version: 66.11
glider: 189
mission: 7
dive: 540
start: 3 1 113 6 14 19
data:
$ID,189
$MISSION,7
$DIVE,540
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,100
$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,495
$T_MISSION,525
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,10
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,54634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030066001
$HD_B,0.025237
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2434
$TGT_DEFAULT_LON,-3802
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,5
$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,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-48333.527
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3928
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,359
$ROLL_MAX,3924
$ROLL_DEG,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2320
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-80.603096
$PRESSURE_SLOPE,0.0001182519
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042969952
$SEABIRD_T_H,0.00061766658
$SEABIRD_T_I,2.0722548e-05
$SEABIRD_T_J,1.9705003e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,010313,060334,2431.695,-3746.367,35,0.9,35,-13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-61.0
$GPS2,010313,061317,2431.625,-3746.374,16,1.2,16,-13.9
$SPEED_LIMITS,0.115,0.120
$TGT_NAME,PMEL_E
$TGT_LATLONG,2430.968,-3748.234
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.079,0.084
$KALMAN_X,131038.9,-0.4,289.5,-105188.5,-2970.7
$KALMAN_Y,101797.6,-31.2,-122.0,-109038.4,-1385.0
$MHEAD_RNG_PITCHd_Wd,330.7,3362,-21.1,-6.667,-30.00
$D_GRID,990
$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,22,-1.32,-90.7,0.0,0.0,0,35,0.00,0.00,-10.52,0.000,2,0.000,0.000,151,2125,1394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.33,-97.7,2.2,0.0,1,106,9.05,2.58,-51.50,0.000,4,0.181,0.050,2567,547,2720,0,0,0,0,0,0,25.31,25.94,26.70
$GC,196,-1.22,-97.7,9.1,-11.3,17,204,0.15,2.47,0.00,0.000,6,0.132,0.024,2603,2184,2721,0,0,0,0,0,0,25.67,26.23,28.83
$GC,506,-1.22,-97.7,35.9,-8.5,48,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2184,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,806,-1.22,-97.7,60.8,-8.2,78,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2184,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1106,-1.22,-97.7,84.3,-7.6,100,1112,0.00,2.60,0.00,0.000,4,0.000,0.036,2603,542,2723,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1145,-1.22,-97.7,86.7,-7.5,101,1152,0.00,2.47,0.00,0.000,6,0.000,0.023,2593,2188,2723,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1466,-1.22,-97.7,110.4,-7.1,112,1472,0.00,2.50,0.00,0.000,4,0.000,0.041,2581,3744,2723,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1626,-1.19,-97.7,121.7,-7.6,117,1633,0.10,2.42,0.00,0.000,6,0.126,0.021,2614,2092,2723,0,0,0,0,0,0,25.99,26.41,28.83
$GC,1949,-1.22,-97.7,144.2,-6.8,128,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2093,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2276,-1.22,-97.7,164.8,-6.1,135,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2092,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2577,-1.22,-97.7,185.0,-6.8,140,2582,0.00,2.62,0.00,0.000,4,0.000,0.038,2604,3751,2724,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2875,-1.22,-97.7,207.6,-7.5,145,2882,0.00,2.45,0.00,0.000,6,0.000,0.020,2603,2098,2724,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3237,-1.24,-97.7,235.1,-7.7,151,3242,0.00,2.40,0.00,0.000,4,0.000,0.037,2604,536,2724,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3305,-1.24,-97.7,240.1,-7.9,152,3312,0.00,2.50,0.00,0.000,6,0.000,0.022,2591,2195,2724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3656,-1.24,-97.7,269.3,-8.0,158,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2195,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3957,-1.24,-97.7,289.1,-6.5,163,3963,0.00,2.55,0.00,0.000,4,0.000,0.036,2591,542,2724,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4045,-1.24,-97.7,292.8,-6.3,164,4052,0.00,2.47,0.00,0.000,6,0.000,0.023,2580,2194,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4376,-1.24,-97.7,316.1,-6.7,170,4382,0.00,2.50,0.00,0.000,4,0.000,0.041,2568,3743,2724,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4565,-1.24,-97.7,329.9,-7.5,173,4573,0.10,2.45,0.00,0.000,6,0.126,0.020,2601,2079,2724,0,0,0,0,0,0,26.02,26.43,28.83
$GC,4916,-1.27,-97.7,356.8,-7.5,179,4922,0.00,2.40,0.00,0.000,4,0.000,0.037,2602,549,2725,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4956,-1.31,-97.7,356.8,-7.5,179,4962,0.00,2.45,0.00,0.000,6,0.000,0.023,2591,2188,2724,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5276,-1.34,-97.7,385.0,-8.1,185,5282,0.00,2.55,0.00,0.000,4,0.000,0.036,2591,546,2724,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5355,-1.36,-97.7,390.4,-8.3,186,5362,0.00,2.47,0.00,0.000,6,0.000,0.023,2579,2193,2724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5697,-1.38,-97.7,421.2,-8.5,192,5702,0.00,2.55,0.00,0.000,4,0.000,0.037,2579,538,2723,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5755,-1.38,-97.7,426.2,-8.4,193,5762,0.00,2.47,0.00,0.000,6,0.000,0.023,2567,2188,2723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6116,-1.38,-97.7,453.5,-7.4,199,6122,0.00,2.60,0.00,0.000,4,0.000,0.036,2567,546,2722,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6195,-1.38,-97.7,457.4,-7.0,200,6203,0.00,2.47,0.00,0.000,6,0.000,0.023,2555,2193,2722,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6536,-1.38,-97.7,476.6,-5.1,206,6543,0.00,2.53,0.00,0.000,4,0.000,0.042,2543,3746,2720,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6596,-1.38,-97.7,479.9,-5.1,207,6603,0.00,2.45,0.00,0.000,6,0.000,0.021,2543,2102,2721,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6957,-1.38,-97.7,501.6,-6.4,213,6962,0.00,2.40,0.00,0.000,4,0.000,0.038,2543,547,2719,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7025,-1.38,-97.7,501.6,-6.4,213,7032,0.00,2.47,0.00,0.000,6,0.000,0.024,2532,2187,2719,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7436,-1.38,-97.7,543.4,-8.7,217,7442,0.00,2.53,0.00,0.000,4,0.000,0.041,2520,3746,2718,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7566,-1.35,-97.7,555.9,-9.3,218,7573,0.12,2.45,0.00,0.000,6,0.131,0.021,2560,2092,2718,0,0,0,0,0,0,25.90,26.39,28.83
$GC,7916,-1.35,-97.7,592.0,-10.1,221,7917,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2092,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8276,-1.35,-97.7,625.4,-9.5,224,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2093,2716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8635,-1.35,-97.7,652.2,-7.7,227,8643,0.00,2.70,0.00,0.000,4,0.000,0.041,2549,3740,2714,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8685,-1.35,-97.7,652.2,-7.7,227,8692,0.00,2.47,0.00,0.000,6,0.000,0.021,2549,2098,2715,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8996,-1.35,-97.7,678.0,-7.2,230,8997,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2098,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9356,-1.35,-97.7,707.9,-8.0,233,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2098,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9716,-1.35,-97.7,740.5,-9.0,236,9723,0.00,2.70,0.00,0.000,4,0.000,0.042,2537,3739,2711,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9805,-1.35,-97.7,740.5,-9.0,236,9812,0.00,2.47,0.00,0.000,6,0.000,0.022,2537,2104,2711,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10196,-1.35,-97.7,779.3,-8.1,240,10203,0.00,2.67,0.00,0.000,4,0.000,0.042,2526,3741,2710,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10245,-1.35,-97.7,779.3,-8.1,240,10253,0.10,2.45,0.00,0.000,6,0.133,0.022,2557,2102,2710,0,0,0,0,0,0,25.91,26.35,28.83
$GC,10556,-1.38,-97.7,804.7,-7.1,243,10562,0.00,2.45,0.00,0.000,4,0.000,0.040,2558,552,2709,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10666,-1.40,-97.7,804.7,-7.1,243,10674,0.00,2.45,0.00,0.000,6,0.000,0.025,2547,2196,2709,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11036,-1.40,-97.7,841.8,-7.7,247,11042,0.00,2.62,0.00,0.000,4,0.000,0.038,2547,542,2707,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11095,-1.40,-97.7,841.8,-7.7,247,11102,0.00,2.53,0.00,0.000,6,0.000,0.024,2535,2193,2707,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11516,-1.40,-97.7,885.5,-9.1,251,11522,0.00,2.62,0.00,0.000,4,0.000,0.039,2535,545,2706,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11617,-1.40,-97.7,885.5,-9.1,251,11622,0.00,2.47,0.00,0.000,6,0.000,0.026,2523,2198,2706,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11996,-1.40,-97.7,928.4,-8.9,255,12003,0.00,2.62,0.00,0.000,4,0.000,0.039,2524,545,2704,0,0,0,0,0,0,28.83,25.96,28.83
$GC,12075,-1.40,-97.7,928.4,-8.9,255,12083,0.10,2.50,0.00,0.000,6,0.140,0.025,2544,2186,2704,0,0,0,0,0,0,25.79,26.25,28.83
$GC,12477,-1.43,-97.7,967.4,-8.1,259,12483,0.00,2.58,0.00,0.000,4,0.000,0.041,2544,549,2703,0,0,0,0,0,0,28.83,25.93,28.83
$GC,12545,-1.46,-97.7,967.4,-8.1,259,12553,0.00,2.50,0.00,0.000,6,0.000,0.025,2533,2185,2702,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,12772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12772,begin apogee
$GC,12782,-0.29,0.0,990.5,-7.6,264,12874,1.20,0.00,86.45,1.644,6,0.126,0.000,2903,1577,2320,0,0,0,0,0,0,24.91,28.83,22.99
$STATE,12876,end apogee,CONTROL_FINISHED_OK
$STATE,12876,begin climb
$GC,12880,1.33,97.7,994.5,0.0,269,12979,1.48,2.10,92.05,1.643,4,0.063,0.047,3439,354,1921,0,0,0,0,0,0,25.28,24.97,22.98
$GC,13077,1.16,97.7,988.7,7.1,279,13087,0.25,1.98,0.00,0.000,6,0.161,0.024,3374,1662,1915,0,0,0,0,0,0,25.47,26.03,28.83
$GC,13489,1.10,103.6,961.7,6.4,285,13498,0.00,2.53,4.18,1.153,4,0.000,0.035,3374,3204,1898,0,0,0,0,0,0,28.83,26.20,23.96
$GC,13579,1.03,109.5,961.7,6.4,285,13597,0.15,2.53,7.70,1.399,6,0.155,0.030,3339,1586,1872,0,0,0,0,0,0,25.74,26.22,23.88
$GC,13959,1.03,139.4,937.2,5.2,289,13989,0.00,0.00,28.75,1.583,6,0.000,0.000,3339,1585,1750,0,0,0,0,0,0,28.83,28.83,23.58
$GC,14319,1.06,180.3,920.6,4.6,292,14365,0.00,2.72,38.38,1.590,4,0.000,0.034,3339,3198,1583,0,0,0,0,0,0,28.83,25.43,23.44
$GC,14460,1.10,217.5,913.8,4.8,293,14500,0.00,2.50,35.17,1.578,6,0.000,0.030,3350,1580,1432,0,0,0,0,0,0,28.83,25.97,23.42
$GC,14909,1.10,217.5,875.8,8.1,297,14916,0.00,1.98,0.00,0.000,4,0.000,0.048,3359,357,1425,0,0,0,0,0,0,28.83,26.08,28.83
$GC,15039,1.10,217.5,863.2,9.0,298,15046,0.00,1.92,0.00,0.000,6,0.000,0.024,3359,1642,1423,0,0,0,0,0,0,28.83,26.39,28.83
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$GC,18510,1.22,241.9,550.0,5.4,327,18537,0.00,2.53,20.85,1.353,4,0.000,0.034,3366,3203,1331,0,0,0,0,0,0,28.83,25.87,23.80
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$STATE,23246,end climb,SURFACE_DEPTH_REACHED
$STATE,23246,begin surface coast
$FINISH,1.3,1.015051
$STATE,23267,end surface coast,CONTROL_FINISHED_OK
$STATE,23267,begin surface
$SM_CCo,23292,15.50,0.129,0,0,1094,300.00
$SM_GC,2.30,8.68,0.80,15.50,0.037,0.032,0.129,152,2194,1094,-8.81,-0.65,300.00,0,0,0,0,0,0,26.19,26.39,25.13
$IRIDIUM_FIX,2418.11,-3740.46,280213,232321
$TT8_MAMPS,0.026964,0.026964
$HUMID,65.71
$INTERNAL_PRESSURE,9.01667
$TCM_TEMP,22.00
$XPDR_PINGS,0
$SC_FREEKB,7562464
$TM_FREEKB,4308064
$24V_AH,23.0,90.313
$10V_AH,9.5,80.328
$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,22.225,208.800,336.975,15.500,0.000,27.955,46.022,197.190,0.000,0.000,18.168,1940.053,18769.080,697.968,1849.577,621.258,33.289,1589.789,0.000,1481.062,0.000,0.534,0.000
$DEVICE_MAMPS,181.305,77.265,1643.985,129.285,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23280.000,2048.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.677,13.440,0.000,0.000
$MEM,343696
$DATA_FILE_SIZE,13404,467
$CAP_FILE_SIZE,175595,0
$CFSIZE,260034560,201953280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010313,124405,2432.482,-3747.603,36,0.9,36,-13.9