version: 66.13
glider: 171
mission: 11
dive: 679
start: 1 5 120 3 27 44
data:
$ID,171
$MISSION,11
$DIVE,679
$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,30
$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
$GPS1,050120,032030,507.1840,8127.7681,22,0.7,22,-2.2,0.7,261.0,9,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-69.6
$GPS2,050120,032651,507.1384,8127.6045,2,0.5,3,-2.2,0.6,0.0,12,9.6
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,256.6,107097,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-0.67,-97.3,105,2502,972,879,0.0,0.0,0,83,0.00,0.00,-71.03,0.005,16386,0.000,0.000,105,2502,2559,2563,2556,0,0,0,0,0,0,14.82,28.83,14.85
$GC,88,-0.67,-97.3,105,2502,2564,2556,4.3,-11.0,15,119,9.38,2.40,-15.98,0.008,18692,0.347,0.093,2094,3893,3367,3383,3351,0,0,0,0,0,0,13.83,12.58,14.30
$GC,348,-0.67,-97.3,2094,3893,3383,3351,74.2,-15.2,67,352,0.00,2.25,0.00,0.000,1030,0.000,0.037,2094,2498,3367,3384,3351,0,0,0,0,0,0,14.59,14.53,14.62
$GC,541,-0.67,-97.3,2094,2497,3384,3351,103.3,-13.9,87,547,0.00,2.45,0.00,0.000,260,0.000,0.082,2084,3905,3367,3384,3351,0,0,0,0,0,0,14.98,14.28,15.01
$GC,770,-0.67,-97.3,2083,3905,3385,3351,136.6,-13.5,133,774,0.00,2.25,0.00,0.000,1030,0.000,0.033,2084,2502,3368,3385,3351,0,0,0,0,0,0,14.64,14.57,14.66
$GC,962,-0.67,-97.3,2083,2501,3385,3351,162.3,-13.1,153,966,0.00,2.33,0.00,0.000,516,0.000,0.047,2084,1100,3368,3385,3351,0,0,0,0,0,0,15.03,14.48,15.05
$GC,1083,-0.67,-97.3,2083,1100,3385,3351,179.1,-14.2,177,1092,0.15,2.40,0.00,0.000,3078,0.206,0.057,2108,2504,3368,3385,3351,0,0,0,0,0,0,14.20,14.43,14.41
$GC,1277,-0.67,-97.3,2108,2505,3385,3351,203.3,-11.9,197,1282,0.00,2.42,0.00,0.000,260,0.000,0.082,2099,3893,3368,3385,3351,0,0,0,0,0,0,15.01,14.35,15.03
$GC,1334,-0.67,-97.3,2099,3893,3384,3351,210.2,-11.8,208,1338,0.00,2.25,0.00,0.000,1030,0.000,0.033,2099,2494,3367,3384,3351,0,0,0,0,0,0,14.64,14.58,14.66
$GC,1521,-0.67,-97.3,2099,2493,3383,3351,231.4,-11.4,227,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2493,3367,3384,3351,0,0,0,0,0,0,15.04,15.07,15.06
$GC,1719,-0.67,-97.3,2099,2493,3381,3351,255.0,-11.9,245,1727,0.00,2.47,0.00,0.000,260,0.000,0.085,2088,3894,3366,3381,3351,0,0,0,0,0,0,15.06,14.33,15.09
$GC,1744,-0.67,-97.3,2087,3894,3381,3351,258.1,-12.9,250,1749,0.00,2.25,0.00,0.000,1030,0.000,0.033,2088,2495,3365,3380,3351,0,0,0,0,0,0,14.65,14.58,14.67
$GC,2062,-0.67,-97.3,2087,2494,3378,3351,295.8,-11.7,268,2068,0.00,2.47,0.00,0.000,260,0.000,0.083,2077,3899,3364,3377,3351,0,0,0,0,0,0,15.06,14.33,15.08
$GC,2091,-0.67,-97.3,2077,3899,3377,3351,299.5,-12.9,274,2097,0.15,2.25,0.00,0.000,3078,0.202,0.034,2114,2500,3364,3377,3351,0,0,0,0,0,0,14.23,14.57,14.42
$GC,2405,-0.67,-97.3,2113,2498,3375,3348,333.3,-11.1,291,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2498,3361,3375,3348,0,0,0,0,0,0,15.06,15.09,15.09
$GC,2705,-0.67,-97.3,2113,2498,3375,3346,365.7,-10.5,306,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2498,3360,3374,3346,0,0,0,0,0,0,15.06,15.09,15.09
$GC,3004,-0.67,-97.3,2113,2498,3372,3344,395.4,-9.8,321,3012,0.00,2.47,0.00,0.000,260,0.000,0.084,2104,3893,3358,3372,3344,0,0,0,0,0,0,15.07,14.28,15.09
$GC,3061,-0.67,-97.3,2104,3893,3371,3344,400.8,-9.7,332,3065,0.00,2.28,0.00,0.000,1030,0.000,0.034,2105,2497,3357,3371,3344,0,0,0,0,0,0,14.61,14.54,14.64
$GC,3364,-0.67,-97.3,2104,2496,3370,3342,430.4,-9.8,348,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2495,3356,3370,3342,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3665,-0.67,-97.3,2104,2496,3368,3340,460.6,-10.3,363,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2495,3354,3368,3340,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3965,-0.67,-97.3,2104,2495,3367,3338,491.5,-10.4,378,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2495,3352,3367,3338,0,0,0,0,0,0,15.06,15.08,15.08
$GC,4264,-0.67,-97.3,2104,2495,3366,3338,523.1,-10.6,393,4271,0.00,2.50,0.00,0.000,260,0.000,0.086,2093,3893,3351,3365,3338,0,0,0,0,0,0,15.07,14.23,15.09
$GC,4309,-0.67,-97.3,2093,3893,3365,3337,528.0,-11.1,402,4314,0.00,2.28,0.00,0.000,1030,0.000,0.035,2093,2501,3351,3365,3338,0,0,0,0,0,0,14.59,14.51,14.61
$GC,4627,-0.67,-97.3,2093,2500,3363,3336,563.0,-10.9,420,4633,0.00,2.50,0.00,0.000,260,0.000,0.086,2083,3894,3349,3363,3336,0,0,0,0,0,0,15.05,14.21,15.08
$GC,4656,-0.67,-97.3,2083,3894,3363,3335,566.3,-12.0,426,4662,0.12,2.28,0.00,0.000,3078,0.205,0.035,2112,2499,3349,3363,3335,0,0,0,0,0,0,14.19,14.50,14.37
$GC,4971,-0.67,-97.3,2111,2498,3362,3334,595.9,-9.2,443,4975,0.00,2.35,0.00,0.000,516,0.000,0.050,2112,1108,3348,3362,3334,0,0,0,0,0,0,15.04,14.38,15.07
$GC,4994,-0.67,-97.3,2112,1108,3362,3334,598.3,-9.8,447,5000,0.00,2.45,0.00,0.000,1030,0.000,0.062,2103,2509,3348,3362,3334,0,0,0,0,0,0,14.45,14.32,14.49
$GC,5313,-0.67,-97.3,2103,2509,3362,3333,630.0,-10.1,466,5318,0.00,2.47,0.00,0.000,260,0.000,0.086,2091,3900,3347,3362,3333,0,0,0,0,0,0,15.06,14.19,15.08
$GC,5352,-0.67,-97.3,2091,3900,3361,3333,633.9,-10.7,473,5356,0.00,2.30,0.00,0.000,1030,0.000,0.036,2091,2503,3347,3361,3333,0,0,0,0,0,0,14.54,14.47,14.57
$GC,5656,-0.67,-97.3,2091,2501,3360,3333,666.2,-10.3,489,5663,0.00,2.50,0.00,0.000,260,0.000,0.086,2081,3895,3346,3360,3332,0,0,0,0,0,0,15.05,14.19,15.08
$GC,5688,-0.67,-97.3,2080,3894,3360,3332,669.3,-10.9,495,5693,0.12,2.30,0.00,0.000,3078,0.207,0.036,2110,2493,3346,3360,3332,0,0,0,0,0,0,14.15,14.47,14.33
$GC,6001,-0.67,-97.3,2110,2492,3360,3331,697.1,-8.8,512,6005,0.00,2.35,0.00,0.000,516,0.000,0.050,2110,1105,3345,3359,3331,0,0,0,0,0,0,15.04,14.34,15.07
$GC,6032,-0.67,-97.3,2110,1104,3358,3331,700.1,-9.1,518,6038,0.00,2.45,0.00,0.000,1030,0.000,0.060,2101,2504,3344,3358,3331,0,0,0,0,0,0,14.42,14.29,14.46
$GC,6345,-0.67,-97.3,2101,2504,3357,3330,730.9,-10.1,535,6347,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2504,3343,3357,3330,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6646,-0.67,-97.3,2101,2504,3357,3329,762.5,-10.7,550,6651,0.00,2.50,0.00,0.000,260,0.000,0.087,2090,3896,3343,3357,3329,0,0,0,0,0,0,15.04,14.14,15.07
$GC,6696,-0.67,-97.3,2089,3896,3356,3329,767.9,-11.1,559,6700,0.00,2.30,0.00,0.000,1030,0.000,0.037,2090,2499,3342,3356,3329,0,0,0,0,0,0,14.52,14.45,14.54
$GC,7013,-0.67,-97.3,2089,2498,3356,3328,803.5,-11.1,577,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2498,3342,3356,3328,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7312,-0.67,-97.3,2089,2498,3355,3327,836.5,-10.9,592,7318,0.00,2.53,0.00,0.000,260,0.000,0.088,2079,3894,3341,3355,3327,0,0,0,0,0,0,15.06,14.12,15.08
$GC,7352,-0.67,-97.3,2078,3894,3355,3327,841.1,-11.6,600,7357,0.12,2.30,0.00,0.000,3078,0.203,0.037,2108,2500,3341,3355,3327,0,0,0,0,0,0,14.11,14.42,14.28
$GC,7675,-0.67,-97.3,2108,2499,3355,3326,872.9,-9.8,619,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2499,3340,3355,3326,0,0,0,0,0,0,15.03,15.07,15.06
$GC,7974,-0.67,-97.3,2107,2499,3354,3326,902.7,-10.1,634,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2499,3340,3354,3326,0,0,0,0,0,0,15.05,15.08,15.07
$GC,8274,-0.67,-97.3,2108,2499,3353,3325,933.1,-10.1,649,8276,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2499,3339,3353,3325,0,0,0,0,0,0,15.04,15.08,15.07
$GC,8575,-0.67,-97.3,2108,2499,3353,3324,961.9,-9.3,664,8579,0.00,2.38,0.00,0.000,516,0.000,0.050,2108,1110,3338,3352,3324,0,0,0,0,0,0,15.04,14.26,15.07
$GC,8606,-0.67,-97.3,2108,1109,3352,3324,965.0,-9.4,670,8612,0.00,2.47,0.00,0.000,1030,0.000,0.063,2099,2505,3338,3352,3324,0,0,0,0,0,0,14.33,14.21,14.38
$STATE,8875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8875,begin apogee
$GC,8885,-0.15,0.0,2099,2433,3352,3323,990.6,-9.3,685,8982,0.65,0.00,93.10,1.969,10246,0.166,0.000,2278,2433,2968,3001,2935,0,0,0,0,0,0,13.91,13.96,12.67
$STATE,8983,end apogee,CONTROL_FINISHED_OK
$STATE,8983,begin climb
$GC,8987,0.67,97.3,2278,2432,3000,2935,993.4,0.0,690,9104,0.85,2.42,103.65,1.948,10756,0.091,0.050,2565,1042,2568,2600,2537,0,0,0,0,0,0,14.12,13.59,12.62
$GC,9137,0.71,135.8,2565,1042,2596,2536,992.0,5.9,721,9184,0.00,2.47,40.10,1.909,9254,0.000,0.057,2565,2444,2414,2452,2376,0,0,0,0,0,0,14.33,14.23,12.65
$GC,9501,0.71,135.8,2565,2444,2443,2371,954.3,10.8,749,9505,0.00,2.40,0.00,0.000,516,0.000,0.051,2576,1044,2407,2443,2371,0,0,0,0,0,0,14.88,14.40,14.90
$GC,9564,0.71,135.8,2576,1043,2441,2370,947.9,10.5,761,9570,0.00,2.40,0.00,0.000,1030,0.000,0.054,2576,2437,2405,2441,2370,0,0,0,0,0,0,14.38,14.32,14.43
$GC,9887,0.71,135.8,2576,2437,2440,2369,913.5,10.4,780,9891,0.00,2.38,0.00,0.000,516,0.000,0.051,2586,1051,2404,2440,2369,0,0,0,0,0,0,14.97,14.41,15.00
$GC,9923,0.71,135.8,2586,1050,2439,2369,909.8,10.3,787,9929,0.00,2.42,0.00,0.000,1030,0.000,0.054,2586,2444,2404,2439,2369,0,0,0,0,0,0,14.50,14.38,14.55
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$GC,20053,1.19,424.8,2656,2445,2006,1882,60.4,-1.7,1638,20219,0.15,0.00,157.12,0.886,11046,0.103,0.000,2736,2444,1235,1312,1158,0,0,0,0,0,0,14.54,13.85,13.34
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$STATE,20618,end climb,SURFACE_DEPTH_REACHED
$STATE,20619,begin surface coast
$STATE,20644,end surface coast,CONTROL_FINISHED_OK
$STATE,20644,begin surface
$SM_CCo,20666,89.12,0.588,1,0,927,500.17
$SM_GC,1.13,7.65,0.10,89.12,0.066,0.135,0.588,128,2542,927,-6.77,-0.85,500.17,0,0,0,0,1,0,14.49,14.56,13.57
$IRIDIUM_FIX,504.45,8131.37,040120,210333
$TT8_MAMPS,0.019474,0.156541
$HUMID,50.66
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,12.58,228.158
$10V_AH,13.15,0.000
$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,20.250,197.175,493.725,89.125,0.000,0.000,0.000,229.900,0.000,0.000,15.073,1581.524,15541.252,717.801,2738.018,557.299,0.000,2391.734,0.000,2494.408,0.000,0.539,0.000
$DEVICE_MAMPS,347.310,150.705,1969.110,587.520,0.000,0.000,0.000,187.425,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,901.638,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,250304
$DATA_FILE_SIZE,76737,1755
$CAP_FILE_SIZE,195313,0
$CFSIZE,260034560,124813312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.007,354.06,1
$GPS,050120,091501,506.977,8125.808,32,0.6,33,-2.2,1.4,245.8,12,5.8