version: 66.11
glider: 167
mission: 16
dive: 311
start: 8 15 113 7 56 35
data:
$ID,167
$MISSION,16
$DIVE,311
$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,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-14
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,190
$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,0.00299008
$HD_B,0.016695701
$HD_C,1.27466e-05
$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,-975583.5
$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,3015
$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,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2970
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$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
$GPS1,150813,074700,2018.095,12251.276,39,0.9,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-73.8
$GPS2,150813,075605,2018.231,12251.284,42,0.9,42,-2.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,183.7,329846,-18.3,-10.000,-23.91,2793
$D_GRID,4050
$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,26,-1.12,-184.9,135,2217,672,656,0.0,0.0,0,120,0.00,0.00,-90.80,0.000,16386,0.000,0.000,135,2218,2961,2937,2985,0,0,0,0,0,0,28.83,28.83,28.83
$GC,128,-1.12,-184.9,135,2217,2937,2985,3.3,-3.7,16,160,10.35,2.05,-15.12,0.000,18948,0.234,0.037,2648,798,3724,3719,3730,0,0,0,0,0,0,25.40,26.12,26.48
$GC,183,-0.99,-184.9,2648,796,3719,3732,19.9,-32.4,24,190,0.20,2.03,0.00,0.000,3078,0.198,0.022,2688,2206,3726,3719,3733,0,0,0,0,0,0,25.51,26.15,28.83
$GC,511,-0.92,-184.9,2688,2206,3720,3732,107.5,-23.8,46,517,0.00,2.05,0.00,0.000,260,0.000,0.034,2679,3599,3726,3720,3732,0,0,0,0,0,0,28.83,26.20,28.83
$GC,687,-0.86,-184.9,2679,3599,3720,3732,145.2,-21.7,54,693,0.20,2.00,0.00,0.000,3078,0.161,0.015,2733,2151,3726,3720,3732,0,0,0,0,0,0,25.83,26.41,28.83
$GC,1003,-0.83,-184.9,2732,2150,3722,3732,199.3,-16.9,70,1008,0.00,1.88,0.00,0.000,516,0.000,0.027,2733,831,3727,3723,3732,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1048,-0.80,-184.9,2732,831,3722,3732,206.5,-16.5,72,1054,0.12,1.95,0.00,0.000,3078,0.166,0.022,2757,2204,3727,3723,3732,0,0,0,0,0,0,26.04,26.39,28.83
$GC,1374,-0.79,-184.9,2756,2204,3723,3732,250.9,-13.5,88,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2204,3728,3725,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1678,-0.77,-184.9,2756,2204,3724,3732,291.0,-13.4,103,1683,0.00,1.98,0.00,0.000,516,0.000,0.025,2757,826,3728,3724,3732,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1712,-0.76,-184.9,2757,826,3724,3732,295.0,-13.4,104,1717,0.00,1.95,0.00,0.000,1030,0.000,0.022,2750,2196,3727,3723,3732,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2028,-0.75,-184.9,2751,2195,3724,3731,338.8,-13.4,120,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2195,3727,3723,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2329,-0.75,-184.9,2750,2195,3723,3730,380.1,-13.7,135,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2195,3727,3724,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2631,-0.75,-184.9,2750,2196,3724,3727,420.1,-13.0,150,2636,0.00,1.95,0.00,0.000,516,0.000,0.026,2750,839,3725,3723,3728,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2672,-0.75,-184.9,2750,839,3724,3727,423.8,-12.7,151,2678,0.00,1.95,0.00,0.000,1030,0.000,0.024,2748,2201,3725,3723,3727,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2976,-0.75,-184.9,2748,2200,3723,3723,460.4,-10.7,167,2982,0.00,1.98,0.00,0.000,516,0.000,0.026,2749,828,3723,3723,3723,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3026,-0.75,-184.9,2748,828,3724,3722,465.3,-10.9,169,3032,0.12,1.98,0.00,0.000,3078,0.159,0.023,2772,2213,3722,3724,3721,0,0,0,0,0,0,26.10,26.43,28.83
$GC,3347,-0.75,-184.9,2772,2213,3724,3719,497.4,-10.4,185,3353,0.00,2.00,0.00,0.000,516,0.000,0.027,2772,828,3720,3723,3718,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3373,-0.75,-184.9,2772,828,3724,3718,500.1,-10.3,186,3379,0.00,1.98,0.00,0.000,1030,0.000,0.024,2766,2199,3720,3723,3718,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3700,-0.75,-184.9,2766,2199,3723,3713,533.5,-9.8,202,3705,0.00,1.98,0.00,0.000,516,0.000,0.027,2766,833,3718,3724,3713,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3759,-0.75,-184.9,2766,833,3723,3712,538.1,-9.8,204,3766,0.00,1.98,0.00,0.000,1030,0.000,0.024,2765,2207,3717,3724,3711,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4065,-0.75,-184.9,2764,2206,3722,3707,567.2,-9.4,220,4071,0.00,1.98,0.00,0.000,516,0.000,0.027,2766,840,3715,3724,3707,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4095,-0.75,-184.9,2765,841,3724,3707,569.6,-9.5,221,4100,0.00,1.98,0.00,0.000,1030,0.000,0.025,2766,2211,3715,3725,3706,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4425,-0.75,-184.9,2765,2210,3723,3702,604.4,-11.0,237,4431,0.00,2.00,0.00,0.000,516,0.000,0.027,2766,833,3712,3723,3702,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4480,-0.75,-184.9,2766,833,3723,3701,608.4,-11.0,238,4485,0.00,1.98,0.00,0.000,1030,0.000,0.025,2766,2199,3712,3723,3701,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4795,-0.75,-184.9,2765,2199,3723,3695,644.3,-10.3,249,4800,0.00,1.98,0.00,0.000,516,0.000,0.027,2766,839,3709,3723,3695,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4839,-0.75,-184.9,2766,839,3723,3694,648.0,-10.4,250,4844,0.00,1.98,0.00,0.000,1030,0.000,0.024,2765,2209,3708,3723,3694,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5167,-0.75,-184.9,2765,2209,3723,3689,680.7,-9.5,261,5172,0.00,2.00,0.00,0.000,516,0.000,0.028,2766,835,3706,3723,3689,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5213,-0.75,-184.9,2765,835,3723,3688,684.3,-9.3,262,5218,0.00,1.98,0.00,0.000,1030,0.000,0.025,2765,2197,3705,3723,3688,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5542,-0.75,-184.9,2765,2197,3719,3684,712.6,-8.4,273,5548,0.00,1.98,0.00,0.000,516,0.000,0.027,2765,840,3702,3720,3684,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5578,-0.75,-184.9,2765,840,3720,3684,716.0,-8.6,274,5583,0.00,2.00,0.00,0.000,1030,0.000,0.025,2765,2204,3702,3720,3684,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5917,-0.75,-184.9,2766,2204,3717,3681,746.2,-9.5,285,5922,0.00,2.10,0.00,0.000,260,0.000,0.039,2766,3599,3698,3716,3680,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5986,-0.76,-184.9,2765,3599,3715,3680,752.9,-9.7,287,5992,0.00,1.98,0.00,0.000,1030,0.000,0.019,2766,2199,3698,3716,3680,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6320,-0.76,-184.9,2765,2197,3714,3676,786.7,-10.3,298,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2197,3695,3714,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6616,-0.77,-184.9,2765,2197,3712,3673,818.9,-10.9,308,6622,0.00,2.15,0.00,0.000,260,0.000,0.040,2765,3602,3692,3712,3673,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6683,-0.78,-184.9,2765,3602,3711,3673,826.2,-11.1,310,6688,0.00,2.00,0.00,0.000,1030,0.000,0.020,2765,2197,3692,3711,3673,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7020,-0.79,-184.9,2765,2196,3710,3670,862.2,-10.5,321,7025,0.00,1.98,0.00,0.000,516,0.000,0.030,2766,838,3690,3710,3670,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7056,-0.81,-184.9,2765,839,3709,3669,866.5,-10.7,322,7062,0.00,2.00,0.00,0.000,1030,0.000,0.027,2765,2198,3689,3710,3669,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7396,-0.81,-184.9,2765,2198,3707,3666,901.6,-10.4,333,7397,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2198,3686,3707,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7692,-0.82,-184.9,2765,2198,3706,3663,931.1,-9.7,343,7693,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2198,3684,3706,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7993,-0.83,-184.9,2765,2198,3705,3661,960.2,-9.6,353,7998,0.00,2.03,0.00,0.000,516,0.000,0.031,2765,832,3683,3705,3661,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8023,-0.84,-184.9,2765,832,3704,3661,960.2,-9.6,353,8029,0.00,2.03,0.00,0.000,1030,0.000,0.027,2765,2206,3682,3704,3661,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,8324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8325,begin apogee
$GC,8335,-0.18,0.0,2765,2060,3703,3659,990.9,-9.1,364,8493,0.57,0.00,148.60,1.238,10246,0.119,0.000,2952,2058,2967,3032,2903,0,0,0,0,0,0,25.60,28.83,23.84
$STATE,8495,end apogee,CONTROL_FINISHED_OK
$STATE,8495,begin climb
$GC,8499,1.12,184.9,2952,2058,3029,2895,997.0,0.0,369,8665,1.17,2.25,157.70,1.189,10756,0.063,0.034,3375,676,2211,2296,2126,0,0,0,0,0,0,24.96,24.46,23.52
$GC,8706,1.05,184.9,3375,676,2285,2120,982.3,11.6,376,8711,0.00,2.15,0.00,0.000,1030,0.000,0.028,3375,2042,2202,2285,2119,0,0,0,0,0,0,28.83,25.06,28.83
$GC,9035,1.00,184.9,3374,2042,2284,2108,932.0,14.6,387,9041,0.12,2.17,0.00,0.000,4356,0.170,0.039,3341,3456,2196,2285,2108,0,0,0,0,0,0,25.77,25.94,28.83
$GC,9101,0.95,184.9,3342,3456,2284,2106,921.8,14.5,389,9107,0.00,2.08,0.00,0.000,1030,0.000,0.024,3349,2061,2195,2284,2106,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9440,0.90,184.9,3348,2060,2284,2103,878.3,12.8,400,9442,0.17,0.00,0.00,0.000,4102,0.167,0.000,3304,2061,2193,2284,2103,0,0,0,0,0,0,25.86,28.83,28.83
$GC,9738,0.87,184.9,3304,2060,2284,2101,846.4,10.3,410,9743,0.00,2.12,0.00,0.000,516,0.000,0.037,3313,652,2192,2284,2101,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9817,0.84,184.9,3313,652,2284,2100,839.2,10.6,412,9823,0.00,2.10,0.00,0.000,1030,0.000,0.029,3313,2053,2192,2284,2101,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10142,0.81,184.9,3313,2053,2282,2099,803.9,10.4,423,10148,0.12,2.15,0.00,0.000,4356,0.165,0.040,3276,3462,2191,2284,2099,0,0,0,0,0,0,26.08,26.15,28.83
$GC,10189,0.78,184.9,3276,3462,2283,2098,800.0,10.3,424,10194,0.00,2.08,0.00,0.000,1030,0.000,0.025,3284,2050,2191,2284,2099,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10517,0.81,204.9,3284,2050,2283,2096,768.9,9.3,435,10540,0.00,2.20,16.88,1.151,8452,0.000,0.040,3284,3463,2127,2219,2036,0,0,0,0,0,0,28.83,26.01,24.98
$GC,10660,0.79,204.9,3284,3463,2218,2029,756.0,10.3,439,10666,0.00,2.10,0.00,0.000,1030,0.000,0.025,3293,2050,2123,2218,2028,0,0,0,0,0,0,28.83,26.12,28.83
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$GC,14282,1.09,379.1,3328,661,1660,1480,382.3,8.6,590,14327,0.10,2.08,35.62,0.853,11270,0.092,0.024,3385,2056,1416,1504,1329,0,0,0,0,0,0,25.89,25.96,24.63
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$STATE,17887,end climb,SURFACE_DEPTH_REACHED
$STATE,17888,begin surface coast
$FINISH,1.3,1.008946
$STATE,17909,end surface coast,CONTROL_FINISHED_OK
$STATE,17909,begin surface
$SM_CCo,17932,32.40,0.124,0,0,663,564.93
$SM_GC,1.97,8.35,0.17,32.40,0.025,0.063,0.124,136,2214,663,-8.92,-1.55,564.93,0,0,0,0,0,0,26.27,26.43,25.77
$IRIDIUM_FIX,2013.37,12249.78,150813,020205
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.91
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,26.80
$XPDR_PINGS,6
$SC_FREEKB,7597760
$24V_AH,23.5,49.594
$10V_AH,10.2,31.041
$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,22.575,161.200,570.125,32.400,0.000,0.000,0.000,298.050,1.500,0.000,43.455,2694.519,12047.896,724.157,2372.978,660.190,0.000,2185.106,0.000,1996.172,0.000,0.543,0.000
$DEVICE_MAMPS,234.090,63.495,1237.770,123.930,0.000,0.000,0.000,109.395,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17925.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.745,0.000,0.000,0.000
$MEM,342960
$DATA_FILE_SIZE,30136,806
$CAP_FILE_SIZE,208639,0
$CFSIZE,260034560,223219712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.059,316.0,1
$GPS,150813,125723,2017.232,12250.727,38,1.2,38,-2.9