version: 66.13
glider: 220
mission: 6
dive: 545
start: 1 12 117 15 18 3
data:
$ID,220
$MISSION,6
$DIVE,545
$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,69
$R_STBD_OVSHOOT,18
$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
$GPS1,120117,150530,950.5430,-12451.5312,30,0.9,30,9.0,1.3,81.5,9,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.66
$_SM_ANGLEo,-67.9
$GPS2,120117,151742,950.5723,-12451.4922,2,0.8,3,9.0,0.7,60.5,10,5.3
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,31.9,26434,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.93,-107.1,103,2781,1108,1015,0.0,0.0,0,101,0.00,0.00,-80.95,0.000,16390,0.000,0.000,104,2781,3478,3470,3486,0,0,0,0,0,0,14.67,12.55,14.63
$GC,105,-0.93,-107.1,105,2782,3470,3486,4.7,-11.1,3,122,11.85,0.00,0.00,0.000,2310,0.383,0.000,2587,2780,3478,3471,3486,0,0,0,0,0,0,13.95,14.34,14.23
$GC,439,-0.77,-107.1,2587,2781,3476,3487,72.4,-9.0,18,443,0.17,1.95,0.00,0.000,2436,0.252,0.103,2632,3829,3476,3467,3486,0,0,0,0,0,0,14.06,14.19,14.25
$GC,609,-0.77,-107.1,2632,3830,3478,3486,86.9,-9.2,42,614,0.00,1.77,0.00,0.000,1030,0.000,0.037,2632,2707,3481,3477,3486,0,0,0,0,0,0,14.58,14.52,14.59
$GC,943,-0.77,-107.1,2633,2707,3478,3487,115.5,-8.4,54,948,0.00,2.10,0.00,0.000,260,0.000,0.105,2623,3829,3481,3477,3485,0,0,0,0,0,0,14.86,14.26,14.86
$GC,1026,-0.77,-107.1,2623,3830,3478,3486,123.0,-8.8,66,1032,0.00,1.75,0.00,0.000,1030,0.000,0.038,2619,2752,3481,3477,3485,0,0,0,0,0,0,14.59,14.55,14.58
$GC,1391,-0.77,-107.1,2623,2753,3478,3483,159.8,-9.8,76,1396,0.00,2.03,0.00,0.000,260,0.000,0.106,2615,3832,3480,3477,3483,0,0,0,0,0,0,14.88,14.25,14.88
$GC,1432,-0.77,-107.1,2615,3833,3478,3482,164.2,-10.8,82,1438,0.10,1.75,0.00,0.000,3078,0.212,0.039,2644,2788,3479,3477,3482,0,0,0,0,0,0,14.16,14.54,14.31
$GC,1783,-0.77,-107.1,2645,2789,3478,3478,195.3,-8.8,90,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2788,3476,3475,3478,0,0,0,0,0,0,14.90,14.90,14.90
$GC,2119,-0.77,-107.1,2645,2789,3478,3473,226.4,-9.3,96,2124,0.00,2.42,0.00,0.000,516,0.000,0.044,2645,1380,3474,3475,3473,0,0,0,0,0,0,14.90,14.43,14.90
$GC,2167,-0.77,-107.1,2645,1382,3477,3473,230.9,-8.8,103,2174,0.00,2.53,0.00,0.000,1030,0.000,0.067,2635,2765,3476,3477,3475,0,0,0,0,0,0,14.36,14.26,14.40
$GC,2511,-0.77,-107.1,2635,2766,3478,3468,259.0,-7.8,110,2516,0.00,1.98,0.00,0.000,260,0.000,0.107,2626,3836,3472,3477,3467,0,0,0,0,0,0,14.90,14.23,14.90
$GC,2552,-0.77,-107.1,2627,3836,3477,3469,262.3,-8.3,116,2558,0.00,1.80,0.00,0.000,1030,0.000,0.040,2625,2755,3472,3477,3468,0,0,0,0,0,0,14.54,14.52,14.55
$GC,2903,-0.77,-107.1,2626,2756,3477,3463,293.8,-9.3,124,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2756,3466,3470,3462,0,0,0,0,0,0,14.88,14.88,14.88
$GC,3239,-0.77,-107.1,2626,2756,3478,3459,328.6,-10.4,130,3244,0.00,2.05,0.00,0.000,260,0.000,0.109,2618,3831,3467,3476,3459,0,0,0,0,0,0,14.91,14.20,14.88
$GC,3266,-0.77,-107.1,2613,3831,3477,3460,331.6,-10.9,134,3272,0.10,1.77,0.00,0.000,3078,0.206,0.042,2647,2793,3468,3477,3459,0,0,0,0,0,0,14.09,14.50,14.26
$GC,3631,-0.77,-107.1,2646,2794,3478,3454,361.1,-7.4,144,3636,0.00,2.45,0.00,0.000,548,0.000,0.044,2647,1373,3465,3477,3454,0,0,0,0,0,0,14.88,14.40,14.87
$GC,3693,-0.77,-107.1,2648,1372,3477,3454,365.3,-6.5,153,3700,0.00,2.55,0.00,0.000,1062,0.000,0.067,2639,2784,3464,3476,3453,0,0,0,0,0,0,14.47,14.30,14.50
$GC,4023,-0.77,-107.1,2640,2784,3477,3452,386.9,-6.5,165,4024,0.00,0.00,0.00,0.000,38,0.000,0.000,2640,2784,3463,3476,3451,0,0,0,0,0,0,14.88,14.88,14.88
$GC,4359,-0.77,-107.1,2639,2783,3477,3448,412.5,-7.8,171,4364,0.00,2.47,0.00,0.000,516,0.000,0.044,2638,1369,3461,3476,3447,0,0,0,0,0,0,14.90,14.39,14.90
$GC,4393,-0.77,-107.1,2638,1370,3478,3446,415.4,-8.2,176,4399,0.00,2.58,0.00,0.000,1030,0.000,0.067,2629,2793,3461,3476,3446,0,0,0,0,0,0,14.43,14.23,14.47
$GC,4751,-0.77,-107.1,2629,2793,3477,3445,447.2,-9.1,185,4757,0.00,1.92,0.00,0.000,260,0.000,0.108,2621,3824,3459,3476,3443,0,0,0,0,0,0,14.87,14.17,14.87
$GC,4778,-0.77,-107.1,2621,3824,3477,3445,450.0,-10.2,189,4785,0.08,1.83,0.00,0.000,3078,0.211,0.042,2642,2749,3459,3476,3443,0,0,0,0,0,0,14.04,14.40,14.19
$GC,5143,-0.77,-107.1,2643,2749,3476,3441,482.9,-9.0,199,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2748,3458,3476,3440,0,0,0,0,0,0,14.87,14.87,14.87
$GC,5479,-0.77,-107.1,2642,2750,3477,3437,514.2,-9.3,205,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2749,3456,3476,3437,0,0,0,0,0,0,14.87,14.86,14.87
$GC,5815,-0.77,-107.1,2643,2749,3477,3436,544.9,-9.1,211,5820,0.00,2.38,0.00,0.000,516,0.000,0.044,2642,1379,3455,3476,3435,0,0,0,0,0,0,14.87,14.35,14.87
$GC,5842,-0.77,-107.1,2643,1380,3477,3435,547.4,-8.7,215,5848,0.00,2.53,0.00,0.000,1030,0.000,0.068,2633,2770,3455,3476,3434,0,0,0,0,0,0,14.39,14.19,14.43
$GC,6207,-0.77,-107.1,2634,2770,3476,3434,578.0,-8.2,225,6213,0.00,2.42,0.00,0.000,516,0.000,0.044,2633,1378,3454,3476,3432,0,0,0,0,0,0,14.86,14.34,14.87
$GC,6235,-0.77,-107.1,2633,1379,3477,3432,580.1,-7.7,229,6241,0.00,2.53,0.00,0.000,1062,0.000,0.068,2624,2771,3454,3476,3432,0,0,0,0,0,0,14.42,14.23,14.46
$GC,6599,-0.77,-107.1,2624,2771,3475,3430,609.2,-7.9,239,6604,0.00,1.98,0.00,0.000,260,0.000,0.110,2611,3821,3451,3474,3429,0,0,0,0,0,0,14.86,14.08,14.87
$GC,6640,-0.77,-107.1,2616,3821,3474,3430,612.7,-8.3,245,6647,0.10,1.83,0.00,0.000,3078,0.210,0.043,2644,2766,3451,3473,3429,0,0,0,0,0,0,14.01,14.43,14.17
$GC,6991,-0.77,-107.1,2644,2767,3473,3429,637.8,-7.2,253,6997,0.00,2.42,0.00,0.000,548,0.000,0.045,2645,1366,3450,3471,3429,0,0,0,0,0,0,14.88,14.35,14.88
$GC,7047,-0.86,-107.1,2645,1367,3473,3429,642.0,-7.0,261,7053,0.00,2.55,0.00,0.000,1190,0.000,0.067,2636,2763,3446,3465,3428,0,0,0,0,0,0,14.39,14.21,14.42
$GC,7383,-0.86,-107.1,2636,2762,3471,3429,667.2,-7.4,274,7388,0.00,2.45,0.00,0.000,548,0.000,0.044,2635,1368,3449,3470,3428,0,0,0,0,0,0,14.88,14.33,14.88
$GC,7410,-0.86,-107.1,2635,1369,3472,3427,669.2,-7.5,278,7416,0.00,2.60,0.00,0.000,1062,0.000,0.069,2626,2764,3448,3470,3427,0,0,0,0,0,0,14.40,14.14,14.42
$GC,7775,-0.86,-107.1,2626,2765,3471,3426,697.0,-7.5,288,7780,0.00,2.03,0.00,0.000,292,0.000,0.112,2618,3832,3448,3470,3426,0,0,0,0,0,0,14.85,14.04,14.85
$GC,7816,-0.86,-107.1,2620,3832,3470,3428,700.7,-8.6,294,7822,0.00,1.85,0.00,0.000,1030,0.000,0.044,2617,2750,3448,3470,3427,0,0,0,0,0,0,14.42,14.40,14.44
$GC,8167,-0.86,-107.1,2618,2750,3470,3426,728.4,-8.0,302,8172,0.00,2.40,0.00,0.000,516,0.000,0.044,2617,1375,3447,3469,3425,0,0,0,0,0,0,14.85,14.22,14.85
$GC,8194,-0.86,-107.1,2617,1375,3469,3426,730.9,-8.8,306,8200,0.00,2.55,0.00,0.000,1030,0.000,0.067,2609,2768,3447,3469,3425,0,0,0,0,0,0,14.36,14.16,14.40
$GC,8559,-0.86,-107.1,2609,2767,3468,3423,763.3,-8.9,316,8564,0.00,2.03,0.00,0.000,260,0.000,0.112,2601,3829,3445,3467,3423,0,0,0,0,0,0,14.88,14.01,14.88
$GC,8635,-0.86,-107.1,2601,3830,3467,3423,771.7,-9.7,327,8641,0.00,1.83,0.00,0.000,1030,0.000,0.044,2600,2769,3444,3466,3423,0,0,0,0,0,0,14.38,14.35,14.39
$STATE,8948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8948,begin apogee
$GC,8957,-0.23,0.0,2601,2217,3466,3423,803.0,-10.1,337,9079,0.80,0.10,114.90,2.076,10244,0.198,0.157,2822,2280,3051,3091,3011,0,0,0,0,1,0,13.81,13.88,12.53
$STATE,9081,end apogee,CONTROL_FINISHED_OK
$STATE,9081,begin climb
$GC,9084,0.93,107.1,2823,2280,3092,3022,806.9,0.0,339,9218,1.12,2.53,123.25,1.787,10756,0.093,0.056,3185,893,2621,2682,2561,0,0,0,0,0,0,13.98,14.01,12.98
$GC,9274,0.86,157.1,3186,894,2678,2539,806.2,5.2,369,9336,0.00,2.38,54.53,1.779,9382,0.000,0.051,3186,2238,2418,2496,2340,0,0,0,0,0,0,14.31,14.19,13.09
$GC,9681,0.75,157.1,3186,2239,2495,2321,766.7,10.4,385,9686,0.12,2.65,0.00,0.000,4484,0.252,0.096,3146,3656,2407,2494,2321,0,0,0,0,0,0,14.07,14.24,14.26
$GC,9729,0.65,157.1,3146,3657,2495,2322,761.7,10.3,392,9736,0.15,2.40,0.00,0.000,5254,0.223,0.040,3115,2282,2407,2494,2321,0,0,0,0,0,0,14.06,14.40,14.43
$GC,10072,0.65,157.1,3116,2282,2495,2320,733.9,7.8,399,10073,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2282,2406,2494,2319,0,0,0,0,0,0,14.83,14.83,14.83
$GC,10409,0.65,157.1,3116,2282,2495,2317,707.2,8.0,405,10414,0.00,2.60,0.00,0.000,260,0.000,0.101,3115,3649,2405,2494,2317,0,0,0,0,0,0,14.83,14.22,14.83
$GC,10443,0.65,157.1,3116,3649,2495,2318,704.5,8.3,410,10448,0.00,2.45,0.00,0.000,1030,0.000,0.040,3124,2248,2405,2494,2317,0,0,0,0,0,0,14.46,14.42,14.48
$GC,10801,0.66,159.2,3124,2247,2495,2315,676.7,7.6,419,10802,0.00,0.00,0.00,0.000,38,0.000,0.000,3124,2246,2409,2494,2324,0,0,0,0,0,0,14.86,14.86,14.86
$GC,11137,0.68,175.8,3125,2245,2495,2315,653.4,6.9,425,11162,0.00,2.67,18.40,1.808,8484,0.000,0.102,3124,3645,2342,2429,2255,0,0,0,0,0,0,14.87,14.37,13.40
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$GC,14664,0.71,206.7,3135,2250,2321,2161,377.4,7.8,565,14668,0.00,0.00,2.15,0.409,8198,0.000,0.000,3134,2249,2226,2315,2137,0,0,0,0,0,0,14.83,14.28,13.00
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$STATE,19750,end climb,SURFACE_DEPTH_REACHED
$STATE,19750,begin surface coast
$FINISH,-1.7,1.010633
$STATE,19778,end surface coast,CONTROL_FINISHED_OK
$STATE,19778,begin surface
$SM_CCo,19802,46.47,0.153,0,0,1056,500.14
$SM_GC,-0.79,9.25,0.93,46.47,0.067,0.080,0.153,175,2760,1056,-8.39,-0.65,500.14,0,0,0,0,0,0,14.45,14.21,14.15
$IRIDIUM_FIX,945.12,-12451.81,120117,093022
$TT8_MAMPS,0.038948,0.298851
$HUMID,56.81
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.00
$XPDR_PINGS,0
$SC_FREEKB,3700448
$PM_FREEKB,53561792
$24V_AH,12.36,190.851
$10V_AH,12.46,0.000
$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,24.475,177.325,482.500,46.475,0.000,0.000,0.000,390.975,0.000,0.000,4.796,0.000,16911.311,791.637,2303.703,555.386,0.000,1885.641,0.000,1405.734,0.000,0.839,0.000
$DEVICE_MAMPS,382.500,156.825,2076.210,153.000,0.000,0.000,0.000,175.185,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19839.000,19788.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.573,2.437,0.000,0.000
$MEM,334768
$DATA_FILE_SIZE,26718,769
$CAP_FILE_SIZE,147967,0
$CFSIZE,1024409600,925892608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.047,42.48,1
$GPS,120117,205009,952.363,-12450.013,42,0.8,43,9.0,0.3,316.0,9,6.8