version: 66.12
glider: 187
mission: 8
dive: 134
start: 7 17 115 6 31 45
data:
$ID,187
$MISSION,8
$DIVE,134
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,450
$T_MISSION,510
$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,-7
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53572
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026964601
$HD_B,0.0099003203
$HD_C,2.26204e-06
$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,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,8
$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,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3850
$C_PITCH,3394
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2941
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00050000002
$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,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-164.55209
$PRESSURE_SLOPE,0.0001068
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043979231
$SEABIRD_T_H,0.00063691288
$SEABIRD_T_I,2.4734132e-05
$SEABIRD_T_J,2.9167527e-06
$SEABIRD_C_G,-9.67243
$SEABIRD_C_H,1.1076213
$SEABIRD_C_I,-0.0017588359
$SEABIRD_C_J,0.00021615655
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,1.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,170715,061840,4703.9497,-12644.8262,87,1.1,90,16.5,0.8,188.9,8,7.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-75.0
$GPS2,170715,063117,4703.7539,-12644.7207,4,1.2,8,16.5,1.6,167.5,8,10.0
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,267.1,20513,-14.8,-7.333,-19.49,2243
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-0.39,-107.1,77,1895,1428,1602,0.0,0.0,0,92,0.00,0.00,-57.92,0.000,16386,0.000,0.000,77,1895,3156,3133,3180,0,0,0,0,0,0,14.53,28.83,14.54
$GC,99,-0.39,-107.1,76,1895,3134,3181,4.4,-7.3,6,125,13.60,2.83,-3.45,0.000,18692,0.357,2.196,3252,3305,3381,3360,3403,0,0,0,0,0,0,14.09,13.28,14.38
$GC,279,-0.39,-107.1,3252,3305,3361,3408,45.9,-14.8,39,288,0.00,2.53,0.00,0.000,1030,0.000,0.097,3252,1906,3384,3361,3408,0,0,0,0,0,0,14.42,14.31,14.45
$GC,470,-0.39,-107.1,3251,1905,3361,3411,72.9,-14.9,58,478,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1905,3385,3360,3411,0,0,0,0,0,0,14.60,14.62,14.62
$GC,660,-0.39,-107.1,3252,1904,3361,3412,98.8,-14.7,77,668,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1904,3386,3361,3412,0,0,0,0,0,0,14.64,14.67,14.65
$GC,849,-0.39,-107.1,3252,1904,3360,3413,123.6,-11.9,96,857,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1904,3386,3361,3411,0,0,0,0,0,0,14.66,14.68,14.70
$GC,1039,-0.39,-107.1,3252,1904,3362,3413,145.5,-10.8,115,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1905,3387,3361,3413,0,0,0,0,0,0,14.67,14.69,14.69
$GC,1230,-0.39,-107.1,3251,1901,3356,3412,165.5,-10.4,134,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1904,3387,3361,3413,0,0,0,0,0,0,14.68,14.70,14.70
$GC,1420,-0.39,-107.1,3251,1904,3359,3412,185.0,-10.0,153,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1904,3386,3360,3412,0,0,0,0,0,0,14.69,14.71,14.71
$GC,1609,-0.39,-107.1,3251,1905,3360,3412,204.3,-9.9,172,1617,0.00,2.53,0.00,0.000,516,0.000,0.109,3249,477,3386,3360,3412,0,0,0,0,0,0,14.70,14.45,14.71
$GC,1702,-0.39,-107.1,3252,477,3361,3413,214.1,-11.2,188,1710,0.00,2.50,0.00,0.000,1030,0.000,0.092,3248,1898,3386,3360,3412,0,0,0,0,0,0,14.57,14.46,14.57
$GC,1901,-0.39,-107.1,3251,1894,3359,3414,234.5,-9.6,208,1909,0.00,2.50,0.00,0.000,260,0.000,0.104,3252,3315,3383,3355,3412,0,0,0,0,0,0,14.71,14.45,14.73
$GC,1994,-0.39,-107.1,3251,3315,3358,3412,242.3,-8.4,224,2002,0.00,2.53,0.00,0.000,1030,0.000,0.095,3252,1886,3385,3358,3413,0,0,0,0,0,0,14.57,14.46,14.59
$GC,2207,-0.39,-107.1,3252,1885,3358,3412,261.7,-9.2,237,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1885,3384,3357,3412,0,0,0,0,0,0,14.74,14.75,14.73
$GC,2503,-0.39,-107.1,3257,1886,3356,3412,290.4,-9.7,247,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1886,3384,3356,3412,0,0,0,0,0,0,14.73,14.75,14.75
$GC,2803,-0.39,-107.1,3250,1890,3354,3412,318.9,-9.5,257,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1886,3383,3354,3412,0,0,0,0,0,0,14.73,14.76,14.76
$GC,3103,-0.39,-107.1,3251,1886,3349,3412,346.1,-9.2,267,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1886,3380,3349,3412,0,0,0,0,0,0,14.74,14.76,14.76
$GC,3403,-0.39,-107.1,3251,1886,3351,3412,374.7,-9.7,277,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1886,3381,3351,3412,0,0,0,0,0,0,14.74,14.78,14.76
$GC,3704,-0.39,-107.1,3251,1885,3349,3412,404.6,-10.1,287,3711,0.00,2.58,0.00,0.000,260,0.000,0.106,3252,3314,3382,3349,3415,0,0,0,0,0,0,14.75,14.50,14.76
$GC,3767,-0.39,-107.1,3252,3318,3349,3411,410.7,-9.5,298,3776,0.00,2.50,0.00,0.000,1030,0.000,0.098,3252,1905,3380,3349,3411,0,0,0,0,0,0,14.61,14.50,14.63
$GC,4077,-0.39,-107.1,3253,1905,3347,3411,441.1,-10.0,309,4085,0.00,2.55,0.00,0.000,516,0.000,0.112,3252,471,3377,3347,3407,0,0,0,0,0,0,14.74,14.48,14.76
$GC,4156,-0.39,-107.1,3251,471,3347,3410,450.2,-10.9,323,4163,0.00,2.50,0.00,0.000,1030,0.000,0.095,3252,1897,3378,3347,3410,0,0,0,0,0,0,14.61,14.50,14.63
$GC,4489,-0.39,-107.1,3251,1897,3345,3409,480.9,-9.2,337,4497,0.00,2.53,0.00,0.000,260,0.000,0.107,3252,3322,3376,3344,3409,0,0,0,0,0,0,14.74,14.47,14.76
$GC,4537,-0.39,-107.1,3252,3321,3345,3409,485.6,-8.5,345,4546,0.00,2.53,0.00,0.000,1030,0.000,0.096,3252,1890,3377,3345,3409,0,0,0,0,0,0,14.60,14.50,14.61
$GC,4871,-0.39,-107.1,3252,1890,3343,3408,512.4,-7.9,359,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1890,3376,3344,3408,0,0,0,0,0,0,14.73,14.76,14.76
$GC,5167,-0.39,-107.1,3253,1889,3344,3408,535.9,-7.8,369,5175,0.00,2.58,0.00,0.000,260,0.000,0.109,3252,3320,3375,3343,3408,0,0,0,0,0,0,14.75,14.47,14.76
$GC,5221,-0.39,-107.1,3251,3320,3343,3407,540.1,-7.7,378,5229,0.00,2.53,0.00,0.000,1030,0.000,0.098,3251,1904,3375,3343,3407,0,0,0,0,0,0,14.59,14.52,14.63
$GC,5550,-0.39,-107.1,3251,1904,3347,3407,565.5,-7.9,391,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1904,3375,3344,3407,0,0,0,0,0,0,14.73,14.76,14.76
$GC,5845,-0.39,-107.1,3249,1904,3341,3407,589.2,-8.0,401,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1904,3374,3341,3407,0,0,0,0,0,0,14.74,14.76,14.76
$GC,6146,-0.39,-107.1,3252,1904,3340,3406,613.4,-8.1,411,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1904,3373,3340,3406,0,0,0,0,0,0,14.75,14.76,14.76
$GC,6445,-0.39,-107.1,3256,1904,3339,3406,638.7,-8.5,421,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1904,3370,3339,3402,0,0,0,0,0,0,14.75,14.76,14.76
$GC,6746,-0.39,-107.1,3252,1904,3338,3405,664.4,-8.4,431,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1904,3371,3338,3405,0,0,0,0,0,0,14.74,14.76,14.76
$GC,7046,-0.39,-107.1,3251,1904,3338,3405,688.6,-7.9,441,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1904,3371,3338,3405,0,0,0,0,0,0,14.74,14.76,14.76
$GC,7345,-0.39,-107.1,3251,1904,3337,3404,711.0,-7.4,451,7353,0.00,2.55,0.00,0.000,516,0.000,0.114,3252,488,3370,3337,3404,0,0,0,0,0,0,14.73,14.47,14.76
$GC,7414,-0.39,-107.1,3251,486,3337,3403,716.6,-8.2,463,7421,0.00,2.50,0.00,0.000,1030,0.000,0.097,3252,1899,3373,3344,3403,0,0,0,0,0,0,14.62,14.48,14.61
$GC,7758,-0.39,-107.1,3249,1899,3336,3403,741.1,-7.1,479,7765,0.00,2.53,0.00,0.000,260,0.000,0.109,3248,3319,3367,3336,3399,0,0,0,0,0,0,14.73,14.46,14.74
$GC,7811,-0.39,-107.1,3251,3319,3336,3403,745.1,-6.9,488,7818,0.00,2.55,0.00,0.000,1030,0.000,0.100,3252,1888,3369,3336,3403,0,0,0,0,0,0,14.56,14.46,14.61
$GC,8138,-0.39,-107.1,3252,1888,3334,3403,769.0,-7.6,501,8141,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1892,3367,3332,3403,0,0,0,0,0,0,14.72,14.74,14.74
$GC,8435,-0.39,-107.1,3251,1888,3333,3402,792.2,-7.7,511,8438,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1887,3369,3334,3405,0,0,0,0,0,0,14.73,14.75,14.75
$GC,8734,-0.39,-107.1,3251,1888,3334,3402,816.3,-8.1,521,8738,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1888,3367,3333,3402,0,0,0,0,0,0,14.73,14.75,14.75
$GC,9035,-0.39,-107.1,3251,1887,3333,3402,840.3,-8.1,531,9037,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1888,3367,3333,3402,0,0,0,0,0,0,14.73,14.75,14.74
$GC,9334,-0.39,-107.1,3252,1887,3333,3402,864.1,-7.9,541,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1888,3366,3331,3402,0,0,0,0,0,0,14.73,14.74,14.74
$GC,9635,-0.39,-107.1,3252,1887,3333,3402,887.3,-7.7,551,9642,0.00,2.60,0.00,0.000,260,0.000,0.111,3252,3320,3368,3338,3398,0,0,0,0,0,0,14.73,14.47,14.75
$GC,9688,-0.39,-107.1,3250,3321,3332,3403,892.0,-7.6,560,9696,0.00,2.53,0.00,0.000,1030,0.000,0.099,3253,1905,3366,3332,3401,0,0,0,0,0,0,14.52,14.45,14.56
$GC,10016,-0.39,-107.1,3251,1906,3332,3401,915.7,-7.4,573,10019,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1906,3366,3332,3401,0,0,0,0,0,0,14.75,14.73,14.73
$GC,10312,-0.39,-107.1,3252,1906,3331,3401,936.4,-6.8,583,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1903,3366,3331,3401,0,0,0,0,0,0,14.72,14.74,14.73
$GC,10612,-0.39,-107.1,3252,1907,3330,3401,956.4,-6.6,593,10616,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1906,3365,3329,3401,0,0,0,0,0,0,14.73,14.73,14.73
$GC,10912,-0.39,-107.1,3257,1906,3325,3400,975.5,-6.4,603,10920,0.00,2.58,0.00,0.000,260,0.000,0.110,3252,3318,3364,3329,3399,0,0,0,0,0,0,14.72,14.45,14.73
$GC,10976,-0.39,-107.1,3251,3318,3329,3399,980.2,-6.4,614,10985,0.00,2.55,0.00,0.000,1030,0.000,0.100,3252,1890,3364,3329,3399,0,0,0,0,0,0,14.57,14.46,14.59
$STATE,11156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11157,begin apogee
$GC,11169,-0.16,0.0,3252,2264,3329,3403,991.1,-6.2,621,11258,0.28,0.00,84.43,1.899,10246,0.167,0.000,3339,2269,2941,2885,2998,0,0,0,0,0,0,14.40,13.94,13.33
$STATE,11261,end apogee,CONTROL_FINISHED_OK
$STATE,11261,begin climb
$GC,11266,0.39,107.1,3339,2265,2883,2996,994.5,0.0,624,11364,0.52,0.00,89.15,1.860,10246,0.112,0.000,3517,2265,2506,2394,2619,0,0,0,0,0,0,13.96,13.75,13.14
$GC,11645,0.39,107.1,3516,2265,2388,2611,972.4,6.9,637,11656,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,2267,2500,2389,2611,0,0,0,0,0,0,14.40,14.42,14.42
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$GC,24469,0.72,333.4,3597,2252,1629,1897,12.7,5.2,1429,24502,0.00,2.60,19.77,0.133,8452,0.000,0.106,3597,3661,1580,1440,1721,0,0,0,0,0,0,14.58,14.35,14.33
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$STATE,24612,end climb,SURFACE_DEPTH_REACHED
$STATE,24612,begin surface coast
$FINISH,-0.0,1.012543
$STATE,24649,end surface coast,CONTROL_FINISHED_OK
$STATE,24649,begin surface
$SM_CCo,24740,0.00,0.000,0,0,1393,379.97
$SM_GC,1.34,9.98,0.60,0.00,0.047,0.102,0.000,90,1894,1393,-10.26,0.57,379.97,0,0,0,0,0,0,14.42,14.40,14.50
$IRIDIUM_FIX,4648.08,-12643.97,160715,230215
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.16
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.80
$XPDR_PINGS,0
$SC_FREEKB,3886592
$24V_AH,13.14,36.177
$10V_AH,13.45,0.000
$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,25.000,133.875,344.950,0.000,0.000,0.000,0.000,464.350,0.000,0.000,9.479,3349.257,17222.654,571.831,3221.820,1094.181,0.000,2691.852,0.000,2216.143,0.000,0.537,0.000
$DEVICE_MAMPS,357.255,2195.550,1898.730,0.000,0.000,0.000,0.000,149.175,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24680.000,11556.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.662,8.934,0.000,0.000
$MEM,286396
$DATA_FILE_SIZE,50006,1454
$CAP_FILE_SIZE,261744,0
$CFSIZE,260034560,242249728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,117.62,1
$GPS,170715,132606,4703.508,-12646.359,66,1.2,69,16.5,0.4,114.3,8,8.4