version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 36
start: 5 29 123 7 30 6
data:
$ID,626
$MISSION,4
$DIVE,36
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$D_NO_BLEED,50
$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,200
$T_MISSION,400
$T_ABORT,450
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54664
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003548
$HD_B,0.0112
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15809
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,199
$PITCH_MAX,3921
$C_PITCH,2665
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,33
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,183
$ROLL_MAX,3761
$ROLL_DEG,40
$C_ROLL_DIVE,2120
$C_ROLL_CLIMB,2130
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00061500003
$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,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-176.0238
$PRESSURE_SLOPE,0.000140886
$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,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,51
$DEVICE5,70
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044069826
$SEABIRD_T_H,0.00063813623
$SEABIRD_T_I,2.8130115e-05
$SEABIRD_T_J,3.650594e-06
$SEABIRD_C_G,-10.07238
$SEABIRD_C_H,1.1361538
$SEABIRD_C_I,-0.0036773519
$SEABIRD_C_J,0.00034109052
$GPS1,290523,072325,2256.9104,-15748.4551,19,0.9,42,9.9,0.3,7.7,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-74.8
$GPS2,290523,072941,2256.9849,-15748.4727,9,0.9,22,9.9,0.6,309.8,9,9.9
$SPEED_LIMITS,0.173,0.232
$TGT_NAME,BNE
$TGT_LATLONG,2258.560,-15745.420
$TGT_RADIUS,1000.000
$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,75.0,5966,-20.2,-10.000,-23.27,1942
$D_GRID,600
$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,13,begin dive
$GC,16,-0.69,-126.5,125,2140,1156,1076,0.0,0.0,0,81,0.00,0.00,-62.40,0.000,16386,0.000,0.000,125,2140,3131,3104,3158,0,0,0,0,0,0,15.09,28.83,15.10
$GC,85,-0.69,-126.5,125,2140,3106,3159,3.3,-6.5,9,108,7.80,2.30,-3.03,0.000,18692,0.456,0.066,2421,3550,3320,3295,3346,0,0,0,0,0,0,14.63,14.09,14.81
$GC,127,-0.69,-126.5,2421,3550,3298,3346,22.2,-42.4,15,136,0.08,2.40,0.00,0.000,3078,0.366,0.060,2445,2122,3321,3300,3343,0,0,0,0,0,0,14.77,14.89,14.93
$GC,392,-0.69,-126.5,2445,2120,3305,3339,91.8,-24.6,64,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2120,3322,3305,3339,0,0,0,0,0,0,15.16,15.17,15.16
$GC,650,-0.69,-126.5,2445,2120,3307,3339,148.3,-19.9,113,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2120,3323,3307,3339,0,0,0,0,0,0,15.21,15.21,15.21
$GC,905,-0.69,-126.5,2445,2120,3309,3339,194.6,-16.3,139,911,0.00,2.33,0.00,0.000,516,0.000,0.061,2446,703,3323,3309,3338,0,0,0,0,0,0,15.26,15.04,15.27
$GC,950,-0.69,-126.5,2446,703,3310,3338,201.5,-15.1,143,956,0.00,2.30,0.00,0.000,3078,0.000,0.046,2438,2123,3324,3310,3338,0,0,0,0,0,0,15.14,15.07,15.16
$GC,1235,-0.69,-126.5,2437,2125,3312,3338,245.5,-15.2,150,1237,0.00,0.00,0.00,0.000,2054,0.000,0.000,2437,2125,3325,3312,3338,0,0,0,0,0,0,15.33,15.33,15.33
$GC,1475,-0.69,-126.5,2437,2125,3313,3338,278.4,-13.8,156,1481,0.00,2.35,0.00,0.000,2564,0.000,0.059,2437,703,3325,3313,3338,0,0,0,0,0,0,15.36,15.14,15.37
$GC,1538,-0.69,-126.5,2437,703,3313,3338,284.2,-13.5,157,1545,0.05,2.30,0.00,0.000,3078,0.423,0.048,2445,2124,3325,3313,3338,0,0,0,0,0,0,15.01,15.15,15.19
$GC,1804,-0.69,-126.5,2444,2126,3313,3338,315.3,-10.7,164,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2127,3325,3313,3338,0,0,0,0,0,0,15.38,15.39,15.39
$GC,2044,-0.69,-126.5,2444,2127,3313,3336,342.6,-11.6,170,2050,0.00,2.33,0.00,0.000,516,0.000,0.061,2445,705,3324,3313,3336,0,0,0,0,0,0,15.40,15.18,15.41
$GC,2072,-0.69,-126.5,2444,705,3313,3336,342.6,-11.6,170,2078,0.00,2.30,0.00,0.000,3078,0.000,0.050,2435,2124,3324,3313,3335,0,0,0,0,0,0,15.28,15.19,15.29
$GC,2331,-0.69,-126.5,2435,2125,3313,3334,380.4,-13.2,177,2333,0.00,0.00,0.00,0.000,2054,0.000,0.000,2435,2125,3323,3313,3334,0,0,0,0,0,0,15.41,15.42,15.42
$GC,2571,-0.69,-126.5,2435,2125,3314,3331,410.5,-12.4,183,2577,0.00,2.35,0.00,0.000,2564,0.000,0.063,2435,700,3322,3313,3331,0,0,0,0,0,0,15.42,15.19,15.43
$GC,2635,-0.69,-126.5,2435,700,3313,3331,416.2,-12.5,184,2641,0.05,2.33,0.00,0.000,3078,0.430,0.052,2443,2126,3322,3313,3331,0,0,0,0,0,0,15.06,15.21,15.24
$GC,2902,-0.69,-126.5,2443,2128,3313,3326,447.9,-10.9,191,2907,0.00,2.30,0.00,0.000,260,0.000,0.067,2434,3528,3319,3313,3326,0,0,0,0,0,0,15.41,15.20,15.42
$GC,2930,-0.69,-126.5,2434,3528,3312,3326,447.9,-10.9,191,2936,0.00,2.30,0.00,0.000,3078,0.000,0.053,2434,2112,3319,3313,3326,0,0,0,0,0,0,15.30,15.20,15.30
$GC,3189,-0.69,-126.5,2433,2110,3313,3323,478.9,-10.8,198,3195,0.00,2.33,0.00,0.000,2564,0.000,0.069,2434,710,3318,3313,3323,0,0,0,0,0,0,15.42,15.19,15.43
$GC,3274,-0.69,-126.5,2432,709,3312,3322,488.6,-11.2,200,3281,0.05,2.30,0.00,0.000,3078,0.418,0.054,2442,2119,3317,3313,3322,0,0,0,0,0,0,15.07,15.21,15.24
$GC,3559,-0.69,-126.5,2442,2122,3313,3317,517.7,-10.2,207,3565,0.00,2.35,0.00,0.000,260,0.000,0.069,2433,3532,3315,3313,3317,0,0,0,0,0,0,15.42,15.19,15.42
$GC,3587,-0.69,-126.5,2433,3532,3312,3318,517.7,-10.2,207,3592,0.00,2.30,0.00,0.000,3078,0.000,0.054,2433,2120,3315,3312,3318,0,0,0,0,0,0,15.30,15.21,15.30
$GC,3846,-0.69,-126.5,2433,2119,3312,3314,548.9,-11.1,214,3852,0.00,2.33,0.00,0.000,2564,0.000,0.070,2433,710,3312,3311,3313,0,0,0,0,0,0,15.42,15.19,15.43
$GC,3931,-0.69,-126.5,2433,710,3310,3314,559.0,-11.5,216,3937,0.05,2.33,0.00,0.000,3078,0.418,0.056,2442,2122,3311,3310,3313,0,0,0,0,0,0,15.07,15.20,15.25
$GC,4216,-0.69,-126.5,2442,2125,3310,3309,590.3,-11.1,223,4221,0.00,2.33,0.00,0.000,260,0.000,0.070,2433,3526,3309,3310,3309,0,0,0,0,0,0,15.42,15.19,15.42
$GC,4234,-0.69,-126.5,2433,3527,3309,3310,590.3,-11.1,223,4239,0.00,2.30,0.00,0.000,3078,0.000,0.055,2433,2122,3309,3309,3309,0,0,0,0,0,0,15.30,15.20,15.30
$STATE,4300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4300,begin apogee
$GC,4307,-0.15,0.0,2433,2121,3309,3309,600.1,-11.2,225,4422,0.50,0.00,106.82,1.844,10246,0.269,0.000,2617,2119,2800,2872,2729,0,0,0,0,0,0,15.07,14.46,13.80
$STATE,4423,end apogee,CONTROL_FINISHED_OK
$STATE,4423,begin climb
$GC,4426,0.69,126.5,2617,2119,2871,2728,604.1,0.0,228,4549,0.65,2.53,112.80,1.784,10500,0.138,0.065,2889,3534,2282,2383,2182,0,0,0,0,0,0,14.48,14.38,13.74
$GC,4630,0.69,126.5,2889,3534,2381,2182,583.0,12.8,233,4635,0.00,2.40,0.00,0.000,5126,0.000,0.058,2901,2127,2281,2380,2182,0,0,0,0,0,0,14.81,14.72,14.82
$GC,4914,0.69,126.5,2900,2127,2375,2177,534.3,16.8,240,4920,0.05,2.38,0.00,0.000,4612,0.455,0.072,2896,716,2276,2375,2177,0,0,0,0,0,0,14.83,14.95,15.01
$GC,4977,0.69,126.5,2895,716,2367,2177,526.9,16.6,241,4982,0.00,2.35,0.00,0.000,5126,0.000,0.053,2896,2130,2271,2367,2176,0,0,0,0,0,0,15.08,14.99,15.09
$GC,5241,0.69,126.5,2895,2132,2367,2177,482.6,15.4,248,5243,0.00,0.00,0.00,0.000,4102,0.000,0.000,2895,2132,2271,2366,2176,0,0,0,0,0,0,15.27,15.28,15.28
$GC,5481,0.69,126.5,2895,2132,2368,2174,446.1,15.3,254,5486,0.00,2.40,0.00,0.000,4612,0.000,0.073,2905,708,2270,2367,2174,0,0,0,0,0,0,15.32,15.09,15.32
$GC,5529,0.69,126.5,2904,707,2362,2174,439.4,15.2,255,5535,0.05,2.38,0.00,0.000,5126,0.435,0.054,2890,2139,2268,2363,2174,0,0,0,0,0,0,14.96,15.10,15.16
$GC,5809,0.69,126.5,2889,2141,2362,2174,399.6,13.5,262,5815,0.00,2.40,0.00,0.000,4612,0.000,0.072,2898,710,2268,2362,2174,0,0,0,0,0,0,15.34,15.11,15.35
$GC,5873,0.69,126.5,2898,710,2360,2174,393.3,13.6,263,5878,0.00,2.35,0.00,0.000,5126,0.000,0.053,2898,2132,2267,2360,2174,0,0,0,0,0,0,15.22,15.14,15.23
$GC,6138,0.69,126.5,2898,2134,2360,2174,355.4,12.9,270,6140,0.00,0.00,0.00,0.000,4102,0.000,0.000,2898,2134,2267,2360,2174,0,0,0,0,0,0,15.36,15.36,15.37
$GC,6377,0.69,126.5,2898,2134,2360,2174,325.4,12.5,276,6382,0.00,2.38,0.00,0.000,4612,0.000,0.071,2909,714,2266,2360,2173,0,0,0,0,0,0,15.38,15.15,15.38
$GC,6395,0.69,126.5,2909,714,2359,2173,325.4,12.5,276,6401,0.08,2.35,0.00,0.000,5126,0.386,0.055,2885,2133,2266,2359,2173,0,0,0,0,0,0,15.02,15.16,15.21
$GC,6665,0.69,126.5,2885,2135,2358,2173,290.0,12.2,283,6670,0.00,2.38,0.00,0.000,516,0.000,0.070,2894,713,2266,2359,2173,0,0,0,0,0,0,15.38,15.16,15.39
$GC,6703,0.69,126.5,2893,713,2358,2172,290.0,12.2,283,6709,0.00,2.35,0.00,0.000,5126,0.000,0.054,2893,2134,2265,2358,2172,0,0,0,0,0,0,15.26,15.17,15.28
$GC,6949,0.69,126.5,2894,2136,2357,2172,256.2,11.5,290,6951,0.00,0.00,0.00,0.000,4102,0.000,0.000,2894,2136,2264,2357,2172,0,0,0,0,0,0,15.39,15.40,15.40
$GC,7189,0.69,126.5,2893,2136,2358,2173,230.5,10.9,296,7194,0.00,2.38,0.00,0.000,4612,0.000,0.070,2905,710,2264,2357,2172,0,0,0,0,0,0,15.40,15.16,15.40
$GC,7287,0.69,126.7,2904,710,2356,2172,222.2,10.0,298,7293,0.05,2.35,0.00,0.000,5126,0.434,0.054,2890,2135,2264,2356,2172,0,0,0,0,0,0,15.03,15.19,15.23
$GC,7557,0.71,158.9,2889,2137,2356,2172,197.6,8.3,305,7591,0.00,2.42,24.92,1.360,8708,0.000,0.068,2898,722,2150,2248,2052,0,0,0,0,0,0,15.40,14.94,14.44
$GC,7599,0.73,195.3,2897,722,2246,2052,194.6,8.1,308,7639,0.00,2.40,30.92,1.323,9222,0.000,0.053,2898,2133,2000,2096,1905,0,0,0,0,0,0,15.02,14.98,14.21
$GC,7879,0.73,195.3,2898,2133,2087,1902,156.7,13.5,336,7884,0.00,2.42,0.00,0.000,516,0.000,0.071,2909,712,1994,2087,1902,0,0,0,0,0,0,15.14,14.92,15.16
$GC,7951,0.73,195.3,2908,712,2079,1902,146.3,13.7,345,7959,0.00,2.38,0.00,0.000,5126,0.000,0.050,2909,2136,1990,2079,1902,0,0,0,0,0,0,15.04,14.96,15.06
$GC,8214,0.73,195.3,2908,2138,2079,1902,111.9,12.0,394,8221,0.00,2.35,0.00,0.000,4356,0.000,0.063,2909,3536,1990,2079,1902,0,0,0,0,0,0,15.19,14.96,15.19
$GC,8240,0.73,195.3,2908,3536,2079,1902,108.7,12.2,398,8249,0.05,2.40,0.00,0.000,5126,0.376,0.057,2906,2123,1990,2079,1902,0,0,0,0,0,0,14.81,14.95,14.95
$GC,8505,0.73,195.3,2906,2122,2079,1903,79.9,11.6,447,8512,0.00,2.40,0.00,0.000,4612,0.000,0.070,2915,716,1990,2079,1902,0,0,0,0,0,0,15.21,14.96,15.21
$GC,8569,0.73,195.3,2915,716,2074,1902,72.3,12.1,458,8578,0.05,2.40,0.00,0.000,5126,0.389,0.050,2898,2159,1988,2074,1902,0,0,0,0,0,0,14.86,14.99,15.04
$GC,8833,0.76,240.5,2898,2160,2074,1902,48.0,7.6,507,8875,0.00,2.47,34.35,1.063,10756,0.000,0.064,2907,720,1817,1906,1728,0,0,0,0,0,0,15.19,14.65,14.28
$GC,8920,0.76,246.0,2907,719,1899,1728,40.6,9.7,521,8936,0.00,2.40,5.12,0.884,9222,0.000,0.045,2907,2133,1796,1883,1710,0,0,0,0,0,0,14.86,14.82,14.33
$GC,9193,0.76,248.5,2907,2136,1883,1710,11.0,9.9,571,9200,0.00,0.00,1.02,0.414,8198,0.000,0.000,2907,2136,1785,1873,1697,0,0,0,0,0,0,15.11,14.84,14.73
$STATE,9259,end climb,SURFACE_DEPTH_REACHED
$STATE,9259,begin surface coast
$FINISH,0.1,1.023068
$STATE,9283,end surface coast,CONTROL_FINISHED_OK
$STATE,9283,begin surface
$SM_CCo,9301,68.03,0.236,0,0,1127,410.13
$SM_GC,0.88,6.25,0.00,68.03,0.041,0.000,0.236,161,2136,1127,-7.69,0.45,410.13,0,0,0,0,0,0,14.95,15.13,14.76
$IRIDIUM_FIX,2246.36,-15750.18,290523,072501
$TT8_MAMPS,0.02247,0.286867
$HUMID,45.15
$INTERNAL_PRESSURE,8.96482
$TCM_TEMP,23.70
$XPDR_PINGS,1
$24V_AH,13.74,10.425
$10V_AH,13.59,0.000
$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,15.800,103.825,315.975,68.025,0.000,27.097,39.319,164.763,0.250,0.000,23.630,1820.788,5332.570,531.427,1801.139,263.905,0.000,1255.791,0.000,1497.866,0.000,0.553,0.000
$DEVICE_MAMPS,455.940,73.440,1843.650,235.620,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,394.238,603.308,611.099,574.928,679.423,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,338516
$DATA_FILE_SIZE,54191,587
$CAP_FILE_SIZE,104996,0
$CFSIZE,1023623168,1017643008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,8
$CURRENT,0.159,309.96,1
$GPS,290523,100755,2257.653,-15747.953,19,4.4,59,9.9,0.5,287.7,4,20.0