version: 66.13
glider: 171
mission: 11
dive: 717
start: 1 14 120 16 2 41
data:
$ID,171
$MISSION,11
$DIVE,717
$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,53
$R_STBD_OVSHOOT,58
$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
$GPS1,140120,155508,503.6535,8029.2500,25,1.0,25,-2.2,1.1,254.8,7,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-73.8
$GPS2,140120,160147,503.6599,8029.0137,2,0.6,3,-2.2,0.9,282.3,12,5.6
$SPEED_LIMITS,0.139,0.159
$TGT_NAME,R7
$TGT_LATLONG,500.000,8030.000
$TGT_RADIUS,6000.000
$MHEAD_RNG_PITCHd_Wd,160.3,7018,-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,-97.3,118,2533,971,882,0.0,0.0,0,88,0.00,0.00,-76.30,0.005,16386,0.000,0.000,118,2534,2694,2694,2695,0,0,0,0,0,0,14.82,28.83,14.85
$GC,93,-0.67,-97.3,118,2534,2695,2695,4.5,-11.7,16,123,9.25,2.42,-12.98,0.010,18948,0.344,0.069,2110,1103,3366,3382,3351,0,0,0,0,0,0,13.85,13.36,14.30
$GC,204,-0.67,-97.3,2110,1103,3382,3352,39.2,-28.4,38,209,0.00,2.38,0.00,0.000,1030,0.000,0.059,2102,2477,3366,3382,3351,0,0,0,0,0,0,14.45,14.33,14.49
$GC,396,-0.67,-97.3,2101,2477,3382,3351,90.0,-22.6,60,403,0.00,2.45,0.00,0.000,260,0.000,0.076,2090,3894,3366,3382,3351,0,0,0,0,0,0,14.96,14.26,14.98
$GC,632,-0.67,-97.3,2090,3894,3383,3351,127.2,-13.1,107,637,0.00,2.25,0.00,0.000,1030,0.000,0.030,2090,2485,3367,3383,3351,0,0,0,0,0,0,14.58,14.52,14.61
$GC,819,-0.67,-97.3,2090,2484,3384,3351,153.6,-15.3,126,823,0.00,2.28,0.00,0.000,516,0.000,0.048,2090,1113,3367,3384,3351,0,0,0,0,0,0,15.00,14.38,15.03
$GC,850,-0.67,-97.3,2090,1112,3383,3351,158.4,-14.4,132,858,0.12,2.38,0.00,0.000,3078,0.223,0.054,2107,2506,3367,3383,3351,0,0,0,0,0,0,14.13,14.38,14.34
$GC,1040,-0.67,-97.3,2107,2507,3384,3351,182.2,-12.0,152,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2507,3367,3383,3351,0,0,0,0,0,0,15.02,15.04,15.04
$GC,1221,-0.67,-97.3,2107,2507,3384,3351,203.8,-11.8,170,1225,0.00,2.33,0.00,0.000,516,0.000,0.047,2107,1115,3367,3383,3351,0,0,0,0,0,0,15.02,14.40,15.04
$GC,1293,-0.67,-97.3,2107,1115,3383,3351,212.7,-12.4,184,1297,0.00,2.38,0.00,0.000,1030,0.000,0.055,2098,2504,3366,3382,3351,0,0,0,0,0,0,14.48,14.36,14.52
$GC,1486,-0.67,-97.3,2098,2504,3381,3351,236.7,-12.7,204,1492,0.00,2.42,0.00,0.000,260,0.000,0.080,2088,3893,3365,3381,3350,0,0,0,0,0,0,15.02,14.25,15.04
$GC,1549,-0.67,-97.3,2087,3893,3380,3351,245.6,-13.6,217,1554,0.00,2.25,0.00,0.000,1030,0.000,0.033,2087,2502,3365,3380,3351,0,0,0,0,0,0,14.58,14.51,14.60
$GC,1744,-0.67,-97.3,2087,2500,3378,3351,270.5,-12.5,229,1748,0.00,2.33,0.00,0.000,516,0.000,0.047,2087,1105,3364,3378,3351,0,0,0,0,0,0,15.04,14.38,15.07
$GC,1802,-0.67,-97.3,2086,1104,3377,3351,277.5,-12.2,240,1810,0.15,2.42,0.00,0.000,3078,0.201,0.057,2112,2505,3364,3377,3351,0,0,0,0,0,0,14.10,14.34,14.25
$GC,2130,-0.67,-97.3,2111,2505,3374,3350,311.8,-10.0,260,2136,0.00,2.42,0.00,0.000,260,0.000,0.082,2102,3891,3361,3374,3349,0,0,0,0,0,0,15.02,14.21,15.04
$GC,2190,-0.67,-97.3,2102,3892,3374,3349,318.0,-10.2,272,2195,0.00,2.28,0.00,0.000,1030,0.000,0.034,2103,2497,3361,3374,3349,0,0,0,0,0,0,14.55,14.49,14.58
$GC,2512,-0.67,-97.3,2102,2495,3373,3346,350.8,-10.3,291,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2495,3359,3373,3346,0,0,0,0,0,0,15.05,15.08,15.07
$GC,2812,-0.67,-97.3,2102,2495,3371,3344,382.6,-11.0,306,2819,0.00,2.50,0.00,0.000,260,0.000,0.082,2091,3899,3357,3371,3344,0,0,0,0,0,0,15.05,14.19,15.08
$GC,2848,-0.67,-97.3,2091,3899,3370,3344,386.7,-11.9,313,2853,0.00,2.30,0.00,0.000,1030,0.000,0.034,2091,2494,3357,3370,3344,0,0,0,0,0,0,14.54,14.47,14.56
$GC,3152,-0.67,-97.3,2091,2493,3368,3341,423.9,-12.4,329,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2493,3354,3368,3341,0,0,0,0,0,0,15.05,15.08,15.07
$GC,3453,-0.67,-97.3,2091,2493,3366,3339,460.2,-11.9,344,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2493,3353,3367,3339,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3753,-0.67,-97.3,2091,2493,3365,3338,494.8,-11.4,359,3759,0.00,2.53,0.00,0.000,260,0.000,0.082,2081,3891,3351,3365,3337,0,0,0,0,0,0,15.04,14.14,15.07
$GC,3776,-0.67,-97.3,2081,3891,3365,3338,497.5,-12.0,363,3781,0.12,2.28,0.00,0.000,3078,0.206,0.034,2109,2497,3351,3364,3338,0,0,0,0,0,0,14.11,14.44,14.28
$GC,4100,-0.67,-97.3,2109,2496,3362,3335,529.8,-9.9,382,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2496,3349,3363,3335,0,0,0,0,0,0,15.03,15.06,15.06
$GC,4399,-0.67,-97.3,2109,2496,3362,3334,558.4,-9.4,397,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2496,3348,3362,3334,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4699,-0.67,-97.3,2109,2496,3361,3333,586.6,-9.3,412,4706,0.00,2.53,0.00,0.000,260,0.000,0.085,2100,3893,3346,3360,3333,0,0,0,0,0,0,15.04,14.09,15.07
$GC,4735,-0.67,-97.3,2100,3893,3360,3333,590.0,-9.8,419,4741,0.00,2.30,0.00,0.000,1030,0.000,0.034,2100,2501,3346,3360,3333,0,0,0,0,0,0,14.47,14.40,14.50
$GC,5039,-0.67,-97.3,2100,2499,3359,3332,619.9,-9.7,435,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2499,3345,3359,3331,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5339,-0.67,-97.3,2100,2499,3357,3330,649.1,-9.6,450,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2499,3344,3357,3331,0,0,0,0,0,0,15.04,15.08,15.07
$GC,5640,-0.67,-97.3,2100,2499,3356,3330,677.2,-9.1,465,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2499,3343,3356,3330,0,0,0,0,0,0,15.03,15.06,15.06
$GC,5940,-0.67,-97.3,2100,2499,3356,3328,703.3,-8.7,480,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2499,3342,3356,3328,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6239,-0.67,-97.3,2100,2499,3355,3327,729.0,-8.6,495,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2499,3341,3355,3327,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6540,-0.67,-97.3,2100,2499,3353,3326,755.5,-8.9,510,6545,0.00,2.55,0.00,0.000,260,0.000,0.085,2089,3890,3340,3354,3326,0,0,0,0,0,0,15.03,14.00,15.06
$GC,6572,-0.67,-97.3,2089,3890,3353,3326,758.6,-9.6,516,6577,0.00,2.30,0.00,0.000,1030,0.000,0.036,2089,2502,3339,3353,3326,0,0,0,0,0,0,14.42,14.35,14.45
$GC,6885,-0.67,-97.3,2089,2500,3352,3325,789.3,-9.9,533,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2500,3338,3352,3325,0,0,0,0,0,0,15.02,15.05,15.04
$GC,7184,-0.67,-97.3,2088,2500,3352,3325,818.9,-9.7,548,7189,0.00,2.40,0.00,0.000,516,0.000,0.050,2089,1108,3337,3351,3324,0,0,0,0,0,0,15.03,14.16,15.05
$GC,7216,-0.67,-97.3,2088,1107,3351,3324,822.1,-9.8,554,7224,0.12,2.47,0.00,0.000,3078,0.203,0.058,2108,2506,3337,3351,3324,0,0,0,0,0,0,13.91,14.12,14.10
$GC,7527,-0.67,-97.3,2108,2506,3351,3323,848.5,-8.5,571,7533,0.00,2.53,0.00,0.000,260,0.000,0.086,2099,3893,3337,3351,3323,0,0,0,0,0,0,15.02,13.97,15.05
$GC,7580,-0.67,-97.3,2098,3893,3350,3323,853.3,-9.1,581,7584,0.00,2.33,0.00,0.000,1030,0.000,0.036,2099,2497,3337,3351,3323,0,0,0,0,0,0,14.38,14.31,14.40
$GC,7891,-0.67,-97.3,2098,2496,3350,3321,881.5,-9.1,598,7895,0.00,2.40,0.00,0.000,516,0.000,0.051,2098,1103,3336,3350,3322,0,0,0,0,0,0,15.03,14.14,15.05
$GC,7919,-0.67,-97.3,2098,1102,3350,3321,884.0,-10.0,603,7924,0.00,2.47,0.00,0.000,1030,0.000,0.058,2088,2500,3335,3350,3321,0,0,0,0,0,0,14.23,14.10,14.28
$GC,8236,-0.67,-97.3,2087,2500,3349,3321,914.7,-9.7,621,8243,0.00,2.53,0.00,0.000,260,0.000,0.085,2077,3893,3335,3349,3321,0,0,0,0,0,0,15.03,13.94,15.05
$GC,8272,-0.67,-97.3,2077,3893,3348,3321,918.3,-10.6,628,8279,0.15,2.33,0.00,0.000,3078,0.196,0.036,2112,2498,3335,3349,3321,0,0,0,0,0,0,13.90,14.27,14.09
$GC,8601,-0.67,-97.3,2112,2497,3348,3320,946.2,-8.5,648,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2497,3334,3348,3320,0,0,0,0,0,0,14.99,15.02,15.01
$GC,8897,-0.67,-97.3,2112,2497,3348,3320,972.3,-9.0,663,8901,0.00,2.40,0.00,0.000,516,0.000,0.051,2113,1109,3334,3348,3320,0,0,0,0,0,0,15.02,14.11,15.05
$GC,8930,-0.67,-97.3,2112,1109,3348,3319,975.3,-9.5,669,8936,0.00,2.47,0.00,0.000,1030,0.000,0.059,2104,2500,3333,3347,3320,0,0,0,0,0,0,14.19,14.07,14.25
$STATE,9095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9095,begin apogee
$GC,9103,-0.15,0.0,2104,2500,3347,3319,991.4,-9.6,679,9198,0.62,0.00,91.95,1.973,10246,0.162,0.000,2275,2500,2968,3001,2935,0,0,0,0,0,0,13.77,13.98,12.74
$STATE,9199,end apogee,CONTROL_FINISHED_OK
$STATE,9199,begin climb
$GC,9203,0.67,97.3,2275,2500,2999,2935,994.9,0.0,684,9311,0.85,0.00,103.95,1.957,10758,0.092,0.000,2550,2500,2570,2603,2538,0,0,0,0,0,0,14.07,13.89,12.66
$GC,9601,0.69,97.3,2549,2500,2592,2534,977.5,7.2,716,9608,0.00,2.53,0.00,0.000,580,0.000,0.051,2561,1044,2562,2591,2534,0,0,0,0,0,0,14.85,14.35,14.88
$GC,9660,0.70,97.3,2561,1044,2590,2534,973.1,7.3,728,9668,0.00,2.45,0.00,0.000,1094,0.000,0.055,2561,2450,2562,2591,2534,0,0,0,0,0,0,14.45,14.35,14.50
$GC,9982,0.70,97.3,2561,2450,2590,2533,948.6,7.8,747,9985,0.00,2.42,0.00,0.000,516,0.000,0.052,2572,1052,2561,2590,2533,0,0,0,0,0,0,14.95,14.33,14.97
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$GC,21003,1.57,455.9,2780,2447,1858,1743,66.8,-1.5,1698,21167,0.15,2.42,153.48,0.902,11044,0.103,0.052,2887,1049,1108,1177,1040,0,0,0,0,0,0,14.50,14.14,13.33
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$STATE,21367,end climb,SURFACE_DEPTH_REACHED
$STATE,21367,begin surface coast
$STATE,21381,end surface coast,CONTROL_FINISHED_OK
$STATE,21381,begin surface
$SM_CCo,21402,62.80,0.522,1,0,928,500.17
$SM_GC,1.14,7.88,0.10,62.80,0.052,0.132,0.522,130,2543,928,-6.77,-0.68,500.17,0,0,0,0,1,0,14.40,14.47,13.50
$IRIDIUM_FIX,502.17,8027.99,140120,094913
$TT8_MAMPS,0.019474,0.163282
$HUMID,52.59
$INTERNAL_PRESSURE,9.50729
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,12.66,239.521
$10V_AH,13.17,0.000
$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,20.300,193.400,515.050,62.800,0.000,0.000,0.000,246.400,0.000,0.000,14.883,1583.275,16219.586,706.239,2776.610,578.342,0.000,2392.595,0.000,2518.675,0.000,0.539,0.000
$DEVICE_MAMPS,344.250,132.345,1972.935,521.730,0.000,0.000,0.000,181.305,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,872.237,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,249972
$DATA_FILE_SIZE,76580,1772
$CAP_FILE_SIZE,195429,0
$CFSIZE,260034560,121274368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.057,237.62,1
$GPS,140120,220139,501.792,8028.829,23,1.3,23,-2.2,0.9,315.1,6,6.5