version: 66.12
glider: 171
mission: 9
dive: 242
start: 1 5 116 20 28 40
data:
$ID,171
$MISSION,9
$DIVE,242
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1015
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,420
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-6
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52091
$MASS_COMP,0
$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,587.06018
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,175
$PITCH_MAX,3952
$C_PITCH,1997
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2305
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3820
$C_VBD,2899
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-75.620842
$PRESSURE_SLOPE,0.0001165165
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004389904
$SEABIRD_T_H,0.00063959236
$SEABIRD_T_I,2.6546981e-05
$SEABIRD_T_J,3.01253e-06
$SEABIRD_C_G,-10.191363
$SEABIRD_C_H,1.1409097
$SEABIRD_C_I,-0.0015713738
$SEABIRD_C_J,0.00020770991
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,050116,202122,648.8981,8248.0898,69,1.1,69,-2.4,0.0,0.0,8,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.33
$_SM_ANGLEo,-53.1
$GPS2,050116,202827,648.8803,8248.1191,11,1.1,44,-2.4,0.6,356.3,9,8.3
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH2
$TGT_LATLONG,630.000,8200.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,258.8,95198,-12.3,-7.857,-16.95,3372
$D_GRID,1020
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.54,-175.2,173,2288,534,472,0.0,0.0,0,165,0.00,0.00,-145.73,0.000,16386,0.000,0.000,173,2289,3074,3097,3052,0,0,0,0,0,0,26.32,28.83,26.38
$GC,168,-0.54,-175.2,173,2289,3099,3052,6.8,-12.7,12,191,6.18,2.47,-10.35,0.000,18692,0.200,1.207,1802,3668,3617,3482,3753,0,0,0,0,0,0,25.37,23.82,25.75
$GC,412,-0.53,-175.2,1802,3669,3482,3757,88.1,-20.7,53,420,0.00,2.08,0.00,0.000,1030,0.000,0.030,1802,2326,3619,3482,3756,0,0,0,0,0,0,26.21,26.19,26.25
$GC,791,-0.53,-175.2,1801,2326,3483,3761,145.4,-13.9,71,798,0.00,2.20,0.00,0.000,260,0.000,0.055,1792,3654,3622,3483,3761,0,0,0,0,0,0,26.64,26.10,26.70
$GC,833,-0.52,-175.2,1791,3654,3483,3761,151.0,-13.4,78,842,0.08,2.08,0.00,0.000,3078,0.109,0.031,1822,2298,3622,3483,3761,0,0,0,0,0,0,26.10,26.31,26.16
$GC,1199,-0.52,-175.2,1822,2297,3483,3762,194.8,-12.0,94,1206,0.00,2.25,0.00,0.000,260,0.000,0.057,1812,3654,3622,3483,3762,0,0,0,0,0,0,26.72,26.15,26.78
$GC,1266,-0.52,-175.2,1812,3655,3483,3762,203.2,-13.0,105,1274,0.00,2.05,0.00,0.000,1030,0.000,0.031,1813,2315,3622,3482,3762,0,0,0,0,0,0,26.41,26.39,26.44
$GC,1632,-0.52,-175.2,1812,2315,3482,3762,246.8,-11.0,121,1638,0.00,2.22,0.00,0.000,260,0.000,0.057,1802,3664,3622,3483,3761,0,0,0,0,0,0,26.77,26.17,26.83
$GC,1661,-0.51,-175.2,1801,3664,3483,3761,250.0,-11.5,126,1668,0.00,2.10,0.00,0.000,1030,0.000,0.034,1802,2311,3621,3482,3761,0,0,0,0,0,0,26.41,26.38,26.44
$GC,2040,-0.51,-175.2,1802,2310,3482,3755,288.4,-9.9,139,2046,0.00,2.17,0.00,0.000,516,0.000,0.041,1802,896,3618,3482,3755,0,0,0,0,0,0,26.80,26.32,26.86
$GC,2106,-0.51,-175.2,1802,897,3483,3754,294.6,-9.3,150,2114,0.10,2.22,0.00,0.000,3078,0.110,0.044,1831,2298,3617,3482,3753,0,0,0,0,0,0,26.09,26.27,26.17
$GC,2472,-0.51,-175.2,1830,2298,3483,3747,318.1,-6.1,161,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2298,3615,3483,3747,0,0,0,0,0,0,26.82,26.89,26.88
$GC,2832,-0.51,-175.2,1830,2298,3483,3741,342.9,-7.2,171,2838,0.00,2.17,0.00,0.000,516,0.000,0.038,1830,903,3611,3482,3741,0,0,0,0,0,0,26.83,26.34,26.89
$GC,2855,-0.51,-175.2,1830,903,3483,3741,344.8,-8.1,175,2863,0.00,2.22,0.00,0.000,1030,0.000,0.043,1821,2312,3611,3482,3741,0,0,0,0,0,0,26.33,26.28,26.38
$GC,3228,-0.51,-175.2,1820,2312,3482,3735,377.2,-9.1,187,3234,0.00,2.22,0.00,0.000,516,0.000,0.040,1821,902,3608,3482,3735,0,0,0,0,0,0,26.84,26.32,26.89
$GC,3275,-0.51,-175.2,1821,902,3482,3735,381.9,-10.0,195,3282,0.00,2.22,0.00,0.000,1030,0.000,0.043,1810,2306,3608,3482,3734,0,0,0,0,0,0,26.33,26.28,26.37
$GC,3661,-0.51,-175.2,1810,2306,3482,3728,422.9,-11.0,209,3667,0.00,2.17,0.00,0.000,260,0.000,0.059,1800,3669,3604,3481,3728,0,0,0,0,0,0,26.84,26.16,26.89
$GC,3691,-0.50,-175.2,1800,3670,3481,3728,426.5,-11.7,214,3699,0.08,2.12,0.00,0.000,3078,0.104,0.035,1830,2301,3604,3481,3727,0,0,0,0,0,0,26.22,26.45,26.28
$GC,4057,-0.50,-175.2,1830,2301,3482,3723,463.1,-9.7,225,4064,0.00,2.15,0.00,0.000,516,0.000,0.040,1830,898,3602,3482,3722,0,0,0,0,0,0,26.84,26.30,26.90
$GC,4081,-0.50,-175.2,1831,898,3481,3722,465.4,-9.7,229,4088,0.00,2.25,0.00,0.000,1030,0.000,0.045,1821,2303,3601,3481,3722,0,0,0,0,0,0,26.29,26.25,26.35
$GC,4453,-0.50,-175.2,1821,2303,3481,3718,500.9,-9.2,241,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2303,3599,3481,3717,0,0,0,0,0,0,26.84,26.91,26.90
$GC,4813,-0.50,-175.2,1821,2303,3480,3713,533.4,-8.9,251,4820,0.00,2.22,0.00,0.000,516,0.000,0.042,1821,902,3597,3481,3713,0,0,0,0,0,0,26.85,26.25,26.91
$GC,4861,-0.50,-175.2,1819,902,3480,3713,537.8,-9.1,259,4868,0.00,2.25,0.00,0.000,1030,0.000,0.044,1811,2311,3596,3479,3713,0,0,0,0,0,0,26.29,26.24,26.34
$GC,5246,-0.50,-175.2,1810,2312,3480,3708,574.0,-9.2,273,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2312,3594,3480,3708,0,0,0,0,0,0,26.84,26.91,26.91
$GC,5606,-0.50,-175.2,1810,2312,3479,3706,604.2,-8.0,283,5612,0.00,2.22,0.00,0.000,516,0.000,0.041,1811,909,3592,3479,3705,0,0,0,0,0,0,26.85,26.24,26.91
$GC,5641,-0.50,-175.2,1811,910,3479,3705,607.2,-8.5,289,5649,0.08,2.22,0.00,0.000,3078,0.114,0.045,1831,2298,3592,3479,3705,0,0,0,0,0,0,26.03,26.22,26.11
$GC,6038,-0.51,-175.2,1830,2298,3480,3701,631.2,-5.7,305,6046,0.00,2.20,0.00,0.000,516,0.000,0.039,1831,903,3590,3479,3701,0,0,0,0,0,0,26.84,26.25,26.90
$GC,6105,-0.51,-175.2,1830,904,3480,3701,635.0,-5.5,316,6112,0.00,2.25,0.00,0.000,1030,0.000,0.045,1821,2311,3590,3479,3701,0,0,0,0,0,0,26.26,26.21,26.31
$GC,6471,-0.51,-175.2,1821,2311,3480,3699,656.3,-6.0,327,6477,0.00,2.22,0.00,0.000,516,0.000,0.041,1821,908,3588,3479,3698,0,0,0,0,0,0,26.84,26.21,26.91
$GC,6524,-0.51,-175.2,1821,909,3479,3698,659.8,-7.1,336,6531,0.00,2.25,0.00,0.000,1030,0.000,0.045,1812,2309,3588,3479,3697,0,0,0,0,0,0,26.24,26.19,26.29
$GC,6904,-0.51,-175.2,1811,2309,3479,3694,687.5,-7.7,349,6910,0.00,2.20,0.00,0.000,516,0.000,0.042,1812,899,3586,3479,3694,0,0,0,0,0,0,26.84,26.18,26.90
$GC,6940,-0.51,-175.2,1811,899,3480,3694,690.5,-8.8,355,6947,0.08,2.25,0.00,0.000,3078,0.112,0.046,1831,2298,3585,3477,3694,0,0,0,0,0,0,26.01,26.17,26.07
$GC,7337,-0.51,-175.2,1831,2298,3480,3692,719.6,-7.5,371,7343,0.00,2.20,0.00,0.000,516,0.000,0.039,1831,907,3585,3479,3691,0,0,0,0,0,0,26.84,26.22,26.90
$GC,7385,-0.51,-175.2,1831,907,3479,3691,723.2,-7.5,379,7391,0.00,2.25,0.00,0.000,1030,0.000,0.047,1822,2310,3585,3479,3691,0,0,0,0,0,0,26.21,26.15,26.26
$GC,7769,-0.51,-175.2,1822,2310,3480,3689,753.9,-8.1,393,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2310,3584,3479,3689,0,0,0,0,0,0,26.84,26.91,26.90
$GC,8129,-0.51,-175.2,1822,2310,3479,3687,782.2,-7.7,403,8135,0.00,2.22,0.00,0.000,516,0.000,0.042,1822,909,3583,3479,3687,0,0,0,0,0,0,26.84,26.15,26.91
$GC,8188,-0.51,-175.2,1822,910,3479,3687,787.1,-8.3,413,8196,0.00,2.22,0.00,0.000,1030,0.000,0.045,1811,2298,3582,3479,3686,0,0,0,0,0,0,26.20,26.14,26.24
$GC,8562,-0.51,-175.2,1812,2298,3479,3685,816.6,-7.8,425,8568,0.00,2.15,0.00,0.000,516,0.000,0.039,1812,907,3581,3479,3684,0,0,0,0,0,0,26.84,26.17,26.90
$GC,8615,-0.51,-175.2,1812,907,3479,3684,821.1,-7.9,434,8623,0.08,2.25,0.00,0.000,3078,0.111,0.046,1832,2303,3581,3479,3684,0,0,0,0,0,0,25.96,26.13,26.03
$GC,8996,-0.51,-175.2,1831,2303,3479,3683,845.2,-6.0,447,9001,0.00,2.17,0.00,0.000,516,0.000,0.043,1832,908,3580,3479,3682,0,0,0,0,0,0,26.84,26.13,26.90
$GC,9042,-0.51,-175.2,1832,909,3479,3683,848.2,-6.8,455,9049,0.00,2.25,0.00,0.000,1030,0.000,0.046,1823,2305,3580,3479,3682,0,0,0,0,0,0,26.16,26.10,26.21
$GC,9428,-0.51,-175.2,1823,2305,3479,3681,871.5,-6.1,469,9434,0.00,2.22,0.00,0.000,516,0.000,0.044,1824,899,3580,3479,3681,0,0,0,0,0,0,26.84,26.09,26.90
$GC,9493,-0.52,-175.2,1823,899,3479,3681,876.0,-7.0,480,9501,0.00,2.25,0.00,0.000,1030,0.000,0.046,1813,2301,3579,3478,3681,0,0,0,0,0,0,26.16,26.10,26.21
$GC,9860,-0.52,-175.2,1813,2301,3478,3678,901.4,-7.2,491,9866,0.00,2.20,0.00,0.000,516,0.000,0.042,1813,904,3578,3479,3678,0,0,0,0,0,0,26.84,26.10,26.90
$GC,9907,-0.52,-175.2,1813,904,3479,3678,905.2,-8.4,499,9914,0.00,2.25,0.00,0.000,1030,0.000,0.046,1803,2304,3578,3478,3678,0,0,0,0,0,0,26.14,26.08,26.20
$GC,10292,-0.52,-175.2,1802,2304,3480,3677,936.9,-8.4,513,10299,0.00,2.22,0.00,0.000,516,0.000,0.043,1803,908,3577,3478,3677,0,0,0,0,0,0,26.84,26.09,26.90
$GC,10334,-0.52,-175.2,1802,909,3479,3677,940.5,-8.4,520,10341,0.10,2.25,0.00,0.000,3078,0.104,0.047,1831,2301,3577,3478,3677,0,0,0,0,0,0,25.88,26.07,25.95
$GC,10724,-0.52,-175.2,1831,2301,3478,3676,968.4,-7.1,535,10731,0.00,2.22,0.00,0.000,516,0.000,0.043,1832,908,3577,3478,3676,0,0,0,0,0,0,26.84,26.08,26.90
$GC,10779,-0.52,-175.2,1831,909,3479,3676,972.2,-7.1,544,10785,0.00,2.25,0.00,0.000,1030,0.000,0.047,1823,2305,3577,3478,3676,0,0,0,0,0,0,26.11,26.06,26.16
$STATE,11046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11046,begin apogee
$GC,11052,-0.11,0.0,1824,1957,3478,3674,991.1,-6.8,554,11201,0.40,0.00,146.15,1.016,10246,0.091,0.000,1960,1955,2898,2919,2878,0,0,0,0,0,0,26.01,24.70,23.74
$STATE,11202,end apogee,CONTROL_FINISHED_OK
$STATE,11202,begin climb
$GC,11204,0.54,175.2,1961,1956,2917,2873,995.2,0.0,558,11368,0.57,2.42,154.68,0.998,11012,0.069,0.050,2170,3384,2181,2249,2114,0,0,0,0,0,0,24.98,24.44,23.42
$GC,11398,0.54,175.2,2169,3384,2245,2112,984.9,8.3,592,11404,0.00,2.33,0.00,0.000,1030,0.000,0.034,2171,1974,2176,2243,2110,0,0,0,0,0,0,25.15,25.11,25.17
$GC,11770,0.54,175.2,2171,1974,2240,2106,955.5,7.9,604,11771,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1974,2172,2239,2106,0,0,0,0,0,0,26.27,26.35,26.34
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$GC,17408,0.63,270.5,2193,3371,1854,1732,421.6,8.4,843,17415,0.00,2.20,0.00,0.000,1030,0.000,0.029,2198,1948,1793,1854,1732,0,0,0,0,0,0,26.33,26.29,26.36
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$STATE,21585,end climb,SURFACE_DEPTH_REACHED
$STATE,21585,begin surface coast
$FINISH,-0.3,1.021291
$STATE,21609,end surface coast,CONTROL_FINISHED_OK
$STATE,21609,begin surface
$SM_CCo,21624,23.30,0.053,0,0,504,587.25
$SM_GC,-0.55,5.43,1.67,23.30,0.022,0.029,0.053,171,2285,504,-5.67,1.27,587.25,0,0,0,0,0,0,26.25,26.24,26.03
$IRIDIUM_FIX,646.40,8248.73,050116,140351
$TT8_MAMPS,0.050183,0.050183
$HUMID,51.49
$INTERNAL_PRESSURE,9.41789
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3927136
$24V_AH,23.42,36.934
$10V_AH,9.98,22.674
$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,13.900,173.300,618.050,23.300,0.000,0.000,0.000,240.225,0.000,0.000,46.224,0.000,18278.520,1143.939,2234.026,395.589,0.000,2148.363,0.000,1585.800,0.000,0.540,0.000
$DEVICE_MAMPS,199.665,1207.170,1015.920,52.785,0.000,0.000,0.000,122.400,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21631.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.819,0.000,0.000,0.000
$MEM,261264
$DATA_FILE_SIZE,39924,1073
$CAP_FILE_SIZE,195364,0
$CFSIZE,260034560,227913728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.268,77.88,1
$GPS,060116,023109,648.751,8248.225,36,1.4,76,-2.4,0.0,166.7,7,10.3