version: 66.12
glider: 179
mission: 13
dive: 161
start: 10 29 114 23 25 2
data:
$ID,179
$MISSION,13
$DIVE,161
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,2.5
$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,360
$T_MISSION,400
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51623
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00267967
$HD_B,0.0102786
$HD_C,3.7969199e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.6903
$TGT_DEFAULT_LON,-118.7761
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$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_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3923
$C_PITCH,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,22
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$ROLL_MIN,165
$ROLL_MAX,3681
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,69
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2926
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024600001
$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,140
$AH0_10V,95.099998
$MINV_24V,20.5
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-37.156891
$PRESSURE_SLOPE,0.0001164844
$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,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043333764
$SEABIRD_T_H,0.0006255582
$SEABIRD_T_I,2.4443518e-05
$SEABIRD_T_J,2.7040428e-06
$SEABIRD_C_G,-10.032231
$SEABIRD_C_H,1.1531334
$SEABIRD_C_I,-0.0012400629
$SEABIRD_C_J,0.00018751388
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,0.0
$GPS1,291014,232018,1437.106,14426.972,35,0.8,55,0.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-68.2
$GPS2,291014,232445,1437.058,14426.922,5,0.9,26,0.7
$SPEED_LIMITS,0.092,0.225
$TGT_NAME,N5
$TGT_LATLONG,1334.700,14438.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,153.1,117353,-17.3,-9.167,-22.14,2098
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.79,-136.3,121,2264,990,894,0.0,0.0,0,76,0.00,0.00,-61.88,0.000,16386,0.000,0.000,120,2265,2378,2422,2335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.79,-136.3,121,2265,2423,2335,3.7,-5.5,2,120,11.15,2.17,-26.60,0.000,18948,0.241,0.044,2583,837,3482,3498,3467,0,0,0,0,0,0,24.91,25.94,26.56
$GC,190,-0.35,-136.3,2583,836,3498,3470,27.1,-20.9,5,196,0.52,2.12,0.00,0.000,3078,0.132,0.034,2729,2220,3483,3497,3470,0,0,0,0,0,0,25.22,25.94,28.83
$GC,494,-0.40,-136.3,2729,2221,3498,3471,81.2,-12.6,16,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2221,3484,3498,3471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,794,-0.47,-136.3,2729,2221,3499,3472,119.1,-11.8,26,799,0.12,2.28,0.00,0.000,4356,0.083,0.046,2650,3654,3485,3498,3472,0,0,0,0,0,0,26.54,25.89,28.83
$GC,900,-0.51,-136.3,2650,3654,3499,3472,131.0,-12.7,29,904,0.12,2.08,0.00,0.000,3078,0.133,0.024,2685,2249,3485,3499,3472,0,0,0,0,0,0,26.02,26.32,28.83
$GC,1209,-0.56,-136.3,2685,2248,3499,3473,169.0,-11.6,40,1213,0.00,2.10,0.00,0.000,516,0.000,0.034,2685,862,3486,3499,3473,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1294,-0.62,-136.3,2685,862,3499,3473,177.0,-12.7,42,1301,0.08,2.15,0.00,0.000,5126,0.057,0.028,2624,2277,3485,3498,3473,0,0,0,0,0,0,26.11,26.19,28.83
$GC,1599,-0.62,-136.3,2624,2277,3500,3473,218.3,-11.4,53,1604,0.00,2.15,0.00,0.000,260,0.000,0.045,2614,3641,3486,3499,3473,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1769,-0.62,-136.3,2613,3641,3499,3473,238.8,-14.0,58,1774,0.08,2.03,0.00,0.000,3078,0.116,0.024,2641,2284,3485,3498,3473,0,0,0,0,0,0,26.04,26.32,28.83
$GC,2079,-0.67,-136.3,2642,2283,3497,3473,279.9,-12.4,69,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2283,3485,3497,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2380,-0.73,-136.3,2641,2283,3494,3473,311.8,-9.4,79,2383,0.00,2.15,0.00,0.000,516,0.000,0.036,2641,846,3483,3494,3473,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2429,-0.79,-136.3,2642,846,3493,3473,314.6,-9.1,80,2433,0.12,2.22,0.00,0.000,5126,0.046,0.030,2566,2296,3483,3493,3473,0,0,0,0,0,0,26.09,26.14,28.83
$GC,2739,-0.79,-136.3,2565,2297,3490,3473,355.2,-13.8,91,2744,0.00,2.15,0.00,0.000,260,0.000,0.049,2556,3643,3481,3489,3473,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2880,-0.79,-136.3,2556,3643,3487,3473,373.7,-15.4,95,2884,0.12,1.98,0.00,0.000,3078,0.146,0.028,2589,2313,3480,3487,3473,0,0,0,0,0,0,25.95,26.27,28.83
$GC,3189,-0.79,-136.3,2589,2311,3486,3469,412.9,-11.3,106,3194,0.00,2.22,0.00,0.000,516,0.000,0.037,2589,869,3477,3486,3469,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3289,-0.79,-136.3,2589,869,3486,3468,423.3,-11.6,109,3294,0.00,2.25,0.00,0.000,1030,0.000,0.031,2581,2321,3476,3485,3468,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3609,-0.79,-136.3,2581,2321,3483,3465,460.7,-11.7,120,3614,0.00,2.12,0.00,0.000,260,0.000,0.050,2571,3640,3473,3482,3465,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3655,-0.79,-136.3,2571,3640,3481,3465,464.5,-12.2,121,3658,0.00,2.00,0.00,0.000,1030,0.000,0.029,2571,2345,3473,3481,3465,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3969,-0.79,-136.3,2571,2340,3478,3462,508.1,-13.2,132,3974,0.00,2.28,0.00,0.000,516,0.000,0.039,2571,877,3470,3478,3462,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4014,-0.79,-136.3,2571,877,3478,3462,512.2,-13.3,133,4018,0.00,2.25,0.00,0.000,1030,0.000,0.033,2563,2315,3469,3478,3461,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4329,-0.79,-136.3,2563,2315,3476,3457,557.8,-14.1,144,4334,0.00,2.15,0.00,0.000,260,0.000,0.053,2554,3640,3466,3476,3457,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4349,-0.79,-136.3,2553,3640,3475,3457,557.8,-14.1,144,4354,0.10,2.03,0.00,0.000,3078,0.131,0.030,2587,2341,3466,3475,3457,0,0,0,0,0,0,25.79,26.20,28.83
$GC,4659,-0.79,-136.3,2587,2338,3473,3454,600.7,-12.5,155,4665,0.00,2.30,0.00,0.000,516,0.000,0.041,2587,875,3463,3473,3454,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4774,-0.79,-136.3,2587,875,3472,3453,612.3,-12.7,158,4780,0.00,2.25,0.00,0.000,1030,0.000,0.034,2580,2303,3462,3472,3453,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5079,-0.79,-136.3,2579,2303,3469,3451,652.0,-11.6,169,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2303,3460,3469,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5380,-0.79,-136.3,2579,2303,3468,3448,685.5,-11.1,179,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2303,3457,3467,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5679,-0.79,-136.3,2579,2303,3465,3446,721.2,-12.1,189,5684,0.00,2.20,0.00,0.000,260,0.000,0.054,2570,3647,3454,3464,3445,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5704,-0.79,-136.3,2570,3647,3464,3446,721.2,-12.1,189,5710,0.00,2.08,0.00,0.000,1030,0.000,0.031,2570,2324,3454,3464,3445,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6009,-0.79,-136.3,2570,2321,3463,3443,762.1,-12.1,200,6014,0.00,2.28,0.00,0.000,516,0.000,0.042,2570,880,3453,3463,3443,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6029,-0.79,-136.3,2570,880,3463,3443,762.1,-12.1,200,6034,0.00,2.25,0.00,0.000,1030,0.000,0.035,2562,2302,3452,3462,3443,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6339,-0.79,-136.3,2562,2302,3462,3440,802.1,-12.1,211,6344,0.00,2.20,0.00,0.000,260,0.000,0.054,2554,3640,3451,3462,3441,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6364,-0.79,-136.3,2554,3640,3461,3441,802.1,-12.1,211,6370,0.10,2.05,0.00,0.000,3078,0.130,0.032,2586,2336,3451,3461,3441,0,0,0,0,0,0,25.70,26.10,28.83
$GC,6670,-0.83,-136.3,2586,2332,3461,3439,840.6,-11.7,222,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2333,3449,3460,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6970,-0.87,-136.3,2586,2332,3459,3437,875.1,-11.4,232,6974,0.00,2.28,0.00,0.000,516,0.000,0.043,2586,870,3448,3459,3437,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6999,-0.90,-136.3,2586,869,3459,3437,878.7,-11.4,233,7003,0.00,2.25,0.00,0.000,1030,0.000,0.036,2579,2293,3448,3459,3437,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7329,-0.90,-136.3,2578,2293,3458,3435,915.6,-10.9,244,7334,0.00,2.25,0.00,0.000,260,0.000,0.056,2570,3650,3446,3457,3435,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7364,-0.90,-136.3,2570,3650,3457,3435,919.0,-10.9,245,7368,0.00,2.08,0.00,0.000,1030,0.000,0.033,2570,2334,3446,3457,3435,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7689,-0.90,-136.3,2569,2329,3456,3434,955.3,-10.8,256,7690,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2329,3445,3456,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7990,-0.90,-136.3,2569,2329,3455,3434,987.9,-10.9,266,7994,0.00,2.17,0.00,0.000,260,0.000,0.057,2561,3648,3443,3454,3433,0,0,0,0,0,0,28.83,25.46,28.83
$STATE,8018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8018,begin apogee
$GC,8024,-0.13,0.0,2561,2019,3454,3433,991.3,-10.9,267,8147,0.77,0.00,120.50,1.096,10244,0.116,0.000,2800,2019,2926,2972,2881,0,0,0,0,0,0,25.00,28.83,22.32
$STATE,8148,end apogee,CONTROL_FINISHED_OK
$STATE,8148,begin climb
$GC,8149,0.79,136.3,2800,2019,2972,2880,996.1,0.0,271,8292,0.85,2.42,133.98,1.079,10756,0.055,0.048,3101,595,2370,2427,2313,0,0,0,0,0,0,24.43,24.39,21.75
$GC,8306,1.08,300.8,3102,595,2425,2308,995.4,1.1,276,8469,0.22,2.38,155.62,1.073,11270,0.044,0.031,3193,2001,1699,1758,1640,0,0,0,0,0,0,24.22,24.23,21.70
$GC,8766,0.94,300.8,3193,2001,1756,1629,906.2,21.2,291,8771,0.17,2.25,0.00,0.000,4356,0.170,0.050,3151,3408,1692,1755,1629,0,0,0,0,0,0,25.67,25.74,28.83
$GC,8887,0.84,300.8,3151,3407,1754,1629,883.1,19.2,295,8891,0.17,2.15,0.00,0.000,5126,0.163,0.033,3114,2017,1691,1754,1629,0,0,0,0,0,0,25.57,26.02,28.83
$GC,9217,0.79,300.8,3114,2017,1754,1627,832.2,14.8,306,9221,0.00,2.25,0.00,0.000,516,0.000,0.049,3124,591,1690,1754,1627,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9251,0.75,300.8,3123,591,1755,1625,827.7,14.8,307,9255,0.10,2.22,0.00,0.000,5126,0.135,0.033,3092,2016,1690,1754,1626,0,0,0,0,0,0,25.70,26.06,28.83
$GC,9576,0.75,300.8,3092,2016,1754,1625,786.2,12.2,318,9581,0.00,2.25,0.00,0.000,260,0.000,0.050,3092,3399,1689,1754,1625,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9626,0.75,300.8,3091,3398,1755,1625,782.3,12.4,319,9630,0.00,2.17,0.00,0.000,1030,0.000,0.033,3098,2019,1689,1754,1625,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9936,0.75,300.8,3097,2019,1754,1625,739.8,12.8,330,9941,0.00,2.28,0.00,0.000,516,0.000,0.050,3108,606,1689,1754,1625,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9976,0.75,300.8,3108,606,1755,1623,735.8,12.9,331,9981,0.00,2.20,0.00,0.000,1030,0.000,0.032,3108,2016,1689,1754,1624,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10296,0.75,300.8,3108,2016,1754,1623,689.8,14.4,342,10301,0.00,2.25,0.00,0.000,260,0.000,0.050,3108,3399,1688,1754,1623,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10377,0.72,300.8,3108,3399,1754,1623,680.9,14.6,344,10381,0.15,2.12,0.00,0.000,5126,0.156,0.033,3079,2022,1688,1754,1623,0,0,0,0,0,0,25.64,26.03,28.83
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$GC,14017,0.88,348.9,3180,598,1566,1432,261.1,13.1,466,14021,0.20,2.22,0.00,0.000,5126,0.147,0.032,3128,2041,1498,1566,1431,0,0,0,0,0,0,25.32,25.77,28.83
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$STATE,16615,end climb,SURFACE_DEPTH_REACHED
$STATE,16615,begin surface coast
$FINISH,0.8,0.968492
$STATE,16645,end surface coast,CONTROL_FINISHED_OK
$STATE,16645,begin surface
$SM_CCo,16719,0.00,0.000,0,0,1085,451.60
$SM_GC,1.72,8.32,0.22,0.00,0.032,0.045,0.000,130,2280,1085,-8.41,-1.33,451.60,0,0,0,0,0,0,25.98,26.25,28.83
$IRIDIUM_FIX,1431.99,14428.52,291014,180142
$TT8_MAMPS,0.053179,0.053179
$HUMID,56.73
$INTERNAL_PRESSURE,9.37851
$TCM_TEMP,26.00
$XPDR_PINGS,3
$24V_AH,21.70,58.774
$10V_AH,10.12,38.424
$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,24.350,167.975,539.775,0.000,0.000,0.000,0.000,177.850,0.750,0.000,32.853,0.000,13816.971,682.564,2321.366,152.909,0.000,1837.012,0.000,1687.422,0.000,0.542,0.000
$DEVICE_MAMPS,240.975,56.610,1096.245,0.000,0.000,0.000,0.000,78.030,420.000,0.000,29.210,0.000,2.190,21.460,48.420,55.910,0.000,10.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,230148
$DATA_FILE_SIZE,23456,554
$CAP_FILE_SIZE,150611,0
$CFSIZE,260034560,244297728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,19193.10,0x236bc6,7,5
$CURRENT,0.125,270.12,1
$GPS,301014,040454,1435.340,14426.520,36,0.8,56,0.7