version: 66.11
glider: 121
mission: 10
dive: 59
start: 3 9 113 14 26 27
data:
$ID,121
$MISSION,10
$DIVE,59
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51800
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.0056599998
$HD_B,0.0135
$HD_C,6.2300001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-81350.789
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,4069
$C_PITCH,2350
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,526
$ROLL_MAX,3878
$ROLL_DEG,40
$C_ROLL_DIVE,1975
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,76
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3600
$C_VBD,2795
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-34.938694
$PRESSURE_SLOPE,9.0818496e-05
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.3
$DEEPGLIDER,0
$DEEPGLIDERMB,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,0.0042823856
$SEABIRD_T_H,0.00062054652
$SEABIRD_T_I,2.2746239e-05
$SEABIRD_T_J,2.4072633e-06
$SEABIRD_C_G,-9.8275757
$SEABIRD_C_H,1.1041691
$SEABIRD_C_I,-0.0015209455
$SEABIRD_C_J,0.00020302966
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,090313,141731,1939.576,11959.926,40,0.9,40,-2.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-63.3
$GPS2,090313,142559,1939.646,12000.052,15,1.3,15,-2.6
$SPEED_LIMITS,0.159,0.239
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$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,181.1,73424,-18.4,-9.167,-20.99,2856
$D_GRID,3971
$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,-1.11,-170.3,83,1947,880,885,0.0,0.0,0,80,0.00,0.00,-60.50,0.000,16386,0.000,0.000,83,1949,2547,2468,2627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.11,-170.3,84,1949,2469,2629,3.1,-6.7,8,115,8.55,2.20,-16.35,0.000,18948,0.248,0.050,2109,564,3494,3419,3569,0,0,0,0,0,0,25.88,26.13,26.40
$GC,306,-1.11,-170.3,2109,564,3423,3573,49.4,-17.0,36,312,0.00,2.03,0.00,0.000,1030,0.000,0.015,2101,1990,3497,3423,3572,0,0,0,0,0,0,28.83,26.37,28.83
$GC,619,-1.11,-170.3,2101,1991,3425,3573,96.3,-15.3,52,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,1990,3499,3426,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,919,-1.11,-170.3,2100,1991,3426,3573,140.3,-14.1,67,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,1991,3499,3426,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1219,-1.11,-170.3,2100,1991,3426,3573,181.5,-13.3,82,1225,0.00,2.17,0.00,0.000,516,0.000,0.037,2109,571,3499,3426,3573,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1278,-1.11,-170.3,2109,571,3426,3573,187.1,-13.0,84,1286,0.00,1.98,0.00,0.000,1030,0.000,0.015,2101,1982,3499,3426,3573,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1584,-1.11,-170.3,2100,1983,3426,3573,223.3,-10.7,100,1590,0.00,1.98,0.00,0.000,260,0.000,0.028,2091,3332,3499,3426,3573,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1617,-1.11,-170.3,2090,3332,3426,3573,225.7,-10.5,101,1623,0.00,2.00,0.00,0.000,1030,0.000,0.022,2098,1968,3499,3426,3573,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1931,-1.11,-170.3,2098,1968,3425,3572,257.8,-9.5,117,1938,0.00,2.10,0.00,0.000,516,0.000,0.040,2108,571,3499,3426,3572,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2000,-1.11,-170.3,2108,571,3425,3572,264.2,-9.8,120,2006,0.00,1.98,0.00,0.000,1030,0.000,0.015,2100,1979,3498,3425,3572,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2319,-1.11,-170.3,2099,1979,3424,3569,296.4,-10.7,136,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1979,3496,3424,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2619,-1.11,-170.3,2100,1979,3423,3567,330.7,-11.5,151,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1979,3494,3422,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2919,-1.11,-170.3,2100,1979,3420,3565,364.7,-11.3,166,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1979,3492,3420,3565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3219,-1.11,-170.3,2100,1979,3418,3562,398.8,-11.4,181,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1979,3490,3418,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3519,-1.11,-170.3,2100,1979,3417,3560,429.9,-9.9,196,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1979,3488,3417,3560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3819,-1.11,-170.3,2100,1979,3414,3558,457.5,-8.4,211,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1979,3486,3414,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4120,-1.11,-170.3,2100,1979,3412,3556,482.5,-8.5,226,4125,0.00,2.15,0.00,0.000,516,0.000,0.040,2108,573,3484,3412,3556,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4186,-1.11,-170.3,2107,572,3411,3556,488.4,-8.8,229,4192,0.00,1.98,0.00,0.000,1030,0.000,0.016,2100,1970,3483,3411,3556,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4510,-1.11,-170.3,2100,1971,3409,3554,517.2,-9.3,245,4517,0.00,2.03,0.00,0.000,260,0.000,0.030,2089,3348,3481,3409,3554,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4590,-1.11,-170.3,2089,3348,3408,3552,523.6,-9.7,248,4598,0.00,2.03,0.00,0.000,1030,0.000,0.024,2091,1976,3480,3408,3552,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4896,-1.11,-170.3,2093,1976,3407,3550,556.4,-10.8,264,4902,0.00,2.12,0.00,0.000,516,0.000,0.044,2101,574,3478,3407,3549,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4970,-1.11,-170.3,2100,574,3407,3549,563.8,-11.4,267,4976,0.00,1.98,0.00,0.000,1030,0.000,0.016,2093,1969,3477,3406,3549,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5284,-1.11,-170.3,2093,1969,3404,3547,600.9,-11.4,283,5290,0.00,2.15,0.00,0.000,516,0.000,0.042,2101,572,3475,3404,3547,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5336,-1.11,-170.3,2103,572,3404,3547,604.7,-11.5,284,5343,0.00,2.00,0.00,0.000,1030,0.000,0.016,2093,1975,3475,3404,3547,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5651,-1.11,-170.3,2093,1975,3402,3545,638.6,-9.7,295,5657,0.00,2.03,0.00,0.000,260,0.000,0.031,2083,3346,3473,3402,3545,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5710,-1.11,-170.3,2083,3346,3401,3545,641.9,-9.7,296,5718,0.10,2.05,0.00,0.000,3078,0.164,0.025,2110,1964,3473,3401,3545,0,0,0,0,0,0,26.66,26.79,28.83
$GC,6016,-1.11,-170.3,2110,1964,3399,3543,668.3,-7.5,307,6022,0.00,2.10,0.00,0.000,516,0.000,0.045,2121,581,3471,3400,3543,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6084,-1.11,-170.3,1312,580,3382,3540,673.2,-7.4,309,6089,0.00,2.00,0.00,0.000,1030,0.000,0.017,2112,1979,3471,3399,3543,0,0,0,0,0,0,28.83,26.82,28.83
$GC,6413,-1.11,-170.3,2112,1979,3397,3541,697.8,-7.7,320,6418,0.00,2.17,0.00,0.000,516,0.000,0.044,2121,573,3469,3397,3541,0,0,0,0,0,0,28.83,26.76,28.83
$GC,6456,-1.11,-170.3,2121,573,3397,3541,700.5,-7.9,321,6462,0.00,2.03,0.00,0.000,1030,0.000,0.017,2112,1987,3469,3397,3541,0,0,0,0,0,0,28.83,26.82,28.83
$GC,6779,-1.11,-170.3,2112,1988,3395,3539,729.8,-9.2,332,6786,0.00,2.03,0.00,0.000,260,0.000,0.033,2102,3352,3467,3395,3539,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6808,-1.11,-170.3,2102,3352,3395,3539,729.8,-9.2,332,6816,0.00,2.05,0.00,0.000,1030,0.000,0.026,2104,1971,3467,3395,3539,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7115,-1.11,-170.3,2103,1971,3394,3537,764.4,-10.6,343,7121,0.00,2.12,0.00,0.000,516,0.000,0.046,2113,578,3465,3394,3537,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7189,-1.11,-170.3,2114,578,3393,3537,771.7,-10.8,345,7195,0.00,2.00,0.00,0.000,1030,0.000,0.017,2105,1972,3465,3393,3537,0,0,0,0,0,0,28.83,26.82,28.83
$GC,7512,-1.11,-170.3,2105,1972,3391,3536,804.6,-9.4,356,7519,0.00,2.05,0.00,0.000,260,0.000,0.034,2095,3351,3463,3391,3536,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7551,-1.11,-170.3,2095,3351,3391,3536,807.8,-9.2,357,7556,0.00,2.05,0.00,0.000,1030,0.000,0.027,2097,1975,3463,3391,3535,0,0,0,0,0,0,28.83,26.78,28.83
$GC,7879,-1.11,-170.3,2097,1975,3389,3535,834.1,-7.1,368,7881,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1975,3461,3389,3534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8179,-1.11,-170.3,2097,1975,3389,3533,851.1,-5.3,378,8186,0.00,2.15,0.00,0.000,516,0.000,0.047,2107,573,3460,3388,3533,0,0,0,0,0,0,28.83,26.76,28.83
$GC,8208,-1.11,-170.3,2107,572,3389,3533,851.1,-5.3,378,8216,0.00,2.03,0.00,0.000,1030,0.000,0.018,2099,1978,3460,3387,3533,0,0,0,0,0,0,28.83,26.82,28.83
$GC,8515,-1.11,-170.3,2099,1978,3387,3531,867.8,-5.0,389,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1978,3459,3387,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8815,-1.11,-170.3,2099,1978,3386,3530,885.3,-6.2,399,8820,0.00,2.05,0.00,0.000,260,0.000,0.034,2089,3352,3458,3386,3530,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8842,-1.11,-170.3,2089,3352,3385,3530,885.3,-6.2,399,8850,0.00,2.05,0.00,0.000,1030,0.000,0.028,2090,1977,3457,3385,3530,0,0,0,0,0,0,28.83,26.78,28.83
$GC,9149,-1.11,-170.3,2090,1976,3384,3530,909.3,-7.4,410,9155,0.00,2.15,0.00,0.000,516,0.000,0.047,2097,574,3457,3384,3530,0,0,0,0,0,0,28.83,26.75,28.83
$GC,9187,-1.11,-170.3,2097,576,3384,3530,912.2,-7.6,411,9193,0.00,2.03,0.00,0.000,1030,0.000,0.018,2089,1978,3457,3384,3530,0,0,0,0,0,0,28.83,26.82,28.83
$GC,9516,-1.11,-170.3,2089,1979,3383,3529,939.6,-8.7,422,9523,0.00,2.20,0.00,0.000,516,0.000,0.046,2097,575,3456,3383,3529,0,0,0,0,0,0,28.83,26.75,28.83
$GC,9574,-1.11,-170.3,2097,575,3383,3529,942.9,-8.9,423,9582,0.00,2.03,0.00,0.000,1030,0.000,0.018,2089,1979,3455,3382,3528,0,0,0,0,0,0,28.83,26.82,28.83
$GC,9882,-1.11,-170.3,2089,1979,3381,3527,973.0,-9.3,434,9887,0.00,2.05,0.00,0.000,260,0.000,0.035,2079,3352,3453,3381,3526,0,0,0,0,0,0,28.83,26.76,28.83
$GC,9925,-1.11,-170.3,2078,3352,3381,3527,976.3,-9.3,435,9931,0.12,2.08,0.00,0.000,3078,0.158,0.028,2114,1968,3454,3381,3527,0,0,0,0,0,0,26.65,26.78,28.83
$STATE,10098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10098,begin apogee
$GC,10102,-0.19,0.0,2113,2298,3381,3526,992.0,-8.3,441,10268,0.60,0.00,156.68,1.214,10246,0.116,0.000,2313,2298,2790,2754,2826,0,0,0,0,0,0,26.67,28.83,23.95
$STATE,10269,end apogee,CONTROL_FINISHED_OK
$STATE,10269,begin climb
$GC,10271,1.11,170.3,2313,2298,2754,2823,998.8,0.0,446,10444,0.80,2.30,163.27,1.226,10500,0.063,0.036,2594,3683,2094,2061,2128,0,0,0,0,0,0,24.95,24.52,23.68
$GC,10585,1.27,235.1,2593,3683,2055,2118,987.6,6.8,456,10656,0.10,2.17,62.42,1.201,11270,0.103,0.025,2643,2308,1833,1808,1858,0,0,0,0,0,0,25.46,25.49,23.81
$GC,10984,1.27,235.1,2643,2308,1802,1845,949.2,10.3,469,10990,0.00,2.20,0.00,0.000,260,0.000,0.037,2643,3681,1823,1802,1845,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11018,1.27,235.1,2643,3681,1802,1844,945.5,10.3,470,11025,0.12,2.15,0.00,0.000,5126,0.190,0.027,2625,2299,1823,1802,1844,0,0,0,0,0,0,25.75,25.90,28.83
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$STATE,20678,end climb,SURFACE_DEPTH_REACHED
$STATE,20678,begin surface coast
$FINISH,0.3,1.022101
$STATE,20706,end surface coast,CONTROL_FINISHED_OK
$STATE,20706,begin surface
$SM_CCo,20780,0.00,0.000,0,0,750,501.64
$SM_GC,0.94,6.90,0.50,0.00,0.028,0.045,0.000,86,1956,750,-10.31,0.93,501.64,0,0,0,0,0,0,26.39,26.41,28.83
$IRIDIUM_FIX,1934.38,11959.74,090313,080809
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.87
$INTERNAL_PRESSURE,9.27292
$TCM_TEMP,23.20
$XPDR_PINGS,1
$SC_FREEKB,3996544
$24V_AH,23.7,10.876
$10V_AH,10.1,7.833
$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,18.300,177.875,610.650,0.000,0.000,0.000,0.000,277.550,0.250,0.000,16.514,3860.877,13734.680,835.935,2543.131,288.958,0.000,2344.738,0.000,2134.929,0.000,1.489,0.000
$DEVICE_MAMPS,247.860,49.725,1225.530,0.000,0.000,0.000,0.000,137.700,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20715.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.398,0.000,0.000,0.000
$MEM,323884
$DATA_FILE_SIZE,33404,939
$CAP_FILE_SIZE,491971,0
$CFSIZE,260034560,243429376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.113, 74.2,1
$GPS,090313,201358,1937.275,12001.493,34,0.8,34,-2.6