version: 66.11
glider: 177
mission: 4
dive: 196
start: 4 24 113 3 6 29
data:
$ID,177
$MISSION,4
$DIVE,196
$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,360
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$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,619.87311
$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,-8112.5327
$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,2925
$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,64
$R_STBD_OVSHOOT,100
$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
$GPS1,240413,025806,1845.995,12226.223,28,0.9,29,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.76
$_SM_ANGLEo,-70.8
$GPS2,240413,030601,1846.191,12226.219,12,2.0,12,-2.1
$SPEED_LIMITS,0.159,0.756
$TGT_NAME,M2A
$TGT_LATLONG,1845.000,12214.880
$TGT_RADIUS,5000.000
$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,253.8,20007,-6.2,-9.167,-6.92,3252
$D_GRID,1028
$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,-0.64,-194.6,137,2416,495,436,0.0,0.0,0,119,0.00,0.00,-96.72,0.000,16386,0.000,0.000,137,2417,3042,3090,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.64,-194.6,137,2417,3090,2997,3.4,-13.9,13,155,10.90,2.05,-11.23,0.000,18948,0.250,0.041,2719,976,3790,3880,3700,0,0,1,0,0,0,25.63,25.78,26.39
$GC,257,-0.64,-194.6,2719,975,3882,3702,56.4,-28.6,26,263,0.00,1.92,0.00,0.000,1030,0.000,0.027,2712,2326,3791,3882,3700,0,0,0,0,0,0,28.83,26.18,28.83
$GC,582,-0.64,-194.6,2711,2326,3882,3700,142.5,-23.0,42,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2326,3791,3882,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,881,-0.64,-194.6,2712,2326,3883,3700,202.7,-18.8,57,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2326,3792,3884,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1182,-0.64,-194.6,2712,2326,3883,3701,258.6,-19.6,72,1187,0.00,1.92,0.00,0.000,516,0.000,0.031,2712,980,3792,3883,3701,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1271,-0.64,-194.6,2712,976,3883,3701,273.6,-17.6,76,1276,0.00,1.98,0.00,0.000,1030,0.000,0.027,2705,2374,3792,3883,3701,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1591,-0.64,-194.6,2705,2375,3883,3700,325.9,-15.2,92,1597,0.00,2.00,0.00,0.000,516,0.000,0.030,2705,976,3792,3883,3701,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1638,-0.64,-194.6,2705,976,3883,3700,332.7,-14.9,94,1644,0.08,2.03,0.00,0.000,3078,0.191,0.028,2713,2383,3791,3883,3700,0,0,0,0,0,0,26.32,26.48,28.83
$GC,1964,-0.64,-194.6,2716,2383,3883,3696,373.0,-12.7,110,1971,0.00,2.00,0.00,0.000,516,0.000,0.030,2717,984,3789,3883,3696,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2091,-0.64,-194.6,2717,984,3883,3694,388.6,-11.8,116,2098,0.00,1.98,0.00,0.000,1030,0.000,0.028,2717,2378,3788,3883,3693,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2417,-0.64,-194.6,2717,2378,3883,3687,426.4,-12.2,132,2423,0.00,2.00,0.00,0.000,516,0.000,0.031,2717,981,3785,3883,3687,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2471,-0.64,-194.6,2717,981,3882,3686,432.0,-12.3,134,2477,0.00,2.00,0.00,0.000,1030,0.000,0.028,2717,2385,3784,3883,3686,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2786,-0.64,-194.6,2716,2386,3882,3681,471.3,-12.2,150,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2386,3781,3882,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3086,-0.64,-194.6,2716,2386,3880,3676,506.6,-11.5,165,3092,0.00,2.03,0.00,0.000,516,0.000,0.031,2716,977,3777,3879,3676,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3175,-0.64,-194.6,2717,977,3878,3676,516.4,-11.0,169,3181,0.00,2.00,0.00,0.000,1030,0.000,0.028,2714,2376,3776,3877,3676,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3500,-0.64,-194.6,2719,2376,3876,3672,552.5,-11.4,185,3507,0.00,2.00,0.00,0.000,516,0.000,0.031,2714,986,3773,3875,3672,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3598,-0.64,-194.6,2713,986,3873,3671,562.5,-11.4,189,3604,0.00,1.98,0.00,0.000,1030,0.000,0.029,2713,2373,3772,3873,3671,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3912,-0.64,-194.6,2713,2374,3870,3668,597.7,-10.4,205,3918,0.00,2.00,0.00,0.000,516,0.000,0.032,2713,988,3769,3870,3668,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3971,-0.64,-194.6,2713,987,3869,3667,601.2,-10.2,207,3979,0.00,2.00,0.00,0.000,1030,0.000,0.029,2712,2384,3768,3869,3668,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4279,-0.64,-194.6,2713,2384,3867,3664,636.2,-11.0,218,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2384,3765,3867,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4577,-0.64,-194.6,2712,2385,3864,3660,669.9,-11.5,228,4583,0.00,2.03,0.00,0.000,516,0.000,0.032,2713,987,3762,3864,3661,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4622,-0.64,-194.6,2712,987,3864,3661,673.9,-11.5,229,4628,0.00,2.00,0.00,0.000,1030,0.000,0.029,2713,2381,3762,3863,3661,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4947,-0.64,-194.6,2712,2381,3860,3658,708.5,-10.2,240,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2381,3758,3860,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5247,-0.64,-194.6,2712,2381,3858,3655,737.3,-9.2,250,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2381,3754,3858,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5548,-0.64,-194.6,2712,2381,3856,3652,762.3,-8.2,260,5554,0.00,2.03,0.00,0.000,516,0.000,0.033,2715,987,3753,3855,3652,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5613,-0.64,-194.6,2713,987,3855,3652,767.9,-8.4,262,5619,0.00,2.00,0.00,0.000,1030,0.000,0.030,2713,2375,3753,3854,3652,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5949,-0.64,-194.6,2713,2376,3854,3648,794.7,-8.0,273,5955,0.00,2.03,0.00,0.000,516,0.000,0.033,2713,981,3751,3854,3648,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5994,-0.64,-194.6,2713,981,3853,3648,797.7,-8.2,274,6000,0.00,2.00,0.00,0.000,1030,0.000,0.030,2713,2375,3751,3854,3648,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6319,-0.64,-194.6,2713,2376,3853,3645,823.9,-8.1,285,6325,0.00,2.03,0.00,0.000,516,0.000,0.033,2713,981,3749,3853,3645,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6354,-0.64,-194.6,2712,981,3852,3644,826.8,-7.8,286,6360,0.00,2.03,0.00,0.000,1030,0.000,0.029,2710,2383,3748,3853,3644,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6689,-0.64,-194.6,2709,2384,3849,3643,855.8,-8.6,297,6695,0.00,2.03,0.00,0.000,516,0.000,0.034,2709,989,3746,3849,3644,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6735,-0.64,-194.6,2709,989,3848,3644,859.2,-8.9,298,6741,0.00,2.00,0.00,0.000,1030,0.000,0.029,2705,2381,3745,3848,3643,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7059,-0.64,-194.6,2705,2381,3847,3642,891.2,-9.4,309,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2381,3744,3847,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7360,-0.64,-194.6,2706,2381,3846,3640,918.3,-8.7,319,7366,0.00,2.03,0.00,0.000,516,0.000,0.035,2705,991,3741,3845,3637,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7409,-0.64,-194.6,2705,991,3845,3640,921.3,-8.6,320,7415,0.08,2.00,0.00,0.000,3078,0.179,0.031,2720,2377,3742,3845,3640,0,0,0,0,0,0,26.28,26.43,28.83
$GC,7729,-0.64,-194.6,2721,2377,3844,3639,944.4,-6.7,331,7735,0.00,2.00,0.00,0.000,260,0.000,0.049,2719,3707,3741,3844,3639,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7798,-0.64,-194.6,2719,3707,3844,3638,949.2,-6.9,333,7805,0.00,1.90,0.00,0.000,1030,0.000,0.024,2719,2333,3741,3843,3639,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8129,-0.64,-194.6,2719,2333,3842,3636,976.0,-8.3,344,8134,0.00,1.90,0.00,0.000,516,0.000,0.036,2719,1021,3739,3842,3637,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8174,-0.64,-194.6,2718,1021,3841,3637,978.9,-8.4,345,8180,0.00,1.98,0.00,0.000,1030,0.000,0.031,2717,2382,3738,3841,3636,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,8316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8316,begin apogee
$GC,8322,-0.20,0.0,2717,2256,3841,3635,992.2,-8.5,350,8509,0.43,0.00,178.70,0.981,10246,0.116,0.000,2858,2256,2987,3096,2878,0,0,0,0,0,0,26.13,28.83,24.17
$STATE,8510,end apogee,CONTROL_FINISHED_OK
$STATE,8510,begin climb
$GC,8512,0.64,194.6,2858,2256,3096,2874,999.9,0.0,355,8712,0.77,2.28,184.80,0.968,10500,0.069,0.046,3135,3638,2188,2313,2064,0,0,0,0,0,0,24.94,24.56,23.91
$GC,8730,0.76,256.7,3134,3638,2310,2057,993.2,7.2,363,8796,0.12,2.10,57.47,0.949,11270,0.089,0.027,3181,2270,1940,2064,1816,0,0,0,0,0,0,24.89,24.91,23.95
$GC,9115,0.76,256.7,3181,2270,2058,1799,930.1,15.8,376,9121,0.00,2.20,0.00,0.000,516,0.000,0.046,3194,850,1928,2058,1799,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9168,0.76,256.7,3190,850,2058,1799,924.5,15.9,377,9175,0.10,2.05,0.00,0.000,5126,0.186,0.031,3171,2241,1931,2058,1805,0,0,0,0,0,0,25.64,25.84,28.83
$GC,9483,0.76,256.7,3171,2241,2057,1795,874.0,15.0,388,9489,0.00,2.15,0.00,0.000,260,0.000,0.045,3171,3644,1926,2057,1795,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9511,0.76,256.7,3170,3644,2054,1795,874.0,15.0,388,9520,0.00,2.08,0.00,0.000,1030,0.000,0.028,3176,2245,1924,2054,1795,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9819,0.76,256.7,3176,2245,2054,1795,824.1,14.5,399,9824,0.00,2.15,0.00,0.000,516,0.000,0.052,3180,839,1924,2054,1794,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9853,0.76,256.7,3179,839,2054,1795,819.1,14.3,400,9859,0.00,2.05,0.00,0.000,1030,0.000,0.029,3180,2242,1924,2054,1794,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10188,0.76,256.7,3179,2242,2053,1795,771.1,14.5,411,10189,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2242,1923,2053,1794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10487,0.76,256.7,3179,2242,2053,1794,726.5,14.8,421,10488,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2242,1923,2053,1794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10788,0.76,256.7,3179,2242,2052,1794,683.9,13.9,431,10789,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2242,1923,2052,1794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11087,0.76,256.7,3179,2242,2052,1794,641.3,14.3,441,11093,0.00,2.10,0.00,0.000,516,0.000,0.044,3189,843,1923,2052,1794,0,0,0,0,0,0,28.83,26.26,28.83
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$GC,16319,0.99,371.6,3237,2236,1609,1374,39.3,9.0,697,16327,0.00,2.10,3.47,0.340,8708,0.000,0.039,3244,859,1477,1593,1361,0,0,0,0,0,0,28.83,26.19,25.50
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$STATE,16755,end climb,SURFACE_DEPTH_REACHED
$STATE,16755,begin surface coast
$FINISH,0.3,1.021251
$STATE,16795,end surface coast,CONTROL_FINISHED_OK
$STATE,16795,begin surface
$SM_CCo,16812,85.40,0.051,0,0,464,619.87
$SM_GC,-1.84,8.27,0.15,85.40,0.057,0.074,0.051,139,2414,464,-8.62,-1.75,619.87,0,0,0,0,0,0,26.25,26.36,26.18
$IRIDIUM_FIX,1839.59,12230.71,230413,212114
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.89
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.70
$XPDR_PINGS,20
$SC_FREEKB,3944864
$24V_AH,23.9,24.907
$10V_AH,10.3,23.033
$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,21.525,133.950,523.800,85.400,0.000,0.000,0.000,279.125,5.000,0.000,15.388,3179.760,10761.956,786.767,2188.890,432.459,0.000,2124.351,0.000,1798.990,0.000,0.547,0.000
$DEVICE_MAMPS,250.155,74.205,981.495,51.255,0.000,0.000,0.000,119.340,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16826.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.049,0.000,0.000,0.000
$MEM,320912
$DATA_FILE_SIZE,26709,770
$CAP_FILE_SIZE,400970,0
$CFSIZE,260034560,228347904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.090, 21.4,1
$GPS,240413,074930,1845.821,12223.484,39,1.7,40,-2.1