version: 66.12
glider: 141
mission: 23
dive: 21
start: 8 11 115 5 47 49
data:
$ID,141
$MISSION,23
$DIVE,21
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$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,300
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52033
$MASS_COMP,0
$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,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3800
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,361
$ROLL_MAX,4050
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2475
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,348
$VBD_MAX,3980
$C_VBD,3087
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-33.834953
$PRESSURE_SLOPE,0.0001160265
$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,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543633
$SEABIRD_T_H,0.00062237249
$SEABIRD_T_I,2.1446129e-05
$SEABIRD_T_J,2.055453e-06
$SEABIRD_C_G,-10.134171
$SEABIRD_C_H,1.1439899
$SEABIRD_C_I,-0.0013638148
$SEABIRD_C_J,0.00018835191
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,110815,053844,812.1059,8524.7314,97,99.0,137,-1.9,0.8,322.4,4,-1.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-70.5
$GPS2,110815,054718,812.2402,8524.9580,14,99.0,54,-1.9,0.2,141.1,4,-1.0
$SPEED_LIMITS,0.191,0.318
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,250.6,406872,-15.5,-11.000,-19.09,2963
$D_GRID,1000
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.64,-214.1,8,2678,348,376,0.0,0.0,0,138,0.00,0.00,-109.45,0.000,16386,0.000,0.000,4,2678,3506,3576,3437,0,0,0,0,0,0,14.88,28.83,14.91
$GC,145,-0.64,-214.1,4,2678,3576,3435,5.4,-5.3,11,168,11.68,2.40,-6.60,0.000,18948,0.412,0.085,2497,1238,3962,4022,3903,0,0,0,0,0,0,14.49,13.86,14.67
$GC,204,-0.64,-214.1,2496,1238,4020,3900,32.0,-33.5,21,210,0.00,2.35,0.00,0.000,1030,0.000,0.087,2488,2631,3959,4019,3900,0,0,0,0,0,0,14.78,14.69,14.81
$GC,531,-0.64,-214.1,2488,2631,4019,3905,125.5,-23.2,41,537,0.00,2.28,0.00,0.000,516,0.000,0.071,2489,1231,3959,4018,3900,0,0,0,0,0,0,15.02,14.82,15.06
$GC,573,-0.64,-214.1,2488,1231,4019,3900,135.5,-22.2,48,580,0.12,2.33,0.00,0.000,3078,0.284,0.070,2504,2661,3959,4018,3900,0,0,0,0,0,0,14.73,14.83,14.90
$GC,877,-0.64,-214.1,2504,2661,4019,3900,177.3,-13.6,64,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2661,3959,4019,3900,0,0,0,0,0,0,15.08,15.13,15.11
$GC,1181,-0.64,-214.1,2504,2661,4019,3900,214.3,-11.8,79,1186,0.00,2.30,0.00,0.000,516,0.000,0.067,2504,1227,3959,4018,3900,0,0,0,0,0,0,15.11,14.91,15.14
$GC,1222,-0.64,-214.1,2502,1227,4019,3900,219.3,-11.4,86,1228,0.00,2.35,0.00,0.000,1030,0.000,0.086,2501,2646,3959,4019,3900,0,0,0,0,0,0,14.99,14.88,15.01
$GC,1538,-0.64,-214.1,2501,2647,4015,3900,256.3,-12.4,102,1543,0.00,2.40,0.00,0.000,260,0.000,0.109,2491,4050,3957,4015,3900,0,0,0,0,0,0,15.13,14.89,15.16
$GC,1627,-0.64,-214.1,2490,4051,4014,3900,268.7,-12.9,119,1634,0.00,2.20,0.00,0.000,1030,0.000,0.043,2490,2643,3957,4014,3900,0,0,0,0,0,0,15.02,14.97,15.04
$GC,1934,-0.64,-214.1,2490,2643,4009,3900,306.2,-12.0,130,1940,0.00,2.40,0.00,0.000,260,0.000,0.106,2481,4048,3954,4009,3899,0,0,0,0,0,0,15.16,14.91,15.19
$GC,1960,-0.64,-214.1,2481,4048,4009,3900,309.6,-12.8,134,1965,0.00,2.17,0.00,0.000,1030,0.000,0.041,2481,2647,3954,4009,3899,0,0,0,0,0,0,15.04,14.98,15.06
$GC,2276,-0.64,-214.1,2481,2647,4004,3899,348.0,-11.9,146,2281,0.00,2.25,0.00,0.000,516,0.000,0.067,2481,1238,3950,4004,3897,0,0,0,0,0,0,15.16,14.96,15.20
$GC,2303,-0.64,-214.1,2480,1238,4004,3899,351.0,-11.8,150,2309,0.15,2.35,0.00,0.000,3078,0.249,0.084,2509,2663,3951,4004,3899,0,0,0,0,0,0,14.88,14.94,15.03
$GC,2625,-0.64,-214.1,2509,2662,3998,3897,380.1,-8.7,162,2630,0.00,2.35,0.00,0.000,260,0.000,0.107,2501,4050,3947,3997,3897,0,0,0,0,0,0,15.17,14.92,15.21
$GC,2661,-0.64,-214.1,2500,4047,3997,3896,383.8,-9.4,168,2666,0.00,2.20,0.00,0.000,1030,0.000,0.044,2501,2645,3946,3997,3896,0,0,0,0,0,0,15.05,14.99,15.07
$GC,3002,-0.64,-214.1,2501,2645,3992,3894,413.8,-8.4,184,3007,0.00,2.22,0.00,0.000,516,0.000,0.066,2500,1242,3942,3991,3894,0,0,0,0,0,0,15.17,14.97,15.21
$GC,3032,-0.64,-214.1,2500,1242,3991,3894,416.9,-9.2,189,3039,0.00,2.33,0.00,0.000,1030,0.000,0.082,2497,2657,3942,3990,3894,0,0,0,0,0,0,15.05,14.95,15.07
$GC,3338,-0.64,-214.1,2496,2657,3989,3890,444.4,-9.3,200,3343,0.00,2.35,0.00,0.000,260,0.000,0.103,2486,4045,3940,3989,3891,0,0,0,0,0,0,15.17,14.93,15.21
$GC,3363,-0.64,-214.1,2485,4045,3989,3890,447.1,-9.8,204,3369,0.00,2.17,0.00,0.000,1030,0.000,0.042,2486,2644,3939,3989,3890,0,0,0,0,0,0,15.09,15.00,15.08
$GC,3683,-0.64,-214.1,2486,2644,3985,3893,479.8,-10.7,216,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2644,3937,3986,3888,0,0,0,0,0,0,15.16,15.21,15.20
$GC,3980,-0.64,-214.1,2486,2644,3982,3886,515.0,-12.0,226,3985,0.00,2.40,0.00,0.000,260,0.000,0.106,2477,4046,3934,3982,3886,0,0,0,0,0,0,15.18,14.93,15.21
$GC,4025,-0.64,-214.1,2477,4046,3982,3885,520.8,-12.9,234,4031,0.12,2.17,0.00,0.000,3078,0.246,0.044,2507,2650,3933,3982,3885,0,0,0,0,0,0,14.89,15.00,15.04
$GC,4355,-0.64,-214.1,2507,2648,3979,3884,553.5,-9.5,248,4361,0.00,2.25,0.00,0.000,516,0.000,0.068,2507,1243,3931,3979,3884,0,0,0,0,0,0,15.18,14.97,15.21
$GC,4393,-0.64,-214.1,2507,1243,3979,3884,557.2,-9.6,254,4398,0.00,2.33,0.00,0.000,1030,0.000,0.081,2504,2658,3931,3978,3884,0,0,0,0,0,0,15.05,14.95,15.07
$GC,4733,-0.64,-214.1,2504,2658,3975,3881,586.2,-8.4,270,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2657,3928,3975,3881,0,0,0,0,0,0,15.17,15.22,15.21
$GC,5029,-0.64,-214.1,2504,2658,3974,3879,611.3,-8.3,280,5035,0.00,2.35,0.00,0.000,260,0.000,0.106,2494,4049,3926,3974,3879,0,0,0,0,0,0,15.18,14.92,15.21
$GC,5060,-0.64,-214.1,2494,4049,3974,3878,613.8,-8.9,285,5067,0.00,2.20,0.00,0.000,1030,0.000,0.045,2494,2645,3928,3979,3878,0,0,0,0,0,0,15.07,15.00,15.08
$GC,5365,-0.64,-214.1,2494,2645,3972,3878,638.9,-8.0,296,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2645,3925,3972,3878,0,0,0,0,0,0,15.18,15.22,15.21
$GC,5666,-0.64,-214.1,2494,2645,3969,3876,662.1,-7.7,306,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2645,3923,3970,3876,0,0,0,0,0,0,15.18,15.22,15.21
$GC,5965,-0.64,-214.1,2494,2645,3967,3874,685.6,-7.9,316,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2645,3920,3966,3874,0,0,0,0,0,0,15.19,15.23,15.22
$GC,6266,-0.64,-214.1,2494,2645,3966,3873,708.3,-7.1,326,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2645,3919,3966,3873,0,0,0,0,0,0,15.18,15.23,15.21
$GC,6566,-0.64,-214.1,2493,2645,3964,3872,728.7,-6.8,336,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2645,3917,3963,3872,0,0,0,0,0,0,15.19,15.23,15.22
$GC,6866,-0.64,-214.1,2498,2645,3962,3872,751.2,-7.8,346,6871,0.00,2.42,0.00,0.000,260,0.000,0.116,2490,4048,3916,3961,3871,0,0,0,0,0,0,15.18,14.91,15.21
$GC,6921,-0.64,-214.1,2490,4048,3961,3871,756.0,-8.0,356,6927,0.00,2.20,0.00,0.000,1030,0.000,0.049,2490,2654,3916,3961,3871,0,0,0,0,0,0,15.06,14.99,15.09
$GC,7240,-0.64,-214.1,2490,2653,3960,3871,784.1,-9.2,368,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2653,3915,3960,3871,0,0,0,0,0,0,15.16,15.21,15.19
$GC,7538,-0.64,-214.1,2490,2653,3961,3870,812.4,-9.5,378,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2653,3914,3959,3870,0,0,0,0,0,0,15.16,15.21,15.20
$GC,7837,-0.64,-214.1,2490,2659,3958,3869,841.4,-9.6,388,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2654,3913,3957,3869,0,0,0,0,0,0,15.16,15.21,15.20
$GC,8138,-0.64,-214.1,2490,2653,3956,3869,870.5,-9.7,398,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2654,3913,3957,3869,0,0,0,0,0,0,15.17,15.21,15.21
$GC,8437,-0.64,-214.1,2490,2654,3956,3867,899.1,-9.3,408,8438,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2654,3911,3956,3867,0,0,0,0,0,0,15.16,15.21,15.20
$GC,8738,-0.64,-214.1,2490,2653,3953,3867,926.5,-8.9,418,8739,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2654,3910,3953,3867,0,0,0,0,0,0,15.16,15.21,15.20
$GC,9037,-0.64,-214.1,2490,2653,3951,3866,952.0,-8.3,428,9039,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2654,3908,3951,3866,0,0,0,0,0,0,15.16,15.21,15.19
$GC,9338,-0.64,-214.1,2490,2654,3951,3865,975.3,-7.6,438,9343,0.00,2.30,0.00,0.000,516,0.000,0.080,2490,1245,3907,3950,3865,0,0,0,0,0,0,15.17,14.93,15.21
$GC,9368,-0.64,-214.1,2489,1245,3950,3865,977.8,-7.7,443,9376,0.00,2.35,0.00,0.000,1030,0.000,0.092,2486,2647,3905,3950,3861,0,0,0,0,0,0,15.03,14.92,15.05
$STATE,9550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9550,begin apogee
$GC,9560,-0.20,0.0,2486,2469,3949,3864,991.4,-7.3,450,9722,0.55,0.00,158.65,2.183,10246,0.195,0.000,2648,2468,3086,3035,3138,0,0,0,0,0,0,14.86,14.07,13.35
$STATE,9724,end apogee,CONTROL_FINISHED_OK
$STATE,9724,begin climb
$GC,9729,0.64,214.1,2648,2469,3034,3133,994.8,0.0,455,9906,0.82,2.53,167.85,2.056,10756,0.126,0.092,2924,1074,2211,2145,2278,0,0,0,0,0,0,14.11,13.85,13.28
$GC,9961,0.64,214.1,2924,1074,2147,2272,969.6,15.0,502,9967,0.00,2.45,0.00,0.000,1030,0.000,0.083,2924,2475,2209,2147,2272,0,0,0,0,0,0,14.35,14.24,14.36
$GC,10266,0.64,214.1,2924,2474,2147,2268,921.1,15.9,513,10272,0.00,2.47,0.00,0.000,260,0.000,0.108,2924,3893,2207,2147,2267,0,0,0,0,0,0,14.79,14.57,14.81
$GC,10303,0.64,214.1,2924,3893,2155,2259,914.9,17.1,519,10308,0.00,2.35,0.00,0.000,1030,0.000,0.068,2934,2494,2207,2155,2259,0,0,0,0,0,0,14.70,14.63,14.72
$GC,10642,0.64,214.1,2934,2494,2155,2259,859.8,16.0,535,10647,0.00,2.42,0.00,0.000,516,0.000,0.096,2943,1062,2208,2155,2262,0,0,0,0,0,0,14.92,14.70,14.96
$GC,10672,0.64,214.1,2942,1062,2156,2258,854.2,15.6,540,10678,0.00,2.42,0.00,0.000,1030,0.000,0.093,2943,2478,2206,2155,2258,0,0,0,0,0,0,14.81,14.70,14.83
$GC,10978,0.64,214.1,2942,2478,2155,2258,805.1,16.2,551,10984,0.00,2.45,0.00,0.000,260,0.000,0.118,2943,3884,2206,2155,2258,0,0,0,0,0,0,14.98,14.73,15.02
$GC,11039,0.64,214.1,2942,3884,2159,2252,794.6,17.9,562,11046,0.15,2.35,0.00,0.000,5126,0.314,0.070,2922,2463,2205,2158,2252,0,0,0,0,0,0,14.66,14.80,14.86
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$GC,14455,0.64,214.1,2927,2475,2167,2245,286.9,13.9,729,14457,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2475,2204,2163,2245,0,0,0,0,0,0,15.11,15.16,15.15
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$STATE,17056,end climb,SURFACE_DEPTH_REACHED
$STATE,17056,begin surface coast
$FINISH,2.2,1.021903
$STATE,17077,end surface coast,CONTROL_FINISHED_OK
$STATE,17077,begin surface
$SM_CCo,17161,0.00,0.000,0,0,537,625.52
$SM_GC,3.11,8.12,0.32,0.00,0.062,0.091,0.000,44,2665,537,-8.28,-0.62,625.52,0,0,0,0,0,0,14.77,14.77,14.84
$IRIDIUM_FIX,809.06,8525.22,110815,004259
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.86
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,4013376
$24V_AH,13.28,11.973
$10V_AH,13.18,0.000
$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,22.000,146.100,606.550,0.000,0.000,0.000,0.000,258.100,0.000,0.000,57.339,2052.229,12463.956,772.621,1763.200,612.488,0.000,1901.938,0.000,1409.153,0.000,0.544,0.000
$DEVICE_MAMPS,411.570,117.810,2182.545,0.000,0.000,0.000,0.000,247.095,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17097.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.314,0.000,0.000,0.000
$MEM,261460
$DATA_FILE_SIZE,33398,946
$CAP_FILE_SIZE,167453,0
$CFSIZE,260034560,249278464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.220,45.82,1
$GPS,110815,103909,812.673,8523.777,234,4.2,274,-1.9,2.1,45.7,4,27.4