version: 66.11
glider: 167
mission: 14
dive: 299
start: 12 23 112 7 16 12
data:
$ID,167
$MISSION,14
$DIVE,299
$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,390
$T_MISSION,410
$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,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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-969199.88
$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,2665
$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,2450
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,75
$R_STBD_OVSHOOT,35
$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,0.0012000001
$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,21
$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,48
$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
$GPS1,231212,070759,2313.683,12349.304,39,1.1,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-56.5
$GPS2,231212,071546,2313.696,12349.243,4,1.1,4,-3.7
$SPEED_LIMITS,0.147,0.264
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,141.9,192937,-14.4,-8.462,-17.80
$D_GRID,5744
$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,-0.57,-171.1,0.0,0.0,0,85,0.00,0.00,-62.55,0.000,2,0.000,0.000,108,2456,2826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.57,-171.1,3.2,-3.8,6,124,9.45,2.12,-19.42,0.000,4,0.217,0.049,2474,1084,3668,0,0,0,0,0,0,25.09,26.08,26.65
$GC,294,-0.57,-171.1,35.6,-15.6,26,300,0.00,2.08,0.00,0.000,6,0.000,0.041,2469,2443,3667,0,0,0,0,0,0,28.83,26.13,28.83
$GC,618,-0.57,-171.1,81.7,-13.2,46,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2444,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,920,-0.57,-171.1,120.9,-10.7,61,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2444,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1220,-0.57,-171.1,150.6,-10.1,76,1226,0.00,2.03,0.00,0.000,4,0.000,0.047,2466,3772,3670,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1264,-0.57,-171.1,156.1,-10.9,78,1270,0.00,1.88,0.00,0.000,6,0.000,0.018,2465,2429,3670,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1588,-0.57,-171.1,193.2,-10.7,94,1593,0.00,1.95,0.00,0.000,4,0.000,0.028,2466,1067,3667,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1640,-0.57,-171.1,197.4,-10.0,96,1645,0.00,2.08,0.00,0.000,6,0.000,0.034,2466,2459,3671,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1953,-0.57,-171.1,228.4,-9.6,112,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2459,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2255,-0.57,-171.1,259.7,-10.6,127,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2459,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2555,-0.57,-171.1,290.0,-9.7,142,2561,0.00,2.03,0.00,0.000,4,0.000,0.031,2465,1077,3670,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2599,-0.57,-171.1,294.6,-9.9,144,2605,0.00,2.05,0.00,0.000,6,0.000,0.034,2465,2453,3670,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2923,-0.57,-171.1,326.7,-9.5,160,2928,0.00,2.03,0.00,0.000,4,0.000,0.031,2465,1073,3669,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2975,-0.57,-171.1,330.8,-9.5,162,2981,0.00,2.08,0.00,0.000,6,0.000,0.034,2466,2463,3669,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3289,-0.57,-171.1,358.0,-7.8,178,3294,0.00,2.03,0.00,0.000,4,0.000,0.028,2466,1075,3668,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3333,-0.57,-171.1,361.5,-7.9,180,3338,0.00,2.08,0.00,0.000,6,0.000,0.034,2465,2460,3668,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3657,-0.57,-171.1,386.1,-7.8,196,3662,0.00,2.03,0.00,0.000,4,0.000,0.028,2471,1074,3666,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3689,-0.57,-171.1,388.1,-8.0,197,3695,0.00,2.08,0.00,0.000,6,0.000,0.034,2469,2455,3667,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4002,-0.57,-171.1,418.1,-9.8,213,4008,0.00,2.03,0.00,0.000,4,0.000,0.028,2466,1071,3665,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4027,-0.57,-171.1,420.6,-9.9,214,4033,0.00,2.08,0.00,0.000,6,0.000,0.034,2466,2452,3665,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4351,-0.57,-171.1,448.4,-7.5,230,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2452,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4653,-0.57,-171.1,468.2,-6.4,245,4658,0.00,2.03,0.00,0.000,4,0.000,0.028,2466,1070,3662,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4696,-0.57,-171.1,471.3,-6.6,247,4702,0.00,2.08,0.00,0.000,6,0.000,0.034,2465,2452,3662,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5020,-0.57,-171.1,497.4,-9.9,263,5025,0.00,2.00,0.00,0.000,4,0.000,0.047,2465,3752,3660,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5067,-0.57,-171.1,502.1,-10.3,265,5073,0.00,1.85,0.00,0.000,6,0.000,0.019,2466,2421,3659,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5385,-0.57,-171.1,532.1,-8.7,281,5391,0.00,2.10,0.00,0.000,4,0.000,0.048,2465,3762,3659,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5423,-0.57,-171.1,534.2,-8.6,282,5430,0.00,1.85,0.00,0.000,6,0.000,0.021,2465,2432,3658,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5729,-0.57,-171.1,559.5,-7.8,298,5735,0.00,2.10,0.00,0.000,4,0.000,0.049,2466,3760,3660,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5773,-0.57,-171.1,563.1,-8.1,300,5778,0.00,1.85,0.00,0.000,6,0.000,0.021,2465,2444,3656,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6096,-0.57,-171.1,591.1,-8.6,316,6101,0.00,1.98,0.00,0.000,4,0.000,0.030,2465,1086,3654,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6173,-0.57,-171.1,596.5,-8.7,319,6180,0.00,2.05,0.00,0.000,6,0.000,0.035,2465,2451,3653,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6492,-0.57,-171.1,620.8,-6.9,331,6497,0.00,2.03,0.00,0.000,4,0.000,0.049,2465,3758,3652,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6539,-0.57,-171.1,623.3,-6.8,332,6544,0.00,1.83,0.00,0.000,6,0.000,0.021,2465,2447,3652,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6859,-0.57,-171.1,647.5,-7.5,343,6864,0.00,1.98,0.00,0.000,4,0.000,0.030,2465,1099,3650,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6893,-0.57,-171.1,650.4,-7.9,344,6899,0.00,2.08,0.00,0.000,6,0.000,0.035,2465,2458,3650,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7230,-0.57,-171.1,678.3,-8.5,355,7235,0.00,2.03,0.00,0.000,4,0.000,0.050,2465,3760,3648,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7268,-0.57,-171.1,681.3,-8.4,356,7274,0.00,1.85,0.00,0.000,6,0.000,0.023,2465,2444,3648,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7598,-0.57,-171.1,707.4,-7.5,367,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2443,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7898,-0.57,-171.1,728.6,-7.0,377,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2443,3648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8197,-0.57,-171.1,751.0,-7.5,387,8202,0.00,2.08,0.00,0.000,4,0.000,0.050,2465,3756,3643,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8219,-0.57,-171.1,751.0,-7.5,387,8225,0.00,1.88,0.00,0.000,6,0.000,0.024,2465,2445,3642,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8535,-0.57,-171.1,776.3,-7.4,398,8540,0.00,2.10,0.00,0.000,4,0.000,0.050,2465,3761,3641,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8569,-0.57,-171.1,778.8,-7.3,399,8574,0.00,1.88,0.00,0.000,6,0.000,0.024,2465,2446,3640,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8905,-0.57,-171.1,802.0,-6.9,410,8910,0.00,2.00,0.00,0.000,4,0.000,0.031,2465,1084,3639,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8939,-0.57,-171.1,804.6,-7.0,411,8944,0.00,2.08,0.00,0.000,6,0.000,0.036,2465,2447,3638,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9274,-0.57,-171.1,830.5,-7.9,422,9275,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2447,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9573,-0.57,-171.1,853.4,-7.5,432,9574,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2446,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9872,-0.57,-171.1,874.1,-6.6,442,9877,0.00,2.05,0.00,0.000,4,0.000,0.051,2465,3752,3635,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9909,-0.57,-171.1,876.3,-6.5,443,9914,0.00,1.88,0.00,0.000,6,0.000,0.024,2465,2446,3634,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10244,-0.57,-171.1,895.9,-5.4,454,10250,0.00,2.10,0.00,0.000,4,0.000,0.056,2465,3755,3633,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10302,-0.57,-171.1,897.9,-5.4,455,10310,0.00,1.90,0.00,0.000,6,0.000,0.024,2465,2437,3633,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10608,-0.57,-171.1,915.5,-5.1,466,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2435,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10909,-0.57,-171.1,931.2,-5.2,476,10914,0.00,2.10,0.00,0.000,4,0.000,0.052,2464,3752,3631,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10952,-0.57,-171.1,933.1,-5.3,477,10957,0.00,1.88,0.00,0.000,6,0.000,0.025,2465,2446,3630,0,0,0,0,0,0,28.83,26.44,28.83
$GC,11277,-0.57,-171.1,950.5,-5.3,488,11282,0.00,2.03,0.00,0.000,4,0.000,0.031,2465,1081,3631,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11311,-0.57,-171.1,952.4,-5.4,489,11317,0.00,2.12,0.00,0.000,6,0.000,0.038,2465,2453,3630,0,0,0,0,0,0,28.83,25.73,28.83
$GC,11647,-0.57,-171.1,971.7,-6.1,500,11653,0.00,2.08,0.00,0.000,4,0.000,0.053,2465,3759,3629,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11700,-0.57,-171.1,974.0,-6.2,501,11705,0.00,1.90,0.00,0.000,6,0.000,0.024,2465,2439,3628,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,11951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11951,begin apogee
$GC,11958,-0.20,0.0,991.5,-6.6,510,12119,0.38,0.00,152.38,1.355,6,0.100,0.000,2594,2195,2963,0,0,0,0,0,0,25.84,28.83,22.44
$STATE,12121,end apogee,CONTROL_FINISHED_OK
$STATE,12121,begin climb
$GC,12123,0.57,171.1,998.0,0.0,515,12291,0.73,0.00,162.80,1.294,6,0.071,0.000,2843,2194,2272,0,0,0,0,0,0,24.41,28.83,22.08
$GC,12585,0.61,209.8,973.0,7.2,531,12632,0.00,2.40,37.17,1.283,4,0.000,0.048,2843,3609,2100,0,0,0,0,0,0,28.83,25.21,23.59
$GC,12725,0.61,209.8,962.6,8.5,535,12730,0.00,2.08,0.00,0.000,6,0.000,0.028,2844,2234,2099,0,0,0,0,0,0,28.83,26.01,28.83
$GC,13040,0.64,233.0,935.9,7.7,546,13069,0.00,2.28,22.73,1.280,4,0.000,0.040,2850,808,2012,0,0,0,0,0,0,28.83,25.68,23.89
$GC,13103,0.67,259.3,931.1,7.6,548,13137,0.00,2.20,26.67,1.271,6,0.000,0.033,2850,2219,1908,0,0,0,0,0,0,28.83,25.88,23.66
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$GC,16365,0.71,288.2,562.1,11.9,660,16372,0.15,2.08,0.00,0.000,6,0.158,0.028,2890,2197,1774,0,0,0,0,0,0,25.91,26.36,28.83
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$STATE,22182,end climb,SURFACE_DEPTH_REACHED
$STATE,22182,begin surface coast
$FINISH,1.1,1.023596
$STATE,22201,end surface coast,CONTROL_FINISHED_OK
$STATE,22201,begin surface
$SM_CCo,22279,0.00,0.000,0,0,763,540.64
$SM_GC,1.78,7.25,0.35,0.00,0.027,0.046,0.000,116,2463,763,-7.89,-1.47,540.64,0,0,0,0,0,0,26.27,26.47,28.83
$IRIDIUM_FIX,2307.44,12352.46,231212,000047
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.62
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.00
$XPDR_PINGS,15
$24V_AH,22.1,65.210
$10V_AH,10.0,42.420
$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,18.725,194.525,586.400,0.000,0.000,0.000,0.000,275.650,3.750,0.000,5.456,3105.703,15812.031,725.158,2621.275,470.157,0.000,2323.052,0.000,2261.438,0.000,0.541,0.000
$DEVICE_MAMPS,217.260,55.845,1354.815,0.000,0.000,0.000,0.000,126.990,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22216.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.884,0.000,0.000,0.000
$MEM,329548
$DATA_FILE_SIZE,36732,973
$CAP_FILE_SIZE,233186,0
$CFSIZE,260165632,220061696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.152,281.9,1
$GPS,231212,132923,2311.741,12349.530,69,0.8,69,-3.7