version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 141
start: 1 1 116 14 51 55
data:
$ID,542
$MISSION,12
$DIVE,141
$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,-29826.793
$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,24
$R_STBD_OVSHOOT,30
$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
$GPS1,010116,144525,-4301.674,836.404,41,0.9,41,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-74.9
$GPS2,010116,145129,-4301.621,836.487,19,1.1,19,-25.1
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT4
$TGT_LATLONG,-4304.000,836.000
$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,222.7,4455,-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,-146.0,150,2018,1959,1922,0.0,0.0,0,72,0.00,0.00,-55.35,0.000,16386,0.000,0.000,147,2018,3498,3547,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.68,-146.0,147,2018,3547,3453,4.5,-8.8,7,92,8.25,2.22,0.00,0.000,2308,0.216,0.050,2333,3406,3501,3547,3455,0,0,0,0,0,0,25.45,25.94,28.83
$GC,138,-0.68,-146.0,2332,3407,3548,3456,25.3,-17.3,16,147,0.00,2.28,0.00,0.000,1030,0.000,0.053,2333,1998,3502,3549,3455,0,0,0,0,0,0,28.83,25.94,28.83
$GC,289,-0.68,-146.0,2331,1997,3550,3455,51.2,-17.0,41,297,0.00,2.28,0.00,0.000,516,0.000,0.067,2333,585,3502,3550,3455,0,0,0,0,0,0,28.83,25.94,28.83
$GC,338,-0.68,-146.0,2332,585,3550,3455,59.5,-16.4,49,346,0.00,2.22,0.00,0.000,1030,0.000,0.053,2323,1993,3503,3550,3456,0,0,0,0,0,0,28.83,26.01,28.83
$GC,670,-0.68,-146.0,2322,1993,3551,3455,118.7,-17.6,101,681,0.00,2.28,0.00,0.000,516,0.000,0.065,2322,578,3503,3551,3455,0,0,0,0,0,0,28.83,26.04,28.83
$GC,717,-0.68,-146.0,2323,578,3551,3456,126.4,-18.4,105,726,0.10,2.28,0.00,0.000,3078,0.162,0.053,2344,1993,3503,3551,3456,0,0,0,0,0,0,25.86,26.10,28.83
$GC,1025,-0.68,-146.0,2343,1994,3552,3456,173.2,-14.5,136,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,1994,3503,3552,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1326,-0.68,-146.0,2343,1994,3553,3455,215.8,-14.3,166,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,1994,3503,3552,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1626,-0.68,-146.0,2343,1994,3553,3456,256.3,-13.3,196,1635,0.00,2.25,0.00,0.000,516,0.000,0.065,2344,584,3504,3553,3456,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1658,-0.68,-146.0,2343,584,3553,3456,260.7,-13.7,199,1667,0.00,2.22,0.00,0.000,1030,0.000,0.054,2335,2004,3504,3553,3456,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1969,-0.68,-146.0,2335,2004,3553,3456,305.8,-14.5,230,1977,0.00,2.25,0.00,0.000,516,0.000,0.066,2335,585,3505,3554,3456,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2010,-0.68,-146.0,2335,585,3553,3455,312.1,-14.8,234,2019,0.00,2.22,0.00,0.000,1030,0.000,0.054,2325,2005,3504,3554,3455,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2321,-0.68,-146.0,2325,2005,3554,3456,359.9,-15.8,265,2331,0.00,2.22,0.00,0.000,260,0.000,0.061,2314,3418,3505,3555,3456,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2343,-0.68,-146.0,2314,3418,3554,3456,363.5,-15.7,267,2353,0.12,2.22,0.00,0.000,3078,0.159,0.052,2346,1991,3505,3554,3456,0,0,0,0,0,0,26.09,26.26,28.83
$GC,2655,-0.68,-146.0,2345,1990,3554,3455,406.6,-13.9,296,2661,0.00,2.22,0.00,0.000,516,0.000,0.067,2346,587,3504,3554,3455,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2726,-0.68,-146.0,2346,587,3555,3456,414.9,-14.0,299,2734,0.00,2.25,0.00,0.000,1030,0.000,0.055,2338,1990,3504,3554,3455,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3034,-0.68,-146.0,2337,1990,3554,3455,459.9,-13.9,315,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1991,3504,3554,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3337,-0.68,-146.0,2337,1991,3554,3455,500.2,-13.2,330,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1991,3504,3554,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3634,-0.68,-146.0,2337,1991,3554,3455,539.5,-13.1,345,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1991,3504,3554,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3935,-0.68,-146.0,2337,1991,3554,3455,579.3,-13.3,360,3940,0.00,2.25,0.00,0.000,516,0.000,0.069,2338,588,3504,3554,3455,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3968,-0.68,-146.0,2337,587,3554,3455,582.0,-13.4,361,3977,0.00,2.25,0.00,0.000,1030,0.000,0.057,2327,2005,3504,3553,3455,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4276,-0.68,-146.0,2327,2005,3554,3455,627.2,-13.9,377,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2005,3504,3554,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4577,-0.68,-146.0,2327,2005,3554,3455,666.7,-12.6,392,4582,0.00,2.28,0.00,0.000,516,0.000,0.071,2327,586,3504,3554,3455,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4676,-0.68,-146.0,2327,587,3554,3455,679.6,-12.7,397,4683,0.12,2.22,0.00,0.000,3078,0.184,0.057,2346,1998,3504,3554,3455,0,0,0,0,0,0,26.08,26.29,28.83
$GC,4996,-0.68,-146.0,2346,1998,3554,3456,713.4,-10.6,413,5000,0.00,2.28,0.00,0.000,516,0.000,0.072,2346,589,3504,3554,3455,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5082,-0.68,-146.0,2346,589,3554,3455,721.5,-10.4,417,5086,0.00,2.22,0.00,0.000,1030,0.000,0.059,2338,1994,3504,3554,3455,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5390,-0.68,-146.0,2338,1996,3554,3454,756.4,-11.2,432,5396,0.00,2.28,0.00,0.000,516,0.000,0.072,2338,588,3504,3554,3454,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5470,-0.68,-146.0,2338,588,3553,3454,766.0,-11.9,436,5476,0.00,2.22,0.00,0.000,1030,0.000,0.059,2328,1995,3504,3554,3454,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5790,-0.68,-146.0,2328,1995,3554,3454,804.4,-12.2,452,5795,0.00,2.25,0.00,0.000,516,0.000,0.072,2328,589,3504,3554,3454,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5893,-0.68,-146.0,2328,589,3554,3454,817.5,-12.5,457,5900,0.12,2.22,0.00,0.000,3078,0.183,0.058,2347,1999,3504,3554,3454,0,0,0,0,0,0,26.08,26.28,28.83
$GC,6214,-0.68,-146.0,2347,1999,3554,3453,851.6,-10.5,473,6219,0.00,2.28,0.00,0.000,516,0.000,0.073,2347,589,3503,3554,3452,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6286,-0.68,-146.0,2347,589,3554,3452,858.2,-10.9,476,6296,0.00,2.25,0.00,0.000,1030,0.000,0.060,2339,1999,3503,3554,3452,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6595,-0.68,-146.0,2339,2000,3554,3451,891.9,-10.1,492,6600,0.00,2.28,0.00,0.000,516,0.000,0.073,2339,588,3502,3554,3451,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6667,-0.68,-146.0,2338,588,3554,3451,898.3,-10.5,495,6677,0.00,2.25,0.00,0.000,1030,0.000,0.060,2329,1997,3502,3554,3450,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6975,-0.68,-146.0,2328,1997,3554,3451,935.5,-12.0,511,6976,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1997,3502,3553,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7277,-0.68,-146.0,2328,1998,3553,3451,971.4,-12.0,526,7283,0.00,2.28,0.00,0.000,516,0.000,0.073,2329,585,3502,3553,3451,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7308,-0.68,-146.0,2328,585,3553,3450,973.9,-12.2,527,7316,0.12,2.25,0.00,0.000,3078,0.177,0.061,2348,1994,3501,3552,3451,0,0,0,0,0,0,26.08,26.26,28.83
$STATE,7556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7556,begin apogee
$GC,7560,-0.14,0.0,2348,1860,3552,3450,1001.6,-10.5,540,7695,0.55,0.00,131.23,1.805,10246,0.132,0.000,2523,1859,2908,2981,2836,0,0,0,0,0,0,26.05,28.83,23.20
$STATE,7696,end apogee,CONTROL_FINISHED_OK
$STATE,7697,begin climb
$GC,7698,0.68,146.0,2523,1859,2982,2836,1007.9,0.0,547,7848,0.77,2.67,141.15,1.769,10500,0.052,0.066,2805,3285,2312,2373,2251,0,0,0,0,0,0,24.32,23.37,22.39
$GC,7998,0.68,146.0,1928,3284,2330,2238,983.1,16.5,562,8002,0.00,2.45,0.00,0.000,1030,0.000,0.059,2816,1875,2307,2370,2244,0,0,0,0,0,0,28.83,24.75,28.83
$GC,8316,0.68,146.0,2816,1874,2370,2238,930.6,16.8,578,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1875,2303,2369,2238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8615,0.68,146.0,2815,1875,2370,2235,881.4,16.2,593,8619,0.00,2.33,0.00,0.000,260,0.000,0.067,2815,3284,2302,2369,2235,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8700,0.68,146.0,2815,3285,2369,2235,868.6,16.8,597,8705,0.15,2.30,0.00,0.000,5126,0.222,0.059,2792,1864,2302,2369,2235,0,0,0,0,0,0,25.58,25.84,28.83
$GC,9006,0.68,146.0,2792,1863,2369,2234,821.9,15.0,612,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1863,2301,2369,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9307,0.68,146.0,2792,1863,2369,2234,778.2,14.1,627,9308,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1862,2301,2369,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9607,0.68,146.0,2792,1863,2369,2233,736.9,13.6,642,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1862,2301,2369,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9906,0.68,146.0,2792,1863,2369,2232,697.2,13.1,657,9910,0.00,2.30,0.00,0.000,260,0.000,0.067,2782,3288,2300,2369,2232,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9963,0.68,146.0,2782,3288,2368,2232,689.7,13.3,660,9967,0.00,2.28,0.00,0.000,1030,0.000,0.058,2791,1861,2300,2369,2232,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10279,0.68,146.0,2791,1861,2368,2232,648.4,13.2,676,10285,0.00,2.30,0.00,0.000,260,0.000,0.067,2791,3287,2300,2368,2232,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10332,0.68,146.0,2792,3287,2368,2232,642.9,13.5,678,10339,0.00,2.28,0.00,0.000,1030,0.000,0.059,2802,1868,2300,2368,2232,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10640,0.68,146.0,2801,1868,2368,2232,600.2,13.1,694,10641,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1868,2300,2368,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10939,0.68,146.0,2801,1868,2368,2231,560.8,12.9,709,10940,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1867,2299,2368,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11240,0.68,146.0,2802,1868,2368,2231,522.5,12.7,724,11241,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1868,2299,2368,2231,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,13120,0.68,146.0,2812,1869,2367,2231,295.8,11.6,864,13129,0.00,2.28,0.00,0.000,260,0.000,0.066,2812,3293,2299,2367,2231,0,0,0,0,0,0,28.83,26.28,28.83
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$STATE,15757,end climb,SURFACE_DEPTH_REACHED
$STATE,15758,begin surface coast
$FINISH,-0.1,1.026432
$STATE,15790,end surface coast,CONTROL_FINISHED_OK
$STATE,15791,begin surface
$SM_CCo,15806,31.50,0.149,0,0,1969,230.09
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$IRIDIUM_FIX,-4244.98,834.47,271008,232356
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.12
$INTERNAL_PRESSURE,9.05275
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.4,25.982
$10V_AH,10.1,20.939
$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,17.400,118.575,273.600,31.500,0.000,22.540,32.798,190.716,49.250,0.000,19.960,3169.158,9409.039,474.443,2958.891,188.356,0.000,1608.848,0.000,2469.766,0.000,297.619,0.000
$DEVICE_MAMPS,221.850,82.620,1804.635,149.175,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,839.297,77.411,713.901,1801.255,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352676
$DATA_FILE_SIZE,77036,1198
$CAP_FILE_SIZE,165840,0
$CFSIZE,259248128,247312384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.077, 71.0,1
$GPS,010116,191727,-4303.402,836.754,58,0.9,58,-25.1