version: 67.00
glider: 180
mission: 6
dive: 10
start: 8 24 122 10 42 4
data:
$ID,180
$MISSION,6
$DIVE,10
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$D_ABORT,1000
$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,220
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-10
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55693
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0015848899
$HD_B,0.0163117
$HD_C,5.7000002e-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,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,131
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,185
$PITCH_MAX,3625
$C_PITCH,2150
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,45
$PITCH_TIMEOUT,25
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$C_PITCH_AUTO_DELTA,0
$C_PITCH_AUTO_MAX,0
$PITCH_GAIN_AUTO_DELTA,0
$PITCH_GAIN_AUTO_MAX,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,360
$ROLL_MAX,3880
$ROLL_DEG,40
$C_ROLL_DIVE,3350
$C_ROLL_CLIMB,3000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.4
$FG_AHR_10V,0.43268776
$FG_AHR_24V,3.9938741
$PHONE_SUPPLY,2
$PRESSURE_YINT,-154.46213
$PRESSURE_SLOPE,0.00022299301
$COMPASS_USE,49156
$ALTIM_PING_FIT,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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$XPDR_INT,13
$XPDR_REP,11.5
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0.5
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,7
$LOGGERDEVICE2,19
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NAV_DEVICE,-1
$NAV2_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,41
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0042874566
$SEABIRD_T_H,0.00062267116
$SEABIRD_T_I,2.1947648e-05
$SEABIRD_T_J,2.2037441e-06
$SEABIRD_C_G,-9.9419231
$SEABIRD_C_H,1.1375728
$SEABIRD_C_I,-0.0016241658
$SEABIRD_C_J,0.0002088599
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_XMITRAW,0.0
$TM_LOGSAMPLE,0.0
$GPS1,240822,103442,3643.819,-12202.710,2,1.7,11,12.9
$_CALLS,3
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-60.4
$GPS2,240822,104146,3643.828,-12202.745,3,1.8,5,12.9
$SPEED_LIMITS,0.100,0.201
$TGT_NAME,SW
$TGT_LATLONG,3643.800,-12205.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,268.0,3347,-16.5,-10.000,-26.40,2188,0.149
$D_GRID,795
$IRON,1.000000,-0.004703,-0.101322,-0.108179,1.091536,-0.058544,0.100239,0.071511,1.041439,-1.164622,-1155.833252,-606.770508
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,6.87,16386,-145.99,-0.55,0.00,923.5,941.9,905.1,177.3,3279.6,0.00,0.00,0,131.19,123.76,0.00,0.00,0.005,0.000,0.000,3281.59,3349.94,3213.25,177.25,3279.44,0,0,0,15.65,30.00,30.00
$GC,131.50,18727,-145.99,-0.55,40.00,3280.9,3350.6,3211.1,177.3,3279.1,3.32,-2.17,24,153.13,7.63,9.86,1.08,0.008,0.481,0.107,3563.72,3666.31,3461.12,1969.06,3900.69,0,0,0,15.71,15.57,15.67
$GC,305.20,3205,-145.99,-0.36,0.00,3567.2,3666.3,3468.0,1970.9,3900.6,35.62,-15.08,59,309.72,0.00,0.26,0.93,0.000,0.302,0.048,3566.94,3666.38,3467.50,2036.88,3303.12,0,0,0,30.00,15.77,15.89
$GC,490.26,676,-145.99,-0.43,-40.00,3567.5,3667.0,3468.1,2036.8,3302.9,51.91,-8.20,96,495.73,0.00,0.00,2.24,0.000,0.000,0.031,3568.69,3667.75,3469.62,2037.44,1858.62,0,0,0,30.00,30.00,15.95
$GC,515.25,5285,-145.99,-0.55,0.00,3567.6,3666.8,3468.4,2036.9,1856.7,53.77,-7.77,101,520.89,0.00,0.20,2.62,0.000,0.101,0.090,3568.41,3667.38,3469.44,1953.88,3369.50,0,0,0,30.00,15.91,15.94
$GC,705.25,2437,-145.99,-0.37,40.00,3567.2,3666.6,3467.8,1953.0,3369.6,80.77,-14.27,139,709.76,0.00,0.31,0.88,0.000,0.308,0.102,3568.09,3667.25,3468.94,2027.75,3900.00,0,0,0,30.00,15.88,15.93
$GC,735.30,1028,-145.99,-0.37,0.00,3567.7,3666.6,3468.8,2028.8,3899.6,83.89,-10.82,145,736.91,0.00,0.00,0.93,0.000,0.000,0.051,3567.88,3666.69,3469.06,2026.50,3307.56,0,0,0,30.00,30.00,16.00
$GC,920.29,420,-145.99,-0.45,40.00,3567.4,3666.1,3468.7,2029.3,3301.9,99.48,-8.31,182,924.74,0.00,0.00,1.02,0.000,0.000,0.103,3568.44,3667.38,3469.50,2027.94,3898.94,0,0,0,30.00,30.00,16.01
$GC,950.36,5285,-145.99,-0.53,0.00,3567.7,3666.6,3468.9,2028.8,3899.1,101.98,-8.31,188,954.61,0.00,0.16,0.93,0.000,0.088,0.051,3568.16,3667.06,3469.25,1950.88,3302.12,0,0,0,30.00,15.99,16.04
$GC,1260.32,2437,-145.99,-0.37,40.00,3567.6,3666.5,3468.8,1950.6,3301.8,145.25,-13.98,220,1264.61,0.00,0.31,1.02,0.000,0.293,0.100,3567.69,3666.38,3469.00,2029.19,3901.31,0,0,0,30.00,15.96,16.02
$GC,1385.10,1188,-145.99,-0.47,0.00,3567.5,3665.8,3469.3,2029.1,3901.2,156.48,-8.55,245,1386.72,0.00,0.00,0.92,0.000,0.000,0.050,3566.53,3665.25,3467.81,2029.75,3307.88,0,0,0,30.00,30.00,16.08
$GC,1695.37,4257,-145.99,-0.58,0.00,3567.5,3666.1,3468.8,2029.6,3302.5,182.97,-8.66,276,1696.86,0.00,0.20,0.00,0.000,0.088,0.000,3568.28,3667.31,3469.25,1931.06,3302.31,0,0,0,30.00,16.08,30.00
$GC,2005.36,2437,-145.99,-0.39,40.00,3567.5,3666.3,3468.6,1932.7,3301.8,230.30,-15.12,307,2009.66,0.00,0.35,1.02,0.000,0.301,0.100,3567.66,3666.44,3468.88,2021.56,3900.88,0,0,0,30.00,16.01,16.07
$GC,2065.40,1188,-145.99,-0.48,0.00,3567.6,3666.5,3468.6,2021.6,3900.4,236.01,-8.53,319,2067.01,0.00,0.00,0.92,0.000,0.000,0.050,3567.28,3665.94,3468.62,2021.38,3307.94,0,0,0,30.00,30.00,16.13
$GC,2370.41,4257,-145.99,-0.59,0.00,3567.2,3666.2,3468.1,2020.9,3303.6,258.51,-7.28,350,2371.89,0.00,0.19,0.00,0.000,0.089,0.000,3568.00,3667.19,3468.81,1932.50,3302.44,0,0,0,30.00,16.12,30.00
$GC,2680.41,2437,-145.99,-0.42,40.00,3567.1,3665.6,3468.6,1932.2,3302.9,300.01,-13.77,381,2684.70,0.00,0.32,1.01,0.000,0.296,0.101,3567.75,3665.88,3469.62,2012.75,3900.81,0,0,0,30.00,16.05,16.11
$GC,2910.48,1188,-145.99,-0.50,0.00,3567.1,3665.6,3468.6,2012.6,3900.9,319.98,-8.44,427,2912.09,0.00,0.00,0.92,0.000,0.000,0.050,3565.91,3664.25,3467.56,2012.75,3307.31,0,0,0,30.00,30.00,16.17
$GC,3215.50,4517,-145.99,-0.60,40.00,3567.0,3665.6,3468.3,2012.4,3302.4,345.82,-8.46,458,3219.76,0.00,0.17,1.01,0.000,0.090,0.100,3567.12,3664.94,3469.31,1927.88,3899.31,0,0,0,30.00,16.16,16.15
$GC,3255.49,3205,-145.99,-0.40,0.00,3565.8,3663.5,3468.2,1927.1,3899.1,351.06,-14.01,466,3259.77,0.00,0.36,0.91,0.000,0.299,0.049,3566.28,3663.75,3468.81,2021.94,3306.31,0,0,0,30.00,16.06,16.19
$GC,3565.53,4517,-145.99,-0.53,40.00,3565.9,3663.4,3468.4,2022.1,3306.3,376.36,-7.86,498,3569.78,0.00,0.14,1.00,0.000,0.100,0.099,3567.00,3663.88,3470.12,1949.50,3898.75,0,0,0,30.00,16.17,16.16
$GC,3605.50,3205,-145.99,-0.42,0.00,3566.1,3663.1,3469.0,1951.5,3899.4,381.04,-12.48,506,3609.76,0.00,0.25,0.91,0.000,0.285,0.049,3566.28,3663.19,3469.38,2015.88,3305.50,0,0,0,30.00,16.09,16.19
$GC,3915.55,4257,-145.99,-0.53,0.00,3565.7,3662.9,3468.4,2016.8,3306.1,405.79,-7.78,538,3917.02,0.00,0.13,0.00,0.000,0.103,0.000,3565.75,3663.25,3468.25,1948.19,3305.88,0,0,0,30.00,16.18,30.00
$GC,4225.54,2437,-145.99,-0.44,40.00,3564.8,3661.2,3468.2,1948.0,3305.2,444.27,-12.43,569,4229.82,0.00,0.22,1.00,0.000,0.281,0.102,3565.38,3661.50,3469.25,2005.69,3902.19,0,0,0,30.00,16.10,16.15
$GC,4265.57,1188,-145.99,-0.51,0.00,3565.2,3661.9,3468.5,2005.6,3902.2,448.13,-9.62,577,4267.19,0.00,0.00,0.92,0.000,0.000,0.051,3565.44,3661.62,3469.25,2005.81,3307.31,0,0,0,30.00,30.00,16.20
$GC,4570.58,4517,-145.99,-0.60,40.00,3564.6,3660.7,3468.5,2005.6,3302.9,472.57,-7.74,608,4574.84,0.00,0.16,1.01,0.000,0.095,0.100,3565.56,3661.38,3469.75,1925.25,3902.50,0,0,0,30.00,16.20,16.18
$GC,4645.32,3205,-145.99,-0.43,0.00,3564.2,3659.6,3468.9,1926.6,3902.1,482.10,-13.68,623,4648.03,0.00,0.33,0.92,0.000,0.296,0.050,3564.19,3659.88,3468.50,2012.88,3303.94,0,0,0,30.00,16.09,16.21
$GC,4955.61,4773,-145.99,-0.55,-40.00,3564.0,3659.4,3468.6,2014.2,3303.2,502.06,-6.03,654,4960.87,0.00,0.14,2.20,0.000,0.099,0.033,3563.69,3658.94,3468.44,1940.56,1850.75,0,0,0,30.00,16.19,16.20
$GC,4980.35,1188,-145.99,-0.59,0.00,3563.6,3658.8,3468.4,1940.6,1848.7,504.16,-6.72,659,4986.13,0.00,0.00,2.58,0.000,0.000,0.088,3564.72,3659.88,3469.56,1940.88,3367.25,0,0,0,30.00,30.00,16.20
$GC,5295.66,2437,-145.99,-0.48,40.00,3562.8,3657.1,3468.4,1940.6,3368.4,540.31,-11.60,691,5299.90,0.00,0.22,0.87,0.000,0.318,0.104,3564.22,3658.62,3469.81,1994.00,3900.44,0,0,0,30.00,16.11,16.16
$GC,5425.64,1188,-145.99,-0.55,0.00,3562.7,3656.8,3468.6,1994.0,3900.3,551.09,-8.04,717,5427.25,0.00,0.00,0.92,0.000,0.000,0.053,3562.59,3657.50,3467.69,1993.94,3307.50,0,0,0,30.00,30.00,16.22
$GC,5730.66,4517,-145.99,-0.61,40.00,3562.9,3656.7,3469.1,1993.4,3304.0,575.37,-8.16,748,5734.90,0.00,0.13,1.00,0.000,0.104,0.102,3564.69,3658.75,3470.62,1920.75,3898.88,0,0,0,30.00,16.20,16.19
$GC,5795.39,3205,-145.99,-0.46,0.00,3561.7,3655.4,3467.9,1920.9,3898.8,583.77,-13.37,761,5798.11,0.00,0.31,0.91,0.000,0.288,0.051,3563.78,3657.56,3470.00,2001.44,3306.94,0,0,0,30.00,16.11,16.22
$GC,6105.69,4257,-145.99,-0.56,0.00,3561.8,3655.3,3468.4,2001.9,3305.3,608.61,-7.59,792,6107.16,0.00,0.12,0.00,0.000,0.105,0.000,3562.91,3656.19,3469.62,1938.19,3305.69,0,0,0,30.00,16.20,30.00
$GC,6415.68,2177,-145.99,-0.47,0.00,3561.8,3654.6,3468.9,1937.9,3305.6,643.18,-11.11,823,6417.17,0.00,0.23,0.00,0.000,0.285,0.000,3561.81,3655.62,3468.00,1998.00,3305.12,0,0,0,30.00,16.12,30.00
$STATE,6636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6636,begin apogee
$GC,6637.49,10243,0.00,-0.11,0.00,3561.8,3655.0,3468.6,1999.7,2954.4,660.35,-7.65,845,6758.23,119.23,0.40,0.12,1.892,0.250,0.191,2967.88,3000.50,2935.25,2115.44,3021.12,0,0,0,12.61,16.13,15.15
$STATE,6759,end apogee,CONTROL_FINISHED_OK
$STATE,6759,begin climb
$GC,6758.99,10759,145.99,0.55,-40.00,2965.7,2998.9,2932.6,2115.1,3021.6,663.57,0.00,857,6885.02,120.43,0.73,2.50,1.838,0.200,0.032,2371.91,2387.69,2356.12,2328.00,1535.12,0,0,0,12.19,15.22,15.01
$GC,6916.85,9254,183.94,0.59,0.00,2367.4,2380.7,2354.2,2329.9,1523.3,654.19,8.22,888,6953.36,32.76,0.00,2.64,1.719,0.000,0.076,2216.44,2220.56,2212.31,2329.69,3016.81,0,0,0,12.21,30.00,15.37
$GC,7262.16,8354,192.75,0.55,0.00,2208.3,2220.2,2196.4,2329.7,3016.5,619.88,9.59,926,7272.34,8.74,0.00,0.00,1.351,0.000,0.000,2180.91,2192.38,2169.44,2328.81,3016.81,0,0,0,12.48,30.00,30.00
$GC,7582.19,644,192.75,0.50,-40.00,2177.3,2192.1,2162.4,2329.3,3016.3,587.86,10.34,958,7587.45,0.00,0.00,2.38,0.000,0.000,0.031,2178.00,2193.31,2162.69,2329.19,1533.62,0,0,0,30.00,30.00,15.91
$GC,7602.18,1028,192.75,0.50,0.00,2177.5,2191.8,2163.3,2329.3,1522.1,585.94,10.14,962,7607.49,0.00,0.00,2.57,0.000,0.000,0.077,2177.94,2192.56,2163.31,2329.62,3019.38,0,0,0,30.00,30.00,15.91
$GC,7912.28,4225,192.75,0.45,0.00,2176.8,2193.4,2160.2,2329.2,3018.4,553.18,10.23,994,7913.75,0.00,0.15,0.00,0.000,0.249,0.000,2177.91,2194.12,2161.69,2286.31,3019.81,0,0,0,30.00,15.91,30.00
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$GC,10772.26,1156,443.11,0.76,0.00,1155.5,1191.8,1119.2,2380.4,1525.1,251.91,15.18,1316,10778.05,0.00,0.00,2.57,0.000,0.000,0.078,1155.66,1192.12,1119.19,2380.19,3017.38,0,0,0,30.00,30.00,15.90
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$STATE,12538,end climb,SURFACE_DEPTH_REACHED
$STATE,12538,begin surface coast
$FINISH,-0.1,1.013281
$STATE,12563,end surface coast,CONTROL_FINISHED_OK
$STATE,12563,begin surface
$SM_CCo,12615.70,41.16,1.062,0,930.3,945.4,915.2,499.84
$SM_GC,0.79,41.16,6.22,0.54,1.062,0.085,0.073,930.3,945.4,915.2,177.9,3381.2,0,0,0,12.61,16.07,16.10
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,3644.38,-12201.46,240822,103749
$TCM_TEMP,303.04
$XPDR_PINGS,2,13.0,11.5
$SC_FREEKB,3873440
$HUMID,50.71
$TEMP,9.12
$INTERNAL_PRESSURE,8.65802
$24V_AH,14.52,4.641
$10V_AH,15.00,0.000
$FG_AHR_24Vo,4.235
$FG_AHR_10Vo,0.472
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,658.670,26.010,79.445,255.922,0.500,13.813,1797.816,0.543,0.000,9207.447,1706.187,0.000,0.000,0.000,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.314,0.000,0.000,0.000
$MEM0,60148,1,0,0
$MEM1,65508,1,0,0
$MEM2,910188,21,136100,93
$DATA_FILE_SIZE,48114,1581
$CAP_FILE_SIZE,289481,0
$SDSIZE,3887104,3874944
$SDFILEDIR,95,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.020, 78.8,1
$MAGCAL,1.000000,-0.039257,-0.076129,-0.111716,1.066161,-0.013700,0.060182,-0.015413,1.096566,-29.2,-1195.1,-633.1,29,0.0475,0
$IMPLIED_C_PITCH,2173,27.90,1236,0.0,0.00
$IMPLIED_C_VBD,2899,91.674866,1211,0
$GPS,240822,141259,3644.303,-12204.261,30,1.3,30,12.9