version: 66.13
glider: 220
mission: 6
dive: 683
start: 2 13 117 21 36 55
data:
$ID,220
$MISSION,6
$DIVE,683
$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,64
$R_STBD_OVSHOOT,14
$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
$GPS1,130217,212400,946.9376,-12503.8789,21,0.9,21,9.0,0.3,37.5,9,8.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.74
$_SM_ANGLEo,-67.5
$GPS2,130217,213633,946.9938,-12503.8525,2,0.9,3,9.0,1.3,343.5,9,8.8
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,155.0,13282,-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,-107.1,106,2779,1101,1025,0.0,0.0,0,102,0.00,0.00,-82.45,0.000,16390,0.000,0.000,105,2779,3479,3469,3489,0,0,0,0,0,0,14.62,12.67,14.57
$GC,106,-0.93,-107.1,106,2778,3470,3490,2.2,-8.6,3,123,12.05,2.45,0.00,0.000,2564,0.379,0.034,2591,1360,3481,3472,3491,0,0,0,0,0,0,13.87,14.37,14.26
$GC,215,-0.71,-107.1,2591,1361,3474,3489,34.3,-20.6,19,220,0.32,2.70,0.00,0.000,3206,0.241,0.099,2668,2767,3479,3472,3486,0,0,0,0,0,0,13.83,13.98,14.14
$GC,551,-0.71,-107.1,2668,2766,3476,3489,76.5,-7.6,34,556,0.00,2.45,0.00,0.000,548,0.000,0.041,2667,1380,3481,3475,3487,0,0,0,0,0,0,14.75,14.20,14.75
$GC,669,-0.71,-107.1,2668,1379,3477,3489,84.2,-6.3,51,674,0.00,2.67,0.00,0.000,1062,0.000,0.094,2657,2782,3482,3476,3488,0,0,0,0,0,0,14.18,13.90,14.23
$GC,999,-0.71,-107.1,2657,2783,3474,3486,109.6,-7.4,63,1004,0.00,2.10,0.00,0.000,292,0.000,0.148,2649,3830,3482,3477,3488,0,0,0,0,0,0,14.82,13.79,14.83
$GC,1103,-0.71,-107.1,2650,3830,3478,3489,117.7,-7.9,78,1109,0.00,1.83,0.00,0.000,1030,0.000,0.055,2649,2787,3482,3478,3487,0,0,0,0,0,0,14.19,14.16,14.20
$GC,1447,-0.71,-107.1,2650,2787,3478,3488,145.9,-8.1,85,1453,0.00,2.12,0.00,0.000,260,0.000,0.142,2642,3836,3481,3477,3486,0,0,0,0,0,0,14.80,13.75,14.80
$GC,1488,-0.71,-107.1,2642,3836,3477,3487,149.3,-8.3,91,1493,0.00,1.85,0.00,0.000,1030,0.000,0.054,2642,2781,3481,3477,3486,0,0,0,0,0,0,14.28,14.26,14.31
$GC,1839,-0.71,-107.1,2642,2782,3478,3482,178.2,-8.6,99,1840,0.10,0.00,0.00,0.000,2054,0.220,0.000,2672,2780,3479,3477,3482,0,0,0,0,0,0,14.11,14.32,14.27
$GC,2175,-0.78,-107.1,2672,2781,3478,3477,203.7,-7.4,105,2181,0.00,2.15,0.00,0.000,420,0.000,0.140,2664,3833,3476,3476,3477,0,0,0,0,0,0,14.83,13.70,14.83
$GC,2202,-0.78,-107.1,2664,3834,3478,3476,205.9,-7.7,109,2208,0.00,1.85,0.00,0.000,1030,0.000,0.054,2664,2783,3477,3477,3477,0,0,0,0,0,0,14.33,14.22,14.35
$GC,2567,-0.78,-107.1,2664,2783,3477,3472,234.2,-7.8,119,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2783,3472,3477,3468,0,0,0,0,0,0,14.73,14.74,14.74
$GC,2903,-0.78,-107.1,2664,2783,3478,3475,257.1,-6.6,125,2909,0.00,2.15,0.00,0.000,292,0.000,0.140,2656,3829,3472,3477,3467,0,0,0,0,0,0,14.79,13.71,14.79
$GC,2944,-0.78,-107.1,2656,3829,3478,3476,260.0,-7.0,131,2949,0.00,1.83,0.00,0.000,1062,0.000,0.056,2656,2785,3471,3477,3466,0,0,0,0,0,0,14.31,14.23,14.33
$GC,3296,-0.78,-107.1,2656,2786,3478,3462,285.5,-7.5,139,3300,0.00,2.15,0.00,0.000,292,0.000,0.140,2648,3834,3469,3477,3461,0,0,0,0,0,0,14.82,13.66,14.82
$GC,3329,-0.78,-107.1,2648,3834,3478,3461,288.4,-8.5,144,3334,0.00,1.88,0.00,0.000,1030,0.000,0.055,2646,2786,3469,3477,3461,0,0,0,0,0,0,14.20,14.16,14.21
$GC,3687,-0.78,-107.1,2647,2786,3478,3457,320.9,-9.3,153,3693,0.00,2.53,0.00,0.000,516,0.000,0.044,2648,1365,3467,3479,3456,0,0,0,0,0,0,14.83,14.07,14.83
$GC,3714,-0.78,-107.1,2646,1365,3477,3458,323.5,-9.6,157,3720,0.00,2.75,0.00,0.000,1030,0.000,0.092,2639,2791,3466,3477,3456,0,0,0,0,0,0,14.05,13.76,14.10
$GC,4079,-0.78,-107.1,2640,2792,3476,3453,354.9,-8.2,167,4084,0.00,2.10,0.00,0.000,260,0.000,0.146,2631,3826,3464,3477,3452,0,0,0,0,0,0,14.82,13.65,14.83
$GC,4191,-0.78,-107.1,2632,3826,3478,3453,363.6,-7.7,183,4196,0.00,1.83,0.00,0.000,1062,0.000,0.057,2631,2791,3464,3477,3451,0,0,0,0,0,0,14.28,14.21,14.30
$GC,4527,-0.78,-107.1,2631,2791,3477,3450,388.7,-7.5,196,4532,0.00,2.12,0.00,0.000,292,0.000,0.141,2624,3825,3462,3477,3448,0,0,0,0,0,0,14.78,13.67,14.78
$GC,4603,-0.78,-107.1,2624,3825,3481,3447,395.2,-8.4,207,4608,0.00,1.85,0.00,0.000,1030,0.000,0.056,2623,2800,3462,3477,3447,0,0,0,0,0,0,14.04,14.01,14.06
$GC,4919,-0.78,-107.1,2622,2801,3476,3444,422.0,-8.6,217,4925,0.00,2.12,0.00,0.000,260,0.000,0.142,2618,3831,3460,3477,3444,0,0,0,0,0,0,14.77,13.66,14.77
$GC,4967,-0.78,-107.1,2616,3832,3478,3444,426.6,-9.4,224,4974,0.08,1.85,0.00,0.000,3078,0.205,0.055,2638,2802,3460,3477,3444,0,0,0,0,0,0,13.74,14.13,13.88
$GC,5311,-0.78,-107.1,2638,2803,3478,3441,454.2,-8.0,231,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2803,3459,3477,3441,0,0,0,0,0,0,14.78,14.76,14.78
$GC,5647,-0.78,-107.1,2637,2803,3477,3439,480.4,-7.8,237,5653,0.00,2.12,0.00,0.000,260,0.000,0.142,2630,3830,3457,3477,3437,0,0,0,0,0,0,14.82,13.62,14.82
$GC,5716,-0.78,-107.1,2630,3831,3477,3437,486.3,-8.6,247,5721,0.00,1.88,0.00,0.000,1030,0.000,0.057,2630,2801,3456,3476,3437,0,0,0,0,0,0,14.10,14.07,14.12
$GC,6039,-0.78,-107.1,2630,2802,3478,3436,512.9,-8.3,258,6044,0.00,2.12,0.00,0.000,260,0.000,0.140,2622,3829,3456,3476,3436,0,0,0,0,0,0,14.81,13.64,14.81
$GC,6101,-0.78,-107.1,2622,3830,3476,3436,518.4,-8.7,267,6106,0.00,1.83,0.00,0.000,1030,0.000,0.057,2621,2797,3455,3475,3436,0,0,0,0,0,0,14.23,14.16,14.25
$GC,6431,-0.78,-107.1,2621,2798,3474,3435,547.1,-8.7,279,6436,0.00,2.15,0.00,0.000,260,0.000,0.142,2613,3835,3453,3472,3435,0,0,0,0,0,0,14.81,13.63,14.81
$GC,6507,-0.78,-107.1,2614,3837,3473,3435,554.3,-9.3,290,6512,0.10,1.88,0.00,0.000,3078,0.223,0.056,2644,2779,3453,3472,3435,0,0,0,0,0,0,13.73,14.08,13.96
$GC,6823,-0.78,-107.1,2640,2780,3473,3433,579.3,-7.9,300,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2778,3452,3472,3432,0,0,0,0,0,0,14.81,14.80,14.81
$GC,7159,-0.78,-107.1,2643,2778,3472,3432,605.5,-7.8,306,7164,0.00,2.17,0.00,0.000,260,0.000,0.140,2634,3828,3451,3472,3430,0,0,0,0,0,0,14.76,13.67,14.76
$GC,7200,-0.78,-107.1,2635,3828,3472,3431,608.9,-8.6,312,7205,0.00,1.85,0.00,0.000,1030,0.000,0.059,2634,2815,3450,3470,3430,0,0,0,0,0,0,14.08,14.04,14.10
$GC,7551,-0.78,-107.1,2634,2815,3471,3430,638.4,-8.5,320,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2821,3449,3470,3429,0,0,0,0,0,0,14.80,14.80,14.80
$GC,7887,-0.78,-107.1,2630,2815,3471,3429,666.0,-8.2,326,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2815,3448,3470,3427,0,0,0,0,0,0,14.79,14.79,14.80
$GC,8223,-0.78,-107.1,2634,2815,3471,3428,692.8,-7.9,332,8228,0.00,2.12,0.00,0.000,260,0.000,0.142,2626,3830,3447,3469,3426,0,0,0,0,0,0,14.75,13.69,14.74
$GC,8279,-0.78,-107.1,2626,3829,3469,3426,697.6,-8.9,340,8284,0.00,1.88,0.00,0.000,1030,0.000,0.057,2625,2801,3447,3468,3427,0,0,0,0,0,0,14.11,14.01,14.14
$GC,8615,-0.78,-107.1,2626,2801,3469,3426,725.4,-8.2,353,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2801,3446,3468,3425,0,0,0,0,0,0,14.78,14.79,14.79
$GC,8951,-0.78,-107.1,2625,2802,3468,3423,752.9,-8.1,359,8956,0.00,2.15,0.00,0.000,260,0.000,0.141,2618,3829,3444,3466,3423,0,0,0,0,0,0,14.73,13.69,14.73
$GC,8992,-0.78,-107.1,2616,3829,3467,3424,756.4,-9.0,365,8998,0.10,1.83,0.00,0.000,3078,0.220,0.059,2646,2813,3444,3466,3423,0,0,0,0,0,0,13.69,14.07,13.92
$GC,9343,-0.86,-107.1,2647,2813,3465,3424,781.9,-7.2,373,9349,0.00,2.65,0.00,0.000,676,0.000,0.042,2645,1351,3443,3465,3422,0,0,0,0,0,0,14.78,13.90,14.78
$GC,9391,-0.96,-107.1,2647,1353,3465,3422,785.4,-7.1,380,9398,0.10,2.90,0.00,0.000,5286,0.111,0.089,2566,2817,3443,3464,3422,0,0,0,0,0,0,13.98,13.71,14.08
$STATE,9563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9563,begin apogee
$GC,9573,-0.23,0.0,2565,2199,3465,3421,802.7,-9.9,384,9681,0.95,0.15,100.28,2.515,10244,0.200,0.141,2819,2269,3051,3090,3012,0,0,0,0,1,0,13.71,13.80,12.60
$STATE,9683,end apogee,CONTROL_FINISHED_OK
$STATE,9683,begin climb
$GC,9687,0.93,107.1,2820,2270,3092,3024,806.0,0.0,386,9822,1.12,2.55,124.85,1.813,10756,0.092,0.053,3180,884,2622,2682,2562,0,0,0,0,0,0,13.84,13.90,13.00
$GC,9963,0.83,119.2,3180,886,2677,2537,797.5,7.1,426,9974,0.00,2.47,5.07,1.779,9382,0.000,0.064,3180,2252,2581,2646,2517,0,0,0,0,0,0,14.32,14.17,13.09
$GC,10293,0.70,119.2,3180,2253,2647,2530,772.3,7.7,438,10303,0.17,2.80,2.08,0.317,12676,0.237,0.129,3128,3653,2578,2642,2514,0,0,0,0,0,0,13.81,14.02,12.75
$GC,10341,0.60,120.2,3128,3653,2642,2525,768.6,7.7,445,10349,0.15,2.40,2.17,0.476,13478,0.233,0.047,3097,2267,2572,2636,2509,0,0,0,0,0,0,13.95,14.33,12.86
$GC,10685,0.65,159.7,3098,2267,2640,2527,748.5,5.8,452,10740,0.00,0.00,54.05,1.773,8230,0.000,0.000,3099,2267,2413,2487,2339,0,0,0,0,0,0,14.72,14.11,13.25
$GC,11077,0.66,169.1,3099,2268,2480,2317,720.9,7.3,459,11087,0.00,2.80,3.08,1.128,8484,0.000,0.131,3098,3651,2382,2458,2306,0,0,0,0,0,0,14.67,14.10,13.07
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$GC,16445,0.70,202.3,3155,2266,2321,2139,295.1,8.0,666,16450,0.00,2.55,0.00,0.000,516,0.000,0.057,3164,863,2232,2324,2140,0,0,0,0,0,0,14.71,13.90,14.71
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$STATE,20386,end climb,SURFACE_DEPTH_REACHED
$STATE,20386,begin surface coast
$FINISH,0.8,1.022204
$STATE,20397,end surface coast,CONTROL_FINISHED_OK
$STATE,20397,begin surface
$SM_CCo,20426,31.17,0.152,0,0,1056,500.14
$SM_GC,-2.90,9.23,3.60,31.17,0.074,0.084,0.152,169,2768,1056,-8.38,-0.37,500.14,0,0,0,0,0,0,14.48,13.94,14.11
$IRIDIUM_FIX,940.75,-12507.59,130217,154502
$TT8_MAMPS,0.038199,0.384986
$HUMID,56.81
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.60
$XPDR_PINGS,2
$SC_FREEKB,3647456
$PM_FREEKB,52017856
$24V_AH,12.21,233.622
$10V_AH,12.25,0.000
$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,25.125,193.725,485.150,31.175,0.000,0.000,0.000,360.650,0.500,0.000,4.979,0.000,17299.119,786.343,2420.512,683.147,0.000,1912.984,0.000,1524.401,0.000,0.839,0.000
$DEVICE_MAMPS,379.440,147.645,2514.555,152.235,0.000,0.000,0.000,176.715,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20464.000,20409.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.592,2.433,0.000,0.000
$MEM,334768
$DATA_FILE_SIZE,30095,850
$CAP_FILE_SIZE,154246,0
$CFSIZE,1024409600,905543680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.055,162.97,1
$GPS,140217,031900,944.748,-12503.323,31,0.8,31,9.0,0.9,174.3,10,4.0