version: 66.06
glider: 146
mission: 8
dive: 263
start: 3 12 113 14 9 36
data:
$ID,146
$MISSION,8
$DIVE,263
$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,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,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,-312617.94
$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,49
$R_STBD_OVSHOOT,32
$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
$GPS1,140129,1928.152,-8113.881,40,1.1,46,-3.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-75.5
$GPS2,140842,1928.147,-8113.883,10,1.2,15,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.232,-0.117
$KALMAN_X,-23335.5,-53.9,-178.3,12255.1,-346.4
$KALMAN_Y,15832.0,530.4,296.7,-8182.1,-396.5
$MHEAD_RNG_PITCHd_Wd,120.7,12299,-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,-71.20,0.000,2,0.000,0.000,458,2183,3466,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.1,-3.3,9,125,13.70,2.58,-6.12,0.000,4,0.165,0.040,2979,3794,3786,0,0,0,0,0,0
$GC,149,-0.80,-146.0,18.8,-26.9,15,159,0.45,2.50,0.00,0.000,6,0.075,0.021,3084,2227,3788,0,0,0,0,0,0
$GC,434,-0.80,-146.0,52.2,-11.5,46,438,0.00,2.62,0.00,0.000,4,0.000,0.044,3084,630,3787,0,0,0,0,0,0
$GC,468,-0.80,-146.0,56.2,-11.3,48,473,0.00,2.47,0.00,0.000,6,0.000,0.016,3084,2241,3788,0,0,0,0,0,0
$GC,731,-0.80,-146.0,84.3,-10.6,72,735,0.00,2.62,0.00,0.000,4,0.000,0.042,3084,628,3788,0,0,0,0,0,0
$GC,761,-0.80,-146.0,87.7,-10.5,74,766,0.00,2.40,0.00,0.000,6,0.000,0.017,3084,2200,3788,0,0,0,0,0,0
$GC,1024,-0.80,-146.0,115.4,-9.9,98,1028,0.00,2.55,0.00,0.000,4,0.000,0.042,3084,632,3789,0,0,0,0,0,0
$GC,1055,-0.84,-146.0,118.5,-10.2,100,1060,0.00,2.38,0.00,0.000,6,0.000,0.025,3084,2189,3789,0,0,0,0,0,0
$GC,1318,-0.94,-146.0,141.8,-7.4,124,1323,0.12,2.53,0.00,0.000,4,0.066,0.033,3026,3782,3790,0,0,0,0,0,0
$GC,1340,-1.01,-146.0,143.4,-8.1,125,1344,0.00,2.50,0.00,0.000,6,0.000,0.027,3026,2176,3790,0,0,0,0,0,0
$GC,1605,-1.01,-146.0,166.1,-8.3,149,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2176,3790,0,0,0,0,0,0
$GC,1870,-1.05,-146.0,187.2,-7.7,174,1874,0.00,2.50,0.00,0.000,4,0.000,0.051,3026,644,3790,0,0,0,0,0,0
$GC,1899,-1.09,-146.0,189.8,-8.1,176,1904,0.00,2.40,0.00,0.000,6,0.000,0.018,3026,2204,3790,0,0,0,0,0,0
$GC,2166,-1.14,-146.0,208.6,-6.8,192,2170,0.00,2.47,0.00,0.000,4,0.000,0.034,3027,3772,3791,0,0,0,0,0,0
$GC,2196,-1.20,-146.0,210.5,-7.0,192,2201,0.12,2.45,0.00,0.000,6,0.065,0.018,2965,2196,3791,0,0,0,0,0,0
$GC,2446,-1.15,-146.0,234.7,-9.9,198,2451,0.20,2.55,0.00,0.000,4,0.083,0.053,3012,644,3791,0,0,0,0,0,0
$GC,2470,-1.15,-146.0,236.8,-8.8,198,2474,0.00,2.40,0.00,0.000,6,0.000,0.020,3012,2205,3791,0,0,0,0,0,0
$GC,2728,-1.19,-146.0,256.6,-7.7,205,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2205,3791,0,0,0,0,0,0
$GC,2969,-1.23,-146.0,274.3,-7.0,211,2974,0.00,2.50,0.00,0.000,4,0.000,0.041,3012,3775,3790,0,0,0,0,0,0
$GC,2992,-1.28,-146.0,275.9,-6.9,211,2997,0.15,2.47,0.00,0.000,6,0.057,0.026,2951,2195,3790,0,0,0,0,0,0
$GC,3250,-1.22,-146.0,298.9,-9.2,218,3252,0.20,0.00,0.00,0.000,6,0.081,0.000,2998,2196,3790,0,0,0,0,0,0
$GC,3491,-1.22,-146.0,317.6,-7.6,224,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2195,3789,0,0,0,0,0,0
$GC,3735,-1.22,-146.0,337.0,-7.8,230,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2196,3788,0,0,0,0,0,0
$GC,3981,-1.22,-146.0,356.6,-8.1,236,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2196,3788,0,0,0,0,0,0
$GC,4222,-1.22,-146.0,375.9,-7.9,242,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2196,3787,0,0,0,0,0,0
$GC,4466,-1.22,-146.0,394.3,-7.5,248,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2196,3786,0,0,0,0,0,0
$GC,4712,-1.26,-146.0,413.0,-7.7,254,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2195,3785,0,0,0,0,0,0
$GC,4954,-1.29,-146.0,432.2,-7.9,260,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2195,3785,0,0,0,0,0,0
$GC,5197,-1.33,-146.0,451.0,-7.6,266,5203,0.12,2.65,0.00,0.000,4,0.067,0.052,2948,3769,3783,0,0,0,0,0,0
$GC,5221,-1.33,-146.0,453.1,-9.0,266,5226,0.10,2.53,0.00,0.000,6,0.109,0.035,2971,2221,3783,0,0,0,0,0,0
$GC,5478,-1.33,-146.0,473.9,-8.0,273,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2221,3782,0,0,0,0,0,0
$GC,5720,-1.33,-146.0,493.8,-8.2,279,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2221,3781,0,0,0,0,0,0
$GC,5964,-1.33,-146.0,514.3,-8.4,285,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2221,3780,0,0,0,0,0,0
$GC,6210,-1.33,-146.0,534.3,-8.1,291,6214,0.00,2.90,0.00,0.000,4,0.000,0.107,2971,623,3779,0,0,0,0,0,0
$GC,6225,-1.33,-146.0,535.8,-8.0,291,6230,0.00,2.55,0.00,0.000,6,0.000,0.048,2971,2174,3778,0,0,0,0,0,0
$GC,6486,-1.33,-146.0,556.1,-7.7,298,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2174,3777,0,0,0,0,0,0
$GC,6732,-1.33,-146.0,574.9,-7.7,304,6737,0.00,2.85,0.00,0.000,4,0.000,0.092,2971,3792,3777,0,0,0,0,0,0
$GC,6759,-1.33,-146.0,577.4,-8.8,304,6764,0.00,2.67,0.00,0.000,6,0.000,0.055,2971,2208,3777,0,0,0,0,0,0
$GC,7009,-1.33,-146.0,596.8,-7.7,310,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2208,3775,0,0,0,0,0,0
$GC,7253,-1.33,-146.0,615.9,-7.9,316,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2208,3774,0,0,0,0,0,0
$GC,7499,-1.33,-146.0,635.6,-8.2,322,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2208,3772,0,0,0,0,0,0
$GC,7740,-1.33,-146.0,656.8,-8.8,328,7745,0.00,2.90,0.00,0.000,4,0.000,0.104,2971,3790,3771,0,0,0,0,0,0
$GC,7762,-1.33,-146.0,658.9,-9.2,328,7766,0.00,2.83,0.00,0.000,6,0.000,0.087,2971,2206,3771,0,0,0,0,0,0
$GC,8021,-1.33,-146.0,681.9,-8.9,335,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2206,3769,0,0,0,0,0,0
$GC,8263,-1.33,-146.0,702.8,-8.6,341,8268,0.00,3.00,0.00,0.000,4,0.000,0.121,2971,3789,3768,0,0,0,0,0,0
$GC,8279,-1.33,-146.0,704.3,-8.7,341,8283,0.00,2.80,0.00,0.000,6,0.000,0.074,2971,2195,3768,0,0,0,0,0,0
$GC,8539,-1.33,-146.0,726.6,-8.6,348,8540,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2195,3767,0,0,0,0,0,0
$GC,8785,-1.33,-146.0,746.8,-8.2,354,8790,0.00,2.85,0.00,0.000,4,0.000,0.086,2971,3799,3765,0,0,0,0,0,0
$GC,8807,-1.33,-146.0,748.9,-8.3,354,8811,0.00,2.78,0.00,0.000,6,0.000,0.074,2971,2204,3765,0,0,0,0,0,0
$GC,9062,-1.33,-146.0,770.2,-8.3,361,9066,0.00,2.83,0.00,0.000,4,0.000,0.084,2971,3792,3764,0,0,0,0,0,0
$GC,9097,-1.33,-146.0,773.0,-9.2,361,9102,0.00,2.72,0.00,0.000,6,0.000,0.067,2971,2214,3764,0,0,0,0,0,0
$GC,9349,-1.33,-146.0,792.9,-7.8,368,9350,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2214,3762,0,0,0,0,0,0
$GC,9590,-1.33,-146.0,811.3,-7.6,374,9595,0.00,2.78,0.00,0.000,4,0.000,0.085,2971,3793,3762,0,0,0,0,0,0
$GC,9625,-1.33,-146.0,814.1,-8.1,374,9631,0.00,2.72,0.00,0.000,6,0.000,0.066,2971,2221,3762,0,0,0,0,0,0
$GC,9875,-1.33,-146.0,833.0,-7.5,381,9876,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2221,3761,0,0,0,0,0,0
$GC,10119,-1.33,-146.0,851.5,-7.6,387,10120,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2221,3760,0,0,0,0,0,0
$GC,10362,-1.33,-146.0,870.4,-7.8,393,10364,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2221,3758,0,0,0,0,0,0
$GC,10608,-1.33,-146.0,888.3,-7.3,399,10613,0.00,2.75,0.00,0.000,4,0.000,0.078,2971,3794,3757,0,0,0,0,0,0
$GC,10641,-1.33,-146.0,891.1,-8.2,399,10646,0.00,2.70,0.00,0.000,6,0.000,0.061,2971,2226,3757,0,0,0,0,0,0
$STATE,10766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10766,begin apogee
$GC,10773,-0.31,0.0,900.4,7.4,403,10896,0.95,0.00,119.45,1.216,6,0.069,0.000,3190,2385,3190,0,0,0,0,0,0
$STATE,10896,end apogee,CONTROL_FINISHED_OK
$STATE,10896,begin climb
$GC,10901,1.27,146.0,903.1,0.0,406,11037,1.45,2.80,126.35,1.183,4,0.036,0.074,3546,3920,2593,0,0,0,0,0,0
$GC,11119,1.14,146.0,888.0,11.6,411,11124,0.17,2.70,0.00,0.000,6,0.111,0.051,3509,2363,2588,0,0,0,0,0,0
$GC,11397,1.14,147.5,860.2,9.9,418,11402,0.00,2.70,0.00,0.000,4,0.000,0.060,3509,3927,2585,0,0,0,0,0,0
$GC,11419,1.08,153.8,858.0,9.7,418,11435,0.00,2.65,7.15,0.928,6,0.000,0.049,3509,2370,2563,0,0,0,0,0,0
$GC,11681,1.10,166.2,833.4,9.4,425,11695,0.00,0.00,12.48,1.042,6,0.000,0.000,3509,2370,2512,0,0,0,0,0,0
$GC,11922,1.11,174.1,809.8,9.6,431,11933,0.00,0.00,8.43,0.966,6,0.000,0.000,3509,2370,2479,0,0,0,0,0,0
$GC,12166,1.11,177.4,786.1,9.8,437,12176,0.00,2.70,4.53,0.760,4,0.000,0.057,3510,3933,2466,0,0,0,0,0,0
$GC,12223,1.08,177.4,780.3,11.3,438,12227,0.00,2.65,0.00,0.000,6,0.000,0.045,3509,2373,2465,0,0,0,0,0,0
$GC,12489,1.08,181.6,754.1,9.8,445,12500,0.00,2.70,5.28,0.818,4,0.000,0.057,3510,3933,2448,0,0,0,0,0,0
$GC,12541,1.08,181.6,748.6,10.7,446,12545,0.00,2.65,0.00,0.000,6,0.000,0.043,3509,2373,2448,0,0,0,0,0,0
$GC,12812,1.08,181.6,720.8,10.2,453,12817,0.00,2.67,0.00,0.000,4,0.000,0.055,3509,3935,2447,0,0,0,0,0,0
$GC,12839,1.08,181.6,717.6,10.4,453,12844,0.00,2.62,0.00,0.000,6,0.000,0.043,3509,2383,2446,0,0,0,0,0,0
$GC,13092,1.08,181.6,691.9,10.2,459,13093,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2383,2446,0,0,0,0,0,0
$GC,13333,1.09,184.8,667.8,9.9,465,13343,0.00,2.67,4.15,0.687,4,0.000,0.060,3509,3937,2436,0,0,0,0,0,0
$GC,13371,1.09,184.8,663.7,10.6,465,13377,0.00,2.62,0.00,0.000,6,0.000,0.042,3509,2380,2436,0,0,0,0,0,0
$GC,13624,1.09,191.2,639.3,9.7,472,13638,0.00,2.70,7.45,0.880,4,0.000,0.052,3509,3925,2410,0,0,0,0,0,0
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$GC,18809,1.53,291.9,107.8,8.6,660,18847,0.17,2.80,27.75,0.574,4,0.055,0.048,3606,784,1999,0,0,0,0,0,0
$GC,18866,1.53,291.9,102.1,10.2,664,18875,0.00,2.65,0.00,0.000,6,0.000,0.021,3606,2438,1997,0,0,0,0,0,0
$GC,19132,1.53,291.9,71.8,11.5,689,19141,0.00,0.00,0.00,0.000,6,0.000,0.000,3606,2438,1997,0,0,0,0,0,0
$GC,19401,1.53,291.9,39.1,11.9,714,19409,0.00,0.00,0.00,0.000,6,0.000,0.000,3606,2438,1998,0,0,0,0,0,0
$STATE,19683,end climb,SURFACE_DEPTH_REACHED
$STATE,19683,begin surface coast
$FINISH,1.1,1.022939
$STATE,19726,end surface coast,CONTROL_FINISHED_OK
$STATE,19726,begin surface
$SM_CCo,19751,47.72,0.493,0,0,1763,350.04
$SM_GC,1.64,0.00,0.00,47.72,0.000,0.000,0.493,457,2185,1763,-12.90,-0.71,350.04
$IRIDIUM_FIX,1920.65,-8116.97,060602,080859
$TT8_MAMPS,0.026078
$HUMID,58.86
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.20
$XPDR_PINGS,54
$24V_AH,23.3,37.182
$10V_AH,10.3,32.769
$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
$DEVICE_SECS,30.550,179.825,392.700,47.725,0.000,25.602,35.681,199.940,13.500,0.000,16.558,1542.555,15061.097,558.683,2312.917,746.918,33.361,1521.236,0.000,2315.045,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,514.495,368.629,462.481,613.537,1169.612,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355872
$DATA_FILE_SIZE,57302,759
$CAP_FILE_SIZE,165057,0
$CFSIZE,260165632,110051328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120313,194059,1927.492,-8111.691,41,1.3,41,-3.8