version: 66.06
glider: 146
mission: 8
dive: 204
start: 2 27 113 9 47 54
data:
$ID,146
$MISSION,8
$DIVE,204
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,960
$D_NO_BLEED,200
$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,300
$T_MISSION,620
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,52423
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,0
$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,2225
$TGT_DEFAULT_LON,-8113.5
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-311361.41
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3260
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,73
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3190
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.560358
$PRESSURE_SLOPE,0.000115925
$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,5
$ALTIM_FREQUENCY,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.0043571657
$SEABIRD_T_H,0.00063262874
$SEABIRD_T_I,2.5277763e-05
$SEABIRD_T_J,2.8683949e-06
$SEABIRD_C_G,-9.9054022
$SEABIRD_C_H,1.142597
$SEABIRD_C_I,-0.0022074829
$SEABIRD_C_J,0.00025491611
$GPS1,094006,1927.222,-8112.448,34,1.1,34,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-75.6
$GPS2,094700,1927.245,-8112.426,9,1.2,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,-0.151
$KALMAN_X,8115.3,182.1,-104.5,-16961.5,554.8
$KALMAN_Y,-1353.1,652.6,110.6,7393.2,-144.5
$MHEAD_RNG_PITCHd_Wd,129.3,9254,-17.5,-10.000
$D_GRID,900
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-70.88,0.000,2,0.000,0.000,458,2162,3483,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.5,-4.7,9,123,13.75,2.42,-5.57,0.000,4,0.166,0.055,2977,671,3786,0,0,0,0,0,0
$GC,154,-0.89,-146.0,22.3,-26.9,16,163,0.35,2.42,0.00,0.000,6,0.084,0.016,3059,2229,3787,0,0,0,0,0,0
$GC,432,-0.85,-146.0,59.7,-12.4,44,437,0.00,2.55,0.00,0.000,4,0.000,0.043,3059,667,3787,0,0,0,0,0,0
$GC,478,-0.85,-146.0,66.1,-13.1,47,483,0.00,2.38,0.00,0.000,6,0.000,0.016,3059,2210,3787,0,0,0,0,0,0
$GC,745,-0.80,-146.0,98.5,-12.8,71,750,0.12,2.53,0.00,0.000,4,0.104,0.045,3088,674,3788,0,0,0,0,0,0
$GC,779,-0.80,-146.0,102.5,-11.5,73,783,0.00,2.33,0.00,0.000,6,0.000,0.015,3088,2207,3788,0,0,0,0,0,0
$GC,1047,-0.87,-146.0,128.4,-8.7,98,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2207,3788,0,0,0,0,0,0
$GC,1304,-1.00,-146.0,146.4,-6.7,122,1309,0.20,2.47,0.00,0.000,4,0.046,0.031,3011,3770,3789,0,0,0,0,0,0
$GC,1372,-1.00,-146.0,152.5,-9.2,127,1377,0.12,2.35,0.00,0.000,6,0.093,0.020,3043,2252,3789,0,0,0,0,0,0
$GC,1637,-1.07,-146.0,172.6,-7.4,151,1642,0.00,2.62,0.00,0.000,4,0.000,0.048,3042,639,3790,0,0,0,0,0,0
$GC,1686,-1.15,-146.0,176.6,-8.0,154,1692,0.15,2.40,0.00,0.000,6,0.056,0.021,2976,2220,3790,0,0,0,0,0,0
$GC,1970,-1.10,-146.0,204.6,-9.8,178,1972,0.20,0.00,0.00,0.000,6,0.083,0.000,3022,2221,3790,0,0,0,0,0,0
$GC,2210,-1.15,-146.0,223.1,-7.5,184,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2221,3790,0,0,0,0,0,0
$GC,2456,-1.21,-146.0,241.1,-7.2,190,2458,0.10,0.00,0.00,0.000,6,0.079,0.000,2974,2221,3790,0,0,0,0,0,0
$GC,2697,-1.21,-146.0,263.3,-9.3,196,2699,0.10,0.00,0.00,0.000,6,0.109,0.000,2997,2221,3790,0,0,0,0,0,0
$GC,2941,-1.21,-146.0,283.4,-8.2,202,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2221,3790,0,0,0,0,0,0
$GC,3185,-1.21,-146.0,303.0,-7.9,208,3189,0.00,2.62,0.00,0.000,4,0.000,0.061,2997,641,3789,0,0,0,0,0,0
$GC,3214,-1.21,-146.0,305.2,-7.9,208,3219,0.00,2.42,0.00,0.000,6,0.000,0.030,2997,2201,3789,0,0,0,0,0,0
$GC,3464,-1.21,-146.0,323.9,-7.2,214,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2201,3789,0,0,0,0,0,0
$GC,3708,-1.21,-146.0,342.7,-7.8,220,3709,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2201,3788,0,0,0,0,0,0
$GC,3954,-1.21,-146.0,361.6,-7.8,226,3958,0.00,2.65,0.00,0.000,4,0.000,0.060,2997,639,3787,0,0,0,0,0,0
$GC,3969,-1.21,-146.0,363.2,-8.0,226,3974,0.00,2.47,0.00,0.000,6,0.000,0.025,2997,2204,3787,0,0,0,0,0,0
$GC,4230,-1.21,-146.0,383.7,-7.7,233,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2205,3786,0,0,0,0,0,0
$GC,4474,-1.21,-146.0,402.5,-7.9,239,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2204,3785,0,0,0,0,0,0
$GC,4721,-1.25,-146.0,421.1,-7.6,245,4725,0.00,2.60,0.00,0.000,4,0.000,0.056,2997,3786,3784,0,0,0,0,0,0
$GC,4742,-1.28,-146.0,423.1,-8.1,245,4747,0.00,2.53,0.00,0.000,6,0.000,0.030,2997,2224,3784,0,0,0,0,0,0
$GC,4998,-1.33,-146.0,442.6,-7.6,252,5000,0.12,0.00,0.00,0.000,6,0.066,0.000,2945,2224,3784,0,0,0,0,0,0
$GC,5244,-1.27,-146.0,466.8,-10.2,258,5249,0.17,2.88,0.00,0.000,4,0.089,0.092,2984,626,3783,0,0,0,0,0,0
$GC,5271,-1.27,-146.0,469.8,-9.4,258,5276,0.00,2.55,0.00,0.000,6,0.000,0.038,2984,2198,3782,0,0,0,0,0,0
$GC,5522,-1.27,-146.0,489.4,-7.5,264,5526,0.00,2.70,0.00,0.000,4,0.000,0.065,2984,3796,3781,0,0,0,0,0,0
$GC,5545,-1.27,-146.0,491.1,-7.6,264,5550,0.00,2.60,0.00,0.000,6,0.000,0.041,2984,2206,3781,0,0,0,0,0,0
$GC,5800,-1.27,-146.0,510.3,-7.5,271,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2206,3780,0,0,0,0,0,0
$GC,6044,-1.27,-146.0,528.9,-7.6,277,6048,0.00,2.72,0.00,0.000,4,0.000,0.064,2984,3797,3778,0,0,0,0,0,0
$GC,6067,-1.27,-146.0,530.6,-7.6,277,6072,0.00,2.65,0.00,0.000,6,0.000,0.052,2984,2203,3779,0,0,0,0,0,0
$GC,6324,-1.27,-146.0,549.7,-7.4,284,6325,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2202,3778,0,0,0,0,0,0
$GC,6566,-1.27,-146.0,567.9,-7.5,290,6571,0.00,2.72,0.00,0.000,4,0.000,0.069,2984,3790,3777,0,0,0,0,0,0
$GC,6591,-1.27,-146.0,569.7,-8.4,290,6596,0.00,2.67,0.00,0.000,6,0.000,0.058,2985,2211,3777,0,0,0,0,0,0
$GC,6846,-1.27,-146.0,589.8,-7.8,297,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2211,3776,0,0,0,0,0,0
$GC,7090,-1.27,-146.0,608.1,-7.5,303,7091,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2211,3774,0,0,0,0,0,0
$GC,7333,-1.27,-146.0,625.5,-7.1,309,7338,0.00,2.85,0.00,0.000,4,0.000,0.087,2984,3797,3773,0,0,0,0,0,0
$GC,7351,-1.27,-146.0,626.7,-7.2,309,7356,0.00,2.78,0.00,0.000,6,0.000,0.074,2984,2209,3773,0,0,0,0,0,0
$GC,7612,-1.27,-146.0,646.4,-7.6,316,7613,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2209,3771,0,0,0,0,0,0
$GC,7856,-1.31,-146.0,664.8,-7.6,322,7857,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2209,3770,0,0,0,0,0,0
$GC,8102,-1.34,-146.0,683.2,-7.6,328,8103,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2209,3769,0,0,0,0,0,0
$GC,8343,-1.39,-146.0,701.9,-7.7,334,8349,0.12,3.00,0.00,0.000,4,0.069,0.117,2941,3787,3768,0,0,0,0,0,0
$GC,8366,-1.39,-146.0,704.0,-9.1,334,8370,0.00,2.85,0.00,0.000,6,0.000,0.091,2940,2222,3768,0,0,0,0,0,0
$GC,8623,-1.34,-146.0,726.6,-8.8,341,8625,0.12,0.00,0.00,0.000,6,0.105,0.000,2968,2222,3766,0,0,0,0,0,0
$GC,8864,-1.34,-146.0,745.4,-7.7,347,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2220,3765,0,0,0,0,0,0
$GC,9108,-1.34,-146.0,764.1,-7.7,353,9113,0.00,2.83,0.00,0.000,4,0.000,0.093,2968,3793,3763,0,0,0,0,0,0
$GC,9124,-1.34,-146.0,765.5,-7.7,353,9128,0.00,2.75,0.00,0.000,6,0.000,0.073,2968,2218,3763,0,0,0,0,0,0
$GC,9387,-1.34,-146.0,784.9,-7.4,360,9391,0.00,2.80,0.00,0.000,4,0.000,0.082,2968,3794,3763,0,0,0,0,0,0
$GC,9408,-1.34,-146.0,786.7,-7.2,360,9412,0.00,2.75,0.00,0.000,6,0.000,0.067,2968,2218,3762,0,0,0,0,0,0
$GC,9663,-1.34,-146.0,805.8,-7.6,367,9668,0.00,2.78,0.00,0.000,4,0.000,0.084,2968,3790,3761,0,0,0,0,0,0
$GC,9681,-1.34,-146.0,807.2,-7.9,367,9686,0.00,2.70,0.00,0.000,6,0.000,0.071,2968,2231,3761,0,0,0,0,0,0
$GC,9942,-1.34,-146.0,828.7,-8.2,374,9946,0.00,2.75,0.00,0.000,4,0.000,0.084,2968,3791,3760,0,0,0,0,0,0
$GC,9963,-1.34,-146.0,830.6,-8.8,374,9968,0.00,2.70,0.00,0.000,6,0.000,0.071,2968,2236,3760,0,0,0,0,0,0
$GC,10221,-1.34,-146.0,850.0,-7.4,381,10225,0.00,2.75,0.00,0.000,4,0.000,0.083,2968,3794,3759,0,0,0,0,0,0
$GC,10242,-1.34,-146.0,851.9,-8.3,381,10247,0.00,2.70,0.00,0.000,6,0.000,0.068,2968,2237,3759,0,0,0,0,0,0
$GC,10498,-1.34,-146.0,870.1,-7.0,388,10499,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2236,3758,0,0,0,0,0,0
$GC,10744,-1.34,-146.0,887.1,-6.9,394,10745,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2236,3756,0,0,0,0,0,0
$STATE,10942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10942,begin apogee
$GC,10948,-0.31,0.0,901.5,7.2,399,11071,0.98,0.00,119.62,1.216,6,0.069,0.000,3192,2380,3190,0,0,0,0,0,0
$STATE,11072,end apogee,CONTROL_FINISHED_OK
$STATE,11072,begin climb
$GC,11075,1.27,146.0,904.6,0.0,402,11211,1.42,2.72,126.97,1.187,4,0.035,0.077,3543,3924,2592,0,0,0,0,0,0
$GC,11291,1.13,146.0,889.8,12.5,407,11297,0.17,2.70,0.00,0.000,6,0.115,0.051,3508,2368,2588,0,0,0,0,0,0
$GC,11572,1.09,152.4,862.4,9.7,414,11583,0.00,2.72,5.88,0.871,4,0.000,0.066,3509,3927,2567,0,0,0,0,0,0
$GC,11605,1.01,152.4,858.5,10.3,414,11612,0.12,2.67,0.00,0.000,6,0.125,0.052,3483,2368,2566,0,0,0,0,0,0
$GC,11857,1.05,182.2,836.7,8.6,421,11892,0.00,3.20,27.73,1.114,4,0.000,0.123,3483,786,2446,0,0,0,0,0,0
$GC,11903,1.07,202.3,832.1,9.1,422,11929,0.00,2.70,19.92,1.084,6,0.000,0.046,3483,2370,2365,0,0,0,0,0,0
$GC,12179,1.07,202.9,804.9,10.0,429,12180,0.00,0.00,0.00,0.000,6,0.000,0.000,3483,2370,2360,0,0,0,0,0,0
$GC,12425,1.09,212.5,781.4,9.6,435,12440,0.00,2.75,10.05,0.995,4,0.000,0.071,3483,3932,2323,0,0,0,0,0,0
$GC,12463,1.09,213.5,777.5,10.0,436,12468,0.00,2.65,0.00,0.000,6,0.000,0.041,3483,2363,2322,0,0,0,0,0,0
$GC,12749,1.15,228.7,751.2,9.3,443,12774,0.12,3.10,16.30,1.046,4,0.076,0.116,3518,778,2257,0,0,0,0,0,0
$GC,12796,1.10,228.7,745.5,12.2,444,12801,0.00,2.67,0.00,0.000,6,0.000,0.041,3518,2371,2256,0,0,0,0,0,0
$GC,13073,1.10,228.7,712.3,12.2,451,13078,0.00,2.67,0.00,0.000,4,0.000,0.069,3518,3932,2254,0,0,0,0,0,0
$GC,13125,1.10,228.7,705.9,12.4,452,13129,0.00,2.62,0.00,0.000,6,0.000,0.039,3518,2370,2253,0,0,0,0,0,0
$GC,13396,1.10,228.7,672.5,12.3,459,13397,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2370,2252,0,0,0,0,0,0
$GC,13640,1.10,228.7,643.7,11.8,465,13641,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2370,2252,0,0,0,0,0,0
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$GC,18170,1.41,292.0,126.2,8.6,624,18208,0.00,2.55,27.35,0.589,4,0.000,0.038,3561,3920,1998,0,0,0,0,0,0
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$GC,19087,1.53,297.5,26.4,11.6,706,19096,0.00,2.75,0.00,0.000,4,0.000,0.048,3606,783,1975,0,0,0,0,0,0
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$STATE,19263,end climb,SURFACE_DEPTH_REACHED
$STATE,19263,begin surface coast
$FINISH,1.1,1.003259
$STATE,19307,end surface coast,CONTROL_FINISHED_OK
$STATE,19307,begin surface
$SM_CCo,19332,43.58,0.489,0,0,1763,350.04
$SM_GC,1.88,0.00,0.00,43.58,0.000,0.000,0.489,461,2180,1763,-12.88,-0.85,350.04
$IRIDIUM_FIX,1920.65,-8058.20,240502,040447
$TT8_MAMPS,0.026078
$HUMID,58.03
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.50
$XPDR_PINGS,66
$24V_AH,23.3,28.657
$10V_AH,10.3,25.303
$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,31.250,215.250,391.350,43.575,0.000,31.100,36.024,179.849,16.500,0.000,15.961,1546.797,14656.374,548.667,2304.359,725.694,33.363,1545.843,0.000,2293.841,0.000,0.536,0.000
$DEVICE_MAMPS,166.439,148.031,1216.462,489.346,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,499.733,343.587,440.946,572.743,1089.675,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355872
$DATA_FILE_SIZE,57279,737
$CAP_FILE_SIZE,173914,0
$CFSIZE,260165632,114298880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270213,151206,1926.294,-8109.825,33,1.2,33,-3.8