version: 66.12
glider: 171
mission: 9
dive: 157
start: 12 13 115 22 46 3
data:
$ID,171
$MISSION,9
$DIVE,157
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1015
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,420
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-6
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52091
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,587.06018
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,175
$PITCH_MAX,3952
$C_PITCH,1997
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2305
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3820
$C_VBD,2899
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-75.620842
$PRESSURE_SLOPE,0.0001165165
$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,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004389904
$SEABIRD_T_H,0.00063959236
$SEABIRD_T_I,2.6546981e-05
$SEABIRD_T_J,3.01253e-06
$SEABIRD_C_G,-10.191363
$SEABIRD_C_H,1.1409097
$SEABIRD_C_I,-0.0015713738
$SEABIRD_C_J,0.00020770991
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,131215,223935,746.8989,8247.8828,32,1.2,32,-2.2,0.0,0.0,7,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.35
$_SM_ANGLEo,-56.1
$GPS2,131215,224551,746.9266,8247.8643,10,1.4,44,-2.2,0.2,306.2,8,7.9
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,NRL1
$TGT_LATLONG,715.000,8400.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,79.0,145119,-12.3,-7.857,-16.95,3372
$D_GRID,1020
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.54,-175.2,167,2317,535,471,0.0,0.0,0,165,0.00,0.00,-146.15,0.000,16386,0.000,0.000,167,2317,3097,3118,3076,0,0,0,0,0,0,26.39,28.83,26.46
$GC,168,-0.54,-175.2,167,2317,3120,3076,6.7,-12.5,12,191,6.05,2.30,-10.12,0.000,18692,0.199,1.218,1803,3668,3618,3463,3773,0,0,0,0,0,0,25.73,24.69,26.06
$GC,370,-0.53,-175.2,1803,3668,3464,3778,78.0,-24.8,46,377,0.00,2.08,0.00,0.000,1030,0.000,0.029,1803,2304,3621,3464,3778,0,0,0,0,0,0,26.32,26.29,26.34
$GC,742,-0.52,-175.2,1802,2304,3465,3782,144.2,-14.5,63,749,0.00,2.20,0.00,0.000,260,0.000,0.054,1792,3653,3623,3464,3782,0,0,0,0,0,0,26.67,26.32,26.73
$GC,916,-0.52,-175.2,1792,3653,3464,3784,169.6,-13.2,92,923,0.12,2.05,0.00,0.000,3078,0.136,0.029,1828,2302,3624,3464,3784,0,0,0,0,0,0,26.28,26.47,26.41
$GC,1294,-0.51,-175.2,1828,2302,3465,3784,211.6,-10.8,110,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2301,3623,3464,3783,0,0,0,0,0,0,26.78,26.85,26.84
$GC,1655,-0.51,-175.2,1828,2302,3465,3784,248.5,-9.8,125,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2302,3623,3464,3783,0,0,0,0,0,0,26.82,26.89,26.88
$GC,2038,-0.51,-175.2,1827,2302,3464,3776,283.2,-8.9,136,2045,0.00,2.20,0.00,0.000,260,0.000,0.058,1818,3655,3619,3463,3776,0,0,0,0,0,0,26.85,26.46,26.91
$GC,2074,-0.51,-175.2,1818,3655,3464,3775,286.6,-9.6,142,2081,0.00,2.05,0.00,0.000,1030,0.000,0.031,1818,2306,3619,3464,3775,0,0,0,0,0,0,26.63,26.60,26.65
$GC,2472,-0.51,-175.2,1818,2305,3464,3769,324.2,-9.3,158,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2305,3616,3464,3768,0,0,0,0,0,0,26.87,26.94,26.93
$GC,2830,-0.51,-175.2,1818,2305,3464,3762,356.3,-8.7,168,2837,0.00,2.15,0.00,0.000,516,0.000,0.040,1818,914,3612,3463,3761,0,0,0,0,0,0,26.88,26.55,26.94
$GC,2860,-0.51,-175.2,1817,914,3464,3761,358.9,-8.8,173,2869,0.00,2.17,0.00,0.000,1030,0.000,0.044,1808,2292,3612,3464,3761,0,0,0,0,0,0,26.58,26.53,26.61
$GC,3227,-0.51,-175.2,1808,2293,3464,3755,390.3,-8.7,184,3233,0.00,2.17,0.00,0.000,260,0.000,0.058,1798,3668,3609,3463,3755,0,0,0,0,0,0,26.89,26.47,26.94
$GC,3286,-0.50,-175.2,1798,3668,3463,3755,395.8,-9.2,194,3294,0.08,2.08,0.00,0.000,3078,0.107,0.032,1829,2299,3609,3463,3755,0,0,0,0,0,0,26.44,26.62,26.50
$GC,3660,-0.50,-175.2,1829,2299,3463,3749,423.0,-7.2,206,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2299,3606,3463,3749,0,0,0,0,0,0,26.89,26.96,26.95
$GC,4019,-0.50,-175.2,1828,2299,3463,3744,449.5,-7.3,216,4025,0.00,2.15,0.00,0.000,516,0.000,0.041,1829,912,3603,3463,3743,0,0,0,0,0,0,26.89,26.53,26.95
$GC,4073,-0.50,-175.2,1829,913,3463,3743,453.4,-7.6,225,4080,0.00,2.20,0.00,0.000,1030,0.000,0.044,1820,2302,3602,3463,3742,0,0,0,0,0,0,26.57,26.53,26.61
$GC,4451,-0.50,-175.2,1819,2302,3463,3738,482.1,-7.5,238,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2302,3600,3462,3738,0,0,0,0,0,0,26.89,26.96,26.96
$GC,4811,-0.50,-175.2,1819,2302,3463,3734,510.1,-8.0,248,4817,0.00,2.17,0.00,0.000,516,0.000,0.041,1820,918,3597,3462,3733,0,0,0,0,0,0,26.90,26.51,26.96
$GC,4840,-0.50,-175.2,1820,918,3463,3733,512.7,-8.9,253,4850,0.00,2.20,0.00,0.000,1030,0.000,0.044,1810,2303,3597,3462,3733,0,0,0,0,0,0,26.61,26.51,26.65
$GC,5208,-0.50,-175.2,1810,2304,3462,3728,544.2,-8.6,264,5213,0.00,2.17,0.00,0.000,516,0.000,0.042,1810,914,3595,3462,3728,0,0,0,0,0,0,26.90,26.51,26.96
$GC,5260,-0.50,-175.2,1810,914,3462,3728,548.9,-8.2,273,5269,0.08,2.20,0.00,0.000,3078,0.117,0.044,1831,2303,3595,3462,3728,0,0,0,0,0,0,26.35,26.51,26.43
$GC,5641,-0.50,-175.2,1831,2303,3462,3724,575.9,-6.9,286,5646,0.00,2.22,0.00,0.000,260,0.000,0.060,1821,3672,3593,3462,3724,0,0,0,0,0,0,26.90,26.44,26.96
$GC,5676,-0.50,-175.2,1821,3672,3461,3724,578.4,-7.4,292,5683,0.00,2.10,0.00,0.000,1030,0.000,0.035,1821,2304,3592,3462,3723,0,0,0,0,0,0,26.67,26.65,26.69
$GC,6072,-0.50,-175.2,1821,2304,3461,3721,607.0,-7.3,308,6078,0.00,2.15,0.00,0.000,516,0.000,0.039,1821,914,3591,3462,3720,0,0,0,0,0,0,26.89,26.51,26.96
$GC,6108,-0.50,-175.2,1821,913,3462,3720,609.8,-8.1,314,6114,0.00,2.20,0.00,0.000,1030,0.000,0.045,1811,2302,3590,3462,3719,0,0,0,0,0,0,26.54,26.49,26.58
$GC,6504,-0.50,-175.2,1811,2303,3461,3717,641.5,-8.2,330,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2302,3589,3461,3717,0,0,0,0,0,0,26.89,26.97,26.96
$GC,6864,-0.50,-175.2,1811,2302,3462,3714,672.0,-8.6,340,6870,0.00,2.17,0.00,0.000,516,0.000,0.042,1811,918,3587,3461,3713,0,0,0,0,0,0,26.90,26.48,26.96
$GC,6935,-0.50,-175.2,1811,919,3462,3713,678.5,-9.3,352,6943,0.08,2.20,0.00,0.000,3078,0.114,0.044,1832,2303,3586,3461,3712,0,0,0,0,0,0,26.34,26.49,26.41
$GC,7333,-0.50,-175.2,1831,2303,3462,3710,710.0,-8.0,368,7339,0.00,2.20,0.00,0.000,516,0.000,0.043,1832,909,3585,3461,3709,0,0,0,0,0,0,26.90,26.46,26.96
$GC,7362,-0.50,-175.2,1832,909,3461,3709,712.5,-8.3,373,7371,0.00,2.22,0.00,0.000,1030,0.000,0.045,1823,2304,3585,3461,3709,0,0,0,0,0,0,26.52,26.47,26.58
$GC,7728,-0.50,-175.2,1823,2305,3461,3708,741.3,-7.7,384,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2304,3584,3461,3707,0,0,0,0,0,0,26.90,26.97,26.96
$GC,8089,-0.50,-175.2,1823,2305,3461,3706,767.3,-7.0,394,8095,0.00,2.20,0.00,0.000,516,0.000,0.044,1823,908,3583,3461,3705,0,0,0,0,0,0,26.90,26.46,26.96
$GC,8154,-0.50,-175.2,1823,909,3461,3705,772.2,-7.3,405,8163,0.00,2.22,0.00,0.000,1030,0.000,0.044,1813,2311,3583,3461,3705,0,0,0,0,0,0,26.51,26.46,26.55
$GC,8520,-0.50,-175.2,1812,2312,3461,3703,798.3,-7.2,416,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2311,3582,3461,3703,0,0,0,0,0,0,26.90,26.97,26.96
$GC,8880,-0.50,-175.2,1812,2312,3462,3701,824.7,-7.6,426,8887,0.00,2.20,0.00,0.000,516,0.000,0.041,1813,914,3581,3461,3701,0,0,0,0,0,0,26.90,26.44,26.96
$GC,8958,-0.50,-175.2,1812,914,3461,3701,830.9,-8.2,439,8965,0.08,2.22,0.00,0.000,3078,0.112,0.045,1833,2305,3582,3464,3700,0,0,0,0,0,0,26.31,26.45,26.39
$GC,9349,-0.51,-175.2,1833,2305,3461,3699,857.9,-7.0,454,9355,0.00,2.20,0.00,0.000,516,0.000,0.044,1834,920,3579,3461,3698,0,0,0,0,0,0,26.90,26.43,26.96
$GC,9402,-0.51,-175.2,1833,920,3461,3699,861.9,-8.1,463,9409,0.00,2.20,0.00,0.000,1030,0.000,0.046,1825,2299,3579,3461,3698,0,0,0,0,0,0,26.50,26.45,26.54
$GC,9781,-0.51,-175.2,1825,2299,3461,3697,889.9,-7.3,476,9782,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2299,3580,3461,3699,0,0,0,0,0,0,26.89,26.96,26.96
$GC,10141,-0.51,-175.2,1825,2299,3461,3695,915.2,-7.0,486,10147,0.00,2.17,0.00,0.000,516,0.000,0.040,1825,909,3577,3460,3694,0,0,0,0,0,0,26.89,26.45,26.96
$GC,10206,-0.51,-175.2,1825,910,3461,3694,920.1,-7.1,497,10215,0.00,2.22,0.00,0.000,1030,0.000,0.045,1816,2303,3577,3461,3694,0,0,0,0,0,0,26.48,26.43,26.53
$GC,10573,-0.51,-175.2,1816,2304,3460,3693,946.2,-7.1,508,10574,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2303,3576,3460,3693,0,0,0,0,0,0,26.89,26.96,26.96
$GC,10932,-0.51,-175.2,1815,2303,3461,3692,971.4,-6.8,518,10939,0.00,2.20,0.00,0.000,516,0.000,0.043,1816,913,3575,3460,3691,0,0,0,0,0,0,26.89,26.41,26.96
$GC,10968,-0.51,-175.2,1816,913,3460,3691,973.9,-6.9,524,10975,0.00,2.22,0.00,0.000,1030,0.000,0.046,1806,2307,3575,3460,3691,0,0,0,0,0,0,26.46,26.41,26.52
$STATE,11218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11218,begin apogee
$GC,11223,-0.11,0.0,1806,1958,3461,3691,992.4,-7.4,536,11370,0.45,0.00,143.80,1.031,10246,0.096,0.000,1959,1957,2898,2922,2875,0,0,0,0,0,0,26.26,24.79,23.84
$STATE,11372,end apogee,CONTROL_FINISHED_OK
$STATE,11372,begin climb
$GC,11373,0.54,175.2,1959,1958,2919,2871,996.5,0.0,540,11535,0.60,2.42,151.50,1.012,11012,0.072,0.050,2172,3381,2180,2251,2110,0,0,0,0,0,0,25.03,24.64,23.71
$GC,11563,0.55,180.2,2172,3381,2246,2109,986.8,7.7,573,11572,0.00,2.30,4.22,0.720,9222,0.000,0.031,2172,1970,2164,2233,2096,0,0,0,0,0,0,25.25,25.22,23.92
$GC,11945,0.57,197.0,2171,1971,2222,2096,958.6,7.3,586,11970,0.00,2.33,16.40,0.959,8708,0.000,0.047,2181,559,2093,2154,2033,0,0,0,0,0,0,26.29,25.60,24.62
$GC,12004,0.58,199.8,2181,559,2152,2033,953.8,7.8,596,12013,0.00,2.25,3.47,0.626,9222,0.000,0.035,2181,1961,2084,2144,2025,0,0,0,0,0,0,25.89,25.86,24.44
$GC,12379,0.57,199.8,2180,1961,2142,2025,923.1,8.4,608,12384,0.00,2.25,0.00,0.000,260,0.000,0.050,2181,3378,2083,2142,2025,0,0,0,0,0,0,26.44,26.11,26.49
$GC,12419,0.57,199.8,2181,3378,2141,2025,919.0,9.7,615,12426,0.00,2.22,0.00,0.000,1030,0.000,0.032,2183,1959,2083,2143,2024,0,0,0,0,0,0,26.25,26.22,26.27
$GC,12811,0.57,199.8,2183,1958,2140,2025,885.4,8.6,630,12812,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,1957,2081,2139,2024,0,0,0,0,0,0,26.59,26.66,26.65
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$GC,19185,0.58,233.5,2195,1954,2035,1920,357.9,7.6,892,19198,0.00,2.30,8.70,0.628,8452,0.000,0.048,2195,3366,1946,2006,1887,0,0,0,0,0,0,26.82,26.29,25.56
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$STATE,23732,end climb,SURFACE_DEPTH_REACHED
$STATE,23732,begin surface coast
$FINISH,0.6,1.021367
$STATE,23746,end surface coast,CONTROL_FINISHED_OK
$STATE,23746,begin surface
$SM_CCo,23820,0.00,0.000,0,0,463,597.55
$SM_GC,-0.35,5.62,0.52,0.00,0.028,0.050,0.000,174,2303,463,-5.66,-1.27,597.55,0,0,0,0,0,0,26.18,26.10,26.21
$IRIDIUM_FIX,742.93,8247.91,131215,161228
$TT8_MAMPS,0.049434,0.049434
$HUMID,47.63
$INTERNAL_PRESSURE,9.42765
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,3959776
$24V_AH,23.71,24.512
$10V_AH,10.02,15.733
$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,13.925,168.150,662.000,0.000,0.000,0.000,0.000,204.950,0.000,0.000,45.663,0.000,20279.791,1173.345,2364.079,357.064,0.000,2200.488,0.000,1719.175,0.000,0.539,0.000
$DEVICE_MAMPS,198.900,1217.880,1031.220,0.000,0.000,0.000,0.000,124.695,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23769.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.379,0.000,0.000,0.000
$MEM,260752
$DATA_FILE_SIZE,43306,1162
$CAP_FILE_SIZE,207935,0
$CFSIZE,260034560,236007424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5212.40,0x2137a0,0,24
$CURRENT,0.131,290.20,1
$GPS,141215,052405,748.292,8249.396,40,1.0,40,-2.2,0.0,0.0,8,8.0