version: 66.11
glider: 129
mission: 4
dive: 300
start: 1 15 113 7 24 16
data:
$ID,129
$MISSION,4
$DIVE,300
$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,390
$T_MISSION,410
$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,-3094.0688
$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,2
$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,78
$R_STBD_OVSHOOT,87
$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,21.5
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$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
$GPS1,150113,071536,1954.991,12345.221,30,1.4,30,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-55.6
$GPS2,150113,072348,1954.807,12345.417,10,1.6,10,-2.4
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,29.4,70776,-14.2,-8.462,-17.62
$D_GRID,5197
$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,19,-0.54,-175.2,0.0,0.0,0,86,0.00,0.00,-65.15,0.000,2,0.000,0.000,124,1899,1798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.54,-175.2,3.3,-4.1,11,140,7.93,2.08,-34.72,0.000,4,0.239,0.042,1946,3302,3123,5,0,0,0,0,0,24.91,26.11,26.55
$GC,188,-0.49,-175.2,19.4,-25.3,28,195,0.00,1.98,0.00,0.000,6,0.000,0.023,1983,1934,3123,0,0,0,0,0,0,28.83,26.25,28.83
$GC,513,-0.41,-175.2,116.2,-28.4,51,519,0.12,2.03,0.00,0.000,4,0.165,0.028,2021,530,3123,0,0,0,0,0,0,26.12,26.27,28.83
$GC,634,-0.37,-175.2,137.8,-19.6,56,641,0.47,1.98,0.00,0.000,6,0.125,0.021,2152,1928,3124,1,0,0,0,0,0,25.75,26.38,28.83
$GC,938,-0.46,-175.2,163.3,-8.0,72,944,1.48,2.05,0.00,0.000,4,0.074,0.029,1763,3320,3124,4,0,0,0,0,0,26.03,26.29,28.83
$GC,1004,-0.39,-175.2,182.3,-23.6,75,1010,1.67,1.98,0.00,0.000,6,0.197,0.022,2029,1894,3125,0,0,0,0,0,0,25.21,26.40,28.83
$GC,1328,-0.39,-175.2,229.6,-11.1,91,1334,0.00,1.90,0.00,0.000,4,0.000,0.028,2029,550,3125,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1401,-0.39,-175.2,236.9,-11.6,94,1406,0.00,1.95,0.00,0.000,6,0.000,0.020,2021,1936,3124,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1714,-0.38,-175.2,273.4,-11.4,110,1719,0.00,1.98,0.00,0.000,4,0.000,0.028,2021,559,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1772,-0.36,-175.2,278.8,-12.1,112,1778,0.00,1.92,0.00,0.000,6,0.000,0.020,2011,1931,3124,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2077,-0.35,-175.2,312.5,-9.8,128,2083,0.12,2.00,0.00,0.000,4,0.144,0.026,2055,557,3123,0,0,0,0,0,0,26.24,26.34,28.83
$GC,2202,-0.37,-175.2,322.1,-7.3,134,2207,0.00,1.92,0.00,0.000,6,0.000,0.020,2049,1928,3123,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2526,-0.38,-175.2,344.8,-7.1,150,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,1928,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2826,-0.40,-175.2,365.4,-6.5,165,2833,0.00,2.03,0.00,0.000,4,0.000,0.033,2039,3316,3121,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2861,-0.42,-175.2,367.1,-6.5,166,2866,0.00,1.92,0.00,0.000,6,0.000,0.020,2039,1937,3121,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3174,-0.43,-175.2,387.8,-6.7,182,3179,0.00,1.98,0.00,0.000,4,0.000,0.029,2039,549,3120,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3252,-0.44,-175.2,392.5,-7.3,185,3259,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1926,3120,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3558,-0.45,-175.2,414.2,-6.5,201,3563,0.00,2.00,0.00,0.000,4,0.000,0.028,2034,546,3119,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3597,-0.46,-175.2,415.8,-6.6,202,3603,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1936,3118,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3902,-0.48,-175.2,436.7,-6.5,218,3907,0.00,2.03,0.00,0.000,4,0.000,0.028,2034,541,3117,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3927,-0.49,-175.2,438.3,-6.5,219,3932,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1928,3116,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4250,-0.51,-175.2,459.4,-6.9,235,4258,0.12,2.03,-0.08,0.000,4,0.097,0.041,1965,548,3140,0,0,0,0,0,0,26.44,26.30,24.71
$GC,4343,-0.50,-175.2,469.1,-11.5,239,4349,0.15,1.95,0.00,0.000,6,0.141,0.021,1999,1917,3140,0,0,0,0,0,0,26.03,26.39,28.83
$GC,4661,-0.50,-175.2,502.9,-10.2,255,4666,0.00,2.00,0.00,0.000,4,0.000,0.029,1999,538,3140,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4699,-0.50,-175.2,505.3,-10.3,256,4706,0.00,1.98,0.00,0.000,6,0.000,0.021,1993,1932,3139,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5004,-0.50,-175.2,536.2,-8.8,272,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1932,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5306,-0.50,-175.2,561.3,-8.5,287,5311,0.00,2.03,0.00,0.000,4,0.000,0.030,1993,543,3137,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5350,-0.50,-175.2,566.0,-9.7,289,5355,0.00,1.98,0.00,0.000,6,0.000,0.022,1985,1927,3137,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5673,-0.50,-175.2,595.9,-9.0,305,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,1928,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5973,-0.50,-175.2,620.3,-8.3,316,5978,0.00,2.03,0.00,0.000,4,0.000,0.030,1985,542,3132,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6010,-0.50,-175.2,623.2,-8.5,317,6015,0.00,1.98,0.00,0.000,6,0.000,0.023,1976,1919,3132,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6340,-0.50,-175.2,651.3,-8.3,328,6345,0.00,2.05,0.00,0.000,4,0.000,0.031,1977,552,3130,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6406,-0.50,-175.2,657.0,-8.5,330,6412,0.12,1.95,0.00,0.000,6,0.154,0.023,2003,1927,3130,0,0,0,0,0,0,26.02,26.36,28.83
$GC,6738,-0.50,-175.2,678.4,-6.7,341,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1928,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7036,-0.51,-175.2,699.4,-7.0,351,7041,0.00,2.03,0.00,0.000,4,0.000,0.031,2003,549,3126,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7071,-0.51,-175.2,701.9,-7.1,352,7076,0.00,2.00,0.00,0.000,6,0.000,0.022,1997,1935,3126,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7406,-0.51,-175.2,724.5,-6.4,363,7411,0.00,2.05,0.00,0.000,4,0.000,0.031,1997,551,3124,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7464,-0.51,-175.2,726.7,-6.4,364,7471,0.00,1.98,0.00,0.000,6,0.000,0.023,1990,1929,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7769,-0.51,-175.2,747.9,-6.5,375,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1929,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8071,-0.51,-175.2,769.6,-7.6,385,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1929,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8369,-0.51,-175.2,793.5,-8.1,395,8374,0.00,2.03,0.00,0.000,4,0.000,0.031,1990,556,3120,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8432,-0.51,-175.2,799.1,-8.5,397,8437,0.00,2.00,0.00,0.000,6,0.000,0.024,1982,1933,3119,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8769,-0.51,-175.2,826.8,-8.0,408,8774,0.00,2.03,0.00,0.000,4,0.000,0.031,1982,555,3119,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8836,-0.51,-175.2,832.4,-8.2,410,8842,0.00,1.98,0.00,0.000,6,0.000,0.024,1975,1927,3118,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9167,-0.51,-175.2,856.7,-7.0,421,9168,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1927,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9466,-0.51,-175.2,878.0,-7.3,431,9467,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,1927,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9765,-0.51,-175.2,901.2,-8.0,441,9771,0.00,2.08,0.00,0.000,4,0.000,0.032,1975,544,3115,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9802,-0.51,-175.2,904.2,-8.3,442,9807,0.00,2.00,0.00,0.000,6,0.000,0.024,1968,1918,3115,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10133,-0.51,-175.2,933.8,-9.2,453,10138,0.00,2.03,0.00,0.000,4,0.000,0.032,1968,556,3113,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10190,-0.51,-175.2,937.5,-9.5,454,10198,0.12,2.00,0.00,0.000,6,0.154,0.024,1996,1933,3113,0,0,0,0,0,0,25.94,26.29,28.83
$GC,10500,-0.52,-175.2,965.2,-8.2,465,10505,0.00,2.05,0.00,0.000,4,0.000,0.033,1996,543,3113,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10528,-0.53,-175.2,965.2,-8.2,465,10535,0.00,2.00,0.00,0.000,6,0.000,0.024,1990,1932,3113,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,10801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10801,begin apogee
$GC,10806,-0.17,0.0,991.6,-8.6,475,10964,0.32,0.00,150.20,1.413,6,0.117,0.000,2101,1932,2410,0,0,0,0,0,0,25.79,28.83,22.37
$STATE,10966,end apogee,CONTROL_FINISHED_OK
$STATE,10966,begin climb
$GC,10968,0.54,175.2,999.5,0.0,480,11138,0.68,2.42,161.50,1.362,4,0.087,0.034,2327,532,1693,0,0,0,0,0,0,24.20,23.64,21.94
$GC,11181,0.59,286.1,994.1,4.9,487,11291,0.00,2.10,102.12,1.341,6,0.000,0.021,2327,1893,1241,0,0,0,0,0,0,28.83,24.63,21.98
$GC,11592,0.63,325.6,965.5,7.2,501,11635,0.10,2.20,35.12,1.328,4,0.119,0.035,2367,3288,1080,0,0,0,0,0,0,26.11,25.30,23.62
$GC,11687,0.64,325.6,956.1,9.5,504,11694,0.00,2.00,0.00,0.000,6,0.000,0.024,2373,1923,1077,0,0,0,0,0,0,28.83,25.84,28.83
$GC,12020,0.66,325.6,920.3,10.9,515,12025,0.00,2.12,0.00,0.000,4,0.000,0.035,2373,503,1074,0,0,0,0,0,0,28.83,26.18,28.83
$GC,12067,0.67,325.6,916.4,11.0,516,12073,0.00,2.03,0.00,0.000,6,0.000,0.021,2373,1923,1074,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12388,0.68,325.6,878.6,11.4,527,12394,0.00,2.00,0.00,0.000,4,0.000,0.034,2373,3280,1073,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12452,0.68,325.6,870.7,11.6,529,12457,0.00,2.00,0.00,0.000,6,0.000,0.024,2373,1889,1072,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12789,0.69,325.6,834.0,10.8,540,12790,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1888,1072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13085,0.70,325.6,803.2,10.3,550,13090,0.00,2.08,0.00,0.000,4,0.000,0.035,2373,502,1072,0,0,0,0,0,0,28.83,26.23,28.83
$GC,13133,0.72,325.6,799.8,10.3,551,13139,0.00,2.00,0.00,0.000,6,0.000,0.021,2373,1905,1072,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13454,0.73,325.6,766.1,9.7,562,13459,0.00,2.08,0.00,0.000,4,0.000,0.035,2373,3292,1071,0,0,0,0,0,0,28.83,26.20,28.83
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$GC,16266,0.77,325.6,431.1,10.2,678,16271,0.00,2.08,0.00,0.000,4,0.000,0.035,2426,504,1069,0,0,0,0,0,0,28.83,26.14,28.83
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$STATE,20946,end climb,SURFACE_DEPTH_REACHED
$STATE,20946,begin surface coast
$FINISH,1.2,1.022410
$STATE,20969,end surface coast,CONTROL_FINISHED_OK
$STATE,20969,begin surface
$SM_CCo,21054,0.00,0.000,0,0,209,539.66
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$IRIDIUM_FIX,1945.83,12344.58,150113,010116
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.66
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,3905152
$24V_AH,21.9,60.275
$10V_AH,9.8,41.729
$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,28.000,169.750,625.725,0.000,0.000,0.000,0.000,292.375,0.000,0.000,11.746,3114.696,14522.913,752.824,2683.945,460.865,0.000,2370.644,0.000,2301.410,0.000,0.543,0.000
$DEVICE_MAMPS,322.065,42.075,1412.955,0.000,0.000,0.000,0.000,139.230,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20994.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.113,0.000,0.000,0.000
$MEM,329008
$DATA_FILE_SIZE,36693,962
$CAP_FILE_SIZE,230433,8
$CFSIZE,260034560,221446144
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,38,0,0,0,0
$CURRENT,0.291,191.1,1
$GPS,150113,131630,1954.515,12346.059,41,1.1,41,-2.4