version: 66.11
glider: 170
mission: 10
dive: 149
start: 12 3 112 4 33 4
data:
$ID,170
$MISSION,10
$DIVE,149
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$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,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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51479
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-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,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-143276.42
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,101
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2769
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.120956
$PRESSURE_SLOPE,0.0001164274
$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,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$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,0.0043559377
$SEABIRD_T_H,0.00062550703
$SEABIRD_T_I,2.3551509e-05
$SEABIRD_T_J,2.509174e-06
$SEABIRD_C_G,-10.138787
$SEABIRD_C_H,1.1450038
$SEABIRD_C_I,-0.0015582878
$SEABIRD_C_J,0.00020114503
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,031212,042428,1928.493,12002.122,36,0.8,36,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-75.4
$GPS2,031212,043236,1928.595,12002.222,18,1.1,18,-2.5
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$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,195.3,53101,-14.9,-8.684,-17.18
$D_GRID,4190
$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,-0.51,-170.3,0.0,0.0,0,79,0.00,0.00,-57.20,0.000,2,0.000,0.000,133,2659,1760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.51,-170.3,3.1,-2.0,10,160,10.98,2.20,-59.78,0.000,4,0.236,0.046,2881,1245,3464,0,0,0,0,0,0,25.58,26.08,26.41
$GC,389,-0.46,-170.3,61.0,-16.1,46,396,0.00,2.10,0.00,0.000,6,0.000,0.045,2880,2602,3465,0,0,0,0,0,0,28.83,26.20,28.83
$GC,576,-0.41,-170.3,85.5,-11.9,56,581,0.12,1.73,0.00,0.000,4,0.161,0.052,2921,3696,3465,0,0,0,0,0,0,26.15,26.24,28.83
$GC,640,-0.40,-170.3,91.6,-10.1,59,645,0.00,1.52,0.00,0.000,6,0.000,0.024,2921,2624,3466,0,0,0,0,0,0,28.83,26.41,28.83
$GC,843,-0.41,-170.3,111.9,-11.1,69,848,0.00,2.05,0.00,0.000,4,0.000,0.024,2921,1204,3466,0,0,0,0,0,0,28.83,26.44,28.83
$GC,906,-0.43,-170.3,118.3,-10.3,72,911,0.00,2.12,0.00,0.000,6,0.000,0.038,2921,2601,3466,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1109,-0.46,-170.3,137.8,-9.3,82,1114,0.00,2.03,0.00,0.000,4,0.000,0.024,2921,1200,3465,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1133,-0.48,-170.3,140.0,-9.1,83,1138,0.00,2.15,0.00,0.000,6,0.000,0.038,2922,2601,3466,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1338,-0.51,-170.3,155.7,-7.1,93,1340,0.12,0.00,0.00,0.000,6,0.090,0.000,2853,2601,3465,0,0,0,0,0,0,26.55,28.83,28.83
$GC,1516,-0.49,-170.3,174.8,-10.2,102,1522,0.12,2.03,0.00,0.000,4,0.145,0.022,2896,1199,3465,0,0,0,0,0,0,26.37,26.53,28.83
$GC,1550,-0.47,-170.3,177.1,-9.7,103,1555,0.00,2.12,0.00,0.000,6,0.000,0.038,2896,2602,3465,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1743,-0.49,-170.3,188.6,-5.4,113,1748,0.00,1.70,0.00,0.000,4,0.000,0.054,2895,3690,3464,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1807,-0.51,-170.3,191.8,-5.1,116,1812,0.00,1.58,0.00,0.000,6,0.000,0.024,2895,2558,3464,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2011,-0.53,-170.3,203.6,-6.4,126,2016,0.00,1.90,0.00,0.000,4,0.000,0.024,2895,1229,3463,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2044,-0.55,-170.3,205.3,-6.7,127,2049,0.00,2.08,0.00,0.000,6,0.000,0.039,2894,2600,3463,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2237,-0.57,-170.3,223.6,-10.1,137,2244,0.00,2.00,0.00,0.000,4,0.000,0.024,2894,1228,3462,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2262,-0.59,-170.3,226.3,-10.5,138,2268,0.12,2.10,0.00,0.000,6,0.094,0.039,2829,2608,3462,0,0,0,0,0,0,26.47,26.48,28.83
$GC,2468,-0.56,-170.3,257.4,-15.8,148,2470,0.12,0.00,0.00,0.000,6,0.151,0.000,2866,2608,3461,0,0,0,0,0,0,26.42,28.83,28.83
$GC,2767,-0.56,-170.3,293.1,-10.6,163,2773,0.00,1.70,0.00,0.000,4,0.000,0.056,2866,3690,3461,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2804,-0.56,-170.3,295.6,-10.5,164,2811,0.00,1.52,0.00,0.000,6,0.000,0.027,2866,2613,3458,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3111,-0.57,-170.3,316.4,-3.9,180,3116,0.00,2.00,0.00,0.000,4,0.000,0.024,2866,1222,3457,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3164,-0.58,-170.3,318.0,-3.6,182,3169,0.00,2.10,0.00,0.000,6,0.000,0.039,2865,2607,3456,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3478,-0.59,-170.3,333.5,-6.5,198,3483,0.00,1.73,0.00,0.000,4,0.000,0.055,2865,3689,3455,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3516,-0.60,-170.3,335.1,-6.6,199,3523,0.00,1.58,0.00,0.000,6,0.000,0.027,2866,2606,3455,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3821,-0.61,-170.3,360.9,-8.8,215,3826,0.00,2.00,0.00,0.000,4,0.000,0.024,2866,1205,3452,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3859,-0.62,-170.3,363.1,-8.8,216,3866,0.00,2.12,0.00,0.000,6,0.000,0.040,2866,2601,3452,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4165,-0.63,-170.3,390.8,-8.5,232,4171,0.00,1.73,0.00,0.000,4,0.000,0.055,2866,3687,3449,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4209,-0.65,-170.3,394.5,-8.6,234,4216,0.00,1.60,0.00,0.000,6,0.000,0.028,2866,2603,3449,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4533,-0.66,-170.3,424.3,-9.8,250,4539,0.00,2.03,0.00,0.000,4,0.000,0.025,2866,1205,3447,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4611,-0.68,-170.3,430.7,-10.1,253,4618,0.12,2.15,0.00,0.000,6,0.100,0.039,2804,2603,3447,0,0,0,0,0,0,26.47,26.49,28.83
$GC,4916,-0.65,-170.3,478.8,-15.8,269,4922,0.12,2.05,0.00,0.000,4,0.169,0.022,2845,1199,3445,0,0,0,0,0,0,26.38,26.60,28.83
$GC,4941,-0.62,-170.3,482.4,-15.7,270,4946,0.00,2.17,0.00,0.000,6,0.000,0.040,2846,2602,3446,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5264,-0.62,-170.3,520.2,-11.3,286,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2603,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5565,-0.62,-170.3,552.2,-10.4,301,5571,0.00,1.73,0.00,0.000,4,0.000,0.055,2846,3698,3442,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5617,-0.62,-170.3,556.6,-10.1,303,5622,0.00,1.60,0.00,0.000,6,0.000,0.028,2845,2596,3441,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5930,-0.62,-170.3,585.1,-8.4,319,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2596,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6231,-0.62,-170.3,610.1,-8.3,332,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2596,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6531,-0.62,-170.3,635.5,-8.8,342,6536,0.00,2.03,0.00,0.000,4,0.000,0.025,2846,1205,3436,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6552,-0.62,-170.3,635.5,-8.8,342,6557,0.00,2.15,0.00,0.000,6,0.000,0.041,2846,2608,3436,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6865,-0.62,-170.3,667.8,-10.0,353,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2609,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7166,-0.63,-170.3,699.5,-10.8,363,7172,0.00,2.05,0.00,0.000,4,0.000,0.026,2846,1209,3433,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7205,-0.64,-170.3,703.3,-10.9,364,7210,0.00,2.17,0.00,0.000,6,0.000,0.041,2845,2611,3432,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7534,-0.65,-170.3,738.8,-10.6,375,7540,0.00,2.05,0.00,0.000,4,0.000,0.026,2846,1213,3432,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7586,-0.66,-170.3,742.4,-10.6,376,7592,0.00,2.12,0.00,0.000,6,0.000,0.041,2846,2601,3432,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7901,-0.67,-170.3,774.8,-9.3,387,7907,0.00,2.08,0.00,0.000,4,0.000,0.026,2846,1203,3431,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7939,-0.68,-170.3,778.0,-9.2,388,7944,0.00,2.15,0.00,0.000,6,0.000,0.041,2845,2604,3431,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8268,-0.69,-170.3,806.0,-8.2,399,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2604,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8567,-0.70,-170.3,830.1,-7.9,409,8573,0.00,2.05,0.00,0.000,4,0.000,0.025,2846,1202,3428,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8620,-0.72,-170.3,833.0,-8.0,410,8625,0.00,2.15,0.00,0.000,6,0.000,0.041,2846,2603,3429,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8935,-0.73,-170.3,859.4,-8.0,421,8940,0.00,2.05,0.00,0.000,4,0.000,0.026,2846,1204,3428,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8982,-0.74,-170.3,862.5,-8.2,422,8988,0.12,2.17,0.00,0.000,6,0.093,0.042,2786,2604,3427,0,0,0,0,0,0,26.41,26.42,28.83
$GC,9303,-0.71,-170.3,903.9,-13.2,433,9309,0.12,1.73,0.00,0.000,4,0.164,0.054,2825,3694,3426,0,0,0,0,0,0,26.35,26.37,28.83
$GC,9352,-0.69,-170.3,908.1,-12.9,434,9357,0.00,1.60,0.00,0.000,6,0.000,0.031,2825,2608,3426,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9670,-0.69,-170.3,945.0,-11.4,445,9675,0.00,2.08,0.00,0.000,4,0.000,0.027,2825,1197,3425,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9756,-0.69,-170.3,952.6,-11.8,447,9763,0.00,2.20,0.00,0.000,6,0.000,0.042,2825,2610,3425,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,10060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10061,begin apogee
$GC,10067,-0.15,0.0,990.2,-11.0,458,10214,0.50,0.00,140.55,1.487,6,0.119,0.000,2996,2121,2769,0,0,0,0,0,0,26.09,28.83,23.74
$STATE,10216,end apogee,CONTROL_FINISHED_OK
$STATE,10216,begin climb
$GC,10218,0.51,170.3,998.2,0.0,463,10381,0.57,0.00,157.25,1.446,6,0.052,0.000,3222,2121,2074,0,0,0,0,0,0,24.80,28.83,22.82
$GC,10663,0.46,170.3,948.6,14.6,478,10664,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2121,2063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10963,0.41,170.3,903.2,15.0,488,10969,0.12,2.28,0.00,0.000,4,0.166,0.049,3184,3531,2062,0,0,0,0,0,0,25.83,25.91,28.83
$GC,11011,0.37,170.3,898.3,14.9,489,11016,0.00,2.15,0.00,0.000,6,0.000,0.028,3189,2122,2060,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11330,0.34,170.3,856.8,11.8,500,11336,0.00,2.12,0.00,0.000,4,0.000,0.034,3199,729,2060,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11395,0.32,170.3,849.4,11.6,502,11401,0.15,2.17,0.00,0.000,6,0.143,0.036,3156,2128,2059,0,0,0,0,0,0,26.01,26.20,28.83
$GC,11729,0.32,177.5,819.5,8.4,513,11740,0.00,2.22,5.45,1.039,4,0.000,0.050,3156,3529,2044,0,0,0,0,0,0,28.83,26.21,25.12
$GC,11838,0.31,177.5,810.4,9.4,516,11844,0.00,2.15,0.00,0.000,6,0.000,0.028,3158,2101,2044,0,0,0,0,0,0,28.83,26.31,28.83
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$GC,15098,0.56,487.8,450.7,13.2,640,15104,0.00,2.20,0.00,0.000,4,0.000,0.050,3213,3528,772,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,18517,end climb,SURFACE_DEPTH_REACHED
$STATE,18518,begin surface coast
$FINISH,2.1,1.020824
$STATE,18524,end surface coast,CONTROL_FINISHED_OK
$STATE,18524,begin surface
$SM_CCo,18605,0.00,0.000,0,0,458,566.89
$SM_GC,2.53,8.35,2.97,0.00,0.042,0.037,0.000,135,2604,458,-9.06,-1.02,566.89,0,0,0,0,0,0,26.03,26.19,28.83
$IRIDIUM_FIX,1922.94,11942.14,021212,222228
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.81
$INTERNAL_PRESSURE,9.35155
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,3962912
$24V_AH,22.8,32.959
$10V_AH,9.8,14.447
$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,22.975,190.275,635.950,0.000,0.000,0.000,0.000,296.425,0.000,0.000,19.901,2837.991,12616.924,809.638,2508.138,311.728,0.000,2343.703,0.000,2080.629,0.000,0.542,0.000
$DEVICE_MAMPS,235.620,95.625,1487.160,0.000,0.000,0.000,0.000,133.875,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18552.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.300,0.000,0.000,0.000
$MEM,323784
$DATA_FILE_SIZE,29993,848
$CAP_FILE_SIZE,225462,0
$CFSIZE,260034560,236158976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.096, 41.0,1
$GPS,031212,094423,1926.631,12002.210,37,0.9,37,-2.5