version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 171
start: 1 9 117 13 31 53
data:
$ID,628
$MISSION,3
$DIVE,171
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,970
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,100
$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,320
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.89999998
$RHO,1.0275
$MASS,53567
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,70
$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,4743.1001
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-124933.02
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,152
$PITCH_MAX,3882
$C_PITCH,2800
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.0031260001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,247
$ROLL_MAX,3902
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,65
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,734
$VBD_MAX,3960
$C_VBD,2988
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,3
$DBDW,0
$PITCH_W_GAIN,7
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-167.58914
$PRESSURE_SLOPE,0.00014036
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,133
$DEVICE3,147
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,0
$LOGGERDEVICE2,0
$LOGGERDEVICE3,0
$LOGGERDEVICE4,0
$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,0.0044104406
$SEABIRD_T_H,0.00064404617
$SEABIRD_T_I,2.5974168e-05
$SEABIRD_T_J,3.1912264e-06
$SEABIRD_C_G,-9.8867512
$SEABIRD_C_H,1.1496466
$SEABIRD_C_I,-0.00071915763
$SEABIRD_C_J,0.00012581857
$GPS1,090117,132154,2227.022,12233.626,35,0.9,35,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-62.9
$GPS2,090117,133129,2227.156,12233.490,7,0.9,7,-3.5
$SPEED_LIMITS,0.158,0.267
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12127.900
$TGT_RADIUS,2000.000
$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,299.2,130565,-15.8,-10.104,-18.78,2952
$D_GRID,5038
$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,-0.78,-194.6,97,2163,1363,1347,0.0,0.0,0,76,0.00,0.00,-59.45,0.000,16386,0.000,0.000,94,2164,3404,3400,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.78,-194.6,94,2165,3402,3405,3.8,-8.2,9,101,8.62,2.28,-5.93,0.000,18692,0.469,0.065,2529,3536,3784,3738,3830,0,0,0,0,0,0,14.37,14.73,14.94
$GC,185,-0.78,-194.6,2529,3536,3738,3831,34.8,-27.5,28,193,0.05,2.25,0.00,0.000,3078,0.324,0.025,2547,2127,3784,3737,3831,0,0,0,0,0,0,14.46,14.73,28.83
$GC,439,-0.78,-194.6,2547,2126,3737,3831,96.3,-20.8,77,446,0.00,2.38,0.00,0.000,2308,0.000,0.058,2538,3531,3784,3738,3831,0,0,0,0,0,0,28.83,14.77,28.83
$GC,464,-0.78,-194.6,2537,3531,3737,3831,101.5,-21.2,81,471,0.00,2.22,0.00,0.000,3078,0.000,0.029,2538,2163,3784,3737,3831,0,0,0,0,0,0,28.83,14.76,28.83
$GC,717,-0.78,-194.6,1552,2160,3734,3830,157.3,-22.4,130,725,0.00,2.33,0.00,0.000,2564,0.000,0.051,2538,759,3784,3737,3831,0,0,0,0,0,0,28.83,14.79,28.83
$GC,783,-0.78,-194.6,2538,759,3738,3831,170.3,-17.8,142,792,0.05,2.22,0.00,0.000,3078,0.288,0.037,2548,2131,3784,3738,3831,0,0,0,0,0,0,14.56,14.78,28.83
$GC,1038,-0.78,-194.6,1552,2130,3734,3831,213.4,-17.2,191,1045,0.00,2.28,0.00,0.000,516,0.000,0.053,2548,759,3785,3738,3832,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1068,-0.78,-194.6,1552,759,3735,3831,218.3,-15.7,196,1075,0.00,2.25,0.00,0.000,3078,0.000,0.040,2541,2142,3784,3737,3832,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1327,-0.78,-194.6,2541,2142,3738,3831,259.8,-15.2,240,1331,0.00,2.30,0.00,0.000,2308,0.000,0.055,2531,3558,3785,3738,3832,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1396,-0.78,-194.6,2530,3559,3738,3831,269.5,-13.6,253,1407,0.05,2.20,0.00,0.000,3078,0.444,0.028,2545,2140,3785,3738,3832,0,0,0,0,0,0,14.64,14.92,28.83
$GC,1645,-0.78,-194.6,2546,2140,3738,3832,305.5,-14.5,279,1654,0.00,2.20,0.00,0.000,2564,0.000,0.048,2546,760,3785,3738,3832,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1728,-0.78,-194.6,1680,760,3735,3831,317.8,-13.8,296,1736,0.00,2.25,0.00,0.000,3078,0.000,0.036,2538,2161,3785,3738,3832,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1976,-0.78,-194.6,2538,2161,3738,3831,353.7,-14.1,321,1985,0.00,2.25,0.00,0.000,2308,0.000,0.056,2529,3549,3784,3737,3832,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2050,-0.78,-194.6,2529,3549,3737,3832,363.9,-13.6,336,2058,0.05,2.22,0.00,0.000,3078,0.280,0.028,2549,2151,3784,3737,3832,0,0,0,0,0,0,14.61,14.88,28.83
$GC,2298,-0.78,-194.6,2549,2150,3736,3832,394.7,-11.7,361,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2149,3784,3736,3832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2537,-0.78,-194.6,2549,2150,3734,3832,423.3,-11.0,385,2541,0.00,2.22,0.00,0.000,516,0.000,0.050,2549,757,3783,3734,3832,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2583,-0.78,-194.6,2548,757,3733,3832,428.0,-10.1,394,2587,0.00,2.20,0.00,0.000,3078,0.000,0.037,2541,2160,3782,3733,3832,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2829,-0.78,-194.6,2541,2160,3731,3832,452.9,-10.7,419,2838,0.00,2.28,0.00,0.000,2308,0.000,0.057,2531,3552,3781,3731,3831,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2949,-0.78,-194.6,2531,3552,3730,3832,466.6,-11.5,443,2954,0.05,2.17,0.00,0.000,3078,0.436,0.028,2545,2148,3781,3730,3832,0,0,0,0,0,0,14.72,15.01,28.83
$GC,3194,-0.78,-194.6,2545,2148,3729,3831,499.2,-13.0,468,3198,0.00,2.22,0.00,0.000,2564,0.000,0.051,2544,759,3780,3728,3832,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3288,-0.78,-194.6,1664,759,3724,3831,510.9,-11.5,487,3295,0.00,2.22,0.00,0.000,3078,0.000,0.037,2537,2149,3779,3727,3832,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3536,-0.78,-194.6,2537,2148,3727,3830,538.2,-11.8,512,3546,0.00,2.22,0.00,0.000,2564,0.000,0.051,2537,763,3777,3726,3829,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3588,-0.78,-194.6,2537,763,3725,3830,544.5,-11.7,522,3593,0.03,2.17,0.00,0.000,3078,0.366,0.037,2540,2153,3777,3725,3830,0,0,0,0,0,0,14.67,14.97,28.83
$GC,3840,-0.78,-194.6,2540,2153,3725,3828,572.5,-10.9,548,3844,0.00,2.28,0.00,0.000,2308,0.000,0.058,2532,3548,3776,3724,3828,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3876,-0.78,-194.6,2531,3549,3723,3828,576.5,-11.3,555,3886,0.05,2.17,0.00,0.000,3078,0.435,0.028,2545,2151,3775,3723,3828,0,0,0,0,0,0,14.72,15.02,28.83
$GC,4137,-0.78,-194.6,2545,2150,3723,3826,605.4,-11.3,580,4143,0.00,2.25,0.00,0.000,2564,0.000,0.051,2545,757,3774,3722,3826,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4196,-0.78,-194.6,2545,757,3722,3825,612.4,-11.5,592,4200,0.00,2.20,0.00,0.000,3078,0.000,0.038,2538,2151,3773,3722,3825,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4452,-0.78,-194.6,2538,2151,3721,3824,641.3,-11.1,607,4458,0.00,2.33,0.00,0.000,2308,0.000,0.060,2528,3556,3771,3719,3823,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4545,-0.78,-194.6,2528,3556,3718,3823,652.4,-11.4,626,4552,0.08,2.22,0.00,0.000,3078,0.352,0.028,2548,2144,3770,3718,3823,0,0,0,0,0,0,14.71,15.01,28.83
$GC,4792,-0.78,-194.6,2548,2144,3718,3822,676.5,-9.6,639,4796,0.00,2.35,0.00,0.000,260,0.000,0.059,2539,3555,3769,3717,3822,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4826,-0.78,-194.6,2539,3554,3717,3823,679.9,-9.6,646,4833,0.00,2.20,0.00,0.000,3078,0.000,0.028,2539,2153,3769,3717,3822,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5073,-0.78,-194.6,2539,2153,3717,3821,704.1,-9.9,659,5077,0.00,2.28,0.00,0.000,2564,0.000,0.053,2540,753,3768,3716,3821,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5112,-0.78,-194.6,2539,752,3716,3821,708.5,-10.5,667,5117,0.08,2.22,0.00,0.000,3078,0.373,0.040,2548,2148,3768,3715,3821,0,0,0,0,0,0,14.70,15.00,28.83
$GC,5364,-0.78,-194.6,2548,2149,3713,3819,730.4,-8.5,681,5368,0.00,2.33,0.00,0.000,260,0.000,0.060,2541,3558,3766,3713,3819,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5393,-0.78,-194.6,2541,3558,3712,3818,733.2,-8.9,687,5401,0.00,2.22,0.00,0.000,3078,0.000,0.028,2541,2145,3765,3712,3819,0,0,0,0,0,0,28.83,15.02,28.83
$GC,5641,-0.78,-194.6,2541,2145,3710,3816,757.8,-10.7,700,5642,0.00,0.00,0.00,0.000,2054,0.000,0.000,2541,2145,3763,3711,3816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5881,-0.78,-194.6,2541,2145,3710,3815,783.7,-10.7,712,5887,0.00,2.25,0.00,0.000,2564,0.000,0.053,2541,762,3762,3710,3815,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5993,-0.78,-194.6,2541,761,3709,3814,795.9,-9.8,735,6001,0.05,2.22,0.00,0.000,3078,0.466,0.041,2545,2154,3761,3709,3814,0,0,0,0,0,0,14.69,14.97,28.83
$GC,6240,-0.78,-194.6,2545,2154,3707,3813,816.1,-7.9,748,6244,0.00,2.33,0.00,0.000,2308,0.000,0.062,2536,3551,3760,3707,3813,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6290,-0.78,-194.6,2536,3551,3706,3813,820.2,-7.9,758,6294,0.00,2.22,0.00,0.000,3078,0.000,0.030,2536,2149,3759,3705,3813,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6537,-0.78,-194.6,2536,2148,3705,3811,841.2,-9.0,771,6538,0.00,0.00,0.00,0.000,2054,0.000,0.000,2536,2148,3758,3705,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6777,-0.78,-194.6,2536,2148,3704,3810,865.2,-10.5,783,6778,0.00,0.00,0.00,0.000,2054,0.000,0.000,2536,2148,3756,3703,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7017,-0.78,-194.6,2536,2147,3702,3809,890.4,-10.3,795,7021,0.00,2.35,0.00,0.000,2308,0.000,0.062,2527,3545,3755,3702,3808,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7106,-0.78,-194.6,2527,3545,3700,3808,899.8,-10.2,813,7111,0.08,2.22,0.00,0.000,3078,0.363,0.030,2546,2145,3754,3701,3808,0,0,0,0,0,0,14.66,14.99,28.83
$GC,7358,-0.78,-194.6,2545,2145,3700,3806,922.5,-8.7,827,7359,0.00,0.00,0.00,0.000,2054,0.000,0.000,2546,2146,3753,3700,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7598,-0.78,-194.6,2546,2144,3699,3805,943.0,-8.6,839,7602,0.00,2.35,0.00,0.000,2308,0.000,0.062,2537,3545,3752,3699,3805,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7622,-0.78,-194.6,2537,3546,3699,3805,945.4,-8.9,844,7626,0.00,2.22,0.00,0.000,3078,0.000,0.031,2537,2150,3752,3699,3805,0,0,0,0,0,0,28.83,14.99,28.83
$GC,7874,-0.78,-194.6,2537,2150,3697,3803,968.7,-9.4,858,7878,0.00,2.35,0.00,0.000,2308,0.000,0.063,2528,3549,3750,3697,3804,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,7889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7889,begin apogee
$GC,7896,-0.17,0.0,2527,1952,3697,3804,970.2,-9.5,861,8160,0.62,0.00,260.42,1.620,10246,0.246,0.000,2748,1952,2988,3025,2952,0,0,0,0,0,0,14.68,28.83,13.64
$STATE,8161,end apogee,CONTROL_FINISHED_OK
$STATE,8161,begin climb
$GC,8163,0.78,194.6,2749,1952,3018,2944,981.3,0.0,874,8383,0.77,2.55,210.85,1.769,10756,0.147,0.070,3059,561,2184,2215,2154,0,0,0,0,0,0,14.17,14.05,13.46
$GC,8430,0.78,194.6,3059,560,2197,2140,960.8,14.3,930,8435,0.00,2.33,0.00,0.000,5126,0.000,0.038,3059,1945,2168,2197,2140,0,0,0,0,0,0,28.83,14.31,28.83
$GC,8687,0.78,194.6,3059,1945,2197,2132,924.1,14.7,945,8693,0.00,2.38,0.00,0.000,4356,0.000,0.061,3059,3355,2164,2197,2132,0,0,0,0,0,0,28.83,14.64,28.83
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$GC,13213,0.85,194.6,2208,542,2155,2113,351.7,11.5,1418,13221,0.03,2.28,0.00,0.000,5126,0.376,0.035,3078,1951,2156,2194,2119,0,0,0,0,0,0,14.52,14.78,28.83
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$STATE,16180,end climb,SURFACE_DEPTH_REACHED
$STATE,16180,begin surface coast
$FINISH,0.6,1.023415
$STATE,16196,end surface coast,CONTROL_FINISHED_OK
$STATE,16196,begin surface
$SM_CCo,16212,41.10,0.155,0,0,1356,400.08
$SM_GC,0.97,7.28,1.95,41.10,0.095,0.025,0.155,140,2087,1356,-8.24,1.27,400.08,0,0,0,0,0,0,14.73,14.88,14.64
$IRIDIUM_FIX,2218.34,12233.46,061109,020216
$TT8_MAMPS,0.020223,0.020223
$HUMID,40.19
$INTERNAL_PRESSURE,8.05695
$TCM_TEMP,22.20
$XPDR_PINGS,3
$24V_AH,13.5,65.598
$10V_AH,13.1,0.000
$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,19.075,210.400,577.475,41.100,0.000,0.000,0.000,405.500,0.750,0.000,8.195,4003.953,8006.548,817.214,3773.110,204.704,0.000,2765.245,0.000,3357.537,0.000,0.552,0.000
$DEVICE_MAMPS,492.660,70.380,1769.445,154.530,0.000,0.000,0.000,171.360,420.000,0.000,11.240,12.320,2.190,12.320,32.540,39.280,0.000,10.900,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,1047.013,2053.270,1430.147,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322932
$DATA_FILE_SIZE,143980,1917
$CAP_FILE_SIZE,204370,0
$CFSIZE,2097086464,2065530880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.222,303.7,1
$GPS,090117,180400,2229.278,12229.541,36,0.9,36,-3.5