version: 66.11
glider: 178
mission: 14
dive: 27
start: 6 16 112 21 38 38
data:
$ID,178
$MISSION,14
$DIVE,27
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$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,420
$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,1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51867
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0025937001
$HD_B,0.01134
$HD_C,1.234e-05
$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,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13187.886
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2640
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2737
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-47.288708
$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,10
$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
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,69
$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,20480.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,160612,213157,4727.251,-12519.129,225,99.0,244,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-70.7
$GPS2,160612,213755,4727.216,-12519.194,44,1.2,44,18.6
$SPEED_LIMITS,0.136,0.209
$TGT_NAME,HARP
$TGT_LATLONG,4730.030,-12521.220
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.154,0.141
$KALMAN_X,17076.5,738.8,-484.9,-46677.4,2639.8
$KALMAN_Y,1138.3,817.3,432.7,57561.1,-1012.8
$MHEAD_RNG_PITCHd_Wd,307.2,5795,-15.8,-7.857
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.67,-117.2,0.0,0.0,0,80,0.00,0.00,-65.72,0.000,2,0.000,0.000,154,2593,2817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.67,-117.2,3.7,-9.1,11,107,10.75,2.25,-7.53,0.000,4,0.270,0.058,2418,1201,3218,0,0,0,0,0,0,24.74,25.52,26.00
$GC,331,-0.64,-117.2,47.7,-11.3,60,338,0.00,2.33,0.00,0.000,6,0.000,0.049,2410,2599,3223,0,0,0,0,0,0,28.83,25.51,28.83
$GC,636,-0.59,-117.2,83.1,-11.3,121,645,0.15,2.00,0.00,0.000,4,0.166,0.064,2440,3776,3225,0,0,0,0,0,0,25.59,25.46,28.83
$GC,718,-0.59,-117.2,90.6,-9.5,137,727,0.00,1.88,0.00,0.000,6,0.000,0.040,2440,2600,3225,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1026,-0.61,-121.9,116.0,-7.6,198,1033,0.00,2.25,-0.10,0.000,4,0.000,0.056,2440,1203,3241,0,0,0,0,0,0,28.83,25.74,25.08
$GC,1082,-0.66,-126.5,120.5,-7.6,209,1090,0.00,2.30,-0.10,0.000,6,0.000,0.047,2433,2606,3258,0,0,0,0,0,0,28.83,25.67,24.66
$GC,1389,-0.68,-126.5,148.1,-9.3,270,1396,0.00,1.98,0.00,0.000,4,0.000,0.065,2424,3774,3259,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1410,-0.69,-126.5,150.0,-9.0,274,1417,0.00,1.88,0.00,0.000,6,0.000,0.039,2424,2591,3259,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1715,-0.69,-126.5,177.8,-8.5,335,1723,0.00,2.20,0.00,0.000,4,0.000,0.041,2424,1206,3260,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1746,-0.71,-126.5,180.4,-8.7,341,1755,0.00,2.28,0.00,0.000,6,0.000,0.047,2415,2597,3260,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2053,-0.71,-126.5,207.2,-8.9,394,2057,0.00,1.98,0.00,0.000,4,0.000,0.064,2405,3776,3259,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2093,-0.71,-126.5,211.0,-9.4,398,2098,0.00,1.88,0.00,0.000,6,0.000,0.040,2406,2593,3259,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2403,-0.71,-126.5,240.3,-9.9,429,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2593,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2704,-0.71,-126.5,269.9,-9.7,459,2707,0.00,2.00,0.00,0.000,4,0.000,0.065,2397,3774,3258,0,0,0,0,0,0,28.83,25.57,28.83
$GC,2763,-0.71,-126.5,276.0,-10.2,465,2767,0.00,1.85,0.00,0.000,6,0.000,0.041,2397,2603,3258,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3073,-0.71,-126.5,305.6,-9.3,496,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2603,3258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3374,-0.71,-126.5,333.4,-9.2,526,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2603,3258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3674,-0.71,-126.5,360.4,-9.1,556,3677,0.00,2.22,0.00,0.000,4,0.000,0.042,2397,1204,3257,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3708,-0.71,-126.5,363.2,-9.1,559,3716,0.00,2.30,0.00,0.000,6,0.000,0.048,2387,2605,3257,0,0,0,0,0,0,28.83,25.74,28.83
$GC,4014,-0.69,-126.5,392.2,-9.3,590,4017,0.00,1.98,0.00,0.000,4,0.000,0.065,2378,3776,3257,0,0,0,0,0,0,28.83,25.57,28.83
$GC,4043,-0.67,-126.5,395.0,-9.7,593,4048,0.12,1.85,0.00,0.000,6,0.143,0.040,2417,2605,3256,0,0,0,0,0,0,25.53,26.03,28.83
$GC,4354,-0.69,-126.5,417.9,-7.2,624,4357,0.00,2.22,0.00,0.000,4,0.000,0.041,2417,1201,3257,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4394,-0.72,-126.5,420.8,-7.2,628,4398,0.00,2.28,0.00,0.000,6,0.000,0.048,2410,2596,3257,0,0,0,0,0,0,28.83,25.76,28.83
$GC,4704,-0.74,-126.5,444.0,-7.5,659,4707,0.00,1.98,0.00,0.000,4,0.000,0.065,2401,3768,3256,0,0,0,0,0,0,28.83,25.57,28.83
$GC,4738,-0.74,-126.5,446.4,-7.8,662,4746,0.00,1.83,0.00,0.000,6,0.000,0.045,2401,2613,3256,0,0,0,0,0,0,28.83,24.37,28.83
$GC,5043,-0.74,-126.5,471.7,-8.5,693,5047,0.00,2.25,0.00,0.000,4,0.000,0.042,2401,1194,3255,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5068,-0.74,-126.5,473.4,-8.8,695,5076,0.00,2.30,0.00,0.000,6,0.000,0.049,2392,2596,3255,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5373,-0.74,-126.5,503.2,-10.0,726,5377,0.00,1.98,0.00,0.000,4,0.000,0.066,2383,3768,3255,0,0,0,0,0,0,28.83,25.59,28.83
$GC,5408,-0.74,-126.5,506.3,-10.3,729,5417,0.00,1.85,0.00,0.000,6,0.000,0.041,2383,2595,3254,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5713,-0.72,-126.5,539.0,-10.5,760,5717,0.00,2.22,0.00,0.000,4,0.000,0.042,2383,1196,3254,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5743,-0.72,-126.5,542.1,-10.5,763,5748,0.10,2.30,0.00,0.000,6,0.142,0.050,2403,2601,3254,0,0,0,0,0,0,25.48,25.80,28.83
$GC,6053,-0.72,-126.5,567.9,-7.5,794,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2601,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6354,-0.72,-126.5,588.9,-7.1,824,6357,0.00,1.98,0.00,0.000,4,0.000,0.067,2397,3774,3252,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6383,-0.72,-126.5,591.2,-7.6,827,6387,0.00,1.85,0.00,0.000,6,0.000,0.041,2397,2604,3253,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6694,-0.72,-126.5,613.5,-7.2,849,6697,0.00,2.22,0.00,0.000,4,0.000,0.042,2397,1201,3253,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6728,-0.72,-126.5,615.0,-7.3,850,6736,0.00,2.30,0.00,0.000,6,0.000,0.056,2387,2599,3252,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7033,-0.72,-126.5,639.8,-8.1,866,7037,0.00,1.98,0.00,0.000,4,0.000,0.067,2377,3773,3251,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7088,-0.72,-126.5,643.3,-8.5,868,7096,0.00,1.88,0.00,0.000,6,0.000,0.044,2378,2596,3252,0,0,0,0,0,0,28.83,25.40,28.83
$GC,7393,-0.70,-126.5,672.3,-9.3,884,7398,0.15,2.22,0.00,0.000,4,0.165,0.041,2416,1194,3251,0,0,0,0,0,0,26.02,25.87,28.83
$GC,7438,-0.70,-126.5,675.4,-8.7,886,7443,0.00,2.30,0.00,0.000,6,0.000,0.050,2408,2600,3251,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7754,-0.73,-126.5,698.1,-6.9,902,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2600,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8054,-0.76,-126.5,718.3,-6.9,917,8058,0.00,2.22,0.00,0.000,4,0.000,0.043,2409,1201,3251,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8089,-0.79,-126.5,719.7,-7.0,918,8096,0.00,2.28,0.00,0.000,6,0.000,0.050,2400,2594,3250,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8394,-0.81,-126.5,742.7,-7.1,934,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2594,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8694,-0.83,-126.5,763.9,-6.9,949,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2594,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8994,-0.85,-126.5,785.2,-7.1,964,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2594,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9294,-0.86,-126.5,807.0,-7.3,979,9298,0.12,2.25,0.00,0.000,4,0.096,0.045,2350,1194,3249,0,0,0,0,0,0,26.41,25.79,28.83
$GC,9323,-0.86,-126.5,808.9,-7.8,980,9327,0.00,2.30,0.00,0.000,6,0.000,0.051,2340,2596,3249,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9633,-0.81,-126.5,841.3,-10.3,996,9638,0.15,2.00,0.00,0.000,4,0.184,0.067,2368,3778,3248,0,0,0,0,0,0,25.96,25.58,28.83
$GC,9678,-0.77,-126.5,844.9,-9.6,998,9683,0.00,1.85,0.00,0.000,6,0.000,0.042,2368,2608,3248,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9994,-0.75,-126.5,871.0,-7.8,1014,9997,0.00,2.25,0.00,0.000,4,0.000,0.044,2369,1195,3248,0,0,0,0,0,0,28.83,25.80,28.83
$GC,10034,-0.74,-126.5,874.1,-7.8,1016,10038,0.12,2.30,0.00,0.000,6,0.145,0.051,2396,2594,3248,0,0,0,0,0,0,25.41,25.78,28.83
$GC,10354,-0.75,-126.5,896.5,-7.0,1032,10355,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2594,3248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10654,-0.77,-126.5,918.2,-7.1,1047,10654,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2594,3248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10954,-0.80,-126.5,938.3,-6.3,1062,10955,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2594,3247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11254,-0.82,-126.5,956.0,-5.8,1077,11257,0.00,2.25,0.00,0.000,4,0.000,0.044,2395,1191,3247,0,0,0,0,0,0,28.83,25.78,28.83
$GC,11284,-0.84,-126.5,957.2,-6.0,1078,11287,0.00,2.33,0.00,0.000,6,0.000,0.052,2388,2601,3247,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11594,-0.84,-126.5,979.1,-7.3,1094,11594,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2601,3247,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11752,begin apogee
$GC,11755,-0.17,0.0,991.0,-7.4,1102,11876,0.62,0.00,114.62,1.262,6,0.131,0.000,2581,2194,2736,0,0,0,0,0,0,25.38,28.83,22.89
$STATE,11877,end apogee,CONTROL_FINISHED_OK
$STATE,11877,begin climb
$GC,11878,0.68,126.5,994.8,0.0,1108,12006,0.80,2.45,120.88,1.237,4,0.065,0.048,2873,807,2221,0,0,0,0,0,0,24.28,23.68,22.47
$GC,12045,0.64,157.6,990.3,6.4,1116,12079,0.00,2.42,30.70,1.187,6,0.000,0.044,2873,2198,2094,0,0,0,0,0,0,28.83,24.29,22.74
$GC,12385,0.56,157.6,948.9,12.3,1134,12389,0.20,2.35,0.00,0.000,4,0.177,0.049,2833,795,2083,0,0,0,0,0,0,24.85,25.13,28.83
$GC,12425,0.51,157.6,944.7,11.3,1136,12429,0.00,2.35,0.00,0.000,6,0.000,0.043,2833,2202,2083,0,0,0,0,0,0,28.83,25.20,28.83
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$GC,16455,0.58,179.9,605.9,8.0,1336,16456,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2199,2000,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23538,end climb,SURFACE_DEPTH_REACHED
$STATE,23538,begin surface coast
$FINISH,0.4,1.023847
$STATE,23563,end surface coast,CONTROL_FINISHED_OK
$STATE,23563,begin surface
$SM_CCo,23577,16.58,0.301,1,0,1310,350.04
$SM_GC,0.78,7.82,2.97,16.58,0.048,0.041,0.301,157,2601,1310,-7.71,-0.90,350.04,0,0,0,0,1,0,25.23,25.26,24.22
$IRIDIUM_FIX,4710.21,-12514.13,160612,141454
$TT8_MAMPS,0.051681,0.051681
$HUMID,41.65
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,18.30
$XPDR_PINGS,807
$24V_AH,22.5,27.360
$10V_AH,9.9,24.445
$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,22.400,204.475,426.875,16.575,0.000,33.687,36.235,152.936,201.750,0.000,45.363,0.000,18168.580,706.380,4886.191,160.806,33.234,2532.468,0.000,3605.341,0.000,0.825,0.000
$DEVICE_MAMPS,270.045,67.320,1262.250,301.410,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1580.337,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297272
$DATA_FILE_SIZE,93209,2286
$CAP_FILE_SIZE,250688,0
$CFSIZE,260165632,253984768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.047, 48.3,1
$GPS,170612,041727,4729.829,-12520.646,290,99.0,309,18.6