version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 113
start: 12 27 115 15 12 0
data:
$ID,542
$MISSION,12
$DIVE,113
$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,340
$T_MISSION,355
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53125
$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,230
$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,-29791.67
$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,2570
$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,1995
$C_ROLL_CLIMB,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2909
$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,-177.38863
$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,20
$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
$DEVICE2,166
$DEVICE3,115
$DEVICE4,133
$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
$GPS1,271215,150604,-4304.067,834.728,36,1.1,36,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.7
$GPS2,271215,151134,-4304.077,834.817,19,1.7,19,-25.1
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT1
$TGT_LATLONG,-4304.000,824.000
$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,252.3,14637,-17.9,-9.804,-20.77,2280
$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,-0.68,-146.0,173,2005,1992,1918,0.0,0.0,0,65,0.00,0.00,-47.65,0.000,16386,0.000,0.000,173,2006,3234,3306,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,173,2006,3306,3163,3.1,-5.5,6,87,8.27,2.33,-5.70,0.000,18692,0.228,0.075,2330,3413,3506,3564,3449,0,0,0,0,0,0,25.64,26.00,26.37
$GC,144,-0.68,-146.0,2330,3413,3564,3453,22.1,-15.2,17,153,0.00,2.28,0.00,0.000,1030,0.000,0.054,2330,2000,3508,3564,3453,0,0,0,0,0,0,28.83,26.04,28.83
$GC,296,-0.68,-146.0,1424,1998,3557,3451,47.8,-17.2,42,304,0.00,2.30,0.00,0.000,516,0.000,0.068,2330,581,3508,3564,3453,0,0,0,0,0,0,28.83,26.06,28.83
$GC,370,-0.68,-146.0,2329,581,3563,3453,60.3,-16.1,55,378,0.12,2.22,0.00,0.000,3078,0.186,0.054,2348,1991,3509,3564,3454,0,0,0,0,0,0,25.94,26.10,28.83
$GC,708,-0.68,-146.0,2347,1991,3564,3455,110.4,-14.5,110,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1991,3509,3563,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1006,-0.68,-146.0,2348,1991,3564,3455,154.2,-14.8,140,1017,0.00,2.25,0.00,0.000,516,0.000,0.066,2348,585,3510,3564,3456,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1060,-0.68,-146.0,2348,585,3564,3456,162.0,-14.6,145,1068,0.00,2.22,0.00,0.000,1030,0.000,0.054,2339,2003,3509,3564,3455,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1370,-0.68,-146.0,2339,2004,3564,3456,207.8,-14.4,176,1379,0.00,2.28,0.00,0.000,516,0.000,0.066,2340,578,3510,3564,3456,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1412,-0.68,-146.0,2339,578,3564,3456,214.1,-15.1,180,1424,0.00,2.22,0.00,0.000,1030,0.000,0.053,2330,2001,3510,3564,3456,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1721,-0.68,-146.0,2330,2001,3563,3457,263.0,-16.0,211,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2001,3510,3564,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2022,-0.68,-146.0,2329,2001,3563,3458,309.8,-15.4,241,2031,0.00,2.28,0.00,0.000,516,0.000,0.066,2330,582,3511,3564,3458,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2055,-0.68,-146.0,1568,582,3558,3456,314.8,-15.7,244,2068,0.08,2.25,0.00,0.000,3078,0.161,0.054,2343,1988,3511,3564,3458,0,0,0,0,0,0,26.16,26.32,28.83
$GC,2365,-0.68,-146.0,2344,1989,3564,3458,357.9,-13.2,275,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1989,3511,3564,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2665,-0.68,-146.0,2343,1989,3564,3458,396.2,-12.6,305,2674,0.00,2.25,0.00,0.000,516,0.000,0.067,2344,578,3511,3564,3458,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2708,-0.68,-146.0,2344,578,3565,3459,401.9,-13.0,309,2712,0.00,2.22,0.00,0.000,1030,0.000,0.054,2335,2002,3511,3564,3459,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3024,-0.68,-146.0,2336,2002,3565,3459,443.4,-13.4,325,3028,0.00,2.28,0.00,0.000,516,0.000,0.067,2336,577,3511,3564,3459,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3081,-0.68,-146.0,2335,577,3564,3459,450.7,-13.3,328,3087,0.00,2.22,0.00,0.000,1030,0.000,0.056,2325,1996,3512,3565,3459,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3401,-0.68,-146.0,2325,1996,3564,3459,494.4,-14.2,344,3407,0.00,2.25,0.00,0.000,516,0.000,0.068,2325,587,3512,3565,3459,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3433,-0.68,-146.0,2325,587,3565,3459,497.3,-14.2,345,3441,0.12,2.22,0.00,0.000,3078,0.179,0.057,2345,1998,3511,3564,3459,0,0,0,0,0,0,26.20,26.36,28.83
$GC,3741,-0.68,-146.0,2345,1999,3564,3459,537.4,-12.4,361,3747,0.00,2.28,0.00,0.000,516,0.000,0.069,2345,582,3511,3565,3458,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3768,-0.68,-146.0,2345,583,3565,3459,540.0,-12.6,362,3772,0.00,2.22,0.00,0.000,1030,0.000,0.057,2337,1993,3511,3564,3458,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4080,-0.68,-146.0,2337,1993,3564,3459,584.9,-14.2,378,4084,0.00,2.28,0.00,0.000,516,0.000,0.070,2337,581,3511,3564,3459,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4130,-0.68,-146.0,2336,580,3564,3458,590.1,-14.2,380,4137,0.00,2.28,0.00,0.000,1030,0.000,0.058,2327,1991,3511,3564,3459,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4438,-0.68,-146.0,2327,1991,3564,3458,636.9,-14.9,396,4444,0.00,2.25,0.00,0.000,516,0.000,0.070,2327,587,3511,3564,3459,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4477,-0.68,-146.0,2327,587,3564,3458,642.8,-15.0,398,4484,0.12,2.22,0.00,0.000,3078,0.175,0.058,2347,2001,3511,3564,3458,0,0,0,0,0,0,26.21,26.36,28.83
$GC,4797,-0.68,-146.0,2347,2001,3564,3458,683.4,-12.5,414,4801,0.00,2.28,0.00,0.000,516,0.000,0.070,2347,584,3511,3564,3458,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4835,-0.68,-146.0,2347,584,3564,3458,688.4,-12.7,416,4841,0.00,2.22,0.00,0.000,1030,0.000,0.059,2339,1994,3512,3565,3459,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5155,-0.68,-146.0,2339,1995,3565,3458,729.5,-12.6,432,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1995,3511,3565,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5456,-0.68,-146.0,2339,1995,3564,3458,765.7,-11.9,447,5462,0.00,2.25,0.00,0.000,516,0.000,0.071,2339,588,3511,3564,3458,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5528,-0.68,-146.0,2339,588,3564,3458,773.0,-12.2,450,5538,0.00,2.25,0.00,0.000,1030,0.000,0.059,2329,2001,3511,3564,3458,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5835,-0.68,-146.0,2329,2002,3564,3458,815.2,-13.6,466,5841,0.00,2.30,0.00,0.000,516,0.000,0.072,2329,578,3511,3564,3458,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5879,-0.68,-146.0,2329,578,3563,3458,820.8,-13.9,468,5884,0.08,2.28,0.00,0.000,3078,0.157,0.060,2344,1986,3510,3563,3458,0,0,0,0,0,0,26.21,26.36,28.83
$GC,6197,-0.68,-146.0,2344,1987,3563,3458,859.7,-12.2,484,6203,0.00,2.25,0.00,0.000,516,0.000,0.072,2344,588,3510,3563,3458,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6226,-0.68,-146.0,2344,588,3563,3458,862.2,-12.3,485,6230,0.00,2.22,0.00,0.000,1030,0.000,0.060,2336,1993,3510,3563,3458,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6539,-0.68,-146.0,2335,1994,3562,3458,902.4,-12.4,501,6544,0.00,2.28,0.00,0.000,516,0.000,0.072,2336,583,3510,3563,3458,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6566,-0.68,-146.0,2335,582,3563,3457,905.0,-12.5,502,6570,0.00,2.25,0.00,0.000,1030,0.000,0.060,2325,1998,3510,3563,3458,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6879,-0.68,-146.0,2325,1998,3563,3458,946.4,-13.0,518,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1998,3510,3563,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7179,-0.68,-146.0,2326,1998,3562,3458,984.8,-12.6,533,7184,0.00,2.28,0.00,0.000,516,0.000,0.073,2325,588,3510,3562,3458,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7231,-0.68,-146.0,2325,588,3562,3458,990.0,-12.8,535,7243,0.05,2.28,0.00,0.000,3078,0.134,0.061,2345,1989,3510,3562,3458,0,0,0,0,0,0,26.20,26.36,28.83
$STATE,7318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7318,begin apogee
$GC,7322,-0.14,0.0,2345,1867,3562,3458,1001.4,-11.0,540,7459,0.55,0.00,131.02,1.786,10246,0.135,0.000,2520,1867,2909,2985,2834,0,0,0,0,0,0,26.21,28.83,23.33
$STATE,7460,end apogee,CONTROL_FINISHED_OK
$STATE,7460,begin climb
$GC,7461,0.68,146.0,2520,1867,2985,2834,1008.0,0.0,547,7607,0.77,2.60,138.50,1.753,10500,0.054,0.065,2801,3282,2313,2377,2249,0,0,0,0,0,0,24.43,23.34,22.41
$GC,7738,0.68,146.0,1920,3281,2332,2237,986.8,16.0,561,7742,0.00,2.40,0.00,0.000,1030,0.000,0.057,2810,1874,2307,2372,2243,0,0,0,0,0,0,28.83,24.68,28.83
$GC,8055,0.68,146.0,2811,1874,2372,2237,937.3,15.4,577,8061,0.00,2.35,0.00,0.000,260,0.000,0.067,2811,3285,2304,2371,2237,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8103,0.68,146.0,2811,3285,2371,2237,930.6,16.1,579,8108,0.15,2.33,0.00,0.000,5126,0.221,0.059,2791,1868,2303,2371,2236,0,0,0,0,0,0,25.34,25.53,28.83
$GC,8410,0.68,146.0,2790,1868,2371,2235,882.4,15.2,594,8414,0.00,2.33,0.00,0.000,260,0.000,0.067,2788,3285,2302,2371,2234,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8499,0.68,146.0,2789,3285,2371,2234,870.1,16.1,598,8506,0.00,2.30,0.00,0.000,1030,0.000,0.060,2797,1868,2302,2370,2234,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8806,0.68,146.0,2797,1868,2371,2233,821.8,15.0,614,8812,0.00,2.33,0.00,0.000,260,0.000,0.067,2797,3295,2302,2371,2233,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8839,0.68,146.0,2797,3295,2370,2234,818.7,15.2,615,8846,0.00,2.30,0.00,0.000,1030,0.000,0.060,2808,1868,2301,2370,2233,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9146,0.68,146.0,2807,1868,2370,2233,770.7,14.5,631,9150,0.00,2.30,0.00,0.000,260,0.000,0.067,2808,3294,2301,2370,2233,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9190,0.68,146.0,2807,3294,2370,2233,765.3,14.8,633,9194,0.00,2.33,0.00,0.000,1030,0.000,0.060,2818,1872,2301,2370,2233,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9503,0.68,146.0,2818,1873,2370,2232,717.4,14.8,649,9508,0.00,2.28,0.00,0.000,260,0.000,0.067,2818,3288,2301,2369,2233,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9565,0.68,146.0,1936,3286,2328,2227,707.9,15.6,652,9570,0.12,2.30,0.00,0.000,5126,0.203,0.059,2794,1874,2300,2369,2232,0,0,0,0,0,0,25.96,26.17,28.83
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$GC,12029,0.68,146.0,2803,1877,2368,2231,381.3,12.6,783,12030,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1877,2299,2368,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12331,0.68,146.0,2803,1877,2369,2231,342.9,12.7,813,12339,0.00,2.22,0.00,0.000,260,0.000,0.067,2803,3285,2300,2368,2232,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,15217,end climb,SURFACE_DEPTH_REACHED
$STATE,15217,begin surface coast
$FINISH,-0.2,1.015846
$STATE,15243,end surface coast,CONTROL_FINISHED_OK
$STATE,15244,begin surface
$SM_CCo,15257,32.53,0.148,0,0,1968,230.09
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$IRIDIUM_FIX,-4247.91,834.91,231008,000027
$TT8_MAMPS,0.021721,0.021721
$HUMID,51.73
$INTERNAL_PRESSURE,9.04299
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.4,21.564
$10V_AH,10.1,17.590
$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,17.500,141.450,269.525,32.525,0.000,30.679,26.935,162.101,49.250,0.000,20.374,3135.701,8914.163,471.892,2934.759,167.000,0.000,1610.471,0.000,2469.808,0.000,297.724,0.000
$DEVICE_MAMPS,227.970,86.445,1786.275,148.410,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,820.276,82.917,720.106,1773.397,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352652
$DATA_FILE_SIZE,73789,1171
$CAP_FILE_SIZE,169488,0
$CFSIZE,259248128,249544704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.152, 36.7,1
$GPS,271215,192834,-4304.656,834.001,68,0.9,68,-25.1