version: 66.11
glider: 190
mission: 6
dive: 348
start: 1 2 113 13 40 12
data:
$ID,190
$MISSION,6
$DIVE,348
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,2
$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,460
$T_MISSION,610
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55694
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.035
$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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13353.277
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3920
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1520
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,6
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2990
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-57.210079
$PRESSURE_SLOPE,0.0001167181
$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,2
$XPDR_VALID,4
$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,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043554804
$SEABIRD_T_H,0.00062589208
$SEABIRD_T_I,2.3694633e-05
$SEABIRD_T_J,2.5872548e-06
$SEABIRD_C_G,-9.7973194
$SEABIRD_C_H,1.1276957
$SEABIRD_C_I,-0.00090238411
$SEABIRD_C_J,0.00014727951
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,020113,132705,2459.371,-3814.605,38,0.9,38,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-67.4
$GPS2,020113,133942,2459.377,-3814.678,19,0.9,20,-14.0
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$TGT_RADIUS,1852.000
$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,227.2,64463,-16.4,-7.174,-28.86
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.84,-155.7,0.0,0.0,0,38,0.00,0.00,-11.05,0.000,2,0.000,0.000,139,1532,1805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.84,-155.7,2.4,0.0,1,148,11.45,2.15,-84.25,0.000,4,0.366,0.163,2615,457,3624,0,0,0,0,0,0,14.12,14.24,14.68
$GC,249,-0.84,-155.7,13.2,-10.5,22,257,0.00,1.92,0.00,0.000,6,0.000,0.086,2609,1514,3626,0,0,0,0,0,0,28.83,14.22,28.83
$GC,558,-0.84,-155.7,42.8,-9.6,53,568,0.00,2.03,0.00,0.000,4,0.000,0.107,2605,2581,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,638,-0.84,-155.7,50.2,-9.0,61,647,0.00,2.08,0.00,0.000,6,0.000,0.114,2605,1514,3626,0,0,0,0,0,0,28.83,14.26,28.83
$GC,948,-0.84,-155.7,80.8,-9.9,92,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1514,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1248,-0.84,-155.7,111.4,-11.3,122,1257,0.00,2.05,0.00,0.000,4,0.000,0.138,2605,464,3626,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1299,-0.84,-155.7,117.7,-13.1,127,1307,0.00,1.92,0.00,0.000,6,0.000,0.086,2605,1524,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1610,-0.87,-155.7,152.1,-10.1,158,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1525,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1918,-0.90,-155.7,180.4,-8.9,189,1928,0.00,2.08,0.00,0.000,4,0.000,0.135,2604,462,3627,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2148,-0.90,-155.7,201.6,-9.3,212,2157,0.00,1.92,0.00,0.000,6,0.000,0.083,2607,1525,3627,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2458,-0.94,-155.7,227.0,-8.0,243,2467,0.00,2.08,0.00,0.000,4,0.000,0.136,2605,463,3627,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2509,-0.94,-155.7,231.2,-8.5,248,2517,0.00,1.90,0.00,0.000,6,0.000,0.083,2605,1514,3625,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2830,-0.98,-155.7,254.5,-7.4,276,2835,0.00,2.05,0.00,0.000,4,0.000,0.137,2605,465,3627,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2918,-1.00,-155.7,261.4,-7.6,279,2927,0.12,1.88,0.00,0.000,6,0.145,0.083,2553,1502,3627,0,0,0,0,0,0,14.47,14.43,28.83
$GC,3251,-1.00,-155.7,289.3,-8.6,290,3256,0.00,2.00,0.00,0.000,4,0.000,0.109,2549,2579,3626,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3318,-1.00,-155.7,294.5,-8.6,292,3326,0.00,2.08,0.00,0.000,6,0.000,0.116,2549,1502,3626,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3640,-0.98,-155.7,324.0,-9.3,303,3646,0.00,2.03,0.00,0.000,4,0.000,0.110,2547,2583,3626,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3699,-0.98,-155.7,329.4,-9.2,305,3705,0.00,2.05,0.00,0.000,6,0.000,0.119,2547,1515,3625,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4028,-0.98,-155.7,359.8,-9.0,316,4035,0.00,2.03,0.00,0.000,4,0.000,0.109,2540,2578,3625,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4097,-0.98,-155.7,364.9,-8.7,318,4101,0.12,2.05,0.00,0.000,6,0.226,0.119,2570,1519,3624,0,0,0,0,0,0,14.28,14.34,28.83
$GC,4414,-0.98,-155.7,388.0,-6.8,329,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1519,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4710,-0.98,-155.7,409.5,-7.6,339,4717,0.00,2.00,0.00,0.000,4,0.000,0.109,2565,2581,3623,0,0,0,0,0,0,28.83,14.34,28.83
$GC,4790,-0.98,-155.7,414.2,-8.0,341,4798,0.00,2.05,0.00,0.000,6,0.000,0.117,2565,1522,3625,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5100,-0.98,-155.7,445.0,-9.9,352,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1522,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5400,-0.98,-155.7,474.8,-9.5,362,5408,0.00,2.03,0.00,0.000,4,0.000,0.113,2558,2579,3620,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5460,-0.98,-155.7,480.1,-9.2,364,5467,0.00,2.05,0.00,0.000,6,0.000,0.120,2558,1526,3621,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5792,-0.98,-155.7,505.9,-7.5,375,5797,0.00,2.08,0.00,0.000,4,0.000,0.142,2558,459,3619,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5840,-0.98,-155.7,508.4,-7.8,376,5850,0.00,1.98,0.00,0.000,6,0.000,0.093,2553,1531,3619,0,0,0,0,0,0,28.83,14.41,28.83
$GC,6150,-0.98,-155.7,539.4,-10.1,387,6157,0.00,2.00,0.00,0.000,4,0.000,0.112,2549,2586,3618,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6249,-0.98,-155.7,548.6,-10.3,390,6257,0.00,2.03,0.00,0.000,6,0.000,0.117,2549,1541,3618,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6571,-0.98,-155.7,584.5,-11.3,401,6577,0.00,2.10,0.00,0.000,4,0.000,0.141,2548,463,3617,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6619,-0.98,-155.7,588.2,-11.6,402,6623,0.12,2.00,0.00,0.000,6,0.281,0.095,2571,1539,3617,0,0,0,0,0,0,14.15,14.38,28.83
$GC,6924,-1.01,-155.7,621.2,-9.9,412,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1539,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7220,-1.04,-155.7,650.3,-9.8,422,7227,0.00,2.15,0.00,0.000,4,0.000,0.145,2571,457,3615,0,0,0,0,0,0,28.83,14.14,28.83
$GC,7290,-1.04,-155.7,656.6,-10.2,424,7297,0.00,1.98,0.00,0.000,6,0.000,0.095,2564,1528,3615,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7610,-1.04,-155.7,689.0,-9.8,435,7617,0.00,1.98,0.00,0.000,4,0.000,0.112,2557,2576,3613,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7679,-1.04,-155.7,694.7,-9.5,437,7683,0.00,2.03,0.00,0.000,6,0.000,0.113,2557,1529,3613,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7991,-1.04,-155.7,724.3,-9.0,448,7998,0.00,2.03,0.00,0.000,4,0.000,0.116,2550,2583,3612,0,0,0,0,0,0,28.83,14.26,28.83
$GC,8051,-1.04,-155.7,729.8,-9.0,450,8058,0.00,2.03,0.00,0.000,6,0.000,0.114,2550,1530,3612,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8382,-1.04,-155.7,762.5,-10.0,461,8388,0.00,2.00,0.00,0.000,4,0.000,0.112,2544,2577,3610,0,0,0,0,0,0,28.83,14.21,28.83
$GC,8450,-1.04,-155.7,768.2,-9.7,463,8457,0.00,2.00,0.00,0.000,6,0.000,0.113,2544,1541,3610,0,0,0,0,0,0,28.83,14.25,28.83
$GC,8772,-1.04,-155.7,801.0,-9.8,474,8778,0.00,2.10,0.00,0.000,4,0.000,0.135,2544,465,3608,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8811,-1.04,-155.7,804.1,-9.8,475,8818,0.00,1.98,0.00,0.000,6,0.000,0.087,2540,1549,3608,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9132,-1.04,-155.7,832.4,-8.0,486,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1549,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9432,-1.04,-155.7,854.5,-7.3,496,9438,0.00,1.95,0.00,0.000,4,0.000,0.112,2536,2573,3606,0,0,0,0,0,0,28.83,14.17,28.83
$GC,9480,-1.04,-155.7,856.6,-7.1,497,9490,0.00,2.05,0.00,0.000,6,0.000,0.125,2536,1540,3606,0,0,0,0,0,0,28.83,14.08,28.83
$GC,9791,-1.04,-155.7,882.3,-8.4,508,9798,0.00,2.05,0.00,0.000,4,0.000,0.125,2536,2578,3608,0,0,0,0,0,0,28.83,14.18,28.83
$GC,9852,-1.04,-155.7,887.6,-8.7,510,9858,0.00,2.03,0.00,0.000,6,0.000,0.128,2536,1551,3604,0,0,0,0,0,0,28.83,14.08,28.83
$GC,10181,-1.04,-155.7,922.8,-11.6,521,10188,0.00,2.17,0.00,0.000,4,0.000,0.141,2536,459,3603,0,0,0,0,0,0,28.83,14.10,28.83
$GC,10230,-1.04,-155.7,926.8,-12.1,522,10234,0.00,2.05,0.00,0.000,6,0.000,0.094,2536,1555,3603,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10533,-1.04,-155.7,970.1,-13.5,532,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1555,3602,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10708,begin apogee
$GC,10715,-0.23,0.0,993.1,-12.6,538,10873,0.98,0.00,153.40,1.891,4,0.217,0.000,2805,1518,2989,0,0,0,0,0,0,13.92,28.83,13.09
$STATE,10878,end apogee,CONTROL_FINISHED_OK
$STATE,10878,begin climb
$GC,10881,0.84,155.7,1004.9,0.0,543,11047,1.10,0.00,160.07,1.850,6,0.126,0.000,3157,1518,2350,0,0,0,0,0,0,14.05,28.83,13.10
$GC,11362,0.80,155.7,988.1,7.5,560,11369,0.00,2.05,0.00,0.000,4,0.000,0.127,3157,2569,2336,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11552,0.75,155.7,973.8,8.1,566,11559,0.10,2.08,0.00,0.000,6,0.282,0.145,3139,1529,2334,0,0,0,0,0,0,14.19,14.31,28.83
$GC,11874,0.74,168.7,950.3,6.8,577,11889,0.00,0.00,11.62,1.681,6,0.000,0.000,3140,1529,2301,0,0,0,0,0,0,28.83,28.83,13.54
$GC,12203,0.72,173.5,927.1,7.0,588,12205,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1529,2290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12503,0.70,187.2,906.3,6.7,598,12529,0.00,0.00,21.55,1.747,6,0.000,0.000,3138,1529,2219,0,0,0,0,0,0,28.83,28.83,13.57
$GC,12832,0.72,209.2,883.6,6.5,609,12861,0.00,2.08,24.17,1.730,4,0.000,0.135,3138,2576,2130,0,0,0,0,0,0,28.83,14.42,13.54
$GC,12901,0.71,237.2,879.8,6.3,611,12939,0.00,2.10,30.25,1.715,6,0.000,0.139,3146,1519,2019,0,0,0,0,0,0,28.83,14.29,13.40
$GC,13251,0.71,242.0,854.6,7.0,623,13258,0.00,2.05,0.00,0.000,4,0.000,0.125,3146,2576,2007,0,0,0,0,0,0,28.83,14.31,28.83
$GC,13321,0.72,249.3,850.5,6.9,625,13341,0.12,2.10,13.50,1.634,6,0.298,0.140,3126,1529,1969,0,0,0,0,0,0,14.16,14.29,13.53
$GC,13641,0.73,262.1,828.6,6.8,636,13660,0.00,2.08,14.77,1.635,4,0.000,0.132,3128,2581,1916,0,0,0,0,0,0,28.83,14.46,13.57
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$GC,17217,0.75,303.2,518.2,6.6,755,17252,0.00,2.22,28.45,1.372,4,0.000,0.146,3154,458,1746,0,0,0,0,0,0,28.83,14.42,13.64
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$STATE,22753,end climb,SURFACE_DEPTH_REACHED
$STATE,22753,begin surface coast
$FINISH,1.4,1.010145
$STATE,22782,end surface coast,CONTROL_FINISHED_OK
$STATE,22782,begin surface
$SM_CCo,22805,6.12,0.137,0,0,1561,350.04
$SM_GC,3.22,8.88,0.08,6.12,0.079,0.198,0.137,141,1521,1561,-8.54,0.40,350.04,0,0,0,0,0,0,14.40,14.52,14.30
$IRIDIUM_FIX,2451.31,-3812.10,020113,070724
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.38
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.60
$XPDR_PINGS,3
$SC_FREEKB,7636640
$TM_FREEKB,4380832
$24V_AH,13.1,147.360
$10V_AH,11.9,0.000
$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,23.450,187.000,514.625,6.125,0.000,0.000,0.000,397.425,0.750,0.000,20.771,3198.995,16182.786,935.926,2599.425,637.701,0.000,2476.866,0.000,2082.815,0.000,0.540,0.000
$DEVICE_MAMPS,366.435,198.135,1891.080,136.935,0.000,0.000,0.000,176.715,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22829.000,5673.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.042,13.204,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,39951,1132
$CAP_FILE_SIZE,241105,7
$CFSIZE,260034560,201773056
$ERRORS,0,0,0,0,0,0,0,0,0,1,0,0,34,0,2,0
$CURRENT,0.039,196.6,1
$GPS,020113,200134,2457.482,-3816.024,25,0.8,25,-14.0