version: 66.11
glider: 167
mission: 14
dive: 86
start: 10 29 112 6 4 27
data:
$ID,167
$MISSION,14
$DIVE,86
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$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,450
$T_MISSION,520
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52251
$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,425
$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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-968607.06
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2740
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2325
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,89
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,-16.305099
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043364335
$SEABIRD_T_H,0.00062881975
$SEABIRD_T_I,2.1970176e-05
$SEABIRD_T_J,2.0625448e-06
$SEABIRD_C_G,-9.8829851
$SEABIRD_C_H,1.104416
$SEABIRD_C_I,-0.0016111456
$SEABIRD_C_J,0.00020720487
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,291012,054735,2323.019,12237.400,28,1.0,28,-3.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-65.3
$GPS2,291012,060359,2323.273,12237.230,44,1.0,44,-3.6
$SPEED_LIMITS,0.127,0.250
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,110.5,140738,-12.5,-7.333,-16.34
$D_GRID,4215
$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,16,begin dive
$GC,18,-0.38,-171.1,0.0,0.0,0,72,0.00,0.00,-51.75,0.000,2,0.000,0.000,109,2278,2532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.38,-171.1,3.0,-4.6,9,120,9.75,2.00,-28.38,0.000,4,0.221,0.041,2608,948,3668,0,0,0,0,0,0,25.55,26.15,26.48
$GC,195,-0.41,-171.1,15.2,-9.9,30,201,0.00,2.05,0.00,0.000,6,0.000,0.028,2608,2325,3668,0,0,0,0,0,0,28.83,26.16,28.83
$GC,515,-0.38,-171.1,52.8,-12.2,69,522,0.00,2.15,0.00,0.000,4,0.000,0.045,2608,3730,3668,0,0,0,0,0,0,28.83,26.21,28.83
$GC,559,-0.38,-171.1,57.5,-11.5,71,565,0.00,1.98,0.00,0.000,6,0.000,0.020,2608,2355,3668,0,0,0,0,0,0,28.83,26.42,28.83
$GC,884,-0.45,-171.1,83.6,-6.9,87,889,0.00,2.15,0.00,0.000,4,0.000,0.051,2608,3736,3668,0,0,0,0,0,0,28.83,26.29,28.83
$GC,917,-0.52,-171.1,85.4,-7.3,88,923,0.12,2.03,0.00,0.000,6,0.075,0.018,2521,2264,3668,0,0,0,0,0,0,26.48,26.58,28.83
$GC,1231,-0.46,-171.1,128.5,-13.1,104,1237,0.20,1.92,0.00,0.000,4,0.121,0.023,2589,912,3669,0,0,0,0,0,0,26.32,26.53,28.83
$GC,1295,-0.49,-171.1,134.0,-9.4,107,1300,0.00,2.08,0.00,0.000,6,0.000,0.027,2589,2333,3669,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1620,-0.58,-171.1,154.4,-6.1,123,1625,0.12,2.10,0.00,0.000,4,0.078,0.043,2493,3723,3669,0,0,0,0,0,0,26.70,26.39,28.83
$GC,1697,-0.58,-171.1,161.0,-9.0,126,1706,0.20,2.03,0.00,0.000,6,0.122,0.021,2554,2325,3670,0,0,0,0,0,0,26.24,26.58,28.83
$GC,2004,-0.63,-171.1,184.5,-6.1,142,2010,0.00,2.17,0.00,0.000,4,0.000,0.053,2555,3722,3669,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2062,-0.68,-171.1,187.0,-5.9,144,2069,0.00,2.03,0.00,0.000,6,0.000,0.018,2554,2261,3669,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2368,-0.73,-171.1,206.7,-6.5,160,2374,0.12,2.25,0.00,0.000,4,0.078,0.042,2464,3739,3668,0,0,0,0,0,0,26.76,26.42,28.83
$GC,2407,-0.76,-171.1,208.8,-7.0,161,2414,0.12,2.03,0.00,0.000,6,0.139,0.020,2498,2283,3668,0,0,0,0,0,0,26.37,26.68,28.83
$GC,2713,-0.73,-171.1,243.7,-10.9,177,2718,0.00,1.90,0.00,0.000,4,0.000,0.037,2498,946,3667,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2739,-0.69,-171.1,246.3,-11.0,178,2745,0.00,2.03,0.00,0.000,6,0.000,0.036,2495,2323,3667,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3058,-0.66,-171.1,282.7,-11.3,194,3064,0.12,2.15,0.00,0.000,4,0.144,0.044,2535,3736,3666,0,0,0,0,0,0,26.51,26.42,28.83
$GC,3091,-0.64,-171.1,285.2,-11.0,195,3097,0.00,1.98,0.00,0.000,6,0.000,0.019,2535,2323,3665,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3405,-0.68,-171.1,311.1,-7.8,211,3411,0.00,2.17,0.00,0.000,4,0.000,0.047,2535,3736,3663,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3438,-0.73,-171.1,313.1,-7.9,212,3443,0.00,1.98,0.00,0.000,6,0.000,0.019,2535,2317,3663,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3752,-0.78,-171.1,335.9,-6.5,228,3757,0.12,1.95,0.00,0.000,4,0.080,0.024,2449,943,3662,0,0,0,0,0,0,26.77,26.60,28.83
$GC,3805,-0.78,-171.1,340.5,-8.4,230,3811,0.15,2.05,0.00,0.000,6,0.138,0.031,2489,2331,3661,0,0,0,0,0,0,26.25,26.46,28.83
$GC,4119,-0.76,-171.1,374.2,-10.5,246,4124,0.00,2.12,0.00,0.000,4,0.000,0.046,2489,3730,3660,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4212,-0.76,-171.1,382.1,-9.4,250,4218,0.00,1.95,0.00,0.000,6,0.000,0.018,2489,2327,3660,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4526,-0.76,-171.1,408.8,-8.3,266,4531,0.00,2.17,0.00,0.000,4,0.000,0.047,2489,3737,3659,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4573,-0.76,-171.1,412.4,-8.3,268,4579,0.00,1.98,-0.08,0.000,6,0.000,0.019,2489,2322,3680,0,0,0,0,0,0,28.83,26.71,25.44
$GC,4891,-0.76,-171.1,440.1,-9.0,284,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2321,3679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5193,-0.76,-171.1,467.0,-8.8,299,5198,0.00,2.20,0.00,0.000,4,0.000,0.048,2489,3739,3677,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5318,-0.77,-171.1,477.6,-8.2,305,5323,0.00,1.98,0.00,0.000,6,0.000,0.021,2490,2322,3676,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5641,-0.77,-171.1,504.7,-8.3,321,5646,0.00,2.17,0.00,0.000,4,0.000,0.045,2489,3733,3674,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5667,-0.77,-171.1,506.6,-8.1,322,5673,0.00,1.98,0.00,0.000,6,0.000,0.021,2489,2314,3674,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5987,-0.79,-171.1,531.1,-7.3,338,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2314,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6288,-0.81,-171.1,552.8,-7.1,353,6289,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2314,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6589,-0.84,-171.1,575.9,-8.1,368,6594,0.00,2.20,0.00,0.000,4,0.000,0.046,2489,3733,3669,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6642,-0.86,-171.1,579.7,-8.1,370,6647,0.00,1.98,0.00,0.000,6,0.000,0.021,2489,2314,3668,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6956,-0.89,-171.1,606.1,-8.4,385,6958,0.10,0.00,0.00,0.000,6,0.094,0.000,2431,2316,3666,0,0,0,0,0,0,26.78,28.83,28.83
$GC,7256,-0.84,-171.1,642.8,-12.4,395,7262,0.12,2.20,0.00,0.000,4,0.150,0.045,2467,3730,3664,0,0,0,0,0,0,26.46,26.32,28.83
$GC,7344,-0.81,-171.1,649.9,-11.9,397,7352,0.00,1.98,0.00,0.000,6,0.000,0.022,2467,2322,3663,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7649,-0.81,-171.1,682.0,-9.5,408,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2323,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7950,-0.81,-171.1,708.5,-8.5,418,7955,0.00,2.20,0.00,0.000,4,0.000,0.048,2467,3733,3659,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8034,-0.81,-171.1,713.9,-8.4,420,8039,0.00,1.98,0.00,0.000,6,0.000,0.023,2467,2329,3658,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8348,-0.81,-171.1,741.6,-8.1,431,8353,0.00,2.17,0.00,0.000,4,0.000,0.048,2467,3726,3656,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8430,-0.81,-171.1,746.6,-7.9,433,8436,0.00,2.00,0.00,0.000,6,0.000,0.023,2467,2319,3656,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8744,-0.81,-171.1,772.2,-7.6,444,8750,0.00,2.22,0.00,0.000,4,0.000,0.048,2467,3730,3654,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8787,-0.81,-171.1,774.8,-7.6,445,8792,0.00,2.00,0.00,0.000,6,0.000,0.024,2467,2328,3654,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9112,-0.81,-171.1,799.9,-7.6,456,9117,0.00,2.22,0.00,0.000,4,0.000,0.054,2467,3733,3652,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9149,-0.81,-171.1,802.5,-7.6,457,9154,0.00,2.03,0.00,0.000,6,0.000,0.028,2467,2315,3652,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9479,-0.82,-171.1,828.6,-8.0,468,9484,0.00,2.22,0.00,0.000,4,0.000,0.053,2467,3725,3650,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9613,-0.84,-171.1,838.6,-8.1,472,9618,0.00,2.00,0.00,0.000,6,0.000,0.024,2467,2316,3650,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9939,-0.86,-171.1,863.4,-7.2,483,9944,0.00,2.22,0.00,0.000,4,0.000,0.049,2467,3733,3648,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10006,-0.88,-171.1,868.1,-7.1,485,10012,0.00,2.00,0.00,0.000,6,0.000,0.024,2467,2327,3647,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10337,-0.88,-171.1,889.4,-6.3,496,10338,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2325,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10636,-0.90,-171.1,907.6,-6.1,506,10641,0.00,2.22,0.00,0.000,4,0.000,0.050,2467,3731,3644,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10718,-0.92,-171.1,911.8,-6.3,508,10724,0.00,2.00,0.00,0.000,6,0.000,0.025,2467,2328,3644,0,0,0,0,0,0,28.83,26.59,28.83
$GC,11034,-0.94,-171.1,936.0,-7.7,519,11039,0.00,2.22,0.00,0.000,4,0.000,0.050,2467,3732,3643,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11076,-0.96,-171.1,938.9,-7.8,520,11082,0.10,2.03,0.00,0.000,6,0.097,0.026,2414,2327,3640,0,0,0,0,0,0,26.32,26.36,28.83
$GC,11402,-0.91,-171.1,975.1,-11.2,531,11408,0.12,2.22,0.00,0.000,4,0.156,0.049,2453,3725,3641,0,0,0,0,0,0,26.39,26.10,28.83
$GC,11476,-0.89,-171.1,981.5,-10.4,533,11481,0.00,2.03,0.00,0.000,6,0.000,0.025,2447,2313,3641,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,11586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11586,begin apogee
$GC,11592,-0.20,0.0,992.3,-8.8,537,11749,0.65,0.00,149.43,1.297,6,0.103,0.000,2673,2311,2966,0,0,0,0,0,0,25.82,28.83,23.61
$STATE,11750,end apogee,CONTROL_FINISHED_OK
$STATE,11750,begin climb
$GC,11753,0.38,171.1,999.3,0.0,542,11922,0.50,2.42,156.00,1.266,4,0.039,0.046,2881,3697,2260,0,0,0,0,0,0,24.82,23.90,22.95
$GC,12150,0.23,171.1,966.2,12.6,555,12156,0.25,2.10,0.00,0.000,6,0.148,0.030,2820,2331,2251,0,0,0,0,0,0,25.24,25.61,28.83
$GC,12471,0.18,171.1,937.7,8.2,566,12476,0.00,2.20,0.00,0.000,4,0.000,0.048,2820,3705,2248,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12518,0.13,171.1,934.5,8.5,567,12525,0.12,2.15,0.00,0.000,6,0.154,0.028,2786,2282,2248,0,0,0,0,0,0,25.84,26.11,28.83
$GC,12840,0.14,211.8,911.8,6.2,578,12886,0.00,2.20,37.10,1.203,4,0.000,0.036,2786,912,2102,0,0,0,0,0,0,28.83,25.36,24.44
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$GC,16878,0.32,380.3,547.4,8.8,720,16883,0.00,2.10,0.00,0.000,6,0.000,0.030,2860,2313,1395,0,0,0,0,0,0,28.83,26.42,28.83
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$STATE,22677,end climb,SURFACE_DEPTH_REACHED
$STATE,22677,begin surface coast
$FINISH,0.8,1.012127
$STATE,22689,end surface coast,CONTROL_FINISHED_OK
$STATE,22689,begin surface
$SM_CCo,22766,0.00,0.000,0,0,1042,472.45
$SM_GC,1.45,7.47,0.00,0.00,0.024,0.000,0.000,114,2302,1042,-8.11,-0.65,472.45,0,0,0,0,0,0,26.46,28.83,28.83
$IRIDIUM_FIX,2314.48,12235.65,291012,050557
$TT8_MAMPS,0.029211,0.029211
$HUMID,51.45
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.70
$XPDR_PINGS,17
$24V_AH,23.0,22.929
$10V_AH,9.9,13.318
$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,21.575,213.000,545.875,0.000,0.000,0.000,0.000,515.500,4.250,0.000,47.112,3377.239,16097.640,732.868,3091.870,442.844,0.000,2643.510,0.000,2435.275,0.000,0.544,0.000
$DEVICE_MAMPS,221.085,54.315,1297.440,0.000,0.000,0.000,0.000,127.755,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22711.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.318,0.000,0.000,0.000
$MEM,323820
$DATA_FILE_SIZE,36790,1034
$CAP_FILE_SIZE,257233,0
$CFSIZE,260165632,242040832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.144,311.2,1
$GPS,291012,122506,2323.065,12239.290,30,1.1,30,-3.6