version: 66.04
glider: 105
mission: 6
dive: 210
start: 7 30 109 16 41 4
data:
$ID,105
$MISSION,6
$DIVE,210
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,300
$T_TURN_SAMPINT,5
$T_NO_W,320
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,11
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$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,-1631761
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3705
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,253
$ROLL_MAX,3840
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3851
$C_VBD,2832
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-18.439545
$PRESSURE_SLOPE,0.0001163108
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.8522969
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0043067979
$SEABIRD_T_H,0.0006302988
$SEABIRD_T_I,2.3035876e-05
$SEABIRD_T_J,2.3016955e-06
$SEABIRD_C_G,-10.448573
$SEABIRD_C_H,1.1833477
$SEABIRD_C_I,-0.0016540284
$SEABIRD_C_J,0.00022965467
$GPS1,163006,6215.607,-1054.697,39,1.0,40,-10.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-62.2
$GPS2,164044,6215.562,-1054.506,12,1.3,12,-10.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,DE
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.025,-0.238
$KALMAN_X,-160384.0,991.3,628.8,104309.0,-21.7
$KALMAN_Y,127308.9,-3266.1,-2239.5,-49887.2,54062.8
$MHEAD_RNG_PITCHd_Wd,104.0,16853,-11.0,-6.000
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.96,-146.6,0.0,0.0,0,78,0.00,0.00,-58.45,0.000,6,0.000,0.000,393,2264,3432
$GC,81,-0.96,-146.6,5.2,-10.2,3,102,11.68,2.53,0.00,0.000,4,0.133,0.050,2585,3639,3433
$GC,439,-0.96,-146.6,45.5,-8.7,19,444,0.00,2.42,0.00,0.000,6,0.000,0.029,2585,2236,3434
$GC,772,-0.96,-146.6,69.8,-7.0,35,777,0.00,2.58,0.00,0.000,4,0.000,0.052,2585,3635,3436
$GC,1056,-0.96,-146.6,92.1,-8.3,47,1063,0.00,2.38,0.00,0.000,6,0.000,0.030,2585,2250,3436
$GC,1374,-0.96,-146.6,117.2,-7.8,63,1378,0.00,2.50,0.00,0.000,4,0.000,0.052,2585,3637,3436
$GC,1414,-0.96,-146.6,120.6,-8.2,65,1418,0.00,2.38,0.00,0.000,6,0.000,0.030,2585,2247,3436
$GC,1740,-0.96,-146.6,145.0,-7.4,81,1744,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3640,3436
$GC,1790,-0.96,-146.6,148.8,-7.7,83,1794,0.00,2.38,0.00,0.000,6,0.000,0.030,2585,2251,3435
$GC,2108,-0.96,-146.6,171.7,-7.3,98,2112,0.00,2.50,0.00,0.000,4,0.000,0.052,2585,3638,3435
$GC,2182,-0.96,-146.6,177.5,-7.9,101,2186,0.00,2.38,0.00,0.000,6,0.000,0.030,2585,2250,3435
$GC,2497,-0.96,-146.6,199.1,-6.7,116,2502,0.00,2.50,0.00,0.000,4,0.000,0.053,2585,3638,3435
$GC,2560,-0.96,-146.6,203.6,-7.1,119,2564,0.00,2.38,0.00,0.000,6,0.000,0.031,2585,2250,3434
$GC,2887,-0.96,-146.6,224.8,-6.4,135,2896,0.00,2.50,0.00,0.000,4,0.000,0.054,2585,3637,3434
$GC,2963,-0.96,-146.6,230.2,-7.0,138,2967,0.00,2.38,0.00,0.000,6,0.000,0.031,2585,2252,3434
$GC,3286,-0.96,-146.6,250.2,-6.4,154,3290,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3646,3433
$GC,3348,-0.96,-146.6,254.6,-6.9,157,3353,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2248,3433
$GC,3679,-0.96,-146.6,276.4,-6.7,173,3684,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3642,3433
$GC,3764,-0.96,-146.6,282.3,-7.3,177,3768,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2235,3432
$GC,4090,-0.96,-146.6,304.3,-6.7,193,4095,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3638,3433
$GC,4159,-0.96,-146.6,309.2,-7.3,196,4163,0.00,2.38,0.00,0.000,6,0.000,0.031,2585,2250,3433
$GC,4480,-0.96,-146.6,328.9,-5.9,212,4484,0.00,2.50,0.00,0.000,4,0.000,0.053,2585,3641,3432
$GC,4553,-0.96,-146.6,333.5,-6.4,215,4557,0.00,2.38,0.00,0.000,6,0.000,0.031,2585,2249,3432
$GC,4868,-0.96,-146.6,352.9,-6.1,230,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3432
$GC,5178,-0.96,-146.6,373.5,-6.6,245,5182,0.00,2.50,0.00,0.000,4,0.000,0.054,2585,3638,3432
$GC,5240,-0.96,-146.6,377.9,-7.2,248,5244,0.00,2.38,0.00,0.000,6,0.000,0.031,2585,2247,3432
$GC,5569,-0.96,-146.6,400.7,-7.2,264,5574,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3645,3432
$GC,5649,-0.96,-146.6,407.1,-8.0,267,5655,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2236,3432
$GC,5964,-0.96,-146.6,430.4,-7.2,283,5968,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3646,3432
$GC,6014,-0.96,-146.6,434.4,-8.2,285,6018,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2244,3431
$GC,6331,-0.96,-146.6,456.2,-6.7,300,6335,0.00,2.53,0.00,0.000,4,0.000,0.055,2585,3638,3431
$GC,6397,-0.96,-146.6,461.4,-7.7,303,6402,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2253,3431
$GC,6723,-0.96,-146.6,483.4,-6.7,319,6727,0.00,2.50,0.00,0.000,4,0.000,0.054,2586,3638,3431
$GC,6780,-0.96,-146.6,487.4,-7.6,321,6786,0.00,2.38,0.00,0.000,6,0.000,0.031,2586,2248,3431
$GC,7095,-0.96,-146.6,508.7,-6.8,337,7099,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3648,3431
$GC,7159,-0.96,-146.6,513.4,-7.6,340,7163,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2238,3431
$GC,7488,-0.96,-146.6,537.5,-7.9,356,7493,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3638,3430
$GC,7551,-0.96,-146.6,542.9,-8.7,359,7555,0.00,2.38,0.00,0.000,6,0.000,0.031,2585,2251,3430
$GC,7877,-0.96,-146.6,568.9,-8.1,375,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3430
$GC,8186,-0.96,-146.6,591.7,-7.0,390,8190,0.00,2.50,0.00,0.000,4,0.000,0.054,2585,3638,3430
$GC,8315,-0.96,-146.6,601.6,-8.0,396,8320,0.00,2.38,0.00,0.000,6,0.000,0.031,2585,2252,3430
$GC,8643,-0.96,-146.6,625.7,-7.4,412,8644,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3430
$GC,8951,-0.96,-146.6,649.1,-7.7,427,8955,0.00,2.50,0.00,0.000,4,0.000,0.053,2585,3639,3430
$GC,9091,-0.96,-146.6,660.7,-8.8,433,9095,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2236,3430
$GC,9407,-0.96,-146.6,685.2,-7.4,448,9411,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3645,3429
$GC,9496,-0.96,-146.6,692.0,-7.6,452,9500,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2248,3429
$GC,9817,-0.96,-146.6,714.9,-7.6,468,9822,0.00,2.47,0.00,0.000,4,0.000,0.046,2585,842,3429
$GC,9862,-0.96,-146.6,719.0,-9.3,470,9866,0.00,2.42,0.00,0.000,6,0.000,0.034,2585,2242,3429
$GC,10184,-0.96,-146.6,742.7,-6.5,486,10189,0.00,2.53,0.00,0.000,4,0.000,0.055,2585,3651,3429
$GC,10251,-0.96,-146.6,747.3,-7.0,489,10255,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2252,3429
$GC,10572,-0.96,-146.6,765.0,-5.1,505,10576,0.00,2.47,0.00,0.000,4,0.000,0.046,2585,843,3429
$GC,10599,-0.96,-146.6,766.5,-5.8,506,10604,0.00,2.42,0.00,0.000,6,0.000,0.035,2585,2254,3429
$GC,10915,-0.96,-146.6,785.2,-6.6,521,10916,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2255,3429
$GC,11225,-0.96,-146.6,802.9,-4.9,536,11229,0.00,2.53,0.00,0.000,4,0.000,0.058,2585,3651,3428
$GC,11280,-0.96,-146.6,805.6,-4.8,538,11287,0.00,2.42,0.00,0.000,6,0.000,0.034,2585,2238,3428
$GC,11596,-0.96,-146.6,820.3,-5.6,554,11600,0.00,2.45,0.00,0.000,4,0.000,0.048,2585,851,3427
$GC,11641,-0.96,-146.6,822.9,-5.9,556,11646,0.00,2.45,0.00,0.000,6,0.000,0.037,2585,2244,3428
$GC,11967,-0.96,-146.6,842.0,-6.6,572,11969,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2244,3427
$GC,12277,-0.96,-146.6,860.4,-5.7,587,12278,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2244,3426
$GC,12586,-0.96,-146.6,879.1,-5.9,602,12591,0.00,2.47,0.00,0.000,4,0.000,0.048,2585,853,3425
$GC,12626,-0.96,-146.6,880.8,-4.0,604,12631,0.00,2.45,0.00,0.000,6,0.000,0.038,2585,2256,3425
$STATE,12806,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12806,begin apogee
$GC,12815,-0.36,0.0,891.5,6.0,613,12950,0.62,0.00,130.10,1.381,6,0.060,0.000,2722,1463,2832
$STATE,12951,end apogee,CONTROL_FINISHED_OK
$STATE,12951,begin climb
$GC,12954,0.96,146.6,894.9,0.0,620,13094,1.30,2.30,131.80,1.337,4,0.051,0.065,3007,268,2234
$GC,13198,0.96,146.6,884.3,6.2,631,13202,0.00,2.05,0.00,0.000,6,0.000,0.035,3008,1458,2227
$GC,13525,0.96,146.6,861.1,7.4,647,13529,0.00,2.50,0.00,0.000,4,0.000,0.048,3008,2854,2223
$GC,13569,0.96,146.6,857.5,7.4,649,13573,0.00,2.50,0.00,0.000,6,0.000,0.041,3008,1452,2223
$GC,13890,0.98,160.6,838.1,5.6,665,13909,0.00,0.00,12.15,1.205,6,0.000,0.000,3007,1452,2177
$GC,14222,1.01,182.3,822.1,5.4,681,14250,0.00,2.58,21.75,1.282,4,0.000,0.048,3008,2853,2086
$GC,14286,1.01,182.3,818.2,6.2,684,14290,0.00,2.50,0.00,0.000,6,0.000,0.043,3008,1453,2084
$GC,14613,1.03,198.9,800.7,5.5,700,14635,0.00,2.58,15.88,1.245,4,0.000,0.048,3007,2855,2020
$GC,14681,1.03,198.9,796.4,6.5,703,14685,0.00,2.50,0.00,0.000,6,0.000,0.041,3008,1455,2019
$GC,15007,1.03,198.9,772.8,7.7,719,15011,0.00,2.53,0.00,0.000,4,0.000,0.048,3008,2854,2016
$GC,15069,1.03,198.9,768.0,8.2,722,15074,0.00,2.53,0.00,0.000,6,0.000,0.041,3007,1452,2016
$GC,15401,1.03,198.9,740.2,8.1,738,15402,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1452,2015
$GC,15710,1.03,198.9,718.0,7.3,753,15714,0.00,2.50,0.00,0.000,4,0.000,0.048,3008,2854,2015
$GC,15799,1.03,198.9,711.8,6.6,757,15803,0.00,2.47,0.00,0.000,6,0.000,0.041,3008,1453,2014
$GC,16120,1.04,210.6,692.5,5.7,773,16133,0.00,0.00,11.40,1.148,6,0.000,0.000,3007,1453,1973
$GC,16432,1.05,213.1,674.3,5.9,788,16436,0.00,2.50,0.00,0.000,4,0.000,0.045,3008,2858,1971
$GC,16512,1.07,228.7,669.3,5.6,791,16541,0.10,2.47,18.17,1.183,6,0.046,0.038,3061,1451,1898
$GC,16853,1.07,228.7,641.9,8.2,808,16855,0.15,0.00,0.00,0.000,6,0.074,0.000,3030,1451,1896
$GC,17158,1.07,228.7,619.6,7.2,823,17162,0.00,2.53,0.00,0.000,4,0.000,0.044,3030,2863,1896
$GC,17220,1.07,228.7,615.0,7.2,826,17225,0.00,2.50,0.00,0.000,6,0.000,0.039,3030,1461,1896
$GC,17552,1.07,228.7,589.6,7.8,842,17553,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1462,1896
$GC,17861,1.07,228.7,565.1,8.1,857,17865,0.00,2.45,0.00,0.000,4,0.000,0.041,3030,2855,1896
$GC,17933,1.07,228.7,559.2,8.0,860,17937,0.00,2.47,0.00,0.000,6,0.000,0.038,3030,1445,1896
$GC,18249,1.07,228.7,534.3,7.9,875,18253,0.00,2.50,0.00,0.000,4,0.000,0.041,3030,2857,1896
$GC,18292,1.07,228.7,530.7,7.2,877,18297,0.00,2.47,0.00,0.000,6,0.000,0.037,3030,1460,1896
$GC,18618,1.07,228.7,503.4,8.6,893,18620,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1461,1896
$GC,18928,1.07,228.7,476.6,8.7,908,18932,0.00,2.45,0.00,0.000,4,0.000,0.041,3030,2858,1896
$GC,18967,1.07,228.7,473.2,8.2,910,18971,0.00,2.45,0.00,0.000,6,0.000,0.037,3030,1453,1896
$GC,19293,1.07,228.7,444.5,8.6,926,19298,0.00,2.47,0.00,0.000,4,0.000,0.042,3030,2858,1896
$GC,19326,1.07,228.7,441.5,8.7,927,19333,0.00,2.47,0.00,0.000,6,0.000,0.038,3030,1446,1896
$GC,19642,1.07,228.7,415.9,8.1,943,19647,0.00,2.50,0.00,0.000,4,0.000,0.041,3030,2849,1896
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$GC,24377,1.13,281.4,79.7,4.6,1172,24430,0.00,2.55,47.15,0.827,4,0.000,0.040,3030,2862,1683
$GC,24482,1.24,374.0,75.7,3.5,1177,24570,0.17,2.47,80.55,0.805,6,0.033,0.036,3102,1455,1306
$GC,24897,1.24,374.0,25.8,15.0,1197,24902,0.15,2.15,0.00,0.000,4,0.071,0.057,3069,258,1295
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$STATE,25123,end climb,SURFACE_DEPTH_REACHED
$STATE,25123,begin surface coast
$FINISH,0.3,1.013922
$STATE,25145,end surface coast,CONTROL_FINISHED_OK
$STATE,25145,begin surface
$SM_CCo,25228,0.00,0.000,0,0,1290,378.25
$SM_GC,1.07,11.68,0.00,0.00,0.026,0.000,0.000,387,2232,1290,-11.00,-0.51,378.25
$IRIDIUM_FIX,6148.92,-1050.51,241098,161609
$TT8_MAMPS,0.026845
$HUMID,1880
$INTERNAL_PRESSURE,8.10902
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,851.1,49.9
$24V_AH,23.1,47.641
$10V_AH,10.1,29.178
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.850,267.975,468.950,0.000,0.000,52.894,57.179,321.056,7.750,0.000,0.000,12.624,2276.803,18927.506,602.935,2833.267,1211.785,0.000,2119.598,0.000,3020.297,0.000,53.763,0.000
$DEVICE_MAMPS,132.691,65.195,1381.367,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,988.150,924.270,659.187,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63133,1209
$CAP_FILE_SIZE,196665,0
$CFSIZE,260165632,242282496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,300709,234237,6215.086,-1050.527,28,1.2,28,-10.5