version: 66.13
glider: 178
mission: 31
dive: 216
start: 11 24 119 2 52 53
data:
$ID,178
$MISSION,31
$DIVE,216
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,2
$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,390
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53923
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00223872
$HD_B,0.011885
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,100740
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,165
$PITCH_MAX,3805
$C_PITCH,2125
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,625
$ROLL_MAX,3950
$ROLL_DEG,40
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00038000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-157.45766
$PRESSURE_SLOPE,0.0001061024
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,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,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,147
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043966938
$SEABIRD_T_H,0.00063700025
$SEABIRD_T_I,2.5067597e-05
$SEABIRD_T_J,2.9826379e-06
$SEABIRD_C_G,-9.7293062
$SEABIRD_C_H,1.1206031
$SEABIRD_C_I,0.00047059715
$SEABIRD_C_J,5.505409e-05
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,241119,024055,1418.2466,14409.6582,17,0.7,34,0.3,0.8,216.0,11,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-52.2
$GPS2,241119,025205,1418.2698,14409.5088,3,0.7,4,0.2,0.4,240.5,12,8.2
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,157.5,15341,-18.6,-8.462,-24.20,1753
$D_GRID,1000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.81,-97.3,115,2729,989,864,0.0,0.0,0,110,0.00,0.00,-88.35,0.005,16386,0.000,0.000,112,2731,3271,3301,3242,0,0,0,0,0,0,15.24,28.83,15.26
$GC,113,-0.81,-97.3,111,2730,3301,3243,5.3,-10.4,9,130,8.23,2.33,-1.52,0.073,18948,0.392,0.060,1855,1341,3362,3391,3333,0,0,0,0,0,0,14.73,14.28,14.95
$GC,335,-0.81,-97.3,1855,1344,3396,3331,78.7,-28.9,53,342,0.00,2.38,0.00,0.000,1030,0.000,0.047,1847,2759,3363,3396,3331,0,0,0,0,0,0,15.19,15.10,15.21
$GC,530,-0.81,-97.3,1847,2758,3396,3331,123.4,-21.4,73,537,0.00,2.00,0.00,0.000,260,0.000,0.073,1838,3950,3364,3396,3332,0,0,0,0,0,0,15.38,15.11,15.39
$GC,555,-0.81,-97.3,1838,3949,3396,3328,129.2,-23.3,77,562,0.00,1.95,0.00,0.000,1030,0.000,0.030,1838,2688,3363,3396,3331,0,0,0,0,0,0,15.26,15.23,15.28
$GC,750,-0.81,-97.3,1838,2687,3397,3331,163.8,-18.5,97,757,0.00,2.15,0.00,0.000,260,0.000,0.075,1829,3942,3364,3397,3331,0,0,0,0,0,0,15.42,15.14,15.43
$GC,986,-0.81,-97.3,1829,3940,3397,3332,198.1,-11.9,143,993,0.15,1.92,0.00,0.000,3078,0.275,0.029,1861,2685,3364,3397,3331,0,0,0,0,0,0,14.99,15.29,15.22
$GC,1180,-0.81,-97.3,1860,2684,3397,3332,218.1,-9.9,163,1186,0.00,2.15,0.00,0.000,260,0.000,0.075,1856,3942,3364,3397,3331,0,0,0,0,0,0,15.45,15.17,15.47
$GC,1318,-0.81,-97.3,1855,3942,3397,3331,232.7,-11.0,189,1324,0.00,1.92,0.00,0.000,1030,0.000,0.031,1855,2700,3363,3397,3330,0,0,0,0,0,0,15.33,15.29,15.33
$GC,1532,-0.81,-97.3,1856,2698,3397,3329,256.6,-10.6,207,1538,0.00,2.15,0.00,0.000,260,0.000,0.078,1855,3947,3363,3397,3329,0,0,0,0,0,0,15.46,15.17,15.47
$GC,1764,-0.81,-97.3,1855,3947,3397,3328,282.4,-9.5,253,1770,0.00,1.85,0.00,0.000,1030,0.000,0.033,1851,2763,3362,3397,3328,0,0,0,0,0,0,15.34,15.30,15.35
$GC,2078,-0.81,-97.3,1854,2763,3397,3323,314.2,-11.2,265,2085,0.00,2.25,0.00,0.000,516,0.000,0.040,1855,1372,3361,3401,3322,0,0,0,0,0,0,15.47,15.23,15.49
$GC,2143,-0.81,-97.3,1855,1372,3397,3323,321.6,-11.2,277,2151,0.00,2.30,0.00,0.000,1030,0.000,0.053,1855,2745,3359,3396,3322,0,0,0,0,0,0,15.25,15.17,15.27
$GC,2479,-0.81,-97.3,1854,2745,3397,3323,354.5,-8.7,293,2485,0.00,2.28,0.00,0.000,516,0.000,0.044,1855,1371,3357,3397,3317,0,0,0,0,0,0,15.47,15.20,15.50
$GC,2553,-0.81,-97.3,1855,1371,3397,3316,360.9,-8.8,307,2558,0.00,2.33,0.00,0.000,1030,0.000,0.054,1855,2751,3356,3397,3316,0,0,0,0,0,0,15.30,15.19,15.33
$GC,2877,-0.81,-97.3,1855,2751,3397,3309,388.9,-8.9,321,2883,0.00,2.05,0.00,0.000,260,0.000,0.087,1855,3943,3353,3397,3309,0,0,0,0,0,0,15.47,15.17,15.49
$GC,3110,-0.81,-97.3,1855,3943,3397,3310,413.7,-10.1,367,3117,0.00,1.90,0.00,0.000,1030,0.000,0.037,1855,2754,3351,3397,3305,0,0,0,0,0,0,15.31,15.26,15.32
$GC,3424,-0.81,-97.3,1854,2750,3396,3300,439.5,-7.4,379,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2750,3348,3397,3300,0,0,0,0,0,0,15.50,15.49,15.49
$GC,3724,-0.81,-97.3,1855,2751,3395,3296,461.2,-7.8,389,3731,0.00,2.28,0.00,0.000,516,0.000,0.043,1855,1368,3345,3395,3296,0,0,0,0,0,0,15.46,15.21,15.48
$GC,3783,-0.81,-97.3,1854,1367,3395,3295,466.8,-10.0,400,3790,0.00,2.40,0.00,0.000,1030,0.000,0.057,1855,2741,3344,3393,3296,0,0,0,0,0,0,15.20,15.13,15.23
$GC,4089,-0.81,-97.3,1854,2741,3391,3293,496.6,-9.4,411,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2741,3342,3391,3294,0,0,0,0,0,0,15.47,15.49,15.49
$GC,4389,-0.81,-97.3,1854,2741,3390,3292,520.7,-7.5,421,4395,0.00,2.10,0.00,0.000,260,0.000,0.090,1854,3947,3340,3389,3291,0,0,0,0,0,0,15.47,15.14,15.49
$GC,4508,-0.81,-97.3,1854,3947,3389,3289,530.0,-7.6,444,4515,0.00,1.98,0.00,0.000,1030,0.000,0.038,1854,2752,3339,3389,3290,0,0,0,0,0,0,15.25,15.26,15.26
$GC,4813,-0.81,-97.3,1854,2750,3386,3288,550.8,-6.5,455,4817,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2750,3337,3386,3288,0,0,0,0,0,0,15.46,15.48,15.48
$GC,5114,-0.81,-97.3,1854,2750,3383,3286,571.2,-7.0,465,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2750,3334,3383,3286,0,0,0,0,0,0,15.46,15.48,15.48
$GC,5414,-0.81,-97.3,1854,2751,3382,3285,592.2,-7.1,475,5420,0.00,2.33,0.00,0.000,516,0.000,0.050,1855,1365,3332,3381,3284,0,0,0,0,0,0,15.45,15.18,15.47
$GC,5508,-0.81,-97.3,1853,1365,3381,3284,599.1,-7.3,493,5514,0.00,2.40,0.00,0.000,1030,0.000,0.060,1855,2754,3332,3380,3285,0,0,0,0,0,0,15.22,15.11,15.25
$GC,5846,-0.81,-97.3,1854,2752,3379,3281,623.2,-7.0,509,5853,0.00,2.33,0.00,0.000,516,0.000,0.047,1855,1369,3330,3379,3281,0,0,0,0,0,0,15.43,15.17,15.45
$GC,5943,-0.81,-97.3,1854,1369,3378,3281,630.5,-7.4,528,5949,0.00,2.40,0.00,0.000,1030,0.000,0.060,1855,2754,3329,3377,3281,0,0,0,0,0,0,15.25,15.13,15.28
$GC,6267,-0.81,-97.3,1854,2754,3376,3279,652.5,-6.8,542,6273,0.00,2.10,0.00,0.000,260,0.000,0.092,1855,3947,3327,3376,3279,0,0,0,0,0,0,15.45,15.09,15.46
$GC,6365,-0.81,-97.3,1854,3948,3376,3278,659.7,-7.6,561,6372,0.00,1.98,0.00,0.000,1030,0.000,0.042,1854,2756,3327,3376,3278,0,0,0,0,0,0,15.28,15.23,15.30
$GC,6695,-0.81,-97.3,1854,2756,3375,3277,682.1,-6.9,576,6698,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2756,3326,3375,3277,0,0,0,0,0,0,15.44,15.46,15.45
$GC,6996,-0.81,-97.3,1854,2755,3373,3276,705.2,-8.2,586,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2755,3324,3372,3276,0,0,0,0,0,0,15.43,15.46,15.45
$GC,7295,-0.81,-97.3,1854,2754,3371,3274,731.1,-8.7,596,7301,0.00,2.35,0.00,0.000,516,0.000,0.049,1855,1352,3322,3371,3274,0,0,0,0,0,0,15.44,15.14,15.45
$GC,7377,-0.81,-97.3,1854,1352,3371,3274,739.1,-9.6,612,7387,0.00,2.45,0.00,0.000,1030,0.000,0.060,1854,2757,3326,3371,3281,0,0,0,0,0,0,15.21,15.09,15.25
$GC,7689,-0.81,-97.3,1854,2757,3370,3273,766.0,-8.3,624,7695,0.00,2.10,0.00,0.000,260,0.000,0.094,1855,3940,3321,3370,3273,0,0,0,0,0,0,15.41,15.05,15.43
$GC,7762,-0.81,-97.3,1854,3940,3369,3273,772.2,-8.3,638,7767,0.00,1.98,0.00,0.000,1030,0.000,0.044,1854,2745,3321,3369,3273,0,0,0,0,0,0,15.25,15.20,15.27
$GC,8086,-0.81,-97.3,1854,2745,3368,3272,794.5,-6.5,652,8092,0.00,2.33,0.00,0.000,516,0.000,0.048,1855,1359,3320,3368,3272,0,0,0,0,0,0,15.40,15.11,15.42
$GC,8150,-0.81,-97.3,1855,1358,3367,3272,799.0,-7.1,664,8160,0.00,2.45,0.00,0.000,1030,0.000,0.061,1855,2757,3319,3367,3272,0,0,0,0,0,0,15.19,15.07,15.23
$GC,8483,-0.81,-97.3,1854,2756,3367,3270,820.3,-6.3,680,8487,0.00,0.00,0.00,0.000,38,0.000,0.000,1855,2756,3320,3371,3270,0,0,0,0,0,0,15.39,15.41,15.40
$GC,8783,-0.81,-97.3,1854,2756,3366,3272,840.9,-7.0,690,8787,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2759,3318,3366,3270,0,0,0,0,0,0,15.39,15.41,15.40
$GC,9084,-0.81,-97.3,1854,2757,3365,3270,862.8,-7.3,700,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2756,3317,3366,3268,0,0,0,0,0,0,15.38,15.41,15.40
$GC,9383,-0.81,-97.3,1854,2756,3365,3268,884.3,-7.1,710,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2752,3316,3365,3268,0,0,0,0,0,0,15.39,15.41,15.40
$GC,9683,-0.81,-97.3,1854,2756,3365,3270,905.5,-7.1,720,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2756,3316,3364,3268,0,0,0,0,0,0,15.38,15.40,15.40
$GC,9984,-0.81,-97.3,1854,2756,3363,3267,927.0,-7.2,730,9990,0.00,2.40,0.00,0.000,516,0.000,0.050,1856,1362,3319,3371,3268,0,0,0,0,0,0,15.38,15.10,15.40
$GC,10048,-0.81,-97.3,1854,1362,3363,3267,932.6,-7.6,742,10056,0.00,2.45,0.00,0.000,1030,0.000,0.063,1855,2755,3315,3363,3267,0,0,0,0,0,0,15.17,15.04,15.21
$GC,10380,-0.81,-97.3,1854,2755,3363,3272,957.2,-7.8,758,10384,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2755,3314,3363,3266,0,0,0,0,0,0,15.38,15.40,15.40
$GC,10680,-0.81,-97.3,1854,2755,3362,3266,981.2,-8.0,768,10683,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2755,3314,3362,3266,0,0,0,0,0,0,15.37,15.39,15.39
$STATE,10797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10797,begin apogee
$GC,10804,-0.21,0.0,1854,1718,3363,3265,991.0,-8.2,772,10894,0.73,0.00,84.65,2.071,10246,0.205,0.000,2057,1719,2969,3031,2907,0,0,0,0,0,0,14.88,14.57,13.78
$STATE,10897,end apogee,CONTROL_FINISHED_OK
$STATE,10897,begin climb
$GC,10900,0.81,97.3,2056,1718,3031,2906,995.0,0.0,775,11009,1.05,1.98,101.18,2.019,10756,0.113,0.075,2384,638,2570,2629,2512,0,0,0,0,0,0,14.57,14.23,13.60
$GC,11074,0.83,97.3,2384,638,2624,2508,987.0,7.8,801,11081,0.00,1.88,0.00,0.000,1094,0.000,0.044,2384,1717,2566,2624,2509,0,0,0,0,0,0,14.69,14.62,14.70
$GC,11410,0.85,97.3,2384,1720,2623,2502,960.6,7.8,817,11417,0.00,2.42,0.00,0.000,324,0.000,0.068,2384,3097,2561,2623,2500,0,0,0,0,0,0,15.17,14.90,15.19
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$STATE,22839,end climb,SURFACE_DEPTH_REACHED
$STATE,22839,begin surface coast
$STATE,22859,end surface coast,CONTROL_FINISHED_OK
$STATE,22859,begin surface
$SM_CCo,22878,115.12,0.641,1,0,928,500.17
$SM_GC,0.25,6.95,1.73,115.12,0.090,0.045,0.641,161,2724,928,-6.09,-1.75,500.17,0,0,0,0,1,0,15.04,15.09,14.49
$IRIDIUM_FIX,1422.11,14413.25,231119,203215
$TT8_MAMPS,0.020223,0.158039
$HUMID,45.39
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.10
$XPDR_PINGS,0
$SC_FREEKB,3772096
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,112171392
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,2
$24V_AH,13.60,88.435
$10V_AH,13.40,0.000
$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,17.450,154.125,424.000,115.125,0.000,0.000,0.000,422.300,0.000,0.000,15.833,1581.479,15702.625,626.156,5316.525,443.518,0.000,2727.007,0.000,4579.108,0.000,0.552,0.000
$DEVICE_MAMPS,392.445,94.095,2070.855,641.070,0.000,0.000,0.000,200.430,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22870.000,22868.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.351,6.075,0.000,0.000
$MEM,270820
$DATA_FILE_SIZE,66510,1855
$CAP_FILE_SIZE,196830,0
$CFSIZE,260034560,223244288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$CURRENT,0.037,264.11,1
$GPS,241119,091755,1416.173,14409.612,38,1.0,44,0.3,1.1,0.0,9,5.1