version: 66.10
glider: 169
mission: 5
dive: 103
start: 11 28 111 17 59 39
data:
$ID,169
$MISSION,5
$DIVE,103
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,4
$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,360
$T_MISSION,400
$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,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$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
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$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,-10407.157
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,281111,175030,2142.121,12345.136,38,1.2,38,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-69.8
$GPS2,281111,175914,2142.139,12344.921,15,1.5,15,-2.9
$SPEED_LIMITS,0.159,0.270
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.228,0.143
$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,350.4,280941,-14.8,-9.167
$D_GRID,4859
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.58,-170.3,0.0,0.0,0,115,0.00,0.00,-95.88,0.000,2,0.000,0.000,117,2672,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.58,-170.3,3.1,-6.0,17,150,6.53,1.83,-15.55,0.000,4,0.220,0.063,1806,3818,3676,0,0,0,0,0,0,25.67,26.10,26.47
$GC,209,-0.46,-170.3,41.3,-35.2,32,218,0.12,1.85,0.00,0.000,6,0.148,0.030,1864,2583,3676,0,0,0,0,0,0,25.91,26.19,28.83
$GC,534,-0.38,-170.3,138.9,-20.0,93,540,0.00,2.05,0.00,0.000,4,0.000,0.033,1873,1185,3676,0,0,0,0,0,0,28.83,26.32,28.83
$GC,727,-0.39,-170.3,168.4,-12.1,129,733,0.00,2.22,0.00,0.000,6,0.000,0.041,1862,2658,3675,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1043,-0.34,-170.3,228.7,-21.3,176,1045,0.12,0.00,0.00,0.000,6,0.161,0.000,1897,2658,3676,0,0,0,0,0,0,26.32,28.83,28.83
$GC,1343,-0.35,-170.3,272.4,-10.1,206,1352,0.00,2.15,0.00,0.000,4,0.000,0.031,1897,1176,3675,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1386,-0.38,-170.3,275.9,-8.3,210,1395,0.00,2.17,0.00,0.000,6,0.000,0.041,1889,2655,3675,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1697,-0.39,-170.3,298.3,-6.9,241,1701,0.00,1.80,0.00,0.000,4,0.000,0.048,1880,3809,3674,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1722,-0.40,-170.3,300.0,-7.0,243,1729,0.00,1.77,0.00,0.000,6,0.000,0.026,1880,2555,3674,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2030,-0.40,-170.3,325.4,-8.9,274,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2555,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2331,-0.41,-170.3,343.0,-4.7,304,2342,0.00,1.95,0.00,0.000,4,0.000,0.047,1871,3827,3671,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2375,-0.44,-170.3,345.2,-4.8,308,2378,0.00,1.80,0.00,0.000,6,0.000,0.026,1871,2567,3671,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2687,-0.44,-170.3,366.3,-7.0,339,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,2558,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2989,-0.46,-170.3,388.5,-8.3,369,2998,0.00,1.92,0.00,0.000,4,0.000,0.049,1862,3812,3668,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3012,-0.47,-170.3,390.5,-8.4,371,3015,0.00,1.77,0.00,0.000,6,0.000,0.028,1862,2570,3667,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3322,-0.47,-170.3,429.7,-15.1,402,3331,0.00,2.00,0.00,0.000,4,0.000,0.033,1862,1183,3665,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3386,-0.50,-170.3,438.8,-14.3,408,3389,0.00,2.20,0.00,0.000,6,0.000,0.042,1853,2659,3664,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3697,-0.50,-170.3,478.7,-9.7,439,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2659,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3999,-0.50,-170.3,498.3,-5.9,469,4008,0.00,2.15,0.00,0.000,4,0.000,0.033,1853,1185,3660,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4055,-0.53,-170.3,501.3,-5.2,474,4062,0.00,2.20,0.00,0.000,6,0.000,0.043,1843,2655,3660,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4362,-0.53,-170.3,525.7,-9.6,505,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2655,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4665,-0.53,-170.3,553.6,-8.5,535,4673,0.00,2.15,0.00,0.000,4,0.000,0.033,1844,1183,3656,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4700,-0.54,-170.3,556.3,-8.1,538,4707,0.00,2.22,0.00,0.000,6,0.000,0.044,1835,2658,3656,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5007,-0.53,-170.3,584.3,-11.0,569,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2658,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5317,-0.53,-170.3,626.2,-14.3,591,5323,0.00,2.17,0.00,0.000,4,0.000,0.033,1835,1175,3652,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5364,-0.53,-170.3,631.5,-13.6,593,5368,0.00,2.22,0.00,0.000,6,0.000,0.044,1825,2653,3651,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5677,-0.51,-170.3,669.7,-10.5,609,5683,0.00,2.15,0.00,0.000,4,0.000,0.032,1825,1185,3649,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5722,-0.51,-170.3,673.4,-9.7,611,5726,0.00,2.22,0.00,0.000,6,0.000,0.044,1816,2656,3649,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6034,-0.50,-170.3,702.4,-9.2,627,6036,0.12,0.00,0.00,0.000,6,0.151,0.000,1853,2656,3646,0,0,0,0,0,0,26.44,28.83,28.83
$GC,6336,-0.52,-170.3,720.6,-6.1,642,6341,0.00,2.15,0.00,0.000,4,0.000,0.033,1853,1184,3643,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6367,-0.54,-170.3,721.8,-6.1,643,6374,0.00,2.22,0.00,0.000,6,0.000,0.045,1845,2656,3644,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6674,-0.55,-170.3,742.4,-6.2,659,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2657,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6977,-0.57,-170.3,759.8,-5.6,674,6982,0.00,2.15,0.00,0.000,4,0.000,0.034,1845,1186,3640,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7003,-0.59,-170.3,761.0,-5.6,675,7007,0.00,2.20,0.00,0.000,6,0.000,0.046,1838,2652,3640,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7312,-0.59,-170.3,779.0,-6.0,690,7316,0.00,2.17,0.00,0.000,4,0.000,0.034,1838,1177,3638,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7348,-0.61,-170.3,780.5,-6.0,691,7355,0.00,2.25,0.00,0.000,6,0.000,0.047,1831,2657,3638,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7655,-0.61,-170.3,804.6,-8.4,707,7660,0.00,2.17,0.00,0.000,4,0.000,0.034,1831,1184,3636,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7699,-0.61,-170.3,808.0,-8.6,709,7703,0.00,2.22,0.00,0.000,6,0.000,0.047,1825,2657,3636,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8010,-0.61,-170.3,838.6,-9.7,725,8016,0.00,2.17,0.00,0.000,4,0.000,0.033,1825,1182,3634,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8039,-0.61,-170.3,840.6,-9.7,726,8043,0.00,2.22,0.00,0.000,6,0.000,0.047,1818,2657,3634,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8348,-0.61,-170.3,868.4,-8.3,741,8353,0.00,2.15,0.00,0.000,4,0.000,0.033,1817,1185,3632,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8395,-0.61,-170.3,871.8,-8.3,743,8399,0.00,2.22,0.00,0.000,6,0.000,0.046,1813,2652,3633,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8704,-0.59,-170.3,902.7,-11.3,758,8709,0.00,2.12,0.00,0.000,4,0.000,0.034,1813,1183,3631,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8764,-0.59,-170.3,909.4,-11.3,761,8769,0.00,2.25,0.00,0.000,6,0.000,0.048,1812,2643,3631,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9082,-0.58,-170.3,945.1,-10.3,777,9083,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2643,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9383,-0.57,-170.3,972.5,-8.6,792,9389,0.00,2.15,0.00,0.000,4,0.000,0.036,1812,1184,3628,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9443,-0.57,-170.3,977.5,-8.4,795,9449,0.00,2.25,0.00,0.000,6,0.000,0.048,1812,2653,3627,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,9601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9601,begin apogee
$GC,9607,-0.20,0.0,991.3,-8.8,803,9765,0.38,0.12,145.98,1.164,6,0.104,0.090,1945,2538,2966,0,0,0,0,0,0,26.20,24.82,24.10
$STATE,9766,end apogee,CONTROL_FINISHED_OK
$STATE,9766,begin climb
$GC,9768,0.58,170.3,998.7,0.0,811,9937,0.68,2.40,159.75,1.176,4,0.047,0.041,2219,1060,2276,0,0,0,0,0,0,25.06,24.58,23.83
$GC,9953,0.46,170.3,989.0,13.1,820,9958,0.22,2.38,0.00,0.000,6,0.174,0.046,2163,2518,2261,0,0,0,0,0,0,24.72,24.87,28.83
$GC,10261,0.39,170.3,950.8,11.3,835,10267,0.00,2.00,0.00,0.000,4,0.000,0.053,2163,3807,2252,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10361,0.31,170.3,936.9,14.0,840,10367,0.22,2.08,0.00,0.000,6,0.174,0.034,2115,2458,2250,0,0,0,0,0,0,25.62,25.92,28.83
$GC,10683,0.29,178.3,908.7,8.9,856,10688,0.00,2.10,0.00,0.000,4,0.000,0.051,2114,3803,2249,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10770,0.25,178.3,899.9,11.0,860,10775,0.12,2.00,0.00,0.000,6,0.171,0.032,2093,2461,2248,0,0,0,0,0,0,25.90,26.14,28.83
$GC,11079,0.26,190.3,873.5,8.7,875,11102,0.00,2.17,17.52,1.030,4,0.000,0.052,2092,3803,2196,0,0,0,0,0,0,28.83,25.89,25.12
$GC,11160,0.25,190.3,864.3,10.9,879,11166,0.00,2.03,0.00,0.000,6,0.000,0.032,2103,2462,2183,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11481,0.24,190.3,826.9,11.8,895,11486,0.00,2.12,0.00,0.000,4,0.000,0.052,2102,3808,2180,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11544,0.22,190.3,819.1,12.5,898,11548,0.00,2.03,0.00,0.000,6,0.000,0.034,2113,2461,2179,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11856,0.21,190.3,785.4,9.8,914,11863,0.12,2.10,0.00,0.000,4,0.178,0.037,2086,1049,2178,0,0,0,0,0,0,26.04,26.22,28.83
$GC,11885,0.21,190.3,783.7,9.4,915,11889,0.00,2.22,0.00,0.000,6,0.000,0.044,2086,2520,2177,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12192,0.35,296.4,764.7,5.3,930,12304,0.10,2.17,103.72,0.997,4,0.093,0.052,2150,3808,1758,0,0,0,0,0,0,26.42,24.98,24.32
$GC,12354,0.32,296.4,748.2,10.7,938,12361,0.17,2.10,0.00,0.000,6,0.148,0.033,2114,2461,1743,0,0,0,0,0,0,25.29,25.42,28.83
$GC,12677,0.44,382.7,730.4,6.0,954,12767,0.12,2.28,81.78,0.964,4,0.078,0.052,2192,3806,1407,0,0,0,0,0,0,26.03,24.98,24.30
$GC,12838,0.41,382.7,703.4,19.3,962,12843,0.20,2.08,0.00,0.000,6,0.144,0.034,2147,2464,1392,0,0,0,0,0,0,25.34,25.48,28.83
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$GC,14148,0.41,382.7,545.3,10.0,1055,14154,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2459,1384,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,14873,0.49,382.7,458.0,9.5,1127,14882,0.00,2.20,0.00,0.000,6,0.000,0.042,2151,2519,1381,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,18290,end climb,SURFACE_DEPTH_REACHED
$STATE,18290,begin surface coast
$FINISH,-0.0,1.022399
$STATE,18321,end surface coast,CONTROL_FINISHED_OK
$STATE,18321,begin surface
$SM_CCo,18395,0.00,0.000,0,0,899,510.22
$SM_GC,1.00,5.25,0.20,0.00,0.024,0.061,0.000,136,2681,899,-5.78,-0.20,510.22,0,0,0,0,0,0
$IRIDIUM_FIX,2134.17,12348.48,281111,131353
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.58
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.8,23.421
$10V_AH,10.2,17.719
$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,15.275,152.875,611.300,0.000,0.000,58.938,44.768,222.357,0.000,0.000,16.061,4300.273,10270.394,715.733,3253.179,357.358,0.000,2270.223,0.000,2744.975,0.000,0.543,0.000
$DEVICE_MAMPS,219.555,89.505,1175.805,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1087.310,2096.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330368
$DATA_FILE_SIZE,106928,1598
$CAP_FILE_SIZE,194491,0
$CFSIZE,260165632,213438464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.284,214.7,1
$GPS,281111,230708,2144.759,12341.470,25,1.2,27,-2.9