version: 66.11
glider: 124
mission: 14
dive: 53
start: 11 13 112 14 35 59
data:
$ID,124
$MISSION,14
$DIVE,53
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$D_ABORT,980
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,0
$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,340
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51525
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,2.53e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-303599.94
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3900
$C_PITCH,2250
$PITCH_DBAND,1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0040000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,183
$ROLL_MAX,3883
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,244
$VBD_MAX,3700
$C_VBD,2509
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,0
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,69.417763
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-21.889965
$PRESSURE_SLOPE,0.0001157801
$AD7714Ch0Gain,128
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043984288
$SEABIRD_T_H,0.00063808635
$SEABIRD_T_I,2.5525775e-05
$SEABIRD_T_J,3.0944329e-06
$SEABIRD_C_G,-9.6676407
$SEABIRD_C_H,1.1061285
$SEABIRD_C_I,-0.0013205735
$SEABIRD_C_J,0.00018109973
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,131112,142736,1808.418,12430.133,33,1.7,33,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.37
$_SM_ANGLEo,-61.9
$GPS2,131112,143531,1808.353,12430.244,14,2.0,14,-2.1
$SPEED_LIMITS,0.161,0.278
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,247.9,238972,-14.2,-9.314,-18.51
$D_GRID,5041
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.85,-194.6,0.0,0.0,0,28,0.00,0.00,-7.75,0.000,2,0.000,0.000,45,2507,389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30,-0.85,-194.6,3.3,0.0,1,250,7.70,2.22,-201.95,0.000,4,0.223,0.060,2068,1073,3302,0,0,0,0,0,0,26.24,26.55,26.86
$GC,408,-0.83,-194.6,38.6,-19.9,64,414,0.00,2.25,0.00,0.000,6,0.000,0.047,2068,2506,3303,0,0,0,0,0,0,28.83,26.63,28.83
$GC,732,-0.80,-194.6,104.4,-19.9,83,738,0.00,2.10,0.00,0.000,4,0.000,0.059,2068,3881,3303,0,0,0,0,0,0,28.83,26.74,28.83
$GC,924,-0.80,-194.6,131.5,-14.0,92,929,0.00,2.08,0.00,0.000,6,0.000,0.040,2068,2494,3304,0,0,0,0,0,0,28.83,26.84,28.83
$GC,1236,-0.80,-194.6,171.3,-10.5,108,1241,0.00,2.15,0.00,0.000,4,0.000,0.058,2068,3882,3305,0,0,0,0,0,0,28.83,26.85,28.83
$GC,1299,-0.80,-194.6,178.0,-10.7,111,1304,0.00,2.08,0.00,0.000,6,0.000,0.040,2068,2489,3305,0,0,0,0,0,0,28.83,26.91,28.83
$GC,1621,-0.80,-194.6,211.4,-10.1,127,1626,0.00,2.15,0.00,0.000,4,0.000,0.058,2068,3881,3305,0,0,0,0,0,0,28.83,26.90,28.83
$GC,1693,-0.80,-194.6,217.8,-10.1,130,1699,0.00,2.08,0.00,0.000,6,0.000,0.040,2068,2482,3305,0,0,0,0,0,0,28.83,26.96,28.83
$GC,2007,-0.81,-194.6,249.9,-10.1,146,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2481,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2308,-0.82,-194.6,279.5,-9.6,161,2314,0.00,2.17,0.00,0.000,4,0.000,0.059,2068,3886,3305,0,0,0,0,0,0,28.83,26.96,28.83
$GC,2385,-0.83,-194.6,285.7,-9.7,164,2392,0.00,2.08,0.00,0.000,6,0.000,0.041,2068,2494,3305,0,0,0,0,0,0,28.83,27.01,28.83
$GC,2691,-0.84,-194.6,315.2,-9.3,180,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2494,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2992,-0.85,-194.6,342.7,-9.4,195,2997,0.00,2.15,0.00,0.000,4,0.000,0.060,2068,3881,3302,0,0,0,0,0,0,28.83,26.99,28.83
$GC,3099,-0.86,-194.6,352.5,-9.5,200,3105,0.00,2.05,0.00,0.000,6,0.000,0.041,2068,2496,3302,0,0,0,0,0,0,28.83,27.04,28.83
$GC,3418,-0.88,-194.6,380.8,-8.5,216,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2496,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3718,-0.89,-194.6,406.0,-8.3,231,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2496,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4019,-0.91,-194.6,430.5,-7.9,246,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2496,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4318,-0.92,-194.6,452.3,-7.1,261,4324,0.00,2.17,-0.08,0.000,4,0.000,0.063,2068,1089,3320,0,0,0,0,0,0,28.83,27.04,26.95
$GC,4371,-0.94,-194.6,455.6,-7.3,263,4377,0.00,2.20,0.00,0.000,6,0.000,0.049,2068,2504,3320,0,0,0,0,0,0,28.83,27.04,28.83
$GC,4686,-0.96,-194.6,479.7,-7.5,279,4691,0.00,2.12,0.00,0.000,4,0.000,0.064,2068,3875,3319,0,0,0,0,0,0,28.83,27.02,28.83
$GC,4738,-0.98,-194.6,483.2,-7.7,281,4743,0.00,2.08,0.00,0.000,6,0.000,0.044,2068,2495,3318,0,0,0,0,0,0,28.83,27.07,28.83
$GC,5051,-0.99,-194.6,507.7,-7.5,297,5057,0.00,2.17,0.00,0.000,4,0.000,0.051,2068,1094,3317,0,0,0,0,0,0,28.83,27.04,28.83
$GC,5074,-1.01,-194.6,509.7,-7.6,298,5080,0.00,2.20,0.00,0.000,6,0.000,0.050,2068,2504,3317,0,0,0,0,0,0,28.83,27.05,28.83
$GC,5398,-1.03,-194.6,534.3,-7.6,314,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2504,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5699,-1.05,-194.6,556.6,-7.2,329,5704,0.00,2.15,0.00,0.000,4,0.000,0.066,2068,3885,3313,0,0,0,0,0,0,28.83,27.03,28.83
$GC,5736,-1.07,-194.6,558.3,-7.4,330,5743,0.00,2.10,0.00,0.000,6,0.000,0.047,2068,2497,3313,0,0,0,0,0,0,28.83,27.07,28.83
$GC,6042,-1.09,-194.6,581.1,-7.0,346,6048,0.00,2.20,0.00,0.000,4,0.000,0.052,2068,1079,3311,0,0,0,0,0,0,28.83,27.05,28.83
$GC,6086,-1.11,-194.6,584.4,-7.3,348,6091,0.00,2.22,0.00,0.000,6,0.000,0.050,2068,2501,3311,0,0,0,0,0,0,28.83,27.05,28.83
$GC,6400,-1.13,-194.6,606.6,-7.0,362,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2501,3309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6700,-1.15,-194.6,627.3,-6.8,372,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2501,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6999,-1.17,-194.6,647.4,-6.7,382,7001,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2501,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7300,-1.19,-194.6,667.4,-6.8,392,7305,0.00,2.15,0.00,0.000,4,0.000,0.069,2068,3875,3305,0,0,0,0,0,0,28.83,27.02,28.83
$GC,7328,-1.21,-194.6,667.4,-6.8,392,7334,0.00,2.10,0.00,0.000,6,0.000,0.049,2068,2495,3305,0,0,0,0,0,0,28.83,27.07,28.83
$GC,7634,-1.23,-194.6,690.3,-6.8,403,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2494,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7933,-1.26,-194.6,711.5,-7.2,413,7935,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2494,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8234,-1.28,-194.6,732.7,-6.8,423,8240,0.00,2.20,0.00,0.000,4,0.000,0.056,2068,1090,3300,0,0,0,0,0,0,28.83,27.04,28.83
$GC,8257,-1.30,-194.6,732.7,-6.8,423,8262,0.00,2.22,0.00,0.000,6,0.000,0.053,2068,2504,3300,0,0,0,0,0,0,28.83,27.05,28.83
$GC,8571,-1.32,-194.6,754.7,-6.3,434,8572,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2504,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8871,-1.35,-194.6,771.9,-5.6,444,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2504,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9170,-1.37,-194.6,788.8,-5.8,454,9176,0.00,2.17,0.00,0.000,4,0.000,0.071,2068,3886,3233,0,0,0,0,0,0,28.83,27.02,28.83
$GC,9208,-1.40,-194.6,791.0,-5.9,455,9213,0.00,2.12,0.00,0.000,6,0.000,0.050,2068,2496,3297,0,0,0,0,0,0,28.83,27.07,28.83
$GC,9537,-1.42,-194.6,810.8,-6.1,466,9538,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2496,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9836,-1.44,-194.6,829.9,-6.4,476,9837,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2496,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10136,-1.47,-194.6,849.2,-6.4,486,10137,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2496,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10436,-1.49,-194.6,869.2,-6.6,496,10438,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2496,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10736,-1.52,-194.6,887.8,-6.2,506,10737,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2496,3293,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10824,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10824,begin apogee
$GC,10830,-0.22,0.0,893.2,-6.0,509,10986,0.00,0.00,150.52,1.269,6,0.000,0.000,2068,1689,2509,0,0,0,0,0,0,28.83,28.83,24.25
$STATE,10988,end apogee,CONTROL_FINISHED_OK
$STATE,10988,begin climb
$GC,10990,0.85,194.6,901.1,0.0,514,11159,1.15,2.35,160.27,1.225,4,0.106,0.065,2441,295,1713,0,0,0,0,0,0,25.20,24.88,24.06
$GC,11232,0.86,219.1,886.9,8.5,522,11262,0.00,2.33,20.85,1.138,6,0.000,0.049,2441,1701,1613,0,0,0,0,0,0,28.83,25.61,24.44
$GC,11584,0.86,219.1,852.8,9.4,534,11589,0.00,2.25,0.00,0.000,4,0.000,0.061,2441,3110,1577,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11620,0.86,219.1,849.5,9.5,535,11626,0.00,2.30,0.00,0.000,6,0.000,0.054,2441,1705,1602,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11949,0.88,234.1,819.2,8.8,546,11968,0.00,2.28,12.18,1.093,4,0.000,0.066,2441,285,1553,0,0,0,0,0,0,28.83,26.22,25.37
$GC,11990,0.89,245.6,816.3,8.9,547,12012,0.00,2.30,11.18,1.066,6,0.000,0.050,2441,1715,1506,0,0,0,0,0,0,28.83,26.29,25.18
$GC,12311,0.91,261.6,786.3,8.8,558,12334,0.00,2.30,14.02,1.099,4,0.000,0.060,2441,3102,1442,0,0,0,0,0,0,28.83,26.13,25.27
$GC,12406,0.91,266.4,777.9,9.2,561,12421,0.00,2.28,5.75,0.893,6,0.000,0.053,2443,1690,1421,0,0,0,0,0,0,28.83,26.28,25.27
$GC,12733,0.92,277.1,748.1,9.0,572,12747,0.00,2.33,9.43,1.021,4,0.000,0.066,2443,281,1379,0,0,0,0,0,0,28.83,26.28,25.41
$GC,12779,0.94,288.4,745.7,8.9,573,12796,0.00,2.28,10.90,1.036,6,0.000,0.050,2443,1696,1333,0,0,0,0,0,0,28.83,26.36,25.25
$GC,13123,0.94,288.4,711.6,9.6,585,13129,0.00,2.25,0.00,0.000,4,0.000,0.060,2443,3109,1295,0,0,0,0,0,0,28.83,26.48,28.83
$GC,13145,0.94,288.4,711.6,9.6,585,13151,0.00,2.28,0.00,0.000,6,0.000,0.054,2443,1700,1325,0,0,0,0,0,0,28.83,26.51,28.83
$GC,13458,0.94,288.4,676.9,10.7,596,13464,0.00,2.22,0.00,0.000,4,0.000,0.067,2443,294,1324,0,0,0,0,0,0,28.83,26.63,28.83
$GC,13506,0.94,288.4,673.3,10.6,597,13511,0.00,2.25,0.00,0.000,6,0.000,0.051,2443,1713,1314,0,0,0,0,0,0,28.83,26.67,28.83
$GC,13823,0.94,288.4,639.2,9.8,608,13828,0.00,2.20,0.00,0.000,4,0.000,0.061,2443,3111,1300,0,0,0,0,0,0,28.83,26.73,28.83
$GC,13845,0.94,288.4,639.2,9.8,608,13850,0.00,2.25,0.00,0.000,6,0.000,0.054,2443,1691,1326,0,0,0,0,0,0,28.83,26.74,28.83
$GC,14157,0.94,288.4,606.3,9.7,619,14162,0.00,2.30,0.00,0.000,4,0.000,0.061,2443,3114,1325,0,0,0,0,0,0,28.83,26.79,28.83
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$GC,16275,1.11,387.8,410.8,9.9,723,16280,0.00,2.22,0.00,0.000,4,0.000,0.059,2443,3114,920,0,0,0,0,0,0,28.83,26.58,28.83
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$GC,16639,1.16,408.2,376.4,8.6,741,16659,0.00,0.00,16.42,0.855,6,0.000,0.000,2443,1694,844,0,0,0,0,0,0,28.83,28.83,25.64
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$STATE,19734,end climb,SURFACE_DEPTH_REACHED
$STATE,19734,begin surface coast
$FINISH,2.6,1.022086
$STATE,19746,end surface coast,CONTROL_FINISHED_OK
$STATE,19746,begin surface
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$IRIDIUM_FIX,1803.24,12431.10,131112,080840
$TT8_MAMPS,0.028462,0.028462
$HUMID,61.73
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.00
$XPDR_PINGS,19
$SC_FREEKB,3999936
$24V_AH,24.1,10.356
$10V_AH,9.7,8.523
$FG_AHR_24Vo,69.418
$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,16.325,153.450,617.275,0.000,0.000,0.000,0.000,305.500,4.750,0.000,15.345,2822.186,13954.352,804.315,2485.848,227.474,0.000,2317.824,0.000,2057.076,0.000,0.536,0.000
$DEVICE_MAMPS,223.380,71.145,1269.135,0.000,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.710,2.190,13.960,38.680,47.660,0.000,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.294,0.000,0.000,0.000
$MEM,329056
$DATA_FILE_SIZE,33370,915
$CAP_FILE_SIZE,217794,0
$CFSIZE,260034560,245194752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.326, 75.1,1
$GPS,131112,200736,1807.359,12430.660,37,1.3,37,-2.1