version: 66.11
glider: 190
mission: 6
dive: 514
start: 2 17 113 0 2 7
data:
$ID,190
$MISSION,6
$DIVE,514
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,980
$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,1
$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,-13562.466
$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,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,16
$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,2694
$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,1
$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
$GPS1,160213,235023,2442.935,-3812.805,38,0.9,38,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-65.3
$GPS2,170213,000135,2442.899,-3812.905,17,1.0,17,-14.0
$SPEED_LIMITS,0.123,0.130
$TGT_NAME,SW
$TGT_LATLONG,2420.500,-3816.840
$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,160.9,42012,-16.1,-7.101,-28.69
$D_GRID,980
$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,-0.90,-155.7,0.0,0.0,0,34,0.00,0.00,-10.70,0.000,2,0.000,0.000,141,1509,1516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-0.90,-155.7,2.5,0.0,1,145,11.12,2.10,-86.25,0.000,4,0.353,0.168,2575,455,3329,0,0,0,0,0,0,14.12,14.04,14.66
$GC,370,-0.84,-155.7,23.4,-9.7,34,378,0.12,1.90,0.00,0.000,6,0.278,0.086,2594,1520,3329,0,0,0,0,0,0,13.88,14.14,28.83
$GC,678,-0.84,-155.7,50.1,-8.5,65,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1521,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,988,-0.84,-155.7,77.4,-8.7,96,995,0.00,2.10,0.00,0.000,4,0.000,0.142,2594,461,3329,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1120,-0.80,-155.7,89.8,-9.6,109,1127,0.00,1.90,0.00,0.000,6,0.000,0.083,2591,1520,3329,0,0,0,0,0,0,28.83,14.17,28.83
$GC,1427,-0.80,-155.7,116.6,-8.5,140,1435,0.00,2.12,0.00,0.000,4,0.000,0.140,2596,459,3329,0,0,0,0,0,0,28.83,13.88,28.83
$GC,1487,-0.76,-155.7,121.9,-8.9,146,1497,0.10,1.90,0.00,0.000,6,0.239,0.083,2612,1502,3327,0,0,0,0,0,0,13.81,14.12,28.83
$GC,1797,-0.76,-155.7,146.5,-7.6,177,1805,0.00,2.08,0.00,0.000,4,0.000,0.138,2613,463,3329,0,0,0,0,0,0,28.83,13.89,28.83
$GC,1908,-0.76,-155.7,156.1,-8.9,188,1915,0.00,1.85,0.00,0.000,6,0.000,0.083,2607,1481,3329,0,0,0,0,0,0,28.83,14.11,28.83
$GC,2219,-0.76,-155.7,181.4,-7.8,219,2226,0.00,2.03,0.00,0.000,4,0.000,0.139,2607,461,3329,0,0,0,0,0,0,28.83,13.88,28.83
$GC,2370,-0.76,-155.7,193.2,-7.3,234,2377,0.00,1.80,0.00,0.000,6,0.000,0.083,2605,1471,3329,0,0,0,0,0,0,28.83,14.17,28.83
$GC,2677,-0.76,-155.7,216.1,-7.5,265,2685,0.00,2.03,0.00,0.000,4,0.000,0.138,2605,458,3330,0,0,0,0,0,0,28.83,13.89,28.83
$GC,2811,-0.76,-155.7,225.7,-7.2,278,2818,0.00,1.75,0.00,0.000,6,0.000,0.081,2605,1446,3329,0,0,0,0,0,0,28.83,14.22,28.83
$GC,3118,-0.76,-155.7,248.2,-7.6,309,3125,0.00,1.95,0.00,0.000,4,0.000,0.136,2605,464,3330,0,0,0,0,0,0,28.83,13.92,28.83
$GC,3147,-0.76,-155.7,250.6,-8.0,312,3153,0.00,1.77,0.00,0.000,6,0.000,0.082,2605,1440,3329,0,0,0,0,0,0,28.83,14.26,28.83
$GC,3478,-0.76,-155.7,277.5,-8.4,323,3484,0.00,2.12,0.00,0.000,4,0.000,0.106,2604,2577,3329,0,0,0,0,0,0,28.83,14.12,28.83
$GC,3586,-0.76,-155.7,285.1,-8.3,326,3595,0.00,2.22,0.00,0.000,6,0.000,0.116,2605,1444,3330,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3897,-0.76,-155.7,312.7,-8.4,337,3903,0.00,1.95,0.00,0.000,4,0.000,0.138,2605,459,3329,0,0,0,0,0,0,28.83,13.90,28.83
$GC,3997,-0.76,-155.7,320.3,-8.5,340,4004,0.00,1.77,0.00,0.000,6,0.000,0.083,2605,1438,3329,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4317,-0.76,-155.7,345.0,-7.2,351,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1438,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4618,-0.76,-155.7,366.6,-7.2,361,4624,0.00,1.92,0.00,0.000,4,0.000,0.138,2605,461,3328,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4716,-0.76,-155.7,373.4,-7.5,364,4723,0.00,1.80,0.00,0.000,6,0.000,0.085,2605,1439,3327,0,0,0,0,0,0,28.83,14.22,28.83
$GC,5038,-0.76,-155.7,397.4,-7.4,375,5043,0.00,1.95,0.00,0.000,4,0.000,0.141,2605,456,3326,0,0,0,0,0,0,28.83,13.96,28.83
$GC,5097,-0.76,-155.7,402.1,-7.6,377,5103,0.00,1.75,0.00,0.000,6,0.000,0.087,2604,1417,3327,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5427,-0.76,-155.7,429.4,-8.6,388,5433,0.00,1.90,0.00,0.000,4,0.000,0.141,2604,466,3326,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5518,-0.76,-155.7,437.7,-9.1,391,5523,0.00,1.73,0.00,0.000,6,0.000,0.088,2604,1407,3326,0,0,0,0,0,0,28.83,14.17,28.83
$GC,5850,-0.79,-155.7,468.3,-9.4,402,5856,0.00,1.90,0.00,0.000,4,0.000,0.142,2604,455,3325,0,0,0,0,0,0,28.83,13.95,28.83
$GC,5998,-0.79,-155.7,482.5,-9.5,407,6003,0.00,1.70,0.00,0.000,6,0.000,0.088,2604,1384,3324,0,0,0,0,0,0,28.83,14.13,28.83
$GC,6330,-0.81,-155.7,510.7,-8.1,418,6336,0.00,1.85,0.00,0.000,4,0.000,0.144,2604,459,3324,0,0,0,0,0,0,28.83,13.90,28.83
$GC,6417,-0.81,-155.7,517.9,-8.0,421,6423,0.00,1.67,0.00,0.000,6,0.000,0.090,2605,1372,3323,0,0,0,0,0,0,28.83,14.10,28.83
$GC,6752,-0.83,-155.7,540.3,-6.5,432,6757,0.00,1.83,0.00,0.000,4,0.000,0.145,2605,460,3322,0,0,0,0,0,0,28.83,13.91,28.83
$GC,6807,-0.83,-155.7,544.3,-6.6,434,6815,0.00,1.67,0.00,0.000,6,0.000,0.090,2605,1373,3325,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7143,-0.85,-155.7,567.3,-7.3,445,7148,0.00,1.83,0.00,0.000,4,0.000,0.144,2604,461,3321,0,0,0,0,0,0,28.83,13.89,28.83
$GC,7257,-0.85,-155.7,577.0,-8.0,449,7264,0.00,1.62,0.00,0.000,6,0.000,0.089,2605,1348,3321,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7591,-0.88,-155.7,604.7,-8.8,460,7597,0.00,1.80,0.00,0.000,4,0.000,0.145,2604,465,3319,0,0,0,0,0,0,28.83,13.82,28.83
$GC,7647,-0.88,-155.7,610.3,-9.0,462,7655,0.00,1.65,0.00,0.000,6,0.000,0.089,2605,1355,3319,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7982,-0.90,-155.7,640.2,-9.2,473,7987,0.00,1.83,0.00,0.000,4,0.000,0.146,2604,462,3318,0,0,0,0,0,0,28.83,13.79,28.83
$GC,8046,-0.90,-155.7,645.5,-8.9,475,8049,0.00,1.62,0.00,0.000,6,0.000,0.089,2605,1338,3318,0,0,0,0,0,0,28.83,14.19,28.83
$GC,8361,-0.93,-155.7,671.4,-7.9,486,8367,0.00,2.38,0.00,0.000,4,0.000,0.114,2604,2576,3317,0,0,0,0,0,0,28.83,14.01,28.83
$GC,8469,-0.95,-155.7,677.8,-7.3,489,8477,0.10,2.47,0.00,0.000,6,0.094,0.129,2556,1348,3316,0,0,0,0,0,0,13.95,13.75,28.83
$GC,8781,-0.95,-155.7,704.7,-8.2,500,8787,0.00,1.80,0.00,0.000,4,0.000,0.148,2556,467,3316,0,0,0,0,0,0,28.83,13.74,28.83
$GC,8839,-0.95,-155.7,709.6,-8.1,502,8845,0.00,1.62,0.00,0.000,6,0.000,0.090,2553,1347,3315,0,0,0,0,0,0,28.83,14.02,28.83
$GC,9168,-0.95,-155.7,734.6,-7.4,513,9176,0.00,2.38,0.00,0.000,4,0.000,0.112,2549,2572,3314,0,0,0,0,0,0,28.83,13.87,28.83
$GC,9217,-0.95,-155.7,736.7,-7.3,514,9226,0.00,2.45,0.00,0.000,6,0.000,0.128,2549,1344,3314,0,0,0,0,0,0,28.83,13.82,28.83
$GC,9529,-0.95,-155.7,762.0,-7.9,525,9535,0.00,1.77,0.00,0.000,4,0.000,0.149,2549,460,3313,0,0,0,0,0,0,28.83,13.77,28.83
$GC,9627,-0.93,-155.7,769.7,-8.4,528,9634,0.00,1.65,0.00,0.000,6,0.000,0.090,2545,1346,3312,0,0,0,0,0,0,28.83,14.13,28.83
$GC,9949,-0.93,-155.7,798.1,-8.8,539,9955,0.00,2.35,0.00,0.000,4,0.000,0.116,2540,2576,3310,0,0,0,0,0,0,28.83,13.92,28.83
$GC,9997,-0.93,-155.7,800.8,-8.9,540,10007,0.12,2.50,0.00,0.000,6,0.244,0.128,2567,1338,3310,0,0,0,0,0,0,13.78,13.88,28.83
$GC,10312,-0.93,-155.7,831.8,-9.7,551,10317,0.00,1.77,0.00,0.000,4,0.000,0.150,2568,456,3310,0,0,0,0,0,0,28.83,13.74,28.83
$GC,10428,-0.93,-155.7,844.0,-10.2,555,10435,0.00,1.65,0.00,0.000,6,0.000,0.091,2562,1333,3309,0,0,0,0,0,0,28.83,14.07,28.83
$GC,10761,-0.93,-155.7,876.9,-10.0,566,10766,0.00,2.40,0.00,0.000,4,0.000,0.117,2554,2575,3308,0,0,0,0,0,0,28.83,13.89,28.83
$GC,10798,-0.93,-155.7,879.9,-10.0,567,10805,0.00,2.53,0.00,0.000,6,0.000,0.129,2554,1333,3307,0,0,0,0,0,0,28.83,13.77,28.83
$GC,11118,-0.93,-155.7,911.6,-9.5,578,11125,0.00,1.80,0.00,0.000,4,0.000,0.153,2554,461,3306,0,0,0,0,0,0,28.83,13.63,28.83
$GC,11240,-0.91,-155.7,923.1,-9.5,582,11245,0.00,1.62,0.00,0.000,6,0.000,0.094,2552,1321,3306,0,0,0,0,0,0,28.83,13.93,28.83
$GC,11571,-0.91,-155.7,951.1,-8.2,593,11572,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1323,3306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11869,-0.91,-155.7,973.4,-7.2,603,11875,0.00,1.77,0.00,0.000,4,0.000,0.154,2552,458,3303,0,0,0,0,0,0,28.83,13.69,28.83
$GC,11917,-0.91,-155.7,975.8,-7.4,604,11925,0.00,1.62,0.00,0.000,6,0.000,0.090,2549,1320,3304,0,0,0,0,0,0,28.83,14.02,28.83
$STATE,11955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11955,begin apogee
$GC,11964,-0.25,0.0,980.1,-7.4,606,12126,0.85,0.00,155.75,1.817,4,0.216,0.000,2779,1516,2689,0,0,0,0,0,0,13.69,28.83,12.97
$STATE,12132,end apogee,CONTROL_FINISHED_OK
$STATE,12132,begin climb
$GC,12135,0.90,155.7,985.6,0.0,611,12310,1.20,2.05,164.60,1.812,4,0.132,0.123,3154,2577,2059,0,0,0,0,0,0,14.12,14.09,13.00
$GC,12491,0.87,155.7,963.2,8.4,623,12496,0.00,2.10,0.00,0.000,6,0.000,0.144,3162,1522,2044,0,0,0,0,0,0,28.83,14.16,28.83
$GC,12822,0.85,155.7,937.4,7.6,634,12827,0.00,2.17,0.00,0.000,4,0.000,0.176,3166,462,2041,0,0,0,0,0,0,28.83,14.08,28.83
$GC,12869,0.83,155.7,935.1,7.6,635,12878,0.08,2.03,0.00,0.000,6,0.261,0.100,3145,1549,2040,0,0,0,0,0,0,14.00,14.23,28.83
$GC,13182,0.83,160.5,911.8,7.0,646,13187,0.00,1.98,0.00,0.000,4,0.000,0.125,3145,2583,2040,0,0,0,0,0,0,28.83,14.18,28.83
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$GC,17953,0.81,166.5,547.6,7.9,805,17959,0.00,1.60,1.55,0.177,4,0.000,0.114,3149,2577,2015,0,0,0,0,0,0,28.83,13.95,13.83
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$STATE,24587,end climb,SURFACE_DEPTH_REACHED
$STATE,24587,begin surface coast
$FINISH,1.7,1.008849
$STATE,24608,end surface coast,CONTROL_FINISHED_OK
$STATE,24608,begin surface
$SM_CCo,24632,52.22,0.126,0,0,1264,350.04
$SM_GC,2.37,8.90,1.95,52.22,0.071,0.080,0.126,142,1519,1264,-8.46,-0.59,350.04,0,0,0,0,0,0,14.26,14.12,14.26
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$TT8_MAMPS,0.023968,0.023968
$HUMID,57.60
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.90
$XPDR_PINGS,1
$SC_FREEKB,7573632
$24V_AH,13.0,217.029
$10V_AH,11.6,0.000
$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,23.375,198.875,419.175,52.225,0.000,0.000,0.000,368.550,0.250,0.000,18.137,3604.240,17205.801,884.751,2832.712,815.292,0.000,2550.250,0.000,2409.534,0.000,0.541,0.000
$DEVICE_MAMPS,353.430,175.950,1816.875,126.225,0.000,0.000,0.000,168.300,420.000,0.000,20.970,10.720,2.190,9.970,28.690,36.180,0.000,15.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24662.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.127,0.000,0.000,0.000
$MEM,344948
$DATA_FILE_SIZE,46650,1218
$CAP_FILE_SIZE,258419,0
$CFSIZE,260034560,181764096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.104,303.4,1
$GPS,170213,065459,2442.930,-3812.976,39,0.9,39,-14.0