version: 66.10
glider: 169
mission: 5
dive: 444
start: 2 3 112 5 1 31
data:
$ID,169
$MISSION,5
$DIVE,444
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$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,360
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$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,-12467.545
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$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,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$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,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
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,030212,045356,2343.172,12351.371,43,1.3,43,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.0
$GPS2,030212,050107,2343.134,12351.422,17,1.9,17,-3.4
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,8.2,14086,-15.4,-9.167
$D_GRID,3314
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.60,-175.2,0.0,0.0,0,96,0.00,0.00,-76.57,0.000,2,0.000,0.000,108,2660,3069,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.60,-175.2,3.2,-5.5,13,127,7.53,1.90,-12.48,0.000,4,0.246,0.052,1798,3825,3696,0,0,0,0,0,0,24.66,25.98,26.54
$GC,185,-0.52,-175.2,33.9,-25.6,28,193,0.10,1.85,0.00,0.000,6,0.135,0.024,1839,2585,3696,0,0,0,0,0,0,25.75,26.15,28.83
$GC,499,-0.42,-175.2,121.7,-29.6,89,506,0.12,2.10,0.00,0.000,4,0.185,0.028,1885,1175,3696,0,0,0,0,0,0,26.00,26.12,28.83
$GC,623,-0.46,-175.2,140.4,-8.9,112,630,0.00,2.30,0.00,0.000,6,0.000,0.036,1875,2655,3696,0,0,0,0,0,0,28.83,26.10,28.83
$GC,936,-0.44,-175.2,198.7,-14.6,173,943,0.00,2.25,0.00,0.000,4,0.000,0.028,1875,1168,3696,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1004,-0.47,-175.2,205.6,-8.6,180,1010,0.00,2.30,0.00,0.000,6,0.000,0.037,1865,2651,3696,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1312,-0.45,-175.2,241.9,-9.1,211,1322,0.00,2.20,0.00,0.000,4,0.000,0.027,1865,1179,3696,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1366,-0.48,-175.2,245.8,-6.8,216,1374,0.00,2.25,0.00,0.000,6,0.000,0.037,1856,2645,3696,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1678,-0.46,-175.2,280.5,-13.9,247,1687,0.00,2.17,0.00,0.000,4,0.000,0.027,1855,1177,3696,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1711,-0.46,-175.2,285.1,-13.3,250,1720,0.00,2.25,0.00,0.000,6,0.000,0.037,1846,2647,3696,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2020,-0.44,-175.2,330.5,-15.9,281,2024,0.00,2.22,0.00,0.000,4,0.000,0.028,1846,1179,3696,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2065,-0.44,-175.2,336.2,-13.8,285,2073,0.10,2.30,0.00,0.000,6,0.138,0.037,1869,2649,3696,0,0,0,0,0,0,26.00,26.13,28.83
$GC,2373,-0.46,-175.2,364.8,-8.2,316,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2649,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2676,-0.49,-175.2,388.6,-8.6,346,2685,0.00,2.25,0.00,0.000,4,0.000,0.028,1869,1167,3696,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2728,-0.54,-175.2,393.3,-8.1,351,2740,0.00,2.30,0.00,0.000,6,0.000,0.037,1862,2645,3696,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3038,-0.56,-175.2,416.0,-6.7,382,3047,0.00,2.22,0.00,0.000,4,0.000,0.028,1862,1175,3695,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3090,-0.61,-175.2,419.7,-7.1,387,3101,0.10,2.30,0.00,0.000,6,0.040,0.037,1770,2653,3694,0,0,0,0,0,0,26.11,26.13,28.83
$GC,3400,-0.54,-175.2,482.7,-21.6,418,3402,0.22,0.00,0.00,0.000,6,0.142,0.000,1836,2653,3693,0,0,0,0,0,0,25.93,28.83,28.83
$GC,3701,-0.55,-175.2,516.5,-9.7,448,3709,0.00,2.22,0.00,0.000,4,0.000,0.028,1836,1177,3691,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3725,-0.56,-175.2,518.6,-9.6,450,3732,0.00,2.30,0.00,0.000,6,0.000,0.039,1826,2649,3692,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4032,-0.56,-175.2,549.3,-9.9,481,4041,0.00,2.22,0.00,0.000,4,0.000,0.028,1826,1170,3690,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4075,-0.58,-175.2,553.0,-8.7,485,4084,0.00,2.33,0.00,0.000,6,0.000,0.039,1818,2657,3689,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4384,-0.58,-175.2,587.1,-12.1,516,4392,0.00,2.22,0.00,0.000,4,0.000,0.030,1818,1179,3687,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4416,-0.58,-175.2,590.9,-11.9,519,4426,0.00,2.28,0.00,0.000,6,0.000,0.040,1813,2649,3686,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4735,-0.57,-175.2,628.4,-11.3,539,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2648,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5036,-0.57,-175.2,659.9,-9.4,554,5042,0.00,2.20,0.00,0.000,4,0.000,0.028,1812,1177,3683,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5063,-0.57,-175.2,661.8,-9.3,555,5067,0.00,2.30,0.00,0.000,6,0.000,0.038,1804,2652,3682,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5370,-0.56,-175.2,696.3,-11.8,570,5376,0.00,2.25,0.00,0.000,4,0.000,0.031,1804,1177,3680,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5404,-0.55,-175.2,698.6,-11.9,571,5413,0.12,2.33,0.00,0.000,6,0.131,0.040,1835,2651,3679,0,0,0,0,0,0,25.87,26.03,28.83
$GC,5710,-0.57,-175.2,728.5,-9.9,587,5716,0.00,2.22,0.00,0.000,4,0.000,0.028,1836,1175,3678,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5750,-0.60,-175.2,732.6,-10.1,589,5756,0.00,2.33,0.00,0.000,6,0.000,0.038,1826,2649,3677,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6072,-0.62,-175.2,769.9,-12.3,605,6077,0.00,2.20,0.00,0.000,4,0.000,0.028,1826,1180,3675,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6103,-0.63,-175.2,772.3,-12.3,606,6110,0.00,2.33,0.00,0.000,6,0.000,0.040,1819,2654,3674,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6410,-0.64,-175.2,807.2,-9.8,622,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2653,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6712,-0.65,-175.2,832.6,-7.7,637,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2653,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7015,-0.66,-175.2,853.4,-6.9,652,7020,0.00,2.22,0.00,0.000,4,0.000,0.031,1819,1178,3669,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7042,-0.68,-175.2,855.0,-7.1,653,7051,0.00,2.33,0.00,0.000,6,0.000,0.041,1813,2651,3669,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7353,-0.68,-175.2,879.2,-7.7,669,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2651,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7653,-0.68,-175.2,901.3,-7.2,684,7659,0.00,2.22,0.00,0.000,4,0.000,0.030,1812,1173,3665,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7694,-0.69,-175.2,904.1,-7.1,686,7700,0.00,2.35,0.00,0.000,6,0.000,0.041,1811,2653,3665,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8013,-0.70,-175.2,926.5,-7.0,702,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2652,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8314,-0.70,-175.2,948.7,-7.5,717,8319,0.00,2.22,0.00,0.000,4,0.000,0.031,1811,1184,3662,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8353,-0.72,-175.2,951.7,-7.6,719,8359,0.00,2.33,0.00,0.000,6,0.000,0.041,1806,2651,3662,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8673,-0.72,-175.2,978.8,-8.9,735,8678,0.00,2.25,0.00,0.000,4,0.000,0.029,1806,1170,3661,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8697,-0.72,-175.2,980.5,-8.8,736,8701,0.00,2.33,0.00,0.000,6,0.000,0.039,1799,2648,3661,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,8808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8808,begin apogee
$GC,8813,-0.20,0.0,991.1,-9.4,742,8979,0.40,0.15,157.43,1.177,6,0.103,0.074,1938,2532,2977,0,0,0,0,0,0,25.66,24.84,23.20
$STATE,8980,end apogee,CONTROL_FINISHED_OK
$STATE,8980,begin climb
$GC,8982,0.60,175.2,997.9,0.0,750,9156,0.70,0.00,169.62,1.187,6,0.050,0.000,2206,2532,2263,0,0,0,0,0,0,25.15,28.83,23.28
$GC,9445,0.52,175.2,934.8,18.1,774,9450,0.00,2.03,0.00,0.000,4,0.000,0.044,2206,3818,2232,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9472,0.44,175.2,931.0,18.3,775,9477,0.22,2.05,0.00,0.000,6,0.180,0.028,2158,2456,2230,0,0,0,0,0,0,25.41,26.03,28.83
$GC,9779,0.40,175.2,889.4,12.4,790,9780,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2455,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10080,0.37,175.2,852.4,12.1,805,10085,0.00,2.20,0.00,0.000,4,0.000,0.045,2158,3811,2227,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10159,0.32,175.2,840.8,14.5,809,10165,0.20,2.03,0.00,0.000,6,0.158,0.027,2114,2456,2227,0,0,0,0,0,0,25.60,26.15,28.83
$GC,10480,0.36,212.7,813.7,7.8,825,10519,0.00,2.28,27.70,1.010,4,0.000,0.044,2114,3816,2112,0,0,0,0,1,0,28.83,25.75,23.82
$GC,10550,0.40,242.5,808.5,8.1,828,10590,0.00,2.05,29.77,1.062,6,0.000,0.028,2124,2460,1989,0,0,0,0,1,0,28.83,25.89,23.49
$GC,10898,0.44,267.6,779.5,8.3,846,10939,0.00,2.30,35.60,1.003,4,0.000,0.044,2123,3821,1880,0,0,0,0,0,0,28.83,25.51,23.94
$GC,10955,0.47,289.7,776.1,8.4,848,10984,0.00,2.10,23.05,0.998,6,0.000,0.027,2134,2459,1794,0,0,0,0,0,0,28.83,25.67,23.83
$GC,11305,0.49,289.7,739.0,10.7,866,11311,0.10,2.15,0.00,0.000,4,0.091,0.043,2200,3811,1775,0,0,0,0,0,0,26.25,25.86,28.83
$GC,11331,0.49,289.7,736.2,11.2,867,11336,0.15,2.05,0.00,0.000,6,0.166,0.028,2171,2455,1774,0,0,0,0,0,0,25.59,26.01,28.83
$GC,11640,0.47,289.7,687.6,15.4,882,11646,0.00,2.12,0.00,0.000,4,0.000,0.036,2181,1056,1773,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11673,0.46,289.7,684.6,15.3,883,11681,0.00,2.28,0.00,0.000,6,0.000,0.037,2181,2529,1771,0,0,0,0,0,0,28.83,25.99,28.83
$GC,11980,0.44,289.7,635.6,14.9,899,11984,0.00,2.00,0.00,0.000,4,0.000,0.044,2181,3813,1771,0,0,0,0,0,0,28.83,25.95,28.83
$GC,12056,0.41,289.7,625.7,15.5,902,12063,0.17,2.05,0.00,0.000,6,0.146,0.028,2143,2455,1770,0,0,0,0,0,0,25.70,26.12,28.83
$GC,12363,0.43,294.9,594.5,9.0,921,12370,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2453,1770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12675,0.47,311.8,568.7,8.6,952,12702,0.00,2.25,20.83,0.901,4,0.000,0.044,2143,3812,1698,0,0,0,0,0,0,28.83,25.86,24.12
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$GC,14127,0.57,322.4,401.0,9.7,1096,14136,0.00,2.25,0.00,0.000,6,0.000,0.037,2185,2530,1672,0,0,0,0,0,0,28.83,26.00,28.83
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$GC,14844,0.54,322.4,314.1,12.6,1167,14851,0.00,2.05,0.00,0.000,6,0.000,0.028,2207,2461,1672,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,17506,end climb,SURFACE_DEPTH_REACHED
$STATE,17506,begin surface coast
$FINISH,0.3,1.023671
$STATE,17523,end surface coast,CONTROL_FINISHED_OK
$STATE,17523,begin surface
$SM_CCo,17597,0.00,0.000,0,0,1097,461.65
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$IRIDIUM_FIX,2335.63,12349.89,030212,000041
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.52
$INTERNAL_PRESSURE,9.49611
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.2,92.462
$10V_AH,9.9,55.092
$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,16.100,158.275,591.650,0.000,0.000,27.890,41.872,218.412,0.000,0.000,18.081,3933.380,9827.447,756.528,3086.166,397.913,0.000,2239.556,0.000,2627.214,0.000,0.542,0.000
$DEVICE_MAMPS,245.565,74.205,1187.280,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1079.640,2037.995,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330400
$DATA_FILE_SIZE,103576,1590
$CAP_FILE_SIZE,187728,0
$CFSIZE,260165632,181100544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.231,186.6,1
$GPS,030212,095625,2343.773,12351.315,70,0.9,70,-3.4