version: 66.10
glider: 169
mission: 6
dive: 298
start: 6 23 112 2 27 37
data:
$ID,169
$MISSION,6
$DIVE,298
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$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,320
$T_MISSION,360
$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,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$NAV_MODE,2
$FERRY_MAX,45
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-15916.661
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2275
$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,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2425
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,147.521
$AH0_10V,108.529
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-77.157478
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$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
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,230612,021255,2336.054,12215.305,43,1.1,43,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-69.0
$GPS2,230612,022712,2336.605,12215.037,12,1.9,15,-3.2
$SPEED_LIMITS,0.179,0.299
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,129.9,171151,-16.1,-10.312
$D_GRID,3664
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.64,-194.6,0.0,0.0,0,108,0.00,0.00,-87.72,0.000,2,0.000,0.000,118,2357,3084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.64,-194.6,3.2,-7.1,15,139,7.93,2.47,-12.93,0.000,4,0.226,0.048,2049,3842,3776,0,0,0,0,0,0,24.97,25.99,26.48
$GC,202,-0.59,-194.6,37.5,-24.8,31,209,0.00,2.15,0.00,0.000,6,0.000,0.021,2058,2401,3777,0,0,0,0,0,0,28.83,26.15,28.83
$GC,395,-0.52,-194.6,85.9,-20.1,68,402,0.12,2.28,0.00,0.000,4,0.176,0.037,2085,3838,3777,0,0,0,0,0,0,25.98,26.10,28.83
$GC,435,-0.48,-194.6,93.7,-18.3,75,442,0.12,2.00,0.00,0.000,6,0.127,0.020,2123,2447,3776,0,0,0,0,0,0,26.03,26.29,28.83
$GC,626,-0.48,-194.6,117.2,-12.1,112,633,0.00,2.45,0.00,0.000,4,0.000,0.024,2123,961,3777,0,0,0,0,0,0,28.83,26.26,28.83
$GC,677,-0.50,-194.6,122.4,-9.5,121,684,0.00,2.60,0.00,0.000,6,0.000,0.030,2112,2490,3777,0,0,0,0,0,0,28.83,26.24,28.83
$GC,870,-0.49,-194.6,143.4,-10.1,158,877,0.00,2.00,0.00,0.000,4,0.000,0.040,2102,3836,3777,0,0,0,0,0,0,28.83,26.21,28.83
$GC,905,-0.51,-194.6,146.9,-9.3,164,912,0.00,1.95,0.00,0.000,6,0.000,0.018,2102,2436,3777,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1098,-0.50,-194.6,165.4,-9.2,201,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2435,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1291,-0.50,-194.6,185.1,-11.4,238,1297,0.00,2.42,0.00,0.000,4,0.000,0.024,2102,944,3777,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1351,-0.53,-194.6,191.0,-8.5,249,1359,0.00,2.65,0.00,0.000,6,0.000,0.030,2098,2507,3777,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1543,-0.53,-194.6,212.0,-12.8,286,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2506,3777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1853,-0.53,-194.6,247.8,-9.9,347,1859,0.00,2.60,0.00,0.000,4,0.000,0.024,2099,946,3777,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1929,-0.57,-194.6,254.5,-8.2,361,1937,0.00,2.65,0.00,0.000,6,0.000,0.030,2098,2496,3777,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2242,-0.57,-194.6,282.4,-8.8,422,2250,0.00,2.58,0.00,0.000,4,0.000,0.024,2098,955,3775,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2284,-0.60,-194.6,286.2,-8.3,429,2291,0.00,2.60,0.00,0.000,6,0.000,0.031,2093,2479,3775,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2597,-0.60,-194.6,317.6,-9.2,490,2604,0.00,2.53,0.00,0.000,4,0.000,0.025,2094,960,3773,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2630,-0.62,-194.6,320.4,-9.3,495,2636,0.00,2.55,0.00,0.000,6,0.000,0.031,2089,2461,3773,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2940,-0.62,-194.6,349.3,-9.7,556,2947,0.00,2.12,0.00,0.000,4,0.000,0.042,2078,3838,3771,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3017,-0.64,-194.6,356.2,-8.8,570,3023,0.00,2.08,0.00,0.000,6,0.000,0.019,2079,2400,3771,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3329,-0.64,-194.6,389.1,-10.1,631,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2399,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3640,-0.64,-194.6,419.9,-9.7,692,3646,0.00,2.35,0.00,0.000,4,0.000,0.024,2079,956,3766,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3670,-0.65,-194.6,422.8,-9.4,697,3678,0.00,2.58,0.00,0.000,6,0.000,0.031,2068,2469,3766,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3984,-0.65,-194.6,454.4,-10.2,758,3991,0.00,2.10,-0.08,0.000,4,0.000,0.054,2058,3835,3791,0,0,0,0,0,0,28.83,26.20,25.49
$GC,4031,-0.66,-194.6,458.6,-9.4,766,4038,0.00,2.08,0.00,0.000,6,0.000,0.019,2057,2404,3791,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4343,-0.65,-194.6,489.9,-10.2,827,4350,0.00,2.35,0.00,0.000,4,0.000,0.024,2057,955,3790,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4384,-0.66,-194.6,493.9,-8.8,834,4391,0.00,2.55,0.00,0.000,6,0.000,0.031,2046,2468,3789,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4696,-0.64,-194.6,531.5,-13.1,870,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2466,3786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5006,-0.63,-194.6,571.9,-13.1,901,5015,0.00,2.05,0.00,0.000,4,0.000,0.042,2036,3824,3784,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5051,-0.61,-194.6,577.7,-13.1,905,5059,0.12,2.10,0.00,0.000,6,0.130,0.020,2077,2388,3783,0,0,0,0,0,0,26.14,26.44,28.83
$GC,5359,-0.62,-194.6,609.4,-9.8,936,5368,0.00,2.30,0.00,0.000,4,0.000,0.025,2077,965,3782,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5383,-0.63,-194.6,611.7,-10.1,938,5390,0.00,2.53,0.00,0.000,6,0.000,0.032,2068,2454,3781,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5690,-0.63,-194.6,644.3,-10.9,969,5694,0.00,2.10,0.00,0.000,4,0.000,0.044,2058,3831,3779,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5746,-0.65,-194.6,649.9,-10.7,974,5752,0.00,2.10,0.00,0.000,6,0.000,0.020,2058,2396,3779,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6053,-0.65,-194.6,684.7,-11.2,1005,6063,0.00,2.30,0.00,0.000,4,0.000,0.044,2047,3824,3776,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6086,-0.65,-194.6,688.5,-11.1,1008,6095,0.00,2.08,0.00,0.000,6,0.000,0.020,2047,2409,3776,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6397,-0.64,-194.6,724.3,-11.3,1039,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2410,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6699,-0.63,-194.6,757.1,-10.9,1069,6708,0.00,2.25,0.00,0.000,4,0.000,0.045,2036,3827,3772,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6742,-0.63,-194.6,762.0,-11.4,1073,6752,0.08,2.03,0.00,0.000,6,0.103,0.021,2068,2417,3771,0,0,0,0,0,0,26.15,26.41,28.83
$GC,7051,-0.64,-194.6,791.2,-9.4,1104,7060,0.00,2.38,0.00,0.000,4,0.000,0.025,2069,957,3770,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7088,-0.65,-194.6,794.2,-9.7,1107,7094,0.00,2.60,0.00,0.000,6,0.000,0.032,2058,2483,3770,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7393,-0.65,-194.6,827.8,-11.5,1138,7402,0.00,2.05,0.00,0.000,4,0.000,0.045,2048,3834,3767,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7437,-0.66,-194.6,832.5,-11.2,1142,7445,0.00,2.05,0.00,0.000,6,0.000,0.021,2048,2419,3767,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7745,-0.66,-194.6,867.5,-11.2,1173,7755,0.00,2.38,0.00,0.000,4,0.000,0.026,2048,957,3766,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7779,-0.67,-194.6,871.1,-11.1,1176,7787,0.00,2.58,0.00,0.000,6,0.000,0.034,2038,2477,3765,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8088,-0.66,-194.6,906.8,-11.3,1207,8092,0.00,2.08,0.00,0.000,4,0.000,0.044,2027,3837,3764,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8111,-0.65,-194.6,909.5,-11.3,1209,8121,0.08,2.05,0.00,0.000,6,0.112,0.021,2059,2419,3763,0,0,0,0,0,0,26.09,26.39,28.83
$GC,8421,-0.66,-194.6,936.9,-8.5,1240,8429,0.00,2.38,0.00,0.000,4,0.000,0.028,2059,971,3762,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8457,-0.67,-194.6,939.6,-8.6,1243,8465,0.00,2.60,0.00,0.000,6,0.000,0.034,2050,2481,3762,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8764,-0.67,-194.6,967.6,-9.4,1274,8772,0.00,2.53,0.00,0.000,4,0.000,0.026,2050,954,3761,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8788,-0.67,-194.6,969.6,-9.1,1276,8795,0.00,2.58,0.00,0.000,6,0.000,0.034,2041,2471,3761,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,8994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8995,begin apogee
$GC,9002,-0.20,0.0,990.2,-10.0,1297,9206,0.47,0.10,192.32,1.117,4,0.104,0.072,2203,2479,2966,0,0,0,0,0,0,25.73,24.72,23.47
$STATE,9207,end apogee,CONTROL_FINISHED_OK
$STATE,9207,begin climb
$GC,9209,0.64,194.6,998.7,0.0,1318,9426,0.73,2.22,204.45,1.104,4,0.045,0.043,2489,3831,2172,0,0,0,0,0,0,25.03,24.99,23.20
$GC,9543,0.57,194.6,941.0,22.8,1351,9551,0.15,2.00,0.00,0.000,6,0.191,0.023,2463,2493,2146,0,0,0,0,0,0,25.25,25.65,28.83
$GC,9850,0.53,194.6,883.3,17.8,1382,9859,0.00,2.45,0.00,0.000,4,0.000,0.029,2476,1066,2140,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9974,0.50,194.6,863.8,15.5,1394,9984,0.10,2.62,0.00,0.000,6,0.145,0.035,2442,2539,2137,0,0,0,0,0,0,25.73,26.04,28.83
$GC,10282,0.47,194.6,813.6,15.9,1425,10286,0.00,1.92,0.00,0.000,4,0.000,0.042,2442,3831,2137,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10344,0.43,194.6,802.9,17.7,1431,10354,0.15,1.92,0.00,0.000,6,0.174,0.021,2412,2501,2136,0,0,0,0,0,0,25.77,26.25,28.83
$GC,10655,0.41,194.6,761.9,12.8,1462,10656,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2499,2136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10957,0.40,194.6,724.6,12.6,1492,10966,0.00,2.03,0.00,0.000,4,0.000,0.042,2413,3819,2136,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10982,0.38,194.6,721.4,12.9,1494,10989,0.00,1.88,0.00,0.000,6,0.000,0.021,2423,2504,2135,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11290,0.36,194.6,680.4,12.6,1525,11294,0.00,2.05,0.00,0.000,4,0.000,0.042,2423,3840,2135,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11325,0.34,194.6,675.7,14.1,1528,11333,0.17,1.88,0.00,0.000,6,0.158,0.020,2384,2512,2135,0,0,0,0,0,0,25.80,26.33,28.83
$GC,11633,0.40,238.2,646.7,8.8,1559,11696,0.00,2.58,57.10,0.829,4,0.000,0.028,2397,1058,2003,0,0,0,0,0,0,28.83,25.58,24.32
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$GC,14286,0.54,310.4,283.5,11.7,1981,14294,0.00,2.38,0.00,0.000,4,0.000,0.029,2476,1058,1669,0,0,0,0,0,0,28.83,26.17,28.83
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$GC,16349,0.99,523.7,27.7,9.6,2366,16375,0.00,2.80,15.98,0.181,6,0.000,0.030,2577,2620,849,0,0,0,0,0,0,28.83,26.02,25.17
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$STATE,16592,end climb,SURFACE_DEPTH_REACHED
$STATE,16592,begin surface coast
$FINISH,0.2,1.022012
$STATE,16614,end surface coast,CONTROL_FINISHED_OK
$STATE,16614,begin surface
$SM_CCo,16693,0.00,0.000,0,0,754,545.79
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$IRIDIUM_FIX,2326.22,12217.27,230612,020241
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.74
$INTERNAL_PRESSURE,8.25583
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.2,61.032
$10V_AH,10.0,38.885
$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,17.475,197.650,749.700,0.000,0.000,54.505,89.602,433.362,0.000,0.000,16.295,5708.216,5854.600,961.529,4410.907,567.377,0.000,2947.587,0.000,3667.599,0.000,0.542,0.000
$DEVICE_MAMPS,226.440,78.030,1116.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,1640.459,1942.791,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324556
$DATA_FILE_SIZE,150053,2415
$CAP_FILE_SIZE,241812,0
$CFSIZE,260165632,187904000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.310,332.2,1
$GPS,230612,070701,2337.651,12215.592,41,1.8,41,-3.2