version: 66.11
glider: 615
mission: 5
dive: 325
start: 11 8 115 13 20 22
data:
$ID,615
$MISSION,5
$DIVE,325
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$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,360
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54445
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0035031899
$HD_B,0.0146577
$HD_C,4.3681601e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.2002
$TGT_DEFAULT_LON,-12224.4
$TGT_AUTO_DEFAULT,0
$SM_CC,700
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,-19722.307
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,191
$PITCH_MAX,3898
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,32
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,192
$ROLL_MAX,3824
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,510
$VBD_MAX,3960
$C_VBD,2873
$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,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,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-156.51088
$PRESSURE_SLOPE,0.00013730999
$AD7714Ch0Gain,32
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,166
$DEVICE3,147
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044134618
$SEABIRD_T_H,0.00064964173
$SEABIRD_T_I,2.6219326e-05
$SEABIRD_T_J,3.1475095e-06
$SEABIRD_C_G,-9.8766012
$SEABIRD_C_H,1.1351171
$SEABIRD_C_I,-0.0017266128
$SEABIRD_C_J,0.00019839592
$GPS1,081115,125833,1755.575,8933.855,87,1.0,87,-0.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-69.4
$GPS2,081115,131955,1755.601,8933.800,5,1.2,5,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NE
$TGT_LATLONG,1806.660,8933.540
$TGT_RADIUS,3000.000
$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,332.0,20486,-21.4,-9.167,-25.88,2022
$D_GRID,990
$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,-0.82,-126.5,135,2203,560,484,0.0,0.0,0,57,0.00,0.00,-38.97,0.000,16386,0.000,0.000,134,2204,1635,1635,1635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.82,-126.5,134,2204,1636,1635,3.5,-8.1,6,112,10.77,2.35,-34.67,0.000,18692,0.335,0.081,2665,3600,3390,3401,3379,0,0,0,0,0,0,14.16,14.57,14.82
$GC,164,-0.82,-126.5,1664,3599,3387,3377,38.7,-40.9,24,171,0.00,2.28,0.00,0.000,1030,0.000,0.038,2665,2201,3390,3401,3379,0,0,0,0,0,0,28.83,14.52,28.83
$GC,355,-0.82,-126.5,2665,2200,3402,3379,89.4,-19.6,61,362,0.00,2.25,0.00,0.000,516,0.000,0.056,2665,804,3390,3401,3379,0,0,0,0,0,0,28.83,14.60,28.83
$GC,414,-0.82,-126.5,1672,804,3387,3377,100.5,-16.7,72,422,0.08,2.28,0.00,0.000,3078,0.259,0.044,2683,2198,3390,3401,3379,0,0,0,0,0,0,14.33,14.55,28.83
$GC,606,-0.82,-126.5,2683,2199,3401,3380,129.5,-12.9,109,613,0.00,2.28,0.00,0.000,260,0.000,0.061,2674,3598,3390,3401,3380,0,0,0,0,0,0,28.83,14.64,28.83
$GC,702,-0.82,-126.5,2674,3598,3401,3379,142.5,-13.2,127,708,0.00,2.20,0.00,0.000,1030,0.000,0.035,2674,2191,3390,3401,3380,0,0,0,0,0,0,28.83,14.73,28.83
$GC,891,-0.82,-126.5,2674,2190,3401,3380,168.4,-15.0,164,898,0.00,2.28,0.00,0.000,516,0.000,0.057,2674,817,3390,3401,3379,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1012,-0.82,-126.5,2674,817,3401,3379,186.7,-14.9,187,1019,0.08,2.20,0.00,0.000,3078,0.325,0.045,2676,2205,3390,3401,3379,0,0,0,0,0,0,14.47,14.70,28.83
$GC,1208,-0.82,-126.5,2676,2206,3401,3378,214.3,-14.0,215,1217,0.00,2.28,0.00,0.000,260,0.000,0.064,2667,3599,3389,3401,3377,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1241,-0.82,-126.5,2667,3600,3401,3377,219.2,-15.1,221,1251,0.00,2.20,0.00,0.000,1030,0.000,0.037,2668,2196,3389,3401,3377,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1550,-0.82,-126.5,2667,2195,3401,3373,265.5,-15.1,253,1560,0.00,2.25,0.00,0.000,516,0.000,0.061,2667,804,3387,3401,3373,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1595,-0.82,-126.5,2668,804,3401,3373,273.1,-15.6,262,1605,0.05,2.28,0.00,0.000,3078,0.252,0.047,2671,2189,3386,3401,3372,0,0,0,0,0,0,14.33,14.54,28.83
$GC,1903,-0.82,-126.5,2672,2190,3401,3369,317.5,-14.6,293,1913,0.00,2.25,0.00,0.000,516,0.000,0.062,2672,806,3385,3401,3369,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1956,-0.82,-126.5,2671,806,3401,3368,325.4,-14.6,303,1960,0.00,2.25,0.00,0.000,1030,0.000,0.048,2666,2202,3384,3401,3368,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2269,-0.82,-126.5,2666,2202,3401,3361,371.4,-14.7,328,2275,0.00,2.25,0.00,0.000,516,0.000,0.063,2666,810,3381,3401,3361,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2309,-0.82,-126.5,2666,810,3401,3361,377.4,-15.5,336,2316,0.10,2.22,0.00,0.000,3078,0.288,0.049,2677,2202,3380,3401,3360,0,0,0,0,0,0,14.47,14.72,28.83
$GC,2629,-0.82,-126.5,2677,2202,3401,3354,422.2,-13.8,355,2635,0.00,2.28,0.00,0.000,516,0.000,0.065,2677,810,3377,3400,3354,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2676,-0.82,-126.5,2677,810,3400,3354,429.3,-13.9,365,2680,0.00,2.22,0.00,0.000,1030,0.000,0.050,2670,2198,3377,3400,3354,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2989,-0.82,-126.5,2670,2198,3399,3351,473.8,-14.3,382,2995,0.00,2.28,0.00,0.000,516,0.000,0.063,2670,807,3374,3398,3351,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3030,-0.82,-126.5,2670,807,3398,3351,479.7,-13.9,390,3036,0.00,2.25,0.00,0.000,1030,0.000,0.050,2665,2203,3374,3398,3351,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3339,-0.82,-126.5,2665,2203,3396,3347,524.2,-14.3,406,3345,0.00,2.28,0.00,0.000,516,0.000,0.066,2665,813,3371,3396,3347,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3377,-0.82,-126.5,2665,813,3396,3346,530.2,-14.8,414,3381,0.00,2.25,0.00,0.000,1030,0.000,0.052,2665,2205,3371,3396,3346,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3694,-0.82,-126.5,2666,2205,3394,3345,575.8,-14.5,427,3700,0.00,2.30,0.00,0.000,516,0.000,0.066,2665,805,3369,3394,3344,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3725,-0.82,-126.5,2665,804,3394,3344,580.2,-15.2,433,3731,0.00,2.22,0.00,0.000,1030,0.000,0.052,2665,2193,3368,3394,3343,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4054,-0.82,-126.5,2665,2194,3392,3341,626.5,-13.7,449,4060,0.00,2.28,0.00,0.000,516,0.000,0.067,2665,810,3366,3392,3341,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4092,-0.82,-126.5,2665,810,3391,3341,632.0,-13.7,457,4096,0.00,2.25,0.00,0.000,1030,0.000,0.053,2665,2200,3366,3392,3341,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4409,-0.82,-126.5,2665,2200,3390,3338,673.5,-13.0,470,4415,0.00,2.30,0.00,0.000,516,0.000,0.068,2665,805,3364,3390,3338,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4471,-0.82,-126.5,1792,806,3377,3336,681.9,-12.7,483,4476,0.00,2.30,0.00,0.000,1030,0.000,0.053,2665,2193,3363,3389,3338,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4799,-0.82,-126.5,2666,2193,3388,3336,725.0,-13.2,498,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2193,3362,3388,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5099,-0.82,-126.5,2665,2193,3387,3335,765.6,-13.6,508,5105,0.00,2.30,0.00,0.000,516,0.000,0.069,2665,811,3361,3387,3336,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5137,-0.82,-126.5,2665,812,3386,3335,771.2,-14.2,516,5141,0.00,2.28,0.00,0.000,1030,0.000,0.055,2666,2208,3360,3386,3335,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5455,-0.82,-126.5,2665,2209,3384,3333,814.5,-13.9,529,5461,0.00,2.33,0.00,0.000,516,0.000,0.070,2665,809,3359,3384,3334,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5537,-0.82,-126.5,2665,809,3383,3334,826.5,-14.1,546,5546,0.03,2.35,0.00,0.000,3078,0.330,0.055,2670,2199,3358,3383,3334,0,0,0,0,0,0,14.28,14.47,28.83
$GC,5845,-0.82,-126.5,2670,2199,3382,3332,867.2,-13.3,557,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2199,3357,3382,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6145,-0.82,-126.5,2670,2199,3380,3331,906.5,-13.1,567,6150,0.00,2.33,0.00,0.000,516,0.000,0.071,2670,813,3355,3381,3330,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6232,-0.82,-126.5,2670,813,3380,3331,918.2,-13.4,584,6239,0.00,2.35,0.00,0.000,1030,0.000,0.058,2670,2194,3355,3380,3330,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6538,-0.82,-126.5,2670,2194,3379,3328,956.0,-12.2,595,6539,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2194,3353,3379,3328,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6836,begin apogee
$GC,6840,-0.16,0.0,2670,2195,3378,3327,991.6,-11.7,605,6951,0.90,0.00,105.68,2.366,10246,0.333,0.000,2874,2196,2871,2916,2827,0,0,0,0,0,0,13.90,28.83,13.07
$STATE,6953,end apogee,CONTROL_FINISHED_OK
$STATE,6953,begin climb
$GC,6955,0.82,126.5,2874,2196,2910,2821,995.7,0.0,628,7076,1.05,2.40,113.07,2.473,10500,0.142,0.070,3202,3546,2351,2411,2292,0,0,0,0,0,0,14.04,13.86,12.87
$GC,7157,0.82,126.5,3203,3546,2404,2284,981.5,11.6,669,7164,0.00,2.33,0.00,0.000,1030,0.000,0.044,3213,2152,2344,2404,2284,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7464,0.82,126.5,3213,2153,2403,2283,947.1,11.2,680,7470,0.00,2.38,0.00,0.000,516,0.000,0.069,3223,738,2342,2403,2282,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7588,0.82,126.5,3223,738,2403,2283,933.2,11.3,705,7592,0.00,2.30,0.00,0.000,1030,0.000,0.049,3224,2146,2342,2403,2282,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7910,0.82,126.5,3223,2146,2403,2281,899.0,10.3,719,7916,0.00,2.35,0.00,0.000,516,0.000,0.068,3234,740,2342,2403,2281,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7933,0.82,126.5,3234,740,2403,2281,896.3,10.0,724,7940,0.00,2.35,0.00,0.000,1030,0.000,0.048,3234,2143,2341,2402,2281,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8240,0.82,126.5,3234,2143,2402,2280,864.0,10.7,735,8246,0.00,2.35,0.00,0.000,516,0.000,0.069,3244,736,2341,2402,2281,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8283,0.82,126.5,3244,736,2402,2281,859.1,11.0,744,8287,0.00,2.28,0.00,0.000,1030,0.000,0.049,3244,2142,2341,2402,2281,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8594,0.82,126.5,3244,2142,2401,2280,826.0,10.8,756,8600,0.00,2.35,0.00,0.000,260,0.000,0.070,3244,3553,2340,2400,2280,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8648,0.82,126.5,3245,3553,2399,2280,819.7,11.4,767,8654,0.00,2.30,0.00,0.000,1030,0.000,0.044,3255,2135,2339,2399,2280,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8954,0.82,126.5,3255,2135,2398,2279,786.7,10.9,778,8960,0.00,2.33,0.00,0.000,516,0.000,0.069,3265,737,2339,2398,2280,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9099,0.82,126.5,3265,736,2398,2280,770.6,11.2,807,9106,0.12,2.28,0.00,0.000,5126,0.272,0.047,3239,2143,2339,2398,2280,0,0,0,0,0,0,14.38,14.68,28.83
$GC,9405,0.82,126.5,3239,2143,2398,2279,740.1,9.8,818,9411,0.00,2.35,0.00,0.000,516,0.000,0.068,3248,735,2338,2398,2278,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9439,0.82,126.5,3248,734,2398,2279,736.6,10.0,825,9443,0.00,2.28,0.00,0.000,1030,0.000,0.047,3248,2140,2338,2398,2279,0,0,0,0,0,0,28.83,14.68,28.83
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$GC,14834,0.87,166.8,3251,2148,2327,2209,214.9,8.1,1248,14863,0.00,2.42,18.33,1.397,8708,0.000,0.067,3261,734,2182,2243,2122,0,0,0,0,0,0,28.83,14.61,13.78
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$STATE,17413,end climb,SURFACE_DEPTH_REACHED
$STATE,17413,begin surface coast
$FINISH,0.3,1.018175
$STATE,17457,end surface coast,CONTROL_FINISHED_OK
$STATE,17457,begin surface
$SM_CCo,17474,1.10,0.181,0,0,509,579.63
$SM_CCo,17478,-0.03,0.000,0,0,510,579.63
$SM_CCo,17481,0.47,0.289,0,0,508,579.63
$SM_GC,3.31,9.02,0.05,0.47,0.063,0.236,0.289,189,2225,508,-8.57,-1.36,579.63,0,0,0,0,0,0,14.60,14.64,14.47
$IRIDIUM_FIX,1747.37,8937.34,040908,020215
$TT8_MAMPS,0.018725,0.018725
$HUMID,48.50
$INTERNAL_PRESSURE,6.69948
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,12.9,118.780
$10V_AH,10.8,0.000
$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,22.925,189.125,519.200,1.575,0.000,115.125,167.133,641.035,0.000,0.000,6.515,3463.649,10376.439,652.920,3968.495,286.694,0.000,2099.889,0.000,2531.246,0.000,0.555,0.000
$DEVICE_MAMPS,335.070,236.385,2473.245,289.170,0.000,29.840,160.000,223.000,420.000,0.000,22.470,10.270,2.190,10.270,31.990,37.980,0.000,15.200,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BBFL2,AA4831_2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,928.655,625.522,1539.670,940.935,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322388
$DATA_FILE_SIZE,137548,1728
$CAP_FILE_SIZE,190682,0
$CFSIZE,2097086464,2041184256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.067, 96.7,1
$GPS,081115,181403,1757.049,8933.569,97,1.0,102,-0.9