version: 66.11
glider: 181
mission: 11
dive: 157
start: 6 4 113 16 35 52
data:
$ID,181
$MISSION,11
$DIVE,157
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,150
$T_BOOST,5
$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,420
$T_MISSION,450
$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,165
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0033
$HD_B,0.0082
$HD_C,1.5e-05
$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,450
$N_FILEKB,8
$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,-95883.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3941
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2753
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-160.75446
$PRESSURE_SLOPE,0.000109412
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004364301
$SEABIRD_T_H,0.00062910328
$SEABIRD_T_I,2.4425184e-05
$SEABIRD_T_J,2.6404416e-06
$SEABIRD_C_G,-9.9046793
$SEABIRD_C_H,1.1251128
$SEABIRD_C_I,-0.0019873739
$SEABIRD_C_J,0.00023203803
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,040613,162635,2340.206,12259.292,26,1.0,27,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.13
$_SM_ANGLEo,-71.6
$GPS2,040613,163525,2340.182,12259.234,12,1.3,12,-3.3
$SPEED_LIMITS,0.136,0.270
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,64.8,96205,-12.6,-7.857,-16.23,3084
$D_GRID,2961
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.79,-160.6,230,2475,915,920,0.0,0.0,0,108,0.00,0.00,-86.45,0.000,16386,0.000,0.000,230,2472,3112,3165,3059,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.79,-160.6,230,2476,3165,3060,3.3,-13.0,15,132,10.23,2.33,-5.60,0.000,18948,0.397,0.062,2435,1044,3429,3521,3337,0,0,0,0,0,0,14.39,14.71,14.90
$GC,198,-0.79,-160.6,2435,1043,3523,3355,36.5,-33.5,27,205,0.00,2.30,0.00,0.000,1030,0.000,0.059,2427,2439,3439,3523,3355,0,0,0,0,0,0,28.83,14.68,28.83
$GC,504,-0.79,-160.6,2427,2440,3523,3355,117.8,-21.5,45,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2440,3439,3523,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,805,-0.79,-160.6,2427,2440,3525,3356,171.7,-18.7,60,811,0.00,2.20,0.00,0.000,260,0.000,0.079,2417,3780,3440,3524,3356,0,0,0,0,0,0,28.83,14.81,28.83
$GC,882,-0.79,-160.6,2417,3780,3524,3356,183.0,-17.7,63,889,0.00,2.03,0.00,0.000,1030,0.000,0.034,2417,2427,3440,3524,3356,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1188,-0.79,-160.6,2417,2424,3525,3356,240.4,-18.1,79,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2424,3440,3524,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1490,-0.79,-160.6,2417,2424,3524,3356,292.2,-15.8,94,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2424,3440,3524,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1789,-0.79,-160.6,2416,2423,3524,3356,340.4,-15.7,109,1795,0.00,2.10,0.00,0.000,516,0.000,0.044,2417,1080,3440,3525,3356,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1832,-0.79,-160.6,2416,1079,3524,3355,347.1,-15.6,111,1839,0.15,2.22,0.00,0.000,3078,0.252,0.059,2442,2453,3440,3525,3355,0,0,0,0,0,0,14.73,14.89,28.83
$GC,2157,-0.79,-160.6,2442,2453,3524,3353,388.1,-12.8,127,2162,0.00,2.17,0.00,0.000,260,0.000,0.082,2435,3775,3439,3525,3353,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2180,-0.79,-160.6,2435,3776,3525,3353,391.1,-13.0,128,2185,0.00,1.98,0.00,0.000,1030,0.000,0.037,2435,2466,3438,3524,3352,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2502,-0.79,-160.6,2435,2461,3525,3349,435.0,-13.5,144,2508,0.00,2.20,0.00,0.000,516,0.000,0.046,2434,1059,3436,3524,3349,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2589,-0.79,-160.6,2434,1059,3524,3349,445.9,-13.0,148,2595,0.00,2.25,0.00,0.000,1030,0.000,0.058,2425,2450,3436,3524,3348,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2907,-0.79,-160.6,2425,2451,3524,3345,487.0,-12.9,164,2913,0.00,2.20,0.00,0.000,260,0.000,0.086,2415,3776,3434,3525,3344,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2974,-0.79,-160.6,1544,3776,3517,3341,495.5,-13.3,167,2979,0.00,2.03,0.00,0.000,1030,0.000,0.039,2415,2448,3433,3523,3344,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3291,-0.79,-160.6,2415,2438,3521,3340,540.2,-14.5,183,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2439,3430,3521,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3593,-0.79,-160.6,2415,2438,3519,3339,584.4,-14.0,198,3599,0.12,2.25,0.00,0.000,2308,0.269,0.083,2440,3778,3429,3519,3339,0,0,0,0,0,0,14.73,14.88,28.83
$GC,3676,-0.79,-160.6,2441,3778,3517,3338,595.3,-12.8,202,3681,0.00,2.03,0.00,0.000,1030,0.000,0.040,2440,2444,3428,3517,3339,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3991,-0.79,-160.6,2440,2441,3516,3334,630.1,-11.2,213,3996,0.00,2.17,0.00,0.000,516,0.000,0.050,2440,1064,3424,3515,3333,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4133,-0.79,-160.6,2440,1063,3515,3332,643.7,-10.9,217,4138,0.00,2.28,0.00,0.000,1030,0.000,0.065,2437,2449,3423,3515,3332,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4446,-0.79,-160.6,2437,2449,3512,3329,672.7,-8.1,228,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2449,3420,3513,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4747,-0.79,-160.6,2436,2449,3511,3327,695.9,-7.2,238,4752,0.00,2.25,0.00,0.000,260,0.000,0.094,2427,3784,3418,3510,3327,0,0,0,0,0,0,28.83,14.84,28.83
$GC,4824,-0.79,-160.6,2427,3784,3508,3326,700.8,-7.3,240,4829,0.00,2.05,0.00,0.000,1030,0.000,0.044,2427,2460,3417,3508,3327,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5142,-0.79,-160.6,2426,2453,3502,3323,726.1,-8.4,251,5147,0.00,2.22,0.00,0.000,516,0.000,0.054,2426,1061,3414,3506,3322,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5164,-0.79,-160.6,2427,1061,3506,3323,726.1,-8.4,251,5169,0.00,2.30,0.00,0.000,1030,0.000,0.067,2418,2452,3414,3506,3322,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5476,-0.79,-160.6,2418,2452,3506,3318,760.1,-10.8,262,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2450,3412,3506,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5778,-0.79,-160.6,2418,2452,3503,3317,795.0,-12.3,272,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2449,3410,3503,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6076,-0.79,-160.6,2418,2452,3502,3317,833.3,-12.8,282,6082,0.00,2.25,0.00,0.000,260,0.000,0.098,2408,3782,3408,3501,3315,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6112,-0.79,-160.6,1568,3782,3493,3312,837.7,-12.9,283,6118,0.15,2.08,0.00,0.000,3078,0.254,0.045,2442,2448,3408,3500,3316,0,0,0,0,0,0,14.66,14.93,28.83
$GC,6442,-0.79,-160.6,2442,2445,3500,3314,874.2,-10.5,294,6448,0.00,2.22,0.00,0.000,516,0.000,0.056,2443,1062,3407,3500,3314,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6489,-0.79,-160.6,2442,1061,3499,3312,877.1,-10.0,295,6494,0.00,2.33,0.00,0.000,1030,0.000,0.070,2436,2458,3406,3498,3314,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6808,-0.79,-160.6,2437,2459,3497,3311,908.9,-9.1,306,6813,0.00,2.25,0.00,0.000,260,0.000,0.102,2431,3778,3404,3497,3311,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6870,-0.79,-160.6,2431,3778,3497,3311,914.9,-9.2,308,6875,0.00,2.10,0.00,0.000,1030,0.000,0.047,2430,2444,3403,3496,3311,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7204,-0.79,-160.6,2431,2442,3496,3308,943.1,-8.0,319,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2442,3402,3497,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7504,-0.79,-160.6,2431,2442,3495,3308,966.5,-7.7,329,7509,0.00,2.22,0.00,0.000,516,0.000,0.057,2431,1063,3401,3495,3308,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7537,-0.79,-160.6,2431,1063,3496,3308,969.1,-7.7,330,7542,0.00,2.33,0.00,0.000,1030,0.000,0.070,2422,2450,3401,3495,3308,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,7808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7808,begin apogee
$GC,7813,-0.25,0.0,2422,2346,3495,3307,992.2,-8.7,339,7992,0.65,0.00,163.15,1.924,10246,0.213,0.000,2612,2346,2754,2791,2718,0,0,0,0,1,0,14.63,28.83,13.24
$STATE,7994,end apogee,CONTROL_FINISHED_OK
$STATE,7994,begin climb
$GC,7995,0.79,160.6,2612,2346,2791,2719,995.0,0.0,345,8171,1.02,2.47,155.60,2.518,10756,0.115,0.060,2956,973,2097,2112,2082,0,0,0,0,1,0,14.14,13.90,13.07
$GC,8193,0.79,160.6,2956,972,2113,2084,976.5,12.9,351,8198,0.00,2.42,0.00,0.000,1030,0.000,0.067,2956,2352,2099,2114,2084,0,0,0,0,0,0,28.83,14.09,28.83
$GC,8506,0.79,160.6,2956,2350,2113,2075,921.7,15.8,362,8511,0.00,2.45,0.00,0.000,260,0.000,0.099,2956,3764,2093,2112,2075,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8558,0.79,160.6,2956,3763,2113,2075,915.9,16.2,363,8563,0.00,2.25,0.00,0.000,1030,0.000,0.043,2966,2358,2094,2113,2075,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8871,0.79,160.6,2967,2355,2113,2071,863.1,15.5,374,8876,0.00,2.42,0.00,0.000,260,0.000,0.096,2967,3758,2092,2113,2071,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8917,0.79,160.6,2967,3759,2113,2071,857.4,15.9,375,8923,0.00,2.25,0.00,0.000,1030,0.000,0.042,2977,2340,2092,2113,2072,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9237,0.79,160.6,2977,2337,2113,2068,799.9,17.3,386,9238,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2336,2088,2113,2064,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9535,0.79,160.6,2977,2336,2113,2066,749.2,16.7,396,9541,0.00,2.45,0.00,0.000,260,0.000,0.093,2977,3759,2089,2113,2066,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9588,0.79,160.6,2977,3759,2113,2067,743.0,17.3,397,9594,0.15,2.22,0.00,0.000,5126,0.308,0.041,2957,2342,2089,2113,2066,0,0,0,0,0,0,14.58,14.85,28.83
$GC,9902,0.79,160.6,2957,2338,2113,2066,688.5,15.9,408,9904,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2337,2090,2114,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10202,0.79,160.6,2959,2338,2113,2065,642.4,14.9,418,10203,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2338,2089,2113,2065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10502,0.79,160.6,2957,2337,2113,2064,599.7,13.9,428,10507,0.00,2.25,0.00,0.000,516,0.000,0.057,2965,953,2089,2114,2064,0,0,0,0,0,0,28.83,14.84,28.83
$GC,10524,0.79,160.6,2965,952,2113,2064,596.6,13.9,429,10530,0.00,2.35,0.00,0.000,1030,0.000,0.062,2965,2361,2088,2113,2064,0,0,0,0,0,0,28.83,14.82,28.83
$GC,10847,0.79,160.6,2965,2359,2113,2062,548.2,15.5,445,10853,0.00,2.30,0.00,0.000,516,0.000,0.056,2975,956,2087,2113,2062,0,0,0,0,0,0,28.83,14.84,28.83
$GC,10895,0.79,160.6,2048,956,2074,2053,541.3,15.7,447,10900,0.00,2.30,0.00,0.000,1030,0.000,0.060,2975,2354,2087,2114,2061,0,0,0,0,0,0,28.83,14.82,28.83
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$GC,15055,0.90,270.7,2973,2349,1787,1715,26.1,7.0,667,15077,0.00,2.40,12.35,0.216,8452,0.000,0.083,2973,3749,1648,1690,1606,0,0,0,0,0,0,28.83,14.73,14.61
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$STATE,15359,end climb,SURFACE_DEPTH_REACHED
$STATE,15359,begin surface coast
$FINISH,-0.0,1.021464
$STATE,15406,end surface coast,CONTROL_FINISHED_OK
$STATE,15406,begin surface
$SM_CCo,15423,80.55,0.142,0,0,915,450.13
$SM_GC,-0.17,7.70,0.17,80.55,0.074,0.112,0.142,229,2470,915,-7.63,-0.96,450.13,0,0,0,0,0,0,14.83,14.81,14.67
$IRIDIUM_FIX,2340.34,12251.76,040613,121258
$TT8_MAMPS,0.019474,0.019474
$HUMID,43.10
$INTERNAL_PRESSURE,9.72694
$TCM_TEMP,25.70
$XPDR_PINGS,7
$SC_FREEKB,3877280
$24V_AH,13.1,61.152
$10V_AH,13.3,0.000
$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,20.525,130.650,373.450,80.550,0.000,28.378,38.978,247.187,1.750,0.000,14.871,2327.771,10746.644,593.520,2143.217,227.746,0.000,1555.943,0.000,1682.720,0.000,0.542,0.000
$DEVICE_MAMPS,397.035,112.455,2517.615,141.525,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15458.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.808,0.000,0.000,0.000
$MEM,322832
$DATA_FILE_SIZE,26761,733
$CAP_FILE_SIZE,170660,0
$CFSIZE,260034560,242466816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.038,161.2,1
$GPS,040613,205536,2340.751,12301.362,35,0.8,36,-3.3