version: 66.11
glider: 190
mission: 6
dive: 423
start: 1 22 113 21 43 27
data:
$ID,190
$MISSION,6
$DIVE,423
$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,-13447.818
$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,14
$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
$GPS1,220113,213202,2437.381,-3744.570,41,0.9,41,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-63.6
$GPS2,220113,214254,2437.401,-3744.559,19,0.9,20,-13.9
$SPEED_LIMITS,0.124,0.130
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$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,220.0,31606,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.84,-155.7,0.0,0.0,0,35,0.00,0.00,-10.43,0.000,2,0.000,0.000,139,1514,1798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.84,-155.7,2.4,0.0,1,145,11.02,2.05,-86.22,0.000,4,0.343,0.161,2613,456,3622,0,0,0,0,0,0,14.14,14.10,14.61
$GC,356,-0.84,-155.7,23.5,-9.3,33,365,0.00,1.95,0.00,0.000,6,0.000,0.083,2608,1526,3627,0,0,0,0,0,0,28.83,14.09,28.83
$GC,666,-0.84,-155.7,51.7,-10.0,64,674,0.00,1.98,0.00,0.000,4,0.000,0.106,2605,2570,3627,0,0,0,0,0,0,28.83,14.03,28.83
$GC,715,-0.84,-155.7,56.1,-8.7,69,725,0.00,2.08,0.00,0.000,6,0.000,0.115,2605,1517,3626,0,0,0,0,0,0,28.83,14.12,28.83
$GC,1027,-0.87,-155.7,81.4,-9.0,100,1034,0.00,2.08,0.00,0.000,4,0.000,0.138,2605,457,3627,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1155,-0.87,-155.7,93.6,-9.2,113,1165,0.00,1.95,0.00,0.000,6,0.000,0.080,2605,1517,3626,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1466,-0.90,-155.7,121.8,-9.2,144,1474,0.00,2.08,0.00,0.000,4,0.000,0.135,2605,466,3627,0,0,0,0,0,0,28.83,13.99,28.83
$GC,1567,-0.90,-155.7,131.5,-10.2,154,1574,0.00,1.88,0.00,0.000,6,0.000,0.080,2605,1499,3627,0,0,0,0,0,0,28.83,14.19,28.83
$GC,1877,-0.93,-155.7,162.1,-9.9,185,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1503,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2187,-0.97,-155.7,192.2,-9.6,216,2194,0.00,1.98,0.00,0.000,4,0.000,0.098,2605,2578,3627,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2256,-1.02,-155.7,198.9,-9.5,223,2264,0.10,2.10,0.00,0.000,6,0.083,0.113,2551,1493,3629,0,0,0,0,0,0,14.19,14.07,28.83
$GC,2566,-1.02,-155.7,229.8,-10.4,254,2574,0.00,2.05,0.00,0.000,4,0.000,0.139,2551,457,3627,0,0,0,0,0,0,28.83,14.00,28.83
$GC,2690,-0.98,-155.7,243.4,-11.6,266,2697,0.00,1.88,0.00,0.000,6,0.000,0.083,2549,1480,3627,0,0,0,0,0,0,28.83,14.18,28.83
$GC,3015,-0.98,-155.7,278.4,-10.1,281,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1480,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3316,-0.98,-155.7,304.4,-8.2,291,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1478,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3615,-0.98,-155.7,328.0,-7.9,301,3623,0.00,2.00,0.00,0.000,4,0.000,0.133,2549,457,3626,0,0,0,0,0,0,28.83,14.13,28.83
$GC,3707,-0.96,-155.7,336.0,-8.7,304,3713,0.08,1.83,0.00,0.000,6,0.252,0.082,2570,1474,3626,0,0,0,0,0,0,14.02,14.31,28.83
$GC,4039,-0.96,-155.7,363.1,-8.4,315,4044,0.00,1.95,0.00,0.000,4,0.000,0.137,2575,460,3625,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4074,-0.96,-155.7,365.7,-8.5,316,4078,0.00,1.83,0.00,0.000,6,0.000,0.083,2566,1469,3625,0,0,0,0,0,0,28.83,14.38,28.83
$GC,4388,-0.96,-155.7,395.1,-9.4,327,4394,0.00,1.95,0.00,0.000,4,0.000,0.135,2566,456,3624,0,0,0,0,0,0,28.83,14.07,28.83
$GC,4435,-0.96,-155.7,398.1,-9.7,328,4439,0.00,1.83,0.00,0.000,6,0.000,0.083,2566,1465,3624,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4736,-0.96,-155.7,429.2,-9.4,338,4744,0.00,1.98,0.00,0.000,4,0.000,0.137,2566,462,3623,0,0,0,0,0,0,28.83,14.09,28.83
$GC,4846,-0.96,-155.7,438.1,-9.8,341,4855,0.00,1.77,0.00,0.000,6,0.000,0.083,2565,1438,3623,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5156,-0.96,-155.7,466.8,-8.2,352,5163,0.00,1.92,0.00,0.000,4,0.000,0.135,2565,460,3622,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5235,-0.96,-155.7,471.9,-8.5,354,5244,0.00,1.75,0.00,0.000,6,0.000,0.083,2565,1424,3621,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5550,-0.98,-155.7,498.1,-7.8,365,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1424,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5848,-1.01,-155.7,521.7,-7.8,375,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1424,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6147,-1.03,-155.7,547.7,-9.0,385,6153,0.00,1.90,0.00,0.000,4,0.000,0.135,2565,460,3619,0,0,0,0,0,0,28.83,14.06,28.83
$GC,6215,-1.03,-155.7,553.6,-9.5,387,6219,0.00,1.75,0.00,0.000,6,0.000,0.082,2561,1425,3618,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6529,-1.03,-155.7,585.1,-9.9,398,6534,0.00,1.90,0.00,0.000,4,0.000,0.135,2562,462,3619,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6627,-1.03,-155.7,594.4,-10.2,401,6634,0.00,1.73,0.00,0.000,6,0.000,0.085,2555,1405,3617,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6949,-1.03,-155.7,624.3,-8.5,412,6954,0.00,1.88,0.00,0.000,4,0.000,0.140,2555,455,3616,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6987,-1.03,-155.7,626.9,-8.5,413,6994,0.00,1.73,0.00,0.000,6,0.000,0.087,2553,1396,3616,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7308,-1.03,-155.7,652.4,-7.5,424,7314,0.00,2.25,0.00,0.000,4,0.000,0.111,2553,2577,3615,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7337,-1.03,-155.7,654.5,-7.3,425,7345,0.00,2.33,0.00,0.000,6,0.000,0.120,2553,1387,3614,0,0,0,0,0,0,28.83,14.04,28.83
$GC,7668,-1.03,-155.7,680.0,-8.2,436,7674,0.00,1.85,0.00,0.000,4,0.000,0.143,2553,460,3613,0,0,0,0,0,0,28.83,13.95,28.83
$GC,7716,-1.03,-155.7,682.7,-8.5,437,7720,0.00,1.70,0.00,0.000,6,0.000,0.088,2553,1385,3613,0,0,0,0,0,0,28.83,14.29,28.83
$GC,8018,-1.03,-155.7,714.1,-10.0,447,8025,0.00,2.28,0.00,0.000,4,0.000,0.115,2552,2579,3611,0,0,0,0,0,0,28.83,14.12,28.83
$GC,8067,-1.03,-155.7,717.1,-10.1,448,8075,0.00,2.35,0.00,0.000,6,0.000,0.122,2553,1385,3612,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8378,-1.03,-155.7,750.0,-9.8,459,8385,0.00,2.28,0.00,0.000,4,0.000,0.112,2552,2577,3610,0,0,0,0,0,0,28.83,14.11,28.83
$GC,8427,-1.03,-155.7,752.9,-9.8,460,8436,0.00,2.33,0.00,0.000,6,0.000,0.122,2552,1396,3610,0,0,0,0,0,0,28.83,14.07,28.83
$GC,8737,-1.03,-155.7,784.4,-9.6,471,8745,0.00,1.88,0.00,0.000,4,0.000,0.145,2552,462,3609,0,0,0,0,0,0,28.83,13.98,28.83
$GC,8807,-1.03,-155.7,790.4,-9.7,473,8814,0.00,1.73,0.00,0.000,6,0.000,0.087,2552,1401,3608,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9130,-1.05,-155.7,821.8,-9.4,484,9135,0.00,1.88,0.00,0.000,4,0.000,0.144,2553,461,3607,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9236,-1.05,-155.7,830.7,-9.8,487,9240,0.00,1.70,0.00,0.000,6,0.000,0.088,2552,1382,3606,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9539,-1.07,-155.7,859.6,-8.9,497,9545,0.00,2.28,0.00,0.000,4,0.000,0.114,2552,2577,3605,0,0,0,0,0,0,28.83,14.09,28.83
$GC,9587,-1.09,-155.7,862.3,-8.9,498,9596,0.00,2.35,0.00,0.000,6,0.000,0.124,2552,1383,3605,0,0,0,0,0,0,28.83,13.95,28.83
$GC,9901,-1.12,-155.7,893.4,-9.8,509,9907,0.00,1.85,0.00,0.000,4,0.000,0.149,2551,457,3604,0,0,0,0,0,0,28.83,13.91,28.83
$GC,9957,-1.12,-155.7,899.7,-10.2,511,9964,0.00,1.73,0.00,0.000,6,0.000,0.089,2552,1386,3602,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10291,-1.14,-155.7,932.4,-9.9,522,10297,0.00,2.28,0.00,0.000,4,0.000,0.115,2552,2577,3602,0,0,0,0,0,0,28.83,14.06,28.83
$GC,10378,-1.17,-155.7,940.7,-9.4,525,10385,0.08,2.35,0.00,0.000,6,0.114,0.125,2522,1390,3602,0,0,0,0,0,0,13.97,13.88,28.83
$GC,10712,-1.14,-155.7,974.9,-10.3,536,10717,0.00,2.33,0.00,0.000,4,0.000,0.119,2514,2580,3600,0,0,0,0,0,0,28.83,13.99,28.83
$GC,10828,-1.14,-155.7,987.3,-10.3,540,10835,0.00,2.35,0.00,0.000,6,0.000,0.124,2514,1401,3600,0,0,0,0,0,0,28.83,13.88,28.83
$STATE,10854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10854,begin apogee
$GC,10862,-0.23,0.0,990.5,-10.3,541,11089,1.12,0.00,217.48,1.519,4,0.231,0.000,2811,1528,2988,0,0,0,0,0,0,13.71,28.83,13.21
$STATE,11091,end apogee,CONTROL_FINISHED_OK
$STATE,11091,begin climb
$GC,11094,0.84,155.7,1005.1,0.0,548,11267,1.08,2.03,160.68,1.807,4,0.107,0.117,3162,2584,2349,0,0,0,0,0,0,14.16,14.11,13.08
$GC,11316,0.85,287.2,1006.9,3.0,556,11459,0.00,2.15,137.93,1.781,6,0.000,0.141,3170,1523,1820,0,0,0,0,0,0,28.83,14.16,13.11
$GC,11779,0.85,287.2,960.7,10.5,572,11785,0.00,2.03,0.00,0.000,4,0.000,0.125,3170,2577,1801,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11838,0.85,287.2,954.5,10.5,574,11845,0.00,2.12,0.00,0.000,6,0.000,0.146,3177,1522,1801,0,0,0,0,0,0,28.83,14.30,28.83
$GC,12170,0.85,287.2,921.7,9.7,585,12176,0.00,2.15,0.00,0.000,4,0.000,0.179,3179,460,1799,0,0,0,0,0,0,28.83,14.22,28.83
$GC,12339,0.83,287.2,907.2,9.7,590,12346,0.00,1.92,0.00,0.000,6,0.000,0.099,3179,1502,1799,0,0,0,0,0,0,28.83,14.37,28.83
$GC,12648,0.83,287.2,876.4,9.4,601,12656,0.00,2.08,0.00,0.000,4,0.000,0.123,3179,2583,1797,0,0,0,0,0,0,28.83,14.21,28.83
$GC,12757,0.83,287.2,867.6,9.7,604,12766,0.00,2.15,0.00,0.000,6,0.000,0.146,3187,1520,1797,0,0,0,0,0,0,28.83,14.23,28.83
$GC,13068,0.83,287.2,836.2,9.5,615,13075,0.00,2.05,0.00,0.000,4,0.000,0.125,3187,2574,1796,0,0,0,0,0,0,28.83,14.15,28.83
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$GC,15769,0.85,325.2,606.0,6.0,705,15816,0.00,1.90,38.80,1.459,4,0.000,0.109,3174,2583,1656,0,0,0,0,0,0,28.83,14.33,13.37
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$STATE,21966,end climb,SURFACE_DEPTH_REACHED
$STATE,21966,begin surface coast
$FINISH,1.6,1.025658
$STATE,21987,end surface coast,CONTROL_FINISHED_OK
$STATE,21987,begin surface
$SM_CCo,22072,0.00,0.000,0,0,1546,354.21
$SM_GC,2.42,9.05,1.98,0.00,0.082,0.088,0.000,141,1527,1546,-8.53,-0.40,354.21,0,0,0,0,0,0,14.30,14.22,28.83
$IRIDIUM_FIX,2427.58,-3742.93,220113,141416
$TT8_MAMPS,0.023968,0.023968
$HUMID,59.72
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.80
$XPDR_PINGS,2
$SC_FREEKB,7608224
$TM_FREEKB,1613865311
$24V_AH,13.1,180.021
$10V_AH,12.4,0.000
$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,22.925,181.425,583.450,0.000,0.000,0.000,0.000,348.775,0.500,0.000,20.699,3028.645,15655.925,956.080,2416.928,651.402,0.000,2412.175,0.000,1988.713,0.000,0.541,0.000
$DEVICE_MAMPS,342.720,179.010,1806.930,0.000,0.000,0.000,0.000,169.830,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22042.000,5263.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.763,21.847,0.000,0.000
$MEM,344924
$DATA_FILE_SIZE,39983,1080
$CAP_FILE_SIZE,225623,0
$CFSIZE,260034560,191877120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.046, 15.4,1
$GPS,230113,035234,2436.300,-3745.062,31,1.1,31,-13.9