LIMITS,0.143,0.288
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.631,-1.463
$KALMAN_X,8589479.0,0.0,0.0,5205724.0,16486.0
$KALMAN_Y,1970333.9,0.0,0.0,626326.0,52158.9
$MHEAD_RNG_PITCHd_Wd,232.3,204557,-11.2,-8.250
$D_GRID,4831
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,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,-0.55,-219.0,0.0,0.0,0,108,0.00,0.00,-89.07,0.000,2,0.000,0.000,112,2684,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.55,-219.0,3.3,-4.8,12,146,6.70,1.77,-18.33,0.000,4,0.230,0.062,1815,3820,3872,0,0,0,0,0,0,25.82,26.13,26.46
$GC,267,-0.40,-219.0,72.8,-38.5,37,274,0.20,1.83,0.00,0.000,6,0.156,0.030,1879,2580,3872,0,0,0,0,0,0,26.06,26.26,28.83
$GC,610,-0.33,-219.0,158.5,-18.6,98,618,0.00,1.95,0.00,0.000,4,0.000,0.050,1870,3808,3872,0,0,0,0,0,0,28.83,26.36,28.83
$GC,650,-0.27,-219.0,165.1,-17.2,104,659,0.12,1.80,0.00,0.000,6,0.107,0.028,1918,2573,3872,0,0,0,0,0,0,26.29,26.44,28.83
$GC,1013,-0.28,-219.0,193.3,-5.9,165,1020,0.00,2.03,0.00,0.000,4,0.000,0.032,1918,1179,3872,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1041,-0.32,-219.0,195.1,-6.0,169,1047,0.00,2.20,0.00,0.000,6,0.000,0.042,1918,2654,3872,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1396,-0.40,-219.0,229.3,-11.0,230,1406,0.12,2.17,0.00,0.000,4,0.107,0.031,1871,1182,3871,0,0,0,0,0,0,26.54,26.54,28.83
$GC,1456,-0.49,-219.0,235.9,-11.7,239,1463,0.00,2.17,0.00,0.000,6,0.000,0.041,1871,2658,3871,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1786,-0.59,-219.0,270.7,-10.3,281,1795,0.12,1.75,0.00,0.000,4,0.116,0.046,1818,3824,3870,0,0,0,0,0,0,26.55,26.55,28.83
$GC,1884,-0.66,-219.0,280.4,-10.1,290,1891,0.00,1.80,0.00,0.000,6,0.000,0.028,1818,2556,3869,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2192,-0.72,-219.0,304.0,-8.1,321,2201,0.12,1.98,0.00,0.000,4,0.098,0.031,1760,1176,3868,0,0,0,0,0,0,26.63,26.60,28.83
$GC,2237,-0.71,-219.0,308.8,-10.9,325,2245,0.12,2.20,0.00,0.000,6,0.152,0.045,1784,2654,3868,0,0,0,0,0,0,26.46,26.58,28.83
$GC,2546,-0.61,-219.0,378.3,-22.0,356,2549,0.00,1.75,0.00,0.000,4,0.000,0.051,1776,3812,3867,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2589,-0.52,-219.0,387.7,-22.0,360,2598,0.20,1.80,0.00,0.000,6,0.128,0.028,1840,2555,3866,0,0,0,0,0,0,26.48,26.65,28.83
$GC,2897,-0.49,-219.0,423.1,-10.3,391,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2554,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3200,-0.46,-219.0,459.0,-13.2,421,3209,0.00,1.95,0.00,0.000,4,0.000,0.052,1831,3809,3863,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3245,-0.44,-219.0,465.0,-13.4,425,3252,0.12,1.80,0.00,0.000,6,0.119,0.028,1872,2575,3863,0,0,0,0,0,0,26.55,26.67,28.83
$GC,3553,-0.46,-219.0,488.6,-6.7,456,3564,0.00,1.92,0.00,0.000,4,0.000,0.049,1863,3821,3860,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3591,-0.48,-219.0,490.8,-6.7,459,3597,0.00,1.80,0.00,0.000,6,0.000,0.030,1863,2559,3860,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3896,-0.58,-219.0,516.0,-9.8,490,3898,0.12,0.00,0.00,0.000,6,0.122,0.000,1820,2558,3858,0,0,0,0,0,0,26.60,28.83,28.83
$GC,4197,-0.67,-219.0,542.0,-7.8,520,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2558,3856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4499,-0.77,-219.0,564.2,-7.3,550,4503,0.15,2.00,0.00,0.000,4,0.085,0.032,1745,1173,3853,0,0,0,0,0,0,26.68,26.63,28.83
$GC,4550,-0.77,-219.0,568.9,-8.6,555,4559,0.00,2.25,0.00,0.000,6,0.000,0.045,1736,2657,3852,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4863,-0.67,-219.0,629.5,-20.6,579,4865,0.20,0.00,0.00,0.000,6,0.156,0.000,1794,2657,3851,0,0,0,0,0,0,26.46,28.83,28.83
$GC,5161,-0.62,-219.0,669.6,-12.6,594,5167,0.00,2.15,0.00,0.000,4,0.000,0.033,1795,1184,3848,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5184,-0.58,-219.0,672.1,-12.6,595,5189,0.12,2.22,0.00,0.000,6,0.134,0.045,1823,2657,3848,0,0,0,0,0,0,26.52,26.61,28.83
$GC,5497,-0.56,-219.0,701.1,-8.5,611,5500,0.00,1.75,0.00,0.000,4,0.000,0.053,1815,3811,3846,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5518,-0.55,-219.0,703.0,-8.6,612,5521,0.00,1.77,0.00,0.000,6,0.000,0.030,1815,2571,3845,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5840,-0.53,-219.0,731.9,-9.2,628,5845,0.00,1.92,0.00,0.000,4,0.000,0.052,1805,3822,3843,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5908,-0.51,-219.0,737.6,-9.3,631,5912,0.12,1.80,0.00,0.000,6,0.121,0.030,1846,2573,3842,0,0,0,0,0,0,26.53,26.66,28.83
$GC,6217,-0.52,-219.0,758.3,-6.4,646,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2573,3839,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6517,-0.54,-219.0,776.3,-5.9,661,6522,0.00,1.92,0.00,0.000,4,0.000,0.051,1837,3809,3838,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6549,-0.55,-219.0,777.4,-6.0,662,6555,0.00,1.80,0.00,0.000,6,0.000,0.031,1837,2560,3837,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6856,-0.56,-219.0,796.3,-6.0,678,6861,0.00,2.00,0.00,0.000,4,0.000,0.037,1837,1183,3834,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6875,-0.57,-219.0,797.5,-6.0,679,6881,0.00,2.22,0.00,0.000,6,0.000,0.046,1829,2654,3834,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7196,-0.57,-219.0,820.1,-7.4,695,7199,0.00,1.77,0.00,0.000,4,0.000,0.055,1821,3811,3832,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7226,-0.57,-219.0,821.7,-7.5,696,7230,0.00,1.80,0.00,0.000,6,0.000,0.032,1821,2572,3832,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7538,-0.56,-219.0,846.9,-8.0,712,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2571,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7839,-0.55,-219.0,871.3,-8.0,727,7844,0.00,1.92,0.00,0.000,4,0.000,0.054,1813,3821,3829,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7871,-0.54,-219.0,872.8,-8.0,728,7877,0.00,1.80,0.00,0.000,6,0.000,0.031,1813,2576,3828,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8178,-0.53,-219.0,900.7,-8.7,744,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2576,3827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8479,-0.51,-219.0,927.6,-8.9,759,8485,0.10,1.90,0.00,0.000,4,0.142,0.051,1835,3808,3825,0,0,0,0,0,0,26.58,26.54,28.83
$GC,8500,-0.50,-219.0,929.3,-8.8,760,8504,0.00,1.80,0.00,0.000,6,0.000,0.031,1835,2580,3825,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8818,-0.51,-219.0,953.2,-7.7,776,8819,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2578,3824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9121,-0.52,-219.0,976.4,-7.5,791,9126,0.00,1.90,0.00,0.000,4,0.000,0.054,1826,3811,3823,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9160,-0.54,-219.0,979.5,-7.6,793,9163,0.00,1.80,0.00,0.000,6,0.000,0.033,1826,2576,3823,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,9298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9298,begin apogee
$GC,9304,-0.20,0.0,990.8,-8.0,800,9494,0.32,0.08,182.62,1.153,6,0.095,0.069,1947,2523,2974,0,0,0,0,0,0,26.48,24.76,24.12
$STATE,9495,end apogee,CONTROL_FINISHED_OK
$STATE,9495,begin climb
$GC,9498,0.55,219.0,1001.0,0.0,809,9710,0.65,2.30,202.18,1.147,4,0.041,0.041,2218,1066,2074,0,0,0,0,0,0,25.00,24.62,23.91
$GC,9856,0.47,219.0,958.3,18.1,827,9866,0.20,2.30,0.00,0.000,6,0.163,0.045,2165,2518,2052,0,0,0,0,0,0,25.38,25.51,28.83
$GC,10163,0.39,219.0,905.2,16.4,843,10169,0.00,2.03,0.00,0.000,4,0.000,0.052,2165,3815,2049,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10212,0.31,219.0,897.8,17.2,845,10217,0.22,2.05,0.00,0.000,6,0.172,0.034,2115,2461,2046,0,0,0,0,0,0,25.80,26.01,28.83
$GC,10520,0.28,219.0,861.6,10.6,860,10524,0.00,2.12,0.00,0.000,4,0.000,0.051,2115,3818,2045,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10555,0.25,219.0,859.0,10.8,861,10562,0.12,2.05,0.00,0.000,6,0.168,0.034,2093,2461,2044,0,0,0,0,0,0,26.01,26.19,28.83
$GC,10863,0.24,219.0,828.9,9.3,877,10864,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2460,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11163,0.22,219.0,799.5,10.2,892,11164,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2460,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11462,0.21,219.0,768.3,10.4,907,11468,0.00,2.10,0.00,0.000,4,0.000,0.051,2092,3809,2043,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11495,0.20,219.0,766.0,10.4,908,11502,0.00,2.03,0.00,0.000,6,0.000,0.034,2102,2457,2043,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11803,0.18,219.0,731.9,10.0,924,11805,0.12,0.00,0.00,0.000,6,0.162,0.000,2068,2456,2043,0,0,0,0,0,0,26.29,28.83,28.83
$GC,12103,0.34,338.1,713.7,5.2,939,12207,0.12,2.25,92.70,1.202,4,0.078,0.049,2154,3815,1600,0,0,0,0,1,0,26.53,24.91,24.09
$GC,12275,0.30,338.1,695.0,12.8,947,12283,0.20,2.10,0.00,0.000,6,0.142,0.034,2109,2475,1607,0,0,0,0,0,0,25.37,25.48,28.83
$GC,12583,0.38,392.0,670.8,6.9,963,12651,0.00,2.22,61.88,0.914,4,0.000,0.040,2119,1069,1373,0,0,0,0,0,0,28.83,25.13,24.46
$GC,12681,0.50,474.0,664.6,6.1,968,12765,0.12,2.28,76.60,0.915,6,0.040,0.041,2197,2519,1039,0,0,0,0,0,0,25.41,25.37,24.25
$GC,13069,0.46,474.0,596.8,18.8,988,13071,0.15,0.00,0.00,0.000,6,0.155,0.000,2156,2520,1019,0,0,0,0,0,0,25.75,28.83,28.83
$GC,13369,0.47,474.0,562.8,9.5,1018,13380,0.00,2.22,0.00,0.000,4,0.000,0.042,2167,1067,1017,0,0,0,0,0,0,28.83,26.08,28.83
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$GC,14014,0.49,474.0,500.9,11.2,1082,14018,0.00,2.20,0.00,0.000,4,0.000,0.042,2177,1056,1016,0,0,0,0,0,0,28.83,26.29,28.83
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$GC,14657,0.48,474.0,419.3,12.9,1146,14668,0.00,2.17,0.00,0.000,4,0.000,0.042,2188,1068,1014,0,0,0,0,0,0,28.83,26.39,28.83
$GC,14690,0.48,474.0,415.2,11.8,1149,14699,0.00,2.20,0.00,0.000,6,0.000,0.043,2188,2520,1014,0,0,0,0,0,0,28.83,26.39,28.83
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$GC,17448,0.74,491.8,25.8,10.6,1499,17455,0.00,2.05,0.00,0.000,4,0.000,0.039,2261,1064,956,0,0,0,0,0,0,28.83,26.55,28.83
$GC,17488,0.77,491.8,21.0,11.1,1505,17494,0.00,2.17,0.00,0.000,6,0.000,0.038,2261,2526,957,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,17685,end climb,SURFACE_DEPTH_REACHED
$STATE,17686,begin surface coast
$FINISH,0.1,1.022400
$STATE,17731,end surface coast,CONTROL_FINISHED_OK
$STATE,17731,begin surface
$SM_CCo,17806,0.00,0.000,0,0,958,495.75
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$IRIDIUM_FIX,2314.48,12405.49,201111,070727
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.17
$INTERNAL_PRESSURE,9.54494
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.9,13.865
$10V_AH,10.3,12.431
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.800,141.525,629.925,0.000,0.000,32.297,41.960,236.644,0.000,0.000,13.677,4111.955,9495.251,728.960,3550.290,342.042,0.378,2244.028,0.000,3195.544,0.000,0.544,0.000
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$SENSOR_SECS,1050.588,1358.599,893.105,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330408
$DATA_FILE_SIZE,103868,1547
$CAP_FILE_SIZE,190504,0
$CFSIZE,260165632,217309184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.569, 88.6,1
$GPS,201111,174836,2316.817,12409.467,33,0.9,33,-3.3