version: 66.13
glider: 220
mission: 6
dive: 653
start: 2 6 117 20 22 6
data:
$ID,220
$MISSION,6
$DIVE,653
$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,45
$R_STBD_OVSHOOT,9
$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
$GPS1,060217,200930,1002.6132,-12444.9961,19,1.2,19,9.0,0.4,325.6,7,9.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.15
$_SM_ANGLEo,-67.0
$GPS2,060217,202144,1002.6245,-12445.0664,2,1.3,4,9.0,0.6,236.5,7,8.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,321.0,40869,-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,-107.1,106,2770,1100,1015,0.0,0.0,0,101,0.00,0.00,-80.18,0.000,16390,0.000,0.000,106,2771,3478,3469,3487,0,0,0,0,0,0,14.64,12.97,14.58
$GC,106,-0.93,-107.1,107,2771,3470,3488,3.6,-11.8,3,122,11.90,1.98,0.00,0.000,2308,0.380,0.101,2576,3842,3482,3478,3487,0,0,0,0,0,0,13.93,14.23,14.20
$GC,305,-0.72,-107.1,2574,3843,3472,3486,58.8,-12.4,32,310,0.28,1.85,0.00,0.000,3206,0.201,0.043,2662,2747,3479,3472,3487,0,0,0,0,0,0,13.98,14.38,14.24
$GC,635,-0.72,-107.1,2662,2748,3477,3487,84.9,-7.2,46,640,0.00,2.35,0.00,0.000,548,0.000,0.044,2662,1390,3481,3476,3486,0,0,0,0,0,0,14.78,14.26,14.78
$GC,753,-0.72,-107.1,2662,1391,3477,3487,93.5,-7.4,63,758,0.00,2.58,0.00,0.000,1062,0.000,0.085,2657,2772,3481,3477,3486,0,0,0,0,0,0,14.26,14.02,14.31
$GC,1083,-0.72,-107.1,2654,2769,3477,3487,121.4,-8.8,73,1089,0.00,2.42,0.00,0.000,516,0.000,0.043,2653,1387,3481,3476,3486,0,0,0,0,0,0,14.81,14.24,14.81
$GC,1131,-0.72,-107.1,2655,1389,3477,3486,126.2,-9.7,80,1138,0.00,2.60,0.00,0.000,1030,0.000,0.086,2644,2760,3481,3476,3486,0,0,0,0,0,0,14.25,13.98,14.30
$GC,1475,-0.72,-107.1,2644,2760,3477,3483,156.5,-8.5,87,1479,0.00,2.42,0.00,0.000,516,0.000,0.042,2643,1382,3479,3476,3482,0,0,0,0,0,0,14.82,14.25,14.83
$GC,1531,-0.72,-107.1,2644,1382,3477,3482,161.4,-8.8,95,1536,0.10,2.62,0.00,0.000,3078,0.240,0.088,2663,2769,3479,3476,3482,0,0,0,0,0,0,13.93,14.00,14.18
$GC,1867,-0.72,-107.1,2665,2769,3474,3478,189.6,-8.5,108,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2769,3473,3475,3472,0,0,0,0,0,0,14.83,14.83,14.83
$GC,2203,-0.72,-107.1,2663,2770,3477,3472,214.7,-7.2,114,2208,0.00,2.45,0.00,0.000,548,0.000,0.043,2663,1389,3473,3476,3471,0,0,0,0,0,0,14.82,14.23,14.82
$GC,2237,-0.80,-107.1,2664,1388,3477,3472,217.1,-7.1,119,2242,0.00,2.58,0.00,0.000,1190,0.000,0.087,2655,2757,3475,3476,3475,0,0,0,0,0,0,14.24,13.98,14.29
$GC,2595,-0.80,-107.1,2655,2759,3479,3467,244.8,-8.0,128,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2758,3472,3476,3468,0,0,0,0,0,0,14.85,14.85,14.85
$GC,2931,-0.80,-107.1,2651,2753,3475,3464,272.2,-8.1,134,2935,0.00,2.12,0.00,0.000,260,0.000,0.139,2647,3830,3469,3476,3462,0,0,0,0,0,0,14.83,13.81,14.83
$GC,2958,-0.80,-107.1,2647,3830,3478,3462,274.6,-8.7,138,2963,0.00,1.80,0.00,0.000,1030,0.000,0.051,2646,2771,3469,3476,3462,0,0,0,0,0,0,14.42,14.34,14.44
$GC,3323,-0.80,-107.1,2647,2772,3477,3458,307.3,-9.1,148,3328,0.00,2.47,0.00,0.000,516,0.000,0.044,2646,1367,3467,3476,3458,0,0,0,0,0,0,14.83,14.16,14.83
$GC,3406,-0.80,-107.1,2646,1368,3477,3457,315.0,-9.1,160,3411,0.00,2.65,0.00,0.000,1030,0.000,0.086,2640,2754,3465,3476,3455,0,0,0,0,0,0,14.05,13.43,14.14
$GC,3771,-0.80,-107.1,2640,2754,3475,3454,347.3,-8.6,170,3775,0.00,2.15,0.00,0.000,260,0.000,0.138,2631,3832,3464,3476,3453,0,0,0,0,0,0,14.83,13.83,14.83
$GC,3805,-0.80,-107.1,2632,3832,3476,3454,350.3,-8.9,175,3810,0.00,1.90,0.00,0.000,1030,0.000,0.050,2630,2744,3464,3476,3452,0,0,0,0,0,0,14.31,14.28,14.33
$GC,4163,-0.80,-107.1,2630,2745,3477,3450,379.2,-8.0,184,4168,0.00,2.42,0.00,0.000,516,0.000,0.044,2630,1378,3463,3476,3450,0,0,0,0,0,0,14.82,14.12,14.82
$GC,4190,-0.80,-107.1,2631,1377,3477,3449,381.5,-8.2,188,4195,0.00,2.62,0.00,0.000,1030,0.000,0.085,2621,2765,3462,3476,3449,0,0,0,0,0,0,14.15,13.89,14.21
$GC,4555,-0.80,-107.1,2621,2765,3477,3445,411.4,-8.2,198,4560,0.00,2.47,0.00,0.000,516,0.000,0.044,2621,1378,3460,3475,3445,0,0,0,0,0,0,14.81,14.18,14.81
$GC,4596,-0.80,-107.1,2621,1379,3477,3445,414.9,-8.4,204,4601,0.10,2.62,0.00,0.000,3078,0.240,0.086,2639,2760,3460,3476,3445,0,0,0,0,0,0,13.81,13.89,14.07
$GC,4947,-0.80,-107.1,2640,2760,3476,3444,442.2,-7.9,212,4952,0.00,2.47,0.00,0.000,516,0.000,0.044,2639,1372,3459,3476,3442,0,0,0,0,0,0,14.81,14.16,14.81
$GC,4988,-0.80,-107.1,2639,1373,3477,3442,445.7,-8.4,218,4993,0.00,2.62,0.00,0.000,1030,0.000,0.086,2628,2754,3458,3475,3442,0,0,0,0,0,0,14.14,13.87,14.20
$GC,5339,-0.80,-107.1,2630,2755,3477,3438,475.4,-8.4,226,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2754,3457,3476,3438,0,0,0,0,0,0,14.85,14.85,14.85
$GC,5675,-0.80,-107.1,2630,2755,3477,3436,502.1,-7.8,232,5680,0.00,2.15,0.00,0.000,260,0.000,0.139,2622,3824,3456,3477,3436,0,0,0,0,0,0,14.84,13.79,14.84
$GC,5709,-0.80,-107.1,2622,3825,3476,3436,504.8,-8.0,237,5715,0.00,1.90,0.00,0.000,1030,0.000,0.052,2620,2752,3454,3473,3436,0,0,0,0,0,0,14.26,14.22,14.31
$GC,6067,-0.80,-107.1,2620,2755,3476,3433,533.2,-8.1,246,6071,0.00,2.45,0.00,0.000,516,0.000,0.043,2620,1370,3454,3475,3433,0,0,0,0,0,0,14.85,14.12,14.85
$GC,6101,-0.80,-107.1,2621,1370,3476,3434,536.2,-8.8,251,6106,0.10,2.65,0.00,0.000,3078,0.236,0.083,2639,2751,3454,3475,3433,0,0,0,0,0,0,13.75,13.83,14.00
$GC,6459,-0.80,-107.1,2640,2751,3476,3432,566.4,-8.6,260,6464,0.00,2.15,0.00,0.000,260,0.000,0.137,2631,3825,3453,3475,3431,0,0,0,0,0,0,14.84,13.65,14.84
$GC,6500,-0.80,-107.1,2632,3825,3476,3432,570.4,-9.9,266,6505,0.00,1.88,0.00,0.000,1030,0.000,0.052,2630,2740,3452,3475,3430,0,0,0,0,0,0,14.32,14.24,14.33
$GC,6851,-0.80,-107.1,2632,2740,3478,3429,605.0,-10.0,274,6855,0.00,2.42,0.00,0.000,516,0.000,0.043,2631,1371,3451,3476,3427,0,0,0,0,0,0,14.84,14.11,14.84
$GC,6885,-0.80,-107.1,2631,1371,3476,3429,608.5,-10.2,279,6890,0.00,2.62,0.00,0.000,1030,0.000,0.082,2622,2749,3451,3475,3427,0,0,0,0,0,0,14.08,13.81,14.14
$GC,7243,-0.80,-107.1,2618,2750,3473,3426,643.4,-9.6,288,7248,0.00,2.17,0.00,0.000,260,0.000,0.133,2614,3830,3448,3470,3427,0,0,0,0,0,0,14.83,13.63,14.83
$GC,7333,-0.80,-107.1,2614,3835,3472,3426,651.9,-9.3,301,7339,0.00,1.92,0.00,0.000,1030,0.000,0.051,2613,2750,3449,3472,3427,0,0,0,0,0,0,14.07,14.04,14.09
$GC,7691,-0.80,-107.1,2613,2751,3471,3427,681.8,-8.1,310,7696,0.08,2.45,0.00,0.000,2564,0.254,0.041,2639,1371,3448,3470,3427,0,0,0,0,0,0,14.02,14.07,14.10
$GC,7747,-0.88,-107.1,2641,1372,3471,3428,685.8,-6.8,318,7752,0.00,2.65,0.00,0.000,1190,0.000,0.086,2631,2750,3448,3470,3426,0,0,0,0,0,0,14.12,13.85,14.17
$GC,8083,-0.88,-107.1,2632,2750,3471,3426,707.7,-6.5,331,8088,0.00,2.17,0.00,0.000,292,0.000,0.138,2623,3825,3447,3470,3425,0,0,0,0,0,0,14.78,13.70,14.78
$GC,8124,-0.88,-107.1,2623,3825,3471,3426,710.6,-7.0,337,8130,0.00,1.88,0.00,0.000,1062,0.000,0.052,2622,2746,3447,3470,3425,0,0,0,0,0,0,14.29,14.21,14.31
$GC,8475,-0.88,-107.1,2623,2746,3468,3431,734.2,-6.9,345,8481,0.00,2.47,0.00,0.000,548,0.000,0.044,2622,1369,3445,3467,3424,0,0,0,0,0,0,14.78,14.00,14.78
$GC,8551,-0.88,-107.1,2622,1368,3468,3424,739.7,-7.2,356,8556,0.00,2.67,0.00,0.000,1062,0.000,0.085,2613,2756,3444,3467,3422,0,0,0,0,0,0,14.07,13.80,14.12
$GC,8867,-0.88,-107.1,2613,2757,3469,3421,764.9,-8.2,366,8872,0.00,2.17,0.00,0.000,260,0.000,0.135,2604,3830,3444,3467,3421,0,0,0,0,0,0,14.78,13.66,14.78
$GC,8908,-0.88,-107.1,2604,3829,3465,3421,768.7,-9.2,372,8913,0.00,1.92,0.00,0.000,1030,0.000,0.050,2601,2749,3443,3466,3421,0,0,0,0,0,0,14.15,14.12,14.16
$STATE,9255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9255,begin apogee
$GC,9265,-0.23,0.0,2603,2204,3465,3422,800.1,-9.1,380,9372,0.77,0.12,99.82,2.528,10244,0.176,0.154,2821,2273,3051,3090,3012,0,0,0,0,1,0,13.62,13.80,12.57
$STATE,9374,end apogee,CONTROL_FINISHED_OK
$STATE,9374,begin climb
$GC,9378,0.93,107.1,2822,2273,3091,3025,804.2,0.0,382,9514,1.12,2.55,125.35,1.818,10756,0.090,0.055,3185,885,2624,2685,2563,0,0,0,0,0,0,13.91,13.94,12.93
$GC,9577,0.86,162.9,3185,886,2679,2542,803.1,4.9,411,9645,0.00,2.45,61.70,1.786,9382,0.000,0.060,3185,2247,2398,2475,2321,0,0,0,0,0,0,14.29,14.17,13.01
$GC,9994,0.76,162.9,3186,2247,2472,2299,768.9,8.7,428,9999,0.10,2.72,0.00,0.000,4484,0.240,0.120,3151,3650,2384,2471,2298,0,0,0,0,0,0,14.03,14.06,14.19
$GC,10034,0.65,162.9,3149,3650,2471,2299,765.0,8.8,434,10039,0.17,2.38,0.00,0.000,5254,0.220,0.045,3113,2276,2384,2470,2298,0,0,0,0,0,0,14.00,14.37,14.29
$GC,10385,0.68,185.0,3114,2272,2471,2296,741.9,6.6,442,10412,0.00,2.58,22.85,1.846,8740,0.000,0.060,3123,862,2306,2394,2219,0,0,0,0,0,0,14.78,14.28,13.28
$GC,10433,0.71,207.6,3130,863,2392,2209,738.5,6.6,449,10468,0.00,2.50,26.10,1.828,9254,0.000,0.061,3123,2258,2212,2303,2122,0,0,0,0,0,0,14.44,14.31,13.21
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$GC,19149,1.09,385.4,3271,2266,1599,1432,15.4,8.1,797,19155,0.00,2.75,0.00,0.000,260,0.000,0.128,3270,3656,1514,1597,1432,0,0,0,0,0,0,14.72,13.84,14.72
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$STATE,19285,end climb,SURFACE_DEPTH_REACHED
$STATE,19285,begin surface coast
$FINISH,-1.2,1.022186
$STATE,19313,end surface coast,CONTROL_FINISHED_OK
$STATE,19313,begin surface
$SM_CCo,19338,57.53,0.154,0,0,1057,500.14
$SM_GC,-3.24,9.30,1.05,57.53,0.074,0.109,0.154,194,2763,1057,-8.38,-0.57,500.14,0,0,0,0,0,0,14.25,13.95,14.10
$IRIDIUM_FIX,958.26,-12443.37,060217,144919
$TT8_MAMPS,0.038199,0.423934
$HUMID,59.17
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.00
$XPDR_PINGS,5
$SC_FREEKB,3658976
$PM_FREEKB,52356032
$24V_AH,12.57,224.098
$10V_AH,12.30,0.000
$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,24.600,193.050,439.025,57.525,0.000,0.000,0.000,355.300,1.250,0.000,6.119,0.000,16392.486,749.252,2326.010,643.471,0.000,1841.879,0.000,1457.535,0.000,0.838,0.000
$DEVICE_MAMPS,380.205,153.765,2528.325,153.765,0.000,0.000,0.000,176.715,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19376.000,19325.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.590,2.440,0.000,0.000
$MEM,334724
$DATA_FILE_SIZE,30043,812
$CAP_FILE_SIZE,146505,0
$CFSIZE,1024409600,909983744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.047,307.92,1
$GPS,070217,014630,1004.376,-12446.541,32,1.1,32,9.0,0.9,247.9,7,6.4