version: 66.09
glider: 167
mission: 8
dive: 159
start: 7 18 111 5 25 29
data:
$ID,167
$MISSION,8
$DIVE,159
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,400
$T_MISSION,440
$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,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51876
$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,576.20972
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-56587.035
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1875
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,97
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.233358
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$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,0.0043379883
$SEABIRD_T_H,0.00063236553
$SEABIRD_T_I,2.4503992e-05
$SEABIRD_T_J,2.6444222e-06
$SEABIRD_C_G,-9.8845854
$SEABIRD_C_H,1.1045586
$SEABIRD_C_I,-0.0015691385
$SEABIRD_C_J,0.00020000842
$GPS1,180711,050630,1810.447,12336.560,39,1.1,40,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-72.9
$GPS2,180711,052507,1810.337,12336.800,10,1.4,15,-2.0
$SPEED_LIMITS,0.143,0.244
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.013,-0.305
$KALMAN_X,-1531.9,-192.4,226.3,5724.7,67.3
$KALMAN_Y,11735.9,46.7,-129.6,-54154.7,2747.8
$MHEAD_RNG_PITCHd_Wd,255.8,146566,-15.4,-8.250
$D_GRID,5000
$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
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.56,-146.0,0.0,0.0,0,89,0.00,0.00,-68.93,0.000,2,0.000,0.000,111,1838,3131,0,0,0,0,0,0
$GC,92,-0.56,-146.0,6.4,-11.4,9,116,9.82,1.95,-4.93,0.000,4,0.228,0.034,2611,484,3436,0,0,0,0,0,0
$GC,136,-0.56,-146.0,26.6,-45.4,15,145,0.00,2.03,0.00,0.000,6,0.000,0.021,2604,1863,3437,0,0,0,0,0,0
$GC,213,-0.56,-146.0,49.6,-29.6,28,220,0.00,2.10,0.00,0.000,4,0.000,0.031,2593,3270,3437,0,0,0,0,0,0
$GC,255,-0.56,-146.0,61.3,-28.5,34,263,0.00,2.10,0.00,0.000,6,0.000,0.016,2593,1801,3437,0,0,0,0,0,0
$GC,331,-0.56,-146.0,82.7,-28.4,47,341,0.00,1.90,0.00,0.000,4,0.000,0.028,2593,500,3437,0,0,0,0,0,0
$GC,371,-0.56,-146.0,93.2,-24.6,53,381,0.08,1.60,0.00,0.000,6,0.162,0.020,2610,1624,3438,0,0,0,0,0,0
$GC,449,-0.56,-146.0,107.9,-18.4,66,457,0.00,2.45,0.00,0.000,4,0.000,0.030,2599,3264,3437,0,0,0,0,0,0
$GC,492,-0.56,-146.0,115.9,-20.8,72,499,0.00,2.20,0.00,0.000,6,0.000,0.018,2599,1738,3438,0,0,0,0,0,0
$GC,571,-0.56,-146.0,132.7,-20.1,85,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1737,3439,0,0,0,0,0,0
$GC,649,-0.56,-146.0,146.2,-16.2,98,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1737,3439,0,0,0,0,0,0
$GC,728,-0.56,-146.0,158.8,-16.0,111,737,0.00,1.77,0.00,0.000,4,0.000,0.028,2600,510,3439,0,0,0,0,0,0
$GC,750,-0.56,-146.0,163.3,-17.6,114,757,0.00,1.83,0.00,0.000,6,0.000,0.019,2591,1788,3439,0,0,0,0,0,0
$GC,827,-0.56,-146.0,177.0,-17.8,127,835,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,3280,3439,0,0,0,0,0,0
$GC,872,-0.56,-146.0,184.3,-15.7,134,880,0.00,2.15,0.00,0.000,6,0.000,0.018,2587,1774,3439,0,0,0,0,0,0
$GC,947,-0.56,-146.0,195.9,-16.2,147,955,0.10,0.00,0.00,0.000,6,0.182,0.000,2612,1772,3439,0,0,0,0,0,0
$GC,1027,-0.56,-146.0,208.1,-14.5,156,1031,0.00,2.20,0.00,0.000,4,0.000,0.029,2603,3274,3439,0,0,0,0,0,0
$GC,1055,-0.56,-146.0,212.1,-13.9,158,1059,0.00,2.20,0.00,0.000,6,0.000,0.018,2603,1727,3439,0,0,0,0,0,0
$GC,1381,-0.56,-146.0,252.8,-10.8,188,1385,0.00,2.28,0.00,0.000,4,0.000,0.030,2600,3273,3438,0,0,0,0,0,0
$GC,1432,-0.56,-146.0,258.1,-10.3,192,1436,0.00,2.15,0.00,0.000,6,0.000,0.018,2600,1753,3438,0,0,0,0,0,0
$GC,1758,-0.56,-146.0,296.8,-11.8,222,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1753,3437,0,0,0,0,0,0
$GC,2078,-0.56,-146.0,331.5,-9.7,252,2083,0.00,2.25,0.00,0.000,4,0.000,0.032,2600,3271,3436,0,0,0,0,0,0
$GC,2238,-0.56,-146.0,345.7,-8.9,265,2245,0.00,2.08,0.00,0.000,6,0.000,0.018,2600,1799,3434,0,0,0,0,0,0
$GC,2566,-0.56,-146.0,374.5,-8.6,296,2569,0.00,1.88,0.00,0.000,4,0.000,0.030,2600,497,3432,0,0,0,0,0,0
$GC,2615,-0.56,-146.0,379.4,-9.4,300,2622,0.00,1.90,0.00,0.000,6,0.000,0.021,2600,1822,3432,0,0,0,0,0,0
$GC,2943,-0.56,-146.0,406.7,-7.7,331,2947,0.00,2.15,0.00,0.000,4,0.000,0.034,2600,3278,3429,0,0,0,0,0,0
$GC,3028,-0.56,-146.0,412.9,-7.0,338,3032,0.00,2.00,0.00,0.000,6,0.000,0.019,2600,1856,3429,0,0,0,0,0,0
$GC,3361,-0.56,-146.0,436.9,-7.7,369,3365,0.00,2.10,0.00,0.000,4,0.000,0.032,2600,3272,3426,0,0,0,0,0,0
$GC,3404,-0.56,-146.0,440.4,-7.8,372,3412,0.00,2.00,0.00,0.000,6,0.000,0.018,2600,1867,3426,0,0,0,0,0,0
$GC,3730,-0.56,-146.0,466.9,-8.4,403,3734,0.00,2.10,0.00,0.000,4,0.000,0.034,2601,3277,3423,0,0,0,0,0,0
$GC,3763,-0.56,-146.0,469.7,-8.3,405,3770,0.00,1.98,0.00,0.000,6,0.000,0.020,2600,1882,3423,0,0,0,0,0,0
$GC,4089,-0.56,-146.0,493.2,-7.0,436,4094,0.00,2.10,0.00,0.000,4,0.000,0.034,2600,3273,3420,0,0,0,0,0,0
$GC,4125,-0.56,-146.0,495.6,-6.9,439,4130,0.00,1.98,0.00,0.000,6,0.000,0.020,2600,1892,3420,0,0,0,0,0,0
$GC,4458,-0.56,-146.0,519.7,-7.5,458,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1891,3417,0,0,0,0,0,0
$GC,4769,-0.56,-146.0,543.4,-7.9,473,4774,0.00,2.05,0.00,0.000,4,0.000,0.032,2600,509,3415,0,0,0,0,0,0
$GC,4796,-0.56,-146.0,546.0,-8.2,474,4800,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1891,3415,0,0,0,0,0,0
$GC,5124,-0.56,-146.0,573.3,-8.6,490,5127,0.00,2.05,0.00,0.000,4,0.000,0.036,2600,3269,3413,0,0,0,0,0,0
$GC,5225,-0.56,-146.0,581.9,-8.3,494,5228,0.00,1.90,0.00,0.000,6,0.000,0.019,2600,1927,3412,0,0,0,0,0,0
$GC,5548,-0.56,-146.0,606.1,-6.9,510,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1926,3410,0,0,0,0,0,0
$GC,5856,-0.56,-146.0,625.3,-5.9,525,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1927,3408,0,0,0,0,0,0
$GC,6167,-0.56,-146.0,641.2,-4.8,540,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1926,3406,0,0,0,0,0,0
$GC,6475,-0.56,-146.0,657.4,-5.6,555,6479,0.00,2.10,0.00,0.000,4,0.000,0.031,2601,510,3404,0,0,0,0,0,0
$GC,6547,-0.56,-146.0,662.3,-7.1,558,6551,0.00,2.08,0.00,0.000,6,0.000,0.022,2600,1936,3404,0,0,0,0,0,0
$GC,6876,-0.56,-146.0,682.5,-6.1,574,6880,0.00,1.98,0.00,0.000,4,0.000,0.037,2600,3264,3402,0,0,0,0,0,0
$GC,6903,-0.56,-146.0,684.4,-6.2,575,6908,0.00,1.88,0.00,0.000,6,0.000,0.019,2600,1948,3402,0,0,0,0,0,0
$GC,7232,-0.56,-146.0,705.6,-6.6,591,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1948,3401,0,0,0,0,0,0
$GC,7540,-0.56,-146.0,727.1,-6.9,606,7544,0.00,2.12,0.00,0.000,4,0.000,0.031,2600,498,3398,0,0,0,0,0,0
$GC,7635,-0.56,-146.0,734.4,-7.7,610,7639,0.00,2.15,0.00,0.000,6,0.000,0.022,2600,1969,3398,0,0,0,0,0,0
$GC,7951,-0.56,-146.0,754.0,-6.0,625,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1969,3397,0,0,0,0,0,0
$GC,8261,-0.56,-146.0,771.6,-5.6,640,8266,0.00,2.20,0.00,0.000,4,0.000,0.031,2600,506,3395,0,0,0,0,0,0
$GC,8301,-0.56,-146.0,774.0,-5.6,641,8308,0.00,2.08,0.00,0.000,6,0.000,0.022,2600,1944,3395,0,0,0,0,0,0
$GC,8618,-0.56,-146.0,791.4,-5.6,657,8621,0.00,1.98,0.00,0.000,4,0.000,0.037,2600,3267,3394,0,0,0,0,0,0
$GC,8645,-0.56,-146.0,793.1,-5.6,658,8650,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1930,3394,0,0,0,0,0,0
$GC,8974,-0.56,-146.0,812.5,-6.2,674,8978,0.00,2.10,0.00,0.000,4,0.000,0.031,2600,504,3393,0,0,0,0,0,0
$GC,9018,-0.56,-146.0,816.1,-6.7,676,9022,0.00,2.08,0.00,0.000,6,0.000,0.023,2600,1922,3393,0,0,0,0,0,0
$GC,9347,-0.56,-146.0,837.7,-6.6,692,9351,0.00,2.00,0.00,0.000,4,0.000,0.037,2600,3272,3392,0,0,0,0,0,0
$GC,9409,-0.56,-146.0,842.1,-6.7,694,9415,0.00,1.90,0.00,0.000,6,0.000,0.021,2600,1941,3392,0,0,0,0,0,0
$GC,9725,-0.56,-146.0,862.3,-6.3,710,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1940,3390,0,0,0,0,0,0
$GC,10036,-0.56,-146.0,880.2,-5.7,725,10037,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1940,3390,0,0,0,0,0,0
$GC,10344,-0.56,-146.0,897.6,-5.7,740,10349,0.00,2.15,0.00,0.000,4,0.000,0.034,2600,505,3389,0,0,0,0,0,0
$GC,10371,-0.56,-146.0,899.5,-5.8,741,10375,0.00,2.12,0.00,0.000,6,0.000,0.023,2600,1960,3389,0,0,0,0,0,0
$GC,10695,-0.56,-146.0,917.0,-5.4,757,10698,0.00,1.95,0.00,0.000,4,0.000,0.038,2600,3272,3388,0,0,0,0,0,0
$GC,10756,-0.56,-146.0,920.5,-5.4,759,10764,0.00,1.88,0.00,0.000,6,0.000,0.021,2600,1958,3387,0,0,0,0,0,0
$GC,11074,-0.56,-146.0,936.8,-5.2,775,11075,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1959,3386,0,0,0,0,0,0
$GC,11382,-0.56,-146.0,953.9,-5.7,790,11386,0.00,2.17,0.00,0.000,4,0.000,0.032,2601,507,3386,0,0,0,0,0,0
$GC,11450,-0.56,-146.0,958.4,-6.8,793,11454,0.00,2.15,0.00,0.000,6,0.000,0.024,2600,1966,3385,0,0,0,0,0,0
$GC,11778,-0.56,-146.0,978.1,-5.7,809,11783,0.00,1.98,0.00,0.000,4,0.000,0.039,2600,3263,3384,0,0,0,0,0,0
$GC,11847,-0.56,-146.0,982.1,-5.5,812,11851,0.00,1.83,0.00,0.000,6,0.000,0.021,2600,1980,3384,0,0,0,0,0,0
$STATE,11992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11992,begin apogee
$GC,12000,-0.20,0.0,990.2,5.3,819,12119,0.38,0.00,111.53,1.413,4,0.122,0.000,2726,2098,2838,0,0,0,0,0,0
$STATE,12119,end apogee,CONTROL_FINISHED_OK
$STATE,12119,begin climb
$GC,12122,0.56,146.0,991.9,0.0,824,12256,0.70,2.20,124.93,1.362,4,0.079,0.040,2982,3439,2242,0,0,0,0,0,0
$GC,12458,0.56,146.0,953.4,13.3,839,12466,0.00,2.05,0.00,0.000,6,0.000,0.021,2991,2086,2232,0,0,0,0,0,0
$GC,12774,0.56,146.0,914.8,11.7,855,12778,0.00,2.12,0.00,0.000,4,0.000,0.035,2991,3451,2230,0,0,0,0,0,0
$GC,13027,0.56,146.0,882.8,12.4,866,13032,0.00,2.10,0.00,0.000,6,0.000,0.021,2999,2046,2229,0,0,0,0,0,0
$GC,13348,0.56,146.0,846.3,11.1,882,13352,0.00,2.03,0.00,0.000,4,0.000,0.033,3009,688,2228,0,0,0,0,0,0
$GC,13396,0.56,146.0,841.2,11.3,884,13400,0.00,2.00,0.00,0.000,6,0.000,0.024,3009,2039,2228,0,0,0,0,0,0
$GC,13730,0.56,146.0,802.0,12.0,900,13731,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2039,2227,0,0,0,0,0,0
$GC,14038,0.56,146.0,764.6,12.1,915,14042,0.00,2.17,0.00,0.000,4,0.000,0.038,3009,3471,2226,0,0,0,0,0,0
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$GC,14406,0.56,146.0,724.0,10.6,932,14409,0.00,1.98,0.00,0.000,4,0.000,0.033,2995,689,2225,0,0,0,0,0,0
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$STATE,22041,end climb,SURFACE_DEPTH_REACHED
$STATE,22041,begin surface coast
$FINISH,0.9,1.021037
$STATE,22082,end surface coast,CONTROL_FINISHED_OK
$STATE,22082,begin surface
$SM_CCo,22099,60.85,0.480,1,0,490,576.21
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$IRIDIUM_FIX,1800.97,12335.75,180711,050556
$TT8_MAMPS,0.028462,0.028462
$HUMID,32.55
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,28.70
$XPDR_PINGS,22
$24V_AH,23.6,29.186
$10V_AH,10.1,28.341
$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,19.625,223.300,528.575,60.850,0.000,154.039,57.652,355.412,5.500,0.000,16.701,4338.063,12881.902,768.098,4205.392,1061.913,0.000,2582.375,0.000,3882.843,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,74.970,1412.955,479.655,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1157.057,1281.409,1498.727,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329896
$DATA_FILE_SIZE,100166,1701
$CAP_FILE_SIZE,246267,0
$CFSIZE,260165632,125689856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.108, 31.0,1
$GPS,180711,113607,1810.776,12334.859,30,1.1,30,-2.0