version: 66.13
glider: 178
mission: 31
dive: 234
start: 11 28 119 21 0 5
data:
$ID,178
$MISSION,31
$DIVE,234
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,390
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53923
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00223872
$HD_B,0.011885
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$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,100740
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,165
$PITCH_MAX,3805
$C_PITCH,2125
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,625
$ROLL_MAX,3950
$ROLL_DEG,40
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00038000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$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,3
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-157.45766
$PRESSURE_SLOPE,0.0001061024
$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,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,147
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043966938
$SEABIRD_T_H,0.00063700025
$SEABIRD_T_I,2.5067597e-05
$SEABIRD_T_J,2.9826379e-06
$SEABIRD_C_G,-9.7293062
$SEABIRD_C_H,1.1206031
$SEABIRD_C_I,0.00047059715
$SEABIRD_C_J,5.505409e-05
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,281119,204801,1412.0730,14410.0947,42,0.7,65,0.3,0.9,87.4,12,3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-57.2
$GPS2,281119,205916,1412.0249,14409.9648,3,0.6,4,0.3,1.2,253.1,12,7.4
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,3.5,16622,-18.6,-8.462,-24.20,1753
$D_GRID,1000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.81,-97.3,105,2740,985,868,0.0,0.0,0,109,0.00,0.00,-88.20,0.005,16386,0.000,0.000,101,2742,3208,3235,3181,0,0,0,0,0,0,15.23,28.83,15.26
$GC,112,-0.81,-97.3,100,2741,3236,3181,4.5,-8.7,9,130,8.25,2.08,-2.70,0.044,18692,0.391,0.093,1846,3934,3364,3398,3330,0,0,0,0,0,0,14.70,14.22,14.92
$GC,358,-0.81,-97.3,1846,3937,3397,3330,91.2,-25.7,58,365,0.00,1.98,0.00,0.000,1030,0.000,0.033,1846,2710,3363,3397,3330,0,0,0,0,0,0,15.15,15.12,15.16
$GC,545,-0.81,-97.3,1846,2710,3400,3330,130.4,-17.7,77,552,0.00,2.10,0.00,0.000,260,0.000,0.073,1838,3937,3362,3396,3329,0,0,0,0,0,0,15.38,15.09,15.40
$GC,779,-0.81,-97.3,1837,3937,3400,3330,173.2,-15.9,123,785,0.00,1.85,0.00,0.000,1030,0.000,0.031,1838,2738,3365,3400,3330,0,0,0,0,0,0,15.28,15.24,15.28
$GC,974,-0.81,-97.3,1835,2739,3401,3330,200.2,-14.5,143,982,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2739,3365,3401,3330,0,0,0,0,0,0,15.42,15.44,15.44
$GC,1166,-0.81,-97.3,1838,2739,3400,3330,223.5,-12.7,162,1171,0.00,2.05,0.00,0.000,260,0.000,0.074,1837,3940,3364,3400,3329,0,0,0,0,0,0,15.42,15.14,15.44
$GC,1363,-0.81,-97.3,1834,3940,3401,3329,246.5,-9.6,201,1372,0.00,1.88,0.00,0.000,1030,0.000,0.031,1837,2753,3365,3401,3330,0,0,0,0,0,0,15.23,15.23,15.26
$GC,1560,-0.81,-97.3,1837,2752,3401,3328,266.7,-10.7,211,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2752,3364,3401,3328,0,0,0,0,0,0,15.45,15.47,15.47
$GC,1860,-0.81,-97.3,1837,2752,3401,3326,299.4,-10.6,221,1867,0.00,2.03,0.00,0.000,260,0.000,0.076,1837,3933,3362,3400,3325,0,0,0,0,0,0,15.45,15.16,15.47
$GC,2093,-0.81,-97.3,1837,3933,3400,3322,326.2,-11.5,267,2099,0.00,1.85,0.00,0.000,1030,0.000,0.032,1837,2749,3361,3401,3322,0,0,0,0,0,0,15.33,15.29,15.34
$GC,2407,-0.81,-97.3,1836,2743,3401,3316,360.1,-11.1,279,2412,0.00,2.05,0.00,0.000,260,0.000,0.079,1837,3927,3359,3401,3317,0,0,0,0,0,0,15.45,15.14,15.47
$GC,2635,-0.81,-97.3,1837,3927,3400,3312,385.0,-9.5,324,2640,0.00,1.85,0.00,0.000,1030,0.000,0.034,1837,2759,3356,3400,3312,0,0,0,0,0,0,15.32,15.28,15.33
$GC,2954,-0.81,-97.3,1837,2759,3400,3307,412.7,-8.4,337,2960,0.00,2.05,0.00,0.000,260,0.000,0.081,1842,3937,3353,3400,3307,0,0,0,0,0,0,15.45,15.14,15.47
$GC,3066,-0.81,-97.3,1836,3937,3401,3304,423.8,-9.7,359,3072,0.00,1.90,0.00,0.000,1030,0.000,0.035,1837,2747,3352,3400,3304,0,0,0,0,0,0,15.31,15.26,15.30
$GC,3380,-0.81,-97.3,1836,2746,3399,3300,452.2,-9.0,371,3391,0.10,2.28,0.00,0.000,2564,0.284,0.041,1857,1362,3349,3399,3300,0,0,0,0,0,0,14.97,15.19,15.17
$GC,3476,-0.81,-97.3,1858,1362,3397,3299,460.5,-8.5,389,3482,0.00,2.35,0.00,0.000,1030,0.000,0.053,1857,2742,3348,3397,3300,0,0,0,0,0,0,15.26,15.16,15.29
$GC,3810,-0.81,-97.3,1856,2742,3395,3294,489.7,-9.2,405,3817,0.00,2.08,0.00,0.000,260,0.000,0.085,1855,3942,3343,3395,3292,0,0,0,0,0,0,15.45,15.11,15.47
$GC,3875,-0.81,-97.3,1854,3942,3395,3294,496.1,-10.2,417,3881,0.00,1.90,0.00,0.000,1030,0.000,0.037,1854,2759,3345,3395,3295,0,0,0,0,0,0,15.30,15.26,15.32
$GC,4209,-0.81,-97.3,1854,2759,3392,3292,530.0,-10.4,433,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2759,3342,3393,3292,0,0,0,0,0,0,15.45,15.47,15.50
$GC,4509,-0.81,-97.3,1854,2759,3390,3289,559.8,-9.8,443,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2759,3339,3390,3289,0,0,0,0,0,0,15.45,15.47,15.47
$GC,4810,-0.81,-97.3,1854,2759,3387,3287,585.3,-8.2,453,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2759,3337,3387,3287,0,0,0,0,0,0,15.45,15.47,15.47
$GC,5109,-0.81,-97.3,1854,2759,3385,3286,607.1,-7.2,463,5115,0.00,2.33,0.00,0.000,516,0.000,0.045,1852,1361,3335,3385,3285,0,0,0,0,0,0,15.42,15.14,15.47
$GC,5186,-0.81,-97.3,1854,1361,3384,3286,613.0,-7.5,478,5194,0.00,2.40,0.00,0.000,1030,0.000,0.056,1854,2753,3336,3383,3290,0,0,0,0,0,0,15.23,15.12,15.27
$GC,5504,-0.81,-97.3,1854,2752,3382,3283,635.5,-7.1,491,5509,0.00,2.10,0.00,0.000,260,0.000,0.090,1854,3950,3333,3382,3285,0,0,0,0,0,0,15.42,15.09,15.45
$GC,5567,-0.81,-97.3,1854,3950,3382,3282,640.4,-7.7,503,5573,0.00,1.95,0.00,0.000,1030,0.000,0.039,1856,2754,3332,3382,3282,0,0,0,0,0,0,15.23,15.19,15.25
$GC,5901,-0.81,-97.3,1854,2755,3380,3280,665.5,-7.8,519,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2754,3330,3380,3280,0,0,0,0,0,0,15.42,15.44,15.44
$GC,6201,-0.81,-97.3,1853,2754,3379,3279,689.4,-8.1,529,6205,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2752,3329,3379,3279,0,0,0,0,0,0,15.42,15.43,15.43
$GC,6501,-0.81,-97.3,1854,2754,3377,3277,714.2,-8.3,539,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2753,3327,3377,3277,0,0,0,0,0,0,15.42,15.44,15.43
$GC,6801,-0.81,-97.3,1854,2754,3375,3276,738.7,-8.1,549,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2754,3326,3376,3276,0,0,0,0,0,0,15.42,15.43,15.43
$GC,7102,-0.81,-97.3,1854,2754,3379,3272,763.2,-8.2,559,7106,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2755,3322,3370,3275,0,0,0,0,0,0,15.40,15.45,15.42
$GC,7401,-0.81,-97.3,1854,2754,3372,3274,788.4,-8.3,569,7408,0.00,2.15,0.00,0.000,260,0.000,0.093,1854,3946,3324,3373,3276,0,0,0,0,0,0,15.41,14.99,15.42
$GC,7449,-0.81,-97.3,1854,3946,3372,3274,792.9,-9.1,578,7455,0.00,1.98,0.00,0.000,1030,0.000,0.044,1854,2750,3322,3372,3273,0,0,0,0,0,0,15.24,15.18,15.26
$GC,7769,-0.81,-97.3,1854,2750,3371,3277,818.9,-8.4,591,7774,0.00,2.33,0.00,0.000,516,0.000,0.047,1854,1360,3322,3372,3272,0,0,0,0,0,0,15.40,15.09,15.42
$GC,7832,-0.81,-97.3,1854,1360,3378,3273,824.9,-8.6,603,7840,0.00,2.42,0.00,0.000,1030,0.000,0.060,1854,2761,3321,3371,3272,0,0,0,0,0,0,15.09,15.03,15.14
$GC,8163,-0.81,-97.3,1854,2761,3370,3271,852.9,-8.7,619,8169,0.00,2.10,0.00,0.000,260,0.000,0.093,1854,3948,3320,3370,3271,0,0,0,0,0,0,15.38,15.00,15.40
$GC,8281,-0.81,-97.3,1853,3947,3370,3271,864.7,-9.5,642,8288,0.00,2.03,0.00,0.000,1030,0.000,0.043,1854,2756,3320,3370,3270,0,0,0,0,0,0,15.12,15.09,15.14
$GC,8588,-0.81,-97.3,1854,2756,3369,3270,890.0,-8.5,653,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2756,3319,3369,3270,0,0,0,0,0,0,15.38,15.40,15.40
$GC,8888,-0.81,-97.3,1853,2756,3370,3269,914.7,-8.1,663,8891,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2756,3318,3368,3269,0,0,0,0,0,0,15.38,15.41,15.41
$GC,9187,-0.81,-97.3,1853,2756,3367,3269,938.5,-7.8,673,9194,0.00,2.38,0.00,0.000,516,0.000,0.049,1856,1358,3317,3367,3268,0,0,0,0,0,0,15.38,15.05,15.40
$GC,9252,-0.81,-97.3,1853,1357,3366,3268,944.5,-8.4,685,9258,0.00,2.45,0.00,0.000,1030,0.000,0.060,1854,2755,3317,3367,3268,0,0,0,0,0,0,15.14,15.01,15.17
$GC,9587,-0.81,-97.3,1853,2754,3366,3268,970.5,-8.0,701,9592,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2756,3317,3366,3268,0,0,0,0,0,0,15.38,15.40,15.40
$STATE,9854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9854,begin apogee
$GC,9862,-0.21,0.0,1854,1708,3365,3266,992.0,-8.0,710,9953,0.70,0.00,85.50,2.088,10246,0.207,0.000,2050,1703,2968,3031,2905,0,0,0,0,0,0,14.83,14.56,13.76
$STATE,9956,end apogee,CONTROL_FINISHED_OK
$STATE,9957,begin climb
$GC,9959,0.81,97.3,2050,1703,3031,2902,996.1,0.0,713,10067,1.08,0.00,101.75,2.040,10246,0.119,0.000,2381,1704,2572,2632,2512,0,0,0,0,0,0,14.55,14.34,13.52
$GC,10369,0.81,97.3,2380,1703,2629,2507,969.2,8.1,727,10372,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1704,2564,2628,2500,0,0,0,0,0,0,15.13,15.15,15.15
$GC,10666,0.81,97.3,2381,1704,2628,2497,943.3,8.8,737,10670,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1704,2562,2628,2497,0,0,0,0,0,0,15.25,15.27,15.27
$GC,10966,0.81,97.3,2380,1704,2627,2495,914.8,9.7,747,10972,0.00,2.53,0.00,0.000,260,0.000,0.067,2381,3118,2560,2627,2493,0,0,0,0,0,0,15.30,14.97,15.32
$GC,11061,0.81,97.3,2381,3118,2627,2494,905.7,10.4,765,11068,0.00,2.47,0.00,0.000,1030,0.000,0.047,2384,1697,2559,2624,2494,0,0,0,0,0,0,15.11,15.01,15.14
$GC,11396,0.81,97.3,2384,1697,2627,2494,872.4,9.6,781,11406,0.00,2.53,0.00,0.000,260,0.000,0.067,2384,3130,2560,2628,2493,0,0,0,0,0,0,15.31,14.97,15.33
$GC,11544,0.81,97.3,2384,3130,2627,2492,857.6,10.0,810,11554,0.00,2.53,0.00,0.000,1030,0.000,0.047,2384,1702,2559,2627,2492,0,0,0,0,0,0,15.00,14.94,15.04
$GC,11851,0.81,97.3,2384,1702,2627,2492,829.0,9.3,821,11857,0.00,1.90,0.00,0.000,516,0.000,0.077,2385,615,2559,2627,2491,0,0,0,0,0,0,15.33,14.97,15.35
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$GC,19638,1.17,166.6,2481,1712,2351,2209,143.4,6.5,1565,19643,0.00,1.88,0.00,0.000,580,0.000,0.070,2481,636,2280,2351,2209,0,0,0,0,0,0,15.32,14.97,15.34
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$STATE,21296,end climb,SURFACE_DEPTH_REACHED
$STATE,21296,begin surface coast
$STATE,21316,end surface coast,CONTROL_FINISHED_OK
$STATE,21316,begin surface
$SM_CCo,21339,158.95,0.676,1,0,929,500.41
$SM_GC,0.37,6.88,3.60,158.95,0.069,0.048,0.676,154,2722,929,-6.10,-1.61,500.41,0,0,0,0,1,0,15.05,15.05,14.41
$IRIDIUM_FIX,1413.38,14411.44,281119,142111
$TT8_MAMPS,0.019474,0.15729
$HUMID,46.22
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,25.80
$XPDR_PINGS,0
$SC_FREEKB,3765184
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,101662464
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,2
$24V_AH,13.52,95.587
$10V_AH,13.05,0.000
$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,17.400,153.575,376.975,158.950,0.000,0.000,0.000,421.800,0.000,0.000,16.182,1490.151,14352.962,647.709,5226.768,466.926,0.000,2691.698,0.000,4493.486,0.000,0.553,0.000
$DEVICE_MAMPS,390.915,93.330,2088.450,676.260,0.000,0.000,0.000,195.075,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21332.000,21331.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.373,6.743,0.000,0.000
$MEM,270772
$DATA_FILE_SIZE,63225,1804
$CAP_FILE_SIZE,187794,0
$CFSIZE,260034560,220655616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.070,322.08,1
$GPS,291119,030001,1414.655,14409.780,35,0.7,35,0.3,1.3,299.4,11,6.8