version: 66.13
glider: 178
mission: 31
dive: 229
start: 11 27 119 13 43 17
data:
$ID,178
$MISSION,31
$DIVE,229
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,2
$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,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53923
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00223872
$HD_B,0.011885
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,100740
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,165
$PITCH_MAX,3805
$C_PITCH,2125
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,625
$ROLL_MAX,3950
$ROLL_DEG,40
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00038000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-157.45766
$PRESSURE_SLOPE,0.0001061024
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,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,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,147
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043966938
$SEABIRD_T_H,0.00063700025
$SEABIRD_T_I,2.5067597e-05
$SEABIRD_T_J,2.9826379e-06
$SEABIRD_C_G,-9.7293062
$SEABIRD_C_H,1.1206031
$SEABIRD_C_I,0.00047059715
$SEABIRD_C_J,5.505409e-05
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,271119,133109,1418.3864,14410.8662,26,1.0,26,0.3,0.6,328.2,7,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-56.9
$GPS2,271119,134222,1418.4263,14410.8877,5,1.0,5,0.3,2.1,313.1,7,10.0
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,326.2,5025,-22.4,-8.462,-27.55,1290
$D_GRID,1000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.96,-71.5,110,2736,987,866,0.0,0.0,0,110,0.00,0.00,-87.95,0.005,16386,0.000,0.000,104,2737,3207,3230,3184,0,0,0,0,0,0,15.25,28.83,15.26
$GC,113,-0.96,-71.5,104,2737,3230,3184,4.6,-9.2,9,131,7.97,2.10,-0.93,0.119,18692,0.388,0.096,1799,3942,3262,3292,3232,0,0,0,0,0,0,14.71,13.93,14.95
$GC,359,-0.96,-71.5,1799,3942,3292,3231,95.4,-24.4,58,366,0.00,1.98,0.00,0.000,1030,0.000,0.032,1797,2713,3261,3292,3231,0,0,0,0,0,0,15.16,15.14,15.17
$GC,546,-0.96,-71.5,1799,2713,3292,3231,133.5,-17.1,77,552,0.00,2.12,0.00,0.000,260,0.000,0.072,1789,3946,3261,3292,3231,0,0,0,0,0,0,15.39,15.11,15.40
$GC,780,-0.96,-71.5,1789,3946,3293,3234,180.6,-19.7,123,786,0.00,1.88,0.00,0.000,1030,0.000,0.030,1788,2739,3262,3293,3231,0,0,0,0,0,0,15.28,15.25,15.30
$GC,974,-0.96,-71.5,1789,2732,3293,3231,206.9,-11.3,143,979,0.00,2.08,0.00,0.000,260,0.000,0.073,1780,3949,3263,3295,3231,0,0,0,0,0,0,15.42,15.14,15.45
$GC,1209,-0.96,-71.5,1780,3949,3293,3229,237.5,-14.6,189,1217,0.15,1.88,0.00,0.000,3078,0.298,0.030,1811,2735,3261,3293,3230,0,0,0,0,0,0,14.94,15.27,15.20
$GC,1425,-0.96,-71.5,1811,2735,3293,3229,267.3,-14.0,203,1431,0.00,2.08,0.00,0.000,260,0.000,0.073,1803,3949,3261,3293,3229,0,0,0,0,0,0,15.45,15.16,15.45
$GC,1657,-0.96,-71.5,1809,3949,3293,3227,300.2,-13.5,249,1663,0.00,1.85,0.00,0.000,1030,0.000,0.032,1803,2761,3259,3293,3225,0,0,0,0,0,0,15.33,15.29,15.34
$GC,1972,-0.96,-71.5,1803,2761,3293,3224,337.9,-12.0,261,1978,0.00,2.03,0.00,0.000,260,0.000,0.074,1794,3943,3258,3293,3224,0,0,0,0,0,0,15.45,15.15,15.47
$GC,2206,-0.96,-71.5,1794,3943,3293,3221,366.0,-11.6,307,2212,0.00,1.88,0.00,0.000,1030,0.000,0.034,1795,2743,3257,3293,3221,0,0,0,0,0,0,15.33,15.30,15.34
$GC,2520,-0.96,-71.5,1794,2743,3293,3216,401.3,-10.6,319,2525,0.00,2.08,0.00,0.000,260,0.000,0.076,1786,3949,3254,3293,3215,0,0,0,0,0,0,15.47,15.20,15.49
$GC,2752,-0.96,-71.5,1786,3950,3293,3214,428.6,-11.0,365,2759,0.00,1.90,0.00,0.000,1030,0.000,0.034,1786,2743,3253,3293,3213,0,0,0,0,0,0,15.33,15.29,15.34
$GC,3067,-0.96,-71.5,1786,2743,3293,3209,463.8,-11.9,377,3073,0.00,2.08,0.00,0.000,260,0.000,0.079,1779,3942,3250,3293,3208,0,0,0,0,0,0,15.47,15.16,15.49
$GC,3300,-0.96,-71.5,1778,3943,3293,3204,491.3,-9.8,423,3306,0.15,1.90,0.00,0.000,3078,0.289,0.036,1810,2752,3248,3293,3204,0,0,0,0,0,0,14.93,15.28,15.20
$GC,3614,-0.96,-71.5,1809,2750,3293,3199,514.2,-6.8,435,3620,0.00,2.08,0.00,0.000,260,0.000,0.082,1803,3942,3248,3298,3199,0,0,0,0,0,0,15.46,15.13,15.47
$GC,3846,-0.96,-71.5,1802,3942,3293,3195,537.1,-10.8,481,3852,0.00,1.92,0.00,0.000,1030,0.000,0.035,1803,2744,3243,3292,3194,0,0,0,0,0,0,15.31,15.27,15.33
$GC,4160,-0.96,-71.5,1802,2737,3291,3191,564.3,-8.4,493,4168,0.00,2.12,0.00,0.000,260,0.000,0.087,1794,3943,3241,3291,3191,0,0,0,0,0,0,15.44,15.09,15.46
$GC,4394,-0.96,-71.5,1794,3943,3290,3189,587.0,-9.4,539,4400,0.00,1.92,0.00,0.000,1030,0.000,0.037,1794,2751,3243,3297,3189,0,0,0,0,0,0,15.28,15.26,15.31
$GC,4708,-0.96,-71.5,1799,2744,3287,3187,616.6,-10.0,551,4713,0.00,2.10,0.00,0.000,260,0.000,0.086,1788,3940,3236,3287,3186,0,0,0,0,0,0,15.43,15.10,15.45
$GC,4940,-0.96,-71.5,1787,3940,3286,3184,641.7,-10.4,597,4947,0.00,1.92,0.00,0.000,1030,0.000,0.040,1788,2750,3235,3286,3185,0,0,0,0,0,0,15.26,15.21,15.28
$GC,5256,-0.96,-71.5,1787,2751,3283,3183,674.1,-10.5,609,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2751,3232,3283,3182,0,0,0,0,0,0,15.43,15.46,15.45
$GC,5555,-0.96,-71.5,1787,2751,3282,3181,704.3,-10.0,619,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2751,3231,3281,3182,0,0,0,0,0,0,15.44,15.46,15.45
$GC,5855,-0.96,-71.5,1787,2751,3279,3180,732.2,-8.7,629,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2751,3229,3279,3180,0,0,0,0,0,0,15.42,15.45,15.45
$GC,6156,-0.96,-71.5,1787,2751,3278,3179,760.5,-9.3,639,6161,0.00,2.12,0.00,0.000,260,0.000,0.088,1783,3939,3228,3278,3178,0,0,0,0,0,0,15.43,15.07,15.45
$GC,6213,-0.96,-71.5,1783,3939,3281,3177,766.5,-10.2,650,6220,0.10,1.98,0.00,0.000,3078,0.269,0.042,1808,2759,3228,3278,3178,0,0,0,0,0,0,14.81,15.16,15.01
$GC,6520,-0.96,-71.5,1808,2761,3275,3176,790.7,-7.7,661,6526,0.00,2.35,0.00,0.000,516,0.000,0.049,1808,1355,3224,3273,3176,0,0,0,0,0,0,15.43,15.14,15.46
$GC,6660,-0.96,-71.5,1808,1354,3274,3176,801.2,-7.2,688,6669,0.00,2.40,0.00,0.000,1030,0.000,0.056,1803,2743,3225,3274,3176,0,0,0,0,0,0,15.20,15.11,15.23
$GC,6977,-0.97,-97.3,1803,2744,3273,3176,821.6,-6.0,701,6984,0.00,2.10,0.00,0.000,292,0.000,0.091,1797,3945,3223,3273,3174,0,0,0,0,0,0,15.42,15.01,15.44
$GC,7161,-0.97,-97.3,1797,3950,3273,3177,835.0,-7.1,737,7168,0.00,1.98,0.00,0.000,1030,0.000,0.041,1797,2736,3223,3273,3173,0,0,0,0,0,0,15.24,15.17,15.22
$GC,7496,-0.97,-97.3,1797,2737,3271,3173,857.2,-7.2,753,7502,0.00,2.15,0.00,0.000,260,0.000,0.090,1792,3946,3221,3271,3172,0,0,0,0,0,0,15.40,15.04,15.42
$GC,7579,-0.97,-97.3,1791,3945,3271,3172,864.6,-8.2,769,7587,0.00,1.95,0.00,0.000,1030,0.000,0.042,1792,2757,3221,3271,3171,0,0,0,0,0,0,15.21,15.16,15.22
$GC,7895,-0.97,-97.3,1791,2755,3268,3171,888.6,-7.8,781,7901,0.00,2.35,0.00,0.000,516,0.000,0.049,1792,1361,3220,3269,3171,0,0,0,0,0,0,15.40,15.09,15.42
$GC,8057,-0.97,-97.3,1791,1361,3266,3171,903.2,-8.6,813,8064,0.00,2.42,0.00,0.000,1030,0.000,0.057,1787,2756,3219,3268,3170,0,0,0,0,0,0,15.14,15.03,15.18
$GC,8382,-0.97,-97.3,1785,2754,3268,3170,931.0,-8.9,827,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,2754,3219,3268,3170,0,0,0,0,0,0,15.40,15.42,15.42
$GC,8682,-0.97,-97.3,1784,2754,3267,3169,956.8,-8.6,837,8686,0.12,0.00,0.00,0.000,2054,0.309,0.000,1808,2754,3218,3267,3169,0,0,0,0,0,0,14.80,15.14,15.07
$GC,8983,-0.97,-97.3,1809,2754,3266,3167,979.5,-7.5,847,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2754,3214,3266,3163,0,0,0,0,0,0,15.40,15.42,15.42
$STATE,9131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9131,begin apogee
$GC,9138,-0.21,0.0,1808,1713,3266,3167,990.6,-7.4,852,9205,0.90,0.00,61.35,2.082,10246,0.223,0.000,2058,1713,2968,3029,2907,0,0,0,0,0,0,14.83,14.71,13.89
$STATE,9207,end apogee,CONTROL_FINISHED_OK
$STATE,9207,begin climb
$GC,9210,0.97,97.3,2056,1713,3031,2906,992.9,0.0,854,9324,1.17,2.00,100.82,2.039,10756,0.113,0.076,2434,642,2571,2631,2511,0,0,0,0,0,0,14.66,14.38,13.64
$GC,9416,0.97,97.3,2434,642,2624,2508,975.6,11.8,898,9422,0.00,1.85,0.00,0.000,1030,0.000,0.042,2434,1730,2565,2624,2507,0,0,0,0,0,0,14.79,14.73,14.81
$GC,9740,0.97,97.3,2434,1724,2624,2502,938.4,11.4,912,9746,0.00,1.92,0.00,0.000,516,0.000,0.073,2434,642,2563,2624,2502,0,0,0,0,0,0,15.20,14.90,15.21
$GC,9797,0.97,97.3,2434,642,2623,2501,932.4,11.3,923,9805,0.00,1.80,0.00,0.000,1030,0.000,0.043,2434,1691,2562,2623,2502,0,0,0,0,0,0,14.97,14.93,14.99
$GC,10104,0.97,97.3,2440,1692,2623,2499,897.5,11.4,934,10110,0.00,1.88,0.00,0.000,516,0.000,0.074,2434,632,2561,2623,2500,0,0,0,0,0,0,15.28,14.97,15.30
$GC,10336,0.97,97.3,2434,633,2622,2500,871.5,11.7,980,10343,0.00,1.77,0.00,0.000,1030,0.000,0.042,2434,1701,2561,2623,2500,0,0,0,0,0,0,15.11,15.04,15.14
$GC,10651,0.97,97.3,2434,1702,2622,2497,836.9,10.8,992,10657,0.00,1.90,0.00,0.000,516,0.000,0.074,2432,635,2559,2622,2497,0,0,0,0,0,0,15.32,14.99,15.35
$GC,10884,0.97,97.3,2434,635,2621,2497,810.6,11.2,1038,10890,0.00,1.77,0.00,0.000,1030,0.000,0.041,2434,1709,2559,2621,2497,0,0,0,0,0,0,15.16,15.10,15.19
$GC,11199,0.97,97.3,2434,1710,2620,2496,774.8,11.4,1050,11202,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1709,2558,2620,2496,0,0,0,0,0,0,15.35,15.38,15.38
$GC,11498,0.97,97.3,2434,1710,2620,2495,743.5,10.2,1060,11501,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1709,2558,2622,2495,0,0,0,0,0,0,15.30,15.36,15.35
$GC,11798,0.97,97.3,2434,1709,2621,2495,712.5,10.7,1070,11804,0.00,1.90,0.00,0.000,516,0.000,0.074,2434,635,2557,2620,2495,0,0,0,0,0,0,15.37,15.00,15.38
$GC,11932,0.97,97.3,2434,635,2620,2495,696.6,12.6,1096,11938,0.00,1.77,0.00,0.000,1030,0.000,0.043,2435,1705,2557,2619,2495,0,0,0,0,0,0,15.18,15.10,15.21
$GC,12256,0.97,97.3,2434,1706,2620,2495,656.6,12.2,1110,12261,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1706,2556,2619,2493,0,0,0,0,0,0,15.38,15.36,15.35
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$GC,17075,1.13,173.3,2488,1701,2516,2380,235.2,4.7,1528,17125,0.00,1.88,43.70,1.174,8740,0.000,0.070,2489,634,2263,2335,2192,0,0,0,0,0,0,15.29,14.78,14.33
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$STATE,19829,end climb,SURFACE_DEPTH_REACHED
$STATE,19830,begin surface coast
$STATE,19861,end surface coast,CONTROL_FINISHED_OK
$STATE,19861,begin surface
$SM_CCo,19880,133.48,0.659,1,0,929,500.41
$SM_GC,0.26,6.90,1.73,133.48,0.073,0.054,0.659,156,2721,929,-6.09,-1.70,500.41,0,0,0,0,1,0,15.08,15.09,14.46
$IRIDIUM_FIX,1413.38,14411.44,271119,072439
$TT8_MAMPS,0.019474,0.156541
$HUMID,46.18
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.20
$XPDR_PINGS,0
$SC_FREEKB,3767104
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,104450624
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,2
$24V_AH,13.64,93.601
$10V_AH,13.10,0.000
$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,17.750,148.925,381.075,133.475,0.000,0.000,0.000,422.000,0.000,0.000,16.473,1595.593,12856.449,565.263,5240.697,446.353,0.000,2685.604,0.000,4518.248,0.000,0.553,0.000
$DEVICE_MAMPS,387.855,95.625,2081.565,659.430,0.000,0.000,0.000,197.370,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19884.000,19883.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.394,6.559,0.000,0.000
$MEM,270820
$DATA_FILE_SIZE,66590,1942
$CAP_FILE_SIZE,190447,0
$CFSIZE,260034560,221356032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$CURRENT,0.029,18.43,1
$GPS,271119,191901,1420.277,14410.694,67,0.6,67,0.2,0.6,139.4,12,3.5