version: 66.11
glider: 169
mission: 8
dive: 394
start: 6 6 113 13 43 37
data:
$ID,169
$MISSION,8
$DIVE,394
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,130
$T_BOOST,4
$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,370
$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,52063
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00091300003
$HD_B,0.0119
$HD_C,2.0500001e-07
$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,430
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-22820.65
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2852
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.03682
$PRESSURE_SLOPE,0.0001078585
$AD7714Ch0Gain,1
$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,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$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,33
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042608725
$SEABIRD_T_H,0.00061783189
$SEABIRD_T_I,2.1692709e-05
$SEABIRD_T_J,2.1724361e-06
$SEABIRD_C_G,-10.034778
$SEABIRD_C_H,1.1503564
$SEABIRD_C_I,-0.0019294197
$SEABIRD_C_J,0.0002327933
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,060613,133036,1901.288,12426.110,40,1.1,40,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-71.3
$GPS2,060613,134306,1901.258,12426.611,12,1.6,12,-2.3
$SPEED_LIMITS,0.163,0.258
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,185.4,132796,-5.6,-9.429,-20.04,2855
$D_GRID,5376
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.58,-175.2,121,2564,1274,937,0.0,0.0,0,91,0.00,0.00,-63.88,0.000,16386,0.000,0.000,121,2565,2736,2715,2757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.58,-175.2,121,2564,2717,2762,3.1,-7.2,8,131,8.68,2.67,-14.30,0.000,18948,0.233,0.042,2193,1090,3570,3444,3696,0,0,0,0,0,0,25.20,25.95,26.44
$GC,229,-0.58,-175.2,2193,1090,3446,3696,49.5,-19.3,22,237,0.00,2.65,0.00,0.000,1030,0.000,0.035,2193,2556,3570,3445,3696,0,0,0,0,0,0,28.83,25.98,28.83
$GC,548,-0.58,-175.2,2192,2553,3446,3695,115.8,-20.1,38,554,0.00,2.10,0.00,0.000,260,0.000,0.045,2193,3827,3572,3448,3696,0,0,0,0,0,0,28.83,26.06,28.83
$GC,583,-0.58,-175.2,2192,3826,3446,3696,121.1,-19.9,39,589,0.00,2.08,0.00,0.000,1030,0.000,0.024,2193,2517,3571,3447,3695,0,0,0,0,0,0,28.83,26.34,28.83
$GC,899,-0.58,-175.2,2192,2515,3447,3695,183.8,-17.8,55,906,0.00,2.50,0.00,0.000,516,0.000,0.031,2193,1078,3571,3446,3696,0,0,0,0,0,0,28.83,26.22,28.83
$GC,963,-0.58,-175.2,2190,1078,3446,3696,191.4,-16.5,57,971,0.00,2.65,0.00,0.000,1030,0.000,0.035,2193,2561,3571,3447,3696,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1269,-0.58,-175.2,2192,2559,3446,3695,242.9,-16.8,73,1275,0.00,2.62,0.00,0.000,516,0.000,0.031,2193,1069,3570,3446,3695,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1341,-0.58,-175.2,2192,1066,3446,3699,253.7,-16.1,76,1348,0.00,2.65,0.00,0.000,1030,0.000,0.034,2193,2565,3570,3446,3695,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1665,-0.58,-175.2,2193,2562,3446,3695,302.2,-15.3,92,1671,0.00,2.10,0.00,0.000,260,0.000,0.048,2184,3834,3570,3446,3695,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1700,-0.58,-175.2,2184,3834,3446,3695,306.3,-15.2,93,1707,0.00,2.08,0.00,0.000,1030,0.000,0.023,2184,2511,3570,3445,3695,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2017,-0.58,-175.2,2184,2510,3446,3693,355.5,-15.1,109,2023,0.00,2.28,0.00,0.000,260,0.000,0.046,2181,3841,3568,3446,3691,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2060,-0.58,-175.2,2181,3841,3446,3691,359.5,-15.1,110,2069,0.00,2.08,0.00,0.000,1030,0.000,0.024,2181,2519,3568,3446,3691,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2363,-0.58,-175.2,2181,2519,3446,3687,401.7,-12.4,126,2370,0.00,2.47,0.00,0.000,516,0.000,0.031,2181,1087,3566,3446,3687,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2406,-0.58,-175.2,2181,1088,3446,3686,404.8,-12.0,127,2414,0.00,2.60,0.00,0.000,1030,0.000,0.033,2171,2564,3566,3446,3686,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2710,-0.58,-175.2,2171,2561,3446,3682,449.6,-14.3,143,2716,0.00,2.10,0.00,0.000,260,0.000,0.046,2167,3840,3563,3446,3681,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2746,-0.58,-175.2,2167,3840,3446,3681,453.4,-14.6,144,2752,0.00,2.10,0.00,0.000,1030,0.000,0.024,2167,2514,3563,3445,3681,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3061,-0.58,-175.2,2167,2514,3446,3675,499.5,-13.4,160,3067,0.00,2.45,0.00,0.000,516,0.000,0.031,2167,1071,3559,3444,3675,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3091,-0.58,-175.2,1296,1069,3435,3673,502.8,-13.2,161,3098,0.12,2.60,0.00,0.000,3078,0.131,0.033,2193,2561,3560,3446,3675,0,0,0,0,0,0,26.07,26.24,28.83
$GC,3415,-0.58,-175.2,2193,2558,3446,3669,536.7,-10.1,177,3421,0.00,2.58,0.00,0.000,516,0.000,0.031,2193,1086,3557,3446,3668,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3452,-0.58,-175.2,2194,1085,3447,3668,539.5,-10.0,178,3457,0.00,2.60,0.00,0.000,1030,0.000,0.034,2194,2565,3557,3446,3668,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3767,-0.58,-175.2,2193,2562,3445,3662,569.6,-9.7,194,3774,0.00,2.12,0.00,0.000,260,0.000,0.049,2194,3843,3553,3445,3662,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3821,-0.58,-175.2,2193,3843,3444,3663,574.1,-9.8,196,3827,0.00,2.10,0.00,0.000,1030,0.000,0.024,2194,2518,3553,3444,3662,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4151,-0.58,-175.2,2193,2519,3439,3658,611.5,-11.6,211,4157,0.00,2.28,0.00,0.000,260,0.000,0.047,2194,3830,3550,3443,3658,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4194,-0.58,-175.2,2193,3830,3442,3658,615.5,-11.5,212,4199,0.00,2.10,0.00,0.000,1030,0.000,0.025,2193,2517,3550,3443,3658,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4524,-0.58,-175.2,2193,2516,3442,3652,652.6,-10.6,223,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2517,3547,3442,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4824,-0.58,-175.2,2193,2516,3441,3649,681.9,-9.5,233,4830,0.00,2.30,0.00,0.000,260,0.000,0.047,2194,3841,3544,3440,3648,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4881,-0.58,-175.2,2193,3841,3439,3648,685.2,-9.3,234,4887,0.00,2.12,0.00,0.000,1030,0.000,0.024,2194,2514,3543,3439,3648,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5203,-0.58,-175.2,2193,2514,3438,3643,714.6,-8.7,245,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2514,3541,3438,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5499,-0.58,-175.2,2193,2514,3436,3639,742.3,-9.6,255,5505,0.00,2.38,0.00,0.000,260,0.000,0.051,2193,3828,3537,3437,3638,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5546,-0.58,-175.2,2193,3828,3436,3638,745.9,-9.7,256,5552,0.00,2.12,0.00,0.000,1030,0.000,0.026,2194,2516,3537,3435,3639,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5873,-0.58,-175.2,2193,2516,3434,3634,778.1,-9.6,267,5879,0.00,2.33,0.00,0.000,260,0.000,0.047,2194,3839,3534,3434,3634,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5898,-0.58,-175.2,2193,3839,3434,3634,778.1,-9.6,267,5904,0.00,2.15,0.00,0.000,1030,0.000,0.025,2194,2515,3534,3434,3634,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6218,-0.58,-175.2,2193,2516,3433,3632,810.3,-9.4,278,6225,0.00,2.33,0.00,0.000,260,0.000,0.047,2193,3846,3532,3433,3631,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6267,-0.58,-175.2,2194,3846,3431,3631,814.0,-9.3,279,6273,0.00,2.12,0.00,0.000,1030,0.000,0.026,2199,2519,3531,3431,3631,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6594,-0.58,-175.2,2193,2519,3431,3628,845.1,-9.2,290,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2519,3529,3431,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6895,-0.58,-175.2,2193,2520,3430,3625,873.5,-9.5,300,6901,0.00,2.30,0.00,0.000,260,0.000,0.049,2193,3833,3528,3430,3626,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6967,-0.58,-175.2,2194,3834,3430,3625,880.0,-9.7,302,6973,0.00,2.12,0.00,0.000,1030,0.000,0.026,2193,2519,3527,3429,3625,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7298,-0.58,-175.2,2193,2519,3429,3621,910.1,-8.8,313,7305,0.00,2.30,0.00,0.000,260,0.000,0.048,2186,3834,3525,3429,3621,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7334,-0.58,-175.2,1320,3834,3417,3619,913.3,-8.8,314,7340,0.00,2.12,0.00,0.000,1030,0.000,0.026,2186,2520,3524,3428,3621,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7672,-0.58,-175.2,2186,2519,3427,3619,942.7,-8.8,325,7677,0.00,2.30,0.00,0.000,260,0.000,0.049,2181,3828,3522,3426,3619,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7722,-0.58,-175.2,2181,3828,3426,3619,946.1,-8.9,326,7727,0.00,2.12,0.00,0.000,1030,0.000,0.026,2181,2517,3522,3426,3619,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8043,-0.58,-175.2,2181,2517,3426,3616,977.0,-8.9,337,8049,0.00,2.33,0.00,0.000,260,0.000,0.049,2176,3838,3521,3426,3616,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8095,-0.58,-175.2,2176,3838,3425,3616,979.8,-8.6,338,8101,0.00,2.12,0.00,0.000,1030,0.000,0.026,2176,2522,3521,3426,3616,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,8206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8206,begin apogee
$GC,8213,-0.12,0.0,2174,2723,3425,3615,991.8,-9.4,342,8375,0.45,0.10,153.62,1.027,10246,0.091,0.076,2335,2657,2847,2875,2819,0,0,0,0,0,0,25.78,24.78,23.83
$STATE,8379,end apogee,CONTROL_FINISHED_OK
$STATE,8379,begin climb
$GC,8382,0.58,175.2,2335,2657,2870,2805,998.9,0.0,346,8563,0.60,2.08,167.40,0.984,10500,0.037,0.041,2575,3829,2124,2259,1990,0,0,0,0,0,0,25.04,24.39,23.44
$GC,8589,0.62,193.6,2575,3829,2249,1980,989.9,8.8,354,8612,0.00,1.83,18.25,0.929,9222,0.000,0.017,2584,2624,2057,2196,1919,0,0,0,0,0,0,28.83,24.94,23.65
$GC,8943,0.62,193.6,2584,2624,2178,1891,941.5,13.1,366,8949,0.00,2.00,0.00,0.000,260,0.000,0.041,2575,3846,2032,2173,1891,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8991,0.62,193.6,2575,3846,2176,1891,936.4,13.3,367,8997,0.00,1.75,0.00,0.000,1030,0.000,0.016,2584,2620,2033,2176,1891,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9317,0.62,193.6,2584,2619,2174,1889,893.3,12.8,378,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2620,2031,2174,1889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9616,0.62,193.6,2584,2620,2171,1889,854.0,13.2,388,9622,0.00,1.98,0.00,0.000,260,0.000,0.041,2575,3840,2030,2172,1889,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9659,0.62,193.6,2575,3837,2171,1889,848.4,13.7,389,9665,0.00,1.73,0.00,0.000,1030,0.000,0.016,2585,2615,2030,2171,1889,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9990,0.62,193.6,2585,2614,2170,1889,806.3,12.0,400,9991,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2614,2029,2170,1888,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,17190,1.29,461.8,2670,2610,1662,1328,31.3,4.9,736,17289,0.30,2.00,87.25,0.177,10500,0.040,0.033,2823,3853,968,1182,755,0,0,0,0,0,0,26.39,25.98,25.53
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$STATE,17372,end climb,SURFACE_DEPTH_REACHED
$STATE,17372,begin surface coast
$FINISH,0.3,1.020976
$STATE,17389,end surface coast,CONTROL_FINISHED_OK
$STATE,17392,begin surface
$SM_CCo,17472,0.00,0.000,0,0,972,461.16
$SM_GC,0.23,6.82,0.20,0.00,0.031,0.044,0.000,139,2509,972,-6.94,0.34,461.16,0,0,0,0,0,0,25.98,26.26,28.83
$IRIDIUM_FIX,1857.82,12421.24,060613,080850
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.02
$INTERNAL_PRESSURE,9.38868
$TCM_TEMP,24.10
$XPDR_PINGS,0
$SC_FREEKB,3822272
$24V_AH,23.4,51.911
$10V_AH,10.1,39.590
$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,17.850,168.775,552.425,0.000,0.000,0.000,0.000,435.375,0.000,0.000,12.917,3018.300,11335.638,734.101,2238.217,860.348,0.000,2198.525,0.000,1686.807,0.000,0.544,0.000
$DEVICE_MAMPS,233.325,75.735,1026.630,0.000,0.000,0.000,0.000,121.635,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17482.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.737,0.000,0.000,0.000
$MEM,328908
$DATA_FILE_SIZE,26741,761
$CAP_FILE_SIZE,396496,0
$CFSIZE,260034560,192020480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099, 96.7,1
$GPS,060613,183600,1859.299,12427.488,38,1.1,38,-2.3