version: 66.11
glider: 170
mission: 10
dive: 342
start: 1 9 113 22 57 31
data:
$ID,170
$MISSION,10
$DIVE,342
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,20
$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,380
$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,-7
$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,51760
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-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,450
$N_FILEKB,8
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-143525.73
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2475
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,94
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2853
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$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,-48.120956
$PRESSURE_SLOPE,0.0001164274
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$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,0.0043559377
$SEABIRD_T_H,0.00062550703
$SEABIRD_T_I,2.3551509e-05
$SEABIRD_T_J,2.509174e-06
$SEABIRD_C_G,-10.138787
$SEABIRD_C_H,1.1450038
$SEABIRD_C_I,-0.0015582878
$SEABIRD_C_J,0.00020114503
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,090113,224734,2159.158,12014.137,24,0.8,24,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-74.3
$GPS2,090113,225702,2159.111,12014.162,18,0.8,19,-3.1
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$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,89.9,38947,-14.9,-8.684,-17.18
$D_GRID,943
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.51,-170.3,0.0,0.0,0,94,0.00,0.00,-69.93,0.000,2,0.000,0.000,136,2517,2011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.51,-170.3,3.1,-1.5,12,170,11.32,2.17,-55.70,0.000,4,0.236,0.044,2880,1102,3549,0,0,0,0,0,0,25.22,26.19,26.60
$GC,252,-0.49,-170.3,20.9,-17.6,39,259,0.00,2.08,0.00,0.000,6,0.000,0.039,2882,2465,3549,0,0,0,0,0,0,28.83,26.16,28.83
$GC,447,-0.47,-170.3,49.9,-12.3,60,452,0.00,1.92,0.00,0.000,4,0.000,0.048,2881,3701,3549,0,0,0,0,0,0,28.83,26.20,28.83
$GC,471,-0.45,-170.3,52.3,-10.2,62,476,0.00,1.75,0.00,0.000,6,0.000,0.024,2881,2468,3549,0,0,0,0,0,0,28.83,26.48,28.83
$GC,675,-0.44,-170.3,76.4,-10.7,72,680,0.00,1.98,0.00,0.000,4,0.000,0.027,2881,1105,3549,0,0,0,0,0,0,28.83,26.39,28.83
$GC,738,-0.44,-170.3,83.7,-11.0,75,744,0.00,2.08,0.00,0.000,6,0.000,0.038,2881,2482,3549,0,0,0,0,0,0,28.83,26.28,28.83
$GC,943,-0.45,-170.3,105.1,-9.4,85,949,0.00,1.88,0.00,0.000,4,0.000,0.050,2880,3690,3549,0,0,0,0,0,0,28.83,26.26,28.83
$GC,981,-0.47,-170.3,107.6,-9.6,86,988,0.00,1.73,0.00,0.000,6,0.000,0.024,2880,2471,3550,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1169,-0.48,-170.3,124.6,-8.0,96,1174,0.00,1.95,0.00,0.000,4,0.000,0.026,2880,1104,3549,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1247,-0.51,-170.3,129.8,-7.9,99,1254,0.00,2.08,0.00,0.000,6,0.000,0.037,2880,2477,3549,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1435,-0.56,-170.3,145.8,-7.9,109,1440,0.00,2.00,0.00,0.000,4,0.000,0.026,2880,1096,3549,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1503,-0.62,-170.3,151.6,-8.4,112,1508,0.00,2.10,0.00,0.000,6,0.000,0.037,2880,2483,3549,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1701,-0.68,-170.3,171.4,-10.0,122,1707,0.12,2.00,0.00,0.000,4,0.090,0.025,2806,1104,3549,0,0,0,0,0,0,26.54,26.44,28.83
$GC,1756,-0.71,-170.3,176.5,-10.6,124,1761,0.00,2.10,0.00,0.000,6,0.000,0.037,2806,2485,3549,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1950,-0.69,-170.3,201.6,-11.7,134,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2484,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2131,-0.67,-170.3,220.9,-10.7,143,2136,0.00,1.88,0.00,0.000,4,0.000,0.049,2806,3690,3549,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2168,-0.66,-170.3,223.5,-10.9,144,2177,0.12,1.73,0.00,0.000,6,0.146,0.024,2844,2473,3549,0,0,0,0,0,0,26.22,26.55,28.83
$GC,2357,-0.66,-170.3,242.2,-9.3,154,2362,0.00,1.95,0.00,0.000,4,0.000,0.027,2844,1103,3549,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2425,-0.68,-170.3,248.6,-9.6,157,2430,0.00,2.08,0.00,0.000,6,0.000,0.037,2844,2485,3548,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2623,-0.68,-170.3,268.8,-10.0,167,2628,0.00,2.05,0.00,0.000,4,0.000,0.028,2844,1094,3548,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2647,-0.69,-170.3,271.2,-10.0,168,2652,0.00,2.10,0.00,0.000,6,0.000,0.037,2844,2476,3548,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2972,-0.71,-170.3,301.0,-8.6,184,2977,0.00,1.88,0.00,0.000,4,0.000,0.050,2844,3693,3546,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3000,-0.73,-170.3,303.2,-8.6,185,3005,0.00,1.73,0.00,0.000,6,0.000,0.025,2844,2454,3546,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3320,-0.74,-170.3,327.9,-7.4,201,3326,0.10,1.95,0.00,0.000,4,0.103,0.024,2791,1102,3545,0,0,0,0,0,0,26.58,26.44,28.83
$GC,3438,-0.73,-170.3,339.0,-10.7,206,3446,0.00,2.10,0.00,0.000,6,0.000,0.037,2791,2484,3544,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3744,-0.72,-170.3,375.5,-11.8,222,3750,0.00,2.03,0.00,0.000,4,0.000,0.025,2791,1103,3542,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3798,-0.70,-170.3,380.6,-11.6,224,3804,0.12,2.10,0.00,0.000,6,0.159,0.038,2826,2478,3542,0,0,0,0,0,0,26.10,26.32,28.83
$GC,4112,-0.70,-170.3,413.9,-9.4,240,4117,0.00,1.90,0.00,0.000,4,0.000,0.050,2826,3695,3540,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4145,-0.71,-170.3,416.1,-9.3,241,4150,0.00,1.75,0.00,0.000,6,0.000,0.026,2826,2466,3540,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4459,-0.72,-170.3,440.9,-7.2,257,4464,0.00,1.95,0.00,0.000,4,0.000,0.025,2826,1109,3537,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4497,-0.73,-170.3,442.5,-7.0,258,4504,0.00,2.10,0.00,0.000,6,0.000,0.037,2825,2484,3537,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4804,-0.75,-170.3,465.2,-8.4,274,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2484,3535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5104,-0.76,-170.3,493.2,-9.1,289,5110,0.00,2.00,0.00,0.000,4,0.000,0.025,2826,1109,3534,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5134,-0.77,-170.3,495.5,-9.0,290,5139,0.00,2.10,0.00,0.000,6,0.000,0.037,2826,2479,3533,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5453,-0.78,-170.3,519.1,-7.2,306,5458,0.00,1.90,0.00,0.000,4,0.000,0.051,2826,3693,3531,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5503,-0.80,-170.3,522.5,-7.3,308,5509,0.00,1.73,0.00,0.000,6,0.000,0.028,2825,2484,3531,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5822,-0.81,-170.3,547.4,-7.7,324,5828,0.12,2.03,0.00,0.000,4,0.100,0.024,2762,1093,3530,0,0,0,0,0,0,26.51,26.44,28.83
$GC,5857,-0.82,-170.3,549.7,-8.1,325,5863,0.00,2.12,0.00,0.000,6,0.000,0.039,2763,2476,3530,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6172,-0.79,-170.3,584.6,-10.0,341,6178,0.12,1.90,0.00,0.000,4,0.173,0.050,2802,3693,3528,0,0,0,0,0,0,26.24,26.21,28.83
$GC,6197,-0.77,-170.3,586.9,-9.9,342,6203,0.00,1.80,0.00,0.000,6,0.000,0.028,2802,2470,3528,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6531,-0.77,-170.3,611.1,-6.7,356,6536,0.00,1.98,0.00,0.000,4,0.000,0.026,2802,1097,3525,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6585,-0.77,-170.3,613.3,-6.6,357,6590,0.00,2.12,0.00,0.000,6,0.000,0.039,2802,2476,3525,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6898,-0.77,-170.3,638.1,-9.3,368,6904,0.00,2.03,0.00,0.000,4,0.000,0.025,2802,1090,3524,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6936,-0.77,-170.3,641.7,-10.0,369,6941,0.00,2.15,0.00,0.000,6,0.000,0.040,2802,2483,3523,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7266,-0.77,-170.3,674.7,-9.9,380,7272,0.00,1.90,0.00,0.000,4,0.000,0.052,2802,3689,3522,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7300,-0.77,-170.3,678.4,-10.1,381,7306,0.00,1.77,0.00,0.000,6,0.000,0.028,2802,2473,3521,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7637,-0.77,-170.3,716.4,-11.2,392,7643,0.00,2.00,0.00,0.000,4,0.000,0.027,2802,1090,3520,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7655,-0.77,-170.3,716.4,-11.2,392,7660,0.00,2.15,0.00,0.000,6,0.000,0.040,2802,2483,3520,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7973,-0.77,-170.3,750.1,-8.8,403,7974,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2482,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8274,-0.77,-170.3,772.7,-7.5,413,8279,0.00,2.05,0.00,0.000,4,0.000,0.027,2802,1090,3517,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8307,-0.77,-170.3,775.5,-7.5,414,8313,0.00,2.17,0.00,0.000,6,0.000,0.041,2802,2485,3517,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8643,-0.77,-170.3,806.3,-10.1,425,8649,0.00,1.90,0.00,0.000,4,0.000,0.053,2802,3688,3516,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8686,-0.77,-170.3,809.2,-9.6,426,8692,0.00,1.77,0.00,0.000,6,0.000,0.029,2802,2487,3516,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9013,-0.77,-170.3,832.2,-6.9,437,9018,0.00,2.05,0.00,0.000,4,0.000,0.027,2802,1081,3515,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9032,-0.77,-170.3,832.2,-6.9,437,9037,0.00,2.15,0.00,0.000,6,0.000,0.039,2802,2474,3515,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9350,-0.77,-170.3,859.8,-7.6,448,9355,0.00,2.08,0.00,0.000,4,0.000,0.028,2802,1086,3514,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9584,-0.88,-170.3,860.1,0.0,455,9591,0.10,2.15,0.00,0.000,6,0.114,0.038,2760,2480,3513,0,0,0,0,0,0,26.15,26.22,28.83
$STATE,9596,end dive,NO_VERTICAL_VELOCITY
$STATE,9596,begin apogee
$GC,9603,-0.15,0.0,860.0,0.0,456,9754,0.62,0.00,143.00,1.400,6,0.059,0.000,3011,2113,2852,0,0,0,0,0,0,26.24,28.83,23.05
$STATE,9756,end apogee,CONTROL_FINISHED_OK
$STATE,9756,begin climb
$GC,9759,0.51,170.3,860.0,0.0,461,9933,0.55,2.33,158.38,1.352,4,0.064,0.033,3214,746,2155,0,0,0,0,0,0,24.79,23.87,22.30
$GC,10046,0.48,170.3,847.4,9.7,470,10052,0.00,2.17,0.00,0.000,6,0.000,0.035,3214,2126,2148,0,0,0,0,0,0,28.83,25.40,28.83
$GC,10363,0.45,170.3,807.0,9.0,481,10368,0.00,2.22,0.00,0.000,4,0.000,0.049,3214,3538,2144,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10477,0.41,170.3,794.9,11.7,484,10483,0.15,2.12,0.00,0.000,6,0.155,0.028,3180,2131,2144,0,0,0,0,0,0,25.97,26.32,28.83
$GC,10795,0.41,190.8,764.8,8.0,495,10817,0.00,2.12,17.40,1.263,4,0.000,0.031,3187,724,2074,0,0,0,0,0,0,28.83,25.97,24.17
$GC,10882,0.40,190.8,758.0,8.7,497,10889,0.00,2.17,0.00,0.000,6,0.000,0.034,3187,2134,2070,0,0,0,0,0,0,28.83,26.06,28.83
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$GC,18618,1.06,589.4,11.3,11.7,880,18626,0.00,2.25,0.00,0.000,4,0.000,0.042,3399,3516,459,0,0,0,0,0,0,28.83,26.05,28.83
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$STATE,18686,end climb,SURFACE_DEPTH_REACHED
$STATE,18686,begin surface coast
$FINISH,1.9,1.022616
$STATE,18708,end surface coast,CONTROL_FINISHED_OK
$STATE,18710,begin surface
$SM_CCo,18790,0.00,0.000,0,0,458,587.49
$SM_GC,2.48,8.55,0.55,0.00,0.049,0.038,0.000,139,2491,458,-9.06,-1.22,587.49,0,0,0,0,0,0,25.88,26.25,28.83
$IRIDIUM_FIX,2150.42,12009.20,090113,161647
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.85
$INTERNAL_PRESSURE,9.41992
$TCM_TEMP,23.40
$XPDR_PINGS,1
$SC_FREEKB,3888864
$24V_AH,22.3,68.867
$10V_AH,9.7,34.628
$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,22.400,215.675,673.175,0.000,0.000,0.000,0.000,333.250,0.250,0.000,19.845,3003.259,12269.804,860.811,2700.476,508.885,0.000,2535.089,0.000,2241.198,0.000,0.544,0.000
$DEVICE_MAMPS,236.385,52.785,1399.950,0.000,0.000,0.000,0.000,133.875,420.000,0.000,30.710,13.240,2.190,13.240,38.710,45.450,0.000,15.970,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18752.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.088,0.000,0.000,0.000
$MEM,324284
$DATA_FILE_SIZE,33341,896
$CAP_FILE_SIZE,240219,0
$CFSIZE,260034560,215998464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.216,253.7,1
$GPS,100113,041158,2158.899,12014.224,38,0.7,38,-3.1