version: 66.11
glider: 169
mission: 8
dive: 508
start: 6 30 113 17 55 34
data:
$ID,169
$MISSION,8
$DIVE,508
$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,-22975.973
$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,2650
$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
$GPS1,300613,173626,1945.162,12324.904,27,2.5,46,-2.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-72.1
$GPS2,300613,175505,1945.140,12324.670,15,1.2,31,-2.4
$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,70.4,110909,-5.6,-9.429,-20.04,2855
$D_GRID,5132
$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,25,-0.58,-175.2,120,2561,1270,952,0.0,0.0,0,97,0.00,0.00,-70.10,0.000,16386,0.000,0.000,120,2562,2907,2865,2949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.58,-175.2,120,2562,2868,2949,3.7,-7.7,9,129,8.65,2.28,-10.93,0.000,18692,0.226,0.057,2173,3842,3570,3443,3698,0,0,0,0,0,0,25.02,25.91,26.50
$GC,172,-0.58,-175.2,2173,3842,3444,3697,34.2,-40.3,16,180,0.00,2.12,0.00,0.000,1030,0.000,0.027,2173,2531,3570,3444,3697,0,0,0,0,0,0,28.83,26.16,28.83
$GC,484,-0.58,-175.2,2173,2530,3443,3698,106.4,-20.6,35,491,0.00,2.55,0.00,0.000,516,0.000,0.028,2173,1084,3571,3444,3698,0,0,0,0,0,0,28.83,26.18,28.83
$GC,537,-0.58,-175.2,2173,1084,3444,3698,116.6,-21.0,37,543,0.00,2.67,0.00,0.000,1030,0.000,0.031,2168,2564,3571,3444,3698,0,0,0,0,0,0,28.83,26.17,28.83
$GC,859,-0.58,-175.2,2168,2561,3444,3698,177.6,-20.3,53,865,0.00,2.08,0.00,0.000,260,0.000,0.049,2168,3824,3570,3444,3697,0,0,0,0,0,0,28.83,26.12,28.83
$GC,894,-0.58,-175.2,2168,3824,3444,3697,182.3,-19.3,54,900,0.00,2.05,0.00,0.000,1030,0.000,0.023,2167,2509,3571,3444,3698,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1211,-0.58,-175.2,2167,2509,3444,3697,238.0,-16.6,70,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2509,3570,3444,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1510,-0.58,-175.2,2167,2509,3444,3697,286.2,-15.7,85,1516,0.00,2.25,0.00,0.000,260,0.000,0.044,2166,3837,3570,3444,3697,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1614,-0.58,-175.2,2165,3837,3444,3697,300.7,-15.6,89,1620,0.00,2.05,0.00,0.000,1030,0.000,0.025,2165,2520,3570,3444,3697,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1931,-0.58,-175.2,2165,2520,3444,3696,346.1,-12.9,105,1938,0.00,2.53,0.00,0.000,516,0.000,0.028,2166,1079,3570,3444,3696,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1967,-0.58,-175.2,2165,1079,3443,3696,349.9,-13.2,106,1973,0.12,2.65,0.00,0.000,3078,0.132,0.031,2193,2565,3570,3444,3696,0,0,0,0,0,0,26.10,26.27,28.83
$GC,2287,-0.58,-175.2,2193,2563,3443,3691,389.0,-12.6,122,2293,0.00,2.08,0.00,0.000,260,0.000,0.044,2193,3845,3567,3443,3691,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2339,-0.58,-175.2,2193,3842,3444,3690,395.2,-12.6,124,2346,0.00,2.10,0.00,0.000,1030,0.000,0.024,2194,2511,3567,3444,3690,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2665,-0.58,-175.2,2193,2511,3444,3685,430.7,-9.6,140,2671,0.00,2.53,0.00,0.000,516,0.000,0.030,2193,1072,3564,3444,3685,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2685,-0.58,-175.2,2193,1072,3443,3685,430.7,-9.6,140,2693,0.00,2.65,0.00,0.000,1030,0.000,0.034,2193,2560,3564,3444,3685,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2994,-0.58,-175.2,2193,2557,3443,3680,459.3,-9.0,156,2999,0.00,2.12,0.00,0.000,260,0.000,0.047,2194,3837,3561,3443,3679,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3052,-0.58,-175.2,2193,3837,3443,3678,463.8,-9.2,158,3058,0.00,2.10,0.00,0.000,1030,0.000,0.024,2193,2515,3560,3443,3678,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3369,-0.58,-175.2,2193,2515,3443,3673,493.8,-9.0,174,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2515,3558,3444,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3669,-0.58,-175.2,2193,2515,3443,3668,518.6,-7.8,189,3675,0.00,2.28,0.00,0.000,260,0.000,0.047,2193,3836,3555,3443,3668,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3696,-0.58,-175.2,2193,3836,3444,3667,520.8,-8.0,190,3702,0.00,2.10,0.00,0.000,1030,0.000,0.026,2194,2516,3555,3443,3667,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4025,-0.58,-175.2,2193,2516,3443,3661,550.6,-9.8,206,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2516,3552,3443,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4324,-0.58,-175.2,2193,2515,3443,3657,580.1,-9.6,221,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2515,3550,3443,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4632,-0.58,-175.2,2193,2515,3442,3653,609.5,-9.4,235,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2515,3547,3441,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4934,-0.58,-175.2,2193,2515,3439,3649,637.1,-9.0,245,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2515,3544,3439,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5234,-0.58,-175.2,2193,2515,3437,3645,662.9,-8.8,255,5240,0.00,2.30,0.00,0.000,260,0.000,0.045,2193,3843,3541,3438,3645,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5287,-0.58,-175.2,2193,3843,3438,3645,666.4,-8.9,256,5294,0.00,2.10,0.00,0.000,1030,0.000,0.026,2194,2517,3541,3437,3645,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5609,-0.58,-175.2,2193,2517,3436,3640,698.8,-9.6,267,5615,0.00,2.53,0.00,0.000,516,0.000,0.031,2193,1085,3538,3436,3640,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5640,-0.58,-175.2,2192,1084,3436,3641,698.8,-9.6,267,5648,0.00,2.62,0.00,0.000,1030,0.000,0.031,2193,2568,3537,3435,3639,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5950,-0.58,-175.2,2193,2565,3434,3636,730.2,-9.0,278,5956,0.00,2.12,0.00,0.000,260,0.000,0.045,2183,3848,3535,3434,3636,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5977,-0.58,-175.2,2183,3848,3433,3636,730.2,-9.0,278,5982,0.00,2.12,0.00,0.000,1030,0.000,0.025,2183,2518,3534,3433,3636,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6297,-0.58,-175.2,2183,2518,3431,3632,762.4,-9.5,289,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2518,3532,3432,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6594,-0.58,-175.2,2183,2518,3431,3629,794.1,-10.8,299,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2518,3530,3431,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6894,-0.58,-175.2,2183,2518,3430,3626,826.6,-10.7,309,6901,0.00,2.53,0.00,0.000,516,0.000,0.031,2185,1077,3528,3430,3626,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6920,-0.58,-175.2,2183,1077,3430,3626,826.6,-10.7,309,6926,0.00,2.65,0.00,0.000,1030,0.000,0.032,2181,2568,3528,3430,3626,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7241,-0.58,-175.2,2181,2565,3428,3624,860.1,-9.7,320,7247,0.00,2.15,0.00,0.000,260,0.000,0.049,2181,3833,3526,3428,3624,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7291,-0.58,-175.2,2181,3832,3425,3623,864.1,-9.6,321,7297,0.00,2.12,0.00,0.000,1030,0.000,0.024,2181,2515,3524,3426,3623,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7617,-0.58,-175.2,2181,2515,3426,3620,893.7,-8.4,332,7623,0.00,2.50,0.00,0.000,516,0.000,0.032,2181,1077,3523,3426,3620,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7647,-0.58,-175.2,2181,1076,3426,3620,893.7,-8.4,332,7656,0.00,2.65,0.00,0.000,1030,0.000,0.035,2181,2562,3522,3426,3619,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7957,-0.58,-175.2,2180,2560,3425,3616,920.6,-8.3,343,7963,0.00,2.17,0.00,0.000,260,0.000,0.050,2171,3846,3521,3425,3617,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8010,-0.58,-175.2,2170,3846,3425,3616,924.2,-8.5,344,8017,0.00,2.15,0.00,0.000,1030,0.000,0.027,2170,2519,3520,3425,3616,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8333,-0.58,-175.2,2170,2519,3424,3614,956.0,-9.6,355,8334,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2519,3519,3425,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8632,-0.58,-175.2,2170,2519,3424,3613,983.4,-8.8,365,8638,0.00,2.50,0.00,0.000,516,0.000,0.031,2170,1080,3518,3424,3613,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8659,-0.58,-175.2,2170,1081,3423,3613,983.4,-8.8,365,8665,0.00,2.62,0.00,0.000,1030,0.000,0.033,2168,2562,3518,3423,3613,0,0,0,0,0,0,28.83,26.04,28.83
$STATE,8731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8732,begin apogee
$GC,8740,-0.12,0.0,2167,2663,3423,3612,992.2,-8.5,368,8901,0.47,0.00,155.80,1.015,10246,0.093,0.000,2335,2662,2850,2877,2823,0,0,0,0,0,0,25.78,28.83,23.58
$STATE,8903,end apogee,CONTROL_FINISHED_OK
$STATE,8903,begin climb
$GC,8911,0.58,175.2,2335,2662,2868,2806,998.0,0.0,372,9094,0.60,3.00,168.88,0.969,10756,0.033,0.023,2608,1182,2122,2255,1990,0,0,0,0,0,0,25.17,24.77,23.50
$GC,9164,0.58,175.2,2608,1183,2238,1980,979.2,12.8,380,9170,0.15,2.85,0.00,0.000,5126,0.142,0.026,2566,2661,2108,2237,1979,0,0,0,0,0,0,25.26,25.51,28.83
$GC,9501,0.58,175.2,2567,2657,2234,1975,936.9,12.4,391,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2658,2105,2234,1976,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9800,0.58,175.2,2566,2657,2231,1975,900.6,11.8,401,9806,0.00,1.88,0.00,0.000,260,0.000,0.043,2557,3836,2103,2231,1975,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9858,0.58,175.2,2557,3836,2230,1975,896.4,11.7,402,9864,0.00,1.85,0.00,0.000,1030,0.000,0.017,2567,2586,2102,2230,1975,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10179,0.58,175.2,2567,2586,2229,1974,862.0,9.5,413,10185,0.00,2.12,0.00,0.000,260,0.000,0.041,2557,3853,2102,2229,1975,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10209,0.58,175.2,2553,3853,2229,1974,862.0,9.5,413,10217,0.00,1.88,0.00,0.000,1030,0.000,0.018,2568,2592,2101,2229,1974,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10520,0.65,203.4,2567,2592,2227,1974,832.2,8.4,424,10553,0.00,2.17,26.85,0.892,8452,0.000,0.041,2558,3842,2013,2141,1885,0,0,0,0,0,0,28.83,25.82,24.46
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$GC,13270,0.71,227.6,2623,2590,2027,1754,473.0,11.6,529,13277,0.00,2.55,0.00,0.000,516,0.000,0.024,2636,1170,1890,2027,1754,0,0,0,0,0,0,28.83,26.15,28.83
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$STATE,17387,end climb,SURFACE_DEPTH_REACHED
$STATE,17387,begin surface coast
$FINISH,-0.6,1.021273
$STATE,17408,end surface coast,CONTROL_FINISHED_OK
$STATE,17408,begin surface
$SM_CCo,17488,0.00,0.000,0,0,1015,450.62
$SM_GC,0.26,6.80,0.12,0.00,0.024,0.061,0.000,131,2497,1015,-6.95,0.14,450.62,0,0,0,0,0,0,26.02,26.37,28.83
$IRIDIUM_FIX,1936.66,12322.35,300613,171734
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.57
$INTERNAL_PRESSURE,9.42775
$TCM_TEMP,24.80
$XPDR_PINGS,1
$SC_FREEKB,3763968
$24V_AH,23.5,67.940
$10V_AH,9.8,51.111
$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,17.725,149.350,571.850,0.000,0.000,0.000,0.000,628.200,0.250,0.000,32.325,3039.711,11369.150,714.640,2441.822,998.882,0.000,2352.311,0.000,1695.840,0.000,0.545,0.000
$DEVICE_MAMPS,226.440,75.735,1015.155,0.000,0.000,0.000,0.000,122.400,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17504.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.556,0.000,0.000,0.000
$MEM,328888
$DATA_FILE_SIZE,26782,764
$CAP_FILE_SIZE,397098,0
$CFSIZE,260034560,173608960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060,247.7,1
$GPS,300613,224805,1945.595,12325.883,29,1.2,29,-2.4