version: 66.11
glider: 170
mission: 10
dive: 373
start: 1 15 113 17 51 16
data:
$ID,170
$MISSION,10
$DIVE,373
$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,370
$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,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,185
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51760
$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,-143565.14
$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,25
$C_ROLL_DIVE,2475
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$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,2853
$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
$GPS1,150113,174128,2203.456,12003.445,39,0.9,39,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-74.5
$GPS2,150113,175047,2203.521,12003.290,18,0.9,18,-3.1
$SPEED_LIMITS,0.154,0.290
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$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,154.3,34765,-14.8,-8.919,-17.07
$D_GRID,1172
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.51,-180.0,0.0,0.0,0,97,0.00,0.00,-72.47,0.000,2,0.000,0.000,135,2502,2056,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.51,-180.0,3.1,-2.0,13,179,11.70,1.33,-58.42,0.000,4,0.243,0.050,2879,1592,3586,0,0,0,0,0,0,25.06,26.20,26.61
$GC,318,-0.50,-180.0,24.8,-12.5,52,325,0.00,1.38,0.00,0.000,6,0.000,0.045,2879,2454,3586,0,0,0,0,0,0,28.83,26.15,28.83
$GC,503,-0.49,-180.0,49.1,-14.2,71,509,0.00,1.42,0.00,0.000,4,0.000,0.054,2879,3357,3585,0,0,0,0,0,0,28.83,26.17,28.83
$GC,537,-0.48,-180.0,52.5,-14.0,73,542,0.00,1.30,0.00,0.000,6,0.000,0.023,2879,2477,3585,0,0,0,0,0,0,28.83,26.48,28.83
$GC,731,-0.48,-180.0,78.1,-11.2,83,736,0.00,1.27,0.00,0.000,4,0.000,0.031,2879,1598,3585,0,0,0,0,0,0,28.83,26.37,28.83
$GC,778,-0.48,-180.0,82.5,-10.3,85,783,0.00,1.38,0.00,0.000,6,0.000,0.046,2879,2473,3585,0,0,0,0,0,0,28.83,26.25,28.83
$GC,978,-0.49,-180.0,104.2,-10.6,95,983,0.00,1.30,0.00,0.000,4,0.000,0.034,2879,1601,3585,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1017,-0.51,-180.0,106.7,-10.4,96,1024,0.00,1.38,0.00,0.000,6,0.000,0.044,2879,2481,3585,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1203,-0.56,-180.0,122.6,-8.5,106,1208,0.00,1.33,0.00,0.000,4,0.000,0.031,2879,1589,3585,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1276,-0.60,-180.0,128.7,-9.4,109,1281,0.00,1.38,0.00,0.000,6,0.000,0.044,2879,2469,3585,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1470,-0.67,-180.0,145.5,-7.5,119,1478,0.12,1.30,0.00,0.000,4,0.095,0.028,2810,1595,3586,0,0,0,0,0,0,26.50,26.41,28.83
$GC,1552,-0.69,-180.0,151.1,-8.0,122,1559,0.00,1.38,0.00,0.000,6,0.000,0.044,2810,2473,3585,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1738,-0.68,-180.0,171.5,-10.7,132,1743,0.00,1.38,0.00,0.000,4,0.000,0.051,2809,3357,3585,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1795,-0.66,-180.0,176.6,-11.4,134,1802,0.00,1.30,0.00,0.000,6,0.000,0.024,2810,2442,3585,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1982,-0.65,-180.0,199.0,-10.7,144,1988,0.12,1.17,0.00,0.000,4,0.147,0.027,2853,1628,3585,0,0,0,0,0,0,26.29,26.42,28.83
$GC,2030,-0.65,-180.0,202.7,-9.1,146,2035,0.00,1.33,0.00,0.000,6,0.000,0.043,2853,2479,3585,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2231,-0.70,-180.0,218.6,-8.3,156,2236,0.00,1.25,0.00,0.000,4,0.000,0.030,2853,1630,3585,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2285,-0.75,-180.0,222.6,-8.8,158,2290,0.10,1.33,0.00,0.000,6,0.050,0.043,2781,2481,3585,0,0,0,0,0,0,26.27,26.30,28.83
$GC,2481,-0.73,-180.0,246.8,-12.0,168,2487,0.12,1.38,0.00,0.000,4,0.145,0.049,2823,3375,3585,0,0,0,0,0,0,26.29,26.26,28.83
$GC,2567,-0.73,-180.0,254.3,-8.6,172,2573,0.00,1.30,0.00,0.000,6,0.000,0.024,2824,2476,3584,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2892,-0.76,-180.0,278.3,-8.2,188,2897,0.00,1.23,0.00,0.000,4,0.000,0.029,2824,1622,3584,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2937,-0.79,-180.0,282.3,-8.8,190,2942,0.00,1.33,0.00,0.000,6,0.000,0.042,2824,2469,3583,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3261,-0.82,-180.0,313.2,-10.0,206,3267,0.12,1.25,0.00,0.000,4,0.093,0.025,2749,1619,3582,0,0,0,0,0,0,26.53,26.44,28.83
$GC,3314,-0.82,-180.0,318.6,-11.0,208,3321,0.10,1.33,0.00,0.000,6,0.140,0.043,2784,2469,3582,0,0,0,0,0,0,26.01,26.30,28.83
$GC,3631,-0.81,-180.0,352.6,-10.2,224,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2469,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3932,-0.79,-180.0,382.2,-9.7,239,3938,0.00,1.25,0.00,0.000,4,0.000,0.028,2784,1616,3579,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3956,-0.78,-180.0,384.9,-9.7,240,3962,0.00,1.35,0.00,0.000,6,0.000,0.043,2785,2479,3578,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4281,-0.77,-180.0,417.1,-10.2,256,4286,0.00,1.27,0.00,0.000,4,0.000,0.028,2784,1612,3576,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4309,-0.76,-180.0,419.5,-10.3,257,4315,0.00,1.35,0.00,0.000,6,0.000,0.042,2784,2476,3576,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4628,-0.75,-180.0,453.9,-11.0,273,4633,0.00,1.38,0.00,0.000,4,0.000,0.051,2784,3354,3574,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4672,-0.74,-180.0,459.0,-11.4,275,4677,0.00,1.27,0.00,0.000,6,0.000,0.024,2784,2457,3574,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4996,-0.73,-180.0,496.4,-11.0,291,5002,0.10,1.17,0.00,0.000,4,0.164,0.026,2812,1640,3572,0,0,0,0,0,0,26.39,26.43,28.83
$GC,5106,-0.74,-180.0,506.0,-8.9,296,5111,0.00,1.33,0.00,0.000,6,0.000,0.042,2812,2481,3571,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5430,-0.75,-180.0,530.9,-7.4,312,5435,0.00,1.38,0.00,0.000,4,0.000,0.051,2812,3355,3569,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5484,-0.76,-180.0,534.4,-7.4,314,5490,0.00,1.25,0.00,0.000,6,0.000,0.027,2812,2476,3569,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5799,-0.80,-180.0,562.7,-9.3,330,5804,0.00,1.40,0.00,0.000,4,0.000,0.051,2810,3350,3567,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5853,-0.84,-180.0,566.7,-9.4,332,5858,0.00,1.25,0.00,0.000,6,0.000,0.026,2812,2469,3567,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6167,-0.88,-180.0,595.1,-8.1,348,6172,0.12,1.20,0.00,0.000,4,0.096,0.024,2741,1631,3564,0,0,0,0,0,0,26.51,26.44,28.83
$GC,6201,-0.91,-180.0,597.5,-8.5,349,6208,0.00,1.33,0.00,0.000,6,0.000,0.042,2741,2475,3564,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6518,-0.87,-180.0,635.0,-11.1,360,6524,0.00,1.23,0.00,0.000,4,0.000,0.026,2740,1629,3562,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6714,-0.84,-180.0,654.8,-10.5,366,6719,0.10,1.33,0.00,0.000,6,0.139,0.042,2777,2473,3561,0,0,0,0,0,0,25.97,26.27,28.83
$GC,7041,-0.83,-180.0,686.2,-9.8,377,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2473,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7338,-0.82,-180.0,716.6,-10.0,387,7343,0.00,1.40,0.00,0.000,4,0.000,0.053,2777,3356,3558,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7423,-0.82,-180.0,722.7,-9.9,389,7428,0.00,1.27,0.00,0.000,6,0.000,0.028,2777,2468,3558,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7736,-0.82,-180.0,754.9,-9.3,400,7741,0.00,1.45,0.00,0.000,4,0.000,0.051,2777,3358,3558,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7778,-0.82,-180.0,758.0,-9.3,401,7783,0.00,1.27,0.00,0.000,6,0.000,0.028,2777,2472,3556,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8104,-0.82,-180.0,786.4,-8.4,412,8110,0.00,1.20,0.00,0.000,4,0.000,0.027,2777,1631,3554,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8143,-0.82,-180.0,789.5,-8.5,413,8148,0.00,1.33,0.00,0.000,6,0.000,0.043,2776,2473,3553,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8474,-0.82,-180.0,821.2,-10.0,424,8479,0.00,1.25,0.00,0.000,4,0.000,0.026,2777,1620,3553,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8546,-0.82,-180.0,827.8,-9.9,426,8552,0.00,1.35,0.00,0.000,6,0.000,0.043,2777,2476,3553,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8871,-0.82,-180.0,862.2,-10.7,437,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2476,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9171,-0.81,-180.0,894.2,-10.5,447,9176,0.00,1.25,0.00,0.000,4,0.000,0.025,2777,1622,3550,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9209,-0.80,-180.0,898.2,-10.9,448,9214,0.00,1.35,0.00,0.000,6,0.000,0.044,2779,2477,3549,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9540,-0.80,-180.0,935.3,-10.5,459,9545,0.00,1.25,0.00,0.000,4,0.000,0.026,2777,1625,3548,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9587,-0.80,-180.0,938.5,-9.9,460,9592,0.00,1.35,0.00,0.000,6,0.000,0.044,2776,2478,3548,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9908,-0.80,-180.0,961.9,-6.7,471,9914,0.00,1.40,0.00,0.000,4,0.000,0.053,2776,3356,3547,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9973,-0.80,-180.0,966.5,-6.8,473,9979,0.00,1.30,0.00,0.000,6,0.000,0.029,2777,2480,3547,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,10307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10307,begin apogee
$GC,10314,-0.15,0.0,990.9,-7.9,484,10477,0.65,0.00,154.77,1.486,6,0.116,0.000,2998,2100,2852,0,0,0,0,0,0,25.72,28.83,22.65
$STATE,10479,end apogee,CONTROL_FINISHED_OK
$STATE,10479,begin climb
$GC,10482,0.51,180.0,996.0,0.0,489,10661,0.57,1.62,171.70,1.444,4,0.053,0.047,3216,2999,2119,0,0,0,0,0,0,24.65,23.75,22.10
$GC,10890,0.46,180.0,956.9,13.4,503,10895,0.00,1.27,0.00,0.000,6,0.000,0.027,3221,2130,2110,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11217,0.42,180.0,919.8,10.8,514,11222,0.12,1.35,0.00,0.000,4,0.163,0.041,3181,3012,2106,0,0,0,0,0,0,26.12,26.19,28.83
$GC,11275,0.39,180.0,916.5,10.2,515,11283,0.00,1.30,0.00,0.000,6,0.000,0.028,3186,2133,2106,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11584,0.38,192.5,891.0,8.5,526,11599,0.00,1.42,11.00,1.267,4,0.000,0.045,3186,3002,2068,0,0,0,0,0,0,28.83,26.04,23.92
$GC,11727,0.36,192.5,878.1,10.3,530,11732,0.00,1.33,0.00,0.000,6,0.000,0.028,3187,2110,2066,0,0,0,0,0,0,28.83,26.28,28.83
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$GC,20142,1.12,534.6,24.1,8.4,914,20155,0.17,1.35,8.32,0.613,4,0.091,0.030,3416,1255,672,0,0,0,0,0,0,26.16,26.10,24.46
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$STATE,20324,end climb,SURFACE_DEPTH_REACHED
$STATE,20324,begin surface coast
$FINISH,1.6,1.007641
$STATE,20345,end surface coast,CONTROL_FINISHED_OK
$STATE,20345,begin surface
$SM_CCo,20425,0.00,0.000,0,0,670,535.49
$SM_GC,2.59,8.52,0.55,0.00,0.044,0.046,0.000,135,2484,670,-9.06,-1.10,535.49,0,0,0,0,0,0,25.94,26.23,28.83
$IRIDIUM_FIX,2152.74,12002.00,150113,121241
$TT8_MAMPS,0.025466,0.025466
$HUMID,54.68
$INTERNAL_PRESSURE,9.43945
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3876960
$24V_AH,22.1,76.224
$10V_AH,9.6,37.932
$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,23.900,139.075,647.325,0.000,0.000,0.000,0.000,325.625,0.000,0.000,18.774,3294.022,13386.284,820.147,2912.629,559.755,0.000,2579.558,0.000,2462.907,0.000,0.544,0.000
$DEVICE_MAMPS,242.505,54.315,1485.630,0.000,0.000,0.000,0.000,133.875,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20396.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.698,0.000,0.000,0.000
$MEM,324280
$DATA_FILE_SIZE,36651,952
$CAP_FILE_SIZE,254228,0
$CFSIZE,260034560,212680704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.074,352.6,1
$GPS,150113,233259,2203.072,12004.251,38,0.8,38,-3.1