version: 66.08
glider: 176
mission: 2
dive: 386
start: 11 2 110 11 59 6
data:
$ID,176
$MISSION,2
$DIVE,386
$N_DIVES,390
$D_SURF,3
$D_FLARE,3
$D_TGT,880
$D_ABORT,950
$D_NO_BLEED,200
$D_BOOST,3
$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,300
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51802
$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,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5423.0059
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2590
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,45
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3027
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.249977
$PRESSURE_SLOPE,0.0001162977
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.00432827
$SEABIRD_T_H,0.00062557345
$SEABIRD_T_I,2.4575895e-05
$SEABIRD_T_J,2.763237e-06
$SEABIRD_C_G,-10.125947
$SEABIRD_C_H,1.1501343
$SEABIRD_C_I,-0.00052266428
$SEABIRD_C_J,0.00012672807
$GPS1,021110,115130,2256.301,12619.287,39,1.5,39,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-64.6
$GPS2,021110,115838,2256.284,12619.182,12,1.5,12,-3.3
$SPEED_LIMITS,0.169,0.292
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$TGT_RADIUS,2000.000
$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,162.2,178076,-14.6,-9.778
$D_GRID,1000
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.56,-194.6,0.0,0.0,0,74,0.00,0.00,-56.58,0.000,2,0.000,0.000,198,2461,2483,0,0,0,0,0,0
$GC,77,-0.56,-194.6,3.1,-3.2,7,119,9.10,2.30,-26.90,0.000,4,0.238,0.045,2406,944,3824,0,0,0,0,0,0
$GC,183,-0.56,-194.6,23.7,-16.9,22,191,0.00,2.28,0.00,0.000,6,0.000,0.041,2407,2426,3825,0,0,0,0,0,0
$GC,545,-0.55,-194.6,97.4,-14.2,83,553,0.00,2.17,0.00,0.000,4,0.000,0.032,2407,955,3825,0,0,0,0,0,0
$GC,563,-0.54,-194.6,99.8,-13.6,85,573,0.03,2.22,0.00,0.000,6,0.178,0.040,2417,2420,3825,0,0,0,0,0,0
$GC,931,-0.54,-194.6,140.2,-10.2,146,939,0.00,2.15,0.00,0.000,4,0.000,0.031,2417,952,3825,0,0,0,0,0,0
$GC,984,-0.55,-194.6,145.3,-9.4,154,993,0.00,2.22,0.00,0.000,6,0.000,0.038,2417,2430,3826,0,0,0,0,0,0
$GC,1346,-0.56,-194.6,177.3,-9.3,215,1352,0.00,2.15,0.00,0.000,4,0.000,0.031,2417,947,3825,0,0,0,0,0,0
$GC,1389,-0.56,-194.6,181.3,-8.6,222,1398,0.03,2.22,0.00,0.000,6,0.118,0.038,2378,2430,3825,0,0,0,0,0,0
$GC,1751,-0.56,-194.6,226.1,-12.8,283,1758,0.12,2.15,0.00,0.000,4,0.154,0.031,2416,944,3826,0,0,0,0,0,0
$GC,1792,-0.57,-194.6,230.4,-9.3,289,1799,0.05,2.20,0.00,0.000,6,0.174,0.039,2366,2426,3826,0,0,0,0,0,0
$GC,2151,-0.56,-194.6,277.0,-13.0,350,2160,0.17,0.00,0.00,0.000,6,0.143,0.000,2421,2426,3825,0,0,0,0,0,0
$GC,2513,-0.57,-194.6,302.8,-6.6,411,2521,0.08,2.15,0.00,0.000,4,0.127,0.034,2362,950,3823,0,0,0,0,0,0
$GC,2577,-0.57,-194.6,309.2,-10.7,421,2585,0.17,2.17,0.00,0.000,6,0.129,0.040,2418,2425,3823,0,0,0,0,0,0
$GC,2937,-0.58,-194.6,339.1,-9.3,482,2946,0.08,2.17,0.00,0.000,4,0.130,0.033,2361,958,3822,0,0,0,0,0,0
$GC,2997,-0.59,-194.6,346.0,-12.1,491,3004,0.15,2.17,0.00,0.000,6,0.135,0.039,2408,2432,3821,0,0,0,0,0,0
$GC,3357,-0.60,-194.6,376.6,-7.4,552,3367,0.05,2.20,0.00,0.000,4,0.175,0.033,2361,952,3820,0,0,0,0,0,0
$GC,3418,-0.60,-194.6,381.9,-9.7,561,3425,0.15,2.20,0.00,0.000,6,0.129,0.040,2409,2424,3819,0,0,0,0,0,0
$GC,3778,-0.61,-194.6,405.6,-6.1,622,3787,0.08,2.20,0.00,0.000,4,0.128,0.032,2352,945,3818,0,0,0,0,0,0
$GC,3825,-0.61,-194.6,409.6,-9.3,629,3833,0.15,2.20,0.00,0.000,6,0.134,0.041,2400,2427,3817,0,0,0,0,0,0
$GC,4187,-0.62,-194.6,434.4,-7.0,690,4196,0.05,2.20,0.00,0.000,4,0.171,0.033,2347,954,3816,0,0,0,0,0,0
$GC,4246,-0.62,-194.6,440.4,-11.1,699,4253,0.17,2.20,0.00,0.000,6,0.129,0.041,2403,2423,3816,0,0,0,0,0,0
$GC,4606,-0.63,-194.6,470.4,-8.6,760,4616,0.08,2.20,0.00,0.000,4,0.130,0.033,2344,953,3814,0,0,0,0,0,0
$GC,4666,-0.64,-194.6,477.2,-12.0,769,4674,0.15,2.20,0.00,0.000,6,0.132,0.041,2393,2430,3814,0,0,0,0,0,0
$GC,5016,-0.64,-194.6,507.5,-7.3,821,5021,0.05,2.17,0.00,0.000,4,0.175,0.033,2347,948,3811,0,0,0,0,0,0
$GC,5068,-0.65,-194.6,512.3,-10.4,825,5073,0.15,2.20,0.00,0.000,6,0.129,0.041,2396,2422,3811,0,0,0,0,0,0
$GC,5393,-0.66,-194.6,533.2,-6.6,855,5398,0.08,2.15,0.00,0.000,4,0.125,0.033,2336,954,3810,0,0,0,0,0,0
$GC,5455,-0.66,-194.6,539.2,-10.4,860,5460,0.15,2.20,0.00,0.000,6,0.130,0.042,2385,2424,3809,0,0,0,0,0,0
$GC,5786,-0.67,-194.6,563.4,-7.1,891,5791,0.05,2.20,0.00,0.000,4,0.171,0.034,2334,945,3808,0,0,0,0,0,0
$GC,5842,-0.67,-194.6,568.9,-10.5,896,5847,0.15,2.25,0.00,0.000,6,0.132,0.042,2383,2430,3807,0,0,0,0,0,0
$GC,6169,-0.68,-194.6,592.9,-7.1,926,6174,0.08,2.17,0.00,0.000,4,0.125,0.034,2323,955,3805,0,0,0,0,0,0
$GC,6231,-0.68,-194.6,599.5,-10.9,931,6236,0.17,2.20,0.00,0.000,6,0.129,0.042,2379,2422,3804,0,0,0,0,0,0
$GC,6549,-0.68,-194.6,622.8,-7.4,946,6553,0.05,2.20,0.00,0.000,4,0.174,0.033,2334,946,3802,0,0,0,0,0,0
$GC,6614,-0.68,-194.6,629.6,-10.3,949,6618,0.15,2.22,0.00,0.000,6,0.132,0.043,2382,2431,3802,0,0,0,0,0,0
$GC,6944,-0.69,-194.6,654.5,-7.8,965,6948,0.08,2.17,0.00,0.000,4,0.125,0.034,2322,958,3800,0,0,0,0,0,0
$GC,7009,-0.69,-194.6,662.1,-11.0,968,7014,0.12,2.22,0.00,0.000,6,0.106,0.042,2372,2412,3799,0,0,0,0,0,0
$GC,7339,-0.70,-194.6,690.4,-8.4,984,7342,0.00,2.12,0.00,0.000,4,0.000,0.034,2372,957,3797,0,0,0,0,0,0
$GC,7390,-0.71,-194.6,695.2,-8.7,986,7395,0.05,2.20,0.00,0.000,6,0.164,0.041,2322,2424,3796,0,0,0,0,0,0
$GC,7712,-0.71,-194.6,734.0,-12.3,1002,7716,0.15,2.17,0.00,0.000,4,0.136,0.034,2371,954,3795,0,0,0,0,0,0
$GC,7767,-0.72,-194.6,739.6,-8.7,1004,7776,0.05,2.20,0.00,0.000,6,0.164,0.042,2320,2419,3795,0,0,0,0,0,0
$GC,8083,-0.71,-194.6,775.8,-11.3,1020,8088,0.15,2.17,0.00,0.000,4,0.135,0.034,2370,949,3793,0,0,0,0,0,0
$GC,8124,-0.72,-194.6,779.4,-7.8,1022,8128,0.08,2.22,0.00,0.000,6,0.122,0.043,2312,2424,3793,0,0,0,0,0,0
$GC,8451,-0.72,-194.6,817.2,-11.7,1038,8456,0.17,2.17,0.00,0.000,4,0.135,0.034,2369,955,3791,0,0,0,0,0,0
$GC,8496,-0.73,-194.6,821.4,-7.2,1040,8501,0.08,2.22,0.00,0.000,6,0.121,0.042,2309,2420,3790,0,0,0,0,0,0
$GC,8817,-0.72,-194.6,858.9,-12.5,1056,8822,0.17,2.17,0.00,0.000,4,0.135,0.033,2367,949,3789,0,0,0,0,0,0
$GC,8872,-0.74,-194.6,864.1,-8.4,1058,8880,0.05,2.22,0.00,0.000,6,0.171,0.041,2317,2424,3788,0,0,0,0,0,0
$STATE,9021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9021,begin apogee
$GC,9026,-0.11,0.0,881.4,12.1,1066,9257,0.68,0.15,223.65,1.003,6,0.104,0.052,2555,2142,3028,0,0,0,0,0,0
$STATE,9259,end apogee,CONTROL_FINISHED_OK
$STATE,9259,begin climb
$GC,9261,0.56,194.6,896.8,0.0,1076,9496,0.57,0.00,227.80,0.991,6,0.038,0.000,2811,2142,2232,0,0,0,0,0,0
$GC,9804,0.54,194.6,840.1,15.9,1103,9808,0.20,2.25,0.00,0.000,4,0.182,0.035,2768,652,2224,0,0,0,0,0,0
$GC,9903,0.52,194.6,827.5,11.1,1107,9912,0.08,2.25,0.00,0.000,6,0.192,0.037,2751,2129,2222,0,0,0,0,0,0
$GC,10219,0.51,194.6,793.4,10.3,1123,10223,0.00,2.12,0.00,0.000,4,0.000,0.051,2750,3523,2220,0,0,0,0,0,0
$GC,10264,0.49,194.6,788.1,13.1,1125,10268,0.08,2.15,0.00,0.000,6,0.212,0.028,2741,2052,2220,0,0,0,0,0,0
$GC,10586,0.48,194.6,754.0,11.1,1141,10590,0.00,2.28,0.00,0.000,4,0.000,0.049,2741,3534,2219,0,0,0,0,0,0
$GC,10663,0.47,194.6,744.5,11.9,1144,10671,0.05,2.17,0.00,0.000,6,0.247,0.029,2737,2052,2219,0,0,0,0,0,0
$GC,10980,0.46,194.6,710.1,11.0,1160,10984,0.00,2.30,0.00,0.000,4,0.000,0.049,2736,3536,2217,0,0,0,0,0,0
$GC,11052,0.45,194.6,700.9,13.1,1163,11056,0.00,2.15,0.00,0.000,6,0.000,0.029,2740,2060,2217,0,0,0,0,0,0
$GC,11368,0.44,194.6,666.0,10.6,1178,11372,0.08,2.25,0.00,0.000,4,0.213,0.048,2722,3528,2216,0,0,0,0,0,0
$GC,11394,0.43,194.6,662.7,11.3,1179,11398,0.00,2.17,0.00,0.000,6,0.000,0.029,2723,2054,2216,0,0,0,0,0,0
$GC,11717,0.44,209.5,631.8,9.3,1195,11741,0.05,2.28,15.38,0.869,4,0.177,0.047,2767,3528,2172,0,0,0,0,0,0
$GC,11799,0.42,209.5,621.6,13.4,1198,11804,0.20,2.15,0.00,0.000,6,0.156,0.028,2719,2061,2171,0,0,0,0,0,0
$GC,12118,0.51,279.1,595.4,7.4,1215,12213,0.12,2.22,85.88,0.884,4,0.089,0.038,2802,660,1889,0,0,0,0,0,0
$GC,12223,0.49,279.1,582.1,13.2,1224,12231,0.20,2.28,0.00,0.000,6,0.148,0.033,2745,2123,1887,0,0,0,0,0,0
$GC,12550,0.49,279.1,547.2,10.7,1255,12554,0.00,2.15,0.00,0.000,4,0.000,0.047,2744,3536,1880,0,0,0,0,0,0
$GC,12650,0.48,279.1,535.2,11.8,1263,12658,0.00,2.20,0.00,0.000,6,0.000,0.028,2748,2059,1880,0,0,0,0,0,0
$GC,12975,0.48,279.1,499.2,11.9,1294,12984,0.00,2.12,0.00,0.000,4,0.000,0.041,2749,658,1878,0,0,0,0,0,0
$GC,13020,0.48,279.1,494.4,10.9,1301,13027,0.00,2.17,0.00,0.000,6,0.000,0.033,2749,2126,1877,0,0,0,0,0,0
$GC,13370,0.48,279.1,458.0,10.5,1362,13378,0.00,2.17,0.00,0.000,4,0.000,0.047,2749,3532,1876,0,0,0,0,0,0
$GC,13460,0.47,279.1,448.6,10.3,1377,13468,0.05,2.17,0.00,0.000,6,0.230,0.028,2735,2057,1876,0,0,0,0,0,0
$GC,13810,0.50,303.7,419.7,8.9,1438,13848,0.08,2.12,28.35,0.778,4,0.129,0.038,2802,665,1789,0,0,0,0,0,0
$GC,13867,0.49,303.7,412.8,12.8,1446,13876,0.17,2.22,0.00,0.000,6,0.119,0.034,2741,2122,1787,0,0,0,0,0,0
$GC,14218,0.57,360.9,381.6,7.8,1507,14297,0.12,2.22,71.38,0.756,4,0.086,0.044,2820,3533,1554,0,0,0,0,0,0
$GC,14352,0.56,360.9,362.5,15.5,1527,14360,0.22,2.22,0.00,0.000,6,0.138,0.025,2763,2055,1551,0,0,0,0,0,0
$GC,14702,0.59,386.1,329.1,8.9,1588,14740,0.08,2.33,30.45,0.705,4,0.123,0.044,2823,3532,1451,0,0,0,0,0,0
$GC,14755,0.58,386.1,322.2,14.2,1595,14764,0.20,2.20,0.00,0.000,6,0.135,0.028,2769,2057,1450,0,0,0,0,0,0
$GC,15107,0.60,401.0,287.1,9.3,1656,15137,0.08,2.35,18.75,0.659,4,0.122,0.047,2834,3529,1391,0,0,0,0,0,0
$GC,15146,0.60,401.0,282.0,12.2,1661,15153,0.22,2.17,0.00,0.000,6,0.133,0.027,2773,2059,1390,0,0,0,0,0,0
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$GC,16784,0.72,487.0,116.7,14.5,1936,16794,0.15,2.22,0.00,0.000,6,0.097,0.033,2817,2124,1039,0,0,0,0,0,0
$GC,17153,0.75,496.3,82.2,9.5,1997,17171,0.08,0.00,12.27,0.503,6,0.127,0.000,2883,2126,1002,0,0,0,0,0,0
$GC,17523,0.75,496.3,40.6,12.5,2059,17533,0.20,2.22,0.00,0.000,4,0.120,0.039,2818,663,999,0,0,0,0,0,0
$GC,17563,0.82,542.0,37.1,8.2,2064,17630,0.10,2.17,54.12,0.513,6,0.054,0.031,2892,2128,816,0,0,0,0,0,0
$STATE,17867,end climb,SURFACE_DEPTH_REACHED
$STATE,17867,begin surface coast
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$STATE,17894,end surface coast,CONTROL_FINISHED_OK
$STATE,17895,begin surface
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$SM_GC,1.76,6.75,0.00,0.00,0.032,0.000,0.000,199,2467,812,-7.40,1.89,543.34
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$TT8_MAMPS,0.026215
$HUMID,51.18
$INTERNAL_PRESSURE,8.70425
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.4,58.446
$10V_AH,10.1,54.875
$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
$DEVICE_SECS,24.525,177.425,873.400,0.000,0.000,27.944,39.102,197.877,0.000,0.000,15.584,5150.250,6280.968,934.027,5591.042,417.770,0.000,2813.507,0.000,5346.910,0.000,0.542,0.000
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$SENSOR_SECS,1433.783,0.000,3255.666,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333952
$DATA_FILE_SIZE,123583,2117
$CAP_FILE_SIZE,231438,0
$CFSIZE,260165632,229314560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.171,310.4,1
$GPS,021110,165936,2255.115,12619.092,32,1.0,32,-3.3