version: 66.13
glider: 220
mission: 6
dive: 761
start: 3 4 117 15 19 55
data:
$ID,220
$MISSION,6
$DIVE,761
$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,65
$R_STBD_OVSHOOT,11
$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
$GPS1,040317,150208,1006.0875,-12447.1475,24,1.5,24,9.0,1.5,288.8,6,9.3
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.16
$_SM_ANGLEo,-69.9
$GPS2,040317,151933,1006.2211,-12447.3076,3,1.3,5,9.0,0.5,0.0,6,6.1
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,305.8,33209,-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,19,-0.93,-107.1,109,2778,1109,1019,0.0,0.0,0,102,0.00,0.00,-79.62,0.000,16390,0.000,0.000,108,2777,3479,3469,3489,0,0,0,0,0,0,14.45,12.60,14.38
$GC,107,-0.93,-107.1,108,2783,3471,3490,4.2,-11.0,3,124,12.12,2.12,0.00,0.000,2308,0.383,0.154,2584,3829,3480,3471,3489,0,0,0,0,0,0,13.88,14.01,14.24
$GC,356,-0.75,-107.1,2588,3829,3473,3490,72.1,-14.1,39,361,0.25,1.80,0.00,0.000,3206,0.239,0.056,2649,2761,3481,3473,3489,0,0,0,0,0,0,13.69,14.22,14.00
$GC,692,-0.75,-107.1,2649,2762,3476,3490,97.8,-6.6,54,697,0.00,2.25,0.00,0.000,292,0.000,0.176,2640,3827,3482,3476,3489,0,0,0,0,0,0,14.63,13.88,14.63
$GC,761,-0.75,-107.1,2640,3827,3477,3496,103.9,-9.3,64,766,0.00,1.83,0.00,0.000,1030,0.000,0.054,2639,2748,3483,3477,3489,0,0,0,0,0,0,14.23,14.19,14.26
$GC,1084,-0.75,-107.1,2639,2753,3475,3488,133.1,-9.2,75,1089,0.00,2.25,0.00,0.000,260,0.000,0.167,2631,3825,3482,3476,3488,0,0,0,0,0,0,14.69,13.90,14.69
$GC,1111,-0.75,-107.1,2632,3825,3474,3489,135.9,-10.0,79,1116,0.00,1.80,0.00,0.000,1030,0.000,0.054,2632,2760,3481,3475,3488,0,0,0,0,0,0,14.19,14.15,14.22
$GC,1476,-0.75,-107.1,2632,2759,3476,3486,169.2,-8.9,89,1482,0.00,2.47,0.00,0.000,516,0.000,0.041,2632,1378,3479,3475,3484,0,0,0,0,0,0,14.64,13.88,14.64
$GC,1573,-0.75,-107.1,2632,1377,3476,3484,176.9,-7.5,103,1579,0.10,2.78,0.00,0.000,3110,0.226,0.105,2651,2777,3478,3475,3482,0,0,0,0,0,0,13.90,13.93,14.14
$GC,1925,-0.75,-107.1,2652,2775,3476,3479,202.7,-7.6,111,1929,0.00,2.55,0.00,0.000,548,0.000,0.041,2650,1378,3476,3475,3478,0,0,0,0,0,0,14.64,13.95,14.64
$GC,1965,-0.75,-107.1,2651,1377,3474,3478,206.0,-7.7,117,1972,0.00,2.75,0.00,0.000,1062,0.000,0.109,2641,2762,3474,3475,3474,0,0,0,0,0,0,14.19,13.94,14.24
$GC,2316,-0.75,-107.1,2641,2763,3476,3471,235.0,-8.4,125,2322,0.00,2.22,0.00,0.000,260,0.000,0.178,2634,3827,3473,3475,3471,0,0,0,0,0,0,14.64,13.87,14.64
$GC,2399,-0.75,-107.1,2634,3829,3476,3470,242.5,-8.6,137,2405,0.00,1.85,0.00,0.000,1030,0.000,0.056,2633,2753,3474,3475,3473,0,0,0,0,0,0,14.17,14.09,14.19
$GC,2764,-0.75,-107.1,2633,2754,3476,3465,275.8,-9.4,147,2769,0.00,2.47,0.00,0.000,516,0.000,0.040,2633,1385,3470,3475,3465,0,0,0,0,0,0,14.64,13.83,14.64
$GC,2833,-0.75,-107.1,2633,1385,3476,3464,282.8,-9.8,157,2839,0.10,2.78,0.00,0.000,3078,0.236,0.108,2652,2763,3469,3475,3464,0,0,0,0,0,0,13.89,13.93,14.16
$GC,3156,-0.75,-107.1,2652,2765,3476,3461,310.2,-8.3,168,3161,0.00,2.22,0.00,0.000,260,0.000,0.181,2644,3823,3468,3475,3461,0,0,0,0,0,0,14.65,13.85,14.65
$GC,3190,-0.75,-107.1,2644,3822,3475,3462,312.9,-7.7,173,3196,0.00,1.83,0.00,0.000,1062,0.000,0.056,2645,2763,3467,3474,3460,0,0,0,0,0,0,14.19,14.13,14.21
$GC,3549,-0.75,-107.1,2644,2764,3476,3457,340.1,-7.7,182,3553,0.00,2.53,0.00,0.000,548,0.000,0.042,2643,1376,3465,3475,3455,0,0,0,0,0,0,14.63,13.85,14.63
$GC,3596,-0.75,-107.1,2645,1376,3476,3455,344.3,-8.3,189,3604,0.00,2.80,0.00,0.000,1030,0.000,0.106,2633,2767,3463,3472,3454,0,0,0,0,0,0,14.18,13.92,14.22
$GC,3940,-0.75,-107.1,2636,2767,3476,3452,372.5,-8.2,196,3945,0.00,2.55,0.00,0.000,516,0.000,0.043,2634,1379,3462,3474,3451,0,0,0,0,0,0,14.64,13.85,14.64
$GC,3988,-0.75,-107.1,2634,1379,3475,3451,376.4,-7.8,203,3995,0.08,2.80,0.00,0.000,3078,0.256,0.108,2649,2758,3462,3475,3450,0,0,0,0,0,0,13.89,13.92,14.14
$GC,4333,-0.75,-107.1,2649,2755,3475,3448,399.3,-6.6,210,4337,0.00,2.55,0.00,0.000,548,0.000,0.043,2649,1379,3460,3475,3446,0,0,0,0,0,0,14.63,13.80,14.63
$GC,4373,-0.75,-107.1,2649,1379,3476,3452,402.3,-7.2,216,4378,0.00,2.80,0.00,0.000,1062,0.000,0.112,2641,2761,3460,3475,3445,0,0,0,0,0,0,14.20,13.93,14.25
$GC,4724,-0.75,-107.1,2641,2762,3476,3443,429.5,-8.0,224,4729,0.00,2.25,0.00,0.000,260,0.000,0.182,2633,3830,3459,3475,3443,0,0,0,0,0,0,14.68,13.81,14.69
$GC,4765,-0.75,-107.1,2635,3831,3476,3442,433.1,-8.2,230,4770,0.00,1.88,0.00,0.000,1030,0.000,0.058,2632,2753,3458,3475,3442,0,0,0,0,0,0,14.20,14.14,14.22
$GC,5117,-0.75,-107.1,2632,2753,3476,3439,462.8,-8.4,238,5121,0.00,2.53,0.00,0.000,516,0.000,0.044,2633,1371,3457,3475,3439,0,0,0,0,0,0,14.62,13.83,14.62
$GC,5192,-0.75,-107.1,2634,1371,3476,3438,469.2,-8.4,249,5198,0.10,2.78,0.00,0.000,3078,0.239,0.105,2651,2748,3456,3474,3438,0,0,0,0,0,0,13.81,13.83,14.05
$GC,5508,-0.75,-107.1,2652,2748,3475,3438,491.6,-7.1,259,5509,0.00,0.00,0.00,0.000,38,0.000,0.000,2651,2748,3455,3474,3437,0,0,0,0,0,0,14.61,14.62,14.62
$GC,5844,-0.75,-107.1,2652,2747,3472,3434,518.1,-8.2,265,5850,0.00,2.58,0.00,0.000,516,0.000,0.044,2651,1371,3451,3474,3429,0,0,0,0,0,0,14.62,13.85,14.62
$GC,5872,-0.83,-107.1,2651,1371,3475,3434,520.7,-9.3,269,5877,0.00,2.80,0.00,0.000,1158,0.000,0.111,2644,2756,3453,3474,3432,0,0,0,0,0,0,14.17,13.90,14.22
$GC,6236,-0.83,-107.1,2644,2762,3475,3430,553.3,-9.0,279,6241,0.00,2.58,0.00,0.000,516,0.000,0.044,2643,1372,3452,3474,3430,0,0,0,0,0,0,14.68,13.87,14.69
$GC,6292,-0.91,-107.1,2644,1373,3474,3430,558.4,-9.0,287,6297,0.00,2.80,0.00,0.000,1158,0.000,0.112,2635,2744,3451,3473,3430,0,0,0,0,0,0,14.17,13.89,14.21
$GC,6628,-0.91,-107.1,2635,2744,3472,3431,587.1,-8.4,300,6629,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2744,3450,3471,3430,0,0,0,0,0,0,14.68,14.68,14.68
$GC,6964,-0.91,-107.1,2635,2744,3471,3439,614.1,-8.0,306,6969,0.00,2.58,0.00,0.000,516,0.000,0.044,2634,1368,3449,3470,3429,0,0,0,0,0,0,14.69,13.90,14.68
$GC,7012,-0.91,-107.1,2634,1369,3471,3430,618.2,-8.7,313,7020,0.00,2.83,0.00,0.000,1030,0.000,0.111,2625,2745,3449,3470,3429,0,0,0,0,0,0,14.16,13.89,14.21
$GC,7357,-0.91,-107.1,2625,2747,3469,3428,645.4,-7.8,320,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2746,3448,3468,3428,0,0,0,0,0,0,14.66,14.67,14.67
$GC,7693,-0.91,-107.1,2626,2747,3468,3427,668.8,-6.8,326,7697,0.00,2.55,0.00,0.000,548,0.000,0.042,2624,1378,3446,3466,3427,0,0,0,0,0,0,14.66,13.85,14.67
$GC,7726,-0.91,-107.1,2624,1377,3467,3427,671.3,-6.9,331,7731,0.00,2.78,0.00,0.000,1062,0.000,0.113,2616,2741,3446,3467,3426,0,0,0,0,0,0,14.19,13.88,14.21
$GC,8084,-0.91,-107.1,2621,2744,3465,3427,697.4,-7.5,340,8085,0.00,0.00,0.00,0.000,38,0.000,0.000,2616,2744,3444,3464,3425,0,0,0,0,0,0,14.65,14.65,14.65
$GC,8420,-0.91,-107.1,2617,2743,3464,3425,724.8,-8.2,346,8425,0.00,2.30,0.00,0.000,260,0.000,0.184,2608,3833,3443,3463,3424,0,0,0,0,0,0,14.58,13.81,14.59
$GC,8477,-0.91,-107.1,2608,3834,3465,3425,729.8,-8.9,354,8481,0.00,1.92,0.00,0.000,1030,0.000,0.054,2607,2728,3444,3464,3425,0,0,0,0,0,0,14.17,14.12,14.19
$GC,8812,-0.91,-107.1,2607,2728,3465,3422,760.5,-9.2,367,8817,0.00,2.47,0.00,0.000,516,0.000,0.044,2608,1389,3442,3463,3422,0,0,0,0,0,0,14.65,13.88,14.64
$GC,8846,-0.91,-107.1,2607,1390,3465,3422,763.8,-9.6,372,8851,0.00,2.72,0.00,0.000,1030,0.000,0.101,2599,2746,3443,3464,3422,0,0,0,0,0,0,14.14,13.86,14.19
$GC,9205,-0.91,-107.1,2600,2744,3463,3422,798.3,-9.7,381,9210,0.00,2.55,0.00,0.000,516,0.000,0.044,2597,1381,3441,3462,3421,0,0,0,0,0,0,14.64,13.88,14.65
$STATE,9220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9220,begin apogee
$GC,9231,-0.23,0.0,2594,2250,3464,3422,800.3,-9.6,384,9337,0.85,0.00,96.38,2.675,10244,0.199,0.000,2823,2250,3052,3090,3015,0,0,0,0,1,0,13.78,13.69,12.61
$STATE,9338,end apogee,CONTROL_FINISHED_OK
$STATE,9338,begin climb
$GC,9343,0.93,107.1,2824,2250,3090,3025,804.1,0.0,386,9466,1.17,2.62,106.72,2.720,10756,0.096,0.054,3183,873,2625,2686,2565,0,0,0,0,1,0,13.45,13.54,12.19
$GC,9571,0.85,149.2,3183,873,2687,2583,800.6,5.6,419,9632,0.00,2.65,54.38,1.810,9382,0.000,0.075,3183,2250,2455,2527,2383,0,0,0,0,0,0,13.85,13.62,13.04
$GC,9954,0.73,149.2,3183,2251,2525,2363,768.8,9.0,438,9955,0.17,0.00,0.00,0.000,4230,0.229,0.000,3135,2250,2443,2524,2363,0,0,0,0,0,0,13.85,14.21,14.16
$GC,10286,0.73,151.0,3136,2251,2525,2360,743.2,7.6,444,10287,0.00,0.00,0.00,0.000,38,0.000,0.000,3135,2250,2442,2524,2361,0,0,0,0,0,0,14.66,14.66,14.66
$GC,10622,0.73,151.0,3136,2250,2524,2360,716.2,8.0,450,10627,0.00,2.90,0.00,0.000,260,0.000,0.155,3134,3669,2441,2524,2359,0,0,0,0,0,0,14.66,13.88,14.66
$GC,10684,0.64,151.0,3135,3668,2524,2360,710.4,9.3,459,10689,0.12,2.45,0.00,0.000,5254,0.245,0.048,3112,2260,2441,2524,2359,0,0,0,0,0,0,13.84,14.22,14.12
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$GC,15543,0.76,247.6,3145,2253,2156,1958,315.8,7.8,642,15548,0.00,2.92,0.00,0.000,260,0.000,0.155,3144,3668,2055,2154,1957,0,0,0,0,0,0,14.57,13.82,14.56
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$STATE,19398,end climb,SURFACE_DEPTH_REACHED
$STATE,19398,begin surface coast
$FINISH,-3.0,1.021988
$STATE,19431,end surface coast,CONTROL_FINISHED_OK
$STATE,19431,begin surface
$SM_CCo,19458,28.05,0.149,0,0,1056,500.14
$SM_GC,-2.11,9.48,1.15,28.05,0.061,0.171,0.149,184,2771,1056,-8.41,-0.28,500.14,0,0,0,0,0,0,14.19,13.83,14.07
$IRIDIUM_FIX,1002.64,-12449.47,040317,150906
$TT8_MAMPS,0.03745,0.439663
$HUMID,57.16
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.10
$XPDR_PINGS,1
$SC_FREEKB,3617504
$PM_FREEKB,51125184
$24V_AH,12.19,258.336
$10V_AH,11.74,0.000
$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,25.125,193.075,501.900,28.050,0.000,0.000,0.000,555.875,0.250,0.000,7.294,0.000,16453.135,759.273,2532.248,762.466,0.000,2067.615,0.000,1477.267,0.000,1.134,0.000
$DEVICE_MAMPS,382.500,183.600,2719.575,149.175,0.000,0.000,0.000,169.065,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19499.000,19445.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.568,2.427,0.000,0.000
$MEM,334760
$DATA_FILE_SIZE,30069,827
$CAP_FILE_SIZE,151389,0
$CFSIZE,1024409600,894042112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.104,308.20,1
$GPS,040317,204555,1008.041,-12449.421,36,0.7,36,9.0,0.9,10.5,12,6.8