version: 66.11
glider: 177
mission: 4
dive: 108
start: 4 6 113 3 25 39
data:
$ID,177
$MISSION,4
$DIVE,108
$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,310
$T_MISSION,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52151
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.001
$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,400
$N_FILEKB,4
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7804.9316
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,159
$PITCH_MAX,3950
$C_PITCH,2925
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,161
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,2375
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,95
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,2992
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-43.106712
$PRESSURE_SLOPE,0.000115925
$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,3
$ALTIM_SENSITIVITY,0
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044109048
$SEABIRD_T_H,0.00065266038
$SEABIRD_T_I,2.7513828e-05
$SEABIRD_T_J,3.0466049e-06
$SEABIRD_C_G,-9.9740562
$SEABIRD_C_H,1.1339458
$SEABIRD_C_I,-0.0018908759
$SEABIRD_C_J,0.0002126007
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,060413,031823,1855.707,12222.119,43,1.0,60,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.90
$_SM_ANGLEo,-74.0
$GPS2,060413,032512,1855.877,12221.957,9,1.2,14,-2.1
$SPEED_LIMITS,0.184,0.878
$TGT_NAME,M2A
$TGT_LATLONG,1845.000,12214.880
$TGT_RADIUS,5000.000
$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,194.6,23661,-6.3,-10.645,-6.92,3502
$D_GRID,1737
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.74,-243.3,126,2419,1441,1290,0.0,0.0,0,87,0.00,0.00,-66.72,0.000,16386,0.000,0.000,126,2419,3189,3227,3151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.74,-243.3,127,2419,3228,3153,3.9,-15.4,9,122,10.75,1.90,-11.43,0.000,18692,0.255,0.057,2673,3664,3966,4005,3928,0,0,0,0,0,0,25.83,26.10,26.38
$GC,276,-0.74,-243.3,2672,3665,4005,3931,80.5,-34.5,23,282,0.00,1.83,0.00,0.000,1030,0.000,0.021,2673,2352,3967,4005,3930,0,0,0,0,0,0,28.83,26.27,28.83
$GC,590,-0.74,-243.3,2672,2351,4003,3934,190.0,-30.9,39,597,0.00,1.95,0.00,0.000,516,0.000,0.032,2673,992,3968,4002,3934,0,0,0,0,0,0,28.83,26.35,28.83
$GC,629,-0.74,-243.3,2673,992,4003,3935,196.7,-29.3,40,638,0.10,1.90,0.00,0.000,3078,0.184,0.028,2685,2334,3969,4003,3935,0,0,0,0,0,0,26.25,26.39,28.83
$GC,935,-0.74,-243.3,2686,2334,4002,3938,265.1,-20.0,56,941,0.00,1.92,0.00,0.000,516,0.000,0.032,2686,990,3970,4003,3938,0,0,0,0,0,0,28.83,26.43,28.83
$GC,989,-0.74,-243.3,2686,990,4002,3938,274.0,-20.2,58,995,0.00,1.95,0.00,0.000,1030,0.000,0.028,2680,2371,3970,4002,3938,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1303,-0.74,-243.3,2680,2372,4002,3938,333.2,-17.3,74,1309,0.00,1.98,0.00,0.000,516,0.000,0.031,2680,994,3970,4002,3938,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1330,-0.74,-243.3,2680,994,4002,3938,337.2,-17.1,75,1336,0.00,1.95,0.00,0.000,1030,0.000,0.028,2673,2377,3970,4003,3938,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1650,-0.74,-243.3,2673,2378,4003,3936,393.5,-15.7,91,1656,0.00,1.98,0.00,0.000,516,0.000,0.032,2673,1000,3969,4003,3935,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1720,-0.74,-243.3,2673,999,4003,3935,404.2,-16.0,94,1727,0.10,1.95,0.00,0.000,3078,0.181,0.028,2690,2380,3969,4004,3935,0,0,0,0,0,0,26.41,26.53,28.83
$GC,2041,-0.74,-243.3,2690,2380,4006,3928,451.7,-14.7,110,2048,0.00,1.98,0.00,0.000,516,0.000,0.031,2691,1001,3967,4006,3928,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2075,-0.74,-243.3,2691,1001,4006,3927,455.3,-14.6,111,2080,0.00,1.95,0.00,0.000,1030,0.000,0.028,2690,2374,3966,4006,3927,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2389,-0.74,-243.3,2689,2375,4007,3919,496.4,-12.4,127,2394,0.00,1.98,0.00,0.000,516,0.000,0.031,2690,996,3963,4008,3918,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2416,-0.74,-243.3,2690,998,4007,3918,499.5,-12.5,128,2422,0.00,1.95,0.00,0.000,1030,0.000,0.029,2686,2369,3962,4007,3917,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2737,-0.74,-243.3,2686,2369,4009,3909,539.2,-12.0,144,2743,0.00,1.98,0.00,0.000,516,0.000,0.032,2687,997,3959,4009,3909,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2784,-0.74,-243.3,2686,996,4009,3909,544.6,-11.9,146,2790,0.00,1.98,0.00,0.000,1030,0.000,0.029,2681,2382,3958,4009,3908,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3104,-0.74,-243.3,2682,2382,4011,3900,583.0,-11.1,162,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2382,3954,4010,3899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3413,-0.74,-243.3,2681,2382,4011,3894,620.0,-11.8,175,3419,0.00,2.00,0.00,0.000,516,0.000,0.034,2681,996,3953,4011,3895,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3440,-0.74,-243.3,2681,996,4009,3893,620.0,-11.8,175,3448,0.00,1.98,0.00,0.000,1030,0.000,0.029,2676,2378,3952,4011,3893,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3749,-0.74,-243.3,2676,2379,4011,3886,661.4,-12.2,186,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2380,3948,4011,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4047,-0.74,-243.3,2676,2380,4010,3882,695.1,-10.9,196,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2379,3946,4010,3882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4347,-0.74,-243.3,2676,2380,4008,3878,727.0,-10.7,206,4353,0.00,1.98,0.00,0.000,260,0.000,0.046,2674,3716,3942,4008,3877,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4374,-0.74,-243.3,2673,3715,4008,3877,727.0,-10.7,206,4383,0.00,1.88,0.00,0.000,1030,0.000,0.023,2673,2346,3940,4007,3874,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4683,-0.74,-243.3,2673,2346,4007,3874,764.9,-11.9,217,4689,0.00,1.90,0.00,0.000,516,0.000,0.034,2673,1018,3940,4007,3873,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4710,-0.74,-243.3,2673,1018,4007,3873,764.9,-11.9,217,4719,0.10,1.95,0.00,0.000,3078,0.179,0.031,2691,2377,3940,4007,3873,0,0,0,0,0,0,26.45,26.58,28.83
$GC,5018,-0.74,-243.3,2691,2377,4006,3868,799.8,-11.2,228,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2377,3937,4006,3868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5317,-0.74,-243.3,2692,2377,4005,3867,832.6,-10.7,238,5324,0.00,1.95,0.00,0.000,516,0.000,0.033,2691,1023,3935,4005,3866,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5346,-0.74,-243.3,2692,1024,4005,3866,832.6,-10.7,238,5354,0.00,1.95,0.00,0.000,1030,0.000,0.031,2690,2375,3935,4005,3866,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5654,-0.74,-243.3,2690,2374,4003,3863,868.5,-10.6,249,5660,0.00,1.95,0.00,0.000,516,0.000,0.033,2690,1023,3933,4003,3863,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5683,-0.74,-243.3,2689,1023,4003,3863,868.5,-10.6,249,5691,0.00,1.92,0.00,0.000,1030,0.000,0.031,2687,2373,3932,4003,3862,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5990,-0.74,-243.3,2686,2373,4002,3859,902.9,-10.1,260,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2373,3931,4002,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6288,-0.74,-243.3,2686,2373,4001,3858,931.5,-8.8,270,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2373,3931,4005,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6588,-0.74,-243.3,2686,2374,4000,3856,961.3,-10.9,280,6595,0.00,2.00,0.00,0.000,260,0.000,0.049,2687,3714,3928,4000,3856,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6617,-0.74,-243.3,2687,3714,3999,3856,961.3,-10.9,280,6625,0.00,1.83,0.00,0.000,1030,0.000,0.024,2686,2370,3927,3999,3856,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,6891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6891,begin apogee
$GC,6896,-0.20,0.0,2686,2258,3999,3853,992.2,-10.0,290,7114,0.52,0.00,211.38,1.005,10246,0.122,0.000,2861,2256,2989,3119,2860,0,0,0,0,0,0,26.46,28.83,24.09
$STATE,7116,end apogee,CONTROL_FINISHED_OK
$STATE,7117,begin climb
$GC,7118,0.74,243.3,2861,2256,3118,2855,1004.6,0.0,296,7349,0.85,2.33,221.25,0.995,11012,0.067,0.047,3163,3643,1995,2129,1861,0,0,1,0,0,0,24.87,24.48,23.87
$GC,7374,0.77,256.7,3163,3640,2120,1855,992.8,10.3,306,7395,0.00,2.12,12.35,0.938,9222,0.000,0.027,3163,2271,1941,2074,1808,0,0,0,0,0,0,28.83,24.91,24.13
$GC,7709,0.77,256.7,3163,2271,2069,1799,955.4,10.7,317,7715,0.00,2.22,0.00,0.000,516,0.000,0.053,3168,839,1933,2068,1799,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7727,0.77,256.7,3168,839,2069,1799,955.4,10.7,317,7733,0.00,2.08,0.00,0.000,1030,0.000,0.028,3168,2239,1933,2068,1799,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8047,0.77,256.7,3168,2239,2067,1796,914.5,11.9,328,8053,0.00,2.12,0.00,0.000,260,0.000,0.046,3168,3638,1931,2066,1796,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8073,0.77,256.7,2240,3636,2000,1790,914.5,11.9,328,8082,0.00,2.08,0.00,0.000,1030,0.000,0.027,3175,2232,1930,2064,1796,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8383,0.77,256.7,3175,2231,2064,1795,871.3,13.1,339,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2231,1929,2064,1795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8681,0.77,256.7,3175,2231,2064,1794,831.9,12.9,349,8682,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2231,1929,2064,1794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8981,0.77,256.7,3175,2231,2063,1794,790.7,14.3,359,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2231,1928,2063,1794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9281,0.77,256.7,3175,2231,2062,1794,747.4,14.3,369,9287,0.00,2.10,0.00,0.000,516,0.000,0.052,3176,843,1926,2059,1794,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9298,0.77,256.7,3175,843,2062,1794,747.4,14.3,369,9304,0.00,2.03,0.00,0.000,1030,0.000,0.028,3176,2253,1928,2062,1794,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9617,0.77,256.7,3175,2254,2062,1794,700.1,14.1,380,9623,0.00,2.08,0.00,0.000,260,0.000,0.044,3175,3642,1927,2062,1793,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9696,0.77,256.7,3175,3642,2060,1793,690.1,14.9,382,9702,0.00,2.03,0.00,0.000,1030,0.000,0.028,3176,2237,1926,2060,1793,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10015,0.77,256.7,3175,2237,2059,1793,644.2,13.1,393,10021,0.00,2.12,0.00,0.000,260,0.000,0.043,3176,3645,1926,2060,1793,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10042,0.77,256.7,3175,3645,2060,1793,644.2,13.1,393,10051,0.00,2.03,0.00,0.000,1030,0.000,0.028,3176,2238,1924,2059,1790,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10349,0.77,256.7,3175,2238,2059,1793,596.6,13.9,404,10355,0.00,2.10,0.00,0.000,260,0.000,0.043,3175,3638,1926,2060,1793,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10397,0.77,256.7,3176,3638,2058,1793,590.8,13.4,406,10404,0.00,2.03,0.00,0.000,1030,0.000,0.027,3175,2235,1925,2058,1792,0,0,0,0,0,0,28.83,26.47,28.83
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$GC,12296,0.78,262.2,3175,2242,2058,1792,331.7,13.3,499,12302,0.00,2.05,0.00,0.000,260,0.000,0.041,3176,3633,1925,2058,1792,0,0,0,0,0,0,28.83,26.50,28.83
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$STATE,14850,end climb,SURFACE_DEPTH_REACHED
$STATE,14850,begin surface coast
$FINISH,0.5,1.021502
$STATE,14872,end surface coast,CONTROL_FINISHED_OK
$STATE,14872,begin surface
$SM_CCo,14949,0.00,0.000,0,0,1175,445.71
$SM_GC,-1.51,8.48,0.15,0.00,0.066,0.074,0.000,143,2415,1175,-8.62,-1.78,445.71,0,0,0,0,0,0,26.31,26.39,28.83
$IRIDIUM_FIX,1850.98,12216.74,050413,232316
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.84
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.50
$XPDR_PINGS,10
$SC_FREEKB,3978656
$24V_AH,23.9,14.275
$10V_AH,10.2,12.843
$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,21.450,124.950,585.075,0.000,0.000,0.000,0.000,248.200,2.500,0.000,17.390,2661.967,9818.864,740.775,1839.199,283.901,0.000,1898.254,0.000,1491.198,0.000,0.545,0.000
$DEVICE_MAMPS,254.745,82.620,1005.210,0.000,0.000,0.000,0.000,119.340,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14892.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.603,0.000,0.000,0.000
$MEM,320948
$DATA_FILE_SIZE,23422,662
$CAP_FILE_SIZE,343665,0
$CFSIZE,260034560,240312320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.308,324.0,1
$GPS,060413,073606,1855.064,12219.784,38,0.9,38,-2.1