version: 66.11
glider: 122
mission: 17
dive: 625
start: 8 16 113 12 13 46
data:
$ID,122
$MISSION,17
$DIVE,625
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$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,420
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53959
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-46983.621
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,167
$PITCH_MAX,3912
$C_PITCH,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,346
$ROLL_MAX,3973
$ROLL_DEG,1
$C_ROLL_DIVE,1100
$C_ROLL_CLIMB,1100
$HEAD_ERRBAND,359
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3824
$C_VBD,2850
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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,12
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-24.500248
$PRESSURE_SLOPE,0.0001162797
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1284
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043208366
$SEABIRD_T_H,0.00062347745
$SEABIRD_T_I,2.2670058e-05
$SEABIRD_T_J,2.2826241e-06
$SEABIRD_C_G,-10.179777
$SEABIRD_C_H,1.1536758
$SEABIRD_C_I,-0.0015873691
$SEABIRD_C_J,0.00021656453
$SC_RECORDABOVE,1050.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,160813,120428,2314.387,-3659.319,42,0.9,43,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-32.3
$GPS2,160813,121317,2314.366,-3659.312,21,0.9,22,-13.9
$SPEED_LIMITS,0.136,0.222
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$TGT_RADIUS,1852.000
$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,279.7,228494,-15.2,-7.857,-19.53,2419
$D_GRID,990
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-1.05,-126.5,126,1103,1580,1633,0.0,0.0,0,59,0.00,0.00,-34.75,0.000,16386,0.000,0.000,126,1103,2402,2222,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-1.05,-126.5,126,1103,2222,2583,3.1,-2.3,2,104,12.65,0.00,-25.70,0.000,18438,0.363,0.000,2803,1100,3367,3280,3455,0,0,0,0,0,0,14.16,28.83,14.85
$GC,401,-1.05,-126.5,2803,1100,3281,3456,55.5,-16.3,25,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1100,3368,3281,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,702,-1.05,-126.5,2803,1100,3281,3457,94.1,-12.4,45,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1101,3369,3281,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1001,-1.05,-126.5,2803,1100,3281,3458,130.8,-12.4,65,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1100,3369,3281,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1302,-1.05,-126.5,2803,1100,3281,3459,168.0,-11.8,85,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1101,3370,3281,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1601,-1.05,-126.5,2804,1101,3281,3460,198.2,-9.5,105,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1101,3371,3282,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1902,-1.05,-126.5,2803,1101,3282,3461,228.2,-10.5,125,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1101,3371,3282,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2216,-1.05,-126.5,2803,1101,3281,3461,264.0,-11.6,142,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1101,3371,3281,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2517,-1.05,-126.5,2803,1101,3281,3461,298.0,-11.2,152,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1101,3371,3282,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2817,-1.05,-126.5,2803,1101,3282,3460,330.1,-10.6,162,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1101,3371,3282,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3116,-1.05,-126.5,2803,1101,3281,3460,362.5,-10.8,172,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1101,3370,3281,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3417,-1.05,-126.5,2803,1101,3282,3459,397.2,-12.0,182,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1101,3370,3281,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3716,-1.05,-126.5,2803,1101,3281,3458,435.1,-12.9,192,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1101,3370,3282,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4018,-1.05,-126.5,2803,1101,3282,3456,473.1,-12.4,202,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1101,3368,3281,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4317,-1.05,-126.5,2803,1100,3281,3453,509.7,-12.1,212,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1100,3367,3281,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4617,-1.05,-126.5,2804,1101,3281,3451,545.2,-11.7,222,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1101,3366,3282,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4916,-1.05,-126.5,2803,1101,3281,3450,579.8,-11.5,232,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1101,3366,3283,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5216,-1.05,-126.5,2803,1101,3281,3447,614.2,-11.3,242,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1101,3364,3281,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5516,-1.05,-126.5,2804,1101,3281,3444,647.3,-10.8,252,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1101,3363,3282,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5818,-1.05,-126.5,2803,1101,3281,3442,682.0,-11.7,262,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1101,3361,3281,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6116,-1.05,-126.5,2803,1100,3281,3439,717.2,-11.8,272,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1101,3360,3281,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6416,-1.05,-126.5,2803,1101,3281,3438,752.4,-11.7,282,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1101,3359,3281,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6716,-1.05,-126.5,2804,1101,3281,3435,786.3,-11.3,292,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1101,3358,3281,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7016,-1.05,-126.5,2803,1101,3281,3433,820.2,-11.4,302,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1101,3357,3281,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7317,-1.05,-126.5,2803,1101,3281,3430,855.1,-11.8,312,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1101,3355,3281,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7618,-1.05,-126.5,2803,1101,3281,3429,889.9,-11.4,322,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1101,3354,3281,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7916,-1.05,-126.5,2803,1101,3281,3426,924.9,-11.8,332,7917,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1101,3353,3281,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8216,-1.05,-126.5,2803,1101,3281,3422,960.0,-11.8,342,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1101,3352,3281,3423,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8482,begin apogee
$GC,8491,-0.28,0.0,2803,1101,3281,3421,991.9,-11.9,351,8619,0.90,0.00,122.15,1.997,10246,0.194,0.000,3054,1101,2849,2799,2899,0,0,0,0,0,0,14.05,28.83,12.95
$STATE,8621,end apogee,CONTROL_FINISHED_OK
$STATE,8621,begin climb
$GC,8625,1.05,126.5,3054,1101,2795,2898,999.6,0.0,354,8758,1.38,0.00,128.62,1.981,10246,0.122,0.000,3489,1100,2333,2251,2415,0,0,0,0,0,0,14.21,28.83,13.00
$GC,9057,1.16,187.4,3489,1100,2244,2402,987.2,5.3,370,9121,0.00,0.00,61.40,1.951,8198,0.000,0.000,3489,1101,2084,2011,2158,0,0,0,0,0,0,28.83,28.83,13.11
$GC,9420,1.19,206.6,3489,1100,2005,2147,961.9,7.0,382,9445,0.12,0.00,20.67,1.871,10246,0.116,0.000,3550,1101,2006,1939,2074,0,0,0,0,0,0,14.70,28.83,13.29
$GC,9747,1.19,206.7,3550,1101,1939,2067,935.6,7.9,393,9748,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1101,2003,1939,2067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10047,1.19,206.7,3550,1101,1939,2066,911.6,8.0,403,10048,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1101,2002,1939,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10347,1.19,206.7,3550,1100,1935,2065,886.3,8.8,413,10348,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1100,2000,1935,2065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10646,1.19,206.7,3550,1100,1935,2064,858.5,9.3,423,10647,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1100,1999,1935,2064,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10946,1.19,206.7,3550,1100,1935,2063,830.7,9.2,433,10947,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1100,1999,1935,2063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11246,1.19,206.7,3550,1100,1933,2063,805.1,8.3,443,11247,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1100,1998,1933,2063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11546,1.22,225.7,3550,1100,1933,2063,783.0,7.0,453,11574,0.00,0.00,20.67,1.740,8198,0.000,0.000,3550,1101,1928,1871,1985,0,0,0,0,0,0,28.83,28.83,13.33
$GC,11878,1.25,243.3,3550,1100,1871,1981,759.4,7.1,464,11904,0.00,0.00,20.02,1.711,8198,0.000,0.000,3550,1100,1855,1807,1904,0,0,0,0,0,0,28.83,28.83,13.38
$GC,12207,1.25,243.3,3550,1100,1807,1900,733.3,8.2,475,12208,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1100,1853,1807,1900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12507,1.25,243.3,3550,1100,1807,1899,706.2,9.1,485,12508,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1100,1853,1807,1899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12807,1.25,243.3,3550,1100,1807,1897,677.9,9.5,495,12808,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1101,1852,1807,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13106,1.25,243.3,3550,1102,1807,1897,650.4,9.1,505,13107,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1100,1852,1807,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13406,1.25,243.3,3550,1101,1807,1897,625.3,8.1,515,13407,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1101,1852,1807,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13706,1.25,243.3,3550,1100,1807,1898,601.5,7.9,525,13707,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1101,1852,1807,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14006,1.25,243.3,3550,1100,1807,1897,577.2,8.1,535,14007,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1101,1852,1807,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14307,1.25,243.3,3550,1100,1807,1897,552.7,8.0,545,14308,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1100,1852,1807,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14607,1.25,243.3,3550,1100,1807,1897,528.7,8.1,555,14608,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1101,1852,1807,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14906,1.25,243.3,3550,1100,1807,1897,503.9,8.5,565,14907,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1100,1852,1807,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15206,1.25,243.3,3550,1100,1807,1898,477.1,9.1,575,15207,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1100,1852,1807,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15506,1.25,243.3,3550,1101,1808,1897,450.5,8.6,585,15507,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1101,1852,1807,1897,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,18822,1.27,256.2,3550,1101,1764,1842,179.9,8.0,724,18823,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1101,1802,1764,1841,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21083,end climb,SURFACE_DEPTH_REACHED
$STATE,21083,begin surface coast
$FINISH,1.7,1.007630
$STATE,21099,end surface coast,CONTROL_FINISHED_OK
$STATE,21099,begin surface
$SM_CCo,21184,0.00,0.000,0,0,1418,351.27
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$IRIDIUM_FIX,2305.10,-3657.35,160813,060614
$TT8_MAMPS,0.025466,0.025466
$HUMID,53.07
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.70
$XPDR_PINGS,46
$SC_FREEKB,3860288
$24V_AH,13.0,177.808
$10V_AH,12.3,0.000
$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,25.400,0.000,458.450,0.000,0.000,0.000,0.000,246.375,11.500,0.000,23.259,2182.434,15416.551,438.112,2833.262,820.856,0.000,1489.475,0.000,2685.776,0.000,0.538,0.000
$DEVICE_MAMPS,363.375,0.000,1996.650,0.000,0.000,0.000,0.000,209.610,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21119.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.703,0.000,0.000,0.000
$MEM,353968
$DATA_FILE_SIZE,26634,876
$CAP_FILE_SIZE,307049,0
$CFSIZE,260034560,197009408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,900
$CURRENT,0.143,  3.3,1
$GPS,160813,180804,2314.431,-3659.716,39,1.0,39,-13.9