version: 66.11
glider: 170
mission: 10
dive: 432
start: 1 30 113 14 49 22
data:
$ID,170
$MISSION,10
$DIVE,432
$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,390
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$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,51760
$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,9
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-143741.42
$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,3035
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,25
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2160
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,77
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2853
$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,21.5
$MINV_10V,9
$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
$GPS1,300113,143905,2100.608,12003.830,42,1.0,42,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-72.1
$GPS2,300113,144853,2100.599,12003.697,29,0.9,29,-2.9
$SPEED_LIMITS,0.147,0.282
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$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,184.0,223444,-14.4,-8.462,-16.72
$D_GRID,3315
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.55,-175.2,0.0,0.0,0,71,0.00,0.00,-47.42,0.000,2,0.000,0.000,137,2535,2000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.55,-175.2,3.0,-0.8,8,167,11.48,1.35,-68.43,0.000,4,0.237,0.052,2854,1638,3569,0,0,0,0,0,0,25.00,26.14,26.61
$GC,236,-0.52,-175.2,15.2,-12.5,36,243,0.00,1.33,0.00,0.000,6,0.000,0.049,2854,2463,3569,0,0,0,0,0,0,28.83,25.93,28.83
$GC,432,-0.49,-175.2,41.1,-14.7,63,438,0.00,1.45,0.00,0.000,4,0.000,0.051,2852,3383,3570,0,0,0,0,0,0,28.83,26.06,28.83
$GC,457,-0.47,-175.2,44.5,-14.0,65,463,0.08,1.27,0.00,0.000,6,0.116,0.024,2884,2470,3569,0,0,0,0,0,0,26.11,26.42,28.83
$GC,664,-0.50,-175.2,68.0,-9.7,77,669,0.00,1.15,0.00,0.000,4,0.000,0.037,2884,1664,3569,0,0,0,0,0,0,28.83,25.63,28.83
$GC,894,-0.58,-175.2,84.7,-6.7,88,900,0.08,1.33,0.00,0.000,6,0.060,0.040,2821,2520,3570,0,0,0,0,0,0,26.11,26.21,28.83
$GC,1095,-0.58,-175.2,106.0,-12.5,98,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2520,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1275,-0.61,-175.2,129.4,-12.4,107,1281,0.00,1.35,0.00,0.000,4,0.000,0.051,2821,3375,3570,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1364,-0.63,-175.2,138.9,-11.0,111,1369,0.00,1.23,0.00,0.000,6,0.000,0.023,2820,2491,3571,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1566,-0.67,-175.2,157.9,-9.4,121,1571,0.00,1.42,0.00,0.000,4,0.000,0.050,2821,3380,3571,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1631,-0.70,-175.2,164.4,-9.8,124,1636,0.00,1.23,0.00,0.000,6,0.000,0.024,2821,2496,3571,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1837,-0.74,-175.2,183.5,-8.8,134,1842,0.00,1.42,0.00,0.000,4,0.000,0.051,2821,3378,3571,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1876,-0.78,-175.2,185.7,-8.6,135,1883,0.08,1.23,0.00,0.000,6,0.057,0.024,2754,2491,3571,0,0,0,0,0,0,26.30,26.46,28.83
$GC,2064,-0.72,-175.2,203.0,-8.8,145,2070,0.12,1.15,0.00,0.000,4,0.160,0.019,2796,1650,3570,0,0,0,0,0,0,26.17,26.41,28.83
$GC,2109,-0.68,-175.2,207.6,-9.3,147,2114,0.00,1.30,0.00,0.000,6,0.000,0.037,2795,2501,3571,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2313,-0.71,-175.2,229.6,-11.5,157,2319,0.00,1.20,0.00,0.000,4,0.000,0.024,2795,1671,3571,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2358,-0.73,-175.2,235.1,-12.1,159,2364,0.00,1.27,0.00,0.000,6,0.000,0.037,2796,2504,3571,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2565,-0.76,-175.2,259.0,-11.0,169,2571,0.00,1.20,0.00,0.000,4,0.000,0.023,2794,1648,3571,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2624,-0.78,-175.2,263.4,-9.9,171,2632,0.00,1.30,0.00,0.000,6,0.000,0.037,2795,2497,3571,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2930,-0.82,-175.2,289.7,-8.4,187,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2497,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3233,-0.84,-175.2,315.3,-8.2,202,3238,0.00,1.20,0.00,0.000,4,0.000,0.023,2796,1650,3569,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3246,-0.87,-175.2,315.3,-8.2,202,3252,0.10,1.30,0.00,0.000,6,0.060,0.037,2735,2497,3569,0,0,0,0,0,0,26.15,26.23,28.83
$GC,3560,-0.87,-175.2,352.3,-12.4,218,3565,0.00,1.20,0.00,0.000,4,0.000,0.023,2735,1637,3568,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3593,-0.85,-175.2,355.3,-12.7,219,3599,0.00,1.33,0.00,0.000,6,0.000,0.037,2735,2501,3568,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3908,-0.79,-175.2,397.8,-12.5,235,3913,0.12,1.38,0.00,0.000,4,0.174,0.050,2776,3382,3566,0,0,0,0,0,0,26.17,26.08,28.83
$GC,3953,-0.75,-175.2,402.7,-11.6,237,3958,0.00,1.25,0.00,0.000,6,0.000,0.025,2776,2498,3566,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4277,-0.78,-175.2,436.8,-11.0,253,4283,0.00,1.17,0.00,0.000,4,0.000,0.024,2776,1639,3564,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4361,-0.78,-175.2,446.2,-11.2,257,4367,0.00,1.35,0.00,0.000,6,0.000,0.038,2776,2503,3564,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4686,-0.78,-175.2,484.4,-11.6,273,4691,0.00,1.38,0.00,0.000,4,0.000,0.052,2775,3371,3562,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4769,-0.78,-175.2,493.9,-11.3,277,4774,0.00,1.23,0.00,0.000,6,0.000,0.027,2776,2525,3562,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5093,-0.80,-175.2,524.9,-8.6,293,5098,0.00,1.27,0.00,0.000,4,0.000,0.024,2776,1614,3561,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5146,-0.83,-175.2,528.5,-8.4,295,5152,0.00,1.38,0.00,0.000,6,0.000,0.039,2776,2499,3560,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5462,-0.86,-175.2,550.6,-6.1,311,5467,0.00,1.40,0.00,0.000,4,0.000,0.053,2775,3379,3559,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5490,-0.89,-175.2,552.2,-6.1,312,5495,0.00,1.30,0.00,0.000,6,0.000,0.028,2776,2485,3558,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5809,-0.92,-175.2,573.2,-6.9,328,5815,0.12,1.20,0.00,0.000,4,0.093,0.021,2710,1620,3556,0,0,0,0,0,0,26.46,26.40,28.83
$GC,5869,-0.92,-175.2,577.5,-8.1,330,5875,0.00,1.38,0.00,0.000,6,0.000,0.039,2709,2506,3556,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6199,-0.84,-175.2,615.7,-11.5,345,6205,0.15,1.27,0.00,0.000,4,0.175,0.021,2755,1625,3555,0,0,0,0,0,0,26.03,26.39,28.83
$GC,6258,-0.78,-175.2,619.8,-11.3,346,6265,0.00,1.38,0.00,0.000,6,0.000,0.040,2755,2505,3555,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6564,-0.78,-175.2,654.2,-10.8,357,6570,0.00,1.40,0.00,0.000,4,0.000,0.053,2755,3378,3553,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6602,-0.78,-175.2,658.1,-10.9,358,6607,0.00,1.27,0.00,0.000,6,0.000,0.028,2755,2512,3553,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6934,-0.78,-175.2,696.1,-11.5,369,6939,0.00,1.40,0.00,0.000,4,0.000,0.052,2755,3369,3551,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6997,-0.78,-175.2,703.5,-11.2,371,7002,0.00,1.30,0.00,0.000,6,0.000,0.028,2755,2495,3551,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7333,-0.78,-175.2,737.2,-9.0,382,7338,0.00,1.25,0.00,0.000,4,0.000,0.025,2755,1617,3549,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7416,-0.78,-175.2,742.9,-8.6,384,7421,0.00,1.38,0.00,0.000,6,0.000,0.040,2754,2498,3548,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7730,-0.78,-175.2,765.4,-6.2,395,7732,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2498,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8029,-0.78,-175.2,785.0,-6.7,405,8035,0.00,1.27,0.00,0.000,4,0.000,0.025,2755,1621,3546,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8048,-0.78,-175.2,785.0,-6.7,405,8053,0.00,1.38,0.00,0.000,6,0.000,0.040,2755,2502,3546,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8370,-0.78,-175.2,810.5,-8.2,416,8376,0.00,1.27,0.00,0.000,4,0.000,0.026,2755,1623,3545,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8443,-0.78,-175.2,816.8,-9.0,418,8449,0.08,1.38,0.00,0.000,6,0.138,0.039,2782,2503,3545,0,0,0,0,0,0,25.87,26.15,28.83
$GC,8772,-0.81,-175.2,848.5,-9.7,429,8778,0.00,1.40,0.00,0.000,4,0.000,0.054,2782,3375,3544,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8851,-0.85,-175.2,855.7,-10.0,431,8856,0.00,1.30,0.00,0.000,6,0.000,0.028,2782,2497,3543,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9173,-0.88,-175.2,889.6,-9.9,442,9179,0.00,1.25,0.00,0.000,4,0.000,0.026,2782,1623,3542,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9197,-0.92,-175.2,889.6,-9.9,442,9203,0.10,1.38,0.00,0.000,6,0.069,0.041,2727,2496,3542,0,0,0,0,0,0,26.00,26.12,28.83
$GC,9514,-0.87,-175.2,928.8,-11.6,453,9520,0.00,1.42,0.00,0.000,4,0.000,0.054,2727,3383,3541,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9564,-0.81,-175.2,933.1,-11.6,454,9570,0.12,1.30,0.00,0.000,6,0.130,0.029,2769,2510,3540,0,0,0,0,0,0,25.88,26.37,28.83
$GC,9885,-0.81,-175.2,963.9,-8.7,465,9890,0.00,1.27,0.00,0.000,4,0.000,0.025,2769,1621,3539,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9923,-0.81,-175.2,967.0,-8.7,466,9929,0.00,1.38,0.00,0.000,6,0.000,0.041,2769,2496,3540,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,10189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10189,begin apogee
$GC,10196,-0.17,0.0,990.7,-8.7,475,10358,0.62,0.00,153.77,1.484,6,0.112,0.000,2981,2144,2854,0,0,0,0,0,0,25.56,28.83,22.54
$STATE,10360,end apogee,CONTROL_FINISHED_OK
$STATE,10360,begin climb
$GC,10363,0.55,175.2,997.8,0.0,480,10542,0.62,1.35,169.88,1.440,4,0.054,0.028,3224,1309,2135,0,0,0,0,0,0,24.72,23.84,22.01
$GC,10612,0.48,175.2,985.9,9.5,488,10620,0.10,1.38,0.00,0.000,6,0.126,0.036,3175,2161,2128,0,0,0,0,0,0,24.94,25.19,28.83
$GC,10919,0.48,192.5,958.3,7.9,499,10941,0.00,1.40,14.95,1.323,4,0.000,0.047,3175,3033,2068,0,0,0,0,0,0,28.83,25.81,23.77
$GC,11115,0.46,192.5,942.5,8.7,505,11121,0.00,1.27,0.00,0.000,6,0.000,0.026,3179,2162,2063,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11438,0.47,217.1,916.6,7.7,516,11466,0.00,1.48,23.67,1.376,4,0.000,0.044,3180,3043,1967,0,0,0,0,0,0,28.83,25.70,23.76
$GC,11519,0.47,234.5,911.4,7.9,518,11543,0.00,1.30,17.50,1.333,6,0.000,0.027,3184,2166,1895,0,0,0,0,0,0,28.83,26.08,23.71
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$GC,20205,1.04,441.2,22.0,8.2,911,20214,0.00,1.27,4.47,0.497,6,0.000,0.024,3337,2149,1053,0,0,0,0,0,0,28.83,26.34,24.26
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$STATE,20434,end climb,SURFACE_DEPTH_REACHED
$STATE,20434,begin surface coast
$FINISH,1.9,1.023047
$STATE,20463,end surface coast,CONTROL_FINISHED_OK
$STATE,20464,begin surface
$SM_CCo,20544,0.00,0.000,0,0,790,506.30
$SM_GC,2.73,8.52,0.55,0.00,0.043,0.039,0.000,133,2523,790,-9.03,-1.24,506.30,0,0,0,0,0,0,25.72,26.27,28.83
$IRIDIUM_FIX,2054.83,12001.59,300113,080855
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.21
$INTERNAL_PRESSURE,9.40038
$TCM_TEMP,22.70
$XPDR_PINGS,1
$SC_FREEKB,3854560
$24V_AH,22.0,90.236
$10V_AH,9.4,45.625
$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,23.550,140.925,600.600,0.000,0.000,0.000,0.000,316.775,0.250,0.000,30.540,3416.431,13284.443,770.897,3018.272,621.885,0.000,2560.378,0.000,2566.648,0.000,0.544,0.000
$DEVICE_MAMPS,237.150,54.315,1484.100,0.000,0.000,0.000,0.000,139.230,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20523.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.121,0.000,0.000,0.000
$MEM,324312
$DATA_FILE_SIZE,36706,958
$CAP_FILE_SIZE,255590,0
$CFSIZE,260034560,205266944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.074,339.8,1
$GPS,300113,203304,2100.366,12003.734,38,1.0,38,-2.9