version: 66.11
glider: 165
mission: 7
dive: 75
start: 8 24 112 17 4 2
data:
$ID,165
$MISSION,7
$DIVE,75
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,-13
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51833
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-274470.72
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2967
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-55.425434
$PRESSURE_SLOPE,0.000116182
$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,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.85000002
$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,0.0043563917
$SEABIRD_T_H,0.00062612642
$SEABIRD_T_I,2.3748129e-05
$SEABIRD_T_J,2.537425e-06
$SEABIRD_C_G,-9.8483667
$SEABIRD_C_H,1.1161635
$SEABIRD_C_I,-0.0015063961
$SEABIRD_C_J,0.00020304731
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,240812,165506,1855.682,12217.815,26,1.0,26,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-75.6
$GPS2,240812,170333,1855.996,12217.545,13,2.2,32,-2.1
$SPEED_LIMITS,0.150,0.293
$TGT_NAME,M4
$TGT_LATLONG,1845.000,12233.290
$TGT_RADIUS,5000.000
$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,130.7,34310,-13.0,-8.684
$D_GRID,1899
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.64,-214.1,0.0,0.0,0,77,0.00,0.00,-55.95,0.000,2,0.000,0.000,142,2511,2483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.64,-214.1,3.1,-4.3,10,130,9.93,1.90,-32.15,0.000,4,0.239,0.070,2680,3689,3843,0,0,0,0,0,0,25.84,26.12,26.44
$GC,295,-0.54,-214.1,74.8,-36.7,33,301,0.17,1.77,0.00,0.000,6,0.164,0.034,2727,2508,3844,0,0,0,0,0,0,26.10,26.27,28.83
$GC,609,-0.48,-214.1,155.8,-21.5,49,614,0.00,1.83,0.00,0.000,4,0.000,0.053,2723,3686,3846,0,0,0,0,0,0,28.83,26.35,28.83
$GC,681,-0.43,-214.1,169.7,-21.5,52,688,0.12,1.77,0.00,0.000,6,0.152,0.030,2757,2481,3846,0,0,0,0,0,0,26.29,26.42,28.83
$GC,997,-0.42,-214.1,221.1,-13.9,68,1002,0.00,1.88,0.00,0.000,4,0.000,0.054,2753,3683,3847,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1029,-0.40,-214.1,224.4,-13.7,69,1034,0.00,1.75,0.00,0.000,6,0.000,0.031,2753,2485,3845,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1342,-0.39,-214.1,255.0,-9.1,85,1348,0.00,1.88,0.00,0.000,4,0.000,0.055,2753,3683,3847,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1371,-0.39,-214.1,257.3,-9.2,86,1377,0.00,1.73,0.00,0.000,6,0.000,0.031,2753,2506,3847,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1689,-0.39,-214.1,289.8,-10.4,102,1695,0.00,2.12,0.00,0.000,4,0.000,0.041,2753,1096,3847,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1756,-0.39,-214.1,295.7,-9.7,105,1762,0.00,2.17,0.00,0.000,6,0.000,0.047,2752,2496,3847,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2075,-0.39,-214.1,323.5,-7.9,121,2080,0.00,1.85,0.00,0.000,4,0.000,0.057,2753,3689,3845,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2107,-0.39,-214.1,325.4,-7.9,122,2113,0.00,1.75,0.00,0.000,6,0.000,0.031,2753,2505,3843,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2421,-0.39,-214.1,352.3,-8.7,138,2427,0.00,1.85,0.00,0.000,4,0.000,0.057,2753,3692,3842,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2445,-0.39,-214.1,354.3,-8.5,139,2450,0.00,1.77,0.00,0.000,6,0.000,0.031,2753,2495,3842,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2770,-0.40,-214.1,381.2,-8.1,155,2776,0.00,1.88,0.00,0.000,4,0.000,0.057,2752,3694,3839,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2848,-0.41,-214.1,386.3,-7.8,158,2855,0.00,1.77,0.00,0.000,6,0.000,0.031,2753,2492,3839,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3154,-0.42,-214.1,410.6,-7.9,174,3159,0.00,2.10,0.00,0.000,4,0.000,0.041,2753,1103,3837,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3198,-0.43,-214.1,414.4,-8.3,176,3203,0.00,2.17,0.00,0.000,6,0.000,0.047,2753,2500,3836,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3521,-0.43,-214.1,440.9,-7.8,192,3526,0.00,1.85,0.00,0.000,4,0.000,0.059,2753,3689,3833,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3630,-0.45,-214.1,448.3,-7.0,197,3635,0.00,1.75,0.00,0.000,6,0.000,0.032,2753,2504,3832,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3949,-0.46,-214.1,465.6,-4.5,213,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2497,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4251,-0.47,-214.1,479.2,-4.8,228,4257,0.00,1.85,0.00,0.000,4,0.000,0.058,2753,3686,3831,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4290,-0.49,-214.1,480.6,-5.0,229,4296,0.00,1.77,0.00,0.000,6,0.000,0.032,2753,2478,3830,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4597,-0.50,-214.1,496.2,-5.1,245,4602,0.00,1.90,0.00,0.000,4,0.000,0.058,2753,3693,3827,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4634,-0.52,-214.1,497.3,-5.0,246,4641,0.00,1.77,0.00,0.000,6,0.000,0.033,2753,2486,3826,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4941,-0.53,-214.1,515.7,-6.0,262,4947,0.00,1.90,0.00,0.000,4,0.000,0.059,2753,3689,3824,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5020,-0.55,-214.1,519.4,-5.7,265,5026,0.00,1.75,0.00,0.000,6,0.000,0.033,2753,2500,3824,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5326,-0.56,-214.1,541.2,-7.2,281,5331,0.10,1.85,0.00,0.000,4,0.102,0.056,2687,3686,3822,0,0,0,0,0,0,26.65,26.55,28.83
$GC,5378,-0.56,-214.1,545.8,-8.8,283,5384,0.12,1.75,0.00,0.000,6,0.150,0.032,2721,2506,3823,0,0,0,0,0,0,26.47,26.65,28.83
$GC,5692,-0.56,-214.1,577.2,-9.7,299,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2506,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6013,-0.56,-214.1,607.6,-9.8,314,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2506,3817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6313,-0.56,-214.1,636.6,-9.6,324,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2506,3816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6612,-0.56,-214.1,664.3,-9.5,334,6617,0.00,1.88,0.00,0.000,4,0.000,0.059,2716,3686,3815,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6638,-0.56,-214.1,664.3,-9.5,334,6646,0.00,1.77,0.00,0.000,6,0.000,0.033,2716,2487,3814,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6946,-0.56,-214.1,693.1,-8.1,345,6951,0.00,1.92,0.00,0.000,4,0.000,0.060,2713,3692,3813,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6974,-0.56,-214.1,693.1,-8.1,345,6982,0.00,1.77,0.00,0.000,6,0.000,0.033,2713,2503,3815,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7282,-0.56,-214.1,718.6,-7.4,356,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2495,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7581,-0.56,-214.1,741.6,-7.9,366,7586,0.00,1.90,0.00,0.000,4,0.000,0.061,2713,3693,3809,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7647,-0.56,-214.1,746.8,-8.1,368,7653,0.00,1.80,0.00,0.000,6,0.000,0.034,2713,2485,3809,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7980,-0.56,-214.1,774.7,-8.4,379,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2477,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8276,-0.56,-214.1,800.3,-8.4,389,8281,0.00,1.92,0.00,0.000,4,0.000,0.061,2713,3689,3806,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8313,-0.56,-214.1,803.2,-8.5,390,8319,0.00,1.80,0.00,0.000,6,0.000,0.034,2713,2505,3806,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8643,-0.56,-214.1,831.6,-8.9,401,8649,0.00,1.90,0.00,0.000,4,0.000,0.061,2713,3692,3805,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8681,-0.56,-214.1,834.5,-8.8,402,8687,0.00,1.80,0.00,0.000,6,0.000,0.033,2713,2485,3805,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9011,-0.56,-214.1,863.9,-8.9,413,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2481,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9311,-0.56,-214.1,888.9,-8.0,423,9316,0.00,1.90,0.00,0.000,4,0.000,0.061,2713,3684,3802,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9398,-0.56,-214.1,893.6,-7.4,425,9405,0.00,1.77,0.00,0.000,6,0.000,0.034,2713,2501,3802,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9705,-0.56,-214.1,914.4,-6.0,436,9706,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2494,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10006,-0.56,-214.1,932.3,-6.1,446,10011,0.00,1.88,0.00,0.000,4,0.000,0.062,2713,3685,3800,0,0,0,0,0,0,28.83,26.52,28.83
$GC,10042,-0.56,-214.1,934.4,-6.2,447,10047,0.00,1.77,0.00,0.000,6,0.000,0.034,2713,2498,3799,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10375,-0.56,-214.1,957.1,-7.3,458,10380,0.00,1.90,0.00,0.000,4,0.000,0.062,2713,3684,3799,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10408,-0.56,-214.1,959.8,-7.2,459,10413,0.00,1.80,0.00,0.000,6,0.000,0.034,2713,2509,3798,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10744,-0.56,-214.1,985.1,-7.9,470,10749,0.00,1.90,0.00,0.000,4,0.000,0.062,2713,3692,3797,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10796,-0.56,-214.1,987.9,-7.9,471,10802,0.00,1.80,0.00,0.000,6,0.000,0.034,2713,2487,3798,0,0,0,0,0,0,28.83,26.62,28.83
$STATE,10807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10807,begin apogee
$GC,10813,-0.14,0.0,990.5,-8.0,472,10992,0.40,0.00,170.18,1.447,6,0.125,0.000,2847,2661,2966,0,0,0,0,0,0,26.40,28.83,23.67
$STATE,10994,end apogee,CONTROL_FINISHED_OK
$STATE,10994,begin climb
$GC,10996,0.64,214.1,997.3,0.0,478,11189,0.73,1.75,183.95,1.402,4,0.062,0.058,3113,3682,2093,0,0,0,0,0,0,24.79,24.13,23.27
$GC,11273,0.56,214.1,960.6,20.0,487,11279,0.15,1.65,0.00,0.000,6,0.177,0.040,3084,2666,2088,0,0,0,0,0,0,24.90,25.01,28.83
$GC,11599,0.50,214.1,899.6,17.5,498,11605,0.00,2.28,0.00,0.000,4,0.000,0.049,3092,1248,2085,0,0,0,0,0,0,28.83,25.80,28.83
$GC,11657,0.44,214.1,893.7,17.2,499,11664,0.17,2.28,0.00,0.000,6,0.158,0.049,3046,2651,2082,0,0,0,0,0,0,25.75,25.89,28.83
$GC,11966,0.40,214.1,850.3,12.8,510,11971,0.00,1.67,0.00,0.000,4,0.000,0.059,3046,3701,2082,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12008,0.36,214.1,845.2,13.2,511,12014,0.12,1.62,0.00,0.000,6,0.176,0.039,3020,2644,2082,0,0,0,0,0,0,26.01,26.15,28.83
$GC,12335,0.34,214.1,807.0,11.4,522,12340,0.00,2.17,0.00,0.000,4,0.000,0.046,3027,1243,2081,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12392,0.32,214.1,802.9,11.3,523,12399,0.00,2.25,0.00,0.000,6,0.000,0.048,3028,2654,2080,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12701,0.30,214.1,763.1,12.3,534,12703,0.12,0.00,0.00,0.000,6,0.161,0.000,2995,2654,2080,0,0,0,0,0,0,26.23,28.83,28.83
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$GC,14759,0.42,366.5,589.9,5.5,605,14875,0.12,2.40,104.57,1.171,4,0.090,0.047,3075,1256,1472,0,0,0,0,0,0,26.19,24.76,23.94
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$STATE,20503,end climb,SURFACE_DEPTH_REACHED
$STATE,20504,begin surface coast
$FINISH,0.3,1.007142
$STATE,20560,end surface coast,CONTROL_FINISHED_OK
$STATE,20561,begin surface
$SM_CCo,20640,0.00,0.000,0,0,479,610.31
$SM_GC,1.24,7.72,0.25,0.00,0.031,0.050,0.000,166,2480,479,-8.47,1.27,610.31,0,0,0,0,0,0,26.09,26.13,28.83
$IRIDIUM_FIX,1846.42,12219.88,240812,131304
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.29
$INTERNAL_PRESSURE,9.2097
$TCM_TEMP,25.80
$XPDR_PINGS,1
$SC_FREEKB,7741184
$24V_AH,23.3,17.268
$10V_AH,9.9,12.035
$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,21.175,181.725,703.950,0.000,0.000,31.435,21.736,230.605,0.250,0.000,35.615,3063.758,14140.511,812.238,2672.684,457.444,0.000,2153.367,0.000,2294.482,0.000,0.542,0.000
$DEVICE_MAMPS,238.680,69.615,1446.615,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20582.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.528,0.000,0.000,0.000
$MEM,305208
$DATA_FILE_SIZE,33376,929
$CAP_FILE_SIZE,234846,0
$CFSIZE,260165632,192851968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.216,318.9,1
$GPS,240812,224924,1855.442,12217.785,41,1.2,41,-2.1