version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 68
start: 6 11 115 19 32 29
data:
$ID,574
$MISSION,20
$DIVE,68
$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,333
$T_MISSION,343
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53162
$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,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2367033.2
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3888
$C_PITCH,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3880
$ROLL_DEG,40
$C_ROLL_DIVE,2124
$C_ROLL_CLIMB,2097
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,2322
$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,8.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-47.130039
$PRESSURE_SLOPE,0.0001171049
$AD7714Ch0Gain,128
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,10
$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
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,134
$DEVICE3,147
$DEVICE4,165
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043017557
$SEABIRD_T_H,0.00062339538
$SEABIRD_T_I,2.3377639e-05
$SEABIRD_T_J,2.5612862e-06
$SEABIRD_C_G,-9.9136524
$SEABIRD_C_H,1.1456692
$SEABIRD_C_I,-0.00078246131
$SEABIRD_C_J,0.00012677554
$GPS1,020816,090032,-4652.013,436.606,36,0.9,40,-23.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-78.9
$GPS2,020816,091442,-4652.053,436.854,4,0.9,4,-23.5
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,TARGET
$TGT_LATLONG,-4700.000,340.000
$TGT_RADIUS,500.000
$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,304.1,73302,-16.4,-10.010,-19.35,2733
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.50,-107.1,129,2108,1376,1229,0.0,0.0,0,56,0.00,0.00,-39.22,0.000,16386,0.000,0.000,129,2108,2265,2249,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.50,-107.1,129,2108,2254,2275,3.0,-1.0,7,94,10.80,2.40,-15.80,0.000,18692,0.256,0.078,2665,3526,2760,2768,2752,0,0,0,0,0,0,25.37,25.57,25.89
$GC,167,-0.50,-107.1,2665,3526,2769,2752,16.2,-16.6,27,173,0.00,2.28,0.00,0.000,1030,0.000,0.054,2670,2130,2761,2770,2752,0,0,0,0,0,0,28.83,25.66,28.83
$GC,214,-0.50,-107.1,1768,2125,2742,2747,24.4,-17.4,36,220,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2127,2761,2772,2751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,341,-0.50,-107.1,2671,2127,2772,2751,47.5,-18.7,61,348,0.00,2.30,0.00,0.000,260,0.000,0.065,2662,3529,2761,2772,2751,0,0,0,0,0,0,28.83,25.77,28.83
$GC,379,-0.50,-107.1,2662,3529,2771,2751,54.6,-17.8,68,386,0.00,2.28,0.00,0.000,1030,0.000,0.054,2665,2123,2761,2772,2751,0,0,0,0,0,0,28.83,25.80,28.83
$GC,693,-0.50,-107.1,2664,2120,2773,2751,114.1,-18.5,123,702,0.00,2.30,0.00,0.000,260,0.000,0.065,2656,3530,2762,2773,2751,0,0,0,0,0,0,28.83,25.94,28.83
$GC,753,-0.50,-107.1,2656,3531,2773,2751,124.4,-16.2,129,758,0.00,2.28,0.00,0.000,1030,0.000,0.057,2657,2121,2762,2773,2751,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1059,-0.50,-107.1,2657,2118,2773,2751,181.0,-18.4,159,1068,0.00,2.30,0.00,0.000,260,0.000,0.065,2649,3530,2762,2774,2751,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1132,-0.50,-107.1,1800,3528,2746,2747,192.9,-15.8,166,1141,0.10,2.30,0.00,0.000,3078,0.171,0.058,2677,2135,2762,2773,2751,0,0,0,0,0,0,25.96,26.06,28.83
$GC,1439,-0.50,-107.1,2677,2132,2774,2751,236.1,-12.7,197,1443,0.00,2.28,0.00,0.000,260,0.000,0.067,2669,3535,2762,2775,2750,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1478,-0.50,-107.1,2668,3535,2774,2751,240.6,-12.8,200,1485,0.00,2.33,0.00,0.000,1030,0.000,0.060,2669,2124,2762,2774,2751,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1785,-0.50,-107.1,2668,2121,2775,2751,281.1,-13.1,231,1789,0.00,2.30,0.00,0.000,260,0.000,0.067,2659,3531,2762,2774,2751,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1833,-0.50,-107.1,1856,3530,2749,2746,286.9,-12.6,235,1841,0.00,2.33,0.00,0.000,1030,0.000,0.060,2658,2120,2762,2775,2750,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2141,-0.50,-107.1,2658,2116,2775,2750,328.2,-13.7,266,2145,0.00,2.30,0.00,0.000,260,0.000,0.067,2648,3540,2762,2775,2750,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2177,-0.50,-107.1,2648,3540,2775,2750,333.0,-13.4,269,2182,0.15,2.30,0.00,0.000,3078,0.214,0.061,2683,2119,2762,2775,2749,0,0,0,0,0,0,26.10,26.21,28.83
$GC,2482,-0.50,-107.1,2683,2117,2775,2748,366.9,-10.8,299,2486,0.00,2.30,0.00,0.000,260,0.000,0.068,2674,3530,2762,2775,2749,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2511,-0.50,-107.1,2674,3530,2775,2748,369.8,-11.2,301,2519,0.00,2.33,0.00,0.000,1030,0.000,0.062,2675,2121,2761,2775,2748,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2829,-0.50,-107.1,2674,2117,2776,2748,408.4,-12.1,330,2835,0.00,2.30,0.00,0.000,260,0.000,0.070,2664,3545,2762,2776,2748,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2888,-0.50,-107.1,2663,3545,2775,2748,415.5,-11.9,333,2892,0.00,2.30,0.00,0.000,1030,0.000,0.063,2664,2117,2761,2775,2748,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3205,-0.50,-107.1,2664,2114,2775,2747,458.2,-13.7,349,3211,0.00,2.30,0.00,0.000,260,0.000,0.070,2654,3529,2761,2775,2748,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3286,-0.50,-107.1,2653,3530,2775,2747,468.6,-12.9,353,3291,0.12,2.33,0.00,0.000,3078,0.181,0.063,2681,2121,2761,2775,2747,0,0,0,0,0,0,26.20,26.29,28.83
$GC,3604,-0.50,-107.1,2681,2117,2775,2747,508.3,-12.5,369,3608,0.00,2.30,0.00,0.000,260,0.000,0.071,2672,3539,2761,2775,2747,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3627,-0.50,-107.1,2672,3539,2775,2746,510.1,-12.4,370,3631,0.00,2.33,0.00,0.000,1030,0.000,0.065,2673,2125,2760,2775,2746,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3939,-0.50,-107.1,2673,2121,2775,2746,552.4,-13.5,386,3943,0.00,2.30,0.00,0.000,260,0.000,0.073,2662,3535,2760,2775,2746,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3983,-0.50,-107.1,2662,3535,2775,2746,557.0,-13.1,388,3987,0.00,2.35,0.00,0.000,1030,0.000,0.067,2662,2119,2760,2775,2746,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4295,-0.50,-107.1,2663,2117,2775,2746,602.2,-14.1,404,4299,0.00,2.30,0.00,0.000,260,0.000,0.073,2652,3529,2760,2775,2746,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4339,-0.50,-107.1,2651,3529,2775,2746,607.2,-14.2,406,4344,0.12,2.33,0.00,0.000,3078,0.179,0.067,2680,2122,2760,2775,2746,0,0,0,0,0,0,26.25,26.34,28.83
$GC,4651,-0.50,-107.1,2680,2120,2775,2745,645.3,-11.5,422,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2119,2760,2775,2745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4951,-0.50,-107.1,2680,2120,2775,2745,679.6,-11.6,437,4955,0.00,2.30,0.00,0.000,260,0.000,0.075,2671,3528,2760,2775,2745,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4975,-0.50,-107.1,2671,3528,2775,2744,681.5,-11.6,438,4979,0.00,2.33,0.00,0.000,1030,0.000,0.069,2671,2124,2760,2775,2745,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5287,-0.50,-107.1,2671,2121,2775,2745,719.1,-11.5,454,5291,0.00,2.30,0.00,0.000,260,0.000,0.076,2661,3528,2759,2775,2744,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5325,-0.50,-107.1,2661,3528,2775,2744,723.2,-11.2,456,5330,0.00,2.33,0.00,0.000,1030,0.000,0.070,2661,2128,2759,2775,2744,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5644,-0.50,-107.1,2661,2125,2775,2744,760.9,-11.8,472,5650,0.00,2.30,0.00,0.000,260,0.000,0.080,2650,3526,2759,2775,2744,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5672,-0.50,-107.1,2650,3527,2774,2744,763.3,-11.8,473,5677,0.12,2.30,0.00,0.000,3078,0.174,0.072,2679,2120,2758,2774,2743,0,0,0,0,0,0,26.29,26.36,28.83
$GC,5977,-0.50,-107.1,2679,2117,2775,2744,795.5,-10.2,488,5982,0.00,2.33,0.00,0.000,260,0.000,0.077,2671,3539,2759,2774,2744,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6021,-0.50,-107.1,2670,3539,2774,2744,799.1,-10.1,490,6025,0.00,2.35,0.00,0.000,1030,0.000,0.073,2670,2125,2758,2774,2743,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6333,-0.50,-107.1,2670,2122,2774,2743,833.8,-11.3,506,6337,0.00,2.30,0.00,0.000,260,0.000,0.079,2660,3526,2758,2774,2743,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6349,-0.50,-107.1,2660,3526,2774,2743,835.6,-11.3,507,6355,0.00,2.30,0.00,0.000,1030,0.000,0.073,2660,2120,2758,2773,2743,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6669,-0.50,-107.1,2660,2117,2774,2743,875.8,-12.8,523,6675,0.00,2.30,0.00,0.000,516,0.000,0.073,2660,711,2758,2774,2743,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6691,-0.50,-107.1,1824,711,2749,2739,878.4,-13.0,524,6697,0.10,2.33,0.00,0.000,3078,0.179,0.065,2679,2115,2759,2775,2743,0,0,0,0,0,0,26.29,26.39,28.83
$GC,7009,-0.50,-107.1,2678,2115,2775,2743,913.1,-10.5,540,7013,0.00,2.33,0.00,0.000,260,0.000,0.076,2669,3546,2758,2774,2742,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7058,-0.50,-107.1,2669,3546,2774,2743,916.9,-10.5,542,7066,0.00,2.35,0.00,0.000,1030,0.000,0.070,2669,2101,2758,2774,2743,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7365,-0.50,-107.1,2669,2098,2774,2742,953.1,-11.3,558,7369,0.00,2.38,0.00,0.000,260,0.000,0.078,2659,3545,2758,2774,2742,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7383,-0.50,-107.1,1844,3543,2748,2738,955.1,-11.4,559,7388,0.00,2.38,0.00,0.000,1030,0.000,0.072,2659,2120,2758,2774,2742,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7701,-0.50,-107.1,2658,2117,2774,2742,992.7,-11.6,575,7707,0.00,2.33,0.00,0.000,260,0.000,0.078,2648,3536,2758,2774,2742,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7744,-0.50,-107.1,2648,3536,2773,2742,997.6,-11.8,577,7748,0.12,2.33,0.00,0.000,3078,0.177,0.073,2677,2119,2758,2774,2743,0,0,0,0,0,0,26.32,26.39,28.83
$STATE,7780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7780,begin apogee
$GC,7783,-0.11,0.0,2677,2117,2774,2742,1002.0,-11.6,579,7875,0.43,0.00,88.85,1.326,10246,0.153,0.000,2801,2116,2321,2362,2281,0,0,0,0,0,0,26.32,28.83,23.70
$STATE,7876,end apogee,CONTROL_FINISHED_OK
$STATE,7876,begin climb
$GC,7878,0.50,107.1,2802,2116,2362,2281,1004.7,0.0,583,7981,0.60,0.00,95.93,1.295,10758,0.088,0.000,2997,2116,1886,1959,1813,0,0,0,0,0,0,24.57,28.83,23.34
$GC,8280,0.50,107.1,2997,2115,1949,1806,947.7,16.1,604,8285,0.00,2.38,0.00,0.000,516,0.000,0.052,3007,671,1877,1949,1806,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8337,0.50,107.1,3007,670,1943,1806,938.8,16.0,607,8343,0.00,2.35,0.00,0.000,1030,0.000,0.047,3008,2109,1874,1943,1806,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8657,0.50,107.1,3007,2110,1943,1806,885.7,16.4,623,8663,0.00,2.33,0.00,0.000,516,0.000,0.051,3018,675,1874,1943,1806,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8699,0.50,107.1,3018,675,1939,1806,878.9,16.6,625,8704,0.00,2.35,0.00,0.000,1030,0.000,0.047,3018,2102,1872,1940,1805,0,0,0,0,0,0,28.83,25.78,28.83
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$GC,10174,0.50,107.1,2200,682,1908,1802,609.8,17.7,699,10179,0.00,2.30,0.00,0.000,1030,0.000,0.046,3021,2103,1869,1933,1805,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,14299,end climb,SURFACE_DEPTH_REACHED
$STATE,14299,begin surface coast
$FINISH,1.4,1.003382
$STATE,14320,end surface coast,CONTROL_FINISHED_OK
$STATE,14320,begin surface
$SM_CCo,14334,39.08,0.058,0,0,1505,200.16
$SM_GC,2.74,7.68,0.00,39.08,0.046,0.000,0.058,128,2099,1505,-8.42,-0.68,200.16,0,0,0,0,0,0,26.41,28.83,26.35
$IRIDIUM_FIX,-4632.36,434.06,290509,222230
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.49
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.3,10.464
$10V_AH,10.3,8.640
$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,21.025,174.300,184.775,39.075,0.000,104.006,110.649,388.447,0.000,0.000,7.974,2961.786,9094.434,428.758,2662.386,100.661,0.000,1514.644,0.000,1967.716,0.000,0.989,0.000
$DEVICE_MAMPS,255.510,79.560,1325.745,58.140,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,768.146,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353408
$DATA_FILE_SIZE,67098,1112
$CAP_FILE_SIZE,163659,0
$CFSIZE,2097086464,2085486592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.229,107.5,1
$GPS,020816,131633,-4651.982,436.946,59,1.2,59,-23.5