version: 66.11
glider: 615
mission: 5
dive: 115
start: 9 26 115 1 6 56
data:
$ID,615
$MISSION,5
$DIVE,115
$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,-18968.195
$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,42
$R_STBD_OVSHOOT,53
$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
$GPS1,260915,005934,1803.580,8933.949,32,0.8,32,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.4
$GPS2,260915,010630,1803.594,8933.977,5,0.7,5,-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,346.2,5729,-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,15,-0.82,-126.5,185,2215,543,489,0.0,0.0,0,64,0.00,0.00,-46.72,0.000,16386,0.000,0.000,185,2215,1817,1821,1813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,185,2216,1821,1813,3.1,-6.7,7,119,10.73,2.33,-34.58,0.000,18948,0.354,0.071,2675,791,3388,3401,3376,0,0,0,0,0,0,14.28,14.54,14.76
$GC,165,-0.82,-126.5,2676,790,3401,3376,37.3,-44.5,24,172,0.00,2.33,0.00,0.000,1030,0.000,0.053,2667,2181,3389,3401,3377,0,0,0,0,0,0,28.83,14.52,28.83
$GC,355,-0.82,-126.5,2667,2182,3401,3377,91.9,-19.9,61,362,0.00,2.25,0.00,0.000,516,0.000,0.056,2667,792,3389,3401,3377,0,0,0,0,0,0,28.83,14.61,28.83
$GC,420,-0.82,-126.5,2667,792,3401,3378,104.5,-20.6,73,429,0.10,2.25,0.00,0.000,3078,0.305,0.044,2676,2210,3390,3402,3378,0,0,0,0,0,0,14.44,14.65,28.83
$GC,612,-0.82,-126.5,2676,2211,3401,3380,135.2,-14.1,110,619,0.00,2.30,0.00,0.000,260,0.000,0.061,2667,3597,3390,3401,3380,0,0,0,0,0,0,28.83,14.60,28.83
$GC,645,-0.82,-126.5,1696,3596,3387,3378,140.3,-15.4,116,653,0.00,2.25,0.00,0.000,1030,0.000,0.036,2668,2193,3390,3401,3380,0,0,0,0,0,0,28.83,14.64,28.83
$GC,836,-0.82,-126.5,2667,2192,3401,3381,167.4,-15.0,153,843,0.00,2.22,0.00,0.000,516,0.000,0.056,2667,803,3391,3401,3381,0,0,0,0,0,0,28.83,14.67,28.83
$GC,942,-0.82,-126.5,2667,803,3401,3382,183.7,-14.2,173,950,0.10,2.22,0.00,0.000,3078,0.284,0.042,2678,2212,3391,3401,3382,0,0,0,0,0,0,14.52,14.71,28.83
$GC,1133,-0.82,-126.5,2678,2212,3401,3382,211.1,-15.6,203,1143,0.00,2.25,0.00,0.000,260,0.000,0.063,2669,3602,3391,3401,3382,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1168,-0.82,-126.5,2669,3602,3401,3382,216.8,-14.6,210,1176,0.00,2.25,0.00,0.000,1030,0.000,0.036,2669,2195,3391,3401,3382,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1476,-0.82,-126.5,2669,2194,3401,3380,262.4,-15.0,241,1487,0.00,2.22,0.00,0.000,516,0.000,0.057,2669,806,3390,3401,3380,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1603,-0.82,-126.5,2669,806,3401,3379,281.7,-15.3,266,1612,0.05,2.28,0.00,0.000,3078,0.258,0.046,2673,2201,3390,3401,3379,0,0,0,0,0,0,14.47,14.65,28.83
$GC,1911,-0.82,-126.5,2674,2201,3401,3376,326.1,-14.2,297,1921,0.00,2.25,0.00,0.000,516,0.000,0.059,2674,806,3388,3401,3375,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1956,-0.82,-126.5,2674,806,3401,3375,333.2,-14.5,306,1964,0.00,2.28,0.00,0.000,1030,0.000,0.047,2666,2202,3387,3401,3374,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2274,-0.82,-126.5,2666,2202,3401,3372,379.5,-14.5,328,2280,0.00,2.25,0.00,0.000,516,0.000,0.060,2665,809,3386,3401,3371,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2301,-0.82,-126.5,2665,809,3401,3371,384.1,-15.8,334,2306,0.10,2.25,0.00,0.000,3078,0.285,0.048,2677,2214,3386,3401,3371,0,0,0,0,0,0,14.59,14.78,28.83
$GC,2614,-0.82,-126.5,2677,2214,3400,3368,428.0,-14.4,351,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2215,3384,3401,3367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2914,-0.82,-126.5,2677,2215,3401,3363,468.8,-13.4,366,2921,0.00,2.25,0.00,0.000,516,0.000,0.063,2677,816,3382,3401,3363,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3008,-0.82,-126.5,2677,816,3400,3362,481.6,-12.9,385,3016,0.00,2.28,0.00,0.000,1030,0.000,0.052,2669,2195,3381,3401,3362,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3336,-0.82,-126.5,2669,2196,3400,3358,526.3,-14.1,399,3341,0.00,2.25,0.00,0.000,516,0.000,0.061,2669,812,3378,3400,3357,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3365,-0.82,-126.5,2669,812,3400,3357,530.8,-15.1,405,3372,0.10,2.22,0.00,0.000,3078,0.280,0.050,2681,2204,3378,3401,3356,0,0,0,0,0,0,14.60,14.79,28.83
$GC,3695,-0.82,-126.5,2681,2205,3400,3352,576.0,-13.6,421,3701,0.00,2.28,0.00,0.000,516,0.000,0.063,2681,803,3376,3400,3353,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3727,-0.82,-126.5,2681,803,3400,3352,580.8,-13.5,428,3732,0.00,2.28,0.00,0.000,1030,0.000,0.050,2673,2193,3376,3400,3353,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4055,-0.82,-126.5,2673,2194,3398,3352,625.1,-13.8,443,4061,0.00,2.25,0.00,0.000,516,0.000,0.062,2673,813,3374,3398,3351,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4087,-0.82,-126.5,2673,813,3397,3351,630.0,-13.6,450,4092,0.00,2.28,0.00,0.000,1030,0.000,0.051,2663,2205,3374,3398,3351,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4415,-0.82,-126.5,2663,2205,3396,3349,675.1,-13.9,465,4422,0.08,2.28,0.00,0.000,2564,0.321,0.062,2676,814,3372,3396,3349,0,0,0,0,0,0,14.69,14.76,28.83
$GC,4468,-0.82,-126.5,2676,814,3396,3349,682.4,-12.5,476,4477,0.00,2.28,0.00,0.000,1030,0.000,0.053,2668,2193,3372,3396,3348,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4775,-0.82,-126.5,2668,2193,3395,3346,722.5,-13.2,487,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2193,3370,3395,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5076,-0.82,-126.5,2667,2193,3394,3344,762.2,-13.2,497,5082,0.00,2.25,0.00,0.000,516,0.000,0.067,2667,814,3369,3394,3344,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5143,-0.82,-126.5,2667,814,3394,3345,771.3,-12.9,511,5148,0.10,2.22,0.00,0.000,3078,0.282,0.053,2678,2198,3368,3393,3344,0,0,0,0,0,0,14.59,14.80,28.83
$GC,5465,-0.82,-126.5,2678,2198,3393,3343,812.0,-12.7,525,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2198,3367,3393,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5765,-0.82,-126.5,2678,2198,3392,3342,850.8,-13.0,535,5770,0.00,2.30,0.00,0.000,516,0.000,0.068,2678,809,3366,3391,3342,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5815,-0.82,-126.5,2678,808,3391,3342,857.6,-12.5,545,5819,0.00,2.25,0.00,0.000,1030,0.000,0.052,2670,2205,3366,3391,3342,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6128,-0.82,-126.5,2670,2206,3390,3340,897.4,-12.8,557,6134,0.00,2.28,0.00,0.000,516,0.000,0.067,2670,814,3365,3390,3340,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6158,-0.82,-126.5,2670,814,3390,3340,901.3,-13.2,563,6165,0.10,2.25,0.00,0.000,3078,0.289,0.054,2680,2208,3364,3389,3340,0,0,0,0,0,0,14.58,14.79,28.83
$GC,6488,-0.82,-126.5,2680,2209,3389,3338,939.7,-11.4,579,6494,0.00,2.30,0.00,0.000,516,0.000,0.067,2680,806,3363,3389,3338,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6525,-0.82,-126.5,2680,805,3389,3338,944.5,-11.8,587,6530,0.00,2.28,0.00,0.000,1030,0.000,0.052,2672,2212,3363,3389,3338,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6848,-0.82,-126.5,2672,2212,3389,3337,982.7,-12.2,601,6854,0.00,2.30,0.00,0.000,516,0.000,0.067,2672,809,3362,3388,3337,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6893,-0.82,-126.5,2672,808,3388,3337,988.4,-11.9,610,6898,0.08,2.25,0.00,0.000,3078,0.311,0.054,2675,2200,3362,3388,3337,0,0,0,0,0,0,14.59,14.78,28.83
$STATE,6934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6934,begin apogee
$GC,6938,-0.16,0.0,2675,2147,3388,3337,993.2,-11.8,613,7055,0.73,0.00,106.68,2.508,10246,0.243,0.000,2882,2146,2865,2912,2818,0,0,0,0,0,0,14.49,28.83,13.19
$STATE,7057,end apogee,CONTROL_FINISHED_OK
$STATE,7057,begin climb
$GC,7058,0.82,126.5,2882,2146,2911,2817,997.7,0.0,637,7176,1.08,0.00,110.15,2.290,10246,0.161,0.000,3203,2146,2349,2407,2291,0,0,0,0,0,0,14.04,28.83,13.18
$GC,7476,0.82,126.5,3203,2146,2403,2285,963.3,10.1,651,7481,0.00,2.35,0.00,0.000,516,0.000,0.078,3213,759,2343,2402,2285,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7573,0.82,126.5,3213,759,2402,2285,952.9,10.4,671,7577,0.00,2.30,0.00,0.000,1030,0.000,0.050,3214,2131,2343,2402,2285,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7895,0.82,126.5,3214,2131,2401,2284,921.2,9.8,685,7899,0.00,2.35,0.00,0.000,516,0.000,0.078,3223,747,2343,2401,2285,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7939,0.82,126.5,3224,746,2401,2284,916.6,10.1,694,7944,0.00,2.28,0.00,0.000,1030,0.000,0.050,3224,2140,2343,2401,2285,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8257,0.82,126.5,3224,2140,2399,2284,884.9,10.0,707,8263,0.00,2.35,0.00,0.000,516,0.000,0.076,3234,742,2341,2398,2284,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8309,0.82,126.5,3234,742,2398,2284,879.1,10.8,718,8318,0.00,2.33,0.00,0.000,1030,0.000,0.051,3234,2137,2341,2399,2284,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8617,0.82,126.5,3234,2137,2397,2283,846.5,10.7,729,8623,0.00,2.35,0.00,0.000,260,0.000,0.075,3234,3549,2340,2397,2283,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8635,0.82,126.5,3234,3549,2396,2284,844.3,11.2,733,8639,0.00,2.28,0.00,0.000,1030,0.000,0.048,3242,2146,2339,2396,2283,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8947,0.82,126.5,3242,2145,2396,2283,810.0,10.9,745,8951,0.00,2.38,0.00,0.000,516,0.000,0.077,3253,730,2339,2396,2282,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9057,0.82,126.5,3253,731,2396,2282,797.3,11.6,767,9061,0.00,2.28,0.00,0.000,1030,0.000,0.050,3253,2141,2339,2396,2282,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9369,0.82,126.5,3253,2141,2395,2282,763.6,10.8,779,9375,0.00,2.35,0.00,0.000,516,0.000,0.075,3263,736,2338,2395,2282,0,0,0,0,0,0,28.83,14.69,28.83
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$GC,13182,0.84,138.8,3243,2134,2355,2241,375.3,9.8,1060,13188,0.00,2.33,0.00,0.000,516,0.000,0.074,3252,741,2298,2355,2241,0,0,0,0,0,0,28.83,14.65,28.83
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$GC,15787,0.95,231.2,3268,2145,2056,1937,127.1,8.1,1421,15814,0.00,2.38,16.27,1.252,8452,0.000,0.067,3268,3538,1916,1975,1858,0,0,0,0,0,0,28.83,14.42,13.95
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$STATE,17279,end climb,SURFACE_DEPTH_REACHED
$STATE,17279,begin surface coast
$FINISH,0.3,1.019405
$STATE,17301,end surface coast,CONTROL_FINISHED_OK
$STATE,17301,begin surface
$SM_CCo,17319,34.35,0.137,0,0,508,579.63
$SM_CCo,17356,-0.12,0.000,0,0,512,579.63
$SM_CCo,17359,0.32,0.379,0,0,508,579.63
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$IRIDIUM_FIX,1751.90,8937.32,220708,090928
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.29
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.2,50.932
$10V_AH,12.8,0.000
$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
$DEVICE_SECS,23.100,202.550,479.525,34.675,0.000,23.596,42.057,243.210,0.000,0.000,6.568,3396.765,10132.290,711.933,3341.409,184.002,0.000,2129.874,0.000,2499.899,0.000,0.553,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,914.612,598.616,1636.396,999.505,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322240
$DATA_FILE_SIZE,137257,1697
$CAP_FILE_SIZE,187637,0
$CFSIZE,2097086464,2075394048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.060,185.6,1
$GPS,260915,055734,1804.745,8933.417,41,0.9,42,-0.9