version: 66.07
glider: 187
mission: 4
dive: 414
start: 6 15 111 14 2 0
data:
$ID,187
$MISSION,4
$DIVE,414
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,2.5
$T_BOOST,0
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,540
$T_MISSION,600
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-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,375
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-1585242.8
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,2905
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,43
$C_ROLL_DIVE,2175
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2735
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,6
$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,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-60.973145
$PRESSURE_SLOPE,0.0001138132
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$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,0.0043543768
$SEABIRD_T_H,0.0006249955
$SEABIRD_T_I,2.3401506e-05
$SEABIRD_T_J,2.4672308e-06
$SEABIRD_C_G,-9.9855604
$SEABIRD_C_H,1.1126566
$SEABIRD_C_I,-0.0021479612
$SEABIRD_C_J,0.0002479906
$GPS1,150611,135207,4747.996,-12519.600,29,1.5,29,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-74.4
$GPS2,150611,140101,4747.947,-12519.599,20,1.5,37,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.149,0.133
$KALMAN_X,63225.2,36.0,-3.4,-78756.5,2346.4
$KALMAN_Y,-165188.9,143.3,282.3,167422.8,-4350.6
$MHEAD_RNG_PITCHd_Wd,21.0,33644,-13.6,-6.111
$D_GRID,655
$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,16,-0.50,-117.3,0.0,0.0,0,87,0.00,0.00,-68.30,0.000,2,0.000,0.000,130,2161,2840,0,0,0,0,0,0
$GC,90,-0.50,-117.3,3.5,-2.5,10,114,10.38,2.42,-7.60,0.000,4,0.230,0.061,2736,656,3216,0,0,0,0,0,0
$GC,215,-0.46,-117.3,32.6,-16.1,31,222,0.00,2.40,0.00,0.000,6,0.000,0.049,2727,2164,3218,0,0,0,0,0,0
$GC,352,-0.42,-117.3,51.5,-13.3,56,361,0.15,2.50,0.00,0.000,4,0.146,0.059,2760,3693,3220,0,0,0,0,0,0
$GC,412,-0.42,-117.3,58.1,-9.4,66,419,0.00,2.38,0.00,0.000,6,0.000,0.043,2760,2183,3220,0,0,0,0,0,0
$GC,549,-0.40,-117.3,71.1,-10.0,91,557,0.00,2.40,0.00,0.000,4,0.000,0.051,2759,665,3221,0,0,0,0,0,0
$GC,601,-0.38,-117.3,76.3,-9.5,100,610,0.00,2.40,0.00,0.000,6,0.000,0.048,2751,2185,3221,0,0,0,0,0,0
$GC,741,-0.36,-117.3,89.2,-10.0,125,749,0.12,0.00,0.00,0.000,6,0.142,0.000,2787,2185,3221,0,0,0,0,0,0
$GC,879,-0.36,-117.3,98.8,-6.2,150,887,0.00,2.40,0.00,0.000,4,0.000,0.050,2787,664,3221,0,0,0,0,0,0
$GC,921,-0.38,-117.3,101.9,-6.8,154,929,0.00,2.35,0.00,0.000,6,0.000,0.047,2787,2162,3221,0,0,0,0,0,0
$GC,1121,-0.38,-117.3,114.5,-6.2,173,1125,0.00,2.42,0.00,0.000,4,0.000,0.060,2778,3697,3221,0,0,0,0,0,0
$GC,1162,-0.39,-117.3,117.4,-7.2,176,1166,0.00,2.38,0.00,0.000,6,0.000,0.043,2777,2160,3222,0,0,0,0,0,0
$GC,1362,-0.39,-117.3,132.3,-7.6,194,1366,0.00,2.30,0.00,0.000,4,0.000,0.050,2777,662,3222,0,0,0,0,0,0
$GC,1416,-0.40,-117.3,136.9,-8.3,198,1423,0.00,2.35,0.00,0.000,6,0.000,0.048,2774,2160,3221,0,0,0,0,0,0
$GC,1617,-0.40,-117.3,148.2,-4.8,217,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2160,3221,0,0,0,0,0,0
$GC,1818,-0.40,-117.3,157.7,-4.5,236,1822,0.00,2.33,0.00,0.000,4,0.000,0.050,2774,665,3221,0,0,0,0,0,0
$GC,1855,-0.40,-117.3,159.9,-5.2,239,1862,0.00,2.33,0.00,0.000,6,0.000,0.048,2773,2151,3221,0,0,0,0,0,0
$GC,2056,-0.40,-117.3,169.4,-5.3,258,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2152,3221,0,0,0,0,0,0
$GC,2255,-0.40,-117.3,180.5,-6.0,277,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2151,3221,0,0,0,0,0,0
$GC,2446,-0.40,-117.3,192.6,-6.5,295,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2152,3221,0,0,0,0,0,0
$GC,2637,-0.40,-117.3,204.8,-6.2,313,2641,0.00,2.30,0.00,0.000,4,0.000,0.052,2772,663,3221,0,0,0,0,0,0
$GC,2668,-0.40,-117.3,207.2,-7.0,315,2676,0.00,2.30,0.00,0.000,6,0.000,0.049,2772,2138,3221,0,0,0,0,0,0
$GC,2869,-0.40,-117.3,219.0,-6.0,334,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2138,3220,0,0,0,0,0,0
$GC,3069,-0.40,-117.3,231.0,-6.2,353,3073,0.00,2.30,0.00,0.000,4,0.000,0.052,2772,663,3221,0,0,0,0,0,0
$GC,3100,-0.40,-117.3,233.6,-7.2,355,3108,0.00,2.33,0.00,0.000,6,0.000,0.050,2772,2146,3220,0,0,0,0,0,0
$GC,3301,-0.40,-117.3,245.9,-5.9,374,3305,0.00,2.47,0.00,0.000,4,0.000,0.063,2770,3693,3220,0,0,0,0,0,0
$GC,3333,-0.41,-117.3,248.2,-6.2,376,3342,0.00,2.42,0.00,0.000,6,0.000,0.046,2769,2146,3220,0,0,0,0,0,0
$GC,3533,-0.41,-117.3,259.5,-5.8,395,3537,0.00,2.30,0.00,0.000,4,0.000,0.052,2769,666,3220,0,0,0,0,0,0
$GC,3584,-0.43,-117.3,262.7,-6.0,399,3589,0.00,2.30,0.00,0.000,6,0.000,0.050,2769,2151,3220,0,0,0,0,0,0
$GC,3785,-0.43,-117.3,274.8,-6.2,417,3789,0.00,2.45,0.00,0.000,4,0.000,0.063,2766,3695,3219,0,0,0,0,0,0
$GC,3817,-0.44,-117.3,277.2,-6.7,419,3825,0.00,2.45,0.00,0.000,6,0.000,0.046,2765,2132,3219,0,0,0,0,0,0
$GC,4016,-0.44,-117.3,290.7,-7.4,438,4020,0.00,2.25,0.00,0.000,4,0.000,0.053,2765,668,3219,0,0,0,0,0,0
$GC,4061,-0.44,-117.3,294.4,-8.1,441,4068,0.00,2.30,0.00,0.000,6,0.000,0.050,2761,2133,3219,0,0,0,0,0,0
$GC,4260,-0.44,-117.3,309.2,-7.3,460,4264,0.00,2.50,0.00,0.000,4,0.000,0.063,2750,3691,3219,0,0,0,0,0,0
$GC,4291,-0.44,-117.3,311.8,-7.9,462,4299,0.00,2.45,0.00,0.000,6,0.000,0.047,2749,2128,3219,0,0,0,0,0,0
$GC,4492,-0.44,-117.3,326.9,-7.9,481,4496,0.00,2.28,0.00,0.000,4,0.000,0.053,2749,664,3218,0,0,0,0,0,0
$GC,4534,-0.44,-117.3,330.8,-8.3,484,4543,0.00,2.30,0.00,0.000,6,0.000,0.050,2745,2130,3218,0,0,0,0,0,0
$GC,4735,-0.44,-117.3,345.7,-7.6,503,4739,0.00,2.50,0.00,0.000,4,0.000,0.063,2735,3687,3218,0,0,0,0,0,0
$GC,4767,-0.44,-117.3,348.5,-8.0,505,4775,0.00,2.42,0.00,0.000,6,0.000,0.046,2734,2133,3218,0,0,0,0,0,0
$GC,4967,-0.43,-117.3,363.2,-7.8,524,4971,0.10,2.30,0.00,0.000,4,0.155,0.054,2763,662,3218,0,0,0,0,0,0
$GC,5013,-0.43,-117.3,366.2,-6.2,528,5017,0.00,2.25,0.00,0.000,6,0.000,0.051,2759,2124,3218,0,0,0,0,0,0
$GC,5212,-0.43,-117.3,377.5,-5.7,546,5217,0.00,2.50,0.00,0.000,4,0.000,0.063,2753,3687,3217,0,0,0,0,0,0
$GC,5255,-0.44,-117.3,379.9,-5.3,549,5259,0.00,2.40,0.00,0.000,6,0.000,0.046,2753,2123,3217,0,0,0,0,0,0
$GC,5456,-0.44,-117.3,391.7,-5.9,567,5460,0.00,2.25,0.00,0.000,4,0.000,0.054,2753,664,3217,0,0,0,0,0,0
$GC,5509,-0.44,-117.3,395.6,-6.8,571,5517,0.00,2.28,0.00,0.000,6,0.000,0.051,2750,2114,3217,0,0,0,0,0,0
$GC,5709,-0.44,-117.3,407.9,-6.4,590,5713,0.00,2.53,0.00,0.000,4,0.000,0.063,2739,3689,3216,0,0,0,0,0,0
$GC,5751,-0.44,-117.3,411.0,-6.5,593,5759,0.00,2.45,0.00,0.000,6,0.000,0.047,2738,2122,3217,0,0,0,0,0,0
$GC,5951,-0.44,-117.3,423.9,-6.7,612,5955,0.00,2.25,0.00,0.000,4,0.000,0.054,2738,664,3216,0,0,0,0,0,0
$GC,5995,-0.44,-117.3,427.1,-6.7,615,6003,0.00,2.30,0.00,0.000,6,0.000,0.052,2733,2125,3216,0,0,0,0,0,0
$GC,6194,-0.43,-117.3,439.9,-6.6,634,6196,0.12,0.00,0.00,0.000,6,0.148,0.000,2770,2125,3215,0,0,0,0,0,0
$GC,6387,-0.44,-117.3,448.4,-4.2,652,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2125,3216,0,0,0,0,0,0
$GC,6586,-0.44,-117.3,457.6,-4.6,671,6590,0.00,2.55,0.00,0.000,4,0.000,0.066,2765,3693,3215,0,0,0,0,0,0
$GC,6616,-0.46,-117.3,459.1,-5.2,673,6621,0.00,2.42,0.00,0.000,6,0.000,0.047,2765,2122,3215,0,0,0,0,0,0
$GC,6817,-0.46,-117.3,470.5,-5.9,691,6821,0.00,2.25,0.00,0.000,4,0.000,0.055,2764,666,3215,0,0,0,0,0,0
$GC,6870,-0.47,-117.3,474.0,-7.0,695,6874,0.00,2.25,0.00,0.000,6,0.000,0.052,2760,2126,3214,0,0,0,0,0,0
$GC,7070,-0.47,-117.3,487.1,-6.7,713,7075,0.00,2.53,0.00,0.000,4,0.000,0.063,2759,3689,3214,0,0,0,0,0,0
$GC,7103,-0.48,-117.3,489.5,-6.5,715,7110,0.00,2.47,0.00,0.000,6,0.000,0.047,2758,2115,3214,0,0,0,0,0,0
$GC,7304,-0.48,-117.3,501.6,-6.1,734,7308,0.00,2.25,0.00,0.000,4,0.000,0.055,2758,667,3214,0,0,0,0,0,0
$GC,7353,-0.48,-117.3,505.1,-6.5,738,7361,0.00,2.25,0.00,0.000,6,0.000,0.052,2751,2096,3214,0,0,0,0,0,0
$GC,7552,-0.48,-117.3,517.3,-6.2,757,7557,0.00,2.55,0.00,0.000,4,0.000,0.063,2741,3689,3214,0,0,0,0,0,0
$GC,7585,-0.48,-117.3,519.7,-7.1,759,7593,0.00,2.50,0.00,0.000,6,0.000,0.048,2740,2103,3213,0,0,0,0,0,0
$GC,7784,-0.48,-117.3,533.4,-7.0,778,7788,0.00,2.22,0.00,0.000,4,0.000,0.054,2739,665,3213,0,0,0,0,0,0
$GC,7825,-0.48,-117.3,536.5,-7.4,781,7829,0.00,2.22,0.00,0.000,6,0.000,0.051,2732,2110,3213,0,0,0,0,0,0
$GC,8025,-0.48,-117.3,551.3,-7.5,799,8029,0.00,2.58,0.00,0.000,4,0.000,0.064,2721,3695,3213,0,0,0,0,0,0
$GC,8078,-0.48,-117.3,555.9,-7.7,803,8085,0.00,2.50,0.00,0.000,6,0.000,0.047,2720,2104,3213,0,0,0,0,0,0
$GC,8279,-0.47,-117.3,573.3,-9.5,822,8284,0.12,2.25,0.00,0.000,4,0.147,0.056,2757,667,3212,0,0,0,0,0,0
$GC,8344,-0.47,-117.3,579.1,-7.4,827,8352,0.00,2.25,0.00,0.000,6,0.000,0.053,2752,2097,3212,0,0,0,0,0,0
$GC,8544,-0.47,-117.3,593.4,-6.9,846,8548,0.00,2.58,0.00,0.000,4,0.000,0.064,2741,3695,3212,0,0,0,0,0,0
$GC,8586,-0.47,-117.3,596.2,-8.1,849,8590,0.00,2.50,0.00,0.000,6,0.000,0.047,2741,2095,3212,0,0,0,0,0,0
$GC,8800,-0.47,-117.3,610.8,-6.6,859,8804,0.00,2.22,0.00,0.000,4,0.000,0.056,2741,657,3212,0,0,0,0,0,0
$GC,8843,-0.47,-117.3,614.0,-7.6,860,8847,0.00,2.22,0.00,0.000,6,0.000,0.054,2733,2096,3212,0,0,0,0,0,0
$GC,9170,-0.47,-117.3,634.7,-6.7,871,9171,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2096,3212,0,0,0,0,0,0
$GC,9476,-0.47,-117.3,653.5,-5.9,881,9480,0.00,2.58,0.00,0.000,4,0.000,0.066,2733,3688,3211,0,0,0,0,0,0
$STATE,9619,end dive,NO_VERTICAL_VELOCITY
$STATE,9619,begin apogee
$GC,9628,-0.22,0.0,653.5,0.0,885,9730,0.28,0.00,98.32,1.021,6,0.076,0.000,2839,2049,2735,0,0,0,0,0,0
$STATE,9730,end apogee,CONTROL_FINISHED_OK
$STATE,9731,begin climb
$GC,9733,0.50,117.3,653.4,0.0,888,9849,0.62,2.67,105.03,0.992,4,0.070,0.060,3062,3567,2255,0,0,0,0,0,0
$GC,9866,0.47,117.3,647.9,8.2,892,9871,0.00,2.50,0.00,0.000,6,0.000,0.046,3073,2056,2251,0,0,0,0,0,0
$GC,10197,0.44,117.3,615.2,10.2,903,10199,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2053,2245,0,0,0,0,0,0
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$GC,18620,0.77,360.0,15.8,3.5,1751,18686,0.12,2.47,59.60,0.605,4,0.086,0.057,3174,3573,1265,0,0,0,0,0,0
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$STATE,18757,end climb,SURFACE_DEPTH_REACHED
$STATE,18757,begin surface coast
$FINISH,1.1,1.020346
$STATE,18801,end surface coast,CONTROL_FINISHED_OK
$STATE,18801,begin surface
$SM_CCo,18821,12.35,0.236,1,0,1206,375.06
$SM_GC,1.62,0.00,0.00,12.35,0.000,0.000,0.236,129,2193,1206,-8.68,0.51,375.06
$IRIDIUM_FIX,4729.30,-12524.44,150611,080802
$TT8_MAMPS,0.027713
$HUMID,37.63
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,23.5,43.091
$10V_AH,10.1,39.370
$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,21.075,316.075,405.625,12.350,0.000,25.018,35.606,282.115,0.000,0.000,38.647,4552.192,8353.496,742.074,5078.869,622.470,33.349,2481.907,0.000,3673.022,0.000,0.536,0.000
$DEVICE_MAMPS,229.500,89.505,1021.275,235.620,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1225.628,4279.286,1760.171,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297500
$DATA_FILE_SIZE,100143,1780
$CAP_FILE_SIZE,257317,0
$CFSIZE,260165632,185835520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.042, 72.9,1
$GPS,150611,191724,4749.808,-12517.009,27,1.2,45,18.7