version: 66.11
glider: 169
mission: 8
dive: 792
start: 8 30 113 4 46 49
data:
$ID,169
$MISSION,8
$DIVE,792
$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,380
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,190
$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,592.89008
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-23584.105
$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,2365
$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,2575
$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,0.003
$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,9.8000002
$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,0
$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
$GPS1,300813,044005,2127.052,12243.177,57,1.1,68,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-61.0
$GPS2,300813,044615,2127.099,12243.261,16,2.2,36,-2.7
$SPEED_LIMITS,0.163,0.265
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,308.7,222138,-5.0,-9.429,-19.60,3013
$D_GRID,3876
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,21,-0.68,-184.9,121,2575,608,245,0.0,0.0,0,109,0.00,0.00,-85.25,0.000,16386,0.000,0.000,121,2576,2597,2594,2600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.68,-184.9,121,2577,2595,2601,3.7,-7.2,9,150,8.43,2.88,-18.67,0.000,18948,0.224,0.044,2139,1088,3608,3468,3748,0,0,0,0,0,0,24.77,25.77,26.54
$GC,200,-0.68,-184.9,2139,1088,3468,3748,28.1,-26.5,17,206,0.00,2.75,0.00,0.000,1030,0.000,0.036,2138,2564,3608,3468,3748,0,0,0,0,0,0,28.83,25.68,28.83
$GC,528,-0.68,-184.9,2138,2562,3468,3748,108.9,-21.6,48,533,0.00,2.70,0.00,0.000,516,0.000,0.030,2138,1092,3608,3468,3748,0,0,0,0,0,0,28.83,25.82,28.83
$GC,554,-0.68,-184.9,2138,1091,3468,3748,113.8,-21.6,49,559,0.00,2.72,0.00,0.000,1030,0.000,0.033,2138,2564,3608,3468,3748,0,0,0,0,0,0,28.83,25.77,28.83
$GC,868,-0.68,-184.9,2137,2561,3468,3748,171.8,-16.6,65,873,0.00,2.05,0.00,0.000,260,0.000,0.047,2136,3844,3607,3467,3748,0,0,0,0,0,0,28.83,25.64,28.83
$GC,984,-0.68,-184.9,2136,3844,3468,3748,188.7,-16.8,70,988,0.00,2.03,0.00,0.000,1030,0.000,0.024,2136,2510,3608,3468,3748,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1287,-0.68,-184.9,2136,2506,3468,3748,236.3,-13.6,86,1293,0.00,2.17,0.00,0.000,260,0.000,0.043,2129,3826,3608,3468,3748,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1352,-0.68,-184.9,2129,3826,3468,3748,244.3,-13.4,89,1356,0.00,2.03,0.00,0.000,1030,0.000,0.022,2129,2492,3608,3468,3748,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1671,-0.68,-184.9,2128,2491,3468,3748,290.7,-14.6,105,1677,0.00,2.22,0.00,0.000,260,0.000,0.044,2125,3829,3607,3467,3748,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1730,-0.68,-184.9,2125,3828,3467,3747,299.6,-14.6,108,1736,0.00,2.03,0.00,0.000,1030,0.000,0.022,2125,2494,3608,3468,3748,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2050,-0.68,-184.9,2125,2491,3468,3747,344.2,-13.9,124,2056,0.00,2.25,0.00,0.000,260,0.000,0.046,2125,3839,3607,3467,3747,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2092,-0.68,-184.9,2124,3839,3467,3747,349.9,-14.1,126,2098,0.00,2.00,0.00,0.000,1030,0.000,0.024,2125,2505,3607,3467,3747,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2411,-0.68,-184.9,2124,2505,3467,3743,395.0,-13.7,142,2417,0.00,2.20,0.00,0.000,260,0.000,0.045,2124,3829,3605,3467,3743,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2498,-0.68,-184.9,2123,3829,3467,3742,403.2,-13.7,145,2501,0.00,2.03,0.00,0.000,1030,0.000,0.022,2123,2499,3605,3467,3743,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2801,-0.68,-184.9,2123,2493,3466,3739,447.9,-13.4,156,2807,0.00,2.25,0.00,0.000,260,0.000,0.045,2116,3832,3603,3467,3739,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2856,-0.68,-184.9,2115,3832,3467,3738,451.9,-13.4,157,2862,0.10,2.03,0.00,0.000,3078,0.144,0.024,2143,2503,3602,3467,3738,0,0,0,0,0,0,25.89,26.16,28.83
$GC,3191,-0.68,-184.9,2143,2503,3467,3735,493.4,-11.7,169,3197,0.00,2.28,0.00,0.000,260,0.000,0.046,2142,3826,3601,3467,3735,0,0,0,0,0,0,28.83,25.59,28.83
$GC,3291,-0.68,-184.9,2142,3825,3467,3733,503.8,-11.6,172,3294,0.00,2.05,0.00,0.000,1030,0.000,0.023,2142,2492,3600,3467,3733,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3615,-0.68,-184.9,2142,2490,3467,3727,543.2,-11.6,183,3620,0.00,2.33,0.00,0.000,260,0.000,0.045,2142,3834,3596,3466,3727,0,0,0,0,0,0,28.83,25.59,28.83
$GC,3639,-0.68,-184.9,2142,3834,3466,3726,543.2,-11.6,183,3644,0.00,2.05,0.00,0.000,1030,0.000,0.024,2142,2491,3596,3466,3726,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3974,-0.68,-184.9,2141,2490,3467,3722,585.5,-11.6,195,3980,0.00,2.28,0.00,0.000,260,0.000,0.046,2141,3832,3593,3466,3721,0,0,0,0,0,0,28.83,25.57,28.83
$GC,4016,-0.68,-184.9,2141,3832,3466,3721,589.1,-11.5,196,4019,0.00,2.05,0.00,0.000,1030,0.000,0.024,2141,2492,3593,3466,3721,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4338,-0.68,-184.9,2141,2491,3466,3716,626.4,-10.6,207,4344,0.00,2.28,0.00,0.000,260,0.000,0.047,2141,3822,3590,3466,3715,0,0,0,0,0,0,28.83,25.52,28.83
$GC,4402,-0.68,-184.9,2141,3822,3465,3715,632.7,-10.5,209,4408,0.00,2.03,0.00,0.000,1030,0.000,0.023,2141,2491,3590,3465,3715,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4730,-0.68,-184.9,2141,2491,3465,3710,666.5,-10.8,220,4735,0.00,2.25,0.00,0.000,260,0.000,0.047,2141,3834,3587,3465,3710,0,0,0,0,0,0,28.83,25.52,28.83
$GC,4789,-0.68,-184.9,2141,3834,3463,3710,673.3,-11.0,222,4794,0.00,2.03,0.00,0.000,1030,0.000,0.024,2141,2502,3586,3463,3710,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5119,-0.68,-184.9,2141,2502,3463,3705,712.1,-11.6,233,5125,0.00,2.58,0.00,0.000,516,0.000,0.030,2141,1080,3584,3463,3705,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5142,-0.68,-184.9,2141,1080,3463,3705,712.1,-11.6,233,5147,0.00,2.70,0.00,0.000,1030,0.000,0.034,2141,2566,3584,3463,3705,0,0,0,0,0,0,28.83,25.69,28.83
$GC,5451,-0.68,-184.9,2141,2564,3461,3701,751.0,-11.8,244,5457,0.00,2.05,0.00,0.000,260,0.000,0.046,2132,3823,3581,3461,3701,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5520,-0.68,-184.9,2132,3823,3460,3701,758.1,-11.9,246,5525,0.00,2.05,0.00,0.000,1030,0.000,0.024,2132,2502,3581,3461,3701,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5842,-0.68,-184.9,2132,2502,3460,3697,796.3,-11.3,257,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2502,3579,3461,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6140,-0.68,-184.9,2132,2502,3459,3693,828.7,-10.4,267,6146,0.00,2.30,0.00,0.000,260,0.000,0.050,2125,3825,3576,3459,3693,0,0,0,0,0,0,28.83,25.34,28.83
$GC,6227,-0.68,-184.9,2125,3825,3457,3692,834.9,-10.3,269,6231,0.00,2.08,0.00,0.000,1030,0.000,0.024,2126,2500,3574,3457,3692,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6530,-0.68,-184.9,2125,2499,3457,3688,868.6,-10.0,280,6536,0.00,2.30,0.00,0.000,260,0.000,0.051,2125,3825,3572,3457,3688,0,0,0,0,0,0,28.83,25.31,28.83
$GC,6550,-0.68,-184.9,2125,3825,3457,3688,868.6,-10.0,280,6556,0.00,2.08,0.00,0.000,1030,0.000,0.025,2125,2502,3572,3457,3688,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6862,-0.68,-184.9,2125,2502,3456,3685,901.4,-10.2,291,6868,0.00,2.30,0.00,0.000,260,0.000,0.050,2117,3818,3570,3456,3684,0,0,0,0,0,0,28.83,25.30,28.83
$GC,6896,-0.68,-184.9,2117,3818,3455,3684,904.7,-10.3,292,6902,0.00,2.08,0.00,0.000,1030,0.000,0.025,2117,2500,3570,3455,3685,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7221,-0.68,-184.9,2117,2499,3454,3680,944.6,-12.2,303,7227,0.00,2.33,0.00,0.000,260,0.000,0.050,2112,3837,3567,3454,3681,0,0,0,0,0,0,28.83,25.24,28.83
$GC,7263,-0.68,-184.9,2112,3837,3454,3681,948.3,-12.2,304,7269,0.12,2.12,0.00,0.000,3078,0.129,0.028,2149,2505,3567,3454,3681,0,0,0,0,0,0,25.62,25.94,28.83
$GC,7583,-0.68,-184.9,2148,2506,3454,3677,979.8,-9.0,315,7589,0.00,2.25,0.00,0.000,260,0.000,0.048,2142,3825,3565,3454,3677,0,0,0,0,0,0,28.83,25.28,28.83
$GC,7663,-0.68,-184.9,2143,3825,3453,3677,985.4,-9.0,317,7669,0.00,2.08,0.00,0.000,1030,0.000,0.026,2142,2503,3564,3453,3676,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,7700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7700,begin apogee
$GC,7712,-0.12,0.0,2141,2603,3453,3676,990.8,-9.3,319,7889,0.50,0.08,167.27,0.929,10246,0.087,0.038,2320,2524,2851,2882,2820,0,0,0,0,0,0,25.41,24.81,23.70
$STATE,7890,end apogee,CONTROL_FINISHED_OK
$STATE,7890,begin climb
$GC,7894,0.68,184.9,2319,2524,2876,2795,1000.9,0.0,325,8086,0.68,0.00,187.93,0.919,10502,0.028,0.000,2625,2524,2097,2225,1970,0,0,0,0,0,0,25.38,28.83,23.73
$GC,8365,0.68,184.9,2625,2524,2203,1941,956.1,13.8,341,8371,0.12,2.20,0.00,0.000,4356,0.169,0.037,2578,3854,2072,2203,1941,0,0,0,0,0,0,25.72,25.64,28.83
$GC,8446,0.68,184.9,2578,3854,2199,1942,948.1,13.5,343,8452,0.00,2.00,0.00,0.000,1030,0.000,0.017,2588,2518,2070,2198,1942,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8756,0.68,184.9,2588,2516,2195,1941,910.0,11.0,354,8761,0.00,2.15,0.00,0.000,260,0.000,0.038,2578,3825,2068,2195,1941,0,0,0,0,0,0,28.83,25.66,28.83
$GC,8799,0.68,184.9,2579,3825,2193,1943,906.5,11.1,355,8805,0.00,1.98,0.00,0.000,1030,0.000,0.015,2588,2509,2068,2193,1943,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9118,0.68,184.9,2589,2507,2192,1941,873.9,9.4,366,9123,0.00,2.22,0.00,0.000,260,0.000,0.039,2578,3837,2066,2192,1941,0,0,0,0,0,0,28.83,25.61,28.83
$GC,9172,0.68,185.1,2578,3837,2190,1942,870.7,9.4,367,9175,0.00,2.00,0.00,0.000,1030,0.000,0.015,2588,2518,2066,2190,1942,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9478,0.68,185.1,2589,2508,2190,1941,839.3,9.8,378,9483,0.00,2.20,0.00,0.000,260,0.000,0.040,2579,3825,2065,2190,1941,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9523,0.68,185.1,2578,3825,2190,1941,836.1,10.1,379,9529,0.00,1.98,0.00,0.000,1030,0.000,0.017,2589,2509,2065,2190,1941,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9838,0.68,185.1,2589,2508,2188,1941,802.4,10.2,390,9844,0.00,2.20,0.00,0.000,260,0.000,0.039,2579,3831,2064,2188,1941,0,0,0,0,0,0,28.83,25.53,28.83
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$GC,13351,0.89,256.9,2648,2502,1922,1666,446.5,11.2,507,13357,0.00,2.50,0.00,0.000,516,0.000,0.026,2660,1106,1794,1922,1666,0,0,0,0,0,0,28.83,25.65,28.83
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$STATE,17780,end climb,SURFACE_DEPTH_REACHED
$STATE,17780,begin surface coast
$FINISH,-0.7,0.000000
$STATE,17816,end surface coast,CONTROL_FINISHED_OK
$STATE,17816,begin surface
$SM_CCo,17838,150.30,0.439,1,0,434,592.89
$SM_GC,0.26,6.65,0.22,150.30,0.021,0.052,0.439,135,2593,434,-6.90,-0.34,592.89,0,0,0,0,1,0,25.78,26.34,24.26
$IRIDIUM_FIX,2115.63,12241.05,290813,232354
$TT8_MAMPS,0.02247,0.02247
$HUMID,50.59
$INTERNAL_PRESSURE,9.42775
$TCM_TEMP,25.40
$XPDR_PINGS,1
$24V_AH,23.7,110.510
$10V_AH,10.1,80.183
$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,16.975,204.825,532.775,150.300,0.000,0.000,0.000,195.775,0.250,0.000,38.100,805.924,13900.655,742.702,2233.164,668.397,0.000,2187.306,0.000,1966.683,0.000,0.545,0.000
$DEVICE_MAMPS,224.145,65.025,928.710,439.110,0.000,0.000,0.000,110.160,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323300
$DATA_FILE_SIZE,30024,771
$CAP_FILE_SIZE,163288,0
$CFSIZE,260034560,128741376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.236,338.2,1
$GPS,300813,094800,2129.240,12242.341,40,1.2,40,-2.7