version: 66.13
glider: 220
mission: 6
dive: 660
start: 2 8 117 12 4 40
data:
$ID,220
$MISSION,6
$DIVE,660
$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,50
$R_STBD_OVSHOOT,19
$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
$GPS1,080217,115100,1014.0872,-12456.6855,19,1.0,19,9.0,1.2,251.7,8,3.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.70
$_SM_ANGLEo,-70.1
$GPS2,080217,120414,1014.1365,-12456.6943,2,1.1,3,9.0,0.9,334.4,7,5.1
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,334.0,10974,-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,-107.1,107,2773,1103,1019,0.0,0.0,0,102,0.00,0.00,-81.60,0.000,16390,0.000,0.000,106,2774,3477,3463,3492,0,0,0,0,0,0,14.62,12.65,14.56
$GC,106,-0.93,-107.1,107,2774,3469,3492,2.9,-9.9,3,123,11.95,2.00,0.00,0.000,2308,0.381,0.104,2585,3832,3480,3470,3491,0,0,0,0,0,0,13.91,14.26,14.29
$GC,215,-0.65,-107.1,2585,3833,3473,3491,39.4,-24.1,19,220,0.38,1.80,0.00,0.000,3206,0.225,0.045,2687,2740,3481,3472,3491,0,0,0,0,0,0,13.93,14.42,14.22
$GC,551,-0.65,-107.1,2688,2740,3477,3490,66.6,-7.0,34,556,0.00,2.12,0.00,0.000,292,0.000,0.128,2680,3824,3483,3476,3490,0,0,0,0,0,0,14.76,13.96,14.76
$GC,607,-0.65,-107.1,2680,3826,3477,3489,70.9,-8.2,42,611,0.00,1.77,0.00,0.000,1030,0.000,0.049,2679,2766,3487,3485,3489,0,0,0,0,0,0,14.45,14.40,14.46
$GC,943,-0.65,-107.1,2680,2772,3478,3490,97.7,-8.5,57,948,0.00,2.08,0.00,0.000,260,0.000,0.127,2671,3822,3482,3477,3488,0,0,0,0,0,0,14.78,13.88,14.78
$GC,1173,-0.65,-107.1,2671,3823,3479,3488,118.1,-7.7,90,1178,0.00,1.83,0.00,0.000,1062,0.000,0.050,2671,2738,3483,3478,3488,0,0,0,0,0,0,14.40,14.33,14.42
$GC,1503,-0.65,-107.1,2671,2739,3479,3485,141.7,-7.2,102,1508,0.00,2.35,0.00,0.000,548,0.000,0.041,2671,1386,3481,3477,3486,0,0,0,0,0,0,14.81,14.25,14.83
$GC,1544,-0.73,-107.1,2674,1386,3479,3486,144.8,-7.3,108,1549,0.00,2.58,0.00,0.000,1190,0.000,0.082,2662,2767,3480,3477,3483,0,0,0,0,0,0,14.23,13.97,14.28
$GC,1895,-0.73,-107.1,2663,2764,3478,3482,172.9,-8.4,116,1900,0.00,2.08,0.00,0.000,260,0.000,0.131,2654,3826,3479,3477,3481,0,0,0,0,0,0,14.82,13.86,14.82
$GC,1922,-0.73,-107.1,2654,3826,3478,3481,175.6,-9.6,120,1927,0.00,1.83,0.00,0.000,1030,0.000,0.050,2654,2766,3479,3478,3481,0,0,0,0,0,0,14.34,14.32,14.35
$GC,2287,-0.73,-107.1,2654,2767,3478,3477,208.7,-8.7,130,2292,0.00,2.42,0.00,0.000,516,0.000,0.044,2654,1383,3476,3477,3476,0,0,0,0,0,0,14.85,14.14,14.85
$GC,2377,-0.73,-107.1,2656,1383,3478,3476,215.9,-7.8,143,2382,0.00,2.58,0.00,0.000,1030,0.000,0.081,2645,2756,3475,3477,3474,0,0,0,0,0,0,14.10,13.85,14.15
$GC,2735,-0.73,-107.1,2645,2757,3478,3470,245.7,-8.4,152,2740,0.00,2.45,0.00,0.000,516,0.000,0.043,2645,1374,3473,3477,3470,0,0,0,0,0,0,14.83,14.19,14.85
$GC,2776,-0.73,-107.1,2645,1374,3478,3471,249.2,-8.2,158,2781,0.00,2.62,0.00,0.000,1030,0.000,0.082,2637,2766,3473,3477,3469,0,0,0,0,0,0,14.16,13.90,14.22
$GC,3127,-0.73,-107.1,2637,2766,3477,3467,278.9,-8.5,166,3132,0.00,2.08,0.00,0.000,260,0.000,0.129,2629,3826,3471,3477,3465,0,0,0,0,0,0,14.81,13.73,14.83
$GC,3175,-0.73,-107.1,2629,3826,3478,3466,283.2,-9.0,173,3182,0.10,1.85,0.00,0.000,3078,0.199,0.052,2665,2776,3471,3477,3465,0,0,0,0,0,0,13.81,14.22,14.07
$GC,3519,-0.81,-107.1,2665,2778,3478,3462,308.5,-7.5,180,3524,0.00,2.50,0.00,0.000,676,0.000,0.044,2665,1361,3469,3477,3461,0,0,0,0,0,0,14.81,14.14,14.80
$GC,3602,-0.91,-107.1,2665,1363,3478,3461,315.0,-7.8,192,3607,0.10,2.62,0.00,0.000,5254,0.113,0.079,2578,2756,3468,3477,3460,0,0,0,0,0,0,14.13,13.90,14.23
$GC,3967,-0.83,-107.1,2578,2756,3478,3456,356.9,-11.9,202,3972,0.15,2.10,0.00,0.000,2436,0.231,0.125,2616,3829,3466,3477,3456,0,0,0,0,0,0,13.83,13.68,14.00
$GC,4085,-0.83,-107.1,2617,3827,3477,3457,369.5,-10.2,219,4090,0.00,1.90,0.00,0.000,1030,0.000,0.050,2616,2743,3466,3477,3455,0,0,0,0,0,0,14.26,14.23,14.27
$GC,4415,-0.83,-107.1,2617,2744,3478,3453,400.7,-9.4,231,4420,0.00,2.42,0.00,0.000,516,0.000,0.044,2616,1376,3464,3477,3452,0,0,0,0,0,0,14.81,14.11,14.81
$GC,4484,-0.83,-107.1,2616,1376,3478,3452,407.1,-9.1,241,4490,0.00,2.60,0.00,0.000,1030,0.000,0.077,2606,2755,3464,3477,3451,0,0,0,0,0,0,14.12,13.86,14.16
$GC,4807,-0.83,-107.1,2607,2757,3478,3449,437.8,-9.6,252,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2756,3465,3479,3452,0,0,0,0,0,0,14.84,14.84,14.84
$GC,5143,-0.83,-107.1,2607,2756,3477,3447,469.6,-9.3,258,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2756,3461,3477,3445,0,0,0,0,0,0,14.83,14.83,14.83
$GC,5479,-0.83,-107.1,2607,2757,3478,3443,500.8,-9.3,264,5483,0.00,2.47,0.00,0.000,516,0.000,0.043,2605,1377,3460,3477,3443,0,0,0,0,0,0,14.83,14.10,14.83
$GC,5520,-0.83,-107.1,2606,1377,3477,3444,504.7,-9.2,270,5525,0.12,2.60,0.00,0.000,3078,0.232,0.078,2624,2757,3459,3477,3442,0,0,0,0,0,0,13.69,13.83,13.96
$GC,5871,-0.83,-107.1,2631,2755,3477,3441,532.8,-7.9,278,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2755,3458,3477,3440,0,0,0,0,0,0,14.83,14.83,14.83
$GC,6207,-0.83,-107.1,2631,2757,3478,3437,558.7,-7.7,284,6212,0.00,2.47,0.00,0.000,548,0.000,0.043,2631,1379,3457,3477,3437,0,0,0,0,0,0,14.80,13.98,14.80
$GC,6255,-0.83,-107.1,2630,1380,3479,3436,562.6,-7.7,291,6261,0.00,2.60,0.00,0.000,1030,0.000,0.078,2622,2751,3457,3477,3437,0,0,0,0,0,0,14.04,13.78,14.09
$GC,6599,-0.83,-107.1,2621,2751,3477,3435,591.1,-8.4,298,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2751,3454,3476,3433,0,0,0,0,0,0,14.79,14.79,14.79
$GC,6935,-0.83,-107.1,2621,2752,3478,3432,619.7,-8.5,304,6939,0.00,2.47,0.00,0.000,516,0.000,0.044,2620,1376,3454,3476,3432,0,0,0,0,0,0,14.78,14.04,14.78
$GC,6969,-0.83,-107.1,2621,1376,3477,3433,622.8,-9.2,309,6975,0.00,2.62,0.00,0.000,1030,0.000,0.080,2610,2759,3454,3476,3432,0,0,0,0,0,0,14.04,13.76,14.10
$GC,7327,-0.83,-107.1,2612,2757,3467,3431,654.4,-8.7,318,7332,0.00,2.12,0.00,0.000,260,0.000,0.131,2604,3825,3452,3473,3432,0,0,0,0,0,0,14.82,13.64,14.82
$GC,7375,-0.83,-107.1,2604,3825,3472,3433,658.9,-9.4,325,7382,0.00,1.92,0.00,0.000,1030,0.000,0.053,2603,2755,3452,3472,3432,0,0,0,0,0,0,14.12,14.08,14.13
$GC,7719,-0.83,-107.1,2603,2755,3471,3433,688.2,-8.4,332,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2755,3451,3471,3432,0,0,0,0,0,0,14.77,14.76,14.77
$GC,8055,-0.83,-107.1,2603,2756,3472,3432,716.0,-8.3,338,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2755,3451,3470,3432,0,0,0,0,0,0,14.77,14.78,14.77
$GC,8391,-0.83,-107.1,2603,2755,3463,3430,744.1,-8.4,344,8392,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2755,3449,3470,3429,0,0,0,0,0,0,14.77,14.77,14.77
$GC,8727,-0.83,-107.1,2603,2756,3471,3427,772.9,-8.6,350,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2755,3448,3470,3427,0,0,0,0,0,0,14.81,14.82,14.82
$STATE,9059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9059,begin apogee
$GC,9069,-0.23,0.0,2603,2213,3468,3426,802.4,-8.8,356,9186,0.77,0.10,114.55,1.815,10244,0.181,0.178,2819,2275,3049,3086,3012,0,0,0,0,0,0,13.59,13.89,13.01
$STATE,9188,end apogee,CONTROL_FINISHED_OK
$STATE,9188,begin climb
$GC,9192,0.93,107.1,2820,2275,3080,3003,805.9,0.0,358,9323,1.15,2.53,116.80,1.765,10756,0.096,0.054,3186,887,2617,2677,2558,0,0,0,0,0,0,13.91,13.99,12.98
$GC,9365,0.85,149.2,3186,887,2674,2545,803.2,5.6,385,9419,0.00,2.42,46.38,1.778,9382,0.000,0.056,3186,2242,2447,2519,2375,0,0,0,0,0,0,14.23,14.11,13.00
$GC,9740,0.73,149.2,3186,2243,2518,2355,771.6,9.0,403,9745,0.15,2.70,0.00,0.000,4484,0.225,0.112,3138,3649,2436,2517,2355,0,0,0,0,0,0,13.95,14.05,14.10
$GC,9795,0.64,149.2,3143,3648,2517,2356,766.4,8.8,411,9800,0.15,2.38,0.00,0.000,5254,0.233,0.046,3109,2272,2435,2517,2354,0,0,0,0,0,0,13.88,14.34,14.19
$GC,10131,0.67,170.5,3109,2269,2518,2345,743.9,6.7,424,10157,0.00,2.65,21.77,1.832,8484,0.000,0.117,3107,3651,2365,2448,2282,0,0,0,0,0,0,14.74,14.12,13.30
$GC,10179,0.68,176.8,3108,3651,2442,2274,740.4,7.4,431,10186,0.00,2.42,1.45,0.226,9254,0.000,0.046,3117,2249,2342,2425,2260,0,0,0,0,0,0,14.47,14.40,14.15
$GC,10523,0.68,176.8,3118,2248,2424,2274,713.1,8.0,438,10528,0.00,2.75,0.00,0.000,260,0.000,0.119,3117,3653,2349,2426,2273,0,0,0,0,0,0,14.73,14.04,14.73
$GC,10571,0.68,176.8,3118,3652,2426,2272,708.7,9.1,445,10578,0.00,2.45,0.00,0.000,1030,0.000,0.044,3127,2247,2348,2424,2272,0,0,0,0,0,0,14.43,14.35,14.45
$GC,10915,0.68,176.8,3127,2245,2426,2272,680.3,8.3,452,10920,0.00,2.78,0.00,0.000,260,0.000,0.121,3127,3655,2348,2425,2272,0,0,0,0,0,0,14.79,13.97,14.79
$GC,10949,0.68,176.8,3133,3656,2426,2272,677.1,9.2,457,10955,0.00,2.42,0.00,0.000,1030,0.000,0.044,3137,2248,2348,2425,2272,0,0,0,0,0,0,14.44,14.35,14.45
$GC,11307,0.68,176.8,3136,2249,2427,2271,646.5,8.4,466,11312,0.00,2.78,0.00,0.000,260,0.000,0.119,3137,3650,2348,2425,2271,0,0,0,0,0,0,14.79,13.94,14.79
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$GC,15542,0.72,215.0,3140,2259,2297,2142,306.5,7.5,637,15547,0.00,0.00,3.85,1.089,8230,0.000,0.000,3140,2258,2193,2275,2111,0,0,0,0,0,0,14.79,14.33,13.31
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$STATE,19423,end climb,SURFACE_DEPTH_REACHED
$STATE,19423,begin surface coast
$FINISH,-1.0,1.022224
$STATE,19451,end surface coast,CONTROL_FINISHED_OK
$STATE,19451,begin surface
$SM_CCo,19477,40.72,0.152,0,0,1057,500.14
$SM_GC,-2.90,9.30,0.95,40.72,0.076,0.110,0.152,191,2767,1057,-8.39,-0.45,500.14,0,0,0,0,0,0,14.30,13.99,14.12
$IRIDIUM_FIX,1009.21,-12452.52,080217,061952
$TT8_MAMPS,0.038948,0.197736
$HUMID,58.34
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,20.60
$XPDR_PINGS,3
$SC_FREEKB,3656288
$PM_FREEKB,52276544
$24V_AH,12.65,226.235
$10V_AH,12.40,0.000
$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,24.900,182.825,479.625,40.725,0.000,0.000,0.000,409.975,0.750,0.000,5.241,0.000,16485.203,767.158,2391.036,651.003,0.000,1908.436,0.000,1466.797,0.000,0.840,0.000
$DEVICE_MAMPS,380.970,178.245,1832.175,152.235,0.000,0.000,0.000,171.360,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19516.000,19465.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.566,2.435,0.000,0.000
$MEM,334708
$DATA_FILE_SIZE,30017,817
$CAP_FILE_SIZE,146996,0
$CFSIZE,1024409600,908951552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.038,304.18,1
$GPS,080217,173108,1015.885,-12457.610,34,1.1,34,9.0,0.5,145.0,7,5.9