version: 67.00
glider: 180
mission: 2
dive: 451
start: 1 12 120 22 31 16
data:
$ID,180
$MISSION,2
$DIVE,451
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,3
$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
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54047
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0015848899
$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,598.53198
$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
$T_GPS,5
$N_GPS,80740
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,185
$PITCH_MAX,3625
$C_PITCH,3336
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,25
$PITCH_TIMEOUT,25
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$ROLL_MIN,360
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3960
$C_VBD,2840
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$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
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.4
$FG_AHR_10V,49.995876
$FG_AHR_24V,94.115364
$PHONE_SUPPLY,2
$PRESSURE_YINT,-154.69112
$PRESSURE_SLOPE,0.00010699085
$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,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,7
$LOGGERDEVICE2,22
$LOGGERDEVICE3,33
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,55
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,0
$SIM_W,0
$SEABIRD_T_G,0.0043955045
$SEABIRD_T_H,0.00063085643
$SEABIRD_T_I,2.5021687e-05
$SEABIRD_T_J,3.0087358e-06
$SEABIRD_C_G,-9.7732916
$SEABIRD_C_H,1.1286387
$SEABIRD_C_I,-0.0014607979
$SEABIRD_C_J,0.00018615076
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_XMITRAW,0.0
$TM_LOGSAMPLE,0.0
$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
$GPS1,120120,222010,1346.804,14427.543,21,1.0,23,0.5
$_CALLS,1
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-70.8
$GPS2,120120,223100,1346.786,14427.445,3,1.0,6,0.5
$SPEED_LIMITS,0.085,0.141
$TGT_NAME,HOLDN
$TGT_LATLONG,1345.000,14430.000
$TGT_RADIUS,4000.000
$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,112.3,5662,-21.5,-8.462,-30.93
$D_GRID,1000
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,10.14,2,-77.86,-0.96,0.00,397.6,424.1,371.1,167.3,2444.6,0.00,0.00,0,123.06,106.40,0.00,0.00,0.005,0.000,0.000,3009.12,3043.12,2975.12,167.31,2445.12,0,0,0,15.09,30.00,30.00
$GC,123.39,519,-77.86,-0.96,-40.00,3007.3,3041.2,2973.4,167.2,2444.8,5.16,-8.38,11,147.82,2.68,14.26,2.15,0.013,0.402,0.031,3156.19,3196.88,3115.50,3030.00,1081.81,0,0,0,15.37,15.28,15.31
$GC,369.90,1028,-77.86,-0.96,0.00,3155.6,3196.4,3114.9,3029.8,1081.7,87.84,-26.70,60,376.10,0.00,0.00,2.46,0.000,0.000,0.043,3156.53,3198.00,3115.06,3029.56,2579.00,0,0,0,30.00,30.00,15.83
$GC,560.00,516,-77.86,-0.96,-40.00,3155.4,3196.4,3114.5,3029.8,2579.2,131.36,-16.34,80,566.10,0.00,0.00,2.38,0.000,0.000,0.030,3157.78,3198.94,3116.62,3029.12,1089.94,0,0,0,30.00,30.00,15.83
$GC,584.84,1028,-77.86,-0.96,0.00,3155.5,3196.6,3114.4,3029.4,1089.3,135.42,-16.20,85,591.32,0.00,0.00,2.42,0.000,0.000,0.041,3155.47,3196.31,3114.62,3029.75,2577.00,0,0,0,30.00,30.00,15.86
$GC,769.96,260,-77.86,-0.96,40.00,3155.4,3196.4,3114.4,3029.9,2576.9,164.15,-14.94,104,776.43,0.00,0.00,1.99,0.000,0.000,0.070,3157.19,3198.56,3115.81,3029.44,3773.25,0,0,0,30.00,30.00,15.85
$GC,800.10,1028,-77.86,-0.96,0.00,3155.8,3196.9,3114.7,3030.6,3772.6,169.40,-17.42,110,806.09,0.00,0.00,2.01,0.000,0.000,0.021,3155.62,3196.31,3114.94,3030.06,2468.06,0,0,0,30.00,30.00,15.86
$GC,990.23,516,-77.86,-0.96,-40.00,3155.5,3196.7,3114.2,3030.4,2453.2,199.97,-15.77,130,996.68,0.00,0.00,2.15,0.000,0.000,0.029,3156.00,3196.31,3115.69,3030.50,1086.06,0,0,0,30.00,30.00,15.89
$GC,1220.12,1028,-77.86,-0.96,0.00,3155.0,3195.3,3114.8,3028.4,1085.9,233.56,-15.34,176,1225.46,0.00,0.00,2.41,0.000,0.000,0.039,3154.81,3195.00,3114.62,3030.12,2580.50,0,0,0,30.00,30.00,15.96
$GC,1420.20,0,-77.86,-0.96,0.00,3154.8,3195.2,3114.4,3029.4,2580.6,261.70,-12.90,191,1421.53,0.00,0.00,0.00,0.000,0.000,0.000,3155.47,3195.19,3115.75,3029.31,2580.94,0,0,0,30.00,30.00,30.00
$GC,1720.25,0,-77.86,-0.96,0.00,3153.6,3195.1,3112.1,3029.9,2580.4,299.07,-12.99,201,1721.59,0.00,0.00,0.00,0.000,0.000,0.000,3154.50,3196.44,3112.56,3029.19,2580.12,0,0,0,30.00,30.00,30.00
$GC,2020.28,260,-77.86,-0.96,40.00,3151.2,3191.8,3110.6,3029.6,2581.1,339.46,-14.01,211,2025.44,0.00,0.00,1.99,0.000,0.000,0.075,3151.66,3192.38,3110.94,3028.62,3776.00,0,0,0,30.00,30.00,15.96
$GC,2250.08,1028,-77.86,-0.96,0.00,3149.2,3190.0,3108.4,3029.9,3774.9,367.56,-11.08,257,2255.51,0.00,0.00,2.00,0.000,0.000,0.023,3149.56,3190.38,3108.75,3030.06,2477.50,0,0,0,30.00,30.00,16.02
$GC,2560.27,516,-77.86,-0.96,-40.00,3146.9,3187.8,3106.1,3028.9,2462.8,401.89,-11.63,269,2565.56,0.00,0.00,2.17,0.000,0.000,0.036,3147.03,3187.12,3106.94,3029.12,1091.75,0,0,0,30.00,30.00,16.02
$GC,2625.13,1028,-77.86,-0.96,0.00,3146.2,3185.6,3106.9,3028.6,1091.7,409.68,-12.28,282,2630.63,0.00,0.00,2.41,0.000,0.000,0.039,3146.94,3186.19,3107.69,3028.19,2578.31,0,0,0,30.00,30.00,16.00
$GC,2950.49,260,-77.86,-0.96,40.00,3143.0,3183.6,3102.4,3028.8,2578.2,450.31,-12.13,297,2955.56,0.00,0.00,1.99,0.000,0.000,0.076,3144.59,3184.94,3104.25,3024.50,3772.00,0,0,0,30.00,30.00,15.91
$GC,3180.22,1028,-77.86,-0.96,0.00,3140.4,3181.5,3099.4,3025.1,3772.3,477.81,-11.88,343,3185.65,0.00,0.00,2.01,0.000,0.000,0.026,3142.53,3182.50,3102.56,3025.19,2478.38,0,0,0,30.00,30.00,16.01
$GC,3490.31,0,-77.86,-0.96,0.00,3137.2,3177.1,3097.2,3024.8,2466.0,512.56,-11.06,355,3491.65,0.00,0.00,0.00,0.000,0.000,0.000,3136.94,3176.94,3096.94,3025.12,2465.75,0,0,0,30.00,30.00,30.00
$GC,3790.52,516,-77.86,-0.96,-40.00,3135.4,3175.4,3095.4,3025.2,2465.9,550.32,-12.94,365,3795.70,0.00,0.00,2.19,0.000,0.000,0.040,3135.62,3174.75,3096.50,3024.25,1094.81,0,0,0,30.00,30.00,15.97
$GC,3845.27,1028,-77.86,-0.96,0.00,3134.7,3174.1,3095.2,3024.6,1094.8,557.49,-12.79,376,3850.99,0.00,0.00,2.42,0.000,0.000,0.041,3135.16,3174.69,3095.62,3024.75,2578.69,0,0,0,30.00,30.00,15.99
$GC,4150.58,260,-77.86,-0.96,40.00,3131.8,3172.8,3090.8,3024.8,2578.8,594.38,-11.95,387,4155.71,0.00,0.00,2.02,0.000,0.000,0.078,3132.16,3172.25,3092.06,3021.44,3770.44,0,0,0,30.00,30.00,15.89
$GC,4225.31,1028,-77.86,-0.96,0.00,3131.1,3171.8,3090.4,3021.6,3771.4,603.15,-11.44,402,4230.74,0.00,0.00,2.03,0.000,0.000,0.028,3131.88,3173.12,3090.62,3022.06,2468.06,0,0,0,30.00,30.00,15.98
$GC,4540.51,260,-77.86,-0.96,40.00,3129.7,3169.6,3089.8,3021.9,2455.0,636.93,-10.26,415,4545.79,0.00,0.00,2.25,0.000,0.000,0.080,3129.94,3169.88,3090.00,3019.50,3768.06,0,0,0,30.00,30.00,15.87
$GC,4665.37,1028,-77.86,-0.96,0.00,3129.0,3168.7,3089.3,3018.9,3767.8,649.92,-10.48,440,4670.79,0.00,0.00,2.02,0.000,0.000,0.029,3129.84,3169.19,3090.50,3018.94,2484.75,0,0,0,30.00,30.00,15.98
$GC,4990.55,0,-77.86,-0.96,0.00,3126.7,3166.0,3087.4,3019.0,2471.8,683.93,-10.78,455,4991.89,0.00,0.00,0.00,0.000,0.000,0.000,3128.97,3167.81,3090.12,3018.81,2471.44,0,0,0,30.00,30.00,30.00
$GC,5290.68,260,-77.86,-0.96,40.00,3124.7,3164.0,3085.4,3020.2,2471.7,718.04,-11.44,465,5295.87,0.00,0.00,2.24,0.000,0.000,0.080,3126.34,3166.00,3086.69,3013.38,3770.50,0,0,0,30.00,30.00,15.84
$GC,5490.55,1028,-77.86,-0.96,0.00,3123.5,3162.7,3084.2,3013.8,3771.1,740.88,-11.35,505,5495.91,0.00,0.00,2.04,0.000,0.000,0.030,3124.00,3162.19,3085.81,3013.50,2481.75,0,0,0,30.00,30.00,15.97
$GC,5800.65,0,-77.86,-0.96,0.00,3122.4,3161.7,3083.2,3014.2,2469.1,772.64,-10.37,517,5801.98,0.00,0.00,0.00,0.000,0.000,0.000,3123.47,3161.81,3085.12,3014.00,2468.81,0,0,0,30.00,30.00,30.00
$GC,6100.71,516,-77.86,-0.96,-40.00,3120.7,3159.9,3081.4,3014.6,2468.2,803.69,-10.49,527,6105.99,0.00,0.00,2.22,0.000,0.000,0.043,3121.00,3159.62,3082.38,3014.00,1097.06,0,0,0,30.00,30.00,15.93
$GC,6175.56,1028,-77.86,-0.96,0.00,3120.5,3160.1,3080.9,3014.0,1096.6,812.08,-11.11,542,6181.06,0.00,0.00,2.44,0.000,0.000,0.044,3121.31,3161.00,3081.62,3014.62,2577.06,0,0,0,30.00,30.00,15.89
$GC,6490.93,0,-77.86,-0.96,0.00,3119.2,3158.2,3080.3,3013.6,2577.0,847.37,-11.23,555,6492.26,0.00,0.00,0.00,0.000,0.000,0.000,3120.47,3158.88,3082.06,3012.94,2576.12,0,0,0,30.00,30.00,30.00
$GC,6790.85,260,-77.86,-0.96,40.00,3118.0,3156.8,3079.2,3013.8,2576.7,881.33,-11.27,565,6796.04,0.00,0.00,2.04,0.000,0.000,0.081,3117.84,3155.69,3080.00,3005.69,3768.44,0,0,0,30.00,30.00,15.79
$GC,6960.70,1028,-77.86,-0.96,0.00,3116.6,3154.8,3078.5,3006.1,3768.2,901.27,-11.63,599,6966.11,0.00,0.00,2.04,0.000,0.000,0.031,3117.16,3155.12,3079.19,3006.12,2487.81,0,0,0,30.00,30.00,15.95
$GC,7271.00,516,-77.86,-0.96,-40.00,3115.6,3154.2,3076.9,3005.6,2475.1,935.58,-11.00,611,7276.17,0.00,0.00,2.25,0.000,0.000,0.045,3116.03,3154.69,3077.38,3004.75,1099.31,0,0,0,30.00,30.00,15.89
$GC,7390.94,1028,-77.86,-0.96,0.00,3115.2,3153.2,3077.2,3006.1,1098.4,948.99,-10.71,635,7396.27,0.00,0.00,2.45,0.000,0.000,0.045,3115.44,3152.62,3078.25,3005.19,2576.19,0,0,0,30.00,30.00,15.88
$GC,7720.93,260,-77.86,-0.96,40.00,3114.3,3151.9,3076.8,3005.5,2576.3,983.44,-10.57,651,7726.22,0.00,0.00,2.04,0.000,0.000,0.081,3114.41,3152.62,3076.19,2997.81,3770.00,0,0,0,30.00,30.00,15.77
$STATE,7781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7781,begin apogee
$GC,7785.21,3,0.00,-0.20,0.00,3113.8,3151.2,3076.5,2998.2,2052.7,990.28,-11.57,663,7848.64,60.83,1.01,0.14,2.233,0.253,0.132,2841.09,2865.50,2816.69,3270.94,2147.00,0,0,0,10.58,15.31,15.28
$STATE,7850,end apogee,CONTROL_FINISHED_OK
$STATE,7851,begin climb
$GC,7850.93,519,77.86,0.96,-40.00,2838.0,2863.1,2813.0,3272.5,2147.4,992.60,0.00,665,7931.22,72.47,1.12,2.62,2.201,0.136,0.055,2521.06,2530.25,2511.88,3643.38,656.06,0,0,0,11.90,15.39,15.03
$GC,7959.15,1092,77.86,1.01,0.00,2519.1,2529.3,2508.8,3643.5,655.8,987.98,6.57,687,7964.57,0.00,0.00,2.48,0.000,0.000,0.026,2520.22,2530.62,2509.81,3643.38,2139.38,0,0,0,30.00,30.00,15.34
$GC,8269.35,326,77.86,1.04,40.00,2513.8,2530.8,2496.8,3643.6,2139.4,964.86,7.61,699,8274.60,0.00,0.00,2.46,0.000,0.000,0.100,2514.56,2531.69,2497.44,3643.94,3529.12,0,0,0,30.00,30.00,15.64
$GC,8449.52,1030,77.86,1.04,0.00,2512.2,2530.9,2493.5,3643.8,3529.6,949.83,8.69,735,8454.65,0.00,0.00,2.48,0.000,0.000,0.058,2512.47,2530.88,2494.06,3648.62,2074.75,0,0,0,30.00,30.00,15.76
$GC,8779.35,582,77.86,1.06,-40.00,2510.8,2530.6,2491.1,3648.1,2074.9,925.10,7.84,751,8784.68,0.00,0.00,2.44,0.000,0.000,0.091,2512.41,2532.75,2492.06,3656.38,663.62,0,0,0,30.00,30.00,15.78
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$GC,13310.19,551,125.40,1.26,-40.00,2505.7,2530.3,2481.1,3664.5,2079.2,538.82,4.94,1107,13353.33,39.51,0.00,2.44,1.709,0.000,0.089,2329.25,2348.38,2310.12,3664.62,656.12,0,0,0,10.70,30.00,15.49
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$GC,16290.73,1031,125.40,1.30,0.00,2320.2,2344.6,2295.8,3671.8,657.8,266.02,9.83,1403,16296.24,0.00,0.00,2.42,0.000,0.000,0.037,2320.78,2346.12,2295.44,3671.62,2123.69,0,0,0,30.00,30.00,15.78
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$STATE,19777,end climb,SURFACE_DEPTH_REACHED
$STATE,19777,begin surface coast
$FINISH,-0.1,1.022030
$STATE,19797,end surface coast,CONTROL_FINISHED_OK
$STATE,19797,begin surface
$SM_CCo,20006.80,189.09,0.754,0,400.6,413.6,387.7,598.38
$SM_CCo,20007.94,0.00,2.577,0,399.3,416.4,382.2,598.69
$SM_GC,0.57,0.00,9.60,0.86,2.577,0.054,0.035,399.3,416.4,382.2,168.6,2619.2,0,0,0,30.36,15.75,15.92
$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,1350.87,14429.55,120120,165016
$TCM_TEMP,163.32
$XPDR_PINGS,9
$SC_FREEKB,3693952
$TM_FREEKB,1532672
$HUMID,53.60
$TEMP,22.78
$INTERNAL_PRESSURE,9.42257
$24V_AH,14.25,147.399
$10V_AH,14.92,0.000
$FG_AHR_24Vo,94.302
$FG_AHR_10Vo,50.096
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,630.105,25.990,176.880,383.736,2.250,15.137,4792.972,15806.337,1900.401,0.000,0.000,0.000
$DEVICE_MAMPS,2576.520,402.208,133.248,206.775,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19826.000,3713.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.287,19.935,0.000,0.000
$MEM,1098720,31,80144,67
$DATA_FILE_SIZE,60930,1876
$CAP_FILE_SIZE,357995,0
$SDSIZE,3918848,3759200
$SDFILEDIR,3464,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066,164.7,1
$GPS,130120,040531,1345.518,14429.071,30,0.8,31,0.5