version: 66.10
glider: 176
mission: 5
dive: 314
start: 5 15 112 22 59 43
data:
$ID,176
$MISSION,5
$DIVE,314
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$D_BOOST,100
$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,400
$T_MISSION,430
$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,-7
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51719
$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,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-7935.3384
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2514
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2929
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.662712
$PRESSURE_SLOPE,0.0001162977
$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,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043285224
$SEABIRD_T_H,0.00062606536
$SEABIRD_T_I,2.5051821e-05
$SEABIRD_T_J,2.9112039e-06
$SEABIRD_C_G,-10.134115
$SEABIRD_C_H,1.1528351
$SEABIRD_C_I,-0.0013358581
$SEABIRD_C_J,0.00019115997
$GPS1,150512,225137,1940.662,12311.892,26,1.2,26,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-73.8
$GPS2,150512,225914,1940.622,12311.904,12,1.2,12,-2.3
$SPEED_LIMITS,0.143,0.259
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,65.6,134361,-13.2,-8.250
$D_GRID,4945
$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,16,-0.54,-170.3,0.0,0.0,0,70,0.00,0.00,-51.83,0.000,2,0.000,0.000,184,2652,2301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.54,-170.3,3.1,-6.1,9,118,8.57,1.73,-28.88,0.000,4,0.230,0.065,2334,3772,3627,0,0,0,0,0,0,25.28,26.17,26.69
$GC,211,-0.54,-170.3,40.6,-25.4,31,217,0.00,1.73,0.00,0.000,6,0.000,0.023,2334,2523,3627,0,0,0,0,0,0,28.83,26.46,28.83
$GC,539,-0.54,-170.3,144.2,-30.2,92,546,0.00,1.92,0.00,0.000,4,0.000,0.026,2334,1137,3627,0,0,0,0,0,0,28.83,26.48,28.83
$GC,604,-0.54,-170.3,158.5,-16.6,104,613,0.05,2.22,0.00,0.000,6,0.230,0.047,2346,2616,3627,0,0,0,0,0,0,26.24,26.34,28.83
$GC,917,-0.54,-170.3,223.4,-19.6,154,926,0.00,2.08,0.00,0.000,4,0.000,0.024,2346,1128,3627,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1009,-0.54,-170.3,236.8,-12.9,163,1018,0.00,2.22,0.00,0.000,6,0.000,0.042,2336,2624,3627,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1320,-0.54,-170.3,286.8,-16.1,194,1328,0.00,2.08,0.00,0.000,4,0.000,0.024,2338,1138,3627,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1374,-0.54,-170.3,293.7,-12.6,199,1381,0.00,2.22,0.00,0.000,6,0.000,0.043,2335,2628,3626,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1681,-0.54,-170.3,339.1,-15.0,230,1689,0.00,2.10,0.00,0.000,4,0.000,0.025,2336,1132,3625,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1754,-0.54,-170.3,348.1,-12.0,237,1762,0.00,2.20,0.00,0.000,6,0.000,0.044,2334,2622,3625,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2062,-0.54,-170.3,390.1,-13.6,268,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2622,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2364,-0.54,-170.3,431.7,-13.9,298,2373,0.00,2.08,0.00,0.000,4,0.000,0.024,2335,1138,3622,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2407,-0.54,-170.3,436.9,-12.5,302,2415,0.00,2.25,0.00,0.000,6,0.000,0.044,2334,2613,3621,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2716,-0.54,-170.3,473.5,-11.1,333,2725,0.00,2.08,0.00,0.000,4,0.000,0.025,2333,1138,3619,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2740,-0.54,-170.3,475.8,-10.4,335,2748,0.05,2.22,0.00,0.000,6,0.216,0.044,2349,2617,3619,0,0,0,0,0,0,26.25,26.33,28.83
$GC,3047,-0.54,-170.3,503.4,-9.5,366,3057,0.05,2.12,0.00,0.000,4,0.175,0.023,2292,1129,3616,0,0,0,0,0,0,26.67,26.51,28.83
$GC,3093,-0.54,-170.3,508.3,-11.7,370,3101,0.17,2.25,0.00,0.000,6,0.138,0.044,2346,2617,3616,0,0,0,0,0,0,26.09,26.32,28.83
$GC,3400,-0.54,-170.3,537.1,-8.9,401,3409,0.00,2.12,0.00,0.000,4,0.000,0.024,2346,1128,3613,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3445,-0.54,-170.3,540.2,-7.8,405,3452,0.00,2.25,0.00,0.000,6,0.000,0.044,2346,2620,3613,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3751,-0.54,-170.3,562.8,-7.0,436,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2620,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4055,-0.54,-170.3,586.8,-8.6,466,4063,0.00,2.10,0.00,0.000,4,0.000,0.024,2346,1135,3607,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4096,-0.54,-170.3,590.5,-8.5,470,4105,0.00,2.25,0.00,0.000,6,0.000,0.044,2346,2620,3607,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4416,-0.54,-170.3,618.3,-8.7,492,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2620,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4716,-0.54,-170.3,645.5,-9.7,507,4721,0.00,2.12,0.00,0.000,4,0.000,0.024,2346,1132,3601,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4764,-0.54,-170.3,649.1,-9.4,509,4768,0.00,2.25,0.00,0.000,6,0.000,0.044,2345,2616,3601,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5078,-0.54,-170.3,676.8,-8.2,525,5081,0.00,1.73,0.00,0.000,4,0.000,0.057,2345,3765,3598,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5119,-0.54,-170.3,680.1,-7.9,527,5123,0.00,1.73,0.00,0.000,6,0.000,0.023,2345,2489,3598,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5440,-0.54,-170.3,703.2,-6.9,543,5446,0.00,2.03,0.00,0.000,4,0.000,0.055,2339,3767,3596,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5482,-0.54,-170.3,706.0,-6.9,545,5485,0.00,1.73,0.00,0.000,6,0.000,0.023,2338,2499,3595,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5803,-0.54,-170.3,729.8,-7.5,561,5809,0.00,2.00,0.00,0.000,4,0.000,0.055,2331,3765,3593,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5864,-0.54,-170.3,734.9,-8.3,564,5868,0.05,1.73,0.00,0.000,6,0.200,0.024,2349,2487,3592,0,0,0,0,0,0,26.41,26.60,28.83
$GC,6187,-0.54,-170.3,760.1,-8.0,580,6193,0.05,1.98,0.00,0.000,4,0.174,0.054,2292,3760,3590,0,0,0,0,0,0,26.64,26.08,28.83
$GC,6238,-0.54,-170.3,764.4,-9.0,582,6246,0.12,1.75,0.00,0.000,6,0.109,0.024,2352,2503,3589,0,0,0,0,0,0,26.13,26.56,28.83
$GC,6547,-0.54,-170.3,788.9,-6.9,598,6549,0.08,0.00,0.00,0.000,6,0.128,0.000,2290,2503,3588,0,0,0,0,0,0,26.62,28.83,28.83
$GC,6846,-0.54,-170.3,822.7,-11.1,613,6848,0.17,0.00,0.00,0.000,6,0.137,0.000,2346,2502,3586,0,0,0,0,0,0,26.24,28.83,28.83
$GC,7147,-0.54,-170.3,841.1,-5.9,628,7152,0.00,1.95,0.00,0.000,4,0.000,0.057,2344,3778,3584,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7186,-0.54,-170.3,843.6,-5.8,630,7189,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2508,3584,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7507,-0.54,-170.3,859.9,-4.7,646,7512,0.00,2.03,0.00,0.000,4,0.000,0.057,2345,3765,3583,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7551,-0.54,-170.3,861.9,-4.8,648,7554,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2499,3582,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7867,-0.54,-170.3,878.9,-5.9,664,7872,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3772,3581,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7907,-0.54,-170.3,881.4,-6.1,666,7910,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2507,3580,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8229,-0.54,-170.3,903.4,-7.3,682,8234,0.00,1.98,0.00,0.000,4,0.000,0.057,2344,3760,3579,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8271,-0.54,-170.3,906.3,-7.2,684,8274,0.00,1.73,0.00,0.000,6,0.000,0.024,2345,2508,3579,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8589,-0.54,-170.3,930.2,-7.2,700,8590,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2475,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8888,-0.54,-170.3,949.8,-6.3,715,8892,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3767,3576,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8933,-0.54,-170.3,952.5,-6.3,717,8937,0.00,1.77,0.00,0.000,6,0.000,0.024,2344,2470,3575,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9254,-0.54,-170.3,971.0,-5.5,733,9259,0.00,1.98,0.00,0.000,4,0.000,0.057,2344,3756,3574,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9280,-0.54,-170.3,972.0,-5.4,734,9284,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2497,3574,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9593,-0.54,-170.3,989.3,-5.5,750,9597,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3762,3573,0,0,0,0,0,0,28.83,25.90,28.83
$STATE,9613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9613,begin apogee
$GC,9620,-0.17,0.0,990.6,-5.4,751,9770,0.32,0.22,143.73,1.724,6,0.098,0.066,2464,2531,2929,0,0,0,0,0,0,26.03,24.39,22.69
$STATE,9771,end apogee,CONTROL_FINISHED_OK
$STATE,9771,begin climb
$GC,9774,0.54,170.3,995.9,0.0,758,9952,0.62,2.45,164.30,1.676,4,0.047,0.031,2724,1066,2232,0,0,0,0,0,0,24.64,23.89,22.20
$GC,9962,0.54,170.3,986.6,11.7,767,9967,0.17,2.42,0.00,0.000,6,0.166,0.046,2681,2515,2229,0,0,0,0,0,0,24.13,24.34,28.83
$GC,10270,0.54,170.3,941.6,14.1,782,10274,0.00,1.92,0.00,0.000,4,0.000,0.056,2681,3768,2223,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10315,0.54,170.3,935.0,14.8,784,10318,0.00,1.90,0.00,0.000,6,0.000,0.024,2689,2452,2223,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10628,0.54,170.3,891.2,12.9,800,10633,0.00,2.03,0.00,0.000,4,0.000,0.031,2700,1052,2220,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10671,0.54,170.3,886.1,12.9,802,10676,0.08,2.25,0.00,0.000,6,0.191,0.046,2684,2518,2219,0,0,0,0,0,0,26.06,26.19,28.83
$GC,10983,0.54,170.3,845.5,12.9,818,10989,0.00,1.92,0.00,0.000,4,0.000,0.054,2683,3770,2218,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11004,0.54,170.3,842.8,12.8,819,11009,0.00,1.90,0.00,0.000,6,0.000,0.024,2693,2444,2218,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11323,0.54,170.3,796.8,14.5,835,11329,0.00,2.05,0.00,0.000,4,0.000,0.054,2693,3771,2217,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11403,0.54,170.3,783.6,16.6,839,11409,0.10,1.90,0.00,0.000,6,0.211,0.024,2680,2434,2217,0,0,0,0,0,0,26.04,26.42,28.83
$GC,11724,0.54,170.3,741.0,12.9,855,11730,0.00,1.98,0.00,0.000,4,0.000,0.029,2690,1056,2216,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11751,0.54,170.3,738.5,12.8,856,11755,0.00,2.25,0.00,0.000,6,0.000,0.045,2690,2522,2215,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12060,0.54,170.3,697.6,12.9,871,12061,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2523,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12358,0.54,170.3,658.5,13.0,886,12364,0.00,2.17,0.00,0.000,4,0.000,0.031,2701,1055,2215,0,0,0,0,0,0,28.83,26.31,28.83
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$GC,16142,0.61,224.7,289.6,11.2,1234,16152,0.20,1.95,0.00,0.000,6,0.158,0.023,2701,2431,2011,0,0,0,0,0,0,25.58,25.98,28.83
$GC,16454,0.61,225.2,263.9,8.2,1265,16462,0.00,2.03,0.00,0.000,4,0.000,0.048,2701,3769,2007,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,19235,end climb,SURFACE_DEPTH_REACHED
$STATE,19235,begin surface coast
$FINISH,0.6,1.021490
$STATE,19272,end surface coast,CONTROL_FINISHED_OK
$STATE,19272,begin surface
$SM_CCo,19348,0.00,0.000,0,0,898,498.45
$SM_GC,1.49,6.47,0.12,0.00,0.034,0.090,0.000,196,2669,898,-7.15,-0.59,498.45,0,0,0,0,0,0,26.39,26.53,28.83
$IRIDIUM_FIX,1932.09,12312.85,150512,171700
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.51
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,22.2,65.521
$10V_AH,9.9,40.119
$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,19.725,186.700,483.300,0.000,0.000,29.403,38.717,241.750,0.000,0.000,14.756,4347.267,10788.707,674.937,3543.375,422.856,0.000,2323.530,0.000,2955.495,0.000,0.542,0.000
$DEVICE_MAMPS,229.500,90.270,1723.545,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1173.164,2308.387,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329848
$DATA_FILE_SIZE,130642,1728
$CAP_FILE_SIZE,208762,0
$CFSIZE,260165632,191635456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,228.1,1
$GPS,160512,042307,1940.999,12313.417,26,1.7,26,-2.3