version: 66.14
glider: 640
mission: 9
dive: 97
start: 1 26 122 2 59 2
data:
$ID,640
$MISSION,9
$DIVE,97
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,29
$D_BOOST,15
$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,360
$T_MISSION,400
$T_ABORT,530
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,90
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54330
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,3
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-53
$TGT_DEFAULT_LON,0
$TGT_AUTO_DEFAULT,0
$SM_CC,190
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,9
$NOCOMM_ACTION,257
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,312
$PITCH_MAX,3939
$C_PITCH,2390
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,35
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3851
$ROLL_DEG,20
$C_ROLL_DIVE,1870
$C_ROLL_CLIMB,1780
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,75
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$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,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-154.12344
$PRESSURE_SLOPE,0.00014097099
$AD7714Ch0Gain,32
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,51
$DEVICE3,38
$DEVICE4,69
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042913505
$SEABIRD_T_H,0.0006241572
$SEABIRD_T_I,2.2613181e-05
$SEABIRD_T_J,2.3234288e-06
$SEABIRD_C_G,-9.9638939
$SEABIRD_C_H,1.1586393
$SEABIRD_C_I,-0.0016194879
$SEABIRD_C_J,0.00021882902
$SEABIRD_C_Z,2936.1499
$GPS1,260122,025100,-6318.8091,208.0437,44,1.2,85,-20.9,0.8,42.1,5,4.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.1
$GPS2,260122,025831,-6318.7993,207.9745,9,1.0,41,-20.9,0.3,177.9,8,4.9
$SPEED_LIMITS,0.159,0.200
$TGT_NAME,NW
$TGT_LATLONG,-6320.000,208.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,172.6,2224,-22.1,-9.167,-24.67,1465
$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,int_press,humidity
$STATE,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.74,-87.6,232,1905,1978,2066,0.0,0.0,0,85,0.00,0.00,-72.07,0.000,16390,0.000,0.000,232,1905,3159,3133,3186,0,0,0,0,0,0,14.77,13.95,14.73,8.50,57.87
$GC,88,-0.74,-87.6,232,1905,3133,3186,3.4,-5.8,11,102,6.00,1.05,0.00,0.000,2308,0.373,0.053,2142,2542,3161,3137,3186,0,0,0,0,0,0,14.35,14.49,14.57,8.63,57.28
$GC,141,-0.74,-87.6,2141,2542,3139,3187,13.2,-15.5,20,148,0.00,1.12,0.00,0.000,3078,0.000,0.055,2141,1870,3163,3139,3187,0,0,0,0,0,0,14.52,14.49,14.55,8.63,57.08
$GC,332,-0.74,-87.6,2141,1868,3140,3187,43.0,-15.9,57,341,0.00,1.23,0.00,0.000,2564,0.000,0.069,2141,1166,3163,3140,3187,0,0,0,0,0,0,14.78,14.52,14.78,8.62,57.04
$GC,475,-0.74,-87.6,2141,1166,3140,3187,64.7,-15.0,84,482,0.00,1.12,0.00,0.000,3078,0.000,0.044,2136,1837,3163,3140,3187,0,0,0,0,0,0,14.59,14.56,14.62,8.63,56.65
$GC,676,-0.74,-87.6,2135,1838,3141,3187,96.1,-15.8,108,678,0.03,0.00,0.00,0.000,2054,0.633,0.000,2146,1838,3164,3141,3187,0,0,0,0,0,0,14.50,14.71,14.69,8.62,55.71
$GC,975,-0.74,-87.6,2146,1839,3141,3187,139.4,-13.8,123,979,0.00,1.15,0.00,0.000,2564,0.000,0.067,2146,1166,3164,3142,3187,0,0,0,0,0,0,14.90,14.69,14.91,8.61,57.40
$GC,1139,-0.74,-87.6,2146,1167,3139,3187,161.7,-13.4,131,1144,0.00,1.17,0.00,0.000,3078,0.000,0.044,2142,1874,3164,3141,3187,0,0,0,0,0,0,14.81,14.73,14.83,8.62,57.83
$GC,1458,-0.74,-87.6,2141,1874,3141,3187,202.8,-12.4,147,1461,0.00,1.23,0.00,0.000,2564,0.000,0.067,2142,1162,3163,3140,3187,0,0,0,0,0,0,14.96,14.73,14.96,8.62,58.54
$GC,1508,-0.74,-87.6,2142,1162,3140,3187,208.0,-12.4,149,1512,0.00,1.17,0.00,0.000,3078,0.000,0.044,2137,1869,3163,3140,3187,0,0,0,0,0,0,14.81,14.76,14.81,8.62,58.58
$GC,1820,-0.74,-87.6,2136,1870,3140,3187,247.1,-12.1,165,1824,0.00,1.23,0.00,0.000,2564,0.000,0.070,2136,1159,3164,3141,3187,0,0,0,0,0,0,14.98,14.76,14.99,8.62,58.54
$GC,1875,-0.74,-87.6,2136,1159,3141,3187,252.3,-12.3,167,1883,0.03,1.17,0.00,0.000,3078,0.444,0.044,2138,1869,3163,3140,3187,0,0,0,0,0,0,14.57,14.73,14.72,8.63,59.13
$GC,2182,-0.74,-87.6,2138,1869,3141,3187,292.0,-12.5,183,2186,0.00,1.20,0.00,0.000,2564,0.000,0.071,2138,1170,3163,3140,3187,0,0,0,0,0,0,15.00,14.78,15.01,8.64,58.15
$GC,2263,-0.74,-87.6,2138,1170,3141,3187,302.3,-12.8,187,2268,0.03,1.15,0.00,0.000,3078,0.456,0.044,2142,1869,3163,3140,3187,0,0,0,0,0,0,14.63,14.81,14.77,8.64,59.17
$GC,2586,-0.74,-87.6,2142,1868,3140,3187,341.5,-12.1,203,2590,0.00,1.20,0.00,0.000,2564,0.000,0.070,2142,1167,3163,3140,3187,0,0,0,0,0,0,15.02,14.80,15.02,8.65,58.93
$GC,2669,-0.74,-87.6,2142,1167,3141,3187,351.6,-12.4,207,2674,0.00,1.17,0.00,0.000,3078,0.000,0.044,2138,1873,3164,3141,3187,0,0,0,0,0,0,14.90,14.83,14.92,8.65,58.93
$GC,2988,-0.74,-87.6,2138,1873,3140,3187,390.2,-11.9,223,2992,0.00,1.23,0.00,0.000,2564,0.000,0.070,2138,1161,3163,3141,3186,0,0,0,0,0,0,15.03,14.81,15.03,8.65,58.54
$GC,3038,-0.74,-87.6,2138,1161,3141,3187,395.4,-12.2,225,3042,0.05,1.17,0.00,0.000,3078,0.362,0.044,2149,1874,3164,3141,3187,0,0,0,0,0,0,14.67,14.83,14.81,8.65,58.38
$GC,3350,-0.74,-87.6,2149,1874,3141,3187,431.4,-11.2,241,3355,0.00,1.23,0.00,0.000,2564,0.000,0.070,2149,1159,3163,3141,3186,0,0,0,0,0,0,15.04,14.82,15.04,8.65,59.25
$GC,3385,-0.74,-87.6,2149,1160,3140,3186,433.8,-11.2,242,3393,0.00,1.15,0.00,0.000,3078,0.000,0.043,2146,1865,3164,3141,3187,0,0,0,0,0,0,14.81,14.76,14.81,8.66,59.13
$GC,3693,-0.74,-87.6,2145,1865,3141,3187,469.7,-11.2,258,3696,0.00,1.20,0.00,0.000,2564,0.000,0.070,2145,1164,3164,3141,3187,0,0,0,0,0,0,15.04,14.82,15.04,8.65,58.66
$GC,3742,-0.74,-87.6,2145,1165,3140,3187,474.4,-11.2,260,3746,0.00,1.15,0.00,0.000,3078,0.000,0.044,2140,1870,3163,3140,3187,0,0,0,0,0,0,14.87,14.85,14.90,8.66,58.78
$GC,4054,-0.74,-87.6,2140,1871,3140,3187,511.0,-11.5,276,4055,0.00,0.00,0.00,0.000,2054,0.000,0.000,2140,1871,3163,3140,3187,0,0,0,0,0,0,15.05,15.05,15.05,8.66,59.33
$GC,4355,-0.74,-87.6,2139,1870,3140,3187,545.5,-11.5,291,4358,0.00,1.23,0.00,0.000,2564,0.000,0.072,2140,1161,3163,3140,3187,0,0,0,0,0,0,15.06,14.83,15.06,8.66,58.89
$GC,4502,-0.74,-87.6,2139,1161,3141,3187,562.5,-11.7,298,4506,0.00,1.15,0.00,0.000,3078,0.000,0.043,2134,1866,3164,3141,3187,0,0,0,0,0,0,14.90,14.85,14.90,8.66,58.46
$GC,4820,-0.74,-87.6,2133,1865,3141,3187,599.6,-11.5,314,4825,0.05,1.23,0.00,0.000,2564,0.467,0.067,2148,1163,3164,3141,3187,0,0,0,0,0,0,14.71,14.83,14.89,8.66,59.17
$GC,4905,-0.74,-87.6,2147,1164,3141,3187,608.9,-11.2,318,4909,0.00,1.15,0.00,0.000,3078,0.000,0.043,2143,1870,3163,3140,3187,0,0,0,0,0,0,14.90,14.85,14.91,8.67,58.62
$GC,5223,-0.74,-87.6,2143,1869,3141,3187,643.9,-10.9,334,5227,0.00,1.20,0.00,0.000,2564,0.000,0.070,2143,1170,3164,3141,3187,0,0,0,0,0,0,15.06,14.83,15.06,8.66,58.70
$GC,5317,-0.74,-87.6,2143,1170,3141,3186,653.0,-11.1,338,5325,0.00,1.15,0.00,0.000,3078,0.000,0.043,2138,1874,3163,3140,3187,0,0,0,0,0,0,14.82,14.78,14.84,8.67,59.17
$GC,5625,-0.74,-87.6,2137,1874,3141,3187,688.7,-11.2,354,5628,0.00,1.23,0.00,0.000,2564,0.000,0.071,2138,1161,3164,3141,3187,0,0,0,0,0,0,15.06,14.83,15.06,8.67,59.09
$GC,5714,-0.74,-87.6,2137,1162,3141,3187,698.0,-11.5,358,5719,0.05,1.15,0.00,0.000,3078,0.358,0.043,2149,1864,3164,3141,3187,0,0,0,0,0,0,14.70,14.85,14.83,8.67,59.09
$GC,6027,-0.74,-87.6,2149,1865,3142,3187,731.6,-10.3,374,6031,0.00,1.20,0.00,0.000,2564,0.000,0.073,2149,1167,3164,3142,3187,0,0,0,0,0,0,15.06,14.83,15.07,8.67,59.41
$GC,6076,-0.74,-87.6,2148,1168,3142,3187,736.0,-10.5,376,6081,0.00,1.15,0.00,0.000,3078,0.000,0.044,2145,1868,3164,3142,3187,0,0,0,0,0,0,14.90,14.86,14.92,8.67,58.54
$GC,6389,-0.74,-87.6,2145,1868,3142,3187,769.1,-10.3,392,6393,0.00,1.23,0.00,0.000,2564,0.000,0.073,2145,1161,3164,3142,3187,0,0,0,0,0,0,15.06,14.83,15.07,8.67,58.42
$GC,6438,-0.74,-87.6,2145,1161,3142,3187,773.5,-10.4,394,6443,0.00,1.15,0.00,0.000,3078,0.000,0.043,2140,1862,3164,3142,3187,0,0,0,0,0,0,14.90,14.87,14.95,8.67,59.33
$GC,6751,-0.74,-87.6,2140,1861,3142,3187,807.1,-10.4,410,6755,0.00,1.20,0.00,0.000,2564,0.000,0.072,2140,1165,3165,3143,3187,0,0,0,0,0,0,15.07,14.83,15.07,8.68,58.74
$GC,6795,-0.74,-87.6,2140,1166,3143,3187,811.6,-10.5,412,6801,0.05,1.17,0.00,0.000,3078,0.448,0.044,2149,1874,3165,3143,3187,0,0,0,0,0,0,14.71,14.88,14.90,8.68,58.82
$GC,7113,-0.74,-87.6,2149,1874,3143,3187,843.5,-9.9,428,7117,0.00,1.23,0.00,0.000,2564,0.000,0.073,2149,1163,3165,3143,3187,0,0,0,0,0,0,15.07,14.84,15.07,8.67,58.86
$GC,7162,-0.74,-87.6,2149,1164,3143,3187,847.7,-10.0,430,7167,0.00,1.15,0.00,0.000,3078,0.000,0.043,2146,1870,3165,3143,3187,0,0,0,0,0,0,14.90,14.87,14.92,8.68,59.17
$GC,7475,-0.74,-87.6,2145,1870,3143,3187,879.7,-10.1,446,7478,0.00,1.23,0.00,0.000,2564,0.000,0.073,2146,1162,3164,3142,3187,0,0,0,0,0,0,15.07,14.84,15.07,8.68,59.45
$GC,7586,-0.74,-87.6,2145,1163,3143,3187,890.6,-10.5,451,7590,0.00,1.15,0.00,0.000,3078,0.000,0.044,2140,1865,3165,3144,3187,0,0,0,0,0,0,14.90,14.85,14.92,8.68,59.17
$GC,7899,-0.74,-87.6,2140,1865,3143,3187,923.7,-10.4,467,7903,0.00,1.20,0.00,0.000,2564,0.000,0.073,2140,1167,3165,3144,3187,0,0,0,0,0,0,15.07,14.83,15.07,8.68,58.66
$GC,7974,-0.74,-87.6,2140,1168,3143,3187,930.5,-10.8,470,7982,0.00,1.15,0.00,0.000,3078,0.000,0.044,2135,1872,3164,3143,3186,0,0,0,0,0,0,14.83,14.78,14.84,8.68,58.97
$GC,8282,-0.74,-87.6,2134,1871,3143,3187,964.6,-10.6,486,8286,0.05,1.23,0.00,0.000,2564,0.460,0.069,2149,1169,3165,3143,3187,0,0,0,0,0,0,14.72,14.84,14.90,8.68,58.78
$GC,8373,-0.74,-87.6,2148,1169,3143,3187,973.1,-10.3,490,8376,0.00,1.15,0.00,0.000,3078,0.000,0.044,2145,1871,3165,3143,3187,0,0,0,0,0,0,14.89,14.86,14.92,8.68,59.33
$STATE,8544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8544,begin apogee
$GC,8549,-0.14,0.0,2144,1755,3143,3187,991.1,-9.9,499,8626,0.55,0.00,74.25,2.596,10246,0.245,0.000,2345,1754,2798,2789,2808,0,0,0,0,0,0,14.74,14.05,13.19,8.68,59.17
$STATE,8627,end apogee,CONTROL_FINISHED_OK
$STATE,8627,begin climb
$GC,8629,0.74,87.6,2345,1755,2787,2806,994.0,0.0,503,8706,0.75,0.00,73.35,2.505,10246,0.166,0.000,2626,1754,2440,2429,2452,0,0,0,0,0,0,14.02,13.78,13.00,8.66,58.38
$GC,9004,0.74,87.6,2626,1754,2427,2451,950.8,13.0,522,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1754,2439,2427,2451,0,0,0,0,0,0,14.57,14.57,14.57,8.63,57.91
$GC,9304,0.74,87.6,2626,1754,2427,2451,911.6,13.1,537,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1754,2439,2427,2451,0,0,0,0,0,0,14.73,14.74,14.74,8.62,57.75
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$GC,14810,0.74,87.6,2628,2461,2428,2451,233.3,10.8,811,14813,0.00,1.12,0.00,0.000,5126,0.000,0.055,2632,1775,2439,2428,2451,0,0,0,0,0,0,14.90,14.85,14.92,8.58,59.41
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$STATE,17111,end climb,SURFACE_DEPTH_REACHED
$STATE,17111,begin surface coast
$FINISH,0.1,1.027345
$STATE,17138,end surface coast,CONTROL_FINISHED_OK
$STATE,17138,begin surface
$SM_CCo,17152,42.70,0.246,0,0,2023,190.10
$SM_GC,1.28,5.62,1.05,42.70,0.075,0.058,0.246,262,1876,2023,-6.41,0.93,190.10,0,0,0,0,0,0,14.68,14.62,14.47
$IRIDIUM_FIX,-6317.00,209.21,260122,025228
$TT8_MAMPS,0.019474,0.335552
$HUMID,57.87
$INTERNAL_PRESSURE,8.48201
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,13.00,174.041
$10V_AH,13.19,0.000
$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,13.450,86.525,176.875,42.700,0.000,51.266,34.294,172.195,0.000,0.000,43.088,3002.641,10979.489,378.078,3174.538,119.095,0.000,1520.535,0.000,2119.079,0.000,0.535,0.000
$DEVICE_MAMPS,633.420,113.220,2595.645,245.565,0.000,26.010,160.000,223.000,420.000,0.000,11.240,9.970,2.190,9.220,29.450,46.670,0.000,11.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,771.494,2256.356,281.945,1382.635,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343656
$DATA_FILE_SIZE,79994,1051
$CAP_FILE_SIZE,162826,0
$CFSIZE,1023623168,1011384320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.111,328.26,1
$GPS,260122,074703,-6319.396,209.069,51,0.9,53,-21.0,0.0,0.0,8,9.9