version: 66.13
glider: 220
mission: 6
dive: 813
start: 3 16 117 18 20 13
data:
$ID,220
$MISSION,6
$DIVE,813
$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,350
$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,100
$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,46
$R_STBD_OVSHOOT,9
$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,1
$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
$GPS1,160317,180755,956.0531,-12446.4912,34,0.9,34,9.0,0.1,0.0,12,5.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.23
$_SM_ANGLEo,-70.8
$GPS2,160317,181946,955.9694,-12446.5234,2,0.9,3,9.0,0.9,183.1,12,6.1
$SPEED_LIMITS,0.132,0.164
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,43.1,13116,-18.3,-7.619,-24.90,1901
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,14,-0.95,-97.3,116,2777,1109,1018,0.0,0.0,0,97,0.00,0.00,-78.50,0.000,16390,0.000,0.000,109,2778,3437,3422,3453,0,0,0,0,0,0,12.10,11.16,12.11
$GC,102,-0.95,-97.3,110,2778,3424,3454,1.6,-11.5,3,125,16.30,2.45,0.00,0.000,2308,0.373,0.116,2575,3835,3439,3425,3453,0,0,0,0,0,0,11.65,11.80,11.90
$GC,176,-0.65,-97.3,2576,3834,3427,3453,29.0,-22.5,14,182,0.52,2.15,0.00,0.000,3206,0.239,0.041,2682,2737,3439,3426,3453,0,0,0,0,0,0,11.70,11.98,11.92
$GC,491,-0.65,-97.3,2682,2738,3430,3452,62.9,-7.7,26,496,0.00,2.83,0.00,0.000,516,0.000,0.038,2682,1404,3440,3429,3452,0,0,0,0,0,0,12.22,11.95,12.21
$GC,673,-0.65,-97.3,2683,1403,3431,3454,81.9,-10.5,52,677,0.00,3.12,0.00,0.000,1030,0.000,0.089,2672,2758,3441,3430,3452,0,0,0,0,0,0,12.04,11.86,12.06
$GC,1023,-0.65,-97.3,2673,2758,3431,3453,105.1,-4.9,64,1028,0.00,2.58,0.00,0.000,292,0.000,0.148,2664,3830,3441,3431,3452,0,0,0,0,0,0,12.30,11.86,12.30
$GC,1093,-0.65,-97.3,2664,3831,3431,3452,108.5,-3.7,74,1097,0.00,2.10,0.00,0.000,1062,0.000,0.045,2664,2777,3441,3431,3452,0,0,0,0,0,0,12.14,12.10,12.15
$GC,1415,-0.65,-97.3,2665,2777,3431,3453,127.6,-6.1,85,1421,0.00,2.95,0.00,0.000,548,0.000,0.037,2664,1375,3440,3430,3451,0,0,0,0,0,0,12.35,12.05,12.35
$GC,1506,-0.72,-97.3,2664,1376,3432,3454,138.7,-10.2,98,1511,0.00,3.15,0.00,0.000,1158,0.000,0.085,2655,2748,3440,3430,3450,0,0,0,0,0,0,12.07,11.93,12.09
$GC,1863,-0.72,-97.3,2655,2748,3431,3447,170.5,-7.8,107,1867,0.00,2.55,0.00,0.000,260,0.000,0.141,2646,3826,3438,3430,3447,0,0,0,0,0,0,12.42,11.93,12.42
$GC,1898,-0.72,-97.3,2646,3828,3431,3447,172.5,-8.1,112,1902,0.00,2.15,0.00,0.000,1030,0.000,0.044,2646,2745,3437,3428,3447,0,0,0,0,0,0,12.17,12.13,12.18
$GC,2255,-0.72,-97.3,2647,2746,3431,3444,195.7,-7.2,121,2261,0.00,2.88,0.00,0.000,548,0.000,0.037,2647,1377,3436,3430,3443,0,0,0,0,0,0,12.40,12.08,12.40
$GC,2304,-0.72,-97.3,2649,1380,3432,3442,199.9,-6.9,128,2310,0.00,3.15,0.00,0.000,1062,0.000,0.083,2638,2760,3436,3430,3442,0,0,0,0,0,0,12.15,11.98,12.17
$GC,2647,-0.72,-97.3,2639,2760,3431,3438,232.1,-10.0,135,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2760,3433,3430,3437,0,0,0,0,0,0,12.40,12.40,12.41
$GC,2983,-0.72,-97.3,2639,2761,3431,3432,266.8,-10.4,141,2989,0.00,2.97,0.00,0.000,516,0.000,0.037,2638,1375,3431,3429,3433,0,0,0,0,0,0,12.45,12.09,12.45
$GC,3067,-0.72,-97.3,2637,1376,3432,3432,274.5,-8.2,153,3073,0.12,3.17,0.00,0.000,3078,0.209,0.090,2658,2744,3431,3430,3432,0,0,0,0,0,0,11.93,12.00,12.12
$GC,3431,-0.80,-97.3,2659,2744,3431,3429,297.6,-5.8,163,3436,0.00,2.95,0.00,0.000,676,0.000,0.038,2658,1373,3428,3430,3427,0,0,0,0,0,0,12.42,12.09,12.42
$GC,3466,-0.89,-97.3,2659,1373,3431,3428,300.8,-7.5,168,3471,0.08,3.17,0.00,0.000,5286,0.119,0.089,2596,2746,3428,3430,3427,0,0,0,0,0,0,12.07,11.98,12.15
$GC,3823,-0.89,-97.3,2597,2746,3431,3422,335.1,-10.0,177,3828,0.00,2.58,0.00,0.000,260,0.000,0.144,2588,3829,3430,3438,3423,0,0,0,0,0,0,12.45,11.94,12.45
$GC,3858,-0.89,-97.3,2588,3831,3431,3423,339.2,-12.3,182,3862,0.00,2.17,0.00,0.000,1030,0.000,0.044,2587,2742,3426,3430,3422,0,0,0,0,0,0,12.24,12.19,12.25
$GC,4215,-0.89,-97.3,2588,2743,3432,3419,377.1,-10.4,191,4219,0.00,2.90,0.00,0.000,516,0.000,0.037,2586,1375,3428,3430,3427,0,0,0,0,0,0,12.45,12.09,12.45
$GC,4242,-0.89,-97.3,2588,1375,3431,3421,380.2,-11.0,195,4248,0.12,3.15,0.00,0.000,3078,0.210,0.080,2605,2744,3424,3430,3419,0,0,0,0,0,0,11.93,11.99,12.12
$GC,4607,-0.89,-97.3,2605,2745,3432,3415,414.2,-9.5,205,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2744,3423,3430,3416,0,0,0,0,0,0,12.41,12.41,12.41
$GC,4943,-0.89,-97.3,2605,2744,3431,3420,444.1,-8.9,211,4948,0.00,2.95,0.00,0.000,516,0.000,0.037,2604,1373,3420,3430,3411,0,0,0,0,0,0,12.45,12.09,12.45
$GC,5020,-0.89,-97.3,2605,1373,3429,3412,451.3,-8.6,222,5024,0.00,3.15,0.00,0.000,1030,0.000,0.080,2595,2745,3420,3430,3411,0,0,0,0,0,0,12.16,11.99,12.18
$GC,5335,-0.89,-97.3,2596,2745,3431,3410,478.7,-8.8,232,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2745,3419,3430,3409,0,0,0,0,0,0,12.44,12.44,12.44
$GC,5671,-0.89,-97.3,2596,2744,3430,3405,509.4,-9.1,238,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2744,3417,3430,3405,0,0,0,0,0,0,12.45,12.45,12.45
$GC,6007,-0.89,-97.3,2596,2746,3431,3402,541.1,-9.2,244,6011,0.00,2.95,0.00,0.000,516,0.000,0.037,2594,1375,3415,3430,3401,0,0,0,0,0,0,12.42,12.08,12.42
$GC,6035,-0.89,-97.3,2595,1372,3431,3402,544.1,-10.8,248,6040,0.00,3.17,0.00,0.000,1030,0.000,0.084,2585,2748,3415,3430,3401,0,0,0,0,0,0,12.16,11.98,12.19
$GC,6399,-0.89,-97.3,2585,2747,3431,3400,577.4,-9.0,258,6404,0.00,2.55,0.00,0.000,260,0.000,0.142,2578,3821,3414,3430,3399,0,0,0,0,0,0,12.40,11.93,12.40
$GC,6434,-0.89,-97.3,2578,3822,3431,3398,581.2,-10.5,263,6439,0.12,2.17,0.00,0.000,3078,0.214,0.047,2604,2753,3414,3430,3398,0,0,0,0,0,0,11.91,12.17,12.11
$GC,6791,-0.89,-97.3,2604,2754,3431,3396,609.8,-8.0,272,6796,0.00,2.97,0.00,0.000,516,0.000,0.038,2603,1361,3412,3430,3395,0,0,0,0,0,0,12.43,12.07,12.43
$GC,6854,-0.89,-97.3,2604,1361,3430,3397,614.9,-8.9,281,6859,0.00,3.17,0.00,0.000,1030,0.000,0.080,2594,2742,3412,3430,3395,0,0,0,0,0,0,12.14,11.98,12.17
$GC,7183,-0.89,-97.3,2594,2743,3430,3393,641.7,-8.3,293,7189,0.00,2.97,0.00,0.000,516,0.000,0.038,2593,1362,3410,3428,3393,0,0,0,0,0,0,12.40,12.07,12.40
$GC,7218,-0.89,-97.3,2593,1364,3429,3393,644.6,-9.0,298,7223,0.00,3.17,0.00,0.000,1030,0.000,0.082,2584,2737,3410,3428,3393,0,0,0,0,0,0,12.15,11.98,12.18
$GC,7575,-0.89,-97.3,2585,2738,3426,3393,677.3,-9.4,307,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2737,3409,3425,3393,0,0,0,0,0,0,12.40,12.39,12.39
$GC,7911,-0.89,-97.3,2585,2738,3425,3392,710.8,-10.0,313,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2736,3408,3424,3393,0,0,0,0,0,0,12.39,12.40,12.39
$GC,8247,-0.89,-97.3,2584,2737,3420,3393,743.5,-9.8,319,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2737,3406,3422,3391,0,0,0,0,0,0,12.40,12.40,12.40
$GC,8583,-0.89,-97.3,2584,2738,3424,3389,775.7,-9.5,325,8588,0.00,3.00,0.00,0.000,516,0.000,0.040,2583,1359,3405,3422,3388,0,0,0,0,0,0,12.43,12.07,12.43
$GC,8646,-0.89,-97.3,2584,1360,3424,3388,782.2,-9.1,334,8651,0.15,3.20,0.00,0.000,3078,0.212,0.086,2606,2737,3405,3422,3388,0,0,0,0,0,0,11.90,11.96,12.09
$STATE,8858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8858,begin apogee
$GC,8869,-0.23,0.0,2607,2235,3423,3389,800.3,-8.3,344,8984,0.90,0.00,106.85,2.720,10244,0.175,0.000,2818,2235,3050,3085,3015,0,0,0,0,1,0,11.92,11.51,10.50
$STATE,8985,end apogee,CONTROL_FINISHED_OK
$STATE,8985,begin climb
$GC,8990,0.95,97.3,2819,2235,3085,3026,803.8,0.0,346,9131,1.40,3.08,122.80,2.746,10756,0.080,0.049,3186,865,2664,2718,2610,0,0,0,0,1,0,11.55,11.55,10.41
$GC,9237,0.88,141.8,3186,866,2719,2621,801.5,5.2,383,9304,0.00,3.15,57.67,2.533,9382,0.000,0.054,3186,2255,2485,2553,2417,0,0,0,0,1,0,11.67,11.56,10.39
$GC,9642,0.77,141.8,3186,2256,2555,2426,769.6,8.3,399,9648,0.12,3.45,0.00,0.000,4484,0.231,0.126,3157,3661,2490,2554,2427,0,0,0,0,0,0,11.50,11.52,11.64
$GC,9699,0.65,141.8,3156,3662,2554,2428,765.3,8.1,407,9704,0.25,3.00,0.00,0.000,5254,0.208,0.039,3114,2257,2490,2553,2427,0,0,0,0,0,0,11.51,11.71,11.69
$GC,10034,0.70,176.4,3115,2254,2554,2427,745.1,5.7,420,10089,0.00,0.00,44.97,2.387,8230,0.000,0.000,3115,2253,2352,2423,2281,0,0,0,0,1,0,11.95,11.32,10.50
$GC,10426,0.73,201.2,3115,2254,2424,2283,720.4,6.3,427,10474,0.00,3.62,33.65,2.215,8484,0.000,0.129,3115,3656,2252,2329,2175,0,0,0,0,1,0,11.86,11.36,10.47
$GC,10496,0.74,213.9,3115,3656,2329,2181,716.0,6.9,437,10530,0.00,3.08,19.62,1.762,9254,0.000,0.037,3123,2246,2198,2280,2117,0,0,0,0,1,0,11.58,11.52,10.50
$GC,10875,0.74,213.9,3123,2246,2281,2123,686.9,7.8,449,10875,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2246,2201,2280,2122,0,0,0,0,0,0,11.84,11.84,11.84
$GC,11210,0.74,213.9,3124,2246,2281,2123,660.3,7.9,455,11215,0.00,3.55,0.00,0.000,260,0.000,0.125,3123,3665,2201,2280,2122,0,0,0,0,0,0,11.88,11.52,11.88
$GC,11238,0.74,213.9,3123,3666,2281,2122,657.8,8.5,459,11243,0.00,3.05,0.00,0.000,1030,0.000,0.038,3136,2249,2201,2280,2122,0,0,0,0,0,0,11.74,11.68,11.74
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$GC,19010,1.22,427.4,3185,850,1900,1720,38.0,1.4,781,19105,0.30,3.10,86.60,0.274,11430,0.050,0.050,3301,2253,1347,1436,1259,0,0,0,0,0,0,11.84,11.72,11.52
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$STATE,19466,end climb,SURFACE_DEPTH_REACHED
$STATE,19467,begin surface coast
$FINISH,0.8,1.021785
$STATE,19474,end surface coast,CONTROL_FINISHED_OK
$STATE,19474,begin surface
$SM_CCo,19504,46.62,0.141,0,0,1058,500.14
$SM_GC,-3.44,11.62,1.90,46.62,0.076,0.046,0.141,199,2770,1058,-8.40,1.05,500.14,0,0,0,0,0,0,11.76,11.83,11.67
$IRIDIUM_FIX,951.69,-12448.22,160317,122921
$TT8_MAMPS,0.043442,0.41195
$HUMID,59.41
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,22.00
$XPDR_PINGS,1
$SC_FREEKB,3597504
$24V_AH,10.39,275.563
$10V_AH,10.66,0.000
$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,32.425,211.550,564.300,46.625,0.000,0.000,0.000,389.975,0.250,0.000,5.095,0.000,16687.568,863.731,2037.662,659.199,0.000,1993.242,0.000,1167.662,0.000,0.545,0.000
$DEVICE_MAMPS,372.555,148.410,2746.350,140.760,0.000,0.000,0.000,203.490,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19548.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.644,0.000,0.000,0.000
$MEM,334700
$DATA_FILE_SIZE,30024,815
$CAP_FILE_SIZE,140731,0
$CFSIZE,1024409600,886882304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$CURRENT,0.069,293.95,1
$GPS,160317,234700,957.373,-12445.981,22,0.9,22,9.0,1.3,280.7,9,8.5