version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 244
start: 1 20 116 15 30 43
data:
$ID,542
$MISSION,12
$DIVE,244
$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,-29956.596
$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,22
$R_STBD_OVSHOOT,24
$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
$GPS1,200116,152131,-4304.658,829.426,122,0.9,122,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-76.6
$GPS2,200116,153016,-4304.651,829.543,21,1.2,21,-25.0
$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,259.7,7596,-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,-146.0,163,1991,1969,1922,0.0,0.0,0,66,0.00,0.00,-48.55,0.000,16386,0.000,0.000,163,1991,3298,3364,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.68,-146.0,163,1991,3364,3232,3.5,-5.8,6,87,8.27,2.35,-4.12,0.000,18948,0.210,0.069,2343,578,3508,3561,3455,0,0,0,0,0,0,25.07,25.67,26.20
$GC,133,-0.68,-146.0,2343,578,3563,3456,23.6,-19.2,15,141,0.00,2.30,0.00,0.000,1030,0.000,0.050,2335,1995,3509,3563,3456,0,0,0,0,0,0,28.83,25.67,28.83
$GC,288,-0.68,-146.0,2335,1995,3564,3456,47.5,-15.9,40,297,0.00,2.33,0.00,0.000,516,0.000,0.060,2335,584,3510,3564,3456,0,0,0,0,0,0,28.83,25.63,28.83
$GC,322,-0.68,-146.0,2335,584,3564,3456,52.7,-16.4,45,329,0.00,2.28,0.00,0.000,1030,0.000,0.050,2325,1993,3510,3564,3456,0,0,0,0,0,0,28.83,25.74,28.83
$GC,657,-0.68,-146.0,2325,1993,3565,3457,107.1,-15.2,102,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1993,3511,3565,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,958,-0.68,-146.0,2325,1993,3567,3458,150.6,-13.9,132,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,1993,3512,3566,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1258,-0.68,-146.0,2325,1993,3567,3458,193.7,-14.0,162,1267,0.00,2.28,0.00,0.000,516,0.000,0.060,2325,580,3512,3566,3459,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1293,-0.68,-146.0,2325,579,3566,3459,198.5,-14.6,165,1301,0.10,2.28,0.00,0.000,3078,0.147,0.050,2346,1991,3512,3566,3459,0,0,0,0,0,0,25.61,25.91,28.83
$GC,1601,-0.68,-146.0,2346,1991,3566,3459,234.5,-11.7,196,1615,0.00,2.28,0.00,0.000,516,0.000,0.060,2346,578,3512,3566,3459,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1658,-0.68,-146.0,2346,578,3567,3459,241.2,-12.3,201,1667,0.00,2.25,0.00,0.000,1030,0.000,0.050,2338,2009,3513,3567,3459,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1967,-0.68,-146.0,2338,2010,3566,3459,279.6,-12.4,232,1978,0.00,2.30,0.00,0.000,516,0.000,0.060,2338,580,3513,3567,3459,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2034,-0.68,-146.0,2338,579,3567,3459,287.8,-12.8,238,2041,0.00,2.25,0.00,0.000,1030,0.000,0.050,2328,2004,3513,3567,3460,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2342,-0.68,-146.0,2328,2005,3566,3459,328.5,-13.2,269,2351,0.00,2.30,0.00,0.000,516,0.000,0.061,2328,584,3512,3566,3459,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2396,-0.68,-146.0,2328,583,3567,3459,335.6,-13.6,274,2405,0.08,2.20,0.00,0.000,3078,0.148,0.050,2343,1992,3512,3566,3459,0,0,0,0,0,0,25.71,25.95,28.83
$GC,2707,-0.68,-146.0,2343,1993,3566,3460,375.7,-13.2,305,2715,0.00,2.25,0.00,0.000,516,0.000,0.061,2343,585,3513,3567,3459,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2758,-0.68,-146.0,2343,585,3566,3460,383.0,-13.4,310,2767,0.00,2.22,0.00,0.000,1030,0.000,0.051,2335,2000,3513,3566,3460,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3069,-0.68,-146.0,2335,2000,3566,3460,425.9,-13.9,332,3075,0.00,2.30,0.00,0.000,516,0.000,0.063,2335,576,3513,3566,3460,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3131,-0.68,-146.0,1536,576,3561,3457,434.4,-14.2,335,3135,0.00,2.25,0.00,0.000,1030,0.000,0.052,2325,1995,3513,3566,3460,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3449,-0.68,-146.0,2325,1996,3566,3459,481.2,-14.8,351,3455,0.00,2.30,0.00,0.000,516,0.000,0.063,2325,582,3512,3566,3459,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3514,-0.68,-146.0,2324,582,3566,3459,490.5,-15.2,354,3519,0.12,2.25,0.00,0.000,3078,0.164,0.053,2345,2003,3513,3566,3460,0,0,0,0,0,0,25.72,25.94,28.83
$GC,3827,-0.68,-146.0,2344,2004,3567,3459,531.9,-12.8,370,3833,0.00,2.28,0.00,0.000,516,0.000,0.063,2345,586,3512,3566,3459,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3894,-0.68,-146.0,2345,586,3566,3459,539.7,-12.8,373,3898,0.00,2.22,0.00,0.000,1030,0.000,0.054,2337,1993,3513,3567,3459,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4202,-0.68,-146.0,2336,1994,3566,3459,580.9,-13.1,388,4208,0.00,2.28,0.00,0.000,516,0.000,0.064,2336,580,3512,3566,3459,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4234,-0.68,-146.0,2336,580,3567,3459,583.6,-13.2,389,4244,0.00,2.28,0.00,0.000,1030,0.000,0.054,2327,2003,3512,3566,3459,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4543,-0.68,-146.0,2326,2004,3566,3460,627.0,-13.7,405,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2004,3512,3565,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4843,-0.68,-146.0,2326,2004,3565,3459,666.3,-12.8,420,4848,0.00,2.28,0.00,0.000,516,0.000,0.066,2327,591,3512,3565,3459,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4935,-0.68,-146.0,2327,591,3564,3459,676.5,-12.8,424,4943,0.12,2.25,0.00,0.000,3078,0.167,0.055,2347,1998,3511,3564,3459,0,0,0,0,0,0,25.70,25.91,28.83
$GC,5244,-0.68,-146.0,2347,1999,3564,3459,710.9,-10.4,440,5249,0.00,2.28,0.00,0.000,516,0.000,0.067,2347,590,3512,3564,3460,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5290,-0.68,-146.0,2347,591,3564,3459,715.2,-10.6,442,5294,0.00,2.25,0.00,0.000,1030,0.000,0.055,2339,2003,3511,3564,3459,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5598,-0.68,-146.0,2339,2003,3563,3459,748.6,-10.7,457,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2003,3511,3563,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5898,-0.68,-146.0,2339,2003,3562,3459,781.2,-10.9,472,5904,0.00,2.30,0.00,0.000,516,0.000,0.067,2339,584,3511,3563,3459,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5969,-0.68,-146.0,2339,584,3563,3459,787.9,-11.3,475,5976,0.00,2.28,0.00,0.000,1030,0.000,0.057,2330,2000,3511,3563,3459,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6277,-0.68,-146.0,2329,2000,3562,3459,825.8,-12.3,491,6283,0.00,2.30,0.00,0.000,516,0.000,0.067,2330,587,3510,3562,3459,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6325,-0.68,-146.0,2329,586,3562,3459,831.0,-12.6,493,6330,0.12,2.25,0.00,0.000,3078,0.164,0.057,2350,1994,3510,3561,3459,0,0,0,0,0,0,25.68,25.88,28.83
$GC,6633,-0.68,-146.0,2349,1995,3561,3459,866.3,-11.2,508,6638,0.00,2.28,0.00,0.000,516,0.000,0.067,2350,586,3510,3561,3459,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6676,-0.68,-146.0,2349,586,3560,3459,871.0,-11.5,510,6680,0.00,2.25,0.00,0.000,1030,0.000,0.057,2341,1993,3509,3560,3459,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6987,-0.68,-146.0,2341,1994,3559,3458,908.3,-11.7,526,6993,0.00,2.30,0.00,0.000,516,0.000,0.067,2341,584,3509,3560,3458,0,0,0,0,0,0,28.83,25.73,28.83
$GC,7022,-0.68,-146.0,2341,584,3559,3458,910.8,-11.9,527,7029,0.00,2.28,0.00,0.000,1030,0.000,0.057,2331,2003,3508,3559,3458,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7330,-0.68,-146.0,2331,2003,3558,3457,950.0,-11.9,543,7335,0.00,2.33,0.00,0.000,516,0.000,0.067,2332,578,3507,3558,3457,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7379,-0.68,-146.0,2331,578,3558,3457,955.1,-12.2,545,7384,0.00,2.30,0.00,0.000,1030,0.000,0.057,2322,1986,3507,3558,3457,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7692,-0.68,-146.0,2321,1987,3558,3456,993.8,-11.8,561,7694,0.10,0.00,0.00,0.000,2054,0.180,0.000,2346,1987,3506,3557,3456,0,0,0,0,0,0,26.22,28.83,28.83
$STATE,7773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7773,begin apogee
$GC,7778,-0.14,0.0,2346,1863,3558,3456,1002.0,-10.1,565,7913,0.55,0.00,132.07,1.767,10246,0.125,0.000,2521,1863,2908,2983,2834,0,0,0,0,0,0,25.56,28.83,22.64
$STATE,7914,end apogee,CONTROL_FINISHED_OK
$STATE,7914,begin climb
$GC,7916,0.68,146.0,2521,1863,2983,2835,1007.8,0.0,572,8066,0.77,2.60,139.90,1.730,10756,0.048,0.067,2813,467,2312,2375,2250,0,0,0,0,0,0,23.92,23.33,22.21
$GC,8201,0.68,146.0,2813,467,2367,2246,986.9,16.3,586,8205,0.00,2.40,0.00,0.000,1030,0.000,0.057,2813,1870,2306,2367,2246,0,0,0,0,0,0,28.83,24.57,28.83
$GC,8508,0.68,146.0,2813,1870,2367,2241,936.2,16.0,601,8514,0.00,2.33,0.00,0.000,260,0.000,0.063,2813,3284,2303,2366,2241,0,0,0,0,0,0,28.83,25.38,28.83
$GC,8642,0.68,146.0,2813,3284,2365,2241,916.2,16.5,607,8649,0.15,2.30,0.00,0.000,5126,0.214,0.054,2792,1872,2303,2365,2241,0,0,0,0,0,0,25.17,25.54,28.83
$GC,8948,0.68,146.0,2792,1871,2365,2238,871.1,13.7,623,8954,0.00,2.30,0.00,0.000,260,0.000,0.063,2782,3286,2301,2365,2238,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9021,0.68,146.0,2781,3286,2365,2238,862.5,14.2,626,9028,0.00,2.30,0.00,0.000,1030,0.000,0.054,2790,1862,2301,2365,2238,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9329,0.68,146.0,2790,1862,2365,2237,818.6,13.5,642,9334,0.00,2.33,0.00,0.000,260,0.000,0.063,2786,3297,2301,2365,2237,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9376,0.68,146.0,2786,3296,2365,2237,813.1,13.6,644,9380,0.00,2.30,0.00,0.000,1030,0.000,0.055,2795,1867,2301,2365,2237,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9683,0.68,146.0,2795,1867,2365,2235,771.9,12.7,659,9689,0.00,2.30,0.00,0.000,260,0.000,0.063,2795,3288,2300,2365,2236,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9751,0.68,146.0,2795,3288,2364,2236,763.9,13.3,662,9756,0.00,2.28,0.00,0.000,1030,0.000,0.055,2805,1868,2299,2364,2235,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10058,0.68,146.0,2805,1868,2365,2235,720.9,13.6,677,10064,0.00,2.30,0.00,0.000,260,0.000,0.063,2805,3291,2299,2364,2235,0,0,0,0,0,0,28.83,25.85,28.83
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$GC,12343,0.68,146.0,1856,3287,2320,2228,430.5,12.5,791,12347,0.00,2.28,0.00,0.000,1030,0.000,0.055,2804,1868,2298,2363,2234,0,0,0,0,0,0,28.83,25.90,28.83
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$STATE,15917,end climb,SURFACE_DEPTH_REACHED
$STATE,15918,begin surface coast
$FINISH,-0.1,1.014234
$STATE,15950,end surface coast,CONTROL_FINISHED_OK
$STATE,15950,begin surface
$SM_CCo,15965,21.23,0.152,0,0,1969,230.09
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$IRIDIUM_FIX,-4250.85,823.24,161108,040436
$TT8_MAMPS,0.020972,0.020972
$HUMID,51.77
$INTERNAL_PRESSURE,9.06252
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.2,42.302
$10V_AH,10.0,33.819
$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,17.725,160.725,285.225,21.225,0.000,50.706,84.407,191.720,49.250,0.000,22.944,3229.142,9291.532,499.379,3232.456,253.163,0.000,1759.722,0.000,2658.646,0.000,298.422,0.000
$DEVICE_MAMPS,214.200,84.150,1767.150,152.235,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,843.723,80.172,724.657,1819.127,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352692
$DATA_FILE_SIZE,76902,1207
$CAP_FILE_SIZE,182254,0
$CFSIZE,259248128,238735360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.180, 22.0,1
$GPS,200116,195933,-4304.664,828.242,108,1.0,108,-25.0