version: 66.12
glider: 171
mission: 9
dive: 92
start: 11 26 115 7 13 18
data:
$ID,171
$MISSION,9
$DIVE,92
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1015
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,420
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-6
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52091
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,587.06018
$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,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,175
$PITCH_MAX,3952
$C_PITCH,1997
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2305
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3820
$C_VBD,2899
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-75.620842
$PRESSURE_SLOPE,0.0001165165
$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,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,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,0.004389904
$SEABIRD_T_H,0.00063959236
$SEABIRD_T_I,2.6546981e-05
$SEABIRD_T_J,3.01253e-06
$SEABIRD_C_G,-10.191363
$SEABIRD_C_H,1.1409097
$SEABIRD_C_I,-0.0015713738
$SEABIRD_C_J,0.00020770991
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,261115,070722,758.7423,8442.4658,40,0.8,40,-2.0,0.0,0.0,9,6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.45
$_SM_ANGLEo,-52.2
$GPS2,261115,071306,758.7259,8442.4463,13,1.3,13,-2.0,0.0,0.0,5,9.8
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,267.3,328283,-12.3,-7.857,-16.95,3372
$D_GRID,1020
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-0.54,-175.2,175,2319,546,463,0.0,0.0,0,165,0.00,0.00,-146.68,0.000,16386,0.000,0.000,174,2319,3052,3076,3028,0,0,0,0,0,0,26.26,28.83,26.32
$GC,168,-0.54,-175.2,175,2320,3078,3028,5.6,-10.9,12,191,6.07,2.35,-11.43,0.000,18692,0.203,1.228,1809,3656,3617,3480,3754,0,0,0,0,0,0,25.80,24.63,26.08
$GC,400,-0.53,-175.2,1807,3657,3480,3758,81.7,-24.2,51,408,0.00,2.05,0.00,0.000,1030,0.000,0.031,1807,2313,3619,3480,3758,0,0,0,0,0,0,26.31,26.28,26.33
$GC,766,-0.52,-175.2,1807,2311,3481,3763,141.4,-14.3,67,773,0.00,2.20,0.00,0.000,260,0.000,0.057,1797,3661,3622,3481,3763,0,0,0,0,0,0,26.65,26.35,26.71
$GC,892,-0.52,-175.2,1797,3661,3480,3764,158.1,-13.6,88,900,0.08,2.08,0.00,0.000,3078,0.115,0.033,1827,2304,3622,3481,3764,0,0,0,0,0,0,26.32,26.46,26.39
$GC,1270,-0.52,-175.2,1826,2305,3481,3765,199.7,-10.4,106,1277,0.00,2.20,0.00,0.000,260,0.000,0.057,1817,3656,3623,3481,3765,0,0,0,0,0,0,26.77,26.46,26.82
$GC,1312,-0.52,-175.2,1816,3656,3481,3765,204.0,-10.4,113,1321,0.00,2.08,0.00,0.000,1030,0.000,0.031,1817,2301,3623,3481,3765,0,0,0,0,0,0,26.60,26.55,26.62
$GC,1678,-0.51,-175.2,1816,2301,3481,3765,241.4,-10.4,129,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2301,3622,3480,3765,0,0,0,0,0,0,26.82,26.89,26.87
$GC,2062,-0.51,-175.2,1816,2301,3481,3759,278.9,-9.2,141,2070,0.00,2.20,0.00,0.000,260,0.000,0.060,1807,3654,3619,3480,3758,0,0,0,0,0,0,26.85,26.54,26.91
$GC,2128,-0.51,-175.2,1807,3655,3481,3758,285.0,-9.0,152,2137,0.00,2.05,0.00,0.000,1030,0.000,0.031,1807,2302,3618,3480,3757,0,0,0,0,0,0,26.67,26.65,26.69
$GC,2495,-0.51,-175.2,1806,2301,3481,3751,320.1,-9.6,163,2501,0.00,2.15,0.00,0.000,516,0.000,0.041,1807,908,3615,3480,3751,0,0,0,0,0,0,26.87,26.60,26.94
$GC,2530,-0.51,-175.2,1807,908,3480,3751,323.7,-10.4,169,2539,0.08,2.17,0.00,0.000,3078,0.119,0.045,1828,2291,3615,3480,3750,0,0,0,0,0,0,26.48,26.59,26.56
$GC,2927,-0.51,-175.2,1828,2291,3480,3745,356.6,-8.3,185,2935,0.00,2.25,0.00,0.000,260,0.000,0.062,1818,3668,3612,3480,3744,0,0,0,0,0,0,26.89,26.56,26.95
$GC,2964,-0.51,-175.2,1818,3668,3481,3744,359.7,-9.0,191,2971,0.00,2.10,0.00,0.000,1030,0.000,0.034,1818,2306,3611,3480,3743,0,0,0,0,0,0,26.72,26.66,26.74
$GC,3361,-0.51,-175.2,1818,2306,3480,3738,394.5,-8.7,207,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2306,3608,3479,3738,0,0,0,0,0,0,26.90,26.97,26.96
$GC,3720,-0.51,-175.2,1818,2305,3480,3734,425.0,-8.3,217,3727,0.00,2.17,0.00,0.000,516,0.000,0.041,1818,904,3605,3478,3733,0,0,0,0,0,0,26.91,26.64,26.97
$GC,3750,-0.51,-175.2,1818,904,3479,3733,427.6,-9.4,222,3758,0.00,2.20,0.00,0.000,1030,0.000,0.046,1808,2299,3605,3479,3732,0,0,0,0,0,0,26.67,26.62,26.70
$GC,4117,-0.50,-175.2,1808,2299,3480,3728,460.0,-8.7,233,4124,0.00,2.22,0.00,0.000,260,0.000,0.063,1798,3673,3603,3479,3728,0,0,0,0,0,0,26.92,26.59,26.98
$GC,4153,-0.50,-175.2,1797,3673,3479,3727,463.4,-9.6,239,4160,0.08,2.10,0.00,0.000,3078,0.108,0.035,1829,2298,3603,3479,3727,0,0,0,0,0,0,26.54,26.69,26.62
$GC,4549,-0.50,-175.2,1828,2298,3480,3723,493.7,-7.6,255,4556,0.00,2.17,0.00,0.000,516,0.000,0.042,1829,911,3600,3479,3722,0,0,0,0,0,0,26.92,26.62,26.98
$GC,4585,-0.50,-175.2,1830,911,3479,3722,496.4,-7.5,261,4593,0.00,2.20,0.00,0.000,1030,0.000,0.047,1821,2301,3600,3479,3722,0,0,0,0,0,0,26.67,26.63,26.71
$GC,4982,-0.50,-175.2,1820,2301,3480,3718,529.3,-8.4,277,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2301,3598,3479,3718,0,0,0,0,0,0,26.92,27.00,26.98
$GC,5341,-0.50,-175.2,1821,2302,3479,3713,559.3,-8.1,287,5348,0.00,2.20,0.00,0.000,516,0.000,0.041,1821,902,3596,3479,3714,0,0,0,0,0,0,26.93,26.63,26.98
$GC,5365,-0.50,-175.2,1821,902,3479,3714,561.3,-8.2,291,5372,0.00,2.20,0.00,0.000,1030,0.000,0.045,1811,2300,3596,3479,3714,0,0,0,0,0,0,26.67,26.63,26.71
$GC,5737,-0.50,-175.2,1811,2300,3479,3711,592.1,-8.0,303,5738,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2300,3594,3479,3710,0,0,0,0,0,0,26.93,27.00,26.99
$GC,6097,-0.50,-175.2,1810,2300,3479,3708,619.2,-7.3,313,6105,0.00,2.15,0.00,0.000,516,0.000,0.041,1811,920,3593,3479,3707,0,0,0,0,0,0,26.93,26.64,26.99
$GC,6145,-0.50,-175.2,1810,920,3479,3708,622.9,-7.7,321,6154,0.08,2.20,0.00,0.000,3078,0.117,0.047,1831,2309,3593,3479,3707,0,0,0,0,0,0,26.51,26.63,26.60
$GC,6531,-0.50,-175.2,1831,2310,3479,3705,648.1,-6.7,335,6537,0.00,2.20,0.00,0.000,516,0.000,0.044,1832,908,3591,3478,3704,0,0,0,0,0,0,26.94,26.62,26.99
$GC,6561,-0.50,-175.2,1832,908,3478,3705,650.0,-6.9,340,6569,0.00,2.22,0.00,0.000,1030,0.000,0.047,1824,2310,3592,3479,3705,0,0,0,0,0,0,26.66,26.61,26.70
$GC,6927,-0.50,-175.2,1824,2310,3478,3701,676.5,-7.2,351,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2310,3589,3478,3701,0,0,0,0,0,0,26.93,27.00,26.99
$GC,7287,-0.50,-175.2,1824,2311,3478,3700,702.0,-7.0,361,7294,0.00,2.20,0.00,0.000,516,0.000,0.044,1824,911,3588,3478,3699,0,0,0,0,0,0,26.93,26.62,26.99
$GC,7329,-0.50,-175.2,1824,911,3478,3699,705.1,-7.0,368,7336,0.00,2.22,0.00,0.000,1030,0.000,0.047,1814,2304,3589,3479,3699,0,0,0,0,0,0,26.70,26.61,26.74
$GC,7720,-0.50,-175.2,1814,2305,3478,3697,734.7,-7.8,383,7726,0.00,2.17,0.00,0.000,516,0.000,0.044,1814,923,3587,3478,3697,0,0,0,0,0,0,26.93,26.61,26.99
$GC,7748,-0.50,-175.2,1813,923,3479,3697,736.9,-8.5,388,7757,0.00,2.22,0.00,0.000,1030,0.000,0.047,1804,2313,3587,3478,3697,0,0,0,0,0,0,26.70,26.60,26.74
$GC,8115,-0.50,-175.2,1802,2313,3478,3694,766.4,-7.9,399,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2313,3585,3477,3694,0,0,0,0,0,0,26.93,27.00,26.99
$GC,8475,-0.50,-175.2,1804,2313,3477,3693,793.9,-7.6,409,8483,0.00,2.20,0.00,0.000,516,0.000,0.042,1804,908,3584,3477,3692,0,0,0,0,0,0,26.94,26.62,26.99
$GC,8511,-0.50,-175.2,1804,909,3477,3693,796.7,-7.9,415,8519,0.12,2.25,0.00,0.000,3078,0.138,0.047,1831,2315,3584,3476,3692,0,0,0,0,0,0,26.52,26.60,26.65
$GC,8908,-0.51,-175.2,1831,2315,3477,3691,821.5,-6.3,431,8909,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2316,3583,3476,3690,0,0,0,0,0,0,26.93,27.00,26.99
$GC,9268,-0.51,-175.2,1831,2315,3476,3689,845.3,-6.7,441,9275,0.00,2.20,0.00,0.000,516,0.000,0.041,1831,909,3582,3476,3688,0,0,0,0,0,0,26.94,26.61,26.99
$GC,9341,-0.51,-175.2,1831,910,3476,3689,850.6,-7.7,453,9348,0.00,2.22,0.00,0.000,1030,0.000,0.047,1823,2310,3582,3476,3688,0,0,0,0,0,0,26.65,26.60,26.70
$GC,9737,-0.51,-175.2,1822,2310,3476,3687,879.5,-7.4,469,9744,0.00,2.20,0.00,0.000,516,0.000,0.044,1823,911,3581,3476,3687,0,0,0,0,0,0,26.93,26.60,26.99
$GC,9779,-0.51,-175.2,1822,911,3477,3687,882.6,-7.5,476,9786,0.00,2.22,0.00,0.000,1030,0.000,0.048,1813,2311,3581,3475,3687,0,0,0,0,0,0,26.65,26.59,26.69
$GC,10169,-0.51,-175.2,1813,2311,3476,3686,913.6,-8.0,491,10176,0.00,2.20,0.00,0.000,516,0.000,0.044,1813,914,3580,3476,3685,0,0,0,0,0,0,26.93,26.59,26.99
$GC,10199,-0.51,-175.2,1812,914,3476,3685,916.2,-9.2,496,10207,0.00,2.22,0.00,0.000,1030,0.000,0.049,1803,2309,3580,3476,3685,0,0,0,0,0,0,26.64,26.58,26.68
$GC,10565,-0.51,-175.2,1802,2309,3476,3684,945.7,-7.9,507,10567,0.10,0.00,0.00,0.000,2054,0.150,0.000,1831,2309,3580,3476,3684,0,0,0,0,0,0,26.64,26.74,26.71
$GC,10925,-0.51,-175.2,1831,2309,3476,3683,968.4,-6.1,517,10933,0.00,2.20,0.00,0.000,516,0.000,0.045,1832,911,3579,3476,3682,0,0,0,0,0,0,26.93,26.58,26.99
$GC,11003,-0.51,-175.2,1832,911,3476,3683,973.4,-6.5,530,11010,0.00,2.22,0.00,0.000,1030,0.000,0.049,1824,2308,3579,3476,3682,0,0,0,0,0,0,26.63,26.58,26.68
$STATE,11284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11284,begin apogee
$GC,11288,-0.11,0.0,1824,1958,3476,3682,990.9,-6.1,542,11450,0.40,0.00,153.80,1.144,10246,0.095,0.000,1962,1957,2899,2921,2878,0,0,0,0,1,0,26.51,24.56,23.34
$STATE,11452,end apogee,CONTROL_FINISHED_OK
$STATE,11452,begin climb
$GC,11453,0.54,175.2,1961,1957,2922,2878,994.8,0.0,546,11617,0.57,2.45,154.05,1.016,11012,0.070,0.053,2169,3375,2181,2250,2112,0,0,0,0,0,0,24.92,24.56,23.56
$GC,11658,0.54,175.2,2169,3376,2245,2110,983.5,8.2,579,11665,0.00,2.30,0.00,0.000,1030,0.000,0.032,2171,1964,2176,2243,2109,0,0,0,0,0,0,25.30,25.27,25.32
$GC,12042,0.55,182.4,2171,1964,2241,2106,953.9,7.6,593,12055,0.00,2.35,6.32,0.852,8452,0.000,0.053,2171,3378,2152,2217,2087,0,0,0,0,0,0,26.29,25.79,24.79
$GC,12072,0.55,182.4,2171,3379,2215,2087,951.4,8.0,598,12080,0.00,2.25,0.00,0.000,1030,0.000,0.032,2172,1952,2151,2215,2087,0,0,0,0,0,0,26.04,26.01,26.06
$GC,12439,0.58,206.0,2171,1953,2211,2087,924.8,7.1,609,12471,0.00,2.40,22.27,0.969,8452,0.000,0.054,2172,3377,2057,2116,1998,0,0,0,0,0,0,26.48,25.60,24.45
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$GC,17727,0.64,262.7,2220,1965,1883,1757,418.1,9.9,790,17733,0.00,2.22,0.00,0.000,516,0.000,0.045,2221,557,1819,1882,1757,0,0,0,0,0,0,26.87,26.59,26.94
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$STATE,22731,end climb,SURFACE_DEPTH_REACHED
$STATE,22732,begin surface coast
$FINISH,0.0,1.021538
$STATE,22755,end surface coast,CONTROL_FINISHED_OK
$STATE,22755,begin surface
$SM_CCo,22769,84.60,0.052,0,0,503,587.25
$SM_GC,-0.90,5.38,1.62,84.60,0.031,0.033,0.052,170,2308,503,-5.67,1.78,587.25,0,0,0,0,0,0,26.60,26.56,26.39
$IRIDIUM_FIX,755.99,8448.14,261115,002530
$TT8_MAMPS,0.050932,0.050932
$HUMID,47.91
$INTERNAL_PRESSURE,9.42765
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3984736
$24V_AH,23.34,14.932
$10V_AH,10.18,10.168
$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,13.350,141.425,491.525,84.600,0.000,0.000,0.000,216.400,0.000,0.000,14.331,0.000,19592.561,1107.854,2196.096,283.500,0.000,2057.305,0.000,1582.068,0.000,0.539,0.000
$DEVICE_MAMPS,202.725,1227.825,1143.675,52.020,0.000,0.000,0.000,123.165,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22775.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.871,0.000,0.000,0.000
$MEM,260796
$DATA_FILE_SIZE,39988,1072
$CAP_FILE_SIZE,191506,0
$CFSIZE,260034560,242163712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.058,344.14,1
$GPS,261115,133504,759.036,8438.266,29,1.2,29,-2.0,0.0,0.0,7,9.0