version: 66.11
glider: 170
mission: 10
dive: 140
start: 12 1 112 1 14 15
data:
$ID,170
$MISSION,10
$DIVE,140
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$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,380
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51479
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-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,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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-143264.11
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,71
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2769
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$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,-48.120956
$PRESSURE_SLOPE,0.0001164274
$AD7714Ch0Gain,128
$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,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043559377
$SEABIRD_T_H,0.00062550703
$SEABIRD_T_I,2.3551509e-05
$SEABIRD_T_J,2.509174e-06
$SEABIRD_C_G,-10.138787
$SEABIRD_C_H,1.1450038
$SEABIRD_C_I,-0.0015582878
$SEABIRD_C_J,0.00020114503
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,011212,010604,1937.999,12002.339,38,0.8,38,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-77.7
$GPS2,011212,011347,1938.137,12002.350,15,1.2,15,-2.6
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$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,214.9,70749,-14.9,-8.684,-17.18
$D_GRID,4096
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.51,-170.3,0.0,0.0,0,78,0.00,0.00,-56.28,0.000,2,0.000,0.000,134,2626,1733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.51,-170.3,3.1,-2.0,10,164,10.93,2.12,-64.45,0.000,4,0.235,0.037,2879,1196,3464,0,0,0,0,0,0,25.64,26.15,26.44
$GC,289,-0.42,-170.3,45.4,-26.6,41,296,0.12,2.17,0.00,0.000,6,0.173,0.046,2912,2581,3465,0,0,0,0,0,0,25.97,26.15,28.83
$GC,495,-0.38,-170.3,75.1,-14.7,52,501,0.00,1.75,0.00,0.000,4,0.000,0.050,2909,3700,3465,0,0,0,0,0,0,28.83,26.25,28.83
$GC,563,-0.35,-170.3,84.9,-15.1,55,568,0.00,1.62,0.00,0.000,6,0.000,0.024,2909,2545,3466,0,0,0,0,0,0,28.83,26.44,28.83
$GC,762,-0.35,-170.3,115.3,-14.7,65,767,0.00,1.95,0.00,0.000,4,0.000,0.030,2909,1196,3465,0,0,0,0,0,0,28.83,26.37,28.83
$GC,854,-0.36,-170.3,124.0,-10.3,69,859,0.00,2.17,0.00,0.000,6,0.000,0.039,2909,2615,3466,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1048,-0.37,-170.3,133.7,-4.0,79,1054,0.00,2.08,0.00,0.000,4,0.000,0.028,2909,1199,3466,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1116,-0.39,-170.3,136.3,-4.1,82,1121,0.00,2.12,0.00,0.000,6,0.000,0.040,2909,2601,3466,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1316,-0.41,-170.3,147.1,-6.5,92,1321,0.00,2.05,0.00,0.000,4,0.000,0.024,2909,1199,3466,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1359,-0.43,-170.3,150.7,-7.4,94,1364,0.00,2.15,0.00,0.000,6,0.000,0.039,2909,2606,3466,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1562,-0.45,-170.3,171.3,-11.0,104,1568,0.00,1.67,0.00,0.000,4,0.000,0.051,2909,3691,3466,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1606,-0.48,-170.3,175.9,-10.6,106,1612,0.00,1.60,0.00,0.000,6,0.000,0.026,2909,2550,3466,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1811,-0.51,-170.3,194.4,-8.9,116,1817,0.00,1.85,0.00,0.000,4,0.000,0.025,2909,1243,3465,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1879,-0.54,-170.3,199.8,-8.3,119,1884,0.00,2.08,0.00,0.000,6,0.000,0.039,2909,2603,3465,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2079,-0.57,-170.3,209.7,-4.3,129,2084,0.12,1.70,0.00,0.000,4,0.095,0.049,2834,3700,3464,0,0,0,0,0,0,26.60,26.48,28.83
$GC,2123,-0.58,-170.3,213.1,-5.7,131,2128,0.00,1.52,0.00,0.000,6,0.000,0.025,2834,2599,3463,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2326,-0.55,-170.3,236.1,-12.8,141,2331,0.12,1.92,0.00,0.000,4,0.154,0.023,2878,1242,3463,0,0,0,0,0,0,26.42,26.59,28.83
$GC,2379,-0.54,-170.3,241.1,-12.8,143,2384,0.00,2.08,0.00,0.000,6,0.000,0.040,2878,2601,3462,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2572,-0.55,-170.3,261.5,-10.2,153,2578,0.00,2.00,0.00,0.000,4,0.000,0.024,2878,1232,3461,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2596,-0.57,-170.3,263.9,-10.1,154,2602,0.00,2.08,0.00,0.000,6,0.000,0.040,2877,2602,3461,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2920,-0.58,-170.3,295.6,-9.4,170,2925,0.00,1.70,0.00,0.000,4,0.000,0.052,2877,3697,3460,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2993,-0.60,-170.3,300.7,-8.3,173,2998,0.00,1.50,0.00,0.000,6,0.000,0.028,2877,2624,3459,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3306,-0.62,-170.3,322.8,-6.5,189,3312,0.00,2.03,0.00,0.000,4,0.000,0.024,2878,1218,3457,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3390,-0.64,-170.3,328.2,-6.5,193,3396,0.10,2.12,0.00,0.000,6,0.104,0.039,2821,2600,3457,0,0,0,0,0,0,26.51,26.53,28.83
$GC,3714,-0.62,-170.3,359.0,-9.0,209,3716,0.10,0.00,0.00,0.000,6,0.161,0.000,2849,2600,3455,0,0,0,0,0,0,26.53,28.83,28.83
$GC,4015,-0.62,-170.3,377.4,-5.9,224,4021,0.00,2.03,0.00,0.000,4,0.000,0.026,2849,1207,3453,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4093,-0.62,-170.3,381.2,-5.8,227,4099,0.00,2.15,0.00,0.000,6,0.000,0.041,2850,2605,3452,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4399,-0.62,-170.3,401.2,-6.6,243,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2605,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4701,-0.62,-170.3,423.8,-8.3,258,4706,0.00,1.70,0.00,0.000,4,0.000,0.054,2849,3693,3448,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4753,-0.62,-170.3,427.5,-8.2,260,4759,0.00,1.58,0.00,0.000,6,0.000,0.028,2849,2601,3447,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5067,-0.62,-170.3,454.5,-8.0,276,5072,0.00,2.00,0.00,0.000,4,0.000,0.025,2849,1206,3446,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5124,-0.62,-170.3,457.8,-7.7,278,5131,0.00,2.15,0.00,0.000,6,0.000,0.041,2849,2601,3446,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5430,-0.62,-170.3,480.3,-6.9,294,5436,0.00,2.03,0.00,0.000,4,0.000,0.026,2849,1210,3445,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5458,-0.62,-170.3,481.9,-6.9,295,5463,0.00,2.15,0.00,0.000,6,0.000,0.041,2849,2602,3445,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5777,-0.62,-170.3,503.5,-7.0,311,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2603,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6077,-0.62,-170.3,526.0,-7.9,326,6082,0.00,2.05,0.00,0.000,4,0.000,0.026,2849,1212,3441,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6124,-0.62,-170.3,529.6,-8.2,328,6129,0.00,2.15,0.00,0.000,6,0.000,0.041,2849,2603,3441,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6442,-0.62,-170.3,556.5,-8.5,344,6447,0.00,2.03,0.00,0.000,4,0.000,0.025,2849,1212,3439,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6466,-0.63,-170.3,558.4,-8.5,345,6471,0.00,2.15,0.00,0.000,6,0.000,0.041,2849,2605,3439,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6789,-0.64,-170.3,585.9,-8.6,361,6795,0.00,2.05,0.00,0.000,4,0.000,0.026,2849,1205,3438,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6842,-0.65,-170.3,589.7,-8.7,363,6848,0.00,2.17,0.00,0.000,6,0.000,0.041,2849,2610,3438,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7167,-0.66,-170.3,617.2,-8.3,376,7174,0.00,2.05,0.00,0.000,4,0.000,0.026,2847,1216,3436,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7221,-0.67,-170.3,620.0,-8.1,377,7226,0.00,2.15,0.00,0.000,6,0.000,0.041,2849,2606,3436,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7536,-0.68,-170.3,646.5,-8.0,388,7541,0.00,2.05,0.00,0.000,4,0.000,0.026,2849,1204,3434,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7588,-0.69,-170.3,649.3,-8.0,389,7594,0.00,2.17,0.00,0.000,6,0.000,0.041,2849,2608,3434,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7904,-0.70,-170.3,676.7,-8.2,400,7910,0.00,2.05,0.00,0.000,4,0.000,0.027,2849,1207,3433,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7968,-0.71,-170.3,681.9,-8.0,402,7974,0.00,2.17,0.00,0.000,6,0.000,0.042,2849,2604,3433,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8304,-0.72,-170.3,707.6,-7.6,413,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2608,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8603,-0.74,-170.3,729.5,-7.2,423,8608,0.12,2.05,0.00,0.000,4,0.093,0.024,2781,1206,3431,0,0,0,0,0,0,26.65,26.60,28.83
$GC,8651,-0.74,-170.3,732.8,-7.8,424,8657,0.12,2.17,0.00,0.000,6,0.169,0.042,2815,2603,3431,0,0,0,0,0,0,26.27,26.48,28.83
$GC,8970,-0.72,-170.3,764.6,-9.4,435,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2604,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9270,-0.71,-170.3,793.9,-9.9,445,9275,0.00,2.05,0.00,0.000,4,0.000,0.026,2815,1203,3429,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9303,-0.70,-170.3,797.2,-9.9,446,9309,0.00,2.20,0.00,0.000,6,0.000,0.042,2815,2612,3429,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9638,-0.69,-170.3,830.9,-10.1,457,9644,0.00,2.08,0.00,0.000,4,0.000,0.027,2815,1214,3428,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9661,-0.68,-170.3,830.9,-10.1,457,9667,0.00,2.17,0.00,0.000,6,0.000,0.043,2815,2612,3428,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9975,-0.67,-170.3,865.2,-10.2,468,9981,0.00,2.05,0.00,0.000,4,0.000,0.028,2816,1216,3428,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10018,-0.66,-170.3,868.5,-10.0,469,10024,0.00,2.15,0.00,0.000,6,0.000,0.042,2815,2601,3427,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10343,-0.65,-170.3,901.9,-9.9,480,10344,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2601,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10642,-0.64,-170.3,930.9,-9.7,490,10643,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2601,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10942,-0.64,-170.3,959.9,-9.6,500,10947,0.00,1.73,0.00,0.000,4,0.000,0.056,2815,3693,3425,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10984,-0.64,-170.3,963.1,-9.7,501,10989,0.00,1.60,0.00,0.000,6,0.000,0.031,2816,2607,3425,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,11274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11275,begin apogee
$GC,11281,-0.15,0.0,991.8,-9.3,511,11429,0.52,0.00,139.90,1.496,6,0.119,0.000,2996,2105,2769,0,0,0,0,0,0,26.16,28.83,23.74
$STATE,11430,end apogee,CONTROL_FINISHED_OK
$STATE,11430,begin climb
$GC,11432,0.51,170.3,997.8,0.0,516,11597,0.57,2.55,155.70,1.450,4,0.052,0.049,3218,3532,2073,0,0,0,0,0,0,24.80,23.68,22.82
$GC,11656,0.44,170.3,982.3,11.3,523,11662,0.12,2.28,0.00,0.000,6,0.163,0.028,3196,2149,2066,0,0,0,0,0,0,24.41,24.58,28.83
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$GC,15720,0.57,557.9,496.8,11.5,669,15725,0.00,2.17,0.00,0.000,4,0.000,0.050,3226,3523,491,0,0,0,0,0,0,28.83,26.36,28.83
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$STATE,19233,end climb,SURFACE_DEPTH_REACHED
$STATE,19233,begin surface coast
$FINISH,2.1,1.020559
$STATE,19239,end surface coast,CONTROL_FINISHED_OK
$STATE,19239,begin surface
$SM_CCo,19320,0.00,0.000,0,0,459,566.64
$SM_GC,2.38,8.35,2.90,0.00,0.049,0.035,0.000,142,2599,459,-9.05,-0.99,566.64,0,0,0,0,0,0,26.32,26.46,28.83
$IRIDIUM_FIX,1932.09,11959.74,301112,191906
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.19
$INTERNAL_PRESSURE,9.36132
$TCM_TEMP,22.30
$XPDR_PINGS,2
$SC_FREEKB,3966368
$24V_AH,22.8,30.865
$10V_AH,9.9,13.383
$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,22.525,204.325,656.700,0.000,0.000,0.000,0.000,282.825,0.500,0.000,16.258,2989.199,13011.784,827.390,2623.883,322.966,0.000,2430.691,0.000,2212.267,0.000,0.541,0.000
$DEVICE_MAMPS,234.855,55.845,1496.340,0.000,0.000,0.000,0.000,134.640,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19263.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.157,0.000,0.000,0.000
$MEM,323744
$DATA_FILE_SIZE,33467,882
$CAP_FILE_SIZE,236336,0
$CFSIZE,260034560,237211648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.089, 60.7,1
$GPS,011212,063728,1936.507,12001.676,37,0.7,37,-2.6