version: 66.13
glider: 171
mission: 11
dive: 650
start: 12 28 119 21 49 48
data:
$ID,171
$MISSION,11
$DIVE,650
$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,51
$R_STBD_OVSHOOT,43
$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
$GPS1,281219,213927,506.2389,8205.4805,31,0.9,31,-2.1,1.2,267.0,10,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-69.7
$GPS2,281219,214857,506.1867,8205.2393,2,0.6,2,-2.1,1.1,256.4,12,8.3
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,235.2,176085,-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,5,begin dive
$GC,10,-0.67,-97.3,95,2511,972,878,0.0,0.0,0,88,0.00,0.00,-76.25,0.005,16386,0.000,0.000,95,2511,2686,2688,2685,0,0,0,0,0,0,14.83,28.83,14.85
$GC,94,-0.67,-97.3,95,2512,2688,2685,4.4,-11.2,16,124,9.38,2.42,-12.98,0.010,18692,0.347,0.094,2096,3889,3367,3380,3354,0,0,0,0,0,0,13.84,12.57,14.31
$GC,176,-0.67,-97.3,2096,3888,3381,3354,34.9,-32.1,33,180,0.00,2.25,0.00,0.000,1030,0.000,0.031,2096,2488,3368,3382,3354,0,0,0,0,0,0,14.61,14.54,14.63
$GC,371,-0.67,-97.3,2096,2486,3381,3354,69.8,-20.0,59,376,0.00,2.42,0.00,0.000,260,0.000,0.076,2086,3878,3367,3381,3354,0,0,0,0,0,0,14.95,14.40,14.97
$GC,603,-0.67,-97.3,2085,3878,3381,3354,107.4,-16.0,105,607,0.00,2.20,0.00,0.000,1030,0.000,0.033,2086,2497,3367,3381,3354,0,0,0,0,0,0,14.68,14.62,14.70
$GC,796,-0.67,-97.3,2085,2496,3381,3354,135.6,-14.6,125,800,0.00,2.40,0.00,0.000,260,0.000,0.080,2075,3879,3367,3381,3354,0,0,0,0,0,0,15.03,14.43,15.05
$GC,949,-0.67,-97.3,2075,3878,3381,3354,157.2,-13.4,155,955,0.15,2.20,0.00,0.000,3078,0.215,0.033,2110,2491,3367,3381,3353,0,0,0,0,0,0,14.28,14.64,14.50
$GC,1145,-0.67,-97.3,2110,2490,3381,3353,180.6,-12.0,175,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2490,3367,3381,3353,0,0,0,0,0,0,15.02,15.05,15.04
$GC,1332,-0.67,-97.3,2110,2490,3379,3353,202.8,-11.2,194,1336,0.00,2.40,0.00,0.000,260,0.000,0.079,2101,3877,3366,3379,3353,0,0,0,0,0,0,15.06,14.43,15.08
$GC,1389,-0.67,-97.3,2101,3877,3378,3353,209.2,-11.5,205,1393,0.00,2.20,0.00,0.000,1030,0.000,0.033,2101,2506,3365,3378,3353,0,0,0,0,0,0,14.70,14.64,14.72
$GC,1573,-0.67,-97.3,2101,2505,3377,3353,230.5,-11.5,224,1577,0.00,2.30,0.00,0.000,516,0.000,0.050,2101,1112,3365,3377,3353,0,0,0,0,0,0,15.06,14.52,15.08
$GC,1619,-0.67,-97.3,2101,1112,3376,3353,235.8,-11.1,233,1623,0.00,2.38,0.00,0.000,1030,0.000,0.055,2090,2494,3364,3376,3353,0,0,0,0,0,0,14.62,14.51,14.66
$GC,1806,-0.67,-97.3,2090,2494,3374,3353,258.0,-12.3,249,1812,0.00,2.42,0.00,0.000,260,0.000,0.081,2080,3896,3363,3374,3353,0,0,0,0,0,0,15.06,14.42,15.09
$GC,1854,-0.67,-97.3,2080,3896,3373,3353,264.2,-12.4,259,1860,0.12,2.25,0.00,0.000,3078,0.210,0.034,2109,2489,3363,3373,3353,0,0,0,0,0,0,14.33,14.64,14.52
$GC,2169,-0.67,-97.3,2109,2488,3373,3348,298.5,-10.9,276,2173,0.00,2.47,0.00,0.000,260,0.000,0.083,2100,3890,3360,3373,3348,0,0,0,0,0,0,15.07,14.40,15.09
$GC,2205,-0.67,-97.3,2100,3889,3372,3348,302.8,-11.3,283,2210,0.00,2.22,0.00,0.000,1030,0.000,0.034,2100,2502,3360,3372,3348,0,0,0,0,0,0,14.70,14.64,14.72
$GC,2510,-0.67,-97.3,2099,2501,3371,3346,337.7,-11.5,299,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2501,3358,3371,3346,0,0,0,0,0,0,15.08,15.11,15.11
$GC,2812,-0.67,-97.3,2099,2501,3369,3344,371.6,-11.4,314,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2501,3356,3369,3344,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3110,-0.67,-97.3,2099,2501,3367,3341,404.8,-10.7,329,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2500,3354,3367,3341,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3411,-0.67,-97.3,2099,2501,3366,3339,435.8,-10.1,344,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2500,3352,3366,3339,0,0,0,0,0,0,15.08,15.11,15.10
$GC,3711,-0.67,-97.3,2099,2501,3363,3338,466.1,-10.2,359,3717,0.00,2.47,0.00,0.000,260,0.000,0.084,2089,3892,3350,3363,3338,0,0,0,0,0,0,15.07,14.35,15.09
$GC,3739,-0.67,-97.3,2088,3892,3362,3338,469.1,-11.0,364,3743,0.00,2.25,0.00,0.000,1030,0.000,0.034,2089,2501,3350,3363,3338,0,0,0,0,0,0,14.67,14.60,14.69
$GC,4055,-0.67,-97.3,2088,2501,3362,3336,504.0,-11.3,382,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2501,3349,3362,3337,0,0,0,0,0,0,15.08,15.11,15.10
$GC,4356,-0.67,-97.3,2088,2501,3361,3335,538.5,-11.4,397,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2501,3348,3361,3335,0,0,0,0,0,0,15.07,15.10,15.09
$GC,4656,-0.67,-97.3,2088,2500,3360,3333,573.5,-11.9,412,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2500,3346,3360,3333,0,0,0,0,0,0,15.07,15.11,15.10
$GC,4956,-0.67,-97.3,2088,2500,3357,3332,608.9,-11.6,427,4961,0.00,2.47,0.00,0.000,260,0.000,0.085,2078,3893,3344,3357,3332,0,0,0,0,0,0,15.07,14.31,15.09
$GC,5030,-0.67,-97.3,2078,3893,3356,3332,617.7,-12.0,441,5035,0.12,2.28,0.00,0.000,3078,0.208,0.035,2108,2497,3344,3356,3332,0,0,0,0,0,0,14.25,14.56,14.44
$GC,5342,-0.67,-97.3,2108,2495,3356,3331,649.1,-9.9,458,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2496,3343,3356,3331,0,0,0,0,0,0,15.08,15.11,15.10
$GC,5643,-0.67,-97.3,2108,2496,3356,3330,678.0,-9.5,473,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2496,3343,3356,3330,0,0,0,0,0,0,15.07,15.10,15.09
$GC,5942,-0.67,-97.3,2108,2495,3355,3328,705.3,-9.0,488,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2495,3341,3354,3329,0,0,0,0,0,0,15.07,15.11,15.10
$GC,6242,-0.67,-97.3,2108,2495,3353,3327,732.5,-9.0,503,6244,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2495,3340,3353,3327,0,0,0,0,0,0,15.08,15.11,15.10
$GC,6543,-0.67,-97.3,2108,2496,3352,3326,759.5,-9.0,518,6547,0.00,2.33,0.00,0.000,516,0.000,0.050,2109,1112,3339,3352,3326,0,0,0,0,0,0,15.07,14.42,15.09
$GC,6584,-0.67,-97.3,2108,1112,3352,3326,763.4,-9.1,526,6591,0.00,2.40,0.00,0.000,1030,0.000,0.058,2099,2498,3339,3352,3326,0,0,0,0,0,0,14.49,14.37,14.53
$GC,6907,-0.67,-97.3,2099,2498,3351,3325,793.2,-9.3,545,6913,0.00,2.47,0.00,0.000,260,0.000,0.086,2088,3892,3338,3351,3325,0,0,0,0,0,0,15.04,14.24,15.07
$GC,6955,-0.67,-97.3,2088,3892,3351,3325,798.2,-9.9,555,6961,0.00,2.28,0.00,0.000,1030,0.000,0.036,2088,2505,3338,3351,3325,0,0,0,0,0,0,14.58,14.52,14.61
$GC,7268,-0.67,-97.3,2088,2503,3350,3324,830.1,-10.3,572,7272,0.00,2.35,0.00,0.000,516,0.000,0.050,2088,1108,3337,3350,3324,0,0,0,0,0,0,15.06,14.39,15.08
$GC,7311,-0.67,-97.3,2088,1108,3350,3324,834.4,-10.3,580,7318,0.15,2.42,0.00,0.000,3078,0.197,0.059,2113,2500,3337,3350,3324,0,0,0,0,0,0,14.12,14.34,14.29
$GC,7631,-0.67,-97.3,2113,2500,3349,3323,861.8,-8.1,599,7635,0.00,2.47,0.00,0.000,260,0.000,0.086,2105,3890,3336,3349,3323,0,0,0,0,0,0,15.06,14.21,15.09
$GC,7672,-0.67,-97.3,2104,3890,3349,3323,865.3,-9.1,607,7677,0.00,2.30,0.00,0.000,1030,0.000,0.036,2105,2491,3336,3349,3323,0,0,0,0,0,0,14.56,14.50,14.59
$GC,7995,-0.67,-97.3,2104,2490,3348,3321,893.2,-8.6,626,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2490,3334,3348,3321,0,0,0,0,0,0,15.05,15.09,15.08
$GC,8294,-0.67,-97.3,2104,2490,3348,3320,919.7,-9.0,641,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2490,3334,3348,3321,0,0,0,0,0,0,15.07,15.09,15.09
$GC,8596,-0.67,-97.3,2104,2490,3347,3321,947.1,-9.1,656,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2490,3334,3347,3321,0,0,0,0,0,0,15.05,15.08,15.07
$GC,8894,-0.67,-97.3,2104,2490,3346,3320,973.4,-8.4,671,8899,0.00,2.53,0.00,0.000,260,0.000,0.087,2093,3890,3332,3345,3320,0,0,0,0,0,0,15.07,14.16,15.09
$GC,8931,-0.67,-97.3,2093,3890,3345,3320,976.7,-9.1,678,8935,0.00,2.30,0.00,0.000,1030,0.000,0.036,2093,2501,3332,3345,3320,0,0,0,0,0,0,14.52,14.45,14.55
$STATE,9093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9093,begin apogee
$GC,9102,-0.15,0.0,2093,2499,3345,3320,991.8,-9.1,687,9198,0.65,0.00,92.55,1.976,10246,0.167,0.000,2276,2499,2968,3001,2936,0,0,0,0,0,0,13.99,13.95,12.59
$STATE,9199,end apogee,CONTROL_FINISHED_OK
$STATE,9199,begin climb
$GC,9203,0.67,97.3,2276,2499,2999,2935,994.5,0.0,692,9311,0.85,0.00,104.75,1.958,10246,0.091,0.000,2554,2499,2571,2604,2538,0,0,0,0,0,0,14.15,13.88,12.57
$GC,9604,0.68,97.3,2554,2499,2592,2534,974.4,7.5,712,9611,0.00,2.47,0.00,0.000,580,0.000,0.051,2565,1052,2563,2592,2534,0,0,0,0,0,0,14.84,14.40,14.87
$GC,9688,0.68,97.3,2565,1052,2591,2534,967.8,7.7,729,9693,0.00,2.42,0.00,0.000,1030,0.000,0.054,2565,2443,2562,2591,2534,0,0,0,0,0,0,14.52,14.40,14.56
$GC,10005,0.68,97.3,2565,2443,2590,2532,943.3,7.8,747,10007,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2443,2561,2590,2532,0,0,0,0,0,0,14.97,15.01,15.00
$GC,10306,0.68,97.3,2565,2443,2590,2531,919.6,7.8,762,10310,0.00,2.40,0.00,0.000,516,0.000,0.050,2576,1045,2560,2590,2531,0,0,0,0,0,0,15.00,14.44,15.02
$GC,10362,0.68,97.3,2576,1044,2588,2530,915.1,7.8,773,10368,0.00,2.42,0.00,0.000,1030,0.000,0.053,2576,2445,2558,2588,2529,0,0,0,0,0,0,14.54,14.42,14.58
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$GC,20576,1.38,490.3,2706,2440,1725,1599,32.1,-1.5,1691,20739,0.15,2.40,151.30,0.856,10788,0.103,0.051,2811,1053,968,1031,905,0,0,0,0,0,0,14.50,13.88,13.38
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$STATE,20828,end climb,SURFACE_DEPTH_REACHED
$STATE,20828,begin surface coast
$STATE,20844,end surface coast,CONTROL_FINISHED_OK
$STATE,20844,begin surface
$SM_CCo,20866,32.22,0.276,1,0,929,500.17
$SM_GC,0.91,7.65,0.10,32.22,0.047,0.170,0.276,125,2496,929,-6.77,-0.82,500.17,0,0,0,0,1,0,14.45,14.37,13.44
$IRIDIUM_FIX,504.37,8210.87,281219,152635
$TT8_MAMPS,0.019474,0.15729
$HUMID,52.44
$INTERNAL_PRESSURE,9.478
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,12.57,219.464
$10V_AH,13.13,0.000
$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,19.850,176.650,545.225,32.225,0.000,0.000,0.000,421.250,0.250,0.000,14.242,1578.586,15724.123,717.353,2844.154,600.797,0.000,2541.514,0.000,2478.443,0.000,0.541,0.000
$DEVICE_MAMPS,346.545,169.830,1975.995,276.165,0.000,0.000,0.000,186.660,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,891.924,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250736
$DATA_FILE_SIZE,76616,1744
$CAP_FILE_SIZE,191892,0
$CFSIZE,260034560,127537152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.122,11.07,1
$GPS,291219,033925,506.722,8204.126,13,0.7,29,-2.1,0.3,264.3,12,3.6