version: 67.00
glider: 249
mission: 6
dive: 467
start: 8 19 121 14 33 8
data:
$ID,249
$MISSION,6
$DIVE,467
$N_DIVES,0
$STOP_T,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1000
$D_NO_BLEED,200
$D_BOOST,0
$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,390
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,85
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72946
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0063095698
$HD_B,0.0094307503
$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,425
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,4
$NOCOMM_ACTION,163
$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,200
$PITCH_MAX,3000
$C_PITCH,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,18
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$ROLL_MIN,215
$ROLL_MAX,3825
$ROLL_DEG,60
$C_ROLL_DIVE,2320
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,10
$ROLL_CNV,0.054949999
$ROLL_TIMEOUT,25
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2775
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$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,550
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,52.256718
$FG_AHR_24V,125.11324
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.5
$PRESSURE_SLOPE,0.0014504
$COMPASS_USE,16388
$ALTIM_PING_FIT,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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$XPDR_INT,-1
$XPDR_REP,-1
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-3
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,120
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,56
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0043000001
$SEABIRD_T_H,0.00063999998
$SEABIRD_T_I,2.4999999e-05
$SEABIRD_T_J,4.3e-06
$SEABIRD_C_G,-10
$SEABIRD_C_H,1
$SEABIRD_C_I,-0.0020000001
$SEABIRD_C_J,0.00019999999
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,190821,142437,4748.744,-12516.474,38,1.1,44,16.0
$_CALLS,1
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-61.6
$GPS2,190821,143256,4748.702,-12516.553,2,0.9,5,16.0
$SPEED_LIMITS,0.147,0.197
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$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,44.9,9833,-21.6,-8.462,-23.21
$D_GRID,490
$IRON,1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000
$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,3,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
$GC,5.13,16386,-82.73,-1.37,0.00,1030.5,1007.6,1053.5,178.3,2232.7,0.00,0.00,0,66.94,60.67,0.00,0.00,0.005,0.000,0.000,2572.53,2743.44,2401.62,178.19,2233.19,0,0,0,15.45,30.00,30.00
$GC,67.69,18983,-82.73,-1.37,-60.00,2572.0,2742.2,2401.8,178.2,2233.0,3.53,-6.23,11,101.48,11.61,14.12,2.45,0.007,0.248,0.065,3111.44,3324.25,2898.62,1998.56,1206.31,0,0,0,15.50,15.61,15.42
$GC,318.58,1028,-82.73,-1.37,0.00,3112.3,3324.5,2900.1,1998.2,1206.7,45.85,-12.04,61,324.12,0.00,0.00,2.63,0.000,0.000,0.029,3113.03,3324.81,2901.25,1998.38,2354.12,0,0,0,30.00,30.00,15.83
$GC,508.98,0,-82.73,-1.37,0.00,3112.8,3323.9,2901.8,1998.4,2353.6,67.68,-11.50,99,510.31,0.00,0.00,0.00,0.000,0.000,0.000,3111.78,3323.19,2900.38,1998.56,2354.12,0,0,0,30.00,30.00,30.00
$GC,693.70,0,-82.73,-1.37,0.00,3113.1,3324.0,2902.1,1997.9,2353.5,85.82,-8.89,136,695.02,0.00,0.00,0.00,0.000,0.000,0.000,3111.88,3322.94,2900.81,1998.00,2353.69,0,0,0,30.00,30.00,30.00
$GC,878.66,516,-82.73,-1.37,-60.00,3113.0,3323.8,2902.2,1998.1,2354.4,102.99,-10.01,173,884.23,0.00,0.00,2.71,0.000,0.000,0.060,3113.44,3324.12,2902.75,1998.44,1208.50,0,0,0,30.00,30.00,15.93
$GC,1059.08,1028,-82.73,-1.37,0.00,3113.4,3323.8,2903.0,1998.3,1208.8,120.02,-8.93,209,1064.22,0.00,0.00,2.60,0.000,0.000,0.028,3113.62,3324.31,2902.94,1999.19,2353.44,0,0,0,30.00,30.00,15.95
$GC,1368.73,516,-82.73,-1.37,-60.00,3113.6,3323.6,2903.5,1999.3,2353.2,148.61,-9.86,271,1374.30,0.00,0.00,2.73,0.000,0.000,0.059,3113.69,3323.38,2904.00,1999.12,1208.56,0,0,0,30.00,30.00,15.96
$GC,1413.74,1028,-82.73,-1.37,0.00,3113.5,3323.7,2903.3,1998.8,1208.2,153.21,-10.23,280,1419.27,0.00,0.00,2.59,0.000,0.000,0.029,3114.28,3323.94,2904.62,1998.94,2354.81,0,0,0,30.00,30.00,15.96
$GC,1723.78,516,-82.73,-1.37,-60.00,3113.5,3323.1,2904.0,1999.2,2354.3,184.30,-9.62,342,1729.35,0.00,0.00,2.71,0.000,0.000,0.060,3113.81,3323.62,2904.00,1999.00,1208.69,0,0,0,30.00,30.00,15.98
$GC,1788.79,1028,-82.73,-1.37,0.00,3113.6,3323.0,2904.2,1999.4,1208.3,190.73,-9.98,355,1794.32,0.00,0.00,2.58,0.000,0.000,0.029,3115.69,3325.50,2905.88,1997.88,2353.31,0,0,0,30.00,30.00,15.99
$GC,2098.85,0,-82.73,-1.37,0.00,3113.6,3323.5,2903.8,1999.2,2353.1,219.14,-8.94,417,2100.17,0.00,0.00,0.00,0.000,0.000,0.000,3112.41,3322.06,2902.75,1999.00,2353.38,0,0,0,30.00,30.00,30.00
$GC,2404.09,0,-82.73,-1.37,0.00,3113.3,3322.9,2903.8,1998.9,2353.2,246.46,-9.14,478,2405.42,0.00,0.00,0.00,0.000,0.000,0.000,3112.19,3321.50,2902.88,1998.81,2352.88,0,0,0,30.00,30.00,30.00
$GC,2709.02,516,-82.73,-1.37,-60.00,3113.2,3321.9,2904.5,1999.1,2353.4,274.81,-9.21,539,2714.58,0.00,0.00,2.72,0.000,0.000,0.061,3112.88,3321.38,2904.38,1998.88,1208.56,0,0,0,30.00,30.00,16.02
$GC,2809.05,1028,-82.73,-1.37,0.00,3112.8,3322.0,2903.6,1999.0,1208.5,284.44,-9.75,559,2814.59,0.00,0.00,2.59,0.000,0.000,0.030,3112.66,3321.69,2903.62,1999.25,2353.44,0,0,0,30.00,30.00,16.03
$GC,3121.36,260,-82.73,-1.37,60.00,3112.0,3320.4,2903.6,1999.5,2353.1,312.16,-8.40,606,3125.97,0.00,0.00,2.60,0.000,0.000,0.088,3110.81,3319.25,2902.38,1998.88,3426.50,0,0,0,30.00,30.00,16.00
$GC,3174.29,1028,-82.73,-1.37,0.00,3111.9,3315.7,2908.1,1999.1,3426.8,317.21,-9.32,613,3178.90,0.00,0.00,2.54,0.000,0.000,0.021,3111.81,3316.31,2907.31,2000.19,2244.75,0,0,0,30.00,30.00,16.03
$GC,3485.47,516,-82.73,-1.37,-60.00,3112.0,3315.9,2908.1,1999.6,2243.3,342.26,-8.17,642,3490.06,0.00,0.00,2.45,0.000,0.000,0.066,3114.03,3317.12,2910.94,1998.19,1208.38,0,0,0,30.00,30.00,16.03
$GC,3522.65,1028,-82.73,-1.37,0.00,3111.7,3315.4,2908.0,1999.4,1208.7,345.48,-8.50,647,3527.26,0.00,0.00,2.59,0.000,0.000,0.029,3111.88,3316.44,2907.31,1998.75,2353.88,0,0,0,30.00,30.00,16.03
$GC,3834.15,0,-82.73,-1.37,0.00,3111.5,3314.6,2908.5,2000.1,2353.9,372.55,-8.75,676,3845.22,0.00,0.00,0.00,0.000,0.000,0.000,3112.03,3315.88,2908.19,1999.75,2354.25,0,0,0,30.00,30.00,30.00
$GC,4146.77,0,-82.73,-1.37,0.00,3111.0,3314.2,2907.8,1999.4,2353.8,401.25,-9.16,705,4157.84,0.00,0.00,0.00,0.000,0.000,0.000,3111.59,3314.31,2908.88,1999.81,2353.94,0,0,0,30.00,30.00,30.00
$GC,4459.60,0,-82.73,-1.37,0.00,3111.0,3313.4,2908.6,1999.5,2353.1,430.58,-9.06,734,4470.66,0.00,0.00,0.00,0.000,0.000,0.000,3111.16,3313.81,2908.50,1999.69,2353.69,0,0,0,30.00,30.00,30.00
$GC,4772.46,0,-82.73,-1.37,0.00,3110.7,3312.7,2908.8,1998.9,2353.4,456.65,-8.08,763,4783.53,0.00,0.00,0.00,0.000,0.000,0.000,3110.97,3313.81,2908.12,1999.44,2352.94,0,0,0,30.00,30.00,30.00
$GC,5085.21,260,-82.73,-1.37,60.00,3110.4,3312.2,2908.6,1999.3,2353.4,484.03,-9.05,792,5089.69,0.00,0.00,2.63,0.000,0.000,0.090,3110.69,3312.31,2909.06,1999.56,3429.00,0,0,0,30.00,30.00,16.01
$GC,5138.13,1028,-82.73,-1.37,0.00,3110.0,3311.8,2908.2,1999.4,3429.4,489.45,-9.93,799,5142.74,0.00,0.00,2.55,0.000,0.000,0.022,3111.00,3313.06,2908.94,1998.62,2246.56,0,0,0,30.00,30.00,16.04
$STATE,5160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5160,begin apogee
$GC,5161.38,10243,0.00,-0.28,0.00,3110.2,3311.9,2908.4,1999.7,2182.8,491.61,-10.04,801,5228.85,58.38,1.78,0.16,1.751,0.138,0.146,2775.88,2907.81,2643.94,2263.12,2292.88,0,0,0,11.74,15.95,15.77
$STATE,5230,end apogee,CONTROL_FINISHED_OK
$STATE,5231,begin climb
$GC,5230.78,10243,82.73,1.37,0.00,2773.7,2906.4,2640.9,2264.4,2293.5,494.52,0.00,807,5303.56,60.96,2.59,0.00,1.696,0.090,0.000,2436.44,2517.62,2355.25,2668.00,2293.31,0,0,0,12.77,15.80,30.00
$GC,5605.37,8742,120.87,1.44,-60.00,2431.8,2517.6,2345.9,2667.8,2293.4,478.65,5.86,842,5640.47,29.78,0.00,2.85,1.638,0.000,0.074,2280.28,2350.56,2210.00,2668.25,1131.12,0,0,0,12.16,30.00,15.64
$GC,5733.34,1092,120.87,1.47,0.00,2277.7,2350.2,2205.2,2668.4,1131.2,470.00,7.18,859,5748.44,0.00,0.00,2.64,0.000,0.000,0.029,2277.62,2349.88,2205.38,2667.69,2273.31,0,0,0,30.00,30.00,15.75
$GC,6050.19,2373,120.87,1.50,60.00,2276.1,2350.0,2202.1,2667.9,2273.2,450.32,7.06,888,6054.88,0.00,0.14,2.66,0.000,0.096,0.089,2276.69,2351.50,2201.88,2707.75,3347.50,0,0,0,30.00,15.82,15.78
$GC,6197.50,1028,120.87,1.50,0.00,2275.8,2350.2,2201.4,2708.6,3347.9,436.77,9.60,907,6202.10,0.00,0.00,2.58,0.000,0.000,0.023,2275.72,2350.06,2201.38,2708.19,2188.50,0,0,0,30.00,30.00,15.87
$GC,6509.25,324,120.87,1.52,60.00,2275.0,2350.9,2199.1,2708.7,2186.2,412.58,7.34,936,6513.92,0.00,0.00,2.87,0.000,0.000,0.085,2273.53,2348.75,2198.31,2709.12,3347.50,0,0,0,30.00,30.00,15.91
$GC,6563.51,1028,120.87,1.52,0.00,2275.0,2350.2,2199.8,2709.1,3346.7,408.21,8.02,944,6578.44,0.00,0.00,2.58,0.000,0.000,0.023,2274.59,2350.19,2199.00,2708.56,2184.75,0,0,0,30.00,30.00,15.93
$GC,6879.55,260,120.87,1.52,60.00,2274.2,2350.1,2198.4,2710.0,2184.8,382.22,8.76,973,6884.21,0.00,0.00,2.87,0.000,0.000,0.085,2275.00,2351.25,2198.75,2708.94,3348.50,0,0,0,30.00,30.00,15.95
$GC,6949.54,1028,120.87,1.52,0.00,2274.3,2350.4,2198.2,2709.2,3348.3,375.75,9.37,983,6964.46,0.00,0.00,2.57,0.000,0.000,0.023,2274.88,2350.56,2199.19,2708.88,2184.81,0,0,0,30.00,30.00,15.96
$GC,7266.08,16386,120.87,1.52,0.00,2273.8,2350.2,2197.3,2709.3,2185.3,349.20,8.10,1012,7277.15,0.00,0.00,0.00,0.000,0.000,0.000,2274.06,2350.69,2197.44,2709.56,2184.75,0,0,0,30.00,30.00,30.00
$GC,7578.76,16386,120.87,1.52,0.00,2273.5,2350.3,2196.6,2709.6,2184.7,323.96,8.04,1041,7589.83,0.00,0.00,0.00,0.000,0.000,0.000,2273.75,2350.31,2197.19,2709.44,2185.19,0,0,0,30.00,30.00,30.00
$GC,7891.56,16646,120.87,1.52,60.00,2273.4,2350.6,2196.2,2709.3,2183.9,298.78,8.19,1070,7896.24,0.00,0.00,2.86,0.000,0.000,0.085,2273.38,2351.31,2195.44,2708.88,3348.19,0,0,0,30.00,30.00,15.99
$GC,7993.84,17414,120.87,1.52,0.00,2273.5,2350.6,2196.3,2709.9,3348.8,289.68,8.91,1091,7999.24,0.00,0.00,2.55,0.000,0.000,0.024,2274.50,2351.50,2197.50,2709.62,2184.81,0,0,0,30.00,30.00,15.98
$GC,8303.72,8486,150.38,1.58,60.00,2273.4,2351.0,2195.9,2709.4,2184.2,267.55,6.45,1153,8331.11,22.39,0.00,2.85,1.432,0.000,0.087,2160.56,2221.19,2099.94,2710.19,3348.19,0,0,0,11.90,30.00,15.94
$GC,8363.72,1092,150.38,1.60,0.00,2160.8,2222.6,2098.9,2709.6,3348.5,263.30,7.24,1165,8369.24,0.00,0.00,2.57,0.000,0.000,0.024,2161.28,2223.31,2099.25,2710.00,2184.38,0,0,0,30.00,30.00,15.99
$GC,8673.76,580,150.38,1.61,-60.00,2158.8,2223.1,2094.6,2709.8,2184.3,239.45,7.93,1227,8679.27,0.00,0.00,2.53,0.000,0.000,0.077,2160.38,2225.31,2095.44,2708.56,1129.94,0,0,0,30.00,30.00,15.95
$GC,8743.75,1028,150.38,1.61,0.00,2158.0,2223.0,2092.9,2709.4,1130.1,233.49,8.59,1241,8749.29,0.00,0.00,2.60,0.000,0.000,0.030,2160.12,2225.12,2095.12,2708.50,2274.38,0,0,0,30.00,30.00,15.96
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$GC,9823.99,1092,150.38,1.63,0.00,2157.2,2223.3,2091.0,2709.6,1130.3,145.05,7.56,1457,9829.51,0.00,0.00,2.59,0.000,0.000,0.029,2157.00,2223.12,2090.88,2709.50,2275.00,0,0,0,30.00,30.00,16.00
$GC,10134.27,10791,179.82,1.69,-60.00,2157.0,2223.0,2091.1,2709.4,2274.7,123.78,6.45,1519,10162.53,22.90,0.19,2.74,1.269,0.084,0.073,2042.31,2093.44,1991.19,2753.38,1129.94,0,0,0,11.94,15.97,15.95
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$STATE,11835,end climb,SURFACE_DEPTH_REACHED
$STATE,11835,begin surface coast
$FINISH,0.2,1.021805
$STATE,11936,end surface coast,CONTROL_FINISHED_OK
$STATE,11936,begin surface
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$SM_GC,0.99,69.14,16.17,2.78,1.149,0.052,0.029,1042.8,989.6,1095.9,176.9,2354.8,0,0,0,12.29,15.81,15.84
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4751.10,-12521.07,190821,101217
$TCM_TEMP,266.32
$XPDR_PINGS,0,13.0,10.5
$HUMID,49.41
$TEMP,82.27
$INTERNAL_PRESSURE,8.87148
$24V_AH,14.89,151.075
$10V_AH,15.00,0.000
$FG_AHR_24Vo,125.284
$FG_AHR_10Vo,52.294
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,445.985,35.215,116.740,291.974,0.000,14.431,7498.589,4896.676,1208.919,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1750.616,248.048,231.648,228.279,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,7291.415,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,20.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM0,60876,1,0,0
$MEM1,65508,1,0,0
$MEM2,971444,25,75484,57
$DATA_FILE_SIZE,83382,1879
$CAP_FILE_SIZE,284478,0
$SDSIZE,4028416,3906592
$SDFILEDIR,2160,1
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$CURRENT,0.102,345.3,1
$IMPLIED_C_PITCH,2349,13.35,1578
$IMPLIED_C_VBD,2865,28.308172,797
$GPS,190821,175409,4749.972,-12515.250,18,0.8,19,16.0