version: 66.10
glider: 169
mission: 5
dive: 421
start: 1 29 112 10 38 28
data:
$ID,169
$MISSION,5
$DIVE,421
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$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,360
$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,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,35
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$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,-11408.818
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,290112,103037,2336.971,12327.535,27,1.5,27,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-68.6
$GPS2,290112,103806,2336.968,12327.523,12,1.5,28,-3.3
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,HEADING
$TGT_LATLONG,2345.814,12334.292
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.228,0.143
$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,38.3,20000,-15.4,-9.167
$D_GRID,3571
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.60,-175.2,0.0,0.0,0,102,0.00,0.00,-82.88,0.000,2,0.000,0.000,117,2660,3224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.60,-175.2,3.8,-9.6,15,129,7.10,2.28,-9.10,0.000,4,0.230,0.040,1817,1172,3697,0,0,0,0,0,0,24.71,26.06,26.53
$GC,162,-0.47,-175.2,30.1,-38.8,25,170,0.17,2.35,0.00,0.000,6,0.148,0.044,1854,2654,3697,0,0,0,0,0,0,25.60,25.91,28.83
$GC,475,-0.38,-175.2,108.5,-27.1,86,482,0.12,2.22,0.00,0.000,4,0.178,0.024,1903,1170,3697,0,0,0,0,0,0,26.05,26.17,28.83
$GC,531,-0.41,-175.2,118.5,-11.6,96,537,0.00,2.28,0.00,0.000,6,0.000,0.037,1893,2652,3697,0,0,0,0,0,0,28.83,26.08,28.83
$GC,843,-0.40,-175.2,170.5,-15.6,157,850,0.00,2.20,0.00,0.000,4,0.000,0.028,1893,1168,3697,0,0,0,0,0,0,28.83,26.21,28.83
$GC,892,-0.45,-175.2,177.4,-10.9,166,899,0.00,2.28,0.00,0.000,6,0.000,0.038,1885,2651,3697,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1204,-0.46,-175.2,212.9,-9.4,215,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2651,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1505,-0.48,-175.2,238.6,-6.9,245,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,1886,2651,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1818,-0.50,-175.2,258.8,-8.7,276,1824,0.12,0.00,0.00,0.000,6,0.076,0.000,1787,2652,3697,0,0,0,0,0,0,26.56,28.83,28.83
$GC,2123,-0.42,-175.2,320.2,-20.6,307,2133,0.25,2.22,0.00,0.000,4,0.141,0.026,1877,1176,3697,0,0,0,0,0,0,25.86,26.23,28.83
$GC,2200,-0.48,-175.2,327.7,-6.3,314,2207,0.00,2.28,0.00,0.000,6,0.000,0.040,1869,2651,3697,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2509,-0.50,-175.2,351.8,-8.2,345,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2651,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2818,-0.53,-175.2,376.6,-7.2,376,2826,0.00,2.22,0.00,0.000,4,0.000,0.028,1868,1171,3697,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2870,-0.58,-175.2,380.1,-6.4,381,2879,0.08,2.28,0.00,0.000,6,0.047,0.037,1780,2654,3696,0,0,0,0,0,0,26.11,26.15,28.83
$GC,3179,-0.51,-175.2,435.9,-19.5,412,3189,0.17,2.20,0.00,0.000,4,0.145,0.025,1837,1178,3695,0,0,0,0,0,0,26.06,26.22,28.83
$GC,3205,-0.46,-175.2,439.5,-17.4,414,3212,0.12,2.28,0.00,0.000,6,0.132,0.038,1865,2654,3695,0,0,0,0,0,0,25.97,26.13,28.83
$GC,3512,-0.49,-175.2,464.0,-8.1,445,3516,0.00,1.80,0.00,0.000,4,0.000,0.045,1856,3813,3694,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3548,-0.53,-175.2,466.4,-8.0,448,3555,0.00,1.80,0.00,0.000,6,0.000,0.024,1856,2563,3693,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3854,-0.56,-175.2,488.8,-6.7,479,3863,0.00,2.03,0.00,0.000,4,0.000,0.028,1856,1172,3692,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3889,-0.60,-175.2,491.0,-6.5,482,3897,0.12,2.28,0.00,0.000,6,0.080,0.037,1781,2653,3692,0,0,0,0,0,0,26.14,26.13,28.83
$GC,4196,-0.55,-175.2,536.1,-15.7,513,4206,0.15,2.20,0.00,0.000,4,0.142,0.026,1832,1180,3690,0,0,0,0,0,0,26.15,26.19,28.83
$GC,4238,-0.55,-175.2,540.8,-11.1,517,4247,0.00,2.28,0.00,0.000,6,0.000,0.039,1823,2650,3690,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4548,-0.55,-175.2,568.1,-8.7,548,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2650,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4850,-0.55,-175.2,595.8,-9.3,578,4859,0.00,2.17,0.00,0.000,4,0.000,0.028,1823,1179,3686,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4882,-0.57,-175.2,598.8,-9.1,581,4891,0.00,2.30,0.00,0.000,6,0.000,0.040,1813,2656,3685,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5202,-0.57,-175.2,630.3,-10.5,598,5207,0.00,2.20,0.00,0.000,4,0.000,0.028,1813,1178,3683,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5266,-0.58,-175.2,636.0,-9.8,601,5270,0.00,2.30,0.00,0.000,6,0.000,0.041,1812,2653,3683,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5578,-0.58,-175.2,667.3,-10.3,617,5583,0.00,2.22,0.00,0.000,4,0.000,0.029,1812,1169,3681,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5625,-0.58,-175.2,671.5,-10.4,619,5630,0.00,2.33,0.00,0.000,6,0.000,0.041,1812,2648,3681,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5935,-0.58,-175.2,701.5,-9.6,634,5939,0.00,1.83,0.00,0.000,4,0.000,0.047,1803,3816,3678,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5976,-0.58,-175.2,705.9,-9.9,636,5980,0.00,1.83,0.00,0.000,6,0.000,0.024,1803,2572,3678,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6292,-0.58,-175.2,740.2,-10.8,652,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,2571,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6593,-0.58,-175.2,770.2,-9.8,667,6598,0.00,2.08,0.00,0.000,4,0.000,0.032,1803,1175,3674,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6620,-0.58,-175.2,772.3,-9.9,668,6624,0.00,2.33,0.00,0.000,6,0.000,0.041,1794,2654,3674,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6929,-0.57,-175.2,804.6,-10.3,683,6930,0.12,0.00,0.00,0.000,6,0.144,0.000,1831,2654,3672,0,0,0,0,0,0,26.25,28.83,28.83
$GC,7228,-0.59,-175.2,825.2,-6.7,698,7234,0.00,2.22,0.00,0.000,4,0.000,0.029,1831,1179,3670,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7256,-0.62,-175.2,826.5,-6.7,699,7260,0.00,2.30,0.00,0.000,6,0.000,0.041,1826,2649,3670,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7564,-0.64,-175.2,846.9,-6.3,714,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2649,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7863,-0.66,-175.2,865.3,-6.2,729,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2649,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8164,-0.68,-175.2,885.2,-7.0,744,8170,0.10,2.20,0.00,0.000,4,0.092,0.028,1756,1172,3665,0,0,0,0,0,0,26.51,26.08,28.83
$GC,8203,-0.68,-175.2,889.1,-8.2,746,8209,0.15,2.33,0.00,0.000,6,0.138,0.041,1787,2649,3665,0,0,0,0,0,0,25.69,25.95,28.83
$GC,8523,-0.67,-175.2,921.4,-9.7,762,8524,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2649,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8824,-0.66,-175.2,948.2,-8.3,777,8830,0.00,2.22,0.00,0.000,4,0.000,0.031,1788,1186,3662,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8851,-0.65,-175.2,949.9,-8.4,778,8855,0.00,2.30,0.00,0.000,6,0.000,0.041,1777,2648,3662,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9159,-0.63,-175.2,977.5,-9.2,793,9163,0.00,2.25,0.00,0.000,4,0.000,0.031,1777,1177,3661,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9193,-0.62,-175.2,979.7,-9.4,794,9201,0.15,2.33,0.00,0.000,6,0.122,0.043,1813,2649,3661,0,0,0,0,0,0,25.70,25.88,28.83
$STATE,9360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9360,begin apogee
$GC,9365,-0.20,0.0,991.5,-6.9,803,9530,0.38,0.12,156.35,1.187,6,0.096,0.050,1947,2533,2974,0,0,0,0,0,0,25.79,24.79,23.25
$STATE,9531,end apogee,CONTROL_FINISHED_OK
$STATE,9531,begin climb
$GC,9533,0.60,175.2,995.9,0.0,811,9709,0.68,0.00,168.27,1.185,6,0.048,0.000,2207,2533,2263,0,0,0,0,0,0,25.13,28.83,23.25
$GC,10002,0.52,175.2,931.1,18.4,835,10007,0.00,2.03,0.00,0.000,4,0.000,0.047,2207,3813,2232,0,0,0,0,0,0,28.83,25.88,28.83
$GC,10053,0.43,175.2,923.2,18.8,837,10061,0.25,2.08,0.00,0.000,6,0.174,0.028,2151,2454,2231,0,0,0,0,0,0,25.43,26.03,28.83
$GC,10363,0.40,175.2,881.6,11.8,853,10369,0.00,2.15,0.00,0.000,4,0.000,0.046,2151,3807,2228,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10401,0.36,175.2,876.2,12.4,855,10408,0.12,2.08,0.00,0.000,6,0.169,0.028,2129,2457,2228,0,0,0,0,0,0,25.77,26.13,28.83
$GC,10724,0.34,175.2,842.8,10.2,871,10725,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2455,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11021,0.33,175.2,812.8,9.8,886,11027,0.00,2.20,0.00,0.000,4,0.000,0.047,2129,3811,2226,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11044,0.31,175.2,810.7,10.0,887,11047,0.00,2.08,0.00,0.000,6,0.000,0.028,2139,2456,2226,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11364,0.30,175.2,777.5,10.1,903,11370,0.12,2.17,0.00,0.000,4,0.171,0.043,2101,3813,2226,0,0,0,0,0,0,26.03,25.94,28.83
$GC,11445,0.30,175.2,769.9,9.3,907,11449,0.00,2.05,0.00,0.000,6,0.000,0.028,2111,2460,2224,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11761,0.42,272.4,749.7,5.7,923,11852,0.10,2.30,79.97,1.239,4,0.094,0.037,2186,1061,1872,0,0,0,0,1,0,26.46,25.09,23.28
$GC,11910,0.40,272.4,735.2,11.3,929,11918,0.17,2.33,1.55,0.200,6,0.135,0.041,2137,2518,1866,0,0,0,0,0,0,25.29,25.53,25.03
$GC,12219,0.40,272.4,705.6,9.7,945,12224,0.00,2.05,0.00,0.000,4,0.000,0.047,2137,3816,1873,0,0,0,0,0,0,28.83,25.83,28.83
$GC,12265,0.40,272.4,701.3,10.3,947,12269,0.00,2.08,0.00,0.000,6,0.000,0.028,2147,2465,1873,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12572,0.40,272.4,665.3,12.1,962,12576,0.00,2.12,0.00,0.000,4,0.000,0.037,2158,1058,1873,0,0,0,0,0,0,28.83,25.97,28.83
$GC,12615,0.40,272.4,660.4,11.8,964,12620,0.00,2.28,0.00,0.000,6,0.000,0.039,2158,2526,1872,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12934,0.39,272.4,616.8,13.9,980,12935,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2526,1872,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,14002,0.52,306.0,507.6,8.6,1079,14025,0.00,2.25,18.48,0.864,6,0.000,0.038,2154,2524,1730,0,0,0,0,0,0,28.83,25.94,24.25
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$GC,15335,0.61,307.6,370.1,11.2,1211,15343,0.00,2.00,0.00,0.000,4,0.000,0.045,2175,3808,1711,0,0,0,0,0,0,28.83,25.93,28.83
$GC,15358,0.61,307.6,367.6,11.3,1213,15365,0.00,2.08,0.00,0.000,6,0.000,0.026,2186,2454,1711,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,18416,end climb,SURFACE_DEPTH_REACHED
$STATE,18416,begin surface coast
$FINISH,0.2,1.024012
$STATE,18437,end surface coast,CONTROL_FINISHED_OK
$STATE,18437,begin surface
$SM_CCo,18451,17.73,0.124,0,0,1245,425.10
$SM_GC,1.00,5.28,0.35,17.73,0.024,0.047,0.124,123,2659,1245,-5.79,-0.40,425.10,0,0,0,0,0,0
$IRIDIUM_FIX,2323.87,12323.80,290112,050544
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.81
$INTERNAL_PRESSURE,9.50588
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.2,87.788
$10V_AH,9.9,52.436
$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
$DEVICE_SECS,16.600,161.000,519.825,17.725,0.000,28.643,42.680,223.513,0.000,0.000,29.654,3931.309,10624.054,685.891,3247.915,404.318,0.000,2231.857,0.000,2764.453,0.000,0.542,0.000
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$SENSOR_SECS,1132.400,2148.817,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330412
$DATA_FILE_SIZE,110184,1665
$CAP_FILE_SIZE,197397,0
$CFSIZE,260165632,184053760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290112,154731,2338.023,12329.168,41,1.2,41,-3.3