version: 66.12
glider: 178
mission: 20
dive: 226
start: 4 17 115 0 32 35
data:
$ID,178
$MISSION,20
$DIVE,226
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,330
$T_MISSION,360
$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,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,51652
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00228724
$HD_B,0.0153901
$HD_C,8.9420502e-07
$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,15
$N_GPS,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,93
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3279
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0018
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,148
$AH0_10V,95
$MINV_24V,22
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.597843
$PRESSURE_SLOPE,0.0001161899
$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,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,170415,002736,1324.9962,14433.2959,27,0.9,27,1.4,1.2,208.1,8,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-75.0
$GPS2,170415,003224,1324.8806,14433.2490,13,0.9,13,1.4,0.5,212.8,8,6.8
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,112.8,1419,-24.5,-10.000,-30.00,1474
$D_GRID,2077
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-95.8,136,2406,1240,1224,0.0,0.0,0,99,0.00,0.00,-82.80,0.000,16386,0.000,0.000,135,2406,3354,3401,3307,0,0,0,0,0,0,26.99,28.83,27.06
$GC,102,-0.72,-95.8,134,2407,3403,3309,4.4,-16.6,15,121,10.65,2.05,-5.07,0.000,18948,0.243,0.046,2551,1092,3672,3732,3613,0,0,0,0,0,0,25.57,24.62,26.03
$GC,202,-0.72,-95.8,2552,1082,3740,3614,42.6,-22.6,34,207,0.00,2.10,0.00,0.000,1030,0.000,0.032,2543,2452,3677,3740,3614,0,0,0,0,0,0,26.68,26.60,26.71
$GC,511,-0.72,-95.8,2543,2453,3745,3615,129.4,-23.6,68,515,0.00,2.08,0.00,0.000,516,0.000,0.028,2547,1087,3679,3744,3614,0,0,0,0,0,0,27.23,26.77,27.29
$GC,537,-0.72,-95.8,2546,1087,3746,3614,133.9,-22.6,70,544,0.00,2.10,0.00,0.000,1030,0.000,0.031,2540,2448,3679,3745,3614,0,0,0,0,0,0,26.77,26.74,26.81
$GC,841,-0.72,-95.8,2541,2449,3751,3614,189.4,-11.1,101,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2449,3682,3751,3614,0,0,0,0,0,0,27.30,27.37,27.36
$GC,1152,-0.72,-95.8,2540,2449,3758,3616,229.3,-13.0,118,1156,0.00,2.05,0.00,0.000,516,0.000,0.030,2540,1085,3686,3757,3615,0,0,0,0,0,0,27.33,26.84,27.39
$GC,1251,-0.72,-95.8,2539,1086,3759,3616,240.3,-12.2,121,1256,0.00,2.10,0.00,0.000,1030,0.000,0.031,2530,2458,3686,3757,3616,0,0,0,0,0,0,26.89,26.84,26.92
$GC,1572,-0.72,-95.8,2529,2459,3759,3617,277.4,-12.4,132,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2458,3687,3758,3616,0,0,0,0,0,0,27.35,27.43,27.41
$GC,1872,-0.72,-95.8,2531,2458,3756,3617,319.2,-13.7,142,1876,0.00,2.08,0.00,0.000,516,0.000,0.031,2530,1081,3686,3756,3616,0,0,0,0,0,0,27.36,26.86,27.42
$GC,1906,-0.72,-95.8,2529,1082,3756,3617,323.3,-13.7,143,1911,0.00,2.10,0.00,0.000,1030,0.000,0.031,2521,2445,3685,3755,3616,0,0,0,0,0,0,26.90,26.86,26.93
$GC,2232,-0.72,-95.8,2522,2446,3751,3617,365.0,-12.1,154,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2446,3684,3752,3616,0,0,0,0,0,0,27.36,27.44,27.43
$GC,2532,-0.72,-95.8,2521,2446,3750,3617,402.6,-12.4,164,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2445,3682,3748,3616,0,0,0,0,0,0,27.36,27.43,27.43
$GC,2832,-0.73,-101.7,2522,2446,3743,3616,434.2,-9.6,174,2835,0.00,2.08,0.00,0.000,516,0.000,0.031,2521,1089,3680,3744,3616,0,0,0,0,0,0,27.37,26.84,27.43
$GC,2876,-0.74,-109.3,2520,1090,3745,3617,437.2,-9.5,175,2880,0.00,2.12,0.00,0.000,1030,0.000,0.032,2514,2461,3679,3743,3616,0,0,0,0,0,0,26.88,26.84,26.91
$GC,3192,-0.74,-109.3,2514,2461,3739,3615,471.4,-11.3,186,3196,0.00,2.05,0.00,0.000,516,0.000,0.031,2514,1092,3676,3739,3614,0,0,0,0,0,0,27.37,26.84,27.43
$GC,3261,-0.74,-109.3,2514,1093,3738,3615,478.3,-11.4,188,3266,0.10,2.10,0.00,0.000,3078,0.133,0.032,2536,2453,3676,3738,3614,0,0,0,0,0,0,26.46,26.84,26.53
$GC,3583,-0.74,-110.6,2535,2454,3737,3611,513.4,-9.9,199,3586,0.00,2.05,0.00,0.000,516,0.000,0.031,2536,1087,3673,3735,3611,0,0,0,0,0,0,27.36,26.82,27.43
$GC,3631,-0.75,-112.7,2537,1087,3734,3611,516.3,-9.9,200,3635,0.00,2.12,0.00,0.000,1030,0.000,0.032,2532,2456,3672,3734,3610,0,0,0,0,0,0,26.86,26.82,26.89
$GC,3942,-0.82,-153.4,2531,2457,3731,3608,543.0,-7.2,211,3945,0.00,2.10,0.00,0.000,516,0.000,0.031,2531,1090,3669,3732,3607,0,0,0,0,0,0,27.36,26.80,27.43
$GC,3977,-0.86,-175.2,2529,1090,3733,3609,545.2,-7.1,212,3981,0.00,2.10,0.00,0.000,1030,0.000,0.033,2523,2443,3669,3731,3607,0,0,0,0,0,0,26.84,26.80,26.89
$GC,4302,-0.86,-175.2,2524,2444,3728,3606,573.8,-9.5,223,4306,0.00,2.08,0.00,0.000,516,0.000,0.031,2523,1094,3666,3728,3605,0,0,0,0,0,0,27.36,26.82,27.43
$GC,4342,-0.86,-175.2,2524,1095,3728,3605,576.9,-9.8,224,4346,0.00,2.10,0.00,0.000,1030,0.000,0.033,2514,2446,3666,3728,3605,0,0,0,0,0,0,26.84,26.79,26.87
$GC,4662,-0.86,-175.2,2515,2447,3725,3604,611.2,-9.9,235,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2447,3664,3725,3603,0,0,0,0,0,0,27.36,27.43,27.43
$GC,4962,-0.86,-175.2,2515,2448,3722,3602,637.5,-8.3,245,4966,0.00,2.08,0.00,0.000,516,0.000,0.031,2514,1099,3662,3723,3601,0,0,0,0,0,0,27.36,26.79,27.43
$GC,5007,-0.86,-175.2,2513,1101,3723,3602,639.9,-8.2,246,5011,0.00,2.10,0.00,0.000,1030,0.000,0.034,2506,2444,3662,3723,3601,0,0,0,0,0,0,26.82,26.78,26.86
$GC,5322,-0.86,-175.2,2505,2446,3722,3600,669.6,-9.6,257,5326,0.00,2.12,0.00,0.000,260,0.000,0.050,2496,3764,3659,3720,3599,0,0,0,0,0,0,27.36,26.55,27.43
$GC,5347,-0.86,-175.2,2495,3765,3721,3600,669.6,-9.6,257,5353,0.00,1.92,0.00,0.000,1030,0.000,0.026,2496,2474,3659,3720,3599,0,0,0,0,0,0,27.04,27.01,27.05
$GC,5652,-0.86,-175.2,2496,2475,3720,3598,705.4,-11.0,268,5655,0.00,2.15,0.00,0.000,516,0.000,0.031,2496,1068,3657,3717,3597,0,0,0,0,0,0,27.36,26.78,27.43
$GC,5682,-0.86,-175.2,2497,1068,3717,3598,708.9,-11.3,269,5686,0.00,2.15,0.00,0.000,1030,0.000,0.034,2489,2460,3657,3717,3597,0,0,0,0,0,0,26.82,26.74,26.86
$GC,6012,-0.86,-175.2,2490,2461,3715,3596,749.8,-12.5,280,6016,0.00,2.15,0.00,0.000,516,0.000,0.031,2489,1066,3655,3715,3596,0,0,0,0,0,0,27.36,26.75,27.43
$GC,6051,-0.86,-175.2,2489,1067,3714,3596,753.4,-12.3,281,6056,0.00,2.15,0.00,0.000,1030,0.000,0.034,2479,2443,3655,3715,3596,0,0,0,0,0,0,26.77,26.72,26.81
$GC,6372,-0.86,-175.2,2478,2444,3714,3595,794.4,-12.9,292,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2443,3653,3713,3594,0,0,0,0,0,0,27.36,27.43,27.43
$GC,6672,-0.86,-175.2,2480,2444,3711,3593,830.6,-11.9,302,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2444,3651,3711,3592,0,0,0,0,0,0,27.36,27.43,27.42
$GC,6972,-0.86,-175.2,2478,2444,3712,3592,867.5,-12.9,312,6975,0.00,2.12,0.00,0.000,516,0.000,0.032,2479,1068,3650,3710,3591,0,0,0,0,0,0,27.36,26.73,27.43
$GC,7027,-0.86,-175.2,2478,1068,3711,3591,871.5,-13.1,313,7033,0.12,2.17,0.00,0.000,3078,0.181,0.036,2500,2451,3650,3709,3591,0,0,0,0,0,0,26.33,26.68,26.46
$GC,7332,-0.86,-175.2,2499,2452,3710,3591,912.3,-12.1,324,7336,0.00,2.12,0.00,0.000,516,0.000,0.031,2500,1075,3649,3708,3590,0,0,0,0,0,0,27.36,26.73,27.42
$GC,7356,-0.86,-175.2,2501,1076,3708,3591,912.3,-12.1,324,7363,0.00,2.15,0.00,0.000,1030,0.000,0.034,2492,2448,3649,3708,3590,0,0,0,0,0,0,26.73,26.69,26.77
$GC,7662,-0.86,-175.2,2492,2449,3708,3591,949.7,-10.7,335,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2449,3648,3707,3590,0,0,0,0,0,0,27.36,27.43,27.42
$GC,7962,-0.86,-175.2,2492,2449,3707,3590,978.4,-9.1,345,7965,0.00,2.08,0.00,0.000,516,0.000,0.031,2492,1071,3647,3706,3589,0,0,0,0,0,0,27.36,26.72,27.42
$GC,8027,-0.86,-175.2,2492,1073,3705,3589,983.4,-8.7,347,8030,0.00,2.15,0.00,0.000,1030,0.000,0.036,2485,2449,3647,3705,3589,0,0,0,0,0,0,26.73,26.65,26.77
$STATE,8110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8110,begin apogee
$GC,8114,-0.11,0.0,2485,2096,3705,3590,991.3,-8.6,350,8205,0.85,0.00,81.80,1.297,10246,0.136,0.000,2739,2092,3278,3328,3229,0,0,0,0,0,0,25.69,25.03,23.75
$STATE,8206,end apogee,CONTROL_FINISHED_OK
$STATE,8206,begin climb
$GC,8207,0.86,175.2,2739,2092,3329,3229,992.5,0.0,353,8379,0.88,2.30,163.18,1.287,10756,0.045,0.033,3084,723,2564,2609,2520,0,0,0,0,0,0,25.65,23.80,22.99
$GC,8603,0.86,175.2,3085,723,2599,2509,958.4,16.3,365,8607,0.00,2.17,0.00,0.000,1030,0.000,0.027,3084,2103,2553,2599,2508,0,0,0,0,0,0,26.40,26.37,26.45
$GC,8919,0.86,175.2,3083,2104,2599,2507,909.8,13.9,376,8922,0.00,2.17,0.00,0.000,516,0.000,0.034,3094,727,2552,2597,2507,0,0,0,0,0,0,27.05,26.63,27.13
$GC,8978,0.86,175.2,3095,728,2595,2507,901.9,13.2,378,8982,0.12,2.15,0.00,0.000,5126,0.177,0.028,3060,2104,2550,2595,2506,0,0,0,0,0,0,26.15,26.67,26.27
$GC,9309,0.86,175.2,3059,2105,2596,2506,863.1,12.1,389,9309,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2105,2550,2595,2505,0,0,0,0,0,0,27.19,27.27,27.26
$GC,9608,0.86,175.2,3059,2105,2595,2505,822.1,14.9,399,9609,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2105,2548,2593,2504,0,0,0,0,0,0,27.24,27.32,27.31
$GC,9908,0.86,175.2,3061,2105,2592,2504,777.3,14.3,409,9912,0.00,2.22,0.00,0.000,260,0.000,0.043,3060,3502,2547,2592,2503,0,0,0,0,0,0,27.27,26.64,27.34
$GC,9963,0.86,175.2,3060,3503,2592,2503,772.9,14.3,410,9970,0.00,2.10,0.00,0.000,1030,0.000,0.024,3068,2111,2547,2592,2503,0,0,0,0,0,0,26.94,26.91,26.96
$GC,10268,0.86,175.2,3069,2112,2590,2503,725.9,13.9,421,10273,0.00,2.17,0.00,0.000,516,0.000,0.034,3079,707,2546,2590,2502,0,0,0,0,0,0,27.29,26.74,27.36
$GC,10303,0.86,175.2,3080,707,2590,2502,721.7,13.9,422,10307,0.00,2.15,0.00,0.000,1030,0.000,0.025,3079,2109,2546,2590,2502,0,0,0,0,0,0,26.86,26.82,26.89
$GC,10629,0.86,175.2,3077,2110,2592,2503,675.6,14.5,433,10632,0.00,2.20,0.00,0.000,260,0.000,0.043,3079,3499,2545,2590,2501,0,0,0,0,0,0,27.31,26.64,27.37
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$GC,13459,0.89,190.0,3081,2086,2588,2501,335.8,9.5,527,13473,0.00,2.10,10.95,0.806,8708,0.000,0.033,3092,714,2504,2547,2461,0,0,0,0,0,0,27.34,25.39,24.68
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$STATE,16653,end climb,SURFACE_DEPTH_REACHED
$STATE,16653,begin surface coast
$FINISH,-0.6,1.022052
$STATE,16678,end surface coast,CONTROL_FINISHED_OK
$STATE,16678,begin surface
$SM_CCo,16693,72.88,0.062,0,0,1239,500.17
$SM_GC,0.16,7.68,1.58,72.88,0.030,0.023,0.062,156,2473,1239,-8.15,1.70,500.17,0,0,0,0,0,0,26.59,26.89,26.44
$IRIDIUM_FIX,1318.67,14433.41,110208,090201
$TT8_MAMPS,0.050183,0.050183
$HUMID,45.62
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,22.99,73.452
$10V_AH,10.20,35.138
$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
$DEVICE_SECS,20.825,131.800,376.350,72.875,0.000,0.000,0.000,208.175,0.250,0.000,16.074,0.000,13771.924,586.791,2477.415,204.274,0.000,1769.356,0.000,1790.984,0.000,0.551,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,543.534,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229864
$DATA_FILE_SIZE,36698,799
$CAP_FILE_SIZE,144047,0
$CFSIZE,260034560,239996928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,17569.27,0x236db2,7,5
$CURRENT,0.024,79.05,1
$GPS,170415,051304,1324.314,14435.251,35,1.5,40,1.5,1.0,313.2,8,8.6