version: 66.13
glider: 128
mission: 4
dive: 238
start: 3 14 118 16 56 59
data:
$ID,128
$MISSION,4
$DIVE,238
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$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,390
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.89999998
$RHO,1.0275
$MASS,51713
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.0026803601
$HD_B,0.0139002
$HD_C,9.1750398e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3235
$TGT_DEFAULT_LON,-11731
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3750
$C_PITCH,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,3346
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00121
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-157.40906
$PRESSURE_SLOPE,0.00014074198
$AD7714Ch0Gain,32
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043553207
$SEABIRD_T_H,0.00062594062
$SEABIRD_T_I,2.3765557e-05
$SEABIRD_T_J,2.606791e-06
$SEABIRD_C_G,-9.8755465
$SEABIRD_C_H,1.1390997
$SEABIRD_C_I,-0.0019936475
$SEABIRD_C_J,0.00023608611
$GPS1,140318,165038,-338.1447,5540.7319,36,1.0,39,-4.8,0.6,119.3,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.1
$GPS2,140318,165621,-338.2019,5540.8662,16,1.0,19,-4.8,0.7,117.9,9,9.6
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,N
$TGT_LATLONG,-300.000,5536.000
$TGT_RADIUS,20000.000
$MHEAD_RNG_PITCHd_Wd,297.6,71320,-14.4,-8.462,-20.64,3036
$D_GRID,1000
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.63,-170.3,225,2362,1573,1545,0.0,0.0,0,82,0.00,0.00,-72.12,0.003,16386,0.000,0.000,225,2362,3836,3823,3849,0,0,0,0,0,0,14.87,28.83,14.88
$GC,84,-0.63,-170.3,225,2362,3824,3850,5.0,-14.9,12,105,11.77,2.17,-1.00,0.084,18692,0.425,0.076,2540,3704,3902,3895,3909,0,0,0,0,0,0,14.26,13.73,14.62
$GC,169,-0.63,-170.3,2539,3704,3898,3909,29.9,-16.6,27,176,0.00,2.12,0.00,0.000,1030,0.000,0.036,2540,2349,3904,3899,3909,0,0,0,0,0,0,14.70,14.64,14.73
$GC,478,-0.63,-170.3,2539,2346,3899,3909,86.0,-16.5,68,482,0.00,2.35,0.00,0.000,516,0.000,0.048,2539,948,3904,3900,3908,0,0,0,0,0,0,14.99,14.65,15.00
$GC,529,-0.63,-170.3,2539,948,3901,3908,92.1,-11.0,78,534,0.00,2.38,0.00,0.000,1030,0.000,0.051,2539,2347,3904,3901,3908,0,0,0,0,0,0,14.76,14.66,14.79
$GC,841,-0.63,-170.3,2539,2346,3907,3909,128.6,-11.5,110,846,0.00,2.20,0.00,0.000,260,0.000,0.073,2539,3696,3907,3906,3909,0,0,0,0,0,0,15.04,14.67,15.06
$GC,876,-0.63,-170.3,2539,3696,3906,3909,133.0,-11.7,117,884,0.00,2.12,0.00,0.000,1030,0.000,0.035,2539,2344,3907,3906,3909,0,0,0,0,0,0,14.76,14.72,14.78
$GC,1183,-0.63,-170.3,2539,2344,3909,3912,165.8,-9.7,148,1187,0.00,2.30,0.00,0.000,516,0.000,0.045,2539,954,3910,3909,3912,0,0,0,0,0,0,15.07,14.74,15.09
$GC,1258,-0.63,-170.3,2538,954,3909,3914,173.2,-9.3,163,1265,0.00,2.38,0.00,0.000,1030,0.000,0.050,2539,2353,3911,3909,3914,0,0,0,0,0,0,14.83,14.73,14.87
$GC,1565,-0.63,-170.3,2538,2353,3909,3914,206.4,-12.0,194,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2353,3911,3909,3913,0,0,0,0,0,0,15.09,15.11,15.11
$GC,1866,-0.63,-170.3,2538,2353,3909,3913,241.3,-10.7,224,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2352,3911,3909,3914,0,0,0,0,0,0,15.09,15.11,15.11
$GC,2185,-0.63,-170.3,2539,2352,3908,3913,276.4,-10.3,240,2189,0.00,2.35,0.00,0.000,516,0.000,0.046,2539,957,3910,3908,3913,0,0,0,0,0,0,15.12,14.77,15.14
$GC,2216,-0.63,-170.3,2538,957,3908,3913,279.5,-10.1,246,2221,0.00,2.38,0.00,0.000,1030,0.000,0.054,2539,2353,3910,3908,3913,0,0,0,0,0,0,14.86,14.76,14.89
$GC,2548,-0.63,-170.3,2538,2352,3906,3910,312.6,-10.1,262,2553,0.00,2.22,0.00,0.000,260,0.000,0.077,2538,3703,3908,3906,3910,0,0,0,0,0,0,15.14,14.72,15.15
$GC,2580,-0.63,-170.3,2538,3703,3905,3910,315.8,-9.8,268,2585,0.00,2.10,0.00,0.000,1030,0.000,0.037,2538,2347,3908,3906,3910,0,0,0,0,0,0,14.90,14.85,14.92
$GC,2912,-0.63,-170.3,2538,2344,3904,3908,346.5,-9.2,284,2916,0.00,2.30,0.00,0.000,516,0.000,0.047,2538,960,3906,3904,3908,0,0,0,0,0,0,15.14,14.78,15.15
$GC,2987,-0.63,-170.3,2538,960,3904,3908,353.8,-9.6,299,2992,0.00,2.38,0.00,0.000,1030,0.000,0.053,2538,2354,3905,3903,3908,0,0,0,0,0,0,14.87,14.76,14.90
$GC,3300,-0.63,-170.3,2538,2355,3901,3905,385.0,-10.4,311,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2355,3903,3901,3905,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3599,-0.63,-170.3,2538,2355,3900,3902,417.1,-10.8,321,3603,0.00,2.35,0.00,0.000,516,0.000,0.047,2538,961,3901,3900,3903,0,0,0,0,0,0,15.15,14.78,15.16
$GC,3631,-0.63,-170.3,2538,961,3900,3902,420.5,-10.6,327,3637,0.00,2.38,0.00,0.000,1030,0.000,0.055,2538,2349,3901,3900,3902,0,0,0,0,0,0,14.87,14.76,14.90
$GC,3961,-0.63,-170.3,2538,2349,3898,3900,451.5,-9.2,343,3966,0.00,2.25,0.00,0.000,260,0.000,0.082,2538,3696,3899,3898,3900,0,0,0,0,0,0,15.14,14.70,15.16
$GC,3996,-0.63,-170.3,2538,3696,3897,3900,455.0,-9.2,350,4002,0.00,2.10,0.00,0.000,1030,0.000,0.040,2538,2347,3898,3897,3900,0,0,0,0,0,0,14.90,14.83,14.92
$GC,4324,-0.63,-170.3,2538,2347,3897,3897,484.2,-9.1,365,4328,0.00,2.33,0.00,0.000,516,0.000,0.049,2538,965,3897,3897,3897,0,0,0,0,0,0,15.14,14.76,15.16
$GC,4386,-0.63,-170.3,2538,966,3897,3897,489.9,-8.9,377,4393,0.00,2.38,0.00,0.000,1030,0.000,0.054,2538,2352,3897,3897,3897,0,0,0,0,0,0,14.85,14.76,14.89
$GC,4715,-0.63,-170.3,2538,2351,3896,3895,522.6,-10.2,393,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2352,3895,3896,3895,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5016,-0.63,-170.3,2538,2351,3893,3892,552.8,-10.2,403,5020,0.00,2.35,0.00,0.000,516,0.000,0.048,2538,965,3893,3894,3892,0,0,0,0,0,0,15.15,14.76,15.16
$GC,5066,-0.63,-170.3,2537,964,3894,3892,558.2,-10.4,413,5070,0.00,2.38,0.00,0.000,1030,0.000,0.055,2538,2349,3893,3894,3892,0,0,0,0,0,0,14.85,14.73,14.88
$GC,5372,-0.63,-170.3,2537,2348,3892,3890,589.1,-10.2,424,5376,0.00,2.25,0.00,0.000,260,0.000,0.082,2538,3697,3890,3892,3889,0,0,0,0,0,0,15.15,14.67,15.16
$GC,5397,-0.63,-170.3,2538,3697,3891,3889,591.8,-10.4,429,5404,0.00,2.12,0.00,0.000,1030,0.000,0.041,2538,2344,3890,3891,3889,0,0,0,0,0,0,14.89,14.82,14.91
$GC,5704,-0.63,-170.3,2538,2344,3890,3887,622.4,-10.2,440,5709,0.00,2.33,0.00,0.000,516,0.000,0.050,2538,967,3888,3890,3887,0,0,0,0,0,0,15.14,14.74,15.16
$GC,5769,-0.63,-170.3,2538,967,3890,3887,629.4,-10.0,453,5773,0.00,2.38,0.00,0.000,1030,0.000,0.055,2538,2349,3888,3890,3887,0,0,0,0,0,0,14.84,14.73,14.88
$GC,6096,-0.63,-170.3,2537,2349,3889,3884,662.6,-10.3,468,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2349,3887,3889,3885,0,0,0,0,0,0,15.14,15.17,15.16
$GC,6396,-0.63,-170.3,2537,2349,3887,3882,692.8,-9.9,478,6401,0.00,2.35,0.00,0.000,516,0.000,0.047,2538,964,3885,3887,3883,0,0,0,0,0,0,15.14,14.74,15.16
$GC,6430,-0.63,-170.3,2538,964,3887,3882,696.0,-9.6,484,6434,0.00,2.40,0.00,0.000,1030,0.000,0.056,2538,2349,3884,3887,3882,0,0,0,0,0,0,14.84,14.73,14.88
$GC,6761,-0.63,-170.3,2537,2348,3886,3881,727.6,-9.7,500,6765,0.00,2.35,0.00,0.000,516,0.000,0.048,2538,965,3883,3886,3881,0,0,0,0,0,0,15.14,14.73,15.16
$GC,6806,-0.63,-170.3,2538,965,3886,3881,732.2,-10.1,509,6810,0.00,2.40,0.00,0.000,1030,0.000,0.055,2538,2355,3883,3886,3881,0,0,0,0,0,0,14.84,14.73,14.88
$GC,7118,-0.63,-170.3,2537,2355,3885,3879,763.2,-10.2,521,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2355,3882,3885,3879,0,0,0,0,0,0,15.14,15.16,15.16
$GC,7418,-0.63,-170.3,2538,2355,3884,3878,793.3,-10.1,531,7422,0.00,2.38,0.00,0.000,516,0.000,0.049,2538,964,3881,3884,3878,0,0,0,0,0,0,15.14,14.72,15.16
$GC,7459,-0.63,-170.3,2538,962,3884,3878,797.8,-10.4,539,7463,0.00,2.40,0.00,0.000,1030,0.000,0.057,2537,2350,3881,3884,3878,0,0,0,0,0,0,14.83,14.71,14.87
$GC,7775,-0.63,-170.3,2538,2350,3883,3877,831.6,-10.7,552,7777,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2350,3880,3884,3877,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8075,-0.63,-170.3,2538,2350,3882,3875,863.1,-10.3,562,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2350,3879,3882,3876,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8376,-0.63,-170.3,2537,2350,3880,3874,894.2,-10.3,572,8380,0.00,2.38,0.00,0.000,516,0.000,0.050,2538,961,3877,3881,3874,0,0,0,0,0,0,15.14,14.71,15.16
$GC,8425,-0.63,-170.3,2538,960,3881,3874,899.4,-10.0,582,8430,0.00,2.42,0.00,0.000,1030,0.000,0.057,2538,2355,3876,3880,3873,0,0,0,0,0,0,14.82,14.71,14.86
$GC,8737,-0.63,-170.3,2538,2355,3879,3872,929.0,-9.5,594,8742,0.00,2.28,0.00,0.000,260,0.000,0.086,2537,3702,3875,3879,3872,0,0,0,0,0,0,15.14,14.62,15.16
$GC,8778,-0.63,-170.3,2536,3703,3879,3872,933.1,-9.8,602,8783,0.00,2.12,0.00,0.000,1030,0.000,0.042,2537,2352,3875,3879,3872,0,0,0,0,0,0,14.85,14.78,14.88
$GC,9100,-0.63,-170.3,2536,2351,3879,3871,964.2,-9.6,616,9104,0.00,2.35,0.00,0.000,516,0.000,0.050,2536,963,3875,3879,3871,0,0,0,0,0,0,15.14,14.71,15.16
$GC,9150,-0.63,-170.3,2537,963,3879,3871,969.2,-9.8,626,9155,0.00,2.42,0.00,0.000,1030,0.000,0.056,2537,2357,3875,3879,3871,0,0,0,0,0,0,14.81,14.70,14.85
$STATE,9371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9371,begin apogee
$GC,9376,-0.15,0.0,2537,2410,3877,3870,990.3,-9.6,635,9522,0.62,0.00,137.02,1.945,10246,0.229,0.000,2708,2410,3338,3361,3316,0,0,0,0,0,0,14.46,14.09,13.28
$STATE,9523,end apogee,CONTROL_FINISHED_OK
$STATE,9523,begin climb
$GC,9525,0.63,170.3,2708,2409,3359,3316,997.5,0.0,640,9709,0.80,2.30,172.75,1.943,10500,0.147,0.080,2954,3679,2645,2687,2603,0,0,0,0,0,0,14.09,13.90,13.14
$GC,9720,0.65,170.3,2953,3679,2682,2602,990.6,7.6,679,9725,0.00,2.12,0.00,0.000,1094,0.000,0.042,2959,2410,2641,2681,2602,0,0,0,0,0,0,14.12,14.05,14.14
$GC,10038,0.65,170.3,2959,2409,2670,2596,964.8,8.3,692,10042,0.00,2.45,0.00,0.000,516,0.000,0.057,2959,1005,2632,2669,2596,0,0,0,0,0,0,14.79,14.49,14.81
$GC,10092,0.65,170.3,2960,1005,2669,2594,959.9,8.6,703,10100,0.00,2.45,0.00,0.000,1030,0.000,0.054,2959,2401,2631,2669,2594,0,0,0,0,0,0,14.62,14.52,14.64
$GC,10399,0.65,170.3,2959,2400,2665,2594,933.6,8.8,714,10403,0.00,2.17,0.00,0.000,260,0.000,0.078,2959,3700,2629,2666,2593,0,0,0,0,0,0,14.94,14.57,14.95
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$GC,20439,1.08,401.4,3111,2409,1739,1651,17.0,9.6,1482,20446,0.00,2.42,0.00,0.000,516,0.000,0.053,3111,996,1695,1740,1651,0,0,0,0,0,0,14.93,14.57,14.95
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$STATE,20598,end climb,SURFACE_DEPTH_REACHED
$STATE,20598,begin surface coast
$FINISH,-0.1,0.998352
$STATE,20630,end surface coast,CONTROL_FINISHED_OK
$STATE,20630,begin surface
$SM_CCo,20706,0.00,0.000,0,0,1694,405.23
$SM_GC,0.84,8.57,0.10,0.00,0.097,0.119,0.000,245,2307,1694,-7.82,1.33,405.23,0,0,0,0,0,0,14.57,14.71,14.69
$IRIDIUM_FIX,-337.32,5542.62,140318,105312
$TT8_MAMPS,0.018725,0.15729
$HUMID,57.95
$INTERNAL_PRESSURE,8.53162
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,13.14,77.869
$10V_AH,13.48,0.000
$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,22.200,207.725,540.075,0.000,0.000,0.000,0.000,243.025,0.000,0.000,19.540,3219.728,14493.268,694.712,2431.847,215.128,0.000,2210.511,0.000,2159.447,0.000,0.546,0.000
$DEVICE_MAMPS,424.575,198.900,1944.630,0.000,0.000,0.000,0.000,133.875,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,729.569,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304064
$DATA_FILE_SIZE,66668,1518
$CAP_FILE_SIZE,180365,0
$CFSIZE,260034560,238522368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.167,102.30,1
$GPS,140318,224310,-337.929,5540.749,25,1.3,30,-4.8,1.2,144.0,5,9.5