version: 66.11
glider: 177
mission: 4
dive: 217
start: 4 28 113 11 37 8
data:
$ID,177
$MISSION,4
$DIVE,217
$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,619.87311
$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,-8146.415
$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,98
$R_STBD_OVSHOOT,60
$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
$GPS1,280413,112835,1845.531,12156.523,26,1.0,27,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.82
$_SM_ANGLEo,-70.7
$GPS2,280413,113625,1845.523,12156.239,12,1.9,12,-2.1
$SPEED_LIMITS,0.159,0.756
$TGT_NAME,M1
$TGT_LATLONG,1845.000,12205.830
$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,99.4,16847,-7.8,-9.167,-8.37,2016
$D_GRID,1085
$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,16,begin dive
$GC,18,-0.55,-120.5,127,2362,485,441,0.0,0.0,0,117,0.00,0.00,-95.60,0.000,16386,0.000,0.000,127,2362,3001,3033,2969,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.55,-120.5,127,2362,3033,2971,3.2,-12.9,13,145,10.98,0.00,-7.60,0.000,18950,0.247,0.000,2742,2362,3487,3564,3410,0,0,0,0,0,0,25.54,28.83,26.34
$GC,454,-0.55,-120.5,2742,2362,3570,3411,94.7,-21.0,38,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2362,3490,3569,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,754,-0.55,-120.5,2742,2362,3571,3412,142.3,-13.4,53,760,0.00,1.92,0.00,0.000,516,0.000,0.028,2742,1009,3491,3571,3412,0,0,0,0,0,0,28.83,26.31,28.83
$GC,834,-0.55,-120.5,2742,1007,3571,3412,149.8,-11.7,56,842,0.00,1.92,0.00,0.000,1030,0.000,0.028,2741,2363,3491,3571,3412,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1140,-0.55,-120.5,2741,2365,3571,3413,191.0,-13.1,72,1147,0.00,1.95,0.00,0.000,516,0.000,0.028,2742,1013,3492,3571,3413,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1187,-0.55,-120.5,2742,1013,3571,3413,197.2,-13.4,74,1193,0.00,1.92,0.00,0.000,1030,0.000,0.026,2732,2379,3492,3571,3413,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1513,-0.55,-120.5,2732,2378,3571,3413,239.8,-12.6,90,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2379,3491,3571,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1811,-0.55,-120.5,2732,2379,3571,3410,276.2,-13.6,105,1818,0.08,1.95,0.00,0.000,2564,0.192,0.028,2749,1019,3490,3571,3410,0,0,0,0,0,0,26.46,26.43,28.83
$GC,1968,-0.55,-120.5,2748,1019,3571,3409,291.1,-10.0,112,1975,0.00,1.92,0.00,0.000,1030,0.000,0.028,2745,2375,3489,3571,3408,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2283,-0.55,-120.5,2744,2375,3571,3405,328.7,-13.5,128,2289,0.00,1.98,0.00,0.000,260,0.000,0.043,2741,3713,3488,3571,3405,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2338,-0.55,-120.5,2743,3713,3571,3404,334.8,-13.9,130,2345,0.00,1.83,0.00,0.000,1030,0.000,0.021,2742,2353,3488,3572,3404,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2654,-0.55,-120.5,2742,2353,3571,3399,378.7,-12.1,146,2660,0.00,1.88,0.00,0.000,516,0.000,0.031,2742,1035,3485,3571,3399,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2757,-0.55,-120.5,2745,1035,3571,3397,389.2,-12.0,150,2766,0.00,1.90,0.00,0.000,1030,0.000,0.028,2741,2374,3484,3571,3397,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3062,-0.55,-120.5,2741,2374,3571,3392,425.5,-10.7,166,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2374,3481,3571,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3363,-0.55,-120.5,2741,2375,3570,3387,456.8,-10.1,181,3368,0.00,1.92,0.00,0.000,516,0.000,0.031,2742,1035,3479,3571,3387,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3518,-0.55,-120.5,1760,1034,3560,3381,473.6,-11.5,188,3524,0.00,1.90,0.00,0.000,1030,0.000,0.028,2736,2374,3477,3571,3384,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3832,-0.55,-120.5,2736,2374,3571,3378,514.7,-12.6,204,3838,0.00,1.92,0.00,0.000,516,0.000,0.031,2737,1040,3474,3571,3378,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3907,-0.55,-120.5,2736,1040,3570,3377,523.6,-13.6,207,3914,0.08,1.90,0.00,0.000,3078,0.181,0.028,2750,2370,3474,3570,3378,0,0,0,0,0,0,26.32,26.47,28.83
$GC,4224,-0.55,-120.5,2746,2371,3568,3374,561.6,-11.6,223,4230,0.00,2.00,0.00,0.000,260,0.000,0.044,2748,3717,3471,3568,3374,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4271,-0.55,-120.5,2747,3717,3567,3374,566.1,-10.3,225,4277,0.00,1.83,0.00,0.000,1030,0.000,0.022,2748,2370,3470,3567,3374,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4596,-0.58,-133.3,2747,2370,3566,3372,593.9,-8.5,241,4603,0.00,1.90,0.00,0.000,516,0.000,0.033,2747,1043,3469,3566,3373,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4695,-0.61,-148.1,2747,1043,3564,3372,602.1,-8.4,246,4701,0.00,1.92,0.00,0.000,1030,0.000,0.029,2744,2382,3468,3564,3372,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5031,-0.64,-163.0,2744,2383,3562,3368,629.9,-8.4,257,5033,0.10,0.00,0.00,0.000,4102,0.103,0.000,2692,2382,3465,3562,3368,0,0,0,0,0,0,26.55,28.83,28.83
$GC,5330,-0.64,-163.0,2692,2383,3560,3366,663.4,-11.6,267,5337,0.12,1.95,0.00,0.000,2564,0.158,0.031,2730,1041,3463,3560,3366,0,0,0,0,0,0,26.29,26.41,28.83
$GC,5389,-0.64,-163.0,2729,1041,3559,3366,667.1,-11.4,268,5397,0.00,1.92,0.00,0.000,1030,0.000,0.030,2729,2380,3462,3559,3366,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5699,-0.64,-163.0,2729,2381,3557,3363,696.7,-9.2,279,5704,0.00,1.95,0.00,0.000,516,0.000,0.032,2729,1037,3460,3557,3363,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5746,-0.64,-163.0,1792,1037,3544,3360,700.1,-9.2,280,5752,0.00,1.92,0.00,0.000,1030,0.000,0.029,2726,2380,3459,3556,3363,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6066,-0.64,-163.0,2725,2380,3555,3360,730.2,-9.3,291,6072,0.00,1.95,0.00,0.000,516,0.000,0.033,2726,1039,3457,3555,3360,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6131,-0.64,-163.0,2725,1036,3554,3361,736.6,-9.6,293,6138,0.00,1.92,0.00,0.000,1030,0.000,0.029,2721,2376,3456,3553,3360,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6466,-0.64,-163.0,2720,2376,3551,3358,769.8,-10.3,304,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2377,3455,3552,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6766,-0.65,-167.5,2720,2376,3550,3356,798.0,-8.9,314,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2376,3453,3550,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7066,-0.65,-167.5,2721,2376,3548,3354,826.7,-9.9,324,7073,0.00,1.95,0.00,0.000,516,0.000,0.034,2721,1036,3451,3547,3355,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7171,-0.65,-167.5,2721,1036,3547,3355,836.7,-10.5,327,7178,0.00,1.92,0.00,0.000,1030,0.000,0.030,2718,2375,3451,3547,3355,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7496,-0.65,-167.5,2717,2375,3546,3359,871.9,-10.6,338,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2375,3449,3546,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7797,-0.67,-178.1,2717,2375,3544,3351,900.6,-8.6,348,7803,0.00,1.92,0.00,0.000,516,0.000,0.034,2718,1046,3447,3544,3351,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7876,-0.70,-194.6,2717,1045,3544,3351,905.7,-8.1,350,7882,0.00,1.92,0.00,0.000,1030,0.000,0.031,2714,2380,3447,3544,3351,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8196,-0.70,-194.6,2713,2381,3543,3349,929.1,-7.2,361,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2381,3446,3543,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8496,-0.70,-194.6,2713,2381,3543,3348,952.0,-7.7,371,8502,0.00,1.95,0.00,0.000,516,0.000,0.034,2714,1045,3445,3542,3348,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8575,-0.70,-194.6,2713,1046,3542,3348,956.9,-7.7,373,8581,0.00,1.92,0.00,0.000,1030,0.000,0.031,2708,2378,3444,3541,3348,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8896,-0.70,-194.6,2707,2378,3541,3346,985.3,-8.9,384,8902,0.00,1.95,0.00,0.000,516,0.000,0.035,2707,1047,3443,3541,3346,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,8958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8958,begin apogee
$GC,8965,-0.20,0.0,2706,2241,3541,3346,991.5,-9.2,386,9085,0.47,0.00,112.35,0.979,10246,0.128,0.000,2855,2241,2990,3092,2889,0,0,0,0,0,0,26.05,28.83,24.29
$STATE,9086,end apogee,CONTROL_FINISHED_OK
$STATE,9086,begin climb
$GC,9088,0.70,194.6,2855,2241,3091,2885,995.1,0.0,389,9289,0.85,2.20,191.55,0.963,11012,0.083,0.047,3152,922,2192,2307,2077,0,0,1,0,0,0,25.04,24.59,23.95
$GC,9338,0.70,194.6,3152,922,2303,2068,979.0,10.3,398,9343,0.00,2.03,0.00,0.000,1030,0.000,0.028,3152,2248,2185,2303,2068,0,0,0,0,0,0,28.83,25.11,28.83
$GC,9672,0.70,194.6,3152,2248,2301,2057,936.7,12.5,409,9673,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2248,2179,2301,2058,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9972,0.70,194.6,3152,2248,2300,2059,901.2,12.1,419,9973,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2248,2177,2300,2054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10272,0.70,194.6,3152,2247,2299,2052,865.6,11.7,429,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2248,2176,2300,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10572,0.70,194.6,3152,2248,2299,2050,831.9,11.2,439,10578,0.00,2.00,0.00,0.000,516,0.000,0.043,3161,919,2174,2299,2050,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10596,0.70,194.6,3161,919,2299,2050,831.9,11.2,439,10603,0.00,1.92,0.00,0.000,1030,0.000,0.029,3161,2246,2174,2299,2050,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10913,0.70,194.6,3160,2246,2298,2050,793.5,11.0,450,10919,0.00,2.10,0.00,0.000,260,0.000,0.045,3161,3639,2174,2298,2050,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10958,0.70,194.6,3161,3639,2294,2050,789.0,11.3,451,10964,0.00,1.92,0.00,0.000,1030,0.000,0.026,3163,2305,2172,2295,2050,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11283,0.70,194.6,3162,2304,2294,2049,747.3,13.3,462,11289,0.00,2.08,0.00,0.000,516,0.000,0.045,3170,920,2171,2295,2048,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11342,0.70,194.6,3170,919,2294,2049,742.6,13.4,463,11350,0.10,1.90,0.00,0.000,5126,0.187,0.029,3149,2245,2171,2294,2049,0,0,0,0,0,0,26.08,26.33,28.83
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$GC,14474,0.76,223.8,3152,2236,2285,2045,416.3,7.9,596,14502,0.00,2.03,22.92,0.644,8708,0.000,0.040,3161,874,2076,2199,1953,0,0,0,0,0,0,28.83,26.11,25.55
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$STATE,18577,end climb,SURFACE_DEPTH_REACHED
$STATE,18577,begin surface coast
$FINISH,0.3,1.021494
$STATE,18599,end surface coast,CONTROL_FINISHED_OK
$STATE,18600,begin surface
$SM_CCo,18619,90.47,0.051,0,0,463,619.87
$SM_GC,-1.86,8.62,0.15,90.47,0.067,0.075,0.051,135,2414,463,-8.62,-1.61,619.87,0,0,0,0,0,0,26.13,26.23,26.08
$IRIDIUM_FIX,1837.32,12144.65,280413,060645
$TT8_MAMPS,0.027713,0.027713
$HUMID,43.89
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.30
$XPDR_PINGS,14
$SC_FREEKB,3936800
$24V_AH,24.0,27.482
$10V_AH,10.1,25.560
$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,22.100,142.775,446.600,90.475,0.000,0.000,0.000,281.550,3.500,0.000,14.840,3672.636,11791.100,752.206,2467.145,494.101,0.000,2202.241,0.000,2076.184,0.000,0.546,0.000
$DEVICE_MAMPS,247.095,74.970,979.200,51.255,0.000,0.000,0.000,119.340,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18622.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.001,0.000,0.000,0.000
$MEM,320844
$DATA_FILE_SIZE,30068,839
$CAP_FILE_SIZE,452499,0
$CFSIZE,260034560,225456128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.211,236.5,1
$GPS,280413,165023,1844.475,12157.350,41,0.9,42,-2.1