version: 66.11
glider: 181
mission: 11
dive: 364
start: 7 10 113 16 29 27
data:
$ID,181
$MISSION,11
$DIVE,364
$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,390
$T_MISSION,410
$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,175
$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,0.00189915
$HD_B,0.015333
$HD_C,1.4612e-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,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-96230.531
$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,2670
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,2675
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3093
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,48
$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
$GPS1,100713,161306,2149.523,12315.803,39,1.0,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-72.3
$GPS2,100713,162855,2149.519,12315.826,13,1.7,13,-2.9
$SPEED_LIMITS,0.147,0.200
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,326.7,232269,-12.3,-8.462,-22.97,2777
$D_GRID,5627
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.92,-170.3,226,2669,1156,1159,0.0,0.0,0,96,0.00,0.00,-72.43,0.000,16386,0.000,0.000,226,2669,2982,3026,2938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.92,-170.3,226,2670,3026,2939,3.1,-10.3,13,131,9.60,1.83,-14.90,0.000,18692,0.369,0.095,2362,3776,3788,3863,3714,0,0,0,0,0,0,14.30,14.59,14.89
$GC,196,-0.92,-170.3,2362,3778,3863,3715,30.5,-24.3,28,202,0.00,1.70,0.00,0.000,1030,0.000,0.034,2362,2651,3789,3863,3715,0,0,0,0,0,0,28.83,14.69,28.83
$GC,510,-0.92,-170.3,2362,2648,3863,3715,92.1,-18.5,48,516,0.00,2.10,0.00,0.000,516,0.000,0.037,2362,1301,3789,3863,3715,0,0,0,0,0,0,28.83,14.73,28.83
$GC,543,-0.92,-170.3,2362,1301,3863,3715,96.6,-18.4,49,548,0.00,2.22,0.00,0.000,1030,0.000,0.057,2352,2663,3789,3864,3715,0,0,0,0,0,0,28.83,14.69,28.83
$GC,856,-0.92,-170.3,2352,2663,3863,3715,148.2,-15.7,65,861,0.00,1.83,0.00,0.000,260,0.000,0.074,2344,3776,3789,3863,3715,0,0,0,0,0,0,28.83,14.71,28.83
$GC,950,-0.92,-170.3,2344,3778,3862,3715,162.0,-16.8,69,956,0.12,1.67,0.00,0.000,3078,0.260,0.034,2371,2645,3789,3863,3715,0,0,0,0,0,0,14.47,14.79,28.83
$GC,1263,-0.92,-170.3,2371,2644,3863,3715,217.5,-17.2,85,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2644,3789,3863,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1567,-0.92,-170.3,2371,2644,3863,3714,260.5,-13.5,100,1572,0.00,2.08,0.00,0.000,516,0.000,0.037,2371,1306,3789,3863,3715,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1584,-0.92,-170.3,2370,1304,3863,3715,260.5,-13.5,100,1592,0.00,2.20,0.00,0.000,1030,0.000,0.055,2364,2660,3789,3863,3715,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1890,-0.92,-170.3,2366,2660,3863,3714,311.5,-16.5,116,1895,0.00,1.85,0.00,0.000,260,0.000,0.075,2356,3787,3788,3863,3713,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1957,-0.92,-170.3,1472,3786,3861,3711,321.3,-15.4,119,1963,0.00,1.67,0.00,0.000,1030,0.000,0.035,2355,2647,3788,3863,3713,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2276,-0.92,-170.3,2355,2646,3863,3707,370.9,-14.6,135,2281,0.00,1.88,0.00,0.000,260,0.000,0.073,2347,3777,3788,3865,3711,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2373,-0.92,-170.3,2347,3777,3863,3711,383.6,-15.3,139,2379,0.00,1.58,0.00,0.000,1030,0.000,0.036,2347,2699,3786,3862,3711,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2679,-0.92,-170.3,2347,2698,3863,3709,429.1,-14.6,155,2684,0.00,2.15,0.00,0.000,516,0.000,0.039,2346,1323,3785,3863,3708,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2742,-0.92,-170.3,2347,1322,3862,3709,438.4,-14.8,158,2748,0.15,2.25,0.00,0.000,3078,0.252,0.057,2373,2693,3784,3863,3705,0,0,0,0,0,0,14.49,14.74,28.83
$GC,3067,-0.92,-170.3,2373,2693,3863,3705,478.4,-12.2,174,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2693,3784,3863,3705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3368,-0.92,-170.3,2373,2693,3861,3703,511.9,-10.7,189,3374,0.00,1.83,0.00,0.000,260,0.000,0.080,2367,3781,3781,3860,3703,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3432,-0.92,-170.3,2367,3781,3860,3703,519.4,-11.3,192,3438,0.00,1.65,0.00,0.000,1030,0.000,0.037,2367,2681,3781,3859,3703,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3757,-0.92,-170.3,2367,2680,3859,3701,558.3,-13.0,208,3762,0.00,2.15,0.00,0.000,516,0.000,0.042,2366,1314,3779,3858,3701,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3824,-0.92,-170.3,2367,1315,3858,3701,567.0,-13.8,211,3830,0.00,2.25,0.00,0.000,1030,0.000,0.060,2358,2679,3779,3858,3701,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4154,-0.92,-170.3,2356,2686,3850,3701,612.0,-12.5,226,4160,0.00,2.17,0.00,0.000,516,0.000,0.042,2356,1316,3775,3850,3700,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4202,-0.92,-170.3,2356,1316,3851,3700,616.0,-12.2,227,4207,0.00,2.22,0.00,0.000,1030,0.000,0.061,2348,2660,3775,3851,3700,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4522,-0.92,-170.3,2348,2660,3850,3695,646.8,-8.5,238,4527,0.00,2.15,0.00,0.000,516,0.000,0.044,2348,1316,3772,3850,3695,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4570,-0.92,-170.3,2348,1316,3851,3695,650.1,-8.9,239,4576,0.15,2.20,0.00,0.000,3078,0.254,0.063,2374,2641,3775,3856,3694,0,0,0,0,0,0,14.45,14.71,28.83
$GC,4892,-0.92,-170.3,2374,2641,3849,3691,685.6,-11.8,250,4897,0.00,1.92,0.00,0.000,260,0.000,0.087,2368,3778,3770,3849,3691,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4915,-0.92,-170.3,2368,3778,3850,3691,685.6,-11.8,250,4920,0.00,1.73,0.00,0.000,1030,0.000,0.041,2368,2644,3770,3849,3692,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5232,-0.92,-170.3,2368,2644,3847,3688,731.0,-13.1,261,5237,0.00,2.12,0.00,0.000,516,0.000,0.044,2368,1312,3767,3847,3687,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5254,-0.92,-170.3,2368,1312,3847,3689,731.0,-13.1,261,5260,0.00,2.25,0.00,0.000,1030,0.000,0.063,2359,2660,3767,3847,3687,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5569,-0.92,-170.3,2359,2660,3842,3685,775.0,-12.8,272,5574,0.00,1.92,0.00,0.000,260,0.000,0.090,2350,3786,3764,3843,3685,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5596,-0.92,-170.3,2350,3788,3842,3685,775.0,-12.8,272,5603,0.00,1.75,0.00,0.000,1030,0.000,0.041,2350,2651,3762,3842,3683,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5904,-0.92,-170.3,2349,2652,3841,3681,822.5,-14.0,283,5909,0.00,2.17,0.00,0.000,516,0.000,0.045,2349,1312,3761,3841,3681,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5916,-0.92,-170.3,2349,1311,3841,3681,822.5,-14.0,283,5922,0.12,2.28,0.00,0.000,3078,0.268,0.067,2368,2662,3761,3841,3681,0,0,0,0,0,0,14.41,14.64,28.83
$GC,6242,-0.92,-170.3,2368,2663,3838,3678,864.7,-12.1,294,6247,0.00,1.92,0.00,0.000,260,0.000,0.093,2362,3784,3758,3838,3678,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6306,-0.92,-170.3,2362,3784,3837,3677,873.1,-12.3,296,6312,0.00,1.75,0.00,0.000,1030,0.000,0.044,2362,2671,3757,3837,3677,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6642,-0.92,-170.3,2362,2670,3835,3673,915.5,-12.7,307,6647,0.00,1.92,0.00,0.000,260,0.000,0.091,2355,3777,3754,3835,3673,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6686,-0.92,-170.3,2354,3776,3834,3673,920.3,-12.8,308,6691,0.00,1.73,0.00,0.000,1030,0.000,0.043,2354,2676,3754,3834,3674,0,0,0,0,0,0,28.83,14.77,28.83
$GC,7011,-0.92,-170.3,2354,2674,3833,3672,965.4,-13.9,319,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2675,3751,3832,3671,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7187,begin apogee
$GC,7194,-0.20,0.0,2354,2196,3831,3665,991.0,-14.2,325,7375,0.85,0.00,173.25,1.686,10244,0.194,0.000,2601,2196,3091,3141,3041,0,0,0,0,0,0,14.33,28.83,13.48
$STATE,7376,end apogee,CONTROL_FINISHED_OK
$STATE,7376,begin climb
$GC,7379,0.92,170.3,2601,2196,3135,3040,1004.1,0.0,331,7568,1.08,2.38,179.90,1.676,10756,0.071,0.057,2978,820,2397,2423,2372,0,0,0,0,0,0,14.26,14.25,13.43
$GC,7753,0.92,170.3,2978,820,2417,2349,987.3,10.3,343,7760,0.00,2.38,0.00,0.000,1030,0.000,0.066,2978,2203,2383,2417,2349,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8058,0.92,170.3,2979,2203,2416,2343,951.7,10.4,354,8063,0.00,2.47,0.00,0.000,260,0.000,0.099,2978,3609,2380,2416,2344,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8237,0.92,170.3,2978,3611,2414,2343,932.7,12.1,359,8244,0.00,2.28,0.00,0.000,1030,0.000,0.044,2989,2215,2378,2414,2342,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8544,0.92,170.3,2989,2215,2414,2338,898.7,9.5,370,8549,0.00,2.38,0.00,0.000,516,0.000,0.063,2999,790,2376,2414,2338,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8572,0.92,170.3,2999,790,2414,2338,898.7,9.5,370,8579,0.15,2.40,0.00,0.000,5126,0.288,0.065,2969,2210,2376,2414,2338,0,0,0,0,0,0,14.33,14.64,28.83
$GC,8879,0.96,184.9,2969,2210,2414,2336,872.4,7.9,381,8898,0.00,2.42,11.85,1.591,8452,0.000,0.094,2969,3613,2336,2373,2299,0,0,0,0,0,0,28.83,14.73,14.06
$GC,8942,0.96,184.9,2969,3613,2369,2297,865.3,9.6,383,8948,0.00,2.30,0.00,0.000,1030,0.000,0.043,2977,2201,2333,2369,2297,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9278,0.96,184.9,2976,2201,2369,2292,826.3,13.0,394,9283,0.00,2.33,0.00,0.000,516,0.000,0.062,2987,802,2331,2369,2293,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9342,0.96,184.9,2987,802,2369,2292,816.9,13.8,396,9348,0.00,2.38,0.00,0.000,1030,0.000,0.060,2987,2212,2330,2369,2292,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9678,0.96,184.9,2987,2212,2368,2289,771.4,12.7,407,9683,0.00,2.38,0.00,0.000,516,0.000,0.058,2997,798,2328,2368,2289,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9711,0.96,184.9,2997,797,2368,2289,767.4,12.2,408,9716,0.00,2.35,0.00,0.000,1030,0.000,0.058,2997,2195,2328,2368,2289,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10047,0.98,194.0,2997,2195,2367,2288,736.4,8.1,419,10053,0.00,0.00,4.05,1.359,8198,0.000,0.000,2997,2194,2301,2340,2263,0,0,0,0,0,0,28.83,28.83,13.65
$GC,10345,0.98,194.0,2997,2195,2349,2280,711.0,9.1,429,10355,0.00,2.50,1.50,0.222,8452,0.000,0.089,2997,3607,2304,2338,2270,0,0,0,0,0,0,28.83,14.60,14.40
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$GC,13848,1.10,240.9,3046,2192,2138,2057,364.8,8.6,584,13853,0.00,2.30,0.00,0.000,516,0.000,0.054,3056,807,2097,2138,2057,0,0,0,0,0,0,28.83,14.59,28.83
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$STATE,17521,end climb,SURFACE_DEPTH_REACHED
$STATE,17521,begin surface coast
$FINISH,-0.3,1.021260
$STATE,17549,end surface coast,CONTROL_FINISHED_OK
$STATE,17549,begin surface
$SM_CCo,17571,36.30,0.138,0,0,1153,475.15
$SM_GC,-0.25,8.07,3.15,36.30,0.051,0.054,0.138,230,2670,1153,-7.54,-0.88,475.15,0,0,0,0,0,0,14.67,14.57,14.55
$IRIDIUM_FIX,2152.74,12323.36,100713,111100
$TT8_MAMPS,0.019474,0.019474
$HUMID,48.74
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,25.70
$XPDR_PINGS,3
$SC_FREEKB,3791584
$24V_AH,13.4,123.557
$10V_AH,12.8,0.000
$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,20.925,176.425,534.775,36.300,0.000,28.499,66.264,520.919,0.750,0.000,17.898,2819.882,11651.167,701.531,2869.794,495.831,0.000,1914.541,0.000,2128.482,0.000,0.543,0.000
$DEVICE_MAMPS,369.495,98.685,1686.060,137.700,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17628.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.922,0.000,0.000,0.000
$MEM,328540
$DATA_FILE_SIZE,30024,822
$CAP_FILE_SIZE,213218,0
$CFSIZE,260034560,219947008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,275.4,1
$GPS,100713,212423,2150.431,12313.937,23,1.0,41,-2.9