version: 66.11
glider: 165
mission: 7
dive: 77
start: 8 25 112 4 23 32
data:
$ID,165
$MISSION,7
$DIVE,77
$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,-274473.22
$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,62
$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
$GPS1,250812,041353,1854.970,12218.960,35,1.6,35,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-75.3
$GPS2,250812,042303,1855.260,12218.831,14,99.0,33,-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,147.1,31687,-13.0,-8.684
$D_GRID,1828
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.64,-214.1,0.0,0.0,0,99,0.00,0.00,-77.62,0.000,2,0.000,0.000,161,2515,2829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.64,-214.1,3.3,-5.3,14,139,9.77,1.80,-19.60,0.000,4,0.237,0.065,2679,3688,3841,0,0,0,0,0,0,25.84,26.11,26.42
$GC,312,-0.54,-214.1,79.7,-38.7,35,319,0.15,1.75,0.00,0.000,6,0.173,0.033,2719,2528,3842,0,0,0,0,0,0,26.08,26.26,28.83
$GC,618,-0.48,-214.1,171.3,-21.7,51,623,0.00,2.17,0.00,0.000,4,0.000,0.037,2719,1082,3841,0,0,0,0,0,0,28.83,26.36,28.83
$GC,721,-0.43,-214.1,192.3,-19.3,56,727,0.17,2.20,0.00,0.000,6,0.148,0.046,2762,2495,3844,0,0,0,0,0,0,26.27,26.37,28.83
$GC,1045,-0.43,-214.1,229.8,-10.3,72,1050,0.00,1.83,0.00,0.000,4,0.000,0.056,2759,3690,3844,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1102,-0.43,-214.1,234.4,-10.6,74,1109,0.00,1.80,0.00,0.000,6,0.000,0.030,2759,2480,3844,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1407,-0.43,-214.1,265.9,-10.2,90,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2481,3844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1710,-0.43,-214.1,297.7,-10.9,105,1715,0.00,2.08,0.00,0.000,4,0.000,0.041,2759,1105,3843,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1753,-0.43,-214.1,302.4,-10.7,107,1758,0.00,2.20,0.00,0.000,6,0.000,0.047,2756,2510,3843,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2077,-0.43,-214.1,330.1,-8.2,123,2082,0.00,1.80,0.00,0.000,4,0.000,0.057,2755,3687,3840,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2150,-0.44,-214.1,335.0,-7.7,126,2156,0.00,1.75,0.00,0.000,6,0.000,0.031,2755,2504,3840,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2466,-0.45,-214.1,358.8,-7.6,142,2471,0.00,1.85,0.00,0.000,4,0.000,0.057,2755,3692,3837,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2504,-0.46,-214.1,360.9,-7.7,143,2511,0.00,1.77,0.00,0.000,6,0.000,0.031,2755,2487,3837,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2809,-0.47,-214.1,387.3,-9.0,159,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2482,3834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3111,-0.48,-214.1,415.9,-9.5,174,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2482,3832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3412,-0.49,-214.1,440.8,-7.1,189,3417,0.00,1.88,0.00,0.000,4,0.000,0.059,2755,3686,3830,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3465,-0.50,-214.1,443.7,-6.6,191,3471,0.00,1.77,0.00,0.000,6,0.000,0.031,2755,2505,3830,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3780,-0.51,-214.1,462.1,-5.7,207,3785,0.00,1.85,0.00,0.000,4,0.000,0.059,2755,3691,3828,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3844,-0.53,-214.1,465.9,-5.9,210,3849,0.00,1.80,0.00,0.000,6,0.000,0.031,2755,2481,3827,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4168,-0.55,-214.1,488.9,-7.3,226,4174,0.00,1.90,0.00,0.000,4,0.000,0.058,2755,3693,3824,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4226,-0.56,-214.1,491.9,-7.1,228,4233,0.12,1.77,0.00,0.000,6,0.090,0.033,2678,2485,3824,0,0,0,0,0,0,26.58,26.63,28.83
$GC,4532,-0.53,-214.1,533.4,-14.0,244,4538,0.15,2.08,0.00,0.000,4,0.153,0.039,2726,1114,3822,0,0,0,0,0,0,26.46,26.57,28.83
$GC,4566,-0.51,-214.1,536.3,-13.8,245,4571,0.00,2.17,0.00,0.000,6,0.000,0.049,2726,2500,3822,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4879,-0.51,-214.1,568.1,-9.9,261,4885,0.00,1.85,0.00,0.000,4,0.000,0.060,2726,3696,3819,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4911,-0.51,-214.1,570.4,-9.8,262,4917,0.00,1.77,0.00,0.000,6,0.000,0.033,2726,2504,3819,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5225,-0.51,-214.1,601.4,-9.9,278,5231,0.00,1.85,0.00,0.000,4,0.000,0.059,2726,3686,3816,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5262,-0.51,-214.1,604.9,-10.1,279,5268,0.00,1.77,0.00,0.000,6,0.000,0.032,2726,2485,3816,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5593,-0.51,-214.1,636.8,-9.4,290,5598,0.00,1.90,0.00,0.000,4,0.000,0.059,2726,3692,3814,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5634,-0.51,-214.1,639.9,-9.3,291,5640,0.00,1.77,0.00,0.000,6,0.000,0.032,2726,2490,3813,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5961,-0.51,-214.1,668.8,-8.4,302,5966,0.00,1.90,0.00,0.000,4,0.000,0.060,2726,3684,3811,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6024,-0.51,-214.1,674.1,-8.2,304,6030,0.00,1.77,0.00,0.000,6,0.000,0.033,2725,2494,3810,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6361,-0.51,-214.1,697.9,-6.5,315,6366,0.00,1.88,0.00,0.000,4,0.000,0.059,2726,3684,3809,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6399,-0.51,-214.1,700.4,-6.4,316,6405,0.00,1.77,0.00,0.000,6,0.000,0.034,2726,2486,3809,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6730,-0.51,-214.1,721.7,-6.2,327,6735,0.00,1.90,0.00,0.000,4,0.000,0.060,2726,3690,3807,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6767,-0.51,-214.1,724.0,-6.3,328,6773,0.00,1.77,0.00,0.000,6,0.000,0.034,2726,2495,3805,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7099,-0.51,-214.1,747.8,-7.1,339,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2488,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7398,-0.51,-214.1,770.1,-7.6,349,7403,0.00,1.90,0.00,0.000,4,0.000,0.060,2726,3689,3803,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7443,-0.51,-214.1,772.8,-7.6,350,7448,0.00,1.77,0.00,0.000,6,0.000,0.033,2726,2501,3803,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7769,-0.51,-214.1,799.1,-7.6,361,7774,0.00,1.88,0.00,0.000,4,0.000,0.059,2726,3692,3801,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7812,-0.52,-214.1,802.1,-7.7,362,7818,0.00,1.77,0.00,0.000,6,0.000,0.034,2726,2504,3801,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8137,-0.53,-214.1,826.2,-7.1,373,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2497,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8438,-0.53,-214.1,848.2,-7.7,383,8443,0.00,1.88,0.00,0.000,4,0.000,0.061,2726,3690,3799,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8490,-0.54,-214.1,850.8,-7.7,384,8496,0.00,1.80,0.00,0.000,6,0.000,0.034,2725,2504,3798,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8806,-0.55,-214.1,875.3,-7.2,395,8812,0.00,1.88,0.00,0.000,4,0.000,0.060,2726,3685,3797,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8874,-0.56,-214.1,879.7,-6.9,397,8880,0.00,1.77,0.00,0.000,6,0.000,0.034,2726,2488,3797,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9208,-0.56,-214.1,905.2,-8.2,408,9213,0.00,1.90,0.00,0.000,4,0.000,0.060,2726,3689,3796,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9242,-0.57,-214.1,908.3,-8.1,409,9247,0.00,1.80,0.00,0.000,6,0.000,0.034,2726,2509,3796,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9579,-0.58,-214.1,934.4,-7.6,420,9584,0.00,1.88,0.00,0.000,4,0.000,0.060,2726,3685,3795,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9651,-0.59,-214.1,939.4,-7.6,422,9656,0.00,1.77,0.00,0.000,6,0.000,0.034,2726,2496,3794,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9978,-0.60,-214.1,962.3,-6.2,433,9983,0.00,1.88,0.00,0.000,4,0.000,0.060,2726,3685,3793,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10045,-0.61,-214.1,965.9,-5.7,435,10050,0.00,1.77,0.00,0.000,6,0.000,0.034,2726,2503,3792,0,0,0,0,0,0,28.83,26.62,28.83
$GC,10377,-0.62,-214.1,981.1,-4.2,446,10382,0.00,1.88,0.00,0.000,4,0.000,0.060,2726,3689,3792,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10460,-0.64,-214.1,984.0,-4.1,448,10465,0.00,1.80,0.00,0.000,6,0.000,0.035,2726,2488,3791,0,0,0,0,0,0,28.83,26.62,28.83
$STATE,10590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10590,begin apogee
$GC,10598,-0.14,0.0,991.2,-4.7,453,10774,0.38,0.00,168.95,1.440,6,0.120,0.000,2853,2660,2966,0,0,0,0,0,0,26.41,28.83,23.65
$STATE,10775,end apogee,CONTROL_FINISHED_OK
$STATE,10775,begin climb
$GC,10779,0.64,214.1,995.6,0.0,459,10973,0.70,2.45,183.98,1.399,4,0.060,0.050,3127,1257,2094,0,0,0,0,0,0,24.76,24.08,23.21
$GC,10987,0.55,214.1,972.0,16.3,466,10993,0.17,2.40,0.00,0.000,6,0.161,0.050,3084,2639,2091,0,0,0,0,0,0,24.33,24.44,28.83
$GC,11321,0.50,214.1,920.1,14.7,477,11326,0.00,1.73,0.00,0.000,4,0.000,0.058,3083,3693,2086,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11389,0.44,214.1,909.9,15.4,479,11396,0.17,1.62,0.00,0.000,6,0.168,0.039,3043,2655,2085,0,0,0,0,0,0,25.67,25.82,28.83
$GC,11719,0.40,214.1,868.3,11.9,490,11725,0.00,2.22,0.00,0.000,4,0.000,0.047,3051,1246,2084,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11778,0.37,214.1,864.3,11.7,491,11785,0.12,2.28,0.00,0.000,6,0.160,0.048,3019,2664,2083,0,0,0,0,0,0,25.99,26.10,28.83
$GC,12085,0.35,214.1,831.6,9.7,502,12090,0.00,1.62,0.00,0.000,4,0.000,0.057,3018,3690,2082,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12118,0.33,214.1,828.0,9.7,503,12123,0.00,1.62,0.00,0.000,6,0.000,0.037,3024,2636,2081,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12455,0.31,214.1,797.8,8.7,514,12460,0.00,2.17,0.00,0.000,4,0.000,0.045,3033,1243,2082,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12560,0.30,227.6,789.9,8.3,517,12580,0.12,2.22,11.07,1.186,6,0.149,0.048,3001,2658,2037,0,0,0,0,0,0,26.21,26.32,25.05
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$GC,14438,0.32,291.5,605.3,12.4,579,14443,0.00,2.20,0.00,0.000,4,0.000,0.044,3043,1246,1775,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,20082,end climb,SURFACE_DEPTH_REACHED
$STATE,20082,begin surface coast
$FINISH,1.0,1.021280
$STATE,20099,end surface coast,CONTROL_FINISHED_OK
$STATE,20099,begin surface
$SM_CCo,20177,0.00,0.000,0,0,893,508.75
$SM_GC,1.34,7.82,0.17,0.00,0.032,0.061,0.000,167,2495,893,-8.48,1.67,508.75,0,0,0,0,0,0,26.34,26.41,28.83
$IRIDIUM_FIX,1850.98,12217.96,240812,222253
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.74
$INTERNAL_PRESSURE,9.25853
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,7740416
$24V_AH,23.2,17.733
$10V_AH,10.0,12.391
$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,20.925,183.875,613.225,0.000,0.000,28.708,43.355,241.653,0.000,0.000,37.332,3055.460,13770.736,756.568,2683.842,453.181,0.000,2065.792,0.000,2259.240,0.000,0.541,0.000
$DEVICE_MAMPS,237.150,68.850,1440.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20121.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.153,0.000,0.000,0.000
$MEM,305208
$DATA_FILE_SIZE,33361,891
$CAP_FILE_SIZE,232754,0
$CFSIZE,260165632,192638976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.283,312.4,1
$GPS,250812,100106,1854.828,12218.594,35,1.1,35,-2.1