version: 66.13
glider: 220
mission: 6
dive: 678
start: 2 12 117 16 49 27
data:
$ID,220
$MISSION,6
$DIVE,678
$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,17
$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
$GPS1,120217,163539,954.7031,-12512.4365,16,1.7,17,9.0,0.5,311.5,5,10.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.14
$_SM_ANGLEo,-70.5
$GPS2,120217,164901,954.7239,-12512.4043,4,1.6,7,9.0,0.8,107.9,5,9.7
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,128.0,34166,-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,-107.1,106,2786,1102,1018,0.0,0.0,0,102,0.00,0.00,-81.72,0.000,16390,0.000,0.000,106,2783,3478,3468,3488,0,0,0,0,0,0,14.62,12.66,14.57
$GC,106,-0.93,-107.1,107,2785,3469,3490,0.9,-8.7,3,123,12.00,2.50,0.00,0.000,2564,0.381,0.040,2591,1358,3479,3470,3488,0,0,0,0,0,0,13.90,14.36,14.30
$GC,165,-0.68,-107.1,2591,1357,3472,3489,23.6,-23.2,12,170,0.35,2.72,0.00,0.000,3206,0.245,0.109,2672,2766,3479,3471,3487,0,0,0,0,0,0,13.97,14.08,14.26
$GC,495,-0.68,-107.1,2672,2766,3473,3489,66.6,-7.8,26,500,0.00,2.12,0.00,0.000,260,0.000,0.155,2666,3825,3482,3478,3487,0,0,0,0,0,0,14.78,13.85,14.78
$GC,732,-0.68,-107.1,2665,3826,3476,3487,85.9,-8.4,60,737,0.00,1.85,0.00,0.000,1030,0.000,0.051,2666,2735,3481,3475,3487,0,0,0,0,0,0,14.32,14.30,14.33
$GC,1083,-0.68,-107.1,2666,2735,3478,3487,113.7,-8.0,71,1088,0.00,2.22,0.00,0.000,260,0.000,0.148,2657,3826,3482,3477,3487,0,0,0,0,0,0,14.83,13.80,14.83
$GC,1173,-0.68,-107.1,2657,3827,3478,3487,121.9,-8.9,84,1178,0.00,1.80,0.00,0.000,1030,0.000,0.053,2657,2781,3482,3477,3487,0,0,0,0,0,0,14.28,14.25,14.29
$GC,1531,-0.68,-107.1,2657,2781,3476,3487,148.7,-7.2,93,1536,0.00,2.45,0.00,0.000,548,0.000,0.046,2657,1390,3481,3476,3486,0,0,0,0,0,0,14.80,14.17,14.80
$GC,1656,-0.68,-107.1,2658,1390,3477,3482,158.1,-7.8,111,1661,0.10,2.67,0.00,0.000,3078,0.225,0.103,2676,2775,3479,3476,3483,0,0,0,0,0,0,13.83,13.84,14.08
$GC,1979,-0.76,-107.1,2676,2775,3476,3481,184.6,-8.4,122,1984,0.00,2.47,0.00,0.000,644,0.000,0.046,2670,1387,3477,3476,3479,0,0,0,0,0,0,14.83,14.21,14.83
$GC,2013,-0.85,-107.1,2676,1388,3477,3479,187.4,-8.3,127,2018,0.08,2.65,0.00,0.000,5254,0.140,0.097,2601,2763,3477,3476,3478,0,0,0,0,0,0,14.11,13.85,14.23
$GC,2371,-0.85,-107.1,2600,2765,3477,3473,223.5,-9.9,136,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2764,3474,3476,3473,0,0,0,0,0,0,14.83,14.83,14.84
$GC,2707,-0.85,-107.1,2600,2764,3475,3470,257.0,-10.1,142,2712,0.00,2.15,0.00,0.000,260,0.000,0.150,2592,3825,3472,3475,3469,0,0,0,0,0,0,14.84,13.82,14.84
$GC,2763,-0.85,-107.1,2591,3826,3477,3468,263.0,-10.9,150,2768,0.12,1.83,0.00,0.000,3078,0.230,0.054,2625,2769,3472,3476,3468,0,0,0,0,0,0,13.82,14.28,14.09
$GC,3099,-0.85,-107.1,2626,2769,3476,3464,293.5,-9.1,163,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2769,3469,3476,3462,0,0,0,0,0,0,14.83,14.83,14.83
$GC,3435,-0.85,-107.1,2625,2770,3477,3459,324.7,-9.3,169,3441,0.00,2.50,0.00,0.000,516,0.000,0.044,2625,1376,3467,3476,3459,0,0,0,0,0,0,14.84,14.11,14.84
$GC,3476,-0.85,-107.1,2626,1376,3480,3460,328.4,-9.1,175,3481,0.00,2.70,0.00,0.000,1030,0.000,0.093,2614,2768,3465,3475,3456,0,0,0,0,0,0,14.07,13.78,14.13
$GC,3827,-0.85,-107.1,2617,2768,3476,3455,359.3,-8.8,183,3832,0.00,2.53,0.00,0.000,516,0.000,0.045,2615,1364,3464,3476,3453,0,0,0,0,0,0,14.79,13.99,14.79
$GC,4019,-0.85,-107.1,2616,1365,3476,3453,375.3,-8.1,210,4023,0.00,2.70,0.00,0.000,1030,0.000,0.093,2606,2759,3464,3476,3452,0,0,0,0,0,0,14.04,13.74,14.09
$GC,4332,-0.85,-107.1,2606,2761,3475,3449,402.6,-8.7,220,4337,0.00,2.50,0.00,0.000,516,0.000,0.043,2605,1372,3461,3475,3448,0,0,0,0,0,0,14.78,14.09,14.78
$GC,4517,-0.85,-107.1,2605,1372,3477,3447,418.6,-8.6,246,4522,0.10,2.70,0.00,0.000,3078,0.246,0.094,2622,2756,3461,3476,3446,0,0,0,0,0,0,13.66,13.72,13.93
$GC,4838,-0.85,-107.1,2623,2756,3476,3445,445.6,-8.3,257,4843,0.00,2.50,0.00,0.000,516,0.000,0.044,2622,1365,3458,3474,3443,0,0,0,0,0,0,14.81,14.05,14.82
$GC,4963,-0.85,-107.1,2623,1365,3477,3444,456.5,-8.3,275,4968,0.00,2.70,0.00,0.000,1030,0.000,0.093,2611,2755,3459,3476,3442,0,0,0,0,0,0,14.04,13.74,14.10
$GC,5286,-0.85,-107.1,2614,2754,3476,3440,487.1,-9.5,286,5290,0.00,2.20,0.00,0.000,260,0.000,0.150,2605,3825,3457,3476,3439,0,0,0,0,0,0,14.76,13.67,14.77
$GC,5327,-0.85,-107.1,2605,3825,3476,3440,491.3,-10.2,292,5332,0.00,1.92,0.00,0.000,1030,0.000,0.055,2603,2753,3456,3475,3437,0,0,0,0,0,0,14.16,14.14,14.19
$GC,5678,-0.85,-107.1,2603,2754,3477,3436,522.4,-8.7,300,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2753,3456,3476,3436,0,0,0,0,0,0,14.76,14.76,14.76
$GC,6014,-0.85,-107.1,2604,2753,3475,3434,550.2,-8.3,306,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2752,3453,3475,3432,0,0,0,0,0,0,14.76,14.76,14.76
$GC,6350,-0.85,-107.1,2602,2754,3476,3430,578.6,-8.5,312,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2753,3452,3475,3430,0,0,0,0,0,0,14.77,14.76,14.76
$GC,6686,-0.85,-107.1,2604,2755,3477,3427,608.2,-8.9,318,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2753,3451,3475,3427,0,0,0,0,0,0,14.76,14.76,14.75
$GC,7022,-0.85,-107.1,2603,2754,3473,3427,638.0,-8.9,324,7026,0.00,2.25,0.00,0.000,260,0.000,0.142,2596,3829,3449,3471,3428,0,0,0,0,0,0,14.75,13.65,14.75
$GC,7078,-0.85,-107.1,2597,3829,3471,3429,643.2,-9.5,332,7083,0.10,1.92,0.00,0.000,3078,0.231,0.055,2622,2738,3449,3471,3427,0,0,0,0,0,0,13.74,14.17,13.98
$GC,7414,-0.85,-107.1,2623,2740,3471,3427,669.2,-7.7,345,7419,0.00,2.47,0.00,0.000,548,0.000,0.043,2622,1358,3451,3475,3427,0,0,0,0,0,0,14.74,13.95,14.74
$GC,7441,-0.85,-107.1,2623,1359,3471,3427,671.3,-7.7,349,7447,0.00,2.72,0.00,0.000,1062,0.000,0.090,2614,2758,3448,3470,3427,0,0,0,0,0,0,14.12,13.84,14.16
$GC,7806,-0.85,-107.1,2612,2758,3469,3427,701.7,-8.4,359,7811,0.00,2.20,0.00,0.000,260,0.000,0.147,2606,3836,3447,3468,3426,0,0,0,0,0,0,14.79,13.68,14.79
$GC,7862,-0.85,-107.1,2606,3837,3469,3425,706.8,-9.2,367,7866,0.00,1.92,0.00,0.000,1030,0.000,0.057,2605,2756,3450,3467,3434,0,0,0,0,0,0,14.20,14.13,14.22
$GC,8198,-0.85,-107.1,2604,2750,3467,3425,737.0,-9.0,380,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2749,3443,3463,3423,0,0,0,0,0,0,14.74,14.73,14.73
$GC,8534,-0.85,-107.1,2606,2750,3464,3424,766.7,-8.8,386,8538,0.00,2.20,0.00,0.000,260,0.000,0.143,2598,3823,3442,3463,3422,0,0,0,0,0,0,14.78,13.80,14.78
$GC,8590,-0.85,-107.1,2598,3823,3465,3423,771.9,-9.8,394,8595,0.10,1.92,0.00,0.000,3078,0.228,0.055,2624,2737,3443,3465,3422,0,0,0,0,0,0,13.73,14.14,13.96
$GC,8926,-0.85,-107.1,2625,2737,3464,3423,798.4,-8.0,407,8930,0.00,2.47,0.00,0.000,516,0.000,0.043,2624,1358,3442,3463,3421,0,0,0,0,0,0,14.78,13.91,14.78
$STATE,8942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8942,begin apogee
$GC,8953,-0.23,0.0,2620,2258,3464,3422,800.0,-7.8,410,9069,0.73,0.00,114.00,1.810,10244,0.183,0.000,2820,2261,3049,3088,3010,0,0,0,0,0,0,13.64,13.95,13.07
$STATE,9070,end apogee,CONTROL_FINISHED_OK
$STATE,9070,begin climb
$GC,9075,0.93,107.1,2821,2260,3082,3001,803.1,0.0,412,9206,1.15,2.58,117.32,1.751,10756,0.095,0.053,3188,846,2614,2676,2553,0,0,0,0,0,0,13.90,13.97,13.00
$GC,9248,0.82,137.8,3188,847,2676,2538,800.6,6.2,439,9288,0.00,2.58,32.60,1.801,9382,0.000,0.065,3189,2252,2494,2568,2421,0,0,0,0,0,0,14.20,14.04,13.03
$GC,9623,0.69,137.8,3187,2251,2564,2403,768.4,8.9,457,9629,0.20,2.75,0.00,0.000,4484,0.223,0.129,3128,3656,2483,2564,2403,0,0,0,0,0,0,13.90,14.01,14.09
$GC,9671,0.61,137.8,3128,3656,2563,2404,764.2,8.6,464,9678,0.15,2.47,0.00,0.000,5254,0.236,0.047,3098,2228,2483,2564,2402,0,0,0,0,0,0,13.95,14.33,14.25
$GC,10015,0.64,162.2,3100,2228,2565,2400,741.6,6.5,471,10047,0.00,2.83,25.88,1.851,8484,0.000,0.133,3098,3659,2396,2477,2315,0,0,0,0,0,0,14.73,14.15,13.29
$GC,10105,0.67,183.4,3099,3660,2475,2308,735.3,6.7,484,10133,0.00,2.42,23.60,1.822,9254,0.000,0.047,3108,2249,2319,2403,2236,0,0,0,0,0,0,14.44,14.37,13.25
$GC,10460,0.68,194.1,3108,2250,2393,2210,710.0,7.2,499,10469,0.00,2.78,3.22,1.129,8484,0.000,0.134,3107,3654,2279,2366,2192,0,0,0,0,0,0,14.66,14.14,13.16
$GC,10497,0.68,194.1,3108,3658,2367,2205,707.0,7.9,505,10503,0.00,2.40,0.00,0.000,1030,0.000,0.047,3117,2262,2285,2365,2205,0,0,0,0,0,0,14.48,14.40,14.50
$GC,10848,0.70,207.7,3118,2261,2367,2209,682.1,7.0,513,10881,0.00,2.83,23.88,1.831,8484,0.000,0.136,3117,3657,2212,2300,2124,0,0,0,0,0,0,14.73,14.17,13.35
$GC,10910,0.70,207.7,3118,3657,2299,2120,677.0,8.5,522,10915,0.00,2.42,0.00,0.000,1030,0.000,0.047,3126,2254,2208,2298,2118,0,0,0,0,0,0,14.45,14.38,14.47
$GC,11240,0.70,207.7,3131,2250,2299,2112,650.3,8.3,534,11245,0.00,2.75,0.00,0.000,260,0.000,0.135,3126,3656,2203,2296,2111,0,0,0,0,0,0,14.74,13.97,14.74
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$GC,15763,0.71,217.1,3147,2260,2277,2116,273.1,8.2,683,15765,0.00,0.00,1.27,0.230,8198,0.000,0.000,3147,2259,2187,2276,2099,0,0,0,0,0,0,14.71,14.07,13.82
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$STATE,19427,end climb,SURFACE_DEPTH_REACHED
$STATE,19427,begin surface coast
$FINISH,-0.9,1.022175
$STATE,19455,end surface coast,CONTROL_FINISHED_OK
$STATE,19455,begin surface
$SM_CCo,19481,33.00,0.156,0,0,1057,500.14
$SM_GC,-4.52,9.25,0.98,33.00,0.073,0.117,0.156,189,2771,1057,-8.40,-0.31,500.14,0,0,0,0,0,0,14.38,13.93,14.09
$IRIDIUM_FIX,953.88,-12511.90,120217,110528
$TT8_MAMPS,0.038199,0.198485
$HUMID,58.97
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,20.70
$XPDR_PINGS,4
$SC_FREEKB,3649376
$PM_FREEKB,52074048
$24V_AH,12.66,232.060
$10V_AH,12.34,0.000
$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,25.100,184.700,508.450,33.000,0.000,0.000,0.000,409.275,1.000,0.000,9.234,0.000,16389.510,758.123,2479.949,673.752,0.000,1935.450,0.000,1539.675,0.000,0.839,0.000
$DEVICE_MAMPS,380.970,155.295,1850.535,156.060,0.000,0.000,0.000,172.125,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19521.000,19468.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.594,2.437,0.000,0.000
$MEM,334744
$DATA_FILE_SIZE,29982,868
$CAP_FILE_SIZE,150962,0
$CFSIZE,1024409600,906280960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,135.14,1
$GPS,120217,221556,953.018,-12510.531,37,1.3,38,9.0,0.5,338.8,7,7.9