version: 66.11
glider: 615
mission: 5
dive: 301
start: 11 3 115 13 43 9
data:
$ID,615
$MISSION,5
$DIVE,301
$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,-19362.428
$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,36
$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,10.5
$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
$GPS1,031115,133003,1802.746,8930.048,32,1.0,32,-0.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.1
$GPS2,031115,134243,1802.781,8930.075,6,1.0,6,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,SW
$TGT_LATLONG,1755.320,8921.600
$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,233.8,20347,-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,-126.5,149,2207,542,493,0.0,0.0,0,68,0.00,0.00,-50.60,0.000,16386,0.000,0.000,147,2209,1931,1932,1931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.82,-126.5,148,2209,1932,1931,3.7,-9.0,8,118,10.88,2.40,-29.80,0.000,18692,0.343,0.086,2663,3607,3391,3406,3376,0,0,0,0,0,0,14.13,14.51,14.78
$GC,174,-0.82,-126.5,2663,3607,3406,3376,38.1,-29.4,25,181,0.08,2.25,0.00,0.000,3078,0.311,0.038,2674,2188,3391,3406,3376,0,0,0,0,0,0,14.33,14.57,28.83
$GC,370,-0.82,-126.5,2674,2186,3406,3376,89.8,-19.8,62,379,0.00,2.40,0.00,0.000,260,0.000,0.063,2665,3614,3391,3406,3376,0,0,0,0,0,0,28.83,14.54,28.83
$GC,468,-0.82,-126.5,2665,3614,3406,3376,110.4,-18.3,80,475,0.00,2.30,0.00,0.000,1030,0.000,0.038,2665,2210,3391,3406,3376,0,0,0,0,0,0,28.83,14.54,28.83
$GC,664,-0.82,-126.5,2665,2209,3406,3377,140.4,-13.1,117,671,0.00,2.28,0.00,0.000,516,0.000,0.057,2665,804,3391,3406,3377,0,0,0,0,0,0,28.83,14.59,28.83
$GC,709,-0.82,-126.5,2665,804,3406,3378,146.8,-13.6,125,717,0.10,2.25,0.00,0.000,3078,0.284,0.045,2675,2213,3392,3406,3378,0,0,0,0,0,0,14.40,14.64,28.83
$GC,903,-0.82,-126.5,2675,2213,3406,3378,171.7,-13.7,162,912,0.00,2.35,0.00,0.000,260,0.000,0.063,2666,3618,3392,3406,3378,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1011,-0.82,-126.5,2666,3618,3406,3378,187.0,-13.9,182,1019,0.00,2.33,0.00,0.000,1030,0.000,0.037,2666,2185,3392,3407,3378,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1210,-0.82,-126.5,2666,2184,3406,3377,214.6,-14.0,210,1219,0.00,2.33,0.00,0.000,260,0.000,0.064,2655,3601,3391,3406,3377,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1273,-0.82,-126.5,2655,3601,3406,3376,223.8,-14.6,222,1282,0.05,2.20,0.00,0.000,3078,0.227,0.037,2670,2197,3391,3406,3376,0,0,0,0,0,0,14.39,14.71,28.83
$GC,1582,-0.82,-126.5,2670,2196,3406,3373,267.2,-14.1,254,1591,0.00,2.25,0.00,0.000,516,0.000,0.060,2670,809,3389,3406,3373,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1613,-0.82,-126.5,2670,809,3406,3373,272.0,-15.3,260,1623,0.08,2.22,0.00,0.000,3078,0.301,0.047,2675,2199,3390,3407,3373,0,0,0,0,0,0,14.48,14.68,28.83
$GC,1924,-0.82,-126.5,2675,2199,3406,3370,316.3,-14.0,292,1933,0.00,2.25,0.00,0.000,516,0.000,0.065,2675,817,3388,3406,3370,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1947,-0.82,-126.5,1792,817,3394,3368,320.1,-14.2,297,1955,0.00,2.28,0.00,0.000,1030,0.000,0.051,2667,2223,3388,3406,3370,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2266,-0.82,-126.5,2667,2223,3405,3365,364.5,-13.9,324,2272,0.00,2.30,0.00,0.000,516,0.000,0.065,2667,819,3385,3406,3365,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2298,-0.82,-126.5,2667,819,3406,3364,369.6,-14.0,331,2307,0.05,2.30,0.00,0.000,3078,0.235,0.051,2672,2200,3384,3405,3364,0,0,0,0,0,0,14.28,14.54,28.83
$GC,2606,-0.82,-126.5,2672,2200,3405,3359,409.9,-13.2,347,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2201,3382,3405,3359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2906,-0.82,-126.5,2672,2200,3405,3354,450.4,-13.7,362,2912,0.00,2.28,0.00,0.000,516,0.000,0.067,2672,818,3379,3405,3354,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2967,-0.82,-126.5,2672,817,3405,3354,458.9,-13.5,374,2974,0.05,2.25,0.00,0.000,3078,0.360,0.054,2675,2207,3379,3405,3353,0,0,0,0,0,0,14.50,14.68,28.83
$GC,3287,-0.82,-126.5,2675,2207,3405,3351,502.2,-13.8,393,3293,0.00,2.30,0.00,0.000,516,0.000,0.067,2675,817,3378,3405,3351,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3334,-0.82,-126.5,2675,817,3404,3351,509.2,-13.8,403,3338,0.00,2.25,0.00,0.000,1030,0.000,0.052,2667,2205,3377,3404,3351,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3647,-0.82,-126.5,2667,2206,3402,3347,553.1,-14.2,415,3653,0.00,2.30,0.00,0.000,516,0.000,0.067,2666,809,3375,3403,3347,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3677,-0.82,-126.5,2667,809,3402,3346,557.6,-14.3,421,3684,0.10,2.25,0.00,0.000,3078,0.275,0.054,2677,2202,3374,3402,3347,0,0,0,0,0,0,14.44,14.68,28.83
$GC,4007,-0.82,-126.5,2677,2203,3401,3345,602.7,-13.5,437,4011,0.00,2.30,0.00,0.000,516,0.000,0.069,2677,818,3372,3400,3344,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4031,-0.82,-126.5,2678,818,3400,3344,606.4,-13.7,442,4039,0.00,2.33,0.00,0.000,1030,0.000,0.054,2670,2200,3373,3401,3345,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4339,-0.82,-126.5,2670,2200,3399,3343,647.6,-13.5,453,4345,0.00,2.30,0.00,0.000,516,0.000,0.068,2670,810,3371,3399,3343,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4369,-0.82,-126.5,2670,810,3399,3343,651.8,-13.8,459,4375,0.08,2.28,0.00,0.000,3078,0.304,0.055,2674,2208,3371,3399,3343,0,0,0,0,0,0,14.46,14.67,28.83
$GC,4699,-0.82,-126.5,2674,2209,3397,3341,694.8,-13.1,475,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2209,3369,3397,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4999,-0.82,-126.5,2674,2209,3395,3340,733.6,-12.9,485,5005,0.00,2.33,0.00,0.000,516,0.000,0.070,2674,809,3368,3396,3340,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5042,-0.82,-126.5,2674,809,3395,3340,739.6,-13.5,494,5046,0.00,2.28,0.00,0.000,1030,0.000,0.056,2667,2201,3367,3395,3339,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5359,-0.82,-126.5,2667,2201,3394,3338,779.8,-12.8,507,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2201,3366,3394,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5659,-0.82,-126.5,2667,2201,3393,3337,818.2,-12.8,517,5663,0.00,2.33,0.00,0.000,516,0.000,0.070,2668,810,3365,3393,3337,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5721,-0.82,-126.5,2667,810,3393,3336,826.2,-12.6,529,5728,0.10,2.28,0.00,0.000,3078,0.286,0.057,2678,2200,3364,3393,3336,0,0,0,0,0,0,14.40,14.64,28.83
$GC,6051,-0.82,-126.5,2678,2200,3392,3336,866.6,-12.3,545,6053,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2200,3364,3392,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6352,-0.82,-126.5,2678,2200,3391,3334,904.2,-12.6,555,6358,0.00,2.30,0.00,0.000,516,0.000,0.072,2678,815,3362,3391,3334,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6394,-0.82,-126.5,2678,815,3390,3335,910.0,-12.7,564,6398,0.00,2.28,0.00,0.000,1030,0.000,0.057,2671,2201,3362,3389,3335,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6706,-0.82,-126.5,2671,2201,3389,3334,950.0,-12.9,576,6712,0.00,2.33,0.00,0.000,516,0.000,0.070,2671,815,3361,3389,3334,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6729,-0.82,-126.5,2671,815,3389,3334,953.3,-14.0,581,6735,0.00,2.30,0.00,0.000,1030,0.000,0.057,2666,2210,3362,3390,3334,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,7034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7034,begin apogee
$GC,7039,-0.16,0.0,2666,2144,3389,3332,992.7,-12.8,592,7155,0.88,0.00,106.70,2.364,10246,0.296,0.000,2883,2143,2865,2914,2817,0,0,0,0,0,0,14.00,28.83,13.05
$STATE,7157,end apogee,CONTROL_FINISHED_OK
$STATE,7157,begin climb
$GC,7159,0.82,126.5,2884,2143,2913,2816,997.6,0.0,616,7281,1.17,2.50,113.07,2.462,10500,0.246,0.069,3173,3544,2351,2412,2290,0,0,0,0,0,0,13.94,13.81,12.92
$GC,7323,0.84,141.0,3173,3544,2405,2285,990.8,8.4,649,7343,0.12,2.38,13.80,2.034,11270,0.245,0.047,3209,2146,2296,2359,2233,0,0,0,0,0,0,13.91,14.07,13.00
$GC,7667,0.84,141.0,3209,2146,2347,2221,954.0,11.2,667,7671,0.00,2.40,0.00,0.000,516,0.000,0.073,3219,735,2284,2348,2221,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7842,0.84,141.0,3219,735,2347,2221,934.1,11.0,702,7850,0.00,2.38,0.00,0.000,1030,0.000,0.053,3211,2136,2284,2347,2221,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8152,0.84,141.0,3211,2136,2346,2220,901.4,10.8,713,8158,0.00,2.33,0.00,0.000,516,0.000,0.072,3218,744,2282,2345,2220,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8242,0.84,141.0,3218,744,2346,2220,891.5,10.3,732,8247,0.00,2.35,0.00,0.000,1030,0.000,0.053,3210,2144,2283,2346,2220,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8571,0.84,141.0,3210,2144,2344,2219,857.5,10.2,747,8577,0.00,2.38,0.00,0.000,516,0.000,0.072,3219,733,2281,2344,2219,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8633,0.84,141.0,3219,733,2344,2219,850.7,10.8,760,8638,0.00,2.33,0.00,0.000,1030,0.000,0.053,3210,2148,2280,2342,2219,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8962,0.84,141.0,3210,2147,2343,2218,817.6,10.2,775,8968,0.00,2.38,0.00,0.000,516,0.000,0.072,3218,735,2280,2343,2218,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9022,0.84,141.0,3218,735,2342,2218,811.2,10.8,787,9029,0.00,2.30,0.00,0.000,1030,0.000,0.052,3209,2146,2279,2341,2217,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9353,0.84,141.0,3210,2146,2341,2217,775.7,10.8,803,9354,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2146,2279,2341,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9652,0.84,141.0,3210,2146,2340,2217,742.9,11.0,813,9653,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2146,2278,2340,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9953,0.84,141.0,3210,2146,2340,2216,711.4,10.3,823,9954,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2146,2278,2340,2216,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,15286,0.92,207.7,3253,2165,2333,2214,178.8,6.3,1303,15342,0.00,2.42,50.12,1.244,8452,0.000,0.068,3254,3551,2015,2082,1949,0,0,0,0,0,0,28.83,14.44,13.74
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$STATE,17263,end climb,SURFACE_DEPTH_REACHED
$STATE,17263,begin surface coast
$FINISH,0.3,1.019106
$STATE,17278,end surface coast,CONTROL_FINISHED_OK
$STATE,17278,begin surface
$SM_CCo,17298,1.20,0.176,0,0,508,579.63
$SM_CCo,17302,0.00,0.000,0,0,511,579.63
$SM_CCo,17305,0.55,0.262,0,0,508,579.63
$SM_GC,3.49,9.05,2.42,0.55,0.059,0.047,0.262,184,2211,508,-8.57,-1.02,579.63,0,0,0,0,0,0,14.59,14.54,14.44
$IRIDIUM_FIX,1754.17,8930.52,300808,020226
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.83
$INTERNAL_PRESSURE,6.67018
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,12.9,110.439
$10V_AH,11.4,0.000
$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,23.375,190.725,537.975,1.750,0.000,51.960,42.350,428.066,0.500,0.000,6.723,3350.630,10267.817,679.550,3514.603,239.755,0.000,2084.950,0.000,2439.943,0.000,0.553,0.000
$DEVICE_MAMPS,359.550,171.360,2461.770,262.395,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,902.271,595.121,1535.324,938.092,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322224
$DATA_FILE_SIZE,134053,1664
$CAP_FILE_SIZE,186904,0
$CFSIZE,2097086464,2045018112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.116, 80.9,1
$GPS,031115,183343,1801.973,8929.637,70,2.5,90,-0.9