version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 551
start: 11 8 116 6 51 8
data:
$ID,542
$MISSION,14
$DIVE,551
$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,353
$T_MISSION,395
$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,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-42288.695
$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,1887
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2683
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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
$GPS1,081116,064225,-4304.227,830.385,64,0.9,64,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-67.4
$GPS2,081116,065024,-4304.182,830.480,14,1.0,14,-25.1
$SPEED_LIMITS,0.259,0.269
$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,208.4,3303,-16.3,-9.443,-19.31,2668
$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,-0.55,-97.3,148,1965,1915,1803,0.0,0.0,0,69,0.00,0.00,-47.08,0.000,16390,0.000,0.000,144,1965,3080,3148,3012,0,0,0,0,0,0,28.83,28.83,26.44
$GC,72,-0.55,-97.3,144,1965,3148,3012,3.8,-7.0,8,88,8.82,2.30,0.00,0.000,2308,0.213,0.045,2380,3374,3081,3151,3012,0,0,0,0,0,0,24.63,25.74,28.83
$GC,229,-0.55,-97.3,1424,3374,3133,3006,29.5,-8.9,37,237,0.00,2.25,0.00,0.000,1030,0.000,0.042,2380,1955,3083,3157,3010,0,0,0,0,0,0,28.83,25.82,28.83
$GC,361,-0.55,-97.3,1456,1953,3135,3006,43.3,-11.7,62,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1955,3084,3158,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,671,-0.55,-97.3,1456,1954,3135,3006,77.8,-11.9,123,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1955,3084,3158,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,981,-0.55,-97.3,2380,1955,3158,3010,112.3,-10.9,173,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1955,3084,3158,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1283,-0.55,-97.3,2380,1955,3159,3010,147.1,-11.3,203,1292,0.00,2.22,0.00,0.000,260,0.000,0.050,2370,3362,3084,3158,3010,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1367,-0.55,-97.3,2370,3362,3159,3010,156.9,-11.8,211,1374,0.00,2.22,0.00,0.000,1030,0.000,0.041,2370,1948,3084,3159,3010,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1675,-0.55,-97.3,2370,1947,3159,3010,195.3,-12.0,242,1685,0.00,2.25,0.00,0.000,516,0.000,0.054,2370,543,3084,3159,3010,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1737,-0.55,-97.3,2370,543,3159,3010,203.0,-12.3,248,1748,0.12,2.17,0.00,0.000,3078,0.161,0.043,2391,1952,3084,3159,3010,0,0,0,0,0,0,25.66,25.95,28.83
$GC,2048,-0.55,-97.3,2390,1952,3160,3010,236.9,-11.1,279,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1952,3085,3160,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2351,-0.55,-97.3,2390,1953,3160,3010,271.7,-11.5,309,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1952,3085,3160,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2661,-0.55,-97.3,2390,1952,3161,3010,305.6,-10.7,340,2670,0.00,2.20,0.00,0.000,260,0.000,0.050,2381,3365,3085,3161,3010,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2702,-0.55,-97.3,2381,3365,3160,3010,310.5,-11.0,344,2712,0.00,2.20,0.00,0.000,1030,0.000,0.041,2381,1953,3085,3161,3010,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3014,-0.55,-97.3,2381,1953,3161,3010,344.7,-11.1,375,3023,0.00,2.25,0.00,0.000,516,0.000,0.054,2381,542,3085,3161,3010,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3068,-0.55,-97.3,2381,542,3161,3010,350.8,-11.7,380,3076,0.00,2.22,0.00,0.000,1030,0.000,0.043,2372,1952,3085,3161,3010,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3376,-0.55,-97.3,2371,1952,3161,3010,385.6,-11.1,411,3384,0.00,2.20,0.00,0.000,260,0.000,0.050,2361,3366,3085,3161,3010,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3503,-0.55,-97.3,2360,3366,3161,3010,398.8,-10.5,423,3510,0.12,2.20,0.00,0.000,3078,0.150,0.041,2392,1953,3085,3161,3010,0,0,0,0,0,0,25.68,25.93,28.83
$GC,3820,-0.55,-97.3,2391,1953,3161,3010,427.4,-9.0,440,3826,0.00,2.22,0.00,0.000,516,0.000,0.055,2392,552,3085,3161,3010,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3862,-0.55,-97.3,1544,552,3142,3006,431.2,-9.3,442,3866,0.00,2.17,0.00,0.000,1030,0.000,0.044,2383,1959,3085,3161,3010,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4176,-0.55,-97.3,2383,1959,3161,3010,459.9,-9.0,458,4181,0.00,2.20,0.00,0.000,260,0.000,0.050,2373,3370,3085,3161,3010,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4236,-0.55,-97.3,2373,3371,3161,3010,465.4,-9.2,461,4241,0.00,2.17,0.00,0.000,1030,0.000,0.041,2373,1958,3085,3161,3010,0,0,0,0,0,0,28.83,25.92,28.83
$GC,4555,-0.55,-97.3,2373,1957,3161,3010,496.3,-9.7,477,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1957,3085,3161,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4854,-0.55,-97.3,2372,1957,3161,3009,525.5,-9.9,492,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1957,3085,3161,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5154,-0.55,-97.3,2373,1957,3161,3007,555.5,-10.4,507,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1957,3084,3161,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5455,-0.55,-97.3,2373,1957,3161,3006,588.3,-11.2,522,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1957,3083,3161,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5754,-0.55,-97.3,2373,1957,3161,3005,621.6,-11.0,537,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1957,3083,3161,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6054,-0.55,-97.3,2372,1957,3161,3005,653.4,-10.7,552,6060,0.00,2.30,0.00,0.000,516,0.000,0.057,2373,541,3083,3161,3005,0,0,0,0,0,0,28.83,25.71,28.83
$GC,6117,-0.55,-97.3,1504,541,3141,3001,660.0,-11.1,555,6122,0.12,2.20,0.00,0.000,3078,0.162,0.046,2393,1954,3083,3161,3005,0,0,0,0,0,0,25.62,25.90,28.83
$GC,6430,-0.55,-97.3,2393,1954,3161,3004,688.9,-8.8,571,6436,0.00,2.25,0.00,0.000,260,0.000,0.053,2384,3375,3082,3161,3004,0,0,0,0,0,0,28.83,25.78,28.83
$GC,6494,-0.55,-97.3,1512,3374,3140,3000,694.2,-8.7,574,6498,0.00,2.25,0.00,0.000,1030,0.000,0.043,2384,1947,3082,3161,3004,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6806,-0.55,-97.3,2384,1946,3162,3002,722.4,-8.7,590,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1946,3082,3162,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7106,-0.55,-97.3,2384,1946,3162,3002,748.7,-8.8,605,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1946,3082,3162,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7407,-0.55,-97.3,2384,1946,3162,3002,775.8,-9.1,620,7408,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1946,3082,3162,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7706,-0.55,-97.3,2384,1946,3162,3002,803.1,-9.2,635,7712,0.00,2.30,0.00,0.000,516,0.000,0.059,2384,539,3082,3162,3002,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7746,-0.55,-97.3,2383,538,3162,3002,807.1,-9.5,637,7752,0.00,2.20,0.00,0.000,1030,0.000,0.047,2374,1954,3082,3162,3002,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8065,-0.55,-97.3,2374,1954,3162,3001,838.4,-9.8,653,8071,0.00,2.25,0.00,0.000,260,0.000,0.054,2364,3374,3081,3162,3001,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8129,-0.55,-97.3,2364,3373,3162,3001,844.4,-9.9,656,8134,0.12,2.25,0.00,0.000,3078,0.152,0.044,2394,1949,3081,3162,3001,0,0,0,0,0,0,25.61,25.84,28.83
$GC,8443,-0.55,-97.3,2394,1949,3163,3001,871.5,-8.1,672,8448,0.00,2.30,0.00,0.000,516,0.000,0.060,2394,543,3081,3162,3001,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8502,-0.55,-97.3,2394,543,3162,3001,876.7,-8.5,675,8507,0.00,2.22,0.00,0.000,1030,0.000,0.047,2386,1962,3081,3161,3001,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8823,-0.55,-97.3,2385,1962,3162,3000,904.1,-8.5,691,8828,0.00,2.22,0.00,0.000,260,0.000,0.054,2376,3369,3081,3162,3000,0,0,0,0,0,0,28.83,25.74,28.83
$GC,8905,-0.55,-97.3,2375,3369,3162,3000,911.1,-8.7,695,8909,0.00,2.25,0.00,0.000,1030,0.000,0.044,2375,1949,3081,3162,3000,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9217,-0.55,-97.3,2375,1949,3162,3000,940.5,-9.8,711,9223,0.00,2.28,0.00,0.000,516,0.000,0.060,2376,540,3081,3162,3000,0,0,0,0,0,0,28.83,25.61,28.83
$GC,9244,-0.55,-97.3,2375,540,3162,3000,942.6,-9.8,712,9249,0.12,2.22,0.00,0.000,3078,0.163,0.047,2396,1956,3081,3162,3000,0,0,0,0,0,0,25.56,25.82,28.83
$GC,9552,-0.55,-97.3,2395,1957,3162,2999,969.3,-8.1,727,9558,0.00,2.25,0.00,0.000,260,0.000,0.054,2386,3369,3080,3162,2999,0,0,0,0,0,0,28.83,25.71,28.83
$GC,9613,-0.55,-97.3,2386,3369,3162,2999,974.3,-8.3,730,9618,0.00,2.20,0.00,0.000,1030,0.000,0.045,2387,1961,3080,3162,2999,0,0,0,0,0,0,28.83,25.81,28.83
$STATE,9930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9930,begin apogee
$GC,9936,-0.14,0.0,2386,1878,3162,2998,1001.4,-8.5,746,10033,0.45,0.00,94.18,1.859,10246,0.131,0.000,2525,1877,2683,2761,2605,0,0,0,0,0,0,25.36,28.83,21.89
$STATE,10034,end apogee,CONTROL_FINISHED_OK
$STATE,10034,begin climb
$GC,10038,0.55,97.3,2524,1877,2761,2604,1005.2,0.0,751,10142,0.65,0.00,101.25,1.737,10502,0.079,0.000,2746,1878,2285,2358,2213,0,0,0,0,0,0,24.10,28.83,21.17
$GC,10432,0.62,164.5,2747,1877,2355,2203,985.0,6.9,771,10504,0.00,2.50,66.10,1.754,8452,0.000,0.055,2747,3303,2012,2088,1937,0,0,0,0,0,0,28.83,24.27,22.46
$GC,10601,0.62,164.5,2747,3303,2080,1933,970.9,9.9,778,10608,0.00,2.33,0.00,0.000,1030,0.000,0.050,2757,1897,2007,2081,1933,0,0,0,0,0,0,28.83,25.22,28.83
$GC,10907,0.62,164.5,2757,1897,2080,1927,940.3,9.5,794,10908,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1897,2003,2080,1927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11207,0.62,171.8,2757,1897,2080,1926,912.8,9.2,809,11219,0.00,2.28,6.97,1.623,8452,0.000,0.054,2757,3301,1982,2060,1904,0,0,0,0,0,0,28.83,25.80,23.64
$GC,11255,0.63,178.5,2757,3302,2059,1904,909.5,9.2,810,11269,0.00,2.28,8.23,1.611,9222,0.000,0.050,2767,1886,1956,2033,1880,0,0,0,0,0,0,28.83,25.82,23.49
$GC,11584,0.63,178.5,2767,1886,2030,1877,877.3,9.6,827,11585,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1887,1954,2031,1877,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,17073,0.64,189.5,2779,1883,2025,1873,265.2,9.0,1165,17091,0.00,0.00,11.38,1.618,8198,0.000,0.000,2779,1883,1910,1985,1835,0,0,0,0,0,0,28.83,28.83,23.72
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$STATE,19655,end climb,SURFACE_DEPTH_REACHED
$STATE,19655,begin surface coast
$FINISH,-0.0,1.026327
$STATE,19685,end surface coast,CONTROL_FINISHED_OK
$STATE,19685,begin surface
$SM_CCo,19761,0.00,0.000,0,0,1694,242.35
$SM_GC,1.24,6.75,0.12,0.00,0.030,0.086,0.000,150,1961,1694,-7.42,-0.76,242.35,0,0,0,0,0,0,25.99,26.11,28.83
$IRIDIUM_FIX,-4244.98,831.55,040909,141432
$TT8_MAMPS,0.021721,0.021721
$HUMID,61.73
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,21.2,84.920
$10V_AH,9.7,57.345
$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
$DEVICE_SECS,17.825,153.225,320.875,0.000,0.000,24.785,22.703,291.400,0.000,0.000,15.906,3898.387,12169.563,505.401,3300.370,369.023,0.000,1910.901,0.000,2755.760,0.000,1.010,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1079.256,314.789,996.104,461.265,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353152
$DATA_FILE_SIZE,100611,1511
$CAP_FILE_SIZE,187126,0
$CFSIZE,259252224,214257664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170,  3.5,1
$GPS,081116,122133,-4304.795,830.639,28,1.0,28,-25.1