version: 66.07
glider: 23
mission: 5
dive: 231
start: 1 10 111 7 40 17
data:
$ID,23
$MISSION,5
$DIVE,231
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,100
$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,471
$T_MISSION,1100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52032
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19.6
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56423.625
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,30
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,3071
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-64.761528
$PRESSURE_SLOPE,0.0001161246
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$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,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$GPS1,100111,072601,1846.896,12419.080,41,1.8,42,-2.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-49.7
$GPS2,100111,073925,1846.911,12419.089,34,1.5,34,-2.2
$SPEED_LIMITS,0.121,0.212
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.007,0.211
$KALMAN_X,-398355.9,-1013.4,191.6,223437.7,-192.2
$KALMAN_Y,175767.2,811.3,160.6,-462870.0,-2706.0
$MHEAD_RNG_PITCHd_Wd,0.3,289248,-12.7,-7.006
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.09,-144.9,0.0,0.0,0,69,0.00,0.00,-51.28,0.000,2,0.000,0.000,360,2137,1873,0,0,0,0,0,0
$GC,71,-1.09,-146.0,3.0,-0.4,10,184,9.35,1.92,-93.82,0.000,4,0.126,0.046,2119,3197,3668,0,0,0,0,0,0
$GC,435,-1.09,-146.0,58.0,-20.8,65,442,0.00,1.92,0.00,0.000,6,0.000,0.030,2119,2138,3668,0,0,0,0,0,0
$GC,696,-1.09,-146.0,113.1,-20.2,90,700,0.00,1.90,0.00,0.000,4,0.000,0.029,2119,3215,3668,0,0,0,0,0,0
$GC,955,-1.09,-146.0,163.2,-18.1,113,959,0.00,1.90,0.00,0.000,6,0.000,0.028,2117,2144,3668,0,0,0,0,0,0
$GC,1231,-1.09,-146.0,206.6,-13.7,137,1235,0.00,2.30,0.00,0.000,4,0.000,0.041,2119,1082,3668,0,0,0,0,0,0
$GC,1488,-1.09,-146.0,244.7,-13.1,148,1494,0.00,2.28,0.00,0.000,6,0.000,0.020,2119,2162,3669,0,0,0,0,0,0
$GC,1803,-1.09,-146.0,278.1,-10.2,164,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2163,3669,0,0,0,0,0,0
$GC,2133,-1.09,-146.0,313.5,-11.1,177,2137,0.00,1.85,0.00,0.000,4,0.000,0.035,2119,3210,3669,0,0,0,0,0,0
$GC,2390,-1.09,-146.0,338.9,-9.1,182,2395,0.00,1.90,0.00,0.000,6,0.000,0.028,2098,2153,3668,0,0,0,0,0,0
$GC,2728,-1.09,-146.0,368.4,-8.3,191,2731,0.00,1.88,0.00,0.000,4,0.000,0.038,2119,3207,3665,0,0,0,0,0,0
$GC,2985,-1.09,-146.0,390.9,-8.8,196,2989,0.00,1.92,0.00,0.000,6,0.000,0.029,2103,2141,3664,0,0,0,0,0,0
$GC,3321,-1.09,-146.0,421.9,-9.2,205,3325,0.00,1.92,0.00,0.000,4,0.000,0.038,2119,3207,3662,0,0,0,0,0,0
$GC,3578,-1.09,-146.0,443.7,-7.2,210,3583,0.00,1.92,0.00,0.000,6,0.000,0.028,2095,2141,3660,0,0,0,0,0,0
$GC,3916,-1.09,-146.0,466.7,-6.7,219,3919,0.00,1.90,0.00,0.000,4,0.000,0.039,2119,3203,3658,0,0,0,0,0,0
$GC,4173,-1.09,-146.0,486.3,-7.8,224,4177,0.00,1.90,0.00,0.000,6,0.000,0.028,2101,2152,3656,0,0,0,0,0,0
$GC,4510,-1.09,-146.0,510.9,-7.6,233,4513,0.00,1.90,0.00,0.000,4,0.000,0.040,2119,3201,3653,0,0,0,0,0,0
$GC,4694,-1.09,-146.0,527.7,-9.4,237,4698,0.00,1.90,0.00,0.000,6,0.000,0.029,2093,2148,3651,0,0,0,0,0,0
$GC,5019,-1.09,-146.0,555.4,-8.2,245,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2149,3648,0,0,0,0,0,0
$GC,5343,-1.09,-146.0,576.3,-6.2,253,5347,0.00,1.90,0.00,0.000,4,0.000,0.041,2119,3205,3646,0,0,0,0,0,0
$GC,5601,-1.09,-146.0,593.3,-6.7,258,5605,0.00,1.92,0.00,0.000,6,0.000,0.030,2100,2139,3643,0,0,0,0,0,0
$GC,5937,-1.09,-146.0,616.7,-7.4,267,5941,0.00,1.95,0.00,0.000,4,0.000,0.042,2119,3211,3641,0,0,0,0,0,0
$GC,6195,-1.09,-146.0,638.7,-8.8,272,6199,0.00,1.92,0.00,0.000,6,0.000,0.031,2099,2148,3639,0,0,0,0,0,0
$GC,6532,-1.09,-146.0,664.9,-7.5,281,6535,0.00,1.92,0.00,0.000,4,0.000,0.044,2119,3198,3637,0,0,0,0,0,0
$GC,6789,-1.09,-146.0,683.1,-6.7,286,6793,0.00,1.92,0.00,0.000,6,0.000,0.031,2099,2147,3634,0,0,0,0,0,0
$GC,7126,-1.09,-146.0,703.8,-6.0,295,7130,0.00,1.98,0.00,0.000,4,0.000,0.046,2119,3205,3632,0,0,0,0,0,0
$GC,7351,-1.09,-146.0,718.0,-6.6,300,7355,0.00,1.90,0.00,0.000,6,0.000,0.032,2110,2137,3631,0,0,0,0,0,0
$GC,7681,-1.09,-146.0,736.3,-5.4,308,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2137,3629,0,0,0,0,0,0
$GC,8005,-1.09,-146.0,753.4,-5.3,316,8009,0.00,1.98,0.00,0.000,4,0.000,0.047,2119,3210,3627,0,0,0,0,0,0
$GC,8263,-1.09,-146.0,768.4,-6.5,321,8267,0.00,1.90,0.00,0.000,6,0.000,0.032,2108,2153,3625,0,0,0,0,0,0
$GC,8600,-1.09,-146.0,788.0,-5.9,330,8603,0.00,1.92,0.00,0.000,4,0.000,0.047,2119,3208,3624,0,0,0,0,0,0
$GC,8773,-1.09,-146.0,798.9,-6.0,333,8779,0.00,1.95,0.00,0.000,6,0.000,0.032,2081,2139,3623,0,0,0,0,0,0
$GC,9104,-1.09,-146.0,817.1,-5.5,342,9108,0.00,1.95,0.00,0.000,4,0.000,0.047,2119,3207,3621,0,0,0,0,0,0
$GC,9362,-1.09,-146.0,833.0,-6.7,347,9365,0.00,1.92,0.00,0.000,6,0.000,0.032,2103,2150,3619,0,0,0,0,0,0
$GC,9698,-1.09,-146.0,852.2,-5.7,356,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2151,3618,0,0,0,0,0,0
$GC,10023,-1.09,-146.0,871.5,-5.9,364,10027,0.00,1.95,0.00,0.000,4,0.000,0.048,2119,3202,3618,0,0,0,0,0,0
$GC,10281,-1.09,-146.0,888.1,-6.8,369,10285,0.00,1.92,0.00,0.000,6,0.000,0.033,2104,2147,3617,0,0,0,0,0,0
$GC,10617,-1.09,-146.0,908.1,-5.8,378,10621,0.00,1.95,0.00,0.000,4,0.000,0.048,2119,3201,3616,0,0,0,0,0,0
$GC,10875,-1.09,-146.0,922.5,-5.3,383,10879,0.00,1.92,0.00,0.000,6,0.000,0.032,2098,2143,3615,0,0,0,0,0,0
$GC,11213,-1.09,-146.0,935.8,-3.7,392,11217,0.00,1.92,0.00,0.000,4,0.000,0.048,2119,3198,3614,0,0,0,0,0,0
$GC,11470,-1.09,-146.0,946.7,-4.3,397,11475,0.00,1.90,0.00,0.000,6,0.000,0.032,2097,2157,3613,0,0,0,0,0,0
$GC,11809,-1.09,-146.0,960.2,-4.1,406,11812,0.00,1.90,0.00,0.000,4,0.000,0.048,2119,3197,3613,0,0,0,0,0,0
$GC,12066,-1.09,-146.0,972.2,-4.3,411,12070,0.00,1.92,0.00,0.000,6,0.000,0.033,2097,2149,3612,0,0,0,0,0,0
$GC,12403,-1.09,-146.0,987.2,-4.5,420,12407,0.00,2.00,0.00,0.000,4,0.000,0.049,2119,3201,3611,0,0,0,0,0,0
$STATE,12456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12456,begin apogee
$GC,12464,-0.33,0.0,990.0,5.2,421,12582,0.77,0.00,114.38,1.499,6,0.100,0.000,2279,1862,3072,0,0,0,0,0,0
$STATE,12582,end apogee,CONTROL_FINISHED_OK
$STATE,12583,begin climb
$GC,12584,1.09,146.0,989.9,0.0,424,12717,1.48,0.00,126.22,1.436,6,0.064,0.000,2594,1862,2475,0,0,0,0,0,0
$GC,13030,1.09,146.0,953.8,8.2,435,13034,0.00,2.22,0.00,0.000,4,0.000,0.047,2594,780,2469,0,0,0,0,0,0
$GC,13078,1.09,146.0,949.1,10.1,436,13083,0.00,2.17,0.00,0.000,6,0.000,0.028,2593,1858,2469,0,0,0,0,0,0
$GC,13398,1.09,146.0,914.2,11.1,444,13401,0.00,2.22,0.00,0.000,4,0.000,0.051,2594,788,2467,0,0,0,0,0,0
$GC,13424,1.09,146.0,911.0,11.5,444,13429,0.00,2.17,0.00,0.000,6,0.000,0.028,2593,1864,2467,0,0,0,0,0,0
$GC,13767,1.09,146.0,874.8,10.3,453,13771,0.00,2.22,0.00,0.000,4,0.000,0.050,2594,791,2466,0,0,0,0,0,0
$GC,13799,1.09,146.0,871.1,10.8,453,13805,0.00,2.17,0.00,0.000,6,0.000,0.028,2594,1866,2466,0,0,0,0,0,0
$GC,14130,1.09,146.0,836.1,10.8,462,14131,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1870,2465,0,0,0,0,0,0
$GC,14455,1.09,146.0,799.7,11.3,470,14459,0.00,2.25,0.00,0.000,4,0.000,0.051,2594,791,2465,0,0,0,0,0,0
$GC,14481,1.09,146.0,796.4,11.6,470,14485,0.00,2.17,0.00,0.000,6,0.000,0.028,2594,1870,2465,0,0,0,0,0,0
$GC,14824,1.09,146.0,756.5,11.7,479,14825,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1872,2465,0,0,0,0,0,0
$GC,15148,1.09,146.0,720.0,10.9,487,15152,0.00,2.25,0.00,0.000,4,0.000,0.051,2594,775,2465,0,0,0,0,0,0
$GC,15175,1.09,146.0,716.8,11.2,487,15179,0.00,2.17,0.00,0.000,6,0.000,0.028,2594,1863,2465,0,0,0,0,0,0
$GC,15512,1.09,146.0,681.2,10.3,496,15513,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1867,2464,0,0,0,0,0,0
$GC,15837,1.09,146.0,649.2,9.6,504,15841,0.00,2.22,0.00,0.000,4,0.000,0.048,2594,774,2464,0,0,0,0,0,0
$GC,15857,1.09,146.0,647.0,9.4,504,15862,0.00,2.17,0.00,0.000,6,0.000,0.028,2594,1865,2464,0,0,0,0,0,0
$GC,16200,1.09,146.0,610.5,10.9,513,16201,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1867,2464,0,0,0,0,0,0
$GC,16525,1.09,146.0,572.8,11.4,521,16529,0.00,2.20,0.00,0.000,4,0.000,0.047,2594,791,2464,0,0,0,0,0,0
$GC,16551,1.09,146.0,569.7,12.3,521,16555,0.00,2.15,0.00,0.000,6,0.000,0.026,2594,1871,2464,0,0,0,0,0,0
$GC,16893,1.09,146.0,534.7,9.7,530,16894,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1874,2464,0,0,0,0,0,0
$GC,17218,1.09,146.0,500.8,10.5,538,17222,0.00,2.22,0.00,0.000,4,0.000,0.047,2594,779,2465,0,0,0,0,0,0
$GC,17251,1.09,146.0,497.1,10.2,538,17257,0.00,2.10,0.00,0.000,6,0.000,0.025,2594,1868,2464,0,0,0,0,0,0
$GC,17582,1.09,146.0,465.3,9.3,547,17585,0.00,2.00,0.00,0.000,4,0.000,0.034,2594,2915,2464,0,0,0,0,0,0
$GC,17659,1.09,146.0,458.3,8.6,548,17663,0.00,2.10,0.00,0.000,6,0.000,0.031,2594,1854,2466,0,0,0,0,0,0
$GC,17996,1.09,146.0,429.3,8.8,557,17997,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1853,2466,0,0,0,0,0,0
$GC,18321,1.09,146.0,397.4,9.6,565,18324,0.00,2.05,0.00,0.000,4,0.000,0.031,2594,2914,2466,0,0,0,0,0,0
$GC,18342,1.09,146.0,395.5,8.5,565,18346,0.00,2.10,0.00,0.000,6,0.000,0.031,2594,1855,2465,0,0,0,0,0,0
$GC,18690,1.09,146.0,366.4,8.0,574,18691,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1855,2466,0,0,0,0,0,0
$GC,19015,1.09,146.0,342.0,7.5,582,19018,0.00,2.03,0.00,0.000,4,0.000,0.031,2594,2908,2467,0,0,0,0,0,0
$GC,19098,1.10,147.1,335.8,7.0,583,19104,0.00,2.08,0.00,0.000,6,0.000,0.030,2594,1856,2467,0,0,0,0,0,0
$GC,19429,1.10,147.1,312.2,7.3,592,19433,0.00,2.17,0.00,0.000,4,0.000,0.049,2594,792,2468,0,0,0,0,0,0
$GC,19489,1.10,147.1,306.8,9.9,593,19493,0.00,2.10,0.00,0.000,6,0.000,0.021,2594,1865,2468,0,0,0,0,0,0
$GC,19820,1.12,163.1,282.8,6.5,607,19841,0.00,2.03,14.43,0.847,4,0.000,0.030,2594,2906,2404,0,0,0,0,0,0
$GC,19903,1.20,211.2,277.4,5.4,610,19950,0.12,2.03,39.60,0.882,6,0.064,0.028,2630,1858,2210,0,0,0,0,0,0
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$GC,20352,1.20,211.2,237.1,8.3,632,20357,0.00,2.10,0.00,0.000,6,0.000,0.020,2630,1867,2208,0,0,0,0,0,0
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$STATE,23040,end climb,SURFACE_DEPTH_REACHED
$STATE,23041,begin surface coast
$FINISH,2.2,1.011435
$STATE,23081,end surface coast,CONTROL_FINISHED_OK
$STATE,23081,begin surface
$SM_CCo,23100,43.80,0.565,0,0,1439,400.08
$SM_GC,3.10,0.00,0.00,43.80,0.000,0.000,0.565,360,2162,1439,-9.20,0.34,400.08
$IRIDIUM_FIX,1837.32,12420.55,040712,181822
$TT8_MAMPS,0.029146
$HUMID,1078863861
$TCM_TEMP,25.50
$XPDR_PINGS,46
$24V_AH,23.4,40.903
$10V_AH,10.0,23.404
$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,21.775,168.950,378.625,43.800,0.000,26.514,33.084,563.483,11.500,0.000,36.038,1956.984,17771.197,605.712,3287.737,307.574,33.370,2011.024,0.000,2613.832,0.000,0.545,0.000
$DEVICE_MAMPS,125.788,51.389,1498.718,565.279,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,606.949,0.000,0.000,0.000,0.000,0.000,0.000,725.700,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354948
$DATA_FILE_SIZE,33362,896
$CAP_FILE_SIZE,251412,0
$CFSIZE,260034560,239947776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100111,140706,1849.505,12419.613,27,1.7,27,-2.2