version: 66.11
glider: 167
mission: 16
dive: 425
start: 9 6 113 8 16 38
data:
$ID,167
$MISSION,16
$DIVE,425
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,4
$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,390
$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,52152
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00299008
$HD_B,0.016695701
$HD_C,1.27466e-05
$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,564.9259
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-975748.94
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3944
$C_PITCH,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2970
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-15.330984
$PRESSURE_SLOPE,0.0001158971
$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,0
$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,0.0043557216
$SEABIRD_T_H,0.00062581268
$SEABIRD_T_I,2.3904395e-05
$SEABIRD_T_J,2.614597e-06
$SEABIRD_C_G,-10.14994
$SEABIRD_C_H,1.1477706
$SEABIRD_C_I,-0.0022030354
$SEABIRD_C_J,0.00024289287
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,060913,080629,1942.991,12343.869,41,1.1,41,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-71.1
$GPS2,060913,081605,1943.039,12343.771,39,0.9,39,-2.8
$SPEED_LIMITS,0.163,0.221
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$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,156.7,227999,-17.1,-9.429,-23.09,2955
$D_GRID,5024
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.99,-184.9,133,2192,696,647,0.0,0.0,0,114,0.00,0.00,-85.38,0.000,16386,0.000,0.000,134,2192,2821,2797,2845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.99,-184.9,133,2192,2797,2846,3.3,-3.1,15,160,10.93,2.12,-17.88,0.000,18948,0.238,0.044,2693,798,3726,3723,3730,0,0,0,0,0,0,25.05,26.04,26.48
$GC,233,-0.99,-184.9,2693,797,3723,3731,30.2,-21.8,32,239,0.00,2.10,0.00,0.000,1030,0.000,0.030,2685,2214,3727,3723,3731,0,0,0,0,0,0,28.83,26.07,28.83
$GC,548,-0.99,-184.9,2685,2214,3723,3731,99.1,-21.0,52,553,0.00,2.10,0.00,0.000,260,0.000,0.037,2674,3619,3727,3723,3731,0,0,0,0,0,0,28.83,26.16,28.83
$GC,582,-0.99,-184.9,2674,3619,3723,3731,103.8,-19.7,53,588,0.00,2.08,0.00,0.000,1030,0.000,0.020,2675,2182,3727,3723,3731,0,0,0,0,0,0,28.83,26.29,28.83
$GC,898,-0.99,-184.9,2674,2182,3723,3731,159.7,-15.9,69,903,0.00,2.00,0.00,0.000,516,0.000,0.031,2674,789,3727,3723,3731,0,0,0,0,0,0,28.83,26.28,28.83
$GC,957,-0.99,-184.9,2674,789,3723,3731,166.8,-15.7,71,965,0.12,2.08,0.00,0.000,3078,0.173,0.028,2699,2206,3727,3723,3731,0,0,0,0,0,0,25.94,26.26,28.83
$GC,1263,-0.99,-184.9,2699,2207,3723,3731,215.9,-15.5,87,1269,0.00,2.10,0.00,0.000,260,0.000,0.039,2692,3608,3727,3722,3732,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1357,-0.99,-184.9,2692,3608,3723,3732,229.7,-16.2,91,1363,0.00,2.03,0.00,0.000,1030,0.000,0.019,2692,2193,3727,3723,3732,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1673,-0.99,-184.9,2692,2193,3723,3732,272.5,-12.7,107,1678,0.00,2.00,0.00,0.000,516,0.000,0.031,2692,800,3727,3723,3732,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1727,-0.99,-184.9,2691,800,3723,3732,278.4,-12.9,109,1732,0.00,2.05,0.00,0.000,1030,0.000,0.028,2684,2203,3727,3723,3732,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2041,-0.99,-184.9,2683,2204,3723,3732,322.5,-13.9,125,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2204,3727,3723,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2345,-0.99,-184.9,2683,2204,3723,3731,364.6,-13.5,140,2350,0.00,2.05,0.00,0.000,516,0.000,0.030,2683,799,3728,3725,3731,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2414,-0.99,-184.9,2683,799,3723,3731,373.7,-13.3,143,2419,0.00,2.08,0.00,0.000,1030,0.000,0.030,2682,2211,3728,3723,3733,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2734,-0.99,-184.9,2682,2211,3723,3728,413.7,-12.0,159,2740,0.00,2.08,0.00,0.000,516,0.000,0.030,2682,792,3725,3723,3728,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2809,-0.99,-184.9,2682,791,3723,3729,421.9,-12.4,162,2814,0.00,2.08,0.00,0.000,1030,0.000,0.028,2674,2209,3725,3723,3727,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3124,-0.99,-184.9,2674,2208,3723,3723,464.8,-13.6,178,3129,0.00,2.05,0.00,0.000,516,0.000,0.030,2674,803,3723,3723,3723,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3163,-0.99,-184.9,2674,802,3723,3723,468.3,-13.8,179,3171,0.12,2.05,0.00,0.000,3078,0.169,0.029,2701,2198,3722,3723,3722,0,0,0,0,0,0,26.00,26.29,28.83
$GC,3469,-0.99,-184.9,2700,2198,3723,3719,508.0,-12.0,195,3474,0.00,2.05,0.00,0.000,516,0.000,0.031,2701,800,3721,3723,3720,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3538,-0.99,-184.9,1664,799,3717,3717,515.8,-12.0,198,3543,0.00,2.05,0.00,0.000,1030,0.000,0.028,2697,2201,3720,3723,3718,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3858,-0.99,-184.9,2697,2200,3723,3713,554.2,-11.9,214,3863,0.00,2.05,0.00,0.000,516,0.000,0.031,2697,803,3718,3723,3713,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3917,-0.99,-184.9,2696,803,3723,3712,559.7,-12.0,216,3925,0.00,2.08,0.00,0.000,1030,0.000,0.031,2697,2208,3717,3723,3712,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4223,-0.99,-184.9,2696,2208,3723,3707,597.6,-12.3,232,4229,0.00,2.08,0.00,0.000,516,0.000,0.031,2696,799,3715,3723,3707,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4278,-0.99,-184.9,2696,800,3723,3706,602.0,-12.3,234,4283,0.00,2.08,0.00,0.000,1030,0.000,0.031,2695,2202,3714,3723,3706,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4593,-0.99,-184.9,2696,2202,3723,3701,640.5,-11.4,245,4598,0.00,2.08,0.00,0.000,516,0.000,0.031,2697,795,3712,3723,3701,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4643,-0.99,-184.9,2696,794,3723,3700,644.5,-11.4,246,4648,0.00,2.08,0.00,0.000,1030,0.000,0.031,2697,2199,3711,3722,3700,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4963,-0.99,-184.9,2696,2199,3723,3694,682.4,-11.3,257,4969,0.00,2.08,0.00,0.000,516,0.000,0.032,2696,795,3708,3723,3694,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5008,-0.99,-184.9,2696,794,3721,3693,686.7,-11.4,258,5014,0.00,2.10,0.00,0.000,1030,0.000,0.031,2696,2209,3708,3723,3693,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5338,-0.99,-184.9,2696,2209,3722,3688,726.1,-11.9,269,5343,0.00,2.08,0.00,0.000,516,0.000,0.032,2697,804,3705,3722,3688,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5392,-0.99,-184.9,2696,805,3722,3687,730.9,-12.1,270,5398,0.00,2.08,0.00,0.000,1030,0.000,0.031,2697,2201,3704,3722,3686,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5708,-0.99,-184.9,2696,2202,3720,3684,771.2,-11.8,281,5715,0.00,2.08,0.00,0.000,516,0.000,0.032,2697,800,3701,3720,3683,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5753,-0.99,-184.9,2696,800,3719,3683,775.4,-11.7,282,5759,0.00,2.10,0.00,0.000,1030,0.000,0.032,2697,2210,3701,3718,3684,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6081,-0.99,-184.9,2696,2210,3716,3680,811.3,-10.7,293,6087,0.00,2.08,0.00,0.000,516,0.000,0.032,2697,806,3698,3716,3680,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6133,-0.99,-184.9,2696,806,3716,3679,815.3,-10.6,294,6138,0.00,2.08,0.00,0.000,1030,0.000,0.032,2696,2199,3697,3716,3679,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6452,-0.99,-184.9,2696,2198,3714,3676,850.1,-10.6,305,6458,0.00,2.08,0.00,0.000,516,0.000,0.032,2696,800,3695,3714,3676,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6483,-0.99,-184.9,2696,800,3713,3676,850.1,-10.6,305,6490,0.00,2.10,0.00,0.000,1030,0.000,0.032,2697,2205,3694,3713,3676,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6788,-0.99,-184.9,2696,2205,3712,3673,887.5,-11.5,316,6794,0.00,2.08,0.00,0.000,516,0.000,0.032,2697,806,3692,3712,3673,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6828,-0.99,-184.9,2696,806,3711,3673,891.8,-11.6,317,6833,0.00,2.10,0.00,0.000,1030,0.000,0.032,2697,2209,3691,3711,3672,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7162,-0.99,-184.9,2695,2210,3709,3669,930.4,-11.5,328,7168,0.00,2.15,0.00,0.000,260,0.000,0.044,2696,3609,3689,3709,3670,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7181,-0.99,-184.9,2696,3609,3709,3669,930.4,-11.5,328,7187,0.00,2.08,0.00,0.000,1030,0.000,0.024,2696,2193,3690,3710,3670,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7502,-0.99,-184.9,2696,2192,3707,3668,968.6,-10.8,339,7507,0.00,2.05,0.00,0.000,516,0.000,0.034,2697,804,3687,3707,3667,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7571,-0.99,-184.9,2696,804,3706,3667,975.6,-10.7,341,7576,0.00,2.10,0.00,0.000,1030,0.000,0.034,2697,2202,3686,3706,3667,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,7717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7717,begin apogee
$GC,7726,-0.21,0.0,2696,2044,3706,3665,991.4,-10.3,346,7953,0.77,0.00,220.02,1.008,10246,0.125,0.000,2943,2043,2967,3033,2902,0,0,0,0,0,0,25.48,28.83,23.77
$STATE,7955,end apogee,CONTROL_FINISHED_OK
$STATE,7955,begin climb
$GC,7959,0.99,184.9,2943,2044,3029,2891,1001.4,0.0,353,8140,1.10,2.40,166.95,1.158,10500,0.057,0.042,3339,3453,2198,2288,2108,0,0,0,0,0,0,25.10,24.74,23.47
$GC,8183,0.99,184.9,3339,3453,2282,2095,989.8,9.4,361,8189,0.00,2.15,0.00,0.000,1030,0.000,0.027,3348,2062,2188,2283,2094,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8513,0.99,184.9,3348,2062,2283,2085,953.7,10.6,372,8519,0.00,2.17,0.00,0.000,260,0.000,0.043,3348,3453,2184,2283,2085,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8532,0.99,184.9,3348,3454,2283,2085,953.7,10.6,372,8538,0.00,2.12,0.00,0.000,1030,0.000,0.027,3357,2036,2183,2283,2084,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8857,0.99,184.9,3357,2036,2278,2083,916.8,10.9,383,8862,0.00,2.12,0.00,0.000,516,0.000,0.040,3368,640,2181,2279,2083,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8922,0.99,184.9,3368,640,2275,2083,908.4,11.6,385,8928,0.00,2.15,0.00,0.000,1030,0.000,0.032,3368,2059,2179,2275,2083,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9261,0.99,184.9,3368,2059,2275,2082,869.7,11.6,396,9267,0.00,2.17,0.00,0.000,260,0.000,0.044,3368,3463,2178,2275,2082,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9335,0.99,184.9,3368,3463,2272,2082,861.2,12.1,398,9341,0.15,2.10,0.00,0.000,5126,0.173,0.027,3342,2050,2177,2272,2082,0,0,0,0,0,0,25.82,26.27,28.83
$GC,9664,0.99,184.9,3342,2050,2273,2080,826.7,9.9,409,9669,0.00,2.12,0.00,0.000,516,0.000,0.039,3351,640,2176,2272,2081,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9709,0.99,184.9,3351,640,2269,2081,822.7,10.1,410,9715,0.00,2.15,0.00,0.000,1030,0.000,0.032,3351,2055,2175,2269,2081,0,0,0,0,0,0,28.83,26.21,28.83
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$GC,14701,1.15,292.6,3389,2058,1886,1701,331.3,9.0,617,14710,0.00,2.20,2.65,0.433,8452,0.000,0.044,3389,3452,1776,1867,1686,0,0,0,0,0,0,28.83,25.98,23.89
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$STATE,18077,end climb,SURFACE_DEPTH_REACHED
$STATE,18077,begin surface coast
$FINISH,1.5,1.010641
$STATE,18109,end surface coast,CONTROL_FINISHED_OK
$STATE,18109,begin surface
$SM_CCo,18132,40.88,0.116,0,0,663,564.93
$SM_GC,2.12,8.48,0.17,40.88,0.027,0.067,0.116,128,2210,663,-8.94,-1.41,564.93,0,0,0,0,0,0,26.25,26.38,25.53
$IRIDIUM_FIX,1934.38,12343.94,060913,020235
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.74
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,26.30
$XPDR_PINGS,4
$SC_FREEKB,7576992
$24V_AH,23.5,68.877
$10V_AH,10.0,42.472
$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,21.925,186.325,619.225,40.875,0.000,0.000,0.000,321.600,1.000,0.000,41.045,2764.746,11984.222,787.262,2508.056,698.183,0.000,2349.370,0.000,2118.299,0.000,0.543,0.000
$DEVICE_MAMPS,237.915,67.320,1158.210,116.280,0.000,0.000,0.000,120.105,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18136.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.775,0.000,0.000,0.000
$MEM,327872
$DATA_FILE_SIZE,33358,830
$CAP_FILE_SIZE,210391,0
$CFSIZE,260034560,213028864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.125,299.3,1
$GPS,060913,132059,1942.791,12343.303,41,1.0,41,-2.8