version: 66.11
glider: 129
mission: 4
dive: 440
start: 2 15 113 3 38 43
data:
$ID,129
$MISSION,4
$DIVE,440
$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,350
$T_MISSION,380
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,190
$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,-3333.7112
$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,61
$R_STBD_OVSHOOT,91
$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,20
$MINV_10V,9
$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
$GPS1,150213,032936,1911.387,12241.720,31,1.0,31,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-62.1
$GPS2,150213,033813,1911.525,12241.747,13,1.1,13,-2.2
$SPEED_LIMITS,0.163,0.283
$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,84.3,207278,-15.3,-9.429,-18.41
$D_GRID,2949
$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,18,begin dive
$GC,21,-0.58,-184.9,0.0,0.0,0,93,0.00,0.00,-70.03,0.000,2,0.000,0.000,58,1925,1906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.58,-184.9,3.5,-5.4,12,141,7.90,2.10,-29.77,0.000,4,0.236,0.045,1954,3298,3164,0,0,0,0,0,0,24.87,25.99,26.53
$GC,182,-0.53,-184.9,18.7,-24.2,26,190,0.12,1.98,0.00,0.000,6,0.160,0.023,1986,1902,3165,0,0,0,0,0,0,25.75,26.15,28.83
$GC,500,-0.47,-184.9,107.0,-27.8,49,506,0.00,1.98,0.00,0.000,4,0.000,0.031,1986,538,3164,0,0,0,0,0,0,28.83,26.06,28.83
$GC,725,-0.43,-184.9,151.6,-16.7,60,732,0.15,1.95,0.00,0.000,6,0.149,0.020,2020,1922,3165,0,0,0,0,0,0,25.77,26.22,28.83
$GC,1051,-0.43,-184.9,194.0,-13.8,76,1056,0.00,2.00,0.00,0.000,4,0.000,0.031,2011,3306,3165,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1084,-0.43,-184.9,197.2,-14.1,77,1090,0.00,1.98,0.00,0.000,6,0.000,0.021,2011,1923,3166,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1398,-0.43,-184.9,237.1,-11.6,93,1403,0.00,1.98,0.00,0.000,4,0.000,0.030,2011,544,3166,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1472,-0.43,-184.9,244.2,-11.1,96,1478,0.00,1.95,0.00,0.000,6,0.000,0.020,2001,1929,3166,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1787,-0.43,-184.9,281.0,-10.4,112,1792,0.00,2.00,0.00,0.000,4,0.000,0.031,1991,3306,3164,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1814,-0.43,-184.9,283.2,-10.0,113,1819,0.00,1.95,0.00,0.000,6,0.000,0.021,1991,1923,3164,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2132,-0.43,-184.9,317.6,-11.2,129,2139,0.10,2.00,0.00,0.000,4,0.151,0.028,2018,538,3163,0,0,0,0,0,0,26.24,26.08,28.83
$GC,2186,-0.43,-184.9,322.5,-11.3,131,2191,0.00,1.98,0.00,0.000,6,0.000,0.020,2010,1936,3163,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2499,-0.43,-184.9,358.4,-11.0,147,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,1937,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2802,-0.43,-184.9,387.8,-9.5,162,2807,0.00,2.08,0.00,0.000,4,0.000,0.029,2010,535,3163,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2934,-0.43,-184.9,399.2,-9.1,168,2941,0.00,1.98,0.00,0.000,6,0.000,0.021,2001,1928,3160,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3249,-0.43,-184.9,423.4,-7.5,184,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,1928,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3551,-0.43,-184.9,446.0,-8.0,199,3557,0.00,2.03,0.00,0.000,4,0.000,0.033,1990,3302,3156,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3591,-0.44,-184.9,448.1,-7.9,200,3597,0.00,1.98,0.00,0.000,6,0.000,0.021,1990,1929,3156,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3895,-0.44,-184.9,476.5,-9.5,216,3901,0.00,2.08,-0.08,0.000,4,0.000,0.043,1990,532,3183,0,0,0,0,0,0,28.83,26.00,25.18
$GC,3996,-0.44,-184.9,485.2,-10.4,220,4003,0.12,2.00,0.00,0.000,6,0.142,0.021,2017,1914,3182,0,0,0,0,0,0,25.89,26.22,28.83
$GC,4301,-0.46,-184.9,511.4,-7.6,236,4306,0.00,2.08,0.00,0.000,4,0.000,0.034,2008,3304,3182,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4349,-0.49,-184.9,514.8,-7.6,238,4354,0.00,1.98,0.00,0.000,6,0.000,0.022,2008,1926,3182,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4669,-0.50,-184.9,539.0,-7.5,254,4674,0.00,2.03,0.00,0.000,4,0.000,0.031,2008,535,3180,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4748,-0.52,-184.9,544.2,-7.5,257,4755,0.00,1.98,0.00,0.000,6,0.000,0.021,1999,1936,3180,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5054,-0.53,-184.9,567.2,-6.7,273,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1936,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5356,-0.54,-184.9,584.2,-5.1,288,5361,0.00,2.08,0.00,0.000,4,0.000,0.031,1999,532,3176,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5441,-0.56,-184.9,589.5,-6.2,292,5446,0.00,2.00,0.00,0.000,6,0.000,0.021,1991,1923,3176,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5757,-0.57,-184.9,612.3,-7.9,305,5762,0.00,2.05,0.00,0.000,4,0.000,0.031,1991,534,3174,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5852,-0.58,-184.9,620.7,-8.6,308,5857,0.00,2.00,0.00,0.000,6,0.000,0.021,1982,1921,3173,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6188,-0.58,-184.9,650.7,-8.8,319,6193,0.00,2.08,0.00,0.000,4,0.000,0.031,1983,531,3171,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6267,-0.58,-184.9,656.6,-9.0,321,6273,0.00,2.00,0.00,0.000,6,0.000,0.022,1973,1927,3171,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6588,-0.58,-184.9,684.6,-8.0,332,6594,0.00,2.08,0.00,0.000,4,0.000,0.031,1973,540,3170,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6642,-0.58,-184.9,687.5,-8.0,333,6647,0.00,1.98,0.00,0.000,6,0.000,0.021,1965,1931,3169,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6957,-0.58,-184.9,713.7,-7.8,344,6962,0.00,2.08,0.00,0.000,4,0.000,0.031,1965,528,3168,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7005,-0.58,-184.9,716.2,-7.8,345,7011,0.00,2.00,0.00,0.000,6,0.000,0.022,1955,1932,3167,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7328,-0.58,-184.9,743.7,-8.2,356,7329,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,1932,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7625,-0.58,-184.9,765.7,-7.0,366,7631,0.00,2.08,0.00,0.000,4,0.000,0.036,1945,3314,3164,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7669,-0.58,-184.9,768.0,-6.9,367,7674,0.00,2.03,0.00,0.000,6,0.000,0.023,1945,1912,3166,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7995,-0.58,-184.9,794.2,-8.3,378,8000,0.00,2.03,0.00,0.000,4,0.000,0.032,1945,535,3163,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8089,-0.58,-184.9,803.2,-9.2,381,8095,0.12,2.00,0.00,0.000,6,0.153,0.022,1969,1925,3163,0,0,0,0,0,0,25.73,26.12,28.83
$GC,8424,-0.58,-184.9,829.0,-7.5,392,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1925,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8725,-0.58,-184.9,851.1,-7.4,402,8726,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1926,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9024,-0.58,-184.9,874.3,-7.9,412,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1926,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9325,-0.58,-184.9,897.5,-7.7,422,9326,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,1926,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9624,-0.58,-184.9,921.9,-8.2,432,9629,0.00,2.10,0.00,0.000,4,0.000,0.032,1969,542,3158,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9667,-0.58,-184.9,925.0,-8.4,433,9673,0.00,2.00,0.00,0.000,6,0.000,0.022,1961,1938,3159,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9994,-0.58,-184.9,953.1,-8.2,444,9996,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1938,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10291,-0.58,-184.9,976.6,-7.8,454,10292,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,1939,3157,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10469,begin apogee
$GC,10476,-0.17,0.0,990.3,-7.5,460,10646,0.43,0.00,160.35,1.415,6,0.117,0.000,2102,1942,2408,0,0,0,0,0,0,25.28,28.83,22.40
$STATE,10647,end apogee,CONTROL_FINISHED_OK
$STATE,10648,begin climb
$GC,10651,0.58,184.9,993.9,0.0,465,10831,0.73,2.50,170.95,1.358,4,0.085,0.036,2356,528,1654,0,0,0,0,0,0,24.27,23.37,21.61
$GC,10927,0.58,184.9,973.5,9.9,475,10932,0.00,2.03,0.00,0.000,6,0.000,0.023,2356,1886,1648,0,0,0,0,0,0,28.83,25.58,28.83
$GC,11264,0.58,184.9,939.0,10.5,486,11269,0.00,2.10,0.00,0.000,4,0.000,0.035,2356,3290,1644,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11399,0.58,184.9,924.4,11.5,490,11405,0.00,2.03,0.00,0.000,6,0.000,0.027,2365,1908,1643,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11725,0.58,184.9,889.3,9.9,501,11726,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1908,1642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12024,0.60,229.0,863.9,7.9,511,12072,0.00,2.25,38.05,1.318,4,0.000,0.034,2365,3302,1474,0,0,0,0,0,0,28.83,25.29,23.41
$GC,12137,0.62,273.3,856.4,7.9,514,12184,0.00,2.10,40.28,1.294,6,0.000,0.027,2375,1895,1294,0,0,0,0,0,0,28.83,25.89,23.29
$GC,12508,0.65,317.1,823.9,7.9,527,12555,0.00,2.22,39.20,1.284,4,0.000,0.034,2375,3294,1115,0,0,0,0,0,0,28.83,25.31,23.43
$GC,12601,0.68,341.3,815.9,8.6,530,12630,0.00,2.10,22.73,1.233,6,0.000,0.027,2383,1900,1017,0,0,0,0,0,0,28.83,25.82,23.50
$GC,12929,0.70,346.4,785.9,9.3,541,12939,0.00,2.17,5.30,0.954,4,0.000,0.038,2387,504,996,0,0,0,0,0,0,28.83,25.93,23.99
$GC,12978,0.72,349.1,782.8,9.3,542,12989,0.00,2.03,4.35,0.855,6,0.000,0.022,2386,1910,985,0,0,0,0,0,0,28.83,26.13,23.93
$GC,13300,0.74,355.2,751.7,9.2,553,13314,0.00,2.10,6.62,1.033,4,0.000,0.035,2392,3281,961,0,0,0,0,0,0,28.83,25.96,24.00
$GC,13358,0.76,364.8,748.4,9.1,554,13374,0.00,2.05,10.40,1.129,6,0.000,0.027,2390,1895,921,0,0,0,0,0,0,28.83,26.08,23.86
$GC,13698,0.79,377.7,715.6,9.0,566,13717,0.00,2.12,12.80,1.154,4,0.000,0.036,2401,506,868,0,0,0,0,0,0,28.83,25.79,23.94
$GC,13765,0.81,390.7,709.9,9.0,568,13784,0.00,2.03,13.00,1.147,6,0.000,0.022,2401,1907,816,0,0,0,0,0,0,28.83,26.06,23.77
$GC,14095,0.83,390.7,678.2,9.5,579,14100,0.00,2.03,0.00,0.000,4,0.000,0.034,2401,3282,814,0,0,0,0,0,0,28.83,25.97,28.83
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$GC,19521,1.14,528.0,21.9,12.1,847,19528,0.00,2.12,0.00,0.000,4,0.000,0.033,2549,495,254,0,0,0,0,0,0,28.83,25.97,28.83
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$STATE,19679,end climb,SURFACE_DEPTH_REACHED
$STATE,19679,begin surface coast
$FINISH,1.0,1.022438
$STATE,19695,end surface coast,CONTROL_FINISHED_OK
$STATE,19695,begin surface
$SM_CCo,19774,0.00,0.000,0,0,254,528.62
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$IRIDIUM_FIX,1900.10,12238.77,140213,212139
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.94
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3851488
$24V_AH,21.6,90.567
$10V_AH,9.6,59.169
$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,16.575,163.775,640.450,0.000,0.000,0.000,0.000,290.100,0.000,0.000,13.876,2932.609,13462.401,751.774,2567.970,566.759,0.000,2313.090,0.000,2200.130,0.000,0.540,0.000
$DEVICE_MAMPS,235.620,45.135,1415.250,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19734.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.980,0.000,0.000,0.000
$MEM,308660
$DATA_FILE_SIZE,33360,879
$CAP_FILE_SIZE,218268,0
$CFSIZE,260034560,207577088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129,274.0,1
$GPS,150213,090936,1912.565,12243.231,38,1.2,38,-2.2