version: 66.12
glider: 171
mission: 9
dive: 337
start: 1 31 116 7 17 45
data:
$ID,171
$MISSION,9
$DIVE,337
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1015
$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,420
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-6
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52091
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,587.06018
$N_FILEKB,8
$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,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,175
$PITCH_MAX,3952
$C_PITCH,1997
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2305
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3820
$C_VBD,2899
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$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,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-75.620842
$PRESSURE_SLOPE,0.0001165165
$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,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004389904
$SEABIRD_T_H,0.00063959236
$SEABIRD_T_I,2.6546981e-05
$SEABIRD_T_J,3.01253e-06
$SEABIRD_C_G,-10.191363
$SEABIRD_C_H,1.1409097
$SEABIRD_C_I,-0.0015713738
$SEABIRD_C_J,0.00020770991
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,310116,071021,537.0436,8030.5762,42,1.5,58,-2.8,0.3,228.1,9,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.11
$_SM_ANGLEo,-55.8
$GPS2,310116,071733,536.9982,8030.5381,14,1.3,41,-2.8,0.6,261.2,10,7.5
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH4
$TGT_LATLONG,537.000,8030.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,272.3,991,-26.9,-7.857,-30.00,857
$D_GRID,3080
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.68,-44.0,167,2301,537,456,0.0,0.0,0,153,0.00,0.00,-133.00,0.000,16386,0.000,0.000,167,2302,2709,2754,2665,0,0,0,0,0,0,26.32,28.83,26.38
$GC,156,-0.69,-51.3,168,2302,2755,2665,4.1,-7.0,11,179,6.05,2.45,-9.57,0.000,18692,0.195,1.174,1757,3669,3110,3155,3066,0,0,0,0,0,0,25.07,23.76,25.47
$GC,390,-0.69,-51.3,1757,3669,3157,3067,78.1,-24.0,50,396,0.00,2.08,0.00,0.000,1030,0.000,0.029,1757,2303,3111,3156,3067,0,0,0,0,0,0,26.22,26.16,26.24
$GC,756,-0.69,-51.3,1757,2300,3159,3066,130.2,-12.9,66,762,0.00,2.22,0.00,0.000,260,0.000,0.053,1747,3672,3114,3161,3067,0,0,0,0,0,0,26.65,26.05,26.71
$GC,877,-0.69,-51.3,1747,3672,3161,3067,147.7,-13.9,86,883,0.00,2.05,0.00,0.000,1030,0.000,0.028,1748,2300,3113,3160,3067,0,0,0,0,0,0,26.36,26.30,26.39
$GC,1261,-0.69,-51.3,1747,2298,3162,3067,188.0,-10.3,105,1267,0.00,2.22,0.00,0.000,260,0.000,0.054,1737,3671,3114,3162,3067,0,0,0,0,0,0,26.74,26.10,26.79
$GC,1494,-0.70,-51.3,1736,3671,3162,3067,214.0,-11.2,144,1502,0.08,2.10,0.00,0.000,3078,0.125,0.028,1764,2286,3114,3162,3067,0,0,0,0,0,0,26.10,26.39,26.16
$GC,1860,-0.70,-51.3,1764,2286,3162,3066,246.6,-8.1,160,1867,0.00,2.28,0.00,0.000,260,0.000,0.055,1755,3667,3114,3162,3066,0,0,0,0,0,0,26.79,26.11,26.84
$GC,2094,-0.71,-51.3,1754,3667,3162,3064,269.0,-10.2,199,2101,0.00,2.08,0.00,0.000,1030,0.000,0.031,1755,2321,3112,3161,3063,0,0,0,0,0,0,26.41,26.39,26.44
$GC,2474,-0.71,-51.3,1754,2322,3162,3058,305.5,-9.6,212,2480,0.00,2.20,0.00,0.000,260,0.000,0.056,1745,3670,3109,3161,3057,0,0,0,0,0,0,26.81,26.09,26.86
$GC,2557,-0.72,-51.3,1744,3671,3161,3057,314.5,-10.6,226,2563,0.00,2.10,0.00,0.000,1030,0.000,0.031,1745,2305,3108,3161,3056,0,0,0,0,0,0,26.41,26.39,26.44
$GC,2943,-0.72,-51.3,1744,2305,3161,3052,353.2,-9.8,240,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,2305,3106,3160,3052,0,0,0,0,0,0,26.82,26.88,26.87
$GC,3301,-0.73,-51.3,1745,2305,3158,3049,387.5,-9.7,250,3307,0.00,2.25,0.00,0.000,260,0.000,0.056,1734,3659,3103,3158,3048,0,0,0,0,0,0,26.82,26.07,26.87
$GC,3367,-0.73,-51.3,1734,3659,3158,3048,394.0,-10.4,261,3376,0.00,2.10,0.00,0.000,1030,0.000,0.032,1735,2303,3102,3157,3047,0,0,0,0,0,0,26.41,26.38,26.44
$GC,3735,-0.74,-51.3,1733,2304,3155,3044,428.0,-9.0,272,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,2304,3099,3155,3043,0,0,0,0,0,0,26.82,26.89,26.88
$GC,4093,-0.74,-51.3,1734,2304,3154,3042,457.9,-7.9,282,4099,0.00,2.20,0.00,0.000,516,0.000,0.037,1734,900,3098,3154,3042,0,0,0,0,0,0,26.82,26.24,26.88
$GC,4141,-0.75,-51.3,1734,900,3153,3042,461.9,-8.7,290,4148,0.12,2.20,0.00,0.000,3078,0.157,0.042,1756,2307,3097,3153,3042,0,0,0,0,0,0,25.96,26.19,26.09
$GC,4527,-0.76,-56.5,1755,2308,3153,3038,490.4,-7.2,304,4532,0.00,2.17,0.00,0.000,516,0.000,0.041,1756,908,3094,3152,3037,0,0,0,0,0,0,26.82,26.20,26.88
$GC,4586,-0.77,-56.5,1756,908,3152,3038,495.2,-8.6,314,4592,0.00,2.22,0.00,0.000,1030,0.000,0.044,1746,2317,3094,3151,3037,0,0,0,0,0,0,26.26,26.16,26.31
$GC,4959,-0.77,-56.5,1746,2317,3150,3035,527.8,-9.2,326,4964,0.00,2.17,0.00,0.000,260,0.000,0.057,1736,3668,3092,3150,3035,0,0,0,0,0,0,26.82,26.04,26.88
$GC,4982,-0.78,-56.5,1736,3668,3150,3035,530.1,-9.7,330,4988,0.00,2.10,0.00,0.000,1030,0.000,0.034,1736,2279,3092,3150,3035,0,0,0,0,0,0,26.44,26.37,26.46
$GC,5355,-0.78,-56.5,1735,2279,3149,3033,567.2,-10.0,342,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,2279,3090,3148,3033,0,0,0,0,0,0,26.82,26.89,26.88
$GC,5714,-0.79,-56.5,1735,2280,3149,3031,602.7,-9.8,352,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,2279,3089,3148,3030,0,0,0,0,0,0,26.82,26.89,26.88
$GC,6073,-0.79,-56.5,1736,2279,3147,3028,636.6,-9.2,362,6079,0.00,2.30,0.00,0.000,260,0.000,0.057,1725,3663,3087,3147,3028,0,0,0,0,0,0,26.82,26.01,26.88
$GC,6115,-0.80,-56.5,1725,3664,3147,3028,640.7,-10.4,369,6123,0.00,2.10,0.00,0.000,1030,0.000,0.034,1725,2312,3087,3146,3028,0,0,0,0,0,0,26.39,26.36,26.42
$GC,6508,-0.80,-56.5,1724,2313,3146,3027,674.4,-8.2,384,6509,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,2312,3085,3145,3026,0,0,0,0,0,0,26.82,26.89,26.88
$GC,6866,-0.81,-59.8,1725,2313,3144,3025,702.4,-7.5,394,6872,0.00,2.22,0.00,0.000,516,0.000,0.041,1725,910,3084,3144,3024,0,0,0,0,0,0,26.82,26.13,26.88
$GC,6908,-0.81,-60.1,1725,910,3144,3025,705.7,-7.8,401,6915,0.00,2.20,0.00,0.000,1030,0.000,0.044,1714,2314,3084,3144,3024,0,0,0,0,0,0,26.20,26.10,26.25
$GC,7300,-0.82,-60.1,1714,2314,3144,3023,736.5,-8.3,416,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2314,3083,3143,3023,0,0,0,0,0,0,26.82,26.89,26.88
$GC,7660,-0.82,-60.1,1714,2314,3142,3022,767.7,-8.8,426,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2314,3082,3143,3022,0,0,0,0,0,0,26.82,26.89,26.88
$GC,8019,-0.83,-60.1,1713,2314,3142,3021,800.8,-9.4,436,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2313,3081,3142,3021,0,0,0,0,0,0,26.82,26.89,26.88
$GC,8380,-0.83,-60.1,1714,2314,3141,3019,834.8,-9.6,446,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,2314,3080,3141,3019,0,0,0,0,0,0,26.82,26.89,26.88
$GC,8739,-0.83,-60.1,1714,2314,3140,3018,867.6,-8.8,456,8745,0.00,2.22,0.00,0.000,516,0.000,0.039,1715,909,3079,3140,3018,0,0,0,0,0,0,26.81,26.10,26.88
$GC,8805,-0.84,-60.1,1714,910,3139,3018,873.8,-9.5,467,8813,0.00,2.25,0.00,0.000,1030,0.000,0.044,1704,2309,3078,3139,3018,0,0,0,0,0,0,26.10,26.06,26.15
$GC,9173,-0.84,-60.1,1703,2310,3139,3018,907.3,-9.1,478,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,1704,2309,3077,3138,3017,0,0,0,0,0,0,26.82,26.89,26.87
$GC,9531,-0.84,-60.1,1703,2310,3138,3016,940.1,-9.2,488,9537,0.00,2.22,0.00,0.000,516,0.000,0.040,1704,909,3077,3138,3016,0,0,0,0,0,0,26.82,26.06,26.87
$GC,9591,-0.85,-60.1,1704,910,3137,3016,945.9,-9.1,498,9598,0.12,2.20,0.00,0.000,3078,0.163,0.044,1724,2310,3076,3137,3016,0,0,0,0,0,0,25.77,26.02,25.89
$GC,9965,-0.85,-60.1,1724,2310,3137,3015,979.9,-9.0,510,9965,0.00,0.00,0.00,0.000,6,0.000,0.000,1724,2310,3075,3136,3015,0,0,0,0,0,0,26.82,26.88,26.87
$STATE,10105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10105,begin apogee
$GC,10112,-0.11,0.0,1725,1958,3136,3014,992.5,-8.7,514,10157,0.73,0.00,42.00,0.978,10246,0.112,0.000,1956,1957,2898,2976,2821,0,0,0,0,0,0,25.44,25.12,23.80
$STATE,10158,end apogee,CONTROL_FINISHED_OK
$STATE,10158,begin climb
$GC,10160,0.70,60.1,1956,1957,2974,2820,993.8,0.0,515,10227,0.73,2.28,58.60,0.975,10756,0.067,0.040,2226,566,2651,2732,2570,0,0,0,0,0,0,25.69,24.62,23.53
$GC,10252,0.77,98.7,2226,567,2727,2570,992.2,3.2,532,10297,0.00,2.28,37.88,0.951,9222,0.000,0.033,2226,1973,2493,2575,2411,0,0,0,0,0,0,25.46,25.42,23.47
$GC,10655,0.77,98.7,2226,1973,2564,2402,960.7,8.3,549,10662,0.00,2.22,0.00,0.000,260,0.000,0.047,2226,3373,2481,2561,2402,0,0,0,0,0,0,26.36,25.89,26.43
$GC,10715,0.78,98.7,2226,3374,2562,2402,954.8,10.1,559,10721,0.00,2.20,0.00,0.000,1030,0.000,0.028,2226,1963,2482,2562,2402,0,0,0,0,0,0,26.12,26.09,26.15
$GC,11088,0.79,98.7,2226,1962,2560,2400,920.8,8.8,571,11094,0.00,2.20,0.00,0.000,516,0.000,0.041,2227,558,2480,2560,2400,0,0,0,0,0,0,26.57,26.05,26.63
$GC,11178,0.79,98.7,2226,558,2560,2402,913.2,8.4,586,11183,0.00,2.15,0.00,0.000,1030,0.000,0.033,2226,1961,2479,2559,2400,0,0,0,0,0,0,26.22,26.15,26.27
$GC,11556,0.80,98.7,2226,1961,2559,2399,882.9,7.9,599,11557,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,1961,2479,2559,2399,0,0,0,0,0,0,26.67,26.74,26.73
$GC,11916,0.81,101.9,2226,1961,2559,2398,855.5,7.5,609,11922,0.00,2.22,0.00,0.000,260,0.000,0.047,2227,3375,2478,2558,2398,0,0,0,0,0,0,26.71,26.06,26.77
$GC,11939,0.82,101.9,2226,3375,2557,2398,853.5,8.2,613,11947,0.08,2.17,0.00,0.000,3078,0.051,0.028,2303,1957,2478,2558,2398,0,0,0,0,0,0,26.20,26.31,26.25
$GC,12315,0.82,101.9,2302,1956,2557,2398,816.6,10.1,625,12317,0.15,0.00,0.00,0.000,4102,0.151,0.000,2263,1956,2478,2559,2398,0,0,0,0,0,0,26.16,26.29,26.24
$GC,12674,0.83,101.9,2263,1956,2556,2398,785.2,8.8,635,12675,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1956,2477,2557,2397,0,0,0,0,0,0,26.76,26.84,26.82
$GC,13034,0.83,101.9,2263,1955,2556,2397,753.5,8.8,645,13040,0.00,2.28,0.00,0.000,260,0.000,0.047,2263,3366,2476,2556,2397,0,0,0,0,0,0,26.78,26.06,26.84
$GC,13093,0.83,101.9,2263,3366,2557,2397,747.7,9.3,655,13100,0.00,2.17,0.00,0.000,1030,0.000,0.029,2267,1963,2476,2556,2397,0,0,0,0,0,0,26.34,26.32,26.37
$GC,13467,0.84,101.9,2267,1963,2556,2397,715.7,8.5,667,13473,0.00,2.17,0.00,0.000,516,0.000,0.040,2275,560,2476,2555,2397,0,0,0,0,0,0,26.79,26.12,26.84
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$GC,18898,0.93,116.6,2300,1952,2555,2396,237.5,6.1,925,18915,0.00,0.00,15.27,0.471,8198,0.000,0.000,2301,1952,2421,2506,2336,0,0,0,0,0,0,26.80,25.30,24.50
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$STATE,22669,end climb,SURFACE_DEPTH_REACHED
$STATE,22669,begin surface coast
$FINISH,-0.6,1.021052
$STATE,22718,end surface coast,CONTROL_FINISHED_OK
$STATE,22718,begin surface
$SM_CCo,22735,233.35,0.300,1,0,504,587.25
$SM_GC,0.11,5.75,0.57,233.35,0.030,0.044,0.300,170,2309,504,-5.66,-1.05,587.25,0,0,0,0,1,0,26.32,26.22,24.80
$IRIDIUM_FIX,532.65,8027.27,310116,003252
$TT8_MAMPS,0.050932,0.050932
$HUMID,44.80
$INTERNAL_PRESSURE,9.49601
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,3890656
$24V_AH,23.47,51.131
$10V_AH,9.90,31.097
$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,14.575,137.425,352.800,233.350,0.000,0.000,0.000,225.850,0.000,0.000,44.135,0.000,19378.812,1020.677,2501.944,479.360,0.000,2082.217,0.000,1824.501,0.000,0.541,0.000
$DEVICE_MAMPS,195.075,1173.510,978.435,299.880,0.000,0.000,0.000,125.460,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22747.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.562,0.000,0.000,0.000
$MEM,260804
$DATA_FILE_SIZE,43401,1232
$CAP_FILE_SIZE,204767,0
$CFSIZE,260034560,218877952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,21005.09,0x234070,1,24
$CURRENT,0.057,281.25,1
$GPS,310116,134135,537.199,8027.982,31,1.0,31,-2.8,0.0,0.0,10,7.5