version: 66.11
glider: 129
mission: 4
dive: 264
start: 1 6 113 3 34 39
data:
$ID,129
$MISSION,4
$DIVE,264
$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,-13
$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,-2987.8442
$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,0.0049999999
$PITCH_ADJ_DBAND,2
$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,77
$R_STBD_OVSHOOT,100
$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
$GPS1,060113,032536,1857.816,12236.537,33,0.9,33,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-61.6
$GPS2,060113,033412,1857.974,12236.448,9,0.9,14,-2.2
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,98.8,229614,-14.2,-8.462,-17.62
$D_GRID,2039
$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,19,-0.54,-175.2,0.0,0.0,0,86,0.00,0.00,-64.18,0.000,2,0.000,0.000,56,1917,1934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.5,-5.8,11,132,7.88,0.00,-27.08,0.000,6,0.239,0.000,1979,1920,3125,0,0,0,0,0,0,25.11,28.83,26.52
$GC,448,-0.46,-175.2,110.3,-32.1,45,455,0.12,2.00,0.00,0.000,4,0.186,0.028,2016,531,3125,0,0,0,0,0,0,26.03,26.27,28.83
$GC,682,-0.42,-175.2,159.5,-17.5,56,687,0.00,1.95,0.00,0.000,6,0.000,0.021,2007,1907,3125,0,0,0,0,0,0,28.83,26.38,28.83
$GC,996,-0.40,-175.2,211.2,-13.9,72,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1908,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1297,-0.38,-175.2,250.3,-13.0,87,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1908,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1597,-0.36,-175.2,289.3,-13.1,102,1599,0.12,0.00,0.00,0.000,6,0.148,0.000,2044,1909,3125,0,0,0,0,0,0,26.29,28.83,28.83
$GC,1897,-0.37,-175.2,317.8,-8.8,117,1903,0.00,1.98,0.00,0.000,4,0.000,0.029,2044,534,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1961,-0.39,-175.2,323.4,-8.4,120,1967,0.00,2.00,0.00,0.000,6,0.000,0.021,2036,1944,3124,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2285,-0.40,-175.2,347.9,-6.9,136,2290,0.00,2.00,0.00,0.000,4,0.000,0.034,2032,3311,3122,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2349,-0.41,-175.2,351.9,-6.3,139,2354,0.00,1.98,0.00,0.000,6,0.000,0.021,2032,1911,3123,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2672,-0.43,-175.2,370.9,-5.5,155,2677,0.00,1.95,0.00,0.000,4,0.000,0.029,2032,541,3122,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2781,-0.43,-175.2,377.6,-6.4,160,2786,0.00,1.95,0.00,0.000,6,0.000,0.020,2024,1940,3122,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3099,-0.43,-175.2,399.1,-6.7,176,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1941,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3401,-0.43,-175.2,418.6,-6.0,191,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1941,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3700,-0.44,-175.2,437.3,-6.6,206,3707,0.00,2.08,-0.08,0.000,4,0.000,0.042,2024,539,3144,0,0,0,0,0,0,28.83,26.31,25.45
$GC,3745,-0.45,-175.2,440.8,-7.1,208,3751,0.00,2.00,0.00,0.000,6,0.000,0.021,2016,1929,3144,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4069,-0.45,-175.2,465.2,-8.5,224,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1930,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4371,-0.45,-175.2,489.7,-7.5,239,4377,0.00,2.03,0.00,0.000,4,0.000,0.031,2017,537,3142,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4459,-0.45,-175.2,496.8,-8.2,243,4464,0.00,1.98,0.00,0.000,6,0.000,0.021,2009,1928,3141,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4777,-0.45,-175.2,520.9,-8.0,259,4783,0.00,2.03,0.00,0.000,4,0.000,0.034,1999,3310,3139,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4809,-0.45,-175.2,522.8,-8.0,260,4815,0.00,1.95,0.00,0.000,6,0.000,0.021,1999,1920,3139,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5122,-0.45,-175.2,551.6,-8.4,276,5128,0.00,2.03,0.00,0.000,4,0.000,0.031,1999,509,3138,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5266,-0.45,-175.2,563.0,-7.8,283,5272,0.00,2.03,0.00,0.000,6,0.000,0.021,1992,1924,3137,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5589,-0.45,-175.2,587.1,-7.5,299,5594,0.00,2.03,0.00,0.000,4,0.000,0.035,1982,3302,3134,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5617,-0.45,-175.2,588.9,-7.6,300,5623,0.12,1.95,0.00,0.000,6,0.134,0.021,2019,1922,3133,0,0,0,0,0,0,26.12,26.44,28.83
$GC,5936,-0.46,-175.2,607.0,-5.6,314,5942,0.00,1.98,0.00,0.000,4,0.000,0.031,2019,544,3131,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6016,-0.48,-175.2,611.2,-6.1,316,6021,0.00,1.98,0.00,0.000,6,0.000,0.021,2012,1937,3131,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6336,-0.49,-175.2,635.5,-7.9,327,6341,0.00,2.05,0.00,0.000,4,0.000,0.031,2013,545,3130,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6384,-0.50,-175.2,638.6,-8.2,328,6390,0.00,1.98,0.00,0.000,6,0.000,0.021,2004,1933,3130,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6705,-0.50,-175.2,666.5,-8.4,339,6710,0.00,2.03,0.00,0.000,4,0.000,0.035,1994,3299,3128,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6738,-0.50,-175.2,669.5,-8.4,340,6744,0.00,1.98,0.00,0.000,6,0.000,0.021,1994,1931,3127,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7074,-0.50,-175.2,698.0,-8.4,351,7079,0.00,2.03,0.00,0.000,4,0.000,0.031,1994,542,3126,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7181,-0.50,-175.2,707.5,-9.5,354,7187,0.00,1.95,0.00,0.000,6,0.000,0.022,1986,1924,3125,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7500,-0.50,-175.2,739.5,-9.5,365,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1925,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7800,-0.50,-175.2,765.2,-8.1,375,7801,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,1924,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8101,-0.50,-175.2,789.2,-8.2,385,8106,0.00,2.05,0.00,0.000,4,0.000,0.032,1986,533,3121,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8158,-0.50,-175.2,792.3,-8.4,386,8165,0.00,2.00,0.00,0.000,6,0.000,0.023,1977,1924,3121,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8464,-0.50,-175.2,823.0,-9.5,397,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,1924,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8764,-0.50,-175.2,849.3,-8.5,407,8770,0.00,2.03,0.00,0.000,4,0.000,0.032,1977,543,3119,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8822,-0.50,-175.2,852.3,-8.6,408,8829,0.00,2.00,0.00,0.000,6,0.000,0.024,1969,1928,3118,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9128,-0.50,-175.2,881.5,-8.6,419,9133,0.00,2.05,0.00,0.000,4,0.000,0.037,1958,3312,3117,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9164,-0.50,-175.2,884.5,-8.6,420,9170,0.15,1.98,0.00,0.000,6,0.137,0.023,2003,1928,3117,0,0,0,0,0,0,25.96,26.36,28.83
$GC,9496,-0.52,-175.2,906.9,-6.6,431,9501,0.00,2.03,0.00,0.000,4,0.000,0.032,2003,541,3116,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9590,-0.53,-175.2,913.6,-6.9,434,9595,0.00,2.03,0.00,0.000,6,0.000,0.023,1995,1938,3116,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9927,-0.54,-175.2,933.6,-5.8,445,9928,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,1938,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10224,-0.55,-175.2,951.4,-6.1,455,10225,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1938,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10524,-0.56,-175.2,970.1,-6.6,465,10529,0.00,2.10,0.00,0.000,4,0.000,0.033,1995,533,3113,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10597,-0.56,-175.2,974.9,-6.9,467,10602,0.00,2.00,0.00,0.000,6,0.000,0.024,1992,1927,3110,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,10827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10828,begin apogee
$GC,10833,-0.17,0.0,992.2,-7.1,475,10990,0.32,0.00,149.07,1.414,6,0.119,0.000,2103,1927,2410,0,0,0,0,0,0,25.74,28.83,22.43
$STATE,10992,end apogee,CONTROL_FINISHED_OK
$STATE,10992,begin climb
$GC,10994,0.54,175.2,997.9,0.0,480,11164,0.70,2.45,161.85,1.362,4,0.090,0.036,2333,530,1693,0,0,0,0,0,0,24.04,23.56,22.04
$GC,11207,0.58,254.7,989.8,5.9,487,11289,0.00,2.15,73.12,1.335,6,0.000,0.021,2333,1897,1370,0,0,0,0,0,0,28.83,24.47,22.04
$GC,11588,0.60,274.5,960.0,7.8,500,11611,0.00,2.12,17.60,1.275,4,0.000,0.035,2333,3292,1289,0,0,0,0,0,0,28.83,25.49,23.87
$GC,11644,0.63,294.6,957.6,7.8,501,11668,0.00,2.05,19.52,1.280,6,0.000,0.025,2333,1913,1208,0,0,0,0,0,0,28.83,25.78,23.77
$GC,11981,0.65,304.7,927.8,8.1,513,11996,0.12,0.00,9.73,1.192,6,0.108,0.000,2386,1912,1167,0,0,0,0,0,0,26.14,28.83,24.17
$GC,12314,0.65,304.7,889.9,11.5,524,12320,0.00,2.08,0.00,0.000,4,0.000,0.037,2386,510,1163,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12356,0.65,304.7,886.2,11.3,525,12361,0.00,2.03,0.00,0.000,6,0.000,0.023,2386,1905,1163,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12681,0.65,304.7,849.8,11.0,536,12687,0.00,2.05,0.00,0.000,4,0.000,0.036,2386,3290,1162,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12714,0.65,304.7,845.6,11.3,537,12720,0.00,2.05,0.00,0.000,6,0.000,0.024,2386,1885,1164,0,0,0,0,0,0,28.83,26.33,28.83
$GC,13050,0.65,304.7,810.1,10.3,548,13055,0.00,2.05,0.00,0.000,4,0.000,0.037,2386,508,1161,0,0,0,0,0,0,28.83,26.23,28.83
$GC,13087,0.65,304.7,806.3,10.3,549,13092,0.00,2.03,0.00,0.000,6,0.000,0.023,2386,1914,1161,0,0,0,0,0,0,28.83,26.35,28.83
$GC,13417,0.65,304.7,772.4,9.9,560,13419,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1914,1161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13716,0.65,304.7,741.6,10.6,570,13717,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1914,1160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14015,0.65,304.7,708.0,11.1,580,14020,0.00,2.03,0.00,0.000,4,0.000,0.035,2386,3289,1160,0,0,0,0,0,0,28.83,26.20,28.83
$GC,14042,0.65,304.7,708.0,11.1,580,14049,0.00,2.03,0.00,0.000,6,0.000,0.025,2386,1892,1159,0,0,0,0,0,0,28.83,26.34,28.83
$GC,14349,0.65,304.7,672.4,10.1,591,14354,0.00,2.05,0.00,0.000,4,0.000,0.036,2386,502,1159,0,0,0,0,0,0,28.83,26.20,28.83
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$GC,16563,0.66,323.9,451.9,7.8,688,16582,0.00,0.00,17.45,1.025,6,0.000,0.000,2386,1887,1089,0,0,0,0,0,0,28.83,28.83,24.02
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$STATE,21396,end climb,SURFACE_DEPTH_REACHED
$STATE,21396,begin surface coast
$FINISH,1.0,1.022114
$STATE,21407,end surface coast,CONTROL_FINISHED_OK
$STATE,21407,begin surface
$SM_CCo,21482,0.00,0.000,0,0,209,539.66
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$IRIDIUM_FIX,1848.70,12233.16,050113,212150
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.36
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.60
$XPDR_PINGS,0
$SC_FREEKB,3918976
$24V_AH,22.0,52.402
$10V_AH,10.0,36.672
$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,16.175,157.625,634.075,0.000,0.000,0.000,0.000,317.500,0.000,0.000,15.798,3102.987,15036.192,750.161,2674.286,423.079,0.000,2361.127,0.000,2258.097,0.000,0.540,0.000
$DEVICE_MAMPS,239.445,42.075,1414.485,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21432.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.463,0.000,0.000,0.000
$MEM,308664
$DATA_FILE_SIZE,36675,966
$CAP_FILE_SIZE,228949,0
$CFSIZE,260034560,225267712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.289,327.7,1
$GPS,060113,093400,1900.686,12237.960,40,1.4,40,-2.2