version: 66.12
glider: 171
mission: 9
dive: 322
start: 1 27 116 5 24 40
data:
$ID,171
$MISSION,9
$DIVE,322
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1015
$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,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-6
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52091
$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,587.06018
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,175
$PITCH_MAX,3952
$C_PITCH,1997
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2305
$C_ROLL_CLIMB,1960
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3820
$C_VBD,2899
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$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,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-75.620842
$PRESSURE_SLOPE,0.0001165165
$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,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,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,0.004389904
$SEABIRD_T_H,0.00063959236
$SEABIRD_T_I,2.6546981e-05
$SEABIRD_T_J,3.01253e-06
$SEABIRD_C_G,-10.191363
$SEABIRD_C_H,1.1409097
$SEABIRD_C_I,-0.0015713738
$SEABIRD_C_J,0.00020770991
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,270116,051634,536.9557,8108.0679,65,1.4,71,-2.7,0.0,255.0,6,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.18
$_SM_ANGLEo,-52.7
$GPS2,270116,052428,536.8652,8107.9648,14,1.7,54,-2.7,0.2,256.2,5,10.6
$SPEED_LIMITS,0.136,0.258
$TGT_NAME,SOUTH4
$TGT_LATLONG,537.000,8030.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,273.6,69973,-12.3,-7.857,-16.95,3372
$D_GRID,3195
$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,18,-0.54,-175.2,170,2351,539,452,0.0,0.0,0,153,0.00,0.00,-133.52,0.000,16386,0.000,0.000,169,2351,2743,2784,2702,0,0,0,0,0,0,26.33,28.83,26.39
$GC,157,-0.54,-175.2,171,2351,2785,2702,4.1,-7.3,11,190,6.20,2.33,-18.90,0.000,18692,0.194,1.181,1807,3641,3617,3542,3693,0,0,0,0,0,0,25.12,23.87,25.50
$GC,419,-0.53,-175.2,1806,3641,3543,3694,87.2,-20.7,55,424,0.00,2.05,0.00,0.000,1030,0.000,0.032,1807,2299,3618,3542,3694,0,0,0,0,0,0,26.20,26.13,26.23
$GC,802,-0.53,-175.2,1807,2297,3543,3698,148.3,-13.2,74,808,0.00,2.17,0.00,0.000,516,0.000,0.040,1807,906,3619,3542,3697,0,0,0,0,0,0,26.66,26.17,26.71
$GC,837,-0.52,-175.2,1806,907,3541,3697,152.9,-12.5,80,844,0.08,2.20,0.00,0.000,3078,0.122,0.042,1825,2278,3620,3542,3698,0,0,0,0,0,0,25.94,26.12,26.01
$GC,1211,-0.52,-175.2,1825,2278,3543,3698,195.1,-10.6,97,1217,0.00,2.25,0.00,0.000,260,0.000,0.057,1815,3677,3620,3542,3698,0,0,0,0,0,0,26.73,26.09,26.79
$GC,1384,-0.52,-175.2,1815,3677,3543,3698,213.8,-10.8,126,1391,0.00,2.12,0.00,0.000,1030,0.000,0.032,1815,2304,3620,3543,3698,0,0,0,0,0,0,26.39,26.36,26.41
$GC,1762,-0.52,-175.2,1814,2302,3542,3697,250.1,-9.0,144,1768,0.00,2.28,0.00,0.000,260,0.000,0.057,1805,3673,3619,3542,3696,0,0,0,0,0,0,26.78,26.11,26.84
$GC,1798,-0.52,-175.2,1805,3673,3543,3695,253.4,-9.3,150,1804,0.00,2.12,0.00,0.000,1030,0.000,0.031,1805,2294,3618,3542,3695,0,0,0,0,0,0,26.41,26.39,26.44
$GC,2196,-0.51,-175.2,1805,2294,3543,3689,291.6,-10.0,166,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2294,3615,3542,3688,0,0,0,0,0,0,26.80,26.86,26.86
$GC,2554,-0.51,-175.2,1805,2293,3542,3683,325.8,-9.6,176,2561,0.00,2.30,0.00,0.000,260,0.000,0.058,1795,3672,3612,3542,3682,0,0,0,0,0,0,26.81,26.10,26.86
$GC,2584,-0.51,-175.2,1795,3672,3542,3682,328.9,-10.3,181,2594,0.08,2.10,0.00,0.000,3078,0.101,0.031,1827,2304,3612,3542,3682,0,0,0,0,0,0,26.20,26.41,26.24
$GC,2952,-0.51,-175.2,1827,2304,3542,3677,360.9,-8.6,192,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2303,3609,3542,3676,0,0,0,0,0,0,26.82,26.88,26.87
$GC,3311,-0.51,-175.2,1827,2304,3542,3670,390.3,-8.2,202,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2304,3605,3540,3670,0,0,0,0,0,0,26.82,26.89,26.88
$GC,3670,-0.51,-175.2,1827,2304,3542,3666,421.3,-8.4,212,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2304,3603,3542,3665,0,0,0,0,0,0,26.82,26.89,26.88
$GC,4031,-0.51,-175.2,1827,2303,3541,3661,448.8,-7.3,222,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2304,3600,3541,3660,0,0,0,0,0,0,26.82,26.89,26.89
$GC,4391,-0.51,-175.2,1827,2304,3541,3656,472.1,-6.1,232,4397,0.00,2.20,0.00,0.000,516,0.000,0.037,1828,902,3598,3540,3656,0,0,0,0,0,0,26.82,26.26,26.88
$GC,4438,-0.51,-175.2,1827,902,3541,3656,475.3,-7.1,240,4445,0.00,2.22,0.00,0.000,1030,0.000,0.043,1818,2302,3597,3540,3655,0,0,0,0,0,0,26.22,26.17,26.27
$GC,4825,-0.51,-175.2,1818,2302,3540,3651,502.4,-7.2,254,4830,0.00,2.17,0.00,0.000,516,0.000,0.041,1818,902,3595,3540,3651,0,0,0,0,0,0,26.82,26.20,26.88
$GC,4859,-0.51,-175.2,1818,902,3540,3651,505.1,-8.1,260,4865,0.00,2.25,0.00,0.000,1030,0.000,0.044,1808,2304,3595,3539,3651,0,0,0,0,0,0,26.20,26.15,26.25
$GC,5257,-0.51,-175.2,1808,2304,3540,3648,537.6,-8.5,276,5262,0.00,2.20,0.00,0.000,516,0.000,0.041,1808,902,3593,3540,3647,0,0,0,0,0,0,26.82,26.18,26.88
$GC,5285,-0.51,-175.2,1808,902,3539,3647,540.1,-8.8,281,5295,0.08,2.25,0.00,0.000,3078,0.112,0.045,1828,2306,3593,3539,3647,0,0,0,0,0,0,25.96,26.13,26.03
$GC,5653,-0.51,-175.2,1828,2306,3540,3644,566.2,-7.1,292,5658,0.00,2.17,0.00,0.000,516,0.000,0.042,1829,912,3592,3541,3643,0,0,0,0,0,0,26.82,26.16,26.88
$GC,5712,-0.51,-175.2,1829,913,3539,3643,570.7,-7.4,302,5718,0.00,2.20,0.00,0.000,1030,0.000,0.045,1820,2311,3591,3539,3643,0,0,0,0,0,0,26.22,26.12,26.27
$GC,6084,-0.51,-175.2,1820,2313,3539,3640,600.7,-8.0,314,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2311,3589,3539,3640,0,0,0,0,0,0,26.82,26.89,26.88
$GC,6444,-0.51,-175.2,1820,2311,3539,3638,632.0,-9.1,324,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2311,3588,3539,3637,0,0,0,0,0,0,26.82,26.89,26.88
$GC,6804,-0.51,-175.2,1820,2311,3539,3635,666.1,-9.3,334,6810,0.00,2.22,0.00,0.000,516,0.000,0.041,1820,914,3587,3539,3635,0,0,0,0,0,0,26.82,26.14,26.88
$GC,6864,-0.51,-175.2,1820,914,3538,3635,671.8,-10.0,344,6870,0.00,2.22,0.00,0.000,1030,0.000,0.046,1810,2302,3586,3538,3635,0,0,0,0,0,0,26.15,26.10,26.20
$GC,7236,-0.51,-175.2,1810,2302,3538,3632,705.4,-8.6,356,7242,0.00,2.20,0.00,0.000,516,0.000,0.041,1810,916,3585,3538,3632,0,0,0,0,0,0,26.82,26.12,26.88
$GC,7277,-0.51,-175.2,1810,916,3538,3632,709.0,-8.6,363,7284,0.00,2.22,0.00,0.000,1030,0.000,0.045,1800,2306,3585,3538,3632,0,0,0,0,0,0,26.15,26.10,26.20
$GC,7670,-0.51,-175.2,1800,2306,3538,3630,743.2,-8.9,378,7676,0.10,2.17,0.00,0.000,2564,0.147,0.041,1830,915,3582,3535,3630,0,0,0,0,0,0,26.51,26.09,26.53
$GC,7705,-0.51,-175.2,1829,915,3537,3630,746.2,-8.3,384,7711,0.00,2.22,0.00,0.000,1030,0.000,0.046,1821,2298,3583,3537,3630,0,0,0,0,0,0,26.13,26.08,26.17
$GC,8103,-0.52,-175.2,1821,2298,3537,3628,777.3,-7.8,400,8104,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2298,3581,3536,3627,0,0,0,0,0,0,26.82,26.89,26.88
$GC,8461,-0.52,-175.2,1821,2298,3536,3626,806.0,-8.3,410,8467,0.00,2.20,0.00,0.000,516,0.000,0.038,1821,908,3581,3537,3626,0,0,0,0,0,0,26.82,26.13,26.87
$GC,8515,-0.52,-175.2,1821,909,3535,3626,810.6,-8.9,419,8521,0.00,2.22,0.00,0.000,1030,0.000,0.045,1811,2319,3580,3535,3626,0,0,0,0,0,0,26.17,26.06,26.22
$GC,8894,-0.52,-175.2,1810,2319,3535,3626,842.5,-8.3,432,8899,0.00,2.20,0.00,0.000,516,0.000,0.038,1811,902,3580,3535,3625,0,0,0,0,0,0,26.82,26.11,26.88
$GC,8953,-0.52,-175.2,1811,902,3534,3626,847.5,-8.1,442,8959,0.00,2.25,0.00,0.000,1030,0.000,0.045,1800,2304,3579,3534,3625,0,0,0,0,0,0,26.10,26.05,26.15
$GC,9326,-0.52,-175.2,1800,2304,3534,3625,876.0,-7.4,454,9332,0.00,2.17,0.00,0.000,516,0.000,0.041,1800,914,3579,3534,3625,0,0,0,0,0,0,26.82,26.06,26.87
$GC,9391,-0.52,-175.2,1801,914,3533,3624,881.0,-7.4,465,9400,0.10,2.22,0.00,0.000,3078,0.102,0.044,1829,2297,3579,3533,3625,0,0,0,0,0,0,25.86,26.05,25.92
$GC,9759,-0.52,-175.2,1829,2297,3533,3624,901.9,-5.6,476,9765,0.00,2.15,0.00,0.000,516,0.000,0.038,1829,911,3577,3532,3623,0,0,0,0,0,0,26.82,26.08,26.87
$GC,9800,-0.52,-175.2,1829,911,3532,3623,904.4,-5.6,483,9806,0.00,2.22,0.00,0.000,1030,0.000,0.044,1821,2299,3577,3532,3623,0,0,0,0,0,0,26.08,26.03,26.13
$GC,10192,-0.52,-175.2,1821,2299,3532,3623,927.9,-6.0,498,10197,0.00,2.17,0.00,0.000,516,0.000,0.040,1821,910,3578,3532,3624,0,0,0,0,0,0,26.82,26.06,26.87
$GC,10227,-0.53,-175.2,1820,910,3532,3622,930.2,-6.8,504,10233,0.00,2.25,0.00,0.000,1030,0.000,0.045,1811,2305,3577,3531,3623,0,0,0,0,0,0,26.06,26.01,26.10
$GC,10625,-0.53,-175.2,1811,2305,3530,3622,955.2,-6.4,520,10630,0.00,2.20,0.00,0.000,516,0.000,0.042,1811,907,3575,3530,3621,0,0,0,0,0,0,26.82,26.01,26.87
$GC,10678,-0.53,-175.2,1811,907,3531,3621,958.9,-7.0,529,10684,0.00,2.25,0.00,0.000,1030,0.000,0.044,1801,2304,3575,3530,3621,0,0,0,0,0,0,26.06,26.01,26.10
$GC,11058,-0.53,-175.2,1801,2304,3530,3620,986.4,-7.5,542,11063,0.00,2.17,0.00,0.000,516,0.000,0.042,1801,915,3575,3530,3620,0,0,0,0,0,0,26.82,25.99,26.87
$STATE,11102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11102,begin apogee
$GC,11109,-0.11,0.0,1794,1972,3530,3620,990.1,-7.5,550,11259,0.50,0.00,147.18,1.007,10246,0.093,0.000,1963,1972,2898,2930,2867,0,0,0,0,0,0,25.83,24.56,23.41
$STATE,11261,end apogee,CONTROL_FINISHED_OK
$STATE,11261,begin climb
$GC,11263,0.54,175.2,1963,1972,2927,2864,994.7,0.0,554,11424,0.57,0.00,153.95,0.992,10758,0.065,0.000,2175,1971,2180,2253,2108,0,0,0,0,0,0,24.99,24.37,23.32
$GC,11790,0.56,186.1,2174,1972,2240,2099,960.2,7.5,594,11809,0.00,2.30,11.38,0.728,8452,0.000,0.051,2175,3361,2137,2203,2072,0,0,0,0,0,0,26.31,25.48,24.42
$GC,11946,0.56,186.1,2173,3361,2196,2071,946.6,9.2,620,11953,0.00,2.20,0.00,0.000,1030,0.000,0.034,2181,1972,2133,2195,2071,0,0,0,0,0,0,26.05,26.01,26.08
$GC,12332,0.58,201.2,2181,1972,2193,2070,917.1,7.4,634,12352,0.00,0.00,18.85,0.770,8198,0.000,0.000,2181,1972,2077,2141,2014,0,0,0,0,0,0,26.53,25.49,24.51
$GC,12691,0.62,228.6,2181,1972,2130,2008,891.6,7.0,644,12722,0.00,2.38,26.25,0.887,8452,0.000,0.051,2181,3375,1963,2025,1901,0,0,0,0,0,0,26.49,25.43,24.25
$GC,12763,0.62,228.6,2181,3375,2019,1902,886.0,8.3,656,12770,0.00,2.25,0.00,0.000,1030,0.000,0.032,2181,1964,1958,2018,1899,0,0,0,0,0,0,25.89,25.86,25.91
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$GC,19099,0.65,274.1,2214,3373,1837,1704,297.2,9.0,910,19107,0.00,2.17,0.00,0.000,1030,0.000,0.029,2221,1960,1771,1839,1704,0,0,0,0,0,0,26.36,26.34,26.39
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$STATE,22551,end climb,SURFACE_DEPTH_REACHED
$STATE,22551,begin surface coast
$FINISH,0.5,1.021108
$STATE,22575,end surface coast,CONTROL_FINISHED_OK
$STATE,22575,begin surface
$SM_CCo,22590,128.43,0.291,1,0,502,587.25
$SM_GC,-0.47,5.50,0.55,128.43,0.026,0.044,0.291,168,2319,502,-5.65,-0.93,587.25,0,0,0,0,1,0,26.34,26.20,24.94
$IRIDIUM_FIX,534.81,8111.44,260116,230208
$TT8_MAMPS,0.049434,0.049434
$HUMID,50.27
$INTERNAL_PRESSURE,9.44718
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3896416
$24V_AH,23.32,49.121
$10V_AH,9.88,29.860
$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,13.975,163.925,570.200,128.425,0.000,0.000,0.000,261.200,0.000,0.000,55.506,0.000,19162.266,1176.302,2376.535,461.852,0.000,2231.937,0.000,1677.585,0.000,0.540,0.000
$DEVICE_MAMPS,193.545,1181.160,1006.740,291.465,0.000,0.000,0.000,119.340,420.000,0.000,28.460,0.000,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22602.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.418,0.000,0.000,0.000
$MEM,260788
$DATA_FILE_SIZE,39994,1135
$CAP_FILE_SIZE,198178,0
$CFSIZE,260034560,220327936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.007,356.77,1
$GPS,270116,114433,536.636,8104.669,36,1.5,41,-2.7,0.6,240.6,10,7.0