version: 66.12
glider: 141
mission: 23
dive: 296
start: 10 23 115 7 35 22
data:
$ID,141
$MISSION,23
$DIVE,296
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1020
$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,330
$T_MISSION,360
$T_ABORT,1500
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52033
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3800
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,361
$ROLL_MAX,4050
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2475
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,348
$VBD_MAX,3980
$C_VBD,3127
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,9.9999997e-05
$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,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-33.834953
$PRESSURE_SLOPE,0.0001160265
$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,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,133
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543633
$SEABIRD_T_H,0.00062237249
$SEABIRD_T_I,2.1446129e-05
$SEABIRD_T_J,2.055453e-06
$SEABIRD_C_G,-10.134171
$SEABIRD_C_H,1.1439899
$SEABIRD_C_I,-0.0013638148
$SEABIRD_C_J,0.00018835191
$GPS1,231015,072645,801.6102,8226.5117,141,1.6,181,-2.2,0.8,310.9,5,10.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.32
$_SM_ANGLEo,-73.8
$GPS2,231015,073451,801.6955,8226.3604,11,1.9,38,-2.2,0.7,295.3,7,8.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,265.3,78759,-14.9,-10.000,-18.74,2959
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,25,-0.62,-194.6,23,2656,862,990,0.0,0.0,0,114,0.00,0.00,-86.78,0.000,16386,0.000,0.000,22,2656,3316,3381,3251,0,0,0,0,0,0,14.89,28.83,14.92
$GC,123,-0.62,-194.6,22,2656,3381,3253,5.6,-4.8,9,149,11.90,2.30,-8.50,0.000,18692,0.403,0.090,2501,4044,3925,3997,3854,0,0,0,0,0,0,14.22,13.24,14.47
$GC,255,-0.62,-194.6,2500,4045,3997,3859,57.9,-31.5,36,261,0.00,2.20,0.00,0.000,1030,0.000,0.034,2501,2635,3928,3997,3859,0,0,0,0,0,0,14.74,14.70,14.76
$GC,575,-0.62,-194.6,2500,2635,3997,3861,134.3,-19.6,55,581,0.00,2.20,0.00,0.000,516,0.000,0.050,2501,1243,3929,3997,3861,0,0,0,0,0,0,15.06,14.68,15.09
$GC,650,-0.62,-194.6,2500,1243,3997,3862,145.2,-13.7,70,655,0.00,2.30,0.00,0.000,1030,0.000,0.053,2490,2647,3928,3995,3862,0,0,0,0,0,0,14.73,14.66,14.78
$GC,958,-0.62,-194.6,2490,2648,3997,3863,187.3,-13.5,86,963,0.00,2.22,0.00,0.000,516,0.000,0.049,2490,1243,3930,3997,3864,0,0,0,0,0,0,15.09,14.72,15.14
$GC,1018,-0.62,-194.6,2490,1243,3997,3864,194.8,-11.8,98,1024,0.10,2.22,0.00,0.000,3078,0.213,0.050,2510,2650,3930,3997,3864,0,0,0,0,0,0,14.50,14.72,14.64
$GC,1339,-0.62,-194.6,2509,2650,3996,3864,233.1,-12.4,117,1343,0.00,2.33,0.00,0.000,260,0.000,0.079,2501,4045,3930,3997,3864,0,0,0,0,0,0,15.12,14.71,15.15
$GC,1411,-0.62,-194.6,2501,4045,3996,3864,242.4,-12.7,131,1418,0.00,2.15,0.00,0.000,1030,0.000,0.031,2501,2638,3930,3996,3864,0,0,0,0,0,0,14.90,14.84,14.92
$GC,1726,-0.62,-194.6,2501,2637,3990,3864,280.3,-12.2,140,1732,0.00,2.15,0.00,0.000,516,0.000,0.050,2501,1266,3927,3990,3864,0,0,0,0,0,0,15.12,14.73,15.16
$GC,1775,-0.62,-194.6,2501,1266,3990,3864,286.7,-12.1,150,1782,0.00,2.22,0.00,0.000,1030,0.000,0.053,2492,2656,3927,3990,3864,0,0,0,0,0,0,14.87,14.76,14.90
$GC,2086,-0.62,-194.6,2493,2656,3983,3864,319.9,-10.6,157,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2656,3923,3983,3864,0,0,0,0,0,0,15.15,15.19,15.18
$GC,2387,-0.62,-194.6,2492,2656,3979,3864,350.7,-10.3,162,2392,0.00,2.28,0.00,0.000,260,0.000,0.082,2482,4033,3921,3979,3864,0,0,0,0,0,0,15.14,14.65,15.18
$GC,2460,-0.62,-194.6,2482,4033,3978,3863,359.2,-11.1,177,2466,0.12,2.12,0.00,0.000,3078,0.234,0.031,2512,2647,3921,3979,3863,0,0,0,0,0,0,14.56,14.85,14.78
$GC,2814,-0.62,-194.6,2511,2647,3973,3862,388.7,-8.4,191,2819,0.00,2.17,0.00,0.000,516,0.000,0.052,2512,1264,3917,3972,3862,0,0,0,0,0,0,15.13,14.71,15.16
$GC,2843,-0.62,-194.6,2511,1265,3972,3862,391.7,-9.0,197,2848,0.00,2.25,0.00,0.000,1030,0.000,0.054,2511,2650,3917,3972,3862,0,0,0,0,0,0,14.86,14.75,14.89
$GC,3177,-0.62,-194.6,2510,2650,3967,3860,421.0,-8.8,208,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2650,3913,3967,3860,0,0,0,0,0,0,15.16,15.19,15.19
$GC,3478,-0.62,-194.6,2511,2650,3963,3858,448.7,-9.4,213,3484,0.00,2.30,0.00,0.000,260,0.000,0.083,2500,4035,3910,3963,3858,0,0,0,0,0,0,15.15,14.62,15.19
$GC,3508,-0.62,-194.6,2500,4035,3963,3857,451.7,-10.0,218,3513,0.00,2.15,0.00,0.000,1030,0.000,0.032,2500,2653,3909,3963,3856,0,0,0,0,0,0,14.90,14.83,14.92
$GC,3848,-0.62,-194.6,2500,2652,3960,3854,482.5,-9.0,230,3853,0.00,2.22,0.00,0.000,516,0.000,0.053,2500,1261,3906,3959,3854,0,0,0,0,0,0,15.12,14.72,15.16
$GC,3887,-0.62,-194.6,2500,1260,3960,3854,486.4,-8.6,238,3893,0.00,2.22,0.00,0.000,1030,0.000,0.055,2494,2639,3906,3959,3854,0,0,0,0,0,0,14.73,14.68,14.78
$GC,4211,-0.62,-194.6,2493,2639,3957,3852,512.0,-7.8,247,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2639,3904,3957,3852,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4508,-0.62,-194.6,2493,2639,3954,3851,534.6,-7.5,252,4514,0.00,2.35,0.00,0.000,260,0.000,0.084,2483,4035,3901,3953,3850,0,0,0,0,0,0,15.15,14.57,15.19
$GC,4543,-0.62,-194.6,2483,4035,3953,3850,537.8,-9.1,259,4549,0.12,2.15,0.00,0.000,3078,0.233,0.034,2512,2648,3901,3953,3849,0,0,0,0,0,0,14.50,14.80,14.73
$GC,4873,-0.62,-194.6,2511,2648,3950,3849,561.6,-7.3,269,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2649,3899,3950,3849,0,0,0,0,0,0,15.12,15.16,15.16
$GC,5170,-0.62,-194.6,2511,2649,3949,3847,586.7,-8.5,274,5175,0.00,2.22,0.00,0.000,516,0.000,0.056,2512,1261,3897,3948,3847,0,0,0,0,0,0,15.15,14.63,15.18
$GC,5193,-0.62,-194.6,2512,1260,3948,3847,589.0,-9.3,279,5200,0.00,2.28,0.00,0.000,1030,0.000,0.057,2508,2656,3897,3948,3847,0,0,0,0,0,0,14.81,14.69,14.85
$GC,5533,-0.62,-194.6,2508,2656,3946,3846,619.6,-9.2,291,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2656,3896,3946,3846,0,0,0,0,0,0,15.12,15.16,15.16
$GC,5830,-0.62,-194.6,2508,2656,3944,3844,646.2,-8.9,296,5835,0.00,2.25,0.00,0.000,516,0.000,0.057,2508,1263,3893,3943,3844,0,0,0,0,0,0,15.15,14.61,15.19
$GC,5854,-0.62,-194.6,2508,1263,3944,3844,648.6,-10.2,301,5858,0.00,2.28,0.00,0.000,1030,0.000,0.058,2500,2654,3893,3943,3844,0,0,0,0,0,0,14.79,14.68,14.83
$GC,6193,-0.62,-194.6,2499,2654,3942,3843,681.1,-9.6,313,6198,0.00,2.35,0.00,0.000,260,0.000,0.090,2489,4033,3892,3941,3843,0,0,0,0,0,0,15.14,14.57,15.17
$GC,6226,-0.62,-194.6,2489,4033,3941,3842,684.6,-10.8,319,6232,0.00,2.17,0.00,0.000,1030,0.000,0.036,2489,2646,3891,3941,3842,0,0,0,0,0,0,14.83,14.76,14.86
$GC,6558,-0.62,-194.6,2489,2646,3940,3841,713.9,-8.8,329,6562,0.00,2.25,0.00,0.000,516,0.000,0.058,2490,1253,3890,3940,3841,0,0,0,0,0,0,15.14,14.65,15.16
$GC,6591,-0.62,-194.6,2489,1253,3940,3841,716.8,-8.3,335,6598,0.12,2.33,0.00,0.000,3078,0.238,0.060,2511,2656,3890,3940,3841,0,0,0,0,0,0,14.43,14.64,14.66
$GC,7286,-0.62,-194.6,2511,2656,3937,3838,764.2,-7.0,358,7292,0.00,2.35,0.00,0.000,260,0.000,0.093,2502,4032,3887,3936,3839,0,0,0,0,0,0,15.11,14.45,15.14
$GC,7335,-0.62,-194.6,2502,4032,3936,3838,768.8,-8.8,368,7342,0.00,2.17,0.00,0.000,1030,0.000,0.037,2502,2650,3887,3936,3838,0,0,0,0,0,0,14.81,14.73,14.84
$GC,8006,-0.62,-194.6,2502,2650,3933,3836,826.3,-8.5,387,8012,0.00,2.25,0.00,0.000,516,0.000,0.060,2503,1260,3884,3932,3836,0,0,0,0,0,0,15.14,14.53,15.16
$GC,8035,-0.62,-194.6,2502,1260,3932,3836,828.5,-8.0,393,8040,0.00,2.33,0.00,0.000,1030,0.000,0.063,2497,2659,3884,3932,3836,0,0,0,0,0,0,14.73,14.60,14.78
$GC,8730,-0.62,-194.6,2496,2659,3931,3834,875.1,-6.5,416,8736,0.00,2.38,0.00,0.000,260,0.000,0.096,2486,4040,3882,3930,3834,0,0,0,0,0,0,15.14,14.40,15.16
$GC,8760,-0.62,-194.6,2486,4041,3930,3833,877.5,-7.7,422,8767,0.08,2.20,0.00,0.000,3078,0.192,0.041,2510,2647,3881,3930,3833,0,0,0,0,0,0,14.34,14.67,14.46
$GC,9455,-0.62,-194.6,2509,2647,3927,3832,924.8,-7.0,445,9460,0.00,2.30,0.00,0.000,516,0.000,0.064,2510,1249,3879,3927,3832,0,0,0,0,0,0,15.10,14.55,15.14
$GC,9498,-0.62,-194.6,2509,1249,3926,3832,928.4,-7.8,453,9503,0.00,2.35,0.00,0.000,1030,0.000,0.067,2510,2650,3879,3926,3832,0,0,0,0,0,0,14.69,14.54,14.74
$GC,10186,-0.62,-194.6,2509,2650,3924,3831,973.8,-6.5,474,10191,0.00,2.40,0.00,0.000,260,0.000,0.100,2501,4036,3877,3924,3831,0,0,0,0,0,0,15.09,14.33,15.12
$GC,10241,-0.62,-194.6,2500,4036,3924,3831,977.9,-7.2,485,10245,0.00,2.22,0.00,0.000,1030,0.000,0.042,2501,2650,3877,3924,3830,0,0,0,0,0,0,14.73,14.64,14.77
$STATE,10425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10425,begin apogee
$GC,10435,-0.20,0.0,2501,2460,3923,3831,991.0,-7.0,499,10593,0.52,0.00,155.15,2.210,10246,0.176,0.000,2651,2460,3126,3058,3195,0,0,0,0,0,0,14.34,14.04,13.12
$STATE,10595,end apogee,CONTROL_FINISHED_OK
$STATE,10595,begin climb
$GC,10599,0.62,194.6,2649,2460,3057,3191,994.9,0.0,500,10770,0.80,0.00,162.60,2.154,10758,0.113,0.000,2912,2460,2329,2237,2422,0,0,0,0,0,0,14.06,13.74,12.86
$GC,11393,0.62,194.6,2911,2460,2248,2402,905.8,12.5,553,11397,0.00,2.50,0.00,0.000,260,0.000,0.095,2912,3881,2325,2248,2402,0,0,0,0,0,0,14.89,14.50,14.92
$GC,11471,0.62,194.6,2912,3881,2257,2391,894.5,14.1,568,11478,0.00,2.30,0.00,0.000,1030,0.000,0.054,2922,2485,2323,2256,2391,0,0,0,0,0,0,14.71,14.62,14.74
$GC,12118,0.62,194.6,2921,2485,2256,2391,814.3,12.3,582,12119,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2485,2323,2257,2390,0,0,0,0,0,0,15.02,15.06,15.06
$GC,12717,0.62,194.6,2922,2485,2256,2389,735.6,13.2,587,12722,0.00,2.40,0.00,0.000,260,0.000,0.095,2922,3871,2323,2257,2389,0,0,0,0,0,0,15.07,14.48,15.11
$GC,12756,0.62,194.6,2922,3872,2260,2384,729.9,14.8,595,12761,0.00,2.28,0.00,0.000,1030,0.000,0.054,2932,2474,2321,2260,2383,0,0,0,0,0,0,14.78,14.69,14.82
$GC,13381,0.62,194.6,2932,2474,2260,2383,648.7,12.8,618,13382,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2474,2321,2260,2383,0,0,0,0,0,0,15.07,15.11,15.10
$GC,13677,0.62,194.6,2932,2474,2260,2383,609.4,13.2,623,13678,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2474,2321,2260,2383,0,0,0,0,0,0,15.09,15.14,15.14
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$GC,16386,0.62,194.6,2918,2477,2270,2376,265.1,12.0,723,16387,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2477,2323,2271,2376,0,0,0,0,0,0,15.09,15.13,15.12
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$GC,17341,0.62,203.7,2927,2464,2240,2348,166.0,10.0,773,17345,0.00,2.30,0.00,0.000,516,0.000,0.070,2936,1074,2293,2240,2347,0,0,0,0,0,0,15.09,14.59,15.12
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$STATE,19172,end climb,SURFACE_DEPTH_REACHED
$STATE,19173,begin surface coast
$STATE,19194,end surface coast,CONTROL_FINISHED_OK
$STATE,19194,begin surface
$SM_CCo,19278,0.00,0.000,0,0,1029,514.64
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$IRIDIUM_FIX,755.99,8227.92,231015,072850
$TT8_MAMPS,0.023219,0.023219
$HUMID,48.58
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,12.86,95.651
$10V_AH,11.84,0.000
$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,22.200,142.375,546.725,0.000,0.000,0.000,0.000,269.250,0.000,0.000,40.424,641.303,15872.375,568.601,2079.595,594.160,0.000,1784.324,0.000,1396.696,0.000,0.543,0.000
$DEVICE_MAMPS,403.155,100.215,2210.085,0.000,0.000,0.000,0.000,239.445,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1011.686,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260288
$DATA_FILE_SIZE,43364,965
$CAP_FILE_SIZE,160274,0
$CFSIZE,260034560,229163008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,112.482,264.04,1
$GPS,231015,073451,801.695,8226.360,301,99.0,301,-2.2,0.7,295.3,7,8.0