version: 66.12
revision: DORADO
glider: 512
mission: 10
dive: 657
start: 1 12 120 21 16 48
data:
$ID,512
$MISSION,10
$DIVE,657
$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,55
$R_STBD_OVSHOOT,47
$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
$GPS1,120120,210851,2222.3904,-15637.1729,90,0.8,93,9.9,0.8,11.1,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-68.3
$GPS2,120120,211621,2222.5044,-15637.1865,7,0.9,20,9.9,1.1,107.4,9,9.9
$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,225.5,536,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.84,-45.4,178,2275,1622,1678,0.0,0.0,0,91,0.00,0.00,-67.57,0.000,16390,0.000,0.000,178,2275,3436,3411,3462,0,0,0,0,0,0,26.51,25.61,26.53
$GC,95,-0.88,-78.1,177,2276,3411,3462,3.3,-4.2,9,114,10.18,2.15,-2.60,0.000,19204,0.216,0.039,2695,860,3571,3563,3580,0,0,0,0,0,0,25.17,24.17,25.37
$GC,405,-0.88,-78.1,2694,860,3569,3579,75.5,-21.8,43,410,0.08,2.08,0.00,0.000,3078,0.174,0.028,2708,2247,3574,3570,3579,0,0,0,0,0,0,26.01,26.22,26.12
$GC,660,-0.88,-78.1,2707,2247,3571,3579,120.8,-13.1,68,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2247,3575,3571,3579,0,0,0,0,0,0,26.82,26.84,26.84
$GC,909,-0.88,-78.1,2707,2247,3573,3579,154.1,-13.7,93,920,0.00,2.22,0.00,0.000,260,0.000,0.054,2699,3663,3576,3573,3579,0,0,0,0,0,0,26.88,26.04,26.89
$GC,996,-0.88,-78.1,2698,3663,3573,3579,166.6,-14.1,101,1006,0.00,2.05,0.00,0.000,3078,0.000,0.020,2699,2238,3576,3574,3578,0,0,0,0,0,0,26.58,26.51,26.60
$GC,1249,-0.88,-78.1,2698,2236,3576,3579,198.9,-12.4,126,1253,0.00,2.00,0.00,0.000,2564,0.000,0.029,2699,877,3577,3575,3579,0,0,0,0,0,0,26.91,26.32,26.92
$GC,1355,-0.88,-78.1,2698,877,3576,3579,209.2,-12.2,129,1360,0.05,2.05,0.00,0.000,3078,0.177,0.029,2705,2258,3577,3576,3579,0,0,0,0,0,0,26.25,26.36,26.34
$GC,1607,-0.88,-78.1,2704,2259,3577,3579,239.5,-10.7,136,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2258,3577,3576,3579,0,0,0,0,0,0,26.93,26.94,26.94
$GC,1848,-0.88,-78.1,2704,2258,3576,3579,265.4,-10.7,142,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2258,3578,3577,3579,0,0,0,0,0,0,26.94,26.96,26.95
$GC,2087,-0.88,-78.1,2704,2258,3576,3579,288.9,-9.8,148,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2258,3577,3576,3579,0,0,0,0,0,0,26.95,26.96,26.96
$GC,2327,-0.88,-78.1,2704,2258,3576,3578,311.2,-9.1,154,2332,0.00,2.03,0.00,0.000,516,0.000,0.029,2705,878,3577,3576,3578,0,0,0,0,0,0,26.95,26.32,26.96
$GC,2388,-0.88,-78.1,2705,877,3576,3578,315.4,-9.4,155,2393,0.00,2.08,0.00,0.000,3078,0.000,0.030,2696,2259,3577,3576,3578,0,0,0,0,0,0,26.50,26.36,26.53
$GC,2651,-0.88,-78.1,2696,2260,3576,3575,342.8,-9.6,162,2652,0.00,0.00,0.00,0.000,2054,0.000,0.000,2696,2260,3575,3576,3575,0,0,0,0,0,0,26.96,26.97,26.97
$GC,2891,-0.88,-78.1,2695,2259,3576,3573,368.1,-10.9,168,2895,0.00,2.08,0.00,0.000,2564,0.000,0.030,2696,876,3574,3576,3573,0,0,0,0,0,0,26.96,26.31,26.97
$GC,3039,-0.88,-78.1,2696,876,3575,3573,382.0,-11.4,171,3045,0.05,2.08,0.00,0.000,3078,0.150,0.030,2703,2262,3574,3575,3573,0,0,0,0,0,0,26.19,26.36,26.24
$GC,3293,-0.88,-78.1,2703,2262,3574,3570,408.5,-9.0,178,3299,0.00,2.08,0.00,0.000,2564,0.000,0.031,2703,876,3571,3573,3570,0,0,0,0,0,0,26.96,26.28,26.97
$GC,3347,-0.88,-78.1,2703,876,3573,3570,412.3,-9.1,179,3351,0.00,2.08,0.00,0.000,3078,0.000,0.031,2695,2264,3571,3573,3570,0,0,0,0,0,0,26.49,26.36,26.52
$GC,3609,-0.88,-78.1,2694,2264,3571,3568,437.7,-9.2,186,3616,0.00,2.05,0.00,0.000,2564,0.000,0.031,2694,888,3569,3571,3568,0,0,0,0,0,0,26.97,26.29,26.97
$GC,3657,-0.88,-78.1,2694,887,3571,3568,441.9,-9.5,187,3662,0.08,2.05,0.00,0.000,3078,0.152,0.030,2709,2259,3569,3570,3568,0,0,0,0,0,0,26.20,26.36,26.31
$GC,3925,-0.88,-78.1,2709,2259,3569,3565,466.6,-8.6,194,3930,0.00,2.05,0.00,0.000,516,0.000,0.030,2709,874,3567,3569,3565,0,0,0,0,0,0,26.96,26.29,26.97
$GC,3968,-0.88,-78.1,2709,874,3569,3565,470.2,-8.5,195,3972,0.00,2.10,0.00,0.000,3078,0.000,0.029,2701,2269,3567,3569,3565,0,0,0,0,0,0,26.48,26.36,26.51
$GC,4250,-0.88,-78.1,2700,2270,3568,3562,493.8,-8.4,202,4251,0.00,0.00,0.00,0.000,2054,0.000,0.000,2701,2270,3565,3568,3562,0,0,0,0,0,0,26.97,26.97,26.98
$STATE,4327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4328,begin apogee
$GC,4335,-0.14,0.0,2701,2002,3568,3562,500.7,-8.6,204,4403,0.73,0.10,64.82,0.872,10246,0.113,0.087,2938,2083,3250,3258,3243,0,0,0,0,0,0,25.71,25.13,24.13
$STATE,4405,end apogee,CONTROL_FINISHED_OK
$STATE,4405,begin climb
$GC,4407,0.88,78.1,2938,2083,3258,3242,502.1,0.0,205,4482,0.90,2.30,66.62,0.842,10500,0.052,0.054,3278,3442,2930,2940,2920,0,0,0,0,0,0,25.60,24.98,24.02
$GC,4510,0.88,78.1,3277,3441,2937,2919,498.3,5.6,208,4515,0.05,2.08,0.00,0.000,5126,0.194,0.021,3276,2068,2928,2938,2918,0,0,0,0,0,0,25.51,25.69,25.60
$GC,4769,0.88,78.1,3275,2067,2932,2913,469.9,10.2,215,4774,0.00,2.20,0.00,0.000,260,0.000,0.054,3275,3441,2922,2932,2913,0,0,0,0,0,0,26.58,25.94,26.59
$GC,4862,0.88,78.1,3275,3441,2930,2912,461.7,10.1,217,4866,0.00,2.05,0.00,0.000,5126,0.000,0.022,3284,2059,2921,2931,2912,0,0,0,0,0,0,26.37,26.29,26.39
$GC,5124,0.88,78.1,3284,2058,2929,2909,437.0,8.8,224,5125,0.00,0.00,0.00,0.000,4102,0.000,0.000,3284,2059,2919,2929,2909,0,0,0,0,0,0,26.78,26.79,26.79
$GC,5364,0.88,78.1,3284,2059,2927,2907,416.6,8.5,230,5370,0.00,2.08,0.00,0.000,4612,0.000,0.033,3295,666,2917,2927,2907,0,0,0,0,0,0,26.84,26.25,26.85
$GC,5405,0.88,78.1,3295,666,2927,2907,413.1,8.6,231,5410,0.05,2.05,0.00,0.000,5126,0.182,0.028,3282,2055,2917,2926,2908,0,0,0,0,0,0,26.10,26.32,26.15
$GC,5685,0.89,82.8,3281,2056,2925,2905,391.7,7.5,238,5691,0.00,2.20,0.00,0.000,4356,0.000,0.054,3277,3441,2915,2925,2905,0,0,0,0,0,0,26.89,26.09,26.89
$GC,5902,0.89,82.8,3277,3441,2922,2905,375.1,8.1,243,5906,0.00,2.05,0.00,0.000,5126,0.000,0.023,3286,2040,2913,2922,2905,0,0,0,0,0,0,26.57,26.49,26.59
$GC,6160,0.91,97.8,3286,2040,2921,2904,357.1,6.2,250,6181,0.00,2.10,14.82,0.776,12804,0.000,0.032,3297,673,2851,2864,2838,0,0,0,0,0,0,26.93,25.62,24.51
$GC,6323,0.91,98.2,3297,673,2862,2836,344.4,8.0,254,6328,0.05,2.08,0.00,0.000,5126,0.198,0.027,3284,2061,2848,2862,2835,0,0,0,0,0,0,26.13,26.27,26.21
$GC,6597,0.91,100.5,3284,2061,2862,2832,322.8,7.7,261,6602,0.00,2.22,0.00,0.000,260,0.000,0.057,3284,3450,2847,2862,2832,0,0,0,0,0,0,26.85,26.04,26.86
$GC,6699,0.91,100.6,3284,3450,2861,2832,316.1,8.0,263,6703,0.00,2.05,0.00,0.000,5126,0.000,0.022,3293,2045,2846,2861,2832,0,0,0,0,0,0,26.54,26.46,26.55
$GC,6952,0.91,100.6,3293,2044,2861,2831,294.9,8.1,270,6957,0.00,2.25,0.00,0.000,4356,0.000,0.054,3293,3448,2846,2861,2831,0,0,0,0,0,0,26.91,26.06,26.91
$GC,7005,0.91,100.6,3293,3448,2860,2831,291.4,8.4,271,7009,0.08,2.03,0.00,0.000,5126,0.190,0.021,3283,2057,2845,2860,2831,0,0,0,0,0,0,26.15,26.49,26.25
$GC,7267,0.92,109.6,3283,2057,2860,2830,271.3,7.0,278,7280,0.00,0.00,11.10,0.702,8198,0.000,0.000,3284,2057,2803,2820,2786,0,0,0,0,0,0,26.92,25.48,24.51
$GC,7509,0.93,111.7,3283,2057,2819,2783,252.8,7.8,284,7514,0.00,2.22,0.00,0.000,260,0.000,0.054,3283,3444,2800,2818,2783,0,0,0,0,0,0,26.84,26.04,26.85
$GC,7970,0.93,115.2,3283,3444,2818,2782,217.6,7.6,295,7987,0.00,2.03,6.28,0.596,13318,0.000,0.021,3293,2051,2779,2798,2761,0,0,0,0,0,0,26.57,26.50,24.47
$GC,8227,0.95,131.3,3292,2051,2797,2758,199.6,6.1,302,8250,0.00,2.28,15.00,0.666,8452,0.000,0.052,3293,3462,2715,2724,2706,0,0,0,0,0,0,26.88,25.29,24.74
$GC,8443,0.95,131.3,3292,3461,2719,2706,180.4,9.2,322,8453,0.00,2.05,0.00,0.000,5126,0.000,0.021,3301,2063,2712,2719,2706,0,0,0,0,0,0,26.41,26.39,26.44
$GC,8694,0.96,139.8,3301,2063,2718,2706,161.2,7.0,347,8714,0.00,2.12,8.95,0.597,12804,0.000,0.034,3312,677,2679,2686,2672,0,0,0,0,0,0,26.85,25.70,24.73
$GC,8783,0.96,139.8,3311,677,2684,2672,154.0,8.9,355,8789,0.00,2.08,0.00,0.000,5126,0.000,0.027,3312,2062,2678,2684,2672,0,0,0,0,0,0,26.39,26.28,26.41
$GC,9032,0.96,139.8,3311,2062,2684,2671,132.3,8.3,380,9044,0.00,2.20,0.00,0.000,4356,0.000,0.054,3312,3446,2677,2683,2671,0,0,0,0,0,0,26.84,26.04,26.85
$GC,9201,0.96,139.8,3311,3446,2684,2671,116.9,8.6,395,9205,0.08,2.05,0.00,0.000,5126,0.184,0.021,3302,2057,2677,2683,2671,0,0,0,0,0,0,26.13,26.46,26.24
$GC,9453,0.98,158.9,3301,2057,2684,2671,98.5,5.8,420,9476,0.00,2.22,17.88,0.576,8452,0.000,0.052,3302,3453,2601,2613,2589,0,0,0,0,0,0,26.89,25.76,24.90
$GC,9785,1.01,184.0,3301,3452,2612,2586,78.9,5.0,450,9815,0.00,2.08,22.60,0.558,11270,0.000,0.021,3311,2062,2498,2523,2473,0,0,0,0,0,0,26.46,26.42,24.91
$GC,10056,1.02,185.7,3310,2061,2522,2468,60.3,7.8,477,10067,0.00,2.08,0.00,0.000,2564,0.000,0.034,3321,678,2495,2521,2469,0,0,0,0,0,0,26.74,26.13,26.74
$GC,10096,1.02,190.4,3320,678,2521,2469,57.5,7.5,480,10107,0.00,2.10,6.90,0.478,13318,0.000,0.024,3321,2069,2472,2501,2444,0,0,0,0,0,0,26.31,26.27,24.77
$GC,10357,1.02,190.4,3321,2070,2500,2441,34.9,9.3,506,10362,0.00,2.17,0.00,0.000,4356,0.000,0.050,3321,3446,2471,2501,2441,0,0,0,0,0,0,26.79,26.06,26.80
$GC,10409,1.02,190.4,3321,3446,2500,2442,31.0,8.1,510,10418,0.00,2.05,0.00,0.000,5126,0.000,0.020,3331,2076,2471,2500,2442,0,0,0,0,0,0,26.45,26.41,26.46
$GC,10707,1.02,190.4,3331,2071,2500,2442,4.9,10.4,559,10716,0.00,2.15,0.00,0.000,4612,0.000,0.031,3342,662,2471,2500,2442,0,0,0,0,0,0,26.85,26.27,26.85
$STATE,10723,end climb,SURFACE_DEPTH_REACHED
$STATE,10723,begin surface coast
$FINISH,0.4,1.023281
$STATE,10754,end surface coast,CONTROL_FINISHED_OK
$STATE,10754,begin surface
$SM_CCo,10774,83.20,0.060,0,0,1659,390.02
$SM_GC,1.51,8.05,2.40,83.20,0.031,0.021,0.060,200,2245,1659,-8.59,-1.58,390.02,0,0,0,0,0,0,26.39,26.34,25.98
$IRIDIUM_FIX,2211.35,-15637.99,120120,180059
$TT8_MAMPS,0.019474,0.300349
$HUMID,49.01
$INTERNAL_PRESSURE,9.42935
$TCM_TEMP,24.30
$XPDR_PINGS,49
$24V_AH,24.02,68.374
$10V_AH,9.89,52.675
$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,20.400,97.550,234.975,83.200,0.000,29.992,45.439,231.625,12.250,0.000,21.276,1710.109,6563.201,405.484,2392.131,243.355,0.000,1290.501,0.000,2036.350,0.000,0.545,0.000
$DEVICE_MAMPS,215.730,87.210,872.100,60.435,0.000,61.960,160.000,223.000,420.000,0.000,14.980,10.100,2.190,10.100,35.570,45.300,0.000,10.870,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330_CNF,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,388.913,316.207,593.953,560.557,860.221,0.000,0.000,0.000,0.000,0.000
$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,50511,566
$CAP_FILE_SIZE,115486,0
$CFSIZE,260165632,220213248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.118,0.55,1
$GPS,130120,001906,2222.537,-15637.845,26,0.9,42,9.9,0.5,14.2,9,9.7