version: 66.13
glider: 220
mission: 6
dive: 481
start: 12 28 116 22 7 40
data:
$ID,220
$MISSION,6
$DIVE,481
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,800
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,120
$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,345
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54354
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0024999999
$HD_B,0.014
$HD_C,1.6e-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,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$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,10
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3888
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.025
$PITCH_ADJ_DBAND,3
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2765
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-168.7365
$PRESSURE_SLOPE,0.0001077811
$AD7714Ch0Gain,1
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044037569
$SEABIRD_T_H,0.00063615869
$SEABIRD_T_I,2.4815216e-05
$SEABIRD_T_J,2.9729028e-06
$SEABIRD_C_G,-9.8086529
$SEABIRD_C_H,1.075657
$SEABIRD_C_I,-0.0023452051
$SEABIRD_C_J,0.00023101401
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,281216,215502,957.8357,-12516.8994,25,0.7,25,9.0,0.7,336.7,12,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.41
$_SM_ANGLEo,-66.2
$GPS2,281216,220719,957.9666,-12516.8389,3,0.7,3,9.0,0.7,41.8,12,8.8
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,132.0,44078,-17.5,-7.729,-24.20,2052
$D_GRID,800
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-0.93,-107.1,105,2777,527,419,0.0,0.0,0,120,0.00,0.00,-103.45,0.000,16390,0.000,0.000,105,2775,3478,3464,3493,0,0,0,0,0,0,14.66,12.51,14.66
$GC,124,-0.93,-107.1,106,2775,3464,3495,-0.0,-2.2,3,142,12.07,2.42,0.00,0.000,2564,0.386,0.035,2592,1344,3480,3467,3493,0,0,0,0,0,0,13.93,14.41,14.32
$GC,157,-0.02,-107.1,2593,1343,3470,3494,21.5,-48.1,8,162,1.15,2.60,0.00,0.000,3206,0.240,0.076,2886,2771,3481,3470,3492,0,0,0,0,0,0,14.06,14.23,14.35
$GC,493,-0.50,-107.1,2889,2771,3473,3492,44.6,-6.7,23,499,0.40,1.98,0.00,0.000,4516,0.096,0.113,2741,3830,3482,3472,3492,0,0,0,0,0,0,14.40,14.31,14.48
$GC,527,-0.78,-107.1,2741,3830,3473,3490,47.4,-8.1,28,533,0.20,1.88,0.00,0.000,5254,0.053,0.045,2628,2737,3481,3472,3491,0,0,0,0,0,0,14.51,14.53,14.54
$GC,857,-0.78,-107.1,2629,2738,3475,3491,81.2,-9.1,42,862,0.00,2.05,0.00,0.000,260,0.000,0.108,2620,3831,3482,3474,3491,0,0,0,0,0,0,14.86,14.35,14.86
$GC,885,-0.78,-107.1,2620,3832,3474,3492,83.3,-7.5,46,890,0.00,1.77,0.00,0.000,1062,0.000,0.040,2619,2730,3482,3474,3491,0,0,0,0,0,0,14.66,14.61,14.67
$GC,1221,-0.78,-107.1,2619,2736,3473,3491,110.9,-9.3,59,1226,0.00,2.05,0.00,0.000,260,0.000,0.109,2611,3823,3482,3474,3491,0,0,0,0,0,0,14.89,14.38,14.89
$GC,1255,-0.78,-107.1,2611,3826,3475,3490,116.4,-15.9,64,1261,0.10,1.75,0.00,0.000,3078,0.205,0.041,2642,2784,3482,3474,3491,0,0,0,0,0,0,14.31,14.62,14.42
$GC,1613,-0.78,-107.1,2642,2785,3475,3488,146.0,-8.5,73,1619,0.00,2.40,0.00,0.000,516,0.000,0.041,2642,1370,3480,3474,3487,0,0,0,0,0,0,14.92,14.54,14.92
$GC,1654,-0.78,-107.1,2650,1370,3475,3487,150.0,-9.2,79,1660,0.00,2.53,0.00,0.000,1030,0.000,0.067,2632,2763,3480,3474,3487,0,0,0,0,0,0,14.50,14.40,14.54
$GC,2005,-0.78,-107.1,2633,2765,3475,3483,186.5,-10.5,87,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2764,3479,3474,3484,0,0,0,0,0,0,14.93,14.92,14.93
$GC,2341,-0.78,-107.1,2633,2765,3475,3480,218.1,-9.3,93,2347,0.00,2.00,0.00,0.000,260,0.000,0.116,2624,3828,3475,3471,3480,0,0,0,0,0,0,14.91,14.34,14.91
$GC,2397,-0.78,-107.1,2624,3830,3475,3479,223.5,-9.6,101,2403,0.00,1.80,0.00,0.000,1030,0.000,0.043,2623,2741,3476,3474,3479,0,0,0,0,0,0,14.69,14.66,14.70
$GC,2733,-0.78,-107.1,2623,2742,3475,3477,255.3,-9.4,114,2738,0.00,2.33,0.00,0.000,516,0.000,0.043,2623,1384,3474,3473,3475,0,0,0,0,0,0,14.91,14.50,14.91
$GC,2767,-0.78,-107.1,2623,1384,3475,3475,258.7,-9.7,119,2773,0.10,2.47,0.00,0.000,3078,0.207,0.067,2644,2754,3474,3474,3474,0,0,0,0,0,0,14.23,14.39,14.40
$GC,3125,-0.78,-107.1,2645,2754,3475,3471,289.4,-8.6,128,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2754,3472,3474,3470,0,0,0,0,0,0,14.93,14.93,14.93
$GC,3461,-0.78,-107.1,2643,2755,3475,3467,317.5,-8.3,134,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2754,3470,3474,3467,0,0,0,0,0,0,14.93,14.93,14.93
$GC,3797,-0.78,-107.1,2644,2754,3474,3464,345.9,-8.5,140,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2754,3468,3473,3463,0,0,0,0,0,0,14.93,14.93,14.93
$GC,4133,-0.78,-107.1,2644,2755,3475,3460,374.3,-8.4,146,4138,0.00,2.03,0.00,0.000,260,0.000,0.116,2636,3822,3466,3473,3460,0,0,0,0,0,0,14.93,14.26,14.93
$GC,4202,-0.78,-107.1,2636,3824,3475,3459,380.4,-8.7,156,4208,0.00,1.83,0.00,0.000,1030,0.000,0.047,2634,2770,3466,3474,3459,0,0,0,0,0,0,14.60,14.57,14.62
$GC,4525,-0.78,-107.1,2636,2771,3474,3456,407.6,-8.5,167,4530,0.00,2.40,0.00,0.000,516,0.000,0.044,2635,1373,3464,3473,3456,0,0,0,0,0,0,14.90,14.50,14.91
$GC,4594,-0.78,-107.1,2635,1374,3474,3455,413.7,-8.7,177,4601,0.00,2.53,0.00,0.000,1030,0.000,0.068,2626,2755,3466,3478,3455,0,0,0,0,0,0,14.45,14.34,14.52
$GC,4917,-0.78,-107.1,2626,2756,3474,3449,444.3,-9.7,188,4922,0.00,2.00,0.00,0.000,260,0.000,0.116,2617,3822,3462,3473,3452,0,0,0,0,0,0,14.90,14.28,14.90
$GC,4944,-0.78,-107.1,2618,3822,3474,3454,447.1,-10.2,192,4950,0.00,1.85,0.00,0.000,1030,0.000,0.045,2617,2747,3463,3473,3453,0,0,0,0,0,0,14.60,14.57,14.62
$GC,5309,-0.78,-107.1,2617,2747,3474,3452,484.1,-10.2,202,5314,0.10,2.05,0.00,0.000,2308,0.243,0.113,2639,3827,3462,3474,3450,0,0,0,0,0,0,14.33,14.28,14.53
$GC,5343,-0.78,-107.1,2639,3828,3474,3449,487.4,-9.4,207,5349,0.00,1.85,0.00,0.000,1030,0.000,0.045,2638,2756,3461,3473,3449,0,0,0,0,0,0,14.57,14.54,14.59
$GC,5701,-0.78,-107.1,2639,2756,3474,3447,518.2,-8.5,216,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2756,3459,3473,3446,0,0,0,0,0,0,14.90,14.90,14.90
$GC,6037,-0.78,-107.1,2638,2756,3472,3445,545.0,-7.9,222,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2756,3458,3471,3445,0,0,0,0,0,0,14.90,14.90,14.92
$GC,6373,-0.78,-107.1,2638,2756,3471,3445,571.2,-7.9,228,6378,0.00,2.42,0.00,0.000,516,0.000,0.044,2637,1377,3457,3470,3445,0,0,0,0,0,0,14.92,14.45,14.92
$GC,6407,-0.78,-107.1,2638,1374,3471,3445,574.1,-8.3,233,6414,0.00,2.53,0.00,0.000,1030,0.000,0.067,2630,2756,3458,3471,3445,0,0,0,0,0,0,14.39,14.28,14.44
$GC,6765,-0.78,-107.1,2630,2757,3469,3444,605.2,-8.8,242,6770,0.00,2.03,0.00,0.000,260,0.000,0.115,2621,3831,3455,3467,3444,0,0,0,0,0,0,14.90,14.23,14.90
$GC,6821,-0.78,-107.1,2622,3832,3468,3444,610.6,-9.6,250,6826,0.00,1.88,0.00,0.000,1030,0.000,0.047,2619,2755,3455,3467,3444,0,0,0,0,0,0,14.52,14.49,14.54
$GC,7157,-0.78,-107.1,2621,2756,3466,3443,641.9,-9.3,263,7162,0.00,2.40,0.00,0.000,516,0.000,0.044,2621,1377,3454,3465,3443,0,0,0,0,0,0,14.89,14.42,14.89
$GC,7213,-0.78,-107.1,2621,1370,3465,3444,647.2,-9.4,271,7219,0.12,2.55,0.00,0.000,3078,0.227,0.067,2647,2769,3453,3464,3442,0,0,0,0,0,0,14.14,14.31,14.38
$GC,7549,-0.78,-107.1,2648,2770,3465,3442,675.1,-8.3,284,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2769,3452,3465,3440,0,0,0,0,0,0,14.91,14.90,14.91
$GC,7885,-0.78,-107.1,2648,2769,3464,3441,701.4,-7.8,290,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2769,3451,3463,3440,0,0,0,0,0,0,14.88,14.88,14.89
$GC,8221,-0.86,-107.1,2647,2769,3462,3440,725.0,-6.8,296,8222,0.00,0.00,0.00,0.000,166,0.000,0.000,2648,2769,3450,3462,3438,0,0,0,0,0,0,14.88,14.89,14.89
$GC,8557,-0.94,-107.1,2647,2770,3462,3437,745.9,-6.1,302,8563,0.10,2.47,0.00,0.000,4772,0.115,0.044,2574,1375,3449,3462,3437,0,0,0,0,0,0,14.54,14.40,14.56
$GC,8605,-0.94,-107.1,2574,1375,3463,3437,750.0,-8.7,309,8614,0.10,2.58,0.00,0.000,3078,0.223,0.069,2591,2760,3449,3461,3437,0,0,0,0,0,0,14.00,14.22,14.18
$GC,8949,-0.94,-107.1,2592,2757,3461,3437,779.3,-8.7,316,8950,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2760,3448,3460,3437,0,0,0,0,0,0,14.90,14.90,14.90
$STATE,9170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9170,begin apogee
$GC,9178,-0.23,0.0,2592,2223,3460,3437,800.1,-9.3,320,9286,0.80,0.10,96.38,2.446,10244,0.181,0.164,2824,2282,3053,3079,3027,0,0,0,0,1,0,14.05,13.86,12.60
$STATE,9287,end apogee,CONTROL_FINISHED_OK
$STATE,9287,begin climb
$GC,9291,0.93,107.1,2824,2284,3080,3033,803.6,0.0,322,9412,1.10,2.58,106.03,2.712,10756,0.086,0.056,3185,876,2622,2673,2572,0,0,0,0,1,0,13.98,14.00,12.42
$GC,9446,0.87,163.0,3186,882,2677,2589,802.5,4.9,345,9522,0.00,2.50,67.57,1.809,9382,0.000,0.050,3186,2241,2394,2465,2323,0,0,0,0,0,0,14.02,13.95,12.99
$GC,9849,0.76,163.0,3186,2243,2466,2307,767.4,9.4,367,9854,0.10,2.42,0.00,0.000,4740,0.248,0.057,3160,876,2384,2466,2303,0,0,0,0,0,0,14.20,14.36,14.35
$GC,9888,0.76,163.0,3162,877,2466,2301,763.8,8.4,373,9895,0.00,2.45,0.00,0.000,1030,0.000,0.054,3162,2250,2382,2464,2301,0,0,0,0,0,0,14.44,14.37,14.47
$GC,10239,0.76,163.0,3162,2251,2466,2300,734.1,8.5,381,10245,0.00,2.62,0.00,0.000,260,0.000,0.103,3162,3659,2382,2465,2299,0,0,0,0,0,0,14.82,14.33,14.82
$GC,10308,0.64,163.0,3161,3659,2464,2301,727.3,9.9,391,10314,0.22,2.45,0.00,0.000,5254,0.209,0.041,3095,2265,2382,2465,2300,0,0,0,0,0,0,14.17,14.48,14.45
$GC,10631,0.67,188.0,3096,2262,2466,2298,706.1,6.5,402,10664,0.00,2.67,25.55,1.838,8484,0.000,0.103,3095,3650,2293,2376,2210,0,0,0,0,0,0,14.85,14.33,13.35
$GC,10714,0.67,188.0,3095,3652,2376,2205,699.9,8.0,414,10720,0.00,2.47,0.00,0.000,1030,0.000,0.041,3105,2252,2292,2380,2204,0,0,0,0,0,0,14.45,14.41,14.47
$GC,11079,0.67,188.0,3105,2249,2376,2197,671.9,7.9,424,11084,0.00,2.65,0.00,0.000,260,0.000,0.101,3103,3652,2287,2376,2199,0,0,0,0,0,0,14.79,14.28,14.79
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$GC,19038,1.00,370.5,3214,2260,1966,1798,30.5,3.9,733,19085,0.00,2.65,40.28,0.262,8484,0.000,0.101,3215,3651,1573,1655,1492,0,0,0,0,0,0,14.81,14.23,14.06
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$STATE,19476,end climb,SURFACE_DEPTH_REACHED
$STATE,19476,begin surface coast
$FINISH,-1.6,1.021801
$STATE,19507,end surface coast,CONTROL_FINISHED_OK
$STATE,19507,begin surface
$SM_CCo,19529,39.80,0.157,0,0,1059,500.14
$SM_GC,-1.29,8.85,0.98,39.80,0.044,0.092,0.157,178,2757,1059,-8.40,-0.76,500.14,0,0,0,0,0,0,14.50,14.30,14.18
$IRIDIUM_FIX,953.88,-12514.95,281216,182057
$TT8_MAMPS,0.038199,0.438914
$HUMID,57.95
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.00
$XPDR_PINGS,0
$SC_FREEKB,3725056
$PM_FREEKB,54262272
$24V_AH,12.42,170.876
$10V_AH,12.50,0.000
$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,26.125,183.125,442.200,39.800,0.000,0.000,0.000,447.025,0.000,0.000,4.945,0.000,16663.482,783.986,2304.686,545.688,0.000,1937.341,0.000,1412.544,0.000,0.835,0.000
$DEVICE_MAMPS,386.325,163.710,2711.925,156.825,0.000,0.000,0.000,171.360,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19554.000,19519.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.589,2.434,0.000,0.000
$MEM,334868
$DATA_FILE_SIZE,26746,776
$CAP_FILE_SIZE,148032,0
$CFSIZE,1024409600,935280640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.030,105.95,1
$GPS,291216,033455,956.292,-12515.147,32,1.4,32,9.0,0.6,35.6,6,8.8