version: 66.11
glider: 129
mission: 4
dive: 156
start: 12 11 112 15 16 56
data:
$ID,129
$MISSION,4
$DIVE,156
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$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,380
$T_MISSION,400
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2843.9307
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,76
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$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,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,111212,150830,1957.666,12422.876,42,1.0,42,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-63.6
$GPS2,111212,151631,1957.554,12422.749,11,1.5,11,-2.5
$SPEED_LIMITS,0.150,0.269
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,163.2,237216,-14.6,-8.684,-17.90
$D_GRID,5577
$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,-0.56,-175.2,0.0,0.0,0,68,0.00,0.00,-47.83,0.000,2,0.000,0.000,58,1892,1824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.56,-175.2,3.0,-3.8,8,126,7.78,2.03,-38.72,0.000,4,0.243,0.044,1974,524,3126,0,0,0,0,0,0,25.37,25.97,26.33
$GC,308,-0.50,-175.2,46.0,-21.9,43,316,0.12,2.00,0.00,0.000,6,0.162,0.023,1998,1923,3126,0,0,0,0,0,0,25.86,26.17,28.83
$GC,626,-0.49,-175.2,101.7,-13.7,60,631,0.00,2.05,0.00,0.000,4,0.000,0.030,1998,527,3130,0,0,0,0,0,0,28.83,26.25,28.83
$GC,753,-0.47,-175.2,118.6,-13.9,66,759,0.00,2.00,0.00,0.000,6,0.000,0.023,1991,1941,3128,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1071,-0.46,-175.2,161.1,-12.6,82,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,1941,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1372,-0.45,-175.2,198.2,-12.1,97,1377,0.00,2.08,0.00,0.000,4,0.000,0.031,1991,523,3128,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1449,-0.44,-175.2,205.9,-12.1,100,1457,0.12,2.00,0.00,0.000,6,0.144,0.023,2019,1931,3128,0,0,0,0,0,0,26.16,26.43,28.83
$GC,1755,-0.45,-175.2,238.2,-10.3,116,1760,0.00,2.03,0.00,0.000,4,0.000,0.035,2011,3306,3128,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1827,-0.47,-175.2,244.6,-10.2,119,1833,0.00,1.95,0.00,0.000,6,0.000,0.022,2010,1910,3128,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2142,-0.48,-175.2,274.9,-8.3,135,2147,0.00,1.98,0.00,0.000,4,0.000,0.031,2010,541,3127,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2209,-0.49,-175.2,280.7,-8.8,138,2214,0.00,1.98,0.00,0.000,6,0.000,0.022,2003,1933,3127,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2528,-0.50,-175.2,307.9,-8.0,154,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1933,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2828,-0.51,-175.2,330.6,-7.9,169,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1933,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3128,-0.52,-175.2,356.6,-8.8,184,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1933,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3428,-0.53,-175.2,380.9,-7.6,199,3434,0.00,2.05,0.00,0.000,4,0.000,0.032,2003,537,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3522,-0.54,-175.2,388.0,-8.4,203,3527,0.00,1.95,0.00,0.000,6,0.000,0.023,2001,1922,3125,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3836,-0.56,-175.2,414.8,-7.9,219,3842,0.00,2.03,0.00,0.000,4,0.000,0.036,1991,3313,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3865,-0.57,-175.2,416.8,-7.9,220,3870,0.00,1.95,0.00,0.000,6,0.000,0.023,1991,1923,3127,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4183,-0.59,-175.2,442.1,-7.8,236,4188,0.00,2.03,0.00,0.000,4,0.000,0.033,1991,530,3123,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4236,-0.60,-175.2,446.0,-8.4,238,4241,0.00,1.98,0.00,0.000,6,0.000,0.023,1993,1931,3123,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4550,-0.61,-175.2,471.5,-7.2,254,4555,0.00,2.03,0.00,0.000,4,0.000,0.037,1985,3307,3121,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4617,-0.62,-175.2,475.7,-6.7,257,4622,0.00,1.98,0.00,0.000,6,0.000,0.024,1985,1920,3121,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4935,-0.64,-175.2,498.3,-7.3,273,4940,0.00,2.03,0.00,0.000,4,0.000,0.033,1985,530,3120,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5012,-0.65,-175.2,503.6,-8.0,276,5017,0.00,1.98,0.00,0.000,6,0.000,0.023,1976,1931,3120,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5325,-0.65,-175.2,526.8,-7.0,292,5331,0.00,2.05,0.00,0.000,4,0.000,0.032,1976,538,3118,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5439,-0.65,-175.2,535.3,-8.3,297,5444,0.00,1.98,0.00,0.000,6,0.000,0.024,1964,1936,3118,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5751,-0.65,-175.2,562.6,-8.6,313,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1937,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6053,-0.65,-175.2,587.9,-8.2,328,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1937,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6363,-0.66,-175.2,613.1,-8.1,341,6368,0.00,2.08,0.00,0.000,4,0.000,0.034,1967,541,3113,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6430,-0.66,-175.2,618.9,-8.5,343,6436,0.00,2.00,0.00,0.000,6,0.000,0.024,1958,1930,3112,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6760,-0.66,-175.2,646.5,-8.2,354,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,1930,3110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7060,-0.66,-175.2,670.3,-8.0,364,7065,0.00,2.03,0.00,0.000,4,0.000,0.038,1947,3309,3108,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7116,-0.66,-175.2,673.1,-8.1,365,7124,0.00,2.00,0.00,0.000,6,0.000,0.026,1947,1937,3108,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7426,-0.66,-175.2,701.0,-8.5,376,7432,0.00,2.08,0.00,0.000,4,0.000,0.036,1947,530,3107,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7513,-0.66,-175.2,707.3,-9.0,378,7521,0.00,2.03,0.00,0.000,6,0.000,0.025,1938,1934,3107,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7819,-0.66,-175.2,737.4,-9.1,389,7824,0.00,2.10,0.00,0.000,4,0.000,0.035,1938,524,3105,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7876,-0.66,-175.2,740.6,-9.2,390,7883,0.00,2.03,0.00,0.000,6,0.000,0.026,1929,1933,3104,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8185,-0.65,-175.2,771.8,-9.6,401,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1934,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8482,-0.64,-175.2,798.4,-8.5,411,8487,0.00,2.10,0.00,0.000,4,0.000,0.035,1928,528,3104,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8541,-0.63,-175.2,801.5,-8.7,412,8548,0.12,2.00,0.00,0.000,6,0.159,0.027,1953,1927,3102,0,0,0,0,0,0,26.03,26.37,28.83
$GC,8850,-0.64,-175.2,826.2,-7.3,423,8855,0.00,2.08,0.00,0.000,4,0.000,0.040,1944,3314,3101,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8894,-0.65,-175.2,828.9,-7.3,424,8899,0.00,2.00,0.00,0.000,6,0.000,0.027,1941,1914,3100,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9218,-0.65,-175.2,857.2,-8.7,435,9223,0.00,2.05,0.00,0.000,4,0.000,0.037,1949,528,3099,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9314,-0.65,-175.2,866.3,-9.6,438,9320,0.00,2.00,0.00,0.000,6,0.000,0.026,1935,1923,3098,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9644,-0.65,-175.2,897.5,-9.2,449,9645,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,1923,3097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9942,-0.65,-175.2,922.6,-7.9,459,9947,0.00,2.10,0.00,0.000,4,0.000,0.041,1925,3322,3097,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9976,-0.65,-175.2,925.1,-7.8,460,9981,0.00,2.05,0.00,0.000,6,0.000,0.028,1924,1913,3096,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10312,-0.64,-175.2,951.3,-7.9,471,10317,0.00,2.05,0.00,0.000,4,0.000,0.037,1924,534,3095,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10440,-0.63,-175.2,962.5,-8.9,475,10445,0.15,2.00,0.00,0.000,6,0.152,0.027,1958,1926,3095,0,0,0,0,0,0,25.92,26.34,28.83
$GC,10770,-0.65,-175.2,983.9,-6.4,486,10771,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1926,3094,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10887,begin apogee
$GC,10891,-0.17,0.0,991.8,-6.6,490,11040,0.43,0.00,140.75,1.428,6,0.117,0.000,2103,1927,2409,0,0,0,0,0,0,25.72,28.83,23.23
$STATE,11041,end apogee,CONTROL_FINISHED_OK
$STATE,11042,begin climb
$GC,11044,0.56,175.2,997.1,0.0,495,11206,0.70,0.00,158.20,1.373,6,0.065,0.000,2349,1927,1694,0,0,0,0,0,0,24.42,28.83,22.53
$GC,11488,0.54,175.2,959.0,10.9,510,11493,0.00,2.10,0.00,0.000,4,0.000,0.038,2349,3285,1685,0,0,0,0,0,0,28.83,25.45,28.83
$GC,11586,0.52,175.2,947.8,11.7,513,11592,0.12,2.08,0.00,0.000,6,0.184,0.028,2329,1900,1684,0,0,0,0,0,0,25.39,25.73,28.83
$GC,11914,0.51,175.2,914.6,9.7,524,11915,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1900,1682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12215,0.50,175.2,886.2,9.2,534,12220,0.00,2.12,0.00,0.000,4,0.000,0.037,2329,3296,1681,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12272,0.49,175.2,882.8,9.4,535,12279,0.00,2.05,0.00,0.000,6,0.000,0.029,2336,1890,1681,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12578,0.48,175.2,850.9,9.7,546,12579,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1890,1680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12878,0.47,175.2,821.5,9.8,556,12883,0.00,2.12,0.00,0.000,4,0.000,0.037,2336,3294,1680,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12956,0.45,175.2,814.8,10.3,558,12962,0.15,2.03,0.00,0.000,6,0.177,0.030,2305,1901,1679,0,0,0,0,0,0,25.84,26.28,28.83
$GC,13275,0.46,200.8,787.8,7.8,569,13298,0.00,0.00,20.67,1.276,6,0.000,0.000,2305,1900,1590,0,0,0,0,0,0,28.83,28.83,24.65
$GC,13577,0.48,223.6,763.5,7.9,579,13606,0.00,0.00,21.00,1.255,6,0.000,0.000,2305,1900,1496,0,0,0,0,0,0,28.83,28.83,24.47
$GC,13906,0.49,241.2,736.8,8.1,590,13929,0.00,2.20,15.98,1.214,4,0.000,0.037,2305,3284,1425,0,0,0,0,0,0,28.83,25.63,24.55
$GC,13962,0.51,258.8,734.2,8.1,591,13986,0.00,2.05,16.90,1.201,6,0.000,0.028,2313,1903,1353,0,0,0,0,0,0,28.83,25.77,24.31
$GC,14299,0.52,270.9,703.1,8.3,603,14318,0.00,2.17,11.10,1.147,4,0.000,0.036,2313,3282,1304,0,0,0,0,0,0,28.83,25.75,24.61
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$GC,15026,0.58,301.0,638.0,10.0,627,15031,0.00,2.15,0.00,0.000,4,0.000,0.036,2329,3297,1178,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,21431,end climb,SURFACE_DEPTH_REACHED
$STATE,21431,begin surface coast
$FINISH,1.1,1.023413
$STATE,21449,end surface coast,CONTROL_FINISHED_OK
$STATE,21449,begin surface
$SM_CCo,21523,0.00,0.000,0,0,439,483.24
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$IRIDIUM_FIX,1952.70,12424.02,111212,080825
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.50
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3960352
$24V_AH,22.5,30.256
$10V_AH,10.1,22.581
$FG_AHR_24Vo,120.571
$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,16.375,147.000,557.425,0.000,0.000,0.000,0.000,303.375,3.000,0.000,12.275,3129.889,15212.807,729.078,2585.310,332.661,0.000,2235.395,0.000,2170.843,0.000,26.366,0.000
$DEVICE_MAMPS,243.270,44.370,1428.255,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21466.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.243,0.000,0.000,0.000
$MEM,328992
$DATA_FILE_SIZE,36656,991
$CAP_FILE_SIZE,233903,0
$CFSIZE,260034560,236392448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,208.4,1
$GPS,111212,211659,1953.215,12423.267,37,1.1,42,-2.5