version: 66.11
glider: 167
mission: 14
dive: 181
start: 11 23 112 5 29 2
data:
$ID,167
$MISSION,14
$DIVE,181
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,120
$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,380
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52251
$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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-968804.88
$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,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,22
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-16.305099
$PRESSURE_SLOPE,0.0001158971
$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,0
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043364335
$SEABIRD_T_H,0.00062881975
$SEABIRD_T_I,2.1970176e-05
$SEABIRD_T_J,2.0625448e-06
$SEABIRD_C_G,-9.8829851
$SEABIRD_C_H,1.104416
$SEABIRD_C_I,-0.0016111456
$SEABIRD_C_J,0.00020720487
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,231112,051959,2159.337,12320.135,41,1.1,41,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-61.4
$GPS2,231112,052835,2159.393,12320.196,4,1.1,4,-3.3
$SPEED_LIMITS,0.150,0.266
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,312.3,228281,-14.8,-8.684,-18.08
$D_GRID,5035
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.56,-171.1,0.0,0.0,0,103,0.00,0.00,-81.72,0.000,2,0.000,0.000,109,2456,2633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.56,-171.1,3.1,-3.8,8,149,9.52,2.08,-24.70,0.000,4,0.222,0.038,2511,1031,3666,0,0,0,0,0,0,25.28,26.23,26.63
$GC,238,-0.55,-171.1,20.8,-15.4,20,244,0.00,2.12,0.00,0.000,6,0.000,0.031,2506,2452,3666,0,0,0,0,0,0,28.83,26.22,28.83
$GC,554,-0.53,-171.1,73.5,-15.5,45,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2452,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,856,-0.52,-171.1,122.6,-16.9,60,861,0.00,2.08,0.00,0.000,4,0.000,0.031,2506,1034,3666,0,0,0,0,0,0,28.83,26.47,28.83
$GC,919,-0.52,-171.1,131.1,-13.4,63,924,0.00,2.12,0.00,0.000,6,0.000,0.033,2506,2457,3666,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1243,-0.53,-171.1,163.6,-9.8,79,1248,0.00,1.98,0.00,0.000,4,0.000,0.045,2506,3766,3666,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1315,-0.54,-171.1,169.8,-9.8,82,1321,0.00,1.90,0.00,0.000,6,0.000,0.018,2506,2412,3666,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1629,-0.55,-171.1,199.4,-9.4,98,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2412,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1932,-0.56,-171.1,226.5,-8.3,113,1937,0.00,1.92,0.00,0.000,4,0.000,0.029,2506,1077,3665,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1966,-0.57,-171.1,228.6,-8.2,114,1971,0.00,2.03,0.00,0.000,6,0.000,0.033,2506,2452,3666,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2279,-0.58,-171.1,262.8,-11.8,130,2284,0.00,1.98,0.00,0.000,4,0.000,0.044,2506,3763,3667,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2326,-0.60,-171.1,267.7,-11.5,132,2331,0.00,1.83,0.00,0.000,6,0.000,0.018,2506,2435,3664,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2645,-0.62,-171.1,297.9,-8.9,148,2646,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2435,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2946,-0.63,-171.1,326.4,-9.5,163,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2435,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3248,-0.65,-171.1,356.4,-9.7,178,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2435,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3546,-0.67,-171.1,380.4,-7.0,193,3552,0.00,1.95,0.00,0.000,4,0.000,0.036,2507,1082,3660,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3625,-0.69,-171.1,385.2,-7.4,196,3632,0.00,2.03,0.00,0.000,6,0.000,0.034,2506,2448,3659,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3930,-0.71,-171.1,412.9,-9.5,212,3933,0.12,0.00,-0.10,0.000,6,0.081,0.000,2428,2447,3680,0,0,0,0,0,0,26.73,28.83,26.01
$GC,4230,-0.70,-171.1,453.3,-11.7,227,4237,0.12,2.00,0.00,0.000,4,0.147,0.028,2469,1079,3679,0,0,0,0,0,0,26.45,26.53,28.83
$GC,4289,-0.70,-171.1,457.3,-9.9,229,4296,0.00,2.05,0.00,0.000,6,0.000,0.034,2467,2461,3679,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4596,-0.71,-171.1,480.5,-8.5,245,4601,0.00,2.00,0.00,0.000,4,0.000,0.027,2467,1086,3679,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4628,-0.72,-171.1,482.7,-8.9,246,4634,0.00,2.05,0.00,0.000,6,0.000,0.039,2467,2454,3678,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4942,-0.73,-171.1,516.2,-11.1,262,4947,0.00,1.98,0.00,0.000,4,0.000,0.046,2467,3751,3676,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4994,-0.74,-171.1,521.0,-11.1,264,5000,0.00,1.80,0.00,0.000,6,0.000,0.018,2467,2427,3676,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5309,-0.75,-171.1,548.6,-7.5,280,5314,0.00,2.05,0.00,0.000,4,0.000,0.047,2467,3752,3672,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5362,-0.76,-171.1,552.0,-7.6,282,5368,0.00,1.77,0.00,0.000,6,0.000,0.020,2467,2451,3674,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5676,-0.77,-171.1,577.6,-9.1,298,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2451,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5978,-0.78,-171.1,607.2,-10.0,312,5983,0.00,2.03,0.00,0.000,4,0.000,0.048,2467,3755,3670,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6041,-0.80,-171.1,613.6,-10.0,314,6046,0.00,1.80,0.00,0.000,6,0.000,0.020,2467,2465,3669,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6377,-0.81,-171.1,646.5,-9.2,325,6382,0.00,2.00,0.00,0.000,4,0.000,0.029,2467,1089,3667,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6424,-0.83,-171.1,649.6,-9.1,326,6429,0.00,2.05,0.00,0.000,6,0.000,0.041,2466,2457,3666,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6745,-0.84,-171.1,670.7,-5.3,337,6752,0.12,2.03,0.00,0.000,4,0.084,0.028,2394,1079,3664,0,0,0,0,0,0,26.70,26.41,28.83
$GC,6829,-0.84,-171.1,676.8,-7.3,339,6835,0.15,2.05,0.00,0.000,6,0.151,0.034,2428,2454,3663,0,0,0,0,0,0,26.09,26.42,28.83
$GC,7145,-0.84,-171.1,711.8,-11.7,350,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2455,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7443,-0.84,-171.1,747.0,-11.1,360,7448,0.00,2.00,0.00,0.000,4,0.000,0.050,2427,3750,3660,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7476,-0.84,-171.1,750.6,-10.8,361,7482,0.00,1.83,0.00,0.000,6,0.000,0.021,2427,2435,3658,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7812,-0.84,-171.1,783.0,-10.0,372,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2434,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8110,-0.84,-171.1,815.6,-11.3,382,8115,0.00,2.08,0.00,0.000,4,0.000,0.050,2427,3756,3653,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8152,-0.84,-171.1,819.4,-11.4,383,8157,0.00,1.83,0.00,0.000,6,0.000,0.022,2427,2450,3655,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8477,-0.84,-171.1,854.3,-10.0,394,8478,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2448,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8775,-0.84,-171.1,881.7,-9.2,404,8776,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2447,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9075,-0.84,-171.1,911.3,-9.8,414,9081,0.00,2.05,0.00,0.000,4,0.000,0.050,2427,3752,3650,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9113,-0.84,-171.1,914.7,-9.8,415,9118,0.00,1.83,0.00,0.000,6,0.000,0.023,2427,2461,3650,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9443,-0.84,-171.1,947.5,-9.8,426,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2461,3648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9741,-0.84,-171.1,977.0,-9.8,436,9747,0.00,2.05,0.00,0.000,4,0.000,0.052,2427,3760,3647,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9774,-0.84,-171.1,980.5,-9.9,437,9780,0.00,1.88,0.00,0.000,6,0.000,0.024,2427,2435,3646,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,9895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9895,begin apogee
$GC,9902,-0.27,0.0,992.3,-9.6,441,10091,0.55,0.00,182.60,1.131,6,0.113,0.000,2607,2299,2963,0,0,0,0,0,0,25.76,28.83,23.21
$STATE,10093,end apogee,CONTROL_FINISHED_OK
$STATE,10093,begin climb
$GC,10096,0.56,171.1,1001.1,0.0,447,10272,0.75,2.45,166.70,1.162,4,0.051,0.049,2881,3695,2261,0,0,0,0,0,0,24.60,23.91,22.68
$GC,10335,0.52,171.1,989.7,9.0,455,10340,0.00,2.12,0.00,0.000,6,0.000,0.027,2889,2327,2239,0,0,0,0,0,0,28.83,25.01,28.83
$GC,10650,0.50,171.1,953.8,10.7,466,10651,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2326,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10949,0.47,171.1,920.6,11.1,476,10956,0.12,2.12,0.00,0.000,4,0.157,0.035,2859,901,2231,0,0,0,0,0,0,26.16,26.25,28.83
$GC,10999,0.44,171.1,917.1,10.9,477,11004,0.00,2.12,0.00,0.000,6,0.000,0.033,2859,2313,2230,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11319,0.43,171.1,886.6,8.9,488,11320,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2313,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11618,0.41,171.1,856.9,10.2,498,11619,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2313,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11917,0.40,171.1,825.1,10.6,508,11919,0.12,0.00,0.00,0.000,6,0.144,0.000,2825,2313,2229,0,0,0,0,0,0,26.38,28.83,28.83
$GC,12217,0.41,206.8,800.6,7.5,518,12261,0.00,2.28,33.78,1.056,4,0.000,0.050,2824,3695,2110,0,0,0,0,0,0,28.83,25.67,24.41
$GC,12314,0.43,255.5,794.1,7.0,521,12373,0.00,2.10,52.70,1.027,6,0.000,0.028,2826,2296,1923,0,0,0,0,0,0,28.83,25.98,24.01
$GC,12701,0.46,310.7,770.4,6.8,534,12765,0.00,2.22,58.15,1.010,4,0.000,0.040,2826,912,1693,0,0,0,0,0,0,28.83,25.26,24.08
$GC,12809,0.49,348.0,763.5,7.4,537,12853,0.00,2.15,37.88,1.003,6,0.000,0.031,2825,2306,1547,0,0,0,0,0,0,28.83,25.38,23.95
$GC,13153,0.52,373.2,734.7,7.8,549,13184,0.12,2.30,24.73,1.027,4,0.080,0.049,2900,3699,1438,0,0,0,0,0,0,26.26,25.58,24.39
$GC,13212,0.54,383.3,731.8,8.3,550,13220,0.00,2.10,2.70,0.522,6,0.000,0.027,2901,2299,1401,0,0,0,0,0,0,28.83,25.83,23.89
$GC,13519,0.54,383.3,693.7,11.1,561,13524,0.00,2.08,0.00,0.000,4,0.000,0.037,2901,908,1413,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13621,0.54,383.3,683.0,11.2,564,13627,0.00,2.10,0.00,0.000,6,0.000,0.031,2901,2306,1413,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13947,0.54,383.3,642.2,12.5,575,13952,0.00,2.10,0.00,0.000,4,0.000,0.035,2901,907,1412,0,0,0,0,0,0,28.83,26.28,28.83
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$GC,16384,0.57,383.3,378.2,8.8,689,16391,0.00,2.05,0.00,0.000,6,0.000,0.033,2901,2305,1410,0,0,0,0,0,0,28.83,24.94,28.83
$GC,16689,0.58,399.0,349.7,8.1,705,16718,0.00,2.17,22.38,0.814,4,0.000,0.050,2901,3704,1329,0,0,0,0,0,0,28.83,26.04,24.77
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$STATE,20192,end climb,SURFACE_DEPTH_REACHED
$STATE,20193,begin surface coast
$FINISH,0.8,1.022250
$STATE,20215,end surface coast,CONTROL_FINISHED_OK
$STATE,20215,begin surface
$SM_CCo,20295,0.00,0.000,0,0,773,538.43
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$IRIDIUM_FIX,2150.42,12320.14,231112,050557
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.79
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.50
$XPDR_PINGS,13
$24V_AH,22.7,42.170
$10V_AH,10.3,27.714
$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,19.800,135.175,707.200,0.000,0.000,0.000,0.000,287.500,3.250,0.000,5.882,2806.553,14426.490,772.632,2412.915,389.180,0.000,2254.207,0.000,2049.956,0.000,1.143,0.000
$DEVICE_MAMPS,221.850,75.735,1162.035,0.000,0.000,0.000,0.000,125.460,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20225.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.260,0.000,0.000,0.000
$MEM,329592
$DATA_FILE_SIZE,33403,898
$CAP_FILE_SIZE,211140,0
$CFSIZE,260165632,231694336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.115,185.9,1
$GPS,231112,110838,2200.297,12317.028,36,1.0,36,-3.3