version: 66.12
glider: 187
mission: 4
dive: 809
start: 1 19 115 9 20 27
data:
$ID,187
$MISSION,4
$DIVE,809
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,450
$T_MISSION,510
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53474
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0027000001
$HD_B,0.0098999999
$HD_C,2.1999999e-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,350
$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,-1595474.9
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3700
$C_PITCH,3325
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2858
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$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,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-63.106686
$PRESSURE_SLOPE,0.0001138132
$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,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$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,0.0043206038
$SEABIRD_T_H,0.00062367303
$SEABIRD_T_I,2.3110064e-05
$SEABIRD_T_J,2.4313138e-06
$SEABIRD_C_G,-10.199382
$SEABIRD_C_H,1.1587334
$SEABIRD_C_I,-0.0027609179
$SEABIRD_C_J,0.00029025986
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,190115,090836,4747.664,-12525.318,33,1.1,33,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-71.2
$GPS2,190115,092000,4747.692,-12525.347,12,1.4,12,18.7
$SPEED_LIMITS,0.127,0.215
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,93.6,20311,-14.0,-7.333,-18.81,2445
$D_GRID,743
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,28,-0.59,-116.8,387,2413,1536,1329,0.0,0.0,0,71,0.00,0.00,-36.80,0.000,16386,0.000,0.000,387,2414,2377,2476,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.59,-116.8,387,2414,2468,2274,3.2,-1.3,4,131,12.48,2.62,-26.20,0.000,18692,0.364,0.106,3122,3810,3338,3381,3295,0,0,0,0,0,0,13.68,13.95,14.36
$GC,366,-0.59,-116.8,3122,3810,3382,3298,36.2,-11.6,33,377,0.00,2.50,0.00,0.000,1030,0.000,0.059,3119,2405,3340,3382,3298,0,0,0,0,0,0,28.83,13.92,28.83
$GC,618,-0.59,-116.8,3119,2401,3378,3298,63.8,-10.0,58,629,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2401,3340,3382,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,870,-0.59,-116.8,3122,2405,3382,3298,90.2,-8.6,83,881,0.00,2.58,0.00,0.000,260,0.000,0.083,3122,3800,3340,3382,3298,0,0,0,0,0,0,28.83,13.77,28.83
$GC,1053,-0.59,-116.8,3122,3799,3382,3298,107.1,-9.5,101,1064,0.00,2.50,0.00,0.000,1030,0.000,0.058,3122,2384,3342,3382,3302,0,0,0,0,0,0,28.83,13.91,28.83
$GC,1305,-0.59,-116.8,3122,2382,3377,3298,130.4,-8.9,126,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2382,3340,3382,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1557,-0.59,-116.8,3122,2383,3382,3298,153.0,-9.2,151,1568,0.00,2.62,0.00,0.000,260,0.000,0.083,3121,3805,3341,3384,3298,0,0,0,0,0,0,28.83,13.83,28.83
$GC,1610,-0.59,-116.8,3122,3800,3382,3299,157.9,-9.5,156,1621,0.00,2.47,0.00,0.000,1030,0.000,0.057,3122,2403,3342,3382,3303,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1864,-0.59,-116.8,3122,2400,3382,3299,180.9,-9.1,181,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2403,3338,3383,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2115,-0.59,-116.8,3122,2398,3382,3304,203.2,-8.7,206,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2400,3340,3382,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2367,-0.59,-116.8,3122,2400,3382,3305,226.0,-9.4,231,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2400,3340,3382,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2618,-0.59,-116.8,3122,2400,3382,3298,248.9,-9.0,256,2629,0.00,2.60,0.00,0.000,260,0.000,0.083,3122,3799,3339,3381,3297,0,0,0,0,0,0,28.83,13.83,28.83
$GC,2659,-0.59,-116.8,3125,3799,3382,3298,252.6,-9.0,260,2669,0.00,2.47,0.00,0.000,1030,0.000,0.057,3122,2406,3341,3383,3299,0,0,0,0,0,0,28.83,13.93,28.83
$GC,2980,-0.59,-116.8,3122,2399,3383,3298,277.2,-7.2,272,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2400,3340,3383,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3281,-0.59,-116.8,3122,2399,3382,3298,300.3,-7.9,282,3291,0.00,2.60,0.00,0.000,260,0.000,0.083,3122,3801,3338,3378,3298,0,0,0,0,0,0,28.83,13.81,28.83
$GC,3322,-0.59,-116.8,3122,3801,3382,3298,303.8,-8.3,286,3332,0.00,2.50,0.00,0.000,1030,0.000,0.059,3128,2390,3340,3382,3298,0,0,0,0,0,0,28.83,13.87,28.83
$GC,3647,-0.59,-116.8,3122,2385,3382,3298,328.7,-7.5,298,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2382,3340,3383,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3945,-0.59,-116.8,3122,2385,3386,3297,351.1,-7.5,308,3955,0.00,2.62,0.00,0.000,260,0.000,0.085,3122,3799,3337,3382,3293,0,0,0,0,0,0,28.83,13.80,28.83
$GC,4016,-0.59,-116.8,3122,3799,3382,3297,356.6,-7.7,315,4026,0.00,2.50,0.00,0.000,1030,0.000,0.058,3122,2402,3338,3379,3297,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4337,-0.59,-116.8,3122,2399,3382,3295,379.2,-6.9,327,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2398,3338,3382,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4637,-0.59,-116.8,3122,2399,3382,3295,399.8,-7.1,337,4647,0.00,2.60,0.00,0.000,260,0.000,0.085,3122,3800,3338,3382,3295,0,0,0,0,0,0,28.83,13.84,28.83
$GC,4688,-0.59,-116.8,3122,3800,3382,3294,403.5,-7.5,342,4700,0.00,2.50,0.00,0.000,1030,0.000,0.059,3122,2398,3340,3382,3299,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5002,-0.59,-116.8,3122,2397,3382,3294,425.6,-7.3,353,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2397,3338,3382,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5300,-0.59,-116.8,3122,2397,3382,3293,447.6,-7.3,363,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2397,3337,3382,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5598,-0.59,-116.8,3122,2397,3382,3292,467.5,-6.6,373,5608,0.00,2.62,0.00,0.000,260,0.000,0.086,3122,3800,3337,3382,3292,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5639,-0.59,-116.8,3122,3800,3381,3289,470.4,-7.2,377,5650,0.00,2.50,0.00,0.000,1030,0.000,0.060,3122,2401,3337,3382,3292,0,0,0,0,0,0,28.83,13.87,28.83
$GC,5966,-0.59,-116.8,3122,2397,3378,3290,493.2,-7.3,389,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2400,3336,3382,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6264,-0.59,-116.8,3122,2399,3382,3289,514.5,-7.0,399,6274,0.00,2.60,0.00,0.000,260,0.000,0.086,3123,3800,3336,3382,3290,0,0,0,0,0,0,28.83,13.82,28.83
$GC,6304,-0.59,-116.8,3122,3800,3382,3289,517.6,-7.1,403,6315,0.00,2.50,0.00,0.000,1030,0.000,0.059,3123,2402,3335,3382,3289,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6626,-0.59,-116.8,3122,2400,3376,3288,539.4,-7.2,415,6636,0.00,2.58,0.00,0.000,516,0.000,0.070,3122,984,3334,3381,3288,0,0,0,0,0,0,28.83,13.82,28.83
$GC,6667,-0.59,-116.8,3122,984,3381,3288,542.5,-7.5,419,6677,0.00,2.58,0.00,0.000,1030,0.000,0.070,3122,2393,3335,3382,3288,0,0,0,0,0,0,28.83,13.83,28.83
$GC,6988,-0.59,-116.8,3122,2392,3378,3286,566.4,-7.4,431,6998,0.00,2.62,0.00,0.000,260,0.000,0.086,3122,3811,3332,3378,3287,0,0,0,0,0,0,28.83,13.83,28.83
$GC,7059,-0.59,-116.8,3122,3811,3382,3287,571.7,-7.3,438,7069,0.00,2.55,0.00,0.000,1030,0.000,0.061,3122,2390,3334,3382,3286,0,0,0,0,0,0,28.83,13.85,28.83
$GC,7386,-0.59,-116.8,3122,2386,3388,3286,593.2,-6.5,450,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2386,3333,3381,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7680,-0.59,-116.8,3122,2386,3381,3286,612.3,-6.3,460,7690,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2386,3334,3382,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7982,-0.59,-116.8,3122,2385,3381,3286,630.7,-6.0,470,7992,0.00,2.67,0.00,0.000,260,0.000,0.089,3122,3813,3336,3381,3291,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8062,-0.59,-116.8,3122,3814,3381,3286,635.8,-6.2,478,8074,0.00,2.55,0.00,0.000,1030,0.000,0.062,3122,2400,3333,3380,3286,0,0,0,0,0,0,28.83,13.84,28.83
$GC,8379,-0.59,-116.8,3122,2405,3381,3286,654.8,-6.2,489,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2400,3333,3381,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8674,-0.59,-116.8,3122,2400,3380,3285,673.8,-6.3,499,8684,0.00,2.65,0.00,0.000,260,0.000,0.087,3122,3818,3332,3380,3285,0,0,0,0,0,0,28.83,13.83,28.83
$GC,8737,-0.59,-116.8,3122,3816,3380,3285,677.9,-6.5,505,8747,0.00,2.55,0.00,0.000,1030,0.000,0.060,3122,2399,3333,3382,3284,0,0,0,0,0,0,28.83,13.84,28.83
$GC,9067,-0.59,-116.8,3118,2400,3380,3285,697.4,-5.9,518,9078,0.00,2.65,0.00,0.000,260,0.000,0.088,3121,3819,3332,3380,3284,0,0,0,0,0,0,28.83,13.83,28.83
$GC,9120,-0.59,-116.8,3122,3825,3379,3282,700.4,-6.1,523,9131,0.00,2.55,0.00,0.000,1030,0.000,0.060,3122,2402,3331,3379,3284,0,0,0,0,0,0,28.83,13.84,28.83
$GC,9433,-0.59,-116.8,3122,2401,3379,3283,718.6,-6.0,534,9443,0.00,2.65,0.00,0.000,260,0.000,0.088,3122,3821,3329,3374,3284,0,0,0,0,0,0,28.83,13.82,28.83
$GC,9473,-0.59,-116.8,3122,3821,3385,3283,720.9,-5.4,538,9484,0.00,2.58,0.00,0.000,1030,0.000,0.061,3122,2383,3329,3374,3284,0,0,0,0,0,0,28.83,13.83,28.83
$STATE,9640,end dive,NO_VERTICAL_VELOCITY
$STATE,9641,begin apogee
$GC,9653,-0.25,0.0,3122,2335,3379,3289,720.8,0.0,545,9766,0.40,0.00,102.18,1.581,10246,0.123,0.000,3249,2335,2853,2925,2782,0,0,0,0,0,0,13.66,28.83,13.11
$STATE,9768,end apogee,CONTROL_FINISHED_OK
$STATE,9768,begin climb
$GC,9774,0.59,116.8,3249,2335,2925,2784,720.7,0.0,549,9894,0.82,2.70,105.68,1.554,10500,0.109,0.086,3513,3746,2381,2506,2256,0,0,0,0,0,0,13.76,13.77,12.95
$GC,9935,0.60,116.8,3513,3745,2502,2252,714.5,6.8,558,9946,0.00,2.55,0.00,0.000,1030,0.000,0.065,3519,2335,2377,2503,2252,0,0,0,0,0,0,28.83,13.88,28.83
$GC,10251,0.62,116.8,3520,2330,2503,2252,694.8,6.4,569,10260,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2333,2377,2502,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10551,0.64,116.8,3519,2333,2503,2251,675.3,6.5,579,10561,0.00,2.60,0.00,0.000,260,0.000,0.088,3517,3750,2379,2503,2256,0,0,0,0,0,0,28.83,14.01,28.83
$GC,10674,0.64,116.8,3519,3751,2502,2250,666.2,7.4,591,10684,0.00,2.55,0.00,0.000,1030,0.000,0.065,3519,2325,2376,2503,2250,0,0,0,0,0,0,28.83,14.06,28.83
$GC,11005,0.67,116.8,3516,2325,2502,2250,645.3,6.0,604,11014,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,2325,2377,2503,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11311,0.69,116.8,3519,2325,2498,2249,627.3,6.2,614,11321,0.00,2.62,0.00,0.000,260,0.000,0.089,3517,3746,2375,2502,2249,0,0,0,0,0,0,28.83,13.97,28.83
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$STATE,19750,end climb,SURFACE_DEPTH_REACHED
$STATE,19751,begin surface coast
$FINISH,1.7,1.024516
$STATE,19788,end surface coast,CONTROL_FINISHED_OK
$STATE,19788,begin surface
$SM_CCo,19818,49.38,0.094,0,0,1430,350.04
$SM_GC,3.30,9.45,0.12,49.38,0.057,0.162,0.094,390,2396,1430,-9.11,-0.90,350.04,0,0,0,0,0,0,14.06,14.07,14.04
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$TT8_MAMPS,0.024717,0.024717
$HUMID,50.39
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3679104
$PM_FREEKB,36879392
$24V_AH,13.0,205.681
$10V_AH,13.0,0.000
$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,23.375,174.600,304.075,49.375,0.000,0.000,0.000,317.000,0.000,0.000,12.956,2799.933,13358.136,653.584,2605.046,1104.486,0.000,2406.220,0.000,1824.598,0.000,0.536,0.000
$DEVICE_MAMPS,364.140,222.615,1581.255,94.095,0.000,0.000,0.000,172.890,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19818.000,308.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.113,5.632,0.000,0.000
$MEM,290808
$DATA_FILE_SIZE,43295,1172
$CAP_FILE_SIZE,236936,0
$CFSIZE,260034560,172318720
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,22965.66,0x2378ba,7,5
$INTR,1,16457.36,0x234488,1,24
$CURRENT,0.134,328.8,1
$GPS,190115,145324,4748.167,-12524.021,53,1.1,53,18.7