version: 66.12
glider: 171
mission: 9
dive: 222
start: 12 31 115 13 58 40
data:
$ID,171
$MISSION,9
$DIVE,222
$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,59
$R_STBD_OVSHOOT,27
$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
$GPS1,311215,135205,729.7469,8258.0225,42,1.3,42,-2.2,0.0,0.0,7,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.32
$_SM_ANGLEo,-53.2
$GPS2,311215,135828,729.6921,8257.9668,14,1.6,24,-2.2,0.1,289.6,5,9.4
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH1
$TGT_LATLONG,720.000,8240.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,198.7,37568,-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,-175.2,169,2293,534,471,0.0,0.0,0,154,0.00,0.00,-134.12,0.000,16386,0.000,0.000,168,2293,2758,2804,2712,0,0,0,0,0,0,26.34,28.83,26.41
$GC,157,-0.54,-175.2,169,2293,2806,2712,3.9,-7.2,11,191,6.07,2.35,-18.88,0.000,18948,0.194,1.198,1816,926,3617,3482,3752,0,0,0,0,0,0,25.45,24.20,25.82
$GC,340,-0.53,-175.2,1815,926,3484,3755,64.8,-24.4,42,348,0.00,2.20,0.00,0.000,1030,0.000,0.042,1805,2302,3619,3483,3755,0,0,0,0,0,0,26.10,26.06,26.14
$GC,706,-0.52,-175.2,1804,2303,3484,3760,131.6,-16.3,58,712,0.00,2.22,0.00,0.000,260,0.000,0.054,1794,3671,3620,3483,3758,0,0,0,0,0,0,26.62,26.13,26.67
$GC,880,-0.52,-175.2,1795,3672,3483,3760,157.4,-14.9,87,887,0.08,2.08,0.00,0.000,3078,0.109,0.028,1825,2304,3621,3483,3760,0,0,0,0,0,0,26.13,26.34,26.20
$GC,1259,-0.51,-175.2,1825,2303,3484,3761,199.9,-9.6,105,1266,0.00,2.25,0.00,0.000,260,0.000,0.057,1815,3660,3621,3482,3760,0,0,0,0,0,0,26.74,26.20,26.80
$GC,1283,-0.51,-175.2,1815,3660,3483,3761,202.2,-9.2,109,1290,0.00,2.05,0.00,0.000,1030,0.000,0.031,1815,2314,3621,3483,3760,0,0,0,0,0,0,26.44,26.41,26.47
$GC,1668,-0.51,-175.2,1814,2313,3484,3761,239.3,-9.4,128,1674,0.00,2.22,0.00,0.000,260,0.000,0.057,1805,3662,3621,3482,3760,0,0,0,0,0,0,26.79,26.22,26.84
$GC,1691,-0.51,-175.2,1804,3662,3483,3761,241.5,-9.7,132,1698,0.00,2.08,0.00,0.000,1030,0.000,0.032,1805,2312,3622,3483,3761,0,0,0,0,0,0,26.47,26.44,26.50
$GC,2077,-0.50,-175.2,1805,2312,3483,3755,279.1,-9.8,147,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2312,3618,3482,3755,0,0,0,0,0,0,26.82,26.88,26.87
$GC,2435,-0.50,-175.2,1805,2312,3483,3749,313.5,-9.5,157,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2312,3615,3482,3748,0,0,0,0,0,0,26.83,26.90,26.89
$GC,2795,-0.50,-175.2,1804,2311,3483,3743,346.3,-9.1,167,2797,0.10,0.00,0.00,0.000,2054,0.152,0.000,1833,2311,3612,3482,3743,0,0,0,0,0,0,26.53,26.60,26.57
$GC,3156,-0.50,-175.2,1833,2311,3482,3738,375.6,-8.3,177,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2311,3610,3482,3738,0,0,0,0,0,0,26.85,26.92,26.91
$GC,3515,-0.50,-175.2,1832,2311,3482,3731,405.2,-8.1,187,3522,0.00,2.20,0.00,0.000,516,0.000,0.041,1833,909,3606,3482,3731,0,0,0,0,0,0,26.85,26.35,26.91
$GC,3552,-0.50,-175.2,1833,910,3482,3731,408.1,-8.3,193,3559,0.00,2.22,0.00,0.000,1030,0.000,0.044,1824,2303,3606,3482,3731,0,0,0,0,0,0,26.36,26.31,26.41
$GC,3949,-0.50,-175.2,1824,2303,3482,3725,441.9,-8.6,209,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2303,3603,3482,3725,0,0,0,0,0,0,26.86,26.92,26.91
$GC,4308,-0.50,-175.2,1824,2303,3481,3721,473.7,-8.8,219,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2303,3600,3481,3720,0,0,0,0,0,0,26.86,26.93,26.92
$GC,4668,-0.50,-175.2,1824,2303,3481,3717,505.7,-8.5,229,4676,0.00,2.20,0.00,0.000,516,0.000,0.041,1824,908,3598,3481,3716,0,0,0,0,0,0,26.86,26.32,26.92
$GC,4698,-0.50,-175.2,1824,909,3480,3717,508.3,-9.1,234,4706,0.00,2.22,0.00,0.000,1030,0.000,0.044,1814,2303,3598,3480,3716,0,0,0,0,0,0,26.33,26.28,26.38
$GC,5065,-0.50,-175.2,1813,2303,3481,3712,538.7,-8.0,245,5072,0.00,2.20,0.00,0.000,516,0.000,0.042,1814,908,3596,3480,3712,0,0,0,0,0,0,26.86,26.29,26.92
$GC,5101,-0.50,-175.2,1813,908,3480,3711,541.8,-8.6,251,5108,0.08,2.22,0.00,0.000,3078,0.114,0.045,1833,2303,3595,3479,3711,0,0,0,0,0,0,26.09,26.27,26.17
$GC,5497,-0.50,-175.2,1833,2303,3480,3708,568.1,-6.7,267,5504,0.00,2.20,0.00,0.000,516,0.000,0.041,1834,910,3593,3480,3707,0,0,0,0,0,0,26.86,26.27,26.91
$GC,5539,-0.50,-175.2,1833,910,3479,3707,571.1,-7.4,274,5546,0.00,2.22,0.00,0.000,1030,0.000,0.045,1825,2304,3593,3479,3707,0,0,0,0,0,0,26.31,26.25,26.36
$GC,5931,-0.50,-175.2,1825,2304,3479,3704,600.9,-7.7,289,5937,0.00,2.22,0.00,0.000,260,0.000,0.060,1814,3674,3591,3479,3704,0,0,0,0,0,0,26.86,26.14,26.91
$GC,5983,-0.50,-175.2,1814,3674,3479,3703,605.6,-8.7,298,5991,0.00,2.12,0.00,0.000,1030,0.000,0.034,1814,2304,3591,3479,3703,0,0,0,0,0,0,26.49,26.46,26.52
$GC,6362,-0.50,-175.2,1814,2304,3479,3700,638.2,-8.6,311,6368,0.00,2.20,0.00,0.000,516,0.000,0.039,1814,903,3589,3479,3700,0,0,0,0,0,0,26.86,26.29,26.91
$GC,6428,-0.50,-175.2,1814,903,3480,3700,644.0,-9.4,322,6436,0.00,2.22,0.00,0.000,1030,0.000,0.044,1804,2301,3589,3479,3699,0,0,0,0,0,0,26.31,26.25,26.35
$GC,6795,-0.50,-175.2,1804,2301,3479,3697,675.8,-8.5,333,6796,0.12,0.00,0.00,0.000,2054,0.135,0.000,1842,2301,3588,3479,3697,0,0,0,0,0,0,26.47,26.55,26.52
$GC,7155,-0.50,-175.2,1841,2301,3479,3694,699.3,-6.5,343,7161,0.00,2.15,0.00,0.000,516,0.000,0.041,1842,908,3586,3479,3694,0,0,0,0,0,0,26.86,26.27,26.91
$GC,7196,-0.50,-175.2,1842,909,3479,3694,702.2,-7.1,350,7202,0.00,2.25,0.00,0.000,1030,0.000,0.045,1833,2310,3586,3478,3694,0,0,0,0,0,0,26.27,26.20,26.32
$GC,7587,-0.50,-175.2,1833,2310,3479,3691,729.1,-7.0,365,7593,0.00,2.20,0.00,0.000,516,0.000,0.042,1833,902,3585,3479,3691,0,0,0,0,0,0,26.86,26.22,26.91
$GC,7634,-0.51,-175.2,1832,902,3479,3691,732.6,-7.0,373,7642,0.00,2.25,0.00,0.000,1030,0.000,0.044,1823,2310,3585,3479,3691,0,0,0,0,0,0,26.27,26.21,26.32
$GC,8020,-0.51,-175.2,1822,2311,3480,3689,760.1,-7.0,387,8026,0.00,2.17,0.00,0.000,516,0.000,0.042,1823,910,3584,3479,3689,0,0,0,0,0,0,26.86,26.21,26.91
$GC,8049,-0.51,-175.2,1823,910,3480,3689,762.4,-7.6,392,8057,0.00,2.25,0.00,0.000,1030,0.000,0.046,1813,2308,3584,3481,3688,0,0,0,0,0,0,26.25,26.19,26.29
$GC,8415,-0.51,-175.2,1812,2308,3479,3687,790.2,-7.6,403,8421,0.00,2.22,0.00,0.000,516,0.000,0.042,1813,912,3582,3479,3686,0,0,0,0,0,0,26.86,26.20,26.91
$GC,8444,-0.51,-175.2,1813,912,3479,3687,792.6,-8.3,408,8453,0.08,2.22,0.00,0.000,3078,0.112,0.046,1834,2301,3582,3479,3686,0,0,0,0,0,0,26.01,26.19,26.08
$GC,8812,-0.51,-175.2,1832,2302,3479,3685,816.4,-6.4,419,8818,0.00,2.20,0.00,0.000,516,0.000,0.044,1833,916,3581,3478,3684,0,0,0,0,0,0,26.85,26.18,26.91
$GC,8847,-0.51,-175.2,1832,916,3479,3685,818.6,-6.7,425,8854,0.00,2.22,0.00,0.000,1030,0.000,0.047,1824,2302,3581,3479,3684,0,0,0,0,0,0,26.22,26.17,26.27
$GC,9244,-0.51,-175.2,1824,2302,3479,3683,844.6,-6.4,441,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2302,3581,3479,3683,0,0,0,0,0,0,26.85,26.92,26.91
$GC,9603,-0.51,-175.2,1823,2302,3479,3682,867.7,-6.3,451,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2302,3580,3478,3682,0,0,0,0,0,0,26.85,26.93,26.91
$GC,9963,-0.51,-175.2,1823,2302,3479,3680,891.3,-6.4,461,9970,0.00,2.22,0.00,0.000,516,0.000,0.043,1824,910,3579,3478,3680,0,0,0,0,0,0,26.86,26.16,26.91
$GC,10024,-0.51,-175.2,1824,910,3479,3680,895.3,-7.1,471,10030,0.00,2.25,0.00,0.000,1030,0.000,0.045,1815,2308,3579,3478,3680,0,0,0,0,0,0,26.21,26.15,26.26
$GC,10396,-0.51,-175.2,1813,2308,3479,3677,921.0,-7.0,483,10397,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2308,3577,3478,3677,0,0,0,0,0,0,26.85,26.92,26.91
$GC,10756,-0.51,-175.2,1813,2308,3479,3677,944.9,-6.6,493,10763,0.00,2.22,0.00,0.000,516,0.000,0.043,1813,921,3578,3479,3677,0,0,0,0,0,0,26.85,26.13,26.91
$GC,10809,-0.51,-175.2,1813,921,3479,3677,948.6,-6.8,502,10817,0.00,2.22,0.00,0.000,1030,0.000,0.046,1803,2302,3577,3478,3677,0,0,0,0,0,0,26.19,26.14,26.25
$GC,11189,-0.51,-175.2,1803,2302,3478,3676,974.5,-7.0,515,11190,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2301,3577,3478,3676,0,0,0,0,0,0,26.85,26.92,26.91
$STATE,11438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11438,begin apogee
$GC,11443,-0.11,0.0,1804,1946,3478,3675,992.3,-7.1,522,11593,0.47,0.00,146.73,1.014,10246,0.093,0.000,1965,1943,2898,2918,2878,0,0,0,0,0,0,25.95,24.70,23.69
$STATE,11594,end apogee,CONTROL_FINISHED_OK
$STATE,11594,begin climb
$GC,11596,0.54,175.2,1965,1943,2917,2873,996.1,0.0,526,11754,0.57,0.00,153.02,1.004,10758,0.067,0.000,2175,1943,2183,2252,2114,0,0,0,0,0,0,25.01,24.49,23.58
$GC,12088,0.58,199.5,2174,1943,2239,2106,965.1,7.1,560,12114,0.00,2.42,21.35,0.962,8452,0.000,0.052,2175,3375,2083,2143,2024,0,0,0,0,0,0,26.22,25.39,24.36
$GC,12120,0.61,223.0,2174,3375,2142,2024,962.8,7.1,565,12152,0.00,2.28,22.70,0.965,9222,0.000,0.034,2179,1963,1987,2045,1929,0,0,0,0,0,0,25.68,25.65,24.13
$GC,12517,0.65,245.8,2179,1963,2040,1925,933.8,7.2,581,12543,0.00,2.38,21.05,0.956,8452,0.000,0.051,2179,3373,1897,1959,1836,0,0,0,0,0,0,26.33,25.50,24.49
$GC,12590,0.65,245.8,2178,3374,1953,1836,927.9,8.6,593,12598,0.00,2.25,0.00,0.000,1030,0.000,0.032,2181,1963,1893,1952,1835,0,0,0,0,0,0,25.85,25.82,25.88
$GC,12982,0.65,245.8,2181,1963,1951,1833,895.7,8.3,608,12983,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,1962,1892,1952,1832,0,0,0,0,0,0,26.44,26.50,26.49
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$GC,19243,0.67,299.1,2205,1967,1840,1716,293.4,7.1,851,19268,0.00,0.00,23.17,0.586,8198,0.000,0.000,2205,1967,1679,1751,1607,0,0,0,0,0,0,26.75,25.95,25.29
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$STATE,22655,end climb,SURFACE_DEPTH_REACHED
$STATE,22655,begin surface coast
$FINISH,0.6,1.021181
$STATE,22668,end surface coast,CONTROL_FINISHED_OK
$STATE,22668,begin surface
$SM_CCo,22682,25.95,0.053,0,0,503,587.25
$SM_GC,-0.68,5.47,0.52,25.95,0.027,0.043,0.053,171,2307,503,-5.65,-1.36,587.25,0,0,0,0,0,0,26.32,26.20,26.08
$IRIDIUM_FIX,727.70,8303.56,311215,073304
$TT8_MAMPS,0.049434,0.049434
$HUMID,50.35
$INTERNAL_PRESSURE,9.43742
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3934816
$24V_AH,23.58,33.996
$10V_AH,9.91,20.956
$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,13.925,147.775,607.400,25.950,0.000,0.000,0.000,223.075,0.000,0.000,25.365,0.000,19396.000,1113.632,2188.756,373.564,0.000,2082.256,0.000,1573.582,0.000,0.539,0.000
$DEVICE_MAMPS,193.545,1197.990,1013.625,52.785,0.000,0.000,0.000,121.635,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22690.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.436,0.000,0.000,0.000
$MEM,261424
$DATA_FILE_SIZE,39957,1062
$CAP_FILE_SIZE,193055,0
$CFSIZE,260034560,229806080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.203,320.93,1
$GPS,311215,201833,728.790,8255.738,34,1.4,60,-2.2,0.4,171.7,8,8.4