version: 66.11
glider: 189
mission: 7
dive: 397
start: 1 17 113 4 0 47
data:
$ID,189
$MISSION,7
$DIVE,397
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,495
$T_MISSION,525
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,10
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,54634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030066001
$HD_B,0.025237
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2434
$TGT_DEFAULT_LON,-3802
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,5
$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,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-48153.5
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2320
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-80.603096
$PRESSURE_SLOPE,0.0001182519
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,0.0042969952
$SEABIRD_T_H,0.00061766658
$SEABIRD_T_I,2.0722548e-05
$SEABIRD_T_J,1.9705003e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,170113,035034,2435.836,-3752.175,24,1.1,25,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-58.1
$GPS2,170113,035947,2435.854,-3752.062,16,1.0,16,-14.0
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.113,-0.039
$KALMAN_X,217442.9,101.3,598.4,-201585.8,-2347.0
$KALMAN_Y,-52703.6,91.2,463.1,52595.6,-278.2
$MHEAD_RNG_PITCHd_Wd,122.9,11113,-19.9,-6.667,-29.07
$D_GRID,990
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.26,-97.7,0.0,0.0,0,35,0.00,0.00,-11.32,0.000,2,0.000,0.000,153,2126,1419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.26,-97.7,2.1,0.0,1,105,9.15,2.72,-50.47,0.000,4,0.188,0.054,2579,3754,2719,0,0,0,0,0,0,25.48,26.02,26.69
$GC,395,-1.17,-97.7,22.6,-8.5,37,404,0.12,2.47,0.00,0.000,6,0.131,0.021,2619,2087,2720,0,0,0,0,0,0,25.89,26.36,28.83
$GC,705,-1.15,-97.7,52.7,-9.1,68,714,0.00,2.67,0.00,0.000,4,0.000,0.040,2608,3754,2720,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1005,-1.10,-97.7,79.7,-8.1,95,1013,0.10,2.45,0.00,0.000,6,0.128,0.021,2643,2095,2721,0,0,0,0,0,0,26.06,26.46,28.83
$GC,1337,-1.10,-97.7,104.7,-6.3,106,1343,0.00,2.62,0.00,0.000,4,0.000,0.040,2631,3755,2721,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1635,-1.10,-97.7,123.8,-7.0,116,1642,0.00,2.45,0.00,0.000,6,0.000,0.021,2630,2102,2722,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1968,-1.10,-97.7,140.8,-5.6,127,1973,0.00,2.60,0.00,0.000,4,0.000,0.039,2619,3748,2722,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2265,-1.10,-97.7,163.7,-7.9,135,2272,0.00,2.45,0.00,0.000,6,0.000,0.021,2618,2095,2723,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2625,-1.10,-97.7,187.1,-6.3,141,2632,0.00,2.65,0.00,0.000,4,0.000,0.039,2606,3746,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2926,-1.07,-97.7,205.5,-6.2,146,2933,0.12,2.45,0.00,0.000,6,0.121,0.021,2649,2082,2723,0,0,0,0,0,0,26.06,26.50,28.83
$GC,3286,-1.11,-97.7,228.3,-6.3,152,3292,0.00,2.67,0.00,0.000,4,0.000,0.039,2638,3746,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3387,-1.14,-97.7,232.3,-6.4,153,3392,0.00,2.40,0.00,0.000,6,0.000,0.021,2637,2095,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3705,-1.17,-97.7,257.6,-7.1,159,3712,0.00,2.42,0.00,0.000,4,0.000,0.037,2638,551,2721,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3794,-1.20,-97.7,262.2,-7.3,160,3802,0.00,2.47,0.00,0.000,6,0.000,0.024,2626,2195,2723,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4126,-1.20,-97.7,290.8,-8.1,166,4132,0.00,2.50,0.00,0.000,4,0.000,0.041,2614,3744,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4176,-1.20,-97.7,290.8,-8.1,166,4184,0.00,2.42,0.00,0.000,6,0.000,0.021,2614,2104,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4485,-1.20,-97.7,316.9,-7.0,172,4492,0.00,2.65,0.00,0.000,4,0.000,0.039,2602,3751,2722,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4555,-1.20,-97.7,320.9,-6.8,173,4562,0.00,2.47,0.00,0.000,6,0.000,0.020,2603,2089,2722,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4905,-1.20,-97.7,341.8,-5.7,179,4912,0.00,2.65,0.00,0.000,4,0.000,0.040,2590,3745,2721,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5026,-1.20,-97.7,349.4,-6.0,181,5032,0.00,2.42,0.00,0.000,6,0.000,0.021,2590,2106,2721,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5385,-1.20,-97.7,372.0,-6.4,187,5392,0.00,2.65,0.00,0.000,4,0.000,0.040,2579,3745,2720,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5534,-1.18,-97.7,380.4,-6.7,189,5543,0.15,2.45,0.00,0.000,6,0.139,0.021,2619,2098,2720,0,0,0,0,0,0,26.08,26.49,28.83
$GC,5866,-1.20,-97.7,404.5,-6.8,195,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2098,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6165,-1.22,-97.7,426.9,-7.5,200,6172,0.00,2.65,0.00,0.000,4,0.000,0.041,2608,3742,2719,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6244,-1.25,-97.7,431.5,-7.5,201,6252,0.00,2.45,0.00,0.000,6,0.000,0.021,2608,2100,2719,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6586,-1.25,-97.7,459.8,-8.0,207,6592,0.00,2.65,0.00,0.000,4,0.000,0.041,2596,3741,2718,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6674,-1.25,-97.7,465.0,-8.2,208,6681,0.00,2.45,0.00,0.000,6,0.000,0.021,2596,2101,2718,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7006,-1.25,-97.7,494.3,-8.1,214,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2101,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7365,-1.25,-97.7,522.2,-7.7,218,7372,0.00,2.45,0.00,0.000,4,0.000,0.038,2596,542,2716,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7444,-1.25,-97.7,522.2,-7.7,218,7451,0.00,2.50,0.00,0.000,6,0.000,0.024,2584,2195,2715,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7845,-1.25,-97.7,556.6,-7.2,222,7852,0.00,2.50,0.00,0.000,4,0.000,0.043,2572,3744,2714,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8015,-1.25,-97.7,565.4,-7.0,223,8023,0.00,2.47,0.00,0.000,6,0.000,0.022,2572,2093,2714,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8325,-1.25,-97.7,595.8,-8.2,226,8332,0.00,2.67,0.00,0.000,4,0.000,0.041,2560,3745,2713,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8525,-1.25,-97.7,607.8,-8.8,227,8533,0.10,2.45,0.00,0.000,6,0.129,0.022,2593,2092,2713,0,0,0,0,0,0,26.06,26.46,28.83
$GC,8925,-1.25,-97.7,650.5,-8.9,231,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2093,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9285,-1.27,-97.7,675.1,-7.1,234,9287,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2092,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9647,-1.29,-97.7,699.2,-6.6,237,9653,0.00,2.45,0.00,0.000,4,0.000,0.041,2593,544,2710,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9745,-1.32,-97.7,699.2,-6.6,237,9752,0.00,2.50,0.00,0.000,6,0.000,0.024,2583,2190,2710,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10125,-1.32,-97.7,738.0,-8.1,241,10126,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2190,2709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10485,-1.34,-97.7,767.9,-8.3,244,10493,0.00,2.60,0.00,0.000,4,0.000,0.039,2583,547,2708,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10635,-1.34,-97.7,777.5,-8.2,245,10643,0.00,2.50,0.00,0.000,6,0.000,0.025,2571,2187,2708,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10965,-1.34,-97.7,803.7,-7.4,248,10973,0.00,2.53,0.00,0.000,4,0.000,0.043,2559,3738,2706,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11075,-1.34,-97.7,803.7,-7.4,248,11084,0.00,2.47,0.00,0.000,6,0.000,0.024,2560,2098,2704,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11445,-1.34,-97.7,842.6,-8.1,252,11453,0.00,2.67,0.00,0.000,4,0.000,0.043,2547,3744,2705,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11514,-1.34,-97.7,842.6,-8.1,252,11522,0.00,2.47,0.00,0.000,6,0.000,0.023,2547,2106,2705,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11925,-1.34,-97.7,881.4,-8.1,256,11932,0.00,2.67,0.00,0.000,4,0.000,0.043,2535,3744,2704,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12025,-1.34,-97.7,881.4,-8.1,256,12033,0.12,2.47,0.00,0.000,6,0.155,0.024,2570,2104,2703,0,0,0,0,0,0,25.98,26.39,28.83
$GC,12405,-1.34,-97.7,918.7,-7.7,260,12412,0.00,2.47,0.00,0.000,4,0.000,0.041,2570,547,2702,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12464,-1.34,-97.7,918.7,-7.7,260,12472,0.00,2.50,0.00,0.000,6,0.000,0.025,2560,2187,2702,0,0,0,0,0,0,28.83,26.35,28.83
$GC,12886,-1.34,-97.7,961.1,-8.8,264,12893,0.00,2.60,0.00,0.000,4,0.000,0.041,2562,551,2700,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12924,-1.34,-97.7,961.1,-8.8,264,12931,0.00,2.50,0.00,0.000,6,0.000,0.026,2548,2188,2700,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,13242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13242,begin apogee
$GC,13251,-0.29,0.0,991.7,-8.6,267,13344,1.12,0.00,85.82,1.678,6,0.129,0.000,2899,1576,2320,0,0,0,0,0,0,25.16,28.83,23.02
$STATE,13346,end apogee,CONTROL_FINISHED_OK
$STATE,13346,begin climb
$GC,13349,1.26,97.7,995.5,0.0,272,13445,1.42,0.00,91.95,1.662,6,0.063,0.000,3406,1576,1920,0,0,0,0,0,0,25.24,28.83,23.02
$GC,13846,1.13,97.7,968.5,6.7,287,13853,0.15,1.95,0.00,0.000,4,0.169,0.049,3376,357,1908,0,0,0,0,0,0,25.99,26.14,28.83
$GC,14088,1.01,102.7,953.6,6.4,289,14094,0.20,1.92,0.00,0.000,6,0.161,0.025,3324,1664,1906,0,0,0,0,0,0,25.84,26.41,28.83
$GC,14447,0.97,134.8,935.7,5.2,292,14484,0.00,2.20,32.25,1.616,4,0.000,0.049,3333,355,1768,0,0,0,0,0,0,28.83,25.53,23.64
$GC,14617,0.95,167.9,929.1,5.1,293,14653,0.00,1.92,30.88,1.607,6,0.000,0.025,3333,1658,1635,0,0,0,0,0,0,28.83,26.15,23.54
$GC,15037,0.93,167.9,894.7,7.2,297,15043,0.12,2.08,0.00,0.000,4,0.158,0.049,3310,347,1629,0,0,0,0,0,0,26.14,26.12,28.83
$GC,15194,0.93,167.9,886.2,7.3,298,15198,0.00,1.98,0.00,0.000,6,0.000,0.025,3310,1655,1629,0,0,0,0,0,0,28.83,26.41,28.83
$GC,15507,0.93,167.9,862.4,6.9,301,15513,0.00,2.10,0.00,0.000,4,0.000,0.049,3320,358,1627,0,0,0,0,0,0,28.83,26.20,28.83
$GC,15595,0.93,167.9,862.4,6.9,301,15599,0.00,1.95,0.00,0.000,6,0.000,0.025,3320,1654,1626,0,0,0,0,0,0,28.83,26.47,28.83
$GC,15977,0.93,167.9,830.8,6.7,305,15984,0.00,2.12,0.00,0.000,4,0.000,0.049,3330,352,1625,0,0,0,0,0,0,28.83,26.18,28.83
$GC,16087,0.93,167.9,830.8,6.7,305,16096,0.12,1.95,0.00,0.000,6,0.151,0.026,3298,1656,1625,0,0,0,0,0,0,26.13,26.49,28.83
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$GC,20809,1.19,197.3,437.6,8.8,351,20811,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1649,1514,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25509,end climb,SURFACE_DEPTH_REACHED
$STATE,25509,begin surface coast
$FINISH,1.2,1.025649
$STATE,25530,end surface coast,CONTROL_FINISHED_OK
$STATE,25530,begin surface
$SM_CCo,25556,38.00,0.124,0,0,1094,300.00
$SM_GC,2.26,8.45,0.82,38.00,0.029,0.036,0.124,154,2193,1094,-8.81,-0.45,300.00,0,0,0,0,0,0,26.30,26.39,25.52
$IRIDIUM_FIX,2427.58,-3724.43,160113,202011
$TT8_MAMPS,0.026964,0.026964
$HUMID,62.44
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,7617408
$TM_FREEKB,4921472
$24V_AH,23.0,70.107
$10V_AH,10.1,61.455
$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,22.350,213.125,276.450,38.000,0.000,25.065,36.870,214.615,0.000,0.000,17.275,2169.003,20680.643,714.891,2044.563,526.786,33.265,1681.661,0.000,1674.595,0.000,0.535,0.000
$DEVICE_MAMPS,188.190,77.265,1678.410,123.930,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25540.000,2793.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.783,13.470,0.000,0.000
$MEM,343704
$DATA_FILE_SIZE,13457,508
$CAP_FILE_SIZE,189905,0
$CFSIZE,260034560,214515712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170113,110835,2435.121,-3750.226,34,0.8,34,-14.0