version: 66.11
glider: 129
mission: 4
dive: 453
start: 2 18 113 4 11 13
data:
$ID,129
$MISSION,4
$DIVE,453
$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,-3350.4446
$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,61
$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,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
$GPS1,180213,040136,1928.735,12303.124,32,1.2,32,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-61.1
$GPS2,180213,041043,1928.770,12303.363,13,1.3,13,-2.3
$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,46.5,158310,-15.3,-9.429,-18.41
$D_GRID,4548
$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,-64.70,0.000,2,0.000,0.000,53,1929,1756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.2,-4.5,11,146,7.85,2.10,-38.17,0.000,4,0.233,0.046,1957,3300,3164,0,0,0,0,0,0,24.88,25.94,26.52
$GC,211,-0.53,-184.9,23.7,-23.3,32,218,0.00,2.00,0.00,0.000,6,0.000,0.023,1957,1909,3164,0,0,0,0,0,0,28.83,26.10,28.83
$GC,516,-0.48,-184.9,99.3,-23.5,53,523,0.12,2.00,0.00,0.000,4,0.161,0.029,1997,534,3164,0,0,0,0,0,0,25.95,25.96,28.83
$GC,752,-0.45,-184.9,139.6,-16.5,64,758,0.00,2.00,0.00,0.000,6,0.000,0.021,1988,1918,3166,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1066,-0.43,-184.9,186.7,-14.1,80,1072,0.12,2.05,0.00,0.000,4,0.150,0.028,2029,524,3165,0,0,0,0,0,0,26.03,25.98,28.83
$GC,1135,-0.43,-184.9,194.7,-12.9,83,1141,0.00,2.00,0.00,0.000,6,0.000,0.021,2021,1928,3166,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1455,-0.43,-184.9,230.4,-10.3,99,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1928,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1756,-0.43,-184.9,259.6,-9.5,114,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1928,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2057,-0.43,-184.9,290.2,-9.9,129,2063,0.00,2.05,0.00,0.000,4,0.000,0.031,2021,534,3164,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2121,-0.43,-184.9,296.8,-9.9,132,2127,0.00,2.00,0.00,0.000,6,0.000,0.021,2012,1936,3163,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2447,-0.43,-184.9,327.3,-9.1,148,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1937,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2748,-0.43,-184.9,353.9,-8.7,163,2753,0.00,2.10,0.00,0.000,4,0.000,0.031,2012,531,3162,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2775,-0.43,-184.9,356.4,-9.0,164,2780,0.00,2.00,0.00,0.000,6,0.000,0.021,2003,1925,3161,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3094,-0.43,-184.9,385.6,-9.5,180,3100,0.00,2.08,0.00,0.000,4,0.000,0.031,2003,538,3161,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3121,-0.43,-184.9,388.1,-9.8,181,3126,0.00,2.00,0.00,0.000,6,0.000,0.021,1994,1928,3161,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3439,-0.43,-184.9,420.6,-10.2,197,3445,0.00,2.08,0.00,0.000,4,0.000,0.031,1995,526,3160,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3498,-0.43,-184.9,425.3,-10.5,199,3505,0.12,2.03,0.00,0.000,6,0.138,0.021,2022,1932,3160,0,0,0,0,0,0,25.82,26.16,28.83
$GC,3805,-0.45,-184.9,451.6,-7.6,215,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1932,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4107,-0.47,-184.9,475.6,-8.4,230,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,1932,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4407,-0.49,-184.9,499.9,-7.9,245,4409,0.00,0.00,-0.08,0.000,6,0.000,0.000,2022,1932,3179,0,0,0,0,0,0,28.83,28.83,25.01
$GC,4704,-0.52,-184.9,521.0,-6.4,260,4710,0.00,2.05,0.00,0.000,4,0.000,0.034,2013,3303,3178,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4770,-0.54,-184.9,525.3,-6.4,263,4776,0.00,2.03,0.00,0.000,6,0.000,0.023,2013,1898,3178,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5095,-0.56,-184.9,544.8,-5.7,279,5101,0.10,2.05,0.00,0.000,4,0.110,0.031,1963,530,3178,0,0,0,0,0,0,26.34,25.91,28.83
$GC,5134,-0.57,-184.9,546.7,-6.1,280,5140,0.00,2.03,0.00,0.000,6,0.000,0.021,1953,1939,3177,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5439,-0.56,-184.9,577.9,-10.6,296,5445,0.00,2.03,0.00,0.000,4,0.000,0.034,1943,3298,3175,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5584,-0.56,-184.9,593.6,-10.9,303,5590,0.12,2.00,0.00,0.000,6,0.142,0.023,1978,1916,3174,0,0,0,0,0,0,25.77,26.12,28.83
$GC,5909,-0.56,-184.9,623.1,-9.1,315,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1916,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6209,-0.56,-184.9,650.5,-9.0,325,6215,0.00,2.08,0.00,0.000,4,0.000,0.034,1969,3298,3170,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6268,-0.56,-184.9,653.4,-8.8,326,6275,0.00,2.00,0.00,0.000,6,0.000,0.024,1969,1920,3170,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6574,-0.56,-184.9,681.9,-8.2,337,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1920,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6874,-0.56,-184.9,705.9,-8.0,347,6879,0.00,2.08,0.00,0.000,4,0.000,0.034,1960,3305,3167,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6942,-0.56,-184.9,711.2,-8.1,349,6948,0.00,2.03,0.00,0.000,6,0.000,0.024,1960,1928,3167,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7273,-0.56,-184.9,742.4,-9.8,360,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,1927,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7572,-0.56,-184.9,771.0,-9.4,370,7577,0.00,2.08,0.00,0.000,4,0.000,0.034,1960,541,3163,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7595,-0.56,-184.9,771.0,-9.4,370,7600,0.00,2.00,0.00,0.000,6,0.000,0.023,1950,1927,3163,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7913,-0.56,-184.9,802.6,-9.3,381,7918,0.00,2.08,0.00,0.000,4,0.000,0.036,1940,3309,3161,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7980,-0.56,-184.9,808.7,-9.2,383,7986,0.12,2.03,0.00,0.000,6,0.145,0.024,1974,1918,3161,0,0,0,0,0,0,25.68,26.04,28.83
$GC,8313,-0.56,-184.9,834.6,-8.1,394,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1918,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8610,-0.56,-184.9,859.2,-8.3,404,8615,0.00,2.05,0.00,0.000,4,0.000,0.034,1974,545,3159,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8694,-0.56,-184.9,865.1,-8.9,406,8699,0.00,2.00,0.00,0.000,6,0.000,0.023,1966,1918,3159,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9007,-0.56,-184.9,897.4,-10.0,417,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1918,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9309,-0.56,-184.9,926.1,-9.4,427,9310,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,1919,3156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9608,-0.56,-184.9,953.8,-9.1,437,9609,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1918,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9908,-0.56,-184.9,980.8,-8.9,447,9913,0.00,2.10,0.00,0.000,4,0.000,0.034,1966,539,3155,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9996,-0.56,-184.9,987.0,-9.2,449,10003,0.00,2.05,0.00,0.000,6,0.000,0.024,1957,1932,3154,0,0,0,0,0,0,28.83,25.99,28.83
$STATE,10028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10028,begin apogee
$GC,10035,-0.17,0.0,992.6,-9.5,451,10203,0.45,0.00,158.30,1.427,6,0.121,0.000,2104,1933,2410,0,0,0,0,0,0,25.13,28.83,22.48
$STATE,10204,end apogee,CONTROL_FINISHED_OK
$STATE,10204,begin climb
$GC,10207,0.58,184.9,999.2,0.0,456,10387,0.73,2.45,170.30,1.374,4,0.086,0.037,2355,530,1654,0,0,0,0,0,0,24.18,23.27,21.63
$GC,10467,0.61,257.9,988.4,6.9,465,10539,0.00,2.08,64.88,1.349,6,0.000,0.023,2355,1897,1357,0,0,0,0,0,0,28.83,25.38,22.89
$GC,10847,0.64,277.5,954.7,8.8,478,10870,0.00,2.12,17.55,1.286,4,0.000,0.034,2355,3294,1276,0,0,0,0,0,0,28.83,25.62,23.72
$GC,10923,0.66,287.2,948.8,9.1,480,10940,0.00,2.05,10.12,1.190,6,0.000,0.028,2364,1916,1238,0,0,0,0,0,0,28.83,25.93,23.75
$GC,11242,0.68,291.2,918.0,9.3,491,11249,0.00,0.00,4.85,0.964,6,0.000,0.000,2365,1916,1221,0,0,0,0,0,0,28.83,28.83,24.01
$GC,11541,0.71,317.1,891.6,8.5,501,11573,0.00,2.17,24.45,1.319,4,0.000,0.035,2364,3288,1115,0,0,0,0,0,0,28.83,25.51,23.63
$GC,11612,0.73,332.2,885.8,8.9,503,11632,0.00,2.10,15.43,1.252,6,0.000,0.028,2373,1894,1054,0,0,0,0,0,0,28.83,25.86,23.60
$GC,11935,0.75,335.2,855.1,9.3,514,11940,0.00,2.12,0.00,0.000,4,0.000,0.039,2374,496,1049,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11959,0.77,338.2,855.1,9.3,514,11971,0.10,2.08,6.32,1.067,6,0.118,0.024,2416,1911,1030,0,0,0,0,0,0,25.96,26.13,23.99
$GC,12269,0.77,338.2,815.1,12.3,525,12274,0.00,2.05,0.00,0.000,4,0.000,0.035,2416,3292,1028,0,0,0,0,0,0,28.83,25.93,28.83
$GC,12373,0.77,338.2,803.1,12.8,528,12378,0.00,2.08,0.00,0.000,6,0.000,0.028,2426,1897,1027,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12698,0.77,338.2,762.1,12.2,539,12703,0.00,2.10,0.00,0.000,4,0.000,0.038,2426,501,1026,0,0,0,0,0,0,28.83,25.82,28.83
$GC,12726,0.77,338.2,762.1,12.2,539,12734,0.00,2.05,0.00,0.000,6,0.000,0.024,2427,1907,1026,0,0,0,0,0,0,28.83,26.08,28.83
$GC,13032,0.77,338.2,721.2,12.1,550,13037,0.00,2.08,0.00,0.000,4,0.000,0.035,2426,3291,1026,0,0,0,0,0,0,28.83,25.84,28.83
$GC,13126,0.77,338.2,709.5,12.3,553,13132,0.00,2.08,0.00,0.000,6,0.000,0.028,2433,1887,1025,0,0,0,0,0,0,28.83,25.98,28.83
$GC,13462,0.77,338.2,668.4,12.2,564,13463,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1887,1025,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13761,0.77,338.2,630.4,12.9,574,13766,0.00,2.12,0.00,0.000,4,0.000,0.034,2434,3282,1025,0,0,0,0,0,0,28.83,25.81,28.83
$GC,13803,0.77,338.2,625.7,13.1,575,13809,0.12,2.05,0.00,0.000,6,0.166,0.028,2410,1893,1024,0,0,0,0,0,0,25.56,25.94,28.83
$GC,14128,0.78,338.2,584.7,12.4,588,14134,0.00,2.10,0.00,0.000,4,0.000,0.037,2419,500,1024,0,0,0,0,0,0,28.83,25.72,28.83
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$GC,17047,0.88,408.7,279.9,8.6,732,17076,0.00,2.15,21.08,0.886,4,0.000,0.033,2429,3281,742,0,0,0,0,0,0,28.83,25.70,23.99
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$STATE,19777,end climb,SURFACE_DEPTH_REACHED
$STATE,19778,begin surface coast
$FINISH,1.1,1.022729
$STATE,19793,end surface coast,CONTROL_FINISHED_OK
$STATE,19793,begin surface
$SM_CCo,19874,0.00,0.000,0,0,269,524.94
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$IRIDIUM_FIX,1920.65,12300.19,170213,222219
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.18
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3846496
$24V_AH,21.6,93.478
$10V_AH,9.6,60.836
$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,16.900,153.000,616.425,0.000,0.000,0.000,0.000,316.175,0.000,0.000,17.060,2898.069,13696.231,718.387,2535.717,562.922,0.000,2279.692,0.000,2156.997,0.000,0.539,0.000
$DEVICE_MAMPS,232.560,45.900,1426.725,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19831.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.251,0.000,0.000,0.000
$MEM,328980
$DATA_FILE_SIZE,33353,919
$CAP_FILE_SIZE,217813,0
$CFSIZE,260034560,206249984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089,175.2,1
$GPS,180213,094353,1930.069,12305.512,28,1.5,45,-2.3