version: 66.13
glider: 220
mission: 6
dive: 584
start: 1 21 117 15 56 27
data:
$ID,220
$MISSION,6
$DIVE,584
$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,45
$R_STBD_OVSHOOT,18
$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
$GPS1,210117,154430,950.8100,-12507.6973,21,1.0,21,9.0,1.0,36.8,9,3.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.88
$_SM_ANGLEo,-70.4
$GPS2,210117,155606,950.8658,-12507.6113,2,0.9,3,9.0,0.5,85.1,10,5.4
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,152.1,23088,-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,-107.1,130,2783,1108,1017,0.0,0.0,0,101,0.00,0.00,-80.72,0.000,16390,0.000,0.000,128,2782,3479,3470,3488,0,0,0,0,0,0,14.64,12.55,14.61
$GC,105,-0.93,-107.1,130,2783,3471,3489,3.5,-11.3,3,122,12.07,2.42,0.00,0.000,2564,0.392,0.036,2587,1362,3479,3472,3487,0,0,0,0,0,0,13.90,14.31,14.19
$GC,200,-0.72,-107.1,2588,1362,3475,3488,35.4,-21.5,17,206,0.32,2.55,0.00,0.000,3206,0.246,0.067,2664,2776,3480,3474,3487,0,0,0,0,0,0,14.00,14.26,14.30
$GC,523,-0.72,-107.1,2664,2778,3480,3487,64.3,-6.4,30,528,0.00,1.95,0.00,0.000,292,0.000,0.106,2655,3827,3482,3478,3487,0,0,0,0,0,0,14.80,14.19,14.80
$GC,579,-0.72,-107.1,2655,3828,3479,3487,68.1,-7.3,38,583,0.00,1.77,0.00,0.000,1062,0.000,0.038,2655,2730,3483,3479,3487,0,0,0,0,0,0,14.50,14.45,14.51
$GC,914,-0.72,-107.1,2655,2734,3485,3487,93.8,-8.0,53,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2733,3483,3480,3487,0,0,0,0,0,0,14.84,14.83,14.83
$GC,1222,-0.72,-107.1,2656,2733,3482,3488,120.7,-8.9,60,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2733,3483,3480,3487,0,0,0,0,0,0,14.86,14.84,14.86
$GC,1559,-0.72,-107.1,2656,2733,3480,3485,150.0,-8.6,66,1563,0.00,2.08,0.00,0.000,260,0.000,0.106,2647,3826,3482,3480,3485,0,0,0,0,0,0,14.87,14.19,14.87
$GC,1615,-0.72,-107.1,2647,3834,3481,3484,155.1,-9.1,74,1619,0.00,1.75,0.00,0.000,1030,0.000,0.041,2646,2765,3482,3480,3484,0,0,0,0,0,0,14.57,14.52,14.59
$GC,1951,-0.72,-107.1,2647,2766,3480,3481,186.2,-9.4,87,1955,0.00,2.38,0.00,0.000,516,0.000,0.042,2647,1382,3478,3479,3477,0,0,0,0,0,0,14.87,14.40,14.87
$GC,1999,-0.72,-107.1,2648,1379,3481,3480,191.0,-9.6,94,2006,0.10,2.50,0.00,0.000,3078,0.247,0.065,2666,2767,3479,3480,3479,0,0,0,0,0,0,14.07,14.25,14.33
$GC,2343,-0.72,-107.1,2666,2766,3480,3479,218.7,-7.7,101,2348,0.00,2.40,0.00,0.000,516,0.000,0.041,2666,1379,3481,3488,3475,0,0,0,0,0,0,14.90,14.32,14.89
$GC,2399,-0.80,-107.1,2666,1380,3481,3474,223.0,-7.7,109,2405,0.00,2.47,0.00,0.000,1190,0.000,0.064,2658,2761,3479,3485,3474,0,0,0,0,0,0,14.45,14.28,14.49
$GC,2735,-0.80,-107.1,2656,2762,3482,3470,248.4,-7.5,122,2740,0.00,2.40,0.00,0.000,548,0.000,0.041,2658,1387,3474,3480,3469,0,0,0,0,0,0,14.89,14.39,14.89
$GC,2769,-0.80,-107.1,2658,1389,3481,3469,251.0,-7.7,127,2774,0.00,2.47,0.00,0.000,1062,0.000,0.065,2650,2760,3474,3480,3469,0,0,0,0,0,0,14.45,14.28,14.48
$GC,3127,-0.80,-107.1,2649,2762,3481,3466,277.8,-7.5,136,3127,0.00,0.00,0.00,0.000,38,0.000,0.000,2650,2760,3472,3480,3465,0,0,0,0,0,0,14.87,14.87,14.87
$GC,3463,-0.80,-107.1,2648,2762,3481,3462,304.5,-8.1,142,3467,0.00,2.40,0.00,0.000,516,0.000,0.042,2650,1386,3471,3480,3462,0,0,0,0,0,0,14.86,14.38,14.87
$GC,3524,-0.80,-107.1,2650,1382,3480,3463,309.8,-8.4,151,3530,0.00,2.53,0.00,0.000,1030,0.000,0.067,2641,2762,3470,3480,3461,0,0,0,0,0,0,14.42,14.25,14.46
$GC,3854,-0.80,-107.1,2641,2763,3481,3458,338.2,-8.6,163,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2762,3469,3480,3458,0,0,0,0,0,0,14.86,14.86,14.86
$GC,4190,-0.80,-107.1,2641,2763,3481,3455,366.1,-8.3,169,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2762,3467,3480,3455,0,0,0,0,0,0,14.87,14.87,14.87
$GC,4527,-0.80,-107.1,2641,2762,3480,3453,393.2,-8.0,175,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2762,3466,3480,3452,0,0,0,0,0,0,14.87,14.86,14.87
$GC,4863,-0.80,-107.1,2644,2762,3480,3451,418.6,-7.4,181,4868,0.00,2.42,0.00,0.000,548,0.000,0.042,2639,1388,3464,3479,3449,0,0,0,0,0,0,14.87,14.35,14.87
$GC,4932,-0.80,-107.1,2641,1387,3480,3450,423.7,-7.3,191,4937,0.00,2.53,0.00,0.000,1062,0.000,0.067,2633,2758,3463,3477,3449,0,0,0,0,0,0,14.42,14.24,14.45
$GC,5255,-0.80,-107.1,2634,2758,3480,3448,449.2,-8.1,202,5259,0.00,2.03,0.00,0.000,260,0.000,0.110,2625,3820,3463,3480,3446,0,0,0,0,0,0,14.85,14.08,14.85
$GC,5302,-0.80,-107.1,2625,3820,3479,3447,453.6,-8.9,209,5310,0.00,1.83,0.00,0.000,1030,0.000,0.042,2623,2756,3463,3480,3446,0,0,0,0,0,0,14.42,14.39,14.44
$GC,5646,-0.80,-107.1,2624,2756,3480,3445,483.4,-8.8,216,5651,0.00,2.40,0.00,0.000,516,0.000,0.042,2624,1377,3461,3479,3444,0,0,0,0,0,0,14.85,14.32,14.86
$GC,5702,-0.80,-107.1,2624,1378,3480,3443,488.3,-8.5,224,5707,0.00,2.53,0.00,0.000,1030,0.000,0.067,2614,2753,3461,3479,3443,0,0,0,0,0,0,14.39,14.20,14.42
$GC,6038,-0.80,-107.1,2615,2755,3481,3441,516.4,-8.2,237,6044,0.00,2.03,0.00,0.000,260,0.000,0.110,2607,3821,3460,3479,3441,0,0,0,0,0,0,14.89,14.05,14.89
$GC,6079,-0.80,-107.1,2607,3821,3480,3442,520.0,-8.8,243,6085,0.10,1.85,0.00,0.000,3078,0.204,0.043,2635,2754,3459,3479,3440,0,0,0,0,0,0,13.95,14.38,14.12
$GC,6431,-0.80,-107.1,2635,2755,3481,3438,545.3,-7.2,251,6436,0.00,2.40,0.00,0.000,548,0.000,0.043,2635,1376,3458,3479,3437,0,0,0,0,0,0,14.88,14.31,14.88
$GC,6507,-0.80,-107.1,2636,1375,3480,3438,551.1,-7.4,262,6512,0.00,2.53,0.00,0.000,1062,0.000,0.065,2627,2751,3457,3477,3437,0,0,0,0,0,0,14.35,14.18,14.40
$GC,6822,-0.80,-107.1,2628,2751,3480,3434,577.2,-8.4,272,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2751,3454,3479,3430,0,0,0,0,0,0,14.88,14.88,14.88
$GC,7159,-0.80,-107.1,2627,2752,3480,3432,605.8,-8.5,278,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2751,3456,3479,3433,0,0,0,0,0,0,14.88,14.88,14.88
$GC,7494,-0.80,-107.1,2627,2752,3481,3432,634.1,-8.3,284,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2751,3456,3480,3432,0,0,0,0,0,0,14.91,14.88,14.88
$GC,7830,-0.80,-107.1,2627,2752,3478,3429,661.8,-8.3,290,7835,0.00,2.45,0.00,0.000,516,0.000,0.042,2626,1371,3453,3478,3429,0,0,0,0,0,0,14.88,14.30,14.88
$GC,7858,-0.80,-107.1,2627,1371,3479,3428,664.1,-8.2,294,7863,0.00,2.53,0.00,0.000,1030,0.000,0.067,2618,2750,3453,3478,3429,0,0,0,0,0,0,14.34,14.14,14.38
$GC,8222,-0.80,-107.1,2618,2751,3476,3429,694.9,-8.5,304,8227,0.00,2.42,0.00,0.000,516,0.000,0.042,2617,1371,3452,3475,3429,0,0,0,0,0,0,14.88,14.24,14.88
$GC,8256,-0.80,-107.1,2618,1372,3476,3427,698.0,-9.0,309,8263,0.08,2.58,0.00,0.000,3078,0.230,0.068,2637,2738,3452,3475,3429,0,0,0,0,0,0,13.81,14.03,14.11
$GC,8615,-0.80,-107.1,2637,2739,3474,3429,725.5,-7.6,318,8619,0.00,2.10,0.00,0.000,292,0.000,0.114,2629,3826,3450,3472,3429,0,0,0,0,0,0,14.83,13.93,14.84
$GC,8648,-0.80,-107.1,2630,3826,3473,3430,728.3,-8.0,323,8654,0.00,1.88,0.00,0.000,1030,0.000,0.044,2629,2746,3450,3472,3429,0,0,0,0,0,0,14.33,14.31,14.35
$GC,9007,-0.80,-107.1,2629,2747,3473,3426,755.0,-7.4,332,9012,0.00,2.40,0.00,0.000,548,0.000,0.043,2628,1371,3449,3471,3427,0,0,0,0,0,0,14.85,14.23,14.83
$GC,9055,-0.80,-107.1,2629,1371,3472,3428,758.7,-7.6,339,9061,0.00,2.60,0.00,0.000,1062,0.000,0.068,2621,2747,3449,3471,3427,0,0,0,0,0,0,14.09,14.00,14.14
$GC,9399,-0.80,-107.1,2621,2748,3471,3427,783.8,-7.3,346,9399,0.00,0.00,0.00,0.000,38,0.000,0.000,2621,2747,3448,3471,3426,0,0,0,0,0,0,14.83,14.83,14.83
$STATE,9619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9619,begin apogee
$GC,9628,-0.23,0.0,2621,2216,3471,3427,800.0,-7.3,350,9746,0.73,0.10,115.43,1.797,10244,0.190,0.158,2822,2276,3049,3091,3008,0,0,0,0,0,0,13.78,13.94,12.95
$STATE,9748,end apogee,CONTROL_FINISHED_OK
$STATE,9748,begin climb
$GC,9751,0.93,107.1,2824,2275,3085,2999,802.5,0.0,352,9878,1.12,2.53,116.47,1.788,10756,0.108,0.055,3179,888,2625,2686,2565,0,0,0,0,0,0,14.00,14.06,12.94
$GC,9955,0.84,127.2,3180,890,2679,2542,797.1,6.7,383,9981,0.00,2.40,21.77,1.857,9382,0.000,0.052,3179,2244,2544,2616,2472,0,0,0,0,0,0,14.31,14.19,13.10
$GC,10291,0.72,127.2,3179,2244,2607,2448,768.7,8.7,396,10296,0.12,2.65,0.00,0.000,4484,0.248,0.096,3139,3651,2527,2607,2448,0,0,0,0,0,0,14.02,14.18,14.21
$GC,10374,0.61,127.2,3140,3653,2608,2448,761.4,8.5,408,10380,0.20,2.38,0.00,0.000,5254,0.239,0.040,3097,2261,2527,2607,2448,0,0,0,0,0,0,14.02,14.40,14.33
$GC,10739,0.65,160.3,3097,2260,2609,2444,738.9,6.1,418,10777,0.00,0.00,36.38,1.806,8230,0.000,0.000,3097,2259,2412,2493,2331,0,0,0,0,0,0,14.78,14.25,13.28
$GC,11076,0.68,183.5,3097,2259,2485,2311,717.0,6.6,424,11108,0.00,2.70,24.73,1.836,8484,0.000,0.102,3096,3641,2312,2398,2226,0,0,0,0,0,0,14.71,14.23,13.25
$GC,11179,0.68,184.3,3096,3642,2397,2217,709.3,7.7,439,11186,0.00,2.42,0.00,0.000,1062,0.000,0.040,3106,2256,2307,2396,2218,0,0,0,0,0,0,14.37,14.33,14.40
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$GC,15745,0.71,210.9,3147,2256,2299,2145,339.7,7.9,608,15750,0.00,2.58,1.77,0.222,8708,0.000,0.060,3158,856,2210,2298,2123,0,0,0,0,0,0,14.83,14.04,13.68
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$STATE,20263,end climb,SURFACE_DEPTH_REACHED
$STATE,20263,begin surface coast
$FINISH,-0.7,1.021997
$STATE,20291,end surface coast,CONTROL_FINISHED_OK
$STATE,20291,begin surface
$SM_CCo,20319,41.42,0.154,0,0,1057,500.14
$SM_GC,-3.08,9.50,0.93,41.42,0.087,0.090,0.154,189,2763,1057,-8.40,-0.59,500.14,0,0,0,0,0,0,14.38,14.19,14.12
$IRIDIUM_FIX,947.31,-12508.85,210117,105618
$TT8_MAMPS,0.038199,0.427679
$HUMID,59.05
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3685472
$PM_FREEKB,53132096
$24V_AH,12.55,203.268
$10V_AH,12.53,0.000
$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,24.900,162.525,497.625,41.425,0.000,0.000,0.000,355.550,0.000,0.000,5.302,0.000,17386.361,774.776,2308.207,570.874,0.000,1830.437,0.000,1444.042,0.000,0.838,0.000
$DEVICE_MAMPS,392.445,158.355,1857.420,153.765,0.000,0.000,0.000,173.655,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20348.000,20305.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.591,2.442,0.000,0.000
$MEM,334752
$DATA_FILE_SIZE,30066,791
$CAP_FILE_SIZE,146474,0
$CFSIZE,1024409600,920158208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.026,121.59,1
$GPS,210117,213654,949.128,-12506.608,32,1.2,32,9.0,0.5,273.4,8,6.6