version: 67.00
glider: 227
mission: 5
dive: 85
start: 8 24 119 10 50 19
data:
$ID,227
$MISSION,5
$DIVE,85
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,900
$D_ABORT,950
$D_NO_BLEED,50
$D_BOOST,2
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,4
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,330
$T_MISSION,450
$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,1
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72247
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00272
$HD_B,0.0117
$HD_C,1.6e-05
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,511.6958
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$T_GPS,3
$N_GPS,50860
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,160
$PITCH_MAX,3830
$C_PITCH,2150
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,36
$PITCH_TIMEOUT,40
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,310
$ROLL_MAX,3940
$ROLL_DEG,60
$C_ROLL_DIVE,2280
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,13
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,30
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2636
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$UNCOM_BLEED,400
$VBD_MAXERRORS,2
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,0
$AH0_24V,575
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,5
$MAXI_10V,2
$FG_AHR_10V,7.5330467
$FG_AHR_24V,16.597847
$PHONE_SUPPLY,2
$PRESSURE_YINT,-148.83586
$PRESSURE_SLOPE,0.00010809835
$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,1
$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,1.9639999e-06
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,55
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,104
$XPDR_DEVICE,0
$SIM_W,0
$SEABIRD_T_G,0.0043851961
$SEABIRD_T_H,0.00063407799
$SEABIRD_T_I,2.5652189e-05
$SEABIRD_T_J,2.9095588e-06
$SEABIRD_C_G,-9.6619873
$SEABIRD_C_H,1.1246239
$SEABIRD_C_I,-0.0018771546
$SEABIRD_C_J,0.00021465076
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,240819,104207,7406.274,-14727.201,105,1.0,108,17.4
$_CALLS,1
$_SM_DEPTHo,-5.74
$_SM_ANGLEo,-70.0
$GPS2,240819,104956,7406.301,-14727.295,4,1.0,9,17.4
$SPEED_LIMITS,0.157,0.230
$TGT_NAME,SODAB
$TGT_LATLONG,7527.800,-14538.200
$TGT_RADIUS,2000.000
$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,37.1,159228,-16.6,-9.091,-21.59
$D_GRID,900
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,3,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
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$GC,1975.85,160,-145.99,-0.73,0.00,3231.1,3177.9,3284.4,1938.0,2212.1,233.41,-6.97,241,1977.18,0.00,0.00,0.00,0.000,0.000,0.000,3230.34,3176.81,3283.88,1937.81,2211.44,0,0,0,30.00,30.00,30.00
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$GC,2240.68,1157,-145.99,-0.71,0.00,3230.3,3178.2,3282.4,1863.2,3566.8,253.26,-9.54,276,2246.88,0.00,0.18,3.54,0.000,0.229,0.015,3232.09,3179.19,3285.00,1927.25,2223.12,0,0,0,30.00,15.84,15.97
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$GC,3926.24,160,-145.99,-0.80,0.00,3229.1,3178.2,3280.0,1912.9,2199.3,375.23,-6.79,363,3927.57,0.00,0.00,0.00,0.000,0.000,0.000,3228.59,3178.00,3279.19,1913.44,2199.56,0,0,0,30.00,30.00,30.00
$GC,4226.34,421,-145.99,-0.84,60.00,3229.2,3178.4,3280.1,1912.8,2199.4,394.99,-6.61,373,4232.06,0.00,0.12,3.84,0.000,0.114,0.056,3230.47,3179.31,3281.62,1846.06,3566.44,0,0,0,30.00,15.96,15.98
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$GC,6866.53,292,-145.99,-0.84,60.00,3229.8,3179.8,3279.8,1879.5,2212.9,589.80,-7.02,501,6872.21,0.00,0.00,3.80,0.000,0.000,0.055,3229.47,3179.38,3279.56,1864.75,3566.69,0,0,0,30.00,30.00,15.95
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$GC,7256.44,32,-145.99,-0.84,0.00,3229.9,3180.1,3279.7,1876.2,2212.8,618.37,-7.13,529,7257.77,0.00,0.00,0.00,0.000,0.000,0.000,3228.97,3178.88,3279.06,1875.88,2212.69,0,0,0,30.00,30.00,30.00
$GC,7556.49,32,-145.99,-0.84,0.00,3229.8,3179.9,3279.6,1875.8,2212.9,639.51,-7.14,539,7557.82,0.00,0.00,0.00,0.000,0.000,0.000,3229.28,3179.62,3278.94,1876.75,2212.25,0,0,0,30.00,30.00,30.00
$GC,7856.54,260,-145.99,-0.84,60.00,3229.5,3179.6,3279.4,1876.4,2212.7,704.54,-35.96,549,7862.29,0.00,0.00,3.78,0.000,0.000,0.054,3232.22,3182.38,3282.06,1861.12,3566.75,0,0,0,30.00,30.00,16.02
$GC,7926.52,1060,-145.99,-0.84,0.00,3229.9,3179.8,3280.0,1860.9,3565.9,708.16,-5.18,563,7932.29,0.00,0.00,3.54,0.000,0.000,0.014,3229.50,3180.44,3278.56,1872.56,2236.25,0,0,0,30.00,30.00,16.03
$GC,8246.43,32,-145.99,-0.84,0.00,3230.0,3180.6,3279.4,1872.9,2211.8,688.49,31.97,577,8247.76,0.00,0.00,0.00,0.000,0.000,0.000,3229.41,3180.12,3278.69,1872.69,2212.25,0,0,0,30.00,30.00,30.00
$GC,8546.62,32,-145.99,-0.84,0.00,3230.2,3180.9,3279.4,1872.5,2211.5,757.83,-7.18,587,8547.96,0.00,0.00,0.00,0.000,0.000,0.000,3229.62,3180.50,3278.75,1872.62,2211.69,0,0,0,30.00,30.00,30.00
$GC,8846.44,292,-145.99,-0.84,60.00,3230.5,3181.4,3279.7,1872.8,2211.9,781.04,-7.49,597,8852.38,0.00,0.00,3.77,0.000,0.000,0.054,3230.94,3181.81,3280.06,1857.31,3568.12,0,0,0,30.00,30.00,16.03
$GC,8916.67,1189,-145.99,-0.81,0.00,3230.2,3180.6,3279.7,1857.6,3567.8,785.68,-6.24,611,8922.33,0.00,0.08,3.54,0.000,0.243,0.014,3230.81,3180.94,3280.69,1892.50,2227.31,0,0,0,30.00,15.96,16.04
$GC,9236.75,160,-145.99,-0.85,0.00,3230.5,3180.9,3280.0,1892.8,2203.0,755.83,27.87,625,9238.08,0.00,0.00,0.00,0.000,0.000,0.000,3229.72,3180.88,3278.56,1893.06,2202.88,0,0,0,30.00,30.00,30.00
$GC,9536.67,420,-145.99,-0.89,60.00,3230.5,3181.4,3279.6,1893.2,2203.2,828.98,-6.56,635,9542.45,0.00,0.00,3.80,0.000,0.000,0.054,3230.50,3181.81,3279.19,1878.44,3566.88,0,0,0,30.00,30.00,16.06
$GC,9601.67,1060,-145.99,-0.89,0.00,3230.8,3181.6,3280.1,1878.2,3566.6,833.86,-7.64,648,9607.46,0.00,0.00,3.52,0.000,0.000,0.013,3230.53,3181.25,3279.81,1890.31,2233.44,0,0,0,30.00,30.00,16.06
$GC,9926.74,129,-145.99,-0.93,0.00,3230.5,3181.6,3279.3,1890.6,2210.8,866.34,-14.58,663,9928.19,0.00,0.14,0.00,0.000,0.113,0.000,3229.53,3181.50,3277.56,1832.94,2208.75,0,0,0,30.00,16.03,30.00
$GC,10226.64,129,-145.99,-0.87,0.00,3230.6,3181.2,3279.9,1833.1,2208.9,895.25,-18.30,673,10228.09,0.00,0.15,0.00,0.000,0.240,0.000,3230.44,3181.81,3279.06,1875.62,2209.12,0,0,0,30.00,15.99,30.00
$STATE,10316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10316,begin apogee
$GC,10317.94,3,0.00,-0.14,0.00,3231.5,3182.6,3280.4,1876.1,2296.9,900.56,-7.37,676,10434.28,113.93,0.76,0.22,2.327,0.195,0.078,2637.62,2717.94,2557.31,2109.62,2154.00,0,0,0,12.85,15.99,15.22
$STATE,10435,end apogee,CONTROL_FINISHED_OK
$STATE,10435,begin climb
$GC,10435.34,519,145.99,0.90,-60.00,2633.4,2714.5,2552.3,2108.8,2150.1,902.68,0.00,679,10561.84,120.40,1.05,3.58,2.235,0.130,0.055,2037.66,2215.50,1859.81,2460.38,961.69,0,0,0,12.43,15.28,14.89
$GC,10583.96,1157,145.99,0.85,0.00,2034.5,2212.8,1856.1,2460.7,961.9,889.66,12.21,703,10589.80,0.00,0.14,3.81,0.000,0.230,0.021,2034.09,2212.62,1855.56,2412.62,2280.69,0,0,0,30.00,15.03,15.10
$GC,10888.87,2,145.99,0.85,0.00,2026.2,2201.4,1850.9,2411.7,2281.9,847.07,17.13,714,10890.21,0.00,0.00,0.00,0.000,0.000,0.000,2025.06,2201.25,1848.88,2411.88,2281.81,0,0,0,30.00,30.00,30.00
$GC,11189.06,35,241.04,1.13,0.00,2024.2,2197.3,1851.0,2412.1,2282.2,826.42,5.03,724,11264.73,74.08,0.30,0.00,2.147,0.089,0.000,1651.78,1824.75,1478.81,2525.88,2281.81,0,0,0,12.57,15.64,30.00
$GC,11549.14,163,393.06,1.51,0.00,1641.4,1809.8,1473.0,2526.2,2282.0,770.45,2.59,736,11668.58,117.61,0.32,0.00,2.071,0.093,0.000,1033.72,1219.06,848.38,2644.50,2282.00,0,0,0,12.62,15.52,30.00
$GC,11940.76,131,393.06,1.40,0.00,1024.7,1208.3,841.0,2644.6,2280.9,677.13,20.50,749,11942.23,0.00,0.20,0.00,0.000,0.235,0.000,1024.72,1208.38,841.06,2590.00,2283.06,0,0,0,30.00,15.39,30.00
$GC,12240.73,2,393.06,1.40,0.00,1022.2,1205.1,839.4,2589.9,2283.0,626.32,23.56,759,12242.07,0.00,0.00,0.00,0.000,0.000,0.000,1022.28,1205.38,839.19,2590.06,2282.88,0,0,0,30.00,30.00,30.00
$GC,12540.65,518,393.06,1.40,-60.00,1021.6,1203.7,839.4,2589.6,2282.8,571.51,25.10,769,12546.55,0.00,0.00,3.84,0.000,0.000,0.054,1021.66,1203.75,839.56,2605.19,961.56,0,0,0,30.00,30.00,15.73
$GC,12580.74,1063,1154.15,3.68,0.00,1021.1,1202.6,839.6,2605.3,961.6,577.02,-23.44,777,12678.94,89.66,2.13,3.67,1.860,0.073,0.023,551.00,731.88,370.12,3343.00,2275.06,0,0,0,12.65,15.72,15.76
$GC,12991.08,391,1154.15,2.77,60.00,542.9,720.3,365.6,3342.8,2275.8,299.41,72.88,809,12998.12,0.00,1.35,3.56,0.000,0.355,0.047,542.88,720.19,365.56,3013.06,3537.50,0,0,0,30.00,15.46,15.58
$GC,13106.02,1159,1154.15,2.18,0.00,542.2,719.2,365.2,3014.5,3538.6,247.39,41.69,832,13111.82,0.00,0.73,3.64,0.000,0.292,0.018,542.50,719.56,365.44,2843.06,2221.31,0,0,0,30.00,15.53,15.64
$GC,13296.12,131,1154.15,1.90,0.00,541.6,719.8,363.4,2842.7,2205.2,191.33,26.88,852,13297.62,0.00,0.33,0.00,0.000,0.248,0.000,541.59,719.69,363.50,2747.38,2204.88,0,0,0,30.00,15.60,30.00
$GC,13476.19,130,1154.15,1.79,0.00,540.8,719.6,361.9,2750.1,2205.2,156.79,17.95,870,13477.53,0.00,0.00,0.00,0.000,0.000,0.000,540.75,719.50,362.00,2749.50,2205.19,0,0,0,30.00,30.00,30.00
$GC,13656.14,131,1154.15,1.70,0.00,540.8,719.9,361.8,2749.2,2204.8,125.03,17.22,888,13657.62,0.00,0.22,0.00,0.000,0.228,0.000,540.72,719.56,361.88,2685.12,2202.69,0,0,0,30.00,15.69,30.00
$GC,13836.11,262,1154.15,1.70,60.00,540.4,719.6,361.2,2685.1,2202.2,99.93,13.22,906,13842.02,0.00,0.00,3.79,0.000,0.000,0.054,540.78,719.88,361.69,2670.19,3537.31,0,0,0,30.00,30.00,15.80
$GC,13866.15,1030,1154.15,1.70,0.00,540.4,719.5,361.3,2670.1,3536.4,95.88,13.45,912,13872.00,0.00,0.00,3.60,0.000,0.000,0.017,540.75,719.81,361.69,2685.12,2218.44,0,0,0,30.00,30.00,15.81
$GC,14056.23,646,1154.15,1.74,-60.00,540.4,719.6,361.1,2685.2,2216.4,72.70,12.18,932,14062.03,0.00,0.00,3.56,0.000,0.000,0.056,540.38,719.69,361.06,2701.94,962.88,0,0,0,30.00,30.00,15.83
$GC,14086.15,1158,1154.15,1.82,0.00,540.3,719.5,361.1,2702.1,962.9,69.31,11.61,938,14092.03,0.00,0.00,3.63,0.000,0.000,0.021,540.72,720.06,361.38,2691.19,2276.19,0,0,0,30.00,30.00,15.83
$GC,14276.32,131,1154.15,1.90,0.00,540.1,719.5,360.6,2691.1,2276.5,49.08,10.07,958,14277.80,0.00,0.20,0.00,0.000,0.091,0.000,540.06,719.44,360.69,2772.38,2276.75,0,0,0,30.00,15.83,30.00
$GC,14456.32,2,1154.15,1.90,0.00,540.0,719.6,360.4,2772.5,2276.6,28.26,10.46,976,14457.66,0.00,0.00,0.00,0.000,0.000,0.000,539.84,719.44,360.25,2773.25,2277.06,0,0,0,30.00,30.00,30.00
$GC,14636.44,163,1194.57,2.10,0.00,539.8,719.5,360.1,2773.0,2276.4,12.62,7.36,994,14637.91,0.00,0.14,0.00,0.000,0.113,0.000,539.75,719.38,360.12,2835.12,2276.38,0,0,0,30.00,15.85,30.00
$FREEZE,9.76,4.471,-1.556,2,1,0
$FREEZE,9.06,4.469,-1.554,2,1,0
$FREEZE,8.38,4.447,-1.554,2,1,0
$FREEZE,7.78,4.379,-1.552,2,1,0
$FREEZE,7.31,4.295,-1.548,2,1,0
$FREEZE,6.77,4.177,-1.545,2,1,0
$FREEZE,6.32,4.128,-1.541,2,1,0
$FREEZE,5.90,4.109,-1.538,2,1,0
$FREEZE,5.42,4.073,-1.535,2,1,0
$FREEZE,4.91,4.065,-1.533,2,1,0
$FREEZE,4.41,4.052,-1.532,2,1,0
$FREEZE,3.84,4.036,-1.530,2,1,0
$FREEZE,3.30,4.029,-1.529,2,1,0
$FREEZE,2.67,4.029,-1.528,2,1,0
$FREEZE,2.01,4.028,-1.527,2,1,0
$GC,14816.47,551,1277.56,2.35,-60.00,539.7,719.4,359.9,2835.4,2276.6,2.01,5.54,1012,14822.28,0.00,0.20,3.78,0.000,0.107,0.052,539.97,719.81,360.12,2932.62,961.50,0,0,0,30.00,15.86,15.88
$FREEZE,1.32,4.029,-1.526,2,1,0
$STATE,14826,end climb,SURFACE_DEPTH_REACHED
$STATE,14826,begin surface coast
$FREEZE,0.86,4.029,-1.526,2,1,0
$FREEZE,0.38,4.028,-1.526,2,1,0
$FREEZE,-0.04,4.028,-1.525,2,1,0
$FREEZE,-0.56,3.961,-1.525,2,1,0
$FREEZE,-0.95,3.961,-1.524,2,1,0
$FREEZE,-1.39,3.781,-1.515,2,1,0
$FINISH,-1.4,1.022102
$STATE,14856,end surface coast,CONTROL_FINISHED_OK
$STATE,14856,begin surface
$SM_CCo,14933.93,0.00,0.000,0,539.2,719.2,359.2,514.34
$SM_GC,9.89,0.00,8.82,3.67,0.000,0.163,0.020,539.2,719.2,359.2,144.8,2311.4,0,0,0,30.00,15.82,15.90
$SUPER,59,71,254,1,0,0
$IRIDIUM_FIX,7409.23,-14726.29,240819,061422
$TCM_TEMP,199.85
$XPDR_PINGS,128
$SC_FREEKB,3789856
$RAFOS_CLK,-15
$MODEM,1,1566648321,74.42723,-147.94939,21.963,32175.1
$RAFOS_FIX,7409.438477,-14732.105469,240819,121221,1,2,1.40
$HUMID,56.48
$TEMP,0.69
$INTERNAL_PRESSURE,8.48775
$24V_AH,14.39,37.103
$10V_AH,15.00,0.000
$FG_AHR_24Vo,16.797
$FG_AHR_10Vo,7.604
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,619.160,27.300,147.030,341.782,32.000,17.615,3083.019,12300.161,1100.083,2205.000,0.000,0.000
$DEVICE_MAMPS,2327.240,395.976,77.816,200.058,420.000,11.790,11.520,2.310,5.000,48.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14884.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.717,0.000,0.000,0.000
$MEM,1154868,33,24240,67
$DATA_FILE_SIZE,32099,1020
$CAP_FILE_SIZE,288964,0
$SDSIZE,3918848,3888704
$SDFILEDIR,464,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,1.508,298.4,1
$GPS,240819,120521,7409.438,-14732.105,0,2002.0,0,17.4