version: 66.11
glider: 160
mission: 9
dive: 142
start: 4 29 113 17 21 53
data:
$ID,160
$MISSION,9
$DIVE,142
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,450
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55936
$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,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-41424.246
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3900
$C_PITCH,3315
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,335
$ROLL_MAX,3200
$ROLL_DEG,30
$C_ROLL_DIVE,1910
$C_ROLL_CLIMB,1780
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,190
$VBD_MAX,3660
$C_VBD,2479
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-21.182281
$PRESSURE_SLOPE,0.0001158597
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043567605
$SEABIRD_T_H,0.00063562888
$SEABIRD_T_I,2.4601901e-05
$SEABIRD_T_J,2.6145824e-06
$SEABIRD_C_G,-9.8833933
$SEABIRD_C_H,1.1029875
$SEABIRD_C_I,-0.0011442616
$SEABIRD_C_J,0.00017903016
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,290413,171123,2502.619,-3747.279,23,1.0,40,-14.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.14
$_SM_ANGLEo,-73.5
$GPS2,290413,172125,2502.556,-3747.219,13,1.1,13,-14.9
$SPEED_LIMITS,0.136,0.224
$TGT_NAME,N
$TGT_LATLONG,2513.000,-3800.000
$TGT_RADIUS,1852.000
$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,317.7,28857,-15.0,-7.857,-19.31,2445
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
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$GC,10163,-0.74,-126.5,3053,2961,2966,2982,869.6,-11.6,418,10168,0.00,2.28,0.00,0.000,1030,0.000,0.039,3053,1917,2973,2965,2982,0,0,0,0,0,0,28.83,14.95,28.83
$GC,10482,-0.72,-126.5,3053,1919,2965,2981,907.9,-11.6,429,10484,0.12,0.00,0.00,0.000,2054,0.246,0.000,3082,1919,2971,2965,2977,0,0,0,0,0,0,14.76,28.83,28.83
$GC,10782,-0.72,-126.5,3082,1919,2964,2979,937.2,-9.5,439,10783,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1919,2971,2964,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11081,-0.72,-126.5,3082,1919,2963,2978,964.8,-9.0,449,11082,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1919,2970,2963,2978,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11380,begin apogee
$GC,11385,-0.23,0.0,3082,1766,2962,2978,990.6,-8.4,459,11511,0.50,0.00,117.65,2.002,10244,0.187,0.000,3228,1767,2475,2527,2424,0,0,0,0,0,0,14.73,28.83,13.58
$STATE,11513,end apogee,CONTROL_FINISHED_OK
$STATE,11513,begin climb
$GC,11515,0.81,126.5,3228,1767,2527,2422,993.9,0.0,463,11653,1.15,2.30,123.50,1.953,10756,0.125,0.061,3575,745,1957,1992,1922,0,0,0,0,0,0,14.31,14.33,13.51
$GC,11747,0.69,126.5,3574,745,1991,1912,979.9,9.8,471,11753,0.15,2.25,0.00,0.000,5126,0.261,0.041,3542,1790,1951,1991,1911,0,0,0,0,0,0,14.37,14.51,28.83
$GC,12081,0.60,126.5,3542,1790,1990,1902,943.0,11.3,482,12087,0.12,2.38,0.00,0.000,4356,0.265,0.060,3510,2829,1946,1990,1902,0,0,0,0,0,0,14.62,14.74,28.83
$GC,12166,0.52,126.5,3510,2828,1988,1901,935.7,11.5,484,12171,0.00,2.30,0.00,0.000,1030,0.000,0.043,3509,1796,1945,1988,1902,0,0,0,0,0,0,28.83,14.78,28.83
$GC,12481,0.46,126.5,3510,1797,1988,1900,901.1,10.2,495,12483,0.17,0.00,0.00,0.000,4102,0.237,0.000,3467,1797,1944,1988,1900,0,0,0,0,0,0,14.71,28.83,28.83
$GC,12781,0.45,150.1,3467,1796,1998,1898,878.5,6.9,505,12808,0.00,0.00,22.33,1.836,8198,0.000,0.000,3467,1797,1864,1914,1814,0,0,0,0,0,0,28.83,28.83,14.08
$GC,13111,0.49,212.3,3467,1797,1912,1807,858.7,5.2,516,13184,0.00,2.40,66.62,1.730,8708,0.000,0.065,3466,731,1608,1652,1564,0,0,0,0,0,0,28.83,14.39,13.79
$GC,13226,0.51,267.9,3467,730,1650,1562,853.5,5.5,519,13292,0.00,2.25,59.40,1.706,9222,0.000,0.042,3466,1770,1384,1412,1357,0,0,0,0,0,0,28.83,14.53,13.69
$GC,13592,0.55,308.4,3466,1770,1400,1349,828.9,6.2,532,13645,0.00,2.53,44.62,1.682,8452,0.000,0.064,3466,2826,1217,1249,1185,0,0,0,0,0,0,28.83,14.43,13.82
$GC,13722,0.56,319.6,3467,2826,1243,1184,819.8,7.4,536,13743,0.00,2.38,11.88,1.748,9222,0.000,0.044,3467,1784,1173,1208,1139,0,0,0,0,0,0,28.83,14.59,13.83
$GC,14043,0.56,319.6,3466,1785,1208,1130,792.5,8.9,547,14049,0.00,2.33,0.00,0.000,516,0.000,0.068,3465,726,1169,1208,1130,0,0,0,0,0,0,28.83,14.73,28.83
$GC,14100,0.56,319.6,3467,725,1207,1130,789.4,9.1,548,14107,0.00,2.25,0.00,0.000,1030,0.000,0.042,3466,1784,1168,1207,1130,0,0,0,0,0,0,28.83,14.78,28.83
$GC,14408,0.58,319.6,3467,1784,1208,1127,756.7,10.2,559,14410,0.12,0.00,0.00,0.000,2054,0.130,0.000,3509,1784,1167,1207,1128,0,0,0,0,0,0,14.85,28.83,28.83
$GC,14708,0.56,319.6,3509,1784,1208,1127,719.0,12.6,569,14709,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,1784,1167,1207,1127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15007,0.54,319.6,3509,1784,1207,1126,680.5,12.9,579,15012,0.00,2.38,0.00,0.000,260,0.000,0.064,3508,2827,1167,1207,1128,0,0,0,0,0,0,28.83,14.88,28.83
$GC,15059,0.52,319.6,3509,2826,1205,1126,676.0,12.9,580,15065,0.00,2.35,0.00,0.000,1030,0.000,0.045,3509,1773,1165,1204,1126,0,0,0,0,0,0,28.83,14.91,28.83
$GC,15374,0.51,319.6,3509,1773,1205,1126,633.3,12.7,591,15381,0.12,2.28,0.00,0.000,4612,0.223,0.067,3474,725,1165,1205,1126,0,0,0,0,0,0,14.78,14.89,28.83
$GC,15428,0.51,319.6,3474,725,1205,1126,629.1,12.5,592,15433,0.00,2.20,0.00,0.000,1030,0.000,0.042,3474,1771,1165,1205,1126,0,0,0,0,0,0,28.83,14.92,28.83
$GC,15742,0.52,319.6,3474,1771,1205,1125,594.1,10.4,603,15748,0.00,2.40,0.00,0.000,260,0.000,0.065,3474,2829,1165,1205,1125,0,0,0,0,0,0,28.83,14.90,28.83
$GC,15784,0.52,319.6,3474,2829,1204,1125,590.3,10.4,604,15790,0.00,2.35,0.00,0.000,1030,0.000,0.044,3474,1769,1164,1204,1125,0,0,0,0,0,0,28.83,14.92,28.83
$GC,16109,0.54,319.6,3474,1770,1204,1125,558.4,9.3,615,16115,0.00,2.25,0.00,0.000,516,0.000,0.067,3474,731,1165,1205,1125,0,0,0,0,0,0,28.83,14.90,28.83
$GC,16192,0.56,319.6,3474,731,1204,1125,552.6,9.2,617,16198,0.00,2.20,0.00,0.000,1030,0.000,0.042,3474,1778,1164,1204,1125,0,0,0,0,0,0,28.83,14.92,28.83
$GC,16507,0.58,319.6,3474,1778,1204,1125,523.9,8.5,628,16513,0.00,2.40,0.00,0.000,260,0.000,0.064,3474,2835,1164,1204,1125,0,0,0,0,0,0,28.83,14.91,28.83
$GC,16541,0.59,319.6,3474,2835,1204,1125,520.6,8.7,629,16546,0.00,2.38,0.00,0.000,1030,0.000,0.044,3474,1775,1164,1204,1125,0,0,0,0,0,0,28.83,14.92,28.83
$GC,16876,0.61,319.6,3469,1769,1204,1125,492.8,8.1,640,16882,0.12,2.25,0.00,0.000,2564,0.124,0.063,3523,724,1164,1204,1125,0,0,0,0,0,0,14.92,14.90,28.83
$GC,16964,0.61,319.6,3523,724,1204,1125,486.0,9.2,642,16970,0.00,2.17,0.00,0.000,1030,0.000,0.041,3523,1765,1164,1204,1125,0,0,0,0,0,0,28.83,14.92,28.83
$GC,17272,0.59,319.6,3523,1765,1204,1125,449.0,11.1,653,17277,0.00,2.40,0.00,0.000,260,0.000,0.063,3523,2826,1164,1203,1125,0,0,0,0,0,0,28.83,14.90,28.83
$GC,17309,0.56,319.6,2688,2821,1189,1123,445.0,11.1,654,17315,0.00,2.35,0.00,0.000,1030,0.000,0.044,3523,1766,1164,1204,1125,0,0,0,0,0,0,28.83,14.92,28.83
$GC,17641,0.54,319.6,3523,1766,1204,1125,407.7,11.3,665,17647,0.12,2.25,0.00,0.000,4612,0.230,0.063,3488,721,1164,1204,1125,0,0,0,0,0,0,14.81,14.90,28.83
$GC,17729,0.54,319.6,3488,722,1204,1125,401.4,10.3,667,17736,0.00,2.17,0.00,0.000,1030,0.000,0.040,3488,1758,1165,1206,1125,0,0,0,0,0,0,28.83,14.94,28.83
$GC,18037,0.54,319.6,3488,1759,1204,1125,371.1,9.3,678,18043,0.00,2.42,0.00,0.000,260,0.000,0.062,3488,2832,1164,1204,1125,0,0,0,0,0,0,28.83,14.91,28.83
$GC,18065,0.54,319.6,3488,2831,1204,1125,371.1,9.3,678,18072,0.00,2.40,0.00,0.000,1030,0.000,0.044,3488,1754,1164,1204,1124,0,0,0,0,0,0,28.83,14.93,28.83
$GC,18371,0.54,319.6,3488,1755,1204,1125,339.8,9.1,689,18378,0.00,2.22,0.00,0.000,516,0.000,0.066,3488,725,1164,1203,1125,0,0,0,0,0,0,28.83,14.90,28.83
$GC,18429,0.54,319.6,3488,724,1204,1125,336.6,9.1,690,18436,0.00,2.17,0.00,0.000,1030,0.000,0.039,3488,1766,1164,1204,1125,0,0,0,0,0,0,28.83,14.95,28.83
$GC,18737,0.56,319.6,3488,1766,1204,1125,307.5,9.0,701,18742,0.00,2.40,0.00,0.000,260,0.000,0.060,3488,2834,1164,1204,1125,0,0,0,0,0,0,28.83,14.91,28.83
$GC,18804,0.56,319.6,3488,2830,1204,1125,301.1,9.4,703,18809,0.00,2.35,0.00,0.000,1030,0.000,0.041,3488,1765,1164,1204,1125,0,0,0,0,0,0,28.83,14.92,28.83
$GC,19134,0.57,319.6,3488,1767,1204,1125,271.5,9.0,714,19139,0.00,2.22,0.00,0.000,516,0.000,0.063,3488,732,1164,1204,1125,0,0,0,0,0,0,28.83,14.90,28.83
$GC,19216,0.59,319.6,3488,732,1204,1125,265.6,9.0,716,19222,0.00,2.17,0.00,0.000,1030,0.000,0.038,3488,1767,1164,1204,1125,0,0,0,0,0,0,28.83,14.94,28.83
$GC,19529,0.61,319.6,3488,1766,1204,1125,233.8,9.9,732,19535,0.00,2.40,0.00,0.000,260,0.000,0.060,3488,2833,1164,1204,1125,0,0,0,0,0,0,28.83,14.85,28.83
$GC,19578,0.61,319.6,3488,2833,1204,1126,228.2,11.4,735,19584,0.00,2.35,0.00,0.000,1030,0.000,0.041,3488,1770,1165,1204,1126,0,0,0,0,0,0,28.83,14.88,28.83
$GC,19897,0.63,319.6,3488,1771,1203,1126,192.6,11.6,756,19903,0.00,2.25,0.00,0.000,516,0.000,0.062,3488,728,1165,1205,1126,0,0,0,0,0,0,28.83,14.85,28.83
$GC,20000,0.66,319.6,3488,728,1204,1127,181.7,11.6,762,20008,0.12,2.17,0.00,0.000,3078,0.127,0.037,3533,1767,1165,1203,1127,0,0,0,0,0,0,14.83,14.88,28.83
$GC,20305,0.66,319.6,3533,1766,1203,1127,138.5,13.4,783,20311,0.00,2.40,0.00,0.000,260,0.000,0.058,3533,2832,1166,1204,1128,0,0,0,0,0,0,28.83,14.81,28.83
$GC,20369,0.64,319.6,3533,2832,1204,1128,129.9,13.6,787,20375,0.00,2.33,0.00,0.000,1030,0.000,0.041,3533,1778,1166,1204,1128,0,0,0,0,0,0,28.83,14.87,28.83
$GC,20688,0.64,319.6,3533,1779,1204,1128,91.3,11.6,808,20693,0.00,2.25,0.00,0.000,516,0.000,0.062,3534,730,1167,1205,1129,0,0,0,0,0,0,28.83,14.83,28.83
$GC,20731,0.64,319.6,3534,730,1202,1130,87.5,11.6,810,20738,0.00,2.20,0.00,0.000,1030,0.000,0.036,3533,1789,1166,1204,1129,0,0,0,0,0,0,28.83,14.86,28.83
$GC,21035,0.64,319.6,3533,1789,1204,1130,52.6,10.7,831,21036,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,1789,1167,1204,1130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21335,0.64,319.6,3533,1789,1204,1130,21.2,10.5,851,21341,0.00,2.33,0.00,0.000,260,0.000,0.057,3533,2823,1167,1204,1131,0,0,0,0,0,0,28.83,14.83,28.83
$GC,21358,0.64,319.6,3533,2822,1205,1131,19.1,10.7,852,21364,0.00,2.30,0.00,0.000,1030,0.000,0.038,3534,1777,1167,1204,1131,0,0,0,0,0,0,28.83,14.86,28.83
$STATE,21504,end climb,SURFACE_DEPTH_REACHED
$STATE,21504,begin surface coast
$FINISH,2.5,1.006695
$STATE,21522,end surface coast,CONTROL_FINISHED_OK
$STATE,21522,begin surface
$SM_CCo,21602,0.00,0.000,0,0,1166,321.83
$SM_GC,3.42,9.85,0.28,0.00,0.057,0.063,0.000,149,1910,1166,-9.83,-1.22,321.83,0,0,0,0,0,0,14.87,14.90,28.83
$IRIDIUM_FIX,2451.31,-3738.32,290413,111142
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.36
$INTERNAL_PRESSURE,9.3597
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3965632
$TM_FREEKB,6922740
$24V_AH,13.5,53.368
$10V_AH,13.3,0.000
$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,26.950,206.400,446.000,0.000,0.000,0.000,0.000,357.050,0.000,0.000,15.726,3119.941,15295.720,645.876,2774.197,355.442,0.000,2290.813,0.000,2266.848,0.000,0.540,0.000
$DEVICE_MAMPS,368.730,85.680,2002.005,0.000,0.000,0.000,0.000,227.205,420.000,0.000,21.720,9.220,2.190,9.220,27.940,32.430,0.000,17.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21534.000,4791.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.674,12.948,0.000,0.000
$MEM,345628
$DATA_FILE_SIZE,30009,863
$CAP_FILE_SIZE,239971,0
$CFSIZE,260034560,233504768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.083,116.4,1
$GPS,290413,232306,2503.799,-3748.763,29,1.2,29,-14.9