version: 66.11
glider: 177
mission: 4
dive: 309
start: 5 16 113 16 13 38
data:
$ID,177
$MISSION,4
$DIVE,309
$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,3390
$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,-8400.6738
$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,64
$R_STBD_OVSHOOT,86
$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
$GPS1,160513,160529,1848.467,12241.948,37,1.2,37,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.64
$_SM_ANGLEo,-71.2
$GPS2,160513,161249,1848.635,12241.888,13,1.4,13,-2.1
$SPEED_LIMITS,0.159,0.756
$TGT_NAME,M5A
$TGT_LATLONG,1845.000,12242.270
$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,169.2,6765,-7.9,-9.167,-8.48,1952
$D_GRID,2027
$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,-0.55,-116.6,123,2403,468,452,0.0,0.0,0,125,0.00,0.00,-103.25,0.000,16386,0.000,0.000,123,2404,3288,3336,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,129,-0.55,-116.6,123,2403,3336,3241,4.9,-17.7,14,154,11.07,1.90,-2.67,0.000,18692,0.245,0.047,2734,3677,3472,3544,3401,0,0,0,0,0,0,25.51,26.09,26.38
$GC,180,-0.55,-116.6,2734,3677,3547,3401,36.3,-54.1,20,186,0.00,1.85,0.00,0.000,1030,0.000,0.020,2734,2355,3474,3548,3401,0,0,0,0,0,0,28.83,26.15,28.83
$GC,496,-0.55,-116.6,2734,2354,3549,3401,116.1,-23.1,38,503,0.00,1.95,0.00,0.000,516,0.000,0.030,2734,984,3475,3549,3401,0,0,0,0,0,0,28.83,26.20,28.83
$GC,607,-0.55,-116.6,1712,983,3538,3399,139.0,-20.7,43,614,0.10,1.95,0.00,0.000,3078,0.181,0.027,2749,2352,3475,3550,3401,0,0,0,0,0,0,26.01,26.27,28.83
$GC,930,-0.55,-116.6,2749,2347,3552,3401,191.8,-13.9,59,936,0.00,2.00,0.00,0.000,260,0.000,0.040,2744,3702,3477,3553,3401,0,0,0,0,0,0,28.83,26.24,28.83
$GC,954,-0.55,-116.6,2744,3702,3552,3401,195.2,-13.5,60,961,0.00,1.88,0.00,0.000,1030,0.000,0.019,2744,2316,3476,3552,3401,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1282,-0.55,-116.6,2744,2315,3552,3401,235.5,-13.5,76,1287,0.00,1.88,0.00,0.000,516,0.000,0.030,2744,993,3476,3552,3401,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1328,-0.55,-116.6,1664,992,3539,3399,241.6,-13.3,78,1334,0.00,1.95,0.00,0.000,1030,0.000,0.027,2739,2368,3476,3552,3401,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1656,-0.55,-116.6,2741,2368,3552,3400,286.8,-13.2,94,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2368,3476,3552,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1953,-0.55,-116.6,2742,2368,3552,3397,323.9,-11.6,109,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2368,3478,3558,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2252,-0.55,-116.6,2742,2368,3552,3395,355.0,-9.9,124,2258,0.00,1.98,0.00,0.000,516,0.000,0.029,2742,992,3473,3552,3394,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2313,-0.55,-116.6,2742,992,3552,3394,359.2,-9.7,126,2321,0.00,2.00,0.00,0.000,1030,0.000,0.033,2741,2381,3473,3552,3394,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2618,-0.55,-116.6,2742,2381,3552,3390,389.8,-9.9,142,2624,0.00,2.00,0.00,0.000,516,0.000,0.030,2741,991,3471,3552,3390,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2665,-0.55,-116.6,2741,991,3552,3389,394.5,-10.2,144,2671,0.00,2.00,0.00,0.000,1030,0.000,0.028,2741,2384,3470,3552,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2992,-0.55,-117.7,2741,2384,3552,3385,424.7,-9.1,160,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2384,3468,3551,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3291,-0.55,-117.7,2741,2384,3552,3380,453.1,-9.7,175,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2384,3465,3552,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3590,-0.55,-117.7,2741,2384,3552,3374,483.1,-10.3,190,3596,0.00,2.03,0.00,0.000,516,0.000,0.031,2741,992,3462,3552,3373,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3640,-0.55,-117.7,2741,992,3552,3373,487.8,-10.5,192,3647,0.00,1.98,0.00,0.000,1030,0.000,0.028,2741,2375,3462,3552,3373,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3961,-0.55,-117.7,2741,2375,3552,3367,521.0,-9.4,208,3967,0.00,2.00,0.00,0.000,516,0.000,0.031,2741,992,3459,3552,3367,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4052,-0.55,-117.7,1712,991,3539,3362,529.1,-9.2,212,4058,0.00,1.98,0.00,0.000,1030,0.000,0.028,2741,2373,3458,3552,3364,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4375,-0.64,-162.7,2741,2373,3552,3359,553.5,-6.8,228,4377,0.10,0.00,0.00,0.000,4102,0.103,0.000,2685,2375,3455,3552,3359,0,0,0,0,0,0,26.51,28.83,28.83
$GC,4672,-0.64,-162.8,2685,2375,3548,3357,581.2,-9.2,243,4679,0.12,2.00,0.00,0.000,2564,0.152,0.030,2725,998,3453,3549,3357,0,0,0,0,0,0,26.20,26.23,28.83
$GC,4723,-0.65,-169.3,1728,997,3535,3353,585.0,-8.8,245,4729,0.00,2.00,0.00,0.000,1030,0.000,0.028,2721,2383,3452,3547,3357,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5043,-0.69,-186.3,2721,2384,3546,3354,610.7,-8.3,259,5050,0.08,2.03,0.00,0.000,4612,0.124,0.030,2675,996,3449,3545,3354,0,0,0,0,0,0,26.54,26.21,28.83
$GC,5103,-0.70,-194.0,2675,996,3544,3354,614.4,-8.8,260,5113,0.10,2.00,0.00,0.000,3078,0.181,0.029,2697,2381,3449,3544,3354,0,0,0,0,0,0,26.01,26.27,28.83
$GC,5410,-0.70,-194.0,2696,2384,3543,3352,652.7,-11.9,271,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2384,3447,3543,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5709,-0.70,-194.0,2696,2384,3541,3348,688.6,-12.2,281,5715,0.00,2.03,0.00,0.000,516,0.000,0.032,2697,997,3445,3541,3349,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5750,-0.70,-194.0,2697,997,3540,3349,692.8,-12.2,282,5756,0.00,2.00,0.00,0.000,1030,0.000,0.028,2693,2383,3444,3541,3348,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6080,-0.70,-194.0,2693,2384,3539,3345,730.6,-11.1,293,6086,0.00,2.03,0.00,0.000,516,0.000,0.033,2693,999,3442,3539,3346,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6133,-0.70,-194.0,2693,999,3538,3345,734.5,-11.3,294,6139,0.00,2.00,0.00,0.000,1030,0.000,0.029,2690,2383,3441,3537,3346,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6452,-0.70,-194.0,2689,2384,3536,3343,770.1,-10.9,305,6457,0.00,2.03,0.00,0.000,516,0.000,0.032,2690,999,3439,3535,3343,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6521,-0.70,-194.0,2689,998,3534,3343,777.8,-10.9,307,6526,0.00,2.00,0.00,0.000,1030,0.000,0.029,2686,2381,3438,3534,3343,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6851,-0.70,-194.0,2686,2381,3532,3341,813.5,-10.4,318,6857,0.00,2.03,0.00,0.000,516,0.000,0.031,2686,992,3441,3538,3344,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6920,-0.70,-194.0,2686,992,3530,3340,820.5,-10.7,320,6926,0.10,2.00,0.00,0.000,3078,0.177,0.029,2703,2376,3435,3530,3340,0,0,0,0,0,0,25.95,26.22,28.83
$GC,7252,-0.70,-194.6,2703,2376,3530,3337,851.1,-9.0,331,7258,0.00,2.03,0.00,0.000,260,0.000,0.047,2703,3706,3433,3530,3337,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7299,-0.70,-194.6,2703,3706,3529,3337,854.4,-9.1,332,7305,0.00,1.88,0.00,0.000,1030,0.000,0.023,2703,2348,3433,3530,3337,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7624,-0.70,-194.6,2703,2347,3528,3335,883.8,-8.7,343,7630,0.00,1.92,0.00,0.000,516,0.000,0.034,2703,1021,3431,3527,3335,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7689,-0.70,-194.6,2703,1021,3526,3335,889.7,-8.8,345,7695,0.00,1.98,0.00,0.000,1030,0.000,0.030,2700,2375,3430,3526,3335,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8025,-0.70,-194.6,2700,2374,3525,3333,920.6,-9.5,356,8030,0.00,2.03,0.00,0.000,260,0.000,0.047,2700,3707,3429,3525,3334,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8073,-0.70,-194.6,2700,3708,3525,3334,924.0,-9.5,357,8079,0.00,1.85,0.00,0.000,1030,0.000,0.023,2700,2373,3429,3525,3333,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8394,-0.70,-194.6,2700,2376,3523,3332,955.4,-9.4,368,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2372,3427,3523,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8694,-0.70,-194.6,2700,2372,3522,3333,983.1,-9.0,378,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2372,3426,3522,3330,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8781,begin apogee
$GC,8787,-0.20,0.0,2699,2255,3521,3329,991.4,-9.1,381,8903,0.50,0.00,107.35,0.993,10246,0.116,0.000,2863,2255,2989,3092,2887,0,0,0,0,0,0,25.57,28.83,24.17
$STATE,8905,end apogee,CONTROL_FINISHED_OK
$STATE,8905,begin climb
$GC,8907,0.70,194.6,2862,2255,3092,2884,995.0,0.0,384,9111,0.82,2.30,190.77,0.968,11012,0.076,0.047,3152,3635,2191,2306,2076,0,0,1,0,0,0,25.06,24.55,23.86
$GC,9173,0.70,194.6,3152,3639,2304,2063,982.6,9.5,393,9180,0.00,2.08,0.00,0.000,1030,0.000,0.024,3161,2258,2183,2304,2063,0,0,0,0,0,0,28.83,25.22,28.83
$GC,9490,0.70,194.6,3161,2258,2303,2055,941.6,12.2,404,9491,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2258,2180,2304,2056,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9788,0.70,194.6,3161,2258,2303,2051,903.9,12.5,414,9794,0.00,2.12,0.00,0.000,260,0.000,0.045,3161,3638,2177,2303,2051,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9843,0.70,194.6,3161,3638,2301,2051,899.2,12.8,415,9849,0.00,2.05,0.00,0.000,1030,0.000,0.027,3165,2236,2175,2300,2051,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10160,0.70,194.6,3165,2236,2300,2050,854.9,12.8,426,10161,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2235,2175,2300,2050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10458,0.70,194.6,3165,2236,2300,2048,817.2,12.4,436,10459,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2236,2174,2301,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10758,0.70,194.6,3165,2235,2300,2047,782.6,11.3,446,10764,0.00,2.08,0.00,0.000,516,0.000,0.044,3175,853,2173,2300,2047,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10817,0.70,194.6,3175,856,2302,2047,778.5,11.4,447,10826,0.10,2.03,0.00,0.000,5126,0.190,0.029,3155,2254,2173,2300,2047,0,0,0,0,0,0,25.84,26.15,28.83
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$GC,14777,0.83,258.5,3200,865,2187,1933,366.3,7.5,614,14811,0.00,2.00,29.33,0.610,9222,0.000,0.026,3200,2241,1937,2061,1814,0,0,0,0,0,0,28.83,26.03,25.14
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$STATE,18374,end climb,SURFACE_DEPTH_REACHED
$STATE,18375,begin surface coast
$FINISH,0.1,1.021266
$STATE,18404,end surface coast,CONTROL_FINISHED_OK
$STATE,18404,begin surface
$SM_CCo,18423,84.22,0.049,0,0,464,619.87
$SM_GC,-1.67,8.50,0.17,84.22,0.064,0.062,0.049,147,2420,464,-8.61,-1.64,619.87,0,0,0,0,0,0,26.13,26.33,26.05
$IRIDIUM_FIX,1841.87,12240.15,160513,121220
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.15
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,25.50
$XPDR_PINGS,22
$SC_FREEKB,3901568
$24V_AH,23.9,38.661
$10V_AH,10.0,35.888
$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,22.600,145.450,456.225,84.225,0.000,0.000,0.000,245.700,5.500,0.000,16.334,3465.055,11880.316,776.962,2225.792,608.467,0.000,2105.197,0.000,1877.446,0.000,0.547,0.000
$DEVICE_MAMPS,244.800,78.795,992.970,48.960,0.000,0.000,0.000,119.340,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18420.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.982,0.000,0.000,0.000
$MEM,320828
$DATA_FILE_SIZE,30028,837
$CAP_FILE_SIZE,432984,0
$CFSIZE,260034560,213520384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.219,338.3,1
$GPS,160513,212426,1847.904,12241.826,77,3.3,96,-2.1