version: 66.11
glider: 189
mission: 7
dive: 405
start: 1 19 113 14 55 42
data:
$ID,189
$MISSION,7
$DIVE,405
$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,-48163.652
$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
$GPS1,190113,144534,2430.928,-3746.833,26,1.0,27,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-58.8
$GPS2,190113,145441,2430.966,-3746.773,19,0.9,19,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.038,-0.114
$KALMAN_X,224808.1,-117.9,1.5,-199230.7,1827.2
$KALMAN_Y,-35695.0,-405.4,104.2,27389.9,3382.2
$MHEAD_RNG_PITCHd_Wd,212.2,2461,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.26,-97.7,0.0,0.0,0,34,0.00,0.00,-11.15,0.000,2,0.000,0.000,152,2128,1417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-1.26,-97.7,2.2,0.0,1,104,9.23,2.50,-49.75,0.000,4,0.189,0.050,2589,551,2720,0,0,0,0,0,0,25.42,26.01,26.69
$GC,394,-1.16,-97.7,21.0,-8.8,37,403,0.12,2.47,0.00,0.000,6,0.136,0.024,2619,2191,2720,0,0,0,0,0,0,25.82,26.33,28.83
$GC,704,-1.13,-97.7,44.4,-7.4,68,713,0.00,2.50,0.00,0.000,4,0.000,0.041,2609,3746,2721,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1004,-1.08,-97.7,69.7,-9.2,98,1013,0.10,2.45,0.00,0.000,6,0.128,0.021,2643,2084,2721,0,0,0,0,0,0,26.05,26.46,28.83
$GC,1314,-1.08,-97.7,95.8,-8.1,113,1321,0.00,2.67,0.00,0.000,4,0.000,0.039,2632,3751,2722,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1614,-1.08,-97.7,118.2,-6.8,123,1621,0.00,2.45,0.00,0.000,6,0.000,0.021,2632,2101,2722,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1947,-1.08,-97.7,132.9,-4.8,134,1953,0.00,2.60,0.00,0.000,4,0.000,0.038,2620,3748,2723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2157,-1.08,-97.7,147.2,-7.2,141,2163,0.12,2.40,0.00,0.000,6,0.142,0.021,2653,2091,2723,0,0,0,0,0,0,26.14,26.50,28.83
$GC,2514,-1.11,-97.7,174.1,-7.4,148,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2091,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2815,-1.15,-97.7,195.1,-6.9,153,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2090,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3116,-1.18,-97.7,209.8,-4.7,158,3121,0.00,2.40,0.00,0.000,4,0.000,0.038,2653,537,2723,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3175,-1.21,-97.7,212.3,-4.4,159,3182,0.08,2.47,0.00,0.000,6,0.055,0.024,2586,2185,2723,0,0,0,0,0,0,26.34,26.46,28.83
$GC,3535,-1.18,-97.7,229.1,-4.7,165,3542,0.12,2.50,0.00,0.000,4,0.151,0.041,2608,3746,2724,0,0,0,0,0,0,26.39,26.23,28.83
$GC,3834,-1.18,-97.7,244.3,-5.1,170,3841,0.00,2.42,0.00,0.000,6,0.000,0.021,2608,2103,2723,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4195,-1.18,-97.7,267.8,-6.8,176,4201,0.00,2.65,0.00,0.000,4,0.000,0.040,2596,3745,2723,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4463,-1.16,-97.7,287.7,-8.3,180,4472,0.12,2.45,0.00,0.000,6,0.145,0.021,2629,2097,2723,0,0,0,0,0,0,26.15,26.50,28.83
$GC,4795,-1.18,-97.7,315.5,-7.7,186,4801,0.00,2.42,0.00,0.000,4,0.000,0.038,2629,549,2722,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4854,-1.18,-97.7,320.3,-7.7,187,4861,0.00,2.45,0.00,0.000,6,0.000,0.024,2618,2186,2722,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5214,-1.18,-97.7,347.6,-7.6,193,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2185,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5515,-1.20,-97.7,367.9,-6.6,198,5521,0.00,2.55,0.00,0.000,4,0.000,0.037,2619,537,2721,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5554,-1.22,-97.7,367.9,-6.6,198,5561,0.00,2.47,0.00,0.000,6,0.000,0.024,2606,2192,2721,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5874,-1.22,-97.7,391.0,-6.5,204,5881,0.00,2.47,0.00,0.000,4,0.000,0.041,2594,3744,2720,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6094,-1.22,-97.7,404.5,-7.4,207,6101,0.00,2.45,0.00,0.000,6,0.000,0.021,2594,2103,2720,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6414,-1.22,-97.7,433.5,-8.1,213,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2103,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6714,-1.22,-97.7,459.7,-8.7,218,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2103,2719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7015,-1.22,-97.7,486.8,-9.1,223,7021,0.00,2.67,0.00,0.000,4,0.000,0.041,2583,3746,2718,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7123,-1.22,-97.7,492.5,-9.1,224,7132,0.00,2.47,0.00,0.000,6,0.000,0.021,2582,2098,2718,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7435,-1.22,-97.7,523.4,-8.6,228,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2098,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7795,-1.22,-97.7,553.3,-8.3,231,7801,0.00,2.67,0.00,0.000,4,0.000,0.041,2570,3749,2715,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7863,-1.22,-97.7,553.3,-8.3,231,7871,0.12,2.47,0.00,0.000,6,0.148,0.021,2602,2090,2715,0,0,0,0,0,0,26.12,26.48,28.83
$GC,8274,-1.25,-97.7,589.1,-7.5,235,8281,0.00,2.67,0.00,0.000,4,0.000,0.041,2592,3742,2715,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8376,-1.27,-97.7,589.1,-7.5,235,8381,0.00,2.40,0.00,0.000,6,0.000,0.022,2592,2100,2715,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8754,-1.27,-97.7,619.3,-6.3,239,8761,0.00,2.42,0.00,0.000,4,0.000,0.039,2592,552,2713,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8823,-1.27,-97.7,619.3,-6.3,239,8831,0.00,2.47,0.00,0.000,6,0.000,0.024,2580,2188,2713,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9235,-1.27,-97.7,647.1,-5.8,243,9241,0.00,2.50,0.00,0.000,4,0.000,0.042,2569,3738,2712,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9313,-1.27,-97.7,647.1,-5.8,243,9321,0.00,2.45,0.00,0.000,6,0.000,0.021,2568,2104,2712,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9714,-1.27,-97.7,685.1,-7.9,247,9721,0.00,2.65,0.00,0.000,4,0.000,0.041,2556,3745,2710,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9824,-1.27,-97.7,685.1,-7.9,247,9833,0.10,2.45,0.00,0.000,6,0.129,0.022,2589,2096,2710,0,0,0,0,0,0,26.05,26.46,28.83
$GC,10194,-1.27,-97.7,726.3,-8.6,251,10201,0.00,2.65,0.00,0.000,4,0.000,0.042,2578,3742,2709,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10283,-1.27,-97.7,726.3,-8.6,251,10291,0.00,2.47,0.00,0.000,6,0.000,0.022,2578,2100,2709,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10675,-1.27,-97.7,766.2,-8.3,255,10676,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2100,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11034,-1.27,-97.7,794.1,-7.8,258,11041,0.00,2.67,0.00,0.000,4,0.000,0.043,2567,3741,2707,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11093,-1.27,-97.7,794.1,-7.8,258,11101,0.00,2.47,0.00,0.000,6,0.000,0.022,2566,2101,2707,0,0,0,0,0,0,28.83,26.43,28.83
$GC,11514,-1.27,-97.7,833.3,-8.2,262,11521,0.00,2.45,0.00,0.000,4,0.000,0.040,2567,551,2705,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11594,-1.27,-97.7,833.3,-8.2,262,11602,0.10,2.50,0.00,0.000,6,0.172,0.025,2584,2190,2705,0,0,0,0,0,0,26.00,26.37,28.83
$GC,11994,-1.30,-97.7,873.2,-8.3,266,11996,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2191,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12354,-1.34,-97.7,903.1,-8.3,269,12361,0.00,2.62,0.00,0.000,4,0.000,0.040,2585,545,2704,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12466,-1.38,-97.7,903.1,-8.3,269,12473,0.00,2.53,0.00,0.000,6,0.000,0.027,2574,2182,2703,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12834,-1.40,-97.7,938.6,-7.4,273,12836,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2182,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13195,-1.42,-97.7,960.8,-6.2,276,13196,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2183,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13555,-1.45,-97.7,985.8,-6.8,279,13562,0.12,2.58,0.00,0.000,4,0.087,0.041,2518,549,2700,0,0,0,0,0,0,26.62,26.05,28.83
$STATE,13611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13611,begin apogee
$GC,13620,-0.29,0.0,991.0,-7.7,282,13714,1.27,0.08,85.57,1.675,6,0.137,0.058,2896,1587,2319,0,0,0,0,0,0,25.06,24.77,23.03
$STATE,13715,end apogee,CONTROL_FINISHED_OK
$STATE,13716,begin climb
$GC,13719,1.26,97.7,995.5,0.0,287,13822,1.42,2.15,91.70,1.672,4,0.064,0.048,3412,348,1921,0,0,0,0,0,0,25.27,24.86,23.05
$GC,13955,1.12,108.0,988.3,6.2,299,13974,0.15,1.98,9.70,1.466,6,0.147,0.024,3367,1658,1877,0,0,0,0,0,0,25.65,26.08,23.73
$GC,14377,1.06,137.6,965.9,5.3,305,14407,0.00,0.00,27.52,1.614,6,0.000,0.000,3368,1658,1758,0,0,0,0,0,0,28.83,28.83,23.71
$GC,14735,1.01,157.2,944.5,5.8,308,14762,0.15,2.58,18.45,1.596,4,0.164,0.036,3327,3198,1678,0,0,0,0,0,0,26.02,25.76,23.87
$GC,14805,0.96,176.8,944.5,5.8,308,14832,0.00,2.58,18.83,1.565,6,0.000,0.031,3338,1587,1601,0,0,0,0,0,0,28.83,25.96,23.68
$GC,15215,0.93,176.8,911.1,7.0,312,15222,0.15,1.98,0.00,0.000,4,0.159,0.050,3306,356,1596,0,0,0,0,0,0,26.07,26.14,28.83
$GC,15404,0.93,176.8,902.2,7.2,313,15411,0.00,1.95,0.00,0.000,6,0.000,0.025,3306,1652,1593,0,0,0,0,0,0,28.83,26.46,28.83
$GC,15814,0.95,176.8,865.3,7.7,317,15821,0.00,2.50,0.00,0.000,4,0.000,0.036,3307,3201,1593,0,0,0,0,0,0,28.83,26.29,28.83
$GC,15883,0.97,176.8,865.3,7.7,317,15891,0.00,2.55,0.00,0.000,6,0.000,0.031,3319,1579,1593,0,0,0,0,0,0,28.83,26.34,28.83
$GC,16295,0.97,176.8,825.2,8.4,321,16301,0.00,1.95,0.00,0.000,4,0.000,0.050,3328,356,1591,0,0,0,0,0,0,28.83,26.20,28.83
$GC,16343,0.97,176.8,825.2,8.4,321,16347,0.00,1.95,0.00,0.000,6,0.000,0.025,3328,1658,1591,0,0,0,0,0,0,28.83,26.50,28.83
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$GC,19387,1.03,183.1,583.3,7.6,347,19393,0.00,2.10,0.00,0.000,4,0.000,0.048,3361,350,1575,0,0,0,0,0,0,28.83,26.05,28.83
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$STATE,25964,end climb,SURFACE_DEPTH_REACHED
$STATE,25964,begin surface coast
$FINISH,1.3,1.021171
$STATE,25995,end surface coast,CONTROL_FINISHED_OK
$STATE,25995,begin surface
$SM_CCo,26018,53.25,0.125,0,0,1096,300.00
$SM_GC,2.19,8.55,0.82,53.25,0.037,0.032,0.125,153,2195,1096,-8.84,-0.51,300.00,0,0,0,0,0,0,26.36,26.43,25.34
$IRIDIUM_FIX,2429.95,-3744.81,190113,070721
$TT8_MAMPS,0.026964,0.026964
$HUMID,61.14
$INTERNAL_PRESSURE,9.0362
$TCM_TEMP,22.60
$XPDR_PINGS,1
$SC_FREEKB,7614336
$TM_FREEKB,4886144
$24V_AH,23.0,71.234
$10V_AH,9.8,62.572
$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,22.825,209.525,256.675,53.250,0.000,25.179,47.564,195.261,0.250,0.000,20.269,2126.061,21277.666,712.932,1968.002,521.962,33.292,1641.606,0.000,1593.413,0.000,0.538,0.000
$DEVICE_MAMPS,188.955,77.265,1675.350,125.460,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26004.000,2937.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.839,13.500,0.000,0.000
$MEM,343700
$DATA_FILE_SIZE,13434,533
$CAP_FILE_SIZE,188975,0
$CFSIZE,260034560,213803008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190113,221134,2430.434,-3746.540,40,0.8,41,-13.9