version: 66.11
glider: 129
mission: 4
dive: 343
start: 1 25 113 16 11 29
data:
$ID,129
$MISSION,4
$DIVE,343
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$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,350
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3177.1355
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,79
$R_STBD_OVSHOOT,98
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,21.5
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$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,3
$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,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,250113,160225,1859.057,12415.572,33,2.1,52,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-62.1
$GPS2,250113,161101,1858.799,12415.742,14,1.3,14,-2.2
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,184.9,131861,-15.3,-9.429,-18.41
$D_GRID,5347
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.58,-184.9,0.0,0.0,0,92,0.00,0.00,-70.35,0.000,2,0.000,0.000,56,1920,1895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.58,-184.9,3.4,-4.9,12,145,7.90,2.08,-31.58,0.000,4,0.239,0.042,1965,538,3165,0,0,0,0,0,0,24.89,26.12,26.55
$GC,264,-0.51,-184.9,42.3,-31.1,37,271,0.15,1.95,0.00,0.000,6,0.157,0.022,1997,1891,3165,0,0,0,0,0,0,25.83,26.25,28.83
$GC,580,-0.46,-184.9,110.1,-21.2,55,586,0.00,2.08,0.00,0.000,4,0.000,0.032,1987,3318,3165,0,0,0,0,0,0,28.83,26.19,28.83
$GC,618,-0.42,-184.9,114.7,-20.0,56,626,0.12,1.95,0.00,0.000,6,0.144,0.021,2022,1906,3165,0,0,0,0,0,0,26.02,26.36,28.83
$GC,924,-0.41,-184.9,160.5,-12.9,72,930,0.00,1.98,0.00,0.000,4,0.000,0.028,2022,548,3165,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1157,-0.41,-184.9,188.8,-12.8,83,1162,0.00,1.95,0.00,0.000,6,0.000,0.021,2013,1940,3166,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1470,-0.41,-184.9,230.1,-11.8,99,1475,0.00,2.03,0.00,0.000,4,0.000,0.028,2013,551,3165,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1562,-0.41,-184.9,239.8,-11.7,103,1569,0.00,1.92,0.00,0.000,6,0.000,0.021,2004,1929,3165,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1878,-0.41,-184.9,277.9,-12.2,119,1883,0.00,2.03,0.00,0.000,4,0.000,0.033,1993,3309,3164,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1916,-0.41,-184.9,280.7,-12.0,120,1925,0.12,1.95,0.00,0.000,6,0.131,0.020,2031,1905,3164,0,0,0,0,0,0,26.09,26.38,28.83
$GC,2222,-0.42,-184.9,309.6,-8.8,136,2228,0.00,1.95,0.00,0.000,4,0.000,0.028,2030,549,3163,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2301,-0.44,-184.9,315.8,-9.6,139,2307,0.00,1.92,0.00,0.000,6,0.000,0.020,2023,1927,3163,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2607,-0.44,-184.9,346.2,-9.3,155,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,1926,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2908,-0.45,-184.9,372.2,-7.7,170,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,1928,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3210,-0.46,-184.9,398.7,-9.2,185,3215,0.00,2.03,0.00,0.000,4,0.000,0.028,2023,546,3161,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3320,-0.47,-184.9,408.2,-8.8,190,3325,0.00,1.92,0.00,0.000,6,0.000,0.021,2015,1923,3161,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3639,-0.48,-184.9,431.9,-6.7,206,3645,0.00,1.98,0.00,0.000,4,0.000,0.028,2015,559,3158,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3668,-0.49,-184.9,433.6,-6.8,207,3673,0.00,1.92,0.00,0.000,6,0.000,0.021,2006,1932,3159,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3986,-0.49,-184.9,458.7,-8.3,223,3991,0.00,2.03,0.00,0.000,4,0.000,0.034,1996,3302,3157,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4053,-0.51,-184.9,464.0,-8.2,226,4059,0.00,1.92,0.00,0.000,6,0.000,0.021,1996,1945,3157,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4372,-0.51,-184.9,493.8,-9.8,242,4377,0.00,2.05,0.00,0.000,4,0.000,0.029,1997,530,3155,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4464,-0.51,-184.9,502.8,-10.9,246,4470,0.00,1.98,0.00,0.000,6,0.000,0.021,1988,1928,3154,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4779,-0.51,-184.9,538.1,-10.9,262,4784,0.00,2.00,0.00,0.000,4,0.000,0.034,1977,3302,3152,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4805,-0.51,-184.9,540.4,-10.4,263,4810,0.00,1.95,0.00,0.000,6,0.000,0.020,1977,1898,3152,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5123,-0.51,-184.9,572.0,-9.4,279,5129,0.00,1.95,0.00,0.000,4,0.000,0.029,1977,557,3150,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5263,-0.51,-184.9,583.7,-9.2,285,5270,0.00,1.98,0.00,0.000,6,0.000,0.021,1969,1921,3149,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5571,-0.51,-184.9,611.8,-9.2,299,5576,0.00,2.03,0.00,0.000,4,0.000,0.035,1958,3303,3147,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5604,-0.51,-184.9,615.1,-9.2,300,5611,0.10,1.98,0.00,0.000,6,0.117,0.021,1995,1930,3147,0,0,0,0,0,0,26.00,26.37,28.83
$GC,5940,-0.52,-184.9,639.7,-7.5,311,5945,0.00,2.03,0.00,0.000,4,0.000,0.030,1995,540,3145,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6070,-0.52,-184.9,650.1,-8.4,315,6076,0.00,1.98,0.00,0.000,6,0.000,0.021,1989,1935,3144,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6401,-0.52,-184.9,677.8,-8.2,326,6402,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1936,3141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6700,-0.52,-184.9,702.4,-8.4,336,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1936,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6999,-0.52,-184.9,726.2,-7.7,346,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,1936,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7300,-0.52,-184.9,747.7,-7.0,356,7305,0.00,2.05,0.00,0.000,4,0.000,0.031,1988,545,3137,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7364,-0.52,-184.9,752.7,-7.3,358,7370,0.00,2.03,0.00,0.000,6,0.000,0.023,1981,1922,3137,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7701,-0.52,-184.9,778.7,-8.0,369,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,1922,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7999,-0.52,-184.9,804.2,-8.5,379,8005,0.00,2.08,0.00,0.000,4,0.000,0.031,1981,534,3133,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8102,-0.52,-184.9,813.2,-9.3,382,8108,0.00,2.05,0.00,0.000,6,0.000,0.024,1968,1946,3133,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8429,-0.52,-184.9,842.0,-8.3,393,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1947,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8726,-0.52,-184.9,862.5,-6.3,403,8727,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,1947,3131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9027,-0.52,-184.9,880.6,-6.1,413,9033,0.00,2.10,0.00,0.000,4,0.000,0.031,1972,554,3130,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9095,-0.52,-184.9,885.2,-6.5,415,9100,0.00,1.98,0.00,0.000,6,0.000,0.024,1964,1926,3130,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9426,-0.52,-184.9,908.9,-7.5,426,9427,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1927,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9725,-0.52,-184.9,932.2,-7.8,436,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,1927,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10024,-0.52,-184.9,957.1,-8.6,446,10030,0.00,2.08,0.00,0.000,4,0.000,0.032,1964,563,3126,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10079,-0.52,-184.9,960.3,-8.6,447,10085,0.12,1.98,0.00,0.000,6,0.152,0.023,1989,1935,3126,0,0,0,0,0,0,25.85,26.21,28.83
$GC,10397,-0.54,-184.9,984.5,-6.8,458,10398,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,1935,3125,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10480,begin apogee
$GC,10486,-0.17,0.0,990.1,-6.3,461,10649,0.32,0.00,154.90,1.415,6,0.116,0.000,2102,1935,2409,0,0,0,0,0,0,25.70,28.83,22.12
$STATE,10650,end apogee,CONTROL_FINISHED_OK
$STATE,10650,begin climb
$GC,10653,0.58,184.9,994.7,0.0,466,10837,0.73,2.42,172.68,1.362,4,0.086,0.033,2348,535,1655,0,0,0,0,0,0,24.19,23.58,21.75
$GC,10865,0.61,248.2,984.7,7.3,473,10935,0.00,2.12,59.20,1.324,6,0.000,0.020,2348,1903,1397,0,0,0,0,0,0,28.83,24.46,21.96
$GC,11236,0.63,249.5,948.5,9.4,486,11241,0.00,2.08,0.00,0.000,4,0.000,0.035,2348,3288,1389,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11334,0.64,249.5,939.1,10.0,489,11339,0.00,1.98,0.00,0.000,6,0.000,0.024,2348,1919,1388,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11665,0.68,302.2,912.1,7.6,500,11720,0.00,0.00,48.83,1.339,6,0.000,0.000,2348,1919,1177,0,0,0,0,0,0,28.83,28.83,23.39
$GC,12025,0.73,374.2,886.6,7.0,512,12094,0.15,0.00,65.97,1.329,6,0.100,0.000,2405,1919,883,0,0,0,0,0,0,26.17,28.83,23.28
$GC,12385,0.74,374.2,850.4,10.1,524,12390,0.00,2.08,0.00,0.000,4,0.000,0.035,2405,3293,876,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12422,0.75,374.2,846.4,10.3,525,12428,0.00,2.03,0.00,0.000,6,0.000,0.024,2411,1892,875,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12753,0.75,374.2,805.5,12.9,536,12758,0.00,2.10,0.00,0.000,4,0.000,0.035,2412,3291,874,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12787,0.75,374.2,800.7,13.4,537,12792,0.00,2.03,0.00,0.000,6,0.000,0.024,2413,1895,873,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13121,0.75,374.2,754.7,13.4,548,13127,0.00,2.08,0.00,0.000,4,0.000,0.035,2421,503,873,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13148,0.75,374.2,754.7,13.4,548,13155,0.00,2.03,0.00,0.000,6,0.000,0.021,2421,1918,873,0,0,0,0,0,0,28.83,26.30,28.83
$GC,13456,0.75,374.2,709.0,13.5,559,13461,0.00,2.03,0.00,0.000,4,0.000,0.036,2421,3270,873,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13549,0.75,374.2,696.0,13.7,562,13555,0.00,2.03,0.00,0.000,6,0.000,0.025,2426,1904,872,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13885,0.75,374.2,653.0,12.5,573,13886,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1903,872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14183,0.75,374.2,617.5,11.4,583,14184,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1903,871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14493,0.75,374.2,580.8,11.8,596,14498,0.00,2.10,0.00,0.000,4,0.000,0.034,2426,3280,871,0,0,0,0,0,0,28.83,26.10,28.83
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$GC,17055,0.81,374.2,286.2,10.0,722,17056,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1889,871,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20015,end climb,SURFACE_DEPTH_REACHED
$STATE,20015,begin surface coast
$FINISH,1.2,1.022664
$STATE,20027,end surface coast,CONTROL_FINISHED_OK
$STATE,20027,begin surface
$SM_CCo,20107,0.00,0.000,0,0,207,540.15
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$IRIDIUM_FIX,1857.82,12411.13,250113,101053
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.84
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,3888640
$24V_AH,21.8,69.675
$10V_AH,9.7,47.533
$FG_AHR_24Vo,120.571
$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,16.500,153.650,630.550,0.000,0.000,0.000,0.000,306.725,0.000,0.000,15.519,2947.893,13881.827,765.318,2539.216,479.944,0.000,2302.341,0.000,2160.684,0.000,0.539,0.000
$DEVICE_MAMPS,238.680,42.075,1415.250,0.000,0.000,0.000,0.000,133.875,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20056.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.059,0.000,0.000,0.000
$MEM,329028
$DATA_FILE_SIZE,33367,923
$CAP_FILE_SIZE,218046,0
$CFSIZE,260034560,216993792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.220,153.1,1
$GPS,250113,214757,1853.588,12417.199,38,1.7,41,-2.2