version: 66.10
glider: 176
mission: 5
dive: 143
start: 4 8 112 2 55 58
data:
$ID,176
$MISSION,5
$DIVE,143
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,0
$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,440
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51719
$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,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,-7608.645
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2510
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2610
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2929
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.662712
$PRESSURE_SLOPE,0.0001162977
$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,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$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,0.0043285224
$SEABIRD_T_H,0.00062606536
$SEABIRD_T_I,2.5051821e-05
$SEABIRD_T_J,2.9112039e-06
$SEABIRD_C_G,-10.134115
$SEABIRD_C_H,1.1528351
$SEABIRD_C_I,-0.0013358581
$SEABIRD_C_J,0.00019115997
$GPS1,080412,024737,2005.808,12401.490,30,1.9,30,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-69.1
$GPS2,080412,025532,2005.854,12401.494,12,1.8,12,-2.5
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,46.6,36343,-13.1,-7.500
$D_GRID,5474
$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,-0.51,-146.0,0.0,0.0,0,67,0.00,0.00,-48.10,0.000,2,0.000,0.000,179,2644,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.51,-146.0,3.4,-6.9,8,106,8.60,1.75,-18.27,0.000,4,0.232,0.068,2336,3763,3526,0,0,0,0,0,0,25.39,25.96,26.41
$GC,119,-0.51,-146.0,15.5,-24.7,13,127,0.05,1.70,0.00,0.000,6,0.238,0.022,2348,2488,3526,0,0,0,0,0,0,25.98,26.20,28.83
$GC,431,-0.51,-146.0,106.4,-25.4,74,438,0.00,1.98,0.00,0.000,4,0.000,0.050,2339,3779,3526,0,0,0,0,0,0,28.83,26.10,28.83
$GC,516,-0.51,-146.0,125.8,-18.4,90,523,0.00,1.75,0.00,0.000,6,0.000,0.024,2339,2537,3526,0,0,0,0,0,0,28.83,26.38,28.83
$GC,826,-0.51,-146.0,192.4,-20.3,151,833,0.00,1.98,0.00,0.000,4,0.000,0.026,2340,1141,3527,0,0,0,0,0,0,28.83,26.38,28.83
$GC,851,-0.51,-146.0,197.1,-20.6,155,858,0.08,2.28,0.00,0.000,6,0.197,0.047,2350,2631,3527,0,0,0,0,0,0,26.10,26.23,28.83
$GC,1160,-0.51,-146.0,251.6,-17.1,187,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2632,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1464,-0.51,-146.0,304.8,-17.5,217,1473,0.00,2.08,0.00,0.000,4,0.000,0.026,2350,1156,3527,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1546,-0.51,-146.0,317.6,-13.9,225,1556,0.00,2.25,0.00,0.000,6,0.000,0.047,2348,2634,3527,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1858,-0.51,-146.0,363.6,-14.1,256,1866,0.00,2.08,0.00,0.000,4,0.000,0.024,2347,1146,3526,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1911,-0.51,-146.0,370.6,-12.9,261,1920,0.00,2.28,0.00,0.000,6,0.000,0.047,2345,2640,3526,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2219,-0.51,-146.0,415.2,-14.3,292,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2640,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2520,-0.51,-146.0,454.4,-12.1,322,2529,0.00,2.10,0.00,0.000,4,0.000,0.024,2345,1150,3523,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2615,-0.51,-146.0,464.0,-9.3,331,2622,0.08,2.25,0.00,0.000,6,0.181,0.046,2356,2634,3524,0,0,0,0,0,0,26.22,26.34,28.83
$GC,2923,-0.51,-146.0,495.7,-10.8,362,2927,0.05,1.73,0.00,0.000,4,0.180,0.053,2293,3776,3522,0,0,0,0,0,0,26.68,26.27,28.83
$GC,2965,-0.51,-146.0,502.0,-14.6,366,2975,0.20,1.73,0.00,0.000,6,0.135,0.023,2357,2484,3522,0,0,0,0,0,0,26.14,26.61,28.83
$GC,3275,-0.51,-146.0,538.0,-11.1,397,3279,0.08,1.88,0.00,0.000,4,0.134,0.024,2302,1140,3519,0,0,0,0,0,0,26.66,26.52,28.83
$GC,3382,-0.51,-146.0,552.3,-13.9,407,3389,0.20,2.25,0.00,0.000,6,0.141,0.044,2353,2628,3519,0,0,0,0,0,0,26.04,26.34,28.83
$GC,3688,-0.51,-146.0,587.3,-10.7,438,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2628,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3988,-0.51,-146.0,617.7,-9.6,459,3994,0.00,2.10,0.00,0.000,4,0.000,0.025,2353,1151,3516,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4048,-0.51,-146.0,623.2,-9.4,462,4054,0.00,2.28,0.00,0.000,6,0.000,0.047,2348,2630,3515,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4368,-0.51,-146.0,655.3,-10.2,478,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2630,3513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4668,-0.51,-146.0,682.6,-8.2,493,4674,0.00,2.15,0.00,0.000,4,0.000,0.025,2348,1141,3510,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4690,-0.51,-146.0,684.3,-8.3,494,4694,0.00,2.30,0.00,0.000,6,0.000,0.047,2348,2633,3510,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5003,-0.51,-146.0,711.3,-9.3,510,5009,0.00,2.12,0.00,0.000,4,0.000,0.025,2348,1144,3508,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5036,-0.51,-146.0,713.3,-9.5,511,5043,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2632,3508,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5343,-0.51,-146.0,745.0,-10.1,527,5348,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1145,3506,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5395,-0.51,-146.0,749.0,-10.3,529,5404,0.00,2.30,0.00,0.000,6,0.000,0.048,2347,2633,3505,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5703,-0.51,-146.0,781.1,-9.8,545,5709,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1148,3503,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5725,-0.51,-146.0,783.1,-9.7,546,5729,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2627,3503,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6038,-0.51,-146.0,810.1,-7.9,562,6044,0.00,2.15,0.00,0.000,4,0.000,0.026,2347,1143,3502,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6078,-0.51,-146.0,813.1,-7.7,564,6084,0.00,2.28,0.00,0.000,6,0.000,0.048,2347,2625,3502,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6399,-0.51,-146.0,836.7,-7.5,580,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2626,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6698,-0.51,-146.0,860.2,-8.3,595,6703,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1145,3498,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6738,-0.51,-146.0,863.6,-8.5,597,6744,0.00,2.30,0.00,0.000,6,0.000,0.048,2347,2626,3498,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7058,-0.51,-146.0,889.7,-8.0,613,7063,0.00,2.12,0.00,0.000,4,0.000,0.025,2347,1146,3496,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7085,-0.51,-146.0,891.5,-8.2,614,7090,0.00,2.30,0.00,0.000,6,0.000,0.048,2347,2632,3496,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7394,-0.51,-146.0,916.5,-7.9,629,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2633,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7693,-0.51,-146.0,939.7,-7.3,644,7698,0.00,2.15,0.00,0.000,4,0.000,0.027,2347,1155,3493,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7734,-0.51,-146.0,942.7,-7.5,646,7740,0.00,2.28,0.00,0.000,6,0.000,0.049,2347,2626,3493,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8053,-0.51,-146.0,964.7,-6.8,662,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2627,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8353,-0.51,-146.0,983.8,-6.2,677,8358,0.00,2.12,0.00,0.000,4,0.000,0.026,2347,1148,3491,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8394,-0.51,-146.0,986.2,-6.2,679,8399,0.00,2.28,0.00,0.000,6,0.000,0.050,2347,2625,3491,0,0,0,0,0,0,28.83,26.12,28.83
$STATE,8471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8471,begin apogee
$GC,8476,-0.17,0.0,991.0,-5.9,683,8607,0.32,0.12,121.90,1.743,6,0.109,0.096,2462,2535,2929,0,0,0,0,0,0,26.01,24.51,23.41
$STATE,8608,end apogee,CONTROL_FINISHED_OK
$STATE,8608,begin climb
$GC,8610,0.51,146.0,993.5,0.0,689,8758,0.60,2.45,139.20,1.702,4,0.050,0.033,2710,1063,2332,0,0,0,0,0,0,24.80,23.87,22.69
$GC,8852,0.51,146.0,972.1,15.2,702,8858,0.12,2.38,0.00,0.000,6,0.170,0.047,2674,2517,2324,0,0,0,0,0,0,24.63,24.91,28.83
$GC,9171,0.51,146.0,925.7,14.2,718,9172,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2516,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9471,0.51,146.0,883.9,13.5,733,9474,0.00,1.95,0.00,0.000,4,0.000,0.057,2674,3764,2320,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9515,0.51,146.0,878.4,14.5,735,9520,0.08,1.92,0.00,0.000,6,0.243,0.026,2669,2439,2318,0,0,0,0,0,0,25.82,26.10,28.83
$GC,9828,0.51,146.0,837.2,12.2,751,9833,0.00,2.03,0.00,0.000,4,0.000,0.031,2679,1055,2317,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9875,0.51,146.0,832.6,11.9,753,9879,0.00,2.25,0.00,0.000,6,0.000,0.047,2679,2516,2317,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10188,0.51,146.0,793.1,12.1,769,10194,0.00,2.15,0.00,0.000,4,0.000,0.031,2689,1053,2317,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10228,0.51,146.0,788.4,11.9,771,10234,0.10,2.28,0.00,0.000,6,0.191,0.047,2667,2518,2316,0,0,0,0,0,0,25.85,26.08,28.83
$GC,10548,0.51,146.0,752.7,10.5,787,10552,0.00,1.92,0.00,0.000,4,0.000,0.057,2666,3771,2316,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10577,0.51,146.0,750.1,10.6,788,10581,0.00,1.92,0.00,0.000,6,0.000,0.025,2676,2443,2315,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10890,0.51,146.0,713.8,11.5,804,10891,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2438,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11191,0.51,146.0,682.2,10.2,819,11192,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2438,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11489,0.51,146.0,650.7,10.9,834,11495,0.00,2.05,0.00,0.000,4,0.000,0.054,2676,3765,2313,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11582,0.51,146.0,640.3,13.1,838,11591,0.10,1.90,0.00,0.000,6,0.216,0.024,2664,2441,2313,0,0,0,0,0,0,25.98,26.39,28.83
$GC,11890,0.51,146.0,606.2,10.7,854,11896,0.00,2.03,0.00,0.000,4,0.000,0.032,2674,1055,2312,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11937,0.51,146.0,601.9,10.6,856,11941,0.00,2.25,0.00,0.000,6,0.000,0.046,2674,2517,2312,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12244,0.51,146.0,566.9,10.9,885,12248,0.00,1.90,0.00,0.000,4,0.000,0.054,2674,3771,2311,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12375,0.51,146.0,549.3,14.4,897,12382,0.08,1.90,0.00,0.000,6,0.230,0.024,2670,2440,2311,0,0,0,0,0,0,26.10,26.39,28.83
$GC,12681,0.51,146.0,515.4,10.8,928,12690,0.00,2.05,0.00,0.000,4,0.000,0.034,2680,1049,2311,0,0,0,0,0,0,28.83,26.26,28.83
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$GC,15040,0.56,187.8,304.9,8.4,1162,15051,0.08,2.25,0.00,0.000,6,0.181,0.042,2681,2531,2156,0,0,0,0,0,0,25.94,26.08,28.83
$GC,15350,0.57,198.6,279.1,7.1,1193,15363,0.08,0.00,10.38,1.159,6,0.129,0.000,2729,2531,2118,0,0,0,0,0,0,26.45,28.83,24.98
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$STATE,18377,end climb,SURFACE_DEPTH_REACHED
$STATE,18377,begin surface coast
$FINISH,1.0,1.023374
$STATE,18433,end surface coast,CONTROL_FINISHED_OK
$STATE,18433,begin surface
$SM_CCo,18448,31.33,0.132,0,0,1396,375.06
$SM_GC,1.89,6.22,0.28,31.33,0.029,0.064,0.132,185,2637,1396,-7.12,-0.65,375.06,0,0,0,0,0,0,26.42,26.39,25.92
$IRIDIUM_FIX,1957.29,12400.50,070412,212114
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.32
$INTERNAL_PRESSURE,9.41717
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,22.7,31.304
$10V_AH,10.2,18.791
$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,18.550,163.550,357.500,31.325,0.000,24.032,32.509,272.726,0.000,0.000,15.278,4312.502,10229.897,559.497,3401.508,422.022,0.000,2148.106,0.000,2891.272,0.000,0.540,0.000
$DEVICE_MAMPS,242.505,96.390,1743.435,131.580,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1165.901,2175.410,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329652
$DATA_FILE_SIZE,127265,1708
$CAP_FILE_SIZE,194844,0
$CFSIZE,260165632,209698816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127, 89.4,1
$GPS,080412,080507,2007.545,12404.481,36,0.9,36,-2.5