version: 66.12
glider: 178
mission: 20
dive: 94
start: 3 19 115 14 45 17
data:
$ID,178
$MISSION,20
$DIVE,94
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,330
$T_MISSION,360
$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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51652
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00228724
$HD_B,0.0153901
$HD_C,8.9420502e-07
$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,15
$N_GPS,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3279
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0018
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,148
$AH0_10V,95
$MINV_24V,22
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.597843
$PRESSURE_SLOPE,0.0001161899
$AD7714Ch0Gain,128
$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,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
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,99
$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
$SIM_PITCH,0
$SEABIRD_T_G,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,190315,143759,1213.1434,14452.3730,38,0.9,38,1.8,0.6,239.4,8,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-74.9
$GPS2,190315,144505,1213.1482,14452.3301,12,0.9,28,1.8,0.3,330.0,8,7.2
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S5
$TGT_LATLONG,1215.660,14421.540
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,274.0,55916,-16.5,-10.000,-23.13,2699
$D_GRID,1020
$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,89,end surface,CONTROL_FINISHED_OK
$STATE,89,begin dive
$GC,91,-0.68,-175.2,128,2466,1238,1225,0.0,0.0,0,172,0.00,0.00,-77.57,0.000,16386,0.000,0.000,125,2465,3224,3265,3184,0,0,0,0,0,0,26.23,28.83,26.29
$GC,174,-0.68,-175.2,126,2465,3266,3185,3.6,-13.1,13,204,10.65,2.12,-11.88,0.000,18692,0.252,0.060,2543,3772,3964,3998,3931,0,0,0,0,0,0,25.84,24.88,26.15
$GC,386,-0.68,-175.2,2542,3773,3998,3940,81.2,-32.2,44,400,0.00,1.98,0.00,0.000,1030,0.000,0.024,2549,2437,3967,3996,3939,0,0,0,0,0,0,26.29,26.26,26.29
$GC,696,-0.68,-175.2,2549,2434,3997,3943,166.2,-19.2,75,709,0.00,2.12,0.00,0.000,516,0.000,0.030,2558,1054,3968,3995,3942,0,0,0,0,0,0,26.31,26.31,26.36
$GC,733,-0.68,-175.2,2558,1055,3994,3944,172.6,-19.3,78,745,0.00,2.17,0.00,0.000,1030,0.000,0.032,2550,2453,3969,3995,3943,0,0,0,0,0,0,26.36,26.29,26.38
$GC,1059,-0.68,-175.2,2551,2454,3995,3948,226.8,-14.4,99,1067,0.00,2.10,0.00,0.000,260,0.000,0.046,2541,3775,3971,3995,3947,0,0,0,0,0,0,26.36,26.29,26.42
$GC,1091,-0.68,-175.2,2541,3775,3995,3948,230.6,-14.0,100,1100,0.00,1.95,0.00,0.000,1030,0.000,0.023,2542,2442,3971,3996,3947,0,0,0,0,0,0,26.41,26.36,26.41
$GC,1419,-0.68,-175.2,2542,2440,3995,3950,273.9,-12.8,111,1428,0.00,2.10,0.00,0.000,516,0.000,0.031,2542,1064,3972,3995,3949,0,0,0,0,0,0,26.32,26.31,26.39
$GC,1453,-0.68,-175.2,2542,1062,3997,3950,278.5,-12.7,112,1461,0.00,2.17,0.00,0.000,1030,0.000,0.033,2535,2456,3972,3995,3949,0,0,0,0,0,0,26.40,26.34,26.41
$GC,1781,-0.68,-175.2,2535,2457,3996,3950,322.5,-13.0,123,1791,0.00,2.10,0.00,0.000,260,0.000,0.048,2525,3772,3973,3996,3951,0,0,0,0,0,0,26.32,26.25,26.39
$GC,1805,-0.68,-175.2,2524,3773,3997,3950,322.5,-13.0,123,1813,0.12,1.98,0.00,0.000,3078,0.154,0.024,2556,2448,3972,3996,3949,0,0,0,0,0,0,26.20,26.40,26.33
$GC,2118,-0.68,-175.2,2556,2449,3995,3949,360.5,-10.5,134,2126,0.00,2.10,0.00,0.000,516,0.000,0.031,2561,1071,3972,3996,3948,0,0,0,0,0,0,26.37,26.35,26.44
$GC,2155,-0.68,-175.2,2560,1072,3997,3949,364.0,-10.4,135,2163,0.00,2.17,0.00,0.000,1030,0.000,0.034,2553,2457,3971,3996,3947,0,0,0,0,0,0,26.40,26.34,26.41
$GC,2478,-0.68,-175.2,2554,2457,3995,3942,401.6,-11.8,146,2485,0.00,2.12,0.00,0.000,260,0.000,0.049,2544,3777,3968,3995,3942,0,0,0,0,0,0,26.37,26.29,26.43
$GC,2505,-0.68,-175.2,2543,3778,3997,3943,404.9,-11.7,147,2512,0.00,1.98,0.00,0.000,1030,0.000,0.026,2544,2453,3969,3996,3942,0,0,0,0,0,0,26.41,26.38,26.42
$GC,2832,-0.68,-175.2,2544,2451,3994,3937,440.1,-10.0,158,2842,0.00,2.15,0.00,0.000,516,0.000,0.032,2543,1060,3965,3994,3937,0,0,0,0,0,0,26.35,26.34,26.41
$GC,2861,-0.68,-175.2,2544,1058,3994,3937,440.1,-10.0,158,2871,0.00,2.20,0.00,0.000,1030,0.000,0.034,2536,2454,3964,3993,3936,0,0,0,0,0,0,26.39,26.32,26.41
$GC,3166,-0.68,-175.2,2535,2455,3996,3929,472.9,-9.8,169,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2454,3961,3994,3929,0,0,0,0,0,0,26.35,26.43,26.41
$GC,3467,-0.68,-175.2,2535,2456,3996,3924,503.4,-10.6,179,3477,0.00,2.12,0.00,0.000,260,0.000,0.049,2526,3772,3958,3994,3923,0,0,0,0,0,0,26.35,26.27,26.41
$GC,3491,-0.68,-175.2,2526,3772,3994,3923,503.4,-10.6,179,3503,0.00,2.00,0.00,0.000,1030,0.000,0.027,2526,2444,3958,3994,3922,0,0,0,0,0,0,26.41,26.38,26.41
$GC,3797,-0.68,-175.2,2525,2445,3996,3917,543.0,-12.1,190,3805,0.12,2.12,0.00,0.000,2564,0.168,0.030,2561,1060,3955,3995,3916,0,0,0,0,0,0,26.13,26.29,26.22
$GC,3825,-0.68,-175.2,2561,1061,3996,3917,546.0,-11.7,191,3834,0.00,2.20,0.00,0.000,1030,0.000,0.034,2555,2452,3954,3994,3915,0,0,0,0,0,0,26.36,26.30,26.39
$GC,4159,-0.68,-175.2,2554,2453,3995,3911,576.1,-8.5,202,4168,0.00,2.15,0.00,0.000,516,0.000,0.031,2555,1062,3951,3993,3910,0,0,0,0,0,0,26.34,26.31,26.39
$GC,4183,-0.68,-175.2,2555,1063,3995,3911,576.1,-8.5,202,4191,0.00,2.17,0.00,0.000,1030,0.000,0.034,2547,2451,3951,3993,3910,0,0,0,0,0,0,26.35,26.29,26.38
$GC,4496,-0.68,-175.2,2548,2452,3990,3907,603.1,-7.7,213,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2452,3948,3991,3906,0,0,0,0,0,0,26.33,26.40,26.39
$GC,4796,-0.68,-175.2,2546,2453,3990,3905,625.7,-7.6,223,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2452,3946,3988,3904,0,0,0,0,0,0,26.32,26.39,26.38
$GC,5096,-0.68,-175.2,2548,2453,3986,3903,648.5,-7.7,233,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2452,3944,3986,3902,0,0,0,0,0,0,26.32,26.39,26.37
$GC,5396,-0.68,-175.2,2546,2453,3986,3901,672.0,-8.0,243,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2452,3942,3984,3900,0,0,0,0,0,0,26.31,26.39,26.37
$GC,5696,-0.68,-175.2,2547,2453,3983,3898,698.3,-9.2,253,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2452,3940,3983,3897,0,0,0,0,0,0,26.29,26.36,26.36
$GC,5996,-0.68,-175.2,2547,2458,3983,3897,725.7,-9.2,263,6003,0.00,2.17,0.00,0.000,516,0.000,0.033,2547,1069,3938,3981,3896,0,0,0,0,0,0,26.28,26.25,26.34
$GC,6023,-0.68,-175.2,2547,1070,3981,3897,728.3,-9.3,264,6030,0.00,2.22,0.00,0.000,1030,0.000,0.037,2541,2458,3938,3981,3896,0,0,0,0,0,0,26.29,26.22,26.32
$GC,6350,-0.68,-175.2,2540,2458,3981,3895,758.7,-9.2,275,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2454,3936,3979,3894,0,0,0,0,0,0,26.27,26.34,26.33
$GC,6650,-0.68,-175.2,2540,2458,3979,3893,786.4,-9.2,285,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2457,3934,3977,3891,0,0,0,0,0,0,26.28,26.35,26.34
$GC,6950,-0.68,-175.2,2540,2459,3979,3891,813.6,-9.1,295,6959,0.00,2.20,0.00,0.000,516,0.000,0.032,2541,1062,3933,3976,3891,0,0,0,0,0,0,26.27,26.21,26.33
$GC,6980,-0.68,-175.2,2540,1063,3974,3891,816.5,-9.1,296,6988,0.00,2.20,0.00,0.000,1030,0.000,0.037,2533,2452,3933,3976,3890,0,0,0,0,0,0,26.27,26.20,26.29
$GC,7313,-0.68,-175.2,2532,2453,3976,3889,846.7,-8.8,307,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2452,3933,3977,3889,0,0,0,0,0,0,26.25,26.32,26.32
$GC,7613,-0.68,-175.2,2534,2453,3976,3888,873.1,-8.5,317,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2452,3931,3974,3888,0,0,0,0,0,0,26.23,26.31,26.29
$GC,7913,-0.68,-175.2,2534,2453,3973,3887,898.4,-8.1,327,7921,0.00,2.17,0.00,0.000,260,0.000,0.052,2524,3776,3930,3973,3887,0,0,0,0,0,0,26.26,26.12,26.32
$GC,7935,-0.68,-175.2,2523,3777,3974,3887,898.4,-8.1,327,7943,0.15,2.03,0.00,0.000,3078,0.148,0.026,2562,2441,3929,3972,3886,0,0,0,0,0,0,25.99,26.26,26.15
$GC,8248,-0.68,-175.2,2561,2442,3974,3886,919.6,-6.1,338,8256,0.00,2.15,0.00,0.000,516,0.000,0.032,2562,1067,3928,3972,3885,0,0,0,0,0,0,26.23,26.17,26.30
$GC,8290,-0.68,-175.2,2561,1068,3971,3885,922.0,-6.4,339,8299,0.00,2.22,0.00,0.000,1030,0.000,0.034,2559,2457,3927,3971,3884,0,0,0,0,0,0,26.22,26.15,26.25
$GC,8614,-0.68,-175.2,2558,2457,3972,3884,944.4,-7.0,350,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2456,3926,3970,3883,0,0,0,0,0,0,26.22,26.29,26.28
$GC,8913,-0.68,-175.2,2558,2458,3972,3883,967.0,-7.7,360,8921,0.00,2.17,0.00,0.000,516,0.000,0.032,2559,1077,3926,3970,3882,0,0,0,0,0,0,26.21,26.16,26.27
$GC,8961,-0.68,-175.2,2559,1079,3971,3883,969.8,-7.9,361,8969,0.00,2.17,0.00,0.000,1030,0.000,0.035,2559,2450,3925,3969,3882,0,0,0,0,0,0,26.22,26.14,26.25
$STATE,9212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9212,begin apogee
$GC,9216,-0.11,0.0,2561,2098,3969,3882,990.3,-7.6,370,9361,0.57,0.00,137.30,1.308,10246,0.109,0.000,2740,2096,3280,3319,3241,0,0,0,0,0,0,25.96,24.82,24.10
$STATE,9362,end apogee,CONTROL_FINISHED_OK
$STATE,9362,begin climb
$GC,9363,0.68,175.2,2742,2096,3318,3239,996.6,0.0,374,9532,0.73,2.33,155.60,1.290,11012,0.046,0.035,3019,736,2564,2611,2518,0,0,0,0,0,0,25.03,24.10,23.56
$GC,9746,0.68,175.2,3019,736,2601,2510,974.6,12.9,387,9758,0.00,2.20,0.00,0.000,1030,0.000,0.028,3018,2109,2555,2601,2509,0,0,0,0,0,0,25.79,25.75,25.81
$GC,10052,0.68,175.2,3019,2110,2600,2509,932.4,12.7,398,10057,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2110,2553,2600,2507,0,0,0,0,0,0,26.11,26.18,26.17
$GC,10352,0.68,175.2,3017,2110,2600,2507,896.2,12.0,408,10358,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2109,2552,2598,2506,0,0,0,0,0,0,26.22,26.29,26.29
$GC,10652,0.68,175.2,3019,2110,2596,2506,860.3,12.1,418,10659,0.00,2.22,0.00,0.000,260,0.000,0.044,3018,3499,2551,2597,2505,0,0,0,0,0,0,26.23,26.17,26.29
$GC,10684,0.68,175.2,3019,3500,2596,2506,856.7,12.3,419,10692,0.00,2.12,0.00,0.000,1030,0.000,0.024,3029,2119,2551,2597,2506,0,0,0,0,0,0,26.28,26.25,26.29
$GC,11011,0.68,175.2,3028,2120,2597,2506,814.7,12.7,430,11019,0.00,2.25,0.00,0.000,260,0.000,0.043,3028,3499,2550,2595,2505,0,0,0,0,0,0,26.24,26.16,26.30
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$STATE,18343,end climb,SURFACE_DEPTH_REACHED
$STATE,18343,begin surface coast
$FINISH,-0.3,1.022049
$STATE,18358,end surface coast,CONTROL_FINISHED_OK
$STATE,18359,begin surface
$SM_CCo,18374,24.25,0.066,0,0,1239,500.17
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$IRIDIUM_FIX,1205.71,14452.88,130108,225225
$TT8_MAMPS,0.05243,0.05243
$HUMID,41.49
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.40
$XPDR_PINGS,0
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,18353.86 8083.04
$PA_BOOTCOUNT,312
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$PA_ROOT,1.00/0.121/0.121/0.000
$PA_HOME,0.03/0.057/1.764/1.617
$PA_DISK_BANK,1
$24V_AH,23.56,24.293
$10V_AH,10.16,25.874
$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,21.350,144.050,515.200,24.250,0.000,0.000,0.000,294.150,0.000,18884.432,31.260,0.000,14718.590,631.930,3244.721,216.744,0.000,2360.318,0.000,1786.624,0.000,0.552,0.000
$DEVICE_MAMPS,251.685,59.670,1308.150,65.790,0.000,0.000,0.000,94.095,420.000,64.751,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,546.274,0.000,0.000,0.000,0.000,0.000,18884.691,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.324,0.000,0.000,0.000
$MEM,230416
$DATA_FILE_SIZE,36764,802
$CAP_FILE_SIZE,156689,0
$CFSIZE,260034560,250195968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,18864.29,0x236db2,7,5
$CURRENT,0.046,301.75,1
$GPS,190315,195305,1213.657,14449.914,41,0.8,47,1.8,0.8,30.8,10,7.2