version: 66.11
glider: 181
mission: 11
dive: 177
start: 6 8 113 11 22 40
data:
$ID,181
$MISSION,11
$DIVE,177
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,150
$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,420
$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,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,165
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0033
$HD_B,0.0082
$HD_C,1.5e-05
$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,450
$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_GPS_CHARGE,-95919.156
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3941
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,84
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2753
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-160.75446
$PRESSURE_SLOPE,0.000109412
$AD7714Ch0Gain,1
$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,2
$XPDR_VALID,2
$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,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004364301
$SEABIRD_T_H,0.00062910328
$SEABIRD_T_I,2.4425184e-05
$SEABIRD_T_J,2.6404416e-06
$SEABIRD_C_G,-9.9046793
$SEABIRD_C_H,1.1251128
$SEABIRD_C_I,-0.0019873739
$SEABIRD_C_J,0.00023203803
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,080613,111129,2348.375,12406.897,37,1.3,38,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-70.6
$GPS2,080613,112213,2348.434,12407.213,10,1.3,10,-3.4
$SPEED_LIMITS,0.136,0.270
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$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,231.2,256681,-12.6,-7.857,-16.23,3084
$D_GRID,3014
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.79,-160.6,208,2421,912,910,0.0,0.0,0,106,0.00,0.00,-83.80,0.000,16386,0.000,0.000,206,2422,3081,3144,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.79,-160.6,206,2422,3145,3019,3.9,-13.1,14,135,10.02,2.12,-5.43,0.000,18948,0.382,0.059,2437,1065,3410,3501,3319,0,0,0,0,0,0,14.41,14.73,14.92
$GC,183,-0.79,-160.6,2438,1065,3502,3321,33.9,-29.2,24,189,0.00,2.25,0.00,0.000,1030,0.000,0.058,2430,2446,3411,3502,3321,0,0,0,0,0,0,28.83,14.69,28.83
$GC,496,-0.79,-160.6,2430,2446,3502,3321,114.7,-24.8,43,501,0.00,2.17,0.00,0.000,260,0.000,0.073,2420,3783,3412,3502,3322,0,0,0,0,0,0,28.83,14.78,28.83
$GC,553,-0.79,-160.6,2420,3782,3501,3322,125.1,-24.7,45,560,0.00,2.00,0.00,0.000,1030,0.000,0.033,2420,2446,3412,3502,3322,0,0,0,0,0,0,28.83,14.88,28.83
$GC,859,-0.79,-160.6,2420,2444,3502,3323,191.2,-19.6,61,864,0.00,2.17,0.00,0.000,260,0.000,0.072,2410,3780,3412,3502,3323,0,0,0,0,0,0,28.83,14.82,28.83
$GC,922,-0.79,-160.6,2410,3781,3502,3323,203.5,-19.3,64,928,0.12,1.98,0.00,0.000,3078,0.259,0.031,2438,2450,3412,3502,3323,0,0,0,0,0,0,14.69,14.92,28.83
$GC,1245,-0.79,-160.6,2438,2446,3502,3324,251.6,-14.7,80,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2446,3412,3502,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1547,-0.79,-160.6,2438,2451,3502,3323,293.6,-14.7,95,1552,0.00,2.17,0.00,0.000,260,0.000,0.074,2430,3780,3412,3502,3323,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1623,-0.79,-160.6,2430,3780,3502,3322,303.4,-15.4,98,1630,0.00,2.00,0.00,0.000,1030,0.000,0.033,2430,2447,3412,3502,3322,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1930,-0.79,-160.6,2430,2441,3502,3320,352.0,-15.4,114,1935,0.00,2.12,0.00,0.000,516,0.000,0.043,2430,1070,3411,3502,3320,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1946,-0.79,-160.6,2430,1069,3502,3320,352.0,-15.4,114,1953,0.00,2.22,0.00,0.000,1030,0.000,0.059,2421,2453,3411,3502,3320,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2253,-0.79,-160.6,2420,2454,3502,3317,400.1,-14.2,130,2258,0.00,2.17,0.00,0.000,516,0.000,0.044,2420,1063,3409,3502,3317,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2284,-0.79,-160.6,2420,1063,3502,3317,403.7,-14.6,131,2290,0.12,2.25,0.00,0.000,3078,0.246,0.058,2440,2460,3409,3502,3317,0,0,0,0,0,0,14.76,14.91,28.83
$GC,2598,-0.79,-160.6,2440,2461,3502,3315,449.9,-14.3,147,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2461,3408,3502,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2899,-0.79,-160.6,2439,2461,3501,3310,485.6,-10.5,162,2904,0.00,2.15,0.00,0.000,260,0.000,0.083,2432,3775,3405,3501,3310,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2945,-0.79,-160.6,1552,3775,3493,3307,490.8,-11.1,164,2951,0.00,2.00,0.00,0.000,1030,0.000,0.038,2431,2453,3405,3500,3310,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3263,-0.79,-160.6,2432,2451,3498,3307,529.5,-12.1,180,3269,0.00,2.17,0.00,0.000,516,0.000,0.047,2432,1065,3403,3498,3308,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3310,-0.79,-160.6,2432,1065,3498,3308,534.6,-12.1,182,3316,0.00,2.25,0.00,0.000,1030,0.000,0.060,2423,2454,3402,3497,3308,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3628,-0.79,-160.6,2423,2454,3496,3302,574.4,-12.7,198,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2455,3401,3496,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3939,-0.79,-160.6,2423,2454,3493,3302,614.0,-12.8,212,3944,0.00,2.20,0.00,0.000,260,0.000,0.089,2413,3780,3395,3488,3302,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4002,-0.79,-160.6,2413,3779,3491,3301,622.9,-13.6,214,4008,0.12,2.05,0.00,0.000,3078,0.250,0.041,2441,2444,3395,3490,3301,0,0,0,0,0,0,14.72,14.95,28.83
$GC,4336,-0.79,-160.6,2441,2441,3489,3297,660.5,-11.0,225,4341,0.00,2.17,0.00,0.000,516,0.000,0.051,2441,1069,3393,3489,3297,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4353,-0.79,-160.6,2441,1069,3489,3297,660.5,-11.0,225,4358,0.00,2.28,0.00,0.000,1030,0.000,0.064,2437,2456,3393,3490,3297,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4672,-0.79,-160.6,2437,2457,3483,3294,697.5,-11.2,236,4677,0.00,2.22,0.00,0.000,516,0.000,0.051,2437,1068,3391,3489,3294,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4724,-0.79,-160.6,2437,1068,3487,3294,701.4,-11.3,237,4729,0.00,2.28,0.00,0.000,1030,0.000,0.067,2437,2451,3390,3487,3294,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5037,-0.79,-160.6,2437,2450,3484,3291,737.2,-10.3,248,5043,0.00,2.22,0.00,0.000,260,0.000,0.093,2427,3777,3387,3484,3291,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5109,-0.79,-160.6,2427,3778,3482,3290,744.5,-10.9,250,5114,0.00,2.05,0.00,0.000,1030,0.000,0.044,2427,2458,3386,3482,3291,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5434,-0.79,-160.6,2427,2453,3486,3287,779.3,-9.7,261,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2453,3384,3481,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5732,-0.79,-160.6,2426,2453,3480,3285,811.0,-10.8,271,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2453,3382,3480,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6033,-0.79,-160.6,2427,2453,3478,3281,843.3,-10.6,281,6038,0.00,2.25,0.00,0.000,260,0.000,0.092,2417,3779,3379,3477,3281,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6060,-0.79,-160.6,2417,3778,3476,3281,843.3,-10.6,281,6066,0.00,2.08,0.00,0.000,1030,0.000,0.045,2417,2447,3378,3476,3281,0,0,0,0,0,0,28.83,14.93,28.83
$GC,6366,-0.79,-160.6,2417,2445,3475,3283,878.0,-10.0,292,6371,0.00,2.22,0.00,0.000,516,0.000,0.055,2417,1062,3377,3475,3279,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6439,-0.79,-160.6,2417,1061,3475,3279,884.5,-10.1,294,6445,0.15,2.33,0.00,0.000,3078,0.243,0.068,2443,2460,3381,3482,3280,0,0,0,0,0,0,14.65,14.80,28.83
$GC,6765,-0.79,-160.6,2443,2460,3474,3277,916.2,-9.4,305,6770,0.00,2.25,0.00,0.000,260,0.000,0.099,2435,3778,3375,3473,3277,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6792,-0.79,-160.6,2432,3783,3472,3277,916.2,-9.4,305,6799,0.00,2.10,0.00,0.000,1030,0.000,0.047,2435,2442,3374,3472,3277,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7098,-0.79,-160.6,2435,2443,3470,3274,946.1,-8.5,316,7103,0.00,2.30,0.00,0.000,260,0.000,0.096,2425,3783,3372,3470,3275,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7175,-0.79,-160.6,2425,3784,3469,3274,951.6,-8.6,318,7181,0.00,2.10,0.00,0.000,1030,0.000,0.047,2425,2447,3371,3469,3274,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7496,-0.79,-160.6,2425,2445,3468,3273,978.0,-7.7,329,7501,0.00,2.30,0.00,0.000,260,0.000,0.098,2416,3780,3370,3468,3273,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7538,-0.79,-160.6,2415,3780,3467,3273,980.9,-7.9,330,7543,0.00,2.10,0.00,0.000,1030,0.000,0.048,2415,2450,3370,3467,3273,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,7649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7649,begin apogee
$GC,7655,-0.25,0.0,2415,2335,3467,3273,990.8,-8.1,334,7821,0.68,0.00,153.07,2.203,10246,0.210,0.000,2612,2335,2754,2801,2707,0,0,0,0,1,0,14.62,28.83,13.23
$STATE,7822,end apogee,CONTROL_FINISHED_OK
$STATE,7823,begin climb
$GC,7825,0.79,160.6,2612,2335,2801,2707,992.8,0.0,339,7997,1.05,2.30,156.88,2.495,10756,0.111,0.060,2963,968,2098,2118,2078,0,0,0,0,1,0,14.14,13.94,13.10
$GC,8034,0.79,160.6,2964,968,2114,2072,968.1,15.5,346,8039,0.00,2.42,0.00,0.000,1030,0.000,0.067,2964,2354,2092,2114,2071,0,0,0,0,0,0,28.83,14.16,28.83
$GC,8346,0.79,160.6,2964,2354,2114,2061,910.4,16.5,357,8352,0.00,2.45,0.00,0.000,260,0.000,0.100,2963,3755,2088,2114,2063,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8409,0.79,160.6,2964,3755,2114,2061,899.4,16.9,359,8414,0.00,2.25,0.00,0.000,1030,0.000,0.044,2974,2358,2087,2114,2061,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8743,0.79,160.6,2974,2358,2114,2057,846.0,16.2,370,8748,0.00,2.30,0.00,0.000,516,0.000,0.059,2984,959,2085,2114,2057,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8830,0.79,160.6,2991,959,2114,2056,835.4,16.4,372,8837,0.00,2.33,0.00,0.000,1030,0.000,0.064,2984,2355,2084,2114,2055,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9136,0.79,160.6,2984,2355,2113,2054,778.9,17.7,383,9141,0.00,2.40,0.00,0.000,260,0.000,0.096,2984,3755,2084,2114,2054,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9188,0.79,160.6,2984,3755,2114,2054,772.2,18.3,384,9194,0.17,2.22,0.00,0.000,5126,0.303,0.044,2957,2345,2083,2113,2054,0,0,0,0,0,0,14.54,14.83,28.83
$GC,9504,0.79,160.6,2957,2341,2114,2050,712.7,17.6,395,9509,0.00,2.25,0.00,0.000,516,0.000,0.057,2965,962,2082,2114,2051,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9570,0.79,160.6,2048,962,2074,2041,701.2,17.8,397,9575,0.00,2.30,0.00,0.000,1030,0.000,0.063,2965,2351,2082,2113,2051,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9900,0.79,160.6,2965,2351,2113,2049,643.8,17.3,408,9905,0.00,2.30,0.00,0.000,516,0.000,0.056,2974,952,2081,2113,2049,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9932,0.79,160.6,2975,952,2113,2049,637.8,17.4,409,9937,0.00,2.33,0.00,0.000,1030,0.000,0.062,2974,2352,2081,2113,2049,0,0,0,0,0,0,28.83,14.80,28.83
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$GC,11779,0.79,160.6,2973,956,2114,2045,354.5,13.2,496,11784,0.00,2.30,0.00,0.000,1030,0.000,0.061,2973,2354,2079,2114,2045,0,0,0,0,0,0,28.83,14.80,28.83
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$STATE,15438,end climb,SURFACE_DEPTH_REACHED
$STATE,15438,begin surface coast
$FINISH,-0.9,0.000000
$STATE,15481,end surface coast,CONTROL_FINISHED_OK
$STATE,15481,begin surface
$SM_CCo,15498,60.62,0.137,0,0,916,450.13
$SM_GC,0.02,7.43,0.77,60.62,0.040,0.040,0.137,228,2423,916,-7.62,2.35,450.13,0,0,0,0,0,0,14.86,14.92,14.71
$IRIDIUM_FIX,2345.05,12500.49,080613,060606
$TT8_MAMPS,0.018725,0.018725
$HUMID,42.75
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,26.50
$XPDR_PINGS,7
$SC_FREEKB,3868544
$24V_AH,13.1,66.875
$10V_AH,13.0,0.000
$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,20.200,153.400,381.900,60.625,0.000,63.148,47.666,248.206,1.750,0.000,13.118,2111.476,10930.083,587.899,2321.063,254.904,0.000,1621.774,0.000,1809.838,0.000,0.543,0.000
$DEVICE_MAMPS,381.735,111.690,2494.665,136.935,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15554.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.774,0.000,0.000,0.000
$MEM,328540
$DATA_FILE_SIZE,26688,755
$CAP_FILE_SIZE,183827,0
$CFSIZE,260034560,240156672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.349, 69.8,1
$GPS,080613,154324,2348.312,12408.506,40,1.2,41,-3.4