version: 66.13
glider: 128
mission: 4
dive: 27
start: 1 20 118 3 50 30
data:
$ID,128
$MISSION,4
$DIVE,27
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$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,360
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51713
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026803601
$HD_B,0.0139002
$HD_C,9.1750398e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3235
$TGT_DEFAULT_LON,-11731
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3750
$C_PITCH,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,3346
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00121
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-157.40906
$PRESSURE_SLOPE,0.00014074198
$AD7714Ch0Gain,32
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043553207
$SEABIRD_T_H,0.00062594062
$SEABIRD_T_I,2.3765557e-05
$SEABIRD_T_J,2.606791e-06
$SEABIRD_C_G,-9.8755465
$SEABIRD_C_H,1.1390997
$SEABIRD_C_I,-0.0019936475
$SEABIRD_C_J,0.00023608611
$GPS1,200118,034506,-311.7981,5543.8774,40,0.9,46,-4.6,0.5,172.5,8,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-72.4
$GPS2,200118,034953,-311.8293,5543.9604,18,0.9,21,-4.6,0.7,51.6,8,9.8
$SPEED_LIMITS,0.159,0.245
$TGT_NAME,N
$TGT_LATLONG,-300.000,5535.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,317.8,27470,-14.5,-9.167,-20.51,3205
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.60,-194.6,231,2272,1387,1355,0.0,0.0,0,91,0.00,0.00,-81.25,0.003,16386,0.000,0.000,231,2272,3821,3804,3839,0,0,0,0,0,0,14.87,28.83,14.90
$GC,93,-0.60,-194.6,230,2272,3805,3840,4.5,-13.2,14,114,11.75,2.28,-1.23,0.070,18692,0.442,0.086,2548,3650,3903,3895,3911,0,0,0,0,0,0,14.46,14.06,14.71
$GC,207,-0.60,-194.6,2547,3650,3899,3911,44.3,-24.4,35,214,0.00,2.20,0.00,0.000,1030,0.000,0.044,2547,2276,3906,3900,3912,0,0,0,0,0,0,14.78,14.71,14.79
$GC,521,-0.60,-194.6,2547,2271,3907,3912,102.9,-16.7,68,526,0.00,2.28,0.00,0.000,516,0.000,0.053,2548,843,3909,3907,3912,0,0,0,0,0,0,15.01,14.78,15.02
$GC,543,-0.60,-194.6,2547,843,3907,3913,106.0,-14.6,72,548,0.00,2.30,0.00,0.000,1030,0.000,0.060,2548,2239,3910,3908,3913,0,0,0,0,0,0,14.86,14.78,14.88
$GC,855,-0.60,-194.6,2548,2239,3909,3914,150.0,-14.2,104,860,0.00,2.38,0.00,0.000,260,0.000,0.086,2548,3660,3911,3909,3914,0,0,0,0,0,0,15.06,14.81,15.08
$GC,960,-0.60,-194.6,2547,3660,3909,3914,166.3,-14.2,125,967,0.00,2.25,0.00,0.000,1030,0.000,0.043,2548,2238,3911,3909,3914,0,0,0,0,0,0,14.93,14.88,14.95
$GC,1266,-0.60,-194.6,2548,2233,3909,3915,210.4,-14.5,156,1271,0.00,2.20,0.00,0.000,516,0.000,0.053,2548,843,3912,3910,3914,0,0,0,0,0,0,15.09,14.88,15.11
$GC,1288,-0.60,-194.6,2547,843,3910,3915,213.6,-14.7,160,1293,0.00,2.30,0.00,0.000,1030,0.000,0.060,2548,2258,3912,3910,3915,0,0,0,0,0,0,14.95,14.87,14.97
$GC,1610,-0.60,-194.6,2547,2258,3910,3915,265.1,-15.5,187,1614,0.00,2.33,0.00,0.000,260,0.000,0.087,2548,3660,3912,3909,3915,0,0,0,0,0,0,15.12,14.88,15.14
$GC,1709,-0.60,-194.6,2547,3660,3908,3915,278.2,-12.2,207,1714,0.00,2.22,0.00,0.000,1030,0.000,0.044,2549,2244,3911,3909,3914,0,0,0,0,0,0,14.99,14.93,15.00
$GC,2032,-0.60,-194.6,2547,2239,3908,3914,309.8,-9.1,221,2036,0.00,2.40,0.00,0.000,292,0.000,0.087,2548,3666,3911,3908,3914,0,0,0,0,0,0,15.15,14.90,15.17
$GC,2072,-0.60,-194.6,2547,3666,3907,3914,313.9,-9.9,229,2076,0.00,2.22,0.00,0.000,1030,0.000,0.044,2548,2249,3910,3907,3914,0,0,0,0,0,0,15.01,14.96,15.02
$GC,2392,-0.60,-194.6,2547,2244,3907,3913,349.9,-12.4,243,2397,0.00,2.38,0.00,0.000,260,0.000,0.087,2548,3659,3910,3907,3913,0,0,0,0,0,0,15.16,14.92,15.19
$GC,2436,-0.60,-194.6,2547,3660,3906,3912,355.8,-13.0,252,2442,0.00,2.22,0.00,0.000,1030,0.000,0.046,2548,2249,3909,3906,3912,0,0,0,0,0,0,15.03,14.97,15.04
$GC,2754,-0.60,-194.6,2547,2244,3905,3910,397.5,-13.3,265,2758,0.00,2.40,0.00,0.000,260,0.000,0.089,2548,3667,3907,3905,3910,0,0,0,0,0,0,15.18,14.93,15.20
$GC,2798,-0.60,-194.6,2547,3667,3904,3909,403.4,-12.6,274,2802,0.00,2.25,0.00,0.000,1030,0.000,0.045,2548,2244,3907,3904,3910,0,0,0,0,0,0,15.04,14.98,15.05
$GC,3115,-0.60,-194.6,2548,2240,3903,3908,441.9,-12.1,287,3119,0.00,2.40,0.00,0.000,260,0.000,0.089,2548,3660,3905,3903,3908,0,0,0,0,0,0,15.19,14.93,15.21
$GC,3169,-0.60,-194.6,2547,3660,3902,3907,448.7,-12.4,298,3176,0.00,2.22,0.00,0.000,1030,0.000,0.047,2548,2252,3904,3901,3907,0,0,0,0,0,0,15.04,14.99,15.06
$GC,3476,-0.60,-194.6,2547,2248,3901,3905,482.7,-11.0,309,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2248,3903,3901,3905,0,0,0,0,0,0,15.19,15.21,15.21
$GC,3776,-0.60,-194.6,2547,2248,3900,3903,513.4,-9.9,319,3780,0.00,2.40,0.00,0.000,260,0.000,0.091,2548,3664,3901,3900,3902,0,0,0,0,0,0,15.20,14.95,15.22
$GC,3830,-0.60,-194.6,2547,3664,3899,3902,518.9,-9.9,330,3837,0.00,2.25,0.00,0.000,1030,0.000,0.047,2548,2247,3900,3899,3902,0,0,0,0,0,0,15.06,15.00,15.07
$GC,4137,-0.60,-194.6,2548,2242,3898,3901,549.7,-10.4,341,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2243,3899,3899,3900,0,0,0,0,0,0,15.20,15.23,15.22
$GC,4437,-0.60,-194.6,2547,2243,3898,3899,583.3,-11.5,351,4440,0.00,2.40,0.00,0.000,260,0.000,0.092,2547,3659,3898,3898,3898,0,0,0,0,0,0,15.21,14.95,15.23
$GC,4476,-0.60,-194.6,2547,3659,3897,3898,588.1,-11.9,359,4480,0.00,2.25,0.00,0.000,1030,0.000,0.049,2548,2241,3897,3897,3898,0,0,0,0,0,0,15.07,15.01,15.08
$GC,4798,-0.60,-194.6,2547,2237,3897,3897,627.4,-12.7,373,4802,0.00,2.42,0.00,0.000,260,0.000,0.090,2548,3668,3896,3897,3896,0,0,0,0,0,0,15.21,14.95,15.23
$GC,4821,-0.60,-194.6,2547,3668,3897,3896,630.8,-14.2,378,4829,0.00,2.30,0.00,0.000,1030,0.000,0.048,2548,2244,3896,3897,3896,0,0,0,0,0,0,15.03,15.00,15.05
$GC,5129,-0.60,-194.6,2547,2243,3897,3895,672.2,-13.8,389,5133,0.00,2.40,0.00,0.000,260,0.000,0.092,2548,3659,3895,3896,3895,0,0,0,0,0,0,15.21,14.95,15.23
$GC,5183,-0.60,-194.6,2547,3659,3896,3894,680.0,-13.3,400,5191,0.00,2.25,0.00,0.000,1030,0.000,0.050,2548,2244,3895,3896,3894,0,0,0,0,0,0,15.07,15.00,15.08
$GC,5490,-0.60,-194.6,2547,2244,3894,3892,719.5,-12.7,411,5494,0.00,2.42,0.00,0.000,260,0.000,0.094,2548,3668,3893,3894,3892,0,0,0,0,0,0,15.21,14.95,15.23
$GC,5523,-0.60,-194.6,2547,3668,3894,3891,724.0,-12.8,418,5529,0.00,2.30,0.00,0.000,1030,0.000,0.051,2548,2257,3892,3894,3891,0,0,0,0,0,0,15.03,15.00,15.04
$GC,5851,-0.60,-194.6,2548,2253,3894,3889,762.4,-11.1,433,5858,0.00,2.42,0.00,0.000,260,0.000,0.093,2548,3672,3891,3894,3889,0,0,0,0,0,0,15.21,14.95,15.23
$GC,5913,-0.60,-194.6,2547,3672,3893,3889,769.5,-11.0,446,5919,0.00,2.33,0.00,0.000,1030,0.000,0.047,2548,2238,3891,3893,3889,0,0,0,0,0,0,15.03,15.00,15.05
$GC,6242,-0.60,-194.6,2547,2234,3893,3886,803.1,-10.3,461,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2234,3889,3893,3886,0,0,0,0,0,0,15.20,15.23,15.22
$GC,6541,-0.60,-194.6,2547,2234,3891,3885,832.2,-9.4,471,6545,0.00,2.42,0.00,0.000,260,0.000,0.093,2548,3658,3888,3892,3885,0,0,0,0,0,0,15.21,14.95,15.23
$GC,6606,-0.60,-194.6,2547,3658,3891,3885,838.6,-9.8,484,6611,0.00,2.25,0.00,0.000,1030,0.000,0.050,2548,2247,3888,3891,3885,0,0,0,0,0,0,15.07,15.01,15.08
$GC,6928,-0.60,-194.6,2547,2242,3890,3883,868.7,-9.3,498,6935,0.00,2.42,0.00,0.000,260,0.000,0.093,2548,3665,3886,3890,3883,0,0,0,0,0,0,15.21,14.95,15.22
$GC,7006,-0.60,-194.6,2547,3665,3889,3882,876.5,-9.6,514,7011,0.00,2.30,0.00,0.000,1030,0.000,0.049,2548,2251,3886,3890,3882,0,0,0,0,0,0,15.03,15.00,15.05
$GC,7318,-0.60,-194.6,2547,2246,3889,3881,906.7,-9.9,526,7323,0.00,2.45,0.00,0.000,260,0.000,0.094,2548,3671,3885,3889,3881,0,0,0,0,0,0,15.21,14.95,15.22
$GC,7357,-0.60,-194.6,2547,3671,3888,3881,911.0,-10.7,534,7362,0.00,2.30,0.00,0.000,1030,0.000,0.049,2548,2252,3884,3888,3881,0,0,0,0,0,0,15.03,15.00,15.05
$GC,7679,-0.60,-194.6,2547,2246,3887,3879,943.9,-10.3,548,7684,0.00,2.42,0.00,0.000,260,0.000,0.094,2548,3669,3883,3887,3880,0,0,0,0,0,0,15.20,14.95,15.22
$GC,7754,-0.60,-194.6,2547,3669,3887,3879,951.9,-10.4,563,7759,0.00,2.25,0.00,0.000,1030,0.000,0.048,2547,2248,3883,3887,3879,0,0,0,0,0,0,15.06,15.00,15.07
$GC,8071,-0.60,-194.6,2547,2242,3887,3878,983.2,-9.9,576,8076,0.00,2.42,0.00,0.000,260,0.000,0.096,2548,3659,3882,3887,3878,0,0,0,0,0,0,15.20,14.94,15.22
$GC,8120,-0.60,-194.6,2547,3659,3885,3877,988.2,-9.7,586,8125,0.00,2.25,0.00,0.000,1030,0.000,0.053,2548,2255,3881,3886,3877,0,0,0,0,0,0,15.06,15.00,15.07
$STATE,8162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8162,begin apogee
$GC,8166,-0.12,0.0,2548,2370,3886,3877,992.0,-9.6,589,8355,0.60,0.00,185.48,1.617,10246,0.246,0.000,2714,2370,3345,3366,3325,0,0,0,0,0,0,14.87,14.11,13.51
$STATE,8356,end apogee,CONTROL_FINISHED_OK
$STATE,8356,begin climb
$GC,8357,0.60,194.6,2714,2369,3360,3319,997.7,0.0,595,8577,0.80,2.40,210.68,1.799,10500,0.156,0.092,2957,3681,2545,2591,2500,0,0,0,0,0,0,14.07,13.85,13.29
$GC,8693,0.60,194.6,2957,3681,2575,2492,971.6,11.7,665,8700,0.00,2.25,0.00,0.000,1030,0.000,0.054,2958,2364,2534,2576,2492,0,0,0,0,0,0,14.44,14.37,14.46
$GC,8999,0.60,194.6,2957,2364,2571,2490,939.1,10.6,676,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2363,2530,2571,2490,0,0,0,0,0,0,14.85,14.86,14.87
$GC,9299,0.60,194.6,2957,2364,2570,2490,907.2,10.6,686,9303,0.00,2.30,0.00,0.000,260,0.000,0.087,2958,3687,2530,2570,2490,0,0,0,0,0,0,14.96,14.71,14.98
$GC,9338,0.60,194.6,2957,3687,2569,2489,902.4,11.9,694,9343,0.00,2.22,0.00,0.000,1030,0.000,0.054,2958,2345,2529,2569,2489,0,0,0,0,0,0,14.82,14.76,14.84
$GC,9660,0.60,194.6,2957,2344,2569,2489,868.0,10.7,708,9661,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2344,2529,2569,2489,0,0,0,0,0,0,15.02,15.04,15.04
$GC,9960,0.60,194.6,2957,2344,2569,2489,837.1,10.2,718,9964,0.00,2.33,0.00,0.000,260,0.000,0.090,2958,3691,2528,2568,2489,0,0,0,0,0,0,15.06,14.82,15.09
$GC,10024,0.60,194.6,2957,3691,2567,2489,829.6,11.7,731,10028,0.00,2.20,0.00,0.000,1030,0.000,0.052,2958,2341,2528,2567,2490,0,0,0,0,0,0,14.92,14.86,14.95
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$GC,17759,0.96,495.6,3009,934,1658,1568,36.4,6.8,1333,17839,0.17,2.35,72.32,0.839,11302,0.153,0.053,3065,2353,1320,1376,1265,0,0,0,0,0,0,14.48,14.51,13.95
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$STATE,18167,end climb,SURFACE_DEPTH_REACHED
$STATE,18167,begin surface coast
$FINISH,-0.3,1.007654
$STATE,18203,end surface coast,CONTROL_FINISHED_OK
$STATE,18204,begin surface
$SM_CCo,18280,0.00,0.000,0,0,1190,528.61
$SM_GC,0.59,8.30,2.42,0.00,0.094,0.045,0.000,250,2240,1190,-7.80,0.88,528.61,0,0,0,0,0,0,14.62,14.66,14.71
$IRIDIUM_FIX,-311.20,5543.84,190118,223635
$TT8_MAMPS,0.018725,0.15729
$HUMID,59.88
$INTERNAL_PRESSURE,8.42419
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,13.29,11.927
$10V_AH,13.61,0.000
$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,21.750,194.025,729.550,0.000,0.000,0.000,0.000,196.450,0.000,0.000,22.916,2844.992,12547.254,815.373,2263.150,104.800,0.000,2215.631,0.000,2016.837,0.000,0.545,0.000
$DEVICE_MAMPS,442.170,176.715,1799.280,0.000,0.000,0.000,0.000,134.640,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,639.892,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304632
$DATA_FILE_SIZE,59983,1417
$CAP_FILE_SIZE,165824,0
$CFSIZE,260034560,256401408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.216,120.88,1
$GPS,200118,085628,-311.371,5544.368,40,0.9,45,-4.6,0.9,126.4,8,9.0