version: 66.11
glider: 177
mission: 4
dive: 147
start: 4 13 113 11 23 20
data:
$ID,177
$MISSION,4
$DIVE,147
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$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,52151
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.001
$HD_C,9.9999997e-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,400
$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,-7854.6689
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,159
$PITCH_MAX,3950
$C_PITCH,2925
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,161
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,2375
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,84
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,2992
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,-43.106712
$PRESSURE_SLOPE,0.000115925
$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,3
$ALTIM_SENSITIVITY,0
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0044109048
$SEABIRD_T_H,0.00065266038
$SEABIRD_T_I,2.7513828e-05
$SEABIRD_T_J,3.0466049e-06
$SEABIRD_C_G,-9.9740562
$SEABIRD_C_H,1.1339458
$SEABIRD_C_I,-0.0018908759
$SEABIRD_C_J,0.0002126007
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,130413,111435,1848.314,12216.006,29,1.0,30,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.67
$_SM_ANGLEo,-68.9
$GPS2,130413,112231,1848.723,12215.784,12,2.0,12,-2.1
$SPEED_LIMITS,0.159,0.756
$TGT_NAME,M2
$TGT_LATLONG,1845.000,12214.880
$TGT_RADIUS,5000.000
$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,198.7,7074,-9.3,-9.167,-9.89,1333
$D_GRID,1075
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.53,-79.6,140,2406,1400,1308,0.0,0.0,0,88,0.00,0.00,-66.95,0.000,16386,0.000,0.000,141,2406,3202,3254,3150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.53,-79.6,141,2406,3254,3151,4.0,-15.8,9,115,11.05,2.12,-1.83,0.000,18948,0.253,0.045,2756,984,3320,3385,3255,0,0,0,0,0,0,25.65,26.03,26.27
$GC,217,-0.53,-79.6,2755,984,3390,3254,51.4,-23.1,22,226,0.00,1.95,0.00,0.000,1030,0.000,0.028,2747,2344,3322,3390,3254,0,0,0,0,0,0,28.83,26.15,28.83
$GC,524,-0.53,-79.6,2747,2344,3394,3254,121.8,-19.2,38,530,0.00,1.95,0.00,0.000,516,0.000,0.030,2747,988,3324,3394,3254,0,0,0,0,0,0,28.83,26.28,28.83
$GC,578,-0.53,-79.6,2747,988,3395,3254,130.4,-18.5,40,583,0.00,1.98,0.00,0.000,1030,0.000,0.028,2742,2375,3324,3395,3254,0,0,0,0,0,0,28.83,26.32,28.83
$GC,892,-0.53,-79.6,2741,2376,3397,3254,175.4,-10.9,56,898,0.00,2.00,0.00,0.000,516,0.000,0.030,2742,988,3325,3397,3254,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1047,-0.53,-79.6,2741,988,3398,3254,194.5,-14.0,63,1053,0.10,1.98,0.00,0.000,3078,0.174,0.027,2756,2384,3326,3398,3254,0,0,0,0,0,0,26.27,26.44,28.83
$GC,1362,-0.53,-79.6,2756,2385,3399,3254,232.9,-11.6,79,1368,0.00,2.00,0.00,0.000,516,0.000,0.031,2756,987,3326,3399,3254,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1548,-0.53,-79.6,2756,987,3395,3254,255.5,-11.5,88,1554,0.00,1.98,0.00,0.000,1030,0.000,0.028,2755,2383,3326,3399,3254,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1873,-0.53,-79.6,2754,2385,3399,3253,290.0,-10.5,104,1879,0.00,2.03,0.00,0.000,516,0.000,0.031,2755,982,3326,3399,3253,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1995,-0.53,-79.6,2755,982,3399,3252,302.1,-10.9,109,2004,0.00,1.98,0.00,0.000,1030,0.000,0.028,2748,2378,3325,3399,3252,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2302,-0.56,-92.9,2748,2380,3399,3249,331.5,-8.1,125,2308,0.00,2.00,0.00,0.000,516,0.000,0.031,2748,982,3324,3399,3249,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2362,-0.59,-107.0,2747,982,3399,3248,335.3,-8.1,127,2370,0.00,1.98,0.00,0.000,1030,0.000,0.028,2744,2376,3323,3399,3247,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2669,-0.62,-123.1,2744,2376,3399,3244,360.8,-7.9,143,2671,0.08,0.00,0.00,0.000,4102,0.127,0.000,2704,2377,3321,3399,3243,0,0,0,0,0,0,26.60,28.83,28.83
$GC,2968,-0.62,-123.1,2703,2377,3399,3239,392.8,-11.1,158,2974,0.10,2.00,0.00,0.000,2564,0.166,0.030,2727,988,3319,3399,3239,0,0,0,0,0,0,26.44,26.51,28.83
$GC,3073,-0.62,-123.1,2727,988,3398,3238,403.3,-10.1,163,3079,0.00,1.98,0.00,0.000,1030,0.000,0.028,2725,2370,3318,3399,3237,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3398,-0.62,-123.1,2721,2371,3398,3233,439.4,-11.9,179,3404,0.00,1.98,0.00,0.000,260,0.000,0.044,2718,3710,3315,3398,3233,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3459,-0.62,-123.1,2717,3710,3398,3233,444.9,-11.8,181,3468,0.00,1.88,0.00,0.000,1030,0.000,0.022,2718,2335,3315,3399,3232,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3764,-0.62,-123.1,2717,2335,3399,3227,482.5,-11.1,197,3771,0.00,1.88,0.00,0.000,516,0.000,0.033,2718,1022,3312,3398,3227,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3792,-0.62,-123.1,2718,1022,3397,3227,485.0,-10.8,198,3798,0.00,1.92,0.00,0.000,1030,0.000,0.028,2713,2377,3312,3397,3227,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4113,-0.62,-123.1,2713,2377,3396,3224,517.4,-9.5,214,4118,0.00,1.95,0.00,0.000,516,0.000,0.031,2714,1022,3310,3396,3224,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4217,-0.62,-123.1,2713,1022,3394,3224,527.3,-9.5,219,4224,0.08,1.95,0.00,0.000,3078,0.209,0.028,2722,2381,3309,3395,3224,0,0,0,0,0,0,26.36,26.53,28.83
$GC,4544,-0.64,-131.9,2722,2381,3394,3222,555.5,-8.5,235,4549,0.00,1.95,0.00,0.000,516,0.000,0.032,2723,1023,3307,3394,3221,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4673,-0.65,-136.8,1728,1023,3371,3217,566.6,-8.8,241,4678,0.00,1.92,0.00,0.000,1030,0.000,0.029,2719,2378,3306,3391,3221,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4993,-0.65,-136.8,2719,2378,3395,3218,596.8,-9.4,257,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2378,3303,3389,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5304,-0.65,-136.8,2719,2378,3388,3216,626.4,-9.6,268,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2379,3302,3388,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5602,-0.65,-136.8,2719,2378,3387,3214,656.7,-10.2,278,5608,0.00,1.95,0.00,0.000,516,0.000,0.032,2719,1026,3300,3386,3214,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5704,-0.65,-136.8,2719,1025,3384,3214,666.1,-9.9,281,5710,0.00,1.92,0.00,0.000,1030,0.000,0.030,2714,2377,3299,3384,3214,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6029,-0.65,-136.8,2714,2377,3384,3211,699.2,-10.4,292,6035,0.00,1.98,0.00,0.000,260,0.000,0.047,2713,3703,3298,3384,3212,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6057,-0.65,-136.8,2713,3703,3384,3211,699.2,-10.4,292,6066,0.00,1.83,0.00,0.000,1030,0.000,0.024,2713,2366,3298,3384,3212,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6366,-0.65,-136.8,2713,2364,3388,3209,733.4,-9.8,303,6372,0.00,1.92,0.00,0.000,516,0.000,0.034,2713,1023,3295,3382,3209,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6499,-0.65,-136.8,2713,1022,3381,3209,745.4,-9.5,307,6505,0.00,1.92,0.00,0.000,1030,0.000,0.030,2707,2373,3295,3381,3209,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6823,-0.65,-136.8,2707,2373,3381,3207,775.9,-9.2,318,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2373,3294,3381,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7123,-0.65,-136.8,2707,2373,3380,3206,804.9,-9.7,328,7129,0.00,1.95,0.00,0.000,516,0.000,0.033,2708,1025,3292,3379,3206,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7231,-0.65,-136.8,2707,1025,3378,3206,814.7,-10.3,331,7236,0.00,1.92,0.00,0.000,1030,0.000,0.030,2708,2374,3297,3384,3210,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7549,-0.65,-136.8,2703,2375,3378,3205,850.3,-11.3,342,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2372,3291,3378,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7849,-0.65,-136.8,2704,2375,3377,3203,884.3,-11.5,352,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2375,3290,3377,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8149,-0.65,-136.8,2703,2375,3375,3202,916.6,-10.2,362,8156,0.00,1.95,0.00,0.000,516,0.000,0.034,2704,1033,3287,3374,3201,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8204,-0.65,-136.8,2703,1033,3374,3201,920.1,-10.2,363,8210,0.08,1.92,0.00,0.000,3078,0.197,0.031,2715,2372,3287,3374,3201,0,0,0,0,0,0,26.34,26.51,28.83
$GC,8519,-0.69,-158.1,2714,2372,3374,3200,947.6,-7.5,374,8524,0.00,1.95,0.00,0.000,516,0.000,0.034,2715,1030,3286,3373,3200,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8606,-0.73,-179.9,2715,1030,3372,3200,952.4,-7.5,376,8615,0.10,1.95,0.00,0.000,5126,0.110,0.031,2668,2386,3286,3372,3200,0,0,0,0,0,0,26.43,26.50,28.83
$GC,8913,-0.73,-179.9,2668,2386,3372,3199,983.3,-9.7,387,8915,0.10,0.00,0.00,0.000,2054,0.182,0.000,2690,2387,3285,3372,3199,0,0,0,0,0,0,26.39,28.83,28.83
$STATE,9001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9001,begin apogee
$GC,9007,-0.20,0.0,2690,2257,3372,3199,991.2,-9.0,390,9086,0.50,0.00,72.15,0.993,10246,0.135,0.000,2853,2257,2989,3095,2884,0,0,0,0,0,0,26.22,28.83,24.59
$STATE,9088,end apogee,CONTROL_FINISHED_OK
$STATE,9088,begin climb
$GC,9090,0.73,179.9,2853,2257,3094,2881,993.0,0.0,392,9277,0.88,2.25,176.27,0.976,10500,0.085,0.045,3158,3638,2253,2374,2132,0,0,0,0,0,0,25.28,24.73,24.12
$GC,9315,0.73,179.9,3158,3638,2372,2123,977.9,10.0,399,9321,0.00,2.08,0.00,0.000,1030,0.000,0.026,3163,2274,2246,2371,2122,0,0,0,0,0,0,28.83,25.19,28.83
$GC,9639,0.73,179.9,3162,2273,2370,2114,930.0,14.0,410,9645,0.00,2.20,0.00,0.000,516,0.000,0.049,3167,845,2241,2370,2113,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9693,0.73,179.9,3167,845,2370,2114,925.3,13.8,411,9699,0.00,2.05,0.00,0.000,1030,0.000,0.028,3168,2242,2242,2370,2114,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10010,0.73,179.9,3167,2242,2369,2110,883.4,12.3,422,10016,0.00,2.12,0.00,0.000,516,0.000,0.044,3176,849,2239,2369,2110,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10033,0.73,179.9,3175,849,2369,2110,883.4,12.3,422,10039,0.08,2.03,0.00,0.000,5126,0.197,0.029,3162,2242,2239,2369,2110,0,0,0,0,0,0,25.98,26.15,28.83
$GC,10348,0.73,179.9,3161,2242,2367,2108,842.6,12.0,433,10354,0.00,2.12,0.00,0.000,260,0.000,0.044,3161,3646,2238,2369,2108,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10395,0.73,179.9,3161,3646,2366,2107,837.9,12.5,434,10402,0.00,2.05,0.00,0.000,1030,0.000,0.028,3163,2235,2237,2366,2108,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10715,0.73,179.9,3163,2234,2366,2106,795.5,12.0,445,10720,0.00,2.08,0.00,0.000,516,0.000,0.047,3173,851,2236,2366,2106,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10782,0.73,179.9,3173,851,2366,2106,787.9,11.8,447,10789,0.00,2.03,0.00,0.000,1030,0.000,0.029,3173,2242,2236,2366,2106,0,0,0,0,0,0,28.83,26.32,28.83
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$GC,14579,0.73,179.9,3173,2245,2362,2099,360.4,9.6,607,14585,0.00,2.08,0.00,0.000,260,0.000,0.042,3173,3635,2230,2362,2099,0,0,0,0,0,0,28.83,26.42,28.83
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$STATE,18369,end climb,SURFACE_DEPTH_REACHED
$STATE,18369,begin surface coast
$FINISH,-0.7,1.021785
$STATE,18397,end surface coast,CONTROL_FINISHED_OK
$STATE,18397,begin surface
$SM_CCo,18414,15.00,0.054,0,0,1360,400.08
$SM_GC,-0.13,8.35,0.17,15.00,0.060,0.063,0.054,146,2408,1360,-8.61,-1.81,400.08,0,0,0,0,0,0,26.27,26.37,26.25
$IRIDIUM_FIX,1841.87,12735.92,130413,050531
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.47
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,24.60
$XPDR_PINGS,12
$SC_FREEKB,3963680
$24V_AH,24.1,18.973
$10V_AH,10.2,16.950
$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,22.375,157.025,388.000,15.000,0.000,0.000,0.000,293.075,3.000,0.000,14.794,3848.111,11430.731,635.829,2583.286,407.403,0.000,2130.388,0.000,2172.160,0.000,0.546,0.000
$DEVICE_MAMPS,253.215,68.850,992.970,53.550,0.000,0.000,0.000,120.105,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18415.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.021,0.000,0.000,0.000
$MEM,320772
$DATA_FILE_SIZE,30107,837
$CAP_FILE_SIZE,467718,0
$CFSIZE,260034560,235188224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.285,339.1,1
$GPS,130413,163154,1848.810,12214.188,40,1.0,41,-2.1