version: 66.09
glider: 167
mission: 8
dive: 307
start: 8 16 111 10 59 18
data:
$ID,167
$MISSION,8
$DIVE,307
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$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,340
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,51876
$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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$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,-56774.008
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1875
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,81
$R_STBD_OVSHOOT,58
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$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,-16.233358
$PRESSURE_SLOPE,0.0001158971
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$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,0.0043379883
$SEABIRD_T_H,0.00063236553
$SEABIRD_T_I,2.4503992e-05
$SEABIRD_T_J,2.6444222e-06
$SEABIRD_C_G,-9.8845854
$SEABIRD_C_H,1.1045586
$SEABIRD_C_I,-0.0015691385
$SEABIRD_C_J,0.00020000842
$GPS1,160811,104901,1955.169,12420.411,40,1.2,41,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-66.1
$GPS2,160811,105852,1955.285,12420.343,17,2.6,36,-2.5
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.013,-0.305
$KALMAN_X,-1531.9,-192.4,226.3,5724.7,67.3
$KALMAN_Y,11735.9,46.7,-129.6,-54154.7,2747.8
$MHEAD_RNG_PITCHd_Wd,181.9,233463,-15.3,-9.706
$D_GRID,5000
$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,-0.62,-194.6,0.0,0.0,0,110,0.00,0.00,-90.07,0.000,2,0.000,0.000,111,1844,2997,0,0,0,0,0,0
$GC,113,-0.62,-194.6,5.5,-9.8,12,145,10.10,2.00,-10.85,0.000,4,0.233,0.037,2594,482,3637,0,0,0,0,0,0
$GC,248,-0.62,-194.6,46.5,-22.8,34,257,0.00,2.05,0.00,0.000,6,0.000,0.021,2587,1877,3639,0,0,0,0,0,0
$GC,324,-0.62,-194.6,63.7,-24.1,47,332,0.00,2.05,0.00,0.000,4,0.000,0.028,2587,493,3638,0,0,0,0,0,0
$GC,343,-0.62,-194.6,67.9,-23.8,49,352,0.00,1.60,0.00,0.000,6,0.000,0.018,2580,1633,3639,0,0,0,0,0,0
$GC,425,-0.62,-194.6,83.9,-18.7,62,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1634,3639,0,0,0,0,0,0
$GC,502,-0.62,-194.6,99.2,-19.2,75,511,0.00,2.45,0.00,0.000,4,0.000,0.031,2570,3266,3640,0,0,0,0,0,0
$GC,549,-0.62,-194.6,107.9,-19.7,82,557,0.00,2.53,0.00,0.000,6,0.000,0.019,2570,1541,3640,0,0,0,0,0,0
$GC,630,-0.62,-194.6,122.3,-18.9,95,638,0.10,1.52,0.00,0.000,4,0.185,0.031,2594,499,3640,0,0,0,0,0,0
$GC,664,-0.62,-194.6,129.4,-19.1,100,673,0.00,1.48,0.00,0.000,6,0.000,0.019,2589,1556,3640,0,0,0,0,0,0
$GC,740,-0.62,-194.6,142.9,-18.0,113,750,0.00,2.60,0.00,0.000,4,0.000,0.033,2587,3269,3640,0,0,0,0,0,0
$GC,776,-0.62,-194.6,149.1,-17.3,118,785,0.00,2.42,0.00,0.000,6,0.000,0.018,2587,1606,3640,0,0,0,0,0,0
$GC,853,-0.62,-194.6,162.1,-17.2,131,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1605,3640,0,0,0,0,0,0
$GC,927,-0.62,-194.6,174.4,-16.1,144,935,0.00,2.53,0.00,0.000,4,0.000,0.031,2588,3264,3640,0,0,0,0,0,0
$GC,976,-0.62,-194.6,182.2,-15.4,152,983,0.00,2.30,0.00,0.000,6,0.000,0.022,2587,1685,3640,0,0,0,0,0,0
$GC,1054,-0.62,-194.6,193.4,-14.9,165,1062,0.00,2.42,0.00,0.000,4,0.000,0.031,2587,3276,3639,0,0,0,0,0,0
$GC,1080,-0.62,-194.6,198.0,-15.3,169,1089,0.00,2.20,0.00,0.000,6,0.000,0.018,2587,1748,3639,0,0,0,0,0,0
$GC,1160,-0.62,-194.6,209.7,-14.8,177,1163,0.00,1.77,0.00,0.000,4,0.000,0.028,2587,494,3640,0,0,0,0,0,0
$GC,1185,-0.62,-194.6,213.4,-14.8,179,1189,0.00,1.77,0.00,0.000,6,0.000,0.021,2587,1743,3639,0,0,0,0,0,0
$GC,1519,-0.62,-194.6,260.9,-14.1,210,1523,0.00,2.30,0.00,0.000,4,0.000,0.034,2587,3280,3638,0,0,0,0,0,0
$GC,1607,-0.62,-194.6,273.3,-12.9,217,1615,0.00,2.12,0.00,0.000,6,0.000,0.018,2587,1770,3638,0,0,0,0,0,0
$GC,1933,-0.62,-194.6,324.0,-16.9,248,1937,0.00,2.25,0.00,0.000,4,0.000,0.032,2587,3271,3636,0,0,0,0,0,0
$GC,2008,-0.62,-194.6,335.6,-15.2,254,2012,0.00,2.05,0.00,0.000,6,0.000,0.018,2587,1806,3637,0,0,0,0,0,0
$GC,2334,-0.62,-194.6,387.2,-14.2,284,2338,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,3272,3636,0,0,0,0,0,0
$GC,2366,-0.62,-194.6,392.0,-13.4,286,2373,0.00,2.05,0.00,0.000,6,0.000,0.018,2587,1800,3635,0,0,0,0,0,0
$GC,2692,-0.62,-194.6,432.0,-11.7,317,2696,0.00,2.20,0.00,0.000,4,0.000,0.032,2587,3277,3633,0,0,0,0,0,0
$GC,2726,-0.62,-194.6,436.3,-12.1,319,2733,0.00,2.12,0.00,0.000,6,0.000,0.018,2587,1787,3633,0,0,0,0,0,0
$GC,3052,-0.62,-194.6,476.9,-12.2,350,3056,0.00,2.20,0.00,0.000,4,0.000,0.032,2587,3279,3632,0,0,0,0,0,0
$GC,3092,-0.62,-194.6,481.7,-12.2,353,3096,0.00,2.15,0.00,0.000,6,0.000,0.019,2587,1775,3632,0,0,0,0,0,0
$GC,3418,-0.62,-194.6,515.6,-10.1,376,3422,0.00,2.25,0.00,0.000,4,0.000,0.033,2587,3279,3630,0,0,0,0,0,0
$GC,3473,-0.62,-194.6,521.8,-9.9,378,3480,0.00,2.10,0.00,0.000,6,0.000,0.019,2587,1806,3630,0,0,0,0,0,0
$GC,3790,-0.62,-194.6,551.7,-9.7,394,3794,0.00,2.22,0.00,0.000,4,0.000,0.033,2587,3276,3628,0,0,0,0,0,0
$GC,3869,-0.62,-194.6,558.2,-7.7,397,3880,0.00,2.00,0.00,0.000,6,0.000,0.019,2587,1859,3627,0,0,0,0,0,0
$GC,4186,-0.62,-194.6,583.3,-8.1,413,4190,0.00,2.03,0.00,0.000,4,0.000,0.031,2587,491,3625,0,0,0,0,0,0
$GC,4214,-0.62,-194.6,585.8,-8.3,414,4217,0.00,1.98,0.00,0.000,6,0.000,0.021,2587,1872,3625,0,0,0,0,0,0
$GC,4543,-0.62,-194.6,615.0,-9.6,430,4547,0.00,2.08,0.00,0.000,4,0.000,0.037,2587,3265,3623,0,0,0,0,0,0
$GC,4610,-0.62,-194.6,621.5,-8.7,433,4614,0.00,1.95,0.00,0.000,6,0.000,0.018,2587,1889,3622,0,0,0,0,0,0
$GC,4939,-0.62,-194.6,654.1,-10.3,449,4943,0.00,2.05,0.00,0.000,4,0.000,0.031,2587,495,3620,0,0,0,0,0,0
$GC,4972,-0.62,-194.6,658.1,-11.0,450,4976,0.00,2.03,0.00,0.000,6,0.000,0.023,2587,1886,3620,0,0,0,0,0,0
$GC,5297,-0.62,-194.6,688.8,-8.7,466,5300,0.00,2.05,0.00,0.000,4,0.000,0.034,2587,3264,3618,0,0,0,0,0,0
$GC,5443,-0.62,-194.6,699.5,-6.7,472,5446,0.00,1.85,0.00,0.000,6,0.000,0.019,2586,1939,3616,0,0,0,0,0,0
$GC,5767,-0.62,-194.6,720.8,-6.7,488,5770,0.00,2.12,0.00,0.000,4,0.000,0.032,2587,498,3614,0,0,0,0,0,0
$GC,5811,-0.62,-194.6,724.2,-6.7,490,5815,0.00,2.10,0.00,0.000,6,0.000,0.024,2587,1948,3613,0,0,0,0,0,0
$GC,6140,-0.62,-194.6,747.3,-6.9,506,6145,0.00,2.00,0.00,0.000,4,0.000,0.037,2587,3267,3611,0,0,0,0,0,0
$GC,6180,-0.62,-194.6,750.0,-6.6,507,6187,0.00,1.90,0.00,0.000,6,0.000,0.020,2587,1945,3610,0,0,0,0,0,0
$GC,6496,-0.62,-194.6,771.6,-7.0,523,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1944,3609,0,0,0,0,0,0
$GC,6806,-0.62,-194.6,792.7,-6.6,538,6810,0.00,2.12,0.00,0.000,4,0.000,0.033,2587,505,3607,0,0,0,0,0,0
$GC,6852,-0.62,-194.6,795.8,-6.4,540,6855,0.00,2.12,0.00,0.000,6,0.000,0.023,2587,1958,3606,0,0,0,0,0,0
$GC,7180,-0.62,-194.6,813.8,-5.3,556,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1959,3605,0,0,0,0,0,0
$GC,7491,-0.62,-194.6,831.5,-6.0,571,7494,0.00,1.95,0.00,0.000,4,0.000,0.037,2587,3272,3603,0,0,0,0,0,0
$GC,7591,-0.62,-194.6,837.5,-5.5,575,7595,0.00,1.83,0.00,0.000,6,0.000,0.019,2587,1983,3602,0,0,0,0,0,0
$GC,7913,-0.62,-194.6,857.6,-6.4,591,7918,0.00,2.22,0.00,0.000,4,0.000,0.033,2587,503,3600,0,0,0,0,0,0
$GC,7953,-0.62,-194.6,860.6,-6.6,592,7960,0.00,2.17,0.00,0.000,6,0.000,0.025,2587,1977,3600,0,0,0,0,0,0
$GC,8270,-0.62,-194.6,883.0,-7.3,608,8273,0.00,1.95,0.00,0.000,4,0.000,0.037,2587,3274,3599,0,0,0,0,0,0
$GC,8308,-0.62,-194.6,886.0,-7.1,609,8316,0.00,1.83,0.00,0.000,6,0.000,0.019,2587,1987,3598,0,0,0,0,0,0
$GC,8626,-0.62,-194.6,909.3,-7.4,625,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1986,3597,0,0,0,0,0,0
$GC,8933,-0.62,-194.6,930.5,-6.7,640,8938,0.00,2.22,0.00,0.000,4,0.000,0.033,2587,508,3595,0,0,0,0,0,0
$GC,8968,-0.62,-194.6,932.9,-6.8,641,8972,0.00,2.17,0.00,0.000,6,0.000,0.024,2587,1982,3595,0,0,0,0,0,0
$GC,9284,-0.62,-194.6,952.8,-6.1,656,9289,0.00,1.95,0.00,0.000,4,0.000,0.038,2587,3261,3594,0,0,0,0,0,0
$GC,9311,-0.62,-194.6,954.4,-6.0,657,9315,0.00,1.83,0.00,0.000,6,0.000,0.019,2587,1977,3593,0,0,0,0,0,0
$GC,9641,-0.62,-194.6,972.4,-5.6,673,9645,0.00,2.20,0.00,0.000,4,0.000,0.032,2586,495,3592,0,0,0,0,0,0
$GC,9671,-0.62,-194.6,974.5,-5.7,674,9675,0.00,2.17,0.00,0.000,6,0.000,0.024,2586,1983,3592,0,0,0,0,0,0
$STATE,9923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9923,begin apogee
$GC,9932,-0.20,0.0,990.1,6.2,686,10095,0.43,0.00,155.20,1.385,4,0.117,0.000,2730,2090,2838,0,0,0,0,0,0
$STATE,10096,end apogee,CONTROL_FINISHED_OK
$STATE,10096,begin climb
$GC,10098,0.62,194.6,995.3,0.0,693,10279,0.80,2.22,169.80,1.335,4,0.080,0.031,3000,696,2045,0,0,0,0,0,0
$GC,10404,0.62,194.6,966.0,12.0,707,10408,0.00,2.10,0.00,0.000,6,0.000,0.024,3000,2064,2036,0,0,0,0,0,0
$GC,10720,0.62,194.6,928.7,11.3,722,10723,0.00,2.05,0.00,0.000,4,0.000,0.033,3007,703,2031,0,0,0,0,0,0
$GC,10953,0.62,194.6,902.2,11.0,732,10957,0.00,2.10,0.00,0.000,6,0.000,0.024,3008,2121,2031,0,0,0,0,0,0
$GC,11275,0.62,194.6,863.6,12.4,748,11278,0.00,2.03,0.00,0.000,4,0.000,0.038,3007,3474,2028,0,0,0,0,0,0
$GC,11302,0.62,194.6,859.7,13.3,749,11307,0.00,2.03,0.00,0.000,6,0.000,0.020,3016,2097,2028,0,0,0,0,0,0
$GC,11631,0.62,194.6,815.8,13.6,765,11635,0.00,2.10,0.00,0.000,4,0.000,0.034,3026,684,2027,0,0,0,0,0,0
$GC,11697,0.62,194.6,806.8,12.7,768,11702,0.00,2.08,0.00,0.000,6,0.000,0.024,3026,2072,2027,0,0,0,0,0,0
$GC,12026,0.62,194.6,767.1,11.9,784,12027,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2072,2026,0,0,0,0,0,0
$GC,12334,0.62,194.6,730.8,11.7,799,12338,0.00,2.10,0.00,0.000,4,0.000,0.038,3026,3465,2026,0,0,0,0,0,0
$GC,12377,0.62,194.6,725.1,12.5,801,12382,0.12,2.05,0.00,0.000,6,0.168,0.021,3002,2056,2026,0,0,0,0,0,0
$GC,12707,0.62,194.6,691.8,10.2,817,12710,0.00,2.03,0.00,0.000,4,0.000,0.035,3011,693,2025,0,0,0,0,0,0
$GC,12874,0.62,194.6,672.8,11.5,824,12879,0.00,1.92,0.00,0.000,6,0.000,0.024,3011,1980,2025,0,0,0,0,0,0
$GC,13198,0.62,194.6,632.8,12.7,840,13202,0.00,2.25,0.00,0.000,4,0.000,0.037,3011,3466,2025,0,0,0,0,0,0
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$GC,14394,0.62,194.6,491.3,12.5,900,14398,0.00,2.25,0.00,0.000,4,0.000,0.037,3029,3467,2024,0,0,0,0,0,0
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$STATE,18630,end climb,SURFACE_DEPTH_REACHED
$STATE,18630,begin surface coast
$FINISH,0.9,1.012833
$STATE,18662,end surface coast,CONTROL_FINISHED_OK
$STATE,18662,begin surface
$SM_CCo,18744,0.00,0.000,0,0,478,579.15
$SM_GC,1.71,7.82,0.00,0.00,0.035,0.000,0.000,117,1875,478,-8.30,0.00,579.15,0,0,0,0,0,0
$IRIDIUM_FIX,1948.12,12420.83,160811,050522
$TT8_MAMPS,0.027713,0.027713
$HUMID,37.20
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,27.90
$XPDR_PINGS,60
$24V_AH,22.9,56.577
$10V_AH,9.8,50.192
$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,20.200,220.650,634.375,0.000,0.000,58.387,48.872,223.952,15.000,0.000,38.083,3604.266,10575.800,768.265,3496.907,870.849,0.000,2402.121,0.000,3380.227,0.000,0.543,0.000
$DEVICE_MAMPS,233.325,88.740,1385.415,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,954.277,1070.233,1301.002,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329636
$DATA_FILE_SIZE,83733,1411
$CAP_FILE_SIZE,211107,0
$CFSIZE,260165632,112324608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065, 52.9,1
$GPS,160811,161301,1953.065,12420.667,39,1.3,40,-2.5