Import nmea files?

I have nmea files with decimal seconds:
$GPRMC,100406.7,A,4132.98525,N,00039.14528,E,000.05,196.5,140613,000.2,W,D*2C
$GPGGA,100406.7,4132.98525,N,00039.14528,E,2,18,0.6,211.6,M,52.2,M,,*52
$GPVTG,196.5,T,196.8,M,000.05,N,0000.10,K,D*1F

I use the following to convert to gpx:
gpsbabel -i nmea -f 2013-06-14_120409_Lleida.txt -o gpx -F
2013-06-14_120409_LleidaNMEA.gpx
and the use readOGR() to import the gpx,
but the times in the gpx are rounded to nearest integer.
I've asked in the gpsbabel list if there is any way to convert while
keeping the precision, but I'm pessimistic.

Is there a function to import the nmea files? Just asking before making one.

Thanks,
Agus