version: 66.11
glider: 166
mission: 8
dive: 43
start: 8 18 112 23 10 10
data:
$ID,166
$MISSION,8
$DIVE,43
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,120
$T_BOOST,2
$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,390
$T_MISSION,420
$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,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52225
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,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,-26418.814
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2310
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,28
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2803
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,147
$AH0_10V,109
$MINV_24V,23
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.057545
$PRESSURE_SLOPE,0.0001160501
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.5999999
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043150801
$SEABIRD_T_H,0.00063196511
$SEABIRD_T_I,2.3897506e-05
$SEABIRD_T_J,2.561103e-06
$SEABIRD_C_G,-10.001128
$SEABIRD_C_H,1.125791
$SEABIRD_C_I,-0.0024671701
$SEABIRD_C_J,0.00026194067
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,180812,225906,1941.507,12334.031,39,1.6,39,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-51.0
$GPS2,180812,230943,1941.518,12334.058,12,1.2,12,-2.4
$SPEED_LIMITS,0.147,0.279
$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,36.5,101081,-13.4,-8.462
$D_GRID,5156
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.59,-194.6,0.0,0.0,0,85,0.00,0.00,-65.25,0.000,2,0.000,0.000,142,2227,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.59,-194.6,3.1,-4.3,11,155,7.70,0.00,-50.72,0.000,6,0.234,0.000,2109,2227,3598,0,0,0,0,0,0,25.85,28.83,26.46
$GC,465,-0.54,-194.6,101.3,-25.0,48,467,0.12,0.00,0.00,0.000,6,0.184,0.000,2132,2227,3597,0,0,0,0,0,0,26.24,28.83,28.83
$GC,765,-0.52,-194.6,157.5,-14.8,63,771,0.00,1.48,0.00,0.000,4,0.000,0.034,2140,1215,3597,0,0,0,0,0,0,28.83,26.49,28.83
$GC,874,-0.51,-194.6,171.3,-12.8,68,879,0.00,1.45,0.00,0.000,6,0.000,0.040,2140,2189,3597,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1192,-0.50,-194.6,212.0,-12.2,84,1197,0.00,1.40,0.00,0.000,4,0.000,0.035,2126,1228,3597,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1290,-0.49,-194.6,222.1,-12.0,88,1297,0.00,1.45,0.00,0.000,6,0.000,0.041,2125,2209,3597,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1595,-0.49,-194.6,263.4,-12.8,104,1602,0.10,1.45,0.00,0.000,4,0.170,0.051,2144,3176,3597,0,0,0,0,0,0,26.55,26.58,28.83
$GC,1644,-0.49,-194.6,268.4,-11.8,106,1649,0.00,1.40,0.00,0.000,6,0.000,0.030,2143,2191,3597,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1962,-0.50,-194.6,299.4,-8.7,122,1967,0.00,1.38,0.00,0.000,4,0.000,0.035,2139,1232,3595,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1999,-0.51,-194.6,301.5,-8.7,123,2006,0.00,1.42,0.00,0.000,6,0.000,0.041,2132,2194,3595,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2305,-0.52,-194.6,329.8,-8.7,139,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2194,3593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2607,-0.54,-194.6,355.1,-8.6,154,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2194,3591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2907,-0.55,-194.6,380.3,-8.4,169,2913,0.00,1.40,0.00,0.000,4,0.000,0.037,2129,1230,3589,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3033,-0.57,-194.6,390.7,-8.3,175,3039,0.00,1.45,0.00,0.000,6,0.000,0.042,2122,2199,3587,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3357,-0.58,-194.6,416.7,-8.1,191,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2199,3585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3659,-0.60,-194.6,442.6,-8.7,206,3664,0.00,1.42,0.00,0.000,4,0.000,0.037,2121,1226,3582,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3756,-0.61,-194.6,449.9,-8.6,210,3762,0.00,1.45,0.00,0.000,6,0.000,0.044,2115,2195,3581,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4063,-0.63,-194.6,473.9,-7.3,226,4068,0.00,1.42,0.00,0.000,4,0.000,0.037,2115,1224,3579,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4151,-0.64,-194.6,480.7,-7.9,230,4157,0.00,1.48,0.00,0.000,6,0.000,0.044,2109,2204,3577,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4469,-0.66,-194.6,509.0,-8.5,246,4476,0.00,1.50,0.00,0.000,4,0.000,0.057,2102,3177,3575,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4503,-0.67,-194.6,511.1,-8.5,247,4508,0.00,1.40,0.00,0.000,6,0.000,0.034,2102,2214,3574,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4816,-0.68,-194.6,536.1,-7.4,263,4817,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2212,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5118,-0.70,-194.6,558.3,-7.2,278,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2212,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5420,-0.71,-194.6,578.9,-6.8,293,5425,0.00,1.45,0.00,0.000,4,0.000,0.039,2102,1227,3567,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5467,-0.72,-194.6,582.5,-7.3,295,5472,0.00,1.48,0.00,0.000,6,0.000,0.047,2095,2201,3566,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5786,-0.73,-194.6,611.8,-9.8,309,5791,0.00,1.45,0.00,0.000,4,0.000,0.040,2095,1223,3563,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5900,-0.74,-194.6,621.5,-10.2,312,5906,0.00,1.48,0.00,0.000,6,0.000,0.048,2088,2195,3562,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6215,-0.75,-194.6,653.3,-9.0,323,6221,0.00,1.50,0.00,0.000,4,0.000,0.061,2081,3190,3560,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6258,-0.76,-194.6,656.4,-8.8,324,6264,0.00,1.45,0.00,0.000,6,0.000,0.036,2081,2203,3561,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6584,-0.77,-194.6,684.6,-8.4,335,6589,0.00,1.45,0.00,0.000,4,0.000,0.042,2081,1219,3557,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6631,-0.77,-194.6,687.8,-8.6,336,6636,0.00,1.50,0.00,0.000,6,0.000,0.050,2074,2231,3557,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6949,-0.77,-194.6,719.1,-9.8,347,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2231,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7249,-0.77,-194.6,748.3,-9.5,357,7254,0.00,1.50,0.00,0.000,4,0.000,0.042,2075,1195,3554,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7331,-0.77,-194.6,754.4,-9.6,359,7336,0.00,1.50,0.00,0.000,6,0.000,0.050,2069,2206,3555,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7644,-0.77,-194.6,783.7,-8.4,370,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2206,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7944,-0.77,-194.6,807.8,-7.9,380,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2206,3550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8244,-0.77,-194.6,833.0,-8.8,390,8249,0.00,1.48,0.00,0.000,4,0.000,0.044,2068,1215,3549,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8282,-0.77,-194.6,836.1,-9.1,391,8287,0.00,1.50,0.00,0.000,6,0.000,0.051,2061,2224,3548,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8610,-0.77,-194.6,869.5,-10.1,402,8611,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2224,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8910,-0.77,-194.6,899.0,-9.7,412,8915,0.00,1.50,0.00,0.000,4,0.000,0.045,2061,1193,3544,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8977,-0.77,-194.6,905.3,-9.9,414,8982,0.00,1.50,0.00,0.000,6,0.000,0.052,2054,2201,3546,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9305,-0.77,-194.6,936.2,-8.9,425,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2201,3544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9605,-0.77,-194.6,963.7,-9.2,435,9606,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2201,3544,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9902,begin apogee
$GC,9908,-0.19,0.0,992.3,-9.4,445,10099,0.57,0.00,184.38,1.017,6,0.125,0.000,2245,2068,2801,0,0,0,0,0,0,26.54,28.83,24.36
$STATE,10101,end apogee,CONTROL_FINISHED_OK
$STATE,10101,begin climb
$GC,10103,0.59,194.6,998.1,0.0,451,10297,0.73,1.65,183.23,1.037,4,0.080,0.061,2499,3054,1999,0,0,0,0,0,0,25.02,24.68,24.02
$GC,10349,0.56,194.6,982.1,9.6,459,10355,0.00,1.52,0.00,0.000,6,0.000,0.038,2507,2087,1988,0,0,0,0,0,0,28.83,25.26,28.83
$GC,10664,0.53,194.6,941.9,12.4,470,10670,0.00,1.58,0.00,0.000,4,0.000,0.062,2508,3052,1983,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10742,0.51,194.6,933.6,12.4,472,10748,0.15,1.50,0.00,0.000,6,0.174,0.039,2477,2048,1982,0,0,0,0,0,0,25.87,26.02,28.83
$GC,11064,0.49,194.6,897.8,10.5,483,11069,0.00,1.60,0.00,0.000,4,0.000,0.063,2477,3061,1980,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11131,0.47,194.6,890.4,10.8,485,11137,0.00,1.50,0.00,0.000,6,0.000,0.040,2483,2042,1980,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11462,0.46,194.6,855.0,10.5,496,11468,0.00,1.60,0.00,0.000,4,0.000,0.063,2482,3066,1980,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11560,0.44,194.6,844.6,10.7,499,11565,0.15,1.50,0.00,0.000,6,0.172,0.040,2450,2040,1980,0,0,0,0,0,0,26.22,26.39,28.83
$GC,11890,0.45,232.9,818.1,7.3,510,11933,0.00,1.62,36.28,0.981,4,0.000,0.060,2450,3054,1843,0,0,0,0,0,0,28.83,25.73,25.06
$GC,12011,0.46,267.6,808.9,7.4,514,12060,0.00,1.52,35.45,0.767,6,0.000,0.039,2455,2037,1709,0,0,0,0,1,0,28.83,25.95,24.64
$GC,12372,0.49,338.5,784.9,6.4,526,12455,0.00,1.75,69.07,1.281,4,0.000,0.060,2456,3054,1423,0,0,0,0,1,0,28.83,24.85,23.96
$GC,12553,0.51,401.2,773.2,6.6,532,12628,0.00,1.52,62.72,1.294,6,0.000,0.039,2463,2077,1165,0,0,0,0,1,0,28.83,25.58,23.83
$GC,12946,0.56,468.8,748.3,6.5,545,13029,0.00,1.65,74.75,0.890,4,0.000,0.060,2462,3051,884,0,0,0,0,0,0,28.83,24.98,24.39
$GC,13053,0.60,540.8,742.6,6.4,548,13142,0.12,1.50,75.62,1.047,6,0.090,0.038,2527,2069,597,0,0,0,0,1,0,25.26,25.27,23.81
$GC,13460,0.60,540.8,700.5,10.5,562,13465,0.00,1.55,0.00,0.000,4,0.000,0.061,2527,3055,602,0,0,0,0,0,0,28.83,25.83,28.83
$GC,13487,0.60,540.8,700.5,10.5,562,13494,0.08,1.50,0.00,0.000,6,0.148,0.039,2508,2074,602,0,0,0,0,0,0,25.78,25.90,28.83
$GC,13797,0.63,564.1,673.3,7.8,573,13833,0.00,1.50,25.35,0.988,4,0.000,0.047,2512,1093,503,0,0,0,0,1,0,28.83,25.64,24.71
$GC,13860,0.66,588.9,668.4,7.7,575,13890,0.00,1.52,19.75,0.756,6,0.000,0.047,2512,2082,454,0,0,0,0,1,0,28.83,25.73,24.77
$GC,14219,0.68,588.9,638.1,8.6,587,14220,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2082,456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14518,0.70,588.9,612.4,8.5,597,14524,0.00,1.52,0.00,0.000,4,0.000,0.049,2519,1098,456,0,0,0,0,0,0,28.83,26.20,28.83
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$GC,17147,0.76,588.9,301.5,9.8,724,17152,0.00,1.52,0.00,0.000,4,0.000,0.045,2565,1075,454,0,0,0,0,0,0,28.83,26.55,28.83
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$GC,19588,1.07,865.1,54.3,13.4,843,19594,0.00,1.42,0.05,1.046,6,0.000,0.031,2653,2074,453,0,0,0,0,0,0,28.83,26.70,26.13
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$STATE,20088,end climb,SURFACE_DEPTH_REACHED
$STATE,20089,begin surface coast
$FINISH,1.5,1.021349
$STATE,20115,end surface coast,CONTROL_FINISHED_OK
$STATE,20115,begin surface
$SM_CCo,20192,0.00,0.000,0,0,455,575.96
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$IRIDIUM_FIX,1932.09,12332.52,180812,171721
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.89
$INTERNAL_PRESSURE,9.57292
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,7753440
$24V_AH,23.8,11.327
$10V_AH,10.0,7.105
$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,16.600,107.825,768.225,0.000,0.000,25.423,43.332,319.753,0.000,0.000,13.205,2871.922,14052.736,860.565,2628.343,388.323,0.000,2115.582,0.000,2126.721,0.000,0.541,0.000
$DEVICE_MAMPS,234.090,77.265,1914.795,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20157.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.167,0.000,0.000,0.000
$MEM,329152
$DATA_FILE_SIZE,33358,916
$CAP_FILE_SIZE,220852,0
$CFSIZE,260165632,249462784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.084,286.5,1
$GPS,190812,044800,1944.911,12334.928,39,1.1,39,-2.4