version: 66.11
glider: 177
mission: 4
dive: 62
start: 3 29 113 0 36 22
data:
$ID,177
$MISSION,4
$DIVE,62
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,310
$T_MISSION,340
$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,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52151
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.001
$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,400
$N_FILEKB,4
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7739.6094
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,159
$PITCH_MAX,3950
$C_PITCH,2920
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,161
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,2375
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,71
$R_STBD_OVSHOOT,80
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,2992
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-43.106712
$PRESSURE_SLOPE,0.000115925
$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,0
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044109048
$SEABIRD_T_H,0.00065266038
$SEABIRD_T_I,2.7513828e-05
$SEABIRD_T_J,3.0466049e-06
$SEABIRD_C_G,-9.9740562
$SEABIRD_C_H,1.1339458
$SEABIRD_C_I,-0.0018908759
$SEABIRD_C_J,0.0002126007
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,290313,002936,1845.032,12307.799,29,1.4,29,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.02
$_SM_ANGLEo,-73.3
$GPS2,290313,003555,1845.144,12307.762,10,1.4,10,-2.1
$SPEED_LIMITS,0.184,0.802
$TGT_NAME,MEAST
$TGT_LATLONG,1845.000,12300.070
$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,257.7,13491,-7.0,-10.645,-7.56,2804
$D_GRID,4301
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.67,-194.6,141,2412,1391,1238,0.0,0.0,0,95,0.00,0.00,-74.78,0.000,16386,0.000,0.000,139,2413,3424,3481,3368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.67,-194.6,142,2412,3481,3369,4.4,-19.6,10,123,10.65,2.05,-5.20,0.000,18948,0.253,0.041,2710,985,3789,3866,3713,0,0,0,0,0,0,25.91,26.14,26.40
$GC,211,-0.67,-194.6,2710,985,3870,3713,57.9,-35.6,20,217,0.00,1.95,0.00,0.000,1030,0.000,0.028,2703,2347,3791,3870,3713,0,0,0,0,0,0,28.83,26.23,28.83
$GC,526,-0.67,-194.6,2702,2349,3871,3713,163.7,-30.5,36,531,0.00,1.95,0.00,0.000,516,0.000,0.034,2703,997,3792,3871,3713,0,0,0,0,0,0,28.83,26.35,28.83
$GC,684,-0.67,-194.6,1732,997,3870,3712,197.6,-20.7,43,692,0.00,1.98,0.00,0.000,1030,0.000,0.029,2693,2383,3793,3873,3713,0,0,0,0,0,0,28.83,26.43,28.83
$GC,991,-0.67,-194.6,2693,2383,3875,3713,268.8,-22.8,59,997,0.00,2.00,0.00,0.000,516,0.000,0.034,2693,993,3794,3875,3713,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1029,-0.67,-194.6,2693,993,3876,3713,274.2,-22.6,60,1038,0.10,1.95,0.00,0.000,3078,0.186,0.029,2709,2373,3794,3876,3713,0,0,0,0,0,0,26.37,26.49,28.83
$GC,1336,-0.67,-194.6,2709,2373,3876,3713,329.6,-15.8,76,1341,0.00,1.98,0.00,0.000,516,0.000,0.034,2709,996,3794,3876,3713,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1390,-0.67,-194.6,2709,996,3876,3713,335.7,-14.0,78,1396,0.00,1.95,0.00,0.000,1030,0.000,0.029,2708,2377,3794,3875,3713,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1704,-0.67,-194.6,2707,2377,3876,3713,378.1,-13.5,94,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2378,3794,3876,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2003,-0.67,-194.6,2708,2378,3876,3710,423.4,-15.5,109,2009,0.00,1.95,0.00,0.000,260,0.000,0.044,2704,3707,3793,3876,3710,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2041,-0.67,-194.6,1712,3706,3873,3708,426.8,-15.3,110,2049,0.00,1.85,0.00,0.000,1030,0.000,0.021,2700,2324,3792,3876,3709,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2347,-0.67,-194.6,2704,2324,3875,3706,467.6,-11.6,126,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2324,3791,3876,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2648,-0.67,-194.6,2704,2325,3875,3700,503.5,-12.4,141,2653,0.00,1.88,0.00,0.000,516,0.000,0.034,2704,997,3788,3876,3701,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2722,-0.67,-194.6,2704,997,3876,3700,511.3,-12.0,144,2728,0.00,1.95,0.00,0.000,1030,0.000,0.029,2700,2376,3788,3876,3700,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3037,-0.67,-194.6,2700,2377,3876,3694,546.4,-10.3,160,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2377,3784,3875,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3337,-0.67,-194.6,2700,2377,3875,3688,576.6,-10.5,175,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2377,3781,3875,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3647,-0.67,-194.6,2700,2377,3872,3685,612.8,-11.7,189,3652,0.00,1.98,0.00,0.000,516,0.000,0.033,2701,998,3778,3871,3685,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3698,-0.67,-194.6,2700,998,3870,3685,616.8,-11.8,190,3704,0.00,1.95,0.00,0.000,1030,0.000,0.030,2696,2375,3777,3870,3685,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4014,-0.67,-194.6,2696,2375,3869,3681,657.8,-12.5,201,4020,0.00,1.95,0.00,0.000,260,0.000,0.046,2694,3705,3774,3868,3681,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4057,-0.67,-194.6,2693,3705,3868,3681,662.3,-12.6,202,4063,0.00,1.85,0.00,0.000,1030,0.000,0.023,2694,2327,3774,3868,3681,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4381,-0.67,-194.6,2693,2326,3864,3678,703.4,-12.0,213,4387,0.00,2.05,0.00,0.000,260,0.000,0.046,2694,3705,3771,3865,3677,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4419,-0.67,-194.6,2693,3705,3864,3677,707.3,-11.9,214,4426,0.00,1.77,0.00,0.000,1030,0.000,0.023,2693,2363,3770,3864,3677,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4748,-0.67,-194.6,2693,2363,3861,3674,744.3,-10.9,225,4754,0.00,1.88,0.00,0.000,516,0.000,0.034,2694,1046,3767,3861,3674,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4817,-0.67,-194.6,2694,1046,3860,3674,751.2,-10.8,227,4825,0.08,1.90,0.00,0.000,3078,0.192,0.031,2706,2381,3767,3860,3674,0,0,0,0,0,0,26.52,26.63,28.83
$GC,5148,-0.67,-194.6,2707,2381,3858,3670,783.8,-9.6,238,5154,0.00,1.98,0.00,0.000,260,0.000,0.047,2706,3717,3764,3858,3670,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5183,-0.67,-194.6,2702,3717,3858,3671,787.2,-9.7,239,5189,0.00,1.80,0.00,0.000,1030,0.000,0.023,2706,2374,3764,3858,3670,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5517,-0.67,-194.6,2706,2373,3855,3668,821.8,-10.6,250,5523,0.00,1.90,0.00,0.000,516,0.000,0.035,2706,1042,3761,3854,3668,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5555,-0.67,-194.6,2706,1043,3854,3668,825.5,-10.7,251,5561,0.00,1.90,0.00,0.000,1030,0.000,0.031,2704,2377,3761,3854,3668,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5885,-0.67,-194.6,2704,2378,3853,3666,860.7,-10.6,262,5890,0.00,1.92,0.00,0.000,516,0.000,0.035,2704,1041,3757,3853,3661,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5932,-0.67,-194.6,1760,1040,3850,3664,864.3,-10.4,263,5939,0.00,1.90,0.00,0.000,1030,0.000,0.031,2700,2376,3759,3853,3666,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6253,-0.67,-194.6,2700,2377,3852,3663,899.7,-10.6,274,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2377,3757,3852,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6552,-0.67,-194.6,2700,2377,3848,3661,931.9,-10.7,284,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2376,3754,3848,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6853,-0.67,-194.6,2700,2377,3846,3660,961.9,-9.7,294,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2377,3753,3847,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7152,-0.67,-194.6,2700,2377,3846,3659,989.7,-9.1,304,7158,0.00,1.92,0.00,0.000,516,0.000,0.036,2701,1045,3752,3846,3659,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,7185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7185,begin apogee
$GC,7191,-0.20,0.0,2697,2238,3846,3659,992.9,-9.0,305,7367,0.47,0.00,169.48,1.007,10246,0.125,0.000,2855,2238,2991,3110,2873,0,0,0,0,0,0,26.52,28.83,24.14
$STATE,7368,end apogee,CONTROL_FINISHED_OK
$STATE,7368,begin climb
$GC,7370,0.67,194.6,2855,2238,3109,2866,998.7,0.0,310,7554,0.82,2.33,172.60,1.001,10500,0.084,0.047,3137,3634,2192,2326,2058,0,0,0,0,0,0,24.87,24.65,24.00
$GC,7581,0.85,284.1,2176,3633,2251,2041,990.1,7.4,317,7664,0.17,2.00,77.25,0.976,11270,0.079,0.026,3202,2299,1833,1959,1707,0,0,0,0,0,0,25.08,25.09,24.01
$GC,7987,0.85,284.1,3202,2299,1947,1690,915.8,17.5,331,7993,0.00,2.12,0.00,0.000,516,0.000,0.049,3212,916,1818,1947,1690,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8070,0.85,284.1,3211,916,1947,1690,904.8,17.2,333,8076,0.10,1.95,0.00,0.000,5126,0.185,0.031,3192,2247,1818,1947,1690,0,0,0,0,0,0,25.81,25.94,28.83
$GC,8384,0.85,284.1,3192,2249,1945,1687,850.2,16.2,344,8390,0.00,2.10,0.00,0.000,260,0.000,0.045,3191,3638,1816,1946,1687,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8449,0.85,284.1,3191,3638,1944,1686,838.8,17.0,346,8455,0.00,1.92,0.00,0.000,1030,0.000,0.027,3197,2305,1814,1943,1686,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8783,0.85,284.1,3197,2305,1943,1685,783.7,16.4,357,8789,0.00,2.08,0.00,0.000,516,0.000,0.047,3206,923,1814,1943,1685,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8830,0.85,284.1,2304,922,1884,1680,778.0,16.4,358,8837,0.00,1.90,0.00,0.000,1030,0.000,0.029,3206,2244,1814,1943,1685,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9150,0.85,284.1,3206,2245,1943,1685,718.6,18.2,369,9156,0.00,2.10,0.00,0.000,260,0.000,0.046,3206,3642,1813,1943,1684,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9167,0.85,284.1,3206,3642,1941,1684,718.6,18.2,369,9175,0.10,1.92,0.00,0.000,5126,0.221,0.026,3189,2293,1813,1941,1685,0,0,0,0,0,0,26.22,26.39,28.83
$GC,9488,0.85,284.1,3189,2291,1941,1683,663.6,15.7,380,9494,0.00,2.05,0.00,0.000,516,0.000,0.045,3198,913,1812,1941,1683,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9515,0.85,284.1,3197,913,1941,1685,663.6,15.7,380,9523,0.00,1.90,0.00,0.000,1030,0.000,0.029,3197,2243,1812,1941,1683,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9822,0.85,284.1,3197,2243,1941,1683,610.9,15.7,391,9828,0.00,2.08,0.00,0.000,260,0.000,0.044,3197,3637,1812,1941,1683,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9850,0.85,284.1,3197,3637,1940,1683,610.9,15.7,391,9858,0.00,1.90,0.00,0.000,1030,0.000,0.026,3205,2296,1811,1940,1683,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10166,0.85,284.1,3205,2295,1940,1683,554.4,16.5,407,10172,0.00,2.05,0.00,0.000,516,0.000,0.044,3215,923,1809,1940,1679,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10225,0.85,284.1,3215,923,1939,1683,547.2,16.6,409,10234,0.10,1.88,0.00,0.000,5126,0.192,0.028,3194,2249,1811,1939,1683,0,0,0,0,0,0,26.34,26.49,28.83
$GC,10532,0.85,284.1,3194,2249,1939,1683,495.8,16.3,425,10538,0.00,2.05,0.00,0.000,260,0.000,0.044,3194,3631,1811,1939,1683,0,0,0,0,0,0,28.83,26.48,28.83
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$GC,11654,0.85,284.1,3198,2284,1937,1681,326.0,14.5,480,11660,0.00,2.10,0.00,0.000,516,0.000,0.045,3208,864,1809,1937,1681,0,0,0,0,0,0,28.83,26.51,28.83
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$STATE,14436,end climb,SURFACE_DEPTH_REACHED
$STATE,14436,begin surface coast
$FINISH,-0.6,1.021885
$STATE,14464,end surface coast,CONTROL_FINISHED_OK
$STATE,14464,begin surface
$SM_CCo,14540,0.00,0.000,0,0,1355,401.31
$SM_GC,-3.15,8.38,0.15,0.00,0.065,0.077,0.000,126,2405,1355,-8.61,-1.55,401.31,0,0,0,0,0,0,26.41,26.45,28.83
$IRIDIUM_FIX,1837.32,12309.83,280313,202051
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.72
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,24.60
$XPDR_PINGS,8
$SC_FREEKB,3996320
$24V_AH,24.0,7.813
$10V_AH,10.4,8.570
$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,21.475,122.150,511.150,0.000,0.000,0.000,0.000,231.825,2.000,0.000,13.070,2785.414,9326.546,656.954,1909.579,228.634,0.000,1818.273,0.000,1578.735,0.000,0.546,0.000
$DEVICE_MAMPS,253.215,77.265,1006.740,0.000,0.000,0.000,0.000,120.105,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14474.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.962,0.000,0.000,0.000
$MEM,326652
$DATA_FILE_SIZE,23470,661
$CAP_FILE_SIZE,355557,0
$CFSIZE,260034560,245649408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.301, 48.3,1
$GPS,290313,044000,1845.980,12306.755,38,1.2,38,-2.1