version: 66.11
glider: 166
mission: 8
dive: 37
start: 8 17 112 12 11 46
data:
$ID,166
$MISSION,8
$DIVE,37
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,120
$T_BOOST,2
$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,380
$T_MISSION,3410
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52225
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-26411.268
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,28
$C_ROLL_DIVE,2175
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,59
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2803
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,147
$AH0_10V,109
$MINV_24V,23
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.057545
$PRESSURE_SLOPE,0.0001160501
$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,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.5999999
$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,0.0043150801
$SEABIRD_T_H,0.00063196511
$SEABIRD_T_I,2.3897506e-05
$SEABIRD_T_J,2.561103e-06
$SEABIRD_C_G,-10.001128
$SEABIRD_C_H,1.125791
$SEABIRD_C_I,-0.0024671701
$SEABIRD_C_J,0.00026194067
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,170812,120230,1928.811,12317.875,40,1.3,40,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-57.7
$GPS2,170812,121119,1928.898,12317.923,14,1.6,14,-2.3
$SPEED_LIMITS,0.150,0.281
$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,41.1,137564,-13.8,-8.684
$D_GRID,4890
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.61,-194.6,0.0,0.0,0,91,0.00,0.00,-70.53,0.000,2,0.000,0.000,155,2197,1999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.61,-194.6,3.1,-4.7,12,162,7.60,1.50,-54.50,0.000,4,0.233,0.056,2125,1201,3598,0,0,0,0,0,0,26.00,26.26,26.53
$GC,355,-0.56,-194.6,63.4,-28.7,46,361,0.00,1.42,0.00,0.000,6,0.000,0.039,2120,2155,3598,0,0,0,0,0,0,28.83,26.37,28.83
$GC,674,-0.51,-194.6,141.1,-21.2,62,680,0.12,1.52,0.00,0.000,4,0.180,0.048,2147,3151,3598,0,0,0,0,0,0,26.37,26.46,28.83
$GC,819,-0.49,-194.6,164.9,-14.1,69,824,0.00,1.40,0.00,0.000,6,0.000,0.028,2140,2164,3598,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1143,-0.48,-194.6,207.2,-13.5,85,1148,0.00,1.38,0.00,0.000,4,0.000,0.033,2146,1208,3598,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1210,-0.47,-194.6,216.2,-13.8,88,1215,0.00,1.45,0.00,0.000,6,0.000,0.039,2140,2180,3598,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1528,-0.47,-194.6,255.1,-10.0,104,1529,0.12,0.00,0.00,0.000,6,0.160,0.000,2165,2180,3598,0,0,0,0,0,0,26.54,28.83,28.83
$GC,1830,-0.49,-194.6,281.1,-8.4,119,1835,0.00,1.48,0.00,0.000,4,0.000,0.052,2146,3150,3598,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1888,-0.51,-194.6,285.2,-8.9,121,1895,0.00,1.38,0.00,0.000,6,0.000,0.030,2146,2179,3597,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2193,-0.53,-194.6,316.5,-9.4,137,2198,0.00,1.40,0.00,0.000,4,0.000,0.035,2145,1205,3595,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2236,-0.55,-194.6,320.4,-9.2,139,2241,0.00,1.45,0.00,0.000,6,0.000,0.041,2139,2185,3595,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2560,-0.56,-194.6,345.9,-7.2,155,2565,0.00,1.48,0.00,0.000,4,0.000,0.054,2131,3155,3593,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2604,-0.58,-194.6,348.9,-6.9,157,2609,0.00,1.40,0.00,0.000,6,0.000,0.031,2131,2179,3593,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2927,-0.60,-194.6,373.8,-8.2,173,2933,0.00,1.50,0.00,0.000,4,0.000,0.054,2123,3180,3590,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2992,-0.62,-194.6,379.5,-8.6,176,2998,0.00,1.42,0.00,0.000,6,0.000,0.031,2123,2175,3590,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3316,-0.64,-194.6,406.6,-8.2,192,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2172,3588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3618,-0.66,-194.6,430.0,-7.2,207,3623,0.00,1.50,0.00,0.000,4,0.000,0.055,2116,3173,3585,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3666,-0.67,-194.6,433.2,-7.0,209,3671,0.00,1.42,0.00,0.000,6,0.000,0.031,2116,2176,3584,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3985,-0.69,-194.6,460.2,-8.9,225,3990,0.00,1.50,0.00,0.000,4,0.000,0.055,2109,3176,3581,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4037,-0.71,-194.6,464.1,-8.8,227,4042,0.00,1.45,0.00,0.000,6,0.000,0.031,2109,2167,3581,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4350,-0.72,-194.6,495.2,-10.6,243,4356,0.00,1.40,0.00,0.000,4,0.000,0.037,2108,1199,3578,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4394,-0.73,-194.6,500.4,-11.3,245,4401,0.00,1.48,0.00,0.000,6,0.000,0.044,2102,2177,3577,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4718,-0.74,-194.6,536.0,-10.0,261,4723,0.00,1.50,0.00,0.000,4,0.000,0.056,2094,3185,3574,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4776,-0.75,-194.6,540.2,-9.8,263,4783,0.00,1.45,0.00,0.000,6,0.000,0.034,2094,2177,3574,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5082,-0.76,-194.6,572.0,-10.0,279,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2177,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5394,-0.77,-194.6,602.8,-9.5,294,5399,0.00,1.42,0.00,0.000,4,0.000,0.039,2094,1203,3570,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5471,-0.78,-194.6,608.9,-9.4,296,5477,0.00,1.48,0.00,0.000,6,0.000,0.046,2087,2179,3569,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5792,-0.79,-194.6,636.4,-7.9,307,5797,0.00,1.42,0.00,0.000,4,0.000,0.038,2088,1208,3566,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5875,-0.80,-194.6,641.7,-7.9,309,5880,0.00,1.48,0.00,0.000,6,0.000,0.046,2080,2185,3565,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6191,-0.80,-194.6,673.4,-9.9,320,6196,0.00,1.50,0.00,0.000,4,0.000,0.059,2072,3187,3563,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6268,-0.81,-194.6,680.3,-10.3,322,6273,0.00,1.48,0.00,0.000,6,0.000,0.034,2073,2170,3563,0,0,0,0,0,0,28.83,26.76,28.83
$GC,6587,-0.81,-194.6,717.6,-11.3,333,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2166,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6886,-0.81,-194.6,750.1,-10.5,343,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2166,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7187,-0.81,-194.6,778.2,-9.1,353,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2173,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7487,-0.81,-194.6,803.3,-8.0,363,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2166,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7787,-0.81,-194.6,828.5,-9.0,373,7792,0.00,1.50,0.00,0.000,4,0.000,0.061,2066,3154,3554,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7839,-0.82,-194.6,831.8,-9.2,374,7845,0.00,1.42,0.00,0.000,6,0.000,0.035,2066,2174,3553,0,0,0,0,0,0,28.83,26.76,28.83
$GC,8152,-0.82,-194.6,864.5,-10.2,385,8158,0.00,1.42,0.00,0.000,4,0.000,0.041,2066,1203,3552,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8210,-0.82,-194.6,868.1,-10.4,386,8216,0.00,1.48,0.00,0.000,6,0.000,0.050,2059,2171,3551,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8516,-0.82,-194.6,902.9,-10.2,397,8517,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2171,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8816,-0.82,-194.6,933.1,-10.0,407,8821,0.00,1.45,0.00,0.000,4,0.000,0.043,2059,1196,3549,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8873,-0.82,-194.6,936.3,-10.0,408,8879,0.00,1.50,0.00,0.000,6,0.000,0.050,2052,2209,3549,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9179,-0.82,-194.6,967.6,-9.2,419,9184,0.00,1.50,0.00,0.000,4,0.000,0.043,2051,1173,3547,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9256,-0.82,-194.6,973.6,-9.3,421,9261,0.00,1.50,0.00,0.000,6,0.000,0.050,2044,2182,3547,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,9422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9422,begin apogee
$GC,9428,-0.19,0.0,990.5,-9.4,427,9628,0.62,0.00,191.43,0.991,6,0.133,0.000,2251,2064,2797,0,0,0,0,0,0,26.58,28.83,24.39
$STATE,9630,end apogee,CONTROL_FINISHED_OK
$STATE,9630,begin climb
$GC,9632,0.61,194.6,997.0,0.0,433,9824,0.75,1.70,184.25,1.025,4,0.081,0.062,2516,3054,1999,0,0,0,0,0,0,25.06,24.71,24.03
$GC,9859,0.57,206.2,984.8,8.3,441,9873,0.00,1.50,7.93,0.899,6,0.000,0.037,2522,2069,1962,0,0,0,0,0,0,28.83,25.18,24.37
$GC,10182,0.53,206.2,949.0,10.8,452,10184,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2070,1952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10482,0.50,206.2,917.9,10.1,462,10487,0.12,1.52,0.00,0.000,4,0.185,0.057,2481,3057,1950,0,0,0,0,0,0,26.06,26.15,28.83
$GC,10529,0.47,206.2,914.5,10.0,463,10535,0.00,1.48,0.00,0.000,6,0.000,0.035,2486,2068,1950,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10849,0.45,206.2,884.8,9.1,474,10855,0.00,1.58,0.00,0.000,4,0.000,0.058,2486,3057,1949,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10906,0.44,206.2,881.4,9.3,475,10913,0.08,1.45,0.00,0.000,6,0.161,0.035,2460,2075,1948,0,0,0,0,0,0,26.22,26.37,28.83
$GC,11215,0.43,206.2,852.9,8.7,486,11220,0.00,1.50,0.00,0.000,4,0.000,0.058,2460,3059,1947,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11262,0.42,206.2,849.6,8.9,487,11267,0.00,1.45,0.00,0.000,6,0.000,0.035,2466,2074,1947,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11581,0.41,206.2,818.6,9.2,498,11586,0.00,1.50,0.00,0.000,4,0.000,0.058,2466,3059,1947,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11634,0.40,206.2,815.3,9.2,499,11639,0.00,1.45,0.00,0.000,6,0.000,0.036,2473,2075,1947,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11949,0.40,232.5,787.5,7.9,510,11981,0.00,1.55,21.75,0.912,4,0.000,0.054,2474,3064,1854,0,0,0,0,1,0,28.83,26.10,25.05
$GC,12041,0.39,233.0,779.3,8.7,513,12048,0.12,1.50,1.95,0.201,6,0.174,0.036,2450,2069,1850,0,0,0,0,0,0,26.06,26.21,25.98
$GC,12376,0.41,270.8,754.6,7.5,524,12429,0.00,1.62,40.53,1.264,4,0.000,0.058,2449,3051,1699,0,0,0,0,1,0,28.83,25.39,24.37
$GC,12469,0.42,295.6,747.3,7.9,527,12507,0.00,1.50,28.10,1.099,6,0.000,0.036,2455,2076,1596,0,0,0,0,1,0,28.83,25.65,24.26
$GC,12831,0.45,362.4,721.1,6.7,539,12912,0.00,1.67,73.05,0.892,4,0.000,0.057,2455,3067,1319,0,0,0,0,0,0,28.83,25.08,24.46
$GC,12975,0.49,440.5,713.3,6.3,543,13060,0.00,1.50,79.82,0.859,6,0.000,0.036,2461,2061,1006,0,0,0,0,0,0,28.83,25.53,24.30
$GC,13374,0.55,525.5,687.3,6.1,557,13473,0.12,1.70,86.85,0.877,4,0.093,0.057,2535,3057,659,0,0,0,0,1,0,25.91,24.95,24.06
$GC,13528,0.55,525.5,670.4,11.2,562,13534,0.12,1.52,0.00,0.000,6,0.138,0.036,2502,2078,666,0,0,0,0,0,0,25.29,25.41,28.83
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$GC,16385,0.75,682.6,330.5,8.3,688,16390,0.00,1.45,0.00,0.000,6,0.000,0.034,2545,2074,441,0,0,0,0,0,0,28.83,26.53,28.83
$GC,16699,0.78,685.1,302.4,8.6,704,16704,0.00,1.45,0.00,0.000,4,0.000,0.044,2552,1101,441,0,0,0,0,0,0,28.83,26.53,28.83
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$STATE,19636,end climb,SURFACE_DEPTH_REACHED
$STATE,19637,begin surface coast
$FINISH,1.5,1.021332
$STATE,19670,end surface coast,CONTROL_FINISHED_OK
$STATE,19670,begin surface
$SM_CCo,19746,0.00,0.000,0,0,444,578.42
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$IRIDIUM_FIX,1918.37,12310.34,170812,060658
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.51
$INTERNAL_PRESSURE,9.58269
$TCM_TEMP,25.70
$XPDR_PINGS,0
$SC_FREEKB,7755744
$24V_AH,24.0,9.963
$10V_AH,9.7,6.021
$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,17.100,115.875,794.000,0.000,0.000,31.152,20.184,252.921,0.000,0.000,16.681,2892.400,13518.594,916.374,2570.824,367.398,0.000,2175.527,0.000,2143.625,0.000,0.541,0.000
$DEVICE_MAMPS,232.560,88.740,1263.780,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19721.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.667,0.000,0.000,0.000
$MEM,329140
$DATA_FILE_SIZE,33443,911
$CAP_FILE_SIZE,223127,0
$CFSIZE,260165632,250159104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$CURRENT,0.096,124.7,1
$GPS,170812,174205,1931.052,12320.912,34,1.1,34,-2.3