version: 66.11
glider: 169
mission: 8
dive: 290
start: 5 16 113 16 51 59
data:
$ID,169
$MISSION,8
$DIVE,290
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,130
$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,400
$T_MISSION,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,165
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52063
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00091300003
$HD_B,0.0119
$HD_C,2.0500001e-07
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,430
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21775.834
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2852
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.03682
$PRESSURE_SLOPE,0.0001078585
$AD7714Ch0Gain,1
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042608725
$SEABIRD_T_H,0.00061783189
$SEABIRD_T_I,2.1692709e-05
$SEABIRD_T_J,2.1724361e-06
$SEABIRD_C_G,-10.034778
$SEABIRD_C_H,1.1503564
$SEABIRD_C_I,-0.0019294197
$SEABIRD_C_J,0.0002327933
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,160513,163935,1914.313,12238.273,37,0.9,42,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-72.6
$GPS2,160513,165131,1914.522,12238.296,10,1.0,10,-2.2
$SPEED_LIMITS,0.143,0.238
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,93.9,209220,-3.2,-8.250,-19.13,2990
$D_GRID,2639
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.48,-160.6,122,2564,1256,951,0.0,0.0,0,93,0.00,0.00,-67.28,0.000,16386,0.000,0.000,123,2565,2797,2759,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.48,-160.6,122,2565,2760,2835,3.0,-6.1,9,132,8.43,2.25,-12.48,0.000,18692,0.226,0.063,2201,3828,3510,3386,3635,0,0,0,0,0,0,25.49,26.01,26.46
$GC,187,-0.48,-160.6,1344,3827,3376,3633,43.5,-41.0,18,196,0.00,2.15,0.00,0.000,1030,0.000,0.026,2201,2532,3511,3388,3635,0,0,0,0,0,0,28.83,26.17,28.83
$GC,506,-0.48,-160.6,2200,2531,3388,3635,147.2,-26.7,35,512,0.00,2.42,0.00,0.000,516,0.000,0.031,2201,1084,3511,3387,3635,0,0,0,0,0,0,28.83,26.25,28.83
$GC,581,-0.48,-160.6,2201,1083,3388,3635,163.0,-23.1,38,587,0.00,2.55,0.00,0.000,1030,0.000,0.036,2197,2560,3511,3388,3634,0,0,0,0,0,0,28.83,26.25,28.83
$GC,902,-0.48,-160.6,2197,2560,3389,3635,235.3,-19.6,54,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2557,3512,3389,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1201,-0.48,-160.6,2197,2556,3389,3634,290.4,-18.5,69,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2556,3511,3389,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1502,-0.48,-160.6,2197,2556,3389,3636,340.6,-15.4,84,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2556,3511,3389,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1802,-0.48,-160.6,2197,2555,3388,3634,385.7,-14.9,99,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2556,3511,3389,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2101,-0.48,-160.6,2197,2555,3388,3630,424.7,-12.9,114,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2555,3509,3389,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2401,-0.48,-160.6,2197,2556,3388,3626,467.3,-13.9,129,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2555,3509,3388,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2702,-0.48,-160.6,2197,2555,3389,3620,505.3,-12.9,144,2707,0.00,2.20,0.00,0.000,260,0.000,0.046,2194,3832,3504,3388,3620,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2757,-0.48,-160.6,2194,3831,3388,3619,511.4,-13.2,146,2764,0.00,2.12,0.00,0.000,1030,0.000,0.024,2194,2525,3503,3388,3618,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3075,-0.48,-160.6,2194,2525,3388,3613,552.9,-11.9,162,3080,0.00,2.30,0.00,0.000,260,0.000,0.045,2194,3837,3500,3388,3613,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3123,-0.48,-160.6,2192,3836,3388,3611,558.2,-11.6,164,3129,0.00,2.12,0.00,0.000,1030,0.000,0.024,2194,2524,3499,3388,3611,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3450,-0.48,-160.6,2193,2524,3388,3604,592.8,-10.5,180,3457,0.00,2.28,0.00,0.000,260,0.000,0.045,2194,3834,3496,3388,3604,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3477,-0.48,-160.6,2193,3834,3385,3604,595.9,-10.7,181,3484,0.00,2.10,0.00,0.000,1030,0.000,0.024,2200,2525,3496,3388,3604,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3793,-0.48,-160.6,2190,2524,3388,3598,630.2,-10.9,192,3800,0.10,2.42,0.00,0.000,2564,0.135,0.029,2230,1086,3493,3388,3598,0,0,0,0,0,0,26.52,26.33,28.83
$GC,3831,-0.48,-160.6,2229,1087,3388,3598,633.7,-10.6,193,3839,0.00,2.50,0.00,0.000,1030,0.000,0.030,2223,2563,3492,3388,3597,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4170,-0.48,-160.6,2222,2561,3388,3590,661.1,-8.0,204,4176,0.00,2.20,0.00,0.000,260,0.000,0.047,2220,3831,3487,3388,3586,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4269,-0.48,-160.6,2219,3829,3386,3590,668.8,-7.9,207,4275,0.00,2.20,0.00,0.000,1030,0.000,0.025,2219,2521,3487,3386,3589,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4605,-0.48,-160.6,2219,2520,3385,3585,695.7,-8.3,218,4610,0.00,2.38,0.00,0.000,260,0.000,0.049,2218,3840,3485,3385,3585,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4674,-0.48,-160.6,1352,3839,3370,3583,701.3,-8.6,220,4680,0.00,2.20,0.00,0.000,1030,0.000,0.025,2218,2508,3483,3382,3585,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5004,-0.48,-160.6,2217,2509,3382,3579,730.2,-8.5,231,5010,0.00,2.38,0.00,0.000,260,0.000,0.048,2208,3829,3480,3382,3579,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5089,-0.48,-160.6,1348,3829,3368,3577,736.1,-8.7,233,5095,0.00,2.17,0.00,0.000,1030,0.000,0.026,2207,2527,3479,3380,3579,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5409,-0.48,-160.6,2207,2527,3380,3576,768.2,-9.9,244,5414,0.00,2.40,0.00,0.000,516,0.000,0.034,2208,1081,3478,3380,3576,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5444,-0.48,-160.6,2208,1081,3380,3575,772.2,-10.0,245,5451,0.00,2.53,0.00,0.000,1030,0.000,0.032,2207,2562,3477,3380,3575,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5781,-0.48,-160.6,2206,2560,3378,3572,804.7,-9.7,256,5788,0.00,2.22,0.00,0.000,260,0.000,0.051,2207,3827,3475,3378,3572,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5832,-0.48,-160.6,2206,3828,3375,3572,808.3,-9.6,257,5838,0.00,2.20,0.00,0.000,1030,0.000,0.028,2206,2515,3474,3377,3571,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6153,-0.48,-160.6,2206,2515,3376,3567,837.2,-8.0,268,6159,0.00,2.35,0.00,0.000,260,0.000,0.046,2195,3831,3472,3376,3568,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6234,-0.48,-160.6,2195,3831,3376,3568,842.9,-8.0,270,6240,0.10,2.20,0.00,0.000,3078,0.129,0.026,2226,2516,3471,3375,3568,0,0,0,0,0,0,26.22,26.43,28.83
$GC,6555,-0.48,-160.6,2226,2516,3375,3563,865.7,-6.4,281,6561,0.00,2.35,0.00,0.000,260,0.000,0.047,2220,3827,3469,3375,3563,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6631,-0.48,-160.6,2220,3827,3373,3564,870.1,-6.4,283,6638,0.00,2.20,0.00,0.000,1030,0.000,0.027,2223,2518,3468,3373,3563,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6958,-0.48,-160.6,2220,2518,3373,3561,890.4,-5.7,294,6964,0.00,2.35,0.00,0.000,260,0.000,0.048,2210,3827,3467,3374,3561,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7044,-0.48,-160.6,2209,3827,3371,3561,894.6,-6.1,296,7050,0.00,2.20,0.00,0.000,1030,0.000,0.028,2210,2523,3466,3371,3561,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7362,-0.48,-160.6,2209,2523,3371,3557,916.4,-6.8,307,7368,0.00,2.38,0.00,0.000,260,0.000,0.050,2207,3835,3464,3371,3557,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7422,-0.48,-160.6,2207,3839,3370,3557,919.5,-7.1,308,7430,0.00,2.20,0.00,0.000,1030,0.000,0.026,2207,2518,3463,3369,3557,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7730,-0.48,-160.6,2207,2518,3369,3554,942.1,-6.9,319,7737,0.00,2.38,0.00,0.000,260,0.000,0.050,2207,3832,3461,3369,3554,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7778,-0.48,-160.6,2207,3833,3368,3555,945.4,-7.4,320,7785,0.00,2.20,0.00,0.000,1030,0.000,0.027,2206,2517,3461,3368,3554,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8105,-0.48,-160.6,2206,2519,3368,3554,967.6,-7.0,331,8111,0.00,2.38,0.00,0.000,260,0.000,0.050,2207,3828,3461,3368,3554,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8152,-0.48,-160.6,2206,3828,3367,3554,970.2,-7.1,332,8158,0.00,2.22,0.00,0.000,1030,0.000,0.028,2207,2516,3460,3367,3554,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,8417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8417,begin apogee
$GC,8424,-0.12,0.0,2206,2664,3367,3553,991.6,-7.7,341,8570,0.35,0.00,140.70,1.017,10246,0.090,0.000,2334,2664,2851,2859,2843,0,0,0,0,0,0,26.01,28.83,24.13
$STATE,8572,end apogee,CONTROL_FINISHED_OK
$STATE,8572,begin climb
$GC,8574,0.48,160.6,2334,2664,2854,2829,997.4,0.0,345,8740,0.52,0.00,154.65,0.988,10502,0.050,0.000,2541,2664,2186,2312,2061,0,0,0,0,0,0,25.05,28.83,23.84
$GC,9023,0.48,160.6,2541,2664,2295,2048,968.4,9.0,361,9029,0.00,2.75,0.00,0.000,516,0.000,0.025,2554,1178,2171,2294,2048,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9072,0.48,160.6,2554,1178,2290,2048,964.3,9.6,362,9078,0.00,2.72,0.00,0.000,1030,0.000,0.027,2548,2662,2169,2290,2048,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9393,0.48,160.6,2548,2659,2288,2047,933.8,9.2,373,9400,0.00,2.67,0.00,0.000,516,0.000,0.024,2561,1185,2167,2288,2047,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9424,0.48,160.6,2557,1185,2284,2047,933.8,9.2,373,9432,0.00,2.70,0.00,0.000,1030,0.000,0.027,2559,2661,2166,2286,2047,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9733,0.48,160.6,2559,2659,2286,2047,901.3,9.4,384,9739,0.00,1.92,0.00,0.000,260,0.000,0.043,2560,3849,2166,2286,2047,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9784,0.48,160.6,2559,3854,2284,2047,897.3,9.6,385,9790,0.12,1.90,0.00,0.000,5126,0.160,0.016,2537,2603,2165,2283,2047,0,0,0,0,0,0,25.95,26.37,28.83
$GC,10105,0.50,166.8,2537,2602,2283,2047,868.8,8.0,396,10111,0.00,2.12,0.00,0.000,260,0.000,0.041,2527,3833,2165,2283,2048,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10190,0.50,166.8,2527,3833,2280,2047,862.6,8.6,398,10196,0.00,1.88,0.00,0.000,1030,0.000,0.016,2538,2605,2164,2282,2047,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10508,0.53,180.8,2538,2605,2280,2047,835.9,7.8,409,10534,0.00,2.12,18.95,0.935,8452,0.000,0.043,2527,3833,2104,2222,1987,0,0,0,0,0,0,28.83,26.03,25.30
$GC,10633,0.53,180.8,2527,3833,2211,1977,827.4,8.4,412,10641,0.00,1.90,0.00,0.000,1030,0.000,0.017,2538,2608,2093,2211,1976,0,0,0,0,0,0,28.83,26.20,28.83
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$GC,13814,0.64,224.4,2567,2604,2156,1916,500.9,7.2,531,13853,0.00,2.55,29.95,0.746,8708,0.000,0.025,2579,1195,1925,2045,1806,0,0,0,0,0,0,28.83,26.03,25.29
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$STATE,18495,end climb,SURFACE_DEPTH_REACHED
$STATE,18495,begin surface coast
$FINISH,-0.3,1.021257
$STATE,18529,end surface coast,CONTROL_FINISHED_OK
$STATE,18529,begin surface
$SM_CCo,18547,34.00,0.119,0,0,1098,430.01
$SM_GC,0.81,6.35,0.38,34.00,0.018,0.034,0.119,135,2491,1098,-6.93,0.25,430.01,0,0,0,0,0,0,26.27,26.39,25.88
$IRIDIUM_FIX,1904.66,12236.85,160513,111126
$TT8_MAMPS,0.021721,0.021721
$HUMID,45.94
$INTERNAL_PRESSURE,9.45705
$TCM_TEMP,25.70
$XPDR_PINGS,0
$SC_FREEKB,3874272
$24V_AH,23.8,37.961
$10V_AH,10.2,30.114
$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,16.800,183.350,522.775,34.000,0.000,0.000,0.000,425.500,0.000,0.000,11.387,3403.772,11818.021,765.821,2474.628,801.441,0.000,2319.685,0.000,1916.028,0.000,0.545,0.000
$DEVICE_MAMPS,226.440,71.910,1016.685,119.340,0.000,0.000,0.000,121.635,420.000,0.000,32.960,14.210,2.190,14.210,40.430,47.920,0.000,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18603.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.332,0.000,0.000,0.000
$MEM,323308
$DATA_FILE_SIZE,30051,803
$CAP_FILE_SIZE,437320,0
$CFSIZE,260034560,208064512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.157,  0.5,1
$GPS,160513,220254,1916.064,12240.219,38,1.2,38,-2.2