version: 66.10
glider: 169
mission: 6
dive: 295
start: 6 22 112 11 10 57
data:
$ID,169
$MISSION,6
$DIVE,295
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$D_BOOST,110
$T_BOOST,4
$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,320
$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,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-15912.884
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2275
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2425
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,147.521
$AH0_10V,108.529
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-77.157478
$PRESSURE_SLOPE,0.000115925
$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,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$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,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,220612,110107,2331.268,12211.820,38,0.9,38,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-70.7
$GPS2,220612,111031,2331.701,12211.810,12,1.0,12,-3.2
$SPEED_LIMITS,0.179,0.299
$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,127.2,178066,-16.1,-10.312
$D_GRID,4137
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.64,-194.6,0.0,0.0,0,100,0.00,0.00,-80.88,0.000,2,0.000,0.000,121,2351,3034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.64,-194.6,3.6,-9.7,14,130,7.90,2.47,-13.50,0.000,4,0.226,0.047,2049,3828,3776,0,0,0,0,0,0,24.96,25.98,26.46
$GC,211,-0.57,-194.6,42.5,-30.5,33,219,0.12,2.15,0.00,0.000,6,0.161,0.021,2092,2395,3777,0,0,0,0,0,0,25.80,26.14,28.83
$GC,403,-0.51,-194.6,88.1,-20.4,70,410,0.00,2.35,0.00,0.000,4,0.000,0.025,2099,946,3777,0,0,0,0,0,0,28.83,26.18,28.83
$GC,464,-0.52,-194.6,97.4,-11.4,81,471,0.00,2.47,0.00,0.000,6,0.000,0.031,2087,2420,3778,0,0,0,0,0,0,28.83,26.17,28.83
$GC,654,-0.48,-194.6,128.3,-16.4,118,662,0.10,2.15,0.00,0.000,4,0.172,0.037,2102,3829,3777,0,0,0,0,0,0,26.27,26.17,28.83
$GC,680,-0.46,-194.6,131.7,-13.6,122,687,0.00,2.20,0.00,0.000,6,0.000,0.018,2105,2337,3778,0,0,0,0,0,0,28.83,26.39,28.83
$GC,872,-0.46,-194.6,153.1,-11.9,159,879,0.00,2.20,0.00,0.000,4,0.000,0.024,2105,957,3778,0,0,0,0,0,0,28.83,26.31,28.83
$GC,909,-0.48,-194.6,157.0,-10.3,165,916,0.00,2.38,0.00,0.000,6,0.000,0.030,2099,2397,3779,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1099,-0.47,-194.6,177.3,-11.5,202,1106,0.00,2.22,0.00,0.000,4,0.000,0.040,2088,3845,3779,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1152,-0.49,-194.6,182.6,-9.1,211,1159,0.00,2.25,0.00,0.000,6,0.000,0.019,2088,2319,3779,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1343,-0.48,-194.6,203.9,-11.5,248,1351,0.10,0.00,0.00,0.000,6,0.145,0.000,2117,2319,3779,0,0,0,0,0,0,26.41,28.83,28.83
$GC,1657,-0.50,-194.6,230.4,-7.7,309,1664,0.00,2.42,0.00,0.000,4,0.000,0.040,2105,3835,3779,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1718,-0.54,-194.6,235.2,-7.4,320,1726,0.00,2.20,0.00,0.000,6,0.000,0.018,2105,2321,3778,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2032,-0.55,-194.6,262.6,-9.3,381,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2322,3778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2343,-0.57,-194.6,285.7,-7.2,442,2350,0.00,2.45,0.00,0.000,4,0.000,0.040,2095,3838,3777,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2414,-0.59,-194.6,290.5,-7.1,455,2420,0.00,2.20,0.00,0.000,6,0.000,0.019,2096,2335,3776,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2729,-0.62,-194.6,314.1,-8.5,516,2736,0.00,2.40,0.00,0.000,4,0.000,0.041,2090,3836,3775,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2811,-0.64,-194.6,321.1,-8.7,531,2818,0.00,1.90,0.00,0.000,6,0.000,0.018,2090,2458,3774,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3124,-0.65,-194.6,351.7,-10.8,592,3134,0.00,2.45,0.00,0.000,4,0.000,0.024,2090,953,3773,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3192,-0.69,-194.6,358.4,-9.7,604,3200,0.00,2.67,0.00,0.000,6,0.000,0.031,2085,2521,3772,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3506,-0.70,-194.6,390.0,-9.5,665,3513,0.10,1.98,0.00,0.000,4,0.093,0.041,2012,3826,3769,0,0,0,0,0,0,26.58,26.22,28.83
$GC,3537,-0.67,-194.6,393.9,-13.4,670,3544,0.12,1.95,0.00,0.000,6,0.148,0.020,2057,2447,3769,0,0,0,0,0,0,26.11,26.46,28.83
$GC,3850,-0.66,-194.6,432.0,-11.0,731,3857,0.00,2.45,0.00,0.000,4,0.000,0.024,2068,946,3768,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3887,-0.68,-194.6,435.9,-10.0,737,3894,0.00,2.67,0.00,0.000,6,0.000,0.031,2055,2512,3768,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4199,-0.67,-194.6,472.0,-11.8,798,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2510,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4510,-0.66,-194.6,506.9,-10.8,853,4519,0.00,2.58,0.00,0.000,4,0.000,0.026,2056,967,3763,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4566,-0.67,-194.6,512.0,-9.6,858,4573,0.00,2.62,0.00,0.000,6,0.000,0.034,2044,2498,3763,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4875,-0.65,-194.6,549.0,-13.1,889,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2497,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5186,-0.64,-194.6,590.3,-13.8,920,5195,0.00,2.58,0.00,0.000,4,0.000,0.028,2045,953,3758,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5241,-0.65,-194.6,597.2,-12.5,925,5248,0.10,2.62,0.00,0.000,6,0.139,0.034,2065,2493,3757,0,0,0,0,0,0,26.09,26.22,28.83
$GC,5548,-0.65,-194.6,631.1,-10.9,956,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2491,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5852,-0.65,-194.6,661.5,-10.0,986,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2491,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6160,-0.65,-194.6,689.7,-8.7,1017,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2490,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6471,-0.65,-194.6,715.4,-7.9,1048,6480,0.00,2.55,0.00,0.000,4,0.000,0.025,2065,966,3749,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6506,-0.66,-194.6,718.2,-8.0,1051,6513,0.00,2.62,0.00,0.000,6,0.000,0.035,2057,2488,3749,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6813,-0.66,-194.6,743.8,-8.4,1082,6822,0.00,2.08,0.00,0.000,4,0.000,0.047,2047,3824,3746,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6859,-0.67,-194.6,747.1,-7.9,1086,6866,0.00,2.03,0.00,0.000,6,0.000,0.021,2047,2428,3746,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7168,-0.67,-194.6,774.5,-8.5,1117,7176,0.00,2.40,0.00,0.000,4,0.000,0.027,2047,963,3745,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7199,-0.67,-194.6,777.6,-9.3,1120,7210,0.00,2.60,0.00,0.000,6,0.000,0.034,2038,2483,3744,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7511,-0.66,-194.6,809.9,-10.7,1151,7520,0.00,2.03,0.00,0.000,4,0.000,0.045,2027,3819,3742,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7536,-0.65,-194.6,812.6,-11.1,1153,7543,0.12,2.05,0.00,0.000,6,0.129,0.021,2067,2420,3742,0,0,0,0,0,0,26.08,26.39,28.83
$GC,7844,-0.66,-194.6,839.3,-8.4,1184,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2419,3741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8157,-0.67,-194.6,865.1,-8.2,1215,8165,0.00,2.25,0.00,0.000,4,0.000,0.046,2057,3813,3739,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8199,-0.69,-194.6,868.9,-8.6,1219,8207,0.00,2.00,0.00,0.000,6,0.000,0.021,2057,2436,3738,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8510,-0.70,-194.6,897.6,-9.1,1250,8519,0.00,2.38,0.00,0.000,4,0.000,0.027,2057,970,3738,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8555,-0.72,-194.6,901.5,-9.1,1254,8561,0.00,2.60,0.00,0.000,6,0.000,0.036,2046,2487,3738,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8862,-0.72,-194.6,932.8,-10.3,1285,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2486,3736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9165,-0.72,-194.6,962.9,-9.8,1315,9173,0.00,2.53,0.00,0.000,4,0.000,0.028,2049,969,3734,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9200,-0.73,-194.6,966.1,-9.5,1318,9206,0.00,2.60,0.00,0.000,6,0.000,0.036,2040,2483,3734,0,0,0,0,0,0,28.83,26.07,28.83
$STATE,9433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9434,begin apogee
$GC,9442,-0.20,0.0,990.9,-10.9,1342,9637,0.47,0.10,189.30,1.130,4,0.104,0.072,2202,2504,2978,0,0,0,0,0,0,25.72,24.70,23.45
$STATE,9638,end apogee,CONTROL_FINISHED_OK
$STATE,9638,begin climb
$GC,9641,0.64,194.6,1000.9,0.0,1362,9859,0.75,2.25,208.75,1.082,4,0.043,0.044,2493,3832,2181,0,0,0,0,0,0,24.92,24.88,23.15
$GC,10030,0.57,194.6,929.1,25.0,1401,10038,0.17,2.00,0.00,0.000,6,0.196,0.023,2460,2497,2145,0,0,0,0,0,0,25.31,25.78,28.83
$GC,10337,0.52,194.6,871.3,17.8,1432,10347,0.00,2.45,0.00,0.000,4,0.000,0.029,2472,1067,2140,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10451,0.49,194.6,853.0,15.2,1443,10461,0.10,2.62,0.00,0.000,6,0.155,0.036,2440,2543,2137,0,0,0,0,0,0,25.70,26.03,28.83
$GC,10761,0.46,194.6,805.2,15.5,1474,10770,0.00,1.92,0.00,0.000,4,0.000,0.044,2440,3826,2137,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10874,0.41,194.6,785.1,18.1,1485,10878,0.15,1.90,0.00,0.000,6,0.176,0.023,2410,2513,2137,0,0,0,0,0,0,25.76,26.22,28.83
$GC,11187,0.40,194.6,743.1,13.1,1516,11196,0.00,2.05,0.00,0.000,4,0.000,0.044,2410,3836,2136,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11219,0.38,194.6,738.3,14.2,1519,11228,0.00,1.88,0.00,0.000,6,0.000,0.021,2420,2522,2136,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11529,0.36,194.6,695.1,13.6,1550,11531,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2521,2136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11831,0.34,194.6,654.4,13.4,1580,11839,0.12,0.00,0.00,0.000,6,0.176,0.000,2388,2521,2135,0,0,0,0,0,0,26.10,28.83,28.83
$GC,12139,0.36,212.7,622.6,9.7,1611,12160,0.00,2.12,16.23,0.838,4,0.000,0.044,2388,3836,2109,0,0,0,0,0,0,28.83,26.03,24.53
$GC,12186,0.36,212.7,617.9,10.8,1615,12192,0.00,1.90,0.00,0.000,6,0.000,0.021,2397,2520,2097,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12494,0.37,217.7,586.6,10.1,1646,12502,0.00,2.47,0.00,0.000,4,0.000,0.030,2411,1069,2093,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12538,0.40,233.2,582.5,9.8,1650,12578,0.00,2.65,29.33,0.789,6,0.000,0.034,2411,2552,2027,0,0,0,0,1,0,28.83,26.08,24.13
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$GC,15172,0.59,377.7,279.2,14.8,2080,15179,0.00,1.95,0.00,0.000,6,0.000,0.021,2491,2494,1404,0,0,0,0,0,0,28.83,26.19,28.83
$GC,15484,0.59,377.7,235.6,12.3,2141,15493,0.00,2.45,0.00,0.000,4,0.000,0.030,2504,1070,1402,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,17508,end climb,SURFACE_DEPTH_REACHED
$STATE,17509,begin surface coast
$FINISH,-0.0,1.021579
$STATE,17522,end surface coast,CONTROL_FINISHED_OK
$STATE,17523,begin surface
$SM_CCo,17600,0.00,0.000,0,0,499,608.34
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$IRIDIUM_FIX,2319.18,12209.54,220612,060629
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.57
$INTERNAL_PRESSURE,8.26559
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.1,60.362
$10V_AH,9.9,38.422
$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,18.275,184.075,821.575,0.000,0.000,27.772,41.892,319.874,0.000,0.000,12.980,5903.254,6303.696,1018.939,4323.774,567.892,0.000,3060.582,0.000,3797.776,0.000,0.542,0.000
$DEVICE_MAMPS,225.675,84.150,1129.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1708.912,2044.701,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324572
$DATA_FILE_SIZE,157015,2519
$CAP_FILE_SIZE,243157,0
$CFSIZE,260165632,188309504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.307,345.7,1
$GPS,220612,160525,2333.197,12213.027,39,2.0,39,-3.2