version: 66.13
glider: 219
mission: 8
dive: 92
start: 9 16 117 8 20 36
data:
$ID,219
$MISSION,8
$DIVE,92
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,840
$D_ABORT,950
$D_NO_BLEED,50
$D_BOOST,100
$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,280
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54258
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$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,525
$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,10
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3914
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,251
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2870
$C_ROLL_CLIMB,2640
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,138
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-149.39949
$PRESSURE_SLOPE,0.0001078618
$AD7714Ch0Gain,1
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.25
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043199207
$SEABIRD_T_H,0.00062990503
$SEABIRD_T_I,2.3814182e-05
$SEABIRD_T_J,2.5407201e-06
$SEABIRD_C_G,-9.8638144
$SEABIRD_C_H,1.1196728
$SEABIRD_C_I,-0.0018518606
$SEABIRD_C_J,0.0002092591
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,0.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,500.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,160917,081330,1019.0519,-12459.3896,15,1.3,15,9.0,0.1,0.0,4,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.7
$GPS2,160917,082016,1019.0459,-12459.3662,2,1.2,3,9.0,0.9,71.9,5,7.7
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,221.7,50773,-17.6,-10.000,-21.24,2209
$D_GRID,840
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.91,-146.0,178,2865,910,852,0.0,0.0,0,101,0.00,0.00,-86.55,0.000,16386,0.000,0.000,173,2865,3451,3477,3426,0,0,0,0,0,0,14.73,28.83,14.76
$GC,103,-0.91,-146.0,174,2866,3477,3429,6.0,-8.7,3,122,10.85,2.40,-1.40,0.000,18948,0.369,2.069,2545,1544,3552,3586,3519,0,0,0,0,0,0,14.25,13.40,14.45
$GC,140,-0.08,-146.0,2547,1543,3589,3518,25.8,-43.4,9,149,1.05,2.35,0.00,0.000,3206,0.251,0.050,2813,2880,3553,3589,3518,0,0,0,0,0,0,14.36,14.54,14.51
$GC,463,-0.34,-146.0,2813,2882,3592,3519,55.3,-7.7,22,470,0.22,1.62,0.00,0.000,4516,0.095,0.077,2721,3818,3554,3591,3518,0,0,0,0,0,0,14.68,14.59,14.73
$GC,547,-0.45,-146.0,2721,3817,3592,3518,64.2,-10.9,34,554,0.00,1.42,0.00,0.000,1158,0.000,0.028,2721,2865,3554,3591,3518,0,0,0,0,0,0,14.76,14.72,14.76
$GC,884,-0.63,-146.0,2721,2865,3592,3518,91.6,-5.6,49,892,0.22,2.10,0.00,0.000,4772,0.093,0.028,2623,1528,3557,3596,3518,0,0,0,0,0,0,14.75,14.76,14.81
$GC,917,-0.66,-146.0,2626,1528,3597,3518,94.0,-6.9,54,925,0.00,2.30,0.00,0.000,1190,0.000,0.044,2615,2879,3557,3596,3518,0,0,0,0,0,0,14.71,14.66,14.73
$GC,1275,-0.66,-146.0,2616,2879,3599,3518,123.7,-8.0,64,1282,0.00,2.17,0.00,0.000,548,0.000,0.028,2615,1540,3558,3598,3518,0,0,0,0,0,0,14.98,14.76,15.01
$GC,1309,-0.70,-146.0,2616,1541,3599,3519,126.4,-7.6,69,1318,0.00,2.28,0.00,0.000,1190,0.000,0.045,2605,2873,3558,3598,3518,0,0,0,0,0,0,14.83,14.74,14.84
$GC,1667,-0.70,-146.0,2606,2872,3601,3518,155.3,-8.1,78,1675,0.00,2.17,0.00,0.000,548,0.000,0.028,2606,1533,3558,3598,3518,0,0,0,0,0,0,15.00,14.78,15.02
$GC,1743,-0.76,-146.0,2606,1532,3602,3518,161.3,-7.8,89,1752,0.00,2.28,0.00,0.000,1190,0.000,0.047,2596,2871,3558,3598,3518,0,0,0,0,0,0,14.77,14.71,14.80
$GC,2059,-0.76,-146.0,2602,2872,3600,3515,188.1,-8.7,99,2067,0.00,2.17,0.00,0.000,548,0.000,0.028,2596,1532,3557,3599,3515,0,0,0,0,0,0,15.02,14.78,15.04
$GC,2093,-0.80,-146.0,2596,1531,3601,3515,191.2,-9.1,104,2101,0.00,2.33,0.00,0.000,1190,0.000,0.047,2586,2889,3556,3598,3515,0,0,0,0,0,0,14.78,14.73,14.81
$GC,2451,-0.80,-146.0,2587,2890,3599,3511,221.5,-8.3,113,2459,0.00,2.22,0.00,0.000,548,0.000,0.029,2586,1531,3553,3597,3510,0,0,0,0,0,0,15.02,14.78,15.04
$GC,2492,-0.84,-146.0,2587,1531,3599,3509,225.1,-8.3,119,2500,0.00,2.30,0.00,0.000,1190,0.000,0.049,2577,2864,3553,3598,3509,0,0,0,0,0,0,14.73,14.68,14.76
$GC,2843,-0.84,-146.0,2577,2866,3602,3505,257.1,-9.3,127,2845,0.00,0.00,0.00,0.000,38,0.000,0.000,2577,2865,3551,3598,3504,0,0,0,0,0,0,15.02,15.05,15.05
$GC,3179,-0.84,-146.0,2578,2865,3599,3499,288.7,-9.4,133,3187,0.00,2.17,0.00,0.000,548,0.000,0.030,2577,1542,3548,3598,3498,0,0,0,0,0,0,15.02,14.78,15.05
$GC,3213,-0.84,-146.0,2577,1544,3598,3499,292.0,-9.5,138,3222,0.00,2.30,0.00,0.000,1062,0.000,0.050,2568,2873,3545,3592,3498,0,0,0,0,0,0,14.80,14.71,14.81
$GC,3571,-0.84,-146.0,2568,2873,3599,3493,327.2,-9.9,147,3578,0.00,2.20,0.00,0.000,548,0.000,0.030,2568,1538,3544,3598,3491,0,0,0,0,0,0,15.03,14.77,15.07
$GC,3668,-0.84,-146.0,2569,1539,3597,3493,337.3,-10.6,161,3677,0.00,2.33,0.00,0.000,1030,0.000,0.049,2558,2874,3545,3597,3493,0,0,0,0,0,0,14.76,14.71,14.81
$GC,4019,-0.84,-146.0,2558,2878,3594,3495,375.0,-10.9,169,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2876,3542,3594,3490,0,0,0,0,0,0,15.02,15.06,15.05
$GC,4355,-0.84,-146.0,2558,2877,3594,3489,411.7,-10.9,175,4362,0.00,2.22,0.00,0.000,516,0.000,0.031,2558,1535,3540,3593,3488,0,0,0,0,0,0,15.02,14.73,15.05
$GC,4459,-0.84,-146.0,2559,1535,3593,3487,423.2,-10.8,190,4469,0.12,2.35,0.00,0.000,3078,0.245,0.050,2576,2877,3540,3591,3489,0,0,0,0,0,0,14.54,14.73,14.76
$GC,4803,-0.87,-146.0,2576,2877,3591,3485,456.2,-9.5,197,4811,0.00,2.22,0.00,0.000,676,0.000,0.031,2576,1536,3537,3590,3485,0,0,0,0,0,0,15.02,14.77,15.04
$GC,4851,-0.91,-146.0,2576,1536,3590,3485,460.7,-9.1,204,4861,0.00,2.33,0.00,0.000,1190,0.000,0.050,2568,2873,3536,3589,3484,0,0,0,0,0,0,14.76,14.70,14.79
$GC,5195,-0.91,-146.0,2565,2874,3590,3483,491.7,-8.9,211,5202,0.00,2.20,0.00,0.000,548,0.000,0.031,2568,1547,3534,3588,3481,0,0,0,0,0,0,14.95,14.73,14.97
$GC,5285,-0.91,-146.0,2568,1547,3589,3481,499.5,-8.5,224,5293,0.00,2.33,0.00,0.000,1062,0.000,0.050,2558,2869,3534,3588,3481,0,0,0,0,0,0,14.80,14.69,14.83
$GC,5643,-0.91,-146.0,2558,2870,3587,3480,530.2,-8.5,233,5645,0.00,0.00,0.00,0.000,38,0.000,0.000,2557,2869,3532,3586,3479,0,0,0,0,0,0,15.03,15.07,15.06
$GC,5979,-0.91,-146.0,2559,2869,3587,3477,559.8,-8.9,239,5986,0.00,2.20,0.00,0.000,548,0.000,0.031,2558,1545,3530,3585,3476,0,0,0,0,0,0,15.03,14.73,15.07
$GC,6097,-0.91,-146.0,2558,1543,3585,3478,570.7,-9.1,256,6105,0.00,2.35,0.00,0.000,1062,0.000,0.050,2548,2879,3530,3584,3477,0,0,0,0,0,0,14.81,14.71,14.83
$GC,6427,-0.91,-146.0,2549,2880,3585,3475,604.1,-10.4,268,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2880,3530,3585,3475,0,0,0,0,0,0,15.01,15.05,15.04
$GC,6763,-0.91,-146.0,2553,2881,3583,3480,640.1,-10.7,274,6770,0.00,2.22,0.00,0.000,516,0.000,0.030,2549,1545,3527,3582,3473,0,0,0,0,0,0,14.96,14.74,15.00
$GC,6839,-0.91,-146.0,2549,1546,3583,3474,648.2,-10.4,285,6848,0.00,2.33,0.00,0.000,1030,0.000,0.049,2539,2869,3527,3582,3473,0,0,0,0,0,0,14.81,14.69,14.84
$GC,7155,-0.91,-146.0,2539,2870,3581,3472,681.5,-10.5,295,7162,0.00,2.20,0.00,0.000,516,0.000,0.028,2539,1539,3526,3581,3471,0,0,0,0,0,0,15.01,14.72,15.04
$GC,7231,-0.91,-146.0,2540,1540,3581,3472,689.5,-10.3,306,7239,0.00,2.35,0.00,0.000,1030,0.000,0.049,2529,2873,3525,3579,3471,0,0,0,0,0,0,14.81,14.70,14.83
$GC,7547,-0.87,-146.0,2530,2874,3579,3468,722.0,-10.3,316,7550,0.15,0.00,0.00,0.000,2182,0.252,0.000,2563,2874,3523,3578,3469,0,0,0,0,0,0,14.46,14.76,14.69
$GC,7883,-0.91,-146.0,2564,2876,3578,3468,753.1,-9.3,322,7890,0.00,2.22,0.00,0.000,676,0.000,0.032,2564,1546,3522,3577,3468,0,0,0,0,0,0,15.02,14.70,15.04
$GC,7980,-0.96,-146.0,2564,1547,3579,3468,762.7,-9.9,336,7989,0.00,2.30,0.00,0.000,1190,0.000,0.050,2555,2869,3521,3576,3467,0,0,0,0,0,0,14.71,14.66,14.74
$GC,8331,-0.96,-146.0,2556,2870,3577,3465,797.9,-10.1,344,8338,0.00,2.20,0.00,0.000,516,0.000,0.029,2555,1543,3520,3575,3465,0,0,0,0,0,0,15.00,14.72,15.02
$GC,8372,-0.99,-146.0,2556,1543,3576,3465,802.2,-10.4,350,8380,0.00,2.35,0.00,0.000,1158,0.000,0.050,2546,2876,3519,3575,3464,0,0,0,0,0,0,14.74,14.67,14.77
$GC,8723,-0.99,-146.0,2545,2876,3575,3464,837.9,-10.0,358,8731,0.00,2.22,0.00,0.000,548,0.000,0.031,2546,1544,3519,3574,3464,0,0,0,0,0,0,14.99,14.70,15.02
$STATE,8749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8749,begin apogee
$GC,8754,-0.21,0.0,2539,2651,3575,3464,840.6,-10.0,362,8911,0.85,0.00,153.90,1.719,10246,0.203,0.000,2775,2659,2967,3038,2896,0,0,0,0,0,0,14.47,14.08,13.42
$STATE,8913,end apogee,CONTROL_FINISHED_OK
$STATE,8913,begin climb
$GC,8914,0.91,146.0,2775,2653,3032,2889,843.7,0.0,364,9091,1.17,2.38,157.02,1.711,10756,0.123,0.036,3148,1327,2378,2458,2299,0,0,0,0,0,0,14.09,13.98,13.34
$GC,9123,0.76,146.0,3151,1327,2451,2290,828.1,13.1,387,9132,0.20,2.38,0.00,0.000,5254,0.256,0.044,3101,2646,2367,2445,2289,0,0,0,0,0,0,14.02,14.13,14.14
$GC,9481,0.67,146.0,3101,2647,2447,2279,785.4,12.0,396,9489,0.15,2.25,0.00,0.000,4740,0.246,0.034,3075,1325,2361,2446,2277,0,0,0,0,0,0,14.33,14.50,14.54
$GC,9515,0.67,146.0,3075,1326,2446,2278,781.5,10.5,401,9525,0.00,2.33,0.00,0.000,1030,0.000,0.044,3075,2645,2361,2445,2277,0,0,0,0,0,0,14.59,14.53,14.61
$GC,9873,0.62,146.0,3076,2644,2445,2274,744.0,10.5,410,9881,0.00,2.25,0.00,0.000,644,0.000,0.037,3085,1327,2359,2444,2274,0,0,0,0,0,0,14.83,14.59,14.83
$GC,9949,0.62,146.0,3085,1328,2437,2275,736.2,10.4,421,9959,0.12,2.30,0.00,0.000,5126,0.230,0.044,3053,2649,2357,2441,2274,0,0,0,0,0,0,14.41,14.63,14.54
$GC,10265,0.65,164.0,3053,2649,2442,2272,707.1,9.2,431,10288,0.00,2.28,12.95,1.751,8740,0.000,0.037,3062,1317,2310,2394,2227,0,0,0,0,0,0,14.90,14.67,14.02
$GC,10321,0.69,195.8,3061,1318,2390,2224,702.0,8.5,439,10364,0.00,2.28,37.40,1.594,9254,0.000,0.044,3062,2633,2189,2273,2105,0,0,0,0,0,0,14.65,14.61,13.82
$GC,10713,0.69,195.8,3062,2634,2254,2081,662.7,10.0,453,10721,0.00,2.25,0.00,0.000,516,0.000,0.037,3071,1320,2163,2247,2079,0,0,0,0,0,0,14.75,14.56,14.78
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$GC,13059,0.69,229.7,3110,2639,2116,1943,407.6,12.3,571,13067,0.15,2.22,0.00,0.000,4740,0.223,0.036,3081,1325,2028,2114,1943,0,0,0,0,0,0,14.50,14.66,14.72
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$STATE,16922,end climb,SURFACE_DEPTH_REACHED
$STATE,16922,begin surface coast
$FINISH,-0.1,1.013245
$STATE,16950,end surface coast,CONTROL_FINISHED_OK
$STATE,16950,begin surface
$SM_CCo,16973,34.83,0.175,0,0,876,525.01
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$IRIDIUM_FIX,1015.45,-12500.42,160917,040321
$TT8_MAMPS,0.041944,0.423185
$HUMID,49.68
$INTERNAL_PRESSURE,8.65659
$TCM_TEMP,21.00
$XPDR_PINGS,38
$SC_FREEKB,3875200
$PM_FREEKB,53247424
$24V_AH,13.34,47.104
$10V_AH,13.04,0.000
$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,24.750,162.025,517.925,34.825,0.000,0.000,0.000,277.825,9.500,0.000,5.764,0.000,14167.447,884.019,2215.787,146.839,0.000,1969.235,0.000,1343.790,0.000,0.549,0.000
$DEVICE_MAMPS,368.730,2068.560,1751.085,175.185,0.000,0.000,0.000,191.250,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.210,4.750,0.000,0.000
$MEM,326316
$DATA_FILE_SIZE,26760,750
$CAP_FILE_SIZE,131581,0
$CFSIZE,1024409600,1003405312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.038,75.88,1
$GPS,160917,130500,1017.934,-12500.745,26,0.9,26,9.0,0.3,352.7,9,3.7