version: 66.11
glider: 167
mission: 16
dive: 249
start: 8 2 113 19 1 35
data:
$ID,167
$MISSION,16
$DIVE,249
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,4
$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,300
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-14
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52152
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00299008
$HD_B,0.016695701
$HD_C,1.27466e-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,564.9259
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-975506
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3944
$C_PITCH,3025
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2075
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2970
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-15.330984
$PRESSURE_SLOPE,0.0001158971
$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,0
$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,0.0043557216
$SEABIRD_T_H,0.00062581268
$SEABIRD_T_I,2.3904395e-05
$SEABIRD_T_J,2.614597e-06
$SEABIRD_C_G,-10.14994
$SEABIRD_C_H,1.1477706
$SEABIRD_C_I,-0.0022030354
$SEABIRD_C_J,0.00024289287
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,020813,185235,2052.409,12244.655,35,0.9,35,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-73.6
$GPS2,020813,190054,2052.472,12244.498,41,1.1,41,-3.0
$SPEED_LIMITS,0.191,0.264
$TGT_NAME,T6
$TGT_LATLONG,2000.000,12245.000
$TGT_RADIUS,10000.000
$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,150.7,97182,-17.0,-11.000,-22.63,3343
$D_GRID,3909
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.22,-243.3,128,2092,689,653,0.0,0.0,0,116,0.00,0.00,-86.60,0.000,16386,0.000,0.000,128,2093,2851,2826,2876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-1.22,-243.3,128,2093,2827,2877,3.3,-3.0,15,162,10.00,2.08,-20.67,0.000,18692,0.231,0.042,2617,3488,3963,3965,3961,0,0,0,0,0,0,25.52,26.13,26.48
$GC,233,-1.11,-243.3,2617,3489,3965,3963,43.0,-38.6,29,241,0.20,2.03,0.00,0.000,3078,0.194,0.017,2664,2058,3964,3965,3963,0,0,0,0,0,0,25.68,26.25,28.83
$GC,551,-1.04,-243.3,2664,2057,3965,3963,139.5,-28.9,46,556,0.00,2.10,0.00,0.000,260,0.000,0.029,2656,3482,3963,3964,3963,0,0,0,0,0,0,28.83,26.29,28.83
$GC,576,-0.97,-243.3,2657,3482,3965,3963,145.9,-27.5,47,583,0.20,2.00,0.00,0.000,3078,0.168,0.015,2708,2041,3964,3965,3963,0,0,0,0,0,0,25.89,26.42,28.83
$GC,903,-0.92,-243.3,2708,2041,3966,3963,217.1,-21.3,63,909,0.00,2.12,0.00,0.000,260,0.000,0.030,2700,3483,3964,3966,3963,0,0,0,0,0,0,28.83,26.36,28.83
$GC,992,-0.89,-243.3,1664,3482,3964,3962,234.8,-20.6,67,998,0.15,1.92,0.00,0.000,3078,0.158,0.015,2739,2078,3964,3966,3963,0,0,0,0,0,0,26.09,26.51,28.83
$GC,1313,-0.86,-243.3,2740,2077,3966,3963,290.2,-16.6,83,1319,0.00,1.95,0.00,0.000,516,0.000,0.028,2740,714,3964,3966,3963,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1343,-0.84,-243.3,1672,713,3965,3962,294.3,-16.3,84,1348,0.00,1.95,0.00,0.000,1030,0.000,0.022,2737,2082,3964,3966,3963,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1663,-0.82,-243.3,2737,2081,3966,3962,343.8,-15.2,100,1668,0.00,2.03,0.00,0.000,260,0.000,0.034,2727,3471,3964,3966,3962,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1765,-0.80,-243.3,2727,3470,3966,3961,356.5,-14.7,104,1772,0.15,1.92,0.00,0.000,3078,0.148,0.016,2768,2079,3963,3966,3960,0,0,0,0,0,0,26.17,26.55,28.83
$GC,2068,-0.80,-243.3,2765,2078,3966,3959,400.1,-13.6,120,2073,0.00,2.08,0.00,0.000,260,0.000,0.034,2765,3469,3962,3966,3959,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2093,-0.80,-243.3,2765,3469,3967,3958,403.5,-13.7,121,2098,0.00,1.95,0.00,0.000,1030,0.000,0.016,2765,2070,3962,3966,3958,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2418,-0.80,-243.3,2765,2070,3966,3956,448.9,-14.2,137,2423,0.00,1.98,0.00,0.000,516,0.000,0.030,2765,695,3961,3966,3956,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2446,-0.80,-243.3,2765,695,3966,3955,452.3,-14.1,138,2451,0.00,1.98,0.00,0.000,1030,0.000,0.023,2765,2074,3960,3966,3954,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2766,-0.80,-243.3,2765,2074,3966,3953,495.2,-12.6,154,2772,0.00,2.08,0.00,0.000,260,0.000,0.037,2765,3475,3958,3966,3951,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2840,-0.80,-243.3,2765,3474,3967,3949,503.0,-12.0,157,2846,0.00,1.98,0.00,0.000,1030,0.000,0.018,2765,2067,3957,3966,3949,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3155,-0.80,-243.3,2765,2067,3966,3946,540.4,-11.9,173,3160,0.00,1.98,0.00,0.000,516,0.000,0.031,2765,697,3955,3966,3945,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3194,-0.80,-243.3,2765,697,3966,3945,543.5,-12.0,174,3201,0.00,2.00,0.00,0.000,1030,0.000,0.024,2765,2083,3955,3966,3945,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3500,-0.80,-243.3,2765,2082,3966,3941,582.9,-12.7,190,3505,0.00,2.05,0.00,0.000,260,0.000,0.037,2765,3469,3954,3967,3941,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3642,-0.81,-243.3,2765,3469,3966,3938,598.5,-12.3,196,3648,0.00,1.98,0.00,0.000,1030,0.000,0.018,2765,2063,3952,3966,3938,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3947,-0.81,-243.3,2764,2063,3966,3934,639.3,-12.7,207,3953,0.00,1.98,0.00,0.000,516,0.000,0.031,2765,701,3949,3965,3934,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3977,-0.81,-243.3,2764,700,3966,3934,639.3,-12.7,207,3984,0.00,2.03,0.00,0.000,1030,0.000,0.024,2765,2087,3949,3966,3933,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4283,-0.81,-243.3,2765,2087,3965,3929,679.1,-11.9,218,4290,0.00,2.08,0.00,0.000,260,0.000,0.037,2765,3476,3947,3965,3929,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4374,-0.81,-243.3,2764,3476,3965,3928,686.7,-11.7,220,4381,0.00,1.98,0.00,0.000,1030,0.000,0.019,2765,2077,3946,3965,3927,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4680,-0.81,-243.3,2765,2076,3962,3924,725.9,-12.5,231,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2076,3943,3962,3924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4979,-0.81,-243.3,2765,2076,3960,3922,764.1,-13.1,241,4985,0.00,2.10,0.00,0.000,260,0.000,0.037,2765,3466,3941,3960,3922,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5019,-0.81,-243.3,2765,3467,3959,3922,768.7,-13.2,242,5024,0.00,1.98,0.00,0.000,1030,0.000,0.019,2765,2073,3940,3959,3921,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5353,-0.81,-243.3,2765,2072,3957,3919,814.6,-14.0,253,5359,0.00,2.03,0.00,0.000,516,0.000,0.034,2765,693,3937,3956,3918,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5398,-0.81,-243.3,2765,693,3956,3919,820.2,-14.1,254,5404,0.00,2.05,0.00,0.000,1030,0.000,0.025,2765,2085,3937,3956,3918,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5727,-0.81,-243.3,2765,2085,3952,3914,866.3,-13.3,265,5732,0.00,2.08,0.00,0.000,260,0.000,0.039,2765,3467,3933,3953,3914,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5786,-0.81,-243.3,2765,3467,3952,3914,871.2,-13.1,266,5793,0.00,2.00,0.00,0.000,1030,0.000,0.021,2765,2068,3933,3952,3914,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6095,-0.81,-243.3,2765,2068,3950,3911,907.9,-10.6,277,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2068,3931,3950,3912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6392,-0.81,-243.3,2765,2068,3949,3908,938.1,-10.2,287,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2068,3928,3949,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6692,-0.81,-243.3,2765,2068,3946,3906,969.3,-10.1,297,6698,0.00,2.03,0.00,0.000,516,0.000,0.034,2765,694,3926,3946,3906,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6729,-0.81,-243.3,2765,694,3946,3906,973.1,-10.2,298,6734,0.00,2.05,0.00,0.000,1030,0.000,0.027,2764,2081,3926,3946,3906,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,6910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6911,begin apogee
$GC,6919,-0.18,0.0,2764,2221,3944,3904,992.9,-10.9,304,7161,0.60,0.00,236.50,1.093,10246,0.118,0.000,2962,2221,2970,3044,2896,0,0,0,0,0,0,25.88,28.83,24.06
$STATE,7163,end apogee,CONTROL_FINISHED_OK
$STATE,7164,begin climb
$GC,7167,1.22,243.3,2962,2221,3033,2883,1008.1,0.0,312,7395,1.25,2.30,217.95,1.138,10756,0.047,0.034,3427,823,1969,2060,1878,0,0,0,0,0,0,24.94,24.41,23.60
$GC,7475,1.14,243.3,3427,823,2034,1858,980.6,16.7,322,7481,0.15,2.10,0.00,0.000,5126,0.179,0.029,3394,2178,1945,2034,1857,0,0,0,0,0,0,25.01,25.26,28.83
$GC,7794,1.08,243.3,3393,2177,2034,1849,924.4,16.6,333,7799,0.00,2.22,0.00,0.000,260,0.000,0.042,3394,3605,1941,2034,1849,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7961,1.02,243.3,3393,3605,2033,1846,895.3,18.1,338,7967,0.20,2.08,0.00,0.000,5126,0.177,0.024,3352,2203,1939,2033,1846,0,0,0,0,0,0,25.79,26.17,28.83
$GC,8290,0.97,243.3,3351,2203,2033,1844,842.9,15.8,349,8295,0.00,2.20,0.00,0.000,260,0.000,0.041,3351,3603,1938,2033,1844,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8315,0.93,243.3,3351,3603,2033,1844,842.9,15.8,349,8321,0.15,2.08,0.00,0.000,5126,0.174,0.024,3323,2195,1938,2033,1844,0,0,0,0,0,0,25.93,26.30,28.83
$GC,8634,0.89,243.3,3323,2195,2033,1842,794.7,13.4,360,8639,0.00,2.08,0.00,0.000,516,0.000,0.035,3332,808,1937,2033,1842,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8719,0.86,243.3,3331,808,2033,1842,785.0,13.8,362,8725,0.12,2.08,0.00,0.000,5126,0.159,0.030,3301,2210,1937,2033,1842,0,0,0,0,0,0,26.06,26.31,28.83
$GC,9038,0.83,243.3,3301,2210,2033,1840,743.0,12.0,373,9044,0.00,2.15,0.00,0.000,260,0.000,0.044,3301,3601,1936,2033,1840,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9138,0.80,243.3,2304,3601,1960,1828,730.9,12.0,376,9144,0.00,2.08,0.00,0.000,1030,0.000,0.025,3309,2191,1936,2032,1840,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9471,0.78,243.3,3309,2189,2029,1838,692.8,12.1,387,9477,0.12,2.05,0.00,0.000,4612,0.165,0.034,3280,808,1933,2029,1838,0,0,0,0,0,0,26.18,26.32,28.83
$GC,9574,0.76,243.3,2240,807,1954,1826,681.4,11.8,390,9579,0.00,2.05,0.00,0.000,1030,0.000,0.029,3280,2200,1933,2029,1838,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9907,0.74,243.3,3280,2201,2029,1837,642.2,11.9,401,9912,0.00,2.15,0.00,0.000,260,0.000,0.042,3280,3597,1933,2029,1837,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9982,0.72,243.3,3281,3597,2029,1837,633.7,12.3,403,9987,0.00,2.05,0.00,0.000,1030,0.000,0.025,3288,2197,1932,2028,1837,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10310,0.80,279.3,3288,2196,2029,1836,597.3,9.9,414,10348,0.00,2.10,23.85,0.933,8708,0.000,0.035,3298,814,1831,1927,1735,0,0,0,0,1,0,28.83,26.03,25.02
$GC,10438,0.91,329.2,3298,814,1927,1753,585.0,9.5,420,10498,0.00,2.08,45.58,1.254,9222,0.000,0.028,3298,2198,1630,1725,1536,0,0,0,0,1,0,28.83,26.07,24.06
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$GC,12720,0.88,364.0,3308,2213,1554,1364,309.5,11.1,532,12726,0.00,2.10,0.00,0.000,516,0.000,0.033,3316,805,1459,1554,1365,0,0,0,0,0,0,28.83,26.33,28.83
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$STATE,15440,end climb,SURFACE_DEPTH_REACHED
$STATE,15440,begin surface coast
$FINISH,1.3,1.020654
$STATE,15464,end surface coast,CONTROL_FINISHED_OK
$STATE,15464,begin surface
$SM_CCo,15548,0.00,0.000,0,0,648,569.59
$SM_GC,2.12,8.38,1.88,0.00,0.022,0.021,0.000,135,2085,648,-8.95,-1.78,569.59,0,0,0,0,0,0,26.30,26.37,28.83
$IRIDIUM_FIX,2045.60,12247.02,020813,141456
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.44
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,26.10
$XPDR_PINGS,8
$SC_FREEKB,7621440
$24V_AH,23.6,38.072
$10V_AH,10.1,24.174
$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,23.050,144.250,717.575,0.000,0.000,0.000,0.000,259.250,2.000,0.000,42.685,2415.854,10035.484,782.824,2226.106,585.804,0.000,2171.046,0.000,1894.769,0.000,0.542,0.000
$DEVICE_MAMPS,231.030,72.675,1253.835,0.000,0.000,0.000,0.000,119.340,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15474.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.027,0.000,0.000,0.000
$MEM,343608
$DATA_FILE_SIZE,26739,702
$CAP_FILE_SIZE,186377,0
$CFSIZE,260034560,228978688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.260,300.6,1
$GPS,020813,232206,2052.002,12242.843,41,1.0,41,-3.0