version: 66.11
glider: 167
mission: 16
dive: 237
start: 7 31 113 4 15 2
data:
$ID,167
$MISSION,16
$DIVE,237
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,4
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$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,52152
$MASS_COMP,0
$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,564.9259
$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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-975491
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3944
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2075
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2763
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-15.330984
$PRESSURE_SLOPE,0.0001158971
$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,0
$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,-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,0.0043557216
$SEABIRD_T_H,0.00062581268
$SEABIRD_T_I,2.3904395e-05
$SEABIRD_T_J,2.614597e-06
$SEABIRD_C_G,-10.14994
$SEABIRD_C_H,1.1477706
$SEABIRD_C_I,-0.0022030354
$SEABIRD_C_J,0.00024289287
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,310713,040605,2053.868,12253.160,39,1.0,39,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-69.0
$GPS2,310713,041435,2054.001,12253.049,43,1.0,43,-3.0
$SPEED_LIMITS,0.173,0.296
$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,129.1,167459,-15.7,-10.000,-18.68,2978
$D_GRID,3933
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.85,-194.6,123,2091,533,413,0.0,0.0,0,120,0.00,0.00,-91.15,0.000,16386,0.000,0.000,119,2090,2778,2765,2791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,128,-0.85,-194.6,119,2090,2764,2792,3.2,-3.4,16,160,10.62,0.00,-15.62,0.000,18438,0.233,0.000,2768,2090,3558,3558,3558,0,0,0,0,0,0,25.57,28.83,26.47
$GC,465,-0.79,-194.6,2767,2090,3558,3559,94.0,-19.7,46,471,0.00,2.05,0.00,0.000,260,0.000,0.033,2759,3474,3559,3559,3559,0,0,0,0,0,0,28.83,26.28,28.83
$GC,560,-0.74,-194.6,2761,3474,3558,3559,110.7,-19.4,50,566,0.17,2.00,0.00,0.000,3078,0.159,0.016,2806,2037,3558,3558,3558,0,0,0,0,0,0,26.01,26.41,28.83
$GC,876,-0.71,-194.6,2805,2037,3560,3559,155.8,-13.5,66,882,0.00,2.12,0.00,0.000,260,0.000,0.031,2798,3476,3559,3560,3559,0,0,0,0,0,0,28.83,26.38,28.83
$GC,896,-0.68,-194.6,2798,3476,3560,3559,155.8,-13.5,66,903,0.12,1.95,0.00,0.000,3078,0.155,0.016,2830,2068,3559,3560,3559,0,0,0,0,0,0,26.18,26.49,28.83
$GC,1202,-0.66,-194.6,2830,2068,3560,3559,210.0,-17.4,82,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2068,3559,3561,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1505,-0.65,-194.6,2830,2068,3561,3559,247.8,-10.8,97,1510,0.00,1.95,0.00,0.000,516,0.000,0.029,2830,707,3559,3560,3559,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1571,-0.65,-194.6,2829,705,3563,3559,254.4,-9.6,100,1576,0.00,1.98,0.00,0.000,1030,0.000,0.023,2828,2078,3560,3561,3559,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1896,-0.64,-194.6,2827,2078,3560,3559,288.7,-11.9,116,1902,0.00,2.05,0.00,0.000,260,0.000,0.035,2827,3477,3559,3560,3558,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1941,-0.64,-194.6,2827,3477,3560,3558,294.1,-11.8,118,1948,0.00,1.95,0.00,0.000,1030,0.000,0.016,2828,2073,3559,3561,3558,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2267,-0.64,-194.6,2827,2072,3560,3555,333.3,-11.9,134,2272,0.00,1.98,0.00,0.000,516,0.000,0.030,2827,695,3557,3560,3555,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2292,-0.64,-194.6,2827,694,3560,3555,336.4,-12.0,135,2297,0.00,1.98,0.00,0.000,1030,0.000,0.021,2821,2076,3558,3560,3556,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2617,-0.64,-194.6,2821,2076,3560,3552,369.0,-7.4,151,2622,0.00,2.05,0.00,0.000,260,0.000,0.034,2818,3471,3556,3560,3552,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2702,-0.64,-194.6,2818,3471,3560,3551,374.3,-6.2,155,2707,0.00,1.98,0.00,0.000,1030,0.000,0.017,2818,2076,3555,3560,3551,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3028,-0.64,-194.6,2818,2076,3560,3547,400.5,-9.3,171,3033,0.00,2.00,0.00,0.000,516,0.000,0.030,2818,689,3553,3560,3547,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3087,-0.64,-194.6,2818,689,3560,3547,405.3,-9.9,173,3094,0.00,2.00,0.00,0.000,1030,0.000,0.023,2818,2085,3553,3560,3546,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3393,-0.64,-194.6,2818,2086,3560,3544,442.6,-11.9,189,3399,0.00,2.05,0.00,0.000,260,0.000,0.035,2813,3479,3555,3560,3550,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3472,-0.64,-194.6,2813,3478,3560,3543,450.0,-11.4,192,3479,0.00,1.98,0.00,0.000,1030,0.000,0.016,2813,2062,3551,3560,3542,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3779,-0.64,-194.6,2813,2062,3560,3539,480.0,-8.1,208,3784,0.00,1.95,0.00,0.000,516,0.000,0.030,2814,706,3550,3560,3540,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3814,-0.64,-194.6,2812,706,3560,3539,482.0,-8.0,209,3820,0.12,1.98,0.00,0.000,3078,0.156,0.023,2841,2082,3549,3560,3539,0,0,0,0,0,0,26.26,26.52,28.83
$GC,4129,-0.64,-194.6,2841,2082,3560,3534,506.2,-8.7,225,4135,0.00,2.05,0.00,0.000,260,0.000,0.034,2834,3471,3547,3560,3534,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4180,-0.65,-194.6,1760,3470,3546,3530,510.8,-9.7,227,4185,0.00,1.95,0.00,0.000,1030,0.000,0.018,2834,2075,3547,3560,3534,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4500,-0.65,-194.6,2834,2076,3560,3531,546.7,-11.3,243,4505,0.00,2.00,0.00,0.000,516,0.000,0.031,2834,696,3545,3560,3530,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4579,-0.65,-194.6,2834,695,3560,3530,554.3,-11.8,246,4586,0.00,2.00,0.00,0.000,1030,0.000,0.023,2833,2085,3545,3560,3531,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4885,-0.65,-194.6,2833,2084,3560,3526,587.1,-8.9,262,4891,0.00,2.05,0.00,0.000,260,0.000,0.037,2833,3467,3543,3560,3526,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4984,-0.66,-194.6,2833,3467,3560,3525,593.5,-7.5,266,4989,0.00,1.95,0.00,0.000,1030,0.000,0.018,2833,2076,3542,3559,3525,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5321,-0.66,-194.6,2833,2076,3561,3521,616.7,-6.9,279,5327,0.00,2.00,0.00,0.000,516,0.000,0.031,2833,706,3540,3560,3521,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5439,-0.66,-194.6,1728,705,3545,3517,623.9,-7.3,282,5444,0.00,1.98,0.00,0.000,1030,0.000,0.024,2833,2074,3539,3560,3519,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5757,-0.67,-194.6,2833,2074,3560,3515,652.8,-10.0,293,5762,0.00,2.08,0.00,0.000,260,0.000,0.038,2833,3466,3537,3560,3515,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5842,-0.69,-194.6,2833,3466,3560,3514,660.3,-10.7,295,5847,0.00,1.95,0.00,0.000,1030,0.000,0.019,2833,2073,3536,3559,3513,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6160,-0.70,-194.6,2833,2073,3559,3510,688.3,-6.8,306,6165,0.00,2.00,0.00,0.000,516,0.000,0.031,2833,699,3534,3559,3510,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6210,-0.71,-194.6,2834,699,3558,3510,690.9,-6.7,307,6215,0.00,2.00,0.00,0.000,1030,0.000,0.024,2834,2078,3534,3558,3510,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6533,-0.72,-194.6,2833,2077,3556,3508,706.3,-4.7,318,6540,0.00,2.08,0.00,0.000,260,0.000,0.038,2834,3467,3532,3556,3508,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6570,-0.74,-194.6,2833,3467,3556,3508,708.5,-5.1,319,6576,0.00,1.98,0.00,0.000,1030,0.000,0.020,2834,2068,3531,3555,3508,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6909,-0.75,-194.6,2833,2068,3555,3506,732.1,-7.9,330,6914,0.00,1.98,0.00,0.000,516,0.000,0.032,2834,712,3530,3555,3506,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6969,-0.76,-194.6,2835,713,3554,3506,735.3,-7.9,331,6976,0.00,1.98,0.00,0.000,1030,0.000,0.024,2833,2076,3530,3554,3506,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7277,-0.78,-194.6,2833,2076,3552,3503,761.8,-8.2,342,7283,0.00,2.10,0.00,0.000,260,0.000,0.039,2833,3473,3527,3552,3503,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7377,-0.79,-194.6,2833,3473,3550,3502,769.5,-7.9,345,7383,0.12,2.00,0.00,0.000,5126,0.087,0.021,2775,2066,3526,3550,3503,0,0,0,0,0,0,26.41,26.53,28.83
$GC,7713,-0.78,-194.6,2775,2066,3549,3498,807.4,-11.4,356,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2066,3524,3548,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8013,-0.77,-194.6,2775,2066,3548,3498,842.1,-11.3,366,8019,0.00,2.00,0.00,0.000,516,0.000,0.033,2775,706,3523,3548,3498,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8069,-0.76,-194.6,2775,706,3547,3498,846.5,-11.5,367,8075,0.15,2.00,0.00,0.000,3078,0.155,0.025,2805,2075,3522,3547,3498,0,0,0,0,0,0,26.10,26.46,28.83
$GC,8388,-0.76,-194.6,2806,2074,3546,3496,879.2,-9.4,378,8393,0.00,2.10,0.00,0.000,260,0.000,0.041,2806,3467,3521,3546,3496,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8417,-0.76,-194.6,2806,3467,3545,3496,879.2,-9.4,378,8424,0.00,1.98,0.00,0.000,1030,0.000,0.021,2806,2083,3520,3545,3496,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8726,-0.76,-194.6,2806,2082,3544,3493,909.2,-8.9,389,8731,0.00,2.05,0.00,0.000,516,0.000,0.034,2806,690,3519,3545,3493,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8780,-0.76,-194.6,2806,689,3544,3493,912.7,-9.0,390,8786,0.00,2.03,0.00,0.000,1030,0.000,0.025,2806,2073,3518,3544,3493,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9099,-0.76,-194.6,2806,2074,3543,3490,944.5,-9.6,401,9105,0.00,2.12,0.00,0.000,260,0.000,0.041,2806,3472,3516,3542,3491,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9165,-0.76,-194.6,2806,3478,3542,3491,951.2,-9.5,403,9171,0.00,2.03,0.00,0.000,1030,0.000,0.021,2806,2066,3516,3541,3491,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9504,-0.76,-194.6,2806,2066,3541,3489,981.3,-8.6,414,9510,0.00,2.05,0.00,0.000,516,0.000,0.037,2806,691,3514,3541,3488,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9550,-0.76,-194.6,2806,692,3541,3489,984.7,-8.6,415,9556,0.00,2.05,0.00,0.000,1030,0.000,0.028,2806,2082,3514,3540,3489,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,9603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9603,begin apogee
$GC,9611,-0.18,0.0,2806,2224,3540,3488,990.1,-8.5,417,9847,0.55,0.00,227.57,1.024,10246,0.119,0.000,2988,2224,2757,2836,2678,0,0,0,0,0,0,25.93,28.83,24.09
$STATE,9849,end apogee,CONTROL_FINISHED_OK
$STATE,9849,begin climb
$GC,9852,0.85,194.6,2988,2224,2832,2671,998.0,0.0,425,10045,0.93,2.35,180.35,1.141,10756,0.057,0.035,3330,819,1952,2049,1856,0,0,0,0,0,0,24.98,24.49,23.65
$GC,10060,0.79,194.6,3330,819,2037,1849,979.1,11.8,432,10066,0.00,2.17,0.00,0.000,1030,0.000,0.029,3330,2184,1942,2036,1848,0,0,0,0,0,0,28.83,24.81,28.83
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$GC,19053,1.11,450.0,3412,3600,1010,871,37.4,11.3,819,19060,0.00,2.03,1.77,0.168,9222,0.000,0.021,3418,2188,926,985,868,0,0,0,0,0,0,28.83,26.39,25.95
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$STATE,19409,end climb,SURFACE_DEPTH_REACHED
$STATE,19409,begin surface coast
$FINISH,1.2,1.000319
$STATE,19437,end surface coast,CONTROL_FINISHED_OK
$STATE,19437,begin surface
$SM_CCo,19461,37.45,0.117,0,0,457,564.93
$SM_GC,2.00,8.27,2.25,37.45,0.028,0.018,0.117,143,2062,457,-9.02,1.98,564.93,0,0,0,0,0,0,26.32,26.43,25.98
$IRIDIUM_FIX,2047.91,12253.40,300713,222225
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.62
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,26.40
$XPDR_PINGS,11
$SC_FREEKB,7626048
$24V_AH,23.6,35.754
$10V_AH,10.2,22.763
$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,22.000,189.525,653.500,37.450,0.000,0.000,0.000,262.500,2.750,0.000,44.556,2971.766,12881.386,828.577,2601.679,710.128,0.000,2410.950,0.000,2261.256,0.000,0.543,0.000
$DEVICE_MAMPS,233.325,73.440,1140.615,117.045,0.000,0.000,0.000,122.400,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19442.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.186,0.000,0.000,0.000
$MEM,322880
$DATA_FILE_SIZE,33364,879
$CAP_FILE_SIZE,231882,0
$CFSIZE,260034560,230072320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.157,314.4,1
$GPS,310713,094128,2053.746,12253.283,38,1.4,41,-3.0