version: 66.11
glider: 181
mission: 11
dive: 179
start: 6 8 113 20 10 53
data:
$ID,181
$MISSION,11
$DIVE,179
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,150
$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,390
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,165
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0033
$HD_B,0.0082
$HD_C,1.5e-05
$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,450
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-95921.656
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3941
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2753
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-160.75446
$PRESSURE_SLOPE,0.000109412
$AD7714Ch0Gain,1
$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,2
$XPDR_VALID,2
$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,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004364301
$SEABIRD_T_H,0.00062910328
$SEABIRD_T_I,2.4425184e-05
$SEABIRD_T_J,2.6404416e-06
$SEABIRD_C_G,-9.9046793
$SEABIRD_C_H,1.1251128
$SEABIRD_C_I,-0.0019873739
$SEABIRD_C_J,0.00023203803
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,080613,200124,2347.736,12410.185,37,1.5,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-72.4
$GPS2,080613,201025,2347.756,12410.460,14,1.3,14,-3.4
$SPEED_LIMITS,0.147,0.278
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,232.4,255760,-13.6,-8.462,-16.94,2871
$D_GRID,2904
$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,-0.84,-160.6,205,2479,911,910,0.0,0.0,0,105,0.00,0.00,-83.18,0.000,16386,0.000,0.000,205,2479,3039,3103,2976,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.84,-160.6,205,2479,3103,2983,4.0,-13.9,14,134,9.90,2.30,-6.28,0.000,18948,0.379,0.065,2424,1056,3412,3498,3326,0,0,0,0,0,0,14.38,14.71,14.92
$GC,201,-0.84,-160.6,2424,1053,3500,3327,39.6,-30.5,26,208,0.00,2.25,0.00,0.000,1030,0.000,0.054,2416,2438,3413,3500,3327,0,0,0,0,0,0,28.83,14.69,28.83
$GC,517,-0.84,-160.6,2416,2439,3499,3327,125.0,-24.4,44,523,0.00,2.20,0.00,0.000,260,0.000,0.073,2405,3791,3413,3499,3328,0,0,0,0,0,0,28.83,14.78,28.83
$GC,661,-0.84,-160.6,2405,3791,3499,3328,160.2,-23.5,51,666,0.00,2.05,0.00,0.000,1030,0.000,0.032,2405,2433,3414,3500,3328,0,0,0,0,0,0,28.83,14.89,28.83
$GC,983,-0.84,-160.6,2405,2427,3500,3329,223.9,-20.0,67,989,0.00,2.20,0.00,0.000,260,0.000,0.073,2395,3781,3414,3500,3329,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1011,-0.84,-160.6,1504,3780,3493,3328,228.3,-19.4,68,1017,0.12,2.00,0.00,0.000,3078,0.269,0.032,2422,2436,3414,3500,3329,0,0,0,0,0,0,14.69,14.91,28.83
$GC,1329,-0.84,-160.6,2423,2431,3500,3329,280.4,-15.8,84,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2431,3415,3501,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1630,-0.84,-160.6,2423,2429,3501,3328,326.4,-14.2,99,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2429,3415,3502,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1930,-0.84,-160.6,2423,2429,3501,3327,371.1,-15.5,114,1936,0.00,2.22,0.00,0.000,260,0.000,0.076,2414,3789,3414,3502,3327,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1982,-0.84,-160.6,2414,3789,3501,3327,378.1,-15.6,116,1987,0.00,2.00,0.00,0.000,1030,0.000,0.034,2414,2464,3414,3501,3327,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2294,-0.84,-160.6,2414,2457,3501,3322,427.8,-15.1,132,2301,0.00,2.17,0.00,0.000,260,0.000,0.076,2404,3786,3413,3504,3322,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2318,-0.84,-160.6,2405,3786,3502,3322,431.3,-14.9,133,2324,0.00,2.05,0.00,0.000,1030,0.000,0.036,2404,2438,3411,3501,3322,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2641,-0.84,-160.6,2405,2431,3500,3318,480.5,-14.6,149,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2432,3409,3501,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2943,-0.84,-160.6,2404,2431,3500,3317,521.8,-13.4,164,2948,0.00,2.15,0.00,0.000,516,0.000,0.047,2405,1061,3408,3500,3316,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2985,-0.84,-160.6,2404,1061,3500,3312,527.9,-13.6,166,2991,0.12,2.28,0.00,0.000,3078,0.252,0.060,2423,2454,3407,3499,3316,0,0,0,0,0,0,14.75,14.90,28.83
$GC,3309,-0.84,-160.6,2423,2455,3498,3312,568.2,-12.6,182,3315,0.00,2.20,0.00,0.000,260,0.000,0.085,2416,3776,3404,3497,3311,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3401,-0.84,-160.6,2416,3777,3497,3312,579.5,-13.6,186,3406,0.00,2.03,0.00,0.000,1030,0.000,0.039,2415,2451,3403,3496,3311,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3735,-0.84,-160.6,2416,2445,3495,3308,628.2,-14.1,200,3740,0.00,2.17,0.00,0.000,516,0.000,0.049,2415,1067,3401,3495,3308,0,0,0,0,0,0,28.83,14.91,28.83
$GC,3813,-0.84,-160.6,2416,1066,3493,3308,637.3,-14.2,202,3818,0.00,2.28,0.00,0.000,1030,0.000,0.063,2406,2455,3400,3493,3307,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4130,-0.84,-160.6,2406,2456,3490,3304,682.7,-13.6,213,4136,0.00,2.20,0.00,0.000,260,0.000,0.090,2397,3777,3397,3490,3304,0,0,0,0,0,0,28.83,14.84,28.83
$GC,4157,-0.84,-160.6,2397,3777,3489,3304,682.7,-13.6,213,4165,0.12,2.05,0.00,0.000,3078,0.252,0.042,2424,2441,3397,3490,3304,0,0,0,0,0,0,14.71,14.96,28.83
$GC,4464,-0.84,-160.6,2424,2440,3489,3300,722.4,-11.4,224,4469,0.00,2.17,0.00,0.000,516,0.000,0.052,2425,1072,3394,3488,3300,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4491,-0.84,-160.6,2424,1072,3489,3300,722.4,-11.4,224,4498,0.00,2.28,0.00,0.000,1030,0.000,0.066,2417,2454,3394,3489,3300,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4797,-0.84,-160.6,2417,2453,3486,3297,758.9,-10.9,235,4802,0.00,2.22,0.00,0.000,260,0.000,0.093,2407,3777,3391,3486,3297,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4904,-0.84,-160.6,2407,3775,3483,3296,768.8,-10.7,238,4909,0.00,2.05,0.00,0.000,1030,0.000,0.044,2407,2459,3389,3483,3296,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5223,-0.84,-160.6,2407,2454,3482,3296,805.8,-11.3,249,5229,0.00,2.22,0.00,0.000,516,0.000,0.054,2407,1062,3387,3482,3292,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5250,-0.84,-160.6,2407,1062,3482,3292,805.8,-11.3,249,5258,0.12,2.30,0.00,0.000,3078,0.256,0.067,2426,2447,3386,3481,3292,0,0,0,0,0,0,14.69,14.87,28.83
$GC,5557,-0.84,-160.6,2426,2447,3481,3290,842.4,-10.6,260,5563,0.00,2.25,0.00,0.000,260,0.000,0.096,2418,3777,3385,3480,3290,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5594,-0.84,-160.6,1560,3776,3472,3286,845.8,-10.5,261,5600,0.00,2.08,0.00,0.000,1030,0.000,0.046,2418,2448,3384,3479,3290,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5923,-0.84,-160.6,2417,2445,3478,3286,881.8,-10.9,272,5929,0.00,2.22,0.00,0.000,516,0.000,0.055,2417,1063,3382,3478,3286,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5961,-0.84,-160.6,2417,1058,3478,3286,886.3,-11.4,273,5966,0.00,2.33,0.00,0.000,1030,0.000,0.070,2408,2458,3381,3477,3286,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6290,-0.84,-160.6,2408,2458,3475,3283,923.4,-11.5,284,6296,0.00,2.28,0.00,0.000,516,0.000,0.056,2408,1062,3376,3470,3283,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6379,-0.84,-160.6,2408,1060,3474,3283,930.6,-11.3,286,6386,0.12,2.33,0.00,0.000,3078,0.256,0.070,2426,2453,3378,3474,3282,0,0,0,0,0,0,14.65,14.81,28.83
$GC,6684,-0.84,-160.6,2426,2452,3473,3281,963.8,-9.8,297,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2453,3376,3473,3280,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6952,begin apogee
$GC,6958,-0.25,0.0,2426,2348,3472,3274,990.2,-9.7,306,7129,0.62,0.00,162.82,1.732,10246,0.203,0.000,2613,2349,2752,2800,2705,0,0,0,0,0,0,14.64,28.83,13.57
$STATE,7131,end apogee,CONTROL_FINISHED_OK
$STATE,7131,begin climb
$GC,7132,0.84,160.6,2613,2349,2798,2704,994.6,0.0,311,7304,1.08,0.00,159.62,2.091,10758,0.115,0.000,2965,2349,2098,2118,2078,0,0,0,0,1,0,14.21,28.83,13.21
$GC,7619,0.84,160.6,2964,2345,2116,2063,920.0,17.3,328,7624,0.00,2.33,0.00,0.000,516,0.000,0.064,2974,967,2089,2116,2063,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7661,0.84,160.6,2974,967,2116,2062,914.1,17.3,329,7666,0.00,2.35,0.00,0.000,1030,0.000,0.069,2974,2352,2088,2116,2061,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7984,0.84,160.6,2974,2352,2116,2059,852.1,18.9,340,7989,0.00,2.30,0.00,0.000,516,0.000,0.059,2983,968,2087,2116,2058,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8071,0.84,160.6,2983,968,2116,2057,840.4,18.6,342,8078,0.00,2.33,0.00,0.000,1030,0.000,0.067,2984,2356,2086,2116,2057,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8377,0.84,160.6,2984,2357,2116,2055,779.0,18.6,353,8378,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2357,2086,2117,2055,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8677,0.84,160.6,2984,2356,2116,2053,723.3,18.4,363,8682,0.00,2.40,0.00,0.000,260,0.000,0.093,2984,3761,2084,2116,2053,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8704,0.84,160.6,2984,3761,2116,2053,723.3,18.4,363,8711,0.00,2.22,0.00,0.000,1030,0.000,0.044,2994,2351,2084,2116,2053,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9011,0.84,160.6,2994,2346,2116,2051,660.4,18.6,374,9016,0.00,2.28,0.00,0.000,516,0.000,0.055,3004,952,2083,2116,2051,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9107,0.84,160.6,3004,951,2116,2051,642.8,18.8,377,9114,0.15,2.33,0.00,0.000,5126,0.281,0.062,2976,2355,2083,2116,2050,0,0,0,0,0,0,14.55,14.79,28.83
$GC,9418,0.84,160.6,2973,2356,2116,2049,590.4,16.5,388,9423,0.00,2.30,0.00,0.000,516,0.000,0.055,2980,952,2080,2112,2049,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9455,0.84,160.6,2980,951,2116,2048,586.1,17.0,389,9461,0.00,2.30,0.00,0.000,1030,0.000,0.063,2980,2349,2082,2116,2048,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9761,0.84,160.6,2980,2350,2116,2047,531.2,17.1,405,9766,0.00,2.38,0.00,0.000,260,0.000,0.093,2980,3754,2082,2116,2048,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9807,0.84,160.6,2980,3753,2116,2047,523.6,17.5,407,9812,0.00,2.20,0.00,0.000,1030,0.000,0.042,2989,2349,2082,2116,2048,0,0,0,0,0,0,28.83,14.83,28.83
$GC,10125,0.84,160.6,2990,2344,2116,2047,469.2,15.9,423,10131,0.00,2.25,0.00,0.000,516,0.000,0.055,3000,959,2083,2120,2046,0,0,0,0,0,0,28.83,14.82,28.83
$GC,10172,0.84,160.6,3000,959,2116,2046,462.5,15.8,425,10177,0.00,2.30,0.00,0.000,1030,0.000,0.060,3000,2361,2081,2116,2046,0,0,0,0,0,0,28.83,14.80,28.83
$GC,10490,0.84,160.6,3000,2361,2116,2046,410.7,16.3,441,10492,0.12,0.00,0.00,0.000,4102,0.293,0.000,2975,2361,2081,2116,2046,0,0,0,0,0,0,14.60,28.83,28.83
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$GC,12399,0.84,162.5,2983,965,2118,2046,165.9,8.4,535,12404,0.00,2.25,0.00,0.000,1030,0.000,0.054,2982,2354,2082,2117,2047,0,0,0,0,0,0,28.83,14.81,28.83
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$STATE,14370,end climb,SURFACE_DEPTH_REACHED
$STATE,14370,begin surface coast
$FINISH,0.3,1.020503
$STATE,14408,end surface coast,CONTROL_FINISHED_OK
$STATE,14408,begin surface
$SM_CCo,14426,76.57,0.136,0,0,916,450.13
$SM_GC,0.07,7.65,0.12,76.57,0.055,0.135,0.136,225,2468,916,-7.63,-1.24,450.13,0,0,0,0,0,0,14.85,14.82,14.69
$IRIDIUM_FIX,2347.41,12416.06,080613,151523
$TT8_MAMPS,0.019474,0.019474
$HUMID,42.16
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,26.40
$XPDR_PINGS,3
$SC_FREEKB,3867680
$24V_AH,13.2,67.438
$10V_AH,13.4,0.000
$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,20.275,138.900,399.300,76.575,0.000,30.660,48.090,239.512,0.750,0.000,16.742,2225.914,9869.907,632.401,2083.887,237.208,0.000,1571.845,0.000,1621.582,0.000,0.543,0.000
$DEVICE_MAMPS,378.675,134.640,2090.745,136.170,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14482.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.991,0.000,0.000,0.000
$MEM,328544
$DATA_FILE_SIZE,26724,693
$CAP_FILE_SIZE,167441,0
$CFSIZE,260034560,239968256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.337, 69.6,1
$GPS,090613,001405,2347.509,12411.388,40,1.1,45,-3.4