version: 66.04
glider: 160
mission: 3
dive: 28
start: 2 1 109 5 7 44
data:
$ID,160
$MISSION,3
$DIVE,28
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$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,480
$T_MISSION,540
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51810
$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,225
$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,-7579.6377
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2613
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3792
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,490
$VBD_MAX,3961
$C_VBD,3046
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.900637
$PRESSURE_SLOPE,0.000115925
$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,50
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0043896637
$SEABIRD_T_H,0.00063842954
$SEABIRD_T_I,2.5580319e-05
$SEABIRD_T_J,2.7701631e-06
$SEABIRD_C_G,-10.180033
$SEABIRD_C_H,1.1381946
$SEABIRD_C_I,-0.00092952099
$SEABIRD_C_J,0.0001655513
$GPS1,050207,6411.296,43.756,24,1.8,24,-4.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,3.38
$_SM_ANGLEo,-61.8
$GPS2,050739,6411.310,43.871,12,1.8,13,-4.7
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,OFFSHORE
$TGT_LATLONG,6440.000,-100.000
$TGT_RADIUS,4000.000
$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,262.5,97972,-13.7,-6.875
$D_GRID,2372
$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
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.77,-116.7,0.0,0.0,0,23,0.00,0.00,-10.32,0.000,2,0.000,0.000,132,2312,2224
$GC,25,-0.77,-116.7,3.4,-0.0,1,115,8.48,2.45,-74.65,0.000,4,0.228,0.094,2361,877,3523
$GC,354,-0.41,-116.7,22.6,-10.9,59,361,0.32,2.40,0.00,0.000,6,0.123,0.071,2472,2286,3524
$GC,681,-0.57,-116.7,41.3,-3.4,120,688,0.12,2.35,0.00,0.000,4,0.072,0.074,2417,890,3525
$GC,772,-0.46,-116.7,46.1,-4.7,137,779,0.12,2.35,0.00,0.000,6,0.124,0.069,2461,2293,3525
$GC,1096,-0.59,-116.7,64.2,-7.0,198,1104,0.12,2.38,0.00,0.000,4,0.071,0.076,2404,882,3526
$GC,1145,-0.43,-116.7,69.0,-10.3,207,1154,0.17,2.38,0.00,0.000,6,0.123,0.073,2466,2287,3526
$GC,1473,-0.59,-116.7,93.8,-6.6,268,1480,0.12,2.35,0.00,0.000,4,0.071,0.074,2409,881,3526
$GC,1543,-0.47,-116.7,100.1,-9.7,281,1549,0.12,2.38,0.00,0.000,6,0.120,0.073,2455,2302,3526
$GC,1869,-0.58,-116.7,123.3,-7.3,342,1876,0.00,2.38,0.00,0.000,4,0.000,0.075,2455,887,3526
$GC,1949,-0.66,-116.7,129.5,-7.5,357,1956,0.12,2.33,0.00,0.000,6,0.055,0.071,2391,2284,3526
$GC,2272,-0.50,-116.7,157.0,-8.3,410,2273,0.20,0.00,0.00,0.000,6,0.128,0.000,2454,2284,3526
$GC,2583,-0.61,-116.7,173.8,-5.6,440,2587,0.12,2.33,0.00,0.000,4,0.071,0.074,2397,885,3527
$GC,2651,-0.44,-116.7,179.6,-9.4,446,2658,0.20,2.30,0.00,0.000,6,0.119,0.071,2466,2271,3527
$GC,2967,-0.62,-116.7,202.3,-6.7,476,2968,0.15,0.00,0.00,0.000,6,0.067,0.000,2403,2271,3526
$GC,3274,-0.52,-116.7,227.2,-8.0,496,3275,0.15,0.00,0.00,0.000,6,0.127,0.000,2448,2271,3526
$GC,3581,-0.62,-116.7,246.3,-6.7,516,3585,0.12,2.30,0.00,0.000,4,0.074,0.078,2392,890,3527
$GC,3692,-0.44,-116.7,256.7,-9.1,523,3697,0.20,2.30,0.00,0.000,6,0.119,0.070,2463,2282,3527
$GC,4016,-0.62,-116.7,274.8,-5.0,544,4020,0.15,2.33,0.00,0.000,4,0.069,0.077,2399,877,3527
$GC,4052,-0.46,-116.7,277.4,-7.5,546,4057,0.17,2.33,0.00,0.000,6,0.119,0.072,2459,2279,3527
$GC,4370,-0.62,-116.7,294.0,-5.6,567,4374,0.15,2.30,0.00,0.000,4,0.066,0.079,2393,878,3527
$GC,4406,-0.44,-116.7,297.1,-8.8,569,4411,0.20,2.33,0.00,0.000,6,0.120,0.074,2463,2273,3527
$GC,4728,-0.63,-116.7,313.0,-4.3,586,4732,0.15,2.33,0.00,0.000,4,0.069,0.079,2400,876,3527
$GC,4775,-0.49,-116.7,316.3,-7.3,588,4780,0.12,2.33,0.00,0.000,6,0.123,0.074,2446,2272,3527
$GC,5097,-0.60,-116.7,336.6,-6.9,604,5101,0.00,2.33,0.00,0.000,4,0.000,0.080,2446,887,3527
$GC,5133,-0.69,-116.7,339.3,-7.7,605,5140,0.12,2.30,0.00,0.000,6,0.058,0.074,2384,2268,3527
$GC,5444,-0.52,-116.7,367.8,-9.3,621,5448,0.20,2.30,0.00,0.000,4,0.129,0.078,2446,883,3527
$GC,5523,-0.58,-116.7,373.7,-7.5,624,5530,0.00,2.30,0.00,0.000,6,0.000,0.076,2446,2260,3527
$GC,5834,-0.69,-116.7,392.7,-6.3,640,5835,0.17,0.00,0.00,0.000,6,0.068,0.000,2374,2261,3526
$GC,6139,-0.50,-116.7,420.5,-9.4,655,6144,0.25,2.30,0.00,0.000,4,0.128,0.081,2454,881,3525
$GC,6235,-0.61,-116.7,427.5,-7.0,659,6240,0.08,2.28,0.00,0.000,6,0.067,0.077,2411,2243,3525
$GC,6550,-0.61,-116.7,452.1,-7.8,675,6555,0.00,2.28,0.00,0.000,4,0.000,0.078,2411,873,3524
$GC,6593,-0.54,-116.7,455.8,-8.1,677,6598,0.00,2.28,0.00,0.000,6,0.000,0.074,2410,2240,3524
$GC,6919,-0.54,-116.7,481.9,-8.0,693,6924,0.00,2.28,0.00,0.000,4,0.000,0.078,2410,876,3523
$GC,6989,-0.47,-116.7,487.7,-8.6,696,6993,0.12,2.28,0.00,0.000,6,0.123,0.076,2456,2239,3523
$GC,7310,-0.65,-116.7,506.4,-5.6,712,7311,0.15,0.00,0.00,0.000,6,0.069,0.000,2392,2239,3523
$GC,7615,-0.53,-116.7,529.7,-7.7,727,7619,0.17,2.25,0.00,0.000,4,0.128,0.080,2446,889,3522
$GC,7684,-0.62,-116.7,534.3,-6.5,730,7688,0.00,2.22,0.00,0.000,6,0.000,0.075,2446,2227,3522
$GC,8005,-0.75,-116.7,553.4,-6.1,746,8010,0.20,2.25,0.00,0.000,4,0.067,0.081,2364,875,3522
$GC,8042,-0.46,-116.7,556.8,-10.3,747,8050,0.28,2.25,0.00,0.000,6,0.130,0.076,2459,2229,3522
$GC,8353,-0.66,-116.7,575.1,-5.8,763,8357,0.17,2.25,0.00,0.000,4,0.067,0.083,2388,888,3522
$GC,8384,-0.49,-116.7,577.5,-8.3,764,8389,0.17,2.22,0.00,0.000,6,0.125,0.077,2450,2222,3521
$GC,8700,-0.64,-116.7,595.7,-5.9,780,8701,0.12,0.00,0.00,0.000,6,0.079,0.000,2396,2222,3521
$GC,9003,-0.55,-116.7,618.6,-7.6,791,9005,0.12,0.00,0.00,0.000,6,0.136,0.000,2433,2221,3520
$GC,9307,-0.63,-116.7,636.9,-5.8,801,9312,0.00,2.22,0.00,0.000,4,0.000,0.080,2433,887,3519
$GC,9344,-0.63,-116.7,639.3,-6.2,802,9348,0.00,2.22,0.00,0.000,6,0.000,0.074,2433,2227,3519
$GC,9674,-0.71,-116.7,658.6,-5.9,813,9675,0.15,0.00,0.00,0.000,6,0.075,0.000,2373,2228,3519
$GC,9977,-0.53,-116.7,683.6,-8.3,823,9982,0.22,2.25,0.00,0.000,4,0.131,0.083,2443,876,3518
$GC,10047,-0.62,-116.7,688.1,-6.5,825,10051,0.00,2.25,0.00,0.000,6,0.000,0.077,2443,2221,3518
$GC,10377,-0.75,-116.7,706.2,-5.5,836,10378,0.22,0.00,0.00,0.000,6,0.065,0.000,2351,2221,3518
$GC,10680,-0.49,-116.7,733.1,-9.0,846,10685,0.32,2.22,0.00,0.000,4,0.133,0.081,2454,887,3517
$GC,10728,-0.66,-116.7,736.1,-5.8,847,10732,0.12,2.22,0.00,0.000,6,0.064,0.077,2394,2222,3517
$GC,11047,-0.58,-116.7,759.3,-7.4,858,11048,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2222,3516
$GC,11351,-0.51,-116.7,781.5,-7.2,868,11355,0.17,2.22,0.00,0.000,4,0.133,0.081,2447,888,3516
$GC,11403,-0.63,-116.7,784.7,-6.0,869,11408,0.08,2.20,0.00,0.000,6,0.067,0.076,2406,2215,3516
$GC,11717,-0.63,-116.7,805.7,-6.7,880,11718,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2215,3516
$GC,12021,-0.63,-116.7,826.0,-6.6,890,12022,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2214,3516
$GC,12324,-0.63,-116.7,845.4,-6.3,900,12325,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2215,3515
$GC,12628,-0.63,-116.7,865.3,-6.5,910,12629,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2215,3515
$GC,12931,-0.63,-116.7,885.5,-6.7,920,12936,0.00,2.25,0.00,0.000,4,0.000,0.085,2406,874,3515
$GC,12984,-0.63,-116.7,889.4,-7.2,921,12989,0.00,2.25,0.00,0.000,6,0.000,0.081,2406,2216,3515
$GC,13298,-0.63,-116.7,910.5,-6.8,932,13299,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2216,3515
$GC,13602,-0.63,-116.7,931.2,-6.8,942,13606,0.00,2.25,0.00,0.000,4,0.000,0.087,2406,884,3514
$GC,13655,-0.63,-116.7,935.2,-7.8,943,13659,0.00,2.22,0.00,0.000,6,0.000,0.081,2406,2209,3514
$GC,13969,-0.63,-116.7,957.0,-6.9,954,13969,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2209,3514
$GC,14272,-0.63,-116.7,978.3,-6.9,964,14277,0.00,2.25,0.00,0.000,4,0.000,0.089,2406,889,3514
$GC,14309,-0.63,-116.7,981.1,-8.0,965,14314,0.00,2.20,0.00,0.000,6,0.000,0.079,2406,2201,3514
$STATE,14456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14456,begin apogee
$GC,14459,-0.23,0.0,991.5,7.0,970,14558,0.40,0.00,96.97,1.451,6,0.128,0.000,2536,2308,3046
$STATE,14558,end apogee,CONTROL_FINISHED_OK
$STATE,14558,begin climb
$GC,14560,0.77,116.7,994.1,0.0,973,14669,1.02,0.00,103.93,1.417,6,0.097,0.000,2860,2308,2569
$GC,14971,0.46,116.7,966.0,8.2,987,14976,0.35,2.58,0.00,0.000,4,0.154,0.092,2766,875,2563
$GC,15013,0.63,160.6,963.6,5.1,988,15058,0.10,2.53,38.30,1.384,6,0.084,0.078,2808,2286,2390
$GC,15367,0.63,160.6,937.2,7.5,1000,15368,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2285,2384
$GC,15670,0.63,160.6,914.5,7.5,1010,15675,0.00,2.47,0.00,0.000,4,0.000,0.088,2809,890,2384
$GC,15712,0.63,160.6,911.3,8.2,1011,15717,0.00,2.45,0.00,0.000,6,0.000,0.077,2809,2301,2383
$GC,16037,0.63,160.6,886.8,7.6,1022,16042,0.00,2.47,0.00,0.000,4,0.000,0.088,2809,891,2383
$GC,16074,0.63,160.6,884.0,8.3,1023,16079,0.00,2.38,0.00,0.000,6,0.000,0.077,2809,2275,2382
$GC,16404,0.63,160.6,858.9,7.6,1034,16405,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2275,2383
$GC,16708,0.63,160.6,836.1,7.5,1044,16712,0.00,2.42,0.00,0.000,4,0.000,0.088,2809,878,2382
$GC,16740,0.63,160.6,833.6,7.5,1045,16744,0.00,2.40,0.00,0.000,6,0.000,0.077,2809,2285,2382
$GC,17075,0.63,160.6,808.1,7.6,1056,17076,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2285,2382
$GC,17378,0.63,160.6,784.4,7.8,1066,17379,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2285,2381
$GC,17682,0.63,160.6,760.0,8.2,1076,17686,0.00,2.40,0.00,0.000,4,0.000,0.085,2809,884,2381
$GC,17713,0.63,160.6,757.4,8.4,1077,17718,0.00,2.38,0.00,0.000,6,0.000,0.077,2809,2285,2382
$GC,18049,0.63,160.6,730.1,8.2,1088,18049,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2285,2381
$GC,18352,0.63,160.6,705.4,8.2,1098,18353,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2285,2381
$GC,18656,0.63,160.6,680.9,8.0,1108,18657,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2285,2381
$GC,18959,0.63,160.6,657.1,7.9,1118,18964,0.00,2.38,0.00,0.000,4,0.000,0.080,2809,882,2380
$GC,19001,0.63,160.6,653.9,7.3,1119,19006,0.00,2.35,0.00,0.000,6,0.000,0.074,2808,2285,2380
$GC,19326,0.63,160.6,628.8,7.6,1130,19327,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2285,2380
$GC,19630,0.63,160.6,606.8,7.1,1140,19630,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2285,2380
$GC,19934,0.63,160.6,585.4,7.2,1153,19939,0.00,2.35,0.00,0.000,4,0.000,0.078,2809,889,2380
$GC,19971,0.63,160.6,582.8,6.9,1154,19978,0.00,2.30,0.00,0.000,6,0.000,0.071,2809,2269,2380
$GC,20282,0.63,160.6,559.5,7.7,1170,20282,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2269,2381
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$GC,20618,0.52,160.6,532.6,8.4,1186,20623,0.00,2.40,0.00,0.000,6,0.000,0.070,2810,2277,2380
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$GC,22261,0.72,216.0,417.6,4.7,1267,22310,0.28,2.40,44.03,1.074,4,0.062,0.078,2860,891,2163
$GC,22389,0.60,216.0,406.5,9.5,1273,22394,0.15,2.38,0.00,0.000,6,0.129,0.069,2811,2269,2157
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$STATE,26884,end climb,SURFACE_DEPTH_REACHED
$STATE,26884,begin surface coast
$FINISH,2.7,1.027598
$STATE,26905,end surface coast,CONTROL_FINISHED_OK
$STATE,26905,begin surface
$SM_CCo,26977,0.00,0.000,0,0,2068,239.66
$SM_GC,3.35,7.35,0.00,0.00,0.058,0.000,0.000,139,2309,2068,-7.66,0.25,239.66
$IRIDIUM_FIX,6346.88,39.46,270498,212101
$TT8_MAMPS,0.051389
$HUMID,1618
$INTERNAL_PRESSURE,9.04718
$TCM_TEMP,18.20
$XPDR_PINGS,1
$24V_AH,22.7,10.846
$10V_AH,10.5,5.452
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.600,214.575,300.650,0.000,0.000,29.566,31.926,177.605,0.250,0.000,0.000,15.530,0.000,22193.523,622.893,4036.656,422.977,0.000,2182.333,0.000,3341.084,0.000,0.830,0.000
$DEVICE_MAMPS,227.799,98.943,1451.164,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1222.240,955.452,718.427,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85210,1740
$CAP_FILE_SIZE,220962,0
$CFSIZE,260165632,255516672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130, 31.9,1
$GPS,010209,123836,6412.223,39.194,45,0.9,57,-4.7