version: 66.13
glider: 128
mission: 4
dive: 25
start: 1 19 118 17 28 33
data:
$ID,128
$MISSION,4
$DIVE,25
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$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,360
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51713
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026803601
$HD_B,0.0139002
$HD_C,9.1750398e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3235
$TGT_DEFAULT_LON,-11731
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3750
$C_PITCH,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,3346
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00121
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-157.40906
$PRESSURE_SLOPE,0.00014074198
$AD7714Ch0Gain,32
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043553207
$SEABIRD_T_H,0.00062594062
$SEABIRD_T_I,2.3765557e-05
$SEABIRD_T_J,2.606791e-06
$SEABIRD_C_G,-9.8755465
$SEABIRD_C_H,1.1390997
$SEABIRD_C_I,-0.0019936475
$SEABIRD_C_J,0.00023608611
$GPS1,190118,172307,-313.7156,5544.0850,33,0.8,35,-4.6,0.7,106.6,10,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-69.1
$GPS2,190118,172757,-313.7472,5544.1616,17,0.8,20,-4.6,0.5,64.0,10,9.5
$SPEED_LIMITS,0.159,0.245
$TGT_NAME,N
$TGT_LATLONG,-300.000,5535.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,323.8,30583,-14.5,-9.167,-20.51,3205
$D_GRID,1000
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.60,-194.6,243,2274,1124,1076,0.0,0.0,0,99,0.00,0.00,-88.88,0.003,16386,0.000,0.000,243,2276,3732,3717,3748,0,0,0,0,0,0,14.89,28.83,14.91
$GC,101,-0.60,-194.6,243,2275,3717,3748,4.3,-12.0,15,123,11.77,2.33,-2.58,0.035,18692,0.450,0.092,2548,3641,3903,3896,3911,0,0,0,0,0,0,14.47,13.85,14.72
$GC,216,-0.60,-194.6,2547,3641,3902,3913,45.2,-25.4,36,223,0.00,2.22,0.00,0.000,1030,0.000,0.054,2548,2284,3908,3903,3913,0,0,0,0,0,0,14.78,14.69,14.79
$GC,525,-0.60,-194.6,2548,2280,3909,3914,96.4,-14.4,68,529,0.00,2.33,0.00,0.000,516,0.000,0.055,2548,833,3912,3910,3914,0,0,0,0,0,0,15.00,14.78,15.02
$GC,539,-0.60,-194.6,2547,832,3910,3915,98.4,-13.1,71,546,0.00,2.30,0.00,0.000,1030,0.000,0.060,2548,2231,3912,3910,3915,0,0,0,0,0,0,14.85,14.77,14.88
$GC,846,-0.60,-194.6,2547,2232,3910,3916,143.5,-17.8,102,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2232,3913,3910,3916,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1146,-0.60,-194.6,2547,2232,3911,3916,194.2,-16.5,132,1156,0.00,2.38,0.00,0.000,260,0.000,0.089,2548,3659,3913,3911,3916,0,0,0,0,0,0,15.08,14.83,15.09
$GC,1238,-0.60,-194.6,2547,3659,3911,3916,207.2,-13.3,150,1242,0.00,2.25,0.00,0.000,1030,0.000,0.044,2548,2234,3913,3911,3916,0,0,0,0,0,0,14.95,14.89,14.96
$GC,1549,-0.60,-194.6,2547,2227,3911,3916,245.6,-12.3,182,1559,0.00,2.42,0.00,0.000,260,0.000,0.089,2548,3666,3913,3911,3916,0,0,0,0,0,0,15.10,14.85,15.12
$GC,1644,-0.60,-194.6,2547,3666,3911,3916,257.1,-11.4,201,1650,0.00,2.25,0.00,0.000,1030,0.000,0.044,2548,2241,3913,3911,3916,0,0,0,0,0,0,14.97,14.91,14.98
$GC,1971,-0.60,-194.6,2547,2236,3911,3916,294.3,-12.2,216,1978,0.00,2.40,0.00,0.000,260,0.000,0.088,2547,3660,3913,3911,3916,0,0,0,0,0,0,15.13,14.88,15.15
$GC,2049,-0.60,-194.6,2547,3660,3910,3916,304.6,-12.9,232,2054,0.00,2.22,0.00,0.000,1030,0.000,0.046,2548,2249,3913,3910,3916,0,0,0,0,0,0,15.00,14.94,15.01
$GC,2362,-0.60,-194.6,2547,2243,3910,3915,346.0,-13.5,244,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2243,3913,3910,3916,0,0,0,0,0,0,15.14,15.16,15.16
$GC,2662,-0.60,-194.6,2547,2243,3909,3915,383.7,-11.8,254,2668,0.00,2.40,0.00,0.000,260,0.000,0.089,2548,3666,3912,3910,3915,0,0,0,0,0,0,15.16,14.91,15.18
$GC,2724,-0.60,-194.6,2547,3666,3909,3914,391.4,-11.9,267,2729,0.00,2.28,0.00,0.000,1030,0.000,0.045,2548,2249,3912,3909,3915,0,0,0,0,0,0,14.99,14.95,15.01
$GC,3052,-0.60,-194.6,2547,2244,3909,3913,428.8,-11.6,282,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2244,3911,3909,3913,0,0,0,0,0,0,15.17,15.19,15.19
$GC,3351,-0.60,-194.6,2547,2244,3907,3910,464.0,-11.9,292,3355,0.00,2.40,0.00,0.000,260,0.000,0.091,2548,3659,3908,3907,3910,0,0,0,0,0,0,15.18,14.93,15.20
$GC,3401,-0.60,-194.6,2547,3659,3906,3909,470.2,-11.9,302,3406,0.00,2.22,0.00,0.000,1030,0.000,0.049,2548,2252,3908,3906,3910,0,0,0,0,0,0,15.04,14.98,15.05
$GC,3713,-0.60,-194.6,2548,2246,3906,3908,509.8,-13.1,314,3717,0.00,2.40,0.00,0.000,260,0.000,0.091,2548,3665,3906,3905,3907,0,0,0,0,0,0,15.19,14.93,15.21
$GC,3757,-0.60,-194.6,2547,3665,3904,3907,516.2,-13.5,323,3761,0.00,2.25,0.00,0.000,1030,0.000,0.047,2548,2242,3905,3904,3907,0,0,0,0,0,0,15.04,14.99,15.06
$GC,4074,-0.60,-194.6,2547,2237,3904,3906,557.1,-12.8,336,4078,0.00,2.42,0.00,0.000,260,0.000,0.091,2548,3669,3904,3903,3905,0,0,0,0,0,0,15.19,14.93,15.21
$GC,4124,-0.60,-194.6,2547,3669,3902,3905,563.4,-12.2,346,4131,0.00,2.25,0.00,0.000,1030,0.000,0.047,2548,2246,3903,3902,3905,0,0,0,0,0,0,15.05,14.99,15.06
$GC,4430,-0.60,-194.6,2547,2241,3902,3903,599.5,-11.8,357,4435,0.00,2.40,0.00,0.000,260,0.000,0.092,2548,3659,3901,3901,3902,0,0,0,0,0,0,15.19,14.94,15.21
$GC,4464,-0.60,-194.6,2547,3659,3901,3902,603.7,-11.7,364,4469,0.00,2.28,0.00,0.000,1030,0.000,0.050,2548,2257,3901,3901,3902,0,0,0,0,0,0,15.02,14.98,15.03
$GC,4792,-0.60,-194.6,2547,2252,3901,3901,640.9,-11.4,379,4796,0.00,2.40,0.00,0.000,260,0.000,0.093,2548,3666,3900,3900,3901,0,0,0,0,0,0,15.19,14.94,15.21
$GC,4836,-0.60,-194.6,2547,3666,3901,3901,646.3,-11.9,388,4841,0.00,2.25,0.00,0.000,1030,0.000,0.048,2548,2247,3900,3900,3900,0,0,0,0,0,0,15.04,14.99,15.07
$GC,5153,-0.60,-194.6,2547,2242,3900,3899,682.8,-11.4,401,5157,0.00,2.42,0.00,0.000,260,0.000,0.094,2547,3668,3899,3900,3899,0,0,0,0,0,0,15.19,14.94,15.21
$GC,5219,-0.60,-194.6,2547,3668,3899,3898,690.5,-11.8,414,5223,0.00,2.25,0.00,0.000,1030,0.000,0.049,2547,2251,3898,3899,3898,0,0,0,0,0,0,15.05,15.00,15.07
$GC,5545,-0.60,-194.6,2547,2246,3899,3897,726.5,-10.9,429,5550,0.00,2.40,0.00,0.000,260,0.000,0.093,2548,3660,3898,3899,3897,0,0,0,0,0,0,15.20,14.94,15.21
$GC,5591,-0.60,-194.6,2547,3659,3898,3897,731.7,-11.4,438,5595,0.00,2.25,0.00,0.000,1030,0.000,0.051,2548,2251,3897,3898,3897,0,0,0,0,0,0,15.05,14.99,15.07
$GC,5906,-0.60,-194.6,2547,2246,3898,3896,764.9,-10.4,451,5911,0.00,2.40,0.00,0.000,260,0.000,0.093,2548,3658,3897,3898,3896,0,0,0,0,0,0,15.19,14.94,15.21
$GC,5965,-0.60,-194.6,2547,3658,3898,3896,771.3,-10.3,463,5970,0.00,2.30,0.00,0.000,1030,0.000,0.051,2548,2248,3896,3897,3896,0,0,0,0,0,0,15.02,14.98,15.04
$GC,6293,-0.60,-194.6,2547,2243,3897,3893,804.6,-10.0,478,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2243,3895,3897,3893,0,0,0,0,0,0,15.19,15.22,15.21
$GC,6592,-0.60,-194.6,2547,2243,3897,3892,833.2,-9.3,488,6596,0.00,2.42,0.00,0.000,260,0.000,0.095,2547,3668,3895,3898,3892,0,0,0,0,0,0,15.20,14.95,15.22
$GC,6631,-0.60,-194.6,2547,3668,3897,3892,837.1,-9.7,496,6636,0.00,2.25,0.00,0.000,1030,0.000,0.050,2547,2249,3894,3897,3892,0,0,0,0,0,0,15.06,15.00,15.07
$GC,6954,-0.60,-194.6,2547,2244,3897,3890,865.1,-8.6,510,6961,0.00,2.42,0.00,0.000,292,0.000,0.094,2548,3669,3892,3896,3889,0,0,0,0,0,0,15.19,14.94,15.21
$GC,7046,-0.60,-194.6,2547,3669,3896,3889,873.6,-9.2,529,7052,0.00,2.30,0.00,0.000,1030,0.000,0.048,2548,2252,3892,3896,3889,0,0,0,0,0,0,15.02,14.98,15.04
$GC,7373,-0.60,-194.6,2547,2247,3895,3887,904.3,-9.8,544,7378,0.00,2.42,0.00,0.000,260,0.000,0.096,2548,3668,3891,3896,3887,0,0,0,0,0,0,15.19,14.94,15.21
$GC,7453,-0.60,-194.6,2547,3668,3895,3886,912.9,-10.4,560,7460,0.00,2.28,0.00,0.000,1030,0.000,0.050,2548,2240,3891,3895,3887,0,0,0,0,0,0,15.05,15.00,15.07
$GC,7759,-0.60,-194.6,2547,2239,3894,3885,946.1,-11.2,571,7764,0.00,2.42,0.00,0.000,260,0.000,0.096,2548,3656,3889,3894,3885,0,0,0,0,0,0,15.19,14.93,15.21
$GC,7824,-0.60,-194.6,2547,3657,3893,3883,953.6,-11.3,584,7828,0.00,2.25,0.00,0.000,1030,0.000,0.054,2548,2254,3889,3893,3885,0,0,0,0,0,0,15.05,14.98,15.07
$GC,8146,-0.60,-194.6,2547,2250,3892,3882,988.3,-10.7,598,8152,0.00,2.42,0.00,0.000,260,0.000,0.097,2547,3665,3887,3892,3882,0,0,0,0,0,0,15.19,14.93,15.21
$STATE,8163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8163,begin apogee
$GC,8168,-0.12,0.0,2548,2347,3892,3882,990.5,-10.8,602,8318,0.57,0.00,145.45,1.845,10246,0.232,0.000,2712,2343,3345,3367,3323,0,0,0,0,0,0,14.87,14.09,13.38
$STATE,8319,end apogee,CONTROL_FINISHED_OK
$STATE,8319,begin climb
$GC,8320,0.60,194.6,2712,2343,3361,3318,996.5,0.0,607,8535,0.80,2.55,203.70,1.848,10500,0.161,0.096,2947,3693,2544,2592,2496,0,0,1,0,0,0,14.06,13.93,13.27
$GC,8596,0.60,194.6,2946,3693,2580,2493,980.9,10.4,648,8600,0.00,2.28,0.00,0.000,1030,0.000,0.054,2947,2361,2536,2580,2492,0,0,0,0,0,0,14.33,14.26,14.35
$GC,8917,0.60,194.6,2946,2360,2573,2488,950.5,9.5,662,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2360,2530,2573,2487,0,0,0,0,0,0,14.82,14.84,14.84
$GC,9217,0.60,194.6,2946,2360,2570,2487,921.6,9.7,672,9221,0.00,2.33,0.00,0.000,260,0.000,0.090,2946,3701,2528,2570,2487,0,0,0,0,0,0,14.94,14.69,14.96
$GC,9241,0.60,194.6,2947,3701,2569,2486,918.9,10.5,677,9248,0.00,2.25,0.00,0.000,1030,0.000,0.056,2947,2346,2527,2569,2486,0,0,0,0,0,0,14.81,14.73,14.83
$GC,9547,0.60,194.6,2946,2344,2568,2486,889.7,9.5,688,9551,0.00,2.33,0.00,0.000,260,0.000,0.090,2947,3693,2527,2568,2486,0,0,0,0,0,0,15.01,14.76,15.04
$GC,9571,0.60,194.6,2946,3693,2567,2486,887.1,10.3,693,9579,0.00,2.22,0.00,0.000,1030,0.000,0.054,2947,2338,2526,2567,2486,0,0,0,0,0,0,14.87,14.81,14.89
$GC,9878,0.60,194.6,2946,2337,2566,2485,858.4,9.4,704,9883,0.00,2.35,0.00,0.000,260,0.000,0.090,2947,3695,2525,2566,2485,0,0,0,0,0,0,15.05,14.81,15.07
$GC,9898,0.60,194.6,2947,3695,2566,2485,856.2,10.4,708,9902,0.00,2.22,0.00,0.000,1030,0.000,0.054,2947,2342,2525,2565,2485,0,0,0,0,0,0,14.91,14.84,14.93
$GC,10209,0.60,194.6,2946,2341,2565,2485,826.7,9.5,720,10214,0.00,2.30,0.00,0.000,516,0.000,0.070,2947,945,2525,2565,2485,0,0,0,0,0,0,15.09,14.85,15.11
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$GC,17688,0.97,499.8,3000,2340,2017,1940,51.8,3.8,1272,17867,0.17,2.35,167.77,0.861,10788,0.133,0.060,3072,938,1300,1358,1243,0,0,0,0,0,0,14.79,14.27,13.92
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$STATE,18212,end climb,SURFACE_DEPTH_REACHED
$STATE,18212,begin surface coast
$FINISH,-0.2,1.022764
$STATE,18250,end surface coast,CONTROL_FINISHED_OK
$STATE,18250,begin surface
$SM_CCo,18325,0.00,0.000,0,0,1289,504.57
$SM_GC,0.75,8.32,0.20,0.00,0.095,0.078,0.000,251,2207,1289,-7.80,0.99,504.57,0,0,0,0,0,0,14.63,14.71,14.71
$IRIDIUM_FIX,-311.20,5543.84,190118,123059
$TT8_MAMPS,0.019474,0.158039
$HUMID,60.59
$INTERNAL_PRESSURE,8.44372
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,13.27,11.207
$10V_AH,13.58,0.000
$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,21.800,194.050,669.825,0.000,0.000,0.000,0.000,196.800,0.000,0.000,21.759,2806.442,12679.539,823.052,2199.725,111.487,0.000,2181.562,0.000,1960.381,0.000,0.545,0.000
$DEVICE_MAMPS,449.820,182.070,1848.240,0.000,0.000,0.000,0.000,136.170,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,633.639,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304632
$DATA_FILE_SIZE,60042,1377
$CAP_FILE_SIZE,164019,0
$CFSIZE,260034560,256557056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.167,118.30,1
$GPS,190118,223516,-312.551,5544.492,34,1.7,45,-4.6,0.9,170.6,6,9.9