version: 66.11
glider: 181
mission: 11
dive: 187
start: 6 10 113 6 46 18
data:
$ID,181
$MISSION,11
$DIVE,187
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,150
$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,390
$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,-5
$MAX_BUOY,165
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0033
$HD_B,0.0082
$HD_C,1.5e-05
$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,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,-95935.391
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3941
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,81
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2753
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-160.75446
$PRESSURE_SLOPE,0.000109412
$AD7714Ch0Gain,1
$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,2
$XPDR_VALID,2
$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,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004364301
$SEABIRD_T_H,0.00062910328
$SEABIRD_T_I,2.4425184e-05
$SEABIRD_T_J,2.6404416e-06
$SEABIRD_C_G,-9.9046793
$SEABIRD_C_H,1.1251128
$SEABIRD_C_I,-0.0019873739
$SEABIRD_C_J,0.00023203803
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,100613,063224,2344.686,12419.468,35,1.7,36,-3.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-70.7
$GPS2,100613,064549,2344.766,12419.428,15,1.2,15,-3.4
$SPEED_LIMITS,0.147,0.278
$TGT_NAME,OFFSHORE
$TGT_LATLONG,2316.000,12430.000
$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,209.7,56229,-13.6,-8.462,-16.94,2871
$D_GRID,2491
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.84,-160.6,209,2477,914,911,0.0,0.0,0,106,0.00,0.00,-84.15,0.000,16386,0.000,0.000,208,2476,3050,3113,2988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.84,-160.6,208,2476,3113,2989,3.7,-12.3,15,136,9.93,2.25,-6.35,0.000,18948,0.381,0.063,2420,1074,3411,3502,3321,0,0,0,0,0,0,14.40,14.70,14.92
$GC,213,-0.84,-160.6,2420,1073,3502,3326,37.6,-24.7,29,218,0.00,2.22,0.00,0.000,1030,0.000,0.058,2412,2439,3412,3502,3322,0,0,0,0,0,0,28.83,14.74,28.83
$GC,527,-0.84,-160.6,2412,2440,3501,3322,120.5,-23.5,47,532,0.00,2.20,0.00,0.000,260,0.000,0.075,2401,3787,3412,3502,3323,0,0,0,0,0,0,28.83,14.78,28.83
$GC,630,-0.84,-160.6,2402,3788,3502,3323,144.9,-23.1,52,635,0.00,2.03,0.00,0.000,1030,0.000,0.032,2402,2451,3412,3501,3324,0,0,0,0,0,0,28.83,14.85,28.83
$GC,952,-0.84,-160.6,2402,2446,3502,3325,213.7,-19.6,68,958,0.00,2.15,0.00,0.000,516,0.000,0.041,2402,1053,3413,3502,3325,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1010,-0.84,-160.6,2402,1053,3502,3325,221.9,-18.9,70,1017,0.15,2.25,0.00,0.000,3078,0.252,0.054,2427,2456,3413,3502,3325,0,0,0,0,0,0,14.67,14.83,28.83
$GC,1316,-0.84,-160.6,2427,2457,3502,3326,271.9,-13.9,86,1321,0.00,2.15,0.00,0.000,260,0.000,0.076,2419,3780,3413,3502,3325,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1378,-0.84,-160.6,2419,3780,3502,3325,281.5,-14.9,89,1384,0.00,2.03,0.00,0.000,1030,0.000,0.033,2419,2428,3413,3502,3325,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1701,-0.84,-160.6,2419,2422,3502,3322,327.2,-14.4,105,1706,0.00,2.22,0.00,0.000,260,0.000,0.074,2409,3783,3410,3498,3322,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1753,-0.84,-160.6,2409,3784,3502,3322,333.4,-14.5,107,1759,0.00,2.00,0.00,0.000,1030,0.000,0.033,2409,2451,3412,3502,3322,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2067,-0.84,-160.6,2409,2446,3502,3318,380.8,-14.8,123,2072,0.00,2.17,0.00,0.000,260,0.000,0.075,2399,3776,3410,3502,3318,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2113,-0.84,-160.6,1536,3776,3495,3315,387.5,-14.9,125,2119,0.12,2.00,0.00,0.000,3078,0.262,0.034,2427,2443,3410,3502,3318,0,0,0,0,0,0,14.73,14.97,28.83
$GC,2431,-0.84,-160.6,2426,2438,3503,3316,429.2,-12.1,141,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2439,3409,3502,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2732,-0.84,-160.6,2427,2436,3500,3314,466.8,-13.5,156,2737,0.00,2.22,0.00,0.000,260,0.000,0.082,2419,3781,3406,3500,3313,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2795,-0.84,-160.6,2419,3781,3500,3312,476.2,-14.4,159,2801,0.00,2.03,0.00,0.000,1030,0.000,0.037,2419,2454,3406,3500,3312,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3118,-0.84,-160.6,2419,2449,3499,3308,522.2,-13.8,175,3123,0.00,2.20,0.00,0.000,260,0.000,0.081,2409,3776,3403,3498,3308,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3150,-0.84,-160.6,2410,3776,3497,3308,525.6,-14.0,176,3156,0.00,2.03,0.00,0.000,1030,0.000,0.037,2409,2446,3402,3497,3308,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3464,-0.84,-160.6,2410,2444,3496,3307,570.3,-13.5,192,3469,0.00,2.22,0.00,0.000,260,0.000,0.083,2400,3774,3401,3496,3307,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3508,-0.84,-160.6,2399,3779,3495,3307,576.5,-13.7,194,3514,0.12,2.05,0.00,0.000,3078,0.265,0.038,2427,2444,3401,3495,3307,0,0,0,0,0,0,14.71,14.97,28.83
$GC,3831,-0.84,-160.6,2427,2441,3493,3302,613.9,-11.0,208,3836,0.00,2.22,0.00,0.000,260,0.000,0.084,2419,3772,3397,3493,3301,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3928,-0.84,-160.6,1536,3771,3483,3296,624.5,-11.2,211,3933,0.00,2.05,0.00,0.000,1030,0.000,0.040,2420,2446,3395,3490,3301,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4257,-0.84,-160.6,2420,2441,3489,3296,663.3,-11.6,222,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2441,3393,3489,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4556,-0.84,-160.6,2420,2441,3487,3293,696.8,-11.4,232,4562,0.00,2.20,0.00,0.000,516,0.000,0.051,2420,1060,3391,3489,3293,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4578,-0.84,-160.6,2420,1060,3487,3293,696.8,-11.4,232,4583,0.00,2.28,0.00,0.000,1030,0.000,0.063,2410,2444,3390,3487,3293,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4891,-0.84,-160.6,2411,2445,3483,3290,738.3,-13.1,243,4896,0.00,2.25,0.00,0.000,260,0.000,0.093,2400,3781,3387,3483,3291,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4978,-0.84,-160.6,2401,3782,3481,3290,746.9,-13.3,245,4985,0.00,2.08,0.00,0.000,1030,0.000,0.043,2400,2446,3385,3481,3290,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5283,-0.84,-160.6,2401,2444,3481,3286,791.2,-13.3,256,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2444,3384,3481,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5584,-0.84,-160.6,2401,2444,3479,3284,829.0,-12.4,266,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2445,3381,3479,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5884,-0.84,-160.6,2401,2444,3476,3281,863.5,-11.8,276,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2446,3378,3476,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6184,-0.84,-160.6,2401,2445,3474,3279,899.6,-11.9,286,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2444,3376,3474,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6484,-0.84,-160.6,2401,2442,3473,3277,935.6,-11.9,296,6485,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2445,3375,3472,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6784,-0.84,-160.6,2400,2445,3470,3275,970.7,-11.6,306,6790,0.00,2.28,0.00,0.000,260,0.000,0.093,2391,3777,3371,3469,3274,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6812,-0.84,-160.6,2391,3777,3468,3274,970.7,-11.6,306,6820,0.15,2.08,0.00,0.000,3078,0.252,0.046,2426,2447,3371,3469,3274,0,0,0,0,0,0,14.62,14.91,28.83
$STATE,6965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6965,begin apogee
$GC,6971,-0.25,0.0,2426,2344,3469,3273,990.6,-9.9,312,7142,0.62,0.00,161.57,1.726,10246,0.200,0.000,2614,2343,2751,2800,2702,0,0,0,0,0,0,14.64,28.83,13.57
$STATE,7144,end apogee,CONTROL_FINISHED_OK
$STATE,7144,begin climb
$GC,7146,0.84,160.6,2614,2343,2798,2701,994.7,0.0,317,7333,1.08,2.42,169.40,1.620,10756,0.110,0.059,2976,974,2098,2122,2074,0,0,0,0,1,0,14.23,14.17,13.31
$GC,7344,0.84,160.6,2976,974,2122,2074,974.3,14.0,324,7350,0.00,2.40,0.00,0.000,1030,0.000,0.066,2977,2355,2098,2122,2074,0,0,0,0,0,0,28.83,14.24,28.83
$GC,7662,0.84,160.6,2977,2354,2122,2066,915.6,17.5,335,7667,0.00,2.30,0.00,0.000,516,0.000,0.058,2985,972,2094,2122,2066,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7684,0.84,160.6,2986,970,2121,2066,915.6,17.5,335,7689,0.00,2.33,0.00,0.000,1030,0.000,0.067,2986,2349,2093,2122,2065,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7996,0.84,160.6,2986,2349,2121,2063,859.1,16.1,346,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2349,2091,2121,2062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8297,0.84,160.6,2986,2349,2122,2060,810.6,16.1,356,8303,0.00,2.25,0.00,0.000,516,0.000,0.056,2996,973,2091,2122,2060,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8324,0.84,160.6,2996,973,2121,2059,810.6,16.1,356,8331,0.00,2.30,0.00,0.000,1030,0.000,0.064,2996,2354,2090,2121,2060,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8631,0.84,160.6,2996,2354,2121,2057,753.7,17.3,367,8632,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2354,2089,2121,2057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8931,0.84,160.6,2995,2354,2121,2055,699.5,18.5,377,8936,0.00,2.28,0.00,0.000,516,0.000,0.055,3005,967,2088,2121,2056,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8977,0.84,160.6,3005,967,2121,2050,693.3,18.5,378,8984,0.15,2.30,0.00,0.000,5126,0.281,0.063,2973,2354,2088,2121,2055,0,0,0,0,0,0,14.57,14.79,28.83
$GC,9298,0.84,160.6,2974,2354,2121,2053,635.4,17.4,389,9304,0.00,2.28,0.00,0.000,516,0.000,0.054,2980,967,2087,2121,2053,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9370,0.84,160.6,2980,967,2121,2053,624.5,17.3,391,9375,0.00,2.30,0.00,0.000,1030,0.000,0.063,2980,2353,2088,2123,2053,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9693,0.84,160.6,2980,2352,2121,2051,568.6,16.7,405,9699,0.00,2.40,0.00,0.000,260,0.000,0.093,2980,3755,2086,2121,2051,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9725,0.84,160.6,2980,3756,2121,2051,564.2,17.2,406,9731,0.00,2.20,0.00,0.000,1030,0.000,0.041,2991,2353,2086,2121,2051,0,0,0,0,0,0,28.83,14.88,28.83
$GC,10038,0.84,160.6,2991,2349,2121,2050,508.0,17.6,422,10039,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2349,2089,2121,2057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10339,0.84,160.6,2991,2349,2121,2050,459.8,15.8,437,10340,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2349,2085,2121,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10640,0.84,160.6,2991,2349,2121,2049,414.4,14.6,452,10641,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2349,2085,2121,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10939,0.84,160.6,2991,2349,2121,2049,376.4,12.1,467,10940,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2349,2085,2121,2049,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,11937,0.84,160.6,2972,3752,2121,2049,242.1,13.1,516,11942,0.00,2.20,0.00,0.000,1030,0.000,0.038,2982,2339,2085,2121,2049,0,0,0,0,0,0,28.83,14.88,28.83
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$STATE,14623,end climb,SURFACE_DEPTH_REACHED
$STATE,14623,begin surface coast
$FINISH,-0.3,1.021312
$STATE,14656,end surface coast,CONTROL_FINISHED_OK
$STATE,14656,begin surface
$SM_CCo,14672,38.97,0.138,0,0,915,450.13
$SM_GC,0.09,7.55,0.12,38.97,0.049,0.135,0.138,239,2465,915,-7.61,-1.24,450.13,0,0,0,0,0,0,14.79,14.78,14.67
$IRIDIUM_FIX,2342.70,12408.19,100613,060650
$TT8_MAMPS,0.019474,0.019474
$HUMID,43.93
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,26.30
$XPDR_PINGS,1
$SC_FREEKB,3864256
$24V_AH,13.3,69.809
$10V_AH,13.6,0.000
$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,20.125,120.075,431.425,38.975,0.000,82.028,66.072,299.669,0.250,0.000,17.570,2175.474,10354.835,578.525,2168.971,244.739,0.000,1497.671,0.000,1575.059,0.000,0.544,0.000
$DEVICE_MAMPS,380.970,134.640,1725.840,138.465,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14729.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.980,0.000,0.000,0.000
$MEM,328384
$DATA_FILE_SIZE,26752,704
$CAP_FILE_SIZE,166608,0
$CFSIZE,260034560,239071232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.244, 73.4,1
$GPS,100613,105253,2343.596,12420.365,38,1.3,39,-3.4