version: 66.11
glider: 615
mission: 5
dive: 185
start: 10 10 115 12 6 59
data:
$ID,615
$MISSION,5
$DIVE,185
$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,-19069.277
$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,48
$R_STBD_OVSHOOT,43
$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
$GPS1,101015,115833,1805.169,8922.018,32,0.8,32,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.8
$GPS2,101015,120631,1805.090,8922.066,4,0.7,4,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NW
$TGT_LATLONG,1806.660,8921.600
$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,344.1,3021,-26.1,-9.167,-30.00,1414
$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,14,begin dive
$GC,15,-0.92,-87.0,173,2207,561,477,0.0,0.0,0,65,0.00,0.00,-47.70,0.000,16386,0.000,0.000,172,2208,1880,1885,1876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.95,-108.6,172,2206,1887,1876,3.5,-7.6,8,116,10.68,2.38,-30.33,0.000,18948,0.354,0.076,2632,797,3317,3334,3300,0,0,0,0,0,0,14.21,14.51,14.73
$GC,148,-0.95,-108.6,2632,797,3334,3301,29.3,-41.4,21,157,0.08,2.28,0.00,0.000,3078,0.340,0.050,2635,2196,3318,3335,3301,0,0,0,0,0,0,14.31,14.53,28.83
$GC,340,-0.95,-108.6,2635,2197,3334,3301,86.3,-21.4,58,348,0.00,2.35,0.00,0.000,260,0.000,0.059,2625,3601,3317,3334,3301,0,0,0,0,0,0,28.83,14.52,28.83
$GC,390,-0.95,-108.6,1648,3600,3317,3298,96.7,-19.8,67,396,0.00,2.22,0.00,0.000,1030,0.000,0.036,2625,2185,3318,3335,3301,0,0,0,0,0,0,28.83,14.64,28.83
$GC,580,-0.95,-108.6,2625,2184,3335,3302,128.8,-14.9,104,587,0.00,2.28,0.00,0.000,516,0.000,0.054,2624,811,3318,3335,3302,0,0,0,0,0,0,28.83,14.54,28.83
$GC,736,-0.95,-108.6,2625,811,3335,3303,151.5,-12.9,134,744,0.05,2.28,0.00,0.000,3078,0.272,0.039,2628,2211,3319,3335,3303,0,0,0,0,0,0,14.37,14.59,28.83
$GC,926,-0.95,-108.6,1664,2210,3318,3302,178.8,-15.9,171,933,0.00,2.25,0.00,0.000,260,0.000,0.060,2619,3598,3320,3335,3305,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1046,-0.95,-108.6,2620,3598,3335,3305,198.3,-16.0,194,1054,0.03,2.25,0.00,0.000,3078,0.294,0.036,2627,2201,3319,3335,3304,0,0,0,0,0,0,14.45,14.62,28.83
$GC,1242,-0.95,-108.6,2627,2200,3335,3304,228.2,-15.0,214,1250,0.00,2.22,0.00,0.000,516,0.000,0.054,2627,812,3319,3335,3304,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1325,-0.95,-108.6,1744,811,3320,3301,241.3,-14.5,231,1333,0.05,2.25,0.00,0.000,3078,0.263,0.041,2633,2204,3319,3335,3303,0,0,0,0,0,0,14.42,14.65,28.83
$GC,1632,-0.95,-108.6,2633,2204,3335,3301,287.0,-15.2,262,1636,0.00,2.25,0.00,0.000,516,0.000,0.057,2634,810,3317,3334,3301,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1649,-0.95,-108.6,2634,810,3335,3301,289.4,-14.8,265,1659,0.05,2.20,0.00,0.000,3078,0.371,0.044,2635,2200,3318,3335,3301,0,0,0,0,0,0,14.52,14.72,28.83
$GC,1959,-0.95,-108.6,2635,2200,3334,3299,335.1,-14.8,297,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2200,3317,3335,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2269,-0.95,-108.6,2634,2201,3335,3293,381.4,-15.0,318,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2200,3313,3334,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2569,-0.95,-108.6,2634,2201,3334,3290,425.3,-14.5,333,2575,0.00,2.25,0.00,0.000,516,0.000,0.060,2635,813,3311,3334,3289,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2610,-0.95,-108.6,2635,813,3334,3289,431.4,-14.5,341,2616,0.00,2.22,0.00,0.000,1030,0.000,0.046,2625,2207,3311,3334,3289,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2929,-0.95,-108.6,2625,2207,3334,3285,479.5,-15.1,360,2935,0.00,2.28,0.00,0.000,516,0.000,0.060,2625,807,3309,3334,3284,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3010,-0.95,-108.6,2626,806,3334,3284,491.8,-14.5,376,3017,0.10,2.22,0.00,0.000,3078,0.287,0.045,2637,2202,3309,3334,3284,0,0,0,0,0,0,14.50,14.73,28.83
$GC,3340,-0.95,-108.6,2636,2202,3333,3280,539.4,-14.4,391,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2202,3306,3333,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3640,-0.95,-108.6,2636,2202,3331,3277,583.9,-14.8,401,3646,0.00,2.28,0.00,0.000,516,0.000,0.061,2636,813,3304,3331,3277,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3671,-0.95,-108.6,2637,813,3331,3277,588.4,-14.9,407,3677,0.00,2.22,0.00,0.000,1030,0.000,0.050,2627,2208,3304,3331,3277,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4000,-0.95,-108.6,2628,2209,3330,3274,637.0,-14.4,423,4006,0.00,2.28,0.00,0.000,516,0.000,0.062,2627,814,3302,3330,3274,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4048,-0.95,-108.6,2628,813,3329,3274,644.5,-15.2,433,4053,0.10,2.25,0.00,0.000,3078,0.292,0.050,2639,2206,3301,3329,3274,0,0,0,0,0,0,14.50,14.74,28.83
$GC,4361,-0.95,-108.6,2639,2207,3328,3272,686.5,-13.3,445,4367,0.00,2.30,0.00,0.000,516,0.000,0.064,2639,810,3300,3328,3272,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4404,-0.95,-108.6,2639,809,3328,3272,692.8,-13.4,454,4408,0.00,2.25,0.00,0.000,1030,0.000,0.050,2630,2203,3300,3328,3272,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4721,-0.95,-108.6,2630,2203,3326,3270,737.1,-14.2,467,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2203,3298,3327,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5021,-0.95,-108.6,2629,2203,3326,3269,779.6,-14.2,477,5027,0.00,2.30,0.00,0.000,516,0.000,0.064,2630,807,3297,3326,3268,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5074,-0.95,-108.6,2630,807,3325,3268,787.5,-14.0,488,5082,0.05,2.33,0.00,0.000,3078,0.254,0.050,2635,2201,3296,3325,3268,0,0,0,0,0,0,14.37,14.57,28.83
$GC,5381,-0.95,-108.6,2634,2201,3325,3266,828.4,-13.4,499,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2202,3295,3325,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5681,-0.95,-108.6,2635,2202,3323,3265,868.4,-13.2,509,5685,0.00,2.30,0.00,0.000,516,0.000,0.067,2634,811,3294,3323,3265,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5715,-0.95,-108.6,2635,810,3323,3265,873.3,-13.4,516,5720,0.00,2.30,0.00,0.000,1030,0.000,0.051,2625,2204,3294,3323,3265,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6044,-0.95,-108.6,2625,2204,3322,3264,916.7,-13.3,531,6050,0.00,2.30,0.00,0.000,516,0.000,0.066,2625,806,3292,3322,3263,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6087,-0.95,-108.6,2625,806,3322,3263,923.0,-13.5,540,6091,0.10,2.28,0.00,0.000,3078,0.298,0.053,2635,2210,3292,3322,3263,0,0,0,0,0,0,14.47,14.73,28.83
$GC,6404,-0.95,-108.6,2635,2210,3320,3262,963.6,-12.8,553,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2210,3291,3320,3262,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6612,begin apogee
$GC,6616,-0.16,0.0,2635,2147,3320,3261,990.6,-12.8,560,6711,0.90,0.00,88.28,2.191,10246,0.242,0.000,2888,2147,2866,2915,2818,0,0,0,0,0,0,14.38,28.83,13.33
$STATE,6712,end apogee,CONTROL_FINISHED_OK
$STATE,6712,begin climb
$GC,6714,0.95,108.6,2888,2147,2913,2814,994.4,0.0,580,6816,1.15,2.55,92.62,2.175,10500,0.154,0.071,3242,3546,2421,2474,2369,0,0,0,0,0,0,14.09,13.96,13.19
$GC,6842,0.95,108.6,3242,3545,2470,2364,987.8,9.3,606,6846,0.00,2.38,0.00,0.000,1030,0.000,0.045,3252,2141,2417,2471,2364,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7154,0.95,108.6,3252,2141,2470,2360,953.8,11.0,618,7160,0.00,2.40,0.00,0.000,516,0.000,0.076,3261,735,2415,2470,2361,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7298,0.95,108.6,3262,735,2469,2361,937.4,11.1,647,7304,0.00,2.30,0.00,0.000,1030,0.000,0.048,3261,2137,2415,2469,2361,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7604,0.95,108.6,3261,2137,2468,2360,903.5,11.0,658,7608,0.00,2.38,0.00,0.000,516,0.000,0.075,3271,739,2413,2467,2359,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7673,0.95,108.6,3271,739,2467,2360,895.5,11.4,672,7677,0.00,2.30,0.00,0.000,1030,0.000,0.048,3271,2149,2413,2467,2360,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7995,0.95,108.6,3271,2149,2466,2360,860.9,10.6,686,8001,0.00,2.38,0.00,0.000,516,0.000,0.073,3281,739,2413,2466,2360,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8073,0.95,108.6,3281,739,2466,2360,852.2,10.5,702,8077,0.00,2.30,0.00,0.000,1030,0.000,0.049,3281,2148,2413,2466,2360,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8384,0.95,108.6,3281,2148,2466,2357,820.9,10.0,714,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,2148,2412,2466,2359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8684,0.95,108.6,3281,2148,2465,2357,791.3,9.9,724,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,2148,2411,2465,2358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8984,0.95,108.6,3281,2149,2465,2357,761.8,9.9,734,8989,0.00,2.40,0.00,0.000,516,0.000,0.075,3291,735,2411,2465,2357,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9089,0.95,108.6,3291,735,2465,2357,750.9,10.1,755,9093,0.00,2.28,0.00,0.000,1030,0.000,0.050,3291,2141,2411,2465,2357,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9401,0.95,108.6,3291,2141,2464,2357,719.0,10.2,767,9405,0.00,2.38,0.00,0.000,516,0.000,0.074,3302,737,2410,2464,2357,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9425,0.95,108.6,3301,737,2465,2357,716.2,11.0,772,9435,0.08,2.35,0.00,0.000,5126,0.282,0.050,3284,2142,2411,2465,2357,0,0,0,0,0,0,14.24,14.54,28.83
$GC,9733,0.95,108.6,3283,2142,2464,2357,684.6,10.1,783,9739,0.00,2.35,0.00,0.000,516,0.000,0.070,3292,735,2410,2464,2356,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9785,0.95,108.6,3292,735,2464,2357,678.9,10.8,794,9794,0.00,2.35,0.00,0.000,1030,0.000,0.049,3292,2137,2410,2464,2356,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10093,0.95,108.6,3292,2137,2464,2356,647.3,10.1,805,10094,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2137,2410,2464,2356,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,12424,0.97,128.8,3304,740,2392,2284,434.5,10.3,980,12433,0.00,2.35,0.00,0.000,1030,0.000,0.052,3303,2134,2337,2391,2283,0,0,0,0,0,0,28.83,14.48,28.83
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$GC,16699,1.32,407.5,3386,3540,1277,1179,35.1,9.0,1553,16706,0.00,2.25,2.50,0.193,9222,0.000,0.039,3397,2133,1210,1260,1160,0,0,0,0,0,0,28.83,14.59,14.27
$GC,16896,1.43,500.6,3397,2133,1273,1171,26.1,2.4,1590,16956,0.00,2.35,53.45,0.214,8964,0.000,0.056,3397,3549,833,890,777,0,0,0,0,0,0,28.83,14.54,14.35
$STATE,17154,end climb,SURFACE_DEPTH_REACHED
$STATE,17154,begin surface coast
$FINISH,0.2,1.019661
$STATE,17176,end surface coast,CONTROL_FINISHED_OK
$STATE,17176,begin surface
$SM_CCo,17194,45.22,0.133,0,0,510,579.63
$SM_CCo,17242,-0.10,0.000,0,0,511,579.63
$SM_CCo,17245,0.28,0.420,0,0,507,579.63
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$IRIDIUM_FIX,1756.43,8923.72,050808,202013
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.84
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.2,72.625
$10V_AH,12.7,0.000
$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
$DEVICE_SECS,22.725,166.600,441.325,45.500,0.000,23.774,45.656,290.117,0.000,0.000,5.939,3376.955,10253.459,623.964,3277.359,182.223,0.000,1969.865,0.000,2406.985,0.000,0.552,0.000
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$SENSOR_SECS,911.945,608.928,1556.863,951.378,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322460
$DATA_FILE_SIZE,134123,1641
$CAP_FILE_SIZE,176874,0
$CFSIZE,2097086464,2063925248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.036,230.0,1
$GPS,101015,165533,1806.452,8921.316,32,0.8,32,-0.9