version: 66.13
glider: 220
mission: 6
dive: 482
start: 12 29 116 3 46 26
data:
$ID,220
$MISSION,6
$DIVE,482
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,800
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,120
$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,345
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54354
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0024999999
$HD_B,0.014
$HD_C,1.6e-05
$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,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$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,10
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3888
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.025
$PITCH_ADJ_DBAND,3
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2765
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,3
$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,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-168.7365
$PRESSURE_SLOPE,0.0001077811
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044037569
$SEABIRD_T_H,0.00063615869
$SEABIRD_T_I,2.4815216e-05
$SEABIRD_T_J,2.9729028e-06
$SEABIRD_C_G,-9.8086529
$SEABIRD_C_H,1.075657
$SEABIRD_C_I,-0.0023452051
$SEABIRD_C_J,0.00023101401
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,291216,033455,956.2921,-12515.1475,32,1.4,32,9.0,0.6,35.6,6,8.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.51
$_SM_ANGLEo,-70.7
$GPS2,291216,034605,956.3882,-12515.0400,2,1.3,3,9.0,0.5,48.5,7,8.1
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,132.1,39694,-17.5,-7.729,-24.20,2052
$D_GRID,800
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.93,-107.1,108,2771,1100,1019,0.0,0.0,0,100,0.00,0.00,-80.88,0.000,16390,0.000,0.000,107,2771,3479,3470,3489,0,0,0,0,0,0,14.67,12.54,14.65
$GC,104,-0.93,-107.1,107,2770,3470,3488,4.5,-11.4,3,121,11.88,2.38,0.00,0.000,2564,0.385,0.034,2588,1376,3477,3471,3483,0,0,0,0,0,0,13.97,14.35,14.25
$GC,185,-0.80,-107.1,2589,1376,3475,3489,32.7,-17.0,15,190,0.20,2.55,0.00,0.000,3206,0.235,0.074,2634,2776,3481,3474,3489,0,0,0,0,0,0,14.11,14.31,14.36
$GC,521,-0.80,-107.1,2635,2776,3479,3489,67.4,-9.6,30,526,0.00,1.95,0.00,0.000,260,0.000,0.110,2627,3824,3483,3478,3489,0,0,0,0,0,0,14.83,14.28,14.83
$GC,758,-0.80,-107.1,2627,3825,3480,3489,92.0,-5.9,64,764,0.00,1.77,0.00,0.000,1062,0.000,0.041,2626,2749,3484,3479,3489,0,0,0,0,0,0,14.52,14.50,14.54
$GC,1109,-0.80,-107.1,2626,2750,3480,3488,125.9,-10.1,73,1115,0.00,2.03,0.00,0.000,260,0.000,0.107,2613,3822,3484,3479,3489,0,0,0,0,0,0,14.91,14.32,14.91
$GC,1150,-0.80,-107.1,2619,3822,3480,3490,129.0,-7.2,79,1156,0.00,1.75,0.00,0.000,1062,0.000,0.041,2618,2772,3483,3479,3487,0,0,0,0,0,0,14.61,14.58,14.62
$GC,1501,-0.80,-107.1,2618,2774,3480,3483,165.2,-10.1,87,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2773,3481,3478,3485,0,0,0,0,0,0,14.90,14.90,14.91
$GC,1837,-0.80,-107.1,2619,2773,3480,3482,197.7,-9.6,93,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2773,3480,3479,3481,0,0,0,0,0,0,14.93,14.93,14.93
$GC,2173,-0.80,-107.1,2618,2774,3480,3476,231.9,-10.3,99,2178,0.00,2.00,0.00,0.000,260,0.000,0.110,2610,3820,3478,3479,3477,0,0,0,0,0,0,14.93,14.27,14.93
$GC,2221,-0.80,-107.1,2611,3820,3480,3477,237.1,-10.6,106,2228,0.00,1.77,0.00,0.000,1030,0.000,0.044,2610,2771,3477,3478,3476,0,0,0,0,0,0,14.64,14.59,14.63
$GC,2565,-0.80,-107.1,2610,2771,3480,3470,271.1,-9.7,113,2566,0.10,0.00,0.00,0.000,2054,0.241,0.000,2639,2770,3475,3479,3472,0,0,0,0,0,0,14.35,14.60,14.55
$GC,2901,-0.80,-107.1,2640,2768,3479,3469,299.3,-8.3,119,2906,0.00,2.40,0.00,0.000,516,0.000,0.044,2640,1382,3473,3479,3467,0,0,0,0,0,0,14.92,14.49,14.92
$GC,2935,-0.80,-107.1,2641,1383,3480,3467,302.2,-8.5,124,2941,0.00,2.53,0.00,0.000,1030,0.000,0.068,2630,2769,3472,3478,3467,0,0,0,0,0,0,14.44,14.35,14.48
$GC,3293,-0.80,-107.1,2630,2769,3479,3463,333.3,-8.8,133,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2769,3470,3478,3462,0,0,0,0,0,0,14.91,14.92,14.92
$GC,3629,-0.80,-107.1,2631,2771,3479,3461,363.1,-8.8,139,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2769,3469,3479,3459,0,0,0,0,0,0,14.92,14.92,14.92
$GC,3965,-0.80,-107.1,2631,2769,3479,3457,393.1,-8.9,145,3971,0.00,2.00,0.00,0.000,260,0.000,0.114,2622,3830,3466,3478,3455,0,0,0,0,0,0,14.91,14.27,14.91
$GC,4048,-0.80,-107.1,2622,3830,3480,3455,400.8,-8.9,157,4055,0.00,1.80,0.00,0.000,1030,0.000,0.046,2622,2788,3466,3478,3454,0,0,0,0,0,0,14.60,14.57,14.61
$GC,4413,-0.80,-107.1,2622,2790,3479,3453,434.1,-9.3,167,4418,0.00,2.45,0.00,0.000,516,0.000,0.044,2621,1375,3465,3479,3451,0,0,0,0,0,0,14.91,14.45,14.91
$GC,4482,-0.80,-107.1,2622,1376,3480,3451,440.7,-9.4,177,4489,0.00,2.58,0.00,0.000,1030,0.000,0.069,2612,2780,3465,3479,3451,0,0,0,0,0,0,14.42,14.32,14.45
$GC,4805,-0.80,-107.1,2613,2781,3473,3447,472.6,-9.8,188,4810,0.00,1.98,0.00,0.000,260,0.000,0.113,2604,3830,3463,3478,3448,0,0,0,0,0,0,14.90,14.25,14.90
$GC,4867,-0.80,-107.1,2604,3831,3480,3447,479.1,-10.5,197,4874,0.10,1.83,0.00,0.000,3078,0.210,0.044,2634,2776,3462,3478,3446,0,0,0,0,0,0,14.16,14.54,14.32
$GC,5197,-0.80,-107.1,2633,2777,3481,3444,508.5,-8.9,209,5203,0.00,2.42,0.00,0.000,516,0.000,0.045,2633,1376,3464,3479,3449,0,0,0,0,0,0,14.92,14.46,14.92
$GC,5245,-0.80,-107.1,2634,1376,3478,3445,512.9,-8.9,216,5252,0.00,2.55,0.00,0.000,1030,0.000,0.067,2625,2769,3461,3478,3444,0,0,0,0,0,0,14.38,14.28,14.43
$GC,5589,-0.80,-107.1,2623,2768,3479,3442,543.9,-9.0,223,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2769,3459,3478,3441,0,0,0,0,0,0,14.92,14.92,14.93
$GC,5925,-0.80,-107.1,2625,2770,3479,3438,573.3,-8.7,229,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2769,3458,3478,3438,0,0,0,0,0,0,14.92,14.92,14.95
$GC,6261,-0.80,-107.1,2625,2770,3480,3436,603.0,-8.9,235,6266,0.00,2.00,0.00,0.000,260,0.000,0.115,2616,3822,3457,3478,3437,0,0,0,0,0,0,14.90,14.21,14.90
$GC,6295,-0.80,-107.1,2616,3823,3480,3436,606.3,-9.5,240,6301,0.00,1.83,0.00,0.000,1030,0.000,0.047,2616,2773,3457,3478,3436,0,0,0,0,0,0,14.54,14.52,14.56
$GC,6653,-0.80,-107.1,2617,2773,3479,3434,639.7,-9.3,249,6659,0.00,2.42,0.00,0.000,516,0.000,0.045,2615,1378,3455,3478,3432,0,0,0,0,0,0,14.91,14.40,14.90
$GC,6687,-0.80,-107.1,2614,1378,3480,3434,643.0,-9.6,254,6693,0.10,2.58,0.00,0.000,3078,0.219,0.069,2634,2774,3455,3478,3432,0,0,0,0,0,0,14.04,14.27,14.21
$GC,7045,-0.80,-107.1,2635,2774,3479,3430,673.1,-8.3,263,7050,0.00,2.03,0.00,0.000,260,0.000,0.115,2628,3818,3454,3478,3430,0,0,0,0,0,0,14.92,14.13,14.92
$GC,7079,-0.80,-107.1,2627,3819,3479,3430,676.1,-8.6,268,7085,0.00,1.83,0.00,0.000,1030,0.000,0.047,2627,2770,3453,3477,3430,0,0,0,0,0,0,14.52,14.48,14.54
$GC,7437,-0.80,-107.1,2626,2777,3476,3430,704.8,-8.0,277,7443,0.00,2.45,0.00,0.000,516,0.000,0.046,2626,1373,3452,3474,3430,0,0,0,0,0,0,14.89,14.39,14.89
$GC,7464,-0.80,-107.1,2627,1372,3475,3432,707.1,-8.3,281,7471,0.00,2.60,0.00,0.000,1030,0.000,0.069,2617,2771,3452,3474,3430,0,0,0,0,0,0,14.31,14.21,14.36
$GC,7829,-0.80,-107.1,2618,2772,3472,3431,736.9,-8.2,291,7834,0.00,2.00,0.00,0.000,260,0.000,0.112,2616,3828,3452,3475,3430,0,0,0,0,0,0,14.88,14.15,14.88
$GC,7877,-0.80,-107.1,2609,3829,3471,3432,741.3,-9.3,298,7884,0.10,1.83,0.00,0.000,3078,0.199,0.047,2639,2785,3450,3470,3431,0,0,0,0,0,0,14.10,14.47,14.25
$GC,8221,-0.80,-107.1,2639,2785,3472,3430,766.2,-7.2,305,8227,0.00,2.47,0.00,0.000,548,0.000,0.045,2639,1367,3449,3471,3428,0,0,0,0,0,0,14.90,14.38,14.91
$GC,8269,-0.89,-107.1,2640,1373,3472,3429,769.7,-7.1,312,8276,0.00,2.60,0.00,0.000,1190,0.000,0.068,2630,2774,3449,3471,3427,0,0,0,0,0,0,14.27,14.17,14.36
$GC,8613,-0.89,-107.1,2631,2775,3470,3426,794.6,-7.2,319,8618,0.00,2.50,0.00,0.000,548,0.000,0.044,2630,1357,3448,3470,3427,0,0,0,0,0,0,14.90,14.35,14.90
$GC,8647,-0.89,-107.1,2630,1357,3470,3428,797.3,-7.7,324,8653,0.00,2.62,0.00,0.000,1062,0.000,0.069,2620,2794,3448,3470,3426,0,0,0,0,0,0,14.40,14.19,14.44
$STATE,8722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8722,begin apogee
$GC,8730,-0.23,0.0,2620,2211,3471,3425,803.2,-7.6,328,8843,0.68,0.10,110.40,1.867,10244,0.171,0.164,2820,2267,3048,3088,3008,0,0,0,0,0,0,14.07,13.96,13.00
$STATE,8844,end apogee,CONTROL_FINISHED_OK
$STATE,8844,begin climb
$GC,8848,0.93,107.1,2820,2268,3084,3001,806.0,0.0,330,8971,1.12,2.50,114.47,1.786,10756,0.087,0.056,3190,892,2623,2681,2565,0,0,0,0,0,0,14.04,14.06,12.98
$GC,9040,0.82,123.0,3190,892,2676,2545,799.8,6.9,359,9063,0.00,2.45,17.10,1.932,9382,0.000,0.052,3190,2251,2555,2625,2486,0,0,0,0,0,0,14.23,14.14,13.15
$GC,9399,0.69,123.0,3190,2252,2621,2470,769.8,8.5,368,9400,0.22,0.00,0.00,0.000,4230,0.222,0.000,3126,2251,2544,2620,2468,0,0,0,0,0,0,14.16,14.48,14.43
$GC,9734,0.72,148.7,3127,2251,2622,2466,747.8,6.4,374,9767,0.00,2.62,26.95,1.864,8484,0.000,0.099,3126,3654,2452,2529,2375,0,0,0,0,0,0,14.81,14.31,13.34
$GC,9817,0.72,148.7,3126,3655,2528,2370,741.6,8.2,386,9823,0.00,2.42,0.00,0.000,1030,0.000,0.041,3136,2276,2448,2527,2369,0,0,0,0,0,0,14.43,14.40,14.45
$GC,10182,0.72,149.3,3136,2274,2528,2364,713.3,7.7,396,10183,0.00,0.00,0.00,0.000,38,0.000,0.000,3137,2273,2445,2526,2364,0,0,0,0,0,0,14.78,14.78,14.78
$GC,10518,0.72,151.3,3137,2273,2532,2370,687.5,7.6,402,10523,0.00,2.60,0.00,0.000,292,0.000,0.102,3137,3650,2444,2525,2363,0,0,0,0,0,0,14.85,14.27,14.85
$GC,10545,0.72,151.3,3137,3650,2527,2363,685.2,8.4,406,10551,0.00,2.45,0.00,0.000,1030,0.000,0.042,3147,2255,2443,2525,2362,0,0,0,0,0,0,14.51,14.47,14.52
$GC,10911,0.72,151.8,3147,2252,2529,2361,656.8,7.7,416,10911,0.00,0.00,0.00,0.000,38,0.000,0.000,3147,2251,2443,2526,2361,0,0,0,0,0,0,14.85,14.85,14.85
$GC,11246,0.73,158.6,3148,2251,2527,2361,631.9,7.4,422,11251,0.00,0.00,3.40,1.348,8230,0.000,0.000,3147,2251,2419,2500,2339,0,0,0,0,0,0,14.86,14.38,13.05
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$GC,19088,1.16,429.9,3209,2279,1818,1646,31.0,2.8,736,19144,0.12,2.62,51.00,0.262,10660,0.099,0.102,3292,3656,1336,1420,1253,0,0,0,0,0,0,14.46,14.28,14.06
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$STATE,19449,end climb,SURFACE_DEPTH_REACHED
$STATE,19449,begin surface coast
$FINISH,-2.1,1.017710
$STATE,19477,end surface coast,CONTROL_FINISHED_OK
$STATE,19477,begin surface
$SM_CCo,19499,33.58,0.158,0,0,1058,500.14
$SM_GC,-1.12,8.93,0.93,33.58,0.045,0.077,0.158,168,2769,1058,-8.45,-0.88,500.14,0,0,0,0,0,0,14.52,14.38,14.16
$IRIDIUM_FIX,953.88,-12514.95,281216,215952
$TT8_MAMPS,0.038199,0.392476
$HUMID,58.62
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,20.10
$XPDR_PINGS,1
$SC_FREEKB,3724672
$PM_FREEKB,54251136
$24V_AH,12.54,171.160
$10V_AH,12.57,0.000
$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,24.025,168.575,472.650,33.575,0.000,0.000,0.000,352.050,0.250,0.000,5.402,0.000,16696.379,763.518,2238.475,487.314,0.000,1802.026,0.000,1388.682,0.000,0.839,0.000
$DEVICE_MAMPS,384.795,164.475,1932.390,157.590,0.000,0.000,0.000,179.775,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19535.000,19486.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.573,2.429,0.000,0.000
$MEM,334724
$DATA_FILE_SIZE,26713,762
$CAP_FILE_SIZE,144326,0
$CFSIZE,1024409600,935149568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066,90.63,1
$GPS,291216,091301,955.026,-12513.236,29,0.8,29,9.0,0.4,21.0,10,3.7