version: 66.11
glider: 129
mission: 4
dive: 426
start: 2 11 113 22 10 9
data:
$ID,129
$MISSION,4
$DIVE,426
$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,-13
$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,-3315.3401
$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,73
$R_STBD_OVSHOOT,82
$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,20
$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
$GPS1,110213,220449,1848.268,12222.090,8,1.5,8,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-60.9
$GPS2,110213,220942,1848.415,12221.985,11,1.7,11,-2.1
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,70.1,260310,-15.3,-9.429,-18.41
$D_GRID,1264
$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,-184.9,0.0,0.0,0,87,0.00,0.00,-64.97,0.000,2,0.000,0.000,59,1882,1787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.2,-3.9,11,141,8.00,2.12,-34.05,0.000,4,0.237,0.042,1958,3312,3163,0,0,0,0,0,0,24.78,26.03,26.57
$GC,166,-0.52,-184.9,14.8,-24.0,23,174,0.12,1.98,0.00,0.000,6,0.166,0.021,1989,1913,3163,0,0,0,0,0,0,25.77,26.20,28.83
$GC,492,-0.47,-184.9,104.9,-25.7,48,498,0.00,1.98,0.00,0.000,4,0.000,0.030,1989,547,3163,0,0,0,0,0,0,28.83,26.10,28.83
$GC,718,-0.44,-184.9,148.2,-16.3,59,723,0.12,1.95,0.00,0.000,6,0.151,0.021,2015,1919,3163,0,0,0,0,0,0,25.87,26.23,28.83
$GC,1041,-0.44,-184.9,184.1,-10.5,75,1047,0.00,2.05,0.00,0.000,4,0.000,0.032,2006,3323,3163,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1089,-0.44,-184.9,188.4,-10.1,77,1095,0.00,2.00,0.00,0.000,6,0.000,0.021,2006,1920,3163,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1408,-0.44,-184.9,227.0,-12.1,93,1413,0.00,1.98,0.00,0.000,4,0.000,0.029,2006,541,3163,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1472,-0.44,-184.9,234.8,-12.1,96,1477,0.00,2.00,0.00,0.000,6,0.000,0.019,1996,1935,3163,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1796,-0.44,-184.9,271.5,-10.2,112,1802,0.00,2.00,0.00,0.000,4,0.000,0.031,1985,3295,3161,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1860,-0.44,-184.9,278.0,-10.0,115,1867,0.12,1.95,0.00,0.000,6,0.125,0.021,2023,1904,3161,0,0,0,0,0,0,25.98,26.27,28.83
$GC,2186,-0.45,-184.9,303.3,-7.4,131,2192,0.00,1.98,0.00,0.000,4,0.000,0.030,2024,545,3160,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2250,-0.46,-184.9,308.8,-8.4,134,2256,0.00,1.98,0.00,0.000,6,0.000,0.019,2015,1935,3161,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2574,-0.46,-184.9,336.3,-8.2,150,2579,0.00,2.03,0.00,0.000,4,0.000,0.033,2005,3302,3159,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2647,-0.48,-184.9,341.5,-8.2,153,2653,0.00,1.98,0.00,0.000,6,0.000,0.020,2005,1934,3159,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2962,-0.48,-184.9,369.4,-8.2,169,2967,0.00,2.03,0.00,0.000,4,0.000,0.029,2005,532,3157,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3050,-0.48,-184.9,376.8,-8.7,173,3056,0.00,1.95,0.00,0.000,6,0.000,0.019,1996,1921,3157,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3369,-0.48,-184.9,406.0,-10.1,189,3375,0.00,2.08,-0.08,0.000,4,0.000,0.040,1996,538,3181,0,0,0,0,0,0,28.83,26.10,25.24
$GC,3402,-0.48,-184.9,408.5,-10.2,190,3408,0.00,1.98,0.00,0.000,6,0.000,0.020,1987,1928,3182,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3715,-0.48,-184.9,442.3,-10.3,206,3721,0.00,2.03,0.00,0.000,4,0.000,0.034,1976,3299,3181,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3748,-0.48,-184.9,444.6,-10.2,207,3753,0.00,1.98,0.00,0.000,6,0.000,0.021,1976,1907,3180,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4061,-0.48,-184.9,482.1,-11.8,223,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1906,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4365,-0.48,-184.9,516.3,-11.4,238,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1906,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4665,-0.48,-184.9,549.3,-10.3,253,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,1906,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4964,-0.48,-184.9,577.7,-9.4,268,4969,0.00,2.00,0.00,0.000,4,0.000,0.030,1976,550,3173,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5002,-0.48,-184.9,580.1,-9.3,269,5009,0.12,1.98,0.00,0.000,6,0.153,0.021,2002,1925,3173,0,0,0,0,0,0,25.86,26.24,28.83
$GC,5308,-0.49,-184.9,599.6,-5.5,285,5313,0.00,2.05,0.00,0.000,4,0.000,0.034,1993,3303,3171,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5367,-0.51,-184.9,601.5,-5.6,287,5374,0.00,1.98,0.00,0.000,6,0.000,0.021,1993,1916,3170,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5671,-0.51,-184.9,624.1,-7.5,298,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,1916,3169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5972,-0.52,-184.9,649.3,-8.4,308,5978,0.00,2.05,0.00,0.000,4,0.000,0.031,1993,531,3167,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6007,-0.53,-184.9,652.6,-8.7,309,6013,0.00,2.03,0.00,0.000,6,0.000,0.021,1984,1939,3167,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6344,-0.53,-184.9,684.9,-9.9,320,6350,0.00,2.03,0.00,0.000,4,0.000,0.035,1974,3310,3164,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6387,-0.53,-184.9,688.7,-10.1,321,6393,0.00,2.00,0.00,0.000,6,0.000,0.022,1974,1920,3164,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6711,-0.53,-184.9,726.1,-11.4,332,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1920,3163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7011,-0.53,-184.9,758.2,-10.2,342,7017,0.00,2.05,0.00,0.000,4,0.000,0.031,1974,537,3161,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7064,-0.53,-184.9,761.6,-9.9,343,7069,0.00,1.98,0.00,0.000,6,0.000,0.021,1964,1924,3162,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7379,-0.53,-184.9,792.9,-9.5,354,7384,0.00,2.08,0.00,0.000,4,0.000,0.030,1964,533,3160,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7431,-0.53,-184.9,796.3,-9.8,355,7438,0.12,1.98,0.00,0.000,6,0.151,0.022,1992,1921,3160,0,0,0,0,0,0,25.80,26.17,28.83
$GC,7749,-0.54,-184.9,821.3,-7.3,366,7755,0.00,2.08,0.00,0.000,4,0.000,0.035,1981,3305,3158,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7839,-0.56,-184.9,826.3,-7.4,368,7845,0.00,2.00,0.00,0.000,6,0.000,0.022,1981,1923,3158,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8143,-0.56,-184.9,851.2,-7.4,379,8149,0.00,2.05,0.00,0.000,4,0.000,0.031,1981,528,3157,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8227,-0.56,-184.9,856.6,-7.8,381,8233,0.00,2.00,0.00,0.000,6,0.000,0.022,1971,1925,3156,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8542,-0.56,-184.9,886.7,-9.0,392,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1926,3155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8843,-0.56,-184.9,915.1,-8.8,402,8848,0.00,2.08,0.00,0.000,4,0.000,0.031,1971,537,3154,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8881,-0.56,-184.9,918.2,-8.9,403,8886,0.00,2.00,0.00,0.000,6,0.000,0.022,1963,1925,3154,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9212,-0.56,-184.9,946.1,-7.7,414,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1925,3153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9509,-0.56,-184.9,967.4,-7.2,424,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,1925,3152,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9806,begin apogee
$GC,9813,-0.17,0.0,990.7,-7.8,434,9980,0.43,0.00,159.43,1.409,6,0.120,0.000,2103,1925,2408,0,0,0,0,0,0,25.37,28.83,22.37
$STATE,9981,end apogee,CONTROL_FINISHED_OK
$STATE,9981,begin climb
$GC,9984,0.58,184.9,996.4,0.0,439,10164,0.73,2.40,171.50,1.359,4,0.086,0.034,2355,525,1654,0,0,0,0,0,0,24.32,23.54,21.64
$GC,10234,0.61,252.8,984.8,7.1,448,10302,0.00,2.08,60.78,1.330,6,0.000,0.021,2355,1890,1378,0,0,0,0,0,0,28.83,25.33,22.77
$GC,10625,0.63,252.8,948.0,9.8,461,10631,0.00,2.10,0.00,0.000,4,0.000,0.034,2356,3287,1369,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10742,0.64,252.8,937.7,10.8,464,10747,0.00,2.03,0.00,0.000,6,0.000,0.026,2364,1896,1368,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11059,0.65,254.2,904.2,9.4,475,11064,0.00,2.12,0.00,0.000,4,0.000,0.034,2364,3300,1367,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11094,0.67,256.4,900.8,9.4,476,11099,0.00,2.05,0.00,0.000,6,0.000,0.026,2373,1902,1366,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11430,0.70,331.7,874.3,6.8,487,11505,0.00,0.00,71.05,1.339,6,0.000,0.000,2373,1902,1056,0,0,0,0,0,0,28.83,28.83,23.11
$GC,11820,0.73,373.8,842.7,8.0,500,11866,0.00,2.22,38.22,1.295,4,0.000,0.037,2383,511,884,0,0,0,0,0,0,28.83,25.32,23.39
$GC,11894,0.77,408.6,837.7,8.2,502,11933,0.00,2.08,32.45,1.265,6,0.000,0.021,2383,1913,743,0,0,0,0,0,0,28.83,25.78,23.33
$GC,12242,0.80,424.8,805.6,8.9,514,12265,0.10,2.10,14.90,1.207,4,0.119,0.034,2426,3271,677,0,0,0,0,0,0,26.22,25.73,23.73
$GC,12320,0.82,424.8,798.4,10.2,516,12325,0.00,2.05,0.00,0.000,6,0.000,0.027,2426,1896,679,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12641,0.82,424.8,758.2,11.6,527,12647,0.00,2.08,0.00,0.000,4,0.000,0.037,2426,505,674,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12699,0.83,424.8,754.0,11.6,528,12706,0.00,2.03,0.00,0.000,6,0.000,0.021,2426,1900,674,0,0,0,0,0,0,28.83,26.23,28.83
$GC,13006,0.83,424.8,715.4,11.9,539,13012,0.00,2.08,0.00,0.000,4,0.000,0.034,2426,3285,673,0,0,0,0,0,0,28.83,26.01,28.83
$GC,13079,0.83,424.8,706.9,12.6,541,13084,0.00,2.03,0.00,0.000,6,0.000,0.026,2426,1897,673,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13405,0.83,424.8,663.3,12.7,552,13410,0.00,2.10,0.00,0.000,4,0.000,0.037,2431,503,673,0,0,0,0,0,0,28.83,25.98,28.83
$GC,13443,0.84,424.8,658.9,12.6,553,13449,0.00,2.03,0.00,0.000,6,0.000,0.021,2431,1898,673,0,0,0,0,0,0,28.83,26.21,28.83
$GC,13775,0.84,424.8,615.9,13.6,564,13780,0.00,2.05,0.00,0.000,4,0.000,0.034,2431,3288,673,0,0,0,0,0,0,28.83,25.97,28.83
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$GC,15953,0.90,424.8,319.2,12.2,669,15959,0.00,2.08,0.00,0.000,4,0.000,0.035,2450,504,673,0,0,0,0,0,0,28.83,25.89,28.83
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$STATE,18739,end climb,SURFACE_DEPTH_REACHED
$STATE,18739,begin surface coast
$FINISH,1.2,1.022255
$STATE,18757,end surface coast,CONTROL_FINISHED_OK
$STATE,18757,begin surface
$SM_CCo,18834,0.00,0.000,0,0,210,539.41
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$IRIDIUM_FIX,1841.87,12223.73,110213,212116
$TT8_MAMPS,0.024717,0.024717
$HUMID,51.45
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,3856864
$24V_AH,21.6,87.340
$10V_AH,9.8,57.383
$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,16.575,158.925,646.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,11.727,2744.640,12897.166,741.422,2117.747,405.728,0.000,1946.881,0.000,2056.053,0.000,0.540,0.000
$DEVICE_MAMPS,237.150,42.075,1409.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18733.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.226,0.000,0.000,0.000
$MEM,308684
$DATA_FILE_SIZE,29981,845
$CAP_FILE_SIZE,212782,1
$CFSIZE,260034560,209027072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.232,314.5,1
$GPS,120213,032523,1851.421,12223.074,39,1.3,39,-2.1