version: 66.09
glider: 181
mission: 6
dive: 629
start: 10 10 111 10 47 33
data:
$ID,181
$MISSION,6
$DIVE,629
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-41382.414
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,20
$C_ROLL_DIVE,2590
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.82621
$PRESSURE_SLOPE,0.000116609
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,10
$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
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$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,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,101011,103924,2153.580,12008.773,27,1.0,44,-2.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-57.8
$GPS2,101011,104708,2153.582,12008.859,13,2.0,13,-2.6
$SPEED_LIMITS,0.179,0.281
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.206,0.235
$KALMAN_X,28223.1,-227.3,-456.5,-48601.6,-2485.5
$KALMAN_Y,68902.1,-606.5,-201.3,102840.5,390.9
$MHEAD_RNG_PITCHd_Wd,18.4,51621,-16.5,-10.312
$D_GRID,1412
$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
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.49,-170.3,0.0,0.0,0,84,0.00,0.00,-64.15,0.000,2,0.000,0.000,128,2574,2304,0,0,0,0,0,0
$GC,88,-0.49,-170.3,3.3,-3.3,10,131,8.43,1.10,-27.73,0.000,4,0.223,0.062,2132,3302,3563,0,0,0,0,0,0
$GC,190,-0.49,-170.3,34.5,-37.6,27,196,0.00,1.05,0.00,0.000,6,0.000,0.023,2131,2569,3561,0,0,0,0,0,0
$GC,333,-0.49,-170.3,91.7,-40.6,52,339,0.00,1.12,0.00,0.000,4,0.000,0.037,2125,3299,3559,0,0,0,0,0,0
$GC,358,-0.49,-170.3,100.2,-35.1,56,365,0.00,1.00,0.00,0.000,6,0.000,0.024,2126,2592,3559,0,0,0,0,0,0
$GC,501,-0.49,-170.3,137.2,-21.6,81,509,0.00,0.95,0.00,0.000,4,0.000,0.024,2125,1891,3558,0,0,0,0,0,0
$GC,617,-0.49,-170.3,157.5,-17.5,101,624,0.00,1.08,0.00,0.000,6,0.000,0.035,2120,2600,3557,0,0,0,0,0,0
$GC,760,-0.49,-170.3,184.0,-19.7,126,767,0.00,1.05,0.00,0.000,4,0.000,0.038,2114,3300,3558,0,0,0,0,0,0
$GC,879,-0.49,-170.3,204.8,-16.9,144,886,0.00,1.00,0.00,0.000,6,0.000,0.023,2115,2594,3557,0,0,0,0,0,0
$GC,1204,-0.49,-170.3,260.2,-15.5,175,1208,0.00,1.10,0.00,0.000,4,0.000,0.039,2110,3292,3557,0,0,0,0,0,0
$GC,1273,-0.49,-170.3,270.4,-14.2,181,1278,0.08,1.00,0.00,0.000,6,0.145,0.024,2135,2585,3557,0,0,0,0,0,0
$GC,1606,-0.49,-170.3,309.3,-11.9,212,1609,0.00,0.95,0.00,0.000,4,0.000,0.024,2135,1878,3556,0,0,0,0,0,0
$GC,1691,-0.49,-170.3,319.5,-11.4,219,1697,0.00,1.10,0.00,0.000,6,0.000,0.034,2131,2603,3555,0,0,0,0,0,0
$GC,2016,-0.49,-170.3,360.5,-12.6,250,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2603,3552,0,0,0,0,0,0
$GC,2337,-0.49,-170.3,399.5,-11.7,280,2341,0.00,1.00,0.00,0.000,4,0.000,0.026,2131,1889,3548,0,0,0,0,0,0
$GC,2439,-0.49,-170.3,411.4,-11.7,289,2443,0.00,1.08,0.00,0.000,6,0.000,0.037,2126,2586,3548,0,0,0,0,0,0
$GC,2770,-0.49,-170.3,451.1,-11.9,320,2773,0.00,1.08,0.00,0.000,4,0.000,0.042,2120,3291,3543,0,0,0,0,0,0
$GC,2808,-0.49,-170.3,456.2,-12.7,323,2815,0.00,1.00,0.00,0.000,6,0.000,0.025,2120,2593,3543,0,0,0,0,0,0
$GC,3134,-0.49,-170.3,497.8,-13.5,354,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2592,3540,0,0,0,0,0,0
$GC,3445,-0.49,-170.3,539.6,-13.5,370,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2592,3536,0,0,0,0,0,0
$GC,3753,-0.49,-170.3,580.9,-13.2,385,3757,0.00,0.98,0.00,0.000,4,0.000,0.028,2120,1895,3533,0,0,0,0,0,0
$GC,3780,-0.49,-170.3,584.6,-13.2,386,3784,0.00,1.08,0.00,0.000,6,0.000,0.038,2115,2589,3533,0,0,0,0,0,0
$GC,4109,-0.49,-170.3,629.4,-14.2,402,4112,0.00,1.08,0.00,0.000,4,0.000,0.044,2112,3284,3529,0,0,0,0,0,0
$GC,4132,-0.49,-170.3,633.1,-14.6,403,4137,0.08,1.00,0.00,0.000,6,0.138,0.027,2136,2601,3530,0,0,0,0,0,0
$GC,4465,-0.49,-170.3,674.7,-12.2,419,4469,0.00,1.00,0.00,0.000,4,0.000,0.028,2136,1888,3526,0,0,0,0,0,0
$GC,4593,-0.49,-170.3,689.8,-10.9,424,4600,0.00,1.08,0.00,0.000,6,0.000,0.038,2133,2583,3525,0,0,0,0,0,0
$GC,4910,-0.49,-170.3,721.9,-9.6,440,4913,0.00,1.00,0.00,0.000,4,0.000,0.028,2133,1886,3523,0,0,0,0,0,0
$GC,4960,-0.49,-170.3,726.7,-9.4,442,4964,0.00,1.10,0.00,0.000,6,0.000,0.039,2128,2589,3522,0,0,0,0,0,0
$GC,5288,-0.49,-170.3,757.4,-9.5,458,5292,0.00,1.05,0.00,0.000,4,0.000,0.029,2128,1880,3520,0,0,0,0,0,0
$GC,5313,-0.49,-170.3,759.7,-9.5,459,5317,0.00,1.10,0.00,0.000,6,0.000,0.039,2125,2583,3520,0,0,0,0,0,0
$GC,5646,-0.49,-170.3,792.2,-10.0,475,5650,0.00,1.10,0.00,0.000,4,0.000,0.045,2120,3290,3518,0,0,0,0,0,0
$GC,5674,-0.49,-170.3,795.5,-10.2,476,5678,0.00,1.02,0.00,0.000,6,0.000,0.026,2120,2592,3517,0,0,0,0,0,0
$GC,6002,-0.49,-170.3,831.3,-11.4,492,6006,0.00,0.98,0.00,0.000,4,0.000,0.028,2120,1898,3515,0,0,0,0,0,0
$GC,6116,-0.49,-170.3,844.4,-11.6,497,6119,0.00,1.08,0.00,0.000,6,0.000,0.041,2114,2585,3515,0,0,0,0,0,0
$GC,6449,-0.49,-170.3,884.2,-11.7,513,6453,0.00,1.00,0.00,0.000,4,0.000,0.030,2114,1899,3512,0,0,0,0,0,0
$GC,6505,-0.49,-170.3,890.6,-10.6,515,6509,0.08,1.08,0.00,0.000,6,0.143,0.040,2136,2585,3512,0,0,0,0,0,0
$GC,6826,-0.49,-170.3,921.3,-9.9,531,6830,0.00,1.10,0.00,0.000,4,0.000,0.046,2132,3291,3510,0,0,0,0,0,0
$GC,6877,-0.49,-170.3,927.2,-10.7,533,6881,0.00,1.02,0.00,0.000,6,0.000,0.028,2132,2598,3510,0,0,0,0,0,0
$GC,7204,-0.49,-170.3,965.3,-11.6,549,7208,0.00,1.00,0.00,0.000,4,0.000,0.029,2132,1895,3509,0,0,0,0,0,0
$GC,7327,-0.49,-170.3,980.2,-11.9,554,7331,0.00,1.10,0.00,0.000,6,0.000,0.041,2126,2591,3508,0,0,0,0,0,0
$STATE,7420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7420,begin apogee
$GC,7426,-0.13,0.0,991.9,12.7,559,7562,0.38,0.00,127.85,1.064,6,0.128,0.000,2247,2156,2869,0,0,0,0,0,0
$STATE,7564,end apogee,CONTROL_FINISHED_OK
$STATE,7564,begin climb
$GC,7566,0.49,170.3,1001.0,0.0,565,7713,0.57,1.10,138.45,1.049,4,0.086,0.034,2454,1469,2174,0,0,0,0,0,0
$GC,7802,0.64,298.2,995.9,5.1,576,7914,0.12,1.10,103.05,1.036,6,0.052,0.032,2522,2173,1652,0,0,0,0,0,0
$GC,8238,0.70,345.5,959.2,8.4,597,8282,0.00,1.12,38.88,1.000,4,0.000,0.040,2522,2860,1459,0,0,0,0,0,0
$GC,8434,0.72,358.6,940.4,9.8,605,8450,0.00,1.08,12.65,0.904,6,0.000,0.027,2526,2142,1405,0,0,0,0,0,0
$GC,8776,0.75,386.7,908.3,9.2,622,8805,0.00,1.17,23.23,0.958,4,0.000,0.037,2526,2863,1292,0,0,0,0,0,0
$GC,8844,0.78,411.1,901.5,9.3,625,8871,0.00,1.05,21.33,0.936,6,0.000,0.027,2530,2167,1191,0,0,0,0,0,0
$GC,9197,0.81,432.0,869.8,9.5,642,9218,0.00,0.00,19.40,0.926,6,0.000,0.000,2530,2167,1108,0,0,0,0,0,0
$GC,9523,0.82,439.7,837.6,10.0,658,9538,0.10,1.12,7.80,0.797,4,0.101,0.037,2584,2866,1075,0,0,0,0,0,0
$GC,9572,0.82,439.7,831.4,13.3,660,9576,0.00,1.05,0.00,0.000,6,0.000,0.028,2589,2169,1076,0,0,0,0,0,0
$GC,9899,0.82,439.7,785.5,14.1,676,9903,0.00,1.08,0.00,0.000,4,0.000,0.038,2589,2862,1075,0,0,0,0,0,0
$GC,9937,0.82,439.7,779.5,15.1,677,9946,0.08,1.05,0.00,0.000,6,0.141,0.027,2569,2158,1076,0,0,0,0,0,0
$GC,10255,0.82,439.7,738.8,12.8,693,10258,0.00,1.10,0.00,0.000,4,0.000,0.037,2568,2870,1075,0,0,0,0,0,0
$GC,10301,0.82,439.7,732.5,14.0,695,10304,0.00,1.05,0.00,0.000,6,0.000,0.028,2570,2164,1075,0,0,0,0,0,0
$GC,10634,0.82,439.7,688.4,13.0,711,10638,0.00,1.02,0.00,0.000,4,0.000,0.034,2576,1470,1075,0,0,0,0,0,0
$GC,10658,0.82,439.7,685.5,12.1,712,10661,0.00,1.08,0.00,0.000,6,0.000,0.034,2576,2169,1075,0,0,0,0,0,0
$GC,10991,0.82,439.7,646.7,10.7,728,10994,0.00,1.05,0.00,0.000,4,0.000,0.039,2576,2860,1075,0,0,0,0,0,0
$GC,11131,0.82,439.7,630.8,11.5,734,11134,0.00,1.02,0.00,0.000,6,0.000,0.027,2580,2172,1074,0,0,0,0,0,0
$GC,11458,0.84,461.4,599.0,9.4,750,11481,0.00,1.10,18.42,0.788,4,0.000,0.033,2585,1467,987,0,0,0,0,0,0
$GC,11493,0.89,502.3,596.0,8.6,751,11531,0.00,1.08,33.25,0.793,6,0.000,0.033,2585,2161,821,0,0,0,0,0,0
$GC,11853,0.95,551.7,566.2,8.3,769,11900,0.00,1.10,41.95,0.785,4,0.000,0.033,2590,1469,620,0,0,0,0,0,0
$GC,11980,0.95,551.7,553.7,11.4,774,11987,0.00,1.08,0.00,0.000,6,0.000,0.028,2590,2170,622,0,0,0,0,0,0
$GC,12296,0.95,551.7,517.9,11.8,790,12300,0.00,1.05,0.00,0.000,4,0.000,0.034,2592,1478,622,0,0,0,0,0,0
$GC,12330,0.95,551.7,513.8,11.9,791,12334,0.00,1.05,0.00,0.000,6,0.000,0.028,2591,2168,623,0,0,0,0,0,0
$GC,12659,0.95,551.7,476.6,10.6,816,12662,0.00,1.05,0.00,0.000,4,0.000,0.037,2592,2864,623,0,0,0,0,0,0
$GC,12705,0.95,551.7,471.4,10.8,820,12709,0.00,1.05,0.00,0.000,6,0.000,0.029,2592,2170,623,0,0,0,0,0,0
$GC,13036,0.95,551.7,435.9,10.9,851,13037,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2170,623,0,0,0,0,0,0
$GC,13359,0.95,551.7,399.3,11.8,881,13363,0.00,1.05,0.00,0.000,4,0.000,0.034,2592,2859,624,0,0,0,0,0,0
$GC,13551,0.95,551.7,376.1,11.7,898,13555,0.00,1.05,0.00,0.000,6,0.000,0.030,2592,2164,624,0,0,0,0,0,0
$GC,13882,0.96,553.6,341.5,10.2,929,13895,0.00,1.08,4.60,0.527,4,0.000,0.037,2592,1471,611,0,0,0,0,0,0
$GC,13968,0.96,553.6,332.1,11.0,936,13975,0.00,1.05,0.00,0.000,6,0.000,0.028,2592,2172,612,0,0,0,0,0,0
$GC,14294,0.96,553.6,298.4,10.6,967,14297,0.00,1.02,0.00,0.000,4,0.000,0.037,2592,2851,613,0,0,0,0,0,0
$GC,14556,0.96,553.6,269.3,11.8,990,14559,0.00,1.02,0.00,0.000,6,0.000,0.028,2592,2162,613,0,0,0,0,0,0
$GC,14887,0.96,559.8,233.9,10.1,1021,14900,0.00,1.08,7.22,0.550,4,0.000,0.034,2592,1474,586,0,0,0,0,0,0
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$GC,15495,0.96,559.8,165.0,10.8,1102,15502,0.00,1.02,0.00,0.000,4,0.000,0.034,2592,2857,587,0,0,0,0,0,0
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$GC,16576,1.01,599.9,47.8,10.0,1288,16590,0.10,1.08,5.72,0.381,4,0.116,0.029,2629,2861,440,0,0,0,0,0,0
$GC,16633,1.02,601.2,42.0,10.3,1297,16641,0.00,1.02,0.10,0.108,6,0.000,0.028,2629,2166,439,0,0,0,0,0,0
$GC,16779,1.02,601.2,26.2,10.8,1322,16785,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2165,440,0,0,0,0,0,0
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$STATE,16991,end climb,SURFACE_DEPTH_REACHED
$STATE,16991,begin surface coast
$FINISH,0.6,1.021187
$STATE,17022,end surface coast,CONTROL_FINISHED_OK
$STATE,17022,begin surface
$SM_CCo,17098,0.00,0.000,0,0,443,595.10
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$IRIDIUM_FIX,2143.45,12006.86,101011,101043
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.85
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.6,104.998
$10V_AH,9.8,78.867
$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
$DEVICE_SECS,16.225,82.200,632.175,0.000,0.000,55.806,42.899,148.116,0.000,0.000,15.612,3499.860,10131.354,706.756,2810.742,399.365,0.000,2121.208,0.000,2533.929,0.000,0.540,0.000
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$SENSOR_SECS,944.648,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322752
$DATA_FILE_SIZE,80208,1364
$CAP_FILE_SIZE,179938,0
$CFSIZE,260165632,194064384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.310,192.0,1
$GPS,101011,153337,2154.036,12008.971,28,1.1,28,-2.6