version: 66.11
glider: 129
mission: 4
dive: 333
start: 1 23 113 7 32 15
data:
$ID,129
$MISSION,4
$DIVE,333
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$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,350
$T_MISSION,380
$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,-5
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,30
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3136.6404
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,96
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,21.5
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$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,4
$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,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,230113,072329,1940.512,12357.543,41,1.2,41,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-62.8
$GPS2,230113,073149,1940.182,12357.637,14,1.6,14,-2.4
$SPEED_LIMITS,0.163,0.283
$TGT_NAME,HEADING
$TGT_LATLONG,1949.534,12403.377
$TGT_RADIUS,1852.000
$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,32.4,20000,-15.3,-9.429,-18.41
$D_GRID,5352
$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,19,-0.58,-184.9,0.0,0.0,0,88,0.00,0.00,-66.10,0.000,2,0.000,0.000,60,1932,1784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.58,-184.9,3.1,-4.4,12,144,7.95,2.03,-36.30,0.000,4,0.240,0.047,1958,3286,3164,0,0,0,0,0,0,24.91,26.07,26.55
$GC,178,-0.53,-184.9,16.7,-25.5,27,185,0.12,1.95,0.00,0.000,6,0.166,0.021,1989,1904,3164,0,0,0,0,0,0,25.84,26.25,28.83
$GC,504,-0.48,-184.9,95.6,-18.7,52,509,0.00,1.98,0.00,0.000,4,0.000,0.029,1989,549,3162,0,0,0,0,0,0,28.83,26.25,28.83
$GC,618,-0.44,-184.9,116.3,-20.0,57,624,0.12,1.92,0.00,0.000,6,0.157,0.020,2014,1911,3165,0,0,0,0,0,0,25.98,26.36,28.83
$GC,932,-0.43,-184.9,167.3,-13.5,73,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,1912,3165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1234,-0.43,-184.9,208.6,-13.5,88,1239,0.00,2.00,0.00,0.000,4,0.000,0.028,2014,537,3165,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1352,-0.43,-184.9,221.9,-12.4,93,1360,0.00,1.98,0.00,0.000,6,0.000,0.020,2006,1922,3165,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1657,-0.43,-184.9,258.7,-10.7,109,1662,0.00,2.00,0.00,0.000,4,0.000,0.027,2006,535,3165,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1694,-0.43,-184.9,261.4,-11.1,110,1701,0.00,1.98,0.00,0.000,6,0.000,0.020,1997,1928,3165,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2000,-0.43,-184.9,297.9,-11.8,126,2005,0.00,2.00,0.00,0.000,4,0.000,0.032,1987,3306,3164,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2037,-0.43,-184.9,300.5,-11.8,127,2044,0.12,1.95,0.00,0.000,6,0.130,0.020,2024,1898,3164,0,0,0,0,0,0,26.10,26.39,28.83
$GC,2344,-0.44,-184.9,331.2,-9.5,143,2349,0.00,1.92,0.00,0.000,4,0.000,0.029,2024,560,3163,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2463,-0.45,-184.9,341.5,-9.9,148,2470,0.00,1.95,0.00,0.000,6,0.000,0.021,2016,1927,3163,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2767,-0.45,-184.9,371.3,-8.7,164,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,1927,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3069,-0.46,-184.9,394.3,-7.4,179,3075,0.00,1.98,0.00,0.000,4,0.000,0.028,2016,565,3161,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3103,-0.47,-184.9,396.2,-7.4,180,3108,0.00,1.92,0.00,0.000,6,0.000,0.021,2008,1922,3161,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3416,-0.47,-184.9,422.7,-8.9,196,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1922,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3719,-0.47,-184.9,446.6,-7.7,211,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1922,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4018,-0.48,-184.9,469.5,-7.9,226,4024,0.00,2.03,0.00,0.000,4,0.000,0.030,2008,568,3156,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4063,-0.48,-184.9,473.2,-8.2,228,4068,0.00,1.95,0.00,0.000,6,0.000,0.021,2001,1921,3156,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4386,-0.48,-184.9,501.2,-8.6,244,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,1921,3153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4689,-0.48,-184.9,525.0,-7.4,259,4694,0.00,1.98,0.00,0.000,4,0.000,0.030,2002,568,3151,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4721,-0.48,-184.9,527.0,-7.4,260,4726,0.00,1.95,0.00,0.000,6,0.000,0.021,1993,1934,3151,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5034,-0.48,-184.9,552.8,-7.9,276,5040,0.00,2.03,0.00,0.000,4,0.000,0.030,1994,562,3149,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5058,-0.48,-184.9,554.8,-8.2,277,5063,0.00,1.98,0.00,0.000,6,0.000,0.021,1985,1937,3149,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5381,-0.48,-184.9,582.4,-8.7,293,5386,0.00,2.03,0.00,0.000,4,0.000,0.035,1975,3318,3146,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5404,-0.48,-184.9,584.4,-8.8,294,5409,0.00,1.95,0.00,0.000,6,0.000,0.021,1975,1941,3148,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5719,-0.48,-184.9,615.7,-10.3,307,5725,0.00,2.05,0.00,0.000,4,0.000,0.031,1975,537,3144,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5836,-0.48,-184.9,626.4,-11.2,310,5844,0.08,2.03,0.00,0.000,6,0.130,0.023,2005,1927,3144,0,0,0,0,0,0,25.94,26.32,28.83
$GC,6146,-0.50,-184.9,652.8,-7.2,321,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1927,3141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6443,-0.52,-184.9,672.0,-6.1,331,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1926,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6744,-0.53,-184.9,690.4,-6.1,341,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1927,3139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7043,-0.55,-184.9,710.3,-6.7,351,7048,0.00,2.05,0.00,0.000,4,0.000,0.031,2005,548,3137,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7117,-0.57,-184.9,715.2,-7.2,353,7122,0.00,2.00,0.00,0.000,6,0.000,0.022,1999,1924,3136,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7443,-0.58,-184.9,739.0,-7.2,364,7444,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1924,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7741,-0.60,-184.9,760.5,-7.0,374,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,1924,3133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8042,-0.61,-184.9,781.7,-7.0,384,8048,0.12,2.08,0.00,0.000,4,0.102,0.031,1940,536,3131,0,0,0,0,0,0,26.36,26.14,28.83
$GC,8071,-0.63,-184.9,781.7,-7.0,384,8077,0.00,2.00,0.00,0.000,6,0.000,0.023,1930,1924,3131,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8377,-0.61,-184.9,818.8,-10.9,395,8383,0.12,2.05,0.00,0.000,4,0.160,0.030,1970,548,3131,0,0,0,0,0,0,26.11,26.13,28.83
$GC,8480,-0.61,-184.9,828.0,-9.9,398,8485,0.00,1.98,0.00,0.000,6,0.000,0.023,1962,1929,3130,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8805,-0.61,-184.9,857.2,-8.8,409,8807,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1929,3129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9103,-0.61,-184.9,884.5,-9.1,419,9104,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1929,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9404,-0.61,-184.9,912.4,-9.3,429,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,1929,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9703,-0.61,-184.9,941.1,-9.5,439,9708,0.00,2.08,0.00,0.000,4,0.000,0.032,1962,545,3126,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9782,-0.61,-184.9,947.6,-9.9,441,9788,0.00,1.98,0.00,0.000,6,0.000,0.023,1953,1925,3126,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10101,-0.61,-184.9,980.6,-9.7,452,10102,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,1928,3125,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10218,begin apogee
$GC,10224,-0.17,0.0,991.8,-9.3,456,10386,0.45,0.00,154.00,1.418,6,0.124,0.000,2101,1925,2410,0,0,0,0,0,0,25.47,28.83,22.14
$STATE,10388,end apogee,CONTROL_FINISHED_OK
$STATE,10388,begin climb
$GC,10390,0.58,184.9,997.3,0.0,461,10574,0.73,2.42,171.77,1.366,4,0.086,0.034,2348,529,1654,0,0,0,0,0,0,24.16,23.59,21.78
$GC,10591,0.62,266.6,988.9,6.6,468,10676,0.00,2.15,76.35,1.333,6,0.000,0.020,2348,1908,1322,0,0,0,0,0,0,28.83,24.29,21.85
$GC,11005,0.64,266.6,947.9,10.0,482,11011,0.00,2.08,0.00,0.000,4,0.000,0.035,2348,3289,1313,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11083,0.65,266.6,940.9,10.5,484,11088,0.00,2.00,0.00,0.000,6,0.000,0.024,2347,1915,1312,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11404,0.67,266.6,905.8,10.5,495,11405,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1914,1311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11702,0.69,266.6,875.3,9.8,505,11708,0.10,2.08,0.00,0.000,4,0.122,0.033,2387,3288,1310,0,0,0,0,0,0,26.36,26.17,28.83
$GC,11766,0.70,266.6,867.4,11.0,507,11772,0.00,2.00,0.00,0.000,6,0.000,0.024,2388,1900,1309,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12101,0.70,266.6,831.0,10.3,518,12106,0.00,2.08,0.00,0.000,4,0.000,0.034,2388,3291,1309,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12139,0.70,266.6,827.3,10.3,519,12144,0.00,2.03,0.00,0.000,6,0.000,0.024,2388,1896,1309,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12468,0.70,266.6,794.2,9.6,530,12469,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1896,1309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12766,0.70,266.6,765.8,9.5,540,12772,0.00,2.08,0.00,0.000,4,0.000,0.036,2388,503,1311,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12804,0.70,267.8,762.8,9.4,541,12809,0.00,2.03,0.00,0.000,6,0.000,0.021,2388,1913,1308,0,0,0,0,0,0,28.83,26.31,28.83
$GC,13133,0.70,267.8,731.2,9.6,552,13138,0.00,2.05,0.00,0.000,4,0.000,0.035,2388,3278,1308,0,0,0,0,0,0,28.83,26.10,28.83
$GC,13230,0.70,267.8,721.1,10.3,555,13235,0.00,2.00,0.00,0.000,6,0.000,0.024,2389,1889,1308,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13559,0.70,267.8,688.0,9.9,566,13565,0.00,2.08,0.00,0.000,4,0.000,0.035,2395,500,1308,0,0,0,0,0,0,28.83,26.12,28.83
$GC,13593,0.70,267.8,684.5,10.0,567,13598,0.00,2.00,0.00,0.000,6,0.000,0.021,2395,1910,1305,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13927,0.70,267.8,648.7,10.8,578,13933,0.00,2.03,0.00,0.000,4,0.000,0.035,2395,3270,1307,0,0,0,0,0,0,28.83,26.07,28.83
$GC,14075,0.70,267.8,634.4,11.4,582,14081,0.00,1.98,0.00,0.000,6,0.000,0.024,2402,1893,1307,0,0,0,0,0,0,28.83,26.26,28.83
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$GC,16995,0.71,294.3,334.9,9.0,722,17015,0.00,2.08,13.12,0.907,4,0.000,0.032,2415,508,1208,0,0,0,0,0,0,28.83,25.91,23.87
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$STATE,20283,end climb,SURFACE_DEPTH_REACHED
$STATE,20283,begin surface coast
$FINISH,0.9,1.022603
$STATE,20300,end surface coast,CONTROL_FINISHED_OK
$STATE,20300,begin surface
$SM_CCo,20377,0.00,0.000,0,0,210,539.41
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$IRIDIUM_FIX,1932.09,12357.27,230113,020255
$TT8_MAMPS,0.023968,0.023968
$HUMID,51.29
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3892480
$24V_AH,21.8,67.499
$10V_AH,9.7,46.206
$FG_AHR_24Vo,120.571
$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,16.575,149.450,642.950,0.000,0.000,0.000,0.000,299.175,0.000,0.000,14.953,2797.480,14277.081,718.960,2601.431,474.087,0.000,2303.932,0.000,2220.044,0.000,0.539,0.000
$DEVICE_MAMPS,240.210,46.665,1417.545,0.000,0.000,0.000,0.000,134.640,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20327.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.579,0.000,0.000,0.000
$MEM,329084
$DATA_FILE_SIZE,33375,925
$CAP_FILE_SIZE,219252,0
$CFSIZE,260034560,218021888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230113,131306,1940.211,12357.497,34,1.1,34,-2.4