version: 66.13
glider: 220
mission: 6
dive: 470
start: 12 26 116 14 18 34
data:
$ID,220
$MISSION,6
$DIVE,470
$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,34
$R_STBD_OVSHOOT,25
$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
$GPS1,261216,140531,1010.2129,-12506.9473,34,0.8,34,9.0,0.7,347.4,10,3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.77
$_SM_ANGLEo,-65.6
$GPS2,261216,141813,1010.3403,-12506.9121,2,0.8,3,9.0,0.7,9.3,12,6.6
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,200.8,29742,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-0.93,-107.1,106,2785,517,425,0.0,0.0,0,119,0.00,0.00,-101.95,0.000,16390,0.000,0.000,104,2788,3478,3465,3492,0,0,0,0,0,0,14.64,12.52,14.64
$GC,123,-0.93,-107.1,105,2789,3465,3492,-2.7,-4.7,3,143,12.12,1.92,0.00,0.000,2308,0.391,0.086,2581,3818,3480,3469,3492,0,0,0,0,0,0,13.86,14.27,14.26
$GC,156,0.04,-107.1,2581,3818,3470,3493,21.5,-50.9,9,163,1.20,1.88,0.00,0.000,3206,0.278,0.046,2892,2750,3481,3470,3492,0,0,0,0,0,0,13.98,14.42,14.31
$GC,479,-0.41,-107.1,2893,2750,3470,3492,42.7,-6.0,22,485,0.32,2.05,0.00,0.000,4516,0.091,0.110,2764,3828,3482,3473,3491,0,0,0,0,0,0,14.36,14.28,14.43
$GC,716,-0.87,-107.1,2763,3828,3475,3492,54.9,-4.9,56,722,0.40,1.85,0.00,0.000,5286,0.074,0.047,2613,2752,3482,3474,3491,0,0,0,0,0,0,14.42,14.52,14.48
$GC,1039,-0.87,-107.1,2614,2752,3475,3492,79.3,-8.0,69,1045,0.00,2.35,0.00,0.000,516,0.000,0.044,2613,1374,3483,3474,3492,0,0,0,0,0,0,14.84,14.49,14.84
$GC,1087,-0.87,-107.1,2613,1375,3475,3492,82.7,-8.1,76,1094,0.00,2.50,0.00,0.000,1030,0.000,0.068,2605,2757,3482,3474,3491,0,0,0,0,0,0,14.46,14.37,14.50
$GC,1403,-0.87,-107.1,2605,2757,3475,3492,109.7,-8.6,86,1408,0.00,1.98,0.00,0.000,260,0.000,0.110,2596,3818,3482,3474,3491,0,0,0,0,0,0,14.86,14.33,14.86
$GC,1451,-0.87,-107.1,2597,3818,3468,3492,114.7,-9.0,93,1459,0.00,1.80,0.00,0.000,1030,0.000,0.041,2596,2743,3482,3474,3491,0,0,0,0,0,0,14.61,14.58,14.62
$GC,1795,-0.87,-107.1,2597,2743,3475,3489,145.6,-9.2,100,1800,0.00,2.33,0.00,0.000,516,0.000,0.044,2596,1393,3481,3474,3488,0,0,0,0,0,0,14.88,14.50,14.88
$GC,1907,-0.87,-107.1,2596,1393,3475,3486,155.3,-8.6,116,1912,0.10,2.45,0.00,0.000,3078,0.240,0.068,2615,2759,3480,3475,3486,0,0,0,0,0,0,14.26,14.42,14.50
$GC,2243,-0.87,-107.1,2616,2758,3474,3485,179.4,-6.7,129,2249,0.00,2.38,0.00,0.000,548,0.000,0.045,2615,1387,3478,3474,3483,0,0,0,0,0,0,14.90,14.50,14.90
$GC,2326,-0.87,-107.1,2616,1387,3475,3484,191.1,-26.7,141,2333,0.00,2.47,0.00,0.000,1030,0.000,0.068,2607,2752,3478,3474,3483,0,0,0,0,0,0,14.46,14.37,14.51
$GC,2691,-0.87,-107.1,2608,2752,3475,3485,218.8,-7.6,151,2692,0.00,0.00,0.00,0.000,38,0.000,0.000,2607,2752,3476,3474,3479,0,0,0,0,0,0,14.88,14.88,14.88
$GC,3027,-0.87,-107.1,2607,2752,3474,3478,246.8,-8.5,157,3033,0.00,2.38,0.00,0.000,516,0.000,0.044,2606,1384,3475,3474,3476,0,0,0,0,0,0,14.89,14.50,14.89
$GC,3124,-0.87,-107.1,2606,1385,3475,3475,255.2,-8.6,171,3130,0.00,2.50,0.00,0.000,1030,0.000,0.069,2597,2752,3474,3473,3475,0,0,0,0,0,0,14.46,14.37,14.51
$GC,3475,-0.87,-107.1,2597,2752,3474,3472,286.0,-8.8,179,3480,0.00,2.35,0.00,0.000,516,0.000,0.043,2596,1391,3472,3473,3471,0,0,0,0,0,0,14.89,14.50,14.89
$GC,3565,-0.87,-107.1,2597,1391,3474,3471,293.5,-8.2,192,3571,0.08,2.47,0.00,0.000,3078,0.224,0.068,2611,2741,3472,3474,3470,0,0,0,0,0,0,14.19,14.37,14.35
$GC,3923,-0.87,-107.1,2612,2741,3474,3469,320.5,-7.4,201,3929,0.00,2.35,0.00,0.000,548,0.000,0.044,2611,1389,3468,3474,3463,0,0,0,0,0,0,14.89,14.48,14.89
$GC,3971,-0.87,-107.1,2612,1393,3474,3469,324.2,-7.2,208,3978,0.00,2.47,0.00,0.000,1062,0.000,0.068,2603,2742,3470,3474,3467,0,0,0,0,0,0,14.43,14.34,14.47
$GC,4315,-0.87,-107.1,2603,2744,3475,3465,351.0,-8.0,215,4320,0.00,2.35,0.00,0.000,516,0.000,0.044,2602,1392,3469,3473,3465,0,0,0,0,0,0,14.92,14.49,14.91
$GC,4377,-0.87,-107.1,2603,1394,3474,3464,356.1,-8.7,224,4383,0.00,2.47,0.00,0.000,1030,0.000,0.068,2594,2740,3468,3473,3463,0,0,0,0,0,0,14.43,14.33,14.47
$GC,4707,-0.87,-107.1,2593,2741,3475,3462,384.5,-8.7,236,4712,0.00,2.35,0.00,0.000,516,0.000,0.044,2593,1391,3467,3473,3462,0,0,0,0,0,0,14.91,14.47,14.91
$GC,4769,-0.87,-107.1,2594,1390,3474,3462,389.7,-8.7,245,4776,0.10,2.47,0.00,0.000,3078,0.212,0.068,2614,2747,3467,3474,3461,0,0,0,0,0,0,14.14,14.33,14.31
$GC,5099,-0.87,-107.1,2616,2745,3474,3460,411.9,-6.6,257,5105,0.00,2.38,0.00,0.000,548,0.000,0.044,2614,1384,3466,3473,3459,0,0,0,0,0,0,14.90,14.46,14.90
$GC,5155,-0.87,-107.1,2614,1385,3474,3460,417.2,-5.8,265,5161,0.00,2.45,0.00,0.000,1062,0.000,0.068,2606,2738,3466,3473,3459,0,0,0,0,0,0,14.54,14.38,14.57
$GC,5491,-0.87,-107.1,2606,2739,3473,3456,442.3,-7.8,278,5496,0.00,2.35,0.00,0.000,516,0.000,0.044,2604,1392,3464,3473,3456,0,0,0,0,0,0,14.87,14.45,14.87
$GC,5518,-0.87,-107.1,2604,1392,3474,3457,442.4,0.3,282,5524,0.00,2.47,0.00,0.000,1062,0.000,0.069,2597,2736,3464,3473,3455,0,0,0,0,0,0,14.39,14.31,14.44
$GC,5883,-0.87,-107.1,2598,2738,3474,3453,472.4,-8.9,292,5888,0.00,2.35,0.00,0.000,516,0.000,0.045,2596,1393,3464,3476,3452,0,0,0,0,0,0,14.88,14.44,14.88
$GC,5966,-0.87,-107.1,2597,1393,3474,3453,467.9,-6.8,304,5972,0.10,2.45,0.00,0.000,3110,0.211,0.068,2617,2731,3462,3474,3451,0,0,0,0,0,0,14.11,14.31,14.28
$GC,6331,-0.95,-107.1,2617,2731,3474,3450,500.2,-11.1,314,6336,0.00,2.33,0.00,0.000,644,0.000,0.044,2617,1393,3461,3473,3450,0,0,0,0,0,0,14.88,14.44,14.88
$GC,6400,-1.04,-107.1,2617,1394,3474,3449,503.9,3.4,324,6406,0.08,2.45,0.00,0.000,5286,0.091,0.067,2559,2725,3461,3473,3450,0,0,0,0,0,0,14.34,14.31,14.50
$GC,6723,-1.04,-107.1,2559,2726,3473,3449,525.8,-8.0,335,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2725,3460,3472,3449,0,0,0,0,0,0,14.88,14.88,14.88
$GC,7059,-1.04,-107.1,2559,2726,3471,3449,563.0,-9.9,341,7065,0.00,2.35,0.00,0.000,516,0.000,0.045,2557,1393,3459,3470,3449,0,0,0,0,0,0,14.88,14.42,14.88
$GC,7107,-1.04,-107.1,2558,1394,3471,3449,567.3,-10.1,348,7114,0.00,2.45,0.00,0.000,1030,0.000,0.067,2549,2717,3459,3470,3448,0,0,0,0,0,0,14.40,14.30,14.44
$GC,7451,-1.04,-107.1,2549,2719,3471,3447,601.3,-9.4,355,7456,0.00,2.35,0.00,0.000,516,0.000,0.045,2548,1388,3459,3470,3448,0,0,0,0,0,0,14.88,14.41,14.88
$GC,7478,-1.04,-107.1,2549,1388,3468,3446,604.7,-12.1,359,7484,0.00,2.47,0.00,0.000,1030,0.000,0.068,2539,2735,3462,3470,3455,0,0,0,0,0,0,14.38,14.28,14.42
$GC,7843,-1.04,-107.1,2540,2736,3470,3445,640.4,-10.2,369,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2735,3457,3469,3445,0,0,0,0,0,0,14.85,14.88,14.88
$GC,8179,-1.04,-107.1,2538,2736,3467,3445,670.9,-9.2,375,8184,0.00,2.35,0.00,0.000,516,0.000,0.046,2539,1395,3455,3466,3445,0,0,0,0,0,0,14.88,14.39,14.88
$GC,8262,-1.04,-107.1,2538,1395,3466,3445,678.6,-5.9,387,8268,0.08,2.47,0.00,0.000,3110,0.246,0.070,2558,2723,3454,3464,3445,0,0,0,0,0,0,14.02,14.25,14.32
$GC,8627,-1.04,-107.1,2558,2727,3466,3443,736.0,-9.2,397,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2726,3454,3465,3443,0,0,0,0,0,0,14.87,14.88,14.87
$GC,8963,-1.04,-107.1,2557,2727,3465,3442,766.3,-8.9,403,8968,0.00,2.38,0.00,0.000,516,0.000,0.046,2555,1385,3453,3464,3442,0,0,0,0,0,0,14.87,14.38,14.87
$GC,9025,-1.04,-107.1,2559,1386,3465,3442,771.7,-8.0,412,9031,0.00,2.50,0.00,0.000,1030,0.000,0.070,2550,2719,3454,3465,3443,0,0,0,0,0,0,14.31,14.21,14.35
$STATE,9352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9352,begin apogee
$GC,9359,-0.23,0.0,2551,2244,3463,3440,800.4,-8.9,424,9482,0.93,0.00,120.43,1.748,10244,0.176,0.000,2820,2243,3049,3077,3021,0,0,0,0,0,0,14.07,13.98,12.99
$STATE,9484,end apogee,CONTROL_FINISHED_OK
$STATE,9484,begin climb
$GC,9487,0.93,107.1,2821,2243,3072,3010,802.3,0.0,426,9616,1.12,2.53,115.47,1.770,10756,0.067,0.060,3204,860,2615,2666,2564,0,0,0,0,0,0,14.05,14.04,12.95
$GC,9650,0.75,153.3,3205,861,2664,2546,800.8,5.4,452,9705,0.17,2.55,50.15,1.788,13478,0.240,0.052,3146,2260,2437,2504,2371,0,0,0,0,0,0,13.88,14.06,13.03
$GC,10031,0.64,153.3,3146,2263,2494,2336,767.5,9.0,471,10036,0.12,2.60,0.00,0.000,4484,0.247,0.099,3106,3654,2414,2493,2336,0,0,0,0,0,0,14.14,14.27,14.31
$GC,10098,0.54,153.3,3107,3654,2493,2337,761.1,8.7,481,10105,0.15,2.47,0.00,0.000,5254,0.215,0.041,3076,2246,2413,2492,2335,0,0,0,0,0,0,14.12,14.42,14.30
$GC,10421,0.56,169.4,3076,2245,2494,2331,738.7,6.9,492,10427,0.00,0.00,5.05,1.563,8230,0.000,0.000,3076,2244,2374,2452,2296,0,0,0,0,0,0,14.81,14.34,13.14
$GC,10758,0.57,182.1,3077,2244,2454,2331,714.9,7.1,498,10790,0.00,2.72,25.42,1.730,8484,0.000,0.101,3076,3653,2313,2388,2238,0,0,0,0,0,0,14.83,14.32,13.44
$GC,10840,0.57,182.1,3076,3654,2386,2228,708.2,8.2,510,10846,0.00,2.47,0.00,0.000,1030,0.000,0.041,3086,2255,2303,2384,2223,0,0,0,0,0,0,14.38,14.34,14.41
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$GC,15182,0.68,358.5,3143,2247,1691,1487,220.8,11.4,696,15187,0.00,2.47,0.00,0.000,516,0.000,0.067,3152,850,1588,1690,1487,0,0,0,0,0,0,14.88,14.32,14.88
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$STATE,17587,end climb,SURFACE_DEPTH_REACHED
$STATE,17587,begin surface coast
$FINISH,-3.2,1.021789
$STATE,17615,end surface coast,CONTROL_FINISHED_OK
$STATE,17615,begin surface
$SM_CCo,17638,26.88,0.162,0,0,1058,500.14
$SM_GC,-7.90,9.27,0.90,26.88,0.085,0.086,0.162,173,2766,1058,-8.39,-0.76,500.14,0,0,0,0,0,0,14.54,14.35,14.14
$IRIDIUM_FIX,1004.83,-12508.32,261216,141028
$TT8_MAMPS,0.038948,0.401464
$HUMID,60.63
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,19.10
$XPDR_PINGS,0
$SC_FREEKB,3729280
$PM_FREEKB,54375872
$24V_AH,12.52,166.822
$10V_AH,12.58,0.000
$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,27.200,176.275,567.050,26.875,0.000,0.000,0.000,409.200,0.000,0.000,4.859,0.000,14735.822,862.074,2349.971,466.165,0.000,2013.767,0.000,1455.481,0.000,0.833,0.000
$DEVICE_MAMPS,390.915,110.160,1787.805,162.180,0.000,0.000,0.000,169.065,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17663.000,17626.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.683,2.435,0.000,0.000
$MEM,334724
$DATA_FILE_SIZE,30079,827
$CAP_FILE_SIZE,141315,0
$CFSIZE,1024409600,936886272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,187.40,1
$GPS,261216,191401,1008.188,-12507.678,29,1.2,29,9.0,0.9,127.8,7,7.2