version: 66.11
glider: 169
mission: 8
dive: 63
start: 3 28 113 2 40 47
data:
$ID,169
$MISSION,8
$DIVE,63
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,130
$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,390
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52063
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00091300003
$HD_B,0.0119
$HD_C,2.0500001e-07
$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,400
$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,-20936.023
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2390
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,48
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2575
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2852
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$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,-154.03682
$PRESSURE_SLOPE,0.0001078585
$AD7714Ch0Gain,1
$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,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$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,33
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042608725
$SEABIRD_T_H,0.00061783189
$SEABIRD_T_I,2.1692709e-05
$SEABIRD_T_J,2.1724361e-06
$SEABIRD_C_G,-10.034778
$SEABIRD_C_H,1.1503564
$SEABIRD_C_I,-0.0019294197
$SEABIRD_C_J,0.0002327933
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,280313,022724,1753.036,12355.756,42,1.7,42,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-73.2
$GPS2,280313,024018,1753.176,12355.636,15,2.0,32,-2.0
$SPEED_LIMITS,0.147,0.249
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,295.5,188182,-2.9,-8.462,-18.75,3180
$D_GRID,4834
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.50,-175.2,128,2589,1352,1101,0.0,0.0,0,97,0.00,0.00,-71.93,0.000,16386,0.000,0.000,128,2590,3090,3005,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.50,-175.2,128,2590,3005,3175,3.8,-8.6,10,125,8.18,1.95,-8.05,0.000,19204,0.231,0.061,2208,3825,3569,3432,3706,0,0,0,0,0,0,25.98,26.20,26.50
$GC,255,-0.50,-175.2,2208,3825,3435,3706,64.7,-28.6,24,261,0.00,1.88,0.00,0.000,1030,0.000,0.028,2208,2569,3570,3435,3706,0,0,0,0,0,0,28.83,26.38,28.83
$GC,582,-0.50,-175.2,2208,2567,3435,3706,163.6,-25.8,40,589,0.00,1.98,0.00,0.000,260,0.000,0.050,2203,3820,3570,3435,3706,0,0,0,0,0,0,28.83,26.48,28.83
$GC,776,-0.50,-175.2,2202,3820,3436,3706,206.5,-21.5,49,782,0.00,1.92,0.00,0.000,1030,0.000,0.026,2203,2530,3570,3435,3706,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1098,-0.50,-175.2,2202,2529,3436,3706,266.5,-17.4,65,1104,0.00,2.50,0.00,0.000,516,0.000,0.033,2203,1120,3571,3436,3706,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1230,-0.50,-175.2,2202,1120,3436,3706,287.3,-15.0,71,1238,0.10,2.55,0.00,0.000,3078,0.158,0.034,2226,2542,3571,3436,3706,0,0,0,0,0,0,26.55,26.63,28.83
$GC,1554,-0.50,-175.2,2226,2540,3436,3705,333.7,-12.8,87,1560,0.00,2.53,0.00,0.000,516,0.000,0.030,2226,1111,3571,3436,3706,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1651,-0.50,-175.2,2226,1111,3436,3706,344.9,-12.7,91,1658,0.00,2.55,0.00,0.000,1030,0.000,0.032,2224,2541,3570,3436,3705,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1968,-0.50,-175.2,2224,2539,3435,3702,382.3,-10.6,107,1974,0.00,2.53,0.00,0.000,516,0.000,0.029,2225,1111,3569,3436,3702,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2017,-0.50,-175.2,2224,1112,3436,3702,386.7,-9.9,109,2023,0.00,2.53,0.00,0.000,1030,0.000,0.031,2223,2531,3568,3435,3702,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2344,-0.50,-175.2,2223,2529,3435,3697,419.0,-10.5,125,2351,0.00,2.50,0.00,0.000,516,0.000,0.030,2223,1108,3566,3436,3697,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2392,-0.50,-175.2,2223,1108,3435,3697,423.9,-10.3,127,2399,0.00,2.53,0.00,0.000,1030,0.000,0.031,2222,2529,3566,3435,3697,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2720,-0.50,-175.2,2222,2526,3435,3691,458.8,-10.4,143,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2527,3563,3435,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3018,-0.50,-175.2,2222,2526,3435,3686,487.3,-9.6,158,3024,0.00,2.50,0.00,0.000,516,0.000,0.029,2224,1113,3560,3435,3685,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3052,-0.50,-175.2,2223,1112,3436,3685,489.7,-9.6,159,3059,0.00,2.50,0.00,0.000,1030,0.000,0.031,2219,2526,3560,3435,3685,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3369,-0.50,-175.2,2220,2524,3435,3679,520.8,-9.3,175,3375,0.00,2.50,0.00,0.000,516,0.000,0.031,2220,1109,3557,3435,3679,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3404,-0.50,-175.2,2220,1109,3435,3678,523.3,-9.3,176,3410,0.00,2.50,0.00,0.000,1030,0.000,0.031,2220,2522,3556,3435,3678,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3720,-0.50,-175.2,2220,2522,3435,3673,554.6,-9.9,192,3726,0.00,2.50,0.00,0.000,516,0.000,0.031,2220,1109,3554,3435,3673,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3750,-0.50,-175.2,2219,1108,3435,3673,557.3,-9.9,193,3756,0.00,2.50,0.00,0.000,1030,0.000,0.031,2220,2521,3553,3435,3672,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4072,-0.50,-175.2,2220,2519,3435,3666,587.4,-9.4,209,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2519,3550,3435,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4390,-0.50,-175.2,2220,2519,3434,3662,617.1,-9.5,222,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2520,3548,3434,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4690,-0.50,-175.2,2219,2519,3434,3659,646.5,-9.8,232,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2519,3546,3434,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4990,-0.50,-175.2,2219,2519,3434,3653,674.5,-9.2,242,4997,0.00,2.50,0.00,0.000,516,0.000,0.033,2220,1116,3544,3434,3654,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5032,-0.50,-175.2,2220,1116,3433,3653,677.7,-9.2,243,5038,0.00,2.47,0.00,0.000,1030,0.000,0.033,2220,2516,3543,3434,3652,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5362,-0.50,-175.2,2220,2514,3433,3649,709.0,-9.2,254,5368,0.00,2.08,0.00,0.000,260,0.000,0.050,2220,3833,3540,3433,3648,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5443,-0.50,-175.2,2220,3834,3431,3648,714.7,-8.8,256,5448,0.00,2.03,0.00,0.000,1030,0.000,0.029,2220,2491,3540,3431,3649,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5763,-0.50,-175.2,2220,2490,3430,3645,741.7,-8.2,267,5769,0.00,2.17,0.00,0.000,260,0.000,0.050,2220,3832,3537,3430,3645,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5805,-0.50,-175.2,2220,3831,3430,3645,744.7,-8.1,268,5811,0.00,2.03,0.00,0.000,1030,0.000,0.028,2220,2489,3537,3430,3645,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6136,-0.50,-175.2,2220,2490,3430,3642,771.2,-7.7,279,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2490,3536,3430,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6436,-0.50,-175.2,2220,2490,3428,3639,795.1,-8.1,289,6442,0.00,2.20,0.00,0.000,260,0.000,0.051,2220,3834,3533,3428,3638,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6477,-0.50,-175.2,2220,3833,3426,3638,797.9,-8.0,290,6483,0.00,2.00,0.00,0.000,1030,0.000,0.028,2220,2497,3532,3426,3638,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6808,-0.50,-175.2,2219,2497,3426,3635,822.6,-7.5,301,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2497,3530,3425,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7108,-0.50,-175.2,2220,2497,3425,3631,843.9,-7.1,311,7114,0.00,2.17,0.00,0.000,260,0.000,0.054,2220,3829,3529,3425,3633,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7137,-0.50,-175.2,2220,3829,3425,3633,843.9,-7.1,311,7145,0.00,2.03,0.00,0.000,1030,0.000,0.029,2220,2495,3529,3425,3633,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7445,-0.50,-175.2,2220,2496,3425,3631,869.3,-7.7,322,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2495,3528,3425,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7743,-0.50,-175.2,2220,2496,3425,3629,894.0,-8.4,332,7750,0.00,2.17,0.00,0.000,260,0.000,0.054,2220,3829,3525,3424,3627,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7785,-0.50,-175.2,2220,3829,3423,3629,897.2,-8.7,333,7791,0.00,2.00,0.00,0.000,1030,0.000,0.029,2220,2498,3526,3423,3629,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8115,-0.50,-175.2,2220,2499,3423,3623,927.3,-8.7,344,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2499,3524,3423,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8416,-0.50,-175.2,2220,2499,3422,3626,948.9,-6.8,354,8423,0.00,2.15,0.00,0.000,260,0.000,0.050,2215,3833,3523,3422,3625,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8463,-0.50,-175.2,2215,3833,3421,3625,951.4,-6.7,355,8470,0.00,2.00,0.00,0.000,1030,0.000,0.028,2215,2500,3523,3421,3625,0,0,0,0,0,0,28.83,26.76,28.83
$GC,8790,-0.50,-175.2,2214,2501,3420,3623,975.1,-6.9,366,8796,0.00,2.42,0.00,0.000,516,0.000,0.035,2216,1123,3522,3421,3623,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8844,-0.50,-175.2,2216,1123,3421,3622,978.5,-7.6,367,8851,0.00,2.47,0.00,0.000,1030,0.000,0.034,2210,2521,3521,3420,3622,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,9007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9007,begin apogee
$GC,9014,-0.10,0.0,2210,2336,3420,3621,991.6,-7.6,373,9173,0.38,0.10,151.00,1.018,10244,0.095,0.053,2348,2398,2844,2858,2830,0,0,0,0,0,0,26.64,24.91,24.27
$STATE,9177,end apogee,CONTROL_FINISHED_OK
$STATE,9177,begin climb
$GC,9180,0.50,175.2,2348,2398,2854,2819,998.4,0.0,377,9360,0.52,2.58,164.32,0.996,10756,0.043,0.030,2566,908,2121,2248,1995,0,0,0,0,0,0,25.17,25.15,24.12
$GC,9410,0.55,195.1,2566,908,2237,1984,989.4,7.8,384,9434,0.00,2.50,18.73,0.942,9222,0.000,0.026,2563,2391,2055,2185,1925,0,0,0,0,0,0,28.83,25.36,24.47
$GC,9765,0.55,195.1,2563,2390,2161,1898,949.2,11.4,396,9771,0.00,2.45,0.00,0.000,516,0.000,0.028,2574,898,2029,2161,1898,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9786,0.55,195.1,2574,897,2158,1898,949.2,11.4,396,9792,0.00,2.47,0.00,0.000,1030,0.000,0.024,2571,2407,2028,2158,1898,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10107,0.55,195.1,2571,2405,2157,1897,904.7,13.6,407,10113,0.00,2.38,0.00,0.000,260,0.000,0.041,2564,3841,2027,2157,1897,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10298,0.55,195.1,2563,3841,2156,1897,876.7,14.5,413,10304,0.00,2.33,0.00,0.000,1030,0.000,0.016,2575,2365,2027,2156,1898,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10634,0.55,195.1,2576,2360,2158,1897,831.5,13.3,424,10640,0.00,2.50,0.00,0.000,260,0.000,0.041,2564,3837,2023,2154,1893,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10826,0.55,195.1,2564,3838,2153,1897,804.7,14.2,430,10832,0.00,2.30,0.00,0.000,1030,0.000,0.018,2575,2376,2025,2153,1897,0,0,0,0,0,0,28.83,26.53,28.83
$GC,11161,0.55,195.1,2577,2375,2159,1897,763.1,11.9,441,11167,0.00,2.45,0.00,0.000,260,0.000,0.042,2569,3837,2024,2152,1897,0,0,0,0,0,0,28.83,26.50,28.83
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$GC,15092,0.58,208.4,2602,2514,2124,1893,349.4,9.0,609,15098,0.00,2.05,0.00,0.000,260,0.000,0.041,2604,3842,2008,2124,1893,0,0,0,0,0,0,28.83,26.64,28.83
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$STATE,18425,end climb,SURFACE_DEPTH_REACHED
$STATE,18425,begin surface coast
$FINISH,-0.3,1.021672
$STATE,18449,end surface coast,CONTROL_FINISHED_OK
$STATE,18449,begin surface
$SM_CCo,18466,18.75,0.124,0,0,1220,400.08
$SM_GC,0.12,6.40,0.00,18.75,0.031,0.000,0.124,136,2560,1220,-6.98,-0.45,400.08,0,0,0,0,0,0,26.54,28.83,26.39
$IRIDIUM_FIX,1745.10,12357.74,270313,212137
$TT8_MAMPS,0.021721,0.021721
$HUMID,41.80
$INTERNAL_PRESSURE,9.43751
$TCM_TEMP,25.40
$XPDR_PINGS,0
$SC_FREEKB,3989888
$24V_AH,24.1,8.359
$10V_AH,10.2,6.206
$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,16.575,177.075,485.450,18.750,0.000,0.000,0.000,461.850,0.000,0.000,33.523,3685.243,11353.690,725.373,2747.868,711.768,0.000,2370.469,0.000,2109.640,0.000,0.546,0.000
$DEVICE_MAMPS,231.030,61.200,1018.215,123.930,0.000,0.000,0.000,123.165,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18548.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.366,0.000,0.000,0.000
$MEM,329728
$DATA_FILE_SIZE,30056,815
$CAP_FILE_SIZE,461151,0
$CFSIZE,260034560,246378496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.126,276.4,1
$GPS,280313,075006,1753.537,12352.820,40,1.2,40,-2.0