version: 66.07
glider: 511
mission: 5
dive: 325
start: 1 28 111 18 9 35
data:
$ID,511
$MISSION,5
$DIVE,325
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_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,550
$T_MISSION,1100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51640
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2120
$TGT_DEFAULT_LON,12555
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-49117.34
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,58
$PITCH_MAX,3811
$C_PITCH,2589
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3908
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,2130
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,499
$VBD_MAX,3959
$C_VBD,2890
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.006142
$PRESSURE_SLOPE,0.00011615451
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004356245
$SEABIRD_T_H,0.00062501978
$SEABIRD_T_I,2.3524752e-05
$SEABIRD_T_J,2.5077927e-06
$SEABIRD_C_G,-10.102084
$SEABIRD_C_H,1.1314584
$SEABIRD_C_I,-0.0021948598
$SEABIRD_C_J,0.00025524831
$AR_DIVENUM,324
$AR_SAMPLENUM,2
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,280111,175106,1737.999,12639.746,36,1.2,41,-1.9
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-70.4
$GPS2,280111,180838,1737.910,12639.733,14,1.1,14,-1.9
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,T4
$TGT_LATLONG,1821.079,12417.358
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.151,0.153
$KALMAN_X,-565247.6,-125.5,251.5,467702.6,670.2
$KALMAN_Y,651402.9,364.5,-140.3,-982295.1,-3638.4
$MHEAD_RNG_PITCHd_Wd,317.1,262729,-9.9,-6.000
$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
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.58,-146.0,0.0,0.0,0,98,0.00,0.00,-70.60,0.000,2,0.000,0.000,35,2042,2942,0,0,0,0,0,0
$GC,102,-0.58,-146.0,4.2,-5.2,7,129,10.40,2.28,-10.57,0.000,4,0.254,0.068,2387,3470,3485,0,0,0,0,0,0
$GC,272,-0.58,-146.0,50.4,-19.9,25,277,0.00,2.15,0.00,0.000,6,0.000,0.041,2387,2072,3487,0,0,0,0,0,0
$GC,533,-0.58,-146.0,107.6,-21.9,50,537,0.00,2.20,0.00,0.000,4,0.000,0.050,2392,636,3487,0,0,0,0,0,0
$GC,579,-0.58,-146.0,117.5,-19.3,55,583,0.00,2.22,0.00,0.000,6,0.000,0.044,2377,2067,3487,0,0,0,0,0,0
$GC,840,-0.58,-146.0,175.1,-22.0,79,844,0.00,2.17,0.00,0.000,4,0.000,0.057,2366,3466,3487,0,0,0,0,0,0
$GC,854,-0.58,-146.0,177.9,-19.0,80,859,0.15,2.15,0.00,0.000,6,0.156,0.041,2405,2062,3487,0,0,0,0,0,0
$GC,1124,-0.58,-146.0,213.0,-11.8,100,1128,0.00,2.25,0.00,0.000,4,0.000,0.063,2399,3472,3488,0,0,0,0,0,0
$GC,1156,-0.58,-146.0,217.1,-11.8,101,1160,0.00,2.15,0.00,0.000,6,0.000,0.041,2399,2059,3490,0,0,0,0,0,0
$GC,1471,-0.58,-146.0,252.1,-11.2,116,1475,0.00,2.28,0.00,0.000,4,0.000,0.063,2388,3472,3489,0,0,0,0,0,0
$GC,1490,-0.58,-146.0,254.4,-11.5,117,1494,0.00,2.17,0.00,0.000,6,0.000,0.041,2388,2054,3488,0,0,0,0,0,0
$GC,1819,-0.58,-146.0,296.4,-12.1,133,1823,0.00,2.15,0.00,0.000,4,0.000,0.050,2388,644,3491,0,0,0,0,0,0
$GC,1861,-0.58,-146.0,301.3,-11.5,135,1865,0.00,2.22,0.00,0.000,6,0.000,0.049,2388,2064,3488,0,0,0,0,0,0
$GC,2188,-0.58,-146.0,338.6,-11.2,143,2192,0.00,2.20,0.00,0.000,4,0.000,0.058,2379,3472,3488,0,0,0,0,0,0
$GC,2243,-0.58,-146.0,344.8,-10.8,144,2247,0.00,2.17,0.00,0.000,6,0.000,0.040,2380,2053,3487,0,0,0,0,0,0
$GC,2555,-0.58,-146.0,376.2,-9.6,152,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2049,3486,0,0,0,0,0,0
$GC,2881,-0.58,-146.0,409.0,-9.7,160,2885,0.00,2.30,0.00,0.000,4,0.000,0.065,2368,3470,3484,0,0,0,0,0,0
$GC,2917,-0.58,-146.0,412.9,-10.1,160,2923,0.12,2.15,0.00,0.000,6,0.144,0.043,2404,2060,3486,0,0,0,0,0,0
$GC,3248,-0.58,-146.0,439.1,-7.8,169,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2057,3483,0,0,0,0,0,0
$GC,3573,-0.58,-146.0,464.2,-7.6,177,3577,0.00,2.20,0.00,0.000,4,0.000,0.051,2405,635,3478,0,0,0,0,0,0
$GC,3600,-0.58,-146.0,466.4,-8.3,177,3604,0.00,2.25,0.00,0.000,6,0.000,0.048,2402,2067,3480,0,0,0,0,0,0
$GC,3940,-0.58,-146.0,491.0,-7.1,186,3944,0.00,2.22,0.00,0.000,4,0.000,0.061,2392,3474,3478,0,0,0,0,0,0
$GC,3972,-0.58,-146.0,493.2,-7.2,186,3976,0.00,2.17,0.00,0.000,6,0.000,0.039,2393,2049,3477,0,0,0,0,0,0
$GC,4303,-0.58,-146.0,517.4,-7.5,194,4307,0.00,2.28,0.00,0.000,4,0.000,0.061,2383,3473,3475,0,0,0,0,0,0
$GC,4362,-0.58,-146.0,522.4,-8.2,195,4366,0.00,2.17,0.00,0.000,6,0.000,0.041,2382,2061,3474,0,0,0,0,0,0
$GC,4711,-0.58,-146.0,551.4,-8.2,204,4715,0.00,2.17,0.00,0.000,4,0.000,0.052,2382,657,3471,0,0,0,0,0,0
$GC,4743,-0.58,-146.0,554.1,-8.5,204,4747,0.00,2.22,0.00,0.000,6,0.000,0.051,2381,2060,3471,0,0,0,0,0,0
$GC,5078,-0.58,-146.0,578.9,-7.5,213,5082,0.00,2.28,0.00,0.000,4,0.000,0.063,2372,3474,3469,0,0,0,0,0,0
$GC,5110,-0.58,-146.0,581.4,-7.8,213,5114,0.12,2.17,0.00,0.000,6,0.146,0.041,2407,2061,3467,0,0,0,0,0,0
$GC,5441,-0.58,-146.0,601.1,-5.8,221,5442,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2055,3465,0,0,0,0,0,0
$GC,5765,-0.58,-146.0,621.3,-6.5,229,5769,0.00,2.28,0.00,0.000,4,0.000,0.065,2405,3470,3463,0,0,0,0,0,0
$GC,5797,-0.58,-146.0,623.4,-7.1,229,5801,0.00,2.17,0.00,0.000,6,0.000,0.042,2405,2064,3462,0,0,0,0,0,0
$GC,6128,-0.58,-146.0,645.4,-6.6,237,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2053,3461,0,0,0,0,0,0
$GC,6452,-0.58,-146.0,666.6,-6.4,245,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2053,3458,0,0,0,0,0,0
$GC,6777,-0.58,-146.0,689.4,-7.1,253,6779,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2050,3457,0,0,0,0,0,0
$GC,7103,-0.58,-146.0,709.3,-5.8,261,7107,0.00,2.30,0.00,0.000,4,0.000,0.065,2400,3470,3455,0,0,0,0,0,0
$GC,7167,-0.58,-146.0,712.9,-6.0,262,7171,0.00,2.20,0.00,0.000,6,0.000,0.044,2398,2057,3454,0,0,0,0,0,0
$GC,7516,-0.58,-146.0,732.3,-5.6,271,7520,0.00,2.22,0.00,0.000,4,0.000,0.054,2398,651,3452,0,0,0,0,0,0
$GC,7539,-0.58,-146.0,733.6,-5.4,271,7544,0.00,2.25,0.00,0.000,6,0.000,0.049,2393,2060,3452,0,0,0,0,0,0
$GC,7880,-0.58,-146.0,753.1,-5.7,280,7884,0.00,2.28,0.00,0.000,4,0.000,0.065,2382,3472,3450,0,0,0,0,0,0
$GC,7908,-0.58,-146.0,754.8,-6.3,280,7912,0.00,2.22,0.00,0.000,6,0.000,0.044,2382,2049,3449,0,0,0,0,0,0
$GC,8243,-0.58,-146.0,774.1,-5.7,289,8248,0.00,2.33,0.00,0.000,4,0.000,0.065,2374,3477,3448,0,0,0,0,0,0
$GC,8298,-0.58,-146.0,777.7,-6.6,290,8302,0.00,2.20,0.00,0.000,6,0.000,0.044,2374,2056,3448,0,0,0,0,0,0
$GC,8616,-0.58,-146.0,800.4,-7.8,298,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2051,3447,0,0,0,0,0,0
$GC,8941,-0.58,-146.0,826.4,-8.1,306,8945,0.00,2.22,0.00,0.000,4,0.000,0.054,2378,663,3446,0,0,0,0,0,0
$GC,8968,-0.58,-146.0,829.0,-8.9,306,8973,0.12,2.25,0.00,0.000,6,0.152,0.049,2401,2069,3446,0,0,0,0,0,0
$GC,9305,-0.58,-146.0,849.2,-5.7,315,9309,0.00,2.28,0.00,0.000,4,0.000,0.067,2392,3470,3448,0,0,0,0,0,0
$GC,9356,-0.58,-146.0,852.3,-6.2,316,9360,0.00,2.20,0.00,0.000,6,0.000,0.046,2391,2054,3444,0,0,0,0,0,0
$GC,9673,-0.58,-146.0,872.1,-6.5,324,9674,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2049,3443,0,0,0,0,0,0
$GC,9998,-0.58,-146.0,892.7,-6.3,332,10002,0.00,2.30,0.00,0.000,4,0.000,0.066,2382,3467,3442,0,0,0,0,0,0
$GC,10044,-0.58,-146.0,895.7,-6.9,333,10048,0.00,2.22,0.00,0.000,6,0.000,0.047,2382,2053,3442,0,0,0,0,0,0
$GC,10366,-0.58,-146.0,916.2,-6.3,341,10367,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2051,3441,0,0,0,0,0,0
$GC,10691,-0.58,-146.0,935.3,-5.8,349,10696,0.00,2.33,0.00,0.000,4,0.000,0.065,2379,3474,3440,0,0,0,0,0,0
$GC,10738,-0.58,-146.0,938.1,-5.9,350,10743,0.10,2.22,0.00,0.000,6,0.156,0.045,2399,2060,3440,0,0,0,0,0,0
$GC,11061,-0.58,-146.0,954.0,-4.9,358,11062,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2056,3440,0,0,0,0,0,0
$GC,11386,-0.58,-146.0,968.5,-4.4,366,11387,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2056,3439,0,0,0,0,0,0
$GC,11712,-0.58,-146.0,982.0,-4.0,374,11716,0.00,2.33,0.00,0.000,4,0.000,0.067,2391,3471,3439,0,0,0,0,0,0
$GC,11744,-0.58,-146.0,983.4,-4.3,374,11748,0.00,2.22,0.00,0.000,6,0.000,0.048,2391,2062,3439,0,0,0,0,0,0
$STATE,11910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11910,begin apogee
$GC,11916,-0.28,0.0,990.5,4.3,378,12041,0.32,0.00,121.97,1.359,6,0.128,0.000,2494,2136,2890,0,0,0,0,0,0
$STATE,12050,end apogee,CONTROL_FINISHED_OK
$STATE,12050,begin climb
$GC,12053,0.58,146.0,993.4,0.0,381,12195,0.80,2.55,132.82,1.321,4,0.083,0.068,2773,3532,2294,0,0,0,0,0,0
$GC,12294,0.58,146.0,975.1,12.8,386,12298,0.00,2.30,0.00,0.000,6,0.000,0.050,2784,2134,2288,0,0,0,0,0,0
$GC,12633,0.58,146.0,933.2,12.0,395,12634,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2130,2280,0,0,0,0,0,0
$GC,12959,0.58,146.0,897.2,10.6,403,12963,0.00,2.33,0.00,0.000,4,0.000,0.071,2784,3532,2279,0,0,0,0,0,0
$GC,13001,0.58,146.0,892.2,12.9,404,13005,0.00,2.22,0.00,0.000,6,0.000,0.051,2794,2130,2279,0,0,1,0,0,0
$GC,13328,0.58,146.0,856.0,11.1,412,13329,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2124,2281,0,0,0,0,0,0
$GC,13653,0.58,146.0,819.3,11.6,420,13657,0.00,2.33,0.00,0.000,4,0.000,0.070,2794,3538,2277,0,0,0,0,0,0
$GC,13713,0.58,146.0,811.3,11.5,421,13718,0.12,2.25,0.00,0.000,6,0.212,0.050,2777,2128,2277,0,0,0,0,0,0
$GC,14063,0.58,146.0,773.4,10.8,430,14064,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2122,2276,0,0,0,0,0,0
$GC,14388,0.58,146.0,740.5,9.8,438,14392,0.00,2.33,0.00,0.000,4,0.000,0.071,2777,3536,2275,0,0,0,0,0,0
$GC,14452,0.58,146.0,733.3,10.7,439,14457,0.00,2.22,0.00,0.000,6,0.000,0.052,2785,2128,2276,0,0,1,0,0,0
$GC,14797,0.58,146.0,699.9,9.7,448,14801,0.00,2.33,0.00,0.000,4,0.000,0.071,2785,3526,2274,0,0,0,0,0,0
$GC,14840,0.58,146.0,695.3,11.6,448,14845,0.00,2.22,0.00,0.000,6,0.000,0.051,2796,2130,2275,0,0,0,0,0,0
$GC,15170,0.58,146.0,658.3,11.1,457,15174,0.00,2.25,0.00,0.000,4,0.000,0.061,2806,725,2276,0,0,0,0,0,0
$GC,15250,0.58,146.0,649.5,10.9,458,15255,0.12,2.22,0.00,0.000,6,0.199,0.055,2778,2120,2273,0,0,0,0,0,0
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$STATE,23779,end climb,SURFACE_DEPTH_REACHED
$STATE,23779,begin surface coast
$FINISH,0.9,0.998136
$STATE,23813,end surface coast,CONTROL_FINISHED_OK
$STATE,23813,begin surface
$SM_CCo,23832,54.47,0.551,0,0,1055,450.12
$SM_GC,1.60,0.00,0.00,54.47,0.000,0.000,0.551,51,2051,1055,-7.93,-0.25,450.12
$IRIDIUM_FIX,1731.53,12640.89,230712,121206
$TT8_MAMPS,0.057525
$HUMID,1078666442
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,25.60
$XPDR_PINGS,3
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8419082240
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,52274921472
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.6,66.632
$10V_AH,9.8,45.409
$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,20.425,202.075,417.750,54.475,0.000,58.700,69.599,643.195,0.750,0.000,16.848,1817.622,19098.180,598.793,3007.961,412.873,33.373,1849.719,0.000,2188.311,0.000,0.543,0.000
$DEVICE_MAMPS,253.877,113.516,1359.124,550.706,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,609.268,0.000,0.000,0.000,0.000,0.000,0.000,22789.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,6.275,0.000,0.000
$MEM,354520
$DATA_FILE_SIZE,33390,902
$CAP_FILE_SIZE,202601,0
$CFSIZE,260165632,229867520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,290111,005121,1739.575,12637.577,146,4.3,165,-2.0