version: 66.11
glider: 129
mission: 4
dive: 433
start: 2 13 113 13 32 45
data:
$ID,129
$MISSION,4
$DIVE,433
$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,-13
$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,-3324.3403
$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,62
$R_STBD_OVSHOOT,97
$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,20
$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
$GPS1,130213,131806,1901.591,12232.749,36,1.1,36,-2.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-57.9
$GPS2,130213,133218,1901.812,12232.527,12,1.4,17,-2.2
$SPEED_LIMITS,0.163,0.283
$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,91.1,230745,-15.3,-9.429,-18.41
$D_GRID,1688
$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,-184.9,0.0,0.0,0,87,0.00,0.00,-64.60,0.000,2,0.000,0.000,48,1919,1781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.3,-4.8,11,141,8.02,2.15,-34.85,0.000,4,0.238,0.043,1964,516,3165,0,0,0,0,0,0,24.77,26.03,26.55
$GC,158,-0.52,-184.9,12.2,-19.5,21,166,0.15,1.98,0.00,0.000,6,0.164,0.021,1994,1905,3165,0,0,0,0,0,0,25.70,26.18,28.83
$GC,485,-0.46,-184.9,98.3,-23.7,48,490,0.00,2.03,0.00,0.000,4,0.000,0.029,1994,520,3165,0,0,0,0,0,0,28.83,26.11,28.83
$GC,553,-0.42,-184.9,112.0,-21.7,51,559,0.15,2.00,0.00,0.000,6,0.148,0.020,2027,1931,3165,0,0,0,0,0,0,25.80,26.25,28.83
$GC,873,-0.42,-184.9,158.9,-11.7,67,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,1931,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1175,-0.42,-184.9,192.0,-11.8,82,1180,0.00,2.03,0.00,0.000,4,0.000,0.033,2018,3310,3166,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1202,-0.42,-184.9,195.0,-11.8,83,1207,0.00,2.00,0.00,0.000,6,0.000,0.021,2018,1894,3166,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1520,-0.42,-184.9,229.8,-11.0,99,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,1894,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1822,-0.42,-184.9,260.8,-9.3,114,1827,0.00,1.95,0.00,0.000,4,0.000,0.031,2018,539,3163,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1866,-0.42,-184.9,265.3,-9.6,116,1871,0.00,1.98,0.00,0.000,6,0.000,0.020,2008,1932,3163,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2190,-0.42,-184.9,295.9,-9.1,132,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1934,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2494,-0.42,-184.9,324.7,-9.4,147,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1934,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2793,-0.42,-184.9,351.0,-9.1,162,2799,0.00,2.05,0.00,0.000,4,0.000,0.029,2008,548,3160,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2891,-0.42,-184.9,360.4,-10.8,166,2898,0.00,1.95,0.00,0.000,6,0.000,0.020,2000,1922,3160,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3198,-0.42,-184.9,394.7,-10.7,182,3203,0.00,2.05,0.00,0.000,4,0.000,0.033,1989,3310,3158,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3275,-0.42,-184.9,401.0,-10.0,185,3282,0.12,1.98,0.00,0.000,6,0.128,0.021,2027,1928,3158,0,0,0,0,0,0,25.98,26.29,28.83
$GC,3583,-0.44,-184.9,423.5,-5.9,201,3588,0.00,2.03,0.00,0.000,4,0.000,0.031,2027,535,3156,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3727,-0.46,-184.9,432.5,-6.1,208,3733,0.00,2.00,-0.08,0.000,6,0.000,0.020,2019,1940,3175,0,0,0,0,0,0,28.83,26.26,24.89
$GC,4052,-0.48,-184.9,453.5,-6.8,224,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1941,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4354,-0.50,-184.9,474.6,-6.9,239,4360,0.00,2.00,0.00,0.000,4,0.000,0.034,2009,3300,3175,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4383,-0.52,-184.9,476.5,-6.8,240,4388,0.00,1.98,0.00,0.000,6,0.000,0.021,2013,1931,3175,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4703,-0.53,-184.9,500.2,-7.4,256,4708,0.00,2.08,0.00,0.000,4,0.000,0.031,2008,521,3173,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4770,-0.55,-184.9,505.7,-8.3,259,4776,0.00,2.00,0.00,0.000,6,0.000,0.021,2000,1921,3173,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5090,-0.56,-184.9,533.8,-9.0,275,5096,0.00,2.05,0.00,0.000,4,0.000,0.030,2000,533,3170,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5158,-0.56,-184.9,540.2,-9.8,278,5163,0.00,1.98,0.00,0.000,6,0.000,0.021,1992,1934,3170,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5477,-0.56,-184.9,569.4,-8.5,294,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1934,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5778,-0.56,-184.9,594.1,-7.9,309,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1934,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6097,-0.56,-184.9,619.5,-7.9,321,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,1934,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6396,-0.56,-184.9,644.0,-7.9,331,6402,0.00,2.10,0.00,0.000,4,0.000,0.030,1994,531,3163,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6475,-0.56,-184.9,649.0,-7.8,333,6481,0.00,2.00,0.00,0.000,6,0.000,0.021,1982,1923,3162,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6796,-0.56,-184.9,674.3,-7.3,344,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1924,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7095,-0.56,-184.9,697.3,-8.2,354,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1924,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7395,-0.56,-184.9,723.2,-8.7,364,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1924,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7694,-0.56,-184.9,749.0,-8.4,374,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1924,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7995,-0.56,-184.9,772.6,-7.7,384,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,1924,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8294,-0.56,-184.9,795.6,-7.8,394,8301,0.00,2.08,0.00,0.000,4,0.000,0.031,1983,535,3154,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8339,-0.56,-184.9,798.7,-8.1,395,8345,0.00,2.03,0.00,0.000,6,0.000,0.022,1974,1940,3154,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8666,-0.56,-184.9,828.9,-9.0,406,8671,0.00,2.03,0.00,0.000,4,0.000,0.035,1963,3305,3153,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8704,-0.56,-184.9,832.3,-9.2,407,8709,0.00,2.00,0.00,0.000,6,0.000,0.024,1963,1910,3153,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9035,-0.56,-184.9,864.4,-9.7,418,9042,0.00,2.03,0.00,0.000,4,0.000,0.033,1963,532,3152,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9094,-0.56,-184.9,868.5,-10.0,419,9100,0.00,2.00,0.00,0.000,6,0.000,0.022,1954,1929,3151,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9401,-0.56,-184.9,903.5,-10.7,430,9406,0.00,2.10,0.00,0.000,4,0.000,0.032,1954,530,3150,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9434,-0.56,-184.9,907.2,-10.6,431,9441,0.12,2.03,0.00,0.000,6,0.151,0.022,1978,1924,3150,0,0,0,0,0,0,25.75,26.15,28.83
$GC,9769,-0.56,-184.9,933.7,-7.1,442,9775,0.00,2.05,0.00,0.000,4,0.000,0.036,1969,3305,3149,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9809,-0.57,-184.9,936.0,-6.9,443,9815,0.00,2.00,0.00,0.000,6,0.000,0.024,1969,1933,3149,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10141,-0.57,-184.9,958.5,-6.6,454,10146,0.00,2.08,0.00,0.000,4,0.000,0.033,1971,535,3148,0,0,0,0,0,0,28.83,25.88,28.83
$GC,10266,-0.57,-184.9,967.5,-7.1,458,10272,0.00,2.05,0.00,0.000,6,0.000,0.023,1960,1924,3148,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,10601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10601,begin apogee
$GC,10607,-0.17,0.0,991.9,-7.5,469,10776,0.43,0.00,158.30,1.417,6,0.119,0.000,2101,1924,2409,0,0,0,0,0,0,25.29,28.83,22.41
$STATE,10777,end apogee,CONTROL_FINISHED_OK
$STATE,10777,begin climb
$GC,10781,0.58,184.9,996.3,0.0,474,10961,0.73,2.47,170.40,1.363,4,0.086,0.035,2354,511,1655,0,0,0,0,0,0,24.38,23.53,21.67
$GC,11039,0.61,241.2,983.4,7.5,483,11098,0.00,2.10,50.88,1.334,6,0.000,0.021,2354,1903,1424,0,0,0,0,0,0,28.83,25.45,22.92
$GC,11417,0.64,285.2,951.2,7.9,496,11465,0.00,2.22,38.95,1.333,4,0.000,0.035,2354,3292,1245,0,0,0,0,0,0,28.83,25.29,23.37
$GC,11531,0.67,327.2,943.8,8.0,499,11577,0.00,2.08,38.55,1.321,6,0.000,0.027,2363,1908,1075,0,0,0,0,0,0,28.83,25.91,23.33
$GC,11901,0.71,363.5,911.8,8.2,512,11936,0.00,0.00,33.28,1.314,6,0.000,0.000,2363,1908,927,0,0,0,0,0,0,28.83,28.83,23.46
$GC,12233,0.75,406.4,884.9,8.0,523,12279,0.12,2.17,39.50,1.312,4,0.104,0.033,2422,3299,751,0,0,0,0,0,0,26.17,25.32,23.43
$GC,12304,0.77,406.4,877.9,9.5,525,12310,0.00,2.12,0.00,0.000,6,0.000,0.027,2426,1896,750,0,0,0,0,0,0,28.83,25.71,28.83
$GC,12630,0.77,406.4,836.9,11.9,536,12631,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1896,747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12929,0.77,406.4,799.8,12.5,546,12930,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1896,746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13228,0.77,406.4,760.8,13.4,556,13234,0.00,2.10,0.00,0.000,4,0.000,0.037,2426,503,746,0,0,0,0,0,0,28.83,25.98,28.83
$GC,13262,0.77,406.4,756.3,13.3,557,13268,0.00,2.05,0.00,0.000,6,0.000,0.022,2426,1915,745,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13600,0.77,406.4,710.0,14.3,568,13605,0.00,2.05,0.00,0.000,4,0.000,0.034,2426,3282,745,0,0,0,0,0,0,28.83,25.98,28.83
$GC,13693,0.77,406.4,695.9,14.4,571,13700,0.00,2.10,0.00,0.000,6,0.000,0.027,2426,1867,745,0,0,0,0,0,0,28.83,26.10,28.83
$GC,14031,0.77,406.4,650.9,13.3,582,14037,0.00,2.08,0.00,0.000,4,0.000,0.037,2426,503,745,0,0,0,0,0,0,28.83,25.92,28.83
$GC,14059,0.77,406.4,650.9,13.3,582,14067,0.00,2.00,0.00,0.000,6,0.000,0.022,2426,1892,745,0,0,0,0,0,0,28.83,26.19,28.83
$GC,14366,0.77,406.4,604.7,13.9,593,14372,0.00,2.08,0.00,0.000,4,0.000,0.035,2426,3292,744,0,0,0,0,0,0,28.83,25.93,28.83
$GC,14455,0.78,406.4,592.6,14.3,597,14460,0.00,2.08,0.00,0.000,6,0.000,0.027,2428,1890,744,0,0,0,0,0,0,28.83,26.07,28.83
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$GC,16589,0.89,406.5,342.8,9.4,702,16595,0.10,2.10,0.00,0.000,4,0.116,0.034,2467,507,744,0,0,0,0,0,0,26.31,25.85,28.83
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$STATE,19592,end climb,SURFACE_DEPTH_REACHED
$STATE,19592,begin surface coast
$FINISH,1.2,1.021607
$STATE,19609,end surface coast,CONTROL_FINISHED_OK
$STATE,19609,begin surface
$SM_CCo,19687,0.00,0.000,0,0,208,539.91
$SM_GC,1.80,6.38,0.00,0.00,0.038,0.000,0.000,55,1906,208,-6.47,-0.54,539.91,0,0,0,0,0,0,25.95,28.83,28.83
$IRIDIUM_FIX,1855.54,12232.47,130213,131349
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.33
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,3854176
$24V_AH,21.7,88.958
$10V_AH,9.5,58.295
$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,16.725,139.650,642.125,0.000,0.000,0.000,0.000,559.700,0.000,0.000,17.754,2788.515,13773.379,732.297,2683.188,549.765,0.000,2491.732,0.000,2056.803,0.000,0.542,0.000
$DEVICE_MAMPS,237.915,42.840,1416.780,0.000,0.000,0.000,0.000,121.635,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19650.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.214,0.000,0.000,0.000
$MEM,308644
$DATA_FILE_SIZE,33331,889
$CAP_FILE_SIZE,210138,0
$CFSIZE,260034560,208306176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.228,311.8,1
$GPS,130213,190206,1903.704,12234.010,33,1.0,33,-2.2