version: 66.12
glider: 171
mission: 9
dive: 234
start: 1 3 116 18 23 46
data:
$ID,171
$MISSION,9
$DIVE,234
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1015
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,420
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-6
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52091
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$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,587.06018
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,175
$PITCH_MAX,3952
$C_PITCH,1997
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2305
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3820
$C_VBD,2899
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-75.620842
$PRESSURE_SLOPE,0.0001165165
$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,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004389904
$SEABIRD_T_H,0.00063959236
$SEABIRD_T_I,2.6546981e-05
$SEABIRD_T_J,3.01253e-06
$SEABIRD_C_G,-10.191363
$SEABIRD_C_H,1.1409097
$SEABIRD_C_I,-0.0015713738
$SEABIRD_C_J,0.00020770991
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,030116,181652,658.2519,8241.9336,40,1.2,40,-2.3,0.0,0.0,7,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.33
$_SM_ANGLEo,-55.2
$GPS2,030116,182333,658.1660,8241.8857,12,1.5,27,-2.3,0.8,200.6,7,9.1
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH2
$TGT_LATLONG,600.000,8230.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,238.8,109925,-12.3,-7.857,-16.95,3372
$D_GRID,1020
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.54,-175.2,172,2293,535,475,0.0,0.0,0,153,0.00,0.00,-133.95,0.000,16386,0.000,0.000,172,2294,2753,2802,2704,0,0,0,0,0,0,26.29,28.83,26.34
$GC,156,-0.54,-175.2,172,2294,2802,2705,3.8,-7.0,11,190,6.18,2.40,-19.00,0.000,18692,0.200,1.209,1804,3667,3617,3484,3751,0,0,0,0,0,0,25.39,24.18,25.77
$GC,418,-0.53,-175.2,1803,3668,3485,3755,86.0,-21.2,55,424,0.00,2.05,0.00,0.000,1030,0.000,0.030,1803,2307,3619,3484,3755,0,0,0,0,0,0,26.23,26.17,26.26
$GC,801,-0.52,-175.2,1803,2306,3485,3759,145.0,-15.1,74,808,0.00,2.22,0.00,0.000,260,0.000,0.055,1792,3665,3622,3485,3759,0,0,0,0,0,0,26.63,26.15,26.69
$GC,1017,-0.52,-175.2,1793,3665,3485,3759,176.7,-14.2,110,1024,0.08,2.10,0.00,0.000,3078,0.110,0.031,1823,2299,3621,3484,3759,0,0,0,0,0,0,26.14,26.35,26.20
$GC,1401,-0.51,-175.2,1823,2298,3485,3759,215.0,-9.0,129,1409,0.00,2.17,0.00,0.000,516,0.000,0.039,1824,904,3621,3484,3759,0,0,0,0,0,0,26.75,26.32,26.81
$GC,1462,-0.51,-175.2,1823,904,3486,3759,221.0,-10.1,139,1468,0.00,2.20,0.00,0.000,1030,0.000,0.041,1813,2301,3621,3484,3759,0,0,0,0,0,0,26.36,26.31,26.40
$GC,1846,-0.51,-175.2,1813,2302,3485,3757,261.0,-9.9,155,1852,0.00,2.22,0.00,0.000,260,0.000,0.057,1803,3670,3620,3484,3757,0,0,0,0,0,0,26.79,26.24,26.85
$GC,1961,-0.51,-175.2,1803,3671,3485,3755,272.1,-9.8,174,1967,0.00,2.05,0.00,0.000,1030,0.000,0.032,1803,2303,3619,3484,3755,0,0,0,0,0,0,26.52,26.46,26.54
$GC,2351,-0.51,-175.2,1803,2303,3484,3749,312.2,-10.7,189,2358,0.10,2.12,0.00,0.000,2564,0.148,0.039,1832,907,3616,3484,3749,0,0,0,0,0,0,26.51,26.35,26.55
$GC,2399,-0.51,-175.2,1831,907,3484,3749,317.0,-9.5,197,2407,0.00,2.22,0.00,0.000,1030,0.000,0.043,1822,2303,3616,3484,3748,0,0,0,0,0,0,26.36,26.32,26.41
$GC,2785,-0.51,-175.2,1821,2303,3484,3742,352.3,-8.7,211,2790,0.00,2.17,0.00,0.000,260,0.000,0.057,1811,3670,3613,3484,3742,0,0,0,0,0,0,26.83,26.24,26.89
$GC,2843,-0.50,-175.2,1811,3671,3484,3741,357.7,-9.4,221,2851,0.00,2.10,0.00,0.000,1030,0.000,0.032,1811,2297,3611,3483,3740,0,0,0,0,0,0,26.52,26.49,26.55
$GC,3217,-0.50,-175.2,1811,2296,3483,3735,393.1,-9.7,233,3223,0.00,2.12,0.00,0.000,516,0.000,0.041,1811,912,3609,3483,3735,0,0,0,0,0,0,26.84,26.33,26.89
$GC,3246,-0.50,-175.2,1812,913,3482,3735,396.1,-10.5,238,3255,0.08,2.22,0.00,0.000,3078,0.114,0.045,1831,2301,3608,3482,3735,0,0,0,0,0,0,26.13,26.30,26.21
$GC,3614,-0.50,-175.2,1831,2301,3482,3728,427.3,-8.3,249,3620,0.00,2.15,0.00,0.000,516,0.000,0.041,1832,908,3605,3482,3728,0,0,0,0,0,0,26.84,26.32,26.90
$GC,3666,-0.50,-175.2,1831,908,3483,3727,431.8,-8.2,258,3673,0.00,2.22,0.00,0.000,1030,0.000,0.044,1822,2311,3604,3482,3727,0,0,0,0,0,0,26.35,26.30,26.40
$GC,4046,-0.50,-175.2,1822,2311,3482,3722,461.1,-7.3,271,4052,0.00,2.17,0.00,0.000,516,0.000,0.041,1823,909,3601,3482,3721,0,0,0,0,0,0,26.84,26.29,26.90
$GC,4092,-0.50,-175.2,1822,909,3482,3721,464.7,-7.5,279,4099,0.00,2.22,0.00,0.000,1030,0.000,0.044,1812,2306,3601,3482,3721,0,0,0,0,0,0,26.34,26.29,26.39
$GC,4478,-0.50,-175.2,1811,2306,3482,3717,496.7,-8.4,293,4484,0.00,2.17,0.00,0.000,516,0.000,0.042,1812,909,3598,3481,3716,0,0,0,0,0,0,26.85,26.28,26.91
$GC,4507,-0.50,-175.2,1811,909,3481,3716,499.2,-8.6,298,4516,0.08,2.22,0.00,0.000,3078,0.112,0.044,1832,2304,3598,3481,3716,0,0,0,0,0,0,26.11,26.27,26.18
$GC,4874,-0.50,-175.2,1832,2305,3481,3711,527.1,-7.9,309,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2304,3596,3481,3712,0,0,0,0,0,0,26.84,26.91,26.91
$GC,5233,-0.50,-175.2,1832,2305,3481,3708,557.1,-8.2,319,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2304,3594,3481,3708,0,0,0,0,0,0,26.85,26.92,26.91
$GC,5593,-0.50,-175.2,1832,2305,3480,3705,587.3,-8.4,329,5600,0.00,2.20,0.00,0.000,516,0.000,0.042,1832,922,3592,3480,3705,0,0,0,0,0,0,26.85,26.25,26.91
$GC,5666,-0.50,-175.2,1832,922,3480,3704,593.3,-8.6,341,5673,0.00,2.22,0.00,0.000,1030,0.000,0.045,1824,2314,3592,3480,3704,0,0,0,0,0,0,26.31,26.26,26.36
$GC,6064,-0.50,-175.2,1823,2314,3480,3700,623.4,-6.8,357,6070,0.00,2.17,0.00,0.000,516,0.000,0.041,1824,912,3590,3480,3700,0,0,0,0,0,0,26.85,26.26,26.91
$GC,6135,-0.50,-175.2,1823,913,3480,3700,628.7,-7.3,369,6142,0.00,2.22,0.00,0.000,1030,0.000,0.045,1813,2302,3589,3479,3700,0,0,0,0,0,0,26.29,26.25,26.34
$GC,6532,-0.50,-175.2,1813,2303,3480,3697,655.5,-6.4,385,6538,0.00,2.17,0.00,0.000,516,0.000,0.041,1813,908,3588,3479,3697,0,0,0,0,0,0,26.85,26.24,26.91
$GC,6574,-0.50,-175.2,1813,908,3479,3697,658.2,-6.5,392,6581,0.08,2.22,0.00,0.000,3078,0.110,0.046,1833,2299,3588,3479,3697,0,0,0,0,0,0,26.06,26.22,26.13
$GC,6964,-0.50,-175.2,1832,2299,3479,3694,677.5,-5.1,407,6971,0.00,2.17,0.00,0.000,516,0.000,0.040,1833,923,3586,3479,3693,0,0,0,0,0,0,26.85,26.25,26.91
$GC,7031,-0.50,-175.2,1833,924,3480,3693,681.0,-5.5,418,7038,0.00,2.20,0.00,0.000,1030,0.000,0.047,1824,2303,3586,3479,3693,0,0,0,0,0,0,26.27,26.22,26.32
$GC,7397,-0.50,-175.2,1824,2303,3479,3691,704.3,-6.6,429,7404,0.00,2.20,0.00,0.000,516,0.000,0.042,1824,892,3584,3479,3690,0,0,0,0,0,0,26.85,26.20,26.91
$GC,7457,-0.50,-175.2,1824,893,3480,3690,708.9,-7.5,439,7463,0.00,2.28,0.00,0.000,1030,0.000,0.046,1814,2307,3584,3479,3690,0,0,0,0,0,0,26.25,26.19,26.29
$GC,7829,-0.50,-175.2,1813,2307,3480,3688,740.8,-9.2,451,7835,0.00,2.22,0.00,0.000,516,0.000,0.044,1814,913,3583,3479,3688,0,0,0,0,0,0,26.85,26.18,26.91
$GC,7888,-0.50,-175.2,1813,913,3480,3688,746.8,-10.4,461,7896,0.00,2.25,0.00,0.000,1030,0.000,0.046,1804,2310,3583,3479,3688,0,0,0,0,0,0,26.23,26.17,26.28
$GC,8261,-0.50,-175.2,1804,2310,3479,3686,782.1,-9.1,473,8269,0.10,2.22,0.00,0.000,2564,0.147,0.043,1833,922,3582,3479,3686,0,0,0,0,0,0,26.53,26.17,26.56
$GC,8292,-0.50,-175.2,1833,922,3480,3686,784.7,-8.9,478,8300,0.00,2.25,0.00,0.000,1030,0.000,0.047,1824,2308,3582,3479,3685,0,0,0,0,0,0,26.21,26.16,26.27
$GC,8660,-0.51,-175.2,1824,2307,3480,3684,814.5,-8.2,489,8666,0.00,2.17,0.00,0.000,516,0.000,0.044,1825,920,3581,3479,3684,0,0,0,0,0,0,26.84,26.16,26.91
$GC,8688,-0.51,-175.2,1824,921,3479,3682,817.1,-8.7,494,8697,0.00,2.25,0.00,0.000,1030,0.000,0.047,1815,2313,3581,3479,3683,0,0,0,0,0,0,26.21,26.15,26.26
$GC,9055,-0.51,-175.2,1814,2313,3479,3682,847.1,-8.1,505,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2312,3580,3479,3682,0,0,0,0,0,0,26.84,26.91,26.91
$GC,9415,-0.51,-175.2,1814,2313,3480,3680,873.7,-7.0,515,9421,0.00,2.22,0.00,0.000,516,0.000,0.043,1814,920,3579,3479,3680,0,0,0,0,0,0,26.85,26.15,26.91
$GC,9492,-0.51,-175.2,1813,920,3480,3680,879.4,-7.0,528,9499,0.00,2.22,0.00,0.000,1030,0.000,0.047,1804,2301,3580,3479,3681,0,0,0,0,0,0,26.20,26.15,26.26
$GC,9884,-0.51,-175.2,1804,2302,3479,3678,907.9,-7.5,543,9890,0.00,2.17,0.00,0.000,516,0.000,0.043,1804,910,3578,3479,3677,0,0,0,0,0,0,26.84,26.14,26.91
$GC,9924,-0.51,-175.2,1804,910,3479,3677,911.4,-8.2,550,9932,0.10,2.25,0.00,0.000,3078,0.104,0.047,1833,2308,3578,3479,3677,0,0,0,0,0,0,25.94,26.12,26.01
$GC,10315,-0.51,-175.2,1832,2308,3478,3677,938.5,-7.1,565,10323,0.00,2.22,0.00,0.000,516,0.000,0.044,1833,923,3577,3479,3676,0,0,0,0,0,0,26.84,26.11,26.90
$GC,10382,-0.51,-175.2,1832,923,3479,3677,943.5,-7.2,576,10389,0.00,2.22,0.00,0.000,1030,0.000,0.047,1824,2305,3577,3478,3677,0,0,0,0,0,0,26.17,26.13,26.23
$GC,10749,-0.51,-175.2,1824,2305,3479,3675,968.9,-6.7,587,10755,0.00,2.20,0.00,0.000,516,0.000,0.044,1824,909,3577,3479,3675,0,0,0,0,0,0,26.84,26.10,26.90
$GC,10802,-0.51,-175.2,1824,909,3479,3675,972.9,-7.1,596,10809,0.00,2.25,0.00,0.000,1030,0.000,0.046,1814,2303,3577,3479,3675,0,0,0,0,0,0,26.15,26.10,26.21
$STATE,11034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11034,begin apogee
$GC,11040,-0.11,0.0,1814,1957,3479,3674,990.0,-7.4,605,11202,0.43,0.00,154.57,1.137,10246,0.094,0.000,1959,1956,2899,2920,2879,0,0,0,0,1,0,25.99,24.39,23.26
$STATE,11204,end apogee,CONTROL_FINISHED_OK
$STATE,11204,begin climb
$GC,11206,0.54,175.2,1958,1956,2920,2880,995.7,0.0,609,11371,0.60,2.38,156.38,0.999,11012,0.068,0.048,2174,3381,2181,2249,2114,0,0,0,0,0,0,24.87,24.01,23.36
$GC,11406,0.61,221.6,2174,3381,2243,2112,988.9,6.4,646,11455,0.00,2.33,42.47,0.979,9222,0.000,0.032,2182,1959,1993,2050,1936,0,0,0,0,0,0,25.18,25.15,23.62
$GC,11833,0.64,243.8,2182,1960,2042,1929,959.3,7.2,667,11855,0.00,0.00,20.58,0.953,8198,0.000,0.000,2182,1959,1905,1966,1845,0,0,0,0,0,0,26.27,25.27,24.22
$GC,12192,0.68,266.5,2182,1960,1961,1839,933.3,7.2,677,12223,0.00,2.40,22.75,0.946,8452,0.000,0.050,2182,3380,1810,1875,1746,0,0,0,0,0,0,26.36,25.44,24.33
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$GC,17666,0.69,318.9,2207,1961,1746,1605,312.5,7.2,889,17692,0.00,2.22,19.75,0.588,8452,0.000,0.046,2208,3367,1596,1669,1523,0,0,0,0,0,0,26.82,25.77,25.32
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$STATE,20799,end climb,SURFACE_DEPTH_REACHED
$STATE,20799,begin surface coast
$FINISH,-0.9,1.021239
$STATE,20824,end surface coast,CONTROL_FINISHED_OK
$STATE,20824,begin surface
$SM_CCo,20838,49.55,0.053,0,0,503,587.25
$SM_GC,-0.47,5.32,0.57,49.55,0.021,0.044,0.053,173,2317,503,-5.67,-1.02,587.25,0,0,0,0,0,0,26.34,26.26,26.10
$IRIDIUM_FIX,657.26,8244.14,030116,115506
$TT8_MAMPS,0.050183,0.050183
$HUMID,51.14
$INTERNAL_PRESSURE,9.42765
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3930208
$24V_AH,23.26,35.748
$10V_AH,9.86,21.974
$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,14.125,164.475,574.875,49.550,0.000,0.000,0.000,232.800,0.000,0.000,28.562,0.000,17523.348,1129.940,2229.485,384.850,0.000,2121.210,0.000,1602.327,0.000,0.539,0.000
$DEVICE_MAMPS,199.665,1209.465,1136.790,52.785,0.000,0.000,0.000,122.400,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20846.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.884,0.000,0.000,0.000
$MEM,261424
$DATA_FILE_SIZE,39962,1085
$CAP_FILE_SIZE,190121,0
$CFSIZE,260034560,228667392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.228,95.79,1
$GPS,040116,001304,656.247,8242.080,46,0.9,46,-2.4,0.0,0.0,8,7.3