version: 66.13
glider: 171
mission: 11
dive: 177
start: 9 2 119 3 14 31
data:
$ID,171
$MISSION,11
$DIVE,177
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,2
$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,390
$T_MISSION,440
$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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53930
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00177828
$HD_B,0.019109501
$HD_C,5.7000002e-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,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,150
$PITCH_MAX,3600
$C_PITCH,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,350
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2440
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,2
$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_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,3
$MAXI_10V,1.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-152.46104
$PRESSURE_SLOPE,0.00010631012
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.63
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,5
$LOGGERDEVICE1,53
$LOGGERDEVICE2,70
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044193882
$SEABIRD_T_H,0.00064798427
$SEABIRD_T_I,2.6719992e-05
$SEABIRD_T_J,3.3115991e-06
$SEABIRD_C_G,-9.8059483
$SEABIRD_C_H,1.1280893
$SEABIRD_C_I,-0.003824637
$SEABIRD_C_J,0.00035372932
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,200.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,1.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,020919,030509,1330.4865,8700.2090,25,1.3,25,-0.9,0.7,103.8,6,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-66.0
$GPS2,020919,031339,1330.4435,8700.2559,2,0.6,2,-0.9,1.2,81.8,12,9.2
$SPEED_LIMITS,0.147,0.160
$TGT_NAME,S
$TGT_LATLONG,1300.000,8700.000
$TGT_RADIUS,8000.000
$MHEAD_RNG_PITCHd_Wd,184.4,56383,-17.1,-8.462,-27.86,2074
$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
$WARN,HPMAR logging already started
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.62,-116.8,67,2492,969,879,0.0,0.0,0,102,0.00,0.00,-77.88,0.005,16386,0.000,0.000,61,2493,2773,2767,2779,0,0,0,0,0,0,14.85,28.83,14.88
$GC,105,-0.62,-116.8,61,2492,2768,2779,4.7,-11.9,16,135,9.20,2.40,-12.27,0.012,18692,0.364,0.102,2109,3898,3447,3452,3442,0,0,0,0,0,0,14.33,13.85,14.54
$GC,224,-0.62,-116.8,2109,3898,3452,3442,46.8,-31.1,39,231,0.00,2.28,0.00,0.000,1030,0.000,0.039,2108,2500,3447,3452,3442,0,0,0,0,0,0,14.70,14.67,14.72
$GC,418,-0.62,-116.8,2109,2498,3453,3441,100.8,-19.4,59,424,0.00,2.38,0.00,0.000,260,0.000,0.082,2099,3899,3446,3452,3441,0,0,0,0,0,0,14.92,14.68,14.95
$GC,431,-0.62,-116.8,2099,3899,3451,3442,103.4,-20.1,61,439,0.12,2.20,0.00,0.000,3078,0.239,0.034,2126,2487,3447,3452,3442,0,0,0,0,0,0,14.57,14.76,14.75
$GC,627,-0.62,-116.8,2126,2486,3452,3441,135.6,-14.6,81,634,0.00,2.22,0.00,0.000,516,0.000,0.048,2127,1108,3447,3452,3442,0,0,0,0,0,0,14.97,14.74,15.00
$GC,681,-0.62,-116.8,2127,1108,3452,3442,142.7,-12.6,91,687,0.00,2.33,0.00,0.000,1030,0.000,0.058,2118,2506,3447,3453,3441,0,0,0,0,0,0,14.83,14.73,14.85
$GC,875,-0.62,-116.8,2118,2507,3452,3442,167.5,-13.1,111,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2506,3446,3450,3442,0,0,0,0,0,0,14.99,15.02,15.02
$GC,1065,-0.62,-116.8,2118,2506,3452,3441,191.9,-12.9,130,1071,0.00,2.28,0.00,0.000,516,0.000,0.047,2118,1104,3447,3453,3442,0,0,0,0,0,0,15.00,14.74,15.03
$GC,1092,-0.62,-116.8,2118,1105,3452,3441,195.5,-12.8,135,1098,0.00,2.38,0.00,0.000,1030,0.000,0.059,2107,2499,3447,3452,3442,0,0,0,0,0,0,14.76,14.70,14.78
$GC,1280,-0.62,-116.8,2107,2499,3451,3441,218.5,-12.5,154,1285,0.00,2.35,0.00,0.000,260,0.000,0.086,2097,3893,3446,3451,3441,0,0,0,0,0,0,15.02,14.74,15.04
$GC,1375,-0.62,-116.8,2096,3893,3451,3441,231.2,-12.9,172,1382,0.12,2.17,0.00,0.000,3078,0.217,0.033,2126,2497,3445,3450,3441,0,0,0,0,0,0,14.65,14.82,14.81
$GC,1580,-0.62,-116.8,2126,2495,3449,3442,255.2,-11.8,191,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2496,3444,3448,3441,0,0,0,0,0,0,15.03,15.07,15.06
$GC,1880,-0.62,-116.8,2126,2496,3445,3440,290.1,-11.3,206,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2496,3444,3449,3440,0,0,0,0,0,0,15.05,15.09,15.08
$GC,2180,-0.62,-116.8,2126,2496,3444,3436,321.8,-10.1,221,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2496,3440,3444,3436,0,0,0,0,0,0,15.07,15.09,15.09
$GC,2479,-0.62,-116.8,2126,2496,3442,3433,349.3,-8.8,236,2485,0.00,2.22,0.00,0.000,516,0.000,0.049,2127,1112,3437,3442,3433,0,0,0,0,0,0,15.07,14.84,15.09
$GC,2517,-0.62,-116.8,2126,1112,3441,3433,352.6,-8.5,243,2523,0.00,2.38,0.00,0.000,1030,0.000,0.062,2118,2497,3437,3441,3433,0,0,0,0,0,0,14.80,14.74,14.83
$GC,2823,-0.62,-116.8,2117,2497,3439,3429,381.4,-9.8,259,2828,0.00,2.38,0.00,0.000,260,0.000,0.090,2108,3897,3434,3439,3429,0,0,0,0,0,0,15.07,14.77,15.09
$GC,2861,-0.62,-116.8,2107,3897,3438,3429,385.3,-10.4,266,2868,0.00,2.25,0.00,0.000,1030,0.000,0.034,2107,2501,3433,3438,3429,0,0,0,0,0,0,14.83,14.80,14.85
$GC,3167,-0.62,-116.8,2107,2499,3437,3426,419.3,-11.3,282,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2500,3431,3436,3426,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3466,-0.62,-116.8,2107,2500,3434,3423,453.1,-11.3,297,3473,0.00,2.40,0.00,0.000,260,0.000,0.090,2096,3897,3428,3434,3423,0,0,0,0,0,0,15.07,14.76,15.09
$GC,3504,-0.62,-116.8,2096,3897,3434,3423,457.7,-11.8,304,3511,0.08,2.28,0.00,0.000,3078,0.185,0.037,2121,2491,3428,3434,3423,0,0,0,0,0,0,14.62,14.79,14.73
$GC,3811,-0.62,-116.8,2121,2489,3432,3421,490.4,-10.9,320,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2489,3427,3433,3421,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4110,-0.62,-116.8,2121,2489,3431,3420,522.0,-10.3,335,4116,0.00,2.25,0.00,0.000,516,0.000,0.050,2122,1104,3425,3431,3420,0,0,0,0,0,0,15.07,14.81,15.09
$GC,4154,-0.62,-116.8,2121,1104,3430,3420,526.4,-9.9,343,4160,0.00,2.35,0.00,0.000,1030,0.000,0.062,2113,2499,3425,3430,3420,0,0,0,0,0,0,14.89,14.80,14.92
$GC,4478,-0.62,-116.8,2112,2499,3429,3418,559.3,-10.1,362,4483,0.00,2.38,0.00,0.000,260,0.000,0.091,2102,3890,3423,3429,3418,0,0,0,0,0,0,15.06,14.74,15.09
$GC,4535,-0.62,-116.8,2101,3890,3428,3418,565.6,-10.7,373,4544,0.00,2.25,0.00,0.000,1030,0.000,0.037,2102,2506,3423,3429,3418,0,0,0,0,0,0,14.80,14.78,14.83
$GC,4842,-0.62,-116.8,2101,2505,3427,3416,598.5,-10.9,389,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2505,3421,3427,3416,0,0,0,0,0,0,15.06,15.09,15.09
$GC,5143,-0.62,-116.8,2101,2505,3426,3413,632.0,-11.3,404,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2505,3420,3426,3414,0,0,0,0,0,0,15.06,15.09,15.08
$GC,5442,-0.62,-116.8,2102,2505,3424,3413,665.8,-11.3,419,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2505,3418,3424,3413,0,0,0,0,0,0,15.06,15.09,15.08
$GC,5743,-0.62,-116.8,2101,2505,3422,3412,698.6,-10.6,434,5748,0.00,2.30,0.00,0.000,516,0.000,0.051,2102,1099,3417,3422,3412,0,0,0,0,0,0,15.06,14.79,15.08
$GC,5767,-0.62,-116.8,2101,1099,3422,3412,701.2,-11.0,438,5776,0.15,2.38,0.00,0.000,3078,0.213,0.064,2127,2497,3416,3422,3411,0,0,0,0,0,0,14.64,14.77,14.82
$GC,6089,-0.62,-116.8,2127,2498,3421,3410,729.0,-8.4,457,6096,0.00,2.40,0.00,0.000,260,0.000,0.092,2119,3894,3415,3421,3410,0,0,0,0,0,0,15.05,14.71,15.08
$GC,6122,-0.62,-116.8,2118,3894,3421,3410,732.0,-8.7,463,6128,0.00,2.22,0.00,0.000,1030,0.000,0.037,2119,2498,3415,3421,3410,0,0,0,0,0,0,14.90,14.83,14.91
$GC,6436,-0.62,-116.8,2118,2497,3420,3409,758.7,-8.4,480,6442,0.00,2.28,0.00,0.000,516,0.000,0.050,2119,1106,3414,3420,3408,0,0,0,0,0,0,15.04,14.78,15.07
$GC,6464,-0.62,-116.8,2118,1105,3420,3408,761.1,-8.6,485,6471,0.00,2.38,0.00,0.000,1030,0.000,0.063,2108,2504,3413,3419,3408,0,0,0,0,0,0,14.86,14.75,14.89
$GC,6784,-0.62,-116.8,2108,2504,3418,3408,790.6,-9.6,503,6790,0.00,2.40,0.00,0.000,260,0.000,0.093,2098,3899,3413,3418,3408,0,0,0,0,0,0,15.04,14.70,15.07
$GC,6831,-0.62,-116.8,2097,3901,3418,3408,795.5,-10.3,512,6838,0.12,2.25,0.00,0.000,3078,0.210,0.039,2127,2497,3413,3418,3408,0,0,0,0,0,0,14.63,14.83,14.81
$GC,7151,-0.62,-116.8,2127,2496,3417,3408,825.2,-9.6,530,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2496,3412,3417,3407,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7451,-0.62,-116.8,2127,2496,3416,3406,855.0,-10.1,545,7457,0.00,2.28,0.00,0.000,516,0.000,0.051,2128,1108,3411,3416,3406,0,0,0,0,0,0,15.04,14.76,15.07
$GC,7479,-0.62,-116.8,2127,1108,3416,3406,858.1,-11.0,550,7485,0.00,2.38,0.00,0.000,1030,0.000,0.063,2118,2506,3411,3416,3406,0,0,0,0,0,0,14.85,14.74,14.88
$GC,7798,-0.62,-116.8,2118,2506,3415,3405,891.9,-10.6,568,7803,0.00,2.40,0.00,0.000,260,0.000,0.093,2108,3895,3410,3415,3406,0,0,0,0,0,0,15.04,14.69,15.06
$GC,7821,-0.62,-116.8,2108,3896,3415,3405,894.5,-10.8,572,7827,0.00,2.22,0.00,0.000,1030,0.000,0.038,2108,2502,3410,3415,3405,0,0,0,0,0,0,14.88,14.81,14.90
$GC,8145,-0.62,-116.8,2108,2501,3413,3404,929.7,-10.8,591,8151,0.00,2.30,0.00,0.000,516,0.000,0.052,2108,1098,3408,3414,3403,0,0,0,0,0,0,15.03,14.76,15.06
$GC,8172,-0.62,-116.8,2108,1098,3413,3403,932.9,-11.2,596,8182,0.12,2.40,0.00,0.000,3078,0.220,0.063,2127,2504,3408,3413,3403,0,0,0,0,0,0,14.59,14.73,14.78
$GC,8491,-0.62,-116.8,2127,2504,3413,3402,962.5,-9.2,614,8498,0.00,2.40,0.00,0.000,260,0.000,0.094,2118,3891,3407,3413,3402,0,0,0,0,0,0,15.03,14.67,15.06
$GC,8530,-0.62,-116.8,2118,3890,3413,3403,966.4,-9.7,621,8538,0.00,2.30,0.00,0.000,1030,0.000,0.039,2118,2493,3407,3413,3402,0,0,0,0,0,0,14.73,14.70,14.76
$STATE,8793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8793,begin apogee
$GC,8799,-0.15,0.0,2120,2493,3412,3401,991.4,-9.5,635,8909,0.55,0.00,104.85,2.045,10246,0.171,0.000,2279,2493,2967,2996,2939,0,0,0,0,0,0,14.58,14.16,13.19
$STATE,8912,end apogee,CONTROL_FINISHED_OK
$STATE,8912,begin climb
$GC,8914,0.62,116.8,2279,2493,2996,2939,994.5,0.0,640,9046,0.77,2.53,113.05,2.031,10500,0.098,0.090,2533,3839,2490,2523,2458,0,0,0,0,0,0,14.22,14.02,13.11
$GC,9062,0.64,116.8,2533,3839,2519,2456,991.2,7.6,673,9069,0.00,2.35,0.00,0.000,1094,0.000,0.037,2546,2442,2487,2518,2456,0,0,0,0,0,0,14.26,14.21,14.27
$GC,9383,0.64,116.8,2547,2442,2512,2452,957.4,11.0,691,9389,0.00,2.35,0.00,0.000,516,0.000,0.053,2556,1043,2482,2513,2452,0,0,0,0,0,0,14.79,14.58,14.82
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$STATE,20143,end climb,SURFACE_DEPTH_REACHED
$STATE,20143,begin surface coast
$STATE,20173,end surface coast,CONTROL_FINISHED_OK
$STATE,20174,begin surface
$SM_CCo,20199,100.50,0.604,1,0,928,500.17
$SM_GC,1.18,7.03,0.10,100.50,0.037,0.149,0.604,125,2542,928,-6.76,-0.90,500.17,0,0,0,0,1,0,14.71,14.66,14.02
$IRIDIUM_FIX,1330.75,8702.50,010919,211942
$TT8_MAMPS,0.019474,0.893557
$HUMID,42.04
$INTERNAL_PRESSURE,9.51706
$TCM_TEMP,25.40
$XPDR_PINGS,2
$SC_FREEKB,3830816
$PM_FREEKB_00,52703936
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_ACTIVECARD,0
$24V_AH,13.11,68.822
$10V_AH,13.10,0.000
$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,19.175,196.675,462.925,100.500,0.000,0.000,0.000,278.100,0.500,0.000,15.859,1546.021,13120.095,608.740,4989.854,556.096,0.000,2520.748,0.000,4370.554,0.000,0.542,0.000
$DEVICE_MAMPS,364.140,149.175,2044.845,604.350,0.000,0.000,0.000,186.660,420.000,0.000,28.460,12.260,2.190,12.260,36.230,42.970,0.000,16.200,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,3968.021,0.000,0.000,0.000,0.000,0.000,20181.000,0.000,20192.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,2.480,0.000,3.445,0.000
$MEM,251916
$DATA_FILE_SIZE,73320,1660
$CAP_FILE_SIZE,290318,0
$CFSIZE,260034560,175210496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.059,147.56,1
$GPS,020919,085430,1328.207,8700.460,32,0.7,32,-0.9,0.8,210.4,9,5.6