version: 66.13
glider: 220
mission: 6
dive: 723
start: 2 23 117 12 46 8
data:
$ID,220
$MISSION,6
$DIVE,723
$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,48
$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
$GPS1,230217,123230,959.2933,-12516.6377,21,0.9,21,9.0,0.4,262.9,9,3.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.49
$_SM_ANGLEo,-70.7
$GPS2,230217,124542,959.3831,-12516.7441,3,1.0,4,9.0,0.5,5.5,8,5.7
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,118.8,45879,-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,13,begin dive
$GC,18,-0.93,-107.1,106,2778,1105,1021,0.0,0.0,0,102,0.00,0.00,-80.95,0.000,16390,0.000,0.000,105,2779,3478,3470,3486,0,0,0,0,0,0,14.55,12.65,14.47
$GC,106,-0.93,-107.1,106,2780,3471,3486,3.0,-9.6,3,123,12.07,2.50,0.00,0.000,2564,0.376,0.037,2589,1352,3478,3471,3485,0,0,0,0,0,0,13.82,14.31,14.21
$GC,187,-0.72,-107.1,2589,1358,3473,3485,30.1,-20.2,15,192,0.32,2.78,0.00,0.000,3206,0.246,0.115,2664,2764,3479,3472,3486,0,0,0,0,0,0,13.82,13.90,14.13
$GC,523,-0.72,-107.1,2665,2765,3475,3487,74.3,-7.9,30,528,0.00,2.20,0.00,0.000,260,0.000,0.167,2656,3831,3480,3474,3486,0,0,0,0,0,0,14.68,13.83,14.68
$GC,736,-0.72,-107.1,2656,3833,3477,3486,92.3,-8.7,60,741,0.00,1.85,0.00,0.000,1030,0.000,0.060,2656,2760,3481,3476,3486,0,0,0,0,0,0,14.28,14.21,14.31
$GC,1057,-0.72,-107.1,2657,2760,3476,3487,117.5,-7.7,69,1063,0.00,2.47,0.00,0.000,548,0.000,0.044,2656,1371,3481,3476,3486,0,0,0,0,0,0,14.71,13.89,14.71
$GC,1105,-0.72,-107.1,2656,1372,3477,3486,121.3,-7.2,76,1111,0.00,2.78,0.00,0.000,1062,0.000,0.107,2646,2768,3485,3476,3494,0,0,0,0,0,0,14.14,13.85,14.19
$GC,1449,-0.72,-107.1,2646,2769,3476,3483,148.3,-8.1,83,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2768,3479,3475,3483,0,0,0,0,0,0,14.71,14.71,14.71
$GC,1785,-0.72,-107.1,2654,2768,3477,3480,178.3,-9.1,89,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2768,3476,3476,3477,0,0,0,0,0,0,14.71,14.71,14.71
$GC,2121,-0.72,-107.1,2646,2769,3477,3474,206.2,-8.1,95,2125,0.00,2.55,0.00,0.000,516,0.000,0.046,2646,1372,3473,3475,3471,0,0,0,0,0,0,14.76,13.91,14.76
$GC,2197,-0.72,-107.1,2646,1372,3470,3473,212.3,-7.4,106,2202,0.10,2.75,0.00,0.000,3110,0.224,0.106,2666,2767,3474,3476,3472,0,0,0,0,0,0,13.80,13.78,14.04
$GC,2513,-0.72,-107.1,2666,2765,3476,3469,233.2,-6.7,116,2518,0.00,2.53,0.00,0.000,548,0.000,0.044,2666,1372,3471,3475,3468,0,0,0,0,0,0,14.76,13.95,14.76
$GC,2547,-0.80,-107.1,2666,1372,3476,3469,235.9,-7.4,121,2553,0.00,2.75,0.00,0.000,1190,0.000,0.105,2656,2763,3471,3475,3468,0,0,0,0,0,0,14.08,13.79,14.13
$GC,2905,-0.80,-107.1,2657,2770,3476,3463,262.6,-7.6,130,2906,0.00,0.00,0.00,0.000,38,0.000,0.000,2656,2764,3468,3475,3461,0,0,0,0,0,0,14.71,14.71,14.71
$GC,3241,-0.80,-107.1,2657,2764,3476,3459,288.6,-7.6,136,3246,0.00,2.55,0.00,0.000,548,0.000,0.044,2656,1368,3466,3475,3458,0,0,0,0,0,0,14.70,13.89,14.70
$GC,3268,-0.80,-107.1,2656,1370,3476,3458,291.0,-8.5,140,3273,0.00,2.78,0.00,0.000,1030,0.000,0.105,2647,2765,3466,3475,3457,0,0,0,0,0,0,14.18,13.86,14.21
$GC,3633,-0.80,-107.1,2647,2766,3476,3453,320.8,-8.3,150,3637,0.00,2.20,0.00,0.000,260,0.000,0.168,2639,3821,3463,3475,3452,0,0,0,0,0,0,14.71,13.81,14.71
$GC,3674,-0.80,-107.1,2639,3822,3476,3452,325.1,-10.2,156,3679,0.00,1.88,0.00,0.000,1030,0.000,0.063,2638,2771,3463,3475,3452,0,0,0,0,0,0,14.20,14.12,14.21
$GC,4025,-0.80,-107.1,2639,2778,3476,3449,355.9,-8.7,164,4030,0.00,2.55,0.00,0.000,516,0.000,0.044,2639,1358,3462,3475,3449,0,0,0,0,0,0,14.75,13.86,14.76
$GC,4081,-0.80,-107.1,2639,1360,3476,3448,361.8,-9.3,172,4086,0.00,2.80,0.00,0.000,1030,0.000,0.100,2629,2767,3462,3475,3449,0,0,0,0,0,0,14.10,13.82,14.16
$GC,4417,-0.80,-107.1,2630,2767,3476,3446,391.3,-8.7,185,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2767,3459,3474,3445,0,0,0,0,0,0,14.70,14.70,14.71
$GC,4753,-0.80,-107.1,2629,2769,3476,3442,419.4,-8.3,191,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2767,3460,3475,3446,0,0,0,0,0,0,14.70,14.70,14.70
$GC,5089,-0.80,-107.1,2629,2768,3476,3439,447.5,-8.4,197,5094,0.00,2.60,0.00,0.000,516,0.000,0.044,2629,1358,3457,3475,3439,0,0,0,0,0,0,14.71,13.87,14.69
$GC,5145,-0.80,-107.1,2630,1358,3476,3439,452.8,-8.4,205,5150,0.00,2.80,0.00,0.000,1030,0.000,0.103,2620,2760,3456,3475,3438,0,0,0,0,0,0,14.12,13.84,14.18
$GC,5481,-0.80,-107.1,2619,2761,3476,3436,483.8,-9.2,218,5485,0.00,2.22,0.00,0.000,260,0.000,0.161,2611,3832,3455,3475,3436,0,0,0,0,0,0,14.73,13.79,14.73
$GC,5522,-0.80,-107.1,2612,3835,3476,3436,488.1,-9.8,224,5527,0.10,1.92,0.00,0.000,3078,0.227,0.063,2639,2763,3455,3475,3436,0,0,0,0,0,0,13.70,14.07,13.93
$GC,5873,-0.80,-107.1,2639,2763,3476,3432,517.8,-8.4,232,5878,0.00,2.55,0.00,0.000,516,0.000,0.044,2638,1361,3455,3478,3432,0,0,0,0,0,0,14.68,13.84,14.68
$GC,5921,-0.80,-107.1,2640,1360,3475,3433,522.2,-8.3,239,5927,0.00,2.78,0.00,0.000,1030,0.000,0.097,2629,2757,3453,3475,3432,0,0,0,0,0,0,14.12,13.83,14.16
$GC,6265,-0.80,-107.1,2629,2757,3475,3431,551.2,-8.5,246,6269,0.00,2.20,0.00,0.000,260,0.000,0.160,2621,3826,3451,3474,3429,0,0,0,0,0,0,14.68,13.82,14.68
$GC,6313,-0.80,-107.1,2621,3827,3474,3429,555.3,-8.5,253,6320,0.00,1.92,0.00,0.000,1030,0.000,0.065,2620,2757,3450,3472,3429,0,0,0,0,0,0,14.13,14.04,14.16
$GC,6657,-0.80,-107.1,2621,2757,3472,3431,582.4,-7.8,260,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2757,3450,3471,3429,0,0,0,0,0,0,14.77,14.73,14.73
$GC,6993,-0.80,-107.1,2621,2758,3470,3429,607.1,-7.1,266,6998,0.00,2.55,0.00,0.000,548,0.000,0.044,2620,1359,3449,3470,3429,0,0,0,0,0,0,14.73,13.81,14.73
$GC,7055,-0.80,-107.1,2617,1360,3471,3429,611.8,-7.8,275,7060,0.10,2.80,0.00,0.000,3078,0.233,0.099,2638,2768,3449,3470,3429,0,0,0,0,0,0,13.81,13.83,14.06
$GC,7385,-0.80,-107.1,2638,2770,3471,3426,633.3,-6.5,287,7386,0.00,0.00,0.00,0.000,38,0.000,0.000,2638,2768,3448,3470,3426,0,0,0,0,0,0,14.73,14.73,14.73
$GC,7721,-0.80,-107.1,2638,2769,3469,3426,656.8,-7.0,293,7722,0.00,0.00,0.00,0.000,38,0.000,0.000,2639,2768,3447,3468,3426,0,0,0,0,0,0,14.73,14.73,14.73
$GC,8057,-0.80,-107.1,2638,2769,3467,3425,679.7,-6.8,299,8062,0.00,2.62,0.00,0.000,548,0.000,0.044,2638,1355,3445,3466,3424,0,0,0,0,0,0,14.71,13.81,14.72
$GC,8119,-0.80,-107.1,2638,1355,3465,3425,684.4,-7.2,308,8124,0.00,2.80,0.00,0.000,1062,0.000,0.099,2629,2757,3442,3462,3423,0,0,0,0,0,0,14.11,13.83,14.19
$GC,8449,-0.80,-107.1,2629,2757,3466,3422,707.4,-7.0,320,8454,0.00,2.22,0.00,0.000,292,0.000,0.162,2620,3833,3440,3458,3422,0,0,0,0,0,0,14.64,13.81,14.64
$GC,8483,-0.80,-107.1,2621,3834,3466,3422,710.0,-7.7,325,8488,0.00,1.95,0.00,0.000,1030,0.000,0.064,2620,2751,3443,3465,3422,0,0,0,0,0,0,14.15,14.07,14.16
$GC,8841,-0.80,-107.1,2620,2749,3465,3422,735.8,-7.3,334,8846,0.00,2.58,0.00,0.000,548,0.000,0.043,2616,1355,3442,3463,3421,0,0,0,0,0,0,14.64,13.85,14.64
$GC,8903,-0.80,-107.1,2620,1356,3464,3420,740.8,-7.6,343,8908,0.10,2.80,0.00,0.000,3110,0.235,0.098,2638,2756,3442,3463,3422,0,0,0,0,0,0,13.81,13.83,14.05
$GC,9233,-0.80,-107.1,2637,2757,3465,3420,763.6,-7.0,355,9238,0.00,2.22,0.00,0.000,292,0.000,0.163,2631,3830,3441,3463,3420,0,0,0,0,0,0,14.70,13.83,14.70
$GC,9281,-0.80,-107.1,2631,3832,3464,3420,767.5,-8.2,362,9287,0.00,2.00,0.00,0.000,1030,0.000,0.065,2629,2755,3441,3463,3420,0,0,0,0,0,0,14.02,13.97,14.04
$GC,9625,-0.80,-107.1,2637,2756,3463,3419,794.3,-8.0,369,9630,0.00,2.55,0.00,0.000,516,0.000,0.043,2629,1357,3440,3462,3419,0,0,0,0,0,0,14.64,13.83,14.64
$GC,9694,-0.80,-107.1,2630,1358,3463,3419,800.0,-8.2,379,9699,0.00,2.80,0.00,0.000,1030,0.000,0.096,2620,2761,3440,3462,3419,0,0,0,0,0,0,14.14,13.87,14.19
$STATE,9703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9704,begin apogee
$GC,9714,-0.23,0.0,2620,2232,3463,3420,801.1,-7.9,381,9820,0.73,0.00,98.93,2.498,10244,0.174,0.000,2822,2232,3051,3090,3013,0,0,0,0,1,0,13.71,13.78,12.64
$STATE,9822,end apogee,CONTROL_FINISHED_OK
$STATE,9822,begin climb
$GC,9826,0.93,107.1,2821,2233,3093,3027,805.1,0.0,383,9964,1.12,2.53,126.75,1.760,10756,0.083,0.052,3184,862,2626,2686,2567,0,0,0,0,0,0,13.71,13.76,13.05
$GC,10069,0.84,136.3,3184,859,2678,2540,800.9,6.3,418,10109,0.00,2.58,32.08,1.795,9382,0.000,0.071,3183,2262,2500,2573,2427,0,0,0,0,0,0,14.21,14.02,13.16
$GC,10438,0.71,136.3,3184,2263,2571,2410,770.7,8.7,435,10439,0.20,0.00,0.00,0.000,4230,0.223,0.000,3129,2262,2489,2570,2409,0,0,0,0,0,0,13.94,14.29,14.23
$GC,10770,0.73,150.4,3130,2262,2571,2409,746.9,7.0,441,10788,0.00,2.70,13.15,1.902,8484,0.000,0.144,3128,3658,2446,2525,2367,0,0,0,0,0,0,14.71,14.07,13.40
$GC,10860,0.73,150.4,3127,3659,2522,2361,739.5,8.5,454,10865,0.00,2.45,0.00,0.000,1030,0.000,0.053,3139,2244,2439,2519,2359,0,0,0,0,0,0,14.42,14.35,14.45
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$GC,14759,0.71,208.2,3155,850,2308,2150,426.7,8.7,598,14765,0.00,2.65,0.00,0.000,1030,0.000,0.073,3155,2267,2229,2307,2151,0,0,0,0,0,0,14.16,13.93,14.20
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$STATE,20378,end climb,SURFACE_DEPTH_REACHED
$STATE,20378,begin surface coast
$FINISH,-2.0,1.022275
$STATE,20406,end surface coast,CONTROL_FINISHED_OK
$STATE,20406,begin surface
$SM_CCo,20432,54.17,0.150,0,0,1056,500.14
$SM_GC,-2.21,8.85,1.02,54.17,0.037,0.125,0.150,146,2770,1056,-8.38,-0.34,500.14,0,0,0,0,0,0,14.35,13.81,14.07
$IRIDIUM_FIX,956.07,-12514.95,230217,064109
$TT8_MAMPS,0.036701,0.42693
$HUMID,56.85
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.50
$XPDR_PINGS,2
$SC_FREEKB,3632096
$PM_FREEKB,51561152
$24V_AH,12.64,246.344
$10V_AH,12.12,0.000
$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,24.225,190.600,473.475,54.175,0.000,0.000,0.000,380.375,0.500,0.000,5.453,0.000,17360.777,757.742,2420.645,720.851,0.000,1892.416,0.000,1508.194,0.000,0.840,0.000
$DEVICE_MAMPS,376.380,167.535,2498.490,149.940,0.000,0.000,0.000,178.245,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20477.000,20420.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.568,2.442,0.000,0.000
$MEM,334720
$DATA_FILE_SIZE,30054,838
$CAP_FILE_SIZE,153071,0
$CFSIZE,1024409600,899645440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.068,318.68,1
$GPS,230217,182830,958.958,-12515.785,18,0.8,18,9.0,0.5,244.1,10,5.4