version: 66.11
glider: 167
mission: 14
dive: 504
start: 2 11 113 4 53 16
data:
$ID,167
$MISSION,14
$DIVE,504
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,4
$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,270
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52251
$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,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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-971600.62
$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,2665
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$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,9
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-16.305099
$PRESSURE_SLOPE,0.0001158971
$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,0
$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,0.0043364335
$SEABIRD_T_H,0.00062881975
$SEABIRD_T_I,2.1970176e-05
$SEABIRD_T_J,2.0625448e-06
$SEABIRD_C_G,-9.8829851
$SEABIRD_C_H,1.104416
$SEABIRD_C_I,-0.0016111456
$SEABIRD_C_J,0.00020720487
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,110213,044435,2313.776,12134.223,39,0.9,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-60.4
$GPS2,110213,045247,2314.140,12134.366,9,0.9,9,-3.5
$SPEED_LIMITS,0.171,0.282
$TGT_NAME,NB
$TGT_LATLONG,2311.960,12131.500
$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,238.4,6332,-16.4,-9.877,-19.33
$D_GRID,1138
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.76,-176.0,0.0,0.0,0,85,0.00,0.00,-61.53,0.000,2,0.000,0.000,109,2459,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.76,-176.0,3.2,-3.8,6,136,12.62,2.65,-28.38,0.000,4,0.216,0.056,2410,3761,3686,0,0,0,0,0,0,20.50,20.80,21.32
$GC,301,-0.70,-176.0,41.0,-17.2,26,309,0.12,2.40,0.00,0.000,6,0.147,0.015,2433,2429,3689,0,0,0,0,0,0,20.79,21.13,28.83
$GC,501,-0.68,-176.0,64.9,-10.2,39,506,0.00,2.55,0.00,0.000,4,0.000,0.031,2434,1077,3689,0,0,0,0,0,0,28.83,21.08,28.83
$GC,519,-0.67,-176.0,64.9,-10.2,39,526,0.00,2.67,0.00,0.000,6,0.000,0.034,2433,2459,3689,0,0,0,0,0,0,28.83,21.10,28.83
$GC,705,-0.66,-176.0,87.0,-10.8,49,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2459,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,886,-0.66,-176.0,104.2,-8.6,58,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2460,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1065,-0.66,-176.0,119.6,-8.7,67,1070,0.00,2.60,0.00,0.000,4,0.000,0.031,2433,1077,3692,0,0,0,0,0,0,28.83,21.24,28.83
$GC,1124,-0.66,-176.0,123.6,-9.0,69,1131,0.00,2.62,0.00,0.000,6,0.000,0.034,2433,2453,3692,0,0,0,0,0,0,28.83,21.25,28.83
$GC,1309,-0.66,-176.0,140.9,-8.5,79,1314,0.00,2.55,0.00,0.000,4,0.000,0.047,2433,3756,3692,0,0,0,0,0,0,28.83,21.16,28.83
$GC,1378,-0.66,-176.0,147.0,-9.5,82,1384,0.00,2.30,0.00,0.000,6,0.000,0.015,2433,2452,3692,0,0,0,0,0,0,28.83,21.49,28.83
$GC,1580,-0.67,-176.0,167.1,-10.1,92,1586,0.00,2.55,0.00,0.000,4,0.000,0.031,2433,1079,3692,0,0,0,0,0,0,28.83,21.31,28.83
$GC,1604,-0.69,-176.0,170.0,-10.4,93,1611,0.00,2.62,0.00,0.000,6,0.000,0.034,2433,2462,3692,0,0,0,0,0,0,28.83,21.31,28.83
$GC,1813,-0.70,-176.0,191.0,-10.0,103,1818,0.00,2.53,0.00,0.000,4,0.000,0.047,2433,3755,3692,0,0,0,0,0,0,28.83,21.20,28.83
$GC,1857,-0.71,-176.0,195.9,-10.3,105,1862,0.00,2.30,0.00,0.000,6,0.000,0.015,2433,2450,3692,0,0,0,0,0,0,28.83,21.56,28.83
$GC,2064,-0.72,-176.0,216.8,-10.5,115,2069,0.00,2.53,0.00,0.000,4,0.000,0.030,2432,1081,3691,0,0,0,0,0,0,28.83,21.37,28.83
$GC,2107,-0.74,-176.0,222.0,-10.8,117,2113,0.00,2.62,0.00,0.000,6,0.000,0.034,2433,2458,3689,0,0,0,0,0,0,28.83,21.39,28.83
$GC,2314,-0.75,-176.0,243.7,-10.5,127,2320,0.00,2.53,0.00,0.000,4,0.000,0.046,2426,3755,3690,0,0,0,0,0,0,28.83,21.30,28.83
$GC,2358,-0.77,-176.0,248.8,-10.6,129,2364,0.00,2.30,0.00,0.000,6,0.000,0.015,2427,2451,3690,0,0,0,0,0,0,28.83,21.61,28.83
$GC,2564,-0.78,-176.0,268.5,-10.0,139,2570,0.00,2.53,0.00,0.000,4,0.000,0.031,2427,1079,3688,0,0,0,0,0,0,28.83,21.43,28.83
$GC,2584,-0.79,-176.0,268.5,-10.0,139,2590,0.00,2.62,0.00,0.000,6,0.000,0.034,2427,2467,3688,0,0,0,0,0,0,28.83,21.45,28.83
$GC,2772,-0.81,-176.0,289.1,-9.9,149,2777,0.00,2.53,0.00,0.000,4,0.000,0.047,2427,3761,3688,0,0,0,0,0,0,28.83,21.30,28.83
$GC,2811,-0.83,-176.0,291.8,-9.7,150,2819,0.00,2.30,0.00,0.000,6,0.000,0.016,2426,2455,3687,0,0,0,0,0,0,28.83,21.66,28.83
$GC,2998,-0.86,-176.0,309.8,-8.6,160,3004,0.12,2.58,0.00,0.000,4,0.073,0.045,2365,3758,3687,0,0,0,0,0,0,21.80,21.31,28.83
$GC,3043,-0.86,-176.0,314.7,-9.5,162,3048,0.00,2.28,0.00,0.000,6,0.000,0.016,2365,2482,3687,0,0,0,0,0,0,28.83,21.68,28.83
$GC,3250,-0.83,-176.0,337.9,-11.1,172,3256,0.12,2.53,0.00,0.000,4,0.145,0.044,2386,3761,3685,0,0,0,0,0,0,21.50,21.34,28.83
$GC,3294,-0.80,-176.0,342.9,-10.6,174,3299,0.00,2.22,0.00,0.000,6,0.000,0.015,2386,2500,3685,0,0,0,0,0,0,28.83,21.74,28.83
$GC,3501,-0.79,-176.0,363.2,-10.2,184,3507,0.00,2.62,0.00,0.000,4,0.000,0.029,2386,1068,3684,0,0,0,0,0,0,28.83,21.52,28.83
$GC,3535,-0.77,-176.0,366.2,-10.4,185,3541,0.12,2.72,0.00,0.000,6,0.142,0.034,2409,2497,3684,0,0,0,0,0,0,21.27,21.49,28.83
$GC,3733,-0.77,-176.0,386.5,-9.9,195,3738,0.00,2.45,0.00,0.000,4,0.000,0.047,2418,3758,3683,0,0,0,0,0,0,28.83,21.36,28.83
$GC,3780,-0.77,-176.0,391.3,-10.1,197,3785,0.00,2.22,0.00,0.000,6,0.000,0.017,2409,2493,3682,0,0,0,0,0,0,28.83,21.78,28.83
$GC,3979,-0.77,-176.0,411.5,-10.1,207,3984,0.00,2.50,0.00,0.000,4,0.000,0.047,2409,3762,3681,0,0,0,0,0,0,28.83,21.38,28.83
$GC,4003,-0.77,-176.0,413.9,-9.9,208,4008,0.00,2.20,0.00,0.000,6,0.000,0.018,2410,2512,3681,0,0,0,0,0,0,28.83,21.79,28.83
$GC,4209,-0.78,-176.0,432.7,-9.0,218,4214,0.00,2.65,0.00,0.000,4,0.000,0.030,2409,1074,3680,0,0,0,0,0,0,28.83,21.56,28.83
$GC,4244,-0.80,-176.0,435.2,-9.1,219,4249,0.00,2.72,0.00,0.000,6,0.000,0.035,2409,2517,3680,0,0,0,0,0,0,28.83,21.53,28.83
$GC,4438,-0.81,-176.0,455.2,-10.1,229,4444,0.00,2.40,0.00,0.000,4,0.000,0.048,2409,3755,3679,0,0,0,0,0,0,28.83,21.39,28.83
$GC,4478,-0.82,-176.0,458.0,-10.3,230,4485,0.00,2.17,0.00,0.000,6,0.000,0.018,2409,2507,3678,0,0,0,0,0,0,28.83,21.83,28.83
$GC,4665,-0.83,-176.0,477.7,-9.6,240,4671,0.00,2.65,-0.08,0.000,4,0.000,0.038,2409,1069,3706,0,0,0,0,0,0,28.83,21.65,21.08
$GC,4704,-0.85,-176.0,480.2,-9.6,241,4711,0.00,2.75,0.00,0.000,6,0.000,0.036,2409,2519,3706,0,0,0,0,0,0,28.83,21.58,28.83
$GC,4893,-0.86,-176.0,499.5,-9.6,251,4898,0.00,2.42,0.00,0.000,4,0.000,0.048,2410,3756,3705,0,0,0,0,0,0,28.83,21.41,28.83
$GC,4940,-0.88,-176.0,504.3,-9.8,253,4945,0.00,2.20,0.00,0.000,6,0.000,0.018,2409,2502,3705,0,0,0,0,0,0,28.83,21.85,28.83
$GC,5147,-0.89,-176.0,524.4,-9.5,263,5153,0.00,2.62,0.00,0.000,4,0.000,0.031,2408,1078,3704,0,0,0,0,0,0,28.83,21.61,28.83
$GC,5175,-0.91,-176.0,527.2,-9.6,264,5182,0.12,2.72,0.00,0.000,6,0.070,0.034,2361,2524,3703,0,0,0,0,0,0,21.60,21.57,28.83
$GC,5378,-0.88,-176.0,551.0,-11.7,274,5384,0.00,2.40,0.00,0.000,4,0.000,0.048,2357,3755,3702,0,0,0,0,0,0,28.83,21.43,28.83
$GC,5447,-0.85,-176.0,559.0,-11.8,277,5453,0.15,2.15,0.00,0.000,6,0.141,0.018,2387,2523,3702,0,0,0,0,0,0,21.40,21.88,28.83
$GC,5650,-0.85,-176.0,581.1,-10.8,287,5655,0.00,2.65,0.00,0.000,4,0.000,0.029,2387,1074,3700,0,0,0,0,0,0,28.83,21.63,28.83
$GC,5682,-0.85,-176.0,584.1,-10.7,288,5688,0.00,2.75,0.00,0.000,6,0.000,0.036,2387,2528,3700,0,0,0,0,0,0,28.83,21.58,28.83
$GC,5896,-0.85,-176.0,608.1,-11.1,298,5901,0.00,2.40,0.00,0.000,4,0.000,0.049,2385,3764,3699,0,0,0,0,0,0,28.83,21.44,28.83
$GC,5935,-0.85,-176.0,611.9,-11.2,299,5940,0.00,2.17,0.00,0.000,6,0.000,0.019,2384,2518,3699,0,0,0,0,0,0,28.83,21.89,28.83
$GC,6143,-0.85,-176.0,634.4,-10.3,306,6149,0.00,2.65,0.00,0.000,4,0.000,0.031,2385,1076,3698,0,0,0,0,0,0,28.83,21.65,28.83
$GC,6186,-0.85,-176.0,638.0,-10.4,307,6192,0.00,2.75,0.00,0.000,6,0.000,0.037,2381,2526,3698,0,0,0,0,0,0,28.83,21.63,28.83
$GC,6391,-0.85,-176.0,660.6,-10.4,314,6397,0.00,2.40,0.00,0.000,4,0.000,0.052,2385,3757,3696,0,0,0,0,0,0,28.83,21.49,28.83
$GC,6409,-0.85,-176.0,660.6,-10.4,314,6415,0.00,2.22,0.00,0.000,6,0.000,0.020,2385,2506,3696,0,0,0,0,0,0,28.83,21.92,28.83
$GC,6608,-0.85,-176.0,682.9,-10.0,321,6613,0.00,2.62,0.00,0.000,4,0.000,0.030,2385,1077,3695,0,0,0,0,0,0,28.83,21.64,28.83
$GC,6631,-0.85,-176.0,682.9,-10.0,321,6637,0.00,2.72,0.00,0.000,6,0.000,0.037,2385,2518,3695,0,0,0,0,0,0,28.83,21.63,28.83
$GC,6825,-0.85,-176.0,706.2,-10.7,328,6830,0.00,2.40,0.00,0.000,4,0.000,0.049,2385,3755,3694,0,0,0,0,0,0,28.83,21.45,28.83
$GC,6878,-0.85,-176.0,709.8,-10.7,329,6883,0.00,2.20,0.00,0.000,6,0.000,0.019,2385,2517,3693,0,0,0,0,0,0,28.83,21.92,28.83
$GC,7073,-0.85,-176.0,733.5,-11.2,336,7079,0.00,2.62,0.00,0.000,4,0.000,0.030,2385,1078,3692,0,0,0,0,0,0,28.83,21.65,28.83
$GC,7116,-0.85,-176.0,737.4,-11.2,337,7122,0.00,2.72,0.00,0.000,6,0.000,0.036,2385,2522,3692,0,0,0,0,0,0,28.83,21.61,28.83
$GC,7321,-0.85,-176.0,759.7,-10.2,344,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2522,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7500,-0.85,-176.0,777.8,-10.1,350,7506,0.00,2.67,0.00,0.000,4,0.000,0.030,2385,1074,3691,0,0,0,0,0,0,28.83,21.65,28.83
$GC,7534,-0.85,-176.0,781.8,-10.5,351,7540,0.00,2.72,0.00,0.000,6,0.000,0.037,2385,2512,3690,0,0,0,0,0,0,28.83,21.63,28.83
$STATE,7715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7716,begin apogee
$GC,7724,-0.27,0.0,800.8,-10.2,357,8001,0.73,0.00,268.15,0.954,4,0.115,0.000,2569,2184,2963,0,0,0,0,0,0,21.29,28.83,19.44
$STATE,8006,end apogee,CONTROL_FINISHED_OK
$STATE,8006,begin climb
$GC,8009,0.76,176.0,814.7,0.0,366,8212,1.25,2.70,193.60,1.060,4,0.073,0.035,2906,826,2251,0,0,0,0,0,0,20.44,20.52,19.32
$GC,8367,0.72,176.0,794.7,10.3,378,8373,0.00,2.75,0.00,0.000,6,0.000,0.035,2906,2206,2221,0,0,0,0,0,0,28.83,20.64,28.83
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$GC,13726,0.96,460.0,228.2,10.4,606,13732,0.00,2.83,0.00,0.000,4,0.000,0.037,2963,803,1072,0,0,0,0,0,0,28.83,20.78,28.83
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$STATE,15766,end climb,SURFACE_DEPTH_REACHED
$STATE,15766,begin surface coast
$FINISH,1.1,1.022575
$STATE,15788,end surface coast,CONTROL_FINISHED_OK
$STATE,15788,begin surface
$SM_CCo,15872,0.00,0.000,0,0,904,506.30
$SM_GC,1.87,9.57,0.40,0.00,0.028,0.043,0.000,130,2453,904,-7.88,-0.88,506.30,0,0,0,0,0,0,20.84,20.90,28.83
$IRIDIUM_FIX,2305.10,12124.77,110213,000041
$TT8_MAMPS,0.028462,0.028462
$HUMID,60.78
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.50
$XPDR_PINGS,92
$24V_AH,19.3,110.171
$10V_AH,9.7,67.691
$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,26.225,302.225,880.125,0.000,0.000,0.000,0.000,271.450,23.000,0.000,10.329,2661.705,9678.200,1022.983,2417.542,574.072,0.000,2626.858,0.000,2047.683,0.000,0.541,0.000
$DEVICE_MAMPS,215.730,55.845,1059.525,0.000,0.000,0.000,0.000,146.880,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15805.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.066,0.000,0.000,0.000
$MEM,323600
$DATA_FILE_SIZE,26712,728
$CAP_FILE_SIZE,234640,0
$CFSIZE,260165632,199122944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,2,0
$CURRENT,0.076, 93.3,1
$GPS,110213,091906,2313.143,12133.324,34,1.1,34,-3.5