version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 213
start: 1 14 116 23 0 1
data:
$ID,542
$MISSION,12
$DIVE,213
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,5
$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,340
$T_MISSION,355
$T_ABORT,720
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53125
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,230
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,3
$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,-29917.211
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3947
$C_PITCH,2570
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,182
$ROLL_MAX,3808
$ROLL_DEG,40
$C_ROLL_DIVE,1995
$C_ROLL_CLIMB,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2909
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8.1999998
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.38863
$PRESSURE_SLOPE,0.00013904
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,20
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,166
$DEVICE3,115
$DEVICE4,133
$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
$SIM_PITCH,0
$SEABIRD_T_G,0.0042912085
$SEABIRD_T_H,0.00061951543
$SEABIRD_T_I,2.2019161e-05
$SEABIRD_T_J,2.2998063e-06
$SEABIRD_C_G,-9.7531137
$SEABIRD_C_H,1.1333146
$SEABIRD_C_I,-0.00071571622
$SEABIRD_C_J,0.00011341914
$GPS1,140116,225333,-4304.098,829.328,78,0.9,78,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-75.3
$GPS2,140116,225934,-4304.087,829.367,21,1.1,21,-25.0
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT1
$TGT_LATLONG,-4304.000,824.000
$TGT_RADIUS,1000.000
$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,267.2,7264,-17.9,-9.804,-20.77,2280
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.68,-146.0,167,2008,1964,1922,0.0,0.0,0,65,0.00,0.00,-47.75,0.000,16386,0.000,0.000,167,2008,3266,3340,3192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.68,-146.0,167,2008,3340,3193,3.5,-6.2,6,87,8.40,2.30,-4.82,0.000,18692,0.220,0.067,2335,3408,3507,3565,3450,0,0,0,0,0,0,25.30,25.79,26.28
$GC,144,-0.68,-146.0,2335,3408,3565,3453,23.7,-15.6,17,153,0.00,2.30,0.00,0.000,1030,0.000,0.051,2335,1994,3509,3565,3453,0,0,0,0,0,0,28.83,25.75,28.83
$GC,295,-0.68,-146.0,2335,1992,3566,3453,48.6,-16.5,42,302,0.00,2.30,0.00,0.000,516,0.000,0.064,2335,584,3509,3566,3453,0,0,0,0,0,0,28.83,25.71,28.83
$GC,354,-0.68,-146.0,2335,584,3565,3454,58.7,-16.8,52,363,0.00,2.28,0.00,0.000,1030,0.000,0.054,2325,1984,3509,3565,3454,0,0,0,0,0,0,28.83,25.80,28.83
$GC,689,-0.68,-146.0,2325,1985,3566,3455,117.0,-16.8,104,699,0.00,2.25,0.00,0.000,516,0.000,0.062,2326,585,3510,3565,3455,0,0,0,0,0,0,28.83,25.79,28.83
$GC,712,-0.68,-146.0,2325,585,3566,3455,120.8,-17.1,106,721,0.12,2.25,0.00,0.000,3078,0.168,0.053,2345,2004,3510,3565,3455,0,0,0,0,0,0,25.67,25.87,28.83
$GC,1022,-0.68,-146.0,2345,2005,3567,3455,162.3,-13.2,137,1031,0.00,2.28,0.00,0.000,516,0.000,0.063,2346,585,3511,3567,3455,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1065,-0.68,-146.0,2346,585,3567,3456,168.1,-13.6,141,1074,0.00,2.22,0.00,0.000,1030,0.000,0.053,2337,1996,3511,3567,3455,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1375,-0.68,-146.0,2337,1996,3567,3456,209.9,-12.8,172,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1997,3511,3566,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1674,-0.68,-146.0,2337,1996,3567,3455,248.2,-13.0,202,1678,0.00,2.28,0.00,0.000,516,0.000,0.063,2337,585,3511,3567,3456,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1721,-0.68,-146.0,2337,585,3567,3456,254.4,-13.1,206,1725,0.00,2.22,0.00,0.000,1030,0.000,0.054,2327,1996,3511,3567,3456,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2027,-0.68,-146.0,2327,1996,3567,3456,297.3,-14.5,236,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1996,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2326,-0.68,-146.0,2327,1996,3567,3457,341.9,-15.2,266,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1996,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2627,-0.68,-146.0,2327,1996,3567,3456,388.6,-16.1,296,2637,0.00,2.28,0.00,0.000,516,0.000,0.065,2327,585,3511,3567,3456,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2683,-0.68,-146.0,2327,585,3567,3456,397.1,-16.0,301,2690,0.12,2.25,0.00,0.000,3078,0.161,0.054,2348,1998,3511,3567,3456,0,0,0,0,0,0,25.82,26.01,28.83
$GC,2990,-0.68,-146.0,2348,1998,3567,3456,437.4,-12.9,318,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1998,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3291,-0.68,-146.0,2348,1998,3567,3457,475.5,-12.6,333,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1998,3512,3567,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3591,-0.68,-146.0,2348,1998,3567,3456,514.1,-12.8,348,3596,0.00,2.28,0.00,0.000,516,0.000,0.067,2348,586,3511,3567,3456,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3617,-0.68,-146.0,2348,586,3567,3456,516.8,-12.8,349,3621,0.00,2.25,0.00,0.000,1030,0.000,0.056,2341,1998,3511,3567,3456,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3930,-0.68,-146.0,2340,1999,3567,3456,558.9,-13.1,365,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1999,3511,3566,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4232,-0.68,-146.0,2340,1999,3567,3456,597.4,-13.0,380,4237,0.00,2.28,0.00,0.000,516,0.000,0.067,2340,586,3512,3567,3457,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4259,-0.68,-146.0,2340,587,3566,3456,600.1,-13.2,381,4263,0.00,2.25,0.00,0.000,1030,0.000,0.057,2331,1994,3511,3567,3456,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4567,-0.68,-146.0,2330,1994,3567,3456,644.3,-14.2,396,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1995,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4868,-0.68,-146.0,2330,1995,3567,3456,685.1,-12.8,411,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1994,3511,3567,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5167,-0.68,-146.0,2331,1995,3566,3456,722.8,-12.6,426,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1994,3511,3566,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5467,-0.68,-146.0,2331,1994,3565,3456,759.5,-12.1,441,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1994,3510,3565,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5768,-0.68,-146.0,2331,1994,3565,3456,797.1,-12.8,456,5769,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1994,3510,3565,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6067,-0.68,-146.0,2330,1995,3564,3456,834.5,-12.3,471,6069,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1995,3510,3564,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6368,-0.68,-146.0,2330,1994,3563,3456,870.2,-11.7,486,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1995,3509,3563,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6667,-0.68,-146.0,2331,1995,3562,3456,904.2,-11.3,501,6673,0.00,2.30,0.00,0.000,516,0.000,0.070,2331,580,3509,3563,3456,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6708,-0.68,-146.0,2330,580,3563,3456,909.0,-11.5,503,6714,0.12,2.28,0.00,0.000,3078,0.162,0.059,2352,1997,3509,3562,3456,0,0,0,0,0,0,25.77,25.95,28.83
$GC,7028,-0.68,-146.0,2351,1997,3563,3456,940.1,-10.0,519,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1997,3509,3563,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7329,-0.68,-146.0,2351,1997,3563,3456,972.3,-10.8,534,7330,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,1997,3509,3562,3456,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7587,begin apogee
$GC,7592,-0.14,0.0,2352,1861,3562,3456,1000.4,-10.9,547,7729,0.52,0.00,134.10,1.749,10246,0.120,0.000,2520,1861,2908,2981,2836,0,0,0,0,0,0,25.68,28.83,22.78
$STATE,7730,end apogee,CONTROL_FINISHED_OK
$STATE,7730,begin climb
$GC,7732,0.68,146.0,2520,1861,2981,2837,1008.1,0.0,554,7883,0.75,2.60,142.05,1.718,10500,0.049,0.063,2800,3282,2314,2374,2255,0,0,0,0,0,0,23.99,23.34,22.27
$GC,7965,0.68,146.0,2800,3282,2370,2249,997.7,13.5,565,7971,0.00,2.42,0.00,0.000,1030,0.000,0.056,2810,1874,2309,2370,2249,0,0,0,0,0,0,28.83,24.32,28.83
$GC,8285,0.68,146.0,2810,1874,2369,2244,949.8,14.9,581,8291,0.00,2.35,0.00,0.000,260,0.000,0.063,2810,3286,2306,2369,2244,0,0,0,0,0,0,28.83,25.30,28.83
$GC,8318,0.68,146.0,2809,3286,2368,2244,946.8,14.8,582,8326,0.12,2.35,0.00,0.000,5126,0.219,0.056,2796,1865,2306,2369,2244,0,0,0,0,0,0,25.06,25.36,28.83
$GC,8625,0.68,146.0,2794,1865,2368,2242,900.0,14.6,598,8631,0.00,2.33,0.00,0.000,260,0.000,0.063,2794,3285,2305,2368,2242,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8648,0.68,146.0,2794,3285,2368,2242,897.1,14.6,599,8652,0.00,2.30,0.00,0.000,1030,0.000,0.056,2802,1867,2305,2368,2242,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8960,0.68,146.0,2802,1866,2368,2241,850.7,14.8,615,8961,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1867,2304,2368,2241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9260,0.68,146.0,2802,1866,2367,2240,805.7,15.3,630,9266,0.00,2.30,0.00,0.000,260,0.000,0.063,2803,3286,2303,2367,2240,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9325,0.68,146.0,2802,3286,2366,2240,796.0,15.9,633,9329,0.00,2.28,0.00,0.000,1030,0.000,0.055,2813,1869,2303,2366,2240,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9636,0.68,146.0,2813,1869,2366,2239,746.8,15.8,649,9642,0.00,2.30,0.00,0.000,260,0.000,0.062,2813,3294,2302,2366,2239,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9769,0.68,146.0,2813,3294,2366,2239,726.8,16.6,655,9778,0.15,2.30,0.00,0.000,5126,0.214,0.055,2790,1861,2302,2366,2239,0,0,0,0,0,0,25.53,25.93,28.83
$GC,10076,0.68,146.0,2791,1861,2366,2238,682.2,13.9,671,10082,0.00,2.30,0.00,0.000,260,0.000,0.063,2781,3287,2302,2366,2238,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10104,0.68,146.0,2781,3287,2366,2238,679.4,13.9,672,10108,0.00,2.28,0.00,0.000,1030,0.000,0.054,2790,1864,2302,2366,2238,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10416,0.68,146.0,2790,1864,2366,2238,637.0,13.0,688,10422,0.00,2.30,0.00,0.000,260,0.000,0.063,2790,3291,2302,2366,2238,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10504,0.68,146.0,2789,3291,2366,2238,625.9,13.9,692,10508,0.00,2.28,0.00,0.000,1030,0.000,0.055,2800,1864,2302,2366,2238,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10811,0.68,146.0,2799,1864,2365,2237,583.5,13.2,707,10816,0.00,2.30,0.00,0.000,516,0.000,0.071,2811,460,2301,2365,2237,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10875,0.68,146.0,1864,459,2321,2231,575.0,14.0,710,10879,0.00,2.25,0.00,0.000,1030,0.000,0.057,2811,1874,2301,2365,2237,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11186,0.68,146.0,2811,1874,2365,2237,530.7,14.1,726,11192,0.00,2.28,0.00,0.000,260,0.000,0.064,2811,3288,2301,2365,2237,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11228,0.68,146.0,1928,3287,2325,2232,524.6,14.6,728,11233,0.12,2.30,0.00,0.000,5126,0.216,0.054,2796,1873,2300,2364,2237,0,0,0,0,0,0,25.67,26.00,28.83
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$GC,12822,0.68,146.0,2813,1869,2363,2237,323.0,12.0,837,12831,0.00,2.25,0.00,0.000,260,0.000,0.063,2814,3282,2300,2363,2237,0,0,0,0,0,0,28.83,25.98,28.83
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$STATE,15806,end climb,SURFACE_DEPTH_REACHED
$STATE,15806,begin surface coast
$FINISH,-0.1,1.014275
$STATE,15839,end surface coast,CONTROL_FINISHED_OK
$STATE,15839,begin surface
$SM_CCo,15854,27.45,0.155,0,0,1967,230.09
$SM_GC,3.79,7.00,0.20,27.45,0.052,0.083,0.155,173,1996,1967,-7.40,-0.85,230.09,0,0,0,0,0,0,26.17,26.20,25.69
$IRIDIUM_FIX,-4244.98,831.55,101108,070702
$TT8_MAMPS,0.021721,0.021721
$HUMID,52.52
$INTERNAL_PRESSURE,9.03322
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.3,37.329
$10V_AH,10.0,29.889
$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
$DEVICE_SECS,17.750,128.525,282.225,27.450,0.000,25.392,20.791,191.823,49.250,0.000,22.781,3205.840,9437.678,445.123,2949.987,200.279,0.000,1593.361,0.000,2471.777,0.000,300.661,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,848.724,81.847,734.456,1826.206,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352724
$DATA_FILE_SIZE,76935,1208
$CAP_FILE_SIZE,169840,0
$CFSIZE,259248128,241381376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.200, 35.9,1
$GPS,150116,032604,-4303.738,828.335,45,0.8,45,-25.0