version: 66.12
glider: 171
mission: 9
dive: 268
start: 1 12 116 19 5 42
data:
$ID,171
$MISSION,9
$DIVE,268
$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,48
$R_STBD_OVSHOOT,42
$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
$GPS1,120116,185905,641.9024,8247.8799,43,1.2,43,-2.4,0.0,0.0,8,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.18
$_SM_ANGLEo,-53.4
$GPS2,120116,190529,641.8468,8247.8604,15,1.2,15,-2.4,0.0,0.0,8,9.0
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH2
$TGT_LATLONG,630.000,8240.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,248.4,26279,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.54,-175.2,169,2325,530,459,0.0,0.0,0,166,0.00,0.00,-145.15,0.000,16386,0.000,0.000,168,2325,3062,3083,3041,0,0,0,0,0,0,26.19,28.83,26.25
$GC,169,-0.54,-175.2,168,2326,3085,3041,6.4,-11.8,12,193,6.20,2.38,-10.73,0.000,18692,0.198,1.189,1802,3662,3618,3521,3716,0,0,0,0,0,0,25.27,24.06,25.65
$GC,420,-0.53,-175.2,1802,3662,3522,3717,91.4,-23.4,54,426,0.00,2.10,0.00,0.000,1030,0.000,0.031,1802,2305,3619,3521,3717,0,0,0,0,0,0,26.16,26.13,26.19
$GC,792,-0.53,-175.2,1802,2303,3524,3719,149.2,-14.4,71,798,0.00,2.20,0.00,0.000,260,0.000,0.053,1792,3656,3621,3523,3720,0,0,0,0,0,0,26.63,26.06,26.68
$GC,996,-0.52,-175.2,1792,3656,3524,3719,176.3,-12.4,105,1004,0.08,2.08,0.00,0.000,3078,0.109,0.029,1823,2283,3621,3524,3719,0,0,0,0,0,0,26.10,26.33,26.15
$GC,1369,-0.52,-175.2,1822,2283,3524,3719,210.2,-8.7,122,1376,0.00,2.12,0.00,0.000,516,0.000,0.037,1823,919,3621,3524,3719,0,0,0,0,0,0,26.74,26.27,26.79
$GC,1417,-0.52,-175.2,1823,919,3524,3719,214.3,-8.5,130,1424,0.00,2.17,0.00,0.000,1030,0.000,0.041,1813,2293,3621,3523,3719,0,0,0,0,0,0,26.27,26.22,26.31
$GC,1801,-0.51,-175.2,1812,2293,3524,3714,251.5,-9.7,149,1809,0.00,2.22,0.00,0.000,260,0.000,0.055,1802,3661,3618,3524,3712,0,0,0,0,0,0,26.78,26.15,26.84
$GC,1910,-0.51,-175.2,1802,3661,3524,3710,262.4,-10.2,167,1916,0.00,2.08,0.00,0.000,1030,0.000,0.031,1802,2307,3616,3523,3710,0,0,0,0,0,0,26.44,26.41,26.47
$GC,2308,-0.51,-175.2,1802,2307,3524,3704,301.6,-9.9,183,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2306,3613,3523,3704,0,0,0,0,0,0,26.80,26.87,26.86
$GC,2667,-0.51,-175.2,1802,2306,3524,3698,337.1,-9.7,193,2674,0.10,2.25,0.00,0.000,2308,0.151,0.057,1821,3668,3610,3523,3697,0,0,0,0,0,0,26.50,26.13,26.53
$GC,2703,-0.51,-175.2,1821,3668,3523,3697,340.4,-8.6,199,2710,0.00,2.10,0.00,0.000,1030,0.000,0.032,1821,2311,3609,3523,3696,0,0,0,0,0,0,26.44,26.41,26.46
$GC,3101,-0.51,-175.2,1821,2310,3523,3690,371.2,-7.6,215,3106,0.00,2.17,0.00,0.000,516,0.000,0.043,1821,904,3606,3523,3689,0,0,0,0,0,0,26.82,26.22,26.89
$GC,3159,-0.51,-175.2,1820,904,3524,3689,376.1,-8.1,225,3167,0.00,2.20,0.00,0.000,1030,0.000,0.042,1811,2295,3605,3523,3688,0,0,0,0,0,0,26.28,26.22,26.32
$GC,3533,-0.51,-175.2,1810,2295,3524,3683,410.2,-9.9,237,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2295,3603,3523,3683,0,0,0,0,0,0,26.83,26.90,26.89
$GC,3892,-0.50,-175.2,1810,2295,3524,3678,448.9,-10.9,247,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2295,3600,3523,3677,0,0,0,0,0,0,26.84,26.90,26.89
$GC,4252,-0.50,-175.2,1810,2295,3523,3674,486.2,-9.8,257,4259,0.00,2.17,0.00,0.000,516,0.000,0.039,1810,908,3598,3523,3674,0,0,0,0,0,0,26.84,26.23,26.89
$GC,4307,-0.50,-175.2,1810,909,3524,3674,491.5,-9.7,266,4314,0.08,2.20,0.00,0.000,3078,0.115,0.043,1831,2298,3598,3523,3673,0,0,0,0,0,0,26.03,26.22,26.09
$GC,4686,-0.50,-175.2,1830,2298,3523,3669,518.4,-6.6,279,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2298,3596,3523,3669,0,0,0,0,0,0,26.84,26.91,26.90
$GC,5046,-0.50,-175.2,1830,2298,3523,3665,541.3,-6.4,289,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2298,3594,3523,3665,0,0,0,0,0,0,26.84,26.91,26.89
$GC,5405,-0.50,-175.2,1831,2298,3523,3662,566.1,-7.2,299,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2298,3592,3522,3662,0,0,0,0,0,0,26.84,26.91,26.90
$GC,5766,-0.50,-175.2,1830,2298,3523,3658,593.7,-7.8,309,5773,0.00,2.20,0.00,0.000,516,0.000,0.038,1831,902,3589,3522,3657,0,0,0,0,0,0,26.84,26.22,26.89
$GC,5807,-0.50,-175.2,1831,902,3522,3658,597.1,-8.1,316,5814,0.00,2.22,0.00,0.000,1030,0.000,0.043,1822,2303,3589,3522,3657,0,0,0,0,0,0,26.22,26.17,26.27
$GC,6199,-0.50,-175.2,1821,2303,3523,3655,629.4,-8.1,331,6204,0.00,2.17,0.00,0.000,516,0.000,0.041,1822,907,3588,3522,3655,0,0,0,0,0,0,26.84,26.16,26.90
$GC,6234,-0.50,-175.2,1822,907,3522,3655,632.4,-8.7,337,6241,0.00,2.22,0.00,0.000,1030,0.000,0.044,1812,2305,3588,3522,3655,0,0,0,0,0,0,26.21,26.15,26.25
$GC,6631,-0.50,-175.2,1811,2305,3522,3652,666.9,-8.9,353,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2304,3587,3522,3652,0,0,0,0,0,0,26.84,26.91,26.89
$GC,6990,-0.50,-175.2,1812,2305,3522,3650,699.5,-8.9,363,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2304,3585,3522,3649,0,0,0,0,0,0,26.84,26.91,26.89
$GC,7350,-0.50,-175.2,1811,2305,3522,3648,729.5,-8.0,373,7358,0.00,2.20,0.00,0.000,516,0.000,0.041,1812,920,3584,3521,3647,0,0,0,0,0,0,26.84,26.11,26.89
$GC,7381,-0.50,-175.2,1811,920,3522,3648,732.0,-8.2,378,7389,0.08,2.20,0.00,0.000,3078,0.111,0.044,1832,2298,3584,3521,3647,0,0,0,0,0,0,25.94,26.13,26.00
$GC,7749,-0.50,-175.2,1831,2298,3521,3645,754.7,-5.8,389,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2298,3583,3521,3645,0,0,0,0,0,0,26.84,26.91,26.89
$GC,8108,-0.51,-175.2,1831,2298,3522,3643,774.7,-5.5,399,8114,0.00,2.20,0.00,0.000,516,0.000,0.038,1832,902,3582,3521,3643,0,0,0,0,0,0,26.84,26.14,26.89
$GC,8144,-0.51,-175.2,1832,902,3520,3643,777.0,-6.3,405,8151,0.00,2.25,0.00,0.000,1030,0.000,0.044,1823,2304,3581,3520,3642,0,0,0,0,0,0,26.15,26.10,26.20
$GC,8541,-0.51,-175.2,1823,2305,3520,3641,802.6,-6.7,421,8548,0.00,2.17,0.00,0.000,516,0.000,0.043,1823,910,3580,3520,3640,0,0,0,0,0,0,26.84,26.08,26.89
$GC,8572,-0.51,-175.2,1823,912,3521,3641,804.8,-7.8,426,8578,0.00,2.20,0.00,0.000,1030,0.000,0.045,1813,2307,3580,3520,3640,0,0,0,0,0,0,26.17,26.06,26.22
$GC,8937,-0.51,-175.2,1812,2307,3521,3640,832.5,-7.7,437,8944,0.00,2.25,0.00,0.000,516,0.000,0.042,1813,907,3579,3520,3639,0,0,0,0,0,0,26.83,26.06,26.89
$GC,8967,-0.51,-175.2,1813,907,3520,3639,834.9,-7.9,442,8975,0.00,2.25,0.00,0.000,1030,0.000,0.045,1802,2307,3579,3519,3639,0,0,0,0,0,0,26.10,26.05,26.15
$GC,9334,-0.51,-175.2,1803,2308,3520,3638,864.5,-7.9,453,9336,0.10,0.00,0.00,0.000,2054,0.147,0.000,1831,2307,3578,3519,3637,0,0,0,0,0,0,26.51,26.55,26.53
$GC,9695,-0.51,-175.2,1831,2308,3520,3637,886.9,-6.0,463,9700,0.00,2.20,0.00,0.000,516,0.000,0.043,1832,905,3577,3519,3636,0,0,0,0,0,0,26.84,26.04,26.89
$GC,9730,-0.51,-175.2,1831,906,3518,3637,889.1,-6.2,469,9737,0.00,2.22,0.00,0.000,1030,0.000,0.045,1822,2315,3577,3517,3637,0,0,0,0,0,0,26.15,26.03,26.20
$GC,10127,-0.51,-175.2,1822,2316,3517,3636,914.5,-6.4,485,10133,0.00,2.20,0.00,0.000,516,0.000,0.040,1822,902,3576,3517,3636,0,0,0,0,0,0,26.83,26.06,26.89
$GC,10169,-0.52,-175.2,1823,902,3515,3636,917.4,-6.6,492,10175,0.00,2.25,0.00,0.000,1030,0.000,0.044,1812,2302,3576,3516,3636,0,0,0,0,0,0,26.08,26.04,26.24
$GC,10559,-0.52,-175.2,1812,2303,3517,3635,945.5,-7.4,507,10565,0.00,2.17,0.00,0.000,516,0.000,0.042,1812,910,3575,3516,3635,0,0,0,0,0,0,26.83,26.01,26.89
$GC,10613,-0.52,-175.2,1812,910,3516,3635,950.0,-8.4,516,10619,0.00,2.25,0.00,0.000,1030,0.000,0.045,1802,2304,3575,3516,3635,0,0,0,0,0,0,26.05,26.00,26.10
$GC,10991,-0.52,-175.2,1801,2304,3516,3634,982.0,-8.7,529,10992,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2304,3574,3515,3634,0,0,0,0,0,0,26.82,26.90,26.89
$STATE,11096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11096,begin apogee
$GC,11102,-0.11,0.0,1802,1954,3516,3634,991.1,-8.6,532,11252,0.47,0.00,146.23,1.008,10246,0.094,0.000,1963,1951,2897,2923,2872,0,0,0,0,0,0,25.84,24.56,23.49
$STATE,11253,end apogee,CONTROL_FINISHED_OK
$STATE,11253,begin climb
$GC,11255,0.54,175.2,1963,1951,2921,2868,996.8,0.0,536,11419,0.57,2.42,153.68,0.995,11012,0.067,0.052,2173,3372,2179,2247,2112,0,0,0,0,0,0,24.96,24.46,23.42
$GC,11448,0.58,198.6,2173,3373,2242,2109,988.8,7.1,570,11475,0.00,2.33,21.77,0.915,9222,0.000,0.033,2181,1963,2087,2147,2028,0,0,0,0,0,0,25.15,25.12,23.68
$GC,11859,0.58,199.5,2181,1963,2135,2018,957.9,7.8,588,11860,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,1963,2076,2134,2018,0,0,0,0,0,0,26.29,26.36,26.36
$GC,12218,0.58,205.7,2181,1963,2133,2017,930.0,7.7,598,12231,0.00,2.30,6.62,0.718,8452,0.000,0.051,2181,3377,2058,2116,2000,0,0,0,0,0,0,26.48,25.72,24.53
$GC,12254,0.58,205.7,2181,3378,2114,1999,926.9,8.1,604,12261,0.00,2.25,0.00,0.000,1030,0.000,0.033,2183,1960,2056,2114,1998,0,0,0,0,0,0,26.14,26.10,26.17
$GC,12652,0.61,225.6,2184,1961,2110,1997,897.8,7.2,620,12674,0.00,0.00,20.33,0.870,8198,0.000,0.000,2183,1960,1978,2037,1919,0,0,0,0,0,0,26.56,25.58,24.60
$GC,13011,0.64,246.0,2183,1961,2026,1912,871.8,7.2,630,13033,0.00,0.00,20.17,0.851,8198,0.000,0.000,2183,1960,1894,1955,1834,0,0,0,0,0,0,26.47,25.51,24.56
$GC,13370,0.64,246.0,2183,1961,1950,1826,844.0,8.0,640,13377,0.00,2.35,0.00,0.000,260,0.000,0.050,2184,3379,1887,1949,1826,0,0,0,0,0,0,26.44,25.96,26.51
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$GC,22325,1.09,547.2,2291,565,1234,1056,60.7,4.2,1054,22472,0.12,2.20,119.85,0.371,11270,0.049,0.032,2366,1960,665,715,616,0,0,0,0,3,0,25.95,26.00,24.79
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$STATE,22853,end climb,SURFACE_DEPTH_REACHED
$STATE,22853,begin surface coast
$FINISH,0.9,1.021458
$STATE,22865,end surface coast,CONTROL_FINISHED_OK
$STATE,22865,begin surface
$SM_CCo,22882,39.03,0.262,1,0,505,587.25
$SM_GC,-0.58,5.60,1.67,39.03,0.024,0.034,0.262,168,2306,505,-5.66,1.53,587.25,0,0,0,0,1,0,26.18,26.10,24.96
$IRIDIUM_FIX,639.89,8246.84,120116,122932
$TT8_MAMPS,0.051681,0.051681
$HUMID,50.66
$INTERNAL_PRESSURE,9.44718
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,3917152
$24V_AH,23.42,40.845
$10V_AH,9.99,24.993
$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,13.925,150.950,702.275,39.025,0.000,0.000,0.000,224.200,0.000,0.000,16.093,0.000,19406.227,1207.294,2257.184,420.173,0.000,2253.465,0.000,1647.028,0.000,0.539,0.000
$DEVICE_MAMPS,198.135,1188.810,1007.505,261.630,0.000,0.000,0.000,124.695,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22888.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.827,0.000,0.000,0.000
$MEM,261192
$DATA_FILE_SIZE,40008,1114
$CAP_FILE_SIZE,194144,0
$CFSIZE,260034560,225460224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$CURRENT,0.166,62.30,1
$GPS,130116,012939,641.452,8246.881,86,0.9,86,-2.4,0.6,273.2,9,6.9