version: 66.10
glider: 169
mission: 5
dive: 471
start: 2 8 112 23 28 3
data:
$ID,169
$MISSION,5
$DIVE,471
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,4
$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,380
$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,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$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,-12503.703
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,080212,231955,2258.634,12402.715,38,1.6,38,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-67.8
$GPS2,080212,232738,2258.644,12402.703,23,1.7,23,-3.2
$SPEED_LIMITS,0.150,0.248
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$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,227.7,164235,-16.1,-8.684
$D_GRID,5702
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.58,-146.0,0.0,0.0,0,96,0.00,0.00,-76.57,0.000,2,0.000,0.000,117,2595,3157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.58,-146.0,3.8,-8.2,13,121,7.22,2.00,-8.20,0.000,4,0.234,0.048,1803,3824,3578,0,0,0,0,0,0,24.79,26.01,26.53
$GC,280,-0.53,-146.0,58.0,-21.8,47,288,0.12,1.80,0.00,0.000,6,0.149,0.021,1838,2578,3578,0,0,0,0,0,0,25.87,26.22,28.83
$GC,595,-0.45,-146.0,136.4,-26.2,108,602,0.00,2.10,0.00,0.000,4,0.000,0.027,1846,1175,3578,0,0,0,0,0,0,28.83,26.16,28.83
$GC,723,-0.48,-146.0,155.2,-8.5,132,730,0.00,2.30,0.00,0.000,6,0.000,0.034,1835,2649,3578,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1036,-0.43,-146.0,210.2,-18.5,188,1045,0.12,2.25,0.00,0.000,4,0.158,0.025,1885,1170,3579,0,0,0,0,0,0,26.15,26.18,28.83
$GC,1111,-0.49,-146.0,218.6,-7.8,195,1119,0.00,2.33,0.00,0.000,6,0.000,0.035,1875,2658,3579,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1418,-0.49,-146.0,251.9,-10.8,226,1427,0.00,2.25,0.00,0.000,4,0.000,0.026,1875,1163,3579,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1460,-0.51,-146.0,256.0,-9.7,230,1469,0.00,2.33,0.00,0.000,6,0.000,0.035,1866,2651,3579,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1770,-0.51,-146.0,293.1,-12.3,261,1779,0.00,2.22,0.00,0.000,4,0.000,0.026,1866,1178,3579,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1795,-0.51,-146.0,295.7,-12.1,263,1803,0.00,2.30,0.00,0.000,6,0.000,0.037,1856,2647,3579,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2102,-0.49,-146.0,337.1,-13.8,294,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2646,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2404,-0.48,-146.0,373.3,-11.9,324,2412,0.00,2.20,0.00,0.000,4,0.000,0.027,1855,1178,3578,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2456,-0.51,-146.0,378.6,-9.5,329,2465,0.00,2.28,0.00,0.000,6,0.000,0.037,1846,2643,3578,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2767,-0.50,-146.0,413.1,-10.2,360,2776,0.00,2.17,0.00,0.000,4,0.000,0.026,1847,1179,3577,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2832,-0.53,-146.0,418.8,-8.0,366,2840,0.00,2.28,0.00,0.000,6,0.000,0.037,1838,2643,3577,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3139,-0.53,-146.0,450.7,-10.9,397,3147,0.00,2.20,0.00,0.000,4,0.000,0.026,1838,1175,3576,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3184,-0.54,-146.0,454.9,-10.1,401,3191,0.00,2.33,0.00,0.000,6,0.000,0.037,1828,2656,3576,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3491,-0.52,-146.0,491.4,-11.9,432,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2656,3575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3794,-0.52,-146.0,525.1,-11.4,462,3803,0.00,2.22,0.00,0.000,4,0.000,0.027,1828,1179,3574,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3889,-0.56,-146.0,534.8,-9.4,471,3896,0.00,2.33,0.00,0.000,6,0.000,0.038,1819,2647,3574,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4196,-0.54,-146.0,571.6,-11.5,502,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2647,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4507,-0.53,-146.0,604.9,-11.4,531,4512,0.00,2.22,0.00,0.000,4,0.000,0.028,1819,1180,3570,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4590,-0.55,-146.0,612.6,-9.6,535,4594,0.00,2.33,0.00,0.000,6,0.000,0.039,1811,2645,3570,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4902,-0.54,-146.0,646.8,-11.2,551,4907,0.00,2.25,0.00,0.000,4,0.000,0.028,1811,1177,3568,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4943,-0.54,-146.0,650.8,-10.5,553,4949,0.08,2.30,0.00,0.000,6,0.109,0.039,1833,2641,3568,0,0,0,0,0,0,25.83,26.02,28.83
$GC,5263,-0.55,-146.0,679.5,-8.9,569,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2640,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5562,-0.57,-146.0,706.6,-9.1,584,5568,0.00,2.25,0.00,0.000,4,0.000,0.028,1833,1170,3564,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5596,-0.58,-146.0,708.5,-9.2,585,5603,0.00,2.35,0.00,0.000,6,0.000,0.039,1824,2645,3563,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5902,-0.59,-146.0,738.2,-9.2,601,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2645,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6204,-0.60,-146.0,765.0,-8.8,616,6209,0.00,2.25,0.00,0.000,4,0.000,0.032,1824,1178,3559,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6251,-0.62,-146.0,768.5,-8.7,618,6260,0.00,2.35,0.00,0.000,6,0.000,0.041,1815,2644,3559,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6562,-0.62,-146.0,799.2,-9.9,634,6565,0.00,1.77,0.00,0.000,4,0.000,0.046,1806,3814,3558,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6591,-0.62,-146.0,801.4,-10.0,635,6594,0.00,1.80,0.00,0.000,6,0.000,0.024,1806,2579,3557,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6904,-0.62,-146.0,834.5,-10.4,651,6908,0.00,2.12,0.00,0.000,4,0.000,0.029,1806,1174,3555,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6928,-0.62,-146.0,836.9,-10.5,652,6932,0.00,2.35,0.00,0.000,6,0.000,0.038,1797,2649,3555,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7248,-0.61,-146.0,870.9,-10.5,668,7249,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2649,3553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7546,-0.60,-146.0,903.3,-10.5,683,7552,0.00,2.28,0.00,0.000,4,0.000,0.030,1797,1175,3551,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7599,-0.60,-146.0,907.4,-10.3,685,7605,0.00,2.35,0.00,0.000,6,0.000,0.039,1786,2644,3551,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7908,-0.59,-146.0,943.3,-11.2,701,7910,0.12,0.00,0.00,0.000,6,0.143,0.000,1823,2644,3549,0,0,0,0,0,0,26.22,28.83,28.83
$GC,8207,-0.61,-146.0,965.1,-7.1,716,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2644,3548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8508,-0.63,-146.0,987.3,-7.6,731,8513,0.00,2.30,0.00,0.000,4,0.000,0.030,1823,1169,3547,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,8545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8546,begin apogee
$GC,8553,-0.20,0.0,990.4,-7.6,733,8691,0.35,0.08,129.70,1.196,6,0.094,0.097,1941,2463,2975,0,0,0,0,0,0,25.79,24.76,23.27
$STATE,8692,end apogee,CONTROL_FINISHED_OK
$STATE,8692,begin climb
$GC,8694,0.58,146.0,996.8,0.0,740,8849,0.68,2.30,140.93,1.193,4,0.047,0.044,2203,3806,2370,0,0,0,0,0,0,25.25,25.02,23.34
$GC,8885,0.48,146.0,988.7,11.4,749,8892,0.17,2.10,0.00,0.000,6,0.187,0.027,2170,2454,2362,0,0,0,0,0,0,25.17,25.60,28.83
$GC,9193,0.43,146.0,948.6,12.0,765,9199,0.00,2.20,0.00,0.000,4,0.000,0.046,2171,3814,2355,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9336,0.35,146.0,929.0,14.3,772,9340,0.20,2.05,0.00,0.000,6,0.164,0.028,2128,2460,2353,0,0,0,0,0,0,25.53,26.09,28.83
$GC,9650,0.34,146.0,898.9,9.5,788,9655,0.00,2.15,0.00,0.000,4,0.000,0.045,2127,3809,2352,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9671,0.31,146.0,896.9,9.6,789,9674,0.00,2.05,0.00,0.000,6,0.000,0.028,2137,2463,2351,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9990,0.29,146.0,865.6,9.3,805,9995,0.12,2.12,0.00,0.000,4,0.169,0.033,2111,1051,2349,0,0,0,0,0,0,26.00,26.00,28.83
$GC,10041,0.30,151.9,862.7,8.4,807,10049,0.00,2.30,0.00,0.000,6,0.000,0.038,2111,2525,2349,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10348,0.35,197.6,841.2,6.9,823,10408,0.00,2.15,49.12,1.077,4,0.000,0.045,2111,3818,2161,0,0,0,0,0,0,28.83,25.45,23.76
$GC,10472,0.35,197.6,830.8,9.0,829,10478,0.00,2.08,0.00,0.000,6,0.000,0.028,2122,2468,2151,0,0,0,0,0,0,28.83,25.81,28.83
$GC,10792,0.36,197.6,801.2,9.4,845,10793,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2467,2147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11091,0.37,206.0,775.0,8.3,860,11097,0.00,2.15,0.00,0.000,4,0.000,0.034,2133,1057,2146,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11111,0.40,217.0,773.4,8.2,861,11134,0.00,2.33,18.48,1.021,6,0.000,0.038,2132,2527,2092,0,0,0,0,0,0,28.83,25.95,24.04
$GC,11449,0.40,217.0,739.7,10.9,878,11450,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2527,2073,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11747,0.40,217.0,707.2,10.4,893,11748,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2527,2072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12049,0.44,249.4,682.3,7.4,908,12088,0.00,2.15,31.80,0.974,4,0.000,0.044,2133,3812,1952,0,0,0,0,0,0,28.83,25.69,24.03
$GC,12114,0.47,270.0,677.2,7.9,911,12142,0.00,2.08,21.12,0.955,6,0.000,0.027,2143,2460,1872,0,0,0,0,0,0,28.83,25.83,23.94
$GC,12452,0.49,270.0,647.1,9.0,928,12458,0.00,2.12,0.00,0.000,4,0.000,0.035,2154,1063,1855,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12500,0.51,270.0,643.5,9.0,930,12504,0.00,2.30,0.00,0.000,6,0.000,0.037,2154,2526,1853,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12807,0.52,270.0,612.5,9.2,945,12808,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2526,1853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13107,0.53,270.0,583.6,9.5,968,13116,0.00,2.25,0.00,0.000,4,0.000,0.034,2165,1065,1852,0,0,0,0,0,0,28.83,25.97,28.83
$GC,13129,0.54,270.0,581.4,9.4,970,13138,0.00,2.28,0.00,0.000,6,0.000,0.037,2165,2524,1851,0,0,0,0,0,0,28.83,25.94,28.83
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$GC,15537,0.51,270.0,316.3,10.5,1209,15546,0.00,2.03,0.00,0.000,6,0.000,0.025,2179,2454,1851,0,0,0,0,0,0,28.83,26.14,28.83
$GC,15848,0.55,288.3,287.8,8.0,1240,15867,0.00,0.00,16.23,0.695,6,0.000,0.000,2179,2454,1801,0,0,0,0,0,0,28.83,28.83,24.20
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$STATE,18732,end climb,SURFACE_DEPTH_REACHED
$STATE,18732,begin surface coast
$FINISH,0.4,1.023761
$STATE,18759,end surface coast,CONTROL_FINISHED_OK
$STATE,18759,begin surface
$SM_CCo,18775,49.80,0.119,0,0,1243,425.10
$SM_GC,1.27,5.45,0.35,49.80,0.041,0.037,0.119,136,2682,1243,-5.79,-0.14,425.10,0,0,0,0,0,0,25.99,26.44,25.47
$IRIDIUM_FIX,2253.38,12323.22,080212,181809
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.21
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.3,97.271
$10V_AH,9.9,58.331
$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,15.150,161.175,445.425,49.800,0.000,31.311,44.519,229.649,0.000,0.000,24.566,4277.191,10554.641,675.401,3340.303,414.295,0.000,2235.255,0.000,2843.197,0.000,0.543,0.000
$DEVICE_MAMPS,234.090,97.155,1196.460,119.340,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1160.440,2172.349,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330444
$DATA_FILE_SIZE,113529,1708
$CAP_FILE_SIZE,198980,0
$CFSIZE,260165632,178413568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.232, 99.0,1
$GPS,090212,044300,2256.323,12403.580,40,1.3,40,-3.2