version: 66.11
glider: 177
mission: 4
dive: 333
start: 5 21 113 21 16 15
data:
$ID,177
$MISSION,4
$DIVE,333
$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,-8438.6602
$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,62
$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
$GPS1,210513,210635,1849.399,12212.206,36,1.2,42,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.58
$_SM_ANGLEo,-71.4
$GPS2,210513,211531,1849.502,12212.062,12,1.4,12,-2.1
$SPEED_LIMITS,0.159,0.756
$TGT_NAME,M1A
$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,215.1,13746,-6.8,-9.167,-7.42,2732
$D_GRID,1067
$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,19,-0.60,-163.4,136,2411,469,455,0.0,0.0,0,119,0.00,0.00,-94.90,0.000,16386,0.000,0.000,136,2411,2977,3004,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.60,-163.4,136,2411,3004,2952,3.6,-13.9,13,157,10.93,1.95,-10.38,0.000,18692,0.239,0.054,2719,3677,3663,3746,3581,0,0,0,0,0,0,25.30,25.92,26.32
$GC,179,-0.60,-163.4,2719,3677,3748,3582,31.9,-44.8,19,187,0.00,1.85,0.00,0.000,1030,0.000,0.020,2719,2342,3665,3748,3582,0,0,0,0,0,0,28.83,26.07,28.83
$GC,497,-0.60,-163.4,2719,2341,3748,3582,120.4,-24.4,38,504,0.00,2.00,0.00,0.000,260,0.000,0.038,2713,3673,3665,3748,3583,0,0,0,0,0,0,28.83,26.05,28.83
$GC,545,-0.60,-163.4,2713,3677,3748,3583,131.6,-24.4,40,552,0.10,1.77,0.00,0.000,3078,0.171,0.019,2735,2348,3665,3748,3583,0,0,0,0,0,0,25.95,26.29,28.83
$GC,873,-0.60,-163.4,2735,2347,3751,3583,173.8,-15.8,56,879,0.00,1.90,0.00,0.000,516,0.000,0.032,2735,1031,3667,3751,3583,0,0,0,0,0,0,28.83,26.16,28.83
$GC,984,-0.60,-163.4,1728,1031,3746,3581,186.4,-11.9,61,990,0.00,1.85,0.00,0.000,1030,0.000,0.027,2732,2338,3667,3751,3583,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1305,-0.60,-163.4,2736,2339,3751,3583,225.8,-11.7,77,1311,0.00,1.88,0.00,0.000,516,0.000,0.028,2732,1027,3667,3751,3583,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1427,-0.60,-163.4,2732,1027,3751,3583,238.1,-11.2,82,1435,0.00,1.92,0.00,0.000,1030,0.000,0.028,2730,2377,3667,3751,3583,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1733,-0.60,-163.4,2729,2378,3757,3581,278.6,-12.7,98,1738,0.00,1.92,0.00,0.000,516,0.000,0.028,2730,1037,3666,3751,3581,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1766,-0.60,-163.4,2729,1037,3751,3581,281.7,-12.7,99,1773,0.00,1.92,0.00,0.000,1030,0.000,0.027,2726,2390,3666,3751,3581,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2082,-0.60,-163.4,2725,2390,3751,3576,318.0,-9.8,115,2088,0.00,1.95,0.00,0.000,516,0.000,0.028,2726,1035,3663,3751,3576,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2123,-0.60,-163.4,2725,1035,3751,3575,320.4,-9.7,116,2132,0.00,1.90,0.00,0.000,1030,0.000,0.027,2721,2375,3661,3748,3575,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2427,-0.60,-163.4,2721,2376,3751,3569,351.1,-10.5,132,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2376,3660,3751,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2728,-0.60,-163.4,2719,2376,3751,3564,385.1,-10.5,147,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2378,3657,3751,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3027,-0.60,-163.4,2720,2376,3751,3558,419.8,-11.4,162,3033,0.00,1.95,0.00,0.000,516,0.000,0.030,2720,1033,3654,3751,3558,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3103,-0.60,-163.4,2720,1033,3751,3557,427.1,-11.2,165,3110,0.00,1.92,0.00,0.000,1030,0.000,0.028,2719,2375,3653,3751,3556,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3419,-0.60,-163.4,2719,2375,3748,3552,462.9,-10.8,181,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2374,3649,3748,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3719,-0.60,-163.4,2718,2374,3745,3549,492.7,-9.7,196,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2374,3647,3745,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4018,-0.60,-163.4,2718,2374,3741,3546,522.0,-9.8,211,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2375,3646,3741,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4319,-0.64,-185.8,2719,2374,3739,3543,547.3,-8.3,226,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2374,3641,3739,3543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4620,-0.65,-187.4,2718,2374,3736,3540,573.2,-9.1,241,4626,0.00,1.95,0.00,0.000,516,0.000,0.031,2719,1043,3637,3735,3540,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4681,-0.65,-187.4,2719,1043,3734,3540,577.6,-9.4,243,4690,0.00,1.92,0.00,0.000,1030,0.000,0.029,2717,2372,3637,3734,3540,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4999,-0.65,-187.4,2716,2372,3732,3538,609.0,-9.6,258,5005,0.00,2.03,0.00,0.000,260,0.000,0.045,2716,3715,3635,3732,3538,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5027,-0.65,-187.4,2716,3715,3732,3538,609.0,-9.6,258,5036,0.00,1.83,0.00,0.000,1030,0.000,0.023,2716,2382,3635,3732,3538,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5335,-0.65,-188.6,2716,2382,3729,3535,639.5,-9.1,269,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2382,3632,3730,3535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5634,-0.65,-188.6,2716,2381,3726,3533,667.2,-9.5,279,5640,0.00,1.95,0.00,0.000,516,0.000,0.031,2717,1037,3629,3726,3533,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5680,-0.65,-188.6,2716,1036,3725,3532,670.8,-9.9,280,5686,0.00,1.95,0.00,0.000,1030,0.000,0.029,2714,2375,3628,3725,3532,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6005,-0.65,-188.6,2714,2375,3724,3530,706.1,-10.4,291,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2375,3626,3723,3530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6306,-0.65,-188.6,2714,2374,3722,3528,734.9,-9.6,301,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2375,3625,3722,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6605,-0.65,-188.6,2713,2375,3720,3525,767.8,-11.6,311,6611,0.00,2.03,0.00,0.000,260,0.000,0.046,2714,3711,3622,3720,3525,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6710,-0.65,-188.6,2713,3712,3720,3525,778.4,-11.1,314,6716,0.00,1.85,0.00,0.000,1030,0.000,0.024,2714,2377,3622,3720,3525,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7035,-0.65,-188.6,2713,2376,3719,3522,814.4,-10.4,325,7041,0.00,1.98,0.00,0.000,516,0.000,0.032,2714,1021,3620,3719,3522,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7094,-0.65,-188.6,2713,1021,3719,3522,818.2,-10.6,326,7103,0.00,1.98,0.00,0.000,1030,0.000,0.029,2713,2379,3620,3719,3522,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7403,-0.65,-188.6,2713,2379,3719,3519,851.5,-9.8,337,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2379,3619,3719,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7702,-0.66,-194.6,2713,2379,3716,3517,877.3,-8.2,347,7703,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2380,3617,3716,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8001,-0.66,-194.6,2713,2379,3715,3516,901.8,-8.1,357,8003,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2379,3615,3715,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8302,-0.66,-194.6,2713,2380,3713,3515,927.0,-8.2,367,8308,0.00,2.00,0.00,0.000,516,0.000,0.033,2713,1028,3614,3713,3515,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8348,-0.66,-194.6,2713,1029,3712,3515,929.9,-8.2,368,8355,0.00,1.98,0.00,0.000,1030,0.000,0.031,2713,2373,3613,3712,3515,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8674,-0.66,-194.6,2713,2374,3711,3514,956.3,-7.8,379,8679,0.00,2.00,0.00,0.000,516,0.000,0.033,2713,1024,3612,3710,3514,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8722,-0.66,-194.6,2712,1024,3710,3514,959.1,-7.9,380,8729,0.00,1.98,0.00,0.000,1030,0.000,0.031,2708,2376,3612,3710,3514,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9044,-0.66,-194.6,2707,2376,3709,3512,989.0,-9.6,391,9050,0.00,2.00,0.00,0.000,516,0.000,0.034,2707,1029,3610,3709,3512,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,9076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9076,begin apogee
$GC,9084,-0.20,0.0,2704,2242,3708,3512,992.6,-9.6,392,9240,0.47,0.00,151.25,0.993,10246,0.115,0.000,2859,2242,2991,3094,2888,0,0,0,0,0,0,25.48,28.83,23.96
$STATE,9242,end apogee,CONTROL_FINISHED_OK
$STATE,9242,begin climb
$GC,9247,0.66,194.6,2859,2242,3093,2882,999.8,0.0,396,9446,0.80,2.22,188.77,0.977,10756,0.075,0.041,3148,907,2193,2313,2073,0,0,1,0,0,0,24.84,24.30,23.54
$GC,9490,0.73,227.6,3148,907,2309,2066,992.1,7.9,405,9528,0.00,2.08,30.80,0.954,9222,0.000,0.028,3148,2240,2061,2182,1941,0,0,0,0,0,0,28.83,24.84,23.83
$GC,9838,0.73,227.6,3148,2240,2178,1923,945.4,13.2,417,9844,0.00,2.08,0.00,0.000,516,0.000,0.047,3152,905,2050,2178,1923,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9888,0.73,227.6,3151,904,2177,1923,940.9,13.0,418,9895,0.00,1.98,0.00,0.000,1030,0.000,0.029,3152,2243,2050,2177,1923,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10209,0.73,227.6,3151,2243,2177,1919,895.7,13.6,429,10215,0.00,2.15,0.00,0.000,260,0.000,0.044,3152,3637,2047,2175,1919,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10232,0.73,227.6,3152,3638,2170,1919,895.7,13.6,429,10238,0.00,1.98,0.00,0.000,1030,0.000,0.024,3157,2280,2048,2178,1919,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10551,0.73,227.6,3157,2279,2174,1918,847.9,13.9,440,10557,0.00,2.17,0.00,0.000,516,0.000,0.045,3166,856,2046,2174,1918,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10579,0.73,227.6,3165,857,2174,1918,847.9,13.9,440,10587,0.00,2.03,0.00,0.000,1030,0.000,0.029,3166,2241,2045,2174,1917,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10889,0.73,227.6,3165,2242,2174,1916,801.7,12.9,451,10890,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2242,2045,2174,1916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11186,0.73,227.6,3165,2242,2172,1916,769.1,10.5,461,11187,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2242,2043,2172,1915,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,14330,0.73,227.6,2128,864,2092,1906,415.3,9.7,590,14335,0.00,2.00,0.00,0.000,1030,0.000,0.027,3168,2244,2040,2166,1914,0,0,0,0,0,0,28.83,26.12,28.83
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$STATE,18389,end climb,SURFACE_DEPTH_REACHED
$STATE,18389,begin surface coast
$FINISH,0.1,1.021071
$STATE,18418,end surface coast,CONTROL_FINISHED_OK
$STATE,18418,begin surface
$SM_CCo,18438,68.15,0.050,0,0,463,619.87
$SM_GC,-1.64,8.68,0.15,68.15,0.065,0.073,0.050,134,2412,463,-8.62,-1.75,619.87,0,0,0,0,0,0,25.97,26.17,25.90
$IRIDIUM_FIX,1841.87,12213.60,210513,151545
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.86
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.80
$XPDR_PINGS,30
$SC_FREEKB,3892480
$24V_AH,23.5,41.693
$10V_AH,10.1,38.741
$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,22.225,132.275,538.075,68.150,0.000,0.000,0.000,317.625,7.500,0.000,15.329,3390.644,11927.910,785.967,2291.724,637.352,0.000,2205.162,0.000,1898.922,0.000,0.547,0.000
$DEVICE_MAMPS,239.445,72.675,992.970,49.725,0.000,0.000,0.000,120.105,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18445.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.978,0.000,0.000,0.000
$MEM,321708
$DATA_FILE_SIZE,29989,830
$CAP_FILE_SIZE,424089,0
$CFSIZE,260034560,210239488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.184,313.4,1
$GPS,220513,022605,1848.226,12208.939,34,1.1,40,-2.1