version: 66.10
glider: 169
mission: 5
dive: 502
start: 2 15 112 15 30 47
data:
$ID,169
$MISSION,5
$DIVE,502
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$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,380
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$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,-12545.086
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$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,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,150212,152307,2130.408,12359.481,38,1.1,38,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-73.3
$GPS2,150212,153022,2130.388,12359.328,12,3.1,31,-2.8
$SPEED_LIMITS,0.150,0.248
$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,351.2,313380,-16.1,-8.684
$D_GRID,4935
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.58,-146.0,0.0,0.0,0,95,0.00,0.00,-75.22,0.000,2,0.000,0.000,117,2659,3080,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.58,-146.0,3.1,-6.0,13,125,7.05,2.38,-10.15,0.000,4,0.226,0.042,1822,1179,3577,0,0,0,0,0,0,24.75,26.01,26.55
$GC,279,-0.56,-146.0,47.5,-17.2,47,286,0.00,2.38,0.00,0.000,6,0.000,0.040,1811,2649,3577,0,0,0,0,0,0,28.83,25.91,28.83
$GC,595,-0.46,-146.0,142.4,-28.9,108,602,0.15,2.30,0.00,0.000,4,0.168,0.025,1867,1174,3577,0,0,0,0,0,0,25.96,26.09,28.83
$GC,686,-0.50,-146.0,156.7,-9.1,125,692,0.00,2.33,0.00,0.000,6,0.000,0.035,1856,2651,3577,0,0,0,0,0,0,28.83,26.03,28.83
$GC,997,-0.47,-146.0,198.4,-15.3,186,1004,0.00,2.28,0.00,0.000,4,0.000,0.027,1860,1176,3578,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1072,-0.50,-146.0,208.4,-11.1,194,1081,0.00,2.35,0.00,0.000,6,0.000,0.035,1850,2656,3578,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1382,-0.47,-146.0,250.9,-12.6,225,1386,0.00,2.28,0.00,0.000,4,0.000,0.026,1851,1187,3578,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1423,-0.47,-146.0,255.5,-10.8,229,1432,0.00,2.33,0.00,0.000,6,0.000,0.035,1841,2646,3578,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1734,-0.44,-146.0,296.8,-14.4,260,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2646,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2036,-0.41,-146.0,343.2,-16.2,290,2046,0.12,2.25,0.00,0.000,4,0.154,0.025,1883,1179,3578,0,0,0,0,0,0,26.17,26.17,28.83
$GC,2072,-0.41,-146.0,348.1,-14.7,293,2079,0.00,2.35,0.00,0.000,6,0.000,0.037,1878,2654,3578,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2379,-0.43,-146.0,374.3,-7.4,324,2388,0.00,2.25,0.00,0.000,4,0.000,0.027,1878,1175,3578,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2404,-0.45,-146.0,376.0,-7.8,326,2411,0.00,2.35,0.00,0.000,6,0.000,0.037,1871,2654,3578,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2711,-0.47,-146.0,402.2,-8.1,357,2720,0.00,2.28,0.00,0.000,4,0.000,0.027,1871,1181,3577,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2753,-0.51,-146.0,405.5,-7.9,361,2762,0.00,2.30,0.00,0.000,6,0.000,0.037,1865,2645,3577,0,0,0,0,0,0,28.83,26.02,28.83
$GC,3064,-0.52,-146.0,429.8,-6.5,392,3073,0.00,2.25,0.00,0.000,4,0.000,0.028,1865,1175,3576,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3107,-0.56,-146.0,432.4,-6.0,396,3116,0.08,2.30,0.00,0.000,6,0.046,0.037,1777,2641,3576,0,0,0,0,0,0,25.97,26.02,28.83
$GC,3416,-0.50,-146.0,482.1,-18.7,427,3418,0.22,0.00,0.00,0.000,6,0.134,0.000,1845,2641,3575,0,0,0,0,0,0,25.93,28.83,28.83
$GC,3716,-0.51,-146.0,520.5,-11.1,457,3727,0.00,2.28,0.00,0.000,4,0.000,0.026,1845,1171,3574,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3763,-0.54,-146.0,524.7,-9.6,461,3770,0.00,2.35,0.00,0.000,6,0.000,0.037,1836,2645,3574,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4070,-0.54,-146.0,551.4,-8.7,492,4073,0.00,1.77,0.00,0.000,4,0.000,0.044,1827,3813,3572,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4112,-0.55,-146.0,555.3,-9.6,496,4115,0.00,1.80,0.00,0.000,6,0.000,0.022,1827,2577,3572,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4424,-0.55,-146.0,584.8,-8.4,527,4434,0.00,2.10,0.00,0.000,4,0.000,0.028,1827,1173,3570,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4478,-0.57,-146.0,588.9,-7.4,532,4487,0.00,2.35,0.00,0.000,6,0.000,0.037,1818,2651,3570,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4786,-0.57,-146.0,621.1,-12.3,554,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2650,3568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5089,-0.57,-146.0,654.9,-9.5,569,5095,0.00,2.28,0.00,0.000,4,0.000,0.028,1818,1180,3566,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5156,-0.59,-146.0,659.6,-8.0,572,5160,0.00,2.35,0.00,0.000,6,0.000,0.039,1812,2645,3565,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5464,-0.59,-146.0,687.7,-9.9,587,5467,0.00,1.80,0.00,0.000,4,0.000,0.048,1804,3813,3563,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5497,-0.59,-146.0,689.9,-9.9,588,5504,0.00,1.80,0.00,0.000,6,0.000,0.025,1803,2582,3563,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5805,-0.58,-146.0,727.2,-11.8,604,5811,0.00,2.12,0.00,0.000,4,0.000,0.028,1804,1181,3561,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5846,-0.58,-146.0,731.8,-11.7,606,5851,0.00,2.33,0.00,0.000,6,0.000,0.038,1794,2643,3560,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6165,-0.56,-146.0,772.6,-13.1,622,6171,0.12,2.30,0.00,0.000,4,0.148,0.026,1836,1165,3559,0,0,0,0,0,0,26.15,26.02,28.83
$GC,6207,-0.56,-146.0,776.8,-12.1,624,6211,0.00,2.38,0.00,0.000,6,0.000,0.038,1826,2647,3559,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6527,-0.57,-146.0,806.4,-9.1,640,6532,0.00,2.28,0.00,0.000,4,0.000,0.028,1826,1177,3555,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6553,-0.59,-146.0,808.3,-9.1,641,6557,0.00,2.38,0.00,0.000,6,0.000,0.038,1819,2647,3555,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6862,-0.60,-146.0,834.0,-7.1,656,6868,0.00,2.28,0.00,0.000,4,0.000,0.028,1819,1182,3553,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6901,-0.61,-146.0,836.4,-6.3,658,6906,0.00,2.33,0.00,0.000,6,0.000,0.040,1812,2643,3553,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7221,-0.61,-146.0,853.0,-5.0,674,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2643,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7522,-0.61,-146.0,875.2,-9.0,689,7525,0.00,2.28,0.00,0.000,4,0.000,0.029,1813,1186,3550,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7576,-0.63,-146.0,879.0,-9.2,691,7584,0.00,2.38,0.00,0.000,6,0.000,0.041,1812,2642,3550,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7885,-0.63,-146.0,912.9,-11.5,707,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2642,3548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8185,-0.64,-146.0,946.2,-10.1,722,8190,0.00,2.30,0.00,0.000,4,0.000,0.030,1812,1179,3546,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8231,-0.65,-146.0,949.7,-9.1,724,8236,0.00,2.38,0.00,0.000,6,0.000,0.041,1812,2643,3546,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8540,-0.66,-146.0,968.9,-4.7,739,8541,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2642,3545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8839,-0.67,-146.0,985.4,-6.7,754,8840,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2642,3543,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8916,begin apogee
$GC,8922,-0.20,0.0,991.5,-7.6,758,9062,0.38,0.15,130.95,1.185,6,0.100,0.073,1943,2532,2974,0,0,0,0,0,0,25.64,24.81,23.24
$STATE,9063,end apogee,CONTROL_FINISHED_OK
$STATE,9063,begin climb
$GC,9065,0.58,146.0,997.4,0.0,765,9222,0.70,2.45,142.05,1.196,4,0.044,0.034,2223,1060,2370,0,0,0,0,0,0,25.22,25.00,23.24
$GC,9297,0.50,146.0,985.3,12.8,776,9305,0.17,2.35,0.00,0.000,6,0.171,0.040,2178,2524,2358,0,0,0,0,0,0,25.27,25.65,28.83
$GC,9605,0.44,146.0,943.6,14.0,792,9610,0.00,2.05,0.00,0.000,4,0.000,0.045,2178,3805,2354,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9688,0.36,146.0,930.9,15.9,796,9693,0.22,2.05,0.00,0.000,6,0.176,0.027,2129,2456,2352,0,0,0,0,0,0,25.37,26.06,28.83
$GC,10003,0.35,146.7,900.1,8.7,812,10008,0.00,2.20,0.00,0.000,4,0.000,0.045,2129,3813,2351,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10070,0.32,146.7,893.9,9.8,815,10074,0.00,2.05,0.00,0.000,6,0.000,0.027,2139,2459,2350,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10376,0.30,146.7,865.8,9.0,830,10378,0.12,0.00,0.00,0.000,6,0.177,0.000,2109,2457,2349,0,0,0,0,0,0,26.01,28.83,28.83
$GC,10677,0.34,177.9,843.2,7.4,845,10716,0.00,2.25,30.48,1.062,4,0.000,0.045,2108,3819,2241,0,0,0,0,0,0,28.83,25.63,23.87
$GC,10747,0.36,196.4,838.2,7.9,848,10771,0.00,2.08,19.00,1.043,6,0.000,0.028,2119,2461,2176,0,0,0,0,0,0,28.83,25.84,23.79
$GC,11082,0.41,226.8,811.4,7.5,865,11119,0.00,2.22,30.60,1.025,4,0.000,0.034,2130,1058,2045,0,0,0,0,0,0,28.83,25.57,23.86
$GC,11151,0.47,261.9,806.9,7.3,868,11193,0.00,2.33,35.78,1.034,6,0.000,0.038,2129,2529,1904,0,0,0,0,0,0,28.83,25.67,23.68
$GC,11505,0.51,277.6,779.0,8.1,886,11523,0.12,0.00,14.43,1.008,6,0.076,0.000,2208,2529,1844,0,0,0,0,0,0,26.23,28.83,23.96
$GC,11822,0.47,277.6,725.0,18.4,902,11824,0.17,0.00,0.00,0.000,6,0.155,0.000,2160,2529,1827,0,0,0,0,0,0,25.76,28.83,28.83
$GC,12122,0.47,277.6,684.3,12.5,917,12123,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2529,1825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12424,0.49,296.8,656.9,7.9,932,12449,0.00,2.35,18.98,0.955,4,0.000,0.034,2171,1061,1761,0,0,0,0,0,0,28.83,25.86,24.13
$GC,12471,0.52,312.5,653.5,8.1,934,12493,0.00,2.33,16.25,0.942,6,0.000,0.037,2171,2529,1700,0,0,0,0,0,0,28.83,25.87,24.03
$GC,12805,0.52,312.5,615.2,13.3,951,12810,0.00,2.03,0.00,0.000,4,0.000,0.045,2171,3807,1684,0,0,0,0,0,0,28.83,25.79,28.83
$GC,12844,0.52,312.5,608.8,14.4,953,12850,0.00,2.05,0.00,0.000,6,0.000,0.026,2181,2462,1683,0,0,0,0,0,0,28.83,26.01,28.83
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$GC,14879,0.60,312.5,349.0,10.9,1152,14888,0.00,2.05,0.00,0.000,4,0.000,0.043,2185,3810,1680,0,0,0,0,0,0,28.83,25.82,28.83
$GC,14914,0.62,312.5,344.8,12.5,1155,14921,0.00,2.05,0.00,0.000,6,0.000,0.025,2195,2458,1680,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,17750,end climb,SURFACE_DEPTH_REACHED
$STATE,17750,begin surface coast
$FINISH,0.2,0.999063
$STATE,17766,end surface coast,CONTROL_FINISHED_OK
$STATE,17767,begin surface
$SM_CCo,17784,22.67,0.122,0,0,1245,425.10
$SM_GC,1.20,5.43,1.85,22.67,0.031,0.022,0.122,118,2578,1245,-5.80,0.28,425.10,0,0,0,0,0,0,26.08,26.21,25.24
$IRIDIUM_FIX,2122.58,12400.68,150212,101046
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.15
$INTERNAL_PRESSURE,9.51564
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.2,102.336
$10V_AH,9.9,62.091
$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,15.650,168.075,535.625,22.675,0.000,28.401,19.011,221.888,0.000,0.000,33.466,3960.925,10001.340,714.634,3115.918,426.580,0.000,2209.553,0.000,2658.799,0.000,0.544,0.000
$DEVICE_MAMPS,225.675,72.675,1196.460,122.400,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1076.568,2031.036,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330444
$DATA_FILE_SIZE,103633,1586
$CAP_FILE_SIZE,191671,0
$CFSIZE,260165632,175333376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.258,250.5,1
$GPS,150212,202836,2132.154,12355.958,30,2.0,30,-2.8