version: 66.11
glider: 124
mission: 14
dive: 313
start: 1 6 113 10 41 2
data:
$ID,124
$MISSION,14
$DIVE,313
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$D_ABORT,980
$D_NO_BLEED,500
$D_BOOST,20
$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,340
$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,-13
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51525
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,2.53e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-304040.97
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3900
$C_PITCH,2275
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,183
$ROLL_MAX,3883
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,244
$VBD_MAX,3700
$C_VBD,2509
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,0
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.1999998
$FG_AHR_10V,0
$FG_AHR_24V,69.417763
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-21.889965
$PRESSURE_SLOPE,0.0001157801
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$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,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043984288
$SEABIRD_T_H,0.00063808635
$SEABIRD_T_I,2.5525775e-05
$SEABIRD_T_J,3.0944329e-06
$SEABIRD_C_G,-9.6676407
$SEABIRD_C_H,1.1061285
$SEABIRD_C_I,-0.0013205735
$SEABIRD_C_J,0.00018109973
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,060113,102906,1850.200,12224.578,37,1.0,37,-2.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-63.2
$GPS2,060113,104031,1850.603,12224.403,15,1.0,15,-2.1
$SPEED_LIMITS,0.161,0.278
$TGT_NAME,M4
$TGT_LATLONG,1845.000,12233.290
$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,148.9,18723,-14.2,-9.314,-18.51
$D_GRID,1379
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.69,-194.6,0.0,0.0,0,115,0.00,0.00,-92.78,0.000,2,0.000,0.000,40,2514,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.69,-194.6,3.1,-1.8,16,169,9.25,2.30,-33.30,0.000,4,0.256,0.058,2119,1084,3304,0,0,0,0,0,0,25.56,26.34,26.93
$GC,325,-0.67,-194.6,33.0,-16.0,50,331,0.00,2.22,0.00,0.000,6,0.000,0.046,2119,2507,3304,0,0,0,0,0,0,28.83,26.14,28.83
$GC,649,-0.65,-194.6,88.0,-16.7,71,654,0.00,2.12,0.00,0.000,4,0.000,0.057,2119,3893,3304,0,0,0,0,0,0,28.83,26.43,28.83
$GC,672,-0.64,-194.6,91.5,-16.2,72,677,0.00,2.15,0.00,0.000,6,0.000,0.037,2119,2481,3304,0,0,0,0,0,0,28.83,26.62,28.83
$GC,996,-0.67,-194.6,124.1,-8.7,88,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2481,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1298,-0.71,-194.6,151.4,-9.6,103,1303,0.00,2.10,0.00,0.000,4,0.000,0.044,2119,1084,3304,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1391,-0.74,-194.6,159.9,-9.8,107,1396,0.00,2.20,0.00,0.000,6,0.000,0.041,2119,2506,3304,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1704,-0.80,-194.6,181.9,-5.9,123,1710,0.00,2.20,0.00,0.000,4,0.000,0.044,2119,1087,3304,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1793,-0.85,-194.6,187.7,-7.0,127,1799,0.12,2.20,0.00,0.000,6,0.093,0.042,2062,2506,3304,0,0,0,0,0,0,26.62,26.63,28.83
$GC,2113,-0.86,-194.6,221.3,-10.5,143,2119,0.10,2.12,0.00,0.000,4,0.151,0.054,2091,3884,3304,0,0,0,0,0,0,26.82,26.51,28.83
$GC,2162,-0.90,-194.6,224.9,-9.0,145,2169,0.00,2.12,0.00,0.000,6,0.000,0.037,2092,2485,3304,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2482,-0.95,-194.6,246.7,-7.2,161,2488,0.10,2.10,0.00,0.000,4,0.109,0.043,2041,1086,3303,0,0,0,0,0,0,26.86,26.60,28.83
$GC,2536,-0.98,-194.6,251.0,-8.3,163,2542,0.00,2.20,0.00,0.000,6,0.000,0.043,2041,2504,3303,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2851,-1.00,-194.6,280.8,-8.4,179,2856,0.00,2.17,0.00,0.000,4,0.000,0.046,2041,1100,3300,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2895,-1.01,-194.6,284.6,-8.5,181,2901,0.00,2.17,0.00,0.000,6,0.000,0.045,2040,2505,3300,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3219,-1.03,-194.6,312.7,-8.8,197,3225,0.00,2.20,0.00,0.000,4,0.000,0.045,2040,1098,3298,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3273,-1.05,-194.6,316.6,-8.8,199,3278,0.00,2.17,0.00,0.000,6,0.000,0.046,2040,2495,3298,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3586,-1.08,-194.6,345.3,-9.3,215,3592,0.00,2.20,0.00,0.000,4,0.000,0.047,2040,1094,3295,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3650,-1.10,-194.6,351.6,-9.8,218,3655,0.00,2.22,0.00,0.000,6,0.000,0.045,2040,2512,3295,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3974,-1.13,-194.6,385.9,-11.0,234,3980,0.00,2.22,-0.08,0.000,4,0.000,0.058,2040,1095,3316,0,0,0,0,0,0,28.83,26.56,25.92
$GC,4084,-1.15,-194.6,397.3,-10.8,239,4089,0.00,2.22,0.00,0.000,6,0.000,0.047,2040,2507,3315,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4403,-1.18,-194.6,429.4,-9.4,255,4409,0.10,2.22,0.00,0.000,4,0.112,0.046,1997,1097,3314,0,0,0,0,0,0,26.91,26.54,28.83
$GC,4462,-1.20,-194.6,434.5,-10.4,257,4470,0.00,2.22,0.00,0.000,6,0.000,0.047,1996,2505,3314,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4767,-1.20,-194.6,468.9,-10.1,273,4773,0.00,2.22,0.00,0.000,4,0.000,0.050,1997,1099,3311,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4826,-1.20,-194.6,473.4,-10.0,275,4832,0.00,2.22,0.00,0.000,6,0.000,0.048,1997,2504,3310,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5131,-1.20,-194.6,504.3,-9.8,291,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2504,3309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5433,-1.20,-194.6,533.8,-9.4,306,5438,0.00,2.22,0.00,0.000,4,0.000,0.050,1997,1092,3306,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5565,-1.20,-194.6,545.5,-9.3,312,5571,0.00,2.25,0.00,0.000,6,0.000,0.049,1997,2505,3305,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5880,-1.20,-194.6,576.6,-10.3,328,5885,0.00,2.25,0.00,0.000,4,0.000,0.050,1997,1093,3302,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5916,-1.20,-194.6,579.2,-10.3,329,5924,0.00,2.22,0.00,0.000,6,0.000,0.050,1997,2504,3302,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6225,-1.20,-194.6,615.5,-11.3,343,6226,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2504,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6522,-1.20,-194.6,647.5,-10.4,353,6528,0.00,2.22,0.00,0.000,4,0.000,0.051,1996,1097,3299,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6600,-1.20,-194.6,654.3,-10.6,355,6605,0.00,2.25,0.00,0.000,6,0.000,0.050,1997,2504,3298,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6921,-1.21,-194.6,689.9,-10.9,366,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2504,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7218,-1.22,-194.6,724.3,-11.9,376,7223,0.00,2.25,0.00,0.000,4,0.000,0.053,1997,1100,3294,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7307,-1.23,-194.6,732.3,-12.2,378,7314,0.00,2.25,0.00,0.000,6,0.000,0.051,1996,2500,3294,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7614,-1.25,-194.6,771.8,-11.9,389,7619,0.00,2.22,0.00,0.000,4,0.000,0.052,1997,1102,3249,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7653,-1.26,-194.6,775.9,-11.9,390,7658,0.00,2.22,0.00,0.000,6,0.000,0.052,1996,2500,3292,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7982,-1.28,-194.6,813.9,-10.9,401,7989,0.00,2.22,0.00,0.000,4,0.000,0.054,1996,1099,3214,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8048,-1.29,-194.6,820.9,-10.5,403,8054,0.00,2.25,0.00,0.000,6,0.000,0.051,1997,2501,3290,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8384,-1.31,-194.6,850.5,-8.3,414,8390,0.00,2.25,0.00,0.000,4,0.000,0.053,1997,1096,3271,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8454,-1.32,-194.6,856.2,-8.4,416,8459,0.00,2.28,0.00,0.000,6,0.000,0.052,1997,2506,3289,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8784,-1.34,-194.6,884.6,-8.1,427,8785,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2506,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9083,-1.36,-194.6,909.2,-8.1,437,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2506,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9383,-1.38,-194.6,934.2,-8.1,447,9389,0.00,2.28,0.00,0.000,4,0.000,0.054,1997,1097,3284,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9457,-1.39,-194.6,940.0,-8.6,449,9463,0.10,2.28,0.00,0.000,6,0.112,0.054,1955,2505,3284,0,0,0,0,0,0,26.32,26.30,28.83
$STATE,9539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9539,begin apogee
$GC,9546,-0.22,0.0,950.1,-10.4,452,9717,0.82,0.00,158.05,1.259,6,0.111,0.000,2226,1711,2509,0,0,0,0,1,0,25.89,28.83,23.53
$STATE,9719,end apogee,CONTROL_FINISHED_OK
$STATE,9719,begin climb
$GC,9721,0.69,194.6,957.9,0.0,457,9943,0.57,2.55,179.45,1.162,4,0.054,0.056,2442,3117,1673,0,0,0,0,6,0,25.16,24.47,23.03
$GC,10012,0.70,284.3,948.9,6.3,467,10110,0.00,2.38,81.30,1.157,6,0.000,0.050,2445,1693,1349,0,0,0,0,2,0,28.83,25.38,23.32
$GC,10411,0.70,284.3,912.7,9.4,480,10417,0.00,2.33,0.00,0.000,4,0.000,0.058,2445,3118,1338,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10438,0.70,284.3,912.7,9.4,480,10446,0.12,2.28,0.00,0.000,6,0.129,0.050,2418,1699,1303,0,0,0,0,0,0,26.20,26.28,28.83
$GC,10748,0.74,326.3,885.9,7.9,491,10788,0.00,2.38,35.28,1.186,4,0.000,0.057,2417,3115,1178,0,0,0,0,0,0,28.83,25.84,24.37
$GC,10832,0.78,363.0,881.0,8.1,493,10873,0.10,2.33,32.30,1.166,6,0.096,0.052,2465,1699,1029,0,0,0,0,0,0,26.08,26.04,24.19
$GC,11201,0.78,363.0,842.2,9.4,506,11206,0.00,2.33,0.00,0.000,4,0.000,0.059,2466,3116,1022,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11248,0.78,363.0,838.6,9.8,507,11254,0.10,2.30,0.00,0.000,6,0.148,0.053,2440,1695,1021,0,0,0,0,0,0,26.30,26.38,28.83
$GC,11569,0.82,398.8,810.5,8.1,518,11606,0.00,2.38,30.40,1.151,4,0.000,0.057,2440,3117,882,0,0,0,0,0,0,28.83,25.96,24.51
$GC,11629,0.86,435.7,805.4,8.1,520,11668,0.00,2.33,32.30,1.135,6,0.000,0.053,2441,1690,732,0,0,0,0,0,0,28.83,26.06,24.22
$GC,11992,0.91,466.5,776.6,8.3,532,12026,0.12,2.38,26.40,1.116,4,0.093,0.059,2511,3117,606,0,0,0,0,0,0,26.57,25.93,24.51
$GC,12059,0.92,466.5,768.6,10.5,534,12065,0.15,2.33,0.00,0.000,6,0.134,0.053,2468,1690,605,0,0,0,0,0,0,25.96,26.07,28.83
$GC,12391,0.94,466.5,734.4,9.7,545,12396,0.00,2.22,0.00,0.000,4,0.000,0.063,2468,283,597,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12414,0.95,466.5,734.4,9.7,545,12419,0.00,2.28,0.00,0.000,6,0.000,0.048,2468,1706,602,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12730,0.98,466.5,697.7,11.2,556,12735,0.00,2.20,0.00,0.000,4,0.000,0.059,2468,3110,595,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12787,1.00,466.5,693.5,11.3,557,12796,0.10,2.28,0.00,0.000,6,0.103,0.053,2523,1692,599,0,0,0,0,0,0,26.49,26.46,28.83
$GC,13097,0.97,466.5,641.6,16.1,568,13099,0.15,0.00,0.00,0.000,6,0.126,0.000,2477,1692,597,0,0,0,0,0,0,26.59,28.83,28.83
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$GC,15746,1.08,466.5,330.9,11.4,693,15747,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1698,598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16046,1.08,466.5,296.2,11.5,708,16051,0.00,2.28,0.00,0.000,4,0.000,0.056,2507,3115,598,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,18881,end climb,SURFACE_DEPTH_REACHED
$STATE,18881,begin surface coast
$FINISH,1.7,1.021983
$STATE,18902,end surface coast,CONTROL_FINISHED_OK
$STATE,18902,begin surface
$SM_CCo,18981,0.00,0.000,0,0,242,556.10
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$IRIDIUM_FIX,1841.87,12223.73,060113,040444
$TT8_MAMPS,0.027713,0.027713
$HUMID,62.20
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,24.70
$XPDR_PINGS,10
$SC_FREEKB,3900320
$24V_AH,23.0,62.006
$10V_AH,9.9,35.862
$FG_AHR_24Vo,69.418
$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,19.675,182.025,646.950,0.000,0.000,0.000,0.000,369.950,2.500,0.000,16.698,2826.050,13023.623,818.401,2536.573,455.868,0.000,2423.571,0.000,2101.961,0.000,0.538,0.000
$DEVICE_MAMPS,256.275,63.495,1259.190,0.000,0.000,0.000,0.000,125.460,420.000,0.000,29.960,14.710,2.190,13.960,38.680,47.660,0.000,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18929.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.571,0.000,0.000,0.000
$MEM,306876
$DATA_FILE_SIZE,33364,880
$CAP_FILE_SIZE,219593,0
$CFSIZE,260034560,220356608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$CURRENT,0.259,347.5,1
$GPS,060113,155835,1850.732,12226.025,32,1.3,32,-2.1