version: 66.11
glider: 615
mission: 5
dive: 114
start: 9 25 115 20 9 41
data:
$ID,615
$MISSION,5
$DIVE,114
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,4
$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,360
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54445
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0035031899
$HD_B,0.0146577
$HD_C,4.3681601e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.2002
$TGT_DEFAULT_LON,-12224.4
$TGT_AUTO_DEFAULT,0
$SM_CC,700
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-18966.938
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,191
$PITCH_MAX,3898
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,32
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,192
$ROLL_MAX,3824
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,510
$VBD_MAX,3960
$C_VBD,2873
$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,3
$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,350
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,11.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-156.51088
$PRESSURE_SLOPE,0.00013730999
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,166
$DEVICE3,147
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044134618
$SEABIRD_T_H,0.00064964173
$SEABIRD_T_I,2.6219326e-05
$SEABIRD_T_J,3.1475095e-06
$SEABIRD_C_G,-9.8766012
$SEABIRD_C_H,1.1351171
$SEABIRD_C_I,-0.0017266128
$SEABIRD_C_J,0.00019839592
$GPS1,250915,195604,1801.951,8933.431,37,0.9,37,-0.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.4
$GPS2,250915,200915,1801.952,8933.436,5,0.8,6,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NE
$TGT_LATLONG,1806.660,8933.540
$TGT_RADIUS,3000.000
$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,6.2,8721,-21.4,-9.167,-25.88,2022
$D_GRID,990
$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,14,-0.82,-126.5,168,2200,548,491,0.0,0.0,0,69,0.00,0.00,-51.75,0.000,16386,0.000,0.000,165,2201,1941,1946,1937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.82,-126.5,166,2201,1946,1937,3.4,-8.1,8,118,10.60,2.35,-30.92,0.000,18948,0.345,0.078,2672,799,3389,3403,3376,0,0,0,0,0,0,14.29,14.56,14.78
$GC,181,-0.82,-126.5,1680,799,3389,3374,40.2,-40.0,27,188,0.08,2.28,0.00,0.000,3078,0.340,0.052,2675,2203,3389,3402,3377,0,0,0,0,0,0,14.40,14.59,28.83
$GC,370,-0.82,-126.5,2675,2204,3403,3377,96.2,-22.7,64,378,0.00,2.33,0.00,0.000,516,0.000,0.056,2675,798,3390,3403,3377,0,0,0,0,0,0,28.83,14.58,28.83
$GC,399,-0.82,-126.5,1672,797,3389,3375,101.2,-16.9,69,407,0.00,2.25,0.00,0.000,1030,0.000,0.042,2666,2220,3389,3403,3376,0,0,0,0,0,0,28.83,14.66,28.83
$GC,589,-0.82,-126.5,2666,2220,3403,3378,130.8,-13.5,106,597,0.00,2.33,0.00,0.000,516,0.000,0.054,2666,804,3390,3403,3378,0,0,0,0,0,0,28.83,14.62,28.83
$GC,609,-0.82,-126.5,2666,805,3403,3378,133.5,-14.2,109,617,0.10,2.20,0.00,0.000,3078,0.296,0.042,2676,2202,3390,3403,3378,0,0,0,0,0,0,14.50,14.70,28.83
$GC,799,-0.82,-126.5,2676,2202,3403,3379,162.6,-14.5,146,807,0.00,2.30,0.00,0.000,516,0.000,0.056,2676,805,3391,3403,3379,0,0,0,0,0,0,28.83,14.64,28.83
$GC,848,-0.82,-126.5,1696,804,3389,3377,169.4,-13.5,155,855,0.00,2.20,0.00,0.000,1030,0.000,0.043,2668,2201,3391,3403,3379,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1036,-0.82,-126.5,2667,2201,3403,3379,196.5,-14.1,192,1044,0.00,2.30,0.00,0.000,516,0.000,0.058,2667,806,3391,3403,3379,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1083,-0.82,-126.5,2667,806,3402,3379,203.6,-14.5,201,1092,0.05,2.25,0.00,0.000,3078,0.255,0.042,2673,2198,3391,3403,3379,0,0,0,0,0,0,14.52,14.71,28.83
$GC,1391,-0.82,-126.5,2672,2200,3403,3377,246.5,-13.6,232,1400,0.00,2.28,0.00,0.000,260,0.000,0.065,2664,3606,3389,3403,3376,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1481,-0.82,-126.5,2664,3606,3403,3376,259.4,-14.3,250,1486,0.08,2.20,0.00,0.000,3078,0.273,0.038,2678,2192,3389,3403,3375,0,0,0,0,0,0,14.62,14.81,28.83
$GC,1787,-0.82,-126.5,2678,2190,3403,3372,303.1,-13.9,281,1798,0.00,2.20,0.00,0.000,516,0.000,0.057,2678,812,3387,3403,3372,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1873,-0.82,-126.5,2678,812,3402,3371,314.9,-13.4,297,1883,0.00,2.20,0.00,0.000,1030,0.000,0.046,2670,2201,3386,3402,3371,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2182,-0.82,-126.5,2670,2201,3402,3367,358.5,-14.1,326,2188,0.00,2.25,0.00,0.000,516,0.000,0.062,2670,810,3384,3402,3366,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2222,-0.82,-126.5,2670,810,3402,3366,364.3,-14.0,334,2228,0.10,2.22,0.00,0.000,3078,0.277,0.047,2681,2208,3383,3402,3365,0,0,0,0,0,0,14.61,14.79,28.83
$GC,2542,-0.82,-126.5,2681,2209,3402,3360,407.5,-13.8,353,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2209,3381,3402,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2842,-0.82,-126.5,2681,2209,3401,3356,449.0,-13.9,368,2848,0.00,2.28,0.00,0.000,516,0.000,0.063,2682,806,3378,3401,3355,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2909,-0.82,-126.5,2682,805,3401,3355,458.9,-13.7,382,2913,0.00,2.22,0.00,0.000,1030,0.000,0.048,2674,2198,3377,3399,3355,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3232,-0.82,-126.5,2674,2199,3399,3352,504.9,-14.6,399,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2199,3375,3399,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3532,-0.82,-126.5,2674,2199,3397,3349,547.8,-14.3,409,3536,0.00,2.28,0.00,0.000,516,0.000,0.063,2673,809,3373,3397,3349,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3593,-0.82,-126.5,2674,809,3396,3349,556.5,-13.8,421,3600,0.08,2.22,0.00,0.000,3078,0.307,0.050,2678,2203,3372,3397,3348,0,0,0,0,0,0,14.63,14.81,28.83
$GC,3923,-0.82,-126.5,2678,2202,3395,3345,600.7,-13.2,437,3929,0.00,2.28,0.00,0.000,516,0.000,0.063,2678,806,3370,3395,3345,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3953,-0.82,-126.5,2678,805,3395,3345,604.9,-14.4,443,3959,0.00,2.22,0.00,0.000,1030,0.000,0.050,2670,2198,3370,3395,3345,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4283,-0.82,-126.5,2670,2199,3393,3344,649.1,-13.4,459,4287,0.00,2.28,0.00,0.000,516,0.000,0.066,2670,815,3368,3393,3343,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4328,-0.82,-126.5,2670,815,3392,3343,655.4,-13.3,468,4332,0.10,2.22,0.00,0.000,3078,0.282,0.053,2681,2200,3367,3392,3343,0,0,0,0,0,0,14.62,14.81,28.83
$GC,4645,-0.82,-126.5,2681,2201,3391,3340,693.7,-12.1,481,4651,0.00,2.25,0.00,0.000,516,0.000,0.066,2682,816,3366,3391,3341,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4662,-0.82,-126.5,2681,816,3391,3341,696.2,-12.7,485,4667,0.00,2.22,0.00,0.000,1030,0.000,0.050,2674,2201,3365,3390,3340,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4975,-0.82,-126.5,2674,2201,3389,3339,737.2,-13.6,497,4981,0.00,2.28,0.00,0.000,516,0.000,0.067,2674,813,3364,3389,3339,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5012,-0.82,-126.5,2673,813,3389,3339,742.7,-13.8,505,5017,0.08,2.22,0.00,0.000,3078,0.307,0.052,2677,2201,3364,3389,3339,0,0,0,0,0,0,14.63,14.81,28.83
$GC,5335,-0.82,-126.5,2677,2202,3388,3337,785.0,-13.1,519,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2202,3362,3388,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5635,-0.82,-126.5,2677,2202,3386,3336,824.7,-13.2,529,5641,0.00,2.28,0.00,0.000,516,0.000,0.067,2677,816,3361,3386,3336,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5668,-0.82,-126.5,2677,816,3386,3336,829.4,-13.3,536,5672,0.00,2.28,0.00,0.000,1030,0.000,0.054,2670,2200,3361,3386,3336,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5996,-0.82,-126.5,2669,2201,3384,3335,873.5,-13.7,551,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2201,3360,3385,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6296,-0.82,-126.5,2669,2201,3383,3334,913.9,-13.5,561,6300,0.00,2.28,0.00,0.000,516,0.000,0.068,2669,816,3359,3384,3334,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6345,-0.82,-126.5,2669,816,3383,3334,921.0,-13.7,571,6350,0.10,2.25,0.00,0.000,3078,0.291,0.054,2680,2204,3358,3383,3334,0,0,0,0,0,0,14.59,14.80,28.83
$GC,6657,-0.82,-126.5,2680,2204,3381,3333,959.0,-12.1,583,6663,0.00,2.30,0.00,0.000,516,0.000,0.069,2680,810,3357,3381,3333,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6717,-0.82,-126.5,2680,810,3381,3333,966.2,-11.5,595,6721,0.00,2.28,0.00,0.000,1030,0.000,0.053,2673,2207,3357,3381,3333,0,0,0,0,0,0,28.83,14.80,28.83
$STATE,6927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6928,begin apogee
$GC,6932,-0.16,0.0,2673,2142,3380,3332,991.4,-12.0,607,7083,0.77,0.00,145.07,2.023,10246,0.243,0.000,2891,2142,2870,2917,2824,0,0,0,0,0,0,14.48,28.83,13.43
$STATE,7084,end apogee,CONTROL_FINISHED_OK
$STATE,7084,begin climb
$GC,7086,0.82,126.5,2891,2142,2914,2820,996.1,0.0,638,7202,1.02,2.50,108.62,2.165,10756,0.158,0.078,3213,745,2349,2406,2292,0,0,0,0,0,0,14.03,13.92,13.22
$GC,7231,0.82,126.5,3213,744,2402,2290,988.6,10.2,663,7236,0.00,2.40,0.00,0.000,1030,0.000,0.049,3213,2132,2346,2402,2290,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7559,0.82,126.5,3213,2133,2400,2286,951.6,11.4,678,7560,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2133,2343,2400,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7859,0.82,126.5,3213,2133,2398,2284,918.6,10.7,688,7863,0.00,2.35,0.00,0.000,516,0.000,0.078,3223,743,2341,2398,2285,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7969,0.82,126.5,3223,743,2397,2285,906.7,11.0,710,7977,0.00,2.35,0.00,0.000,1030,0.000,0.051,3223,2144,2341,2397,2285,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8276,0.82,126.5,3223,2144,2396,2284,874.4,10.7,721,8282,0.00,2.35,0.00,0.000,516,0.000,0.077,3234,745,2340,2396,2284,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8329,0.82,126.5,3234,745,2396,2284,868.5,10.6,732,8337,0.00,2.33,0.00,0.000,1030,0.000,0.052,3234,2142,2339,2395,2284,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8637,0.82,126.5,3234,2142,2395,2283,836.6,10.5,743,8638,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2142,2338,2394,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8937,0.82,126.5,3233,2142,2394,2283,806.3,10.0,753,8943,0.00,2.33,0.00,0.000,516,0.000,0.077,3243,750,2338,2394,2283,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9005,0.82,126.5,3243,750,2394,2282,798.8,10.8,767,9009,0.00,2.28,0.00,0.000,1030,0.000,0.051,3243,2148,2338,2393,2283,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9327,0.82,126.5,3243,2148,2394,2282,764.4,10.7,781,9328,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2148,2338,2394,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9628,0.82,126.5,3243,2148,2393,2281,732.9,10.5,791,9632,0.00,2.35,0.00,0.000,516,0.000,0.076,3253,749,2337,2393,2282,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9713,0.82,126.5,3253,749,2393,2282,723.6,10.4,808,9721,0.00,2.33,0.00,0.000,1030,0.000,0.053,3253,2143,2337,2393,2282,0,0,0,0,0,0,28.83,14.71,28.83
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$GC,13034,0.84,136.6,3254,2145,2385,2272,382.3,9.7,989,13041,0.00,2.35,1.92,0.176,8708,0.000,0.075,3264,743,2316,2372,2260,0,0,0,0,0,0,28.83,14.69,14.60
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$GC,15523,0.93,210.6,3271,2135,2231,2118,149.7,7.2,1313,15563,0.00,2.45,33.75,1.314,8452,0.000,0.067,3271,3551,2004,2065,1943,0,0,0,0,0,0,28.83,14.49,13.95
$GC,15606,0.93,210.6,3271,3551,2059,1937,142.1,10.7,1327,15613,0.00,2.28,0.00,0.000,1030,0.000,0.041,3281,2144,1998,2059,1937,0,0,0,0,0,0,28.83,14.54,28.83
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$STATE,17242,end climb,SURFACE_DEPTH_REACHED
$STATE,17242,begin surface coast
$FINISH,0.3,1.019820
$STATE,17264,end surface coast,CONTROL_FINISHED_OK
$STATE,17264,begin surface
$SM_CCo,17282,35.47,0.136,0,0,509,579.63
$SM_CCo,17320,-0.10,0.000,0,0,511,579.63
$SM_CCo,17323,0.35,0.359,0,0,509,579.63
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$IRIDIUM_FIX,1756.43,8935.06,220708,090921
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.25
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,13.2,50.609
$10V_AH,12.6,0.000
$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
$DEVICE_SECS,22.375,174.800,519.750,35.825,0.000,97.131,137.347,254.480,0.000,0.000,6.551,3385.112,10437.524,675.003,3428.937,176.726,0.000,2043.599,0.000,2410.862,0.000,0.552,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322244
$DATA_FILE_SIZE,134065,1641
$CAP_FILE_SIZE,180919,0
$CFSIZE,2097086464,2075557888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.028,115.9,1
$GPS,260915,005934,1803.580,8933.949,32,0.8,32,-0.9