OKMC Nov12 * SG170 * Dive index * Mission links
version: 66.11
glider: 170
mission: 10
dive: 325
start: 1 5 113 15 11 5
data:
$ID,170
$MISSION,10
$DIVE,325
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$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,380
$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,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,185
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51760
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-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,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-143504
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2853
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.120956
$PRESSURE_SLOPE,0.0001164274
$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,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043559377
$SEABIRD_T_H,0.00062550703
$SEABIRD_T_I,2.3551509e-05
$SEABIRD_T_J,2.509174e-06
$SEABIRD_C_G,-10.138787
$SEABIRD_C_H,1.1450038
$SEABIRD_C_I,-0.0015582878
$SEABIRD_C_J,0.00020114503
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,050113,150134,2141.685,11954.162,27,0.7,27,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-73.4
$GPS2,050113,151035,2141.656,11953.973,16,1.0,17,-3.0
$SPEED_LIMITS,0.150,0.288
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$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,59.2,12077,-14.5,-8.684,-16.79
$D_GRID,2899
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.50,-180.0,0.0,0.0,0,86,0.00,0.00,-62.75,0.000,2,0.000,0.000,133,2625,2104,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.50,-180.0,3.1,-1.2,11,156,11.48,2.17,-49.83,0.000,4,0.241,0.046,2880,1218,3588,0,0,0,0,0,0,25.23,26.16,26.58
$GC,237,-0.48,-180.0,19.6,-15.0,37,243,0.00,2.15,0.00,0.000,6,0.000,0.048,2880,2582,3589,0,0,0,0,0,0,28.83,26.12,28.83
$GC,432,-0.46,-180.0,53.9,-16.0,58,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2583,3588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,612,-0.44,-180.0,79.8,-12.8,67,617,0.00,1.75,0.00,0.000,4,0.000,0.055,2880,3699,3588,0,0,0,0,0,0,28.83,26.22,28.83
$GC,646,-0.43,-180.0,82.6,-12.2,68,651,0.00,1.58,0.00,0.000,6,0.000,0.023,2880,2571,3588,0,0,0,0,0,0,28.83,26.48,28.83
$GC,839,-0.43,-180.0,104.0,-10.5,78,844,0.00,1.95,0.00,0.000,4,0.000,0.030,2880,1231,3588,0,0,0,0,0,0,28.83,26.41,28.83
$GC,912,-0.44,-180.0,110.2,-9.9,81,918,0.00,2.12,0.00,0.000,6,0.000,0.043,2880,2614,3589,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1108,-0.45,-180.0,127.4,-7.9,91,1114,0.00,2.05,0.00,0.000,4,0.000,0.047,2880,1235,3589,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1132,-0.46,-180.0,129.5,-7.9,92,1138,0.00,2.12,0.00,0.000,6,0.000,0.044,2880,2612,3589,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1338,-0.48,-180.0,147.0,-8.9,102,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2612,3589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1517,-0.49,-180.0,162.3,-8.1,111,1522,0.00,2.05,0.00,0.000,4,0.000,0.031,2880,1233,3589,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1591,-0.51,-180.0,167.9,-8.5,114,1596,0.00,2.12,0.00,0.000,6,0.000,0.043,2880,2614,3589,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1785,-0.55,-180.0,184.9,-8.3,124,1790,0.00,1.65,0.00,0.000,4,0.000,0.050,2880,3693,3589,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1873,-0.60,-180.0,191.1,-7.3,128,1879,0.00,1.58,0.00,0.000,6,0.000,0.024,2880,2600,3589,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2074,-0.64,-180.0,205.3,-6.8,138,2076,0.10,0.00,0.00,0.000,6,0.106,0.000,2810,2600,3589,0,0,0,0,0,0,26.58,28.83,28.83
$GC,2253,-0.62,-180.0,222.8,-11.1,147,2260,0.12,2.00,0.00,0.000,4,0.143,0.028,2854,1230,3588,0,0,0,0,0,0,26.35,26.42,28.83
$GC,2367,-0.63,-180.0,232.5,-8.6,152,2373,0.00,2.12,0.00,0.000,6,0.000,0.043,2854,2608,3588,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2563,-0.65,-180.0,249.5,-8.5,162,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2608,3587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2741,-0.66,-180.0,265.5,-9.0,171,2746,0.00,2.03,0.00,0.000,4,0.000,0.029,2854,1226,3586,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2820,-0.67,-180.0,271.0,-8.7,174,2826,0.00,2.12,0.00,0.000,6,0.000,0.042,2853,2602,3586,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3125,-0.69,-180.0,294.8,-6.9,190,3131,0.00,2.03,0.00,0.000,4,0.000,0.028,2854,1221,3585,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3191,-0.70,-180.0,299.4,-6.9,193,3196,0.00,2.10,0.00,0.000,6,0.000,0.041,2854,2603,3584,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3516,-0.74,-180.0,323.0,-7.4,209,3522,0.12,2.05,0.00,0.000,4,0.088,0.026,2777,1221,3582,0,0,0,0,0,0,26.58,26.44,28.83
$GC,3607,-0.73,-180.0,332.4,-10.9,213,3613,0.12,2.12,0.00,0.000,6,0.163,0.042,2812,2599,3582,0,0,0,0,0,0,26.09,26.31,28.83
$GC,3925,-0.73,-180.0,363.8,-9.7,229,3931,0.00,2.03,0.00,0.000,4,0.000,0.028,2812,1225,3580,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3993,-0.73,-180.0,370.0,-9.7,232,3999,0.00,2.12,0.00,0.000,6,0.000,0.042,2812,2598,3579,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4312,-0.73,-180.0,399.7,-9.1,248,4317,0.00,1.73,0.00,0.000,4,0.000,0.052,2812,3701,3577,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4329,-0.73,-180.0,399.7,-9.1,248,4337,0.00,1.58,0.00,0.000,6,0.000,0.026,2812,2582,3577,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4636,-0.73,-180.0,431.7,-10.5,264,4642,0.00,1.95,0.00,0.000,4,0.000,0.028,2812,1243,3575,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4723,-0.73,-180.0,440.9,-10.8,268,4729,0.00,2.08,0.00,0.000,6,0.000,0.041,2812,2601,3575,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5041,-0.73,-180.0,476.8,-11.1,284,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2601,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5343,-0.73,-180.0,508.0,-10.2,299,5348,0.00,2.00,0.00,0.000,4,0.000,0.028,2812,1243,3571,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5430,-0.73,-180.0,516.7,-10.2,303,5436,0.00,2.10,0.00,0.000,6,0.000,0.041,2812,2599,3570,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5749,-0.73,-180.0,546.9,-8.8,319,5754,0.00,2.00,0.00,0.000,4,0.000,0.027,2812,1243,3569,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5792,-0.73,-180.0,550.7,-8.9,321,5797,0.00,2.10,0.00,0.000,6,0.000,0.041,2812,2605,3569,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6116,-0.73,-180.0,578.1,-8.4,337,6121,0.00,2.00,0.00,0.000,4,0.000,0.026,2812,1240,3567,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6173,-0.73,-180.0,582.0,-8.8,339,6181,0.00,2.10,0.00,0.000,6,0.000,0.041,2811,2611,3566,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6502,-0.73,-180.0,610.7,-8.4,354,6507,0.00,2.03,0.00,0.000,4,0.000,0.027,2812,1229,3565,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6585,-0.73,-180.0,616.3,-8.4,356,6590,0.00,2.12,0.00,0.000,6,0.000,0.041,2812,2601,3565,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6899,-0.73,-180.0,644.2,-8.3,367,6904,0.00,2.00,0.00,0.000,4,0.000,0.027,2812,1239,3563,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6963,-0.73,-180.0,649.7,-8.5,369,6968,0.00,2.10,0.00,0.000,6,0.000,0.041,2812,2599,3563,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7299,-0.73,-180.0,677.7,-8.1,380,7304,0.00,2.00,0.00,0.000,4,0.000,0.027,2812,1238,3561,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7357,-0.74,-180.0,680.6,-8.1,381,7363,0.00,2.12,0.00,0.000,6,0.000,0.041,2812,2613,3561,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7663,-0.74,-180.0,707.4,-8.1,392,7669,0.00,2.03,0.00,0.000,4,0.000,0.027,2812,1236,3560,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7701,-0.74,-180.0,710.4,-8.3,393,7707,0.00,2.12,0.00,0.000,6,0.000,0.041,2812,2602,3559,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8034,-0.75,-180.0,737.9,-8.3,404,8039,0.00,2.00,0.00,0.000,4,0.000,0.027,2812,1241,3558,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8071,-0.76,-180.0,740.8,-8.1,405,8076,0.00,2.12,0.00,0.000,6,0.000,0.041,2812,2606,3557,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8403,-0.76,-180.0,765.0,-7.0,416,8408,0.00,2.03,0.00,0.000,4,0.000,0.029,2812,1244,3556,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8451,-0.77,-180.0,767.7,-7.0,417,8456,0.00,2.10,0.00,0.000,6,0.000,0.041,2812,2601,3556,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8773,-0.77,-180.0,794.2,-8.4,428,8778,0.00,2.03,0.00,0.000,4,0.000,0.027,2812,1240,3555,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8846,-0.78,-180.0,800.3,-8.9,430,8851,0.00,2.10,0.00,0.000,6,0.000,0.041,2812,2603,3555,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9171,-0.79,-180.0,830.4,-9.2,441,9177,0.00,2.03,0.00,0.000,4,0.000,0.027,2812,1228,3553,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9206,-0.80,-180.0,833.8,-9.3,442,9212,0.00,2.15,0.00,0.000,6,0.000,0.041,2812,2600,3553,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9542,-0.80,-180.0,864.9,-9.3,453,9548,0.00,2.00,0.00,0.000,4,0.000,0.028,2812,1236,3554,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9586,-0.81,-180.0,868.2,-9.3,454,9591,0.00,2.15,0.00,0.000,6,0.000,0.042,2812,2611,3552,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9912,-0.82,-180.0,897.9,-8.6,465,9917,0.00,2.03,0.00,0.000,4,0.000,0.028,2812,1243,3550,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9966,-0.83,-180.0,901.0,-8.6,466,9971,0.00,2.10,0.00,0.000,6,0.000,0.043,2812,2600,3552,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10282,-0.83,-180.0,928.1,-8.1,477,10288,0.00,2.03,0.00,0.000,4,0.000,0.028,2812,1230,3549,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10321,-0.84,-180.0,931.3,-8.1,478,10327,0.00,2.15,0.00,0.000,6,0.000,0.043,2812,2603,3549,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10653,-0.85,-180.0,958.5,-8.1,489,10659,0.12,2.05,0.00,0.000,4,0.100,0.025,2750,1230,3549,0,0,0,0,0,0,26.51,26.36,28.83
$GC,10721,-0.85,-180.0,965.8,-9.5,491,10727,0.00,2.15,0.00,0.000,6,0.000,0.044,2749,2599,3548,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,10928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10928,begin apogee
$GC,10935,-0.15,0.0,992.5,-12.7,498,11096,0.75,0.00,152.73,1.493,6,0.127,0.000,2996,2126,2852,0,0,0,0,0,0,25.57,28.83,22.79
$STATE,11098,end apogee,CONTROL_FINISHED_OK
$STATE,11098,begin climb
$GC,11100,0.50,180.0,1000.9,0.0,503,11282,0.60,2.58,171.43,1.444,4,0.054,0.050,3220,3530,2117,0,0,0,0,0,0,24.51,23.68,22.20
$GC,11353,0.46,180.0,986.7,11.3,512,11359,0.12,2.17,0.00,0.000,6,0.161,0.027,3196,2167,2110,0,0,0,0,0,0,24.63,24.86,28.83
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$GC,20452,1.05,552.6,44.2,9.5,891,20457,0.00,2.12,0.00,0.000,4,0.000,0.031,3372,717,596,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,20809,end climb,SURFACE_DEPTH_REACHED
$STATE,20809,begin surface coast
$FINISH,1.5,1.022499
$STATE,20825,end surface coast,CONTROL_FINISHED_OK
$STATE,20825,begin surface
$SM_CCo,20905,0.00,0.000,0,0,596,553.64
$SM_GC,2.60,8.48,0.75,0.00,0.042,0.049,0.000,137,2606,596,-9.06,-0.96,553.64,0,0,0,0,0,0,26.06,26.26,28.83
$IRIDIUM_FIX,2129.53,11953.03,050113,080842
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.34
$INTERNAL_PRESSURE,9.42968
$TCM_TEMP,23.10
$XPDR_PINGS,5
$SC_FREEKB,3895392
$24V_AH,22.2,64.755
$10V_AH,9.6,32.433
$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,23.625,231.725,662.250,0.000,0.000,0.000,0.000,309.600,1.250,0.000,18.065,3303.411,13856.713,831.546,2918.891,520.731,0.000,2604.070,0.000,2483.171,0.000,0.544,0.000
$DEVICE_MAMPS,240.975,55.080,1492.515,0.000,0.000,0.000,0.000,136.170,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20875.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.306,0.000,0.000,0.000
$MEM,324284
$DATA_FILE_SIZE,36727,945
$CAP_FILE_SIZE,259172,0
$CFSIZE,260034560,218079232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.089,253.8,1
$GPS,050113,210051,2142.931,11954.657,28,1.4,43,-3.0