version: 66.13
glider: 220
mission: 6
dive: 748
start: 3 1 117 13 5 17
data:
$ID,220
$MISSION,6
$DIVE,748
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,800
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,120
$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,345
$T_MISSION,450
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54354
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0024999999
$HD_B,0.014
$HD_C,1.6e-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,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3888
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.025
$PITCH_ADJ_DBAND,3
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2765
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,3
$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,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,-168.7365
$PRESSURE_SLOPE,0.0001077811
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,48
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044037569
$SEABIRD_T_H,0.00063615869
$SEABIRD_T_I,2.4815216e-05
$SEABIRD_T_J,2.9729028e-06
$SEABIRD_C_G,-9.8086529
$SEABIRD_C_H,1.075657
$SEABIRD_C_I,-0.0023452051
$SEABIRD_C_J,0.00023101401
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,010317,125130,949.9404,-12453.0615,25,0.9,25,9.0,0.5,291.7,9,3.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.12
$_SM_ANGLEo,-69.4
$GPS2,010317,130451,949.9517,-12453.1846,2,0.9,3,9.0,0.3,37.8,10,4.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,63.6,29534,-17.5,-7.729,-24.20,2052
$D_GRID,800
$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,18,-0.93,-107.1,108,2788,1103,1014,0.0,0.0,0,103,0.00,0.00,-80.95,0.000,16390,0.000,0.000,107,2788,3478,3470,3487,0,0,0,0,0,0,14.47,12.66,14.40
$GC,107,-0.93,-107.1,109,2787,3470,3488,3.9,-10.6,3,121,12.20,0.00,0.00,0.000,2054,0.379,0.000,2590,2787,3479,3471,3487,0,0,0,0,0,0,13.83,14.29,14.20
$GC,412,-0.75,-107.1,2590,2788,3475,3487,74.6,-13.4,14,417,0.20,2.15,0.00,0.000,2436,0.236,0.166,2641,3826,3480,3474,3487,0,0,0,0,0,0,13.58,13.78,13.79
$GC,502,-0.75,-107.1,2641,3824,3476,3489,82.4,-8.9,27,507,0.00,1.85,0.00,0.000,1030,0.000,0.058,2641,2748,3481,3475,3487,0,0,0,0,0,0,14.23,14.16,14.25
$GC,832,-0.75,-107.1,2641,2743,3478,3487,111.5,-9.2,39,837,0.00,2.25,0.00,0.000,260,0.000,0.164,2632,3830,3484,3477,3491,0,0,0,0,0,0,14.69,13.86,14.66
$GC,944,-0.75,-107.1,2633,3830,3478,3488,123.3,-9.6,55,949,0.00,1.83,0.00,0.000,1030,0.000,0.058,2632,2769,3482,3477,3487,0,0,0,0,0,0,14.23,14.18,14.24
$GC,1280,-0.75,-107.1,2633,2769,3479,3486,154.5,-9.3,68,1285,0.00,2.47,0.00,0.000,516,0.000,0.041,2632,1374,3481,3477,3486,0,0,0,0,0,0,14.72,13.89,14.72
$GC,1356,-0.75,-107.1,2632,1375,3478,3486,162.4,-10.2,79,1361,0.12,2.75,0.00,0.000,3078,0.219,0.106,2658,2774,3481,3477,3486,0,0,0,0,0,0,13.88,13.92,14.12
$GC,1672,-0.75,-107.1,2659,2774,3478,3482,190.2,-8.7,89,1678,0.00,2.53,0.00,0.000,516,0.000,0.041,2659,1372,3479,3477,3481,0,0,0,0,0,0,14.67,13.81,14.67
$GC,1713,-0.75,-107.1,2659,1371,3478,3482,194.1,-8.9,95,1718,0.00,2.78,0.00,0.000,1030,0.000,0.108,2650,2773,3478,3477,3480,0,0,0,0,0,0,14.20,13.94,14.25
$GC,2064,-0.75,-107.1,2650,2774,3478,3477,222.5,-7.8,103,2069,0.00,2.20,0.00,0.000,260,0.000,0.171,2641,3834,3476,3476,3476,0,0,0,0,0,0,14.67,13.88,14.66
$GC,2098,-0.75,-107.1,2642,3829,3478,3477,225.2,-7.9,108,2103,0.00,1.85,0.00,0.000,1030,0.000,0.058,2641,2749,3479,3484,3475,0,0,0,0,0,0,14.21,14.16,14.23
$GC,2456,-0.75,-107.1,2641,2751,3478,3469,252.8,-8.0,117,2462,0.00,2.45,0.00,0.000,516,0.000,0.039,2641,1375,3473,3477,3469,0,0,0,0,0,0,14.71,13.88,14.71
$GC,2532,-0.75,-107.1,2642,1376,3477,3469,259.6,-8.8,128,2537,0.00,2.75,0.00,0.000,1030,0.000,0.104,2631,2770,3472,3477,3468,0,0,0,0,0,0,14.15,13.86,14.16
$GC,2848,-0.75,-107.1,2630,2771,3479,3463,288.2,-9.2,138,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2770,3470,3477,3463,0,0,0,0,0,0,14.71,14.74,14.72
$GC,3184,-0.75,-107.1,2631,2770,3478,3462,316.4,-8.2,144,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2769,3468,3477,3460,0,0,0,0,0,0,14.65,14.66,14.65
$GC,3520,-0.75,-107.1,2632,2770,3477,3457,344.1,-8.4,150,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2770,3466,3477,3455,0,0,0,0,0,0,14.72,14.74,14.71
$GC,3856,-0.75,-107.1,2632,2771,3478,3451,374.2,-9.0,156,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2770,3464,3477,3451,0,0,0,0,0,0,14.65,14.66,14.65
$GC,4192,-0.75,-107.1,2632,2771,3478,3448,404.0,-8.8,162,4197,0.00,2.55,0.00,0.000,516,0.000,0.041,2632,1378,3462,3476,3448,0,0,0,0,0,0,14.65,13.76,14.65
$GC,4261,-0.75,-107.1,2632,1378,3478,3447,410.2,-8.1,172,4267,0.12,2.78,0.00,0.000,3078,0.225,0.106,2657,2763,3462,3477,3447,0,0,0,0,0,0,13.89,13.92,14.12
$GC,4585,-0.82,-107.1,2658,2763,3477,3445,434.1,-7.3,183,4590,0.00,2.53,0.00,0.000,676,0.000,0.042,2658,1385,3460,3477,3444,0,0,0,0,0,0,14.63,13.92,14.64
$GC,4626,-0.92,-107.1,2658,1381,3481,3445,437.2,-6.8,189,4632,0.08,2.75,0.00,0.000,5286,0.140,0.106,2579,2760,3460,3477,3443,0,0,0,0,0,0,14.15,13.94,14.26
$GC,4976,-0.92,-107.1,2579,2758,3477,3441,472.5,-10.2,197,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2760,3461,3477,3445,0,0,0,0,0,0,14.64,14.64,14.64
$GC,5312,-0.92,-107.1,2580,2760,3477,3438,506.8,-10.2,203,5317,0.00,2.53,0.00,0.000,516,0.000,0.042,2577,1388,3456,3476,3436,0,0,0,0,0,0,14.64,13.77,14.64
$GC,5339,-0.92,-107.1,2577,1387,3478,3436,510.1,-11.9,207,5344,0.12,2.75,0.00,0.000,3078,0.226,0.110,2601,2756,3456,3476,3437,0,0,0,0,0,0,13.88,13.93,14.14
$GC,5704,-0.92,-107.1,2602,2756,3477,3435,542.4,-8.5,217,5710,0.00,2.50,0.00,0.000,516,0.000,0.042,2601,1385,3454,3477,3431,0,0,0,0,0,0,14.70,13.94,14.71
$GC,5731,-0.92,-107.1,2602,1386,3477,3434,545.3,-10.3,221,5737,0.00,2.75,0.00,0.000,1030,0.000,0.109,2593,2764,3455,3477,3433,0,0,0,0,0,0,14.19,13.93,14.23
$GC,6096,-0.92,-107.1,2593,2764,3477,3433,578.1,-9.1,231,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2767,3453,3476,3431,0,0,0,0,0,0,14.70,14.70,14.70
$GC,6432,-0.92,-107.1,2593,2765,3476,3429,610.4,-9.5,237,6438,0.00,2.22,0.00,0.000,260,0.000,0.173,2583,3826,3451,3474,3429,0,0,0,0,0,0,14.69,13.81,14.69
$GC,6480,-0.92,-107.1,2585,3826,3474,3439,615.5,-10.3,244,6486,0.00,1.90,0.00,0.000,1030,0.000,0.060,2583,2769,3451,3474,3429,0,0,0,0,0,0,14.18,14.09,14.20
$GC,6824,-0.92,-107.1,2583,2771,3472,3429,648.3,-9.5,251,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2769,3450,3471,3429,0,0,0,0,0,0,14.61,14.61,14.61
$GC,7160,-0.92,-107.1,2584,2770,3472,3429,681.3,-9.7,257,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2769,3449,3470,3429,0,0,0,0,0,0,14.61,14.61,14.61
$GC,7496,-0.92,-107.1,2582,2770,3471,3428,716.2,-10.5,263,7501,0.00,2.58,0.00,0.000,516,0.000,0.041,2583,1360,3448,3469,3427,0,0,0,0,0,0,14.68,13.84,14.67
$GC,7530,-0.92,-107.1,2583,1361,3470,3427,719.9,-10.5,268,7535,0.00,2.80,0.00,0.000,1030,0.000,0.100,2575,2758,3448,3469,3427,0,0,0,0,0,0,14.14,13.88,14.19
$GC,7888,-0.92,-107.1,2575,2759,3470,3426,760.0,-11.2,277,7894,0.00,2.20,0.00,0.000,260,0.000,0.165,2566,3826,3446,3468,3425,0,0,0,0,0,0,14.60,13.85,14.61
$GC,7936,-0.84,-107.1,2566,3827,3468,3425,765.8,-12.0,284,7943,0.22,1.92,0.00,0.000,3206,0.206,0.063,2626,2759,3446,3467,3425,0,0,0,0,0,0,13.69,14.12,13.97
$GC,8280,-0.84,-107.1,2627,2759,3467,3425,794.8,-8.1,291,8285,0.00,2.55,0.00,0.000,516,0.000,0.043,2626,1356,3444,3467,3422,0,0,0,0,0,0,14.59,13.95,14.59
$GC,8336,-0.84,-107.1,2626,1359,3468,3422,799.1,-7.1,299,8341,0.00,2.80,0.00,0.000,1062,0.000,0.099,2618,2758,3444,3467,3422,0,0,0,0,0,0,14.14,13.88,14.19
$STATE,8345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8345,begin apogee
$GC,8356,-0.23,0.0,2618,2211,3472,3423,800.2,-7.8,301,8473,0.73,0.12,114.10,1.813,10244,0.171,0.187,2822,2273,3048,3089,3008,0,0,0,0,0,0,13.76,13.88,13.12
$STATE,8474,end apogee,CONTROL_FINISHED_OK
$STATE,8474,begin climb
$GC,8479,0.93,107.1,2822,2274,3082,2998,803.6,0.0,303,8609,1.12,2.58,116.38,1.764,10756,0.090,0.050,3181,883,2615,2678,2552,0,0,0,0,0,0,13.76,13.83,13.07
$GC,8715,0.82,119.3,3181,883,2677,2537,796.4,7.1,339,8727,0.00,2.50,4.90,1.577,9382,0.000,0.072,3182,2237,2573,2638,2508,0,0,0,0,0,0,14.14,13.96,12.97
$GC,9080,0.68,119.3,3181,2240,2644,2530,766.7,8.3,349,9090,0.17,2.92,2.05,0.262,12676,0.223,0.148,3126,3657,2575,2640,2511,0,0,0,0,0,0,13.81,13.85,12.40
$GC,9149,0.58,119.3,3127,3657,2642,2527,761.3,8.0,359,9155,0.17,2.42,1.65,0.209,13446,0.218,0.052,3093,2270,2575,2643,2507,0,0,0,0,0,0,13.81,14.23,13.85
$GC,9465,0.63,157.3,3090,2274,2640,2526,742.4,5.8,369,9525,0.00,2.88,51.08,1.753,8484,0.000,0.148,3089,3663,2413,2487,2339,0,0,0,0,0,0,14.67,14.04,13.34
$GC,9555,0.64,162.2,3090,3664,2487,2333,736.6,7.5,382,9560,0.00,2.50,0.00,0.000,1062,0.000,0.052,3100,2239,2408,2485,2332,0,0,0,0,0,0,14.19,14.12,14.21
$GC,9913,0.67,193.1,3100,2235,2486,2325,713.7,6.2,391,9953,0.00,0.00,39.22,1.741,8230,0.000,0.000,3100,2233,2280,2366,2195,0,0,0,0,0,0,14.60,14.17,13.37
$GC,10249,0.71,224.4,3100,2236,2357,2170,693.3,6.2,397,10289,0.00,2.95,35.45,1.727,8484,0.000,0.151,3099,3660,2149,2239,2059,0,0,0,0,0,0,14.59,14.04,13.35
$GC,10332,0.72,230.6,3100,3660,2234,2050,687.9,7.4,409,10338,0.00,2.47,0.00,0.000,1062,0.000,0.052,3109,2255,2139,2232,2046,0,0,0,0,0,0,14.26,14.19,14.28
$GC,10690,0.74,250.5,3109,2254,2233,2038,664.1,6.7,418,10720,0.00,0.00,28.77,1.719,8230,0.000,0.000,3109,2252,2052,2147,1958,0,0,0,0,0,0,14.64,14.21,13.44
$GC,11026,0.77,271.9,3109,2252,2134,1932,642.0,6.7,424,11058,0.08,2.90,24.15,1.717,10532,0.141,0.152,3194,3661,1960,2061,1859,0,0,0,0,0,0,14.26,14.04,13.44
$GC,11088,0.67,271.9,3194,3661,2049,1854,635.4,12.0,433,11094,0.32,2.45,0.00,0.000,5254,0.213,0.050,3116,2258,1950,2049,1851,0,0,0,0,0,0,13.91,14.23,14.19
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$GC,15596,0.75,271.9,3160,3658,2049,1836,212.5,10.3,601,15602,0.00,2.50,0.00,0.000,1030,0.000,0.051,3169,2244,1941,2048,1835,0,0,0,0,0,0,14.21,14.12,14.23
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$STATE,18295,end climb,SURFACE_DEPTH_REACHED
$STATE,18295,begin surface coast
$FINISH,-3.0,1.021862
$STATE,18323,end surface coast,CONTROL_FINISHED_OK
$STATE,18323,begin surface
$SM_CCo,18350,42.78,0.148,0,0,1057,500.14
$SM_GC,-2.09,9.12,1.05,42.78,0.041,0.132,0.148,188,2776,1057,-8.39,-0.20,500.14,0,0,0,0,0,0,14.18,13.83,14.07
$IRIDIUM_FIX,942.94,-12454.86,010317,071258
$TT8_MAMPS,0.038199,0.435918
$HUMID,57.63
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,21.80
$XPDR_PINGS,4
$SC_FREEKB,3622496
$PM_FREEKB,51273536
$24V_AH,12.40,254.216
$10V_AH,12.14,0.000
$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,25.175,175.425,508.675,42.775,0.000,0.000,0.000,382.175,1.000,0.000,5.417,0.000,15475.729,785.330,2217.293,696.140,0.000,1849.677,0.000,1349.137,0.000,0.840,0.000
$DEVICE_MAMPS,378.675,187.425,1813.050,148.410,0.000,0.000,0.000,179.010,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18393.000,18337.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.591,2.453,0.000,0.000
$MEM,334760
$DATA_FILE_SIZE,26705,747
$CAP_FILE_SIZE,138880,0
$CFSIZE,1024409600,895975424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,2.84,1
$GPS,010317,181300,951.220,-12451.515,32,0.7,32,9.0,0.0,0.0,11,5.1