version: 66.11
glider: 169
mission: 8
dive: 492
start: 6 27 113 4 28 33
data:
$ID,169
$MISSION,8
$DIVE,492
$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,-22955.752
$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
$GPS1,270613,041430,1941.977,12308.130,37,1.3,37,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-70.9
$GPS2,270613,042801,1941.958,12308.167,15,1.3,15,-2.3
$SPEED_LIMITS,0.163,0.258
$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,80.6,139007,-5.6,-9.429,-20.04,2855
$D_GRID,4793
$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,21,begin dive
$GC,24,-0.58,-175.2,121,2561,1266,953,0.0,0.0,0,98,0.00,0.00,-70.88,0.000,16386,0.000,0.000,121,2561,2951,2898,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.58,-175.2,121,2561,2898,3006,4.0,-9.2,9,130,8.73,2.20,-10.05,0.000,18692,0.228,0.057,2181,3836,3570,3441,3700,0,0,0,0,0,0,25.01,25.93,26.48
$GC,230,-0.58,-175.2,2181,3836,3443,3700,56.0,-35.0,21,237,0.00,2.08,0.00,0.000,1030,0.000,0.026,2181,2533,3571,3443,3700,0,0,0,0,0,0,28.83,26.20,28.83
$GC,549,-0.58,-175.2,2181,2532,3443,3700,139.2,-23.4,37,555,0.00,2.58,0.00,0.000,516,0.000,0.030,2181,1074,3571,3443,3700,0,0,0,0,0,0,28.83,26.20,28.83
$GC,579,-0.58,-175.2,2181,1073,3443,3700,145.5,-23.0,38,584,0.00,2.70,0.00,0.000,1030,0.000,0.037,2181,2559,3571,3443,3700,0,0,0,0,0,0,28.83,26.15,28.83
$GC,901,-0.58,-175.2,2180,2556,3443,3700,208.1,-17.9,54,908,0.00,2.62,0.00,0.000,516,0.000,0.027,2180,1071,3571,3443,3700,0,0,0,0,0,0,28.83,26.28,28.83
$GC,936,-0.58,-175.2,2181,1071,3443,3700,213.0,-17.7,55,942,0.00,2.67,0.00,0.000,1030,0.000,0.034,2180,2559,3571,3443,3700,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1253,-0.58,-175.2,2180,2556,3443,3700,259.3,-13.1,71,1259,0.00,2.08,0.00,0.000,260,0.000,0.045,2181,3843,3571,3443,3700,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1302,-0.58,-175.2,2180,3843,3443,3700,265.6,-13.4,73,1308,0.00,2.08,0.00,0.000,1030,0.000,0.024,2181,2517,3571,3443,3700,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1633,-0.58,-175.2,2180,2515,3443,3700,314.9,-15.4,89,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2514,3571,3443,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1928,-0.58,-175.2,2180,2514,3443,3699,356.9,-13.4,104,1934,0.00,2.25,0.00,0.000,260,0.000,0.047,2180,3838,3571,3443,3699,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1979,-0.58,-175.2,2180,3838,3443,3699,362.7,-12.6,106,1985,0.00,2.05,0.00,0.000,1030,0.000,0.024,2180,2514,3571,3443,3699,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2307,-0.58,-175.2,2180,2513,3443,3695,407.7,-15.2,122,2314,0.00,2.50,0.00,0.000,516,0.000,0.028,2181,1071,3568,3443,3694,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2344,-0.58,-175.2,2180,1071,3443,3694,412.1,-15.2,123,2350,0.00,2.65,0.00,0.000,1030,0.000,0.032,2180,2561,3568,3443,3694,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2660,-0.58,-175.2,2180,2561,3443,3689,451.8,-10.9,139,2666,0.00,2.08,0.00,0.000,260,0.000,0.044,2170,3844,3566,3443,3689,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2713,-0.58,-175.2,2170,3844,3443,3688,456.6,-10.7,141,2720,0.00,2.10,0.00,0.000,1030,0.000,0.024,2170,2515,3565,3443,3688,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3040,-0.58,-175.2,2170,2515,3443,3682,490.5,-10.7,157,3046,0.00,2.25,0.00,0.000,260,0.000,0.045,2167,3832,3562,3443,3682,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3076,-0.58,-175.2,2167,3831,3443,3682,493.9,-10.8,158,3083,0.00,2.05,0.00,0.000,1030,0.000,0.023,2168,2513,3562,3443,3682,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3394,-0.58,-175.2,2167,2513,3443,3675,531.3,-11.5,174,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2513,3559,3443,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3692,-0.58,-175.2,2167,2513,3443,3672,567.1,-11.9,189,3699,0.00,2.30,0.00,0.000,260,0.000,0.047,2158,3841,3555,3443,3668,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3723,-0.58,-175.2,2157,3841,3442,3668,570.4,-12.0,190,3729,0.12,2.10,0.00,0.000,3078,0.125,0.027,2196,2515,3555,3442,3668,0,0,0,0,0,0,26.17,26.43,28.83
$GC,4049,-0.58,-175.2,2195,2515,3442,3661,600.4,-8.6,206,4055,0.00,2.53,0.00,0.000,516,0.000,0.030,2196,1078,3550,3440,3661,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4074,-0.58,-175.2,2196,1078,3443,3661,600.4,-8.6,206,4080,0.00,2.62,0.00,0.000,1030,0.000,0.030,2194,2563,3552,3443,3661,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4394,-0.58,-175.2,2193,2560,3442,3656,631.3,-9.0,217,4400,0.00,2.12,0.00,0.000,260,0.000,0.047,2194,3840,3549,3442,3656,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4420,-0.58,-175.2,2193,3840,3441,3656,631.3,-9.0,217,4426,0.00,2.12,0.00,0.000,1030,0.000,0.024,2194,2512,3548,3441,3656,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4740,-0.58,-175.2,2193,2512,3439,3650,662.6,-9.2,228,4746,0.00,2.47,0.00,0.000,516,0.000,0.029,2194,1076,3544,3439,3650,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4771,-0.58,-175.2,2193,1076,3439,3650,662.6,-9.2,228,4780,0.00,2.62,0.00,0.000,1030,0.000,0.031,2193,2563,3544,3439,3650,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5079,-0.58,-175.2,2193,2560,3437,3647,694.7,-9.5,239,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2560,3542,3437,3647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5377,-0.58,-175.2,2193,2560,3435,3643,724.3,-10.0,249,5383,0.00,2.62,0.00,0.000,516,0.000,0.029,2194,1070,3539,3436,3643,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5414,-0.58,-175.2,2193,1069,3435,3643,728.0,-10.0,250,5420,0.00,2.65,0.00,0.000,1030,0.000,0.032,2193,2560,3539,3436,3643,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5750,-0.58,-175.2,2193,2557,3434,3637,758.0,-8.3,261,5756,0.00,2.15,0.00,0.000,260,0.000,0.050,2187,3825,3536,3434,3638,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5802,-0.58,-175.2,2186,3825,3433,3638,760.9,-8.2,262,5809,0.00,2.10,0.00,0.000,1030,0.000,0.025,2187,2517,3535,3433,3638,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6129,-0.58,-175.2,2186,2517,3432,3633,788.0,-8.2,273,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2517,3532,3432,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6425,-0.58,-175.2,2186,2517,3431,3631,815.6,-9.5,283,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2516,3531,3431,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6726,-0.58,-175.2,2186,2516,3430,3629,844.4,-9.8,293,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2516,3529,3430,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7026,-0.58,-175.2,2186,2516,3428,3626,872.5,-9.3,303,7032,0.00,2.30,0.00,0.000,260,0.000,0.046,2181,3830,3526,3428,3625,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7057,-0.58,-175.2,2181,3830,3426,3626,872.5,-9.3,303,7066,0.00,2.12,0.00,0.000,1030,0.000,0.024,2181,2514,3526,3426,3626,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7364,-0.58,-175.2,2181,2515,3426,3623,905.4,-9.8,314,7370,0.00,2.50,0.00,0.000,516,0.000,0.032,2181,1074,3524,3425,3623,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7395,-0.58,-175.2,2181,1074,3426,3623,905.4,-9.8,314,7404,0.00,2.65,0.00,0.000,1030,0.000,0.034,2181,2565,3524,3426,3622,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7704,-0.58,-175.2,2181,2563,3425,3621,938.6,-9.9,325,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2562,3523,3425,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8002,-0.58,-175.2,2181,2562,3425,3617,967.5,-9.3,335,8009,0.00,2.65,0.00,0.000,516,0.000,0.032,2181,1077,3521,3425,3617,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8028,-0.58,-175.2,2180,1076,3425,3617,967.5,-9.3,335,8034,0.00,2.65,0.00,0.000,1030,0.000,0.034,2179,2559,3521,3425,3617,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,8250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8250,begin apogee
$GC,8258,-0.12,0.0,2177,2721,3424,3615,990.6,-9.1,343,8420,0.45,0.10,153.55,1.016,10246,0.093,0.071,2338,2654,2845,2872,2819,0,0,0,0,0,0,25.85,24.83,23.63
$STATE,8426,end apogee,CONTROL_FINISHED_OK
$STATE,8426,begin climb
$GC,8429,0.58,175.2,2338,2654,2866,2805,998.5,0.0,347,8600,0.60,0.00,167.20,0.983,10246,0.031,0.000,2601,2654,2136,2266,2006,0,0,0,0,0,0,25.19,28.83,23.54
$GC,8884,0.58,175.2,2600,2654,2239,1975,959.9,12.6,364,8890,0.12,1.95,0.00,0.000,4356,0.167,0.040,2554,3850,2107,2239,1975,0,0,0,0,0,0,25.75,25.87,28.83
$GC,8990,0.58,175.2,2554,3849,2237,1975,947.1,12.9,367,8995,0.00,1.77,0.00,0.000,1030,0.000,0.018,2564,2629,2105,2236,1975,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9321,0.58,175.2,2564,2629,2234,1973,911.0,10.5,378,9327,0.00,2.60,0.00,0.000,516,0.000,0.024,2576,1231,2103,2234,1973,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9347,0.58,175.2,2576,1231,2231,1973,911.0,10.5,378,9353,0.00,2.88,0.00,0.000,1030,0.000,0.027,2563,2721,2102,2231,1974,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9668,0.58,175.2,2563,2719,2231,1973,876.2,9.7,389,9669,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2718,2101,2230,1973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9965,0.64,198.5,2563,2718,2229,1972,850.1,8.6,399,9998,0.00,2.90,21.48,0.884,8708,0.000,0.023,2576,1248,2026,2154,1899,0,0,0,0,0,0,28.83,25.96,24.58
$GC,10019,0.71,226.3,2576,1247,2148,1894,847.5,8.4,400,10054,0.12,2.85,28.55,0.841,11270,0.073,0.027,2678,2714,1927,2053,1802,0,0,0,0,0,0,25.96,25.94,24.37
$GC,10379,0.71,226.3,2677,2712,2037,1767,780.9,18.8,412,10386,0.22,1.75,0.00,0.000,4356,0.161,0.040,2602,3837,1902,2037,1767,0,0,0,0,0,0,25.56,25.93,28.83
$GC,10425,0.71,226.3,2602,3836,2037,1767,774.2,18.3,413,10431,0.00,1.75,0.00,0.000,1030,0.000,0.017,2611,2629,1901,2037,1766,0,0,0,0,0,0,28.83,26.23,28.83
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$GC,13832,0.92,312.6,2634,1229,1879,1570,371.0,7.9,557,13883,0.12,2.90,39.97,0.576,11270,0.070,0.026,2730,2722,1574,1741,1408,0,0,0,0,0,0,25.84,25.81,24.48
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$STATE,16660,end climb,SURFACE_DEPTH_REACHED
$STATE,16660,begin surface coast
$FINISH,-0.6,1.008159
$STATE,16680,end surface coast,CONTROL_FINISHED_OK
$STATE,16680,begin surface
$SM_CCo,16760,0.00,0.000,0,0,963,463.37
$SM_GC,0.44,6.78,0.45,0.00,0.019,0.028,0.000,127,2505,963,-6.95,0.31,463.37,0,0,0,0,0,0,26.06,26.27,28.83
$IRIDIUM_FIX,1936.66,12310.93,260613,222212
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.06
$INTERNAL_PRESSURE,9.45705
$TCM_TEMP,25.40
$XPDR_PINGS,0
$SC_FREEKB,3772160
$24V_AH,23.5,65.678
$10V_AH,10.0,49.502
$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,17.625,162.975,616.450,0.000,0.000,0.000,0.000,459.825,0.000,0.000,16.394,2849.075,10836.282,771.192,2144.277,929.443,0.000,2181.096,0.000,1583.924,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,71.145,1015.920,0.000,0.000,0.000,0.000,122.400,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16780.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.444,0.000,0.000,0.000
$MEM,328968
$DATA_FILE_SIZE,26767,715
$CAP_FILE_SIZE,371908,0
$CFSIZE,260034560,176287744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.038,121.3,1
$GPS,270613,090906,1942.021,12310.369,39,1.6,39,-2.3