version: 66.04
glider: 160
mission: 3
dive: 23
start: 1 30 109 14 21 53
data:
$ID,160
$MISSION,3
$DIVE,23
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$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,480
$T_MISSION,540
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51810
$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,225
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-7451.5342
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2613
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3792
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,490
$VBD_MAX,3961
$C_VBD,3046
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.900637
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0043896637
$SEABIRD_T_H,0.00063842954
$SEABIRD_T_I,2.5580319e-05
$SEABIRD_T_J,2.7701631e-06
$SEABIRD_C_G,-10.180033
$SEABIRD_C_H,1.1381946
$SEABIRD_C_I,-0.00092952099
$SEABIRD_C_J,0.0001655513
$GPS1,140644,6406.822,57.606,62,2.6,81,-4.5
$_CALLS,3
$_XMS_NAKs,35
$_XMS_TOUTs,0
$_SM_DEPTHo,3.52
$_SM_ANGLEo,-59.7
$GPS2,142148,6406.878,58.019,17,2.8,36,-4.5
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,OFFSHORE
$TGT_LATLONG,6440.000,-100.000
$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,283.9,111845,-13.7,-6.875
$D_GRID,2312
$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
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.77,-116.7,0.0,0.0,0,21,0.00,0.00,-8.05,0.000,2,0.000,0.000,120,2315,2280
$GC,23,-0.77,-116.7,3.2,-0.0,1,106,8.27,2.50,-70.03,0.000,4,0.209,0.090,2365,890,3522
$GC,345,-0.34,-116.7,23.0,-8.5,59,353,0.38,2.40,0.00,0.000,6,0.127,0.070,2501,2302,3524
$GC,672,-0.62,-116.7,37.1,-3.1,120,679,0.25,2.40,0.00,0.000,4,0.057,0.084,2401,3707,3525
$GC,693,-0.62,-116.7,39.3,-7.3,124,701,0.00,2.33,0.00,0.000,6,0.000,0.064,2401,2319,3525
$GC,1020,-0.46,-116.7,67.9,-7.6,185,1027,0.20,2.38,0.00,0.000,4,0.123,0.071,2464,885,3526
$GC,1143,-0.54,-116.7,74.4,-4.6,208,1150,0.00,2.40,0.00,0.000,6,0.000,0.071,2464,2316,3526
$GC,1470,-0.66,-116.7,90.8,-3.8,269,1476,0.17,2.38,0.00,0.000,4,0.064,0.077,2389,881,3526
$GC,1517,-0.40,-116.7,94.4,-8.4,278,1524,0.25,2.40,0.00,0.000,6,0.121,0.073,2476,2310,3526
$GC,1844,-0.60,-116.7,116.3,-6.6,339,1851,0.17,2.38,0.00,0.000,4,0.064,0.075,2403,870,3527
$GC,1876,-0.60,-116.7,119.2,-8.6,345,1883,0.00,2.42,0.00,0.000,6,0.000,0.071,2403,2323,3527
$GC,2202,-0.45,-116.7,145.2,-8.7,406,2210,0.22,2.40,0.00,0.000,4,0.127,0.075,2474,888,3527
$GC,2273,-0.59,-116.7,149.9,-6.0,419,2280,0.15,2.35,0.00,0.000,6,0.067,0.071,2407,2320,3527
$GC,2587,-0.47,-116.7,176.2,-8.3,450,2589,0.17,0.00,0.00,0.000,6,0.126,0.000,2461,2320,3527
$GC,2899,-0.60,-116.7,196.3,-5.8,480,2903,0.12,2.38,0.00,0.000,4,0.071,0.077,2405,876,3527
$GC,3031,-0.45,-116.7,207.3,-8.9,490,3036,0.15,2.40,0.00,0.000,6,0.120,0.072,2460,2310,3527
$GC,3349,-0.58,-116.7,223.6,-5.6,511,3353,0.12,2.33,0.00,0.000,4,0.073,0.075,2404,890,3528
$GC,3396,-0.42,-116.7,227.7,-9.5,514,3401,0.20,2.35,0.00,0.000,6,0.119,0.071,2474,2307,3527
$GC,3720,-0.62,-116.7,246.8,-5.2,535,3724,0.17,2.35,0.00,0.000,4,0.063,0.075,2400,891,3527
$GC,3777,-0.47,-116.7,251.4,-8.7,538,3784,0.15,2.33,0.00,0.000,6,0.123,0.070,2455,2297,3528
$GC,4090,-0.59,-116.7,270.0,-6.1,559,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2297,3527
$GC,4397,-0.71,-116.7,289.6,-6.4,579,4401,0.20,2.35,0.00,0.000,4,0.061,0.078,2373,890,3527
$GC,4439,-0.44,-116.7,293.5,-9.7,581,4446,0.28,2.33,0.00,0.000,6,0.126,0.071,2468,2293,3527
$GC,4755,-0.62,-116.7,312.9,-6.0,599,4759,0.17,2.35,0.00,0.000,4,0.066,0.079,2393,887,3527
$GC,4835,-0.44,-116.7,320.4,-10.0,602,4842,0.20,2.35,0.00,0.000,6,0.121,0.073,2463,2299,3527
$GC,5145,-0.60,-116.7,341.2,-6.7,618,5150,0.15,2.38,0.00,0.000,4,0.070,0.078,2401,891,3527
$GC,5203,-0.46,-116.7,346.5,-9.3,620,5210,0.17,2.33,0.00,0.000,6,0.118,0.071,2464,2288,3527
$GC,5514,-0.63,-116.7,364.0,-5.2,636,5518,0.15,2.33,0.00,0.000,4,0.071,0.077,2402,890,3527
$GC,5556,-0.47,-116.7,367.2,-7.8,638,5561,0.15,2.30,0.00,0.000,6,0.123,0.071,2455,2279,3526
$GC,5883,-0.60,-116.7,386.4,-6.2,654,5884,0.12,0.00,0.00,0.000,6,0.071,0.000,2403,2280,3526
$GC,6188,-0.51,-116.7,409.9,-7.7,669,6192,0.15,2.33,0.00,0.000,4,0.129,0.079,2448,887,3526
$GC,6219,-0.59,-116.7,412.2,-6.9,670,6224,0.00,2.30,0.00,0.000,6,0.000,0.074,2448,2272,3525
$GC,6535,-0.69,-116.7,430.9,-5.9,686,6540,0.17,2.30,0.00,0.000,4,0.069,0.081,2377,893,3525
$GC,6572,-0.42,-116.7,433.9,-8.9,687,6581,0.28,2.33,0.00,0.000,6,0.128,0.074,2471,2287,3524
$GC,6882,-0.63,-116.7,449.1,-4.9,703,6887,0.17,2.33,0.00,0.000,4,0.067,0.079,2399,891,3524
$GC,6930,-0.49,-116.7,452.7,-8.0,705,6935,0.15,2.30,0.00,0.000,6,0.125,0.074,2453,2272,3524
$GC,7251,-0.62,-116.7,471.9,-5.7,721,7256,0.12,2.30,0.00,0.000,4,0.075,0.081,2402,892,3524
$GC,7288,-0.46,-116.7,474.8,-8.5,722,7295,0.15,2.30,0.00,0.000,6,0.124,0.076,2456,2267,3523
$GC,7599,-0.61,-116.7,492.3,-5.4,738,7603,0.12,2.30,0.00,0.000,4,0.072,0.081,2404,890,3522
$GC,7635,-0.47,-116.7,495.1,-7.8,739,7644,0.15,2.30,0.00,0.000,6,0.123,0.075,2457,2268,3522
$GC,7946,-0.64,-116.7,512.1,-5.5,755,7947,0.15,0.00,0.00,0.000,6,0.070,0.000,2394,2269,3522
$GC,8251,-0.51,-116.7,535.6,-7.8,770,8256,0.17,2.30,0.00,0.000,4,0.129,0.080,2448,891,3520
$GC,8331,-0.57,-116.7,540.8,-6.5,773,8338,0.00,2.30,0.00,0.000,6,0.000,0.075,2448,2265,3521
$GC,8641,-0.67,-116.7,558.4,-5.6,789,8646,0.15,2.30,0.00,0.000,4,0.074,0.080,2386,888,3520
$GC,8689,-0.49,-116.7,562.2,-8.5,791,8694,0.17,2.30,0.00,0.000,6,0.127,0.076,2447,2263,3520
$GC,9010,-0.60,-116.7,580.5,-5.3,807,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2263,3519
$GC,9315,-0.72,-116.7,597.6,-5.7,822,9320,0.20,2.30,0.00,0.000,4,0.066,0.079,2366,886,3519
$GC,9352,-0.44,-116.7,600.7,-9.4,823,9361,0.30,2.28,0.00,0.000,6,0.131,0.076,2469,2249,3519
$GC,9661,-0.65,-116.7,616.5,-5.0,834,9662,0.20,0.00,0.00,0.000,6,0.067,0.000,2390,2249,3519
$GC,9964,-0.51,-116.7,639.8,-7.7,844,9969,0.20,2.28,0.00,0.000,4,0.130,0.083,2452,891,3519
$GC,10050,-0.61,-116.7,645.1,-6.2,846,10054,0.08,2.28,0.00,0.000,6,0.070,0.078,2410,2253,3518
$GC,10363,-0.61,-116.7,667.1,-7.1,857,10368,0.00,2.30,0.00,0.000,4,0.000,0.081,2410,886,3518
$GC,10400,-0.54,-116.7,670.1,-8.2,858,10405,0.00,2.28,0.00,0.000,6,0.000,0.075,2409,2257,3518
$GC,10730,-0.54,-116.7,694.9,-7.5,869,10735,0.00,2.30,0.00,0.000,4,0.000,0.083,2409,889,3518
$GC,10773,-0.47,-116.7,698.3,-8.0,870,10778,0.12,2.25,0.00,0.000,6,0.127,0.076,2455,2239,3517
$GC,11098,-0.63,-116.7,716.3,-5.4,881,11099,0.15,0.00,0.00,0.000,6,0.073,0.000,2393,2240,3517
$GC,11401,-0.52,-116.7,739.3,-7.5,891,11406,0.17,2.25,0.00,0.000,4,0.130,0.081,2447,888,3517
$GC,11481,-0.61,-116.7,744.4,-5.9,893,11485,0.00,2.25,0.00,0.000,6,0.000,0.077,2447,2238,3517
$GC,11800,-0.74,-116.7,762.4,-5.6,904,11802,0.22,0.00,0.00,0.000,6,0.067,0.000,2357,2237,3517
$GC,12103,-0.47,-116.7,788.7,-8.7,914,12108,0.32,2.25,0.00,0.000,4,0.133,0.081,2460,891,3516
$GC,12210,-0.62,-116.7,794.7,-5.3,917,12215,0.10,2.22,0.00,0.000,6,0.071,0.076,2411,2232,3516
$GC,12535,-0.62,-116.7,815.4,-6.6,928,12535,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2232,3516
$GC,12838,-0.62,-116.7,835.6,-6.5,938,12839,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2232,3516
$GC,13142,-0.62,-116.7,854.4,-6.2,948,13146,0.00,2.28,0.00,0.000,4,0.000,0.087,2411,887,3516
$GC,13178,-0.56,-116.7,857.0,-7.7,949,13183,0.00,2.25,0.00,0.000,6,0.000,0.080,2410,2229,3516
$GC,13509,-0.56,-116.7,878.4,-6.5,960,13513,0.00,2.28,0.00,0.000,4,0.000,0.088,2410,887,3516
$GC,13540,-0.56,-116.7,880.5,-7.2,961,13545,0.00,2.25,0.00,0.000,6,0.000,0.080,2410,2232,3515
$GC,13876,-0.56,-116.7,902.2,-6.4,972,13880,0.00,2.28,0.00,0.000,4,0.000,0.089,2411,893,3515
$GC,13939,-0.56,-116.7,906.6,-7.0,974,13944,0.00,2.22,0.00,0.000,6,0.000,0.081,2410,2218,3515
$GC,14275,-0.56,-116.7,927.6,-6.3,985,14276,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2218,3515
$GC,14578,-0.56,-116.7,946.4,-6.2,995,14583,0.00,2.25,0.00,0.000,4,0.000,0.089,2410,894,3515
$GC,14653,-0.56,-116.7,951.4,-7.1,997,14657,0.00,2.22,0.00,0.000,6,0.000,0.083,2410,2212,3515
$GC,14977,-0.56,-116.7,971.5,-6.2,1008,14982,0.00,2.28,0.00,0.000,4,0.000,0.094,2410,886,3515
$GC,15019,-0.56,-116.7,974.3,-6.7,1009,15024,0.00,2.25,0.00,0.000,6,0.000,0.085,2410,2213,3515
$STATE,15282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15282,begin apogee
$GC,15285,-0.23,0.0,990.7,6.2,1018,15384,0.40,0.00,97.10,1.453,6,0.139,0.000,2537,2307,3046
$STATE,15385,end apogee,CONTROL_FINISHED_OK
$STATE,15385,begin climb
$GC,15386,0.77,116.7,993.0,0.0,1021,15493,1.00,0.00,103.38,1.401,6,0.109,0.000,2851,2307,2570
$GC,15813,0.51,116.7,963.8,8.1,1035,15818,0.28,2.58,0.00,0.000,4,0.161,0.092,2782,895,2563
$GC,15850,0.60,134.4,961.4,6.2,1036,15870,0.00,2.50,15.48,1.325,6,0.000,0.081,2782,2288,2498
$GC,16179,0.63,153.6,941.2,6.1,1047,16201,0.00,2.58,17.98,1.351,4,0.000,0.095,2782,888,2418
$GC,16226,0.75,183.5,938.3,5.7,1048,16258,0.17,2.55,27.88,1.370,6,0.081,0.081,2849,2301,2297
$GC,16566,0.61,183.5,906.8,9.3,1060,16567,0.15,0.00,0.00,0.000,6,0.152,0.000,2810,2302,2290
$GC,16868,0.61,183.5,883.7,7.5,1070,16869,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2302,2290
$GC,17172,0.61,183.5,860.1,8.0,1080,17177,0.00,2.50,0.00,0.000,4,0.000,0.096,2810,895,2289
$GC,17209,0.61,183.5,857.2,8.2,1081,17214,0.00,2.42,0.00,0.000,6,0.000,0.082,2810,2288,2288
$GC,17539,0.61,183.5,831.3,7.9,1092,17540,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2288,2288
$GC,17842,0.61,183.5,807.8,7.8,1102,17847,0.00,2.42,0.00,0.000,4,0.000,0.091,2810,895,2288
$GC,17869,0.61,183.5,805.8,7.8,1102,17876,0.00,2.38,0.00,0.000,6,0.000,0.079,2810,2285,2287
$GC,18177,0.61,183.5,782.1,7.7,1113,18178,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2285,2287
$GC,18481,0.61,183.5,758.6,7.7,1123,18485,0.00,2.40,0.00,0.000,4,0.000,0.086,2810,891,2287
$GC,18507,0.61,183.5,756.6,8.2,1123,18516,0.00,2.35,0.00,0.000,6,0.000,0.077,2810,2279,2287
$GC,18816,0.61,183.5,733.5,7.2,1134,18817,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2278,2287
$GC,19119,0.61,183.5,710.8,7.5,1144,19124,0.00,2.40,0.00,0.000,4,0.000,0.089,2810,887,2287
$GC,19146,0.64,202.4,708.8,6.1,1144,19166,0.00,2.33,15.30,1.227,6,0.000,0.076,2810,2269,2221
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$GC,22885,0.69,202.8,409.4,10.5,1304,22892,0.00,2.33,0.00,0.000,6,0.000,0.071,2809,2279,2216
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$GC,26846,0.64,235.3,68.1,6.6,1658,26859,0.00,2.42,6.93,0.730,6,0.000,0.064,2814,2234,2085
$GC,27179,0.73,235.3,40.3,7.8,1720,27186,0.10,2.25,0.00,0.000,4,0.081,0.079,2856,881,2084
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$STATE,27546,end climb,SURFACE_DEPTH_REACHED
$STATE,27546,begin surface coast
$FINISH,4.1,1.027537
$STATE,27568,end surface coast,CONTROL_FINISHED_OK
$STATE,27568,begin surface
$SM_CCo,27570,310.10,0.710,0,0,489,626.99
$SM_GC,2.87,7.78,0.00,0.00,0.052,0.000,0.000,146,2318,484,-7.64,0.51,628.46
$IRIDIUM_FIX,6342.00,54.17,260498,141422
$TT8_MAMPS,0.052156
$HUMID,1582
$INTERNAL_PRESSURE,8.88116
$TCM_TEMP,15.10
$XPDR_PINGS,9
$24V_AH,22.7,10.085
$10V_AH,10.5,4.818
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,28.075,244.150,307.625,310.100,0.000,82.092,102.628,469.273,2.250,0.000,0.000,39.577,0.000,22884.418,973.245,4148.723,847.972,0.000,2608.074,0.000,3389.471,0.000,1.426,0.000
$DEVICE_MAMPS,209.391,108.147,1452.698,710.242,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1260.510,978.679,662.682,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91425,1793
$CAP_FILE_SIZE,242973,0
$CFSIZE,260165632,255979520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117, 91.2,1
$GPS,300109,220907,6407.127,54.927,32,1.2,32,-4.5