version: 66.11
revision: 1138
glider: 542
mission: 12
dive: 109
start: 12 26 115 22 28 36
data:
$ID,542
$MISSION,12
$DIVE,109
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,5
$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,340
$T_MISSION,355
$T_ABORT,720
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53125
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,230
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,3
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-29786.65
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3947
$C_PITCH,2570
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,182
$ROLL_MAX,3808
$ROLL_DEG,40
$C_ROLL_DIVE,1995
$C_ROLL_CLIMB,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2909
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8.1999998
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.38863
$PRESSURE_SLOPE,0.00013904
$AD7714Ch0Gain,32
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,20
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,166
$DEVICE3,115
$DEVICE4,133
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$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,0.0042912085
$SEABIRD_T_H,0.00061951543
$SEABIRD_T_I,2.2019161e-05
$SEABIRD_T_J,2.2998063e-06
$SEABIRD_C_G,-9.7531137
$SEABIRD_C_H,1.1333146
$SEABIRD_C_I,-0.00071571622
$SEABIRD_C_J,0.00011341914
$GPS1,261215,222203,-4303.535,836.369,112,1.2,112,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-65.1
$GPS2,261215,222753,-4303.542,836.460,16,0.8,17,-25.1
$SPEED_LIMITS,0.170,0.259
$TGT_NAME,SAZ_BUT4
$TGT_LATLONG,-4304.000,836.000
$TGT_RADIUS,1000.000
$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,246.0,1052,-26.3,-9.804,-28.55,1075
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.81,-68.6,162,2002,1988,1911,0.0,0.0,0,66,0.00,0.00,-47.10,0.000,16390,0.000,0.000,162,2004,3190,3264,3117,0,0,0,0,0,0,28.83,28.83,26.41
$GC,68,-0.85,-98.7,162,2003,3265,3117,3.5,-6.9,6,87,7.90,2.25,-2.55,0.000,18692,0.217,0.072,2276,3405,3313,3394,3232,0,0,0,0,0,0,25.72,26.00,26.34
$GC,163,-0.85,-98.7,2277,3405,3396,3233,29.1,-25.1,20,172,0.00,2.28,0.00,0.000,1030,0.000,0.053,2277,1990,3315,3397,3234,0,0,0,0,0,0,28.83,26.06,28.83
$GC,311,-0.85,-98.7,1376,1988,3384,3230,63.3,-21.7,45,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,1990,3315,3397,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,634,-0.85,-98.7,2277,1990,3398,3234,131.8,-19.8,91,643,0.00,2.22,0.00,0.000,516,0.000,0.066,2277,588,3315,3397,3234,0,0,0,0,0,0,28.83,26.16,28.83
$GC,740,-0.85,-98.7,2277,588,3397,3234,152.8,-19.5,101,749,0.00,2.20,0.00,0.000,1030,0.000,0.055,2269,1991,3316,3398,3234,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1049,-0.85,-98.7,2268,1991,3397,3234,214.5,-19.3,132,1062,0.00,2.25,0.00,0.000,516,0.000,0.063,2269,575,3315,3397,3234,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1117,-0.85,-98.7,2268,575,3398,3234,227.7,-19.3,138,1122,0.15,2.22,0.00,0.000,3078,0.197,0.054,2293,1995,3316,3398,3234,0,0,0,0,0,0,26.05,26.25,28.83
$GC,1425,-0.85,-98.7,2294,1995,3398,3234,280.2,-17.3,168,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1995,3316,3398,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1732,-0.85,-98.7,2294,1995,3398,3234,334.6,-17.5,199,1736,0.00,2.22,0.00,0.000,516,0.000,0.063,2296,586,3316,3399,3234,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1782,-0.85,-98.7,1536,586,3389,3232,343.1,-18.0,203,1790,0.00,2.25,0.00,0.000,1030,0.000,0.055,2289,1989,3317,3399,3235,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2090,-0.85,-98.7,2288,1989,3399,3235,397.0,-16.9,234,2094,0.00,2.22,0.00,0.000,516,0.000,0.063,2288,585,3316,3398,3235,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2166,-0.85,-98.7,2288,585,3399,3235,409.9,-16.9,239,2170,0.00,2.22,0.00,0.000,1030,0.000,0.055,2278,1998,3316,3398,3235,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2483,-0.85,-98.7,2278,1998,3398,3235,462.2,-16.7,255,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,1998,3317,3399,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2783,-0.85,-98.7,2278,1998,3399,3235,513.0,-17.0,270,2788,0.00,2.25,0.00,0.000,516,0.000,0.065,2278,584,3317,3399,3235,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2871,-0.85,-98.7,2278,583,3399,3235,527.1,-17.4,274,2875,0.00,2.22,0.00,0.000,1030,0.000,0.057,2268,1998,3317,3399,3235,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3184,-0.85,-98.7,2267,2000,3399,3235,582.5,-17.5,290,3189,0.00,2.25,0.00,0.000,516,0.000,0.066,2268,586,3317,3399,3235,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3232,-0.85,-98.7,2267,585,3398,3234,589.7,-17.8,292,3236,0.15,2.22,0.00,0.000,3078,0.192,0.058,2293,1996,3317,3399,3235,0,0,0,0,0,0,26.17,26.37,28.83
$GC,3538,-0.85,-98.7,2293,1997,3399,3235,639.0,-15.3,307,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1997,3316,3397,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3838,-0.85,-98.7,2293,1997,3399,3235,684.2,-14.9,322,3844,0.00,2.25,0.00,0.000,516,0.000,0.067,2293,588,3316,3398,3234,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3900,-0.85,-98.7,2293,588,3399,3235,693.4,-14.8,325,3904,0.00,2.22,0.00,0.000,1030,0.000,0.059,2285,2000,3317,3399,3235,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4217,-0.85,-98.7,2285,2000,3399,3234,740.9,-15.2,341,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2000,3316,3398,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4518,-0.85,-98.7,2285,2000,3399,3234,785.4,-14.6,356,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2000,3316,3398,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4817,-0.85,-98.7,2285,2000,3399,3235,828.9,-14.7,371,4823,0.00,2.28,0.00,0.000,516,0.000,0.070,2285,582,3317,3399,3235,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4866,-0.85,-98.7,2285,582,3399,3234,835.3,-14.9,373,4871,0.00,2.28,0.00,0.000,1030,0.000,0.061,2275,1989,3316,3399,3234,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5178,-0.85,-98.7,2275,1990,3399,3234,884.9,-15.7,389,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,1990,3316,3399,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5479,-0.85,-98.7,2275,1990,3398,3234,931.5,-15.3,404,5485,0.00,2.25,0.00,0.000,516,0.000,0.070,2275,586,3316,3398,3234,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5511,-0.85,-98.7,2275,587,3398,3234,934.7,-15.4,405,5520,0.12,2.28,0.00,0.000,3078,0.197,0.061,2294,2017,3316,3399,3234,0,0,0,0,0,0,26.20,26.38,28.83
$GC,5819,-0.85,-98.7,2293,2018,3399,3233,981.4,-14.8,421,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2018,3315,3398,3233,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5958,begin apogee
$GC,5963,-0.14,0.0,2293,1865,3398,3233,1002.0,-14.7,428,6059,0.73,0.00,88.20,1.792,10246,0.153,0.000,2516,1865,2909,2999,2820,0,0,0,0,0,0,26.21,28.83,23.61
$STATE,6060,end apogee,CONTROL_FINISHED_OK
$STATE,6060,begin climb
$GC,6061,0.85,98.7,2516,1865,2999,2820,1006.4,0.0,433,6159,0.93,0.00,90.53,1.762,10758,0.055,0.000,2852,1865,2504,2568,2441,0,0,0,0,0,0,24.77,28.83,22.94
$GC,6458,0.85,98.7,2852,1865,2559,2441,974.4,11.9,453,6463,0.00,2.38,0.00,0.000,260,0.000,0.067,2852,3285,2500,2559,2441,0,0,0,0,0,0,28.83,25.34,28.83
$GC,6515,0.85,98.7,2852,3285,2559,2441,967.4,12.5,456,6521,0.00,2.33,0.00,0.000,1030,0.000,0.059,2862,1876,2499,2558,2441,0,0,0,0,0,0,28.83,25.44,28.83
$GC,6835,0.85,98.7,2862,1876,2557,2441,928.4,12.2,472,6841,0.00,2.30,0.00,0.000,260,0.000,0.067,2862,3281,2499,2557,2441,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7057,0.85,98.7,2862,3281,2556,2441,901.6,12.1,483,7062,0.00,2.33,0.00,0.000,1030,0.000,0.060,2872,1841,2498,2556,2441,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7375,0.85,98.7,2872,1841,2555,2440,864.7,11.4,499,7379,0.00,2.35,0.00,0.000,260,0.000,0.068,2873,3290,2498,2556,2441,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7464,0.85,98.7,2872,3289,2556,2440,855.3,12.4,503,7473,0.15,2.30,0.00,0.000,5126,0.249,0.059,2852,1860,2498,2556,2441,0,0,0,0,0,0,25.83,26.08,28.83
$GC,7771,0.85,98.7,2852,1860,2556,2440,819.0,11.6,519,7775,0.00,2.30,0.00,0.000,260,0.000,0.067,2850,3287,2498,2556,2440,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7800,0.85,98.7,2850,3287,2556,2440,817.0,11.7,520,7807,0.00,2.28,0.00,0.000,1030,0.000,0.058,2859,1868,2498,2556,2440,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8108,0.85,98.7,2859,1868,2556,2439,778.1,12.2,536,8114,0.00,2.28,0.00,0.000,260,0.000,0.067,2859,3283,2497,2555,2440,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8376,0.85,98.7,2858,3283,2555,2439,745.6,12.6,549,8380,0.00,2.25,0.00,0.000,1030,0.000,0.059,2869,1867,2497,2555,2439,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8683,0.85,98.7,2869,1866,2555,2439,708.0,11.9,564,8689,0.00,2.28,0.00,0.000,260,0.000,0.067,2869,3285,2497,2555,2439,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8722,0.85,98.7,2869,3285,2555,2439,703.1,11.9,566,8727,0.15,2.25,0.00,0.000,5126,0.244,0.059,2847,1862,2496,2554,2439,0,0,0,0,0,0,26.01,26.27,28.83
$GC,9039,0.85,98.7,2847,1862,2554,2438,669.8,10.1,582,9041,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1862,2496,2554,2438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9339,0.85,98.7,2847,1862,2555,2438,639.7,9.8,597,9343,0.00,2.28,0.00,0.000,260,0.000,0.067,2840,3285,2496,2554,2438,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9595,0.85,98.7,2840,3285,2555,2438,614.0,9.8,610,9599,0.00,2.25,0.00,0.000,1030,0.000,0.059,2849,1866,2496,2555,2438,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9912,0.86,103.9,2849,1866,2554,2438,584.7,9.3,626,9920,0.00,2.28,3.78,1.096,8452,0.000,0.065,2849,3283,2487,2546,2428,0,0,0,0,0,0,28.83,26.28,25.09
$GC,10000,0.86,103.9,2849,3283,2546,2428,577.1,10.0,630,10008,0.00,2.28,0.00,0.000,1030,0.000,0.059,2859,1872,2487,2546,2428,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10308,0.86,109.3,2859,1873,2546,2428,546.4,9.3,646,10316,0.00,0.00,6.45,1.302,8198,0.000,0.000,2859,1873,2462,2521,2404,0,0,0,0,0,0,28.83,28.83,25.09
$GC,10607,0.86,109.3,2859,1873,2521,2404,516.3,10.1,661,10611,0.00,2.28,0.00,0.000,260,0.000,0.067,2859,3288,2462,2521,2404,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10656,0.86,109.3,2858,3288,2520,2404,512.6,10.2,663,10665,0.00,2.28,0.00,0.000,1030,0.000,0.058,2870,1865,2462,2520,2405,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10964,0.86,109.3,2869,1865,2521,2404,477.7,11.1,679,10969,0.00,2.28,0.00,0.000,516,0.000,0.074,2881,458,2463,2521,2405,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11051,0.86,109.3,2881,458,2521,2404,468.3,11.6,683,11056,0.12,2.25,0.00,0.000,5126,0.227,0.060,2855,1871,2462,2521,2404,0,0,0,0,0,0,26.04,26.28,28.83
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$GC,12665,0.88,118.5,2874,1868,2521,2404,305.5,9.0,812,12676,0.00,0.00,9.40,1.268,8710,0.000,0.000,2874,1868,2425,2484,2366,0,0,0,0,0,0,28.83,28.83,25.18
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$GC,15463,0.89,131.3,2872,1864,2455,2333,13.6,9.3,1156,15472,0.00,0.00,2.08,0.301,8198,0.000,0.000,2873,1863,2372,2435,2309,0,0,0,0,0,0,28.83,28.83,25.03
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$STATE,15570,end climb,SURFACE_DEPTH_REACHED
$STATE,15570,begin surface coast
$FINISH,-0.3,1.026528
$STATE,15596,end surface coast,CONTROL_FINISHED_OK
$STATE,15596,begin surface
$SM_CCo,15610,33.20,0.148,0,0,1968,230.09
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$IRIDIUM_FIX,-4244.98,834.91,221008,080827
$TT8_MAMPS,0.021721,0.021721
$HUMID,50.82
$INTERNAL_PRESSURE,9.03322
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.9,20.931
$10V_AH,10.2,17.126
$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
$DEVICE_SECS,17.800,118.075,208.775,33.200,0.000,23.355,42.117,174.975,49.250,0.000,18.198,3205.334,9158.681,397.987,3081.484,172.690,0.000,1585.998,0.000,2593.166,0.000,297.327,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FLVMT,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,824.525,75.312,690.908,1767.172,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352744
$DATA_FILE_SIZE,73602,1176
$CAP_FILE_SIZE,170834,0
$CFSIZE,259248128,249864192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.153, 59.5,1
$GPS,271215,025034,-4304.203,836.846,38,0.9,38,-25.1