version: 66.13
glider: 220
mission: 6
dive: 640
start: 2 3 117 20 0 49
data:
$ID,220
$MISSION,6
$DIVE,640
$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,44
$R_STBD_OVSHOOT,13
$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
$GPS1,030217,194500,942.5017,-12458.4619,22,0.7,22,9.0,0.2,257.2,12,4.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.58
$_SM_ANGLEo,-69.8
$GPS2,030217,200027,942.5668,-12458.4922,2,0.7,3,9.0,0.6,91.0,12,6.7
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,32.8,45892,-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,17,-0.93,-107.1,106,2777,1103,1017,0.0,0.0,0,101,0.00,0.00,-80.65,0.000,16390,0.000,0.000,105,2776,3477,3468,3486,0,0,0,0,0,0,14.64,12.81,14.59
$GC,106,-0.93,-107.1,106,2776,3467,3488,3.4,-10.8,3,122,11.88,1.95,0.00,0.000,2308,0.379,0.097,2580,3836,3478,3470,3486,0,0,0,0,0,0,13.94,14.26,14.21
$GC,172,-0.60,-107.1,2582,3837,3470,3487,29.7,-26.2,13,178,0.45,1.80,0.00,0.000,3206,0.249,0.038,2699,2709,3478,3471,3486,0,0,0,0,0,0,13.96,14.47,14.26
$GC,495,-0.60,-107.1,2699,2710,3473,3486,66.4,-8.5,26,499,0.00,2.20,0.00,0.000,260,0.000,0.128,2690,3837,3479,3472,3486,0,0,0,0,0,0,14.81,14.01,14.81
$GC,719,-0.60,-107.1,2691,3837,3474,3487,83.4,-6.6,58,723,0.00,1.80,0.00,0.000,1062,0.000,0.045,2690,2742,3480,3474,3486,0,0,0,0,0,0,14.51,14.45,14.52
$GC,1055,-0.60,-107.1,2692,2742,3474,3487,104.5,-6.7,72,1060,0.00,2.33,0.00,0.000,548,0.000,0.042,2690,1393,3480,3474,3486,0,0,0,0,0,0,14.84,14.29,14.86
$GC,1117,-0.70,-107.1,2690,1394,3475,3486,108.9,-7.1,81,1123,0.00,2.58,0.00,0.000,1190,0.000,0.083,2681,2775,3482,3479,3486,0,0,0,0,0,0,14.33,14.09,14.37
$GC,1447,-0.77,-107.1,2681,2774,3474,3484,135.0,-8.2,93,1453,0.00,2.42,0.00,0.000,644,0.000,0.042,2680,1392,3480,3474,3486,0,0,0,0,0,0,14.87,14.29,14.87
$GC,1474,-0.86,-107.1,2680,1391,3475,3483,137.4,-8.7,97,1481,0.10,2.60,0.00,0.000,5254,0.115,0.085,2589,2780,3481,3480,3482,0,0,0,0,0,0,14.28,14.07,14.38
$GC,1839,-0.78,-107.1,2590,2780,3469,3478,177.9,-10.8,107,1844,0.17,2.03,0.00,0.000,2436,0.222,0.129,2636,3827,3475,3474,3477,0,0,0,0,0,0,13.95,13.95,14.12
$GC,1901,-0.78,-107.1,2636,3827,3472,3477,183.5,-8.6,116,1906,0.00,1.80,0.00,0.000,1030,0.000,0.046,2635,2769,3475,3474,3477,0,0,0,0,0,0,14.41,14.38,14.42
$GC,2231,-0.78,-107.1,2636,2769,3474,3472,212.5,-9.0,128,2236,0.00,2.40,0.00,0.000,516,0.000,0.043,2635,1388,3472,3474,3470,0,0,0,0,0,0,14.83,14.28,14.84
$GC,2279,-0.78,-107.1,2633,1389,3474,3470,217.6,-10.3,135,2286,0.00,2.60,0.00,0.000,1030,0.000,0.084,2626,2774,3472,3474,3470,0,0,0,0,0,0,14.25,13.98,14.30
$GC,2623,-0.78,-107.1,2626,2773,3474,3467,253.9,-10.6,142,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2774,3469,3474,3465,0,0,0,0,0,0,14.85,14.90,14.86
$GC,2959,-0.78,-107.1,2626,2774,3474,3462,285.0,-9.0,148,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2772,3467,3474,3461,0,0,0,0,0,0,14.87,14.88,14.88
$GC,3295,-0.78,-107.1,2627,2774,3474,3457,314.4,-8.8,154,3300,0.00,2.45,0.00,0.000,516,0.000,0.044,2625,1392,3465,3474,3456,0,0,0,0,0,0,14.86,14.24,14.86
$GC,3364,-0.78,-107.1,2625,1391,3474,3456,320.8,-8.9,164,3369,0.10,2.62,0.00,0.000,3078,0.231,0.084,2644,2774,3464,3473,3455,0,0,0,0,0,0,13.89,13.97,14.14
$GC,3687,-0.78,-107.1,2644,2774,3474,3451,347.4,-8.2,175,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2774,3462,3473,3451,0,0,0,0,0,0,14.83,14.83,14.83
$GC,4023,-0.78,-107.1,2644,2775,3475,3447,375.0,-8.1,181,4028,0.00,2.47,0.00,0.000,516,0.000,0.044,2644,1386,3460,3473,3447,0,0,0,0,0,0,14.87,14.20,14.88
$GC,4079,-0.78,-107.1,2645,1386,3474,3447,379.4,-7.9,189,4084,0.00,2.62,0.00,0.000,1030,0.000,0.084,2637,2772,3460,3474,3446,0,0,0,0,0,0,14.21,13.95,14.26
$GC,4415,-0.78,-107.1,2636,2772,3474,3444,407.1,-8.3,202,4419,0.00,2.45,0.00,0.000,516,0.000,0.044,2635,1390,3458,3473,3443,0,0,0,0,0,0,14.83,14.21,14.83
$GC,4463,-0.78,-107.1,2636,1390,3474,3444,411.2,-8.2,209,4470,0.00,2.62,0.00,0.000,1030,0.000,0.083,2626,2767,3457,3473,3442,0,0,0,0,0,0,14.17,13.91,14.22
$GC,4807,-0.78,-107.1,2626,2768,3476,3439,441.0,-8.8,216,4812,0.00,2.45,0.00,0.000,516,0.000,0.043,2625,1386,3456,3473,3439,0,0,0,0,0,0,14.83,14.22,14.83
$GC,4834,-0.78,-107.1,2626,1386,3474,3440,443.5,-9.0,220,4839,0.10,2.60,0.00,0.000,3078,0.231,0.083,2644,2761,3456,3473,3439,0,0,0,0,0,0,13.86,13.94,14.12
$GC,5199,-0.78,-107.1,2645,2761,3474,3438,473.1,-8.2,230,5203,0.00,2.45,0.00,0.000,516,0.000,0.044,2644,1386,3454,3473,3436,0,0,0,0,0,0,14.83,14.20,14.83
$GC,5296,-0.78,-107.1,2644,1388,3475,3435,480.9,-7.8,244,5301,0.00,2.60,0.00,0.000,1030,0.000,0.085,2636,2757,3454,3473,3435,0,0,0,0,0,0,14.15,13.89,14.21
$GC,5647,-0.78,-107.1,2636,2758,3474,3432,508.6,-7.9,252,5651,0.00,2.42,0.00,0.000,516,0.000,0.044,2635,1392,3452,3473,3432,0,0,0,0,0,0,14.85,14.20,14.85
$GC,5681,-0.78,-107.1,2635,1393,3474,3432,511.3,-8.1,257,5687,0.00,2.58,0.00,0.000,1030,0.000,0.084,2627,2755,3452,3473,3432,0,0,0,0,0,0,14.17,13.91,14.23
$GC,6039,-0.78,-107.1,2628,2755,3474,3430,541.3,-8.4,266,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2755,3451,3473,3429,0,0,0,0,0,0,14.85,14.85,14.85
$GC,6375,-0.78,-107.1,2627,2756,3474,3426,570.6,-8.6,272,6379,0.00,2.45,0.00,0.000,516,0.000,0.044,2627,1387,3449,3473,3425,0,0,0,0,0,0,14.85,14.14,14.85
$GC,6431,-0.78,-107.1,2627,1387,3473,3427,575.5,-8.9,280,6436,0.10,2.62,0.00,0.000,3078,0.233,0.085,2645,2756,3449,3473,3425,0,0,0,0,0,0,13.78,13.85,14.03
$GC,6767,-0.78,-107.1,2646,2756,3472,3420,602.3,-8.0,293,6772,0.00,2.47,0.00,0.000,516,0.000,0.044,2653,1381,3448,3471,3425,0,0,0,0,0,0,14.85,14.14,14.85
$GC,6815,-0.86,-107.1,2645,1378,3473,3425,606.2,-8.0,300,6821,0.00,2.65,0.00,0.000,1158,0.000,0.085,2637,2756,3447,3470,3425,0,0,0,0,0,0,14.09,13.83,14.16
$GC,7159,-0.86,-107.1,2638,2757,3470,3426,633.6,-8.0,307,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2757,3447,3470,3425,0,0,0,0,0,0,14.81,14.81,14.81
$GC,7495,-0.86,-107.1,2638,2757,3467,3426,659.9,-7.8,313,7500,0.00,2.47,0.00,0.000,516,0.000,0.045,2637,1382,3445,3466,3424,0,0,0,0,0,0,14.85,14.13,14.85
$GC,7536,-0.86,-107.1,2637,1377,3467,3425,663.2,-7.9,319,7541,0.00,2.62,0.00,0.000,1030,0.000,0.083,2628,2755,3444,3466,3423,0,0,0,0,0,0,14.10,13.83,14.16
$GC,7887,-0.86,-107.1,2628,2754,3466,3421,690.3,-7.6,327,7892,0.00,2.45,0.00,0.000,548,0.000,0.044,2627,1392,3443,3466,3421,0,0,0,0,0,0,14.80,14.11,14.80
$GC,7943,-0.86,-107.1,2627,1393,3467,3421,694.6,-7.7,335,7948,0.00,2.62,0.00,0.000,1030,0.000,0.084,2617,2753,3443,3466,3420,0,0,0,0,0,0,14.06,13.79,14.12
$GC,8279,-0.86,-107.1,2618,2753,3465,3420,720.1,-7.6,348,8280,0.00,0.00,0.00,0.000,38,0.000,0.000,2618,2751,3442,3464,3420,0,0,0,0,0,0,14.83,14.83,14.84
$GC,8615,-0.86,-107.1,2617,2752,3463,3421,745.6,-7.6,354,8620,0.00,2.45,0.00,0.000,548,0.000,0.044,2617,1392,3443,3463,3423,0,0,0,0,0,0,14.83,14.09,14.83
$GC,8671,-0.86,-107.1,2616,1392,3463,3421,750.2,-8.4,362,8675,0.00,2.60,0.00,0.000,1030,0.000,0.084,2607,2748,3441,3463,3420,0,0,0,0,0,0,14.03,13.76,14.08
$GC,9007,-0.86,-107.1,2609,2748,3463,3419,778.3,-8.5,375,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2748,3438,3459,3418,0,0,0,0,0,0,14.83,14.83,14.81
$STATE,9283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9283,begin apogee
$GC,9292,-0.23,0.0,2609,2256,3463,3418,803.7,-9.1,380,9408,0.77,0.00,113.65,1.802,10244,0.181,0.000,2825,2255,3049,3090,3009,0,0,0,0,0,0,13.64,13.93,13.01
$STATE,9409,end apogee,CONTROL_FINISHED_OK
$STATE,9409,begin climb
$GC,9413,0.93,107.1,2825,2255,3083,3000,807.5,0.0,382,9542,1.12,2.60,115.62,1.766,10756,0.087,0.056,3195,841,2619,2679,2560,0,0,0,0,0,0,13.96,14.00,12.96
$GC,9571,0.87,188.8,3188,842,2679,2544,806.7,3.6,406,9666,0.00,2.58,90.05,1.727,9382,0.000,0.060,3188,2257,2298,2379,2217,0,0,0,0,0,0,14.22,14.09,13.01
$GC,10022,0.77,188.8,3188,2258,2371,2184,764.7,10.2,428,10027,0.10,2.72,0.00,0.000,4484,0.242,0.123,3155,3658,2277,2371,2184,0,0,0,0,0,0,14.03,14.02,14.17
$GC,10069,0.68,188.8,3155,3659,2382,2184,759.4,10.5,435,10075,0.15,2.50,0.00,0.000,5254,0.219,0.044,3124,2229,2277,2371,2184,0,0,0,0,0,0,13.98,14.33,14.28
$GC,10413,0.68,188.8,3125,2227,2372,2180,731.6,8.0,442,10418,0.00,2.83,0.00,0.000,260,0.000,0.123,3123,3657,2275,2370,2180,0,0,0,0,0,0,14.78,13.98,14.78
$GC,10460,0.68,188.8,3124,3657,2371,2182,727.0,9.6,449,10468,0.00,2.45,0.00,0.000,1030,0.000,0.044,3133,2255,2275,2370,2180,0,0,0,0,0,0,14.42,14.33,14.45
$GC,10804,0.68,188.8,3133,2255,2372,2178,695.4,9.3,456,10809,0.00,2.80,0.00,0.000,260,0.000,0.125,3133,3659,2274,2370,2178,0,0,0,0,0,0,14.81,13.95,14.81
$GC,10838,0.68,188.8,3134,3659,2371,2180,691.8,10.6,461,10845,0.00,2.42,0.00,0.000,1030,0.000,0.044,3145,2267,2274,2370,2178,0,0,0,0,0,0,14.44,14.35,14.47
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$GC,19348,1.20,422.9,3227,2260,1572,1410,15.9,6.2,821,19372,0.10,2.70,17.98,0.209,10660,0.111,0.120,3306,3654,1363,1449,1278,0,0,0,0,0,0,14.29,14.07,13.93
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$STATE,19484,end climb,SURFACE_DEPTH_REACHED
$STATE,19484,begin surface coast
$FINISH,-1.4,1.022126
$STATE,19513,end surface coast,CONTROL_FINISHED_OK
$STATE,19513,begin surface
$SM_CCo,19537,39.50,0.152,0,0,1056,500.14
$SM_GC,-2.56,8.90,0.98,39.50,0.038,0.117,0.152,185,2762,1056,-8.39,-0.62,500.14,0,0,0,0,0,0,14.35,14.02,14.10
$IRIDIUM_FIX,938.56,-12459.70,030217,140523
$TT8_MAMPS,0.035952,0.436667
$HUMID,57.87
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,20.90
$XPDR_PINGS,1
$SC_FREEKB,3663968
$PM_FREEKB,52503360
$24V_AH,12.81,220.219
$10V_AH,12.45,0.000
$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,24.600,187.425,497.675,39.500,0.000,0.000,0.000,485.800,0.250,0.000,4.787,0.000,16558.584,767.616,2515.437,642.225,0.000,2006.813,0.000,1504.063,0.000,0.840,0.000
$DEVICE_MAMPS,379.440,128.520,1801.575,152.235,0.000,0.000,0.000,173.655,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19579.000,19525.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.616,2.446,0.000,0.000
$MEM,334788
$DATA_FILE_SIZE,30039,842
$CAP_FILE_SIZE,151737,0
$CFSIZE,1024409600,911884288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,72.84,1
$GPS,040217,012800,944.322,-12456.969,18,0.8,18,9.0,0.4,314.0,10,5.3