version: 66.11
glider: 169
mission: 8
dive: 413
start: 6 10 113 11 27 32
data:
$ID,169
$MISSION,8
$DIVE,413
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,130
$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,350
$T_MISSION,370
$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,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52063
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00091300003
$HD_B,0.0119
$HD_C,2.0500001e-07
$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,430
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$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,-22848.936
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2852
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.03682
$PRESSURE_SLOPE,0.0001078585
$AD7714Ch0Gain,1
$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,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$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,33
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042608725
$SEABIRD_T_H,0.00061783189
$SEABIRD_T_I,2.1692709e-05
$SEABIRD_T_J,2.1724361e-06
$SEABIRD_C_G,-10.034778
$SEABIRD_C_H,1.1503564
$SEABIRD_C_I,-0.0019294197
$SEABIRD_C_J,0.0002327933
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,100613,110635,1815.566,12438.946,31,0.9,31,-2.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-73.7
$GPS2,100613,112701,1815.559,12438.953,14,1.2,14,-2.1
$SPEED_LIMITS,0.163,0.258
$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,208.8,47846,-5.6,-9.429,-20.04,2855
$D_GRID,5259
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.58,-175.2,122,2563,1275,917,0.0,0.0,0,100,0.00,0.00,-72.47,0.000,16386,0.000,0.000,122,2567,3013,2954,3072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.58,-175.2,121,2562,2955,3073,4.8,-11.4,10,131,8.73,2.20,-8.32,0.000,18692,0.233,0.059,2173,3831,3572,3443,3701,0,0,0,0,0,0,25.20,26.02,26.53
$GC,153,-0.58,-175.2,2173,3831,3443,3700,33.6,-56.4,15,160,0.00,2.08,0.00,0.000,1030,0.000,0.025,2173,2535,3572,3443,3701,0,0,0,0,0,0,28.83,26.19,28.83
$GC,472,-0.58,-175.2,2173,2534,3444,3700,139.0,-30.4,33,478,0.00,2.55,0.00,0.000,516,0.000,0.031,2173,1087,3572,3444,3700,0,0,0,0,0,0,28.83,26.23,28.83
$GC,603,-0.58,-175.2,2173,1087,3443,3700,167.0,-19.3,39,609,0.00,2.67,0.00,0.000,1030,0.000,0.039,2167,2556,3572,3444,3700,0,0,0,0,0,0,28.83,26.20,28.83
$GC,930,-0.58,-175.2,2167,2553,3444,3701,238.5,-19.7,55,936,0.00,2.60,0.00,0.000,516,0.000,0.029,2167,1065,3571,3443,3700,0,0,0,0,0,0,28.83,26.33,28.83
$GC,974,-0.58,-175.2,2167,1065,3445,3700,244.1,-19.9,56,982,0.00,2.65,0.00,0.000,1030,0.000,0.034,2167,2559,3572,3444,3700,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1277,-0.58,-175.2,2166,2556,3444,3700,301.5,-17.5,72,1283,0.00,2.58,0.00,0.000,516,0.000,0.027,2167,1079,3572,3444,3700,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1320,-0.58,-175.2,2167,1078,3444,3700,305.8,-17.1,73,1330,0.12,2.62,0.00,0.000,3078,0.135,0.033,2193,2560,3572,3444,3700,0,0,0,0,0,0,26.16,26.33,28.83
$GC,1623,-0.58,-175.2,2194,2557,3450,3700,352.6,-14.8,89,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2557,3572,3444,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1923,-0.58,-175.2,2194,2557,3443,3696,392.8,-12.3,104,1930,0.00,2.60,0.00,0.000,516,0.000,0.027,2194,1062,3570,3444,3696,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1953,-0.58,-175.2,2194,1062,3443,3696,395.9,-12.1,105,1960,0.00,2.62,0.00,0.000,1030,0.000,0.031,2193,2561,3569,3443,3696,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2277,-0.58,-175.2,2193,2558,3443,3690,434.5,-12.2,121,2283,0.00,2.60,0.00,0.000,516,0.000,0.029,2194,1075,3566,3443,3689,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2328,-0.58,-175.2,1312,1073,3432,3687,440.0,-12.1,123,2335,0.00,2.62,0.00,0.000,1030,0.000,0.032,2194,2563,3565,3443,3688,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2655,-0.58,-175.2,2193,2560,3443,3682,477.8,-11.3,139,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2560,3563,3444,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2949,-0.58,-175.2,2194,2559,3443,3675,509.2,-10.4,154,2956,0.00,2.62,0.00,0.000,516,0.000,0.029,2194,1064,3558,3443,3674,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2992,-0.58,-175.2,2193,1064,3443,3674,511.9,-10.3,155,3000,0.00,2.62,0.00,0.000,1030,0.000,0.032,2193,2563,3558,3443,3674,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3296,-0.58,-175.2,2193,2560,3443,3666,547.0,-11.7,171,3302,0.00,2.60,0.00,0.000,516,0.000,0.028,2194,1065,3554,3443,3666,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3345,-0.58,-175.2,2193,1062,3443,3666,552.6,-11.9,173,3351,0.00,2.62,0.00,0.000,1030,0.000,0.032,2193,2561,3554,3443,3665,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3673,-0.58,-175.2,2193,2558,3442,3660,590.2,-10.9,189,3679,0.00,2.12,0.00,0.000,260,0.000,0.050,2194,3824,3551,3443,3660,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3725,-0.58,-175.2,2193,3824,3442,3659,595.2,-10.8,191,3731,0.00,2.10,0.00,0.000,1030,0.000,0.025,2193,2521,3550,3442,3659,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4057,-0.58,-175.2,2193,2521,3441,3653,625.4,-8.3,203,4062,0.00,2.47,0.00,0.000,516,0.000,0.031,2194,1084,3547,3441,3653,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4105,-0.58,-175.2,2194,1085,3440,3653,628.4,-8.3,204,4111,0.00,2.60,0.00,0.000,1030,0.000,0.034,2194,2566,3546,3440,3652,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4431,-0.58,-175.2,2193,2563,3438,3648,654.3,-7.7,215,4437,0.00,2.12,0.00,0.000,260,0.000,0.050,2193,3824,3542,3438,3647,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4461,-0.58,-175.2,2193,3824,3437,3647,654.3,-7.7,215,4470,0.00,2.12,0.00,0.000,1030,0.000,0.025,2193,2521,3542,3437,3648,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4771,-0.58,-175.2,2193,2521,3437,3643,681.2,-8.2,226,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2521,3540,3437,3643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5068,-0.58,-175.2,2193,2521,3435,3638,707.9,-9.1,236,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2521,3536,3435,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5367,-0.58,-175.2,2193,2521,3433,3634,736.8,-9.6,246,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2521,3533,3432,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5668,-0.58,-175.2,2193,2521,3431,3630,763.4,-8.6,256,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2521,3530,3431,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5967,-0.58,-175.2,2193,2520,3430,3627,787.0,-7.7,266,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2521,3528,3430,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6268,-0.58,-175.2,2193,2521,3428,3625,810.2,-7.9,276,6274,0.00,2.50,0.00,0.000,516,0.000,0.031,2193,1082,3526,3428,3624,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6299,-0.58,-175.2,2193,1082,3428,3624,810.2,-7.9,276,6307,0.00,2.60,0.00,0.000,1030,0.000,0.032,2194,2565,3526,3428,3624,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6608,-0.58,-175.2,2193,2562,3426,3620,837.3,-8.1,287,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2562,3523,3426,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6905,-0.58,-175.2,2194,2562,3425,3618,862.2,-8.1,297,6911,0.00,2.17,0.00,0.000,260,0.000,0.047,2183,3834,3521,3425,3617,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6935,-0.58,-175.2,2182,3834,3432,3617,862.2,-8.1,297,6944,0.00,2.15,0.00,0.000,1030,0.000,0.025,2183,2522,3522,3425,3619,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7243,-0.58,-175.2,2182,2523,3428,3615,892.3,-9.0,308,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2522,3519,3425,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7542,-0.58,-175.2,2183,2522,3424,3613,920.0,-9.3,318,7548,0.00,2.35,0.00,0.000,260,0.000,0.051,2177,3837,3518,3423,3613,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7568,-0.58,-175.2,2177,3837,3423,3612,920.0,-9.3,318,7574,0.00,2.15,0.00,0.000,1030,0.000,0.027,2177,2522,3517,3423,3612,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7887,-0.58,-175.2,2177,2523,3422,3610,953.0,-9.5,329,7889,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2523,3516,3422,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8185,-0.58,-175.2,2177,2523,3421,3609,980.7,-9.3,339,8191,0.00,2.47,0.00,0.000,516,0.000,0.034,2177,1092,3514,3421,3607,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8232,-0.58,-175.2,2177,1092,3420,3607,984.3,-9.4,340,8238,0.00,2.58,0.00,0.000,1030,0.000,0.035,2167,2559,3514,3421,3607,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,8285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8285,begin apogee
$GC,8294,-0.12,0.0,2166,2716,3421,3606,990.8,-9.5,342,8454,0.47,0.05,152.70,1.031,10246,0.093,0.043,2337,2659,2844,2874,2814,0,0,0,0,0,0,25.82,24.76,23.90
$STATE,8460,end apogee,CONTROL_FINISHED_OK
$STATE,8460,begin climb
$GC,8463,0.58,175.2,2336,2658,2870,2802,997.7,0.0,346,8642,0.60,2.80,166.65,0.991,10756,0.030,0.022,2612,1233,2120,2254,1987,0,0,0,0,0,0,25.18,24.65,23.65
$GC,8679,0.59,178.7,2612,1233,2240,1979,987.3,9.3,354,8685,0.00,2.92,0.00,0.000,1030,0.000,0.027,2599,2715,2109,2239,1979,0,0,0,0,0,0,28.83,25.15,28.83
$GC,9005,0.59,178.7,2598,2713,2235,1975,942.4,13.3,365,9011,0.00,2.80,0.00,0.000,516,0.000,0.022,2610,1231,2105,2235,1975,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9025,0.59,178.7,2611,1230,2231,1975,942.4,13.3,365,9033,0.12,2.85,0.00,0.000,5126,0.161,0.028,2568,2726,2103,2231,1976,0,0,0,0,0,0,25.71,25.98,28.83
$GC,9348,0.59,178.7,2568,2723,2230,1974,905.0,10.6,376,9354,0.00,1.75,0.00,0.000,260,0.000,0.043,2560,3851,2102,2230,1974,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9377,0.59,178.7,2560,3852,2230,1974,905.0,10.6,376,9385,0.00,1.80,0.00,0.000,1030,0.000,0.016,2570,2618,2102,2230,1974,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9688,0.59,178.7,2569,2615,2229,1973,869.7,10.5,387,9694,0.00,2.03,0.00,0.000,260,0.000,0.041,2560,3840,2100,2228,1973,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9772,0.59,178.7,2560,3840,2228,1973,860.9,11.5,389,9778,0.00,1.75,0.00,0.000,1030,0.000,0.016,2570,2615,2100,2228,1973,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10093,0.59,178.7,2569,2615,2226,1973,824.2,10.4,400,10099,0.00,2.03,0.00,0.000,260,0.000,0.042,2560,3848,2099,2226,1973,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10135,0.59,178.7,2560,3848,2226,1973,819.9,10.7,401,10142,0.00,1.75,0.00,0.000,1030,0.000,0.017,2570,2624,2099,2226,1973,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10466,0.59,178.7,2570,2624,2226,1972,783.6,10.4,412,10472,0.00,2.55,0.00,0.000,516,0.000,0.023,2582,1230,2098,2226,1971,0,0,0,0,0,0,28.83,26.23,28.83
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$GC,14291,0.78,255.0,2630,2714,1939,1636,379.0,12.6,567,14297,0.00,1.73,0.00,0.000,260,0.000,0.041,2621,3837,1784,1933,1636,0,0,0,0,0,0,28.83,26.04,28.83
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$STATE,17933,end climb,SURFACE_DEPTH_REACHED
$STATE,17933,begin surface coast
$FINISH,-0.5,1.008038
$STATE,17955,end surface coast,CONTROL_FINISHED_OK
$STATE,17955,begin surface
$SM_CCo,18034,0.00,0.000,0,0,1093,431.48
$SM_GC,0.40,6.78,0.45,0.00,0.027,0.026,0.000,134,2504,1093,-6.95,0.20,431.48,0,0,0,0,0,0,26.11,26.36,28.83
$IRIDIUM_FIX,1805.50,12437.41,100613,111128
$TT8_MAMPS,0.021721,0.021721
$HUMID,47.71
$INTERNAL_PRESSURE,9.49611
$TCM_TEMP,26.10
$XPDR_PINGS,0
$SC_FREEKB,3812576
$24V_AH,23.6,54.536
$10V_AH,10.1,41.456
$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,17.500,167.250,566.900,0.000,0.000,0.000,0.000,786.950,0.000,0.000,14.849,3051.609,11944.399,771.760,2541.656,914.529,0.000,2552.729,0.000,1660.945,0.000,0.545,0.000
$DEVICE_MAMPS,233.325,72.675,1031.220,0.000,0.000,0.000,0.000,119.340,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18045.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.607,0.000,0.000,0.000
$MEM,328904
$DATA_FILE_SIZE,30016,772
$CAP_FILE_SIZE,403755,0
$CFSIZE,260034560,189018112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.142,189.7,1
$GPS,100613,162905,1812.530,12438.011,26,1.4,26,-2.1