version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 281
start: 1 27 116 14 6 28
data:
$ID,542
$MISSION,12
$DIVE,281
$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,-30003.281
$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,25
$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,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
$GPS1,270116,135804,-4300.379,824.263,161,1.0,161,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-69.1
$GPS2,270116,140601,-4300.305,824.344,27,1.2,27,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT2
$TGT_LATLONG,-4256.000,824.000
$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,344.6,7986,-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,14,begin dive
$GC,16,-0.68,-146.0,142,2002,1976,1921,0.0,0.0,0,65,0.00,0.00,-47.05,0.000,16386,0.000,0.000,142,2001,3285,3357,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,142,2001,3357,3216,3.9,-7.2,6,87,8.40,2.35,-4.22,0.000,18948,0.210,0.066,2349,584,3508,3562,3455,0,0,0,0,0,0,25.01,25.65,26.20
$GC,267,-0.68,-146.0,1424,583,3556,3453,47.9,-17.3,38,274,0.00,2.25,0.00,0.000,1030,0.000,0.049,2341,1996,3510,3564,3456,0,0,0,0,0,0,28.83,25.68,28.83
$GC,597,-0.68,-146.0,2341,1996,3565,3457,97.8,-15.2,99,605,0.00,2.30,0.00,0.000,260,0.000,0.055,2330,3412,3511,3565,3457,0,0,0,0,0,0,28.83,25.71,28.83
$GC,614,-0.68,-146.0,2330,3412,3565,3457,99.9,-14.5,101,622,0.00,2.22,0.00,0.000,1030,0.000,0.044,2330,1990,3510,3564,3457,0,0,0,0,0,0,28.83,25.77,28.83
$GC,920,-0.68,-146.0,2330,1989,3565,3459,146.3,-15.7,132,929,0.00,2.22,0.00,0.000,516,0.000,0.059,2330,595,3511,3565,3458,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1008,-0.68,-146.0,2330,595,3565,3459,160.0,-15.2,140,1018,0.08,2.15,0.00,0.000,3078,0.152,0.047,2344,1985,3511,3564,3459,0,0,0,0,0,0,25.58,25.85,28.83
$GC,1316,-0.68,-146.0,2344,1986,3565,3459,204.4,-14.1,171,1326,0.00,2.28,0.00,0.000,260,0.000,0.055,2335,3411,3512,3565,3459,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1348,-0.68,-146.0,2335,3411,3565,3459,209.1,-14.3,174,1353,0.00,2.20,0.00,0.000,1030,0.000,0.044,2335,1997,3512,3565,3459,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1654,-0.68,-146.0,2335,1996,3565,3459,252.1,-14.2,204,1663,0.00,2.28,0.00,0.000,516,0.000,0.059,2335,580,3512,3566,3459,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1759,-0.68,-146.0,2335,580,3565,3460,267.0,-13.7,214,1768,0.00,2.22,0.00,0.000,1030,0.000,0.047,2325,2005,3512,3565,3459,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2069,-0.68,-146.0,2325,2004,3565,3460,313.4,-15.2,245,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2005,3512,3565,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2368,-0.68,-146.0,2325,2004,3565,3460,357.6,-14.3,275,2378,0.00,2.28,0.00,0.000,516,0.000,0.059,2325,579,3512,3565,3460,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2393,-0.68,-146.0,2325,579,3565,3460,360.8,-14.6,277,2401,0.10,2.28,0.00,0.000,3078,0.145,0.049,2347,1993,3512,3565,3460,0,0,0,0,0,0,25.59,25.91,28.83
$GC,2702,-0.68,-146.0,2346,1993,3565,3460,399.1,-11.9,308,2712,0.00,2.28,0.00,0.000,516,0.000,0.060,2347,586,3513,3566,3460,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2766,-0.68,-146.0,2346,586,3565,3459,406.6,-12.1,312,2771,0.00,2.20,0.00,0.000,1030,0.000,0.050,2339,1998,3512,3565,3460,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3085,-0.68,-146.0,2338,1998,3565,3460,444.6,-11.9,328,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,1998,3512,3566,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3385,-0.68,-146.0,2338,1998,3565,3460,479.3,-11.4,343,3391,0.00,2.25,0.00,0.000,516,0.000,0.062,2338,591,3512,3565,3460,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3447,-0.68,-146.0,2338,591,3565,3460,486.3,-11.5,346,3452,0.00,2.28,0.00,0.000,1030,0.000,0.051,2329,1997,3512,3565,3459,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3765,-0.68,-146.0,2328,1997,3565,3460,524.9,-12.4,362,3771,0.00,2.28,0.00,0.000,516,0.000,0.063,2329,588,3512,3565,3459,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3793,-0.68,-146.0,2328,588,3565,3459,527.5,-12.5,363,3798,0.12,2.25,0.00,0.000,3078,0.168,0.051,2348,2006,3512,3565,3460,0,0,0,0,0,0,25.63,25.86,28.83
$GC,4101,-0.68,-146.0,2348,2007,3565,3459,561.1,-10.5,378,4107,0.00,2.30,0.00,0.000,516,0.000,0.063,2348,586,3512,3565,3460,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4115,-0.68,-146.0,2348,587,3565,3460,561.1,-10.5,378,4121,0.00,2.25,0.00,0.000,1030,0.000,0.051,2339,2003,3512,3565,3459,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4422,-0.68,-146.0,2339,2003,3565,3459,597.3,-11.6,394,4428,0.00,2.30,0.00,0.000,516,0.000,0.063,2340,585,3512,3565,3459,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4462,-0.68,-146.0,2339,585,3565,3459,602.2,-11.9,396,4467,0.00,2.20,0.00,0.000,1030,0.000,0.053,2330,1987,3512,3565,3459,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4781,-0.68,-146.0,2330,1988,3564,3459,642.3,-12.7,412,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1988,3511,3564,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5082,-0.68,-146.0,2330,1988,3563,3460,681.9,-13.3,427,5088,0.00,2.25,0.00,0.000,516,0.000,0.063,2330,591,3511,3563,3459,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5113,-0.68,-146.0,2330,591,3563,3459,684.6,-13.5,428,5122,0.12,2.25,0.00,0.000,3078,0.169,0.053,2350,1996,3511,3563,3459,0,0,0,0,0,0,25.60,25.84,28.83
$GC,5421,-0.68,-146.0,2349,1996,3563,3460,721.2,-11.1,444,5427,0.00,2.28,0.00,0.000,516,0.000,0.064,2349,588,3511,3563,3459,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5461,-0.68,-146.0,2349,588,3563,3459,725.8,-11.2,446,5467,0.00,2.25,0.00,0.000,1030,0.000,0.054,2342,2002,3511,3563,3459,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5781,-0.68,-146.0,2341,2002,3562,3459,762.4,-11.5,462,5787,0.00,2.30,0.00,0.000,516,0.000,0.063,2341,582,3510,3562,3459,0,0,0,0,0,0,28.83,25.66,28.83
$GC,5825,-0.68,-146.0,2341,582,3562,3459,767.0,-11.6,464,5829,0.00,2.30,0.00,0.000,1030,0.000,0.054,2332,1993,3510,3562,3459,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6143,-0.68,-146.0,2331,1993,3562,3459,804.8,-11.8,480,6149,0.00,2.28,0.00,0.000,516,0.000,0.065,2332,589,3510,3561,3459,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6177,-0.68,-146.0,2331,589,3561,3459,807.3,-11.9,481,6184,0.00,2.25,0.00,0.000,1030,0.000,0.054,2322,1995,3510,3561,3459,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6485,-0.68,-146.0,2321,1996,3560,3459,846.6,-12.0,497,6491,0.12,2.30,0.00,0.000,2564,0.176,0.064,2357,586,3509,3560,3459,0,0,0,0,0,0,25.97,25.64,28.83
$GC,6525,-0.68,-146.0,2357,586,3560,3459,850.8,-11.3,499,6530,0.00,2.25,0.00,0.000,1030,0.000,0.055,2349,1997,3509,3559,3459,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6846,-0.68,-146.0,2349,1997,3558,3459,879.9,-9.0,515,6852,0.00,2.28,0.00,0.000,516,0.000,0.067,2349,593,3508,3558,3459,0,0,0,0,0,0,28.83,25.61,28.83
$GC,6878,-0.68,-146.0,2349,594,3557,3459,881.8,-9.2,516,6884,0.00,2.25,0.00,0.000,1030,0.000,0.056,2339,1998,3508,3558,3459,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7187,-0.68,-146.0,2339,1998,3558,3458,912.9,-9.7,532,7192,0.00,2.28,0.00,0.000,516,0.000,0.067,2340,590,3507,3557,3457,0,0,0,0,0,0,28.83,25.62,28.83
$GC,7213,-0.68,-146.0,2339,590,3557,3457,914.8,-9.7,533,7217,0.00,2.25,0.00,0.000,1030,0.000,0.055,2330,1995,3507,3557,3458,0,0,0,0,0,0,28.83,25.78,28.83
$GC,7522,-0.68,-146.0,2330,1996,3557,3457,947.1,-10.3,548,7528,0.00,2.28,0.00,0.000,516,0.000,0.066,2330,591,3506,3556,3457,0,0,0,0,0,0,28.83,25.62,28.83
$GC,7564,-0.68,-146.0,2330,590,3556,3457,951.4,-10.7,550,7569,0.08,2.30,0.00,0.000,3078,0.150,0.055,2345,2001,3507,3557,3457,0,0,0,0,0,0,25.53,25.81,28.83
$GC,7883,-0.68,-146.0,2344,2001,3556,3456,980.8,-9.3,566,7889,0.00,2.30,0.00,0.000,516,0.000,0.066,2345,587,3506,3556,3456,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7923,-0.68,-146.0,2344,587,3556,3456,984.8,-9.7,568,7928,0.00,2.22,0.00,0.000,1030,0.000,0.056,2337,1991,3506,3556,3456,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,8083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8083,begin apogee
$GC,8087,-0.14,0.0,2337,1866,3555,3456,1000.9,-10.4,576,8224,0.60,0.00,132.95,1.795,10246,0.131,0.000,2522,1866,2908,2982,2835,0,0,0,0,0,0,25.37,28.83,22.41
$STATE,8225,end apogee,CONTROL_FINISHED_OK
$STATE,8225,begin climb
$GC,8227,0.68,146.0,2522,1866,2982,2836,1006.8,0.0,583,8377,0.75,2.58,140.62,1.757,10500,0.045,0.060,2798,3281,2314,2372,2256,0,0,0,0,0,0,23.80,23.30,22.08
$GC,8708,0.68,146.0,2798,3281,2370,2245,956.6,15.8,606,8712,0.00,2.33,0.00,0.000,1030,0.000,0.055,2809,1875,2307,2370,2245,0,0,0,0,0,0,28.83,25.22,28.83
$GC,9016,0.68,146.0,2809,1875,2368,2243,909.4,14.5,621,9021,0.00,2.30,0.00,0.000,260,0.000,0.061,2809,3297,2305,2368,2243,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9082,0.68,146.0,2809,3297,2368,2243,900.2,15.2,624,9087,0.12,2.33,0.00,0.000,5126,0.214,0.055,2794,1866,2305,2368,2243,0,0,0,0,0,0,25.30,25.63,28.83
$GC,9390,0.68,146.0,2794,1866,2368,2241,857.4,12.9,639,9396,0.00,2.33,0.00,0.000,260,0.000,0.062,2794,3294,2304,2367,2241,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9533,0.68,146.0,1872,3293,2325,2235,838.6,13.4,646,9537,0.00,2.33,0.00,0.000,1030,0.000,0.056,2802,1860,2303,2367,2240,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9845,0.68,146.0,2803,1860,2366,2239,798.8,12.6,662,9851,0.00,2.33,0.00,0.000,260,0.000,0.062,2803,3292,2302,2366,2239,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9868,0.68,146.0,1856,3291,2323,2233,796.2,12.7,663,9873,0.00,2.30,0.00,0.000,1030,0.000,0.055,2813,1865,2302,2366,2239,0,0,0,0,0,0,28.83,25.80,28.83
$GC,10180,0.68,146.0,2813,1865,2366,2239,755.4,12.7,679,10186,0.00,2.30,0.00,0.000,260,0.000,0.063,2813,3286,2302,2366,2239,0,0,0,0,0,0,28.83,25.81,28.83
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$GC,13222,0.68,146.0,2792,3280,2362,2237,378.5,11.2,838,13231,0.00,2.22,0.00,0.000,1030,0.000,0.054,2800,1873,2299,2362,2237,0,0,0,0,0,0,28.83,25.81,28.83
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$STATE,16469,end climb,SURFACE_DEPTH_REACHED
$STATE,16469,begin surface coast
$FINISH,-0.2,1.026175
$STATE,16502,end surface coast,CONTROL_FINISHED_OK
$STATE,16502,begin surface
$SM_CCo,16516,25.10,0.190,0,0,1969,230.09
$SM_GC,3.08,6.82,0.22,25.10,0.034,0.069,0.190,181,2023,1969,-7.41,-0.37,230.09,0,0,0,0,0,0,25.94,26.19,25.56
$IRIDIUM_FIX,-4244.98,822.38,221108,222246
$TT8_MAMPS,0.020972,0.020972
$HUMID,52.28
$INTERNAL_PRESSURE,9.07228
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.1,48.169
$10V_AH,10.0,38.626
$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
$DEVICE_SECS,17.950,187.300,283.525,25.100,0.000,23.730,53.272,250.056,49.250,0.000,28.602,3295.677,9676.922,506.765,3277.145,254.963,0.000,1819.746,0.000,2681.809,0.000,299.087,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,858.170,74.484,691.915,1827.615,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352736
$DATA_FILE_SIZE,80182,1223
$CAP_FILE_SIZE,190961,0
$CFSIZE,259248128,235507712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.161, 60.5,1
$GPS,270116,184404,-4258.504,823.929,78,1.3,78,-25.0