version: 66.11
glider: 170
mission: 10
dive: 111
start: 11 24 112 0 27 14
data:
$ID,170
$MISSION,10
$DIVE,111
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,20
$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,380
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51479
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-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,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-143226.84
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2769
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.120956
$PRESSURE_SLOPE,0.0001164274
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$DEEPGLIDERMB,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,0.0043559377
$SEABIRD_T_H,0.00062550703
$SEABIRD_T_I,2.3551509e-05
$SEABIRD_T_J,2.509174e-06
$SEABIRD_C_G,-10.138787
$SEABIRD_C_H,1.1450038
$SEABIRD_C_I,-0.0015582878
$SEABIRD_C_J,0.00020114503
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,241112,001828,2024.432,11956.349,45,1.0,45,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-70.8
$GPS2,241112,002647,2024.429,11956.198,14,1.3,14,-2.7
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$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,135.3,156504,-14.9,-8.684,-17.18
$D_GRID,3280
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.51,-170.3,0.0,0.0,0,80,0.00,0.00,-58.47,0.000,2,0.000,0.000,138,2625,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.51,-170.3,3.3,-2.0,10,139,11.00,2.17,-37.80,0.000,4,0.240,0.041,2880,1184,3465,0,0,0,0,0,0,25.72,26.11,26.36
$GC,181,-0.42,-170.3,21.7,-26.8,27,189,0.12,2.20,0.00,0.000,6,0.177,0.047,2913,2583,3465,0,0,0,0,0,0,25.94,26.09,28.83
$GC,377,-0.35,-170.3,71.2,-24.3,43,382,0.00,1.77,0.00,0.000,4,0.000,0.056,2913,3704,3465,0,0,0,0,0,0,28.83,26.21,28.83
$GC,540,-0.32,-170.3,99.6,-16.2,51,546,0.12,1.62,0.00,0.000,6,0.143,0.024,2950,2578,3466,0,0,0,0,0,0,26.23,26.39,28.83
$GC,745,-0.34,-170.3,120.1,-8.7,61,752,0.00,1.95,0.00,0.000,4,0.000,0.025,2951,1206,3466,0,0,0,0,0,0,28.83,26.45,28.83
$GC,815,-0.37,-170.3,125.0,-7.8,64,820,0.00,2.15,0.00,0.000,6,0.000,0.039,2951,2612,3466,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1015,-0.42,-170.3,137.8,-6.2,74,1021,0.12,1.67,0.00,0.000,4,0.088,0.052,2871,3694,3466,0,0,0,0,0,0,26.53,26.44,28.83
$GC,1099,-0.42,-170.3,147.0,-10.9,78,1105,0.15,1.58,0.00,0.000,6,0.135,0.023,2919,2555,3466,0,0,0,0,0,0,26.37,26.58,28.83
$GC,1304,-0.44,-170.3,165.2,-8.1,88,1309,0.00,1.85,0.00,0.000,4,0.000,0.026,2919,1241,3466,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1347,-0.46,-170.3,168.9,-8.2,90,1352,0.00,2.08,0.00,0.000,6,0.000,0.040,2920,2603,3466,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1552,-0.48,-170.3,185.7,-8.4,100,1557,0.00,1.70,0.00,0.000,4,0.000,0.053,2920,3702,3466,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1599,-0.51,-170.3,189.1,-8.1,102,1606,0.12,1.52,0.00,0.000,6,0.092,0.025,2845,2590,3466,0,0,0,0,0,0,26.55,26.65,28.83
$GC,1800,-0.49,-170.3,214.2,-12.2,112,1806,0.12,1.90,0.00,0.000,4,0.156,0.022,2889,1239,3466,0,0,0,0,0,0,26.46,26.62,28.83
$GC,1848,-0.48,-170.3,218.7,-10.9,114,1853,0.00,2.08,0.00,0.000,6,0.000,0.040,2889,2601,3465,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2047,-0.49,-170.3,236.3,-8.9,124,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2600,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2226,-0.51,-170.3,251.6,-8.2,133,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2601,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2529,-0.53,-170.3,275.1,-7.9,148,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2601,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2827,-0.55,-170.3,296.8,-6.6,163,2833,0.00,1.98,0.00,0.000,4,0.000,0.025,2889,1240,3461,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2966,-0.57,-170.3,306.0,-7.4,169,2974,0.00,2.08,0.00,0.000,6,0.000,0.039,2889,2602,3460,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3273,-0.60,-170.3,330.5,-8.6,185,3278,0.00,1.98,0.00,0.000,4,0.000,0.024,2889,1234,3458,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3346,-0.63,-170.3,335.6,-8.1,188,3352,0.12,2.10,0.00,0.000,6,0.088,0.040,2823,2610,3459,0,0,0,0,0,0,26.62,26.60,28.83
$GC,3660,-0.60,-170.3,373.3,-12.2,204,3666,0.12,1.67,0.00,0.000,4,0.145,0.053,2865,3701,3456,0,0,0,0,0,0,26.53,26.59,28.83
$GC,3744,-0.61,-170.3,380.8,-8.9,208,3750,0.00,1.55,0.00,0.000,6,0.000,0.028,2865,2622,3455,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4068,-0.63,-170.3,406.2,-7.7,224,4074,0.00,2.00,0.00,0.000,4,0.000,0.025,2865,1214,3452,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4126,-0.64,-170.3,409.6,-7.7,226,4133,0.00,2.12,0.00,0.000,6,0.000,0.041,2865,2609,3452,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4432,-0.66,-170.3,433.3,-7.7,242,4438,0.00,2.03,0.00,0.000,4,0.000,0.025,2865,1217,3451,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4520,-0.67,-170.3,440.1,-8.2,246,4526,0.00,2.12,0.00,0.000,6,0.000,0.040,2865,2604,3450,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4839,-0.69,-170.3,467.0,-8.2,262,4845,0.12,2.00,0.00,0.000,4,0.094,0.023,2793,1217,3448,0,0,0,0,0,0,26.70,26.68,28.83
$GC,4886,-0.69,-170.3,472.1,-9.9,264,4893,0.12,2.12,0.00,0.000,6,0.166,0.042,2827,2599,3448,0,0,0,0,0,0,26.47,26.61,28.83
$GC,5206,-0.67,-170.3,507.5,-10.6,280,5211,0.00,1.73,0.00,0.000,4,0.000,0.055,2827,3691,3445,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5229,-0.66,-170.3,509.9,-10.6,281,5234,0.00,1.55,0.00,0.000,6,0.000,0.029,2827,2612,3445,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5552,-0.65,-170.3,543.1,-10.2,297,5557,0.00,2.03,0.00,0.000,4,0.000,0.026,2827,1208,3444,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5585,-0.64,-170.3,545.3,-10.0,298,5590,0.00,2.15,0.00,0.000,6,0.000,0.041,2828,2604,3443,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5898,-0.63,-170.3,576.0,-9.9,314,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2604,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6200,-0.62,-170.3,607.7,-10.9,328,6201,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2604,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6498,-0.62,-170.3,640.8,-11.0,338,6504,0.00,2.03,0.00,0.000,4,0.000,0.025,2827,1205,3439,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6546,-0.62,-170.3,644.4,-11.0,339,6551,0.00,2.15,0.00,0.000,6,0.000,0.041,2827,2598,3439,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6864,-0.62,-170.3,680.3,-10.6,350,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2599,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7164,-0.62,-170.3,709.8,-9.5,360,7169,0.00,1.73,0.00,0.000,4,0.000,0.056,2827,3701,3435,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7181,-0.62,-170.3,709.8,-9.5,360,7186,0.00,1.62,0.00,0.000,6,0.000,0.030,2828,2600,3435,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7499,-0.62,-170.3,739.7,-8.7,371,7505,0.00,2.03,0.00,0.000,4,0.000,0.026,2828,1202,3434,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7601,-0.62,-170.3,748.3,-9.1,374,7607,0.00,2.17,0.00,0.000,6,0.000,0.041,2827,2609,3433,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7925,-0.62,-170.3,779.2,-9.6,385,7930,0.00,1.70,0.00,0.000,4,0.000,0.057,2828,3694,3433,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7957,-0.62,-170.3,782.5,-9.7,386,7963,0.00,1.60,0.00,0.000,6,0.000,0.031,2828,2606,3433,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8292,-0.62,-170.3,815.5,-9.8,397,8293,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2606,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8591,-0.62,-170.3,842.8,-9.1,407,8596,0.00,2.03,0.00,0.000,4,0.000,0.027,2828,1199,3430,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8628,-0.62,-170.3,845.9,-9.2,408,8633,0.00,2.17,0.00,0.000,6,0.000,0.042,2827,2604,3430,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8957,-0.62,-170.3,877.0,-9.6,419,8963,0.00,2.05,0.00,0.000,4,0.000,0.026,2828,1196,3429,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8999,-0.62,-170.3,880.4,-9.6,420,9005,0.00,2.17,0.00,0.000,6,0.000,0.041,2828,2602,3429,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9325,-0.62,-170.3,910.8,-8.6,431,9330,0.00,2.05,0.00,0.000,4,0.000,0.027,2827,1196,3427,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9352,-0.62,-170.3,910.8,-8.6,431,9358,0.00,2.17,0.00,0.000,6,0.000,0.042,2828,2601,3427,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9658,-0.62,-170.3,937.2,-7.7,442,9663,0.00,2.08,0.00,0.000,4,0.000,0.027,2828,1196,3426,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9680,-0.62,-170.3,937.2,-7.7,442,9685,0.00,2.17,0.00,0.000,6,0.000,0.042,2828,2601,3426,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9993,-0.62,-170.3,962.6,-7.7,453,9994,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2602,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10293,-0.62,-170.3,986.0,-7.9,463,10294,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2602,3424,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10351,begin apogee
$GC,10356,-0.15,0.0,990.7,-7.9,465,10504,0.50,0.00,138.50,1.495,6,0.113,0.000,3001,2098,2767,0,0,0,0,0,0,26.40,28.83,23.89
$STATE,10506,end apogee,CONTROL_FINISHED_OK
$STATE,10506,begin climb
$GC,10508,0.51,170.3,995.2,0.0,470,10669,0.55,2.30,151.93,1.450,4,0.049,0.032,3226,753,2073,0,0,0,0,0,0,24.95,24.01,23.17
$GC,10711,0.45,170.3,982.1,10.1,476,10718,0.12,2.28,0.00,0.000,6,0.149,0.035,3195,2124,2067,0,0,0,0,0,0,24.50,24.58,28.83
$GC,11018,0.42,170.3,942.0,12.1,487,11023,0.00,2.28,0.00,0.000,4,0.000,0.051,3195,3528,2063,0,0,0,0,0,0,28.83,25.65,28.83
$GC,11091,0.38,170.3,933.2,12.9,489,11096,0.00,2.15,0.00,0.000,6,0.000,0.028,3202,2140,2062,0,0,0,0,0,0,28.83,25.87,28.83
$GC,11415,0.35,170.3,891.9,12.2,500,11421,0.12,2.15,0.00,0.000,4,0.164,0.033,3163,716,2060,0,0,0,0,0,0,26.00,26.13,28.83
$GC,11483,0.33,170.3,885.7,10.9,502,11488,0.00,2.17,0.00,0.000,6,0.000,0.035,3163,2123,2059,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11812,0.33,170.3,855.5,9.4,513,11817,0.00,2.25,0.00,0.000,4,0.000,0.052,3163,3532,2059,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11845,0.32,170.3,851.9,9.8,514,11851,0.00,2.15,0.00,0.000,6,0.000,0.028,3171,2118,2058,0,0,0,0,0,0,28.83,26.37,28.83
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$GC,15677,0.45,268.5,485.1,9.1,659,15683,0.00,2.12,0.00,0.000,6,0.000,0.034,3187,2129,1667,0,0,0,0,0,0,28.83,26.49,28.83
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$STATE,20547,end climb,SURFACE_DEPTH_REACHED
$STATE,20547,begin surface coast
$FINISH,1.5,1.009326
$STATE,20574,end surface coast,CONTROL_FINISHED_OK
$STATE,20574,begin surface
$SM_CCo,20652,0.00,0.000,0,0,747,496.00
$SM_GC,2.51,8.40,0.82,0.00,0.047,0.040,0.000,136,2623,747,-9.06,-0.88,496.00,0,0,0,0,0,0,26.13,26.25,28.83
$IRIDIUM_FIX,2020.26,11954.68,231112,181852
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.80
$INTERNAL_PRESSURE,9.47851
$TCM_TEMP,24.10
$XPDR_PINGS,0
$SC_FREEKB,3977504
$24V_AH,23.2,24.232
$10V_AH,9.9,9.913
$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,23.125,198.375,563.550,0.000,0.000,0.000,0.000,315.325,0.000,0.000,15.254,3197.158,14108.092,762.778,2751.768,320.040,0.000,2402.135,0.000,2304.276,0.000,0.544,0.000
$DEVICE_MAMPS,240.210,56.610,1494.810,0.000,0.000,0.000,0.000,133.875,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20601.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.236,0.000,0.000,0.000
$MEM,323772
$DATA_FILE_SIZE,36647,945
$CAP_FILE_SIZE,245083,0
$CFSIZE,260034560,240635904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.201,265.3,1
$GPS,241112,061259,2022.362,11956.461,57,0.9,57,-2.7