version: 66.11
glider: 129
mission: 4
dive: 219
start: 12 27 112 10 25 40
data:
$ID,129
$MISSION,4
$DIVE,219
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$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,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2928.1809
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,80
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$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,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,271212,101706,1801.002,12352.840,37,1.0,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-55.5
$GPS2,271212,102513,1801.066,12352.843,12,1.4,12,-2.0
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,245.3,178523,-14.2,-8.462,-17.62
$D_GRID,4531
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.54,-175.2,0.0,0.0,0,86,0.00,0.00,-65.03,0.000,2,0.000,0.000,52,1892,1822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.54,-175.2,3.2,-4.3,11,139,7.90,2.12,-33.12,0.000,4,0.243,0.046,1966,3306,3125,0,0,0,0,0,0,25.30,26.09,26.50
$GC,289,-0.47,-175.2,50.0,-30.4,40,295,0.10,2.00,0.00,0.000,6,0.153,0.023,2009,1903,3125,0,0,0,0,0,0,25.80,26.30,28.83
$GC,603,-0.41,-175.2,139.5,-23.3,56,609,0.00,1.95,0.00,0.000,4,0.000,0.030,2009,543,3125,0,0,0,0,0,0,28.83,26.32,28.83
$GC,737,-0.36,-175.2,164.1,-20.0,62,743,0.08,1.98,0.00,0.000,6,0.112,0.022,2045,1917,3125,0,0,0,0,0,0,26.00,26.40,28.83
$GC,1051,-0.35,-175.2,210.9,-13.8,78,1056,0.00,2.03,0.00,0.000,4,0.000,0.034,2035,3324,3125,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1075,-0.34,-175.2,213.7,-13.3,79,1080,0.00,1.98,0.00,0.000,6,0.000,0.021,2035,1919,3125,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1398,-0.33,-175.2,254.8,-12.2,95,1403,0.00,1.98,0.00,0.000,4,0.000,0.030,2035,540,3125,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1581,-0.33,-175.2,273.4,-9.2,104,1586,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1941,3125,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1904,-0.33,-175.2,302.9,-9.3,120,1909,0.00,2.03,0.00,0.000,4,0.000,0.029,2033,546,3124,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1951,-0.33,-175.2,307.3,-9.8,122,1956,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1929,3124,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2268,-0.33,-175.2,334.4,-8.2,138,2274,0.00,2.00,0.00,0.000,4,0.000,0.029,2033,552,3123,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2321,-0.33,-175.2,338.4,-8.7,140,2326,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1933,3123,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2633,-0.33,-175.2,364.8,-8.8,156,2638,0.00,2.03,0.00,0.000,4,0.000,0.029,2033,545,3122,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2665,-0.33,-175.2,367.0,-9.0,157,2671,0.00,1.98,0.00,0.000,6,0.000,0.021,2032,1926,3122,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2978,-0.33,-175.2,395.9,-9.2,173,2984,0.00,2.03,0.00,0.000,4,0.000,0.034,2033,3306,3120,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3046,-0.34,-175.2,401.0,-8.4,176,3051,0.00,1.95,0.00,0.000,6,0.000,0.022,2033,1939,3121,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3365,-0.35,-175.2,424.7,-6.6,192,3371,0.00,2.03,0.00,0.000,4,0.000,0.031,2033,538,3119,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3544,-0.35,-175.2,437.6,-7.8,200,3551,0.00,1.98,0.00,0.000,6,0.000,0.021,2033,1937,3118,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3850,-0.36,-175.2,460.4,-7.5,216,3852,0.00,0.00,-0.08,0.000,6,0.000,0.000,2033,1937,3139,0,0,0,0,0,0,28.83,28.83,25.33
$GC,4150,-0.38,-175.2,481.6,-6.8,231,4155,0.00,2.05,0.00,0.000,4,0.000,0.032,2032,542,3139,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4193,-0.39,-175.2,484.8,-7.0,233,4199,0.00,1.98,0.00,0.000,6,0.000,0.022,2033,1925,3139,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4517,-0.40,-175.2,506.7,-6.9,249,4522,0.00,2.03,0.00,0.000,4,0.000,0.036,2032,3302,3137,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4560,-0.42,-175.2,509.3,-6.4,251,4565,0.00,1.95,0.00,0.000,6,0.000,0.021,2033,1920,3137,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4884,-0.44,-175.2,530.0,-6.4,267,4889,0.00,2.03,0.00,0.000,4,0.000,0.032,2033,546,3135,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4971,-0.45,-175.2,536.2,-7.4,271,4976,0.00,1.95,0.00,0.000,6,0.000,0.022,2033,1928,3134,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5290,-0.47,-175.2,556.8,-6.3,287,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,1928,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5592,-0.48,-175.2,574.9,-6.0,302,5597,0.00,2.05,0.00,0.000,4,0.000,0.037,2033,3310,3130,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5630,-0.50,-175.2,576.4,-6.0,303,5637,0.10,1.98,0.00,0.000,6,0.112,0.022,1988,1921,3130,0,0,0,0,0,0,26.29,26.45,28.83
$GC,5954,-0.50,-175.2,606.7,-9.4,319,5960,0.00,2.00,0.00,0.000,4,0.000,0.032,1987,535,3131,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6067,-0.50,-175.2,616.0,-9.9,322,6073,0.00,1.98,0.00,0.000,6,0.000,0.023,1980,1919,3127,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6380,-0.50,-175.2,650.0,-10.4,333,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1919,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6681,-0.50,-175.2,681.2,-10.5,343,6686,0.00,2.05,0.00,0.000,4,0.000,0.032,1980,532,3124,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6728,-0.50,-175.2,684.9,-10.6,344,6733,0.00,2.00,0.00,0.000,6,0.000,0.024,1971,1930,3123,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7048,-0.49,-175.2,719.5,-10.3,355,7050,0.12,0.00,0.00,0.000,6,0.154,0.000,2006,1931,3120,0,0,0,0,0,0,26.26,28.83,28.83
$GC,7345,-0.49,-175.2,742.4,-7.6,365,7347,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1931,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7646,-0.49,-175.2,764.2,-7.0,375,7652,0.00,2.08,0.00,0.000,4,0.000,0.032,2006,538,3119,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7704,-0.49,-175.2,766.8,-7.2,376,7710,0.00,2.00,0.00,0.000,6,0.000,0.023,1999,1935,3119,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8010,-0.49,-175.2,792.7,-8.0,387,8011,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1936,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8310,-0.49,-175.2,816.2,-7.8,397,8316,0.00,2.08,0.00,0.000,4,0.000,0.032,1999,539,3116,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8344,-0.49,-175.2,819.0,-7.8,398,8349,0.00,2.00,0.00,0.000,6,0.000,0.024,1991,1927,3116,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8680,-0.49,-175.2,845.9,-7.8,409,8685,0.00,2.05,0.00,0.000,4,0.000,0.037,1981,3309,3114,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8713,-0.49,-175.2,848.7,-7.8,410,8719,0.00,2.00,0.00,0.000,6,0.000,0.024,1981,1925,3112,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9050,-0.49,-175.2,875.0,-7.6,421,9056,0.00,2.03,0.00,0.000,4,0.000,0.034,1980,532,3113,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9169,-0.49,-175.2,883.2,-8.3,424,9176,0.00,2.03,0.00,0.000,6,0.000,0.024,1971,1933,3112,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9474,-0.49,-175.2,910.0,-7.8,435,9480,0.10,2.03,0.00,0.000,4,0.165,0.036,1989,3303,3111,0,0,0,0,0,0,26.34,26.13,28.83
$GC,9516,-0.49,-175.2,912.4,-7.5,436,9522,0.00,2.00,0.00,0.000,6,0.000,0.024,1989,1911,3110,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9841,-0.49,-175.2,935.1,-7.2,447,9847,0.00,2.03,0.00,0.000,4,0.000,0.034,1989,535,3110,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9944,-0.49,-175.2,943.0,-8.2,450,9950,0.00,2.00,0.00,0.000,6,0.000,0.024,1981,1919,3110,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10269,-0.49,-175.2,970.2,-8.3,461,10270,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1919,3108,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10505,begin apogee
$GC,10510,-0.17,0.0,990.3,-8.4,469,10664,0.35,0.00,145.95,1.405,6,0.121,0.000,2098,1920,2412,0,0,0,0,0,0,25.70,28.83,22.85
$STATE,10666,end apogee,CONTROL_FINISHED_OK
$STATE,10666,begin climb
$GC,10668,0.54,175.2,997.1,0.0,474,10840,0.70,2.40,158.82,1.354,4,0.090,0.038,2332,535,1694,0,0,0,0,0,0,24.25,23.58,22.25
$GC,10857,0.59,298.7,992.3,4.4,480,10978,0.00,2.15,113.93,1.333,6,0.000,0.022,2332,1891,1191,0,0,0,0,0,0,28.83,24.20,22.25
$GC,11292,0.63,334.1,960.7,7.3,495,11330,0.00,2.17,31.65,1.318,4,0.000,0.035,2332,3296,1045,0,0,0,0,0,0,28.83,25.18,23.84
$GC,11399,0.66,344.8,953.1,8.1,498,11415,0.12,2.08,10.25,1.180,6,0.103,0.024,2380,1901,1004,0,0,0,0,0,0,25.63,25.74,23.99
$GC,11712,0.66,344.8,917.0,11.3,509,11717,0.00,2.10,0.00,0.000,4,0.000,0.038,2386,509,1000,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11748,0.66,344.8,913.3,11.3,510,11754,0.00,2.05,0.00,0.000,6,0.000,0.024,2386,1916,1000,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12078,0.66,344.8,876.1,11.2,521,12084,0.00,2.03,0.00,0.000,4,0.000,0.035,2386,3282,998,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12126,0.66,344.8,872.0,11.2,522,12131,0.00,2.03,0.00,0.000,6,0.000,0.028,2386,1896,997,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12444,0.66,344.8,837.0,10.5,533,12446,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1896,997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12744,0.66,344.8,803.3,11.8,543,12745,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1897,997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13043,0.66,344.8,766.6,11.8,553,13048,0.00,2.08,0.00,0.000,4,0.000,0.039,2386,507,996,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13070,0.66,344.8,766.6,11.8,553,13077,0.00,2.00,0.00,0.000,6,0.000,0.022,2386,1903,996,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13376,0.66,344.8,731.6,10.3,564,13381,0.00,2.05,0.00,0.000,4,0.000,0.035,2386,3290,996,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13453,0.66,344.8,724.6,10.6,566,13459,0.00,2.03,0.00,0.000,6,0.000,0.027,2386,1899,996,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13771,0.66,344.8,692.4,9.5,577,13776,0.00,2.08,0.00,0.000,4,0.000,0.038,2386,507,996,0,0,0,0,0,0,28.83,26.22,28.83
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$GC,16636,0.79,363.8,404.6,7.8,704,16660,0.00,2.15,17.25,0.970,4,0.000,0.037,2386,516,926,0,0,0,0,0,0,28.83,26.00,24.42
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$STATE,20724,end climb,SURFACE_DEPTH_REACHED
$STATE,20724,begin surface coast
$FINISH,1.3,1.022084
$STATE,20735,end surface coast,CONTROL_FINISHED_OK
$STATE,20735,begin surface
$SM_CCo,20810,0.00,0.000,0,0,211,539.41
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$IRIDIUM_FIX,1756.43,12353.98,271212,040439
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.53
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,3936288
$24V_AH,22.2,43.344
$10V_AH,10.1,31.070
$FG_AHR_24Vo,120.571
$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,16.300,182.225,623.475,0.000,0.000,0.000,0.000,302.525,0.000,0.000,13.553,3103.512,14319.220,763.884,2710.553,389.774,0.000,2404.523,0.000,2307.530,0.000,0.541,0.000
$DEVICE_MAMPS,242.505,45.900,1404.540,0.000,0.000,0.000,0.000,133.110,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20752.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.937,0.000,0.000,0.000
$MEM,329028
$DATA_FILE_SIZE,33415,934
$CAP_FILE_SIZE,233154,0
$CFSIZE,260034560,229707776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160, 15.7,1
$GPS,271212,161336,1801.181,12350.872,28,1.6,28,-2.0