version: 66.13
glider: 220
mission: 6
dive: 502
start: 1 2 117 16 58 34
data:
$ID,220
$MISSION,6
$DIVE,502
$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,52
$R_STBD_OVSHOOT,17
$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
$GPS1,020117,164309,1000.4416,-12442.0273,55,1.4,55,9.0,0.6,269.1,6,10.0
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.42
$_SM_ANGLEo,-69.0
$GPS2,020117,165813,1000.4257,-12441.9561,3,1.3,5,9.0,1.0,236.1,6,9.0
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,300.4,47705,-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,16,-0.93,-107.1,105,2779,1100,1014,0.0,0.0,0,100,0.00,0.00,-80.12,0.000,16390,0.000,0.000,104,2779,3477,3469,3486,0,0,0,0,0,0,14.68,13.12,14.67
$GC,104,-0.93,-107.1,105,2780,3471,3486,4.1,-11.5,3,121,11.82,1.92,0.00,0.000,2308,0.383,0.081,2581,3840,3478,3470,3486,0,0,0,0,0,0,14.01,14.36,14.28
$GC,233,-0.74,-107.1,2582,3840,3472,3487,44.6,-15.2,22,240,0.25,1.83,0.00,0.000,3206,0.211,0.037,2652,2742,3479,3472,3486,0,0,0,0,0,0,14.09,14.44,14.26
$GC,549,-0.74,-107.1,2652,2742,3476,3487,74.3,-9.1,34,554,0.00,2.28,0.00,0.000,516,0.000,0.041,2651,1394,3480,3475,3486,0,0,0,0,0,0,14.84,14.47,14.85
$GC,639,-0.74,-107.1,2652,1386,3477,3486,81.6,-8.1,47,645,0.00,2.47,0.00,0.000,1030,0.000,0.067,2643,2765,3480,3475,3486,0,0,0,0,0,0,14.42,14.33,14.46
$GC,969,-0.74,-107.1,2643,2765,3477,3486,111.9,-9.0,59,974,0.00,1.95,0.00,0.000,260,0.000,0.109,2634,3818,3480,3475,3486,0,0,0,0,0,0,14.89,14.31,14.90
$GC,1052,-0.74,-107.1,2634,3819,3477,3486,119.2,-8.7,71,1058,0.00,1.75,0.00,0.000,1030,0.000,0.039,2634,2750,3481,3476,3486,0,0,0,0,0,0,14.61,14.59,14.62
$GC,1417,-0.74,-107.1,2634,2752,3474,3482,152.3,-9.7,81,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2751,3475,3469,3482,0,0,0,0,0,0,14.92,14.93,14.93
$GC,1753,-0.74,-107.1,2635,2751,3477,3478,182.7,-9.1,87,1758,0.00,2.30,0.00,0.000,516,0.000,0.041,2632,1404,3476,3476,3477,0,0,0,0,0,0,14.91,14.44,14.91
$GC,1780,-0.74,-107.1,2634,1404,3477,3482,185.3,-9.4,91,1786,0.10,2.47,0.00,0.000,3078,0.205,0.068,2655,2769,3476,3476,3477,0,0,0,0,0,0,14.16,14.35,14.33
$GC,2145,-0.74,-107.1,2655,2770,3474,3472,216.7,-8.7,101,2151,0.00,1.98,0.00,0.000,260,0.000,0.112,2646,3828,3472,3475,3470,0,0,0,0,0,0,14.91,14.29,14.93
$GC,2179,-0.74,-107.1,2647,3829,3477,3470,219.8,-8.7,106,2185,0.00,1.75,0.00,0.000,1030,0.000,0.041,2646,2791,3473,3476,3470,0,0,0,0,0,0,14.59,14.57,14.60
$GC,2537,-0.74,-107.1,2647,2792,3477,3463,250.9,-8.8,115,2542,0.00,2.40,0.00,0.000,516,0.000,0.041,2646,1384,3471,3476,3466,0,0,0,0,0,0,14.91,14.49,14.91
$GC,2578,-0.74,-107.1,2646,1383,3476,3466,254.7,-9.1,121,2585,0.00,2.53,0.00,0.000,1030,0.000,0.067,2638,2773,3470,3476,3465,0,0,0,0,0,0,14.42,14.32,14.47
$GC,2929,-0.74,-107.1,2641,2774,3477,3460,285.8,-8.6,129,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2773,3468,3476,3460,0,0,0,0,0,0,14.91,14.91,14.91
$GC,3265,-0.74,-107.1,2645,2772,3476,3457,312.3,-7.9,135,3270,0.00,2.42,0.00,0.000,516,0.000,0.041,2640,1380,3465,3475,3456,0,0,0,0,0,0,14.91,14.49,14.91
$GC,3321,-0.74,-107.1,2637,1380,3476,3455,317.0,-8.4,143,3326,0.10,2.50,0.00,0.000,3078,0.236,0.068,2657,2774,3465,3476,3455,0,0,0,0,0,0,14.20,14.35,14.43
$GC,3657,-0.74,-107.1,2657,2776,3477,3451,344.7,-8.4,156,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2775,3464,3476,3453,0,0,0,0,0,0,14.91,14.90,14.91
$GC,3993,-0.74,-107.1,2658,2774,3476,3449,372.6,-8.2,162,3998,0.00,2.42,0.00,0.000,516,0.000,0.043,2657,1379,3461,3476,3447,0,0,0,0,0,0,14.91,14.47,14.91
$GC,4055,-0.82,-107.1,2658,1380,3477,3446,377.4,-7.5,171,4061,0.00,2.50,0.00,0.000,1190,0.000,0.067,2648,2770,3458,3471,3446,0,0,0,0,0,0,14.53,14.35,14.56
$GC,4385,-0.82,-107.1,2648,2771,3476,3443,402.4,-7.5,183,4390,0.00,2.00,0.00,0.000,292,0.000,0.115,2641,3832,3458,3473,3443,0,0,0,0,0,0,14.90,14.23,14.90
$GC,4433,-0.82,-107.1,2641,3832,3476,3444,406.2,-7.9,190,4440,0.00,1.83,0.00,0.000,1030,0.000,0.043,2640,2769,3457,3475,3439,0,0,0,0,0,0,14.48,14.45,14.51
$GC,4777,-0.82,-107.1,2641,2769,3476,3440,432.9,-7.8,197,4783,0.00,2.40,0.00,0.000,516,0.000,0.043,2640,1377,3457,3475,3439,0,0,0,0,0,0,14.90,14.44,14.90
$GC,4846,-0.82,-107.1,2641,1376,3475,3440,438.6,-8.0,207,4852,0.00,2.55,0.00,0.000,1030,0.000,0.067,2631,2771,3456,3475,3438,0,0,0,0,0,0,14.38,14.28,14.42
$GC,5169,-0.82,-107.1,2631,2773,3476,3436,466.5,-8.8,218,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2771,3455,3475,3436,0,0,0,0,0,0,14.90,14.90,14.90
$GC,5505,-0.82,-107.1,2632,2771,3476,3434,496.5,-9.0,224,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2771,3453,3475,3432,0,0,0,0,0,0,14.90,14.90,14.90
$GC,5841,-0.82,-107.1,2632,2771,3476,3432,526.3,-8.8,230,5846,0.00,2.42,0.00,0.000,516,0.000,0.042,2631,1380,3452,3475,3430,0,0,0,0,0,0,14.90,14.42,14.90
$GC,5882,-0.82,-107.1,2631,1380,3476,3430,529.9,-8.8,236,5888,0.00,2.55,0.00,0.000,1030,0.000,0.067,2621,2768,3453,3476,3430,0,0,0,0,0,0,14.35,14.25,14.40
$GC,6233,-0.82,-107.1,2622,2769,3476,3428,562.3,-9.4,244,6238,0.00,2.05,0.00,0.000,260,0.000,0.115,2613,3847,3449,3475,3424,0,0,0,0,0,0,14.90,14.08,14.90
$GC,6281,-0.82,-107.1,2614,3847,3474,3428,567.2,-10.0,251,6288,0.00,1.85,0.00,0.000,1030,0.000,0.044,2613,2768,3452,3473,3431,0,0,0,0,0,0,14.53,14.50,14.54
$GC,6625,-0.82,-107.1,2614,2768,3472,3429,601.2,-9.9,258,6630,0.00,2.40,0.00,0.000,516,0.000,0.043,2612,1377,3449,3471,3427,0,0,0,0,0,0,14.90,14.40,14.89
$GC,6666,-0.82,-107.1,2613,1376,3471,3428,605.3,-9.9,264,6672,0.08,2.55,0.00,0.000,3078,0.241,0.067,2624,2765,3449,3471,3427,0,0,0,0,0,0,14.00,14.24,14.18
$GC,7017,-0.82,-107.1,2624,2766,3471,3434,636.3,-8.8,272,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2765,3448,3470,3427,0,0,0,0,0,0,14.95,14.92,14.92
$GC,7353,-0.82,-107.1,2624,2766,3471,3425,663.4,-7.9,278,7358,0.00,2.42,0.00,0.000,516,0.000,0.043,2624,1379,3447,3470,3424,0,0,0,0,0,0,14.88,14.35,14.88
$GC,7401,-0.82,-107.1,2624,1379,3470,3422,667.2,-7.8,285,7409,0.00,2.55,0.00,0.000,1030,0.000,0.067,2615,2764,3446,3468,3424,0,0,0,0,0,0,14.30,14.21,14.35
$GC,7745,-0.82,-107.1,2615,2766,3467,3423,694.3,-7.9,292,7750,0.00,2.03,0.00,0.000,260,0.000,0.116,2607,3828,3445,3467,3423,0,0,0,0,0,0,14.88,14.11,14.88
$GC,7779,-0.82,-107.1,2607,3828,3467,3424,697.3,-8.6,297,7786,0.00,1.85,0.00,0.000,1030,0.000,0.044,2606,2759,3446,3467,3426,0,0,0,0,0,0,14.50,14.48,14.51
$GC,8137,-0.82,-107.1,2606,2759,3466,3422,726.9,-8.3,306,8142,0.10,2.40,0.00,0.000,2564,0.247,0.041,2641,1375,3443,3466,3421,0,0,0,0,0,0,14.13,14.35,14.28
$GC,8178,-0.90,-107.1,2642,1375,3466,3423,730.1,-7.1,312,8184,0.00,2.55,0.00,0.000,1190,0.000,0.067,2631,2759,3443,3466,3421,0,0,0,0,0,0,14.29,14.19,14.33
$GC,8529,-0.90,-107.1,2632,2760,3466,3419,754.9,-7.1,320,8530,0.00,0.00,0.00,0.000,38,0.000,0.000,2631,2759,3442,3465,3419,0,0,0,0,0,0,14.88,14.88,14.87
$GC,8865,-0.90,-107.1,2631,2760,3465,3419,778.8,-7.2,326,8870,0.00,2.45,0.00,0.000,548,0.000,0.044,2631,1376,3442,3464,3420,0,0,0,0,0,0,14.88,14.33,14.88
$GC,8899,-0.90,-107.1,2631,1369,3464,3421,781.4,-7.6,331,8905,0.00,2.58,0.00,0.000,1062,0.000,0.068,2622,2756,3441,3463,3419,0,0,0,0,0,0,14.25,14.15,14.31
$STATE,9142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9142,begin apogee
$GC,9150,-0.23,0.0,2622,2215,3465,3418,800.5,-7.9,338,9261,0.68,0.10,108.15,1.856,10244,0.171,0.162,2820,2276,3049,3090,3009,0,0,0,0,0,0,14.02,13.97,12.99
$STATE,9263,end apogee,CONTROL_FINISHED_OK
$STATE,9263,begin climb
$GC,9266,0.93,107.1,2822,2276,3085,3002,803.6,0.0,340,9391,1.10,2.53,113.88,1.786,10756,0.088,0.053,3182,888,2620,2680,2560,0,0,0,0,0,0,14.06,14.09,12.97
$GC,9453,0.86,145.9,3183,887,2678,2545,799.1,5.8,368,9501,0.00,2.42,41.70,1.822,9382,0.000,0.050,3182,2239,2465,2539,2391,0,0,0,0,0,0,14.23,14.17,13.13
$GC,9821,0.75,145.9,3182,2240,2536,2373,769.6,8.3,385,9827,0.10,2.62,0.00,0.000,4484,0.246,0.098,3147,3651,2452,2531,2374,0,0,0,0,0,0,14.16,14.25,14.33
$GC,9854,0.65,145.9,3149,3651,2536,2375,766.8,8.2,390,9860,0.15,2.40,0.00,0.000,5254,0.208,0.041,3107,2277,2454,2535,2374,0,0,0,0,0,0,14.14,14.43,14.42
$GC,10212,0.69,183.3,3107,2274,2536,2370,745.6,5.9,399,10254,0.00,0.00,40.65,1.805,8230,0.000,0.000,3107,2273,2318,2401,2236,0,0,0,0,0,0,14.80,14.26,13.32
$GC,10548,0.71,199.0,3108,2273,2394,2214,722.8,6.9,405,10569,0.00,2.67,16.20,1.922,8484,0.000,0.103,3105,3651,2251,2341,2161,0,0,0,0,0,0,14.73,14.32,13.33
$GC,10603,0.71,199.0,3106,3652,2337,2156,718.4,8.1,413,10610,0.00,2.47,0.00,0.000,1030,0.000,0.041,3116,2249,2245,2336,2154,0,0,0,0,0,0,14.42,14.38,14.45
$GC,10933,0.71,200.1,3116,2245,2335,2150,693.2,7.7,425,10934,0.00,0.00,0.00,0.000,38,0.000,0.000,3116,2245,2242,2336,2149,0,0,0,0,0,0,14.78,14.77,14.78
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$GC,14909,0.72,201.6,3148,2239,2337,2143,352.0,9.1,538,14914,0.00,2.72,0.00,0.000,260,0.000,0.103,3147,3656,2239,2336,2143,0,0,0,0,0,0,14.85,14.02,14.85
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$STATE,19266,end climb,SURFACE_DEPTH_REACHED
$STATE,19269,begin surface coast
$FINISH,-0.5,1.021961
$STATE,19294,end surface coast,CONTROL_FINISHED_OK
$STATE,19295,begin surface
$SM_CCo,19317,83.15,0.213,0,0,1058,500.14
$SM_GC,0.31,9.02,0.93,83.15,0.070,0.087,0.213,187,2760,1058,-8.40,-0.82,500.14,0,0,0,0,0,0,14.45,14.28,14.16
$IRIDIUM_FIX,956.07,-12443.37,020117,164831
$TT8_MAMPS,0.038948,0.420189
$HUMID,58.62
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,18.00
$XPDR_PINGS,0
$SC_FREEKB,3716992
$PM_FREEKB,54035584
$24V_AH,12.97,177.209
$10V_AH,12.58,0.000
$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,23.800,155.050,410.550,83.150,0.000,0.000,0.000,517.550,0.000,0.000,6.558,0.000,16743.707,748.309,2284.595,513.336,0.000,1897.791,0.000,1303.257,0.000,1.132,0.000
$DEVICE_MAMPS,382.500,162.180,1921.680,213.435,0.000,0.000,0.000,166.005,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19352.000,19305.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.541,2.411,0.000,0.000
$MEM,334640
$DATA_FILE_SIZE,26711,703
$CAP_FILE_SIZE,138761,0
$CFSIZE,1024409600,932200448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028,66.70,1
$GPS,020117,222308,1001.593,-12443.190,40,0.9,40,9.0,0.8,303.7,8,10.0