version: 66.12
revision: DORADO
glider: 512
mission: 10
dive: 645
start: 1 11 120 6 23 19
data:
$ID,512
$MISSION,10
$DIVE,645
$N_DIVES,0
$STOP_T,3152012
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,44
$D_BOOST,20
$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,208
$T_MISSION,400
$T_ABORT,720
$T_TURN,500
$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,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0235
$MASS,52638
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,390
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,215
$PITCH_MAX,3897
$C_PITCH,2990
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,35
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,158
$ROLL_MAX,3882
$ROLL_DEG,40
$C_ROLL_DIVE,2260
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3250
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$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,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-152.01132
$PRESSURE_SLOPE,0.00014004001
$AD7714Ch0Gain,32
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,1.0700001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,69
$DEVICE4,35
$DEVICE5,54
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042943917
$SEABIRD_T_H,0.00062894222
$SEABIRD_T_I,2.3572227e-05
$SEABIRD_T_J,2.4870369e-06
$SEABIRD_C_G,-9.7596245
$SEABIRD_C_H,1.0842633
$SEABIRD_C_I,-0.0017886258
$SEABIRD_C_J,0.00018584721
$GPS1,110120,061519,2222.8484,-15637.7803,18,0.9,41,9.9,1.3,302.1,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.4
$GPS2,110120,062252,2222.8401,-15637.8916,8,0.9,18,9.9,0.7,259.6,8,10.0
$SPEED_LIMITS,0.139,0.234
$TGT_NAME,CTR3d
$TGT_LATLONG,2222.500,-15637.500
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,99.2,920,-27.6,-8.013,-30.00,867
$D_GRID,500
$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,14,begin dive
$GC,16,-0.84,-45.4,178,2242,1630,1669,0.0,0.0,0,89,0.00,0.00,-67.43,0.000,16390,0.000,0.000,177,2243,3437,3413,3461,0,0,0,0,0,0,26.51,24.31,26.52
$GC,93,-0.87,-64.4,177,2244,3413,3461,3.5,-5.8,9,112,10.30,2.10,-1.48,0.000,18948,0.218,0.040,2707,870,3516,3499,3533,0,0,0,0,0,0,25.17,24.14,25.36
$GC,128,-0.87,-64.4,2707,869,3504,3531,16.2,-33.7,13,137,0.00,2.15,0.00,0.000,3078,0.000,0.034,2699,2264,3517,3505,3530,0,0,0,0,0,0,25.94,25.86,25.98
$GC,390,-0.87,-64.4,2698,2263,3509,3530,72.1,-20.4,42,399,0.00,0.00,0.00,0.000,2054,0.000,0.000,2699,2263,3519,3508,3530,0,0,0,0,0,0,26.74,26.74,26.74
$GC,639,-0.87,-64.4,2698,2263,3511,3530,115.9,-14.6,67,645,0.00,0.00,0.00,0.000,2054,0.000,0.000,2699,2264,3520,3511,3530,0,0,0,0,0,0,26.82,26.83,26.83
$GC,889,-0.87,-64.4,2698,2263,3513,3530,150.3,-11.6,92,897,0.00,2.17,0.00,0.000,2308,0.000,0.053,2688,3657,3521,3513,3530,0,0,0,0,0,0,26.88,26.06,26.88
$GC,963,-0.87,-64.4,2687,3657,3513,3530,160.1,-12.8,99,968,0.08,2.03,0.00,0.000,3078,0.149,0.020,2711,2221,3521,3513,3530,0,0,0,0,0,0,26.27,26.53,26.35
$GC,1218,-0.87,-64.4,2710,2217,3519,3525,187.3,-10.6,124,1226,0.00,1.90,0.00,0.000,516,0.000,0.028,2711,906,3522,3520,3525,0,0,0,0,0,0,26.87,26.31,26.89
$GC,1317,-0.87,-64.4,2711,906,3520,3525,198.0,-10.7,133,1324,0.00,2.03,0.00,0.000,3078,0.000,0.028,2703,2263,3522,3520,3525,0,0,0,0,0,0,26.48,26.36,26.51
$GC,1574,-0.87,-64.4,2702,2263,3521,3525,227.3,-11.2,141,1578,0.00,2.03,0.00,0.000,2564,0.000,0.029,2703,907,3522,3520,3525,0,0,0,0,0,0,26.94,26.32,26.94
$GC,1690,-0.87,-64.4,2702,906,3521,3525,236.9,-11.6,143,1698,0.05,2.00,0.00,0.000,3078,0.182,0.028,2709,2259,3523,3521,3525,0,0,0,0,0,0,26.27,26.38,26.35
$GC,1936,-0.87,-64.4,2708,2259,3521,3525,266.6,-10.5,150,1943,0.00,2.22,0.00,0.000,2308,0.000,0.054,2700,3660,3522,3521,3524,0,0,0,0,0,0,26.96,26.08,26.96
$GC,2040,-0.87,-64.4,2699,3660,3520,3524,275.1,-10.5,152,2044,0.00,1.98,0.00,0.000,3078,0.000,0.021,2700,2269,3521,3519,3524,0,0,0,0,0,0,26.65,26.59,26.66
$GC,2297,-0.87,-64.4,2699,2267,3521,3523,302.4,-9.4,159,2303,0.00,2.05,0.00,0.000,2564,0.000,0.030,2700,873,3521,3520,3523,0,0,0,0,0,0,26.96,26.32,26.96
$GC,2370,-0.87,-64.4,2699,873,3520,3522,306.4,-9.5,160,2378,0.08,2.08,0.00,0.000,3078,0.152,0.029,2714,2256,3521,3521,3522,0,0,0,0,0,0,26.22,26.38,26.32
$GC,2617,-0.87,-64.4,2713,2256,3521,3520,330.9,-8.7,167,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2256,3520,3521,3520,0,0,0,0,0,0,26.96,26.97,26.96
$GC,2857,-0.87,-64.4,2713,2256,3521,3518,351.9,-8.8,173,2863,0.00,2.00,0.00,0.000,516,0.000,0.029,2714,893,3519,3520,3518,0,0,0,0,0,0,26.96,26.33,26.96
$GC,2950,-0.87,-64.4,2713,893,3520,3518,359.0,-8.8,175,2954,0.00,2.05,0.00,0.000,3078,0.000,0.030,2705,2262,3519,3520,3518,0,0,0,0,0,0,26.50,26.37,26.52
$GC,3218,-0.87,-64.4,2705,2262,3519,3515,383.7,-8.7,182,3221,0.00,2.05,0.00,0.000,2564,0.000,0.029,2705,893,3517,3519,3516,0,0,0,0,0,0,26.97,26.32,26.97
$GC,3392,-0.87,-64.4,2705,893,3518,3515,398.4,-9.1,186,3397,0.05,2.05,0.00,0.000,3078,0.180,0.029,2711,2266,3516,3518,3515,0,0,0,0,0,0,26.26,26.37,26.35
$GC,3655,-0.87,-64.4,2711,2266,3518,3512,421.7,-8.6,193,3660,0.00,2.05,0.00,0.000,516,0.000,0.028,2711,881,3514,3517,3512,0,0,0,0,0,0,26.96,26.31,26.97
$GC,3711,-0.87,-64.4,2711,882,3518,3512,425.7,-8.8,194,3715,0.00,2.08,0.00,0.000,3078,0.000,0.029,2703,2268,3514,3517,3512,0,0,0,0,0,0,26.48,26.36,26.51
$GC,3973,-0.87,-64.4,2702,2269,3516,3509,452.3,-9.7,201,3975,0.00,0.00,0.00,0.000,2054,0.000,0.000,2703,2269,3512,3516,3509,0,0,0,0,0,0,26.97,26.98,26.98
$GC,4213,-0.87,-64.4,2702,2268,3515,3508,476.5,-10.1,207,4219,0.00,2.03,0.00,0.000,2564,0.000,0.029,2703,901,3511,3514,3509,0,0,0,0,0,0,26.97,26.32,26.98
$GC,4431,-0.87,-64.4,2702,900,3513,3507,495.9,-9.7,212,4435,0.05,2.05,0.00,0.000,3078,0.183,0.031,2709,2264,3509,3512,3507,0,0,0,0,0,0,26.24,26.34,26.32
$STATE,4486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4486,begin apogee
$GC,4493,-0.14,0.0,2709,2016,3513,3506,502.8,-9.4,214,4551,0.70,0.08,54.17,0.874,10246,0.113,0.099,2939,2078,3250,3258,3242,0,0,0,0,0,0,25.71,25.22,24.20
$STATE,4552,end apogee,CONTROL_FINISHED_OK
$STATE,4552,begin climb
$GC,4555,0.87,64.4,2939,2078,3257,3242,504.3,0.0,215,4615,0.90,0.00,55.40,0.852,10758,0.052,0.000,3277,2078,2987,2993,2981,0,0,0,0,0,0,25.69,24.61,24.03
$GC,4890,0.87,64.4,3276,2078,2984,2976,481.0,8.2,224,4896,0.00,2.20,0.00,0.000,4356,0.000,0.053,3277,3448,2980,2984,2976,0,0,0,0,0,0,26.57,25.92,26.58
$GC,4938,0.87,64.4,3276,3448,2983,2976,477.4,8.3,225,4942,0.08,1.98,0.00,0.000,5126,0.173,0.022,3266,2098,2979,2983,2976,0,0,0,0,0,0,25.98,26.27,26.10
$GC,5211,0.88,77.0,3266,2095,2981,2973,457.9,6.5,232,5227,0.00,2.17,10.68,0.784,10756,0.000,0.032,3275,686,2935,2941,2930,0,0,0,0,0,0,26.77,25.64,24.51
$GC,5284,0.90,90.1,3274,686,2940,2930,455.4,6.5,233,5302,0.00,2.08,12.98,0.799,9222,0.000,0.028,3275,2071,2882,2893,2872,0,0,0,0,0,0,26.29,26.20,24.57
$GC,5570,0.90,90.1,3274,2071,2889,2865,427.8,9.0,241,5577,0.00,2.22,0.00,0.000,260,0.000,0.055,3275,3448,2877,2889,2865,0,0,0,0,0,0,26.70,26.01,26.71
$GC,5879,0.90,90.1,3274,3447,2886,2864,400.0,9.8,248,5883,0.00,2.03,0.00,0.000,5126,0.000,0.022,3285,2068,2874,2885,2864,0,0,0,0,0,0,26.51,26.43,26.52
$GC,6125,0.90,90.2,3285,2067,2886,2862,377.2,8.0,254,6130,0.00,2.22,0.00,0.000,4356,0.000,0.053,3285,3453,2874,2886,2862,0,0,0,0,0,0,26.87,26.09,26.88
$GC,6208,0.90,90.2,3285,3453,2885,2861,369.8,8.6,256,6213,0.05,2.05,0.00,0.000,5126,0.208,0.021,3284,2060,2873,2885,2862,0,0,0,0,0,0,26.26,26.48,26.35
$GC,6491,0.90,93.9,3284,2058,2884,2859,348.6,7.6,263,6493,0.00,0.00,0.00,0.000,4102,0.000,0.000,3284,2058,2871,2884,2859,0,0,0,0,0,0,26.91,26.91,26.91
$GC,6732,0.91,98.0,3283,2058,2883,2858,330.2,7.5,269,6740,0.00,0.00,6.45,0.674,12294,0.000,0.000,3284,2058,2850,2863,2837,0,0,0,0,0,0,26.93,25.46,24.40
$GC,6971,0.91,99.2,3283,2058,2863,2833,311.2,7.9,275,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,2058,2848,2863,2834,0,0,0,0,0,0,26.88,26.89,26.89
$GC,7211,0.91,102.1,3284,2058,2863,2833,292.7,7.7,281,7223,0.00,2.28,5.20,0.607,8452,0.000,0.054,3283,3447,2832,2848,2817,0,0,0,0,0,0,26.91,25.59,24.41
$GC,7394,0.91,102.1,3283,3447,2848,2816,278.7,8.7,285,7398,0.00,2.05,0.00,0.000,5126,0.000,0.021,3293,2045,2831,2848,2815,0,0,0,0,0,0,26.55,26.48,26.58
$GC,7651,0.92,109.4,3292,2045,2848,2814,257.3,7.2,292,7664,0.00,2.28,7.68,0.666,12548,0.000,0.051,3293,3456,2804,2820,2789,0,0,0,0,0,0,26.91,25.18,24.55
$GC,7696,0.93,117.6,3292,3456,2819,2789,254.7,7.0,293,7710,0.00,2.05,9.32,0.682,13318,0.000,0.021,3303,2052,2770,2787,2753,0,0,0,0,0,0,26.53,26.46,24.67
$GC,7963,0.94,120.7,3303,2053,2785,2749,233.6,7.7,300,7972,0.00,2.30,3.78,0.483,12548,0.000,0.053,3303,3450,2757,2770,2745,0,0,0,0,0,0,26.80,25.55,24.40
$GC,8059,0.94,120.7,3303,3450,2767,2745,226.0,8.7,302,8064,0.08,2.05,0.00,0.000,5126,0.188,0.022,3293,2056,2755,2766,2744,0,0,0,0,0,0,26.07,26.39,26.19
$GC,8317,0.94,120.7,3292,2055,2765,2745,201.7,8.4,309,8323,0.00,2.22,0.00,0.000,260,0.000,0.053,3291,3448,2754,2765,2744,0,0,0,0,0,0,26.85,26.06,26.86
$GC,8728,0.95,130.2,3290,3448,2764,2745,170.3,6.9,345,8745,0.00,2.08,9.55,0.617,13318,0.000,0.021,3300,2065,2719,2726,2712,0,0,0,0,0,0,26.53,26.51,24.75
$GC,8985,0.95,132.7,3299,2065,2723,2712,151.4,7.7,371,8996,0.00,0.00,4.00,0.459,12294,0.000,0.000,3299,2065,2708,2714,2702,0,0,0,0,0,0,26.86,25.46,24.50
$GC,9239,0.98,158.5,3299,2065,2713,2701,135.1,5.0,396,9269,0.00,2.30,23.80,0.615,10500,0.000,0.051,3300,3462,2602,2614,2591,0,0,0,0,0,0,26.87,25.73,24.87
$GC,9338,0.99,163.5,3299,3462,2612,2590,128.9,7.4,405,9348,0.00,2.08,5.70,0.510,13318,0.000,0.021,3310,2062,2583,2598,2569,0,0,0,0,0,0,26.30,26.27,24.63
$GC,9587,0.99,163.6,3309,2062,2596,2566,107.3,8.0,430,9598,0.00,2.10,0.00,0.000,4612,0.000,0.033,3320,663,2580,2595,2566,0,0,0,0,0,0,26.74,26.13,26.74
$GC,9734,1.02,191.0,3320,663,2595,2566,99.5,4.8,443,9765,0.00,2.08,24.70,0.578,13318,0.000,0.025,3321,2065,2470,2499,2442,0,0,0,0,0,0,26.32,26.29,24.88
$GC,10015,1.02,191.0,3320,2065,2497,2436,76.7,9.1,471,10027,0.00,2.22,0.00,0.000,260,0.000,0.053,3320,3450,2467,2497,2437,0,0,0,0,0,0,26.70,25.98,26.71
$GC,10101,1.02,191.0,3320,3450,2497,2437,67.5,11.3,478,10111,0.00,2.05,0.00,0.000,5126,0.000,0.021,3331,2056,2467,2497,2437,0,0,0,0,0,0,26.37,26.34,26.39
$GC,10355,1.02,191.0,3331,2055,2496,2437,39.2,11.1,503,10363,0.00,0.00,0.00,0.000,4102,0.000,0.000,3331,2055,2466,2496,2437,0,0,0,0,0,0,26.82,26.82,26.83
$GC,10640,1.02,191.0,3332,2050,2497,2437,7.3,11.9,545,10647,0.00,0.00,0.00,0.000,4102,0.000,0.000,3332,2051,2467,2497,2437,0,0,0,0,0,0,26.86,26.87,26.86
$STATE,10672,end climb,SURFACE_DEPTH_REACHED
$STATE,10672,begin surface coast
$FINISH,0.5,1.023481
$STATE,10698,end surface coast,CONTROL_FINISHED_OK
$STATE,10698,begin surface
$SM_CCo,10716,81.28,0.060,0,0,1659,390.02
$SM_GC,1.38,8.12,0.30,81.28,0.036,0.041,0.060,190,2265,1659,-8.61,-1.27,390.02,0,0,0,0,0,0,26.37,26.54,25.98
$IRIDIUM_FIX,2211.35,-15635.85,110120,031326
$TT8_MAMPS,0.018725,0.364763
$HUMID,49.01
$INTERNAL_PRESSURE,9.40982
$TCM_TEMP,24.10
$XPDR_PINGS,53
$24V_AH,24.03,67.337
$10V_AH,9.79,51.732
$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,20.525,88.750,233.400,81.275,0.000,30.223,44.877,231.890,13.250,0.000,19.571,1667.937,6630.582,414.780,2309.960,231.533,0.000,1271.471,0.000,1953.027,0.000,0.547,0.000
$DEVICE_MAMPS,218.025,98.685,874.395,60.435,0.000,61.960,160.000,223.000,420.000,0.000,14.980,10.100,2.190,10.100,35.570,45.300,0.000,10.870,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,380.736,297.957,577.173,509.009,781.163,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,41.940,47.190,51.680,0.000,0.000,0.000,0.000,0.000
$MEM,339160
$DATA_FILE_SIZE,50670,554
$CAP_FILE_SIZE,113344,0
$CFSIZE,260165632,220942336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.053,252.19,1
$GPS,110120,092511,2222.587,-15637.253,36,1.1,76,9.9,1.8,109.8,7,4.3