version: 66.09
glider: 181
mission: 6
dive: 75
start: 6 24 111 7 10 57
data:
$ID,181
$MISSION,6
$DIVE,75
$N_DIVES,85
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,400
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-39611.754
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2302
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,50
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-61.82621
$PRESSURE_SLOPE,0.000116609
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$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
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$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,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,240611,070100,2019.688,11956.060,39,1.1,40,-2.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-66.7
$GPS2,240611,071032,2019.803,11955.979,14,1.5,14,-2.3
$SPEED_LIMITS,0.143,0.275
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,174.4,147963,-12.1,-8.250
$D_GRID,3349
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.48,-194.6,0.0,0.0,0,104,0.00,0.00,-84.43,0.000,2,0.000,0.000,155,2610,2775,0,0,0,0,0,0
$GC,107,-0.48,-194.6,3.9,-4.4,11,139,8.23,1.83,-15.52,0.000,4,0.242,0.054,2129,3788,3665,0,0,0,0,0,0
$GC,205,-0.48,-194.6,50.9,-43.9,27,213,0.00,1.83,0.00,0.000,6,0.000,0.028,2129,2597,3667,0,0,0,0,0,0
$GC,342,-0.48,-194.6,97.4,-31.0,52,350,0.00,2.12,0.00,0.000,4,0.000,0.030,2129,1187,3667,0,0,0,0,0,0
$GC,406,-0.48,-194.6,109.8,-15.5,63,414,0.00,2.22,0.00,0.000,6,0.000,0.041,2122,2599,3668,0,0,0,0,0,0
$GC,543,-0.48,-194.6,142.1,-24.3,88,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2601,3669,0,0,0,0,0,0
$GC,679,-0.48,-194.6,179.0,-29.8,113,687,0.00,1.85,0.00,0.000,4,0.000,0.046,2113,3780,3669,0,0,0,0,0,0
$GC,733,-0.48,-194.6,194.3,-26.6,122,743,0.08,1.80,0.00,0.000,6,0.157,0.027,2137,2574,3670,0,0,0,0,0,0
$GC,878,-0.48,-194.6,225.8,-20.3,137,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2571,3669,0,0,0,0,0,0
$GC,1198,-0.48,-194.6,277.5,-16.1,167,1201,0.00,1.88,0.00,0.000,4,0.000,0.045,2129,3791,3669,0,0,0,0,0,0
$GC,1247,-0.48,-194.6,285.5,-13.8,171,1254,0.00,1.77,0.00,0.000,6,0.000,0.027,2129,2592,3669,0,0,0,0,0,0
$GC,1573,-0.48,-194.6,337.0,-16.1,202,1576,0.00,1.83,0.00,0.000,4,0.000,0.047,2123,3781,3667,0,0,0,0,0,0
$GC,1599,-0.48,-194.6,341.5,-15.6,204,1606,0.00,1.75,0.00,0.000,6,0.000,0.028,2123,2615,3666,0,0,0,0,0,0
$GC,1925,-0.48,-194.6,395.9,-17.8,235,1929,0.00,2.10,0.00,0.000,4,0.000,0.032,2123,1195,3664,0,0,0,0,0,0
$GC,1996,-0.48,-194.6,408.2,-16.1,241,2004,0.05,2.17,0.00,0.000,6,0.148,0.039,2143,2593,3663,0,0,0,0,0,0
$GC,2322,-0.48,-194.6,454.2,-12.7,272,2325,0.00,1.80,0.00,0.000,4,0.000,0.047,2138,3779,3659,0,0,0,0,0,0
$GC,2446,-0.48,-194.6,467.2,-9.5,283,2450,0.00,1.73,0.00,0.000,6,0.000,0.028,2138,2592,3658,0,0,0,0,0,0
$GC,2777,-0.48,-194.6,498.8,-9.8,314,2780,0.00,2.03,0.00,0.000,4,0.000,0.033,2138,1211,3654,0,0,0,0,0,0
$GC,2809,-0.48,-194.6,502.2,-9.9,316,2813,0.00,2.17,0.00,0.000,6,0.000,0.040,2137,2630,3653,0,0,0,0,0,0
$GC,3132,-0.48,-194.6,539.1,-12.6,332,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2631,3651,0,0,0,0,0,0
$GC,3441,-0.48,-194.6,580.8,-12.7,347,3445,0.00,2.12,0.00,0.000,4,0.000,0.034,2138,1208,3648,0,0,0,0,0,0
$GC,3504,-0.48,-194.6,587.8,-10.7,350,3508,0.00,2.12,0.00,0.000,6,0.000,0.041,2138,2598,3647,0,0,0,0,0,0
$GC,3831,-0.48,-194.6,620.5,-9.2,366,3834,0.00,1.83,0.00,0.000,4,0.000,0.051,2138,3789,3644,0,0,0,0,0,0
$GC,3899,-0.48,-194.6,626.2,-7.9,369,3903,0.00,1.75,0.00,0.000,6,0.000,0.030,2138,2597,3644,0,0,0,0,0,0
$GC,4232,-0.48,-194.6,657.5,-9.7,385,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2593,3641,0,0,0,0,0,0
$GC,4541,-0.48,-194.6,689.9,-10.6,400,4545,0.00,2.05,0.00,0.000,4,0.000,0.036,2136,1219,3638,0,0,0,0,0,0
$GC,4613,-0.48,-194.6,697.6,-10.2,403,4618,0.00,2.12,0.00,0.000,6,0.000,0.043,2137,2597,3638,0,0,0,0,0,0
$GC,4942,-0.48,-194.6,732.3,-10.9,419,4946,0.00,1.85,0.00,0.000,4,0.000,0.057,2137,3795,3635,0,0,0,0,0,0
$GC,5010,-0.48,-194.6,739.3,-9.3,422,5014,0.00,1.80,0.00,0.000,6,0.000,0.031,2137,2605,3634,0,0,0,0,0,0
$GC,5343,-0.48,-194.6,775.4,-11.0,438,5347,0.00,2.10,0.00,0.000,4,0.000,0.037,2136,1199,3632,0,0,0,0,0,0
$GC,5421,-0.48,-194.6,784.2,-10.8,441,5425,0.00,2.15,0.00,0.000,6,0.000,0.042,2128,2606,3632,0,0,0,0,0,0
$GC,5743,-0.48,-194.6,821.5,-11.7,457,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2605,3630,0,0,0,0,0,0
$GC,6053,-0.48,-194.6,856.2,-11.0,472,6057,0.00,2.12,0.00,0.000,4,0.000,0.037,2128,1201,3628,0,0,0,0,0,0
$GC,6085,-0.48,-194.6,859.8,-10.6,473,6089,0.00,2.15,0.00,0.000,6,0.000,0.044,2125,2597,3628,0,0,0,0,0,0
$GC,6407,-0.48,-194.6,892.2,-10.1,489,6408,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2598,3626,0,0,0,0,0,0
$GC,6717,-0.48,-194.6,921.0,-8.7,504,6721,0.00,2.12,0.00,0.000,4,0.000,0.037,2125,1198,3624,0,0,0,0,0,0
$GC,6732,-0.48,-194.6,922.5,-8.8,504,6740,0.00,2.22,0.00,0.000,6,0.000,0.046,2125,2603,3624,0,0,0,0,0,0
$GC,7049,-0.48,-194.6,948.0,-7.9,520,7053,0.00,1.83,0.00,0.000,4,0.000,0.056,2125,3784,3625,0,0,0,0,0,0
$GC,7073,-0.48,-194.6,950.0,-7.8,521,7077,0.00,1.80,0.00,0.000,6,0.000,0.033,2126,2600,3622,0,0,0,0,0,0
$GC,7405,-0.48,-194.6,977.4,-8.7,537,7409,0.00,2.10,0.00,0.000,4,0.000,0.039,2126,1199,3621,0,0,0,0,0,0
$GC,7466,-0.48,-194.6,982.7,-8.2,539,7473,0.00,2.20,0.00,0.000,6,0.000,0.044,2125,2611,3621,0,0,0,0,0,0
$STATE,7574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7574,begin apogee
$GC,7580,-0.16,0.0,991.6,8.3,545,7734,0.38,0.00,147.50,1.115,6,0.125,0.000,2248,2121,2871,0,0,0,0,0,0
$STATE,7734,end apogee,CONTROL_FINISHED_OK
$STATE,7735,begin climb
$GC,7737,0.48,194.6,996.9,0.0,552,7904,0.57,0.00,160.32,1.079,6,0.062,0.000,2461,2120,2075,0,0,0,0,0,0
$GC,8212,0.48,194.6,951.4,11.7,575,8216,0.00,2.28,0.00,0.000,4,0.000,0.048,2461,3541,2064,0,0,0,0,0,0
$GC,8284,0.48,194.6,941.5,13.2,578,8288,0.00,2.17,0.00,0.000,6,0.000,0.032,2471,2139,2063,0,0,0,0,0,0
$GC,8606,0.48,194.6,900.2,13.2,594,8609,0.00,2.20,0.00,0.000,4,0.000,0.041,2482,716,2062,0,0,0,0,0,0
$GC,8638,0.48,194.6,895.9,12.5,595,8642,0.00,2.20,0.00,0.000,6,0.000,0.037,2482,2137,2062,0,0,0,0,0,0
$GC,8961,0.48,194.6,853.5,13.2,611,8962,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2137,2061,0,0,0,0,0,0
$GC,9269,0.48,194.6,815.8,11.8,626,9273,0.00,2.20,0.00,0.000,4,0.000,0.047,2482,3541,2060,0,0,0,0,0,0
$GC,9302,0.48,194.6,811.4,12.9,627,9307,0.12,2.17,0.00,0.000,6,0.192,0.033,2463,2113,2059,0,0,0,0,0,0
$GC,9624,0.48,194.6,781.1,8.9,643,9628,0.00,2.12,0.00,0.000,4,0.000,0.041,2472,712,2058,0,0,0,0,0,0
$GC,9667,0.48,194.6,777.2,8.7,645,9671,0.00,2.17,0.00,0.000,6,0.000,0.037,2472,2136,2058,0,0,0,0,0,0
$GC,9995,0.48,194.6,745.1,9.8,661,9999,0.00,2.17,0.00,0.000,4,0.000,0.047,2472,3539,2058,0,0,0,0,0,0
$GC,10035,0.48,194.6,740.4,11.9,663,10040,0.00,2.15,0.00,0.000,6,0.000,0.030,2482,2116,2057,0,0,0,0,0,0
$GC,10363,0.48,194.6,700.5,12.9,679,10364,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2115,2058,0,0,0,0,0,0
$GC,10672,0.48,194.6,658.6,13.4,694,10676,0.00,2.10,0.00,0.000,4,0.000,0.040,2492,718,2057,0,0,0,0,0,0
$GC,10706,0.48,194.6,654.0,13.4,695,10713,0.12,2.17,0.00,0.000,6,0.169,0.035,2461,2139,2057,0,0,0,0,0,0
$GC,11022,0.48,194.6,617.4,11.1,711,11026,0.00,2.17,0.00,0.000,4,0.000,0.045,2461,3542,2054,0,0,0,0,0,0
$GC,11118,0.48,194.6,605.6,12.4,715,11122,0.00,2.15,0.00,0.000,6,0.000,0.030,2470,2111,2057,0,0,0,0,0,0
$GC,11440,0.48,194.6,567.7,12.0,731,11444,0.00,2.12,0.00,0.000,4,0.000,0.041,2480,713,2057,0,0,0,0,0,0
$GC,11518,0.48,194.6,557.9,12.4,734,11522,0.00,2.15,0.00,0.000,6,0.000,0.034,2480,2136,2057,0,0,0,0,0,0
$GC,11840,0.48,194.6,516.6,12.6,750,11844,0.00,2.15,0.00,0.000,4,0.000,0.045,2480,3539,2056,0,0,0,0,0,0
$GC,11889,0.48,194.6,509.3,14.3,752,11894,0.08,2.17,0.00,0.000,6,0.148,0.030,2456,2123,2056,0,0,0,0,0,0
$GC,12217,0.48,194.6,471.6,11.3,779,12221,0.00,2.12,0.00,0.000,4,0.000,0.041,2466,707,2056,0,0,0,0,0,0
$GC,12272,0.48,194.6,465.2,11.3,783,12279,0.00,2.17,0.00,0.000,6,0.000,0.034,2465,2139,2056,0,0,0,0,0,0
$GC,12597,0.48,194.6,432.0,9.2,814,12601,0.00,2.12,0.00,0.000,4,0.000,0.045,2465,3534,2056,0,0,0,0,0,0
$GC,12638,0.48,194.6,427.9,10.1,817,12642,0.00,2.12,0.00,0.000,6,0.000,0.029,2475,2113,2057,0,0,0,0,0,0
$GC,12964,0.48,194.6,396.5,9.4,847,12968,0.00,2.10,0.00,0.000,4,0.000,0.040,2485,718,2054,0,0,0,0,0,0
$GC,13032,0.48,194.6,390.1,9.4,853,13036,0.00,2.12,0.00,0.000,6,0.000,0.034,2485,2128,2057,0,0,0,0,0,0
$GC,13359,0.48,194.6,353.9,11.7,883,13360,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2128,2057,0,0,0,0,0,0
$GC,13677,0.48,194.6,318.1,9.7,913,13681,0.00,2.15,0.00,0.000,4,0.000,0.045,2485,3539,2057,0,0,0,0,0,0
$GC,13776,0.48,194.6,307.3,10.5,921,13784,0.08,2.15,0.00,0.000,6,0.164,0.029,2462,2134,2056,0,0,0,0,0,0
$GC,14104,0.55,249.8,284.7,6.7,952,14153,0.00,2.22,40.50,0.670,4,0.000,0.039,2472,720,1850,0,0,0,0,0,0
$GC,14204,0.61,298.4,277.4,6.9,960,14249,0.00,2.20,37.97,0.630,6,0.000,0.034,2472,2121,1652,0,0,0,0,0,0
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$GC,15375,0.66,337.8,180.7,7.4,1089,15406,0.00,0.00,22.98,0.610,6,0.000,0.000,2491,2137,1491,0,0,0,0,0,0
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$GC,16879,1.00,613.8,44.9,7.6,1341,16888,0.00,2.25,4.35,0.361,6,0.000,0.031,2622,2129,439,0,0,0,0,0,0
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$STATE,17327,end climb,SURFACE_DEPTH_REACHED
$STATE,17327,begin surface coast
$FINISH,0.1,1.021155
$STATE,17350,end surface coast,CONTROL_FINISHED_OK
$STATE,17350,begin surface
$SM_CCo,17427,0.00,0.000,0,0,436,596.81
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$IRIDIUM_FIX,2013.37,12000.66,240611,070713
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.27
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.0,12.213
$10V_AH,10.2,12.567
$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,16.100,176.150,613.400,0.000,0.000,53.529,78.634,218.138,0.000,0.000,16.817,3606.709,9588.984,693.766,3729.742,364.726,0.000,2167.461,0.000,2435.549,0.000,0.540,0.000
$DEVICE_MAMPS,241.740,56.610,1114.605,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,993.183,2167.194,1642.810,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322688
$DATA_FILE_SIZE,93702,1424
$CAP_FILE_SIZE,184058,0
$CFSIZE,260165632,244170752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.169,  6.2,1
$GPS,240611,120236,2018.890,11956.742,34,1.1,34,-2.3