version: 66.10
glider: 169
mission: 5
dive: 161
start: 12 10 111 12 49 26
data:
$ID,169
$MISSION,5
$DIVE,161
$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,340
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,-10919.723
$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
$GPS1,101211,124224,2316.062,12151.983,91,0.9,91,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.7
$GPS2,101211,124902,2316.250,12151.955,14,1.1,14,-3.1
$SPEED_LIMITS,0.168,0.293
$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,200.3,50291,-15.3,-9.706
$D_GRID,3343
$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,-0.62,-194.6,0.0,0.0,0,99,0.00,0.00,-80.03,0.000,2,0.000,0.000,115,2684,3071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.62,-194.6,3.8,-8.4,13,131,6.75,2.28,-13.35,0.000,4,0.230,0.046,1809,1172,3775,0,0,0,0,0,0,25.44,26.05,26.43
$GC,270,-0.54,-194.6,60.2,-25.6,43,277,0.15,2.28,0.00,0.000,6,0.155,0.043,1839,2655,3776,0,0,0,0,0,0,25.83,26.07,28.83
$GC,597,-0.46,-194.6,160.9,-22.6,104,604,0.00,2.17,0.00,0.000,4,0.000,0.028,1849,1169,3776,0,0,0,0,0,0,28.83,26.27,28.83
$GC,619,-0.39,-194.6,165.6,-22.5,107,626,0.15,2.28,0.00,0.000,6,0.138,0.043,1882,2659,3776,0,0,0,0,0,0,26.00,26.20,28.83
$GC,937,-0.38,-194.6,213.0,-13.2,159,941,0.00,1.77,0.00,0.000,4,0.000,0.048,1874,3813,3776,0,0,0,0,0,0,28.83,26.23,28.83
$GC,980,-0.38,-194.6,218.5,-13.1,163,983,0.00,1.80,0.00,0.000,6,0.000,0.025,1873,2567,3777,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1291,-0.38,-194.6,253.5,-11.1,194,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,1874,2560,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1595,-0.40,-194.6,283.0,-10.2,224,1603,0.00,1.98,0.00,0.000,4,0.000,0.047,1864,3825,3776,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1626,-0.42,-194.6,286.5,-10.2,227,1637,0.00,1.83,0.00,0.000,6,0.000,0.026,1864,2556,3776,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1937,-0.44,-194.6,315.8,-8.7,258,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2556,3776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2239,-0.45,-194.6,341.7,-8.8,288,2248,0.00,1.98,0.00,0.000,4,0.000,0.031,1864,1187,3774,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2262,-0.48,-194.6,343.9,-8.7,290,2270,0.00,2.20,0.00,0.000,6,0.000,0.041,1855,2656,3774,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2570,-0.48,-194.6,374.4,-10.1,321,2579,0.00,2.15,0.00,0.000,4,0.000,0.030,1856,1178,3772,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2596,-0.50,-194.6,376.5,-10.5,323,2605,0.00,2.22,0.00,0.000,6,0.000,0.042,1847,2655,3772,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2902,-0.50,-194.6,408.5,-10.3,354,2906,0.00,1.77,0.00,0.000,4,0.000,0.048,1838,3813,3770,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2935,-0.51,-194.6,411.8,-10.1,357,2938,0.00,1.77,0.00,0.000,6,0.000,0.026,1838,2563,3769,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3247,-0.51,-194.6,444.8,-10.5,388,3256,0.00,2.00,0.00,0.000,4,0.000,0.031,1838,1183,3767,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3300,-0.53,-194.6,449.7,-9.1,393,3309,0.00,2.22,0.00,0.000,6,0.000,0.042,1829,2655,3767,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3611,-0.53,-194.6,481.9,-10.6,424,3619,0.00,2.12,0.00,0.000,4,0.000,0.031,1828,1188,3764,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3653,-0.55,-194.6,486.3,-10.0,428,3662,0.00,2.20,0.00,0.000,6,0.000,0.042,1819,2655,3764,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3962,-0.54,-194.6,522.5,-12.1,459,3974,0.00,2.15,0.00,0.000,4,0.000,0.031,1818,1181,3763,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4006,-0.54,-194.6,527.5,-11.3,463,4017,0.00,2.25,0.00,0.000,6,0.000,0.045,1811,2656,3763,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4317,-0.52,-194.6,564.9,-11.9,494,4319,0.10,0.00,0.00,0.000,6,0.161,0.000,1839,2656,3760,0,0,0,0,0,0,26.43,28.83,28.83
$GC,4619,-0.54,-194.6,590.7,-8.0,524,4628,0.00,2.12,0.00,0.000,4,0.000,0.030,1839,1182,3758,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4662,-0.57,-194.6,594.3,-8.1,528,4671,0.00,2.22,0.00,0.000,6,0.000,0.043,1829,2655,3758,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4971,-0.58,-194.6,622.0,-9.2,547,4976,0.00,2.17,0.00,0.000,4,0.000,0.031,1830,1179,3755,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5020,-0.60,-194.6,625.6,-9.1,549,5024,0.00,2.25,0.00,0.000,6,0.000,0.044,1821,2652,3755,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5327,-0.60,-194.6,656.6,-9.8,564,5332,0.00,2.15,0.00,0.000,4,0.000,0.033,1821,1182,3752,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5367,-0.61,-194.6,660.2,-9.6,566,5373,0.00,2.25,0.00,0.000,6,0.000,0.045,1813,2655,3751,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5686,-0.61,-194.6,692.9,-10.5,582,5691,0.00,2.17,0.00,0.000,4,0.000,0.034,1812,1181,3750,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5729,-0.61,-194.6,696.9,-10.2,584,5733,0.00,2.30,0.00,0.000,6,0.000,0.047,1812,2664,3750,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6049,-0.61,-194.6,730.8,-11.0,600,6054,0.00,2.20,0.00,0.000,4,0.000,0.036,1812,1187,3748,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6094,-0.61,-194.6,734.9,-10.9,602,6098,0.00,2.25,0.00,0.000,6,0.000,0.046,1806,2653,3748,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6407,-0.61,-194.6,768.8,-10.7,618,6413,0.00,2.20,0.00,0.000,4,0.000,0.033,1806,1180,3745,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6456,-0.61,-194.6,772.9,-10.5,620,6460,0.00,2.25,0.00,0.000,6,0.000,0.046,1797,2650,3745,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6763,-0.59,-194.6,809.2,-12.0,635,6766,0.00,2.17,0.00,0.000,4,0.000,0.034,1797,1188,3743,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6808,-0.59,-194.6,814.1,-11.6,637,6813,0.12,2.25,0.00,0.000,6,0.129,0.045,1826,2655,3743,0,0,0,0,0,0,26.08,26.20,28.83
$GC,7123,-0.61,-194.6,842.2,-8.8,653,7127,0.00,1.80,0.00,0.000,4,0.000,0.053,1818,3803,3742,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7145,-0.63,-194.6,844.3,-8.8,654,7148,0.00,1.80,0.00,0.000,6,0.000,0.028,1818,2570,3741,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7467,-0.64,-194.6,874.1,-9.2,670,7473,0.00,2.03,0.00,0.000,4,0.000,0.034,1818,1189,3739,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7510,-0.66,-194.6,877.8,-9.3,672,7514,0.00,2.25,0.00,0.000,6,0.000,0.045,1812,2649,3739,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7824,-0.66,-194.6,908.7,-10.0,688,7827,0.00,1.83,0.00,0.000,4,0.000,0.053,1804,3820,3737,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7857,-0.66,-194.6,911.2,-10.1,689,7864,0.00,1.83,0.00,0.000,6,0.000,0.029,1804,2574,3737,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8164,-0.66,-194.6,944.4,-10.0,705,8170,0.00,2.05,0.00,0.000,4,0.000,0.034,1804,1188,3736,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8228,-0.67,-194.6,950.3,-9.7,708,8234,0.00,2.25,0.00,0.000,6,0.000,0.044,1794,2655,3735,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8548,-0.66,-194.6,983.4,-10.4,724,8552,0.00,2.17,0.00,0.000,4,0.000,0.034,1795,1188,3734,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8611,-0.66,-194.6,989.5,-9.8,727,8616,0.00,2.28,0.00,0.000,6,0.000,0.046,1784,2657,3734,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,8628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8629,begin apogee
$GC,8635,-0.20,0.0,991.3,-9.4,728,8811,0.45,0.10,166.32,1.177,6,0.106,0.061,1940,2526,2968,0,0,0,0,0,0,25.82,24.72,23.89
$STATE,8812,end apogee,CONTROL_FINISHED_OK
$STATE,8812,begin climb
$GC,8815,0.62,194.6,999.1,0.0,737,9011,0.73,2.22,183.05,1.172,4,0.047,0.048,2218,3812,2170,0,0,0,0,0,0,24.96,24.25,23.40
$GC,9063,0.51,194.6,970.7,21.7,749,9068,0.20,2.15,0.00,0.000,6,0.192,0.033,2180,2467,2159,0,0,0,0,0,0,24.62,24.90,28.83
$GC,9372,0.45,194.6,912.2,18.3,764,9378,0.00,2.12,0.00,0.000,4,0.000,0.050,2180,3814,2152,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9404,0.38,194.6,908.3,18.6,765,9411,0.22,2.08,0.00,0.000,6,0.169,0.031,2131,2462,2151,0,0,0,0,0,0,25.43,25.83,28.83
$GC,9712,0.35,194.6,866.0,12.5,781,9717,0.00,2.10,0.00,0.000,4,0.000,0.050,2130,3807,2149,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9824,0.32,194.6,851.7,14.2,786,9831,0.00,2.05,0.00,0.000,6,0.000,0.032,2141,2462,2149,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10132,0.29,194.6,811.5,12.3,802,10139,0.12,2.12,0.00,0.000,4,0.174,0.047,2103,3816,2149,0,0,0,0,0,0,25.91,26.00,28.83
$GC,10154,0.26,194.6,809.2,12.2,803,10158,0.00,2.05,0.00,0.000,6,0.000,0.031,2114,2461,2147,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10466,0.27,198.0,778.6,9.6,819,10472,0.00,2.12,0.00,0.000,4,0.000,0.049,2114,3818,2147,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10510,0.26,198.0,774.2,10.1,821,10514,0.00,2.03,0.00,0.000,6,0.000,0.031,2124,2458,2147,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10827,0.25,198.0,741.0,10.4,837,10834,0.12,2.15,0.00,0.000,4,0.165,0.047,2085,3821,2146,0,0,0,0,0,0,26.03,26.06,28.83
$GC,10868,0.25,198.0,736.9,10.4,839,10873,0.00,2.08,0.00,0.000,6,0.000,0.030,2096,2452,2146,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11188,0.32,250.4,710.9,8.0,855,11253,0.00,2.20,58.22,0.929,4,0.000,0.048,2096,3809,1950,0,0,0,0,0,0,28.83,25.40,24.64
$GC,11268,0.39,295.9,704.3,8.2,859,11321,0.00,2.08,47.45,0.936,6,0.000,0.030,2107,2465,1770,0,0,0,0,0,0,28.83,25.54,24.37
$GC,11624,0.50,354.9,675.5,7.7,876,11686,0.15,2.20,56.03,0.953,4,0.068,0.037,2207,1057,1523,0,0,0,0,0,0,25.98,25.16,24.39
$GC,11723,0.48,354.9,660.9,16.4,881,11728,0.15,2.30,0.00,0.000,6,0.132,0.043,2165,2520,1505,0,0,0,0,0,0,25.29,25.40,28.83
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$GC,13153,0.46,354.9,456.3,12.9,1001,13162,0.00,2.03,0.00,0.000,6,0.000,0.030,2167,2459,1499,0,0,0,0,0,0,28.83,26.20,28.83
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$GC,15902,0.79,492.1,112.7,6.9,1330,15976,0.12,2.22,66.75,0.590,6,0.078,0.041,2313,2522,967,0,0,0,0,0,0,26.17,26.14,25.02
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$STATE,16462,end climb,SURFACE_DEPTH_REACHED
$STATE,16463,begin surface coast
$FINISH,1.5,1.022718
$STATE,16484,end surface coast,CONTROL_FINISHED_OK
$STATE,16484,begin surface
$SM_CCo,16559,0.00,0.000,0,0,945,498.94
$SM_GC,1.03,5.38,0.20,0.00,0.029,0.054,0.000,140,2704,945,-5.78,-0.17,498.94,0,0,0,0,0,0
$IRIDIUM_FIX,2307.44,12150.13,101211,070732
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.03
$INTERNAL_PRESSURE,9.47658
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,23.4,35.252
$10V_AH,10.2,24.286
$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,15.575,169.000,625.900,0.000,0.000,24.720,20.305,218.610,0.000,0.000,16.739,3883.611,9002.660,750.204,2953.069,342.745,0.000,2214.062,0.000,2520.710,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,61.200,1177.335,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,978.551,1899.768,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324640
$DATA_FILE_SIZE,96970,1438
$CAP_FILE_SIZE,184666,0
$CFSIZE,260165632,207990784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.444, 17.1,1
$GPS,101211,172631,2315.979,12152.009,38,1.5,38,-3.1