version: 66.11
glider: 181
mission: 11
dive: 163
start: 6 5 113 19 19 58
data:
$ID,181
$MISSION,11
$DIVE,163
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,150
$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,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,165
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0033
$HD_B,0.0082
$HD_C,1.5e-05
$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,450
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-95891.07
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3941
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2753
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-160.75446
$PRESSURE_SLOPE,0.000109412
$AD7714Ch0Gain,1
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,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,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004364301
$SEABIRD_T_H,0.00062910328
$SEABIRD_T_I,2.4425184e-05
$SEABIRD_T_J,2.6404416e-06
$SEABIRD_C_G,-9.9046793
$SEABIRD_C_H,1.1251128
$SEABIRD_C_I,-0.0019873739
$SEABIRD_C_J,0.00023203803
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,050613,191035,2342.968,12318.450,33,0.9,34,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-71.8
$GPS2,050613,191931,2343.049,12318.665,14,0.9,14,-3.3
$SPEED_LIMITS,0.136,0.270
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,47.4,62886,-12.6,-7.857,-16.23,3084
$D_GRID,4578
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.79,-160.6,235,2461,910,916,0.0,0.0,0,110,0.00,0.00,-87.38,0.000,16386,0.000,0.000,234,2461,3173,3229,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.79,-160.6,235,2461,3228,3119,4.4,-15.4,15,134,10.18,2.28,-3.80,0.000,18948,0.396,0.064,2445,1062,3411,3487,3336,0,0,0,0,0,0,14.40,14.73,14.90
$GC,187,-0.79,-160.6,2445,1062,3490,3336,35.6,-27.3,25,192,0.00,2.25,0.00,0.000,1030,0.000,0.060,2438,2434,3413,3490,3336,0,0,0,0,0,0,28.83,14.71,28.83
$GC,500,-0.79,-160.6,2437,2435,3490,3337,116.0,-21.2,43,505,0.00,2.15,0.00,0.000,516,0.000,0.043,2437,1065,3413,3490,3337,0,0,0,0,0,0,28.83,14.82,28.83
$GC,631,-0.79,-160.6,2437,1064,3491,3336,140.2,-19.2,49,638,0.00,2.25,0.00,0.000,1030,0.000,0.059,2427,2455,3414,3492,3336,0,0,0,0,0,0,28.83,14.81,28.83
$GC,945,-0.79,-160.6,2427,2455,3493,3337,200.0,-18.0,65,950,0.00,2.15,0.00,0.000,260,0.000,0.076,2417,3780,3414,3493,3336,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1048,-0.79,-160.6,2417,3779,3493,3337,218.7,-18.2,70,1053,0.00,2.00,0.00,0.000,1030,0.000,0.034,2417,2442,3415,3493,3337,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1370,-0.79,-160.6,2417,2437,3493,3336,269.5,-15.3,86,1377,0.00,2.12,0.00,0.000,516,0.000,0.042,2417,1061,3414,3493,3336,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1388,-0.79,-160.6,2417,1061,3494,3336,269.5,-15.3,86,1395,0.15,2.25,0.00,0.000,3078,0.248,0.056,2443,2463,3415,3494,3336,0,0,0,0,0,0,14.73,14.89,28.83
$GC,1694,-0.79,-160.6,2443,2463,3493,3335,312.0,-13.2,102,1699,0.00,2.15,0.00,0.000,260,0.000,0.080,2435,3783,3414,3493,3335,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1712,-0.79,-160.6,2435,3783,3493,3335,312.0,-13.2,102,1718,0.00,2.00,0.00,0.000,1030,0.000,0.035,2435,2455,3414,3493,3335,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2016,-0.79,-160.6,2435,2454,3493,3332,358.9,-13.4,118,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2454,3412,3493,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2318,-0.79,-160.6,2435,2453,3494,3329,394.9,-12.7,133,2323,0.00,2.17,0.00,0.000,516,0.000,0.047,2434,1062,3411,3494,3329,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2476,-0.79,-160.6,2435,1062,3494,3328,414.0,-13.0,140,2483,0.00,2.25,0.00,0.000,1030,0.000,0.058,2426,2455,3411,3494,3328,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2782,-0.79,-160.6,2426,2455,3495,3321,453.6,-13.6,156,2788,0.00,2.17,0.00,0.000,260,0.000,0.084,2415,3778,3408,3495,3322,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2805,-0.79,-160.6,2415,3778,3494,3322,457.1,-14.0,157,2812,0.00,2.03,0.00,0.000,1030,0.000,0.037,2415,2444,3408,3494,3322,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3129,-0.79,-160.6,2415,2441,3493,3318,505.3,-13.7,173,3134,0.00,2.17,0.00,0.000,516,0.000,0.049,2415,1057,3405,3493,3318,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3185,-0.79,-160.6,2415,1056,3492,3318,511.2,-13.5,175,3193,0.15,2.28,0.00,0.000,3078,0.244,0.061,2441,2455,3405,3492,3318,0,0,0,0,0,0,14.75,14.90,28.83
$GC,3491,-0.79,-160.6,2441,2456,3490,3316,550.4,-11.8,191,3497,0.00,2.20,0.00,0.000,260,0.000,0.087,2433,3785,3403,3490,3316,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3548,-0.79,-160.6,2434,3786,3489,3316,556.0,-12.5,193,3555,0.00,2.05,0.00,0.000,1030,0.000,0.041,2434,2447,3402,3489,3316,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3854,-0.79,-160.6,2434,2445,3488,3312,593.5,-11.6,209,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2445,3401,3491,3312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4154,-0.79,-160.6,2434,2445,3486,3309,625.4,-9.8,220,4160,0.00,2.22,0.00,0.000,260,0.000,0.088,2424,3777,3397,3486,3308,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4236,-0.79,-160.6,2424,3777,3484,3308,631.6,-9.5,222,4243,0.00,2.05,0.00,0.000,1030,0.000,0.042,2424,2443,3396,3485,3308,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4550,-0.79,-160.6,2424,2441,3483,3307,663.9,-9.5,233,4556,0.00,2.20,0.00,0.000,516,0.000,0.052,2424,1057,3395,3483,3307,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4632,-0.79,-160.6,2424,1058,3482,3307,670.1,-9.6,235,4638,0.00,2.30,0.00,0.000,1030,0.000,0.067,2415,2453,3394,3482,3307,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4946,-0.79,-160.6,2415,2453,3481,3302,702.0,-9.0,246,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2453,3391,3480,3302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5245,-0.79,-160.6,2415,2453,3480,3299,731.0,-9.9,256,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2453,3386,3474,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5546,-0.79,-160.6,2415,2453,3476,3297,764.1,-11.9,266,5547,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2452,3386,3475,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5845,-0.79,-160.6,2415,2453,3474,3294,803.3,-13.9,276,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2453,3384,3474,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6145,-0.79,-160.6,2416,2453,3473,3292,844.9,-13.5,286,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2453,3382,3473,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6446,-0.79,-160.6,2415,2453,3469,3290,882.0,-11.9,296,6451,0.00,2.25,0.00,0.000,516,0.000,0.054,2415,1058,3380,3470,3290,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6543,-0.79,-160.6,2415,1058,3469,3290,892.6,-11.5,299,6549,0.15,2.33,0.00,0.000,3078,0.249,0.069,2441,2449,3379,3469,3289,0,0,0,0,0,0,14.66,14.83,28.83
$GC,6873,-0.79,-160.6,2441,2448,3468,3287,921.1,-7.9,310,6879,0.00,2.28,0.00,0.000,260,0.000,0.099,2434,3784,3377,3467,3287,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6951,-0.79,-160.6,2434,3784,3467,3287,926.0,-7.5,312,6956,0.00,2.08,0.00,0.000,1030,0.000,0.047,2434,2455,3377,3467,3287,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7270,-0.79,-160.6,2434,2453,3467,3284,956.3,-9.5,323,7276,0.00,2.25,0.00,0.000,516,0.000,0.057,2434,1060,3375,3466,3285,0,0,0,0,0,0,28.83,14.84,28.83
$GC,7333,-0.79,-160.6,2434,1059,3466,3285,962.6,-9.7,325,7339,0.00,2.33,0.00,0.000,1030,0.000,0.070,2424,2447,3375,3466,3285,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,7634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7636,begin apogee
$GC,7641,-0.25,0.0,2425,2343,3464,3281,992.6,-9.6,335,7807,0.65,0.00,151.15,2.284,10246,0.211,0.000,2613,2343,2753,2794,2713,0,0,0,0,1,0,14.63,28.83,13.23
$STATE,7808,end apogee,CONTROL_FINISHED_OK
$STATE,7808,begin climb
$GC,7811,0.79,160.6,2614,2343,2794,2713,996.7,0.0,340,7982,1.02,2.40,156.82,2.508,10756,0.112,0.060,2959,971,2097,2115,2080,0,0,0,0,1,0,14.13,13.93,13.09
$GC,8009,0.79,160.6,2959,972,2114,2079,975.0,14.2,347,8015,0.00,2.42,0.00,0.000,1030,0.000,0.068,2959,2349,2096,2114,2078,0,0,0,0,0,0,28.83,14.11,28.83
$GC,8332,0.79,160.6,2959,2349,2113,2066,919.5,16.8,358,8337,0.00,2.45,0.00,0.000,260,0.000,0.099,2959,3753,2089,2113,2066,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8354,0.79,160.6,2959,3754,2114,2066,919.5,16.8,358,8359,0.00,2.25,0.00,0.000,1030,0.000,0.044,2969,2353,2089,2113,2066,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8667,0.79,160.6,2969,2353,2113,2063,857.2,18.7,369,8673,0.00,2.45,0.00,0.000,260,0.000,0.097,2969,3757,2088,2113,2063,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8689,0.79,160.6,2969,3758,2113,2064,857.2,18.7,369,8694,0.00,2.25,0.00,0.000,1030,0.000,0.043,2980,2345,2087,2113,2062,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9001,0.79,160.6,2980,2341,2113,2060,791.5,19.1,380,9007,0.00,2.28,0.00,0.000,516,0.000,0.057,2990,948,2086,2113,2060,0,0,0,0,0,0,28.83,14.79,28.83
$GC,9035,0.79,160.6,2990,948,2113,2060,785.2,19.2,381,9041,0.15,2.35,0.00,0.000,5126,0.291,0.063,2959,2359,2086,2113,2060,0,0,0,0,0,0,14.57,14.76,28.83
$GC,9369,0.79,160.6,2959,2360,2113,2057,726.8,17.1,392,9374,0.00,2.40,0.00,0.000,260,0.000,0.096,2958,3760,2085,2113,2057,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9411,0.79,160.6,2957,3761,2113,2058,720.7,17.3,393,9417,0.00,2.25,0.00,0.000,1030,0.000,0.044,2966,2336,2085,2113,2058,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9735,0.79,160.6,2965,2331,2113,2056,664.5,16.1,404,9740,0.00,2.25,0.00,0.000,516,0.000,0.058,2977,952,2084,2113,2055,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9768,0.79,160.6,2976,952,2113,2056,659.2,15.9,405,9773,0.00,2.33,0.00,0.000,1030,0.000,0.062,2977,2352,2084,2113,2056,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10102,0.79,160.6,2976,2352,2113,2055,603.2,17.2,416,10108,0.00,2.40,0.00,0.000,260,0.000,0.093,2976,3761,2082,2113,2052,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10165,0.79,160.6,2977,3761,2113,2055,590.8,18.7,419,10171,0.15,2.25,0.00,0.000,5126,0.301,0.043,2956,2334,2084,2113,2055,0,0,0,0,0,0,14.59,14.88,28.83
$GC,10489,0.79,160.6,2956,2330,2113,2053,539.0,16.9,435,10495,0.00,2.45,0.00,0.000,260,0.000,0.093,2956,3758,2083,2113,2054,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10542,0.79,160.6,2962,3757,2113,2054,531.2,17.2,437,10547,0.00,2.22,0.00,0.000,1030,0.000,0.043,2966,2344,2083,2113,2054,0,0,0,0,0,0,28.83,14.88,28.83
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$GC,12346,0.79,160.6,2955,3754,2113,2051,269.5,13.3,526,12353,0.00,2.20,0.00,0.000,1030,0.000,0.040,2962,2343,2082,2113,2051,0,0,0,0,0,0,28.83,14.88,28.83
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$STATE,15379,end climb,SURFACE_DEPTH_REACHED
$STATE,15379,begin surface coast
$FINISH,-0.1,1.021349
$STATE,15415,end surface coast,CONTROL_FINISHED_OK
$STATE,15415,begin surface
$SM_CCo,15431,51.05,0.139,0,0,916,450.13
$SM_GC,0.05,7.40,0.15,51.05,0.043,0.126,0.139,234,2481,916,-7.63,-0.79,450.13,0,0,0,0,0,0,14.81,14.81,14.69
$IRIDIUM_FIX,2340.34,12313.97,050613,141403
$TT8_MAMPS,0.019474,0.019474
$HUMID,43.26
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,26.20
$XPDR_PINGS,7
$SC_FREEKB,3874592
$24V_AH,13.1,62.905
$10V_AH,13.0,0.000
$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,20.325,139.900,390.725,51.050,0.000,25.696,25.676,257.063,1.750,0.000,16.854,2408.374,10565.851,589.997,2227.285,230.199,0.000,1591.728,0.000,1759.558,0.000,0.542,0.000
$DEVICE_MAMPS,396.270,126.225,2508.435,139.230,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15490.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.039,0.000,0.000,0.000
$MEM,328580
$DATA_FILE_SIZE,26722,750
$CAP_FILE_SIZE,174757,0
$CFSIZE,260034560,241774592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.258,107.2,1
$GPS,050613,233930,2343.914,12322.443,45,1.3,46,-3.3