version: 66.13
glider: 220
mission: 6
dive: 483
start: 12 29 116 9 24 59
data:
$ID,220
$MISSION,6
$DIVE,483
$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,47
$R_STBD_OVSHOOT,29
$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
$GPS1,291216,091301,955.0259,-12513.2363,29,0.8,29,9.0,0.4,21.0,10,3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.96
$_SM_ANGLEo,-71.4
$GPS2,291216,092438,955.1537,-12513.0283,2,0.7,2,9.0,0.7,62.9,12,7.8
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,145.1,35519,-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,11,begin dive
$GC,15,-0.93,-107.1,106,2782,1094,1018,0.0,0.0,0,100,0.00,0.00,-81.07,0.000,16390,0.000,0.000,104,2783,3480,3470,3491,0,0,0,0,0,0,14.67,12.54,14.65
$GC,104,-0.93,-107.1,105,2784,3471,3487,4.2,-11.0,3,121,11.93,1.88,0.00,0.000,2308,0.386,0.080,2580,3820,3479,3471,3487,0,0,0,0,0,0,13.97,14.35,14.25
$GC,149,-0.40,-107.1,2580,3822,3474,3487,25.7,-34.4,10,156,0.68,1.83,0.00,0.000,3206,0.232,0.037,2761,2727,3480,3473,3488,0,0,0,0,0,0,14.04,14.47,14.23
$GC,465,-0.53,-107.1,2762,2728,3478,3488,50.9,-6.8,22,470,0.00,2.08,0.00,0.000,420,0.000,0.111,2754,3820,3481,3477,3486,0,0,0,0,0,0,14.80,14.26,14.79
$GC,664,-0.69,-107.1,2755,3820,3479,3488,63.9,-6.3,50,669,0.17,1.73,0.00,0.000,5286,0.077,0.046,2644,2780,3482,3478,3487,0,0,0,0,0,0,14.54,14.57,14.60
$GC,998,-0.69,-107.1,2644,2781,3480,3488,92.9,-8.4,65,1004,0.10,2.38,0.00,0.000,2564,0.231,0.044,2674,1377,3483,3479,3487,0,0,0,0,0,0,14.35,14.42,14.54
$GC,1074,-0.69,-107.1,2675,1377,3480,3488,98.8,-7.5,76,1081,0.00,2.50,0.00,0.000,1062,0.000,0.067,2665,2758,3483,3479,3487,0,0,0,0,0,0,14.44,14.34,14.48
$GC,1390,-0.69,-107.1,2665,2759,3480,3487,123.2,-7.9,83,1395,0.00,2.00,0.00,0.000,260,0.000,0.109,2656,3831,3483,3479,3487,0,0,0,0,0,0,14.91,14.31,14.91
$GC,1424,-0.69,-107.1,2656,3834,3480,3486,126.0,-8.1,88,1430,0.00,1.83,0.00,0.000,1030,0.000,0.042,2656,2744,3482,3479,3486,0,0,0,0,0,0,14.60,14.58,14.62
$GC,1782,-0.69,-107.1,2656,2744,3478,3481,156.6,-8.7,97,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2744,3481,3479,3483,0,0,0,0,0,0,14.92,14.92,14.92
$GC,2118,-0.69,-107.1,2656,2745,3480,3479,183.1,-7.7,103,2119,0.00,0.00,0.00,0.000,38,0.000,0.000,2656,2744,3479,3479,3479,0,0,0,0,0,0,14.90,14.90,14.90
$GC,2454,-0.69,-107.1,2656,2744,3480,3476,210.3,-8.2,109,2460,0.00,2.08,0.00,0.000,260,0.000,0.111,2648,3831,3476,3479,3474,0,0,0,0,0,0,14.90,14.31,14.90
$GC,2495,-0.69,-107.1,2648,3832,3480,3473,214.0,-8.9,115,2501,0.00,1.80,0.00,0.000,1030,0.000,0.043,2648,2767,3476,3478,3474,0,0,0,0,0,0,14.62,14.60,14.64
$GC,2846,-0.69,-107.1,2648,2769,3480,3469,244.7,-8.9,123,2851,0.00,2.38,0.00,0.000,516,0.000,0.042,2648,1383,3474,3478,3470,0,0,0,0,0,0,14.93,14.51,14.93
$GC,2880,-0.69,-107.1,2648,1382,3480,3470,247.8,-9.2,128,2886,0.10,2.50,0.00,0.000,3078,0.207,0.067,2670,2759,3473,3478,3469,0,0,0,0,0,0,14.19,14.35,14.34
$GC,3238,-0.77,-107.1,2671,2760,3479,3465,276.8,-7.9,137,3244,0.00,2.40,0.00,0.000,644,0.000,0.044,2670,1381,3471,3479,3464,0,0,0,0,0,0,14.90,14.47,14.90
$GC,3272,-0.86,-107.1,2668,1380,3480,3464,279.6,-8.1,142,3278,0.05,2.53,0.00,0.000,5254,0.116,0.069,2606,2766,3471,3479,3463,0,0,0,0,0,0,14.32,14.35,14.52
$GC,3630,-0.86,-107.1,2607,2767,3479,3461,316.5,-10.5,151,3635,0.00,1.98,0.00,0.000,260,0.000,0.110,2598,3822,3472,3485,3460,0,0,0,0,0,0,14.90,14.28,14.90
$GC,3686,-0.86,-107.1,2597,3822,3479,3461,322.7,-11.1,159,3691,0.00,1.80,0.00,0.000,1030,0.000,0.043,2597,2764,3469,3479,3460,0,0,0,0,0,0,14.58,14.54,14.59
$GC,4022,-0.86,-107.1,2598,2764,3479,3456,359.3,-10.9,172,4027,0.00,2.03,0.00,0.000,260,0.000,0.109,2587,3828,3466,3478,3455,0,0,0,0,0,0,14.91,14.28,14.92
$GC,4063,-0.86,-107.1,2590,3829,3479,3457,364.1,-11.7,178,4069,0.10,1.80,0.00,0.000,3078,0.211,0.044,2618,2774,3467,3479,3455,0,0,0,0,0,0,14.18,14.56,14.34
$GC,4414,-0.86,-107.1,2618,2775,3480,3452,397.6,-9.4,186,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2775,3465,3479,3452,0,0,0,0,0,0,14.90,14.90,14.90
$GC,4750,-0.86,-107.1,2618,2774,3479,3450,428.2,-9.2,192,4755,0.00,2.42,0.00,0.000,516,0.000,0.043,2625,1374,3464,3479,3449,0,0,0,0,0,0,14.90,14.46,14.90
$GC,4784,-0.86,-107.1,2619,1374,3479,3450,431.5,-9.3,197,4791,0.00,2.53,0.00,0.000,1030,0.000,0.066,2609,2761,3463,3478,3448,0,0,0,0,0,0,14.40,14.30,14.45
$GC,5142,-0.86,-107.1,2609,2761,3479,3446,465.9,-9.7,206,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2761,3462,3479,3445,0,0,0,0,0,0,14.90,14.88,14.90
$GC,5478,-0.86,-107.1,2609,2762,3486,3443,497.9,-9.5,212,5483,0.00,2.00,0.00,0.000,260,0.000,0.109,2601,3830,3461,3479,3443,0,0,0,0,0,0,14.92,14.20,14.92
$GC,5534,-0.86,-107.1,2601,3830,3479,3442,503.6,-10.1,220,5539,0.00,1.85,0.00,0.000,1030,0.000,0.044,2600,2756,3460,3478,3442,0,0,0,0,0,0,14.54,14.50,14.55
$GC,5870,-0.86,-107.1,2601,2757,3478,3440,537.0,-9.9,233,5876,0.00,2.40,0.00,0.000,516,0.000,0.044,2599,1375,3458,3478,3439,0,0,0,0,0,0,14.92,14.44,14.92
$GC,5918,-0.86,-107.1,2599,1375,3480,3447,541.9,-10.0,240,5925,0.08,2.55,0.00,0.000,3078,0.230,0.067,2612,2764,3458,3478,3438,0,0,0,0,0,0,14.06,14.27,14.21
$GC,6262,-0.86,-107.1,2611,2766,3479,3437,573.1,-9.0,247,6267,0.00,2.00,0.00,0.000,260,0.000,0.112,2604,3828,3457,3478,3436,0,0,0,0,0,0,14.89,14.22,14.88
$GC,6318,-0.86,-107.1,2604,3829,3480,3436,578.3,-9.3,255,6323,0.00,1.83,0.00,0.000,1030,0.000,0.045,2603,2770,3457,3478,3437,0,0,0,0,0,0,14.50,14.49,14.51
$GC,6654,-0.86,-107.1,2610,2771,3480,3432,608.0,-8.8,268,6659,0.00,2.40,0.00,0.000,516,0.000,0.042,2603,1380,3455,3479,3432,0,0,0,0,0,0,14.88,14.42,14.88
$GC,6681,-0.86,-107.1,2603,1380,3479,3433,610.6,-9.1,272,6687,0.00,2.55,0.00,0.000,1030,0.000,0.067,2594,2769,3455,3478,3433,0,0,0,0,0,0,14.37,14.26,14.41
$GC,7046,-0.86,-107.1,2594,2770,3480,3431,645.8,-9.8,282,7051,0.00,2.00,0.00,0.000,260,0.000,0.112,2586,3833,3454,3478,3430,0,0,0,0,0,0,14.91,14.18,14.91
$GC,7080,-0.86,-107.1,2589,3834,3478,3430,649.5,-10.8,287,7086,0.10,1.85,0.00,0.000,3078,0.207,0.044,2612,2767,3454,3477,3431,0,0,0,0,0,0,14.09,14.50,14.26
$GC,7438,-0.86,-107.1,2614,2767,3475,3432,682.0,-9.0,296,7443,0.00,2.42,0.00,0.000,516,0.000,0.043,2614,1371,3452,3474,3430,0,0,0,0,0,0,14.87,14.40,14.88
$GC,7472,-0.86,-107.1,2614,1372,3475,3431,685.1,-9.1,301,7479,0.00,2.58,0.00,0.000,1030,0.000,0.066,2605,2768,3451,3473,3430,0,0,0,0,0,0,14.31,14.21,14.38
$GC,7830,-0.86,-107.1,2605,2769,3472,3438,717.5,-9.0,310,7835,0.00,2.00,0.00,0.000,260,0.000,0.111,2597,3827,3450,3471,3430,0,0,0,0,0,0,14.87,14.16,14.87
$GC,7864,-0.86,-107.1,2597,3828,3472,3430,720.6,-9.1,315,7870,0.00,1.85,0.00,0.000,1030,0.000,0.045,2596,2765,3450,3471,3430,0,0,0,0,0,0,14.50,14.47,14.52
$GC,8222,-0.86,-107.1,2597,2762,3472,3429,751.2,-8.5,324,8227,0.00,2.08,0.00,0.000,260,0.000,0.112,2588,3837,3449,3471,3428,0,0,0,0,0,0,14.90,14.12,14.90
$GC,8270,-0.86,-107.1,2588,3839,3471,3428,755.6,-9.7,331,8278,0.10,1.88,0.00,0.000,3078,0.208,0.044,2616,2761,3449,3471,3428,0,0,0,0,0,0,14.06,14.46,14.21
$GC,8614,-0.86,-107.1,2616,2762,3472,3426,782.0,-7.7,338,8619,0.00,2.42,0.00,0.000,548,0.000,0.044,2616,1367,3447,3469,3426,0,0,0,0,0,0,14.89,14.39,14.90
$GC,8670,-0.86,-107.1,2617,1367,3471,3426,786.5,-7.9,346,8675,0.00,2.55,0.00,0.000,1030,0.000,0.067,2607,2777,3448,3470,3426,0,0,0,0,0,0,14.42,14.25,14.46
$STATE,8835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8835,begin apogee
$GC,8843,-0.23,0.0,2607,2207,3472,3425,800.3,-8.3,356,8952,0.75,0.12,100.78,2.531,10244,0.175,0.142,2826,2281,3051,3091,3011,0,0,0,0,1,0,14.04,13.88,12.57
$STATE,8953,end apogee,CONTROL_FINISHED_OK
$STATE,8953,begin climb
$GC,8956,0.93,107.1,2827,2282,3092,3021,803.1,0.0,358,9086,1.10,2.53,120.80,1.820,10756,0.085,0.054,3186,897,2622,2682,2563,0,0,0,0,0,0,13.95,13.97,12.97
$GC,9156,0.83,132.0,3186,898,2677,2544,798.1,6.5,387,9190,0.00,2.40,26.42,1.886,9382,0.000,0.050,3185,2238,2517,2590,2445,0,0,0,0,0,0,14.23,14.17,13.15
$GC,9507,0.71,132.0,3186,2239,2589,2431,768.2,8.7,402,9512,0.15,2.38,0.00,0.000,4740,0.230,0.055,3147,892,2509,2589,2430,0,0,0,0,0,0,14.16,14.36,14.33
$GC,9548,0.72,138.0,3147,892,2590,2431,765.0,7.4,408,9554,0.00,2.40,1.10,0.181,9254,0.000,0.051,3146,2245,2498,2580,2416,0,0,0,0,0,0,14.42,14.35,14.18
$GC,9899,0.73,148.9,3146,2245,2581,2433,739.8,7.2,416,9924,0.00,2.67,17.77,1.900,8484,0.000,0.100,3147,3653,2447,2525,2370,0,0,0,0,0,0,14.81,14.38,13.38
$GC,9996,0.63,148.9,3147,3654,2526,2366,731.9,8.5,430,10002,0.17,2.40,0.00,0.000,5254,0.203,0.041,3107,2282,2445,2525,2365,0,0,0,0,0,0,14.19,14.45,14.33
$GC,10347,0.67,182.7,3108,2279,2526,2363,710.1,6.0,438,10386,0.00,0.00,37.90,1.805,8230,0.000,0.000,3107,2279,2322,2405,2240,0,0,0,0,0,0,14.80,14.27,13.35
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$GC,18987,1.15,379.6,3219,2249,1835,1660,19.9,5.2,765,19020,0.08,2.72,27.00,0.224,10660,0.143,0.101,3284,3652,1537,1622,1452,0,0,0,0,0,0,14.48,14.22,14.02
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$STATE,19233,end climb,SURFACE_DEPTH_REACHED
$STATE,19233,begin surface coast
$FINISH,-2.0,1.021938
$STATE,19262,end surface coast,CONTROL_FINISHED_OK
$STATE,19262,begin surface
$SM_CCo,19285,57.55,0.155,0,0,1056,500.14
$SM_GC,-1.87,8.95,1.00,57.55,0.053,0.090,0.155,185,2770,1056,-8.38,-0.57,500.14,0,0,0,0,0,0,14.46,14.31,14.14
$IRIDIUM_FIX,949.50,-12508.85,291216,034017
$TT8_MAMPS,0.038948,0.271887
$HUMID,56.81
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.30
$XPDR_PINGS,2
$SC_FREEKB,3724288
$PM_FREEKB,54239488
$24V_AH,12.54,171.463
$10V_AH,12.49,0.000
$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,25.000,179.500,450.750,57.550,0.000,0.000,0.000,380.450,0.500,0.000,4.182,0.000,16416.900,791.597,2314.762,499.776,0.000,1873.974,0.000,1422.563,0.000,0.838,0.000
$DEVICE_MAMPS,386.325,142.290,2530.620,155.295,0.000,0.000,0.000,173.655,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19320.000,19270.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.638,2.445,0.000,0.000
$MEM,334744
$DATA_FILE_SIZE,26722,784
$CAP_FILE_SIZE,150209,0
$CFSIZE,1024409600,934985728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.072,111.43,1
$GPS,291216,144831,953.241,-12511.473,35,0.7,35,9.0,0.8,54.4,12,3.0