version: 66.13
glider: 220
mission: 6
dive: 579
start: 1 20 117 12 21 28
data:
$ID,220
$MISSION,6
$DIVE,579
$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,49
$R_STBD_OVSHOOT,20
$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
$GPS1,200117,120900,956.9381,-12514.7695,28,1.1,28,9.0,0.4,254.8,8,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.56
$_SM_ANGLEo,-71.2
$GPS2,200117,122106,956.9589,-12514.8594,2,0.9,4,9.0,0.5,258.5,9,3.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,138.9,40241,-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,-107.1,107,2778,1102,1015,0.0,0.0,0,100,0.00,0.00,-80.40,0.000,16390,0.000,0.000,106,2778,3479,3470,3489,0,0,0,0,0,0,14.66,13.04,14.62
$GC,104,-0.93,-107.1,107,2778,3471,3488,4.0,-11.3,3,121,11.95,2.42,0.00,0.000,2564,0.385,0.034,2589,1351,3480,3471,3489,0,0,0,0,0,0,13.95,14.35,14.24
$GC,150,-0.47,-107.1,2588,1352,3474,3488,24.5,-32.8,10,157,0.62,2.58,0.00,0.000,3206,0.259,0.072,2741,2765,3481,3474,3488,0,0,0,0,0,0,14.03,14.28,14.33
$GC,466,-0.58,-107.1,2741,2766,3477,3488,52.8,-6.0,22,470,0.00,2.00,0.00,0.000,420,0.000,0.112,2733,3831,3482,3476,3488,0,0,0,0,0,0,14.77,14.17,14.77
$GC,479,-0.71,-107.1,2733,3831,3476,3489,53.5,-5.3,24,484,0.12,1.77,0.00,0.000,5286,0.099,0.041,2643,2751,3482,3476,3488,0,0,0,0,0,0,14.47,14.50,14.54
$GC,802,-0.71,-107.1,2644,2754,3479,3489,82.0,-9.5,37,807,0.00,2.33,0.00,0.000,516,0.000,0.041,2643,1383,3483,3478,3488,0,0,0,0,0,0,14.87,14.43,14.87
$GC,913,-0.71,-107.1,2644,1384,3479,3487,93.5,-9.8,53,919,0.12,2.50,0.00,0.000,3078,0.232,0.067,2669,2780,3483,3478,3488,0,0,0,0,0,0,14.11,14.31,14.36
$GC,1277,-0.71,-107.1,2669,2781,3479,3486,126.2,-8.8,64,1282,0.00,1.98,0.00,0.000,260,0.000,0.109,2661,3832,3482,3478,3487,0,0,0,0,0,0,14.90,14.21,14.90
$GC,1333,-0.71,-107.1,2662,3832,3479,3488,130.9,-8.3,72,1338,0.00,1.75,0.00,0.000,1030,0.000,0.040,2661,2762,3482,3478,3487,0,0,0,0,0,0,14.59,14.52,14.60
$GC,1670,-0.71,-107.1,2661,2763,3479,3483,153.3,-6.3,85,1670,0.00,0.00,0.00,0.000,38,0.000,0.000,2668,2762,3480,3478,3483,0,0,0,0,0,0,14.90,14.90,14.88
$GC,2005,-0.71,-107.1,2661,2762,3478,3480,177.9,-7.7,91,2010,0.00,2.35,0.00,0.000,548,0.000,0.041,2661,1394,3478,3478,3479,0,0,0,0,0,0,14.90,14.42,14.91
$GC,2025,-0.71,-107.1,2661,1392,3480,3478,179.7,-8.4,94,2031,0.00,2.47,0.00,0.000,1030,0.000,0.067,2652,2774,3477,3478,3477,0,0,0,0,0,0,14.46,14.28,14.50
$GC,2341,-0.71,-107.1,2652,2774,3479,3474,208.7,-9.4,104,2346,0.00,2.00,0.00,0.000,260,0.000,0.109,2644,3834,3476,3478,3474,0,0,0,0,0,0,14.90,14.18,14.90
$GC,2411,-0.71,-107.1,2638,3834,3478,3475,215.7,-9.9,114,2416,0.00,1.77,0.00,0.000,1030,0.000,0.040,2644,2784,3475,3478,3473,0,0,0,0,0,0,14.50,14.48,14.52
$GC,2733,-0.71,-107.1,2644,2784,3478,3470,246.0,-9.3,125,2739,0.00,2.42,0.00,0.000,516,0.000,0.041,2644,1376,3473,3478,3469,0,0,0,0,0,0,14.88,14.40,14.88
$GC,2781,-0.71,-107.1,2644,1375,3478,3470,250.4,-9.0,132,2788,0.12,2.58,0.00,0.000,3078,0.227,0.067,2670,2784,3473,3478,3468,0,0,0,0,0,0,14.02,14.23,14.26
$GC,3126,-0.79,-107.1,2670,2786,3479,3463,276.9,-7.6,139,3131,0.00,2.45,0.00,0.000,676,0.000,0.041,2670,1379,3470,3478,3463,0,0,0,0,0,0,14.88,14.42,14.88
$GC,3153,-0.88,-107.1,2671,1379,3479,3464,279.0,-7.5,143,3158,0.08,2.53,0.00,0.000,5286,0.142,0.067,2594,2777,3470,3478,3462,0,0,0,0,0,0,14.38,14.27,14.48
$GC,3517,-0.88,-107.1,2596,2777,3478,3461,315.2,-10.1,153,3523,0.00,2.00,0.00,0.000,260,0.000,0.110,2586,3833,3467,3475,3460,0,0,0,0,0,0,14.90,14.16,14.90
$GC,3607,-0.88,-107.1,2586,3834,3478,3459,324.9,-10.4,166,3613,0.08,1.80,0.00,0.000,3078,0.211,0.041,2607,2787,3467,3477,3458,0,0,0,0,0,0,14.09,14.46,14.24
$GC,3965,-0.88,-107.1,2608,2787,3478,3455,357.8,-9.2,175,3970,0.00,2.42,0.00,0.000,516,0.000,0.041,2608,1366,3465,3477,3454,0,0,0,0,0,0,14.88,14.36,14.88
$GC,4006,-0.88,-107.1,2608,1367,3480,3454,361.6,-9.1,181,4013,0.00,2.55,0.00,0.000,1030,0.000,0.066,2595,2781,3465,3477,3454,0,0,0,0,0,0,14.45,14.28,14.50
$GC,4357,-0.88,-107.1,2599,2780,3478,3452,396.4,-10.0,189,4363,0.00,1.98,0.00,0.000,260,0.000,0.109,2590,3830,3464,3477,3452,0,0,0,0,0,0,14.90,14.15,14.90
$GC,4405,-0.88,-107.1,2589,3831,3478,3451,401.7,-11.0,196,4412,0.00,1.83,0.00,0.000,1030,0.000,0.041,2589,2763,3464,3478,3451,0,0,0,0,0,0,14.47,14.44,14.49
$GC,4749,-0.88,-107.1,2589,2763,3478,3448,437.9,-10.5,203,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2763,3462,3478,3447,0,0,0,0,0,0,14.90,14.90,14.90
$GC,5085,-0.88,-107.1,2590,2763,3478,3445,472.3,-10.2,209,5091,0.00,2.05,0.00,0.000,260,0.000,0.107,2581,3827,3460,3477,3444,0,0,0,0,0,0,14.87,14.10,14.87
$GC,5168,-0.88,-107.1,2582,3828,3479,3443,481.1,-10.5,221,5175,0.10,1.80,0.00,0.000,3078,0.210,0.043,2609,2789,3460,3476,3444,0,0,0,0,0,0,14.00,14.42,14.16
$GC,5534,-0.88,-107.1,2609,2789,3478,3441,515.1,-9.4,231,5538,0.00,2.47,0.00,0.000,516,0.000,0.041,2608,1367,3458,3477,3439,0,0,0,0,0,0,14.87,14.33,14.87
$GC,5574,-0.88,-107.1,2610,1367,3478,3441,519.1,-9.3,237,5581,0.00,2.55,0.00,0.000,1030,0.000,0.065,2601,2776,3458,3477,3439,0,0,0,0,0,0,14.39,14.21,14.42
$GC,5925,-0.88,-107.1,2601,2777,3479,3436,553.3,-9.8,245,5931,0.00,1.98,0.00,0.000,260,0.000,0.109,2592,3826,3457,3477,3438,0,0,0,0,0,0,14.90,14.09,14.90
$GC,5994,-0.88,-107.1,2592,3826,3477,3438,560.3,-10.0,255,6000,0.00,1.83,0.00,0.000,1030,0.000,0.043,2591,2766,3457,3477,3437,0,0,0,0,0,0,14.41,14.39,14.44
$GC,6317,-0.88,-107.1,2591,2766,3477,3434,591.9,-9.8,266,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2766,3455,3477,3433,0,0,0,0,0,0,14.89,14.89,14.89
$GC,6653,-0.88,-107.1,2592,2766,3478,3433,623.6,-9.4,272,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2766,3454,3477,3431,0,0,0,0,0,0,14.89,14.89,14.89
$GC,6990,-0.88,-107.1,2592,2767,3477,3429,655.3,-9.6,278,6994,0.00,2.05,0.00,0.000,260,0.000,0.109,2584,3829,3452,3476,3429,0,0,0,0,0,0,14.88,14.04,14.89
$GC,7038,-0.88,-107.1,2584,3830,3476,3429,660.1,-10.0,285,7045,0.10,1.83,0.00,0.000,3078,0.207,0.044,2611,2786,3452,3475,3429,0,0,0,0,0,0,13.95,14.35,14.13
$GC,7381,-0.88,-107.1,2611,2788,3473,3429,689.6,-8.5,292,7386,0.00,2.47,0.00,0.000,516,0.000,0.041,2611,1369,3451,3472,3430,0,0,0,0,0,0,14.88,14.33,14.88
$GC,7437,-0.88,-107.1,2612,1369,3472,3430,694.4,-8.7,300,7442,0.00,2.58,0.00,0.000,1030,0.000,0.066,2602,2776,3450,3472,3429,0,0,0,0,0,0,14.34,14.15,14.38
$GC,7773,-0.88,-107.1,2602,2777,3470,3430,723.4,-8.6,313,7779,0.00,2.00,0.00,0.000,260,0.000,0.110,2594,3830,3449,3470,3429,0,0,0,0,0,0,14.84,14.00,14.84
$GC,7808,-0.88,-107.1,2596,3830,3471,3430,726.7,-9.6,318,7813,0.00,1.85,0.00,0.000,1030,0.000,0.044,2596,2767,3449,3470,3429,0,0,0,0,0,0,14.39,14.36,14.40
$GC,8166,-0.88,-107.1,2594,2768,3471,3426,758.5,-8.8,327,8170,0.00,2.45,0.00,0.000,516,0.000,0.042,2593,1368,3447,3469,3426,0,0,0,0,0,0,14.87,14.27,14.87
$GC,8199,-0.88,-107.1,2593,1369,3471,3424,761.8,-9.7,332,8205,0.10,2.60,0.00,0.000,3078,0.247,0.067,2610,2779,3446,3470,3422,0,0,0,0,0,0,13.90,14.11,14.16
$GC,8557,-0.88,-107.1,2610,2780,3471,3424,791.8,-8.5,341,8563,0.00,2.03,0.00,0.000,260,0.000,0.114,2603,3832,3445,3468,3423,0,0,0,0,0,0,14.84,13.93,14.84
$GC,8592,-0.88,-107.1,2603,3832,3470,3424,794.9,-9.2,346,8597,0.00,1.83,0.00,0.000,1030,0.000,0.044,2603,2785,3447,3470,3424,0,0,0,0,0,0,14.34,14.31,14.35
$STATE,8666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8666,begin apogee
$GC,8675,-0.23,0.0,2604,2203,3470,3425,801.7,-8.9,350,8791,0.77,0.12,113.32,1.826,10244,0.196,0.138,2818,2281,3049,3090,3008,0,0,0,0,0,0,13.79,13.99,12.97
$STATE,8792,end apogee,CONTROL_FINISHED_OK
$STATE,8793,begin climb
$GC,8796,0.93,107.1,2820,2281,3084,3000,804.9,0.0,352,8923,1.15,2.50,115.65,1.789,10756,0.110,0.053,3180,900,2618,2680,2557,0,0,0,0,0,0,14.02,14.08,12.97
$GC,8958,0.86,154.8,3181,895,2677,2543,802.4,5.3,377,9013,0.00,2.38,51.45,1.789,9382,0.000,0.050,3180,2240,2433,2509,2357,0,0,0,0,0,0,14.26,14.16,13.06
$GC,9339,0.75,154.8,3181,2240,2501,2331,770.6,8.8,396,9344,0.10,2.65,0.00,0.000,4484,0.258,0.096,3156,3654,2415,2500,2330,0,0,0,0,0,0,14.09,14.16,14.26
$GC,9379,0.65,154.8,3149,3654,2495,2331,766.7,8.3,402,9385,0.17,2.35,0.00,0.000,5254,0.241,0.040,3112,2274,2415,2500,2330,0,0,0,0,0,0,14.07,14.44,14.37
$GC,9730,0.69,187.1,3112,2270,2502,2324,744.8,6.1,410,9770,0.00,2.50,33.53,1.812,8740,0.000,0.060,3121,867,2300,2390,2210,0,0,0,0,0,0,14.81,14.28,13.30
$GC,9813,0.72,210.3,3121,868,2383,2200,739.7,6.6,422,9847,0.00,2.42,26.45,1.810,9254,0.000,0.053,3121,2247,2205,2296,2114,0,0,0,0,0,0,14.42,14.31,13.25
$GC,10181,0.73,221.1,3121,2249,2294,2096,713.8,7.2,439,10190,0.00,2.62,3.47,1.270,8484,0.000,0.103,3121,3651,2170,2263,2077,0,0,0,0,0,0,14.71,14.31,13.04
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$GC,14539,0.73,221.1,3154,2247,2262,2094,330.4,8.5,565,14540,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2247,2177,2261,2093,0,0,0,0,0,0,14.85,14.86,14.85
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$STATE,18826,end climb,SURFACE_DEPTH_REACHED
$STATE,18826,begin surface coast
$FINISH,-1.6,1.022035
$STATE,18858,end surface coast,CONTROL_FINISHED_OK
$STATE,18858,begin surface
$SM_CCo,18882,43.90,0.153,0,0,1056,500.14
$SM_GC,-2.90,9.25,0.95,43.90,0.084,0.083,0.153,182,2770,1056,-8.39,-0.59,500.14,0,0,0,0,0,0,14.42,14.21,14.09
$IRIDIUM_FIX,953.88,-12516.74,200117,062628
$TT8_MAMPS,0.038948,0.438165
$HUMID,57.63
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.50
$XPDR_PINGS,0
$SC_FREEKB,3687392
$PM_FREEKB,53186752
$24V_AH,12.81,201.716
$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,25.350,165.800,473.925,43.900,0.000,0.000,0.000,371.400,0.000,0.000,5.945,0.000,16042.397,753.074,2263.227,574.659,0.000,1819.546,0.000,1392.736,0.000,0.838,0.000
$DEVICE_MAMPS,384.795,138.465,1826.055,153.000,0.000,0.000,0.000,173.655,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18921.000,18869.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.616,2.448,0.000,0.000
$MEM,334744
$DATA_FILE_SIZE,26768,770
$CAP_FILE_SIZE,143005,0
$CFSIZE,1024409600,920895488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,156.21,1
$GPS,200117,173800,955.079,-12513.670,32,1.0,32,9.0,0.4,298.6,8,5.3