version: 66.11
glider: 190
mission: 6
dive: 270
start: 12 12 112 4 23 15
data:
$ID,190
$MISSION,6
$DIVE,270
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,2
$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,480
$T_MISSION,610
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55694
$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,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13142.311
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3920
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,25
$C_ROLL_DIVE,1440
$C_ROLL_CLIMB,1640
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2990
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$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,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-57.210079
$PRESSURE_SLOPE,0.0001167181
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$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,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,0.0043554804
$SEABIRD_T_H,0.00062589208
$SEABIRD_T_I,2.3694633e-05
$SEABIRD_T_J,2.5872548e-06
$SEABIRD_C_G,-9.7973194
$SEABIRD_C_H,1.1276957
$SEABIRD_C_I,-0.00090238411
$SEABIRD_C_J,0.00014727951
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,121212,041022,2408.423,-3812.436,39,0.9,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-59.7
$GPS2,121212,042243,2408.373,-3812.547,16,1.1,16,-14.1
$SPEED_LIMITS,0.119,0.227
$TGT_NAME,SE
$TGT_LATLONG,2356.000,-3720.000
$TGT_RADIUS,1852.000
$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,88.0,91854,-11.8,-6.875,-16.86
$D_GRID,990
$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,pitch_volts,roll_volts,vbd_volts
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.63,-146.0,0.0,0.0,0,38,0.00,0.00,-11.27,0.000,2,0.000,0.000,136,1432,1473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.63,-146.0,2.2,0.0,1,160,10.75,1.75,-99.43,0.000,4,0.324,0.165,2689,547,3586,0,0,0,0,0,0,14.35,14.35,14.71
$GC,255,-0.60,-146.0,11.4,-9.9,22,260,0.00,1.60,0.00,0.000,6,0.000,0.078,2688,1449,3587,0,0,0,0,0,0,28.83,14.32,28.83
$GC,569,-0.60,-146.0,37.4,-9.3,53,574,0.00,1.60,0.00,0.000,4,0.000,0.101,2688,2324,3587,0,0,0,0,0,0,28.83,14.25,28.83
$GC,652,-0.63,-146.0,44.4,-7.6,61,658,0.00,1.70,0.00,0.000,6,0.000,0.121,2688,1438,3585,0,0,0,0,0,0,28.83,14.35,28.83
$GC,966,-0.66,-146.0,69.4,-7.3,92,971,0.00,1.70,0.00,0.000,4,0.000,0.138,2688,552,3587,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1122,-0.64,-146.0,79.3,-8.2,107,1128,0.00,1.55,0.00,0.000,6,0.000,0.084,2688,1421,3587,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1437,-0.66,-146.0,103.4,-7.7,138,1442,0.00,1.67,0.00,0.000,4,0.000,0.138,2688,567,3587,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1514,-0.66,-146.0,109.4,-8.0,145,1521,0.00,1.50,0.00,0.000,6,0.000,0.086,2687,1397,3587,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1821,-0.70,-146.0,131.2,-7.0,176,1826,0.00,1.70,0.00,0.000,4,0.000,0.103,2684,2315,3587,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2001,-0.73,-146.0,143.7,-7.3,193,2008,0.00,1.70,0.00,0.000,6,0.000,0.122,2688,1425,3587,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2308,-0.76,-146.0,167.0,-7.5,224,2314,0.12,1.65,0.00,0.000,4,0.135,0.101,2623,2325,3587,0,0,0,0,0,0,14.61,14.28,28.83
$GC,2444,-0.76,-146.0,178.4,-8.5,237,2449,0.00,1.67,0.00,0.000,6,0.000,0.123,2623,1458,3587,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2758,-0.76,-146.0,202.6,-7.3,268,2763,0.00,1.70,0.00,0.000,4,0.000,0.138,2623,553,3587,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2883,-0.72,-146.0,212.2,-7.8,280,2889,0.10,1.62,0.00,0.000,6,0.220,0.087,2650,1447,3587,0,0,0,0,0,0,14.23,14.41,28.83
$GC,3200,-0.73,-146.0,233.5,-7.1,311,3205,0.00,1.73,0.00,0.000,4,0.000,0.140,2650,554,3587,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3278,-0.73,-146.0,239.5,-8.0,318,3285,0.00,1.55,0.00,0.000,6,0.000,0.087,2648,1429,3586,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3594,-0.75,-146.0,264.6,-8.1,338,3599,0.00,1.67,0.00,0.000,4,0.000,0.136,2648,554,3586,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3705,-0.75,-146.0,272.4,-8.3,341,3711,0.00,1.52,0.00,0.000,6,0.000,0.084,2649,1418,3585,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4022,-0.77,-146.0,298.8,-7.7,352,4028,0.00,1.67,0.00,0.000,4,0.000,0.139,2649,548,3585,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4152,-0.77,-146.0,308.5,-7.6,356,4157,0.00,1.50,0.00,0.000,6,0.000,0.085,2649,1388,3584,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4483,-0.78,-146.0,332.8,-7.4,367,4489,0.00,1.60,0.00,0.000,4,0.000,0.141,2649,554,3584,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4613,-0.78,-146.0,343.4,-8.3,371,4618,0.00,1.45,0.00,0.000,6,0.000,0.088,2648,1364,3584,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4944,-0.80,-146.0,371.9,-8.6,382,4950,0.00,1.55,0.00,0.000,4,0.000,0.141,2649,555,3581,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5075,-0.80,-146.0,383.2,-9.0,386,5080,0.00,1.40,0.00,0.000,6,0.000,0.088,2649,1339,3581,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5405,-0.81,-146.0,410.7,-7.9,397,5412,0.00,1.52,0.00,0.000,4,0.000,0.145,2648,558,3580,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5549,-0.81,-146.0,421.3,-8.4,401,5555,0.00,1.35,0.00,0.000,6,0.000,0.090,2648,1309,3580,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5865,-0.83,-146.0,447.9,-7.9,412,5870,0.00,1.48,0.00,0.000,4,0.000,0.146,2648,556,3579,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5995,-0.84,-146.0,458.5,-8.4,416,6000,0.00,1.30,0.00,0.000,6,0.000,0.091,2648,1279,3578,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6325,-0.86,-146.0,486.7,-8.5,427,6332,0.12,1.38,0.00,0.000,4,0.141,0.143,2588,555,3577,0,0,0,0,0,0,14.69,14.34,28.83
$GC,6560,-0.80,-146.0,509.2,-10.6,434,6566,0.12,1.25,0.00,0.000,6,0.229,0.093,2620,1246,3576,0,0,0,0,0,0,14.19,14.47,28.83
$GC,6876,-0.80,-146.0,539.2,-8.9,445,6881,0.00,1.98,0.00,0.000,4,0.000,0.109,2617,2320,3575,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6963,-0.80,-146.0,544.8,-8.7,447,6970,0.00,2.05,0.00,0.000,6,0.000,0.131,2618,1259,3574,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7270,-0.80,-146.0,572.6,-8.4,458,7275,0.00,1.38,0.00,0.000,4,0.000,0.148,2618,557,3573,0,0,0,0,0,0,28.83,14.27,28.83
$GC,7390,-0.79,-146.0,580.8,-8.6,461,7397,0.00,1.25,0.00,0.000,6,0.000,0.094,2618,1247,3572,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7694,-0.79,-146.0,608.5,-8.4,472,7700,0.00,1.38,0.00,0.000,4,0.000,0.150,2618,554,3571,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7809,-0.78,-146.0,616.3,-8.3,475,7814,0.00,1.23,0.00,0.000,6,0.000,0.093,2618,1230,3570,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8122,-0.78,-146.0,641.5,-7.1,486,8127,0.00,1.33,0.00,0.000,4,0.000,0.151,2618,562,3570,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8235,-0.78,-146.0,647.7,-6.7,489,8240,0.00,1.17,0.00,0.000,6,0.000,0.094,2618,1210,3569,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8551,-0.78,-146.0,667.9,-5.9,500,8557,0.00,1.30,0.00,0.000,4,0.000,0.152,2618,559,3569,0,0,0,0,0,0,28.83,14.25,28.83
$GC,8730,-0.77,-146.0,677.6,-6.3,505,8736,0.00,1.12,0.00,0.000,6,0.000,0.093,2618,1178,3567,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9036,-0.77,-146.0,701.2,-7.7,516,9041,0.00,1.25,0.00,0.000,4,0.000,0.155,2618,553,3566,0,0,0,0,0,0,28.83,14.23,28.83
$GC,9148,-0.77,-146.0,709.3,-8.5,519,9153,0.00,1.08,0.00,0.000,6,0.000,0.096,2618,1148,3565,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9462,-0.77,-146.0,740.2,-9.6,530,9468,0.00,1.17,0.00,0.000,4,0.000,0.155,2618,559,3564,0,0,0,0,0,0,28.83,14.22,28.83
$GC,9560,-0.77,-146.0,749.3,-9.7,533,9565,0.00,1.02,0.00,0.000,6,0.000,0.095,2614,1124,3564,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9891,-0.77,-146.0,778.5,-8.4,544,9896,0.00,1.15,0.00,0.000,4,0.000,0.157,2618,554,3562,0,0,0,0,0,0,28.83,14.19,28.83
$GC,9972,-0.77,-146.0,783.9,-8.2,546,9977,0.00,1.02,0.00,0.000,6,0.000,0.098,2618,1114,3562,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10288,-0.77,-146.0,807.2,-6.6,557,10293,0.00,1.12,0.00,0.000,4,0.000,0.156,2618,556,3562,0,0,0,0,0,0,28.83,14.16,28.83
$GC,10346,-0.77,-146.0,809.5,-6.6,558,10352,0.00,0.98,0.00,0.000,6,0.000,0.097,2618,1092,3561,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10654,-0.77,-146.0,831.4,-6.9,569,10660,0.00,1.08,0.00,0.000,4,0.000,0.157,2618,559,3561,0,0,0,0,0,0,28.83,14.18,28.83
$GC,10712,-0.77,-146.0,834.0,-7.0,570,10718,0.00,0.98,0.00,0.000,6,0.000,0.097,2618,1091,3560,0,0,0,0,0,0,28.83,14.37,28.83
$GC,11018,-0.77,-146.0,859.6,-8.2,581,11023,0.00,2.33,0.00,0.000,4,0.000,0.115,2618,2323,3559,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11052,-0.77,-146.0,862.2,-8.2,582,11058,0.00,2.38,0.00,0.000,6,0.000,0.127,2618,1085,3559,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11387,-0.77,-146.0,891.5,-8.9,593,11393,0.00,2.33,0.00,0.000,4,0.000,0.112,2618,2317,3557,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11482,-0.77,-146.0,899.6,-8.6,596,11487,0.00,2.40,0.00,0.000,6,0.000,0.138,2618,1106,3556,0,0,0,0,0,0,28.83,14.28,28.83
$GC,11817,-0.78,-146.0,927.9,-8.2,607,11822,0.00,1.12,0.00,0.000,4,0.000,0.164,2618,552,3556,0,0,0,0,0,0,28.83,14.16,28.83
$GC,11860,-0.78,-146.0,930.9,-8.2,608,11865,0.00,1.02,0.00,0.000,6,0.000,0.099,2618,1111,3555,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12184,-0.78,-146.0,957.9,-8.3,619,12191,0.00,2.28,0.00,0.000,4,0.000,0.119,2618,2318,3554,0,0,0,0,0,0,28.83,14.29,28.83
$GC,12311,-0.79,-146.0,968.2,-8.1,623,12317,0.00,2.33,0.00,0.000,6,0.000,0.138,2618,1132,3554,0,0,0,0,0,0,28.83,14.28,28.83
$STATE,12583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12583,begin apogee
$GC,12590,-0.23,0.0,991.8,-8.5,632,12738,0.65,0.00,138.40,1.850,4,0.188,0.000,2810,1642,2983,0,0,0,0,0,0,14.21,28.83,13.26
$STATE,12740,end apogee,CONTROL_FINISHED_OK
$STATE,12740,begin climb
$GC,12742,0.63,146.0,1000.9,0.0,637,12899,0.82,1.75,146.35,1.825,4,0.102,0.124,3096,2522,2389,0,0,0,0,0,0,14.12,14.07,13.22
$GC,13128,0.58,161.8,988.4,6.4,650,13151,0.00,1.75,15.60,1.692,6,0.000,0.144,3100,1636,2324,0,0,0,0,0,0,28.83,14.30,13.57
$GC,13459,0.53,161.8,964.7,7.1,661,13465,0.12,1.70,0.00,0.000,4,0.308,0.126,3068,2531,2314,0,0,0,0,0,0,14.24,14.42,28.83
$GC,13517,0.48,161.8,962.4,7.1,662,13525,0.00,1.73,0.00,0.000,6,0.000,0.139,3074,1635,2313,0,0,0,0,0,0,28.83,14.38,28.83
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$GC,18244,0.81,390.9,560.9,10.3,818,18250,0.00,2.05,0.00,0.000,4,0.000,0.147,3171,749,1371,0,0,0,0,0,0,28.83,14.29,28.83
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$STATE,24147,end climb,SURFACE_DEPTH_REACHED
$STATE,24147,begin surface coast
$FINISH,1.2,1.003028
$STATE,24169,end surface coast,CONTROL_FINISHED_OK
$STATE,24169,begin surface
$SM_CCo,24251,0.00,0.000,0,0,1354,401.31
$SM_GC,2.13,8.88,0.30,0.00,0.086,0.174,0.000,135,1434,1354,-8.55,0.23,401.31,0,0,0,0,0,0,14.50,14.26,28.83
$IRIDIUM_FIX,2359.20,-3813.41,111212,212156
$TT8_MAMPS,0.023968,0.023968
$HUMID,57.16
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,7666592
$TM_FREEKB,5071776
$24V_AH,13.2,114.229
$10V_AH,12.9,0.000
$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,22.600,173.250,552.175,0.000,0.000,0.000,0.000,418.925,0.000,0.000,17.690,4384.973,15261.096,763.124,3966.245,600.288,0.000,2967.649,0.000,3352.456,0.000,0.541,0.000
$DEVICE_MAMPS,324.360,173.655,1849.770,0.000,0.000,0.000,0.000,188.190,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24200.000,6106.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.883,13.257,0.000,0.000
$MEM,344544
$DATA_FILE_SIZE,43365,1185
$CAP_FILE_SIZE,291905,0
$CFSIZE,260034560,212271104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.106,229.4,1
$GPS,121212,110837,2408.226,-3811.505,29,0.9,30,-14.1