version: 67.00
glider: 180
mission: 2
dive: 441
start: 1 10 120 12 57 56
data:
$ID,180
$MISSION,2
$DIVE,441
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,390
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54047
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019952599
$HD_B,0.0139236
$HD_C,5.7000002e-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,598.53198
$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
$T_GPS,5
$N_GPS,80740
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,185
$PITCH_MAX,3625
$C_PITCH,3336
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,25
$PITCH_TIMEOUT,25
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$ROLL_MIN,360
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3960
$C_VBD,2840
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.4
$FG_AHR_10V,48.976479
$FG_AHR_24V,92.028244
$PHONE_SUPPLY,2
$PRESSURE_YINT,-154.69112
$PRESSURE_SLOPE,0.00010699085
$COMPASS_USE,4
$ALTIM_PING_FIT,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,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,7
$LOGGERDEVICE2,22
$LOGGERDEVICE3,33
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,55
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,0
$SIM_W,0
$SEABIRD_T_G,0.0043955045
$SEABIRD_T_H,0.00063085643
$SEABIRD_T_I,2.5021687e-05
$SEABIRD_T_J,3.0087358e-06
$SEABIRD_C_G,-9.7732916
$SEABIRD_C_H,1.1286387
$SEABIRD_C_I,-0.0014607979
$SEABIRD_C_J,0.00018615076
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_XMITRAW,0.0
$TM_LOGSAMPLE,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,100120,124719,1359.554,14419.579,30,0.8,31,0.4
$_CALLS,1
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-70.0
$GPS2,100120,125739,1359.614,14419.543,2,0.7,5,0.4
$SPEED_LIMITS,0.085,0.155
$TGT_NAME,HOLDN
$TGT_LATLONG,1345.000,14430.000
$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,185.6,32961,-21.9,-8.462,-28.56
$D_GRID,1000
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,10.07,2,-77.86,-0.97,0.00,399.8,425.5,374.1,166.2,2446.9,0.00,0.00,0,123.14,106.58,0.00,0.00,0.005,0.000,0.000,3006.56,3043.12,2970.00,166.12,2446.50,0,0,0,15.15,30.00,30.00
$GC,123.44,519,-77.86,-0.97,-40.00,3005.3,3041.2,2969.4,166.2,2446.9,5.15,-8.40,11,150.67,2.72,14.24,2.15,0.012,0.404,0.032,3157.22,3200.56,3113.88,3023.88,1084.69,0,0,0,15.41,15.26,15.33
$GC,372.97,1028,-77.86,-0.97,0.00,3155.1,3197.5,3112.7,3023.8,1084.6,92.15,-31.21,61,378.94,0.00,0.00,2.45,0.000,0.000,0.045,3155.88,3198.25,3113.50,3023.94,2576.06,0,0,0,30.00,30.00,15.82
$GC,562.87,516,-77.86,-0.97,-40.00,3155.4,3197.6,3113.2,3023.0,2576.4,135.55,-18.37,81,568.94,0.00,0.00,2.38,0.000,0.000,0.030,3155.84,3198.06,3113.62,3023.56,1090.88,0,0,0,30.00,30.00,15.84
$GC,743.05,1028,-77.86,-0.97,0.00,3155.3,3197.4,3113.1,3023.9,1090.4,169.22,-16.02,117,749.02,0.00,0.00,2.41,0.000,0.000,0.039,3156.25,3198.75,3113.75,3024.19,2577.69,0,0,0,30.00,30.00,15.88
$GC,934.51,260,-77.86,-0.97,40.00,3155.5,3197.6,3113.4,3023.6,2578.4,201.11,-17.05,137,938.19,0.00,0.00,1.98,0.000,0.000,0.070,3157.50,3199.44,3115.56,3023.69,3771.12,0,0,0,30.00,30.00,15.82
$GC,1077.86,1028,-77.86,-0.97,0.00,3155.3,3197.4,3113.2,3023.8,3772.6,224.27,-14.75,166,1083.54,0.00,0.00,2.00,0.000,0.000,0.022,3155.91,3197.69,3114.12,3023.75,2469.31,0,0,0,30.00,30.00,15.95
$GC,1283.16,260,-77.86,-0.97,40.00,3155.1,3197.0,3113.2,3023.6,2454.9,254.99,-14.40,185,1288.33,0.00,0.00,2.19,0.000,0.000,0.069,3155.94,3198.50,3113.38,3023.31,3771.56,0,0,0,30.00,30.00,15.93
$GC,1457.97,1028,-77.86,-0.97,0.00,3154.9,3197.0,3112.8,3023.2,3770.9,278.98,-13.81,220,1463.48,0.00,0.00,1.99,0.000,0.000,0.022,3156.06,3197.44,3114.69,3022.81,2476.56,0,0,0,30.00,30.00,15.98
$GC,1763.11,516,-77.86,-0.97,-40.00,3153.7,3195.4,3111.9,3022.5,2463.5,318.12,-12.28,231,1768.42,0.00,0.00,2.16,0.000,0.000,0.034,3155.69,3197.19,3114.19,3022.50,1089.12,0,0,0,30.00,30.00,16.00
$GC,1843.03,1028,-77.86,-0.97,0.00,3152.4,3193.2,3111.7,3023.2,1089.1,327.68,-12.00,247,1848.52,0.00,0.00,2.40,0.000,0.000,0.038,3153.22,3193.00,3113.44,3024.44,2580.50,0,0,0,30.00,30.00,16.01
$GC,2153.33,516,-77.86,-0.97,-40.00,3148.9,3189.6,3108.1,3023.1,2580.9,364.31,-11.78,259,2158.52,0.00,0.00,2.37,0.000,0.000,0.033,3149.56,3189.56,3109.56,3023.50,1092.69,0,0,0,30.00,30.00,16.01
$GC,2268.23,1028,-77.86,-0.97,0.00,3148.6,3188.7,3108.5,3023.3,1092.2,378.29,-12.78,282,2273.74,0.00,0.00,2.41,0.000,0.000,0.039,3148.78,3189.06,3108.50,3023.44,2581.31,0,0,0,30.00,30.00,16.02
$GC,2573.52,260,-77.86,-0.97,40.00,3145.7,3186.4,3104.9,3022.9,2580.6,415.22,-11.71,293,2578.50,0.00,0.00,1.99,0.000,0.000,0.075,3146.72,3188.62,3104.81,3020.62,3774.50,0,0,0,30.00,30.00,15.94
$GC,2803.17,1028,-77.86,-0.97,0.00,3142.9,3184.3,3101.6,3021.9,3774.1,440.17,-10.51,339,2808.58,0.00,0.00,2.01,0.000,0.000,0.025,3142.81,3183.38,3102.25,3023.06,2476.94,0,0,0,30.00,30.00,16.00
$GC,3113.31,516,-77.86,-0.97,-40.00,3140.4,3181.6,3099.2,3021.6,2462.6,470.62,-9.34,351,3118.62,0.00,0.00,2.17,0.000,0.000,0.037,3141.97,3182.62,3101.31,3020.25,1094.81,0,0,0,30.00,30.00,16.01
$GC,3208.21,1028,-77.86,-0.97,0.00,3139.3,3179.4,3099.2,3021.6,1094.8,479.85,-9.28,370,3213.70,0.00,0.00,2.41,0.000,0.000,0.040,3141.44,3181.56,3101.31,3021.75,2577.06,0,0,0,30.00,30.00,16.01
$GC,3533.54,260,-77.86,-0.97,40.00,3136.7,3176.9,3096.6,3021.0,2578.6,509.65,-9.53,385,3538.64,0.00,0.00,2.01,0.000,0.000,0.078,3138.66,3178.62,3098.69,3019.50,3770.75,0,0,0,30.00,30.00,15.91
$GC,3763.28,1028,-77.86,-0.97,0.00,3134.1,3174.8,3093.4,3019.6,3771.1,533.45,-11.06,431,3768.72,0.00,0.00,2.02,0.000,0.000,0.028,3134.72,3174.81,3094.62,3020.06,2480.25,0,0,0,30.00,30.00,15.99
$GC,4073.61,260,-77.86,-0.97,40.00,3131.9,3173.2,3090.5,3019.8,2466.5,568.51,-11.94,443,4078.86,0.00,0.00,2.22,0.000,0.000,0.078,3132.78,3174.31,3091.25,3018.38,3770.44,0,0,0,30.00,30.00,15.88
$GC,4303.37,1028,-77.86,-0.97,0.00,3130.8,3171.4,3090.1,3018.3,3769.3,599.15,-13.03,489,4308.80,0.00,0.00,2.03,0.000,0.000,0.029,3131.47,3172.50,3090.44,3017.31,2477.81,0,0,0,30.00,30.00,15.98
$GC,4613.74,516,-77.86,-0.97,-40.00,3129.2,3169.2,3089.2,3017.6,2466.1,636.02,-11.44,501,4618.85,0.00,0.00,2.21,0.000,0.000,0.042,3131.59,3171.19,3092.00,3017.50,1096.69,0,0,0,30.00,30.00,15.96
$GC,4693.45,1028,-77.86,-0.97,0.00,3128.9,3168.3,3089.4,3017.5,1096.6,645.20,-11.31,517,4698.91,0.00,0.00,2.44,0.000,0.000,0.043,3128.28,3167.25,3089.31,3018.06,2578.31,0,0,0,30.00,30.00,15.96
$GC,5003.69,0,-77.86,-0.97,0.00,3126.3,3165.9,3086.8,3018.0,2579.8,676.79,-9.95,529,5005.02,0.00,0.00,0.00,0.000,0.000,0.000,3127.59,3167.94,3087.25,3017.06,2579.62,0,0,0,30.00,30.00,30.00
$GC,5303.56,0,-77.86,-0.97,0.00,3124.6,3164.1,3085.1,3017.3,2579.6,706.36,-9.75,539,5304.89,0.00,0.00,0.00,0.000,0.000,0.000,3125.47,3165.62,3085.31,3018.00,2579.06,0,0,0,30.00,30.00,30.00
$GC,5603.61,260,-77.86,-0.97,40.00,3123.2,3162.6,3083.8,3017.9,2578.7,737.41,-10.61,549,5608.88,0.00,0.00,2.02,0.000,0.000,0.081,3123.94,3163.62,3084.25,3011.00,3766.69,0,0,0,30.00,30.00,15.84
$GC,5638.46,1028,-77.86,-0.97,0.00,3122.8,3162.1,3083.4,3010.9,3767.2,741.42,-11.42,556,5643.89,0.00,0.00,2.03,0.000,0.000,0.031,3124.09,3163.94,3084.25,3009.88,2487.25,0,0,0,30.00,30.00,15.96
$GC,5963.57,260,-77.86,-0.97,40.00,3121.7,3161.1,3082.4,3010.8,2474.2,778.02,-11.26,571,5968.96,0.00,0.00,2.23,0.000,0.000,0.082,3122.66,3162.62,3082.69,3007.75,3768.88,0,0,0,30.00,30.00,15.81
$GC,6098.54,1028,-77.86,-0.97,0.00,3120.8,3160.3,3081.2,3006.8,3769.9,793.98,-11.67,598,6103.95,0.00,0.00,2.04,0.000,0.000,0.031,3122.19,3162.06,3082.31,3007.06,2482.38,0,0,0,30.00,30.00,15.96
$GC,6413.74,260,-77.86,-0.97,40.00,3119.8,3158.8,3080.8,3007.5,2468.9,828.08,-10.59,611,6419.00,0.00,0.00,2.24,0.000,0.000,0.080,3119.34,3159.19,3079.50,3000.69,3769.50,0,0,0,30.00,30.00,15.79
$GC,6538.59,1028,-77.86,-0.97,0.00,3118.7,3157.6,3079.9,3001.6,3770.0,841.64,-9.36,636,6544.01,0.00,0.00,2.04,0.000,0.000,0.031,3119.03,3158.12,3079.94,3001.62,2480.31,0,0,0,30.00,30.00,15.95
$GC,6863.93,516,-77.86,-0.97,-40.00,3117.8,3156.8,3078.9,3001.7,2467.5,874.36,-9.60,651,6869.07,0.00,0.00,2.22,0.000,0.000,0.044,3119.78,3158.44,3081.12,3000.56,1097.81,0,0,0,30.00,30.00,15.92
$GC,6943.64,1028,-77.86,-0.97,0.00,3117.2,3155.8,3078.7,3001.9,1097.3,882.12,-9.67,667,6949.14,0.00,0.00,2.44,0.000,0.000,0.044,3117.97,3156.50,3079.44,3001.88,2575.44,0,0,0,30.00,30.00,15.88
$GC,7253.81,0,-77.86,-0.97,0.00,3116.2,3155.1,3077.2,3001.2,2576.4,912.21,-9.85,679,7255.14,0.00,0.00,0.00,0.000,0.000,0.000,3117.41,3157.31,3077.50,3001.31,2576.81,0,0,0,30.00,30.00,30.00
$GC,7553.81,260,-77.86,-0.97,40.00,3115.1,3153.9,3076.2,3001.4,2576.4,943.38,-10.48,689,7559.10,0.00,0.00,2.04,0.000,0.000,0.081,3115.09,3154.69,3075.50,2993.00,3765.94,0,0,0,30.00,30.00,15.77
$GC,7603.68,1028,-77.86,-0.97,0.00,3114.8,3154.0,3075.6,2993.8,3766.6,949.28,-11.17,699,7609.11,0.00,0.00,2.04,0.000,0.000,0.033,3115.72,3154.38,3077.06,2993.44,2484.31,0,0,0,30.00,30.00,15.93
$GC,7914.01,1,-77.86,-0.97,0.00,3114.1,3152.1,3076.1,2993.0,2473.2,983.57,-10.81,711,7915.46,0.00,0.12,0.00,0.000,0.266,0.000,3113.88,3151.38,3076.38,3025.62,2471.38,0,0,0,30.00,15.49,30.00
$STATE,8003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8003,begin apogee
$GC,8005.66,3,0.00,-0.20,0.00,3114.2,3152.2,3076.1,3026.6,2028.8,991.97,-9.80,714,8068.50,60.58,0.88,0.18,2.225,0.245,0.121,2837.44,2862.00,2812.88,3271.75,2165.38,0,0,0,10.54,15.33,15.30
$STATE,8070,end apogee,CONTROL_FINISHED_OK
$STATE,8070,begin climb
$GC,8070.72,519,77.86,0.97,-40.00,2837.8,2862.7,2812.8,3271.8,2165.2,993.44,0.00,716,8148.42,72.00,1.12,2.65,2.220,0.137,0.056,2521.66,2531.69,2511.62,3641.56,656.31,0,0,0,11.93,15.39,15.03
$GC,8205.29,1028,77.86,0.97,0.00,2518.4,2529.6,2507.1,3641.7,656.2,984.82,8.80,743,8210.80,0.00,0.00,2.46,0.000,0.000,0.026,2519.50,2531.38,2507.62,3642.69,2145.75,0,0,0,30.00,30.00,15.43
$GC,8515.48,518,77.86,0.97,-40.00,2513.9,2530.9,2497.0,3641.6,2144.9,954.94,9.33,755,8520.92,0.00,0.00,2.52,0.000,0.000,0.051,2515.31,2532.56,2498.06,3649.94,654.50,0,0,0,30.00,30.00,15.74
$GC,8630.36,1030,77.86,0.97,0.00,2513.6,2530.4,2496.8,3651.3,654.5,943.83,10.04,778,8635.97,0.00,0.00,2.47,0.000,0.000,0.051,2513.81,2530.75,2496.88,3651.44,2119.25,0,0,0,30.00,30.00,15.76
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$GC,13716.11,1030,116.14,1.09,0.00,2357.7,2380.2,2335.1,3665.6,3525.1,481.98,9.43,1195,13721.69,0.00,0.00,2.53,0.000,0.000,0.070,2358.12,2380.56,2335.69,3664.75,2073.88,0,0,0,30.00,30.00,15.68
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$GC,18145.40,35,289.69,1.41,0.00,1764.4,1783.5,1745.2,3676.6,2050.0,100.00,6.44,1683,18169.73,22.35,0.00,0.00,0.910,0.000,0.000,1657.66,1677.50,1637.81,3675.56,2049.81,0,0,0,11.63,30.00,30.00
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$STATE,19465,end climb,SURFACE_DEPTH_REACHED
$STATE,19465,begin surface coast
$FINISH,0.2,1.022023
$STATE,19485,end surface coast,CONTROL_FINISHED_OK
$STATE,19485,begin surface
$SM_CCo,19683.71,179.36,0.750,0,399.7,410.9,388.4,598.62
$SM_GC,0.52,179.36,9.71,0.86,0.750,0.061,0.038,399.7,410.9,388.4,170.6,2591.6,0,0,0,11.51,15.65,15.91
$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,1357.55,14420.25,100120,071307
$TCM_TEMP,163.41
$XPDR_PINGS,9
$SC_FREEKB,3697792
$TM_FREEKB,1653472
$HUMID,53.62
$TEMP,22.65
$INTERNAL_PRESSURE,9.42169
$24V_AH,14.35,144.219
$10V_AH,14.91,0.000
$FG_AHR_24Vo,92.214
$FG_AHR_10Vo,49.074
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,631.395,26.070,196.615,357.331,2.250,14.684,4731.135,15518.072,1866.863,0.000,0.000,0.000
$DEVICE_MAMPS,2224.904,403.520,133.904,211.449,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19514.000,3605.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.281,19.938,0.000,0.000
$MEM,1098868,30,80076,64
$DATA_FILE_SIZE,57720,1844
$CAP_FILE_SIZE,373641,0
$SDSIZE,3918848,3762368
$SDFILEDIR,3394,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,102.9,1
$GPS,100120,182647,1357.941,14419.812,22,1.0,30,0.4