version: 66.13
glider: 137
mission: 5
dive: 141
start: 3 31 117 20 9 27
data:
$ID,137
$MISSION,5
$DIVE,141
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$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,330
$T_MISSION,450
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54893
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0034
$HD_B,0.0082
$HD_C,4.2000001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7156.2998
$TGT_DEFAULT_LON,2002.3
$TGT_AUTO_DEFAULT,0
$SM_CC,573.99261
$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,8
$CALL_WAIT,120
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,100
$PITCH_MAX,3680
$C_PITCH,3175
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,15
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3920
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,67
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2790
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,1
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-84.34626
$PRESSURE_SLOPE,0.0001160319
$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,1
$ALTIM_PING_DEPTH,200
$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
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$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,0.004399877
$SEABIRD_T_H,0.00063904078
$SEABIRD_T_I,2.611986e-05
$SEABIRD_T_J,3.2216672e-06
$SEABIRD_C_G,-9.9096279
$SEABIRD_C_H,1.1330101
$SEABIRD_C_I,-0.0017902254
$SEABIRD_C_J,0.00021440489
$GPS1,310317,195901,1329.6134,6109.4658,39,0.8,45,-0.7,0.4,195.6,10,9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-67.0
$GPS2,310317,200852,1329.5692,6109.4878,12,0.8,16,-0.7,0.0,0.0,10,9.6
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1329.261,6113.052
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,87.9,6444,-16.6,-10.000,-19.21,2243
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.28,-146.0,91,2027,333,561,0.0,0.0,0,104,0.00,0.00,-94.05,0.000,16386,0.000,0.000,91,2028,2961,2879,3043,0,0,0,0,0,0,14.85,28.83,14.88
$GC,107,-1.28,-146.0,91,2028,2880,3043,4.1,-4.8,16,138,14.18,2.60,-8.07,0.000,18980,0.423,2.085,2894,659,3388,3274,3502,0,0,0,0,0,0,14.35,13.49,14.66
$GC,170,-1.25,-146.0,2893,659,3275,3501,18.6,-15.1,27,176,0.00,2.28,0.00,0.000,1158,0.000,0.042,2885,2031,3388,3275,3501,0,0,0,0,0,0,14.69,14.62,14.70
$GC,483,-1.25,-146.0,2885,2031,3275,3502,62.7,-11.8,79,487,0.00,2.38,0.00,0.000,260,0.000,0.060,2875,3454,3388,3275,3502,0,0,0,0,0,0,14.97,14.71,14.99
$GC,539,-1.25,-146.0,2874,3454,3275,3501,68.6,-9.6,90,546,0.12,2.30,0.00,0.000,3110,0.249,0.038,2901,2051,3388,3275,3502,0,0,0,0,0,0,14.57,14.76,14.77
$GC,845,-1.28,-146.0,2901,2051,3275,3501,95.9,-9.1,121,849,0.00,2.33,0.00,0.000,676,0.000,0.059,2901,647,3388,3275,3501,0,0,0,0,0,0,15.04,14.78,15.06
$GC,907,-1.36,-146.0,2901,646,3275,3502,101.7,-8.9,133,912,0.00,2.30,0.00,0.000,1190,0.000,0.039,2893,2063,3388,3275,3502,0,0,0,0,0,0,14.88,14.81,14.90
$GC,1219,-1.43,-146.0,2893,2063,3275,3502,132.1,-7.5,165,1225,0.12,2.30,0.00,0.000,4516,0.138,0.056,2822,3460,3388,3275,3502,0,0,0,0,0,0,14.83,14.81,14.87
$GC,1302,-1.43,-146.0,2822,3460,3275,3502,139.5,-9.5,181,1307,0.17,2.30,0.00,0.000,3110,0.236,0.036,2863,2039,3388,3275,3502,0,0,0,0,0,0,14.66,14.85,14.85
$GC,1615,-1.47,-146.0,2863,2039,3275,3501,171.5,-10.9,213,1620,0.00,2.28,0.00,0.000,644,0.000,0.057,2863,657,3388,3275,3502,0,0,0,0,0,0,15.09,14.83,15.11
$GC,1660,-1.51,-146.0,2863,656,3275,3501,177.2,-12.2,222,1667,0.00,2.28,0.00,0.000,1158,0.000,0.039,2855,2052,3388,3275,3502,0,0,0,0,0,0,14.92,14.86,14.95
$GC,1970,-1.55,-146.0,2854,2053,3275,3501,208.0,-8.5,253,1977,0.00,0.00,0.00,0.000,166,0.000,0.000,2855,2053,3388,3276,3501,0,0,0,0,0,0,15.09,15.11,15.11
$GC,2279,-1.59,-146.0,2854,2053,3275,3502,232.8,-8.6,284,2287,0.10,0.00,0.00,0.000,4262,0.151,0.000,2816,2053,3388,3276,3501,0,0,0,0,0,0,14.86,14.95,14.92
$GC,2587,-1.59,-146.0,2815,2053,3275,3501,269.5,-12.7,305,2596,0.00,2.35,0.00,0.000,516,0.000,0.063,2816,654,3388,3275,3501,0,0,0,0,0,0,15.09,14.82,15.11
$GC,2627,-1.56,-146.0,2815,654,3275,3501,275.2,-13.7,312,2634,0.15,2.30,0.00,0.000,3206,0.252,0.044,2839,2056,3388,3275,3501,0,0,0,0,0,0,14.69,14.86,14.88
$GC,2957,-1.56,-146.0,2839,2056,3275,3501,316.2,-11.9,327,2962,0.00,2.35,0.00,0.000,260,0.000,0.068,2830,3460,3388,3275,3501,0,0,0,0,0,0,15.09,14.85,15.11
$GC,3006,-1.61,-146.0,2829,3459,3276,3501,321.7,-10.6,336,3012,0.00,2.33,0.00,0.000,1158,0.000,0.043,2829,2050,3388,3275,3501,0,0,0,0,0,0,14.94,14.87,14.95
$GC,3327,-1.61,-146.0,2829,2049,3274,3499,353.3,-9.8,349,3332,0.00,2.35,0.00,0.000,548,0.000,0.066,2830,643,3386,3274,3499,0,0,0,0,0,0,15.11,14.83,15.14
$GC,3374,-1.61,-146.0,2829,643,3273,3499,358.6,-10.7,358,3379,0.00,2.33,0.00,0.000,1030,0.000,0.047,2820,2050,3386,3273,3499,0,0,0,0,0,0,14.94,14.86,14.96
$GC,3692,-1.61,-146.0,2820,2050,3272,3497,394.7,-12.1,371,3699,0.00,2.35,0.00,0.000,260,0.000,0.067,2810,3455,3384,3272,3496,0,0,0,0,0,0,15.10,14.84,15.13
$GC,3766,-1.61,-146.0,2809,3455,3272,3495,403.9,-12.0,385,3771,0.00,2.33,0.00,0.000,1030,0.000,0.044,2810,2049,3383,3272,3495,0,0,0,0,0,0,14.94,14.86,14.95
$GC,4089,-1.61,-146.0,2809,2050,3270,3494,442.9,-12.2,399,4096,0.00,2.40,0.00,0.000,260,0.000,0.068,2799,3453,3381,3270,3493,0,0,0,0,0,0,15.10,14.83,15.12
$GC,4123,-1.61,-146.0,2799,3453,3270,3493,447.1,-12.6,405,4130,0.12,2.33,0.00,0.000,3078,0.253,0.044,2826,2045,3381,3270,3493,0,0,0,0,0,0,14.66,14.87,14.88
$GC,4458,-1.61,-146.0,2826,2045,3267,3491,483.5,-10.4,421,4463,0.00,2.42,0.00,0.000,260,0.000,0.068,2817,3463,3379,3268,3490,0,0,0,0,0,0,15.10,14.83,15.12
$GC,4493,-1.64,-146.0,2817,3463,3267,3489,487.1,-10.6,427,4498,0.00,2.35,0.00,0.000,1158,0.000,0.043,2817,2042,3378,3267,3490,0,0,0,0,0,0,14.93,14.86,14.95
$GC,4827,-1.64,-146.0,2817,2041,3266,3488,520.5,-9.9,443,4828,0.00,0.00,0.00,0.000,38,0.000,0.000,2817,2041,3377,3266,3488,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5126,-1.64,-146.0,2817,2041,3265,3486,550.8,-10.4,453,5132,0.00,2.35,0.00,0.000,516,0.000,0.066,2817,642,3375,3265,3486,0,0,0,0,0,0,15.11,14.83,15.12
$GC,5164,-1.64,-146.0,2817,640,3265,3486,555.4,-10.7,460,5169,0.00,2.33,0.00,0.000,1030,0.000,0.043,2807,2054,3375,3265,3486,0,0,0,0,0,0,14.94,14.86,14.95
$GC,5493,-1.64,-146.0,2807,2055,3263,3485,594.1,-12.0,475,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2055,3374,3263,3485,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5793,-1.64,-146.0,2807,2055,3261,3484,631.0,-12.5,485,5798,0.00,2.38,0.00,0.000,260,0.000,0.070,2797,3458,3372,3262,3483,0,0,0,0,0,0,15.11,14.81,15.13
$GC,5814,-1.64,-146.0,2797,3458,3261,3483,634.2,-13.3,489,5820,0.10,2.38,0.00,0.000,3078,0.262,0.050,2816,2040,3372,3261,3483,0,0,0,0,0,0,14.64,14.85,14.85
$GC,6128,-1.64,-146.0,2816,2040,3260,3482,670.4,-11.5,501,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2040,3371,3260,3482,0,0,0,0,0,0,15.10,15.13,15.12
$GC,6429,-1.64,-146.0,2815,2040,3260,3480,704.9,-11.3,511,6435,0.00,2.45,0.00,0.000,260,0.000,0.073,2807,3458,3370,3260,3480,0,0,0,0,0,0,15.11,14.80,15.12
$GC,6483,-1.67,-146.0,2807,3458,3260,3479,711.2,-12.0,521,6489,0.00,2.35,0.00,0.000,1158,0.000,0.047,2807,2054,3369,3260,3479,0,0,0,0,0,0,14.92,14.84,14.94
$GC,6796,-1.67,-146.0,2807,2053,3258,3479,746.2,-11.2,533,6802,0.00,2.42,0.00,0.000,260,0.000,0.070,2797,3458,3368,3258,3478,0,0,0,0,0,0,15.10,14.80,15.12
$GC,6831,-1.67,-146.0,2797,3458,3258,3478,749.9,-11.5,539,6836,0.00,2.35,0.00,0.000,1030,0.000,0.045,2797,2048,3368,3258,3478,0,0,0,0,0,0,14.91,14.84,14.94
$GC,7166,-1.67,-146.0,2797,2048,3257,3478,788.2,-11.2,555,7170,0.00,2.42,0.00,0.000,260,0.000,0.069,2787,3451,3367,3257,3478,0,0,0,0,0,0,15.10,14.78,15.13
$GC,7203,-1.67,-146.0,2787,3451,3257,3478,792.9,-11.4,562,7208,0.10,2.35,0.00,0.000,3078,0.274,0.047,2805,2046,3367,3257,3478,0,0,0,0,0,0,14.59,14.83,14.83
$GC,7531,-1.67,-146.0,2805,2046,3256,3477,829.9,-11.4,577,7532,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2046,3366,3255,3477,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7833,-1.67,-146.0,2805,2046,3255,3477,864.9,-11.8,587,7838,0.00,2.45,0.00,0.000,260,0.000,0.073,2797,3457,3365,3255,3476,0,0,0,0,0,0,15.10,14.77,15.12
$GC,7874,-1.67,-146.0,2796,3456,3255,3476,870.4,-12.5,595,7879,0.00,2.35,0.00,0.000,1030,0.000,0.047,2797,2054,3365,3255,3476,0,0,0,0,0,0,14.90,14.82,14.93
$GC,8197,-1.67,-146.0,2796,2054,3254,3476,909.4,-12.0,609,8204,0.00,2.42,0.00,0.000,260,0.000,0.072,2787,3449,3364,3253,3475,0,0,0,0,0,0,15.09,14.76,15.11
$GC,8232,-1.67,-146.0,2787,3448,3253,3475,913.6,-11.6,615,8238,0.08,2.35,0.00,0.000,3078,0.243,0.048,2806,2037,3364,3253,3475,0,0,0,0,0,0,14.54,14.78,14.71
$GC,8566,-1.67,-146.0,2806,2036,3252,3475,950.4,-10.7,631,8567,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2036,3363,3252,3475,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8867,-1.67,-146.0,2806,2036,3251,3475,981.4,-10.2,641,8868,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2036,3363,3251,3475,0,0,0,0,0,0,15.09,15.11,15.11
$STATE,8954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8954,begin apogee
$GC,8959,-0.33,0.0,2807,1785,3251,3474,990.5,-10.1,644,9091,1.12,0.00,127.93,2.708,10246,0.270,0.000,3095,1783,2789,2675,2904,0,0,0,0,0,0,14.49,14.04,13.05
$STATE,9092,end apogee,CONTROL_FINISHED_OK
$STATE,9092,begin climb
$GC,9093,1.28,146.0,3095,1783,2670,2901,992.5,0.0,648,9255,1.27,0.00,152.45,2.482,10758,0.181,0.000,3454,1783,2189,2057,2322,0,0,0,0,0,0,14.01,13.91,13.07
$GC,9556,1.09,146.0,3454,1783,2043,2322,941.8,13.4,669,9561,0.17,2.40,0.00,0.000,4740,0.356,0.066,3429,400,2182,2043,2322,0,0,0,0,0,0,14.28,14.53,14.47
$GC,9602,0.93,146.0,3428,398,2041,2322,935.5,13.7,678,9608,0.25,2.38,0.00,0.000,5254,0.344,0.043,3379,1809,2181,2040,2322,0,0,0,0,0,0,14.31,14.59,14.60
$GC,9916,0.86,146.0,3379,1808,2038,2322,901.8,10.7,690,9920,0.00,2.35,0.00,0.000,388,0.000,0.068,3373,3190,2180,2038,2322,0,0,0,0,0,0,14.94,14.66,14.97
$GC,9966,0.80,146.0,3373,3190,2038,2322,896.1,10.5,700,9971,0.17,2.35,0.00,0.000,5254,0.332,0.052,3347,1802,2180,2038,2322,0,0,0,0,0,0,14.46,14.71,14.73
$GC,10273,0.82,165.0,3346,1803,2037,2322,867.5,9.1,711,10291,0.00,0.00,16.62,2.368,8230,0.000,0.000,3347,1803,2116,1974,2259,0,0,0,0,0,0,15.00,14.62,13.68
$GC,10572,0.82,166.1,3346,1802,1962,2255,838.0,10.0,721,10574,0.00,0.00,0.00,0.000,38,0.000,0.000,3346,1802,2108,1962,2255,0,0,0,0,0,0,14.95,14.97,14.97
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$GC,14917,0.95,271.1,3373,3206,1524,1826,385.6,10.7,938,14923,0.00,2.40,0.00,0.000,1030,0.000,0.053,3381,1790,1675,1524,1826,0,0,0,0,0,0,14.81,14.74,14.83
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$STATE,18308,end climb,SURFACE_DEPTH_REACHED
$STATE,18309,begin surface coast
$FINISH,1.5,1.007374
$STATE,18336,end surface coast,CONTROL_FINISHED_OK
$STATE,18336,begin surface
$SM_CCo,18354,86.62,0.082,0,0,449,573.99
$SM_GC,2.38,9.85,0.40,86.62,0.083,0.057,0.082,90,2081,449,-14.13,-0.93,573.99,0,0,0,0,0,0,14.73,14.83,14.71
$IRIDIUM_FIX,1323.10,6109.22,310317,200033
$TT8_MAMPS,0.024717,0.158039
$HUMID,49.44
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,23.80
$XPDR_PINGS,11
$24V_AH,13.05,48.202
$10V_AH,13.64,0.000
$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,28.325,167.475,487.600,86.625,0.000,0.000,0.000,377.450,102.750,0.000,17.426,2899.784,12624.766,781.885,2536.830,193.858,0.000,2253.558,0.000,1853.558,0.000,671.465,0.000
$DEVICE_MAMPS,423.045,2084.625,2708.100,81.855,0.000,0.000,0.000,182.070,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,662.014,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225144
$DATA_FILE_SIZE,56721,1302
$CAP_FILE_SIZE,207117,0
$CFSIZE,260034560,247840768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$INTR,0,4094.10,0x233daa,0,24
$CURRENT,0.095,197.21,1
$GPS,010417,011807,1328.630,6112.103,37,0.8,43,-0.7,0.5,198.7,9,10.0