version: 66.11
glider: 170
mission: 10
dive: 186
start: 12 12 112 6 0 51
data:
$ID,170
$MISSION,10
$DIVE,186
$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,-5
$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,1
$N_NOCOMM,3
$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,-143324.83
$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,0.0049999999
$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,66
$R_STBD_OVSHOOT,64
$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
$GPS1,121212,055005,1838.771,12029.313,38,0.7,38,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-74.0
$GPS2,121212,060023,1838.890,12028.960,18,1.0,18,-2.4
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$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,138.4,9491,-14.9,-8.684,-17.18
$D_GRID,1060
$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,20,-0.51,-170.3,0.0,0.0,0,87,0.00,0.00,-64.85,0.000,2,0.000,0.000,134,2638,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.51,-170.3,3.0,-1.9,11,163,11.05,2.12,-54.28,0.000,4,0.236,0.041,2879,1193,3463,0,0,0,0,0,0,25.59,26.18,26.52
$GC,246,-0.46,-170.3,31.7,-23.8,36,253,0.00,2.15,0.00,0.000,6,0.000,0.045,2879,2567,3463,0,0,0,0,0,0,28.83,26.15,28.83
$GC,444,-0.41,-170.3,77.7,-21.0,50,451,0.12,1.75,0.00,0.000,4,0.161,0.053,2919,3696,3463,0,0,0,0,0,0,26.16,26.21,28.83
$GC,545,-0.40,-170.3,88.8,-12.9,54,551,0.00,1.60,0.00,0.000,6,0.000,0.023,2919,2571,3463,0,0,0,0,0,0,28.83,26.48,28.83
$GC,729,-0.40,-170.3,107.1,-8.4,64,734,0.00,1.92,0.00,0.000,4,0.000,0.027,2919,1218,3463,0,0,0,0,0,0,28.83,26.43,28.83
$GC,772,-0.40,-170.3,111.4,-9.4,66,778,0.00,2.12,0.00,0.000,6,0.000,0.039,2920,2604,3463,0,0,0,0,0,0,28.83,26.34,28.83
$GC,976,-0.41,-170.3,134.6,-11.9,76,981,0.00,1.70,0.00,0.000,4,0.000,0.052,2919,3701,3463,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1090,-0.43,-170.3,144.8,-9.4,81,1096,0.00,1.58,0.00,0.000,6,0.000,0.024,2919,2571,3463,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1286,-0.44,-170.3,162.0,-8.0,91,1291,0.00,1.90,0.00,0.000,4,0.000,0.026,2919,1231,3464,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1384,-0.45,-170.3,169.3,-8.4,95,1391,0.00,2.10,0.00,0.000,6,0.000,0.040,2919,2607,3463,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1569,-0.47,-170.3,186.4,-8.9,105,1575,0.00,2.00,0.00,0.000,4,0.000,0.029,2919,1233,3463,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1607,-0.49,-170.3,188.8,-9.1,106,1614,0.00,2.10,0.00,0.000,6,0.000,0.040,2919,2610,3463,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1796,-0.51,-170.3,205.1,-6.4,116,1802,0.12,2.00,0.00,0.000,4,0.087,0.028,2845,1237,3462,0,0,0,0,0,0,26.60,26.51,28.83
$GC,1849,-0.52,-170.3,208.6,-6.1,118,1855,0.12,2.10,0.00,0.000,6,0.154,0.041,2882,2613,3463,0,0,0,0,0,0,26.23,26.42,28.83
$GC,2045,-0.53,-170.3,226.8,-9.7,128,2050,0.00,1.65,0.00,0.000,4,0.000,0.050,2882,3689,3462,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2073,-0.53,-170.3,229.2,-9.6,129,2078,0.00,1.50,0.00,0.000,6,0.000,0.026,2882,2589,3462,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2272,-0.54,-170.3,250.1,-10.2,139,2278,0.00,1.92,0.00,0.000,4,0.000,0.025,2882,1244,3460,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2310,-0.55,-170.3,252.4,-9.9,140,2317,0.00,2.08,0.00,0.000,6,0.000,0.040,2882,2605,3461,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2616,-0.56,-170.3,281.8,-9.5,156,2621,0.00,2.00,0.00,0.000,4,0.000,0.024,2882,1232,3459,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2668,-0.57,-170.3,286.0,-9.7,158,2674,0.00,2.10,0.00,0.000,6,0.000,0.040,2882,2608,3459,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2983,-0.58,-170.3,316.6,-9.3,174,2988,0.00,1.98,0.00,0.000,4,0.000,0.024,2882,1240,3457,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3010,-0.59,-170.3,318.8,-9.1,175,3015,0.00,2.08,0.00,0.000,6,0.000,0.040,2882,2600,3456,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3328,-0.61,-170.3,343.6,-7.4,191,3334,0.00,2.00,0.00,0.000,4,0.000,0.024,2882,1232,3454,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3377,-0.62,-170.3,347.1,-7.8,193,3382,0.00,2.10,0.00,0.000,6,0.000,0.040,2882,2603,3454,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3695,-0.64,-170.3,371.6,-7.5,209,3697,0.12,0.00,0.00,0.000,6,0.096,0.000,2820,2604,3452,0,0,0,0,0,0,26.60,28.83,28.83
$GC,3997,-0.62,-170.3,404.6,-10.6,224,4003,0.10,2.00,0.00,0.000,4,0.168,0.023,2848,1237,3450,0,0,0,0,0,0,26.48,26.54,28.83
$GC,4030,-0.60,-170.3,407.0,-10.3,225,4036,0.00,2.08,0.00,0.000,6,0.000,0.041,2848,2599,3450,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4345,-0.60,-170.3,432.3,-8.0,241,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2599,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4645,-0.60,-170.3,462.5,-10.6,256,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2599,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4945,-0.60,-170.3,492.0,-9.4,271,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2600,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5246,-0.60,-170.3,516.7,-7.9,286,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2599,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5546,-0.60,-170.3,537.9,-7.4,301,5547,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2599,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5847,-0.60,-170.3,561.3,-8.1,316,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2599,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6146,-0.61,-170.3,585.3,-8.2,331,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2599,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6467,-0.62,-170.3,610.1,-7.5,345,6472,0.00,1.70,0.00,0.000,4,0.000,0.054,2848,3689,3437,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6515,-0.62,-170.3,612.7,-7.4,346,6520,0.00,1.52,0.00,0.000,6,0.000,0.029,2848,2644,3437,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6835,-0.63,-170.3,635.1,-6.7,357,6840,0.00,2.08,0.00,0.000,4,0.000,0.025,2848,1200,3435,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6908,-0.64,-170.3,639.2,-6.5,359,6914,0.00,2.17,0.00,0.000,6,0.000,0.041,2848,2605,3434,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7234,-0.64,-170.3,656.1,-4.9,370,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2605,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7532,-0.65,-170.3,677.0,-7.7,380,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2605,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7832,-0.66,-170.3,701.6,-8.4,390,7838,0.00,2.08,0.00,0.000,4,0.000,0.026,2848,1201,3431,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7867,-0.67,-170.3,704.4,-8.4,391,7872,0.00,2.20,0.00,0.000,6,0.000,0.041,2848,2610,3431,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8202,-0.68,-170.3,729.9,-6.9,402,8203,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2611,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8500,-0.69,-170.3,748.9,-6.3,412,8505,0.00,2.08,0.00,0.000,4,0.000,0.027,2848,1196,3428,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8568,-0.70,-170.3,753.0,-6.4,414,8574,0.00,2.17,0.00,0.000,6,0.000,0.041,2848,2600,3428,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8898,-0.71,-170.3,778.6,-8.5,425,8903,0.00,1.75,0.00,0.000,4,0.000,0.056,2848,3690,3426,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8947,-0.73,-170.3,781.1,-8.0,426,8953,0.00,1.60,0.00,0.000,6,0.000,0.031,2848,2586,3426,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9268,-0.74,-170.3,803.1,-7.4,437,9274,0.12,2.03,0.00,0.000,4,0.092,0.025,2780,1193,3425,0,0,0,0,0,0,26.59,26.46,28.83
$GC,9364,-0.73,-170.3,813.6,-10.4,440,9370,0.12,2.20,0.00,0.000,6,0.174,0.042,2813,2598,3424,0,0,0,0,0,0,26.02,26.28,28.83
$GC,9698,-0.73,-170.3,844.8,-10.8,451,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2599,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9999,-0.72,-170.3,875.7,-9.2,461,10004,0.00,2.08,0.00,0.000,4,0.000,0.027,2814,1201,3423,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10032,-0.72,-170.3,878.4,-8.7,462,10037,0.00,2.20,0.00,0.000,6,0.000,0.043,2814,2602,3422,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10366,-0.72,-170.3,901.8,-7.5,473,10367,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2602,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10666,-0.72,-170.3,928.8,-10.0,483,10671,0.00,2.08,0.00,0.000,4,0.000,0.026,2814,1203,3421,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10712,-0.72,-170.3,932.3,-10.2,484,10717,0.00,2.20,0.00,0.000,6,0.000,0.043,2814,2610,3421,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11032,-0.72,-170.3,963.1,-8.5,495,11033,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2611,3420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11331,-0.72,-170.3,986.5,-7.8,505,11336,0.00,2.08,0.00,0.000,4,0.000,0.027,2813,1205,3419,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,11392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11392,begin apogee
$GC,11399,-0.15,0.0,991.7,-7.9,507,11545,0.55,0.00,140.25,1.499,6,0.116,0.000,2999,2136,2770,0,0,0,0,0,0,25.81,28.83,23.56
$STATE,11547,end apogee,CONTROL_FINISHED_OK
$STATE,11547,begin climb
$GC,11549,0.51,170.3,994.4,0.0,512,11720,0.57,2.42,157.12,1.444,4,0.048,0.034,3238,750,2072,0,0,0,0,0,0,24.75,23.73,22.70
$GC,11752,0.46,170.3,978.1,12.0,518,11759,0.15,2.30,0.00,0.000,6,0.142,0.037,3199,2123,2068,0,0,0,0,0,0,24.22,24.35,28.83
$GC,12060,0.44,170.3,934.3,13.5,529,12065,0.00,2.28,0.00,0.000,4,0.000,0.050,3200,3534,2063,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12103,0.41,170.3,928.9,14.2,530,12108,0.00,2.15,0.00,0.000,6,0.000,0.028,3208,2132,2063,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12428,0.39,170.3,880.4,13.8,541,12434,0.12,2.12,0.00,0.000,4,0.160,0.033,3175,722,2060,0,0,0,0,0,0,25.99,26.10,28.83
$GC,12523,0.37,170.3,869.9,11.4,544,12529,0.00,2.17,0.00,0.000,6,0.000,0.037,3175,2129,2059,0,0,0,0,0,0,28.83,26.12,28.83
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$GC,16351,0.46,310.0,458.0,10.5,689,16356,0.00,2.05,0.00,0.000,4,0.000,0.034,3174,740,1496,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,20838,end climb,SURFACE_DEPTH_REACHED
$STATE,20838,begin surface coast
$FINISH,1.5,1.003554
$STATE,20896,end surface coast,CONTROL_FINISHED_OK
$STATE,20896,begin surface
$SM_CCo,20975,0.00,0.000,0,0,565,540.64
$SM_GC,2.51,8.32,0.75,0.00,0.047,0.035,0.000,139,2611,565,-9.06,-1.44,540.64,0,0,0,0,0,0,25.98,26.27,28.83
$IRIDIUM_FIX,1832.77,12027.01,121212,010122
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.14
$INTERNAL_PRESSURE,9.47851
$TCM_TEMP,24.10
$XPDR_PINGS,0
$SC_FREEKB,3948704
$24V_AH,22.7,41.163
$10V_AH,9.9,18.953
$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,23.300,190.450,608.250,0.000,0.000,0.000,0.000,366.575,0.000,0.000,20.346,3218.468,14370.875,780.011,2833.807,385.106,0.000,2503.636,0.000,2337.467,0.000,0.543,0.000
$DEVICE_MAMPS,235.620,55.845,1498.635,0.000,0.000,0.000,0.000,129.285,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20923.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.611,0.000,0.000,0.000
$MEM,337804
$DATA_FILE_SIZE,36649,973
$CAP_FILE_SIZE,249675,0
$CFSIZE,260034560,231723008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.115,230.0,1
$GPS,121212,115134,1835.865,12030.017,31,1.0,31,-2.4