version: 66.13
glider: 220
mission: 6
dive: 721
start: 2 23 117 1 2 39
data:
$ID,220
$MISSION,6
$DIVE,721
$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,59
$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
$GPS1,230217,004901,1000.6090,-12518.6826,37,0.7,37,9.0,0.6,21.5,12,6.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.00
$_SM_ANGLEo,-69.6
$GPS2,230217,010213,1000.5897,-12518.7832,2,0.7,4,9.0,0.7,322.6,12,5.3
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,100.8,50043,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.93,-107.1,109,2783,1102,1016,0.0,0.0,0,102,0.00,0.00,-80.22,0.000,16390,0.000,0.000,107,2781,3475,3466,3484,0,0,0,0,0,0,14.55,12.79,14.48
$GC,107,-0.93,-107.1,108,2783,3468,3486,4.1,-10.7,3,124,12.07,2.45,0.00,0.000,2564,0.379,0.034,2592,1374,3478,3470,3486,0,0,0,0,0,0,13.81,14.33,14.23
$GC,173,-0.72,-107.1,2592,1373,3472,3485,27.2,-19.7,13,179,0.30,2.72,0.00,0.000,3206,0.240,0.111,2661,2766,3477,3470,3485,0,0,0,0,0,0,13.89,14.02,14.19
$GC,496,-0.72,-107.1,2662,2763,3472,3486,73.6,-8.8,26,501,0.00,2.20,0.00,0.000,260,0.000,0.168,2654,3831,3478,3471,3486,0,0,0,0,0,0,14.69,13.81,14.69
$GC,642,-0.72,-107.1,2654,3831,3473,3487,85.8,-9.8,47,647,0.00,1.83,0.00,0.000,1030,0.000,0.057,2654,2755,3479,3472,3486,0,0,0,0,0,0,14.30,14.24,14.32
$GC,1000,-0.72,-107.1,2654,2754,3474,3488,114.1,-8.3,59,1005,0.00,2.42,0.00,0.000,516,0.000,0.041,2654,1382,3480,3474,3486,0,0,0,0,0,0,14.73,14.06,14.72
$GC,1125,-0.72,-107.1,2654,1382,3474,3487,124.5,-7.8,77,1131,0.00,2.70,0.00,0.000,1030,0.000,0.103,2644,2765,3479,3474,3485,0,0,0,0,0,0,14.09,13.80,14.14
$GC,1449,-0.72,-107.1,2645,2764,3474,3484,150.8,-8.3,88,1453,0.00,2.20,0.00,0.000,260,0.000,0.168,2636,3824,3477,3473,3482,0,0,0,0,0,0,14.72,13.85,14.73
$GC,1524,-0.72,-107.1,2636,3824,3474,3483,158.1,-8.6,99,1529,0.10,1.83,0.00,0.000,3078,0.218,0.060,2665,2777,3477,3473,3482,0,0,0,0,0,0,13.80,14.16,14.01
$GC,1840,-0.72,-107.1,2665,2777,3474,3478,182.3,-7.5,109,1846,0.00,2.53,0.00,0.000,548,0.000,0.042,2665,1364,3475,3473,3477,0,0,0,0,0,0,14.77,13.99,14.77
$GC,1952,-0.79,-107.1,2665,1364,3477,3477,190.7,-7.4,125,1958,0.00,2.75,0.00,0.000,1190,0.000,0.101,2655,2756,3475,3474,3476,0,0,0,0,0,0,14.08,13.80,14.14
$GC,2288,-0.79,-107.1,2655,2756,3474,3471,217.9,-8.1,138,2293,0.00,2.53,0.00,0.000,516,0.000,0.042,2654,1364,3471,3473,3469,0,0,0,0,0,0,14.70,13.97,14.73
$GC,2322,-0.79,-107.1,2655,1365,3473,3470,221.0,-8.6,143,2327,0.00,2.75,0.00,0.000,1030,0.000,0.103,2646,2763,3470,3470,3470,0,0,0,0,0,0,14.09,13.79,14.15
$GC,2680,-0.79,-107.1,2645,2764,3475,3465,250.1,-8.0,152,2685,0.00,2.53,0.00,0.000,516,0.000,0.042,2645,1364,3469,3473,3465,0,0,0,0,0,0,14.76,13.97,14.76
$GC,2714,-0.79,-107.1,2646,1363,3473,3465,253.0,-7.9,157,2721,0.00,2.78,0.00,0.000,1030,0.000,0.104,2636,2756,3469,3473,3465,0,0,0,0,0,0,14.11,13.83,14.17
$GC,3072,-0.79,-107.1,2638,2756,3474,3461,280.9,-7.8,166,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2757,3466,3473,3460,0,0,0,0,0,0,14.71,14.71,14.71
$GC,3408,-0.79,-107.1,2637,2756,3474,3461,309.6,-8.7,172,3413,0.00,2.53,0.00,0.000,516,0.000,0.042,2636,1366,3464,3473,3455,0,0,0,0,0,0,14.71,13.93,14.71
$GC,3435,-0.79,-107.1,2636,1368,3474,3456,312.6,-10.7,176,3440,0.00,2.72,0.00,0.000,1030,0.000,0.106,2626,2756,3464,3474,3455,0,0,0,0,0,0,14.19,13.93,14.26
$GC,3800,-0.79,-107.1,2626,2756,3474,3453,348.4,-9.8,186,3805,0.00,2.22,0.00,0.000,260,0.000,0.165,2618,3827,3462,3473,3451,0,0,0,0,0,0,14.77,13.81,14.77
$GC,3827,-0.79,-107.1,2618,3828,3478,3451,351.4,-10.5,190,3832,0.00,1.92,0.00,0.000,1030,0.000,0.062,2617,2742,3466,3473,3460,0,0,0,0,0,0,14.19,14.12,14.21
$GC,4192,-0.79,-107.1,2617,2744,3474,3447,390.3,-10.8,200,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2749,3460,3473,3447,0,0,0,0,0,0,14.76,14.80,14.76
$GC,4528,-0.79,-107.1,2617,2745,3474,3444,425.1,-10.2,206,4533,0.00,2.47,0.00,0.000,516,0.000,0.041,2616,1366,3457,3473,3442,0,0,0,0,0,0,14.71,13.92,14.69
$GC,4576,-0.79,-107.1,2616,1366,3473,3444,430.1,-9.8,213,4584,0.12,2.75,0.00,0.000,3078,0.234,0.099,2642,2752,3458,3473,3443,0,0,0,0,0,0,13.76,13.82,14.04
$GC,4921,-0.79,-107.1,2643,2753,3475,3439,457.6,-7.7,220,4925,0.00,2.55,0.00,0.000,516,0.000,0.042,2642,1364,3456,3473,3439,0,0,0,0,0,0,14.76,13.88,14.76
$GC,4947,-0.79,-107.1,2643,1358,3474,3440,459.7,-7.6,224,4952,0.00,2.78,0.00,0.000,1062,0.000,0.100,2632,2754,3455,3472,3439,0,0,0,0,0,0,14.12,13.83,14.16
$GC,5313,-0.79,-107.1,2632,2753,3473,3438,485.5,-7.0,234,5317,0.00,2.55,0.00,0.000,548,0.000,0.042,2632,1362,3455,3473,3437,0,0,0,0,0,0,14.75,13.85,14.75
$GC,5340,-0.79,-107.1,2632,1363,3475,3436,487.5,-7.6,238,5344,0.00,2.75,0.00,0.000,1062,0.000,0.101,2623,2745,3454,3473,3435,0,0,0,0,0,0,14.12,13.84,14.17
$GC,5705,-0.79,-107.1,2623,2745,3473,3433,516.0,-8.1,248,5709,0.00,2.25,0.00,0.000,260,0.000,0.162,2613,3829,3453,3473,3433,0,0,0,0,0,0,14.69,13.80,14.69
$GC,5746,-0.79,-107.1,2615,3830,3473,3433,519.9,-9.3,254,5750,0.00,1.92,0.00,0.000,1030,0.000,0.063,2614,2751,3452,3473,3432,0,0,0,0,0,0,14.19,14.10,14.19
$GC,6096,-0.79,-107.1,2614,2750,3473,3432,550.9,-8.9,262,6101,0.00,2.53,0.00,0.000,516,0.000,0.041,2613,1356,3451,3473,3429,0,0,0,0,0,0,14.69,13.87,14.69
$GC,6130,-0.79,-107.1,2614,1357,3474,3429,554.2,-9.1,267,6136,0.12,2.78,0.00,0.000,3078,0.230,0.099,2639,2755,3450,3472,3429,0,0,0,0,0,0,13.83,13.88,14.09
$GC,6488,-0.79,-107.1,2639,2756,3473,3427,582.4,-7.9,276,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2754,3449,3471,3427,0,0,0,0,0,0,14.74,14.75,14.75
$GC,6824,-0.79,-107.1,2639,2755,3471,3428,608.7,-7.9,282,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2754,3448,3470,3427,0,0,0,0,0,0,14.68,14.68,14.68
$GC,7161,-0.79,-107.1,2639,2754,3468,3428,634.3,-7.6,288,7165,0.00,2.58,0.00,0.000,548,0.000,0.043,2639,1360,3447,3467,3427,0,0,0,0,0,0,14.68,13.82,14.68
$GC,7243,-0.87,-107.1,2639,1362,3469,3427,640.7,-7.8,300,7248,0.00,2.78,0.00,0.000,1158,0.000,0.099,2629,2752,3446,3467,3426,0,0,0,0,0,0,14.10,13.81,14.15
$GC,7608,-0.87,-107.1,2624,2753,3467,3425,668.0,-7.6,310,7613,0.00,2.25,0.00,0.000,292,0.000,0.163,2620,3833,3445,3466,3425,0,0,0,0,0,0,14.67,13.80,14.67
$GC,7656,-0.87,-107.1,2621,3833,3466,3426,671.7,-7.4,317,7663,0.00,1.98,0.00,0.000,1062,0.000,0.063,2620,2749,3445,3465,3425,0,0,0,0,0,0,14.15,14.07,14.17
$GC,8000,-0.87,-107.1,2620,2749,3465,3424,698.2,-7.8,324,8005,0.00,2.55,0.00,0.000,516,0.000,0.041,2620,1348,3443,3464,3422,0,0,0,0,0,0,14.67,13.85,14.66
$GC,8057,-0.87,-107.1,2620,1349,3465,3423,702.7,-7.8,332,8061,0.00,2.80,0.00,0.000,1030,0.000,0.098,2610,2754,3443,3464,3422,0,0,0,0,0,0,14.09,13.81,14.14
$GC,8392,-0.87,-107.1,2609,2754,3463,3421,729.6,-8.0,345,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2753,3442,3463,3421,0,0,0,0,0,0,14.72,14.73,14.73
$GC,8728,-0.87,-107.1,2611,2761,3463,3421,755.6,-7.7,351,8729,0.00,0.00,0.00,0.000,38,0.000,0.000,2611,2753,3441,3461,3421,0,0,0,0,0,0,14.65,14.65,14.65
$GC,9064,-0.87,-107.1,2610,2755,3462,3419,780.8,-7.6,357,9070,0.00,2.60,0.00,0.000,548,0.000,0.043,2609,1357,3440,3461,3419,0,0,0,0,0,0,14.64,13.85,14.65
$GC,9112,-0.87,-107.1,2610,1356,3461,3421,784.9,-8.4,364,9119,0.00,2.78,0.00,0.000,1030,0.000,0.099,2600,2746,3440,3461,3419,0,0,0,0,0,0,14.10,13.82,14.15
$STATE,9340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9340,begin apogee
$GC,9350,-0.23,0.0,2601,2217,3462,3418,804.0,-8.3,369,9466,0.80,0.10,113.30,1.808,10244,0.187,0.212,2819,2269,3050,3089,3011,0,0,0,0,0,0,13.78,13.85,13.14
$STATE,9468,end apogee,CONTROL_FINISHED_OK
$STATE,9468,begin climb
$GC,9473,0.93,107.1,2820,2271,3083,3000,807.6,0.0,371,9604,1.15,2.58,119.32,1.724,10756,0.093,0.050,3184,875,2616,2678,2555,0,0,0,0,0,0,13.80,13.88,13.07
$GC,9703,0.85,143.6,3185,874,2674,2538,802.1,5.9,406,9749,0.00,2.53,39.58,1.772,9382,0.000,0.072,3185,2242,2470,2543,2398,0,0,0,0,0,0,14.19,14.01,13.14
$GC,10078,0.73,143.6,3184,2240,2541,2380,773.1,8.0,424,10083,0.15,2.83,0.00,0.000,4484,0.231,0.142,3137,3658,2459,2540,2378,0,0,0,0,0,0,13.87,13.98,14.04
$GC,10140,0.64,150.1,3138,3659,2542,2378,768.2,7.4,433,10146,0.15,2.42,0.00,0.000,5286,0.233,0.053,3108,2262,2458,2539,2378,0,0,0,0,0,0,13.96,14.32,14.23
$GC,10469,0.69,193.6,3108,2259,2540,2376,749.9,5.6,445,10526,0.00,0.00,55.58,1.721,8230,0.000,0.000,3108,2258,2280,2366,2194,0,0,0,0,0,0,14.69,14.09,13.28
$GC,10862,0.71,203.9,3108,2259,2353,2168,723.1,7.2,452,10873,0.00,2.88,2.62,0.784,8484,0.000,0.142,3107,3658,2241,2331,2152,0,0,0,0,0,0,14.62,14.00,13.11
$GC,10937,0.71,203.9,3107,3656,2333,2170,716.6,8.7,463,10944,0.00,2.47,2.33,0.566,9222,0.000,0.052,3117,2246,2235,2324,2146,0,0,0,0,0,0,14.38,14.31,13.05
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$GC,15279,0.71,204.0,3139,2254,2325,2169,350.2,7.8,593,15284,0.00,2.92,0.00,0.000,260,0.000,0.144,3139,3660,2245,2324,2167,0,0,0,0,0,0,14.69,13.81,14.69
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$STATE,19769,end climb,SURFACE_DEPTH_REACHED
$STATE,19769,begin surface coast
$FINISH,-2.8,1.022296
$STATE,19797,end surface coast,CONTROL_FINISHED_OK
$STATE,19797,begin surface
$SM_CCo,19822,14.48,0.157,0,0,1056,500.14
$SM_GC,-2.30,9.02,1.00,14.48,0.045,0.109,0.157,170,2778,1056,-8.38,-0.17,500.14,0,0,0,0,0,0,14.28,13.81,13.99
$IRIDIUM_FIX,956.07,-12514.95,220217,191223
$TT8_MAMPS,0.039697,0.30709
$HUMID,59.33
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,20.80
$XPDR_PINGS,2
$SC_FREEKB,3632864
$PM_FREEKB,51585472
$24V_AH,12.79,245.739
$10V_AH,12.17,0.000
$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,24.550,181.000,526.600,14.475,0.000,0.000,0.000,385.150,0.500,0.000,5.995,0.000,16804.385,759.472,2350.274,698.925,0.000,1873.592,0.000,1453.985,0.000,0.838,0.000
$DEVICE_MAMPS,378.675,211.905,1808.460,156.825,0.000,0.000,0.000,179.010,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19866.000,19810.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.592,2.431,0.000,0.000
$MEM,334736
$DATA_FILE_SIZE,29990,807
$CAP_FILE_SIZE,145471,0
$CFSIZE,1024409600,899956736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,334.77,1
$GPS,230217,063425,1000.479,-12517.222,32,1.1,32,9.0,0.8,79.1,9,4.4