version: 66.10
glider: 176
mission: 5
dive: 419
start: 6 9 112 14 14 52
data:
$ID,176
$MISSION,5
$DIVE,419
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,0
$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,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51719
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,375
$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,-8122.7798
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2514
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2929
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.662712
$PRESSURE_SLOPE,0.0001162977
$AD7714Ch0Gain,128
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043285224
$SEABIRD_T_H,0.00062606536
$SEABIRD_T_I,2.5051821e-05
$SEABIRD_T_J,2.9112039e-06
$SEABIRD_C_G,-10.134115
$SEABIRD_C_H,1.1528351
$SEABIRD_C_I,-0.0013358581
$SEABIRD_C_J,0.00019115997
$GPS1,090612,140236,1751.218,12431.653,38,1.3,43,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-76.2
$GPS2,090612,141422,1751.070,12431.752,8,2.7,27,-2.0
$SPEED_LIMITS,0.150,0.280
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,5000.000
$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,296.1,249235,-12.9,-8.684
$D_GRID,4042
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.56,-194.6,0.0,0.0,0,77,0.00,0.00,-58.17,0.000,2,0.000,0.000,175,2731,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.56,-194.6,3.4,-7.4,10,123,8.80,2.22,-27.52,0.000,4,0.233,0.037,2337,1189,3724,0,0,0,0,0,0,25.05,26.30,26.75
$GC,211,-0.56,-194.6,39.5,-22.2,31,218,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2679,3725,0,0,0,0,0,0,28.83,26.20,28.83
$GC,537,-0.56,-194.6,133.7,-24.9,92,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2680,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,848,-0.56,-194.6,196.5,-18.7,153,855,0.00,2.10,0.00,0.000,4,0.000,0.024,2337,1195,3725,0,0,0,0,0,0,28.83,26.46,28.83
$GC,885,-0.56,-194.6,203.0,-17.5,158,892,0.00,2.25,0.00,0.000,6,0.000,0.044,2335,2675,3725,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1194,-0.56,-194.6,258.4,-16.9,189,1204,0.00,2.10,0.00,0.000,4,0.000,0.026,2335,1191,3724,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1248,-0.56,-194.6,266.2,-14.2,194,1256,0.00,2.20,0.00,0.000,6,0.000,0.042,2334,2675,3723,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1556,-0.56,-194.6,309.7,-13.4,225,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2675,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1858,-0.56,-194.6,349.6,-12.2,255,1867,0.00,2.08,0.00,0.000,4,0.000,0.025,2334,1200,3720,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1922,-0.56,-194.6,356.1,-8.9,261,1931,0.00,2.20,0.00,0.000,6,0.000,0.043,2332,2670,3719,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2230,-0.56,-194.6,389.4,-11.4,292,2239,0.00,2.10,0.00,0.000,4,0.000,0.025,2332,1196,3717,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2294,-0.56,-194.6,395.1,-8.7,298,2302,0.00,2.20,0.00,0.000,6,0.000,0.043,2332,2671,3717,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2601,-0.56,-194.6,429.0,-11.5,329,2603,0.00,0.00,-0.08,0.000,6,0.000,0.000,2332,2671,3737,0,0,0,0,0,0,28.83,28.83,25.40
$GC,2901,-0.56,-194.6,462.6,-10.5,359,2910,0.00,2.12,0.00,0.000,4,0.000,0.025,2331,1184,3735,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2934,-0.56,-194.6,465.5,-9.6,362,2943,0.00,2.22,0.00,0.000,6,0.000,0.044,2331,2669,3734,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3242,-0.56,-194.6,496.6,-10.3,393,3246,0.00,1.67,0.00,0.000,4,0.000,0.057,2331,3769,3732,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3286,-0.56,-194.6,500.3,-9.3,397,3294,0.00,1.67,0.00,0.000,6,0.000,0.022,2331,2495,3731,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3593,-0.56,-194.6,526.9,-8.1,428,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2495,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3896,-0.56,-194.6,553.0,-9.0,458,3905,0.00,1.98,0.00,0.000,4,0.000,0.054,2323,3775,3725,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3948,-0.56,-194.6,557.8,-9.1,463,3952,0.05,1.67,0.00,0.000,6,0.202,0.024,2342,2514,3724,0,0,0,0,0,0,26.36,26.56,28.83
$GC,4265,-0.56,-194.6,583.0,-8.1,494,4274,0.05,1.95,0.00,0.000,4,0.174,0.053,2279,3758,3721,0,0,0,0,0,0,26.60,26.04,28.83
$GC,4290,-0.56,-194.6,585.5,-8.6,496,4297,0.20,1.62,0.00,0.000,6,0.125,0.023,2344,2500,3721,0,0,0,0,0,0,26.08,26.55,28.83
$GC,4608,-0.56,-194.6,610.8,-7.4,521,4610,0.08,0.00,0.00,0.000,6,0.128,0.000,2277,2499,3720,0,0,0,0,0,0,26.58,28.83,28.83
$GC,4909,-0.56,-194.6,651.6,-14.3,536,4915,0.20,1.92,0.00,0.000,4,0.140,0.053,2336,3758,3716,0,0,0,0,0,0,26.08,26.03,28.83
$GC,4970,-0.56,-194.6,657.3,-10.5,539,4975,0.00,1.65,0.00,0.000,6,0.000,0.024,2337,2509,3716,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5290,-0.56,-194.6,680.2,-7.3,555,5295,0.00,1.95,0.00,0.000,4,0.000,0.055,2331,3773,3714,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5321,-0.56,-194.6,681.7,-7.5,556,5328,0.00,1.65,0.00,0.000,6,0.000,0.024,2331,2507,3713,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5628,-0.56,-194.6,707.4,-7.9,572,5634,0.00,1.98,0.00,0.000,4,0.000,0.057,2331,3772,3711,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5672,-0.56,-194.6,710.4,-7.8,574,5675,0.00,1.67,0.00,0.000,6,0.000,0.024,2331,2529,3710,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5989,-0.56,-194.6,732.5,-6.4,590,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2506,3708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6290,-0.56,-194.6,753.2,-7.1,605,6293,0.00,1.95,0.00,0.000,4,0.000,0.057,2331,3766,3706,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6344,-0.56,-194.6,756.3,-7.1,607,6351,0.00,1.65,0.00,0.000,6,0.000,0.025,2331,2529,3705,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6651,-0.56,-194.6,779.2,-7.1,623,6655,0.00,1.95,0.00,0.000,4,0.000,0.057,2331,3760,3704,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6682,-0.56,-194.6,780.7,-7.1,624,6685,0.00,1.65,0.00,0.000,6,0.000,0.027,2331,2546,3704,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6993,-0.56,-194.6,803.5,-7.1,640,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2539,3702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7294,-0.56,-194.6,824.6,-6.8,655,7299,0.00,1.92,0.00,0.000,4,0.000,0.057,2331,3766,3701,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7327,-0.56,-194.6,825.9,-6.8,656,7334,0.00,1.65,0.00,0.000,6,0.000,0.025,2331,2528,3700,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7633,-0.56,-194.6,847.5,-6.7,672,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2528,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7933,-0.56,-194.6,868.1,-6.9,687,7939,0.00,1.95,0.00,0.000,4,0.000,0.057,2331,3769,3697,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7974,-0.56,-194.6,870.8,-6.8,689,7978,0.00,1.67,0.00,0.000,6,0.000,0.025,2331,2537,3696,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8296,-0.56,-194.6,892.8,-6.7,705,8297,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2521,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8597,-0.56,-194.6,913.3,-6.9,720,8603,0.00,1.95,0.00,0.000,4,0.000,0.057,2331,3762,3694,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8637,-0.56,-194.6,916.1,-7.0,722,8641,0.00,1.65,0.00,0.000,6,0.000,0.026,2331,2546,3693,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8959,-0.56,-194.6,939.5,-7.5,738,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2539,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9260,-0.56,-194.6,962.1,-7.8,753,9266,0.00,1.92,0.00,0.000,4,0.000,0.057,2331,3761,3691,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9291,-0.56,-194.6,963.4,-7.7,754,9298,0.00,1.65,0.00,0.000,6,0.000,0.026,2331,2528,3691,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9599,-0.56,-194.6,986.5,-7.1,770,9604,0.00,1.92,0.00,0.000,4,0.000,0.027,2331,1195,3690,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9623,-0.56,-194.6,987.7,-7.0,771,9629,0.00,2.28,0.00,0.000,6,0.000,0.047,2331,2666,3690,0,0,0,0,0,0,28.83,25.93,28.83
$STATE,9656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9656,begin apogee
$GC,9662,-0.17,0.0,990.7,-6.9,773,9843,0.38,0.12,169.70,1.703,6,0.099,0.093,2467,2589,2929,0,0,0,0,0,0,25.88,24.29,22.46
$STATE,9844,end apogee,CONTROL_FINISHED_OK
$STATE,9844,begin climb
$GC,9846,0.56,194.6,999.3,0.0,782,10043,0.62,2.45,187.55,1.659,4,0.050,0.031,2722,1118,2134,0,0,0,0,0,0,24.79,23.91,21.99
$GC,10143,0.56,194.6,973.0,14.4,797,10149,0.10,2.28,0.00,0.000,6,0.151,0.047,2690,2564,2125,0,0,0,0,0,0,25.42,25.66,28.83
$GC,10461,0.56,194.6,925.9,14.4,813,10463,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2564,2122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10763,0.56,194.6,882.1,14.8,828,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2564,2120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11061,0.56,194.6,838.7,14.2,843,11065,0.00,2.15,0.00,0.000,4,0.000,0.030,2699,1103,2119,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11083,0.56,194.6,835.7,14.2,844,11088,0.00,2.28,0.00,0.000,6,0.000,0.047,2699,2569,2118,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11404,0.56,194.6,789.7,14.5,860,11405,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2569,2118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11703,0.56,194.6,747.6,13.8,875,11709,0.00,2.15,0.00,0.000,4,0.000,0.029,2709,1111,2117,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11722,0.56,194.6,745.0,13.6,876,11729,0.10,2.25,0.00,0.000,6,0.176,0.045,2685,2566,2116,0,0,0,0,0,0,25.89,26.09,28.83
$GC,12044,0.56,194.6,705.2,12.5,892,12047,0.00,2.15,0.00,0.000,4,0.000,0.030,2695,1111,2116,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12093,0.56,194.6,700.1,12.4,894,12097,0.00,2.25,0.00,0.000,6,0.000,0.046,2696,2566,2115,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12401,0.56,194.6,658.8,13.1,909,12405,0.00,1.85,0.00,0.000,4,0.000,0.056,2695,3767,2116,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12425,0.56,194.6,655.6,13.3,910,12429,0.05,1.83,0.00,0.000,6,0.180,0.021,2688,2493,2115,0,0,0,0,0,0,26.07,26.41,28.83
$GC,12743,0.56,194.6,616.7,11.9,926,12744,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2489,2115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13043,0.56,194.6,582.0,11.5,948,13052,0.00,1.98,0.00,0.000,4,0.000,0.053,2688,3768,2115,0,0,0,0,0,0,28.83,25.91,28.83
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$GC,15326,0.56,194.6,317.7,9.2,1175,15335,0.00,2.00,0.00,0.000,4,0.000,0.051,2699,3769,2115,0,0,0,0,0,0,28.83,25.89,28.83
$GC,15358,0.56,194.6,313.9,10.6,1178,15367,0.10,1.83,0.00,0.000,6,0.189,0.024,2682,2478,2115,0,0,0,0,0,0,26.00,26.37,28.83
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$STATE,18352,end climb,SURFACE_DEPTH_REACHED
$STATE,18352,begin surface coast
$FINISH,0.7,0.997991
$STATE,18410,end surface coast,CONTROL_FINISHED_OK
$STATE,18410,begin surface
$SM_CCo,18489,0.00,0.000,0,0,824,516.36
$SM_GC,1.61,6.40,2.38,0.00,0.027,0.040,0.000,185,2679,824,-7.15,-0.62,516.36,0,0,0,0,0,0,26.37,26.25,28.83
$IRIDIUM_FIX,1747.37,12431.68,090612,141402
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.68
$INTERNAL_PRESSURE,9.4953
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,22.0,87.985
$10V_AH,9.9,54.030
$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,18.400,139.850,541.825,0.000,0.000,65.095,93.167,284.388,0.000,0.000,31.404,4099.020,10540.559,671.798,3439.878,416.872,0.000,2201.963,0.000,2714.828,0.000,0.541,0.000
$DEVICE_MAMPS,232.560,92.565,1702.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1118.436,2176.516,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330212
$DATA_FILE_SIZE,123890,1644
$CAP_FILE_SIZE,189729,0
$CFSIZE,260165632,179900416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124,104.6,1
$GPS,090612,192407,1751.920,12430.507,36,1.2,36,-2.0