version: 66.09
glider: 167
mission: 8
dive: 226
start: 7 29 111 0 59 25
data:
$ID,167
$MISSION,8
$DIVE,226
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,340
$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,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51876
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-56671.391
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1875
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,71
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.233358
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043379883
$SEABIRD_T_H,0.00063236553
$SEABIRD_T_I,2.4503992e-05
$SEABIRD_T_J,2.6444222e-06
$SEABIRD_C_G,-9.8845854
$SEABIRD_C_H,1.1045586
$SEABIRD_C_I,-0.0015691385
$SEABIRD_C_J,0.00020000842
$GPS1,290711,005001,1906.312,12232.214,37,1.6,37,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-68.9
$GPS2,290711,005902,1906.475,12232.093,14,1.3,14,-2.2
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,SDOG
$TGT_LATLONG,1910.550,12302.760
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.013,-0.305
$KALMAN_X,-1531.9,-192.4,226.3,5724.7,67.3
$KALMAN_Y,11735.9,46.7,-129.6,-54154.7,2747.8
$MHEAD_RNG_PITCHd_Wd,121.4,54172,-15.3,-9.706
$D_GRID,2195
$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
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.62,-194.6,0.0,0.0,0,115,0.00,0.00,-91.22,0.000,2,0.000,0.000,111,1823,3029,0,0,0,0,0,0
$GC,118,-0.62,-194.6,5.4,-8.5,12,150,10.18,2.03,-10.15,0.000,4,0.238,0.041,2596,477,3636,0,0,0,0,0,0
$GC,160,-0.62,-194.6,23.6,-38.4,17,169,0.00,2.08,0.00,0.000,6,0.000,0.020,2589,1886,3637,0,0,0,0,0,0
$GC,236,-0.62,-194.6,47.0,-29.2,30,244,0.00,2.08,0.00,0.000,4,0.000,0.031,2579,3271,3637,0,0,0,0,0,0
$GC,271,-0.62,-194.6,57.6,-30.0,35,281,0.00,1.95,0.00,0.000,6,0.000,0.017,2578,1918,3637,0,0,0,0,0,0
$GC,351,-0.62,-194.6,79.1,-27.3,48,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1917,3637,0,0,0,0,0,0
$GC,430,-0.62,-194.6,97.6,-22.6,61,439,0.00,2.03,0.00,0.000,4,0.000,0.030,2570,3267,3637,0,0,0,0,0,0
$GC,479,-0.62,-194.6,108.0,-20.2,69,487,0.00,1.88,0.00,0.000,6,0.000,0.017,2569,1948,3637,0,0,0,0,0,0
$GC,557,-0.62,-194.6,122.6,-20.4,82,565,0.10,0.00,0.00,0.000,6,0.189,0.000,2594,1948,3638,0,0,0,0,0,0
$GC,634,-0.62,-194.6,135.8,-16.9,95,643,0.00,2.12,0.00,0.000,4,0.000,0.027,2594,494,3638,0,0,0,0,0,0
$GC,662,-0.62,-194.6,140.9,-16.9,99,671,0.00,2.20,0.00,0.000,6,0.000,0.020,2587,2000,3639,0,0,0,0,0,0
$GC,738,-0.62,-194.6,154.0,-17.8,112,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2000,3639,0,0,0,0,0,0
$GC,817,-0.62,-194.6,167.2,-16.2,125,826,0.00,1.88,0.00,0.000,4,0.000,0.032,2579,3269,3639,0,0,0,0,0,0
$GC,834,-0.62,-194.6,170.1,-15.6,127,842,0.00,1.77,0.00,0.000,6,0.000,0.017,2579,1993,3639,0,0,0,0,0,0
$GC,909,-0.62,-194.6,181.8,-15.6,140,917,0.00,2.20,0.00,0.000,4,0.000,0.027,2579,484,3639,0,0,0,0,0,0
$GC,939,-0.62,-194.6,186.4,-16.2,144,947,0.00,2.10,0.00,0.000,6,0.000,0.021,2575,1925,3639,0,0,0,0,0,0
$GC,1015,-0.62,-194.6,198.5,-15.0,157,1022,0.00,2.00,0.00,0.000,4,0.000,0.032,2565,3275,3639,0,0,0,0,0,0
$GC,1054,-0.62,-194.6,204.5,-15.4,161,1058,0.12,1.85,0.00,0.000,6,0.161,0.017,2598,1927,3639,0,0,0,0,0,0
$GC,1384,-0.62,-194.6,250.4,-12.5,192,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1926,3638,0,0,0,0,0,0
$GC,1705,-0.62,-194.6,286.6,-10.3,222,1708,0.00,2.05,0.00,0.000,4,0.000,0.028,2598,490,3638,0,0,0,0,0,0
$GC,1773,-0.62,-194.6,293.7,-10.6,227,1777,0.00,2.20,0.00,0.000,6,0.000,0.021,2593,2003,3638,0,0,0,0,0,0
$GC,2103,-0.62,-194.6,328.8,-10.9,258,2107,0.00,1.88,0.00,0.000,4,0.000,0.034,2587,3277,3636,0,0,0,0,0,0
$GC,2154,-0.62,-194.6,334.5,-11.1,262,2162,0.00,1.80,0.00,0.000,6,0.000,0.018,2587,1972,3635,0,0,0,0,0,0
$GC,2479,-0.62,-194.6,372.2,-11.3,293,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1971,3633,0,0,0,0,0,0
$GC,2802,-0.62,-194.6,407.9,-11.0,323,2805,0.00,1.95,0.00,0.000,4,0.000,0.034,2587,3280,3631,0,0,0,0,0,0
$GC,2848,-0.62,-194.6,412.8,-10.3,327,2853,0.00,1.83,0.00,0.000,6,0.000,0.018,2587,1989,3631,0,0,0,0,0,0
$GC,3179,-0.62,-194.6,443.5,-8.5,358,3182,0.00,1.92,0.00,0.000,4,0.000,0.034,2587,3276,3628,0,0,0,0,0,0
$GC,3274,-0.62,-194.6,451.4,-8.0,366,3282,0.00,1.75,0.00,0.000,6,0.000,0.020,2587,2030,3628,0,0,0,0,0,0
$GC,3599,-0.62,-194.6,479.4,-8.5,397,3604,0.00,2.25,0.00,0.000,4,0.000,0.029,2587,488,3625,0,0,0,0,0,0
$GC,3685,-0.62,-194.6,487.0,-9.2,404,3689,0.00,2.25,0.00,0.000,6,0.000,0.022,2587,2035,3623,0,0,0,0,0,0
$GC,4019,-0.62,-194.6,519.3,-10.1,426,4023,0.00,1.85,0.00,0.000,4,0.000,0.037,2587,3266,3621,0,0,0,0,0,0
$GC,4068,-0.62,-194.6,524.5,-9.8,428,4072,0.00,1.73,0.00,0.000,6,0.000,0.019,2588,2021,3621,0,0,0,0,0,0
$GC,4396,-0.62,-194.6,553.3,-8.4,444,4399,0.00,1.90,0.00,0.000,4,0.000,0.036,2587,3282,3619,0,0,0,0,0,0
$GC,4443,-0.62,-194.6,557.0,-8.1,446,4447,0.00,1.73,0.00,0.000,6,0.000,0.021,2587,2043,3619,0,0,0,0,0,0
$GC,4777,-0.62,-194.6,585.5,-8.6,462,4781,0.00,2.25,0.00,0.000,4,0.000,0.028,2587,487,3615,0,0,0,0,0,0
$GC,4826,-0.62,-194.6,590.2,-9.3,464,4830,0.00,2.33,0.00,0.000,6,0.000,0.022,2587,2071,3615,0,0,0,0,0,0
$GC,5145,-0.62,-194.6,615.2,-7.7,479,5148,0.00,1.80,0.00,0.000,4,0.000,0.037,2587,3277,3613,0,0,0,0,0,0
$GC,5217,-0.62,-194.6,621.1,-7.5,482,5221,0.00,1.70,0.00,0.000,6,0.000,0.020,2587,2076,3612,0,0,0,0,0,0
$GC,5546,-0.62,-194.6,646.3,-8.3,498,5550,0.00,1.83,0.00,0.000,4,0.000,0.038,2587,3277,3610,0,0,0,0,0,0
$GC,5614,-0.62,-194.6,651.7,-7.8,501,5618,0.00,1.67,0.00,0.000,6,0.000,0.021,2587,2095,3610,0,0,0,0,0,0
$GC,5949,-0.62,-194.6,679.6,-8.3,517,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2093,3607,0,0,0,0,0,0
$GC,6257,-0.62,-194.6,704.8,-7.8,532,6262,0.00,2.38,0.00,0.000,4,0.000,0.029,2587,499,3605,0,0,0,0,0,0
$GC,6312,-0.62,-194.6,709.5,-8.4,534,6316,0.00,2.38,0.00,0.000,6,0.000,0.024,2587,2104,3605,0,0,0,0,0,0
$GC,6630,-0.62,-194.6,732.9,-7.4,549,6634,0.00,2.40,0.00,0.000,4,0.000,0.029,2587,491,3602,0,0,0,0,0,0
$GC,6679,-0.62,-194.6,736.8,-7.4,551,6684,0.00,2.38,0.00,0.000,6,0.000,0.024,2587,2077,3602,0,0,0,0,0,0
$GC,7002,-0.62,-194.6,757.7,-6.1,567,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2078,3600,0,0,0,0,0,0
$GC,7310,-0.62,-194.6,779.5,-7.6,582,7313,0.00,1.77,0.00,0.000,4,0.000,0.040,2587,3271,3599,0,0,0,0,0,0
$GC,7337,-0.62,-194.6,781.8,-8.0,583,7341,0.00,1.70,0.00,0.000,6,0.000,0.020,2587,2071,3599,0,0,0,0,0,0
$GC,7667,-0.62,-194.6,804.9,-7.1,599,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2070,3597,0,0,0,0,0,0
$GC,7974,-0.62,-194.6,825.8,-6.6,614,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2070,3596,0,0,0,0,0,0
$GC,8283,-0.62,-194.6,845.7,-6.3,629,8288,0.00,2.35,0.00,0.000,4,0.000,0.030,2587,497,3594,0,0,0,0,0,0
$GC,8318,-0.62,-194.6,848.1,-6.5,630,8322,0.00,2.33,0.00,0.000,6,0.000,0.024,2587,2064,3594,0,0,0,0,0,0
$GC,8634,-0.62,-194.6,868.4,-6.0,645,8639,0.00,1.85,0.00,0.000,4,0.000,0.040,2588,3273,3593,0,0,0,0,0,0
$GC,8667,-0.62,-194.6,870.4,-5.9,646,8670,0.00,1.73,0.00,0.000,6,0.000,0.022,2588,2068,3593,0,0,0,0,0,0
$GC,8991,-0.62,-194.6,889.8,-6.2,662,8992,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2067,3592,0,0,0,0,0,0
$GC,9299,-0.62,-194.6,909.3,-6.0,677,9303,0.00,2.33,0.00,0.000,4,0.000,0.029,2587,495,3591,0,0,0,0,0,0
$GC,9334,-0.62,-194.6,912.0,-6.3,678,9342,0.00,2.33,0.00,0.000,6,0.000,0.024,2587,2063,3591,0,0,0,0,0,0
$GC,9651,-0.62,-194.6,932.5,-6.7,694,9654,0.00,1.83,0.00,0.000,4,0.000,0.040,2587,3270,3590,0,0,0,0,0,0
$GC,9678,-0.62,-194.6,934.5,-6.6,695,9682,0.00,1.70,0.00,0.000,6,0.000,0.020,2587,2076,3590,0,0,0,0,0,0
$GC,10008,-0.62,-194.6,955.4,-6.7,711,10013,0.00,2.38,0.00,0.000,4,0.000,0.031,2587,491,3589,0,0,0,0,0,0
$GC,10063,-0.62,-194.6,959.9,-7.8,713,10067,0.00,2.35,0.00,0.000,6,0.000,0.025,2587,2067,3589,0,0,0,0,0,0
$GC,10379,-0.62,-194.6,983.1,-7.8,728,10383,0.00,1.83,0.00,0.000,4,0.000,0.041,2587,3271,3588,0,0,0,0,0,0
$GC,10408,-0.62,-194.6,985.3,-8.0,729,10412,0.00,1.73,0.00,0.000,6,0.000,0.020,2587,2060,3588,0,0,0,0,0,0
$STATE,10466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10466,begin apogee
$GC,10471,-0.20,0.0,990.1,8.0,732,10630,0.43,0.00,152.98,1.399,4,0.117,0.000,2730,2055,2839,0,0,0,0,0,0
$STATE,10631,end apogee,CONTROL_FINISHED_OK
$STATE,10631,begin climb
$GC,10634,0.62,194.6,997.3,0.0,739,10811,0.75,2.35,169.57,1.344,4,0.080,0.039,2999,3461,2044,0,0,0,0,0,0
$GC,10975,0.62,194.6,963.6,11.7,754,10979,0.00,2.10,0.00,0.000,6,0.000,0.021,3008,2088,2036,0,0,0,0,0,0
$GC,11304,0.62,194.6,927.0,11.4,770,11308,0.00,2.12,0.00,0.000,4,0.000,0.036,3009,3466,2033,0,0,0,0,0,0
$GC,11459,0.62,194.6,906.9,13.2,777,11463,0.00,2.17,0.00,0.000,6,0.000,0.021,3018,2006,2033,0,0,0,0,0,0
$GC,11788,0.62,194.6,866.8,11.7,793,11792,0.00,1.98,0.00,0.000,4,0.000,0.034,3027,687,2032,0,0,0,0,0,0
$GC,11910,0.62,194.6,850.8,13.2,798,11914,0.00,1.92,0.00,0.000,6,0.000,0.024,3027,1963,2031,0,0,0,0,0,0
$GC,12233,0.62,194.6,806.6,14.2,814,12237,0.00,2.30,0.00,0.000,4,0.000,0.038,3027,3466,2031,0,0,0,0,0,0
$GC,12299,0.62,194.6,795.6,16.1,817,12303,0.12,2.17,0.00,0.000,6,0.181,0.022,3003,1993,2030,0,0,0,0,0,0
$GC,12626,0.62,194.6,752.6,12.6,833,12629,0.00,1.92,0.00,0.000,4,0.000,0.034,3011,685,2030,0,0,0,0,0,0
$GC,12689,0.62,194.6,744.4,13.5,835,12697,0.00,1.92,0.00,0.000,6,0.000,0.023,3011,1989,2030,0,0,0,0,0,0
$GC,13005,0.62,194.6,704.1,12.7,851,13006,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1989,2030,0,0,0,0,0,0
$GC,13316,0.62,194.6,666.9,11.8,866,13319,0.00,1.95,0.00,0.000,4,0.000,0.032,3019,686,2029,0,0,0,0,0,0
$GC,13348,0.62,194.6,662.5,12.1,867,13352,0.00,1.92,0.00,0.000,6,0.000,0.022,3019,1971,2029,0,0,0,0,0,0
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$GC,17923,0.75,300.4,178.4,9.5,1247,17934,0.00,2.28,6.50,0.631,4,0.000,0.034,3025,3471,1614,0,0,0,0,0,0
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$STATE,19645,end climb,SURFACE_DEPTH_REACHED
$STATE,19646,begin surface coast
$FINISH,0.9,1.010116
$STATE,19676,end surface coast,CONTROL_FINISHED_OK
$STATE,19676,begin surface
$SM_CCo,19756,0.00,0.000,0,0,483,577.93
$SM_GC,1.66,7.88,0.00,0.00,0.038,0.000,0.000,119,1961,483,-8.30,2.43,577.93,0,0,0,0,0,0
$IRIDIUM_FIX,1857.82,12232.47,280711,191903
$TT8_MAMPS,0.028462,0.028462
$HUMID,34.87
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,29.20
$XPDR_PINGS,27
$24V_AH,22.9,39.547
$10V_AH,10.0,37.061
$FG_AHR_24Vo,0.000
$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,20.275,207.950,636.475,0.000,0.000,28.856,17.663,310.844,6.750,0.000,14.815,3886.226,11044.640,741.576,3656.502,943.503,0.000,2451.655,0.000,3573.123,0.000,0.543,0.000
$DEVICE_MAMPS,237.915,79.560,1399.185,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1037.428,1156.826,1420.749,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324052
$DATA_FILE_SIZE,90115,1527
$CAP_FILE_SIZE,222205,0
$CFSIZE,260165632,120487936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103, 10.5,1
$GPS,290711,063000,1906.177,12234.753,41,1.0,42,-2.2