version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 168
start: 8 17 116 0 37 19
data:
$ID,542
$MISSION,14
$DIVE,168
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,5
$T_BOOST,0
$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,333
$T_MISSION,343
$T_ABORT,720
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53288
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,150
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,3
$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,-41400.625
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3947
$C_PITCH,2573
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,182
$ROLL_MAX,3808
$ROLL_DEG,40
$C_ROLL_DIVE,1955
$C_ROLL_CLIMB,1875
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2700
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8.1999998
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.17088
$PRESSURE_SLOPE,0.00013904
$AD7714Ch0Gain,32
$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,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,134
$DEVICE3,147
$DEVICE4,101
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042912085
$SEABIRD_T_H,0.00061951543
$SEABIRD_T_I,2.2019161e-05
$SEABIRD_T_J,2.2998063e-06
$SEABIRD_C_G,-9.7531137
$SEABIRD_C_H,1.1333146
$SEABIRD_C_I,-0.00071571622
$SEABIRD_C_J,0.00011341914
$GPS1,170816,002857,-4303.153,832.872,74,0.9,74,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-74.4
$GPS2,170816,003636,-4303.172,832.961,18,1.0,19,-25.1
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,SOUTH
$TGT_LATLONG,-4305.930,830.000
$TGT_RADIUS,1000.000
$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,235.1,6491,-16.4,-10.010,-19.35,2733
$D_GRID,1000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.58,-97.3,167,1963,1958,1832,0.0,0.0,0,63,0.00,0.00,-45.53,0.000,16386,0.000,0.000,166,1963,3091,3166,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.58,-97.3,166,1963,3168,3017,3.1,-4.9,7,80,8.55,2.25,0.00,0.000,2308,0.226,0.054,2367,3368,3094,3172,3017,0,0,0,0,0,0,25.46,25.88,28.83
$GC,173,-0.58,-97.3,1432,3366,3155,3011,23.6,-14.5,27,180,0.00,2.28,0.00,0.000,1030,0.000,0.054,2367,1950,3097,3179,3015,0,0,0,0,0,0,28.83,25.91,28.83
$GC,303,-0.58,-97.3,2366,1949,3180,3015,42.6,-14.1,52,310,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1949,3097,3180,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,615,-0.58,-97.3,2367,1949,3181,3015,87.5,-14.2,113,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1949,3098,3181,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,930,-0.58,-97.3,2367,1950,3181,3016,134.2,-14.8,152,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1949,3098,3181,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1230,-0.58,-97.3,2367,1949,3182,3016,180.5,-15.4,182,1240,0.00,2.22,0.00,0.000,260,0.000,0.061,2357,3358,3098,3182,3015,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1272,-0.58,-97.3,2357,3358,3182,3016,187.1,-15.2,186,1282,0.00,2.22,0.00,0.000,1030,0.000,0.053,2357,1945,3098,3181,3015,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1583,-0.58,-97.3,2357,1945,3181,3015,234.4,-14.7,217,1592,0.00,2.25,0.00,0.000,260,0.000,0.061,2346,3364,3098,3181,3015,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1654,-0.58,-97.3,2346,3364,3182,3015,245.2,-14.4,224,1659,0.15,2.22,0.00,0.000,3078,0.178,0.053,2383,1949,3098,3181,3015,0,0,0,0,0,0,25.94,26.19,28.83
$GC,1960,-0.58,-97.3,2383,1948,3182,3016,282.9,-11.5,254,1969,0.00,2.25,0.00,0.000,260,0.000,0.060,2374,3363,3098,3182,3015,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2034,-0.58,-97.3,2374,3363,3182,3015,291.2,-11.4,261,2043,0.00,2.28,0.00,0.000,1030,0.000,0.053,2374,1950,3098,3182,3015,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2342,-0.58,-97.3,2374,1950,3182,3015,326.7,-11.4,292,2346,0.00,2.25,0.00,0.000,516,0.000,0.065,2375,543,3098,3182,3015,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2391,-0.58,-97.3,2374,542,3182,3016,332.1,-11.9,296,2398,0.00,2.25,0.00,0.000,1030,0.000,0.053,2365,1950,3098,3182,3015,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2699,-0.58,-97.3,2364,1950,3183,3015,370.0,-12.0,327,2707,0.00,2.25,0.00,0.000,260,0.000,0.060,2354,3366,3098,3182,3015,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2801,-0.58,-97.3,2353,3367,3182,3016,381.7,-11.5,337,2811,0.12,2.22,0.00,0.000,3078,0.180,0.053,2383,1947,3099,3182,3016,0,0,0,0,0,0,26.03,26.25,28.83
$GC,3121,-0.58,-97.3,2382,1947,3182,3015,415.3,-10.6,362,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1946,3099,3183,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3420,-0.58,-97.3,2382,1947,3183,3015,449.7,-11.6,377,3424,0.00,2.25,0.00,0.000,260,0.000,0.062,2374,3364,3099,3183,3015,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3476,-0.58,-97.3,2374,3363,3183,3015,456.1,-11.5,380,3480,0.00,2.22,0.00,0.000,1030,0.000,0.054,2374,1948,3099,3183,3015,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3792,-0.58,-97.3,2374,1948,3183,3015,493.9,-12.0,396,3798,0.00,2.25,0.00,0.000,260,0.000,0.062,2364,3364,3099,3183,3015,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3860,-0.58,-97.3,2364,3363,3183,3015,501.1,-12.1,399,3864,0.00,2.22,0.00,0.000,1030,0.000,0.054,2364,1950,3099,3183,3015,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4173,-0.58,-97.3,2363,1949,3183,3015,541.7,-12.7,415,4178,0.00,2.25,0.00,0.000,260,0.000,0.063,2354,3364,3099,3183,3015,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4220,-0.58,-97.3,2354,3363,3183,3015,547.0,-13.0,417,4225,0.12,2.22,0.00,0.000,3078,0.180,0.054,2383,1949,3099,3183,3015,0,0,0,0,0,0,26.05,26.26,28.83
$GC,4532,-0.58,-97.3,2382,1949,3183,3014,585.9,-12.2,433,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1949,3098,3183,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4833,-0.58,-97.3,2382,1949,3183,3013,621.3,-12.0,448,4834,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1950,3098,3183,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5132,-0.58,-97.3,2382,1949,3182,3012,656.1,-11.4,463,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1950,3097,3183,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5433,-0.58,-97.3,2382,1949,3183,3011,690.1,-11.6,478,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1949,3097,3183,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5733,-0.58,-97.3,2382,1949,3183,3010,723.8,-11.1,493,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1949,3096,3183,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6032,-0.58,-97.3,2382,1949,3183,3009,755.2,-10.3,508,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1949,3095,3182,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6333,-0.58,-97.3,2382,1949,3183,3007,784.1,-9.6,523,6339,0.00,2.28,0.00,0.000,260,0.000,0.067,2374,3362,3095,3183,3007,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6415,-0.58,-97.3,2374,3363,3183,3007,792.2,-10.1,527,6419,0.00,2.25,0.00,0.000,1030,0.000,0.057,2374,1951,3095,3183,3007,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6732,-0.58,-97.3,2374,1951,3183,3006,825.6,-10.4,543,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1951,3094,3182,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7033,-0.58,-97.3,2374,1951,3183,3005,857.0,-10.2,558,7039,0.00,2.28,0.00,0.000,516,0.000,0.074,2374,546,3094,3183,3005,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7060,-0.58,-97.3,2374,546,3183,3005,859.1,-10.2,559,7064,0.00,2.22,0.00,0.000,1030,0.000,0.060,2364,1950,3094,3183,3005,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7372,-0.58,-97.3,2364,1950,3183,3004,894.3,-11.2,575,7378,0.00,2.28,0.00,0.000,260,0.000,0.068,2354,3369,3093,3183,3004,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7492,-0.58,-97.3,2353,3368,3183,3004,908.1,-11.6,581,7497,0.12,2.25,0.00,0.000,3078,0.184,0.059,2382,1951,3093,3182,3004,0,0,0,0,0,0,26.02,26.23,28.83
$GC,7809,-0.58,-97.3,2381,1950,3183,3003,941.5,-10.4,597,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1950,3093,3183,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8109,-0.58,-97.3,2381,1950,3183,3002,971.7,-9.9,612,8110,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1950,3092,3183,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8409,-0.58,-97.3,2382,1950,3183,3002,999.7,-8.9,627,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1950,3092,3183,3002,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8427,begin apogee
$GC,8432,-0.14,0.0,2382,1869,3183,3002,1001.5,-8.9,628,8523,0.47,0.00,87.82,1.769,10246,0.155,0.000,2524,1868,2700,2800,2600,0,0,0,0,0,0,25.91,28.83,23.52
$STATE,8524,end apogee,CONTROL_FINISHED_OK
$STATE,8524,begin climb
$GC,8525,0.58,97.3,2524,1868,2800,2601,1003.7,0.0,632,8631,0.70,2.62,93.65,1.717,10756,0.100,0.077,2764,476,2301,2378,2225,0,0,0,0,0,0,24.60,23.65,22.70
$GC,8654,0.65,155.4,2764,476,2372,2225,995.7,7.8,639,8720,0.00,2.45,58.88,1.677,9222,0.000,0.060,2764,1874,2066,2148,1984,0,0,0,0,0,0,28.83,24.17,22.51
$GC,9034,0.65,155.4,2764,1874,2139,1969,944.8,13.6,658,9039,0.00,2.38,0.00,0.000,260,0.000,0.068,2764,3290,2053,2138,1969,0,0,0,0,0,0,28.83,25.27,28.83
$GC,9114,0.65,155.4,2764,3291,2136,1969,933.6,14.0,662,9120,0.00,2.35,0.00,0.000,1030,0.000,0.064,2774,1883,2052,2136,1969,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9434,0.65,155.4,2774,1882,2136,1967,892.0,12.6,678,9439,0.00,2.33,0.00,0.000,260,0.000,0.069,2774,3291,2051,2136,1967,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9466,0.65,155.4,2775,3291,2135,1966,889.4,12.6,679,9473,0.00,2.35,0.00,0.000,1030,0.000,0.064,2785,1866,2051,2135,1967,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9773,0.65,155.4,2785,1866,2135,1966,848.2,12.6,695,9775,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1866,2050,2135,1966,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10074,0.65,155.4,2785,1866,2135,1965,810.7,12.5,710,10080,0.00,2.33,0.00,0.000,516,0.000,0.081,2796,462,2049,2135,1964,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10121,0.65,155.4,2796,462,2134,1965,805.3,13.0,712,10126,0.00,2.30,0.00,0.000,1030,0.000,0.063,2796,1882,2049,2134,1965,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10428,0.65,155.4,2795,1882,2133,1964,762.8,13.8,727,10434,0.00,2.28,0.00,0.000,260,0.000,0.070,2796,3288,2048,2133,1964,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10511,0.65,155.4,2795,3288,2132,1964,751.3,14.4,731,10515,0.00,2.30,0.00,0.000,1030,0.000,0.064,2806,1869,2048,2132,1964,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10828,0.65,155.4,2806,1868,2132,1964,705.3,14.1,747,10830,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1868,2048,2133,1963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11128,0.65,155.4,2806,1868,2132,1963,662.0,14.3,762,11130,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1868,2047,2132,1963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11428,0.65,155.4,2806,1868,2132,1963,618.7,14.5,777,11432,0.00,2.33,0.00,0.000,260,0.000,0.069,2806,3293,2047,2132,1962,0,0,0,0,0,0,28.83,26.14,28.83
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$GC,12839,0.65,155.4,1920,461,2091,1956,435.2,12.8,848,12843,0.00,2.33,0.00,0.000,1030,0.000,0.063,2812,1880,2045,2130,1961,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,16355,end climb,SURFACE_DEPTH_REACHED
$STATE,16355,begin surface coast
$FINISH,0.2,1.026628
$STATE,16377,end surface coast,CONTROL_FINISHED_OK
$STATE,16377,begin surface
$SM_CCo,16451,0.00,0.000,0,0,2044,160.67
$SM_GC,2.37,6.70,0.15,0.00,0.034,0.093,0.000,163,1960,2044,-7.41,-0.54,160.67,0,0,0,0,0,0,26.40,26.39,28.83
$IRIDIUM_FIX,-4244.98,834.47,130609,090910
$TT8_MAMPS,0.021721,0.021721
$HUMID,60.19
$INTERNAL_PRESSURE,9.40433
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,22.5,24.896
$10V_AH,10.1,15.992
$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
$DEVICE_SECS,17.350,123.525,240.350,0.000,0.000,43.670,38.133,195.382,0.000,0.000,19.802,3264.881,10289.716,406.520,2777.779,187.430,0.000,1584.981,0.000,2309.399,0.000,1.009,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,903.168,262.850,832.339,383.160,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353164
$DATA_FILE_SIZE,83812,1261
$CAP_FILE_SIZE,156642,0
$CFSIZE,259252224,246673408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.136, 19.4,1
$GPS,170816,051513,-4303.822,832.039,169,2.4,189,-25.1