version: 66.11
glider: 129
mission: 4
dive: 312
start: 1 18 113 8 30 57
data:
$ID,129
$MISSION,4
$DIVE,312
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$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,390
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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_GPS_ALMANAC,0
$T_GPS_CHARGE,-3109.3618
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,79
$R_STBD_OVSHOOT,83
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,21.5
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$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,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,180113,082153,1954.168,12344.101,25,0.8,43,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-50.8
$GPS2,180113,083031,1954.038,12344.122,13,1.7,13,-2.4
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,20.4,73439,-14.2,-8.462,-17.62
$D_GRID,5146
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.54,-175.2,0.0,0.0,0,87,0.00,0.00,-65.45,0.000,2,0.000,0.000,45,1901,1795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.54,-175.2,3.1,-3.6,11,140,7.90,2.08,-35.33,0.000,4,0.236,0.043,1981,524,3125,0,0,0,0,0,0,25.01,26.13,26.55
$GC,165,-0.49,-175.2,13.2,-21.3,23,173,0.12,2.00,0.00,0.000,6,0.164,0.023,2004,1910,3126,0,0,0,0,0,0,25.85,26.21,28.83
$GC,482,-0.42,-175.2,93.1,-26.2,50,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,1920,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,783,-0.38,-175.2,153.3,-15.0,65,790,0.12,2.00,0.00,0.000,4,0.160,0.026,2045,523,3126,0,0,0,0,0,0,26.14,26.29,28.83
$GC,829,-0.36,-175.2,159.5,-14.2,67,835,0.00,2.03,0.00,0.000,6,0.000,0.021,2036,1943,3126,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1153,-0.36,-175.2,195.0,-8.9,83,1158,0.00,2.05,0.00,0.000,4,0.000,0.027,2037,529,3125,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1260,-0.36,-175.2,205.8,-10.6,88,1266,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1922,3126,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1579,-0.36,-175.2,241.6,-11.6,104,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1922,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1881,-0.36,-175.2,275.2,-11.2,119,1886,0.00,2.00,0.00,0.000,4,0.000,0.028,2034,531,3125,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1978,-0.36,-175.2,284.5,-11.0,123,1986,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1927,3124,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2284,-0.36,-175.2,314.2,-8.9,139,2290,0.00,2.03,0.00,0.000,4,0.000,0.028,2034,537,3124,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2311,-0.36,-175.2,316.4,-8.9,140,2316,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1931,3124,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2629,-0.37,-175.2,345.2,-9.2,156,2634,0.00,2.00,0.00,0.000,4,0.000,0.034,2034,3306,3123,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2646,-0.38,-175.2,345.2,-9.2,156,2653,0.00,1.92,0.00,0.000,6,0.000,0.020,2033,1913,3123,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2952,-0.39,-175.2,375.6,-9.6,172,2957,0.00,1.98,0.00,0.000,4,0.000,0.028,2034,540,3123,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3025,-0.40,-175.2,381.7,-9.5,175,3030,0.00,1.98,0.00,0.000,6,0.000,0.020,2034,1940,3122,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3339,-0.42,-175.2,408.9,-8.2,191,3344,0.00,2.05,0.00,0.000,4,0.000,0.028,2034,536,3121,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3445,-0.43,-175.2,418.3,-9.1,196,3451,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1924,3121,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3769,-0.45,-175.2,443.1,-7.2,212,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1923,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4071,-0.47,-175.2,462.9,-6.3,227,4076,0.00,2.03,0.00,0.000,4,0.000,0.028,2034,546,3117,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4135,-0.48,-175.2,467.3,-6.7,230,4140,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1928,3116,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4458,-0.50,-175.2,487.0,-5.6,246,4461,0.12,0.00,-0.10,0.000,6,0.096,0.000,1973,1929,3139,0,0,0,0,0,0,26.44,28.83,25.76
$GC,4759,-0.49,-175.2,513.3,-8.6,261,4764,0.00,2.00,0.00,0.000,4,0.000,0.029,1973,551,3139,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4824,-0.48,-175.2,519.5,-9.4,264,4830,0.08,2.00,0.00,0.000,6,0.125,0.022,2005,1925,3139,0,0,0,0,0,0,26.01,26.36,28.83
$GC,5149,-0.48,-175.2,543.0,-7.9,280,5155,0.00,2.03,0.00,0.000,4,0.000,0.031,2005,545,3138,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5187,-0.48,-175.2,545.2,-8.1,281,5194,0.00,1.98,0.00,0.000,6,0.000,0.021,1998,1929,3138,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5493,-0.48,-175.2,573.5,-8.7,297,5498,0.00,2.03,0.00,0.000,4,0.000,0.030,1998,542,3136,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5530,-0.48,-175.2,575.6,-8.8,298,5536,0.00,1.98,0.00,0.000,6,0.000,0.022,1989,1926,3136,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5856,-0.48,-175.2,606.2,-8.9,314,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1926,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6157,-0.48,-175.2,632.4,-8.4,324,6163,0.00,2.03,0.00,0.000,4,0.000,0.031,1989,547,3131,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6221,-0.48,-175.2,638.1,-8.5,326,6226,0.00,2.00,0.00,0.000,6,0.000,0.022,1980,1934,3131,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6556,-0.48,-175.2,666.3,-8.6,337,6562,0.00,2.03,0.00,0.000,4,0.000,0.031,1980,553,3129,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6590,-0.48,-175.2,669.7,-8.7,338,6596,0.12,1.98,0.00,0.000,6,0.147,0.022,2007,1926,3129,0,0,0,0,0,0,26.02,26.34,28.83
$GC,6928,-0.49,-175.2,694.0,-7.4,349,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1928,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7224,-0.51,-175.2,714.2,-6.5,359,7230,0.00,2.03,0.00,0.000,4,0.000,0.031,2007,546,3124,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7299,-0.52,-175.2,718.8,-6.7,361,7304,0.00,1.98,0.00,0.000,6,0.000,0.022,2001,1924,3125,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7624,-0.52,-175.2,740.9,-6.8,372,7630,0.00,2.03,0.00,0.000,4,0.000,0.031,2001,542,3124,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7647,-0.52,-175.2,740.9,-6.8,372,7653,0.00,2.00,0.00,0.000,6,0.000,0.022,1992,1921,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7963,-0.52,-175.2,768.4,-8.4,383,7964,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1922,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8261,-0.52,-175.2,793.7,-8.2,393,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1922,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8562,-0.52,-175.2,816.0,-7.3,403,8563,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,1923,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8861,-0.52,-175.2,836.4,-6.8,413,8866,0.00,2.05,0.00,0.000,4,0.000,0.031,1992,555,3119,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8928,-0.52,-175.2,841.4,-7.4,415,8934,0.00,1.98,0.00,0.000,6,0.000,0.022,1983,1922,3119,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9258,-0.52,-175.2,866.5,-7.5,426,9259,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1923,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9557,-0.52,-175.2,889.7,-7.9,436,9562,0.00,2.03,0.00,0.000,4,0.000,0.031,1983,550,3117,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9595,-0.52,-175.2,892.5,-8.1,437,9600,0.00,2.00,0.00,0.000,6,0.000,0.022,1974,1940,3117,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9924,-0.52,-175.2,921.8,-8.7,448,9930,0.00,2.05,0.00,0.000,4,0.000,0.031,1974,548,3116,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9972,-0.52,-175.2,925.0,-8.8,449,9977,0.00,2.00,0.00,0.000,6,0.000,0.023,1964,1933,3116,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10290,-0.52,-175.2,955.7,-9.1,460,10291,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,1933,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10591,-0.52,-175.2,982.3,-8.7,470,10596,0.00,2.08,0.00,0.000,4,0.000,0.032,1967,543,3114,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10637,-0.52,-175.2,985.3,-8.7,471,10643,0.12,1.98,0.00,0.000,6,0.151,0.023,1992,1926,3114,0,0,0,0,0,0,25.91,26.27,28.83
$STATE,10684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10684,begin apogee
$GC,10690,-0.17,0.0,990.5,-8.7,473,10848,0.32,0.00,151.05,1.407,6,0.115,0.000,2105,1926,2409,0,0,0,0,0,0,25.77,28.83,22.30
$STATE,10850,end apogee,CONTROL_FINISHED_OK
$STATE,10850,begin climb
$GC,10852,0.54,175.2,996.7,0.0,478,11024,0.68,2.35,161.88,1.356,4,0.086,0.033,2331,538,1693,0,0,0,0,0,0,24.21,23.63,21.89
$GC,11071,0.58,257.6,989.4,5.8,485,11155,0.00,2.10,75.93,1.328,6,0.000,0.020,2331,1895,1357,0,0,0,0,0,0,28.83,24.75,22.06
$GC,11475,0.61,285.5,958.0,7.6,499,11507,0.00,2.17,24.58,1.299,4,0.000,0.034,2331,3282,1244,0,0,0,0,0,0,28.83,25.50,23.70
$GC,11571,0.63,291.2,950.1,8.3,502,11585,0.00,2.00,6.55,1.053,6,0.000,0.023,2331,1916,1222,0,0,0,0,0,0,28.83,25.96,23.78
$GC,11899,0.65,294.0,922.8,8.4,513,11904,0.12,2.10,0.00,0.000,4,0.106,0.033,2390,509,1219,0,0,0,0,0,0,26.24,26.17,28.83
$GC,11927,0.68,296.8,922.8,8.4,513,11939,0.00,2.00,6.53,1.070,6,0.000,0.021,2390,1920,1198,0,0,0,0,0,0,28.83,26.28,23.91
$GC,12268,0.68,296.8,878.0,12.4,525,12274,0.00,2.03,0.00,0.000,4,0.000,0.035,2390,3281,1195,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12355,0.68,296.8,869.7,12.7,527,12362,0.00,2.00,0.00,0.000,6,0.000,0.024,2396,1891,1195,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12662,0.68,296.8,830.5,11.5,538,12668,0.00,2.03,0.00,0.000,4,0.000,0.034,2406,508,1194,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12689,0.68,296.8,830.5,11.5,538,12696,0.00,1.98,0.00,0.000,6,0.000,0.021,2406,1904,1194,0,0,0,0,0,0,28.83,26.35,28.83
$GC,12997,0.68,296.8,790.7,11.7,549,13002,0.00,2.03,0.00,0.000,4,0.000,0.035,2406,3271,1194,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13159,0.68,296.8,772.0,12.1,554,13165,0.12,2.00,0.00,0.000,6,0.171,0.024,2381,1887,1193,0,0,0,0,0,0,25.94,26.33,28.83
$GC,13485,0.68,296.8,741.9,8.5,565,13490,0.00,2.05,0.00,0.000,4,0.000,0.034,2381,3270,1193,0,0,0,0,0,0,28.83,26.18,28.83
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$GC,16795,0.71,296.8,424.8,9.4,703,16802,0.00,1.98,0.00,0.000,6,0.000,0.023,2387,1891,1191,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,21142,end climb,SURFACE_DEPTH_REACHED
$STATE,21142,begin surface coast
$FINISH,1.4,1.022703
$STATE,21158,end surface coast,CONTROL_FINISHED_OK
$STATE,21158,begin surface
$SM_CCo,21234,0.00,0.000,0,0,641,433.69
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$IRIDIUM_FIX,1943.54,12351.57,180113,020228
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.60
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,3900544
$24V_AH,21.9,62.883
$10V_AH,9.7,43.440
$FG_AHR_24Vo,120.571
$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,16.700,177.600,551.750,0.000,0.000,0.000,0.000,311.500,0.000,0.000,14.205,3145.954,14674.656,714.642,2722.691,479.707,0.000,2356.796,0.000,2319.573,0.000,0.540,0.000
$DEVICE_MAMPS,235.620,42.840,1406.835,0.000,0.000,0.000,0.000,135.405,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21183.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.739,0.000,0.000,0.000
$MEM,329020
$DATA_FILE_SIZE,36681,966
$CAP_FILE_SIZE,234327,0
$CFSIZE,260034560,220155904
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.272,189.2,1
$GPS,180113,142605,1953.964,12343.948,35,1.4,35,-2.4