version: 66.06
glider: 146
mission: 9
dive: 281
start: 4 30 114 12 49 8
data:
$ID,146
$MISSION,9
$DIVE,281
$D_SURF,4
$D_FLARE,3
$D_TGT,800
$D_ABORT,900
$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,266
$T_MISSION,540
$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,52418
$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,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2245
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$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,-329772.31
$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,3004
$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,7
$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,3060
$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,-29.187134
$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,0.0043272944
$SEABIRD_T_H,0.00062241661
$SEABIRD_T_I,2.3207038e-05
$SEABIRD_T_J,2.4640995e-06
$SEABIRD_C_G,-9.7986097
$SEABIRD_C_H,1.0845124
$SEABIRD_C_I,-0.0017415414
$SEABIRD_C_J,0.00021607026
$GPS1,122854,2304.654,-15804.187,39,1.5,39,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-69.9
$GPS2,124814,2304.643,-15804.205,12,2.4,31,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.195,-0.172
$KALMAN_X,-229418.1,279.9,104.7,214306.2,-360.7
$KALMAN_Y,4079.6,418.0,-154.7,24101.0,-198.9
$MHEAD_RNG_PITCHd_Wd,121.3,66060,-17.5,-10.025
$D_GRID,800
$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,16,-1.28,-146.0,0.0,0.0,0,111,0.00,0.00,-89.70,0.000,6,0.000,0.000,464,2126,3655,0,0,0,0,0,0
$GC,115,-1.28,-146.0,3.7,-8.6,12,133,12.70,2.42,0.00,0.000,4,0.167,0.035,2715,624,3656,0,0,0,0,0,0
$GC,204,-1.15,-146.0,24.7,-13.1,24,214,0.15,2.55,0.00,0.000,6,0.094,0.020,2749,2246,3657,0,0,0,0,0,0
$GC,486,-1.09,-146.0,56.0,-12.6,52,490,0.00,2.62,0.00,0.000,4,0.000,0.042,2749,629,3658,0,0,0,0,0,0
$GC,509,-1.02,-146.0,58.8,-12.1,53,515,0.15,2.45,0.00,0.000,6,0.105,0.017,2780,2228,3657,0,0,0,0,0,0
$GC,776,-1.02,-146.0,81.8,-8.9,77,780,0.00,2.45,0.00,0.000,4,0.000,0.033,2780,3765,3658,0,0,0,0,0,0
$GC,809,-1.02,-146.0,85.0,-9.4,79,814,0.00,2.42,0.00,0.000,6,0.000,0.021,2780,2200,3658,0,0,0,0,0,0
$GC,1076,-1.02,-146.0,108.9,-8.8,103,1080,0.00,2.50,0.00,0.000,4,0.000,0.042,2780,640,3658,0,0,0,0,0,0
$GC,1093,-1.02,-146.0,111.0,-9.0,104,1097,0.00,2.38,0.00,0.000,6,0.000,0.017,2780,2204,3658,0,0,0,0,0,0
$GC,1357,-1.06,-146.0,132.6,-8.0,128,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2204,3658,0,0,0,0,0,0
$GC,1626,-1.11,-146.0,154.8,-8.0,153,1630,0.00,2.53,0.00,0.000,4,0.000,0.042,2780,640,3658,0,0,0,0,0,0
$GC,1659,-1.17,-146.0,157.8,-8.8,155,1664,0.15,2.38,0.00,0.000,6,0.058,0.025,2723,2199,3658,0,0,0,0,0,0
$GC,1926,-1.12,-146.0,184.7,-9.9,179,1931,0.17,2.53,0.00,0.000,4,0.090,0.034,2761,3775,3658,0,0,0,0,0,0
$GC,1967,-1.17,-146.0,188.9,-8.8,182,1972,0.00,2.45,0.00,0.000,6,0.000,0.019,2761,2196,3658,0,0,0,0,0,0
$GC,2231,-1.17,-146.0,210.3,-8.4,206,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2196,3658,0,0,0,0,0,0
$GC,2495,-1.22,-146.0,231.6,-7.8,231,2500,0.10,2.55,0.00,0.000,4,0.079,0.049,2713,639,3658,0,0,0,0,0,0
$GC,2524,-1.18,-146.0,234.5,-9.7,233,2529,0.15,2.42,0.00,0.000,6,0.092,0.025,2746,2215,3658,0,0,0,0,0,0
$GC,2785,-1.18,-146.0,254.8,-7.8,257,2789,0.00,2.47,0.00,0.000,4,0.000,0.038,2746,3772,3658,0,0,0,0,0,0
$GC,2807,-1.22,-146.0,256.6,-7.6,258,2816,0.00,2.45,0.00,0.000,6,0.000,0.021,2746,2219,3658,0,0,0,0,0,0
$GC,3075,-1.22,-146.0,277.6,-8.7,283,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2219,3657,0,0,0,0,0,0
$GC,3338,-1.26,-146.0,299.6,-7.1,308,3342,0.00,2.50,0.00,0.000,4,0.000,0.041,2746,3769,3656,0,0,0,0,0,0
$GC,3396,-1.33,-146.0,303.9,-7.3,312,3405,0.10,2.47,0.00,0.000,6,0.035,0.023,2697,2216,3656,0,0,0,0,0,0
$GC,3662,-1.29,-146.0,326.4,-8.9,337,3668,0.12,2.67,0.00,0.000,4,0.101,0.064,2724,634,3655,0,0,0,0,0,0
$GC,3721,-1.29,-146.0,332.0,-8.7,341,3727,0.00,2.47,0.00,0.000,6,0.000,0.035,2724,2191,3655,0,0,0,0,0,0
$GC,3984,-1.29,-146.0,353.8,-8.5,366,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2191,3653,0,0,0,0,0,0
$GC,4238,-1.29,-146.0,373.9,-8.1,390,4243,0.00,2.65,0.00,0.000,4,0.000,0.061,2723,627,3652,0,0,0,0,0,0
$GC,4267,-1.29,-146.0,376.5,-8.4,392,4272,0.00,2.55,0.00,0.000,6,0.000,0.041,2724,2212,3652,0,0,0,0,0,0
$GC,4532,-1.29,-146.0,396.2,-7.4,416,4536,0.00,2.60,0.00,0.000,4,0.000,0.050,2724,3791,3650,0,0,0,0,0,0
$GC,4549,-1.29,-146.0,397.6,-7.2,417,4553,0.00,2.50,0.00,0.000,6,0.000,0.029,2724,2220,3650,0,0,0,0,0,0
$GC,4813,-1.29,-146.0,416.5,-7.1,441,4818,0.00,2.80,0.00,0.000,4,0.000,0.086,2724,626,3648,0,0,0,0,0,0
$GC,4835,-1.29,-146.0,418.0,-7.4,442,4840,0.00,2.58,0.00,0.000,6,0.000,0.035,2724,2221,3648,0,0,0,0,0,0
$GC,5102,-1.29,-146.0,436.5,-7.0,466,5106,0.00,2.78,0.00,0.000,4,0.000,0.073,2724,624,3646,0,0,0,0,0,0
$GC,5156,-1.34,-146.0,440.8,-7.7,470,5160,0.00,2.60,0.00,0.000,6,0.000,0.041,2724,2209,3646,0,0,0,0,0,0
$GC,5419,-1.39,-146.0,459.4,-7.4,494,5420,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2210,3645,0,0,0,0,0,0
$GC,5675,-1.43,-146.0,478.1,-7.6,518,5680,0.15,2.70,0.00,0.000,4,0.060,0.067,2667,3803,3644,0,0,0,0,0,0
$GC,5708,-1.37,-146.0,481.1,-9.5,520,5713,0.17,2.60,0.00,0.000,6,0.090,0.041,2705,2222,3643,0,0,0,0,0,0
$GC,5973,-1.37,-146.0,502.7,-7.9,544,5977,0.00,2.65,0.00,0.000,4,0.000,0.060,2705,3794,3642,0,0,0,0,0,0
$GC,5994,-1.37,-146.0,504.9,-8.3,545,6000,0.00,2.62,0.00,0.000,6,0.000,0.044,2705,2214,3642,0,0,0,0,0,0
$GC,6259,-1.37,-146.0,525.0,-7.4,570,6263,0.00,2.70,0.00,0.000,4,0.000,0.064,2705,3792,3640,0,0,0,0,0,0
$GC,6292,-1.37,-146.0,527.9,-8.1,572,6298,0.00,2.65,0.00,0.000,6,0.000,0.054,2705,2218,3640,0,0,0,0,0,0
$GC,6557,-1.37,-146.0,546.8,-7.2,597,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2219,3638,0,0,0,0,0,0
$GC,6822,-1.37,-146.0,566.3,-7.5,622,6826,0.00,2.75,0.00,0.000,4,0.000,0.078,2705,3790,3637,0,0,0,0,0,0
$GC,6854,-1.37,-146.0,569.4,-7.7,624,6864,0.00,2.70,0.00,0.000,6,0.000,0.057,2706,2220,3636,0,0,0,0,0,0
$GC,7122,-1.37,-146.0,587.7,-7.0,649,7127,0.00,2.78,0.00,0.000,4,0.000,0.083,2705,3793,3635,0,0,0,0,0,0
$GC,7145,-1.37,-146.0,589.9,-6.8,650,7152,0.00,2.67,0.00,0.000,6,0.000,0.065,2705,2232,3634,0,0,0,0,0,0
$GC,7404,-1.37,-146.0,605.0,-5.5,669,7409,0.00,2.75,0.00,0.000,4,0.000,0.083,2705,3793,3633,0,0,0,0,0,0
$GC,7479,-1.37,-146.0,609.4,-6.3,670,7483,0.00,2.72,0.00,0.000,6,0.000,0.070,2705,2236,3632,0,0,0,0,0,0
$GC,7729,-1.37,-146.0,623.4,-5.7,676,7733,0.00,2.80,0.00,0.000,4,0.000,0.094,2705,3790,3631,0,0,0,0,0,0
$GC,7791,-1.37,-146.0,627.4,-6.8,677,7795,0.00,2.72,0.00,0.000,6,0.000,0.077,2705,2252,3631,0,0,0,0,0,0
$GC,8051,-1.37,-146.0,644.3,-6.7,684,8053,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2252,3630,0,0,0,0,0,0
$GC,8295,-1.37,-146.0,661.0,-6.8,690,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2252,3629,0,0,0,0,0,0
$GC,8541,-1.41,-146.0,678.1,-7.0,696,8546,0.00,2.88,0.00,0.000,4,0.000,0.113,2705,3787,3628,0,0,0,0,0,0
$GC,8573,-1.41,-146.0,680.8,-7.8,696,8579,0.00,2.85,0.00,0.000,6,0.000,0.100,2705,2247,3627,0,0,0,0,0,0
$GC,8824,-1.45,-146.0,698.3,-6.9,703,8829,0.00,3.30,0.00,0.000,4,0.000,0.156,2705,615,3626,0,0,0,0,0,0
$GC,8842,-1.45,-146.0,699.5,-6.7,703,8847,0.00,3.00,0.00,0.000,6,0.000,0.102,2705,2237,3626,0,0,0,0,0,0
$GC,9103,-1.49,-146.0,717.0,-6.6,710,9109,0.12,3.12,0.00,0.000,4,0.067,0.142,2657,3805,3625,0,0,0,0,0,0
$GC,9122,-1.49,-146.0,718.2,-6.6,710,9127,0.10,2.97,0.00,0.000,6,0.117,0.116,2678,2252,3625,0,0,0,0,0,0
$GC,9385,-1.49,-146.0,737.5,-7.2,717,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2253,3624,0,0,0,0,0,0
$GC,9627,-1.49,-146.0,756.2,-7.9,723,9632,0.00,3.17,0.00,0.000,4,0.000,0.156,2678,3803,3622,0,0,0,0,0,0
$GC,9654,-1.49,-146.0,758.5,-8.7,723,9659,0.00,3.12,0.00,0.000,6,0.000,0.140,2678,2253,3622,0,0,0,0,0,0
$GC,9906,-1.49,-146.0,777.3,-7.4,729,9907,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2253,3621,0,0,0,0,0,0
$GC,10148,-1.49,-146.0,795.0,-7.3,735,10153,0.00,3.33,0.00,0.000,4,0.000,0.174,2678,3798,3621,0,0,0,0,0,0
$GC,10198,-1.49,-146.0,799.1,-7.9,736,10203,0.00,3.28,0.00,0.000,6,0.000,0.167,2678,2258,3621,0,0,1,0,0,0
$STATE,10211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10211,begin apogee
$GC,10219,-0.31,0.0,800.2,7.3,736,10343,1.12,0.00,120.82,1.174,6,0.071,0.000,2934,2370,3059,0,0,0,0,0,0
$STATE,10344,end apogee,CONTROL_FINISHED_OK
$STATE,10344,begin climb
$GC,10347,1.28,146.0,801.9,0.0,739,10488,1.45,3.53,130.32,1.144,4,0.033,0.176,3292,3937,2462,0,0,0,0,0,0
$GC,10568,1.11,146.0,781.0,13.9,744,10574,0.22,3.30,0.00,0.000,6,0.101,0.150,3247,2371,2457,0,0,0,0,0,0
$GC,10841,1.06,146.0,750.4,11.0,751,10842,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2371,2453,0,0,0,0,0,0
$GC,11086,1.00,146.0,724.4,10.8,757,11088,0.12,0.00,0.00,0.000,6,0.126,0.000,3223,2371,2451,0,0,0,0,0,0
$GC,11329,1.02,161.6,701.3,9.3,763,11348,0.00,3.30,13.40,1.021,4,0.000,0.145,3223,771,2401,0,0,0,0,0,0
$GC,11376,1.02,162.4,696.7,10.0,764,11381,0.00,3.00,0.00,0.000,6,0.000,0.101,3223,2371,2398,0,0,0,0,0,0
$GC,11655,1.06,199.5,673.2,8.3,771,11699,0.00,3.03,36.10,1.068,4,0.000,0.110,3223,3941,2245,0,0,0,0,0,0
$GC,11728,1.07,202.0,666.7,9.9,772,11732,0.00,2.90,0.00,0.000,6,0.000,0.085,3223,2366,2243,0,0,0,0,0,0
$GC,11980,1.10,229.1,644.7,8.8,778,12014,0.00,3.17,27.75,1.042,4,0.000,0.122,3223,779,2125,0,0,0,0,0,0
$GC,12048,1.10,229.1,637.5,10.3,779,12052,0.00,2.85,0.00,0.000,6,0.000,0.077,3223,2379,2123,0,0,0,0,0,0
$GC,12304,1.10,229.1,610.6,10.7,786,12309,0.00,2.83,0.00,0.000,4,0.000,0.091,3223,3938,2120,0,0,0,0,0,0
$GC,12353,1.10,229.1,604.5,11.8,787,12358,0.00,2.72,0.00,0.000,6,0.000,0.059,3223,2366,2119,0,0,0,0,0,0
$GC,12615,1.10,229.1,576.0,10.3,807,12616,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2367,2119,0,0,0,0,0,0
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$GC,13911,1.14,231.3,429.0,11.7,929,13912,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,2366,2116,0,0,0,0,0,0
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$GC,14978,1.15,240.7,311.2,9.6,1028,14994,0.00,2.67,10.45,0.765,4,0.000,0.061,3258,784,2077,0,0,0,0,0,0
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$STATE,17827,end climb,SURFACE_DEPTH_REACHED
$STATE,17828,begin surface coast
$FINISH,-0.1,1.023866
$STATE,17878,end surface coast,CONTROL_FINISHED_OK
$STATE,17878,begin surface
$SM_CCo,17901,84.12,0.525,0,0,1509,380.21
$SM_GC,0.45,0.00,0.00,84.12,0.000,0.000,0.525,460,2192,1509,-11.71,-0.54,380.21
$IRIDIUM_FIX,2258.07,-15804.08,250703,121253
$TT8_MAMPS,0.026078
$HUMID,62.83
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,21.50
$XPDR_PINGS,48
$24V_AH,23.2,43.650
$10V_AH,10.0,51.458
$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,28.775,217.325,376.250,84.125,0.000,124.976,146.703,482.103,12.000,0.000,33.826,2350.120,10599.845,611.434,4224.671,1345.063,33.371,1957.187,0.000,4238.990,0.000,0.535,0.000
$DEVICE_MAMPS,167.206,176.410,1174.277,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,896.826,944.095,1235.387,1358.613,2586.996,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355360
$DATA_FILE_SIZE,108107,1302
$CAP_FILE_SIZE,206859,0
$CFSIZE,260165632,157810688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300414,175005,2302.756,-15802.479,31,1.4,31,10.1