version: 66.11
glider: 129
mission: 4
dive: 309
start: 1 17 113 13 34 27
data:
$ID,129
$MISSION,4
$DIVE,309
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$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,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,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,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3105.5825
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,81
$R_STBD_OVSHOOT,83
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,21.5
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$AD7714Ch0Gain,128
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,170113,132535,1954.804,12345.487,32,0.9,32,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-49.0
$GPS2,170113,133401,1954.594,12345.540,13,1.1,13,-2.4
$SPEED_LIMITS,0.147,0.266
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$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,15.1,70804,-14.2,-8.462,-17.62
$D_GRID,5197
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.54,-175.2,0.0,0.0,0,87,0.00,0.00,-65.20,0.000,2,0.000,0.000,50,1904,1803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.54,-175.2,3.2,-4.1,11,146,7.70,2.08,-39.90,0.000,4,0.230,0.044,1967,3306,3123,0,0,0,0,0,0,25.02,26.13,26.57
$GC,169,-0.49,-175.2,10.9,-19.4,24,176,0.12,1.95,0.00,0.000,6,0.160,0.021,1999,1906,3124,0,0,0,0,0,0,25.90,26.27,28.83
$GC,485,-0.42,-175.2,96.7,-28.8,53,491,0.00,1.95,0.00,0.000,4,0.000,0.026,2001,535,3124,0,0,0,0,0,0,28.83,26.32,28.83
$GC,616,-0.36,-175.2,129.3,-24.7,59,622,0.17,1.95,0.00,0.000,6,0.147,0.021,2041,1929,3124,0,0,0,0,0,0,25.94,26.38,28.83
$GC,935,-0.35,-175.2,175.3,-14.2,75,940,0.00,2.03,0.00,0.000,4,0.000,0.028,2041,534,3125,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1118,-0.35,-175.2,198.1,-11.8,84,1123,0.00,1.95,0.00,0.000,6,0.000,0.021,2035,1932,3125,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1441,-0.35,-175.2,231.5,-10.2,100,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,1933,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1742,-0.35,-175.2,262.5,-9.8,115,1747,0.00,2.03,0.00,0.000,4,0.000,0.028,2035,538,3124,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1774,-0.35,-175.2,265.1,-9.8,116,1779,0.00,1.95,0.00,0.000,6,0.000,0.020,2034,1932,3124,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2087,-0.35,-175.2,297.3,-10.0,132,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1933,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2389,-0.35,-175.2,324.4,-8.8,147,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1933,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2689,-0.35,-175.2,348.1,-7.9,162,2694,0.00,2.03,0.00,0.000,4,0.000,0.028,2038,544,3121,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2792,-0.35,-175.2,357.2,-8.7,167,2797,0.00,1.95,0.00,0.000,6,0.000,0.021,2034,1938,3121,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3116,-0.36,-175.2,383.1,-8.0,183,3121,0.00,2.05,0.00,0.000,4,0.000,0.028,2034,535,3120,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3189,-0.37,-175.2,388.5,-8.3,186,3194,0.00,1.95,0.00,0.000,6,0.000,0.021,2034,1924,3120,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3503,-0.38,-175.2,411.1,-6.6,202,3509,0.00,2.00,0.00,0.000,4,0.000,0.028,2034,538,3121,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3568,-0.39,-175.2,415.7,-7.1,205,3574,0.00,1.98,0.00,0.000,6,0.000,0.021,2034,1925,3119,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3893,-0.41,-175.2,436.4,-6.5,221,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1926,3117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4195,-0.43,-175.2,455.7,-6.4,236,4201,0.00,2.03,-0.08,0.000,4,0.000,0.041,2034,546,3143,0,0,0,0,0,0,28.83,26.29,25.44
$GC,4228,-0.44,-175.2,457.5,-6.4,237,4235,0.00,2.00,0.00,0.000,6,0.000,0.021,2034,1931,3144,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4543,-0.46,-175.2,478.8,-7.1,253,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1931,3143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4845,-0.48,-175.2,505.0,-8.7,268,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,1931,3141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5145,-0.51,-175.2,525.2,-5.8,283,5150,0.12,2.03,0.00,0.000,4,0.099,0.028,1965,549,3141,0,0,0,0,0,0,26.43,26.28,28.83
$GC,5203,-0.51,-175.2,529.2,-7.2,285,5210,0.15,2.00,0.00,0.000,6,0.138,0.023,2000,1921,3141,0,0,0,0,0,0,26.03,26.37,28.83
$GC,5509,-0.51,-175.2,555.2,-8.4,301,5514,0.00,2.00,0.00,0.000,4,0.000,0.030,1998,549,3138,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5556,-0.51,-175.2,559.2,-8.9,303,5561,0.00,1.95,0.00,0.000,6,0.000,0.022,1994,1928,3138,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5875,-0.51,-175.2,587.7,-8.3,319,5880,0.00,2.05,0.00,0.000,4,0.000,0.035,1984,3316,3136,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5893,-0.51,-175.2,587.7,-8.3,319,5900,0.00,1.98,0.00,0.000,6,0.000,0.021,1984,1925,3136,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6220,-0.51,-175.2,615.4,-7.9,333,6225,0.00,2.03,0.00,0.000,4,0.000,0.031,1984,528,3133,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6368,-0.51,-175.2,626.4,-8.8,337,6374,0.00,1.98,0.00,0.000,6,0.000,0.022,1974,1927,3133,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6674,-0.51,-175.2,656.5,-9.0,348,6679,0.00,2.03,0.00,0.000,4,0.000,0.035,1964,3310,3131,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6701,-0.51,-175.2,656.5,-9.0,348,6709,0.12,1.95,0.00,0.000,6,0.139,0.021,2000,1914,3131,0,0,0,0,0,0,26.08,26.40,28.83
$GC,7011,-0.52,-175.2,679.4,-6.4,359,7016,0.00,1.98,0.00,0.000,4,0.000,0.031,2000,544,3129,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7059,-0.52,-175.2,682.0,-6.5,360,7064,0.00,1.98,0.00,0.000,6,0.000,0.021,1994,1927,3129,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7380,-0.52,-175.2,704.8,-7.0,371,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1928,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7677,-0.52,-175.2,724.9,-6.5,381,7682,0.00,2.05,0.00,0.000,4,0.000,0.031,1995,541,3127,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7771,-0.52,-175.2,732.0,-7.4,384,7777,0.00,2.00,0.00,0.000,6,0.000,0.023,1994,1922,3126,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8106,-0.52,-175.2,755.9,-7.3,395,8113,0.00,2.05,0.00,0.000,4,0.000,0.031,1994,552,3124,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8141,-0.52,-175.2,758.8,-7.5,396,8147,0.00,1.98,0.00,0.000,6,0.000,0.023,1994,1935,3124,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8476,-0.52,-175.2,785.9,-8.4,407,8477,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1935,3123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8775,-0.52,-175.2,811.3,-8.4,417,8776,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,1935,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9074,-0.52,-175.2,834.0,-7.1,427,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1935,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9375,-0.52,-175.2,853.4,-6.3,437,9381,0.00,2.05,0.00,0.000,4,0.000,0.031,1995,549,3120,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9439,-0.52,-175.2,857.8,-6.5,439,9445,0.00,1.98,0.00,0.000,6,0.000,0.023,1995,1925,3120,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9775,-0.53,-175.2,876.9,-5.6,450,9782,0.00,2.05,0.00,0.000,4,0.000,0.032,1995,533,3118,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9814,-0.54,-175.2,879.2,-5.8,451,9819,0.00,2.00,0.00,0.000,6,0.000,0.023,1995,1932,3118,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10144,-0.55,-175.2,898.7,-6.1,462,10150,0.00,2.08,0.00,0.000,4,0.000,0.031,1994,537,3117,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10203,-0.55,-175.2,901.1,-6.3,463,10210,0.00,2.03,0.00,0.000,6,0.000,0.023,1994,1937,3117,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10510,-0.56,-175.2,923.2,-6.7,474,10511,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1938,3116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10809,-0.57,-175.2,942.4,-6.2,484,10814,0.00,2.05,0.00,0.000,4,0.000,0.031,1995,548,3115,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10867,-0.58,-175.2,944.6,-6.1,485,10874,0.00,1.98,0.00,0.000,6,0.000,0.023,1994,1928,3115,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11175,-0.59,-175.2,964.8,-6.2,496,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1929,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11473,-0.61,-175.2,985.4,-7.2,506,11474,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,1929,3114,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11560,begin apogee
$GC,11565,-0.17,0.0,991.9,-7.2,509,11728,0.32,0.00,151.62,1.414,6,0.115,0.000,2105,1932,2408,0,0,0,0,0,0,25.76,28.83,22.25
$STATE,11730,end apogee,CONTROL_FINISHED_OK
$STATE,11730,begin climb
$GC,11732,0.54,175.2,998.6,0.0,514,11904,0.68,2.38,162.02,1.366,4,0.086,0.034,2331,534,1693,0,0,0,0,0,0,24.19,23.61,21.87
$GC,11937,0.58,265.4,991.9,5.5,521,12027,0.00,2.10,83.50,1.339,6,0.000,0.020,2331,1893,1329,0,0,0,0,0,0,28.83,24.49,21.93
$GC,12351,0.61,282.2,959.8,7.9,535,12374,0.00,2.17,15.20,1.262,4,0.000,0.035,2331,3292,1258,0,0,0,0,0,0,28.83,25.68,23.79
$GC,12453,0.63,282.2,951.6,8.6,538,12458,0.00,2.03,0.00,0.000,6,0.000,0.024,2336,1907,1255,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12779,0.66,305.9,925.3,7.7,549,12809,0.12,2.20,22.33,1.310,4,0.106,0.035,2389,505,1161,0,0,0,0,0,0,26.27,25.64,23.84
$GC,12854,0.67,305.9,918.7,8.9,551,12859,0.00,2.05,0.00,0.000,6,0.000,0.021,2389,1929,1159,0,0,0,0,0,0,28.83,25.94,28.83
$GC,13178,0.67,305.9,883.0,10.3,562,13183,0.00,1.98,0.00,0.000,4,0.000,0.035,2389,3271,1156,0,0,0,0,0,0,28.83,26.16,28.83
$GC,13265,0.67,305.9,876.1,10.5,564,13273,0.00,2.00,0.00,0.000,6,0.000,0.024,2389,1893,1155,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13572,0.67,305.9,843.6,9.6,575,13577,0.00,2.05,0.00,0.000,4,0.000,0.035,2389,511,1155,0,0,0,0,0,0,28.83,26.21,28.83
$GC,13624,0.67,305.9,840.4,9.5,576,13629,0.00,1.98,0.00,0.000,6,0.000,0.022,2389,1898,1154,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13938,0.67,305.9,809.2,9.4,587,13943,0.00,2.05,0.00,0.000,4,0.000,0.035,2390,3286,1154,0,0,0,0,0,0,28.83,26.20,28.83
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$GC,16438,0.68,311.7,542.7,8.3,678,16448,0.00,2.03,5.18,0.868,4,0.000,0.033,2389,3285,1137,0,0,0,0,0,0,28.83,26.01,23.87
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$STATE,22398,end climb,SURFACE_DEPTH_REACHED
$STATE,22398,begin surface coast
$FINISH,1.3,1.003776
$STATE,22410,end surface coast,CONTROL_FINISHED_OK
$STATE,22410,begin surface
$SM_CCo,22486,0.00,0.000,0,0,208,539.91
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$TT8_MAMPS,0.023968,0.023968
$HUMID,48.11
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,3901696
$24V_AH,21.9,62.255
$10V_AH,10.0,43.010
$FG_AHR_24Vo,120.571
$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,16.350,178.325,631.050,0.000,0.000,0.000,0.000,301.025,0.000,0.000,14.010,3321.560,15538.658,775.319,2849.871,492.829,0.000,2478.323,0.000,2446.298,0.000,0.541,0.000
$DEVICE_MAMPS,230.265,43.605,1414.485,0.000,0.000,0.000,0.000,136.170,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22438.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.680,0.000,0.000,0.000
$MEM,329048
$DATA_FILE_SIZE,36703,1011
$CAP_FILE_SIZE,244097,0
$CFSIZE,260034560,220471296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.268,202.4,1
$GPS,170113,195035,1954.612,12344.497,37,1.5,43,-2.4