version: 66.10
glider: 169
mission: 5
dive: 510
start: 2 17 112 9 12 52
data:
$ID,169
$MISSION,5
$DIVE,510
$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,380
$T_MISSION,420
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$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,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,-13550.121
$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
$GPS1,170212,090424,2137.035,12332.757,43,1.0,60,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.8
$GPS2,170212,091228,2137.044,12332.589,15,2.4,34,-2.8
$SPEED_LIMITS,0.150,0.248
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,354.4,268970,-16.1,-8.684
$D_GRID,5244
$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,17,-0.58,-146.0,0.0,0.0,0,92,0.00,0.00,-72.68,0.000,2,0.000,0.000,117,2655,3028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.58,-146.0,3.5,-7.0,12,121,7.10,0.00,-11.12,0.000,6,0.226,0.000,1812,2655,3576,0,0,0,0,0,0,24.75,28.83,26.57
$GC,426,-0.47,-146.0,115.6,-32.8,76,433,0.12,2.33,0.00,0.000,4,0.188,0.027,1859,1177,3576,0,0,0,0,0,0,25.97,26.06,28.83
$GC,544,-0.50,-146.0,137.5,-12.1,98,551,0.00,2.35,0.00,0.000,6,0.000,0.034,1848,2651,3576,0,0,0,0,0,0,28.83,26.03,28.83
$GC,857,-0.45,-146.0,189.6,-12.3,159,864,0.00,2.30,0.00,0.000,4,0.000,0.026,1851,1170,3576,0,0,0,0,0,0,28.83,26.13,28.83
$GC,938,-0.49,-146.0,197.3,-7.4,174,945,0.00,2.35,0.00,0.000,6,0.000,0.035,1840,2649,3576,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1250,-0.44,-146.0,249.1,-16.0,207,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2648,3576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1561,-0.40,-146.0,290.7,-12.9,238,1570,0.12,2.28,0.00,0.000,4,0.156,0.025,1891,1178,3576,0,0,0,0,0,0,26.17,26.13,28.83
$GC,1658,-0.47,-146.0,297.6,-5.5,247,1665,0.00,2.33,0.00,0.000,6,0.000,0.034,1880,2650,3576,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1965,-0.49,-146.0,328.0,-11.2,278,1973,0.00,2.25,0.00,0.000,4,0.000,0.025,1881,1176,3576,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2009,-0.53,-146.0,332.2,-10.0,282,2016,0.00,2.35,0.00,0.000,6,0.000,0.034,1872,2653,3576,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2317,-0.54,-146.0,359.2,-7.2,313,2327,0.12,2.22,0.00,0.000,4,0.076,0.024,1784,1179,3575,0,0,0,0,0,0,26.52,26.15,28.83
$GC,2360,-0.52,-146.0,364.6,-12.6,317,2371,0.20,2.33,0.00,0.000,6,0.128,0.035,1840,2649,3575,0,0,0,0,0,0,25.67,26.05,28.83
$GC,2671,-0.51,-146.0,405.7,-13.2,348,2679,0.00,2.28,0.00,0.000,4,0.000,0.026,1840,1175,3574,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2733,-0.53,-146.0,412.7,-10.0,354,2744,0.00,2.30,0.00,0.000,6,0.000,0.035,1831,2647,3574,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3042,-0.51,-146.0,445.9,-11.6,385,3052,0.00,2.28,0.00,0.000,4,0.000,0.026,1831,1175,3573,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3068,-0.49,-146.0,448.7,-12.1,387,3075,0.00,2.35,0.00,0.000,6,0.000,0.037,1820,2647,3573,0,0,0,0,0,0,28.83,26.02,28.83
$GC,3376,-0.47,-146.0,492.1,-15.1,418,3378,0.12,0.00,0.00,0.000,6,0.155,0.000,1855,2647,3572,0,0,0,0,0,0,26.21,28.83,28.83
$GC,3675,-0.49,-146.0,523.4,-9.1,448,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2647,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3979,-0.51,-146.0,543.8,-5.1,478,3988,0.00,2.28,0.00,0.000,4,0.000,0.026,1855,1171,3568,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4044,-0.56,-146.0,547.2,-4.8,484,4051,0.00,2.35,0.00,0.000,6,0.000,0.036,1846,2648,3568,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4352,-0.58,-146.0,569.4,-8.7,515,4360,0.00,2.25,0.00,0.000,4,0.000,0.027,1846,1175,3566,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4384,-0.60,-146.0,572.3,-9.0,518,4393,0.00,2.30,0.00,0.000,6,0.000,0.037,1838,2637,3566,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4706,-0.61,-146.0,607.2,-10.5,547,4707,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2637,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5004,-0.63,-146.0,630.0,-6.3,562,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2636,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5305,-0.64,-146.0,653.8,-8.5,577,5310,0.00,2.25,0.00,0.000,4,0.000,0.028,1838,1183,3560,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5352,-0.66,-146.0,656.8,-8.1,579,5356,0.00,2.35,0.00,0.000,6,0.000,0.038,1828,2646,3560,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5660,-0.66,-146.0,681.6,-6.9,594,5666,0.00,2.25,0.00,0.000,4,0.000,0.028,1828,1181,3558,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5687,-0.67,-146.0,683.0,-6.9,595,5691,0.00,2.35,0.00,0.000,6,0.000,0.038,1825,2647,3558,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5994,-0.67,-146.0,707.5,-9.4,610,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2646,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6295,-0.68,-146.0,741.8,-11.9,625,6301,0.10,2.25,0.00,0.000,4,0.092,0.026,1762,1180,3553,0,0,0,0,0,0,26.48,26.03,28.83
$GC,6342,-0.68,-146.0,747.8,-13.1,627,6347,0.15,2.35,0.00,0.000,6,0.135,0.038,1793,2645,3553,0,0,0,0,0,0,25.62,25.88,28.83
$GC,6653,-0.66,-146.0,790.7,-12.7,642,6656,0.00,1.77,0.00,0.000,4,0.000,0.045,1785,3812,3551,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6697,-0.65,-146.0,796.3,-12.6,644,6700,0.00,1.77,0.00,0.000,6,0.000,0.023,1785,2582,3550,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7014,-0.63,-146.0,831.6,-10.1,660,7020,0.00,2.15,0.00,0.000,4,0.000,0.029,1785,1177,3548,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7078,-0.62,-146.0,837.1,-9.3,663,7085,0.12,2.35,0.00,0.000,6,0.130,0.038,1811,2645,3549,0,0,0,0,0,0,25.67,25.86,28.83
$GC,7394,-0.62,-146.0,866.3,-10.4,679,7400,0.00,2.30,0.00,0.000,4,0.000,0.028,1811,1178,3547,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7434,-0.63,-146.0,870.6,-10.7,681,7440,0.00,2.40,0.00,0.000,6,0.000,0.039,1801,2651,3547,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7755,-0.63,-146.0,907.9,-11.4,697,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,2650,3544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8054,-0.63,-146.0,940.6,-10.7,712,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,2650,3543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8355,-0.63,-146.0,969.4,-8.9,727,8360,0.00,2.30,0.00,0.000,4,0.000,0.029,1801,1181,3541,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8423,-0.64,-146.0,974.2,-8.3,730,8427,0.00,2.40,0.00,0.000,6,0.000,0.041,1799,2643,3541,0,0,0,0,0,0,28.83,25.72,28.83
$STATE,8607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8607,begin apogee
$GC,8613,-0.20,0.0,991.1,-8.9,739,8754,0.40,0.15,130.73,1.174,6,0.104,0.074,1938,2531,2971,0,0,0,0,0,0,25.57,24.82,23.29
$STATE,8755,end apogee,CONTROL_FINISHED_OK
$STATE,8755,begin climb
$GC,8757,0.58,146.0,995.6,0.0,746,8914,0.70,2.42,141.40,1.191,4,0.055,0.033,2214,1059,2369,0,0,0,0,0,0,25.23,25.05,23.30
$GC,8978,0.51,146.0,981.2,13.3,757,8984,0.15,2.33,0.00,0.000,6,0.167,0.038,2176,2523,2359,0,0,0,0,0,0,25.32,25.65,28.83
$GC,9298,0.45,146.0,940.4,12.8,773,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2523,2354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9599,0.40,146.0,901.3,13.0,788,9603,0.12,2.05,0.00,0.000,4,0.187,0.041,2139,3823,2352,0,0,0,0,0,0,25.89,25.89,28.83
$GC,9685,0.35,146.0,889.9,13.6,792,9689,0.00,2.05,0.00,0.000,6,0.000,0.027,2149,2455,2350,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9997,0.31,146.0,849.9,12.9,808,10003,0.12,2.17,0.00,0.000,4,0.179,0.041,2113,3822,2349,0,0,0,0,0,0,25.94,25.86,28.83
$GC,10080,0.29,146.0,840.2,12.2,812,10084,0.00,2.08,0.00,0.000,6,0.000,0.027,2123,2455,2348,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10394,0.28,146.0,809.4,9.1,828,10398,0.00,2.15,0.00,0.000,4,0.000,0.034,2133,1056,2348,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10448,0.28,146.0,805.6,9.0,830,10455,0.12,2.33,0.00,0.000,6,0.149,0.038,2101,2528,2346,0,0,0,0,0,0,25.63,25.89,28.83
$GC,10759,0.33,179.4,781.7,7.3,846,10795,0.00,0.00,31.77,1.033,6,0.000,0.000,2101,2528,2240,0,0,0,0,0,0,28.83,28.83,23.91
$GC,11096,0.40,216.3,756.2,7.2,863,11138,0.12,2.10,37.00,1.018,4,0.078,0.045,2182,3813,2091,0,0,0,0,0,0,26.27,25.50,23.83
$GC,11181,0.36,216.3,746.2,12.5,867,11188,0.22,2.08,0.00,0.000,6,0.162,0.027,2132,2463,2076,0,0,0,0,0,0,25.30,25.77,28.83
$GC,11496,0.42,263.1,721.3,6.8,883,11549,0.00,2.22,46.85,0.976,4,0.000,0.045,2132,3811,1898,0,0,0,0,0,0,28.83,25.42,23.79
$GC,11586,0.44,276.7,715.0,8.1,886,11604,0.00,2.08,13.55,0.952,6,0.000,0.026,2142,2462,1850,0,0,0,0,0,0,28.83,25.71,23.83
$GC,11910,0.46,276.7,672.3,14.0,902,11915,0.00,2.17,0.00,0.000,4,0.000,0.035,2153,1058,1827,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11951,0.48,276.7,666.7,13.6,904,11955,0.00,2.30,0.00,0.000,6,0.000,0.037,2153,2525,1825,0,0,0,0,0,0,28.83,25.85,28.83
$GC,12265,0.49,276.7,630.7,9.0,920,12270,0.00,2.03,0.00,0.000,4,0.000,0.046,2153,3807,1825,0,0,0,0,0,0,28.83,25.82,28.83
$GC,12311,0.50,276.7,627.0,8.9,922,12315,0.00,2.03,0.00,0.000,6,0.000,0.027,2163,2459,1825,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12620,0.50,276.7,597.2,10.5,938,12628,0.00,2.15,0.00,0.000,4,0.000,0.046,2164,3815,1824,0,0,0,0,0,0,28.83,25.79,28.83
$GC,12653,0.50,276.7,593.2,11.9,941,12661,0.00,2.08,0.00,0.000,6,0.000,0.028,2174,2469,1824,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12962,0.50,276.7,552.1,13.2,972,12971,0.00,2.17,0.00,0.000,4,0.000,0.044,2174,3814,1824,0,0,0,0,0,0,28.83,25.81,28.83
$GC,13008,0.49,276.7,546.0,14.5,976,13015,0.00,2.05,0.00,0.000,6,0.000,0.027,2185,2461,1824,0,0,0,0,0,0,28.83,26.04,28.83
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$GC,14780,0.59,330.7,353.7,12.5,1152,14789,0.00,2.03,0.00,0.000,4,0.000,0.043,2189,3810,1607,0,0,0,0,0,0,28.83,25.79,28.83
$GC,14855,0.61,330.7,344.6,11.8,1159,14861,0.00,2.05,0.00,0.000,6,0.000,0.025,2200,2457,1606,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,17867,end climb,SURFACE_DEPTH_REACHED
$STATE,17867,begin surface coast
$FINISH,1.4,1.023383
$STATE,17883,end surface coast,CONTROL_FINISHED_OK
$STATE,17883,begin surface
$SM_CCo,17899,37.58,0.119,0,0,1244,425.10
$SM_GC,1.09,5.38,1.85,37.58,0.029,0.024,0.119,121,2579,1244,-5.80,0.17,425.10,0,0,0,0,0,0,26.14,26.20,25.30
$IRIDIUM_FIX,2124.90,12335.62,170212,030337
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.88
$INTERNAL_PRESSURE,9.53517
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.3,103.703
$10V_AH,9.9,63.070
$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,15.650,163.225,466.125,37.575,0.000,33.990,38.382,237.700,0.000,0.000,36.260,4067.545,9987.128,664.713,3244.880,427.796,0.000,2192.126,0.000,2746.219,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,74.205,1191.105,119.340,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1101.112,2075.719,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330432
$DATA_FILE_SIZE,107009,1620
$CAP_FILE_SIZE,192742,0
$CFSIZE,260165632,174546944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.230,246.6,1
$GPS,170212,141331,2138.755,12329.725,71,1.3,72,-2.8