version: 66.11
glider: 129
mission: 4
dive: 338
start: 1 24 113 12 8 5
data:
$ID,129
$MISSION,4
$DIVE,338
$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,350
$T_MISSION,380
$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,190
$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,-3170.3682
$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,125
$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,83
$R_STBD_OVSHOOT,85
$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
$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
$GPS1,240113,115936,1924.064,12404.007,25,2.0,25,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-60.6
$GPS2,240113,120737,1923.814,12404.167,14,2.0,14,-2.3
$SPEED_LIMITS,0.163,0.283
$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,153.0,182049,-15.3,-9.429,-18.41
$D_GRID,5335
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.58,-184.9,0.0,0.0,0,82,0.00,0.00,-59.53,0.000,2,0.000,0.000,50,1885,1891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.58,-184.9,3.2,-4.4,10,135,7.97,1.98,-33.78,0.000,4,0.240,0.041,1969,541,3163,0,0,0,0,0,0,24.96,26.10,26.53
$GC,181,-0.52,-184.9,20.0,-27.2,26,188,0.12,1.98,0.00,0.000,6,0.167,0.021,1993,1903,3163,0,0,0,0,0,0,25.84,26.22,28.83
$GC,502,-0.47,-184.9,95.9,-21.1,49,508,0.00,2.08,0.00,0.000,4,0.000,0.031,1983,3320,3163,0,0,0,0,0,0,28.83,26.20,28.83
$GC,622,-0.44,-184.9,115.5,-18.0,54,629,0.12,1.98,0.00,0.000,6,0.145,0.020,2018,1907,3164,0,0,0,0,0,0,26.02,26.36,28.83
$GC,926,-0.43,-184.9,162.2,-12.1,70,931,0.00,1.95,0.00,0.000,4,0.000,0.028,2018,548,3164,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1141,-0.43,-184.9,189.4,-12.4,80,1146,0.00,1.95,0.00,0.000,6,0.000,0.020,2010,1945,3164,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1454,-0.43,-184.9,228.8,-11.5,96,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,1945,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1759,-0.43,-184.9,265.4,-12.2,111,1764,0.00,2.03,0.00,0.000,4,0.000,0.028,2010,550,3164,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1831,-0.43,-184.9,273.7,-12.4,114,1836,0.00,1.92,0.00,0.000,6,0.000,0.020,2001,1930,3164,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2144,-0.43,-184.9,309.3,-10.5,130,2149,0.00,2.03,0.00,0.000,4,0.000,0.032,1990,3307,3163,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2221,-0.43,-184.9,315.5,-9.8,133,2228,0.10,1.95,0.00,0.000,6,0.138,0.020,2020,1901,3163,0,0,0,0,0,0,26.14,26.39,28.83
$GC,2528,-0.43,-184.9,343.4,-9.4,149,2533,0.00,1.92,0.00,0.000,4,0.000,0.028,2020,563,3162,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2622,-0.43,-184.9,351.4,-9.5,153,2627,0.00,1.92,0.00,0.000,6,0.000,0.020,2012,1942,3163,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2935,-0.43,-184.9,383.1,-9.9,169,2940,0.00,2.03,0.00,0.000,4,0.000,0.028,2012,556,3162,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2993,-0.43,-184.9,387.4,-10.0,171,3000,0.00,1.95,0.00,0.000,6,0.000,0.020,2004,1921,3162,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3299,-0.43,-184.9,417.2,-8.4,187,3304,0.00,2.00,0.00,0.000,4,0.000,0.032,1993,3297,3161,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3337,-0.43,-184.9,419.1,-8.2,188,3344,0.00,1.90,0.00,0.000,6,0.000,0.020,1993,1940,3160,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3642,-0.43,-184.9,448.9,-9.7,204,3648,0.00,2.03,0.00,0.000,4,0.000,0.028,1993,538,3159,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3828,-0.43,-184.9,467.1,-9.9,213,3834,0.12,1.95,0.00,0.000,6,0.142,0.021,2019,1924,3158,0,0,0,0,0,0,26.04,26.38,28.83
$GC,4153,-0.45,-184.9,491.7,-7.2,229,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1924,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4455,-0.47,-184.9,512.0,-6.7,244,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,1924,3154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4756,-0.49,-184.9,534.4,-7.8,259,4761,0.00,2.05,0.00,0.000,4,0.000,0.029,2020,539,3152,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4821,-0.50,-184.9,540.1,-8.2,262,4827,0.00,2.00,0.00,0.000,6,0.000,0.021,2013,1917,3152,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5145,-0.52,-184.9,563.1,-6.7,278,5151,0.00,2.03,0.00,0.000,4,0.000,0.029,2013,549,3150,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5204,-0.54,-184.9,566.4,-7.1,280,5211,0.00,2.00,0.00,0.000,6,0.000,0.021,2004,1927,3149,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5510,-0.55,-184.9,590.5,-7.5,296,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1928,3148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5832,-0.56,-184.9,613.7,-7.4,309,5838,0.00,2.03,0.00,0.000,4,0.000,0.034,1994,3302,3146,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5876,-0.58,-184.9,616.3,-7.4,310,5882,0.00,1.95,0.00,0.000,6,0.000,0.021,1994,1931,3145,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6203,-0.59,-184.9,643.5,-8.0,321,6208,0.00,2.03,0.00,0.000,4,0.000,0.030,1994,536,3144,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6332,-0.59,-184.9,654.4,-8.8,325,6338,0.00,2.03,0.00,0.000,6,0.000,0.021,1987,1926,3144,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6663,-0.59,-184.9,681.6,-7.9,336,6668,0.00,2.05,0.00,0.000,4,0.000,0.031,1987,545,3141,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6703,-0.59,-184.9,684.7,-8.0,337,6708,0.00,2.00,0.00,0.000,6,0.000,0.022,1979,1935,3141,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7033,-0.59,-184.9,712.8,-8.5,348,7039,0.00,2.08,0.00,0.000,4,0.000,0.031,1978,537,3140,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7086,-0.59,-184.9,716.1,-8.8,349,7092,0.00,2.00,0.00,0.000,6,0.000,0.022,1970,1925,3140,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7401,-0.59,-184.9,747.2,-9.1,360,7406,0.00,2.05,0.00,0.000,4,0.000,0.031,1970,545,3136,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7454,-0.59,-184.9,750.4,-9.1,361,7460,0.00,1.98,0.00,0.000,6,0.000,0.022,1962,1931,3138,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7769,-0.59,-184.9,780.3,-8.9,372,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1932,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8068,-0.59,-184.9,808.5,-9.6,382,8073,0.00,2.08,0.00,0.000,4,0.000,0.031,1962,540,3134,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8111,-0.59,-184.9,811.8,-9.6,383,8116,0.00,2.00,0.00,0.000,6,0.000,0.023,1953,1925,3134,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8435,-0.59,-184.9,844.8,-9.6,394,8441,0.00,2.05,0.00,0.000,4,0.000,0.031,1953,543,3133,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8507,-0.59,-184.9,851.1,-9.7,396,8513,0.00,2.00,0.00,0.000,6,0.000,0.023,1943,1926,3133,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8833,-0.59,-184.9,881.4,-8.8,407,8834,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,1928,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9130,-0.59,-184.9,909.1,-9.5,417,9135,0.00,2.05,0.00,0.000,4,0.000,0.031,1943,539,3130,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9243,-0.59,-184.9,918.9,-10.4,420,9250,0.12,2.03,0.00,0.000,6,0.159,0.024,1967,1933,3130,0,0,0,0,0,0,25.86,26.24,28.83
$GC,9559,-0.59,-184.9,946.6,-7.8,431,9560,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,1933,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9858,-0.59,-184.9,968.6,-7.2,441,9864,0.00,2.08,0.00,0.000,4,0.000,0.032,1968,545,3128,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9926,-0.59,-184.9,973.6,-7.4,443,9931,0.00,1.98,0.00,0.000,6,0.000,0.024,1961,1928,3128,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,10161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10162,begin apogee
$GC,10168,-0.17,0.0,992.1,-7.7,451,10330,0.43,0.00,154.77,1.417,6,0.119,0.000,2102,1929,2409,0,0,0,0,0,0,25.53,28.83,22.18
$STATE,10331,end apogee,CONTROL_FINISHED_OK
$STATE,10331,begin climb
$GC,10334,0.58,184.9,997.0,0.0,456,10518,0.73,2.45,171.85,1.364,4,0.086,0.034,2345,524,1655,0,0,0,0,0,0,24.15,23.58,21.78
$GC,10546,0.62,274.5,988.8,6.4,463,10636,0.00,2.15,83.95,1.338,6,0.000,0.020,2346,1896,1289,0,0,0,0,0,0,28.83,24.47,21.87
$GC,10950,0.64,286.6,952.6,9.0,477,10968,0.00,2.15,10.90,1.204,4,0.000,0.036,2346,3281,1240,0,0,0,0,0,0,28.83,25.79,23.70
$GC,11047,0.66,286.6,943.2,9.9,480,11053,0.00,2.00,0.00,0.000,6,0.000,0.024,2346,1903,1238,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11378,0.68,286.6,911.0,9.5,491,11379,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1902,1237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11678,0.72,323.5,885.5,8.2,501,11715,0.15,0.00,34.42,1.330,6,0.104,0.000,2402,1902,1091,0,0,0,0,0,0,26.26,28.83,23.57
$GC,12008,0.72,323.5,848.7,11.2,512,12014,0.00,2.10,0.00,0.000,4,0.000,0.034,2403,3285,1085,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12045,0.72,323.5,844.4,11.3,513,12051,0.00,2.00,0.00,0.000,6,0.000,0.024,2409,1896,1083,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12375,0.72,323.5,806.4,11.3,524,12376,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1896,1083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12674,0.72,323.5,772.3,11.6,534,12680,0.00,2.12,0.00,0.000,4,0.000,0.034,2410,3290,1082,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12722,0.72,323.5,768.2,11.7,535,12728,0.00,2.03,0.00,0.000,6,0.000,0.024,2413,1902,1082,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13043,0.72,323.5,727.6,12.3,546,13044,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1902,1082,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13341,0.72,323.5,688.3,13.4,556,13342,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1902,1081,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13640,0.72,323.5,652.2,11.1,566,13646,0.00,2.12,0.00,0.000,4,0.000,0.034,2412,3296,1079,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13668,0.72,323.5,652.2,11.1,566,13675,0.00,2.03,0.00,0.000,6,0.000,0.024,2419,1888,1081,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13973,0.72,323.5,617.1,10.5,577,13979,0.00,2.12,0.00,0.000,4,0.000,0.034,2419,3293,1081,0,0,0,0,0,0,28.83,26.10,28.83
$GC,14037,0.72,323.5,609.8,11.1,579,14043,0.12,2.03,0.00,0.000,6,0.170,0.024,2394,1893,1081,0,0,0,0,0,0,25.86,26.27,28.83
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$GC,15768,0.77,327.8,418.9,9.3,662,15778,0.00,2.08,3.95,0.695,4,0.000,0.034,2424,3275,1072,0,0,0,0,0,0,28.83,25.96,23.67
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$STATE,20067,end climb,SURFACE_DEPTH_REACHED
$STATE,20067,begin surface coast
$FINISH,1.2,1.022659
$STATE,20087,end surface coast,CONTROL_FINISHED_OK
$STATE,20088,begin surface
$SM_CCo,20165,0.00,0.000,0,0,343,506.79
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$IRIDIUM_FIX,1922.94,12402.96,240113,060653
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.88
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3890560
$24V_AH,21.8,68.587
$10V_AH,9.6,46.875
$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,16.300,158.100,600.975,0.000,0.000,0.000,0.000,275.275,0.000,0.000,15.371,3001.248,13856.533,742.557,2556.887,480.466,0.000,2268.805,0.000,2206.732,0.000,0.539,0.000
$DEVICE_MAMPS,240.210,41.310,1416.780,0.000,0.000,0.000,0.000,136.935,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20115.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.155,0.000,0.000,0.000
$MEM,329020
$DATA_FILE_SIZE,33340,932
$CAP_FILE_SIZE,219771,0
$CFSIZE,260034560,217505792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.245,174.8,1
$GPS,240113,174529,1918.602,12406.293,39,1.1,39,-2.3