version: 66.06
glider: 146
mission: 8
dive: 332
start: 3 27 113 17 11 55
data:
$ID,146
$MISSION,8
$DIVE,332
$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,-313958
$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,34
$R_STBD_OVSHOOT,41
$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
$GPS1,165705,1928.618,-8111.671,139,1.2,139,-3.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-72.4
$GPS2,171101,1928.545,-8111.782,10,1.4,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.132,-0.224
$KALMAN_X,-129561.1,-314.5,-130.7,122365.0,-1568.9
$KALMAN_Y,88705.6,73.6,-220.1,-79334.1,3121.5
$MHEAD_RNG_PITCHd_Wd,153.3,9989,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-63.00,0.000,2,0.000,0.000,462,2201,3288,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.1,-3.7,8,122,13.32,2.60,-10.50,0.000,4,0.154,0.053,2978,640,3787,0,0,0,0,0,0
$GC,193,-1.05,-146.0,24.2,-19.6,22,201,0.20,2.45,0.00,0.000,6,0.080,0.015,3027,2226,3787,0,0,0,0,0,0
$GC,466,-0.95,-146.0,63.9,-13.2,49,471,0.12,2.65,0.00,0.000,4,0.112,0.044,3054,633,3788,0,0,0,0,0,0
$GC,489,-0.86,-146.0,67.3,-13.4,50,493,0.00,2.40,0.00,0.000,6,0.000,0.015,3054,2220,3788,0,0,0,0,0,0
$GC,754,-0.81,-146.0,99.2,-12.1,74,759,0.12,2.65,0.00,0.000,4,0.107,0.049,3082,627,3788,0,0,0,0,0,0
$GC,798,-0.81,-146.0,104.4,-11.6,77,803,0.00,2.38,0.00,0.000,6,0.000,0.016,3082,2194,3788,0,0,0,0,0,0
$GC,1067,-0.81,-146.0,132.4,-10.6,101,1071,0.00,2.55,0.00,0.000,4,0.000,0.045,3082,631,3788,0,0,0,0,0,0
$GC,1099,-0.81,-146.0,136.1,-10.9,103,1104,0.00,2.35,0.00,0.000,6,0.000,0.024,3082,2192,3788,0,0,0,0,0,0
$GC,1369,-0.89,-146.0,161.2,-8.3,127,1373,0.00,2.55,0.00,0.000,4,0.000,0.044,3082,635,3789,0,0,0,0,0,0
$GC,1397,-1.02,-146.0,164.1,-8.7,129,1402,0.17,2.33,0.00,0.000,6,0.051,0.017,3012,2174,3789,0,0,0,0,0,0
$GC,1661,-1.02,-146.0,189.8,-9.6,153,1666,0.12,2.53,0.00,0.000,4,0.099,0.035,3041,3772,3789,0,0,0,0,0,0
$GC,1691,-1.06,-146.0,192.5,-8.4,155,1695,0.00,2.50,0.00,0.000,6,0.000,0.021,3041,2162,3789,0,0,0,0,0,0
$GC,1955,-1.13,-146.0,210.7,-6.3,168,1960,0.12,2.58,0.00,0.000,4,0.065,0.038,2985,3767,3789,0,0,0,0,0,0
$GC,2019,-1.13,-146.0,216.9,-10.4,169,2024,0.12,2.45,0.00,0.000,6,0.093,0.019,3017,2177,3789,0,0,0,0,0,0
$GC,2280,-1.17,-146.0,238.7,-7.9,176,2284,0.00,2.53,0.00,0.000,4,0.000,0.058,3017,646,3789,0,0,0,0,0,0
$GC,2332,-1.24,-146.0,242.7,-7.6,177,2337,0.12,2.33,0.00,0.000,6,0.065,0.019,2960,2172,3789,0,0,0,0,0,0
$GC,2605,-1.19,-146.0,268.4,-9.4,184,2610,0.17,2.58,0.00,0.000,4,0.083,0.044,3001,3776,3789,0,0,0,0,0,0
$GC,2663,-1.23,-146.0,273.1,-7.9,185,2668,0.00,2.47,0.00,0.000,6,0.000,0.021,3001,2185,3789,0,0,0,0,0,0
$GC,2929,-1.23,-146.0,292.1,-7.1,192,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2185,3788,0,0,0,0,0,0
$GC,3176,-1.23,-146.0,310.8,-7.9,198,3180,0.00,2.55,0.00,0.000,4,0.000,0.044,3001,3768,3788,0,0,0,0,0,0
$GC,3218,-1.27,-146.0,314.5,-9.5,199,3222,0.00,2.50,0.00,0.000,6,0.000,0.023,3001,2186,3788,0,0,0,0,0,0
$GC,3501,-1.27,-146.0,338.4,-8.3,206,3505,0.00,2.62,0.00,0.000,4,0.000,0.071,3001,631,3787,0,0,0,0,0,0
$GC,3528,-1.27,-146.0,340.9,-9.4,206,3532,0.00,2.40,0.00,0.000,6,0.000,0.026,3001,2161,3787,0,0,0,0,0,0
$GC,3780,-1.27,-146.0,360.6,-7.8,212,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2161,3785,0,0,0,0,0,0
$GC,4022,-1.27,-146.0,380.0,-8.1,218,4026,0.00,2.67,0.00,0.000,4,0.000,0.053,3001,3787,3784,0,0,0,0,0,0
$GC,4043,-1.31,-146.0,381.9,-8.8,218,4049,0.12,2.53,0.00,0.000,6,0.066,0.034,2949,2195,3785,0,0,0,0,0,0
$GC,4301,-1.24,-146.0,407.3,-10.1,225,4303,0.17,0.00,0.00,0.000,6,0.087,0.000,2990,2195,3783,0,0,0,0,0,0
$GC,4543,-1.24,-146.0,427.3,-8.0,231,4547,0.00,2.62,0.00,0.000,4,0.000,0.050,2990,3786,3783,0,0,0,0,0,0
$GC,4575,-1.24,-146.0,430.1,-8.5,231,4581,0.00,2.60,0.00,0.000,6,0.000,0.042,2989,2190,3783,0,0,0,0,0,0
$GC,4825,-1.24,-146.0,449.8,-7.9,238,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2190,3781,0,0,0,0,0,0
$GC,5071,-1.24,-146.0,467.8,-7.3,244,5076,0.00,2.67,0.00,0.000,4,0.000,0.057,2990,3787,3780,0,0,0,0,0,0
$GC,5098,-1.24,-146.0,470.0,-7.2,244,5103,0.00,2.65,0.00,0.000,6,0.000,0.050,2990,2188,3780,0,0,0,0,0,0
$GC,5348,-1.24,-146.0,487.6,-7.1,250,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2188,3779,0,0,0,0,0,0
$GC,5594,-1.24,-146.0,505.1,-7.3,256,5599,0.00,2.70,0.00,0.000,4,0.000,0.061,2990,3781,3777,0,0,0,0,0,0
$GC,5610,-1.24,-146.0,506.6,-7.5,256,5615,0.00,2.62,0.00,0.000,6,0.000,0.048,2990,2199,3777,0,0,0,0,0,0
$GC,5871,-1.24,-146.0,526.9,-8.0,263,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2199,3777,0,0,0,0,0,0
$GC,6117,-1.24,-146.0,547.4,-8.5,269,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2199,3775,0,0,0,0,0,0
$GC,6358,-1.24,-146.0,568.4,-8.6,275,6363,0.00,2.75,0.00,0.000,4,0.000,0.081,2989,3777,3774,0,0,0,0,0,0
$GC,6380,-1.24,-146.0,570.4,-8.8,275,6384,0.00,2.67,0.00,0.000,6,0.000,0.054,2990,2202,3774,0,0,0,0,0,0
$GC,6635,-1.24,-146.0,592.0,-8.4,282,6636,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2202,3772,0,0,0,0,0,0
$GC,6881,-1.24,-146.0,611.9,-8.1,288,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2202,3770,0,0,0,0,0,0
$GC,7122,-1.24,-146.0,631.5,-8.1,294,7127,0.00,2.80,0.00,0.000,4,0.000,0.087,2990,3779,3769,0,0,0,0,0,0
$GC,7143,-1.24,-146.0,633.3,-8.0,294,7148,0.00,2.75,0.00,0.000,6,0.000,0.077,2990,2204,3769,0,0,0,0,0,0
$GC,7403,-1.24,-146.0,653.5,-7.9,301,7404,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2204,3768,0,0,0,0,0,0
$GC,7644,-1.24,-146.0,673.1,-8.0,307,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2204,3767,0,0,0,0,0,0
$GC,7889,-1.28,-146.0,692.1,-7.8,313,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2204,3766,0,0,0,0,0,0
$GC,8132,-1.32,-146.0,710.9,-7.6,319,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2204,3764,0,0,0,0,0,0
$GC,8378,-1.36,-146.0,729.8,-7.7,325,8380,0.10,0.00,0.00,0.000,6,0.083,0.000,2951,2204,3763,0,0,0,0,0,0
$GC,8621,-1.32,-146.0,752.8,-9.5,331,8623,0.10,0.00,0.00,0.000,6,0.112,0.000,2974,2202,3762,0,0,0,0,0,0
$GC,8863,-1.32,-146.0,771.2,-7.4,337,8868,0.00,2.83,0.00,0.000,4,0.000,0.096,2974,3782,3761,0,0,0,0,0,0
$GC,8881,-1.32,-146.0,772.6,-7.5,337,8886,0.00,2.75,0.00,0.000,6,0.000,0.076,2974,2210,3761,0,0,0,0,0,0
$GC,9142,-1.32,-146.0,793.5,-8.2,344,9147,0.00,3.08,0.00,0.000,4,0.000,0.128,2974,623,3761,0,0,0,0,0,0
$GC,9169,-1.32,-146.0,795.9,-9.0,344,9174,0.00,2.70,0.00,0.000,6,0.000,0.064,2974,2190,3761,0,0,0,0,0,0
$GC,9422,-1.32,-146.0,816.2,-8.1,350,9423,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2190,3761,0,0,0,0,0,0
$GC,9663,-1.32,-146.0,834.5,-7.4,356,9668,0.00,2.90,0.00,0.000,4,0.000,0.094,2974,3798,3759,0,0,0,0,0,0
$GC,9718,-1.32,-146.0,839.0,-8.3,357,9723,0.00,2.75,0.00,0.000,6,0.000,0.065,2973,2211,3759,0,0,0,0,0,0
$GC,9988,-1.32,-146.0,859.4,-7.7,364,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2211,3757,0,0,0,0,0,0
$GC,10229,-1.32,-146.0,878.2,-7.6,370,10233,0.00,2.83,0.00,0.000,4,0.000,0.083,2974,3801,3757,0,0,0,0,0,0
$GC,10250,-1.32,-146.0,880.1,-8.7,370,10255,0.00,2.75,0.00,0.000,6,0.000,0.070,2974,2212,3756,0,0,0,0,0,0
$GC,10508,-1.32,-146.0,899.3,-7.4,377,10513,0.00,2.80,0.00,0.000,4,0.000,0.079,2974,3797,3756,0,0,0,0,0,0
$STATE,10517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10518,begin apogee
$GC,10526,-0.31,0.0,900.3,7.4,377,10649,0.93,0.00,119.25,1.207,6,0.071,0.000,3189,2368,3190,0,0,0,0,0,0
$STATE,10649,end apogee,CONTROL_FINISHED_OK
$STATE,10650,begin climb
$GC,10652,1.27,146.0,903.4,0.0,380,10792,1.48,2.85,127.38,1.177,4,0.039,0.077,3548,3937,2593,0,0,0,0,0,0
$GC,10831,1.14,146.0,891.7,13.0,383,10837,0.20,2.75,0.00,0.000,6,0.107,0.061,3508,2366,2589,0,0,0,0,0,0
$GC,11084,1.14,151.5,866.8,9.7,390,11094,0.00,2.75,5.18,0.813,4,0.000,0.067,3508,3937,2572,0,0,0,0,0,0
$GC,11139,1.10,151.5,860.6,11.7,391,11143,0.00,2.70,0.00,0.000,6,0.000,0.049,3508,2369,2571,0,0,0,0,0,0
$GC,11405,1.13,176.7,836.1,8.8,398,11431,0.00,0.00,23.88,1.102,6,0.000,0.000,3508,2369,2469,0,0,0,0,0,0
$GC,11651,1.16,200.5,814.2,8.9,404,11680,0.00,2.80,22.70,1.087,4,0.000,0.057,3508,3934,2372,0,0,0,0,0,0
$GC,11715,1.16,200.5,807.5,10.3,405,11719,0.00,2.65,0.00,0.000,6,0.000,0.044,3508,2374,2370,0,0,0,0,0,0
$GC,11975,1.16,200.5,780.9,10.2,412,11980,0.00,3.12,0.00,0.000,4,0.000,0.126,3508,777,2368,0,0,0,0,0,0
$GC,11993,1.16,200.5,779.1,10.8,412,11998,0.00,2.72,0.00,0.000,6,0.000,0.045,3508,2394,2367,0,0,0,0,0,0
$GC,12254,1.18,216.8,754.1,9.2,419,12275,0.00,2.72,15.77,1.030,4,0.000,0.074,3508,3932,2304,0,0,0,0,0,0
$GC,12310,1.18,216.8,748.2,11.9,420,12315,0.00,2.60,0.00,0.000,6,0.000,0.044,3508,2384,2303,0,0,0,0,0,0
$GC,12577,1.18,216.8,721.0,10.1,427,12578,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2384,2301,0,0,0,0,0,0
$GC,12820,1.18,216.8,695.4,10.7,433,12822,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2384,2301,0,0,0,0,0,0
$GC,13064,1.18,216.8,669.7,10.5,439,13066,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2384,2300,0,0,0,0,0,0
$GC,13310,1.18,216.8,644.5,10.4,445,13311,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2384,2300,0,0,0,0,0,0
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$GC,15820,1.19,224.8,377.9,9.6,506,15834,0.00,2.65,7.72,0.712,4,0.000,0.050,3508,3941,2273,0,0,0,0,0,0
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$GC,16390,1.19,224.8,316.8,11.3,520,16394,0.00,2.67,0.00,0.000,4,0.000,0.058,3508,786,2272,0,0,0,0,0,0
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$STATE,19272,end climb,SURFACE_DEPTH_REACHED
$STATE,19272,begin surface coast
$FINISH,1.1,1.023533
$STATE,19314,end surface coast,CONTROL_FINISHED_OK
$STATE,19314,begin surface
$SM_CCo,19339,10.60,0.451,0,0,1763,350.04
$SM_GC,1.92,0.00,0.00,10.60,0.000,0.000,0.451,466,2173,1763,-12.85,-1.05,350.04
$IRIDIUM_FIX,1911.51,-8137.98,210602,171734
$TT8_MAMPS,0.025311
$HUMID,60.55
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.40
$XPDR_PINGS,64
$24V_AH,23.2,46.614
$10V_AH,10.2,41.359
$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,30.400,183.750,420.750,10.600,0.000,51.774,71.497,475.196,16.000,0.000,13.559,1505.290,14813.493,529.425,2236.683,1093.099,33.364,1486.641,0.000,2242.680,0.000,0.536,0.000
$DEVICE_MAMPS,154.167,128.089,1207.258,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,493.270,345.325,434.710,565.148,1076.516,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356000
$DATA_FILE_SIZE,54297,728
$CAP_FILE_SIZE,169240,0
$CFSIZE,260165632,105140224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270313,223536,1927.190,-8111.708,30,1.0,30,-3.8