version: 66.11
glider: 170
mission: 10
dive: 175
start: 12 9 112 16 41 30
data:
$ID,170
$MISSION,10
$DIVE,175
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$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,380
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51479
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-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,8
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-143311.08
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,85
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2769
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$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,-48.120956
$PRESSURE_SLOPE,0.0001164274
$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,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043559377
$SEABIRD_T_H,0.00062550703
$SEABIRD_T_I,2.3551509e-05
$SEABIRD_T_J,2.509174e-06
$SEABIRD_C_G,-10.138787
$SEABIRD_C_H,1.1450038
$SEABIRD_C_I,-0.0015582878
$SEABIRD_C_J,0.00020114503
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,091212,163229,1850.666,12015.580,37,0.8,37,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-73.1
$GPS2,091212,164101,1850.746,12015.541,15,0.7,16,-2.4
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$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,151.2,41412,-14.9,-8.684,-17.18
$D_GRID,1591
$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,17,begin dive
$GC,20,-0.51,-170.3,0.0,0.0,0,81,0.00,0.00,-58.90,0.000,2,0.000,0.000,138,2664,1808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.51,-170.3,3.2,-1.8,10,152,11.35,1.65,-49.40,0.000,4,0.245,0.073,2878,3683,3464,0,0,0,0,0,0,25.51,26.00,26.44
$GC,305,-0.46,-170.3,52.2,-23.9,40,313,0.00,1.58,0.00,0.000,6,0.000,0.024,2878,2603,3464,0,0,0,0,0,0,28.83,26.27,28.83
$GC,492,-0.42,-170.3,86.4,-17.9,50,498,0.12,2.03,0.00,0.000,4,0.157,0.024,2920,1192,3464,0,0,0,0,0,0,26.15,26.32,28.83
$GC,550,-0.41,-170.3,92.0,-15.6,52,557,0.00,2.15,0.00,0.000,6,0.000,0.041,2920,2598,3464,0,0,0,0,0,0,28.83,26.24,28.83
$GC,736,-0.41,-170.3,110.1,-8.9,62,741,0.00,1.70,0.00,0.000,4,0.000,0.052,2920,3693,3465,0,0,0,0,0,0,28.83,26.27,28.83
$GC,783,-0.43,-170.3,114.0,-8.9,64,788,0.00,1.60,0.00,0.000,6,0.000,0.024,2920,2549,3465,0,0,0,0,0,0,28.83,26.49,28.83
$GC,982,-0.44,-170.3,133.2,-10.0,74,988,0.00,1.95,0.00,0.000,4,0.000,0.027,2920,1195,3464,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1055,-0.45,-170.3,139.1,-9.4,77,1060,0.00,2.15,0.00,0.000,6,0.000,0.039,2920,2610,3464,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1249,-0.47,-170.3,157.0,-8.3,87,1254,0.00,2.08,0.00,0.000,4,0.000,0.030,2920,1200,3464,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1302,-0.49,-170.3,160.7,-8.3,89,1307,0.00,2.12,0.00,0.000,6,0.000,0.039,2920,2607,3464,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1496,-0.51,-170.3,174.3,-6.6,99,1502,0.12,1.65,0.00,0.000,4,0.093,0.047,2846,3689,3463,0,0,0,0,0,0,26.55,26.36,28.83
$GC,1524,-0.52,-170.3,176.3,-7.0,100,1530,0.12,1.58,0.00,0.000,6,0.146,0.025,2885,2552,3463,0,0,0,0,0,0,26.27,26.58,28.83
$GC,1724,-0.52,-170.3,196.3,-9.7,110,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2548,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1903,-0.52,-170.3,213.7,-9.2,119,1909,0.00,1.77,0.00,0.000,4,0.000,0.050,2885,3689,3462,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1971,-0.53,-170.3,219.3,-8.8,122,1977,0.00,1.52,0.00,0.000,6,0.000,0.026,2885,2588,3462,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2171,-0.54,-170.3,237.7,-9.1,132,2177,0.00,1.92,0.00,0.000,4,0.000,0.025,2885,1241,3461,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2209,-0.55,-170.3,239.8,-8.8,133,2216,0.00,2.08,0.00,0.000,6,0.000,0.040,2884,2601,3461,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2396,-0.56,-170.3,256.6,-8.1,143,2401,0.00,1.98,0.00,0.000,4,0.000,0.025,2885,1244,3461,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2439,-0.57,-170.3,260.0,-7.8,145,2445,0.00,2.05,0.00,0.000,6,0.000,0.040,2885,2600,3460,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2764,-0.58,-170.3,284.3,-7.7,161,2769,0.00,1.98,0.00,0.000,4,0.000,0.025,2885,1239,3458,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2808,-0.59,-170.3,287.9,-7.8,163,2813,0.00,2.08,0.00,0.000,6,0.000,0.039,2887,2600,3458,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3131,-0.61,-170.3,314.1,-8.2,179,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2600,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3432,-0.62,-170.3,335.7,-7.1,194,3438,0.12,1.98,0.00,0.000,4,0.093,0.023,2812,1234,3453,0,0,0,0,0,0,26.60,26.54,28.83
$GC,3521,-0.61,-170.3,345.2,-11.3,198,3528,0.15,2.10,0.00,0.000,6,0.151,0.041,2855,2603,3453,0,0,0,0,0,0,26.17,26.41,28.83
$GC,3841,-0.61,-170.3,376.7,-9.3,214,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2603,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4143,-0.61,-170.3,402.7,-8.4,229,4149,0.00,2.00,0.00,0.000,4,0.000,0.024,2855,1229,3449,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4180,-0.61,-170.3,404.8,-8.4,230,4188,0.00,2.10,0.00,0.000,6,0.000,0.041,2855,2600,3450,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4486,-0.61,-170.3,431.5,-8.7,246,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2600,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4787,-0.61,-170.3,458.0,-9.3,261,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2600,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5088,-0.61,-170.3,485.3,-8.8,276,5093,0.00,1.95,0.00,0.000,4,0.000,0.025,2855,1244,3444,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5165,-0.62,-170.3,491.0,-8.9,279,5172,0.00,2.10,0.00,0.000,6,0.000,0.041,2855,2609,3444,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5471,-0.62,-170.3,519.0,-8.8,295,5476,0.00,2.00,0.00,0.000,4,0.000,0.025,2858,1244,3441,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5503,-0.63,-170.3,521.2,-9.0,296,5508,0.00,2.10,0.00,0.000,6,0.000,0.041,2855,2607,3441,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5816,-0.64,-170.3,550.9,-9.6,312,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2607,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6118,-0.64,-170.3,580.1,-10.1,327,6123,0.00,2.00,0.00,0.000,4,0.000,0.026,2855,1245,3439,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6185,-0.65,-170.3,586.8,-10.2,330,6191,0.00,2.10,0.00,0.000,6,0.000,0.041,2855,2606,3439,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6505,-0.66,-170.3,617.6,-9.2,343,6510,0.00,2.00,0.00,0.000,4,0.000,0.026,2856,1241,3437,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6553,-0.67,-170.3,620.7,-9.2,344,6559,0.00,2.08,0.00,0.000,6,0.000,0.040,2855,2602,3436,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6874,-0.68,-170.3,648.5,-7.9,355,6879,0.00,2.00,0.00,0.000,4,0.000,0.024,2855,1238,3436,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6908,-0.69,-170.3,651.3,-8.0,356,6914,0.00,2.12,0.00,0.000,6,0.000,0.041,2855,2609,3435,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7243,-0.70,-170.3,676.1,-7.3,367,7248,0.00,2.03,0.00,0.000,4,0.000,0.026,2855,1234,3434,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7310,-0.71,-170.3,681.0,-7.3,369,7318,0.12,2.12,0.00,0.000,6,0.099,0.041,2798,2611,3433,0,0,0,0,0,0,26.32,26.36,28.83
$GC,7642,-0.69,-170.3,719.9,-12.4,380,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2612,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7942,-0.68,-170.3,755.5,-11.9,390,7944,0.12,0.00,0.00,0.000,6,0.164,0.000,2833,2612,3431,0,0,0,0,0,0,26.36,28.83,28.83
$GC,8240,-0.68,-170.3,781.3,-8.3,400,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2612,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8542,-0.68,-170.3,806.0,-8.3,410,8547,0.00,2.03,0.00,0.000,4,0.000,0.027,2833,1244,3429,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8644,-0.68,-170.3,814.1,-8.5,413,8649,0.00,2.10,0.00,0.000,6,0.000,0.041,2833,2610,3429,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8969,-0.68,-170.3,843.2,-8.6,424,8974,0.00,1.73,0.00,0.000,4,0.000,0.055,2833,3686,3427,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9032,-0.68,-170.3,848.6,-8.5,426,9038,0.00,1.55,0.00,0.000,6,0.000,0.030,2833,2640,3427,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9367,-0.68,-170.3,876.2,-8.2,437,9372,0.00,2.10,0.00,0.000,4,0.000,0.027,2833,1190,3425,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9504,-0.69,-170.3,885.6,-7.5,441,9509,0.00,2.20,0.00,0.000,6,0.000,0.042,2833,2606,3425,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9824,-0.69,-170.3,908.1,-6.4,452,9829,0.00,2.10,0.00,0.000,4,0.000,0.027,2833,1193,3424,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9887,-0.69,-170.3,912.5,-6.7,454,9892,0.00,2.20,0.00,0.000,6,0.000,0.042,2833,2600,3423,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10222,-0.69,-170.3,935.1,-6.7,465,10227,0.00,2.08,0.00,0.000,4,0.000,0.027,2833,1191,3423,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10249,-0.69,-170.3,935.1,-6.7,465,10256,0.00,2.20,0.00,0.000,6,0.000,0.043,2833,2602,3423,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10557,-0.69,-170.3,957.4,-6.7,476,10562,0.00,2.10,0.00,0.000,4,0.000,0.026,2833,1187,3422,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10604,-0.70,-170.3,959.8,-6.8,477,10610,0.00,2.22,0.00,0.000,6,0.000,0.042,2833,2614,3421,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10925,-0.71,-170.3,983.0,-6.9,488,10930,0.00,2.12,0.00,0.000,4,0.000,0.028,2833,1188,3421,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10969,-0.71,-170.3,985.6,-7.0,489,10974,0.00,2.20,0.00,0.000,6,0.000,0.042,2833,2611,3420,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,11019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11020,begin apogee
$GC,11025,-0.15,0.0,990.1,-7.1,491,11173,0.47,0.00,139.05,1.499,6,0.109,0.000,2999,2106,2767,0,0,0,0,0,0,25.96,28.83,23.57
$STATE,11175,end apogee,CONTROL_FINISHED_OK
$STATE,11175,begin climb
$GC,11177,0.51,170.3,994.0,0.0,496,11340,0.57,0.00,157.10,1.444,6,0.050,0.000,3220,2106,2074,0,0,0,0,0,0,24.77,28.83,22.71
$GC,11622,0.47,170.3,942.7,14.2,511,11628,0.00,2.38,0.00,0.000,4,0.000,0.050,3220,3537,2064,0,0,0,0,0,0,28.83,25.47,28.83
$GC,11665,0.44,170.3,937.6,14.2,512,11672,0.12,2.17,0.00,0.000,6,0.167,0.028,3194,2126,2064,0,0,0,0,0,0,25.44,25.71,28.83
$GC,11992,0.42,170.3,897.1,11.8,523,11997,0.00,2.12,0.00,0.000,4,0.000,0.034,3201,723,2061,0,0,0,0,0,0,28.83,26.03,28.83
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$GC,20873,0.92,604.2,17.8,11.1,937,20880,0.17,2.12,0.00,0.000,6,0.086,0.028,3365,2132,458,0,0,0,0,0,0,25.64,25.70,28.83
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$STATE,21088,end climb,SURFACE_DEPTH_REACHED
$STATE,21088,begin surface coast
$FINISH,1.6,1.020890
$STATE,21122,end surface coast,CONTROL_FINISHED_OK
$STATE,21122,begin surface
$SM_CCo,21203,0.00,0.000,0,0,457,566.89
$SM_GC,2.25,8.73,2.92,0.00,0.063,0.038,0.000,139,2575,457,-9.07,-1.55,566.89,0,0,0,0,0,0,25.77,25.94,28.83
$IRIDIUM_FIX,1846.42,12010.96,091212,101039
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.37
$INTERNAL_PRESSURE,9.42968
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,3952928
$24V_AH,22.7,38.800
$10V_AH,9.9,17.691
$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,23.100,216.125,613.700,0.000,0.000,0.000,0.000,311.025,0.000,0.000,17.586,3313.720,14314.648,824.356,2870.567,379.977,0.000,2535.883,0.000,2423.918,0.000,0.543,0.000
$DEVICE_MAMPS,244.800,72.675,1498.635,0.000,0.000,0.000,0.000,136.935,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21154.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.757,0.000,0.000,0.000
$MEM,323792
$DATA_FILE_SIZE,36688,984
$CAP_FILE_SIZE,256946,0
$CFSIZE,260034560,232992768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.103,  3.1,1
$GPS,091212,223629,1849.338,12017.237,59,0.8,59,-2.4