version: 66.13
glider: 220
mission: 6
dive: 314
start: 11 14 116 9 59 2
data:
$ID,220
$MISSION,6
$DIVE,314
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,930
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,120
$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,400
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54354
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0024999999
$HD_B,0.014
$HD_C,1.6e-05
$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,0
$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,10
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3888
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.025
$PITCH_ADJ_DBAND,3
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2765
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-168.7365
$PRESSURE_SLOPE,0.0001077811
$AD7714Ch0Gain,1
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$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,3
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044037569
$SEABIRD_T_H,0.00063615869
$SEABIRD_T_I,2.4815216e-05
$SEABIRD_T_J,2.9729028e-06
$SEABIRD_C_G,-9.8086529
$SEABIRD_C_H,1.075657
$SEABIRD_C_I,-0.0023452051
$SEABIRD_C_J,0.00023101401
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,141116,094431,957.6199,-12444.0459,34,0.7,34,9.0,0.6,31.0,12,3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.83
$_SM_ANGLEo,-71.0
$GPS2,141116,095842,957.7798,-12443.9902,2,0.7,4,9.0,0.5,26.4,12,5.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,63.1,7410,-17.6,-7.750,-24.23,2047
$D_GRID,930
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.93,-107.1,162,2786,1016,901,0.0,0.0,0,100,0.00,0.00,-80.60,0.000,16390,0.000,0.000,161,2787,3476,3466,3486,0,0,0,0,0,0,14.64,13.17,14.64
$GC,103,-0.93,-107.1,162,2791,3467,3487,5.0,-13.9,3,121,11.65,1.90,0.00,0.000,2308,0.389,0.090,2585,3832,3479,3470,3488,0,0,0,0,0,0,14.02,14.35,14.38
$GC,352,-0.64,-107.1,2582,3833,3474,3487,72.2,-14.2,39,358,0.38,1.80,0.00,0.000,3206,0.230,0.037,2684,2756,3479,3472,3487,0,0,0,0,0,0,14.14,14.52,14.33
$GC,688,-0.64,-107.1,2683,2757,3471,3487,98.8,-7.5,54,694,0.00,2.03,0.00,0.000,292,0.000,0.103,2676,3824,3480,3475,3486,0,0,0,0,0,0,14.84,14.31,14.84
$GC,886,-0.64,-107.1,2677,3825,3477,3486,112.5,-7.5,82,890,0.00,1.75,0.00,0.000,1062,0.000,0.041,2677,2739,3481,3475,3487,0,0,0,0,0,0,14.69,14.64,14.70
$GC,1248,-0.64,-107.1,2676,2740,3476,3486,140.2,-7.9,92,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2739,3480,3475,3485,0,0,0,0,0,0,14.91,14.91,14.91
$GC,1584,-0.64,-107.1,2675,2740,3476,3481,166.6,-7.9,98,1590,0.00,2.08,0.00,0.000,260,0.000,0.105,2668,3823,3478,3475,3481,0,0,0,0,0,0,14.92,14.38,14.96
$GC,1653,-0.64,-107.1,2668,3825,3476,3482,172.7,-8.8,108,1660,0.00,1.80,0.00,0.000,1030,0.000,0.041,2667,2756,3477,3474,3481,0,0,0,0,0,0,14.67,14.63,14.67
$GC,1976,-0.64,-107.1,2668,2757,3476,3476,201.2,-9.0,119,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2756,3475,3475,3476,0,0,0,0,0,0,14.95,14.95,14.95
$GC,2312,-0.64,-107.1,2667,2757,3476,3470,229.3,-8.1,125,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2756,3472,3475,3470,0,0,0,0,0,0,14.94,14.94,14.94
$GC,2648,-0.64,-107.1,2668,2757,3476,3465,255.8,-7.9,131,2654,0.00,2.05,0.00,0.000,260,0.000,0.108,2659,3825,3470,3475,3466,0,0,0,0,0,0,14.95,14.38,14.95
$GC,2682,-0.64,-107.1,2658,3826,3476,3465,258.7,-8.6,136,2689,0.10,1.80,0.00,0.000,3078,0.217,0.043,2696,2770,3470,3475,3465,0,0,0,0,0,0,14.37,14.71,14.52
$GC,3040,-0.74,-107.1,2696,2770,3476,3461,284.2,-7.1,145,3047,0.00,2.40,0.00,0.000,676,0.000,0.044,2696,1377,3467,3475,3460,0,0,0,0,0,0,14.97,14.52,14.97
$GC,3124,-0.84,-107.1,2696,1378,3476,3458,290.1,-6.9,157,3131,0.10,2.47,0.00,0.000,5286,0.073,0.067,2616,2753,3466,3475,3458,0,0,0,0,0,0,14.53,14.44,14.56
$GC,3488,-0.84,-107.1,2616,2755,3476,3453,325.9,-10.0,167,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2754,3464,3475,3453,0,0,0,0,0,0,14.95,14.95,14.95
$GC,3824,-0.84,-107.1,2616,2755,3476,3450,360.4,-10.2,173,3831,0.00,2.03,0.00,0.000,260,0.000,0.109,2607,3819,3462,3475,3450,0,0,0,0,0,0,14.95,14.34,14.95
$GC,3880,-0.84,-107.1,2608,3818,3474,3449,366.4,-10.7,181,3886,0.00,1.80,0.00,0.000,1030,0.000,0.043,2607,2752,3462,3475,3449,0,0,0,0,0,0,14.64,14.62,14.66
$GC,4216,-0.84,-107.1,2607,2752,3475,3447,399.9,-10.0,194,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2752,3459,3474,3445,0,0,0,0,0,0,14.95,14.95,14.94
$GC,4552,-0.84,-107.1,2617,2750,3475,3447,432.7,-10.0,200,4558,0.00,2.38,0.00,0.000,516,0.000,0.044,2616,1379,3458,3474,3442,0,0,0,0,0,0,14.96,14.43,14.95
$GC,4579,-0.84,-107.1,2616,1380,3475,3442,435.5,-10.1,204,4586,0.00,2.47,0.00,0.000,1030,0.000,0.068,2606,2756,3457,3474,3441,0,0,0,0,0,0,14.54,14.41,14.57
$GC,4944,-0.84,-107.1,2608,2757,3473,3438,473.2,-10.3,214,4950,0.00,2.03,0.00,0.000,260,0.000,0.108,2600,3825,3456,3474,3438,0,0,0,0,0,0,14.92,14.32,14.93
$GC,5006,-0.74,-107.1,2599,3825,3474,3438,479.9,-10.8,223,5013,0.17,1.83,0.00,0.000,3206,0.229,0.041,2653,2758,3460,3483,3437,0,0,0,0,0,0,14.19,14.66,14.38
$GC,5336,-0.74,-107.1,2654,2759,3475,3435,507.0,-8.2,235,5337,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2757,3454,3474,3435,0,0,0,0,0,0,14.93,14.94,14.94
$GC,5672,-0.74,-107.1,2654,2758,3474,3433,534.3,-8.2,241,5678,0.00,2.40,0.00,0.000,516,0.000,0.045,2653,1377,3457,3483,3432,0,0,0,0,0,0,14.94,14.46,14.94
$GC,5728,-0.74,-107.1,2654,1377,3474,3433,539.0,-8.3,249,5735,0.00,2.53,0.00,0.000,1030,0.000,0.067,2644,2769,3452,3473,3431,0,0,0,0,0,0,14.47,14.38,14.52
$GC,6064,-0.74,-107.1,2644,2770,3475,3428,568.2,-8.8,262,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2769,3451,3474,3428,0,0,0,0,0,0,14.93,14.93,14.93
$GC,6400,-0.74,-107.1,2644,2769,3474,3426,597.7,-8.7,268,6406,0.00,2.03,0.00,0.000,260,0.000,0.112,2635,3824,3449,3473,3425,0,0,0,0,0,0,14.94,14.27,14.94
$GC,6441,-0.74,-107.1,2636,3824,3474,3425,601.6,-9.3,274,6448,0.00,1.85,0.00,0.000,1030,0.000,0.044,2634,2751,3449,3472,3426,0,0,0,0,0,0,14.69,14.63,14.70
$GC,6792,-0.74,-107.1,2635,2752,3472,3425,631.0,-8.3,282,6798,0.00,2.40,0.00,0.000,516,0.000,0.044,2634,1372,3447,3470,3425,0,0,0,0,0,0,14.93,14.36,14.93
$GC,6848,-0.74,-107.1,2635,1371,3471,3426,635.6,-8.2,290,6854,0.10,2.55,0.00,0.000,3078,0.222,0.068,2653,2769,3447,3470,3425,0,0,0,0,0,0,14.12,14.35,14.29
$GC,7184,-0.74,-107.1,2654,2770,3471,3421,660.1,-7.2,303,7190,0.00,2.03,0.00,0.000,292,0.000,0.112,2646,3817,3446,3470,3422,0,0,0,0,0,0,14.95,14.24,14.95
$GC,7240,-0.74,-107.1,2646,3818,3471,3423,664.4,-7.8,311,7246,0.00,1.80,0.00,0.000,1030,0.000,0.043,2646,2761,3446,3470,3423,0,0,0,0,0,0,14.60,14.56,14.60
$GC,7576,-0.74,-107.1,2646,2761,3468,3422,690.8,-8.0,324,7582,0.00,2.40,0.00,0.000,516,0.000,0.044,2645,1380,3444,3467,3422,0,0,0,0,0,0,14.95,14.43,14.95
$GC,7624,-0.74,-107.1,2645,1380,3468,3421,694.8,-8.2,331,7632,0.00,2.50,0.00,0.000,1030,0.000,0.067,2636,2756,3444,3467,3422,0,0,0,0,0,0,14.49,14.31,14.47
$GC,7968,-0.74,-107.1,2635,2756,3467,3421,724.7,-9.0,338,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2756,3443,3467,3420,0,0,0,0,0,0,14.92,14.92,14.92
$GC,8304,-0.74,-107.1,2637,2756,3465,3420,754.7,-9.0,344,8310,0.00,2.05,0.00,0.000,260,0.000,0.111,2628,3817,3441,3464,3419,0,0,0,0,0,0,14.92,14.19,14.92
$GC,8360,-0.74,-107.1,2628,3820,3466,3418,759.8,-9.4,352,8366,0.10,1.83,0.00,0.000,3078,0.216,0.044,2656,2765,3441,3464,3419,0,0,0,0,0,0,14.12,14.53,14.28
$GC,8696,-0.74,-107.1,2657,2765,3470,3419,785.6,-7.6,365,8703,0.00,2.40,0.00,0.000,548,0.000,0.044,2657,1360,3440,3464,3417,0,0,0,0,0,0,14.94,14.40,14.93
$GC,8744,-0.74,-107.1,2655,1361,3464,3417,789.3,-8.1,372,8752,0.00,2.55,0.00,0.000,1030,0.000,0.067,2648,2759,3442,3464,3421,0,0,0,0,0,0,14.39,14.29,14.44
$GC,9088,-0.74,-107.1,2649,2763,3464,3417,816.7,-8.1,379,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2761,3439,3462,3417,0,0,0,0,0,0,14.91,14.90,14.90
$GC,9424,-0.74,-107.1,2648,2763,3462,3423,844.3,-8.3,385,9431,0.00,2.47,0.00,0.000,516,0.000,0.044,2647,1368,3437,3460,3415,0,0,0,0,0,0,14.91,14.33,14.91
$GC,9466,-0.74,-107.1,2648,1363,3462,3416,846.9,-6.9,391,9472,0.00,2.55,0.00,0.000,1062,0.000,0.067,2638,2760,3438,3461,3415,0,0,0,0,0,0,14.37,14.28,14.42
$GC,9816,-0.74,-107.1,2639,2761,3461,3414,878.2,-8.7,399,9817,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2761,3437,3462,3413,0,0,0,0,0,0,14.90,14.90,14.90
$GC,10152,-0.74,-107.1,2639,2761,3460,3414,906.2,-8.3,405,10159,0.00,2.45,0.00,0.000,516,0.000,0.044,2637,1374,3436,3459,3413,0,0,0,0,0,0,14.90,14.27,14.90
$GC,10193,-0.74,-107.1,2638,1373,3457,3414,910.0,-6.7,411,10200,0.10,2.55,0.00,0.000,3110,0.226,0.067,2656,2761,3436,3459,3413,0,0,0,0,0,0,14.01,14.26,14.19
$STATE,10486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10486,begin apogee
$GC,10493,-0.23,0.0,2657,2209,3460,3411,932.3,-7.4,418,10603,0.57,0.10,107.32,1.968,10244,0.173,0.155,2824,2266,3050,3091,3010,0,0,0,0,0,0,14.12,13.95,13.12
$STATE,10604,end apogee,CONTROL_FINISHED_OK
$STATE,10604,begin climb
$GC,10607,0.93,107.1,2825,2266,3086,3012,936.8,0.0,420,10735,1.12,2.50,116.47,1.939,10756,0.106,0.054,3178,886,2617,2677,2558,0,0,0,0,0,0,13.97,14.01,12.94
$GC,10769,0.84,128.0,3179,886,2677,2548,930.9,6.7,444,10796,0.00,2.50,22.95,2.018,9382,0.000,0.050,3178,2250,2540,2608,2473,0,0,0,0,0,0,14.03,13.88,12.96
$GC,11105,0.72,128.0,3179,2250,2603,2453,901.2,9.2,457,11111,0.15,2.62,0.00,0.000,4484,0.233,0.096,3136,3658,2526,2602,2451,0,0,0,0,0,0,14.12,14.23,14.37
$GC,11153,0.63,128.0,3136,3659,2603,2451,896.8,8.9,464,11161,0.15,2.40,0.00,0.000,5254,0.210,0.039,3105,2278,2525,2601,2450,0,0,0,0,0,0,14.11,14.35,14.27
$GC,11497,0.65,146.4,3106,2279,2603,2448,873.2,6.8,471,11523,0.00,2.55,18.75,2.022,8740,0.000,0.060,3114,863,2461,2538,2385,0,0,0,0,0,0,14.75,14.37,13.51
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$GC,22531,1.34,469.6,3277,2277,1391,1220,11.8,6.2,933,22551,0.08,2.65,15.43,0.203,10660,0.145,0.100,3343,3662,1178,1267,1089,0,0,0,0,0,0,14.50,14.32,14.12
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$STATE,22632,end climb,SURFACE_DEPTH_REACHED
$STATE,22632,begin surface coast
$FINISH,-1.0,1.020872
$STATE,22660,end surface coast,CONTROL_FINISHED_OK
$STATE,22660,begin surface
$SM_CCo,22680,14.30,0.167,0,0,1059,500.14
$SM_GC,-2.32,9.52,0.90,14.30,0.082,0.084,0.167,183,2769,1059,-8.38,-0.62,500.14,0,0,0,0,0,0,14.52,14.38,14.26
$IRIDIUM_FIX,949.50,-12442.12,141116,094900
$TT8_MAMPS,0.038948,0.415695
$HUMID,54.48
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.70
$XPDR_PINGS,1
$SC_FREEKB,3789152
$PM_FREEKB,56268096
$24V_AH,12.94,116.004
$10V_AH,12.57,0.000
$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,24.975,205.675,487.700,14.300,0.000,0.000,0.000,522.450,0.250,0.000,6.012,0.000,19475.924,859.753,2792.638,399.255,0.000,2210.560,0.000,1692.580,0.000,1.132,0.000
$DEVICE_MAMPS,389.385,154.530,2021.895,166.770,0.000,0.000,0.000,185.130,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22718.000,22666.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.473,2.404,0.000,0.000
$MEM,334728
$DATA_FILE_SIZE,33376,946
$CAP_FILE_SIZE,170737,0
$CFSIZE,1024409600,959905792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,23.58,1
$GPS,141116,161834,959.481,-12441.675,46,1.5,47,9.0,0.9,98.1,7,10.0