version: 66.12
glider: 171
mission: 9
dive: 197
start: 12 24 115 19 6 5
data:
$ID,171
$MISSION,9
$DIVE,197
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1015
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,420
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-6
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52091
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,587.06018
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,175
$PITCH_MAX,3952
$C_PITCH,1997
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2305
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3820
$C_VBD,2899
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-75.620842
$PRESSURE_SLOPE,0.0001165165
$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,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,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,0.004389904
$SEABIRD_T_H,0.00063959236
$SEABIRD_T_I,2.6546981e-05
$SEABIRD_T_J,3.01253e-06
$SEABIRD_C_G,-10.191363
$SEABIRD_C_H,1.1409097
$SEABIRD_C_I,-0.0015713738
$SEABIRD_C_J,0.00020770991
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,241215,185734,734.3524,8334.3818,46,0.9,46,-2.2,0.0,0.0,10,6.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.38
$_SM_ANGLEo,-54.1
$GPS2,241215,190554,734.3583,8334.2959,11,1.2,11,-2.2,0.0,0.0,6,9.3
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH1
$TGT_LATLONG,600.000,8230.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,207.7,211098,-12.3,-7.857,-16.95,3372
$D_GRID,1020
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.54,-175.2,168,2313,538,470,0.0,0.0,0,154,0.00,0.00,-134.07,0.000,16386,0.000,0.000,167,2313,2741,2790,2692,0,0,0,0,0,0,26.27,28.83,26.33
$GC,157,-0.54,-175.2,168,2313,2792,2693,3.1,-5.8,11,191,6.20,2.33,-19.92,0.000,18692,0.200,1.211,1802,3661,3616,3474,3759,0,0,0,0,0,0,25.53,24.51,25.87
$GC,419,-0.53,-175.2,1802,3661,3475,3763,84.4,-19.4,55,425,0.00,2.08,0.00,0.000,1030,0.000,0.031,1802,2313,3618,3474,3763,0,0,0,0,0,0,26.25,26.21,26.27
$GC,802,-0.53,-175.2,1802,2310,3475,3768,146.6,-14.6,74,809,0.00,2.20,0.00,0.000,260,0.000,0.054,1792,3669,3621,3475,3767,0,0,0,0,0,0,26.65,26.23,26.70
$GC,970,-0.52,-175.2,1791,3669,3475,3768,168.8,-12.9,102,977,0.08,2.08,0.00,0.000,3078,0.112,0.029,1822,2298,3621,3475,3768,0,0,0,0,0,0,26.20,26.41,26.27
$GC,1354,-0.52,-175.2,1822,2298,3476,3768,206.0,-9.4,121,1362,0.00,2.15,0.00,0.000,516,0.000,0.038,1822,909,3621,3475,3767,0,0,0,0,0,0,26.76,26.39,26.82
$GC,1420,-0.52,-175.2,1822,910,3475,3768,212.2,-9.5,132,1428,0.00,2.20,0.00,0.000,1030,0.000,0.041,1812,2306,3621,3475,3767,0,0,0,0,0,0,26.42,26.38,26.46
$GC,1786,-0.52,-175.2,1812,2306,3475,3764,247.9,-10.3,148,1793,0.00,2.17,0.00,0.000,516,0.000,0.041,1812,914,3619,3474,3764,0,0,0,0,0,0,26.80,26.41,26.86
$GC,1828,-0.51,-175.2,1812,914,3475,3763,252.4,-11.0,155,1835,0.00,2.20,0.00,0.000,1030,0.000,0.042,1802,2311,3618,3474,3763,0,0,0,0,0,0,26.44,26.40,26.48
$GC,2220,-0.51,-175.2,1802,2312,3474,3756,289.5,-9.5,170,2226,0.10,2.15,0.00,0.000,2564,0.155,0.040,1830,910,3614,3474,3755,0,0,0,0,0,0,26.52,26.41,26.57
$GC,2267,-0.51,-175.2,1830,910,3475,3756,293.6,-8.1,178,2274,0.00,2.20,0.00,0.000,1030,0.000,0.041,1821,2303,3615,3474,3756,0,0,0,0,0,0,26.46,26.41,26.51
$GC,2653,-0.51,-175.2,1820,2304,3475,3750,326.9,-9.3,192,2658,0.00,2.15,0.00,0.000,516,0.000,0.041,1821,906,3611,3474,3749,0,0,0,0,0,0,26.84,26.41,26.91
$GC,2699,-0.51,-175.2,1820,906,3474,3748,331.6,-9.8,200,2706,0.00,2.22,0.00,0.000,1030,0.000,0.042,1810,2306,3610,3474,3747,0,0,0,0,0,0,26.50,26.41,26.53
$GC,3085,-0.51,-175.2,1810,2306,3474,3741,369.2,-9.8,214,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,2305,3607,3474,3740,0,0,0,0,0,0,26.85,26.93,26.91
$GC,3443,-0.51,-175.2,1810,2306,3474,3736,404.7,-9.9,224,3450,0.00,2.20,0.00,0.000,260,0.000,0.057,1800,3660,3604,3474,3735,0,0,0,0,0,0,26.86,26.33,26.92
$GC,3473,-0.51,-175.2,1800,3660,3474,3735,407.8,-11.0,229,3483,0.08,2.08,0.00,0.000,3078,0.105,0.035,1830,2323,3604,3473,3735,0,0,0,0,0,0,26.34,26.54,26.39
$GC,3840,-0.51,-175.2,1830,2323,3474,3729,439.0,-8.2,240,3846,0.00,2.15,0.00,0.000,260,0.000,0.059,1821,3669,3601,3473,3729,0,0,0,0,0,0,26.86,26.33,26.93
$GC,3887,-0.51,-175.2,1820,3669,3474,3728,443.0,-8.8,248,3894,0.00,2.10,0.00,0.000,1030,0.000,0.033,1820,2300,3601,3474,3728,0,0,0,0,0,0,26.60,26.57,26.62
$GC,4273,-0.51,-175.2,1820,2299,3474,3723,475.0,-8.4,262,4278,0.00,2.20,0.00,0.000,260,0.000,0.058,1810,3672,3598,3473,3723,0,0,0,0,0,0,26.86,26.32,26.93
$GC,4302,-0.50,-175.2,1810,3672,3473,3723,477.7,-9.3,267,4309,0.00,2.10,0.00,0.000,1030,0.000,0.034,1810,2304,3597,3473,3722,0,0,0,0,0,0,26.59,26.56,26.61
$GC,4669,-0.50,-175.2,1810,2304,3474,3718,510.9,-9.2,278,4674,0.00,2.15,0.00,0.000,516,0.000,0.040,1810,909,3595,3473,3718,0,0,0,0,0,0,26.87,26.41,26.93
$GC,4715,-0.50,-175.2,1810,910,3474,3718,515.6,-9.6,286,4722,0.08,2.20,0.00,0.000,3078,0.115,0.044,1831,2297,3595,3473,3717,0,0,0,0,0,0,26.22,26.39,26.29
$GC,5101,-0.50,-175.2,1831,2297,3473,3713,546.7,-8.0,300,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2296,3593,3473,3713,0,0,0,0,0,0,26.87,26.94,26.93
$GC,5459,-0.50,-175.2,1830,2297,3474,3709,575.8,-8.1,310,5466,0.00,2.17,0.00,0.000,516,0.000,0.038,1830,909,3591,3473,3709,0,0,0,0,0,0,26.87,26.39,26.94
$GC,5501,-0.50,-175.2,1830,910,3474,3709,579.4,-8.6,317,5509,0.00,2.22,0.00,0.000,1030,0.000,0.044,1821,2310,3590,3473,3708,0,0,0,0,0,0,26.42,26.36,26.46
$GC,5893,-0.50,-175.2,1821,2310,3474,3706,610.7,-7.9,332,5898,0.00,2.15,0.00,0.000,516,0.000,0.041,1821,912,3589,3473,3706,0,0,0,0,0,0,26.87,26.36,26.94
$GC,5921,-0.50,-175.2,1821,913,3473,3706,613.1,-8.6,337,5930,0.00,2.22,0.00,0.000,1030,0.000,0.044,1811,2313,3589,3473,3705,0,0,0,0,0,0,26.42,26.36,26.46
$GC,6288,-0.50,-175.2,1811,2313,3473,3703,643.5,-8.3,348,6294,0.00,2.20,0.00,0.000,516,0.000,0.040,1811,917,3587,3473,3702,0,0,0,0,0,0,26.87,26.36,26.93
$GC,6323,-0.50,-175.2,1812,917,3473,3702,646.6,-9.0,354,6331,0.08,2.20,0.00,0.000,3078,0.115,0.044,1831,2300,3587,3473,3702,0,0,0,0,0,0,26.19,26.36,26.27
$GC,6720,-0.50,-175.2,1831,2300,3472,3700,675.1,-7.1,370,6727,0.00,2.17,0.00,0.000,516,0.000,0.040,1832,917,3586,3473,3699,0,0,0,0,0,0,26.87,26.35,26.93
$GC,6750,-0.50,-175.2,1831,917,3473,3699,677.2,-7.4,375,6758,0.00,2.20,0.00,0.000,1030,0.000,0.044,1822,2302,3586,3473,3699,0,0,0,0,0,0,26.40,26.35,26.44
$GC,7116,-0.50,-175.2,1822,2303,3473,3697,704.8,-7.6,386,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2302,3585,3473,3697,0,0,0,0,0,0,26.87,26.94,26.93
$GC,7477,-0.50,-175.2,1822,2302,3473,3694,732.3,-7.7,396,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2302,3583,3473,3694,0,0,0,0,0,0,26.87,26.94,26.93
$GC,7836,-0.50,-175.2,1822,2302,3472,3693,760.3,-7.9,406,7843,0.00,2.20,0.00,0.000,516,0.000,0.041,1822,914,3582,3472,3692,0,0,0,0,0,0,26.87,26.32,26.94
$GC,7884,-0.50,-175.2,1822,914,3472,3692,764.2,-8.4,414,7891,0.00,2.20,0.00,0.000,1030,0.000,0.044,1812,2298,3582,3472,3692,0,0,0,0,0,0,26.39,26.33,26.43
$GC,8269,-0.50,-175.2,1812,2298,3472,3690,797.2,-8.7,428,8275,0.00,2.17,0.00,0.000,516,0.000,0.039,1813,910,3581,3472,3690,0,0,0,0,0,0,26.87,26.34,26.93
$GC,8310,-0.50,-175.2,1812,910,3473,3690,801.1,-9.7,435,8317,0.08,2.22,0.00,0.000,3078,0.112,0.044,1832,2303,3581,3472,3690,0,0,0,0,0,0,26.15,26.31,26.22
$GC,8701,-0.50,-175.2,1832,2302,3473,3688,830.9,-7.5,450,8707,0.00,2.20,0.00,0.000,516,0.000,0.042,1833,913,3580,3472,3688,0,0,0,0,0,0,26.87,26.29,26.93
$GC,8748,-0.51,-175.2,1832,914,3472,3688,834.7,-7.6,458,8755,0.00,2.22,0.00,0.000,1030,0.000,0.045,1824,2307,3579,3472,3687,0,0,0,0,0,0,26.36,26.30,26.41
$GC,9134,-0.51,-175.2,1824,2307,3472,3686,864.2,-7.5,472,9139,0.00,2.17,0.00,0.000,516,0.000,0.044,1824,915,3579,3472,3686,0,0,0,0,0,0,26.87,26.28,26.93
$GC,9174,-0.51,-175.2,1824,916,3472,3686,867.3,-7.7,479,9181,0.00,2.22,0.00,0.000,1030,0.000,0.045,1814,2308,3579,3472,3686,0,0,0,0,0,0,26.34,26.29,26.39
$GC,9566,-0.51,-175.2,1813,2308,3472,3684,895.9,-7.0,494,9571,0.00,2.17,0.00,0.000,516,0.000,0.043,1814,912,3578,3472,3684,0,0,0,0,0,0,26.86,26.27,26.93
$GC,9660,-0.51,-175.2,1813,913,3472,3684,902.9,-7.2,510,9667,0.00,2.22,0.00,0.000,1030,0.000,0.045,1804,2302,3578,3472,3684,0,0,0,0,0,0,26.34,26.29,26.38
$GC,10034,-0.51,-175.2,1803,2303,3472,3682,930.1,-7.4,522,10036,0.10,0.00,0.00,0.000,2054,0.147,0.000,1832,2302,3576,3470,3683,0,0,0,0,0,0,26.55,26.62,26.59
$GC,10394,-0.51,-175.2,1832,2303,3472,3682,952.1,-6.1,532,10399,0.00,2.15,0.00,0.000,516,0.000,0.043,1832,915,3576,3472,3681,0,0,0,0,0,0,26.87,26.25,26.93
$GC,10477,-0.51,-175.2,1832,916,3471,3681,957.6,-7.0,546,10483,0.00,2.22,0.00,0.000,1030,0.000,0.045,1824,2306,3576,3471,3681,0,0,0,0,0,0,26.32,26.27,26.37
$GC,10861,-0.51,-175.2,1824,2306,3472,3679,982.4,-6.4,560,10867,0.00,2.22,0.00,0.000,516,0.000,0.044,1824,910,3575,3471,3679,0,0,0,0,0,0,26.87,26.24,26.93
$GC,10921,-0.51,-175.2,1823,910,3472,3679,986.6,-7.0,570,10927,0.00,2.25,0.00,0.000,1030,0.000,0.046,1814,2311,3574,3471,3677,0,0,0,0,0,0,26.30,26.25,26.46
$STATE,11003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11003,begin apogee
$GC,11007,-0.11,0.0,1814,1961,3472,3677,992.4,-6.9,574,11156,0.43,0.00,145.52,1.012,10246,0.095,0.000,1958,1960,2898,2920,2877,0,0,0,0,0,0,26.10,24.76,23.85
$STATE,11157,end apogee,CONTROL_FINISHED_OK
$STATE,11157,begin climb
$GC,11160,0.54,175.2,1959,1960,2917,2872,996.1,0.0,578,11320,0.60,0.00,153.60,1.001,10758,0.071,0.000,2171,1959,2181,2250,2112,0,0,0,0,0,0,25.03,24.49,23.51
$GC,11692,0.55,180.2,2170,1959,2241,2104,960.0,7.7,618,11697,0.00,2.20,0.00,0.000,516,0.000,0.045,2171,567,2171,2239,2104,0,0,0,0,0,0,26.27,25.91,26.33
$GC,11798,0.55,181.9,2171,567,2239,2104,951.7,7.8,636,11808,0.00,2.22,4.45,0.737,9222,0.000,0.037,2171,1965,2157,2226,2089,0,0,0,0,0,0,26.07,26.03,24.30
$GC,12190,0.56,186.3,2171,1965,2221,2089,921.2,7.7,651,12204,0.00,2.30,6.45,0.846,8452,0.000,0.053,2172,3373,2137,2201,2073,0,0,0,0,0,0,26.52,25.73,24.69
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$GC,17057,0.63,266.0,2226,3366,1870,1741,423.5,11.1,861,17064,0.00,2.15,0.00,0.000,1030,0.000,0.030,2227,1965,1805,1869,1741,0,0,0,0,0,0,26.51,26.47,26.53
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$STATE,21907,end climb,SURFACE_DEPTH_REACHED
$STATE,21907,begin surface coast
$FINISH,0.4,1.021304
$STATE,21931,end surface coast,CONTROL_FINISHED_OK
$STATE,21931,begin surface
$SM_CCo,21946,81.93,0.052,0,0,504,587.25
$SM_GC,-0.69,5.32,0.55,81.93,0.025,0.044,0.052,168,2320,504,-5.65,-0.82,587.25,0,0,0,0,0,0,26.53,26.40,26.23
$IRIDIUM_FIX,729.87,8334.06,241215,190005
$TT8_MAMPS,0.050183,0.050183
$HUMID,50.31
$INTERNAL_PRESSURE,9.42765
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3944416
$24V_AH,23.51,30.391
$10V_AH,10.00,18.919
$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,13.850,163.575,490.750,81.925,0.000,0.000,0.000,291.050,0.000,0.000,12.887,0.000,18685.387,1088.948,2361.856,370.259,0.000,2162.704,0.000,1672.976,0.000,0.539,0.000
$DEVICE_MAMPS,199.665,1210.995,1012.095,52.020,0.000,0.000,0.000,123.165,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21956.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.485,0.000,0.000,0.000
$MEM,261608
$DATA_FILE_SIZE,39997,1132
$CAP_FILE_SIZE,198983,0
$CFSIZE,260034560,232206336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.273,10.40,1
$GPS,251215,011435,734.176,8333.608,58,1.0,58,-2.2,0.0,0.0,9,7.3