version: 66.13
glider: 220
mission: 6
dive: 553
start: 1 14 117 12 32 23
data:
$ID,220
$MISSION,6
$DIVE,553
$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,24
$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
$GPS1,140117,121600,1003.6002,-12444.9561,16,1.0,16,9.0,0.8,291.5,8,4.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.19
$_SM_ANGLEo,-66.0
$GPS2,140117,123202,1003.7133,-12444.8867,2,1.0,4,9.0,0.4,74.6,8,3.9
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,302.5,39614,-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,-107.1,105,2791,1101,1014,0.0,0.0,0,101,0.00,0.00,-79.55,0.000,16390,0.000,0.000,104,2790,3478,3470,3487,0,0,0,0,0,0,14.69,13.09,14.66
$GC,105,-0.93,-107.1,104,2792,3470,3488,7.3,-12.9,3,123,11.88,1.90,0.00,0.000,2308,0.383,0.077,2585,3836,3479,3471,3488,0,0,0,0,0,0,14.00,14.36,14.27
$GC,279,-0.69,-107.1,2583,3837,3473,3487,63.0,-26.0,28,285,0.30,1.80,0.00,0.000,3206,0.202,0.034,2672,2722,3479,3471,3488,0,0,0,0,0,0,14.13,14.50,14.38
$GC,607,-0.69,-107.1,2671,2720,3475,3487,92.6,-8.1,42,612,0.00,2.08,0.00,0.000,260,0.000,0.106,2663,3818,3481,3475,3487,0,0,0,0,0,0,14.84,14.24,14.84
$GC,648,-0.69,-107.1,2663,3818,3475,3489,95.9,-8.2,48,653,0.00,1.73,0.00,0.000,1030,0.000,0.037,2662,2757,3480,3474,3487,0,0,0,0,0,0,14.57,14.54,14.58
$GC,999,-0.69,-107.1,2662,2758,3474,3487,120.3,-6.6,57,1000,0.00,0.00,0.00,0.000,38,0.000,0.000,2662,2759,3481,3475,3487,0,0,0,0,0,0,14.88,14.88,14.88
$GC,1335,-0.69,-107.1,2663,2757,3475,3487,146.0,-8.1,63,1339,0.00,2.30,0.00,0.000,516,0.000,0.045,2662,1404,3480,3475,3486,0,0,0,0,0,0,14.89,14.45,14.89
$GC,1376,-0.69,-107.1,2663,1406,3476,3486,149.9,-9.2,69,1382,0.00,2.47,0.00,0.000,1030,0.000,0.068,2653,2765,3480,3475,3486,0,0,0,0,0,0,14.41,14.29,14.46
$GC,1727,-0.69,-107.1,2654,2765,3472,3482,177.6,-7.5,77,1733,0.00,1.98,0.00,0.000,292,0.000,0.108,2645,3825,3478,3475,3482,0,0,0,0,0,0,14.91,14.25,14.91
$GC,1866,-0.69,-107.1,2645,3825,3476,3480,187.4,-7.3,97,1873,0.10,1.73,0.00,0.000,3110,0.194,0.041,2675,2794,3477,3474,3480,0,0,0,0,0,0,14.19,14.54,14.33
$GC,2231,-0.77,-107.1,2676,2795,3476,3474,211.8,-6.9,107,2236,0.00,2.42,0.00,0.000,676,0.000,0.045,2676,1377,3473,3475,3472,0,0,0,0,0,0,14.92,14.47,14.91
$GC,2300,-0.87,-107.1,2676,1378,3476,3472,216.4,-6.5,117,2307,0.10,2.53,0.00,0.000,5286,0.116,0.070,2586,2777,3473,3474,3472,0,0,0,0,0,0,14.45,14.34,14.54
$GC,2623,-0.80,-107.1,2586,2778,3475,3470,248.4,-10.1,128,2628,0.17,1.95,0.00,0.000,2436,0.227,0.103,2632,3826,3469,3472,3467,0,0,0,0,0,0,14.12,14.18,14.29
$GC,2699,-0.80,-107.1,2633,3827,3476,3468,255.5,-8.7,139,2704,0.00,1.77,0.00,0.000,1030,0.000,0.040,2631,2751,3471,3475,3467,0,0,0,0,0,0,14.54,14.52,14.55
$GC,3015,-0.80,-107.1,2632,2750,3475,3464,283.0,-8.8,149,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2750,3468,3474,3462,0,0,0,0,0,0,14.91,14.92,14.92
$GC,3351,-0.80,-107.1,2632,2750,3475,3459,313.2,-9.0,155,3355,0.00,2.08,0.00,0.000,260,0.000,0.109,2624,3829,3466,3474,3458,0,0,0,0,0,0,14.92,14.21,14.92
$GC,3385,-0.80,-107.1,2624,3831,3476,3458,316.4,-9.3,160,3390,0.00,1.77,0.00,0.000,1030,0.000,0.041,2622,2768,3466,3474,3458,0,0,0,0,0,0,14.53,14.52,14.55
$GC,3743,-0.80,-107.1,2623,2770,3476,3453,349.2,-9.2,169,3748,0.00,2.03,0.00,0.000,260,0.000,0.106,2616,3832,3463,3474,3453,0,0,0,0,0,0,14.88,14.21,14.88
$GC,3784,-0.80,-107.1,2616,3832,3475,3453,353.2,-9.7,175,3790,0.00,1.75,0.00,0.000,1030,0.000,0.041,2615,2790,3461,3470,3453,0,0,0,0,0,0,14.52,14.49,14.53
$GC,4135,-0.80,-107.1,2615,2790,3475,3450,387.2,-9.8,183,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2790,3458,3467,3449,0,0,0,0,0,0,14.89,14.89,14.89
$GC,4471,-0.80,-107.1,2615,2791,3476,3446,419.0,-9.3,189,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2790,3460,3474,3446,0,0,0,0,0,0,14.88,14.89,14.89
$GC,4807,-0.80,-107.1,2616,2790,3474,3444,449.3,-9.0,195,4808,0.08,0.00,0.00,0.000,2054,0.258,0.000,2637,2789,3458,3474,3443,0,0,0,0,0,0,14.32,14.54,14.49
$GC,5143,-0.80,-107.1,2637,2789,3474,3441,478.3,-8.7,201,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2789,3456,3474,3439,0,0,0,0,0,0,14.90,14.91,14.90
$GC,5479,-0.80,-107.1,2637,2790,3474,3438,507.8,-8.9,207,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2790,3455,3474,3437,0,0,0,0,0,0,14.88,14.88,14.88
$GC,5815,-0.80,-107.1,2637,2789,3473,3433,536.9,-8.5,213,5821,0.00,2.45,0.00,0.000,516,0.000,0.043,2637,1392,3453,3474,3432,0,0,0,0,0,0,14.88,14.38,14.88
$GC,5884,-0.80,-107.1,2637,1392,3474,3433,542.7,-8.0,223,5889,0.00,2.58,0.00,0.000,1030,0.000,0.067,2627,2787,3453,3474,3432,0,0,0,0,0,0,14.42,14.22,14.46
$GC,6207,-0.80,-107.1,2627,2788,3475,3430,568.1,-7.8,234,6212,0.00,1.98,0.00,0.000,260,0.000,0.108,2619,3828,3452,3473,3431,0,0,0,0,0,0,14.90,14.11,14.90
$GC,6248,-0.80,-107.1,2619,3828,3474,3430,571.5,-8.3,240,6253,0.00,1.77,0.00,0.000,1030,0.000,0.042,2619,2789,3452,3474,3430,0,0,0,0,0,0,14.45,14.44,14.48
$GC,6599,-0.80,-107.1,2619,2791,3472,3430,600.0,-8.3,248,6603,0.00,2.45,0.00,0.000,516,0.000,0.043,2618,1376,3450,3470,3430,0,0,0,0,0,0,14.87,14.35,14.87
$GC,6655,-0.80,-107.1,2619,1377,3472,3430,605.0,-8.8,256,6660,0.10,2.58,0.00,0.000,3078,0.249,0.067,2637,2780,3450,3471,3430,0,0,0,0,0,0,14.01,14.22,14.26
$GC,6991,-0.80,-107.1,2636,2781,3472,3429,633.0,-8.3,269,6996,0.00,1.98,0.00,0.000,260,0.000,0.110,2629,3825,3449,3470,3429,0,0,0,0,0,0,14.86,14.08,14.86
$GC,7025,-0.80,-107.1,2629,3831,3471,3429,636.0,-9.0,274,7031,0.00,1.77,0.00,0.000,1030,0.000,0.044,2628,2787,3449,3469,3429,0,0,0,0,0,0,14.42,14.40,14.44
$GC,7383,-0.80,-107.1,2629,2786,3470,3427,664.9,-8.0,283,7387,0.00,2.45,0.00,0.000,516,0.000,0.043,2626,1379,3447,3469,3426,0,0,0,0,0,0,14.86,14.24,14.86
$GC,7424,-0.80,-107.1,2628,1380,3470,3426,668.2,-7.8,289,7430,0.00,2.55,0.00,0.000,1030,0.000,0.067,2619,2778,3447,3469,3426,0,0,0,0,0,0,14.37,14.16,14.41
$GC,7775,-0.80,-107.1,2619,2779,3467,3426,694.4,-7.4,297,7781,0.00,2.00,0.00,0.000,292,0.000,0.109,2611,3828,3445,3466,3425,0,0,0,0,0,0,14.85,14.06,14.86
$GC,7823,-0.80,-107.1,2611,3829,3460,3425,698.3,-8.0,304,7830,0.08,1.80,0.00,0.000,3078,0.214,0.044,2633,2794,3445,3465,3426,0,0,0,0,0,0,14.00,14.39,14.14
$GC,8167,-0.80,-107.1,2633,2793,3465,3425,723.5,-7.5,311,8172,0.00,2.50,0.00,0.000,548,0.000,0.044,2633,1362,3444,3465,3423,0,0,0,0,0,0,14.88,14.29,14.88
$GC,8243,-0.80,-107.1,2633,1361,3466,3424,729.7,-8.0,322,8248,0.00,2.60,0.00,0.000,1030,0.000,0.067,2624,2779,3443,3465,3422,0,0,0,0,0,0,14.33,14.14,14.38
$GC,8559,-0.80,-107.1,2624,2780,3465,3421,757.3,-9.0,332,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2779,3443,3464,3422,0,0,0,0,0,0,14.88,14.88,14.88
$GC,8895,-0.80,-107.1,2624,2780,3463,3421,787.7,-9.0,338,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2779,3441,3462,3421,0,0,0,0,0,0,14.88,14.88,14.88
$STATE,9059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9059,begin apogee
$GC,9068,-0.23,0.0,2623,2214,3464,3420,802.4,-8.8,341,9179,0.70,0.10,108.68,1.848,10244,0.174,0.161,2825,2276,3049,3089,3009,0,0,0,0,0,0,13.93,13.97,12.98
$STATE,9181,end apogee,CONTROL_FINISHED_OK
$STATE,9181,begin climb
$GC,9185,0.93,107.1,2826,2276,3083,3002,806.2,0.0,343,9311,1.10,2.55,115.07,1.805,10756,0.086,0.057,3189,875,2619,2680,2559,0,0,0,0,0,0,14.07,14.08,13.00
$GC,9380,0.83,137.2,3190,875,2677,2541,802.7,6.2,372,9421,0.00,2.42,32.05,1.847,9382,0.000,0.052,3189,2244,2495,2568,2423,0,0,0,0,0,0,14.33,14.21,13.12
$GC,9738,0.70,137.2,3189,2245,2568,2408,772.1,8.8,388,9743,0.17,2.62,0.00,0.000,4484,0.236,0.094,3134,3657,2487,2567,2408,0,0,0,0,0,0,14.08,14.25,14.25
$GC,9800,0.62,137.2,3135,3656,2567,2409,766.7,8.5,397,9807,0.15,2.38,0.00,0.000,5254,0.223,0.039,3103,2264,2487,2566,2408,0,0,0,0,0,0,14.13,14.42,14.40
$GC,10130,0.64,159.9,3104,2263,2568,2406,744.9,6.6,409,10163,0.00,2.55,24.17,1.861,8740,0.000,0.062,3113,856,2403,2484,2322,0,0,0,0,0,0,14.82,14.36,13.33
$GC,10178,0.67,183.4,3120,858,2485,2319,741.5,6.6,416,10212,0.00,2.47,26.25,1.828,9254,0.000,0.054,3112,2242,2311,2394,2229,0,0,0,0,0,0,14.37,14.31,13.24
$GC,10522,0.67,183.4,3113,2242,2393,2213,713.4,8.3,430,10527,0.00,2.65,0.00,0.000,260,0.000,0.099,3112,3658,2302,2392,2212,0,0,0,0,0,0,14.73,14.23,14.73
$GC,10584,0.67,183.4,3113,3659,2394,2211,707.6,9.5,439,10589,0.00,2.45,0.00,0.000,1030,0.000,0.039,3122,2252,2301,2392,2211,0,0,0,0,0,0,14.42,14.39,14.45
$GC,10914,0.67,183.4,3123,2250,2393,2209,679.9,8.3,451,10919,0.00,2.67,0.00,0.000,260,0.000,0.099,3121,3658,2300,2392,2209,0,0,0,0,0,0,14.80,14.22,14.80
$GC,10941,0.67,183.4,3123,3665,2401,2209,677.4,8.9,455,10947,0.00,2.40,0.00,0.000,1030,0.000,0.039,3132,2253,2300,2392,2209,0,0,0,0,0,0,14.53,14.44,14.56
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$GC,14330,0.70,202.7,3129,2257,2321,2131,403.4,8.0,582,14335,0.00,2.65,0.00,0.000,260,0.000,0.102,3128,3654,2226,2321,2131,0,0,0,0,0,0,14.83,14.09,14.83
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$STATE,19628,end climb,SURFACE_DEPTH_REACHED
$STATE,19628,begin surface coast
$FINISH,-1.2,1.022077
$STATE,19656,end surface coast,CONTROL_FINISHED_OK
$STATE,19656,begin surface
$SM_CCo,19683,46.72,0.153,0,0,1057,500.14
$SM_GC,-0.85,8.85,0.95,46.72,0.042,0.093,0.153,185,2756,1057,-8.39,-0.82,500.14,0,0,0,0,0,0,14.42,14.20,14.14
$IRIDIUM_FIX,958.26,-12443.37,140117,122145
$TT8_MAMPS,0.038199,0.298851
$HUMID,57.32
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.30
$XPDR_PINGS,1
$SC_FREEKB,3697376
$PM_FREEKB,53472192
$24V_AH,12.98,193.213
$10V_AH,12.55,0.000
$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,24.725,166.725,452.525,46.725,0.000,0.000,0.000,551.025,0.250,0.000,6.085,0.000,16833.000,748.941,2511.751,580.246,0.000,2024.378,0.000,1458.688,0.000,1.134,0.000
$DEVICE_MAMPS,383.265,160.650,1861.245,153.000,0.000,0.000,0.000,156.060,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19717.000,19666.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.571,2.436,0.000,0.000
$MEM,334776
$DATA_FILE_SIZE,30072,809
$CAP_FILE_SIZE,150205,0
$CFSIZE,1024409600,924712960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,340.62,1
$GPS,140117,180231,1005.336,-12446.457,43,0.7,43,9.0,0.4,37.0,12,3.7