version: 66.07.10.p01
glider: 574
mission: 4
dive: 440
start: 12 31 112 22 58 21
data:
$ID,574
$MISSION,4
$DIVE,440
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$T_BOOST_BLACKOUT,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,400
$T_MISSION,420
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,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,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$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,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,2
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-7243.5029
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,92
$PITCH_MAX,3858
$C_PITCH,2995
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1770
$C_ROLL_CLIMB,1610
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,396
$VBD_MAX,3960
$C_VBD,2827
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.017719
$PRESSURE_SLOPE,0.00011710486
$AD7714Ch0Gain,128
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.812
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$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,0.0043508084
$SEABIRD_T_H,0.00062732975
$SEABIRD_T_I,2.3669163e-05
$SEABIRD_T_J,2.5502761e-06
$SEABIRD_C_G,-9.9075203
$SEABIRD_C_H,1.1452845
$SEABIRD_C_I,-0.00093430834
$SEABIRD_C_J,0.0001541152
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,419
$GPS1,311212,225635,-4123.868,-510.779,36,0.8,36,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-70.6
$GPS2,311212,225800,-4123.878,-510.775,19,0.8,19,-22.4
$SPEED_LIMITS,0.144,0.245
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4105.000,-400.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.143,-0.253
$KALMAN_X,-450768.2,55.4,-146.1,643435.0,-838.8
$KALMAN_Y,54548.8,221.8,-27.0,52814.2,1450.5
$MHEAD_RNG_PITCHd_Wd,92.9,104803,-15.5,-8.333
$D_GRID,1000
$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
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.78,-145.9,0.0,0.0,0,64,0.00,0.00,-36.95,0.000,2,0.000,0.000,69,1764,1859,0,0,0,0,0,0
$GC,67,-0.78,-145.9,3.1,-1.1,6,141,12.27,2.28,-54.85,0.000,4,0.259,0.070,2737,365,3423,0,0,0,0,0,0
$GC,256,-0.70,-145.9,17.9,-12.4,37,264,0.08,2.20,0.00,0.000,6,0.119,0.037,2764,1767,3425,0,0,0,0,0,0
$GC,338,-0.80,-145.9,24.8,-7.9,50,346,0.10,0.00,0.00,0.000,6,0.106,0.000,2720,1767,3424,0,0,0,0,0,0
$GC,418,-0.80,-145.9,33.1,-11.2,63,424,0.03,0.43,0.00,0.000,4,0.254,0.052,2731,2064,3424,0,0,0,0,0,0
$GC,448,-0.84,-145.9,36.6,-11.1,68,455,0.00,0.45,0.00,0.000,6,0.000,0.053,2731,1765,3424,0,0,0,0,0,0
$GC,682,-0.88,-145.9,61.5,-11.1,108,687,0.05,2.25,0.00,0.000,4,0.168,0.060,2703,370,3425,0,0,0,0,0,0
$GC,769,-0.83,-145.9,70.3,-10.4,115,773,0.10,2.17,0.00,0.000,6,0.172,0.034,2722,1784,3425,0,0,0,0,0,0
$GC,1106,-0.88,-145.9,104.1,-10.5,145,1110,0.00,2.33,0.00,0.000,4,0.000,0.059,2722,360,3426,0,0,0,0,0,0
$GC,1189,-0.94,-145.9,113.7,-11.3,150,1193,0.08,2.17,0.00,0.000,6,0.125,0.035,2682,1776,3426,0,0,0,0,0,0
$GC,1517,-0.89,-145.9,152.1,-12.3,171,1522,0.10,2.30,0.00,0.000,4,0.172,0.058,2711,362,3426,0,0,0,0,0,0
$GC,1602,-0.89,-145.9,162.3,-11.3,176,1606,0.00,2.17,0.00,0.000,6,0.000,0.033,2702,1784,3427,0,0,0,0,0,0
$GC,1928,-0.89,-145.9,200.7,-12.2,197,1932,0.00,2.30,0.00,0.000,4,0.000,0.058,2702,363,3427,0,0,0,0,0,0
$GC,1996,-0.89,-145.9,209.2,-11.3,200,2000,0.00,2.17,0.00,0.000,6,0.000,0.034,2693,1780,3428,0,0,0,0,0,0
$GC,2322,-0.89,-145.9,251.3,-13.0,216,2326,0.03,1.05,0.00,0.000,4,0.285,0.052,2706,1138,3428,0,0,0,0,0,0
$GC,2424,-0.89,-145.9,264.2,-12.8,220,2428,0.00,0.98,0.00,0.000,6,0.000,0.036,2702,1777,3428,0,0,0,0,0,0
$GC,2755,-0.89,-145.9,304.1,-11.5,236,2759,0.00,2.30,0.00,0.000,4,0.000,0.057,2703,356,3428,0,0,0,0,0,0
$GC,2906,-0.89,-145.9,320.7,-10.9,240,2910,0.00,2.17,0.00,0.000,6,0.000,0.031,2695,1774,3428,0,0,0,0,0,0
$GC,3230,-0.89,-145.9,352.9,-9.7,251,3234,0.00,2.30,0.00,0.000,4,0.000,0.055,2695,356,3428,0,0,0,0,0,0
$GC,3359,-0.89,-145.9,365.3,-9.1,255,3364,0.08,2.15,0.00,0.000,6,0.190,0.031,2704,1773,3428,0,0,0,0,0,0
$GC,3694,-0.93,-145.9,398.6,-10.2,266,3698,0.00,2.15,0.00,0.000,4,0.000,0.046,2694,3165,3428,0,0,0,0,0,0
$GC,3810,-0.93,-145.9,411.8,-11.2,269,3815,0.00,2.17,0.00,0.000,6,0.000,0.037,2694,1768,3428,0,0,0,0,0,0
$GC,4129,-0.93,-145.9,447.9,-11.5,280,4133,0.00,2.17,0.00,0.000,4,0.000,0.045,2685,3169,3428,0,0,0,0,0,0
$GC,4245,-0.93,-145.9,462.0,-11.8,283,4249,0.00,2.17,0.00,0.000,6,0.000,0.037,2684,1774,3428,0,0,0,0,0,0
$GC,4564,-0.93,-145.9,499.7,-11.9,294,4568,0.00,2.20,0.00,0.000,4,0.000,0.046,2675,3174,3428,0,0,0,0,0,0
$GC,4665,-0.93,-145.9,511.8,-11.6,297,4670,0.08,2.15,0.00,0.000,6,0.177,0.037,2692,1768,3427,0,0,0,0,0,0
$GC,5005,-0.93,-145.9,549.6,-10.9,308,5009,0.00,2.25,0.00,0.000,4,0.000,0.055,2693,360,3428,0,0,0,0,0,0
$GC,5111,-0.93,-145.9,561.1,-10.5,311,5115,0.00,2.17,0.00,0.000,6,0.000,0.031,2683,1772,3427,0,0,0,0,0,0
$GC,5441,-0.93,-145.9,593.8,-9.9,322,5444,0.00,1.27,0.00,0.000,4,0.000,0.050,2683,980,3427,0,0,0,0,0,0
$GC,5513,-0.90,-145.9,601.1,-9.9,324,5517,0.05,1.20,0.00,0.000,6,0.155,0.033,2696,1770,3427,0,0,0,0,0,0
$GC,5847,-0.90,-145.9,631.6,-9.1,335,5851,0.00,2.28,0.00,0.000,4,0.000,0.054,2696,365,3426,0,0,0,0,0,0
$GC,5936,-0.90,-145.9,640.0,-9.6,337,5942,0.03,2.15,0.00,0.000,6,0.175,0.031,2696,1764,3426,0,0,0,0,0,0
$GC,6250,-0.93,-145.9,669.4,-9.7,348,6253,0.00,2.05,0.00,0.000,4,0.000,0.053,2696,469,3425,0,0,0,0,0,0
$GC,6316,-0.93,-145.9,676.5,-10.7,350,6320,0.00,2.00,0.00,0.000,6,0.000,0.031,2688,1773,3425,0,0,0,0,0,0
$GC,6651,-0.93,-145.9,712.0,-11.0,361,6655,0.00,1.52,0.00,0.000,4,0.000,0.050,2688,830,3425,0,0,0,0,0,0
$GC,6723,-0.93,-145.9,720.4,-11.7,363,6727,0.00,1.45,0.00,0.000,6,0.000,0.034,2688,1770,3424,0,0,0,0,0,0
$GC,7059,-0.93,-145.9,758.0,-11.6,374,7062,0.00,1.20,0.00,0.000,4,0.000,0.050,2687,1022,3424,0,0,0,0,0,0
$GC,7120,-0.91,-145.9,765.2,-11.2,375,7125,0.00,1.15,0.00,0.000,6,0.000,0.036,2688,1767,3423,0,0,0,0,0,0
$GC,7432,-0.91,-145.9,800.8,-11.4,386,7436,0.00,0.77,0.00,0.000,4,0.000,0.050,2688,1275,3423,0,0,0,0,0,0
$GC,7595,-0.91,-145.9,819.1,-11.3,390,7600,0.00,0.75,0.00,0.000,6,0.000,0.038,2687,1771,3423,0,0,0,0,0,0
$GC,7907,-0.91,-145.9,852.8,-10.8,401,7911,0.00,2.28,0.00,0.000,4,0.000,0.054,2688,368,3422,0,0,0,0,0,0
$GC,7974,-0.87,-145.9,860.2,-10.9,403,7979,0.12,2.15,0.00,0.000,6,0.163,0.033,2712,1772,3422,0,0,0,0,0,0
$GC,8303,-0.95,-145.9,892.7,-9.9,414,8308,0.08,1.92,0.00,0.000,4,0.127,0.053,2681,586,3422,0,0,0,0,0,0
$GC,8359,-0.91,-145.9,899.0,-10.9,415,8363,0.05,1.83,0.00,0.000,6,0.153,0.033,2691,1770,3422,0,0,0,0,0,0
$GC,8677,-0.94,-145.9,932.4,-10.8,426,8680,0.00,1.35,0.00,0.000,4,0.000,0.051,2691,936,3421,0,0,0,0,0,0
$GC,8745,-0.94,-145.9,939.9,-10.7,428,8748,0.00,1.30,0.00,0.000,6,0.000,0.034,2688,1774,3421,0,0,0,0,0,0
$GC,9085,-0.94,-145.9,977.1,-10.9,439,9089,0.00,2.28,0.00,0.000,4,0.000,0.054,2687,369,3420,0,0,0,0,0,0
$GC,9163,-0.91,-145.9,986.2,-12.1,441,9168,0.05,2.15,0.00,0.000,6,0.236,0.033,2696,1774,3420,0,0,0,0,0,0
$STATE,9304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9304,begin apogee
$GC,9309,-0.25,0.0,1000.6,10.4,446,9443,0.70,0.00,130.18,1.483,6,0.124,0.000,2910,1590,2826,0,0,0,0,0,0
$STATE,9444,end apogee,CONTROL_FINISHED_OK
$STATE,9444,begin climb
$GC,9446,0.78,145.9,1011.2,0.0,450,9589,1.05,1.73,136.75,1.448,4,0.074,0.054,3256,635,2232,0,0,0,0,0,0
$GC,9839,0.44,286.2,1016.9,2.9,463,9974,0.43,1.52,126.53,1.445,6,0.206,0.034,3143,1630,1660,0,0,0,0,0,0
$GC,10300,0.50,330.6,989.1,6.6,478,10346,0.00,2.38,40.58,1.400,4,0.000,0.062,3145,217,1478,0,0,0,0,0,0
$GC,10426,0.67,363.2,980.1,7.1,482,10463,0.20,2.12,31.02,1.359,6,0.087,0.032,3216,1616,1345,0,0,0,0,0,0
$GC,10792,0.67,363.2,947.6,8.9,494,10796,0.00,2.28,0.00,0.000,4,0.000,0.064,3221,221,1340,0,0,0,0,0,0
$GC,10889,0.64,363.2,939.0,9.3,497,10894,0.08,2.08,0.00,0.000,6,0.196,0.034,3206,1597,1338,0,0,0,0,0,0
$GC,11224,0.64,364.0,910.8,8.3,508,11228,0.00,2.17,0.00,0.000,4,0.000,0.044,3206,3003,1337,0,0,0,0,0,0
$GC,11233,0.64,364.0,909.7,8.4,508,11238,0.00,2.20,0.00,0.000,6,0.000,0.044,3213,1625,1337,0,0,0,0,0,0
$GC,11563,0.64,364.0,881.9,8.7,519,11567,0.00,2.33,0.00,0.000,4,0.000,0.066,3213,205,1336,0,0,0,0,0,0
$GC,11652,0.64,374.1,874.1,7.9,521,11667,0.00,2.17,9.35,1.176,6,0.000,0.034,3213,1638,1302,0,0,0,0,0,0
$GC,12003,0.64,374.1,842.6,9.2,533,12007,0.00,2.10,0.00,0.000,4,0.000,0.044,3213,3002,1302,0,0,0,0,0,0
$GC,12069,0.64,374.1,836.5,9.7,535,12073,0.00,2.22,0.00,0.000,6,0.000,0.046,3213,1614,1301,0,0,0,0,0,0
$GC,12404,0.64,374.1,805.2,9.6,546,12406,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1614,1301,0,0,0,0,0,0
$GC,12711,0.64,374.1,774.8,10.1,556,12714,0.00,1.67,0.00,0.000,4,0.000,0.042,3213,2698,1301,0,0,0,0,0,0
$GC,12765,0.64,374.1,769.0,10.8,557,12770,0.00,1.75,0.00,0.000,6,0.000,0.048,3213,1614,1301,0,0,0,0,0,0
$GC,13084,0.64,374.1,737.4,9.7,568,13088,0.00,1.00,0.00,0.000,4,0.000,0.041,3213,2272,1301,0,0,0,0,0,0
$GC,13156,0.64,374.1,730.5,9.4,570,13160,0.00,1.08,0.00,0.000,6,0.000,0.051,3213,1600,1301,0,0,0,0,0,0
$GC,13492,0.64,374.1,700.1,9.0,581,13496,0.00,2.05,0.00,0.000,4,0.000,0.042,3213,2918,1301,0,0,0,0,0,0
$GC,13560,0.64,374.1,693.9,9.0,583,13564,0.00,2.08,0.00,0.000,6,0.000,0.048,3213,1612,1301,0,0,0,0,0,0
$GC,13894,0.64,374.1,664.8,8.9,594,13898,0.00,0.77,0.00,0.000,4,0.000,0.041,3213,2132,1301,0,0,0,0,0,0
$GC,13977,0.64,374.1,657.2,8.9,596,13982,0.00,0.85,0.00,0.000,6,0.000,0.053,3213,1608,1301,0,0,0,0,0,0
$GC,14302,0.64,374.1,628.6,8.9,607,14306,0.00,1.48,0.00,0.000,4,0.000,0.041,3214,2554,1301,0,0,0,0,0,0
$GC,14379,0.64,374.1,621.3,10.5,609,14383,0.00,1.52,0.00,0.000,6,0.000,0.050,3214,1609,1301,0,0,0,0,0,0
$GC,14709,0.64,374.1,591.6,8.8,620,14713,0.00,0.90,0.00,0.000,4,0.000,0.041,3214,2200,1301,0,0,0,0,0,0
$GC,14791,0.64,374.1,584.0,8.7,622,14796,0.00,0.95,0.00,0.000,6,0.000,0.052,3213,1607,1301,0,0,0,0,0,0
$GC,15116,0.64,374.1,555.0,9.1,633,15117,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1607,1301,0,0,0,0,0,0
$GC,15422,0.64,374.1,526.8,9.2,643,15426,0.00,0.90,0.00,0.000,4,0.000,0.041,3214,2197,1301,0,0,0,0,0,0
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$GC,20551,0.80,436.4,31.8,10.8,914,20557,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1621,1041,0,0,0,0,0,0
$GC,20796,0.76,481.2,10.2,6.6,955,20822,0.10,0.00,23.05,0.715,6,0.200,0.000,3241,1622,865,0,0,0,0,0,0
$STATE,20876,end climb,SURFACE_DEPTH_REACHED
$STATE,20876,begin surface coast
$FINISH,1.8,1.010961
$STATE,20920,end surface coast,CONTROL_FINISHED_OK
$STATE,20920,begin surface
$SM_CCo,20998,0.00,0.000,0,0,855,483.48
$SM_GC,2.72,8.80,0.00,0.00,0.053,0.000,0.000,91,1791,855,-9.03,0.57,483.48
$IRIDIUM_FIX,-4112.14,-510.63,311212,050529
$TT8_MAMPS,0.026215
$HUMID,50.00
$INTERNAL_PRESSURE,9.07709
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,21.6,106.179
$10V_AH,9.9,62.703
$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,24.775,140.175,560.550,0.000,0.000,0.000,0.000,0.000,0.250,0.000,21.713,2590.566,14680.828,617.186,2990.201,194.731,0.000,1987.149,0.000,2936.252,0.000,2.828,0.000
$DEVICE_MAMPS,284.580,70.380,1482.570,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,647.750,908.606,662.335,80.711,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354644
$DATA_FILE_SIZE,60313,975
$CAP_FILE_SIZE,180155,0
$CFSIZE,2097086464,2034270208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010113,044936,-4123.576,-510.793,42,0.8,42,-22.4