version: 66.11
glider: 190
mission: 6
dive: 356
start: 1 4 113 17 54 48
data:
$ID,190
$MISSION,6
$DIVE,356
$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,-13363.438
$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,22
$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
$GPS1,040113,174058,2446.667,-3828.615,40,0.8,40,-14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-66.3
$GPS2,040113,175418,2446.592,-3828.613,18,1.4,19,-14.1
$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,255.1,31131,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.84,-155.7,0.0,0.0,0,39,0.00,0.00,-11.65,0.000,2,0.000,0.000,141,1534,1819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,43,-0.84,-155.7,2.3,0.0,1,149,11.45,2.12,-85.20,0.000,4,0.366,0.158,2611,457,3625,0,0,0,0,0,0,14.16,14.19,14.69
$GC,269,-0.82,-155.7,14.3,-10.6,24,278,0.00,1.95,0.00,0.000,6,0.000,0.083,2605,1519,3626,0,0,0,0,0,0,28.83,14.25,28.83
$GC,579,-0.82,-155.7,45.7,-9.7,55,588,0.00,2.00,0.00,0.000,4,0.000,0.106,2605,2581,3625,0,0,0,0,0,0,28.83,14.23,28.83
$GC,700,-0.82,-155.7,56.7,-9.0,67,708,0.00,2.00,0.00,0.000,6,0.000,0.112,2605,1537,3623,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1011,-0.82,-155.7,84.8,-8.8,98,1018,0.00,1.95,0.00,0.000,4,0.000,0.106,2605,2586,3625,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1069,-0.82,-155.7,89.9,-8.6,104,1078,0.00,2.05,0.00,0.000,6,0.000,0.112,2605,1525,3625,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1380,-0.82,-155.7,116.0,-8.3,135,1388,0.00,1.98,0.00,0.000,4,0.000,0.104,2605,2578,3625,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1439,-0.82,-155.7,121.2,-8.7,141,1449,0.00,2.00,0.00,0.000,6,0.000,0.111,2605,1535,3625,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1749,-0.82,-155.7,150.0,-9.3,172,1758,0.00,1.95,0.00,0.000,4,0.000,0.102,2605,2576,3626,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1812,-0.84,-155.7,155.2,-8.8,178,1818,0.00,1.98,0.00,0.000,6,0.000,0.110,2605,1532,3626,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2121,-0.88,-155.7,180.1,-8.1,209,2128,0.00,2.05,0.00,0.000,4,0.000,0.138,2605,457,3625,0,0,0,0,0,0,28.83,14.18,28.83
$GC,2219,-0.88,-155.7,189.4,-9.8,219,2228,0.00,1.95,0.00,0.000,6,0.000,0.083,2605,1530,3626,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2530,-0.91,-155.7,221.6,-10.7,250,2538,0.00,1.92,0.00,0.000,4,0.000,0.103,2605,2571,3626,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2560,-0.95,-155.7,224.6,-10.2,253,2569,0.00,2.00,0.00,0.000,6,0.000,0.112,2605,1523,3626,0,0,0,0,0,0,28.83,14.24,28.83
$GC,2890,-0.99,-155.7,255.8,-8.8,282,2896,0.00,2.05,0.00,0.000,4,0.000,0.137,2605,461,3626,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3111,-0.99,-155.7,274.5,-8.9,289,3116,0.00,1.83,0.00,0.000,6,0.000,0.082,2605,1495,3625,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3431,-1.03,-155.7,304.0,-9.3,300,3433,0.15,0.00,0.00,0.000,6,0.126,0.000,2538,1496,3625,0,0,0,0,0,0,14.64,28.83,28.83
$GC,3732,-1.00,-155.7,339.7,-12.4,310,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1496,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4029,-0.98,-155.7,374.7,-11.1,320,4037,0.15,1.98,0.00,0.000,4,0.236,0.101,2568,2568,3623,0,0,0,0,0,0,14.37,14.37,28.83
$GC,4120,-0.98,-155.7,383.5,-10.0,323,4127,0.00,2.05,0.00,0.000,6,0.000,0.113,2568,1492,3623,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4450,-0.98,-155.7,412.9,-8.6,334,4456,0.00,2.03,0.00,0.000,4,0.000,0.104,2563,2575,3622,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4498,-0.98,-155.7,415.3,-8.5,335,4502,0.00,2.08,0.00,0.000,6,0.000,0.113,2563,1493,3621,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4800,-0.98,-155.7,443.6,-9.3,345,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1493,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5099,-0.98,-155.7,474.8,-10.7,355,5106,0.00,2.03,0.00,0.000,4,0.000,0.137,2563,456,3620,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5170,-0.98,-155.7,481.6,-11.0,357,5176,0.00,1.88,0.00,0.000,6,0.000,0.086,2556,1492,3617,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5490,-0.98,-155.7,514.9,-9.5,368,5496,0.00,2.03,0.00,0.000,4,0.000,0.110,2552,2573,3618,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5588,-0.98,-155.7,523.0,-9.1,371,5592,0.00,2.05,0.00,0.000,6,0.000,0.115,2552,1506,3618,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5901,-0.98,-155.7,551.2,-8.7,382,5907,0.00,2.03,0.00,0.000,4,0.000,0.109,2552,2575,3617,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5979,-0.98,-155.7,556.2,-8.5,384,5983,0.00,2.05,0.00,0.000,6,0.000,0.116,2552,1515,3617,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6281,-0.98,-155.7,584.6,-9.3,394,6288,0.00,2.05,0.00,0.000,4,0.000,0.141,2552,466,3616,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6340,-0.98,-155.7,591.0,-10.0,396,6347,0.00,1.92,0.00,0.000,6,0.000,0.090,2549,1516,3616,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6671,-0.98,-155.7,626.3,-10.8,407,6677,0.00,2.00,0.00,0.000,4,0.000,0.114,2542,2577,3614,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6749,-0.98,-155.7,632.7,-10.7,409,6754,0.12,2.05,0.00,0.000,6,0.233,0.116,2572,1515,3614,0,0,0,0,0,0,14.21,14.28,28.83
$GC,7053,-1.00,-155.7,664.8,-9.9,419,7058,0.00,2.08,0.00,0.000,4,0.000,0.142,2572,454,3613,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7120,-1.00,-155.7,671.1,-10.1,421,7128,0.00,1.95,0.00,0.000,6,0.000,0.090,2565,1512,3612,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7442,-1.03,-155.7,702.2,-8.9,432,7444,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1512,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7742,-1.05,-155.7,725.5,-7.3,442,7747,0.00,2.08,0.00,0.000,4,0.000,0.142,2566,457,3609,0,0,0,0,0,0,28.83,14.16,28.83
$GC,7830,-1.05,-155.7,732.8,-7.9,445,7837,0.00,1.95,0.00,0.000,6,0.000,0.090,2560,1512,3609,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8160,-1.05,-155.7,757.5,-7.7,456,8169,0.00,2.05,0.00,0.000,4,0.000,0.116,2555,2588,3608,0,0,0,0,0,0,28.83,14.24,28.83
$GC,8221,-1.08,-155.7,762.3,-7.9,458,8227,0.00,2.10,0.00,0.000,6,0.000,0.119,2555,1512,3607,0,0,0,0,0,0,28.83,14.15,28.83
$GC,8553,-1.10,-155.7,792.4,-9.6,469,8558,0.00,2.08,0.00,0.000,4,0.000,0.147,2555,462,3606,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8630,-1.10,-155.7,798.7,-10.1,471,8638,0.00,1.95,0.00,0.000,6,0.000,0.092,2549,1512,3605,0,0,0,0,0,0,28.83,14.34,28.83
$GC,8940,-1.10,-155.7,834.5,-10.8,482,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1512,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9241,-1.10,-155.7,865.3,-10.0,492,9249,0.00,2.10,0.00,0.000,4,0.000,0.145,2553,462,3603,0,0,0,0,0,0,28.83,14.03,28.83
$GC,9349,-1.10,-155.7,874.9,-10.5,495,9353,0.00,1.95,0.00,0.000,6,0.000,0.095,2553,1505,3603,0,0,0,0,0,0,28.83,14.29,28.83
$GC,9651,-1.10,-155.7,906.4,-9.7,505,9657,0.00,2.08,0.00,0.000,4,0.000,0.122,2553,2578,3600,0,0,0,0,0,0,28.83,14.11,28.83
$GC,9741,-1.10,-155.7,915.0,-9.6,508,9747,0.00,2.08,0.00,0.000,6,0.000,0.122,2552,1521,3601,0,0,0,0,0,0,28.83,14.08,28.83
$GC,10073,-1.12,-155.7,948.3,-10.3,519,10078,0.00,2.12,0.00,0.000,4,0.000,0.151,2552,456,3599,0,0,0,0,0,0,28.83,14.03,28.83
$GC,10132,-1.12,-155.7,954.9,-10.7,521,10137,0.00,1.92,0.00,0.000,6,0.000,0.093,2552,1508,3598,0,0,0,0,0,0,28.83,14.28,28.83
$GC,10463,-1.14,-155.7,988.8,-10.0,532,10468,0.00,2.12,0.00,0.000,4,0.000,0.150,2554,455,3597,0,0,0,0,0,0,28.83,14.01,28.83
$STATE,10488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10488,begin apogee
$GC,10498,-0.23,0.0,992.0,-10.2,533,10658,0.93,0.00,152.10,1.842,4,0.226,0.000,2804,1525,2985,0,0,0,0,0,0,13.90,28.83,13.11
$STATE,10661,end apogee,CONTROL_FINISHED_OK
$STATE,10661,begin climb
$GC,10664,0.84,155.7,1001.8,0.0,538,10834,1.10,2.03,159.57,1.817,4,0.112,0.118,3160,2578,2354,0,0,0,0,0,0,14.12,14.08,13.13
$GC,10881,0.84,272.7,1003.0,3.5,546,11010,0.00,2.15,122.12,1.789,6,0.000,0.137,3167,1518,1872,0,0,0,0,0,0,28.83,14.16,13.14
$GC,11323,0.84,272.7,960.9,10.0,561,11329,0.00,2.10,0.00,0.000,4,0.000,0.158,3175,466,1854,0,0,0,0,0,0,28.83,14.29,28.83
$GC,11382,0.84,272.7,954.5,10.3,563,11390,0.00,1.95,0.00,0.000,6,0.000,0.092,3175,1522,1853,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11713,0.84,272.7,921.1,10.2,574,11719,0.00,2.03,0.00,0.000,4,0.000,0.123,3174,2579,1851,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11773,0.84,272.7,914.5,10.6,576,11779,0.00,2.12,0.00,0.000,6,0.000,0.146,3183,1513,1851,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12102,0.84,272.7,878.6,10.8,587,12111,0.00,2.17,0.00,0.000,4,0.000,0.173,3190,457,1850,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12152,0.82,272.7,875.4,10.8,588,12162,0.15,1.98,0.00,0.000,6,0.285,0.098,3157,1522,1849,0,0,0,0,0,0,14.21,14.47,28.83
$GC,12465,0.82,272.7,845.4,8.2,599,12472,0.00,1.98,0.00,0.000,4,0.000,0.114,3157,2577,1849,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12522,0.82,272.7,840.7,7.9,601,12529,0.00,2.12,0.00,0.000,6,0.000,0.142,3164,1519,1848,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12856,0.83,290.9,818.1,6.6,612,12874,0.00,0.00,16.73,1.633,6,0.000,0.000,3164,1520,1803,0,0,0,0,0,0,28.83,28.83,13.54
$GC,13153,0.83,290.9,796.7,7.4,622,13154,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1520,1790,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,16982,0.84,306.8,442.0,7.7,749,16991,0.00,1.98,0.00,0.000,4,0.000,0.105,3170,2579,1727,0,0,0,0,0,0,28.83,14.32,28.83
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$STATE,21235,end climb,SURFACE_DEPTH_REACHED
$STATE,21235,begin surface coast
$FINISH,1.5,1.025550
$STATE,21254,end surface coast,CONTROL_FINISHED_OK
$STATE,21254,begin surface
$SM_CCo,21339,0.00,0.000,0,0,1271,421.43
$SM_GC,2.49,9.10,1.90,0.00,0.080,0.077,0.000,142,1522,1271,-8.53,-0.71,421.43,0,0,0,0,0,0,14.43,14.40,28.83
$IRIDIUM_FIX,2437.06,-3826.62,040113,111102
$TT8_MAMPS,0.023219,0.023219
$HUMID,58.97
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,7633696
$TM_FREEKB,4311008
$24V_AH,13.1,150.779
$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,23.700,177.675,577.925,0.000,0.000,0.000,0.000,437.600,0.000,0.000,20.067,2945.832,15128.013,949.360,2472.286,627.471,0.000,2456.977,0.000,1924.983,0.000,0.541,0.000
$DEVICE_MAMPS,366.435,172.890,1842.120,0.000,0.000,0.000,0.000,172.890,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21303.000,5247.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.784,13.268,0.000,0.000
$MEM,345572
$DATA_FILE_SIZE,40012,1050
$CAP_FILE_SIZE,224789,0
$CFSIZE,260034560,200736768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.061,159.5,1
$GPS,040113,235136,2444.935,-3830.003,27,1.0,27,-14.1