version: 66.12
glider: 187
mission: 4
dive: 153
start: 7 23 114 12 6 9
data:
$ID,187
$MISSION,4
$DIVE,153
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,450
$T_MISSION,510
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53474
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0027000001
$HD_B,0.0098999999
$HD_C,2.1999999e-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,375
$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,-1593603.2
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3700
$C_PITCH,3325
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2858
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$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,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-63.106686
$PRESSURE_SLOPE,0.0001138132
$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,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$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,0.0043206038
$SEABIRD_T_H,0.00062367303
$SEABIRD_T_I,2.3110064e-05
$SEABIRD_T_J,2.4313138e-06
$SEABIRD_C_G,-10.199382
$SEABIRD_C_H,1.1587334
$SEABIRD_C_I,-0.0027609179
$SEABIRD_C_J,0.00029025986
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,230714,115606,4707.985,-12642.228,29,1.4,29,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-70.7
$GPS2,230714,120543,4708.084,-12642.133,11,1.5,11,18.6
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,221.5,27082,-14.0,-7.333,-18.81,2445
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.59,-116.8,395,2406,1355,1081,0.0,0.0,0,90,0.00,0.00,-58.15,0.000,16386,0.000,0.000,395,2405,2741,2805,2678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.59,-116.8,396,2405,2808,2678,3.5,-3.3,6,130,12.70,2.47,-10.40,0.000,18692,0.402,0.112,3125,3803,3336,3385,3288,0,0,0,0,0,0,14.09,14.29,14.53
$GC,173,-0.59,-116.8,3125,3805,3385,3290,25.3,-21.4,14,183,0.00,2.40,0.00,0.000,1030,0.000,0.068,3125,2402,3336,3385,3287,0,0,0,0,0,0,28.83,14.35,28.83
$GC,423,-0.59,-116.8,3126,2398,3387,3290,62.3,-13.1,39,434,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2398,3338,3387,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,674,-0.59,-116.8,3125,2398,3389,3291,93.3,-11.4,64,685,0.00,2.40,0.00,0.000,516,0.000,0.079,3125,988,3340,3389,3291,0,0,0,0,0,0,28.83,14.47,28.83
$GC,777,-0.59,-116.8,3126,987,3389,3292,105.0,-12.3,74,788,0.00,2.42,0.00,0.000,1030,0.000,0.077,3126,2400,3340,3389,3292,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1028,-0.59,-116.8,3126,2400,3389,3292,136.1,-12.4,99,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3343,3390,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1278,-0.59,-116.8,3126,2400,3389,3292,163.3,-10.1,124,1289,0.00,2.40,0.00,0.000,516,0.000,0.079,3126,990,3338,3389,3288,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1339,-0.59,-116.8,3126,990,3389,3290,170.2,-11.5,130,1350,0.00,2.42,0.00,0.000,1030,0.000,0.077,3125,2399,3340,3389,3292,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1589,-0.59,-116.8,3126,2399,3389,3292,196.9,-10.1,155,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3340,3389,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1840,-0.59,-116.8,3122,2399,3390,3290,219.9,-8.7,180,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2400,3339,3388,3290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2089,-0.59,-116.8,3125,2400,3392,3289,241.4,-8.1,205,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3337,3386,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2350,-0.59,-116.8,3125,2399,3389,3283,263.1,-8.4,221,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2399,3338,3389,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2650,-0.59,-116.8,3126,2399,3384,3287,289.5,-8.7,231,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3339,3393,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2950,-0.59,-116.8,3122,2399,3384,3286,316.1,-9.2,241,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2399,3336,3388,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3249,-0.59,-116.8,3126,2399,3388,3284,344.2,-9.4,251,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3337,3389,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3550,-0.59,-116.8,3126,2399,3388,3283,371.2,-8.7,261,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3335,3388,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3850,-0.59,-116.8,3126,2399,3387,3282,397.1,-8.5,271,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2402,3335,3387,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4151,-0.59,-116.8,3126,2404,3387,3281,422.4,-8.5,281,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3333,3386,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4450,-0.59,-116.8,3125,2399,3385,3281,447.4,-8.3,291,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2399,3333,3386,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4750,-0.59,-116.8,3125,2400,3385,3279,472.1,-8.4,301,4760,0.00,2.42,0.00,0.000,516,0.000,0.086,3129,988,3330,3385,3275,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4819,-0.59,-116.8,3126,988,3386,3274,478.6,-9.5,308,4829,0.00,2.45,0.00,0.000,1030,0.000,0.084,3127,2408,3332,3385,3279,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5143,-0.59,-116.8,3126,2406,3384,3278,504.5,-7.9,320,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2407,3330,3383,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5440,-0.59,-116.8,3126,2407,3383,3277,527.7,-7.7,330,5449,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2407,3330,3383,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5740,-0.59,-116.8,3126,2407,3383,3276,551.4,-8.0,340,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2408,3329,3383,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6040,-0.59,-116.8,3126,2407,3382,3275,575.2,-8.1,350,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2407,3328,3382,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6341,-0.59,-116.8,3126,2407,3382,3275,599.1,-8.2,360,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2407,3330,3384,3276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6640,-0.59,-116.8,3126,2407,3388,3273,624.2,-8.5,370,6649,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2407,3327,3382,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6940,-0.59,-116.8,3126,2407,3381,3273,650.4,-8.9,380,6950,0.00,2.47,0.00,0.000,260,0.000,0.109,3125,3811,3326,3381,3272,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7000,-0.59,-116.8,3122,3816,3381,3273,656.0,-9.4,386,7010,0.00,2.42,0.00,0.000,1030,0.000,0.080,3126,2403,3326,3381,3272,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7330,-0.59,-116.8,3126,2401,3381,3272,684.2,-8.2,399,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3326,3381,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7630,-0.59,-116.8,3126,2401,3381,3270,707.6,-7.7,409,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3324,3381,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7931,-0.59,-116.8,3126,2401,3380,3270,729.6,-7.1,419,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3325,3381,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8230,-0.59,-116.8,3131,2401,3380,3269,749.4,-6.7,429,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3324,3380,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8531,-0.59,-116.8,3126,2401,3380,3269,769.9,-7.0,439,8540,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3327,3386,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8830,-0.59,-116.8,3125,2401,3380,3268,791.1,-7.2,449,8840,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2402,3324,3380,3269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9131,-0.59,-116.8,3125,2401,3383,3268,811.7,-6.7,459,9140,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3323,3379,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9430,-0.59,-116.8,3126,2398,3378,3268,832.1,-6.8,469,9440,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3323,3379,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9731,-0.59,-116.8,3126,2401,3379,3267,853.4,-7.1,479,9740,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2397,3323,3379,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10033,-0.59,-116.8,3126,2401,3378,3267,875.2,-7.3,489,10042,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3325,3385,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10333,-0.59,-116.8,3126,2401,3378,3267,896.0,-6.7,499,10343,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3322,3378,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10633,-0.59,-116.8,3126,2397,3378,3266,915.6,-6.4,509,10642,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3321,3378,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10933,-0.59,-116.8,3125,2397,3378,3265,935.1,-6.6,519,10943,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3321,3378,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11233,-0.59,-116.8,3126,2401,3377,3265,953.6,-6.0,529,11242,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2401,3321,3378,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11533,-0.59,-116.8,3126,2401,3376,3264,972.6,-6.4,539,11543,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2401,3320,3377,3264,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11830,begin apogee
$GC,11839,-0.25,0.0,3125,2311,3377,3264,991.1,-6.1,549,11945,0.40,0.00,99.03,1.915,10246,0.204,0.000,3241,2311,2856,2935,2778,0,0,0,0,0,0,14.46,28.83,13.29
$STATE,11947,end apogee,CONTROL_FINISHED_OK
$STATE,11947,begin climb
$GC,11951,0.59,116.8,3241,2312,2934,2775,993.6,0.0,552,12071,0.88,0.00,107.65,1.886,10246,0.148,0.000,3513,2307,2379,2529,2230,0,0,0,0,0,0,13.90,28.83,13.11
$GC,12370,0.59,116.8,3513,2311,2528,2225,960.3,9.4,567,12380,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,2311,2376,2527,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12673,0.59,116.8,3513,2311,2526,2225,933.3,8.9,577,12683,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2311,2374,2526,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12973,0.59,116.8,3513,2311,2524,2222,907.1,8.9,587,12983,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2312,2373,2524,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13273,0.59,116.8,3513,2311,2523,2221,880.6,8.9,597,13283,0.00,2.45,0.00,0.000,516,0.000,0.103,3519,924,2372,2523,2221,0,0,0,0,0,0,28.83,14.45,28.83
$GC,13333,0.59,116.8,3519,924,2523,2222,874.9,9.5,603,13343,0.00,2.45,0.00,0.000,1030,0.000,0.089,3519,2332,2372,2523,2221,0,0,0,0,0,0,28.83,14.47,28.83
$GC,13663,0.59,116.8,3520,2331,2522,2221,843.9,9.5,616,13673,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2331,2373,2526,2221,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,23131,0.72,165.9,3576,2325,2343,2016,89.8,7.9,1108,23142,0.00,2.45,0.00,0.000,516,0.000,0.092,3586,918,2179,2343,2016,0,0,0,0,0,0,28.83,14.46,28.83
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$STATE,24506,end climb,SURFACE_DEPTH_REACHED
$STATE,24509,begin surface coast
$FINISH,0.8,1.023152
$STATE,24547,end surface coast,CONTROL_FINISHED_OK
$STATE,24547,begin surface
$SM_CCo,24635,0.00,0.000,0,0,1146,419.95
$SM_GC,1.84,9.18,2.38,0.00,0.063,0.068,0.000,388,2387,1146,-9.11,0.54,419.95,0,0,0,0,0,0,14.29,14.31,28.83
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$TT8_MAMPS,0.024717,0.024717
$HUMID,47.79
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,19.30
$XPDR_PINGS,0
$SC_FREEKB,3889056
$PM_FREEKB,58354432
$24V_AH,13.1,35.837
$10V_AH,13.5,0.000
$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
$DEVICE_SECS,23.275,83.550,428.325,0.000,0.000,0.000,0.000,315.275,0.000,0.000,11.931,3045.954,17882.295,632.009,2879.603,749.101,0.000,2548.720,0.000,1913.728,0.000,0.536,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.806,5.681,0.000,0.000
$MEM,290836
$DATA_FILE_SIZE,43288,1249
$CAP_FILE_SIZE,246850,0
$CFSIZE,260034560,243269632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,25548.03,0x2378ba,7,5
$CURRENT,0.021,246.6,1
$GPS,230714,185806,4706.641,-12646.033,35,2.0,35,18.6