version: 66.13
glider: 124
mission: 26
dive: 130
start: 6 15 118 9 15 37
data:
$ID,124
$MISSION,26
$DIVE,130
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,50
$D_BOOST,2.5
$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,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55793
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.00151323
$HD_B,0.017661201
$HD_C,1.96131e-05
$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,350
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,75
$PITCH_MAX,3750
$C_PITCH,2120
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.001
$PITCH_ADJ_DBAND,5
$ROLL_MIN,180
$ROLL_MAX,3850
$ROLL_DEG,15
$C_ROLL_DIVE,1750
$C_ROLL_CLIMB,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,76
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,550
$VBD_MAX,3990
$C_VBD,2702
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,0
$AH0_10V,350
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-165.43451
$PRESSURE_SLOPE,0.00010836
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,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,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,5
$LOGGERDEVICE1,53
$LOGGERDEVICE2,71
$LOGGERDEVICE3,134
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043545738
$SEABIRD_T_H,0.00062548259
$SEABIRD_T_I,2.3693661e-05
$SEABIRD_T_J,2.5207949e-06
$SEABIRD_C_G,-9.9945526
$SEABIRD_C_H,1.1183146
$SEABIRD_C_I,-0.0026370776
$SEABIRD_C_J,0.00028069684
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$CP_RECORDABOVE,2000.0
$CP_PROFILE,2.0
$CP_XMITPROFILE,2.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,133.0
$CP_NDIVE,1.0
$GPS1,150618,090327,5827.7808,-2416.6519,38,1.2,43,-15.9,0.4,150.8,7,6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-76.7
$GPS2,150618,091509,5827.7842,-2416.4253,10,1.7,14,-15.9,0.9,121.2,5,7.0
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,Z2
$TGT_LATLONG,5825.000,-2230.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,79.4,103357,-13.0,-10.000,-28.63,1550
$D_GRID,990
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.55,-146.0,18,1775,1477,1009,0.0,0.0,0,117,0.00,0.00,-101.53,0.006,16390,0.000,0.000,16,1776,3296,3250,3343,0,0,0,0,0,0,14.76,13.52,14.76
$GC,120,-0.55,-146.0,16,1777,3251,3343,3.1,-2.2,5,134,9.07,0.77,0.00,0.000,2340,0.415,0.043,1990,2271,3297,3257,3337,0,0,0,0,0,0,14.32,14.58,14.52
$GC,194,-0.54,-146.0,1989,2277,3279,3315,18.5,-12.9,20,201,0.00,0.88,0.00,0.000,1158,0.000,0.059,1989,1743,3296,3279,3314,0,0,0,0,0,0,14.69,14.61,14.66
$GC,519,-0.53,-146.0,1989,1743,3286,3309,58.5,-12.5,37,524,0.00,0.93,0.00,0.000,644,0.000,0.059,1989,1218,3296,3285,3308,0,0,0,0,0,0,14.88,14.69,14.90
$GC,749,-0.52,-146.0,1989,1218,3286,3309,87.0,-11.9,83,754,0.00,0.88,0.00,0.000,1158,0.000,0.050,1986,1708,3297,3285,3309,0,0,0,0,0,0,14.76,14.73,14.78
$GC,1099,-0.51,-146.0,1986,1708,3287,3308,131.5,-12.8,96,1101,0.10,0.00,0.00,0.000,2182,0.302,0.000,2008,1708,3296,3286,3306,0,0,0,0,0,0,14.62,14.83,14.80
$GC,1420,-0.50,-146.0,2007,1708,3289,3305,167.0,-11.0,104,1425,0.00,0.88,0.00,0.000,644,0.000,0.055,2007,1218,3295,3287,3304,0,0,0,0,0,0,15.00,14.77,15.01
$GC,1620,-0.49,-146.0,2008,1218,3289,3305,188.7,-10.9,144,1626,0.00,0.95,0.00,0.000,1158,0.000,0.050,2005,1750,3296,3288,3304,0,0,0,0,0,0,14.78,14.75,14.81
$GC,1981,-0.48,-146.0,2005,1750,3289,3304,231.4,-12.1,160,1982,0.00,0.00,0.00,0.000,134,0.000,0.000,2005,1750,3296,3288,3304,0,0,0,0,0,0,15.03,15.04,15.04
$GC,2301,-0.48,-146.0,2005,1750,3289,3304,269.4,-11.9,168,2306,0.00,0.95,0.00,0.000,644,0.000,0.051,2005,1208,3295,3288,3303,0,0,0,0,0,0,15.06,14.85,15.07
$GC,2361,-0.47,-146.0,2005,1208,3290,3303,276.5,-11.4,180,2367,0.00,0.93,0.00,0.000,1158,0.000,0.050,2002,1736,3295,3288,3303,0,0,0,0,0,0,14.89,14.86,14.90
$GC,2702,-0.46,-146.0,2005,1753,3290,3302,317.5,-12.1,192,2707,0.00,0.93,0.00,0.000,644,0.000,0.057,2001,1218,3295,3289,3301,0,0,0,0,0,0,15.07,14.86,15.09
$GC,2808,-0.46,-146.0,2001,1218,3290,3303,329.0,-10.4,213,2813,0.05,0.90,0.00,0.000,3206,0.258,0.050,2016,1732,3295,3289,3302,0,0,0,0,0,0,14.70,14.90,14.83
$GC,3143,-0.45,-146.0,2016,1732,3290,3302,361.7,-9.8,224,3149,0.00,0.85,0.00,0.000,388,0.000,0.053,2012,2283,3295,3289,3302,0,0,0,0,0,0,15.08,14.88,15.08
$GC,3194,-0.45,-146.0,2012,2284,3291,3300,366.4,-9.2,234,3199,0.00,0.93,0.00,0.000,1030,0.000,0.054,2011,1714,3295,3291,3300,0,0,0,0,0,0,14.91,14.88,14.93
$GC,3545,-0.44,-146.0,2012,1713,3292,3300,400.0,-9.6,248,3550,0.00,0.85,0.00,0.000,644,0.000,0.060,2011,1223,3295,3291,3299,0,0,0,0,0,0,15.07,14.88,15.09
$GC,3775,-0.44,-146.0,2011,1223,3292,3300,422.7,-9.7,294,3780,0.00,0.88,0.00,0.000,1030,0.000,0.052,2009,1722,3295,3291,3299,0,0,0,0,0,0,14.91,14.90,14.93
$GC,4105,-0.44,-146.0,2010,1722,3291,3298,455.0,-9.5,304,4110,0.00,0.88,0.00,0.000,388,0.000,0.053,2004,2286,3294,3291,3298,0,0,0,0,0,0,15.08,14.88,15.11
$GC,4150,-0.44,-146.0,2005,2286,3292,3298,459.0,-8.9,313,4156,0.00,0.93,0.00,0.000,1030,0.000,0.055,2004,1718,3294,3291,3298,0,0,0,0,0,0,14.88,14.85,14.90
$GC,4506,-0.43,-146.0,2004,1718,3292,3298,493.1,-9.6,328,4512,0.08,0.85,0.00,0.000,2692,0.316,0.054,2023,1226,3294,3291,3297,0,0,0,0,0,0,14.75,14.88,14.92
$GC,4737,-0.43,-146.0,2023,1226,3292,3298,511.6,-7.3,374,4742,0.00,0.88,0.00,0.000,1062,0.000,0.050,2020,1723,3294,3291,3297,0,0,0,0,0,0,14.93,14.88,14.92
$GC,5067,-0.43,-146.0,2020,1724,3292,3297,537.6,-7.9,384,5072,0.00,0.90,0.00,0.000,548,0.000,0.057,2019,1219,3294,3291,3297,0,0,0,0,0,0,15.11,14.89,15.12
$GC,5189,-0.43,-146.0,2019,1219,3291,3297,547.4,-7.9,408,5195,0.00,0.88,0.00,0.000,1062,0.000,0.050,2017,1711,3293,3291,3296,0,0,0,0,0,0,14.93,14.90,14.95
$GC,5550,-0.43,-146.0,2016,1712,3292,3296,577.7,-8.4,424,5555,0.00,0.88,0.00,0.000,516,0.000,0.057,2016,1219,3293,3291,3296,0,0,0,0,0,0,15.11,14.90,15.13
$GC,5650,-0.43,-146.0,2016,1219,3292,3296,586.1,-8.2,444,5656,0.00,0.85,0.00,0.000,1030,0.000,0.050,2013,1704,3293,3291,3296,0,0,0,0,0,0,14.91,14.88,14.91
$GC,5991,-0.43,-146.0,2012,1705,3292,3295,615.4,-8.6,456,5997,0.00,0.88,0.00,0.000,260,0.000,0.053,2009,2266,3293,3291,3295,0,0,0,0,0,0,15.12,14.90,15.14
$GC,6072,-0.43,-146.0,2009,2269,3292,3295,622.4,-8.5,472,6078,0.00,0.90,0.00,0.000,1030,0.000,0.057,2008,1711,3293,3291,3295,0,0,0,0,0,0,14.92,14.90,14.95
$GC,6433,-0.43,-146.0,2008,1711,3292,3295,656.2,-9.4,488,6438,0.00,0.85,0.00,0.000,516,0.000,0.060,2011,1218,3293,3292,3294,0,0,0,0,0,0,15.11,14.90,15.13
$GC,6623,-0.43,-146.0,2008,1219,3292,3295,673.9,-9.5,526,6628,0.00,0.85,0.00,0.000,1030,0.000,0.049,2005,1704,3293,3291,3295,0,0,0,0,0,0,14.97,14.92,14.97
$GC,6954,-0.43,-146.0,2006,1703,3292,3295,706.4,-9.6,536,6959,0.00,0.90,0.00,0.000,260,0.000,0.054,2002,2281,3292,3291,3294,0,0,0,0,0,0,15.12,14.90,15.14
$GC,7019,-0.43,-146.0,2002,2282,3293,3293,712.5,-8.7,549,7025,0.05,0.95,0.00,0.000,3078,0.228,0.055,2020,1699,3293,3292,3294,0,0,0,0,0,0,14.75,14.88,14.88
$GC,7355,-0.43,-146.0,2022,1700,3292,3294,740.1,-8.1,560,7361,0.00,0.82,0.00,0.000,516,0.000,0.061,2018,1222,3292,3292,3293,0,0,0,0,0,0,15.12,14.90,15.14
$GC,7498,-0.43,-146.0,2020,1223,3292,3294,751.1,-7.8,588,7503,0.00,0.85,0.00,0.000,1062,0.000,0.052,2017,1706,3293,3292,3294,0,0,0,0,0,0,14.95,14.92,14.97
$GC,7839,-0.43,-146.0,2020,1706,3293,3293,778.0,-7.8,600,7844,0.00,0.90,0.00,0.000,292,0.000,0.054,2013,2282,3292,3291,3293,0,0,0,0,0,0,15.12,14.89,15.14
$GC,7919,-0.43,-146.0,2014,2283,3293,3293,784.2,-7.5,616,7925,0.00,0.95,0.00,0.000,1062,0.000,0.054,2013,1701,3292,3292,3293,0,0,0,0,0,0,14.94,14.90,14.96
$GC,8280,-0.43,-146.0,2014,1701,3293,3292,812.9,-8.0,632,8285,0.00,0.82,0.00,0.000,548,0.000,0.062,2013,1224,3292,3292,3292,0,0,0,0,0,0,15.12,14.90,15.14
$GC,8435,-0.43,-146.0,2013,1224,3293,3292,825.0,-7.3,663,8441,0.00,0.85,0.00,0.000,1062,0.000,0.051,2011,1706,3292,3292,3292,0,0,0,0,0,0,14.94,14.94,14.96
$GC,8760,-0.43,-146.0,2011,1706,3293,3292,852.0,-8.5,672,8766,0.00,0.90,0.00,0.000,260,0.000,0.054,2007,2283,3291,3292,3291,0,0,0,0,0,0,15.12,14.90,15.16
$GC,8846,-0.43,-146.0,2006,2284,3292,3292,859.2,-8.3,689,8851,0.00,0.93,0.00,0.000,1030,0.000,0.057,2006,1711,3291,3292,3291,0,0,0,0,0,0,14.94,14.90,14.95
$GC,9201,-0.43,-146.0,2007,1711,3293,3291,891.1,-9.1,704,9207,0.00,0.85,0.00,0.000,516,0.000,0.061,2006,1218,3291,3292,3291,0,0,0,0,0,0,15.12,14.92,15.14
$GC,9412,-0.43,-146.0,2007,1218,3292,3291,909.8,-8.9,746,9416,0.00,0.82,0.00,0.000,1030,0.000,0.051,2004,1693,3291,3292,3291,0,0,0,0,0,0,14.94,14.90,14.96
$GC,9762,-0.43,-146.0,2004,1693,3293,3290,941.7,-9.0,760,9767,0.10,0.90,0.00,0.000,2308,0.280,0.054,2024,2272,3291,3292,3290,0,0,0,0,0,0,14.74,14.89,14.90
$GC,9853,-0.43,-146.0,2024,2273,3293,3290,947.8,-6.5,778,9858,0.00,0.93,0.00,0.000,1062,0.000,0.056,2022,1702,3290,3292,3289,0,0,0,0,0,0,14.95,14.89,14.95
$GC,10203,-0.43,-146.0,2024,1702,3291,3289,971.2,-6.6,792,10208,0.00,0.82,0.00,0.000,548,0.000,0.063,2023,1225,3290,3292,3289,0,0,0,0,0,0,15.10,14.88,15.12
$GC,10358,-0.43,-146.0,2027,1225,3292,3289,981.0,-6.1,823,10364,0.00,0.82,0.00,0.000,1062,0.000,0.052,2021,1694,3290,3292,3289,0,0,0,0,0,0,14.92,14.88,14.95
$STATE,10521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10521,begin apogee
$GC,10527,-0.14,0.0,2022,1694,3292,3287,991.5,-6.4,828,10655,0.22,0.00,126.85,2.270,10244,0.201,0.000,2087,1709,2701,2872,2531,0,0,0,0,0,0,14.77,14.07,13.32
$STATE,10656,end apogee,CONTROL_FINISHED_OK
$STATE,10656,begin climb
$GC,10659,0.55,146.0,2088,1710,2871,2532,994.2,0.0,831,10799,0.50,0.00,133.98,2.209,11270,0.158,0.000,2242,1710,2105,2357,1853,0,0,0,0,0,0,14.04,14.26,13.07
$GC,11145,0.54,146.0,2242,1710,2339,1852,949.0,10.1,871,11149,0.00,0.90,0.00,0.000,388,0.000,0.046,2243,2254,2095,2338,1852,0,0,0,0,0,0,14.68,14.46,14.66
$GC,11205,0.54,146.0,2243,2258,2338,1852,942.8,10.3,883,11210,0.00,0.90,0.00,0.000,1158,0.000,0.066,2246,1730,2094,2336,1852,0,0,0,0,0,0,14.52,14.49,14.54
$GC,11545,0.53,146.0,2246,1730,2334,1852,908.1,10.1,895,11550,0.00,0.98,0.00,0.000,644,0.000,0.067,2250,1187,2092,2333,1852,0,0,0,0,0,0,14.85,14.64,14.87
$GC,11595,0.52,146.0,2251,1186,2333,1852,903.0,9.9,905,11600,0.00,0.95,0.00,0.000,1158,0.000,0.047,2250,1724,2091,2331,1852,0,0,0,0,0,0,14.72,14.69,14.73
$GC,11946,0.52,146.0,2251,1741,2331,1852,867.8,9.9,919,11951,0.00,0.82,0.00,0.000,388,0.000,0.044,2250,2258,2090,2329,1852,0,0,0,0,0,0,14.95,14.76,14.95
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$STATE,20714,end climb,SURFACE_DEPTH_REACHED
$STATE,20714,begin surface coast
$FINISH,0.7,1.026977
$STATE,20734,end surface coast,CONTROL_FINISHED_OK
$STATE,20734,begin surface
$SM_CCo,20752,9.43,0.117,0,0,1275,350.04
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$IRIDIUM_FIX,5826.41,-2417.79,150618,025101
$TT8_MAMPS,0.038199,0.772219
$HUMID,40.27
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,18.20
$XPDR_PINGS,21
$SC_FREEKB,3945504
$CP_FREE,15878455296.000000
$24V_AH,13.07,0.000
$10V_AH,13.12,45.390
$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,16.675,77.100,419.650,9.425,0.000,0.000,0.000,468.175,5.250,0.000,16.557,0.000,17210.693,682.451,3154.810,407.468,0.000,2268.251,0.000,2012.149,0.000,0.537,0.000
$DEVICE_MAMPS,414.630,106.335,2269.755,117.045,0.000,0.000,0.000,180.540,420.000,0.000,20.220,0.000,2.190,8.670,26.650,31.140,0.000,10.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20775.000,0.000,10091.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.314,0.000,25.000,0.000
$MEM,333828
$DATA_FILE_SIZE,49997,1412
$CAP_FILE_SIZE,177308,0
$CFSIZE,260165632,241020928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129,122.15,1
$GPS,150618,150244,5828.475,-2409.438,25,2.0,35,-15.9,0.3,97.8,4,9.0