version: 66.11
glider: 129
mission: 4
dive: 199
start: 12 22 112 12 26 28
data:
$ID,129
$MISSION,4
$DIVE,199
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$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,390
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2901.6904
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,94
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,221212,121806,1751.021,12435.776,26,1.2,26,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-59.2
$GPS2,221212,122600,1750.981,12435.887,12,1.2,17,-2.0
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$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,233.3,2397,-14.2,-8.462,-17.62
$D_GRID,4017
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.54,-175.2,0.0,0.0,0,86,0.00,0.00,-65.53,0.000,2,0.000,0.000,50,1902,1843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.1,-4.5,11,139,7.95,2.03,-32.53,0.000,4,0.246,0.045,1974,549,3125,0,0,0,0,0,0,25.26,26.11,26.48
$GC,366,-0.54,-175.2,84.7,-34.6,42,371,0.00,1.98,0.00,0.000,6,0.000,0.024,1966,1930,3125,0,0,0,0,0,0,28.83,26.31,28.83
$GC,678,-0.54,-175.2,178.5,-25.4,58,684,0.00,2.00,0.00,0.000,4,0.000,0.029,1966,551,3126,0,0,0,0,0,0,28.83,26.34,28.83
$GC,776,-0.54,-175.2,198.8,-24.5,62,783,0.00,1.95,0.00,0.000,6,0.000,0.023,1953,1926,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1083,-0.54,-175.2,263.8,-18.1,78,1088,0.00,2.00,0.00,0.000,4,0.000,0.028,1956,532,3125,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1220,-0.54,-175.2,286.9,-18.0,84,1227,0.12,2.00,0.00,0.000,6,0.170,0.023,1978,1937,3125,0,0,0,0,0,0,26.07,26.44,28.83
$GC,1526,-0.54,-175.2,333.4,-12.6,100,1532,0.00,2.03,0.00,0.000,4,0.000,0.034,1969,3307,3125,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1559,-0.54,-175.2,336.3,-12.5,101,1565,0.00,1.92,0.00,0.000,6,0.000,0.021,1969,1923,3125,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1873,-0.54,-175.2,378.9,-12.7,117,1878,0.00,1.98,0.00,0.000,4,0.000,0.030,1969,550,3124,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2106,-0.54,-175.2,408.4,-12.5,128,2111,0.00,1.98,0.00,0.000,6,0.000,0.021,1959,1944,3123,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2419,-0.54,-175.2,450.1,-12.8,144,2425,0.00,2.03,0.00,0.000,4,0.000,0.030,1959,556,3122,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2486,-0.54,-175.2,458.8,-13.5,147,2492,0.12,1.95,0.00,0.000,6,0.161,0.022,1983,1931,3122,0,0,0,0,0,0,26.11,26.46,28.83
$GC,2805,-0.54,-175.2,493.0,-10.2,163,2810,0.00,2.03,0.00,0.000,4,0.000,0.029,1983,546,3119,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2837,-0.54,-175.2,495.4,-10.2,164,2842,0.00,1.98,0.00,0.000,6,0.000,0.022,1975,1919,3119,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3149,-0.54,-175.2,529.5,-10.6,180,3154,0.00,2.00,0.00,0.000,4,0.000,0.030,1975,556,3116,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3215,-0.54,-175.2,536.6,-11.3,183,3221,0.00,1.98,0.00,0.000,6,0.000,0.022,1966,1922,3116,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3533,-0.54,-175.2,572.9,-11.1,199,3539,0.00,2.00,0.00,0.000,4,0.000,0.030,1966,557,3113,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3580,-0.54,-175.2,577.9,-11.3,201,3585,0.00,1.95,0.00,0.000,6,0.000,0.022,1957,1927,3113,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3899,-0.54,-175.2,614.4,-11.6,215,3904,0.00,2.03,0.00,0.000,4,0.000,0.035,1946,3305,3110,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3926,-0.54,-175.2,614.4,-11.6,215,3933,0.12,1.95,0.00,0.000,6,0.150,0.023,1981,1919,3110,0,0,0,0,0,0,26.13,26.46,28.83
$GC,4233,-0.54,-175.2,648.0,-9.8,226,4238,0.00,2.00,0.00,0.000,4,0.000,0.031,1981,538,3107,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4305,-0.54,-175.2,654.8,-10.2,228,4311,0.00,2.00,0.00,0.000,6,0.000,0.023,1972,1927,3107,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4628,-0.54,-175.2,687.7,-9.8,239,4634,0.00,2.03,0.00,0.000,4,0.000,0.031,1972,546,3104,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4692,-0.54,-175.2,694.2,-10.2,241,4697,0.00,2.00,0.00,0.000,6,0.000,0.023,1968,1934,3104,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5025,-0.54,-175.2,727.9,-10.1,252,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1935,3101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5325,-0.54,-175.2,757.5,-9.8,262,5331,0.00,2.05,0.00,0.000,4,0.000,0.031,1964,545,3099,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5348,-0.54,-175.2,757.5,-9.8,262,5354,0.10,1.98,0.00,0.000,6,0.170,0.023,1979,1924,3099,0,0,0,0,0,0,26.11,26.41,28.83
$GC,5663,-0.54,-175.2,787.2,-8.7,273,5669,0.00,2.03,0.00,0.000,4,0.000,0.032,1979,553,3097,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5715,-0.54,-175.2,790.6,-9.0,274,5721,0.00,1.98,0.00,0.000,6,0.000,0.024,1972,1929,3096,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6028,-0.54,-175.2,820.9,-8.9,285,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1929,3095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6329,-0.54,-175.2,846.7,-8.4,295,6335,0.00,2.05,0.00,0.000,4,0.000,0.032,1972,545,3093,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6357,-0.54,-175.2,846.7,-8.4,295,6364,0.00,2.00,0.00,0.000,6,0.000,0.024,1964,1934,3096,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6662,-0.54,-175.2,876.0,-8.6,306,6668,0.00,2.05,0.00,0.000,4,0.000,0.037,1954,3309,3091,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6720,-0.54,-175.2,878.9,-8.6,307,6726,0.00,1.98,0.00,0.000,6,0.000,0.024,1954,1928,3090,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7025,-0.54,-175.2,907.9,-8.6,318,7031,0.10,2.05,0.00,0.000,4,0.171,0.031,1979,534,3089,0,0,0,0,0,0,26.34,26.26,28.83
$GC,7214,-0.54,-175.2,923.0,-8.2,324,7220,0.00,2.00,0.00,0.000,6,0.000,0.024,1971,1926,3089,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7543,-0.54,-175.2,949.6,-8.1,335,7548,0.00,2.08,0.00,0.000,4,0.000,0.038,1960,3316,3086,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7571,-0.54,-175.2,949.6,-8.1,335,7578,0.00,2.03,0.00,0.000,6,0.000,0.024,1960,1919,3086,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7876,-0.54,-175.2,978.3,-8.6,346,7881,0.00,2.00,0.00,0.000,4,0.000,0.034,1960,544,3085,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8000,-0.54,-175.2,989.7,-9.3,350,8006,0.12,2.03,0.00,0.000,6,0.164,0.024,1983,1932,3085,0,0,0,0,0,0,25.96,26.34,28.83
$STATE,8032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8032,begin apogee
$GC,8036,-0.17,0.0,992.5,-9.0,351,8186,0.35,0.00,139.30,1.407,6,0.120,0.000,2102,1933,2410,0,0,0,0,0,0,25.79,28.83,23.18
$STATE,8187,end apogee,CONTROL_FINISHED_OK
$STATE,8187,begin climb
$GC,8189,0.54,175.2,996.2,0.0,356,8359,0.68,2.45,157.38,1.356,4,0.093,0.035,2330,524,1692,0,0,0,0,0,0,24.45,23.62,22.42
$GC,8401,0.56,202.5,984.2,7.6,363,8432,0.00,2.15,25.42,1.281,6,0.000,0.021,2330,1891,1583,0,0,0,0,0,0,28.83,24.48,22.72
$GC,8761,0.56,202.7,953.2,8.5,375,8766,0.00,2.10,0.00,0.000,4,0.000,0.036,2330,3293,1575,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8838,0.56,202.7,947.2,8.9,377,8844,0.00,2.03,0.00,0.000,6,0.000,0.025,2338,1906,1574,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9158,0.56,217.2,919.6,8.0,388,9176,0.00,2.12,12.50,1.239,4,0.000,0.034,2338,3303,1523,0,0,0,0,0,0,28.83,25.89,24.46
$GC,9193,0.57,230.7,916.9,8.0,389,9213,0.00,2.08,13.80,1.242,6,0.000,0.023,2347,1887,1468,0,0,0,0,0,0,28.83,25.98,24.26
$GC,9521,0.57,243.5,889.8,8.0,400,9535,0.00,0.00,11.95,1.226,6,0.000,0.000,2347,1887,1416,0,0,0,0,0,0,28.83,28.83,24.47
$GC,9821,0.57,249.9,865.2,8.3,410,9835,0.00,2.17,6.85,1.093,4,0.000,0.035,2347,3292,1390,0,0,0,0,0,0,28.83,26.05,24.49
$GC,9871,0.58,252.8,862.3,8.4,411,9884,0.00,2.05,4.12,0.864,6,0.000,0.024,2344,1891,1379,0,0,0,0,0,0,28.83,26.13,24.34
$GC,10184,0.58,252.8,833.0,8.8,422,10189,0.00,2.12,0.00,0.000,4,0.000,0.035,2347,3301,1377,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10225,0.58,252.8,829.7,9.0,423,10230,0.00,2.05,0.00,0.000,6,0.000,0.025,2347,1889,1376,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10549,0.58,252.9,801.0,8.5,434,10551,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1889,1375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10848,0.58,275.4,777.5,7.7,444,10872,0.00,0.00,21.27,1.250,6,0.000,0.000,2347,1889,1286,0,0,0,0,0,0,28.83,28.83,24.48
$GC,11149,0.60,306.2,754.7,7.5,454,11183,0.00,2.17,27.95,1.243,4,0.000,0.034,2347,3292,1161,0,0,0,0,0,0,28.83,25.47,24.25
$GC,11225,0.60,324.9,749.7,7.9,456,11251,0.00,2.08,17.92,1.192,6,0.000,0.025,2347,1899,1084,0,0,0,0,0,0,28.83,25.78,24.10
$GC,11573,0.61,327.3,719.9,8.4,468,11574,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1898,1079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11874,0.61,346.4,695.4,7.8,478,11896,0.00,0.00,19.62,1.185,6,0.000,0.000,2347,1898,996,0,0,0,0,0,0,28.83,28.83,24.50
$GC,12173,0.64,402.4,674.8,6.6,488,12225,0.00,0.00,49.38,1.202,6,0.000,0.000,2347,1898,770,0,0,0,0,0,0,28.83,28.83,24.06
$GC,12505,0.66,470.1,654.1,6.3,499,12572,0.00,2.25,58.45,1.179,4,0.000,0.037,2347,510,492,0,0,0,0,0,0,28.83,25.06,23.96
$GC,12584,0.69,532.1,650.2,6.4,501,12645,0.10,2.10,53.47,1.148,6,0.114,0.020,2386,1934,239,0,0,0,0,0,0,25.25,25.37,23.65
$GC,12957,0.69,532.1,617.1,8.9,514,12962,0.00,2.17,0.00,0.000,4,0.000,0.035,2387,507,234,0,0,0,0,0,0,28.83,25.95,28.83
$GC,12974,0.69,532.1,617.1,8.9,514,12979,0.00,2.00,0.00,0.000,6,0.000,0.021,2386,1896,233,0,0,0,0,0,0,28.83,26.07,28.83
$GC,13293,0.69,537.1,588.3,8.3,527,13300,0.00,0.00,4.90,0.835,6,0.000,0.000,2387,1898,219,0,0,0,0,0,0,28.83,28.83,24.51
$GC,13592,0.70,571.4,565.9,7.3,542,13597,0.00,0.00,3.17,0.611,6,0.000,0.000,2386,1898,211,0,0,0,0,0,0,28.83,28.83,24.44
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$GC,16243,0.78,767.3,354.4,8.1,673,16249,0.00,2.10,1.20,0.168,4,0.000,0.034,2387,500,212,0,0,0,0,0,0,28.83,26.26,25.43
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$STATE,20326,end climb,SURFACE_DEPTH_REACHED
$STATE,20327,begin surface coast
$FINISH,1.1,1.008634
$STATE,20353,end surface coast,CONTROL_FINISHED_OK
$STATE,20353,begin surface
$SM_CCo,20429,0.00,0.000,0,0,210,539.41
$SM_GC,1.82,6.32,0.00,0.00,0.050,0.000,0.000,68,1907,210,-6.45,-0.51,539.41,0,0,0,0,0,0,26.25,28.83,28.83
$IRIDIUM_FIX,1745.10,12438.56,221212,060633
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.86
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,3943968
$24V_AH,22.4,38.957
$10V_AH,10.3,28.430
$FG_AHR_24Vo,120.571
$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,16.325,174.900,645.825,0.000,0.000,0.000,0.000,297.550,0.000,0.000,18.921,3000.438,14159.265,797.047,2574.953,364.752,0.000,2357.641,0.000,2184.322,0.000,0.541,0.000
$DEVICE_MAMPS,246.330,45.135,1406.835,0.000,0.000,0.000,0.000,133.110,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20364.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.032,0.000,0.000,0.000
$MEM,329644
$DATA_FILE_SIZE,33422,922
$CAP_FILE_SIZE,226034,0
$CFSIZE,260034560,231809024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.153, 44.7,1
$GPS,221212,180806,1750.029,12434.548,31,1.1,31,-2.0