version: 66.13
glider: 171
mission: 11
dive: 564
start: 12 7 119 9 44 10
data:
$ID,171
$MISSION,11
$DIVE,564
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,2
$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,410
$T_MISSION,460
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53930
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00223872
$HD_B,0.0163117
$HD_C,5.7000002e-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,500
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3600
$C_PITCH,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,350
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2440
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,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,9
$MAXI_24V,3
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-152.46104
$PRESSURE_SLOPE,0.00010631012
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.63
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,53
$LOGGERDEVICE2,70
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044193882
$SEABIRD_T_H,0.00064798427
$SEABIRD_T_I,2.6719992e-05
$SEABIRD_T_J,3.3115991e-06
$SEABIRD_C_G,-9.8059483
$SEABIRD_C_H,1.1280893
$SEABIRD_C_I,-0.003824637
$SEABIRD_C_J,0.00035372932
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,071219,093710,616.4476,8312.0752,23,1.8,24,-1.9,0.8,256.4,5,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-73.9
$GPS2,071219,094317,616.4352,8311.9258,2,0.6,3,-1.9,1.3,250.6,12,9.5
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R5
$TGT_LATLONG,600.000,8300.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,223.1,37536,-19.5,-8.049,-26.91,1839
$D_GRID,990
$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,6,begin dive
$GC,9,-0.67,-97.3,103,2515,970,880,0.0,0.0,0,83,0.00,0.00,-71.43,0.005,16386,0.000,0.000,102,2516,2581,2582,2581,0,0,0,0,0,0,14.83,28.83,14.87
$GC,87,-0.67,-97.3,102,2516,2583,2580,4.3,-11.3,15,120,9.15,2.42,-15.50,0.008,18948,0.342,0.071,2106,1105,3367,3383,3352,0,0,0,0,0,0,13.89,12.57,14.35
$GC,293,-0.67,-97.3,2106,1105,3383,3351,60.8,-24.0,56,297,0.00,2.38,0.00,0.000,1030,0.000,0.057,2097,2487,3367,3383,3352,0,0,0,0,0,0,14.60,14.50,14.64
$GC,480,-0.67,-97.3,2097,2488,3383,3352,98.0,-19.3,75,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2488,3367,3383,3352,0,0,0,0,0,0,15.00,15.02,15.02
$GC,658,-0.67,-97.3,2097,2487,3384,3352,124.3,-13.9,93,664,0.00,2.42,0.00,0.000,260,0.000,0.079,2086,3897,3367,3383,3352,0,0,0,0,0,0,15.03,14.49,15.05
$GC,730,-0.67,-97.3,2086,3897,3384,3351,134.4,-12.6,107,735,0.00,2.22,0.00,0.000,1030,0.000,0.031,2086,2485,3367,3384,3351,0,0,0,0,0,0,14.74,14.69,14.76
$GC,923,-0.67,-97.3,2086,2484,3384,3352,161.1,-14.7,127,927,0.00,2.42,0.00,0.000,260,0.000,0.079,2075,3894,3367,3383,3352,0,0,0,0,0,0,15.04,14.51,15.07
$GC,1029,-0.67,-97.3,2075,3894,3383,3352,177.1,-14.3,148,1034,0.15,2.20,0.00,0.000,3078,0.217,0.031,2111,2492,3368,3384,3352,0,0,0,0,0,0,14.35,14.70,14.57
$GC,1215,-0.67,-97.3,2111,2491,3384,3351,198.9,-11.4,167,1219,0.00,2.22,0.00,0.000,516,0.000,0.046,2112,1120,3367,3383,3352,0,0,0,0,0,0,15.07,14.62,15.09
$GC,1301,-0.67,-97.3,2111,1120,3383,3351,209.0,-11.3,184,1305,0.00,2.33,0.00,0.000,1030,0.000,0.054,2102,2503,3366,3382,3351,0,0,0,0,0,0,14.70,14.59,14.73
$GC,1487,-0.67,-97.3,2102,2502,3381,3351,231.0,-12.5,203,1491,0.00,2.38,0.00,0.000,260,0.000,0.081,2091,3888,3366,3381,3351,0,0,0,0,0,0,15.07,14.51,15.09
$GC,1538,-0.67,-97.3,2091,3889,3380,3351,237.4,-12.0,213,1543,0.00,2.17,0.00,0.000,1030,0.000,0.032,2091,2510,3365,3380,3351,0,0,0,0,0,0,14.76,14.71,14.79
$GC,1730,-0.67,-97.3,2090,2509,3378,3351,260.1,-11.9,229,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2509,3364,3378,3351,0,0,0,0,0,0,15.09,15.11,15.11
$GC,2031,-0.67,-97.3,2091,2509,3375,3351,296.9,-12.4,244,2034,0.00,2.40,0.00,0.000,260,0.000,0.082,2081,3893,3362,3375,3350,0,0,0,0,0,0,15.09,14.51,15.11
$GC,2076,-0.67,-97.3,2081,3893,3374,3351,302.9,-12.8,253,2082,0.12,2.22,0.00,0.000,3078,0.210,0.033,2110,2493,3362,3373,3351,0,0,0,0,0,0,14.42,14.71,14.61
$GC,2394,-0.67,-97.3,2110,2491,3373,3347,336.6,-10.2,271,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2491,3360,3373,3347,0,0,0,0,0,0,15.10,15.13,15.12
$GC,2696,-0.67,-97.3,2110,2491,3371,3345,366.3,-9.7,286,2702,0.00,2.45,0.00,0.000,260,0.000,0.083,2101,3897,3358,3371,3345,0,0,0,0,0,0,15.09,14.49,15.11
$GC,2740,-0.67,-97.3,2101,3897,3370,3345,370.8,-10.1,295,2745,0.00,2.22,0.00,0.000,1030,0.000,0.034,2101,2502,3357,3370,3345,0,0,0,0,0,0,14.76,14.69,14.78
$GC,3058,-0.67,-97.3,2101,2501,3368,3342,404.1,-10.4,313,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3355,3368,3342,0,0,0,0,0,0,15.09,15.12,15.11
$GC,3356,-0.67,-97.3,2101,2500,3367,3340,434.8,-10.2,328,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2501,3353,3366,3340,0,0,0,0,0,0,15.10,15.14,15.13
$GC,3656,-0.67,-97.3,2101,2501,3365,3339,465.7,-10.4,343,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2501,3351,3365,3338,0,0,0,0,0,0,15.10,15.13,15.13
$GC,3958,-0.67,-97.3,2101,2500,3362,3337,496.7,-10.3,358,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2500,3349,3362,3337,0,0,0,0,0,0,15.09,15.12,15.11
$GC,4258,-0.67,-97.3,2101,2501,3362,3335,527.4,-10.5,373,4263,0.00,2.45,0.00,0.000,260,0.000,0.086,2090,3890,3348,3362,3335,0,0,0,0,0,0,15.09,14.43,15.11
$GC,4307,-0.67,-97.3,2090,3890,3361,3335,532.6,-10.8,382,4311,0.00,2.25,0.00,0.000,1030,0.000,0.035,2090,2493,3348,3361,3335,0,0,0,0,0,0,14.73,14.66,14.75
$GC,4624,-0.67,-97.3,2089,2492,3360,3333,566.1,-10.5,400,4628,0.00,2.30,0.00,0.000,516,0.000,0.049,2090,1105,3346,3360,3333,0,0,0,0,0,0,15.09,14.56,15.11
$GC,4645,-0.67,-97.3,2090,1105,3359,3333,568.4,-10.8,404,4653,0.12,2.40,0.00,0.000,3078,0.209,0.057,2110,2506,3346,3359,3333,0,0,0,0,0,0,14.33,14.52,14.52
$GC,4967,-0.67,-97.3,2109,2506,3357,3332,597.8,-9.1,423,4972,0.00,2.45,0.00,0.000,260,0.000,0.086,2101,3894,3344,3357,3332,0,0,0,0,0,0,15.09,14.41,15.11
$GC,5019,-0.67,-97.3,2100,3894,3357,3332,602.9,-9.9,433,5024,0.00,2.25,0.00,0.000,1030,0.000,0.035,2101,2499,3344,3357,3332,0,0,0,0,0,0,14.71,14.64,14.73
$GC,5331,-0.67,-97.3,2100,2498,3356,3330,633.6,-9.8,450,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2497,3343,3356,3331,0,0,0,0,0,0,15.09,15.13,15.12
$GC,5632,-0.67,-97.3,2100,2498,3355,3329,662.2,-9.3,465,5637,0.00,2.47,0.00,0.000,260,0.000,0.086,2090,3897,3342,3355,3329,0,0,0,0,0,0,15.09,14.39,15.11
$GC,5688,-0.67,-97.3,2089,3897,3355,3329,667.8,-9.8,476,5692,0.00,2.28,0.00,0.000,1030,0.000,0.036,2089,2498,3342,3355,3329,0,0,0,0,0,0,14.69,14.62,14.71
$GC,5994,-0.67,-97.3,2089,2496,3354,3327,697.2,-9.6,492,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2496,3340,3354,3327,0,0,0,0,0,0,15.09,15.12,15.11
$GC,6295,-0.67,-97.3,2089,2496,3352,3326,725.6,-9.6,507,6299,0.00,2.47,0.00,0.000,260,0.000,0.086,2079,3890,3339,3352,3327,0,0,0,0,0,0,15.08,14.36,15.11
$GC,6321,-0.67,-97.3,2078,3890,3352,3327,728.4,-10.4,512,6326,0.12,2.25,0.00,0.000,3078,0.209,0.036,2108,2499,3339,3352,3326,0,0,0,0,0,0,14.31,14.61,14.50
$GC,6639,-0.67,-97.3,2108,2498,3352,3326,755.5,-8.6,530,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2498,3338,3352,3325,0,0,0,0,0,0,15.08,15.11,15.11
$GC,6938,-0.67,-97.3,2108,2498,3351,3324,781.2,-8.6,545,6942,0.00,2.33,0.00,0.000,516,0.000,0.050,2109,1108,3337,3350,3324,0,0,0,0,0,0,15.09,14.49,15.11
$GC,6979,-0.67,-97.3,2109,1108,3350,3324,785.0,-8.8,553,6984,0.00,2.40,0.00,0.000,1030,0.000,0.058,2100,2500,3337,3350,3324,0,0,0,0,0,0,14.57,14.45,14.62
$GC,7302,-0.67,-97.3,2099,2500,3350,3323,814.3,-9.0,572,7307,0.00,2.47,0.00,0.000,260,0.000,0.087,2088,3893,3336,3350,3323,0,0,0,0,0,0,15.08,14.33,15.10
$GC,7328,-0.67,-97.3,2088,3893,3349,3323,816.9,-9.5,577,7333,0.00,2.28,0.00,0.000,1030,0.000,0.037,2088,2495,3336,3349,3323,0,0,0,0,0,0,14.65,14.58,14.67
$GC,7645,-0.67,-97.3,2088,2494,3348,3321,846.7,-9.5,595,7649,0.00,2.33,0.00,0.000,516,0.000,0.050,2089,1109,3334,3348,3321,0,0,0,0,0,0,15.09,14.47,15.11
$GC,7693,-0.67,-97.3,2088,1109,3348,3321,851.1,-9.5,604,7700,0.12,2.40,0.00,0.000,3078,0.208,0.058,2108,2499,3334,3348,3321,0,0,0,0,0,0,14.23,14.42,14.42
$GC,8008,-0.67,-97.3,2108,2499,3348,3321,877.5,-8.3,622,8014,0.00,2.45,0.00,0.000,260,0.000,0.088,2098,3890,3334,3347,3321,0,0,0,0,0,0,15.08,14.31,15.11
$GC,8048,-0.67,-97.3,2098,3890,3347,3321,881.0,-9.0,630,8052,0.00,2.28,0.00,0.000,1030,0.000,0.036,2098,2493,3334,3347,3321,0,0,0,0,0,0,14.63,14.56,14.66
$GC,8371,-0.67,-97.3,2098,2492,3347,3320,909.7,-8.9,649,8373,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2492,3333,3347,3320,0,0,0,0,0,0,15.07,15.09,15.09
$GC,8669,-0.67,-97.3,2098,2492,3346,3320,937.1,-9.3,664,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2492,3333,3346,3320,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8970,-0.67,-97.3,2098,2492,3344,3319,964.8,-9.1,679,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2492,3332,3345,3319,0,0,0,0,0,0,15.07,15.11,15.10
$STATE,9246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9246,begin apogee
$GC,9253,-0.15,0.0,2099,2492,3344,3318,990.0,-8.9,693,9350,0.62,0.00,92.72,2.008,10246,0.168,0.000,2275,2492,2967,2999,2936,0,0,0,0,0,0,14.11,13.97,12.57
$STATE,9351,end apogee,CONTROL_FINISHED_OK
$STATE,9351,begin climb
$GC,9354,0.67,97.3,2276,2492,2998,2936,992.7,0.0,698,9463,0.82,0.00,103.82,1.994,10758,0.089,0.000,2549,2491,2571,2601,2541,0,0,0,0,0,0,14.17,13.88,12.58
$GC,9751,0.67,97.3,2549,2491,2591,2535,972.4,7.9,733,9756,0.00,2.42,0.00,0.000,260,0.000,0.083,2549,3852,2563,2591,2535,0,0,0,0,0,0,14.85,14.37,14.88
$GC,9793,0.67,97.3,2549,3852,2589,2535,968.6,9.1,741,9798,0.00,2.33,0.00,0.000,1030,0.000,0.037,2560,2436,2562,2590,2535,0,0,0,0,0,0,14.59,14.53,14.62
$GC,10115,0.67,97.3,2560,2435,2587,2534,943.0,7.9,760,10119,0.00,2.35,0.00,0.000,516,0.000,0.051,2571,1050,2560,2587,2534,0,0,0,0,0,0,14.97,14.50,15.00
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$GC,21643,1.51,425.1,2774,2441,1626,1491,31.3,3.6,1845,21722,0.12,2.35,72.38,0.821,10788,0.129,0.049,2859,1062,1233,1308,1158,0,0,0,0,0,0,14.53,14.00,13.50
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$STATE,21852,end climb,SURFACE_DEPTH_REACHED
$STATE,21852,begin surface coast
$STATE,21866,end surface coast,CONTROL_FINISHED_OK
$STATE,21866,begin surface
$SM_CCo,21888,88.75,0.587,1,0,928,500.17
$SM_GC,1.28,7.72,0.10,88.75,0.053,0.149,0.587,121,2517,928,-6.78,-0.85,500.17,0,0,0,0,1,0,14.52,14.48,13.60
$IRIDIUM_FIX,616.28,8317.79,071219,032000
$TT8_MAMPS,0.018725,0.15729
$HUMID,48.89
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,12.57,193.636
$10V_AH,10.93,0.000
$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,20.000,194.025,491.700,88.750,0.000,0.000,0.000,222.775,0.500,0.000,14.655,1701.591,16475.338,720.073,2927.195,520.936,0.000,2440.575,0.000,2683.770,0.000,0.540,0.000
$DEVICE_MAMPS,341.955,149.175,2008.125,586.755,0.000,0.000,0.000,187.425,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,922.999,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250552
$DATA_FILE_SIZE,83366,1889
$CAP_FILE_SIZE,204445,0
$CFSIZE,260034560,135553024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.049,50.32,1
$GPS,071219,155140,615.648,8311.187,25,1.1,26,-1.9,0.7,317.5,7,7.1