version: 66.12
glider: 204
mission: 15
dive: 48
start: 3 9 115 9 24 17
data:
$ID,204
$MISSION,15
$DIVE,48
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,50
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52154
$MASS_COMP,0
$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,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3270
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,29
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,89
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00145
$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,150
$AH0_10V,97
$MINV_24V,22.5
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-71.557899
$PRESSURE_SLOPE,0.0001157966
$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,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,99
$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,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,090315,091753,1325.9141,14524.8516,35,1.0,35,1.2,1.2,216.7,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-68.6
$GPS2,090315,092406,1325.8337,14524.7451,25,0.8,25,1.2,0.0,268.4,9,4.6
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N4
$TGT_LATLONG,1306.840,14616.260
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,64.5,99353,-15.8,-10.000,-19.55,2669
$D_GRID,1030
$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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,92,-0.80,-175.2,192,2618,707,672,0.0,0.0,0,153,0.00,0.00,-54.28,0.000,16386,0.000,0.000,191,2618,2177,2138,2216,0,0,0,0,0,0,26.79,28.83,26.86
$GC,155,-0.80,-175.2,192,2619,2139,2217,3.3,-5.3,9,203,11.30,0.00,-31.83,0.000,18694,0.232,0.000,3007,2616,3555,3525,3585,0,0,0,0,0,0,26.29,25.44,26.53
$GC,507,-0.80,-175.2,3007,2617,3527,3587,99.1,-26.7,61,516,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2616,3556,3526,3586,0,0,0,0,0,0,26.99,27.05,27.05
$GC,810,-0.80,-175.2,3007,2616,3529,3586,165.7,-21.0,91,818,0.00,2.00,0.00,0.000,516,0.000,0.026,3011,1215,3557,3528,3586,0,0,0,0,0,0,27.08,26.87,27.14
$GC,922,-0.80,-175.2,3012,1215,3529,3588,184.5,-15.8,102,930,0.00,2.03,0.00,0.000,1030,0.000,0.031,3003,2601,3558,3529,3587,0,0,0,0,0,0,26.95,26.89,26.97
$GC,1236,-0.80,-175.2,3003,2601,3533,3590,232.2,-14.8,119,1244,0.00,1.60,0.00,0.000,260,0.000,0.044,2995,3692,3561,3532,3591,0,0,0,0,0,0,27.17,26.91,27.23
$GC,1293,-0.80,-175.2,2995,3694,3532,3591,237.1,-14.8,120,1303,0.00,1.50,0.00,0.000,1030,0.000,0.021,3002,2563,3561,3531,3591,0,0,0,0,0,0,27.07,27.05,27.08
$GC,1598,-0.80,-175.2,3002,2563,3534,3591,288.1,-15.4,131,1606,0.00,1.88,0.00,0.000,516,0.000,0.025,3008,1230,3562,3533,3591,0,0,0,0,0,0,27.22,27.02,27.28
$GC,1644,-0.80,-175.2,3008,1229,3534,3591,291.8,-15.1,132,1651,0.00,1.98,0.00,0.000,1030,0.000,0.030,3000,2600,3561,3532,3591,0,0,0,0,0,0,27.06,27.00,27.08
$GC,1950,-0.80,-175.2,3000,2601,3533,3592,335.2,-12.4,142,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2600,3561,3532,3591,0,0,0,0,0,0,27.24,27.32,27.31
$GC,2249,-0.80,-175.2,3000,2600,3533,3588,371.2,-12.9,152,2258,0.00,1.65,0.00,0.000,260,0.000,0.044,2992,3692,3559,3532,3587,0,0,0,0,0,0,27.27,27.01,27.32
$GC,2286,-0.80,-175.2,2992,3694,3533,3588,375.8,-13.4,153,2294,0.00,1.50,0.00,0.000,1030,0.000,0.022,2995,2600,3559,3532,3586,0,0,0,0,0,0,27.15,27.14,27.16
$GC,2613,-0.80,-175.2,2995,2600,3532,3582,424.0,-14.1,164,2620,0.00,1.62,0.00,0.000,260,0.000,0.045,2988,3687,3556,3532,3581,0,0,0,0,0,0,27.28,27.02,27.34
$GC,2708,-0.80,-175.2,2989,3688,3532,3582,435.7,-13.0,167,2715,0.00,1.50,0.00,0.000,1030,0.000,0.023,2992,2566,3556,3532,3580,0,0,0,0,0,0,27.17,27.15,27.20
$GC,3034,-0.80,-175.2,2991,2566,3530,3576,471.8,-10.4,178,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2566,3552,3528,3576,0,0,0,0,0,0,27.29,27.36,27.36
$GC,3334,-0.80,-175.2,2992,2567,3526,3574,502.7,-10.7,188,3342,0.00,1.67,0.00,0.000,260,0.000,0.044,2985,3693,3549,3525,3573,0,0,0,0,0,0,27.30,27.04,27.36
$GC,3397,-0.80,-175.2,2985,3694,3525,3574,509.9,-11.1,190,3404,0.00,1.50,0.00,0.000,1030,0.000,0.023,2992,2570,3548,3524,3572,0,0,0,0,0,0,27.20,27.17,27.20
$GC,3727,-0.80,-175.2,2993,2571,3521,3571,545.0,-10.6,201,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2569,3546,3522,3570,0,0,0,0,0,0,27.31,27.39,27.37
$GC,4027,-0.80,-175.2,2992,2570,3518,3568,577.1,-11.0,211,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2569,3541,3516,3567,0,0,0,0,0,0,27.32,27.39,27.38
$GC,4327,-0.80,-175.2,2992,2569,3516,3563,611.2,-11.3,221,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2569,3537,3515,3560,0,0,0,0,0,0,27.32,27.40,27.38
$GC,4627,-0.80,-175.2,2992,2569,3514,3561,644.7,-11.0,231,4636,0.00,1.67,0.00,0.000,260,0.000,0.046,2985,3692,3536,3512,3561,0,0,0,0,0,0,27.32,27.04,27.39
$GC,4664,-0.80,-175.2,2985,3692,3513,3561,648.5,-11.0,232,4671,0.00,1.50,0.00,0.000,1030,0.000,0.024,2991,2580,3536,3511,3561,0,0,0,0,0,0,27.21,27.17,27.22
$GC,4990,-0.80,-175.2,2991,2580,3510,3558,684.0,-10.9,243,4997,0.00,1.67,0.00,0.000,260,0.000,0.044,2984,3694,3533,3509,3558,0,0,0,0,0,0,27.32,27.04,27.39
$GC,5025,-0.80,-175.2,2984,3694,3510,3557,687.5,-11.1,244,5032,0.00,1.50,0.00,0.000,1030,0.000,0.024,2992,2584,3533,3508,3558,0,0,0,0,0,0,27.21,27.17,27.22
$GC,5351,-0.80,-175.2,2992,2583,3507,3557,724.4,-11.1,255,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2585,3530,3506,3555,0,0,0,0,0,0,27.32,27.40,27.39
$GC,5651,-0.80,-175.2,2992,2586,3504,3555,756.5,-10.7,265,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2585,3529,3504,3554,0,0,0,0,0,0,27.32,27.40,27.39
$GC,5951,-0.80,-175.2,2992,2589,3504,3548,787.0,-10.0,275,5959,0.00,1.65,0.00,0.000,260,0.000,0.045,2990,3693,3526,3502,3551,0,0,0,0,0,0,27.33,27.03,27.39
$GC,5987,-0.80,-175.2,2984,3694,3503,3553,790.3,-9.9,276,5994,0.00,1.50,0.00,0.000,1030,0.000,0.024,2991,2585,3526,3502,3551,0,0,0,0,0,0,27.22,27.17,27.22
$GC,6313,-0.80,-175.2,2992,2586,3502,3550,821.9,-9.5,287,6321,0.00,1.95,0.00,0.000,516,0.000,0.027,3000,1212,3525,3500,3550,0,0,0,0,0,0,27.32,27.09,27.39
$GC,6349,-0.80,-175.2,3000,1213,3500,3551,824.9,-9.5,288,6357,0.00,2.05,0.00,0.000,1030,0.000,0.033,2991,2602,3524,3499,3549,0,0,0,0,0,0,27.14,27.07,27.17
$GC,6671,-0.80,-175.2,2991,2602,3500,3548,855.8,-9.4,299,6678,0.00,1.62,0.00,0.000,260,0.000,0.046,2982,3701,3523,3499,3548,0,0,0,0,0,0,27.32,27.03,27.39
$GC,6716,-0.80,-175.2,2983,3701,3499,3549,858.9,-9.7,300,6725,0.00,1.50,0.00,0.000,1030,0.000,0.025,2989,2604,3522,3498,3547,0,0,0,0,0,0,27.20,27.16,27.22
$GC,7033,-0.80,-175.2,2989,2604,3498,3546,890.7,-9.5,311,7039,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2604,3521,3497,3546,0,0,0,0,0,0,27.32,27.40,27.39
$GC,7334,-0.80,-175.2,2989,2604,3496,3544,920.2,-9.9,321,7339,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2605,3519,3495,3544,0,0,0,0,0,0,27.33,27.40,27.39
$GC,7633,-0.80,-175.2,2989,2604,3495,3543,950.5,-10.1,331,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2604,3519,3494,3544,0,0,0,0,0,0,27.33,27.40,27.39
$GC,7933,-0.80,-175.2,2989,2605,3493,3542,982.3,-10.9,341,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2604,3518,3493,3543,0,0,0,0,0,0,27.33,27.40,27.39
$STATE,8023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8023,begin apogee
$GC,8025,-0.17,0.0,2991,2412,3493,3543,992.3,-11.2,344,8178,0.75,0.00,141.00,1.274,10246,0.161,0.000,3211,2409,2835,2813,2858,0,0,0,0,0,0,26.73,24.94,24.39
$STATE,8179,end apogee,CONTROL_FINISHED_OK
$STATE,8179,begin climb
$GC,8180,0.80,175.2,3211,2409,2807,2855,1000.7,0.0,349,8336,1.08,2.17,143.02,1.291,10500,0.142,0.045,3514,3687,2117,2114,2121,0,0,0,0,0,0,25.34,24.72,24.00
$GC,8415,0.97,293.8,3514,3687,2110,2111,998.5,5.4,357,8524,0.20,1.85,98.93,1.291,11270,0.140,0.022,3580,2414,1640,1644,1637,0,0,0,0,0,0,25.51,25.68,23.92
$GC,8833,0.97,293.8,3580,2413,1626,1613,947.2,13.2,371,8841,0.00,2.00,0.00,0.000,260,0.000,0.045,3579,3692,1619,1625,1613,0,0,0,0,0,0,26.39,26.15,26.45
$GC,8860,0.97,293.8,3578,3692,1626,1614,947.2,13.2,371,8870,0.00,1.83,0.00,0.000,1030,0.000,0.023,3585,2414,1618,1624,1613,0,0,0,0,0,0,26.33,26.29,26.34
$GC,9165,0.97,293.8,3586,2412,1624,1613,904.2,12.6,382,9171,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,2411,1617,1623,1612,0,0,0,0,0,0,26.74,26.82,26.81
$GC,9465,0.97,293.8,3586,2412,1623,1613,866.8,12.5,392,9474,0.00,1.98,0.00,0.000,260,0.000,0.046,3585,3693,1617,1622,1612,0,0,0,0,0,0,26.90,26.65,26.96
$GC,9492,0.97,293.8,3582,3693,1623,1613,866.8,12.5,392,9502,0.00,1.80,0.00,0.000,1030,0.000,0.024,3594,2409,1617,1622,1612,0,0,0,0,0,0,26.80,26.77,26.82
$GC,9798,0.97,293.8,3595,2406,1622,1612,822.6,13.3,403,9807,0.00,2.00,0.00,0.000,260,0.000,0.045,3594,3699,1614,1618,1611,0,0,0,0,0,0,27.00,26.74,27.07
$GC,9846,0.97,293.8,3594,3700,1622,1611,817.6,13.8,404,9853,0.00,1.80,0.00,0.000,1030,0.000,0.024,3604,2421,1616,1621,1611,0,0,0,0,0,0,26.90,26.85,26.91
$GC,10157,0.97,293.8,3604,2418,1621,1610,770.4,14.8,415,10167,0.00,2.03,0.00,0.000,516,0.000,0.031,3614,1037,1614,1619,1609,0,0,0,0,0,0,27.08,26.89,27.14
$GC,10182,0.97,293.8,3614,1037,1620,1609,770.4,14.8,415,10192,0.12,2.05,0.00,0.000,5126,0.180,0.030,3584,2427,1614,1619,1610,0,0,0,0,0,0,26.62,26.86,26.82
$GC,10487,0.97,293.8,3585,2427,1620,1609,724.3,14.0,426,10495,0.00,1.90,0.00,0.000,260,0.000,0.046,3584,3690,1613,1619,1608,0,0,0,0,0,0,27.12,26.85,27.18
$GC,10519,0.97,293.8,3584,3690,1621,1609,720.4,14.1,427,10527,0.00,1.77,0.00,0.000,1030,0.000,0.024,3592,2417,1614,1619,1609,0,0,0,0,0,0,27.01,26.98,27.03
$GC,10845,0.97,293.8,3593,2406,1620,1609,673.7,13.9,438,10851,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,2405,1614,1619,1609,0,0,0,0,0,0,27.15,27.22,27.22
$GC,11146,0.97,293.8,3593,2407,1619,1610,631.9,14.0,448,11153,0.00,1.95,0.00,0.000,260,0.000,0.046,3593,3690,1613,1618,1609,0,0,0,0,0,0,27.18,26.91,27.24
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$STATE,16565,end climb,SURFACE_DEPTH_REACHED
$STATE,16565,begin surface coast
$FINISH,0.9,1.022155
$STATE,16581,end surface coast,CONTROL_FINISHED_OK
$STATE,16582,begin surface
$SM_CCo,16597,10.68,0.125,0,0,799,500.17
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$IRIDIUM_FIX,1323.10,14527.55,030108,224535
$TT8_MAMPS,0.158788,0.158788
$HUMID,35.19
$INTERNAL_PRESSURE,9.25268
$TCM_TEMP,24.70
$XPDR_PINGS,0
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,16563.66 7026.34
$PA_BOOTCOUNT,853
$PA_DFQS,0/0
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$PA_DATA0,0.44/51.674/117.199/59.571
$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.04/0.078/1.856/1.684
$PA_DISK_BANK,0
$24V_AH,23.92,9.610
$10V_AH,9.96,14.634
$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,23.575,102.900,517.375,10.675,0.000,0.000,0.000,276.975,0.000,0.000,27.152,0.000,13261.173,604.733,3033.113,75.656,0.000,2180.625,0.000,1644.348,0.000,0.547,0.000
$DEVICE_MAMPS,231.795,57.375,1291.320,125.460,0.000,0.000,0.000,84.150,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,540.815,0.000,0.000,0.000,0.000,0.000,17038.590,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,139.605,0.000,0.000,0.000
$MEM,229036
$DATA_FILE_SIZE,33500,803
$CAP_FILE_SIZE,138717,0
$CFSIZE,1024393216,1013497856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$INTR,0,15579.45,0x236db2,7,5
$CURRENT,0.087,215.75,1
$GPS,090315,140159,1326.292,14526.806,37,0.9,37,1.2,1.2,271.6,10,16.0