version: 66.13
glider: 144
mission: 6
dive: 283
start: 10 19 117 8 17 7
data:
$ID,144
$MISSION,6
$DIVE,283
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,840
$D_ABORT,900
$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,280
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$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,54057
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,11
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,90
$PITCH_MAX,3390
$C_PITCH,2790
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.025
$PITCH_ADJ_DBAND,1
$ROLL_MIN,270
$ROLL_MAX,3990
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2840
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,403
$VBD_MAX,3787
$C_VBD,2900
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.89999998
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.70467
$PRESSURE_SLOPE,0.00010862818
$AD7714Ch0Gain,1
$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,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,-1.8522969
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,54
$LOGGERDEVICE2,67
$LOGGERDEVICE3,85
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043846737
$SEABIRD_T_H,0.00063297339
$SEABIRD_T_I,2.9422619e-05
$SEABIRD_T_J,2.7498099e-06
$SEABIRD_C_G,-9.6551037
$SEABIRD_C_H,1.1199346
$SEABIRD_C_I,-0.0013566012
$SEABIRD_C_J,0.00017920439
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,300.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,191017,080726,956.7906,-12513.0566,36,0.7,36,9.1,0.0,0.0,11,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-74.2
$GPS2,191017,081647,956.9010,-12512.9189,6,0.8,9,9.1,0.7,27.0,11,8.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,SW
$TGT_LATLONG,946.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,186.2,19317,-17.6,-10.000,-21.24,2209
$D_GRID,840
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.70,-146.0,60,2580,588,583,0.0,0.0,0,106,0.00,0.00,-84.85,0.000,16386,0.000,0.000,58,2579,3187,3199,3175,0,0,0,0,0,0,14.71,28.83,14.74
$GC,109,-0.70,-146.0,58,2580,3200,3176,6.9,-10.1,3,135,13.52,2.53,-3.90,0.000,18948,0.428,1.982,2634,1182,3501,3526,3476,0,0,0,0,0,0,14.07,13.32,14.50
$GC,175,-0.93,-146.0,2635,1183,3530,3476,32.2,-9.9,13,182,0.10,2.53,0.00,0.000,5286,0.079,0.051,2563,2604,3503,3530,3476,0,0,0,0,0,0,14.50,14.45,14.57
$GC,497,-0.96,-146.0,2563,2604,3530,3476,82.3,-11.0,26,505,0.00,2.38,0.00,0.000,388,0.000,0.072,2560,3985,3502,3529,3476,0,0,0,0,0,0,14.83,14.49,14.85
$GC,588,-1.21,-146.0,2561,3986,3530,3476,88.3,-5.9,39,595,0.08,2.22,0.00,0.000,5286,0.096,0.024,2512,2588,3503,3530,3476,0,0,0,0,0,0,14.50,14.63,14.57
$GC,918,-1.25,-146.0,2512,2589,3532,3477,118.0,-9.3,50,926,0.00,2.42,0.00,0.000,420,0.000,0.069,2505,3993,3503,3531,3476,0,0,0,0,0,0,14.88,14.57,14.92
$GC,959,-1.33,-146.0,2505,3993,3532,3477,121.8,-9.1,56,967,0.00,2.22,0.00,0.000,1190,0.000,0.024,2505,2601,3503,3531,3476,0,0,0,0,0,0,14.69,14.66,14.70
$GC,1309,-1.41,-146.0,2505,2603,3532,3476,155.1,-10.0,64,1316,0.00,2.30,0.00,0.000,676,0.000,0.034,2505,1223,3503,3531,3476,0,0,0,0,0,0,14.91,14.61,14.94
$GC,1387,-1.59,-146.0,2505,1224,3532,3476,161.6,-7.9,75,1394,0.20,2.38,0.00,0.000,5286,0.110,0.051,2428,2607,3503,3531,3476,0,0,0,0,0,0,14.59,14.61,14.66
$GC,1701,-1.47,-146.0,2428,2606,3531,3476,205.7,-14.5,85,1708,0.17,2.30,0.00,0.000,2692,0.268,0.032,2466,1211,3503,3530,3476,0,0,0,0,0,0,14.29,14.62,14.57
$GC,1751,-1.56,-146.0,2466,1211,3531,3476,211.3,-10.0,92,1759,0.00,2.40,0.00,0.000,1190,0.000,0.053,2465,2598,3503,3530,3476,0,0,0,0,0,0,14.69,14.59,14.72
$GC,2093,-1.56,-146.0,2466,2598,3525,3476,250.3,-11.6,99,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2598,3500,3524,3476,0,0,0,0,0,0,14.92,14.95,14.95
$GC,2429,-1.56,-146.0,2466,2598,3519,3476,289.7,-11.7,105,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2598,3499,3518,3480,0,0,0,0,0,0,14.93,14.96,14.95
$GC,2765,-1.56,-146.0,2466,2598,3514,3476,328.0,-11.4,111,2778,0.00,2.30,0.00,0.000,516,0.000,0.034,2466,1213,3494,3512,3476,0,0,0,0,0,0,14.99,14.69,15.02
$GC,2798,-1.61,-146.0,2466,1213,3513,3476,331.6,-11.2,115,2812,0.10,2.40,0.00,0.000,5254,0.166,0.055,2426,2602,3494,3512,3476,0,0,0,0,0,0,14.60,14.64,14.73
$GC,3167,-1.53,-146.0,2427,2602,3509,3473,383.4,-14.5,125,3181,0.12,2.30,0.00,0.000,2692,0.285,0.031,2456,1212,3490,3508,3473,0,0,0,0,0,0,14.32,14.58,14.46
$GC,3194,-1.50,-146.0,2456,1212,3508,3473,386.9,-14.3,128,3207,0.00,2.42,0.00,0.000,1158,0.000,0.057,2455,2602,3490,3507,3473,0,0,0,0,0,0,14.75,14.64,14.78
$GC,3514,-1.50,-146.0,2456,2603,3506,3470,425.3,-12.1,138,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2602,3487,3505,3469,0,0,0,0,0,0,15.02,15.04,15.04
$GC,3850,-1.50,-146.0,2456,2603,3503,3467,465.5,-11.9,144,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2602,3484,3502,3467,0,0,0,0,0,0,15.02,15.05,15.04
$GC,4186,-1.50,-146.0,2456,2602,3501,3464,503.1,-11.2,150,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2602,3481,3499,3464,0,0,0,0,0,0,15.02,15.05,15.04
$GC,4522,-1.50,-146.0,2456,2602,3499,3462,540.3,-11.1,156,4535,0.00,2.30,0.00,0.000,516,0.000,0.036,2456,1221,3480,3499,3461,0,0,0,0,0,0,15.03,14.69,15.05
$GC,4568,-1.59,-146.0,2457,1222,3499,3461,545.3,-10.3,162,4582,0.00,2.40,0.00,0.000,1158,0.000,0.057,2456,2602,3479,3498,3460,0,0,0,0,0,0,14.74,14.62,14.78
$GC,4924,-1.63,-146.0,2456,2601,3497,3459,582.4,-10.4,170,4938,0.00,2.30,0.00,0.000,644,0.000,0.034,2456,1220,3477,3496,3458,0,0,0,0,0,0,15.01,14.67,15.04
$GC,4951,-1.69,-146.0,2456,1218,3496,3459,585.1,-10.1,173,4964,0.12,2.42,0.00,0.000,5254,0.135,0.057,2407,2605,3476,3495,3458,0,0,0,0,0,0,14.61,14.61,14.72
$GC,5271,-1.60,-146.0,2408,2605,3494,3457,629.6,-14.3,183,5284,0.12,2.42,0.00,0.000,2436,0.280,0.073,2430,3988,3474,3492,3457,0,0,0,0,0,0,14.29,14.54,14.43
$GC,5297,-1.53,-146.0,2431,3989,3493,3457,633.1,-14.1,186,5311,0.12,2.20,0.00,0.000,3206,0.277,0.028,2456,2599,3474,3492,3456,0,0,0,0,0,0,14.28,14.74,14.55
$GC,5618,-1.57,-146.0,2457,2598,3493,3454,666.3,-10.2,196,5632,0.00,2.30,0.00,0.000,644,0.000,0.038,2456,1213,3473,3492,3454,0,0,0,0,0,0,15.01,14.64,15.04
$GC,5687,-1.70,-146.0,2456,1216,3492,3455,672.7,-8.8,205,5700,0.15,2.42,0.00,0.000,5286,0.124,0.057,2400,2603,3472,3491,3454,0,0,0,0,0,0,14.59,14.59,14.71
$GC,6021,-1.60,-146.0,2400,2603,3489,3452,720.7,-15.0,217,6034,0.15,2.42,0.00,0.000,2436,0.286,0.075,2430,3982,3470,3488,3452,0,0,0,0,0,0,14.15,14.46,14.32
$GC,6047,-1.53,-146.0,2431,3983,3488,3452,724.5,-14.7,220,6061,0.12,2.20,0.00,0.000,3206,0.275,0.028,2456,2599,3469,3487,3451,0,0,0,0,0,0,14.23,14.70,14.51
$GC,6367,-1.58,-146.0,2456,2597,3488,3449,758.3,-10.4,230,6381,0.00,2.30,0.00,0.000,644,0.000,0.039,2456,1214,3468,3487,3449,0,0,0,0,0,0,15.00,14.62,15.02
$GC,6435,-1.72,-146.0,2456,1214,3487,3449,764.7,-8.9,239,6449,0.15,2.42,0.00,0.000,5286,0.123,0.057,2400,2599,3467,3486,3448,0,0,0,0,0,0,14.58,14.56,14.68
$GC,6770,-1.63,-146.0,2401,2599,3485,3447,810.6,-14.1,251,6783,0.15,0.00,0.00,0.000,2182,0.290,0.000,2430,2599,3465,3484,3447,0,0,0,0,0,0,14.19,14.59,14.48
$STATE,7047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7047,begin apogee
$GC,7053,-0.15,0.0,2431,2854,3484,3446,840.8,-10.5,256,7215,1.20,0.00,151.40,1.808,10246,0.232,0.000,2752,2854,2899,2968,2830,0,0,0,0,0,0,14.14,14.05,13.14
$STATE,7216,end apogee,CONTROL_FINISHED_OK
$STATE,7216,begin climb
$GC,7219,0.70,146.0,2753,2854,2962,2820,844.3,0.0,258,7392,0.60,2.50,153.77,1.769,11012,0.076,0.040,2968,1454,2289,2360,2219,0,0,0,0,0,0,14.14,13.92,13.03
$GC,7426,0.30,146.0,2968,1455,2356,2207,837.3,17.0,295,7440,0.50,2.50,0.00,0.000,5254,0.322,0.053,2860,2834,2280,2355,2205,0,0,0,0,0,0,13.84,14.14,14.16
$GC,7789,0.07,146.0,2860,2834,2353,2196,788.0,13.2,304,7803,0.22,0.00,0.00,0.000,4230,0.317,0.000,2811,2834,2274,2352,2196,0,0,0,0,0,0,14.17,14.58,14.52
$GC,8126,-0.01,154.9,2811,2835,2353,2191,755.2,9.6,310,8139,0.12,2.35,0.00,0.000,4772,0.324,0.036,2790,1451,2272,2352,2192,0,0,0,0,0,0,14.21,14.52,14.40
$GC,8194,0.08,211.7,2790,1452,2349,2191,749.8,7.4,319,8281,0.00,2.45,71.97,1.593,9382,0.000,0.056,2790,2842,2029,2099,1959,0,0,0,0,0,0,14.67,14.59,13.42
$GC,8639,0.10,222.5,2790,2842,2084,1941,708.9,9.5,340,8661,0.00,2.40,7.78,1.599,8740,0.000,0.041,2798,1462,1988,2059,1917,0,0,0,0,0,0,14.79,14.57,13.63
$GC,8745,0.20,250.3,2798,1462,2056,1913,699.5,8.7,355,8796,0.12,2.45,36.08,1.525,11430,0.136,0.055,2849,2843,1874,1938,1811,0,0,0,0,0,0,14.53,14.53,13.54
$GC,9147,0.08,250.3,2849,2843,1929,1803,644.5,14.0,370,9161,0.15,2.35,0.00,0.000,4740,0.285,0.037,2822,1458,1865,1927,1803,0,0,0,0,0,0,14.21,14.50,14.40
$GC,9187,0.08,250.3,2822,1459,1927,1801,639.3,11.0,375,9201,0.00,2.45,0.00,0.000,1030,0.000,0.056,2823,2846,1862,1926,1799,0,0,0,0,0,0,14.64,14.54,14.68
$GC,9550,0.04,250.3,2822,2845,1925,1800,598.0,11.4,384,9563,0.10,2.38,0.00,0.000,4740,0.253,0.038,2810,1458,1862,1924,1800,0,0,0,0,0,0,14.42,14.62,14.58
$GC,9612,0.13,268.2,2810,1459,1925,1797,592.1,9.2,392,9648,0.00,2.45,21.50,1.396,9382,0.000,0.056,2811,2842,1801,1864,1739,0,0,0,0,0,0,14.69,14.59,13.74
$GC,10004,0.13,268.2,2811,2842,1858,1734,550.6,10.7,406,10017,0.00,2.35,0.00,0.000,516,0.000,0.040,2818,1462,1795,1857,1733,0,0,0,0,0,0,14.88,14.61,14.90
$GC,10086,0.20,275.7,2818,1463,1857,1732,542.4,9.6,417,10112,0.00,2.42,8.93,1.252,9382,0.000,0.055,2818,2840,1770,1834,1707,0,0,0,0,0,0,14.67,14.57,13.75
$GC,10460,0.20,275.7,2818,2840,1832,1706,500.0,11.5,428,10474,0.00,2.33,0.00,0.000,516,0.000,0.040,2826,1462,1768,1831,1706,0,0,0,0,0,0,14.90,14.57,14.92
$GC,10543,0.26,275.7,2826,1463,1831,1704,491.0,10.6,439,10556,0.00,2.42,0.00,0.000,1158,0.000,0.057,2826,2839,1766,1830,1703,0,0,0,0,0,0,14.64,14.53,14.67
$GC,10863,0.26,275.7,2827,2839,1830,1703,452.3,12.3,449,10876,0.00,2.35,0.00,0.000,516,0.000,0.039,2836,1459,1765,1829,1702,0,0,0,0,0,0,14.93,14.57,14.95
$GC,10930,0.30,275.7,2836,1460,1829,1703,444.6,11.0,458,10944,0.00,2.45,0.00,0.000,1158,0.000,0.057,2836,2848,1764,1828,1701,0,0,0,0,0,0,14.68,14.57,14.72
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$GC,12105,0.16,275.7,2830,1462,1828,1700,300.1,10.3,510,12125,0.00,2.42,0.00,0.000,1158,0.000,0.056,2829,2842,1764,1827,1701,0,0,0,0,0,0,14.59,14.54,14.64
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$STATE,15019,end climb,SURFACE_DEPTH_REACHED
$STATE,15019,begin surface coast
$FINISH,-0.0,1.010347
$STATE,15047,end surface coast,CONTROL_FINISHED_OK
$STATE,15047,begin surface
$SM_CCo,15134,0.00,0.000,0,0,788,518.07
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$IRIDIUM_FIX,957.97,-12514.95,191017,034822
$TT8_MAMPS,0.035952,0.311584
$HUMID,47.12
$INTERNAL_PRESSURE,8.64615
$TCM_TEMP,23.20
$XPDR_PINGS,14
$SC_FREEKB,3801824
$TM_FREEKB,563488
$24V_AH,13.03,131.694
$10V_AH,12.88,0.000
$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,27.450,142.250,701.200,0.000,0.000,0.000,0.000,321.350,3.500,0.000,10.995,0.000,12292.478,860.768,2165.511,368.057,0.000,2275.073,0.000,996.844,0.000,0.538,0.000
$DEVICE_MAMPS,427.635,1982.115,1808.460,0.000,0.000,0.000,0.000,162.945,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15065.000,5817.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.951,18.641,0.000,0.000
$MEM,303564
$DATA_FILE_SIZE,26703,695
$CAP_FILE_SIZE,130293,0
$CFSIZE,260165632,220942336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.079,117.19,1
$GPS,191017,123031,954.948,-12513.074,13,0.7,34,9.1,0.8,73.6,12,9.8